*v 0008 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" *n code=0006 name="controlThread ThreadHandler" *n code=0007 name="CycleStarter" *n code=0008 name="CommandExec" *n code=0009 name="CommandExec ThreadHandler" *n code=000A name="CommandLine" *n code=000B name="CommandLine ThreadHandler" *n code=000C name="logger" *n code=000D name="logger ThreadHandler" *n code=000E name="LogSplitter" *n code=000F name="Config/Control" *n code=0010 name="Config/Sensor" *n code=0011 name="Config/Estimation" *n code=0012 name="Config/Simulator" *n code=0013 name="Config/secure" *n code=0014 name="Config/Guidance" *n code=0015 name="Config/Servo" *n code=0016 name="Config/Derivation" *n code=0017 name="Config/workSite" *n code=0018 name="Config/Dock" *n code=0019 name="Config/vehicle" *n code=001A name="Config/Science" *n code=001B name="Config/Sample" *n code=001C name="Config/logger" *n code=001D name="Config/BIT" *n code=001E name="Config/Navigation" *n code=001F name="Config/Battery" *n code=0020 name="DepthRateCalculator" *n code=0021 name="PitchRateCalculator" *n code=0022 name="SpeedCalculator" *n code=0023 name="YawRateCalculator" *n code=0024 name="ElevatorOffsetCalculator" *n code=0025 name="VerticalControl" *n code=0026 name="HorizontalControl" *n code=0027 name="SpeedControl" *n code=0028 name="LoopControl" *n code=0029 name="DeadReckonUsingMultipleVelocitySources" *n code=002A name="NavChart" *n code=002B name="UniversalFixResidualReporter" *n code=002C name="AHRS_M2" *n code=002D name="BackseatComponent" *n code=002E name="BackseatComponent ThreadHandler" *n code=002F name="LcmPublisher" *n code=0030 name="BPC1" *n code=0031 name="DAT" *n code=0032 name="DAT ThreadHandler" *n code=0033 name="DataOverHttps" *n code=0034 name="DataOverHttps ThreadHandler" *n code=0035 name="Depth_Keller" *n code=0036 name="DropWeight" *n code=0037 name="NAL9602" *n code=0038 name="Onboard" *n code=0039 name="Onboard ThreadHandler" *n code=003A name="Power24vConverter" *n code=003B name="Radio_Surface" *n code=003C name="Radio_Surface ThreadHandler" *n code=003D name="RDI_Pathfinder" *n code=003E name="Sonardyne_Nano" *n code=003F name="BuoyancyServo" *n code=0040 name="ElevatorServo" *n code=0041 name="DockingStepper" *n code=0042 name="MassServo" *n code=0043 name="RudderServo" *n code=0044 name="ThrusterHE" *n code=0045 name="CTD_Seabird" *n code=0046 name="CTD_Seabird ThreadHandler" *n code=0047 name="ESPComponent" *n code=0048 name="PAR_Licor" *n code=0049 name="WetLabsBB2FL" *n code=004A name="WetLabsBB2FL ThreadHandler" *n code=004B name="SBIT" *n code=004C name="IBIT" *n code=004D name="CBIT" *n code=004E name="GFScanner" *n code=004F name="MissionManager" *n code=0050 name="Reporter" *n code=0051 name="NavChartDb" *n code=0052 name="NavChartDb ThreadHandler" *n code=0053 name="DefaultWithUndock" *n code=0054 name="DefaultWithUndock:A.Wait" *n code=0055 name="DefaultWithUndock:LeaveDock" *n code=0056 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0057 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=0058 name="DefaultWithUndock:LeaveDock:A." *n code=0059 name="DefaultWithUndock:LeaveDock:B.Undock" *n code=005A name="DefaultWithUndock:SurfaceDefault" *n code=005B name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *n code=005C name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005D name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0065 name="DefaultWithUndock:D" *n code=0066 name="DefaultWithUndock:E.Execute" *n code=0067 name="lineCaptureHoming" *n code=0068 name="lineCaptureHoming:Science" *n code=0069 name="lineCaptureHoming:Science:A" *n code=006A name="lineCaptureHoming:Science:B" *n code=006B name="lineCaptureHoming:Science:C" *n code=006C name="lineCaptureHoming:Science:D" *n code=006D name="lineCaptureHoming:Science:E" *n code=006E name="lineCaptureHoming:Science:F" *n code=006F name="lineCaptureHoming:Science:Read_Oil" *n code=0070 name="lineCaptureHoming:Science:OceanCurrent" *n code=0071 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=0072 name="lineCaptureHoming:Science:PeakDetectChl" *n code=0073 name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=0074 name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0075 name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=0076 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=0077 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=0078 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=0079 name="lineCaptureHoming:Science:EdgeDetectChl" *n code=007A name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=007B name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=007C name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=007D name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=007E name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=007F name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=0080 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl" *n code=0081 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:A" *n code=0082 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=0083 name="lineCaptureHoming:Science:PeakDetectNO3" *n code=0084 name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=0085 name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0086 name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=0087 name="lineCaptureHoming:Science:PeakDetectOil" *n code=0088 name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=0089 name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=008A name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=008B name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=008C name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=008D name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=008E name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=008F name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=0090 name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=0091 name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=0092 name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=0093 name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=0094 name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=0095 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=0096 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0097 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=0098 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0099 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=009A name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=009B name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=009C name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=009D name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=009E name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=009F name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=00A0 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=00A1 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=00A2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=00A3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=00A4 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=00A5 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=00A6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00A7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00A8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00A9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00AA name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00AB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00AC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00AD name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=00AE name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00AF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=00B0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=00B1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=00B2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00B3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=00B4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=00B5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=00B6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=00B7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=00B8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=00B9 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=00BA name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=00BB name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00BC name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00BD name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=00BE name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=00BF name="lineCaptureHoming:StandardEnvelopes" *n code=00C0 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=00C1 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=00C2 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=00C3 name="lineCaptureHoming:C" *n code=00C4 name="lineCaptureHoming:D" *n code=00C5 name="lineCaptureHoming:E" *n code=00C6 name="lineCaptureHoming:NeedComms" *n code=00C7 name="lineCaptureHoming:NeedComms:A" *n code=00C8 name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=00C9 name="lineCaptureHoming:NeedComms:C" *n code=00CA name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=00CB name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=00CC name="lineCaptureHoming:NeedComms:D" *n code=00CD name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=00CE name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=00CF name="lineCaptureHoming:NeedComms:E" *n code=00D0 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=00D1 name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=00D2 name="lineCaptureHoming:G" *n code=00D3 name="lineCaptureHoming:H" *n code=00D4 name="lineCaptureHoming:MicromodemComms" *n code=00D5 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=00D6 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=00D7 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=00D8 name="lineCaptureHoming:J" *n code=00D9 name="lineCaptureHoming:LineCapture" *n code=00DA name="lineCaptureHoming:LineCapture:A" *n code=00DB name="lineCaptureHoming:LineCapture:B" *n code=00DC name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=00DD name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00DE name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00DF name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00E0 name="lineCaptureHoming:LineCapture:D" *n code=00E1 name="lineCaptureHoming:LineCapture:E" *n code=00E2 name="lineCaptureHoming:LineCapture:F" *n code=00E3 name="lineCaptureHoming:LineCapture:G" *n code=00E4 name="lineCaptureHoming:LineCapture:H" *n code=00E5 name="lineCaptureHoming:LineCapture:HoldMass" *n code=00E6 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=00E7 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=00E8 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=00E9 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=00EA name="lineCaptureHoming:LineCapture:HomingSequence" *n code=00EB name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=00EC name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00ED name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00EE name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00EF name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00F0 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00F1 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00F2 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=00F3 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=00F4 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=00F5 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=00F6 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=00F7 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=00F8 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=00F9 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=00FA name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=00FB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=00FC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=00FD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=00FE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=00FF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=0100 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=0101 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=0102 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=0103 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0104 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0105 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0106 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0107 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=0108 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=0109 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=010A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=010B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=010C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=010D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=010E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=010F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0110 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=0111 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=0112 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=0113 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0114 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0115 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0116 name="lineCaptureHoming:LineCapture:M" *n code=0117 name="lineCaptureHoming:L" *n code=0118 name="lineCaptureHoming:M" *n code=0119 name="lineCaptureHoming:N" *n code=011A name="lineCaptureHoming:O" *n code=011B name="lineCaptureHoming:P" *n code=011C name="lineCaptureHoming:Q" *n code=011D name="lineCaptureHoming:U" *n code=011E name="lineCaptureHoming:TrackAC." *n code=011F name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0120 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=0121 name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=0122 name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=0123 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=0124 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=0125 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=0126 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=0127 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=0128 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=0129 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=012A name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=012B name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=012C name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=012D name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=012E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=012F name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0130 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=0131 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=0132 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0133 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0134 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0135 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0136 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0137 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=0138 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=0139 name="lineCaptureHoming:restartDHCP" *n code=013A name="lineCaptureHoming:restartDHCP:A" *n code=013B name="lineCaptureHoming:restartDHCP:B.Execute" *n code=013C name="lineCaptureHoming:StartingMission" *n code=013D name="lineCaptureHoming:Z" *n code=013E name="lineCaptureHoming:BA.Execute" *n code=013F name="lineCaptureHoming:InitialDive" *n code=0140 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=0141 name="lineCaptureHoming:InitialDive:B.Mass" *n code=0142 name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0143 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0144 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0145 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0146 name="lineCaptureHoming:RepeatHack" *n code=0147 name="lineCaptureHoming:RepeatHack:A" *n code=0148 name="lineCaptureHoming:Lap" *n code=0149 name="lineCaptureHoming:Lap:A" *n code=014A name="lineCaptureHoming:Lap:B" *n code=014B name="lineCaptureHoming:Lap:C" *n code=014C name="lineCaptureHoming:Lap:D" *n code=014D name="lineCaptureHoming:Lap:E" *n code=014E name="lineCaptureHoming:Lap:Docked" *n code=014F name="lineCaptureHoming:Lap:Docked:A" *n code=0150 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=0151 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=0152 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=0153 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=0154 name="lineCaptureHoming:Lap:Docked:C" *n code=0155 name="lineCaptureHoming:Lap:Docked:D" *n code=0156 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=0157 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=0158 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=0159 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=015A name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=015B name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=015C name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=015D name="lineCaptureHoming:Lap:Docked:Detach" *n code=015E name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=015F name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=0160 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=0161 name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=0162 name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=0163 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=0164 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=0165 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=0166 name="lineCaptureHoming:Lap:Docked:Drift" *n code=0167 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=0168 name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n 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unitName="radian" type=2F size=0004 fl=05 *a code=0FD0 owner=01D9 element=07EB universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0FD1 owner=01D9 element=07EC universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0FD2 owner=01D9 element=07ED universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FD3 owner=01E0 element=0320 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FD4 owner=01E0 element=0322 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FD5 owner=01E0 element=0323 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FD6 owner=01E0 element=0324 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FD7 owner=01E0 element=0325 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FD8 owner=01E0 element=031D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FD9 owner=01E0 element=0326 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FDA owner=01E0 element=00C3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FDB owner=01E0 element=0462 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FDC owner=01E0 element=008D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0FDD owner=01E0 element=008E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0FDE owner=01E0 element=00AD universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0FDF owner=01E0 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE0 owner=01E0 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE1 owner=01E0 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE2 owner=01E0 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE3 owner=01E0 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0FE4 owner=01E0 element=0758 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FE5 owner=01E0 element=0586 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FE6 owner=01E0 element=06DC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FE7 owner=01E0 element=06E7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FE8 owner=01E0 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FE9 owner=01E0 element=0521 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0FEA owner=01E0 element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FEB owner=01E0 element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FEC owner=01E0 element=051E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FED owner=01E0 element=0514 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FEE owner=01E0 element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FEF owner=01E0 element=0531 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FF0 owner=01E0 element=0536 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FF1 owner=01E0 element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0FF2 owner=01E2 element=07DE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FF3 owner=01E3 element=0344 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FF4 owner=01E3 element=0343 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FF5 owner=01E3 element=0345 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FF6 owner=01E3 element=0346 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FF7 owner=01E3 element=0330 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FF8 owner=01E3 element=00C3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FF9 owner=01E3 element=00AD universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0FFA owner=01E3 element=008E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0FFB owner=01E3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FFC owner=01E3 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FFD owner=01E3 element=07EE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FFE owner=01E3 element=07EF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FFF owner=01E3 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1000 owner=01E3 element=0758 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1001 owner=01E3 element=06DC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1002 owner=01E3 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1003 owner=01E3 element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1004 owner=01E3 element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1005 owner=01E3 element=0521 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=1006 owner=01E3 element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1007 owner=01E3 element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1008 owner=017F element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1009 owner=01E0 element=0988 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=100A owner=011E element=07E3 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=100B owner=011E element=07E4 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=100C owner=011E element=07E5 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=100D owner=011E element=07E6 universal=3FFF unitName="meter" type=00 size=0018 fl=05 ^Aԅ#;Ygot valid direction response: 05:25:17.5786 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 498,-0.17, 1.937, 1.935,-2.660,-2.832, PHS=-1.412,-1.471, 0.128, RAW= 208.1, 31.8, CAL= 204.9, 43.9, ROT= 305.1, -43.9 R#Rx 1: Read range and direction messages.^direction in FSK: [0.414321,-0.589519,0.693402]Fpublishing direction and range infoym;?2T`V )+Y0?ԡY@ )/IjiIo>/sh@q? d@ %D?)ff@I%D_yP?^-?igd? v?)I!IKui%D2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.I! I1 O= >E  E E +E "E 2;*E :VE [4ZE a @a @a @a @ d#,ŏ?AB:>B8B:l IB:nBB: =B8B8B:/n;B:+EVy@V=@V:#ٱV < ^AHRS rotation from veh to nav: [[-0.565849,0.806116,0.173180],[-0.823546,-0.562729,-0.071471],[0.039840,-0.183064,0.982293]]VHo?*?`|Z@K@e?@nǿn?iVy@IVh];VCY~cBy~_ I%2Acoustic response timeoutԱiMb@Mb@Mb@ 9ʡE?A`"X9v?Y-?yٽ<Ah@ )A@YAbDVD:y5{=%5L=ٔ5ug9Q-=>99Y9==Fy=IEE:EE>IQ 5ua5MD.?Q 9ua5M\)M{BYu?Q E}:y} Q I@M_DIMh;iMDia)e`ϼaaieim+ mv@ @@@DDAT read: Rx Time:05:25:18.0788 TRx dataTimestamp_ set to:1761542719.380303DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.3 X#Rx 1: Read range message, but no direction.yY,@2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. ^A= ] ;AE >AE >1 I I) Ou >#,k?A;ɰp;E. E.E.&E,"E.1;*E.n:VE.4ZE,BE.Z9iYi=mFyuIEu0;Eu>yQ 5a5}2 ?Q 9a5}0a)}BYyQ I@}gDI}:i}:} a5yɮA addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502410 s, deltaX: 0.300000 m, approachRate: 0.597122 m/s, rangeRepo size: 4 jh 2Acoustic response timeoutETStarting intercept timer at range: 2.70 m.bhAhAhI*hI"hI hIgIfIfQfQdQdQdYjd]@Zd]@?颭Bɢ֒d) `">i)]μiDi, ov<2:II)I9)9!@@ @@@0@@ @ fAI^A 9I I O > DDAT read: Rx Time:05:25:18.5784  TRx dataTimestamp_ set to:1761542719.884355 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.3  X#Rx 1: Read range message, but no direction.y Y f@  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.q I#,9?AIYmoBymn IEm EiEm%Ei"Em[";*EiVEm 4ZEiau@au@au@au@iMb@Mb@Mb@ 9"~?X9v:v?Y?y<A;@ A)+@YAbDVDky4=%.=ٔQ->9Y=FyIEE>!Q 5-a5%?Q 9-a5%f)%BY5{?Q E5:y5Q I5@%pDI%;i%~:%a5y]@Bɮ]AeEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504052 s, deltaX: -0.600000 m, approachRate: -1.190354 m/s, rangeRepo size: 4 jhRStopped intercept timer at range: 2.10 m.bhhh*h"h hgfffBdddjd@Zd@>?BE>BABEy IBExBBABABABEm;BE+Ey}Bɢ}U) r;>i)ͼ顁i:i+ Nu<Q:II2Acoustic response timeoutU?@Q @Q@U0@Qԩ^Au rg: I I O >,$,p?A2py@2:@2 ٱ2(2 :AHRS rotation from veh to nav: [[-0.561534,0.810860,0.164878],[-0.826525,-0.559094,-0.065352],[0.039191,-0.172973,0.984147]]2H`??`r뺰?#ƿ ~?i2py@I2~];2CYVvByVw IbD^VD^yv@=%v=ٔv*:Q-z?9xYx=zFyzIE~|^<E?!Q 5-a5%?Q 9-a5%gi)%BY1y5Q I5@%uDI%:i%F:%a5yYɮ]OAaDDAT read: Rx Time:05:25:19.0783 TRx dataTimestamp_ set to:1761542720.388422DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2 X#Rx 1: Read range message, but no direction.yY@2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504067 s, deltaX: -0.100000 m, approachRate: -0.198386 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdd!d!jd%@Zd% #?颕Bɢ-) L>i)˼顙iui, Wu<ӧ;IIԱI@I @I@M/@IE EE'E"Em+;*E:VE'4ZEBEބ 5 2Acoustic response timeout1 5W $,/?AYn|Byn~ IbDzVDz!y<% H=ٔ Q- >9Y=FyIEE>IQ 5Ua5M?Q 9Ua5Mm)MBYQyQQ I}@M}DIMC;iM;M<a5y>Bɮ Ajhbhhh*h"h hgfffdddjdZd@??MBɢM)Q u[>iq)uʼqqi} i}+ }Nu<;IIe>i>)@) @)@-/@)*DAT read: user:419> DAT read: 50 :unknown deviceResponse_: 50 DAT read: Ok :unknown deviceResponse_: Ok *DAT read: user:420> BDAT read: Tx time:05:25:20.0239 $Ping request sent.i E  E E (E "E *;*E :VE c44ZE a @a @a @a @AA AE @ABE >BE CBE IBE BBE =BA BA BE `m;BE r+E= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247347'>$,+hI?A V^y@V݃@V%ٱVS) fAHRS rotation from veh to nav: [[-0.557270,0.815167,0.157966],[-0.829425,-0.555382,-0.060040],[0.038789,-0.164479,0.985618]]VH(?98?`ܣ? ſ-?iV^y@IVI];VCY=}By= IiMb@Mb@Mb@ 9V-?PnX9v?Yh?y<=AQ@ A)@YAbD VD:2y|6;%/=ٔ\b:Q->9Y=FyIEl5<E>Q 5 a5i杊?Q 9-a5r)ƼBY5R?Q E5:y5Q I5@DIW;i.;Ba5y=CBɮ=1AEEqjhbhhh*h"h hgfffBdddjdZd2?- Bɢ5m&)1 5a>i1)5Tȼ11i=gi=, Eu}$,Vc?AE EE&E "E(;*En:VE4ZE BE9yYy=}Fy}IEE>Q 5a5ٝ?Q 9a5{v)ԼBYyQ I@DI;i;ia5yɮ*Ajh bh h)h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=?颭 Bɢ(8) f>i)BǼ顱iy3i+ at<  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003531e$,z}?Al %z@X @ٱ AHRS rotation from veh to nav: [[-0.552438,0.820194,0.148643],[-0.832696,-0.551112,-0.053780],[0.037809,-0.153484,0.987427]]H@???r [?``ÿ?i %z@I];Y-By- I 11bE!4jE*4rE’0E- E-E-)E)"E-O6;*E-:VE-FA4ZE)a=@a=@a=@a=@imMb@Mb@Mb@iiii i9mkt?9Y=FyIERF<E>Q 5a5tȝ?Q 9a5q{)BY?Q E:yzQ I@DI%;i ;"a5y%=Bɮ%A-EeB*** querying acoustic contact ***ia iajhqbhqhqhq*hq"hq hqgqfffBdddjdZdΕ?B!>BB IBBB =BBBm;BD+EBɢ ) p>i)żi i%, %t<%v b%$,Ԙ?A6 Wz@6b&@6ٱ6KPBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507384@ NAHRS rotation from veh to nav: [[-0.549902,0.822008,0.148021],[-0.834399,-0.548560,-0.053480],[0.037238,-0.152917,0.987537]]6H`˘M?X?@e@΍@a?ǒÿ?i6 Wz@I6K];6CYZByZ IbDbVDb:2yz:<%~r=ٔ~:Q-~?9Y=FyIE:<E? Q 55a5 ?Q 9=a5 ~) BY9y=HQ I=@ DI ;i d; %a5yAɮEAIjhbhhh*h"h hgfffdddjdZd@t@5Bɢ5)1 5T|>i1)=_ļ99i=sk iE+ E|t܃DyzDyE EE&E"E%;*E:VE4ZEBE~AHRS rotation from veh to nav: [[-0.548140,0.823798,0.144569],[-0.835578,-0.546969,-0.051336],[0.036784,-0.148939,0.988162]]2H[ \?@?@ Ā H[բ?jÿ ?i2yz@I2z];0YNByR IbDZVDZyf=%fN=ٔfÕ:Q-f>9hYh=jFyjIEn;En>lQ 5 a58?Q 9 a5)BY y +Q I @DI9:iR: )a5y7Bɮ=*A=Ejhbhhh*h"h hgfffdddjdZdʪ@Bɢ踒) =>i ) :¼  i  i, 5jt<5;E EE'E"E=-;*E8:VE'4ZEa@a@a@a@B <A <B B B IB BB =B B DB l;B "+EBCBBɓCB =B =CO5a M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2644682$,g~̐?A62z@6H@6hٱ6U >AHRS rotation from veh to nav: [[-0.546398,0.825102,0.143720],[-0.836739,-0.545222,-0.050994],[0.036284,-0.148119,0.988304]]6H`|@9Y=FyIE=;E> Q 5a5 t?Q 95a5 ) BY5?Q E5:y5Q I=@ DI ;i d; ,a5yAɮESAAjhbhhh*h"h hgfffԁBddd jd)Zd5`DI@}Bɢ}8)y J>i)Ŏ顁i i+  u<ȝ D =D E  E E )E "E m+;*E VE FA4ZE BE ބ9 Y = FyIEE>9Q 5Ea5=֐?Q 9Ea5=)=BYAyIQ IM@=DI=:i=1:=-0a5yQɮufAyԙchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.768607M addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 3.023953 s, deltaX: -0.200000 m, approachRate: -0.066139 m/s, rangeRepo size: 4 jhqbhqhqhq*hy"hy hygyfyffdddjd?ZdH?BɢpP)! %ɉ>i!)-ԾIIiMiU, ]/u<] @$,=E?Az@f@ٱl AHRS rotation from veh to nav: [[-0.543367,0.827405,0.141962],[-0.838748,-0.542196,-0.050247],[0.035397,-0.146373,0.988596]]HCcz?+? Y﹩?W¿?iz@I];CEU EUEU$EQ"EU&;*EU:VEU4ZEQa]@a]@a]@a]@BBB IBBBBBBl;B +E checking for new query: numPingsReceived=2, elapsed TxPingTime=3.272868!Y=By= I AAAEAiMb@Mb@Mb@ 9M?S㥛~jt?Yn?y$< A )@YbDVD:Ay!<%<̰ٔ:Q->9Y = Fy IE ;E > Q 5 a5 y?Q 9E a5 ) 0BYU M?Q E] :y] RQ I] @ DI Tҿ9,Ad?R.vtȿj$?ZiO9bi)jS93j?X: ?{?ZFb?y_?S?2id?:iT?"izդ?*iҭvBi_Biimmiig?iě?  addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504311 s, deltaX: -0.300000 m, approachRate: -0.594871 m/s, rangeRepo size: 4 M  Added new target pos. range: 1.492001 m, bearing: 64.291562 deg, lat: 36.779357 deg, lon: -121.859692 deg, deltaT: 5.038793 s, deltaX: -0.895156 m, approachRate: -0.177653 m/s, posRepo size: 4 jhI bhI hI hI *hI "hI  hI gQ fQ fQ fU ՁBdy dy dy jd ?Zd @? Bɢ 4) >i ) 7ʻ i !i +  u< /i1)5v11i5Yi=, =Su<=&wP$,dC?ARxGx@R@R$)ٱR@= ZAHRS rotation from veh to nav: [[-0.576392,0.798481,0.173782],[-0.816130,-0.573232,-0.073057],[0.041283,-0.183938,0.982070]]RHq`'?@>?`Wֳ#?Hǿm?iRxGx@IR];RCE~ E~E~'E|"E~;*E~:VE~'4ZE|a @a @a @a @YuByu IԙA1A1B=>B9B9B9B= =B9B=DB=l;B=+EiMb@Mb@Mb@ 9~jt?Mb~jt?Y?y A @)@Yz@bDEVDE:2checking for new query: numPingsReceived=4, elapsed TxPingTime=4.280968y%1=ٔe Q->9c?Yc?=FyJEE>Q 5%a56[?Q 9%a5|)LBY-?Q E-:y-Q I-@ΧDI;i;=a5y1ɮ5vA1 addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504000 s, deltaX: -0.200000 m, approachRate: -0.396825 m/s, rangeRepo size: 4 jhRStopped intercept timer at range: 1.80 m.bhhh*h"h hgfffBdddjd?Zd`I?5Bɢ5)5!) 5>i1)=u99i]ie+ etW$,fIa?A 6p@61~@6Yٱ6hs RAHRS rotation from veh to nav: [[-0.665164,0.714737,0.216119],[-0.744066,-0.658727,-0.111556],[0.062630,-0.235010,0.969973]]6HI ?̩?c J@񎼿@?ο ?i6p@I6p];6CY5By5 II=<)=p;E=Ea=bDMVDMy}%}R=ٔ1cQ->9Y=FyJE5E>Q 5a5M?Q 9a5)\BYy!Q I@էDI%?R)vc^IZ?Zi\wAbi|0j#Ʉ?'?hB?Z `9?Y}?Փ?2il?:i&?"i󥮝?*i&OBiۄBi<\?iK|niib@ia?- addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504777 s, deltaX: 0.200000 m, approachRate: 0.396215 m/s, rangeRepo size: 4 = Added new target pos. range: 1.989327 m, bearing: 43.871024 deg, lat: 36.779357 deg, lon: -121.859692 deg, deltaT: 1.512426 s, deltaX: 0.497326 m, approachRate: 0.328827 m/s, posRepo size: 4 jh==TStarting intercept timer at range: 2.00 m.bh9h9hA*hA"hA hAIgafafifidididqjdu@Zdu?Bɢhb) >i)ŵiGWi-, -Ùp<-fI)I1checking for new query: numPingsReceived=5, elapsed TxPingTime=4.783598u>@y @y@}"2@yԙ^AMyb];A I I O >^$,{?A&DDAT read: Rx Time:05:25:24.6554 *TRx dataTimestamp_ set to:1761542725.932760.PDAT read: Bearing 166.0, -43.8 (Local) .~Local bearing/azimuth received: Bearing 166.0, -43.8 (Local) 6DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.1 JDAT read: 05:25:24.6554 LVL= 25072, 14609, 15506, 23363, AGC= 45, IDX= 502,-0.40, 2.858,-1.033,-1.791,-1.288, PHS=-2.035, 0.300,-0.547, RAW= 291.0, 21.5, CAL= 290.9, 28.3, ROT= 219.1, -28.3 NYgot valid direction response: 05:25:24.6554 LVL= 25072, 14609, 15506, 23363, AGC= 45, IDX= 502,-0.40, 2.858,-1.033,-1.791,-1.288, PHS=-2.035, 0.300,-0.547, RAW= 291.0, 21.5, CAL= 290.9, 28.3, ROT= 219.1, -28.3 NR#Rx 6: Read range and direction messages.R`direction in FSK: [-0.683291,-0.555296,0.474088]VFpublishing direction and range infoy$&Kc}忀AvW?Y&f?$&a&9&< &C[)&-I&q=i&>&1 &j@&7 >&x@ &'>)&t@I&'$$&eX^g"qiN?&v? &?@)&1I&ci&'$$bchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.051658dz-m@z{@z=ٱz| AHRS rotation from veh to nav: [[-0.698974,0.680825,0.218889],[-0.712152,-0.690626,-0.125997],[0.065389,-0.243951,0.967581]]zH ] R? ?`@ `X?9Ͽk?iz-m@Iz];zCYyBy{ IbD-VD-:3ye.(%eL=ٔeQ-e>9iYi=mFymJEuEu>Q 5a5=?Q 9a5)mBYy$Q I5@ۧDIY"i&7\?*i&Hk{Bi&qBi$i&ҭvi&ۄBi&y@i&Vh? addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503648 s, deltaX: -0.200000 m, approachRate: -0.397103 m/s, rangeRepo size: 4  Added new target pos. range: 1.790395 m, bearing: 75.915713 deg, lat: 36.779357 deg, lon: -121.859696 deg, deltaT: 0.503648 s, deltaX: -0.198933 m, approachRate: -0.394984 m/s, posRepo size: 4 jhbhhh*h"h hgfffd d d jd ?Zd M?EM EMEM)EI"EM;*EMǙ:VEMFA4ZEIaU@aU@aU@aU@颕Bɢ&) d>i)ȳ顙i(i+ j<IIBm>BmCBm IBmBBiBiBm~DBml;Bm1+E!]?@Y @a@e4@achecking for new query: numPingsReceived=6, elapsed TxPingTime=5.288423A ^A `q A .AI I O>e$,:u?AFxk@FHny@FٱFb NAHRS rotation from veh to nav: [[-0.726224,0.658748,0.196596],[-0.684408,-0.719715,-0.116601],[0.064682,-0.219230,0.973527]]FH:=`v? *? ٽ ?̿!'?iFxk@IF}];FCYfxByfy I}ЀGhADDAT read: Rx Time:05:25:25.1556 TRx dataTimestamp_ set to:1761542726.437019PDAT read: Bearing 181.7, -56.4 (Local) ~Local bearing/azimuth received: Bearing 181.7, -56.4 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.1 DAT read: 05:25:25.1556 LVL= 28384, 15329, 19634, 23027, AGC= 45, IDX= 503, 0.35, 2.394,-1.564,-1.902,-2.029, PHS=-1.759, 0.510, 0.083, RAW= 280.2, 11.2, CAL= 278.6, 15.3, ROT= 231.4, -15.3 Ygot valid direction response: 05:25:25.1556 LVL= 28384, 15329, 19634, 23027, AGC= 45, IDX= 503, 0.35, 2.394,-1.564,-1.902,-2.029, PHS=-1.759, 0.510, 0.083, RAW= 280.2, 11.2, CAL= 278.6, 15.3, ROT= 231.4, -15.3 R#Rx 7: Read range and direction messages. `direction in FSK: [-0.601768,-0.753821,0.263873] Fpublishing direction and range infoy9S'A㿥:"N迱&K?Yf@n;L Y)I&i\?=C~@+H>@ ܸ>)<@IܸRًr7<.E?? 2@)0GIǥiܸ-checking for new query: numPingsReceived=7, elapsed TxPingTime=5.5561081ea9ehAYeAԙi=Mb@Mb@Mb@9999 99=J +?#~jĿ{Gz?Y=H>y=%=ף<=A=@ =zA)=@9Y=AbDUVDUye͆%e=ٔm:Q-m>9m ?Ym ?=mFyu JE▽E>Q 5a5*3?Q 9a5ڡ)BY>Q EP;yCQ I@DI:i:*Ia5yɮAii?AJi@Ri@jis ?bgniݧM1Z݀?R9S'A㿥:"N迱&K?Ziǥbiܸj/7Eoj ?{iU?Z yq"R? HԾ?2i?:iz"i_1?*isoBiBizդ?iiqBi@ib?e addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504259 s, deltaX: 0.300000 m, approachRate: 0.594932 m/s, rangeRepo size: 4  Added new target pos. range: 2.088740 m, bearing: 90.476644 deg, lat: 36.779357 deg, lon: -121.859696 deg, deltaT: 0.504259 s, deltaX: 0.298346 m, approachRate: 0.591651 m/s, posRepo size: 4 jhbhhh*h"h hgfffBdddjd@Zd0)?Bɢ R) %>i!)%ڱ!!i%j iM, M d`m$,7?AxY1y1 99AEAbDMVDM0y} %}I=ٔQ->9Y=FyJEE>Q 5a5*?Q 9a5)BYyQ I@DIg:i:La5y*BɮAĦE B*** querying acoustic contact ***i  i jh1bh1h9h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdm A?DDAT read: Rx Time:05:25:25.6555 TRx dataTimestamp_ set to:1761542726.940939PDAT read: Bearing 163.7, -46.8 (Local) ~Local bearing/azimuth received: Bearing 163.7, -46.8 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.1 DAT read: 05:25:25.6555 LVL= 23696, 14065, 13282, 20899, AGC= 45, IDX= 503,-0.22,-0.302, 2.034, 1.359, 1.617, PHS=-1.817, 0.463,-0.302, RAW= 289.2, 16.3, CAL= 287.7, 23.3, ROT= 222.3, -23.3  Ygot valid direction response: 05:25:25.6555 LVL= 23696, 14065, 13282, 20899, AGC= 45, IDX= 503,-0.22,-0.302, 2.034, 1.359, 1.617, PHS=-1.817, 0.463,-0.302, RAW= 289.2, 16.3, CAL= 287.7, 23.3, ROT= 222.3, -23.3  R#Rx 8: Read range and direction messages.`direction in FSK: [-0.679311,-0.618126,0.395545]Fpublishing direction and range infoy.xL忮!6EFTP?Y@\63 Q)IuiV>@>@ 5>)Ox@I5оz..+&?2Y?  =@)c"Ii5о5checking for new query: numPingsReceived=8, elapsed TxPingTime=6.060049UBɢU@P?)Y ]ԉ>iY)] YYie#i+ ]<ݾ/II!eoM@ @@4@^ApQbE5-4jE5-4rE520E EE+E"E%;*E:VE [4ZEa@a@a@a@BAB>BCB IBBB =BB}DBl;B&+EA% ؟AI9 IQ O] >e checking for new query: numPingsReceived=8, elapsed TxPingTime=6.295775y s$,UБ?Aɰ6?g@6/5u@6>nٱ64 BAHRS rotation from veh to nav: [[-0.770082,0.623903,0.133110],[-0.635290,-0.769013,-0.070894],[0.058132,-0.139158,0.988562]]6H?` ?LT`&í?@M?i6?g@I6];6CYR~ByR IaiMb@Mb@Mb@ 9K?Onÿ~jt?Y^:>y<"A@ A)@YAbDEVDEyj<%+=ٔa9"?Y"?=FyJE E >Q 5a5j!?Q 9a5)BYq>Q E`;yfHQ I@DI*:i:Pa5yiɮm[AiԁiiX8?AJi?Ri?jiʭ?bYUZhe̞-?R.xL忮!6EFTP?Zibi5оjP_{4?K ?g(?ZClV?I?G??2i?:i>"i IA?*iFtBiϩ@ >)NYj@IɾE Added new target pos. range: 1.989221 m, bearing: 77.793208 deg, lat: 36.779349 deg, lon: -121.859696 deg, deltaT: 0.503920 s, deltaX: -0.099519 m, approachRate: -0.197490 m/s, posRepo size: 4 jhIbhIhIhI*hI"hI hIgIfQfQfUBovbKмU7 ? F)ZIg'iɾechecking for new query: numPingsReceived=9, elapsed TxPingTime=6.567615dQddjdZd@١?-Bɢ-q)) ->i))51qiu'i}, }~S<}VmIyIp==ԹE  E E )E "E ;*E :VE FA4ZE BE vu checking for new query: numPingsReceived=9, elapsed TxPingTime=6.799564^A #< A%.AIAIiO ?.|$T,a?A,e@Іs@Zٱ,  AHRS rotation from veh to nav: [[-0.786711,0.607445,0.109983],[-0.615008,-0.786633,-0.054531],[0.053392,-0.110540,0.992436]]H,`0p?'?`%,`u뫿@&V? ^L ?i,e@I];CYEByE IIM=)Ma=bDQVDQy<%"=ٔX9 ?Y ?=FyJEvUE>Q 5a5?Q 9a5 )BYyG@Q I@DIR:ik:TUa5yɮAiiwܑ?AJi@Ri@jiY?b3{|{z?RIۢ鿇 *]ݿcK?Zig'biɾjnl^xR?I?a?ZZR]4?] *? ?2i?:iR?"i'\?*iLtBi&BiiLtiO@ >A@ >))q@I5Bɢ= \)9 =]>i9)="9AiE*@9v?K|Fg? B@)ľI iUchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.075784im+ mIB} CBy By B}  =By B} |DB} l;B} +E @  @ @ 0@ B=CB=CB=ʔCB= =B9C=ʵ6E checking for new query: numPingsReceived=10, elapsed TxPingTime=7.303552Q ^A;iԉIAIYOe?$,q?AF1c@F q@F))ٱFȽ rAHRS rotation from veh to nav: [[-0.810340,0.578900,0.090685],[-0.584496,-0.809511,-0.055287],[0.041404,-0.097806,0.994344]]FHM@Z?@7? 0N2? ?iF1c@IF];FCYzBy Ii=Mb@Mb@Mb@9999 99=x&1?!rhQ?Y=A`>y=l罙=u<=A=;@ =A)=I@9IY=@bDu VDuf2y[<%=DDAT read: Rx Time:05:25:27.1558 TRx dataTimestamp_ set to:1761542728.452820PDAT read: Bearing 143.5, -23.1 (Local) ~Local bearing/azimuth received: Bearing 143.5, -23.1 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.3 DAT read: 05:25:27.1558 LVL= 20128, 13233, 11858, 19059, AGC= 48, IDX= 507, 0.08,-0.726, 1.066, 0.085, 1.030, PHS=-1.655, 0.080,-0.990, RAW= 307.7, 30.9, CAL= 308.6, 36.2, ROT= 201.4, -36.2 Ygot valid direction response: 05:25:27.1558 LVL= 20128, 13233, 11858, 19059, AGC= 48, IDX= 507, 0.08,-0.726, 1.066, 0.085, 1.030, PHS=-1.655, 0.080,-0.990, RAW= 307.7, 30.9, CAL= 308.6, 36.2, ROT= 201.4, -36.2 T#Rx 11: Read range and direction messages.`direction in FSK: [-0.751325,-0.294441,0.590606]Fpublishing direction and range infoy`q q/Yҿ@=?Y@N3R. sJ)I ӿi ף=p}$ګ@ ?Z@ ?!?)I`@I?!ٔ9)Y1=5Fy5!JE5E5>9 Z7,Wx"m? }@)G Il(1i?!Uchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.579666Q 5ea5= ?Q 9ma5=)=BYm|>Q EmW;ym=?Q Im@=DI=;i=;=iZa5yu#Bɮ}Ayii?AJi@Ri@jiJk?bL {Gm}gd?R`q q/Yҿ@=?Zil(1bi?!j2=c?p{3?mKKW?Z!{?M?;?2i?:iN?"ifn?*i|d zBiYBiiii\@i%*?- addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 1.008003 s, deltaX: 0.300000 m, approachRate: 0.297618 m/s, rangeRepo size: 4 = Added new target pos. range: 2.387043 m, bearing: 52.660999 deg, lat: 36.779349 deg, lon: -121.859695 deg, deltaT: 1.008003 s, deltaX: 0.298361 m, approachRate: 0.295992 m/s, posRepo size: 4 jh=eRStopped intercept timer at range: 2.40 m.bhahaha*ha"ha higifififuBdqdqdqjdu@33@Zd}Y?BɢNm)  >i) "i-i,  II!y@ @@0@^AI E EE%E"E;*E5:VE 4ZEBEJ\M checking for new query: numPingsReceived=11, elapsed TxPingTime=7.808015 ċ$,\1?AJ:b@J0p@JٱJ]9ѽ  AHRS rotation from veh to nav: [[-0.818344,0.568033,0.087477],[-0.573630,-0.816671,-0.063223],[0.035527,-0.101918,0.994158]]JH / S-?`d?`-[ +"@i/0?O$?iJ:b@IJ];JCYEByE IbDUVDUβy=%]=ٔ9Y=Fy$JE3E>Q 5a5?Q 9a5)BYy@Q I@DI:i:w]a5yɮ Ajhbhh!h!*h!"h! h!g!f!f)f)d)d)d1jdIZdM-?ԱBɢ<) >i)Mi/i+  II@ @@4@@@gA^ACDDAT read: Rx Time:05:25:27.6559 TRx dataTimestamp_ set to:1761542728.956488DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.4 Z#Rx 12: Read range message, but no direction.yYf&@checking for new query: numPingsReceived=12, elapsed TxPingTime=8.063140IIO J> E  E E #E "E ;*E :VE 3ZE a @a @a @a @Bu >Bq Bu IBu BBu =Bq Bq Bu l;Bu *E9 $,8K?A2a@22o@2ٱ2/ս :AHRS rotation from veh to nav: [[-0.824188,0.560186,0.083097],[-0.565553,-0.821781,-0.069465],[0.029374,-0.104248,0.994117]]2H _@ ?E?L rȱW? @?i2a@I2];2CYNByR I PPchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.311446iMb@Mb@Mb@ 9&1?Q{Gz?Y>yף<A~@ n@)Y@@AbDVDy =% B=ٔ ~o91YQ=UFyU)JE]IE]>aQ 5ma5e?Q 9ma5e)eBYm>Q Em,;ym;Q Iu@eDIe;ie6;e7aa5yyɮ}AyB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503668 s, deltaX: 0.200000 m, approachRate: 0.397087 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffBdddjd@Zdi )eBi%N1iE, IQIQIY9E@@A @A@E4@A^ADDAT read: Rx Time:05:25:28.1562 TRx dataTimestamp_ set to:1761542729.460908PDAT read: Bearing 150.2, 14.2 (Local) ~Local bearing/azimuth received: Bearing 150.2, 14.2 (Local) DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4  DAT read: 05:25:28.1562 LVL= 32752, 13649, 17090, 29891, AGC= 51, IDX= 508,-0.34, 2.692,-2.160, 2.047,-2.604, PHS=-0.885, 0.489,-1.675, RAW= 351.1, 21.1, CAL= 351.1, 25.7, ROT= 158.9, -25.7  Ygot valid direction response: 05:25:28.1562 LVL= 32752, 13649, 17090, 29891, AGC= 51, IDX= 508,-0.34, 2.692,-2.160, 2.047,-2.604, PHS=-0.885, 0.489,-1.675, RAW= 351.1, 21.1, CAL= 351.1, 25.7, ROT= 158.9, -25.7  T#Rx 13: Read range and direction messages. ^direction in FSK: [-0.840663,0.324385,0.433659] Fpublishing direction and range infoyB꿳?x1?Y@@Q5B t)3I\bi5^>ffֿ[@)>[@ L>)5~1@IL復<7sZ 5%L??"g* ? )nI5~1@iL復U checking for new query: numPingsReceived=13, elapsed TxPingTime=8.583990i ֘$,e?Aɰ 60a@6o@6:"Ƽٱ6'۽ >AHRS rotation from veh to nav: [[-0.828641,0.554080,0.079680],[-0.559258,-0.825587,-0.075078],[0.024184,-0.106774,0.993989]]6H@:?e?`p5kH8Ø?U`?i60a@I6f];6CYNByR IbDZVDZ:yf=%fa=ٔfhj9hYh=jFyj,JEjEn>)Ee EeEaEa"Ee;*Ee:VEaZEaBEe/N@Ri>@jih<>b{sT*?b?RB꿳?x1?Zi5~1@biLjH@K5?] Y?Z &?Pb?-?2i?:i-@"i՝?*iZnBiBi'\?iii@it? addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504420 s, deltaX: 0.400000 m, approachRate: 0.792990 m/s, rangeRepo size: 4  Added new target pos. range: 2.983774 m, bearing: 10.558140 deg, lat: 36.779349 deg, lon: -121.859695 deg, deltaT: 1.008088 s, deltaX: 0.596732 m, approachRate: 0.591944 m/s, posRepo size: 4 jhbhhh*h"h hg f f1f1d1d1d9jd=@Zd=`?i颵߁Bɢ<) M>i)=e项i3i+ IIchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.816140>@ @@/@ԡ^A & IA IQ Oe > DDAT read: Rx Time:05:25:28.6562  TRx dataTimestamp_ set to:1761542729.964404 DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4  Z#Rx 14: Read range message, but no direction.y Y  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.071015$$,~?A2`@2n@2\<ٱ2 :AHRS rotation from veh to nav: [[-0.831388,0.550252,0.077566],[-0.555356,-0.827603,-0.081561],[0.019315,-0.110885,0.993645]]2H?Y۳? z@{`,ᴿ:Ǔ?b?i2`@I2];2CLYRÂByR IbDZVDZ0ybd=%bK=ٔfE9dYd=fFyj0JEjAEj>9Q 5Ea5=圊?Q 9Ea5=)=ϽBYAyEBCB IBBB =BBzDB`m;BR+E܁Bɢ$<) >i)d朼iՂ5i, III)%checking for new query: numPingsReceived=14, elapsed TxPingTime=9.320072?@ @@@@>@ >^AmE21 A ؟AI I O >L$,ǘ?A2O`@2n@2sٱ2 >AHRS rotation from veh to nav: [[-0.832186,0.549373,0.075204],[-0.554297,-0.827840,-0.086236],[0.014881,-0.113450,0.993432]]2HE@v?@? ̼}y? `2?i2O`@I2];2CYFӂByF IIH)J=N=N=|DDAT read: Rx Time:05:25:29.1565 TRx dataTimestamp_ set to:1761542730.468779PDAT read: Bearing 183.8, -6.9 (Local) ~Local bearing/azimuth received: Bearing 183.8, -6.9 (Local) DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 DAT read: 05:25:29.1565 LVL= 14992, 9697, 13746, 20771, AGC= 47, IDX= 511, 0.13, 0.846, 3.117, 1.211, 1.699, PHS=-0.750, 1.463,-0.532, RAW= 324.9, -1.7, CAL= 323.8, -4.8, ROT= 186.2, 4.8 Ygot valid direction response: 05:25:29.1565 LVL= 14992, 9697, 13746, 20771, AGC= 47, IDX= 511, 0.13, 0.846, 3.117, 1.211, 1.699, PHS=-0.750, 1.463,-0.532, RAW= 324.9, -1.7, CAL= 323.8, -4.8, ROT= 186.2, 4.8 T#Rx 15: Read range and direction messages.bdirection in FSK: [-0.990664,-0.107621,-0.083678]Fpublishing direction and range infoy+B.U]kY`@:%5 #Q)/I@iC?'1Yu@ش@ )O@I=i5Mb@Mb@Mb@111q¿ڿ_5 oG-)7y5^5`e<5EA5h@ 5X@)5`@1Y5Q@bD}VD}:y=%%=ٔ9"?Y"?=Fy5JE,E>Q 5a5"ٜ?Q 9 a52)ֽBY >Q E ;y s4Q I @DI;i;;la5yɮMA)iiz?AJi^@Ri^@jig4?b̛1h (\׿81JҿR+B.U]kZi"Bbi=jTC"@?@*W`ӿZ\I?JT]? l2i@:i)@"iŷ?*i,kBi;Bifn?iiiC&@iEQ? addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.504375 s, deltaX: 0.500000 m, approachRate: 0.991326 m/s, rangeRepo size: 4  Added new target pos. range: 3.480939 m, bearing: 40.376810 deg, lat: 36.779351 deg, lon: -121.859695 deg, deltaT: 1.007871 s, deltaX: 0.497164 m, approachRate: 0.493282 m/s, posRepo size: 4 jhbhhh*h"h hg f f f Bdddjd @Zd?颅فBɢ<) _>i),顉i7i+ IIQY@Y @Y@Y@YE EE'E"E ;*E?:VE'4ZEBEL$,PR?A$$bS`@bn@b$-ٱb ~AHRS rotation from veh to nav: [[-0.831825,0.550654,0.069620],[-0.554937,-0.827494,-0.085431],[0.010568,-0.109698,0.993909]]bHO`?ұ? z޵v? 0?ibS`@Ibe];bCY By!IbDVDNy5=%J=ٔ29 ?Y ?=Fy9JE(:E>Q 5-a5dΜ?Q 95a5Q)۽BY1y5j4Q I5@DI#:i:oa5y=BɮEAE¦Ejhbhhh*h"h hgfffdddjdZd@ ? ׁBɢ "!<)  ?i)bi8i, IIADDAT read: Rx Time:05:25:29.6565 TRx dataTimestamp_ set to:1761542730.973487PDAT read: Bearing 193.4, -15.3 (Local) ~Local bearing/azimuth received: Bearing 193.4, -15.3 (Local) DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 5DAT read: 05:25:29.6565 LVL= 23024, 11425, 18418, 24867, AGC= 47, IDX= 512,-0.18, 1.585,-2.327, 2.400, 2.372, PHS=-0.685, 1.630,-0.016, RAW= 313.7, -9.0, CAL= 313.6, -12.7, ROT= 196.4, 12.7 MYgot valid direction response: 05:25:29.6565 LVL= 23024, 11425, 18418, 24867, AGC= 47, IDX= 512,-0.18, 1.585,-2.327, 2.400, 2.372, PHS=-0.685, 1.630,-0.016, RAW= 313.7, -9.0, CAL= 313.6, -12.7, ROT= 196.4, 12.7 MT#Rx 16: Read range and direction messages.ebdirection in FSK: [-0.935844,-0.275434,-0.219846]eFpublishing direction and range infoynni>ѿF#̿YY,G #a)I)\/iף?o4@| %@ b)a[@Ib>d 1}΍ͿaĿ  9)!>I26ib>checking for new query: numPingsReceived=16, elapsed TxPingTime=10.101579@@ @@/@^A) BM <AM <BU >BU CBU IBU ӂBBU  =BQ BU yDBU 5n;BU +EE  E E &E "E l;*E :VE 4ZE BE XF<2E YF<JE ;:E ;AI IY u checking for new query: numPingsReceived=16, elapsed TxPingTime=10.327546Ii O >ճ$,В?A iYBy!I 11G9Y |Aԙi5Mb@Mb@Mb@1111 195(\?"~jMb?Y5>y5S㽙5=5rA5;@ 5@)5@1Y1bDVDk1DDAT read: Rx Time:05:25:30.1565 TRx dataTimestamp_ set to:1761542731.476369DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 Z#Rx 17: Read range message, but no direction.yYchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.583130yo<% =ٔ Q- >9Y=Fy?JE=E=>AQ 5Ma5E?Q 9Ma5EԨ)EBYMڷ>Q EU;yU6Q I@E DIEѿF#̿Zi26bib>j'1@pd?T@TbOBZâF?^?{^ɿ2i*@:i9@"i.Iq?*i"bBiBi.Iq?ii&Bi:@iZ@? addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 1.007590 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.480895 m, bearing: 51.401579 deg, lat: 36.779351 deg, lon: -121.859695 deg, deltaT: 1.007590 s, deltaX: -0.000044 m, approachRate: -0.000043 m/s, posRepo size: 4 jhbhhh*h"h hgff f ׁBd d d jd) Zd- @'?u ӁBɢ} CY<)y }  ?iy )} $㐼顁 i :i + I I a>i > = ?@9  @A @E /@A @I @M fA checking for new query: numPingsReceived=17, elapsed TxPingTime=10.835624^AE#!Au؟AIIO?袼$,.?ABDUa@BJo@BhٱB{ NAHRS rotation from veh to nav: [[-0.826821,0.559833,0.054342],[-0.562453,-0.823547,-0.073596],[0.003552,-0.091416,0.995806]]BHRu'?ҫ? `Z0ײ`m?`g?iBDUa@IB];BCnCns@ilIlnJrC ppppvsCtIt)tit)tIz1jAzzYF &Cii CjA)! !I! !)!!))Y)YUByU!IbDmVDm:y}ǥ=%}O=ٔ}9"?Y"?=FyCJE<E>ԱQ 5a5`?Q 9a5)BYyu6Q I@DIF:i:4xa5yɮA B*** querying acoustic contact ***i  i jhbhhh*h"h! h!g!f!f!f)d)ddjdZd ?сBɢ<) X?i)$i;i, II DDAT read: Rx Time:05:25:30.6568 TRx dataTimestamp_ set to:1761542731.981677DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 Z#Rx 18: Read range message, but no direction.yYy@checking for new query: numPingsReceived=18, elapsed TxPingTime=11.089696@@ @@@ ^A FӅB% ٿ>B% CB% !IB% BB%  =B! B% xDB% n;B% +EE  E E 'E "E %;*E :VE '4ZE BE K<2E K<JE <:E I$,g?AV|a@V o@VٱVc- ^AHRS rotation from veh to nav: [[-0.822573,0.566748,0.046588],[-0.568659,-0.819895,-0.066328],[0.000606,-0.081052,0.996710]]VHR"?`]ڧ?t2< C?ֿ ?iV|a@IV>];VCY By,!Ii}Mb@Mb@Mb@yyyy y9}x&1?7A`¿y&1?Y}>y}}`<}3A}Q@ }@)}@yY}f@bDVDy_=%)=ٔ;Q->9 ?Y ?=FyHJE <E>Q 5a5?Q 9a5)BY&>Q E;y9Q I@DI` ;i ;a|a5yBɮ9AE addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.505308 s, deltaX: 0.400000 m, approachRate: 0.791597 m/s, rangeRepo size: 4 jhbhhh *h "h  h g f ffցBdddjd@33@Zd+?MρBɢMm<)Q U5?iQ)UeՈQQiUT^=i]+ YaIaIa@ @@/@uDDAT read: Rx Time:05:25:31.1571 }TRx dataTimestamp_ set to:1761542732.484740PDAT read: Bearing 169.1, -20.0 (Local) ~Local bearing/azimuth received: Bearing 169.1, -20.0 (Local) DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 DAT read: 05:25:31.1571 LVL= 32752, 18081, 31218, 32755, AGC= 58, IDX= 500, 0.30, 1.028,-3.046, 1.838, 2.377, PHS=-1.247, 0.905,-0.583, RAW= 312.5, 9.7, CAL= 310.7, 11.4, ROT= 199.3, -11.4 Ygot valid direction response: 05:25:31.1571 LVL= 32752, 18081, 31218, 32755, AGC= 58, IDX= 500, 0.30, 1.028,-3.046, 1.838, 2.377, PHS=-1.247, 0.905,-0.583, RAW= 312.5, 9.7, CAL= 310.7, 11.4, ROT= 199.3, -11.4 T#Rx 19: Read range and direction messages.`direction in FSK: [-0.925181,-0.323994,0.197657]Fpublishing direction and range infoyquݔd[PԿg4L?Yǔ@quuFuy u)u:Iuiug?u}?un@u-\->u@ u%K>)uȞ^@Iu%Kqq!uxnMν;˿XH? u8#;)u6-Iu3iu%Kqq5checking for new query: numPingsReceived=19, elapsed TxPingTime=11.612375^A Q A- ؟AIA IQ O} >-$,)?AbE4jE 4rE 0EV EVEV&ET"EV;*EV :VEV4ZETBEV]<2EV]<JEVc%<:EVc%9M"?YM"?=UFyULJEU<E]>Q 5a5M?Q 9a5checking for new query: numPingsReceived=19, elapsed TxPingTime=11.839779)BYy9Q I@DIū;ij;a5yɮAiyi}?AJi}@Ri}@ji}o?b}.I<1ʂ.h?R}ݔd[PԿg4L?Zi}3bi}%Kj}$$m33@4 @x8?Z}C\ w?`5Mn$?զ4?2i} \@:i}!@"i}#k?*i}ޥQBi} Biyi},ki}Bi}_e@i}B?M addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503063 s, deltaX: 0.500000 m, approachRate: 0.993911 m/s, rangeRepo size: 4  Added new target pos. range: 4.375844 m, bearing: 53.705701 deg, lat: 36.779351 deg, lon: -121.859691 deg, deltaT: 1.008371 s, deltaX: 0.894949 m, approachRate: 0.887520 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@Zda? ́Bɢ f<)  g$?i )EIIiu>i, II1@ @@0@Y] DDAT read: Rx Time:05:25:31.6569 ] TRx dataTimestamp_ set to:1761542732.988691e PDAT read: Bearing 168.7, -10.1 (Local) u ~Local bearing/azimuth received: Bearing 168.7, -10.1 (Local)  DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 ^A  DAT read: 05:25:31.6569 LVL= 31088, 24945, 32754, 32755, AGC= 62, IDX= 501,-0.36, 1.786,-2.441, 2.243, 2.985, PHS=-1.097, 0.902,-0.786, RAW= 321.7, 10.5, CAL= 320.5, 12.2, ROT= 189.5, -12.2  Ygot valid direction response: 05:25:31.6569 LVL= 31088, 24945, 32754, 32755, AGC= 62, IDX= 501,-0.36, 1.786,-2.441, 2.243, 2.985, PHS=-1.097, 0.902,-0.786, RAW= 321.7, 10.5, CAL= 320.5, 12.2, ROT= 189.5, -12.2  T#Rx 20: Read range and direction messages. `direction in FSK: [-0.964011,-0.161320,0.211325] Fpublishing direction and range infoyY ] 3T.1Z$Ŀ\ ?Y] 3@Y ] py] qa]  Y )] >I] ji] yf?] L7I] ӫ@] f;>] ?@ ] ^ Z>)] mS@I] ^ ZY Y ] ;h8@u@׿Lqw+m? ] 0)] Tyi] ^ ZY Y 5 checking for new query: numPingsReceived=20, elapsed TxPingTime=12.119092ԁ A I I O >)$,D?A<<ԹAABտ>BCB(!IBBB =BBwDBn;B+EBeCBeCBe•CBe =Be =Ce§~6E% E%E%%E!"E%f;*E%:VE% 4ZE!BE%W<2E%W<JE%<:E%y949<A@ @)@Y@bD- VD-2y<%=ٔQ->9Y=FyQJEE>Q 5a5?Q 9a53) BY>Q E:ybi^ Zj̖O@V@,YW?Zb~??PwLk?2i0@:in7@"i(7u?*i,dBiBi(7u?i,diBiE~@iC?e addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503951 s, deltaX: -0.300000 m, approachRate: -0.595296 m/s, rangeRepo size: 4  Added new target pos. range: 4.077437 m, bearing: 43.829342 deg, lat: 36.779352 deg, lon: -121.859688 deg, deltaT: 0.503951 s, deltaX: -0.298407 m, approachRate: -0.592135 m/s, posRepo size: 4 jhAbhAhIhI*hI"hI hIgIfIfQfUBdQdQdYjd]`ff@Zd]@m?ʁBɢt<) j(?i)|iJ@i+ II @  @ @ /@ 9  DDAT read: Rx Time:05:25:32.1571  TRx dataTimestamp_ set to:1761542733.492613 PDAT read: Bearing 172.8, -0.3 (Local)  ~Local bearing/azimuth received: Bearing 172.8, -0.3 (Local)  DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4  DAT read: 05:25:32.1571 LVL= 32752, 32737, 32754, 32755, AGC= 61, IDX= 503, 0.31,-2.194,-0.259,-2.074,-1.218, PHS=-0.874, 1.005,-0.900, RAW= 330.7, 8.2, CAL= 330.0, 8.4, ROT= 180.0, -8.4  Ygot valid direction response: 05:25:32.1571 LVL= 32752, 32737, 32754, 32755, AGC= 61, IDX= 503, 0.31,-2.194,-0.259,-2.074,-1.218, PHS=-0.874, 1.005,-0.900, RAW= 330.7, 8.2, CAL= 330.0, 8.4, ROT= 180.0, -8.4  T#Rx 21: Read range and direction messages. `direction in FSK: [-0.989272,-0.000000,0.146083] Fpublishing direction and range infoy  $sᅥ37w/8ٲ?Y ̌@   ) =I w_i ף? fff @ C> N@ Q >) I@I Q   Q6=n)ثe4? <&) #I Ii Q  - checking for new query: numPingsReceived=21, elapsed TxPingTime=12.611261a^AAIIO ?$,Lh?A@DPDR=e:e@e/s@eQt)<ٱeVXE} E}EyEy"E}~ ;*E}:VEyZEyBE}V<2E}V<JE}<:E}< AHRS rotation from veh to nav: [[-0.791057,0.611264,0.024175],[-0.611655,-0.789658,-0.048150],[-0.010342,-0.052876,0.998548]]eHWPz?I?@D`q.?ie:e@Ie(^;eCY ByH!IbDVDy<%9=ٔ=9AYA=EFyEVJEM=EM>Q 5a5s?Q 9a5^)BYy*:Q I@*DIs7a5yɮSAUchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.847491ԩi)i-_?AJi-@Ri-@ji-~&?b-ʆQPD1et?R-$sᅥ37w/8ٲ?Zi-Ibi-Q j-ƶ @q>@$,@?Z-4'?HM#?~x)?2i-|'@:i-%\@"i-ĕ?*i-iBi-~Bi)i)i-~Bi-{@i-=? addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503922 s, deltaX: 0.300000 m, approachRate: 0.595331 m/s, rangeRepo size: 4 u Added new target pos. range: 4.375787 m, bearing: 37.263542 deg, lat: 36.779352 deg, lon: -121.859688 deg, deltaT: 0.503922 s, deltaX: 0.298349 m, approachRate: 0.592055 m/s, posRepo size: 4 jhqbhqhqhq*hq"hq hygyfyfyfyddd!jd-@Zd5 ?颕ȁBɢ(<) +?i)qi hAi, m><|II?@ @@@  DDAT read: Rx Time:05:25:32.6572  TRx dataTimestamp_ set to:1761542733.996664 PDAT read: Bearing 175.5, 13.6 (Local)  ~Local bearing/azimuth received: Bearing 175.5, 13.6 (Local) - DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed -0.4 M DAT read: 05:25:32.6572 LVL= 32032, 24145, 27762, 28003, AGC= 59, IDX= 504, 0.20,-0.855, 0.910,-1.268,-0.147, PHS=-0.606, 1.101,-1.166, RAW= 343.7, 6.6, CAL= 343.5, 5.8, ROT= 166.5, -5.8 U Ygot valid direction response: 05:25:32.6572 LVL= 32032, 24145, 27762, 28003, AGC= 59, IDX= 504, 0.20,-0.855, 0.910,-1.268,-0.147, PHS=-0.606, 1.101,-1.166, RAW= 343.7, 6.6, CAL= 343.5, 5.8, ROT= 166.5, -5.8 ] T#Rx 22: Read range and direction messages.e ^direction in FSK: [-0.967392,0.232250,0.101056]e Fpublishing direction and range infoy  Θ8`?+hg޹?Y @ } Q^ rl cm) ;I "i ? }? S@ = ؿ@ 4Q=) w9@I 4QϽ 5G~? :) |I w9@i 4QϽ  checking for new query: numPingsReceived=22, elapsed TxPingTime=13.115615^A 1 AIIO >$, B)B-;!IB-BB- =B)B)B-n;B-,EEu EuEu)Eq"Eu;*Eu:VEuFA4ZEqBEue<2Eue<JEu<:Eu<ԩ]ef@]4[t@]P<ٱ]J. AHRS rotation from veh to nav: [[-0.779722,0.625904,0.016696],[-0.625997,-0.778740,-0.041147],[-0.012752,-0.042535,0.999014]]]Hz@g??)@o`* ǥ`?i]ef@I]Q^;]CY%ByM!I AiMb@Mb@Mb@ 9@5^I ?+ǿMb?Yb>yv><dA@ )@Yf@checking for new query: numPingsReceived=22, elapsed TxPingTime=13.351488bDVD:y<%=ٔ;;Q->9Y=Fy[JE =E>Q 5a5f`?Q 9a5)BY%B>Q E%:y%9Q I%@2DI&b!,C1QB?iLN?RΘ8`?+hg޹?Ziw9@bi4QϽjsA"@aLH"?l~?Ẑ?E?Qy?2i?:i@"i,rP?*ij~BiBiiiiD@i(7? addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.504051 s, deltaX: 0.100000 m, approachRate: 0.198392 m/s, rangeRepo size: 4  Added new target pos. range: 4.475217 m, bearing: 25.013419 deg, lat: 36.779352 deg, lon: -121.859688 deg, deltaT: 0.504051 s, deltaX: 0.099430 m, approachRate: 0.197262 m/s, posRepo size: 4 jhbhhh*h"h hg!f!fYf]Bdaddjd@Zd@ZG?ƁBɢ ~<)  P/?i )(fitBi+ B4<7qII!@@ @@/@^A ~ e DDAT read: Rx Time:05:25:33.1577 e TRx dataTimestamp_ set to:1761542734.501281u PDAT read: Bearing 188.3, 22.0 (Local) u ~Local bearing/azimuth received: Bearing 188.3, 22.0 (Local)  DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4  DAT read: 05:25:33.1577 LVL= 23504, 16513, 25746, 24563, AGC= 59, IDX= 507, 0.08, 2.018,-2.694, 1.270, 2.246, PHS=-0.126, 1.388,-1.020, RAW= 351.5, -2.3, CAL= 351.1, -5.3, ROT= 158.9, 5.3  Ygot valid direction response: 05:25:33.1577 LVL= 23504, 16513, 25746, 24563, AGC= 59, IDX= 507, 0.08, 2.018,-2.694, 1.270, 2.246, PHS=-0.126, 1.388,-1.020, RAW= 351.5, -2.3, CAL= 351.1, -5.3, ROT= 158.9, 5.3  T#Rx 23: Read range and direction messages. `direction in FSK: [-0.928965,0.358458,-0.092371] Fpublishing direction and range infoya e Vvy?{]UYe @a e [e @e d e _)a Ie %ie ?e \e P@e l$e [@ e q)e 5~1@Ie q=a a e ЧrBH UA¤ e f|)e S"&=Ie 5~1@ie q=a a  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.620434A I I! O5 >$,?ADɰD%b{w8G:?4(߿RVvy?{]UZi5~1@biq=jSlH{u@;GF?Aq޿Z'%?j0?75`ֶ2i6?:i@"i(/?*i|*Bi5Biĕ?iiii @i>? addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504617 s, deltaX: 0.800000 m, approachRate: 1.585361 m/s, rangeRepo size: 4 } Added new target pos. range: 5.270812 m, bearing: 18.949312 deg, lat: 36.779355 deg, lon: -121.859690 deg, deltaT: 0.504617 s, deltaX: 0.795595 m, approachRate: 1.576631 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@33@ZdbF?E EE'E"E;*Ev:VE'4ZEBEo<2Eo<JE;:E;EŁBɢe=&=)i mG0?ii)mĈ_iiiuCiu, u.<}aIyIy)=?@A @A@E/@Achecking for new query: numPingsReceived=23, elapsed TxPingTime=13.856531Y^A Q|y A I I O >5$,u?A2h@2v@2 <ٱ2R͎ >AHRS rotation from veh to nav: [[-0.754734,0.656029,-0.001285],[-0.655814,-0.754534,-0.024209],[-0.016851,-0.017429,0.999706]]2H&@1? Un$%,ʘjAؑ?i2h@I2,;^;2CYF"ByFJ!IbDLVDLyV%VS=ٔV;Q-Z>9XYX=^Fy^cJE^Q=E^>`Q 5fa5bE?Q 9fa5bI)bBYdyj6Q Ij@bBCBA!IBBB =BBxDBo;B,EE EE&E"ET;*EZ:VE4ZEBEG<2EG<JE#;:E$; AE.AIQIaOu> checking for new query: numPingsReceived=24, elapsed TxPingTime=14.3595059 $,>ד?AYrByr3!IIv<)vpyE`;X@@ @)@Yp@bD VD2yĬ%<=ٔQ->9 ?Y ?=FygJEE>Q 5a5c6?Q 9a5)BY>Q E:y8Q I@BDI;:i7:a5yɮAiiN?AJi@Ri@ji1?b5ԥԞD?o?RtcV[ɇ:?NGY;?Zi<@bi޹j$^ ]@ Ἡ@'?Z?\?@ ޝD?2iM%@:i@"i~+@?*i5oBipBi,rP?i5oiBi@if?- addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.503517 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 5.270930 m, bearing: 29.362651 deg, lat: 36.779358 deg, lon: -121.859693 deg, deltaT: 0.503517 s, deltaX: 0.000118 m, approachRate: 0.000235 m/s, posRepo size: 4 jhAbhAhAhA*hA"hI hIgIfIfQfÚBdYdYdYjdYZde?颍Bɢ=) &?i)֎N顑iSEi,  <^TIIe>i!>-@@) @)@-1@)uDDAT read: Rx Time:05:25:34.1578 }TRx dataTimestamp_ set to:1761542735.508993PDAT read: Bearing 180.2, 11.4 (Local) ~Local bearing/azimuth received: Bearing 180.2, 11.4 (Local) DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 DAT read: 05:25:34.1578 LVL= 30432, 17969, 32466, 32755, AGC= 58, IDX= 508, 0.42, 1.005, 2.630, 0.765, 1.694, PHS=-0.588, 0.980,-0.974, RAW= 340.7, 6.5, CAL= 340.5, 5.8, ROT= 169.5, -5.8 Ygot valid direction response: 05:25:34.1578 LVL= 30432, 17969, 32466, 32755, AGC= 58, IDX= 508, 0.42, 1.005, 2.630, 0.765, 1.694, PHS=-0.588, 0.980,-0.974, RAW= 340.7, 6.5, CAL= 340.5, 5.8, ROT= 169.5, -5.8 T#Rx 25: Read range and direction messages.^AyaAM^direction in FSK: [-0.978221,0.181303,0.101056]MFpublishing direction and range infoyquzLϖMգ4?+hg޹?Yu̬@quvu1Fu~ u)qIu+iuHz?uXyudH@uV=u+@ u4Q=)uTU=@Iu4QϽqqu p迪`X2jC2? u)uIuTU=@iu4QϽqqchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.656981A1I9IQO]v>qE  E E 'E "E ;*E 5:VE '4ZE a @a @a @a @ԙ  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.863413$,mW?A2ƃk@2iyy@2<ٱ2'eo: AHRS rotation from veh to nav: [[-0.727122,0.686324,-0.015896],[-0.686187,-0.727295,-0.013745],[-0.020995,0.000913,0.999779]]2HD^?@G ? F@&`M?0?i2ƃk@I2^;2CYBy+!IbDMVDMYyeV%e==ٔeh9iYi=mFymkJEu=Eu>yQ 5a5}3'?Q 9a5})yYy5Q I@}HDI}R:i}:}ߚa5yBɮAȦEiiW?AJiګ@Riګ@ji?bwB(?R7]?RzLϖMգ4?+hg޹?ZiTU=@bi4QϽj4`!@&$@.?Z/ ?ݛ">7?bmx)*?2i8@:iX@"i7z?*iyiBiWBiiiiӬ@i/? addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504195 s, deltaX: 0.100000 m, approachRate: 0.198336 m/s, rangeRepo size: 4  Added new target pos. range: 5.370381 m, bearing: 32.821588 deg, lat: 36.779358 deg, lon: -121.859693 deg, deltaT: 0.504195 s, deltaX: 0.099452 m, approachRate: 0.197248 m/s, posRepo size: 4 jhbhhh*h"h hgfffdd d jd @Zd  %!?颕Bɢ<<) #?i)0HE顡ixEi+ ,<.IIe?@a @a@e4@iԑeDDAT read: Rx Time:05:25:34.6579 eTRx dataTimestamp_ set to:1761542736.012756uPDAT read: Bearing 183.3, 19.7 (Local) u~Local bearing/azimuth received: Bearing 183.3, 19.7 (Local) DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed -0.4 DAT read: 05:25:34.6579 LVL= 32752, 21089, 32530, 32755, AGC= 57, IDX= 509, 0.03,-1.361, 0.146,-1.926,-0.835, PHS=-0.424, 1.026,-1.135, RAW= 348.8, 5.6, CAL= 348.6, 4.2, ROT= 161.4, -4.2 Ygot valid direction response: 05:25:34.6579 LVL= 32752, 21089, 32530, 32755, AGC= 57, IDX= 509, 0.03,-1.361, 0.146,-1.926,-0.835, PHS=-0.424, 1.026,-1.135, RAW= 348.8, 5.6, CAL= 348.6, 4.2, ROT= 161.4, -4.2 T#Rx 26: Read range and direction messages.^direction in FSK: [-0.945223,0.318103,0.073238]Fpublishing direction and range infoyae>݌D?[??Ye3@aeeaRe a)e9IeپieS?eGe@e+=e@ eQ =)eI4@IeQ aaeV~'ރ8u$*? eN)eɽIeI4@ieQ aachecking for new query: numPingsReceived=26, elapsed TxPingTime=15.131601Ա^A `A ؟AI I O >̞%, ?ABٿ>BB.!IB BB =BBBn;B+EEJ EJEJ)EH"EJ ;*EJy:VEJFA4ZEHBEJRyM33MĻM+@M3@ M`@)IIYM@bDeVDeyQ%:=ٔ;Q->9"?Y"?=FypJEb?=E>Q 5a5?Q 9a5)BYE>Q EM:yM1Q IM@ODI*@b< .]/vX??R>݌D?[??ZiI4@biQ js@l a@~Y+?Z3? ?p1\?2i @:i@"i>ֺ?*iQFwBiBi~+@?iQFwiiذ@iV>% addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.503763 s, deltaX: 0.200000 m, approachRate: 0.397012 m/s, rangeRepo size: 4 5 Added new target pos. range: 5.569259 m, bearing: 25.914792 deg, lat: 36.779359 deg, lon: -121.859696 deg, deltaT: 0.503763 s, deltaX: 0.198877 m, approachRate: 0.394784 m/s, posRepo size: 4 jhYbhYhYhY*hY"hY hYgYfafafeBdadidijdm`ff@Zdm?]Bɢ]<)Y ]W#?iY)e:aaieT?Fim, m E@ 'g>) aF2@I 'g Q'B 俊}UTdY3? 7) 8fI aF2@i 'g  checking for new query: numPingsReceived=27, elapsed TxPingTime=15.658364A I I) O= >"%,$?A6"n@6X|@6<ٱ6; ^AHRS rotation from veh to nav: [[-0.698365,0.715452,-0.020382],[-0.715323,-0.698647,-0.014319],[-0.024485,0.004580,0.999690]]6H@Y? !ߔQ[S@Dr?@u?i6"n@I6^;6CYjByz!IbDVDkyĽ%=ٔ;Q- ?9Y=Fy%sJE%=E%?)Q 5a5-8 ?Q 9a5-0)-BYyo0Q I@-SDI- b/4,+E@W:?RV^^ʟ|?]^|5?ZiaF2@bi'gjm@vr@hMz?ZDyz?`?>R?2i@:i3@"iZ1A?*i AxBisBi>ֺ?iiBiA@i}> addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504267 s, deltaX: 0.400000 m, approachRate: 0.793231 m/s, rangeRepo size: 4 AM Added new target pos. range: 5.967063 m, bearing: 25.212701 deg, lat: 36.779359 deg, lon: -121.859696 deg, deltaT: 0.504267 s, deltaX: 0.397804 m, approachRate: 0.788876 m/s, posRepo size: 4 jhQbhQhQhQ*hQ"hQ hQgYfYfYfYDzDE EE$E"E;*E:VE4ZEa@a@a@a@daddjd@Zd?Bɢu=) ?i)3!!i%Fi-+ -0<-cJI)I1checking for new query: numPingsReceived=27, elapsed TxPingTime=15.871816y@ @@4@ ^A04ԡ AQ Ia Iq O} >%,zo>?A2k`o@2V}@2<ٱ2tq; :AHRS rotation from veh to nav: [[-0.684336,0.728878,-0.020543],[-0.728700,-0.684634,-0.016492],[-0.026085,0.003683,0.999653]]2HR? Q@`㐿 +n? (?9tYt=vFyvwJEvfH=Ez>xQ 5=a5z?Q 9Ea5z)zBYAyE2/Q IE@zXDIz:izQ:za5yIɮMAQeDDAT read: Rx Time:05:25:35.6582 eTRx dataTimestamp_ set to:1761542737.020824uPDAT read: Bearing 165.7, 7.0 (Local) u~Local bearing/azimuth received: Bearing 165.7, 7.0 (Local) DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 DAT read: 05:25:35.6582 LVL= 30576, 28913, 32754, 32755, AGC= 59, IDX= 512, 0.10, 1.854,-3.020, 1.819, 2.843, PHS=-0.888, 0.465,-1.068, RAW= 336.2, 20.0, CAL= 336.1, 24.6, ROT= 173.9, -24.6 Ygot valid direction response: 05:25:35.6582 LVL= 30576, 28913, 32754, 32755, AGC= 59, IDX= 512, 0.10, 1.854,-3.020, 1.819, 2.843, PHS=-0.888, 0.465,-1.068, RAW= 336.2, 20.0, CAL= 336.1, 24.6, ROT= 173.9, -24.6 T#Rx 28: Read range and direction messages.^direction in FSK: [-0.904088,0.096619,0.416281]Fpublishing direction and range infoyaefI쿅q ?7X?Yaaepwepa a)e;IeScie{>e9eĻ@e¸>e@ e>)e?B@Ie۾aaep5Hs;u^ۿ3)K1? e )e_Ie?B@ie۾aachecking for new query: numPingsReceived=28, elapsed TxPingTime=16.139986iaie.UA?AJiaRiajie-5?beD9z r?P-@RefI쿅q ?7X?Zie?B@bie۾jeyz>@4i @$/e@Ze:A>?-վ?V&1*?2ie_@:ie@"ieV?*ie\; ^Bie*Bie~+@?ie5oieWBiez@ie[> addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503801 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 5.967063 m, bearing: 40.719882 deg, lat: 36.779359 deg, lon: -121.859693 deg, deltaT: 0.503801 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhbhhh*h"h hgf f)f)d1d1d1jd1Zd5@x?颥BɢB=)ԩ j?i) ,  i  Gi, } <qII!@! @)@-/@1AAAABeڿ>BaBe!IBeBBe =BaBaBe4n;Be+EE EE&E"E%;*Eh:VE4ZEBE K0%,MH[?AYׂBy IiMb@Mb@Mb@ 9Q?DlMbY(>yO @`@ @)@Y@bDVD0y̘%*=ٔQ->9Y=Fy|JEE>Q 5a5?Q 9a5) BY]>Q E:y(Q I@_DI;i:)a5yBɮAƦEB*** querying acoustic contact ***i ijh!bh)h)h)*h)"h) h)g)f1f1f5Bd1d9d9jd9Zd=?mBɢm$<)i m ?iq)u%qqiu'Gi}+ }W<}l:III)DDAT read: Rx Time:05:25:36.1583  TRx dataTimestamp_ set to:1761542737.525165}PDAT read: Bearing 186.2, 11.7 (Local) }~Local bearing/azimuth received: Bearing 186.2, 11.7 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 @ @@/@@=@>-DAT read: 05:25:36.1583 LVL= 25920, 17169, 30562, 32755, AGC= 59, IDX= 3,-0.13,-2.859,-1.148,-3.110,-2.137, PHS=-0.620, 1.034,-1.018, RAW= 340.5, 6.5, CAL= 340.3, 5.7, ROT= 169.7, -5.7 Ygot valid direction response: 05:25:36.1583 LVL= 25920, 17169, 30562, 32755, AGC= 59, IDX= 3,-0.13,-2.859,-1.148,-3.110,-2.137, PHS=-0.620, 1.034,-1.018, RAW= 340.5, 6.5, CAL= 340.3, 5.7, ROT= 169.7, -5.7 T#Rx 29: Read range and direction messages.^direction in FSK: [-0.979020,0.177918,0.099320]Fpublishing direction and range infoy  V"T?hܸm?Y f@ ^A) @e C bw ) I Ri Z? M +@ V= 3@ %=) =@I %˽   (5*迗jy俚Ҽ?  )  I =@i %˽  =checking for new query: numPingsReceived=29, elapsed TxPingTime=16.700624AII!O-p>bEjE24rE.0Ee EeEe$Ea"Ee ;*EeǙ:VEe4ZEaau@au@au@a}@1  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.879522ң%,u?A fϪq@fr@f`<ٱfcG nAHRS rotation from veh to nav: [[-0.657791,0.753072,-0.013947],[-0.752685,-0.657912,-0.024830],[-0.027875,-0.005835,0.999594]]fH )? I l`(w`?ifϪq@If"^;fCYzɂByz II|)~<bDVD02y%W=ٔ;Q->9!Y!=%Fy%JE%==E->1Q 5=a55{㛊?Q 9=a55)5BY9y=h&Q I=@5eDI5:i5:5ya5yAɮM}AIiAiENa?AJiEO@RiEO@jiE+?bEw~%dFy?^Θ?REV"T?hܸm?ZiE=@biE%˽jEa:\'@?>#t@U^?ZEE?Qĭ5?6g?2iEs@:iE:@"iE&v?*iEXZBiEUBiE7z?iEyiiAiE@iE ? addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504341 s, deltaX: 0.200000 m, approachRate: 0.396557 m/s, rangeRepo size: 4  Added new target pos. range: 6.165977 m, bearing: 38.483970 deg, lat: 36.779356 deg, lon: -121.859690 deg, deltaT: 0.504341 s, deltaX: 0.198915 m, approachRate: 0.394405 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@Zd`U?Bɢ<) *?i)iI'Gi, ]<Ŕ½I I I@ @@/@^A l -DDAT read: Rx Time:05:25:36.6584 -TRx dataTimestamp_ set to:1761542738.030036=PDAT read: Bearing 190.5, 14.6 (Local) =~Local bearing/azimuth received: Bearing 190.5, 14.6 (Local) UDAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 q}DAT read: 05:25:36.6584 LVL= 25328, 20961, 32754, 32755, AGC= 55, IDX= 499, 0.49, 2.572,-2.047, 2.197,-3.107, PHS=-0.503, 1.104,-1.023, RAW= 343.6, 4.4, CAL= 343.2, 2.4, ROT= 166.8, -2.4 Ygot valid direction response: 05:25:36.6584 LVL= 25328, 20961, 32754, 32755, AGC= 55, IDX= 499, 0.49, 2.572,-2.047, 2.197,-3.107, PHS=-0.503, 1.104,-1.023, RAW= 343.6, 4.4, CAL= 343.2, 2.4, ROT= 166.8, -2.4 T#Rx 30: Read range and direction messages.^direction in FSK: [-0.972725,0.228150,0.041876]Fpublishing direction and range infoy)-R →In4? ۷p?Y-@)-b-Q- ))-7I-i-O?-񂿩-@-nF=-֭@ -+=)-AQ:@I-+))-7k翼U&`CQӳ? -Zg)-=ȞI-AQ:@i-+))checking for new query: numPingsReceived=30, elapsed TxPingTime=17.150120A II)O5q>ԡ B ٿ>B B IB ӂBB B B B m;B d+EBCBCBʓCB =B =C6E  E E (E "E ;*E :VE c44ZE BE sTy Խ ף @ A@ X@) @ Y z@bD%VD%βy5<Ҽ%5"=ٔ59Q-=>99Y9==Fy=JEE=EE>IQ 5Ua5Mӛ?Q 9Ua5M)MBYU.>Q E]:y]Q I]@MlDIM:iMP:Ma5yaɮeAiiaie쁔?AJie~@Rie~@jiedX#?bemǿ`?d8?ReR →In4? ۷p?ZieAQ:@bie+jeR@r @o?Zey?7?( h?2ieOn@:ie@"ieǤz?*ie`BieBieǤz?ie`ieUBie @ie^X#? addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504871 s, deltaX: 0.100000 m, approachRate: 0.198071 m/s, rangeRepo size: 4  Added new target pos. range: 6.265417 m, bearing: 36.558573 deg, lat: 36.779352 deg, lon: -121.859687 deg, deltaT: 0.504871 s, deltaX: 0.099439 m, approachRate: 0.196960 m/s, posRepo size: 4 jhbhhh*h"h hgfffpBdddjd=@33@Zd=\?颍Bɢ8<) ?i)顑iPFi+ ;'IIu@@y @y@}/@y@gA@gA5 DDAT read: Rx Time:05:25:37.1587 5 TRx dataTimestamp_ set to:1761542738.532523= PDAT read: Bearing 192.6, 17.9 (Local) = ~Local bearing/azimuth received: Bearing 192.6, 17.9 (Local) U mDAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.4.204, PHS=-0.413, 1.108,-1.058, RAW= 346.8, 3.8, CAL= 346.4, 1.3, ROT= 163.6, -1.3 ] Z#Rx 31: Read range message, but no direction.y1 Y5 @1 e checking for new query: numPingsReceived=31, elapsed TxPingTime=17.642649 ^A] 1 A I I O >Nb*%,?AEn EnEn&El"Enf;*EnE:VEn4ZElav@av@av@av@ԩ5checking for new query: numPingsReceived=31, elapsed TxPingTime=17.887442YBy IbDVD 8yMV%M5=ٔ]Q-e>9iYq=uFyuJE-E5>9Q 5=a5=Wě?Q 9Ea5=b)=BYAyAQ IE@=tDI==:i=:=a5yMBɮUAQ addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.502487 s, deltaX: 0.500000 m, approachRate: 0.995051 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjd@33@Zd0?BɢN<) \>i)(iFi, 6;WIII@I @Q@U/@Q^A%[- AQ Ia Iq O} >i I  DDAT read: Rx Time:05:25:37.6587  TRx dataTimestamp_ set to:1761542739.036868 PDAT read: Bearing 193.9, 19.9 (Local)  ~Local bearing/azimuth received: Bearing 193.9, 19.9 (Local)  DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.4 % DAT read: 05:25:37.6587 LVL= 22128, 20577, 32754, 32755, AGC= 54, IDX= 503,-0.18, 0.435, 1.957,-0.137, 0.902, PHS=-0.365, 1.099,-1.083, RAW= 348.8, 3.7, CAL= 348.4, 1.0, ROT= 161.6, -1.0 - Ygot valid direction response: 05:25:37.6587 LVL= 22128, 20577, 32754, 32755, AGC= 54, IDX= 503,-0.18, 0.435, 1.957,-0.137, 0.902, PHS=-0.365, 1.099,-1.083, RAW= 348.8, 3.7, CAL= 348.4, 1.0, ROT= 161.6, -1.0 5 T#Rx 32: Read range and direction messages.= ^direction in FSK: [-0.948732,0.315601,0.017452]= Fpublishing direction and range infoy  4>\%2?W7) ߑ?Y pV aP ) 6I HẾi ? @ A= Q@ 5<) J4@I 5 ba9L] "0]"]? ) I J4@i 5 ] checking for new query: numPingsReceived=32, elapsed TxPingTime=18.155363) $E1%,SŔ?AVt@V'L@V D<ٱVe ^AHRS rotation from veh to nav: [[-0.622184,0.782857,-0.004717],[-0.782367,-0.621988,-0.032153],[-0.028105,-0.016315,0.999472]]VH`* ?Qs% RWv@ǜ`˴`?iVt@IVkj^;VC d)ddddhhihIjMFhIlil r'p)pp rkAptttvkAIv')tix)xIzkAz'zYF xyyyiyفiډڍ"A)ډ ډIډYYBy I bDVDy1%y=ٔ q8Q-?99Y9==Fy=JE==E=?AQ 5Ma5Eປ?Q 9Ma5E)EBYQyUQ IU@ExDIEj;iE;Ea5yYɮe2Aaii \”?AJig@Rig@ji?bK<u@-D6?R4>\%2?W7) ߑ?ZiJ4@bi5j]@ @=?ZȖI?R?s?@I4W?2i l@:i0@"i?*i6gBi3Biiii@i#? addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504345 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 B=>B=CB= IB=BB= =B9B=yDB=l;B=+Eu Added new target pos. range: 6.762672 m, bearing: 33.079991 deg, lat: 36.779352 deg, lon: -121.859687 deg, deltaT: 1.006832 s, deltaX: 0.497255 m, approachRate: 0.493881 m/s, posRepo size: 4 jhqbhqhqhq*hy"hy hygyfffddE  E E $E "E ;*E $:VE 4ZE BE Di)r顙iNeFi+ ;-oII]checking for new query: numPingsReceived=32, elapsed TxPingTime=18.394175i}?@ @@0@^Amԉ A I I O >o7%,-ߔ?Aɰ0YEByE IDDAT read: Rx Time:05:25:38.1589 TRx dataTimestamp_ set to:1761542739.540734PDAT read: Bearing 192.5, 21.7 (Local) ~Local bearing/azimuth received: Bearing 192.5, 21.7 (Local) DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 DAT read: 05:25:38.1589 LVL= 22288, 21041, 32754, 32755, AGC= 54, IDX= 504, 0.33, 2.940,-1.902, 2.318,-2.878, PHS=-0.364, 1.021,-1.131, RAW= 350.6, 5.1, CAL= 350.3, 3.2, ROT= 159.7, -3.2 Ygot valid direction response: 05:25:38.1589 LVL= 22288, 21041, 32754, 32755, AGC= 54, IDX= 504, 0.33, 2.940,-1.902, 2.318,-2.878, PHS=-0.364, 1.021,-1.131, RAW= 350.6, 5.1, CAL= 350.3, 3.2, ROT= 159.7, -3.2 T#Rx 33: Read range and direction messages.^direction in FSK: [-0.936427,0.346395,0.055822]Fpublishing direction and range infoyHM4:ʭT+?ᢔ?Y3@W1R )I5^i!?Đ@K=@ d=)b2@Id)j<44F i? )4Ib2@id=checking for new query: numPingsReceived=33, elapsed TxPingTime=18.663473i]Mb@Mb@Mb@YYYY Y9]x?333333{GzY]K>y]Y] @]+@ ]+@)]@YY](@bDuVDu02y%B=ٔQ->9Y=FyJE=E=>ԉQ 5a5D?Q 9a5)BYx>Q E:yqQ I@DI:i*:a5yBɮxAŦEiic?AJi@Ri@jia ?bݒ$r|N@u9?RHM4:ʭT+?ᢔ?Zib2@bidj: &@悿 @h;F?Z{|:P? ѹ~?,aqϒ?2ih@:i@"i&?*i.lBiBiiiBi@iOz$?% addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503866 s, deltaX: 0.300000 m, approachRate: 0.595396 m/s, rangeRepo size: 4 5 Added new target pos. range: 7.061166 m, bearing: 31.124137 deg, lat: 36.779352 deg, lon: -121.859687 deg, deltaT: 0.503866 s, deltaX: 0.298494 m, approachRate: 0.592407 m/s, posRepo size: 4 jh1bh1h9h9*h9"h9 h9g9fafafeFBdididijdm`ff@Zdm?Bɢ޾<) ?>i):i"Fi, d;4ɁIIԹE EE%E"E ;*E:VE 4ZEa@a@a@a@@ @@<0@@=@=u DDAT read: Rx Time:05:25:38.6589  TRx dataTimestamp_ set to:1761542739.797009 checking for new query: numPingsReceived=33, elapsed TxPingTime=18.903334 ^A  A .AII!O5>B>%,?A6v@6z@6}<ٱ6"м BAHRS rotation from veh to nav: [[-0.592900,0.805263,0.004737],[-0.804837,-0.592372,-0.036512],[-0.026595,-0.025460,0.999322]]6H`?|gs?9 ;N r?i6v@I69^;6CYBy IbD-VD-:yE&%EA=ٔMeiQ-M>9M ?Y ?=FyJE=E>Q 5a5?Q 9a5C)BYy-Q I-@DI<i)顩iFi+ ܼ;IIA@ @@5@^AU2BU>BUCBU IBUBBU =BQBUzDBUl;BU*EE5 E5E5&E1"E5l;*E5?:VE54ZE1BE5YF DDAT read: Rx Time:05:25:39.1592  TRx dataTimestamp_ set to:1761542740.301152 PDAT read: Bearing 191.8, 20.0 (Local)  ~Local bearing/azimuth received: Bearing 191.8, 20.0 (Local)  checking for new query: numPingsReceived=34, elapsed TxPingTime=19.411602ԙ lE%,?A2Aw@2̂@2<ٱ2c :AHRS rotation from veh to nav: [[-0.584797,0.811119,0.009915],[-0.810767,-0.584065,-0.039059],[-0.025890,-0.030881,0.999188]]2H`?N? @􂚿+X?i2Aw@I254^;2CYRByR IIV4=)V=V>V=iMb@Mb@Mb@ 9RQ?L7A`尿I +Y?y+94X@I@ I@)@Y@bD-VD-ky]%]:=ٔ]ҺQ-]>9e"?Ye"?=eFyeJEm[<Em>qqQ 5}a5uݔ?Q 9a5u)uBY?Q E:yQ I@uDIu:iu':ua5yɮTAii?AJi@Ri@jiU?bJxy5@ ur?RJ q]?ѐØ?O?Zi2@bi¸j?^<@*%`@TP?ZdoS?SJf?S;ֹ?2i|@:i@"ii~?*i0lBiBii~?i6gii/@iZ[?= addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.502774 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 7.061367 m, bearing: 34.215495 deg, lat: 36.779353 deg, lon: -121.859690 deg, deltaT: 0.502774 s, deltaX: 0.000201 m, approachRate: 0.000400 m/s, posRepo size: 4 jhqbhqhqhq*hq"hq hqgyfyfyf}OBdddjdZdQ?Bɢ+H<) 4>i),i.Ei, ȅ;ʼI I ԡ@@ @@4@DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 DAT read: 05:25:39.1592 LVL= 22304, 23009, 32754, 32755, AGC= 53, IDX= 508,-0.21, 1.766,-3.060, 1.222, 2.303, PHS=-0.435, 0.966,-1.124, RAW= 348.9, 6.5, CAL= 348.7, 5.5, ROT= 161.3, -5.5 -Ygot valid direction response: 05:25:39.1592 LVL= 22304, 23009, 32754, 32755, AGC= 53, IDX= 508,-0.21, 1.766,-3.060, 1.222, 2.303, PHS=-0.435, 0.966,-1.124, RAW= 348.9, 6.5, CAL= 348.7, 5.5, ROT= 161.3, -5.5 -T#Rx 35: Read range and direction messages.5^direction in FSK: [-0.942850,0.319137,0.095846]EFpublishing direction and range infoy.ʸ+)xl?aVX?Y@ WY )5IR޾iKw?;ߏ@V=6@  =),4@I ĽN 俀3(\? tx)I,4@i Ľmchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.668613^A DA zDA E]  E] EY EY "E] f;*E] :VEY ZEY am @am @am @am @ A I I O% >9K%, 0?A2>x@2@@2L<ٱ2~ :AHRS rotation from veh to nav: [[-0.577130,0.816498,0.015865],[-0.816264,-0.576148,-0.042035],[-0.025180,-0.037210,0.998990]]2H w@ ?>?  o``ș& @?i2>x@I2^;0YFByF IbDNVDN1yV<%Vj=ٔZdQ-Z?9XYX=ZFyZJE^<E^?`Q 5ja5b?Q 9ra5b)bܽBYtyz4Q Iz@bDIbk;ibe;ba5]DDAT read: Rx Time:05:25:39.6593 mTRx dataTimestamp_ set to:1761542740.803971PDAT read: Bearing 190.1, 19.3 (Local) ~Local bearing/azimuth received: Bearing 190.1, 19.3 (Local) checking for new query: numPingsReceived=35, elapsed TxPingTime=19.915085yBɮA ii #?AJi@Ri@jiB ?b׾! lE @Y Ή?R.ʸ+)xl?aVX?Zi,4@bi Ľj{zL?@Q.B[@Y ?ZBҼ?P)({h? 魌?2iڊ@:iq@"ic:l?*i%deBi*Bic:l?iii@i?  addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504133 s, deltaX: 0.400000 m, approachRate: 0.793442 m/s, rangeRepo size: 4 ] Added new target pos. range: 7.459191 m, bearing: 35.810962 deg, lat: 36.779353 deg, lon: -121.859690 deg, deltaT: 0.504133 s, deltaX: 0.397824 m, approachRate: 0.789125 m/s, posRepo size: 4 jhYbhYhYhY*hY"hY hagafafafididdjd@Zd|@?Bɢ<) <>i)+`iimEiu+ u;u IqIy>@ @@ /@ ^Au \DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 % DAT read: 05:25:39.6593 LVL= 27488, 25649, 32754, 32755, AGC= 54, IDX= 508, 0.38, 2.584,-2.255, 2.076,-3.117, PHS=-0.480, 0.907,-1.135, RAW= 348.3, 7.9, CAL= 348.3, 7.7, ROT= 161.7, -7.7 ) 5 Ygot valid direction response: 05:25:39.6593 LVL= 27488, 25649, 32754, 32755, AGC= 54, IDX= 508, 0.38, 2.584,-2.255, 2.076,-3.117, PHS=-0.480, 0.907,-1.135, RAW= 348.3, 7.9, CAL= 348.3, 7.7, ROT= 161.7, -7.7 5 T#Rx 36: Read range and direction messages.= ^direction in FSK: [-0.940865,0.311161,0.133986]= Fpublishing direction and range infoyڛ]NOgx?L`u&?Yf@`k1d )6AI IQ Ia Ou >Ii'1h?G@0 >@  >)4@I eC91e0%'? B) I4@i  checking for new query: numPingsReceived=36, elapsed TxPingTime=20.174726|R%,oJ?A02/x@2iZ@2<ٱ20 >AHRS rotation from veh to nav: [[-0.570730,0.820857,0.021467],[-0.820773,-0.569502,-0.044718],[-0.024482,-0.043141,0.998769]]2HjCvD?W?C@[9:妿 ?i2/x@I2.k^;0YzByz IAAB ؿ>B CB  IB }BB  =B B xDB l;B *EbD%VD%ky5 (<%5B=ٔ5ٺQ-5>99Y9==Fy=JEEJ<EE>IQ 5Ua5Mb~?Q 9Ua5M,)MؽBYQyUQ I]@MDIMe;iM;Ma5yaɮeAai!i%^IC?AJi% @Ri% @ji%3#?b% k^b0@= j?R%ڛ]NOgx?L`u&?Zi%4@bi% j% X'\@` @H tߒ?Z%+pr?]8df?gG[?2i%W@:i%@"i%y?*i% eBi%ĄBi!i!i%Bi%@i%? addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.503712 s, deltaX: 0.200000 m, approachRate: 0.397052 m/s, rangeRepo size: 4  Added new target pos. range: 7.657727 m, bearing: 36.526332 deg, lat: 36.779353 deg, lon: -121.859690 deg, deltaT: 0.503712 s, deltaX: 0.198536 m, approachRate: 0.394146 m/s, posRepo size: 4 jhbhhh*h"h hgfE EE*E"E;*E:VE(N4ZEBEl_i)ӻiީEi, X;9IIԹ?@ @@/@ !)^AuѼŀG 9 Y &pA A I I O > DAT read: 05:25:40.1596 LVL= 25056, 24545, 32754, 32755, AGC= 53, IDX= 511, 0.18,-2.246,-0.805,-2.749,-1.657, PHS=-0.487, 0.897,-1.135, RAW= 348.2, 8.1, CAL= 348.2, 8.1, ROT= 161.8, -8.1 % Ygot valid direction response: 05:25:40.1596 LVL= 25056, 24545, 32754, 32755, AGC= 53, IDX= 511, 0.18,-2.246,-0.805,-2.749,-1.657, PHS=-0.487, 0.897,-1.135, RAW= 348.2, 8.1, CAL= 348.2, 8.1, ROT= 161.8, -8.1 - Z#Rx 38: Read direction message, but no range.5 ^direction in FSK: [-0.940495,0.309219,0.140901]y  p5=?:N ? a _ ) 5I Xi ˡe? x@ > x@ >) {4@I  <忷W˸e"? <) I {4@i M checking for new query: numPingsReceived=38, elapsed TxPingTime=20.669369X%,^Md?A:y@: @:Z<ٱ:G FAHRS rotation from veh to nav: [[-0.566152,0.823870,0.026664],[-0.823962,-0.564695,-0.046980],[-0.023648,-0.048567,0.998540]]:H#]?M?]@ @77ݨ ?i:y@I:^;:C\YBy I i Mb@Mb@Mb@     9 /$?Zd;~jtxY 1?y y Ļ  @ 3@) @ Y @bD5VD5yE <%E-=ٔM{Q-M>9IYQ=UFyUJEUA<EU>YQ 5ea5]dp?Q 9ea5]/)]ԽBYm ?Q Em:ymeQ Im@]DI] ;i]q ;]a5yqɮ}AyiiS?AJiARiAji4$?bk%Nsbh@-)?Rp5=?:N ?Zi{4@bij|@+rU!@\Kq?ZdK1O? ?M?2i @:i@"iS?*idcBiBii%dei*Bi@iT#?] addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.256930 s, deltaX: 0.400001 m, approachRate: 1.556846 m/s, rangeRepo size: 4  Added new target pos. range: 8.055532 m, bearing: 36.891503 deg, lat: 36.779353 deg, lon: -121.859689 deg, deltaT: 0.256930 s, deltaX: 0.397805 m, approachRate: 1.548300 m/s, posRepo size: 4 jhbhhh*h"h hgfffIBdddjd@33 @Zd?E% E%E%&E!"E%~ ;*E%:VE%4ZE!a-@a-@a-@a-@uBɢu<)y }>iy)}ǻiEi+ fZ; @ @@@=DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.5 Z#Rx 39: Read range message, but no direction.yYchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.952513A ^A y AII-DAT read: 05:25:40.6596 LVL= 24496, 24385, 32754, 32755, AGC= 54, IDX= 512, 0.07,-1.336,-0.032,-2.055,-0.769, PHS=-0.466, 0.782,-1.330, RAW= 354.0, 11.0, CAL= 354.3, 12.7, ROT= 155.7, -12.7 5Ygot valid direction response: 05:25:40.6596 LVL= 24496, 24385, 32754, 32755, AGC= 54, IDX= 512, 0.07,-1.336,-0.032,-2.055,-0.769, PHS=-0.466, 0.782,-1.330, RAW= 354.0, 11.0, CAL= 354.3, 12.7, ROT= 155.7, -12.7 5Z#Rx 40: Read direction message, but no range.=^direction in FSK: [-0.889105,0.401447,0.219846]y   s쿪L?F#?  _ A_  ) 6I i '1H? q= @  D> @ b>) '-@I b  c)Uui_Nw}? + ) $EI '-@i b}checking for new query: numPingsReceived=40, elapsed TxPingTime=21.177296O?Ka%,vn?A4<ɰ499Y9==Fy=JEEl"<EE>iQ 5ua5mb?Q 9ua5m_)mнBYqyuQ Iu@mDIm:im4:ma5yBɮyAͦEi9i=N t?AJi9Ri9ji=h ?b=iV @j U?R= s쿪L?F#?Zi='-@bi=bj=k37@@`h@. ?Z=)Q?-S?I}z?2i=@:i=0@"i=NY\?*i=j|Bi=Bi9i9i=ĄBi=Ai= %?5 addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.504846 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 8.055532 m, bearing: 30.753827 deg, lat: 36.779353 deg, lon: -121.859689 deg, deltaT: 0.504846 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhabhahaha*hi"hi higififqfqdqdqdqjdyZd}֥?BԿ>BCBy IBxBB =BBwDBl;B*EBɢˏ<) >i)uiSEi, ;eIIE EE'E"E;*E:VE'4ZEBEa2EaJEk;a:Ek;a?@ @@@DDAT read: Rx Time:05:25:41.1599 )=TRx dataTimestamp_ set to:1761542742.317982uPExceeded connect timeout, disconnecting.PDAT read: Bearing 192.0, 18.8 (Local) ~Local bearing/azimuth received: Bearing 192.0, 18.8 (Local) ^AzlDAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.5 uDAT read: 05:25:41.1599 LVL= 13184, 12625, 19170, 23667, AGC= 57, IDX= 3,-0.04, 1.844,-2.991, 1.340, 2.419, PHS=-0.473, 0.918,-1.123, RAW= 348.2, 7.6, CAL= 348.1, 7.2, ROT= 161.9, -7.2 }Ygot valid direction response: 05:25:41.1599 LVL= 13184, 12625, 19170, 23667, AGC= 57, IDX= 3,-0.04, 1.844,-2.991, 1.340, 2.419, PHS=-0.473, 0.918,-1.123, RAW= 348.2, 7.6, CAL= 348.1, 7.2, ROT= 161.9, -7.2 }T#Rx 41: Read range and direction messages.^direction in FSK: [-0.943021,0.308227,0.125333]Fpublishing direction and range infoy!%s~9-E?cK ?Y% A!%3%Q1%J %s\)%9I%-i% k?%w%x@%>%mj@ %>)%4@I%!!%RJ(66翢? %C)% I%4@i%!! checking for new query: numPingsReceived=41, elapsed TxPingTime=21.484943A I I O >Q og%,Q0?AY~By~ I9iMb@Mb@Mb@ 9X9v?MbX9Mb?Y>yʡ<MA `@)+@Yf@bDVD02y(=%S=ٔQ->9Y=FyJEE>Q 5a5V?Q 9a5)ҽBY?Q E:yQ I@DI;iU;_a5yɮ7A]checking for new query: numPingsReceived=41, elapsed TxPingTime=21.667315iYi]Y?AJi]ARi]Aji]&?b]6t! 6C@Q-&?R]s~9-E?cK ?Zi]4@bi]j]oa@2@t@Dc?Z]-tT>?#ɢ7?s?2i]]@:i]@"i]L?*i]bBi]݄Bi]S?i] ei]݄Bi]Ai]ǐ%? addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504853 s, deltaX: 0.500000 m, approachRate: 0.990387 m/s, rangeRepo size: 4  Added new target pos. range: 8.552664 m, bearing: 37.280321 deg, lat: 36.779354 deg, lon: -121.859689 deg, deltaT: 0.504853 s, deltaX: 0.497132 m, approachRate: 0.984707 m/s, posRepo size: 4 jhbhhh*h"h hgff!f%pBd!d!d!jd-@33!@Zd- r?颕Bɢ<<) 1>i)顡i@Fii+ ;⃃IIY@Y @Y@Y@YԙbEQjEUY"4rEU7/E EE(E"E;*E :VEc44ZEa@a@a@a@- DDAT read: Rx Time:05:25:41.6600 = TRx dataTimestamp_ set to:1761542742.820807] PDAT read: Bearing 193.4, 19.1 (Local) e ~Local bearing/azimuth received: Bearing 193.4, 19.1 (Local) ^A `Ի  DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.5 U DAT read: 05:25:41.6600 LVL= 25264, 24721, 32754, 32755, AGC= 54, IDX= 500,-0.08, 0.255, 1.710,-0.270, 0.804, PHS=-0.447, 0.951,-1.118, RAW= 348.5, 6.8, CAL= 348.4, 6.0, ROT= 161.6, -6.0 } Ygot valid direction response: 05:25:41.6600 LVL= 25264, 24721, 32754, 32755, AGC= 54, IDX= 500,-0.08, 0.255, 1.710,-0.270, 0.804, PHS=-0.447, 0.951,-1.118, RAW= 348.5, 6.8, CAL= 348.4, 6.0, ROT= 161.6, -6.0  T#Rx 42: Read range and direction messages. ^direction in FSK: [-0.943678,0.313920,0.104528] Fpublishing direction and range infoy1 5 ;2B?4ޮ`º?Y5 3 A1 5 b5 `5  5 )5 6I5 /i5 ts?5 5 @5 =5 Q@ 5 Pw=)5 J4@I5 Pwֽ1 1 5 < 忽Twa/? 5 )5 I5 J4@i5 Pwֽ1 1  checking for new query: numPingsReceived=42, elapsed TxPingTime=21.976614A I I O >lm%,a?AB.z@B@B%'<ٱBݽ ^AHRS rotation from veh to nav: [[-0.554252,0.830721,0.052020],[-0.832025,-0.551211,-0.062457],[-0.023210,-0.077899,0.996691]]BHo@E? c?OXė,?iB.z@IBM^;BCYfByf IhIr<)r49Y=FyJE<E>Q 5a5J?Q 9a58)ԽBYy Q I@DI?;i;a5yBɮA̦Eii?AJio ARio Aji\'?b5aT o@?R;2B?4ޮ`º?ZiJ4@biPwֽjXP@:>Wv@'ڮo#?Z0tA+A?Wa?g&?2i@:i@"i1?*iDfdBimBi1?iDfdii AiT'? addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.502825 s, deltaX: 0.099999 m, approachRate: 0.198875 m/s, rangeRepo size: 4  Added new target pos. range: 8.652113 m, bearing: 37.499256 deg, lat: 36.779354 deg, lon: -121.859688 deg, deltaT: 0.502825 s, deltaX: 0.099449 m, approachRate: 0.197781 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd`ff!@Zd ?=Bɢ=o<)9 eJ?ia)ekaaieFim, mL;uМ;IqIqchecking for new query: numPingsReceived=42, elapsed TxPingTime=22.172394@ @@/@)BA<BϿ>BB IBBB =BBB*l;B*EBBBȔCB =B =CȡN6^A= 3E  E E E "E m+;*E :VE ZE BE ބnu%,֕?A NDAT read: 05:25:42.1602 LVL= 24736, 23905, 32754, 32755, AGC= 55, IDX= 502,-0.11,-0.508, 0.961,-1.054, 0.012, PHS=-0.418, 0.994,-1.109, RAW= 348.8, 5.8, CAL= 348.6, 4.4, ROT= 161.4, -4.4 VYgot valid direction response: 05:25:42.1602 LVL= 24736, 23905, 32754, 32755, AGC= 55, IDX= 502,-0.11,-0.508, 0.961,-1.054, 0.012, PHS=-0.418, 0.994,-1.109, RAW= 348.8, 5.8, CAL= 348.6, 4.4, ROT= 161.4, -4.4 VT#Rx 43: Read range and direction messages.Z^direction in FSK: [-0.944975,0.318019,0.076719]ZFpublishing direction and range infoy?aPW<=2HmZ?.0ۣ?YA`a] )7I־iv~?󍿩@4Q=@ nF=)I4@InF΅*Ti[ ٹ? ?))ϽII4@inFXXMDz@MG@Uchecking for new query: numPingsReceived=43, elapsed TxPingTime=22.490362M8<ٱM>i AHRS rotation from veh to nav: [[-0.551062,0.832230,0.061031],[-0.834140,-0.547332,-0.068108],[-0.023278,-0.088440,0.995809]]MH L ?g??Eo֗?iMDz@IMJ^;MCYBy IIiMb@Mb@Mb@ 9)\(?Zd;O~jt?YG?yj<A@ @)@Y@bDVDk2y%=ٔ9Q->9 ?Y ?=FyJE;E>Q 5 a5l;?Q 9a5@)ؽBY?Q E:y*Q I@DI:i:a5yBɮE+AE֦Eiiԕ?AJi4ARi4Aji(?by 0n g@4k%?R?aPW<=2HmZ?.0ۣ?ZiI4@binFjhIHI@C+@xi 4 ?ZFb_dH?U|?)"?2ii@:iJ@"iT?*i%cBiBiT?i%ciiAi(? addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.505106 s, deltaX: 0.300000 m, approachRate: 0.593935 m/s, rangeRepo size: 4  Added new target pos. range: 8.950365 m, bearing: 37.622987 deg, lat: 36.779355 deg, lon: -121.859688 deg, deltaT: 0.505106 s, deltaX: 0.298252 m, approachRate: 0.590474 m/s, posRepo size: 4 jhbhhh*h"h9 hAgIfIfIfMBdQdQdQjdU"@ZdU0?Bɢ <) ?i)ԫiFi+ ;;IIqchecking for new query: numPingsReceived=43, elapsed TxPingTime=22.676699@ @@/@@@fAԡ ^A r;E  E E &E "E 1;*E VE 4ZE a @a @a @a @ A ؟AImDDAT read: Rx Time:05:25:42.6603 uTRx dataTimestamp_ set to:1761542743.828461PDAT read: Bearing 195.0, 18.7 (Local) ~Local bearing/azimuth received: Bearing 195.0, 18.7 (Local) DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.5 Z#Rx 44: Read range message, but no direction.yiYm3Aichecking for new query: numPingsReceived=44, elapsed TxPingTime=22.947517IO->}%,-?Ahoz@ @@<ٱ!ʽ AHRS rotation from veh to nav: [[-0.547512,0.833904,0.069527],[-0.836462,-0.543048,-0.073686],[-0.023691,-0.098501,0.994855]]H8W?̱?`L`ݲaBU7?ioz@I ^;CYBy I bD-VD-yu =%u5=ٔuo:Q-u>9}"?Y}"?=}Fy}JE}<E>Q 5a5.?Q 9a5)ܽBYyQ I@ǨDI:i:a5yBɮ|AզEB*** querying acoustic contact ***i i5 addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502548 s, deltaX: 0.200000 m, approachRate: 0.397972 m/s, rangeRepo size: 4 jh1bh1h9h9*h9"h9 h9g9f9fafadadidijdm`ff"@ZdmPj?颽Bɢqc =)9 = ?i9)E+zAAiE&GiM, M;M/-B CB IB BB =B B B k;B *EA .AI I! E5  E5 E5 %E1 "E5 %.;*E5 :VE5 4ZE1 BE5 8%,Ui?A2z@2_@2*V<ٱ2`۽ :AHRS rotation from veh to nav: [[-0.544280,0.835408,0.076508],[-0.838551,-0.539139,-0.078499],[-0.024331,-0.106881,0.993974]]2Hj਻??h@` $꘿@\?i2z@I2U^;2CYRÂByV I9)-AAbDVDfy R=%S=eDDAT read: Rx Time:05:25:43.1605 TRx dataTimestamp_ set to:1761542744.338790PDAT read: Bearing 196.3, 18.7 (Local) ~Local bearing/azimuth received: Bearing 196.3, 18.7 (Local) ٔ%p:Q->9 ?Y ?=F5DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.5 yEJEE<EM>IQ 5Ua5My!?Q 9]a5M)MBYYy]Q I]@MΨDIM:iM|:}DAT read: 05:25:43.1605 LVL= 25872, 23265, 32754, 32755, AGC= 56, IDX= 506,-0.12,-1.581,-0.081,-2.104,-1.061, PHS=-0.417, 1.025,-1.087, RAW= 348.1, 5.2, CAL= 347.8, 3.4, ROT= 162.2, -3.4 M?a5yɮ+AYgot valid direction response: 05:25:43.1605 LVL= 25872, 23265, 32754, 32755, AGC= 56, IDX= 506,-0.12,-1.581,-0.081,-2.104,-1.061, PHS=-0.417, 1.025,-1.087, RAW= 348.1, 5.2, CAL= 347.8, 3.4, ROT= 162.2, -3.4 T#Rx 46: Read range and direction messages.^direction in FSK: [-0.950453,0.305157,0.059306]Fpublishing direction and range infoy$ijdD%,,?A;ɰ;$E EE(E"E4;*E:VEc44ZEa@a@a@a@yŶBy I-DDAT read: Rx Time:05:25:43.6606 =TRx dataTimestamp_ set to:1761542744.839096]PDAT read: Bearing 196.8, 18.7 (Local) e~Local bearing/azimuth received: Bearing 196.8, 18.7 (Local) }DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.5 Z#Rx 47: Read range message, but no direction.y1Y5A1checking for new query: numPingsReceived=47, elapsed TxPingTime=23.953419iMb@Mb@Mb@ E9Gz?Zd;Zd;O?Yp>yj<EA@ @)A@Y@bD]VD]0ԡy<%=ٔQ->9Y=FyJEE>Q 5a5?Q 9a5)BY?Q E:yoQ I@רDI7:i':*a5yBɮ%A%ԦEm addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.500306 s, deltaX: 0.100000 m, approachRate: 0.199878 m/s, rangeRepo size: 4 jhqbhyhyhy*h"h hgfff́Bdddjd@33#@Zd@/N?}Bɢ}~ =) ?i)(S.顁iHi, p;X DAT read: 05:25:43.6606 LVL= 24512, 21729, 32754, 32755, AGC= 56, IDX= 507,-0.09,-3.125,-1.611, 2.634,-2.608, PHS=-0.415, 1.042,-1.085, RAW= 348.0, 4.9, CAL= 347.7, 3.0, ROT= 162.3, -3.0  Ygot valid direction response: 05:25:43.6606 LVL= 24512, 21729, 32754, 32755, AGC= 56, IDX= 507,-0.09,-3.125,-1.611, 2.634,-2.608, PHS=-0.415, 1.042,-1.085, RAW= 348.0, 4.9, CAL= 347.7, 3.0, ROT= 162.3, -3.0  Z#Rx 48: Read direction message, but no range. ^direction in FSK: [-0.951356,0.303616,0.052336]y  y2q^Ʒrn?yoU˪? _ T ) I zԾi B`? H኿ \@ %= <1@ PwV=) uJ5@I PwV o[忕1_y[BB IBBBBBBk;B_*EII!)O5?%,N?A6Tu{@6|@6<ٱ6 BAHRS rotation from veh to nav: [[-0.535411,0.839993,0.088015],[-0.844141,-0.528809,-0.088239],[-0.027577,-0.121541,0.992203]]6H`"9?*?5і=@U ?i6Tu{@I6&^;6CDFts@En EnEn'El"En;*Enk:VEn'4ZElBEns9iYi=mFymJEmӼ<Em>i}¸2yychecking for new query: numPingsReceived=49, elapsed TxPingTime=24.483217qQ 5a5u ?Q 9a5uO)uBYyQ I@uިDIu;iu:ua5yɮkAiyi}g)V?AJi} ARi} Aji}p2?b}A##>DR#@sb7 ?R}yRi}Fw:?GU?Zi}5@bi}¸2j}r@tO@T#)o=?Z}d~΅?^'m??2i}7@:i}O@"i}J?*i},[Bi}~Bi}䋝?i}bi}Bi}Ai},? addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.507181 s, deltaX: 0.500000 m, approachRate: 0.985841 m/s, rangeRepo size: 4  Added new target pos. range: 10.044242 m, bearing: 39.936842 deg, lat: 36.779354 deg, lon: -121.859688 deg, deltaT: 1.007487 s, deltaX: 0.596665 m, approachRate: 0.592231 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@33$@Zd 'L?uBɢu8=)q }?iy)} :yyi}hIi+ ;9ۺ!#%,„j?A2r{@2˄@2x<ٱ2TJ >AHRS rotation from veh to nav: [[-0.533120,0.841280,0.089616],[-0.845555,-0.526234,-0.090074],[-0.028618,-0.123796,0.991895]]2HQ??@`N?i2r{@I2^;2CYmʂBym Ii-Mb@Mb@Mb@)))) -A9- ףp= ?y-t-/<-A-~@ -@)-@)Y-@ AE<bDEVDEyU_%U`=ٔ];;Q-]>9YYa=eFyeJEe;Ee>iQ 5ua5mq?Q 9}a5m)mBY}?Q E}:y}mQ I}@mDIm:imv:mKa5yɮAD=D<E  E E )E "E a;*E خ:VE FA4ZE a@a@a@a@ajhbhhh*h"h hgfff߁BdddjdZd X?DDAT read: Rx Time:05:25:44.6610 TRx dataTimestamp_ set to:1761542745.845027PDAT read: Bearing 197.4, 18.3 (Local) ~Local bearing/azimuth received: Bearing 197.4, 18.3 (Local) DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.5 Z#Rx 50: Read range message, but no direction.yY3#Achecking for new query: numPingsReceived=50, elapsed TxPingTime=24.955772BɢG&=) ?i)κi Ji, ;l^Թ %,K?APrDAT read: 05:25:44.6610 LVL= 24640, 23329, 32754, 32755, AGC= 57, IDX= 511,-0.12, 2.206,-2.541, 1.690, 2.731, PHS=-0.423, 1.056,-1.086, RAW= 347.6, 4.8, CAL= 347.3, 2.9, ROT= 162.7, -2.9 vYgot valid direction response: 05:25:44.6610 LVL= 24640, 23329, 32754, 32755, AGC= 57, IDX= 511,-0.12, 2.206,-2.541, 1.690, 2.731, PHS=-0.423, 1.056,-1.086, RAW= 347.6, 4.8, CAL= 347.3, 2.9, ROT= 162.7, -2.9 vZ#Rx 51: Read direction message, but no range.z^direction in FSK: [-0.953538,0.296994,0.050593]y`bzGbFL?|rQ?`b@`b![` `)b9Ibuؾib+?b b"@b=b @ b4QO=)bּ5@Ib4QO`b ̀Ǟ|ZJ? b)bIIbּ5@ib4QOchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.205143YςBy IbDVD:y%<%F=ٔQ->9Y=FyJEE>Q 5a5Z隊?Q 9a50 )BYyQ I@DI9:i:a5yܔBɮbAӦEiiv?AJiL"ARiL"Aji3?bCCX#O@J6!v l?RzGbFL?|rQ?Ziּ5@bi4QOj?ƭ@5G0@%% Fpublishing direction and range infoy+K?P7V?Y3+AG!0V sf)<I+־i?@=@ A=)o5@IA@x忡S2翼ɴ? ).|Io5@iA checking for new query: numPingsReceived=52, elapsed TxPingTime=25.519333 G N9 Y -kA,1%,o*?AYnւByn I|%only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.96, 71.69, 76.85 a%@a% a%@a% a%@a% a%@a% bD5VD50y=%[=ٔQ->9Y=FyJEE>Q 5a5bݚ?Q 9a5)BQ A+:YQ E:yQ I@DI:i>a5yɮ-Aii9?AJiA*ARiA*AjiW4?bKN$9f% @ioH ?R+K?P7V?Zio5@biAj+b4 @!@a @a@e4@aYD) zD) E5  E5 E5 &E1 "E5 f;*E5 :VE5 4ZE1 a= @a= @a= @a= @^A <I! II ԉ O > DDAT read: Rx Time:05:25:45.6614  TRx dataTimestamp_ set to:1761542746.849002 PDAT read: Bearing 198.1, 18.6 (Local)  ~Local bearing/azimuth received: Bearing 198.1, 18.6 (Local)  DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.5  DAT read: 05:25:45.6614 LVL= 24384, 21745, 32754, 32755, AGC= 57, IDX= 499,-0.26, 2.884,-1.864, 2.363,-2.888, PHS=-0.409, 1.069,-1.077, RAW= 347.7, 4.4, CAL= 347.3, 2.3, ROT= 162.7, -2.3  Ygot valid direction response: 05:25:45.6614 LVL= 24384, 21745, 32754, 32755, AGC= 57, IDX= 499,-0.26, 2.884,-1.864, 2.363,-2.888, PHS=-0.409, 1.069,-1.077, RAW= 347.7, 4.4, CAL= 347.3, 2.3, ROT= 162.7, -2.3  T#Rx 53: Read range and direction messages. ^direction in FSK: [-0.953992,0.297135,0.040132] Fpublishing direction and range infoy  R'o}SD?.='?Y ,A @_ T  ) 9I shѾi Ԉ? #ۉ <1@ nF= @ l$=) ּ5@I l$ !(x忪 -Ό翁nE|ȳ? ) QlI ּ5@i l$  checking for new query: numPingsReceived=53, elapsed TxPingTime=25.967907/\%,J ?A^ $|@^ @^=ٱ^O jAHRS rotation from veh to nav: [[-0.526293,0.845339,0.091746],[-0.849665,-0.518650,-0.095245],[-0.032930,-0.128080,0.991217]]^Hd ?|?`u0Ƙa1ܠd ?i^ $|@I^8^;^CYYełBye I@A@AbDVD:2yl%H=ٔ,9Y=FyJE<E>Q 5a5К?Q 9a5%)BQ A :YQ E:yQ I@DIl;iI?a5yBɮ AݦEii V?AJi+ARi+Ajiz'6?b?~$'¡܇ @3qQ?RR'o}SD?.='?Ziּ5@bil$j2iwB @} @ࡹ?ZR8?,nq?sʲV?2iN@:iA"iK}?*iZBi{Bi"&?i,[iBi,Ait3? addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.495839 s, deltaX: 0.100000 m, approachRate: 0.201679 m/s, rangeRepo size: 4  Added new target pos. range: 10.740354 m, bearing: 40.768231 deg, lat: 36.779354 deg, lon: -121.859684 deg, deltaT: 0.495839 s, deltaX: 0.099448 m, approachRate: 0.200566 m/s, posRepo size: 4 jhbh-ZTarget missed at range: 10.80 m. Rolling out.2hNTransitioning guidance mode to: ROLLOUT:h@hh*h"h h2hgfffdddjd%@Zd?mBm=)m m?ii)uXquB B IB ĂBB =B B B 3k;B )*E ^A ]<EU  EU EU $EQ "EU ;*EU P:VEU 4ZEQ BEU by+9< A )AYp@bD5VD5ܲy(=% =ٔ0;Q->9Y=FyJE;E>Q 5a5?Q 9a5) BQ AT:Y%>Q E:y0Q I@DI#;iY;a5y%Bɮ%rA%ܦEK]]Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse1L]eEntering Midcourse tracking update period 60.000000 s sec at 10.800000 m (mode 5.000000 count ).1LmqLmJm mAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRqJResuming normal ranging with 1.000000 count pings 10.800000 m (mode 5.000000 count ).J1KiAiE֖?AJiE0ARiE0AjiE6?bE.% @'^ɣ?RE+K?P7V?ZiEo5@biEAjE; @^0*@$_?ZEx,%?]?H\?2iET@:iEGA"iEH{?*iEфYBiEBiEK}?iEZiAiEk0AiER5? addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.507632 s, deltaX: 0.300000 m, approachRate: 0.590980 m/s, rangeRepo size: 4 % Added new target pos. range: 11.038690 m, bearing: 40.952876 deg, lat: 36.779353 deg, lon: -121.859684 deg, deltaT: 0.507632 s, deltaX: 0.298336 m, approachRate: 0.587701 m/s, posRepo size: 4 %DNOT Ignoring new targets: 11.04 m.h!h)*h)"h) hI2hIgIfQfQfUB1:U t]Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyq:]t]@Uninitialize Buoyancy Component.dYdYjd]@33&@Zd]L?Z\ =) >i/9),3@Թ ^Ae <Am zAm Am Am D =D <bE5ˀ'4jE57&4rE5/E  E E 'E "E ;*E :VE '4ZE a @a @a @a @DDAT read: Rx Time:05:25:46.6617 TRx dataTimestamp_ set to:1761542747.856654PDAT read: Bearing 194.9, 18.0 (Local) ~Local bearing/azimuth received: Bearing 194.9, 18.0 (Local) %DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.4 EDAT read: 05:25:46.6617 LVL= 27280, 32337, 32754, 32755, AGC= 54, IDX= 501, 0.22,-1.167, 0.327,-1.654,-0.603, PHS=-0.462, 0.974,-1.095, RAW= 347.4, 6.4, CAL= 347.2, 5.4, ROT= 162.8, -5.4 UYgot valid direction response: 05:25:46.6617 LVL= 27280, 32337, 32754, 32755, AGC= 54, IDX= 501, 0.22,-1.167, 0.327,-1.654,-0.603, PHS=-0.462, 0.974,-1.095, RAW= 347.4, 6.4, CAL= 347.2, 5.4, ROT= 162.8, -5.4 UT#Rx 55: Read range and direction messages.]^direction in FSK: [-0.951039,0.294396,0.094108]]Fpublishing direction and range infoyLns`?|ӄ{?Y4AjQ~ )6IDiXy?(W@= =)I9Y=Fy/;E>Q 5b5?Q 9b5)BYy Q I@DI;i;5b5yٔBɮAۦEBjN@qLLj?1KqKiik?AJi3ARi3Ajik5?b;m&_%cw @ڿ?RLns`?|ӄ{?Zibij6 @S(@TK}?Z}P0?sI?4Z*?k?2iG@:iA"iy?*iLvB\BiBiH{?iiBi3AiD<6?U addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.500020 s, deltaX: 0.200000 m, approachRate: 0.399984 m/s, rangeRepo size: 4 e Added new target pos. range: 11.237584 m, bearing: 40.633545 deg, lat: 36.779352 deg, lon: -121.859684 deg, deltaT: 0.500020 s, deltaX: 0.198895 m, approachRate: 0.397773 m/s, posRepo size: 4 eDNOT Ignoring new targets: 11.24 m.haha*hi"hi hi2higififqfqdqdyjd}&@Zd}k?Z%>Z%>Z@Zbu@@=) j>iq9)顽T4ii+  =II)mY@i @i@mi1@iiIchecking for new query: numPingsReceived=55, elapsed TxPingTime=27.213583QBBB IBBBBBBk;B*EBeCBeCBeȓCBe =Be =Ce2|5^A9=II O >Em  Em Em $Ei "Em ;*Em Ǚ:VEm 4ZEi BEi au 2Ei au JEm ;a} :Em ;a} ԉ ?%,}?ARDDAT read: Rx Time:05:25:47.1619 VTRx dataTimestamp_ set to:1761542748.364566fPDAT read: Bearing 197.3, 18.6 (Local) j~Local bearing/azimuth received: Bearing 197.3, 18.6 (Local) DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.5 ԁDAT read: 05:25:47.1619 LVL= 28800, 32433, 32754, 32755, AGC= 58, IDX= 504, 0.04, 0.003, 1.540,-0.516, 0.529, PHS=-0.424, 1.056,-1.090, RAW= 347.6, 4.9, CAL= 347.3, 3.0, ROT= 162.7, -3.0 UYgot valid direction response: 05:25:47.1619 LVL= 28800, 32433, 32754, 32755, AGC= 58, IDX= 504, 0.04, 0.003, 1.540,-0.516, 0.529, PHS=-0.424, 1.056,-1.090, RAW= 347.6, 4.9, CAL= 347.3, 3.0, ROT= 162.7, -3.0 UT#Rx 56: Read range and direction messages.]^direction in FSK: [-0.953452,0.296967,0.052336]]Fpublishing direction and range infoyPRma?yoU˪?YR9APRpR~P P)R:IRپiR+?RR"@R%=R @ RPwV=)Rּ5@IRPwVPPRAza{L2ﭚPŵ? R)R㭽IRּ5@iRPwVPPchecking for new query: numPingsReceived=56, elapsed TxPingTime=27.548519Y‚By IԡiMb@Mb@Mb@ 9gfffff?#~jĿ~jt?Y3>y%< A @)AY@ p<4<bDVD2y=.M:%==ٔ=Q-E>9AYA=EFyAMEM>QQ 5]b5US?Q 9]b5U )UBY]?Q E]:y]BQ Ie@UDIUO;iU%;Ub5yiɮmAiJjLL"jqKKiPiR U?AJiR8ARiR8AjiR6?bRQx%۷Bwh @OQ?RRma?yoU˪?ZiRּ5@biRPwVjR\l!@']3+@$ ?ZRЃ,+?C?laQ&?2iRY@:iRg A"iRRz?*iRZCZBiRуBiPiRF3eZiRBiRw8AiRGh6? addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.507912 s, deltaX: 0.300000 m, approachRate: 0.590654 m/s, rangeRepo size: 4 5 Added new target pos. range: 11.535938 m, bearing: 40.881093 deg, lat: 36.779352 deg, lon: -121.859684 deg, deltaT: 0.507912 s, deltaX: 0.298354 m, approachRate: 0.587413 m/s, posRepo size: 4 5DNOT Ignoring new targets: 11.54 m.h1h1*h1"h1 h92h9g9f9fAfE BdAdAjdE@33'@ZdMM?Z?Z?ZK@Zu@) R>i9):4ii, =II=checking for new query: numPingsReceived=56, elapsed TxPingTime=27.716837  E  E E %E "E ~ ;*E :VE 4ZE a @a @a @a @ )#@  @ @ /@ @ fA@ fA)DDAT read: Rx Time:05:25:47.6620 TRx dataTimestamp_ set to:1761542748.864676PDAT read: Bearing 197.2, 18.5 (Local) ~Local bearing/azimuth received: Bearing 197.2, 18.5 (Local) DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.4 -DAT read: 05:25:47.6620 LVL= 25840, 28097, 32754, 32755, AGC= 56, IDX= 505,-0.16,-2.533,-1.019,-3.031,-2.006, PHS=-0.425, 1.032,-1.069, RAW= 347.4, 5.0, CAL= 347.1, 3.2, ROT= 162.9, -3.2 5Ygot valid direction response: 05:25:47.6620 LVL= 25840, 28097, 32754, 32755, AGC= 56, IDX= 505,-0.16,-2.533,-1.019,-3.031,-2.006, PHS=-0.425, 1.032,-1.069, RAW= 347.4, 5.0, CAL= 347.1, 3.2, ROT= 162.9, -3.2 =T#Rx 57: Read range and direction messages.E^direction in FSK: [-0.954303,0.293582,0.055822]EFpublishing direction and range infoyϥ72 ?ᢔ?Y3;Adm )8Iپi?ԈW@¸=r@ d=)5@Id50K%8VwHW? )I5@id%checking for new query: numPingsReceived=57, elapsed TxPingTime=28.008240Q^A-y=I9IIOU?di%,mr9Y=FygE>)1Q 5=b556?Q 9=b55$)5BY9yEQ IE@5DI5[:i5g:5 b5yMӔBɮMAIRjaLeetCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseKeAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse*jKCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJ Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRiiV7?AJi*:ARi*:Aji6?bw5&7RhlS @eU?Rϥ72 ?ᢔ?Zi5@bidjɮ!@ /i@xm7?ZM!*?ѫ~?Ү7ܪ?2iM@:i A"iuq?*iŧ\BiBiRz?iZiуBi;Ai}?6? addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.500110 s, deltaX: 0.099999 m, approachRate: 0.199955 m/s, rangeRepo size: 4  Added new target pos. range: 11.635386 m, bearing: 40.871038 deg, lat: 36.779352 deg, lon: -121.859684 deg, deltaT: 0.500110 s, deltaX: 0.099447 m, approachRate: 0.198851 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.64 m.hh*h"h h2h!gAfAfIfIdIdIjdM`ff'@ZdU I?ZZZZvu@(S=) >i#9)h4ii+ BB IBBBBBwDBB*EE  E E E "E ;*E :VE ZE BE QQ M%,)>V?AbDDAT read: Rx Time:05:25:48.1623 fTRx dataTimestamp_ set to:1761542749.372367vPDAT read: Bearing 197.2, 19.0 (Local) z~Local bearing/azimuth received: Bearing 197.2, 19.0 (Local) =DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.4 ԑDAT read: 05:25:48.1623 LVL= 28016, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.39, 0.657, 2.189, 0.129, 1.184, PHS=-0.424, 1.050,-1.099, RAW= 347.9, 5.0, CAL= 347.6, 3.2, ROT= 162.4, -3.2 Ygot valid direction response: 05:25:48.1623 LVL= 28016, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.39, 0.657, 2.189, 0.129, 1.184, PHS=-0.424, 1.050,-1.099, RAW= 347.9, 5.0, CAL= 347.6, 3.2, ROT= 162.4, -3.2 T#Rx 58: Read range and direction messages.5^direction in FSK: [-0.951704,0.301899,0.055822]5Fpublishing direction and range infoy`b\tONNR?ᢔ?Yb3CA`bpmb` `)b9Ibپibff?bbM@`b"@ `)b g5@I```bj` t_}!)g? b)bhwIb g5@M"|@M @MDm=ٱM1 eAHRS rotation from veh to nav: [[-0.526315,0.845424,0.090828],[-0.849475,-0.518129,-0.099673],[-0.037205,-0.129616,0.990866]]MH`` ?@?`.(` @,?iM"|@IM_;Ii```checking for new query: numPingsReceived=58, elapsed TxPingTime=28.575207YBy II<)=ԹiMb@Mb@Mb@ 9!rh?V-¿Mb?Yl>yh<@ )AY @bDVDܲy-|S%-=ٔ-\9Q-->91Y1=5Fy1]SE]>aQ 5mb5e|?Q 9mb5e))e$BYm>Q Em:ym Q Im@e!DIe:ie:eb5yyɮ}sAyi`ibW?AJibBARibBAjib=4?bb4 '@nM @J>'?Rb\tONNR?ᢔ?Zib g5@bi`jb Tx"@JD_@95y?ZbP[?ү?g2i?2ib@:ibA"ib)>?*ib{ZBibBi`ib{ZibBib@AibR6?  addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.507691 s, deltaX: 0.500000 m, approachRate: 0.984851 m/s, rangeRepo size: 4 = Added new target pos. range: 12.132687 m, bearing: 40.340209 deg, lat: 36.779352 deg, lon: -121.859684 deg, deltaT: 0.507691 s, deltaX: 0.497301 m, approachRate: 0.979535 m/s, posRepo size: 4 =DNOT Ignoring new targets: 12.13 m.hAhA*hA"hA hA2hAgAfIfIfMBdIdjd`ff(@Zd ?Z>Z>Z>R@Zw@%Dm=)!iQIUA]checking for new query: numPingsReceived=58, elapsed TxPingTime=28.724459 ->ie9)額5ii,  b9YYY=]FyY]?xE]>aQ 5mb5epj?Q 9mb5e.)e)BYqyuQ Iu@e*DIe;ie;e'b5y}͔BɮbAڦEiiw?AJiCARiCAji7?bT ae'$4A @qp?RJI`Gz?99?ZiK6@bi9jKd"@$Xd @?ZѓTO?2=I ?pp?2iA:i%A"i(kq?*i>sZBiBiy?iiiDAi$x6? addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.500370 s, deltaX: 0.100000 m, approachRate: 0.199853 m/s, rangeRepo size: 4  Added new target pos. range: 12.232135 m, bearing: 41.181043 deg, lat: 36.779352 deg, lon: -121.859684 deg, deltaT: 0.500370 s, deltaX: 0.099448 m, approachRate: 0.198749 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.23 m.hh*h"h h2hgfffddjd(@Zdt?ZZZZw@5=)1 5¤>i5y9)1559i9i=+ AEAHRS rotation from veh to nav: [[-0.527351,0.845535,0.083492],[-0.848795,-0.519872,-0.096333],[-0.038048,-0.121669,0.991841]]2H@ ?_?T) ʢJ{`%)?i2 |@I2v_;0YFByr IiMb@Mb@Mb@ 9K7A`?V-~jtx?Y>y;A A@ @)zAY\@bDVD:2ym%m=ٔuQ-u>9qYq=uFyq}E}>Q 5b5Z?Q 9b5 3)*BYj>Q E:yQ I@3DI:i:*b5yהBɮAEii-?AJiFARiFAjiJ6?bI˓'I b @V"uu?R0Sߋ9N?.?Zio5@binFj.0N"@]w; @_?Zo 4??q?2iA:itA"iKor?*iZ]BizBiKor?iiуBiGAi7? addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505057 s, deltaX: 0.200000 m, approachRate: 0.395995 m/s, rangeRepo size: 4  Added new target pos. range: 12.431051 m, bearing: 40.798900 deg, lat: 36.779351 deg, lon: -121.859684 deg, deltaT: 0.505057 s, deltaX: 0.198916 m, approachRate: 0.393849 m/s, posRepo size: 4  DNOT Ignoring new targets: 12.43 m.h h *h "h  h 2h g fffBddjd)@Zd@?ZEj>ZEj>ZE$@ZEdz@U=)Q Uף>iU9)Y]k25YiYie, ae> DDAT read: Rx Time:05:25:50.6628  TRx dataTimestamp_ set to:1761542751.888690 PDAT read: Bearing 197.7, 19.6 (Local)  ~Local bearing/azimuth received: Bearing 197.7, 19.6 (Local) % DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4 M DAT read: 05:25:50.6628 LVL= 15200, 16465, 17554, 24755, AGC= 59, IDX= 1, 0.40,-2.027,-0.550,-2.558,-1.536, PHS=-0.390, 1.031,-1.066, RAW= 348.4, 4.6, CAL= 348.1, 2.6, ROT= 161.9, -2.6 U Ygot valid direction response: 05:25:50.6628 LVL= 15200, 16465, 17554, 24755, AGC= 59, IDX= 1, 0.40,-2.027,-0.550,-2.558,-1.536, PHS=-0.390, 1.031,-1.066, RAW= 348.4, 4.6, CAL= 348.1, 2.6, ROT= 161.9, -2.6 0%,/?AlrT#Rx 63: Read range and direction messages.v^direction in FSK: [-0.949537,0.310357,0.045363]vFpublishing direction and range infoy155Лbr?99?Y5fNA15`;5Q@5D 5`)5;I5Ǿi5?5r5Q@5l=5mj@ 59=)54@I59115L1,4Uoњ!}? 53)5I54@i59115checking for new query: numPingsReceived=63, elapsed TxPingTime=31.041826YjByh II<)p;bDVDy-E%-F=ٔ1Q-5>9Y=FyE>Q 5b59?Q 9b5h=)-BYyQ I@EDIB;iC;%b5yɮ4Ai1i5L?AJi5BMARi5BMAji5e1?b5l1F\(7!@Bs[?R55Лbr?99?Zi54@bi59j5.4F#@ct/j @D?Z52?0x? _N?2i5QA:i5A"i5Gv?*i567eBi5Bi5߰s?i5Z]i5Bi5OAi56? addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.500632 s, deltaX: 0.099999 m, approachRate: 0.199746 m/s, rangeRepo size: 4  Added new target pos. range: 12.828798 m, bearing: 39.818709 deg, lat: 36.779352 deg, lon: -121.859685 deg, deltaT: 1.007888 s, deltaX: 0.298298 m, approachRate: 0.295963 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.83 m.hh*h"h h2hgfff d djd)@Zd`?ZQZQZQZQ) >i9)額/o5ii+ II1]checking for new query: numPingsReceived=63, elapsed TxPingTime=31.243603) Bu >Bu CBu S IBu YBBq Bq Bu yDBu 8j;Bu )Eԑ 8@  @ @ S4@ I I! O5 >$&,;s?AE: E:E:'E8"E:l;*E::VE:'4ZE8BE:XF9 Y = Fy _E>Q 5%b5.?Q 9%b5@)/BY!y%bQ I%@JDI:i:^)b5yu˔BɮuAqDNOT Ignoring new targets: 12.83 m.hh*h"h h2hDDAT read: Rx Time:05:25:51.1630 TRx dataTimestamp_ set to:1761542752.397920PDAT read: Bearing 199.8, 18.6 (Local) ~Local bearing/azimuth received: Bearing 199.8, 18.6 (Local) DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4 -DAT read: 05:25:51.1630 LVL= 23648, 28529, 32754, 32755, AGC= 57, IDX= 500, 0.01,-1.945,-0.398,-2.455,-1.456, PHS=-0.387, 1.103,-1.043, RAW= 347.4, 3.5, CAL= 346.9, 0.8, ROT= 163.1, -0.8 EYgot valid direction response: 05:25:51.1630 LVL= 23648, 28529, 32754, 32755, AGC= 57, IDX= 500, 0.01,-1.945,-0.398,-2.455,-1.456, PHS=-0.387, 1.103,-1.043, RAW= 347.4, 3.5, CAL= 346.9, 0.8, ROT= 163.1, -0.8 gfifyfyT#Rx 64: Read range and direction messages.ddjdZdPM?^direction in FSK: [-0.956720,0.290674,0.013962]Fpublishing direction and range infoyts`Nf?4?Y3SA`\qo )9I$ƾi/?W@5z=ԁپ@ d<)8/6@Id;p"^~;? *)PxI8/6@idZAZAZAZEʼ{@U@<]checking for new query: numPingsReceived=64, elapsed TxPingTime=31.573706)Y }T>i}9)y}5ii, S &,/?Aɰ>{@>IɄ@><ٱ>ڽ JAHRS rotation from veh to nav: [[-0.533356,0.842556,0.075039],[-0.845414,-0.527976,-0.080726],[-0.028398,-0.106495,0.993908]]>HA 7? 5?@ .|@<FC`?i>{@I>b;>CPYVdByV` Ii5Mb@Mb@Mb@1111 195zG?I +{Gz?Y5 >y595#<5 A5@ 5@)5`A1Y5f@bDMVDMP)y]%]D=ٔ]SQ-e>9iYq=uFyyA E>Q 5b5F$?Q 9b5D)1BY>Q E:yQ I@PDI;i;-b5bE-4jE4rE/Eu EuEu%Eq"Eu%;*Eu՚:VEu 4ZEqa@a@a@a@yɮ4Aiiw?AJi RARi RAji6?bG)6@g;v?Rts`Nf?4?Zi8/6@bidj:#@qW-!@K?ZrE3?{"p?)?2ij A:iA"ikh?*i(bBiBiKor?i$aizBiSAi^5? addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.509230 s, deltaX: 0.300000 m, approachRate: 0.589125 m/s, rangeRepo size: 4  Added new target pos. range: 13.127768 m, bearing: 40.863709 deg, lat: 36.779351 deg, lon: -121.859687 deg, deltaT: 0.509230 s, deltaX: 0.298969 m, approachRate: 0.587101 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.13 m.hh*h"h hgfffBddjd `ff*@Zd @ {?ZM>ZM>ZMs@ZM-|@}<)y }4>i}09)y}#5ii+ o) .&,|'I?Achecking for new query: numPingsReceived=65, elapsed TxPingTime=32.2513166{@6D@6[<ٱ6׽ BAHRS rotation from veh to nav: [[-0.534215,0.842032,0.074812],[-0.844940,-0.529109,-0.078227],[-0.026286,-0.105001,0.994125]]6H`I ?@&? w@ꚿ]ế?i6{@I6sc;6CY[ByU I  4<bDVD:y%%%6=ٔ֙Q->9Y=FyE>Q 5b51?Q 9b5G)2BYyQ I@VDI-:i:0b5y ɮ ~A BU>BUCBUA IBUJBBU =BQBUzDBU9j;BU)EBCBCB•CB =B =CA6iise9?AJi;UARi;UAji%4?b t)W@ǰg'Y?RS?NGY;?Zio5@bi޹jo2lG$@VJ!@"v=X?ZxX?_?fg?2iU A:i;"A"idBîBii(bisBinVAi}5? addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.498897 s, deltaX: 0.200000 m, approachRate: 0.400884 m/s, rangeRepo size: 4 % Added new target pos. range: 13.327044 m, bearing: 40.454081 deg, lat: 36.779351 deg, lon: -121.859687 deg, deltaT: 0.498897 s, deltaX: 0.199277 m, approachRate: 0.399435 m/s, posRepo size: 4 %DNOT Ignoring new targets: 13.33 m.h!h)*h)"h) h)g)f1f1f1d1d9jd=*@Zd=?IZaZaZaZe|@[<) >i%9))5ؗ51i1iM, QUv{@>.@>op<ٱ>Ͻ FAHRS rotation from veh to nav: [[-0.535390,0.841456,0.072865],[-0.844268,-0.530745,-0.074309],[-0.023855,-0.101302,0.994570]]>H!4?G?>`@vm ?i>v{@I> !c;>C L)NkANLLPRlAiR+IPPITiVlA V+T)TX ZkAZhXXX^kAI^\)\i\)\I^kAbC` ``ddiddidd)h hIhYhYnXBynQ IAiMb@Mb@Mb@ 9&1?Mby&1?Y>y`e<@ @)AY\@bDEVDEk1yU8%}$=ٔ}uQ->9Y=Fy]0E>Q 5b5 ?Q 9b5K)6BY}>Q E:yQ I@]DIh;i.;U5b5yĔBɮbAEiiY?AJiZARiZAji08?bNM$*2@'5?Rx f?B3?Zi6@bijp&lh~$@EEN"!@BZ}>Z@Z:{@op<)! %ף>D5=D54=EM EMEM(EI"EM;*EMǙ:VEMc44ZEIam@am@au@au@i9)页5ii+ ڕ ]踿@B?i2d{@I2vb;2CYzVByzO II|)~<bD VD y*%,=ٔYQ->9!Y!=%Fy!-SE->1Q 5=b55?Q 9=b555O)59BY9y=Q I=@5cDI59:i5:5p9b5yIɮMrAIiiYi]uy?AJi][ARi][Aji]7?b]uR)Q*^T@GX?R]r͘eL?99?ZiYbi]9j][$@Lj"@GM?Z]?Le?*qӻ?2i]/A:i]j%A"i]:h?*i].bBi]cBi]Ul?i].biYi]\Ai]6? addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503901 s, deltaX: 0.100000 m, approachRate: 0.198452 m/s, rangeRepo size: 4  Added new target pos. range: 13.724867 m, bearing: 41.076936 deg, lat: 36.779351 deg, lon: -121.859687 deg, deltaT: 0.503901 s, deltaX: 0.099456 m, approachRate: 0.197372 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.72 m.hh*h"h hgfffddjd+@Zd?ZZZZ${@׮<) ڡ>i9)  "5 i i, ҪBCB4 IB@BB =BBwDBj;B)E!ԱE EE&@! @!@%/@)E"E:*E:VE4ZEBE>H?i?.?Y5`A15d51c1 1)5;I5?5޾i5Ԉ?5/݄5Z@5`=5!@ 5nF=)5i7@I5nF115*9s\0[E翫{ŕZ? 5)5I5i7@i5nF11checking for new query: numPingsReceived=68, elapsed TxPingTime=33.533596^A} ׮<I I O5 > (&,Ф?ABK{@B@BN<ٱBX0 JAHRS rotation from veh to nav: [[-0.537665,0.840348,0.068787],[-0.842942,-0.533890,-0.066406],[-0.019079,-0.093687,0.995419]]BH4!??`b  x?iBK{@IBa;BCY_By%Z IiMb@Mb@Mb@ 9v?B`"۹~jt?YԸ>yν< A@ @)AY(A-AA)bD5VD50yE(=%E9=ٔMUQ-M>9IYI=UFyQUcEU>YQ 5eb5]?Q 9eb5]!R)]?BYmR>Q Em ;ymQ Im@]hDI]:i]U:]I=b5yuΔBɮ}zA}Echecking for new query: numPingsReceived=68, elapsed TxPingTime=33.763550iqiu*?AJiu^ARiu^AjiuX9?bu8d*.N@Ss|[?Ru>H?i?.?Ziui7@biunFju_($@:s"@rR?Zu?!w4?D)gϟ?2iuA:iu&A"iuWvd?*iu)s_Biu=Biukh?iu(biqiu2^AiuJ7?e addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504034 s, deltaX: 0.200000 m, approachRate: 0.396798 m/s, rangeRepo size: 4  Added new target pos. range: 13.922843 m, bearing: 41.529600 deg, lat: 36.779350 deg, lon: -121.859687 deg, deltaT: 0.504034 s, deltaX: 0.197976 m, approachRate: 0.392783 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.92 m.hh*h"h hgfffˁBddjd,@Zd?ZER>ZER>ZE U@ZECx@}N<)y {>i9)顥e5ii+  W@ U 9=)U 07@IU 9Q Q U ,m" 濆8ϰf 5Rڪ? U k])U sIU 07@iU 9Q Q ! @!  @! @% /@! Y e checking for new query: numPingsReceived=69, elapsed TxPingTime=34.042233ԑ^Ae`=<IiIO?J1&,kŘ?AɰV5{@V͕@Vp<ٱV jAHRS rotation from veh to nav: [[-0.538799,0.839670,0.068184],[-0.842265,-0.535300,-0.063593],[-0.016899,-0.091693,0.995644]]VH@=@?}t?-!G@M`,yP?iV5{@IV8`;VCYv\ByvV IbDVD0y5;o%5-=ٔ=Q-=>99YA=EFyAM*6EU>YQ 5]b5]p뙊?Q 9eb5]GU)]FBYayeQ Ie@]nDI]:i]R:]rAb5yuȔBɮubAqiIiMv?AJiM[`ARiM[`AjiM;,8?bM90*bkv@IZ?RM$ڥuld?99?ZiM07@biM9)uchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.267570jM%@w"@*%47?ZMfR' ??Y?T9?2iMA:iM(A"iMc?*iMefbBiM_BiM:h?iM.biM=BiM`AiM?7? addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504650 s, deltaX: 0.100000 m, approachRate: 0.198158 m/s, rangeRepo size: 4  Added new target pos. range: 14.022292 m, bearing: 41.220010 deg, lat: 36.779350 deg, lon: -121.859687 deg, deltaT: 0.504650 s, deltaX: 0.099449 m, approachRate: 0.197066 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.02 m.hh*h"h hgfffddjd@33,@Zd`{?ZZZZ*x@mp<)i u>iu9)qu5qiqi}, y}sB]CBYBYB] =BYB]vDB]+k;B]'*EqE EE)E"El;*E:VEFA4ZEBEXF@- 5=- @ - <)- 7@I- 伩) @  @ @ /@ ) - C,濤g? - )- ?I- 7@i- 伩) ) = checking for new query: numPingsReceived=70, elapsed TxPingTime=34.554981Ա ^AD-<I IO%>18&,|)?Ab{@bŇ@b W<ٱb1ӹ AHRS rotation from veh to nav: [[-0.540272,0.838642,0.069183],[-0.841388,-0.537095,-0.059957],[-0.013125,-0.090603,0.995801]]bH@I@'? ?/ ኿`1`?ib{@Ib `;bCYEYByES IiUMb@Mb@Mb@QQQQ Q9UX9v?`"?YU>yUU9Y=FyPE>Q 5b5Zޙ?Q 9b5X)OBY>checking for new query: numPingsReceived=70, elapsed TxPingTime=34.771545Q E;yQ I@tDIZr;iq;"Fb5yɮwAiiژ?AJiOhARiOhAji9?b8$J+ i9@l(?RW(&sD4?|p}?Zi7@bij$%@QNH#@ 0?Zdcr?䭯??S&jx?2iBA:i-A"i>p?*iځZBiЂBii_ii*eAi8? addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504393 s, deltaX: 0.500000 m, approachRate: 0.991291 m/s, rangeRepo size: 4 % Added new target pos. range: 14.519391 m, bearing: 41.614092 deg, lat: 36.779350 deg, lon: -121.859686 deg, deltaT: 0.504393 s, deltaX: 0.497099 m, approachRate: 0.985539 m/s, posRepo size: 4 -DNOT Ignoring new targets: 14.52 m.h)h)*h)"h) h)g1f1f1f5āBd9d9jd=@33-@Zd=@.?Z >Z >Z Xp@Z HJt@M W<)I M{>iM9)QU5QiQie+ ae퇌|?&,)?Aj{@jS@jc:<ٱj %AHRS rotation from veh to nav: [[-0.540842,0.838308,0.068769],[-0.841047,-0.537873,-0.057732],[-0.011409,-0.089062,0.995961]]jHN@k?Ԛ?B6` k]̶?ij{@Ij__;hY5[By=V IbDVDy7<%T=ٔϑQ->9Y=Fy  E >Q 5=b5ԙ?Q 9=b5Z)UBY9y=Q I=@yDIm;i;Ib5yIɮMeAIii?AJiRiji|>?b ,Qb @ ;A?RiQdň?P0?Zi9@bi AjXHP%@?#@R?ZP Lk}?Nݩ?>G%P?2iEA:i*A"iueW?*i\XBiBiWvd?i)s_i_BifAi-J9? addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.502825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 14.519391 m, bearing: 42.683751 deg, lat: 36.779350 deg, lon: -121.859686 deg, deltaT: 0.502825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 14.52 m.h)h1*h1"h1 h1g1f1f9f9d9d9jdAZdE?IZZZZGi9))-]5)i)i=, 9EBCB: IBEBB =BBwDBk;Bg*EԱ ^AE ]<Iq I O >E5  E5 E5 'E1 "E5 ;*E5 r:VE5 '4ZE1 BE5 sT?@? `r<ҽR ^?iRE{@IR_;RCYdyfU IbDnVDn1yv%v]=ٔzrQ-z>9xYx=~Fy|~E~>Q 5 b5˙?Q 9 b5%])[BYyQ I@}DI:i(:Lb5-DDAT read: Rx Time:05:25:55.1642 -TRx dataTimestamp_ set to:1761542756.4247795PDAT read: Bearing 199.7, 16.2 (Local) =~Local bearing/azimuth received: Bearing 199.7, 16.2 (Local) UDAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.4 uDAT read: 05:25:55.1642 LVL= 24048, 21169, 32754, 32755, AGC= 60, IDX= 511, 0.41,-1.451, 0.145,-1.925,-0.937, PHS=-0.411, 1.128,-1.032, RAW= 346.2, 3.3, CAL= 345.8, 0.6, ROT= 164.2, -0.6 }Ygot valid direction response: 05:25:55.1642 LVL= 24048, 21169, 32754, 32755, AGC= 60, IDX= 511, 0.41,-1.451, 0.145,-1.925,-0.937, PHS=-0.411, 1.128,-1.032, RAW= 346.2, 3.3, CAL= 345.8, 0.6, ROT= 164.2, -0.6 T#Rx 72: Read range and direction messages.^direction in FSK: [-0.962165,0.272265,0.010472]Fpublishing direction and range infoy)-  el?/;r?Y-pA)-]-R) ))-<I-nҾi-Nb?--Z@-k=-!@ -+<)-i7@I-+)yBɮ-3A= G)-%,1 D4"ף?U(hA -p)-GlI-i7@ii-+!ο9(hAYAE))%checking for new query: numPingsReceived=72, elapsed TxPingTime=35.592354Աi)i-/?AJi-nARi-nAji-9?b-쁱,}lc>@g?R-  el?/;r?Zi-i7@bi-+j-F=z^&@W2H#@:حZ-4E/?- K ,?[$p2i-A:i-2A"i-Hv}z?*i-pŌYBi-=Bi)i-ځZi-=Bi-jAi-e;? addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504064 s, deltaX: 0.400000 m, approachRate: 0.793549 m/s, rangeRepo size: 4  Added new target pos. range: 14.917310 m, bearing: 41.424443 deg, lat: 36.779350 deg, lon: -121.859684 deg, deltaT: 0.504064 s, deltaX: 0.397919 m, approachRate: 0.789421 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.92 m.hh*h"h hgfffddjd.@Zd?ZaZaZaZe.t@}E{$<)y }x>i}59)~5ii+ L&,G2?AZ{@Z{@Z <ٱZʖ fAHRS rotation from veh to nav: [[-0.541542,0.837733,0.070246],[-0.840630,-0.538772,-0.055365],[-0.008534,-0.089033,0.995992]]ZHPT`?? q=X3z ʶ*?iZ{@IZh|_;ZClYr^ByrY IimMb@Mb@Mb@iiii i9mm?p= ףymmt9Y=FyjoE>Q 5b5n?Q 9b5_)aBY>Q E;y Q I@DI` ;i ;tPb5yɮADzDE EE(E"E:*Ev:VEc44ZEa@a@a@a@ DNOT Ignoring new targets: 14.92 m.h h *h "h  h gfffddjdZd=?Z>Z>Z$h@Zr@ <) >iW9))5ii, !!I!II5DDAT read: Rx Time:05:25:55.6642 =TRx dataTimestamp_ set to:1761542756.929413EDAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.4 MZ#Rx 73: Read range message, but no direction.y1Y11]checking for new query: numPingsReceived=73, elapsed TxPingTime=36.0372479@ @@4@1^A <I I) OE >Y  checking for new query: numPingsReceived=73, elapsed TxPingTime=36.283463R&,p|L?A2iz@2y@2V;ٱ2 >AHRS rotation from veh to nav: [[-0.541767,0.837656,0.069428],[-0.840499,-0.539203,-0.053125],[-0.007065,-0.087135,0.996171]]2H(V`?Ʊ?] &A,3|{N?i2iz@I2N_;2CYFUByFN IbDRVDRfyV3%V[=ٔZҀQ-Z>9XYX=^Fy\bm6Eb>`Q 5fb5b6?Q 9jb5ba)bfBYhyj" Q Ij@bDIb:ib:bSb5y!ɮ%_A!9u addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504634 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 14.92 m.hh*h"h hgfffddjdZd w?ZZZZwq@A9A9BE̿>BABEA IBEJBBABABABE`l;BE*EV;) 3>i9)5ii+ Eb@ E4QO>)E'7@IE4QOAAER)p)!X#9]q^H &Y&,cf?An{@nA{@n;ٱn( vAHRS rotation from veh to nav: [[-0.541594,0.837915,0.067633],[-0.840620,-0.539276,-0.050394],[-0.005752,-0.084147,0.996437]]nHT2?lP?`\A-ُͩw @?in{@InW_;nCY!y! ))ԑiMb@Mb@Mb@ 9ˡE?/$~jt?Y>y1D<+ A`@ X@)zAYGAbDVD:y%8=ٔAQ->9Y=Fy9E>Q 5b5q?Q 9b5d)kBYR>Q E;y!Q I@DI;i;Wb5y Bɮ/AEiiim%[?AJimqARimqAjim6?bm+,j&Zu@a7AP@Rm;EzŎ8kV1?o?Zim'7@bim4QOjm;v&@t#@dژUI=@Zm`?q0L?l[0?2imA:im3A"im_?*imFdBimBimc?iiim_BimrAimW:?e addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503274 s, deltaX: 0.200000 m, approachRate: 0.397397 m/s, rangeRepo size: 4 u Added new target pos. range: 15.116114 m, bearing: 40.891952 deg, lat: 36.779350 deg, lon: -121.859684 deg, deltaT: 1.007908 s, deltaX: 0.198804 m, approachRate: 0.197244 m/s, posRepo size: 4 uDNOT Ignoring new targets: 15.12 m.hqhq*hy"hy hygyfyffBddjd`ff.@Zd`?checking for new query: numPingsReceived=74, elapsed TxPingTime=36.795475Z=R>Z=R>Z=@Z=ɐp@};)y }Ha>i9)顅5ii,  DDAT read: Rx Time:05:25:56.6644  TRx dataTimestamp_ set to:1761542757.944783 PDAT read: Bearing 199.5, 15.9 (Local)  ~Local bearing/azimuth received: Bearing 199.5, 15.9 (Local)  DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.4  DAT read: 05:25:56.6644 LVL= 24512, 19041, 27570, 29523, AGC= 67, IDX= 1, 0.33, 2.807,-1.881, 2.338,-2.959, PHS=-0.415, 1.123,-1.030, RAW= 346.1, 3.4, CAL= 345.7, 0.7, ROT= 164.3, -0.7  Ygot valid direction response: 05:25:56.6644 LVL= 24512, 19041, 27570, 29523, AGC= 67, IDX= 1, 0.33, 2.807,-1.881, 2.338,-2.959, PHS=-0.415, 1.123,-1.030, RAW= 346.1, 3.4, CAL= 345.7, 0.7, ROT= 164.3, -0.7  T#Rx 75: Read range and direction messages. ^direction in FSK: [-0.962620,0.270580,0.012217] Fpublishing direction and range infoy  SEW-/Q?I:?Y tA _ aJ k Ss) CI zԾi w? ׃ xL@ s= H@ +H<) ^7@I +H :&^%6m"J? ) {rI ^7@i +H  checking for new query: numPingsReceived=75, elapsed TxPingTime=37.063583 `&,e5?A2{@2}@2f;ٱ2ng >AHRS rotation from veh to nav: [[-0.541348,0.838157,0.066596],[-0.840787,-0.539209,-0.048290],[-0.004566,-0.082135,0.996611]]2H R`/?t ? 2A~Hr@@9iYi=uFyquW :Eu>yQ 5b5}?Q 9b5}f)}pBYy!Q I@}DI};i};}[b5yɮAiiSw|?AJirsARirsAji.9?bj)K-GdIw@02?RSEW-/Q?I:?Zi^7@bi+Hj'2\z&@t+$@X8Z_rw?86?p;K(w2i_!A:iF6A"iEa?*i˖q]Bi-BiEa?iiЂBirtAi :? addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.512096 s, deltaX: 0.100000 m, approachRate: 0.195277 m/s, rangeRepo size: 4  Added new target pos. range: 15.215563 m, bearing: 41.519839 deg, lat: 36.779350 deg, lon: -121.859684 deg, deltaT: 0.512096 s, deltaX: 0.099449 m, approachRate: 0.194200 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.22 m.hh*h"h hgfff d d jd .@Zd?!Z1Z1Z1Z53p@Mf;)I M>i>iM/9)IM6QiQiU+ Y]E  E E 'E "E ;*E :VE '4ZE BE Ri9)顽U6ii ,  oڄ el&,?AppE EEE"E%;*E:VEZEa@a@a@a@ԩYKByB II<)i]Mb@Mb@Mb@YYYY Y9]'1Z?rh|y&1|?Y]Т>y]]`;]A]A@ ]f@)]`AYY](AbDuVDu 3y%'=ٔQ->9Y=FyE>Q 5b5;?Q 9b5j)wBY>Q E;y Q I@DI ;i" ;bb5yBɮJAEMDDAT read: Rx Time:05:25:57.6646 UTRx dataTimestamp_ set to:1761542758.952942]PDAT read: Bearing 199.8, 14.6 (Local) ]~Local bearing/azimuth received: Bearing 199.8, 14.6 (Local) mDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.4 DAT read: 05:25:57.6646 LVL= 22064, 21073, 32754, 32755, AGC= 58, IDX= 500,-0.08, 1.781,-2.870, 1.349, 2.320, PHS=-0.438, 1.138,-1.015, RAW= 345.0, 3.3, CAL= 344.6, 0.6, ROT= 165.4, -0.6 Ygot valid direction response: 05:25:57.6646 LVL= 22064, 21073, 32754, 32755, AGC= 58, IDX= 500,-0.08, 1.781,-2.870, 1.349, 2.320, PHS=-0.438, 1.138,-1.015, RAW= 345.0, 3.3, CAL= 344.6, 0.6, ROT= 165.4, -0.6 T#Rx 77: Read range and direction messages.^direction in FSK: [-0.967656,0.252056,0.010472]Fpublishing direction and range infoyIM{ !?/;r?YIIM0VMQRI I)M:IMAiM?M끿M2@Mk=Mv@ M+<)M8@IM+IDNOT Ignoring new targets: 15.51 m.hh*h"h hgfffBddjdZd?IM7!X濹e~NZE>ZEq@@ZEq@Q)y }{>i}r9)y}: 6yiyi+ P checking for new query: numPingsReceived=77, elapsed TxPingTime=38.307411) IHs&,i͙?AYPByH IbDVDy<%m=ٔQ-?9Y=FyE?B<ABɿ>BBBBBBB^m;B<+EQ 5mb5A?Q 9mb5l)zBYyyyQ I@DI?bZ&. ^H@0d?R{ !?/;r?Zi8@bi+j]kc%&@;%@43&N溿Zۻ4V?5ŪV?ܓf {2i(A:i6A"iOHI?*i}mXBiBiii-BizAi:?] addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504145 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 15.513788 m, bearing: 42.616860 deg, lat: 36.779349 deg, lon: -121.859684 deg, deltaT: 0.504145 s, deltaX: -0.000086 m, approachRate: -0.000170 m/s, posRepo size: 4 uDNOT Ignoring new targets: 15.51 m.hqhq*hq"hq hqgyfyfyfyddE EE&E"E ;*E:VE4ZEBELi9)"6ii, II9eDDAT read: Rx Time:05:25:58.1648 eTRx dataTimestamp_ set to:1761542759.456831uPDAT read: Bearing 199.1, 15.1 (Local) u~Local bearing/azimuth received: Bearing 199.1, 15.1 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.3 DAT read: 05:25:58.1648 LVL= 25216, 26657, 32754, 32755, AGC= 60, IDX= 502, 0.04,-1.373, 0.227,-1.819,-0.839, PHS=-0.432, 1.111,-1.024, RAW= 345.6, 3.6, CAL= 345.2, 1.1, ROT= 164.8, -1.1 Ygot valid direction response: 05:25:58.1648 LVL= 25216, 26657, 32754, 32755, AGC= 60, IDX= 502, 0.04,-1.373, 0.227,-1.819,-0.839, PHS=-0.432, 1.111,-1.024, RAW= 345.6, 3.6, CAL= 345.2, 1.1, ROT= 164.8, -1.1 T#Rx 78: Read range and direction messages.^direction in FSK: [-0.964839,0.262141,0.019197]Fpublishing direction and range infoyae]G_-?]~?Yef~Aaebe!ha a)e<Ie/ݾie?5?eoe@e=e@ enF<)eX8@IenFaaeȡ:@Z!F9fR? e&)eūIeX8@ienFaachecking for new query: numPingsReceived=78, elapsed TxPingTime=38.5759209@ @@/@q ^A <I I) O= >hy&,w?A(Z@{@Zq}@Z0$ٱZ fAHRS rotation from veh to nav: [[-0.541379,0.838280,0.064770],[-0.840779,-0.539827,-0.040963],[0.000626,-0.076634,0.997059]]ZHR 1?ɔ?CF@D? I?iZ@{@IZF_;ZCYKByA IiEMb@Mb@Mb@AAAA A9E-?y&1Mbp?YE5>yE`彙E;ErAEX@ E|@)EIAAYEQAbDYVDYyQμ%>=ٔQ->9checking for new query: numPingsReceived=78, elapsed TxPingTime=38.812088Y=Fy;9E>)Q 55b5-v}?Q 9=b5- o)-}BY=J>Q E=!;y=HQ Ie@-DI-y;i-;-ib5yqɮuLAqԁii<ݙ?AJi|ARi|AjiǕ;?be&.m{@׼Agm?R]G_-?]~?ZiX8@binFj% '@)p'%@hI "Z6]d?>g?j+|nY2i;)A:iBi[?iQ3Xii|Ai;?E addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503889 s, deltaX: 0.299999 m, approachRate: 0.595368 m/s, rangeRepo size: 4 U Added new target pos. range: 15.812129 m, bearing: 41.983722 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.503889 s, deltaX: 0.298341 m, approachRate: 0.592076 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 15.81 m.hYhY*hY"hY hYgafafafeBdidijdm/@Zdm}?ZJ>ZJ>Z=@ZXr@0$) ]>i9)顭y6c DDAT read: Rx Time:05:25:58.6649  TRx dataTimestamp_ set to:1761542759.960724 PDAT read: Bearing 198.9, 15.0 (Local)  ~Local bearing/azimuth received: Bearing 198.9, 15.0 (Local)  DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.3  DAT read: 05:25:58.6649 LVL= 25424, 26737, 32754, 32755, AGC= 59, IDX= 502, 0.18,-1.602,-0.014,-2.049,-1.068, PHS=-0.432, 1.099,-1.025, RAW= 345.7, 3.8, CAL= 345.3, 1.4, ROT= 164.7, -1.4 E Ygot valid direction response: 05:25:58.6649 LVL= 25424, 26737, 32754, 32755, AGC= 59, IDX= 502, 0.18,-1.602,-0.014,-2.049,-1.068, PHS=-0.432, 1.099,-1.025, RAW= 345.7, 3.8, CAL= 345.3, 1.4, ROT= 164.7, -1.4 E T#Rx 79: Read range and direction messages.M ^direction in FSK: [-0.964269,0.263794,0.024432]u Fpublishing direction and range infoy  ݇Kٛ~?{J?Y ̀A Pc qh ) ;I i ? 33 H@ ԇ= @ +<) 7@I +ȼ B#M濜X˓濒=a? ) KZI 7@i +ȼ  checking for new query: numPingsReceived=79, elapsed TxPingTime=39.097984#K&,%;?ARfz@Rv@R٭ٱRG ^AHRS rotation from veh to nav: [[-0.542088,0.837888,0.063904],[-0.840319,-0.540696,-0.038876],[0.001979,-0.074774,0.997199]]RHX?@\?@bM磿`5`?c$ ?\iRfz@IRa6_;RCYvHByv> I xxbD%VD%0y-Y%5e=ٔ5axQ-5>9YYY=]FyYeEe>aQ 5mb5eu?Q 9ub5ep)eBYqyuWQ Iu@eDIe;ieX;elb5yBɮAEii|?AJiARiAji:?b .3@ou) ?R݇Kٛ~?{J?Zi7@bi+ȼjN='@ wY%@(Eb?ZD?RLU?b^f?2i*A:i>A"i"ruc?*iXBi_Bii}mXii~Ai;? addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503893 s, deltaX: 0.200001 m, approachRate: 0.396911 m/s, rangeRepo size: 4  Added new target pos. range: 16.011024 m, bearing: 41.813963 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.503893 s, deltaX: 0.198895 m, approachRate: 0.394718 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.01 m.hh*h"h hgfffddjd 0@Zd 2?ZiZiZiZmr@٭) >i9)顅6iIAchecking for new query: numPingsReceived=79, elapsed TxPingTime=39.315872Bȿ>BB: IBEBBBBBnm;BD+EA E  E E (E "E ;*E 8:VE c44ZE BE eAHRS rotation from veh to nav: [[-0.542748,0.837394,0.064775],[-0.839889,-0.541440,-0.037815],[0.003406,-0.074928,0.997183]]2H0^??^yS o\?k?w.?i2~z@I2_]_;2CY^KBybB I f49 Y = Fy E>Q 5%b5/m?Q 9-b5r)BY)y-dQ I-@DI:i:pb5y5BMDDAT read: Rx Time:05:25:59.1651 MTRx dataTimestamp_ set to:1761542760.464837UPDAT read: Bearing 199.2, 15.0 (Local) ]~Local bearing/azimuth received: Bearing 199.2, 15.0 (Local) mDAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.3 DAT read: 05:25:59.1651 LVL= 23760, 23953, 32754, 32755, AGC= 61, IDX= 504, 0.34,-0.270, 1.327,-0.724, 0.260, PHS=-0.428, 1.112,-1.029, RAW= 345.8, 3.6, CAL= 345.4, 1.1, ROT= 164.6, -1.1 Ygot valid direction response: 05:25:59.1651 LVL= 23760, 23953, 32754, 32755, AGC= 61, IDX= 504, 0.34,-0.270, 1.327,-0.724, 0.260, PHS=-0.428, 1.112,-1.029, RAW= 345.8, 3.6, CAL= 345.4, 1.1, ROT= 164.6, -1.1 T#Rx 80: Read range and direction messages.^direction in FSK: [-0.963918,0.265507,0.019197]Fpublishing direction and range infoyIMo jA{?]~?YM3AIM\M]I I)M=IM"۾iMV?MFM!@M=Mb@ MnF<)M'7@IMnFIIMtIDğWtJ? M)MmIM'7@iMnFIIchecking for new query: numPingsReceived=80, elapsed TxPingTime=39.584511ɮ=eAEiIiM?AJiMyARiMyAjiMrF:?bMF=;q/eB)R@7[O ?RMo jA{?]~?ZiM'7@biMnFjMQră[(@gYKر%@ exװZMjQO?zH?|O5p2iM-A:iMBA"iMxo?*iMUBiM*BiIiMXiM*BiMAiM;? addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504113 s, deltaX: 0.299999 m, approachRate: 0.595103 m/s, rangeRepo size: 4 - Added new target pos. range: 16.309311 m, bearing: 41.690554 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.504113 s, deltaX: 0.298286 m, approachRate: 0.591706 m/s, posRepo size: 4 5DNOT Ignoring new targets: 16.31 m.h1h*h"h hgfffddjd`ff0@Zd@?Z Z Z Z r@:_) Ϗ>i-9)1566=+checking for new query: numPingsReceived=80, elapsed TxPingTime=39.820217ԡ p&,i5?Arz@rBi@rٱr zAHRS rotation from veh to nav: [[-0.543443,0.836973,0.064387],[-0.839433,-0.542263,-0.036102],[0.004698,-0.073668,0.997272]]rHc`|?`{?7Z|>s? ۲?irz@Ir=_;rCYGBy = IqiMb@Mb@Mb@ 9l?B`"۹y&1|?Y>yν`;\Av@ A@)MAY\@E EE)E"E ;*EB:VEFA4ZEa@a@a@a@bDVDyv%==ٔ&DQ->9Y=FykE>Q 5b5Kd?Q 9b5u)BY+>Q E);y2Q I@DI!;i%;sb5yɮADNOT Ignoring new targets: 16.31 m.hh*h"h hgfffBddjdZdt=?Z+>Z+>Z@Zs@U)Q Uף>iU^9)Y]i 6]i>! @!  @! @% 4@! I1 IA OU >  checking for new query: numPingsReceived=81, elapsed TxPingTime=40.323483&,KN?A2z@2]@2kƻٱ2 >AHRS rotation from veh to nav: [[-0.544616,0.836232,0.064107],[-0.838664,-0.543561,-0.034426],[0.006058,-0.072513,0.997349]]2Hmh?Ti?TdG`cx?;H?i2z@I2!_;2CYFHByF> IIJ4=)J=bDRVDR0yV1:%Z`=ٔZsQ-Z>9XY\=^Fy\^r{Eb>`Q 5fb5b\?Q 9fb5bv)bBYhyjJQ Ij@bDIb|:ibR:bvb5y!ɮ%A!ii>?AJiRiji[AſZy?}{?5%)2i/A:i AA"iU?*ieVBiBiiiiAid];?BBB4 IB@BBBBBm;B+E addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 16.309311 m, bearing: 42.281137 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.504212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 16.31 m.hih*h"h hgfffddjdZd@0?ZZZZs@kƻ) >iM9)%6LC9@ @@/@G-hAAuDDAT read: Rx Time:05:26:00.1652 }TRx dataTimestamp_ set to:1761542761.474791PDAT read: Bearing 199.3, 14.1 (Local) ~Local bearing/azimuth received: Bearing 199.3, 14.1 (Local) DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.3 DAT read: 05:26:00.1652 LVL= 23984, 23745, 32754, 32755, AGC= 60, IDX= 506,-0.21, 3.122,-1.540, 2.696,-2.615, PHS=-0.444, 1.120,-1.016, RAW= 345.0, 3.6, CAL= 344.6, 1.0, ROT= 165.4, -1.0 Ygot valid direction response: 05:26:00.1652 LVL= 23984, 23745, 32754, 32755, AGC= 60, IDX= 506,-0.21, 3.122,-1.540, 2.696,-2.615, PHS=-0.444, 1.120,-1.016, RAW= 345.0, 3.6, CAL= 344.6, 1.0, ROT= 165.4, -1.0 T#Rx 82: Read range and direction messages.^direction in FSK: [-0.967562,0.252031,0.017452]Fpublishing direction and range infoyqu mDm(F!?W7) ߑ?YuAqu]u\q q)u<IuSiu)\?uJ u2@u=uv@ u5<)u8@Iu5qqu]uX;"j:@u ^ ? u)uu`Iu8@iu5qqchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.595650 -9 hAY~A1^A ه<I I) O= >a ˱&,eh?ABz@BET@BMٱBx NAHRS rotation from veh to nav: [[-0.545583,0.835588,0.064286],[-0.838025,-0.544624,-0.033152],[0.007310,-0.071960,0.997381]]BHju"?u?@m@H X}?@k?iBz@IB _;BCYNByF I1checking for new query: numPingsReceived=82, elapsed TxPingTime=40.827778i%Mb@Mb@Mb@!!!! !9%$C?kty&1|?Y%>y% !%rA%I@ %X@)%A!Y%AY]BAbD] VD]2ym<%u%=ٔu%Q-u>9yYy=}Fyy}E>Q 5b5R?Q 9b5y)BYQ>Q E);y#Q I@DIi&RcZPMЪ?(m7?hC0(2i0A:i,BA"iQ?*i`f1WBi Bii`f1WiiAi};? addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.505742 s, deltaX: 0.100000 m, approachRate: 0.197730 m/s, rangeRepo size: 4  Added new target pos. range: 16.408777 m, bearing: 42.300626 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.505742 s, deltaX: 0.099466 m, approachRate: 0.196674 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.41 m.hh*h"h hg ffAfMBdQdYijd0@Zd8?ZQ>ZQ>Z(@Zv@M) >i9)+6ܠ&,˞?ARVz@R}H@R] ٱRO ~AHRS rotation from veh to nav: [[-0.546782,0.834733,0.065195],[-0.837231,-0.545896,-0.032283],[0.008642,-0.072235,0.997350]]RH<"??w@f ݲ? } K?iRVz@IR_;RCY=PBy=H IbDVD0y <%`=ٔnQ->9Y=Fy^E>Q 5b5K? Q 9b5{)BYy;Q I@DI;i ;~b5yBɮ AEii~?AJiRijiߵ;?b /'\@ Q)?R @S$tX?]~?Zi8@binFj! b(@rY%@PeZ> ?8 j?,~[2i/A:iCA"i/N?*i`ZBiBiU?iiBiuAizi9)w/6]BBBBBBBl;B*Ei^A 0:D<I I O >Ee  Ee Ee )Ea "Ee %;*Ee Z:VEe FA4ZEa BEe K9IYI=MFyIMS>EM>QQ 5Eb5UC?Q 9Eb5U})UBYIyMMQ IM@UDIUg=iUq=U߁b5yQɮU$AYqiTiV~Ş?AJiVARiVAjiV:?bV!L$0~Ƞ.@ڻd?RV'ăns?_2q?ZiV!k8@biVjV7(@'I&@u ZV.] .?0yX?^}2iVO2A:iV$GA"iVݔ\?*iVXBiVBiTiTiVBiVkAiVpi9)46~;ii, 2%t$&,?ARoz@R2@R4ٱRW zAHRS rotation from veh to nav: [[-0.548984,0.833205,0.066233],[-0.835760,-0.548256,-0.030342],[0.011032,-0.072013,0.997343]]RHF? ?Oї?jo@;?iRoz@IR^;PYWBD)zD)bEjEye㥽e`e=%7=ٔ6Q->9Y=Fy7aE>Q 5b5;?Q 9b5)BY>Q E<;y1Q I@©DI7:i:ąb5yɮADNOT Ignoring new targets: 16.71 m.hh*h"h hgff9f=ÁBdAdAjdAZdE.?Z>Z>Zܳ@Zu@DDAT read: Rx Time:05:26:01.6654 TRx dataTimestamp_ set to:1761542762.984764PDAT read: Bearing 198.5, 14.2 (Local) ~Local bearing/azimuth received: Bearing 198.5, 14.2 (Local) DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.3  DAT read: 05:26:01.6654 LVL= 26480, 26977, 32754, 32755, AGC= 60, IDX= 508, 0.13, 3.021,-1.668, 2.589,-2.717, PHS=-0.443, 1.095,-1.021, RAW= 345.3, 3.9, CAL= 344.9, 1.6, ROT= 165.1, -1.6 Ygot valid direction response: 05:26:01.6654 LVL= 26480, 26977, 32754, 32755, AGC= 60, IDX= 508, 0.13, 3.021,-1.668, 2.589,-2.717, PHS=-0.443, 1.095,-1.021, RAW= 345.3, 3.9, CAL= 344.9, 1.6, ROT= 165.1, -1.6 T#Rx 85: Read range and direction messages.%^direction in FSK: [-0.965999,0.257033,0.027922]%Fpublishing direction and range infoy>cwp-y8s?|p}?Ypgai )<Ii(?!'g= <)I伩=4)9 ={>i=9)9E86EQ;iAiE+ IMu checking for new query: numPingsReceived=85, elapsed TxPingTime=42.339466,&,EК?A6,dz@6,@6Eٱ6N >AHRS rotation from veh to nav: [[-0.549578,0.832746,0.067062],[-0.835355,-0.548907,-0.029707],[0.012072,-0.072347,0.997306]]6H%ۥ? *?:`k@P?@T ?i6,dz@I6^;4Yj[ByjU IB|B|B~: IB~EBB|B|B|B~ql;B~*EBCBCBB =B =C0m4bDVDyp<%Z=ٔ4Q->9Y=Fy.E>Q 5b54?Q 9b5)BYy=Q I@ƩDIw;i[f;Bb5yɮAi i `?AJi Ri ji Z@:?b Z #0T-@c??R >cwp-y8s?|p}?Zi bi j T7(@&d8&@ΌQZ !d}?cIJG?tc2i 1A:i GA"i +P?*i d}]Bi FBi Q?i Xi i †Ai x0i59)9==6=Ni9iE, AEbg.&, ?A:Sz@:$@:Vٱ:@A< FAHRS rotation from veh to nav: [[-0.550398,0.832228,0.066773],[-0.834799,-0.549824,-0.028351],[0.013119,-0.071347,0.997365]]:H@ܜ?@ ? ((݊?Cj?i:Sz@I:V_;:CYRgByRd IiEMb@Mb@Mb@AAAA A9EK7A?ktQ?YE >yE Eu9Y=Fyx&E>Q 5b5.?Q 9b5Y)BY>Q EE;yvQ I@ɩDIM;iM;b5yBɮ A=checking for new query: numPingsReceived=86, elapsed TxPingTime=42.843597iiZe>Zeo@Zes@%V)) -ף>i-?9))-bC6-o1i)i5+ 15$;I9IYE] E]E]&EY"E]f;*E]:VE]4ZEYam@am@am@am@@ @@@@gA@fA DDAT read: Rx Time:05:26:02.6657  TRx dataTimestamp_ set to:1761542763.992649 PDAT read: Bearing 198.8, 13.8 (Local)  ~Local bearing/azimuth received: Bearing 198.8, 13.8 (Local)  DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.3 5 DAT read: 05:26:02.6657 LVL= 25520, 24305, 32754, 32755, AGC= 61, IDX= 510, 0.35,-3.029,-1.422, 2.822,-2.486, PHS=-0.441, 1.109,-1.019, RAW= 345.2, 3.7, CAL= 344.8, 1.2, ROT= 165.2, -1.2 = Ygot valid direction response: 05:26:02.6657 LVL= 25520, 24305, 32754, 32755, AGC= 61, IDX= 510, 0.35,-3.029,-1.422, 2.822,-2.486, PHS=-0.441, 1.109,-1.019, RAW= 345.2, 3.7, CAL= 344.8, 1.2, ROT= 165.2, -1.2 A E T#Rx 87: Read range and direction messages.M ^direction in FSK: [-0.966611,0.255390,0.020942]U Fpublishing direction and range infoy   9^z xNX?_2q?Y c ^ ) I i ? @ @ <) 8@I x}濎2bNA'? ) C)I 8@i m checking for new query: numPingsReceived=87, elapsed TxPingTime=43.111912^AQ Ia Iy O >.&,?Ax=Ez@=@=iٱ= uAHRS rotation from veh to nav: [[-0.551110,0.831747,0.066893],[-0.834311,-0.550626,-0.027148],[0.014253,-0.070771,0.997391]]=H૝??̛0?@ ?i=Ez@I=(^;=CYaBy] I@AAAbDVDNyؼ%@=ٔ /Q->9Y=FywE>Q 5 b5&?Q 9 b5/)BY yQ I@ͩDI:i_:5b5yɮNAii?AJiRijiW:?b|A0ngC@?)?R 9^z xNX?_2q?Zi8@bij|-)@Z0 &@\Fs$ȿZ{{?*ՐI?Es2i 7A:iMA"i'`?*i[$XBiBiݔ\?iii?Ai:? addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503438 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.204336 m, bearing: 41.705461 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.503438 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.20 m.hh*h"h hgf f f d djdZd ?ZQZQZQZUPs@i) >i%9)額G6 ii, C;IIchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.348263U9@Q @Q@U/@QBɿ>BBG IBOBBBBBl;B*EI^A ;I! I1 O= >E=  E= E9 E9 "E= ;*E= :VE9 ZE9 BE= LAHRS rotation from veh to nav: [[-0.551716,0.831298,0.067485],[-0.833893,-0.551294,-0.026409],[0.015251,-0.070845,0.997371]]2H@?F?@3@ ;? "v?i29z@I2_;FDDAT read: Rx Time:05:26:03.1659 JTRx dataTimestamp_ set to:1761542764.496795NPDAT read: Bearing 201.1, 6.5 (Local) N~Local bearing/azimuth received: Bearing 201.1, 6.5 (Local) VDAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.3 jDAT read: 05:26:03.1659 LVL= 24560, 24561, 32754, 32755, AGC= 62, IDX= 512, 0.50, 1.660,-2.601, 1.458, 2.385, PHS=-0.624, 1.342,-0.971, RAW= 338.0, 2.4, CAL= 337.4, -0.5, ROT= 172.6, 0.5 rYgot valid direction response: 05:26:03.1659 LVL= 24560, 24561, 32754, 32755, AGC= 62, IDX= 512, 0.50, 1.660,-2.601, 1.458, 2.385, PHS=-0.624, 1.342,-0.971, RAW= 338.0, 2.4, CAL= 337.4, -0.5, ROT= 172.6, 0.5 rT#Rx 88: Read range and direction messages.v`direction in FSK: [-0.991633,0.128791,-0.008727]vFpublishing direction and range infoyDFɆu3sH6|?B7߁YF̌ADF_F_D D)F>IFwiFƫ?FuxFZƼ@F+=Fp@ F5)F@@IF59 Y = Fy ZE>YQ 5eb5]E?Q 9eb5])]BYayeQ Im@]ЩDI]:i]:]Гb5yqɮ7AiDiF}?AJiFARiFAjiFا[?bFWb6[1aLԔ@ÿRFɆu3sH6|?B7߁ZiF@@biF5<jF)&&@[-%x*@L4vtZFYX??V2?vޠ2iFSA:iF7A"iFo=㜊?*iFT*BiFi#9)pM6ӼiiE+ AEB;IAIIUi>iU>Ա@ @@@Mchecking for new query: numPingsReceived=88, elapsed TxPingTime=43.853527 ^A [R;I I O >{&,*8?A25z@2@2Hٱ2(\ >AHRS rotation from veh to nav: [[-0.551917,0.831175,0.067350],[-0.833752,-0.551534,-0.025851],[0.015659,-0.070421,0.997394]]2HM?=?)x?!?i25z@I2K^;2CYFlByFj IHHE EE)E"Ex;*E:VEFA4ZEa @a @a @a @i-Mb@Mb@Mb@)))) )9-uV?|?5^Mb?Y-rh>y-ҽ-<)-@ -|@)-|@)Y-(AbDEVDEkyUb+=%UV=ٔ]Q-]>9YYY=eFyaeg(Ee>iQ 5ub5m?Q 9ub5mG)mBY}>Q E}T;y}$Q I}@mөDIm? ;im ;mb5yɮAԱMDNOT Ignoring new targets: 17.50 m.hihi*hq"hq hqgqfqfyf}ׁBdydyjdZd?Z>Z>Z\n@Z0m@H) {>i9)yQ6ii%, !%Y;I)IIDDAT read: Rx Time:05:26:03.6659 TRx dataTimestamp_ set to:1761542765.000831PDAT read: Bearing 173.4, 0.5 (Local) ~Local bearing/azimuth received: Bearing 173.4, 0.5 (Local) DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.3 DAT read: 05:26:03.6659 LVL= 24640, 24305, 32754, 32755, AGC= 62, IDX= 513,-0.36,-1.986,-0.618,-1.955,-0.942, PHS=-0.942, 0.369,-1.057, RAW= 334.2, 22.8, CAL= 333.9, 27.6, ROT= 176.1, -27.6 Ygot valid direction response: 05:26:03.6659 LVL= 24640, 24305, 32754, 32755, AGC= 62, IDX= 513,-0.36,-1.986,-0.618,-1.955,-0.942, PHS=-0.942, 0.369,-1.057, RAW= 334.2, 22.8, CAL= 333.9, 27.6, ROT= 176.1, -27.6 T#Rx 89: Read range and direction messages.^direction in FSK: [-0.884151,0.060275,0.463296]Fpublishing direction and range infoyeJ?8yfܮ?p?Y@`^ )I&qi>K @%>%|@ Ϣ>)D@IϢdi=Vo? ")˾ID@iϢuchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.132282@ @@/@^AI I O >E checking for new query: numPingsReceived=89, elapsed TxPingTime=44.355381A ka&,_R?AA4A6@AB@B@BBS IBBYBB@B@B@BBk;BBx*Eo0z@ @?ٱ] AHRS rotation from veh to nav: [[-0.552182,0.831003,0.067292],[-0.833568,-0.551835,-0.025344],[0.016073,-0.070086,0.997411]]Hz ?@:?@@`yu?.`?io0z@I(=^;Y5oBy5n I m;ibDuVDuNy_<%9=ٔguQ->9Y=Fy.?E>Q 5b5?Q 9b5Ӊ)BYy$Q I@שDI:i:b5yɮAii @?AJiRijia?bIX=.,5?NDa7 @ReJ?8yfܮ?p?ZiD@biϢjV JR#@D9(@l@Z i)9?c$?NsXd?2iAA:izA"iQX?*il@KBiBi+P?iPViBi:AiTimA9)qu_V6qiqi}+ y};IyIyE E+E$E"E%;*E=;VE4ZEBE~ԙ &,yC<AX@ )IAYbD-VD- 8y] <%eM=ٔeQ-e>9iYi=mFyimʸEu>qQ 5b5[ ?Q 9b5)BYy>Q EY;y-Q I@کDI:i:xb5yBɮAEiiP`?AJiьARiьAji:v??bkbb1[`@&M:u?RJh<2c?4?Zi9@bidjw)@E='@Al'ԿZt?2Bo?~hH@ƒ2i?A:ipNA"iFH?*ilPBíBiFH?ilPiBiˌAi(v?? addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504088 s, deltaX: 0.100000 m, approachRate: 0.198379 m/s, rangeRepo size: 4 E Added new target pos. range: 17.602194 m, bearing: 42.851383 deg, lat: 36.779347 deg, lon: -121.859679 deg, deltaT: 0.504088 s, deltaX: 0.099447 m, approachRate: 0.197282 m/s, posRepo size: 4 EDNOT Ignoring new targets: 17.60 m.hAhA*hI"hI hIgIfIfQfUށBdQdQjdU@31@Zd]?ԡZ]y>Z]y>Z](@Z]d@m3)q u{>iu9)qu[6qiqi, IIE EE%E"E ;*E:VE 4ZEa-@a-@a-@a-@U9@Q @Q@U/@Q@Y@]hA DDAT read: Rx Time:05:26:04.6660  TRx dataTimestamp_ set to:1761542766.008670 PDAT read: Bearing 199.0, 12.9 (Local)  ~Local bearing/azimuth received: Bearing 199.0, 12.9 (Local)  DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.3  DAT read: 05:26:04.6660 LVL= 23856, 23169, 32754, 32755, AGC= 63, IDX= 498,-0.39, 0.296, 1.937,-0.118, 0.854, PHS=-0.456, 1.128,-1.016, RAW= 344.6, 3.6, CAL= 344.2, 1.1, ROT= 165.8, -1.1  Ygot valid direction response: 05:26:04.6660 LVL= 23856, 23169, 32754, 32755, AGC= 63, IDX= 498,-0.39, 0.296, 1.937,-0.118, 0.854, PHS=-0.456, 1.128,-1.016, RAW= 344.6, 3.6, CAL= 344.2, 1.1, ROT= 165.8, -1.1  T#Rx 91: Read range and direction messages. ^direction in FSK: [-0.969267,0.245262,0.019197] Fpublishing direction and range infoy   q;V8+d?]~?Y 0] Z  ) ?I xi Nb? J v@ = <@ nF<) L39@I nF а%{ӍBj >p"? B) &I L39@i nF - checking for new query: numPingsReceived=91, elapsed TxPingTime=45.127468 ^A9 II Ia O} >D&,i?A@@~/z@~R@~?ٱ~z)  AHRS rotation from veh to nav: [[-0.552250,0.830982,0.067003],[-0.833512,-0.551960,-0.024449],[0.016667,-0.069350,0.997453]]~Hg?'?!@ ?#?i~/z@I~];|Y}zBy| II<)4<bDVDβy#=%R=ٔ4tQ->9Y=FyE>Q 5b5&?Q 9b5)þBY y -Q I @ݩDI$iW9)_6ii+ m;IIchecking for new query: numPingsReceived=91, elapsed TxPingTime=45.364140@ @@5@BYBYB]f IB]iBBYBYBYB]k;B]w*E ^A #2;I I O >E  E E 'E "E (;*E :VE '4ZE BE 9)Y)=-Fy)5Eu>Q 5b5]?Q 9b5 )ɾBYy-Q I@DI;i;b5yɮTAi$i&hϠ?AJi&4ARi&4Aji& ;?b&RU1K7X@g ?R&ɿ`D︡F?_2q?Zi&8@bi&j&m*@u'@OͿZ&G}?[k?f32i&?A:i&TA"i&2Z?*i&QBi&Bi$i$i$i&HAi&>? addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503989 s, deltaX: 0.299999 m, approachRate: 0.595250 m/s, rangeRepo size: 4  Added new target pos. range: 17.900528 m, bearing: 42.023298 deg, lat: 36.779347 deg, lon: -121.859679 deg, deltaT: 0.503989 s, deltaX: 0.298334 m, approachRate: 0.591946 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h h!g!f!f)9fAdAdIjdM2@ZdM.?ZZZZ@d@) Ǜ>i 9) e6 i i, ;II9checking for new query: numPingsReceived=92, elapsed TxPingTime=45.868275@ @@e1@@=@=q ԙ E  E E (E "E +$;*E :VE c44ZE a- @a- @a- @a- @^AY Ii Iy O >p&,?A2q1z@2@2bٱ2Cv :AHRS rotation from veh to nav: [[-0.552114,0.831106,0.066573],[-0.833577,-0.551936,-0.022712],[0.017868,-0.068033,0.997523]]2H`l?@ ?``vAL?`j`?i2q1z@I2_;0YFByF IiMb@Mb@Mb@ 9+?㥛 ¿Mb?Yv>>y<An@ )O@YbD-VD-1y="=%=F=ٔ=Q->9Y=Fy9E>Q 5b5z?Q 9b5ߍ)ϾBYr>Q E_;yW4Q I@DI;i\ ;5b5yɮADNOT Ignoring new targets: 17.90 m.hh*h"h hg-DDAT read: Rx Time:05:26:05.6662 -TRx dataTimestamp_ set to:1761542767.0168005PDAT read: Bearing 198.9, 13.3 (Local) 9E~Local bearing/azimuth received: Bearing 198.9, 13.3 (Local) UDAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2 uDAT read: 05:26:05.6662 LVL= 23904, 22433, 32754, 32755, AGC= 63, IDX= 499, 0.31, 2.402,-2.265, 1.974, 2.952, PHS=-0.448, 1.111,-1.022, RAW= 345.1, 3.8, CAL= 344.6, 1.4, ROT= 165.4, -1.4 }Ygot valid direction response: 05:26:05.6662 LVL= 23904, 22433, 32754, 32755, AGC= 63, IDX= 499, 0.31, 2.402,-2.265, 1.974, 2.952, PHS=-0.448, 1.111,-1.022, RAW= 345.1, 3.8, CAL= 344.6, 1.4, ROT= 165.4, -1.4 T#Rx 93: Read range and direction messages.^direction in FSK: [-0.967420,0.251994,0.024432]Fpublishing direction and range infoy)-\id ?{J?Y))-`]-W) )))I-B`i-?5?-Ђ-~@-ԇ=-v@ -+<)-8@I-+ȼ))-3a_.*Vvp? -})-ŇI-8@i-+ȼ))checking for new query: numPingsReceived=93, elapsed TxPingTime=46.136513fffBddjdZd?Z}r>Z}r>Z} ij@Z}]@b) {>i9)15i69i9i=+ AE4;IAIiI@I @I@Mh4@Iԑ checking for new query: numPingsReceived=93, elapsed TxPingTime=46.374767^Am ;Iq I O >B <A <B) B) B- y IB- xBB- =B) B) B- k;B- *E O&,VF֛?AR:z@R(@RpٱR ZAHRS rotation from veh to nav: [[-0.551638,0.831421,0.066588],[-0.833879,-0.551512,-0.021937],[0.018485,-0.067628,0.997539]]RH@? ? "v`? P?iR:z@IR Q_;PYb~Byb I ddbDlVDlyv%vQ=ٔzNκQ-z>9xYx=~Fy|~p:E~>Q 5 b5j똊?Q 9 b5)վBY yO4Q I@DI;i;b5yBɮAEiiim@?AJiiRiijima;?bm0/!;Q1V @T?Rm\id ?{J?Zim8@bim+ȼjm1*@b'@Zٵ-ȿZmNqs?.7;Y?"H2im?A:imQUA"im N?*imdzTBimBimwfXL?imQimBimAimWiU9)QUn6QiQi], Yee;IaIaԱE EE&E"EU,;*En:VE4ZEBE 1 uv&,?A26Oz@2m"@2曼ٱ2 :AHRS rotation from veh to nav: [[-0.550587,0.832078,0.067081],[-0.834561,-0.550496,-0.021511],[0.019029,-0.067827,0.997516]]2H`hb?@=,? ਝ@u|?]?i26Oz@I2g_;0Rchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.875294Y|By ~ IiMb@Mb@Mb@ 9ʡE?ʡEÿy&1?Y-2>y`e<\AX@ A)|@Y p<p;bDVDy.%=ٔQ->9Y=Fy";E>Q 5b5vᘊ?Q 9b5u)ܾBY^n>Q Ed;y 8Q I@DI!;i:b5yɮAiyi}S?AJi}ARi}Aji}}7;?b}0=1 f0'W@vJ?R}=̏?Iz?Ziybi}j}3'+@'*N(@acZ}*u9?\D^?0i q2i}vBA:i}XA"i}V?*i}Q$OBi}UBi} N?iyiyi}Ai}D;?M addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503950 s, deltaX: 0.299999 m, approachRate: 0.595296 m/s, rangeRepo size: 4 ] Added new target pos. range: 18.198853 m, bearing: 41.901286 deg, lat: 36.779348 deg, lon: -121.859680 deg, deltaT: 0.503950 s, deltaX: 0.298340 m, approachRate: 0.592003 m/s, posRepo size: 4 eDNOT Ignoring new targets: 18.20 m.haha*ha"ha hagifififmBdqdqjduL2@Zdu@*?Z^n>Z^n>Z@ZZ@曼) {>i9)页bs6iD=D%=bEMŞ4jEMY"4rEMş/E EEE"E;*EE:VEZEa@a@a@a@i+ K ;II9@ @@/@@@eDDAT read: Rx Time:05:26:06.6663 eTRx dataTimestamp_ set to:1761542768.025551uPDAT read: Bearing 199.2, 13.2 (Local) u~Local bearing/azimuth received: Bearing 199.2, 13.2 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 DAT read: 05:26:06.6663 LVL= 23344, 22385, 32754, 32755, AGC= 63, IDX= 501, 0.13, 1.844,-2.818, 1.416, 2.392, PHS=-0.445, 1.118,-1.020, RAW= 345.0, 3.7, CAL= 344.6, 1.1, ROT= 165.4, -1.1 Ygot valid direction response: 05:26:06.6663 LVL= 23344, 22385, 32754, 32755, AGC= 63, IDX= 501, 0.13, 1.844,-2.818, 1.416, 2.392, PHS=-0.445, 1.118,-1.020, RAW= 345.0, 3.7, CAL= 344.6, 1.1, ROT= 165.4, -1.1 T#Rx 95: Read range and direction messages.^direction in FSK: [-0.967531,0.252023,0.019197]Fpublishing direction and range infoyael3) $!?]~?YeAae0[eqWa a)aIe ie?e\ae A=a enF<)aIenFaaeϙ&5濬H[? eX)eIaienFaae checking for new query: numPingsReceived=95, elapsed TxPingTime=47.161964i ^A} [R;I I O >^', ?A r_z@r*@r.ٱr1 zAHRS rotation from veh to nav: [[-0.549729,0.832648,0.067045],[-0.835114,-0.549684,-0.020779],[0.019552,-0.067413,0.997534]]rH@b@ ?)?@@ G?A?ir_z@Irp_;rC !)%kA%@%eF!-3C-lAi-`I))I)i55lA 51)11 5kA5YYY]kAIe/ݼ)aia)aIekAeԼa iiiiiiiiqu A)q qIqYqY{By| IbDVD0y%=ٔݺQ-?9Y=FyFX;E?Q 5%b5ۘ?Q 9%b5)BY)y-7Q I-@DI:i1:ܳb5yQɮUAYii?AJiːARiːAji;?bŴ 1Q;>@{Mi9)顥w6checking for new query: numPingsReceived=95, elapsed TxPingTime=47.379547ii, ]: m DDAT read: Rx Time:05:26:07.1664 m TRx dataTimestamp_ set to:1761542768.528695u PDAT read: Bearing 199.2, 13.4 (Local) } ~Local bearing/azimuth received: Bearing 199.2, 13.4 (Local)  DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.2  DAT read: 05:26:07.1664 LVL= 23824, 22193, 32754, 32755, AGC= 62, IDX= 502, 0.04, 1.544,-3.123, 1.106, 2.088, PHS=-0.442, 1.117,-1.027, RAW= 345.3, 3.7, CAL= 344.9, 1.2, ROT= 165.1, -1.2  Ygot valid direction response: 05:26:07.1664 LVL= 23824, 22193, 32754, 32755, AGC= 62, IDX= 502, 0.04, 1.544,-3.123, 1.106, 2.088, PHS=-0.442, 1.117,-1.027, RAW= 345.3, 3.7, CAL= 344.9, 1.2, ROT= 165.1, -1.2  T#Rx 96: Read range and direction messages. ^direction in FSK: [-0.966164,0.257076,0.020942] Fpublishing direction and range infoyi m 'ăns?_2q?Ym fAi m ]m Vi i )m >Im Mim ?m tm @i m @ m <)m !k8@Im i i m u8MÊ? m /u)m Im !k8@im i i  checking for new query: numPingsReceived=96, elapsed TxPingTime=47.648830O',#?ATrz@C4@ٱԆ AHRS rotation from veh to nav: [[-0.548759,0.833380,0.065891],[-0.835744,-0.548773,-0.019511],[0.019899,-0.065775,0.997636]]Ho ?5ް?@iZ`?`ְ?irz@I_;YuyByuz II}=)}%===bDVDy %:=ٔqNQ- >9Y=Fy_";E>Q 5Eb5Ҙ?Q 9b5)BYy7Q I@DIi9)checking for new query: numPingsReceived=96, elapsed TxPingTime=47.883587|6ii+ +',,??A 6lz@6<@6:ٱ6 >AHRS rotation from veh to nav: [[-0.547962,0.833922,0.065667],[-0.836257,-0.548014,-0.018822],[0.020290,-0.065228,0.997664]]6H|? ϰ?@UFƔ?ʲ ?i6lz@I62)`;4YtByt IeDDAT read: Rx Time:05:26:07.6664 mTRx dataTimestamp_ set to:1761542769.032746uPDAT read: Bearing 199.6, 13.0 (Local) }~Local bearing/azimuth received: Bearing 199.6, 13.0 (Local) DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.1 DAT read: 05:26:07.6664 LVL= 24160, 20145, 32754, 32755, AGC= 62, IDX= 502,-0.11,-0.968, 0.670,-1.397,-0.418, PHS=-0.448, 1.133,-1.023, RAW= 344.9, 3.5, CAL= 344.5, 1.0, ROT= 165.5, -1.0 Ygot valid direction response: 05:26:07.6664 LVL= 24160, 20145, 32754, 32755, AGC= 62, IDX= 502,-0.11,-0.968, 0.670,-1.397,-0.418, PHS=-0.448, 1.133,-1.023, RAW= 344.9, 3.5, CAL= 344.5, 1.0, ROT= 165.5, -1.0 T#Rx 97: Read range and direction messages.^direction in FSK: [-0.968000,0.250342,0.017452]Fpublishing direction and range infoyim5>Q6?W7) ߑ?Yiim`^mNi i)iImB`im%?m񂿩m@m5z=mg@ m5<)m8@Im5iim0`kʍq? m)m@|Im8@im5iichecking for new query: numPingsReceived=97, elapsed TxPingTime=48.158623qiMb@Mb@Mb@ 9(\?ˡEĿQ?Y.>y'u<A )f@Y@IIbDUVDUyeb%e,=ٔELQ-E>9IYI=MFyIM;EU>QQ 5]b5Uɘ?Q 9mb5U])UBYm^r>Q Eu`;yu:Q Iu@UDIUi;iUth;U b5yBɮiAEiiimB?AJiiRiijim&Q6?W7) ߑ?Zim8@bim5jm:U*@\i[u(@F\NտZm:#۰?`EH׀?c 2imCA:imWA"imc9?*imbOBimǁBim(J?imxqQimBimqAim :?5 addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 18.198835 m, bearing: 42.228841 deg, lat: 36.779347 deg, lon: -121.859680 deg, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 18.20 m.hQhQ*hQ"hQ hQgQԙfYffՁBddjdZdF ?Z^r>Z^r>Z@Z$W@:)! %>i%9)!%6!i!i-, )5#B) B) B) B- =B) B) B- k;B- |*E^A X<I I O {O',wZ?A2z@2G@2 ٱ2> :AHRS rotation from veh to nav: [[-0.546827,0.834662,0.065729],[-0.836990,-0.546914,-0.018263],[0.020705,-0.065001,0.997670]]2H?Ӱ?`Q@ 3??i2z@I2_`;2CYFnByFl IbDNVDNNyV%V=ٔZzĺQ-Z!?9XYX=ZFy\^/;E^!?`Q 5fb5bdĘ?Q 9fb5b)bBYdyj:Q Ij@bDIb;ib;bxb5ylɮnAlE- E-E-'E)"E-/;*E-:VE-'4ZE)BE-Ɉi  9)6ii+ 7y  checking for new query: numPingsReceived=98, elapsed TxPingTime=48.897205u',?t?A,UVz@UR@UiٱU eAHRS rotation from veh to nav: [[-0.545608,0.835462,0.065681],[-0.837777,-0.545723,-0.017771],[0.020997,-0.064722,0.997682]]UHu?rа? v 2%??iUVz@IUa`;UCY}_By}Z I Ai=Mb@Mb@Mb@9999 99=x&1?+ÿ{Gzt?Y=A>y==ף;=\A=@ =IA)=O@9Y=AbDUVDU0ye%e2=ٔm&Q-m>9qYq=uFyquN;E}>yQ 5b5}]?Q 9b5})}BYz>Q EX;y5Q I@}DI};i}6;}|b5yɮAi!i%ګb?AJi%ARi%Aji%Z5z>Z5@Z5Ȏ\@Mi)I M>iM9)QU~6QiQi], Y]xIDvKL? k)`}Ii7@i+ȼuchecking for new query: numPingsReceived=99, elapsed TxPingTime=49.163651^A 9<I I O >W#',l?AlYr^Byp z491Y1=5Fy15E5>9Q 5Eb5=@?Q 9Mb5=U)=BYIyIQ IM@=DI=:i=:=b5yQɮUAYi1i5ނ?AJi1Ri1ji5*7?b5Zb71u}#@[_W?R5#a #k?{J?Zi5i7@bi5+ȼj5^#Pf+@w;M(@>7BϿZ5X?j[?TX$߅2i5iBA:i5_A"i5LK?*i5SBi5߁Bi1i5xqQi1i5>Ai58?  addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503118 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 18.497128 m, bearing: 41.068705 deg, lat: 36.779347 deg, lon: -121.859680 deg, deltaT: 0.503118 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 18.50 m.h!h!*h!"h) h)g)f)f)f1d1d9jdAZdE`n?uchecking for new query: numPingsReceived=99, elapsed TxPingTime=49.402256ZZZZBǿ>BBs IBsBB =BBBk;Bg*EI)Q Ua>iU9)QU6QiQi]+ Y]F9)',᧜?Avaz@vi@v;ٱvႽ AHRS rotation from veh to nav: [[-0.543299,0.837003,0.065209],[-0.839267,-0.543460,-0.016786],[0.021389,-0.063848,0.997730]]IvH b??@F@dN0?QX`h?ivaz@Iv`;vCYYByS IbDVDyuƼ%0=ٔ \Q-u>9yY=Fym;E>Q 5b5?Q 9b5F)BYyd5Q I@DI i]9)Y]6YiYie, aeoI پi ̌? …  'g=  Pw<) I Pwּ   6.، ץIEn?  L) ŋI i Pwּ   checking for new query: numPingsReceived=101, elapsed TxPingTime=50.169537^A 9<I IAOU>l1',Ŝ?A ~sz@~u@~@ٱ~S MAHRS rotation from veh to nav: [[-0.542062,0.837802,0.065234],[-0.840060,-0.542246,-0.016397],[0.021636,-0.063688,0.997735]]~H@X G?@&?Z>ʐ'? Mr?i~sz@I~yi`;~CYeUByeN IIm<)m=iMb@Mb@Mb@ 9Gz?@5^I ¿~jtx?Yp=>yb;An@ )"@Y @bDVDy%.=ٔ Q->9Y=Fy V;E >Q 5b5|?Q 9b55)BY]Dn>Q E]d;y]2Q Ie@DIX'ZDn>Z8@ZS_@@) >i9)  >6 i i+ @ %޹<)%07@I%޹!!%]rz濩i"a ? %S2)%冈I%07@i%޹!!checking for new query: numPingsReceived=102, elapsed TxPingTime=50.677143y^Ak<IIO?o9',?AUx'{@U@UҵٱU AHRS rotation from veh to nav: [[-0.539491,0.839458,0.065257],[-0.841705,-0.539705,-0.015825],[0.021936,-0.063465,0.997743]]ԙUHC???CEU4 Dv?7??iUx'{@IU_;UCDDAT read: Rx Time:05:26:10.6668 TRx dataTimestamp_ set to:1761542771.811729PDAT read: Bearing 199.7, 15.2 (Local)  ~Local bearing/azimuth received: Bearing 199.7, 15.2 (Local) -DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.2 IU\#Rx 103: Read range message, but no direction.yYmchecking for new query: numPingsReceived=103, elapsed TxPingTime=50.931629YM GByM = Ii i Mb@Mb@Mb@ 9 ?rh|Mb`?Y L>y ; EA X@ |@) O@ Y @ bD VD βy % <ٔ 5йQ- l>9 Y = Fy  m;E l> Q 5% b5 ?Q 9% b5 <) BY- pp>Q E5 b;y5 ?,Q I= @ DI !;i ^; hb5yQ ɮU AY D %=D R=E  E E $E "E &;*E :VE 4ZE a @a @a @a @ii^?AJi\ARi\Aji~8?b,It2e7@LjJ?R W/J?NGY;?Zi07@bi޹j\ =,@9z(@bq*ӿZ[,'_ ?#?^ P2ikFA:iaA"i!z:?*i|x QBiBii|x QiiAi7?  addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.760347 s, deltaX: 0.100000 m, approachRate: 0.131519 m/s, rangeRepo size: 4   Added new target pos. range: 18.795380 m, bearing: 41.291552 deg, lat: 36.779346 deg, lon: -121.859680 deg, deltaT: 0.760347 s, deltaX: 0.099401 m, approachRate: 0.130732 m/s, posRepo size: 4  DNOT Ignoring new targets: 18.80 m.h h *h "h  h g f f f Bd d jd `f2@Zd uq?Ze pp>Ze pp>Ze j@Ze e@u ҵ)q u >iu 9ԡ ) 6 i i , c<IIO?VC',x?Aɰ2y<{@2@2}ٱ2; NAHRS rotation from veh to nav: [[-0.538410,0.840138,0.065450],[-0.842392,-0.538639,-0.015594],[0.022153,-0.063531,0.997734]]2H:h?@Z?@<@@? Co?i2y<{@I2l'_;2CPR3s@iTITTT TXXXXXIX)\i\)\I^EjA^E\ \```i`didd)d dId h)hhhhYhYr=Byr0 IbDzVDzyw%y=ٔ --Q- ?9 Y=Fyf;E?Q 5%b55?Q 9-b5) BY)y-*,Q I-@ DI ;i ;Gb5y5Bɮ5A=EeDNOT Ignoring new targets: 18.80 m.haha*ha"ha hagifififidqdqjdqZdu@?ZZZZe@EDDAT read: Rx Time:05:26:11.1669 MTRx dataTimestamp_ set to:1761542772.315724ePDAT read: Bearing 199.7, 15.5 (Local) m~Local bearing/azimuth received: Bearing 199.7, 15.5 (Local) DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.2 \#Rx 105: Read range message, but no direction.yAYE̘AAchecking for new query: numPingsReceived=105, elapsed TxPingTime=51.432945!B-ȿ>B)B-G IB-OBB- =B)B)B-k;B-X*E}) >i9)顥16ii+ *7E- E-E-&E)"E-4;*E-:VE-4ZE)BE-I ^ɾi m? l @ ԇ= r@ ޹<) 5@I ޹  0=z= ȏ? ) I 5@i ޹ checking for new query: numPingsReceived=106, elapsed TxPingTime=51.689156I',[')?A28S{@2n@2rٱ2v :AHRS rotation from veh to nav: [[-0.537238,0.840873,0.065630],[-0.843137,-0.537477,-0.015466],[0.022270,-0.063644,0.997724]]2H 1`o? %Ͱ?3͖?@J [?i28S{@I2W^;2C@Y~/By I   A AbDVDym%mE=ٔmQ-m>9qYq=uFyqu[;E}>Q 5b5Ӈ?Q 9b5=)BYy,Q I@DI;ir;b5yɮ%Aii4?AJiARiAjiD4?b>[a&2#U@Y?R#,]Iד5Q?NGY;?Zi5@bijNmˈ,@ɶ(@dHYտZCb?^?ő2iDA:igA"iWrK?*iUBiBiLK?i//IQiiИAi6? addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503995 s, deltaX: 0.200001 m, approachRate: 0.396831 m/s, rangeRepo size: 4  Added new target pos. range: 18.994284 m, bearing: 40.346167 deg, lat: 36.779347 deg, lon: -121.859680 deg, deltaT: 0.503995 s, deltaX: 0.198904 m, approachRate: 0.394655 m/s, posRepo size: 4 ԱDNOT Ignoring new targets: 18.99 m.hh*h"h hgfffddjd-3@Zd-ީ?ZiZiZiZm f@}r) >i9)顭ʕ6ii, b+[P',"C?A2^{@2*@2ٱ2 >AHRS rotation from veh to nav: [[-0.536645,0.841260,0.065527],[-0.843509,-0.536902,-0.015131],[0.022452,-0.063392,0.997736]]2H 3,?[ư?L.`?`z:`t?i2^{@I2g^;2CdnDAT read: 05:26:11.6669 LVL= 24176, 25521, 32754, 32755, AGC= 62, IDX= 507, 0.49, 1.208, 2.726, 0.666, 1.693, PHS=-0.384, 1.077,-1.072, RAW= 348.3, 4.0, CAL= 347.9, 1.6, ROT= 162.1, -1.6 vYgot valid direction response: 05:26:11.6669 LVL= 24176, 25521, 32754, 32755, AGC= 62, IDX= 507, 0.49, 1.208, 2.726, 0.666, 1.693, PHS=-0.384, 1.077,-1.072, RAW= 348.3, 4.0, CAL= 347.9, 1.6, ROT= 162.1, -1.6 z\#Rx 108: Read direction message, but no range.^direction in FSK: [-0.951223,0.307237,0.027922]yLNlpRĩ?|p}?LNp^NcL L)LINľiN#ۉ?NL7N@N5=NM@ N<)ND5@IN伩LNR~?忌E翞Ѕ? Nj%)N"IND5@iN伝Mchecking for new query: numPingsReceived=108, elapsed TxPingTime=52.194313YU.ByYi}Mb@Mb@Mb@yyyy y9}MbX?+η~jth?Y}J>y}v}D;}A}n@ }A)}"@yYy p<<bDVD1yM%*=ٔǹQ->9Y=Fy:E>Q 5b5d?Q 9b5)BY`>Q Er;y$Q I@DI:i:b5yɮ)Aiiu4?AJiRiji0?b[2ewW@Ϳ?RlpRĩ?|p}?ZiD5@bijf끿G-@792(@ViًϿZke?D/52b?4 Ò2iAA:i=jA"iXR?*iIz\BiBiWrK?iiBiAi5?5 addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503972 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 18.994284 m, bearing: 39.571512 deg, lat: 36.779347 deg, lon: -121.859680 deg, deltaT: 0.503972 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 18.99 m.hIhI*hI"hI hIgIfQfQfUBdYdYjdYZd](?Z`>Z`>Z@ZKm@) >i9)顝6ii+ 8B% CB% 4 IB% @BB% =B! B! B% Vk;B% 9*EBBBB =B =C*5 checking for new query: numPingsReceived=109, elapsed TxPingTime=52.466743Y ^A} `=<I I O >`V',\?A:k{@:@:㸼ٱ:6 BAHRS rotation from veh to nav: [[-0.535968,0.841709,0.065299],[-0.843937,-0.536239,-0.014789],[0.022568,-0.063035,0.997756]]:H&G?k? (I?#`?i:k{@I:n^;:CYR(ByR IbDZVDZ:yb,%f=ٔfĹQ-f?9hYh=jFyhj*;Ej?lQ 5rb5n{?Q 9vb5n)nBYtyv$Q Iv@nDIn_:in4:nb5yzBɮzA|E EE'E"EU,;*E:VE'4ZEBEi9)顥ۚ6ii, 8  DDAT read: Rx Time:05:26:12.6671  TRx dataTimestamp_ set to:1761542773.828149 PDAT read: Bearing 199.6, 16.7 (Local)  ~Local bearing/azimuth received: Bearing 199.6, 16.7 (Local)  DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2  \#Rx 111: Read range message, but no direction.y Y  checking for new query: numPingsReceived=111, elapsed TxPingTime=52.947109 ]',v?Arp{@r(@r_ٱr$; zAHRS rotation from veh to nav: [[-0.535714,0.841889,0.065061],[-0.844090,-0.536012,-0.014257],[0.022870,-0.062556,0.997779]]rH$?ܧ?@'3Zk? ?irp{@Irv^;rCԙY"By IiMb@Mb@Mb@ 9 +?333333MbpYv>y f@)9@Y@bDVDyͼ%/=ٔ6*Q->9Y=Fy&:E>Q 5b5t?Q 9b5)BY>>Q ER;yQ I@DI~ ;i ;b5yɮAiieu?AJiWARiWAji؞0?b"W2&SW$@JmP?R/kDT+? `?Zi4@bij91d5-@X_8(@ȀGN̿Z?.]?n`s6z2itDA:inA"iƤY?*i(ZBiBiiUii;Ai3?] addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503649 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 19.292620 m, bearing: 39.529719 deg, lat: 36.779347 deg, lon: -121.859682 deg, deltaT: 1.008453 s, deltaX: 0.298336 m, approachRate: 0.295835 m/s, posRepo size: 4 mDNOT Ignoring new targets: 19.29 m.hihq*hq"hq hqgqfqfyf}jBdydyjdZd`C?E  E E (E "E m+;*E :VE c44ZE a@a@a@a@Z=>>Z=>>Z=Mh@Z=Hv@m_)i mR>im9)qu6qiqi}+ y}i DAT read: 05:26:12.6671 LVL= 23344, 23153, 32754, 32755, AGC= 62, IDX= 509, 0.30, 1.664,-3.117, 1.110, 2.139, PHS=-0.372, 1.073,-1.073, RAW= 348.7, 4.0, CAL= 348.3, 1.5, ROT= 161.7, -1.5  Ygot valid direction response: 05:26:12.6671 LVL= 23344, 23153, 32754, 32755, AGC= 62, IDX= 509, 0.30, 1.664,-3.117, 1.110, 2.139, PHS=-0.372, 1.073,-1.073, RAW= 348.7, 4.0, CAL= 348.3, 1.5, ROT= 161.7, -1.5 \#Rx 112: Read direction message, but no range.^direction in FSK: [-0.949100,0.313885,0.026177]yND__?P!Κ?0[qZ )IviX?X6@5=@ Pw<)4@IPwּJC念c %;? B)⍽I4@iPwּMchecking for new query: numPingsReceived=112, elapsed TxPingTime=53.197235]9@Y @a@a@a@m=@m= ^A oE<I I O >c',?A2Er{@2@2pٱ26} :AHRS rotation from veh to nav: [[-0.535629,0.841975,0.064656],[-0.844137,-0.535953,-0.013694],[0.023123,-0.061913,0.997814]]2H@#t?C?@+&@a w??i2Er{@I2M^;2CYBByF ILNAAbDNVDNkyVϼ%Vp=ٔZ0BQ-Z?9XY\=^Fy\^ĕ9E^?`Q 5jb5bn?Q 9jb5b )bBYhyjQ Ij@bDIb!;ib";bb5yrBɮrAp]DNOT Ignoring new targets: 19.29 m.hahi*hi"hq hqgyfy-DDAT read: Rx Time:05:26:13.1672 5TRx dataTimestamp_ set to:1761542774.332427UPDAT read: Bearing 199.1, 16.7 (Local) ]~Local bearing/azimuth received: Bearing 199.1, 16.7 (Local) BBB! IB1BB =BBBj;B*EDAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 ffd!d!jd!Zd%E&?eDAT read: 05:26:13.1672 LVL= 24160, 25681, 32754, 32755, AGC= 62, IDX= 511, 0.24, 2.876,-1.925, 2.329,-2.928, PHS=-0.377, 1.048,-1.070, RAW= 348.7, 4.3, CAL= 348.4, 2.1, ROT= 161.6, -2.1 mYgot valid direction response: 05:26:13.1672 LVL= 24160, 25681, 32754, 32755, AGC= 62, IDX= 511, 0.24, 2.876,-1.925, 2.329,-2.928, PHS=-0.377, 1.048,-1.070, RAW= 348.7, 4.3, CAL= 348.4, 2.1, ROT= 161.6, -2.1 mV#Rx 113: Read range and direction messages.u^direction in FSK: [-0.948239,0.315437,0.036644]ZZZZv@Fpublishing direction and range infoy)-W꼅K0?(א¢?Y-A)-`^-Qd) )))I-%i-$?-)-`=-Q@ -Q =)-J4@I-Q ))-d }ScPڋ@? -i)-+I-J4@i-Q ))checking for new query: numPingsReceived=113, elapsed TxPingTime=53.489925p) >id9)נ6ii, Ti )j',o?Aɰ499Y9=EFyAEEM>QQ 5eb5Ug?Q 9eb5U)UBYayiQ Im@UDIURQ;iUR;U~b5yqɮ}Ayiqiu|F?AJiu"ARiu"Ajiud.?buTaic2.w@-um7?RuW꼅K0?(א¢?ZiuJ4@biuQ ju]!Y.@Qw(@HÖHZus?m/0?|/k t2iuCA:iupA"iue[?*iu#_BiuBiuXR?iu(ZiqiuKAiun1?  addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.504278 s, deltaX: 0.100000 m, approachRate: 0.198304 m/s, rangeRepo size: 4 Y Added new target pos. range: 19.392080 m, bearing: 39.115796 deg, lat: 36.779348 deg, lon: -121.859684 deg, deltaT: 0.504278 s, deltaX: 0.099461 m, approachRate: 0.197234 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.39 m.hh*h"h hg!f)fQfYdadajd3@Zd ?ZZZZ)MDDAT read: Rx Time:05:26:13.6672 UTRx dataTimestamp_ set to:1761542774.836668uPDAT read: Bearing 199.4, 16.7 (Local) ԉ}~Local bearing/azimuth received: Bearing 199.4, 16.7 (Local) DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 O>i39)6ii+ IIDAT read: 05:26:13.6672 LVL= 25472, 25057, 32754, 32755, AGC= 62, IDX= 511, 0.21, 1.063, 2.569, 0.510, 1.544, PHS=-0.379, 1.070,-1.078, RAW= 348.6, 4.1, CAL= 348.2, 1.8, ROT= 161.8, -1.8 Ygot valid direction response: 05:26:13.6672 LVL= 25472, 25057, 32754, 32755, AGC= 62, IDX= 511, 0.21, 1.063, 2.569, 0.510, 1.544, PHS=-0.379, 1.070,-1.078, RAW= 348.6, 4.1, CAL= 348.2, 1.8, ROT= 161.8, -1.8 V#Rx 114: Read range and direction messages.E^direction in FSK: [-0.949503,0.312181,0.031411]EFpublishing direction and range infoyQUTbfVm?Iz?YQQUcUaQ Q}9@y @y@y@y)QIUJ ¾iU?UU@UC=Ux@ U=)U{4@IUQQU4n9*忈X=zTwi? U)U?iIU{4@iUQQchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.031033ԱE-  E- E- $E) "E- ;*E- :VE- 4ZE) a5 @a5 @a5 @a= @^A q<I I O > q',Vĝ?AFchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.188332~ m{@~V@~lٱ~{  AHRS rotation from veh to nav: [[-0.535894,0.841822,0.064441],[-0.843958,-0.536247,-0.013149],[0.023487,-0.061432,0.997835]]~H@ &`5?<?@(튿` ?t`C?i~ m{@I~y];|Y%&By% I-A-AiMb@Mb@Mb@ 9Cl?)\(MbP?Y;_>yGa:3Av@ n@)A@Y@bDVDβy <% ==ٔ\Q->9Y=FyAE>!Q 5-b5%a?Q 9-b5%)%BY5:f>Q E5l;y5Q I5@%!DI% ;i%2 ;%Cb5y9ɮ=yA9iyi}?AJiyRiyji}Ԧ/?b}59i2Ž7@q '}?R}TbfVm?Iz?Zi}{4@bi}j}s.@=B(@8F$)ɿZ}p[?{RE?8Zt„2i}DA:i} pA"i}$R?*i}΋_Bi}Biyi}Iz\i}Bi}Ai}0? addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.504241 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.392080 m, bearing: 39.312889 deg, lat: 36.779348 deg, lon: -121.859685 deg, deltaT: 0.504241 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ԱDNOT Ignoring new targets: 19.39 m.hhI*hI"hI hIgIfIfQfUhBdQdQjdYZd]@?Z}:f>Z}:f>Z}P'@Z}by@l) q>i 9)页¦6ii, Ǯ? ])]jI]J4@i]5YYu checking for new query: numPingsReceived=115, elapsed TxPingTime=54.479877^A 6<I I O >1 0w',(ޝ?AEr ErEr%Ep"Er1;*Er:VEr 4ZEpBErk9QYQ=UFyQUE]>aQ 5eb5e\?Q 9mb5e8)eBYiyiQ Im@e#DIe:ie:eb5yqɮyyii>՝?AJiARiAjiҶ.?bb _!21XB@1El?RXxuX'p0?Xޡ?ZiJ4@bi5jЖq/.@8$wl(@ 5ZC?.?#{2iFA:iytA"i.d?*i>ǒ]BiBiƤY?i>ǒ]iBiÜAi/? addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504106 s, deltaX: 0.299999 m, approachRate: 0.595111 m/s, rangeRepo size: 4  Added new target pos. range: 19.690418 m, bearing: 39.103058 deg, lat: 36.779349 deg, lon: -121.859685 deg, deltaT: 0.504106 s, deltaX: 0.298338 m, approachRate: 0.591816 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.69 m.hh*h"h hgfffddjd3@Zd}?ZZZZ )  i-9)1561i9iE+ AEe DDAT read: Rx Time:05:26:14.6674 m TRx dataTimestamp_ set to:1761542775.844460 PDAT read: Bearing 198.8, 16.3 (Local)  ~Local bearing/azimuth received: Bearing 198.8, 16.3 (Local)  DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 E DAT read: 05:26:14.6674 LVL= 27568, 26609, 32754, 32755, AGC= 62, IDX= 497, 0.07, 0.819, 2.316, 0.295, 1.318, PHS=-0.397, 1.043,-1.067, RAW= 348.1, 4.5, CAL= 347.8, 2.5, ROT= 162.2, -2.5 M Ygot valid direction response: 05:26:14.6674 LVL= 27568, 26609, 32754, 32755, AGC= 62, IDX= 497, 0.07, 0.819, 2.316, 0.295, 1.318, PHS=-0.397, 1.043,-1.067, RAW= 348.1, 4.5, CAL= 347.8, 2.5, ROT= 162.2, -2.5 M V#Rx 116: Read range and direction messages.Z}',?A B^direction in FSK: [-0.951223,0.305404,0.043619]BFpublishing direction and range infoyFBkpu?GU?Ykg )>IC˾i?umj@|٠=?@ ¸2=)-5@I¸2!YM忬DV}W? T)䢽I-5@i¸2VKf{@V@V"ļٱV%|~checking for new query: numPingsReceived=116, elapsed TxPingTime=55.010815 AHRS rotation from veh to nav: [[-0.536236,0.841582,0.064738],[-0.843729,-0.536616,-0.012833],[0.023940,-0.061503,0.997820]]VH`(=?@?+ H?J}#?iVKf{@IV%];TY*By IiMb@Mb@Mb@ 9)\(?S㥫y&1|?YGa>y/]`;AI@ @)X@Y@bDVDy%G<%%<ٔ%zQ-%>9)Y)=-Fy)U+fEU>YQ 5eb5])V?Q 9eb5]&)] BYeh>Q Eej;ye Q Ie@]'DI]:i]:i]b5yɮZAii ?AJiRijic+1?b2 vI @ &{?RFBkpu?GU?Zi-5@bi¸2jdR.@kM!)@٣?Zu8BiiiBiAi/?% addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503686 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 19.690418 m, bearing: 39.652593 deg, lat: 36.779349 deg, lon: -121.859685 deg, deltaT: 0.503686 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 19.69 m.hYhY*hY"hY hYgYfYfafeqBddjdZd?Zh>Zh>Z\@Zz@"ļ) R>i9)Ҭ6ii, EB',?A2W`{@2@2ļٱ2{ NAHRS rotation from veh to nav: [[-0.536541,0.841390,0.064700],[-0.843532,-0.536928,-0.012723],[0.024034,-0.061403,0.997824]]2HW+?@(?6.@d?*p+?i2W`{@I2c\;2C`Yr4Byr& II)=bD=VD=k1yms=%uk=DDAT read: Rx Time:05:26:15.1674 -TRx dataTimestamp_ set to:1761542776.348531MPDAT read: Bearing 199.6, 16.4 (Local) M~Local bearing/azimuth received: Bearing 199.6, 16.4 (Local) Bſ>BBBB =BBBj;B)EDAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 DAT read: 05:26:15.1674 LVL= 24048, 23297, 32754, 32755, AGC= 61, IDX= 498, 0.00, 0.184, 1.702,-0.356, 0.672, PHS=-0.387, 1.075,-1.073, RAW= 348.2, 4.1, CAL= 347.8, 1.7, ROT= 162.2, -1.7 Ygot valid direction response: 05:26:15.1674 LVL= 24048, 23297, 32754, 32755, AGC= 61, IDX= 498, 0.00, 0.184, 1.702,-0.356, 0.672, PHS=-0.387, 1.075,-1.073, RAW= 348.2, 4.1, CAL= 347.8, 1.7, ROT= 162.2, -1.7 UV#Rx 117: Read range and direction messages.]^direction in FSK: [-0.951710,0.305561,0.029666]]Fpublishing direction and range infoy!%m2itN? `?Y!!%]%[! !)%=I%$ƾi%?%X%x@%C=! %<)!I%!ٔu(oQ-u>9qYy=}Fyy}|hE}>!%nTDl翤+wpJ? %3)%xsI!i%!!checking for new query: numPingsReceived=117, elapsed TxPingTime=55.503853Q 5b5P?Q 9b5֧)#BYyQ I@*DInb5yɮAi!i%UN?AJi!Ri!ji%B1?b%C~S2h@J0F?R%m2itN? `?Zi!bi%j%liJ.O.@Ju#)@):TοZ%uGI?;sjm? ٢M2i%IA:i%yrA"i%j9M?*i%d:]Bi%Bi%EۭS?i!i!i%Ai%0?] addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.690399 m, bearing: 39.672818 deg, lat: 36.779348 deg, lon: -121.859685 deg, deltaT: 0.504071 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.69 m.hh*h"h hgfffddjdZd@?Z)Z)Z)Z-xz@=ļ)9 =>i9)页6~Gi5r91Y5[Ai=+ 9Eﯩy7C<An@ IA)9@YIIbDMVDMNy}V=%<ٔ) Q->9Y=FyE>Q 5c5H?Q 9c5ԩ)+BYQ>Q E;yQ I@.DI:i:vc5yBɮMAEii6?AJiRiji#3?bL2ґG@R ?RݍVG7?B3?Zio5@bijR.@h)@C,ĿZ7{B6r?{ ?Z=Q>Z=^@Z=&t@mwǼ)i mR>iu9)quw6qiqi}, y}AXBCB( IB6BB =BDDBuDB k;B*E-DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.2 DAT read: 05:26:16.1676 LVL= 22608, 21489, 32754, 32755, AGC= 60, IDX= 500,-0.21,-1.084, 0.443,-1.622,-0.607, PHS=-0.374, 1.095,-1.059, RAW= 348.1, 3.6, CAL= 347.7, 0.9, ROT= 162.3, -0.9 ^AII O%?',ςY?AYgot valid direction response: 05:26:16.1676 LVL= 22608, 21489, 32754, 32755, AGC= 60, IDX= 500,-0.21,-1.084, 0.443,-1.622,-0.607, PHS=-0.374, 1.095,-1.059, RAW= 348.1, 3.6, CAL= 347.7, 0.9, ROT= 162.3, -0.9 V#Rx 119: Read range and direction messages.^direction in FSK: [-0.952544,0.303995,0.015707]Fpublishing direction and range infoy15)*݈={vgHt?y&?Y5̠A15PX5S1 1)5<I5|i5(?5P5mj@5=5<1@ 5<)5uJ5@I5115U(P>+"H1? 5"L)59I5uJ5@i511Jchecking for new query: numPingsReceived=119, elapsed TxPingTime=56.520248r+B{@r盄@rǼٱrx zAHRS rotation from veh to nav: [[-0.538089,0.840435,0.064265],[-0.842535,-0.538505,-0.012137],[0.024406,-0.060676,0.997859]]rH`8?`s? n;@mۈ`? v?ir+B{@IrI\;rCY-XBy-Q I 11ybDVD0y=%/=ٔAQ->9Y=FyىE>Q 5c5IB?Q 9c5b)1BYyQ I@1DIi9)顕6ii+ 16',7s?A>{@DDAT read: Rx Time:05:26:16.6676 TRx dataTimestamp_ set to:1761542777.856868PDAT read: Bearing 199.9, 16.5 (Local) ~Local bearing/azimuth received: Bearing 199.9, 16.5 (Local) DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.2  DAT read: 05:26:16.6676 LVL= 24384, 23281, 32754, 32755, AGC= 62, IDX= 500,-0.40,-2.229,-0.712,-2.765,-1.742, PHS=-0.384, 1.075,-1.067, RAW= 348.2, 4.0, CAL= 347.8, 1.6, ROT= 162.2, -1.6 Ygot valid direction response: 05:26:16.6676 LVL= 24384, 23281, 32754, 32755, AGC= 62, IDX= 500,-0.40,-2.229,-0.712,-2.765,-1.742, PHS=-0.384, 1.075,-1.067, RAW= 348.2, 4.0, CAL= 347.8, 1.6, ROT= 162.2, -1.6 V#Rx 120: Read range and direction messages.^direction in FSK: [-0.951758,0.305576,0.027922]%Fpublishing direction and range infoy:=t)O=0?|p}?Y@_Z )>Iľi?ux@5=?@ <)-5@I伩PH/V"? <)kI-5@i伩T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ՙ@}[ȼٱx AHRS rotation from veh to nav: [[-0.538301,0.840295,0.064318],[-0.842398,-0.538719,-0.012132],[0.024455,-0.060712,0.997856]]H9 ?)w?`0=؈ ?`o?i>{@I ];CY%_By-Z IieMb@Mb@Mb@aaaa a9eZd;O?RQZd;O?Yej<>ye½ej9Y=Fy"E>Q 5c5E:?Q 9c5ڬ):BYYU>Q E~;y'Q I@4DI;i;7 c5y!ɮ% A!iiv?AJiRibE9jE9rE9E EE'E"E9;*E:VE'4ZEa@a@a@a@ji0?b`S*3Ln@N]X?R:=t)O=0?|p}?Zi-5@bijd,Nr.@ו u)@2WtѿZ%:?r`?Խ&2iKA:ivA"iT)L?*i&^BiЁBij9M?iiЁBijAi1?- addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.501574 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 19.988369 m, bearing: 39.558274 deg, lat: 36.779348 deg, lon: -121.859684 deg, deltaT: 0.501574 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EDNOT Ignoring new targets: 19.99 m.hAhA*hA"hA hAgIfIfifmBdqdqjdqZdu ?ZYU>ZYU>ZϹ@Zk@}[ȼ) ף>id9)6ii , $s ',?A2@{@2B@2ZƼٱ2Hz8 >AHRS rotation from veh to nav: [[-0.538157,0.840373,0.064504],[-0.842495,-0.538559,-0.012458],[0.024270,-0.061049,0.997840]]2H 8V?S? ;`+ژ?AM?i2@{@I2 ];2CYFvByJw IbDRVDRJyZC>%Z=ٔZ!:Q-^?9\Y\=^Fy\b:Eb?dQ 5Uc5f5?Q 9]c5f)f?BYay'Q I@f6DIfB B A IB JBB  =B B B kk;B =*EBBCBB =B =C0965DDAT read: Rx Time:05:26:17.1678 5TRx dataTimestamp_ set to:1761542778.369255EPDAT read: Bearing 199.4, 17.1 (Local) E~Local bearing/azimuth received: Bearing 199.4, 17.1 (Local) UDAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.2 }DAT read: 05:26:17.1678 LVL= 26096, 19841, 32754, 32755, AGC= 62, IDX= 501, 0.34, 0.172, 1.676,-0.391, 0.655, PHS=-0.381, 1.066,-1.089, RAW= 348.8, 4.3, CAL= 348.5, 2.0, ROT= 161.5, -2.0 Ygot valid direction response: 05:26:17.1678 LVL= 26096, 19841, 32754, 32755, AGC= 62, IDX= 501, 0.34, 0.172, 1.676,-0.391, 0.655, PHS=-0.381, 1.066,-1.089, RAW= 348.8, 4.3, CAL= 348.5, 2.0, ROT= 161.5, -2.0 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.947746,0.317111,0.034899]Fpublishing direction and range infoy15[XS?lK?Xޡ?Y53A15e5M1 1)1I5oþi5r?5Zd5@DNOT Ignoring new targets: 19.99 m.ԡhh*h"h hgfffddjd`ff4@Zdj?5`=5@ 55=)5e4@I55115SLQfzp.v*? 5)5wxI5e4@i55112Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ZIZIZIZMG k@eZƼ)a m>imm9)imiiiiu+ quꢝ 2Acoustic response timeoutN/',Է?A2XI{@2}@2JWļٱ2} :AHRS rotation from veh to nav: [[-0.537725,0.840617,0.064922],[-0.842779,-0.538101,-0.013049],[0.023965,-0.061731,0.997805]]2H 5@U?@? `8u@O?A?i2XI{@I2a.];2CYBzByF| IIJ%=)JbDNVDN:yV<%VK=ٔZF:Q-Z>9XYX=ZFyX^c:E^>`Q 5fc5b/?Q 9fc5bĮ)bFBYdyj 'Q Ij@b9DIb:ib:bRc5lyr Bɮr ArEiiimࡗ?AJimKARimKAjimv-?bm2 ":3/a@jF?Rm[XS?lK?Xޡ?Zime4@bim5jmRVn/@x;w)@bÿZmʿ(?0M"?yO~2imKA:im|A"imb?*im@_Bim-Biiimd:]iiim?Aim0?U addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.512387 s, deltaX: 0.299999 m, approachRate: 0.585493 m/s, rangeRepo size: 4 m Added new target pos. range: 20.286671 m, bearing: 38.878057 deg, lat: 36.779348 deg, lon: -121.859685 deg, deltaT: 0.512387 s, deltaX: 0.298302 m, approachRate: 0.582180 m/s, posRepo size: 4 uDNOT Ignoring new targets: 20.29 m.hqhy*hy"hy hygyfffddjdZdX?ZqZqZqZusk@JWļ)  >i9)額3ii, nOE  E E 'E "E 9;*E VE '4ZE a @a @a @a @H',Ğ?ANaU{@N@NGٱN* VAHRS rotation from veh to nav: [[-0.537111,0.840973,0.065398],[-0.843182,-0.537453,-0.013742],[0.023592,-0.062524,0.997765]]NH0???`X2@$f(? ?iNaU{@IN$V];NCY~By~ I]2Acoustic response timeoutaiMb@Mb@Mb@ 9V-?ʡE󽿸Q?Yh>yy<\A IA)YbDVDy~=%:=ٔ0_:Q->9Y=Fy:E>Q 5c5s)?Q 9c5m)OBY>>Q E;y4Q I@;DI;i\:'c5yɮ Ai9i=f?AJi9Ri9ji=y-?b= ;43I6@jF?R=mJaq=?Xޡ?Zi=,4@bi9j=A]/@g`)@ز0jÿZ=6ңT?  ?NE~2i=KA:i==}A"i==3_?*i=]aBi=:Bi=&Q?i=&^i=Bi=Ai=}/?5 addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.496377 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 20.286671 m, bearing: 38.719827 deg, lat: 36.779348 deg, lon: -121.859685 deg, deltaT: 0.496377 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EDNOT Ignoring new targets: 20.29 m.hAhI*hI"hI hIgIfIfQfUBdQdYjdYZd] 2?Z>>Z>>Z*@ZZ]@G) ף>i9)顽/4ii+ ,YB CB f IB iBB =B CDB B k;B g*E^A} R5<I I O > @',kޞ?AɰYnByn IbDvVDv02yy>=% W=ٔ Q- >9Y=FyE>9Q 5Ec5=#?Q 9Ec5=)=WBYIyIQ IM@=>DI=F:i=:=c5yUBɮu A}EE EEE"E4;*E:VEZEBEup@ܬ?N?RMz`%K?4?ZiM4@biMdjMw/@e)@jZM/S0P?UH?{5?rŜ2iMNA:iM}A"iMs]?*iM[BiMkBiMs]?iIiMЁBiM_AiM3.?e addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503201 s, deltaX: 0.200001 m, approachRate: 0.397457 m/s, rangeRepo size: 4  Added new target pos. range: 20.485764 m, bearing: 39.181426 deg, lat: 36.779349 deg, lon: -121.859685 deg, deltaT: 0.503201 s, deltaX: 0.199093 m, approachRate: 0.395653 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.49 m.hh*h"h hgff fddjd4@Zd%?ZZZZ) >i9)g4ii, A % DDAT read: Rx Time:05:26:18.6679 % TRx dataTimestamp_ set to:1761542779.8727105 PDAT read: Bearing 200.9, 17.3 (Local) 5 ~Local bearing/azimuth received: Bearing 200.9, 17.3 (Local) E DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.1 i',A?ADAT read: 05:26:18.6679 LVL= 24304, 22465, 32754, 32755, AGC= 63, IDX= 503,-0.35,-2.387,-0.880,-2.947,-1.927, PHS=-0.358, 1.093,-1.064, RAW= 348.7, 3.5, CAL= 348.3, 0.8, ROT= 161.7, -0.8 Ygot valid direction response: 05:26:18.6679 LVL= 24304, 22465, 32754, 32755, AGC= 63, IDX= 503,-0.35,-2.387,-0.880,-2.947,-1.927, PHS=-0.358, 1.093,-1.064, RAW= 348.7, 3.5, CAL= 348.3, 0.8, ROT= 161.7, -0.8 "R#Rx 1: Read range and direction messages.&^direction in FSK: [-0.949333,0.313962,0.013962]&Fpublishing direction and range infoyQUz`%K?4?YQQU^UWQ Q)QIUKiUm?U'1QQQ Q)QIQQQUvA$ٽ t7Z85? Ud)UgyIQiQQQ22Acoustic response timeout6Querying Benthos address 50 with 120 pings in terminal homing one-way mode.YBy I iuMb@Mb@Mb@qqqq q9uZd;O?QV-?Yuj=yu\u9Y=FyE>Q 5c5?Q 9c5 )aBY.>Q E;yHQ I@@DI:i:c5y)ɮ- A)iQiU{?AJiQRiQjiQbUcr3>up@ܬ?N?RUz`%K?4?ZiQbiQjUw/@e)@jZU/S0P?UH?{5?rŜ2iQ:iQ"iUV?*iU[BiUpBiQiQiQiUAiU"-? addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E EEE"Eg5;*E:VEZEa@a@a@a@ Added new target pos. range: 20.485764 m, bearing: 39.181426 deg, lat: 36.779349 deg, lon: -121.859685 deg, deltaT: 0.503877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.49 m.hh*h"h hgfffBddjd!Zd%XV?AZm.>Zm.>Zmf@ZmGJ@) >iA9)顽4ii+ II}2Acoustic response timeout9@ @@N1@qԙ ^A ፨<I I O >Q',?AY}By I <<bDVD0yĠ=%l=ٔ Q-?9IYY=eFyayE>Q 5c5?Q 9c5)hBYyQ I@BDI;i ;c5yɮp ADNOT Ignoring new targets: 20.49 m.hDDAT read: Rx Time:05:26:19.1680 TRx dataTimestamp_ set to:1761542780.376793PDAT read: Bearing 199.7, 17.6 (Local) ~Local bearing/azimuth received: Bearing 199.7, 17.6 (Local) DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.2 %DAT read: 05:26:19.1680 LVL= 25840, 19505, 32754, 32755, AGC= 62, IDX= 503, 0.28,-0.716, 0.779,-1.287,-0.240, PHS=-0.373, 1.065,-1.091, RAW= 349.1, 4.2, CAL= 348.7, 2.0, ROT= 161.3, -2.0 -Ygot valid direction response: 05:26:19.1680 LVL= 25840, 19505, 32754, 32755, AGC= 62, IDX= 503, 0.28,-0.716, 0.779,-1.287,-0.240, PHS=-0.373, 1.065,-1.091, RAW= 349.1, 4.2, CAL= 348.7, 2.0, ROT= 161.3, -2.0 5R#Rx 1: Read range and direction messages.=^direction in FSK: [-0.946633,0.320418,0.034899]=Fpublishing direction and range infoymJaq=?Xޡ?YAd1L )>IiQ?㥋g@Q =6@ 5=),4@I5h*hQ"hQ hQgQfQfYfYdYdYjde@34@Zde ?$ZQ%j+ n? :;)ħI,4@i5u2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.BBB IBBB =BDDBBk;BY*EZYZYZYZYq)q u>iu9)y}4yiyi, IIԡ}9@y @y@/@E EE%E"E3;*E:VE 4ZEBE {',++?A6Ɖ{@6@6.ٱ6w FAHRS rotation from veh to nav: [[-0.534446,0.842927,0.061985],[-0.844949,-0.534643,-0.014749],[0.020708,-0.060257,0.997968]]6H-A?`? 4`4?ٮZ?i6Ɖ{@I6]7];6CYRByV IbDbVDbyjz%n_=ٔE;Q-M>9IYQ=UFyQUn<E]>aQ 5mc5e?Q 9uc5e)epBYqyuGQ I}@eDDIeT;ie:K;e%!c5yɮ Aii`?AJiARiAji-?bP(M|3'b@;?RmJaq=?Xޡ?Zi,4@bi5jAP0@x9)@h[Z&i?r?l p2iNA:i&A"i X?*i"\BivBii"\i-BiAi&f-? addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504083 s, deltaX: 0.100000 m, approachRate: 0.198381 m/s, rangeRepo size: 4  Added new target pos. range: 20.585175 m, bearing: 38.905547 deg, lat: 36.779349 deg, lon: -121.859685 deg, deltaT: 0.504083 s, deltaX: 0.099411 m, approachRate: 0.197212 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.59 m.hh*h"h hgfffddjdZd ?Z!Z!Z!Z%XJ@E.)Q ]$>ie9)ae95aiaim+ iu (<IqI9@ @@/@DDAT read: Rx Time:05:26:19.6679 -TRx dataTimestamp_ set to:1761542780.887648UPDAT read: Bearing 200.6, 17.2 (Local) U~Local bearing/azimuth received: Bearing 200.6, 17.2 (Local) DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.2 DAT read: 05:26:19.6679 LVL= 23776, 21601, 32754, 32755, AGC= 61, IDX= 503,-0.01,-2.549,-1.047,-3.102,-2.079, PHS=-0.368, 1.077,-1.067, RAW= 348.6, 3.8, CAL= 348.3, 1.3, ROT= 161.7, -1.3 Ygot valid direction response: 05:26:19.6679 LVL= 23776, 21601, 32754, 32755, AGC= 61, IDX= 503,-0.01,-2.549,-1.047,-3.102,-2.079, PHS=-0.368, 1.077,-1.067, RAW= 348.6, 3.8, CAL= 348.3, 1.3, ROT= 161.7, -1.3 R#Rx 1: Read range and direction messages.%^direction in FSK: [-0.949181,0.313912,0.022687]%Fpublishing direction and range infoy!%.`_n ?NGY;?Y%̤A!%\%aT! !)%=I%ji%#ۉ?%u%@%ԇ=%@ %޹<)%4@I%޹!!%U忆OK9? %)%īI%4@i%޹!!2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.) ^A I I O >E  E E (E "E 1;*E :VE c44ZE a @a @a @a @Q xf',E?A6{@6΄@6}ٱ6!w BAHRS rotation from veh to nav: [[-0.532901,0.843941,0.061479],[-0.845949,-0.533037,-0.015535],[0.019660,-0.060287,0.997987]]6H ?@3z?@Џ!?@ݮ`?i6{@I6r];4Y^By^ IIb=)bp;=2Acoustic response timeoutiMMb@Mb@Mb@IIII I9M㥛 ?sh|?ſ~jt?YM=yM)M9yYy=}Fy;E>Q 5c5 ?Q 9c5ѯ)wBYP;>Q E;y?@Q I@FDI ;i ;$c5yBɮ AEiIiM:8?AJiMARiMAjiM?0?bMWq3 ܔ @i??RM.`_n ?NGY;?ZiM4@biM޹jMV&K/@'A*@li"ߗӿZMbY?}6T?Al2iM:PA:iM}A"iMA?*iM0ԂYBiMBiM X?iM[iMBiM"AiMFE-? addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.510855 s, deltaX: -0.100000 m, approachRate: -0.195751 m/s, rangeRepo size: 4  Added new target pos. range: 20.485729 m, bearing: 39.446012 deg, lat: 36.779349 deg, lon: -121.859684 deg, deltaT: 0.510855 s, deltaX: -0.099445 m, approachRate: -0.194665 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.49 m.hh*h"h hgfffBddjd4@Zd?ZP;>ZP;>Z @Z?@)M})Q U>iUe9)QUn5QiQi], Yeȕ} Ygot valid direction response: 05:26:20.1681 LVL= 26000, 25377, 32754, 32755, AGC= 62, IDX= 505,-0.37,-1.619,-0.109,-2.151,-1.135, PHS=-0.382, 1.071,-1.061, RAW= 348.2, 4.0, CAL= 347.8, 1.6, ROT= 162.2, -1.6 } R#Rx 1: Read range and direction messages.B Ŀ>B B IB BB =B CDB B ;k;B (*Eԡ  ^direction in FSK: [-0.951758,0.305576,0.027922] Fpublishing direction and range infoy:=t)O=0?|p}?Y3Ae!c )>Iþi?·x@5=?@ <)-5@I伩s K志'֫zͱ? C)-I-5@i伩 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode. I I oG liA  N9 liAY 9IYI=MFyIuR;Eu>yQ 5c5}?Q 9c5})}~BYy?@Q I@}IDI}p:i}F:}=(c5E EE'E"E*;*E:VE'4ZEBEi9)/5ii+  DDAT read: Rx Time:05:26:20.6681 % TRx dataTimestamp_ set to:1761542781.8926535 PDAT read: Bearing 199.9, 17.0 (Local) = ~Local bearing/azimuth received: Bearing 199.9, 17.0 (Local) M DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 a',y?A ɰ"4<\%DAT read: 05:26:20.6681 LVL= 24144, 25057, 32754, 32755, AGC= 61, IDX= 504, 0.16,-0.475, 1.014,-1.013, 0.011, PHS=-0.384, 1.048,-1.068, RAW= 348.5, 4.4, CAL= 348.1, 2.1, ROT= 161.9, -2.1 -Ygot valid direction response: 05:26:20.6681 LVL= 24144, 25057, 32754, 32755, AGC= 61, IDX= 504, 0.16,-0.475, 1.014,-1.013, 0.011, PHS=-0.384, 1.048,-1.068, RAW= 348.5, 4.4, CAL= 348.1, 2.1, ROT= 161.9, -2.1 5R#Rx 1: Read range and direction messages.={@=@=琼ٱ=*u UAHRS rotation from veh to nav: [[-0.529706,0.846042,0.060200],[-0.847997,-0.529736,-0.016787],[0.017687,-0.059942,0.998045]]U^direction in FSK: [-0.949877,0.310468,0.036644]UFpublishing direction and range info=HZ?Ү?"0?`?i={@I=^;=CyQUtEee?(א¢?YQQUP^UaQ Q)U=IUľiU$?U9U@UnF=Umj@ UQ =)U4@IUQ QQUG-(忆4N翨Gv`~? U)UIU4@iUQ QQE2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E EE*E"E=-;*E:VE(N4ZEa@a@a@a@YBy I i}Mb@Mb@Mb@yyyy y9}J +?I +ƿ{Gz?Y}H=y}94}ף<}A}X@ y)}"@yY}@bDVDky<% =ٔG:Q->9Y=Fyw;E>Q 5c5V?Q 9c5î)BY2<>Q E;y6@Q I@LDI:i:C-c5yɮ AiQiU:!y?AJiQRiQjiU1?bU:3X] خ@V+_?RUtEee?(א¢?ZiU4@biUQ jU/@x*@?ZU7j?H*@~?ēhS?2iUTA:iUgA"iUxJ??*iU}êPBiUBiUC?iU0ԂYiUIBiUAiUM.?- addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.507170 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2Acoustic response timeout Added new target pos. range: 20.784161 m, bearing: 39.822564 deg, lat: 36.779346 deg, lon: -121.859683 deg, deltaT: 0.507170 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.78 m.hh*h"h hgff f Bd d)jd1Zd5N?Zu2<>Zu2<>ZuJ|@Zu6@琼) >i9)額mI5ii, T',?A>DDAT read: Rx Time:05:26:21.1682 BTRx dataTimestamp_ set to:1761542782.400660FPDAT read: Bearing 200.5, 16.7 (Local) F~Local bearing/azimuth received: Bearing 200.5, 16.7 (Local) NDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 B^>B\B^ IB^BB\B^DDB\B^j;B^)EnDAT read: 05:26:21.1682 LVL= 24224, 26065, 32754, 32755, AGC= 61, IDX= 506,-0.16,-0.772, 0.728,-1.298,-0.287, PHS=-0.383, 1.060,-1.056, RAW= 348.1, 4.1, CAL= 347.7, 1.7, ROT= 162.3, -1.7 vYgot valid direction response: 05:26:21.1682 LVL= 24224, 26065, 32754, 32755, AGC= 61, IDX= 506,-0.16,-0.772, 0.728,-1.298,-0.287, PHS=-0.383, 1.060,-1.056, RAW= 348.1, 4.1, CAL= 347.7, 1.7, ROT= 162.3, -1.7 vR#Rx 1: Read range and direction messages.z^direction in FSK: [-0.952242,0.303899,0.029666]zFpublishing direction and range infoy<>JFx #Us? `?Y>A<>^>e< <)ľi>?>+>mj@>C=><1@ ><)>uJ5@I><<>5MeD6/hͭE? >iK)>NI>uJ5@i><< 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.6.|@6@@6Qٱ6Vt AHRS rotation from veh to nav: [[-0.525952,0.848467,0.058971],[-0.850368,-0.525880,-0.017993],[0.015745,-0.059610,0.998098]]6H&?`h1?76@l~? ;@j?i6.|@I6 _;6C )lAlAiIIi-lA ,lF)i mkAmiiqqIu)qiq)qIq}y yyyyiففiڡڥ"A)ک کIکYYBy IbDVD1ym%mW=ٔu?;Q-u>9qYq=uFyq})?<E}>Q 5c5?Q 9c5@)BYy6@Q I@NDI:i:0c5yɮa Ai<i>j?AJi>ARi>Aji>4?b>(3b@wj9?R>JFx #Us? `?Zi>uJ5@bi>j>,/@0bZ+@-Z>ÙDuU??Ŭl2i>XA:i>~A"i>d2?*i>8IBi>tBi>A?i>}êPi>tBi>Ai>C1?m addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.508007 s, deltaX: 0.100000 m, approachRate: 0.196848 m/s, rangeRepo size: 4  Added new target pos. range: 20.883474 m, bearing: 40.497300 deg, lat: 36.779346 deg, lon: -121.859680 deg, deltaT: 0.508007 s, deltaX: 0.099314 m, approachRate: 0.195497 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.88 m.hh*h"h hgfffddjd5@Zd?ZQZQZQZU6@Q) y>i9)顥S]5ii+ =IIEM EMEM(EI"EM/;*EMr:VEMc44ZEIBEMɈo',_?A-T|@-$@-bWtٱ-ut mAHRS rotation from veh to nav: [[-0.524026,0.849684,0.058601],[-0.851572,-0.523909,-0.018582],[0.014913,-0.059641,0.998108]]-H@0??`@ @/? < ?i-T|@I-#_;-C9YBy IbDU VDU:2DDAT read: Rx Time:05:26:21.6682 TRx dataTimestamp_ set to:1761542782.908790PDAT read: Bearing 198.8, 17.1 (Local) ~Local bearing/azimuth received: Bearing 198.8, 17.1 (Local) y%%%@=MDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 ٔmU:Q-m>9iYq=uFyquq;Eu>yQ 5c5}e?Q 9c5})}BYy7@Q I@}QDI}fIVξi?~@K=x@ s=){4@IsA;&x翌kCWb? )I{4@is2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ii)?AJiRijiy2?b5W3-Ik @ȃ?R8yX[A I?Cg]?Zi{4@bisjc S/%/@4*@ZAj>i#9)!%r5!i!i-, )-=I)I19DQzDUAAԑ9@ @@0@@@fAbEǀ'4jE$4rE/E-  E- E- $E) "E- <;*E- :VE- 4ZE) a= @a= @a= @a= @E 2Acoustic response timeoutԹ ^A V<I I O >N',n͟?A2y|@2_7@2fٱ2t >AHRS rotation from veh to nav: [[-0.522106,0.850888,0.058265],[-0.852764,-0.521945,-0.019173],[0.014097,-0.059696,0.998117]]2Hy:? ԭ?@I@ųތ?@ ?i2y|@I2^;2CYeBym IiMb@Mb@Mb@ 9 ףp= ?/$ſ91Y1==Fy9=i;E=>AQ 5Mc5Eg헊?Q 9Mc5E9)EBYUU2>Q EU;yU6@Q IU@ESDIE:iE:E7c5y]Bɮ] AaDNOT Ignoring new targets: 20.88 m.hh*h"h hgfff؁BddjdZd{,?ZU2>ZU2>Z+@ZP6@f) >i9)顝5ii+ .=II=9@A @A@E4@I*DAT read: user:421> DAT read: 0 8unknown deviceResponse_: 0 DAT read: Ok :unknown deviceResponse_: Ok BĿ>BB IBBBBCDBB*j;B)EBCBBB =B =C4%*DAT read: user:422> %BDAT read: Tx time:05:26:22.6237 -$Ping request sent.-Q Em  Em Em (Ei "Em m+;*Em E:VEm c44ZEi BEm ބ9tYt=vFytz;Ez>|Q 5c5~\藊?Q 9c5~ì)~BY y 6@Q I @~UDI~:i~:~:c5yɮ AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.241752MDNOT Ignoring new targets: 20.88 m.hIhI*hI"hI hQgQfQfQfYdYdYjdYZde)?ZZZZ6@8Z) ;>iK9)顥5ii, ݆=II1u9@q @q@u/@qa^A =IIO=>ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496248Թ 2Z(,Nz?A2u|@2 W@2WPٱ2"u :AHRS rotation from veh to nav: [[-0.518815,0.852935,0.057733],[-0.854792,-0.518580,-0.020156],[0.012748,-0.059807,0.998129]]2H !>K?9Y=Fyx;E>Q 5 c52◊?Q 9 c5Q = tI)BY +>Q E;yD@Q I@E EE&E"E3;*E:VE4ZEa%@a%@a%@a%@WDI;i;x>c5y)ɮ- A)]DNOT Ignoring new targets: 20.88 m.hYhY*hY"hY hYgafafafeƁBdidijdiZdm?ԑZ +>Z +>Z P@Z jD@=WP)9 =>i=9)AEAiAiM+ IM=IIIqIy)}gAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.745867%9@! @!@!@!@-=@-=^AK=II O >i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997949 B! B! B% IB% BB% =B! B% vDB% i;B% )E(,W?ABR|@Bb@BKHٱB#t NAHRS rotation from veh to nav: [[-0.517573,0.853719,0.057296],[-0.855552,-0.517316,-0.020374],[0.012246,-0.059565,0.998149]]BH@@Q?U?`ۍܔ@?I?iBR|@IBr^;BCYVaByV] I XX^A\bDbVDbܲyjݙ%j^=ٔj{:Q-n>9lYl=rFypr;Er>tQ 5zc5vݗ?Q 9zc5v)vBYxy~D@Q I~@vYDIv;iv;vAc5yɮ A-DNOT Ignoring new targets: 20.88 m.h1h1*h1"h1 h1g1f1f9f9d9dAjdAZdE?ZZZZD@KH) .>i/9)c3ii, =II@ @@/@E EE)E"E);*E:VEFA4ZEBEMi n (,05?A :|@:j@:,^Dٱ:Uyr BAHRS rotation from veh to nav: [[-0.516766,0.854238,0.056833],[-0.856043,-0.516505,-0.020333],[0.011985,-0.059159,0.998177]]:H Y@U?3?d5`<Ҕ?J ?i:|@I:ޔ^;:CYJMByJD IbDVVDV1y^ɽ%^L=ٔ^*:Q-b>9`Y`=bFy`fz;Ef>hQ 5nc5j]ח?Q 9nc5jg)jBYlynD@Q Ir@j[DIj];ijj;j/Ec5ytɮv AtDNOT Ignoring new targets: 20.88 m.hh*h"h hgff!f!d!d!jd)Zd-@\?ZiZiZiZm*D@,^D)  >iC9)額X 4ii+ U"=IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504298U9@Q @Y@]0@YqԙE EE'E"E(;*E:VE'4ZEa@a@a@a@^A=IIO  m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753660M(, O?A24|@2lq@2Cٱ2oq :AHRS rotation from veh to nav: [[-0.516065,0.854678,0.056590],[-0.856467,-0.515806,-0.020227],[0.011902,-0.058906,0.998193]]2H@`Y?l?,h{`Z3`?(1?i24|@I2@U^;2CPYEOByEF IiMb@Mb@Mb@ 91Zd?V-~jtxY"=yĻ/An@ |@)Y@bDVDk1y*;%+=ٔ59Q->9 Y = Fy  :E>Q 5c5!ї?Q 9%c5ͬ)Y%!>Q E%;y%!Z!>Zo@ZU@C) >i#9)顭l4ii, $=IIN>i!>a@a @a@e0@a@mfA@iBſ>BBs IBsBB =BBBi;Bt)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005773^A ;=I I O >) E  E E *E "E %;*E 8:VE (N4ZE BE *)>==bDVDyk%a=ٔQ->9Y=FyE>!Q 5-c5%F̗?Q 9-c5%)%BY1y1Q I5@%`DI%;i%u;%Lc5yeBɮe(AeEDNOT Ignoring new targets: 20.88 m.hh*h"h hgfffddjdZd`@ZyZyZyZy) N>i9)顭ii+ $=II)A@A @A@E0@IQiI DDAT read: Rx Time:05:26:24.7818  TRx dataTimestamp_ set to:1761542785.935566} PDAT read: Bearing 197.9, 16.7 (Local) ^A =I  ~Local bearing/azimuth received: Bearing 197.9, 16.7 (Local) 5 DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.0 = X#Rx 1: Read range message, but no direction.y Y fA Ia Om >u checking for new query: numPingsReceived=1, elapsed TxPingTime=2.556369ԁ E (,?AV}|@Vu@VJٱVBp jAHRS rotation from veh to nav: [[-0.515630,0.854942,0.056578],[-0.856723,-0.515401,-0.019681],[0.012335,-0.058619,0.998204]]VH [?? Fj +~&' B?\J?iV}|@IV];TEM EMEM'EI"EM+$;*EM:VEM'4ZEIaU@aU@aU@aU@YYe*Bye Ii=Mb@Mb@Mb@9999 99=S㥛?sh|?y&1Y=$>y==`e=A9 =O@)=9@9Y=f@bDUVDUyegT%e@=ٔmRQ-m>9iYi=uFyquۛ:E}>yQ 5c5}Ɨ?Q 9c5}')}BY :>Q E;y%Q I@}bDI}:i}:}APc5yɮA addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 3.026776 s, deltaX: 0.799999 m, approachRate: 0.264307 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 20.88 m.hh*h"h hgfffwBddjd5@Zdy?Z :>Z :>ZԹ@Z7Bl@J) 4>i9)ѱ3ii%, !% q&=I)I)]DAT read: 05:26:24.7818 LVL= 18736, 17073, 30194, 32755, AGC= 63, IDX= 101,-0.38, 1.090, 2.572, 0.574, 1.623, PHS=-0.430, 0.994,-1.093, RAW= 348.1, 5.8, CAL= 347.9, 4.4, ROT= 162.1, -4.4 mYgot valid direction response: 05:26:24.7818 LVL= 18736, 17073, 30194, 32755, AGC= 63, IDX= 101,-0.38, 1.090, 2.572, 0.574, 1.623, PHS=-0.430, 0.994,-1.093, RAW= 348.1, 5.8, CAL= 347.9, 4.4, ROT= 162.1, -4.4 uX#Rx 2: Read direction message, but no range.}^direction in FSK: [-0.948790,0.306451,0.076719]y15)a|\8Q_I?.0ۣ?1ԉ50I5B5u 1)5?I5(ܾi5v~?5m狿5mj@54Q=5M@ 5nF=)5D5@I5nF159A忹wLftʹ? 5'R)5fνI5D5@i5nFchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.776528@ @@4@Ա^A;=IIO> B  DDAT read: Rx Time:05:26:25.2818  TRx dataTimestamp_ set to:1761542786.435330 PDAT read: Bearing 197.3, 16.7 (Local)  ~Local bearing/azimuth received: Bearing 197.3, 16.7 (Local) - checking for new query: numPingsReceived=2, elapsed TxPingTime=3.022754B B A IB JBB =B B B i;B c)E&(,ӥ?A G-hA9e`9mhAYmyAԱl|@t@Oٱo AHRS rotation from veh to nav: [[-0.515787,0.854840,0.056679],[-0.856623,-0.515580,-0.019350],[0.012682,-0.058533,0.998205]]HTZ?@?ti`lГ?`K?il|@I?];YMByM IaeAAbDVDyb%5=ٔHQ->9Y=Fy׹E>Q 5c5?Q 9c5H)BYy%Q I@eDI+u;iv;8Tc5y)ɮ-A)EI EMEM*EI"EI*EMS:VEM(N4ZEIBEM2}i9)24ii+ %=II@ @@4@@>@>MDAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.1 }DAT read: 05:26:25.2818 LVL= 22176, 21601, 32754, 32755, AGC= 60, IDX= 501, 0.08, 1.920,-2.892, 1.407, 2.460, PHS=-0.438, 0.976,-1.097, RAW= 348.1, 6.1, CAL= 347.9, 5.0, ROT= 162.1, -5.0 Ygot valid direction response: 05:26:25.2818 LVL= 22176, 21601, 32754, 32755, AGC= 60, IDX= 501, 0.08, 1.920,-2.892, 1.407, 2.460, PHS=-0.438, 0.976,-1.097, RAW= 348.1, 6.1, CAL= 347.9, 5.0, ROT= 162.1, -5.0 R#Rx 3: Read range and direction messages.^direction in FSK: [-0.947973,0.306187,0.087156]Fpublishing direction and range infoy158e)UN(!?O?Y115V5aT5 1)5<I5Ai5#y?5j15^ =1 5¸=)1I5¸115kÿ<4ǫ8بk? 5=N)57۽I1i5¸11checking for new query: numPingsReceived=3, elapsed TxPingTime=3.281405^A I I O >9 y,(,w?Aɰ;2t|@2 m@2tZٱ2Po :AHRS rotation from veh to nav: [[-0.516513,0.854388,0.056875],[-0.856175,-0.516344,-0.018767],[0.013333,-0.058388,0.998205]]2HF &W??e7^N?`孿K?i2t|@I2t9];0YFByFI HHbDRVDR:yV%V=ٔZ Q-Z?9XY\=^Fy\5E?Q 5%c5弗?Q 9%c5)BY)y-%Q I-@fDI:i:Vc5y5Bɮ5wA5Eiiim?AJimoARimoAjim>"6?bmH߂%4t6@EyMF;?Rm8e)UN(!?O?ZimD5@bim¸jm1d0@1C,@4M?Zm2?a1 Y?q9?2imbA:im&A"imr\_"?*imT<BimBimx95?imh qLimBimaAim.? addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.747852 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.679253 m, bearing: 40.763654 deg, lat: 36.779345 deg, lon: -121.859678 deg, deltaT: 3.774628 s, deltaX: 0.795778 m, approachRate: 0.210823 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.68 m.hh*h"h hgfffddjdZd ?!DDAT read: Rx Time:05:26:25.7818 TRx dataTimestamp_ set to:1761542786.943196PDAT read: Bearing 197.9, 16.6 (Local) ~Local bearing/azimuth received: Bearing 197.9, 16.6 (Local) checking for new query: numPingsReceived=3, elapsed TxPingTime=3.533186ZZZZ1l@tZ) 3>i;9)!%H~4!i!i-, )57"=I1I1I@ @@/@E] E]E])EY"E]%;*E]*:VE]FA4ZEYae@ae@am@am@q^A =I I! O- >U DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.0 } DAT read: 05:26:25.7818 LVL= 25120, 23537, 32754, 32755, AGC= 60, IDX= 501,-0.31,-0.888, 0.588,-1.397,-0.354, PHS=-0.432, 0.987,-1.087, RAW= 348.0, 5.8, CAL= 347.8, 4.5, ROT= 162.2, -4.5  Ygot valid direction response: 05:26:25.7818 LVL= 25120, 23537, 32754, 32755, AGC= 60, IDX= 501,-0.31,-0.888, 0.588,-1.397,-0.354, PHS=-0.432, 0.987,-1.087, RAW= 348.0, 5.8, CAL= 347.8, 4.5, ROT= 162.2, -4.5  R#Rx 4: Read range and direction messages. ^direction in FSK: [-0.949194,0.304753,0.078459] Fpublishing direction and range infoyA E Ip_|q?5;?YA A E bE [A A )A IE /ݾiE |?E "E \@E 4Q=E ?@ E |٠=)E -5@IE |٠A A E MZbʄ"z@? E s)E h ѽIE -5@iE |٠A A  checking for new query: numPingsReceived=4, elapsed TxPingTime=3.782226ԙ 3(,TР?A2|@2f@2dٱ2p :AHRS rotation from veh to nav: [[-0.517153,0.853959,0.057496],[-0.855779,-0.517012,-0.018456],[0.013965,-0.058748,0.998175]]2HS?p?`b] 撿 ♌?`A ?i2|@I2];0YBByBIi Mb@Mb@Mb@     9 ʡE?V-MbpY -2>y m  A A@ ) "@ Y z@bD%VD%k2y5ZZ%5B=ٔ=ĺQ-=>99YA=EFyAEwEE>IQ 5Uc5M?Q 9Uc5MV)MBY];>Q E];y]Q I]@MiDIM ;iMm ;MZc5yaɮeAiiqiuˠ?AJiqRiqjiu6?bu׉84Oam@$ <7?RuIp_|q?5;?Ziu-5@biu|٠ju a0@wXcS,@LBf[?ZuQ,.?&?ȥY$?2iubA:iu A"iu?*iuL<BiuBiud2?iu8IiuBiu_Aiu0?U addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 21.679253 m, bearing: 40.845298 deg, lat: 36.779345 deg, lon: -121.859677 deg, deltaT: 0.503945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 21.68 m.hihi*hi"hi higiqfqff6BddjdZd?Z;>Z;>Zľ@Z*v@d) >i49)4ii%+ !%=I!I)9@ @@/@BQAU<BiBiBm IBm'BDDAT read: Rx Time:05:26:26.2818 TRx dataTimestamp_ set to:1761542787.443742PDAT read: Bearing 196.6, 16.8 (Local) ~Local bearing/azimuth received: Bearing 196.6, 16.8 (Local) checking for new query: numPingsReceived=4, elapsed TxPingTime=4.033066BiBiBiBmi;Bm)E ^AI IY Iq O >Em  Em Em $Ei "Em *;*Em |:VEm 4ZEi BEm 9XYX=ZFyX^ DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.1 5DAT read: 05:26:26.2818 LVL= 22352, 20401, 32754, 32755, AGC= 60, IDX= 501, 0.18, 1.406, 2.865, 0.896, 1.955, PHS=-0.447, 0.955,-1.104, RAW= 348.2, 6.6, CAL= 348.0, 5.7, ROT= 162.0, -5.7 EYgot valid direction response: 05:26:26.2818 LVL= 22352, 20401, 32754, 32755, AGC= 60, IDX= 501, 0.18, 1.406, 2.865, 0.896, 1.955, PHS=-0.447, 0.955,-1.104, RAW= 348.2, 6.6, CAL= 348.0, 5.7, ROT= 162.0, -5.7 ER#Rx 5: Read range and direction messages.U^direction in FSK: [-0.946354,0.307489,0.099320]UFpublishing direction and range infoy|~|UHn?hܸm?Y||~PW~O| |)|I~/i~zt?~O~x@~=~ \@ ~%=)~4@I~%˽||~6?0忡贊1[j? ~8)~I~4@i~%˽||}checking for new query: numPingsReceived=5, elapsed TxPingTime=4.289042E>Q 5c5,?Q 9c5)YyQ I@kDI;iJ;!^c5yɮAi|i~d>?AJi|Ri|ji~5?b~2|'4ʚH@Ar(9@R~|UHn?hܸm?Zi~4@bi~%˽j~/p0@u ,@T%D?Z~ MD?p*?X+?2i~`A:i~A"i~Q?*i~g@Bi~Bi~r\_"?i~g@i~Bi~vAi~4? addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.679230 m, bearing: 40.531433 deg, lat: 36.779343 deg, lon: -121.859673 deg, deltaT: 0.503945 s, deltaX: -0.000023 m, approachRate: -0.000045 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.68 m.hh*h"h hgf f f ddjdZd ?ZYZYZYZ]pv@_q) >i9)顕U4ii, *=III)fAe9@a @a@e/@a@mgA@mgA9DDAT read: Rx Time:05:26:26.7818  TRx dataTimestamp_ set to:1761542787.950280y  PDAT read: Bearing 196.5, 16.0 (Local)  ~Local bearing/azimuth received: Bearing 196.5, 16.0 (Local) ^A I I O >- DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.0  DAT read: 05:26:26.7818 LVL= 26400, 24545, 32754, 32755, AGC= 60, IDX= 501,-0.14,-1.058, 0.414,-1.535,-0.490, PHS=-0.466, 0.949,-1.089, RAW= 347.4, 6.8, CAL= 347.2, 6.0, ROT= 162.8, -6.0  Ygot valid direction response: 05:26:26.7818 LVL= 26400, 24545, 32754, 32755, AGC= 60, IDX= 501,-0.14,-1.058, 0.414,-1.535,-0.490, PHS=-0.466, 0.949,-1.089, RAW= 347.4, 6.8, CAL= 347.2, 6.0, ROT= 162.8, -6.0  R#Rx 6: Read range and direction messages. ^direction in FSK: [-0.950045,0.294088,0.104528] Fpublishing direction and range infoynUfV?4ޮ`º?Y g_ )Iir?ZdW@=@ Pw=)o5@IPwֽ?EZX_翺"? *)tIo5@iPwֽe checking for new query: numPingsReceived=6, elapsed TxPingTime=4.613384@(,?AbEc44jE14rE 0E EE(E"E(;*E:VEc44ZEa-@a-@a-@a-@Y-By5II==)=pyeQ8eaen@ e|@)ef@aYef@bD}VD}0ygT<%/=ٔQ->9Y=FyE>Q 5c5ݭ?Q 9c5_)BYU>Q E~;yAQ I@nDIe ;i~ ;ac5yBɮZAiic?AJiRiji8?b?ӣ4@3H @RnUfV?4ޮ`º?Zio5@biPwֽj =0@"#,@z3*S?Zސ?撏?L?2iadA:iA"iee?*ib<BiZ]U>Z]G@Z]|@iq)q u4>iu9)y} 5yiyi+ :O=II checking for new query: numPingsReceived=6, elapsed TxPingTime=4.777531E9@y @y@}/@yԑ^A I I O > BQ BQ BU IBU BBQ BQ BQ BU j;BU )EBBBB =B =C5 DDAT read: Rx Time:05:26:27.2820  TRx dataTimestamp_ set to:1761542788.452719 PDAT read: Bearing 195.7, 16.2 (Local)  ~Local bearing/azimuth received: Bearing 195.7, 16.2 (Local) #G(,k?A:DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 LDAT read: 05:26:27.2820 LVL= 25040, 24305, 32754, 32755, AGC= 61, IDX= 502, 0.40, 1.895,-2.926, 1.411, 2.472, PHS=-0.475, 0.930,-1.105, RAW= 347.6, 7.3, CAL= 347.5, 6.8, ROT= 162.5, -6.8 Ygot valid direction response: 05:26:27.2820 LVL= 25040, 24305, 32754, 32755, AGC= 61, IDX= 502, 0.40, 1.895,-2.926, 1.411, 2.472, PHS=-0.475, 0.930,-1.105, RAW= 347.6, 7.3, CAL= 347.5, 6.8, ROT= 162.5, -6.8 R#Rx 7: Read range and direction messages.^direction in FSK: [-0.947008,0.298591,0.118404]Fpublishing direction and range infoy2BM6?EO?Y̰Aa^ )=I33i{n?p"@w>@ =)5@I1VXg)Cݖp翵+? )I5@i checking for new query: numPingsReceived=7, elapsed TxPingTime=5.116225|@G@sٱNn }AHRS rotation from veh to nav: [[-0.520396,0.851952,0.058022],[-0.853773,-0.520383,-0.016531],[0.016110,-0.058140,0.998178]]H0C??R@퐿?@ĭ?i|@I\;CYByIbDVDk1yM5<%U>=ٔURQ-U>9QYY=]FyY]CݻE]>aQ 5c5e?Q 9c5e)eBYypQ I@eqDIe:ie:eec5yɮGAE- E-E-$E)"E-;*E-:VE-4ZE)BE-mi9)$5ii, \x=IIchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.282408@ @@@ ^A I I O >JM(,M7?AYzByz I|@A@AbD VD kyUĜ<%]r=ٔmQ-m?9yY=FyE?Q 5c5j?Q 9c5s)BYyQ I@sDIT;i<hc5yɮ,A!DDAT read: Rx Time:05:26:27.7819 TRx dataTimestamp_ set to:1761542788.958375PDAT read: Bearing 196.2, 16.7 (Local) ~Local bearing/azimuth received: Bearing 196.2, 16.7 (Local) DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.2 aDNOT Ignoring new targets: 21.98 m.hh*h"h hgfDAT read: 05:26:27.7819 LVL= 25072, 24241, 32754, 32755, AGC= 62, IDX= 502, 0.16, 0.355, 1.818,-0.150, 0.918, PHS=-0.460, 0.946,-1.111, RAW= 348.0, 6.9, CAL= 347.9, 6.2, ROT= 162.1, -6.2 Ygot valid direction response: 05:26:27.7819 LVL= 25072, 24241, 32754, 32755, AGC= 62, IDX= 502, 0.16, 0.355, 1.818,-0.150, 0.918, PHS=-0.460, 0.946,-1.111, RAW= 348.0, 6.9, CAL= 347.9, 6.2, ROT= 162.1, -6.2 R#Rx 8: Read range and direction messages.^direction in FSK: [-0.946029,0.305559,0.107999]Fpublishing direction and range infoy0ݛEtF?Niإ?Y3Aaffddjd`f5@Zd?^ )>Ii-r??5 \@Ϣ=M@ k=)D5@Ikݽ5Dς=,yߞ@Rt־? g)OID5@ikݽchecking for new query: numPingsReceived=8, elapsed TxPingTime=5.615399Z9Z9Z9Z9) >iZ9)顭;5ii+ !%=I!I)5Y>i5>EE EAEE&EA"EE%;*EAVEE4ZEAaU@aU@aU@aU@y@ @@0@@@=- checking for new query: numPingsReceived=8, elapsed TxPingTime=5.785713ԡ ^A l=I I O l2T(,tQ?AY~*By~ I yiMb@Mb@Mb@ 9x?~jt:v?YK7>yDT<AX@ f@)O@Y@bDVDkyo=%D=ٔQ->9Y=FyE>Q 5c5֟?Q 9c5Ҹ)BY<>>Q E;yQ I@vDI ;ii ;Jlc5yɮAiiV=?AJi:ARi:AjiƵ4?bJJwjn4^#̞`@d@R0ݛEtF?Niإ?ZiD5@bikݽjT0@gq b-,@{ I?Z:H?%Zi?%?2ikaA:i8A"i㥙?*iAAFBilBi?if8=i>Z<>>Z@Z z@Q)Q UR>iU9)QUQ5YiYi], aaIaIaԱBBBIB BB =BBBj;B *EI@Q @Q@U4@YDDAT read: Rx Time:05:26:28.2821 TRx dataTimestamp_ set to:1761542789.456457PDAT read: Bearing 196.6, 16.3 (Local) ~Local bearing/azimuth received: Bearing 196.6, 16.3 (Local) DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.2 X#Rx 9: Read range message, but no direction.yYAchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.042973^A H=I I O >EM  EM EM 'EI "EM /;*EM S:VEM '4ZEI BEM Ɉ9Y=FyQ/E>Q 5c5E?Q 9c5-)BYyZQ I@xDI;i%;oc5y ɮ JA } addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.498082 s, deltaX: 0.300001 m, approachRate: 0.602313 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 21.78 m.hh*h"h hgfffddjd@336@Zd@ۣ?ZZZZ+y@tӓ) >i9) Ui5ii+ b=II@ @@/@ADDAT read: Rx Time:05:26:28.7821 TRx dataTimestamp_ set to:1761542789.966612PDAT read: Bearing 196.9, 16.4 (Local)  ~Local bearing/azimuth received: Bearing 196.9, 16.4 (Local) ^A = DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.2 I I OM > DAT read: 05:26:28.7821 LVL= 24528, 23505, 32754, 32755, AGC= 62, IDX= 504,-0.14,-1.851,-0.378,-2.349,-1.296, PHS=-0.453, 0.963,-1.097, RAW= 347.8, 6.5, CAL= 347.6, 5.5, ROT= 162.4, -5.5  Ygot valid direction response: 05:26:28.7821 LVL= 24528, 23505, 32754, 32755, AGC= 62, IDX= 504,-0.14,-1.851,-0.378,-2.349,-1.296, PHS=-0.453, 0.963,-1.097, RAW= 347.8, 6.5, CAL= 347.6, 5.5, ROT= 162.4, -5.5  T#Rx 10: Read range and direction messages. ^direction in FSK: [-0.948802,0.300978,0.095846] Fpublishing direction and range infoy \q9C?aVX?Y_[ )Ii+v?j?@V="@  =) g5@I ĽDk\kf T? )I g5@i Ľ5 checking for new query: numPingsReceived=10, elapsed TxPingTime=6.626653a @Ea(,3T?AD~<D~<E EE%E"EO6;*E:VE 4ZEa @a@a@a@Y2By# Ionly read 0 of 1 data item for BIT error. Device response is::TS,00050309144859,35.0, 0.0,1492.7, 0 a@a a@a a@a a@a p<4<bDVDy %:=ٔQ->9Y=FyE>Q 5c5?Q 9c5)BQ A+:YQ E g;y Q I @{DI]:i>rc51y9ɮ=ZA9ii}?AJiARiAjiH5?b.!^4lT-@\@R \q9C?aVX?Zi g5@bi Ľjf0@ܶ,@F\~?Zw8F?Ԧ?{jI'?2ieA:iA"i< ?*i _BBiBi< ?ig@iiAi%5? addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.510155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 22.077044 m, bearing: 40.530260 deg, lat: 36.779342 deg, lon: -121.859673 deg, deltaT: 1.008237 s, deltaX: 0.298368 m, approachRate: 0.295931 m/s, posRepo size: 4 MDNOT Ignoring new targets: 22.08 m.hIhQ*hQ"hQ hQgQfQfYfYdYdYjdaZde ?) >iu9)65ii, =IIchecking for new query: numPingsReceived=10, elapsed TxPingTime=6.793669a@ @@@^A]<IiIyOZ>ԉB B B  IB BB =B B B Tk;B 7*E DDAT read: Rx Time:05:26:29.2823  TRx dataTimestamp_ set to:1761542790.468618 PDAT read: Bearing 197.6, 16.9 (Local)  ~Local bearing/azimuth received: Bearing 197.6, 16.9 (Local)  DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2  Z#Rx 11: Read range message, but no direction.y Y A  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.059260 j~g(,in?A2\7|@2@2ٱ2!u :AHRS rotation from veh to nav: [[-0.525484,0.848634,0.060726],[-0.850597,-0.525590,-0.015503],[0.018761,-0.059800,0.998034]]2H`(?`z?8 俏 6?  ?i2\7|@I2^;2CY~EBy~: II%=);bDVD2yl=%H=ٔQ->9Y!=%Fy!-cE->9Q 5Ec5=?Q 9Mc5=)=BQ AU :YQQ EU;;yutQ Iu@=}DI=;i=JU?=uc5yyɮ AԱ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.502006 s, deltaX: 0.299999 m, approachRate: 0.597601 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 22.08 m.hh*h"h hgfffd d jd 6@Zd5/?})y }>i}k9)顅5ii+ 9 m(,?A2\)|@2@2ٱ2w :AHRS rotation from veh to nav: [[-0.526208,0.848148,0.061236],[-0.850144,-0.526320,-0.015603],[0.018996,-0.060269,0.998001]]2H`$?CZ?`4 @t`s? ۮ?i2\)|@I2 T^;2CY^YBybS IbD}VD}2yU=%H=ٔQ->9!Y)=5Fy1E }DDAT read: Rx Time:05:26:29.7823 TRx dataTimestamp_ set to:1761542790.973240PDAT read: Bearing 197.2, 17.1 (Local) ~Local bearing/azimuth received: Bearing 197.2, 17.1 (Local) E>1]DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 Q 5c5$?Q 9c5^)BQ A9YQ E;yQ I@DIiM(9)IM:5ii, S~6u(,Dա?A2M|@2 @2ؚٱ2.w :AHRS rotation from veh to nav: [[-0.526783,0.847784,0.061341],[-0.849790,-0.526884,-0.015828],[0.018901,-0.060465,0.997991]]2Hg !?h?@z1`<.5Z?@D?i2M|@I2f0^;2CYBfByBc Ia a  a a aa aa iMb@Mb@Mb@ 9x&?bX9ȶ:v?Y7 >yE<\A@ )f@Y@bD-VD-y=A~=%=@=ٔ=j9Q-=>9AYA=EFyAMӺEM>QQ 5]c5UW?Q 9]c5U)UBQ A]T:Y]&>Q E];y]-Q I]@UDIU;iU;Uzc5yɮ A!iIiMI?AJiMAB5ƿ>B1B5! IB51BB5 =B1B1B5Ok;B54*E C%DDAT read: Rx Time:05:26:30.2823 %TRx dataTimestamp_ set to:1761542791.4769905PDAT read: Bearing 197.6, 17.4 (Local) =~Local bearing/azimuth received: Bearing 197.6, 17.4 (Local) MDAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 GliAQ$9liAYADAT read: 05:26:30.2823 LVL= 25744, 24369, 32754, 32755, AGC= 63, IDX= 506, 0.21, 0.176, 1.635,-0.364, 0.699, PHS=-0.420, 0.981,-1.106, RAW= 348.8, 6.0, CAL= 348.6, 4.7, ROT= 161.4, -4.7 RiMAjiM>1?bM3A)5l2g@t3?RM)D(,)?O?ZiM4@biM¸jM Փ31@?,@o?ZM4(?%1f?N셐?2iM?dA:iMA"iMʖ1?*iMOwGBiMBiIiM _BiIiMAiMQ4?IUYgot valid direction response: 05:26:30.2823 LVL= 25744, 24369, 32754, 32755, AGC= 63, IDX= 506, 0.21, 0.176, 1.635,-0.364, 0.699, PHS=-0.420, 0.981,-1.106, RAW= 348.8, 6.0, CAL= 348.6, 4.7, ROT= 161.4, -4.7 UT#Rx 14: Read range and direction messages.]^direction in FSK: [-0.944581,0.317887,0.081939]]Fpublishing direction and range infoy!%ܨX:?@BX??Y!!%d%1_! !)!I%= ׾i%"{?%h%@u addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504622 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.375353 m, bearing: 39.669547 deg, lat: 36.779342 deg, lon: -121.859674 deg, deltaT: 1.006628 s, deltaX: 0.298309 m, approachRate: 0.296345 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.38 m.hh*h%Pw=%@ %=)%I4@I%!!%*=Y~ j?Ԡ? %)%tiսI%I4@i%!!checking for new query: numPingsReceived=14, elapsed TxPingTime=8.110544"h hgfffǁBddjdZd?Z&>Z&>ZM@Zd@ؚ) >i-k9))-5)i)i5+ 15'{(,/?A4<ɰ49Y=Fy%쓺E%>!Q 5mc5%4?Q 9uc5%п)%ĿBYqyu'-Q Iu@%DI%?%i9)5ii, OE  E E (E "E %;*E E:VE c44ZE a% @a% @a% @a% @Q c(, ?A2|@2@2I8ٱ2v >AHRS rotation from veh to nav: [[-0.527535,0.847354,0.060809],[-0.849335,-0.527605,-0.016223],[0.018336,-0.060206,0.998018]]2H ?^"?-@#ќ ƒ? EӮ?i2|@I2/}];2CY^By^ Ichecking for new query: numPingsReceived=15, elapsed TxPingTime=8.809719i Mb@Mb@Mb@     9 Q?X9vQ?Y \=1y  \= A  A) IA Y AbDEVDEyU g=%U8=ٔ]1:Q-]>9YYY=]FyaenEe>iQ 5c5m}?Q 9c5m)mοBY&>Q E;yF@Q I@mDIm;imB;mc5yɮ Aiik?AJiRiji(#1?b1HY-5P"@>p?R5wԲI͚ۗ?5;?Zi4@bi|٠jkT61@A,@4S%?ZCvO?B~$f?Mq?2i7dA:iA"i(?*iRHBigBi(?iOwGiBiAia1?] addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504786 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 22.375370 m, bearing: 39.645397 deg, lat: 36.779344 deg, lon: -121.859676 deg, deltaT: 0.504786 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.38 m.hh*h"h hgfffBddjdZdô?Z&>Z&>Z=@ZnF@I8) >i9)15ii%+ !EiU>a@ @@0@@@ԑBBBM IBTBB =BBBQk;B5*Eu DDAT read: Rx Time:05:26:31.2825 u TRx dataTimestamp_ set to:1761542792.480722 PDAT read: Bearing 198.5, 17.1 (Local)  ~Local bearing/azimuth received: Bearing 198.5, 17.1 (Local)  DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2  DAT read: 05:26:31.2825 LVL= 24944, 23537, 32754, 32755, AGC= 63, IDX= 508,-0.19,-1.118, 0.350,-1.645,-0.603, PHS=-0.413, 0.998,-1.087, RAW= 348.4, 5.5, CAL= 348.2, 4.0, ROT= 161.8, -4.0 ^A <I I O > Ygot valid direction response: 05:26:31.2825 LVL= 24944, 23537, 32754, 32755, AGC= 63, IDX= 508,-0.19,-1.118, 0.350,-1.645,-0.603, PHS=-0.413, 0.998,-1.087, RAW= 348.4, 5.5, CAL= 348.2, 4.0, ROT= 161.8, -4.0  T#Rx 16: Read range and direction messages.m ^direction in FSK: [-0.947658,0.311574,0.069756]m Fpublishing direction and range infoyq u s6SY?&k۱?Yu fAq u pau [q q )q Iu tӾiu |?u "u Q@u =u x@ u 5=)u {4@Iu 5q q u L9 6翃w鎊? u )u šĽIu {4@iu 5q q  checking for new query: numPingsReceived=16, elapsed TxPingTime=9.109963Թ pLj(,p$?A2R |@2{@2pٱ2-t :AHRS rotation from veh to nav: [[-0.527673,0.847319,0.060102],[-0.849259,-0.527723,-0.016336],[0.017875,-0.059662,0.998059]]2H<?Ů? "-@dM??i2R |@I2:];2CYFByF I N49|Y=FyE> Q 5c5 y?Q 9c5 ) ֿBY9y=F@Q I=@ DI G;i ; =c5yAɮE< AIii&?AJicARicAjiѩ1?bި|5gB@$ReN?Rs6SY?&k۱?Zi{4@bi5jŨGk1@:;,@q?Z}? Ht?Bt?2igA:iZA"iP5?*iȍxBBiBiʖ1?ii{BiAiM20?E EE*E"E=;*E:VE(N4ZEBEi=r9)9=59i9iE, AE)! (,ҩ>?ADDAT read: Rx Time:05:26:31.7825 TRx dataTimestamp_ set to:1761542792.984806PDAT read: Bearing 197.8, 17.1 (Local) ~Local bearing/azimuth received: Bearing 197.8, 17.1 (Local) *DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.1 JDAT read: 05:26:31.7825 LVL= 22208, 20881, 32754, 32755, AGC= 61, IDX= 507, 0.49,-1.610,-0.150,-2.135,-1.084, PHS=-0.424, 0.979,-1.095, RAW= 348.5, 5.9, CAL= 348.3, 4.7, ROT= 161.7, -4.7 NYgot valid direction response: 05:26:31.7825 LVL= 22208, 20881, 32754, 32755, AGC= 61, IDX= 507, 0.49,-1.610,-0.150,-2.135,-1.084, PHS=-0.424, 0.979,-1.095, RAW= 348.5, 5.9, CAL= 348.3, 4.7, ROT= 161.7, -4.7 RT#Rx 17: Read range and direction messages.R^direction in FSK: [-0.946233,0.312937,0.081939]VFpublishing direction and range infoyةLGʙ,'??YVQ )=Iپiz?(@B=@ =)4@I4gߺ6? )fԽI4@ibchecking for new query: numPingsReceived=17, elapsed TxPingTime=9.585707hh=|@=;@=͍ٱ=4t AHRS rotation from veh to nav: [[-0.527186,0.847647,0.059740],[-0.849574,-0.527204,-0.016736],[0.017309,-0.059576,0.998074]]=H?9QYQ=UFyQ]Y:E]>aQ 5mc5er?Q 9mc5e)eBYm%>Q Em;ym4@Q Iu@eDIen:ie3:ec5y}ܓBɮ} Ayii??AJiRiji41?bEct5]RĻa@qkcù?RةLGʙ,'??Zi4@bijZ'o1@5)1,@!拌?Za}? f?:?2iIgA:i|A"i90?*iBBiBiiiiUAi`/?m addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504084 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.673740 m, bearing: 39.660697 deg, lat: 36.779345 deg, lon: -121.859676 deg, deltaT: 0.504084 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.67 m.hh*h"h hgfffBddjdZdY?Z5%>Z5%>Z5}W@Z54@M͍)I M>>iM[9)IU5QiQi}+ y}3Y(,/\?AA0A0B<B>CB> IB>}BB> =B<B<B>k;B>U*EB1B1B1B1B1C5'I5iqIq}DDAT read: Rx Time:05:26:32.2826 TRx dataTimestamp_ set to:1761542793.489068PDAT read: Bearing 196.7, 16.8 (Local) ~Local bearing/azimuth received: Bearing 196.7, 16.8 (Local) DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.1 DAT read: 05:26:32.2826 LVL= 24032, 29089, 32754, 32755, AGC= 61, IDX= 509, 0.14,-0.822, 0.639,-1.332,-0.271, PHS=-0.449, 0.955,-1.106, RAW= 348.2, 6.6, CAL= 348.0, 5.8, ROT= 162.0, -5.8 Ygot valid direction response: 05:26:32.2826 LVL= 24032, 29089, 32754, 32755, AGC= 61, IDX= 509, 0.14,-0.822, 0.639,-1.332,-0.271, PHS=-0.449, 0.955,-1.106, RAW= 348.2, 6.6, CAL= 348.0, 5.8, ROT= 162.0, -5.8 T#Rx 18: Read range and direction messages.^direction in FSK: [-0.946188,0.307435,0.101056]Fpublishing direction and range infoy+Gx4?+hg޹?YA]q )ITizt?hx@= \@ 4Q=)4@I4QϽo 1GӋ:^? I>)t-I4@i4QϽchecking for new query: numPingsReceived=18, elapsed TxPingTime=10.086820MU>|@M@MٱMJt }AHRS rotation from veh to nav: [[-0.525150,0.848961,0.059021],[-0.850865,-0.525076,-0.018005],[0.015705,-0.059675,0.998094]]MH*?@8?@I:ko?c?iMU>|@IMD];MCYBy IbDVDP)yYy<%4=ٔg;Q-u>9yYy=}Fyy[;E>Q 5c5m?Q 9c5e)BYy4@Q I@DIT'i9)页5ii, И=III- checking for new query: numPingsReceived=18, elapsed TxPingTime=10.322474e 9@a  @a @e /0@a q ^A 8<I I O >(,y?AxYEByM IAAAAbDVDܲyQ=%%f=ٔ-Q-5>99YA=EFyE>Q 5c5h?Q 9c5)BYyQ I@DI;i;:c5yɮw ADNOT Ignoring new targets: 22.87 m.hh*h"h h-DDAT read: Rx Time:05:26:32.7826 5TRx dataTimestamp_ set to:1761542793.996503=PDAT read: Bearing 197.5, 17.2 (Local) E~Local bearing/azimuth received: Bearing 197.5, 17.2 (Local) UDAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.1 uDAT read: 05:26:32.7826 LVL= 26064, 24049, 32754, 32755, AGC= 62, IDX= 509,-0.24,-3.077,-1.614, 2.680,-2.542, PHS=-0.433, 0.973,-1.105, RAW= 348.5, 6.2, CAL= 348.3, 5.1, ROT= 161.7, -5.1 gfffYgot valid direction response: 05:26:32.7826 LVL= 26064, 24049, 32754, 32755, AGC= 62, IDX= 509,-0.24,-3.077,-1.614, 2.680,-2.542, PHS=-0.433, 0.973,-1.105, RAW= 348.5, 6.2, CAL= 348.3, 5.1, ROT= 161.7, -5.1 T#Rx 19: Read range and direction messages.ddjdZd?!m^direction in FSK: [-0.945667,0.312749,0.088894]uFpublishing direction and range infoy15uiB^??Y115e5]1 1)5>I5-ݾi5y?5p5@5k=5@ 5K=)54@I5K115TzR.-}^? 5)5ݽI54@i5K1ZZ1checking for new query: numPingsReceived=19, elapsed TxPingTime=10.659605ZZ) >i9)+5ii+ o=IIQ9@ @@4@E EE%E"E;*E:VE 4ZEa@a@a@a@y  checking for new query: numPingsReceived=19, elapsed TxPingTime=10.825566^AM r=IY Ii O} >ᗤ(,C?A;ɰ6wZ|@6 (@6qrٱ6AHRS rotation from veh to nav: [[-0.523695,0.849888,0.058596],[-0.851777,-0.523571,-0.018687],[0.014797,-0.059697,0.998107]]6H H2?O?`A@"M?}?i6wZ|@I6Z];4YJByJ IiMb@Mb@Mb@ 9Mb?SſS㥛?Y9Y=Fy;E>Q 5c5c?Q 9c5)BYv1>Q E;y(@Q I@DIK ;i ;c5yɮ Ai9i=?AJi9Ri9ji=\(2?b=)E5>>@]D@R=uiB^??Zi=4@bi=Kj=q71@֢Zv1>ZJ@Z(@qr) >>i9)5ii, =IIaBBB IBBBBBBk;Bq*Eu9@q @q@}/@y@}@}@@DDAT read: Rx Time:05:26:33.2827 TRx dataTimestamp_ set to:1761542794.497040 PDAT read: Bearing 196.2, 16.7 (Local) ~Local bearing/azimuth received: Bearing 196.2, 16.7 (Local) %DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 EDAT read: 05:26:33.2827 LVL= 24368, 28657, 32754, 32755, AGC= 62, IDX= 510, 0.15, 0.540, 1.993, 0.035, 1.102, PHS=-0.460, 0.937,-1.111, RAW= 348.1, 7.1, CAL= 348.0, 6.4, ROT= 162.0, -6.4 MYgot valid direction response: 05:26:33.2827 LVL= 24368, 28657, 32754, 32755, AGC= 62, IDX= 510, 0.15, 0.540, 1.993, 0.035, 1.102, PHS=-0.460, 0.937,-1.111, RAW= 348.1, 7.1, CAL= 348.0, 6.4, ROT= 162.0, -6.4 UT#Rx 20: Read range and direction messages.]^direction in FSK: [-0.945129,0.307091,0.111469]]Fpublishing direction and range infoy>a? -V:?Y̸A0_o )Ii;o??5mj@= \@ =)4@I佩 zk35HE>k? N)UI4@i佩}checking for new query: numPingsReceived=20, elapsed TxPingTime=11.094384ԁI) I9 OE >E  E E (E "E %;*E S:VE c44ZE BE ~9IYI=UFyQU;EU>echecking for new query: numPingsReceived=20, elapsed TxPingTime=11.329709yQ 5c5}_?Q 9c5}E)}BYy(@Q I@}DI}:i}:}c5yɮ Aԙi9i=ϟ?AJi=ǷARi=ǷAji=!3?b=V25]7@J|@R=>a? -V:?Zi=4@bi=j=@}1@bc9-@v N?Z=!57I]?JP?ހNi?2i=ylA:i=A"i= ?*i=f7Bi=JBi9i=zC<i=1Bi=-Ai=0?u addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.500537 s, deltaX: 0.100000 m, approachRate: 0.199786 m/s, rangeRepo size: 4  Added new target pos. range: 22.972214 m, bearing: 40.197906 deg, lat: 36.779344 deg, lon: -121.859671 deg, deltaT: 0.500537 s, deltaX: 0.099495 m, approachRate: 0.198776 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.97 m.hh*h"h hgfffddjd7@Zd`(`?ZZZZ!(@-e) ͉>i9)5ii+ d =IIa@a @a@e/@iIyIO:> DDAT read: Rx Time:05:26:33.7827  TRx dataTimestamp_ set to:1761542795.000668% PDAT read: Bearing 197.1, 16.6 (Local) - ~Local bearing/azimuth received: Bearing 197.1, 16.6 (Local) = DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 ] DAT read: 05:26:33.7827 LVL= 23248, 21153, 32754, 32755, AGC= 59, IDX= 510,-0.23,-3.018,-1.548, 2.760,-2.463, PHS=-0.454, 0.959,-1.104, RAW= 348.0, 6.6, CAL= 347.8, 5.7, ROT= 162.2, -5.7 e Ygot valid direction response: 05:26:33.7827 LVL= 23248, 21153, 32754, 32755, AGC= 59, IDX= 510,-0.23,-3.018,-1.548, 2.760,-2.463, PHS=-0.454, 0.959,-1.104, RAW= 348.0, 6.6, CAL= 347.8, 5.7, ROT= 162.2, -5.7 m T#Rx 21: Read range and direction messages.u ^direction in FSK: [-0.947422,0.304184,0.099320]u Fpublishing direction and range infoy  /M6GQ=8rw?hܸm?Y   Z R  ) ;I ri u? O \@ = ?@  %=) -5@I %˽   LJ忆A翑F(Gz?  T) [I -5@i %˽   checking for new query: numPingsReceived=21, elapsed TxPingTime=11.597784a ~(,zƢ?A2֐|@29Y=Fyx;E> Q 5c5 Y?Q 9c5 2) BY7>Q E;yS'@Q I@ DI +;i Q; c5y-ؓBɮ- AIiAiE ?AJiARiAjiE~5?bE[oX5|{@ ŗ@@RE/M6GQ=8rw?hܸm?ZiE-5@biE%˽jEZFZUk1@ u-@Q-?ZEcC?F?)舱?2iEKnA:iEZA"iEq<?*iE8v3BiEBiEpm(?iE<iEBiEAiE0? addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503628 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.972214 m, bearing: 40.530445 deg, lat: 36.779344 deg, lon: -121.859671 deg, deltaT: 0.503628 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.97 m.hh*h"h hgff!f%Bd!dAjdIZdM`?mchecking for new query: numPingsReceived=21, elapsed TxPingTime=11.833802Z7>Z7>Z삗@ZS'@Y) >iv9)顭5ii, }=IIay@y @y@}/@yIIOa>ԉB <A <B B B IB BB B B B k;B *EԹ % DDAT read: Rx Time:05:26:34.2827 % TRx dataTimestamp_ set to:1761542795.504667- PDAT read: Bearing 194.8, 15.1 (Local) 5 ~Local bearing/azimuth received: Bearing 194.8, 15.1 (Local) E DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 ̷(,[?A:DAT read: 05:26:34.2827 LVL= 28064, 27377, 32754, 32755, AGC= 61, IDX= 510, 0.01,-0.616, 0.840,-1.052,-0.007, PHS=-0.507, 0.892,-1.090, RAW= 346.6, 8.0, CAL= 346.6, 8.0, ROT= 163.4, -8.0 >Ygot valid direction response: 05:26:34.2827 LVL= 28064, 27377, 32754, 32755, AGC= 61, IDX= 510, 0.01,-0.616, 0.840,-1.052,-0.007, PHS=-0.507, 0.892,-1.090, RAW= 346.6, 8.0, CAL= 346.6, 8.0, ROT= 163.4, -8.0 B|@BQ@BY>OٱB r NAHRS rotation from veh to nav: [[-0.519435,0.852605,0.057023],[-0.854417,-0.519208,-0.019889],[0.012649,-0.059052,0.998175]]fT#Rx 22: Read range and direction messages.n^direction in FSK: [-0.948996,0.282908,0.139173]nFpublishing direction and range infoyQU6R-^*?H@l?YQQUmUjQ Q)U=IUiUZd?UU@U5>U@ U5>)U6@IU5QQUgILeP? U)UBH5@H?2?`aWY`]?< ?iB|@IBm^;@IU6@iU5QQYBy II%C=)%p;bD5VD5}checking for new query: numPingsReceived=22, elapsed TxPingTime=12.160436ԑy6%H=ٔ:Q->9Y=Fy;E>Q 5c5S?Q 9c5B) BYyp'@Q I@DI_:i:oc5y ɮ ^ A1iQiUwL?AJiQRiQjiUQ:?bU-5_4@%[' @RU6R-^*?H@l?ZiU6@biU5jUS4 1@?~D:`.@9A@ZU.xj,? f(? z6?2iUsA:iUaA"iU`q?*iU *BiUBiU ?iUf7iUBiUAiU 2? addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503999 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.972206 m, bearing: 41.700294 deg, lat: 36.779343 deg, lon: -121.859669 deg, deltaT: 0.503999 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.97 m.hh*h"h hgfffddjdZd?ZyZyZyZ}.p'@E EE%E"EsH;*Ek:VE 4ZEBEO) Ȋ>i?9)顽6ii+ s=II@ @@@IIOe>}checking for new query: numPingsReceived=22, elapsed TxPingTime=12.337811! (,B?A-.|@-a@-Fٱ-r mAHRS rotation from veh to nav: [[-0.517685,0.853676,0.056911],[-0.855485,-0.517430,-0.020285],[0.012130,-0.059188,0.998173]]-H QQ?g#?"`ȎŔ׈?M?i-.|@I-o^;)YBy IbDVDkyɼ%S=ٔ:Q->9Y=Fy ;E >Q 5c5N?Q 9c5_)BYy%'@Q I%@DI ;i ;c5y-ӓBɮ)-EUDNOT Ignoring new targets: 22.97 m.hYhY*hY"hY hYgYfYfafadadajdiZdm?ZZZZՒ'@F) >i9)顥6ii, DDAT read: Rx Time:05:26:34.7826 TRx dataTimestamp_ set to:1761542796.008837PDAT read: Bearing 196.6, 16.8 (Local) ~Local bearing/azimuth received: Bearing 196.6, 16.8 (Local) DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0  DAT read: 05:26:34.7826 LVL= 23280, 21681, 32754, 32755, AGC= 60, IDX= 509, 0.31,-0.501, 0.947,-1.009, 0.054, PHS=-0.454, 0.938,-1.108, RAW= 348.2, 6.9, CAL= 348.1, 6.2, ROT= 161.9, -6.2 Ygot valid direction response: 05:26:34.7826 LVL= 23280, 21681, 32754, 32755, AGC= 60, IDX= 509, 0.31,-0.501, 0.947,-1.009, 0.054, PHS=-0.454, 0.938,-1.108, RAW= 348.2, 6.9, CAL= 348.1, 6.2, ROT= 161.9, -6.2 T#Rx 23: Read range and direction messages.`=II^direction in FSK: [-0.944956,0.308859,0.107999] Fpublishing direction and range infoyT=>ϋ^Z?Niإ?YAZT )<Iri p?ҍx@Ϣ=mj@ k=)4@IkݽKm"J(}\? .)"jI4@ikݽchecking for new query: numPingsReceived=23, elapsed TxPingTime=12.665751@! @!@%0@!Du=Du<E EE'E"E;*E:VE'4ZEa@a@a@a@) ^AE >=IQ m checking for new query: numPingsReceived=23, elapsed TxPingTime=12.841694Iq O} >j(,k?A 2|@2n@2; Bٱ2&r >AHRS rotation from veh to nav: [[-0.516347,0.854495,0.056786],[-0.856298,-0.516078,-0.020436],[0.011844,-0.059178,0.998177]]2H X?@? f )픿@A?`L@?i2|@I2ho^;0YxByy IqBBB IBBBBBB6l;B*EŀG-hAAr9hAY AiMb@Mb@Mb@ 9:v?S㥛ĿY9Y=FyC;E>DDAT read: Rx Time:05:26:35.2828 TRx dataTimestamp_ set to:1761542796.512654PDAT read: Bearing 192.8, 14.0 (Local) ~Local bearing/azimuth received: Bearing 192.8, 14.0 (Local)  DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 -DAT read: 05:26:35.2828 LVL= 31616, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.48, 0.767, 2.215, 0.376, 1.424, PHS=-0.554, 0.837,-1.092, RAW= 345.7, 9.4, CAL= 345.7, 10.2, ROT= 164.3, -10.2 5Ygot valid direction response: 05:26:35.2828 LVL= 31616, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.48, 0.767, 2.215, 0.376, 1.424, PHS=-0.554, 0.837,-1.092, RAW= 345.7, 9.4, CAL= 345.7, 10.2, ROT= 164.3, -10.2 =T#Rx 24: Read range and direction messages.E^direction in FSK: [-0.947477,0.266324,0.177085]EFpublishing direction and range infoy",ZQZ7r ?ki?YfA{ )=I iEV?ƋH@'>H@ K6>)^7@IK6{S濳"j?  )~W(I^7@iK6echecking for new query: numPingsReceived=24, elapsed TxPingTime=13.109611iQ 5c5mH?Q 9c5m)mBY&>Q E;y0@Q I@mDImՐ;im;ԡm}c5yɮ AiiS ?AJi^ARi^Aji>?bG_I=5wJ@i@R",ZQZ7r ?ki?Zi^7@biK6jv!`0@nT/@vǴ @Z=X@eB?r?W+?2i}xA:iA"iMӜ?*ix BiiBiq<?i8v3iJBi Ais2?= addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 1.007987 s, deltaX: 0.199999 m, approachRate: 0.198414 m/s, rangeRepo size: 4 M Added new target pos. range: 23.171074 m, bearing: 42.680286 deg, lat: 36.779341 deg, lon: -121.859667 deg, deltaT: 1.007987 s, deltaX: 0.198868 m, approachRate: 0.197292 m/s, posRepo size: 4 MDNOT Ignoring new targets: 23.17 m.hQhQ*hQ"hQ hQgQfQfYf]BdYdajdeL7@Zde?Z&>Z&>Z@Z0@; B) >>ih9) 6ii +  7$=Ii Ii q E  E E E "E ;*E :VE ZE BE `y(,zP4?A4<ɰ;t x)zlAzԼ|||~lAi~/ݼI|Ii9lA `)  kA   I/ݼ)i)I/ݼ !!!i!!i)))) 1I1Y1Y=eBy=b I AAbDUVDU 8yeֽ%eg=ٔeQ-m>9iYi=mFyiuEu>yQ 5}c5}C?Q 9c5})}BYyQ I@}DI}Q;i};}lc5yɮl ADNOT Ignoring new targets: 23.17 m.hh*h"h hgfffddjdZdI?ZZZZ) pn>iN9)i i=, AMg#=IIIy!i@q @q@u>0@qDDAT read: Rx Time:05:26:35.7827 %TRx dataTimestamp_ set to:1761542797.0175815PDAT read: Bearing 197.4, 16.6 (Local) 5~Local bearing/azimuth received: Bearing 197.4, 16.6 (Local) EDAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 uDAT read: 05:26:35.7827 LVL= 24416, 22257, 32754, 32755, AGC= 62, IDX= 510,-0.04,-2.015,-0.554,-2.519,-1.464, PHS=-0.449, 0.955,-1.099, RAW= 348.0, 6.6, CAL= 347.9, 5.7, ROT= 162.1, -5.7 Ygot valid direction response: 05:26:35.7827 LVL= 24416, 22257, 32754, 32755, AGC= 62, IDX= 510,-0.04,-2.015,-0.554,-2.519,-1.464, PHS=-0.449, 0.955,-1.099, RAW= 348.0, 6.6, CAL= 347.9, 5.7, ROT= 162.1, -5.7 T#Rx 25: Read range and direction messages.^direction in FSK: [-0.946889,0.305837,0.099320]Fpublishing direction and range infoyLLԒ?hܸm?Y̸A`_V )>ITizt? \@=M@ %=)D5@I%˽n AgeR? WhI)ID5@i%˽e checking for new query: numPingsReceived=25, elapsed TxPingTime=13.705106^A r =I I O >q D zD @AE  E E )E "E s!;*E k:VE FA4ZE a @a @a @a @(X(,N?A2J}@2v@2`Bٱ2p :AHRS rotation from veh to nav: [[-0.513550,0.856208,0.056337],[-0.857978,-0.513301,-0.019904],[0.011876,-0.058558,0.998213]]2H of?8ج?`t lafR?G@]?i2J}@I2Y^;2CY=XByER IYchecking for new query: numPingsReceived=25, elapsed TxPingTime=13.849699a@a a@a a@a a@a bDVDy{%E=ٔQ->9Y=Fy<E>Q 5c5>?Q 9c5N)BQ A+:YQ E;y0@Q I@DIe:i.>[c5yɮ Aiaie A?AJieǷARieǷAjie@6?be95 OY[@! @@ReLLԒ?hܸm?ZieD5@bie%˽jeNP1@-.@St?Ze9v ? ̐?H?2ie-pA:ieA"ie%И?*ieP|z,BieBie%И?ieP|z,iaieSAie)6? addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504927 s, deltaX: -0.199999 m, approachRate: -0.396095 m/s, rangeRepo size: 4  Added new target pos. range: 22.972181 m, bearing: 40.923651 deg, lat: 36.779338 deg, lon: -121.859664 deg, deltaT: 0.504927 s, deltaX: -0.198893 m, approachRate: -0.393904 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.97 m.hh*h"h hgfffddjd7@Zd  ;?5`B)9 =VT>i=9)9=;[39i9iE+ AEg/=IIIIԉ9@ @@4@@=@=AABBB IBBBBBBl;B*EԱ^AII O >5 DDAT read: Rx Time:05:26:36.2828 = TRx dataTimestamp_ set to:1761542797.520767E PDAT read: Bearing 196.6, 17.0 (Local) E ~Local bearing/azimuth received: Bearing 196.6, 17.0 (Local) U DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0  DAT read: 05:26:36.2828 LVL= 25568, 20961, 32754, 32755, AGC= 63, IDX= 511, 0.18, 1.184, 2.628, 0.665, 1.741, PHS=-0.455, 0.933,-1.119, RAW= 348.5, 7.1, CAL= 348.4, 6.5, ROT= 161.6, -6.5 m Ygot valid direction response: 05:26:36.2828 LVL= 25568, 20961, 32754, 32755, AGC= 63, IDX= 511, 0.18, 1.184, 2.628, 0.665, 1.741, PHS=-0.455, 0.933,-1.119, RAW= 348.5, 7.1, CAL= 348.4, 6.5, ROT= 161.6, -6.5 m T#Rx 26: Read range and direction messages.u ^direction in FSK: [-0.942777,0.313620,0.113203]u Fpublishing direction and range infoy9 = r:9+oY?5?Y= fA9 = c= Q9 9 )= ?I= i= n?= d;= @= == Q@ = V=)= J4@I= V轩9 9 =  W}gއG? = )= I= J4@i= V轩9 9  checking for new query: numPingsReceived=26, elapsed TxPingTime=14.154935 (,~g?A2&}@2䉅@2Jٱ2Km :AHRS rotation from veh to nav: [[-0.513502,0.856250,0.056139],[-0.857999,-0.513292,-0.019203],[0.012373,-0.058028,0.998238]]2H`nff?2?tl``V?͵?i2&}@I2K~^;2CY~GBy~= IbD VD yE)%ES=ٔMQ-M>9IYI=MFyQU 9EU>YQ 5ec5]9?Q 9ec5])]BQ Am :YiQ EmU;yiQ Im@]DI];i]M?]c5E EE'E"E';*EB:VE'4ZEBEiu9)qu3qiqi}, y4d.=III)checking for new query: numPingsReceived=26, elapsed TxPingTime=14.354548a@a @a@e4@a^A #'=I I OE >9 i9 I9 M DDAT read: Rx Time:05:26:36.7828 M TRx dataTimestamp_ set to:1761542798.025521ol(,Ɓ?A"PDAT read: Bearing 196.9, 16.8 (Local) &~Local bearing/azimuth received: Bearing 196.9, 16.8 (Local) 2DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 RDAT read: 05:26:36.7828 LVL= 26352, 23857, 32754, 32755, AGC= 62, IDX= 511,-0.38,-1.763,-0.315,-2.271,-1.206, PHS=-0.455, 0.936,-1.109, RAW= 348.2, 7.0, CAL= 348.1, 6.3, ROT= 161.9, -6.3 VYgot valid direction response: 05:26:36.7828 LVL= 26352, 23857, 32754, 32755, AGC= 62, IDX= 511,-0.38,-1.763,-0.315,-2.271,-1.206, PHS=-0.455, 0.936,-1.109, RAW= 348.2, 7.0, CAL= 348.1, 6.3, ROT= 161.9, -6.3 ZT#Rx 27: Read range and direction messages.^direction in FSK: [-0.944775,0.308800,0.109734]Fpublishing direction and range infoyqu8Sę;Y b?,=?Yqqufu1]q q)u>Iqiuo?u󍿩ux@u5=umj@ uz0=)u4@Iuz0Ὡqqu,&WAα翨A /? u+)uIu4@iuz0Ὡqqchecking for new query: numPingsReceived=27, elapsed TxPingTime=14.725477%t}@%@%qUٱ%m =AHRS rotation from veh to nav: [[-0.513429,0.856282,0.056325],[-0.858033,-0.513259,-0.018548],[0.013027,-0.057852,0.998240]]%H nf?֬?u l`(` ?`?i%t}@I%B^;!YM2ByM" IIU<)Q]=]a=bE)jE-$4rE-@o/E EEE"E;*Er:VEZEa@a@a@a@9aa aa aa aa iMb@Mb@Mb@ 9A`"?J +I +Y=yȽ94@ IA)|@Y(AbDVD1y% =ٔדQ->9Y=Fy9E>Q 5c52?Q 9c5P)BQ AT:Y@>Q E;y6Q I@DI ;i ;c5yɮ Aiqiu#?AJiqRiqjiu#5?bu65T@ݧ/_W@Ru8Sę;Y b?,=?Ziu4@biuz0juK:1@Qr .@)[l?ZuowR.?lf?4IQ?2iuqA:iuA"iu ??*iuB +Biu߅BiqiuB +iqiusAiuSF6? addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504754 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=27, elapsed TxPingTime=14.857825 Added new target pos. range: 23.171076 m, bearing: 40.705860 deg, lat: 36.779338 deg, lon: -121.859664 deg, deltaT: 0.504754 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.17 m.hh*h"h hgfffBdd jd Zd -?ZU@>ZU@>ZU.@ZU0[@eqU)a e{>iie9)額=4ii+ .=II! @!  @! @% 0@! @- gA@- gAԙ B B B Z IB ^BB B B B k;B t*EBmCBmCBiBm =Bm =Cm.4^A_'=IIO>(,Ӡ?AFDDAT read: Rx Time:05:26:37.2829 JTRx dataTimestamp_ set to:1761542798.530770RPDAT read: Bearing 180.0, 32.4 (Local) V~Local bearing/azimuth received: Bearing 180.0, 32.4 (Local) bDAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 DAT read: 05:26:37.2829 LVL= 28448, 22337, 32754, 32755, AGC= 64, IDX= 512,-0.02,-1.122,-0.190,-2.305,-0.686, PHS=-0.334, 0.541,-1.663, RAW= 6.8, 15.0, CAL= 6.8, 18.5, ROT= 143.2, -18.5 -Ygot valid direction response: 05:26:37.2829 LVL= 28448, 22337, 32754, 32755, AGC= 64, IDX= 512,-0.02,-1.122,-0.190,-2.305,-0.686, PHS=-0.334, 0.541,-1.663, RAW= 6.8, 15.0, CAL= 6.8, 18.5, ROT= 143.2, -18.5 UT#Rx 28: Read range and direction messages.]^direction in FSK: [-0.759352,0.568068,0.317305]eFpublishing direction and range infoyDFlAL返È-?Hs%N?YF3ADF oFAW}}@}ψ@}wcٱ}$mD D)F@IF iF~ ?F/ԿF=F >F= FMQ>)F@IFMQDDFM'_ؿT\1GhERi? FT)F]IF@iFMQDDchecking for new query: numPingsReceived=28, elapsed TxPingTime=15.163514 -AHRS rotation from veh to nav: [[-0.513605,0.856148,0.056755],[-0.857915,-0.513482,-0.017848],[0.013862,-0.057858,0.998229]]}Hsoe? ? tqnF@c? }?i}}@I} ];yY&By IbD!VDyo%U=ٔwQ->9Y=FyE>Q 5c5;.?Q 9c5)BYy6Q I@DI:i: c5yΓBɮ> AiDiF#?AJiF)ARiF)AjiF>bF;Qw1zh?p*@<wo @RFlAL返È-?Hs%N?ZiF@biFMQjF.,m4@ mz @Muq@ZF+R楞?XW ?~?2iFA:iFA"iF0 ?*iF<BiFߎBiF ??iFP|z,iDiFAiF-5? addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.505249 s, deltaX: 0.100000 m, approachRate: 0.197923 m/s, rangeRepo size: 4  Added new target pos. range: 23.270496 m, bearing: 21.599941 deg, lat: 36.779338 deg, lon: -121.859664 deg, deltaT: 0.505249 s, deltaX: 0.099421 m, approachRate: 0.196775 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.27 m.hh*h"h hgfffddjd`ff7@E= E=E=&E9"E=;*E=P:VE=4ZE9BE=bi I9))541i1i=, 9E-=IAIAQ@ @@5@Echecking for new query: numPingsReceived=28, elapsed TxPingTime=15.364523y ^A #'=I9 Ia O >{(,/?A ]}@]@]%qٱ]El uAHRS rotation from veh to nav: [[-0.514198,0.855765,0.057151],[-0.857545,-0.514124,-0.017110],[0.014740,-0.057808,0.998219]]]HOt nb?B? qsh0?h?i]}@I]A];]CUDDAT read: Rx Time:05:26:37.7828 ]TRx dataTimestamp_ set to:1761542799.034136mPDAT read: Bearing 195.6, 16.7 (Local) u~Local bearing/azimuth received: Bearing 195.6, 16.7 (Local) DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 ԹDAT read: 05:26:37.7828 LVL= 23504, 21681, 32754, 32755, AGC= 61, IDX= 511, 0.40,-0.710, 0.728,-1.216,-0.131, PHS=-0.477, 0.904,-1.129, RAW= 348.3, 7.9, CAL= 348.2, 7.7, ROT= 161.8, -7.7 Ygot valid direction response: 05:26:37.7828 LVL= 23504, 21681, 32754, 32755, AGC= 61, IDX= 511, 0.40,-0.710, 0.728,-1.216,-0.131, PHS=-0.477, 0.904,-1.129, RAW= 348.3, 7.9, CAL= 348.2, 7.7, ROT= 161.8, -7.7 T#Rx 29: Read range and direction messages.^direction in FSK: [-0.941406,0.309518,0.133986]Fpublishing direction and range infoyY]1N [&?L`u&?Y]fAY][]TY Y)]=I]X9i]lg?]]@]0 >]x@ ] >)]{4@I] YY]_MR ݀? ]E)]w I]{4@i] YYchecking for new query: numPingsReceived=29, elapsed TxPingTime=15.721424E  E E (E "E ;*E  :VE c44ZE a@a@a@a@YuByu Iyyi} Mb@Mb@Mb@y y y y y 9} K7?MbMbpY} I >y} } } A} @ } f@)} f@y Y} @ bD VD y ZS% =ٔ ϹQ- >9 Y = Fy  ̓E >  Q 5% c5 '?Q 9% c5 ) BY- >Q E- ;y- #Q I- @ DI 7:i : tc5yQ ɮU AY iYi]I/£?AJi]^ARi]^Aji]m4?b]jC955W<@>78@R]1N [&?L`u&?Zi]{4@bi] j]-{1@~zb-@XEP@Z]m,W6?Y|?MB?2i]soA:i]@A"i]`윊?*i]Ⱥw/Bi]φBiYi]"-iYi]Ai]4? checking for new query: numPingsReceived=29, elapsed TxPingTime=15.865675  addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503366 s, deltaX: -0.100000 m, approachRate: -0.198663 m/s, rangeRepo size: 4 -  Added new target pos. range: 23.171049 m, bearing: 40.485799 deg, lat: 36.779338 deg, lon: -121.859665 deg, deltaT: 0.503366 s, deltaX: -0.099447 m, approachRate: -0.197564 m/s, posRepo size: 4 - DNOT Ignoring new targets: 23.17 m.h) h1 *h1 "h1  h1 g9 f9 f9 f= mBdA dA jdE L7@ZdE Q?Z >Z >Z @Z Ao@U %q)Y ] >i] V9)Y ] ~4Y iY ie + +=I I ]>i >A }9@y @y@}/@yBBB. IB;BB =BBBak;B?*EDDAT read: Rx Time:05:26:38.2829 TRx dataTimestamp_ set to:1761542799.538127PDAT read: Bearing 191.2, 23.6 (Local) ~Local bearing/azimuth received: Bearing 191.2, 23.6 (Local) ^AK'=II -DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 Oe"?(,?A;ɰ6|@6v@62Aٱ6 ljDAT read: 05:26:38.2829 LVL= 28992, 22705, 32754, 32755, AGC= 64, IDX= 512,-0.07,-2.880,-1.681, 2.678,-2.399, PHS=-0.380, 0.763,-1.251, RAW= 355.6, 9.9, CAL= 355.7, 11.0, ROT= 154.3, -11.0 %Ygot valid direction response: 05:26:38.2829 LVL= 28992, 22705, 32754, 32755, AGC= 64, IDX= 512,-0.07,-2.880,-1.681, 2.678,-2.399, PHS=-0.380, 0.763,-1.251, RAW= 355.6, 9.9, CAL= 355.7, 11.0, ROT= 154.3, -11.0 %T#Rx 30: Read range and direction messages.-^direction in FSK: [-0.884522,0.425692,0.190809]5Fpublishing direction and range infoyMCiNt>?P@ml?Y3A@qX )@I\¾iSC? @;0>@ D>)Z,@I D"ct h=sm,U?  )1IZ,@i DMchecking for new query: numPingsReceived=30, elapsed TxPingTime=16.183357 UAHRS rotation from veh to nav: [[-0.515492,0.854960,0.057537],[-0.856747,-0.515486,-0.016094],[0.015900,-0.057591,0.998214]]6H ~[?u?wj`~ {@G?|]?i6|@I6uw];6C̎CiIC CkA lkAI t) IBFi ) I IjA-YF ii) I! !)!!!!Y)Y ByIbDVDky8%K=ٔ}:Q->9Y=FytE>Q 5Uc5j#?Q 9Uc5)YQy]7#Q I]@DIh+?P@ml?ZiZ,@bi DjmU3@$&(@–F @Zb?21!??nq?2iNGA:iA"iÀ?*i`YrBiBiC|?iȺw/iφBiAiG2? addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503991 s, deltaX: 0.100000 m, approachRate: 0.198417 m/s, rangeRepo size: 4 E  E E )E "E *E :VE FA4ZE BE l_im79)im4qiqiu, y}%=IIԙchecking for new query: numPingsReceived=30, elapsed TxPingTime=16.37044759@1 @1@50@1 ^Ay I I O >(,`?ALYByIbDVD0y=%V=ٔ%Q-%>9)Y)=-Fy)5E=>AeDDAT read: Rx Time:05:26:38.7828 mTRx dataTimestamp_ set to:1761542800.041937}PDAT read: Bearing 195.6, 16.9 (Local) }~Local bearing/azimuth received: Bearing 195.6, 16.9 (Local) DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 Q 5c5Ef?Q 9c5Eպ)EBYyQ I@EDIEe@ e >)ee4@Ie aae Rݎx? e)e  Iee4@ie aaMDNOT Ignoring new targets: 23.27 m.hIhI*hI"hI hIgIfQfQfQdQdYjd]L7@Zd]@?Echecking for new query: numPingsReceived=31, elapsed TxPingTime=16.652271ZZZZ9)9 =>i=g9)AE5AiAiM+ IM&=IIIQE EE%E"E;*E:VE 4ZEa-@a-@a-@a-@@ @@0@ checking for new query: numPingsReceived=31, elapsed TxPingTime=16.873550! ^A )=I I1 O= >),X?AY5 By5II=<)9====iMb@Mb@Mb@ 9l?~jtMbp?Y>y;An@ IA)O@Y\@ -<-<bD1VD1yEټ%E:=ٔIQ-M>9IYI=MFyQQEU>YQ 5ec5]h?Q 9ec5])]BYm>Q Em;ym,Q Im@]DI](;i]t;]c5yqɮuAqBBB IBBBBBB#k;B *Eii?AJi^ARi^Ajij/3?bJf5[_;I$@Uj<@Ro ?L`u&?Zie4@bi j{x 1@^`-@t@Z:i Z?:Ma??~4-F1ǹ?2imA:iA"iN霊?*iv5BiBi ??iv5ii^Ai2? addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503810 s, deltaX: -0.100000 m, approachRate: -0.198488 m/s, rangeRepo size: 4  Added new target pos. range: 23.171103 m, bearing: 40.103735 deg, lat: 36.779338 deg, lon: -121.859668 deg, deltaT: 0.503810 s, deltaX: -0.099459 m, approachRate: -0.197413 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.17 m.hh*h"h hgff f iBd d jdZd)?9Z>Z>Z@Zz@A)A Eף>iM9)IM5IiIi], YaIaIaDDAT read: Rx Time:05:26:39.2830 TRx dataTimestamp_ set to:1761542800.545883PDAT read: Bearing 207.5, 22.9 (Local) ~Local bearing/azimuth received: Bearing 207.5, 22.9 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 DAT read: 05:26:39.2830 LVL= 31216, 24401, 32754, 32755, AGC= 64, IDX= 513, 0.02,-2.790,-1.768, 2.975,-2.609, PHS=-0.078, 0.886,-0.743, RAW= 353.9, -0.9, CAL= 353.6, -3.9, ROT= 156.4, 3.9 Ygot valid direction response: 05:26:39.2830 LVL= 31216, 24401, 32754, 32755, AGC= 64, IDX= 513, 0.02,-2.790,-1.768, 2.975,-2.609, PHS=-0.078, 0.886,-0.743, RAW= 353.9, -0.9, CAL= 353.6, -3.9, ROT= 156.4, 3.9 T#Rx 32: Read range and direction messages.`direction in FSK: [-0.914241,0.399422,-0.068015]Fpublishing direction and range infoyh*uA Fn!?,::siY̼AyQ_ )@Iwib??5>@|@ 'g)R.@I'g=1^ 02U)w[򕐿 Z ) ),31?AV|@V?@VɧٱVl ^AHRS rotation from veh to nav: [[-0.521246,0.851300,0.059935],[-0.853161,-0.521494,-0.012657],[0.020480,-0.057731,0.998122]]rchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.377748VH@ =? ? M@쉿?`?iV|@IV^;VCY~ByIbD-VD-2ye5;<%ep=ٔen\Q-e?9iYi=mFyiuEu?yyQ 5c5}D?Q 9c5})}BYyQ I@}DI}:i}9:}c5yɮ Aii"?AJiARiAjiv&?bs:t56՘"@-]Rh*uA Fn!?,::siZiR.@bi'g=jb 3@ ~*@]Ēh_Z$?=gR?b2iWA:iA"i'_?*i"[BiyBi'_?i"[iiAi`&? addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503946 s, deltaX: 0.300001 m, approachRate: 0.595304 m/s, rangeRepo size: 4  Added new target pos. range: 23.469444 m, bearing: 35.172052 deg, lat: 36.779349 deg, lon: -121.859684 deg, deltaT: 0.503946 s, deltaX: 0.298342 m, approachRate: 0.592011 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.47 m.hh*h"h hgfffd d jd 7@Zd q?Z1Z1Z1Z5ӂz@Eɧ)A Eե>iMc9)IMT+5IiIi+ = =IIQ@Q @Q@]/@YԱDDAT read: Rx Time:05:26:39.7830 TRx dataTimestamp_ set to:1761542801.050058PDAT read: Bearing 192.5, 27.7 (Local) ~Local bearing/azimuth received: Bearing 192.5, 27.7 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 ^At'=II O >- DAT read: 05:26:39.7830 LVL= 23472, 22865, 32754, 32755, AGC= 61, IDX= 513,-0.28, 0.535, 1.558,-0.262, 0.883, PHS=-0.246, 0.720,-1.189, RAW= 359.6, 8.7, CAL= 359.7, 9.0, ROT= 150.3, -9.0 5 Ygot valid direction response: 05:26:39.7830 LVL= 23472, 22865, 32754, 32755, AGC= 61, IDX= 513,-0.28, 0.535, 1.558,-0.262, 0.883, PHS=-0.246, 0.720,-1.189, RAW= 359.6, 8.7, CAL= 359.7, 9.0, ROT= 150.3, -9.0 5 T#Rx 33: Read range and direction messages.= ^direction in FSK: [-0.857937,0.489359,0.156434]= Fpublishing direction and range infoy8tQ?p ?Y[QY )=Im{iQ8?'1@|>@ | >)'@I| @ ]zBH뿔E ŽX? |)]^I'@i| ] checking for new query: numPingsReceived=33, elapsed TxPingTime=17.655176 ),K?AE~ E~E~)E|"E~;*E~:VE~FA4ZE|a@a@a@a@z"h|@z.@zٱz4m eAHRS rotation from veh to nav: [[-0.522920,0.850224,0.060619],[-0.852108,-0.523231,-0.011880],[0.021617,-0.057866,0.998090]]zH5?g ?wDOdT"? @[?iz"h|@Iz^;zCYByIiMb@Mb@Mb@ 9S?/$y&1?Y>y`e<EA )f@YbDVD:y*<%3=ٔ6#Q->9Y=FyE> Q 5c5 ?Q 9c5 o) !BY>Q E;yEQ I@ DI :i <: c5y!ɮ% A!ii&4C?AJiRiji>bW2"4ѮN&@y_ @R8tQ?p ?Zi'@bi| jlG94@s5&@u2^:@ZjlZ>Zԣ@ZM@) ף>i+9)XA5ichecking for new query: numPingsReceived=33, elapsed TxPingTime=17.881754i,  =II@ @@@) i i B B B IB BB B B B Ik;B 3*E^A  =I I O% >A Y $9 Y AQ  DDAT read: Rx Time:05:26:40.2831  TRx dataTimestamp_ set to:1761542801.553560 PDAT read: Bearing 195.2, 16.9 (Local)  ~Local bearing/azimuth received: Bearing 195.2, 16.9 (Local)  DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1  DAT read: 05:26:40.2831 LVL= 20016, 18513, 25490, 24899, AGC= 65, IDX= 2, 0.29,-1.886,-0.454,-2.400,-1.308, PHS=-0.476, 0.898,-1.137, RAW= 348.6, 8.0, CAL= 348.5, 7.9, ROT= 161.5, -7.9  Ygot valid direction response: 05:26:40.2831 LVL= 20016, 18513, 25490, 24899, AGC= 65, IDX= 2, 0.29,-1.886,-0.454,-2.400,-1.308, PHS=-0.476, 0.898,-1.137, RAW= 348.6, 8.0, CAL= 348.5, 7.9, ROT= 161.5, -7.9  T#Rx 34: Read range and direction messages. ^direction in FSK: [-0.939324,0.314293,0.137445] Fpublishing direction and range infoy  7Fva?yjȗ?Y A 0N QH c Ca) AI Fi Te? 7 @ 5> @ 0 >) e4@I 0 ͯX9߶_{? ) I e4@i 0  checking for new query: numPingsReceived=34, elapsed TxPingTime=18.150646),d?ANI|@N@N8ٱNdm fAHRS rotation from veh to nav: [[-0.524489,0.849223,0.061090],[-0.851120,-0.524849,-0.011277],[0.022486,-0.057910,0.998069]]NH,??G?`<`?h`-?iNI|@IN^;NCY%By I !!bD5VD5Ny1=%f=ٔQ->9Y=FyE>Q 5c5?Q 9c5)$BYycQ I@DI:ib:7c5yɮG A1iimc?AJiARiAji0x0?b'bM#6xTM@_M @R7Fva?yjȗ?Zie4@bi0 jTy2@J٧5-@ms@Zak.?oKA?F;  ?2inA:i̐A"iK7?*i (7Bi†Biii†BiAi?u addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503502 s, deltaX: 0.100000 m, approachRate: 0.198610 m/s, rangeRepo size: 4  Added new target pos. range: 23.568825 m, bearing: 39.495924 deg, lat: 36.779349 deg, lon: -121.859684 deg, deltaT: 0.503502 s, deltaX: 0.099380 m, approachRate: 0.197379 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.57 m.hh*h"h hgfffddjd@37@Zdv?ZYZYZYZ]ހ@8) >i9)顝ii+ Y=III)E EE'E"Ea;*E:VE'4ZEBEh ),~?A(ɰ*p9lYl=nFypr&Er>tQ 5zc5v?Q 9zc5v)v(BYxyz{Q I~@vDIv:ivd:vc5yɓBɮ AE-DNOT Ignoring new targets: 23.57 m.h)h1*h1"h1 h1g9fAfIfIdIdQjdQZd]'?Z9Z9Z9Z=Ҁ@M)I U>iU9eDDAT read: Rx Time:05:26:40.7831 eTRx dataTimestamp_ set to:1761542802.056917uPDAT read: Bearing 195.1, 16.7 (Local) u~Local bearing/azimuth received: Bearing 195.1, 16.7 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 ԑDAT read: 05:26:40.7831 LVL= 22512, 20945, 32754, 32755, AGC= 63, IDX= 498, 0.03, 1.908,-2.931, 1.394, 2.494, PHS=-0.484, 0.904,-1.144, RAW= 348.4, 8.0, CAL= 348.4, 8.0, ROT= 161.6, -8.0 Ygot valid direction response: 05:26:40.7831 LVL= 22512, 20945, 32754, 32755, AGC= 63, IDX= 498, 0.03, 1.908,-2.931, 1.394, 2.494, PHS=-0.484, 0.904,-1.144, RAW= 348.4, 8.0, CAL= 348.4, 8.0, ROT= 161.6, -8.0 T#Rx 35: Read range and direction messages.^direction in FSK: [-0.939642,0.312577,0.139173]Fpublishing direction and range infoyaerbC?H@l?YaaeWeQe e)e?Ieielg?eneQ@aeQ@ e5>)eJ4@Ie5aae#-l ڱ? e)eIeJ4@ie5aachecking for new query: numPingsReceived=35, elapsed TxPingTime=18.658897) ͸3 i iU, QU9 checking for new query: numPingsReceived=35, elapsed TxPingTime=18.889593 %),?AY/By IiMb@Mb@Mb@ 9y&1?~jty&1?Y`=y`<A@ A)9@Y@bDVDky};%.=ٔQ->9Y=FyE>Q 5c5 ?Q 9c5)/BY=Q E;y(Q I@DI(4;i2;c5yɮ AB-ſ>B)B-IB-BB- =B)B)B-k;B-Y*Eii􇤃?AJiRiji_0?bZn%6n w@ҌV= @RrbC?H@l?ZiJ4@bi5j[2@i(s-@Zpo@ZIw?jA?_&PN?2inA:iĐA"i?*i1399Bi؆BiK7?i1399ii"Ai!/?u addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503357 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.568783 m, bearing: 39.504829 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.503357 s, deltaX: -0.000042 m, approachRate: -0.000083 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.57 m.hh*h"h hgfffBddjdZd`~?Z=Z=ZD@Zu@y) >i9)34ii+ (e \@ eC>)e4@IeCaae38( b6? ew)e2Ie4@ieCaaechecking for new query: numPingsReceived=36, elapsed TxPingTime=19.1746359@ @@0@A EM  EM EM *EI "EM ;*EM :VEM (N4ZEI BEM s,),`?A2{@2@2@Ǽٱ2mo >AHRS rotation from veh to nav: [[-0.528294,0.846760,0.062471],[-0.848714,-0.528752,-0.010307],[0.024304,-0.058465,0.997994]]2H@ ?@6?(`'?)ﭿ ?i2{@I29z_;2Cbchecking for new query: numPingsReceived=36, elapsed TxPingTime=19.393684YfCByf8 IIh)j4<bDrVDryv=%zo=ٔzIQ-z?9|Y=Fy%E%?)Q 5-c5-r?Q 95c5-U)-5BY1y5YQ I5@-DI-:i-;-c5yɮ1 Aii䣤?AJiARiAjiax1?bw6\H$3@Ǯ; @Rf;,?x0A?Zi4@biCj;YC2@٩!ZX.@ Ve@ZY|?mW?^MO?2irA:iA"i1p ?*i>3BiBi1p ?ii؆BiʼAi˒/?M addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503881 s, deltaX: 0.299999 m, approachRate: 0.595377 m/s, rangeRepo size: 4 ] Added new target pos. range: 23.867121 m, bearing: 39.719902 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.503881 s, deltaX: 0.298338 m, approachRate: 0.592080 m/s, posRepo size: 4 eDNOT Ignoring new targets: 23.87 m.haha*ha"ha hagafififididqjdu8@Zdu ^?ZZZZu@@Ǽ) 0>i-9)页ii, `},忼翀 rԡchecking for new query: numPingsReceived=37, elapsed TxPingTime=19.8977179Y=FyE>Q 5c5y?Q 9c5)>BY=Q E;yU3Q I@DI;;i:;c5yɮ Aiic%Ĥ?AJi$ARi$AjiG0?b.Y6Ic@4J @R{ˆ3?x0A?Zi{4@bij4B2@7e/ .@A5@Zڳ?E\:?zm?#ݹ?2iipA:iA"i2<?*ie7BiBi2<?ie7iBi+AiF0?u addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503984 s, deltaX: -0.100000 m, approachRate: -0.198420 m/s, rangeRepo size: 4  Added new target pos. range: 23.767673 m, bearing: 39.452934 deg, lat: 36.779340 deg, lon: -121.859669 deg, deltaT: 0.503984 s, deltaX: -0.099447 m, approachRate: -0.197322 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.77 m.hh*h"h hgfffBddjd`f7@Zd% ?Ze=Ze=ZeQ:@ZeK^@u 1ʼ)q >>i9)顝3ii+ IB% <A% 4=B) B) B-  IB- ,BB) B) B) B- k;B- x*EBBBB =B =C*5 } DDAT read: Rx Time:05:26:42.2833  TRx dataTimestamp_ set to:1761542803.568681 PDAT read: Bearing 195.2, 16.2 (Local)  ~Local bearing/azimuth received: Bearing 195.2, 16.2 (Local)  DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1  DAT read: 05:26:42.2833 LVL= 21712, 19585, 32754, 32755, AGC= 63, IDX= 500,-0.11, 0.499, 1.965,-0.008, 1.090, PHS=-0.489, 0.920,-1.142, RAW= 348.1, 7.8, CAL= 348.0, 7.7, ROT= 162.0, -7.7  Ygot valid direction response: 05:26:42.2833 LVL= 21712, 19585, 32754, 32755, AGC= 63, IDX= 500,-0.11, 0.499, 1.965,-0.008, 1.090, PHS=-0.489, 0.920,-1.142, RAW= 348.1, 7.8, CAL= 348.0, 7.7, ROT= 162.0, -7.7  T#Rx 38: Read range and direction messages. ^direction in FSK: [-0.942481,0.306231,0.133986] Fpublishing direction and range infoy  "(G"yH?L`u&?Y A T L ) I 5^i k? - mj@ 'g > \@ >) 4@I P .1}翍Ljv? :d) # I 4@i  checking for new query: numPingsReceived=38, elapsed TxPingTime=20.170240+9),v?A2{@2@2̼ٱ2co :AHRS rotation from veh to nav: [[-0.530170,0.845567,0.062741],[-0.847526,-0.530662,-0.009923],[0.024904,-0.058436,0.997981]]2H`' ??.}R m?`M뭿t?i2{@I2k^;2ClYUByN IbDEVDEyy=%l=ٔ)Q-?9Y=FyFE5?9Q 5Ec5=?Q 9Ec5=)=EBYAyEg3Q IM@=DI=:i=_:=c5yɮ AiiEe?AJiARiAji1?b9~6Kim9)iu4qiqiu, y}'checking for new query: numPingsReceived=38, elapsed TxPingTime=20.4018671i ??),?A2{@2?@2_˼ٱ2Ao :AHRS rotation from veh to nav: [[-0.530415,0.845423,0.062610],[-0.847376,-0.530900,-0.010006],[0.024780,-0.058361,0.997988]]2H) ?-?@!}`?}᭿`?i2{@I2@];2CYr_Byr[ I tt9bDVDyuL=%uR=ٔ}*9Q->9Y=Fy@E>Q 5c5?Q 9c5k)LBYyl3Q I@DI;i;Xc5yɮM AB*** querying acoustic contact ***i iDNOT Ignoring new targets: 23.87 m.hh*h"h hgfffddjdZd@?Z Z Z Z {^@i9I9EDDAT read: Rx Time:05:26:42.7832 ETRx dataTimestamp_ set to:1761542804.073013UPDAT read: Bearing 195.0, 16.4 (Local) U~Local bearing/azimuth received: Bearing 195.0, 16.4 (Local) eDAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0 DAT read: 05:26:42.7832 LVL= 21488, 20529, 32754, 32755, AGC= 62, IDX= 499, 0.24, 2.053,-2.790, 1.545, 2.635, PHS=-0.479, 0.904,-1.133, RAW= 348.3, 7.9, CAL= 348.3, 7.8, ROT= 161.7, -7.8 Ygot valid direction response: 05:26:42.7832 LVL= 21488, 20529, 32754, 32755, AGC= 62, IDX= 499, 0.24, 2.053,-2.790, 1.545, 2.635, PHS=-0.479, 0.904,-1.133, RAW= 348.3, 7.9, CAL= 348.3, 7.8, ROT= 161.7, -7.8 T#Rx 39: Read range and direction messages.^direction in FSK: [-0.940641,0.311087,0.135716]Fpublishing direction and range infoyAE@^U? M _?YE3AAESE1PA A)E>IE}?iElg?E%E@E0 >E@ E'g >)E4@IE'g AAEـF翕U? E)Ec IE4@iE'g AAchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.678005 _˼)   >ia9)za4ii+ A2E EE)E"E;*E:VEFA4ZEa @a @a @a @ԑ checking for new query: numPingsReceived=39, elapsed TxPingTime=20.905645 &F),?Ar{@rG@rɼٱr]n -AHRS rotation from veh to nav: [[-0.530518,0.845378,0.062344],[-0.847316,-0.530994,-0.010027],[0.024628,-0.058144,0.998004]]rHV ?`?6@∄@8?ŭ?ir{@Iro];rCԙYtByt IiMb@Mb@Mb@ 9A`"?MbV-?YY=y<An@ A)|@YAbDVD0y$=%7=ٔ99Q->9Y=FyBƿ>BB: IBEBB =BBBk;B*E.EU>YQ 5ec5]v?Q 9ec5]\)]TBYu=Q Eu;yu6F@Q Iu@]DI]Sh;i]@x;]bc5yɮ Aiqiu??AJiu$ARiu$Ajiu[/?bu ۜ_[6n?L@P5# @Ru@^U? M _?Ziu4@biu'g ju!iO2@_yK-@j6K@Zu2?,?j ?2iuoA:iuA"iu>B?*iuK$89BiuBiqiue7iuBiuAiuQ/?5 addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504332 s, deltaX: -0.100000 m, approachRate: -0.198283 m/s, rangeRepo size: 4 M Added new target pos. range: 23.767750 m, bearing: 39.293242 deg, lat: 36.779340 deg, lon: -121.859669 deg, deltaT: 0.504332 s, deltaX: -0.099371 m, approachRate: -0.197035 m/s, posRepo size: 4 UDNOT Ignoring new targets: 23.77 m.hQhQ*hY"hY hYgafafifmBdidqjdu`f7@Zdup?Z=Z=Z9@Z6F@MDDAT read: Rx Time:05:26:43.2833 UTRx dataTimestamp_ set to:1761542804.576743]PDAT read: Bearing 194.6, 15.8 (Local) ]~Local bearing/azimuth received: Bearing 194.6, 15.8 (Local) uDAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 DAT read: 05:26:43.2833 LVL= 23840, 22769, 32754, 32755, AGC= 63, IDX= 501,-0.26, 2.042,-2.789, 1.554, 2.641, PHS=-0.497, 0.898,-1.132, RAW= 347.8, 8.2, CAL= 347.8, 8.2, ROT= 162.2, -8.2 Ygot valid direction response: 05:26:43.2833 LVL= 23840, 22769, 32754, 32755, AGC= 63, IDX= 501,-0.26, 2.042,-2.789, 1.554, 2.641, PHS=-0.497, 0.898,-1.132, RAW= 347.8, 8.2, CAL= 347.8, 8.2, ROT= 162.2, -8.2 T#Rx 40: Read range and direction messages.^direction in FSK: [-0.942395,0.302570,0.142629]Fpublishing direction and range infoyQUu.(@kcN]?x0A?YUAQU ]UXQ Q)U?IUviUTe?U`吿U?@UC>U?@ UC>)U-5@IUCQQU謿EwF)-Ew{&4? UT)U#IU-5@iUCQQchecking for new query: numPingsReceived=40, elapsed TxPingTime=21.174044ɼ) >i9) 4ii , PrFL),_|3?AR{@R@RȼٱRzn^checking for new query: numPingsReceived=40, elapsed TxPingTime=21.409737 jAHRS rotation from veh to nav: [[-0.530276,0.845536,0.062262],[-0.847473,-0.530740,-0.010196],[0.024424,-0.058172,0.998008]]RH`??`@ᄿ?ȭ?iR{@IR8];RCYr{Byv} IbD VDf2y-:,=%-j=ٔ-8:Q-U>9QYQ=UFyQ]U:E]>aQ 5mc5ev?Q 9mc5eQ)eZBYy;F@Q I@eDIe\;ie;eSc5yɮn Aii[$?AJiARiAji1?bSQ6Yfo @+ u @ Ru.(@kcN]?x0A?Zi-5@biCj ٢e2@B.@bՕ@ZwRv?N$%_?)W ?2i"uA:i-A"i=-?*i3W0BiaBiiKw|4iBiҾAi/]0?U addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503730 s, deltaX: 0.300001 m, approachRate: 0.595559 m/s, rangeRepo size: 4 ] Added new target pos. range: 24.066092 m, bearing: 39.786908 deg, lat: 36.779340 deg, lon: -121.859668 deg, deltaT: 0.503730 s, deltaX: 0.298342 m, approachRate: 0.592265 m/s, posRepo size: 4 eDNOT Ignoring new targets: 24.07 m.haha*ha"h hgfffddjd@338@ZdBim59)qu%4qiyi+ [uDDAT read: Rx Time:05:26:43.7833 uTRx dataTimestamp_ set to:1761542805.080665}PDAT read: Bearing 195.3, 16.7 (Local) ~Local bearing/azimuth received: Bearing 195.3, 16.7 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 DAT read: 05:26:43.7833 LVL= 22736, 20881, 32754, 32755, AGC= 62, IDX= 500, 0.10, 2.640,-2.212, 2.119,-3.075, PHS=-0.466, 0.909,-1.133, RAW= 348.7, 7.7, CAL= 348.6, 7.4, ROT= 161.4, -7.4 Ygot valid direction response: 05:26:43.7833 LVL= 22736, 20881, 32754, 32755, AGC= 62, IDX= 500, 0.10, 2.640,-2.212, 2.119,-3.075, PHS=-0.466, 0.909,-1.133, RAW= 348.7, 7.7, CAL= 348.6, 7.4, ROT= 161.4, -7.4 T#Rx 41: Read range and direction messages.^direction in FSK: [-0.939875,0.316303,0.128796]Fpublishing direction and range infoyqusC_N>?OZ_|?YuAquXuQq q)u>Iuiu9h?u%u6@u >u@ u A>)uI4@Iu Aqqu6앳 ˚9翺!^(? u)u IuI4@iu Aqqchecking for new query: numPingsReceived=41, elapsed TxPingTime=21.677345 0.S),VM?AEv EvEv*Et"Ev;*EvP:VEv(N4ZEta@a@a@a @}{@}&@}3żٱ}Sp AHRS rotation from veh to nav: [[-0.529607,0.845940,0.062465],[-0.847902,-0.530046,-0.010685],[0.024070,-0.058623,0.997990]]}H@? h?""8ⅿե??i}{@I}I:];}CYxByy IiMb@Mb@Mb@ 9Mb?PnV-?Y9Y=Fy:E>!Q 5-c5% ?Q 9-c5%)%cBY->Q E-;y-(@Q I5@%êDI%m ;i%:%[c5y9ɮ= A9ii)E?AJiARiAji.?b=wˢn6怈q2@@@RsC_N>?OZ_|?ZiI4@bi Ajˋ^u2@i.-@!0 @Zʌ?L5t?٬]?2ioA:iA"i?*i?ah8BiBi?ie7iBi^Ai.? addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503922 s, deltaX: -0.200001 m, approachRate: -0.396888 m/s, rangeRepo size: 4  Added new target pos. range: 23.867197 m, bearing: 39.072277 deg, lat: 36.779340 deg, lon: -121.859669 deg, deltaT: 0.503922 s, deltaX: -0.198895 m, approachRate: -0.394693 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.87 m.hh*h"h hgfffBddjd8@Zd?checking for new query: numPingsReceived=41, elapsed TxPingTime=21.913717Z>Z>ZFǘ@Z;(@3ż) k>i9)4ii ,  L DDAT read: Rx Time:05:26:44.2834  TRx dataTimestamp_ set to:1761542805.589356 PDAT read: Bearing 195.8, 16.5 (Local)  ~Local bearing/azimuth received: Bearing 195.8, 16.5 (Local)  DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1  DAT read: 05:26:44.2834 LVL= 23440, 22385, 32754, 32755, AGC= 62, IDX= 502,-0.40, 3.008,-1.843, 2.497,-2.714, PHS=-0.459, 0.916,-1.116, RAW= 348.5, 7.4, CAL= 348.4, 7.0, ROT= 161.6, -7.0  Ygot valid direction response: 05:26:44.2834 LVL= 23440, 22385, 32754, 32755, AGC= 62, IDX= 502,-0.40, 3.008,-1.843, 2.497,-2.714, PHS=-0.459, 0.916,-1.116, RAW= 348.5, 7.4, CAL= 348.4, 7.0, ROT= 161.6, -7.0  T#Rx 42: Read range and direction messages. ^direction in FSK: [-0.941803,0.313296,0.121869] Fpublishing direction and range infoy  Pܠ@#l& ?UM7P2?Y fA [ qW ) I i ~j? َ @ A> Q@ 5=) J4@I 5 3mZM iaϚǓ}w? ) gI J4@i 5  checking for new query: numPingsReceived=42, elapsed TxPingTime=22.186495&SY),mg?A 2{@20@2/üٱ2ґq >AHRS rotation from veh to nav: [[-0.529088,0.846255,0.062598],[-0.848232,-0.529510,-0.011016],[0.023824,-0.058926,0.997978]]2HJ?n?$@ece?+o?i2{@I2];2CY~By~ IbDVDkyp=%a=ٔ1:Q->9Y=Fyi:E>Q 5c5?Q 9c5)jBYy(@Q I@ĪDI:i :{c5yēBɮ AEiie?AJiSARiSAji /?b`]6bаH@s@RPܠ@#l& ?UM7P2?ZiJ4@bi5j0R 2@A .@ h;6?Zy?s<LT6?s:Q?2i8tA:iA"ie?*in0BiqBiiKw|4iBiAig]/? addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.508691 s, deltaX: 0.299999 m, approachRate: 0.589747 m/s, rangeRepo size: 4  Added new target pos. range: 24.165596 m, bearing: 39.323638 deg, lat: 36.779340 deg, lon: -121.859668 deg, deltaT: 0.508691 s, deltaX: 0.298399 m, approachRate: 0.586602 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.17 m.hh*hnManaging dock network, ignoring radio surface power off"h hgfffd!d!jd%L8@Zd-?qZZZZn(@E EE&E"E&;*E':VE4ZEBEi=o9)9=49i9iE+ AE<`),P?ALVl|@V@VnٱVn fAHRS rotation from veh to nav: [[-0.528280,0.846825,0.061705],[-0.848745,-0.528692,-0.010787],[0.023488,-0.058071,0.998036]]VH0?ԗ?( K ?p`?iVl|@IV&];VCYv|Byv~ IbD~VD~y ۑ% S=ٔ b:Q->9Y=FyP#;E>!Q 5-c5%&얊?Q 9-c5%b)%qBY)y-)@Q I5@%ƪDI%:i%g:%c5y9ɮ=B A9eDNOT Ignoring new targets: 24.17 m.hahi*hi"hi higififqfqddjdZd@ߤ?=DDAT read: Rx Time:05:26:44.7833 ETRx dataTimestamp_ set to:1761542806.088813MPDAT read: Bearing 195.1, 16.7 (Local) M~Local bearing/azimuth received: Bearing 195.1, 16.7 (Local) eDAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 DAT read: 05:26:44.7833 LVL= 24192, 22625, 32754, 32755, AGC= 62, IDX= 501, 0.12, 2.472,-2.392, 1.960, 3.040, PHS=-0.466, 0.897,-1.124, RAW= 348.6, 7.8, CAL= 348.6, 7.6, ROT= 161.4, -7.6 Ygot valid direction response: 05:26:44.7833 LVL= 24192, 22625, 32754, 32755, AGC= 62, IDX= 501, 0.12, 2.472,-2.392, 1.960, 3.040, PHS=-0.466, 0.897,-1.124, RAW= 348.6, 7.8, CAL= 348.6, 7.6, ROT= 161.4, -7.6 T#Rx 43: Read range and direction messages.^direction in FSK: [-0.939443,0.316158,0.132256]Fpublishing direction and range infoyAES76wko;?) ?YEAAE^EaXA A)AIEiEˡe?E;ߏE@E'g >E@ E>)EI4@IEAAE!+2'bg? E)Ea IEI4@iEAAchecking for new query: numPingsReceived=43, elapsed TxPingTime=22.689886ZZZZ)@n)  s>i9) 5ii, -*/ checking for new query: numPingsReceived=43, elapsed TxPingTime=22.921606! Qhf),ߚ?A|M|@MT@MٱM_nh AHRS rotation from veh to nav: [[-0.527218,0.847585,0.060334],[-0.849417,-0.527621,-0.010340],[0.023069,-0.056700,0.998125]]MH`@k?? l.EV-o? ?iM|@IMs];MCYBy I qBǿ>BBy IBxBBBBBgl;B*E9YUAieMb@Mb@Mb@aaaa a9eMb?w/Ŀ/$?Yaye&e9Y=F!y-$#;E->1Q 5=c55%斊?Q 9=c55U)5yBYE}(>Q EE;yEf(@Q IE@5ȪDI5 ;i5 ;5?c5yIɮU AQiiim?AJimARimAjimN/?bmBGۛ6PQo@Jtv @RmS76wko;?) ?ZimI4@bimjm9x;2@ WuQP.@JG7ߩ@Zm ?6ɳ"Q'?Nam.?2imrA:im|A"im:?*im􃒫1BimBim=-?im􃒫1imBimAim/? addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.499457 s, deltaX: -0.099998 m, approachRate: -0.200214 m/s, rangeRepo size: 4  Added new target pos. range: 24.066195 m, bearing: 39.235248 deg, lat: 36.779340 deg, lon: -121.859666 deg, deltaT: 0.499457 s, deltaX: -0.099401 m, approachRate: -0.199019 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.07 m.hh*h"h hgfffBddjd@338@Zd`d;?Z}(>Z}(>Z]@Zf(@)  W>i$9)  5 i i+ Mx@ M A>)M{4@IM AIIMbOd%Td? M$)MIM{4@iM AIIchecking for new query: numPingsReceived=44, elapsed TxPingTime=23.190222iY@ @@5@E  E E &E "E O;*E :VE 4ZE BE 'Yʏl),?A4<ɰ4<2?!|@2q @2fٱ2_h :AHRS rotation from veh to nav: [[-0.526586,0.847986,0.060227],[-0.849814,-0.526979,-0.010453],[0.022874,-0.056686,0.998130]]2H"?@֮?1hLl? @?i2?!|@I2O\;2CRchecking for new query: numPingsReceived=44, elapsed TxPingTime=23.425678YfvByfw IYbD=VD=βym%t=ٔ:Q-?9Y=Fy ;E ?Q 5]d5.▊?Q 9]d5)~BYYy]s(@Q I]@ʪDI:iw:)d5yiɮmp Aiii?AJiARiAjihP1?b$6a $/@@? @RFZ%E#?OZ_|?Zi{4@bi AjT4ˬ2@7ڔ.@SUWo@Z[S?Eo`)Z?޴?2iwA:ifA"i?*i$(Bi҆Bi?in0i҆BigAi!.?ԉ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503992 s, deltaX: 0.299999 m, approachRate: 0.595246 m/s, rangeRepo size: 4  Added new target pos. range: 24.364534 m, bearing: 39.684957 deg, lat: 36.779340 deg, lon: -121.859666 deg, deltaT: 0.503992 s, deltaX: 0.298340 m, approachRate: 0.591954 m/s, posRepo size: 4  DNOT Ignoring new targets: 24.36 m.h h *h "h  h gfffddjd8@Zdr?ZZZZs(@f) "C>i9)顝)%5ii, I"? /?Y]fAY]@Y]SY Y)YI]i]g?]Nb]@Y]@ ] >)]e4@I] YY] {X2%翇v54? ])] I]e4@i] YYchecking for new query: numPingsReceived=45, elapsed TxPingTime=23.694315 ^A} <I I O >zs),ٗΥ?AEf EfEf(Ed"Ef;*Ef:VEfc44ZEdav@av@av@av@ 1|@ @ Eٱ ui =AHRS rotation from veh to nav: [[-0.525745,0.848497,0.060364],[-0.850340,-0.526124,-0.010718],[0.022665,-0.056965,0.998119]] H &?@? 5P`f5?w*?i 1|@I ]; CYmqBymq Ii Mb@Mb@Mb@     9 y&1|(\ſMb?Y `y . < \A  A)  Y AbD-VD-N2y5%=8=ٔ=9Q-=>99YA=EFyAE;EM>IQ 5Ud5Mܖ?Q 9]d5M)MBY].>Q E];y]"@Q I]@M̪DIM:iM:M d5yiɮm Aiii2ƥ?AJiSARiSAjie40?bP]6!;vh@z; @RB4F[>"? /?Zie4@bi jb 2@8ݒ.@G5@Z@?iH%>?O?2itA:iA"i{*?*iq,Bi؆Biichecking for new query: numPingsReceived=45, elapsed TxPingTime=23.929792iiAi.? addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504000 s, deltaX: -0.200001 m, approachRate: -0.396827 m/s, rangeRepo size: 4  Added new target pos. range: 24.165640 m, bearing: 39.436655 deg, lat: 36.779340 deg, lon: -121.859666 deg, deltaT: 0.504000 s, deltaX: -0.198895 m, approachRate: -0.394632 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.17 m.hh*h"h hgfffBddjdL8@Zd?Z.>Z.>Zz@Z"@-E)) ->i-9)15e451i1i=+ 9=e DDAT read: Rx Time:05:26:46.2834 e TRx dataTimestamp_ set to:1761542807.600694m PDAT read: Bearing 195.0, 16.8 (Local) u ~Local bearing/azimuth received: Bearing 195.0, 16.8 (Local)  DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0  DAT read: 05:26:46.2834 LVL= 26000, 25377, 32754, 32755, AGC= 63, IDX= 502, 0.30,-2.411,-0.993,-2.928,-1.844, PHS=-0.465, 0.896,-1.128, RAW= 348.7, 7.9, CAL= 348.7, 7.7, ROT= 161.3, -7.7  Ygot valid direction response: 05:26:46.2834 LVL= 26000, 25377, 32754, 32755, AGC= 63, IDX= 502, 0.30,-2.411,-0.993,-2.928,-1.844, PHS=-0.465, 0.896,-1.128, RAW= 348.7, 7.9, CAL= 348.7, 7.7, ROT= 161.3, -7.7  T#Rx 46: Read range and direction messages. ^direction in FSK: [-0.938669,0.317722,0.133986] Fpublishing direction and range infoya e Wo PҚU?L`u&?Ya a e ee !ca a )e ?Ie {ie B`e?a e 6@e 0 >e 6@ e >)e ,4@Ie a a e n?FY翦S({? e )e 5N Ie ,4@ie a a  checking for new query: numPingsReceived=46, elapsed TxPingTime=24.197680 $y),c?ARIC|@Rv@RpٱRGk ZAHRS rotation from veh to nav: [[-0.524824,0.849041,0.060741],[-0.850913,-0.525191,-0.011046],[0.022523,-0.057482,0.998092]]RH[W+?y?:] .?Vn_?iRIC|@IR~\;PYgByd II%p<)%;bD5VD5Nyn%f=ٔO9Q->9Y=FyH;E>Q 5-d5ؖ?Q 9-d5)BY1yu"@Q I}@ΪDI8iU9)QU?C5QiYi], Ye =IaIa@! @!@!@!checking for new query: numPingsReceived=46, elapsed TxPingTime=24.434122 ^Ae <Iq I O >9 O),D?A$&@BrT|@B %@B궼ٱBVm JAHRS rotation from veh to nav: [[-0.523934,0.849567,0.061064],[-0.851466,-0.524286,-0.011404],[0.022327,-0.057969,0.998069]]BH@/?@C?`5?`Zܖ?!-?iBrT|@IB];BCYVXByVR IbD^VD^:2yfƜ%f[=ٔj :Q-j>9hYh=jFyhn?8;En>pQ 5vd5r^Ԗ?Q 9vd5r)rBYtyz"@Q Iz@rЪDIr:ir:ri d5y|ɮ~a A|-DNOT Ignoring new targets: 24.17 m.h)h)*h)"h) h)g)f)f1f1d1d9jd9Zd=b?ZYZYZYZ]["@m궼)q uM>iu9)q}N5yiyi}+ {v=II%DDAT read: Rx Time:05:26:46.7834 -TRx dataTimestamp_ set to:1761542808.105288=PDAT read: Bearing 195.0, 16.4 (Local) =~Local bearing/azimuth received: Bearing 195.0, 16.4 (Local) UDAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 DAT read: 05:26:46.7834 LVL= 22320, 20657, 32754, 32755, AGC= 62, IDX= 502,-0.13, 0.397, 1.842,-0.115, 0.979, PHS=-0.480, 0.908,-1.138, RAW= 348.4, 7.9, CAL= 348.3, 7.7, ROT= 161.7, -7.7 Ygot valid direction response: 05:26:46.7834 LVL= 22320, 20657, 32754, 32755, AGC= 62, IDX= 502,-0.13, 0.397, 1.842,-0.115, 0.979, PHS=-0.480, 0.908,-1.138, RAW= 348.4, 7.9, CAL= 348.3, 7.7, ROT= 161.7, -7.7 T#Rx 47: Read range and direction messages.^direction in FSK: [-0.940865,0.311161,0.133986]Fpublishing direction and range infoy!%ڛ]NOgx?L`u&?Y!!%0W%P! !)%>I%i%rh?%%Q@!%@ !)%4@I!!!%L|$+D? % )%\/ I%4@i!!!checking for new query: numPingsReceived=47, elapsed TxPingTime=24.708014 U9@Q @Q@UN0@QADD<bEjE-4rEQ/^A9=E EE&E"E;*E':VE4ZEaM@aM@aM@aM@IiIO>a  checking for new query: numPingsReceived=47, elapsed TxPingTime=24.937588),b,?A=+e|@=g-@=瀶ٱ=9@o MAHRS rotation from veh to nav: [[-0.523066,0.850079,0.061385],[-0.852001,-0.523412,-0.011591],[0.022276,-0.058363,0.998047]]=H@3?m?Cʿ@ϖ?᭿?i=+e|@I=7 ];=CY}WByQ IBABABE IBE}BBABABABEJl;BE*EBBBB =B =C5i]Mb@Mb@Mb@YYYY Y9]Q?/$ſy&1|?Y]u9Y=Fy];E>Q 5d5Ζ?Q 9d5)BY,>Q E;yg+@Q I@ӪDI ;i ;d5yBɮ? AEiIiM ?AJiIRiIjiM1?bM($p63@imQ' @RMڛ]NOgx?L`u&?ZiM4@biIjM{2@z0_3.@J7 J@ZM?y?=c?qC 8?2iM_vA:iMޓA"iM㜊?*iMZ&BiMBiM{*?iMq,iMBiMAiM%.? addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504594 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.165686 m, bearing: 39.797039 deg, lat: 36.779339 deg, lon: -121.859664 deg, deltaT: 0.504594 s, deltaX: 0.000031 m, approachRate: 0.000060 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.17 m.hh*h"h hgfffׁBddjdZdԸ?-DDAT read: Rx Time:05:26:47.2835 -TRx dataTimestamp_ set to:1761542808.6089565PDAT read: Bearing 194.4, 16.5 (Local) =~Local bearing/azimuth received: Bearing 194.4, 16.5 (Local) MDAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 uDAT read: 05:26:47.2835 LVL= 21824, 22097, 32754, 32755, AGC= 63, IDX= 503, 0.22, 2.895,-1.962, 2.384,-2.803, PHS=-0.484, 0.886,-1.140, RAW= 348.5, 8.3, CAL= 348.5, 8.4, ROT= 161.5, -8.4 }Ygot valid direction response: 05:26:47.2835 LVL= 21824, 22097, 32754, 32755, AGC= 63, IDX= 503, 0.22, 2.895,-1.962, 2.384,-2.803, PHS=-0.484, 0.886,-1.140, RAW= 348.5, 8.3, CAL= 348.5, 8.4, ROT= 161.5, -8.4 }T#Rx 48: Read range and direction messages.^direction in FSK: [-0.938150,0.313901,0.146083]Fpublishing direction and range infoy)-+nS :u?/8ٲ?Y-A)-@U-QV) ))-?I-i-b?-둿-@-V>Z,>Z,>Zc@Z.g+@-@ -Q >)-e4@I-Q ))-/u 俢Q;sc1u? -P)--I-e4@i-Q ))checking for new query: numPingsReceived=48, elapsed TxPingTime=25.210499]瀶)Y ]>ie9)aea5aiaim, im =IiԑII)i@i @i@u/@q E  E E "E "E l;*E :VE (3ZE BE XF-),6?Achecking for new query: numPingsReceived=48, elapsed TxPingTime=25.441746YM>ByM1 I QQYYbDeVDe1yu!%uj=ٔ}Q-}?9yYy=}FyyE?Q 5d5ɖ?Q 9d5 )BYyQ I@ժDI#;i;d5yɮ Aaii#&?AJiARiAji0?bC6IŜ@SXy @R+nS :u?/8ٲ?Zie4@biQ jy 2@uh\.@*$@ZY?:D?c!H?2ivA:ihA"ipl{?*ir/%BioBi)?i$(iiAim/? addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503668 s, deltaX: 0.200001 m, approachRate: 0.397088 m/s, rangeRepo size: 4  Added new target pos. range: 24.364580 m, bearing: 39.564044 deg, lat: 36.779339 deg, lon: -121.859662 deg, deltaT: 0.503668 s, deltaX: 0.198895 m, approachRate: 0.394892 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.36 m.hh*h"h hgff!f!d!d!jd-8@Zd-`?ZiZiZiZi) L>i 9) ii+ {G =IIԑm9@i @i@m0@iDDAT read: Rx Time:05:26:47.7835 TRx dataTimestamp_ set to:1761542809.112755PDAT read: Bearing 193.6, 15.9 (Local) ~Local bearing/azimuth received: Bearing 193.6, 15.9 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 5DAT read: 05:26:47.7835 LVL= 24272, 23617, 32754, 32755, AGC= 63, IDX= 503,-0.29,-0.206, 1.232,-0.693, 0.404, PHS=-0.509, 0.873,-1.141, RAW= 347.9, 8.8, CAL= 347.9, 9.1, ROT= 162.1, -9.1 =Ygot valid direction response: 05:26:47.7835 LVL= 24272, 23617, 32754, 32755, AGC= 63, IDX= 503,-0.29,-0.206, 1.232,-0.693, 0.404, PHS=-0.509, 0.873,-1.141, RAW= 347.9, 8.8, CAL= 347.9, 9.1, ROT= 162.1, -9.1 =T#Rx 49: Read range and direction messages.M^direction in FSK: [-0.939617,0.303488,0.158158]MFpublishing direction and range infoyJ^XRqEYl?@\~>?Y^A\ )IMi|_?J M@nF>M@ ">)D5@I"{dɷ7g>tz? U)1sID5@i"mchecking for new query: numPingsReceived=49, elapsed TxPingTime=25.713755Թ ^A I I O >),ΨP?ADzDAAE* E*E*&E("E*a;*E*:VE*4ZE(a6@a:@a:@a:@LY]9Y=FyE>Q 5d5Ö?Q 9d5)BY?>Q E;y6@Q I@תDIB;i ;d5yɮ Aiia7G?AJiRijiH3?b6Aӓ@g3@RJ^XRqEYl?@\~>?ZiD5@bi"j@2@.=2./@@d/<@ZUO2K?"y?ԁ=?2iqyA:iA"iNeڜ?*iiq Bi Bipl{?iZ&iBiAio/?  addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503799 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.364580 m, bearing: 40.125792 deg, lat: 36.779337 deg, lon: -121.859662 deg, deltaT: 0.503799 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 24.36 m.h!h!*h!"h! h!g!f)f)f-ˁBd)d1jd1Zd5`9?ZU?>ZU?>ZUU@ZUS6@i)i mHa>im[9)imb3qiqiu, yyIyI@ @@G3@AAAABBBf IBiBBBBB]l;B*E! ^A I I O > DDAT read: Rx Time:05:26:48.2836  TRx dataTimestamp_ set to:1761542809.616714 PDAT read: Bearing 194.7, 16.8 (Local)  ~Local bearing/azimuth received: Bearing 194.7, 16.8 (Local)  DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.1 % DAT read: 05:26:48.2836 LVL= 21712, 21361, 32754, 32755, AGC= 62, IDX= 504, 0.06, 1.633, 3.059, 1.112, 2.210, PHS=-0.475, 0.895,-1.142, RAW= 348.7, 8.1, CAL= 348.7, 8.0, ROT= 161.3, -8.0 - Ygot valid direction response: 05:26:48.2836 LVL= 21712, 21361, 32754, 32755, AGC= 62, IDX= 504, 0.06, 1.633, 3.059, 1.112, 2.210, PHS=-0.475, 0.895,-1.142, RAW= 348.7, 8.1, CAL= 348.7, 8.0, ROT= 161.3, -8.0 5 T#Rx 50: Read range and direction messages.= ^direction in FSK: [-0.937992,0.317493,0.139173]= Fpublishing direction and range infoy  KlQ?H@l?Y A T qS ) >I 33i e? - 6@ > 6@ 5>) ,4@I 5 <]fx99_@? ) `ZI ,4@i 5 ] checking for new query: numPingsReceived=50, elapsed TxPingTime=26.213409),sj?A|~|@<:@,ٱ]m MAHRS rotation from veh to nav: [[-0.521726,0.850913,0.061239],[-0.852811,-0.522106,-0.010882],[0.022714,-0.057903,0.998064]]H:?@Z?:JI`bB?@k`#?i~|@I];CEU EUEQEQ"EU;*EUI:VEQZEQBEU:r% 4=ٔ |Q- >9Y=FyTb;E>Q 5%d5?Q 9-d5)BY)y-6@Q I-@٪DI;i:d5y1ɮ= A9ii>xg?AJiARiAji&d0?bVq6@8< @RKlQ?H@l?Zi,4@bi5jiT+2@G|N.@3j@ZŻ?P>?f?2iwA:iQA"i{휊?*ii"BiBi{휊?ir/%iBiNAi/? addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503959 s, deltaX: 0.100000 m, approachRate: 0.198430 m/s, rangeRepo size: 4  Added new target pos. range: 24.464005 m, bearing: 39.478403 deg, lat: 36.779337 deg, lon: -121.859661 deg, deltaT: 0.503959 s, deltaX: 0.099424 m, approachRate: 0.197287 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.46 m.hh*h"h hgfffddjd8@Zd ?ZZZZ}6@,) @>i9)3ii+ *=IIEchecking for new query: numPingsReceived=50, elapsed TxPingTime=26.449644Qq@q @y@}4@y@=@=ԁ ^A I I O >L),'L?A:|@:<@:bٱ:l FAHRS rotation from veh to nav: [[-0.521449,0.851090,0.061120],[-0.852972,-0.521851,-0.010458],[0.022994,-0.057587,0.998076]]:H"@ nF>)P3@InFn&9D'? ,})IP3@inFchecking for new query: numPingsReceived=51, elapsed TxPingTime=26.732050b) >i9)顝ii, =IIԉ9@ @@/@Eu EuEqEq"Eu[";*EuP:VEqZEqa@a@a@a@^Au =IyIO>U checking for new query: numPingsReceived=51, elapsed TxPingTime=26.953718 0),(?A2u|@2 ?@20ٱ2j :AHRS rotation from veh to nav: [[-0.521219,0.851245,0.060940],[-0.853107,-0.521638,-0.010072],[0.023215,-0.057238,0.998091]]2Hҭe=?3?L@Bܠŗ?\N[?i2u|@I2];0YmBymIBBB: IBEBBBBBl;B*EԹi]Mb@Mb@Mb@YYYY Y9]Zd;?X9vY]y=y]]]A]@ ]A)]|@YY]zAbDuVDuy}ٽ%4=ٔQ->9Y=Fy=:E>Q 5d5s?Q 9d5)BY >Q E;y/C@Q I@ݪDI:i:/ d5y)ɮ5 A1ii󶺇?AJiARiAjiE/?bV6}&]2@^5s @RA$ Z|?8C ?ZiP3@binFjnGB2@m.@а>>@Z˴?!?@׼?2i=uA:iA"i(?*in`&Bi~Bi㜊?iioBi"Ai/? addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504057 s, deltaX: -0.100000 m, approachRate: -0.198391 m/s, rangeRepo size: 4  Added new target pos. range: 24.364521 m, bearing: 39.280928 deg, lat: 36.779336 deg, lon: -121.859661 deg, deltaT: 0.504057 s, deltaX: -0.099483 m, approachRate: -0.197366 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.36 m.hh*h"h hgfffvBddjd8@Zd- ?DDAT read: Rx Time:05:26:49.2836 TRx dataTimestamp_ set to:1761542810.624933PDAT read: Bearing 194.5, 16.8 (Local) ~Local bearing/azimuth received: Bearing 194.5, 16.8 (Local) DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.1 DAT read: 05:26:49.2836 LVL= 22880, 21073, 32754, 32755, AGC= 63, IDX= 504,-0.12,-0.645, 0.787,-1.171,-0.062, PHS=-0.481, 0.894,-1.153, RAW= 348.8, 8.2, CAL= 348.8, 8.3, ROT= 161.2, -8.3  Ygot valid direction response: 05:26:49.2836 LVL= 22880, 21073, 32754, 32755, AGC= 63, IDX= 504,-0.12,-0.645, 0.787,-1.171,-0.062, PHS=-0.481, 0.894,-1.153, RAW= 348.8, 8.2, CAL= 348.8, 8.3, ROT= 161.2, -8.3  T#Rx 52: Read range and direction messages.^direction in FSK: [-0.936734,0.318890,0.144356]Fpublishing direction and range infoyYN-Uh?'ЌCz?YA`YQR )IEi/d?C>@ V>)4@IVЊ;ؒa0=ȻV? )7I4@iV5checking for new query: numPingsReceived=52, elapsed TxPingTime=27.222841ZE >ZE >ZEm@ZE/C@]0)Y ]>>i]9)顁ii+ =IIy@y @y@}/@y@gA@gAEu  Eu Eu (Eq "Eu ;*Eu :VEu c44ZEq BEu l_] checking for new query: numPingsReceived=52, elapsed TxPingTime=27.457546V`),?A2Ո|@29Y=Fye8E>Q 5d5?Q 9%d5c)BY!y!Q I-@ߪDI!;i;#d5y1ɮ5A1ii?AJiARiAji40?bU%62P!4@PT[@ @RYN-Uh?'ЌCz?Zi4@biVjL'2@t.@i9)ok3ii, o=I9Iy @  @@/@DDAT read: Rx Time:05:26:49.7835 TRx dataTimestamp_ set to:1761542811.129736PDAT read: Bearing 194.4, 17.9 (Local) ~Local bearing/azimuth received: Bearing 194.4, 17.9 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1  DAT read: 05:26:49.7835 LVL= 23712, 18881, 31298, 32755, AGC= 63, IDX= 503, 0.16, 0.833, 2.226, 0.273, 1.392, PHS=-0.457, 0.879,-1.163, RAW= 349.9, 8.3, CAL= 349.9, 8.3, ROT= 160.1, -8.3 Ygot valid direction response: 05:26:49.7835 LVL= 23712, 18881, 31298, 32755, AGC= 63, IDX= 503, 0.16, 0.833, 2.226, 0.273, 1.392, PHS=-0.457, 0.879,-1.163, RAW= 349.9, 8.3, CAL= 349.9, 8.3, ROT= 160.1, -8.3 T#Rx 53: Read range and direction messages.^direction in FSK: [-0.930439,0.336814,0.144356]Fpublishing direction and range infoyw(JV]?'ЌCz?YA\IBz )Ii%a?/ݔk@V>k@ )[2@I7Kge*;8",0'y? R)MI[2@i=checking for new query: numPingsReceived=53, elapsed TxPingTime=27.727814^A I I O > E),Ѧ?AE EEE"E;*E:VEZEa*@a*@a*@a*@|@@@ żٱi  AHRS rotation from veh to nav: [[-0.521018,0.851343,0.061281],[-0.853203,-0.521498,-0.009154],[0.024165,-0.057055,0.998079]]H.3>?:`?qMZ`?C6B?i|@I#];CYBy%I )))-AiMb@Mb@Mb@ 9 ףp= ?bX9ȶYQ=yE\A `A)IAYAAAchecking for new query: numPingsReceived=53, elapsed TxPingTime=27.961691bDVD0y%c;%%D=ٔ%Q-->9)Y)=-Fy)529E5>9Q 5Ed5=]?Q 9Ed5=)=BYE>Q EE;yM9Q IM@=DI= ;i= ;=m'd5yUBɮUcAQiiMȦ?AJiARiAji>+?bK$ r67i @])# @Rw(JV]?'ЌCz?Zi[2@bijYe3@lh.@|)؅@Z?Or?Mu5?2i{pA:iA"ik]?*ic.BiBiiiBiAi/? addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504803 s, deltaX: -0.100000 m, approachRate: -0.198098 m/s, rangeRepo size: 4  Added new target pos. range: 24.364521 m, bearing: 38.326575 deg, lat: 36.779336 deg, lon: -121.859660 deg, deltaT: 0.504803 s, deltaX: -0.099447 m, approachRate: -0.197002 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.36 m.hh*h"h hgfffnBddjd8@Zd3?Z>Z>Z@ZX@ ż)! %>i-9)15B31iAim+ q0=II AEېC~G-,9)Y-0ABBB IB!BBBBBl;B*E9@ @@@!  DDAT read: Rx Time:05:26:50.2837  TRx dataTimestamp_ set to:1761542811.632676 PDAT read: Bearing 194.5, 17.3 (Local)  ~Local bearing/azimuth received: Bearing 194.5, 17.3 (Local)  DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.0  DAT read: 05:26:50.2837 LVL= 22240, 25537, 32754, 32755, AGC= 63, IDX= 505,-0.34, 0.536, 1.937,-0.004, 1.102, PHS=-0.464, 0.880,-1.151, RAW= 349.4, 8.3, CAL= 349.4, 8.3, ROT= 160.6, -8.3  Ygot valid direction response: 05:26:50.2837 LVL= 22240, 25537, 32754, 32755, AGC= 63, IDX= 505,-0.34, 0.536, 1.937,-0.004, 1.102, PHS=-0.464, 0.880,-1.151, RAW= 349.4, 8.3, CAL= 349.4, 8.3, ROT= 160.6, -8.3  T#Rx 54: Read range and direction messages. ^direction in FSK: [-0.933343,0.328682,0.144356]% Fpublishing direction and range infoy  srw> ?'ЌCz?Y fA V c  ) I hi Ga? S K$@ K$@ ) Ud3@I }݃&P 迩(~e? ) ޮI Ud3@i = checking for new query: numPingsReceived=54, elapsed TxPingTime=28.229317Q ^A ]=I I O > ),?APɰR; ȋ|@ @@ yGʼٱ U j =AHRS rotation from veh to nav: [[-0.521027,0.851315,0.061586],[-0.853183,-0.521539,-0.008727],[0.024690,-0.057091,0.998064]] H@A=?0?@FM r@߁FH?`; #?i ȋ|@I Q]; CYU܁BE EE%E"E ;*E:VE 4ZEBEsT9Y=Fy,E>Q 5d5Ч?Q 9d5)BYy 9Q I @DI$ ?'ЌCz?ZieUd3@biaje3@l8.@ B~-@ZeO?`%s?gȧ8.?2ievA:ieA"iev|?*ie%BieBie{휊?ie%ieBieAie;-? addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.502940 s, deltaX: 0.299999 m, approachRate: 0.596491 m/s, rangeRepo size: 4  Added new target pos. range: 24.662840 m, bearing: 38.823187 deg, lat: 36.779337 deg, lon: -121.859661 deg, deltaT: 0.502940 s, deltaX: 0.298319 m, approachRate: 0.593150 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.66 m.hh*h"h hg f f f ddjd8@Zd@|D?ZQZQZQZUnX@checking for new query: numPingsReceived=54, elapsed TxPingTime=28.465765yGʼ) *\>i 9)顝 64ii, 1 =II@ @@/@@>@=^A I I O >o),T?A6|@6@@6]μٱ6Rj >AHRS rotation from veh to nav: [[-0.521082,0.851259,0.061903],[-0.853135,-0.521623,-0.008342],[0.025189,-0.057158,0.998047]]6H`=?@?L#@ ˙?C?i6|@I6Y];6CYFցByJIbDPVDPyZ]%Z=ٔZϺQ-Z ?9\Y\=^Fy\bzEb?dQ 5fd5f?Q 9jd5fO)fBYhyj9Q Ij@fDIfp:if:f-d5ypɮr"Ap-DDAT read: Rx Time:05:26:50.7836 -TRx dataTimestamp_ set to:1761542812.136798=PDAT read: Bearing 194.4, 18.3 (Local) =~Local bearing/azimuth received: Bearing 194.4, 18.3 (Local) MDAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.1 uDAT read: 05:26:50.7836 LVL= 22224, 21265, 32754, 32755, AGC= 62, IDX= 504, 0.05, 0.796, 2.170, 0.227, 1.345, PHS=-0.447, 0.871,-1.162, RAW= 350.3, 8.3, CAL= 350.3, 8.4, ROT= 159.7, -8.4 }Ygot valid direction response: 05:26:50.7836 LVL= 22224, 21265, 32754, 32755, AGC= 62, IDX= 504, 0.05, 0.796, 2.170, 0.227, 1.345, PHS=-0.447, 0.871,-1.162, RAW= 350.3, 8.3, CAL= 350.3, 8.4, ROT= 159.7, -8.4 }T#Rx 55: Read range and direction messages.^direction in FSK: [-0.927828,0.343214,0.146083]Fpublishing direction and range infoy)-C@sðM!A47?/8ٲ?Y-A)-V-S) ))->I-/i-^?-j-@)-@ -Q >)-b2@I-Q ))-k;wF)[2 :? -N)-I-b2@i-Q ))checking for new query: numPingsReceived=55, elapsed TxPingTime=28.741823i)i-L?AJi-ARi-Aji-n)?b-QpŲ6Dl @b @R-C@sðM!A47?/8ٲ?Zi-b2@bi-Q j-)F23@" -@~C?c@Z-n??רQ?2i-HoA:i-A"i-;]?*i-C0Bi-ކBi-k]?i-n`&i-Bi-Ai-SV-?M addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504122 s, deltaX: -0.199999 m, approachRate: -0.396727 m/s, rangeRepo size: 4  Added new target pos. range: 24.463947 m, bearing: 37.920810 deg, lat: 36.779337 deg, lon: -121.859662 deg, deltaT: 0.504122 s, deltaX: -0.198893 m, approachRate: -0.394533 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.46 m.hh*h"h hgfffddjd8@ZdM ?ZZZZX@Q]]μ)Y ]6P>i]9)ae0e4aiaiu+ q}=IyIyI)9@ @@3@E EE'E"E;*E:VE'4ZEa@a%@a%@a%@ԁ^AW=II O% >5 checking for new query: numPingsReceived=55, elapsed TxPingTime=28.981264Ա ),= ?A<B`B`BbIBbBBb =B`B`Bbl;Bb*EzM~|@z9@zӼٱz#ji AHRS rotation from veh to nav: [[-0.521714,0.850861,0.062046],[-0.852729,-0.522296,-0.007720],[0.025838,-0.056936,0.998043]]zHA:?į?I ܞ@Bu?&?izM~|@Iz'];zCÝByII=)===iMb@Mb@Mb@ 9MbX?v/Mb`?Y=yxi;A@ A)|@YQAԩbDVDy%"=ٔѨQ->9Y=Fy$úE>Q 5d5y?Q 9d5)BY=Q E;y )Q I@DI:iz ;K2d5yɮrADNOT Ignoring new targets: 24.46 m.hh*h"h hgf!f!f%=Bd)d)jd)Zd-@?ZM=ZM=ZMSX@ZMi@eӼ)a e]>ieS9)im4iiiiu, qu =IqIyDDAT read: Rx Time:05:26:51.2838 TRx dataTimestamp_ set to:1761542812.652797PDAT read: Bearing 194.3, 18.1 (Local) ~Local bearing/azimuth received: Bearing 194.3, 18.1 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.0 DAT read: 05:26:51.2838 LVL= 21184, 21009, 32754, 32755, AGC= 61, IDX= 506,-0.46, 0.946, 2.327, 0.380, 1.501, PHS=-0.454, 0.871,-1.165, RAW= 350.1, 8.4, CAL= 350.2, 8.5, ROT= 159.8, -8.5 Ygot valid direction response: 05:26:51.2838 LVL= 21184, 21009, 32754, 32755, AGC= 61, IDX= 506,-0.46, 0.946, 2.327, 0.380, 1.501, PHS=-0.454, 0.871,-1.165, RAW= 350.1, 8.4, CAL= 350.2, 8.5, ROT= 159.8, -8.5 T#Rx 56: Read range and direction messages.^direction in FSK: [-0.928185,0.341505,0.147809]Fpublishing direction and range infoyB y8?%)k?Y3ARR )=Iria@Q >@ >)2@I9BKIlE'5K튢ܵ? )8I2@i checking for new query: numPingsReceived=56, elapsed TxPingTime=29.282831u9@q @q@uj1@qE EE)E"E ;*E:VEFA4ZEBEQQ= checking for new query: numPingsReceived=56, elapsed TxPingTime=29.485598),:?A00]C]r@iYIaaa aaaiimhkAIi)iii)qIquvq qy}~jAyiyyiƁƅjA)Ɓ ƁIƁ lj)Ǎ{AƉƉƉYY΁ByIbDVDJyz&<%U=ٔ%Q-%>9)Y)=-Fy)5E=>AQ 5Ud5E:?Q 9Ud5E)EBYYyYQ I]@EDIEc;iEd;E5d5yqɮubAqiim)?AJiARiAji$)?b46B] @*`G @RB y8?%)k?Zi2@bij[dPi3@GN.@a|:@Z""t?5[?x+䥺?2iwrA:iNA"in(?*ir_,BiBiv|?ir_,iiAi*?)u addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.515999 s, deltaX: 0.299999 m, approachRate: 0.581395 m/s, rangeRepo size: 4  Added new target pos. range: 24.762260 m, bearing: 37.975539 deg, lat: 36.779338 deg, lon: -121.859664 deg, deltaT: 0.515999 s, deltaX: 0.298313 m, approachRate: 0.578127 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.76 m.hh*h"h hgfffddjd`f8@Zd )?ZZZZ))) 5[>i59)15{41i1i=+ 9=V=I9Ia9@ @@4@QDDAT read: Rx Time:05:26:51.7837 TRx dataTimestamp_ set to:1761542813.157689PDAT read: Bearing 193.2, 17.8 (Local) ~Local bearing/azimuth received: Bearing 193.2, 17.8 (Local) DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 DAT read: 05:26:51.7837 LVL= 26080, 26241, 32754, 32755, AGC= 62, IDX= 505, 0.04, 0.523, 1.890,-0.024, 1.097, PHS=-0.472, 0.838,-1.165, RAW= 349.9, 9.1, CAL= 350.0, 9.6, ROT= 160.0, -9.6 Ygot valid direction response: 05:26:51.7837 LVL= 26080, 26241, 32754, 32755, AGC= 62, IDX= 505, 0.04, 0.523, 1.890,-0.024, 1.097, PHS=-0.472, 0.838,-1.165, RAW= 349.9, 9.1, CAL= 350.0, 9.6, ROT= 160.0, -9.6 T#Rx 57: Read range and direction messages. ^direction in FSK: [-0.926533,0.337231,0.166769] Fpublishing direction and range infoyP(䓄/?8_X?YfAef )>Ii+V?k@">z@ +>)¸2@I+T!mX俳E_ ,迳C? ?N)'"I¸2@i+Mchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.759756ԡ ^A ]=I) IA OM >bE!4jE4rEJ0E  E E 'E "E ;*E :VE '4ZE a @a @a @a @),6T?AYf|@D.@+/ܼٱff AHRS rotation from veh to nav: [[-0.522917,0.850127,0.061977],[-0.851960,-0.523566,-0.006557],[0.026875,-0.056230,0.998056]]H`>4?l? AC tz@ ?@>ʬ@?if|@IV"];CÝByIchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.989735ԉiMb@Mb@Mb@ 9!rh?MbMbp?Yl=y;A@ )IAYAbDVDkyT&%.=ٔ\Q->9Y=FyHE>Q 5 d5ٙ?Q 9 d5)BY =Q E;yNQ I@DI3:i:9d5yɮuAiiJ?AJiMARiMAjiY*?bAQ6 U @\زs@RP(䓄/?8_X?Zi¸2@bi+jq!LF3@l$R,.@BɬT/@Z %@?(V'?ta?2ibqA:i2A"i.?*iO/Bi؇Biic.iiAih*?m addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504892 s, deltaX: -0.100000 m, approachRate: -0.198063 m/s, rangeRepo size: 4  Added new target pos. range: 24.662815 m, bearing: 38.050904 deg, lat: 36.779338 deg, lon: -121.859665 deg, deltaT: 0.504892 s, deltaX: -0.099445 m, approachRate: -0.196964 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.66 m.hh*h"h hgfffLBddjd8@Zd,?Z=Z=Z/;@Zx@+/ܼ)  >i 9) 4ii%, !% =I)I)Ep>iAAABBBIBBBBBBl;B*EBiBiBiBiBm =CmƩ4ԩ@ @@4@ DDAT read: Rx Time:05:26:52.2839  TRx dataTimestamp_ set to:1761542813.660608 PDAT read: Bearing 194.4, 18.3 (Local)  ~Local bearing/azimuth received: Bearing 194.4, 18.3 (Local)  DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1  DAT read: 05:26:52.2839 LVL= 23024, 23073, 32754, 32755, AGC= 63, IDX= 507,-0.34, 0.004, 1.379,-0.567, 0.554, PHS=-0.448, 0.871,-1.165, RAW= 350.3, 8.3, CAL= 350.3, 8.4, ROT= 159.7, -8.4  Ygot valid direction response: 05:26:52.2839 LVL= 23024, 23073, 32754, 32755, AGC= 63, IDX= 507,-0.34, 0.004, 1.379,-0.567, 0.554, PHS=-0.448, 0.871,-1.165, RAW= 350.3, 8.3, CAL= 350.3, 8.4, ROT= 159.7, -8.4  T#Rx 58: Read range and direction messages. ^direction in FSK: [-0.927828,0.343214,0.146083] Fpublishing direction and range infoy  C@sðM!A47?/8ٲ?Y 3A Y !Z ) ?I B`i ^? @ V> @ Q >) b2@I Q  -" 8wkwU]#n6? ) I b2@i Q   checking for new query: numPingsReceived=58, elapsed TxPingTime=30.259607^A9 II Ia Ou > ),Wn?AԑYՁByI bDVDy=?h=%==ٔ=Q-E ?9AYA=EFyAEu EuEu)Eq"Eu1;*Eu՚:VEuFA4ZEqBEuZiU9)Y]J5YiYie+ ae =IaIiԹchecking for new query: numPingsReceived=58, elapsed TxPingTime=30.497494@ @ @ /@ ^A}  =I I O > p),6"?A23G|@2k@2tٱ26e :AHRS rotation from veh to nav: [[-0.524549,0.849095,0.062341],[-0.850922,-0.525261,-0.005676],[0.027926,-0.056025,0.998039]]2H@+? 3?:?w?`O?i23G|@I2U];2CY@yFIbDNVDNܲyV%Vh=ٔVCQ-Z>9XYX=ZFyX^&E^>`Q 5fd5b?Q 9fd5b)bBYdyjoQ Ij@bDIb:ib:b?d5ylɮn-Al DNOT Ignoring new targets: 24.76 m.h h *h "h  h g fffdd-DDAT read: Rx Time:05:26:52.7838 -TRx dataTimestamp_ set to:1761542814.1648575PDAT read: Bearing 194.3, 18.9 (Local) =~Local bearing/azimuth received: Bearing 194.3, 18.9 (Local) MDAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 mDAT read: 05:26:52.7838 LVL= 22160, 23537, 32754, 32755, AGC= 63, IDX= 506, 0.16, 0.204, 1.566,-0.383, 0.746, PHS=-0.440, 0.865,-1.173, RAW= 350.8, 8.4, CAL= 350.8, 8.5, ROT= 159.2, -8.5 }Ygot valid direction response: 05:26:52.7838 LVL= 22160, 23537, 32754, 32755, AGC= 63, IDX= 506, 0.16, 0.204, 1.566,-0.383, 0.746, PHS=-0.440, 0.865,-1.173, RAW= 350.8, 8.4, CAL= 350.8, 8.5, ROT= 159.2, -8.5 }T#Rx 59: Read range and direction messages.^direction in FSK: [-0.924557,0.351206,0.147809]Fpublishing direction and range infoy)-!| P*z?%)k?Y))-V-[) )))I-Gi-p]?-$-v@-Q >-v@ ->)-1@I-))-W俔ɠU"L? -R)-D^I-1@i-))checking for new query: numPingsReceived=59, elapsed TxPingTime=30.769886jdZd i?ZYZYZYZ]x@}t) >i9)顅C5ii, @ =II)@) @)@-/@)1D<D<E EE%E"EO;*E^:VE 4ZEa@a@a@a@^AIIQIaOm>DDAT read: Rx Time:05:26:53.2839 TRx dataTimestamp_ set to:1761542814.419568 checking for new query: numPingsReceived=59, elapsed TxPingTime=31.003597ԁ ),?ABBBIBՁBBBBBl;B*EY܁ByIiMb@Mb@Mb@ 9~jt?Mb~jt?Y=yD<\A@ )9@YQAbDVD:2y<%7=ٔQ->9Y=FyE>Q 5 d5?Q 9d5Ծ)BY=Q E?v@?2iUFnA:iUA"iU,?*iU{7BiUBiUE?iU0iUBiUAiU )?} addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504249 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.762238 m, bearing: 37.197684 deg, lat: 36.779339 deg, lon: -121.859666 deg, deltaT: 0.504249 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.76 m.hh*h"h hgfffMBddjdZd?Z=Z=Z@Z: @) \>i9)"5ii+ II=IIiq=PDAT read: Bearing 193.9, 17.8 (Local) E~Local bearing/azimuth received: Bearing 193.9, 17.8 (Local) ]DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.2 DAT read: 05:26:53.2839 LVL= 24048, 22001, 32754, 32755, AGC= 63, IDX= 507,-0.12,-2.495,-1.107,-3.047,-1.924, PHS=-0.469, 0.862,-1.167, RAW= 349.8, 8.7, CAL= 349.8, 9.0, ROT= 160.2, -9.0 Ygot valid direction response: 05:26:53.2839 LVL= 24048, 22001, 32754, 32755, AGC= 63, IDX= 507,-0.12,-2.495,-1.107,-3.047,-1.924, PHS=-0.469, 0.862,-1.167, RAW= 349.8, 8.7, CAL= 349.8, 9.0, ROT= 160.2, -9.0 T#Rx 60: Read range and direction messages.^direction in FSK: [-0.929297,0.334568,0.156434]Fpublishing direction and range infoy)-/f̼Ei?p ?Y))-]-U) )))I- i-\?-B`-|]@-|>-|]@ -| >)-2@I-| ))- k8kt' 8Md? -Xr)-I-2@i-| ))9@ @@@ Mchecking for new query: numPingsReceived=60, elapsed TxPingTime=31.272352ԁԱE EE'E"EI;*E:VE'4ZEBEdj DDAT read: Rx Time:05:26:53.7839  TRx dataTimestamp_ set to:1761542814.923320 checking for new query: numPingsReceived=60, elapsed TxPingTime=31.5073459 OJ),?AMG&|@M @MPٱMQnf AHRS rotation from veh to nav: [[-0.526247,0.848004,0.062873],[-0.849849,-0.527001,-0.005269],[0.028666,-0.056205,0.998008]]MH"?j?10u`Z? Ƭ?iMG&|@IM];MCYByII<)==bDVD1yAw=%;=ٔn޺Q->9Y=Fy疻E>)Q 5Md5D?Q 9Md5)BYQyU,Q IU@DI,4i 9)t75ii, I-ھi-`?--@->-@ -5>)-g1@I-5))-(U㿃ljB迺 R\? -+)-{"I-g1@i-5))checking for new query: numPingsReceived=61, elapsed TxPingTime=31.768255ԁ ^A @o=I! I9 OE >D zD @AE  E E $E "E ;*E :VE 4ZE a @a @a @a @/),Uէ?A, )kALFkAiIICi(t@ )  C I ) i)IԼ iYDDAT read: Rx Time:05:26:54.2840 TRx dataTimestamp_ set to:1761542815.427808PDAT read: Bearing 194.5, 18.4 (Local) ~Local bearing/azimuth received: Bearing 194.5, 18.4 (Local) checking for new query: numPingsReceived=61, elapsed TxPingTime=32.015545-MBattery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-]Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.ԉ-Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.-Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-%Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.--Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-5Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.-=Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-=Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-eBattery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.mCalculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1.-H)-kA))ɶ-"A]MYFailed to receive data from 10 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 24, 26, 27, 28, 44, 47, 54, 58, 62.YByIB!B!B%IB%ځBB% =B!B!B%l;B%*EԱiEMb@Mb@Mb@AAAA A9E/$?I +I +?YE=yE9E991Y1=5Fy15E=>9Q 5Ed5=I?Q 9md5=)=BYmt=Q Em:BieBiaieש0ieBieWAie4)?M  addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ]  Added new target pos. range: 24.762218 m, bearing: 37.004861 deg, lat: 36.779339 deg, lon: -121.859666 deg, deltaT: 0.503163 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 ] DNOT Ignoring new targets: 24.76 m.hY hY *hY "h  h g f f f dBd d jd Zd `?Z t=Z t=Z v@Z !z@ ) ]>i 9) bM5 i i +  U @ U Q >)U b2@IU Q Q Q U 4|d<%YmZ{T'? U I)U IU b2@iU Q Q Q  checking for new query: numPingsReceived=62, elapsed TxPingTime=32.282524 @  @ @ /@ E EE-E"E1;*Ek:VEt4ZEBEk%f=ٔfaQ-f?9hYh=jFyhnUEn?pQ 5rd5rЋ?Q 9vd5r)rBYtyvQ Iv@rDIr;ir@;rNd5y|ɮ~` A|ii^?AJiARiAjig'?b<(7>}M"!@d+ @RC@sðM!A47?/8ٲ?Zib2@biQ j?3@%[}7.@[@ZE?m^??2iqA:iA"i?*i$3BiBi,?i$3iiAi5y'?M addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.506159 s, deltaX: 0.200001 m, approachRate: 0.395134 m/s, rangeRepo size: 4 ] Added new target pos. range: 24.961113 m, bearing: 37.467060 deg, lat: 36.779340 deg, lon: -121.859667 deg, deltaT: 0.506159 s, deltaX: 0.198895 m, approachRate: 0.392949 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 24.96 m.hYha*ha"hi higyfyffddjd9@Zd?MDDAT read: Rx Time:05:26:54.7840 ]TRx dataTimestamp_ set to:1761542815.940195uPDAT read: Bearing 193.6, 18.0 (Local) }~Local bearing/azimuth received: Bearing 193.6, 18.0 (Local) DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.1 Z#Rx 63: Read range message, but no direction.yQYQQ-checking for new query: numPingsReceived=63, elapsed TxPingTime=32.549129aZIZIZIZMs^z@uE)y }&>i}9)y}ii, Թ  DAT read: 05:26:54.7840 LVL= 23456, 24785, 32754, 32755, AGC= 61, IDX= 507, 0.41,-2.559,-1.186,-3.110,-1.989, PHS=-0.468, 0.848,-1.165, RAW= 349.9, 8.9, CAL= 350.0, 9.3, ROT= 160.0, -9.3  Ygot valid direction response: 05:26:54.7840 LVL= 23456, 24785, 32754, 32755, AGC= 61, IDX= 507, 0.41,-2.559,-1.186,-3.110,-1.989, PHS=-0.468, 0.848,-1.165, RAW= 349.9, 8.9, CAL= 350.0, 9.3, ROT= 160.0, -9.3  Z#Rx 64: Read direction message, but no range. ^direction in FSK: [-0.927341,0.337525,0.161604]y    Ǭ?o? [ ` ) =I i Y?  k@ > z@ 6&>) ¸2@I 6& ItY1$Ndw? SI) 7I ¸2@i 6&- checking for new query: numPingsReceived=64, elapsed TxPingTime=32.779049=*,?A2{@2=@2ٱ2e :AHRS rotation from veh to nav: [[-0.528806,0.846414,0.062836],[-0.848252,-0.529567,-0.005210],[0.028866,-0.056056,0.998010]]2H ?? $`7Wu?Q@?i2{@I2];2CLYRByRI TTbD^VD^k2yf[=%fK=ٔf9Q-f>9hYh=jFyhnEn>pQ 5vd5r?Q 9vd5r)rBYtyvQ Iv@rDIr>:ir:rTRd5yxɮ~ A|ii(,?AJiRiji6Q(?bFL,%7 ɌE @SMk"@R  Ǭ?o?Zi¸2@bi6&je.p3@,kM.@:u0@Z (?%l?@v,?2iorA:iA"i{?*i!N3BiڇBiiiBiAi'?M addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.262539 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E EE%E"E;*E':VE 4ZEa@a@a@a@ Added new target pos. range: 24.961113 m, bearing: 37.671356 deg, lat: 36.779340 deg, lon: -121.859667 deg, deltaT: 0.262539 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.96 m.hh*h!"h! h!g)f1fAfAdIdQjdyZd}@?ZqZqZqZuMz@) 6>i-9))531i1i5+ 9=̓ByB}IB}BB} =ByByB}l;B}*E) ^Ae <Iq I O >= *,*?AbDAT read: 05:26:55.2841 LVL= 23280, 23265, 32754, 32755, AGC= 62, IDX= 509,-0.13,-2.422,-1.038,-2.959,-1.839, PHS=-0.482, 0.846,-1.165, RAW= 349.5, 9.1, CAL= 349.6, 9.6, ROT= 160.4, -9.6 fYgot valid direction response: 05:26:55.2841 LVL= 23280, 23265, 32754, 32755, AGC= 62, IDX= 509,-0.13,-2.422,-1.038,-2.959,-1.839, PHS=-0.482, 0.846,-1.165, RAW= 349.5, 9.1, CAL= 349.6, 9.6, ROT= 160.4, -9.6 fZ#Rx 66: Read direction message, but no range.|~^direction in FSK: [-0.928865,0.330754,0.166769]yPRtB ++?8_X?PRZRZP P)R>IRiRuX?PR2@R">R@@ R+>)R$+3@IR+PY$By IR_c俴Fu$cß5? R)RZ"IR$+3@iR+echecking for new query: numPingsReceived=66, elapsed TxPingTime=33.298126iMb@Mb@Mb@ 9/$?I +Mb?Y,=y94=\An@ )IAYzAbDVDk1y݂=%*=ٔQ-%>9!Y!=%Fy!-E->QQ 5]d5Ua?Q 9]d5U)UBY]Ì=Q E]A>im9)qu$4qiqi}, y}i>aq@q @y@}a3@y@@@@uDDAT read: Rx Time:05:26:55.7840 TRx dataTimestamp_ set to:1761542816.948590PDAT read: Bearing 194.5, 18.3 (Local) ~Local bearing/azimuth received: Bearing 194.5, 18.3 (Local) DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.0 Z#Rx 67: Read range message, but no direction.yyY}Ay checking for new query: numPingsReceived=67, elapsed TxPingTime=33.550659ԁ I) I9 OE >%*,[D?A6{@6?@6Nٱ6f >AHRS rotation from veh to nav: [[-0.529331,0.846091,0.062757],[-0.847943,-0.530054,-0.005880],[0.028290,-0.056327,0.998012]]6H H@-??@Z"4<x` ?֬?i6{@I6H];6CY^%rw=ٔr>:Q-r?9tYt=vFytvnEz?xQ 5~d5z̅?Q 9d5z)zBYy_;Q I@zDIzz;iz;ziYd5y ɮ AE addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503681 s, deltaX: -0.100000 m, approachRate: -0.198539 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 25.06 m.hAhA*hI"hI hIgIfIfQfQdQdQYjdU9@Zd]@C?ZZZZFV@N) ">iC9)顝ii+ @ Q >)2@IQ %BZ&fPU)Z7@s? R)%I2@iQ 5checking for new query: numPingsReceived=68, elapsed TxPingTime=33.793530ԁԱE EE&E"E;*E:VE4ZEa@a@a@a@  DDAT read: Rx Time:05:26:56.2841  TRx dataTimestamp_ set to:1761542817.459694 PDAT read: Bearing 194.1, 18.2 (Local)  ~Local bearing/azimuth received: Bearing 194.1, 18.2 (Local)  DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.0 % Z#Rx 69: Read range message, but no direction.y Y A - checking for new query: numPingsReceived=69, elapsed TxPingTime=34.054665O*,^?A2{@2@2Rٱ2eIg >AHRS rotation from veh to nav: [[-0.529506,0.845996,0.062571],[-0.847851,-0.530197,-0.006352],[0.027801,-0.056415,0.998020]]2He?`? !`_zw?a⬿ ?i2{@I2 ];2CYRHByR> IIX)Z<ԹBǿ>BBIBBBBBBl;B*EiMb@Mb@Mb@ 9{Gz?+L7A`?Yף9)Y)=MFyIUֹEU>YQ 5ed5]ł?Q 9ed5])]BYe9=Q Eei9)|v3ii, AE/ |>)I|I俺J֯I4;? )LIi|checking for new query: numPingsReceived=70, elapsed TxPingTime=34.323067I9IIO}>E  E E E "E C#;*E :VE ZE BE {}DDAT read: Rx Time:05:26:56.7841 TRx dataTimestamp_ set to:1761542817.964309PDAT read: Bearing 193.9, 17.5 (Local) ~Local bearing/azimuth received: Bearing 193.9, 17.5 (Local) DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.0 Z#Rx 71: Read range message, but no direction.yyYyy1Q 5d55x?Q 9d55a)5BYy5@Q I@5DI5w:i5:5`d5yɮ Achecking for new query: numPingsReceived=71, elapsed TxPingTime=34.556271iyi}=}?AJiyRiyji}h'?b}sO?77̍!@TS@R}:𸶬JD?ni\?Ziybi}|j} v3@BGQ.@5X@Z}p@?.50 [?sA?2i}rA:i}7A"i}?*i}2Bi}Bi}?i}vA2i}Bi}UAi}d'? addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504615 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.060617 m, bearing: 37.468229 deg, lat: 36.779340 deg, lon: -121.859667 deg, deltaT: 0.504615 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.06 m.hh*h"h hg)f)f)f)d1d1jd1Zd5X¶?AZYZYZYZ]5@$"޼) j>it9)顕/3ii+ {q- DAT read: 05:26:56.7841 LVL= 23328, 23873, 32754, 32755, AGC= 63, IDX= 509,-0.32,-1.206, 0.182,-1.740,-0.631, PHS=-0.472, 0.858,-1.152, RAW= 349.4, 8.7, CAL= 349.5, 9.0, ROT= 160.5, -9.0 5 Ygot valid direction response: 05:26:56.7841 LVL= 23328, 23873, 32754, 32755, AGC= 63, IDX= 509,-0.32,-1.206, 0.182,-1.740,-0.631, PHS=-0.472, 0.858,-1.152, RAW= 349.4, 8.7, CAL= 349.5, 9.0, ROT= 160.5, -9.0 5 Z#Rx 72: Read direction message, but no range.= ^direction in FSK: [-0.931036,0.329697,0.156434]y  Ɣ ,ȗ?p ? [ A] ) I i [? t K$@ |> 2@ | >) G3@I | (IA TY? ) gI G3@i | U checking for new query: numPingsReceived=72, elapsed TxPingTime=34.803158ԙ b$*, b?A26{@2l@2)ؼٱ2گh :AHRS rotation from veh to nav: [[-0.528720,0.846521,0.062108],[-0.848387,-0.529321,-0.007691],[0.026364,-0.056758,0.998040]]2HE?̯?@% 2؀ 8?c ?i26{@I2!k];2CYN]ByNW IbDZVDZ 83yvc=%vR=ٔvs:Q-v>9xYx=zFyxzL:E~>!Q 5-d5%&~?Q 9-d5%%)%BY)y-5@Q I-@%DI%:i%:% dd5yYɮ] AYD=D<bE54jE57&4rE50E EE%E"E';*EE:VE 4ZEa@a@a@a@DNOT Ignoring new targets: 25.06 m.hh*h"h hgfffddjdZd?ZYZYZYZ].5@y)ؼ) Q>i9)724ii, !%xa@ >))2@INqPO?hOTQN? )wI)2@ichecking for new query: numPingsReceived=73, elapsed TxPingTime=35.085609Bȿ>BB( IB6BBBBBl;B*EBBBB =BC|4^A )<I I) O5 > ߋ**,9Y=Fy;E > Q 5d5 "{?Q 9d5 N) BY%=Q E%;y%d@Q I%@ DI '8;i o7; gd5y)ɮ- A)iiy?AJiRijiZ(?bBL7o !@GB;A? @R!0O1Z?:N ?Zi)2@bij!R3@Eϡ}.@Lq@Z@4?iw?~6(\?2isA:iA"iȇ?*iEP/BiDBi{?i2iiGAi"&? addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504653 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.060665 m, bearing: 37.679880 deg, lat: 36.779339 deg, lon: -121.859667 deg, deltaT: 0.504653 s, deltaX: 0.000048 m, approachRate: 0.000094 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.06 m.hh*h"h hgff!f% Bd!d!jd)Zd-`|?Z=Z=Z즑@Z d@Ѽ) .>i\9)l`4ii+ bI i}?U?F|]@">k@ +>)[2@I+y ya^̙%ٟԥ1? d):"I[2@i+ checking for new query: numPingsReceived=74, elapsed TxPingTime=35.569416 ^A <I I O >Dt1*,eƨ?A;ɰ4<2|@2_@2==ʼٱ2Pi :AHRS rotation from veh to nav: [[-0.526882,0.847720,0.061371],[-0.849580,-0.527382,-0.009061],[0.024685,-0.056913,0.998074]]2H 8@ ?l?/P@w`F?#8?i2|@I2r$];0\YbfBybc IbDjVDj:yǽ<%[=ٔ x;Q- >9 Y = Fy H;E>9Q 5Ed5=x?Q 9Ed5=)=BYAyE|@Q IM@=DI=:i=|:=$kd5yQɮU| AQii2?AJiARiAji)9)?bc]$79. @A@Rz$] Ez?8_X?Zi[2@bi+jڌ3@Qi.@+F@ZgQ+?a53~?hөܿ?2iHsA:ifA"i眊?*i_/BiBiȇ?i_/iiAiv'? addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.502894 s, deltaX: -0.100000 m, approachRate: -0.198850 m/s, rangeRepo size: 4  Added new target pos. range: 24.961218 m, bearing: 37.874140 deg, lat: 36.779339 deg, lon: -121.859666 deg, deltaT: 0.502894 s, deltaX: -0.099447 m, approachRate: -0.197750 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.96 m.hh*h"h hgfff d d jd 9@Zd@a?Z1Z1Z1Z5 |@==ʼ) 6>i9)額54ii, I  DDAT read: Rx Time:05:26:58.2843  TRx dataTimestamp_ set to:1761542819.473352 PDAT read: Bearing 194.6, 18.2 (Local)  ~Local bearing/azimuth received: Bearing 194.6, 18.2 (Local)  DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0  Z#Rx 75: Read range message, but no direction.y Y A  checking for new query: numPingsReceived=75, elapsed TxPingTime=36.060791؝7*,=ߨ?Az5|@z\@!z6¼ٱz,i mAHRS rotation from veh to nav: [[-0.525547,0.848586,0.060842],[-0.850434,-0.525990,-0.009777],[0.023706,-0.056881,0.998100]]zHG@'?&?6@DF?`r`n?iz5|@IzEh];xBA<BBBM IBTBBBBBl;B*EYdBy` Ii]Mb@Mb@Mb@YYYY Y9]~jtףp= ÿ?Y]ļy]]<]A]@ ]A)YYYYbDuVDuNy}y %(=ٔN;Q->9Y=FyV;E>Q 5d5s?Q 9d5I)BY">Q E;y`@Q I@DI:i:Xod5yɮ AE addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.501496 s, deltaX: 0.400000 m, approachRate: 0.797613 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 24.96 m.IhAh*h"h hgfff Bddjd9@Zd1?Z">Z">Zr@Z`@6¼) .>i;9)顕Ǟ4ii+ ^=IIDAT read: 05:26:58.2843 LVL= 21936, 22577, 32754, 32755, AGC= 61, IDX= 511,-0.25,-1.207, 0.174,-1.769,-0.653, PHS=-0.452, 0.872,-1.159, RAW= 350.1, 8.3, CAL= 350.1, 8.4, ROT= 159.9, -8.4 5Ygot valid direction response: 05:26:58.2843 LVL= 21936, 22577, 32754, 32755, AGC= 61, IDX= 511,-0.25,-1.207, 0.174,-1.769,-0.653, PHS=-0.452, 0.872,-1.159, RAW= 350.1, 8.3, CAL= 350.1, 8.4, ROT= 159.9, -8.4 =Z#Rx 76: Read direction message, but no range.E^direction in FSK: [-0.929020,0.339973,0.146083]y??L뇺?/8ٲ?U1X )=Ilid;_?Za@V>a@ Q >))2@IQ Tף Fcև? J')I)2@iQ ]checking for new query: numPingsReceived=76, elapsed TxPingTime=36.321728q@ @@o0@@gA@gAԡ E  E E %E "E O;*E ˭:VE 4ZE BE 'Ym=*,Y?AYe`Bye[ II=ԑ)p<bDVD:y%i=ٔQ->9Y=Fy-E->1Q 5=d55:p?Q 9=d55V)5 BYAyAQ IE@5DI5:i5$:UDDAT read: Rx Time:05:26:58.7842 ]TRx dataTimestamp_ set to:1761542819.976862ePDAT read: Bearing 194.5, 18.6 (Local) e~Local bearing/azimuth received: Bearing 194.5, 18.6 (Local) uDAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.0 DAT read: 05:26:58.7842 LVL= 23328, 22001, 32754, 32755, AGC= 62, IDX= 510, 0.03,-1.608,-0.242,-2.183,-1.060, PHS=-0.446, 0.864,-1.167, RAW= 350.5, 8.4, CAL= 350.5, 8.6, ROT= 159.5, -8.6 Ygot valid direction response: 05:26:58.7842 LVL= 23328, 22001, 32754, 32755, AGC= 62, IDX= 510, 0.03,-1.608,-0.242,-2.183,-1.060, PHS=-0.446, 0.864,-1.167, RAW= 350.5, 8.4, CAL= 350.5, 8.6, ROT= 159.5, -8.6 T#Rx 77: Read range and direction messages.5urd55^direction in FSK: [-0.926141,0.346270,0.149535]5Fpublishing direction and range infoyQUf8ߵxH)?S&r#?YU3AQU [UUyQɮ] AYQ Q)U>IUZiU/]?UB`U@UQ >U@ U`>)U)2@IU`QQUo"3 "l*? U)UIU)2@iU`QQiQiU?AJiUARiUAjiUd)'?bU8(d7kMF~!@[H7@checking for new query: numPingsReceived=77, elapsed TxPingTime=36.613041RUf8ߵxH)?S&r#?ZiU)2@biU`jUZ3@ăR̃.@\KX@ZUwr@D?A,T?L7p?2iUtA:iUA"iU7U?*iUR,BiUχBiU7U?iQiQiUis9)顥4ii, Mi!>m9@i @i@m4@i checking for new query: numPingsReceived=77, elapsed TxPingTime=36.809639 ^A .%=I I O >D*,e?A>x|@><7@>ZTٱ>Ei FAHRS rotation from veh to nav: [[-0.522047,0.850807,0.059955],[-0.852636,-0.522389,-0.011085],[0.021889,-0.056907,0.998140]]>H9?w?@H hj?`"@?i>x|@I>$u^;9`Yd=fFydf=<Ef>hQ 5nd5jl?Q 9nd5jb)jBYpyr@Q Ir@jDIjw;ija;jud5yvBɮv AvEDNOT Ignoring new targets: 25.26 m.hh*h"h hg!f!f!f!d)d)jd)Zd-P?ZIZIZIZM#@eZT)a e"">ie 9)im\4iiiiu+ qu.=IqIqDD%=E EEE"E;*E:VEZEa@a@a@a@9@! @!@%/@)AmDDAT read: Rx Time:05:26:59.2843 uTRx dataTimestamp_ set to:1761542820.480637}PDAT read: Bearing 194.4, 19.3 (Local) }~Local bearing/azimuth received: Bearing 194.4, 19.3 (Local) DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 DAT read: 05:26:59.2843 LVL= 23408, 22369, 32754, 32755, AGC= 62, IDX= 511, 0.29, 0.883, 2.226, 0.290, 1.418, PHS=-0.433, 0.853,-1.172, RAW= 351.1, 8.5, CAL= 351.2, 8.7, ROT= 158.8, -8.7 Ygot valid direction response: 05:26:59.2843 LVL= 23408, 22369, 32754, 32755, AGC= 62, IDX= 511, 0.29, 0.883, 2.226, 0.290, 1.418, PHS=-0.433, 0.853,-1.172, RAW= 351.1, 8.5, CAL= 351.2, 8.7, ROT= 158.8, -8.7 T#Rx 78: Read range and direction messages.^direction in FSK: [-0.921596,0.357464,0.151261]Fpublishing direction and range infoyim%}T_?ni\?YmAimp[maWi i)iIm-ݾim5^Z?mm[@m>m%@ m|>)ma1@Im|iimT㿀^2 W? mU)m0BIma1@im|iichecking for new query: numPingsReceived=78, elapsed TxPingTime=37.084328^AV<I!IO}>BBB` IBdBBBBBl;B*Eqԙ rJ*,F-?AB |@BWJ@BૼٱB;h RAHRS rotation from veh to nav: [[-0.520068,0.852056,0.059415],[-0.853867,-0.520360,-0.011663],[0.020980,-0.056798,0.998165]]BHe D?@k?Rʦ⇿{? ?iB |@IB_;BCbchecking for new query: numPingsReceived=78, elapsed TxPingTime=37.313900Y~ZBy~T IiMb@Mb@Mb@ 9K7A`ſQ?Y̼y+u<A@ A)YfAbDVD1yV%9=ٔ!;Q->9Y=Fy9;E>Q 5d5g?Q 9d5!)BY->Q E;yH@Q I@DI:i :oyd5y ɮ  Aii?AJiARiAji%?bX^79?!"@}Ư@R%}T_?ni\?Zia1@bi|jq+4@68c.@7 @ZoG_?\6,?JB ?2isA:i٠A"i)4?*i~+BiBiiEP/iχBiAi$?e addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503775 s, deltaX: 0.100000 m, approachRate: 0.198502 m/s, rangeRepo size: 4 Ա Added new target pos. range: 25.359034 m, bearing: 37.077594 deg, lat: 36.779339 deg, lon: -121.859665 deg, deltaT: 0.503775 s, deltaX: 0.099453 m, approachRate: 0.197415 m/s, posRepo size: 4  DNOT Ignoring new targets: 25.36 m.h h *h"h hgfffddjd9@Zd%` ?Ze->Ze->Ze @ZeH@ૼ) >i9)顝v4ii, E=IIE EE)E"E;*E:VEFA4ZEBEI\- DAT read: 05:26:59.7843 LVL= 24848, 24385, 32754, 32755, AGC= 63, IDX= 511,-0.32,-1.056, 0.295,-1.636,-0.513, PHS=-0.442, 0.852,-1.168, RAW= 350.8, 8.6, CAL= 350.8, 8.8, ROT= 159.2, -8.8 5 Ygot valid direction response: 05:26:59.7843 LVL= 24848, 24385, 32754, 32755, AGC= 63, IDX= 511,-0.32,-1.056, 0.295,-1.636,-0.513, PHS=-0.442, 0.852,-1.168, RAW= 350.8, 8.6, CAL= 350.8, 8.8, ROT= 159.2, -8.8 = T#Rx 79: Read range and direction messages. ^direction in FSK: [-0.923821,0.350927,0.152986] Fpublishing direction and range infoyy}+:Diu?8C ?Yyy}a}A_y y)}?I}Mi}Z?}}v@}`>}v@ }nF>)}1@I}nFyy}5o~这abL#? }iW)}I}1@i}nFyy checking for new query: numPingsReceived=79, elapsed TxPingTime=37.6729931 Q*,G?A2G|@2[@2~ٱ2Zzh :AHRS rotation from veh to nav: [[-0.518237,0.853197,0.059028],[-0.854995,-0.518495,-0.012053],[0.020323,-0.056715,0.998184]]2H@fdM?@8?`\ xϔ? ?i2G|@I2W_;0YNDByN: I PPTVAbDZ VDZ2y% Y=ٔ :Q- >9Y=Fy?;E>9Q 5Ed5=c?Q 9Md5= )=BYIyMm@Q IM@=DI=[:i=:=|d5yQɮ}d Ayii1??AJiRijiA'?bu\]m7_!@-] @R+:Diu?8C ?Zi1@binFjI%m3@^c .@Ω76"@Zbw0?PCd?)i1?2iuA:iA"i"?*iޝ%Bi Biȇ?iR,iBiAiF%? addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504116 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.359034 m, bearing: 37.592709 deg, lat: 36.779339 deg, lon: -121.859664 deg, deltaT: 0.504116 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.36 m.hh*h"h! h!g!f!f)f)d)d)jd)Zd5L?ZZZZm@~) =iN9)ii+ J=II)checking for new query: numPingsReceived=79, elapsed TxPingTime=37.8180549@ @@/@9DzDE EE&E"E;*E :VE4ZEa@a@a@a@^AIIO>i % DDAT read: Rx Time:05:27:00.2843 5 ŀG;W*,}a?A0BTRx dataTimestamp_ set to:1761542821.510589NPDAT read: Bearing 194.7, 20.0 (Local) N~Local bearing/azimuth received: Bearing 194.7, 20.0 (Local) VDAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 J9hYnBAj|@jn@jiٱjoh AHRS rotation from veh to nav: [[-0.516275,0.854412,0.058655],[-0.856196,-0.516502,-0.012399],[0.019702,-0.056622,0.998201]]jHRXW??e.pd ,?C?ij|@Ijy_;hUDAT read: 05:27:00.2843 LVL= 21920, 22081, 32754, 32755, AGC= 62, IDX= 511, 0.03,-0.628, 0.705,-1.246,-0.108, PHS=-0.418, 0.858,-1.183, RAW= 351.8, 8.4, CAL= 351.8, 8.5, ROT= 158.2, -8.5 BBBBBBBBKl;B*EY=By1 IYgot valid direction response: 05:27:00.2843 LVL= 21920, 22081, 32754, 32755, AGC= 62, IDX= 511, 0.03,-0.628, 0.705,-1.246,-0.108, PHS=-0.418, 0.858,-1.183, RAW= 351.8, 8.4, CAL= 351.8, 8.5, ROT= 158.2, -8.5 T#Rx 80: Read range and direction messages.^direction in FSK: [-0.918287,0.367289,0.147809]Fpublishing direction and range infoyY]wʛbJJ˾?%)k?YYY]U]AVY Y)]>I]־i][?]l]p{@]Q >]p{@ ]>)] 0@I]YY]pBpݖ㿥;(p? ]:)]I] 0@i]YY%checking for new query: numPingsReceived=80, elapsed TxPingTime=38.166950iiuMb@Mb@Mb@qqqq q9u~jth?'1ZĿYuD;yu"uuAu@ q)uIAqYuAbDVDyxܼ%$=ٔ:Q->9Y=Fy  V;E >Q 5d5^?Q 9d5)BY">Q E%;yEx'@Q IE@DI;i;d5yIɮM AIiYi]}`?AJiYRiYji]D,$?b]nuQqI7>Р"@Ocz @R]wʛbJJ˾?%)k?Zi] 0@bi]j]vWJ34@H.EGo).@q @Z]Q}?GM?%axл?2i]KqA:i]A"i]D?*i]-tX,Bi]Bi]7U?iYiYi]|Ai]$?] addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.525836 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.359045 m, bearing: 36.743810 deg, lat: 36.779339 deg, lon: -121.859664 deg, deltaT: 0.525836 s, deltaX: 0.000011 m, approachRate: 0.000022 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.36 m.hh*h"h hgfffBddjdZd4?Z]">Z]">Z]pf@Z]x'@i) .>i 9)額2H3ԑii, $=IIchecking for new query: numPingsReceived=80, elapsed TxPingTime=38.321663@ @@/@@@ E  E E *E "E ;*E Ǚ:VE (N4ZE BE a 2E a JE ;a :E ;a ^A r = I I1 O] >J^*,[&}?Ar}@r_}@rtўٱr9Y=F DAT read: 05:27:00.7843 LVL= 21552, 20417, 32754, 32755, AGC= 63, IDX= 510, 0.37,-1.420,-0.109,-2.068,-0.921, PHS=-0.398, 0.856,-1.192, RAW= 352.6, 8.2, CAL= 352.6, 8.3, ROT= 157.4, -8.3 y֔;E>Q 5d5|Y?Q 9d52)BYy'@Q I@DI|:i1:d5ԱYgot valid direction response: 05:27:00.7843 LVL= 21552, 20417, 32754, 32755, AGC= 63, IDX= 510, 0.37,-1.420,-0.109,-2.068,-0.921, PHS=-0.398, 0.856,-1.192, RAW= 352.6, 8.2, CAL= 352.6, 8.3, ROT= 157.4, -8.3 T#Rx 81: Read range and direction messages.^direction in FSK: [-0.913540,0.380270,0.144356]Fpublishing direction and range infoy15 D;yҍSYV?'ЌCz?Y1150T5O1yɮW A 1)5?I5˾i5"[?5u5@5C>5@ 5V>)5F/@I5V115Z:jn\);9baa? 5mK)5I5F/@i5V11Echecking for new query: numPingsReceived=81, elapsed TxPingTime=38.643223i1i5ߧ?AJi1Ri1ji5!?b5&iM=*7F$]I#@Ϩ/I @R5 D;yҍSYV?'ЌCz?Zi5F/@bi5Vj5 ?Qb4@-@?$!M@Z5{{D?n~?S0.?2i5mA:i5A"i5;l?*i5M1Bi5yBi5D?i1i5χBi5Ai5#?  addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.484032 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.359045 m, bearing: 36.061325 deg, lat: 36.779340 deg, lon: -121.859664 deg, deltaT: 0.484032 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.36 m.hh*h"h h!g!f!fafididijdiZdu?ZZZZs'@tў) `=i9)ii+ @*=II9@ @@/@checking for new query: numPingsReceived=81, elapsed TxPingTime=38.825886 ^A *!=I I O >1 ze*,?AE2 E2E2'E0"E2;*E2:VE2'4ZE0a6@a:@a:@a:@:Q"}@:@:UNٱ:5d FAHRS rotation from veh to nav: [[-0.513229,0.856312,0.057670],[-0.858039,-0.513436,-0.012298],[0.019079,-0.055795,0.998260]]:H_l f?@?@u@n/|?$?i:Q"}@I:`;:CYNByNIIR<)R4<bDVVDVNy^P%b^=ٔb [:Q-b>9dYd=fFydf;Ef?hQ 5nd5jyU?Q 9rd5jz)jBYpyr'@Q Ir@j DIj;ij;jd5ytɮv AxDNOT Ignoring new targets: 25.36 m.h!h!*h!"h! h!g!f!f)f)d)d)jd1Zd5 W?ZaZaZaZe'@]UN)a m\=i9)顙ii, %90=II=DDAT read: Rx Time:05:27:01.2844 ETRx dataTimestamp_ set to:1761542822.497963UPDAT read: Bearing 159.3, 9.8 (Local) ]~Local bearing/azimuth received: Bearing 159.3, 9.8 (Local) uDAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.0 DAT read: 05:27:01.2844 LVL= 22704, 22177, 32754, 32755, AGC= 63, IDX= 512,-0.15, 1.585, 2.684, 1.198, 2.932, PHS=-1.245,-0.203,-1.778, RAW= 349.4, 39.4, CAL= 348.0, 44.3, ROT= 162.0, -44.3 Ygot valid direction response: 05:27:01.2844 LVL= 22704, 22177, 32754, 32755, AGC= 63, IDX= 512,-0.15, 1.585, 2.684, 1.198, 2.932, PHS=-1.245,-0.203,-1.778, RAW= 349.4, 39.4, CAL= 348.0, 44.3, ROT= 162.0, -44.3 T#Rx 82: Read range and direction messages.I)^direction in FSK: [-0.680664,0.221161,0.698415]Fpublishing direction and range infoyAE:_O?yjY?YEAAEXEVA A)AIE)\iE;OE㿩EK$@Ex 0?E \@ E.E?)E4@IE.EAAE#࿡Os)- OQ? E)E!0IE4@iE.EAAUchecking for new query: numPingsReceived=82, elapsed TxPingTime=39.1150449BaBaBeG IBeOBBaBaBaBeCl;Be*E}9@y @y@}0@i ^A $=I I O > checking for new query: numPingsReceived=82, elapsed TxPingTime=39.329540k*,ְ?A 6?}@6@6Oqٱ6ֱd BAHRS rotation from veh to nav: [[-0.511691,0.857230,0.057700],[-0.858958,-0.511902,-0.012180],[0.019096,-0.055794,0.998260]]6H_mn?@䊭?| a܍? @?i6?}@I6ĸ`;6CY^BybIiMb@Mb@Mb@ 9L7A`?HzGMbY+=y= @ A)AYAbDVDyZ%8=ٔQ->9Y=FyT;E> Q 5d5 P?Q 9d5 ) Y>Q E;y5@Q I@  DI e ;i  ; kd5y!ɮ%G A)iqiuޟ?AJiuvARiuvAjiu,?buwe1@F81@Ru:_O?yjY?Ziu4@biu.EjuHɍ-@O'@+1@ZupVag?5)ؠ??2iuO=A:iunlA"iun-?*iuwBiu`Biqiu-tX,iuBiuVAiu"? addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503342 s, deltaX: 0.200001 m, approachRate: 0.397346 m/s, rangeRepo size: 4  Added new target pos. range: 25.557913 m, bearing: 38.684135 deg, lat: 36.779340 deg, lon: -121.859664 deg, deltaT: 0.503342 s, deltaX: 0.198868 m, approachRate: 0.395095 m/s, posRepo size: 4  DNOT Ignoring new targets: 25.56 m.h h *h "h  h)g1f1f1f5Bd9d9jd=@39@Zd= ?iEy E}EyEy"Ey*E} :VEyZEyBE}mZ>Zw@Z 5@5Oq)1 5R8>i5~9)9= A39i9iE+ AE5=IAIi@  @ @1@ԙMDDAT read: Rx Time:05:27:01.7843 UTRx dataTimestamp_ set to:1761542823.002377ePDAT read: Bearing 194.5, 22.0 (Local) m~Local bearing/azimuth received: Bearing 194.5, 22.0 (Local) DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 DAT read: 05:27:01.7843 LVL= 25488, 21217, 32754, 32755, AGC= 63, IDX= 511, 0.15,-2.477,-1.201, 3.124,-1.992, PHS=-0.383, 0.835,-1.211, RAW= 353.7, 8.6, CAL= 353.8, 8.8, ROT= 156.2, -8.8 Ygot valid direction response: 05:27:01.7843 LVL= 25488, 21217, 32754, 32755, AGC= 63, IDX= 511, 0.15,-2.477,-1.201, 3.124,-1.992, PHS=-0.383, 0.835,-1.211, RAW= 353.7, 8.6, CAL= 353.8, 8.8, ROT= 156.2, -8.8 T#Rx 83: Read range and direction messages.^direction in FSK: [-0.904189,0.398795,0.152986]Fpublishing direction and range infoyQU-Fۅ?8C ?YUAQUcURQ Q)QIUľiUU?U U@U`>Ue@ UnF>)U!z.@IUnFQQUS|VgA+ ? Up )UIU!z.@iUnFQQUchecking for new query: numPingsReceived=83, elapsed TxPingTime=39.612446 ^A l,=I I O >r*,ʩ?A2W}@2Y@2<᜼ٱ2Ed :AHRS rotation from veh to nav: [[-0.510464,0.857964,0.057656],[-0.859686,-0.510682,-0.011999],[0.019149,-0.055692,0.998264]]2HU`qt?%?``W ٛ?@?i2W}@I2p`;2CLYRByRIbDZ VDZ:2yvE%v]=ٔvmQ-v>9xYx=zFyxz};E~>Q 5 d5YL?Q 9d5)Y!y-6@Q I5@ DI;i&;d5yBɮ Aii&?AJiARiAji?b6jU9$@9V\ @R-Fۅ?8C ?Zi!z.@binFj%dۚ4@Wz-@X,@Z$:";?-TeL?۹n?2ihA:i֤A"i:?*iCi19BiBiiM1iBiAir| ?  addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504414 s, deltaX: -0.200001 m, approachRate: -0.396501 m/s, rangeRepo size: 4  Added new target pos. range: 25.359018 m, bearing: 35.136389 deg, lat: 36.779340 deg, lon: -121.859667 deg, deltaT: 0.504414 s, deltaX: -0.198895 m, approachRate: -0.394308 m/s, posRepo size: 4 %DNOT Ignoring new targets: 25.36 m.h!h!*h!"h! h!g!f)f)f)d)d1jd59@Zd5J?ZQZQZQZUu6@m<᜼)i m >im9)imqiqi}, y}m:=IyIychecking for new query: numPingsReceived=83, elapsed TxPingTime=39.836460-9@1 @1@51@1bEjE!4rE#0E EE&E"EU,;*E:VE4ZEa@a@a@a@^Au.=IIO>)  DDAT read: Rx Time:05:27:02.2844  TRx dataTimestamp_ set to:1761542823.512173 PDAT read: Bearing 210.5, 23.7 (Local)  ~Local bearing/azimuth received: Bearing 210.5, 23.7 (Local)  DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.0  DAT read: 05:27:02.2844 LVL= 23248, 20593, 32754, 32755, AGC= 64, IDX= 513,-0.39, 2.230,-2.667, 1.404, 2.352, PHS=-0.020, 1.309,-0.992, RAW= 354.9, -3.0, CAL= 354.5, -5.9, ROT= 155.5, 5.9  Ygot valid direction response: 05:27:02.2844 LVL= 23248, 20593, 32754, 32755, AGC= 64, IDX= 513,-0.39, 2.230,-2.667, 1.404, 2.352, PHS=-0.020, 1.309,-0.992, RAW= 354.9, -3.0, CAL= 354.5, -5.9, ROT= 155.5, 5.9 % T#Rx 84: Read range and direction messages.% `direction in FSK: [-0.905141,0.412497,-0.102793]- Fpublishing direction and range infoy   '>~ʕMXf?zBPY A Z qP ) @I ףi P? } 6@ PwV z@ Bҽ) -@I B= qc%b⿁R҉#Ԏժ F ) AV=I -@i B= E checking for new query: numPingsReceived=84, elapsed TxPingTime=40.117958Ba Ba Be  IBe ,BBa Ba Ba Be l;Be *EB!B!B!B!B!C%4 x*,]?A2Oh}@2@2ݟٱ2\dp UAHRS rotation from veh to nav: [[-0.509555,0.858490,0.057873],[-0.860217,-0.509795,-0.011637],[0.019514,-0.055713,0.998256]]2HENx??`>Pԇl?o?i2Oh}@I2 _;0YeByeI iiiMb@Mb@Mb@ 9x&?&19Y=Fy;E>)Q 55d5-hG?Q 95d5-))Y5=Q E=;y=*FQ I=@-DI-*:i-3:-גd5yAɮEAaiiq?AJivARivAji?b<?-"7e%@P_ ;mR '>~ʕMXf?zBPZi-@biB=jC4@P~˙-@ޏwJ Z56Q?_?R9?+CV¿2ihA:i}A"id ?*it7Bi2uBi;l?it7iBiAiw?- addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.509796 s, deltaX: 0.200001 m, approachRate: 0.392315 m/s, rangeRepo size: 4 e Added new target pos. range: 25.557899 m, bearing: 35.131889 deg, lat: 36.779341 deg, lon: -121.859669 deg, deltaT: 0.509796 s, deltaX: 0.198881 m, approachRate: 0.390119 m/s, posRepo size: 4 mDNOT Ignoring new targets: 25.56 m.hihi*hi"hi hqgqfqfyf}Bddjd@39@Zd &?Z=Z=Zd@ZK@ݟ)   W>i 9)  p3 i i+ ==II9Mi>iM>iyIychecking for new query: numPingsReceived=84, elapsed TxPingTime=40.338074@ @@4@1Em  Em Em (Ei "Em 7;*Em d:VEm c44ZEi BEm Z~*,?AɰN6u}@Nl@NhٱNud~DDAT read: Rx Time:05:27:02.7843 TRx dataTimestamp_ set to:1761542824.010861 PDAT read: Bearing 186.0, 33.2 (Local) ~Local bearing/azimuth received: Bearing 186.0, 33.2 (Local) -DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 MDAT read: 05:27:02.7843 LVL= 21728, 22417, 30898, 31523, AGC= 63, IDX= 512,-0.02, 1.765, 2.604, 0.745, 2.086, PHS=-0.219, 0.563,-1.386, RAW= 6.5, 12.2, CAL= 6.5, 14.4, ROT= 143.5, -14.4 UYgot valid direction response: 05:27:02.7843 LVL= 21728, 22417, 30898, 31523, AGC= 63, IDX= 512,-0.02, 1.765, 2.604, 0.745, 2.086, PHS=-0.219, 0.563,-1.386, RAW= 6.5, 12.2, CAL= 6.5, 14.4, ROT= 143.5, -14.4 YT#Rx 85: Read range and direction messages.^direction in FSK: [-0.778602,0.576135,0.248690]Fpublishing direction and range infoy|~wO迭.味o?l?Y~A|~T~W~x ~#{)~?I~A`i~ ?~sh~V=~^ Z>~V= ~>)~J @I~||~:(g-ؿw5B~ ? ~)~ ZI~J @i~||checking for new query: numPingsReceived=85, elapsed TxPingTime=40.622723 %AHRS rotation from veh to nav: [[-0.508874,0.858879,0.058095],[-0.860611,-0.509137,-0.011278],[0.019892,-0.055737,0.998247]]NH@H`{? ? !@J%u^??iN6u}@IN^;NCY-فBy-IbDeVDeJyu彽%uS=ٔ} Q-}>9yYy=Fyc;E>Q 5d5xC?Q 9d5)BYyFQ I@DIi$b~݀3fn8-@i-9))-h3)i)i5, 159@=I1I99@ @@/@@@Աchecking for new query: numPingsReceived=85, elapsed TxPingTime=40.841686 ^A Q9=I) I9 OM >؅*,?AE EEE"E&;*E:VEZEa@a@a@a@>y}@>@>ٱ>Id FAHRS rotation from veh to nav: [[-0.508626,0.859008,0.058346],[-0.860744,-0.508924,-0.010759],[0.020452,-0.055693,0.998238]]>HF|?߭?7I@^?ԃ?i>y}@I>d2^;>CY^ρBy=IbDVDkyK%P=ٔ-Q-->9YYa=mFyil4:E>Q 5d5:??Q 9 d5ʶ)Y1y=FQ I=@DI{i9)页P4ii+ @=IBBBIBBBBBBl;B*EI@ @@@A  checking for new query: numPingsReceived=86, elapsed TxPingTime=41.345673^A C;=I! I9 OE >0*,D2?A2t}@2>@2ݬٱ2#c :AHRS rotation from veh to nav: [[-0.508879,0.858849,0.058482],[-0.860577,-0.509222,-0.009992],[0.021199,-0.055413,0.998238]]2HH{?@c? ىKv1?_?i2t}@I27];0YBByFIIZR=)Z=^=\iMb@Mb@Mb@ 9zG?x&~jtxY =y7Ļ A)AYbDVD0yW%P=ٔQ->9Y=Fy1RE>Q 5d5;?Q 9d5W)Yb=Q E;y&+Q I@DI ;i ; d5yɮgA!iYi]H!?AJi]BARi]BAji]=?b]kE[l8HA1@J?Z] z?1G?(̱D?2i]A:i]A"i]^s?*i]NnBi]BiYiYiYi]Ai]?U addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.506368 s, deltaX: 0.299999 m, approachRate: 0.592453 m/s, rangeRepo size: 4  Added new target pos. range: 25.657309 m, bearing: 42.417241 deg, lat: 36.779341 deg, lon: -121.859670 deg, deltaT: 0.506368 s, deltaX: 0.298304 m, approachRate: 0.589104 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.66 m.hh*h"h hgfffTBddjd9@Zd W?Zb=Zb=EE EEEE$EA"EEx;*EE5:VEE4ZEABEEBgi9)額C4ii, ?=IIQ9@ @@/@DDAT read: Rx Time:05:27:03.7844 TRx dataTimestamp_ set to:1761542825.016998%PDAT read: Bearing 202.3, 29.2 (Local) %~Local bearing/azimuth received: Bearing 202.3, 29.2 (Local) 5DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.0 ]DAT read: 05:27:03.7844 LVL= 21680, 20081, 31778, 32243, AGC= 63, IDX= 512,-0.09,-0.214, 0.840,-1.100,-0.016, PHS=-0.096, 0.901,-1.128, RAW= 0.6, 3.7, CAL= 0.4, 1.3, ROT= 149.6, -1.3 eYgot valid direction response: 05:27:03.7844 LVL= 21680, 20081, 31778, 32243, AGC= 63, IDX= 512,-0.09,-0.214, 0.840,-1.100,-0.016, PHS=-0.096, 0.901,-1.128, RAW= 0.6, 3.7, CAL= 0.4, 1.3, ROT= 149.6, -1.3 eT#Rx 87: Read range and direction messages.m^direction in FSK: [-0.862292,0.505903,0.022687]uFpublishing direction and range infoylE뿟ԩ %ے*,K?A:k}@:@:ٱ:^b ZAHRS rotation from veh to nav: [[-0.509350,0.858558,0.058661],[-0.860279,-0.509741,-0.009227],[0.021980,-0.055164,0.998235]]:HLNy??gOl傿`?>@?i:k}@I:];:CYnBynIbDzVDzy.%Y=ٔ,Q->9 Y = Fy  qºE>Q 5%d548?Q 9%d5)Y!y%/+Q I%@DI;i;Sd5y)ɮ5A1iQiUA?AJiUvARiUvAjiUK?bU7 6lJ)@3U ?RUlE뿟i;9)u DDAT read: Rx Time:05:27:04.2845 } TRx dataTimestamp_ set to:1761542825.529298 PDAT read: Bearing 193.1, 22.6 (Local)  ~Local bearing/azimuth received: Bearing 193.1, 22.6 (Local) e DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.1  DAT read: 05:27:04.2845 LVL= 32752, 32721, 32754, 29507, AGC= 67, IDX= 1, 0.29,-1.667,-0.438,-2.367,-1.177, PHS=-0.388, 0.785,-1.234, RAW= 354.7, 9.6, CAL= 354.8, 10.4, ROT= 155.2, -10.4  Ygot valid direction response: 05:27:04.2845 LVL= 32752, 32721, 32754, 29507, AGC= 67, IDX= 1, 0.29,-1.667,-0.438,-2.367,-1.177, PHS=-0.388, 0.785,-1.234, RAW= 354.7, 9.6, CAL= 354.8, 10.4, ROT= 155.2, -10.4  T#Rx 88: Read range and direction messages. ^direction in FSK: [-0.892864,0.412561,0.180519] Fpublishing direction and range infoyq u ÎW0(fg?lE@?Yu fAq u u u  u Cs)u CIu ƾiu H?u 󝿩u @u +>u _(@ u 9>)u -\-@Iu 9q q u v@'Tk^7D? u + )u *Iu -\-@iu 9q q A A B ǿ>B B IB ځBB B B B l;B *E 5 checking for new query: numPingsReceived=88, elapsed TxPingTime=42.160389z*,e?AJR}@J$@JCٱJF ` AHRS rotation from veh to nav: [[-0.510648,0.857763,0.059000],[-0.859468,-0.511131,-0.007731],[0.023526,-0.054657,0.998228]]JH9W@r?M5?À.[?|?iJR}@IJ5d];JCYByIi]Mb@Mb@Mb@YYYY Y9]v/?I +y&1|?Y]x=y]94]`;]\AY ]`A)YYY]AbDuVDuNyҼ%4=ٔm_Q->9Y=Fy*YE>Q 5d5|4?Q 9d5и)!BY=Q E;y>Q I@DIa:ij:[d5yɮAiia?AJiBARiBAjipG?b56n+%@%Ɇ@RÎW0(fg?lE@?Zi-\-@bi9j4" 5@D<X|,@&[~& @Z")HA?n?B!}?2icA:ihA"ih"?*i!A1BBiBih"?i!A1BiiUAiXG? addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.512300 s, deltaX: 0.099998 m, approachRate: 0.195195 m/s, rangeRepo size: 4 5 Added new target pos. range: 25.657261 m, bearing: 34.081823 deg, lat: 36.779343 deg, lon: -121.859674 deg, deltaT: 0.512300 s, deltaX: 0.099400 m, approachRate: 0.194026 m/s, posRepo size: 4 =DNOT Ignoring new targets: 25.66 m.h9h9*hA"hA hAgafififmi 29)  x4 i i%, !-rH8=I)I)checking for new query: numPingsReceived=88, elapsed TxPingTime=42.357662!9@ @@0@I Eu  Eu Eu $Eq "Eu f;*Eu ':VEu 4ZEq BEu W(0*,?AVC}@V@V=ƼٱV7` bAHRS rotation from veh to nav: [[-0.511420,0.857277,0.059367],[-0.858988,-0.511945,-0.007166],[0.024250,-0.054661,0.998210]]VH`] n?`ce?@|@aY} Ԙ?xW?iVC}@IV \];VCYfByjI hhbDrVDryzi<%zh=ٔzy DDAT read: Rx Time:05:27:04.7844  TRx dataTimestamp_ set to:1761542826.028877PDAT read: Bearing 193.3, 22.8 (Local) ~Local bearing/azimuth received: Bearing 193.3, 22.8 (Local) -DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.0 MDAT read: 05:27:04.7844 LVL= 24624, 22385, 32754, 32755, AGC= 64, IDX= 497,-0.08, 1.686, 2.924, 0.972, 2.173, PHS=-0.385, 0.796,-1.246, RAW= 354.8, 9.4, CAL= 355.0, 10.2, ROT= 155.0, -10.2 UYgot valid direction response: 05:27:04.7844 LVL= 24624, 22385, 32754, 32755, AGC= 64, IDX= 497,-0.08, 1.686, 2.924, 0.972, 2.173, PHS=-0.385, 0.796,-1.246, RAW= 354.8, 9.4, CAL= 355.0, 10.2, ROT= 155.0, -10.2 ]T#Rx 89: Read range and direction messages.e^direction in FSK: [-0.891984,0.415939,0.177085]eFpublishing direction and range infoy  aF"?ki?Y A  0` qW  ) @I ži K? | _(@ '> D@ K6>) "-@I K6   t$Qi.s3h4Q'3?  ) (I "-@i K6  checking for new query: numPingsReceived=89, elapsed TxPingTime=42.630005Q->9Y=FylE>!Q 5-d5%j1?Q 9-d5%)%#BYQyUMQ IU@%DI%y;i%;%d5yYɮeAai i ف?AJi vARi vAji 4?b 7{6ʽi9)4ii+ /f5=II!I)))y9@ @@1@checking for new query: numPingsReceived=89, elapsed TxPingTime=42.861839ԡ ^A C;=I I O >*,7?ADDp=E EE+E"E';*EVE [4ZEa.@a.@a.@a.@D4}@G@#˼ٱk` =AHRS rotation from veh to nav: [[-0.512190,0.856787,0.059821],[-0.858513,-0.512748,-0.006783],[0.024861,-0.054831,0.998186]]H`cj?נ?@xnh{8u?#?i4}@I];CYeByeIbDVD2ԱhAEDDAT read: Rx Time:05:27:05.2846 MTRx dataTimestamp_ set to:1761542826.539281mPDAT read: Bearing 193.3, 22.5 (Local) u~Local bearing/azimuth received: Bearing 193.3, 22.5 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.1 Q"9hAYAy %=ٔ >Q- >9 Y =FyE>5DAT read: 05:27:05.2846 LVL= 22960, 19393, 26226, 26579, AGC= 66, IDX= 3,-0.50, 2.043,-2.997, 1.341, 2.535, PHS=-0.390, 0.796,-1.238, RAW= 354.5, 9.4, CAL= 354.6, 10.2, ROT= 155.4, -10.2 =Ygot valid direction response: 05:27:05.2846 LVL= 22960, 19393, 26226, 26579, AGC= 66, IDX= 3,-0.50, 2.043,-2.997, 1.341, 2.535, PHS=-0.390, 0.796,-1.238, RAW= 354.5, 9.4, CAL= 354.6, 10.2, ROT= 155.4, -10.2 Q 5d5`-?Q 9d5)&BYy\Q I@DIfi,9)顝Y4ii, d2=II A @A  @A @M 0@I  checking for new query: numPingsReceived=90, elapsed TxPingTime=43.3697931 ^Am3=IqIO>a*,?A> 0}@>ᒅ@>mмٱ>d FAHRS rotation from veh to nav: [[-0.512434,0.856573,0.060782],[-0.858351,-0.513019,-0.006751],[0.025400,-0.055632,0.998128]]>He` i?@?@w j{@V?{?i> 0}@I>^;>CYNByNIjonly read 0 of 4 data items for beam range. Device response is::RA 85.78, 81.54, 80.18 aj@aj aj@aj aj@aj aj@aj bDnVDn:yv|=%vn=Ez EzEz&Ex"Ez[I;*EzB:VEz4ZExBEzEd5yɮsADNOT Ignoring new targets: 25.86 m.hh*h"h hgfffddjdZd@}?Mmм)I Mr{>iMG9)IUg4QiQi}+ y}ü1=IyIDDAT read: Rx Time:05:27:05.7845  TRx dataTimestamp_ set to:1761542827.041182PDAT read: Bearing 193.0, 22.9 (Local) %~Local bearing/azimuth received: Bearing 193.0, 22.9 (Local) 1EDAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.1 uDAT read: 05:27:05.7845 LVL= 25296, 22833, 32754, 32755, AGC= 64, IDX= 498, 0.09, 1.685, 2.915, 0.963, 2.171, PHS=-0.385, 0.788,-1.252, RAW= 355.1, 9.6, CAL= 355.2, 10.4, ROT= 154.8, -10.4 }Ygot valid direction response: 05:27:05.7845 LVL= 25296, 22833, 32754, 32755, AGC= 64, IDX= 498, 0.09, 1.685, 2.915, 0.963, 2.171, PHS=-0.385, 0.788,-1.252, RAW= 355.1, 9.6, CAL= 355.2, 10.4, ROT= 154.8, -10.4 T#Rx 91: Read range and direction messages.^direction in FSK: [-0.889962,0.418784,0.180519]Fpublishing direction and range infoy  ҄zsc\?lE@?Y fA  b 1Y  ) @I ži ^I? A DS@ +> a@ 9>) ,@I 9   *⿈^HrOb\?  ) e+I ,@i 9  checking for new query: numPingsReceived=91, elapsed TxPingTime=43.650036@ @@4@a^A5 ·3=IA IQ Oe >ԉ QE*,Ѫ?A2checking for new query: numPingsReceived=91, elapsed TxPingTime=43.8734746q$}@6 @6Ӽٱ66e BAHRS rotation from veh to nav: [[-0.513041,0.856171,0.061313],[-0.857978,-0.513644,-0.006700],[0.025756,-0.056043,0.998096]]6Hje? fd?`toq{_?@g?i6q$}@I6^;6CYFŁByFIIL)Np= Rp9\Y`=bFy`bEb>dQ 5jd5fi'?Q 9jd5f)f+BQ An :YlQ En;ynlQ In@fDIfC ;if=?fưd5ypɮrAti9i=ª?AJi=BARi=BAji=?b=^,uO6p^}%@pɆ@R=҄zsc\?lE@?Zi=,@bi=9j=;25@),@ra u @Z=gsKHp??|C?2i=`A:i=A"i= !?*i=JBi=Bi9i=Fi=Bi=-Ai=?= addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.501901 s, deltaX: -0.200001 m, approachRate: -0.398486 m/s, rangeRepo size: 4 M Added new target pos. range: 25.657276 m, bearing: 33.519197 deg, lat: 36.779343 deg, lon: -121.859675 deg, deltaT: 0.501901 s, deltaX: -0.198895 m, approachRate: -0.396282 m/s, posRepo size: 4 MDNOT Ignoring new targets: 25.66 m.hIhI*hI"hI hQgQfQfYfYdYdYjd]9@Zde -#?Ӽ) >i-9)15 51i1i=, 9=2/=I9IAq@ @@/@DzD?AE EE(E"E%;*EO:VEc44ZEa5@a5@a=@a=@ԡ^AAg3=5DDAT read: Rx Time:05:27:06.2847 =TRx dataTimestamp_ set to:1761542827.548728ePDAT read: Bearing 192.3, 22.0 (Local) m~Local bearing/azimuth received: Bearing 192.3, 22.0 (Local) IDAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.0 I! Bi Bi Bm IBm BBm  =Bi Bi Bm Cl;Bm *EO > DAT read: 05:27:06.2847 LVL= 25536, 23793, 32754, 32755, AGC= 64, IDX= 500,-0.24, 0.772, 2.018, 0.087, 1.287, PHS=-0.414, 0.775,-1.245, RAW= 354.2, 10.1, CAL= 354.3, 11.1, ROT= 155.7, -11.1 % Ygot valid direction response: 05:27:06.2847 LVL= 25536, 23793, 32754, 32755, AGC= 64, IDX= 500,-0.24, 0.772, 2.018, 0.087, 1.287, PHS=-0.414, 0.775,-1.245, RAW= 354.2, 10.1, CAL= 354.3, 11.1, ROT= 155.7, -11.1 - T#Rx 92: Read range and direction messages.5 ^direction in FSK: [-0.894353,0.403816,0.192522]5 Fpublishing direction and range infoy9=׊c*y?M?Y=A9=c=\9 9)9I=Ӿi=ffF?=)\=@=J4>=@ =aF>)='-@I=aF99=CjrT ;鿄f? =5 )=4I='-@i=aF99u checking for new query: numPingsReceived=92, elapsed TxPingTime=44.203102 l*,#?A2}@2@2WӼٱ2NYf :AHRS rotation from veh to nav: [[-0.513451,0.855913,0.061496],[-0.857729,-0.514059,-0.006705],[0.025874,-0.056189,0.998085]]2H0nc?Z|?r`+sMv{ ~?ĬO?i2}@I2e<^;2CYNÁByNIaa aa aa aa iMb@Mb@Mb@ 9ˡE?A`"X9v?Y=yY<A@ vA)YAbDVDk2ysݻ%6=ٔ`Q->9Y=%Fy!%KE%>)Q 55d5-.$?Q 95d5-)-3BQ A=T:Y==Q E=i9)顝5ii+ -=IIe9@a @a@e/@a@m=@m=E- E-E-&E)"E-;*E-y:VE-4ZE)BE-d- DDAT read: Rx Time:05:27:06.7846 - TRx dataTimestamp_ set to:1761542828.0486505 PDAT read: Bearing 191.7, 22.2 (Local) = ~Local bearing/azimuth received: Bearing 191.7, 22.2 (Local) M DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.1 m DAT read: 05:27:06.7846 LVL= 25008, 28145, 32754, 32755, AGC= 64, IDX= 499, 0.21, 1.461, 2.690, 0.770, 1.977, PHS=-0.414, 0.758,-1.251, RAW= 354.5, 10.4, CAL= 354.7, 11.7, ROT= 155.3, -11.7 u Ygot valid direction response: 05:27:06.7846 LVL= 25008, 28145, 32754, 32755, AGC= 64, IDX= 499, 0.21, 1.461, 2.690, 0.770, 1.977, PHS=-0.414, 0.758,-1.251, RAW= 354.5, 10.4, CAL= 354.7, 11.7, ROT= 155.3, -11.7  T#Rx 93: Read range and direction messages. ^direction in FSK: [-0.889632,0.409185,0.202787] Fpublishing direction and range infoy) - |*xw00? ?Y- A) - a- m) ) )) I) i- J B?- - z@- 9>- @ - Q>)- x-@I- Q) ) - 5長Fqӟv? - / )- 9I- x-@i- Q) )  checking for new query: numPingsReceived=93, elapsed TxPingTime=44.650097T*,S?AbC}@b@bռٱbr5f nAHRS rotation from veh to nav: [[-0.513884,0.855648,0.061569],[-0.857463,-0.514504,-0.006542],[0.026080,-0.056155,0.998081]]bH@qwa??Vp v]z?`L`H?ibC}@Ibͯ];`YeсByeIbDVDܲyJ=%Q=ٔ Q->9Y=FyE>Q 5d5V!?Q 9d5);BYy+Q I@DI[:i1:#d5yɮAiYi]?AJi]ARi]Aji]}?b]t7(^(%@!@R]|*xw00? ?Zi]x-@bi]Qj]NXm325@L},@4>D]((@Z]K$;?dm?vg?2i]cA:i]A"i]|?*i]HFBi]Bi]_7}?i]HFiYi]Ai]J? addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.499922 s, deltaX: -0.100000 m, approachRate: -0.200032 m/s, rangeRepo size: 4  Added new target pos. range: 25.856127 m, bearing: 33.905297 deg, lat: 36.779343 deg, lon: -121.859675 deg, deltaT: 0.499922 s, deltaX: -0.099447 m, approachRate: -0.198926 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.86 m.hh*h"h hgf ffddjd:@Zd?IZaZaZaZeg@ռ) g>i9)顝'5ii, ),=IIe9@a @a@a@achecking for new query: numPingsReceived=93, elapsed TxPingTime=44.881756ԁ^A .=I ԡ I O >bEɀ'4jE7&4rE+0E5  E5 E5 'E1 "E5 7;*E5 k:VE5 '4ZE1 ae @ae @ae @ae @*,s?A@RB }@Rr@RּٱRc ^AHRS rotation from veh to nav: [[-0.514355,0.855397,0.061117],[-0.857180,-0.514979,-0.006256],[0.026123,-0.055606,0.998111]]RHui_? J? n@zwy?^x?iRB }@IRT_];RCYj܁ByjI IIY]ADDAT read: Rx Time:05:27:07.2847 TRx dataTimestamp_ set to:1761542828.556429%PDAT read: Bearing 191.9, 21.7 (Local) 5~Local bearing/azimuth received: Bearing 191.9, 21.7 (Local) DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.0 bDVD:y`Q=%:=BBBIBBBBBBBl;BBBBBBCDx4ٔH̸Q-5>91Y1==Fy9=AE=>AԩDAT read: 05:27:07.2847 LVL= 25520, 24817, 32754, 32755, AGC= 64, IDX= 500,-0.17,-0.516, 0.726,-1.188, 0.011, PHS=-0.424, 0.760,-1.243, RAW= 354.0, 10.4, CAL= 354.2, 11.7, ROT= 155.8, -11.7 Ygot valid direction response: 05:27:07.2847 LVL= 25520, 24817, 32754, 32755, AGC= 64, IDX= 500,-0.17,-0.516, 0.726,-1.188, 0.011, PHS=-0.424, 0.760,-1.243, RAW= 354.0, 10.4, CAL= 354.2, 11.7, ROT= 155.8, -11.7 T#Rx 94: Read range and direction messages.^direction in FSK: [-0.893169,0.401406,0.202787]Fpublishing direction and range infoQ 5d5E?Q 9d5E)ECBYy)+Q I@E!DIE@p(5@ +a,@I8F@ZV?ݸ ?n?2igA:iCA"i?*il@BiBido?il@i\BiAi?  addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.507779 s, deltaX: 0.100000 m, approachRate: 0.196937 m/s, rangeRepo size: 4  Added new target pos. range: 25.955580 m, bearing: 34.374615 deg, lat: 36.779342 deg, lon: -121.859673 deg, deltaT: 0.507779 s, deltaX: 0.099453 m, approachRate: 0.195859 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.96 m.hh9*hA"hA hAgAfAfIfIdIdIjdM:@ZdU׻?ZZZZ@f@ּ) ~>i9)85ii+ 8`*=II9@ @@@ checking for new query: numPingsReceived=94, elapsed TxPingTime=45.385677 ^A S,=I I O >N*,H9?Aɰp;2}@21@2_Լٱ2Mb :AHRS rotation from veh to nav: [[-0.514174,0.855532,0.060745],[-0.857293,-0.514791,-0.006217],[0.025952,-0.055273,0.998134]]2H t`?@?n +yRwy`(? L?i2}@I2$];2CYBByBIE| E~E~(E|"E|*E~ :VE~c44ZE|BE~Z=ٔ9Q->9Y=Fy*:E>Q 5d5?Q 9d5f)LBY=Q Ei9)NB5ii, Y+=IIDDAT read: Rx Time:05:27:07.7846 TRx dataTimestamp_ set to:1761542829.056762PDAT read: Bearing 190.4, 21.5 (Local) ~Local bearing/azimuth received: Bearing 190.4, 21.5 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.1 5DAT read: 05:27:07.7846 LVL= 25296, 32385, 32754, 32755, AGC= 64, IDX= 499, 0.14, 0.789, 2.018, 0.129, 1.337, PHS=-0.446, 0.726,-1.252, RAW= 353.9, 11.3, CAL= 354.2, 13.0, ROT= 155.8, -13.0 =Ygot valid direction response: 05:27:07.7846 LVL= 25296, 32385, 32754, 32755, AGC= 64, IDX= 499, 0.14, 0.789, 2.018, 0.129, 1.337, PHS=-0.446, 0.726,-1.252, RAW= 353.9, 11.3, CAL= 354.2, 13.0, ROT= 155.8, -13.0 ET#Rx 95: Read range and direction messages.M^direction in FSK: [-0.888743,0.399417,0.224951]MFpublishing direction and range infoy;P:p쿓* ?:/2?YAb~ )IZi#9?A@I> Vh>)IVha0}F}X[NF ? C )IIiVhchecking for new query: numPingsReceived=95, elapsed TxPingTime=45.661758=9@9 @9@=/@9@A@Aqԩ ^A} +,=I I O >c*,$S?A&checking for new query: numPingsReceived=95, elapsed TxPingTime=45.88973268}@6퉅@6jмٱ6b BAHRS rotation from veh to nav: [[-0.513370,0.856029,0.060542],[-0.857788,-0.513961,-0.006566],[0.025495,-0.055303,0.998144]]6Hmd?@R?`s^rzs? P?i68}@I6%/];6CYJByJIbDRVDR:yZEB=%Z=ٔZC:Q-Z?9\Y\=^Fy\bG;Eb?dQ 5jd5f?Q 9jd5fS)fSBYhyjB@Q Ij@f#DIf:ify:fjd5ypɮr Api!i%C?AJi%ARi%Aji%?b%z+6:'$@BC@R%;P:p쿓* ?:/2?Zi!bi%Vhj%qQX4@Y,@u3"@Z%7%?9g? i9?2i%eA:i%A"i%O`h?*i%ezCBi%7Bi%|?i%ezCi%Bi%Ai%?5 addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.500333 s, deltaX: -0.100000 m, approachRate: -0.199868 m/s, rangeRepo size: 4 E Added new target pos. range: 25.856133 m, bearing: 34.387995 deg, lat: 36.779342 deg, lon: -121.859674 deg, deltaT: 0.500333 s, deltaX: -0.099447 m, approachRate: -0.198762 m/s, posRepo size: 4 MDNOT Ignoring new targets: 25.86 m.hIhI*hI"hI hIgIfQfQfQdQdYjd]:@Zd]@2V?ZZZZyB@-jм)) -(>i59)1UK5QiQi]+ Y]e.=IYIaE EEE"E ;*E:VEZEa%@aU@aU@aU@a@i @i@m5@iDDAT read: Rx Time:05:27:08.2848 %TRx dataTimestamp_ set to:1761542829.5648281ePDAT read: Bearing 192.4, 21.8 (Local) u~Local bearing/azimuth received: Bearing 192.4, 21.8 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.1 B- ƿ>^AU )=I I O >B) B- IB- ЁBB) B) B) B- jl;B- *E DAT read: 05:27:08.2848 LVL= 25280, 23825, 32754, 32755, AGC= 64, IDX= 501,-0.30,-0.036, 1.213,-0.719, 0.481, PHS=-0.415, 0.777,-1.244, RAW= 354.1, 10.1, CAL= 354.3, 11.1, ROT= 155.7, -11.1 M Ygot valid direction response: 05:27:08.2848 LVL= 25280, 23825, 32754, 32755, AGC= 64, IDX= 501,-0.30,-0.036, 1.213,-0.719, 0.481, PHS=-0.415, 0.777,-1.244, RAW= 354.1, 10.1, CAL= 354.3, 11.1, ROT= 155.7, -11.1 M T#Rx 96: Read range and direction messages.U ^direction in FSK: [-0.894353,0.403816,0.192522]] Fpublishing direction and range infoy׊c*y?M?YfAb] )IzԾiyF?d;J@J4>@ aF>)'-@IaFk1|wcc]8v#U?  )ۚ3I'-@iaF checking for new query: numPingsReceived=96, elapsed TxPingTime=46.231155Y w*,m?AY~By|I<)9Y=FyE>Q 5 d5?Q 9 d5̼)\BY=Q E;y-@Q I@$DI;i ;Md5y!ɮ% A!qiIiM$&d?AJiMi5 9)9=mU59i9iE, Aj.=III)ԡ9@ @@!@!E EE&E"E;*E^:VE4ZEBE] DDAT read: Rx Time:05:27:08.7847  TRx dataTimestamp_ set to:1761542830.064733 PDAT read: Bearing 191.0, 21.5 (Local)  ~Local bearing/azimuth received: Bearing 191.0, 21.5 (Local) - DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed -0.1 M DAT read: 05:27:08.7847 LVL= 27968, 25905, 32754, 32755, AGC= 65, IDX= 500,-0.01, 1.172, 2.406, 0.509, 1.711, PHS=-0.437, 0.740,-1.246, RAW= 353.9, 10.9, CAL= 354.1, 12.5, ROT= 155.9, -12.5 U Ygot valid direction response: 05:27:08.7847 LVL= 27968, 25905, 32754, 32755, AGC= 65, IDX= 500,-0.01, 1.172, 2.406, 0.509, 1.711, PHS=-0.437, 0.740,-1.246, RAW= 353.9, 10.9, CAL= 354.1, 12.5, ROT= 155.9, -12.5 ] T#Rx 97: Read range and direction messages.e ^direction in FSK: [-0.891196,0.398651,0.216440]e Fpublishing direction and range infoy  r/%^?K?Y A @m 1e ) AI w߾i p=? | @ B> J@ f_>) X$.@I f_ \._ab鿛eM9? ) BI X$.@i f_  checking for new query: numPingsReceived=97, elapsed TxPingTime=46.661663 *,\ ?A N}@ @ ȼٱ Mf }AHRS rotation from veh to nav: [[-0.510849,0.857510,0.060910],[-0.859321,-0.511378,-0.007741],[0.024510,-0.056296,0.998113]] H X p?@/?@4]մ4?Ҭ@?i N}@I \; CYByIbDVDN2y;%J=ٔ;Q->9Y=Fy;E>Q 5 d5?Q 9d5Q)dBY1y5-@Q I5@&DI;i;d5yAɮE AAii$?AJiARiAjiX?beB!7K$FDZ$@9ѣx@ԱRr/%^?K?ZiX$.@bif_jf:5@#o-@ @Zn5?V}/?1?2ihA:i@A"i?*i=Bi׊Bi?iiBiAia? addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.499905 s, deltaX: -0.199999 m, approachRate: -0.400074 m/s, rangeRepo size: 4  Added new target pos. range: 25.955564 m, bearing: 34.662253 deg, lat: 36.779341 deg, lon: -121.859673 deg, deltaT: 0.499905 s, deltaX: -0.198893 m, approachRate: -0.397861 m/s, posRepo size: 4  DNOT Ignoring new targets: 25.96 m.h h)*h)"h) h)g1f1f1f1d9d9jd=:@Zd='?ZyZyZyZ}Z-@ȼ) >iR9)顽^5ii+ 9=IIa@a @a@eO4@a@m=@m=Echecking for new query: numPingsReceived=97, elapsed TxPingTime=46.898228 ^A .=I I E  E E E "E %;*E Ǚ:VE ZE a @a @a @a @O >1 '*,?A2i}@2X@2qüٱ2f :AHRS rotation from veh to nav: [[-0.509467,0.858363,0.060470],[-0.860158,-0.509963,-0.008083],[0.023899,-0.056131,0.998137]]2H M@w??`jQ`y?B?i2i}@I23];2CY^By^IbDjVDjβyrWU=%r[=ٔr:Q-r>9tYt=vFytv;Ez>|Q 5d5DDAT read: Rx Time:05:27:09.2849 TRx dataTimestamp_ set to:1761542830.573173PDAT read: Bearing 193.0, 22.4 (Local) ~Local bearing/azimuth received: Bearing 193.0, 22.4 (Local) ~w?Q 9=d5~)~kBYAyE-@Q IM@~'DI~e<mDAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.1 BBBIBBBBBB|l;B*Ei~p<~d5yBɮd AEDNOT Ignoring new targets: 25.96 m.hh*h"hDAT read: 05:27:09.2849 LVL= 24720, 25025, 32754, 32755, AGC= 64, IDX= 501, 0.36,-2.110,-0.885,-2.803,-1.617, PHS=-0.391, 0.777,-1.230, RAW= 354.6, 9.7, CAL= 354.8, 10.6, ROT= 155.2, -10.6 Ygot valid direction response: 05:27:09.2849 LVL= 24720, 25025, 32754, 32755, AGC= 64, IDX= 501, 0.36,-2.110,-0.885,-2.803,-1.617, PHS=-0.391, 0.777,-1.230, RAW= 354.6, 9.7, CAL= 354.8, 10.6, ROT= 155.2, -10.6 T#Rx 98: Read range and direction messages.^direction in FSK: [-0.892287,0.412294,0.183951]Fpublishing direction and range infoyˉ쿎Pc? =η?Y3A hgfffddjd`ff:@Zd`~R?`a )@I'1ȾiyF?p @-\->_(@ q=>)-\-@Iq=D'dF⿘x(Vܑφ?  )W-I-\-@iq=checking for new query: numPingsReceived=98, elapsed TxPingTime=47.227535ZYZYZYZ]d-@ qü)  |%>i 9)vi5ii, RM>=II!A9@ @@g3@U checking for new query: numPingsReceived=98, elapsed TxPingTime=47.401672i ^A d6=I) I9 OE > *,*ẫ?A EZ EZEZ*EX"EZ;*EZ:VEZ(N4ZEXBEXan2EXanJEZG9QYQ=UFyQUI;E]>YiQ 5md5] ?Q 9md5])]sBYu3>Q Eu;yu%@Q Iu@])DI]1;i]0;]Pd5yyɮ}f Ayiiޮ?AJiARiAjip ?bo/m7H%@XQ@Rˉ쿎Pc? =η?Zi-\-@biq=jHne|5@,ɎC-@B*l @Zrk@0??$?2ijA:iA"i>?*i|*:BiRBii=iiAij? addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.508440 s, deltaX: 0.299999 m, approachRate: 0.590039 m/s, rangeRepo size: 4  Added new target pos. range: 26.253895 m, bearing: 34.254928 deg, lat: 36.779341 deg, lon: -121.859672 deg, deltaT: 0.508440 s, deltaX: 0.298330 m, approachRate: 0.586756 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.25 m.hh*h"h hgfffÁBddjdZd z?DDAT read: Rx Time:05:27:09.7848 TRx dataTimestamp_ set to:1761542831.072743PDAT read: Bearing 189.4, 20.2 (Local) ~Local bearing/azimuth received: Bearing 189.4, 20.2 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.1 DAT read: 05:27:09.7848 LVL= 32752, 32241, 32754, 32755, AGC= 65, IDX= 501,-0.12, 1.241, 2.476, 0.634, 1.824, PHS=-0.482, 0.696,-1.234, RAW= 352.7, 12.1, CAL= 353.1, 14.3, ROT= 156.9, -14.3 Ygot valid direction response: 05:27:09.7848 LVL= 32752, 32241, 32754, 32755, AGC= 65, IDX= 501,-0.12, 1.241, 2.476, 0.634, 1.824, PHS=-0.482, 0.696,-1.234, RAW= 352.7, 12.1, CAL= 353.1, 14.3, ROT= 156.9, -14.3 T#Rx 99: Read range and direction messages.^direction in FSK: [-0.891321,0.380181,0.246999]Fpublishing direction and range infoyZqT?⩝?YfA} )AIi-2?󝿩@@X>P5@ r>)LB/@Ir"⿚0Kc迓YVs? I')WILB/@irZ=3>Z=3>Z=M@Z=%@UbU)Q U=iU9)QU,p5Yiyi}+ tD=IIchecking for new query: numPingsReceived=99, elapsed TxPingTime=47.672314ԑ59@1 @1@5/@1 ^AU п8=Ia Iq O} >] checking for new query: numPingsReceived=99, elapsed TxPingTime=47.905693*,ԫ?Aɰ49Y!=%Fy!-;E->1Q 5=d55?Q 9=d55_)5yBY9y=%@Q IE@5+DI5:i5:5d5yIɮMd AIiiҧī?AJiɿO?2ipA:iA"iٜ?*iJ'/BiBiO`h?iuv<i׊BiAi?E EE(E"E;*EZ:VEc44ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.499570 s, deltaX: -0.100000 m, approachRate: -0.200173 m/s, rangeRepo size: 4  Added new target pos. range: 26.154448 m, bearing: 35.893104 deg, lat: 36.779339 deg, lon: -121.859671 deg, deltaT: 0.499570 s, deltaX: -0.099447 m, approachRate: -0.199066 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.15 m.h h *h "h  h g f iiffddGjdL:@Zd@sd?e"9aYeAZZZZ%@*)  =i 9)w5ii, &K=II!DDAT read: Rx Time:05:27:10.2849 TRx dataTimestamp_ set to:1761542831.580238PDAT read: Bearing 192.4, 22.3 (Local)  ~Local bearing/azimuth received: Bearing 192.4, 22.3 (Local) BA<@ @@@Bſ>BBIBBBBBBl;B*Ee DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.0 @9 @= hA DAT read: 05:27:10.2849 LVL= 24032, 25041, 32754, 32755, AGC= 62, IDX= 502, 0.33, 2.870,-2.188, 2.178,-2.907, PHS=-0.404, 0.764,-1.243, RAW= 354.6, 10.1, CAL= 354.8, 11.3, ROT= 155.2, -11.3 - Ygot valid direction response: 05:27:10.2849 LVL= 24032, 25041, 32754, 32755, AGC= 62, IDX= 502, 0.33, 2.870,-2.188, 2.178,-2.907, PHS=-0.404, 0.764,-1.243, RAW= 354.6, 10.1, CAL= 354.8, 11.3, ROT= 155.2, -11.3 - V#Rx 100: Read range and direction messages.9  ^direction in FSK: [-0.890180,0.411321,0.195946] Fpublishing direction and range infoyu8Z|lzS?>x_?Y3A]a )>IξiC? @J4>_(@ I>)-\-@IIK @Z鿃8?  )05I-\-@iI checking for new query: numPingsReceived=100, elapsed TxPingTime=48.265392a ^A &t@=I I O >*,?AYByI}checking for new query: numPingsReceived=100, elapsed TxPingTime=48.409798i]Mb@Mb@Mb@YYYY Y9]MbV-¿Q?Y]y]h]u<]AԡY ]A)]AYY]AbD-VD-yn%"=ٔQ->9Y=FyE>Q 5d5?Q 9d59)~BY!>Q E;y@Q I@-DI~:i:d5yɮE AAE5 E5E5'E1"E5x;*E5:VE5'4ZE1BE5Bgx_?Zim-\-@bimIjmM|l5@D-@=,@ZmL?uR^r?,?2im'jA:imcA"im?*imK8BimBim?im|*:imBim=Aim?m addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.507495 s, deltaX: 0.100000 m, approachRate: 0.197047 m/s, rangeRepo size: 4  Added new target pos. range: 26.253893 m, bearing: 34.337091 deg, lat: 36.779341 deg, lon: -121.859670 deg, deltaT: 0.507495 s, deltaX: 0.099445 m, approachRate: 0.195953 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.25 m.hh*h"h hgfffBddjd`ff:@Zdy9?Z]!>Z]!>Z]4@Z]@)  >i9)顕5ii+ J=II 5 DDAT read: Rx Time:05:27:10.7849 = TRx dataTimestamp_ set to:1761542832.082096M PDAT read: Bearing 192.3, 22.0 (Local) M ~Local bearing/azimuth received: Bearing 192.3, 22.0 (Local) e DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.0  DAT read: 05:27:10.7849 LVL= 24880, 25617, 32754, 32755, AGC= 65, IDX= 502,-0.29, 1.014, 2.247, 0.335, 1.532, PHS=-0.416, 0.760,-1.241, RAW= 354.2, 10.3, CAL= 354.4, 11.5, ROT= 155.6, -11.5  Ygot valid direction response: 05:27:10.7849 LVL= 24880, 25617, 32754, 32755, AGC= 65, IDX= 502,-0.29, 1.014, 2.247, 0.335, 1.532, PHS=-0.416, 0.760,-1.241, RAW= 354.2, 10.3, CAL= 354.4, 11.5, ROT= 155.6, -11.5  V#Rx 101: Read range and direction messages. ^direction in FSK: [-0.892401,0.404811,0.199368] Fpublishing direction and range infoy9 = *oIPm?i?Y9 9 = 0a= d9 9 )= AI= Ծi= \B?= ٞ= @= X8>= .@ = M>)= -@I= M9 9 = h i֑,]4u? = 6 )= m8I= -@i= M9 9  checking for new query: numPingsReceived=101, elapsed TxPingTime=48.680233 @  @ @ /@ ) ^A G=I IO >+,i?A2}@2@2ٱ2/` :AHRS rotation from veh to nav: [[-0.503206,0.862215,0.058041],[-0.863901,-0.503581,-0.009044],[0.021430,-0.054693,0.998273]]2HBD?}?T酂??i2}@I2FH^;2CYBByBIIF<)F49!Y!=-Fy)5$<E5>9Q 5Ed5=0?Q 9Ed5=c)=BYAyE@Q IE@=/DI=:i=[:==d5IyQɮU AYiiA?AJiRiji!?b=m7G;xA%@bx@R*oIPm?i?Zi-@biMj{3y|A5@-@v"4@Zu@\z? KYW?s v1?2itmA:iA"i w?*i2Bi9Bi?iK8i9BiXAiU? addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.501858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.253893 m, bearing: 34.921722 deg, lat: 36.779339 deg, lon: -121.859669 deg, deltaT: 0.501858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.25 m.hh*h"h hgfffddjdZd?ZZZZ!@)  =i 9)  y5 i i, wW=IIchecking for new query: numPingsReceived=101, elapsed TxPingTime=48.914211@ @@/@yE EE)E"E;*E :VEFA4ZEa@a@a@a@ԩ^AIIO> DDAT read: Rx Time:05:27:11.2849  TRx dataTimestamp_ set to:1761542832.589649 PDAT read: Bearing 192.7, 22.4 (Local)  ~Local bearing/azimuth received: Bearing 192.7, 22.4 (Local) % DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.0 BI BI BM IBM BBM  =BI BI BM l;BM *E DAT read: 05:27:11.2849 LVL= 23600, 25505, 32754, 32755, AGC= 64, IDX= 502, 0.00, 2.237,-2.824, 1.543, 2.740, PHS=-0.401, 0.764,-1.241, RAW= 354.7, 10.1, CAL= 354.8, 11.2, ROT= 155.2, -11.2 +,0)?A((NYgot valid direction response: 05:27:11.2849 LVL= 23600, 25505, 32754, 32755, AGC= 64, IDX= 502, 0.00, 2.237,-2.824, 1.543, 2.740, PHS=-0.401, 0.764,-1.241, RAW= 354.7, 10.1, CAL= 354.8, 11.2, ROT= 155.2, -11.2 RV#Rx 102: Read range and direction messages.R^direction in FSK: [-0.890489,0.411464,0.194234]VFpublishing direction and range infoyj~쿑؜kU?mVѫ?Y0\c )@IO;iC?@J4>_(@MG~@Mu@MYٱMa +H>)-\-@I+H }AHRS rotation from veh to nav: [[-0.501486,0.863219,0.058001],[-0.864911,-0.501836,-0.009435],[0.020962,-0.054897,0.998272]]MH`- }?>?Z R $w?n?iMG~@IMY^;MC9yf鿝GiSn? l ) a4I-\-@i+Hchecking for new query: numPingsReceived=102, elapsed TxPingTime=49.275555YByIi}Mb@Mb@Mb@yyyy y9}9Y=Fy;E>Q 5d5_?Q 9d5`)BY%>Q E%;y%*#@Q I-@1DI-;i;d5y1ɮ5 A1iiϼ%?AJiRijiW?b`7_w$%@m~e@Rj~쿑؜kU?mVѫ?Zi-\-@bi+HjāIX5@A{-@)@@Z@<?${?C`։?2ilA:iªA"i`?*i`3BiBi`?i`3iBiAi?? addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.507553 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.253899 m, bearing: 34.648262 deg, lat: 36.779339 deg, lon: -121.859667 deg, deltaT: 0.507553 s, deltaX: 0.000006 m, approachRate: 0.000011 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.25 m.hh*h"h hgfYfafadadajdiZdm`?Z>Z>Z@Z*#@checking for new query: numPingsReceived=102, elapsed TxPingTime=49.417686Y) H=i9)5ii+ \=II!@ @@/@@=@=1E  E E 'E "E ;*E -:VE '4ZE BE R+,mC?A6~@62@6Eǩٱ6Uqa >AHRS rotation from veh to nav: [[-0.500249,0.863938,0.057984],[-0.865633,-0.500586,-0.009610],[0.020723,-0.055000,0.998271]]6H  a? ?Ej8?(?i6~@I6^;6CYzׁByzIbD VD 0yݽ%=ٔE:Q- ?9!Y!=%Fy!%h;E-?)Q 55d5-R?Q 95d5-MDDAT read: Rx Time:05:27:11.7848 MTRx dataTimestamp_ set to:1761542833.088829UPDAT read: Bearing 190.9, 21.6 (Local) ]~Local bearing/azimuth received: Bearing 190.9, 21.6 (Local) mDAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.0 DAT read: 05:27:11.7848 LVL= 27120, 27185, 32754, 32755, AGC= 64, IDX= 501, 0.22, 2.511,-2.549, 1.854, 3.056, PHS=-0.442, 0.723,-1.246, RAW= 353.9, 11.2, CAL= 354.2, 13.0, ROT= 155.8, -13.0 Ygot valid direction response: 05:27:11.7848 LVL= 27120, 27185, 32754, 32755, AGC= 64, IDX= 501, 0.22, 2.511,-2.549, 1.854, 3.056, PHS=-0.442, 0.723,-1.246, RAW= 353.9, 11.2, CAL= 354.2, 13.0, ROT= 155.8, -13.0 V#Rx 103: Read range and direction messages.^direction in FSK: [-0.888743,0.399417,0.224951]Fpublishing direction and range infoyIM;P:p쿓* ?:/2?YMfAIMiM1jI I)IIMMiM9?M|M@M+H>M@ MVh>)M.@IMVhIIMBnJ_wu`|F|? Ml )M@IIM.@iMVhIIchecking for new query: numPingsReceived=103, elapsed TxPingTime=49.686436)-BYyB#@Q I@-2DI-7;˽$@+Ŭ@RM;P:p쿓* ?:/2?ZiM.@biMVhjMF4@w-@AYD@ZM ǯ?ު&?)m$?2iM]mA:iMA"iMEryߜ?*iM0BiMyBiM w?iM2iM9BiMAiMb?% addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.499180 s, deltaX: -0.100000 m, approachRate: -0.200329 m/s, rangeRepo size: 4 ] Added new target pos. range: 26.154453 m, bearing: 35.246363 deg, lat: 36.779339 deg, lon: -121.859667 deg, deltaT: 0.499180 s, deltaX: -0.099445 m, approachRate: -0.199217 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 26.15 m.hYhY*hY"hY hagafafafididjdL:@Zd?ZZZZB#@Eǩ) `=i9)   i i, ua=IIa9@ @@/0@ԉchecking for new query: numPingsReceived=103, elapsed TxPingTime=49.921616^A &V=I I O > ~+,\?AD?AzD@AbE]c44jE]04rE] x/E* E*E*(E("E* ;*E*:VE*c44ZE(aB@aB@aF@aF@5;3~@5o@5Mٱ5b AHRS rotation from veh to nav: [[-0.498853,0.864736,0.058115],[-0.866446,-0.499172,-0.009931],[0.020421,-0.055307,0.998260]]5H3߿ ?3?@ n߿@V [?`>Q?i5;3~@I5];5CYЁByIAbDVDky%>=ٔu8:Q->9Y=Fyv;E>Q 5d5?Q 9d5ܵ)BYy]#@Q I@4DI;i:d5yɮA5DNOT Ignoring new targets: 26.15 m.h1h1*h1"h1 h1g1f9f9f9d9dAjdAZdE?ZaZaZaZe]#@}M)y } ~=i}9)顅.r2ii+ ԉaf=II!@! @!@%4@!mDDAT read: Rx Time:05:27:12.2850 uTRx dataTimestamp_ set to:1761542833.596648}PDAT read: Bearing 192.2, 21.9 (Local) }~Local bearing/azimuth received: Bearing 192.2, 21.9 (Local) DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0 B B B IB BB  =B B B l;B *EBBBBBCĸ45DAT read: 05:27:12.2850 LVL= 22704, 21969, 32754, 32755, AGC= 63, IDX= 503,-0.30, 0.700, 1.937, 0.020, 1.225, PHS=-0.423, 0.757,-1.250, RAW= 354.2, 10.5, CAL= 354.4, 11.8, ROT= 155.6, -11.8 =Ygot valid direction response: 05:27:12.2850 LVL= 22704, 21969, 32754, 32755, AGC= 63, IDX= 503,-0.30, 0.700, 1.937, 0.020, 1.225, PHS=-0.423, 0.757,-1.250, RAW= 354.2, 10.5, CAL= 354.4, 11.8, ROT= 155.6, -11.8 =V#Rx 104: Read range and direction messages.E^direction in FSK: [-0.891439,0.404374,0.204496]EFpublishing direction and range infoyim*IPPE?rG,?YmAimXmUi i)m?ImuؾimA?mm@mf;>m.@ mBR>)m-@ImBRiim,5^g鿣TT? m )mѰ;Im-@imBRiichecking for new query: numPingsReceived=104, elapsed TxPingTime=50.290092^A5[=IIO> checking for new query: numPingsReceived=104, elapsed TxPingTime=50.425652 +,8v?A4<ɰ29E~@2n@2ٱ2b :AHRS rotation from veh to nav: [[-0.497903,0.865285,0.058096],[-0.866996,-0.498214,-0.010035],[0.020262,-0.055366,0.998261]]2H߿i?`Ѿ?n`߿@`z?X ?i29E~@I2C];2CYfƁByfIiMb@Mb@Mb@ 9~jthQMb`?YDy;A@ vA)AYfAbDVDyK>%L=ٔ9Q->9Y=Fy3;E>Q 5 d5?Q 9d53)BY=Q E%;y%&@Q I%@6DI;ie;d5yBɮAEEm EmEm'Ei"Emf;*Em:VEm'4ZEiBEmWim9)imh3qiqiu, y} 'j=IyI9@9 @9@=5@9@A@EgAuDDAT read: Rx Time:05:27:12.7849 uTRx dataTimestamp_ set to:1761542834.099017PDAT read: Bearing 191.3, 21.1 (Local) ~Local bearing/azimuth received: Bearing 191.3, 21.1 (Local) DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.0 DAT read: 05:27:12.7849 LVL= 26768, 24369, 32754, 32755, AGC= 65, IDX= 502,-0.05, 0.066, 1.317,-0.583, 0.623, PHS=-0.455, 0.739,-1.250, RAW= 353.4, 11.1, CAL= 353.6, 12.8, ROT= 156.4, -12.8 Ygot valid direction response: 05:27:12.7849 LVL= 26768, 24369, 32754, 32755, AGC= 65, IDX= 502,-0.05, 0.066, 1.317,-0.583, 0.623, PHS=-0.455, 0.739,-1.250, RAW= 353.4, 11.1, CAL= 353.6, 12.8, ROT= 156.4, -12.8 V#Rx 105: Read range and direction messages.^direction in FSK: [-0.893590,0.390400,0.221548]Fpublishing direction and range infoyqu;eKQ?@|[?Yu3Aquhu1_q q)uAIuiu/=?qu4`@uaF>u|@ ud>)uR.@Iudqqu79IQ,4鿬B? uk )u"GIuR.@iudqqUchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.708958I ^A} Jc=I I O >#+, ?A2VP~@2"@2Cٱ2b >AHRS rotation from veh to nav: [[-0.497314,0.865626,0.058058],[-0.867333,-0.497629,-0.009931],[0.020295,-0.055294,0.998264]]2H ߿4?ù?`1'߿@V Ȕ? O?i2VP~@I2g];2CY-́By-IbD=VD=k1yM<%MR=ٔUQ-U>9QYQ=]FyY] :E]>aQ 5md5eP땊?Q 9md5e)eBYqyu &@Q Iu@e7DIe:ie$:ed5yyɮ}AiiKV?AJiARiAji!?b Eu7/$@vD@R;eKQ?@|[?ZiR.@bidj4@i?ga.@~ea @ZQ$Cr??|9?2isA:iA"i2uʜ?*i\ %BiSBi}?i0ioBiAi? addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.502369 s, deltaX: -0.200001 m, approachRate: -0.398115 m/s, rangeRepo size: 4  Added new target pos. range: 26.253881 m, bearing: 36.038674 deg, lat: 36.779338 deg, lon: -121.859666 deg, deltaT: 0.502369 s, deltaX: -0.198895 m, approachRate: -0.395913 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.25 m.hh*h"h hgfffddjd`ff:@Zd`?ZZZZ &@5C)1 5$>i59)9=_39i9iE+ AEk=IAIAiIAchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.934757Q@ @@/@ԁEu EuEu&Eq"Eus!;*Euk:VEu4ZEqa@a@a@a@^AIIO>ԩ  DDAT read: Rx Time:05:27:13.2850  TRx dataTimestamp_ set to:1761542834.604742 PDAT read: Bearing 191.7, 21.4 (Local)  ~Local bearing/azimuth received: Bearing 191.7, 21.4 (Local) B ƿ>B B IB BB B B B l;B +EE DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0 "*+,b?A߿`ɔ?-?iJ7W~@IJ];JCYUƁByUIIe=)e=m=m=}DAT read: 05:27:13.2850 LVL= 22256, 22081, 32754, 32755, AGC= 62, IDX= 503, 0.18, 3.081,-1.961, 2.426,-2.658, PHS=-0.442, 0.742,-1.243, RAW= 353.6, 10.9, CAL= 353.9, 12.5, ROT= 156.1, -12.5 Ygot valid direction response: 05:27:13.2850 LVL= 22256, 22081, 32754, 32755, AGC= 62, IDX= 503, 0.18, 3.081,-1.961, 2.426,-2.658, PHS=-0.442, 0.742,-1.243, RAW= 353.6, 10.9, CAL= 353.9, 12.5, ROT= 156.1, -12.5 V#Rx 106: Read range and direction messages.^direction in FSK: [-0.892583,0.395538,0.216440]Fpublishing direction and range infoy#Q |O~P?K?YAVAV )>IMi=?|@B>@ f_>)].@If_,sİ!$N鿊fu9? 9$ )pBI].@if_checking for new query: numPingsReceived=106, elapsed TxPingTime=51.331863iMMb@Mb@Mb@IIII I9MMb?&1Mb`?YM9Y=FyԡJe:E>Q 5d5l畊?Q 9d5)BY}=Q E:@Z3p8:֍?T| Oj?C?2isA:iA"ip؄ۜ?*i,#BiBiEryߜ?if)iBiAi ? addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.505725 s, deltaX: 0.200001 m, approachRate: 0.395473 m/s, rangeRepo size: 4 % Added new target pos. range: 26.452785 m, bearing: 35.781433 deg, lat: 36.779336 deg, lon: -121.859663 deg, deltaT: 0.505725 s, deltaX: 0.198904 m, approachRate: 0.393305 m/s, posRepo size: 4 -DNOT Ignoring new targets: 26.45 m.h)h)*h)"h) h)g1f1f1f]tBdYdYjd]:@Zde@z?Z}=Z}=Zƛ@Z1@checking for new query: numPingsReceived=106, elapsed TxPingTime=51.437679R) #>i9)4 4ii, gm=II9@ @@T2@ E=  E= E= 'E9 "E= ;*E= 5:VE= '4ZE9 BE= QQ1+,MKĬ?A2J[~@2v(@2Xٱ2|` :AHRS rotation from veh to nav: [[-0.496733,0.865981,0.057734],[-0.867663,-0.497061,-0.009551],[0.020427,-0.054838,0.998286]]2Hx߿? R?@߿@??i2J[~@I2n];2C|EDDAT read: Rx Time:05:27:13.7850 MTRx dataTimestamp_ set to:1761542835.108627UPDAT read: Bearing 191.8, 21.0 (Local) U~Local bearing/azimuth received: Bearing 191.8, 21.0 (Local) eDAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0 DAT read: 05:27:13.7850 LVL= 23424, 22625, 32754, 32755, AGC= 64, IDX= 502, 0.44, 1.265, 2.522, 0.622, 1.821, PHS=-0.454, 0.746,-1.243, RAW= 353.2, 11.0, CAL= 353.4, 12.6, ROT= 156.6, -12.6 Ygot valid direction response: 05:27:13.7850 LVL= 23424, 22625, 32754, 32755, AGC= 64, IDX= 502, 0.44, 1.265, 2.522, 0.622, 1.821, PHS=-0.454, 0.746,-1.243, RAW= 353.2, 11.0, CAL= 353.4, 12.6, ROT= 156.6, -12.6 V#Rx 107: Read range and direction messages.^direction in FSK: [-0.895652,0.387583,0.218143]Fpublishing direction and range infoyIMk .쿵DM)?'$?YIIM[MaXI I)M@IMriM>?IMC@M D>M4`@ Mz0a>)M.@IMz0aIIM%sߜw'鿈%[? M )M DIM.@iMz0aIIchecking for new query: numPingsReceived=107, elapsed TxPingTime=51.705276YuByuIbDVDyӯ%S=ٔ,Q-%>9!Y!=%Fy!-s(:E->1Q 5=d55I䕊?Q 9=d55)5BY9yE1@Q IE@5:DI5:i5:5d5yIɮMMA)iIiMƬ?AJiIRiIjiM{$"?bM4T/PG7Jk[$@@RMk .쿵DM)?'$?ZiM.@biMz0ajMԾD4@7n.@u4@ZM5KZa?E ?r_$?2iM~vA:iMاA"iM߷G̜?*iM)BiM#BiMp؄ۜ?iM\ %iM#BiM=AiM`? addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.503885 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.452785 m, bearing: 36.289379 deg, lat: 36.779335 deg, lon: -121.859661 deg, deltaT: 0.503885 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 26.45 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]?ZZZZګ1@X) >i9)E.4ii+   n=I IY9@ @@/@checking for new query: numPingsReceived=107, elapsed TxPingTime=51.941917ԁ ^A% Xh=IY I O >zY7+,|ެ?AEF EFEF&ED"EF1;*EF:VEF4ZEDaJ@aJ@aJ@aJ@ YEByMIbD]VD]02y;%_=ٔQ->9Y=FyE>Q 5d5Qᕊ?Q 9d5_)BYyQ I@;DI];iz;d5yɮDADNOT Ignoring new targets: 26.45 m.hh *h "h  h g f ffddjdZd>?Z9Z9Z9Z9I)Q U>iU$9)QUJ4QiQi], Yebm=IaIaDDAT read: Rx Time:05:27:14.2851 TRx dataTimestamp_ set to:1761542835.613613B=ſ>B9B=IB=ЁBB= =B9B9B=l;B=*Eqq@q @q@}/@yPDAT read: Bearing 191.8, 20.8 (Local) ~Local bearing/azimuth received: Bearing 191.8, 20.8 (Local) DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.0 mDAT read: 05:27:14.2851 LVL= 21968, 22049, 32754, 32755, AGC= 61, IDX= 504,-0.21, 1.030, 2.285, 0.396, 1.588, PHS=-0.456, 0.742,-1.236, RAW= 353.0, 11.0, CAL= 353.3, 12.6, ROT= 156.7, -12.6 Ygot valid direction response: 05:27:14.2851 LVL= 21968, 22049, 32754, 32755, AGC= 61, IDX= 504,-0.21, 1.030, 2.285, 0.396, 1.588, PHS=-0.456, 0.742,-1.236, RAW= 353.0, 11.0, CAL= 353.3, 12.6, ROT= 156.7, -12.6 V#Rx 108: Read range and direction messages.^direction in FSK: [-0.896327,0.386019,0.218143]Fpublishing direction and range infoy  Axvފ?'$?Y A  U !V  ) =I xi =? ?5 '@  Q@ )  /@I    tCYŝE{Ǖ6t?  ) yDI  /@i   echecking for new query: numPingsReceived=108, elapsed TxPingTime=52.300480ԁ^AyIIO> PExceeded connect timeout, disconnecting.ԩ i߭ AIߩ  checking for new query: numPingsReceived=108, elapsed TxPingTime=52.445858Gz=+,?A2NW~@2x&@2ȩٱ2 %_ :AHRS rotation from veh to nav: [[-0.496941,0.865875,0.057535],[-0.867537,-0.497289,-0.009109],[0.020724,-0.054440,0.998302]]2H ߿??/u?߿8?߫?i2NW~@I2];2CYByI !!15AԡieMb@Mb@Mb@aaaa a9eS㥛? ףp= {Gz?Ye/9Y=Fy, E>E EE*E"E;*E:VE(N4ZEBEoi9)顝p4ii+ Y!m=II -DDAT read: Rx Time:05:27:14.7850 -TRx dataTimestamp_ set to:1761542836.117982EPDAT read: Bearing 191.5, 20.7 (Local) E~Local bearing/azimuth received: Bearing 191.5, 20.7 (Local) ]DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0 DAT read: 05:27:14.7850 LVL= 21616, 22689, 32754, 32755, AGC= 60, IDX= 503, 0.00, 0.682, 1.936, 0.053, 1.245, PHS=-0.461, 0.736,-1.236, RAW= 352.9, 11.2, CAL= 353.2, 12.9, ROT= 156.8, -12.9 Ygot valid direction response: 05:27:14.7850 LVL= 21616, 22689, 32754, 32755, AGC= 60, IDX= 503, 0.00, 0.682, 1.936, 0.053, 1.245, PHS=-0.461, 0.736,-1.236, RAW= 352.9, 11.2, CAL= 353.2, 12.9, ROT= 156.8, -12.9 V#Rx 109: Read range and direction messages.^direction in FSK: [-0.895937,0.383999,0.223250]Fpublishing direction and range infoy)-d쿨>Uq?Nu?Y-A)-pT-X) ))-<I-1i-j-C@@ @@/@ -f>)-%/@I-f))-"R+⿙>BZmfh? - )-OGI-%/@i-f))checking for new query: numPingsReceived=109, elapsed TxPingTime=52.723900) ^A I I O >NaD+,_?A2W~@2&@2Mٱ2_.` :AHRS rotation from veh to nav: [[-0.496915,0.865868,0.057863],[-0.867546,-0.497274,-0.009042],[0.020945,-0.054692,0.998284]]2Ht߿0?@F?V߿r??i2W~@I2\;0YUByUI ae<bDmVDmyu!~%}u=ٔ},Q-}?9Y=FyV8E?Q 5d53ە?Q 9d5)BYyQ I@>DI;i;d5yɮAiYi]?AJi]ARi]Aji]T"?b]X57?P$@<R@R]d쿨>Uq?Nu?Zi]%/@bi]fj]-4@k.@ _@Z]3?L?N2?7!o?2i]LwA:i]OA"i]}~?*i]= DDAT read: Rx Time:05:27:15.2850 BY BY B] IB] BBY BY BY B] l;B] *Eu TRx dataTimestamp_ set to:1761542836.622275} PDAT read: Bearing 191.1, 20.8 (Local) } ~Local bearing/azimuth received: Bearing 191.1, 20.8 (Local)  DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0  DAT read: 05:27:15.2850 LVL= 21968, 22321, 32754, 32755, AGC= 60, IDX= 503, 0.21, 1.775, 3.020, 1.147, 2.340, PHS=-0.463, 0.725,-1.237, RAW= 353.1, 11.4, CAL= 353.3, 13.2, ROT= 156.7, -13.2 ԉ  Ygot valid direction response: 05:27:15.2850 LVL= 21968, 22321, 32754, 32755, AGC= 60, IDX= 503, 0.21, 1.775, 3.020, 1.147, 2.340, PHS=-0.463, 0.725,-1.237, RAW= 353.1, 11.4, CAL= 353.3, 13.2, ROT= 156.7, -13.2  V#Rx 110: Read range and direction messages.J+,M,?AU^direction in FSK: [-0.894180,0.385095,0.228351]]Fpublishing direction and range infoyae6vsFd? :?YaaeUe1Wa a)aIeVie9?eVeP5@e%K>eQ@ ek>)e /@IekaaeE⿑z7鿾)E? e )eKV~@&@ٱJaIe /@iekaachecking for new query: numPingsReceived=110, elapsed TxPingTime=53.333385 5AHRS rotation from veh to nav: [[-0.496978,0.865817,0.058088],[-0.867509,-0.497338,-0.009101],[0.021009,-0.054915,0.998270]]H`{߿Ŵ??@c߿@£`p??iV~@IQ];YEByEIIEnManaging dock network, ignoring radio surface power offimMb@Mb@Mb@iiii i9m~jt?I + rh?Ym9AYA=EFyAEEM>IQ 5Ue5checking for new query: numPingsReceived=110, elapsed TxPingTime=53.453659ԁMSו?Q 9e5M)MBY=Q E5 P5@ 5 :Fq>)5 LB/@I5 :Fq1 1 5 w,HX"R+,K?A2O~@2\"@24ȭٱ2xa nAHRS rotation from veh to nav: [[-0.497371,0.865579,0.058264],[-0.867279,-0.497742,-0.008998],[0.021212,-0.055007,0.998261]]2H߿@Ӳ?ԭ? ߿m?)`?i2O~@I2 ];2CYBy-I5=1bDE VDE2yus*%u[=ٔuQ-u>9yYy=}Fyy}E>Q 5e5ԕ?Q 9e5b)BYy8@Q I@@DI:i:e5yɮhAiiG?AJiRijiA#?b x֨7T7.$@z@RQG.rj?%E?ZiLB/@bi:FqjW%4@+g.@Z~"$n@Z8ԁ E  E E E "E 7;*E :VE ZE a @a @a @a @FX+,e?A4:J~@:? @:Lٱ:Ha FAHRS rotation from veh to nav: [[-0.497594,0.865444,0.058364],[-0.867149,-0.497967,-0.008999],[0.021275,-0.055088,0.998255]]:H`߿@?? ߿@m2ɕ?}4 ?i:J~@I:\;8Y\ybIddbDjVDjfy呻% S=ٔ +Q- >9Y=Fy6.E>!Q 5%e5%ѕ?Q 9-e5%')%BY)y-8@Q I-@%ADI%|:i%:% e5y1MDDAT read: Rx Time:05:27:16.2851 MTRx dataTimestamp_ set to:1761542837.628844UPDAT read: Bearing 190.6, 20.5 (Local) ]~Local bearing/azimuth received: Bearing 190.6, 20.5 (Local) mDAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.0 DAT read: 05:27:16.2851 LVL= 19440, 22049, 32754, 32755, AGC= 61, IDX= 504,-0.12, 0.443, 1.697,-0.176, 1.025, PHS=-0.480, 0.717,-1.245, RAW= 352.7, 11.8, CAL= 353.1, 13.8, ROT= 156.9, -13.8 Ygot valid direction response: 05:27:16.2851 LVL= 19440, 22049, 32754, 32755, AGC= 61, IDX= 504,-0.12, 0.443, 1.697,-0.176, 1.025, PHS=-0.480, 0.717,-1.245, RAW= 352.7, 11.8, CAL= 353.1, 13.8, ROT= 156.9, -13.8 V#Rx 112: Read range and direction messages.^direction in FSK: [-0.893270,0.381012,0.238533]Fpublishing direction and range infoyIM5;fDրb?iC?YMAIMKM!VI I)M=IMiMP7?M)\M@MBR>I MϢv>)IIMϢvIIAABBBIBBBBBBm;B+EMzp ڐ? M>")MrRIIiMϢvIIchecking for new query: numPingsReceived=112, elapsed TxPingTime=54.229668ɮ=oAiIiM>h?AJiMjARiMjAjiM"?bMK7MF;$@HU@RM5;fDրb?iC?ZiIbiMϢvjM$y`\4@'.@ @ZM_zU8?&!?_\?2iMwA:iMjA"iM&@?*iM0BiM6BԑiM?iM@iMBiMnAiMnH"? addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504159 s, deltaX: 0.100000 m, approachRate: 0.198351 m/s, rangeRepo size: 4  Added new target pos. range: 26.552214 m, bearing: 36.477364 deg, lat: 36.779332 deg, lon: -121.859657 deg, deltaT: 0.504159 s, deltaX: 0.099457 m, approachRate: 0.197273 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.55 m.hh*h"h hgfffddjd@3:@Zd?ZIZIZIZM8@L) =i9)額4ii+ j=IIԹQ@Y @Y@]]1@Ychecking for new query: numPingsReceived=112, elapsed TxPingTime=54.461815 ^A Xh=I I O >"_+,z?AE EE)E"E;*E:VEFA4ZEBEd9!Y!=%Fy!-E->1Q 5=e55Ε?Q 9=e55)5BY==Q EEUj @ UV>)U/@IUVQQUaװ p֡? U)UZp`IU/@iUVQQchecking for new query: numPingsReceived=113, elapsed TxPingTime=54.773365^AIIO>9  checking for new query: numPingsReceived=113, elapsed TxPingTime=54.965645f+,N?AF]D~@F@FʭٱFk=a jAHRS rotation from veh to nav: [[-0.497938,0.865257,0.058210],[-0.866953,-0.498308,-0.009007],[0.021213,-0.054950,0.998264]]FH@8߿.?ͭ?`@I߿;r渕?l"?iF]D~@IF\;FCY~ByI!bDUVDUy%%U=ٔGf9Q->9Y=FyqйE>Q 5e5˕?Q 9e5)BYy8'@Q I@DDIeC@ eܸ>)e%/@Ieܸaae8һY迪DG1? e)egcIe%/@ieܸaa%checking for new query: numPingsReceived=114, elapsed TxPingTime=55.243332^A h=Iy I O >ԡ 1l+,|&?A2DB~@2@2άٱ2Y` :AHRS rotation from veh to nav: [[-0.498051,0.865209,0.057961],[-0.866891,-0.498416,-0.009010],[0.021093,-0.054733,0.998278]]2H߿ ʯ?? ߿s@r? ?i2DB~@I2 ];2CYNBy^IyiMb@Mb@Mb@ 9y&1|)\(S㥛?Y`yGὙ/< A)vAY3A ;p;bDVDy-<%-@=ٔ-9Q-5>9qYq=uFyq}0E}>Q 5e5ȕ?Q 9e5l)BYh=Q E;checking for new query: numPingsReceived=114, elapsed TxPingTime=55.469681y&#@Q I@EDI;iX;e5yɮAii?AJiARiAjiR "?bT0>h7.6jT$@JtO<@RJ؋^ 3Q?&K?Zi%/@biܸjk5@dB.@d"&@Z2ۅ#?8u?q?2ivA:i A"iis?*iȕBiBiis?iC*i6BieAi!?] addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503627 s, deltaX: 0.299999 m, approachRate: 0.595677 m/s, rangeRepo size: 4 e Added new target pos. range: 26.751110 m, bearing: 36.285743 deg, lat: 36.779331 deg, lon: -121.859657 deg, deltaT: 0.503627 s, deltaX: 0.298342 m, approachRate: 0.592386 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.75 m.hh*h"h hgfffBdd jd`f:@Zd`+?ԩZh=Zh=ZIÔ@Z&#@ά) =i?9)顝4ii, h=IIEE EEEE'EA"EE=;*EE':VEE'4ZEABEE{Iu :@ u ;>)u x 0@Iu ;q q u sfzE-B\|ts+,I̭?AYByIbDVDy5<%5K=ٔ=Q-=>99Y9==FyAEEE>qQ 5ue5uŕ?Q 9}e5uɯ)uBYyyyQ I}@uGDIu:iu:uee5yBɮAEiiɭ?AJijARijAji`%?bŶj7E\`4 b#@OQ.@R1FoV%j\?gd?Zix 0@bi;jdVʉ4@}.@%\@Zh?ݻM?p\̫R?2iwA:iNA"iIr?*i@BiBi*`?i0idBiAi!?= addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.503979 s, deltaX: -0.199999 m, approachRate: -0.396840 m/s, rangeRepo size: 4  Added new target pos. range: 26.552219 m, bearing: 37.013686 deg, lat: 36.779331 deg, lon: -121.859657 deg, deltaT: 0.503979 s, deltaX: -0.198891 m, approachRate: -0.394641 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.55 m.hh*h"h hgfffddjd@3:@Zd$]?ZZZZ) =i9)=49i9iE+ AAIAIIchecking for new query: numPingsReceived=115, elapsed TxPingTime=55.974243@ @@/@@>@=QEm  Em Em (Ei "Em ;*Em :VEm c44ZEi au @au @au @au @^A= Xh=Ia Iq O} >q 3y+,?AYByII <) 4<bDVDy%i(%%^=ٔ)Q-->9)Y)=5Fy11E5>MDDAT read: Rx Time:05:27:18.2852 MTRx dataTimestamp_ set to:1761542839.644808UPDAT read: Bearing 189.2, 20.1 (Local) ]~Local bearing/azimuth received: Bearing 189.2, 20.1 (Local) mDAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.0 ByAyBƿ>BBBB =BBBm;Bt+EDAT read: 05:27:18.2852 LVL= 22064, 24145, 32754, 32755, AGC= 61, IDX= 505, 0.22, 2.225,-2.822, 1.629, 2.829, PHS=-0.502, 0.677,-1.244, RAW= 352.5, 12.7, CAL= 352.9, 15.3, ROT= 157.1, -15.3 Ygot valid direction response: 05:27:18.2852 LVL= 22064, 24145, 32754, 32755, AGC= 61, IDX= 505, 0.22, 2.225,-2.822, 1.629, 2.829, PHS=-0.502, 0.677,-1.244, RAW= 352.5, 12.7, CAL= 352.9, 15.3, ROT= 157.1, -15.3 V#Rx 116: Read range and direction messages.^direction in FSK: [-0.888536,0.375332,0.263873]Fpublishing direction and range infoyIMn@1q?&K?YM3AIM0VMQ^I I)M=IMiMO-?Md;M@Mb>M@ Mܸ>)M~{/@IMܸIIM; 82 ?Q 5e5•?Q 9e5,)BYyQ I@HDI:ia:e5yɮAY M.f)MbIM~{/@iMܸIIiIchecking for new query: numPingsReceived=116, elapsed TxPingTime=56.305565iMD?AJiMARiMAjiMs#?bM7-~e$@kV<@RMn@1q?&K?ZiM~{/@biMܸjM`J4@[5/@O@ZMb{ ?iSA ?ri?2iMxA:iMzA"iM C򦜊?*iMDBiMBiM C򦜊?iMȕiMBiMAiM8"? addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504071 s, deltaX: 0.199999 m, approachRate: 0.396767 m/s, rangeRepo size: 4 - Added new target pos. range: 26.751211 m, bearing: 36.582389 deg, lat: 36.779330 deg, lon: -121.859657 deg, deltaT: 0.504071 s, deltaX: 0.198992 m, approachRate: 0.394769 m/s, posRepo size: 4 -DNOT Ignoring new targets: 26.75 m.h)h)*h1"h1 h1g1f1f9f9d9d9ԁjd=`f:@Zd ?ZZZZ)  =i=9)9E^4AiAiM, IM1h=IIII@ @@/@Աchecking for new query: numPingsReceived=116, elapsed TxPingTime=56.477825 ^A I I O% >+,s?AE EE)E"E;*E:VEFA4ZEBEl_9Y=Fy;E>Q 5e5?Q 9e5()BY>Q E;y@Q I@JDI':i:G e5yɮA%DNOT Ignoring new targets: 26.75 m.h!h!*h!"h) h)g)f)f1f5BԱddjdZd?Z>Z>Z@Z.@5fr)1 5T=i5k9)1541i9i=+ AEgt=IAIA]DDAT read: Rx Time:05:27:18.7852 eTRx dataTimestamp_ set to:1761542840.149982uPDAT read: Bearing 186.8, 18.9 (Local) u~Local bearing/azimuth received: Bearing 186.8, 18.9 (Local) DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.1 DAT read: 05:27:18.7852 LVL= 22560, 25121, 32754, 32755, AGC= 60, IDX= 505,-0.37,-0.278, 0.951,-0.825, 0.374, PHS=-0.550, 0.622,-1.243, RAW= 351.5, 14.2, CAL= 352.1, 17.7, ROT= 157.9, -17.7 Ygot valid direction response: 05:27:18.7852 LVL= 22560, 25121, 32754, 32755, AGC= 60, IDX= 505,-0.37,-0.278, 0.951,-0.825, 0.374, PHS=-0.550, 0.622,-1.243, RAW= 351.5, 14.2, CAL= 352.1, 17.7, ROT= 157.9, -17.7 V#Rx 117: Read range and direction messages.^direction in FSK: [-0.882668,0.358414,0.304033]Fpublishing direction and range infoyae8>yNB?z0Gu?Yaae Xe!ba a)e<Ie ied;?eeP@e}>eU@ e2+>)eA`0@Ie2+aaeH㿁OoL迵Qu? e}v)eI~IeA`0@ie2+aachecking for new query: numPingsReceived=117, elapsed TxPingTime=56.751621!@! @!@%0@! ^Am h=Iq I O > checking for new query: numPingsReceived=117, elapsed TxPingTime=56.9816289 E+,O?A~@?@bٱBc AHRS rotation from veh to nav: [[-0.494290,0.867376,0.057763],[-0.869085,-0.494545,-0.010786],[0.019211,-0.055532,0.998272]]Hq߿@? ? ࡦ߿?n`?i~@I:3];CYyIbD5VD5NyMN%MB=ٔU:Q-]>9aYa=eFyae?;Em>iQ 5}e5m)?Q 9}e5m)mBYyy@Q I@mLDIm);im*;m#e5yɮAE5 E5E5(E1"E5~ ;*E5:VE5c44ZE1aE@aE@aE@aE@iiN ?AJiRijiU'?bȜ7\-#@9D @R8>yNB?z0Gu?ZiA`0@bi2+ju%u4@z1b/@MNV@Z_xbx?G?̟?2i{A:iA"ivx?*i̕]BiBigOP?i@iBirAi;"? addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.505174 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.751211 m, bearing: 37.489613 deg, lat: 36.779329 deg, lon: -121.859656 deg, deltaT: 0.505174 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.75 m.hh*h"h hgfffddjdZd  ?ZZZZY@b) =i9)5i!ie, imw=IiIiIy)y9@ @@e0@@@eDDAT read: Rx Time:05:27:19.2852 mTRx dataTimestamp_ set to:1761542840.652707Bſ>BBIBBBBBBm;Bk+EPDAT read: Bearing 189.2, 20.3 (Local) ~Local bearing/azimuth received: Bearing 189.2, 20.3 (Local) DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.0 DAT read: 05:27:19.2852 LVL= 21648, 24049, 32754, 32755, AGC= 60, IDX= 505, 0.06, 0.514, 1.747,-0.090, 1.116, PHS=-0.500, 0.676,-1.250, RAW= 352.7, 12.7, CAL= 353.1, 15.3, ROT= 156.9, -15.3 Ygot valid direction response: 05:27:19.2852 LVL= 21648, 24049, 32754, 32755, AGC= 60, IDX= 505, 0.06, 0.514, 1.747,-0.090, 1.116, PHS=-0.500, 0.676,-1.250, RAW= 352.7, 12.7, CAL= 353.1, 15.3, ROT= 156.9, -15.3 V#Rx 118: Read range and direction messages.^direction in FSK: [-0.887221,0.378432,0.263873]Fpublishing direction and range infoyaepd|zr:8?&K?YaaeTe]a a)aIeieV-?ee@eb>eP5@ eܸ>)eLB/@IeܸaaeDSV3Q6a迂&1? e+)e|lcIeLB/@ieܸaa=checking for new query: numPingsReceived=118, elapsed TxPingTime=57.261726q ^A} hp=I I O >lp+,o,4?A ZC~@ZsL@Z88ٱZc jAHRS rotation from veh to nav: [[-0.492934,0.868164,0.057503],[-0.869868,-0.493156,-0.011262],[0.018580,-0.055571,0.998282]]ZH;߿?p?܏߿@?s?iZC~@IZeF];XYrByrI ttiMb@Mb@Mb@ 9V- rhI +?YmyC 9< A9@ )AYAbDVDy=$%S=ٔ:Q->9Y=FyՄ;E>Q 5e5J?Q 9e5)BY>Q E;y @Q I@MDI:i<;X'e5yɮAii)?AJiRijil#?bI7bJ8?$@zZP<@Rpd|zr:8?&K?ZiLB/@biܸj4@("%/@sj>,@Z-Zh?'ӂ?s?2i-yA:i'A"i?*iHBiэBi?iDiэBiAiǴ"?M addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.502725 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 26.751120 m, bearing: 36.699358 deg, lat: 36.779328 deg, lon: -121.859655 deg, deltaT: 0.502725 s, deltaX: -0.000092 m, approachRate: -0.000182 m/s, posRepo size: 4 eDNOT Ignoring new targets: 26.75 m.haha*ha"ha hagifififmBdydyjdyZd} s,?checking for new query: numPingsReceived=118, elapsed TxPingTime=57.485664qZ>Z>Z@ZA @]88)a eL=i9)顕5ii+ $$}=IIEM EMEM&EI"EM ;*EM:VEM4ZEIBEML @ >) ~{/@I  _#:⿊9P? *}) @tI ~{/@i  5 checking for new query: numPingsReceived=119, elapsed TxPingTime=57.762974^A5 np=IA IM eJIY Om > `+,(N?AH5Ƚ~@5Y@5Hٱ5Pc EAHRS rotation from veh to nav: [[-0.491532,0.868986,0.057093],[-0.870676,-0.491719,-0.011699],[0.017907,-0.055459,0.998300]]5HAu߿@?;;?Qx߿ HV?.e?i5Ƚ~@I5v];5CYuByuI 4<bDVD 8yj<%J=ٔj:Q->9Y=Fy;E>Q 5e5@?Q 9e5)BYy @Q I@ODIy:i :*e5y1ɮ5A1iii:J?AJiRiji$?b{<7HTX~#@n?@RW߉s4:5?Tcݚ?Zi~{/@bijR=J4@S=/@s('@ZNvu{?7 ?=?2ixA:iA"iʣ?*iRBiTBiIr?iHiBi$AiĜ$? addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.507108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.751120 m, bearing: 36.912919 deg, lat: 36.779326 deg, lon: -121.859653 deg, deltaT: 0.507108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.75 m.hh*h"h hgfYfafadadajdiZdm *?ZZԹZZ @H) u=i9)u 5ii, 7=IIq@q @q@}/@ychecking for new query: numPingsReceived=119, elapsed TxPingTime=57.989841 DE @AzDE AAEM  EM EM 'EI "EM T;*EM :VEM '4ZEI aU @aU @aU @aU @e G hA ^A (z=I I O > !9 hAY >A ye %'?e %A +,~g?A2~@2$e@2Oٱ2ϖb :AHRS rotation from veh to nav: [[-0.490320,0.869695,0.056718],[-0.871368,-0.490484,-0.011953],[0.017424,-0.055283,0.998319]]2H`ha߿@?+ ?`?d߿`zב? N:?i2~@I2];2CYZByZIbDbVDbܲyj%j[=ٔjO:Q-n>9lYl=nFylrsw;Er>txQ 5ze5v~?Q 9~e5v)vBY|y~@Q I~@vQDIv-;iv.;v#.e5yɮA DDAT read: Rx Time:05:27:20.2853 TRx dataTimestamp_ set to:1761542841.660754-PDAT read: Bearing 188.8, 19.2 (Local) -~Local bearing/azimuth received: Bearing 188.8, 19.2 (Local) =DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.0 ]DAT read: 05:27:20.2853 LVL= 20976, 21553, 32754, 32755, AGC= 59, IDX= 506,-0.13,-1.437,-0.192,-1.994,-0.808, PHS=-0.527, 0.661,-1.229, RAW= 351.6, 13.2, CAL= 352.0, 16.0, ROT= 158.0, -16.0 eYgot valid direction response: 05:27:20.2853 LVL= 20976, 21553, 32754, 32755, AGC= 59, IDX= 506,-0.13,-1.437,-0.192,-1.994,-0.808, PHS=-0.527, 0.661,-1.229, RAW= 351.6, 13.2, CAL= 352.0, 16.0, ROT= 158.0, -16.0 mV#Rx 120: Read range and direction messages.u^direction in FSK: [-0.891266,0.360095,0.275637]uFpublishing direction and range infoyF A U ? ?YAQ1T );IyiL7)?O^@k> @ 5>)|0@I5I$_4Zg%,(? Sy)WkI|0@i5T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AA@ABBBIBBB =BBBxm;BI+EiiIj?AJiARiAjiYs)?b"V7T&fV#@ԉ3@RF A U ? ?Zi|0@bi5jn4@w0@CT@Z0`Ĉ?S 6?Rd\?2i,A:iA"iAk@x?*itBiBiʣ?iRiBiAi?d$? addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.500939 s, deltaX: 0.100000 m, approachRate: 0.199626 m/s, rangeRepo size: 4  Added new target pos. range: 26.850573 m, bearing: 37.925012 deg, lat: 36.779326 deg, lon: -121.859653 deg, deltaT: 0.500939 s, deltaX: 0.099453 m, approachRate: 0.198533 m/s, posRepo size: 4  DNOT Ignoring new targets: 26.85 m.h h *h"h hgfffddjd;@Zd ;?!ZqZqZqZuu@O) Q2Acoustic response timeouty ^A5 yz=I9 IQ Oe >i+,?AE EE%E"E;*E:VE 4ZEBE.N=@ =C>)=/@I=C99=Z7d4? =)=doI=/@i=C992Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.O@ A)AYAbD VD k2yݼ%=ٔEp:Q-E>9IYI=MFyIM~8;EU>QQ 5]e5Uu?Q 9e5U)UBY>Q E;y @Q I@UTDIU7'?ZM>ZM>ZMص@ZM @}%)y ;i9)顅 5ii, T=IԱII @I  @I @M /@I  2Acoustic response timeout^A t0=I I O >g+,^?A6@6E|@6@_ٱ6Sa >AHRS rotation from veh to nav: [[-0.487865,0.871106,0.056237],[-0.872761,-0.487991,-0.012394],[0.016646,-0.055128,0.998341]]6H,9߿?ˬ?`?;߿?b` ?`9g?i6@I6];6CYFByFiIbDRVDRyV%Z=ٔZj:Q-Z?9\Y\=^Fy\^8;E^?`Q 5je5b.?Q 9je5b)bBYhyn @Q In@bUDIb';ib(;b5e5ypɮrAp DNOT Ignoring new targets: 26.75 m.h h*h"h hgfffddjd!Zd% 8?ZAZAZAZE @D%=D4=E EE'E"Ef;*E՚:VE'4ZEa@a@a@a@@_) X/iU9)( 5ii+ !%=I!I)9@ @@0@DDAT read: Rx Time:05:27:21.2854 TRx dataTimestamp_ set to:1761542842.668698PDAT read: Bearing 188.1, 19.9 (Local) ~Local bearing/azimuth received: Bearing 188.1, 19.9 (Local) DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.0 DAT read: 05:27:21.2854 LVL= 22928, 21745, 32754, 32755, AGC= 60, IDX= 506, 0.40,-0.021, 1.211,-0.608, 0.608, PHS=-0.527, 0.647,-1.260, RAW= 352.4, 13.6, CAL= 352.9, 16.7, ROT= 157.1, -16.7 Ygot valid direction response: 05:27:21.2854 LVL= 22928, 21745, 32754, 32755, AGC= 60, IDX= 506, 0.40,-0.021, 1.211,-0.608, 0.608, PHS=-0.527, 0.647,-1.260, RAW= 352.4, 13.6, CAL= 352.9, 16.7, ROT= 157.1, -16.7 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.882332,0.372712,0.287361]Fpublishing direction and range infoy[.<aG?gd?YAYT )Iyiˡ%?G:@s>@ ;>)~{/@I;迠A(x?BBBIBBBBBBEm;B0+Eq 4)B sI~{/@i;52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.^AIIO%>ԙ z+,CǸ?A2@2@2vɆٱ2c :AHRS rotation from veh to nav: [[-0.486605,0.871800,0.056402],[-0.873467,-0.486719,-0.012617],[0.016453,-0.055405,0.998328]]2H $߿??qh&߿։ؐ? ^`N?i2@I2!];2C9!Y!=%Fy!%D;E->1Q 55e55Щ?Q 9=e55)5BY=>Q E=;y=@Q I=@5WDI5:i5:59e5yIɮMAIii˪?AJieARieAjib&?b?,7vp)$@ o@R[.<aG?gd?Zi~{/@bi;j+>iY4@m/@/9M<@ZRXϧ? \?5?2iw}A:iA"iP?*i2Bi1Biʣ?i*G} ii[Ai|$? addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503866 s, deltaX: 0.300001 m, approachRate: 0.595399 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 27.049480 m, bearing: 37.239006 deg, lat: 36.779326 deg, lon: -121.859650 deg, deltaT: 0.503866 s, deltaX: 0.298355 m, approachRate: 0.592132 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.05 m.hh*h"h hgfffBddjd@33;@Zd?Z>Z>Zی@ZI@vɆ) {q+,Ү?A2!-@2b@2iٱ27Hc :AHRS rotation from veh to nav: [[-0.485616,0.872352,0.056385],[-0.874020,-0.485724,-0.012709],[0.016301,-0.055453,0.998328]]2HV߿N?xެ?߿ԡ  PDAT read: Bearing 187.0, 19.5 (Local)  ~Local bearing/azimuth received: Bearing 187.0, 19.5 (Local)  DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.0  DAT read: 05:27:22.2854 LVL= 21680, 24961, 32754, 32755, AGC= 60, IDX= 507,-0.02,-0.590, 0.638,-1.164, 0.061, PHS=-0.549, 0.622,-1.269, RAW= 352.2, 14.3, CAL= 352.7, 17.9, ROT= 157.3, -17.9  Ygot valid direction response: 05:27:22.2854 LVL= 21680, 24961, 32754, 32755, AGC= 60, IDX= 507,-0.02,-0.590, 0.638,-1.164, 0.061, PHS=-0.549, 0.622,-1.269, RAW= 352.2, 14.3, CAL= 352.7, 17.9, ROT= 157.3, -17.9  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.877882,0.367226,0.307357]B! B! B% yIB% BB! B! B! B% Bm;B% .+EBBBBBC4= Fpublishing direction and range infoy  \+F׷/?uY?Y A T a ) <I D i d;? n @ r> @ >) /@I U߁{迅R ZQ? ) C7I /@i T+,|?A"2Acoustic response timeout&Querying Benthos address 50 with one ping in standard two-way mode.]9@]@][ąٱ]bԁ AHRS rotation from veh to nav: [[-0.484941,0.872732,0.056303],[-0.874394,-0.485053,-0.012583],[0.016328,-0.055333,0.998334]]]H@G ߿`l?Ӭ? ` ߿`5ʼnZ?@TZ?i]9@I]];]CYwBy=IbDVDβyV%9=ٔQ->9Y=Fy:E>Q 5e5M?Q 9e5)BYy@Q I@ZDIz{a+,X?A2D@2*@2Oٱ2Ab :AHRS rotation from veh to nav: [[-0.484358,0.873060,0.056245],[-0.874716,-0.484478,-0.012395],[0.016428,-0.055202,0.998340]]2H޿?`.̬?߿b@xҐ?zCf?i2D@I2`];2CYR{ByRBIimMb@Mb@Mb@iiii i9m9Y=Fy:E>Q 5e5?Q 9e5)Y=Q Euj @ u>)u/@Iuqqu> ~hiz? u)uU{Iu/@iuqq2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Z =Z =Z @Z B"@=O)9 =أ=iE9)AE:2AiAiM+ quvw=IqIqI) 9@  @ @ 4@ @>@=1^A- =IA IQ Oe >e DDAT read: Rx Time:05:27:23.2854 u TRx dataTimestamp_ set to:1761542844.440182 PDAT read: Bearing 185.9, 19.8 (Local)  ~Local bearing/azimuth received: Bearing 185.9, 19.8 (Local)  DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.0  X#Rx 1: Read range message, but no direction.yi Ym Ai  2Acoustic response timeout% Querying Benthos address 50 with one ping in standard two-way mode.i e+,v3 ?A2)G@2f@2hٱ2/a :AHRS rotation from veh to nav: [[-0.484223,0.873138,0.056187],[-0.874784,-0.484366,-0.011959],[0.016773,-0.054942,0.998349]]2H޿ ?{Ĭ?@:޿~,?Z!y?i2)G@I2];2CYViByZ+II^<)^;bDbVDbyjP%jW=ٔnnQ-n>9|Y=Fy 9E> Q 5e5 잕?Q 9e5 \) BYy=#@Q I=@ ]DI ;i ; SGe5yAɮE0AIE EE'E"El;*E$:VE'4ZEa@a@a@a@ii+?AJiRiji'?b̀7_uL#@!@Rs"k?f& ?Zi/@bij9‹4@p0e/@TU@ZHeN?]y*}? l?2i/{A:i^A"iV[Ib?*ijpBiKBicŨp?i2i1BiAi1&?  addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.764657 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 1E Added new target pos. range: 27.049419 m, bearing: 37.383198 deg, lat: 36.779324 deg, lon: -121.859647 deg, deltaT: 0.764657 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EDNOT Ignoring new targets: 27.05 m.hAhI*hI"hI hIgIfIfQfQdQdYjdYZd]?ZZZZ#@h) 6=i"9)U2ii, a=II9@ @@/@aBBBYIBBBBBBQm;B6+EDAT read: 05:27:23.2854 LVL= 21872, 24225, 32754, 32755, AGC= 60, IDX= 506, 0.38,-0.275, 0.928,-0.854, 0.381, PHS=-0.554, 0.592,-1.279, RAW=35.6 15.0, CAL= 353.2, 19.0, ROT= 156.8, -19.0 5unknown deviceResponse_: 05:27:23.2854 LVL= 21872, 24225, 32754, 32755, AGC= 60, IDX= 506, 0.38,-0.275, 0.928,-0.854, 0.381, PHS=-0.554, 0.592,-1.279, RAW=35.6 15.0, CAL= 353.2, 19.0, ROT= 156.8, -19.0 2Acoustic response timeoutԑ^Atn=IIO% >Թ +, :?ADDAT read: Rx Time:05:27:23.7853 -TRx dataTimestamp_ set to:1761542844.943879EPDAT read: Bearing 186.3, 19.6 (Local) M~Local bearing/azimuth received: Bearing 186.3, 19.6 (Local) uDAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.1 X#Rx 1: Read range message, but no direction.y!Y%A!2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.D@.@ٱ` -AHRS rotation from veh to nav: [[-0.484351,0.873073,0.056100],[-0.874707,-0.484515,-0.011555],[0.017092,-0.054668,0.998358]]H޿7??@I߿`e?a ?iD@I_];CԑYeBy&IiMb@Mb@Mb@ 99AYA=mFyimYEm>qQ 5}e5E EEE"EI;*Ev:VEZEBEdj -+,S?A2=@2@2Ɛٱ2C*` :AHRS rotation from veh to nav: [[-0.484717,0.872851,0.056397],[-0.874493,-0.484912,-0.011085],[0.017672,-0.054692,0.998347]]2H`߿`e? ?߿?@ u?i2=@I2-];2CY^_BybIIAbDrVDryv%z=ٔzgQ-z?9|Y|=~Fy|XE?Q 5 e5?Q 9e5)BYyr/@Q I@_DI:i:aNe5yɮ~ADNOT Ignoring new targets: 27.05 m.hh*h"h hgfffddjdZdwg?ZZZZr/@Ɛ) =i(9)x,3ii%, !%m=I!I)9@ @@/@@@fA=DDAT read: Rx Time:05:27:24.2854 MTRx dataTimestamp_ set to:1761542845.449660mPDAT read: Bearing 186.7, 20.2 (Local) u~Local bearing/azimuth received: Bearing 186.7, 20.2 (Local) DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.0 X#Rx 1: Read range message, but no direction.y9Y=A92Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E EE%E"E%;*E':VE 4ZEa@a@a@a@^A=IIO>I  DAT read: 05:27:24.2854 LVL= 22464, 23825, 32754, 32755, AGC= 59, IDX= 507,-0.01,-1.376,-0.175,-1.975,-0.739, PHS=-0.535, 0.609,-1.281, RAW= 353.0, 14.5, CAL= 353.6, 18.1, ROT= 156.4, -18.  Ugot valid direction response: 05:27:24.2854 LVL= 22464, 23825, 32754, 32755, AGC= 59, IDX= 507,-0.01,-1.376,-0.175,-1.975,-0.739, PHS=-0.535, 0.609,-1.281, RAW= 353.0, 14.5, CAL= 353.6, 18.1, ROT= 156.4, -18.  X#Rx 1: Read direction message, but no range. ^direction in FSK: [-0.871513,0.380755,0.309017]y  ]0n뿼S{H^?;[@? W ] ) ;I i m? '@ > |@A! A% AA ?>) R.@I |٠ +)lItxeH ? ) I R.@i |٠= 2Acoustic response timeout+,m?AJU3@J|@JؕBPBPBR!IBR`BBR =BPBPBR4m;BR(+EٱJ` ]AHRS rotation from veh to nav: [[-0.485269,0.872520,0.056768],[-0.874174,-0.485497,-0.010625],[0.018291,-0.054781,0.998331]]JH߿?`? ;b߿@U…Ѻ?K S?iJU3@IJ;];HYm^BymI bDVDy%==ٔQ->9Y=Fy5E>Q 5 e5ǖ?Q 9 e5I)BY9y=g/@Q I=@`DI;i;2Re5yYɮeAiQiiim;\?AJiiRiijim#?bmi7/"l/$@pI @Rm]0n뿼S{H^?;[@?ZimR.@bim|٠jmL4@?G' /@ =BDAT read: Tx time:05:27:25.1736 =$Ping request sent.=,+,?Aɰ;2?@2q@2iNٱ2nj` :AHRS rotation from veh to nav: [[-0.486334,0.871908,0.057054],[-0.873567,-0.486599,-0.010099],[0.018957,-0.054752,0.998320]]2H ߿ ?*6?`Cn$߿i?k9Y=FyEME>Q 5e5 ?Q 9e5H)BYȪ=Q EBddjdZd?Z%Ȫ=Z%Ȫ=Z%?֦@Z%LH@=iN)9 =L=i=]9)AE3AiAiM, IMN6=IIIIԱ 9@  @ @ 0@ ^A5@=I9IQO]> +,?A"G.gA8R#9RgAYRAb @b3@bUٱb g` jAHRS rotation from veh to nav: [[-0.487419,0.871279,0.057408],[-0.872946,-0.487725,-0.009507],[0.019716,-0.054748,0.998306]]bH@1߿?d?,6߿Sxt0??pib @IbV];bCYv`Byv IbDVD0y E-=% S=ٔ<Q->9Y=Fy6SE%>!Q 5-e5%W?Q 9-e5%F)%BY1y5H@Q I5@%bDI%:i%;%Ye5y9ɮEwAAE EE)E"E7;*EVEFA4ZEa@a@a@a@DNOT Ignoring new targets: 27.05 m.hh*h"h hgfff1d1d1jd9Zd=W?ZYZYZYZ]H@mU) =i9)顕Ф3ii+ f7=II E9@A @I@U0@Q@]=@]=Bƿ>BBIBVBB =BBBm;B+E1^Am=IIO% >a e%+,;U?A2n~@2v@2?ٱ2R9` :AHRS rotation from veh to nav: [[-0.488495,0.870658,0.057680],[-0.872329,-0.488838,-0.008982],[0.020376,-0.054703,0.998295]]2HC߿ n?7?I߿%e@iݔ??i2n~@I2=];2CYzWByzII <) >AiMb@Mb@Mb@ 99Y=Fy;E> Q 5e5 |?Q 9e5 =) BY=Q E! H +,j0կ?A2~@2i@2ٱ2i_ >AHRS rotation from veh to nav: [[-0.489799,0.869920,0.057769],[-0.871584,-0.490173,-0.008482],[0.020939,-0.054505,0.998294]]2H X߿a? ?^߿^p?諿 ?i2~@I22];0YBdByF%IbDNVDN:yV=%Vb=ٔV˺Q-Z>9XYX=ZFyX^E^>`Q 5fe5b?Q 9fe5b5)b BYdyffF@Q If@bdDIb :ib:b_e5ylɮn4AYDNOT Ignoring new targets: 27.05 m.hh*h"h hgfffddjdԙZd?ZZZZfF@-)) -|=i-9))-31i1i=+ 9==I9I99@ @@K3@E EE%E"E ;*E:VE 4ZEa@a@a@a@^A{=IIO%> B A g8+,?ABɿ>BB!IB`BB =BBB%m;B$+E:~@:a@:ٱ: _ FAHRS rotation from veh to nav: [[-0.490715,0.869379,0.058125],[-0.871055,-0.491118,-0.008117],[0.021490,-0.054613,0.998276]]:Hg߿? ­?@`zn߿@f? I@?i:~@I:9M];:CYNgByN)IbDVVDV:y^<%^I=ٔbQ-b>9`Y`=bFydf*Ef>hQ 5ne5jk?Q 9re5j,)jBYpyrRF@Q Ir@jeDIj?';ij(;jce5ytɮzAxDNOT Ignoring new targets: 27.05 m.hh*h"h h!g!f!f!f!d)d)jd)Zd-@L@ZZZZRF@) =i9)I3ii, =II!IQ)UdA@ @@/@@@gA!^A W^=II)O=>IE  E E (E "E ;*E :VE c44ZE BE R9IYQ=UFyQU;EU>YQ 5ee5]P?Q 9ee5] )]BYmn=Q Em aI,,"?A2ئ~@2=N@2ٱ2 ` :AHRS rotation from veh to nav: [[-0.492706,0.868211,0.058740],[-0.869909,-0.493154,-0.007627],[0.022345,-0.054856,0.998244]]2H߿@b??Jԏ߿=?`?i2ئ~@I2ǣ];2CYr|ByrCIbDzVDz0y-I=%N=ٔ Q- >9 Y=Fy|4E>Q 5%e5f?Q 9%e5)!BY)y-?@Q I-@hDI9:i:je5y1ɮ5sA1eDNOT Ignoring new targets: 27.05 m.haha*ha"ha hagafififididqjdqZdu` @DyD}<bEjE$4rEg/E EE%E"E;*E$:VE 4ZEa@a@a@a@ZZZZ?@) xs=i}9)4ii, u|=IIԱ9@ @@/@Bʿ>BCB4IBpBB =BBBAm;B2+EB9B9B9B= =B= =C=Ƴ5^APڀ=II O> 9 v,,Y9Y=FyE> Q 5e5 Z?Q 9e5 4) ,BY>=Q E;y @Q I@ iDI G;i ? ; qne5y!ɮ%:A)UDNOT Ignoring new targets: 27.05 m.hQhQ*hQ"hQ hQgYfYfYf]sBdadajdaZde@ @ ZU>=ZU>=ZUt@ZUȌ @) E EE'E"EO;*E:VE'4ZEBE'Y99@ @@/@@=@=y ^A yz=I I O% >_[,,wV?A 6~@6UC@66ܸٱ6a >AHRS rotation from veh to nav: [[-0.493861,0.867537,0.059001],[-0.869248,-0.494318,-0.007609],[0.022564,-0.055045,0.998229]]6H@m߿ ?l5?߿*@? .}?i6~@I6EK];4YFByF\IIJ=)J<bDjVDjkyv͏=%v]=ٔz5Q-z>9xYx=zFyx~KlE~>Q 5 e5}?Q 9 e5)5BY yu @Q I@jDI :i:qe5yɮAMDNOT Ignoring new targets: 27.05 m.hIhI*hI"hI hQgQfQfQfQdYdYjdYZde`|@ZZZZu @6ܸ) e=i9)顝.4ii, w=IIy@ @@0@iYI]ADAT read: 05:27:27.6142 LVL= 19040, 19505, 25122, 26483, AGC= 63, IDX= 1, 0.49,-2.905,-1.711, 2.733,-2.302, PHS=-0.502, 0.636,-1.293, RAW= 354.1, 13.7, CAL= 354.5, 16.9, ROT= 155.5, -16.9 Ygot valid direction response: 05:27:27.6142 LVL= 19040, 19505, 25122, 26483, AGC= 63, IDX= 1, 0.49,-2.905,-1.711, 2.733,-2.302, PHS=-0.502, 0.636,-1.293, RAW= 354.1, 13.7, CAL= 354.5, 16.9, ROT= 155.5, -16.9 PDAT read: Bearing 187.0, 21.2 (Local) ~Local bearing/azimuth received: Bearing 187.0, 21.2 (Local) DAT read: Range 11 to 50 : 27.3 m (Round-trip 36.5 ms) speed 0.0 m/s *DAT read: user:424> BDAT read: Tx time:05:27:28.7236 $Ping request sent.ez@ e>)e-@IeaaeГ =⿻ct`,鿝$V? e )e* uIe-@ieaa%:publishing transmit ping timeEFpublishing direction and range infoyae1yhd?Tcݚ?Yaaaaa a)aIaiaaaaa a)aIaaaeГ =⿻ct`,鿝$V? a)aIaiaaaԙDzDAAE EE%E"E%;*E8:VE 4ZEa@a@a@a@^A|=IIO> B ȿ>B B SIB BB B B B Rm;B :+EU,,Op?A.~@.KC@.t޷ٱ.Wb :AHRS rotation from veh to nav: [[-0.493867,0.867527,0.059092],[-0.869248,-0.494315,-0.007800],[0.022443,-0.055218,0.998222]].H@߿?CA?ܢ߿P?yE`o?i.~@I.<];.C@YbByboIbDnVDnyr9=%vI=ٔvÛ9Q-v>9xYx=zFyxzoDEz>|Q 5e5~z?Q 9 e5~)~@BY y Q I @~lDI~:i~:~:ue5yɮRAiqiu_?AJiu1ARiu1AjiuN?bu5D7ɫoq%@c9κ@Ru1yhd?Tcݚ?Ziu-@biuju^2TO|5@N5g6R.@`@Zua[S???Q?2iurA:iuA"ium1v?*iuo2Biu!BiqiujpiqiuAiu|"?m addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 4.044700 s, deltaX: 0.099998 m, approachRate: 0.024723 m/s, rangeRepo size: 4 } Added new target pos. range: 27.149137 m, bearing: 35.207403 deg, lat: 36.779324 deg, lon: -121.859648 deg, deltaT: 4.044700 s, deltaX: 0.099724 m, approachRate: 0.024655 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.15 m.hh*h"h hgfffd d jd L;@Zd `4?ZZZZu @t޷) uX=i}9)y顅E4iԹi+ rx=IIQ%9@! @!@%0@) ^Ae Hu=Iq E  E E (E "E ;*E :VE c44ZE BE Dem",,Q.?A2~@2ZC@2'Kٱ2a :AHRS rotation from veh to nav: [[-0.493864,0.867547,0.058821],[-0.869257,-0.494295,-0.008007],[0.022129,-0.055085,0.998236]]2Hx߿`?? ߿e먖?4?i2~@I2];2CYBByBeI|iMMb@Mb@Mb@IIII I9MI +K7{Gz?YM9yMI M#=II MA)MAIYMzAbDeVDekyul%uD=ٔu=E:Q-u>9yYy=}Fyy7E>Q 5e52w?Q 9e5)JBY>Q E;y$@Q I@mDI ;iq ;xe5yɮADNOT Ignoring new targets: 27.15 m.hh*h"h hgfffBddjdZd Z>Z@ZL$@'K) ԁ (,, ?AYByzI    AbDVDβy%=%-O=ٔ-Q-->91Y1=5Fy15E5>Ee EeEe)Ea"Ee:*Ee1:VEeFA4ZEaam@am@am@am@yQ 5e5s?Q 9e5)SBYyQ I@oDI:i:w|e5yɮ ADNOT Ignoring new targets: 27.15 m.hh*h"h hgff f d d jdZd@-?Z1Z1Z1Z1I)I M0Z=iM]9)IMX4IiQiU+ YYIYIY@ @@/@ԩBeǿ>BeCBelIBeBBe =BaBaBem;BeS+E^Aw=IIO> |.,,?Aɰ4<6~@6L@6Aٱ6a BAHRS rotation from veh to nav: [[-0.492944,0.868111,0.058227],[-0.869803,-0.493323,-0.008667],[0.021201,-0.054919,0.998266]]6Hc߿? ϭ?l߿@?`V?i6~@I6];6CYZByZuIiEMb@Mb@Mb@AAAA A9Ex&{GzĿ~jt?YE7yE#E=E= AEO@ E/A)EAAYEAbDeVDe0yu%uE=ٔu;Q-u>9yYy=}Fyy} );E>Q 5 e5p?Q 9 e5)]BY5>Q E;y@Q I@qDI1Z5>Z;@ZE@A) ƣi 9)2S4ii, q|=IIEe EeEe'Ea"Ee;*Ee:VEe'4ZEaBEeAQ ש5,,װ?A21~@2jT@2y3ٱ2[a :AHRS rotation from veh to nav: [[-0.492068,0.868621,0.058019],[-0.870312,-0.492417,-0.009114],[0.020653,-0.054979,0.998274]]2H ~߿??ƒ߿@ &?@3& ?i21~@I2];2CYjByjIbDrVDr:yz=%zT=ٔzֹ:Q-z>9Y=Fyq+;E > Q 5e5 l?Q 9e5 >) fBYy@Q I@ tDI ;i ; Ue5y%Bɮ-A-EUDNOT Ignoring new targets: 27.15 m.hQhQ*hQ"hQ hQgYfYfYfadadajdaZde?ZZZZ@y3) i9)顥ii+ =IIQQ@Q @Q@U/@Q@Y@]= qqŀGhA- 9-hAY-uAԁ^A5~=IAIQOew>E} E}E}(Ey"E};*E}v:VE}c44ZEya@a@a@a@ԩB <A <B} ȿ>By B} IB} BB}  =By By B} m;B} b+E ;,,?A2~@2_@2룼ٱ2pa :AHRS rotation from veh to nav: [[-0.490874,0.869311,0.057807],[-0.871001,-0.491187,-0.009646],[0.020009,-0.055085,0.998281]]2Hzj߿d?ܘ?=@o߿J!}?@4`?i2~@I2=`];2CY^BybIIbN>)b>bDjVDj2y-;%-G=ٔ-:Q-->91Y1=5Fy1=R\;E=>AQ 5Me5Ei?Q 9Me5EŘ)EoBYIyM.@Q IM@EvDIE:iE:Ee5yQɮ]AYDNOT Ignoring new targets: 27.15 m.hh*h"h hgfffddjdZd ?@ZZZZ.@룼) i)ii, `=IIԱ9@ @@/@^AX=II O> E  E ,E %E "E ;*E ;VE 4ZE BE ]9Y=FyL;E>Q 5e5[e?Q 9e5 )wBYmD>Q E;ym @Q I@xDI:i:e5yɮADNOT Ignoring new targets: 27.15 m.hh*h"h hg f f f ddjdZd@Z=mD>Z=mD>Z=U@Z=m @M^)I MƣiM9)QU󨱉QiQi]+ Y]=IYIa9@ @@0@9^A3=I!I9OU>q M BDAT read: Rx Time:05:27:31.1646 M TRx dataTimestamp_ set to:1761542852.516101H,,Y%?AY|y|bD VD 0ٔ%Q-%>9!Y!=%Fy)-E->E= E=E9E9"E=l;*E=Z:VE9ZE9aM@aM@aM@aM@1Q 5Ue55a?Q 9Ue55t)5~BYQyQQ I]@5{DI5n;i5&;5e5yaɮaaDNOT Ignoring new targets: 27.15 m.hh*h"h hgfffddjdZdD @ZYZYZYZY) i9)顝'ii, U0=IIie9@a @i@mK0@i@ufA@ufABʿ>BBBB =BBBm;Bp+Eԑ^AȄ=IIO> oO,,;??ALuDAT read: 05:27:31.1646 LVL= 23872, 25025, 32754, 32755, AGC= 60, IDX= 438,-0.47,-1.941,-0.786,-2.568,-1.306, PHS=-0.533, 0.564,-1.306, RAW= 354.3, 15.5, CAL= 354.9, 19.6, ROT= 155.1, -19.6 }Ygot valid direction response: 05:27:31.1646 LVL= 23872, 25025, 32754, 32755, AGC= 60, IDX= 438,-0.47,-1.941,-0.786,-2.568,-1.306, PHS=-0.533, 0.564,-1.306, RAW= 354.3, 15.5, CAL= 354.9, 19.6, ROT= 155.1, -19.6 PDAT read: Bearing 184.0, 21.0 (Local) ~Local bearing/azimuth received: Bearing 184.0, 21.0 (Local) DAT read: Range 11 to 50 : 27.6 m (Round-trip 36.9 ms) speed 0.0 m/s R#Rx 3: Read range and direction messages.^direction in FSK: [-0.854488,0.396640,0.335452]Fpublishing direction and range infoy-bWž.b?g* x?YA@]a )<IriNb?+@c>6@ %>)?-@I%fQS8 g7? l )WI?-@i% @؀@ٱ` AHRS rotation from veh to nav: [[-0.487365,0.871367,0.056524],[-0.873011,-0.487578,-0.010894],[0.018067,-0.054655,0.998342]]H0߿9Y=Fy;E>AQ 5Ee5E]?Q 9Me5E!)EBYMC>Q EM;yM@Q IM@E~DIEq:iEz:Ee5yyɮ}*AyiiSA?AJiARiAji?b*t7ny%@Tښ#j"@R-bWž.b?g* x?Zi?-@bi%jYo5@r,".@Ij͸X @Z|-? `Ր?׻&?2iqA:iA"i}l?*i BiBii i1BiAiq?  addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 3.526336 s, deltaX: 0.300001 m, approachRate: 0.085074 m/s, rangeRepo size: 4 = Added new target pos. range: 27.447489 m, bearing: 35.100721 deg, lat: 36.779324 deg, lon: -121.859648 deg, deltaT: 3.526336 s, deltaX: 0.298351 m, approachRate: 0.084607 m/s, posRepo size: 4 =DNOT Ignoring new targets: 27.45 m.h9h9*hA"hA hAgAfAfIfMBdIdIjdM;@ZdU??ZC>ZC>Zc@Z@) Li9)b̲ii+ `G=IIM9@I @I@M/@I ^Am {=Iy I O >V,,rY?Aɰ2$@2G@2ٱ2_ :AHRS rotation from veh to nav: [[-0.486045,0.872129,0.056132],[-0.873760,-0.486226,-0.011316],[0.017423,-0.054546,0.998359]]2H@]߿{?K?R߿,uב?m ?i2$@I2];2CYBByB^IbDNVDNβyVؽ%V=ٔV;Q-V%?X9XY\=^Fy\^;E^%?`Q 5fe5b[?Q 9fe5b)bBYhyj @Q Ij@bDIb/;ib ;be5ylɮnApDNOT Ignoring new targets: 27.45 m.hh*h"h hg!f!f)f1d1d9jd9ZdE?ZZZZ @E)I MȠiM9)IMIiIiU, QU{=IQIY@ @@4@^AȄ=IIO%+>bEjEƀ'4rEJ/E5 E5E5&E1"E5 ;*E5?:VE54ZE1aE@aE@aE@aE@9 AY AY B] ɿ>B] CB] fIB] BB]  =BY BY B] m;B] +EBBBBBC|5A\,,es?A68@6ܖ@6%ٱ6"_ >AHRS rotation from veh to nav: [[-0.485026,0.872706,0.055987],[-0.874333,-0.485189,-0.011552],[0.017083,-0.054554,0.998365]]6H ߿4?`^?@U ߿ PL~??i68@I6];6CYFByFGIbDNVDN:yV%VK=ٔZR]:Q-Z>9XYX=^Fy\^>;E^>`Q 5fe5bLX?Q 9fe5b>)bBYhyj@Q Ij@bDIb :ib:be5ylɮn3Ap DNOT Ignoring new targets: 27.45 m.h h *h "h  h g fffddjd!Zd%5?ZAZAZAZE@U%)Y ] i]9)Y]a岉Yiaie+ am[=IiIi@ @@/@@=@=Q^Aff=I)I9OEs>qE-  E) E) E) "E- :*E) VE) ZE) BE- >9aYi=mFyim";Em>yqQ 5e5u=U?Q 9e5u)uBY3#>Q E;y@Q I@uDIuN3;iu2;u9e5yBɮ%AئEDNOT Ignoring new targets: 27.45 m.hh*h"h hgfffBddjdZd`E?Z3#>Z3#>Z@Z׸@ 0&)  \i9)i9I=AE=ii, *=III)fAm9@i @i@m/@iԡ^AP=IIO> Si,,?ADn=DlEr ErEr(Ep"Er;*Erą:VErc44ZEpav@az@az@az@Y%fBy%)IbD=VD=1y6ɽ%H=ٔQ->9Y=FyE>Q 5e5LR?Q 9e5K)BYyQ I@DId:i[:͟e5yɮADNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd{?ZZZZ1)1 5i5A9)9= 9i9iE+ AEAώ=IAIA9@ @@@Bʿ>BBGIBBB =BBwDBm;B+E^Atn=IIO>1Y :p,,?A2]@2@2ٱ2߄^ :AHRS rotation from veh to nav: [[-0.483033,0.873848,0.055406],[-0.875450,-0.483159,-0.011980],[0.016301,-0.054292,0.998392]]2H޿ ?@.^?@޿C?@)̫?i2]@I2M];2CYBXByBIiMb@Mb@Mb@ 9ˡE!rhY'yl罙= AIA A)/AYbD- VD-2y5h%=O=ٔ=>:Q-=>9AYA=EFyAMK;EM>IQ 5Ue5MO?Q 9e5M[)MBY/=Q E;yp@Q I@MDIM>e5y{BɮA5DNOT Ignoring new targets: 27.45 m.h19h1*hQ"hQ hQgYfYfYf]{BdadajdaZdeC@Z/=Z/=Z@Zp@) \i9)ii, N*=IIE EE+E"ET;*Eh:VE [4ZEBEGԹ [ev,,ڱ?AB`@Bઆ@BOԅٱBf^ VAHRS rotation from veh to nav: [[-0.482894,0.873922,0.055439],[-0.875526,-0.483022,-0.011949],[0.016336,-0.054309,0.998390]]BH ޿`+?b?O޿x Y? XΫ?iB`@IB];BCYbGBybI hhbDvVDvNy%N=ٔ Q- >9Y=Fy9E>)Q 55e5-M?Q 9=e5-h)-BYAyEs@Q IE@-DI-mb;i-Gc;-e5yQɮUAYDNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd @ZyZyZyZ}Is@ԑOԅ) ӽiV9)页5򳉢ii+ IIE EE)E"EV:*E:VEFA4ZEa @a @a @a @59=e>i=>9@ @@/@B ɿ>B B IB [BB B B vDB B +Eia Ia  ^A5 x=I9 IQ O] >},,?Aɰ;2[@2@2n4ٱ2'z^ :AHRS rotation from veh to nav: [[-0.483126,0.873791,0.055494],[-0.875395,-0.483263,-0.011804],[0.016504,-0.054282,0.998389]]2H޿? i?`=޿,[?ʫ?i2[@I2];2CYB@ByBIbDNVDN0yVz%V?=ٔZFιQ-Z>9XY\=^Fy\^#E^>`Q 5fe5b2J?Q 9fe5be)bBYhyjn@Q Ij@bDIb;ib/;bpe5ylɮnAp DNOT Ignoring new targets: 27.45 m.h h *h "h hgfffddjdZd @ZZZZn@5n4)1 5i=%9)9=!9iAiU, QUÚ=IYIY}9@y @@ 0@A^AĎ=IIO>E  E E %E "E :*E :VE 4ZE BE >889IYI=MFyIMEM>QQ 5]e5UG?Q 9ee5U)UBYeQ=Q Eeԁԩ^AIIO >% A)9) Y- A E  E E 'E "E V:*E :VE '4ZE a- @a- @a- @a- @L#,,w*?AY5&By5IIE<)Ep9yYy=FyE>Q 5e5E?Q 9e5h)BYyQ I@DI;$;it2;e5yɮAeDNOT Ignoring new targets: 27.45 m.hah*h"h hgfffddjdBBBIB=BB =BBBm;B`+EZd @ZZZZ) OiL9)]-ii ,  =II9@ @@4@^A I) II Ou >) 4,,KD?AY~By~IiMb@Mb@Mb@ 9S㥛?X9v~jth?Y/9Y=FyE> Q 5e5 B?Q 9e5 V) BY=Q ED0,,&^?A 2@2@21ٱ2`^ >AHRS rotation from veh to nav: [[-0.486752,0.871731,0.056196],[-0.873350,-0.486979,-0.010502],[0.018211,-0.054191,0.998365]]2H`&߿8?Ŭ?|*߿@?⾫ ?i2@I2v];0YFByFIbDNVDNyV%Zb=ٔZ*Q-Z>9\Y\=^Fy\b"Eb>`Q 5fe5b@?Q 9je5bF)bBYhyjB@Q Ij@bDIb:ib:be5ylɮrApDNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd @Z Z Z Z CB@%1)! %|i%9))-I)i)i5, 15ň=I1I9 99IA)AqM9@I @I@M/@I@Q@UhAE EE&E"E ;*Ev:VE4ZEa@a@a@a@ԙ^AĎ=IAAB˿>BBIB#BB =BBwDBcm;BE+EIO> DZ,,?x?A2 @2{@2V ٱ2^ :AHRS rotation from veh to nav: [[-0.487889,0.871075,0.056507],[-0.872706,-0.488139,-0.010221],[0.018680,-0.054301,0.998350]]2H9߿??5`=߿ ?@Tͫ{?i2 @I2v];0YBByBI DDbDN PVDN:2yZS/%ZJ=ٔZ Q-Z>9\Y\=^Fy\bSEb>dQ 5je5f\>?Q 9je5f3)fBYhyjB@Q Ij@fDIf):if:fe5ypɮr,Ap DNOT Ignoring new targets: 27.45 m.h h *h"h hgfffddjd!Zd%[@ZAZAZAZE,B@UV )Q $i9)&Zii+ GV=IIII)I9@ @@/@^A8=I)I9OM>E EE*E"EO;*E:VE(N4ZEBE'Y9YYY=]FyYeEe>iQ 5me5mԡ bE-4jE-4rES)0E  E E %E "E l;*E h:VE 4ZE a @a @a @a @l,,?A2~@2[a@2kٱ2U_ >AHRS rotation from veh to nav: [[-0.490701,0.869450,0.057181],[-0.871103,-0.491008,-0.009532],[0.019789,-0.054488,0.998318]]2H@g߿ ? F? l߿vC?嫿`9?i2~@I2[^;2CYvByvIbD-VD-ky]<%eI=ٔe?Q-e>9iYi=mFyquqyEu>yQ 5e59?Q 9e5R)BYyCQ I@I}0;iW1;Ze5yɮ,ADNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd @Z Z Z Z ːN@B]ǿ>B]CB]IB]BB] =BYB]vDB]ym;B]M+EBCBCBB =B =C75k) 6i 9)daii+ =II9@ @@0@@=@=^A=II O- > T,,Ų?A2̰~@27S@2ƥٱ2_ :AHRS rotation from veh to nav: [[-0.492200,0.868584,0.057455],[-0.870247,-0.492528,-0.009283],[0.020235,-0.054569,0.998305]]2H3߿p? j?`߿0e?`}@?i2̰~@I2cl^;2CYBByBIIF%=)DJ=J=iUMb@Mb@Mb@QQQQ Q9US㥛?p= ף?YU/9Y=FyE>Q 5e57?Q 9e5<)BY=Q E1AY ~,,vp߲?A2-~@2hF@2֨ٱ2G` :AHRS rotation from veh to nav: [[-0.493556,0.867798,0.057698],[-0.869470,-0.493903,-0.009091],[0.020608,-0.054654,0.998293]]2H`l߿@?@?@`߿@%_??i2-~@I2g]^;2CYBByBIbDN VDN:2yV6=%VX=ٔZQ-Z>9XYX=^Fy\^E^>`Q 5fe5bm5?Q 9fe5b&)bBYhyj:A@Q Ij@bDIb:ib :b2e5ylɮn Ap DNOT Ignoring new targets: 27.45 m.h h *h "h  h g fffddjdZd@ZAZAZAZEv:A@U֨)Q UiU9)vii+ y=II1@ @@5@aE EE(E"E*E:VEc44ZEa@a@a@a@^A|=IIO>BU<AU<B]ȿ>B]CBYBYBYBYBYB]m;B]m+EԉԹ I,,L?A28{~@2m8@2*ٱ20` :AHRS rotation from veh to nav: [[-0.495034,0.866939,0.057950],[-0.868618,-0.495405,-0.008803],[0.021077,-0.054694,0.998281]]2H߿`??`߿?`?i28{~@I2i^;2CYn%ByrIbD VD 0y%N=%%C=ٔ-QQ-->91Y1=EFyAMEM>YQ 5ee5]2?Q 9me5])]BYiymA@Q Iu@]DI]&D;i]!E;]e5yɮADNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd@Z Z Z Z A@ԑ*) i9)xii, (s=II@ @@4@@@gAE EE&E"E~ ;*E$:VE4ZEBEV \,,t$?A2b~@20,@2hLٱ2` :AHRS rotation from veh to nav: [[-0.496328,0.866190,0.058073],[-0.867871,-0.496715,-0.008599],[0.021397,-0.054668,0.998275]]2H߿շ?ʻ?,߿@`?@~?i2b~@I2^;2CYB)ByBI DDiIieMb@Mb@Mb@aaaa a9eX9v?(\µy&1?Ye9Y=FylE>Q 5e5/?Q 9e5)BY=Q E @Q I@DIU:i:e5ywBɮnAצEDNOT Ignoring new targets: 27.45 m.hh*h"h hgfffRBddjdZd`^@Z=Z=Z@Z >@-hL)) -ԣi59)15]1i1i=+ 9=n=IAIAI@ @@/@^Av=II1O=>I D D E  E E +E "E ;*E Z:VE [4ZE a @a @a @a @,,-?AFL~@FO!@FٱF_ ZAHRS rotation from veh to nav: [[-0.497478,0.865531,0.058067],[-0.867208,-0.497873,-0.008492],[0.021560,-0.054581,0.998277]]FH߿m??+&߿@0d@??iFL~@IF];FCYb0ByfIbDrVDry~$=%~T=ٔݹQ->9Y= Fy  :aE >Q 5e5-?Q 9e5)BY!y% >@Q I%@DI ;i ;e5y)ɮ-7A)DNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd@Bǿ>BCBIBBB =BBBm;B+EZ)Z)Z)Z- >@E)A EhiE9)AMIiIiM, QUXj=IQIYI@ @@@y^Am=II)O1ԩ ȣ,,F?A2B<~@2@2!бٱ2Q` :AHRS rotation from veh to nav: [[-0.498362,0.865010,0.058255],[-0.866697,-0.498762,-0.008498],[0.021704,-0.054725,0.998266]]2H)߿(?ӭ?@߿@g9? ?i2B<~@I2];09AYA=EFyAM>"EM>QQ 5]e5U)?Q 9]e5U!)UBYeW=Q Ee;ye(@Q Ie@UDIUp;iU;Uye5yiɮmAiDNOT Ignoring new targets: 27.45 m.hh*h"h hgff!f%iBd!d!jd!Zd-@dP @ZmW=ZmW=Zm@Zm(@E EE(E"E;*E?:VEc44ZEBEA ],,[`?A 442,~@2@229ٱ2`pt~liA 5c-9=liAY=A EAHRS rotation from veh to nav: [[-0.499219,0.864506,0.058396],[-0.866200,-0.499627,-0.008444],[0.021876,-0.054798,0.998258]]2H4߿ ??@߿@K f?m`?i2,~@I23];2CYUCByUIIY)]p=bDeVDeyu_<%uG=ٔ}۹Q-}>9Y=FyE>Q 5e5&?Q 9e5)BYy(@Q I@DI;iz;e5yɮADNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd@!@ZZZZ(@29) Ti9)顽ii, Fc=III)m9@i @i@m/@iE EE&E"E;*EM:VE4ZEa@a@a@a@1Bȿ>BBIB3BB =BBB n;B+E^AIIO>a |,,yz?AJ9~@J @JٱJ7` bAHRS rotation from veh to nav: [[-0.499949,0.864093,0.058270],[-0.865780,-0.500352,-0.008503],[0.021808,-0.054700,0.998265]]JH(߿?`խ?@yEjT??iJ9~@IJz];JCYnJB9ynIbDUVDUye =%eK=ٔe29Q-m>9iYi=mFyius Eu>yQ 5e5}"?Q 9e5}Q =tI)}BYy(@Q I@}DI}:i}n:}e5yɮhADNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd@&!@ZZZZY(@ )  xi 9)  ƪ ii+ 9a=II@ @@0@iԑ^AJc=I)I9OE>E EE(E"E;*E:VEc44ZEBE@9Y=FydߺE>Q 5e5i?Q 9e5)BY>Q E;y @Q I@DI:i:5e5yɮA]DNOT Ignoring new targets: 27.45 m.hYhY*hY"hY hagafafafmBdidijdiZdmU"@Z>Z>ZǠ@Z @E) Pi9)顭ii,  _=III@I @I@M0@I@Q@Q^AmBa=IyIO> E  E E )E "E :*E ҆:VE FA4ZE a @a @a @a @!,,AE?AZ~@Z(@ZdٱZZ` fAHRS rotation from veh to nav: [[-0.500562,0.863746,0.058134],[-0.865434,-0.500945,-0.008836],[0.021490,-0.054734,0.998270]]ZHϣ?í?`w}?@`?iZ~@IZ<];ZCYjXBynI ppbDvVDvy~v<%~U=ٔ8:Q->9Y = Fy  жE >Q 5e5?Q 9e5)BY!y% @Q I%@DIU;iQ;e5y)ɮ-A)]DNOT Ignoring new targets: 27.45 m.hYhY*hY"hY hYgafafafadidijdiZdm`5#@ZZZZ? @B׿>BCBIBGBB =BBxDBm;B=d)A EԤiE9)AEAiAiM+ IMkY_=IQIQe]>ia@ @@4@!^A`=IIO>qy n,,-"ȳ?Aɰ2~@2@240ٱ2OT` >AHRS rotation from veh to nav: [[-0.500491,0.863800,0.057954],[-0.865484,-0.500854,-0.009131],[0.021140,-0.054728,0.998277]]2H ??.? `?X?i2~@I2N];2CY^]By^IiEMb@Mb@Mb@AAAA A9ElK7A`ſ rh?YEyE+EC =ES AEA ErA)EAAYEAbD]VD]kym)<%mC=ٔm[:Q-u>9qYq=uFyq}[X9E}>Q 5e51?Q 9e5у)BY2>Q E;y @Q I@DI:i:,e5yɮADNOT Ignoring new targets: 27.45 m.hh*h"h hgfffBddjdZd U$@Z2>Z2>Zя@Z @QE} E}E}(Ey"E};*E}x:VE}c44ZEyBE}A ,,7?A2<~@2@2緪ٱ2ѐ_ :AHRS rotation from veh to nav: [[-0.500487,0.863823,0.057643],[-0.865493,-0.500834,-0.009297],[0.020838,-0.054543,0.998294]]2H p?V?~ V?`쫿 ?i2<~@I2>];2CYR_ByR IbDZVDZ2yb8<%bV=ٔf}N:Q-f>9dYd=jFyhj;7Ej>lQ 5re5n3?Q 9re5n)nBYtyv @Q Iv@nDIn-:in:ne5yxɮzAxDNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd"%@ZZZZ @緪) i9)ⴉii+ IIԱ9@ @@/@@@bE c44jE Ŋ94rE 7/E EE+E"E;*E:VE [4ZEa@a@a@a@B<A<B߿>BCBIB[BB =BByDBm;B+EBYBYB]ǔCBYB] =C]6^A`=IIO> 9 F,,?AFz~@F@F 1ٱF%>_ RAHRS rotation from veh to nav: [[-0.500372,0.863904,0.057422],[-0.865567,-0.500702,-0.009517],[0.020530,-0.054464,0.998305]]FH` ?`f?@l}? ⫿?iFz~@IFp];FCYZdByZ&IIb=)b=bDfVDfyn<%nH=ٔrPF:Q-r>9pYt=vFytv9Ev>xQ 5~e5z ?Q 9~e5zk)z BYy@Q I@zDIz;izR:ze5y rBɮ pA֦E=DNOT Ignoring new targets: 27.45 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM`%@ZZZZ@= 1)A EiE9)AE3񴉢AiAiM, iu4`=IqIqy  9@ @@@9^Am<|^=IyE EE)E"E ;*EVEFA4ZEBEOy ,-,г?A Y\ByIiMb@Mb@Mb@ 9Zd;OKǿS㥛?Yj9Y=FyE>!Q 5%e5% ?Q 9-e5%)%BY-4B>Q E-;y-F@Q I-@%DI%*:i%:%e5y9ɮ=A9]B*** querying acoustic contact ***iY iYDNOT Ignoring new targets: 27.45 m.hh*h"h hgfffBddjdZd H&@Z4B>Z4B>Zߎ@ZF@) Bi 9) Bii+ )1I1IAi@ @@@ԙu2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode. ^A Ba=I I O >D D E  E E &E "E V:*E Ar:VE 4ZE a @a @a @a @V -,ގ/?A2w~@2 @2e ٱ2^ :AHRS rotation from veh to nav: [[-0.499903,0.864201,0.057046],[-0.865853,-0.500199,-0.009990],[0.019901,-0.054387,0.998322]]2Hh߿@?5?u`? ث@?i2w~@I2b<];2CPYr]BypbDzVDz1y:% \=ٔ ::Q- >9 Y=Fy:E>Q 5%e5?Q 9-e5~)BY)y-Q@Q I-@DI:i:.e5y1ɮ5ABE>BECBE!IBE`BBE =BABABEm;BE+E9DNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd '@ZZZZQ@e ) Bi^9)ii, u0b=II@ @@0@@@*DAT read: user:425> BDAT read: Tx time:05:27:43.9235 $Ping request sent.)  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252951>-,kI?A2+'~@2g@2zٱ2\$_ :AHRS rotation from veh to nav: [[-0.499499,0.864441,0.056941],[-0.866093,-0.499777,-0.010260],[0.019589,-0.054441,0.998325]]2H߿?P'?Z߿@#?߫G?i2+'~@I2S];2CYRTByRI TTimMb@Mb@Mb@iiii i9mX9vbX9ƿZd;O?Ym}ymE6mj9Y=Fy:E>Q 5e5?Q 9e5 })BYqB>Q E;y@Q I@DI;i%;e5yɮADNOT Ignoring new targets: 27.45 m.hh*h"h hgfffBddjd Zd b(@Z-qB>Z-qB>Z-(@Z-@=z)A EiEM9)AEAiAiM+ IUc=E] E]E]'EY"E]T;*E]:VE]'4ZEYBE]Gԡ h-,Dc?A2)~@2@2ٱ2(j^ :AHRS rotation from veh to nav: [[-0.499379,0.864531,0.056635],[-0.866169,-0.499642,-0.010430],[0.019280,-0.054264,0.998341]]2H@߿@9XYX=ZFyX^v9E^>`Q 5fe5b?Q 9fe5b{)b%BYdyj@Q Ij@bDIb:ib|:b#e5ylɮn9Al DNOT Ignoring new targets: 27.45 m.h h *h "h  hgfffddjdZd% ;")@yZZZZ?@%)! %+i%9)!-%)i)i-, 1=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548545d=IQIY9@ @@74@ԩDazDe@AEu EuEu*Eq"Eu;*Eu:VEu(N4ZEqa}@a}@a}@a}@A9A9BE>BECBABABABABEzDBEn;BE+E^AQIYIiO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006794 -,-}?A2/~@2@2ɛٱ2^ :AHRS rotation from veh to nav: [[-0.499050,0.864725,0.056571],[-0.866365,-0.499298,-0.010674],[0.019016,-0.054338,0.998342]]2Hm߿ӫ?@?B@~߿@܅x?`'ҫi?i2/~@I28Z];2CYBNByF IbDN VDN:2yV$c<%VJ=ٔZ*:Q-Z>9\Y\=^Fy\^w:E^>`Q 5ff5b?Q 9ff5b z)b,BYhyj@Q Ij@bDIb:ib+;bf5ylɮn"Ap DNOT Ignoring new targets: 27.45 m.h h *h "h  h g fffddjd!Zd%)@ZAZAZAZE@Uɛ)Y ]%i]9)Y]/YiYie+ ae\e=IiIi]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2614239@ @@@0@@=@IEu EuEu(Eq"Eu;*Eu$:VEuc44ZEqBEuez%-,?A>m2~@>@>"ٱ>^ FAHRS rotation from veh to nav: [[-0.498911,0.864814,0.056437],[-0.866449,-0.499148,-0.010818],[0.018814,-0.054297,0.998348]]>H`(߿? G? @ ߿'D?̫v?i>m2~@I>(];>CYNEByNIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510878IZ=)Z>i5Mb@Mb@Mb@1111 195T㥛 {GzĿ rh?Y5y5#5C<5jA5A 5A)5A1Y5AbDUVDUye *%e?=ٔm9Q-m>9iYi=uFyquH9Eu>yQ 5f5}?Q 9f5}x)}1BY0>Q E;yK@Q I@}DI}:i}:}gf5yɮkADNOT Ignoring new targets: 27.45 m.hh*h"h hQgfffBddjdZd*@Z 0>Z 0>Z ˊ@Z K@E")A E.iE 9)AE;AiIim, que=IqIq9@ @@4@ԙhAr9hAYA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762846ԩ^A c=I I O >D} =D} C=E  E E *E "E 2:*E xv:VE (N4ZE a @a @a @a @ Ԥ+-,ְ?A2C8~@2@2"bٱ2_ :AHRS rotation from veh to nav: [[-0.498605,0.864994,0.056372],[-0.866632,-0.498823,-0.011146],[0.018478,-0.054411,0.998348]]2H'߿ ?ܬ? s`߿ӆ? ۫v?i2C8~@I2];2CYBGByBIbDJVDJ02yV'<%VW=ٔZg:Q-Z>9XYX=ZFyX^u:E^>`Q 5ff5bV?Q 9ff5bGw)b6BYhyjR@Q Ij@bDIbk:ib:b f5B%>B%CB%IB%QBB% =B!B%|DB%&n;B%+Ey9ɮ][AYDNOT Ignoring new targets: 27.45 m.hh*h"h hgfffddjdZd+@Z9Z9Z9Z=R@M"b)Q U*i9Ա)Eii+ g=IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0146879@ @@/@PExceeded connect timeout, disconnecting.^Ae=IIO> } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2688649 Ռ2-,-ʴ?A2<~@2C@2QCٱ2=` :AHRS rotation from veh to nav: [[-0.498361,0.865118,0.056627],[-0.866773,-0.498575,-0.011292],[0.018464,-0.054710,0.998332]]2H`%߿ ?`)? ߿F #? U?i2<~@I2];2CYB8ByBIi Mb@Mb@Mb@     9 J +DlI +?Y Hy O 94<   rA) A Y AbD%VD%y5%5B=ٔb 8Q->9Y=Fy):E>Q 5f5픊?Q 9f5v):BY`>Q E;y@Q I@DI<:i#: f5ynBɮADNOT Ignoring new targets: 27.45 m.hh*h"h hg f f f BddjdZd`m,@E= E=E=&E9"E=V:*E=&p:VE=4ZE9BE=9ZU`>ZU@ZUՒ@QC) Biq9)顕WRii, 0g=IIM9@I @I@M/@I@UfA@Q9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518812^AXh=IIO>i 8-,?A6i6~@6@6 ٱ6ҡ_ >AHRS rotation from veh to nav: [[-0.498705,0.864934,0.056419],[-0.866578,-0.498912,-0.011370],[0.018314,-0.054561,0.998342]]6H߿??*߿@H? y﫿k?i6i6~@I6Q];4YF/ByFI HHbDRVDR0yZ-%ZS=ٔZ%9Q-Z>9\Y\=^Fy\bEb>dQ 5jf5fꔊ?Q 9jf5ft)f=BYhyj@Q In@fDIfL;ifY;ff5ypɮrAp DNOT Ignoring new targets: 27.45 m.h h*h"h hgfffdd!jd!Zd%,-@ZAZAZAZEȌ@] )Y ]`Si]9)Ye_aiaie+ imDf=IiIi-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7726879@ @@/@iEE EEEE'EA"EE2:*EE:VEE'4ZEAaM@aM@aU@aU@ԡB% >B%CB%IB%=BB% =B%BDB%}DB%]n;B%+E^A5h=IAIQOew>i I  BDAT read: Rx Time:05:27:46.3658  TRx dataTimestamp_ set to:1761542867.892326 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024032 >-,h?AnManaging dock network, ignoring radio surface power offB.~@B=@BٱBi_ JAHRS rotation from veh to nav: [[-0.499105,0.864706,0.056370],[-0.866348,-0.499312,-0.011365],[0.018319,-0.054508,0.998345]]BH W߿?ܬ? ߿]F >’?諿q?iB.~@IBx)];@PYn!BynIbDzVDz:y㈽%F=ٔLQ->9 Y = Fy E>Q 5%f5甊?Q 9%f5s)ABY!y%@Q I%@DI2;i-;hf5y1ɮ5dA1]DNOT Ignoring new targets: 27.45 m.hYhY*ha"ha hagafafifididijdiZdu.@ZZZZ@@) oi9)顭enii, d=II I))@) @)@- 0@)=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276781^A5Qf=I9E] E]EYEY"E]a:*E]:VEYZEYBE](! E-,B?A6`$~@6 @6ǖٱ6w^ >AHRS rotation from veh to nav: [[-0.499658,0.864394,0.056254],[-0.866027,-0.499870,-0.011239],[0.018405,-0.054333,0.998353]]ZDAT read: 05:27:46.3658 LVL= 25136, 23025, 32754, 32755, AGC= 60, IDX= 451, 0.03, 1.710, 2.728, 0.923, 2.204, PHS=-0.392, 0.569,-1.325, RAW= 359.5, 13.9, CAL= 359.9, 17.0, ROT= 150.1, -17.0 ^Ygot valid direction response: 05:27:46.3658 LVL= 25136, 23025, 32754, 32755, AGC= 60, IDX= 451, 0.03, 1.710, 2.728, 0.923, 2.204, PHS=-0.392, 0.569,-1.325, RAW= 359.5, 13.9, CAL= 359.9, 17.0, ROT= 150.1, -17.0 bPDAT read: Bearing 184.8, 26.3 (Local) f~Local bearing/azimuth received: Bearing 184.8, 26.3 (Local) jDAT read: Range 11 to 50 : 28.5 m (Round-trip 38.1 ms) speed 0.0 m/s jR#Rx 1: Read range and direction messages.^direction in FSK: [-0.829018,0.476706,0.292372]Fpublishing direction and range infoy@B+vOlIiZ?兗7?YBA@B0bBY@ @)@IB9ȾiB?BB^@BUlx>B@ B>)Bϩ'@IB闾@@6He߿ ?`\ͬ?~߿ؒ?`ѫ`?i6`$~@I6];4YyB"p߿ڥ G? Bh)BcxIBϩ'@iB闾@@iMb@Mb@Mb@ 9Q롿V-{Gz?Y\y#<S AIA )EAY AbDVDyT%#=ٔ[3Q->9Y=Fy)MCEM>QQ 5]f5U䔊?Q 9]f5Ur)UEBY]=Q E];ye@Q Ie@UDIU:iU:Uf5yɮhAi@iBO?AJiBARiBAjiBѵ?bB (7f+@3YsZ @RB+vOlIiZ?兗7?ZiBϩ'@biB闾jBƺT7@[k+@I{n@ZBs?ie|? ?2iBXA:iBA"iB%?*iBVBiBXBiBx?iBo iBBiBzAiB ? addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 15.374796 s, deltaX: 0.900000 m, approachRate: 0.058537 m/s, rangeRepo size: 4 M Added new target pos. range: 28.346792 m, bearing: 29.478279 deg, lat: 36.779325 deg, lon: -121.859649 deg, deltaT: 15.374796 s, deltaX: 0.899303 m, approachRate: 0.058492 m/s, posRepo size: 4 UDNOT Ignoring new targets: 28.35 m.hQhQ*hQ"hQ hQgQfYfYf]hBddjd<@Zd?Z=Z=ZSk@Z@ǖ) \i9)x9i9iE+ AEsb=IAIIIQ)QY9@ @@/@@=@=ԁ bE-4jE34rEַ/E}  E} E} )Ey "E} +$;*E} ]t:VE} FA4ZEy a @a @a @a @^A c=I I O% >K-,2?AB~@BI@BٱB] JAHRS rotation from veh to nav: [[-0.500262,0.864057,0.056071],[-0.865678,-0.500478,-0.011131],[0.018444,-0.054107,0.998365]]BH`%`Z?E?ˆ@?󳫿?iB~@IB\;BCYV ByVIIZ=)Z=Bf >BdBfIBf#BBf =BdBdBfn;Bf ,EBCBCBCB =B =C6bDrVDryz%z=ٔzQ-~?9|Y=Fy+E? Q 5f5 ┊?Q 9f5 q) GBYy@Q I@ DI r;i ; uf5y!ɮ%A)UDNOT Ignoring new targets: 28.35 m.hQhQ*hQ"hQ hQgQYfYfafadadajdiZdmv?ZZZZZ@E)A E R-,]K?A:~@:E@:3ٱ:K\ BAHRS rotation from veh to nav: [[-0.501213,0.863513,0.055953],[-0.865124,-0.501437,-0.010976],[0.018578,-0.053907,0.998373]]:H ? ѥ?@ z5?Ù?i:~@I:<];:CYJByJIi%Mb@Mb@Mb@!!!! !9%RQ9QYQ=UFyQ]-E]>aQ 5mf5eߔ?Q 9mf5eq)eJBYm=Q EmAyDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffSBԹddjdZd@?(?E EE-E"E%;*EL_:VEt4ZEBE K9 Y-,Re?A2}@2G@2ؚٱ2] :AHRS rotation from veh to nav: [[-0.501948,0.863063,0.056300],[-0.864691,-0.502187,-0.010859],[0.018901,-0.054133,0.998355]]2H6?gӬ?e=@Z?`Z?i2}@I2gE];2CYBByBIbDJ VDJf2yrD%vQ=ٔv=XQ-v>9xYx=zFyxzEz>|Q 5f5~Xݔ?Q 9 f5~\p)~MBY y @Q I @~DI~:i~[:~"f5yɮnAEDNOT Ignoring new targets: 28.35 m.hAhA*hA"hA hIgIfIfIfQdQdQjdQZdU@?ZyZyZyZ}M@ؚ) %i/9)顕鞳ii, ¸Y=IIU9@Q @Q@U/@Q@egA@aE- E-E-(E)"E-;*E-a:VE-c44ZE)a5@a5@a5@a5@AAA@AB>BCBIB BB =BB~DBn;B,E^Au \=IIO>qԙ #/_-,կ?A2 }@2@2Zٱ2^ :AHRS rotation from veh to nav: [[-0.502731,0.862600,0.056415],[-0.864232,-0.502978,-0.010770],[0.019085,-0.054170,0.998349]]2H `j?@k?ɧe? 1 z?i2 }@I2W];0YBByBI DDbDNVDNyVbļ%VN=ٔZLQ-Z>9XYX=^Fy\^E^>`Q 5ff5b ۔?Q 9ff5bo)bPBYhyj@Q Ij@b«DIbh:ib>:b%f5yniBɮnlAr̦EDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZdG?Z)Z)Z)Z-@]Z)Y ]F/i]19)Y]aiaie+ im$V=IiIiq 9@  @ @ /@ ԩ^A5Y=E= E=E='E9"E=;*E=:VE='4ZE9BE=D f-,ʊ?Aɰ49Y!=%Fy!%E%>)Q 55f5-ؔ?Q 95f5-o)-SBY=~=Q E=$) EE  EE EE +EA "EE V:*EE :VEE [4ZEA aM @aM @aM @aM @Al-,h?AB6>B4B6IB6BB6 =B4B4B6n;B68,Ej*}@j܅@j.PٱjH^ vAHRS rotation from veh to nav: [[-0.504724,0.861418,0.056687],[-0.863059,-0.504993,-0.010516],[0.019568,-0.054232,0.998337]]jH@&??@.(@7 ?Cī_?ij*}@Ij'];jCYzByzIbD VD y%\=ٔ\Q->9!Y!=%Fy!-9gE->)Q 55f5-֔?Q 9=f5-n)-UBY9y=[!@Q I=@-īDI-v;i-;-%-f5yIɮMAIDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZdN@Z)Z)Z)Z-[!@e.P)a eRie9)imAiiii+ \N=II9Y9@ @@@@=@=ԉ Ա ^A dO=I I O >Us-,ε?A2}@2ԅ@2ٱ2^ :AHRS rotation from veh to nav: [[-0.505589,0.860896,0.056895],[-0.862548,-0.505867,-0.010470],[0.019767,-0.054368,0.998325]]2H-`v?Q!?0q=?'֫G?i2}@I2^];2CYBByBIIR=)R9Y=Fy E >Q 5f5Ԕ?Q 9f5$n)YBY==Q E=&1 E i>E ѐC  -9 Y nAy-,a?AB}@Bȅ@B>ٱBl^ ZAHRS rotation from veh to nav: [[-0.506827,0.860163,0.056967],[-0.861814,-0.507119,-0.010278],[0.020048,-0.054304,0.998323]]BH7 u?`*?R: ?ͫ`C?iB}@IB#];@Yb܀Byf~IbDnVDnyv]v%v_=ٔv*IQ-z>9xYx=zFyx~ՀE~>Q 5 f5є?Q 9 f5m)\BY y "%@Q I@I|:iR:T4f5yɮiAMDNOT Ignoring new targets: 28.35 m.hQhQ*hQ"hQ hQgQfQfYfYdYdajdaZde@> @ZZZZ"%@>) Ni/9)顥ii+ F=II59@1 @1@5O1@1YEu EuEu*Eq"Eu ;*Eu~:VEu(N4ZEqa}@a}@a}@a}@B<A4=B%>BCBIBBBBBDB?o;Bi,Ey^AuJM=IIO>ԩ -,??A2}@2@2Aٱ2^D ^AHRS rotation from veh to nav: [[-0.507959,0.859483,0.057148],[-0.861141,-0.508265,-0.010129],[0.020341,-0.054357,0.998314]]2H3A?{B?`wC~*Ԕ?ԫ0?i2}@I2];2CYfByfIbDnVDnyvc=%vJ=ٔz=Q-z>9xYx=~Fy|~UUE>Q 5 f5ϔ?Q 9 f5Km)_BYy %@Q I@ǫDId:i:7f5ydBɮA%˦EMDNOT Ignoring new targets: 28.35 m.hIhI*hI"hI hIgQfQfQfQdQdYjdYZd]x @ZZZZB %@A) 7i9)顝Ũii, śB=III)M9@Q @Q@U4@Q@Y@Yԩ^A4|E=E EE)E"ED:*EL:VEFA4ZEBE1 -,i?AJ\^}@J@J6઼ٱJ_L_ VAHRS rotation from veh to nav: [[-0.510063,0.858213,0.057490],[-0.859884,-0.510394,-0.009887],[0.020857,-0.054477,0.998297]]JH@pR|v?Ho?@+`%U?@[? t䫿 ?iJ\^}@IJe];JCYZByZI ``liMb@Mb@Mb@ 9{Gzt+Mb?Yףy< AA )YbDVDy_%?=ٔ^Q->9Y=Fy⻻E>Q 5f5j͔?Q 9f5l)dBYd=Q E&BddjdZdr@Z=d=Z=d=Z={@Z=L"@M6઼)I UP8iU9)QUQiQi]+ Ye:=IaIa 9@  @ @ 4@ !1^A5B=IAIYOm>a D D <E  E E E "E :*E ҆:VE ZE a @a @a @a @B *>B CB IB BB =B B B o;B ,E܌-,M5?A9YEByEIbDUVDUkyu ;=%uN=ٔ}Q-}>9Y=FyE>Q 5f5J˔?Q 9f5Wl)hBYyQ I@IL;i;?f5yɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjd Zd v@ZAZAZAZAa)a m%im"9)imմqiyi, :;=II I)i9@ @@2@ԑ^A8=IIO> Rœ-,O?AJ-}@J@J^ٱJ _ VAHRS rotation from veh to nav: [[-0.512599,0.856687,0.057705],[-0.858360,-0.512959,-0.009525],[0.021440,-0.054414,0.998288]]JH6gi?y?w@)j@]? *ܫ@?iJ-}@IJ];JCYZBy^IEE EEEE'EA"EEl;*EE:VEE'4ZEABEEYF9Y=FyE>ԙQ 5f5Ȕ?Q 9f5k)mBY =Q E %-,i?AYByII%C=)%4=bD-VD-Ny=z%=N=ٔEQ-E>9AYI=MFyIMEU>QQ 5]f5UƔ?Q 9]f5U_k)UqBYayaQ Ie@U̫DIU:iU~:UFf5yqɮuAqDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd6D@ZZZZ) Dik9)顭ii, i1=IIbEFA4jEÏB4rE0EM EMEM(EI"EM:*EM:VEMc44ZEIaU@aU@a]@a]@}9@y @@@AyA}AAB.>BBIBBB =BBDBp;B,EB%CB%CB%ŔCB% =B% =C%Z5QiI^AS,=II O >q ۠-,?A2|@2z@2`|ٱ2] >AHRS rotation from veh to nav: [[-0.515023,0.855237,0.057623],[-0.856899,-0.515401,-0.009252],[0.021786,-0.054143,0.998296]]2H{^?@р?k@*~`O? ?i2|@I2];2CYZByZIbDfVDfynB=%nQ=ٔn"hQ-n>9pYp=rFyprIEv>tQ 5Mf5vtĔ?Q 9Mf5vj)vvBYQyU"@Q IU@vͫDIvZS@ZZZZ4"@`|) "i9) ii+ ^&=III9@ @@/@ԁE] E]E])EY"E]=;*E]M:VE]FA4ZEYBE]|I -,b?A6/|@6n@6ʳٱ6\] >AHRS rotation from veh to nav: [[-0.516240,0.854506,0.057574],[-0.856162,-0.516626,-0.009127],[0.021946,-0.054004,0.998299]]6H X?Xz?e`3밂@x?p?i6/|@I6о];6CY^By\iEMb@Mb@Mb@AAAA A9E9Y=FyVE>Q 5f5l?Q 9f53j)|BY=Q E;yY @Q I@ΫDI:i:IMf5yɮHA-DNOT Ignoring new targets: 28.35 m.h)h)*h)"h) h)g)f1f1f5]Bd9d9jd9Zd=ً@Z]=Z]=Z]@Z]pY @uʳ)q uBiu9)y}Dyiyi, q"=IIԹ-9@) @)@-0@)@1@1^Ah%=II!O--> Em  Em Ei Ei "Em &:*Em :VEi ZEi au @au @au @au @B &>B CB IB BB =B B DB tp;B -E9 +-,}=?AF|@Ff@F(ٱF} ^ NAHRS rotation from veh to nav: [[-0.517097,0.853978,0.057729],[-0.855644,-0.517482,-0.009232],[0.021990,-0.054170,0.998290]]FHS??oa@78肿?@?iF|@IFH];DYVByVI XX\^AbDbVDbyjN<%j[=ٔj Q-n>9lYl=rFyprB0Er>tQ 5zf5vҾ?Q 9zf5vi)vBYxy~H @Q I~@vϫDIv;iv;vPf5yɮ$A]DNOT Ignoring new targets: 28.35 m.hYhY*hY"ha hagafafifidqdqjdyZd} @ZZZZH @E()A M9iM9)IM%IiIiu+ qun=IyIy @  @ @ 0@ 9^A#'=IIO->i -,#Ѷ?A(ɰ*p;NH|@Nu_@N!ٱN^ VAHRS rotation from veh to nav: [[-0.517854,0.853507,0.057915],[-0.855187,-0.518235,-0.009404],[0.021987,-0.054398,0.998277]]NHAO??`]@aB?`ګ?iNH|@IN];LY^By^IE EEE"E;*E:VEZEBE@9Y=FyTE>Q 5f5Ļ?Q 9f5h)BYw=Q E;y@Q I@ѫDIx;i;HTf5yɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffnBddjdZd @Zw=Zw=Zz@Z@!) P8i9)1ii, =IIi9@ @@4@ԑ^A;=IIO> q=-,?A2ͷ|@2V@2ٱ2_ >AHRS rotation from veh to nav: [[-0.518768,0.852955,0.057857],[-0.854636,-0.519138,-0.009608],[0.021841,-0.054431,0.998279]]2HhK?m? .Yǜb@]]?`aޫ?i2ͷ|@I2o^;2CYFByFIPbDN VDN2yV<%ZZ=ٔZT9Q-Z>9XY\=^Fy\^y:Eb>`Q 5ff5b?Q 9jf5bg)bBYhyj@Q Ij@bҫDIb ;ibϹB5CB5IB5BB5 =B1B1B5p;B5 -E^A-=I9IIO]>! Z%-,h?A2|@2N@2yٱ2mR_ >AHRS rotation from veh to nav: [[-0.519598,0.852453,0.057799],[-0.854136,-0.519957,-0.009843],[0.021662,-0.054482,0.998280]]2HLG?˗?U{Z(@.?@嫿`?i2|@I2*(^;2CYFByFIIJ%=)J=J>J=bDR VDR2yV <%VJ=ٔZ%9Q-Z>9XY\=^Fy\^XEb>`Q 5ff5b7?Q 9ff5bg)bBYhyj@Q Ij@bԫDIbB:ib:b[f5ylɮrUAp| DNOT Ignoring new targets: 28.35 m.hh*h"h hgfffdd!jd!Zd%@ZZZZ@y) 'i9)pGii, )=I I  @  @ @ /@ 9E= E=E=%E9"E=;*E=:VE= 4ZE9BE=7CAHRS rotation from veh to nav: [[-0.520406,0.851975,0.057584],[-0.853650,-0.520750,-0.010046],[0.021428,-0.054385,0.998290]]6H`*aC?{? Q@;?Oث ?i6w|@I6 ^;6CYF&ByFIiMb@Mb@Mb@ 9&1HzGQ?YPy= \=A rA)YAbD-VD-0y=8b=%=A=ٔ=:Q-E>9AYA=EFyAMVEM>QYQ 5ef5U$?Q 9ef5Ue)UBYe>Q Ee;ye2@Q Ie@U֫DIU?;iU>;U^f5yqɮuAq% G=liAQ}049}liAY}L$ADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffBddjdZdW @Z >Z >Z <@Z 2@I)! %Bi%9)!%`T!i!i-+ 15!=I1I1ԉ9@ @@@^A=II O >EE  EE EE 'EA "EE ;*EE :VEE '4ZEA aU @aU @aU @aU @ B% 4>B% CB% IB% BB% =B! B% DB% Dp;B% ,Ey-,8?A:֍|@:A@:Soٱ:2^ NAHRS rotation from veh to nav: [[-0.520964,0.851653,0.057312],[-0.853319,-0.521286,-0.010366],[0.021048,-0.054306,0.998302]]:H໫@?W?`dN _: ? ͫ?i:֍|@I:^;:CYv-ByvIbD VD N2y%s =%%L=ٔ-x:Q-->91Y1=5Fy9EҺEE>IQ 5ef5M4?Q 9ef5Md)MBYaye)@Q Ie@MثDIMN;iM<;MMbf5yqɮuAqDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd !@ԹZZZZ)@So) d4ix9)4_ii, =II i 9@ @@/@@@^A]=IIO>iA IA A e-,oR?AZ|@Z=@Z4ٱZ(^ bAHRS rotation from veh to nav: [[-0.521398,0.851410,0.056969],[-0.853065,-0.521694,-0.010744],[0.020573,-0.054200,0.998318]]ZHK`>?+?OL@ %?!8?iZ|@IZ7];ZCYj0ByjI llprAE= E=E=&E9"E=:*E=:VE=4ZE9BE=>=ٔ:Q->9Y=FyE>Q 5f5?Q 9f5c)BY5>Q E;y @Q I@ګDI:i:ff5y`BɮAEDNOT Ignoring new targets: 28.35 m.hAhA*hA"hA hAgIfIfIfUBdQdQjdQZdU!@Z}5>Z}5>Z}@Z}8 @ 4)  ui 9) &oii+ ^=II@ @@/@9i^A+=II O >ԑ -,=l?A:P|@:y<@:ٱ:^ JAHRS rotation from veh to nav: [[-0.521523,0.851354,0.056662],[-0.853003,-0.521786,-0.011221],[0.020012,-0.054185,0.998330]]:H@PJ>??@K@x@~?R?i:P|@I:4];8Yn:ByrIbD VD y% W=%%X=ٔ%":Q-->9)Y)=5Fy15ݿE=>AQ 5Mf5E?Q 9Uf5Ea)EBYQyQQ I]@EܫDIELC;iE6D;EYif5yaɮe2Aa DNOT Ignoring new targets: 28.35 m.h h *h"h hg1f1f9f9d9d9jdAZdE"@qZZZZ @) fai9)顽k}ii, E?=IID)zD)E5 E5E5%E1"E5&:*E5:VE5 4ZE1a=@aE@aE@aE@a@i @i@m0@iB6>BBIB.BB =BBBo;B,Eԡ^A[=IIO> ps-,?AYybD-VD-02y=a:%EH=ٔEQ-E>9AYI=MFyIMEM>QQ 5]f5UQ?Q 9]f5U`)UBYayaQ Ie@UޫDIUY;iU;Ulf5yiɮm0AiDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd #@ZZZZy)y `i9)顅Ʌii+ R=II-9@) @)@-1@)@5=@5=EM EMEM'EI"EM;*EMh:VEM'4ZEIBEMb1 /-,?A6|@6)>@6Śٱ6^ >AHRS rotation from veh to nav: [[-0.521358,0.851485,0.056208],[-0.853129,-0.521557,-0.012242],[0.018892,-0.054335,0.998344]]6H\??@SǬ?L@L`jX?ѫ o?i6|@I6];4YF9ByFIIJ<)J=iMMb@Mb@Mb@IIII I9Msh|?SſL7A`?YMyM/M+=M"AMA MA)IIYM AbDe VDe2yu%}G=ٔ}2;Q-}>9Y=Fy>:E>Q 5f5բ?Q 9f5\^)BYE>Q E;y}@Q I@DI? ;i ;}pf5yɮ7ADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffӁBddjdZdT$@Z E>Z E>Z V@Z }@Ś) i%+9)!%Y!i!i-, )-=I)I1A@I @I@M4@IYiIA^A-e=I9IIO]>ԁ DE %=DE R=bEc44jE14rE).0EM  EM EM +EI "EM ;*EM :VEM [4ZEI a] @a] @a] @a] @B 7>B B IB 8BB =B B B o;B ,EBCBCBB =B =CO6-,Թ?A,YQy]IbDmVDmβy}w %}J=ٔ}Q->9Y=FyE>Q 5f5h?Q 9f5\)BYyQ I@DI;ie;tf5yɮ;ADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd#%@Z Z Z Z ) % i%59)!%!i!i-+ )-=I1I1ԉ@ @@/@Ա^AW=II O> @-,ӷ?A`zO|@zxF@E~ E|E~'E|"E~T;*E|VE~'4ZE|BE~G=ٔE8M;Q-E>9AYI=MFyIM;EU>QQ 5]f5U?Q 9ef5UZ)UBYeM>Q Ee;ye\@Q Ie@UDIU:iU:Uwf5yqɮuYAqDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffԁBddjdZd&@ZM>ZM>Z,@Z\@|) iW9)ɣii, =II@ @@/@@@^A =I I O >9 -,?ANV|@NJ@NIcٱNm^ ZAHRS rotation from veh to nav: [[-0.520041,0.852360,0.055131],[-0.853974,-0.520131,-0.013824],[0.016892,-0.054270,0.998383]]NH, F?#:?SO@3L?;ɫ?iNV|@IN~];NCYf/ByfI hhbDrVDrܲyz%zb=ٔ~:Q-~>9|Y=Fy:E> Q 5f5 c?Q 9f5 +Y) BYy%f@Q I%@ DI .;i /; zf5y)ɮ-A)UDNOT Ignoring new targets: 28.35 m.hYhY*hY"hY hYgYfYfafadadajdiZdm<&@ZZZZf@Ic) xi(9)顥:ii+ qi=II1@ @@/@E  E E (E "E ;*E B:VE c44ZE a@a@a@a@IBu9>BqBqBqBu =BqBqBu^p;Bu-Eq^A+=IIO>ԩ .,^?A2$|@2R@2ٱ2v^ >AHRS rotation from veh to nav: [[-0.519223,0.852881,0.054785],[-0.854486,-0.519276,-0.014377],[0.016187,-0.054278,0.998395]]2H y`J? ?@WqH?`Uʫ`?i2$|@I2];2CYV"ByVIbDbVDb0yj%jM=ٔj:Q-j>9lYl=nFylrU;Er>tQ 5zf5vՔ?Q 9zf5vhW)vBYxyzx@Q Iz@vDIv:ivN:vl~f5yɮA-DNOT Ignoring new targets: 28.35 m.h)h1*h1"h1 h1g1f1f9f9d9dAjdAZdE`a'@ZaZaZaZex@yu) i19)顅dii, =II@ @@/@ԩE- E-E-'E)"E-&:*E-:VE-'4ZE)BE-a;;ae^Al=IIO> .,8!?A6]|@6W@6&ٱ6ߗ] >AHRS rotation from veh to nav: [[-0.518694,0.853230,0.054355],[-0.854816,-0.518724,-0.014658],[0.015689,-0.054067,0.998414]]6H#M?@xԫ?@Z c? ?i6]|@I6];6CY^BybIi}Mb@Mb@Mb@yyyy y9}/$ʡEƿy&1?Y}y}-2}`e<}A}vA } A)} AyYybDVDβy%>=ٔ:Q->9Y=Fy:E>Q 5f5?Q 9f5U)BY^F>Q E;y @Q I@DI:i':0f5yɮADNOT Ignoring new targets: 28.35 m.hh*h"h  h g f f fBddjdZdCb(@Z=^F>Z=^F>Z=vg@Z=m @M&)I UiU9)QUµQiYi]+ Ye =IaIami>im>@ @@/@@=@= 1^AIIO>E-  E- E- (E) "E- ;*E- :VE- c44ZE) a5 @a5 @a5 @a5 @B <>B CB IB )BB =B B B Up;B -Ea %.,D;?A2 |@2V_@2AHRS rotation from veh to nav: [[-0.517933,0.853716,0.053995],[-0.855288,-0.517933,-0.015083],[0.015089,-0.053993,0.998427]]2H`Q?/?^㎿3??i2 |@I2];2CY^By^IIb<)bp<bDjVDjyrᄽ%rW=ٔr:Q-v>9tYt=vFytz;Ez>|Q 5f5~?Q 9f5~S)~BYy. @Q I @~DI~:i~1:~f5y\BɮRAʦE=DNOT Ignoring new targets: 28.35 m.h9hA*hA"hA hAgAfAfIfIdIdIjdQZdU$)@ZqZqZqZu3. @ԉ .,T?AXXEz EzEz&Ex"Ez;*Ezk:VEz4ZExBEz]u9!Y)=-Fy)M:EM>QQ 5]f5U鉔?Q 9]f5U7R)UBY]*>Q E];y] @Q I]@UDIU:iU:Uf5yiɮmAiDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffBddjdZd`*@Z-*>Z-*>Z-)@Z- @=fq)a eie9)aepٵaiiim+ iu R =IqIq 7j>'GhA!e9ehAYetA@ @@0@ ^A F=I I! O- >..,Ap?A2j|@2k@2#lٱ2{\ :AHRS rotation from veh to nav: [[-0.516717,0.854483,0.053499],[-0.856035,-0.516686,-0.015483],[0.014412,-0.053797,0.998448]]2HW?9d?d|7?@RH?i2j|@I2n];2CYBByBIbDJVDJ1yR%Ri=ٔVp:Q-V>9TYT=VFyXZ:EZ?\Q 5bf5^)?Q 9bf5^P)^BYdyf @Q If@^DI^:i^I:^f5yhɮjvAhDNOT Ignoring new targets: 28.35 m.hh*h"h hgf f f d djdZd3*@Z1Z1Z1Z5 @M#l)I MsiM9)IMf䵉QiQi], Y]N"=IYIY 9@  @ @ 4@A1A1B=8>B9B=IB=BB9B9B9B=Pp;B=,EE] E]E],EY"E];*E]:VE]g4ZEYBE]e<2E]e<JE];:E];A^A5"=I9IQO]v>qԙ }".,p?A6|@6m@6iٱ6W[ BAHRS rotation from veh to nav: [[-0.516443,0.854664,0.053257],[-0.856203,-0.516405,-0.015533],[0.014227,-0.053621,0.998460]]6H@hY? D?fdϏ"? 5t`b?i6|@I6a];6CYF߀ByJI LLbDRVDRkyZ%ZJ=ٔ^&9Q-^>9\Y`=bFy`bO:Eb>dQ 5jf5f򃔊?Q 9jf5f~O)fBYlyn @Q In@fDIf<;if;fIf5yrWBɮrAvEDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffd!d!jd!Zd%@+@ZAZAZAZE2 @]i)Y ]̾i]9)ae]񵉢aiaim+ im4#=IiIqq@ @@/@ԡEu EuEu)Eq"Eu;*Eu:VEuFA4ZEqa@a@a@a@^A IAIO}> 6(.,EK?Aɰ4<2|@2Ap@2 rhٱ2[ :AHRS rotation from veh to nav: [[-0.516172,0.854828,0.053255],[-0.856367,-0.516132,-0.015558],[0.014187,-0.053637,0.998460]]2H {Z??D?\g@(ݏ?Fva?i2|@I2,];2CYBπByBnIiMMb@Mb@Mb@IIII I9MˡEMbpYM'yMMII M A)IIYM AbDeVDeym̒%u?=ٔu8Q-u>9yYy=}FyyA:E>Q 5f5ـ?Q 9f5_N)BY>Q E;y @Q I@DIG ;iz ;f5yɮAADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffxBddjdZd*w,@Z>Z>Z@Z @ rh) it9)\!i!i%, )-=@$=I)I)@ @@@^A"=II1O=>) B= 2>B= CB= IB= BB= =B9 B= DB= p;B= !-EEu  Eu Eu *Eq "Eu +$;*Eu :VEu (N4ZEq BEu 3}9TYT=ZFyXZ9EZ>\Q 5bf5^~?Q 9bf5^aM)\YdydQ If@^DI^N:i^:^Uf5yhɮjAlDNOT Ignoring new targets: 28.35 m.hh*h"h hgf f f d djdZd8-@ZZZZ @zi) i 9)   i i5+ 11I9I91@ @@/@Q^A$=Ii I I O% >ԁ 5.,ظ?AE EE-E"E~ ;*E:VEt4ZEa*@a*@a*@a*@4|@Im@$pٱ~l\ 5AHRS rotation from veh to nav: [[-0.516479,0.854620,0.053617],[-0.856175,-0.516461,-0.015252],[0.014657,-0.053783,0.998445]]H` Y?s?@e@چL<N?f@C?i|@I];CYEByEGIIU%=)U%=U=Qi5Mb@Mb@Mb@1111 195~jth?MbI +Y5D;y55945A5A 1)5A1Y1bDMVDMky]%]1=ٔeZQ-e>9iYi=mFyimlEm>qQ 5}f5uz?Q 9}f5uL)uBY=Q E ^;.,?A\YBy7IbD5VD5Ny=1%E`=ٔEQ-E>9IYI=MFyIMEU>QQ 5]f5U\x?Q 9ef5U`L)UBYayaQ Ie@UDIUj;iU;Uf5yiɮmAqDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZdT.@ZZZZ) ;iX9)ii+ "=III=)=B7>BCB_IBÀBB =BBBp;BC-EBBB“CB =B =Cw6D1zD5?AbEjE²>4rEH0EE EEEE(EA"EE%;*EE:VEEc44ZEABEE~`C.,,+?A2b|@2_@2ٱ24] :AHRS rotation from veh to nav: [[-0.517963,0.853683,0.054225],[-0.855261,-0.517989,-0.014666],[0.015568,-0.053973,0.998421]]2H ' ^Q?`\ë?M^`^@ +?N?i2b|@I2I8];2CYBByB0IbDJVDJyRIѼ%RA=ٔV` Q-V>9XYX=ZFyXZE^>\Q 5bf5^lu?Q 9bf5^K)^BYdyfN(@Q If@^DI^;i^;^@f5yhɮnAlDNOT Ignoring new targets: 28.35 m.hh*h"h hg f f fddjdZd/@ZZZZ)N(@) »i9)?ii, %#Z=I!I)!9@ @@/@IEm EmEm#Ei"Em7;*Em:VEm3ZEiau@au@au@au@^A"=IIO>q ZI.,7'?A0:z|@:R@:ӄٱ:_] BAHRS rotation from veh to nav: [[-0.519309,0.852842,0.054571],[-0.854433,-0.519368,-0.014221],[0.016214,-0.054012,0.998409]]:H.{J??W O? ?i:z|@I:b];:CYJByJ$I LLiMb@Mb@Mb@ 9?Zd;{GztY9IYI=UFyQUuEU>YQ 5ef5]s?Q 9ef5]K)]BYmf=Q EmH@Q Im@]DI]:i]Q:]f5yqɮu"AqDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffFBddjdZdkH0@Z}f=Z}f=Z}:>@Z}e>@ӄ) 3i9) ii+ 9=IIԑiIAԹ]F9B8>BB:IBBB =BBDB,q;Bi-ED5=D19@ @@/@EM  EM EM 'EI "EM ;*EM :VEM '4ZEI BEM eP., C?Aɰ2|@2A@2\ٱ2(\ :AHRS rotation from veh to nav: [[-0.521001,0.851803,0.054680],[-0.853391,-0.521091,-0.013716],[0.016810,-0.053809,0.998410]]2H` A?? NǬ`6?݌?i2|@I2l];2CYBByB'IbDNVDN0yV@<%VD=ٔV)Q-Z>9XYX=ZFyX^E^>`Q 5ff5bp?Q 9ff5bK)`Ydyj>@Q Ij@bDIb ;ib;bf5ylɮnAlDNOT Ignoring new targets: 28.35 m.hh *h "h  h gfffddjdZd0@ZZZZ>@ \)  6i9) ii, }=II!9E9@A @A@E0@AA E-  E) E- *E) "E- );*E) VE- (N4ZE) a= @a= @a= @a= @^A- =IQ Ia i Ou >(W.,^?ABmm|@B1@BٱB\ JAHRS rotation from veh to nav: [[-0.522686,0.850741,0.055133],[-0.852344,-0.522814,-0.013226],[0.017572,-0.053905,0.998391]]BH׹D9? T:?gF a^?r?iBmm|@IBO^;BCYRByR(Ii%Mb@Mb@Mb@!!!! !9%~jt?kty&1|?Y%=y% 0%`;%fA%A % A)!!Y!bDEVDEβy;%9=ٔQ->9Y=FyTE>Q 5f5n?Q 9f5K)BYl=Q EeIy J].,w?AB*:>B(B*!IB*BB(B(B(B*$q;B*g-E9YYY=]FyaeO»Ee>iQ 5uf5ml?Q 9uf5mK)mBYqyu=Q I}@mDIm;im;m۰f5yɮAE EE'E"E%;*Ek:VE'4ZEBE~ T2d.,?A2%|@2 @2Wٱ2\ :AHRS rotation from veh to nav: [[-0.526394,0.848421,0.055598],[-0.850034,-0.526581,-0.012423],[0.018737,-0.053800,0.998376]]2H7C&?Tw?@{3;q@/? ?i2%|@I2i^;2CY^By^7I`bDjVDj1yrϕ=%rR=ٔvuºQ-v>9tYt=vFyxzEz>|Q 5f5~k?Q 9f5~K)~BY y  >Q I @|I~:i~t:~Cf5yɮAEDNOT Ignoring new targets: 28.35 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdU$1@ZqZqZqZu T@W) i9)額S1ii+ 6G 09 Y AQ c\j.,t?A)m|@m@mٱmA\ }AHRS rotation from veh to nav: [[-0.528138,0.847320,0.055849],[-0.848942,-0.528344,-0.012209],[0.019163,-0.053860,0.998365]]mH`??4?@*2`b?@?im|@Im^;iYyi%Mb@Mb@Mb@!!!! !9% ףp= ?Mb~jt?Y%Q8=y%@%<%"A%A !)%A!Y% AbD=VD=k1ԹٔRQ->9Y=Fy~E>Q 5f5=h?Q 9f5"L)BYӊ=Q ECi!>BU=>BUCBU'IBUBBU =BQBQBUp;BU1-E9@9 @9@=/@9E] E]E]'EY"E]7;*E]^:VE]'4ZEYBE]ZDq.,QŹ?A2[{@2@2՝ٱ2[ :AHRS rotation from veh to nav: [[-0.530298,0.845980,0.055692],[-0.847590,-0.530515,-0.012039],[0.019361,-0.053588,0.998375]]2H4D??@u`iӓ?o?i2[{@I2/z_;0YBByBDI DDbDN VDN2yV<%V<ٔV@Q-V$?9XYX=ZFyXZ_E^%?`Q 5ff5bf?Q 9ff5b;L)bBYdyf;Q If@`Ib:ib:bBf5ylɮn5AlDNOT Ignoring new targets: 28.35 m.hh*h "h  h g f ffddjdZd2@Z9Z9Z9Z=V@M՝)I U㙾iU9)QU=;QiQi]+ Y]1E%  E% E% )E! "E% y>;*E% ':VE% FA4ZE! a= @aE @aE @aE @Y nw.,^,߹?A6{@6؄@6ٱ6[ >AHRS rotation from veh to nav: [[-0.531891,0.844982,0.055650],[-0.846593,-0.532100,-0.012210],[0.019294,-0.053607,0.998376]]6H? ?~?J`?`br?i6{@I6_;6CY^BybVIiEMb@Mb@Mb@AAAA A9E{Gz?㥛 L7A`?YEף=ٔu#9Q-u>9yYy=}FyyFE>Q 5f5Cd?Q 9f5K) BY=Q E Թ B9 A= <}.,E?ABu9>BqBu@IBuBBqBqBqBuSp;Bu,ER{@R̈́@RIٱRL\ ZAHRS rotation from veh to nav: [[-0.533021,0.844268,0.055672],[-0.845890,-0.533207,-0.012710],[0.018955,-0.053867,0.998368]]Eb EbEb"E`"Eb(;*Eb :VEb(3ZE`BEb9Y=Fy1UE>Q 5f5a?Q 9f5K)BYy6@Q I@DI;i;f5y@BɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd 3@Z)Z)Z)Z-6@=I)9 =詾iE9)AE}FAiAiM+ IM .,?A2j{@2Ä@2Bٱ2^ :AHRS rotation from veh to nav: [[-0.534075,0.843603,0.055661],[-0.845235,-0.534229,-0.013328],[0.018493,-0.054165,0.998361]]2H`$`? ?* gK?@?i2j{@I2`;2CYBրByBwIIF<)F;bDNVDNNyV=%V[=ٔVp:Q-V>9XYX=ZFyXZ#ZE^>dQ 5ff5f_?Q 9jf5fK)fBYhyj5@Q Ij@fDIf9:if:ff5ypɮrOAp DNOT Ignoring new targets: 28.35 m.h h *h "h hgfffddjd!Zd%3@ZZZZ5@B) 5i.9)7Kii, TI .,,?AF}{@F˹@FZٱF6^ VAHRS rotation from veh to nav: [[-0.535085,0.842985,0.055313],[-0.844611,-0.535198,-0.014013],[0.017791,-0.054216,0.998371]]FHk ?Q? V @𲌿@7?:«@?iF}{@IF9`;FCYbBybIieMb@Mb@Mb@aaaa a9e rhMb+?YeCyee=eAa a)e AaYe AbD}VD}kyC=%<=ٔL:Q->9Y=Fy -E >Q 5f5 ]?Q 9f5J)&BYO=Q E%ԡ .,5F?A6et{@6@6爼ٱ6[^@ BAHRS rotation from veh to nav: [[-0.535588,0.842702,0.054757],[-0.844314,-0.535640,-0.014974],[0.016711,-0.054252,0.998387]]6H#j? ?#`? ƫ ?i6et{@I6`;4YJByJI PR<bDVVDVyZò=%ZY=ٔ^<;Q-^>9`Y`=bFy`bkӺEf>dQ 5jf5fZ?Q 9jf5f.J)f.BYlyn@Q In@fDIf;if;ff5ypɮvtAtDNOT Ignoring new targets: 28.35 m.hh*h"h hgfff!d!d!jd!Zd%`4@ZIZIZIZMȩ@]爼)Y e&ie9)aeIUaiaim, im9bE  E E %E "E ;*E :VE 4ZE a- @a- @a- @a- @1 .,%u`?A2s{@2@2|"}ٱ2^ :AHRS rotation from veh to nav: [[-0.535628,0.842716,0.054149],[-0.844313,-0.535609,-0.016083],[0.015450,-0.054333,0.998403]]2H#?a?`#w?`ѫ?i2s{@I2P~`;2CYNByRI TT|ieMb@Mb@Mb@aaaa a9eA`"DlˡE?YeYyeO e'=e9AeA e& A)aaYe AbD}VD} y<%==ٔ?;Q->9Y=FyͦE>Q 5f5W?Q 9f5H)8BY>Q E;y @Q I@ DI" ;iC ;f5yɮQADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffBddjdZd<-5@Z%>Z%>Z%@Z% @=|"})9 EpiE 9)AEz[AiAiM+ IMFӱԁ B <>B CB IB BB B B B Fp;B ,E.,Oz?A4<ɰ2r{@2س@2 eٱ2] >AHRS rotation from veh to nav: [[-0.535731,0.842714,0.053155],[-0.844273,-0.535637,-0.017198],[0.013979,-0.054091,0.998438]]2H$@?,7?H@#@K? б4?i2r{@I2`;2CYBByFIDPzDRAAET EVEV)ET"ET*EV:VEVFA4ZETBEV]u9hYh=jFyhjEn>YaQ 5mf5eU?Q 9mf5eG)eBBYiym @Q Iu@e DIeB:ie:e%f5yyɮ}AyDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZdx5@Z9Z9Z9Z= @M e)I U@iU9)qu;aqiqi}, y' Τ.,*?A2 w{@2V@2@Kٱ2Y\ :AHRS rotation from veh to nav: [[-0.535485,0.842931,0.052175],[-0.844453,-0.535312,-0.018418],[0.012405,-0.053922,0.998468]]2H@"@K? ?@@G!ܒg?`s?i2 w{@I2`;2CYRByVIbD^VD^kyf=%fJ=ٔfL;Q-f>9hYh=jFyhn_E:En>pQ 5vf5r4R?Q 9vf5riF)rKBYtyv @Q Iv@rDIr:ir9:rf5y|ɮ~rA|%DNOT Ignoring new targets: 28.35 m.h!h)*h)"h) h)g)f)f1f1d1d1jd1Zd=5@ZYZYZYZ]8 @m@K)q uiu9)qu'fԹqii+  m9 M.,A ?AJ0{@Ji@Ji0ٱJ\ RAHRS rotation from veh to nav: [[-0.534869,0.843376,0.051299],[-0.844866,-0.534613,-0.019752],[0.010767,-0.053906,0.998488]]JH?C?% ` 9 ??iJ0{@IJ`;JCYZByZII^=)\i=Mb@Mb@Mb@9999 99=+η/$ƿ9iYq=uFyqu:E}>yQ 5f5}N?Q 9f5}D)}UBYzL>Q E;y@Q I@}DI}:i}:}=f5yZzL>Z,@Zc@i0) ̾i{9)lii, BBIBBB =BBDBdp;B -EE EE,E"Ef;*EB:VEg4ZEBEWԙ .,Ǻ?A2B{@2rń@2]ٱ2d\ :AHRS rotation from veh to nav: [[-0.533946,0.844015,0.050401],[-0.845470,-0.533602,-0.021185],[0.009013,-0.053924,0.998504]]2H+?`%Ω?D@u?`?i2B{@I2ma;0YB ByBIbDN VDN2yV=M%VW=ٔVy;Q-V>9XYX=ZFyX^>;E^>Q 5 f5K?Q 9 f5B)^BY y @Q I @DI:i9:f5yɮA9DNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd@6@Z Z Z Z *@%])! %;Ͼi%9)!-Zs)i)i-+ 15]kE  E E )E "E ;*E :VE FA4ZE a @a @a @a @ .,?A2{@2&Є@2zٱ2] :AHRS rotation from veh to nav: [[-0.532849,0.844764,0.049444],[-0.846180,-0.532414,-0.022691],[0.007156,-0.053929,0.998519]]2H O? P? b<MO}?`?i2{@I2Ua;2C TVːCYR ByVI ]liAq!9liAYeAi-Mb@Mb@Mb@)))) )9-A`" rȿZd;O?Y-ٽy-C-j<-9A-A ))- A)Y-\ AbDMVDM:2y]9%]2=ٔ];Q-]>9aYa=eFyaex:;Em>iQ 5}f5mG?Q 9}f5m@)meBY}`>Q E}q;y}d@Q I}@mDIm;imy;mf5yɮA5DNOT Ignoring new targets: 28.35 m.h1h1*h1"h1 h1g9f9f9f=݁BdAdAjdAZdE=7@Z`>Z`>Zb@ZDd@z) ѾiK9)hzii, B A p<B ;>B B IB BB B B DB Qp;B ,E 5.,?A:{@:%ۄ@:±ٱ:.]EF EFEDED"EF(;*EF˭:VEDZEDBEF9pYp=rFypvw;Ev>xQ 5~f5zD?Q 9~f5z>)zkBY|y}@Q I@zDIza;iz] ;zf5y ɮ A 5DNOT Ignoring new targets: 28.35 m.h1h9*h9"h9 h9g9fAfAfAdAdIjdIZdMד7@ZiZiZiZm}@±) ׾i9)Gii +  #ԩ Z.,o?Ai@I@DY%By%IbDMVDMβyeAA%eB=ٔmQ-m>9qYq=uFyyE>Q 5f5@?Q 9f5<)rBYyQ I@DIC;iXD;_f5yɮAuDNOT Ignoring new targets: 28.35 m.hqhq*hq"hq hqgyfyfyfyddjdZd8@ZZZZ) /i9)ii,  PG.,DN/?A23{@2@2ٱ2\ >AHRS rotation from veh to nav: [[-0.529369,0.847103,0.046746],[-0.848389,-0.528692,-0.026837],[0.001981,-0.053866,0.998546]]2H@v??& {P:`?C@?i23{@I2a;2CYBByFI iEMb@Mb@Mb@AAAA A9E#~j^I +ǿ~jtx?YE㥽yEX9E;EAEA A)E= AAYE A]AAYbDeVDekyuB%uI=ٔu5 9yYy=}Fyy:;E>Q 5f5:=?Q 9f5:)uBY&K>Q E;yW @Q I@DI;i~ ;f5yɮ0ADNOT Ignoring new targets: 28.35 m.hh*h"h hgfff́BddjdZdg8@Z&K>Z&K>ZT@ZW @)  ׾iN9)R!i!i%+ )-ԁ ..,(I?AY~By~II=)bDVDy%%%O=ٔ-Q-->9)Y)=-Fy)5E5>iyQ 5}f5}9?Q 9f5} 9)}yBYyQ I@}!DI}:i}R:}hf5yɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZdm8@ZZZZ) i9)   i i, AE  E E *E "E /;*E :VE (N4ZE a @a @a @a @ Z.,B c?A2|@2@2q:ٱ2Z :AHRS rotation from veh to nav: [[-0.527639,0.848286,0.044813],[-0.849468,-0.526847,-0.028920],[-0.000923,-0.053327,0.998577]]2Hk`(%??.`=q9qYq=uFyq};E}>Q 5f55?Q 9f57)Y3>Q E;yz@Q I@#DI:Աi:f5yIɮM AQ}DNOT Ignoring new targets: 28.35 m.hyhy*hy"hy hgfffBddjdZdM<9@Z3>Z3>ZɌ@Zz@q:) Ǿi)9):ii+ =RA! A! B- 9>B- CB- IB- BB- =B) B) B- Lp;B- ,EBCBBBBC55A /.,|?AbEuFA4jEu94rEu 0E6 E6E6(E4"E62;*E6k:VE6c44ZE4BE6#JE6E:E6E~I|@~u @~R;ٱ~Z  AHRS rotation from veh to nav: [[-0.526929,0.848757,0.044246],[-0.849907,-0.526088,-0.029822],[-0.002034,-0.053319,0.998575]]~H@)? q?o2@@T`@LT?i~I|@I~ja;~CY=ŀBy=bI M9iYi=mFyim;Eu>qQ 5}f5u1?Q 9f5uG6)uzBYy@Q I@u%DIu:iu:uwf5yɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd@F9@ZZZZ@R;) ݾi  9)   i i, Q–0(.,ә?AY~€By~^I bD VD 0AyML%M6=ٔMQ-U>9QYQ=]FyY]E]>aQ 5mf5ex-?Q 9mf5e4)e{BYiyiQ Iu@e(DIel:ied:eef5y}8Bɮ}A}EDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd:@ZZZZE EE'E"E(;*E:VE'4ZEa@a@a@a@)  i 9)ﳉ%pi!i=+ 9= S.,|?A2#|@2 @2y;ٱ22Z :AHRS rotation from veh to nav: [[-0.526592,0.849013,0.043332],[-0.850110,-0.525673,-0.031319],[-0.003812,-0.053330,0.998570]]2H+?`/?4P@ `9oN`H?i2#|@I27o`;2CYBByBEIi Mb@Mb@Mb@     9 {GzV-¿y&1|Y ףy h ` "A  A)  A Y  AbD%VD%Jy5ʽ%5L=ٔ=;Q-=>99Y9==Fy9E:EE>IQ 5Uf5M)?Q 9Uf5M3)IYU>Q E];y]@Q I]@M*DIM: ;iM ;Mf5yaɮeUAaDNOT Ignoring new targets: 28.35 m.hhQ*hQ"hQ hQgYfYfafefBdadijdqZdu~:@Z>Z>ZQ@Z@y;) Qi9)YPϼii, cBUCBU_IBUÀBBU =BQBQBU3p;BU,ED =D =E EE*E"E /;*E:VE(N4ZEBEQ 8.,Aͻ?A6 "|@6 @6?;ٱ6Ȃ[ BAHRS rotation from veh to nav: [[-0.526678,0.848966,0.043219],[-0.850054,-0.525726,-0.031949],[-0.004402,-0.053565,0.998555]]6H`*? ?3[rl(?i6 "|@I6M_;6CYJByJ9IPPbDRVDRkyZIR%ZS=ٔ^:Q-^>9\Y`=bFy`b~Eb>dQ 5jg5f$&?Q 9jg5f2)f|BYlyn@Q In@f+DIf/;if;fHg5ypɮrAtDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffd!d!jd!Zd%H:@ZAZAZAZEH@]?;)Y ]~¾i]9)aeJeiaim+ imƁE EEE"EO6;*E:VEZEa%@a%@a%@a%@ԑԹ b.,]?A6|@6@6 ;ٱ6[ >AHRS rotation from veh to nav: [[-0.527065,0.848734,0.043055],[-0.849811,-0.526089,-0.032426],[-0.004870,-0.053680,0.998546]]6H`(?X ?1*`s{`?i6|@I6_;6CYFByF7IIJp<)Jp;iMMb@Mb@Mb@IIII I9M~jtx?ʡEMb`YM;yMyMIMA I)M AIYM AbDmVDm:yu%}>=ٔ}:Q-}>9Y=FyrE>Q 5g5o"?Q 9g5'2)Y=Q E;y(@Q I@-DI\ ;i ;g5y9BɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgff f FBd d jdZdtI;@Z5=Z5=Z5o@Z5(@E ;)I MףiMw9)IMDŴM㩼iQԑi, HBI AM <BU ;>BQ BU 4IBU BBU =BQ BQ BU p;BU ,ED zD ?AE%  E% E% -E! "E% 9;*E% r:VE% t4ZE! BE% A_;2CYBByB'IbDNVDNkyV%VX=ٔV7:Q-V>9XYX=ZFyX^WE^>`Q 5fg5b,?Q 9fg5b1)b}BYdyf(@Q If@b.DIb:ib[:bT g5ylɮnAlDNOT Ignoring new targets: 28.35 m.hh*h "h  h g f ffddjdZd`;@ZZZZ(@9;) i9)񴉢ii+ %I St/,Z?A61{@6i@6oY;ٱ6Z >AHRS rotation from veh to nav: [[-0.529105,0.847498,0.042382],[-0.848540,-0.528127,-0.032581],[-0.005229,-0.053201,0.998570]]6H m ??`>'i@o'ku8=@I?i61{@I6 _;6CYFByF IbDLVDLyVS%VJ=ٔZ2w9Q-Z>9XYX=^Fy\^h<E^>`Q 5fg5b?Q 9fg5b0)b~BYhyj(@Q Ij@b0DIb:ib:b g5ylɮnLAp DNOT Ignoring new targets: 28.35 m.h h *h "h  h gfffddjdZd`O<@ZAZAZAZEޫ(@UoY;)Q UiU`9)Y]I]iYie, aeԩ /,4?A2!{@2a@2F;ٱ2Y :AHRS rotation from veh to nav: [[-0.530040,0.846919,0.042266],[-0.847956,-0.529057,-0.032696],[-0.005330,-0.053170,0.998571]]2H?@裥?t"u 9K?i2!{@I2G^;2C@Y^BybI dda@a a@a a@a a@a bDVDiIy;>%7=ٔl9Q->9 Y = Fy !E>Q 5%g5?Q 9%g5P0)BQ A-+:Y)Q E-;y-(@Q I-@2DIv:iz> g5y9ɮ=QA9eDNOT Ignoring new targets: 28.35 m.haha*ha"ha higifififqdqdqjdqZd}<@B:>BCBIBBB =BBBo;B,EEF;)A EiE9)IMI(MQNԩiIi+   /,%N?A;ɰ;66{@6l@6;ٱ6XZ >AHRS rotation from veh to nav: [[-0.530966,0.846337,0.042286],[-0.847376,-0.529976,-0.032863],[-0.005402,-0.053281,0.998565]]6H1??@gӠ v`G`>?i66{@I6Q^;6CYFByFIbDNVDNyV9%Vb=ٔZNR9Q-Z>9XYX=ZFyX^bGE^>`Q 5fg5b?Q 9fg5b/)bBQ Af :YdQ Ej;yj(@Q Ij@b3DIb]:ibHO?bg5lyr5BɮrUArE DNOT Ignoring new targets: 28.35 m.h h*h"h hgfffdd!jd!Zd%`R<@;) i9)>(ii, -i $/,h?A6Z{@6~؄@6;ٱ63,[ >AHRS rotation from veh to nav: [[-0.531993,0.845683,0.042470],[-0.846732,-0.530999,-0.032936],[-0.005302,-0.053483,0.998555]]6H`? ?mܠOub(?i6Z{@I6^;6CYbBybIIauau auau auau a}a} i}Mb@Mb@Mb@yyyy y9}:v?+Q?Y}9Y=Fym6E>Q 5g5?Q 9g5/)BQ AT:Y*=Q EBCBIBwBB =BBBp;B,E^AM c<IQ Ii Ou > E  E E *E "E ;;*E E:VE (N4ZE BE 9XYX=ZFyX^E^>`Q 5fg5bT?Q 9fg5b_/)bBYdyf9@Q If@b5DIb:ib9:b'g5yn1Bɮn A=EDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffԙddjdZd5=@PExceeded connect timeout, disconnecting.ZZZZ9@I;) i59)9=i= i9iE, AEFi I ! &/,[?AYBy IbD5VD5yUDy%]@=ٔ]Q-e>9aYa=eFyamEm>qQ 5}g5u| ?Q 9}g5u(/)uBYyyyQ I}@u6DIu;iu;ug5yɮ'ADNOT Ignoring new targets: 28.35 m.E EE)E"E%;*EVEFA4ZEa@a@a@a@hh*h"h hgfffddjdZd>@ZZZZ) i9)!%%pi!i-+ )-y ,/,C?A:y{@:̷@:4;ٱ:Z NAHRS rotation from veh to nav: [[-0.535369,0.843557,0.042339],[-0.844603,-0.534379,-0.032943],[-0.005164,-0.053396,0.998560]]:H!`j?? ݠ&u`V 4?i:y{@I:_ ^;8YVByZIiMb@Mb@Mb@ 9~jt?#~j~jt?YD9Y=Fy/ûE> Q 5g5  ?Q 9g5 .) BY=Q E@BBCBBB =BBBp;B1-EBQBUCBQBU =BU =CU"5Z=Z=Z€@Zn.@4;) QiZ9)ŋ:ii, f 3/,м?A6i{@6@6/(;ٱ6Z BAHRS rotation from veh to nav: [[-0.536208,0.843025,0.042303],[-0.844071,-0.535224,-0.032872],[-0.005071,-0.053333,0.998564]]6H(?@?` `Ԡt`xN@9`Yd=jFyhv|1Ev>xQ 5g5z?Q 9g5z|.)zBYy.@Q I@z8DIzn$;iz7%;z#g5yɮA=DNOT Ignoring new targets: 28.35 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdU>@ZqZqZqZu.@/(;) |i?9)額 ;;ii+ E EE)E"E=-;*En:VEFA4ZEa@a@a@a@ 9 )9/,?A6[{@6@6l;ٱ6c:Z >AHRS rotation from veh to nav: [[-0.536923,0.842572,0.042263],[-0.843616,-0.535945,-0.032776],[-0.004965,-0.053252,0.998569]]6Hz.Y? ?@v& ȠVtC`F?i6[{@I6̅];6CYFByF.IiMb@Mb@Mb@ 9Mb`?kt/$?Y;y <=AA  A) AY AbDVD1y;%;=ٔ{Q->9Y=FyE>Q 5g5?Q 9g5-)BYY=Q EBCBIBBBBBBq;Bb-E^A<II O >i E  E E *E "E &;*E a:VE (N4ZE BE AHRS rotation from veh to nav: [[-0.537279,0.842342,0.042317],[-0.843390,-0.536299,-0.032812],[-0.004944,-0.053319,0.998565]]6Hd1@w?? @])̠@@t L ??i6T{@I6>];6CYNByR<IbDbVDb0yj|q=%j[=ٔjikQ-j>9lYl=nFylrIEr>tQ 5zg5v?Q 9zg5v-)vBYxyz]&@Q Iz@v:DIv:ivp:v*g5yɮZADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd?@Z!Z!Z!Z%]&@];)Y ]Gi]9)Y]Ee< G/,?A2O{@2@2w;ٱ2Z NAHRS rotation from veh to nav: [[-0.537540,0.842171,0.042400],[-0.843224,-0.536557,-0.032864],[-0.004928,-0.053418,0.998560]]P2H3@?l?z+Ӡ@.t@Y 4?i2O{@I2S];2CYVByZCII^%=)^4<bDbVDbyj$<%jJ=ٔn-/Q-n>9pYp=rFyprHEr>tQ 5zg5v'?Q 9zg5v-)vBY|y~X&@Q I~@v) 9Y=Fy$GE>Q 5g5j?Q 9g51,)BYn=Q E;y4@Q I@=DI ;i:42g5y ɮ A B9B9B=!IB=BB= =B9B9B=(q;B=l-EUDNOT Ignoring new targets: 28.35 m.hQhY*hY"hY hYgYfYfafevBdadajdiZdmxF@@Zn=Zn=Zo@Z4@-5;)I MǾiU9)QUƵUUԁ "T/,mYQ?AFXO{@F}@F,Y;ٱF[ NAHRS rotation from veh to nav: [[-0.537565,0.842141,0.042686],[-0.843209,-0.536587,-0.032755],[-0.004680,-0.053602,0.998551]]FH3?ڥ?+QŠ +s q "?iFXO{@IF #];FCYVByVJI Zp9hYh=jFylnW:En>pQ 5vg5r?Q 9vg5ro+)rBYxyz9@Q Iz@r>DIr:ir:rn5g5y|ɮ~A-DNOT Ignoring new targets: 28.35 m.h)h)*h)"h) h)g)f1f1f1d1d9jd9Zd=8u@@ԙZZZZ9@ ,Y;)  ľi 9)  rҵ xE EE*E"E);*E:VE(N4ZEa@a@a@a@  ŀG5 liAA %9 liAY Ay- 9?- -)A! !QZ/,Ek?AJeU{@J@J;ٱJ|[ RAHRS rotation from veh to nav: [[-0.537254,0.842339,0.042692],[-0.843408,-0.536280,-0.032672],[-0.004626,-0.053560,0.998554]]JH/1q?ۥ?`24)S{r(l`'?iJeU{@IJ`];JCYZBy^UI ``imMb@Mb@Mb@iiii i9mV-q= ףpQ?Ymym뽙mu9Y=Fy^:E>Q 5g5&?Q 9g5t*)BY=Q E;y@Q I@@DI;iX::9g5yɮA)DNOT Ignoring new targets: 28.35 m.hh*h"h hgfffBddjdZd@@Z=Z=ZF@Z!@%;)) -Ǿi-9))-ߵ-NYB5B>B1B54IB5BB1B1B5DB5q;B5d-EԁD zD @AE  E E E "E 1;*E :VE ZE BE [#?A>b[{@>@>';ٱ>Z FAHRS rotation from veh to nav: [[-0.536946,0.842535,0.042706],[-0.843605,-0.535985,-0.032408],[-0.004415,-0.053429,0.998562]]>H. ?`ݥ?&@՗r [8?i>b[{@I>A];9Y=Fy |:E > Q 5g5 ?Q 9%g5 )) BY!y%@Q I%@ ADI :i : ? ,?H#@vwp(c3?i2c{@I2 q];2CYBByB[IbDNVDNβyR <%RP=ٔV LQ-V>9TYX=ZFyXZ:E^>\Q 5bg5^?Q 9bg5^()^BYdyf@Q If@^CDI^:i^:^?g5yhɮnAlDNOT Ignoring new targets: 28.35 m.hh*h"h hg f f f dE} E}E}+Ey"E});*E}:VE} [4ZEya@a@a@a@djdZdA@ZZZZ<@O;) ¾is9))-5A |m/,LǸ?A6f{@6I@6!r;ٱ6ogZ >AHRS rotation from veh to nav: [[-0.536353,0.842898,0.043003],[-0.843986,-0.535428,-0.031698],[-0.003693,-0.053296,0.998572]]6H)??9":@nI M?i6f{@I6];6CYFByFVIIJ<)J=i Mb@Mb@Mb@     9  rhMb?Y C y  < A A  A)  Y \ AbD-VD-y5{%=B=ٔ=QQ-=>9AYA=EFyAE9EM>IQ 5Ug5M?Q 9]g5M')MBY]>Q E];y]@Q I]@MEDIM ;iM ;MCg5ym-BɮmAmEiyI}AB>>BB@IBBB =BBDBp;BJ-EUDNOT Ignoring new targets: 28.35 m.hQhQ*hQ"hY hYgYfYfafeBdadajdaZdmHA@Z>Z>ZML@Z@I!r;) ѾiU9)~ qt/,sҽ?A2k{@2@2IT;ٱ2Y :AHRS rotation from veh to nav: [[-0.536104,0.843047,0.043172],[-0.844146,-0.535203,-0.031250],[-0.003239,-0.053196,0.998579]]2H@'=? ?=@a 8j`<[?i2k{@I2];0@YfByfTIbDrVDr1yvD%zO=ٔzQ-z>9|Y|=~Fy|C:E>Q 5 g5쓊?Q 9g5&)BYy@Q I@FDI:i:Gg5y!ɮ%A!MDNOT Ignoring new targets: 28.35 m.hIhI*hI"hI hQgQfQfQfYdYdYjdYZde@[xA@ZZZZ @IT;) YԾi9)顝 O z/,c~?ABo{@Bɲ@B);ٱBbY RAHRS rotation from veh to nav: [[-0.535891,0.843165,0.043525],[-0.844283,-0.535018,-0.030688],[-0.002588,-0.053193,0.998581]]BH`&4?H?^@l3e<`?iBo{@IB]];BCYZÀByZ`IpiMb@Mb@Mb@ 9Q롿QMb`?Y\y;A  A)= AY A 4<p;bDVD1yB8=%==ٔvźQ->9Y=Fy-:E>Q 5g5铊?Q 9g5%)BY>Q E;y@Q I@HDI':iz;Jg5yɮQA-DNOT Ignoring new targets: 28.35 m.h)h)*h)"h) h)g)f)f1f5Bd9d9jd9Zd=A@Z]>Z]>Z] @Z]@u);)q uǾiuI9)y}}BBBB =BBBp;B6-EBBCBB =B =C5^A) I1 II OU >a bE-(N4jE-I4rE-١/E  E E (E "E );*E :VE c44ZE BE M9XYX=ZFyX^*:E^>`Q 5fg5b^瓊?Q 9jg5b$)bBYhyj@Q Ij@bIDIb):ib:bNg5ylɮraAp DNOT Ignoring new targets: 28.35 m.h h *h "h  h gfffddjdZd%`A@9ZAZAZAZE-@;) ɾi9)顽Xԑiߡ Iߥ A 8/,2 ?A6~{@6@6Ӳ:ٱ6=\Z BAHRS rotation from veh to nav: [[-0.535138,0.843603,0.044285],[-0.844763,-0.534317,-0.029666],[-0.001364,-0.053285,0.998578]]6H?`u?@M @`~ZV6HZ?i6~{@I6N^;6CYFByFMIbDRVDR2yZR%ZJ=ٔZyѺQ-Z>9\Y\=^Fy\b:Eb>dQ 5fg5f䓊?Q 9jg5f#)fBYhyj@Q Ij@fKDIf :if:fQg5ypɮrAp DNOT Ignoring new targets: 28.35 m.h h *h "h hgfffddjd!Zd%uB@ZAZAZAZEع@UӲ:)QEe EeEaEa"Ee9;*Ee:VEaZEaam@am@am@am@ m*׾iue9)quu! ׍/,I:?A2{@2G@2h%:ٱ2Y :AHRS rotation from veh to nav: [[-0.535017,0.843664,0.044579],[-0.844841,-0.534232,-0.028977],[-0.000631,-0.053166,0.998586]]2H`L?Ӧ? m@7D8i?i2{@I2\^;0YVByVQIi5Mb@Mb@Mb@1111 195{GzʡEY5ףy5y515/A 5 A)5 A1Y53 AIM@AbDMVDMk1yeDx<%m?=ٔmQ-m>9iYq=uFyqBBBFIBBB =BBBp;B%-Eu9E>Q 5g5\ᓊ?Q 9g5")BY=Q E;y@Q I@MDI:iX:hUg5yɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffBddjdZdIB@Z=Z=Z`@Zp@h%:) ̾i9)Y#ԁ A/,%S?A2{@2@2ٱ2Y :AHRS rotation from veh to nav: [[-0.535085,0.843598,0.045020],[-0.844798,-0.534342,-0.028180],[0.000284,-0.053112,0.998589]]2Hi ? ?T;ۜr2?u1o?i2{@I2^;0YBByBJIID)F=bDNVDNJyV0%VW=ٔVQ-V>9XYX=ZFyXZX]E^>`Q 5bg5bޓ?Q 9fg5b")bBYdyf@Q If@bNDIb:ib:bXg5yhɮnAlDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd}B@ZIZIZIZM[@Q) TҾih9)額)ԩ /,m?AN~{@Nҹ@NƟٱNY ZAHRS rotation from veh to nav: [[-0.535167,0.843520,0.045511],[-0.844746,-0.534467,-0.027391],[0.001219,-0.053104,0.998588]]NH` ?7M?' Z@y S?w0`o?iN~{@IN}^;LYbBybHIiMMb@Mb@Mb@IIII I9MMby&1Mb`YMyM`彙MM9AMA I)IIYIbDeVDe:2ymĻ%>=ٔQ Q->9Y=Fy?gE>Q 5g54ۓ?Q 9g5=!)BY=Q E;yZ @Q I@PDIC ;i ;\g5yɮA5DNOT Ignoring new targets: 28.35 m.h1h1*h1"h1 h1g1f1f9f=}Bd9dAjdAZdEtB@Ze=Ze=Ze@Ze-Z @}Ɵ)y }̾i}9)y}l0BCB@IBBB =BBBp;B/-E^Ae?<IqIO> E  E E )E "E /;*E d:VE FA4ZE BE Ɉ9tYt=vFytz¹Ez>|Q 5g5~`ؓ?Q 9g5~ )~BYyW @Q I @~QDI~;i~f:~_g5yɮA=DNOT Ignoring new targets: 28.35 m.h9hA*hA"hA hAgAfAfIfIdIdIjdIZdU B@ZqZqZqZumW @) ɾi]9)額6i [/,tz?A Y~By~DI AbDVDEM EMEIEI"EM=;*EM:VEIZEIaU@aU@aU@aU@yen%mC=ٔQ->9Y=FyE>9YM AQ 5g5 Փ?Q 9 g5)BY y Q I @SDI$:i:cg5yɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd C@Z Z Z Z )! %оi%9)!%=% _%/,"U?A2,p{@2粄@2%|ٱ2Y :AHRS rotation from veh to nav: [[-0.535877,0.842991,0.046928],[-0.844288,-0.535296,-0.025235],[0.003847,-0.053144,0.998579]]2H%??`g$!7יo?5\?i2,p{@I2@^;2CYBByBIIPi Mb@Mb@Mb@     9 1ZdMbP?Y B}<>ByB}:IB}BB} =ByByB}p;B}O-Ey "۽ : "A   A)  Y  AbDVDy/<%E=ٔӍQ->9Y=FyE>Q 5g5ғ?Q 9g58)BY%=Q E;y$@Q I@TDI:i:gg5yɮA DNOT Ignoring new targets: 28.35 m.h h *h "h  h g fffoBddjdZdLC@Z=%=Z=%=Z=˖@Z=$@U%|)Q UpiU9)Y]XC]9! ` /,0վ?A2h{@2Ԯ@2;(ٱ25-Y >AHRS rotation from veh to nav: [[-0.536295,0.842709,0.047218],[-0.844018,-0.535754,-0.024509],[0.004643,-0.052996,0.998584]]2H S) y?,?@2`$s?R"@f?i2h{@I2Z^;2CYNByNFI\\bDbVDbyns%nY=ٔr$ Q-r>9tYx=zFyx~ E~>Q 5g5$ϓ?Q 9g5)BY!y%$@Q I-@UDIe;if;mjg5y5*Bɮ=A9DNOT Ignoring new targets: 28.35 m.hh*h"h hgff!f!d!d!jd)Zd-ĀC@ZIZIZIZM$@e;()a ePie9)aepIeԁ ;/,?A^:e{@^n@^H?ٱ^Y jAHRS rotation from veh to nav: [[-0.536436,0.842584,0.047838],[-0.843923,-0.535932,-0.023899],[0.005501,-0.053192,0.998569]]^H`|*r?)~?jZ&xv? ;@G?i^:e{@I^*)^;^CYrByrGIIv=)vp;QimMb@Mb@Mb@iiii i9m~jtxS㥻y&1|?YmĻym/ݽm`;imA i)m AiYmf AbDVDkyD;%>=ٔQ->9Y=FyѹE>Q 5g5̓?Q 9g5)BY=Q E;y6!@Q I@WDIQ;i@:#ng5yɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffbBddjdZdC@Z=Z=Z?@Z6!@H?) 3io9)=OB]CBYBYB] =BYB]DB]iq;B]-Eԩ^Abި<IIO>DY zD] ?AEe  Ee Ee *Ea "Ee 1A;*Ee :VEe (N4ZEa BEe AHRS rotation from veh to nav: [[-0.536919,0.842256,0.048191],[-0.843610,-0.536455,-0.023192],[0.006319,-0.053107,0.998569]]6H`q.?@?@*y?0F?i6[{@I6];6CYFByFEIbDNVDN0yn}%rW=ٔre Q-r>9tYt=vFytvƺEv>xQ 5~g5z6ɓ?Q 9g5zQ)zBYy+!@Q I@zXDIz;izL;ztqg5y ɮ A=DNOT Ignoring new targets: 28.35 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM C@ZiZiZiZm+!@2ϻ) i9)額T A zI/,"?A2'W{@2d@2ٱ2Y :AHRS rotation from veh to nav: [[-0.537156,0.842081,0.048613],[-0.843454,-0.536722,-0.022687],[0.006988,-0.053189,0.998560]]2H@b0@S??,+; G|?; 4?i2'W{@I2];2CYBByBNIbDJVDJyR=%RN=ٔVܺQ-V>9TYT=ZFyXZ;EZ>\Q 5bg5^KƓ?Q 9bg5^)^BYdyf%!@Q If@^YDI^:i^:^tg5yhɮjAhDNOT Ignoring new targets: 28.35 m.hh*h"h hgf f f d djdZd`VD@E% E%?E%)E!"E%=;*E%;VE%FA4ZE!a-@a-@a-@a-@ZZZZ%!@) :i9)(ZHB|B~@IB~BB|B|B|B~q;B~-EBBBBBC6i9I9iEMb@Mb@Mb@AAAA A9EI +:vMb?YE94yEԽE=ٔmQ-m>9qYq=uFyq}SE}>yQ 5g5}YÓ?Q 9g5})}BY=Q E;y@Q I@}[DI}H:i}Q:}xg5yɮAeDNOT Ignoring new targets: 28.35 m.haha*ha"ha hagafiiffnBddjdZd`{QD@Z=Z=Zl@Z@ )  Qi =9)<`n ]/,IV?AJ>S{@Jp@JXHٱJZ ZAHRS rotation from veh to nav: [[-0.537354,0.841921,0.049202],[-0.843320,-0.536961,-0.022008],[0.007891,-0.053319,0.998546]]JH`2`?0?`z.@,)? L?iJ>S{@IJt];JCYfByfTIbDrVDryz?<%zR=ٔzQ-z>9|Y|=~Fy|̹E> Q 5 g5 ?Q 9g5 C) BYy@Q I@ \DI ! Z/,Zp?A~M{@~@~ٱ~Y  AHRS rotation from veh to nav: [[-0.537640,0.841732,0.049295],[-0.843134,-0.537268,-0.021635],[0.008274,-0.053194,0.998550]]~HX4x?9=? M1@'?@N<?i~M{@I~?_];~CYByVIiMb@Mb@Mb@ 9Q롿V-y&1?Y\y`e<AA & A)Y AbDVD:y;%:=ٔdQ->9 Y = Fy KE>Q 5%g5̽?Q 9%g55)BY%=Q E%;y%@Q I-@^DI:i:g5y1ɮ5qA1]DNOT Ignoring new targets: 28.35 m.haha*ha"ha hagafafifm~BdidqjdqZduQD@Z=Z=ZSk@Z@) ¾i9)顽lm8ii+ ;BBFIBBB =BBB}q;B-E^AiIyIO> EM  EM EM 'EI "EM C;*EM I:VEM '4ZEI BEM AHRS rotation from veh to nav: [[-0.537630,0.841734,0.049370],[-0.843138,-0.537271,-0.021423],[0.008492,-0.053143,0.998551]]6HD4|?G? R1fd?5 ?i6M{@I6.];6CYFǀByFeIIJR=)J4=LN=bDRVDR:2yZ=%Zc=ٔZQ-^>`9\Y`=bFy`fl7Ef>hQ 5jg5jk?Q 9ng5jV)jBYlylQ Ir@j_DIjz;ij;jg5ytɮvAtDNOT Ignoring new targets: 28.35 m.hh*h"h hgff!f!d!d!jd)Zd- D@ZIZIZIZM@]# )a eնie9)aeyqewiaim, iuuA /, ?A2SO{@2z@2Aٱ2{Y :AHRS rotation from veh to nav: [[-0.537552,0.841779,0.049452],[-0.843186,-0.537202,-0.021259],[0.008671,-0.053125,0.998550]]2H`3 ?Q? a@0ĕ?$3?i2SO{@I2.];2CYBByBWIbDNVDN1yrLS%rG=ٔvQ-v>9tYt=vFytzk9Ez>E EE*E"E<;*E:VE(N4ZEa @a @a @a @|Q 5g5~?Q 9%g5~Z)~BY!y%@Q I%@~aDI~O/;i~.;~g5y)ɮ5jA1]DNOT Ignoring new targets: 28.35 m.hYhY*hY"ha hagafafifididijdiZdu iE@ZZZZ@A) i9)顭w@ii+ Nԡ /,使?A2U{@2@2 ٱ2ĔY >AHRS rotation from veh to nav: [[-0.537215,0.841997,0.049399],[-0.843401,-0.536863,-0.021277],[0.008606,-0.053093,0.998553]]2H`0@? J?$ -ɕ?`/`$?i2U{@I2];2CYBByB[IBVA>BTBVLIBVBBV =BTBTBVHq;BV~-EyiMb@Mb@Mb@ 9&1`":v?YPyT<9AA  A) AY3 AbDVDy/E<%>=ٔ9Q->9Y=Fys:E>Q 5g5 ?Q 9g5")BY>Q E;y @Q I@cDIv;i7 ;eg5yɮUA DNOT Ignoring new targets: 28.35 m.h h *h "h  h gfffBddjdZd%RE@ZE>ZE>ZE+@ZE @U )Q U̾i]29)Y]Q~]eRiYie, aey: /,׿?A6|_{@6@6Q ٱ6Y >AHRS rotation from veh to nav: [[-0.536721,0.842313,0.049384],[-0.843717,-0.536362,-0.021380],[0.008479,-0.053141,0.998551]]6H ,@;? H?``)@䕿]?N5@!?i6|_{@I67%];6CYFByFYI HHHJAbDRVDR02yZ̽%Z[=ٔ^б9Q-^>9`Y`=bFy`bc:Ef>dQ 5jg5f?Q 9jg5f)fBYlyn @Q In@fdDIfH;ifT;fg5ypɮv^AtDNOT Ignoring new targets: 28.35 m.hh*h"h hgff!f!d!d!jd!Zd- E@ZIZIZIZM @]Q )Y ];i]9)Y]Ieiaie+ im UY /,?ALɰN4<5Hh{@5@5ٱ5xY EAHRS rotation from veh to nav: [[-0.536269,0.842612,0.049202],[-0.844007,-0.535900,-0.021518],[0.008236,-0.053067,0.998557]]5H@)`? 1? @&`݀? +-?i5Hh{@I5];1YUByQ1i=Mb@Mb@Mb@9999 99=Q`"~jtx?Y=uy9=;=A=A = A)99Y=f AbD]VD]y}%}1=ٔ}. :Q->9Y=Fy:E>Q 5g5?Q 9g5)BYo >Q E;y:@Q I@fDIo;iEo;g5yɮaADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffqBdd!jd!Zd% ˽E@ZEo >ZEo >ZE@ZE~:@) 3iK9)XNii, cBCBSIBBB =BBBp;BO-EԉE-  E- E- *E) "E- ;*E- S:VE- (N4ZE) BE- vԹ 0,v ?A2r{@2)@2ٱ2XY :AHRS rotation from veh to nav: [[-0.535734,0.842958,0.049101],[-0.844349,-0.535352,-0.021734],[0.007965,-0.053102,0.998557]]2H@$`?`#?!`jA4P?,0.?i2r{@I2\;2CYfÀByf`IbDrVDryvu=%zh=ٔzH:Q-z>9xY|=~Fy|:E> Q 5 g5 󮓊?Q 9g5 ) BYyE@Q I@ hDI :i ): Ɣg5y%&Bɮ%A%EMDNOT Ignoring new targets: 28.35 m.hIhI*hI"hQ hQgQfQfQfYdYdYjdaZdeE@ZZZZ9E@) :iy9)顝އUͼii+ i>ԙ@ @@/@@%=@%=^AUoE<IaIqO}{> 0,Q%?A2`{@2@2rٱ2,XY :AHRS rotation from veh to nav: [[-0.534979,0.843457,0.048762],[-0.844833,-0.534572,-0.022133],[0.007399,-0.053036,0.998565]]2H@?@U?  7򩖿CN~?`'??i2`{@I2{];0YBByBQIIF<)Fp;J=HbDNVDNyVz%VO=ٔV:Q-Z>9XYX=ZFyX^;E^>`Q 5fg5b?Q 9fg5bh)bBYdyfT@Q If@biDIbN:ib$:b9g5ylEr ErEpEp"Er3;*Er:VEpZEpav@av@av@az@ɮnwAxDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd`F@ZZZZT@r)  i 9)  ۊ  i i, 6I 0,I,??AB$B$B&LIB&BB$B$B$B&p;B&,-EB{@BÄ@BٱBNZ NAHRS rotation from veh to nav: [[-0.534123,0.844001,0.048728],[-0.845378,-0.533695,-0.022503],[0.007013,-0.053213,0.998559]]BH ??U  `|?> 1?iB{@IB];BCYVByVPIi=Mb@Mb@Mb@9999 99=MbZd;Mbp?Y=y==;=A9 = A)= A9Y9bDUVDU:y?%8=ٔc:Q->9Y=Fy;E>Q 5g5 ?Q 9%g5)BY%" >Q E%;y%@Q I%@kDI:i:"g5y)ɮ5|A1DNOT Ignoring new targets: 28.35 m.hh*h"h hgfffjBddjdZdVF@Z" >Z" >Z V@Z9@) 3i9)ȍii+ Yԩ 0,Y?A6i{@6˄@6+Իٱ6ͧY< BAHRS rotation from veh to nav: [[-0.533381,0.844490,0.048385],[-0.845850,-0.532931,-0.022847],[0.006492,-0.053112,0.998567]]6Hu?`Ũ?4 7e z?1C?i6i{@I6"/];4YJByJEI PR<bDVVDVy^A%^_=ٔ^Y:Q-^>9`Y`=bFy`f;Ef>dQ 5jg5f򧓊?Q 9ng5f)fBYlyn@Q In@fmDIf;if;fNg5yv#BɮvAvEDNOT Ignoring new targets: 28.35 m.hh*h"h hgff!f!d!d!jd!Zd- KF@ZIZIZIZM@@]+Ի)Y e ie9)aeaiaim, im E%0,9r?Ale{@eTЄ@eCûٱeBX AHRS rotation from veh to nav: [[-0.532835,0.844862,0.047909],[-0.846198,-0.532366,-0.023136],[0.005959,-0.052868,0.998584]]eH  ??`# ٰ@khx?@e?ie{@Ie];eCYBy<I iMb@Mb@Mb@ 9x&A`"Y7yٽAA  A)Y= AbDVDy%-=ٔ:Q->9Y=Fy:E>Q 5g5ͥ?Q 9g5v)BYh>Q E;y@Q I@oDIG;i~ ;og5yɮA-DNOT Ignoring new targets: 28.35 m.h)h)*h)"h) h1g1f1f1f=UBd9d9jd9Zd=F@Zuh>Zuh>ZuL„@Zu@Cû) iC9)額ii+ BECBEFIBEBBABABABEp;BES-EB%CB%CB!B!B% =C%Ʀi51bE(N4jEmF4rEA/E  E E +E "E 3;*E :VE [4ZE BE Y  #0,{?A2 {@2aՄ@2`഻ٱ29JX :AHRS rotation from veh to nav: [[-0.532314,0.845207,0.047615],[-0.846529,-0.531827,-0.023430],[0.005520,-0.052780,0.998591]]2H  ?a?`` v?t?i2 {@I2];2CYbByb?IbDjVDjNy"<%l=ٔ%:Q-%?9!Y!=%Fy!-:E-?1Q 5=g5959?Q 9Eg55n )5BYAyE@Q IE@5pDI5,;i5,;5wg5yIɮUAQ}DNOT Ignoring new targets: 28.35 m.hyhy*hy"hy hgfffddjdZd`OF@ZZZZ@`഻) PiN9)ii, S 3)0,-?A2{@2ۄ@2kٱ2aX :AHRS rotation from veh to nav: [[-0.531725,0.845589,0.047419],[-0.846902,-0.531217,-0.023778],[0.005083,-0.052802,0.998592]]2H?>G?@9XYX=ZFyX^:E^>Eb EbEb'E`"Eb /;*Eb:VEb'4ZE`aj@aj@aj@aj@hQ 5ng5jp?Q 9rg5jC )jBYpyr @Q Ir@jrDIj ;ij;jg5ytɮzAxDNOT Ignoring new targets: 28.35 m.hh*h"h! h!g!f!f)f)d)d)jd)Zd-{G@ԙZZZZ @k) ճi9) 񘶉 i i + V BE B>BA BE 4IBE BBE =BA BA BE q;BE j-EI+00,?A6{@6߄@6oٱ6kX BAHRS rotation from veh to nav: [[-0.531235,0.845909,0.047205],[-0.847212,-0.530706,-0.024131],[0.004639,-0.052812,0.998594]]6H@?<+?\ ̵`s?$ z?i6{@I6*\;6CYFByF)IIJ=)J=iMb@Mb@Mb@ 9~jt~jty&1|YDyĽ`A )Yf AbD5VD51yM5%M?=ٔM؇:Q-M>9QYQ=UFyQU:E]>aQ 5eg5em?Q 9mg5e< )eBYmH=Q Em;ym@Q Im@esDIe:ie:eg5yɮ_AEDNOT Ignoring new targets: 28.35 m.hAhA*hA"hA hAgIfIfIfMJBdQdQjdqZdu YG@ZH=ZH=Z@Z@o) 3i9) 䛶ii, Y qF60,Q?A:{@:@:ٱ:,Y BAHRS rotation from veh to nav: [[-0.530821,0.846168,0.047219],[-0.847473,-0.530275,-0.024452],[0.004349,-0.052996,0.998585]]:H{`?` -?` q?I"i?i:{@I:B];:CYJByJ'IbDV VDV:2y^&%^V=ٔ^sG:Q-^>9`Y`=bFy`fߧ:Ef>hQ 5jg5j?Q 9ng5jP )hYlyn@Q In@juDIj];ijj;jg5ytɮvoAtDNOT Ignoring new targets: 28.35 m.hh*h"h hgff!f!d!d!jd!Zd-цG@ZIZIZIZM@])a e1ie9)aeaiaim+ imiԱ ou<0,tA?A{@@ٱ@gY AHRS rotation from veh to nav: [[-0.530590,0.846318,0.047118],[-0.847619,-0.530030,-0.024715],[0.004057,-0.053052,0.998583]]H @ ??Np?@)`e?i{@Im\;CYBy*IiMb@Mb@Mb@ 9 rh(\µMbYC yA A) AY AbDVDkԩy}<%.=ٔq":Q->9Y=Fy*:E>Q 5g5y?Q 9g5f )BY4=Q EBCB'IBBB =BBDBp;BN-E^A < I I! O- >E  E E )E "E a?;*E ˭:VE FA4ZE BE AHRS rotation from veh to nav: [[-0.530657,0.846286,0.046943],[-0.847578,-0.530088,-0.024878],[0.003830,-0.052990,0.998588]]2H%? ?[`zy`]`o?@r!@n?i2C{@I2\;2CYFByFI HHbDNVDNk1yV%Vs=ٔZ-1:Q-Z?9XYX=^Fy\^uE^?`Q 5fg5b?Q 9fg5b)bBYhyj @Q Ij@bwDIb:ib:bg5ylɮnAp DNOT Ignoring new targets: 28.35 m.h h *h "h  h gfffddyjdyZd} G@ZZZZ. @{) oi"9)Σii+ !%Ai i߁ I߁  G- liAA m 9u liAYu AI0,C'?A 2{@2H@2@jٱ2gY >AHRS rotation from veh to nav: [[-0.530571,0.846342,0.046893],[-0.847633,-0.529987,-0.025144],[0.003572,-0.053089,0.998583]]2Hp@<?c?dCm?{. e?i2{@I2];2CYFByF#IER ERAER'EP"ER[";*ER;VER'4ZEPaZ@aZ@aZ@aZ@bDZVDZ02ybt)=%fI=ٔf&:Q-f>9dYh=jFyhjt9Ej>lQ 5rg5n?Q 9rg5n)lYtyv @Q Iv@nxDIn :in[:ng5yxɮzA|%DNOT Ignoring new targets: 28.35 m.h!h!*h!"h! h)g)f)f)f1d1d1jd1Zd5*"H@ZYZYZYZ] @m@j)i mϣiu9)qu[qiqi, B CB IB BB  =B CDB }DB p;B *-EiP0, A?ABx{@B@BXpiٱB}Y NAHRS rotation from veh to nav: [[-0.530957,0.846102,0.046862],[-0.847391,-0.530373,-0.025165],[0.003562,-0.053073,0.998584]]BH D?W?`ę.m?Q, g?iBx{@IB];PBCYVByVIi5Mb@Mb@Mb@1111 195/$+~jtxY5y55Ļ5A5A 1)5A1Y1QU@AbDUVDU:2ye%m@=ٔm}7Q-m>9iYq=uFyquEu>yQ 5g5}?Q 9g5}I)}BY=Q E#) V0,[?A|YByII =) p; = bDVDyE`Լ%ML=ٔMQ-M>9QYQ=UFyQUEU>YQ 5eg5]>?Q 9mg5])YYiyiQ Im@]zDI]:i]:]g5yqɮ}AyDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd@H@ZZZZ) i9)ii, qԁ \0,u?AQe{@eބ@ez eٱelZ AHRS rotation from veh to nav: [[-0.531348,0.845848,0.047009],[-0.847146,-0.530754,-0.025364],[0.003496,-0.053301,0.998572]]eH0?@?@@ ` l? AJN?ie{@Ie];eCY By "IiMb@Mb@Mb@ 9{GzMbX9Y#yʡ A ) AY AbDVDyZ=%4=ٔ_9Q->9Y=FyE>Q 5g5咓?Q 9g5)BY=Q E&BCBIBBB =BBDBp;B -E@ @@2@ԩE  E E +E "E +$;*E ՚:VE [4ZE BE 3} c0,'M?A6{@6Cۄ@69 i0,(?AEB EBEB&E@"EB;*EBk:VEB4ZE@aJ@aJ@aJ@aJ@YBy%I ))bD5VD5yEټ%EA=ٔMQ-M>9IYI=UFyQUEU>YQ 5eg5]?Q 9eg5])]BYiyiQ Im@]}DI]:i]:]Xg5yuBɮuAqDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd&I@ZZZZ)  i 9)ii%+ !-yB ;>B CB IB |BB =B BDB DB [p;B -EBECBECBE˖CBABE =CE˥%7ԡ p0,q?AY~By~(IiMb@Mb@Mb@ 9(\µMbp?Yy;AA rA)Yp AbDVDܲy=%B=ٔQ->9Y=FyE>Q 5g5k?Q 9g5)BYE=Q E Lv0,1?A2#{@2bӄ@2+Tٱ2Z :AHRS rotation from veh to nav: [[-0.532526,0.845114,0.046884],[-0.846408,-0.531916,-0.025678],[0.003237,-0.053357,0.998570]]2Hs - ?-?@`u@XKvj?`QI?i2#{@I2*\;2CYBByB*IHJBAbDN VDN:2yR -<%V^=ٔV:Q-V>9XYX=ZFyX^+E^>\Q 5bg5^3?Q 9fg5^)^BYdyf%@Q If@^DI^y:i^:^! x}0,T?AvĪ{@v2Є@vNٱvr-Z 5AHRS rotation from veh to nav: [[-0.532855,0.844915,0.046730],[-0.846200,-0.532244,-0.025705],[0.003153,-0.053241,0.998577]]vH& @ ? ?@% R`i?`XB@W?ivĪ{@IvY ];vCYeBym1II<);bDVDNy <%8=ٔu?9Q-u>9qYq=}Fyy}\E}>Q 5g5j?Q 9g5)BYy%@Q I@DIY;i;Dg5yɮ ADNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZdiI@iZZZZD%@N) i9)ii, B-CB-IB-BB)B)B-DB-p;B---E9@ @@0@ԙ^A u<D zD E  E E E "E 1A;*E ?:VE ZE BE 0,?A2{@2̈́@2Mٱ2Y :AHRS rotation from veh to nav: [[-0.533122,0.844753,0.046605],[-0.846032,-0.532513,-0.025675],[0.003129,-0.053117,0.998583]]2HV`8?@ܧ?`X wJ i?.2 e?i2{@I2 \;0LYRByR=IieMb@Mb@Mb@aaaa a9e{Gz~jt{Gz?Ye#yeĽe#9Y=Fyq\E>Q 5g5?Q 9g5) BY=Q E! 0,"r*?AE2 E2E2*E0"E2%.;*E2:VE2(N4ZE0a6@a:@a:@a:@>{@>&̄@>;Lٱ>Y FAHRS rotation from veh to nav: [[-0.533273,0.844658,0.046604],[-0.845937,-0.532663,-0.025690],[0.003125,-0.053124,0.998583]]>H@p?yܧ? @YNdi?3`d?i>{@I>];>CYNByN@IbDVVDVy^`<%^Y=ٔb#7Q-b>9`Y`=fFydf$Ef>hQ 5ng5j?Q 9ng5jf)jBYpyrX@Q Ir@jDIjr;ijn;jg5ytɮvAt|-DNOT Ignoring new targets: 28.35 m.h)h)*h)"h) h)g1f1f9f9d9dAjdAZdE`'J@Z1Z1Z1Z5X@M;L)I MiMw9)IM2IiQi}, lԁ B% '>B% CB% !IB% BB%  =B% CDB% DB% 5q;B% ^-E~0,HD?AB{@B̈́@B4CٱB4Y NAHRS rotation from veh to nav: [[-0.533125,0.844753,0.046585],[-0.846031,-0.532507,-0.025829],[0.002988,-0.053182,0.998580]]BH\@7?٧? M r yh?@:^?iB{@IB!\;@YRByRRI TTi-Mb@Mb@Mb@)))) )9-~jtv/Q?Y-ļy-x齙-u<- A-A -A)- A)Y-p AbDMVDM1yU=%]A=Yٔe%9Q-e>9aYa=mFyim9Em>qiyIyQ 5g5u?Q 9g5u)uBY=Q E;y@Q I@uDIu ^;iu];ug5yɮ<AeDNOT Ignoring new targets: 28.35 m.haha*ha"ha hagafififmLBdidqjdZd@`J@Z=Z=Z(@Z@ 4C)  zi $9) 51i1i5+ 9=f &00,$&^?A2ܫ{@2Є@2:4ٱ2#Z :AHRS rotation from veh to nav: [[-0.532799,0.844962,0.046514],[-0.846237,-0.532170,-0.026031],[0.002758,-0.053231,0.998578]]2H ?@Ч?_`%f?AZ?i2ܫ{@I2.\;2CYBByBWIbDJVDJyR<%RV=ٔVk:Q-V>9TYX=ZFyXZ:EZ> Q 5g5 |?Q 9g5 ) BYy@Q I@ DI T;i ?; g5y)ɮ-A)UDNOT Ignoring new targets: 28.35 m.hQhQ*hQ"hQ hYgYfYfafadadajdaZdmJ@ZZZZݭ@:4) Gi9)顥¶ii, %ƐC9@A @@/@~GhAU 9UhAYUsAE EE)E"E);*Eخ:VEFA4ZEa@a@a@a@^Am<I!I9OE>Ia ]0,0x?ABΫ{@BЄ@B&ٱB~Y JAHRS rotation from veh to nav: [[-0.532803,0.844978,0.046181],[-0.846236,-0.532170,-0.026074],[0.002544,-0.052972,0.998593]]BH @ ?`?\ d?)x?iBΫ{@IB ];BCY^ÀBy^`IbD~VD~Ny-=%5B=ٔ=:Q-E>9IYQ=]FyYeEm>Q 5%g5z?Q 9-g51)BYQy]@Q I]@DISBCB:IBBB =BBDBDB4q;Bd-E&) i9)1Ŷii+ YԱ &B0,jܑ?A2l{@2Մ@2tٱ2TY :AHRS rotation from veh to nav: [[-0.532358,0.845257,0.046221],[-0.846516,-0.531715,-0.026251],[0.002387,-0.053102,0.998586]]2H W ?@9Y=Fyx:E>Q 5g5v?Q 9g5)BY=Q E;yf@Q I@DIi;iG;5g5yɮA-DNOT Ignoring new targets: 28.35 m.h)h)*h1ԑ"h1 h g fffqBddjdZd@J@Z==Z==Z=z@Z=f@ t)  ףi9)Ƕii, ;iߡ Iߡ  Zl0,ᷫ?AE& E$E&'E$"E&(;*E$VE&'4ZE$a*@a*@a*@a*@>!{@>a؄@> ٱ>uY NAHRS rotation from veh to nav: [[-0.532011,0.845473,0.046255],[-0.846734,-0.531363,-0.026343],[0.002306,-0.053181,0.998582]]>H;?î?rb?:b?i>!{@I>O&];>CYVҀByZqIbDfVDfk1yrY<%vU=ٔv^9Q-v>9xYx=zFyx:E>Q 5g5s?Q 9g5)"BYym@Q I@DI:i:g5yɮmADNOT Ignoring new targets: 28.35 m.h h *h "h  h g f ff1d1d9jd9Zd= .K@ZyZyZyZ}|m@ ) iC9)顽 ʶii+ Q B >B CB LIB BB =B B ~DB q;B M-ERT0,h?A 6{@6܄@6 ٱ6)Y >AHRS rotation from veh to nav: [[-0.531561,0.845767,0.046041],[-0.847017,-0.530901,-0.026572],[0.001969,-0.053122,0.998586]]6H@?? @#5Y!`?@2j?i6{@I6l];6CYFЀByFpIi Mb@Mb@Mb@     9 Zd;O rh:v?Y j9AYA=EFyAM:EM>QQ 5eg5Uq?Q 9eg5U)U&BYe>Q Ee;ym-@Q Im@UDIUI;iUH;U(g5yqɮuxAqDNOT Ignoring new targets: 28.35 m.hh*h"h! h!g!f!f!f-oBd)d)jd)Zd-aK@Zu>Zu>Zu\@Zu-@ ) it9)顭̶ii, n K~0,m?A6{@6@6Rպٱ68Z >AHRS rotation from veh to nav: [[-0.530830,0.846229,0.045992],[-0.847477,-0.530151,-0.026890],[0.001628,-0.053252,0.998580]]6HO?L?`ZZ?C]?i6{@I6];4YFހByFI HHPbDVVDVk1yZ,=%^S=ٔ^Ug:Q-^>9`Y`=bFy`b9;Ef>dQ 5jg5fn?Q 9jg5f)f*BYlyn;@Q In@fDIf;if;fg5yrBɮvAvEDNOT Ignoring new targets: 28.35 m.hh*h"h hgff!f!d!d!jd)Zd- K@ZIZIZIZM;@]Rպ)a eie9)aeζaiaim+ imu) {0,MI?A2{@28@2柺ٱ2O#Z :AHRS rotation from veh to nav: [[-0.530063,0.846721,0.045784],[-0.847957,-0.529367,-0.027183],[0.001220,-0.053231,0.998582]]2H`GW?p?@w"՛`S?A@a?i2{@I2LD];2CYRۀByR}IbDZVDZyb%bI=ٔf:Q-f>9dYd=fFyhj3;Ej>!lQ 5g5nj?Q 9g5n)n.BYyK@Q I@nDIn2BuCBufIBuȀBBu =BuCDBqBuq;BuE-EB5CB5CB5ĔCB5 =B5 =C56@ @@3@ybE:4jEȊ94rE 0Eu  Eu Eu (Eq "Eu ;;*Eu :VEu c44ZEq BEu E0,$?A2U{@2{@2}7Gٱ2Y :AHRS rotation from veh to nav: [[-0.529208,0.847271,0.045500],[-0.848492,-0.528494,-0.027484],[0.000760,-0.053151,0.998586]]2HE?K? &@m`$H?6k?i2U{@I2yK];2CYRByRIԙiMb@Mb@Mb@ 9v/n9Y=Fy  ;E >Q 5g5g?Q 9g5)2BY%>Q E%;y%Y @Q I%@DI` ;i<:g5y)ɮ-A)]DNOT Ignoring new targets: 28.35 m.hYhY*hY"hY hYgYfafafeBdadijdiZdmK@Z>Z>ZW@ZY @}7G) i 9)顭Ӷii+ ` ! ź0,-?AE EEE"EN;*E:VEZEa@a@a@a@v|@v4@vꆹٱvY AHRS rotation from veh to nav: [[-0.528097,0.847978,0.045232],[-0.849184,-0.527364,-0.027827],[0.000257,-0.053106,0.998589]]vH,"?(?,) ~R0?0p?iv|@IvJ];vCY߀ByII=)4<bD-VD-y5%5X=ٔ=٭:Q-=>9AYA=EFyAEXb;EM>IQ 5Uh5Md?Q 9Uh5M)M5BYYy]p @Q I]@MDIMn;iM;MFh5yaɮmAiB*** querying acoustic contact ***i iDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd`L.L@ZZZZp @]ꆹ)Y ]좾ie9)ae-ֶaiaim, im%Bm >Bm CBm lIBm ̀BBm =Bi Bi Bm 4q;Bm V-Ey Q0,F?A2|@2@2lipٱ2*Y :AHRS rotation from veh to nav: [[-0.527212,0.848531,0.045202],[-0.849734,-0.526469,-0.027978],[0.000057,-0.053161,0.998586]]2H)'?$?1T- ?7j?i2|@I2];0Y@y@iEMb@Mb@Mb@AAAA A9E+K7 mBDAT read: Tx time:05:28:44.2234 m$Ping request sent.m9Y=Fy$;E>Q 5h5Sb?Q 9h5f)9BY!>Q E;yB@Q I@DIH:is:h5yɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgfff~BddjdZdRcL@Z!>Z!>Z;@ZB@-lip)1 5i5Q9)15ض9i9i=+ AEԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250863 j0,`?A2 0|@2@29]:ٱ2ɪY :AHRS rotation from veh to nav: [[-0.525953,0.849328,0.044905],[-0.850514,-0.525187,-0.028375],[-0.000516,-0.053116,0.998588]]2H-? ?h7Th @2@o?i2 0|@I2];2CYR׀ByRxI TV4<bDZVDZk1yb,%bX=ٔf\:Q-f>9dYh=jFyhj ;Ej>lQ 5rh5n_?Q 9rh5n)n % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547959 .0,Uz?A2}J|@2 @2N:ٱ2!Z JAHRS rotation from veh to nav: [[-0.524583,0.850180,0.044790],[-0.851359,-0.523794,-0.028780],[-0.001007,-0.053229,0.998582]]2H b`4??T>`jx P`@a?i2}J|@I2W];2CYRŀByRbI XXbDnVDnyv%vG=ٔv`:Q-z>9xYx=zFyx~&;E~>Q 5 h5T]?Q 9 h5)?BY y w@Q I@DI<;i7; h5yɮADNOT Ignoring new targets: 28.35 m.hh*hA"hA hIgIfQffddjdZdTL@ZyZyZyZ}w@N:) i9)q޶ii+ H=IIAA@AB>BBrIBҀBB =BBDBBPq;Bd-E@ @@/0@)echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006841E=  E= E= (E9 "E= E;*E= :VE= c44ZE9 BE= 0,u?Aba|@b+@bf:ٱb0Z rAHRS rotation from veh to nav: [[-0.523363,0.850940,0.044622],[-0.852108,-0.522557,-0.029083],[-0.001430,-0.053244,0.998581]]bHd@:?ئ?xDɸǝlWB _?iba|@Ib];bCY~рBy~qIiMb@Mb@Mb@ 9V-(\¿~jth?YhyzD;A ) AY AbDVD0y\=%@=ٔ:Q->9Y=Fy[;E>Q 5h5Q E;y@Q I@DI ;i" ;h5yɮTADNOT Ignoring new targets: 28.35 m.hh *h "h  h g f ffkBddjdZdM@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258923ZZ%>ZZ%>Z9@Zu@]f:)Y ]i]+9)Y]ඉeMiaiie, Q =IIE9@A @A@E5@Aԑ=GQi9YqA^AE y=IQ Ia Om >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5113890,1E?AE EE+E"EO6;*E:VE [4ZEa@a@a@a@Jl~|@J:@J:ٱJ[P VAHRS rotation from veh to nav: [[-0.521881,0.851849,0.044653],[-0.853016,-0.521053,-0.029452],[-0.001822,-0.053460,0.998568]]JH`@WB? ܦ?Kv(@]_E?iJl~|@IJ ];JCY^πBy^nIdfAAbDjVDjk1yEG%EQ=ٔEу:Q-M>9IYI=MFyIU;EU>YQ 5eh5]fW?Q 9eh5])]DBYaye@Q Im@]DI]:i]:]h5yqɮuhAqDNOT Ignoring new targets: 28.35 m.hh*h"h hgfffddjdZd0M@ZZZZ:@:) i9)(㶉yii+ ;=IIp>i>@ @@/@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762801^AG=IIO>B >B CB fIB ȀBB =B CDB }DB Bq;B Z-E1 Z0,!?A2|@2AH@2 ;ٱ2[ :AHRS rotation from veh to nav: [[-0.520398,0.852756,0.044641],[-0.853921,-0.519553,-0.029736],[-0.002165,-0.053594,0.998560]]2HI? ۦ?QS,1s ap 5?i2|@I2];0Y^Byb[IIb%>)b>|}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022148iMb@Mb@Mb@ 9L7A`尿T㥛 {GztY+yףvA A) AY AbDVD1y%C=ٔU:Q->9Y=Fy;E>Q 5h5T?Q 9h5C)Y>Q E;y,@Q I@DI ;i ;h5yBɮAEDNOT Ignoring new targets: 28.35 m.hh*h"h hgf!f!f%IBd!d)jd)Zd- fM@ZM>ZM>ZM$[@ZM!,@e ;)a e=ie9)amb嶉m+ټiiim, qud=IqIyE= E9E='E9"E=C;*E9VE='4ZE9BE=>i9 I9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276988ԁ 0, ?A2|@2V@2u ;ٱ2o[ :AHRS rotation from veh to nav: [[-0.518953,0.853644,0.044503],[-0.854800,-0.518098,-0.029878],[-0.002448,-0.053547,0.998562]]2HB Q?&ɦ?ZAp`dj9?i2|@I2'^;2CY@y@bDNVDNyV:%V]=ٔVJI:Q-V>9XYX=ZFyX^;E^>`Q 5bh5bR?Q 9fh5b)bEBYdyfG@Q If@bDIb:ib:bh5ylɮnAlDNOT Ignoring new targets: 28.35 m.hh*h"h  h g f f fddjdZdM@Z9Z9Z9Z=G@Mu ;)I MiU9Q)Y]x綉]ϼiYie+ ae%=IaIi 9@  @ @ /@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526798ԉEE EEEE(EA"EE /;*EE:VEEc44ZEAaM@aM@aM@aM@^AM+=IYIiO}z>ԩ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778789D0,?AF|@Fa@Fτ*;ٱF;UZ RAHRS rotation from veh to nav: [[-0.517803,0.854355,0.044234],[-0.855496,-0.516951,-0.029811],[-0.002602,-0.053279,0.998576]]FH@ؑV? 祦?8`܊@Pe`RG@V?iF|@IF{^;FCYVByVMIbDbVDb:2yf]%jH=ٔj9Q-j>9lYl=nFylrW;Er>tQ 5vh5vO?Q 9zh5v)tYxyz]@Q Iz@vDIvW:ivp:veh5yBɮ AMDNOT Ignoring new targets: 28.35 m.hIhI*hI"hI hQgQfQfQfYdYdYjdYZdeM@ZZZZ]@Թτ*;) Lie9)q}鶉}ļiyi, *=II9BAB >BCBSIBBB =BBB6q;BP-E@ @@/@@fA@BDAT read: Rx Time:05:28:46.6705 TRx dataTimestamp_ set to:1761542928.184215checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032005^AM r =IQ Eu  Eu Eu &Eq "Eu );*Eu :VEu 4ZEq BEu M9 /1,?A>A|@>qk@>B2;ٱ>Y FAHRS rotation from veh to nav: [[-0.516725,0.855018,0.044043],[-0.856147,-0.515875,-0.029751],[-0.002717,-0.053080,0.998587]]>H@N\?@?e `wFBfK-k?i>A|@I>=\^;>CYLyNLI PPi]Mb@Mb@Mb@YYYY Y9]y&11ZdI +Y]`ey]"۽]94] A]A ]A)]rAYYYbDuVDu1y%?=ٔA9Q->9Y=Fy@;E>Q 5h5M?Q 9h5)DBY[=Q E;y@Q I@DI;i" ;#"h5yɮADNOT Ignoring new targets: 28.35 m.hh*h"h hgfff>BddjdZdN@Z%[=Z%[=Z%^@Z%@5B2;)1 5=i=9)9=춉=i9iE+ AEտ"=IAIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.284495@ @@/@Ai^A =I I! O- > DAT read: 05:28:46.6705 LVL= 27952, 24561, 32754, 32755, AGC= 58, IDX= 484, 0.24, 2.891,-2.635, 1.883,-2.980, PHS=-0.310, 0.391,-1.464, RAW= 8.0, 16.8, CAL= 8.0, 20.8, ROT= 142.0, -20.8  Ygot valid direction response: 05:28:46.6705 LVL= 27952, 24561, 32754, 32755, AGC= 58, IDX= 484, 0.24, 2.891,-2.635, 1.883,-2.980, PHS=-0.310, 0.391,-1.464, RAW= 8.0, 16.8, CAL= 8.0, 20.8, ROT= 142.0, -20.8  PDAT read: Bearing 176.8, 33.6 (Local)  ~Local bearing/azimuth received: Bearing 176.8, 33.6 (Local)  DAT read: Range 11 to 50 : 32.1 m (Round-trip 42.9 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.736653,0.575536,0.355107] Fpublishing direction and range infoy  7겨 _j?_S{?Y fB 0m _ ) :I Ri '1> Zd 5> Q > 5> ޹>) @I ޹ k&gֿ@ɫi쿕fiw? `') I @i ޹ ԙ W 1,/?AE EE(E"E2;*E:VEc44ZEa@a@a@a@ ɰ";>|@>u@>.;ٱ>Y VAHRS rotation from veh to nav: [[-0.515642,0.855666,0.044141],[-0.856800,-0.514796,-0.029661],[-0.002656,-0.053114,0.998585]]>H$a??@j4yf_:e1`h?i>|@I>i^;>CYnByn:IbDzVDzy%S=ٔ{%Q- >9 Y = Fy V;E>YQ 5eh5]K?Q 9eh5])]CBYaye@Q Ie@]DI]R:i]=:]%h5yqɮuAqiiz+?AJijARijAjiM>bP*{7w N7`2@ Ȭ&@R7겨 _j?_S{?Zi@bi޹jY<@j$@$@Zlj?)?74 ?2i%A:iA"i>?*iP)BiuBim1v?iii2Ait> addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 60.291854 s, deltaX: 3.599998 m, approachRate: 0.059710 m/s, rangeRepo size: 4 5 Added new target pos. range: 31.926918 m, bearing: 20.065230 deg, lat: 36.779327 deg, lon: -121.859649 deg, deltaT: 60.291854 s, deltaX: 3.580126 m, approachRate: 0.059380 m/s, posRepo size: 4 =DNOT Ignoring new targets: 31.93 m.hAhA*hA"hA hIgIqfIfyfyddjd @@Zd?Z Z Z Z e@.;) HiY9)顕 ii, ;'=II!@! @!@%0@!ԡ^Am "=B >B B :IB BB  =B B B Aq;B U-EB}CB}CB}ɓCB} =B} =C}ɞ_6I) IQ Om > >1,jI?A6 }@6_@6*;ٱ6Y BAHRS rotation from veh to nav: [[-0.514641,0.856264,0.044231],[-0.857402,-0.513797,-0.029571],[-0.002595,-0.053142,0.998584]]6Hw`f?f?@oq`G@Bem5e?i6 }@I6,^;4YJByJ,IiMb@Mb@Mb@ 9l񢿺I +QYy9uAvA )AYAbD-VD-0y=I[%EG=ٔE/Q-E>9IYI=MFyIM :;EM>QQ 5eh5UI?Q 9mh5U)UABYm=Q Em ^AUK'=IaIqO}>) ]i1,Gc?A2}@2@2 ;ٱ2Z :AHRS rotation from veh to nav: [[-0.513559,0.856896,0.044576],[-0.858051,-0.512715,-0.029536],[-0.002454,-0.053417,0.998569]]2Ho@k?Ҧ?&u)h`> !dYG?i2}@I2" ^;2CYBByB/IIFa=)F=bDNVDN2yV\<%VT=ٔVQ-Z>9XYX=ZFyX^V;E>Q 5%h5G?Q 9%h5)?BY!y%; @Q I%@DIY;i:,h5y)ɮ5A1]DNOT Ignoring new targets: 31.93 m.hYhY*hY"ha hagafafafididijdiZdm`"?ZZZZ; @ ;) zi9)顭~򶉢ii, w.=II)m9@i @i@uN4@qEA EEEE'EA"EA*EE:VEE'4ZEAaM@aM@aM@aM@Y^A.=IIO>ԁ 1, }?A06*}@6G@63;ٱ6N[ >AHRS rotation from veh to nav: [[-0.512871,0.857296,0.044811],[-0.858463,-0.512036,-0.029339],[-0.002208,-0.053516,0.998565]]6Hoi n? ?xb) `byf=?i6*}@I6^;4YFByF%IbDRVDRyV*%VJ=ٔZ Q-Z>9XY\=^Fy\^;Eb>`Q 5fh5bE?Q 9fh5b)b=BYhyjH @Q Ij@bDIbW:ib-:b0h5ylɮrAp DNOT Ignoring new targets: 31.93 m.h h *h "h  h gfffddjdZd?ZZZZH @m3;) i9)顭%ii%+ AYAYBu>BuCBu!IBuBBu =BqBqBuIq;Bu\-Eԩ)k[1=II 9@ @@4@ nManaging dock network, ignoring radio surface power offEU  EU EU (EQ "EU ;*EU 8:VEU c44ZEQ BEU vz%1,?A6.0}@6璅@6+j:ٱ6\`Z BAHRS rotation from veh to nav: [[-0.512596,0.857460,0.044805],[-0.858628,-0.511784,-0.028908],[-0.001857,-0.053289,0.998577]]6H/g@Pp??@y`@@Dm^HX?i6.0}@I68];6CYDyF$IliMb@Mb@Mb@ 9{GztQ뱿9IYQ=UFyQUF:EU>YQ 5eh5]C?Q 9eh5])]9BYm`=Q Em7i> @  @ @ /@ @gA@!1^A5[1=IAIQOm>a E]  E] E] *EY "E] (;*E] :VE] (N4ZEY ae @ae @am @am @+1,%?AYBy I AbDVDk2!y5ڼ%5J=ٔ=Q-=>99Y9==Fy9EEE>IQ 5Uh5MA?Q 9Uh5M9)M6BYQyQQ I]@MDIM:iM-:M=7h5yiɮuDAqDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd @Z!Z!Z!Z!) ii9)ii+ 1=IIY@ @@@y^A}31=IIO>BU >BU CBU IBU BBU  =BQ BQ BU 4q;BU P-Eԩ 21,Ѳ?Aɰ24}@2K@2h:ٱ2Y :AHRS rotation from veh to nav: [[-0.512346,0.857590,0.045178],[-0.858779,-0.511582,-0.027983],[-0.000885,-0.053135,0.998587]]2H#e@`q? !?@{`^@5M 4l?i24}@I2];2CYNByRIi%Mb@Mb@Mb@!!!! !9%~jt?Qy&1Y%D9Y=Fy5:E>Q 5h5??Q 9h5)4BY=Q ESA-DNOT Ignoring new targets: 31.93 m.h)h)*h)"h) h)g)f1f1f=Bd9d9jd9Zd=pl@Ze=Ze=Ze@Ze 3@uh:)q uHai}c9)y}m}ziyi, 3=IIE EE(E"E;*EI:VEc44ZEBEo Ӷ81,?A ((VŀGbliAl %9 liAY AYBy$IbDVDܲyq<%E=ٔQ->9Y=Fy  E >Q 5h5=?Q 9h5)2BY!y!Q I%@DI* ;i:>h5y)ɮ-A)]DNOT Ignoring new targets: 31.93 m.hYhY*hY"hY hYgYfafafadadijdiZdm g@ZZZZ) Vi9)顥#rii+ Q2=IIA@A @@0@@=@=!E! E%E%&E!"E!*E%:VE%4ZE!a-@a-@a-@a-@Q^A2=IIO>y S>1,wi?A2z+}@2@2pٱ2Z :AHRS rotation from veh to nav: [[-0.512843,0.857255,0.045894],[-0.858482,-0.512124,-0.027149],[0.000230,-0.053322,0.998577]]2H`6i`n?`e?x@Rc`̛ s.? MX?i2z+}@I2Ъ];2CYZByZ'II^<)^;bDbVDb:2yj=<%j_=ٔnGQ-n>9pYp=rFyprκEv>tQ 5zh5v;?Q 9zh5v)v0BY|y~3@Q I~@vDIv;iv;vAh5yɮ A 5DNOT Ignoring new targets: 31.93 m.h1h1*h1"h1 h1g9f9f9fAdAdAjdAZdEC @ZiZiZiZm3@}p)  Si`9)顅Mtii, _0=IIYBA<B>BBIB|BBBBBp;B3-EU9@Y @Y@]2@a@u@u@}@}ԁI!I1OEr>ԱE5  E5 E5 (E1 "E5 (;*E5 :VE5 c44ZE1 BE5 AHRS rotation from veh to nav: [[-0.513355,0.856926,0.046299],[-0.858176,-0.512657,-0.026774],[0.000792,-0.053477,0.998569]]2Hgmk?t?`-vg`jI? XaF?i2!}@I2];0YFByF0IiEMb@Mb@Mb@AAAA A9E{Gz?v/~jthYEף9qYq=}Fyy}ƸE}>Q 5h59?Q 9h5o)Yw=Q E[ EE  EE EE )EA "EE s!;*EE :VEE FA4ZEA aM @aM @aM @aM @I TK1,2?A2}@2=@2ٱ2U[ :AHRS rotation from veh to nav: [[-0.514028,0.856505,0.046639],[-0.857772,-0.513352,-0.026395],[0.001335,-0.053573,0.998563]]2Hr`|h?? r `m@4`U?m:?i2}@I2];2CYbByb4I np9Y=Fy% E%>)Q 5h5-7?Q 9h5-N))Yy<@Q I@)I- 9B >B CB IB BB =B B B p;B -E R1,vK?A6O}@6x~@6ٱ6P[ >AHRS rotation from veh to nav: [[-0.514736,0.856065,0.046895],[-0.857347,-0.514081,-0.026032],[0.001823,-0.053604,0.998561]]6Hxd??`bo`Ys]?r`5?i6O}@I6M];6CLYRByREI TTi5Mb@Mb@Mb@1111 195y&1?+9aYi=mFyimEm>qQ 5}h5u 5?Q 9h5u")u3BY=Q Eӡ@Z2<@)  Wil9)顭-䊼ii+ ^)=IIE  E E %E "E (;*E y:VE  4ZE BE a2E ! bY1,e?A2|@2y@2ٱ2,\ :AHRS rotation from veh to nav: [[-0.515218,0.855761,0.047167],[-0.857057,-0.514575,-0.025820],[0.002176,-0.053728,0.998553]]2H|cb?K&?mewxpa?2%?i2|@I2V];2CYvByzWI|bD VD Jy=%O=ٔRjQ->9!Y!=%Fy!-E->)Q 55h5-Z2?Q 9=h5-)-5BY9y=<@Q I=@-DI-;i-z;-Oh5yIɮMAIuDNOT Ignoring new targets: 31.93 m.hqhq*hq"hq hygyfyffddjdZd]@ZZZZ8<@) 9i9)=ii, q'=II@ @@@9E  EE&E"EC;*Eخ:VE4ZEa @a@a@a@i^A31=II1OE>ԁ /_1,u?A2 |@2Vt@2"ٱ2k.\ >AHRS rotation from veh to nav: [[-0.515795,0.855404,0.047310],[-0.856708,-0.515166,-0.025588],[0.002484,-0.053729,0.998552]]2He y_? 9? 'j >|3Yd?@c@$?i2 |@I2~M];2CYBŀByFbIbDNVDNyV0C=%VR=ٔVhOQ-V>9XYX=ZFyXZE^>`Q 5fh5b/?Q 9fh5b)b8BYdyf<@Q If@bDIb:ibw:bLSh5yjBɮneAnEDNOT Ignoring new targets: 31.93 m.hh*h "h  h g f ffddjdZdY_@YZZZZf<@=")9 =&iEG9)AEE̝iAiM+ IM`%=IIIQAAB>BB-IBBBBB~DB{p;B,EByByByB} =B} =C}†55{>i5>ԉ@ @@/@Ա^A&=IIO>bEjE=ٔuQ-}>9yYy=}FyyVbE>Q 5h5i,?Q 9h5,)>BY'=Q E;y%@Q I@DIX;i~ ;Wh5yɮ AԹDNOT Ignoring new targets: 31.93 m.hh*h"h hgfff?BddjdZd@Z'=Z'=Z @Z%@ ") FaiB9)顭vii, T$=IIi@i @i@m/@i^A &=IIO>9 E  E E 'E "E x;*E S:VE '4ZE a- @a- @a- @a- @-Al1,Ef?A$$V|@Vq@V=!ٱV(\ -AHRS rotation from veh to nav: [[-0.516067,0.855242,0.047285],[-0.856545,-0.515437,-0.025621],[0.002460,-0.053724,0.998553]]VH@$^?`5? ht~X<@'d?%?iV|@IVl\;VCY5݀By5IbDMVDM1y]ٓ=%]L=ٔe8Q-e>9aYa=eFyam89Em>qQ 5}h5uY)?Q 9}h5u)uDBYyyQ I@uDIu;iu;uZh5yɮADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd@ZZZZ%@=!) Ci9)73i i + $=II9@ @@/0@A^AC"=II1O=>iB>BCBSIBBB =BBDBDBKp;B,Eԙ (s1,@?AYByIiMb@Mb@Mb@ 9M¿:v?Y̼yn<A`A )Y <4<bDVDy=%D=ٔQ->9Y=FyE>Q 5h5%?Q 9h5)KBY>Q E;y@Q I@DI:iH:5^h5yɮA-DNOT Ignoring new targets: 31.93 m.h)h)*h)"h) h)g1f1f9f=bBd9d9jd9ZdE<_@Ze>Ze>Ze B@Ze@qy)y }Fai}09)顅¼ii, IID%=D<E EEE"E;*E:VEZEBE]u Sy1,?A6|@6z@6ٱ6>\ BAHRS rotation from veh to nav: [[-0.515130,0.855819,0.047057],[-0.857110,-0.514475,-0.026035],[0.001928,-0.053744,0.998553]]6H{ b?@?qmvਚU_?Y %?i6|@I6];6CYFByJIbDRVDRyZn%Z^=ٔZS:Q-Z>9\Y\=^Fy\bB;Eb>dQ 5jh5f,"?Q 9jh5f)fRBYhyj3@Q Ij@fDIfB:if9:fmah5ypɮv!AtDNOT Ignoring new targets: 31.93 m.hh*h"h hgfff!d!d!jd!Zd-`%@ZIZIZIZM3@])Y ]hie9)aeeļiaim+ im(=IiIq9@9 @9@=4@9@M=@M=E EE(E"E/;*E:VEc44ZEa%@a%@a%@a%@^AU$=IaIqO{>) g:1,?A2}@2A@2ܹٱ28T\ >AHRS rotation from veh to nav: [[-0.514131,0.856432,0.046843],[-0.857711,-0.513453,-0.026428],[0.001418,-0.053765,0.998553]]2Hs@g?`?`]r@5n;W?$?i2}@I2L];2CYBByFIbDNVDN!yrq=%rG=ٔr :Q-v>9tYt=vFytzr:;Ez>|Q 5h5~n?Q 9h5~)~YBY y H@Q I @~DI~#;i~$;~eh5yɮAEDNOT Ignoring new targets: 31.93 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU{@ZqZqZqZuH@ܹ) Pif9)顕ɼii, ,=IIBA4=B>BCBrIBҀBB =BB~DBp;B,E=9@9 @9@E/@AYy^A)=IIO>DzD@Aԩ E  E E *E "E ;*E Z:VE (N4ZE BE b9AYI=MFyIMR;EM>QQ 5]h5U_?Q 9]h5U)U`BYe=>Q Ee;ye@Q Ie@UDIU ;iU ;Uhh5yiɮmAq5DNOT Ignoring new targets: 31.93 m.h1h9*h9"h9 h9g9f9fAfErBdAdAjdIZdM`9@Z=>Z=>Z@Z+@3.) ki 9)ͼii+  2=I I)I9)=fAQ9@ @@/@GhA9hAY Ay^A- +,=I9 IQ Oe >ԡ 1,4?AE. E.E,E,"E.s!;*E.w;VE,ZE,a2@a2@a2@a2@NL}@N1@N|ٱNF\ VAHRS rotation from veh to nav: [[-0.511098,0.858276,0.046266],[-0.859522,-0.510365,-0.027364],[0.000127,-0.053752,0.998554]]NHZv?.?4TDO ? l (?iNL}@IN^;NCY^By^If=f=bDjVDj1yr+"%rP=ٔrG:Q-v>9tYt=vFytz;Ez>|Q 5h5~?Q 9h5~)~gBYy@Q I @~DI~:i~=:~lh5yɮAEDNOT Ignoring new targets: 31.93 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZd]?\ @qZyZyZyZ}@|) oi9)顝{ͼii, 8=II-9@) @)@)@)ԡ^A·3=IIO>Bu>BuCBuIBuBBu =BuCDBu}DBu6p;Bu,E w1,N?A2k}@2@2 p :ٱ2sj[ :AHRS rotation from veh to nav: [[-0.509474,0.859266,0.045806],[-0.860486,-0.508719,-0.027729],[-0.000524,-0.053543,0.998565]]2HM?`s?@lGe@.Ai??i2k}@I2^;0YBByBIiMMb@Mb@Mb@IIII I9M#~j+ǿ:v?YM㥽yMv>MT9Y=Fy;E>Q 5h5S?Q 9h5)lBY*P>Q E;yq @Q I@ìDI7;i 7;oh5yɮADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffgBddjdZd`4!@Z*P>Z*P>ZL@Zq @- p :)) - Wi-?9))- 56˼i1i+ >=IIE EE&E"Ea;*E:VE4ZEBEhY S1,Rdh?A2v}@2ą@2:ٱ2Z :AHRS rotation from veh to nav: [[-0.507384,0.860525,0.045357],[-0.861719,-0.506599,-0.028244],[-0.001327,-0.053415,0.998571]]2H`}<l?9?3 6윿`U`BY L?i2v}@I2IP_;0Y^By\ f;fbDjVDj0yr%rT=ٔr;Q-v>9tYt=vFytz;Ez>|Q 5h5~}?Q 9h5~()~qBYy @Q I @~ƬDI~;i~:~ sh5yBɮAE=DNOT Ignoring new targets: 31.93 m.h9hA*hA"hA hAgAfAfIfIdIdIjdIZdU@ !@ZqZqZqZu' @1e:)i mWim'9)iuo żii, \'G=IIJ>i!>@ @@0@iE} E}E})Ey"E};*E}:VE}FA4ZEya@a@a@a@ԑ^A I I) O5 >Թ 1,>?A63}@6jڅ@6;ٱ6Z BAHRS rotation from veh to nav: [[-0.505081,0.861898,0.045006],[-0.863069,-0.504260,-0.028861],[-0.002180,-0.053420,0.998570]]6H`)? ?`C"aYH?i63}@I6ױ_;6CYJByJILNAbDRVDR:yZ7%ZM=ٔ^z ;Q-^>9`Y`=bFy`b;Eb>dQ 5jh5f ?Q 9jh5fr)fvBYlyn @Q In@fȬDIf@;if;fvh5ypɮrAtDNOT Ignoring new targets: 31.93 m.hh*h"h hgfff!d!d!jd!Zd%`"@ZIZIZIZMZ @];)Y ]ncie9)aeK e[iaim+ imO=IiIqAAAAB%>B!B%IB%BB% =B!B!B%&p;B%,Eԑ9@9 @A@E1@A^A<H=IIO>E  E E (E "E &;*E :VE c44ZE BE AHRS rotation from veh to nav: [[-0.502970,0.863148,0.044682],[-0.864299,-0.502122,-0.029323],[-0.002875,-0.053367,0.998571]]2HT@??V čgRJ?i2;}@I2t_;2CYBByFIiMMb@Mb@Mb@IIII I9Ml񲿮GzǿMb`YMyMp=MMjAI I)IIYMQAbDeVDeyuYƼ%u?=ٔu:Q-u>9yYy=}Fyy;E>Q 5h5?Q 9h5)wBY L>Q E;y@Q I@ˬDI ;i ;Yzh5yɮADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffaBddjdZdD#@Z L>Z L>ZȞ@Z@qf<;) Fai9)6 i!i%, !-W=I)I)9@ @@4@^AQO=I!I1OE>I E5  E5 E5 ,E1 "E5 ;*E5 :VE5 g4ZE1 aE @aE @aE @aE @|ݬ1,?A6~@6@6-e;ٱ6[ >AHRS rotation from veh to nav: [[-0.500708,0.864470,0.044530],[-0.865609,-0.499833,-0.029792],[-0.003497,-0.053463,0.998564]]6H ? ̦?`C߿@Ӂlq_;?i6~@I6_;6CYFByFIHJ@AbDNVDN:yV|%VX=ٔZ :Q-Z>9XYX=^Fy\^;E^>`Q 5fh5b&?Q 9fh5b)byBYhyj"@Q Ij@bάDIb-:ib:b}h5ylɮnUAp DNOT Ignoring new targets: 31.93 m.h h *h "h  h gfffddjdZdIb$@ZAZAZAZE"@U-e;)Q U*yiUK9)* /ii+ @`=IIQ9@ @@4@y^AU@W=IaIqO}{>B>BBIBBB =BBBp;B,EBBBǔCBB =Cp6ԡ ų1,?A6<~@6@6u;ٱ6N[@ BAHRS rotation from veh to nav: [[-0.498485,0.865764,0.044341],[-0.866889,-0.497583,-0.030247],[-0.004123,-0.053516,0.998558]]6H ,߿@V?`г?`g߿pmf0?i6<~@I6_;6CYJ؀ByJyIIN%=)N;N=N=i%Mb@Mb@Mb@!!!! !9%i|?5/$ÿMbY%qy%%!%vA %EA)%A!Y%AbDEVDE:2yUe%U@=ٔU#:Q-U>9YYY=]FyYe;Ee>iQ 5uh5mo?Q 9uh5mQ =utI)mwBYu(>Q E};y}/@Q I}@mЬDIm ;im1;m_h5yɮADNOT Ignoring new targets: 31.93 m.hh*h"h hgfff9BdqdyjdyZd}7H%@bE:4jE<4rE/E EE)E"E=-;*E5:VEFA4ZEBEoZ(>Z@Z/@u;) Bi9)% %ُi!i%, )-2h=I)IQԩ@ @@*4@^A- u \=I1 II OU > `1,?A2I`~@2*@2;ٱ26[ :AHRS rotation from veh to nav: [[-0.496567,0.866873,0.044177],[-0.867986,-0.495650,-0.030506],[-0.004549,-0.053493,0.998558]]2H߿`m?`O?߿`= r`sc/?i2I`~@I2_;2CYBɀByBfIbDJVDJ:yR&%VV=ٔV:Q-V>9TYX=ZFyXZ;EZ>|Q 5%h5?Q 9%h5^)vBY!y%S@Q I%@ҬDI;i;τh5y1ɮ53A1]DNOT Ignoring new targets: 31.93 m.hYhY*hY"ha hagafafifididijdqZdu s&@ZZZZpS@;) ai9)}ii+  p=IIu9@q @q@u/@q)E EE+E"E;*Eخ:VE [4ZEa@a@a@a@Q^AJc=IIO>ԁ 51,?A29}~@2m9@2ß;ٱ2bZ :AHRS rotation from veh to nav: [[-0.495032,0.867765,0.043893],[-0.868861,-0.494109,-0.030611],[-0.004876,-0.053290,0.998567]]2H߿`?y?@|߿XxsH C?i29}~@I2_;2CYBByB^I J49XYX=ZFyXZ>;EZ>\Q 5bh5^?Q 9fh5^)^tBYdyfp@Q If@^ԬDI^:i^[:^=h5yhɮjkAlDNOT Ignoring new targets: 31.93 m.hh*h"h hg f f f ddjdZd@3&@YZBA<B>BCBrIBҀBB =BBDBDB_p;B,EZZZp@ß;)Q Uoi]9)Y]]_TiYie, aeu=IaIi9@ @@/@ ԉԹ^AUnp=IaIyO>E EE(E"E1;*E:VEc44ZEBEk99Y9=EFyAE;EE>IQ 5Uh5M?Q 9Uh5M )MqBYU>Q E];y]@Q I]@M֬DIM? ;iM ;Mh5yaɮeAaԹ DNOT Ignoring new targets: 31.93 m.h h *h"h hg9f9fAfEBdAdAjdIZdMN'@Z>Z>Z"@Z]@O;) i9)i&ii+ $z{=II@ @@/@@=@=^Alwo=II O >A E  E E E "E :;*E I:VE ZE a @a @a @a @+1,=7?AY=By=CIbDMVDMky]%]H=ٔeQ-e>9aYi=mFyimEm>qQ 5}h5u?Q 9}h5u)unBYyQ I@uجDIu;iu;uh5yɮAEDNOT Ignoring new targets: 31.93 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU(@ZyZyZyZy) 5i9)顕uii, mz=III@I @I@M0@IIB>BCBLIBBB =BB~DBp;B$-E^Amw=IyIO>ԙ U1, Q?A2~@2G]@2 t;ٱ27Y :AHRS rotation from veh to nav: [[-0.491224,0.869945,0.043528],[-0.871017,-0.490292,-0.030722],[-0.005385,-0.053005,0.998580]]2H6p߿?[I?`^ `߿`uzv#`]?i2~@I2^;2CYBByB6IiMb@Mb@Mb@ 9Mb`?(\µI +Y;y`A )AYAbDVDNyH%A=ٔa9Q->9Y=Fy&;E> Q 5h5 ?Q 9h5 ) jBYܳ=Q Ei>@ @@0@^A I I O% >= +GQ i R,9 Y A <1,j?A2~@2!b@2Ħ;ٱ23Y :AHRS rotation from veh to nav: [[-0.490709,0.870224,0.043760],[-0.871309,-0.489788,-0.030478],[-0.005089,-0.053084,0.998577]]2Hg߿@?g?X߿ 5t-X?i2~@I2C^;2CYBByB,IbDJVDJ1yRH5%Rb=ٔVVQ-V>9TYT=ZFyXZ':EZ>\Q 5bh5^뒊?Q 9bh5^>)^gBYdyf)@Q If@^ڬDI^&;i^;^Zh5yhɮjAlDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd *@Z)Z)Z)Z-))@Ħ;) |i9)額;ii, `=IIM9@Q @Q@U4@QE EE)E"E4;*E:VEFA4ZEa@a@a@a@^A5|=I9IQOe>I V%1,W΄?A6~@6Ld@6ν;ٱ6Y >AHRS rotation from veh to nav: [[-0.490479,0.870344,0.043951],[-0.871440,-0.489569,-0.030254],[-0.004814,-0.053139,0.998576]]6H`d߿?À?`U߿s`5T?i6~@I6];6CYFByF"IbDNVDNyV!%VJ=ٔZK2Q-Z>9XYX=ZFyX^C+:E^>`Q 5fh5b4钊?Q 9fh5b)bcBYhyj)@Q Ij@b۬DIbt:ib(:bh5ylɮnAl DNOT Ignoring new targets: 31.93 m.h h *h "h  h g fffddjdZd*@Z9Z9Z9Z=j)@AA@AB>BB-IBBBBBBCq;B_-Eν;) %i9)Ͼii +  k=I IQ9@ @@P4@y^A|=II1O=>E EE(E"E%;*E*:VEc44ZEBE~9iYi=mFyiu9Eu>yQ 5h5}撊?Q 9h5})}aBY=Q EF E  E E 'E "E *;*E :VE '4ZE a @a @a @a @y1,?A2B~@2qc@2V;ٱ2ϞZ :AHRS rotation from veh to nav: [[-0.490571,0.870267,0.044441],[-0.871391,-0.489683,-0.029808],[-0.004180,-0.053348,0.998567]]2He߿:?@?oV߿qxP C?i2B~@I2#];2CYfByf.I hjAlprAbDvVDv:y~_G<%~Q=ٔsQ->9Y=Fy  ڹE >Q 5=h5䒊?Q 9Eh5)^BYAyE3A@Q IE@I;i; h5yQɮUtAQ}DNOT Ignoring new targets: 31.93 m.hyh*h"h hgfffddjdZd?~,@ZZZZ43A@V;) i>9)};ii+ =II@ @@@ 9B>BCBIBBBBCDB}DBq;B-E^AIIO>a c1,Qh?Af8~@f`@fݕx;ٱf1[ -AHRS rotation from veh to nav: [[-0.490840,0.870100,0.044743],[-0.871242,-0.489964,-0.029555],[-0.003793,-0.053488,0.998561]]fHi߿@?@?5`[߿@Cob6?if8~@If.];fC9YEByE%IiMb@Mb@Mb@ 9{Gz?I +Yף9Y=Fy8E>Q 5 h5⒊?Q 9h5)_BYE=Q EԹ 1,:?A:U~@:{\@:Vb;ٱ:Z JAHRS rotation from veh to nav: [[-0.491313,0.869828,0.044848],[-0.870976,-0.490453,-0.029265],[-0.003460,-0.053440,0.998565]]:Hq߿?K? c߿Wlr\>?i:U~@I:e];:CYRByVCIbDbVDbyj3>%n^=ٔvlQ-z>9Y = Fy E>Q 5%h5nᒊ?Q 9-h5)Y)y-C@Q I-@ެDI1;i2;h5ԙyɮADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffdd jd Zd #.@Z)Z)Z)Z-5C@EVb;)A EiE9)AEM v2,#?A2~@2Z@23T;ٱ2q[ :AHRS rotation from veh to nav: [[-0.491514,0.869708,0.044959],[-0.870863,-0.490663,-0.029097],[-0.003246,-0.053455,0.998565]]2Ht߿`? ? g߿˝`jm^>?i2~@I2P8];0YBByBJIIF<)FC=bDNVDN02yV<%VM=ٔV Q-V>9XYX=ZFyXb.Ef>pQ 5vh5rߒ?Q 9vh5r)r`BYxyzC@Q Iz@pIr ;ir& ;rh5y|ɮA-DNOT Ignoring new targets: 31.93 m.h)h)*h)"h) h)g1B9A9BE>BABEIBEBBE =BABE~DBEq;BE-EBCBCBCB =B =CI6fYfYfadadajdaZde}.@kuJTimed out from 2025-10-27T05:19:03.8Z5ujufCompleted lineCaptureHoming:MicromodemComms:CheckInq5}j}Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInj}VCompleted lineCaptureHoming:MicromodemCommsZZZZGC@%3T;)! %i%9))-K-t IbEjEDz>4rE8/Eu EuEqEq"Eux;*Eua:VEqZEqBEuBg9Y=FyE>Q 5h5ݒ?Q 9h5^)cBY/s=Q E_~@VV@V@;ٱV [ bAHRS rotation from veh to nav: [[-0.491903,0.869474,0.045241],[-0.870645,-0.491060,-0.028936],[-0.002943,-0.053623,0.998557]]VHW{߿@? )?R m߿@{h|t-?iV>~@IV#];TYfĀByjaI hh n9Y=Fy DѹE >Q 5h5eے?Q 9h54)fBYy?;@Q I@DI :i ;h5y)ɮ-+A)UDNOT Ignoring new targets: 31.93 m.hYhY*hY"hY hYgYfafafadadijdiZdm@`0@ZZZZ?;@@;) i,9)页?WBCB-IBBB =BBDBB7q;B\-Eԉ^AII O5>ԱE  E E (E "E s!;*E :VE c44ZE BE x9Y=Fy9E>Q 5h5ْ?Q 9h5)kBY=Q EE.2,<y?Aɰ;2~~@2Y@2M;ٱ2N[ :AHRS rotation from veh to nav: [[-0.491677,0.869609,0.045101],[-0.870772,-0.490827,-0.029064],[-0.003137,-0.053563,0.998559]]2H@w߿?? ]@i߿@`i`l3?i2~~@I2];2CYBByBIbDJVDJJyRfq=%RG=ٔVA 9Q-V>9TYT=ZFyXZ9EZ>\Q 5bh5^֒?Q 9bh5^Z)^pBYdyfx&@Q If@^DI^:i^:^ $2,?A\~@]@Z;ٱl[ AHRS rotation from veh to nav: [[-0.491152,0.869910,0.045004],[-0.871067,-0.490295,-0.029203],[-0.003339,-0.053545,0.998560]]H o߿@N? ? `߿`w睿Zk3j3?i\~@I[ ];CY%By%II-=)-=ԑiMb@Mb@Mb@ 99!Y!=%Fy!%:E->1Q 5=h557Ԓ?Q 9=h55f)5vBY==Q E=;y=@Q I=@5DI5:i5f:5.h5yIɮMAIuDNOT Ignoring new targets: 31.93 m.hqhq*hy"hy hygyfyff(BddjdZd@ 1@Z=Z=Z֋@Z?@Z;) ̽i9)U:<E EE+E"E;*Eخ:VE [4ZEBE] *2,?AN%~@Ncf@Nr;ٱN9Z ZAHRS rotation from veh to nav: [[-0.490259,0.870427,0.044758],[-0.871569,-0.489389,-0.029419],[-0.003703,-0.053433,0.998565]]NHf`߿? ?'R߿ Un[=?iN%~@INu"];LYfByfIbDvVDvJy>%_=ٔ ҁ:Q- >9 Y=Fya6;E>!Q 5-h5%Ғ?Q 9-h5%)%|BY)y5 @Q I5@%DI% :i%p:%gh5y9ɮ=A9mDNOT Ignoring new targets: 31.93 m.hihi*hi"hi higifqfqfqdqdyjdyZd}b2@ZZZZ @r;) @Ei_9)顽Qy 12,?A2~@2r@2;ٱ2[ :AHRS rotation from veh to nav: [[-0.488948,0.871174,0.044562],[-0.872303,-0.488055,-0.029835],[-0.004243,-0.053460,0.998561]]2H J߿?`Ц?K<߿$aq _ 6?i2~@I2b];2CYBByBIbDJVDJ0yrù<%rL=ٔvְ:Q-v>9tYx=zFyxzv;Ez>|Q 5h5~ϒ?Q 9h5~)~BY y ;@Q I @~DI~:i~:~h5yBɮAEEDNOT Ignoring new targets: 31.93 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdUu2@Be'>BaBeIBe܀BBe =BaBaBeXq;Beu-EZZZZ;@;)  i9)页!ԩE EE)E"E;*E˭:VEFA4ZEBEJ\];2CYB ByBI DDHJAiUMb@Mb@Mb@QQQQ Q9UA`"Pn~jt?YUYyUU9Y=FyVX;E>Q 5h5̒?Q 9h5)BY!>Q E;yY@Q I@DI:i:h5yɮ3ADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffbBddjdZd2@Z!>Z!>ZnR@Z_Y@%';)) -i-9))-1-E  E E &E "E %;*E :VE 4ZE a @a @a @a @9 (=2,/P?AY~2By~IbDVDJy%=%%Q=ٔ%Q-%>9)Y)=-Fy)-E5>1Q 5=h55ɒ?Q 9Eh55u)5BYAyAQ IE@5DI5e;i5;5h5yIɮUAQDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZdI3@ZZZZ))) -i-9))-5BeCBeIBeBBe =BaBeDBeZq;Bez-E^AIIO >i D2,C<?A,dɰfp;MdH@M@Mv;ٱMʁZ ]AHRS rotation from veh to nav: [[-0.484218,0.873852,0.043764],[-0.874927,-0.483259,-0.031040],[-0.005975,-0.053320,0.998560]]MH`l޿ ?@/h? g@޿ȟ@yx`L 3?iMdH@IMN;^;MCYiyii%Mb@Mb@Mb@!!!! !9%333333ʡEÿ:v?Y%y%%T<% A! %A)%A!Y!bD=VD=ٔU,.;Q-U>9YYY=]FyY] <E]>aQ 5mh5e0ƒ?Q 9uh5e)eBYu/>Q Eu;yu @Q Iu@eDIe? ;ie ;eh5yyɮE EE'E"E1;*E:VE'4ZEBEkZ/>Z>K@Zt @v;) i9)ϳ9 pJ2,q.?AFn@F@F6;ٱFZ RAHRS rotation from veh to nav: [[-0.482175,0.874994,0.043508],[-0.876049,-0.481185,-0.031595],[-0.006710,-0.053349,0.998553]]FH ޿`? F?޿@-@Y|{@P@&?iFn@IFh^;FCYV@ByVIIZ<)Zp=bD|VD|y N=% <ٔ `;Q- >9Y=Fy;E>!!Q 5-h5%2Ò?Q 95h5%)%BY1y5 @Q I5@%DI%:i%:% h5yAɮE2AAmDNOT Ignoring new targets: 31.93 m.hihi*hi"hi hqgqfqfqfydydyjdyZd4@ZZZZ @6;) `ӽi:9)顽ii+ +=IIx>i>q@q @q@u0@qI^Amtn=IqIO>E EEE"E;*E:VEZEa@a@a@a@qY Q2,G?A2-@2g†@2;ٱ2FY :AHRS rotation from veh to nav: [[-0.480429,0.875970,0.043170],[-0.877004,-0.479424,-0.031883],[-0.007232,-0.053178,0.998559]]2H`Y޿@? n?@j޿`S`F}/:1?i2-@I2^;2CY^HBybIbDj VDj2yr=%rM=ٔrR:Q-v>9tYt=vFytzc;Ez>B>BCBIBBB =BB{DB[q;BZ-EBCBCBCB =B =C6|Q 5h5~濒?Q 9h5~ )~BYy @Q I@~DI~lԑbEYjE]A84rE]d/E EE)E"E;*E:VEFA4ZEBEbAHRS rotation from veh to nav: [[-0.478281,0.877146,0.043151],[-0.878173,-0.477256,-0.032219],[-0.007666,-0.053304,0.998549]]6H(޿`?? ^޿ ~f J?i6?@I6 L_;6CYR@ByRIi%Mb@Mb@Mb@!!!! !9%RQ/$ſ:Q-U>9QYY=]FyY];Ee>aQ 5mh5eR?Q 9mh5e?)eBYuE>Q Eu;yu!@Q Iu@eDIe:ie:e/h5yɮ-AEDNOT Ignoring new targets: 31.93 m.hIhI*hI"hI hIgIfIfqf~BddԑjdZd4@ZE>ZE>ZS@Z=!@5;)  i 9))-68)i1i5+ 1=r=I9I99@ @@4@^A=II O >E  E E 'E "E ;*E :VE '4ZE a @a @a @a @ 5^2,{?AJY@J@J3<ٱJ|Z RAHRS rotation from veh to nav: [[-0.476182,0.878292,0.043046],[-0.879309,-0.475142,-0.032474],[-0.008069,-0.053315,0.998545]]JH y޿@? - ?M#h޿v@TL?iJY@IJ _;JCYXyZI ``bDfVDfk2yn%nR=ٔrg:Q-r>9pYp=vFytv;Ev>xQ 5~h5z?Q 9~h5z)zBYyH@Q I@zDIz;iz;zh5y ɮ 0A 5DNOT Ignoring new targets: 31.93 m.h9h9*h9"h9 h9gAfAfAfAdAdIjdIZdM*I5@ZiZiZiZmH@3<) i9)額Uii, T=II59@1 @1@5/@1AAAAAABڿ>BCBIB.BB =BCDBwDBsq;BL-E^Au3=IIO>I N e2,4?A @@A<ٱpZ AHRS rotation from veh to nav: [[-0.474185,0.879374,0.043019],[-0.880386,-0.473137,-0.032574],[-0.008291,-0.053319,0.998543]]H Y޿ #??,`G޿@`L?i@IK`;CYIByIE EE(E"Ey>;*EM:VEc44ZEBER9Y=FyН;E>Q 5h5?Q 9h5)BYN@>Q E;y {@Q I @DI ;i ;h5yɮ A=DNOT Ignoring new targets: 31.93 m.h9hA*hA"hA hAgAfIfIfMBdIdQjdQZdU5@iZ}N@>Z}N@>Z}Ӆ@Z} {@A<) HiQ9)顕Ltii+ e=IIY@Y @Y@Y@Y@e>@e>ԑ^A X=I I O > IGk2,'N?Aɰ4<2@2@2W <ٱ2Y :AHRS rotation from veh to nav: [[-0.472237,0.880433,0.042784],[-0.881430,-0.471186,-0.032626],[-0.008566,-0.053118,0.998551]]2H9޿,?? 4'޿U@늁I2@"?i2@I2v`;0YB>ByBIbDJPVDJyV%Vw=ٔZY:Q-Z?9XYX=ZFy\^;Eb?dQ 5fh5fa?Q 9jh5f2)fBYhyj@Q Ij@fDIfp:if$:fh5ypɮrDAp DNOT Ignoring new targets: 31.93 m.h h *h "h hgfffddjdZd6@ZZZZ@=W <)9 =i=9)AE;AiAiM, IMH=IIIQ @  @ @ /@ E EE&E"E;*E:VE4ZEa@a@a@a@^Aܝ=II)O=>! .r2,k(?A6T%@6$ @6a <ٱ6Y BAHRS rotation from veh to nav: [[-0.470357,0.881436,0.042824],[-0.882434,-0.469306,-0.032591],[-0.008629,-0.053119,0.998551]]6HU޿4?@?< ޿`į@,j2!?i6T%@I6`;4BRֿ>BRCBRIBR3BBR =BPBPBRq;BR]-EY^ABy^IIb<)b4=bDjVDj1yr<%rG=ٔv!9Q-v>9tYx=zFyxz;Ez>|Q 5 h5?Q 9 h5w)BY y @Q I@DI:i:1h5yBɮAEDNOT Ignoring new targets: 31.93 m.hAhI*hI"hI hIgIfIfQfQdQdQjdYZd]6@ZyZyZyZ}v@a <) i9)顕$ii+ [=III)fA1@1 @1@5/@1)^A͢=IQyIO>E EE*E"E ;*E:VE(N4ZEBEO9!D9hAYK2AY=Fy;E>Q 5h5?Q 9h5ݹ)Y+>Q E;y@Q I@DIg1;i}0;8h5yɮLA DNOT Ignoring new targets: 31.93 m.h h *h "h  hgfff]BddjdZd@&6@ZE+>ZE+>ZEi@ZE@UV <)Q ]\i]9)Y]գYiYie, aeLN=IaIiԩ9@  @ @ @ ^A- =I1 II OU > E  E E 'E "E 7;*E ?:VE '4ZE a @a @a @a @=~2,?A2PD@2 ?@2 <ٱ2hY >AHRS rotation from veh to nav: [[-0.467017,0.883207,0.042894],[-0.884208,-0.465981,-0.032223],[-0.008472,-0.052976,0.998560]]2H`ݿ9XYX=ZFyXZ;E^?`Q 5fh5b?Q 9fh5b)`Ydyf:@Q If@bDIb_:ib4:b-h5ylɮnAlDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZdP7@ZZZZ:@ <) i9)51i1i=+ 9EYR=IAIA@ @@0@BA<BͿ>BCBIB.BB =BBvDB\q;B;-E^A5=1IAIQO]>Y o2,_?AS@\N@Ƕ<ٱE{Y AHRS rotation from veh to nav: [[-0.465373,0.884062,0.043152],[-0.885077,-0.464346,-0.031966],[-0.008222,-0.053069,0.998557]]H ݿ9Y=Fy;E>Q 5h5!?Q 9h5)BY>Q E;yf@Q I@DI12;i51;Ih5yɮ]ADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffjBddjdZdJ7@Z>Z>Z'v@Zf@mǶ<)i m̽imr9)iuCqiqiu, y}4R=IIG>i>i59@1 @1@5o0@1ԁ^A] ʞ=Ia Iy O >Ա E2,>0?A6 _@6Y@6 <ٱ6. Y JAHRS rotation from veh to nav: [[-0.464131,0.884708,0.043290],[-0.885732,-0.463127,-0.031495],[-0.007815,-0.052961,0.998566]]6HRݿ`O?*?Wݿ 5@?i6 _@I6\]`;6CYV1ByVIbDjVDj:yv %vl=ٔzQ-~?9|Y|=Fy H;E ?Q 5%h5?Q 9%h5)BY)y-}@Q I5@DIc;id;Uh5y9ɮEAADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd 8@ZAZAZAZER}@u <)q uiu9)y}kɴyiyi+ =IIԑ@ @@4@@>@>E EE'E"E ;*E:VE'4ZEa@a@a@a@^A"=IIO> !}2,PpJ?AɰB&ʿ>B$B&IB&#BB& =B$B$B&q;B& -EVj@Vd@V ?;ٱVX bAHRS rotation from veh to nav: [[-0.462948,0.885319,0.043464],[-0.886355,-0.461966,-0.031030],[-0.007393,-0.052890,0.998573]]VHݿT?`@? ]ېݿ`aƟ@G~c`O?iVj@IVR`;VCYf-ByjIbDrVDrfyz[%zJ=ٔz눺Q-z>9|Y|=FyX;E> Q 5h5 ?Q 9h5 ) BYy@Q I@ DI ;i "; h5y!ɮ%A)UDNOT Ignoring new targets: 31.93 m.hQhQ*hQ"hQ hQgQfYfYfYdadajdaZded8@ZZZZ@ ?;) i9)顥lشii, ի=IIq@q @q@}/@y)^Au=IIO>E EE*E"E7;*EZ:VE(N4ZEBEZAHRS rotation from veh to nav: [[-0.461932,0.885844,0.043587],[-0.886888,-0.460976,-0.030495],[-0.006922,-0.052744,0.998584]]2H JݿX?Q?ca`ݿ4:@Y|5f?i2hs@I24`;2CYF1ByFIIH)J=iMMb@Mb@Mb@IIII I9MZd;OzGế{GzYMjyM ׽M#M AMIA MA)MAIYMAbDeVDeyu<%uB=ٔuђQ-}>9yYy=Fy"3;E>Q 5h5?Q 9h5γ)BY=Q E;y@Q I@DI;i%;h5yɮADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffPBddjdZd8@Z =Z =Z [@Z X@;)! %ui%9)!%Zഉ!i!i-+ )5Ԉ=I1I9IQ@ @@/@ԁ^AD=IIO%>ԩ E  E E $E "E :*E 1:VE 4ZE a @a @a @a @rў2,&~?A2J{@2v@2;ٱ2W :AHRS rotation from veh to nav: [[-0.461080,0.886278,0.043788],[-0.887336,-0.460152,-0.029927],[-0.006375,-0.052653,0.998592]]2HTݿ c\?[k?e sݿ5 Xz^@x?i2J{@I2_;0@YF&ByFIbDNVDN:yV<`%VX=ٔZHQ-Z>9XYX=ZFy\^&;E^>`Q 5fi5b򚒊?Q 9fi5b)bBYhyj@Q Ij@b DIb:ib:bi5ylɮnAp DNOT Ignoring new targets: 31.93 m.h h *h "h  h g fffddjdZdQ9@Z9Z9Z9Z=p@U;)Q UXiU9)QUw괉ii, t=II9@ @@/@@@ԱAE@AAE?ABEɿ>BABEIBEBBE =BABABEp;BE,EB CB CB ƔCB =B =C :*6^Aõ=IIO> 2, ?AXXl}r@}B@}·;ٱ}W AHRS rotation from veh to nav: [[-0.460089,0.886777,0.044091],[-0.887853,-0.459183,-0.029457],[-0.005876,-0.052699,0.998593]]}Hrݿz`?`(?`Ki@@cݿ)x`my?i}r@I}_;}CY5'By=IbE'4jE04rE0EU EUEU-EQ"EU ;*EU:VEUt4ZEQBEUL9Y=Fy;E>!Q 5-i5%?Q 9-i5%g)!Y5#=Q E52,?ANQ@N!@Nh;ٱNS|W fAHRS rotation from veh to nav: [[-0.459346,0.887153,0.044281],[-0.888242,-0.458469,-0.028849],[-0.005292,-0.052584,0.998602]]NHeݿc??zl`Wݿ uC쪿 ?iNQ@IN_;NCYn,BynI ppbDvVDvy~u<%s=ٔQ-?9 Y = Fy  #;E ?Q 5i5?Q 9%i5)BY!y%@Q I%@ DI;iz;i5y)ɮ-A19]DNOT Ignoring new targets: 31.93 m.haha*ha"ha hagafafifididijdqZdu#:@ZZZZ@h;) i9)顭@񴉢ii, D5=III@I @I@UP0@QaEm EmEm%Ei"EmV:*Emv:VEm 4ZEia}@a}@a}@a}@^Aut=IIԑO>Թ B= ȿ>B9 B= IB= BB=  =B9 B9 B= p;B= ,E˲2,?A2@2@2Rq;ٱ2|W :AHRS rotation from veh to nav: [[-0.458650,0.887497,0.044597],[-0.888605,-0.457803,-0.028247],[-0.004652,-0.052584,0.998606]]2HZݿ`f?bզ?ro`Lݿ윿%sO쪿?i2@I2[_;2CY@yBIbDNVDNkyV;%VP=ٔVպQ-V>9XYX=ZFyXZ;E^>`Q 5bi5bΓ?Q 9fi5bR)`Ydyf@Q If@b DIbB:ib:bj i5yhɮnAleDNOT Ignoring new targets: 31.93 m.haha*ha"ha hagifififidqdqjdqZdu:@ԙZZZZN@Rq;) i9)󴉢ii+ %0=I!I!@ @@0@@@,>E EE,E"E=;*E:VEg4ZEBE{I M2,͒?A4<ɰ2o@2?@2X;ٱ2W :AHRS rotation from veh to nav: [[-0.457817,0.887910,0.044935],[-0.889037,-0.456992,-0.027779],[-0.004130,-0.052666,0.998604]]2H@Lݿi??r[?ݿrp?i2o@I2w_;2CYB0ByBIi Mb@Mb@Mb@     9 {GzDlMbP?Y ףy O :   A)  Y pAbD%VD%02y5K<%5B=ٔ5,Q-=>99Y9=EFyAE;EE>IQ 5Ui5M?Q 9Ui5Mư)MBYU$=Q EU8i!>u9@q @y@}4@)Q^AiIyIO>E  E E )E "E ;*E :VE FA4ZE a @a @a @a @ԑ g2,m?AF@F^@F!t;ٱFxX RAHRS rotation from veh to nav: [[-0.456936,0.888350,0.045200],[-0.889492,-0.456129,-0.027402],[-0.003725,-0.052726,0.998602]]FHp>ݿ]m? $?v`71ݿ30n`?iF@IFFQ_;FCYZ4ByZII^R=)^;bDbVDbNyj<%jP=ٔnQ-n>9pYp=rFypr%;Ev>tQ 5zi5v;?Q 9zi5vD)vBY|y~@Q I~@vDIv;iv;vi5yɮ vA 5DNOT Ignoring new targets: 31.93 m.h1h1*h1"h1 h1g9f9f9fAdAdAjdAZdE[X;@ZiZiZiZmۜ@}!t;)y }pir9)顅ii+ Ͷ=IIQM9@I @Q@U/@QԁBBBBBBBBp;B,E^A =IIO>Ա \2,M?Ar)@r@r.\;ٱr)Y -AHRS rotation from veh to nav: [[-0.455676,0.888975,0.045643],[-0.890139,-0.454880,-0.027134],[-0.003360,-0.052993,0.998589]]rH)ݿ {r?t^?`|`ݿɛ Ӆk!`q?ir)@Irv_;pYU9Y=FyR;E>DqzDqE} E}E}'Ey"E};*E}҆:VE}'4ZEyBE}AX2,`3?A2@2m@2\D;ٱ2Y :AHRS rotation from veh to nav: [[-0.454649,0.889486,0.045913],[-0.890666,-0.453869,-0.026796],[-0.002996,-0.053076,0.998586]]2Hݿ@v?끧? U / ݿ op h,j?i2@I2ri_;0YB8ByBIiUMb@Mb@Mb@QQQQ Q9U:vMbMbP?YUԼyUQU& AU|@ UA)QQYUAbDmVDmܲy}ݮ%}J=ٔ}lQ->9Y=Fy=;E>Q 5i5nj?Q 9i5&)BY}=Q E@ B ƿ>B B IB #BB B B B qp;B ,E72,M?A2@2P@2:);ٱ2YZ >AHRS rotation from veh to nav: [[-0.453574,0.890014,0.046313],[-0.891215,-0.452809,-0.026473],[-0.002590,-0.053283,0.998576]]2H\ݿ z? f?Ԅܿ8eGU?i2@I2_;0YF=ByFI HHHJAbDRVDRyV<%VZ=ٔZQ-Z>9XY\=^Fy\^R;Eb>`Q 5fi5bZ?Q 9fi5b)`Yhyj2@Q Ij@bDIby:ib:b#i5ylɮrAp DNOT Ignoring new targets: 31.93 m.h h *h "h  h gfffddjdyZd}c<@ZZZZ2@:);)  \i 9) i1i=, AE=IAIIQ-9@) @)@-/@)ԁD]=D]%=Eu EuEu*Eq"Eu:*Eu:VEu(N4ZEqBEu>ԩ d2,cg?A2@ˀ@2Ƈ@2;ٱ2aZ :AHRS rotation from veh to nav: [[-0.452405,0.890598,0.046539],[-0.891810,-0.451650,-0.026234],[-0.002345,-0.053372,0.998572]]2H3ܿ? ӧ?`ܿ@ݚ "5cS M?i2@ˀ@I2t_;2C9AYA=EFyAEK;EM>IQ 5Ui5M?Q 9]i5M)MBY]=Q E], Ee  Ee Ee )Ea "Ee ;*Ee :VEe FA4ZEa am @am @am @am @J2,8?A;ɰ;JYՀ@J)Ї@J.;ٱJZ VAHRS rotation from veh to nav: [[-0.451305,0.891149,0.046653],[-0.892367,-0.450566,-0.025903],[-0.002063,-0.053322,0.998575]]JH 0ܿ`K? ?Eܿ 5`LT?iJYՀ@IJy_;JCYZFByZIbDf VDf2yj<%n9pYp=vFytvM;Ev>xQ 5~i5z?Q 9~i5zX)zBYy@Q I@zDIzY;iz;z@%i5y ɮ  A =DNOT Ignoring new targets: 31.93 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM_=@ZiZiZiZm@.;) ic9)額Hii, $=II I@I @I@M00@IAAAEAABIBIBMIBM)BBIBIBIBMo;BM,E9^A57=IAIYO}>q w2,!?AR@Rۇ@Rj:ٱRZ9 MAHRS rotation from veh to nav: [[-0.450036,0.891784,0.046787],[-0.893009,-0.449308,-0.025656],[-0.001858,-0.053328,0.998575]]RH cܿ~?`~?`uܿ`E p^`M@T?iR@IRk_;RCY}EByyI%=)==bDVD0y&%9=ٔQ- >E- E-E-%E)"E-;*E-:VE- 4ZE)BE-eQ 5i5*?Q 9i5)BYy@Q I@DI:i:Z)i5yɮ A5DNOT Ignoring new targets: 31.93 m.h1h1*h1"h1 h1g1f9f9f9d9dAjdAZdE`=@ZZZZ!@j:)  iv9)顭ii+ =IIa9@! @!@%k0@!ԉ^Ae !=Iq I O > מ2, ?A2@2@2:ٱ2[ :AHRS rotation from veh to nav: [[-0.448426,0.892585,0.046975],[-0.893818,-0.447701,-0.025560],[-0.001783,-0.053449,0.998569]]2Hܿ ?  ?( ܿX,@8]]F?i2@I2L_;2CYBBByBIi Mb@Mb@Mb@     9 A`"+Mbp?Y Yy  ;  A IA A) A Y bD%VD%ܲy5%5X=ٔ5NԙQ->9Y=Fy;E>Q 5i5Ä?Q 9i5ѫ)BYN=Q E @Z=N=Z=N=Z=@Z=@M:)Q ULiU 9)QU YiYi], ae͟=IaIa mfAmfAE- E)E-)E)"E-[";*E)VE-FA4ZE)a5@a5@a5@a5@59@ @@ 0@@@ BE ſ>BA BE IBE 3BBA BA BA BE o;BE W,EBBCB˓CB =B =CL4^A $=I I O >2,E.?A>@>}@>:ٱ>q [ RAHRS rotation from veh to nav: [[-0.447017,0.893286,0.047086],[-0.894524,-0.446300,-0.025353],[-0.001633,-0.053453,0.998569]]>H ܿ˕? ?@-ܿCZ4^ G?i>@I>X_;>CYZIBy^IbDnVDnyzy=%zD=ٔzQ-z>9|Y=FyQ ;E>Q 5i5#?Q 9i5)BYy@Q I@DIg;i;70i5yɮ ADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd&>@ZZZZ@5:)1 5i5\9)1=9i9i=+ AE*=IAIIE9y9@ @@4@bE-:4jE)rE-Z0E EE(E"E1;*E:VEc44ZEBEk 2,c?A2 @2@2:ٱ2<[ :AHRS rotation from veh to nav: [[-0.445554,0.894011,0.047185],[-0.895254,-0.444846,-0.025148],[-0.001493,-0.053447,0.998570]]2Hܿ ? (?`]xܿsCuXn] H?i2 @I2֢_;2CY^FBy^I ``dfAiUMb@Mb@Mb@QQQQ Q9U+#~j~jtxYUyU㥽UĻQUf@ UA)QQYUAbDVDk1y5 %E:=ٔMJQ-M>9QYQ=]FyY]2p;Ee>iQ 5i5m#?Q 9i5m)iY=Q Ey 3,?A6K@6@61:ٱ6lZ BAHRS rotation from veh to nav: [[-0.444108,0.894734,0.047109],[-0.895972,-0.443407,-0.024977],[-0.001459,-0.053301,0.998577]]6H@Clܿ ? ?ͫ@`ܿr@!WEJX?i6K@I6ǘ_;4YJJByJIbDRVDR:yZ<%Zd=ٔ^ʸQ-^>9\Y`=bFy`b;Eb>dQ 5ji5f?Q 9ji5fs)dYlyn@Q In@fDIf;if;f7i5ypɮr AtDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffd!d!jd!Zd%h?@ZAZAZAZE(@]1:)Y ]i]9)aeaiaim+ imw=IiIqYBM<AIBQBQBUIBU8BBQBQBQBUbo;BU=,Eԁg9q@q @q@}A3@yԩ PExceeded connect timeout, disconnecting.^Ae Z=Ii Iy O > 3,?A,ɰ,Eu EuEu)Eq"Eu7;*Euy:VEuFA4ZEqBEuZ9Y=Fy f;E>Q 5i5|?Q 9i5)BYѷ=Q E?A:<@:7@::ٱ:Z BAHRS rotation from veh to nav: [[-0.439985,0.896760,0.047279],[-0.898004,-0.439307,-0.024445],[-0.001152,-0.053212,0.998583]]:H(ܿA?4?sܿ/R@>c?i:<@I:wJ_;:CYHyHIN<)N=N=N=bDREz ExEz*Ex"Ez+$;*ExVEz(N4ZExa~@a~@a~@a~@VDRfٔ]c Q-]>9aYa=eFyae;Em>qQ 5}i5uz?Q 9}i5uۧ)uBYyy} @Q I}@uDIu:iu:uE?i5yɮDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd` -@@ZZZZ @:) ig9)ii +  \L=II9@ @@/@^Aew=IIO#>BBBIB=BB =BBB>o;B+,E!  nManaging dock network, ignoring radio surface power off 3,X?A6TF@6$A@69w:ٱ6Y BAHRS rotation from veh to nav: [[-0.438956,0.897263,0.047295],[-0.898508,-0.438292,-0.024156],[-0.000945,-0.053098,0.998589]]6Hܿ``?@7?` ܿHN`/p?i6TF@I6h^;6CYJKByJIbDVD:y{%<ٔ 'Q->9Y=%Fy!%#;E%>)Q 55i5-x?Q 95i5-)-BY9y=@Q I=@-DI-;i-:-FCi5yAɮE AAQDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZdi@@E% E%E%'E!"E%;*E%:VE%'4ZE!BE%s3,dr?A9iYi=mFyiu@;Eu?yQ 5i5}3v?Q 9i5}k)}BY=Q EE EE)E"E7;*Ea:VEFA4ZEa%@a%@a%@a%@ |"3,:?A2U@2tP@2:ٱ2 >Y :AHRS rotation from veh to nav: [[-0.437276,0.898076,0.047415],[-0.899327,-0.436633,-0.023718],[-0.000597,-0.053013,0.998594]]2HUۿ ?F?`Iۿ@gIC$z?i2U@I2U^;0i@IBABHBHBHBHBHBHBHBJn;BJ ,ElYOBy I    AbD VDf2y%)%-N=ٔ-Q-->91Y1=5Fy15s ;E5>9Q 5Ei5=t?Q 9Mi5=)9YIyM1@Q IM@= DI=W:i=:=Ii5yQɮUy AYDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd@@ZZZZ1@:) `ؼi9)ӱii,  =IIQ@Q @Q@U0@Q 9^A:=IIO>D1 zD5 ?AEM  EM EM +EI "EM ;*EM :VEM [4ZEI BEM I\<ԉ a} 2EM J\9yYy=}Fyy:E>Q 5i5jq?Q 9i5 )Ya=Q E >/3,R?Aɰ4<2c@2^@2&9ٱ2Y :AHRS rotation from veh to nav: [[-0.435708,0.898823,0.047700],[-0.900088,-0.435076,-0.023454],[-0.000328,-0.053153,0.998586]]2Hۿ )? l?``Jۿs߄56@k?i2c@I2];0Y@y@bDJVDJ:yR%RX=ٔVWQ-V>9TYX=ZFyXZN(;EZ>`Q 5fi5bo?Q 9fi5b|)bBYdyf@Q If@b"DIb:ib:bPi5ynBɮn AEr ErEr(Ep"Er;*Er:VErc44ZEpaz@az@az@az@lDNOT Ignoring new targets: 31.93 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5,A@ZQZQZQZU;@Թ&9) 09 -'63,?A6h@6xc@6a69ٱ6Y BAHRS rotation from veh to nav: [[-0.435188,0.899070,0.047798],[-0.900340,-0.434564,-0.023296],[-0.000174,-0.053173,0.998585]]6Hۿ.?x?`ۿۗ6& m9@i?i6h@I6];6CYJaByJ"IIL)N9`Y`=bFy`bY:Ef>dQ 5ji5fsl?Q 9ji5f)dYlyr@Q Ir@f#DIfr#;if*$;f@Ti5ytɮv AtDNOT Ignoring new targets: 31.93 m.hh*h"h hgf!f!f!d!d)jd)Zd-z`A@ZIZIZIZM@ea69)a e7=ie$9)ae[2iiiim+ quC=IqIq-9@1 @1@5/@1E EEE"E*E:VEZEBEAiԙ P<3,T?A2l@2ag@2:袷ٱ2,Z :AHRS rotation from veh to nav: [[-0.434758,0.899270,0.047953],[-0.900547,-0.434142,-0.023129],[0.000019,-0.053239,0.998582]]2Hۿ@?N?Hۿ@]>@3Ba?i2l@I2vb];2CYBmByB0IiEMb@Mb@Mb@AAAA A9E~jt+ηYEļyEvEE AE9@ EA)EAAYEAbDeVDe:2ym-S=%m?=ٔu3Q-u>9qYy=}Fyy}c:E>Q 5i5i?Q 9i50)BY=Q E  8C3,f ?AB<A<BBBIBLBBBBBn;B+EByByByB} =B} =C}j4(*@Jp@Jk@J!C8ٱJ~Y RAHRS rotation from veh to nav: [[-0.434273,0.899509,0.047863],[-0.900781,-0.433657,-0.023127],[-0.000047,-0.053157,0.998586]]JH"ۿ@?r?2@ ۿ }f7k?iJp@IJ[];HYZoByZ3IbDfVDf:yj~J<%jU=ٔnQ49Q-n>9pYp=rFyprS:Ev>tQ 5zi5vpg?Q 9zi5v)vBY|y~ @Q I~@v&DIvH;ivT;vX[i5yɮ ] A DNOT Ignoring new targets: 31.93 m.hh *h "h  h gff9f9dAdAjdAZdM A@ZZZZ9 @!C8) =i9)31 bEc44jE64rE/E-  E- E- 'E) "E- ;*E- :VE- '4ZE) BE) ae 2E) ae JE- ;am :E- ;au Q dI3,Ag'?A2u@2p@2 8ٱ2jY :AHRS rotation from veh to nav: [[-0.433733,0.899771,0.047844],[-0.901042,-0.433116,-0.023127],[-0.000087,-0.053140,0.998587]]2H`Fۿ?~?@U*ۿ @a%5l?i2u@I2;];2CY^yBy^?I ``iEMb@Mb@Mb@AAAA A9E~jt~jtx?YEyE̽E;E AE"@ EA)EAAYEAbD]VD]ym3=%mA=ٔm8Q-m>9qY=Fy:E>Q 5i5d?Q 9 i5)BY n=Q E ;y @Q I @'DI ;i2 ;/_i5yɮ AEDNOT Ignoring new targets: 31.93 m.hAhA*hA"hI hIgIfIfQfUZBdQdQjdYZd]B@Z}n=Z}n=Z},@Z}@ 8) u=io9)顝3ii, M-=II)Qr9! @!  @) @- /@) ԁ Թ E  E E )E "E :*E S:VE FA4ZE a% @a% @a% @a% @^AM L%=IY Ii Ou >P3,C?A2y@2dt@2c 9ٱ2W Y :AHRS rotation from veh to nav: [[-0.433327,0.899974,0.047693],[-0.901237,-0.432712,-0.023081],[-0.000135,-0.052985,0.998595]]2Hۿ ?8k?ۿ`! @~?i2y@I2 .];2CY@y@bDNVDNNyV:%VD=ٔVT8Q-V>9Y=Fy:E>Q 5%i5/b?Q 9%i5Ӡ)BY)y- @Q IM@)DI\;i;bi5yQɮU AYDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd@6B@Z)Z)Z)Z-= @ec 9)ai ew=imh9)imA3iiiiu+ q} =IyIyBBBIBVBBBBBn;B+Eԑ9E9@A @A@A@A ^Am =Iq I O >'W3,:^?A4<ɰ;2 @2y@2ˠ9ٱ2X BAHRS rotation from veh to nav: [[-0.432725,0.900270,0.047566],[-0.901526,-0.432104,-0.023171],[-0.000307,-0.052909,0.998599]]2Hűۿ`? Z?Lۿ*}4?i2 @I2<];2CYJByJOIbDRVDR0yZF=%ZE=ٔ^9Q-^>9\Y\=bFy`b:Eb>dQ 5ji5f_?Q 9ji5f)fBYlyn@Q In@f*DIf;if:fKfi5ypɮr ApDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd@jB@ZZZZ@ˠ9) ܰ=i9)3ii%, IM` =IQIYDiDm<E EE&E"E;*E?:VE4ZEBE.N]3,$y?A2 @2@2O:ٱ2X >AHRS rotation from veh to nav: [[-0.432065,0.900594,0.047433],[-0.901842,-0.431435,-0.023331],[-0.000547,-0.052858,0.998602]]2Hۿ ?`%I?`ۿ䗿 A&?i2 @I2{$];2CYBByBQIiUMb@Mb@Mb@QQQQ Q9U:v1Zd9Y=Fy:E>Q 5i5\?Q 9i5)BYV=Q E;y_@Q I@,DIH:is:7ji5yɮ ADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffhBddjdZd`CB@Z V=Z V=Z R@Z X_@O:) %u=i%m9)!%4!i!i-+ )5E=I1I1I==)=,>Q9y@y @y@}N0@yE EE(E"E;*E:VEc44ZEa@a@a@a@q^AaIiIO>ԡA A @AB! B! B% .IB% kBB! B! B! B% n;B% +E %d3,r?A2G@2@2Zf:ٱ2ĨY >AHRS rotation from veh to nav: [[-0.431048,0.901075,0.047548],[-0.902328,-0.430398,-0.023687],[-0.000879,-0.053114,0.998588]]2H`Kۿ?EX?`ۿRA`]L1o?i2G@I2:];2CYbByb]IbDjVDjkyrF=%rU=ٔrb:Q-v>9tYt=vFytz@;Ez>|Q 5i5~Z?Q 9i5~)~BYyr@Q I @~-DI~j;i~e;~mi5yɮP ADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZdIB@ZZZZ.r@EZf:)A E=iE9)IMg4IiIiU, qu;=IqIyԱU?9@ @@ {3@ DzD@AE EE'E"ET;*E:VE'4ZEBEG9 j3,{?A(*@@X@g?:ٱS2Z -AHRS rotation from veh to nav: [[-0.430028,0.901565,0.047503],[-0.902814,-0.429355,-0.024089],[-0.001322,-0.053245,0.998581]]Hۿ`?@WR?zۿUB@_?i@I"];CY=By=fIiEMb@Mb@Mb@AAAA A9EʡE!rh:v?YEyEl罙ET9Y=Fy!;E>Q 5i5W?Q 9i5)BY >Q E;y@Q I@/DId;i;qi5yɮ ADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffBddjdZd@C@Z- >Z- >Z-姃@Z-t@Eg?:)A E#=iE9)AM,%4IiIi+ 8=II99i @  @ @ 0@ E  E E *E "E V:*E 5:VE (N4ZE a @a @a @a @ԑ ^A =I I O >Ur3,?A2@2@2;ٱ2Y :AHRS rotation from veh to nav: [[-0.428882,0.902128,0.047181],[-0.903359,-0.428180,-0.024606],[-0.001996,-0.053175,0.998583]]2Hrۿ ;? (? P`LgۿL2`>Y`@9d?i2@I2];2CYBByBrI DDbDnVDnܲyv]B=%vL=ٔv:Q->9Y=Fy AO;E >Q 5i5U?Q 9i5P)BYy%3@Q I%@1DIB:i:ui5y)ɮ- A)UDNOT Ignoring new targets: 31.93 m.hYhY*hY"hY hYgYfYfafadadajdiZdm}AC@ZZZZ3@;) q=iw9)顥c44ii, *+=II fAeABQBQBUGIBUBBQBQBQBUn;BU+E 9@ @@j1@Aq ^A I I O >2xx3,?AD"=D"4=E& E&E$E$"E&1;*E&Ǚ:VE$ZE$BE&Z9yYy=FyH;E>Q 5i5%S?Q 9 i5)BYy5I@Q I=@3DItg73,`?A;ɰ2ö@2@2V;ٱ2 Y :AHRS rotation from veh to nav: [[-0.426582,0.903245,0.046654],[-0.904443,-0.425824,-0.025623],[-0.003278,-0.053126,0.998582]]2HMۿ b??2 @ۿ<jR3 c?i2ö@I2J];2CYBByBIiMb@Mb@Mb@ 9:v`"y&1?YԽy`e< AO@ )/AYbD-VD-0y5=%=.=ٔ=:Q-=>9IYQ=UFyQU97;EU>E EE)E"E;*E:VEFA4ZEa@a@a@a@YQ 5i5]P?Q 9i5]L)]BY$>Q E;ye?Q I@]5DI];Z$>Z@Z,e?V;) #=i9)_K4ii, 1=[=I9I91B<ABBBYIBBB =BBBsn;B+Ea59 9@  @ @ T1@ @ @ fAԉ ^A =I I O >!3,?A>@>ϼ@>c0;ٱ>Y FAHRS rotation from veh to nav: [[-0.425340,0.903846,0.046360],[-0.905025,-0.424554,-0.026138],[-0.003943,-0.053075,0.998583]]>H8ۿM??@+ۿĚ &p,c?i>@I>}];9tYt=vFytz-L;Ez>|Q 5i5~WN?Q 9i5~)~BYy?Q I @~7DI~:i~n:~i5yBɮb AE=DNOT Ignoring new targets: 31.93 m.hAhA*hA"hA hAgAfAfIfIdIdIjdQZdULC@ZyZyZyZ}g?c0;) =i 9)顝T4ii+ >=III?)>9EM EMEM(EI"EM;*EM:VEMc44ZEIBEMDi J3,7?A 6́@6Ȉ@6i;ٱ6Y >AHRS rotation from veh to nav: [[-0.424032,0.904470,0.046167],[-0.905636,-0.423220,-0.026610],[-0.004529,-0.053094,0.998579]]6H@W#ۿj?@*?` ۿ?/r@/\?i6́@I6x];6CYDyF|IiEMb@Mb@Mb@AAAA A9EKT㥛 ~jth?YE^yEED;E AE9@ EvA)AAYEAbD]VD]ym%mB=ٔub:Q-u>9qYq=}Fyy}3`;E}>Q 5i5K?Q 9i5)BY/>Q E;y@Q I@9DI:i::i5yɮi ADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffBddjdZdPD@Z/>Z/>Zǂ@Zd@i;) u=iz9)d4ii%, !%=I!I)i9e9@a @a@e/@aEE EEEE'EA"EE ;*EE:VEE'4ZEAaU@aU@aU@aU@ԙ^Am =Iq I O > B! B! B% fIB% BB%  =B! B! B% pn;B% +EBBBBBC/4D43,/Q?A:.ځ@:Ԉ@:;ٱ:ȢY BAHRS rotation from veh to nav: [[-0.422664,0.905122,0.045929],[-0.906271,-0.421822,-0.027171],[-0.005219,-0.053108,0.998575]]:H@ ۿ??-!ڿқ`u0S?i:.ځ@I:Lg];8YJByJILbDVVDVN2y^E9<%^V=ٔb:Q-b>9`Y`=fFydf;Ef>hQ 5ni5j=I?Q 9ni5j)jBYpyr @Q Ir@j;DIj;ij;ji5ytɮvW AtDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZdpRD@ZZZZ @;) =i9)5u4ii+  E>II-95a>i5>9@ @@/@@Y>@V>^AIIO>bEjErE8/EM  EM EM (EI "EM ;*EM $:VEM c44ZEI BEM @AHRS rotation from veh to nav: [[-0.421348,0.905747,0.045694],[-0.906880,-0.420479,-0.027671],[-0.005850,-0.053098,0.998572]]2H@^ڿ`?7e?)!ڿ@Uw/M?i2@I2|];2CYZByZ|I ``xiMb@Mb@Mb@ 9RQZd;Mb`Y½y& A"@ `A)AYAbDVD:yN%7=ٔo:Q->9!Y!=-Fy)5R;E5>AQ 5Ui5EF?Q 9Ui5E)EBY]Y>Q E];y]@Q I]@E=DIEM;iEB;Ei5yqɮun AqDNOT Ignoring new targets: 31.93 m.hh*h"hiIA hgfafafeBdidijdiZdmvD@ZY>ZY>Z@Z@5;) \=i9)T4ii ,  Yw>IIU9@ @@/@Iԙ ^A ɯ=I! I1 O= >D3,QO?AE EE*E"E ;*E:VE(N4ZEa&@a&@a&@a&@Fq@FA@Fhj;ٱFZ RAHRS rotation from veh to nav: [[-0.419975,0.906389,0.045612],[-0.907513,-0.419082,-0.028106],[-0.006360,-0.053197,0.998564]]FH@ڿ"?iZ?`Y <ڿ ǜA z <9lYl=nFypr߉;Er>tQ 5zi5vjD?Q 9zi5vҐ)vBYxyz@Q I~@v?DIv :ivp:vi5yɮ A-DNOT Ignoring new targets: 31.93 m.h1h1*h1"h1 h1g1f1f9f9d9dAjdAZdE@D@ZaZaZaZe@uhj;y)y g=i9)顅4ii+ ,>IIU9)@) @)@-0@)ԩAAAABĿ>BBBBBBB\n;B+E^AiIyIO> n3,,?Aɰ2@2Q@2+;ٱ2Z :AHRS rotation from veh to nav: [[-0.418637,0.907015,0.045453],[-0.908128,-0.417724,-0.028476],[-0.006841,-0.053198,0.998561]]2Hڿ@E?E? b`ڿ (l|<@5?i2@I2];0YBByBiIbDJVDJyr%!%rI=ٔr:Q-v>9tYt=vFytzm;Ez>|Q 5i5~A?Q 9i5~[)~BYy@Q I @~ADI~:i~:~0i5yBɮ A{EEDNOT Ignoring new targets: 31.93 m.hAhI*hI"hI hIgIfIfQfQdQdQjdYZd]D@ZyZyZyZ}Q@+;) h&=i,9)顕54ii, >IIE5 E5E5'E1"E5;*E5:VE5'4ZE1BE5AG3,e?A2@2@2U;ٱ2P+Z :AHRS rotation from veh to nav: [[-0.417479,0.907551,0.045414],[-0.908659,-0.416553,-0.028676],[-0.007108,-0.053237,0.998557]]2H@ڿ ?y@?Ϩڿ`[]Z}A-?i2@I2];2CYBByBgIIF<)Fp9Y=Fys@;E>Q 5i5??Q 9i5)Y5>Q E;y@Q I@CDI:i:i5yɮ ADNOT Ignoring new targets: 31.93 m.hh*h"h hgf f f kBddjdZd}#E@Z55>Z55>Z5́@Z5@MU;)I MT=iM9)QUH4QiQi]+ Y]>IYIa@ @@4@1E EE*E"E:*E՚:VE(N4ZEa%@a%@a%@a%@i^A=I I O% >B B B `IB BB B B B n;B +Eԑ c3,$?A2A@2@2[;ٱ2 `Z :AHRS rotation from veh to nav: [[-0.416334,0.908075,0.045450],[-0.909183,-0.415404,-0.028741],[-0.007219,-0.053288,0.998553]]2H8ڿ ?@(E?ڿ`+nZ} H%?i2A@I2C];2CYBByBVIbDJVDJ0yR%VZ=ٔVw9Q-V>9TYX=ZFyXZ^;EZ>\Q 5bi5^x=?Q 9bi5^)\Ydyf@Q If@^EDI^ :i^:^7i5yhɮjV AlDNOT Ignoring new targets: 31.93 m.hh*h"h hg f f f ddjdZd RE@Z1Z1Z1Z5@[;) x=i9)H4ii, >IIq9@ @@/@ԡ^Au>IIO>E=  E= E= &E9 "E= D:*E= :VE= 4ZE9 BE= 19Y=Fy`;E> Q 5i5 ;?Q 9i5 K) Y!y%@Q I-@ GDI Mu;i  x; ߜi5yQɮ]r Aa=DNOT Ignoring new targets: 31.93 m.h9hA*hA"hA hAgAfAfIfIdIdqjdyZd}E@ZZZZ@;) f=ir9)4ii+ h>II9@ @@/@@>@>^A >I I! ) O5 >E  E E E "E T;*E :VE ZE a% @a% @a% @a% @3,?A2!@2[@2 ;ٱ2Y >AHRS rotation from veh to nav: [[-0.414749,0.908802,0.045417],[-0.909909,-0.413836,-0.028373],[-0.006990,-0.053093,0.998565]]2H=ڿ?@?@J|ڿ l|`/>?i2!@I2];2CYjByjHI llbDrVDr!yz%zL=ٔ~BQ-~>9Y=Fy;E > Q 5i5 8?Q 9i5 ) Yy@Q I@ IDI +;i Y; ]i5y!ɮ- A)uDNOT Ignoring new targets: 31.93 m.hyhy*hy"hy hygyfffddjdZd@'E@ZZZZI@ ;) (=iB9)4ii, L>IIQ@ @@0@Beÿ>BaBeMIBeBBaBaBaBen;Be,Ey^Av>IIO>ԩ w3,ȵ ?A@Yb{ByfBIbDnVDnyv,ʼ%vK=ٔvQ-z>9xYx=zFyx~E]>aQ 5mi5e6?Q 9mi5e)aYiyiQ Iu@eKDIed:ie[:ei5yyɮ} AyDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd`E@ZZZZ) =i 9) 4ii+ h9>II  I ) DzDAAE EE*E"E;*E1:VE(N4ZEBE@I9IQO]> h3,%:?A0ɰ0N*@lN`%@N؍;ٱN_X zAHRS rotation from veh to nav: [[-0.413749,0.909249,0.045579],[-0.910371,-0.412890,-0.027328],[-0.006029,-0.052800,0.998587]]NHzڿ?V?@!lڿ@x`l?iN*@IN [^;NCY%pBy-4IiMb@Mb@Mb@ 9 rh:v:vYCyԽTrA"@ `A)Y AbDVDky=%.=ٔQ->9Y=Fy;E>Q 5i53?Q 9i5T)BY=Q E;y@Q I@LDI@:iH:i5yɮ2 A=DNOT Ignoring new targets: 31.93 m.h9h9*hA"hA hAgAfAfIfM7BdIdjdZdL.F@Z]=Z]=Z]D@Z]Z@m؍;)i mH=iuQ9)qu4qiqi}, y}L>IyIE EE)E"E:*E:VEFA4ZEa @a@a@a@=9@9 @9@A@A@I@MgA9BQ BQ BU 4IBU pBBQ BQ BQ BU o;BU ,E^A} v>ԁ I I O >=3,kT?A>-+@>%@>$;ٱ>@X fAHRS rotation from veh to nav: [[-0.413683,0.909263,0.045912],[-0.910406,-0.412864,-0.026524],[-0.005162,-0.052771,0.998593]]>H@yڿ? ? "]lڿ ) $uy?i>-+@I>f^;@$;) =i9),4ii+ H$>II@ @@4@iԙ^A>IIO>D D <E  E E %E "E ;*E 5:VE 4ZE BE `9Y=FyE>Q 5i50?Q 9i5)BYEx=Q EZIyIy9@ @@4@^AA II Ia Om > E  E E /E "E a;*E :VE J4ZE a% @a% @a% @a% @3,"?A@Y|y~(IbD VD y!;%j=ٔ!Q-%>9!Y)=-Fy))E->1Q 5i55.?Q 9i55)5BYyQ I@1I5^I1I99@ @@'1@@>@>AA?ABBB!IB`BBBBBn;B+EBBBBBC>4!^AII!O->Qy 3,= ?A2(@2#@2Ƭ:ٱ2yY :AHRS rotation from veh to nav: [[-0.413943,0.909061,0.047532],[-0.910301,-0.413270,-0.023679],[-0.001882,-0.053070,0.998589]]2H ~ڿ@?`V?@/!sڿ8?^@+q?i2(@I2s_;2CYBcByF$I TTbDbVDbyf"{%jO=ٔj&Q-j>9lYl=nFylr :Er>tQ 5vi5v,?Q 9zi5v`)vBYxyz$@Q Iz@vPDIv;iv;vi5yɮ A5DNOT Ignoring new targets: 31.93 m.h1h9*h9"h9 h9g9f9fAfAdAdAjdIZdM@rF@ZiZiZiZm$@}Ƭ:) $=i9)顅4ii, >I IQbEeFA4jEeh=4rEeX0E EE)E"E ;*E:VEFA4ZEBEsTI I O >D3,{ػ?AV @V@V.nٱVY ^AHRS rotation from veh to nav: [[-0.414923,0.908548,0.048777],[-0.909856,-0.414379,-0.021247],[0.000909,-0.053196,0.998584]]VHڿ?I?0ڿM?v<e?iV @IV`;VCYf`Byf!IiuMb@Mb@Mb@qqqq q9u~jtx?I +y&1Yu;yu94u`euAq u`A)uvAqYufAbDVD02y3%==ٔӻQ->9Y=Fy0#E>Q 5i5h+?Q 9i5:)BY>=Q E=Z%>=Z%""@Z%<6@].n)Y ]>i]9)Yeh 5eqIiIA@A @A@E/@AE EE&E"E*E :VE4ZEa@a@a@a@^A- >1 IA IY O} >B B B IB QBB B B B n;B +EQ .3,E?Aɰ49 Y =Fy,E>Q 5%i5*?Q 9%i5)BY)y-26@Q I-@IN:i:i5y1ɮ5 A9eDNOT Ignoring new targets: 31.93 m.haha*ha"ha hagifififidqdqjdqZduYG@ZZZZ26@'#) >ix9)页J5III))m9@i @i@m/@i@ugA@uhAY^A>IIO>E EE)E"ET;*E:VEFA4ZEBEG9Y=FyºE>!Q 5-i5%(?Q 95i5%)%BY5j=Q E5i=9)AEX5E&IiIqԡ9@ @@@!^AE >II Ia Om > EM >4 EE*E"E;*EVE(N4ZEa@a@a@a@,+j ?AJ@J@JٱJZ RAHRS rotation from veh to nav: [[-0.417491,0.907257,0.050860],[-0.908664,-0.417172,-0.017244],[0.005572,-0.053414,0.998557]]JH +ڿ ??`D ?ڿ}v?Y-?iJ@IJ+,a;JCYZhByZ+IbDfVDf!yjf/%na=lٔnQ-r>9pYp=vFytvSEv>xQ 5~i5z'?Q 9~i5z)zBYy =@Q I@xIz;iz;zi5y ɮ U A =DNOT Ignoring new targets: 31.93 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM>G@ZiZiZiZm =@) >>iL9)*5bII9@ @@o0@B<ABĿ>BBBBBBBbn;B+E 9^A}U>II1O=>a ~l4,T#?APP @@nٱxnZ -AHRS rotation from veh to nav: [[-0.418687,0.906673,0.051425],[-0.908102,-0.418453,-0.015769],[0.007221,-0.053301,0.998552]]Hڿ`w?\T?@+ڿ %<}?`PJ $?i @1I] a;CY]nBy]1IbDmVDmk2yB<%>=ٔ1{Q->9Y=FyIE>Q 5i5/&?Q 9i5߄)BYy<@Q I@SDI-:i:ci5yɮ- AŀGhAE EE%E"E;*E^:VE 4ZEBE@i9)w85?IaIi iiIq)q9@ @@0@@;>@>ԉԹ ^A c>I! I9 OE >ח4,?5=?A2t@2D@2lٱ2&Z >AHRS rotation from veh to nav: [[-0.419634,0.906192,0.052190],[-0.907651,-0.419477,-0.014461],[0.008788,-0.053438,0.998532]]2H`Gڿ ?? z @ڿ`?H\`?i2t@I2 `;0YFxByF>I HHiMMb@Mb@Mb@IIII I9MMbP?YM:yMLMMrAM@ MA)M`AIYIbDeVDeyukG=%uM=ٔ}Q-}>9yYy=Fy ,E>ԑQ 5i5$?Q 9i5)BYL=Q Ei%t9)!%C5% I1I1@ @@4@ԹE EEE"E ;*E:VEZEa@a@a@a@^A%'@>I1IAOU>B ÿ>B B IB [BB B B B Fn;B +E i߱ Iߵ A@z4,vV?AJI@J@Jo(ٱJvt[ VAHRS rotation from veh to nav: [[-0.420643,0.905683,0.052902],[-0.907168,-0.420561,-0.013214],[0.010280,-0.053549,0.998512]]JHڿY?? zڿ. ?j?iJI@IJ`;HYZBy^LIbDfVDfyn(~=%nU=ٔr(Q-r>9pYt=vFytv_?Ev>xQ 5~i5z+#?Q 9i5zu)xYy.@Q I@zTDIz ;iz!;z8i5yɮ| A=DNOT Ignoring new targets: 31.93 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdUi[H@ZqZqZqZuT.@o() Z>i9)額=Q5.III@Q @Q@U/@Q!^Au!>IIO>QE  E E E "E l;*E :VE ZE BE XF9Y=FyE>Q 5i5!?Q 9i5)BY =Q E=iU9)Y]]5];iYie, ae6>IaIi@ @@@@ @ gAyԩ^A% >I) IA OM > E  E E E "E ;*E خ:VE ZE a% @a% @a% @a% @/"4,u?A2r߁@2Bڈ@2Pٱ2@\ :AHRS rotation from veh to nav: [[-0.422053,0.904956,0.054090],[-0.906482,-0.422097,-0.011163],[0.012729,-0.053743,0.998474]]2Hۿf?਱?`ۿp܆`?`( ?i2r߁@I2N`;0YBByFzIIJ<)J=bDNVDN0yV>%Vr=ٔZaQ-Z?9XYX=ZFy\^PE^?`Q 5fi5bp?Q 9fi5b)bBYhyj@Q Ij@bVDIb:ib:b:i5ylɮnT ApDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZdH@Z!Z!Z!Z%X@eP)a m4k>im9)iuAii+ z>IIԱAQAU@ABYB]CB]:IB]uBB] =BYB]uDB]0n;B]+Em9@i @i@i@i^A>IIO> S(4,?Ar܁@rֈ@r&K_ٱreS\ zAHRS rotation from veh to nav: [[-0.422426,0.904759,0.054480],[-0.906295,-0.422519,-0.010379],[0.013628,-0.053760,0.998461]]rH ۿ ??^ ۿ`A ,?^@d?ir܁@Ir_;rCY%By%IbD5 VD52ye<%e?=ٔm Q-m>9iYi=uFyquEu>Q 5i5n?Q 9i5)BYy@Q I@WDI|:ii5yɮ" A1]DNOT Ignoring new targets: 31.93 m.hYhY*ha"ha hagafafifididijdiZduEH@ZZZZ@&K_) w>i9)顭~3ii, 4>IIDzD?AE EE(E"E;*E:VEc44ZEBE@IIO .4,n?A2+ف@2ӈ@2nٱ2P\ >AHRS rotation from veh to nav: [[-0.422737,0.904581,0.055014],[-0.906135,-0.422879,-0.009597],[0.014583,-0.053907,0.998439]]2Hۿ`T?`*?``sۿྦྷ`ݍ? `7?i2+ف@I20_;2CYVByVIli=Mb@Mb@Mb@9999 99=/$kt:v?Y=,y= =T<=rA9 9)=`A9Y=AbDUVDU1ye=%eJ=ٔeQ-e>9iYi=mFyimCbEu>yQ 5}i5}o?Q 9i5}V)}BY=Q E i 9)  I3 6i i+ =IIA@A @I@M0@I@U=@U=E EE)E"E ;*EZ:VEFA4ZEa@a@a@a@1^A =I!I9OU>BI BI BM YIBM BBI BI BI BM ;n;BM +EBBBBBC"5a 54,C?A6؁@6mӈ@6yٱ6] >AHRS rotation from veh to nav: [[-0.422794,0.904535,0.055333],[-0.906098,-0.422972,-0.009017],[0.015248,-0.053949,0.998427]]6H@ ۿ?T?ۿ tw a:?5?i6؁@I6^;6CYFǁByFI HHbDNVDNk2yV=%VW=ٔZQ-Z>9XYX=^Fy\^c:E^>`Q 5fi5b?Q 9fi5b)bBYhyj@Q Ij@bYDIb:ib:bi59yAɮE^ AADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZdX`I@ZZZZH@5y)1 5d>i5m9)9=)4=üi9iE, AE=IAIIiԑ9@ @@/@DD<bEuȀ'4jEu*4rEu?0E EE*E"EC#;*E:VE(N4ZEBE{<4,B?A>ځ@>xՈ@>Ӏٱ>R] FAHRS rotation from veh to nav: [[-0.422565,0.904627,0.055584],[-0.906196,-0.422770,-0.008593],[0.015725,-0.054001,0.998417]]>H L ۿ?u?ۿe`T?` @?i>ځ@I>g^;>CYŃByNIi-Mb@Mb@Mb@)))) )9-l`"Mb?Y-y--<-A) -vA)-A)Y-AbDEVDE2yUe<%],=ٔ]̃Q-]>9aYa=eFyae :Ee>iQ 5ui5mp?Q 9}i5m)mBY}(>Q E};y} @Q I}@m[DIm;imL:mi5yɮ7 A5DNOT Ignoring new targets: 31.93 m.h1h1*h1"h1 h1g9f9f9f=uBdAdAjdAZdEI@Z(>Z(>Zp;@Z @Ӏ) .>iF9)\Y4ii+ I/>III@ @@h0@ԁ^A% >I) IA OM >ԙ E  E E 'E "E 7;*E ?:VE '4ZE a @a @a @a @7C4,?A ɰ"4<9Y=Fy:E%>!Q 5-i5%?Q 9-i5%~)%BY1y5 @Q I5@%]DI%';i%;%ii5y9ɮEAAmDNOT Ignoring new targets: 31.93 m.hihi*hi"hi higqfqB}<A}<Bſ>BCBIBBBBBvDB n;B+EffddjdZd`I@ZZZZ+ @l?) A>i9)94ii, P>IIi@i @i@m4@iԩ^A=IIO> }I4,(?A2^@2.ވ@2҄ٱ2T\ :AHRS rotation from veh to nav: [[-0.421597,0.905070,0.055706],[-0.906638,-0.421832,-0.008049],[0.016213,-0.053898,0.998415]]2Hsڿ@V?o? .Lڿ*|/??i2^@I2];2CYBByBIIF=)F;bDNVDN1yVK=%VQ=ٔV,Q-V>9XYX=ZFyX^:E^>`Q 5fi5bR?Q 9fi5b})bBYdyf @Q If@b_DIb :ib:bi5ylɮnAlEe EeEe&Ea"Ee~ ;*Ee:VEe4ZEaBEeVi}09)y顅4ii+ >II)@ @@4@Y^A >I I) O5 >ԑ P4,TB?A2V@2&@2ٱ2{\ :AHRS rotation from veh to nav: [[-0.420825,0.905429,0.055715],[-0.906995,-0.421067,-0.007912],[0.016296,-0.053863,0.998415]]2Hڿ@F?? ڿ`(4`??i2V@I2X];2CYB߁ByBIi Mb@Mb@Mb@     9 y&1(\¿y&1?Y `y z `e<  @ ) `A Y bD%VD% 3y5%5B=ٔ5UNQ-=>99YA=EFyAE ;EE>IQ 5Ui5ԙM[?Q 9i5M{)MBY)<>Q E;y@Q I@MaDIM٭Ze)<>Ze@Ze@})y .>i9)顅ݵ4ii, >IIE9@I @I@M/@IE} E}E}(Ey"E} ;*E}:VE}c44ZEya@a@a@a@ByByB}IB}ЁBByByByB}m;B}d+E^Am>IyIO> fV4,\?A:@:@:ٱ:\ FAHRS rotation from veh to nav: [[-0.419853,0.905885,0.055640],[-0.907448,-0.420090,-0.007940],[0.016181,-0.053824,0.998419]]:Hڿ`?|? @ڿ@B@‘?ʎ ?i:@I:];8YJByNIbDVVDVy^<%^R=ٔ^_9Q-b>9`Y`=bFy`f5;Ef>hQ 5ni5j ?Q 9ni5j8z)jBYlyn@Q Ir@jcDIj;ij;ji5ytɮvcAtDNOT Ignoring new targets: 31.93 m.hh*h"h hgff!f!d!d!jd)Zd-fJ@ZIZIZIZM{@e)a eD8>ie9)ae4iiiim+ qu>IqIq yyIy)y9@ @@/@! j>G !EvB9IYM0AE EEE"E;*E :VEZEBE`I9IQYOm>ԁ \4,v?ARA@R@RDٱR\ ZAHRS rotation from veh to nav: [[-0.418622,0.906461,0.055535],[-0.908022,-0.418845,-0.008119],[0.015901,-0.053826,0.998424]]RH`ڿ?@o?@Zڿ`UH?`?iRA@IR];RCYbBybI ddilIli]Mb@Mb@Mb@YYYY Y9]X9vjtĿy&1|?Y]y] ]`;YY Y)YYYYbDmVDmP)y%>=ٔ*:Q->9Y=Fy4O;E>Q 5i5\?Q 9i53x)BYL>Q E;yt@Q I@fDI:i:i5yɮpADNOT Ignoring new targets: 31.93 m.hh*h"h hgfffBddjdZd$J@IZL>ZL>Zg@Z t@D) .>ix9)顭@4ii, )>II9@ @@/@ԁԩ^A I I! O5 >E  E E &E "E ;*E :VE 4ZE a @a @a @a @ c4,GT?A6 @6@6Sٱ6\ BAHRS rotation from veh to nav: [[-0.417422,0.907022,0.055412],[-0.908579,-0.417629,-0.008347],[0.015570,-0.053831,0.998429]]6H` ڿR?@^?  nڿrU?` ?i6 @I6F];6CY\y^IbDjVDjNAA?AB!B!B%IB%BB!B!B!B%um;B%G+Ey= :%=Q=ٔE[:Q-E>9AYA=EFyAM[;EM>QQ 5]i5U\?Q 9]i5UZv)UBYYye@Q Ie@UiDIUQ;iU+;Ui5yiɮmnAiDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZdJ@ZZZZ@S) .>i9)4ii+ p>IIԱ9@ @@/@^A>IIO> 9 j4,+/?Aɰ2@2@2qwٱ2p\ >AHRS rotation from veh to nav: [[-0.416214,0.907590,0.055188],[-0.909141,-0.416397,-0.008680],[0.015102,-0.053787,0.998438]]2H@@ڿ ?A?AڿƁ? 鉫4?i2@I2ބ];2CYB܁ByFIbDNVDNyV%VR=ٔVb:Q-V>9XYX=ZFyXZb;E^>`Q 5fi5bl?Q 9fi5bt)bBYdyf@Q If@bkDIbN:ib:bxi5yhɮnAlDNOT Ignoring new targets: 31.93 m.hh *h "h  h g f ffddjdZdK@E EE'E"E=;*E:VE'4ZEBE{Ii-n9))-5)iQie, ae >IaIiI)gA1@1 @1@=#0@9@Y@]hA9^Av>IIO>i p4,k?A 6:@6 @6.pٱ6G\ >AHRS rotation from veh to nav: [[-0.415082,0.908124,0.054928],[-0.909665,-0.415246,-0.008948],[0.014683,-0.053681,0.998450]]6Hڿ`Z?@?` bڿ^S? |M?i6:@I6];6CYFρByFIIJC=)J9AYI=MFyIMA;EM>QQ 5]j5UW?Q 9ej5Ur)QYeI>Q Ee;ye@Q Ie@UnDIUj;iUq:U+j5yiɮu AqDNOT Ignoring new targets: 31.93 m.hh*h"h hgf!f!f%xBd!d)jd)Zd-@.9K@ZI>ZI>Zŀ@Zښ@.p) .>i9)5ii+ F >IIiE E)E(E"E;*E0;VEc44ZEa@a@a@a@9@ @@0@ԙBBBBBBBBm;B]+E^A>IIO> w4,?A6*@6y%@6dtgٱ6C8\ BAHRS rotation from veh to nav: [[-0.413705,0.908763,0.054760],[-0.910302,-0.413839,-0.009392],[0.014126,-0.053733,0.998455]]6H"zڿ? s ?0!V|ڿ4<`M?X?i6*@I6Ҟ];6CYFǁByFIPbDVVDV:yZc %^T=ٔ^ü:Q-^>9`Y`=bFy`f;Ef>hQ 5jj5j?Q 9nj5jp)jBYlyn@Q Ir@jpDIj;ij;jj5ytɮvM AtDNOT Ignoring new targets: 31.93 m.hh*h"h hgff!f!d!d!jd)Zd-hK@ZIZIZIZMɳ@]dtg)a e>ie9)ae]5aiaim, iu}M>IqIqM9@Q @Q@U4@Q^AuY>IE EE&E"E ;*E:VE4ZEBEO! M}4,?A88|YByIiMb@Mb@Mb@ 9Mbx&~jtxYy7 Ļ @ `A)vAY=AbD5VD5:yE='%E4=ٔEQ-E>9IYI=MFyIE>Q 5j5?Q 9j5n)BY=>Q E;y?Q I@sDI:i:j5yBɮ ApEDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffkBddjdZd  IK@Z-=>Z-=>Z-|@Z-?9)9 E#>iEV9)AE~&5AiAiM+ IM,>IQIQ]N>i]>!@ @@4@@ >@ ]>Q^AE c>IQ Ia Om >ԉ E  E E (E "E ;*E :VE c44ZE a @a @a @a @24,̘?A2;@2U6@2|Xٱ2[ >AHRS rotation from veh to nav: [[-0.411835,0.909639,0.054298],[-0.911163,-0.411923,-0.010090],[0.013189,-0.053630,0.998474]]2H@[ڿ@?̫?>(`\ڿ ?`u@?i2;@I2F];2CYFByFI HHbDNVDN1yVh%Vi=ٔZ.;Q-Z>9XYX=ZFy\^;E^?BdBdBfIBfځBBdBdBdBfm;Bfd+EBBBB =B =CW4tQ 5zj5v?Q 9zj5vm)tYxyz>?Q Iz@vuDIv:iv|:v j5yɮ AYDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd@K@ZZZZ>?|X)1 5H >i=I9)9=.59i9iE, AE; >IAII 9@  @ @ /@ԉԹ^A5Y>I9IQO]> \4,v+?A2A@2W<@2Pٱ2&r[ >AHRS rotation from veh to nav: [[-0.411170,0.909955,0.054045],[-0.911470,-0.411235,-0.010421],[0.012742,-0.053546,0.998484]]2H PڿZ?`֫?*`Qڿ`W?Wj?i2A@I2gD];0YFByF}IbDRVDR0yZ%ZJ=ٔ^:Q-b>9`Y`=fFydf^:Ej>lQ 5rj5nl?Q 9vj5nLk)lYtyvW?Q Iv@nwDIn;C;in ;n%j5y|ɮ AEDNOT Ignoring new targets: 31.93 m.hAhA*hA"hA hIgIfIDazDe@AfQԹfqddjdZd%L@ZiZiZiZmW?bE-4jErE/E EEE"Ef;*Ev:VEZEBEWi9)K75ii+ w >II9@ @@/@^A">IIO>9 D4,7QE?Aɰ>aF@>1A@>>Jٱ>VL[ FAHRS rotation from veh to nav: [[-0.410632,0.910209,0.053855],[-0.911718,-0.410677,-0.010737],[0.012344,-0.053510,0.998491]]>H@Gڿo ?꒫?,Hڿ G?e?i>aF@I> ];>CYNByNkIi%Mb@Mb@Mb@!!!! !9%ʡECl绿{GzY%y%;߽%ף%EA%@ %A)!!Y%GAbD=VD=yM]%MA=ٔMmw:Q-M>9QYQ=UFyQ]:E]>aQ 5mj5e?Q 9mj5ej)eBYm. >Q Em;ym@Q Iu@eyDIej:ie/:ej5yyɮ} AyB*** querying acoustic contact ***i iDNOT Ignoring new targets: 31.93 m.hh*h"h hgfff,BddjdZd9L@Z. >Z. >Z@Z\@>J=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.) Ha>i9)顕E5ii,  >IIi@i @i@u/@q@y@}fAAEe EeEe&Ea"Ee=;*Ee:VEe4ZEaam@am@am@am@BBBIBBBBBBm;BW+E^AUR>IaqIO> *DAT read: user:427>  BDAT read: Tx time:05:29:44.4733  $Ping request sent. 91Y9==Fy9=m:EE>AQ 5Mj5E?Q 9Uj5Eh)EBYQyU@Q IU@E{DIE:iE:ETj5yaɮe AaDNOT Ignoring new targets: 31.93 m.hh*h"h hgfffddjdZd mL@ZZZZ@wDD) ,G>iE9)Q5ii+ J= >II@ @@0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250862DD<^Aj>IIO>EM EMEM'EI"EM ;*EM$:VEM'4ZEIBEMRٱ3[ AHRS rotation from veh to nav: [[-0.410062,0.910479,0.053641],[-0.911984,-0.410068,-0.011414],[0.011604,-0.053600,0.998495]]Hu>ڿ`"?v?`. >ڿ`Q`Ç?nq?iK@I%];CYmkBym/IiMb@Mb@Mb@ 9X9vʡE rhY}y-C@ )IAYzAbD VD y#%%;=ٔ%t`:Q-%>9!Y)=-Fy)-W:E->1Q 5=j55?Q 9Ej55g)5BYE=Q EE;yE@Q IE@5}DI5 ;i5" ;5'j5yMBɮM AUoE}DNOT Ignoring new targets: 31.93 m.hyhy*hy"hy hygfffBddjdZd'L@Z=Z=Z@ZK@E@>)A E>>iE9)AEIiIiM, QU} >IqIq @  @ @ @ AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757298^A5 t>II IY Om >q EE  EE EE +EA "EE :;*EE v:VEE [4ZEA aM @aM @aM @aM @/4,?A((0A@AB@ABDBDBFfIBFBBDBDBDBFsm;BFF+EZG@ZB@Z9ٱZQZ fAHRS rotation from veh to nav: [[-0.410485,0.910305,0.053360],[-0.911797,-0.410478,-0.011604],[0.011340,-0.053417,0.998508]]ZH dEڿ@7!?R?@p-@EEڿÇb9?@Y?iZG@IZx+];ZCYjjByj-IbDvVDvy~=%~a=ٔa>:Q->9Y= Fy  ȦE >Q 5j5쑊?Q 9j5f)BY!y%@Q I%@~DIn;ij;Tj5y)ɮ- A)UDNOT Ignoring new targets: 31.93 m.hYhY*hY"hY hYgYfafafadadijdiZdm`L@ZZZZ@9) [>i9)顭Ҁ3ii+  >II1ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006935@ @@4@@J>@R>Թ^AIIO> G gA  m9 gAY 0WAe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589904,Ƭ?A`vLB@v=@v7ٱvQZ AHRS rotation from veh to nav: [[-0.411092,0.910038,0.053236],[-0.911525,-0.411077,-0.011737],[0.011203,-0.053351,0.998513]]vHROڿ?A?7+`Oڿc ?@P?ivLB@Iv5c];vCY)y1 AAbDeVDe02y%B=ٔ9Q->9Y=FyͺE>Q 5j5둊?Q 9j5e)BYy@E EE(E"E&:*E1:VEc44ZEBE`;i9)-O 4)i)i5, 15t >I1I9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513205Q@ @@0@A ^A ~>I I) OE > 4,?A6<;@6 6@6 6ٱ6EZ >AHRS rotation from veh to nav: [[-0.411878,0.909686,0.053174],[-0.911171,-0.411857,-0.011860],[0.011111,-0.053335,0.998515]]6H4\ڿ&?9?Q(`[ڿJ?`N@?i6<;@I6];6CYFZByFIiMb@Mb@Mb@ 9X9v9QYQ=UFyQ]E]>aQ 5mj5e鑊?Q 9mj5e-e)eBYm=Q Em&i9)額L4ii+  >IIE EE)E"E:*EVEFA4ZEa@a@a@a@BBB:IBuBB =BBBom;BE+Eԁ5\9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015571I @I  @I @M 0@I i q ^Aj>IIO>i4,_z?Aɰ;2v4@2F/@2.z3ٱ27Z >AHRS rotation from veh to nav: [[-0.412632,0.909348,0.053123],[-0.910832,-0.412601,-0.012057],[0.010954,-0.053361,0.998515]]2H@hڿ `?`2?`%@ hڿ`(o?`(R?i2v4@I2{];2CYB[ByBIbDN VDN2yR";%V1=ٔVf9Q-V>9XYX=ZFyX^E^>\Q 5bj5^瑊?Q 9fj5^yd)^BYdyf@Q If@^DI^;i^;^'j5yhɮn AlDNOT Ignoring new targets: 31.93 m.hh*h"h hg f ffddjdZd}M@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266995ZZZZ@.z3)) -T>i-9))-4)i)i5, 1=1 >I9I9E% E% E%%E!"E%;*E%:VE% 4ZE!BE%Di>Q@ @@/0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521568i ^A% b$>I1 IA OM >,4,`?A26+@2&@2z53ٱ2[ :AHRS rotation from veh to nav: [[-0.413660,0.908876,0.053191],[-0.910366,-0.413625,-0.012172],[0.010938,-0.053458,0.998510]]2H gyڿ?@;?`!xڿ툿f?@^?i26+@I2];0YBVByBIiEMb@Mb@Mb@IAAAA A9Ey&1|S㥫MbYE`yE/]EEAA A)AAYEzAbDeVDeN2yuϠ%}1=ٔ}8Q-}>9yY=Fy E>Q 5j56告?Q 9j5d)BYma=Q Eq>i%49)!%Y4!i!i+ 2>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771021yE5 E5E5)E1"E5;*E5:VE5FA4ZE1aE@aE@aE@aE@)9ԩB-<A-p<B1B1B5IB5[BB5 =B1B1B5m;B5Y+Ea@a @a@e0@a  BDAT read: Rx Time:05:29:46.9257  TRx dataTimestamp_ set to:1761542988.432114 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023920^A >I I O >sF4,?A> @>@>=2ٱ>ȳZ FAHRS rotation from veh to nav: [[-0.414900,0.908318,0.053061],[-0.909802,-0.414861,-0.012270],[0.010868,-0.053366,0.998516]]>Hڿ?*?@ڿ A? R?i> @I>^;>CYNQByNIbDZVDZk2ybʼ%bL=ٔb69Q-f>9dYd=fFyhj}^Ej>lQ 5rj5n㑊?Q 9rj5nc)nBYpyv%@Q Iv@nDIn(:inV:nT/j5yxɮz Ax%DNOT Ignoring new targets: 31.93 m.h!h!*h!"h) h)g)f)f1f1d1d1jd9Zd=@M@ZYZYZYZ]‹%@m=2)q u(>iuB9)qu4qiqi}, y}>II9]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275265I@I @Q@U4@QqE EE'E"E:*E':VE'4ZEBE<i4,B8?Ah@8 @~N4ٱ8Zԁ AHRS rotation from veh to nav: [[-0.416525,0.907573,0.053089],[-0.909058,-0.416491,-0.012237],[0.011005,-0.053358,0.998515]]HXڿ ?@.?@ȧڿ`౉?Q@?ih@I"^;CY=TByEIDAT read: 05:29:46.9257 LVL= 16976, 15281, 27378, 27427, AGC= 56, IDX= 492,-0.23,-2.500,-2.607, 2.254,-2.500, PHS= 0.102,-0.062,-1.573, RAW= 35.1, 18.7, CAL= 31.9, 21.7, ROT= 118.1, -21.7 Ygot valid direction response: 05:29:46.9257 LVL= 16976, 15281, 27378, 27427, AGC= 56, IDX= 492,-0.23,-2.500,-2.607, 2.254,-2.500, PHS= 0.102,-0.062,-1.573, RAW= 35.1, 18.7, CAL= 31.9, 21.7, ROT= 118.1, -21.7 PDAT read: Bearing 169.1, 52.6 (Local) ~Local bearing/azimuth received: Bearing 169.1, 52.6 (Local) DAT read: Range 11 to 50 : 36.3 m (Round-trip 48.4 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.437632,0.819613,0.369747] Fpublishing direction and range infoy:&Y+ܿVD:?3`?Y3BPB;j #k)8I`=i}Xɿ ?>Ӈ? >)A@I0~W?t?/?  )0KIA@ii}Mb@Mb@Mb@yyyy y9}~jtx:vMb`?Y}Ļy}T};y}@ }|@)yyY}(AbDVDyX+<%%=ٔQ->9Y=Fy lE>Q 5j5ᑊ?Q 9j5vc)BYV=Q E}P=@e*@R:&Y+ܿVD:?3`?ZiA@bij: JqA@p?{䡕o&'@Z=*C?՘?B؀?2i?:iB"i%8?*ig $2BizBi>?iViBi4BiH=M addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 60.249545 s, deltaX: 4.200001 m, approachRate: 0.069710 m/s, rangeRepo size: 4 ] Added new target pos. range: 36.098949 m, bearing: 3.143855 deg, lat: 36.779329 deg, lon: -121.859652 deg, deltaT: 60.249545 s, deltaX: 4.172031 m, approachRate: 0.069246 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 36.10 m.hYha*ha"ha hagafififmBdidqjdu`f&B@Zdu@Fξ?Z V=Z V=Z @Z &@=~N4)A E{>iE 9)AE4AiAiM+ IM>IQIQ9A@ @@4@ E  E E *E "E l;*E :VE (N4ZE a @a @a @a @^A I I O >4,ƅS?ABr@BB@BW5ٱB{[BNƿ>BLBNIBNQBBLBLBLBNm;BNq+EBYBYBYBYBYC]N4 ^AHRS rotation from veh to nav: [[-0.417962,0.906901,0.053280],[-0.908397,-0.417927,-0.012349],[0.011068,-0.053560,0.998503]]BHڿ`T?zG?@ Oڿ?J`Ӫ?Dl?iBr@IB4^;BCYf_Byf IlnA n4i9)顭5ii, >II;9YQ@Q @Q@U/@Qԁ^A} <->I I O >Ա 54,Em?AY]fBy])IbDmVDmf?y} =%}C=ٔQ->9Y=FyE>ԙQ 5j5ޑ?Q 9j5b)BYyQ I@DI,;i-;I:j5yɮ. ADDR=bEec44jEec44rEe0E EE(E"E:*EB:VEc44ZEBE5iu9)$5ii+ O>I!I! )99@ @@/@^A >I I O > 4,;?AɰY~jBy~-IiMb@Mb@Mb@ 9MbP?S㥫I +?Y:y/]94<A@ @)MAYbDVD1yi<%E=ٔQ->9Y=FyE>Q 5j59ݑ?Q 9j5b)BYa=Q Ep<yz.@Q I@DI5;i3;=j5yɮ A 5DNOT Ignoring new targets: 36.10 m.h1h*h"h hgfffրBddjdZdJ?ZUa=ZUa=ZUc@ZUz.@) {>i9)顝75ii, II!E- E-E)E)"E-~ ;*E-:VE)ZE)a=@a=@a=@a=@AABǿ>BBBBBBBm;Bi+EUJ9Q 9@  @ @ /@ y ^A Y>II)O5>/4,?A6>Ё@6ˈ@68(8ٱ6Y[ BAHRS rotation from veh to nav: [[-0.423746,0.904242,0.052777],[-0.905722,-0.423661,-0.013344],[0.010293,-0.053456,0.998517]]6H@ۿ@??`Cۿ#T?^@?i6>Ё@I6_;6CYJxByJ>IbDR VDR2y{=%9=ٔx:Q->9!Y!=%Fy!-lE->1Q 5=j55hۑ?Q 9=j55ob)5BY9y=.@Q I=@5DI5:i51:5Aj5yIɮM AIuDNOT Ignoring new targets: 36.10 m.hqhq*hy"hy hygyfyffddjdZd?ZZZZz.@8() j>ip9)lL5ii+ =IIԙIE] E]E]*EY"E]O;*E]:VE](N4ZEYBE]'Y4,H?AHY ByQIiMb@Mb@Mb@ 9/$x&9Y=FyE>Q 5j5ّ?Q 9j5a)BYr=Q E7>i}9)顥^5ii, 6;=IIԹj9E-  E- E- (E) "E- :*E- h:VE- c44ZE) a= @a= @a= @a= @} 9@y  @y @} /@y  B} ȿ>By B} !IB} `BB} =By By B} m;B} W+EI ^A =I I O >4,7?A2@2ɳ@2rٱ2[ BAHRS rotation from veh to nav: [[-0.426320,0.903036,0.052709],[-0.904520,-0.426199,-0.014077],[0.009753,-0.053677,0.998511]]2HHۿ ?? Fۿ;Ԍ9?@{?i2@I2`;2CYFByHbDRVDRyZ%ZD=ٔZ:Q-Z>9\Y\=^Fy\b߻Eb>`Q 5jj5bב?Q 9jj5b`a)bBYhyj@Q Ij@`Ib;ib;b4Ij5ypɮr& Ap DNOT Ignoring new targets: 36.10 m.h h *h"h hgfffddjdZd%R@ZAZAZAZE@PExceeded connect timeout, disconnecting.r) >i9)Bp5ii+ =II ԡ9@ @@-2@@=@= CeG}(hAؓ9(hAYA^A=IIO>E  E E )E "E *E Z:VE FA4ZE BE 69tYt=vFytz72Ez>xQ 5j5z ֑?Q 9j5z`)zBYy@Q I@zDIz;iz;zLj5yɮy A=DNOT Ignoring new targets: 36.10 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdU@ZqZqZqZu@}) >i9)顅ii, g=II@ @@4@9^A=II O >i .5,B?A 2@2ߠ@2Nٱ2V\ >AHRS rotation from veh to nav: [[-0.428410,0.902061,0.052452],[-0.903540,-0.428240,-0.015002],[0.008930,-0.053819,0.998511]]2Hkۿ?۪?`Jhۿ`!`I?9?i2@I2Ö_;2CYFByF{IiEMb@Mb@Mb@AAAA A9E rh#~j?YECyE㥽E9qYqE EE(E"EV:*E:VEc44ZEa@a@a@a@= Fy  52E>Q 5j5tԑ?Q 9%j5_)BY%=Q E%;y%?Q I%@DIU:i:Pj5y1ɮ5 A1B<A<Bɿ>BB@IBzBBBBBm;BN+EDNOT Ignoring new targets: 36.10 m.hh*h "h  h g f f1f5%Bd1d1jd9Zd=R @iZ=Z=Zr@ZM?N) >i9)顽n3ii+ v=II9@ @@4@ԡnManaging dock network, ignoring radio surface power off^A = I I O >g 5,ͫ)?Aɰ4<2A@2@2:C ٱ2R\ >AHRS rotation from veh to nav: [[-0.429383,0.901616,0.052142],[-0.903083,-0.429191,-0.015393],[0.008500,-0.053698,0.998521]]2H{ۿ` ?L? @wۿYh?F~?i2A@I2Y_;2CYBByBIbDNPVDNyV2=%VW=ٔZx:Q-Z>9XY\=^Fy\^!CEb>`Q 5fj5b)ӑ?Q 9fj5b^)bBYhyj?Q Ij@bDIb:ib-:bSj5ylɮr ApDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd 4w@ZAZAZAZEË?:C ) >i9)4ii, =IIE EE+E"E ;*E$:VE [4ZEBER5,C?A2K@2@2ٱ2[ :AHRS rotation from veh to nav: [[-0.430261,0.901215,0.051824],[-0.902668,-0.430047,-0.015786],[0.008060,-0.053572,0.998531]]2Hgۿ??`ۿ`<*遀?m@?i2K@I2^;2CYBÁByBIID)F<|iMb@Mb@Mb@ 9bX9ȶ~jtI +?YEyĽ9<A A)YAbD-VD-:y=]=%=A=ٔ=]:Q-E>9AYA=EFyAMEM>QQ 55j5U|ё?Q 95j5U])UBY=>Q E=;y=v?Q I=@UDIUZ>Zu}@Zv?E)I Mu>iM9)IUL4QiQiU+ Y]_=IYIY aaIa)a!y@ @@@QE EE)E"E;*E:VEFA4ZEa@a@a@a@BBBfIBBBBBBm;BQ+E^A y=I I O >ԁ W5,a]?A:@:艈@:mٱ:0[ FAHRS rotation from veh to nav: [[-0.430946,0.900906,0.051518],[-0.902345,-0.430711,-0.016147],[0.007642,-0.053446,0.998542]]:Hۿ8?`? Őۿ`ވM?:]` ?i:@I:^;8YJȁByNIbDV VDV:2y^<%^S=ٔb_:Q-b>9`Y`=fFydfEf>hQ 5nj5jϑ?Q 9nj5jD\)j BYpyr`?Q Ir@jDIj ;ij ;jZj5yvBɮv AvnEDNOT Ignoring new targets: 36.10 m.hh*h"h hg!f!f!f!d)d)jd)Zd-=@ZIZIZIZM|`?Ymm)i uj>iuS9)qu4qiqi=, 9==I9IA@ @@/@ԉԹ^A%=IIIYOu> E  E E E "E ;*E $:VE ZE BE D@6@6Cٱ6Z >AHRS rotation from veh to nav: [[-0.431482,0.900663,0.051288],[-0.902093,-0.431224,-0.016551],[0.007210,-0.053408,0.998547]]6Heۿ`:?wB?.ۿ@`m}?QX`?i6>@I6_^;4YZ΁ByZIbDbVDbkyjZ<%jI=ٔn7:Q-n>9lYp=rFyprEr>tQ 5zj5vWΑ?Q 9zj5vZ)vBY|y~O?Q I~@vDIv ;iv ;vh^j5yɮA 5DNOT Ignoring new targets: 36.10 m.h1h1*h1"h1 h1g1f9f9f9dAdAjdAZdE@ZiZiZiZmZO?ԹC) >i79)æ4ii+ W=III)fAq@y @y@0@@@@@IAIQOew>A A$5,?A2,@2@2H߻ٱ2[ >AHRS rotation from veh to nav: [[-0.431711,0.900554,0.051273],[-0.901986,-0.431430,-0.017003],[0.006809,-0.053588,0.998540]]2H &ۿU? @?ۿFiZ{?o ?i2,@I2g^;2CYBҁByFI HHHJAiUMb@Mb@Mb@QQQQ Q9Ukt)\(9Y=FyE>E EE%E"E*EM:VE 4ZEa@a@a@a@Q 5j5̑?Q 9j5Y)BYF>Q E;y@Q I@DI" ;iX ;1bj5yɮADNOT Ignoring new targets: 36.10 m.hh*h"h h!g!f!f!f-fBd)d)jd)Zd-@՚@ZUF>BYBYB]IB]BB] =BYBYB]}m;B]M+EB!B!B!B% =B% =C%K"5ZUF>ZU @ZU@H߻)  W>i*9)顕4ii, =II9@ @@ 0@IIO&>Aqԙ =*5,?A2@2f@2ӻٱ2>[ :AHRS rotation from veh to nav: [[-0.432107,0.900374,0.051098],[-0.901799,-0.431807,-0.017336],[0.006456,-0.053571,0.998543]]2H@ۿ?`})?`ۿ~3qz?@m?i2@I2V];2CYBفByFIbDNVDNyV~ =%VX=ٔVx:Q-Z>9XYX=ZFyX^E^>`Q 5fj5b/ʑ?Q 9fj5bTX)bBYdyf@Q Ij@bDIb.:ib:bkej5ylɮrAp-DNOT Ignoring new targets: 36.10 m.h)h)*h)"h1 h1g1f9fAfIdIdIjdQZdU@ZYZYZYZ]@mӻ)i mRd>qi9)顕4ii+ Y=IIM9@I @I@M3@IIaIqO}>DzDbEUFA4jEUh=4rEU/E EE*E"ET;*E:VE(N4ZEBEG9IYI=MFyIUEU>YQ 5ej5]-ȑ?Q 9ej5]OV)]BYeiC>Q Em;ym?Q Im@]DI]:i]:]ij5yqɮuMAq=DNOT Ignoring new targets: 36.10 m.h9h9*h9"h9 h9gAfAfAfE[BdIdIjdIZdM:@ZiC>ZiC>Z/y@Z@?Sͻ) >i;9)5ii, # =II]>i>9@ @@4@IIO )>E EE)E"Ea:*E:VEFA4ZEa@a@a@a@BYBYB]IB]ƁBB] =BYBYB]tm;B]H+E) Q Q75,?A2|@2w@2:ǻٱ2'[ :AHRS rotation from veh to nav: [[-0.432969,0.899974,0.050843],[-0.901388,-0.432651,-0.017666],[0.006098,-0.053478,0.998550]]2H µۿ ??`,ۿ" =x?a?i2|@I2Q];0YbځBybIIf=)f;bDjVDj:2yrO%vP=ٔvQ9Q-v>9tYx=zFyxzE~>Q 5 j5QƑ?Q 9 j5oT)BYyy?Q I@DIp:i:lj5yɮ}AMDNOT Ignoring new targets: 36.10 m.hIhI*hI"hI hIgIfQfQfQdYdYjdYZd]FY@ZZZZy?:ǻ) L~>iQ9)顽[5ii+ C=II)M9@I @I@M/@IQ^Au=IIO>ԁ D D E  E E E "E :*E M:VE ZE BE >AHRS rotation from veh to nav: [[-0.433275,0.899828,0.050810],[-0.901242,-0.432953,-0.017752],[0.006025,-0.053483,0.998551]]2H`Ⱥۿd?? ۿ-/x?)b` ?i2y@I2HD];2CYFԁByFIbDNVDNFyV6%VN=ٔZB9Q-Z>9XYX=ZFyX^aE^>`Q 5fj5bsđ?Q 9fj5bR)b#BYdyjn?Q Ij@bDI`ib$:bpj5ylɮ=A9DNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd@J@ZZZZn?iŻ) r>i9)5ii, *=I I @ @@@ԙԹ^A=IIO> laD5,_?A2nv@2>q@2g"Ȼٱ2d[ :AHRS rotation from veh to nav: [[-0.433665,0.899636,0.050886],[-0.901053,-0.433346,-0.017722],[0.006108,-0.053536,0.998547]]2H+ۿ? ?mۿ%By?i@?i2nv@I2];0YBЁByBI\iMb@Mb@Mb@ 9`"p= ףMb`?Yy;\A )YAbD-VD-:E EE'E"Ex;*EZ:VE'4ZEa@a@a@a@y=7%B=ٔAGQ->9Y=FyE>Q 5j5‘?Q 9j5P)%BY5>Q E;y?Q I@DI:;i9;sj5BBBIBՁBB =BBB~m;BM+Ey1ɮ=A9DNOT Ignoring new targets: 36.10 m.hh*h"h hgfffPBddjdZd.@Z5>Z5>Z }@Z? g"Ȼ)  >i59)15051i1i=+ 9E=IAIAE9@A @A@A@A^Am =Iq I O >A = GU hAq 9 hAY tAJ5,8f,?AN|o@NLj@N"ѻٱN8Z ^AHRS rotation from veh to nav: [[-0.434428,0.899269,0.050867],[-0.900684,-0.434124,-0.017459],[0.006382,-0.053399,0.998553]]NH ۿ?`5 ?fۿ N$z?-W%?iN|o@INT,];NCYjԁByjI pp bD~VD~y%<%-J=ٔ-8Q-->91Y9==Fy9EHEE>IQ 5Uj5M?Q 9Uj5MN)M'BYQy]{?Q I]@MDIM$:iM:M>wj5yuBɮuAueE5DNOT Ignoring new targets: 36.10 m.h1h1*h1"h1 h1g9f9f9f9dAdAjdAZdER@ZiZiZiZm{?}"ѻ)y }R>ir9)顅A5ii, o=II9@ @@/@@%gA@%gA9E EE(E"E=-;*E:VEc44ZEBEoiߡ Iߥ Aԑ esQ5,F?A6j@6e@6Cۻٱ6a [ >AHRS rotation from veh to nav: [[-0.434953,0.899006,0.051036],[-0.900428,-0.434663,-0.017233],[0.006691,-0.053450,0.998548]]6HEۿ?q!?Nۿo@oh{?] ?i6j@I6?];6CYFƁByFIiMb@Mb@Mb@ 9`"HzGMbP?Yy= :A )`AYbD-VD-y=%=J=ٔEcHQ-E>9AYI=MFyIM潺EM>QQ 5]j5U?Q 9]j5U-M)U(BYe9>Q Ee;ye?Q Ie@UDIU ;iUe ;Uzj5yiɮm AqԉDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffFBddjdZd;n @Z9>Z9>Z~@Z?Cۻ) >ia9)顝P5ii+ ڦ=II9@ @@0@ԩE EE&E"E ;*Ex:VE4ZEa@a@a@a@BBBIBЁBBBBBtm;BH+E^A=IIO> W5,_?Aɰ6Sg@6#b@6kٱ6![ BAHRS rotation from veh to nav: [[-0.435324,0.898819,0.051158],[-0.900247,-0.435045,-0.017040],[0.006940,-0.053472,0.998545]]6HWۿ ?`W1?``ۿ@rgm|? ` ?i6Sg@I6\;6CYFByFIbDPVDPyZ%ZT=ٔ^(Q-^>9Y=Fy߇E>!Q 5-j5%U?Q 9-j5%kK)%*BY1y5?Q I5@%DI%6:i%:%<~j5y9ɮ=E A9mDNOT Ignoring new targets: 36.10 m.hihi*hi"hi higifqfqfqdqdjdZd w9!@ZZZZ?k) *s>i9)`5ii, =III)9@ @@1@^AzA=IIO>1E  E E )E "E &:*E :VE FA4ZE BE `;ř}?k?i2d@I2e];0YBByBIIF4=)F=J=J=bDNVDNN2yV%VK=ٔVq:Q-Z>9XYX=ZFyX^JE^>`Q 5fj5b?Q 9fj5bI)b+BYdyf?Q Ij@bDIb:ibR:bj5ylɮn Al DNOT Ignoring new targets: 36.10 m.h h *h "h  h g fffddjdZd^ "@ZZZZ?) Y>i9)m5ii+ !%a=I!I!1@ @@4@i^A[-=IIO>ԑԹ d5,֧?A2]]@2-X@2ٱ2 c[ :AHRS rotation from veh to nav: [[-0.436415,0.898268,0.051545],[-0.899712,-0.436176,-0.016403],[0.007748,-0.053534,0.998536]]2H:ۿ?@d?pMۿː? h?i2]]@I2];2CYBByBvIi Mb@Mb@Mb@     9 X9vp= ףY y   A @ )  Y bD%VD%P)y5k%5B=ٔ51Q-=>99Y9=EFyAE EE>IQ 5Uj5Mٶ?Q 9Uj5MG)M,BYU7>Q E];y]?Q I]@MDIM ;iM ;MWj5yaɮe AiAABBBIBBB =BBBm;BT+EE EE*E"E;*EVE(N4ZEBE@<2E@<JE:E-DNOT Ignoring new targets: 36.10 m.h)h)*h1"h1 h1gQfQfYf]&BdYdYjdaZde="@ԙZ7>Z7>Z|@Z?) >i19)~5ii, =II@ @@4@^AIIO> >j5,˄?A btX@bDS@bY+ٱbJ[ jAHRS rotation from veh to nav: [[-0.436953,0.897996,0.051732],[-0.899447,-0.436739,-0.015973],[0.008250,-0.053510,0.998533]]bHۿ@a?@|?@Dۿ2[^?e?ibtX@IbM];bCYrByrjIbDzVDz:2yC%M=ٔ %Q- >9 Y =FyvźE>Q 5%j5?Q 9%j5F).BY)y-?Q I-@DI:iB:шj5y1ɮ5_ A1eDNOT Ignoring new targets: 36.10 m.haha*ha"ha hagafififididqjdqZdu@#@ZZZZ?Y+) l>i?9)顽u5ii+ =IIN>i>@ @@/@E EE)E"ET;*EM:VEFA4ZEa@a@a@a@^A=IIO>I q5,p]?A2"P@2J@2ٱ2r[ >AHRS rotation from veh to nav: [[-0.437863,0.897530,0.052111],[-0.898996,-0.437690,-0.015303],[0.009073,-0.053548,0.998524]]2H`ܿ`? H? ܿJW ?j?i2"P@I29];2CYFByFfI HHHHiUMb@Mb@Mb@QQQQ Q9UCl绿p= ףMb`?YU;߽yQU;UAU@ UA)UAQYUAbDmVDm1y{%B=ٔQ->9Y=FyE>Q 5j5N?Q 9j5YD)/BY->Q E;y?Q I@DI:i ;j5yɮy ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffBddjdZd|$@Z%->Z%->Z%w@Z%?5)1 =>i=9)9= 59i9iE, AE>=IAIIQ@ @@/@yBBBIBBB =BBBm;BX+EBBBBBC.4^Ap{=E EEE"E ;*E:VEZEBELԩ w5,8?A6!I@6C@6ٱ6B\[@ FAHRS rotation from veh to nav: [[-0.438629,0.897141,0.052374],[-0.898616,-0.438489,-0.014733],[0.009748,-0.053527,0.998519]]6H}ܿa?`Ъ?u 6ܿp,?g?i6!I@I6'Q];6CY^BybVIbDjVDjfyr%rV=ٔr]Q-v>9tYt=vFytzEz>|Q 5j5~?Q 9j5~B)~1BYy?Q I@~DI~];i~&;~֏j5yɮ ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd`H%@Z Z Z Z 0?E)A E"p>iE'9)IM5IiIiU+ qu=IqIyԱ @  @ @ /@ ^A5l9=I9IIO]> bE)jE-A84rE- x/E  E E 'E "E ;*E :VE '4ZE a @a @a @a @f%~5,?U?A4<ɰ49hYh=jFyhjEn>pQ 5vj5r?Q 9vj5r$A)r3BYtyvb?Q Iv@rDIrd:ir:r`j5yzBɮ~d A~dE%DNOT Ignoring new targets: 36.10 m.h!h!*h)"h) h)g)f)f1f1d1d1jd1Zd=`*&@ZiZiZiZmb?-) J>i9)5ii,  |=I I =9@ @@/@^A5=IIIaO}>A 5,?A6y:@6I5@6<:ٱ6-[ BAHRS rotation from veh to nav: [[-0.440228,0.896319,0.053029],[-0.897814,-0.440173,-0.013336],[0.011388,-0.053481,0.998504]]6H,ܿ?&?+ܿ OR?a?i6y:@I6l];6CYFlByJ/IIJ=)J=N=Np=iMb@Mb@Mb@ 9bX9ȶ`"MbP?YEy: IA)|@YQAbD5VD5:B=<A=<BABABEYIBEBBE =BABABEm;BEO+EYye|%mB=ٔmIQ-m>9qYq=uFyquEu>Q 5j5J?Q 9j5E EE,E"E=;*E:VEg4ZEBE{IQ E;y6@Q I@DI;i;;j5yɮ ADNOT Ignoring new targets: 36.10 m.hh*h"h hgqfff܀BddjdZd &@Z>Z>Z@Z6@<:) \>i9)a5ii+ =II ԉ9@ @@0@@=@=Թ^Ae=II O > 0)5,.?A62@6,@6, Hٱ6xZ >AHRS rotation from veh to nav: [[-0.441141,0.895858,0.053222],[-0.897355,-0.441130,-0.012579],[0.012209,-0.053309,0.998504]]6H;ܿ`ߪ?`??!y;ܿ`É?BK?i62@I6];4YFbByF#IbDRVDRkyV!C%ZW=ٔZ8 Q-Z>9\Y=Fy+E> Q 5j5 ?Q 9j5 N>) 5BYy%@Q I@ DI ;i ; sj5y!ɮ% A)UDNOT Ignoring new targets: 36.10 m.hQhQ*hQ"hQ hYgYfYfYfYdadajdaZde '@ZZZZ%@, H) >i9)页s5iԹi, %=IIi@i @i@m5@iE EE+E"E;*E~:VE [4ZEa@a@a@a@^A}~E=IIO> A 5,H?A2")@2#@2Xٱ2Z :AHRS rotation from veh to nav: [[-0.442117,0.895356,0.053578],[-0.896860,-0.442160,-0.011695],[0.013219,-0.053223,0.998495]]2HKܿ? n?@[Lܿn? @ ?i2")@I2(];0YBYByBIi Mb@Mb@Mb@     9 v/)\(MbPY xiy GὙ  EA @ |@)  Y (AbDVD!yX%%:=ٔQ->9Y=Fy&E>Q 5j5\?Q 9j5+=)6BY=Q E ;y  @Q I @DIp;iu;:j5y!ɮ%a A)uDNOT Ignoring new targets: 36.10 m.hqhy*hy"hy hygfffŀBddjdZdݐ(@ZE=ZE=ZEg@ZE @uX)q }{>i9)顕s5ii+ u=III)%9@! @!@!@!IB9B9B=:IB=uBB9B9B9B=_m;B=>+EE EE-E"E;*E:VEt4ZEBEAԙ :5,4b?A6"@6@6iٱ6[ >AHRS rotation from veh to nav: [[-0.442798,0.894980,0.054219],[-0.896508,-0.442892,-0.010935],[0.014226,-0.053450,0.998469]]6H Vܿୣ?«?@2@WXܿHe"?]u?i6"@I6];4YFKByFIHJAbDRVDR1yVZ%Z^=ٔZ3Q-Z>9\Y\=^Fy\bEb>`Q 5fj5b?Q 9jj5b5<)b7BYhyj @Q Ij@bDIbl:ibB:bnj5ylɮr Ap DNOT Ignoring new targets: 36.10 m.h h *h "h  hgfffddjdZd% F)@ZAZAZAZE @Ui)Q U>iUC9)Y]25YiYie, ae5=IaIiq AAOG-9@) @)@-/@)@1@1u.9yY}Aԡ^AMt=IYIiO}>D D <E  E E )E "E s:*E 1:VE FA4ZE a @a @a @a @ c5,Y|?A:@:W@:Qwٱ:b[ FAHRS rotation from veh to nav: [[-0.443485,0.894611,0.054706],[-0.896154,-0.443624,-0.010235],[0.015113,-0.053564,0.998450]]:H bܿ?n?KWdܿ\? lM?i:@I:];:CYJDByJIbDV VDV2y^%^J=ٔ^oQ-b>9`Y`=bFy`fEf>hQ 5nj5j?Q 9nj5j%;)j8BYlyn @Q Ir@jDIj;ij;jj5ytɮv AtDNOT Ignoring new targets: 36.10 m.hh*h"h hgff!f!d!d!jd)Zd-o*@ZIZIZIZM @eQw)a e~~>ie9)amB5iiiim+ qu6=IqIq @  @ @ /@  ^A5=IIIaOy) @K5,U4?A;ɰp;>@>l@>Eٱ>_\ FAHRS rotation from veh to nav: [[-0.444235,0.894195,0.055409],[-0.895765,-0.444425,-0.009509],[0.016122,-0.053858,0.998419]]>H`Wnܿ??^?@`wqܿ@y9?5` ?i>@I>%];>CYN9ByNIApApBtBtBvIBvVBBtBtBtBvVm;Bv:+EiEMb@Mb@Mb@AAAA A9E{GzZd;OMb`YE#yEjEEAA EIA)Ef@AYEAbDeVDeymRS%u?=ٔuQ-u>9qE EE*E"E&:*Ey:VE(N4ZEBE`;Q 5j5A?Q 9j5F:)Y~=Q Ei];9)Y]5YiYie, ae@=IaIiy9p>i> @  @ @ 4@ Ա @ @ ^A L=I I O>K5,?A> @>@>Fmٱ> ] JAHRS rotation from veh to nav: [[-0.445310,0.893629,0.055920],[-0.895213,-0.445554,-0.008700],[0.017141,-0.053934,0.998397]]>Hܿ@??ܿс`p?D?i> @I>];9Y=Fy2E>!Q 5-j5%؜?Q 9-j5%a9)%9BY1y5=@Q I5@%DI%d:i%9:%j5y9ɮ=t AAmDNOT Ignoring new targets: 36.10 m.hihi*hi"hi higqfqfqfqdydyjdyZd}+@ZZZZ(=@Fm) ֗>i9)顽U5ii+ {=II E EE)E"El;*E:VEFA4ZEa@a@a@a@Y@Y @Y@]/@a1^A}I=IiߡIߥAIO>iԁ =)5,1B?Af@f|@f;wٱf\ nAHRS rotation from veh to nav: [[-0.446507,0.893008,0.056283],[-0.894596,-0.446806,-0.007867],[0.018122,-0.053864,0.998384]]fHܿ?0Ѭ?wܿ?@ ?if@If<];fCYv5ByvIiMb@Mb@Mb@ 9 rhʡEMb`YCyA |@)O@Y @bDVD:y%;=ٔQ->9Y=Fy/OE>Q 5j5?Q 9j58)Y=Q E(i9)顅O5ii, @=II 9@  @ @ /@ BaBaBeIBeBBBaBaBaBeCm;Be1+EԡE% E%E%'E!"E% ;*E%$:VE%'4ZE!BE%R BV5,x)?A:@:@:ߜٱ:[ BAHRS rotation from veh to nav: [[-0.447891,0.892300,0.056516],[-0.893883,-0.448246,-0.006931],[0.019148,-0.053623,0.998378]]:H`=ܿ`?? ܿc|?yt?i:@I:];:CYJAByJIbDRVDRyZN~=%^^=ٔ^H6Q-^>9\Y`=bFy`bLEb>dQ 5jj5f?Q 9jj5fW8)f:BYlyne@Q In@fDIf;if;fj5ypɮr" AtDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffd!d!jd!Zd%l-@ZAZAZAZEe@]ߜ)Y ]>i]9)ae65aiaim+ im=IiIqy9@ @@0@@@hA^A-~=I9IIO]v>E  E E )E "E ;*E :VE FA4ZE a @a @a @a @! Q &=5,z?A>D@>@>ٱ>D[ JAHRS rotation from veh to nav: [[-0.449263,0.891591,0.056819],[-0.893174,-0.449670,-0.006113],[0.020099,-0.053496,0.998366]]>H@ܿ?g?fܿo y└?c?i>D@I>];9dYd=jFyhjyEj>lQ 5rj5n?Q 9rj5n7)lYtyvK@Q Iv@nDIn[:in:nj5yxɮzg A|%DNOT Ignoring new targets: 36.10 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5?<.@ZQZQZQZUK@m)i m>img9)iu5qiqi, b=II)59@1 @1@5Y1@1Y^AU6[=IYIqO}z>ԁ BA BA BE IBE 8BBA BA BA BE 9m;BE ,+EBBBB =B =C)4D =D R=E  E E (E "E ;*E $:VE c44ZE BE o9Y=FynE>Q 5 j5͔?Q 9 j5i7);BYw=Q E[iu9)y}6yiyi+ 1=IIԉ I)@ @@0@Թ^A /=I I O >y5,4?A<ɰ>4<\Y]BBy]IbDmVDmy}<%}R=ٔQ->9Y=FyE>Q 5j5+?Q 9j57)i%~9)!%6!i!i-, )5r=I1I1IA)AbEYjE]·G4rE]‡ 0E EE'E"E;*E:VE'4ZEa@a@a@a@9@ @@4@@=@=!^AL=IIO>I w5,ƈN?AYRByII<)4=iMb@Mb@Mb@ 9y&1|)\(Mb?Y`yGa</A@ |@)f@Y\@bDVDNy=%8=ٔQ->9Y=FyE>Q 5j5y?Q 9j56)>BYre=Q Eli9)g6ii+ =II IBȿ>BBBBBBBKm;B5+E9@ @@4@E EE(E"ET;*E:VEc44ZEBEGԩ +5,ch?A6@6k@6׿ٱ6&^ BAHRS rotation from veh to nav: [[-0.455505,0.888277,0.058984],[-0.889925,-0.456090,-0.003924],[0.023416,-0.054279,0.998251]]6H&ݿl?%3? Dz0ݿpb?qʫ?i6@I6J_;4YJ[ByJIbDVVDVyZP=%Zq=ٔ^߻Q-^?9`Y`=bFy`bEf?dQ 5jj5f.?Q 9jj5fl6)f@BYlynP"@Q In@dIf;if;f0j5ypɮvU AtDNOT Ignoring new targets: 36.10 m.hh*h"h hgfff!d!d!jd!Zd%C0@ZIZIZIZMP"@]׿)Y ]>ie_9)aeA6aiaim, im00=IiIqy9@ @@/@Ա^A5$=IAIQOew>E EE+E"E ;*EǙ:VE [4ZEa@a@a@a@ 5,>?ADDYeiBye,IbDuVDuN2yK=%<=ٔQ->9Y=FyE>Q 5j5?Q 9j56)BBYyQ I@ŭDIB:i:j5yBɮ AcEDNOT Ignoring new targets: 36.10 m.hh*h"h  h g f f fddjdZd`*1@ZZZZ) غ>i9) 6ii+ =II 9@ @@/@)@I@I1^A (=I I O >A A AAB B B IB GBB B B B 4m;B *+EY E  E E &E "E ;*E ':VE 4ZE BE .N911Y1==Fy9=s(EE>AQ 5Mj5E ?Q 9Mj5E5)EGBYU=Q EULiA9)顝6ii, =IIe9@a @a@e/@aiG+9Y%8Aԙ^AM =IQ Ii Ou >Թ Y5,M?ASu@#p@Kzɼٱ^ -AHRS rotation from veh to nav: [[-0.461595,0.885099,0.059405],[-0.886750,-0.462239,-0.003240],[0.024592,-0.054173,0.998229]]HNJݿR?@aj?@`Qݿ;j.?@}?iSu@I_;CY=ByEVIbDUVDU1y=%S=ٔ&'Q->9Y=Fy׻E>Q 5j5?Q 9j55)KBYy@Q I@ǭDI:iN:j5yɮ A]DNOT Ignoring new targets: 36.10 m.hYhY*hY"hY hYgafafafadidijdiZdm@>1@ԑZZZZ@Kzɼ) n>E EE(E"E:;*E˭:VEc44ZEa@a@a@a@i99)V$6ii+ =IIQ@Y @a@e 0@a^A%=I1IAOU1> G5,?AF4<ɰDba@bh\@bʼٱb ] jAHRS rotation from veh to nav: [[-0.463729,0.883996,0.059208],[-0.885634,-0.464373,-0.003210],[0.024658,-0.053925,0.998240]]bH ݿI?P?W@JݿJj??@?iba@IbI`;`YrByriIimMb@Mb@Mb@iiii i9m&1ʡES㥛?YmPymm/+Q->9Y=FyFĻE>Q 5j5??Q 9j5=4)QBY=Q E >i9)(6ii, =IIBBB'IBfBBBBB5m;B9@ @@m0@@ =@ E EE/E"Ef;*E1:VEJ4ZEBEWI i߁ I߅ AB5,2?A<^?R@^M@^WǼٱ^2;] jAHRS rotation from veh to nav: [[-0.465391,0.883129,0.059116],[-0.884769,-0.466016,-0.003578],[0.024389,-0.053969,0.998245]]^HݿB?@qD?P2ݿ Pmh?ڡ?i^?R@I^`;^CY%By%yII5=)5=bDMVDMye>}=%eM=ٔm0:Q-u>9yYy=}FyzE>Q 5j5Έ?Q 9j5c3)WBYy@Q I@ɭDI'r;i^;j5yɮ A DNOT Ignoring new targets: 36.10 m.hh*h"h hgff!f!d!d)jd)Zd-2@ZaZaZaZe5@5WǼ)1 =ږ>i=9)9=o-69i9iE+ AE=IAIIԉ9E EE'E"E ;*E:VE'4ZEa@a@a@a@- 9@)  @) @- 0@) ^A 0=I 1 I1 OE >/M6,yu?ABF@BjA@BNAļٱBX^ JAHRS rotation from veh to nav: [[-0.466653,0.882461,0.059149],[-0.884116,-0.467248,-0.004173],[0.023955,-0.054241,0.998240]]BH`ݿ=?@H? J@fݿq?ū?iBF@IB a;@YRByRIbDZVDZkyb=%bE=ٔfĉ:Q-f>9hYh=jFyhjbEn>lQ 5rj5nT?Q 9rj5n2)n]BYtyv@Q Iv@nʭDIn;in;nj5yxɮ~\ A|%DNOT Ignoring new targets: 36.10 m.h!h!*h!"h! h!g)f)f)f1d1d1jd1Zd503@ZYZYZYZ]@mNAļ)i mȦ>iu9)qu26qiqi}, y}=IyI)@1 @1@=c4@9I^A]٦=IIO >iB A B B B SIB BB B B B m;B [+EԱ E  E E &E "E ;*E :VE 4ZE BE l_9Y=FyGE>Q 5j5?Q 9j51)eBY>Q E;yE?Q I@̭DI:ij:aj5yɮ ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfff:BddjdZdh3@Z>Z>ZQ%@ZE?5/Y)1 5>i5W9)9=769i9iE+ AEլ=IAIA@ @@12@@@gA^AIIO>! 6,W9?A|ÝByI  bDVDyE=%EO=ٔEQ-E>9IYI=MFyIMEU>QQ 5]j5U?Q 9ej5U/)UmBYayaQ Ie@UέDIUn;iU;Uj5ymBɮuAuZEDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd?4@E EE,E"E;*E:VEg4ZEa@a@a@a@ZZZZ) >i9);6ii ,  =I I@ @@/@)iyIyY^A=IIO>ԉ À6,R?A2+@2&@2ٱ2_ :AHRS rotation from veh to nav: [[-0.469579,0.880970,0.058202],[-0.882634,-0.470009,-0.006928],[0.021252,-0.054625,0.998281]]2H ޿0?̭?>`޿`| Õ??i2+@I2&a;0YBہByBIi Mb@Mb@Mb@     9 /$(\¿{Gz?Y 1y z #= \A @ IA) `A Y GAbD%VD%0y58=%5K=ٔ5;Q-5>99Y9==Fy9E;EE>IQ 5Uj5M߁?Q 9Uj5M-)MwBYUM>Q EU;YyU?Q I]@MЭDIM4;iM3;MWj5yiɮm2AiDNOT Ignoring new targets: 36.10 m.hh*h1"h1 h9g9f9f9fEjBdAdAjdAZdE@n4@ZM>ZM>Z~@Z3?) Ha>i9):?6ii+  e=I I)BaBaBeIBeBBe =BaBaBem;Bew+EBBBBBCÐ4ԉ@ @@/@DzDE EE'E"E ;*E?:VE'4ZEBEv 6,Tl?A*;ɰ*;V%'@V!@V㣣ٱVc}_ bAHRS rotation from veh to nav: [[-0.470085,0.880745,0.057509],[-0.882395,-0.470441,-0.008039],[0.019974,-0.054525,0.998313]]VH޿/?q?@<޿v@#t?꫿@-?iV%'@IV}a;VCYj܁BynIbDzVDz:y ;% M=ٔQ;Q->9Y=Fy%LE%>)Q 5-j5-?Q 95j5-+)-BY1y5?Q I5@-ӭDI-/;i-m ;-j5yAɮE+AAmDNOT Ignoring new targets: 36.10 m.hihi*hi"hq hqgqfqfyfydydyjdZd4@ZZZZ?Ա㣣) c>i9)B6ii, ~Ȩ=II qqIq)qx>i@ @@/@@=@=bEm-4jEm<4rEmǘ0E EE&E"EO;*E5:VE4ZEa@a@a@a@^Aا=IIO>9 !6,?AY|y|I=)p<bDVDy%:%%I=ٔ%Q-%>9)Y)=-Fy)5E5>1Q 5Ej55}?Q 9Ej55))5BYAyAQ IE@5խDI5;i5:5aj5yQɮU*AQ}DNOT Ignoring new targets: 36.10 m.hyhy*h"h hgfffddjdZd 75@ZZZZ) ~c>i9)IF6ii+ =IIQ@Q @Y@]0@YI^Au=IIO>qBQ BQ BU IBU ЁBBU  =BQ BQ BU m;BU c+ED D 4=E  E E (E "E s!;*E k:VE c44ZE BE x9iYi=uFyqu IEu>yQ 5j5}z?Q 9j5}v')}BYSt>Q E^;y?Q I@}٭DI}:i}:}j5yɮ+ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffkBddjdZd]5@ZSt>ZSt>Zd~@Z? b)  Ha>i9)I6ii, %]=I!I!y9@ @@0@ԡ^AIIO> -6,UO?A2(@2"@2{ٱ2w] :AHRS rotation from veh to nav: [[-0.470020,0.880946,0.054913],[-0.882522,-0.470121,-0.011859],[0.015369,-0.054036,0.998421]]2H޿0??=w޿@oIy??i2(@I2ʒa;2CY@y@bDJVDJٔV*;Q-V>9TYT=ZFyXZ:EZ>\Q 5bj5^lx?Q 9bj5^?%)^BYdyf?Q If@^ۭDI^;i^1:^Lj5yhɮhhDNOT Ignoring new targets: 36.10 m.hh*h"h hgf f f d djdZdK6@Z1Z1Z1Z5?M{)I IiM 9)IMVM6QiQiU+ E EEE"E;*E:VEZEa@a@a@a@?=II 9@ @@4@@@^Aا=IIO>) u46,-?A:K/@:*@: `ٱ:g] BAHRS rotation from veh to nav: [[-0.469257,0.881395,0.054223],[-0.882955,-0.469268,-0.013315],[0.013710,-0.054124,0.998440]]:H@N޿ d4? ë?@+A~޿D?*8?i:K/@I:Ra;:CYJʁByJI LLiMb@Mb@Mb@ 9oʡſEȿI +?Y-yF9<rA A)`AYAbD5VD5N2yE0%E<ٔM;Q-M>9IYI=UFyQUQ;EU>YQ 5ej5]/u?Q 9ej5]")]BYm6>Q EmM;ym8?Q Im@]߭DI] :i]:]j5yqɮ}AyDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffnBddjd9ZdE`s6@Z6>Z6>Zj@Z8? `) R8>i9)kP6ii, BBBIB߁BBBBBDm;B1+E֪=I I11E EE'E"E~ ;*E5:VE'4ZEBEVԁ Q Q G % TB9! Y% 0A|:6,?A0]8@]|3@]Fٱ]I^ uAHRS rotation from veh to nav: [[-0.468256,0.881962,0.053659],[-0.883510,-0.468178,-0.014782],[0.012085,-0.054330,0.998450]]]H@ݿ9?.y?Eݿ E`쿈?!ѫ@M?i]8@I][a;]CYByIbDUVDU1yet%m9=ٔmvq;Q-m>9Y=Fy58!;E=>AQ 5Mj5Eq?Q 9Mj5E)EBYIyUb?Q IU@EDIE/;iE] ;Ej5yYɮ]AYDNOT Ignoring new targets: 36.10 m.hh*h"hԉ hgfffddjdZd`6@ZZZZKb?mF)i mf(>im9)im2S6qiqiu+ y}ì=IyIyY@Y @Y@]4@aԹE EE,E"E;*E :VEg4ZEa@a@a@a@ ^A \=I I O >A6,?Aɰ4<6@@6{;@6,ٱ6S^ BAHRS rotation from veh to nav: [[-0.467401,0.882460,0.052921],[-0.883982,-0.467244,-0.016073],[0.010543,-0.054294,0.998469]]6Hݿ=?s?IQݿ@zu?d̫v?i6@@I648a;4YFByFIbDRVDR1yV~%Zk=ٔZY;Q-Z?9\Y\=^Fy\`bdE;Eb ?dQ 5jj5f#o?Q 9jj5f)fBYhyn?Q In@fDIfy:if@;fj5yrߒBɮr? ArYEDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd>7@ZZZZ?,) F>i9)gU6ii, }V=II9@ @@/@@=@=^Aʞ=B<A<B B B IB ځBB B B B 2m;B (+EI! I1 O= >A E  E E (E "E C;*E :VE c44ZE BE >AHRS rotation from veh to nav: [[-0.466482,0.882983,0.052299],[-0.884484,-0.466249,-0.017307],[0.009102,-0.054332,0.998481]]2Hݿ fA?`ƪ?@M ݿ@ `F?@Yѫ`?i2?I@I2`;2CYBByFuIIH)J=iMb@Mb@Mb@ 9SÿRQȿMbp?YyB;\A@ IA)AYAbD- VD-2y=%=A=ٔE_;Q-E>9AYI=MFyIM";EM>QQ 5k5Uk?Q 9k5U )UBYx>Q EZ;y?Q I@UDIU Zx>ZN@Z?") u>iQ9)WY6ii%+ !- =I)I)I@ @@@q^A "=I I) O1 ԡ 5N6,ٖ;?A6+R@6L@6ٱ6-X^ >AHRS rotation from veh to nav: [[-0.465524,0.883529,0.051618],[-0.885002,-0.465224,-0.018417],[0.007742,-0.054255,0.998497]]6H#ݿE? m?Q 9ݿے?Pǫ@?i6+R@I6ʐ`;6CYFByFUIbDRVDRyV%ZT=ٔZ.g;Q-Z>9\Y\=^Fy\b8;Eb>`Q 5fk5bh?Q 9jk5b)bBYhyj?Q Ij@bDIb-:ib:bk5ypɮr Ap DNOT Ignoring new targets: 36.10 m.h h *h "h  hgfffddjd!Zd%8@ZAZAZAZE?U)Q ]B>i] 9)Y]aiaie, imiұ=IiIiE EE*E"E ;*EM:VE(N4ZEa@a@a@a@ԑ9@ @@0@ԡ^AU=IaIyO}> U6,rU?A2Z@2xU@2Iջٱ21^ :AHRS rotation from veh to nav: [[-0.464610,0.884043,0.051039],[-0.885491,-0.464250,-0.019422],[0.006525,-0.054218,0.998508]]2H -ݿJ? !?U FݿP㓿z? }«?i2Z@I2@``;0YZBy^FIiEMb@Mb@Mb@AAAA A9EB`"۹MbX9Ŀ:vYEνyE!ETAE@ EA)EIAAYEGAbDUVDUyec%m?=ٔm:;Q-m>9qYq=uFyqu;Eu>yQ 5k5}(e?Q 9k5} )}BY|@>Q E;y@Q I@}DI}:i}':}k5yɮ ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffBd d jd Zd  w8@Bɿ>BBIBBB =BBBm;B+EZ |@>Z |@>Z ~@Z @]Iջ)Y ]Ha>i] 9)Y]u3Yiaie+ im"=IiIiE EE)E"Ef;*E:VEFA4ZEBEWY NG[6,9tYt=vFyxz:Ez>QQ 5]k5Ub?Q 9ek5UT)UBYaye@Q Ie@UDIU;iU;U. k5yiɮu AqDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd 8@ZZZZd@ )  >i 59) ii, =II!9@ @@+2@aE EE(E"E:*Ev:VEc44ZEa@a@a@a@^Al=IIO>ԉԹ .b6,J(?AYLByIbD-VD-yE%ED=ٔMQ-M>9QYQ=UFyQE>Q 5k5^?Q 9k5)BYyQ I@DI*;i+;k5yɮ A-DNOT Ignoring new targets: 36.10 m.h)h)*h)"h) h)g)f1f1f1d9d9jd9Zd=nG9@ZYZYZYZYi)q u=iu|9)q}2yiyi}+ Pf=IIԑ@ @@4@^A=II1O=>AABȿ>BBSIBBB =BBBl;B*EBaBaBaBaBaCeȘ 4E  E E )E "E :*E :VE FA4ZE BE >9qYq=}Fyy}\C:E}>Q 5k5 \?Q 9k5|)BY>Q E;y@Q I@DI:i':Jk5yɮ ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfQfYf]BdYdYjdYZde9@Z>Z>Zi@Z;@r)  W>i9)ii, J=II@ @@4@@=@=^Al=IIO>I 'n6,z޼?A2^@2X@2iٱ2] >AHRS rotation from veh to nav: [[-0.464243,0.884294,0.050034],[-0.885696,-0.463792,-0.020982],[0.004651,-0.054056,0.998527]]2H`'ݿ@"L? ?W`îݿ B|3 s?`+ ?i2^@I2Gc^;2CYF!ByFIIJ<)J=bDnVDn0yvo5%vQ=ٔvL8Q-z>9xYx=zFyx~E~>Q 5 k5iY?Q 9 k5u)BY y@Q I@DIN:i$:k5yɮ AbEc44jEh=4rE5/Ee EeEe(Ea"Ee:*EeM:VEec44ZEaau@au@au@au@DNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd:@ZZZZ(@i) VE>i9)_@3ii+ t̳=IIQu9@q @q@u/@qy^A=IIO>ԩ ku6,ع?A23U@2P@2ٱ2] :AHRS rotation from veh to nav: [[-0.465205,0.883790,0.049993],[-0.885190,-0.464763,-0.020836],[0.004820,-0.053946,0.998532]]2HݿH??zS@ݿV s?מ?i23U@I2w^;2C@YF ByFIiuMb@Mb@Mb@qqqq q9uMbp?Dl{GzYu;yuOquEAu@ uf@)u|@qYu(AbDVD:y)˽%?=ٔ)ϹQ->9Y=Fy&E>Q 5k5W?Q 9k5")BY[=Q E8im9)iu3qiqi}, y}+=IyIԱ 9@  @ @ /@Em EmEiEi"Em:*Em:VEiZEiBEia}2EiaJEmk;a:Emk;a^A1I9IIO]> '{6,?AFG@FeB@F/pٱF\ bAHRS rotation from veh to nav: [[-0.466674,0.883017,0.049951],[-0.884414,-0.466257,-0.020416],[0.005262,-0.053705,0.998543]]FH ݿA?1?M(ݿ甿`u?;`?iFG@IFܿ];DYfByjIlbD= VD=:2yM%MP=ٔMuQ-M>9QYQ=UFyQ]kE]>aQ 5mk5eU?Q 9mk5e)eBYiym-@Q Iu@eDIe :ie:ek5yyɮ}AyDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffdd1jd1Zd=:@ZZZZ`-@/p) >i9)HA4ii+ =III)gA @ @@/@@@hA9E} E}E})Ey"E}O;*E}:VE}FA4ZEya@a@a@a@^A=IIO>a |6,m ?AZ7@Z2@ZĿûٱZ \ rAHRS rotation from veh to nav: [[-0.468364,0.882106,0.050234],[-0.883515,-0.467981,-0.019878],[0.005974,-0.053693,0.998540]]ZHݿ6:? E?Edݿ`Zwx?}` ?iZ7@IZ];XY ByI )-A9bD=VD=02yMt%MJ=ٔUQ-U>9QYQ=]FyY]!E]>aQ 5mk5eR?Q 9mk5e)eBYqyu-@Q Iu@eDIe:ie:e_!k5yyɮ}(ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd@]H;@ZZZZ-@Ŀû) >i89)4ii, ϫ=II q@q @q@}/@yԉԑBQBQBUIBUBBQBQBQBUl;BU+E^ASs=II O >D D =E  E E (E "E ;*E Z:VE c44ZE BE sAHRS rotation from veh to nav: [[-0.470451,0.880987,0.050384],[-0.882401,-0.470103,-0.019277],[0.006702,-0.053528,0.998544]]2H޿@ 1?@˩?<+޿ts{? g`?i2$@I2];0YBByFIimMb@Mb@Mb@iiii i9mMb?MbMbYm=ymmmAi mO@)iiYm@bDVD1ԙyL%E=ٔUQ->9Y=FyE>Q 5k5NQ?Q 9k5Q =tI)BY<<=Q EiE 9)IMY4IiIiU+ QUۧ=IQIYE~GeliA9liAY A @ @@@0@^A-ʞ=I9IIO]> hю6,&>?A;ɰ;f]@f@fuٱf[ nAHRS rotation from veh to nav: [[-0.475321,0.878315,0.051319],[-0.879770,-0.475065,-0.017858],[0.008695,-0.053637,0.998523]]fH@k޿`'?@F?'ug޿ [I΁?Yv?if]@If_;fCYvByvIbD~VD~0y I% T=ٔ Q->9Y=FykE>!Q 5-k5%O?Q 9-k5%)%BY)y-6Q I5@!I%:i%d:%\(k5E EE'E"EO;*E:VE'4ZEa@a@a@a@yݒBɮ~AXE DNOT Ignoring new targets: 36.10 m.h h *h "h  h g ff1f1d9d9jd9Zd= g<@ZZZZ0L[@u) K>i9)4ii, =II{>i>9@ @@1@@=@=!Q^A=IIO>ԁ Ǽ6,X?AY^By^IIb<)b9yYy=}Fyy}E>Q 5k5Bǿ>BBIBBBBBB1m;B(+EN?Q 9 k5D)BY\=Q EviH9)4ii%+ AMZ=IIIIE EE+E"E;*E:VE [4ZEBE] [6,q?AY=By=IbDMVDMky]F=%eL=ٔaQ-e>9aYi=mFyiiEm>qQ 5}k5uM?Q 9}k5u)uBYyQ I@uDIu;iu;u/k5yɮADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd<@ZZZZ) ̭>i9)5 i i , IIԱ@ @@/@^AIIO> 9 Ӣ6,ڋ?A,.@YMByMIbD]VD]1ym =%mH=ٔqQ-u>9qYq=uFyqyE}>Q 5k5L?Q 9k5.)BYyQ I@IH;i;3k5yɮ^ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZdN=@ZZZZ ) ->iO9)*5ii+ I!I!19@ @@/@@@gA1AA@ABBBIBBBBBBim;BD+E^A=II OY E  E E )E "E ;*E k:VE FA4ZE BE QQ<2E QQ<JE D<:E E<6,?A$N&@N4@NJٱN&^ VAHRS rotation from veh to nav: [[-0.485983,0.872336,0.053388],[-0.873881,-0.485892,-0.015538],[0.012387,-0.054206,0.998453]]NH X߿-?@U?@`߿ >ҏ &^?S?iN&@INa;LY^By^I ``iUMb@Mb@Mb@QQQQ Q9UL7A`?~jtV-?YU+=yUU9Y=FyE>Q 5k5K?Q 9k5f)BY D=Q Ei9)顽@5ii, &]=IIi9@ @@/@ԙ^AU =IYIqO}> 6,Dn?AF~@Fu@FUٱFe^P VAHRS rotation from veh to nav: [[-0.488605,0.870850,0.053718],[-0.872407,-0.488545,-0.015148],[0.013052,-0.054265,0.998441]]FH`NE߿??PD߿ ?ȫ ;?iF~@IF a;FCYZ6ByZIbDfVDf0ynQ=%nU=ٔnQ-r>9pYp=rFypvEv>xQ 5~k5zJ?Q 9~k5z)zBY|y~$Q I@xIz;iz";z9k5y ɮ 7 A =DNOT Ignoring new targets: 36.10 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM`>@Ee EeEaEa"Ee ;*Ee^:VEaZEaam@am@am@am@ZZZZ^m@U) >i~9)顥ii+ m=II59@1 @1@5/@1^A =II)O5 >) 6,x?A4<ɰ4<6~@6_@6[\ٱ6C^ ^AHRS rotation from veh to nav: [[-0.490923,0.869533,0.053911],[-0.871099,-0.490880,-0.014949],[0.013465,-0.054300,0.998434]]6H`Gk߿7?(? j߿ ƝT?@Bͫ+?i6~@I6a;6CYbOByf IlBYBYB]IB]BBYBYBYB]m;B]X+EBBBBBCkp4iMb@Mb@Mb@ 9Zd;OktZd;O?Yjy 0j<=\A@ MA)AYAbDVD0yR=%;=ٔwQ->9Y=FyǻE>Q 5k5I?Q 9k5!)BYJ=Q EE@ZJ=ZJ=ZG@ZY@[\) u>ii9)i!iE, IMJr=IIIIIY)Y EM EMEM'EI"EM;*EM:VEM'4ZEIBEMbY -A6,Ef?A2~@2&M@2Paٱ2#^ :AHRS rotation from veh to nav: [[-0.492898,0.868403,0.054102],[-0.869978,-0.492866,-0.014870],[0.013752,-0.054397,0.998425]]2Hो߿?E?߿Lt)? ٫`?i2~@I2ia;2CYbgByb*IIf4=)f=bDjVDjky =%V=ٔ EQ- >9 Y =FyûE>1ԙQ 5k55H?Q 9k55)5BYy/@Q I@5DI5q@ZZZZ/@%Pa)! %7>i-9))))i)i5+ 15&\{=I1I99@ @@0@^APڀ=IIO )>E] E]EYEY"E];*E]:VEYZEYae@ae@ae@ae@! C,6,N ?A6~@6@@6y_ٱ6@_ >AHRS rotation from veh to nav: [[-0.494205,0.867660,0.054102],[-0.869238,-0.494164,-0.015066],[0.013663,-0.054473,0.998422]]6H߿@?7?c߿ ێ 6?@㫿 ?i6~@I6&`;6CYFByFQIbDR VDR:2yV >%ZP=ٔZl9Q-Z>9\Y\=^Fy\byEb>`Q 5fk5bH?Q 9jk5bM)bBYhyj@Q Ij@`Iba;ib;bDk5ypɮr Ap DNOT Ignoring new targets: 36.10 m.h h *h "h  hgfffddjdZd%N?@ZAZAZAZE@]y_)Y ]ڲ>i]9)Yaaiaie, im#v=IiIi-9@) @)@-4@)!^AIBU<AU<BYBYB]IB].BBYBYBYB]m;B]m+EIyIO>IbE:4jErEɓ/Ee  Ee Ee ,Ea "Ee %;*Ee $:VEe g4ZEa BEe *AHRS rotation from veh to nav: [[-0.495383,0.866997,0.053959],[-0.868569,-0.495333,-0.015239],[0.013515,-0.054416,0.998427]]6H@\߿p?`v?R`߿5ݭ?jܫ?i6u~@I6_;6CYnByniIieMb@Mb@Mb@aaaa a9e333333&1)\(?YeyeнeGa=erAe@ eIA)eAaYepAbDVDJ2y=%==ٔV9Q->9Y=FyKE>Q 5k5XF?Q 9k5)BYY >Q E;y ?Q I@DIm;i`;ZHk5yےBɮ AOEQDNOT Ignoring new targets: 36.10 m.hh*h"h hgfff/BddjdZd+?@ZeY >ZeY >Ze@Ze ?}p])y  W>i9)顅}k3ii+  r=IIe9@a @a@e5@a@i@mfAԉԩ^A Hu=I I O > :6,^@?A2n~@21@2Uٱ2J$_ :AHRS rotation from veh to nav: [[-0.495798,0.866773,0.053746],[-0.868340,-0.495722,-0.015685],[0.013048,-0.054446,0.998431]]2H'߿??p߿͸?e૿&?i2n~@I2Q^;2CYBByBI DDbDJVDJ0yRc=%V[=ٔV:Q-V>9TYX=ZFyXZEZ>\Q 5bk5^D?Q 9bk5^)^BYdyf?Q If@^DI^y:i^-:^Kk5yhɮjH AlDNOT Ignoring new targets: 36.10 m.hh*h"h hg f f f ddjdZd }@@Ee EeEe&Ea"Ee;*EeǙ:VEe4ZEaam@am@am@am@ZZZZ?%U)! %>i%99)!-)i)i-, 15i^q=I1IQԱ@ @@/@^AKr=II1O=> I h6,Z?AB|B|B~.IB~kBB|B|B|B~m;B~r+ERo~@x2@wMٱ_ EAHRS rotation from veh to nav: [[-0.495737,0.866815,0.053627],[-0.868382,-0.495631,-0.016196],[0.012540,-0.054598,0.998430]]H'߿?@t?``k߿Ů?5"?iRo~@If ^;CYByIiMb@Mb@Mb@ 9p= ף+ÿy&1?Yy`e= A@ `A)YfAbDVD:y`=%,=ٔӋ:Q->9Y=Fy"9E>Q 5k5 B?Q 9k5 )BYW>Q E|;y?Q I@DI ;i:Ok5yɮAIDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffvBddjdZd M@@ZW>ZW>Z@Z? wM)  >i9)$'3ii+ lr=II!Em EmEm*Ei"Em;*Em':VEm(N4ZEiBEml_T?@A^A np=I ԡ I O >-6,mt?A;ɰ;:u~@:X5@:TxEٱ: ^@ FAHRS rotation from veh to nav: [[-0.495435,0.867018,0.053145],[-0.868561,-0.495308,-0.016460],[0.012052,-0.054314,0.998451]]:H5߿?5?A!߿ڐ`㮈?ϫO?i:u~@I:&];:CYNȁByNIbDVVDVfy^Y =%^t=ٔb:Q-b?9`Y`=fFydf=:Ef?hQ 5nk5j6@?Q 9nk5j )jBYpyr"?Q Ir@jDIj;ij;jRk5ytɮvAtDNOT Ignoring new targets: 36.10 m.hh*h"h hgf!f!f!d!d)jd)Zd-`Jv@@ZIZIZIZM"?eTxE)a e%>ie9)amh3iiiim, qu2s=IqIq@ @@/@@=@=ԩ^A6s=I!I1OEs>E} E}E}'Ey"E} ;*E}k:VE}'4ZEya@a@a@a@ w6,Έ?A6~@6=@6w<ٱ6+[ >AHRS rotation from veh to nav: [[-0.494563,0.867565,0.052322],[-0.869065,-0.494420,-0.016559],[0.011503,-0.053661,0.998493]]6H߿@?ɪ?@b߿@ ܎?ly?i6~@I6R];6CYFЁByFIIJ=)J=lbDjVDj1yv=%vG=ٔz:Q-z>9xYx=zFy|~ ;E~>Q 5 k5=?Q 9 k5) BYyL?Q I@ DI-:i$:?Vk5yɮWAMDNOT Ignoring new targets: 36.10 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]Ϊ@@ZyZyZyZ}L?w<) $4>i9)顝;3ii+ v=III@Q @Q@Q@Q A A B!B!B%rIB%BB!B!B!B%m;B%u+EI^A@p=IIO>a E  E E &E "E ;*E :VE 4ZE BE O9YYY=]FyYe;Ee>qQ 5}k5u\:?Q 9k5u)uBYm>Q EH;ys?Q I@uDIuW-;iu4rZm>Z@Z&s?K.) =i_9)4!i!i-, )-#~=I)I)a@ @@@ԉ^A Bv=I I O- >Թ 6,>?A2z~@2 _@2{mٱ2H[ :AHRS rotation from veh to nav: [[-0.491020,0.869633,0.051356],[-0.871095,-0.490790,-0.017864],[0.009670,-0.053507,0.998521]]2Hl߿ ?@NK?i߿K ̓?`Ue?i2z~@I2H];2CYBׁByBIbDJVDJ:2yR$s%Vj=ٔV6;Q-V?9TYX=ZFyXZz;EZ?\Q 5bk5^7?Q 9bk5^)^ BYdyf?Q If@^DI^:i^g:^:]k5yhɮjAhDNOT Ignoring new targets: 36.10 m.hh*h"h hg f f f ddjdZd A@Z1Z1EA EEEE*EA"EA*EEخ:VEE(N4ZEAaM@aM@aM@aM@Z1Z5D?ԙ{m) $=i9)94ii+ s=II@ @@$1@@hA@hA^AS%}=II1O=>) 6,(?ABZȿ>BXBZIBZˁBBXBXBXBZm;BZ+E~ ~@~o@~Lٱ~v0\ AHRS rotation from veh to nav: [[-0.489238,0.870645,0.051224],[-0.872105,-0.488969,-0.018512],[0.008929,-0.053729,0.998516]]~H O߿R?@9? HDK߿I?@b?i~ ~@I~];|YЁBy%I ))iMb@Mb@Mb@ 9~jtȿ!rh̿V-?YDylg< A9@ )Y\AbDVDky5%=3=ٔ=:Q-=>9AYA=EFyAE;EM>iQ 5uk5m3?Q 9}k5mW)m)BY}>Q E}2;y}?Q I}@mDImX:ima:m@ak5yɮYADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffBd)d)jd)Zd-MA@Zm>Zm>ZmB@Zm@?L) T=i9)顭ER4ii, =IIEM EMEM'EI"EM;*EM:VEM'4ZEIBEM]ԑ G6,?A2Z @2@2ٱ2\ :AHRS rotation from veh to nav: [[-0.487413,0.871676,0.051087],[-0.873132,-0.487112,-0.019032],[0.008295,-0.053882,0.998513]]2H1߿?(?,߿`+}?`f@?i2Z @I2^;2CYBāByBIbDJVDJyr%rc=ٔrY:Q-v>9tYt=vFytz;Ez>|Q 5k5~0?Q 9k5~)~0BYy+?Q I @~DI~;i~;~Zdk5yɮA=DNOT Ignoring new targets: 36.10 m.h9hA*hA"hA hAgAfAfIfIdIdIjdIZdUsyA@ZqZqZqZu+?) =i9)額b4ii+ k@=IIYm9@i @q@u/@qԁEe EeEe(Ea"Ee7;*Ee:VEec44ZEaam@am@au@au@^A8=IIO>Թ 7,?Aɰ20@2ޒ@2<ٱ2/4] :AHRS rotation from veh to nav: [[-0.485508,0.872747,0.050943],[-0.874198,-0.485180,-0.019449],[0.007743,-0.053977,0.998512]]2H ߿@? =?m0 ߿V꓿?ޢ?i20@I2e^;2CYBByBIbDNVDNk1yR}%VN=ٔV:Q-V>9TYX=ZFyXZ;E^>\Q 5bk5^=-?Q 9bk5^)^8BYdyft?Q If@^DI^p:i^:^gk5yjْBɮn AnNEeDNOT Ignoring new targets: 36.10 m.haha*ha"ha hagafififididjdZdfA@ZZZZt?<) 8,=i*9)#m4ii, ڌ=II!ԩ@ @@@@=@=B<ABBBIBՁBBBBB>n;B+EByByByByByC};4^A-=I1IIOU> Ee  Ee Ee 'Ea "Ee ;*Ee :VEe '4ZEa BEe I\9)Y)=-Fy15;E=>AQ 5Mk5E(?Q 9Mk5E)EQ EUC;y]?Q I]@E DIE=N;iEtM;Ekk5yaɮm AiDNOT Ignoring new targets: 36.10 m.hh*h"h hgfff^BddjdZd@A@Z͊>Z͊>Zp@ZX?K}) ^>i9)i4ii+ X=IIQ!@! @!@!@!y^AM x=IQ Ii O} >ԩ .7,C?A6s@6@6=ٱ6S\@ BAHRS rotation from veh to nav: [[-0.481905,0.874763,0.050569],[-0.876195,-0.481551,-0.019770],[0.007057,-0.053836,0.998525]]6H޿`? "? @޿> |?S?i6s@I6[_;6CYJByJQIbDRVDRyZt)%Ze=ٔ^8:Q-^>9\Y`=bFy`bj;Eb>dQ 5jk5f%?Q 9jk5f)f?BYlyn @Q In@f#DIfU;if;fnk5ypɮr AtDNOT Ignoring new targets: 36.10 m.hh*h"h hgfE% E%E%&E!"E%;*E%:VE%4ZE!a-@a-@a-@a-@f1f1d1d9jd9Zd=CB@ZYZYZYZ] @u=)q u=iu9)quyiyi, ܒ=II@ @@0@Ա^A{=I!I1OEs> 7,.q]?AB(B(B*IB*BB(B(B(B*Bn;B*+ElYeBy'IiMMb@Mb@Mb@IIII I9M ףp= ǿy&1YMyMQ8M`eIM"@ MA)MAIYMAbDeVDe:2yum%u1=ٔuQ-}>9yYy=}FyyE>Q 5k5!?Q 9k5<)>BY`>Q Eq;y@Q I@&DI;i;rk5yɮ ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfff#BddjdZd OB@Z`>Z`>Zs_@Zq@)  >i9)!i!i-+ )-=I)I)bEÀ'4jE-4rEQ/E- E-E-(E)"E- ;*E-h:VE-c44ZE)BE-sTa b+7, w$7,?A2@2_ӆ@2ٱ2U>[ :AHRS rotation from veh to nav: [[-0.478609,0.876560,0.050761],[-0.877992,-0.478311,-0.018660],[0.007923,-0.053499,0.998536]]2H@޿ ?@f? ޿9?8d?i2@I2`_;2CYB)ByBIbDJVDJyR%VJ=ٔVQ-V>9TYX=ZFyXZx!;EZ>\Q 5bk5^?Q 9fk5^`)^BqBuMIBuBBqBqBqBum;Bu+E^A}=IIO >E]  E] E] 'EY "E] ;*E] :VE] '4ZEY BE] ]91Y1=5Fy15E=>9Q 5Ek5=[?Q 9Ek5=)=7BYM~ >Q EM;yM @Q IM@=.DI=;i=p;=~k5yYɮ]AYDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffBddjdZd`B@Z~ >Z~ >Zl@Zz @) R8>i9)f3ii, G[=III)fAIM 9@I  @I @M /@I @Q @U =q EU  EU EU (EQ "EU 7;*EU ą:VEU c44ZEQ ae @ae @ae @ae @^Am =Iq I O >17,}?A2@2ц@2 @ ٱ2Y :AHRS rotation from veh to nav: [[-0.478762,0.876440,0.051374],[-0.877890,-0.478564,-0.016892],[0.009781,-0.053188,0.998537]]2H@ ޿` ? M? @ˠ޿0L?w; ?i2@I2#^;2CYBByBIbDNVDNP)yRü%V=ٔV-Q-V@?9XYX=ZFyX^iOE^@?\Q 5bk5^?Q 9fk5^)^4BYdydQ If@^/DI^;i^;^k5yhɮn^AlDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd*C@Z9Z9Z9Z= @m @ )q up=iul9)quqiqi}+ y}=IyI@ @@4@Aa^AE=IIIaOm>ԙ B B B IB BBB  =B B B m;B +El77,?A:Ƣ@:3̆@:s3ٱ:_SZ JAHRS rotation from veh to nav: [[-0.479364,0.876075,0.051999],[-0.877548,-0.479224,-0.015942],[0.010953,-0.053274,0.998520]]:H޿??޿!S\n?F?i:Ƣ@I:\^;:CYRـByRzIi%Mb@Mb@Mb@!!!! !9%Q?i|?5Y%u9YYY=]Fyae[ӺEe>iQ 5k5m?Q 9k5m)m0BYdž=Q EIi}9)y}fQ3ii, 웗=IIE EE*E"EB;*EM:VE(N4ZEBEu >7,<?A:e@:@:)NKٱ:Z BAHRS rotation from veh to nav: [[-0.480661,0.875320,0.052719],[-0.876819,-0.480594,-0.014769],[0.012408,-0.053324,0.998500]]:H&޿?`?  ޿j?`i?HM?i:e@I:\7^;:CYJŀByJbIbDVVDVyZͽ%ZW=ٔ^{Q-^>9`Y`=bFy`bEf>dQ 5jk5f?Q 9nk5f)f+BYlyn8@Q In@f1DIf;if ;fk5ytɮvAtDNOT Ignoring new targets: 36.10 m.hh*h"h hgff!f!d!d!jd!Zd-C@ZIZIZIZM8@])NK)Y e%>iej9)aeaiaim+ im=IiIq1@1 @1@5/@1E EE(E"E9;*Ev:VEc44ZEa@a@a@a@^AU~=IiIO~>1Y D7,?AY~By~JIbD VD2y%%%D=ٔ%Q-%>9)Y)=-Fy)-E5>1Q 5=k55?Q 9Ek55k)5'BYAyAQ IE@52DI5";i5a;5k5yMԒBɮUAUDE}DNOT Ignoring new targets: 36.10 m.hyhy*hy"h hgfffddjdZdkC@ZZZZ) <=i9)'3ii, 5V=II1q@q @q@u/@qB<ABBBIBBB =BBBn;B+Ei^AU̓=IaIqO{>ԑE EE'E"E:*E:VE'4ZEBE5AHRS rotation from veh to nav: [[-0.484436,0.873138,0.054327],[-0.874690,-0.484524,-0.012416],[0.015482,-0.053534,0.998446]]6H߿?Ы?u q߿Xm??hE?i6cC@I6^;6CY^By^HIi}Mb@Mb@Mb@yyyy y9}Dl?:vQY}O=y}T}u}A}@ }`A)yyY}AbD VD:2y%B=ٔQ->9Y=Fy(E>Q 5k5 ?Q 9k5)$BY =Q E8iU9)QU3QiQi]+ Y]*=IaIaԑ@ @@@Թ^AM=IIO%>E  E E )E "E ;*E :VE FA4ZE a @a @a @a @ BR7,{H?A4<ɰ49Y=FyE%>)Q 5=k5-w ?Q 9Ek5-)-!BYAyEQ IM@-4DI-d;i-)f;-k5yQɮ]kAa DNOT Ignoring new targets: 36.10 m.h h *h "h  h gffQfQdYdYjdYZd];#D@ZZZZb<@{늼) d>ib9)顽v4ii, =III@I @I@M0@I^A%:=I1IAOM1>I B B B YIB BB B B B n;B +EBBBBBCH4=X7,b?A^L~@^um@^X~ٱ^Uw[ jAHRS rotation from veh to nav: [[-0.489427,0.870265,0.055679],[-0.871851,-0.489665,-0.010220],[0.018370,-0.053546,0.998396]]^H@R߿5? ?`3`V߿^ϒ?@_j?i^L~@I^H`;^CYnByr<IieMb@Mb@Mb@aaaa a9ex&?{Gz?{Gz?Ye7=ye#9Y=FyE>Q 5k5 ?Q 9k5C)$BY==Q EAZl@5X~)9 =k>i=9)9=V49i9Iim+ iuN =IqIy9@! @!@%)0@!q^Atn=II O >ԡ c^7,[|?A@YbByb@IbDjVDjk1yrT<%vV=ٔvQ-v>9tYx=zFyxzEz>|Q 5k5~ ?Q 9k5~)~&BY y Q I @|I~6:i~N:~k5yɮTAEDNOT Ignoring new targets: 36.10 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdUPD@ZqZqZqZq) r>i9)顕44ii, b=IIU9@Q @Q@U4@Qԩ^A-W^=I1IIOU>E EE%E"E;*EB:VE 4ZEa@a@a@a@ Le7,7?A2u~@25@2i٬ٱ2_[ :AHRS rotation from veh to nav: [[-0.495328,0.866832,0.057034],[-0.868450,-0.495708,-0.008276],[0.021098,-0.053631,0.998338]]2H u߿?3?W߿Ě?zu`b?i2u~@I2b;2CYNByRMIlbDZVDZNyvD=%vJ=ٔzܻQ-z>9xYx=~Fy|UEEU>YQ 5ek5] ?Q 9ek5])](BYiymhQ Im@]6DI]1:i]:]Ik5yqɮuAqDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZdD@ZZZZ5@i٬) B>i9)4ii+ \o=III ) 9@ @@3@@@hA AIAM@ABUȿ>BQBU:IBUBBU =BQBQBUn;BU+E1^A[=IIO%>bEUc44jEU34rEU30E EEE"E7;*E:VEZEBEZ9Y=FyE>Q 5k5?Q 9k58)/BY`=Q E7i}=9)y}4yiyi, 8s=II 9@  @ @ /@i^Am=IIO)>ԑ E  E E 'E "E ;*E P:VE '4ZE a @a @a @a @_r7,^?AYuBy}IbDVDԑy' >%M=ٔQ->9Y=FyE>Q 5k5?Q 9k5)6BYyQ I@8DI$:i:tk5yɮAUDNOT Ignoring new targets: 36.10 m.hQhQ*hY"hY hYgYfYfafadadajdaZdm&E@ZZZZ) >i9)顥ii+ II)@) @)@-/@)^AM.o=IYIiOu>BM ɿ>BI BM @IBM BBM  =BI BI BM n;BM +E! x7,?A:;ɰ8f}@f@frٱfç] rAHRS rotation from veh to nav: [[-0.502767,0.862441,0.058486],[-0.864106,-0.503261,-0.007033],[0.023368,-0.054074,0.998263]]fH`??|@?@?if}@If&b;fCYzByzIi}Mb@Mb@Mb@yyyy y9}V-?{Gz ףp= ?Y}9Y=FyĬE>Q 5k5V?Q 9k5)@BY݈=Q EFi9)額&3ii, R=IIl>i>=9@9 @9@=/@9@A@E=)^A% r=I) I O >Y ~7,?A2}@2݅@2ٱ2t] :AHRS rotation from veh to nav: [[-0.504584,0.861376,0.058533],[-0.863045,-0.505078,-0.007124],[0.023427,-0.054112,0.998260]]2H%@d??`)=.} Q??i2}@I2a;2CYB ByBIbDNVDN:2yVy(>%V^=ٔV)Q-V>9XYX=ZFyXZE^>`Q 5bk5b?Q 9fk5b)bIBYdyfBQ If@`Ibg:ib_:biU9)QUQiQi]+ Y]N=IaIaY9@ @@0@iIA^Adh=IIO>ԁE EE)E"Ef;*E:VEFA4ZEa@a@a@a@ԩ 虅7,=~?A6k}@6υ@6꒾ٱ6 ] BAHRS rotation from veh to nav: [[-0.506092,0.860501,0.058379],[-0.862166,-0.506574,-0.007335],[0.023261,-0.054045,0.998268]]6H19?? ܖ5 ~ї??i6k}@I6`;6CYF$ByJIbDRVDRyZ =%ZJ=ٔZ9Q-Z>9\Y\=^Fy`bEb>dQ 5jk5fO?Q 9jk5f)fSBYlynBQ In@f:DIf;if;fǮk5ypɮr AtDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffd!d!jd!Zd%ӻE@ZAZAZAZEXP@]꒾)Y ]>ie9)aaaiaim, imbI=IiIqԹ1@1 @1@50@1B<ABBBlIB̀BB =BBB#n;B+E^A=dO=IyIO~> E  E E &E "E ;*E :VE 4ZE BE QQc@N?@ @?i2`}@I2Y&`;2CYB9ByBI DDiMMb@Mb@Mb@IIII I9M=ٔ}:Q->9Y=Fy:E>Q 5k5?Q 9k5)aBY?=Q E;yu@Q I@;DI ;i:k5yɮ ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffBddjdZdE@Z ?=Z ?=Z P@Z u@%x)! %=i%9)!-2)i)i-+ 15_E=III@I @I@M 1@I@UhA@Q9^A|(H=II)O=>i K7,"6K?AE" E"E"'E "E"T;*E":VE"'4ZE a&@a&@a&@a&@(:}@:*@: ٱ:X] FAHRS rotation from veh to nav: [[-0.507618,0.859652,0.057645],[-0.861303,-0.508019,-0.008571],[0.021917,-0.054000,0.998300]]:Hh>`D?@?@̏ A`Kq?@륫?i:}@I:_;:CYNYByNIbDVVDVky^~'>%^W=ٔb;Q-b>9`Y`=fFydfEf>hQ 5nk5j(?Q 9nk5jJ)jmBYpypQ Ir@jie>9)aeaiaim, im;D=IiIqi @  @ @ 4@ ԙ^A-B=I9IIO]> B ο>B CB IB BB  =B B wDB n;B +E٘7,6e?APeJ}@et@e㫼ٱer] AHRS rotation from veh to nav: [[-0.507598,0.859694,0.057192],[-0.861339,-0.507944,-0.009386],[0.020981,-0.054026,0.998319]]eH=>?@HH? A9|?Q:?ieJ}@Ie^;eCY\ByIE- E-E)E)"E-a;*E-^:VE)ZE)BE-h9Y=Fy8E>Q 5k5b?Q 9}k5 )}BY.A>Q E;yk@Q I@?DIZU.A>ZUƀ@ZURk@㫼) #=i9)額@2iiu+ quD=IqIy9@ @@?0@! ^A B=I I O >7,h?Aɰp;$R+}@RŅ@R_ġٱR5`] jAHRS rotation from veh to nav: [[-0.507143,0.860004,0.056556],[-0.861635,-0.507421,-0.010409],[0.019746,-0.054010,0.998345]]RH:@'? ?<Q58?2q?iR+}@IR&^;RCYrnByr2Iv=v=bD~VD~NyM{=%M=ٔU;Q-U?9QYQ=]FyY]D:E?Q 5k5?Q 9k5)BYyz@Q I@ADI-:i;kk5y!ɮ%0 A!uDNOT Ignoring new targets: 36.10 m.hqhq*hq"hq hqgqfffddjdZdF@ZZZZz@q_ġ) |=i9)ii, F=IIEM EMEIEI"EM;*EMZ:VEIZEIa]@a]@a]@a]@@ @@\4@ԡ ^A- 4|E=I9 IQ O] >Z77,?A6*}@6dͅ@6H•ٱ6Ѓ\ BAHRS rotation from veh to nav: [[-0.506369,0.860520,0.055644],[-0.862123,-0.506568,-0.011513],[0.018280,-0.053802,0.998384]]6H,4`?V}?`5-?㋫?i6*}@I6_;6C\YbBybLIbDjVDjy=% P=ٔ u;Q- >9Y=Fy;E=>9Q 5Ek5=o?Q 9Mk5=)=BYIyM@Q IM@=DDI=:i=I:=k5yyɮ} AyDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffdqdjdZd F@AAAABп>BBIB=BB =BBB n;B+EBBCBB =B =CY5ZIZIZIZM@]H•)a eP=iey9)aaaiii+ I=II9@ @@/@!Em EmEm&Ei"Em;*Em:VEm4ZEiBEmda7,?A2T}@2yׅ@2ٱ2[ :AHRS rotation from veh to nav: [[-0.505320,0.861190,0.054805],[-0.862768,-0.505443,-0.012613],[0.016838,-0.053658,0.998417]]2H`+ݎ?@b?ʛ,ԉ>?x ?i2T}@I2g_;0YNByNTI!iMb@Mb@Mb@ 9'1ZĿK7ɿ~jt?Y"yID= A /A)YQA <4<bDVDy%<%-9=ٔ-EV;Q-->9QYQ=UFyQ]5;E]>aQ 5mk5e6?Q 9mk5e])eBYm>Q EmN;ym?Q I@eGDIe.;ie;ek5yɮW AADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffzBddjdZdKG@Z>Z>Z @Z?) )7,5$?AhY-ByMUIbDeVDe:y;%I=ٔQ->9Y=FyE>Q 5k5G?Q 9k5)BYyQ I@JDI:i:k5yɮO A5DNOT Ignoring new targets: 36.10 m.h1h1*h1"h9 h9g9f9f9fAdAdAjdAZdmn0G@ZAZAZAZAY)Y ]=i]9)Y顅2ii+ N_M=IIe9@i @i@m/@i)BMҿ>BMCBM4IBMpBBM =BIBIBMn;BM+E^A} ON=I I O >Y ǹ7,?AN}@N@N"aٱNB[ ~AHRS rotation from veh to nav: [[-0.502375,0.863017,0.053115],[-0.864541,-0.502339,-0.014995],[0.013741,-0.053454,0.998476]]NHt՝?1?@Q`)@ֵ$?`G^?iN}@INz3`;LY By LIDzD?AbEM'4jEM*4rEMg/E EE*E"E ;*Eh:VE(N4ZEBER9 Y = Fy;E>9Q 5Ek5=$쐊?Q 9Ek5=)=BYM܎>Q EM>;yM?Q IM@=ODI=q:i=:=]k5yUҒBɮUv AYUCEeDNOT Ignoring new targets: 36.10 m.haha*ha"ha hagafififmBdidqjdZd@qG@Z܎>Z܎>Zꂁ@Z?"a) ƣi9)$2ii, %FZ=I!I!ԉA@A @A@E/@AԱ ^A- JM=I9 II OU >7,?A^~@^@^Gٱ^=Z fAHRS rotation from veh to nav: [[-0.500693,0.864041,0.052342],[-0.865539,-0.500580,-0.016197],[0.012207,-0.053414,0.998498]]^H`9? ̪?~蕐? Y?i^~@I^p`;^CY~By~GI AA bDVDܲy%%%=ٔ%;Q-%?9)Y)=-Fy)Us;EU?YQ 5ek5]鐊?Q 9ek5]{)]BYaye?Q Ie@]QDI] :i]:]k5ԑyɮ ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd`G@ZQZQZQZU? G)  i9)mQ1iE% E%E%+E!"E% ;*E%:VE% [4ZE!a-@a-@a-@a5@i+ Y]k``=IaIaԹ9@ @@ 0@^A[=IIOi> ?7,{?Aɰ4<2)3~@2d@2u/ٱ22Z :AHRS rotation from veh to nav: [[-0.498933,0.865101,0.051632],[-0.866575,-0.498745,-0.017388],[0.010709,-0.053418,0.998515]]2H߿?@o?n߿Α`?Y@?i2)3~@I2`;2CYfrByf7IbDrVDry%Z~%-J=ٔ-1s;Q-->91Y1=5Fy15;E]>aQ 5ek5e搊?Q 9mk5e)eBYiymY?Q Im@eUDIe:ie:ek5yɮ ADNOT Ignoring new targets: 36.10 m.hh*h"h hgffB<A<B Կ>B B MIB BB  =B B xDB  n;B +EfddjdZd)G@ZZZZY?-u/)i m_im@9)qu%qiqi}, y}ff=IyIQ9@ @@1@E= E=E=)E9"E=;*E=:VE=FA4ZE9BE=eԙ }7,|6?A2LO~@2u"@2hٱ2Z :AHRS rotation from veh to nav: [[-0.497451,0.865996,0.050926],[-0.867442,-0.497194,-0.018488],[0.009310,-0.053372,0.998531]]2H<߿@=??߿i?S?i2LO~@I2`;2CYR]ByRIi Mb@Mb@Mb@     9 +ÿ|?5^ɿ:v?Y y M T< & A f@ A) A Y AbDEVDEyUԹ%U9=ٔ]O;Q-]>9YYa=eFyae&~;Ee>qiQ 5k5m␊?Q 9k5m )mBYp>Q EP;y?Q I@mXDIm;im;mkk5yɮ A}DNOT Ignoring new targets: 36.10 m.hyhy*hy"hy hygfffXBddjdZdoH@Zp>Zp>Z@Z]?h)) -;i-`9))-)i)i5+ 1=TSl=I9I9I)ԡ9@ @@4@EM  EM EM (EI "EM ;*EM :VEM c44ZEI aU @aU @aU @aU @^A Qf=I I O > c7,XWP?AYnOByn I v491Y1=5Fy15E]>aQ 5ek5eߐ?Q 9mk5e)eBYiyiQ Im@e[DIe :ie:ek5yɮ AMDNOT Ignoring new targets: 36.10 m.hIhI*hI"hI hIgIfQfqfqdydyjdyZd}$3H@ZZZZ) >i9)Qii, wk=II A@A @A@E2@ABҿ>BCB@IBzBB =BBwDBm;B+E) ^A np=I I O >a r!7,}j?AEn EnEn+El"En ;*En:VEn [4ZElBEnsT9Y=Fy;E> Q 5 k5 8ܐ?Q 9k5 ") BY!^>Q Et;y?Q I@ _DI :i @: k5yAɮE AADNOT Ignoring new targets: 36.10 m.hh*h"h hgfff3BddjdZd`tH@Z!^>Z!^>Z@Z? )  ;i ^9) ;:i9i=+ AE'u=IAIA9@ @@4@a ^A h=I! I1 O= >L7,6"?A(Bߎ~@B?B@BWĻٱB+Z nAHRS rotation from veh to nav: [[-0.494094,0.868008,0.049325],[-0.869388,-0.493678,-0.021135],[0.006005,-0.053325,0.998559]]BH:߿? A?k߿@x?tM@2?iBߎ~@IB_;@Yv!ByvIbD%VD%y5 %5=ٔ5J;Q-5 ?99Y9==Fy9=k;EE ?AQ 5uk5E$ڐ?Q 9uk5E})EBYqyu?Q Iu@EaDIEl;iE;Ek5yɮ ADNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZdH@ZZZZ?5WĻ)1 5 i=9)9=9i9ie, aex=IiIiu{>iu>ԉE  E E 'E "E ;*E Ǚ:VE '4ZE a@a@a%@a%@9@ @@/@^Ar=IIOD>ԩ e!7,B?A2~@2DE@2ٱ2%Z :AHRS rotation from veh to nav: [[-0.493775,0.868214,0.048894],[-0.869574,-0.493327,-0.021680],[0.005298,-0.053222,0.998569]]2H߿h?@? ߿(3@u??@F?i2~@I2"_;0YN ByNI\bDZVDZ0yfX޽%fR=ٔjw:Q-j>9hYh=nFyl~t:E>Q 5 k5א?Q 9k5e)BYy,?Q I@dDI:i:AA@ABտ>BCBIB[BB =BBxDBm;B+E#k5yɮ5A DNOT Ignoring new targets: 36.10 m.h h *h "h  h gf1f1f9d9d9jd9ZdECH@ZZZZ,?=)9 =iE9)AAAiAiM+ imy=IqIq@ @@/@E- E-E-)E)"E-;*E-:VE-FA4ZE)BE-l_a K7,Hķ?A6~@6D@6.ٱ6Z BAHRS rotation from veh to nav: [[-0.493837,0.868188,0.048720],[-0.869540,-0.493373,-0.021986],[0.004949,-0.053221,0.998571]]6H ߿ 3?? Fj߿`rEt?? J?i6~@I6^;6CYNByNIV=V=9iMb@Mb@Mb@ 9+x&~jtxYy7 Ļ AO@ A)AY(AbD VD fy=%=5=ٔ=J:Q-E>9AYA=EFyAM%EM>Q 5k5Ԑ?Q 9k5)Y>Q E;yK@Q I@fDI:ij:k5yВBɮA:EDNOT Ignoring new targets: 36.10 m.hh*h"h hgf!f!f%Bd!d)jdZdsI@Z->Z->Z-@Z-#K@=.)A E#=iE9i)額02ii, =y=II@ @@@ԑE-  E- <E- *E) "E- ;*E- 1;VE- (N4ZE) a5 @a5 @a5 @a5 @^A} |=I I O > 27,?AY~րBy~wIbDVDyF%%^=ٔ%Q-%>9)Y)=-Fy)-E5>1Q 5=k55$Ґ?Q 9Ek55)1YAyAQ IE@5hDI5;i5;5?k5yIɮMAQ}DNOT Ignoring new targets: 36.10 m.hyhy*hy"h hgfffddjdZd@1I@ԙZZZZ) (i9)ii+ )!y=II9@ @@4@BԿ>BBIB#BB =BBwDBkn;B+EBeCBeCBaBe =Be =Ce5^AC|w=IIO>! _7,?AEr ErEr(Ep"Era;*Er5:VErc44ZEpBErh9aYa=eFyamX#Em>qQ 5}k5uА?Q 9}k5u)qY=Q Eq hD8,P?A2l~@21@2nٱ2Z :AHRS rotation from veh to nav: [[-0.495916,0.867018,0.048458],[-0.868359,-0.495429,-0.022430],[0.004560,-0.053203,0.998573]]2H߿? Ϩ? ߿ ׭r?\= P?i2l~@I2];0Y^BybHI dddfAbDjVDjfyr #%rf=ٔvQ-v>9tYt=zFyxzFlEz>|Q 5k5~ΐ?Q 9k5~)~BY y @Q I @~jDI~ :i~:~?k5yΒBɮA9E]DNOT Ignoring new targets: 36.10 m.hYhY*hY"hY hYgafafafadidijdqZdu@I@ZIZIQZIZM@n)  ԩ n8,|,?A6)R~@6#@6ٱ6Z BAHRS rotation from veh to nav: [[-0.497315,0.866204,0.048676],[-0.867556,-0.496838,-0.022300],[0.004867,-0.053320,0.998566]]6H߿??`3߿Ֆs?L??i6)R~@I6B^;6CYJByJBIbDRVDR:yZ %ZM=ٔ^nJQ-^>9\Y`=bFy`bȄEb>dQ 5jk5f̐?Q 9jk5fe)dYhynu@Q In@fkDIf:if;fk5ypɮrApDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffd!d!jd!Zd% 0I@B9A=<BEѿ>BECBEIBEBBABABABEn;BE ,EZaZaZaZeu@})y }i}9)顁ii, 6k=IIԹ1@1 @1@5/@1bEFA4jE?4rE?/E EE'E"E;*E:VE'4ZEBE` 9 8,:9?AYvByvIiuMb@Mb@Mb@qqqq q9uMb`~jtYuyuDuu AuO@ uA)qqYuAbDVD1y%<=ٔQ->9Y=FyE>Q 5k5:ː?Q 9k5)YD=Q Ei E  E E (E "E %;*E :VE c44ZE a @a @a @a @8,R?A 2'~@2@23ٱ2Z >AHRS rotation from veh to nav: [[-0.500593,0.864292,0.049055],[-0.865665,-0.500145,-0.021901],[0.005606,-0.053429,0.998556]]2HG??/Jmv? [+?i2'~@I2^;2CYFByFIIJ4=)Jp;J=J=bDRVDRk1yZt^%ZZ=ٔZQQ-Z>9\Y\=^Fy\b%Eb>dQ 5jk5fɐ?Q 9jk5f)fBYhyj$@Q Ij@dIf:if9:fk5ypɮrcAp DNOT Ignoring new targets: 36.10 m.h h*h"h hgfffdd!jd!Zd%@2J@ZAZAZAZE$@U3) 0BABEFIBEBBE =BABEvDBE&o;BE$,E^Azl=IIO> C= Gq 8,m?AE* E*E*+E("E* ;*E*v:VE* [4ZE(BE*R2E*RJE*;a>:E*;aB@Lf.9dYjAe}@@jJǻٱx[ AHRS rotation from veh to nav: [[-0.502374,0.863240,0.049374],[-0.864629,-0.501943,-0.021664],[0.006082,-0.053574,0.998545]]H`r? G?  / Cx?n`?ie}@I8 _;CY-|By-Ia@a a@a a@a a@a bDVD:2yUǼ%1=ٔQ->9Y=Fy E>!Q 5-l5%]Ȑ?Q 9Ml5%)%BQ AU+:YQQ EU_%l5yYɮ]AaDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZd oJ@5jJǻ)9 =Y !8, ?A2}@2@2ջٱ2-[ :AHRS rotation from veh to nav: [[-0.504395,0.862056,0.049449],[-0.863449,-0.503985,-0.021337],[0.006528,-0.053458,0.998549]]2H $?RQ?_ Nٕ@z?^?i2}@I2/_;2CYVxByVI df4<bDnVDn1y~%e=ٔѥQ->9 Y = FyػE>!Q 55l5%(ǐ?Q 95l5%K)!Q A= :Y9Q E=5 >'8,q?A2Φ}@26΅@2ٱ2ܛ[ >AHRS rotation from veh to nav: [[-0.506354,0.860887,0.049790],[-0.862296,-0.505967,-0.021042],[0.007078,-0.053588,0.998538]]2H@4b?~?0 􋕿n|?o ?i2Φ}@I2_;2CYBrByFIbDNVDN1yVY%VP=ٔVNQ-Z>9XYX=ZFyX^E^>`Q 5fl5bŐ?Q 9jl5b)bBQ Aj9YhQ EjB)B-IB-BB- =B)B)B- o;B-,Eyyɮ}AԹDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZdTJ@M)Q UiU9)quqiqi}+ yH=II@ @@3@E EE'E"ET;*E:VE'4ZEBEGAY -8,+O?A6}@6@6߱ٱ6dw[ BAHRS rotation from veh to nav: [[-0.508367,0.859689,0.049971],[-0.861107,-0.508002,-0.020700],[0.007589,-0.053553,0.998536]]6H@D@?@ĕ?@0Ap2`(?\k ?i6}@I6Ԝ_;6CYJyByJIaa aa aa aa iMb@Mb@Mb@ 9I +?Q~jt?Y99Y=FykE>Q 5l5Đ?Q 9l5)BQ AT:Y+=Q EԉE  E E %E "E +$;*E :VE 4ZE a @a @a @a @Թ 48,]7?A2X}@2B@2$ ٱ2[ >AHRS rotation from veh to nav: [[-0.510445,0.858442,0.050242],[-0.859872,-0.510106,-0.020319],[0.008186,-0.053574,0.998530]]2HUZx?a?@RΔ@À?n?i2X}@I2_;2CYF|ByFIJ@AHbDNVDNyV<%V]=ٔZӺQ-Z>9XYX=^Fy\^ֻE^>`Q 5fl5b_Ð?Q 9fl5b)bBYdyjAQ Ij@`Ib6:ib :b l5ylɮnAl DNOT Ignoring new targets: 36.10 m.h h *h "h  h g fffddjdZd5K@Z9Z9Z9Z=y#P@U$ )Q U=iU9)Y]3YiYie+ aex8=IaIaԉ@ @@/@@=@=ԹBֿ>BCBIBmBB =BBxDBo;B,E^A5K@=I9IIO]v> 3:8,j?AEV EVEV)ET"EVa;*EV:VEVFA4ZETBEVh9Y=FyE>Q 5l5?Q 9l5)BYu=Q E]MA8,?A Z}@Zͅ@Z@ٱZ[ zAHRS rotation from veh to nav: [[-0.513948,0.856323,0.050679],[-0.857773,-0.513646,-0.019812],[0.009065,-0.053653,0.998519]]ZHCr@f??r`oI`א?@jx ?iZ}@IZD_;ZCY y IbDVD02y-!;%-f=ٔ5鷺Q-5>91Y9==Fy9=ŻE=>AQ 5Ml5E?Q 9Ml5Eg)EBYQyUM@Q IU@AIE:iE:E/l5yYɮ]\AYDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffddjdZdK@ZZZZM@@) i)ii+ q+=IIi@ @@/@E EE+E"E ;*EB:VE [4ZEa@a@a@a@ԙ^A2=IIO> 8 H8,!?A2s|@2t@2bGٱ2'[ :AHRS rotation from veh to nav: [[-0.515752,0.855225,0.050888],[-0.856684,-0.515475,-0.019448],[0.009599,-0.053626,0.998515]]2H@ ^??`i~(꓿ب?`t?i2s|@I2j)_;2CLYRByR!IB^<A^<Bbѿ>B`B`B`Bb =B`BbwDBbn;Bb+EBCBCBCBB =C6bDZVDZk1yz\=%zN=ٔzQ-~>9|Y|=Fy=E> Q 5l5 ?Q 9l5 ) BYy$@Q I@ qDI +! 5N8,;?A62|@6e@6$"ٱ6>n[ >AHRS rotation from veh to nav: [[-0.517280,0.854299,0.050937],[-0.855759,-0.517017,-0.019243],[0.009896,-0.053544,0.998516]]6HkV?k?`bfZD?j?i62|@I6^;6CYFByF,I HHLNAi%Mb@Mb@Mb@!!!! !9%:vV-Q?Y%Ty%h%\=% A%O@ %EA)%A!Y%AbD=VD=yM*=%ME=ٔM;Q-M>9QYQ=UFyQUE]>aQ 5ml5eɽ?Q 9ml5e)eBYmI=Q Eu%E  E E )E "E ;*E :VE FA4ZE a @a @a @a @ԁ U8,qU?A6o|@6Y@6S'ٱ6][ BAHRS rotation from veh to nav: [[-0.518571,0.853503,0.051157],[-0.854974,-0.518320,-0.019101],[0.010213,-0.053644,0.998508]]6H!`O?J1?[@Uc?@-w?i6o|@I6^;6CYFByJ>IbDPVDPyZ=%ZT=ٔZWQ-Z>9\Y\=^Fy\bEb>dQ 5jl5f?Q 9jl5f)fBYhyj@Q Ij@fsDIf:if :fl5ypɮr1ApB*** querying acoustic contact ***i iDNOT Ignoring new targets: 36.10 m.hh*h"h hgff!f!d!d!jd)Zd-7L@ZIZIZIZMo@YeS')a eie9)imeiiiiu, qu*"=IqIy@ @@>2@U2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.ԉBտ>BBIBwBB =BBBgn;B+E^A5!=IAIYOew>Ա  *DAT read: user:428>  BDAT read: Tx time:05:30:44.7231  $Ping request sent. 9Y=Fy8JE>Q 5l5}?Q 9l5)BYM=Q EM;yM @Q IM@uDIp@b8,t?A:ɍ|@:A@:*.ٱ:Z[ BAHRS rotation from veh to nav: [[-0.521053,0.851979,0.051339],[-0.853458,-0.520820,-0.018868],[0.010664,-0.053647,0.998503]]:HviC?(I?OR օ? w?i:ɍ|@I:"^;:CYJByJUIIN<)NR=Rp=bDVVDV02y^0=%^=ٔ^vQ-b?9`Y`=bFy`f펻Ef?hQ 5nl5j޷?Q 9nl5j,)jBYlynr @Q Ir@jvDIj/;ij+;j#l5ytɮvAtDNOT Ignoring new targets: 36.10 m.hh*h"h hgff!f!d!d!jd)Zd-`ΟL@ZIZIZIZMr @e*.)a e[ie9)imFiiiiu, checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502975t=IIEu EuEu)Eq"Eu ;*Eu:VEuFA4ZEqa@a@a@a@9@ @@g4@^Al=IIO>IM checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755068y =ih8,VG?AA A B&ٿ>B&CB&!IB&BB& =B$B&xDB&"n;B&+EVBx|@V6@VC 2ٱVZ[ bAHRS rotation from veh to nav: [[-0.522173,0.851292,0.051364],[-0.852771,-0.521950,-0.018728],[0.010866,-0.053580,0.998504]]VH`=?RL?I г@X-+A?n`?iVBx|@IV];VCYf̀ByfkIbDrVDryzu=%zG=ٔzQ-z>9|Y|=~Fy|QE> Q 5 l5 ?Q 9l5 7) BYy[ @Q I@ wDI :i : T'l5y!ɮ%A!MDNOT Ignoring new targets: 36.10 m.hIhI*hI"hQ hQgQfQfYfYdadajdaZde`mL@ZZZZ[ @C 2) i9)顥yYii+ Lu =IIYm9@i @i@u/@qeG}(hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007432@9(hAYkAԉE EE,E"E;*E:VEg4ZEBE/Nԩ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258799n8,8?A29m|@2l1@2b0ٱ2[ :AHRS rotation from veh to nav: [[-0.522747,0.850937,0.051398],[-0.852419,-0.522518,-0.018879],[0.010792,-0.053682,0.998500]]2H X :?P?@GvT ? '|?i29m|@I2M];0YBˀByBjIieMb@Mb@Mb@aaaa a9eMbX9p= ף/$?Yeʡyee,=e AeA e/A)eEAaYeA y}<bD}VD}0yF%@=ٔ79Q->9Y=Fy}ϺE>Q 5l5U?Q 9l5)*BY!>Q E;y-@Q I@yDI" ;i ; +l5yɮADNOT Ignoring new targets: 36.10 m.Resuming propulsion at range: 36.30 m and bearing: 355.522704 deg. Not drifting fast enough.rh@h D@h*h"h hL?gf!f!f%Bd)d)jd)Zd- M@ԡZ!>Z!>ZR@ZW-@ɢܗ)e \i 9) ᒳ i Ki m=ID@IA9@ @@/@@fA@fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510790 ^Ae  =E  E E )E "E ;*E ^:VE FA4ZE a @a @a @a @Iy I O >) zu8,?A2@^|@2)@21ٱ2[ :AHRS rotation from veh to nav: [[-0.523526,0.850460,0.051372],[-0.851941,-0.523298,-0.018863],[0.010841,-0.053642,0.998501]]2H@ 6?}M?`C۾P3?v ?i2@^|@I20~];2CYB؀ByByIbDNVDNyVq=%V[=ٔV Q-V>9XYX=ZFyXZ E^>`Q 5fl5b9?Q 9fl5bd)b3BYdyf@Q If@b{DIb:ib:bN.l5ylɮnAl DNOT Ignoring new targets: 36.10 m.hh*h"h hgfff1: tAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyq:t9BMؿ>BIBMFIBMBBM =BIBIBM%n;BM+Ei  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015592K{8,?AE, E.E.'E,"E,*E.:VE.'4ZE,BE.R zI? :n ?iMhJ|@IM3D];MCYm܀BymIiMb@Mb@Mb@ 91ZdjtĿˡE?Y"۽y '=S A|@ EA)AYAbDeVDefyuӕ<%u%=ٔu9Q-}>9yYy=}Fyy E>Q 5l5?Q 9l5#)?BYG>Q E;y?Q I@~DI:i:2l5y̒BɮA8EDNOT Ignoring new targets: 36.10 m.hh*h"h hgfffBdddjdZd8zM@Z G>Z G>Z C@Z T?ʀBɢ%cu;)! %=i!)-W8))i-aMi5D15Ȩ!>I1I9IA)EgA9@ @@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266973! ^A] np=Ii Iy O > 8, ?A|Y߀ByI  AAbDVDf?y%B<%%y=ٔ-Q--?9)Y)=5Fy15E5?9Q 5El5=?Q 9El5=)=GBYIyIQ IM@=DI=:i= :=5l5yQɮUiAQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519026DNOT Ignoring new targets: 36.10 m.hh*h"h hgfffdddjdZd`EM@ZZZZ颹ɢL;) x(=i)8iNi;a>IIEU EUEU+EQ"EUI;*EU:VEU [4ZEQa]@a]@a]@ae@)Β{Q9@ @@/@@=@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770714^A ǒ=I I O >ԁ B= <A9 BA BE CBE fIBE ȀBBE  =BA BA BE n;BE +E18,L$?A2E|@2@2C-ٱ2[ :AHRS rotation from veh to nav: [[-0.524794,0.849690,0.051176],[-0.851164,-0.524551,-0.019147],[0.010575,-0.053608,0.998506]]2H``0?@3?< fd?zr?i2E|@I2tI];0YBy IbDVDk2y-<%-J=ٔ-9Q-5>91Y1=5Fy1=2E=>AQ 5Ml5Ep?Q 9Ml5EϽ)EQBYIyU?Q IU@EDIEB:iE[:E 9l5ayqɮuKAyDNOT Ignoring new targets: 36.10 m.hh*h"h hgf f f dddjd!Zd%M@ZZZZ?1ɢ5Re;)1 5H=i1)=899i=yNiELAE >IAII- &i߉IߍABDAT read: Rx Time:05:30:47.1814 TRx dataTimestamp_ set to:1761543048.721071checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025229ԩ@ @@0@Em EmEm&Ei"Em;*EmǙ:VEm4ZEiBEm` = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274926(8,l>?A2A|@2@2*ٱ2[ :AHRS rotation from veh to nav: [[-0.525002,0.849568,0.051071],[-0.851037,-0.524751,-0.019272],[0.010426,-0.053581,0.998509]]2H `/?@%?;@ }Z?n@?i2A|@I2];2CYbBybIiMb@Mb@Mb@ 9K7Aktƿ9!Y)=-Fy)5%E5>9Q 5=l5=`?Q 9El5=`)=\BYE^>Q EEt;yE?Q IE@=DI=U:i=:="=l5yQɮU?AQ}DNOT Ignoring new targets: 36.10 m.hyhy*hy"h hgfff'BdddjdZd N@Z^>Z^>Zq@Z?ɢs;) W=i)^.9i~Oi[#IIDAT read: 05:30:47.1814 LVL= 17392, 13601, 27186, 29347, AGC= 54, IDX= 503,-0.25, 1.632, 1.468, 0.105, 1.601, PHS= 0.133,-0.088,-1.540, RAW= 37.0, 18.6, CAL= 33.5, 21.5, ROT= 116.5, -21.5 Ygot valid direction response: 05:30:47.1814 LVL= 17392, 13601, 27186, 29347, AGC= 54, IDX= 503,-0.25, 1.632, 1.468, 0.105, 1.601, PHS= 0.133,-0.088,-1.540, RAW= 37.0, 18.6, CAL= 33.5, 21.5, ROT= 116.5, -21.5 PDAT read: Bearing 160.2, 53.6 (Local) ~Local bearing/azimuth received: Bearing 160.2, 53.6 (Local) DAT read: Range 11 to 50 : 40.5 m (Round-trip 54.1 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.415150,0.832663,0.366501]Fpublishing direction and range infoy@ґڿf.R7,?ѨCt?Y"BC!52j r)6I'1>iX9ſMQ%?6>? 7 >)!@I7 Ȳ?>ItNx !_? u)ۥI!@i7 9iEu  Eu Eu *Eq "Eu %;*Eu $:VEu (N4ZEq a} @a @a @a @ 9@  @ @ /@ @ gA@ ^A] 1>i I I O >ȕ8,[BX?AYBy I <bDVD:2y-$<%-q=ٔ5Q-5?91Y1=5Fy1=E=?AQ 5Ml5E'?Q 9Ml5E)EcBYIyQQ I]@EDIET;iE;E@l5y͒BɮAiiIN?AJi!BRi!BjiE@bO˽ڝ0Y@@#t'-@R@ґڿf.R7,?ѨCt?Zi!@bi7 j؊.C@uO9 <$i)@Z=<5?EŦO7'|/I?2ii:iB"in(?*iBisBi%?iiuBiBi0<@ addTargetRange:: Added new target pos. range: 40.500000 m, deltaT: 60.286372 s, deltaX: 4.200001 m, approachRate: 0.069667 m/s, rangeRepo size: 4  Added new target pos. range: 40.277370 m, bearing: 354.512532 deg, lat: 36.779333 deg, lon: -121.859652 deg, deltaT: 60.286372 s, deltaX: 4.178421 m, approachRate: 0.069310 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjd@D@ZdVA?Z!Z!Z!Z!5ɀB1ɢ5@;)9 E<=iA)E%]9AAiEKPiM,(IIIIIQYYYYaBڿ>BCBIB܀BB =BBBm;B+EBCBCBœCB =B =CŐ6@ @@1@ԑԹ ^A I >E  E E 'E "E ;*E :VE '4ZE BE dj8,t?AAB|@@ٱ[ AHRS rotation from veh to nav: [[-0.524987,0.849607,0.050564],[-0.851055,-0.524701,-0.019837],[0.009677,-0.053447,0.998524]]H@/?}?@; Z@FPnу?`f] ?iAB|@I\;CԡYByI iuMb@Mb@Mb@qqqq q9ux&ClǿQ?Yu7 yud;u9Y=Fy>8E>Q 5l5à?Q 9l5)mBYHj>Q Eh;y?Q I@DI ;i ;ODl5yɮ7ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfff=Bdd d jd Zd 7?Z-Hj>Z-Hj>Z-=@Z-ڬ?AɢEn};)A Ed=iA)M` 9IIiM!QiU].QQIQIY9@ @@v3@^Ah"%>I)IAOMR>) -H8,Í?AJD|@J4@JGٱJe[ RAHRS rotation from veh to nav: [[-0.524857,0.849696,0.050423],[-0.851139,-0.524558,-0.020060],[0.009405,-0.053445,0.998527]]JH`0?Щ?<-@B?@&]?iJD|@IJp];JCYZ׀ByZxIbD`VD`yj籽%jn=ٔnO:Q-n?9lYp=rFypr9Er?tQ 5zl5vW?Q 9zl5v)vsBY|y~?Q Ie@vDIvi{AmgAzAmhAIIO$>AԡA @AA ?AB ܿ>B B IB BB =B B B m;B d+EԹ +t8,즧?Aj@|@j@j-;ٱjmZ vAHRS rotation from veh to nav: [[-0.525101,0.849548,0.050364],[-0.850988,-0.524803,-0.020031],[0.009413,-0.053377,0.998530]]jH/?Gɩ?K;0SG?JT@?ij@|@Ij*];jCYz̀By~kIbD VD 1yD%F=ٔQ->9!Y!=%Fy!--6E->1Q 5=l55o?Q 9=l55ʲ)5|BY9y=?Q I=@5DI5;i5;5Jl5yIɮMAIDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjd Zd f?Z1Z1Z1Z5?EʀBɢE84:)A M;iI)MM9IIiM>9RiUD8QYIYIYԑ9@  @ @ /@ ^A-u>bEFA4jEh=4rE0Ee EeEe'Ea"Ee:*Ee՚:VEe'4ZEaBEe3 :Z8,pz?AJwA|@J@J4ٱJ6nZ RAHRS rotation from veh to nav: [[-0.525030,0.849603,0.050183],[-0.851034,-0.524723,-0.020176],[0.009190,-0.053300,0.998536]]JH@ @/??; U҂? +J@?iJwA|@IJq\;HYZĀByZaII^%=)^9qYq=uFyq}U9E}>Q 5l5?Q 9l5)BYV>Q E};y?Q I@DI:i<:Nl5yɮFADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd?ZV>ZV>Zɂ@Z7?ɢ) @4i)y9顙i.RiE>II9@ @@0@E} E}E})Ey"E};*E}Z:VE}FA4ZEya@a@a@a@^A1>AR=A<I1 IA I OU >8,k?A6C|@6[@6Vٱ6O] BAHRS rotation from veh to nav: [[-0.524948,0.849633,0.050530],[-0.851090,-0.524602,-0.020949],[0.008709,-0.054003,0.998503]]6H`10?ߩ? <`s<ց?:@?i6C|@I6];6CYJByJHIbDRVDRyZԽ%ZV=ٔ^:Q-^>9\Y\=^Fy`b9Eb>dQ 5jl5f+?Q 9jl5fŮ)fBYlyn?Q In@fDIf;if;fQl5yrʒBɮrAr/EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd @Z)Z)Z)Z-#?9ɢ= X)9 =8RiA)ECw9AAiERiMCIIIQIQA9@ @@0@B޿>BCBrIBҀBB =BByDBm;Br+Eq^A CoGM O9I YU Aԡ A AI! I1 OE >E  E E E "E I;*E :VE ZE BE ej9 ?Y ?=FyJEvl;E>Q 5l5?Q 9l5)BY8>Q E;y,?Q I@DI ;iG ;Ul5yɮuADNOT Ignoring new targets: 40.28 m.hhi*hi"hi higififqfuހBdqdqdyjdyZd}@ԩ ɢ!»)  i)9iSiG!!I!IA@ @@0@^A  AU 2AIY Ii O >8,W{?A6z|@6:8@6.ٱ6 >AHRS rotation from veh to nav: [[-0.522061,0.849907,0.071491],[-0.852889,-0.520780,-0.036999],[0.005786,-0.080290,0.996755]]6H@p2?@CM?`J: ݲw?@j?i6z|@I6(];4YFByFI HHJAHbDRTVDRyZ%Zj=ٔ^Y;Q-^>9^?Yb?=bFybJEb;Ef>hQ 5jl5j|?Q 9nl5j;)jBYlyn8?Q In@jDIj:ijg:jXl5ytɮvAtDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffd!d!d!jd)Zd-/s@UˀBɢUt&)Y ]iY)]8YYieORie;F@iiIiIiE EE$E"E1;*E:VE4ZEa%@a%@a%@a%@@ @@4@^A=9>Au ܏AIy I O >) Bi Ai Bu ߿>Bq Bu SIBu BBu =Bq Bq Bu m;Bu +EK8,R))?A2r|@2=@2ٱ2y :AHRS rotation from veh to nav: [[-0.521510,0.849156,0.083437],[-0.853229,-0.519609,-0.044803],[0.005309,-0.094556,0.995505]]2H4`I,?\?M wKu? 4 .?i2r|@I2G ];2CYVpByVIbDbVDb0yjF%jJ=ٔj6:Q-n>9n?Yn?=rFyrJEru:Er>tQ 5zl5v+?Q 9zl5vz)vBYxy~#?Q I~@vDIv;iv;v\l5yȒBɮA.E5DNOT Ignoring new targets: 40.28 m.h1h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdMI @qɢ}M)y } 7iy)}顁iItRiB@II1@1 @1@5/@1@=V>@=l>IE- E-E-&E)"E-1;*E-:VE-4ZE)BE-kԉA I I O >ԡ 8,uC?A2H|@2s<@2۰ٱ2ʽ :AHRS rotation from veh to nav: [[-0.521622,0.848706,0.087227],[-0.853160,-0.519525,-0.047035],[0.005397,-0.098953,0.995077]]2H (?~T?M`vv?T?i2H|@I2];0YBeByBIi=Mb@Mb@Mb@9999 99= ףp= V-Mb?Y=Q8y==<=A=`A =A)=\A9Y=AbDUVDUβyelQ%eA=ٔmZQ-m>9iYi=mFyuJEuEu>yQ 5l5?Q 9l5b)BYX=Q E;y @Q I@DI:i{:7`l5yɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffƀBdddjdZdw@ÈBɢM=b)I ]6NiY)]PYYieRQiug@@II@ @@/@ԩiYIYEU EUEU(EQ"EU;*EU':VEUc44ZEQa]@a]@a]@a]@^AYA AI I O > 8,r\?A2cl|@21@2ٱ2 :AHRS rotation from veh to nav: [[-0.522812,0.848463,0.082330],[-0.852428,-0.521022,-0.043621],[0.005885,-0.092986,0.995650]]2H@&??G6U x?ͷ`]?i2cl|@I2j&];2CYBMByBIIF=)Fp9Z??YZ??=ZFyZJE^pE^>`Q 5fl5b%?Q 9fl5bf)bBYdyf @Q Ij@bDIb6:ibp:bcl5ylɮnAlDNOT Ignoring new targets: 40.28 m.hh*h "h  h g f ffdddjdZd @颡ɢ15) ~i)x顩ir[Qi?@II@ @@/@B5޿>B5CB5'IB5BB5 =B1B5xDB5n;B5+E ^AA} PExceeded connect timeout, disconnecting.A! I) I9 OM >EE  EE EE &EA "EE O;*EE :VEE 4ZEA BEE 'Y9Y=FyJEͻE>Q 5l5?Q 9l5,)BY=Q E;y=@Q I@DI:i]:gl5yɮ1ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjd Zd @颵̀Bɢꓼ) i)I8项iPiҖ@@II99@ @@/@@fA@i^A 9>ԑ A 0AI I O >w8,G?A>{@> @>ٱ>B FAHRS rotation from veh to nav: [[-0.528712,0.845974,0.069225],[-0.848767,-0.527658,-0.034211],[0.007586,-0.076844,0.997014]]>H@57??`)`"? `?i>{@I>T];>CYN1ByNIbDVVDVy^ɽ%^n=ٔb4Q-b?9b?Yf?=fFyfJEf=Ef?hQ 5nl5j*?Q 9rl5j)jBYpyrp=@Q Ir@jDIj-:ij[:jjl5ytɮvAxDNOT Ignoring new targets: 40.28 m.hh*h"h hgf!f!f!d!d)d)jd)Zd-@P@Yɢ]ȼ)Y eia)e}laaieOim"B@iiIiIqE EE(E"E ;*E:VEc44ZEa@a@a@a@q @  @ @ 0@ ԙ^A-1>AY Ii Iy O >B ݿ>B CB IB gBB =B B B gn;B +EBCBCBB =B =Cɛ=5 -8,p?A2{@2ׄ@2& ٱ2"n :AHRS rotation from veh to nav: [[-0.532047,0.843748,0.070822],[-0.846671,-0.531005,-0.034375],[0.008603,-0.078252,0.996897]]2H ?@`!?@6?S?i2{@I22];2CYvByvI~A|bD VD N2y%Hν%%D=ٔ-2 Q-->9)Y1=5Fy5JE=E=>IQ 5Ul5M?Q 9Ul5M̦)MBYYy].=@Q Ie@MDIMG;iM!I;MNnl5yiɮufAqDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd@ɢʼ)! %i!)%!!i-Oi-D@)1I1I1nManaging dock network, ignoring radio surface power off9@ @@G0@E EE&E"E ;*E:VE4ZEBEtTAfAzAfA) A ڗAI I O >8,?A6b{@6;@6?#ٱ6F >AHRS rotation from veh to nav: [[-0.536541,0.840348,0.077065],[-0.843815,-0.535343,-0.037202],[0.009993,-0.084989,0.996332]]6H@X+@!??@!1 Qw? ?i6b{@I6'];6CYFByFIi%Mb@Mb@Mb@!!!! !9%S㥻?Q뱿y&1|?Y%/=y%\%`;%A%IA %\A)!!Y%\AbDVDy%|%%;=ٔ%PQ-%>9-?Y-?=-Fy-KE5UHE5>9Q 5El5=U{?Q 9El5=j)=BYE>Q EE;yEC-Q IM@=DI=@:i=:=rl5yQɮUsAQ}DNOT Ignoring new targets: 40.28 m.hyhy*h"h hgffflBdddjdZd @ɢμ) i)qĺiv+NiIIQ9@ @@0@@l>@i>yEE EEEE)EA"EEf;*EE1:VEEFA4ZEAaM@aM@aM@aM@^A1>ԩ A I I O% >G8,?A2"{@2~@26ٱ2ž8 >AHRS rotation from veh to nav: [[-0.541198,0.836666,0.084232],[-0.840821,-0.539759,-0.040994],[0.011167,-0.093010,0.995603]]2H~Q`?=?E`3|ކ?`Ϸ?i2"{@I2b?];0YF ByF}IbDNVDNNyV{%Vd=ٔZVQ-Z>9XYX=ZFy^KE^}E^>`Q 5fl5bw?Q 9fl5b)bBYhyj-Q Ij@bDIbz;ib;bBBIB?BB =BByDBnn;B+E^AE9>IA IQ O] > bE}-4jE}*4rE}./E  E E 'E "E ;*E P:VE '4ZE BE ]yYt<A|@ A)AYbDVDky %,=ٔHQ->9Y=Fy KEfE>Q 5l58r?Q 9l5h)BYl=>Q E;yQ I@DIC:i:ayl5y ɮ .A 5DNOT Ignoring new targets: 40.28 m.h1h1*h1"h9 h9g9f9fAfETBdAdAdIjdIZdM@yɢ}~)y Uʾi)w 顁ii]LiII@ @@4@1^A 1>Y IY Ii O} > R9,?A2z@2H@2`jٱ2ѽ :AHRS rotation from veh to nav: [[-0.553291,0.827769,0.093097],[-0.832865,-0.551664,-0.044751],[0.014315,-0.102297,0.994651]]2H` }?@-շ?Ԧ`;@馿` Q?$0 .?i2z@I20];2CYBByB`IbDJVDJ1yR1%Vw=ٔVQ-V?9XYX=ZFyZKEZWEZ?`Q 5bl5bIn?Q 9fl5bq)bBYdyfMQ If@bDIb:ib:bF|l5yjǒBɮnAn-E9DNOT Ignoring new targets: 40.28 m.hh*h"h hgfffddE EE&E"E ;*E:VE4ZEa@a@a@a@djdZdy@=̀Bɢ= )A EgپiA)Ee AAiErKiIIQIQIq @  @ @ /@@@gAiԹ^A)IIO>B >B B IB BB =B B B rn;B +E l{ 9,+?APZhAh-9hAY}yAuay@uƒ@uxٱuս AHRS rotation from veh to nav: [[-0.560351,0.822762,0.095240],[-0.828100,-0.558757,-0.045175],[0.016048,-0.104182,0.994429]]uHdT?a?V!n?`\?iuay@Iu9:];uCYBybIbDVD:Թy<%:=ٔQ->9Y=FyKEE>Q 5l5i?Q 9l5ͫ)BYyQ I@DIq:ii:l5yɮA%DNOT Ignoring new targets: 40.28 m.h!h!*h!"h! h)g)f)f)f)d1d1d1jd9Zd=%@aɢe)i m׾ii)m&7iiiu"JiyyyIyI@ @@/@E EE(E"E;*E*:VEc44ZEBEl_9 g9,3E?ABx@B?s@B(ٱB-(ؽ VAHRS rotation from veh to nav: [[-0.568315,0.817078,0.096967],[-0.822610,-0.566824,-0.044985],[0.018207,-0.105332,0.994270]]BH/%?Ҹ?R@l# SΤ? ?iBx@IB-:];BCYbBybjI hhlliMb@Mb@Mb@ 91Zd?Zd;~jt?Y"[>yyD<OA9@ rA)\AYQAbD VD2y<<%D=ٔQ->9!Y!=%Fy%KE%E->1Q 5=l55c?Q 9=l55Z)5BY=2d>Q E=n;y=Q I=@5DI5:i5:5l5yIɮMXAIuDNOT Ignoring new targets: 40.28 m.hqhq*hq"hy hygyfyfyflBdddjdZd@颹ɢ(N) оi)HMi.IiII@ @@/@9E EE*E"E ;*EǙ:VE(N4ZEa@a@a@a@i^A9>I I O- >ԑ 9,_?A6Ix@6V@6ᨼٱ6%۽ BAHRS rotation from veh to nav: [[-0.576684,0.810939,0.099066],[-0.816707,-0.575306,-0.044861],[0.020614,-0.106779,0.994069]]6H1t5? i\?`w"h?Uj?i6Ix@I68\];6CYJByJmIbDRVDRyZE<%Ze=ٔZܻQ-^>9\Y\=bFybKEbEb>dQ 5jl5f]?Q 9jl5f)fBYhyn;Q In@fDIf;if;fl5ypɮrFAp DNOT Ignoring new targets: 40.28 m.h h*h"h hgfffd!d!d!jd!Zd-Z @UˀBɢUҮ)a er;ia)e`aiimPIiiqqIqIqq1@1 @1@5)0@1@IBe>BaBexIBeBBe =BaBaBe{n;Be+E@Mt>ԡ^AI!I9OE>E  E E 'E "E ;*E :VE '4ZE BE A9)Y)=5Fy=KE=EE>AQ 5Ml5EUW?Q 9Ul5EW)EBYQyQQ I]@EDIE>;iE;EԊl5yeʒBɮeAe7EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd Q!@1ɢ5;)1 5ľi1)=T|w99i=HiAAAIAIA@ @@/0@^A 1 A= .AIA IY Oe >Q >$9,vo?AY~By~I==E EEE"E ;*E:VEZEa@a@a@a@iMb@Mb@Mb@ 9K7?QS㥛?Y>yu/<A A)EAYAbDVDܲyts=%L=ٔQ->9 ?Y ?=Fy#KEE>Q 5l5P?Q 9l5F)BYɍ>Q E?;y:Q I@DIz:i3:Fl5yɮA=DNOT Ignoring new targets: 40.28 m.h9h9*h9"h9 hAgAfAfAfMBdIdIdIjdQZdU`O"@}ʀBɢ}) ٷi)ɻ顁ih\HiII)!@! @)@-4@)Y^AiAu?Au?AI AM @AB] >B] CB] rIB] BBY BY B] zDB] n;B] ,Eԑ A I I O >*9,:\?A,J v@JB @J@ٱJbp ZAHRS rotation from veh to nav: [[-0.603774,0.789708,0.108706],[-0.796680,-0.602486,-0.048081],[0.027523,-0.115634,0.992911]]JHRJE? Ի?f~G/?*`?iJ v@IJV];HYfByfIbDrVDryzu<%zZ=ٔ~Q-~>9|Y|=~Fy'KEE> Q 5l5 J?Q 9l5  ) BYyTQ I@ DI ";i V: l5y%ȒBɮ%A%6EMDNOT Ignoring new targets: 40.28 m.hQhQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde#@ ɀBɢɺ) Ri)HiCHi!!I!IAԁ@ @@4@@@fAE EE%E"EO;*E:VE 4ZEBE'Y A I I O >^19,"?AV_u@V@V}ٱV\ bAHRS rotation from veh to nav: [[-0.613083,0.781623,0.114870],[-0.789464,-0.611589,-0.052016],[0.029597,-0.122576,0.992018]]VH@` ? %h?IC #ء@N?&a?iV_u@IVE];VCYj-ByjIi]Mb@Mb@Mb@YYYY Y9]㥛 ?Kl?Y]>y]^]=]fAY ] A)]AYYYbDuVDukyB=%B=ٔ}Q->9Y=Fy+KEbE>Q 5l5dA?Q 9l5)BY>Q E,;y*!Q I@®DI:i::l5yɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBddqdqjdqZdu#@ɢb˼) Qi)iHiII@ @@/@iIE EE&E"E&;*E՚:VE4ZEa@a@a@a@^AA A I! I1 OE >79, ?A2[t@2F@2sPٱ2H :AHRS rotation from veh to nav: [[-0.622608,0.772879,0.122549],[-0.781887,-0.620783,-0.057275],[0.031810,-0.131480,0.990808]]2Hf`l?a_?8`t -S@ZI?S೴?i2[t@I2e];2CYB7ByBI DDHJAbDNVDNyVE=%VY=ٔVQ-Z>9XYX=ZFyZ/KE^E^>!Q 5-l5%I9?Q 9-l5%Ƿ)%BY1y5!Q I5@%ƮDI%:i%:%l5yAɮEAIuDNOT Ignoring new targets: 40.28 m.hqhq*hq"hq hqgqfyfyfydddjdZd̮$@颵ȀBɢqм) 8i)윻项iHiIIB>BCBIBBB =BBDB|DBn;B,EBBCB•CB =BC$ 69@ @@/@Iq^AA! I) I9 OU >ԡ D ?AzD AAE  E E *E "E %;*E :VE (N4ZE BE ~9,?AFs@F\@F5 ٱFϞ fAHRS rotation from veh to nav: [[-0.631836,0.764066,0.130331],[-0.774357,-0.629613,-0.062924],[0.033980,-0.140680,0.989472]]FH8:s?ம?% e?¿?iFs@IF%L];FCY~JByIybD VD yu=%}0=ٔQ->9Y=Fy3KEмE>Q 5l5/?Q 9l5Թ)BYy"Q I@ˮDI:i:l5yǒBɮA5EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd S%@5ǀBɢ5)9 =Pyi9)=+99iErIiAIIIIIIԡ9@ @@/@@@p>^A 9> AQ Ia Iq O} >;D9,.?A2$ s@2a@2ٱ2 :AHRS rotation from veh to nav: [[-0.641193,0.755093,0.136772],[-0.766532,-0.638605,-0.067912],[0.036063,-0.148385,0.988272]]2H)?? n tobv?@F¿?i2$ s@I2JI];0YBXByBIi Mb@Mb@Mb@     9 n?v/)\(?Y V>y x齙 Ga= A "@  A) \A Y  AbD%VD%y5ė=%5b=ٔ5Q-5>99Y9==Fy=7KEE EE>IQ 5Ul5M'?Q 9Ul5M/)M BYUe>Q EU-;yUY(Q IU@MήDIM ;iM ;Ml5yaɮevAaE EE(E"E/;*E-:VEc44ZEa@a@a@a@-DNOT Ignoring new targets: 40.28 m.h)h)*h)"h1 h1g1f1f9f=Bd9d9dAjdAZdEX&@颍ƀBɢ) 0\i)项ifJiII9@ @@0@1^AB<A4<B >B CB IB 5BB =B B DB n;B ,EA I I O >Y K9,ʊ.?ABx>r@B @BIٱB  JAHRS rotation from veh to nav: [[-0.650766,0.745859,0.142118],[-0.758331,-0.647812,-0.072617],[0.037903,-0.155029,0.987182]]BH?0? @Dߺ h?ÿ?iBx>r@IB@h];BCYRgByRIIV<)V;Z=Z=bD^VD^yf=%fQ=ٔf?Q-j>9hYh=jFyj;KEn-En>pQ 5vl5r{?Q 9vl5r)rBYxyz)Q Iz@rҮDIrF:ir:r$l5y|ɮ~A%DNOT Ignoring new targets: 40.28 m.h)h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd= '@mŀBɢm)i m*Թ Q9,aH?A2xq@2n@2!ٱ2$ :AHRS rotation from veh to nav: [[-0.659821,0.737080,0.146110],[-0.750386,-0.656545,-0.076615],[0.039457,-0.160192,0.986297]]2HA)??@)`j@ 3?(Ŀ?i2xq@I24a];0YByByBIiEMb@Mb@Mb@AAAA A9E㥛 ?jtĿv/?YE>yE Exi=EbAE@ A)EAAYE AbDYVDYym=%m@=ٔupQ-u>9u"?Yu"?=}Fy}?KE}E>Q 5l5?Q 9l5)1BY<>Q E;y0Q I@֮DI:iv:٦l5yɮkADNOT Ignoring new targets: 40.28 m.hh*h"h hgfff1BdddjdZd'@ ĀBɢf|) Vi)RiĨLi!!)I)I)ԑ@ @@0@@gA@E EE&E"E+$;*E:VE4ZEa@a@a@a@^A) AY Ia Iy O > ?*X9,!?b?A2p@2V~@2$c'ٱ2( :AHRS rotation from veh to nav: [[-0.668814,0.728397,0.148747],[-0.742306,-0.665295,-0.079772],[0.040855,-0.163768,0.985653]]2HfO?@! ?`Jk?@\Ŀ w?i2p@I2];2CY^BybIbDjVDjN2yr{=%rT=ٔrlmQ-r>9tYt=vFyvCKEzgEz>xQ 5]l5z ?Q 9el5z*)zCBYaye`1Q Ie@zڮDIzgB CB IB bBB  =B B DB n;B ,E9@ @@4@ j>Ci!m؎9YA^AQ I I O >D @AzD @AE  E E 'E "E O6;*E :VE '4ZE BE F9Y=FyHKE˼E>Q 5 l5?Q 9 l5I)ZBYy2Q I@߮DIz}~f9,y M = A @  A) \A Y  A)bD%VD%ٔ=Q-=>99YA=EFyELKEEEM>IQ 5Ul5M?Q 9]l5M|)MrBY]ٸ>Q E];y]9Q I]@MDIM:iMj:Ml5yɮEDNOT Ignoring new targets: 40.28 m.hAhI*hI"hI hIgIfIfQfUlBdQdQdYjdYZd]`*@颍€Bɢt)G) @i)顑i8QiIIQY@Y @Y@]4@YAyA}?AB2>BCB!IBBB =BBBn;B,Eԁ^AI I O- >ԩ ՞l9,?A:`n@:,V|@: 3ٱ:Wc- FAHRS rotation from veh to nav: [[-0.695198,0.702751,0.151130],[-0.717476,-0.691229,-0.086194],[0.043892,-0.168354,0.984749]]:H?|?6X?@  y?ſ ?i:`n@I:φ];:CYJByJ0IbDVVDVyZ r<%^<ٔ^)Q-^>9`Y`=bFybPKEf_Ef>hQ 5jl5j珊?Q 9nl5jC)jBYlyn:Q In@jDIj;ij/;jwl5yvÒBɮv;Av4EDNOT Ignoring new targets: 40.28 m.hh*h"h hgff!f!d!d!d!jd)Zd- iH+@QɢUt7)Y ]PiY)]nKaaieZOSiaiiIiIiԙD9D9EE EEEE)EA"EE3;*EE:VEEFA4ZEABEE s9,*?Aɰ2m@2{@2r5ٱ2. :AHRS rotation from veh to nav: [[-0.704136,0.693879,0.150745],[-0.708682,-0.699989,-0.088230],[0.044299,-0.168956,0.984627]]2HH@B4?@K?`Pf@;g?\ſ?i2m@I2}];2CYBByB)IiEMb@Mb@Mb@AAAA A9E+?V-ͿQ?YE>yEmEu=E-AA A)EAAYEQ AbD]VD]:ym%m?=ٔm$zQ-u>9qYq=uFyuTKE}E}>Q 5l5ڏ?Q 9l5)BYl>Q E;y%>Q I@DIn:i:2l5yɮcADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd3#,@ɢ2<) hi)ai&Ui!!!I!I)-9@) @)@-/@)@5fA@5gA!EM EMEIEI"EM/;*EMV:VEIZEIaU@aU@aU@aU@^AAA?QIqIO>y ۰y9,v?AB7>BCBFIBBB =BBDBn;B),EBl@B|z@B96ٱB6I1 JAHRS rotation from veh to nav: [[-0.712859,0.684649,0.151949],[-0.699896,-0.708265,-0.092232],[0.044474,-0.172097,0.984076]]BH? s?eEŦ?`Dƿ }?iBl@IB~];BCYRByR1IbDZVDZybr=%bV=ٔfJQ-f>9dYd=fFyjXKEjEj>lQ 5rl5nΏ?Q 9rl5n)nBYtyv>Q Iv@nDIn=:in:nl5yz’Bɮz&Az3EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd ,@IɢUr0Y)q uđiy)}nyyi}ViIIM9@I @I@M/@Iԁ^A51>DQzDQE] EYE]*EY"E]8;*EYVE](N4ZEYBE]׏ ȧ9,?Abvk@by@b8ٱbxp6 jAHRS rotation from veh to nav: [[-0.721812,0.674614,0.154540],[-0.690622,-0.716625,-0.097413],[0.045031,-0.177043,0.983172]]bHp?? @ R?Tƿ &v?ibvk@Ib];bCYrByr*IimMb@Mb@Mb@iiii i9mgfffff? rhͿI +?Ym3>ymlm94=mAi mA)m\AiYm A %4<%p;bD-VD-kyMм%M3=ٔ]lQ-]>9YYY=]Fye]KEmEm>yQ 5l5}?Q 9l5})}BY>Q E:yhEE  EE EE 'EA "EE <;*EE :VEE '4ZEA aU @aU @aU @aU @A I I O > †9,\?AR*k@Ry@R<ٱR;; ZAHRS rotation from veh to nav: [[-0.730921,0.664166,0.156965],[-0.680917,-0.725184,-0.102276],[0.045900,-0.181636,0.982294]]RHc@?n?4`.`?? ?ǿn?iR*k@IRĘ];PYbByb$IbDjVDjyrkۼ%rg=ٔvN!Q-v>9tYt=zFyzaKEzEz>|Q 5l5~ ?Q 9l5~A)~BY y 8=Q I @~DI~:i~(:~l5yɮ|AEDNOT Ignoring new targets: 40.28 m.hAhA*hA"hA hAgAfIfIfIdIdIdQjdQZdU.@颁ɢ+S) di)#Ż顉ibZiII1@1 @1@50@1@=p>@9B!A%4=B-8>B-CB-_IB-ÀBB- =B)B)B)B-(,E9B CB CB ƔCB =B =C B5^A1A9zA=dAi A I I O >9,z66?A$:2j@:(x@:?ٱ:sj? BAHRS rotation from veh to nav: [[-0.740443,0.653076,0.158858],[-0.670485,-0.734186,-0.106864],[0.046841,-0.185639,0.981501]]:H ?xU?@tt~@n[?ǿth?i:2j@I:E];8YJByJIbDRVDR:yZ̼%ZM=ٔ^=Q-^>9Y=FyeKE ]E >Q 5l5>?Q 9l5)BYy%>Q I%@DI ;i* ;0l5y-Bɮ-A)UDNOT Ignoring new targets: 40.28 m.hQhY*hY"hY hYgYfafafadadidijdiZdm`W/@颙ɢtW) нi)ǻ顡i<.\iIIE EE*E"E4;*E:VE(N4ZEBEy A` `< -A @  A) A Y  Aqu@AbDyVDyyT,%==ٔQ->9 ?Y ?=FyiKE E>Q 5l5?Q 9l55) BY>Q E:y9Q I@DIz:i:l5yBɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfff[BdddjdZd 0@-€Bɢ-Bk)) -i))5˻11i5x ^i999I9IA@ @@4@E- E-E-%E)"E-;;*E-Z:VE- 4ZE)a5@a5@a5@a5@^A1>A ؟AI I! ) O5 >B% =>B% CB% YIB% BB! B! B! B% n;B% $,E%9,i?Aɰ;2OPh@2Ev@2}Hٱ2*J :AHRS rotation from veh to nav: [[-0.759774,0.629085,0.164304],[-0.648339,-0.752065,-0.118548],[0.048990,-0.196595,0.979260]]2HP@w!?@? 2@0Y`=?*ɿV?i2OPh@I2];2CYBkByBIbDNVDN:2yV %VZ=ٔV@Q-V>9Z"?YZ"?=ZFyZmKEZ!E^>`Q 5fl5b?Q 9fl5b8)bBYdyf}:Q If@b DIb:ib(:b(l5ynBɮnAn2E| DNOT Ignoring new targets: 40.28 m.h h *h "h  h gfffdddjd!Zd%w0@IɢUݗ)Q U0-iQ)]:ϻYYie_iiiiIiIqI)fA@ @@/@@@fA)^AQYA]?A]?bEjE14rE./E= E=E=(E9"E=C;*E=:VE=c44ZE9BE=>ԁ 9,Qك?AQYcByIieMb@Mb@Mb@aaaa a9ew/?I +ƿMb?Ye>ye94e9 ?Y ?=FyqKEE>Q 5l5u?Q 9l55),BY>Q E:y2Q I@DId;i ; A ؟AI I O >E=  E= E= )E9 "E= :;*E= :VE= FA4ZE9 aE @aE @aE @aM @9,?A2Uf@2"Kt@2Tٱ2QT :AHRS rotation from veh to nav: [[-0.779346,0.603596,0.168204],[-0.624438,-0.770407,-0.128648],[0.051934,-0.205294,0.977322]]2H f@P?@?`f+w?@Gʿ7F?i2Uf@I2^;2CYBUByBI DF<bDJVDJ02yRΣ%Rp=ٔV Q-V?9V"?YV"?=ZFyZuKEZEZ?Q 5%l5Mh?Q 9%l5)9BY!y-4Q I-@DI:i:Pl5y5Bɮ5HA51E]DNOT Ignoring new targets: 40.28 m.hYha*ha"ha hagafafifidididijdqZdu@gI1@颡ɢ) [i)ٻ顩ibiIԹIQ@Q @Q@U/@QAA@ABB>BCBFIBBB =BBDBn;B%,E^AE1>G(hAA9M(hAYMAA .AI I O >9 ;9,,~?A6L?e@64s@6\ٱ66V >AHRS rotation from veh to nav: [[-0.789754,0.589772,0.168693],[-0.611051,-0.780531,-0.131861],[0.053903,-0.207218,0.976809]]6HE@j??ຍ `%? ʿ`B?i6L?e@I6^;6CYF?ByFIbDRVDR:2yZӽ%ZJ=ٔZYQ-Z>9^ ?Y^ ?=^Fy^yKEbm+Eb>dQ 5jl5f Y?Q 9jl5f )fIBYhyj6Q Ij@f DIf:if(:fl5ypɮrAp DNOT Ignoring new targets: 40.28 m.h h *h "h hgfffdddjdZd`U1@E EE+E"EI@;*E:VE [4ZEBE@Ui>I^AMA>AQzAUgAyA I I O >ԡ #9,Y?A2F1d@2&r@23eٱ2&W :AHRS rotation from veh to nav: [[-0.799628,0.576182,0.169144],[-0.597886,-0.790150,-0.134889],[0.055928,-0.208990,0.976317]]2Hp?@?!H D?.ʿ=?i2F1d@I2^;0YB8ByBIi Mb@Mb@Mb@     9 Zd;?ny&1|?Y >y V `;  @ )  Y \ AbD%VD%0y5%5B=ٔ5Q-=>99Y9=EFyE}KEEq EE>IQ 5Ul5M5H?Q 9Ul5M )MVBY]_?Q E]:y]0Q I]@M'DIM;iM;Mnl5yeBɮe!Am0E DNOT Ignoring new targets: 40.28 m.h h *h"h hg1f1f9f= Bd9d9dAjdAZdE`2@q颱ɢӼ) ai)q项ifiIIm9@i @i@m0@iE EE,E"E9;*Er:VEg4ZEa@a@a%@a%@ԡ^A9>A ؟AI I O >B C>B B !IB BB B B B ~n;B ,E M9,4?AB c@BWp@B3@nٱB<\ JAHRS rotation from veh to nav: [[-0.810180,0.560749,0.170789],[-0.583291,-0.800104,-0.140018],[0.058134,-0.213060,0.975308]]BH`?@l?Rs í?E˿@5?iB c@IB^;@Yn)ByrIxzAAbD%VD%y5%5J=ٔ]^Q-]>9e"?Ye"?=eFyeKEm4Em>yQ 5l5}7?Q 9l5})}dBYy2Q I@}-DI}:;i};;}l5yBɮA:EDNOT Ignoring new targets: 40.28 m.hh*h"h h!g!f!f!f)d)d)d)jd)Zd52@颽ĀBɢ) Ԛi)i*giIIm9@i @i@mP0@iDzDE EE&E"EN;*E:VE4ZEBEnA A I I) OU >Y @9,A?Af4<ɰf49Y=FyKE$E>Q 5l5[$?Q 9l5 )pBY?Q E:y+Q I@6DIy;i;l5yBɮA9EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd@2@5ŀBɢ=)9 =i9)=_AAiETiiAIIIIII@ @@ 2@ A^AU 9>A] ?A] >ԉ E  E E E "E 77;*E ;:VE ZE a @a @a @a @II IY Om >y^9,q?A06M`@6n@6Y}ٱ6e >AHRS rotation from veh to nav: [[-0.831053,0.528402,0.173614],[-0.552734,-0.819375,-0.152018],[0.061929,-0.222297,0.973010]]6H?`8?@Q8Ouÿ?@;t̿`"?i6M`@I6^;6CYF!ByFIbDRVDRN2yVz%Vq=ٔZWǻQ-Z?9XY\=^Fy^KE^gEb?`Q 5fl5b?Q 9jl5b6)byBYhyj,Q Ij@bBiBmIBmrBBm =BiBiBm{n;Bm,EԹ^A I I O >ٌ9,g8?A2h_@2]m@2ٱ2Di >AHRS rotation from veh to nav: [[-0.841663,0.511190,0.174036],[-0.536222,-0.829249,-0.157520],[0.063797,-0.225901,0.972059]]2H`[? F?(4 )Ŀ`T?`R̿?i2h_@I26^;2CYBByBI Jp9XYX=ZF\yZKE^FE^>`Q 5fl5b?Q 9fl5b)bBYhyj+.Q Ij@bCDIbD;ibr;bhl5ynBɮrAr8E DNOT Ignoring new targets: 40.28 m.h h *h "h  h g fffdddjdZd%{3@IɢM|)ID=D4=E EE)E"E:;*Ed:VEFA4ZEBE1II)O5>9 q9,wR?A6^@6l@6ٱ6sm BAHRS rotation from veh to nav: [[-0.852264,0.493325,0.174002],[-0.519002,-0.839033,-0.163280],[0.065443,-0.229465,0.971114]]6H`E?E?\`[Ŀ@?_Ϳ@^?i6^@I6^;6CYFByJIiMb@Mb@Mb@ 9kt?{GzMb?Y ?y#<p!A+@ )AY AbD5VD5βyEG;%EA=ٔEQ-M>9IYI=MFyMKEUDEU>YQ 5el5]?Q 9el5])]BYm?Q Em:ymH*Q Im@]KDI]z:i]:]l5yqɮuAyDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff׀BdddjdZd4@}ǀBɢ)(h ڭi) 顁iYniIII@I @I@I@IQ@Y@]l>E EEE"E=;*E:VEZEa@a@a@a@q^Am9>AqzAueAIIO >ԡ Be B>Ba Be IBe XBBe =Ba Ba Be n;Be 7,EB%CB%CB%˓CB!B!C%S#5W9,|l?Ab\@buj@b)3ٱbp nAHRS rotation from veh to nav: [[-0.862680,0.475153,0.173242],[-0.501300,-0.848698,-0.168553],[0.066942,-0.232253,0.970349]]bHh?@,?@ @(!ſ#? zͿ@ ?ib\@Ib0^;bCYzBy~IbD=VD=Nymka<%mH=ٔmpQ-m>9qYq=uFyuKEy/LE>Q 5l5?Q 9l5K)BYy+Q I@RDI:i:l5yBɮA%DNOT Ignoring new targets: 40.28 m.h!h!*h!"h! h)g)f)f)f)d1dqdqjdqZd}i4@颵ȀBɢ) i),项i=piIIm9@i @i@m/@iԩD?AzD?AE4 EE*E"Ej;*E:VE(N4ZEBE 9,k?AXs[@hi@`͋ٱ/s AHRS rotation from veh to nav: [[-0.872924,0.456572,0.171887],[-0.483064,-0.858185,-0.173687],[0.068210,-0.234648,0.969684]]H @z8?`?޿`Av@a;ƿ2v?ο?iXs[@I!^;CY*ByIiEMb@Mb@Mb@AAAA A9EM?y&1Q?YEn?yE`弙Eu9Y=FyKE?E>Q 5l5L͎?Q 9l5K)BY?Q E:y`+Q I@ZDI:iv:l5yBɮcA 7E5DNOT Ignoring new targets: 40.28 m.h1h1*h1"h1 h1g1f9f9f=Bd9dAdAjdAZdE 4@uʀBɢu*)q }iy)}^yyi}KeriII9@ @@/@!^A% 1>E  E E &E "E 9;*E :VE 4ZE a- @a- @a- @a- @Q Aq Iy I O >39,2?A;ɰ;2Z@2q h@2sٱ2#t :AHRS rotation from veh to nav: [[-0.882990,0.437593,0.169827],[-0.464243,-0.867582,-0.178267],[0.069331,-0.236249,0.969216]]2H`tA@??@)ݿ;uƿ?@j=ο?i2Z@I26^;2CY^:BybIbDjVDjyr=%rq=ٔr&YQ-v?9tYt=vFyvKEz7Ez?|Q 5l5~?Q 9l5~w)~BYy ,Q I @~aDI~;i~:~l5yɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`V5@1]ˀBɢ]h)a eii)mqqi}DtiIIAAB E>B B IB NBB  =B B B -o;B t,Ea"5U9@Q @Q@U/@Q@Y@Yԉ ^A9 AE >AE >bEFA4jE<4rEͮ10E5 E5E5(E1"E51;*E5:VE5c44ZE1BE5[29,?A6X@6f@6%ٱ6{v >AHRS rotation from veh to nav: [[-0.892586,0.418519,0.167726],[-0.445359,-0.876411,-0.183195],[0.070326,-0.238215,0.968663]]6H`? x?@ܿ@ @rǿ@? }ο@I?i6X@I6w^;6CYFLByFIbDNVDNyV=%V,=ٔZ Q-Z>9XY\=^Fy^KE^@7E^>`Q 5fl5bϩ?Q 9fl5b`)bBYy.Q I@biDIba$ Aq Iy I O >&9,i?A65_W@6Te@6Rxٱ6Ox >AHRS rotation from veh to nav: [[-0.901711,0.399467,0.165358],[-0.426393,-0.884908,-0.187423],[0.071458,-0.239509,0.968261]]6H @ݐ?t*?@Jۿ@*Qvǿ K?7ο?i65_W@I6v^;4YF_ByFITiMb@Mb@Mb@ 9v?I +I +?Y?y99< A@ A)AY A 5;1bD5VD5yE^=%EA=ٔM/Q-M>9IYQ=UFyUKEULEU>YQ 5em5]w?Q 9mm5])]BYm ?Q Em:ym.Q Im@]qDI]:i]a:]im5yqɮA=DNOT Ignoring new targets: 40.28 m.hAhA*hA"hA hAgAfAfIfMBdIdIdQjdYZd]=6@E EE$E"E9;*E;:VE4ZEa@a@a@a@΀BɢƼ) x]i)bi yiII fA fAu*BI>BCBIB]BB =BBBwo;B,E @  @ @ 0@ C9 M ~Gm hA 9 hAY cA^A5 1>Y AaIiIO?ޭ9,_?ANT@Nb@NٱN} VAHRS rotation from veh to nav: [[-0.919044,0.360108,0.160252],[-0.387384,-0.900269,-0.198618],[0.072746,-0.244617,0.966887]]NHh ?"?ؿ@Nlɿ}?OϿ?iNT@INo^;LY^rBy^I ``dfAbDjVDjyrR=%r$=ٔve*Q-v>9tYtx=zFyzKE~E~>Q 5 m5G?Q 9 m5)BY y?1Q I@{DI* ;ii ;m5yBɮA5EEDNOT Ignoring new targets: 40.28 m.hAhA*hI"hI hIgIfIfQfQdQdQdYjdYZd]6@颍πBɢ5) T;i)顑i|iIIEm EmEm)Ei"Em2;*Em :VEmFA4ZEiBEm#A! I1 IA OM >+:,D?A(6MBS@67a@6?ٱ6g >AHRS rotation from veh to nav: [[-0.927097,0.340070,0.157616],[-0.367551,-0.907246,-0.204475],[0.073461,-0.247500,0.966099]]6H`Ȫ?,? ׿)<,ʿPβ?Ͽ`H?i6MBS@I6a^;4YFByF)IiMb@Mb@Mb@ 9-?V-kt?Y??ym 0=?%A@ jA)AY AbD-VD-1y=[#>%=7=ٔ=ҺQ-E>9AYA=EFyEKEMEEM>Q 5m5i?Q 9m5)BYc?Q E:y5Q I@DI:i:m5y Bɮ A]DNOT Ignoring new targets: 40.28 m.hYhY*hY"hY hYgYfafafe^BdaddjdZdE27@рBɢ)  B A p<B K>B B IB |BB B B DB =o;B ,EAQ Ia I O >8 :,/?A>Q@>L_@>a#ٱ> VAHRS rotation from veh to nav: [[-0.934795,0.319858,0.154431],[-0.347450,-0.913732,-0.210647],[0.073731,-0.250569,0.965287]]>Hx?a?<ֿJ={ʿ?Q п?i>Q@I>@u^;<\Y^Byn<IppbDvVDvfy=%M=ٔ%1Q-%>9!Y!=-Fy-KE-T]E->1Q 5]m55W?Q 9]m55)5BYayeM7Q Ie@5DI5;i5:5% m5yiɮm]AiEDNOT Ignoring new targets: 40.28 m.hAhA*hA"hA hAgAfIfIfIdQdQdQjdQZd]7@颅ӀBɢ>僼) i)ٜ"顉iYiIII)-9@) @)@-5@)D=DR=E EE%E"EO6;*E:VE 4ZEBEFA Ay I I O >:,H?A!UP@U!{^@UfٱU AHRS rotation from veh to nav: [[-0.941932,0.299886,0.151104],[-0.327561,-0.919622,-0.216791],[0.073946,-0.253698,0.964453]]UHN$ U1?`W? Կ mп˿`?<п?iUP@IU{d^;QYǀBydIiMb@Mb@Mb@ 9On?RQS㥫?Y?y½/]=  A)Y\ AbDVDy >%0=ٔQ->9 Y = Fy KE :E>Q 5m5@?Q 9%m5),BY%?Q E%:y%>:,`b?A2#O@2V]@2d>ٱ2W :AHRS rotation from veh to nav: [[-0.948762,0.279696,0.147038],[-0.307139,-0.925631,-0.221073],[0.074269,-0.254907,0.964109]]2HB\ ? ?(ӿĞL̿ P?cPп?i2#O@I2a^;2CYBByFIbDNVDNyVF>%V|=ٔV؂Q-V ?9XYX=ZFyZKE^E^ ?`Q 5fm5b0?Q 9fm5b)b@BYdyfu=Q Ij@bDIb :ib];b m5ylɮn=AlԑDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`8@]׀Bɢe=)e e8=ia)e"aii iIIBMD>BMCBMSIBMBBM =BIBMDBMNo;BM,E}9@ @@/@Թ^AaIA IQ Oe > c:,[|?A2M@2[@2ٱ2 :AHRS rotation from veh to nav: [[-0.955069,0.259805,0.142635],[-0.286867,-0.931287,-0.224524],[0.074502,-0.255353,0.963973]]2H?A?\ҿ`4̿ ?Wп@?i2M@I2^;0YBByBI J49XYX=ZFyZKE^XE^>`Q 5fm5b ?Q 9fm5b)bYBYdyf>Q Ij@bDIb:ib(:bm5ynBɮn AlDNOT Ignoring new targets: 40.28 m.hh *h "h  h g f ffdddjdZdz8@M؀BɢMKժ)I MЂ=iI)UG!QQiUzD@AzDE EE*E"E+$;*E:VE(N4ZEBE4}QIqIO>y K%:,6?A:mL@:&cZ@:ٱ:ք BAHRS rotation from veh to nav: [[-0.960875,0.239950,0.138356],[-0.266664,-0.936470,-0.227849],[0.074893,-0.255829,0.963817]]:H}౶?@?@ѿ )*Ϳ7,?_п?i:mL@I:^;:CYJByJIiMb@Mb@Mb@ 9(\?V-¿333333?Yz?yh=$A@ )Y3 AbD5VD5NyE=%EA=ٔMsQ-M>9IYI=MFyUKEUKEU>aQ 5mm5eC?Q 9mm5eX)ezBYm?Q Em:ymDQ Iu@eDIe:ie:eGm5y}Bɮ} A}AI AI BU A>BU CBU IBU BBU =BQ BQ BU io;BU ,EBBBB =B =CQv5 u+:,?A2K@20 Y@2Ιٱ2 :AHRS rotation from veh to nav: [[-0.966221,0.220276,0.133772],[-0.246549,-0.941206,-0.230964],[0.075031,-0.256144,0.963722]]2HI 1?o? Ͽ@\=Ϳ@;5?dп?i2K@I2^;2CYZ.ByZIbDbVDbyj>%jR=ٔnQ-n>9pYp=rFyrKEv[Ev>xQ 5zm5z,?Q 9~m5z)zBY|y~!FQ I~@zDIzD;izr;zm5y ɮ  A 5DNOT Ignoring new targets: 40.28 m.h1h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdMˑ9@u܀Bɢ}t;)y }">iy)N顁i[iIIԱbިQ@Q @Y@]/@YDD4=E EE'E"E;*E:VE'4ZEBE7CI I O >9 ]2:,W?ABI@BW@BcrٱB JAHRS rotation from veh to nav: [[-0.971224,0.200640,0.128327],[-0.225937,-0.946616,-0.229937],[0.075342,-0.252314,0.964708]]BH D ?m?̿JnͿI?@%п?iBI@IB^;BCYb?BybIbDVDyE=%E5=ٔu4Q-}>9Y=FyKE$<E>Q 5m5sލ?Q 9m5)BYyGQ I@DI:iR:!m5yBɮU A;E=DNOT Ignoring new targets: 40.28 m.hAhA*hA"hA hAgAfAfIfididqdqjdqZdu w :@߀BɢPs';) @>i)uZi*%iA; b>IIy9y@y @y@}/@yi ^Ae 1>E  E E )E "E :*E M:VE FA4ZE a @a @a @a @AQ Ia Iq O} >8:,X?A ɰNa`H@NUV@NmٱN% bAHRS rotation from veh to nav: [[-0.975788,0.181008,0.122778],[-0.205337,-0.951475,-0.229199],[0.075333,-0.248861,0.965605]]NH9 H+? an?}Hʿ {r`hVͿI?Ͽ9Y=FyKE^E>!Q 5-m5%ʍ?Q 9-m5%D)%BY5#"?Q E5:y5C@Q I5@%DI%T ;i%z ;%!%m5y=Bɮ= A9eDNOT Ignoring new targets: 40.28 m.hahi*hi"hi higifqfqfuBdqdydyjdyZd}l:@颭BɢO;) De>i)+顱i(i<oo>IIAB5>BCBIB=BB =BBDBYo;B,Eq@ @@@^A u>ԡ iߑ Iߑ A) I1 II Oe >>:,?A06F@6*T@6ٱ6*e >AHRS rotation from veh to nav: [[-0.980024,0.160849,0.116964],[-0.184223,-0.955795,-0.229168],[0.074933,-0.246138,0.966334]]6H@[\?b?ࠔǿ@ߕ`UͿ.?pϿ@5?i6F@I6A^;4YF`ByF IbDNVDNyV=%Vb=ٔZ:Q-Z>9XY\=^Fy^KE^tE^>`Q 5fm5b=?Q 9jm5b)bBYhyjMB@Q Ij@bǯDIb:ib:bJ(m5ylɮrD Ap DNOT Ignoring new targets: 40.28 m.h h *h "h  h gfffdddjdZd%`:@bE'4jE'4rE80EM EMEM%EI"EM;*EM?:VEM 4ZEIBEMDiq)}(yyi*iM <i]>II ԑ@ @@4@^A& > AA IQ Ia Om >E:,#?ARCE@RS@RiٱRf| ZAHRS rotation from veh to nav: [[-0.983877,0.140563,0.110584],[-0.162883,-0.959597,-0.229441],[0.073865,-0.243754,0.967020]]RH{?`;O?XĿ`@R^Ϳ?@S3Ͽ`?iRCE@IR^;lRCYvoByv3IiMb@Mb@Mb@ 9Zd;?X9vοʡE?Y?ys-="A@  A)`AY A p<bDVDy=%9=ٔD;Q->9Y=FyKE}6JE}>Q 5m5?Q 9m5^).BY+?Q E:yY>@Q I@ѯDIu;i;I,m5yBɮ A:EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd@=;@Bɢ<) Ȉ>i)i<%lM>I!I! Eu EuEu(Eq"Eu;*Eu:VEuc44ZEqa@a@a@a@9@ @@4@^At>1IIO>B <A <B >B CB :IB uBB B B }DB )o;B M,Ey G  5 99 Y= AK:,1?A2:D@2/R@2×ٱ2ҟ| :AHRS rotation from veh to nav: [[-0.987250,0.120259,0.104282],[-0.141711,-0.962400,-0.231743],[0.072491,-0.243566,0.967171]]2H@Sɾ?@5?@#¿Ϳ̎?+-Ͽ?i2:D@I2|^;2CYRrByR7IbDZVDZ0y<%Z=ٔp;Q->9 Y = Fy KEjE>Q 5%m5?Q 9%m5;)QBY!y%<@Q I-@دDIG ;i{:h/m5y5Bɮ5 A59E9eDNOT Ignoring new targets: 40.28 m.haha*ha"ha hagifififidqdqdqjdqZdu@i;@颭Bɢ7<) >i)顱iik<uU;>IIm9@q @q@u/@q^AmI^>iIaIqOY>E} E}E}%Ey"E};*E}Ǚ:VE} 4ZEyBE}`9 Y=FyKEWE>ԡQ 5m5v?Q 9 m5)yBY9y=;@Q IE@DIzi) 顙iiE<)>II@ @@/@^A ]>I I O- >E  E E $E "E s!;*E $:VE 4ZE a @a @a @a @! *X:,[e?ANqiA@N_O@NeٱN| ZAHRS rotation from veh to nav: [[-0.992807,0.078844,0.090099],[-0.098194,-0.966783,-0.235984],[0.068500,-0.243133,0.967571]]NH `$/??6# 4ο7?ϿW?iNqiA@IN~^;LYbBybGIiEMb@Mb@Mb@AAAA A9E}?5^I?x&1п+?YEM"?yEE=E#AE@ E A)E|@AYEAY]AAbDeVDe0ymI=%uB=ٔߩ;Q->9Y=FyKEVE>Q 5m5_?Q 9 m5)BY /?Q E :y 9@Q I @DI* ;i ;6m5yBɮA/EEDNOT Ignoring new targets: 40.28 m.hAhA*hA"hA hAgIfIfQfUBdQdQdQjdYZd]o<@颅BɢbUI<) D>i)顑ii!<<6>IIY>i>Buؿ>BuCBulIBuBBu =BuCDBuxDBuo;Bu,E @  @ @ /@@@gA^AW>IAIQOe4>Q _:,-?A6`?@6M@6~ٱ6~ bAHRS rotation from veh to nav: [[-0.994907,0.057888,0.082515],[-0.076245,-0.967664,-0.240442],[0.065928,-0.245509,0.967150]]6HG? ?Ƅ@ο?lϿ?i6`?@I67^;6CYf{ByjBIbD~VD~y% Q=ٔ ;Q- >9Y=FyKEqE>!Q 5%m5%K?Q 9-m5%1)%BY)y-7@Q I-@%DI%:i%:%:m5y5BEE EEEE'EA"EE1;*EE:VEE'4ZEABEEki) i雼i%II@ @@@^AR4>ԁIIOI>Ա e:,?A2>@2L@2ٱ2t~ :AHRS rotation from veh to nav: [[-0.996484,0.037859,0.074747],[-0.054970,-0.968670,-0.242193],[0.063235,-0.245450,0.967345]]2H1Nb?"?`$W +Ͽ30?@jϿ|?i2>@I2 ^;2CYBoByB3IiEMb@Mb@Mb@AAAA A9ENbX9?tVοp= ף?YE%?yErE=Ep!AE~@ E A)EIAAYE(AbD]VD]yme%mD=ٔm;Q-u>9qYq=uFy}KE}QE}>Q 5m54?Q 9m5<)BY-1?Q E:y7@Q I@DI6;i ;=m5yɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffہBdddjdZd`:=@ Bɢ |f<)  x>i)b\i{ޝiN<)<:=I!I!ԩ!@! @)@-?0@)EQ EUEU(EQ"EQ*EU:VEUc44ZEQa]@a]@a]@a]@^AMh*>AUeAzAUfA Ay A} ?AA B ǿ>B CB IB BB  =B B uDB n;B +EI I O >1 !l:,&?A2S@=@25K@2uٱ2| :AHRS rotation from veh to nav: [[-0.997640,0.017915,0.066278],[-0.033508,-0.969625,-0.242290],[0.059924,-0.243940,0.967937]]2H:X??@'*_Ͽ@a?i9ϿW?i2S@=@I2}_;2CY^nBy^2I f49tYt=vFyvKEzdEz>|Q 5m5~?Q 9m5~H)~BY y 6@Q I @~DI~;i~i:~Am5yBɮ-EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd=@ Bɢ <)  p>i)_iDi0,<=I!I!@ @@4@@=@0>^AR5#>AAIIOn>E] E]E]&EY"E] ;*E]:VE]4ZEYBE]v9qY=FyKE E >AQ 5}m5E?Q 9m5E)E(BYyQ I@E DIE@Bɢ;) :m>i)izi/<=II@ @@5@^Am=ԙAIIO> Em  Em Em 'Ei "Em );*Em :VEm '4ZEi au @au @au @au @w4y:,?A6:@6N{H@6e[ٱ6{ BAHRS rotation from veh to nav: [[-0.998525,-0.021789,0.049734],[0.009054,-0.969944,-0.243161],[0.053538,-0.242352,0.968710]]6H@Ov?`? ϿHi?aϿ`?i6:@I68_;6CLYReByR'Ii-Mb@Mb@Mb@)))) )9- rh?> ףp=ʿ/$?Y-C+?y-Q-,=-!A-h@ - A)-|@)Y-AbDEVDEyU6V%UJ=ٔU 9YYY=]Fy]KEeEe>iQ 5um5m?Q 9um5m)m@BYur3?Q E}:y}6@Q I}@mDImu;im;m5Hm5yɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd`o>@Bɢu:<)q uJR>iq)}yyi}i11<w=IIB-ɿ>B)B-yIB-BB- =B)B-vDB-n;B-+EBCBCB™CB =B =CzY7e9@a @i@m/@i^A=A>A) A I I O >S:,v?A2H9@2q>G@2Mٱ2DA| :AHRS rotation from veh to nav: [[-0.998333,-0.039799,0.041807],[0.028367,-0.969071,-0.245145],[0.050271,-0.243550,0.968585]]2H`W@`g?/ ?`Ͽ?,Ͽ?i2H9@I2q_;2CYBUByBIbDJVDJ1yR%RV=ٔVR 9TYT=VFyZKEZOEZ>|E% E%E%(E!"E%;*E%خ:VE%c44ZE!BE%o@颽Bɢߗ;) +>i)Ԉi6io2<5E=III)@ @@@@gA@)^Aez=AIIOb>Yԁ F:,*R?A28@2+F@2V>ٱ2| :AHRS rotation from veh to nav: [[-0.997821,-0.056808,0.033548],[0.046849,-0.968144,-0.245970],[0.046452,-0.243863,0.968697]]2H&%-?? {Ͽȧ?`6Ͽ?i28@I2^;2CYBPByB IIF;)Fi Mb@Mb@Mb@     9 Dl?l¿Zd;O?Y O-?y  j< AY $@ rA)  Y GAbD VD2y"%<=ٔ?9Y=FyLE|.E>Q 5m5Ō?Q 9m5)mBY1?Q E:y"9@Q I@'DIX;i ;WOm5y{BɮT A+EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff`BdddjdZd@@?@5Bi9I9ɢ=\;)A E>iA)EZAAiEꥼiIM~K3ԱB <A 4=BE ȿ>BA BE SIBE BBE =BA BA BE n;BE +E p:,^-4?A26@2D@2;?.ٱ2m~ :AHRS rotation from veh to nav: [[-0.997008,-0.073051,0.025274],[0.064549,-0.966680,-0.247715],[0.042528,-0.245342,0.968503]]2H }u@?`J?` Ͽ8ƥ?`gϿ?i26@I2^;2CYBCByBIbDJVDJkyR%VZ=ٔV ,9XYX=ZFyZLEZXBEZ>`Q 5bm5b?Q 9fm5bI)b~BYdyf8@Q If@b/DIb1:ib:bRm5yhɮn AlDNOT Ignoring new targets: 40.28 m.hh*h"h hg f f f dddjdZd?@EBɢE|:)I M@=iI)MnIIiMdiQ]ȟ3<]ʞY W:,N?A6 6@6FD@6Vuٱ6/ BAHRS rotation from veh to nav: [[-0.996143,-0.085951,0.017627],[0.078874,-0.965237,-0.249193],[0.038433,-0.246841,0.968293]]6H@h@ ? 1?8`Ͽ m?ϿB?i6 6@I6]^;6CYF=ByJIbDV VDV2y^I%^I=ٔ^?%9`Y`=bFyb LEfEf>hQ 5nm5jt?Q 9nm5j@)jBYlyr7@Q Ir@j8DIj;ij; ;j(Vm5yzzBɮ~ A5DNOT Ignoring new targets: 40.28 m.h1h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@@ Bɢ@8) P=i)i 9iyV3<9 @>a^A:_G=AIIO>ԉEM  EM EM &EI "EM ;*EM :VEM 4ZEI aU @aU @aU @aU @Թ :,g?A265@2+C@2r ٱ2z :AHRS rotation from veh to nav: [[-0.995184,-0.097431,0.010749],[0.091867,-0.965311,-0.244406],[0.034189,-0.242242,0.969613]]2H@@p?? HϿ.?`Ͽ`?i265@I2^;2CYv;ByvI xxiuMb@Mb@Mb@qqqq q9u#~j?J +Mb?Yu%?yuȽu9Y=FyLEE>Q 5m5G?Q 9m5)BY'?Q E:y2:@Q I@ADI;i:Ym5yxBɮ A*EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff;Bd d d jd Zd  ;@@= Bɢ=0)A E$=iA)E)޻AIiMԑ =GYiIB}Ŀ>ByB}.IB}kBByByB}uDB}n;B}+Ex9Y4bAmF<3<ݺIIyb?ANAԹ9@ @@0@^Aԅ<AII O >ia Ia  i:,軁?A2}4@2rB@2=ٱ2s :AHRS rotation from veh to nav: [[-0.994220,-0.107264,0.004680],[0.103110,-0.966047,-0.236901],[0.029932,-0.235049,0.971523]]2Huk+s?ce?Rο?ο?i2}4@I2^;2CYB6ByBIbDJVDJN2yR%V[=ٔVR;9XYX=ZFyZLEZKEZ>`Q 5bm5b`n?Q 9fm5b)bBYdyfs9@Q If@bIDIb:ib:b2]m5yjwBɮn An)ED|zD~AAE EEE"E;*E:VEZEBE:r:,?A23@2A@2wӼٱ2kh >AHRS rotation from veh to nav: [[-0.993381,-0.114863,-0.000204],[0.111926,-0.967575,-0.226430],[0.025811,-0.224954,0.974027]]2Hg0*1?`̿"n?L̿;+?i23@I2d^;2CYF1ByFIi Mb@Mb@Mb@     9 #~j?Q~jtx?Y y u ; A  /A) O@ Y A!!bD-VD-y=%=A=ٔ=9AYA=EFyELEEEM>IQ 5]m5MW?Q 9]m5M)MBY]&?Q E]:y]?<@Q I]@MRDIM ;iM ;M`m5yiɮm1 AiDNOT Ignoring new targets: 40.28 m.hh*h"h hgf!f!f%Bd!d)d)jd)Zd-`@@}Bɢ}d,)y o=i)ڻ顁iv\i!1<IIIE9@I @I@My4@I^A=h%<EM EMEM'EI"EM ;*EMn:VEM'4ZEIam@am@am@am@qAIIO>AA@AB >B B IB QBB =B B B n;B +Eԡ :,&r?Aɰ4<:{3@:qA@:+ٱ: \@ FAHRS rotation from veh to nav: [[-0.992686,-0.120653,-0.004181],[0.118728,-0.969402,-0.214856],[0.021870,-0.213781,0.976637]]:H@㾿S qd?W j˿e? 0]˿@?i:{3@I:ܾ^;:CYN*ByNIIR<)R;bDZVDZkyb: %bR=ٔbU&9dYd=fFyfLEfDEj>hQ 5rm5jB?Q 9rm5j1)jBYpyr;@Q Ir@jZDIjL;ijz;jHdm5yzvBɮz] Az(EDNOT Ignoring new targets: 40.28 m.hh*h"h h!g!f!f!f)d)d)d)jd)Zd5=@@]Bɢe1v)a e!=ia)eGٻaaim˪iiu@0E- E-E-#E)"E-;*E-Ǚ:VE-3ZE)BE-d9% ?Y% ?=%Fy%LE%EE%>)Q 5=m5-,?Q 9Em5-)-BYIyUt;@Q IU@-bDI-;i-;-gm5yeuBɮm> AiDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`A@EBɢEp)M}1ü U=i)ػi.iM/<AڼI I 9@ @@@1^A 0A zA dAi E=  E= E= !E9 "E= %;*E= ˭:VE= c3ZE9 aE @aE @aE @aE @AM ؟AIQ Ia Ou >й:,$(?A22@2?@@2h^ٱ2F :AHRS rotation from veh to nav: [[-0.991779,-0.127469,-0.011255],[0.127243,-0.973031,-0.192404],[0.013574,-0.192254,0.981251]]2HP ~I?#ȿ@̋?śȿ@if?i22@I2}y^;2CYB:ByBIi Mb@Mb@Mb@     9 #~j?/$Mb?Y y , < 5A  A)  Y A9 y}<bDVDy=%C=ٔN"9"?Y"?=Fy$LEh E>Q 5m5?Q 9m5Z)BY?&?Q E:y<@Q I@kDI;ix;km5yɮ ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfB>BCBIBGBB =BBtDBn;B+EffBdddjdZd BA@eBɢe,)a eq=ia)mֻiiimni -<IIie9@a @a@e/@a^A]bިԙAIIO> :,?A:2@:@@:F!ٱ:; RAHRS rotation from veh to nav: [[-0.991613,-0.128490,-0.013912],[0.128866,-0.974790,-0.182148],[0.009843,-0.182413,0.983173]]:HK_r }~?{1@Pǿ@(?OYǿ&v?i:2@I:^;8Y^;By^I ddbDzVDzyb:%S=ٔ9!Y!=-Fy-(LE-ME5>AQ 5]m5E?Q 9]m5E)EBYaye<@Q Ie@EsDIEu;iEc;Enm5ymsBɮm Am'EԹE EE'E"E;*Ed:VE'4ZEBEo:,j?A>2@>L@@>щλٱ>j2 FAHRS rotation from veh to nav: [[-0.991608,-0.128250,-0.016283],[0.129125,-0.976401,-0.173110],[0.006303,-0.173760,0.984768]]>H@A|j_.?>x(ƿ.y?=ƿ8?i>2@I>t^;>CYN@ByNIi%Mb@Mb@Mb@!!!! !9%'1Z?lMb?Y%"?y%%<%A%;@ %`A)%"@!Y%zAbD=VD=yMY<%MG=ٔM 9QYQ=UFyU,LE]%E]>aQ 5mm5e닊?Q 9mm5e)eBYm$#?Q Em:yuc=@Q Iu@e{DIeu:ie:erm5y}rBɮ} A}EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd@dA@!Bɢ҄) p=i)OԻi/ȫiY]Y+BBBB =BBBm;Bt+EBCBCBȓCB =B =C4ԙ ^A I_A >A > PExceeded connect timeout, disconnecting.AIIQIaOu>3:,x*;?A(N2@N(@@N#ٱN) ZAHRS rotation from veh to nav: [[-0.991671,-0.127416,-0.018814],[0.128773,-0.978011,-0.164050],[0.002502,-0.165107,0.986273]]NHĻ`(OD{? K ĿWd?8"ſ`?iN2@IN^;NCYbMByb IbDjVDjP)yrf=%r1=ٔvG9tYt=vFyv1LEzK:Ez>|Q 5m5~JӋ?Q 9m5~r)~BY y d=@Q I @~DI~:i~:~vm5yɮ) A=DNOT Ignoring new targets: 40.28 m.hAhA*hA"hA hAgAfAfIfIdIdQdQjdQZdUJA@颅$Bɢ") D=i)uѻ顉iѫiS)<IIԁE= E=E=)E9"E=f;*E=:VE=FA4ZE9BE=W":,&Y?A>2@>@@>eޏ:ٱ>3 JAHRS rotation from veh to nav: [[-0.991842,-0.125733,-0.020990],[0.127468,-0.979685,-0.154821],[-0.001098,-0.156234,0.987720]]>H+ m~P? Y -ÿ`Qvÿf?i>2@I>x^;>CYR[ByRIIV<)V=i-Mb@Mb@Mb@)))) )9-HzG?ˡEZd;O?Y-=*?y-'-j<-A) -|@)-O@)Y-@bDEVDEβyU>n=%U)=ٔUM;Q-]>9YYY=]Fy]5LEe2;Ee>iQ 5um5m?Q 9um5m)mBY}*?Q E}:y}U=@Q I}@mDIm":im:mzm5yqBɮAEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdd dAjdAZdM>B@颕(Bɢ() =i)^λ顙iRȫi~3(<7PII9Em EmEm'Ei"Em7;*Em:VEm'4ZEiau@au@au@au@9@ @@/@aB ¿>B CB IB VBB  =B B uDB m;B +Eԑ ^A) AYIiIyO>CI:,w?A:>3@:}4A@:I;ٱ: BAHRS rotation from veh to nav: [[-0.992447,-0.120278,-0.024126],[0.122453,-0.983115,-0.135981],[-0.007363,-0.137909,0.990418]]:H@ ʾ@ Y?u`g@-)~ ?i:>3@I:Su^;:CYJrByJ7IbDRVDRP)yZ:=%Z3=ٔ^s`9\Y\=bFyb:LEb4<Eb>dQ 5jm5f_?Q 9jm5f{)fBYlyn=@Q In@fDIfg:if:f~m5yrpBɮrAvEnManaging dock network, ignoring radio surface power offDNOT Ignoring new targets: 40.28 m.hh*h"h! h!g!f!f)f)d)d)d)jd1Zd5WB@]*BɢeP;)a eF>ia)e3Zʻiiimiiu&":,Y?A:Jk3@:`A@:'<ٱ:u FAHRS rotation from veh to nav: [[-0.992750,-0.117451,-0.025544],[0.119759,-0.984666,-0.126849],[-0.010254,-0.128989,0.991593]]:HH7( ?@b`<@!?i:Jk3@I:T^;8PYR~ByRFIbDZVDZ0yb"v=%fK=ٔf+;Q-f>9dYh=jFyj>LEj;Ej>lQ 5vm5n?Q 9vm5n=)nBYtyv=@Q Iv@nDIn:in;nOm5yznBɮ~A|%DNOT Ignoring new targets: 40.28 m.h!h!*h)"h) h)g1f9fIfIdQdQdQjdQZd]B@颅-Bɢ;) J#>i)ƻ顑ii%<IIU9@Y @Y@e4@a^AU4|żA I I O >E  E E &E "E ;*E :VE 4ZE a @a @a @a @1 /M:,&5?A2o3@2 A@2Z<ٱ2H :AHRS rotation from veh to nav: [[-0.993019,-0.114702,-0.027504],[0.117200,-0.985791,-0.120331],[-0.013311,-0.122715,0.992353]]2H#]*? ` ξB>jZ?i2o3@I2C^;2CYBByBVIDFAGAAAAAAB>BB4IBpBB =BBBOl;B*EM9IYMhAiMb@Mb@Mb@ 9K7?/$Q?Y)?y\= AQ@ "@)9@Y@bDVD:2ya=%-=ٔj;Q->9Y=FyCLE;E>Q 5m5No?Q 9m5M)BYQ+?Q E:y9@Q I@DI:i@:nm5ymBɮ  A E5DNOT Ignoring new targets: 40.28 m.h1h1*h1"h1 h9g9f9f9f=΀BdAdAdAjdAZdMB@}/Bɢm;) 8>i)O顁iJiJ$<:CII)9@ @@4@Q^A ԁ A .AI) IA O] >Y8:,?AF3@FEA@FX<ٱF:ER EREPEP"ERO;*ER:VEPZEPBER'Y,Ӿa?iF3@IF7f^;FCYfByfrIbDrVDr yz>%zo=ٔz;Q-~?9~ ?Y~ ?=~Fy~FLEC<E? Q 5m5 \?Q 9m5 ) BYy&:@Q I@ DI ;i ; lm5y!ɮ%XA!MDNOT Ignoring new targets: 40.28 m.hIhI*hQQ"hQ hYgYfYfYfadadadajdaZdm`B@颕1Bɢ3<) a>i)顙i/i#<IIa@a @a@e 4@a@i@mgAԉԱ^AM𕭼AM>AM>A= ؟AIi Iy O > _:,?A2B3@2A@2i%<ٱ2m :AHRS rotation from veh to nav: [[-0.993667,-0.108060,-0.030802],[0.110959,-0.986873,-0.117343],[-0.017717,-0.120018,0.992614]]2Hѩq@g?@w`6 n$@~}?i2B3@I2Z^;2CYVByVwIi5Mb@Mb@Mb@1111 195> ףp=?K79e"?Ym"?=mFymKLEm;Em>qQ 5}m5uD?Q 9m5u)uBY5?Q E:y5@Q I@uDIu;iu;um5ylBɮ+AEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd)C@ 3Bɢ l!<) ff>i)u顙ii^"<DIIE EE$E"E;*E:VE4ZEa@a@a@a@@ @@/@B>BBYIBBB =BBBk;Bk*E^AmA I I O >9 u:,.?A2)4@2?B@2<ٱ2U :AHRS rotation from veh to nav: [[-0.993932,-0.105055,-0.032597],[0.108202,-0.987106,-0.117956],[-0.019785,-0.120767,0.992484]]2HJ亿 ?_`_2|B`꾿m?i2)4@I2Yw^;2CYBByBIIF<)Fp;J=J=bDNVDN0yV=%VV=ٔVα;Q-Z>9XYX=ZFyZOLE^;Eb>dQ 5jm5f.?Q 9jm5f)fBYhyj'6@Q Ij@fŰDIf:ifV:fgm5y]kBɮeAeEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd[C@55Bɢ59K<)1 5>i1)=v99i=ƪiAE"Թ q;,?A6]4@6PSB@6Jְ<ٱ6ެ >AHRS rotation from veh to nav: [[-0.994234,-0.101606,-0.034281],[0.105039,-0.987127,-0.120614],[-0.021585,-0.123520,0.992107]]6H` T?྿XW?i6]4@I6J]^;6CYFByFIbDRVDR2yV7=%ZJ=ٔZ;Q-Z>9XY\=^Fy^SLE^<Eb>`Q 5fm5b?Q 9jm5bd)b BYhyj_6@Q Ij@bΰDIb1:ib:bm5ypɮr^Ap DNOT Ignoring new targets: 40.28 m.h h *h "h  hgfffdddjd!Zd%^C@颵7Bɢ$a<) ҇>i)ާiic!<;IIԙ9@ @@/@^AjbA!zA%eAE  E E &E "E a;*E :VE 4ZE a @a @a @a @Ae .AIi Iy O > t ;,,?AB4@BB@Bx<ٱB RAHRS rotation from veh to nav: [[-0.994591,-0.097612,-0.035505],[0.101250,-0.987388,-0.121707],[-0.023177,-0.124644,0.991931]]BH` -?`@3(û迿?iB4@IB^K^;BCY^ӁBy^IieMb@Mb@Mb@aaaa a9e-? ףp= ǿI +?Bu<AqB}ƿ>ByB}IB}BB} =ByB}vDB}]k;B}<*EYe?5?yeQ8e94=e Ae@ e"@)ef@aYabDVDk1y=%5=ٔg;Q->9 ?Y ?=Fy%WLE%x <E%>)Q 55m5-?Q 95m5-)-BY=Z;?Q E=:y=?3@Q I=@-ٰDI-;i-:-ޗm5yEjBɮEAAuDNOT Ignoring new targets: 40.28 m.hqhq*hq"hq hqgqfyfyf}BdyddjdZdC@颵9Bɢ y<) >i)>项iXi < II@ @@@^A*:A A ؟AI I Oe >;,WF?A :,4@:B@:<ٱ:EF EFEF/ED"EF;*EF՚:VEFJ4ZEDBEFI\9z"?Yz"?=zFyz[LEze<Ez>Q 5m5芊?Q 9 m5.)BY y w3@Q I @DI:i:m5yiBɮAEEDNOT Ignoring new targets: 40.28 m.hAhA*hA"hA hAgIfIfIfIdQdQdQjdQZdUC@颅;Bɢw<) 2>i)顉i-i> <II1@1 @1@50@1iԡ^Au}UAi I I O% >;,/`?A25@2NB@2*<ٱ29m :AHRS rotation from veh to nav: [[-0.995152,-0.090797,-0.037787],[0.094829,-0.987741,-0.124000],[-0.026065,-0.126983,0.991562]]2HIx>X F?| @ ?i25@I2T^;2CYBہByBIPiMMb@Mb@Mb@IIII I9MbX9?$C˿I +?YME6?yMZIM= AM@ M9@)MIAIYM\@bDeVDeyu<%}B=ٔN;Q->9Y=Fy_LE+;E>Q 5m5ϊ?Q 9m5))BY>?Q E:y1@Q I@DIKf;iT;Ȟm5yhBɮcAE=DNOT Ignoring new targets: 40.28 m.h9h9*h9"hA hAgAfIff7BdddjdZd/D@-=Bɢ-%)<)) -^>iI)UQQiUީiY]<]-\IYIaE EE'E"EI;*E:VE'4ZEa@a@a@a@iA@A @A@M0@IB}ǿ>B}CB}IB}ƁBB} =ByByB}k;B}*EBQBQBQBU =BU =CU5^A 3A A >) I I O >F;, z?A2,75@2,C@2Q~<ٱ2d} >AHRS rotation from veh to nav: [[-0.995388,-0.087481,-0.039355],[0.091819,-0.987655,-0.126914],[-0.027767,-0.129942,0.991133]]2H8'eW&u?`ޚ`>n`\?i2,75@I2p^;2CYF߁ByFIbDNVDNkyV8<%VX=ٔZ;Q-Z>9XYX=ZFyZcLE^<E^>`Q 5fm5b깊?Q 9fm5bw)b3BYhyj<1@Q Ij@bDIb:ib:b m5ylɮnHAp| DNOT Ignoring new targets: 40.28 m.h h *h "h hgfffdddjdZdI^D@>Bɢcn<) >>i)Yi穩ig<%vI!I!@ @@4@)E EE%E"E ;*E':VE 4ZEBEsTԁ ?$;,?A6+d5@6YC@6Z<ٱ6d^ >AHRS rotation from veh to nav: [[-0.995588,-0.084509,-0.040788],[0.089081,-0.987802,-0.127716],[-0.029497,-0.130786,0.990972]]6He@⤿Ͷ? Y l4` ?i6+d5@I6T^;6CY^BybIIf4=)f=f=f=bDjVDjfyr =%rG=ٔvډ;Q-v>9tYx=zFyzgLEz;Ez>|Q 5m5~硊?Q 9m5~)~=BY y j1@Q I @~DI~:i~:~m5ygBɮ AEDNOT Ignoring new targets: 40.28 m.hAhA*hA"hA hAgAfIfIfIdIdQdQjdQZdU ǐD@Y@Bɢd<)  Q>i ) lI}  ir]i1=<=O:I9III@I @I@M/@QԉԹ^A5?BɺIIO>E  E E &E "E ;*E :VE 4ZE a @a @a @a @ p*;,ѭ?AFM5@FC@Fc<ٱF#Y RAHRS rotation from veh to nav: [[-0.995769,-0.081819,-0.041836],[0.086578,-0.987903,-0.128651],[-0.030804,-0.131729,0.990807]]FHVk)? w- ~ఴ?iFM5@IFqE^;FCYZ܁ByZIA@AA@AB%ȿ>B!B%IB%ЁBB!B!B!B%j;B%*EiMb@Mb@Mb@ 9On?e;Oο/$?Y8?yt,=@ "@)AYbDVDk1Աy0%==ٔNF;Q->9Y=FylLEL;E>Q 5m5e?Q 9m5;)IBYB?Q E:y/@Q I@ DI:i:km5ydBɮBA EDNOT Ignoring new targets: 40.28 m.hh*h"h hg!f!f!f%8Bd)d)d)jd)Zd5,D@]ABɢ],<)a eP>ia)eolaaiei<L;II@ @@/@^A] ;AzAdAI I O% >1 p1;,0?AbEijEm'4rEmQ0E4 E6E6(E4"E4*E6:VE6c44ZE4BE6]JE6=;a>:E6=;a>B5@BC@BkO=ٱBT NAHRS rotation from veh to nav: [[-0.995892,-0.079590,-0.043177],[0.084592,-0.987881,-0.130136],[-0.032297,-0.133254,0.990556]]BH@Y`_[ͧ?@L0w?iB5@IBV^;BCYnہBynIbDvVDv0y %X=ٔ ;Q->9 Y = Fy pLE ;E>Q 5%m5r?Q 9%m5S)RBY!y%/@Q I%@DI~ ;i ;m5y1ɮ5FA1DNOT Ignoring new targets: 40.28 m.hh*h"h hgfffddd jd Zd 2D@}CBɢ}<)y }>iy)"]顁ii<f';III@I @I@M/@IA^A-yb];qIIO>ԙ 7;,?A2N5@2C@2$C =ٱ2 >AHRS rotation from veh to nav: [[-0.996017,-0.077142,-0.044723],[0.082435,-0.987811,-0.132034],[-0.033993,-0.135195,0.990236]]2H^`妿x?&{gN?i2N5@I2M^;2CYFӁByFI HHJAHieMb@Mb@Mb@aaaa a9eZd;? +οkt?Ye9?yeve 0=e Aa e9@)e`AaYe(AbDVDNy%%%9=ٔ-{;Q-->9)Y1=5Fy5tLE5;E5>9Q 5Em5=W?Q 9Em5=)=^BYM#D?Q EM:yM/@Q IM@=DI=X;i= ;=m5yUcBɮ]AYiDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff>BdddjdZd b1E@DBɢ~5<) >i)(MiiÔ<>;IIEu EuEu&Eq"EuT;*Euv:VEu4ZEqa@a@a@a@@ @@/@ԙ  C'Gy9YKcABɿ>BBIBƁBBBBBj;B)E^AS;A I) I9 OE > (>;,=b?A>65@>C@>=ٱ> FAHRS rotation from veh to nav: [[-0.996072,-0.075384,-0.046447],[0.080977,-0.987741,-0.133458],[-0.035817,-0.136695,0.989965]]>HbLǧ@溴?`&`V`7̭?i>65@I>d^;>CYNByNIbDZVDZkyb1%bd=ٔb;Q-b>9dYd=fFyfxLEf;Ej>lQ 5rm5nVB?Q 9rm5n.)ngBYpyr0@Q Ir@n%DIn:in:nm5yvbBɮzAz EDNOT Ignoring new targets: 40.28 m.hh*h"h h!g!f!f!f!d)d)d)jd)Zd5`_E@]EBɢeu`w<)e *v ey>ia)egBaaimZiiuA5>! Ae .AIi Iy O > E;,o.?A6v5@6C@6m=ٱ6 FAHRS rotation from veh to nav: [[-0.996069,-0.074304,-0.048232],[0.080166,-0.987750,-0.133879],[-0.037694,-0.137219,0.989823]]6H ߱@?"`Lf?i6v5@I6qs^;6CYJByJIbDVVDVܲyZ70%^K=ٔ^";Q-^>9 ?Y ?= Fy |LE ;E >Q 5m5)?Q 9m5 )qBY!y%0@Q I%@/DI;ie;Pm5y-aBɮ-=A- EUDNOT Ignoring new targets: 40.28 m.hQhY*hY"hY hYgYfafafadadidijdiZdmඓE@额FBɢnP<) e>i)R6顡i6it<U:K;,/?Aɰ26@2tC@2F!=ٱ2 :AHRS rotation from veh to nav: [[-0.996050,-0.073394,-0.049985],[0.079529,-0.987719,-0.134484],[-0.039501,-0.137928,0.989654]]<2Hɲ\?`e6o9??i26@I2a^;2CYFByFsIIJ<)J9m"?Ym"?=mFymLEm:Eu>yQ 5m5})?Q 9m5}ޟ)}vBYI?Q E:y0@Q I@}:DI};:i}:}m5y ɮA]DNOT Ignoring new targets: 40.28 m.hYhY*hY"hY hYgYfafafe BdididjdZd`KE@GBɢx<) n6>i)+i*i  ph< IR;,H?AE& E&E&$E$"E&~ ;*E&:VE&4ZE$BE&V9 ?Y ?=FyLEN:E>!Q 5-m5%?Q 9-m5%)%zBY1y50@Q I5@%DDI%:i%:%dm5y=`Bɮ=UAEEmDNOT Ignoring new targets: 40.28 m.hihi*hi"hi higifqfqfqdqdydyjdyZd}`nE@颭HBɢ0E <) >i)Ӽ$顱iFia<S\HY;,,f?AY^By^WIiEMb@Mb@Mb@AAAA A9E-?&1ʿMb?YE5>?yEPE9"?Y"?=FyLEE>Q 5m5hډ?Q 9m5)}BYJE?Q E:y33@Q I@PDI;i:m5y_BɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfff BdddjdZd g9F@i额IBɢ3;) >i)*顡i+iW<av N+`;,?A25@2C@2tp6=ٱ2 :AHRS rotation from veh to nav: [[-0.995791,-0.073125,-0.055255],[0.080111,-0.987308,-0.137131],[-0.044526,-0.140981,0.989011]]2H@S`gJ .?@` ̦@ ¿?i25@I2b^;2CYBnByB2I DDHHbDNVDNyV %VZ=ٔV9Z ?YZ ?=ZFyZLE^\.E^>`Q 5fm5bqÉ?Q 9fm5b Q =ftI)bBYhyj%3@Q Ij@bYDIb:ib.:bm5y=^Bɮ=yAEEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd%mF@mJBɢm^.;)q ud=iq)}zyyyi}iI<$lg;,!?A~5@~?C@~[==ٱ~Md AHRS rotation from veh to nav: [[-0.995634,-0.073739,-0.057230],[0.081099,-0.986930,-0.139254],[-0.046214,-0.143288,0.988602]]~H <ಿ`BM´? @P?W¿?i~5@I~j^;~CYE_ByEIiMb@Mb@Mb@ 9Zd;?+ÿ9"?Y"?=FyLE$E>Q 5m5?Q 9m5)BY>?Q E:y6@Q I@fDI ;i ;m5y ]Bɮ A E=DNOT Ignoring new targets: 40.28 m.h9h9*h9"h9 h9g9fAfAfEBdAdIdIjdIZdMyF@}KBɢ}I9)y 0 =i)$顁i}i//<J;II1-9@) @)@-3@)@5fA@5fAE] E]E]#EY"E] ;*E]k:VE]3ZEYae@ae@ae@ae@YBBBIB[BBBBBj;B)EB]CB]CBYB] =B] =C]ȷ4^A r;A >A ?ԉ A I I O >m;,Ÿ?A25@2~C@2 C=ٱ2: :AHRS rotation from veh to nav: [[-0.995456,-0.074748,-0.058996],[0.082476,-0.986454,-0.141796],[-0.047598,-0.146018,0.988136]]2H"4%?@c&¿^ ¿Ϟ?i25@I2b^;2CYBPByB IbDJVDJfyR%Rj=ٔV:;Q-V?9TYT=ZFyZLEZEZ?\Q 5bm5^?Q 9bm5^+)\Ydyf}6@Q If@^nDI^$:i^:^m5yj\BɮjYAhDNOT Ignoring new targets: 40.28 m.hh*h"h hgf f f d ddjdZdoF@yɢ%0P̺)! %` *qt;,?A25@2C@2&ZG=ٱ2! :AHRS rotation from veh to nav: [[-0.995274,-0.076067,-0.060356],[0.084037,-0.986162,-0.142903],[-0.048651,-0.147300,0.987895]]2H`I'y@箿@t? J¿ 訿`¿ ՜?i25@I2z^;0YB8ByBIID)F;F=Fa=bDNVDN0yV~%VJ=ٔV*;Q-V>9XYX=ZFyZLEZ~E^>`Q 5fm5bv?Q 9fm5b)b~BYdyfd6@Q If@bwDIbg:ib:bm5ynYBɮn AnEDNOT Ignoring new targets: 40.28 m.hh*h"h h g f f fdddjdZd6 G@ULBɢUe)]* ]xiY)]^Yaieiam1Y E  E E )E "E %;*E :VE FA4ZE a @a @a @a @z;,y?Abr5@bC@b5K=ٱbI nAHRS rotation from veh to nav: [[-0.995053,-0.077855,-0.061710],[0.086017,-0.985966,-0.143081],[-0.049704,-0.147681,0.987785]]bHyJn`8? yP¿ r 7¿?ibr5@Ibg^;bCYz(ByzIiMb@Mb@Mb@ 9333333?Zd;9 ?Y ?=FyLE9B]ȿ>BYB]IB])BBYBYBYB]!j;B])EuE}>yQ 5m5}[?Q 9m5})}|BY9ԑԹ ;,CW?A2`y5@2nC@2zCL=ٱ2, :AHRS rotation from veh to nav: [[-0.994897,-0.079533,-0.062084],[0.087721,-0.985856,-0.142804],[-0.049848,-0.147521,0.987802]]2H2?\{ɯt?!gG¿¿?i2`y5@I2i^^;2CYFByFIbDjVDjyrϽ%rZ=ٔv9Q-v>9v"?Yv"?=vFyvLEz_Ez>|Q 5m5~E?Q 9m5~)~zBY y 8@Q I @~DI~:i~:~5m5yVBɮ AMDNOT Ignoring new targets: 40.28 m.hIhI*hI"hQ hQgQfQfQfYdYdYdajdaZdeuG@颍MBɢ0) (i)B 顙i㛼iu<1\:IIԑbE'4jEY"4rEJ0E EE'E"E=;*Eh:VE'4ZEBE{I! ;,B ?A@@ ^5@SC@[N=ٱS AHRS rotation from veh to nav: [[-0.994727,-0.081141,-0.062720],[0.089379,-0.985794,-0.142200],[-0.050290,-0.147056,0.987849]]H@Ŵb@? 3¿@@¿ u?i ^5@I^;CY ByI AiuMb@Mb@Mb@qqqq q9u333333?kt{Gzt?Yqyu uף;qq q)u/AqYuAbD VD:2y $%,=ٔ -t:Q- >9 Y=FyLE.fE>Q 5%m5+)?Q 9-m5")uBY-:?Q E-:y-;@Q I-@DI;i-;[m5y5UBɮ=U A=EeDNOT Ignoring new targets: 40.28 m.haha*ha"ha higifififuBdqdqdqjdqZd}oG@颩ɢ͍2) i)(顱idi<y9IIE EE%E"E;*E:VE 4ZEa@a@a@a@=GYq}UN9Y\iABIAM%=BYBYB]IB]BBYBYBYB]lj;B])EA @A  @A @E /@A Y i ^Ai Am >Am >AԙIIO?V;,{kA?Ad%5@C@Q=ٱy AHRS rotation from veh to nav: [[-0.994370,-0.084215,-0.064312],[0.092814,-0.985044,-0.145171],[-0.051125,-0.150323,0.987314]]H@ v@·? z¿`-=ÿ?id%5@I@^;CYByIbDVDy%(=ٔ:Q->9 Y = Fy LE E>Q 5um5 ?Q 9}m55)qBYyy};@Q I@DI\Q t;,[?A Y By IbDVD1y-?B%-[=ٔ-Q-5>91Y1=5Fy5LE=E=>AQ 5Mm5E?Q 9Mm5E)EmBYQyQQ IU@EDIE:iEe:Em5yYɮ] AYDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd@ H@ɢW{) 8i)<i Ji A<PII)1111ԉԡU9@Q @Y@]/@Y@ep=@e=E} E}E}%Ey"E}T;*E}Z:VE} 4ZEya@a@a@a@ B ǿ>B B IB ܀BB B B B j;B )E^A} q9 A I I O>u;,:ux?A644@6B@6gIT=ٱ6N >AHRS rotation from veh to nav: [[-0.993982,-0.087844,-0.065453],[0.096524,-0.984848,-0.144076],[-0.051805,-0.149526,0.987400]]6H@|~ŵ?߃`q¿`"`#ÿ@ǘ?i644@I6r@^;6CYFByFIIJp<)HiMb@Mb@Mb@ 9I +?MbX9~jt?Y94?yʡD< 9@)AYbD-VD-02y=su%=1=ٔE4:Q-E>9IYI=MFyMLEMEU>QQ 5]m5Uڈ?Q 9m5U)UjBYa5?Q E:y;@Q I@UDIUԡ Q;,&?A>!4@>B@>kS=ٱ> FAHRS rotation from veh to nav: [[-0.993856,-0.089279,-0.065424],[0.097924,-0.984759,-0.143740],[-0.051594,-0.149263,0.987451]]>H`۶?$ f¿@wjÿ2?i>!4@I>!^;9dYd=fFyfLEjoEj>lQ 5rm5n Ĉ?Q 9rm5n)ngBYpyv;@Q Iv@nDIn;in:n@m5yzRBɮzl AzEDNOT Ignoring new targets: 40.28 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5@H@aɢevė)a ePia)mQlQiiim׈iquQ2 {;,j?A6S4@6B@6jO=ٱ6g2 FAHRS rotation from veh to nav: [[-0.993780,-0.090622,-0.064727],[0.099130,-0.984698,-0.143332],[-0.050747,-0.148857,0.987556]]6H 3`󑰿``?`@X¿ ÿ?i6S4@I6w^;6CYNByNIEV EVETET"EV;*EV:VETZETa^@a^@a^@a^@iMb@Mb@Mb@ 9B`"?㥛 Q?Y.?yu<A@ )AYAbDVDky% 7=ٔ NQ- >9 Y=FyLE1E>Q 5%m5Ū?Q 9-m5)eBY-/?Q E-:y-+<@Q I-@DZDIn:i:%m5y=QBɮ=h A=EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZdH@AAAABƿ>BBfIBȀBB =BBBj;B)EYɢ])Y eJQia)ef]aaievii<W%II%9@! @!@%p4@!@-gA@-gAA^AI AM >AM >q A I I O >c;,0?A 24@26B@2 7I=ٱ2Em >AHRS rotation from veh to nav: [[-0.993766,-0.091920,-0.063090],[0.100092,-0.984832,-0.141730],[-0.049105,-0.147162,0.987893]]2H&`?` 9$¿ M$@1¿@ќ?i24@I2^;2CYFByFIbDNVDNܲyV %Vc=ٔV畻Q-Z>9XYX=ZFyZLE^/E^>`Q 5fm5bc?Q 9fm5b)bdBYdyj<@Q Ij@bϱDIb:ib:bIm5ylɮnt AlDNOT Ignoring new targets: 40.28 m.hh *h "h  h g f ffdddjdZdH@ɢI) Si)wgii < II a>i >qE EEE"E ;*E:VEZEBEL U;,_?A24@2B@2 B=ٱ2 :AHRS rotation from veh to nav: [[-0.993782,-0.092825,-0.061494],[0.100684,-0.984976,-0.140302],[-0.047547,-0.145621,0.988197]]2H d÷@(|uƹ?i@ X¿O?i24@I2[^;2CYBۀByB}IHHLbDNVDNk1yV%ZJ=ٔZ|Q-Z>9`Yd=fFyjLEnռEr>tQ 5vm5v1?Q 9zm5v)vbBYxyz<@Q Iz@vرDIv:iv;vm5yPBɮ AEMDNOT Ignoring new targets: 40.28 m.hIhQ*hY"hY hagififfddd!jd!Zd- +I@]LBɢ])Y ]biY)etaaie쌼iY<II%9@! @!@!@!E EEE"ET;*E?:VEZEa@a@a@a@Bſ>BBYIBBB =BBuDBj;B *EBBBB =B =Cȗb4^A A zA ! AY Ia Iq O >b;,?A:;4@:֐B@:6<=ٱ:+X FAHRS rotation from veh to nav: [[-0.993800,-0.093777,-0.059733],[0.101221,-0.985375,-0.137081],[-0.046004,-0.142278,0.988757]]:H5@@W? 0卧'6¿?i:;4@I:^;:CYNByNIxi%Mb@Mb@Mb@!!!! !9%Q?(\µ9YYY=]Fy]LE]Ee>aQ 5mm5elf?Q 9mm5ef})aYu7?Q Eu:yu@;@Q Iu@eDIeh;ie ;em5yOBɮZ ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd@]I@qɢuN)q u*Oiq)}C~yyi}fi<oII!E9@I @I@M/@I@]=@]=Q^A-E  E E 'E "E *E :VE '4ZE BE G[;,Zc?A2G4@2B@2D7=ٱ2' >AHRS rotation from veh to nav: [[-0.993851,-0.094160,-0.058251],[0.101285,-0.985688,-0.134758],[-0.044728,-0.139830,0.989165]]2H ӭ?@Š?榿9XYX=ZFyZLE^E^>Q 5%m5 Q;,0F-?AEF EFEF%ED"EF ;*EF:VEF 4ZEDaJ@aJ@aJ@aJ@Z4@ZB@ZCP1=ٱZ fAHRS rotation from veh to nav: [[-0.993882,-0.094891,-0.056515],[0.101614,-0.986126,-0.131260],[-0.043276,-0.136200,0.989736]]ZHJ`﬿h?X`"B(o@?iZ4@IZ}^;XY~By~IԱiMb@Mb@Mb@ 9M?"~jQ?Yn2?yS㽙<9A@ |@)YA <bDVD0yލ%6=ٔ ;TQ- >9 Y=FyLE=E>Q 5%n5 6?Q 9-n5y)eBY-4?Q E-:y-8@Q I-@DI:iU:n5y9ɮ=U A9eDNOT Ignoring new targets: 40.28 m.haha*ha"ha hagifififuBdqdqdqjdyZd}JI@B<A<Bÿ>BCBfIBȀBB =BBB8k;B+*Eɢ) 8Mi)0퉻ii<MH II@ @@00@ ^A ;A A >A9 Q Ia Iq O} >ر;,G?A>݊4@>xB@>b-=ٱ>.L JAHRS rotation from veh to nav: [[-0.993860,-0.095722,-0.055490],[0.102230,-0.986276,-0.129649],[-0.042318,-0.134525,0.990006]]>HB$i+?T!8`!?i>݊4@I>I~^;>CY^BybIbDhVDhyr=%r_=ٔr+Q-r>9tYt=vFyvLEzܺEz>xQ 5n5z ?Q 9n5zx)zhBYy8@Q I@zDIz;ize;zn5yNBɮ AE=DNOT Ignoring new targets: 40.28 m.h9h9*h9"hA hAgAfAfIfIdIdIdIjdQZdUI@颅JBɢt) n1i)R顉ini<ض)IIM9@Q @Q@U4@Q@Y@]fAbEÞ4jE 4rEL/E EE(E"E ;*Eh:VEc44ZEBEsTԙ ;,`?A2 4@2B@2h(=ٱ2v FAHRS rotation from veh to nav: [[-0.993943,-0.095508,-0.054367],[0.101921,-0.986133,-0.130971],[-0.041104,-0.135719,0.989894]]2H`a/s`ի@~?g `>_6?i2 4@I2k^;2CYBy IbDEVDEy] =%eC=ٔmC=Q-m>9qYq=uFyuLE}D:E>Q 5n5|?Q 9n5v)kBYy8@Q I@DI;i;n5yMBɮ AEyuDNOT Ignoring new targets: 40.28 m.hyhy*h"h hgfffdddjdZd4J@-IBɢ-ڈj)) -i))5'11i5Rڄi9=4(<= X$I9IAIq)ufAԡ9@ @@4@ E EE%E"E%;*E:VE 4ZEa@a@a@a@5oGIaw9Y`ABƿ>BCBrIBҀBB =BBvDBNk;B8*E^A 6. A I! I1 i= AI= AOM >T;,ùz?A24@2B@2 J#=ٱ2` >AHRS rotation from veh to nav: [[-0.994092,-0.094659,-0.053119],[0.100963,-0.986055,-0.132296],[-0.039855,-0.136877,0.989786]]2H@;a2ع?Í@g`2S?i24@I2^^;2CYBByBIiMb@Mb@Mb@ 9x?HzGL7A`?YK7?y= +=A+@ IA)YA!!bDVD0y-<%F=ٔ|FQ->9Y=FyLEO;E>Q 5n5T?Q 9n5s)pBY:?Q E:y.7@Q I@DI<;i;G n5yɮk ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBd!d!d!jd!Zd-`aJ@UHBɢUy)Y ]BiY)]4Yaieiam;,^i?AYBybD5VD5y=u%ES=ٔEQ-E>9IYI=MFyMLEMEU>QQ 5]n5Uه?Q 9en5Uq)UtBYayaQ Ie@UDIU;iU;Un5ymLBɮug AqDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd @J@}GBɢ}6p)y }iy):™顁iX8im<abIIQM9@I @I@M/@Iԁ^AuԱ A I I O >;,D?Aɰ;EF EFEF'ED"EF;*EF?:VEF'4ZEDaJ@aJ@aJ@aJ@Lj4@jB@j=ٱj} rAHRS rotation from veh to nav: [[-0.994259,-0.094378,-0.050408],[0.100359,-0.985949,-0.133536],[-0.037097,-0.137829,0.989761]]jH@)@ ϩ?R@_?ij4@IjKW^;jCYzByzIi}Mb@Mb@Mb@yyyy y9}V-?oʡſ/$?Y}9Y=FyLE=:E>Q 5n53?Q 9n5So)|BYB?Q E:y4@Q I@#DI:iL:Ln5yGBɮ& AEDNOT Ignoring new targets: 40.28 m.hh*h"h hg f f f BdddjdZd@J@AqAu@AB}ÿ>B}CB}IB}܀BByByB}uDB}k;B}*EFBɢ§`) i)鋝iŀi  h< PI II]l>iYԩ@ @@/@^A  A9 II IY Oe >;,$?A2k4@2B@2E=ٱ2j :AHRS rotation from veh to nav: [[-0.994416,-0.093511,-0.048917],[0.099310,-0.985995,-0.133982],[-0.035703,-0.138092,0.989776]]2H A`] `gl?E`V&`G >?i2k4@I2d^;2CYBByBI J49XYX=ZFyZLEZ:;E^>`Q 5fn5b?Q 9fn5bm)bBYdyf4@Q If@b,DIb:ibV:bn5ynFBlɮn ArE DNOT Ignoring new targets: 40.28 m.h h *h "h  h g fffdddjdZdjJ@EBɢd)! %i!)%ɢ!!i%pi1=<=6I9I9DDE EE&E"E%;*Ev:VE4ZEBE K,;,J?ARv4@RB@RD=ٱR fAHRS rotation from veh to nav: [[-0.994541,-0.092713,-0.047884],[0.098401,-0.985991,-0.134680],[-0.034726,-0.138656,0.989732]]RH@G <0?=1=`ǡ~?iRv4@IR7g^;RCYlyrIbDzVDzNy%D=ٔQ->9 Y = Fy LE;E>Q 5%n5c?Q 9%n5zj)BY!y%4@Q I-@6DI:i:.n5y1ɮ5 A19eDNOT Ignoring new targets: 40.28 m.haha*ha"ha hagififfdd d1jd9ZdE@0K@DBɢV) xi)Ni<|iA<%GI!I)a@ @@@@@gAE EEE"E ;*E?:VEZEa@a@a@a@ԑBqBqBuIBuBBqBqBqBuj;Bu)E^A Թ A .AI I) OE >>;,?A>4@>HB@>|I =ٱ>X5 JAHRS rotation from veh to nav: [[-0.994715,-0.091559,-0.046475],[0.097056,-0.986142,-0.134552],[-0.033511,-0.138352,0.989816]]>Hdp˧ظ?`y@9\(?i>4@I> f^;>CYR ByRIi-Mb@Mb@Mb@)))) )9-X9v?J +ɿMb?Y-=?y-H-@=-A-X@ -`A)-A)Y-AbD=VD=ܲyU=%UF=ٔ]HAQ-]>9] ?Y] ?=eFyeLEeW;Ee>iQ 5un5mJw?Q 9un5mg)mBY}D?Q E}:y}3@Q I}@m@DIm:im:mn5yɮ AEԩDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZdebK@颕CBɢbS) 0ݽi)僚iyi<<ʻIIQ9@ @@0@ ^AE  E E (E "E l;*E Z:VE c44ZE BE XF<,&r?AY~By~I  bDVDk2y%h%%O=ٔ%Q-->9-"?Y-"?=-Fy-LE5E5>9Q 5En5==_?Q 9En5=d)=BYAyAQ IM@=JDI=R:i=:=< n5yUEBɮU AUE}DNOT Ignoring new targets: 40.28 m.hyhy*h"h hgfffdddjdZdӔK@ABɢ,X) i)Ci7wiV<лIIU9@Q @Q@U4@QA^A[RӻqAM .AIq I O >ԙ G <,3P/?A25@2.C@2_y<ٱ2H :AHRS rotation from veh to nav: [[-0.995086,-0.089238,-0.042902],[0.094218,-0.986612,-0.133117],[-0.030449,-0.136505,0.990171]]2H`SضG?R -`y{?i25@I2n^;0EB EBEB&E@"EB~ ;*EB:VEB4ZE@aF@aJ@aJ@aJ@YNByNIi}Mb@Mb@Mb@yyyy y9} r?zGʿ~jt?Y}C?y} W}D=}fAy }vA)}AyY}AbD VDf2yc%B=ٔQ->9 ?Y ?=FyLE;E>Q 5n5D?Q 9n5a)BY5K?Q E:y2@Q I@TDI:i:#n5yɮC ADNOT Ignoring new targets: 40.28 m.hh*h"h hgff f Bd d djdZdK@B1A1B9B9B=IB=BB= =B9B9B=Xj;B=)EBCBCBBB =CE4m@Bɢm~h)iq miq)}Uyyi}b0uie<NvII 9@  @ @ /@ @=@=ԡ^AM*y A ؟AI I! O- >m/<,g*I?A(>'5@>IC@>y<ٱ>F' FAHRS rotation from veh to nav: [[-0.995270,-0.087967,-0.041217],[0.092758,-0.986608,-0.134163],[-0.028863,-0.137352,0.990102]]>HA@T?K B,`%?i>'5@I>"^;>CYNByNIbDVVDVy^1%bZ=ٔbŠQ-b>9f"?Yf"?=fFyfLEf;Ef>hQ 5nn5jg-?Q 9rn5jH_)jBYpyr2@Q Ir@j^DIj;ijT;j/'n5yvCBɮvg AzEDNOT Ignoring new targets: 40.28 m.hh*h"h hg!f!f!f!d)d)d)jd)Zd-K@]>Bɢ]()a eia)eGaaieW siim \<, c?A>I5@>*?C@><ٱ> FAHRS rotation from veh to nav: [[-0.995507,-0.086061,-0.039501],[0.090704,-0.986441,-0.136772],[-0.027195,-0.139740,0.989815]]>H09^8?@`ٛ?i>I5@I>j^;>C`YjByjI pr4<bDrVDr02yz [%~F=ٔ~Q-~>9 ?Y ?=FyMEu;E> Q 5n5 ?Q 9n5 [\) BYy2@Q I@ hDI ;i  ; *n5y!ɮ- A)EB*** querying acoustic contact ***iA iAUDNOT Ignoring new targets: 40.28 m.hQhY*hY"hY hYgYfYfafadadadajdiZdmq/L@额=Bɢ.) #i)S 顡izpi.<PII)@1 @1@=/@92Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E EE(E"E ;*Ek:VEc44ZEa@a@a@a@^AeB1B1B5IB5BB5 =B1B1B5j;B5)EA ؟AI I O >I = *DAT read: user:429> = BDAT read: Tx time:05:31:44.9730 E $Ping request sent.E 9"?Y"?=FyME bZ;E >!Q 55n5%?Q 95n5%X)%BY5gN?Q E5:y51@Q I=@%tDI%7;i%,;%.n5yAɮE AEEuDNOT Ignoring new targets: 40.28 m.hqhq*hq"hq hqgqfyfyf}BdyddjdZd`kL@颵;Bɢ) n/i)V项ifni<ʀ8IIIA@A @A@E/@A@I@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250633^A ?BɺbE5!4jE5(4rE5n/E  E E )E "E ;*E :VE FA4ZE BE QQ s%<,<ۖ?A245@2vC@2<ٱ25 :AHRS rotation from veh to nav: [[-0.995905,-0.083183,-0.035422],[0.087331,-0.986467,-0.138768],[-0.023400,-0.141293,0.989691]]2H s K"N[?"%@¿?i245@I2\^;0YBЀByBpIbDJVDJJyR%Rv=ٔV7ϻQ-V?9Z ?YZ ?=ZFyZ MEZ;E^?\Q 5bn5^(ᆊ?Q 9bn5^/V)^BYdyf21@Q If@^}DI^";i^;^1n5yhɮn AlDNOT Ignoring new targets: 40.28 m.hh*h"h hgf ffdddjdZd`L@M9BɢM$')I MRiQ)UcQQiUD liY]w<]:IYIaiuN>iu>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502838!@! @!@%20@!ԑ^A%9A I I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755270 G gA 5 p95 gAY5 YAe+<,ĕ?AE6 E6E6$E4"E6f;*E6|:VE64ZE4a:@a:@a:@a:@Z5@ZC@Z Ů<ٱZ/ fAHRS rotation from veh to nav: [[-0.996051,-0.082304,-0.033302],[0.086185,-0.986404,-0.139926],[-0.021333,-0.142243,0.989602]]ZH@@ @? @4ؕ5¿Ѫ?iZ5@IZJ^;ZCYjǀByjeIi]Mb@Mb@Mb@YYYY Y9]K7?e;OοQ?Y]I?y]t]\=]|AY Y)]AYY]Aim@AbDuVDuk1yN %>=ٔSQ->9Y=FyME/;E>Q 5n5Yņ?Q 9n5R)BYR?Q E:yE1@Q I@DI":i:5n5yɮ AEBĿ>BBrIBҀBB =BBBi;B)EDNOT Ignoring new targets: 40.28 m.hh*h"h  h g f ffBdddjdZdjL@7Bɢ@C) _i)3Żiqiie<L;II@ @@O0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068269^A] ;AzAdAA ؟AI! I9 OE >Y }2<,p?A25@2VC@2<ٱ2m :AHRS rotation from veh to nav: [[-0.996214,-0.080979,-0.031611],[0.084692,-0.986106,-0.142904],[-0.019599,-0.145040,0.989232]]2H @A/X?/ J¿@¿ɧ?i25@I2'j^;2CYBByBJIbDJVDJ:yR|%RZ=ٔVjQ-V>9V"?YV"?=VFyZMEZ=;EZ>\Q 5bn5^ ?Q 9bn5^O)^BYdyfa1@Q If@^DI^:i^:^8n5yj?Bɮjh Aj٥Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258678DNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZdL@ 5Bɢ 4ʼ)  烾i)Ҝ˻19i=sgiAE:a^AIԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510702A I I O > N8<,K?A25@2C@2<ٱ2 :AHRS rotation from veh to nav: [[-0.996327,-0.080259,-0.029860],[0.083761,-0.985902,-0.144852],[-0.017813,-0.146821,0.989003]]2H`@ދ@`Vq?` ¿=@¿?i25@I2.f^;2CYBByB2IIF=)F%=bDJVDJ0yV~%VJ=ٔVQ-V>9XYX=ZFyZMEZ;E^>`Q 5fn5b?Q 9fn5bL)bBYdyfr1@Q If@bDIb1:ibI:bVBCBLIBBBBBBi;Bw)E A I I! O- > = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018733><,?AM5@MC@MƉ<ٱM eAHRS rotation from veh to nav: [[-0.996415,-0.079545,-0.028817],[0.082915,-0.985845,-0.145721],[-0.016818,-0.147588,0.988906]]MH ].@9? ¿`8+¿?iM5@IM6^;MCYmBymIԹi5Mb@Mb@Mb@1111 195(\?:vʿ:v?Y5G?y5T5<5OA1 5A)5A1Y5A QQbDeVDe0yu檽%u#=ٔ}Q-}>9Y=FyME:E>Q 5n5r?Q 9n52I)BYN?Q E:y3@Q I@DI ;i ;@n5yɮ AإEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd@pM@1Bɢ6) Di!)%ڦݻ!!i%Kbi)-0<- ;I)I19@ @@q4@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270681! Di zDm @AEu  Eu Eu &Eq "Eu 7;*Eu ':VEu 4ZEq BEu ZA >A% .AI) I9 A OM >E<,=a?A>5@>rC@>}<ٱ>V JAHRS rotation from veh to nav: [[-0.996480,-0.079197,-0.027468],[0.082380,-0.985816,-0.146223],[-0.015498,-0.147971,0.988870]]>H+BFt ? ͋l¿`, ¿@Ӥ?i>5@I>g_; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775128K<,u2?AE EE(E"E;*E :VEc44ZEa@a@a@a@0ByByB}IB}BByByByB}i;B}r)E%\5@%C@%Z<ٱ%KW ]AHRS rotation from veh to nav: [[-0.996554,-0.078946,-0.025448],[0.081864,-0.985508,-0.148569],[-0.013350,-0.150140,0.988575]]%H`5`?G`Nÿ`KW`7ÿ g?i%\5@I%0K`;%CYmpBymIi-Mb@Mb@Mb@)))) )9-"~j?Sſ~jt?Y-SC?y-/-D<-|A) -A)-EA)Y-fAbDEVDEyUϮ%U(=ٔUՐQ-U>9YYY=]Fy]#MEeY:Ee>iQ 5un5m??Q 9un5mD)mBYu2H?Q Eu:y}6@Q I}@mDIm;im;mGn5yɮvAԉDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd@rM@颵,Bɢ-) i)j项iXG]i< ;III)-DAT read: 05:31:47.4743 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 351, 0.23, 0.672, 2.450, 0.664, 1.275, PHS=-0.500, 1.221,-0.654, RAW= 334.2, -0.7, CAL= 333.5, -3.6, ROT= 176.5, 3.6 =Ygot valid direction response: 05:31:47.4743 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 351, 0.23, 0.672, 2.450, 0.664, 1.275, PHS=-0.500, 1.221,-0.654, RAW= 334.2, -0.7, CAL= 333.5, -3.6, ROT= 176.5, 3.6 EBDAT read: Rx Time:05:31:47.4743 MTRx dataTimestamp_ set to:1761543108.988440U@DAT read: $Low SNR acquisition U2Received low SNR in chirpY@Y @a@e/@aX#Rx 1: Read direction message, but no range.`direction in FSK: [-0.996165,0.060928,-0.062791]yIMPڕV_1?֏ IMMM M)MMIMiMI?Ml'M @M+HMB@ M)M'E@IM=IMׯws.g6- 犿 M#")M@WR<,͐L?AHY~KBy~I  AAbDVDfyX%%p=ٔ%Q-%?9-"?Y-"?=-Fy-'ME-E5?9Q 5=n5=p*?Q 9En5=B)=BYAyAQ IE@=ƲDI=:i=I:=Jn5yQɮUAU֥E}DNOT Ignoring new targets: 40.28 m.hyhy*hy"hy hygfffdddjdZdN@颽*Bɢ+) ߾i)LpiZiN<h;IIDD<E EE%E"E;*EǙ:VE 4ZEBEl_'$Y<,OWf?A25@2wC@2bU"<ٱ2 :AHRS rotation from veh to nav: [[-0.996606,-0.079263,-0.022203],[0.081716,-0.985156,-0.150961],[-0.009908,-0.152263,0.988290]]2H@3JgP?fRÿJ@Z}ÿ@?i25@I2@a;0YBDByBIbDJVDJkyR[%RS=ٔVQ-V>9TYX=ZFyZ+MEZ9EZ>\Q 5bn5^?Q 9fn5^?)^BYdyf6@Q If@^вDI^:i^:^Nn5yhɮjAl|DNOT Ignoring new targets: 40.28 m.hh *h "h  h g f ffdddjdZd6N@(Bɢ)  i ) ;  i \XiAEBBIBXBBBBBi;Bv)EBCBCBB =BCX4Q^AX;ԁ A I I O >C `<,n3?Aɰ:5@:0C@:<ٱ:, VAHRS rotation from veh to nav: [[-0.996596,-0.079790,-0.020754],[0.082038,-0.984716,-0.153635],[-0.008178,-0.154814,0.987910]]:Hm@@o?˂MÿͿÿ?i:5@I:a;:CYb.BybIaiMb@Mb@Mb@ 9{Gz?S㥛Mb`YC?y$AX@ A)Y=AbDVDܲyý%6=ٔ}Q->9Y= Fy /ME |<E >Q 5n5?Q 9%n5j=)!BY%F?Q E%:y%9@Q I%@۲DI;i:Rn5y-@Bɮ5A5եE]DNOT Ignoring new targets: 40.28 m.hYhY*hY"hY hYgafafafe\BdididijdiZdumN@额%Bɢ^)) Qi)$ 顡iUik<;II>i>M9@I @I@M0@IԉԹ^Aϩ;A>A>E  E E )E "E a;*E :VE FA4ZE BE h6f<,k?A>m5@>C@>;ٱ>a FAHRS rotation from veh to nav: [[-0.996539,-0.080767,-0.019671],[0.082839,-0.984580,-0.154079],[-0.006923,-0.155176,0.987863]]>H $4?`޸ÿ[|ÿ ?i>m5@I>[b;9f ?Yf ?=fFyf3MEfEj>hQ 5rn5jޅ?Q 9rn5j;)j$BYpyr9@Q Ir@jDIj/;ij; ;j-Un5yxɮz=AzԥEDNOT Ignoring new targets: 40.28 m.hh*h"h h!g!f!f!f)d)d)d)jd)Zd5`yN@]#Bɢer@)a e5ia)e aiiml SiiugNB B IB +BB  =B B vDB i;B \)EO5 >l<,õ?AJ5@JC@JwW;ٱJK RAHRS rotation from veh to nav: [[-0.996474,-0.081896,-0.018220],[0.083723,-0.984676,-0.152983],[-0.005412,-0.153969,0.988061]]JH@8n?wÿ*vBÿ1?iJ5@IJ b;JCYZByZI1iEMb@Mb@Mb@AAAA A9E1Zd?+Mb`YE";?yEAEAEA@ E/A)EAAYEAbDVD1y%/=ٔTQ->9Y=Fy8MEE>Q 5n5E…?Q 9n59)%BY2t<,R~?A25@2C@2-;ٱ2- :AHRS rotation from veh to nav: [[-0.996357,-0.083512,-0.017254],[0.085170,-0.984589,-0.152745],[-0.004232,-0.153658,0.988115]]2H)a͵? &ÿ@Vqÿ`?i25@I2b;2CYBByBrIDFAbDNVDN:yVr%V8=ٔV.Q-V>9XYX=ZFyZ`Q 5fn5bK?Q 9fn5b@8)b'BYdyf<@Q If@bDIb:ib:b!]n5ylɮnAnӥEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZdO@-Bɢ-D9)9 =G i9)E* AAiELiiX<< ;;IIԙA@ @@=0@^A oM; A zA fAI G hA IEd9EhAYEAOU> |<,^?AEZ EZEZ$EX"EZ;*EZ :VEZ4ZEXa^@a^@a^@ab@hY-By-eIB˿>BB~IB BB =BBBYi;BC)EiMb@Mb@Mb@ 9 ףp= ?J +Mb`YQ8?yH|A A)EAYA@AbDVD0y"% =ٔQ->9Y=FyAMEE> Q 5n5 ?Q 9n5 6) Y8?Q E:yG?@Q I@ DI P:i : an5y%BBɮ%SA%ҥEMDNOT Ignoring new targets: 40.28 m.hIhQ*hQ"hQ hQgQfQfYf] BdYdYdajdaZdeiRO@-Bɢ-~;)1 5i1)5 *11i5IiYe\Q <,q8 ?AY~By~bIbDVDy%t%%Z=ٔ!Q-%>9)Y)=-Fy-EME)E5>19Q 5En55 r?Q 9En555)5(BYIyIQ IM@5DI5-;i5p/;5dn5yQɮUjAQDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd1O@-Bɢ-aU)1 5i1)5I019i=cFi9E3iߍ AIߍ A <,L&?A6\5@6RC@6<9ٱ6ZG BAHRS rotation from veh to nav: [[-0.995982,-0.088464,-0.013961],[0.089558,-0.984410,-0.151382],[-0.000351,-0.152024,0.988377]]6HF?@I}`ÿ7 uÿ@Ƞ?i6\5@I6Ec;6CYJByJkIINp<)N;bDRVDRJyZ=%ZQ=ٔ^"Q-^>9`Y`=bFybIMEb8Ef>dQ 5jn5fZ?Q 9nn5f4)f)BYlyn>@Q In@fDIf3;ifa;fHhn5yvCBɮv2AtDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff!d!d!d!jd!Zd-dO@UBɢU+N)Y ]o iY)]7YaiewDiamU8BBeIBBB =BBBXi;BD)EII)O5> ><,k??AFkI5@F?C@FǐٱF VAHRS rotation from veh to nav: [[-0.995873,-0.089866,-0.012659],[0.090746,-0.984367,-0.150954],[0.001105,-0.151479,0.988460]]FH2p@쉿`$;?sRÿR?cÿ`v?iFkI5@IF d;FCY%By%nIiMb@Mb@Mb@ 9x?Q롿{Gzt?YK7?y\ף;AX@ A)/AYA ;bDVD2y?<%8=ٔVQ->9Y=FyMME/E> Q 5n5 ??Q 9n5 `3) ,BY7?Q E:y9@@Q I@ !DI X;i  ; *ln5y!ɮ%#A%ѥEMDNOT Ignoring new targets: 40.28 m.hIhQ*hQ"h hgfff#BdddjdZdWO@]Bɢ]u=)Y eIia)e?aaieAi <ٺII!@! @!@%/@))Q^AM NJκE  E E &E "E *E :VE 4ZE BE a 2E a JE =;a :E =;a y A ؟AI I O >'<,1Y?A2.5@2$C@2-ٱ2/u :AHRS rotation from veh to nav: [[-0.995722,-0.091717,-0.011179],[0.092358,-0.984529,-0.148905],[0.002651,-0.149300,0.988788]]2H`z`%冿Ť?C@Oÿ1e?@Eÿ'?i2.5@I2>Ue;2CYBByBuIbDNVDNyV<%Va=ٔVQ-V>9Z"?YZ"?=ZFyZQMEZE^>`Q 5fn5bV*?Q 9fn5bl2)b.BYdyf@@Q If@b*DIb:ib:bTon5ynDBɮnAnХEDNOT Ignoring new targets: 40.28 m.hh*h"h  h g f f fdddjdZdP@ BɢK) i)eEit?i!%| <%HI!I)Y9@ @@/@@gA@gAԁ^A ԩAA II IY O} > IR<,s?A:p5@: C@:x\ٱ: BAHRS rotation from veh to nav: [[-0.995566,-0.093572,-0.009596],[0.093965,-0.984699,-0.146757],[0.004283,-0.147008,0.989126]]:HV榃? ¿q?`&¿?i:p5@I:6e;:CYJ ByJ~IER EREPEP"ER~ ;*ERh:VEPZEPaV@aV@aV@aV@ \\BEͿ>BECBElIBEBBABABABEAi;BE:)Ei]Mb@Mb@Mb@YYYY Y9]gfffff?&1S㥛?Y]33?y]P]/<]KA]A@ ]AA)]+AYY]AbDmVDm:2y<%7=ٔoQ->9Y=Fy UME blE >1Q 5=n55?Q 9En551)56BYE3?Q EE:yE>@Q IE@54DI5L;i5r;5Fsn5yMEBɮ}AϥEԱDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff+Bddd jdYZd]c,P@颥 Bɢ,7) i)LLM顩i=i <yNIIG>i>E9@A @A@A@AiaIa ^Am qZA .AI I O >1 8<,Â?A>4@>B@>SŻٱ>Z FAHRS rotation from veh to nav: [[-0.995416,-0.095315,-0.007862],[0.095448,-0.984878,-0.144589],[0.006039,-0.144677,0.989461]]>Hrf@Go?¿x?„¿@?i>4@I>>e;>CYNByNITTbDZVDZJyb=%ba=ٔf Q-f>9f ?Yj ?=jFyjYMEj6Ej>lQ 5rn5n?Q 9vn5n0)n=BYtyv>@Q Iv@n9y b<,d]?A 6q4@6 B@62Dٱ6 >AHRS rotation from veh to nav: [[-0.995290,-0.096758,-0.006019],[0.096636,-0.985257,-0.141173],[0.007729,-0.141090,0.989967]]6HiŸ@Ƨx'?9¿q?>¿`έ?i6q4@I6me;6CYf)ByfIbDrVDryzS=%zG=ٔz;Q-~>9~"?Y~"?=~Fy]ME ?E> Q 5n5 ㄊ?Q 9n5 .) FBYy>@Q I@ EDI ;i D; yn5y%CBɮ%A%ťEMDNOT Ignoring new targets: 40.28 m.hIhQ*hQ"hQ hQgQfQfYfYdYdadajdaZde[P@颕BɢXH.) پi)W顙iY9i! <RջIIU9@Q @Q@U4@QyԙE EE&E"E;*E:VE4ZEa@a@a@a@BEп>BABEIBEBBE =BABABEri;BET)EBBBB =B =C5^A}A}>A}>Iq I O > ?L<,??AP^4@^@B@^Mٱ^9n fAHRS rotation from veh to nav: [[-0.995151,-0.098273,-0.004040],[0.097898,-0.985725,-0.136972],[0.009479,-0.136704,0.990567]]^HGe(p`? Ni??i^4@I^.6e;^CYn9Y=FybMEN@E>Q 5n5Ȅ?Q 9n5;-)PBYt<,?A2R4@2B@23ٱ2p :AHRS rotation from veh to nav: [[-0.995026,-0.099589,-0.002336],[0.099009,-0.986106,-0.133389],[0.010981,-0.132957,0.991061]]2H@~!cX?-6}?Ŷ?i2R4@I2 e;2CYBYByBI J4%V_=ٔVAQ-Z>9XYX=ZFyZeME^1HE^>`Q 5fn5bv?Q 9fn5b+)bZBYdyj<@Q Ij@bXDIb:ib:bn5ylɮnYAl| DNOT Ignoring new targets: 40.28 m.h h *h "h  hgfffdddjd!Zd%$P@MBɢU)Q UiQ)UaQYi]j6iae ԁ l<,&?AEB EBEB)E@"EB ;*EB1:VEBFA4ZE@aF@aF@aF@aF@f4@fB@ftMٱfS0Brѿ>BpBrIBr?BBr =BpBrwDBri;Brz)E ~AHRS rotation from veh to nav: [[-0.994945,-0.100423,-0.000749],[0.099640,-0.986200,-0.132221],[0.012540,-0.131627,0.991220]]fH`OH?`g?@%?if4@Ife;fCY eBy IQiMb@Mb@Mb@ 9Q?|?5^&1?Y(9Y=FyjMEMeEM>QQ 5]n5U?Q 9]n5U))UkBYer>?Q Ee:yeg:@Q Ie@UcDIU :iUz:Un5yEBɮAĥEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBd d d jd Zd @P@]Bɢ])Y ]͑ia)e4eai05ia <kIIԁY@Y @Y@]/@Y= <,?A2(4@2›B@2Gcٱ2֙ :AHRS rotation from veh to nav: [[-0.994825,-0.101606,0.000488],[0.100655,-0.986154,-0.131787],[0.013871,-0.131055,0.991278]]2H??Ĺ?ah?l?i2(4@I2te;2CYBByBI DDbDNVDNyR?&>%V_=ٔVmQ-V>9XYX=ZFyZnMEZ>E^>Q 5%n5?Q 9%n5E()yBY!y%U:@Q I%@kDI;i;!n5y5FBɮ5A5åE]DNOT Ignoring new targets: 40.28 m.hYhY*hY"hY hagafafafidididijdiZdu@|P@颥BɢN) `i)?h顩i>n4Թif <!III)9@ @@/@bEÞ4jE 4rEÖ/E EE'E"E=;*E?:VE'4ZEBE{I9 ɰ<,+(?A2c4@2B@2{ٱ2xn :AHRS rotation from veh to nav: [[-0.994798,-0.101848,0.001985],[0.100700,-0.986152,-0.131774],[0.015379,-0.130889,0.991278]]2Hb`C`?`yǹ?~?@?i2c4@I2^e;2CYBByB"IJ@AHbDNVDNyV[=%VJ=ٔVatQ-V>9XYX=ZFyZrME^E^>`Q 5fn5bh?Q 9fn5b&)bBYhyjT:@Q Ij@btDIb:ib:bn5ynHBɮn Ar¥E DNOT Ignoring new targets: 40.28 m.h h *h "h  h g fffdddjdZdP@Bɢ (*ݼ)  b=i )ڈj19i=3iAE? BCBIBrBBBBBj;B)E^AMqIIO>ԡ <,B?AnManaging dock network, ignoring radio surface power off64@6IB@6 ׉ٱ6 BAHRS rotation from veh to nav: [[-0.994832,-0.101474,0.003564],[0.100133,-0.986291,-0.131166],[0.016825,-0.130131,0.991354]]6H82m?`S? ` :?! ,?i64@I6d;6CYFByF7IiMb@Mb@Mb@ 9?(\ſL7A`?Y@?y.+=OA )AYbD-VD-:y==%EA=ٔE_Q-E>9IYI=MFyMvMEMX:EM>QQ 5]n5UN?Q 9en5U#)UBYeE?Q Ee:ye*5@Q Ie@UDIU:iU7:UEn5yIBɮ: A=DNOT Ignoring new targets: 40.28 m.h9h9*h9"h9 h9g9fAfAfEЀBdAdIidIjdqZdugP@BɢNƼ) i ) wl  i a3i<_II9@ @@ 0@@@ԙ^A &A>A>E  E E &E "E =;*E :VE 4ZE BE a 2E a JE f;a :E f;a A! I) IA OM > <,[[\?A>ϭ4@>iB@>5ٱ> FAHRS rotation from veh to nav: [[-0.994800,-0.101715,0.005198],[0.100184,-0.986460,-0.129845],[0.018335,-0.128649,0.991521]]>Hf` Ju? ?ྞ^ƒ?w?i>ϭ4@I>j\d;>CYNByNIIbDVVDVkyb=%bS=ٔbQ-b>9dYd=fFyfzMEfEj>hQ 5rn5j7?Q 9rn5j!)jBYpyr&5@Q Ir@jDIj;ij";jn5ytɮz AxDNOT Ignoring new targets: 40.28 m.hh*h"h h!g!f!f!f!d)d)d)jd)Zd5Q@eBɢe,&)a e߽ii)umyi.3i<RII>i>U9@Q @Q@U5@Q^A) A I I O ><,>v?ABNп>BNCBN@IBNBBLBLBLBNj;BN)EE> E>E>#E<"E>7;*E>՚:VE>3ZE<BE>Z<2E>Z<JE>;:E>;4@B@殼ٱ AHRS rotation from veh to nav: [[-0.994851,-0.101001,0.008326],[0.099069,-0.986547,-0.130043],[0.021349,-0.128549,0.991473]]H0۹@^ ?\?ʑ @pܕ? Ht`&?i4@IKc;YByYIiEMb@Mb@Mb@AAAA A9E!rh?S˿ rh?YElG?yE/]EC=AE@ E\A)EAAYA ]<]4<bD]VD]1ymk=%2=ٔyѻQ->9Y=FyME;E>Q 5 n50?Q 9 n5 )BYO?Q E:y)2@Q I@DI.;i;Ėn5yJBɮd AEIDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd/Q@-Bɢ-֝)1 5ؗi1)5 o11i5 Q3i9=l<=tY IAIA9@ @@1@yԡ ^A AQ IY Ii O} >J<,g?A,YjɀByjgIbDvVDv]BDAT read: Response Not Received ]*response not received]9qYq=uFyuME}E}>Q 5n5$?Q 9n5Z)BYyQ I@DIz;i;n5yLBɮ AEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZdEQ@Bɢ`$)  p;i ) oiv3i< IIEM EMEM'EI"EM;*EM:VEM'4ZEIBEMo<2EMo<JEM<:EM<ԙԱrg@ @@w0@@@ ^A ΒA zA  AIIO%>z<,&?Aj 4@jB@jˑżٱjrY rAHRS rotation from veh to nav: [[-0.995057,-0.098683,0.011094],[0.096332,-0.986358,-0.133483],[0.024115,-0.131754,0.990989]]jH AC`n? 0?@??S.?ij 4@Ijib;hYzӀBy~tIbD VD ky=P"=%E&=ٔEQ-E>9IYI=MFyMMEU>;EU>YQ 5en5]⃊?Q 9en5])]BYayeZ2@Q Ie@]DI]R:i]:];n5yuMBɮu AqDNOT Ignoring new targets: 40.28 m.hh*h"hi higqfffdddjdZd@gQ@BͿ>BBlIB̀BB =BBvDB(j;B)EE EE$E"EI;*E :VE4ZEBEdj<2Eej<JE<:E<܀Bɢ() i) oi4i!%gG<%ݺ˻I!I)Ii 9@  @ @ /@! ԙ ^AAIIO ?<,z?A6:5@6B@6lYҼٱ6KJ BAHRS rotation from veh to nav: [[-0.995177,-0.097262,0.012765],[0.094677,-0.986378,-0.134517],[0.025675,-0.132660,0.990829]]6H@}`-渿$?9IYI=MFyMMEE;E>Q 5n5?Q 9n5)#BYQ?Q E:y.@Q I@DI:i:1n5yOBɮ AED-%=D-4=E5 E5E5'E1"E5;*E5^:VE5'4ZE1a=@a=@a=@a=@uDNOT Ignoring new targets: 40.28 m.hyhy*hy"hy hygyfyffBdddjdZd@͊Q@؀Bɢv) @߻i)%o!)i-4i)5m<5vI1I19999Aqa@a @i@i@iԙ ^A [Rӻ IIO><, 3?A2Q(5@2C@22޼ٱ2 >AHRS rotation from veh to nav: [[-0.995322,-0.095553,0.014248],[0.092724,-0.986254,-0.136765],[0.027120,-0.134804,0.990501]]2H!v .?ż?@eyś?AA@/?i2Q(5@I27b;2CYBЀByFpIbDNVDNyV%V1=ٔZMQ-Z>9XY\=^Fy^ME^;E^>`Q 5fn5b?Q 9fn5b)b@BYlyn.@Q In@bųDIbI;ib`J;bn5yrNBɮr AvEq-DNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdd)d1jd9ZdE`Q@B̿>E EE%E"E%;*E:VE 4ZEBCBIBBB =BBB:j;B)EBCBCBB =B =C05颽ԀBɢ6v) ڻi)pi5i8<pbIIԡ@ @@ 0@@=@=^A} 3A >A > IY Ii O} >=, ?AYvπByvoIIz=)zp;iuMb@Mb@Mb@qqqq q9uMbX?|?5^ҿX9v?YuJ?yu񒾙u}=qq q)uAqYu=AbDVD:yd%==ٔQ->9Y=FyMEE>Q 5n5?Q 9n5 )[BYY  =,%?A2E|5@2qC@2'ٱ2 >AHRS rotation from veh to nav: [[-0.995714,-0.090952,0.016800],[0.087617,-0.985737,-0.143689],[0.029629,-0.141601,0.989480]]2HH3? n?'gd¿W?¿ҩ?i2E|5@I2-c;0YFByFUIbDNVDNyV޽%V[=ٔZ%ܻQ-Z>9XYX=ZFyZME^`<E^>`Q 5fn5bo?Q 9fn5b)bsBYhyj-@Q Ij@bڳDIb:ib:b"n5ylɮn ArE DNOT Ignoring new targets: 40.28 m.h h *h "h  h gfffdddjd!Zd%Q@΀Bɢm@) i)@pi6i< Ѝ:II99@ @@1@a^AIIIiԑO>BBBIBBBBBB8j;B)EE%  E% E% (E! "E% I;*E% -:VE% c44ZE! BE% dj<2E% ej<JE% L&<:E% L&<Թ {.=,??Af85@fіC@f<ٱf. vAHRS rotation from veh to nav: [[-0.995858,-0.088995,0.018633],[0.085367,-0.985689,-0.145362],[0.031303,-0.143169,0.989203]]fH aȶ?ڵ?`Ê7¿@? ]S¿@?if85@Ifib;fCY By IIiMb@Mb@Mb@ 9!rh?nѿI +?YlG?yV94=n@ A)vAYAbDVDk1y/-%:=ٔyQ->9Y=FyME0;E>Q 5n5.T?Q 9n5)BY T?Q E:y>.@Q I@DI":in:n5yɮ AԑDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffՀBdddjdZd@Q@颕ˀBɢ-Q) Ki)*Zq顙iR7ii< ;IIa@a @a@e/@a@i@i^A ] ;A zA dAI I O- >bEˀ'4jE{4rE+/E%  E% E! E! "E% 1;*E% :VE! ZE! a5 @a5 @a5 @a5 @9 $=,Y?A6Z5@6C@6Vٱ6] >AHRS rotation from veh to nav: [[-0.995988,-0.087132,0.020416],[0.083227,-0.985690,-0.146591],[0.032897,-0.144304,0.988986]]6H@!@ON ?VN?@Ŋ¿נ?`x¿ƥ?i6Z5@I6)b;4YFByF7IbDNVDNyV{%V^=ٔVۍQ-Z>9XYX=ZFyZME^;E^>`Q 5fn5bim>-9@) @1@1@19^A- ;IIO>i C 6G ! M z9I YU dAA=,Qhs?A 65@6C@6X ٱ6 BAHRS rotation from veh to nav: [[-0.996111,-0.085341,0.021921],[0.081179,-0.985612,-0.148254],[0.034257,-0.145898,0.988706]]6H`#@صar?'ȴ?!¿2?Ǭ¿{?i65@I6:a;4YFByFIbDRVDRyZ½%ZJ=ٔZO\Q-Z>9\Y`=bFybMEf;Ef>hQ 5nn5j+#?Q 9nn5j")jBYpyr.@Q Ir@jDIj;ij;jn5yv6Bɮv5 AvEDNOT Ignoring new targets: 40.28 m.hh*h"h hgff!f!d!d!d)jd)Zd-'R@ŀBɢ ) ٽi)si8i)-5<BqBqBulIBùBBu =BqBqBuIj;Bu)E׃;IE EEE"E;*E|:VEZEBE:r(#=,A?APYbByb IiMMb@Mb@Mb@IIII I9M?A`"˿I +?YMfF?yMYM99yYy=}Fy}MEE>Q 5n5?Q 9n5)BYM?Q E:y$3@Q I@DIS;i ;xn5yɮ AEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZdBR@颕€BɢCü) ^i)cu顙i<]9i<;II9@ @@/@@=@=E EE+E"E;*E:VE [4ZEa@a@a@a@^AX;A>A>) A9 IA IY Oe >/S)=,?A26@2( D@2ٱ2O >AHRS rotation from veh to nav: [[-0.996269,-0.082823,0.024244],[0.078157,-0.985060,-0.153454],[0.036591,-0.150987,0.987858]]2H p3@KӘ??`ÿ ?Sÿ ?i26@I2Joa;2CYBfByFIJ=J=bDNVDNk1yV%VX=ٔVʻQ-Z>9XYX=ZFyZME^<E^>`Q 5fn5b?Q 9fn5bw)bBYdyjZ3@Q Ij@bDIbt:ib:bǿn5y]7Bɮ]A]EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`j\R@Bɢ e)  4i ) w iz9i1=<=ԡ =0=,6?AFf"6@FD@FDٱFk RAHRS rotation from veh to nav: [[-0.996291,-0.082347,0.024983],[0.077496,-0.984786,-0.155533],[0.037410,-0.153020,0.987515]]FH@? ֳ?^~ÿ`o'?&ÿ?iFf"6@IFsa;FCYVWByVIimMb@Mb@Mb@iiii iq9mMb?+ÿ~jth?Ym@?ymmD;mAmA@ mA)m`AiYmAbDVD0yJ%<=ٔQ->9 ?Y ?=FyMEa:E>Q 5n5Ղ?Q 9n5 )BYD?Q E:y*7@Q I@DIB;i;n5yɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffWBddd jd Zd vR@EBɢM.j)I MKiI)UZezQQiUaN:iY]J!<]! E  E E #E "E ;*E k:VE 3ZE a @a @a @a @.e6=,?AJ-6@J#D@JFٱJSy RAHRS rotation from veh to nav: [[-0.996306,-0.081881,0.025888],[0.076818,-0.984516,-0.157564],[0.038388,-0.154993,0.987169]]JH %`M? V?(` +Ŀ`?ÿ@?iJ-6@IJpa;JCYZCByZIbDbVDbyjyҽ%jX=ٔn)Q-n>9lYp=rFyrMEr:Er>tQ 5zn5v?Q 9zn5v)vBY|y~67@Q I~@v#DIv;iv;vn5y8Bɮ A 5DNOT Ignoring new targets: 40.28 m.h1h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdE.R@uBɢuY)y }"niy)}GC}yyi}:i(<ICa :<=,?A6%6@6D@6zq!ٱ6cd >AHRS rotation from veh to nav: [[-0.996229,-0.082515,0.026819],[0.077300,-0.984477,-0.157575],[0.039405,-0.154908,0.987143]]6H``Rv?ɳ?Հo+Ŀ,?ÿ`?i6%6@I6Ja;6CYF/ByFIHJAbDrVDrkyzý%zH=ٔ~Q#Q-~>9"?Y"?=FyMEjE > Q 5n5 0?Q 9n5 ) BYy-7@Q I@ -DI ;i  ; sn5y%9Bɮ-JA-EUDNOT Ignoring new targets: 40.28 m.hQhQ*hQ"hQ hQgQfYfYfYdadadajdaZdm OR@颕Bɢj ) i)h顙i:i-<2t BBIBwBBBBBj;B)EYE EEE"E;*E*:VEZEBEo wC=,?A26@2=D@2$ٱ2 >AHRS rotation from veh to nav: [[-0.996107,-0.083784,0.027411],[0.078445,-0.984322,-0.157975],[0.040217,-0.155209,0.987063]]2Hr?? 8Ŀ@O?@ÿ`?i26@I2^`;2CYF"ByFIiMb@Mb@Mb@ 9+?Mb~jtxYv>?yĻOA@ EA)IAY(AbD}VD} yx%A=ٔQ->9 ?Y ?=FyME2E>Q 5n5?Q 9n5)BY??Q E:y;@Q I@7DI:i:$n5y:BɮAEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff BdddjdZd`[R@MBɢM )Q UYiQ)UgfYYi]+;iYet*);IaIa1 @  @ @ /@ E EE*E"EC#;*E˭:VE(N4ZEa@a@a@a@Y^AUz<ԉ II IY Om >EI=,d(?A065@6rC@6:&ٱ6(" >AHRS rotation from veh to nav: [[-0.995982,-0.085236,0.027486],[0.079769,-0.983823,-0.160403],[0.040714,-0.157566,0.986669]]6H`ҵ[%?k?z{ Ŀmؤ?+Ŀʒ?i65@I6`;6CYFByFIbDRVDRJyV}%VY=ٔZ4Q-Z>9XY\=^Fy^ME^gEb>`Q 5fn5br?Q 9jn5b{)b BYhyj;@Q Ij@b@DIb:ib:bnn5ylɮrAp DNOT Ignoring new targets: 40.28 m.h h *h "h  h gfffdddjdZd%nR@MBɢM[)Q UiQ)U3QQiUFT;iY]e )P=,K?B?A65@6\C@6/(ٱ6G# BAHRS rotation from veh to nav: [[-0.995821,-0.087079,0.027522],[0.081535,-0.983488,-0.161563],[0.041136,-0.158644,0.986479]]6H`J.?ߴ?xĿ@?qNĿ;?i65@I6p`;4\YbBybIIf=)fp=ٔuQ-}>9yYy=FyMEE>Q 5n5YY?Q 9n5r)BY5?Q E:y@@Q I@JDI ;i: ;.n5y;BɮfAEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZdfR@Bɢ̟) "i)i];i<%%;I!I!9@ @@/@^A- ;I I O >A D =D <E  E E )E "E &;*E VE FA4ZE a @a @a @a @V=,\\?A2y5@2C@2Q*ٱ2# >AHRS rotation from veh to nav: [[-0.995661,-0.088815,0.027756],[0.083192,-0.983268,-0.162058],[0.041685,-0.159046,0.986391]]2H u@l? L?vSĿW?`[Ŀ@?i2y5@I2|`;2CYFByFyIbDNVDN:2yV@ %VX=ٔV=Q-Z>9XYX=ZFyZME^HE=>AQ 5Mn5EA?Q 9Mn5E{)EBYIyM@@Q IM@ESDIE:iE:En5y]ԡ J\=,u?A25@2C@2_j-ٱ2As# >AHRS rotation from veh to nav: [[-0.995444,-0.091128,0.028042],[0.085436,-0.983096,-0.161934],[0.042325,-0.158800,0.986403]]2H-T'?"ߵ?@u<Ŀ?SĿ`?i25@I2H`;2CYBByBIbDNVDN2yVA=%VK=ٔV3кQ-V>9XYX=ZFyZMEZ>E^>dQ 5fn5f*?Q 9jn5f)fBYhyj@@Q Ij@f[DIf=:ifV:fn5yr=Bɮr]Ap DNOT Ignoring new targets: 40.28 m.h h *h "h  hgfffyBBBIB0BBBBBi;Bx)Edd d jd1Zd5@H,S@E EEE"EU,;*E:VEZEBE*c=,o?A2z5@2OpC@29M0ٱ2J# :AHRS rotation from veh to nav: [[-0.995220,-0.093443,0.028386],[0.087669,-0.982905,-0.161903],[0.043029,-0.158640,0.986398]]2H`뷿&? sq?s;Ŀ@?SNĿ@?i2z5@I2x`;2CYBByBI DDHJAi Mb@Mb@Mb@     9 9v?9Y=FyMEǢE> Q 5n5 ?Q 9n5 ) #BY5?Q E:yBD@Q I@ fDI e:i : n5y%>Bɮ%YAEEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZdGS@-Bɢ-)) -Li))5D11i5cj=,T?A2b5@2vXC@2u_4ٱ2# :AHRS rotation from veh to nav: [[-0.995048,-0.095045,0.029080],[0.089113,-0.982673,-0.162518],[0.044022,-0.159122,0.986277]]2H@oTǝ? ж?@rbĿ ?^Ŀ?i2b5@I2a;2CYB"ByBIbDNVDNyV=%V_=ٔV1Q-Z>9Z"?YZ"?=ZFyZME^E^>`Q 5fn5b`?Q 9fn5b^)b(BYdyf*D@Q Ij@bnDIb;ib";b)n5ylɮnAlDNOT Ignoring new targets: 40.28 m.hh*h"h h g f ffdddjdZdQ^S@}Bɢ.m) {i!)-荼))i-ByB}IB}+BB} =ByByB}i;B}p)E^A"IE}  EyE}&Ey"E}G;*EyVE}4ZEyBE}(i p=, ?AY~%By~IiMb@Mb@Mb@ 9Fx?~jth?~jt?Y+?yD;<@ /A)O@YAbDVDy `<%9=ٔQ->9Y=FyMEE>Q 5 n5o၊?Q 9n5)3BY+?Q E:yC@Q I@wDIB;i ; n5y%?Bɮ%A%EMDNOT Ignoring new targets: 40.28 m.hIhI*hI"hI hIgQQfYfYf]BdYdadajdaZdezS@颕Bɢ) ni)顙ie=i<+zIIe9@i @i@m/@i@u=@u=ԁ^AqA>A>ԱA I I O >E  E E %E "E 9;*E 1:VE 4ZE a @a @a @a @ w=,?A>"5@>PC@>%9ٱ>m6# FAHRS rotation from veh to nav: [[-0.994631,-0.099092,0.029847],[0.093003,-0.982366,-0.162196],[0.045393,-0.158550,0.986307]]>H^&?`Ϸ?o`Ŀ =?`[KĿӏ?i>"5@I>a;>CYr=ByrIIv<)tbD5VD51ym=%uR=ٔ}fQ->9Y=FyME$E>Q 5n5qˁ?Q 9n5))=BYyC@Q I@DIF:i:tn5y@BɮA-DNOT Ignoring new targets: 40.28 m.h)h)*h)"h) h)g)f1fQfQdQdYdYjdYZd] S@颭BɢE) 6iԱ)[Ði:7>i m<4II@ @@/@iI^Avт A I I O% >9 J}=,?A65@6B@6)<ٱ6\" JAHRS rotation from veh to nav: [[-0.994442,-0.100851,0.030248],[0.094685,-0.982235,-0.162016],[0.046050,-0.158251,0.986324]]6H`wXѹ`\?@=?@xnĿⓧ?AĿ`?i65@I6#a;6CYRRByRIbD^VD^yf=%fV=ٔfQ-f>9hYh=jFyjMEjǑEn>Bɿ>BBIBDBBBBBi;B`)ExQ 5-n5z?Q 9-n5z)zGBY)y5C@Q I5@zDIz;iz:zn5y9ɮ=sAAeDNOT Ignoring new targets: 40.28 m.hihi*hi"hi higififqfqdqdydyjdyZd} S@颭Bɢe߼) i)]顱i ?i<X9IIE= E=E='E9"E=;;*E=:VE='4ZE9BE=2=,t?A 24@2]B@2X@ٱ2! >AHRS rotation from veh to nav: [[-0.994347,-0.101511,0.031137],[0.095239,-0.982329,-0.161121],[0.046943,-0.157245,0.986443]]2Ht?a?=ٔQ->9Y=FyMEҪE>Q 5n5?Q 9n5)VBYA0?Q E:y@@Q I@DIu ;i ;n5yABɮAEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjd Zd S@5Bɢ=)9 =i9)=AAiEOo@iAM\=,v+?A24@2DB@2LDٱ2 :AHRS rotation from veh to nav: [[-0.994252,-0.102127,0.032153],[0.095726,-0.982409,-0.160343],[0.047963,-0.156343,0.986538]]2H%@gv?x?@oĿ?`Ŀ ?i24@I2va;2CYBByBI DDHJAPbD^VD^1yr,>%rW=ٔr/Q-v>9v ?Yz ?=zFyzME~ȩE~> Q 5n5 ?Q 9n5 ) dBYy@@Q I%@ DI L;i M; n5y-CBɮ5 A5EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZdS@mBɢm')m mii)m.qiBi<FӻIII@I @I@M0@IBA<Bȿ>BCBIBmBB =BBuDB|i;BQ)E^A-[RӻEe EeEe%Ea"Ee<;*Ee:VEe 4ZEaBEeD=,QE?A65@6nB@6vHٱ6 >AHRS rotation from veh to nav: [[-0.994288,-0.101384,0.033367],[0.094862,-0.982691,-0.159119],[0.048922,-0.155045,0.986695]]6H`4J`}?@H? 5r`^ĿB ?`ÿ ?i65@I6f;a;6CYRByR)IiEMb@Mb@Mb@AAAA A9E +?l񲿉A`"?YE6?yEEY=EAE@ A)E1@AYEAbD]VD]ym=%mB=ٔu(Q-u>9qYy=}Fy}ME};E>Q 5n5n?Q 9n5=)zBYC8?Q E:y$=@Q I@DI:i ;n5yDBɮh AEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffTBdddjdZd@zS@Bɢ) Eu  Eu Eq Eq "Eu N;*Eu Z:VEq ZEq a} @a} @a} @a} @yq=,"8_?A85@[.C@nNٱ/ %AHRS rotation from veh to nav: [[-0.994511,-0.098386,0.035611],[0.091642,-0.983284,-0.157335],[0.050495,-0.153208,0.986903]]H@/;? u? w #Ŀ|ک?Nÿ?i85@InGa;CY5By5?IbDEVDE1yU=%]K=ٔ]qQ-]>9aYa=eFyeMEe<Ee>iqQ 5}n5mW?Q 9}n5m)mBYyV=@Q I@mDIm/;im0;m n5yɮ ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`T@Bɢ=qR) \=i)ƕi}Ei  B< 85I I9@ @@4@IIIYOm>ԡ 嘝=,y?AF b5@FWC@Ft;QٱFDBVſ>BTBVFIBVBBV =BTBTBV}i;BVO)EBqBqBqBu =Bu =Cu5 fAHRS rotation from veh to nav: [[-0.994710,-0.095943,0.036698],[0.089133,-0.983741,-0.155912],[0.051060,-0.151816,0.987089]]FH@@ʢ?`rѶ?z ÿ $?@nÿ;?iF b5@IF>Ba;FCY~ƀBy~dII=)p; = =bDVDyU>%G=ٔtQ->9Y=FyME;E>Q 5n5>?Q 9n5{)BYy}=@Q I@DI;i ;n5yEBɮ ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjd Zd .T@E EEE"E=;*E:VEZEBEiY)eiiimsGiE;tbIIA9@ @@x0@I1 IA Om >Y Ȁ=,?AJ|5@JC@JFTٱJ9 VAHRS rotation from veh to nav: [[-0.994894,-0.093506,0.037974],[0.086614,-0.984222,-0.154292],[0.051802,-0.150215,0.987295]]JH, Qq?R,? ~ؿÿ˅?A:ÿ ?iJ|5@IJ6a;JCYZ܀ByZ~Ii=Mb@Mb@Mb@9999 99=A`"?l¿x&?Y=9?y==7==OA=@ =A)=@9Y= AbDUVDUye=%mM=ٔmhQ-m>9iYq=uFyuMEu$;E}>yQ 5o5}1'?Q 9o5}h)}BY=?Q E:y~7@Q I@}DI}:i}@:}o5yFBɮN AE1EDNOT Ignoring new targets: 40.28 m.hAhA*hI"hI hIgIfIfQfUBdYdYdYjdYZde`IT@~Bɢ⚥) j;>i)hiJihl;%L:I!I! D!zD%?AE5  E5E5(E1"E5C;*E5g:VE5c44ZE1aE@aE@aE@aE@a9@ @@`0@I)IAO]T>ԉԹ 0=,n?AbT5@bC@b?Vٱb/Z rAHRS rotation from veh to nav: [[-0.995118,-0.090656,0.039009],[0.083706,-0.984674,-0.153007],[0.052282,-0.148995,0.987455]]bH 45?@m? r@ÿĪ?Cÿ:?ibT5@Iba;`Y~By~IbDVD:y-M=%-N=ٔ-Q-->91Y1=5Fy5NE=};E=>AQ 5Mo5E?Q 9Mo5E])EBYIyU7@Q IU@EȴDIE:iE:Eo5y]GBɮ] AeEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`aT@{Bɢf) o>i)iMi&;Sg;IIԑFΞAAB¿>BBIBBB =BBBqi;BF)E9@ @@3@EM EMEM'EI"EMy>;*EM:VEM'4ZEIBEMRKr=,B?A65@6C@6Wٱ6 >AHRS rotation from veh to nav: [[-0.995362,-0.087579,0.039797],[0.080627,-0.985170,-0.151459],[0.052472,-0.147548,0.987662]]6H@k@O`??cÿ@ݪ?¿?i65@I6Ea;6CYFByFI HH1i]Mb@Mb@Mb@YYYY Y9]}?5^I?~jtȿp= ף?Y]MB?y]D]=]"A]@ Y)] @YY]fAbDqVDqy Y=%-=ٔAҹQ->9Y=FyNEB;E>Q 5o5`?Q 9o5`)BYI?Q E:y4@Q I@ԴDIR;i; o5yɮ9 ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd@T@%wBɢ%8)) ->i))-F11i5[\Pi9=;=b;I9I9AA!!Yԉe9@a @a@mq4@i^AE r;D %=D 4=bE-4jE24rEg/E  E E %E "E =;*E :VE 4ZE a @a @a @a @Թ AU ؟AIY Ii O} >=, ?AY~By~IbDVDy5I=%5P=ٔ=Q-=>9E"?YE"?=EFyE NEEEM>IQ 5Uo5Mڀ?Q 9]o5M)MBYYyYQ I]@M޴DIM;iM;M%o5yeHBɮm AiDNOT Ignoring new targets: 40.28 m.hh*h"hԙ hgfffdddjdZd:T@tBɢ;) ;>i)#牼iWSi";";II e@getADC uart error serial timeout ePuart error - getPosition..serial timeoutqe e(Communications Fault AYqs9Y]A^Am n;B >B CB IB BB B B tDB xi;B H)E A I & bCommunications Fault in component: DockingStepperI O >¾=,h?AE& E&E&(E$"E&4;*E&:VE&c44ZE$BE&9iY=Fy NE=<E>Q 5%o5?Q 9%o5 )0BYQyU-5@Q I]@DI8ri)(顩i Wi;*y =,ƿ?A2d6@2'ZD@2UUٱ2 :AHRS rotation from veh to nav: [[-0.995941,-0.080350,0.040561],[0.073424,-0.985922,-0.150224],[0.052060,-0.146636,0.987820]]2H@ّcĤ?˲?:ÿ? ¿7?i2d6@I2a;0YB0ByBIIF%=)F9Y=FyNE۲;E>Q 5o5i?Q 9o5g)HBYK?Q E:y1@Q I@DI ;i ;Go5yJBɮAEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd`T@%mBɢ%W<)%/ %~>i))-))i-Yi154;5?ԩ =,1?A24x6@2mD@2Rٱ2(E :AHRS rotation from veh to nav: [[-0.996059,-0.079135,0.040050],[0.072232,-0.985823,-0.151447],[0.051467,-0.147958,0.987654]]2H@-Bd?}?ۋbÿ Y?E¿ۚ?i24x6@I24a;2CY^7BybIbDj VDj2yra=%rT=ٔr:Q-v>9tYt=vFyvNEzTL;Ez>|Q 5o5~?Q 9o5~)~cBYy 1@Q I @~DI~L ;i~:~o5yMBɮAE=DNOT Ignoring new targets: 40.28 m.h9h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU` T@=jBɢ=F<)A E>iA)EAAiE)]iIM;MŴMBBIBBBBBBBri;BC)E^Ah%<AgAzAfAIQIyE EE'E"E;*E^:VE'4ZEBEk_ 9 =, xK?A6.6@6wD@6Oٱ6c >AHRS rotation from veh to nav: [[-0.996143,-0.078501,0.039213],[0.071628,-0.985563,-0.153408],[0.050690,-0.150008,0.987385]]6H`f?=V?``ÿ`?u3ÿ?i6.6@I6$a;6CY`ybIiMMb@Mb@Mb@IIII I9MCl?\(\Ͽ&1?YM;??yMzMP=M"AM~@ MA)M@IYMAbDeVDe02yu9I%uA=ٔur:Q-}>9yYy=}FyNE:E>Q 5o5u?Q 9o5e)~BYI?Q E:y0@Q I@DI;i;Uo5yɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd U@gBɢM<) m>i)כ项i`i;|Tq E  E E *E "E I;*E :VE (N4ZE a @a @a @a @=,7Qe?A Yv:ByvI xxbDVDN2y O}<%Q=ٔQ->9Y=FyNE%E%>)Q 5-o5-^?Q 95o5-p)-BY1y1Q I5@-DI-_:i-:-o5yENBɮEAEEmDNOT Ignoring new targets: 40.28 m.hihi*hi"hq hqgqfqfyfydydydjdZd`*U@颭dBɢh<) Z>i)SDz项ioci<ovSA- >B >B CB IB VBB =B B sDB ;i;B !)EI I O >}=,{3?APbn6@byD@b8Hٱb?En EnEn(El"En;*En:VEnc44ZElBEn:r9)Y)=-Fy-!NE5D9E5>Q 5o53D?Q 9o5>)BY y 0@Q I5@DIsi)vs i 9gi M<.T_=,ؘ?A2z6@2%pD@24Cٱ2l NAHRS rotation from veh to nav: [[-0.996259,-0.078725,0.035648],[0.072103,-0.984593,-0.159302],[0.047640,-0.156136,0.986586]]2H@Z`R'h@?`Yu?ɁdĿ4d?`Eÿ?i2z6@I2|`;2CYR4ByRIi5Mb@Mb@Mb@1111 195)\(?Zd;OͿ+?Y5GA?y5~j5=5fA5`@ 5A)5@1Y5AbDMVDMy]><%]H=ٔ]S;Q-]>9aYa=eFye&NEm/Em>qQ 5}o5u,?Q 9}o5un)uBY}8J?Q E}:y}/2@Q I@u$DIu:iu:u&o5yPBɮAEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd^NU@_BɢB<) v>i ) Eo ijil<EL=,?A2l6@2"bD@27<ٱ2" :AHRS rotation from veh to nav: [[-0.996273,-0.079358,0.033795],[0.072961,-0.984328,-0.160546],[0.046006,-0.157482,0.986450]]2H x PM??ŌĿ%? ^(Ŀ?i2l6@I2`;2CYB9ByBI Jp;JbDNVDNyRr<%VV=ٔV;Q-V>9XYX=ZFyZ)NE^E^>`Q 5bo5b?Q 9fo5b)bBYdyf$2@Q If@b.DIb1:ib(:b3*o5yQɮeAaDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`gU@\Bɢt<) ->i)iimiٌ<@BECBABABE =BEDDBABEh;BE(EB CB CB ĔCB  =B  =C ĎS59^A=*A<IE EEE"E;*E:VEZEBEbiԑ =,_|?A6 W6@6LD@665ٱ676# BAHRS rotation from veh to nav: [[-0.996257,-0.080404,0.031746],[0.074274,-0.984070,-0.161520],[0.044227,-0.158557,0.986359]]6HUaA? ?`}Ŀ?@KĿ @?i6 W6@I6`;6CYF%ByFIiMb@Mb@Mb@ 9ףp= ?> ףp=ʿ/$?Y>?yQ<3@ rA)@Yf@bD-VD-:2y%<=ٔ;Q->9Y=Fy.NEEE>Q 5o5?Q 9o5ƽ)BYE?Q E:y3@Q I@9DI;iD;.o5yQBɮ_ AEDNOT Ignoring new targets: 40.28 m.hh*h"h hg f f f rBdddjdZdU@EYBɢE6Y<)I M>iI)M2dIIiU-piQ]<] /Dm =Dm <E  E E E "E ;*E :VE ZE a @a @a @a @ 4$=,W?A6^>6@63D@6Cm+ٱ6w|% BAHRS rotation from veh to nav: [[-0.996246,-0.081573,0.028972],[0.075782,-0.983616,-0.163574],[0.041840,-0.160764,0.986106]]6H?ᴿ?qf?yĿl?Ŀ`-?i6^>6@I67`;6CYF"ByJIbDRVDRN2yZ%Z[=ٔZ;Q-Z>9\Y\=^Fy^2NEb<Eb>dQ 5jo5f,?Q 9jo5fG)fBYhyjp3@Q In@fBDIf7:if:fB1o5yrRBɮr Ap DNOT Ignoring new targets: 40.28 m.h h *h"h hgfffddd!jd!Zd%`jU@UWBɢUw<)Q U>iQ)]\_YYi]$siae@}>^Ah%<IIO J>) BM >BM CBM IBM GBBM  =BI BM rDBM }h;BM (E >,6?AE> E>E<E<"E>~ ;*E>:VE<ZE<BE>VV9!Y!=%Fy%6NE%H|E%>)Q 55o5-?Q 9=o5-y)-BY9y=X3@Q I=@-LDI- ;i-X;-4o5yMSBɮM AMEuDNOT Ignoring new targets: 40.28 m.hqhq*hq"hq hygyfyfyfdddjdZd`U@UBɢm}_<) ;>i)Yi̍vi=<ԡ 6>,R?A26@2LD@2:ٱ2 & :AHRS rotation from veh to nav: [[-0.996261,-0.083314,0.022865],[0.078454,-0.983266,-0.164415],[0.036181,-0.162006,0.986126]]2H^ Tj??v ſI?ĿX?i26@I2"Ya;0@YF ByFIiMMb@Mb@Mb@IIII I9Mx?QſZd;O?YMK7?yM(Mj9yYy=}Fy}:NE'E>Q 5o59?Q 9o5 )"BY1iA)MTIIiMv2yiY]!<]ң;IYIaD1zD5@AbE5-4jE5-4rE5/E= E=E=*E9"E=I;*E=:VE=(N4ZE9aM@aM@aM@aM@ԩ^A<AII O > ! 9 e M9a Ye ;Al` >,S3?A2:5@2C@2ٱ2' :AHRS rotation from veh to nav: [[-0.996268,-0.084062,0.019579],[0.079708,-0.983075,-0.164954],[0.033114,-0.162778,0.986107]]2Hm ?`g?@Zu6ſ`R?Ŀ 0?i2:5@I23a;0YB ByBIbDJVDJk1yR%VX=ٔV9TYX=ZFyZ>NEZXEZ>\Q 5bo5^?Q 9fo5^)^0BYdyf5@Q If@^_DI^:i^k:^;o5yjTBɮjW AnElDNOT Ignoring new targets: 40.28 m.h h *h "h  h g f ffdddjdZd@U@MPBɢMZ<)I M>iQ)UPQQiU{{i<;II@)@)B>BCBIB3BB =BBpDB-h;B(E EM EIEM&EI"EM ;*EIVEM4ZEIBEMLa K>,M?AYByII<)=1iMb@Mb@Mb@ 9㥛 ?HzG:v?Y5?y= T<S A@ IA)@Y(@ 4<;bDVDky׼%9=ٔ%Q-%>9% ?Y- ?=-Fy-CNE-E5>1Q 5=o55o?Q 9Eo55)5>BYE8?Q EE:yE:8@Q IE@5iDI5C:i5U:5?o5yUUBɮU AUE}DNOT Ignoring new targets: 40.28 m.hyhy*hy"hy hygfff,BdddjdZd@V@颽NBɢ>2<) f>i)\KKi~i<;IIa^A ;ԉDE =DA EM  EM EI EI "EM %;*EM ?:VEI ZEI aU @aU @aU @aU @Aa Ii Iy O >Թ Cr>,g?A25@2C@2eּٱ2I( :AHRS rotation from veh to nav: [[-0.996260,-0.085539,0.012233],[0.082351,-0.982786,-0.165376],[0.026169,-0.163750,0.986155]]2H@\`嵿 ?@?`r +ſ˚? Ŀ`?i25@I2a;2CYBByBIbDJVDJk1yr*&%r[=ٔr9tYt=vFyvFNEvEz>xQ 5o5z=k?Q 9o5z)zHBYy8@Q I@zqDIz/;iz; ;zBo5yXBɮ AE=DNOT Ignoring new targets: 40.28 m.h9h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU V@}KBɢ}IV<) ӯ>i)8G顁i+iq<q;IIԙ^A`;AII)O=>B >B B IB BB  =B B B h;B (E! E]  E] E] $EY "E] ~ ;*E] :VE] 4ZEY BE] V, ?AYByIbD-VD-03ymhX%m@=ٔmQ-m>9qYq=uFyuJNE}E}>Q 5o5WR?Q 9o5׭)TBYyQ I@{DI:i4:Fo5yɮ ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`P7V@-IBɢ-Ă8<)1 5p>i1)5cB99i=i9E0ea V&>,U?A25@2-C@2ٱ2V& :AHRS rotation from veh to nav: [[-0.996228,-0.086608,0.005431],[0.084580,-0.983083,-0.162462],[0.019409,-0.161390,0.986700]]2H +@z>v??ju`Ŀ?@mĿ ?i25@I2a;2CYBByBI DDHHi Mb@Mb@Mb@     9 tV?:vMb?Y 2?y Խ <  A @ 1@) |@ Y G@bD% VD%f2y5!<%5O=ٔ=9E"?YE"?=EFyENNEE⸻EM>IQ 5o5M;?Q 9o5M/)M[BY4?Q E:yg:@Q I@MDIMi) v=  i 끼E EE(E"E ;*E՚:VEc44ZEa%@a%@a%@a%@i)-5<-;I)IQԁ^Auvт;ԹI I O > l,>,{0?A65@6*C@6>ٱ6!# BAHRS rotation from veh to nav: [[-0.996209,-0.086971,0.001839],[0.085559,-0.983419,-0.159897],[0.015715,-0.159133,0.987132]]6HC."^?3?*x~wĿ`?y^Ŀ?i65@I6C`;6CYJByJIbDRVDRyZ<%ZS=ٔ^l9\Y\=bFybRNEbd%Eb>dQ 5jo5f)%?Q 9jo5f)fbBYlynV:@Q In@fDIfz;if;fMo5yrZBɮr AvE DNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdd!d!jd!Zd%@GiV@UDBɢU݂<)Q U[>iY)]N9YYi]Hiae& BBIB BB =BBBgh;B(EII!O- >E% E%E%'E!"E% ;*E%:VE%'4ZE!BE%L,?A25@2EC@2EEٱ2l :AHRS rotation from veh to nav: [[-0.996187,-0.087227,-0.001676],[0.086408,-0.983821,-0.156940],[0.012040,-0.156487,0.987607]]2H`Tw[?u{ Ŀ{?Ŀ@y?i25@I2¨`;2CYVByVIi-Mb@Mb@Mb@)))) )9-Gz?Zd;OI +?Y-0?y-j-94<- A-@ ))-@)Y-@bDEVDEfyUM%]@=ٔ]^ 9aYa=eFyeWNEeEe>iQ 5uo5m ?Q 9}o5m)mjBY}92?Q E}:y}L;@Q I}@mDIm;imz:m8Qo5y[Bɮ A~EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd V@ABɢW<) q>i)U4iZYi; aʂ:I Ii@y@y 1^AII Om>E-  E- E- &E) "E- ;*E- :VE- 4ZE) a5 @a5 @a5 @a5 @a c9>,?A 6>5@6}C@6/c ٱ6 >AHRS rotation from veh to nav: [[-0.996179,-0.087199,-0.004949],[0.086924,-0.984329,-0.153429],[0.008507,-0.153273,0.988147]]6H`RxEt@?ÿ Xl?@sÿ?i6>5@I6G`;6CYFByFIIJ=)HJ=J=bDRVDRyV=%ZV=ٔZ9\Y\=^Fy^[NEbаEb>dQ 5fo5f~?Q 9jo5fd)fpBYhyjB;@Q Ij@fDIf:if:fTo5y9ɮE AADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd>V@=?BɢEy<)A E>iA)MV/IIiMiq}_!;}V):IyIqԙ^Aq:IIIYOew>B >B CB IB BB  =B B rDB h;B (EBUCBUCBQBU =BU =CU5 E9  E= E= (E9 "E9 *E= ՚:VE= c44ZE9 BE= PQ,?A2w5@2HmC@2(Οٱ2յ :AHRS rotation from veh to nav: [[-0.996114,-0.087672,-0.008347],[0.087933,-0.984861,-0.149389],[0.004877,-0.149543,0.988743]]2H`+`qł?0ÿs? 8$ÿȣ?i2w5@I2>q`;0YBByBIPbDNVDNfyV<%VJ=ٔZN9XYX=^Fy^_NE^#E^>`Q 5fo5b~?Q 9fo5bͥ)buBYhyj/;@Q Ij@bDIbg:ib:bXo5yn\Bɮr Ar}E DNOT Ignoring new targets: 40.28 m.h h *h "h  h g fffdddjdZd̶V@i)c*i鉄i@;«II^A9I)I9OMR>! F>,ˢ?A2'c5@2XC@2ٱ2' :AHRS rotation from veh to nav: [[-0.996014,-0.088422,-0.011697],[0.089183,-0.985364,-0.145275],[0.001320,-0.145739,0.989322]]2HY`ӢoԶ?\¿`sU? ¿?i2'c5@I2T`;2CYBByBI|imMb@Mb@Mb@iiii i9mGz?{Gz{Gz?Yiymףm#9 Y=FycNE&7E>Q 5%o5~?Q 9-o5)){BY-1?Q E-:y-+<@Q I-@DI7:i` ;\o5y=]Bɮ= A9eDNOT Ignoring new targets: 40.28 m.haha*ha"ha higififqfuBdqdqdqjdyZd}V@颥9BɢGi<) >i)n$顱i(i;;GQII@=@=E EE&E"E%;*EǙ:VE4ZEa@a@a@a@)^A"A>A>YA! I9 II OU >ԁ L>,z6?AY~ By~I   A AA AAbDVDNy%F<%%Z=ٔ-Q-->9)Y)=-Fy5gNE5E5>9Q 5Eo5=~?Q 9Eo5=ˢ)=BYIyIQ IM@=DI=:i=:=F_o5yQɮU AYQDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZdV@6Bɢѥ<) `>i);iٕiq;2IIB=>B=CB9B9B= =B9B9B=h;B=(EԑE EE%E"E ;*Ev:VE 4ZEBEa%2Ea%JE;a-:E;a-^A?BɺԹA.AII Oa S>,TP?A2CS5@2HC@2V;ٱ2} :AHRS rotation from veh to nav: [[-0.995916,-0.088507,-0.017823],[0.090147,-0.985680,-0.142510],[-0.004954,-0.143535,0.989633]]2Hc@? =¿`JtW_¿?i2CS5@I2f`;0YB ByBIiEMb@Mb@Mb@AAAA A9E&1?(\µ9u ?Yu ?=uFyukNE}E}>Q 5o5~?Q 9o5<)BYI2?Q E:y;@Q I@õDI:i:bo5yɮ A|EԹDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd W@ 3Bɢr<) >i))Yii!%;% I!I)^AYA؟AIIO>D =D <bEȞ4jE4rE/E  E E E "E ;*E :VE ZE a% @a% @a% @a% @9 Z>,@mj?AEgK5@E@C@E;ٱE a ]AHRS rotation from veh to nav: [[-0.995855,-0.088579,-0.020659],[0.090624,-0.985689,-0.142141],[-0.007773,-0.143424,0.989631]]EH '3? Ċ1¿N@[¿ ?iEgK5@IEj`;ECYiyibD}VD}:2ٔ;Q->9"?Y"?=FypNEE>Q 5o5~~?Q 9o5)B Yy;@Q I@͵DI;i7'<fo5eGyy}^Bɮ A{EG9Y5Ayz?QcADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd %W@0Bɢ<) V>i)giRzi; II)QB >B B IB BB =B B B sh;B (EU qڼ@i @i y E  E E (E "E ;*E :VE c44ZE BE `,?A|ɰ|EXJ5@E?C@E{*<ٱE% ]AHRS rotation from veh to nav: [[-0.995825,-0.088257,-0.023307],[0.090686,-0.985678,-0.142177],[-0.010425,-0.143697,0.989567]]EH`@ @ݗ@.7?``2¿Yd¿?iEXJ5@IEN`;ECYmBymIIq)u4<ԑiMb@Mb@Mb@ 97A`?EԸ?Y6?yƽ< A@ @)@Y@bDVDky-g%-<ٔ;Q->9Y=FyuNEuE>Q 5o5_~?Q 9o5X)BYR8?Q E:y;@Q I@ٵDI!;ih;sko5y_Bɮ ADNOT Ignoring new targets: 40.28 m.hh*h"h hgff f Bd d djdZdDW@E-BɢE3X<)A E>iI)MHI IIiMӆiQU*;Ur"IQIY`=D zD E%  E% E% $E! "E% ;*E% :VE% 4ZE! a- @a- @a- @a- @) ^A A!I)I9AOM>W%j>,?A2A5@27C@2 N<ٱ2 :AHRS rotation from veh to nav: [[-0.995753,-0.088475,-0.025453],[0.091195,-0.985807,-0.140954],[-0.012621,-0.142677,0.989689]]2H5P`nX? @ ¿ ى@9Y= Fy yNEE>Q 5-o5G~?Q 9-o5)BY1y5:@Q I5@DIP;iQ;oo5yE`BɮED AMzEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`_W@*Bɢ0<) ?i)5!!i%?i8d;ڍBII!QB5 >B1 B5 IB5 BB5  =B1 B1 B5 4h;B5 (Eԁ ^A 2E5  E5 E5 %E1 "E5 ;*E5 P:VE5 4ZE1 BE1 a= 2E1 a= JE5 r`;q>,*?A2hA5@26C@2k<ٱ2  >AHRS rotation from veh to nav: [[-0.995726,-0.088243,-0.027248],[0.091224,-0.985767,-0.141217],[-0.014399,-0.143099,0.989604]]2H@替|Z?@f@h¿M}@Q¿ ժ?i2hA5@I2'`;2CYBLByFIbDVD:y==%=@=ٔE;Q-E>9AYA=EFyE~NEMuEM>QQ 5]o5U.~?Q 9]o5U)UBYayaQ Ie@UDIU|:iU:Uro5ymaBɮmAuyEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd^zW@'Bɢ{=) ?i)^iii;II@@=)^AA>AQIIO>ԁ aw>,?A,J5C5@J8C@J<ٱJ RAHRS rotation from veh to nav: [[-0.995712,-0.087909,-0.028795],[0.091113,-0.985802,-0.141039],[-0.015988,-0.143058,0.989585]]JH3 |`+S? ¿$_O¿?iJ5C5@IJ`;JCYnPByn I ppiMb@Mb@Mb@ 99v?i|?5L7A`?Y4?y+= A@ )@YQ@bDVDyw<%?=ٔt;Q->9Y=FyNE 9E> Q 5o5  ~?Q 9o5 ) BY7?Q E:y+9@Q I@ DI ;i _; vo5y!ɮ-A)UDNOT Ignoring new targets: 40.28 m.hQhQ*hQ"hQ hQgYfYfYf];BdadadajdaZde`W@E EE#E"E7;*E:VE3ZEa@a@a@a@#Bɢ)=) <?i)+iq1i!%;%v 0}>, ?A`YWBy IbDVDy-w=%-Y=ٔ-Q-5>91Y1=5Fy5NE=E=>AQ 5Mo5E}?Q 9Mo5E')EBYIyIQ IU@EDIE9:iE:Eyo5ybBɮXAxEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZdW@%!Bɢ%6=)) -?i))-ֻ))i-鶈i1=O;=ؖ>I9I9B>BBIB.BB =BBBg;Bl(EE EE'E"E;*EZ:VE'4ZEBE]I q>,#?A6O5@6mEC@6!<ٱ6Ɖ >AHRS rotation from veh to nav: [[-0.995728,-0.086720,-0.031719],[0.090340,-0.985976,-0.140324],[-0.019105,-0.142590,0.989597]]6H`@B3`w= ? V`a@¿@Ȫ?i6O5@I6[`;4YF^ByFIiEMb@Mb@Mb@AAAA A9EQ?V-¿ rh?YE(9iYq=uFyuNEu:Eu>yQ 5o5}}?Q 9o5})}BY??Q E:y7@Q I@} DI}:i}:}g}o5ycBɮ(A]DNOT Ignoring new targets: 40.28 m.haha*ha"ha hagafafifmNBdididqjdZdW@Bɢ#x=) ?i)iĻi2i5;5[pI1I1@A@AI^AU"5AYzA]hAqIIO>E EE&E"E ;*E?:VE4ZEa@a@a@a@ԡ )>,5|,?AJrM5@J CC@J<ٱJ- jAHRS rotation from veh to nav: [[-0.995690,-0.086743,-0.032831],[0.090483,-0.986230,-0.138428],[-0.020371,-0.140802,0.989828]]JH4+Ϡ )? 3 ܔ ¿@?iJrM5@IJ ?`;JCYvcByv%II~<)~a=bDVD1y-v<%-N=ٔ-IQ;Q-5>91Y9==Fy=NEEEE>IQ 5Uo5M}?Q 9Uo5Mݑ)MBYQyU7@Q IU@MDIM ;iM ;M߀o5yedBɮeAewEyDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`W@Bɢ_(=) $?i)sii;$!IIԡ^A] 7IIOg>BAB>BBIBGBBBBBg;BD(EBECBECBEȓCBE =BE =CE45 E  E E (E "E =;*E 1:VE c44ZE BE zI,WF?A2N5@2~DC@2z<ٱ2 :AHRS rotation from veh to nav: [[-0.995671,-0.086445,-0.034167],[0.090392,-0.986136,-0.139159],[-0.021663,-0.141645,0.989680]]2H@!J~@#?l .o!¿@v?i2N5@I2r`;2CYFpByF4IbDbVDb:2yj|=%jP=ٔjW;Q-j>99Y9==Fy=NEEf9EE>IQ 5Uo5M^}?Q 9Uo5M)MBYQyU7@Q IU@MDIM;iM;Mgo5ygBɮAnEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd ;W@uBɢ}''=) +?i)顱i9iUP;DpII^A*:1AII O >a 2>,2`?A2_[5@2PC@2<ٱ2 NAHRS rotation from veh to nav: [[-0.995714,-0.085457,-0.035363],[0.089632,-0.985906,-0.141267],[-0.022792,-0.143831,0.989340]]2Hൿ `%?¿`V` i¿૨?i2_[5@I27`;2CYVhByV*IiuMb@Mb@Mb@qqqq q9uZd;?Clǿ{Gz?Yu9?yud;u#=qq u@)qqYuQ@bDVDky%>=ٔ&,;Q->9Y=FyNE:E>Q 5o5r}?Q 9o5)BY??Q E:y-4@Q I@&DI ;i. ; o5yhBɮAmEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffTBddd jd Zd *X@1=BɢET*=)A E(?iA)E8AIiMiIU;UIQIQ@e=@aD=DE EE'E"E%;*E:VE'4ZEa@a@a@a@a^A?BɺA>A>ԑA.AII O >Թ ڝ>,Tz?AY=oBy=3IbDMVDM1y]=%]N=ٔeQ-e>9e ?Ye ?=eFymNEmEm>qQ 5}o5u}?Q 9}o5u)uBYyyQ I@u0DIu|:iu:uo5B%>B%CB%IB%QBB% =B!B!B%`g;B%-(EyEiBɮMAulEԉDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`2X@EBɢM*=)Q U-?iQ)UG|QQi]Biim ;mIiIqԹE EE%E"E9;*E :VE 4ZEBE 2>,?AN{5@N:qC@No<ٱN VAHRS rotation from veh to nav: [[-0.995779,-0.082764,-0.039672],[0.087662,-0.985688,-0.143994],[-0.027187,-0.146864,0.988783]]NHl@/Op? in¿֛s¿ ?iN{5@IN_;NCY^sBy^8IiEMb@Mb@Mb@AAAA A9EQ?MbXɿkt?YE(9yYy=}Fy}NE;E>Q 5o57l}?Q 9o5)BY-C?Q E:yS3@Q I@:DI;i%;o5yjBɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffxBdddjdZd`IX@ Bɢ"A=) 0?i)^[顱iiG;^ηII^A 7bEU-4jEU 4rEU./E EEE"E ;*E$:VEZEa@a@a@a@I Ae ؟AIq I O >,>,˭?A V5@V4}C@V\<ٱV. bAHRS rotation from veh to nav: [[-0.995800,-0.081788,-0.041144],[0.086930,-0.985663,-0.144607],[-0.028727,-0.147576,0.988633]]VH@  A?z¿j¿?iV5@IV`;VCYfbByf#IbDVD02y-%-O=ٔ-/;Q-5>95"?Y5"?=5Fy=NE=7:E=>AQ 5Mo5ELT}?Q 9Mo5E?)EBYIyU`3@Q IU@ECDIE:iE_:Eo5yYɮ];AYG%DNOT Ignoring new targets: 40.28 m.h)h1=K9AYET9A*h1"hA hAgIfIfIfQdQdQdQjdYZd]fdX@=Bɢ=/)=)A E)?iA)E4AAiM0iQUw;U9IQIQ@a@aiԑ^A9AA@AB%>B!B%IB%VBB% =B!B!B%eg;B%0(EA I I O >E  E E E "E %;*E :VE ZE BE K,#?A0B05@BǎC@B<ٱBE JAHRS rotation from veh to nav: [[-0.995833,-0.080428,-0.042977],[0.085857,-0.985752,-0.144646],[-0.030731,-0.147734,0.988550]]BH`?Fƃ¿w¿2?iB05@IB`;BCYR`ByR IV=V= Zp9hYh=jFyjNEn00;En>pQ 5vo5r%<}?Q 9vo5r)rBYtyvs3@Q Iz@rMDIr:ir:ro5y~tBɮ~A~kE%DNOT Ignoring new targets: 40.28 m.h!h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd=j|X@PExceeded connect timeout, disconnecting. Bɢq<=) G)?i)ibyiw;5:IIԑ^AAIIO> >,7?A6t5@6 C@64=ٱ6 BAHRS rotation from veh to nav: [[-0.995849,-0.079206,-0.044850],[0.084923,-0.985835,-0.144628],[-0.032759,-0.147837,0.988469]]6H``F?@-¿ŠO¿?i6t5@I6_;6C\YbSBybIiUMb@Mb@Mb@QQQQ Q9UMbX9?|?5^ʿˡE?YUA?yURU'=QU@ Q)U@QYQbDmVDm1y}c%}?=ٔ;Q->9Y=FyNE;E>Q 5o5!}?Q 9o5)BYI?Q E:yO3@Q I@XDI;iX:o5yɮ AjEDU=DU4=EY E]E](EY"EY*E]S:VE]c44ZEYae@am@am@am@DNOT Ignoring new targets: 40.28 m.hh*h"h hgfffYBdddjdZdX@  Bɢ9/(=) T$?i)hߺiֶi%I;%3;I!I!^AU;A I I O >a E>,?A2#5@2C@2/=ٱ2  :AHRS rotation from veh to nav: [[-0.995869,-0.077879,-0.046683],[0.083904,-0.985825,-0.145290],[-0.034707,-0.148607,0.988287]]2H@)`ﳿ`槿z? ¿@šÿ ?i2#5@I2M `;2CYrPByr IbDVDfy5{%5O=ٔ5;Q-5>A9IYI=UFyUNEU*(;EU>aQ 5uo5B>BBIBLBB =BBBg;BH(Ee}?Q 9o5e|)eBYya3@Q I@ebDIeA>nManaging dock network, ignoring radio surface power offԡAI Ii Iy O > ,>,̳?A2S5@2C@2=ٱ2 :AHRS rotation from veh to nav: [[-0.995888,-0.076415,-0.048669],[0.082792,-0.985755,-0.146401],[-0.036789,-0.149828,0.988027]]2HO돳 .먿1?`M C¿բ-ÿ?i2S5@I2_;2CY^?BybI ``iMb@Mb@Mb@ 9rh|?ɿS㥛?Y;?yL/<@ )t@Y@ԙbD VD:2y!%B=ٔ;Q->9Y=FyNE.;E>Q 5o5|?Q 9o5'z)BYB?Q E:yF3@Q I@lDI ;i ;ڠo5yɮ A DNOT Ignoring new targets: 40.28 m.h h *h "h hgfffTBddd!jd!Zd%`X@UBɢUb-=)Q U(?iY)]>YYi]iae;eDr;IaIi^A=qZ;DyzDyE EE'E"E;*EVE'4ZEa@a@a@a@A I I O >! W>,/?A25@2C@2g=ٱ2Z :AHRS rotation from veh to nav: [[-0.995885,-0.075490,-0.050144],[0.082045,-0.986020,-0.145025],[-0.038495,-0.148542,0.988156]]2HJVS ?z.¿pÿ@?i25@I2`;2CYB,ByBIbDNVDN:yV;ҽ%V]=ٔV;Q-V>9XYX=ZFyZNEZ;E^>`Q 5fo5b0|?Q 9fo5bw)bBYdyfQ3@Q If@buDIb:ib:bo5ylɮn> AlDNOT Ignoring new targets: 40.28 m.hh*h"h h g f f fdddjdZd@X@Bɢ$&=) L?i)i5'it;t;II!^A]yb];BA<B>BBIB3BB =BBBg;BX(EAM.AIQIiOu>yE  E E E "E ;*E $:VE ZE BE L>,iI?ABE5@BC@Bc#=ٱBJ JAHRS rotation from veh to nav: [[-0.995874,-0.074734,-0.051468],[0.081509,-0.986006,-0.145427],[-0.039879,-0.149022,0.988029]]BH4@!@Zݴ?[@Z¿@k(ÿ?iBE5@IBc_;BCYn BynIbD VD Ny59Z%5B=ٔ5NW;Q-=>9E ?YE ?=EFyENEMt:EM>QQ 5]o5U|?Q 9]o5Ut)UBYayeZ3@Q Ie@UDIU;iU;Uǧo5yiɮm AmhEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZdX@5Bɢ==)9 =m?i9)=HK19AAiEiquV;u;IyԑI@@^A;AzAfAA؟AII O > h>, Ec?A25@2+C@2i&=ٱ2 :AHRS rotation from veh to nav: [[-0.995911,-0.073755,-0.052174],[0.080698,-0.985883,-0.146703],[-0.040617,-0.150314,0.987804]]2H Ჿ?`[-¿ˤ{=ÿ`?i25@I2_;2CYBByBIIF=)F?yU 0U`e9"?Y"?=FyNE.;E>Q 5o5D|?Q 9o5gr)!BYD?Q E:y5@Q I@DI ;i ;ao5yɮc AgEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff&BdddjdZdY@Bɢ=) ?i)%:!!i%Mi)-2;-j;I)I1E EE#E"E~ ;*EǙ:VE3ZEa@a@a@a@^A;AI Q IY Ii Ou >>,Z)}?A VC5@VC@V)=ٱV jAHRS rotation from veh to nav: [[-0.995898,-0.073377,-0.052946],[0.080533,-0.985566,-0.148910],[-0.041255,-0.152563,0.987432]]VHe Ȳ`ʝ?@yÿo`-ÿ ?iVC5@IV_;TYvByvIB%>B%CB%IB% BB% =B!B%pDB%g;B%W(EBCBCBCB =BCg5bDVDk2yz%H=ٔ :Q->9Y=FyNE9E>Q 5o5|?Q 9o5o)#BYy5@Q I@DIv;iQ:o5y{Bɮ A]EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd 3Y@5Bɢ5,P =)9 =>i9)=:99iEόiAE;M ;IIIIiE EE*E"E7;*E:VE(N4ZEBEZ z>,?A2,5@2C@2*=ٱ2 :AHRS rotation from veh to nav: [[-0.995867,-0.073357,-0.053549],[0.080719,-0.985139,-0.151611],[-0.041632,-0.155307,0.986989]]2H$@Dz@j?AgÿPÿ@i?i2,5@I2_;0YBByBIPiMb@Mb@Mb@ 9ףp= ?DlMbp?Y>?yO ; )YbD- VD-:2y=4%=Q=ٔE|:Q-E>9AYA=MFyMNEMuEM>QQ 5o5Ut|?Q 9o5Um)U"BYA?Q E:y\8@Q I@UDIUei)U:顙iE EE%E"Ef;*E?:VE 4ZEa@a@a@a@9 Ԥ>,ְ?A65@6pC@6))=ٱ6~ >AHRS rotation from veh to nav: [[-0.995880,-0.073381,-0.053281],[0.080740,-0.984993,-0.152545],[-0.041288,-0.156218,0.986859]]6H ?ɲ@G^? ÿ@#ÿY?i65@I6 _;6CYF܀ByF~IbDRVDR yVb%ZT=ٔZiQ-Z>9\Y\=^Fy^NEbUTEb>dQ 5jo5f]|?Q 9jo5fk)f!BYhyhQ Ij@fDIf:if:fo5ypɮr Ar\E|DNOT Ignoring new targets: 40.28 m.hh*h"h hgfffd!d!d!jd!Zd-`dY@UBɢUƀ =)Y ]_>iY)]:YYie\iae;iIiIi)^Aϩ;II O%M>AAB%~>B%ߍCB%IB%܀BB% =B!B%nDB%g;B%e(EQԁ E  E E (E "E ;*E :VE c44ZE BE @,ͱ?A25@2C@2b'=ٱ2! :AHRS rotation from veh to nav: [[-0.995904,-0.073369,-0.052843],[0.080702,-0.984837,-0.153566],[-0.040775,-0.157201,0.986724]]2HqKȲ<ݨ?Ƀ ÿpि+Ŀ ??i25@I2%_;2CY~By~]IbD%VD%y-%5B=ٔ5+Q-5>99Y9==Fy=NEE8EE>IQ 5Mo5M0C|?Q 9Uo5Mi)M BYQyU]8@Q IU@MDYIM9:iMh-;Mko5yaɮe AiDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZdY@Bɢ<) >i);iiš;#;II@@@@ԉIIO!Ա ̶>,?A25@2C@2#=ٱ2g" :AHRS rotation from veh to nav: [[-0.995926,-0.073619,-0.052074],[0.080855,-0.984722,-0.154227],[-0.039924,-0.157809,0.986662]]2H زh 겴?ւ౽ÿp3Ŀ༒?i25@I2_;0YBByBPIiEMb@Mb@Mb@AAAA A9E㥛 ?MbXy&1|?YE5?yEʽE`;EO AE@ A)EEAAYE@bDYVDYymR%mG=ٔmQ-u>9qYq=uFyuNE}E}>Q 5o5*|?Q 9o5"h)BYF7?Q E:y5;@Q I@DI:i&:o5yɮ'A[EԹDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd1Y@Bɢ<) >i)Q;ili!%+z;%$ȥ;I!I)A9zA=hAbE€'4jEY"4rEJ0E EE'E"El;*E?:VE'4ZEa@a@a@a@II O=  CmЀGF9Y4AiߑIߑ9 u>,ir?ABbx>BbލCBbLIBbBBb =B`BbmDBb,h;Bbz(EYBy@II%<)%p;%=%a=bD-VD-Ny}.x%}I=ٔ}Q-}>9Y=FyNEE>Q 5o5|?Q 9o5~f)BYyQ I@öDIj;i;o5yɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd`Y@Bɢ}<) |>i!)%v(;!!i%rSi)--S;)I)I1IIOm=9E EE(E"E ;*E^:VEc44ZEBEL]5@>C@>J=ٱ>($ FAHRS rotation from veh to nav: [[-0.995883,-0.075015,-0.050889],[0.082116,-0.984342,-0.155972],[-0.038392,-0.159509,0.986450]]>H F14@'?@@ÿ "jĿ?i>]5@I>`;>CYNByN/Ii%Mb@Mb@Mb@!!!! !9%7A`?9QYQ=]Fy]NE]OE]>aQ 5mo5eX{?Q 9mo5e%e)eBYuu7?Q Eu:yu=@Q Iu@e̶DIem ;ie ;e o5yyɮ}AZEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBdddjdZd Y@q额Bɢ^F<) >i)3:;ii$;;IIAYIaIyO9>ԙE EE$E"E ;*EZ:VE4ZEa@a@a@a@ ?,?2?A275@2ͳC@2y=ٱ2"$ :AHRS rotation from veh to nav: [[-0.995787,-0.076577,-0.050441],[0.083586,-0.984225,-0.155930],[-0.037705,-0.159490,0.986479]]2H|sөe?~`ÿ N(jĿ=?i275@I2$`;2CYfByf&IbDrVDryv%vQ=ٔz4Q-z>9xY|=~Fy~NE~vE>Q 5 o5{?Q 9o5c)BYyj=@Q I@նDI :i:vo5y|Bɮ%9A!MDNOT Ignoring new targets: 40.28 m.hIhI*hI"hI hIgIfQfQfQdQdYdYjdYZdeY@颍Bɢ<) k>i)@I;顑iקi;x/;II^AA>A> BA<B>BߍCB!IBBB =BBnDB+h;B(EAIIY&mdClearing failed state for component DockingStepperqmIiO}>) E  E E &E "E I;*E :VE 4ZE BE cjAHRS rotation from veh to nav: [[-0.995669,-0.078138,-0.050367],[0.085113,-0.984113,-0.155810],[-0.037392,-0.159422,0.986502]]6H@ɩɵ?}ÿ % gĿm?i65@I6+`;6CYFByJ*I HHLNAbDRVDRk1yZǎ<%ZN=ٔ^ OQ-^>9`Y`=bFybNEb-}Eb>dQ 5jo5f{?Q 9jo5frb)fBYlynQ=@Q In@f޶DIf;if;fo5ypɮvAvYEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZdXZ@ Bɢ9<) ǣ>i1)=Z;99i=QiAEFn;E:IAII u4Initializing EZServoServo. u8Initializing DockingStepper.Qԁ^A] ;AII O >ԩ ?,e?A2P5@2C@2%=ٱ2$ :AHRS rotation from veh to nav: [[-0.995616,-0.079134,-0.049856],[0.086014,-0.984043,-0.155762],[-0.036734,-0.159367,0.986536]]2H %Bఆ?F}ÿ@΢#fĿ`?i2P5@I2_;2C@YFByF"IiMb@Mb@Mb@ 91Zd?Qy&1|?Y";?yu`;O A3@ )AY@bD5VD5kyED%EA=ٔER̺Q-M>9IYI=MFyMNEUB EU>Q 5o5ձ{?Q 9o5 a)BY;?Q E:yx>@Q I@DI:i:o5yɮTAUDNOT Ignoring new targets: 40.28 m.hQhQ*hQ"hY hYgYfYfYfeBdadadajdaZdm@Z@DqDu=E} E}E}(Ey"E};*E}B:VE}c44ZEya@a@a@a@颵Bɢto<) >i).l;项ii;kN:IIԩ^A?B:A- .AI1 IA O] > D/?,`?AB6>B6CB6IB6|BB6 =B4B6qDB6h;B6(EF5@F3C@FN=ٱF:" NAHRS rotation from veh to nav: [[-0.995562,-0.079837,-0.049828],[0.086665,-0.984154,-0.154695],[-0.036688,-0.158327,0.986705]]FH`@/p` /?/~@ÿȢDĿ ?iF5@IFSS_;FCYVByV$IbD^VD^1yf;%fR=ٔj"Q-j>9j ?Yj ?=jFyjNElr2ܺEr>tQ 5zo5v{?Q 9zo5v_)vBYxyzm>@Q Iz@vDIv:iv:vo5yɮJAXE-DNOT Ignoring new targets: 40.28 m.h)h)*h)"h1 h1g1f1f1f9d9d9dAjdAZdE`4Z@mBɢuVJ<)q uW>iq)uD{;yyi}i; 9II@=@= E EE%E"Es!;*E8:VE 4ZEBExa &?,?ART5@RvC@RE =ٱR9Y=FyNEE>Q 5o5J{?Q 9o5^^)Y6?Q E:yT=@Q I@DIc;iw;o5y ɮ6ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBddd jd Zd @QZ@UBɢ]JB<)Y ]Q>iY)];aaiefiim;m|rIiIqaԉDzDAAE EE&E"EU,;*EI:VE4ZEa@a@a@a@^A 9 A I I O >,?,?A>u5@>1kC@>=ٱ> FAHRS rotation from veh to nav: [[-0.995431,-0.081363,-0.049966],[0.088001,-0.984842,-0.149472],[-0.037047,-0.153187,0.987503]]>H8Դ@1 4?Ӄ!ÿÿ ?i>u5@I>d!_;>CYNByN!IbDVVDVy^׼%^O=ٔb9Q-b>9`Y`=fFyfNEf0Ef>hQ 5no5j-j{?Q 9ro5j])jBYpyrG=@Q Ir@jDIj:ijA:j>o5yv}BɮvdAxzWEDNOT Ignoring new targets: 40.28 m.hh!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5hZ@eBɢe<)a e>ia)m-;iiim/iquԇ;ufy[IqIy!^AvAAAAAAB>BCBIBwBB =BCDBsDBg;Bs(EBߍCBCBŖCB =B =Cw6IA؟AIIO >y E  E E (E "E 3;*E :VE c44ZE BE 9V"?YZ"?=ZFyZNEZ EZ>|Q 5o5~R{?Q 9o5~[)|Y y <=@Q I @~ DI~:i~o:~o5yɮ&AY}DNOT Ignoring new targets: 40.28 m.hyh*h"h hgfffdddjdZd@Z@Bɢ<)  >i!)%3;!!i%=ꈼi)-;-$XI)I1@EgA@EfAԉ^A]qAe>Ae?ԹA.AIIO> 9?,s?A2o5@2qeC@2L=ٱ2 :AHRS rotation from veh to nav: [[-0.995387,-0.081874,-0.050022],[0.088349,-0.985470,-0.145065],[-0.037418,-0.148815,0.988157]]2H4@{?z¿v(] ÿ@?i2o5@I2D,_;2CYBByB:I DDi Mb@Mb@Mb@     9 v?bX9ȶX9v?Y 8?y E < A `@ @) A Y zAbDmVDm02y}Ci=%}==ٔ9Q->9 ?Y ?=FyNEq9E>Q 5o58{?Q 9o5Y)BYf:?Q E:y <@Q I@DI;i:o5E EE$E"Eg5;*E:VE4ZEa@a@a@a@yɮAVEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBddd jd Zd uZ@UBɢ]5<)Y ]@>iY)e;aaieiquw`;u1 B >B CB IB BB B B tDB g;B _(Eƈ@?,=?A2r5@2ThC@2<=ٱ2 :AHRS rotation from veh to nav: [[-0.995384,-0.081691,-0.050364],[0.088172,-0.985663,-0.143854],[-0.037891,-0.147631,0.988316]]2H@0鴿@Zɩk?@i¿hf ¿I?i2r5@I2HO_;0YBByBGIbDNVDNyVX=%VZ=ٔV:Q-V>9Z"?YZ"?=ZFyZOEZ9E^>`Q 5fo5b!{?Q 9fo5bX)bBYdyf<@Q If@b DIb:ib:bo5yn~BɮnvAnUEDNOT Ignoring new targets: 40.28 m.hh*h"h h g f f fdddjdZd7Z@EBɢEf =)I M>iI)M;IIiU%iQU;]s8oIYIYE EE%E"E4;*E:VE 4ZEBEԡ %F?,.?Ab{5@b@qC@b=ٱb8 vAHRS rotation from veh to nav: [[-0.995426,-0.081161,-0.050395],[0.087629,-0.985796,-0.143274],[-0.038051,-0.147035,0.988399]]bH@ƴ@\ͩn?࣋@V¿e{ ¿@?ib{5@Ibt_;bCYByQIiMb@Mb@Mb@ 99v?x&&1?Y4?y7 P= @)\AYbDVDk1y=%:=ٔ9Q->9 ?Y ?=FyOE<:E>AQ 5Uo5EN{?Q 9Uo5EJV)E%BYU8?Q EU:yUE8@Q IU@E+DIE;iE:Eo5yaɮe;AaiDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff-BdddjdZdmZ@BɢI<=) T>i) ;ipiN;!II@=@=ԑ^A)bEU-4jEUT4rEUn/E EEE"E:;*EV:VEZEa@a@a@a@Ay I I O > G wP9 Y =A GL?,5?A2z5@2pC@2=ٱ2] :AHRS rotation from veh to nav: [[-0.995414,-0.081266,-0.050467],[0.087674,-0.986053,-0.141464],[-0.038267,-0.145239,0.988656]]2H`n ʹ֩@q?࿍z¿෗4¿`?i2z5@I2Χ_;2CYdydbDrVDr0yv;%zY=ٔzE:Q-z>9|Y|=~Fy~ OEE> Q 5o5 z?Q 9o5 T) -BYyB8@Q I@ 3DI :i : o5y!ɮ%7A!MDNOT Ignoring new targets: 40.28 m.hIhI*hI"hI hQgQfQfQfYdYdYdYjdaZde`Z@颕Bɢ=) >i);顡ici;II &Changing to mode: 1u9@q @q@u5@yBm>BmCBm!IBmBBm =BiBiBmg;Bml(E^A99 A ؟AI I O >E  E E 'E "E 9;*E :VE '4ZE BE 9r"?Yr"?=vFyv OEv:Ev>xQ 5o5zz?Q 9o5zR)z6BYyM8@Q I@zi))-+;))i-Xi15W;=QuI9I9)9@ @@x0@Y^AM9ԩ A I I O >Y?,ui?A02P5@2C@2=ٱ2q >AHRS rotation from veh to nav: [[-0.995502,-0.080152,-0.050514],[0.086555,-0.986233,-0.140901],[-0.038525,-0.144640,0.988734]]2H&Ԅݩ@|(?7` ¿ @¿?i2P5@I2^;2CYFÀByF`Ii Mb@Mb@Mb@     9 ^I +?K7A`ſJ +?Y X9?y + H=  @ 1@) A Y pAbD%VD%Jy5oռ%5E=ٔ=/+:Q-=>9AYA=EFyEOEE:EM>IQ 5Uo5E) E:E)E"E`;*E$ ;VEFA4ZEa@a@a@a@Mz?Q 9o5M"P)M@BY>?Q E:y5@Q I@MFDIMi) ;iHi!%;-9I)IIԑ9@ @@0@@@Թ^A"9AA> A] .ABm >Bi Bm :IBm BBm =Bi Bi Bm h;Bm (EI I O >`?,?A>55@>˒C@>=ٱ> VAHRS rotation from veh to nav: [[-0.995595,-0.079181,-0.050203],[0.085590,-0.986162,-0.141982],[-0.038266,-0.145653,0.988595]]>H6E: ??`v,¿Ť¿?i>55@I>^;>CYZĀBy^aI`bDjVDjyr;%rP=ٔr6-Q-r>9v ?Yv ?=vFyvOEv!;Ez>xQ 5o5z6z?Q 9o5zM)zIBYy5@Q I@zODIz+;izj;zo5y BɮAIE=DNOT Ignoring new targets: 40.28 m.h9h9*h9"hA hAgAfAfAfIdIdIdIjdIZdU7[@}Bɢ #=) u>i);顁iQì;:IIm9@i @q@u0@q@}@}@}@}E EE&E"E8;*EI:VE4ZEBE֏Q g?,s?AR5@RC@R@=ٱR} ^AHRS rotation from veh to nav: [[-0.995728,-0.077627,-0.049992],[0.084087,-0.986042,-0.143704],[-0.038139,-0.147294,0.988357]]RHa߳?d¿䆣¿`?iR5@IR^;PYfʀByfhIi]Mb@Mb@Mb@YYYY Y9]S?> ףp=ʿ?Y]/=?y]Q]L=]|AY ]G@)YYYYbDuVDu2yM<%@=ٔcQ->9Y=FyOEoh;E>Q 5o5Iz?Q 9o5J)TBYD?Q E:y.3@Q I@ZDI:iL::o5yɮ ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfff_BdddjdZd9S[@额BɢQ=) I>i) ;顡iNi%;;IIA}9@ @@0@A؟AIIOj>iDzDE EEE"E9;*E:VEZEa@a@a@a@ԙ e+m?,9M"?YU"?=UFyUOEUEU>aQ 5mo5e%xz?Q 9uo5eMH)e^BYqyqQ Iu@edDIe(:yie :eo5yBɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd l[@Bɢt3#=) C>i);;iwYi9;ئ;I I 9@ @@0@ԩB->B)B-FIB-BB)B)B)B-Wh;B-(EAI!I9OEQ>E  E E 'E "E I@;*E :VE '4ZE BE 9XYX=ZFyZ!OEZ;;E^>`Q 5fp5b`z?Q 9fp5bE)bhBYdyfS3@Q If@bmDIb:ib:b p5yjBɮn^AnHEDNOT Ignoring new targets: 40.28 m.hh*h"h  h g f f fdddjdZd[@Bɢ=) >i)jE<iWiΡ;/s;III-fA)-fA@ @@0@AI9IIO]T>1Y @z?,?A25@2+C@2C =ٱ2B, :AHRS rotation from veh to nav: [[-0.995929,-0.074347,-0.050973],[0.081127,-0.985758,-0.147304],[-0.039296,-0.150840,0.987777]]2H n1Ĵ?@U¿Nÿ ޛ?i25@I23^;2CYBByB\Ii-Mb@Mb@Mb@)))) )9-)\(?V-ͿMb?Y-GA?y-m-@=)-@ ))-A)Y-AbDMVDM1ye<%m>=ٔm:Q-m>DqDu4=E EE(E"E3;*E:VEc44ZEa@a@a@a@)91Y9==Fy=&OE=`;E=>AQ 5p5EDz?Q 9p5EYB)EtBYJ?Q E:y1@Q I@ExDIER6=iE)7=Ep5yBɮGAGEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffZBdddjdZd[@Bɢ6Q=) I>i!)%[> B B B B B B B h;B (EBCBCBʓCB =B =CTW4 A I I O >Y?,P?A2H5@2C@2."=ٱ2} :AHRS rotation from veh to nav: [[-0.996024,-0.072916,-0.051182],[0.079808,-0.985619,-0.148948],[-0.039585,-0.152440,0.987520]]2Hm y4Gn? 1ÿyD`+ÿ™?i2H5@I2_;0YBByBPIbDjVDjyr P%rL=ٔv=:Q-v>9tYt=vFyv*OEzg;Ez>|Q 5p5~T-z?Q 9p5~?)~~BY y 1@Q I @~DI~R:i~:~Gp5yɮAFE=DNOT Ignoring new targets: 40.28 m.hAhA*hA"hA hAgAfAfIfIdIdQdQjdQZdU@#[@颅Bɢ)=) l>i)C<顉i7LiZ;;IIi 9@  @ @ @ ^Ar;E- E-E-'E)"E-1A;*E-:VE-'4ZE)BE- z?,s?AF 6@F-D@F#=ٱF9 RAHRS rotation from veh to nav: [[-0.996080,-0.071934,-0.051480],[0.078937,-0.985483,-0.150305],[-0.039921,-0.153780,0.987298]]FH =j`[/5?`2=ÿ`p ÿ?iF 6@IF4Y_;FCYVByZ8IiuMb@Mb@Mb@qqqq q9uT㥛 ?q= ףpͿQ?YuA?yuku\=uAu@ ut@)uAqYuAbDVDβyZ%?=ٔN:Q->9Y=Fy.OE);E>Q 5p5z?Q 9p5j<)BYJ?Q E:y1@Q I@DIz:i: p5yɮ<ADNOT Ignoring new targets: 40.28 m.hh*h"h hgfff[Bddd jd Zd u[@=Bɢ=`[=)9 =>i9)E<i]>9@ @@/@D1zD1E= E=E=&E9"E=9;*E=:VE=4ZE9aM@aM@aM@aM@^AEϩ;! A I I O >맍?,F9?A66@6lD@6o>%=ٱ6u >AHRS rotation from veh to nav: [[-0.996160,-0.070575,-0.051805],[0.077704,-0.985349,-0.151818],[-0.040332,-0.155260,0.987050]]6H3@:@n?``nÿ^ÿ?i66@I6_;4YFByF'IbDRVDR02yVo%V[=ٔZ:Q-Z>9XY\=^Fy^2OE^BY;Eb>`Q 5fp5by?Q 9jp5b9)bBYhyj1@Q Ij@bDIb:ib:bCp5yrÒBɮrkApDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff!d!d!d!jd!Zd-b[@Bɢ%=)! %>i!)-i<)1i5-iY]Q;]:;IYIaQ 9@  @ @ @ BIAM<BU>BQBU4IBUBBQBQBQBUh;BU(Ey^AUc;ԩ EM  EM EM %EI "EM 1A;*EM :VEM 4ZEI BEI a] 2EI a] JEM +9\Y`=bFyb6OEb:Eb>dQ 5jp5fy?Q 9jp5f6)fBYlyn1@Q In@fDIfH;if;fp5yrĒBɮrAvEEDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffd!d!d!jd!Zd%;\@UBɢU< =)Q U>iY)] 9?,m?ApbE!4jE4rE/E EE#E"E9;*E:VE3ZEa@a@a@a@YqByII%=)%C=iMb@Mb@Mb@ 9Pn?Cl˿L7A`?YD?y;_+=5A@ G@)+AY AbDVDfyQѽ%:=ٔQ->9 ?Y ?=Fy;OEE>Q 5p5y?Q 9p53)BYL?Q E:y 3@Q I@DI:i*:p5yɮADE%DNOT Ignoring new targets: 40.28 m.h!h!*h)"h) h)g)f)f1f59Bd9 E7j>ECdAdGjdZd$\@=q99Y=[A颭Bɢ<) m>i)"<顱isil;(A >BU >BU CBU IBU |BBQ a BQ BU uDBU {h;BU (EA ؟AI! I1 OE >8?,c?A2L66@2+D@2.=ٱ2% :AHRS rotation from veh to nav: [[-0.996176,-0.068531,-0.054188],[0.076271,-0.984679,-0.156813],[-0.042611,-0.160346,0.986141]]2HGx?}qĿ+ѥ8Ŀw?i2L66@I27`;2CYBfByBIbDNVDNyVa|%V`=ٔV(;Q-V>9Z"?YZ"?=ZFyZ>OE^) ;E^>`Q 5fp5by?Q 9fp5b1)bBYdyf3@Q Ij@bDIbT;ib;bp5ynŒBɮnAlDNOT Ignoring new targets: 40.28 m.hh*h"h h g f ffdddjdZd:\@AɢM<ԉ)I >i)%<i3it;#+  ?,[}?AzA6@z6D@zG0=ٱzm& AHRS rotation from veh to nav: [[-0.996208,-0.067748,-0.054582],[0.075617,-0.984518,-0.158135],[-0.043023,-0.161663,0.985908]]zH`W@[?+=Ŀ$`^Ŀ`?izA6@Izb`;xYJByIiMb@Mb@Mb@ 9Gz?Mbȿ9)Y)=-Fy-COE5@:E5>9Q 5Ep5=)y?Q 9Ep5=2.)=BYEC?Q EM:yM4@Q IM@=DI=:i=:=p5yUВBɮU4AU:E}DNOT Ignoring new targets: 40.28 m.hyh*h"h hgfffBdddjdZd W\@ɢ<) \>i)A(<ijiK; By ?,O?A6G6@6"=D@6' 2=ٱ6' >AHRS rotation from veh to nav: [[-0.996220,-0.067208,-0.055037],[0.075219,-0.984322,-0.159538],[-0.043452,-0.163075,0.985656]]6H4- A?kĿY?@Ŀ@?i6G6@I6\`;4Yf8ByjIbDzVDzky%n%%]=ٔ%˗:Q-%>91Y1=5Fy5GOE=;:E=>IQ 5]p5M\}y?Q 9ep5M+)MBYaym4@Q Im@MɷDIMr;iMws;M p5y}ђBɮ}A9EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZdo\@ɢ]<)`9 9>i) *<  i k(i;Q:BBIBNBB =BBBh;B(EM9@I @I@M0@I@U=@U=ԁ^A<AzAgAԱEU  EU EU 'EQ "EU 77;*EU :VEU '4ZEQ BEU  δ?,R*?A2??6@24D@2ko4=ٱ2w' >AHRS rotation from veh to nav: [[-0.996156,-0.067635,-0.055665],[0.075722,-0.984362,-0.159054],[-0.044037,-0.162657,0.985699]]2HP- b?@[Ŀ`Ŀ`ي?i2??6@I2Yl`;2CYFByFIbDNVDNyV%VR=ٔVv:Q-Z>9XYX=ZFyZKOE^E^>`Q 5fp5bey?Q 9fp5bq))bBYhyj4@Q Ij@bҷDIb(:ib:bg#p5y=ҒBɮ=A9DNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd \@!ɢ%,5<)! %H>i!)-,<))i-si15;5Ӳ9 ?, ?AF:6@F10D@FA6=ٱFi( RAHRS rotation from veh to nav: [[-0.996115,-0.067773,-0.056230],[0.076002,-0.984153,-0.160208],[-0.044481,-0.163859,0.985480]]FH,Y 'ʬt?@.~Ŀ7ƦVĿ ?iF:6@IF+9`;FCYV ByZID|D~%=E EE(E"E9;*E:VEc44ZEa @a @a @a @iMb@Mb@Mb@ 9Cl?l¿Mb?Y;??y<A@ )AY\AbDVDy%9=ٔ:Q->9 ?Y ?=FyOOE'E>Q 5p5ZJy?Q 9p5')YB?Q E:y7@Q I@ݷDI>;i;E'p5yӒBɮ8A 8E5DNOT Ignoring new targets: 40.28 m.h1h1*h1"h1 h1g9f9f9f=BdAdAdAjdAZdE\@qɢuLy<)y }t=iy)}b.?,,?Aɰ4<616@6!'D@6G9=ٱ68G+ >AHRS rotation from veh to nav: [[-0.996043,-0.068065,-0.057148],[0.076551,-0.983721,-0.162584],[-0.045151,-0.166315,0.985038]]6H l@pB٘?zĿ`Iſ@o?i616@I6>R`;6CYFByF[IbDPVDPyZN %Z_=ٔZW:Q-^>9^"?Y^"?=^Fy^SOEb`źEb>dQ 5jp5f3y?Q 9jp5f'%)dYhyn7@Q In@fDIf;if7 ;fz*p5ypɮr#Ap DNOT Ignoring new targets: 40.28 m.h h *h "h hgfffddd!jd!Zd%\@IɢUZ<)Q U8=iQ)]z. A I I O >O?,$?A2,6@2C"D@2:=ٱ2Xf+ NAHRS rotation from veh to nav: [[-0.995999,-0.068275,-0.057653],[0.076845,-0.983687,-0.162649],[-0.045608,-0.166429,0.984998]]2H :`pz@#? ]zĿ YMſ?i2,6@I2n`;2CYRByVIIi-Mb@Mb@Mb@)))) )9-333333?ʡEMb?Y-9?y-y))-@ ))-A)Y-AbDEVDEyUk%]-=ٔ]'}:Q-]>9YYa=eFyeXOEe$Ee>iQ 5}p5m y?Q 9}p5m #)mBY}?,m>?AR6@R(D@RO)<=ٱR+ ZAHRS rotation from veh to nav: [[-0.995890,-0.069404,-0.058191],[0.078066,-0.983536,-0.162980],[-0.045922,-0.166853,0.984912]]RHT@yı>˭ )? yĿ @r[ſe?iR6@IRz8`;RCYbByb4IbD%VD%fy=Ĭ%=M=ٔE`N:Q-E>9E ?YE ?=EFyM\OEMUIEM>QQ 5]p5Ux?Q 9]p5UA!)UBYaye:@Q Ie@UDIU;iU;U2p5ymՒBɮm-AqDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd\@ɢ<) @ļi)hQ.<iiD$;;IIB9A=<B=Ŀ>B9B=LIB=BB= =B9B9B=%h;B=(EBCBCBB =B =C5Ա=9@9 @9@=/@AE EE)E"E=;*EV:VEFA4ZEBE?,#J[?A((YzByIbD%VD%y5%57=ٔ5Q-=>9="?Y="?==FyE`OEEEE>IQ 5Up5M5x?Q 9Up5MA)MBYQyYQ I]@MDIM :iM$:M6p5ym֒BɮmAm6EԹUDNOT Ignoring new targets: 40.28 m.hQhQ*ha"ha hagifqffdddjdZd U]@Qɢ];)Y ]8yiY)]E-?,Xu?A25@2lC@27==ٱ2\+ >AHRS rotation from veh to nav: [[-0.995684,-0.071656,-0.058976],[0.080419,-0.983355,-0.162928],[-0.046320,-0.166968,0.984874]]2H@` X`"2Y?wĿ: 6_ſ?i25@I2D`;2CYF^ByF IiUMb@Mb@Mb@QQQQ Q9U`"?333333Mb`?YU7?yUU;UbAU@ UA)UXAQYUAbDmVDm:y}%}A=ٔ}v:Q->9 ?Y ?=FydOE.E>Q 5p5x?Q 9p5)BY8?Q E:y]=@Q I@DI*:i:9p5yؒBɮGA5EB*** querying acoustic contact ***i iDNOT Ignoring new targets: 40.28 m.hh*h"h hgfff^BdddjdZd+]@!ɢ%*;)! -i))-F,<))i5Ni15;=;I9I9%2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.A@A @A@E/@A@M@M@M@MBſ>BBIBbBB =BBB#h;B)A ؟AI! I1 OM >Q  DAT read:  BDAT read: Tx time:05:32:45.2729  $Ping request sent. 9e"?Ye"?=mFymhOEmEm>qQ 5p5u x?Q 9p5uk)uBYyQ I@uDIu2;iu;u/=p5yɮADNOT Ignoring new targets: 40.28 m.hh*h"h hgff!f!d!d!d!jd)Zd-@E]@1颕Bɢf;4;) 6i)U*<顡i|iR;;II9@ @@@aA.AIIOj>=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251193ԑԹ ?,dw?A6N5@6C@6E==ٱ6ݘ+ FAHRS rotation from veh to nav: [[-0.995437,-0.074650,-0.059443],[0.083429,-0.983193,-0.162395],[-0.046321,-0.166613,0.984934]]6H@EEo`[? Pv@[Ŀ@\Sſ?i6N5@I64w_;6CYN!ByNIR=RR>i%Mb@Mb@Mb@!!!! !9%bX9?Zd;OMb?Y%E6?y%j<%9U ?YU ?=]Fy]lOE]!E]>aQ 5mp5ex?Q 9mp5eS)eBYm6?Q Eu:yu?@Q Iu@e!DIe ;ie\ ;e@p5y}ْBɮ}EAUDNOT Ignoring new targets: 40.28 m.hQhY*hY"hY hYgYfafafmBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503799ԡdddjdZd``]@MBɢM`.9)Q UiQ)U(E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755166 S?,D?AA A"AAB&ƿ>B$B&IB&BB& =B$B$B& h;B&(EY]By]IbDmVDmNy}%G=ٔQ->9"?Y"?=FyqOEE>Q 5p5x?Q 9p56)BYyQ I@+DI;i:HDp5yڒBɮWA4EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd x]@ɢ=) i)2&<i%xiM;ګ3;II9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007223E EE$E"E /;*EVE4ZEBEI ?,Z)?A65@6SC@6'<=ٱ62+ BAHRS rotation from veh to nav: [[-0.995209,-0.077594,-0.059490],[0.086320,-0.983029,-0.161873],[-0.045920,-0.166232,0.985017]]6H+ݳyu?`t`=Ŀׂ@Gſ B?i65@I6^;6CYJ$ByJIbDRVDRyZV`<%ZX=ٔ^ƊQ-^>9\Y`=bFybtOEb Eb>dQ 5jp5f9lx?Q 9jp5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259274f))fBYiym?@Q Im@f3DIf-?,?A28w5@2lC@2n9=ٱ2) :AHRS rotation from veh to nav: [[-0.995103,-0.079315,-0.058983],[0.087873,-0.983114,-0.160514],[-0.045255,-0.164911,0.985270]]2HM2~?uĿ+@ſ`T?i28w5@I2F^;2C@Y^(By^IiEMb@Mb@Mb@AAAA A9E(\?)\(Q?YEz4?yEGaEu9qYq=uFy}yOE}oE}>Q 5p5Sx?Q 9p5)BY5?Q E:y>@Q I@=DI:i<RKp5yAɮE;AADNOT Ignoring new targets: 40.28 m.hh*h"h hgf f)f-GBd1d1d1jd1Zd=n]@颅Bɢ:ԩ)  i)&#<顱i&siL;PIIp>i>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764587y@ @@0@BEǿ>BECBEIBE~BBE =BABABE$h;BE(E^A]qAIIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015136@,w?AJ]5@JySC@J 6=ٱJ`( VAHRS rotation from veh to nav: [[-0.994997,-0.081031,-0.058432],[0.089414,-0.983205,-0.159098],[-0.044559,-0.163527,0.985532]]JHuꭿ?`kv@Q]Ŀ`rЦ@pĿz?iJ]5@IJH^;HYZ"By^IEb EbEb&E`"Eb';*Ebr:VEb4ZE`BEb9Y = Fy }OE  E >Q 5p51@Q I%@FDIQ;i];Np5y-ݒBɮ-_A1UDNOT Ignoring new targets: 40.28 m.hYhY*hY"hY hYgYfafafadadidijdiZdm ]@额Bɢd\) wi)|!<顡i qi;EIIm9@i @q@u0@q@}fA@}eA iI%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2674659^A9I! II i O >- @,ȱ*?A28N5@2CC@24=ٱ2F' :AHRS rotation from veh to nav: [[-0.994934,-0.082091,-0.058038],[0.090368,-0.983223,-0.158450],[-0.044057,-0.162892,0.985660]]2H~$W"?vHĿ`Ŀ?i28N5@I2^^;0YBByFI9i}Mb@Mb@Mb@yyyy y9}rh|?QI +?Y};?y}u}9<}A}@ y)yyY}AbDVD:y%?=ٔ Q->9Y=FyOEJE>Q 5p5!x?Q 9p5T)Y@Q I@PDIET;i|S;{Rp5yޒBɮ zA 2EMDNOT Ignoring new targets: 40.28 m.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519223hh*h"h hgfff(BdddjdZd]@颕Bɢ 9) i)O<顙ibni5;BEIIE EEE"E+$;*E|:VEZEa@a@a@a@i9@ @@/0@ԑ^A "5A >A >- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771185 I I O >B9 A9 BE ȿ>BA BE IBE ~BBA BA BA BE Sh;BE (E@,\D?AY~3By~IbD VD NyUX=%UQ=ٔ]Q-]>9YYa=eFyeOEeEe>iQ 5up5m x?Q 9up5m)iYyyyQ I}@mYDImr;im ;mUp5yߒBɮ0A1EԙDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffdddjdZd]@Bɢf+:) i)<i]\li  kt; *?I I 99@ @@5@BDAT read: Rx Time:05:32:47.9122 TRx dataTimestamp_ set to:1761543169.252253checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024347E EEE"E*EVEZEBE2}! ?@,Qh^?A2?5@24C@2-=ٱ2$" :AHRS rotation from veh to nav: [[-0.994928,-0.083558,-0.056002],[0.091295,-0.983844,-0.154002],[-0.042229,-0.158334,0.986482]]2Hs d J!_?{Vÿ `FDĿ C?i2?5@I2^;2CYFEByFIbDNVDNyV==%VV=ٔV眻Q-Z>9XYX=ZFyZOE^E^>`Q 5fp5bw?Q 9fp5b)`Ydyj[>@Q Ij@bbDIbg:ib_:b9Yp5rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275300ytɮvAtDNOT Ignoring new targets: 40.28 m.hh*h"h hgff!f!d!d!d!jd)Zd-^@UBɢUPH;)Y ]нiY)]D =D E  E E )E "E =-;*E :VE FA4ZE a @a @a @a @y i@,Bx?AYrYByvIiMb@Mb@Mb@ 9 ףp= ?Zd;OQ?YQ8?yj<A+@ rA)XAYAbDVDy/=%8=ٔQ->9Y = Fy OEE>)Q 5=p5-w?Q 9=p5-)-BYE9?Q EE:yE;@Q IE@-mDI-jv;i-t;-']p5yUBQɮUA]0EDNOT Ignoring new targets: 40.28 m.hh*h"h hgfffBd!d!d!jd!Zd%`0^@UBɢU;)Y ]niY)] c@ T_)07@IT_?d,<:޿g)޿Ƨ' )W?I07@iT_?-9@) @)@)@)ԁBǿ>BBIB~BB =BBBzh;B(EBCBCBB =B =C5ԩ^A- vтA1 zA5 fAI I O- > Q$@,??A@EP ERER&EP"EP*ER:VER4ZEPBERo9IYI=MFyMOEIEM>QQ 5]p5U"w?Q 9ep5U)UBYayaQ Ie@UuDIUH;iU;Ur`p5ymBɮm!Au&Ei!i%t}?AJi%k/CRi%k/Cji%@b%< [3m؋?@]!y`R%?t2Y?ԟZi%07@bi%T_?j%agV#\@ʓ 32$U>`Z%AZ?MG2i%Q:i%B"i%vΜ?*i%Bi%i%vΜ?i%i!i%Bi%@] addTargetRange:: Added new target pos. range: 176.399994 m, deltaT: 120.784394 s, deltaX: 135.899994 m, approachRate: 1.125145 m/s, rangeRepo size: 4 m Added new target pos. range: 175.421661 m, bearing: 350.090404 deg, lat: 36.779334 deg, lon: -121.859654 deg, deltaT: 120.784394 s, deltaX: 135.144287 m, approachRate: 1.118889 m/s, posRepo size: 4 mFNOT Ignoring new targets: 175.42 m.Completed rollout at range: 176.40 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE:h?h@h*h"h hgfffdddjd f@Zd.?ԱBɢ`_;) i)K<!i%Rfi%B@)-C{9 |*@,?A6J5@6[@C@6Z$=ٱ6L1 JAHRS rotation from veh to nav: [[-0.995077,-0.083533,-0.053320],[0.090592,-0.984872,-0.147715],[-0.040174,-0.151818,0.987592]]6H@qbL1?@T¿`nÿY?i6J5@I6^;4YRpByVIiMb@Mb@Mb@ 9Zd;?7A`¿?Y>?yL=AA@ A)AYAbDVD0y=%?=ٔQ->9Y=FyOE :E > Q 5p5 w?Q 9p5 ? ) BYC?Q E:y7@Q I@ DI  ;i \ ; /dp5y-Bɮ-A)1ME EAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqMEUEntering Terminal tracking update period 2.000000 s sec at 176.399994 m (mode 1.000000 count ).qM]M]hihi*hi"hi hqgfffBdddjdZd~?MBɢ8˸;) ^i)`<顑i2%di*?@A_=IID?AzDAAE EEE"E0;*Ed:VEZEa@a@a@a@e9@a @a@e4@a^A=&t;AI9IIOU>i A A @AB B B IB BB B B B Yh;B (Ec1@,c?A 2cJ5@2?C@2"=ٱ2 >AHRS rotation from veh to nav: [[-0.995091,-0.083628,-0.052913],[0.090617,-0.984896,-0.147544],[-0.039774,-0.151615,0.987639]]2HhZ 2?C¿O]hÿ@?i2cJ5@I2];2CYFrByFIbDNVDNk1yV;%Vb=ٔZ5Q-Z>9XYX=ZFyZOE^WE^>`Q 5fp5bew?Q 9fp5bL )bBYhyhQ Ij@bDIb:ib_:bXgp5ylɮnApjjz@MzMz~B*** querying acoustic contact ***i| i|h h *h "h  h g f ffdddjdZd`?BɢV";) hNi)<ibi<@F=IIi9@ @@0@eT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.ԙE EEE"E&;*E:VEZEBEA>I I O > 7@,?A6 S5@6HC@6&=ٱ6H& BAHRS rotation from veh to nav: [[-0.995172,-0.083327,-0.051866],[0.090095,-0.985190,-0.145887],[-0.038941,-0.149855,0.987941]]6H@rT@" r?@i¿@r.ÿ 6?i6 S5@I6];6CYJ}ByJIPbDVVDVyZ=<%^J=b*DAT read: user:431> fBDAT read: Tx time:05:32:50.5729 f$Ping request sent.f9lYl=rFyrOEr:Er>tQ 5zp5v!ww?Q 9zp5v Q =ztI)vBY|y~7@Q I~@vDIv;ivh;vjp5yBɮ A %ErjM%1N%h1h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE@|u?颍Bɢl;) i)vz<顡i`iP7@*>IIi>9@ @@/@^Ac<IIOM>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250841 j>C= ~GM (hAa 9 (hAY /qAD D %=bEUɞ4jEUY"4rEU/E  E E (E "E %;*E E:VE c44ZE a @a @a @a @A =@,Œ?A2gX5@2MC@2?=ٱ2r :AHRS rotation from veh to nav: [[-0.995223,-0.083116,-0.051221],[0.089771,-0.985289,-0.145416],[-0.038381,-0.149320,0.988044]]2H @G9 5?}`¿ ÿ?i2gX5@I2<];2CYNoByRIiMb@Mb@Mb@ 9Mb? rȿ?Y@?yCA )AYAbDVDJy +% 7=ٔ  Q- >9Y=FyOEmA:E>!Q 5-p5%[w?Q 9-p5%1)%BY- G?Q E-:y-44@Q I5@%DI% ;i%\ ;%np5y=Bɮ=A=$EzjQ1NUUrCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1MU UAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalhahi*hi"hi higififqfuBdqdydyjdyZd}/?Bɢ ^q;)) -Oi))5,<11i5^i=51@9=y>I9I9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503609A9@ @@@Bɿ>BBIBCBBBBB+h;B(E^A=IIOqԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754781>D@,g?A2^5@2HTC@2=ٱ2I >AHRS rotation from veh to nav: [[-0.995287,-0.082870,-0.050361],[0.089391,-0.985354,-0.145215],[-0.037590,-0.149032,0.988118]]2H`d6 ȩ M?g¿@>~ÿਞ?i2^5@I2W];ED EFEF'ED"ED*EFa:VEF'4ZEDBEF*9hYh=jFyjOEn:En>pQ 5vp5r'Ew?Q 9vp5r)rBYtyv94@Q Iz@rDIr1:ir:rqp5y~Bɮ~A|h!h!*h!"h! h!g)f)f)f)d1d1d1jd9ZdM ر@yBɢ%j;)! %i!)%OI1IQ@ @@0@ԩ^AKk=AzAdAI)I9OM0>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006839 JJ@,F-?AV >5@V3C@Vw=ٱVL bAHRS rotation from veh to nav: [[-0.995148,-0.084935,-0.049669],[0.091378,-0.984985,-0.146474],[-0.036482,-0.150302,0.987967]]VH @J@6n`d?@ି¿`ҭ=ÿ`l?iV >5@IV];TYntBynI pptvAiMb@Mb@Mb@ 9)\(?Qο&1?YGA?yuP=A|@ A) AYAbDVDyӼ%<=ٔ'Q->9Y=FyOE8E>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258869Q 5up5K*w?Q 9up5k)BY}:K?Q E}:y}^0@Q I}@DIܵұQ@,G?A2d4@2B@2f =ٱ2?" >AHRS rotation from veh to nav: [[-0.994757,-0.089379,-0.049709],[0.096037,-0.983460,-0.153569],[-0.035161,-0.157538,0.986887]]2H ᶿns镸?x(ÿ3*Ŀ?i2d4@I2];2CYFyByFIbDnVDn3yv9xYx=~Fy~OEJE >)Q 55p5-w?Q 95p5-d)-BY1y=0@Q I=@-DI-" ;i-q ;-yp5yAɮEAAeB*** querying acoustic contact ***ia iahihq*hq"hq hqgqfqfyfydyddjdZd@8 @颱ɢL;) i)d<<项i-\Zi7!@IIqQ@Q @Q@U/0@Q^A-T=}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768443ԩAYE EE)E"E;*E*:VEFA4ZEBE:r W@,`?A2N4@2B@2/ =ٱ2/ :AHRS rotation from veh to nav: [[-0.994188,-0.095069,-0.050521],[0.102239,-0.980746,-0.166387],[-0.033730,-0.170585,0.984765]]2HcpVݩ`R,?`Eb`,LſE ſ2?i2N4@I2];0Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014701YVlByVIbD^VD^ym%mB=ٔu(_Q-u>9qYq=}Fy}OE}rE>Q 5p5v?Q 9p5)BYy/@Q I@ƸDIR:i;|p5yBɮA"Ehh*h"h hgfffdddjdZdR @ Bɢ 1;)  |Qi )D<iaXi @II!9@ @@~0@^AZ=>A>A>AI!I1O=r>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266785) E  E E *E "E (;*E :VE (N4ZE a @a @a @a @Y ^@,z?AZ}4@ZB@Z/=ٱZ? vAHRS rotation from veh to nav: [[-0.993458,-0.101796,-0.051749],[0.109573,-0.977371,-0.180943],[-0.032158,-0.185430,0.982131]]ZH@iR~ ?F@%)ǿ w)ǿm?iZ}4@IZ];ZCY~aBy~ II0>)=iMb@Mb@Mb@ 9K7A?T㥛 пS㥫?Y B?y/]=^Af@ A) AYAbDVDyѼ%B=ٔftQ->9Y=FyOEaE>Q 5 p5-v?Q 9 p5)BY L?Q E :y .@Q I @ѸDI ;i. ;kp5yBɮ=A!Eh9hA*hA"hA hAgAfIfIfM0BdIdQdQjdQZdU`1@颁ɢYП;) $|i)<顉iRWie@IIIeA)!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5195729@ @@1@!^A@>B)B)B)B)B)B)B)B-h;B-(EQAAIIIaOmy>y U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770703d@,X?AE2 E2E2)E0"E2C#;*E2:VE2FA4ZE0BE2{9Y=FyOEͼE>Q 5p5)v?Q 9p5-)BYy,.@Q I@۸DI;iT;؃p5yBɮAhh*h"h hgfffdddjdZd9@mBɢu;)q u0ƽiy)}3l@u>^AEAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023093AIIO> k@,ߊ?A:2@:S@@:IK<ٱ:Sh NAHRS rotation from veh to nav: [[-0.990814,-0.122942,-0.056323],[0.132404,-0.966657,-0.219187],[-0.027498,-0.224631,0.974056]]:H@ yo֬@?@P̿(̿ w+?i:2@I:];:C\Yb$ByfIiMb@Mb@Mb@ 9~jt?пJ +?YD?yH=V AX@ A) AY AbDVDyo%I=ٔһQ->9Y=FyOEVE>Q 5p5v?Q 9p5)"BY$O?Q E:y-@Q I@DIX;i ;gp5yBɮAEh h *h "h  h g fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274957f!f%TBd!d!d)jd)Zd-`")@Yɢ]L9)Y ]iY)eAIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526756A B% ȿ>B! B% IB% CBB! B! B% uDB% Dh;B% (EBBBB =B =CQ4r@,c?A@2"1@2|?@2J<ٱ21~ RAHRS rotation from veh to nav: [[-0.988534,-0.138540,-0.060054],[0.149004,-0.959415,-0.239418],[-0.024447,-0.245621,0.969058]]2H\`?>ο``pϿ ?i2"1@I2J];2CYZ~ByZIbDbVDbyj%jY=ٔnQ-n>9lYl=rFyrOEr6Er>tQ 5zp5vv?Q 9zp5v:)v3BY|y~,@Q I~@vDIv;$;iv%;vp5y ɮ [A -B*** querying acoustic contact ***i) i)hh*h"h hgfffdddjdZd@9ɢ=F)9 =*i9)Eβr1x@,S]?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031274Rs.@R<@R"<ٱRE ZAHRS rotation from veh to nav: [[-0.981792,-0.177301,-0.068187],[0.189307,-0.942954,-0.273862],[-0.015741,-0.281783,0.959349]]RHjʱƿt7;?@,ѿxҿ?iRs.@IR^;PYb~BybIbDnVDnyr[%vH=ٔvQ-v>9xYx=zFyzOE~̽E~>Q 5 p5m~v?Q 9 p5G)IBYy*@Q I@DI';i(;Ap5yBɮA%EhAhA*hA"hA hIgIfIfQfQdQdQdQjdYZd]J@i Bɢ ٦)  Fi )x5 <iQim@II!9@ @ @ /@@)@-gAԡ-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282714^A)E  E E #E "E [";*E :VE 3ZE a @a @a @a @Au .AIy I O > V~@,#?ARq-@Rg;@R\7<ٱR]2 ZAHRS rotation from veh to nav: [[-0.977251,-0.199177,-0.072869],[0.211794,-0.934586,-0.285818],[-0.011173,-0.294749,0.955509]]RHE~ɿ ?@! Jҿ@ ↿,ҿ`?iRq-@IR,^;RCYb~BybIiMMb@Mb@Mb@IIII I9MZd;?`"οv/?YM>?yMwMxi=M;%AMA@ M A)M AIYM AbDeVDeyuO,%uB=ٔ}1Q-}>9} ?Y ?=FyOEb_E>Q 5p5%fv?Q 9p55)cBYMI?Q E:y)@Q I@DI ;iq ;p5y Bɮ*AEhh*h"h hgfffnBdddjdZd`@颱ɢZ) 'Yi)4- <项iuPi+?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.5354099@ @@@Bɿ>BBIBBBBBBih;B(E)^AqAu>Au>A ؟AI I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786836Y =<@,^?A&4<ɰ$E6 E6E6(E4"E6;*E6':VE6c44ZE4BE6o:E6V@,@V9@V;ٱVI ^AHRS rotation from veh to nav: [[-0.972299,-0.220583,-0.077316],[0.233657,-0.926089,-0.296251],[-0.006254,-0.306110,0.951976]]VH <̿ʳw?ҿ`yLӿv?iV@,@IV,^;VCYf~ByfIIj<)jp;bDEVDE02yU %UM=ٔUBJQ-U>9}"?Y}"?=FyOEcE>Q 5p5'Ov?Q 9p5))|BYy0(@Q I@DIy;i);tp5y BɮAhh*h"h hgfffdddjdZd @@9uBɢv+) i)h<iPi9?II19@ @@@achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.038649ԑ^AA9 Ia I O > Jk@,*/?AB*@B$}8@Bʰ:ٱB. JAHRS rotation from veh to nav: [[-0.966657,-0.242606,-0.081952],[0.256070,-0.917491,-0.304366],[-0.001349,-0.315203,0.949023]]BH` Ͽ`sc?\zӿPV I,Կ@f^?iB*@IBC^;BCYRk~ByRvIi-Mb@Mb@Mb@~GhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.291375S9hAYA)))) )9-V-?|?5^ʿ&1?Y-|??y-R-P=-M,A-@ - A)-O A)Y- AbDMVDM1y]%]:=ٔe6Q-e>9aԉY=FyOE4WE>Q 5p5 6v?Q 9p5)BY G?Q E:yl)@Q I@DI;i;Lp5yɮAhh*h"h hg!f!fAfM}BdIdIdIjdIZdU.e@De@AzDe@AbEjE4rEO0Em EmEm$Ei"Ema;*Em:VEm4ZEia}@a}@a}@a}@额Bɢ9H) i)>E<iRSOig?IIy@y @y@y@Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542835^A B B B IB ~BB  =B B vDB h;B (EA I I  O >CQ@,RI?AB(@B26@B{FٱBǃ JAHRS rotation from veh to nav: [[-0.960201,-0.265416,-0.087000],[0.279294,-0.908997,-0.309385],[0.003033,-0.321370,0.946949]]BH п E`?@@ӿ h?RԿgM?iB(@IBT^;BCYR9~ByRXIbDZVDZyb %bi=ٔfLQ-f>9dYd=fFyfOEjEj?lQ 5rp5n"v?Q 9rp5ny)nBYtyv'@Q Iv@n!DIn:in:nRp5yz Bɮz|AzEB*** querying acoustic contact ***i ihh!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5 @aɢe9)a eia)m;iiimNiu.?II9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794707E} E}E}&Ey"E};*E}5:VE}4ZEyBE}])y@,c?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046890Bj'@B``5@B)ٱBV NAHRS rotation from veh to nav: [[-0.953043,-0.288438,-0.092265],[0.302750,-0.900259,-0.312853],[0.007177,-0.326095,0.945310]]BHS@uҿ`C`?Կ )e}?Կ@??iBj'@IBb@^;BCYV+~ByVOI XXbD^VD^:2yf %fJ=ٔj'Q-j>9hYh=nFynOEnxEn>pQ 5vp5r v?Q 9vp5rB)rBYxyzf&@Q Iz@r+DIr$:ir:rܟp5y~BɮAEh!h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd=Y@eBɢm˔)i m ii)m,;iqiuwNi}W?yyIyIIfA)=9@9 @9@E/0@AIy^A>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299853D <D <E  E E %E "E %;*E :VE 4ZE a @a @a @a @ԡ A I I O >z@,a}?A2%@2*3@2u74ٱ2˩ :AHRS rotation from veh to nav: [[-0.945510,-0.311081,-0.096121],[0.325407,-0.892880,-0.311249],[0.010999,-0.325568,0.945455]]2H@A@ӿa x?xӿІ?Կ`*A?i2%@I2^;0@Y^}Byb3Ii]Mb@Mb@Mb@YYYY Y9]Gz?OnÿˡE?Y]p=?y]]'=]/1A]@ ]|A)]|AYY]AbDuVDuy0ӽ%?=ٔQ->9Y=FyOEeE>Q 5p5qu?Q 9p53)BYA?Q E:y(@Q I@5DI":in:p5yɮw Ahh*h"h hgfffBdddjdZd@ @%Bɢ%)! %^Ӿi!)-;))i-zMi5?1II}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551478ԱI@I @I@M00@I@UgA@UfAB}ȿ>ByB}IB}~BB} =ByByB}h;B})E^A1 Ae .AIi Iy O > PExceeded connect timeout, disconnecting.% checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802793v@,u=?AE& E&E&&E$"E&;*E&:VE&4ZE$BE&I\9 ?Y ?=FyOEmE>Q 5p5-u?Q 9p5')BYyN'@Q I@?DIy~;it;(p5yBɮ+!A Eh9h9*h9"h9 h9g9fAfIfIdQdQdYjdYZd]N @颍Bɢ) ޾i);i)MiZ?II 9@ @@n0@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.0549081^Aq A ؟AI I O5 >@,)?AY}ByI1iMb@Mb@Mb@ 9/$?i|?5Mb?Y9"?Y"?=FyOEE>Q 5 p5Uu?Q 9 p5R)BY@??Q E:y)@Q I@IDI;i;ƪp5yBɮ!AEhAhA*hA"hA hAgIfIfQfUaBdQdQdQjdYZd]@!@颅BɢMμ) fi);顑iuLiҪ?IIDIzDM?AEU EUEU'EQ"EU;*EU :VEU'4ZEQae@ae@ae@ae@!@! @!@%5@!aԑ^Ae> checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562662AY AY Ba Ba Be YIBe ;~BBa Ba Be uDBe h;Be )EA I I Թ O >@,?A6/*!@6/@6^ٱ6B BAHRS rotation from veh to nav: [[-0.918777,-0.384611,-0.089014],[0.394183,-0.881404,-0.260282],[0.021650,-0.274229,0.961421]]6Hfvؿ`ɶK:?u4vп`g+?ѿ@?i6/*!@I6h^;6CYJ}ByJIbDRVDRfyZ%Za=ٔ^0Q-^>9\Y`=bFybOEbQ Eb>dQ 5jp5fu?Q 9jp5f)f BYlyn&@Q In@fQDIf;if ;fp5ypɮr!AtB*** querying acoustic contact ***i ihh*h"h hgfffdd!d!jd!Zd%@f"@UBɢU)Q ]iY)];YYi]U#Lief?aaIaIiԙ)@1 @1@5G4@1@=>@9MnManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.810873Ee EeEaEa"Ee ;*Ee:VEaZEaBEeR Ƹ@,?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0628566v@6 -@6Lȼٱ6O׆ BAHRS rotation from veh to nav: [[-0.908396,-0.408907,-0.087243],[0.417395,-0.874680,-0.246407],[0.024448,-0.260250,0.965232]]6H+ڿU@?`@CϿ ?п-?i6v@I6k^;6CYHyHbD~VD~:y w% E=ٔ 2ݻQ- >9Y=FyOEk{E>!Q 5-p5%u?Q 9-p5%<)%BY)y-]$@Q I-@%[DI%:i%:%p5y=Bɮ=!A9haha*ha"ha hagafififididqdqjdqZdu`:#@颥Bɢaۼ) i)伷;顩iLiv?II1@1 @1@5/@1)^AU>AYzA]hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.314852QEu  Eu Eu *Eq "Eu ;*Eu y:VEu (N4ZEq a} @a} @a} @a} @A I I O >ԁ @,?A2@2"+@2< ݼٱ2y€ :AHRS rotation from veh to nav: [[-0.897182,-0.433153,-0.086277],[0.440836,-0.866315,-0.234865],[0.026990,-0.248751,0.968191]]2H@Ƹۿ;6?`ڸο+?`Ͽl?i2@I2q^;2CY^}BybI ``iMb@Mb@Mb@ 97A`?MbXV-?Y6?yʽ<7+A O A) AY AbDVDk2y9z%A=ٔUĻQ->9Y=FyOEzE>Q 5p5u?Q 9p5ٻ),BYm8?Q E:y#@Q I@eDI:i:Gp5yBɮ?"AEhh*h"h hgf f f Bd ddjdZd'$@EBɢED)A EqiI)Mܩ;IIiMaKQi]?YYIYIai]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567640@ @@0@Bɿ>BB@IB~BBBBBi;B")EBBBB =B =C\X5ԁ^AԱA% .AI) I9 OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818771 D@,˃?AE EE%E"E;*E:VE 4ZEBEI\9 ?Y ?=FyOEÃE>Q 5p5tu?Q 9p5~);BYy5"@Q I@nDI.;i;Ѹp5yɮ!AhAhI*hI"hI hIgIfIfQfqdqdqdyjdyZd}@$@ԱBɢ) ti)s;iKio~?IIm9@i @i@m/@i@ufA@ugAechecking for new query: numPingsReceived=0, elapsed TxPingTime=9.070766^A> A ؟AI I1 Oe >9 {@,p2?AYU}ByQchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.322906iMb@Mb@Mb@ 9bX9?Q뱿S㥛?YE6?y\/<$A@  A)AY AbD- VD-2y=;%===ٔ=Q-=>9E"?YE"?=EFyEOEMEM>QQ 5]p5U,_u?Q 9]p5U9)UIBY]G7?Q E]:y]$@Q Ie@UxDIU:iU:Up5ym!Bɮm"AmEhh*h"h hgfffyBdddjdZd%@Bɢ) i);iKih?IID)zD-@AE5 E1E5(E1"E5;*E1VE5c44ZE1a=@a=@a=@a=@9@ @@0@1^Am checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574725q B <A <B B B -IB }BB B B vDB i;B )EA I I OE >@,8L?Aɰ 6@6T&@6ٱ6 >AHRS rotation from veh to nav: [[-0.859246,-0.501259,-0.102155],[0.510517,-0.827462,-0.233835],[0.032683,-0.253074,0.966895]]6H~P &(V? z`PͿֻ?\2п@?i6@I6C^;6CYJ}ByJ IbDrVDr:y=.?%E\=ٔM;Q-]>9YYY=]FyePEe)Ee>iQ 5up5mLu?Q 9up5m%)mVBYqy}G!@Q I}@mDIm3;im;mſp5y-Bɮ{"AEB*** querying acoustic contact ***i ihh*h"h hgfffdddjdZd`:{&@Bɢ) 5i)q;i=LiT?II q}9@y @y@y@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=9.826797EE EEEAEA"EE ;*EE:VEAZEABEEsTA I I O >@,f?A9hYh=jFyjPEnEn>pQ 5vp5ri:u?Q 9vp5rŪ)rdBYxyz@Q Iz@rDIrg:ir:r'p5yYɮ] "AYhh*h"h hgfffdddjdZdJ'@=Bɢ=)A E/iA)E)m;AAiELLiMr>?IIIQIq @  @ @0@@@> wj>C9YzA2Acoustic response timeout^A>DU =DU R=bE!4jEY"4rE/Ee  Ee Ee $Ea "Ee f;*Ee :VEe 4ZEa a @a @a @a @) AA IY Ii Ou >>@,?A2X_@2T#@2ٱ2 :AHRS rotation from veh to nav: [[-0.830667,-0.543568,-0.120523],[0.555618,-0.795386,-0.242177],[0.035777,-0.268134,0.962717]]2HӔ dھ ?s`ο`Q?)ѿ ?i2X_@I2gm^;2CY^}Byb"I|aM@aM iEMb@Mb@Mb@AAAA A9E1Zd?v/Mb?YE";?yExiE=AE@ EO A)E+AAIEbDVD1y<%;=ٔzQ->9Y=Fy PEE{E>Q 5p5%u?Q 9p5)tBY;?Q E:yE@Q I@DI ;i` ;p5y/Bɮ!A Eh)h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdE^!(@uBɢu)q uiy)}T;yyi}LiǗ(?II52Acoustic response timeoutBBB3IB}BBBBBi;B)E)I@I @I@M0@IQ^Aqԁ A I I O > 2Acoustic response timeoutEm  Em Em 'Ei "Em ;*Em :VEm '4ZEi BEm ]u99Y9==Fy= PEEfEE>IQ 5Up5MDu?Q 9Up5M)MBYQy]@Q I]@MDIM;iM;Mfp5yaɮe!Aahh*h"h hgfffdddjdZd(@Bɢ*_) i)Uc=;QQiUm!Mi]@?YYIYIaml>ii 9@  @ @ i0@ A2Acoustic response timeouty^A1A .AI I Ա O >a@,?Aj@j^@jٱjx] rAHRS rotation from veh to nav: [[-0.800068,-0.584467,-0.135235],[0.598707,-0.763651,-0.241634],[0.037955,-0.274290,0.960898]]jH )@bO@(?oο`n? ѿ?ij@IjY^;hYz~Byz?I}2Acoustic response timeoutaa iMb@Mb@Mb@ 9Zd;?L7A`?Y>?yL+=%Aԑ@  A)AY AbDVDN2yP=%D=ٔQ->9 ?Y ?=FyPEၽE>Q 5p5,t?Q 9p5)BY??Q E:y@Q I@DI;i; p5y1Bɮ@!Ah h*h"h hgfffBdd!d!jd!Zd%K)@Bɢ6Լ) Ծi)@';DzD?A iIMi >I!IIE EE(E"E%;*E :VEc44ZEa@a@a@a@%9@! @!@%0@!5 2Acoustic response timeout^AA A AAA B ǿ>B B LIB '~BB B B uDB h;B )E A ؟AI I O >*H@,?A2E@2;@2Rٱ2 >AHRS rotation from veh to nav: [[-0.783710,-0.605270,-0.139452],[0.619923,-0.748255,-0.236239],[0.038643,-0.271593,0.961636]]2H'`^^`i?@=οȣ?aѿ`?i2E@I2!^;2CYF(~ByFMIbDNVDNyVht=%V]=ٔVbQ-Z>9Z"?YZ"?=ZFyZPE^E^>`Q 5fp5bt?Q 9fp5b)bBYhyj@Q Ij@bDIb@:ib:bEp5yn2Bɮn ArE~B*** querying acoustic contact ***i| i|h h *h "h  h g f ffdddjdZd Ԅ*@BɢҼ) 0ʾi)*;irNi>II@ @@4@2Acoustic response timeout!E EEE"E ;*E*:VEZEBEvA>QA I I O >y i9 I9 = 2Acoustic response timeoutr@,?A6o@6@6p!ٱ6 >AHRS rotation from veh to nav: [[-0.767144,-0.625450,-0.142487],[0.640260,-0.732896,-0.230069],[0.039468,-0.267725,0.962687]]6Hq@=¿}?`srͿ55?g"ѿ@T?i6o@I69^;4YFF~ByF`IIJ<)J;bDRVDR1yVƔ=%VJ=ٔZQ-Z>9XY\=^Fy^PE^ڄEb>`Q 5fp5b)t?Q 9jp5b)bBYhyj+@Q Ij@bDIb :ib:bp5ypɮr| Aphh *h "h  h g f ffdddjdZdjK+@MBɢMƼ)I MiI)UƘ;QQiU6Oi] >YYIYIaiY9@ @@/@ԉ^ABDAT read: Response Not Received *response not received*DAT read: user:432> BDAT read: Tx time:05:33:03.0228 $Ping request sent.E  E E E "E &;*E n:VE ZE a @a @a @a @ ZA,{?A2< @2@2#ٱ2[3 :AHRS rotation from veh to nav: [[-0.750013,-0.645112,-0.145983],[0.660211,-0.716825,-0.224240],[0.040016,-0.264562,0.963538]]2H `¿r ?:̿@|?пM?i2< @I2Y^;2CYfM~ByfdIiUMb@Mb@Mb@QQQQ Q9UNbX9?Zd;l?YUE?yUyU=Uh'AU@ UfA)U+AQYU AbDmVDm1y}a<%>=ٔQ->9Y=FyPEKzE>Q 5p5_t?Q 9p5\)BYyF?Q E:y@Q I@ĹDI:i:p5y?Bɮ AEhh*h"h hgfff BdddjdZd@',@颕Bɢ ߺ) i)X<:顡in/PiIԱIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251259B=ȿ>B9B=rIB=d~BB= =B9B9B=i;B=#)Ei@i @i@m0@i@u>@q^AI A .AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501817I O >9 A,`?AE EE E "E);*E8:VE ZE BEM9f ?Yf ?=fFyj!PEj҈Ej>9Q 5Ep5=ʹt?Q 9Ep5=)=BYAyM'@Q IM@=͹DI=:i=:=p5yqɮu Aqhh*h"h hgfffdddjdZd`(,@=Bɢ=)9 =oiA)Ew:AAiEv$QiM>IiIiIq  9@  @ @ @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753704Ա^A>a A I) I9 OM >ϱ A,>5?AV @@*ٱ AHRS rotation from veh to nav: [[-0.715112,-0.682246,-0.152167],[0.697776,-0.683803,-0.213359],[0.041511,-0.258754,0.965051]]H2`6zÿ/T?`YO˿@?nп@?iV @Ij^;CY%~~By%I ))]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.00583015AiEMb@Mb@Mb@AAAA A9E(\?MbQ?YEG?yE@E\=E;%AE@ EO A)EAAYE3 AbDuVDuy%=%1=ٔQ->9Y=Fy%PEdE>Q 5p5E EE)E"E9;*E:VEFA4ZEa@a@a@a@it?Q 9mp5~)BYm>H?Q Em:yu@Q Iu@ٹDIBI BM IBM ~BBI BI BM vDBM vi;BM S)EBBBBB =Cȋ<5 ^A= >Am ؟AIy I O >iA,O?A(Yz~ByzIbD VD 02y=Q=%=]=ٔEQ-E>9E"?YE"?=MFyM)PEMEM>Q 5p5t?Q 9p53y)BYyQ I@DI[:iR:;p5yBBɮAEB*** querying acoustic contact ***i ihh*h"h hgfffdddjdZd .@Bɢ) ci)a:!!i%wfSi%`L))I)I1ԁ@ @@0@@@fA-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509818E EE$E"E /;*E|:VE4ZEBE A I! I1 OE > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761677A,ji?AFhu@Fj@F-ٱF ǃ RAHRS rotation from veh to nav: [[-0.679731,-0.716104,-0.158620],[0.732231,-0.650014,-0.203272],[0.042458,-0.254317,0.966188]]FH[RMĿ@pn?ʿ ?Fп ?iFhu@IF;^;FCYZ~ByZI`bDfVDfynA=%nR=ٔnCQ-r>9pYp=rFyr-PEvEv>xQ 5~p5zt?Q 9~p5z:s)zBY|y~i@Q I@zDIz7;ize;zp5y ɮ ,A h1h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdE\/@uBɢud/)q }iy)}}?,:yyi} TiB?III@I @Q@U0@QEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014124^AqE EE)E"EU,;*E:VEFA4ZEa @a @a @a @A I I O >A A,D?A2@2K@2k/ٱ2r >AHRS rotation from veh to nav: [[-0.661429,-0.732377,-0.161666],[0.748783,-0.632515,-0.198110],[0.042835,-0.252088,0.966756]]2H@m*@owĿ?=[ɿu?6"п?i2@I2^;2CYB~ByFIIJ8>)J>iMMb@Mb@Mb@IIII I9MS㥛?v/L7A`?YMD?yMxiM+=MQ&AM@ M A)MAIYM AbDmVDmyu<%}A=ٔ}hQ-}>9Y=Fy2PEnnE>Q 5p5nt?Q 9p5xl)BYE?Q E:y@Q I@DI ;i7 ;Fp5yNBɮ\AEhh*h"h hgfff%BdddjdZd0@Bɢۋ) 탾i)9i Vi%hޒ!!I)I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265810B̿>BBIB~BB =BBBi;B)Ex>i>I@ @@@q^AiM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518068A Ա I I O >E  E E (E "E 2;*E ;:VE c44ZE BE #AHRS rotation from veh to nav: [[-0.643035,-0.747487,-0.166642],[0.764619,-0.614365,-0.194715],[0.043168,-0.252626,0.966601]]2HiTſ@w?ߨ@mȿ(?`+п@d?i2R@I2K^;2CYF~ByFIbDNVDNNyV%VX=ٔZgQ-Z>9XYX=ZFy^5PE^E^>`Q 5fp5b#`t?Q 9fp5bVf)b$BYhyj` @Q Ij@bDIb:ib:bp5ylɮnzApyhh*h"h hgfffdddjdZd@0@Bɢ h)  @i ) N[i9 iVWi=y99I9I9@ @@0@@@>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769709^A>AE .AII IY O > G   U eÿ9Y Y] A"-A,9 ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022362=@=K@=l1ٱ= AHRS rotation from veh to nav: [[-0.624271,-0.761922,-0.172512],[0.780006,-0.595683,-0.191706],[0.043303,-0.254237,0.966172]]=H aƿ ?Չȿ +?kEп?i=@I=.^;9Y~ByIi}Mb@Mb@Mb@yyyy y9}(\?Qy&1?Y}G?y}u}`<}$Ay }9 A)}AyY} AbDVD2yy=%.=ٔQ->bE5c44jE5Q 5p5_Nt?Q 9p5e^)6BYeH?Q E:y @Q I@ DI:iY<p5ymPBɮuAqhh*h"h hgfffBdddjdZd@0@5Bɢ=)=P` ==yi9)=aaieYim iiIiIi@ @@%?0@!)BͿ>BBIBBBBBBj;B)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273797^A >Y AI IY Ii O >"4A,Y?A2.@2#@20ٱ2a :AHRS rotation from veh to nav: [[-0.604725,-0.776322,-0.177852],[0.795263,-0.576478,-0.187697],[0.043186,-0.254945,0.965991]]2HYƿr?r@wȿn?@Qпe?i2.@I2]^;0YB~ByBIbDJVDJyR֖=%Vl=ٔV9Q-V?9TYX=ZFyZ>PEZ|EZ?\Q 5bp5^At?Q 9fp5^X)^DBYdyf @Q If@^DI^:i^9:^p5yhɮjAlh)hI*hI"hI hQgQfQfQfYdYdYdajdaZdeN1@Bɢ~w)9 =bi9)EN'AAiEI>ZiM IIIIIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528953-9@1 @1@54@1!E  EE%E"EE;*E:VE 4ZEBEYII IY Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777681ԉ <:A,?AJ6;?J- @J 1ٱJte VAHRS rotation from veh to nav: [[-0.585106,-0.790086,-0.182796],[0.809803,-0.557222,-0.183636],[0.043230,-0.255475,0.965849]]JH 1bH@eǿ? _ǿ?"?Yп`;?iJ6;?IJM^;HY^~By^IbDfVDf2yrLP%vH=ٔv Q-v>9xYx=~Fy~BPEFtE>Q 5p53t?Q 9%p5lQ)TBY!y%e@Q I-@DIM;iX;Ip5y1ɮ=A9mB*** querying acoustic contact ***ii iihh*h"h hgfffdddjdZdf1@BɢX) jiq)yyi}[i II9@ @@4@@@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030488E EE(E"E:;*Ed:VEc44ZEa@a@a@a@^AQ I I O% > %AA,?A2&?2 @22ٱ2n >AHRS rotation from veh to nav: [[-0.565442,-0.803306,-0.187017],[0.823635,-0.537959,-0.179514],[0.043597,-0.255539,0.965815]]2H.ǿ7[?6Oƿ@PR?Zп?i2&?I2E^;2CYBByFIiEMb@Mb@Mb@AAAA A9E r?&1I +?YEC?yEPE99qYq=uFy}FPE}jE}>Q 5p5%t?Q 9p5:J)bBYD?Q E:y^@Q I@(DI:i:p5y]BɮA٤Ehh*h"h hgfffBdddjdZd 2@Bɢ kl)  Ni ) r i/]Bʿ>BBIB9BB =BBBj;B*Ei5 99I9I9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.283446AIIeA)fA9@ @@5@)  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534987E  E E #E "E B;*E r:VE 3ZE BE u*GA,@?A2?2y @282ٱ2ǿ :AHRS rotation from veh to nav: [[-0.545177,-0.815686,-0.193494],[0.837192,-0.517765,-0.176149],[0.043498,-0.258023,0.965159]]2Hreȿ G?@ ƿ@SE?tп ?i2?I2M^;0YBByBIIFR=)F=DF=bDNVDNNyV<%VN=ٔVG9Q-V>9XYX=FyJPEtE>!Q 5-p5%t?Q 9-p5%C)%pBY)y-@Q I-@%2DI%:i% ;%p5y9ɮ=A9haha*ha"ha hagafififidqdqdqjdqZd}<2@颥Bɢo) Ni)/顩i^i IIԩuE9@A @A@E/@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.786459^A)IIO> 9 [MA,ܠ9?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040436r?r@r;1ٱr[ ~AHRS rotation from veh to nav: [[-0.524313,-0.828601,-0.196254],[0.850426,-0.497832,-0.170115],[0.043256,-0.256093,0.965684]]rH,@ɿ6?y߿ Wſ`%?cп?ir?Ir.^;rCY .By IDzD@AE EE7E"E9;*E:VEԺ4ZEa@a@a@a@iMb@Mb@Mb@ 9jt?Mby&1?Y@?y@`e<?A`@  A)AYAbDVD2y-\^=%-4=ٔ- :Q-5>91Y1=5Fy5NPE=eE=>AQ 5Mq5EO t?Q 9Mq5Eq;)E}BYU-A?Q EU:yUT@Q IU@E=DIEs;iE;E^q5y]^Bɮ]<AYhh*h"h hgfffBdddjdZd`G2@颅BɢIO) 9i)Y[顉iV`i II1VwBABǿ>BCBIBWBB =BBuDBj;Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.293514E 9@A  @A @E 4@A q ԉ ^Aa Ai zAm gAI I O >zUA,V?A2?2oM@2|/ٱ2Q :AHRS rotation from veh to nav: [[-0.503068,-0.840797,-0.199956],[0.863185,-0.477351,-0.164463],[0.042831,-0.255335,0.965903]]2H@"@,ɿ5?޿ ſ`?jWп ?i2?I2OP^;2CYB ByBIbDJVDJyR>%RH=ٔV:Q-V>9TYT=VFyVRPEZxEZ>\Q 5bq5^s?Q 9bq5^>4)^BYdyf@Q If@^FDI^;i^;^q5yhɮjrAhh1h1*h1"h1 h1g9f9fAfIdIdIdIjdQZdUd3@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541932Թ%Bɢ%)o)! %!Ki!)-Kt))i- bi5 QQIQIYaaaaEU EUEU'EQ"EU:;*EU;:VEU'4ZEQBEU0A I I O >t\A,>t?A8Y<ByI bD=VD=ymcc=%u)=ٔ}Q->9Y=FyWPEE>Q 5q5-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048389]s?Q 9]q5+)BYayaԡQ I@RDIm{=i<; q5yiBɮYAϤE=B*** querying acoustic contact ***i9 i9hIhI*hI"hI hIgQfQfQfQdYdYdyjdZd 3@E  EE$E"ED;*E#:VE4ZEa@a@a@a@颥Bɢ<) ~4i)蝺顩izdi II9@ @@`4@ BE ƿ>BA BE IBE vBBE  =BA BA BE j;BE *EBBBB =B =C5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297718^A ) AI IO->GdA, ?AjY?jx"@j)ٱjS rAHRS rotation from veh to nav: [[-0.459770,-0.864263,-0.204111],[0.887069,-0.436238,-0.151016],[0.041476,-0.250493,0.967229]]jH`lݿ R ʿb?Pۿ`~Tÿh9Y=Fy\PEٽE>Q 5q5s?Q 9q5&#)BYB?Q E:y?Q I@]DI` ;i ;Fq5ykBɮIAhh*h"h hgfff B)dddjdZd7\4@Bɢ`) /i)% ⮺!!i%ei- )1I1I1qMchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.550668@ @@/@YE EE%E"EB;*E:VE 4ZEBEuAe >Ae >A ؟AI I Ա O > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801761VljA,з?A=2?=@=Jg&ٱ=> ]AHRS rotation from veh to nav: [[-0.437797,-0.875321,-0.205297],[0.898156,-0.415481,-0.143846],[0.040615,-0.247364,0.968071]]=Hܿ+Gʿ`?@=ڿi¿@rˤ?Ͽp?i=2?I=7^;=CYmUByuIbDVDyS+=%K=ٔ[ ;Q->9"?Y"?=Fy`PEzE>Q 5q5s?Q 9q5)BYy?Q I@gDI:i:q5yɮAhh*h"h hgfffd d d jd Zd`4@=Bɢ=nQ)A E!iA)EAAiM}:giM IQIQIQԑm9@i @i@i@iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.055748^AiE  E E $E "E E;*E #:VE 4ZE a @a @a @a @A I I O > TqA,?AYEXByEIIM<)M9Y=FydPE E >BBB'IBBBBBBj;BQ 55q5s?Q 9=q5[)BY=E  E E %E "E <;*E u:VE 4ZE BE 9|Y=FyhPE E> Q 5q5 s?Q 9q5  ) BYy?Q I@ zDI ;i /; q5y%wBɮ%-A-ĤEhIhI*hI"hQ hQgQfQfYfYdYdYdYjdaZdeq5@=Bɢ=P)9 =iA)E|0ߺAAiEjiM IiIiIq)9@ @@ 0@ @>@{>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809790Y^A)A1zA5fA i q ԉ 6G I) I9 OM >I } .9y Y} A}A,b?AH checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063857:?]y?.xٱ AHRS rotation from veh to nav: [[-0.369021,-0.903393,-0.218413],[0.928705,-0.349186,-0.124807],[0.036483,-0.248898,0.967842]]H ׿˿?Yֿa?`Ͽ?i:?I()^;YBy%IbE5» 4jE5$4rE5M1E EE$E"EL;*EL:VE4ZEa@a@a@a@iMb@Mb@Mb@ 9-?:v~jth?Y5>?yTD;A3@ nA)YGAbDVDy o=% -=ٔ6;Q->9Y=FymPEWE>!Q 5-q5%bs?Q 9-q5%)%BY5=>?Q E5:y5n?Q I5@%DI% ;i%:%q5y9ɮ=A9]B*** querying acoustic contact ***iY iYhihi*hi"hi higififqfuBdqdydyjdyZd} 6@ԡeBɢms)i m~ii)miqiukiu yyIyI59@1 @1@50@9Bǿ>BB:IBBBBBBj;B)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.313773 ^A= >I I O >A,f?A>h?>4S?>ٱ>1~ JAHRS rotation from veh to nav: [[-0.346077,-0.912231,-0.219238],[0.937537,-0.327433,-0.117522],[0.035422,-0.246215,0.968568]]>H&ֿ0̿@N?Կ"?@Ͽ?i>h?I>Q"^;>CYLyP PRATTXZ@AbDZlVDZkٔ N;Q-?9Y=FypPE%E%?)Q 55q5-_s?Q 95q5-)-BY1y5G?Q I5@-DI--:i-P#;- q5yAɮAIhihi*hi"hq hqgqfqfyfydydydyjdZd@,X6@颭Bɢ+f8) Ji)项ili II9@ @@]2@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566307!E E"E&E"EUS;*E;VE4ZEBEXIQIiOu>a  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817859lˊA,F-?AZ1?Z?ZE ٱZv} jAHRS rotation from veh to nav: [[-0.322461,-0.920300,-0.221511],[0.945975,-0.304924,-0.110235],[0.033905,-0.245091,0.968907]]ZH@4Կ`s`zZ̿nE?ӿc8\? "_ϿI?iZ1?IZN?^;XYrByr,IbD~VD~0y <% <ٔ v;Q- >9Y=FytPE9u Eu>yQ 5q5}ds?Q 9q5})}BYy?Q I@}DI}N:i}:}h$q5yɮlAhh*h"h hgfffdddjdZd@6@%Bɢ%)) - i))-|))i-!ni5 99I9I9@ @@5@iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.074707ԡ^A>AA>IYIiOyE  EE)E"EC;*EL:VEFA4ZEa@a@a@a@Թ A,G?A:?:?:ٱ:Z{ FAHRS rotation from veh to nav: [[-0.298553,-0.928150,-0.222270],[0.953848,-0.282309,-0.102347],[0.032244,-0.242567,0.969599]]:H@}ӿgTs̿?[ҿe3T? r Ͽ?i:?I:^;:CY^By^>IiEMb@Mb@Mb@AAAA A9EGz?Mbp~jt?YEp=?yEED9qYq=uFBƿ>BBLIBBBBBBEj;B)EyuyPEUhE]>YQ 5eq5]_s?Q 9mq5])]BYmw=?Q Em:ym?Q Im@]DI]L:i]v:}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321957]0(q5yBɮ]AEhh*h"h hgfffBdd djdZd 547@eBɢeH)a e ia)mliiiPoi II e9@a @a@e4@a1^A >- checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573784Y A .AI I O >E  E E &E "E 1A;*E :VE 4ZE BE 9 ?Y ?= Fy }PE E >Q 5q54s?Q 9q5+)BY!y%?Q I%@DI;i+;Y+q5y)ɮ-tA)hQhQ*hQ"hQ hQgYfYfYfadadadajdiZdm@7@颽Bɢ) غi)y ipi II99@ @@/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.825802^A>ԑAe ؟AIi Iy O > E A,Dz?Av9"?Y"?=FyPEE>Q 5q5s?Q 9q5)BY@?Q E:yD?Q I@DI;i ;/q5yɮAB*** querying acoustic contact ***i ihh*h "h  h g f ff[BdddjdZd 8@Bɢmػ) 4i)0~i|'ri IIu9@q @q@}4@yBBB_IBBBBBBi;Bs)E2Acoustic response timeout^A= >AA zAA  A I I O >!A,'?AY~By~[IbD=VD=1yE=%Mr=ٔIQ-M?9QYQ=UFyUPEYE]?aQ 5mq5es?Q 9uq5e)eBYyyyQ I}@eDIem;ie&;e2q5yɮAhh*h"h hgfffdddjdZd@e8@mBɢmn)q u0iq)uhqqi}Ysi} yIIԉ2Acoustic response timeoutY@Y @Y@e/@aEE EEEE)EA"EE9;*EE:VEEFA4ZEABEEg= 2Acoustic response timeout NGA,ȿE\R?J>Ͽ?i2`2?I2I^;2CYBByBeI DFAHHbDLVDLyV+=%VV=ٔVj9XYX=ZFyZPE^=IE^>`Q 5rq5b's?Q 9zq5b#)bBYxyz?Q I~@bǺDIb;ib;b5q5yBɮnAh)h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE8@mBɢm")q uiq)u qqi|ti II9@ @@0@2Acoustic response timeout^ADQzDU?AE] E]E]&EY"E]a?;*E]#:VE]4ZEYae@ae@ae@ae@I I I O > /A,(?A:?:?:hټٱ:1| FAHRS rotation from veh to nav: [[-0.177554,-0.955557,-0.235339],[0.983751,-0.165874,-0.068696],[0.026606,-0.243713,0.969482]]:Hƿοz?^;ſ @>?1Ͽ ?i:?I::^;:CYJByJaIAr@AApBvǿ>BtBvrIBvBBv =BtBtBvRi;Bv<)EBCBCBB =B =C4imMb@Mb@Mb@iiii i9m%C?Q?Mb`?YmZD?ym\=m;mGAm@ mA)mG@iYibDVDk1yrT%==ٔK;Q->9Y=FyPEkE>Q 5q5s?Q 9q5)BYD?Q E:y?Q I@ҺDIX;i ;9q5yBɮAE2Acoustic response timeouthh*h"h hgfffBdddjdZd99@ ɢ )  -i1)511i5#ui= 99I9IAQ@ @@/@y^A>A>A>I I! O5 > 2Acoustic response timeoutԱ Ee  Ee Ea Ea "Ee D;*Ee 1:VEa ZEa BEe Ϛ9qYq=uFyuPE}K~E}>Q 5q5؀s?Q 9q5)BYy}?Q I@ۺDI :i::=q5yɮAhh*h"h hgfffdddjdZdx9@BɢW)  ci )   i _vi II9@ @@0@Ա 2Acoustic response timeout^A>I9IIOU> A,?A:2Acoustic response timeoutlغ??Zɼٱj~ AHRS rotation from veh to nav: [[-0.106822,-0.964361,-0.242067],[0.993973,-0.097546,-0.050023],[0.024627,-0.245952,0.968969]]HX @ο? 7?Z{Ͽ?iغ?I^;CYBytII=)%===E EEE"E[I;*E:VEZEa@a%@a%@a%@iMb@Mb@Mb@ 9L7A`?/$?MbpY+G?y,=A@ A)1@YbD VD :yG<%1=ٔ;Q-%>9!Y!=-Fy-PE-ϽE->1Q 5=q55|s?Q 9=q55c)5BYEuG?Q EE:yEK?Q IE@5DI5 ;i5 ;5@Aq5yIɮU_AQmB*** querying acoustic contact ***ii iihyhy*hy"hy hygyfyffBdddjdZd|:@颹ɢbd4) @i)3i7xi II]9@Y @Y@Y@YBȿ>BBIBBBBBBTi;B=)E1BDAT read: Response Not Received *response not received*DAT read: user:433> Y 0kA,I?ABXη?Bz?B?ļٱB ~ NAHRS rotation from veh to nav: [[-0.083181,-0.966519,-0.242739],[0.996246,-0.074787,-0.043609],[0.023996,-0.245455,0.969111]]BH]KϿ@>??%S@M?`kϿ?iBXη?IB^;BCYRByVuIbD^VD^\yv;%vw=ٔz:Q-z?9Y=Fy PE 䑽E ?Q 5-q5&ys?Q 9-q5)BY1y5A?Q I5@ADI;iՐ;+Dq5yQɮUVAhh*h"h hg!f!f!f!d)d)d)jd)Zd-%k:@额Bɢ'1) i)^顡i:yi II}BDAT read: Tx time:05:33:15.4728 }$Ping request sent.}E5 E5E5(E1"E5B;*E5>:VE5c44ZE1BE5u@A,)0?A^$ȴ?^F?^Yٱ^L} jAHRS rotation from veh to nav: [[-0.059623,-0.968026,-0.243662],[0.997945,-0.052062,-0.037358],[0.023478,-0.245389,0.969140]]^Hᆮ`T0Ͽ)?㧪` ?hϿ2?i^$ȴ?I^K^;^CYn Byn}IbDzVDzky-<%I=ٔ:Q->9 Y = Fy PE voE>Q 5%q59vs?Q 9%q5b)Y!y%;?Q I%@DIz;i;Gq5y-Bɮ5zA5EhYhY*hY"hi higyfԡffde(hAydydjd9(hAY\AZd :@ɢ) ;i)ikzi  )I)I19@ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502689bEǞ4jErEϚ/Ee EeEe%Ea"EeC;*Ee:VEe 4ZEaa@a@a@a@^AA .A! I) I9 OI %}A,apJ?ABDBDBFIBF BBDBDBDBFZi;BF@)Ebqȱ?b?bνٱb~ nAHRS rotation from veh to nav: [[-0.036229,-0.968775,-0.245281],[0.999075,-0.029421,-0.031363],[0.023168,-0.246190,0.968945]]bH@4[eϿl? @F? (Ͽ@?ibqȱ?Ibj^;bCYrByvkI xxxzAiuMb@Mb@Mb@qqqq q9u{Gz?Q?QYuC?yuu=uuuGAq uA)qqYufAbDVDyӋ%A=ٔ?:Q->9 ?Y ?=FyPEJbE>Q 5q5Iss?Q 9q5ߟ)BYzD?Q E:y?Q I@DI ;i ;fKq5yɮAiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755032h h *h "h  h g f ff`BdddjdZd r9;@ɢH) i)x5iil{i II@ @@4@)Q^A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007071A ؟AI I O% >EA  EE EE $EA "EA *EE :VEE 4ZEA BEE =Ҽ?>?>-ٱ>~ JAHRS rotation from veh to nav: [[-0.012450,-0.969158,-0.246126],[0.999662,-0.006445,-0.025189],[0.022826,-0.246356,0.968911]]>H W Ͽ;?@hfz"˙_?ϿP?i>Ҽ?I>/^;>CYNByRsIbDZVDZyb`=%bY=ٔbm:Q-f>9f"?Yf"?=fFyfPEj(Ej>lQ 5rq5n@qs?Q 9rq5nG)nBYpyr?Q Iv@n DIn:in:nNq5yiɮuAqhh*h"h hgfffdddjdZd@[;@ɢK) @4i)i"d|i III9@ @@/@@@cAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259191y^A>AA?ԡA I I O > WA,d;~?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513019E  E E (E "E 1A;*E :VE c44ZE a@a@a@a@%ƫ?%α?%ٱ%(K} =AHRS rotation from veh to nav: [[0.010680,-0.969448,-0.245065],[0.999683,0.015945,-0.019510],[0.022821,-0.244779,0.969310]]%H9߅?G^Ͽ@f?S?_o^?TϿ`?i%ƫ?I%^;%CYEByEqIԩiMb@Mb@Mb@ 9Q?x&? rhY(9Y=FyPE?E>Q 5q5 os?Q 9q5)BYBBIB%BBBBBAa I I O >>A,F'?ARĨ?R?R@ٱRN{ ZAHRS rotation from veh to nav: [[0.034157,-0.969281,-0.243573],[0.999158,0.038662,-0.013739],[0.022734,-0.242898,0.969785]]RH |?Yc-Ͽ?`~ˣ?F#G?IϿ@{?iRĨ?IR23^;RCYb Byb}IIf>)f>hj=bDnVDnN2yvq=%vs=ٔz9Q-z?9xYx=zFyzPE~E~?Q 5 q5 ns?Q 9 q54)BYyA?Q I@!DI;i";Uq5yɮAhh*h"h hgfffdddjdZdr<@AɢE?~)I U;iQ)U1ZQQiUG~i] YYIYIachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019311a@ @@@E EE$E"EB;*E:VE4ZEBEu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270729!A,X?AFl٥?F?F*ٱF"zP ^AHRS rotation from veh to nav: [[0.056940,-0.968424,-0.242718],[0.998118,0.060762,-0.008283],[0.022769,-0.241789,0.970062]]FH@@'?@U^Ͽ?0?@ P?ο ?iFl٥?IF ^;DYfByfmIbDrVDrܲyzʃ%zK=ٔzHQ-z>9~ ?Y ?=FyPE%eE%>)Q 55q5-cms?Q 95q5-N)-BY1y5W?Q I5@-*DI-W:i-;-Yq5yaɮeIAahh*h"h hgfffdddjdZd<@IɢMs)I MiI)MFeQQiUiu yyIyIM9@I @I@I@I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523913E  EE(E"ED;*E:VEc44ZEa@a@a@a@^AU>AeeAzAefA! A ؟AI I O >A A AAB ¿>B B B B  =B B B i;B )E A,˾?A2Ȣ?2ų?2 ٱ27y >AHRS rotation from veh to nav: [[0.080827,-0.966920,-0.241936],[0.996480,0.083802,-0.002013],[0.022221,-0.240921,0.970290]]2H@? `ο*?t?}`@?ο ?i2Ȣ?I2];2CYfByfkI|echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774711ieMb@Mb@Mb@aaaa a9erh|?Dl?X9vYe;?yeO=eeAe@ erA)e@aYeAbD}VD}1yȻ%A=ٔ:Q->9"?Y"?=FyPE{iE>Q 5q5dms?Q 9q5(x)BY BDAT read: Rx Time:05:33:18.0588  TRx dataTimestamp_ set to:1761543199.497132% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029095ԉ E  E E &E "E =;*E :VE 4ZE BE a4A,_?A2n?2?2 +ٱ21;y :AHRS rotation from veh to nav: [[0.104469,-0.964666,-0.241880],[0.994290,0.106626,0.004191],[0.021747,-0.240937,0.970297]]2Ht? ο :?K? +q?`D?ο ?i2n?I2%^;0Y^By^bI ``bDjVDj0y%\%-Q=ٔ-Ҟ:Q-->95 ?Y5 ?=5Fy5PE5xE=>AQ 5Mq5Ems?Q 9Mq5Ep)EBYIyM?Q IM@E=DIE:iEp:E`q5YyYɮ]Aahh*h"h hgfffdddjdZdϥ=@Bɢ B,-|?A"DAT read: 05:33:18.0588 LVL= 26768, 27281, 22866, 23235, AGC= 64, IDX= 323,-0.08, 0.363, 1.605, 2.683, 1.377, PHS=-0.912, 0.273, 1.262, RAW= 243.0, -6.7, CAL= 241.0, -10.5, ROT= 269.0, 10.5 BYgot valid direction response: 05:33:18.0588 LVL= 26768, 27281, 22866, 23235, AGC= 64, IDX= 323,-0.08, 0.363, 1.605, 2.683, 1.377, PHS=-0.912, 0.273, 1.262, RAW= 243.0, -6.7, CAL= 241.0, -10.5, ROT= 269.0, 10.5 ^PDAT read: Bearing 145.7, -65.2 (Local) f~Local bearing/azimuth received: Bearing 145.7, -65.2 (Local)  DAT read: Range 11 to 50 : 136.4 m (Round-trip 181.9 ms) speed -0.2 m/s De=De<E}  E}E}#Ey"E}E;*E}:VE}3ZEya@a@a@a@ԹU*DAT read: user:434> ]BDAT read: Tx time:05:33:19.1744 ]$Ping request sent.]M7?M@M|M@ Mf;)M<@IMf;>IIM vMῊ勩?t՞4 M^ @)M1=IMK˿iMf;>II:publishing transmit ping timeYFpublishing direction and range infoyIML)gu¥m~SǿYIIIII I)IIIiIIIII I)I=?=ĩ?=ٱ=Ex ]AHRS rotation from veh to nav: [[0.127736,-0.962137,-0.240783],[0.991575,0.129145,0.009987],[0.021487,-0.240030,0.970528]]=HY? ο?ч?,t??Mο?i=?I= ^;9YayIIIIM vMῊ勩?t՞4 I)IIIiIIIiMMb@Mb@Mb@IIII I9M9v?T㥛 ?Q롿YM4?yM=M\MAI M\A)M@IYMAbDVDyM%=ٔ9B>BCBIBBB =BBtDBh;B )EBqBqBqBu =BqCuň"5Q->9"?Y"?=Fy%PE%)E%>)Q 55q5-os?Q 95q5- f)-BY]5?Q E]:y]/?Q I]@-JDI-;i-;-eq5yeBɮeAmEiIiM?AJiMCRiMCjiM_@bMGrb.`[8RML)gu¥m~SǿZiMK˿biMf;>jMR*W`@`X3~@ZMV*?i˅¿$n0RZ?2iM5:iMC"iM㇟?*iM1nBiMBiM%8?iIiIiMCiMH<@ addTargetRange:: Added new target pos. range: 136.399994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhZh- Added new target pos. range: 135.641052 m, bearing: 351.601877 deg, lat: 36.779343 deg, lon: -121.859654 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jh)5FNOT Ignoring new targets: 135.64 m.RhUZhUe  ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.606659 m, bearing: 344.196287 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 355.522704 deg, new cmd heading: 344.196287 deg. mHeadingCmd: 6.007359 target range: 135.641052 and range: 136.40 m.hmH<@hi*hi"hi hgfff~Bdddjd a@Zd`~? ɢ) i)5idi%!!I%H<@II @  @ @ /@ A ^A A A >aAI IO%?0B,Z"?A2?26?28*ٱ2Qy :AHRS rotation from veh to nav: [[0.151742,-0.958503,-0.241344],[0.988202,0.152247,0.016665],[0.020771,-0.241025,0.970297]]2HFl?[οY?|??D?ο` ?i2?I2;^;2CYBByB]IEN  ENEN%EL"ENF;*EN:VEN 4ZELBEN`9dYd=fFyfPEj勽Ej>lQ 5rq5nrqs?Q 9rq5nm_)nBYpyr?Q Ir@nRDInB:in:nhq5yMBɮUAUEiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 135.64 m.RhhZhh ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.656403 m, bearing: 344.088778 deg, approach rate: 0.138726 m/s, LOS rate: -0.299711 deg/s, cmd heading: 344.196291 deg, new cmd heading: 344.088778 deg. HeadingCmd: 6.005482 target range: 135.641052 and range: 136.40 m.h,@h*h"h hgfffddd jdZdFZ?颵BɢY) *i)z"!项ii- 211I5,@IAԙ9@ @@0@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A9 Ai Iy I O >SB,<?A2?2u?2 ٱ2z >AHRS rotation from veh to nav: [[0.175646,-0.954254,-0.241966],[0.984247,0.175253,0.023322],[0.020150,-0.242251,0.970004]]2H`{? @ ο~?@n??%?`ϿF ?i2?I2)^;2CYBByFeIIJ=)J= HJ<bDNVDNyV<%VL=ٔZ:Q-Z>9XYX=^Fy^PE^xE^>`Q 5fq5bss?Q 9fq5bX)bBYhyj?Q Ij@b[DIb:i`blq5ylɮrApjh FNOT Ignoring new targets: 135.64 m.Rh Zh % ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.706192 m, bearing: 343.967268 deg, approach rate: 0.131179 m/s, LOS rate: -0.320019 deg/s, cmd heading: 344.088784 deg, new cmd heading: 343.967268 deg. %HeadingCmd: 6.003361 target range: 135.641052 and range: 136.40 m.h-@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=Z?ɢ*) i)/"i"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.923424i-t))I-@I1DzD@AE EE+E"Ey>;*E:VE [4ZEa@a@a@a@@ @@%0@!B<A<B>BBIBBBBBBh;B)E9^A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.175327A .AI I O- >Y 4<B,8U?A>Y?>E?>ٱ>z FAHRS rotation from veh to nav: [[0.200103,-0.949772,-0.240607],[0.979588,0.198731,0.030213],[0.019120,-0.241741,0.970152]]>H?d2ο`X?p? ??@B?@`ο} ?i>Y?I> ^;>CYNByN\IiUMb@Mb@Mb@QQQQ Q9UFx?y&1?X9vYU+?yU`e=UUAU~@ UA)QQYU@bDVD1yo%;=ٔ;Q->19= ?Y= ?==Fy=PEE`EE>IQ 5Uq5MFws?Q 9uq5M P)MBYu,?Q Eu:y}.?Q I}@MeDIM2;iM;Mpq5yɮAjhFNOT Ignoring new targets: 135.64 m.RhZh ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.751556 m, bearing: 343.835878 deg, approach rate: 0.098226 m/s, LOS rate: -0.284394 deg/s, cmd heading: 343.967261 deg, new cmd heading: 343.835878 deg. HeadingCmd: 6.001068 target range: 135.641052 and range: 136.40 m.h @h *h "h  h gqfqfqfu~BdydydyjdyZd`S? Bɢ ۨ) 'i)%iiؕ!I%@I!5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.427662i9@ @@_0@@>@>E E E%E"EI@;*E:VE 4ZEBE;oB,o?A2?2?2ٱ2 x:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679373 BAHRS rotation from veh to nav: [[0.225099,-0.944749,-0.238283],[0.974170,0.222734,0.037171],[0.017957,-0.240496,0.970484]]2H ?@c;ο`g,? ??Ac?ο4?i2?I2i^;2CYJByJ^IbDPVDPyZ]<%ZZ=ٔ^lK;Q-^>9\Y\=^FybPEbEb>dQ 5jq5ftzs?Q 9jq5fI)fBYlyn?Q In@fmDIf:ifR:f6sq5yrBɮrMArEjh FNOT Ignoring new targets: 135.64 m.RhZh% ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.781738 m, bearing: 343.732019 deg, approach rate: 0.086383 m/s, LOS rate: -0.297188 deg/s, cmd heading: 343.835876 deg, new cmd heading: 343.732019 deg. -HeadingCmd: 5.999256 target range: 135.641052 and range: 136.40 m.h-@h)*h)"h) h1g1f1f1f9d9d9d9jd9ZdE ?mBɢur)q uiq)uɥ&qyi}/Ղi}ѡI@ j>I!9UhAiԁvɿ9hAY4Ay?}A9@ @@4@ԩ%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931232^A bE]-4jE]ɞ4rE]ɲd0E  E E &E "E B;*E :VE 4ZE a= @a= @a= @a= @A ؟AI I O > 3N"B,z?A2?26Ѩ?2홈ٱ2jx :AHRS rotation from veh to nav: [[0.249221,-0.939056,-0.236774],[0.968303,0.245831,0.044228],[0.016674,-0.240291,0.970558]]2Hz? NοV?hw?? ?ο?i2?I2&^;2CYBByBaI DDHJAi]Mb@Mb@Mb@YYYY Y9]K7A?y&1?~jtY] "?yY]ļY]@ ]EA)]@YYYB>BB~IB BB =BBBh;B(EbDuVDuy&D<%==ٔmB;Q->9"?Y"?=FyPE8kE>Q 5q5}~s?Q 9q5B)BY"?Q E:y?Q I@vDI:i:vq5yɮ8AjhFNOT Ignoring new targets: 135.64 m.RhZh ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.811783 m, bearing: 343.613304 deg, approach rate: 0.069472 m/s, LOS rate: -0.274439 deg/s, cmd heading: 343.732029 deg, new cmd heading: 343.613304 deg. %HeadingCmd: 5.997183 target range: 135.641052 and range: 136.40 m.h%@h!*h!"h! h!g!f)f)f-~Bd)d1d1jd1Zd=@aɢev)i mii)mT(iiimJ-iaI@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.1840109@ @@4@!^A- >Y E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435280AY Ia Iy O >x(B,D?AEB[ EBEB,E@"EB%;*EB:VEBg4ZE@BEBG9 Y =FyPE,E>Q 5%q5s?Q 9%q5c<)BY)y-U?Q I-@}DI:iF:Xzq5y1ɮ5A1UB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 135.64 m.Rhm0Zhm0} ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.832718 m, bearing: 343.507688 deg, approach rate: 0.054489 m/s, LOS rate: -0.274852 deg/s, cmd heading: 343.613293 deg, new cmd heading: 343.507688 deg. HeadingCmd: 5.995340 target range: 135.641052 and range: 136.40 m.hٿ@h*h"h hgfffdddjdZd@eBɢe])a e ;ia)e(iiimim"֝qyI}ٿ@IQ)@) @)@-0@)@1@5gAychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.687351^Am>Au>Au>Ա A I I O >m.B,a?A2V?2A?2_oٱ2OJ{ :AHRS rotation from veh to nav: [[0.298512,-0.924743,-0.236097],[0.954294,0.292987,0.059004],[0.014610,-0.242919,0.969937]]2H ?}@j8ο?L?5?`?Ͽ` ?i2V?I2^;2C@YFByFiIbDNVDN1yVu"%VP=ٔZ#;Q-Z>9XYX=ZFyZPE^LEb>`Q 5fq5bRs?Q 9jq5b5)bBYhyj ?Q Ij@bDIb9:ib:b}q5ypɮrApjh  FNOT Ignoring new targets: 135.64 m.RhZh% ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.848175 m, bearing: 343.399437 deg, approach rate: 0.039390 m/s, LOS rate: -0.275829 deg/s, cmd heading: 343.507699 deg, new cmd heading: 343.399437 deg. %HeadingCmd: 5.993451 target range: 135.641052 and range: 136.40 m.h-Yʿ@h)*h)"h) h)g)f)f1f1d1d1djdZd @Bɢ+h)  \i))iȃchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.939323iXI%Yʿ@I!E  EE(E"EF;*E>:VEc44ZEa@a@a@a@1@1 @9@=/@9B}>ByByByB} =ByByB}h;B}(E^Am >iߩ Iߩ  BDAT read: Rx Time:05:33:21.7612  TRx dataTimestamp_ set to:1761543203.277286 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.193840! A I I O >E5B,<?AV!?V@?V8aٱV7[{ jAHRS rotation from veh to nav: [[0.323122,-0.916900,-0.234278],[0.946257,0.316627,0.065910],[0.013746,-0.242985,0.969933]]VH`??W ͿG?`C?@z߰?&?Ͽ ?iV!?IV];VCY~B|y~xII{>)p;==iMb@Mb@Mb@ 9#~j?Zd;?I +Y%?yy=9KA@ t@)@Y@bDVD0yMP=%U2=ٔU<:Q-U>9YYY=]Fy]PEegEe>iQ 5uq5mos?Q 9uq5mf.)mBYu&?Q Eu:y}?Q I}@mDImp;im;mŁq5yBɮ1AEjhFNOT Ignoring new targets: 135.64 m.Rh^Zh^ ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.861450 m, bearing: 343.270277 deg, approach rate: 0.029003 m/s, LOS rate: -0.282159 deg/s, cmd heading: 343.399426 deg, new cmd heading: 343.270277 deg. HeadingCmd: 5.991197 target range: 135.641052 and range: 136.40 m.hⷿ@h*h"h hgfff~BdddjdZd _ @BɢA) `Hԁ A .AI I! O5 >~;B,3?AJDAT read: 05:33:21.7612 LVL= 28656, 25665, 18226, 26067, AGC= 64, IDX= 427, 0.07, 1.370, 2.428,-2.819, 2.407, PHS=-0.935, 0.066, 1.014, RAW= 240.9, -1.7, CAL= 237.4, -2.6, ROT= 272.6, 2.6 NYgot valid direction response: 05:33:21.7612 LVL= 28656, 25665, 18226, 26067, AGC= 64, IDX= 427, 0.07, 1.370, 2.428,-2.819, 2.407, PHS=-0.935, 0.066, 1.014, RAW= 240.9, -1.7, CAL= 237.4, -2.6, ROT= 272.6, 2.6 RPDAT read: Bearing 143.7, -72.6 (Local) R~Local bearing/azimuth received: Bearing 143.7, -72.6 (Local) ZDAT read: Range 11 to 50 : 137.0 m (Round-trip 182.7 ms) speed -0.4 m/s Z*DAT read: user:435> ^BDAT read: Tx time:05:33:22.8728 b$Ping request sent.b9 ?Y ?=FyPEE>Q 5 q54s?Q 9 q5')BY y -?Q I @DIp:iF:/q5y}Bɮ}Ayi0i2?AJi2<CRi2<Cji2@b2o&"@ ͝`n.qR23?fw$￁99Zi2@ÿbi29=j2.4_@exDi\p3;@Z22kG,?Z5<ӿrl?2i2#:i2B"i2-RHf?*i2\Bi2tBi2n(?i2i2zBi2Ci2 @u addTargetRange:: Added new target pos. range: 137.000000 m, deltaT: 3.779870 s, deltaX: 0.600006 m, approachRate: 0.158737 m/s, rangeRepo size: 2  Added new target pos. range: 136.237106 m, bearing: 342.138440 deg, lat: 36.779344 deg, lon: -121.859656 deg, deltaT: 3.779870 s, deltaX: 0.596054 m, approachRate: 0.157692 m/s, posRepo size: 2 jhFNOT Ignoring new targets: 136.24 m.RhZh ProNav: ac range: 136.237106 m, nav range: 132.030334 m, bearing: 343.096502 deg, approach rate: 0.000000 m/s, LOS rate: -0.282159 deg/s, cmd heading: 343.270281 deg, new cmd heading: 342.915461 deg. Bh AHeadingCmd: 5.985004 target range: 136.237106 and range: 137.00 m.h'@h*h"h h!g!fIfIfIdIdQdQjdU a@ZdU?ԉBɢ(7) `ԱE  E E E "E [I;*E :VE ZE a @a @a @a @^A >A fA zA gAA1 I9 II O] >CB, ?AB>BBIBBBBBBh;B(ERx?R>?RhTٱRJ}X jAHRS rotation from veh to nav: [[0.372190,-0.898598,-0.232369],[0.928066,0.363793,0.079672],[0.012941,-0.245307,0.969359]]RH`?QAͿෲ? cH?de??5fϿ?iRx?IRh];RCYrByrIi Mb@Mb@Mb@     9 L7A`?x&?9YYY=]FyePEelEe>qQ 5}q5u@s?Q 9}q5uw )uBY(?Q E:y?Q I@uDIuq;iuy;u#q5yɮAjhFNOT Ignoring new targets: 136.24 m.RhZh- ProNav: ac range: 136.237106 m, nav range: 132.033447 m, bearing: 342.967713 deg, approach rate: 0.007210 m/s, LOS rate: -0.298298 deg/s, cmd heading: 342.915467 deg, new cmd heading: 342.529113 deg. Bh5L5HeadingCmd: 5.978261 target range: 136.237106 and range: 137.00 m.h5M@h9*h9"h9 h9g9f9fafe~BdadidijdiZdm/?Bɢ :) ]`_=iY)eH$aaieaℼim iiImM@Iq@ @@@ ^A9 9 E  E E 'E "E N;*E &:VE '4ZE BE mGIB,& ?A2 r?2`?2aUٱ2{} fAHRS rotation from veh to nav: [[0.395708,-0.889077,-0.230123],[0.918284,0.386598,0.085417],[0.013023,-0.245119,0.969406]]2HFS?RstͿ`b??ݵ?@響? `Ͽ^?i2 r?I2%^;2CYn#BynI ppppbDvVDvy~qN=%c=ٔpQ->9Y = Fy PE E >Q 5%q5Xs?Q 9-q5)BY)y-=?Q I-@DIN:i$:Hq5y=Bɮ=.A9UB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 136.24 m.RhmuZhmu} ProNav: ac range: 136.237106 m, nav range: 132.030380 m, bearing: 342.865227 deg, approach rate: -0.008710 m/s, LOS rate: -0.291058 deg/s, cmd heading: 342.529124 deg, new cmd heading: 342.221662 deg. Bh}GHeadingCmd: 5.972895 target range: 136.237106 and range: 137.00 m.h!@h*h"h hgfffdddjdZd@2?BɢU;) N=i) i->idޞI!@Im9@i @i@mO0@qA}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AQԉII IY Oe >ԙ O+PB,@ ?A2k?2?2r6Tٱ2| >AHRS rotation from veh to nav: [[0.419303,-0.879012,-0.226987],[0.907754,0.409512,0.091013],[0.012952,-0.244211,0.969636]]2H@? ͿQ ?p5?L??LBϿA?i2k?I2 ^;2CYB5ByFIbDNVDN:2yV =%VP=ٔV\>9Q-Z>9XYX=ZFyZPE^E^>`Q 5fq5b~s?Q 9fq5b.)bBYdyj?Q Ij@bDIb:ib:bq5rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248685ylɮvAtjhFNOT Ignoring new targets: 136.24 m.RhLZhL- ProNav: ac range: 136.237106 m, nav range: 132.020920 m, bearing: 342.753919 deg, approach rate: -0.024118 m/s, LOS rate: -0.283781 deg/s, cmd heading: 342.221656 deg, new cmd heading: 341.887713 deg. Bh5B5HeadingCmd: 5.967066 target range: 136.237106 and range: 137.00 m.h55@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMJb?ԹBɢ;) h=i)*ii5^ڡ99I=5@I9E} E}E}%Ey"E}P;*E}:VE} 4ZEya@a@a@a@%9@! @!@-1@)@I@IB%<A%<B->B-CB-IB-+BB- =B)B-sDB-h;B-(EBCBCBB =B =CE5^Am>AqAu>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500589I I O >9 yUVB,Z ?A2d?2o]?2Qٱ2J >AHRS rotation from veh to nav: [[0.442630,-0.867570,-0.226716],[0.896613,0.431804,0.098129],[0.012763,-0.246712,0.969005]]2H T?"Ϳ???`l#?@>Ͽ?i2d?I2];2CYFBByFIiMb@Mb@Mb@ 9 rh?|?5^?y&1|Y,?y=`KA~@ )@Y@bD-VD-yqg=%;=ٔ9Q->9Y=FyPErE>Q 5q5:s?Q 9q5 )BY.?Q E:yڠ?Q I@DIU:iH:q5yBɮAxEjhFNOT Ignoring new targets: 136.24 m.RhZh ProNav: ac range: 136.237106 m, nav range: 132.017349 m, bearing: 342.625021 deg, approach rate: -0.008219 m/s, LOS rate: -0.296709 deg/s, cmd heading: 341.887714 deg, new cmd heading: 341.501016 deg. BhK%HeadingCmd: 5.960317 target range: 136.237106 and range: 137.00 m.h%뺾@h!*h!"h) h)g)f)f1f5 Bd1d9d9jd9Zd=V?mBɢmtG;)i m->ii)u%qqiu2Ji}NyyI}뺾@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753231 @  @ @ 4@AE% EE(E"EO];*E>:VEc44ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004518ԩ \B,kt ?AFdo^?F"?FQٱFD RAHRS rotation from veh to nav: [[0.465105,-0.856129,-0.225212],[0.885163,0.453423,0.104370],[0.012762,-0.247893,0.968704]]FHH?@he̿@BS???#?@Ͽ?iFdo^?IF^;FCYZSByZII^8>)^>b=b=bDdVDdyjB=%nX=ٔn5Q-r>9pYp=rFyrPEvEv>xQ 5~q5zts?Q 9~q5z])zBY|y?Q I@z»DIz;iz3;zϖq5y Bɮ  A yEjh1=FNOT Ignoring new targets: 136.24 m.RhEʨZhEʨU ProNav: ac range: 136.237106 m, nav range: 132.008286 m, bearing: 342.513290 deg, approach rate: -0.023940 m/s, LOS rate: -0.295138 deg/s, cmd heading: 341.501016 deg, new cmd heading: 341.165806 deg. BhUJ]HeadingCmd: 5.954467 target range: 136.237106 and range: 137.00 m.h]@hY*hY"hY hYgafafafadididijdiZdm@颽Bɢ-<) <5>i)S i8߆i]MaaIe@Iiq)@) @)@-4@)ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256455^AM>D=D4=E  EE&E"EE;*E#:VE4ZEa@a@a@a@IA Ii O > B! B! B% IB% DBB%  =B% DDB! B% h;B% (EgcB,G ?A2X?2?2KUٱ2}# :AHRS rotation from veh to nav: [[0.486836,-0.844248,-0.224136],[0.873396,0.474318,0.110463],[0.013053,-0.249537,0.968277]]2HQ(? |̿ ? 9[? QG??Ͽ ?i2X?I2];0Yb]BybIiMMb@Mb@Mb@IIII I9M(\?Mb?y&1YMz4?yM>M`eMbAMh@ Mt@)M@IYM@bDVDy6=%;=ٔ.Q->9Y=FyPEhE>Q 5q57s?Q 9q5)BYw7?Q E:yQ I@̻DI ;i? ;q5yɮA jh)5FNOT Ignoring new targets: 136.24 m.Rh5رZh=رE ProNav: ac range: 136.237106 m, nav range: 131.997986 m, bearing: 342.377858 deg, approach rate: -0.023648 m/s, LOS rate: -0.310971 deg/s, cmd heading: 341.165818 deg, new cmd heading: 340.759497 deg. BhMjUMHeadingCmd: 5.947375 target range: 136.237106 and range: 137.00 m.hMP@hQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508670*hQ"hY hagafafafmIBdididijdiZdu/@颥Bɢ=<<) L>i)顩i?iL﫾IP@IM9@I @I@M/@I^Am>AueAzAueA)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761191A ؟AI I O >E  E E E "E D;*E :VE ZE BE ϚAHRS rotation from veh to nav: [[0.507077,-0.833111,-0.220904],[0.861799,0.494019,0.115097],[0.013242,-0.248738,0.968480]]2H9?ب@F̿`ۓ??@w??Ͽ@?i2"R?I2];2CY mByIbDVD:2yA=%I=ٔWQ->9"?Y"?=FyQE|kE]>iQ 5uq5m2s?Q 9q5m;)mxBYy?Q I@mֻDIm$;im;mIq5yɮ<AAqmB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 136.24 m.Rh᣻Zh᣻  ProNav: ac range: 136.237106 m, nav range: 131.981766 m, bearing: 342.247652 deg, approach rate: -0.035692 m/s, LOS rate: -0.286554 deg/s, cmd heading: 340.759504 deg, new cmd heading: 340.368843 deg. Bh DHeadingCmd: 5.940557 target range: 136.237106 and range: 137.00 m.h @h*h"h hgfff!dYmBDAT read: Rx Time:05:33:25.4598 mTRx dataTimestamp_ set to:1761543206.804130uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013603ԙdd%ƿ9)Y-Ajd9Zd=`"@Bɢ,G<) "r>i)wںicilI @I! @  @ @ /3@  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264569^AbE5Ξ4jE57&4rE5+0E EE%E"EB;*E:VE 4ZEa@a@a@a@)AAIaIO ?trB,G ?AB]>BYB]IB]gBB] =BYB]tDB]{h;B](EYmqBymI yyyyi-Mb@Mb@Mb@)))) )9-S?S㥛?X9vY-/=?y-$>--A) -G@)-@)Y-p@bDEVDEyU{<%U=ٔUQ-U>9YYY=]Fy]QEeEe>iQ 5uq5ms?Q 9uq5m)mgBYuA?Q Eu:yuK?Q I}@mDIm;im:mq5yBɮwApEԉjhFNOT Ignoring new targets: 136.24 m.RhƻZhƻ ProNav: ac range: 136.237106 m, nav range: 131.972366 m, bearing: 342.067762 deg, approach rate: -0.018154 m/s, LOS rate: -0.347472 deg/s, cmd heading: 340.368844 deg, new cmd heading: 339.829153 deg. BhwnHeadingCmd: 5.931138 target range: 136.237106 and range: 137.00 m.h˽@h*h"h hg ff!f-^Bd1d9dIjdIZdUr @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518741Bɢ+s<) I>i)0i]i%?!!I%˽@I)Թ9@ @@2@^A5 > DAT read: 05:33:25.4598 LVL= 23968, 24625, 16642, 24051, AGC= 61, IDX= 430,-0.31,-2.027,-1.302, 0.108,-1.134, PHS=-0.791,-0.123, 1.198, RAW= 229.3, -3.3, CAL= 226.7, -4.6, ROT= 283.3, 4.6  Ygot valid direction response: 05:33:25.4598 LVL= 23968, 24625, 16642, 24051, AGC= 61, IDX= 430,-0.31,-2.027,-1.302, 0.108,-1.134, PHS=-0.791,-0.123, 1.198, RAW= 229.3, -3.3, CAL= 226.7, -4.6, ROT= 283.3, 4.6  PDAT read: Bearing 155.6, -66.2 (Local)  ~Local bearing/azimuth received: Bearing 155.6, -66.2 (Local)  DAT read: Range 11 to 50 : 137.1 m (Round-trip 182.9 ms) speed 0.0 m/s   *DAT read: user:436>  BDAT read: Tx time:05:33:26.5728  $Ping request sent. 9yB,t ?AB@?Bux?BaٱBT ZAHRS rotation from veh to nav: [[0.564794,-0.797062,-0.213776],[0.825117,0.549766,0.130152],[0.013787,-0.249899,0.968174]]BH ?\˿[g?`?`Ҩ?}9xY=Fy QE(E%>!Q 5-q5%s?Q 9-q5Q%\)%ZBYYy]?Q I]@%DI%};i%;%q5yaɮmAiiQiU ?AJiUUCRiUUCjiU3J@bU?C?@=}`ྸ&%RU SVY?q zꇴZiUwYbiUl=jUJ Z_@Nk*HG6@ZU1Xo?@Qֿj]~?2iUVA:iUB"iU%%?*iU(êBiUKBiQiQiUsBiUCiU@ addTargetRange:: Added new target pos. range: 137.100006 m, deltaT: 3.780377 s, deltaX: 0.100006 m, approachRate: 0.026454 m/s, rangeRepo size: 3  Added new target pos. range: 136.334610 m, bearing: 338.922166 deg, lat: 36.779344 deg, lon: -121.859656 deg, deltaT: 3.780377 s, deltaX: 0.097504 m, approachRate: 0.025792 m/s, posRepo size: 3 jh)-FNOT Ignoring new targets: 136.33 m.Rh5Zh1E ProNav: ac range: 136.334610 m, nav range: 131.944702 m, bearing: 341.932423 deg, approach rate: 0.000000 m/s, LOS rate: -0.347472 deg/s, cmd heading: 339.829150 deg, new cmd heading: 339.367039 deg. BhamHeadingCmd: 5.923072 target range: 136.334610 and range: 137.10 m.hmω@hi*hi"hq hqgqfqfqfydydydyjd@3#a@Zd?Bɢ<) >i)  i @i `Iω@Iԁ9@ @@4@ԩ^A A >A > A I I O >B,> ?A:;?:7r?:eٱ:~ FAHRS rotation from veh to nav: [[0.582556,-0.785760,-0.207870],[0.812670,0.567506,0.132305],[0.014008,-0.246004,0.969167]]:HM?$zʿc? )?\??}Ͽk?i:;?I: ^;:CYJqByNIbDVVDV1y^%^N=ٔ^Q-b>9`Y`=bFybQEfbEf>hQ 5nq5j=s?Q 9nq5jE)jNBYpyv˒?Q Iv@jDIjL;ijM;j"q5yxɮzwAxjh)-FNOT Ignoring new targets: 136.33 m.Rh5=ɻZh5=ɻE ProNav: ac range: 136.334610 m, nav range: 131.912964 m, bearing: 341.804675 deg, approach rate: -0.087400 m/s, LOS rate: -0.351874 deg/s, cmd heading: 339.367047 deg, new cmd heading: 338.983716 deg. BhE}qMHeadingCmd: 5.916382 target range: 136.334610 and range: 137.10 m.hMS@hI*hI"hI hIgQfQfQfQdYdYdYjdaZdeå?颕Bɢ<) ^>i)顙i:iͻIS@IԹE EE'E"ECJ;*E#:VE'4ZEa@a@a@a@]9@a @a@e/@iB>BCBIBBBBCDBBh;B(E^A>A .AI I) OM >A \B, ?A2w5?2mm?2,eٱ2{ :AHRS rotation from veh to nav: [[0.599813,-0.773997,-0.202860],[0.800018,0.584559,0.135138],[0.013987,-0.243349,0.969838]]2H1?@Sɿྙ?@? 5L?`X?`&Ͽ@?i2w5?I2];2CYBByBIIF=)Fa>J=J=i]Mb@Mb@Mb@YYYY Y9]1Zd?^I +?I +Y]";?y]X9>]94]KAY ]^@)]@YY]@ m4=ٔG8Q->9 ?Y ?=FyQEKE>Q 5q5ds?Q 9q5)>BYA?Q E:y?Q I@DI:i:q5yBɮAjhFNOT Ignoring new targets: 136.33 m.RhZh ProNav: ac range: 136.334610 m, nav range: 131.879684 m, bearing: 341.664985 deg, approach rate: -0.077777 m/s, LOS rate: -0.326548 deg/s, cmd heading: 338.983709 deg, new cmd heading: 338.564543 deg. Bh`HeadingCmd: 5.909066 target range: 136.334610 and range: 137.10 m.h@h *h "h  h g f ffvBdddjd!Zd% ]?MBɢUz<)Q Us>iQ)]P>LYYi]ዼieaaIe@Iam9@i @i@i@iAE EEE"EB;*E:VEZEBEuԡ B,6 ?A20?2g?2rhٱ2Fz :AHRS rotation from veh to nav: [[0.616952,-0.761307,-0.199455],[0.786872,0.601287,0.138875],[0.014203,-0.242624,0.970016]]2H?\`ɿ.?=?? ?PϿ_ ?i20?I2( ^;0YBnByBIbDNVDNky^ֽ%bW=ٔfQ-f>9j"?Yn"?=nFynQErfEr>Q 5q5s?Q 9q5)/BY!y%N?Q I%@ DIj;ivA;Fq5y5 Bɮ=A=gEuB*** querying acoustic contact ***iq iqjh!-FNOT Ignoring new targets: 136.33 m.Rh-jZh5j= ProNav: ac range: 136.334610 m, nav range: 131.844330 m, bearing: 341.539957 deg, approach rate: -0.085226 m/s, LOS rate: -0.301476 deg/s, cmd heading: 338.564554 deg, new cmd heading: 338.189372 deg. aBhENmHeadingCmd: 5.902518 target range: 136.334610 and range: 137.10 m.hmn@hi*hq"hq hqgqfqfyfydydydyjdZd`I?Bɢ<) r>i)"\i*i¾In@I }9@y @y@y@yԑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A]>AazAedAE EEE"EI@;*E#:VEZEa@a@a@a@I I O >B <A <B >B B 'IB BB  =B B B Yh;B (E BœB,O ?A2o*?2Eb?2lٱ20| :AHRS rotation from veh to nav: [[0.634090,-0.747641,-0.197391],[0.773124,0.617745,0.143771],[0.014448,-0.243771,0.969725]]2H wJ?`Dɿ o??g??3Ͽ?i2o*?I2^;0YBwByBIiMb@Mb@Mb@ 9On?Cl?QY8?yO>uA @)|@Y@bD5VD5N2y&=%<=ٔQ->9Y=FyQEPE>Q 5q5P t?Q 9q5 )BY]@?Q E:yÐ?Q I@DI&;i%;q5yɮAjhFNOT Ignoring new targets: 136.33 m.Rh%ĻZh%Ļ5 ProNav: ac range: 136.334610 m, nav range: 131.807281 m, bearing: 341.402330 deg, approach rate: -0.092629 m/s, LOS rate: -0.344194 deg/s, cmd heading: 338.189386 deg, new cmd heading: 337.776398 deg. Bh57l=HeadingCmd: 5.895310 target range: 136.334610 and range: 137.10 m.h=b@h9*h9"h9 h9gAfAfAfE,BdIdIdIjdIZdM3?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751160颍Bɢ<) >i)M顑i*iƾIb@Iu9@q @q@y@yPExceeded connect timeout, disconnecting.^A >I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003087I I O >E  E E $E "E F;*E :VE 4ZE BE `AHRS rotation from veh to nav: [[0.651147,-0.733603,-0.194512],[0.758812,0.634203,0.148292],[0.014573,-0.244158,0.969626]]2H1?`yȿ/H? eK?7?`{؍?@Ͽ@-?i2I$?I2x^;2CYFpByFI HHHJAbD VD 2y5 %=S=ٔ=.Q-=>9AYA=EFyE QEMkEM>IQ 5Uq5M't?Q 9]q5M>)MBYYy]?Q Ie@MDIM;iM>;Meq5ym BɮmAmhEjhFNOT Ignoring new targets: 136.33 m.RhZh ProNav: ac range: 136.334610 m, nav range: 131.768036 m, bearing: 341.278055 deg, approach rate: -0.100797 m/s, LOS rate: -0.319278 deg/s, cmd heading: 337.776405 deg, new cmd heading: 337.403474 deg. Bh[HeadingCmd: 5.888802 target range: 136.334610 and range: 137.10 m.hq@h*h"h hgfffdddjdZd A@颽Bɢ<) O>i)DibiɾIq@IQm9@i @i@m0@imchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255046y^AIIIO>ԩ &נB,f ?A2b?2V?2_|nٱ2z :AHRS rotation from veh to nav: [[0.668398,-0.719226,-0.189625],[0.743661,0.651177,0.151446],[0.014556,-0.242243,0.970106]]2Hc?@Eȿ`? r?b?Fύ?Ͽ ?i2b?I2];0@YBfByFIbDNVDN0yVuW%VT=ٔV>8Q-Z>9XYX=ZFyZ$QE^sE^>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507162dQ 5jq5f~t?Q 9nq5f)fBYlyn?Q In@f'DIf;if ;fǻq5ytɮv)Atjh%FNOT Ignoring new targets: 136.33 m.Rh%Zh-5 ProNav: ac range: 136.334610 m, nav range: 131.722885 m, bearing: 341.154021 deg, approach rate: -0.116770 m/s, LOS rate: -0.320888 deg/s, cmd heading: 337.403477 deg, new cmd heading: 337.031253 deg. Bh=9\HeadingCmd: 5.882305 target range: 136.334610 and range: 137.10 m.h;@h*h"h hgfffdddjdZd2x@EBɢE<)I MI>iI)M<8IIiMcZDU=DUR=E] E] E])EY"E]O;*E]:VE]FA4ZEYae@am@am@am@im&@;iqIu;@IԹY@a @a@mI0@iBu>BuCBu!IBuBBu =BqBqBug;Bu(EB-CB-CB)B- =B- =C-ũ_5}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759884^A>A>A>IQ Ia Ou >  nManaging dock network, ignoring radio surface power offiB,b ?A2|?2P?2qnٱ2v{ :AHRS rotation from veh to nav: [[0.685475,-0.703835,-0.186387],[0.727950,0.667627,0.156083],[0.014580,-0.242672,0.969999]]2Hh?хǿ^K?3]??(܍?Ͽ ; ?i2|?I2n];2CY^\BybIliuMb@Mb@Mb@qqqq q9u|?5^?Cl?p= ףYu2?yud;>uuKAq u@)u@qYu@bDVDy2%<=ٔlQ->9Y=Fy(QE{ZE>Q 5q5,t?Q 9q5r)BY9?Q E:yl?Q I@1DI ;i3:q5yɮwAjhFNOT Ignoring new targets: 136.33 m.Rh?Zh?  ProNav: ac range: 136.334610 m, nav range: 131.661499 m, bearing: 341.021139 deg, approach rate: -0.142298 m/s, LOS rate: -0.308175 deg/s, cmd heading: 337.031259 deg, new cmd heading: 336.632434 deg. BhSHeadingCmd: 5.875344 target range: 136.334610 and range: 137.10 m.h@h*h"h hgfffBdddjdZd @颵Bɢ}<) x>i)&9项iJI I O- >q iy Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263301.B,J ?ARO?RJ?RG=tٱR{ fAHRS rotation from veh to nav: [[0.702269,-0.687922,-0.183255],[0.711756,0.683845,0.160499],[0.014907,-0.243146,0.969875]]RH@x?t@tǿ@? ?>?^?kϿ7 ?iRO?IR^;RCYrNByrII >) < = =bDVDN2y-B%-R=ٔ-[Q-->91qY=Fy,QEmE>Q 5q5}9t?Q 9q5)BYym?Q I@:DI:i:q5yBɮHA_EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 136.33 m.RhZh ProNav: ac range: 136.334610 m, nav range: 131.598602 m, bearing: 340.898436 deg, approach rate: -0.156435 m/s, LOS rate: -0.305330 deg/s, cmd heading: 336.632430 deg, new cmd heading: 336.264149 deg. BhQHeadingCmd: 5.868917 target range: 136.334610 and range: 137.10 m.h*λ@h*h"h hgf f f dddjdZd @EBɢE<)A M0a>iI)M59QQiUi] ԾYYI]*λ@IaU9@Q @Y@]4ԡ@DAT read: 05:33:29.1601 LVL= 30176, 32753, 19618, 26291, AGC= 61, IDX= 449,-0.25,-0.208, 0.097, 1.843, 0.411, PHS=-0.517,-0.269, 1.388, RAW= 216.9, -6.8, CAL= 215.6, -9.8, ROT= 294.4, 9.8 Ygot valid direction response: 05:33:29.1601 LVL= 30176, 32753, 19618, 26291, AGC= 61, IDX= 449,-0.25,-0.208, 0.097, 1.843, 0.411, PHS=-0.517,-0.269, 1.388, RAW= 216.9, -6.8, CAL= 215.6, -9.8, ROT= 294.4, 9.8 PDAT read: Bearing 152.7, -55.1 (Local) ~Local bearing/azimuth received: Bearing 152.7, -55.1 (Local) -DAT read: Range 11 to 50 : 137.4 m (Round-trip 183.2 ms) speed 0.0 m/s -*DAT read: user:437> 5BDAT read: Tx time:05:33:30.2728 5$Ping request sent.5/Ӟoݞm?K%—j) ll?)%=ICi%/>:publishing transmit ping time1Fpublishing direction and range infoynV ?ixburlſY )Ii )I/Ӟoݞm?K%—j) )IiDizDm?AEu EuEqEq"EuUS;*Eu:VEqZEqa}@a}@a}@a}@^AA I I) OU > B} >By B} IB} |BBy By B} sDB} g;B} (EB,~ ?ARY ?RD?RqٱR,{ ZAHRS rotation from veh to nav: [[0.719340,-0.671211,-0.178956],[0.694501,0.700372,0.164765],[0.014744,-0.242807,0.969963]]RH@?`zƿZ9? ri?? 1? KϿ ?iRY ?IR^;RCYrFByrIi5Mb@Mb@Mb@1111 195?S㥛?T㥛 Y5f&?y5$>55A5;@ 5@)5@1Y5@bDmVDmyV%5=ٔP9Q->9Y=Fy1QE!aE>Q 5q5JGt?Q 9q5)BY/,?Q E:y{?Q I@CDI ;i2 ;q5yɮAi i И ?AJi CRi Cji hǼ@b Į.TK@ <^2tA7R nV ?ixburlſZi Cbi %/>j +_@A] I4EK @Z h[?1j׿M?2i PL:i B"i xĴ蝊?*i Bi WBi -RHf?i \i WBi Ci `ͽ@ addTargetRange:: Added new target pos. range: 137.399994 m, deltaT: 3.527834 s, deltaX: 0.299988 m, approachRate: 0.085035 m/s, rangeRepo size: 4 % Added new target pos. range: 136.632278 m, bearing: 338.007366 deg, lat: 36.779350 deg, lon: -121.859685 deg, deltaT: 3.527834 s, deltaX: 0.297668 m, approachRate: 0.084377 m/s, posRepo size: 4 jhAMFNOT Ignoring new targets: 136.63 m.RhMZhQ] ProNav: ac range: 136.632278 m, nav range: 133.076416 m, bearing: 339.839617 deg, approach rate: 0.000000 m/s, LOS rate: -0.305330 deg/s, cmd heading: 336.264146 deg, new cmd heading: 335.829396 deg. BhaHeadingCmd: 5.861329 target range: 136.632278 and range: 137.40 m.h@h*h"h hgfff~Bdddjd,a@Zd@%? Bɢd<) xW>i) .:i(i׾AAIE@IA9@ @@4@1^A A fAzA gAa E  E 2E %E "E sH;*E ;VE 4ZE BE B, ?AZ#i?Zb?>?ZNoٱZB} bAHRS rotation from veh to nav: [[0.736259,-0.653393,-0.176070],[0.676542,0.716351,0.170682],[0.014606,-0.244785,0.969467]]ZH`o? uƿ`;?X???@UϿ?iZ#i?IZW^;ZCYj.ByjItbDr VDr2yzl%~P=ٔ~9Q-~>9 ?Y ?=Fy5QE E >Q 5q5St?Q 9q5)BYyt?Q I@LDI1:i:Xq5y-Bɮ-9A-`EjhQ]FNOT Ignoring new targets: 136.63 m.Rh]7Zh]7m ProNav: ac range: 136.632278 m, nav range: 133.009018 m, bearing: 339.731443 deg, approach rate: -0.188609 m/s, LOS rate: -0.302873 deg/s, cmd heading: 335.829391 deg, new cmd heading: 335.504707 deg. BhuOuHeadingCmd: 5.855662 target range: 136.632278 and range: 137.40 m.hua@hy*hy"hy hygyfyffdddjdZdC?5Bɢ=Z<)9 =->i9)N:顁ii^ھIa@I 15֐C~GgA%Tſ9-gAY-uAU9@Q @Q@]Y2@YA^Ayi A I I O > B,p[ ?A>PK?>!8?>nٱ>8 FAHRS rotation from veh to nav: [[0.752212,-0.635769,-0.173131],[0.658760,0.731413,0.176267],[0.014566,-0.246642,0.968997]]>H?8X ,)ƿ`?@g??ԍ?`Ͽ`?i>PK?I>B^;>CYN%ByNI PRATVAbDZVDZk1ybR3%bO=ٔf58Q-f>9dYd=fFyj9QEjxEj>lQ 5rq5n$at?Q 9rq5nh)nBYtyvn?Q Iv@nTDIn;inR:nq5yxɮzAxbE'4jE-4rE:0E  E E*E"EE;*E:VE(N4ZEa@a@a@a@jh1=FNOT Ignoring new targets: 136.63 m.RhEZhEU ProNav: ac range: 136.632278 m, nav range: 132.935257 m, bearing: 339.622744 deg, approach rate: -0.185598 m/s, LOS rate: -0.273661 deg/s, cmd heading: 335.504711 deg, new cmd heading: 335.178437 deg. BhU;UHeadingCmd: 5.849967 target range: 136.632278 and range: 137.40 m.Yh]2@ha*ha"ha hagafafifidididqjdqZdu1?EBɢEZG<)I U!>iy)nm:顁iBBiݾI2@IB>BCBIBbBB =BDDBBh;B(Eԉ@ @@/@Թ^A A ؟AI I O% >B,P9! ?A2>21?2rٱ2# :AHRS rotation from veh to nav: [[0.768623,-0.616852,-0.169448],[0.639530,0.747106,0.181199],[0.014823,-0.247641,0.968738]]2H??@xſw?K?`1?O[? Ͽ?i2>I2G}^;2CYBByBIiMb@Mb@Mb@ 9ףp= ?rh|?)\(Y?y=GaAQ@ @)@YG@bDmVDmy}s%?=ٔ:Q->9"?Y"?=Fy=QEqE>Q 5q5ot?Q 9q5)BYl"?Q E:y\?Q I@]DI+;i:q5yɮAԹjhFNOT Ignoring new targets: 136.63 m.RhZh ProNav: ac range: 136.632278 m, nav range: 132.842300 m, bearing: 339.513596 deg, approach rate: -0.218187 m/s, LOS rate: -0.256370 deg/s, cmd heading: 335.178447 deg, new cmd heading: 334.850778 deg. Bh/HeadingCmd: 5.844249 target range: 136.632278 and range: 137.40 m.h@h*h"h h g f f f'~BdddjdZdf?EBɢMk#+<)I M >iI)M M:IQiU*i]BྉYYI]@IYiE EE%E"E1A;*E#:VE 4ZEBEAU>AU?A I I O >A XB,; ?Ar>r+?rtٱrr~ zAHRS rotation from veh to nav: [[0.784722,-0.597763,-0.163983],[0.619668,0.762913,0.184324],[0.014923,-0.246258,0.969089]]rH`q? @dĿ`R?@i?? ?bϿ?ir>Ire^;pY%By%IbD5VD5fye %eL=ٔeQ-e>9iYi=mFymAQEuEu>Q 5q5)~t?Q 9q5)pBYy?V?Q I@eDI:i:q5yBɮ AB*** querying acoustic contact ***i ijhyFNOT Ignoring new targets: 136.63 m.RhZh ProNav: ac range: 136.632278 m, nav range: 132.749847 m, bearing: 339.412389 deg, approach rate: -0.218080 m/s, LOS rate: -0.238895 deg/s, cmd heading: 334.850789 deg, new cmd heading: 334.546961 deg. Bh#HeadingCmd: 5.838946 target range: 136.632278 and range: 137.40 m.hغ@h*h"h hgfffdddjdZdX?Bɢ!<)  >i):ii\s㾉Iغ@IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@@E  E E)E"EF;*E:VEFA4ZEa-@a-@a-@a-@y^A >B >B B IB DBB  =B B rDB 8h;B (Eԙ I I O >&B,T ?Abe$>bqh$?bIb*)^;bCrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256122Yz Byz}II~]>)~>==ieMb@Mb@Mb@aaaa a9eOn?{Gz?lYe?yeף=eeAe@ aq)e|@aYeQ@bD VD:2y%8=ٔ[0Q->9Y=FyFQErE>Q 5q5yt?Q 9q5K)fBY<?Q E:yA?Q I@mDIX ;i ;q5y"Bɮ AWEjhamFNOT Ignoring new targets: 136.63 m.RhAZhA ProNav: ac range: 136.632278 m, nav range: 132.633087 m, bearing: 339.309117 deg, approach rate: -0.269130 m/s, LOS rate: -0.238250 deg/s, cmd heading: 334.546955 deg, new cmd heading: 334.236869 deg. Bh#HeadingCmd: 5.833534 target range: 136.632278 and range: 137.40 m.hO@h*h"h hgfff}BdddjdZd@@Bɢ > <)  =i ) j:iw_i8澉IO@I!ԡ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507968^A >E5  E5 OE5 'E1 "E5 N;*E5 3;VE5 '4ZE1 BE5 m h4B,n ?A2q>20?2]wٱ2~ >AHRS rotation from veh to nav: [[0.816411,-0.556516,-0.154151],[0.577273,0.793496,0.192664],[0.015098,-0.246280,0.969081]]2H ?5ÿy?Rd?4?q?@Ͽ?i2q>I2b*^;2CYDyF~IbDNVDN:yVU;%Vm=ٔZ9Q-Z?9XYX=ZFy^IQE^ȞE^?`Q 5fq5bt?Q 9fq5b)b^BYhyj:?Q Ij@btDIb:ib:bq5yn Bɮn Aljh FNOT Ignoring new targets: 136.63 m.Rh BZh B ProNav: ac range: 136.632278 m, nav range: 132.537415 m, bearing: 339.229582 deg, approach rate: -0.290594 m/s, LOS rate: -0.241753 deg/s, cmd heading: 334.236864 deg, new cmd heading: 333.998088 deg. Bh%%HeadingCmd: 5.829366 target range: 136.632278 and range: 137.40 m.h%+@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=`c~@mBɢm=<)i mS>ii)uw:qqiuKi}[辉yyI}+@I9Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760290@ @@00@@>@x>^AA%eAzA%fAIyIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012039_B,X ?A6>6$?6M|ٱ6 ZAHRS rotation from veh to nav: [[0.831335,-0.535030,-0.150416],[0.555558,0.807501,0.198235],[0.015399,-0.248365,0.968544]]6HK?@ÿ "?@ ? _? b?iϿ`P?i6>I6^;6CYbBybIEr ErEpEp"ErCJ;*Eru:VEpZEpav@av@av@av@bDjVDjβy~<%~G=ٔ?Q->9Y=FyMQE 0E >Q 5q5at?Q 9q5u)TBY!y%3?Q I%@|DIn;iz;q5y)ɮ-{ A)jhQ]FNOT Ignoring new targets: 136.63 m.Rh]2Zh]2m ProNav: ac range: 136.632278 m, nav range: 132.418060 m, bearing: 339.136074 deg, approach rate: -0.290314 m/s, LOS rate: -0.227651 deg/s, cmd heading: 333.998081 deg, new cmd heading: 333.717307 deg. Bhm<uHeadingCmd: 5.824466 target range: 136.632278 and range: 137.40 m.hub@hq*hy"hy hygyfyffdddjdZd@颽Bɢ?<) >i) |:iZiJ꾉Ib@IQ@ @@3@B>BBIB+BBBBBh;B(Ey BDAT read: Rx Time:05:33:32.8595  TRx dataTimestamp_ set to:1761543214.365724checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267613^A IqIO>ԡ 9B, ?A@Y~By~I A  AiMb@Mb@Mb@ 9Q?y&1?S㥛Y?y`e=/ݼA @)f@Y@@AbDVDyG%>=ٔQ->9Y=FyRQEE>Q 5q5t?Q 9q5R)MBY?Q E:y+?Q I@DI ;i ;Eq5yBɮXEjh)-FNOT Ignoring new targets: 136.63 m.Rh5LzZh5LzE ProNav: ac range: 136.632278 m, nav range: 132.288818 m, bearing: 339.041827 deg, approach rate: -0.299789 m/s, LOS rate: -0.218829 deg/s, cmd heading: 333.717305 deg, new cmd heading: 333.434290 deg. BhE.MHeadingCmd: 5.819526 target range: 136.632278 and range: 137.40 m.hM9@hI*hI"hI hI]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516137gQfafafe}BdadidijdiZdm > @额Bɢz%C<) 5>i):顡ipidI9@IԩE EE&E"E*E:VE4ZEBEI1 IA OM >] DAT read: 05:33:32.8595 LVL= 30832, 30753, 19650, 28243, AGC= 61, IDX= 442, 0.25, 1.036, 0.728, 2.736, 1.463, PHS=-0.325,-0.691, 1.228, RAW= 199.7, -2.4, CAL= 199.6, -5.0, ROT= 310.4, 5.0 e Ygot valid direction response: 05:33:32.8595 LVL= 30832, 30753, 19650, 28243, AGC= 61, IDX= 442, 0.25, 1.036, 0.728, 2.736, 1.463, PHS=-0.325,-0.691, 1.228, RAW= 199.7, -2.4, CAL= 199.6, -5.0, ROT= 310.4, 5.0 u PDAT read: Bearing 159.9, -44.7 (Local) } ~Local bearing/azimuth received: Bearing 159.9, -44.7 (Local)  DAT read: Range 11 to 50 : 136.9 m (Round-trip 182.6 ms) speed 0.2 m/s  *DAT read: user:438>  BDAT read: Tx time:05:33:33.9728  $Ping request sent. 2.?2pRٱ2F :AHRS rotation from veh to nav: [[0.860292,-0.489734,-0.141628],[0.509561,0.834573,0.209370],[0.015664,-0.252288,0.967526]]2H ?W߿ ¿RN?@Ҵ??# ?{%п ?i2>I2];0YnBynIbDzVDzy%q<%%V=ٔ%5Q-%>9)Y)=-Fy-VQE5E5>9Q 5Eq5=t?Q 9Eq5=|)=GBYAyE?Q IM@=DI=:i=:=q5yQɮUW AQԙi9i=& ?AJi=!CRi=!Cji=s{@b=2U@ս,Y0'R=;դ1?nyaF违OZi=m]bi=¸=j=/_@]9E/@Z=?,Կ?2i=/:i=B"i=H㞊?*i=?Bi=Bi=xĴ蝊?i9i=Bi=Ci=q@% addTargetRange:: Added new target pos. range: 136.899994 m, deltaT: 3.780599 s, deltaX: -0.500000 m, approachRate: -0.132254 m/s, rangeRepo size: 4 U Added new target pos. range: 136.131409 m, bearing: 341.057120 deg, lat: 36.779364 deg, lon: -121.859685 deg, deltaT: 3.780599 s, deltaX: -0.500870 m, approachRate: -0.132484 m/s, posRepo size: 4 jhY]FNOT Ignoring new targets: 136.13 m.Rh]Zham ProNav: ac range: 136.131409 m, nav range: 133.609924 m, bearing: 339.199264 deg, approach rate: 0.000000 m/s, LOS rate: -0.218829 deg/s, cmd heading: 333.434290 deg, new cmd heading: 333.170031 deg. BhyHeadingCmd: 5.814914 target range: 136.131409 and range: 136.90 m.h@h*h"h hgfffdddjda@Zd`?%|Bɢ%Y<)) -U->i))M:IQiUo=iU>ノYYI]@IY9@ @@ 4@ E EE(E"EQ;*EVEc44ZEa @a @a @a @^A- >A= >A= >Aq Au @AB >B CB IB %BB B B B g;B K(EB]CB]CBYB] =B] =C];5I I9 O >! KB,7 ?A6us>6?6-遼ٱ6' JAHRS rotation from veh to nav: [[0.873582,-0.467361,-0.135749],[0.486419,0.847554,0.212249],[0.015858,-0.251448,0.967741]]6H b? @ݿ`;`{!?(?*?I6];6CYVByVIiMb@Mb@Mb@ 9tV?X9v?QY?y}=u )YbDVDN2y<%>=ٔ_Q->9Y=FyZQE}E> Q 5q5 t?Q 9q5 2y) BBY?Q E:y?Q I@ DI  ;i 2 ; _q5y%Bɮ- A-YEEB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 136.13 m.Rh]tZh]tm ProNav: ac range: 136.131409 m, nav range: 133.469543 m, bearing: 339.111444 deg, approach rate: -0.341908 m/s, LOS rate: -0.214116 deg/s, cmd heading: 333.170043 deg, new cmd heading: 332.906309 deg. BhmuHeadingCmd: 5.810311 target range: 136.131409 and range: 136.90 m.hu@hq*hy"hy hygyfyff}BdddjdZd?uuBɢu7z<)y }A>iy)}:yyi}< i򾉧I@I!E9@A @A@E3@AQuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.^Ai E  E E %E "E P;*E :VE 4ZE BE suB, ?A>Ɔ>>3s>>'ٱ>€ JAHRS rotation from veh to nav: [[0.886255,-0.444826,-0.129161],[0.462913,0.860362,0.213279],[0.016253,-0.248810,0.968416]]>H2\?@xܿ\]??L? ?Ͽ@C?i>Ɔ>I>1^;9dYh=jFyj^QEjᕽEj>lQ 5rq5nt?Q 9vq5n+v)n>BYtyvI?Q Iv@nDInp:ing:nq5yxɮzA|jh%FNOT Ignoring new targets: 136.13 m.Rh%eZh-e5 ProNav: ac range: 136.131409 m, nav range: 133.346207 m, bearing: 339.038231 deg, approach rate: -0.338261 m/s, LOS rate: -0.200978 deg/s, cmd heading: 332.906316 deg, new cmd heading: 332.686476 deg. Bh= EHeadingCmd: 5.806474 target range: 136.131409 and range: 136.90 m.hEι@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdUr?颅nBɢ8x<) [>i)V8;顉iٙirIι@IY9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988977ԁ^A9ԱA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239935 T]C, ?ARr>Ru)>RٱR~ ZAHRS rotation from veh to nav: [[0.897966,-0.422513,-0.123047],[0.439757,0.872013,0.214958],[0.016476,-0.247136,0.968841]]RH"?r ۿ$? ??@-ߐ?`$Ͽ?iRr>IR];PDb4=Dba=Ef EfEf$Ed"EfsH;*Efu:VEf4ZEdaj@aj@aj@aj@Yn7BynIbDvVDvN2y~=%~G=ٔ#Q->9Y = Fy bQE IE >Q 5q5t?Q 9q5r):BY!y% ?Q I%@DI;i;'q5y-Bɮ-.A-ZEjhQ]FNOT Ignoring new targets: 136.13 m.Rh]aZh]am ProNav: ac range: 136.131409 m, nav range: 133.202774 m, bearing: 338.957264 deg, approach rate: -0.349126 m/s, LOS rate: -0.197292 deg/s, cmd heading: 332.686466 deg, new cmd heading: 332.443305 deg. BhmfuHeadingCmd: 5.802230 target range: 136.131409 and range: 136.90 m.hu߫@hq*hy"hy hygyfyffdddjdZdd?gBɢ'<) >i);!!i%Ԛi-?))I-߫@I1ԹB5>B1B5IB5+BB1B1B1B5:g;B5(E9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493400^AQAQzAQ A I I O >wC,# ?A~W>~>~ٱ~ AHRS rotation from veh to nav: [[0.909261,-0.399274,-0.117579],[0.415897,0.882779,0.218477],[0.016564,-0.247553,0.968733]]~H?್ٿ ??? ?1?ЯϿ?i~W>I~];~CY=JBy=I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743996iMb@Mb@Mb@ 9ʡE?㥛 ?~jtY-?y=D|A @)Y @bDVDy =%1=ٔGQ->9Y=FygQEjE>Q 5q5u?Q 9q5Co)5BYe?Q E:y ?Q I@DI;i;.q5y*BɮAPEjhFNOT Ignoring new targets: 136.13 m.Rh`Zh`5 ProNav: ac range: 136.131409 m, nav range: 133.040955 m, bearing: 338.866731 deg, approach rate: -0.350562 m/s, LOS rate: -0.196368 deg/s, cmd heading: 332.443311 deg, new cmd heading: 332.171382 deg. Bh55HeadingCmd: 5.797484 target range: 136.131409 and range: 136.90 m.h=@h9*h9"h9 h9g9f9fAfEB~BdAdIdIjdIE EE%E"EO;*EVE 4ZEBE6i)K;(;顙i~#iƭI@Iu9@y @y@}/@y}G(hAƿ9(hAY9Ai I A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997180! ^A Q A .AI I O >?C, A ?A2^=>2[>2yٱ2l :AHRS rotation from veh to nav: [[0.919745,-0.376141,-0.112196],[0.392164,0.892708,0.221989],[0.016659,-0.248172,0.968573]]2H n? ؿ`۸`6?`?#j??Ͽ ?i2^=>I2D];2CYBXByBI DDDDbDrVDr:2yzD=%zM=ٔ~xQ-~>9~ ?Y~ ?=FykQEE> Q 5q5 l u?Q 9q5 Bl) 1BYyb?Q I@ DI ;i ]; q5y%)Bɮ%A%QEjhIUFNOT Ignoring new targets: 136.13 m.RhU\ZhU\e ProNav: ac range: 136.131409 m, nav range: 132.896530 m, bearing: 338.789809 deg, approach rate: -0.362233 m/s, LOS rate: -0.193137 deg/s, cmd heading: 332.171388 deg, new cmd heading: 331.940374 deg. BhemHeadingCmd: 5.793452 target range: 136.131409 and range: 136.90 m.hmc@hq*hq"hq hqgqfqfyfydydydjdZd`:@颵VBɢ<) >i)v6;项iiPIc@IԉI@I @I@M/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248117bEĞ4jE24rE/E] E]E]&EY"E]CJ;*E] :VE]4ZEYam@am@am@am@Ա^A->B>BBIBIBB =BBBg;B (EA ؟AI I O >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500775 +eC,Z ?A2">2o>2[Tٱ2 :AHRS rotation from veh to nav: [[0.929593,-0.353066,-0.105835],[0.368228,0.902258,0.224364],[0.016275,-0.247538,0.968741]]2H:?ֿ ?K?@? [? TϿ ?i2">I2Z];2CY^sBy^Ii}Mb@Mb@Mb@yyyy y9}M?V-?~jtY}n?y}=yyy y)}X@yY}@bDVDy=%@=ٔl:Q->9"?Y"?=FyoQEyE>Q 5q52u?Q 9q5h)+BYq?Q E:y?Q I@DI:i':cq5y(BɮAB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 136.13 m.Rh gZh g ProNav: ac range: 136.131409 m, nav range: 132.749481 m, bearing: 338.703522 deg, approach rate: -0.344840 m/s, LOS rate: -0.202572 deg/s, cmd heading: 331.940363 deg, new cmd heading: 331.681219 deg. Bh% %HeadingCmd: 5.788929 target range: 136.131409 and range: 136.90 m.h%>@h)*h)"h) h)g)f)f1f=~Bd9d9d9jd9ZdE@mNBɢm&<)q u>iq)uqKM;yyi}-mi}I>@II@I @I@M0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.752022^A->A5>A5>Ee EeEe(Ea"EeL;*Ee:VEec44ZEaBEeܡ-C,mt ?AB0 >B;>B)YٱBo JAHRS rotation from veh to nav: [[0.938557,-0.330040,-0.100921],[0.344747,0.910237,0.229386],[0.016155,-0.250084,0.968089]]BH?`տ`չU?` ?`\??`п?iB0 >IB^;BCYRByR IbDZVDZ1yb=%fZ=ٔfc9Q-f>9dYh=jFyjsQEjKEj>lQ 5rq5nAu?Q 9vq5ne)n$BYtyvh ?Q Iv@nDIn:in:nq5yxɮzAA|jh FNOT Ignoring new targets: 136.13 m.RhSZhSBDAT read: Rx Time:05:33:36.5580 %TRx dataTimestamp_ set to:1761543217.892369%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005264E ProNav: ac range: 136.131409 m, nav range: 132.615784 m, bearing: 338.628794 deg, approach rate: -0.330930 m/s, LOS rate: -0.185155 deg/s, cmd heading: 331.681226 deg, new cmd heading: 331.456816 deg. BhE$MHeadingCmd: 5.785013 target range: 136.131409 and range: 136.90 m.hM@hI*hI"hI hIgQfQfqfqdydydyjdyZdJ@EBɢ;M=)1 5e>i1)5e;11i5ǟi=t99IE@IAQ@ @@0@!y^Ai ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256982Ee  Ee Ee %Ea "Ee Q;*Ee :VEe 4ZEa am @am @am @am @I I O >jw#C, ?ANd}ٱN_ VAHRS rotation from veh to nav: [[0.946850,-0.307288,-0.095126],[0.321302,0.917682,0.233721],[0.015475,-0.251863,0.967639]]NHL? ӿ'Z@8?]?@??@п?iNML=IN];NCY^Byb IIb=)b=f=f=bDjVDjP)3yr=%rH=ٔv[:Q-v>9xY|=FywQEwE>B%>B!B%IB%mBB% =B!B!B%Hg;B%%(E9Q 5Er5=Su?Q 9Er5=b)=BYIyM?Q IM@=ȼDI=p:i=:=Mr5yU'BɮUA]REjhUFNOT Ignoring new targets: 136.13 m.RhehkZhmhk ProNav: ac range: 136.131409 m, nav range: 132.462952 m, bearing: 338.547326 deg, approach rate: -0.385651 m/s, LOS rate: -0.205810 deg/s, cmd heading: 331.456813 deg, new cmd heading: 331.212130 deg. Bh> %HeadingCmd: 5.780742 target range: 136.131409 and range: 136.90 m.h%@h!*h)"hI hQgYfYffdddjdZd`U @ԩ=Bɢ.=) i>i ) ;i Y } BDAT read: Tx time:05:33:37.6728  $Ping request sent. AIzAMdA GH@ =) @I C|??ۼ? #T?) I i e:publishing transmit ping time eFpublishing direction and range infoy Eu  EuEu)Eq"EuF;*Eu:VEuFA4ZEqBEu`*C,ѭ ?Angw?8/N߿Iz?Y )Ii )IC|??ۼ? )IiԑYBy6IimMb@Mb@Mb@iiii i9mGz?w/?y&1Ym?ym&>m`mAm@ m@)iiYm\@bDVDN2ys=% =ٔQ->9Y=Fy}QEE>Q 5r5Yku?Q 9r5]) BY?Q E:y\?Q I@ӼDI:i:Wr5y!ɮ%-A!iiS ?AJiCRiCji @bwg]@^7Pz5@Rngw?8/N߿Iz?ZibijC"i*a?*iӚBiBiiiBiECiu@- addTargetRange:: Added new target pos. range: 135.699997 m, deltaT: 3.783336 s, deltaX: -1.199997 m, approachRate: -0.317180 m/s, rangeRepo size: 4 e Added new target pos. range: 134.937378 m, bearing: 350.573825 deg, lat: 36.779364 deg, lon: -121.859685 deg, deltaT: 3.783336 s, deltaX: -1.194031 m, approachRate: -0.315603 m/s, posRepo size: 4 jhamFNOT Ignoring new targets: 134.94 m.RhmZhi ProNav: ac range: 134.937378 m, nav range: 132.270111 m, bearing: 338.427387 deg, approach rate: 0.000000 m/s, LOS rate: -0.205810 deg/s, cmd heading: 331.212129 deg, new cmd heading: 330.846023 deg. BhHeadingCmd: 5.774353 target range: 134.937378 and range: 135.70 m.hǸ@h*h"h hgfff~Bdddjd`f`@Zd@e?-2Bɢ-3=)) -A?i))5;11i5ji]BYYI]Ǹ@IaUWg9@ @@/@ ^A >Iy I O >u2C,R ?A2w=2>2-aٱ2 JAHRS rotation from veh to nav: [[0.961394,-0.262471,-0.082650],[0.274832,0.930884,0.240670],[0.013769,-0.254094,0.967082]]2H?@Tп( ٖ?`?H?@2?CпU?i2w=I2^;2CYRByRFITbD^VD^yf=%jj=ٔjv;Q-n>9xYx=~Fy~QE1 E> Q 5r5 ?zu?Q 9r5 Z) BYy ?Q I@ ټDI d:i : i r5y%&Bɮ%A-SEEU EUEU&EQ"EUM;*EUL:VEU4ZEQa]@a]@a]@a]@jhamFNOT Ignoring new targets: 134.94 m.RhuvZhuv ProNav: ac range: 134.937378 m, nav range: 132.144638 m, bearing: 338.356630 deg, approach rate: -0.381839 m/s, LOS rate: -0.215531 deg/s, cmd heading: 330.846031 deg, new cmd heading: 330.633559 deg. BhHeadingCmd: 5.770644 target range: 134.937378 and range: 135.70 m.h@h*h"h hgfffdddjdZd@?,Bɢ(JH=)  ?i);i Wi5I@IBE>BABE-IBEBBABABABEg;BEX(E 9@ @@0@1 ^A) I I O >|8C,N ?A2=2B>2bQٱ2I :AHRS rotation from veh to nav: [[0.967731,-0.240357,-0.075662],[0.251659,0.937134,0.241760],[0.012797,-0.252999,0.967382]]2H?ο`^@/?`??`5?#1п?i2=I2B ^;0YBByBQIDFA9i}Mb@Mb@Mb@yyyy y9}kt?Zd;O?ktY} ?y}j<>} 0}A}$@ }@)}f@yY}@AAbDVDk1y$=%>=ٔx;Q->9Y=FyQEhE>Q 5r5Au?Q 9r5W)BY?Q E:y ?Q I@DIP:i:r5y'Bɮ}AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 134.94 m.Rh jZh j ProNav: ac range: 134.937378 m, nav range: 131.993683 m, bearing: 338.270446 deg, approach rate: -0.357926 m/s, LOS rate: -0.204583 deg/s, cmd heading: 330.633557 deg, new cmd heading: 330.374710 deg. Bhg %HeadingCmd: 5.766127 target range: 134.937378 and range: 135.70 m.h%@h!*h!"h! h)g)f)f)f5ZBd1d1d9jd9Zd=8?e$Bɢmo5=)i mw?ii)m;qqiu6를i}]yyI}@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@4@QEu EuEu$Eq"EuCJ;*Eu:VEu4ZEqBEuA>A>AE .AII IY Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242257ԩ >C, ?A2I<2+k>2+Bٱ2@ :AHRS rotation from veh to nav: [[0.973498,-0.218283,-0.068222],[0.228389,0.943384,0.240551],[0.011851,-0.249757,0.968236]]2H&?˿v;? 40?`_?WE?Ͽ ?i2I95 ?Y5 ?==Fy=QE=m|EE>AQ 5Mr5Eu?Q 9Mr5ET)EBYQyU?Q IU@EDIE:iE :Er5y]%BɮeAayjhFNOT Ignoring new targets: 134.94 m.RhdZhd ProNav: ac range: 134.937378 m, nav range: 131.851288 m, bearing: 338.192686 deg, approach rate: -0.366193 m/s, LOS rate: -0.200188 deg/s, cmd heading: 330.374720 deg, new cmd heading: 330.141190 deg. Bhc HeadingCmd: 5.762051 target range: 134.937378 and range: 135.70 m.hb@h*h"h hgfffdddjdZd@?Bɢ vF=) ?i)O ;ibtiiIb@I 9@ @@1@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494353Du=Du<E  E E%E"EE;*E:VE 4ZEa@a@a@a@^A>BY BY B] YIB] BBY BY BY B] h;B] (EBCBCBBB =Cf4A ؟AI I! O- > EC, ?Af@fm<>f8ٱf3z rAHRS rotation from veh to nav: [[0.983076,-0.175367,-0.052985],[0.182968,0.954321,0.236206],[0.009142,-0.241903,0.970257]]fH\u?jrƿ `k? ͉?@`eA@ @)X@Y@bDVDy=%?=ٔ;Q->9"?Y"?=FyQEC޽E>Q 5r5(u?Q 9r5XQ)BY ?Q E :y ?Q I @DI':is:@r5yɮAjh9EFNOT Ignoring new targets: 134.94 m.RhEibZhEib] ProNav: ac range: 134.937378 m, nav range: 131.696945 m, bearing: 338.108211 deg, approach rate: -0.361236 m/s, LOS rate: -0.197944 deg/s, cmd heading: 330.141182 deg, new cmd heading: 329.887462 deg. Bh]]HeadingCmd: 5.757622 target range: 134.937378 and range: 135.70 m.heq>@ha*ha"ha hagafafifmoBdqdqdqjdqZdu ?颥Bɢl~J=)  #?i);顩iiPIq>@IM9@I @I@M/@I1^AiM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006338E  E E 'E "E G;*E :VE '4ZE BE (y KC,1 ?A;ɰ;YrՀByruIbDzVDz:2y <% Z=ٔ Q- >9Y=FyQEE>!Q 5-r5%u?Q 9-r5%N)%BY)y)Q I-@%DI%:i%d:%r5y=2Bɮ=A=KEjhaeFNOT Ignoring new targets: 134.94 m.RhmbZhmb} ProNav: ac range: 134.937378 m, nav range: 131.561676 m, bearing: 338.033881 deg, approach rate: -0.360290 m/s, LOS rate: -0.198183 deg/s, cmd heading: 329.887454 deg, new cmd heading: 329.664236 deg. Bh}HeadingCmd: 5.753726 target range: 134.937378 and range: 135.70 m.h@h*h"h hgfffdddjdZdg@Bɢ\=) &?i);i$iI@IQU9@Q @Q@Q@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258443ԁ^AAzAfAԩA I I O > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510166 RC,K ?AJ@J >Jx"ػٱJB*z RAHRS rotation from veh to nav: [[0.990439,-0.132126,-0.039669],[0.137795,0.961270,0.238690],[0.006596,-0.241874,0.970285]]JH? O A? ?a? B{?ο ?iJ@IJ^;JCYZ׀ByZyIbDbVDb1ynT<%nM=ٔr;Q-r>9pYp=rFyvQEvEv>xQ 5~r5z}u?Q 9~r5zK)zBYy>Q I@zDIzs:iz:zr5y 1Bɮ AD5AAzD5AAE= E=E=&E9"E=mR;*E=A:VE=4ZE9aE@aE@aE@aE@jhIUFNOT Ignoring new targets: 134.94 m.RhUXZh]Xe ProNav: ac range: 134.937378 m, nav range: 131.409927 m, bearing: 337.957601 deg, approach rate: -0.376782 m/s, LOS rate: -0.189615 deg/s, cmd heading: 329.664244 deg, new cmd heading: 329.435143 deg. Bhm!HeadingCmd: 5.749728 target range: 134.937378 and range: 135.70 m.h@h*h"h hgfffdddjdZd`@mBɢuW=)q u)?iq)uG;yyi}iHi}I@IԱB<ABBBxIB׀BBBBBh;B(E!@! @!@!@!iߩI߭Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762736^A A1 IA IQ O] >) XC,Qe ?AJ@J6=J4ٱJ^} VAHRS rotation from veh to nav: [[0.993341,-0.110274,-0.033356],[0.115082,0.963338,0.242356],[0.005408,-0.244581,0.969614]]JHs?:@u?@??&v?jNϿ?iJ@IJĝ^;JCYZЀByZpIiEMb@Mb@Mb@AAAA A9E rh?> ףp=?X9vYEC ?yEQ>E}EfAA E@)E|@AYEf@bD]VD]kym %mB=ٔm 9;Q-u>9qYq=uFyuQE}^E}>Q 5r5u?Q 9r5I)BY?Q E:y>Q I@DI:i: r5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 134.94 m.RhhTZhhTe ProNav: ac range: 134.937378 m, nav range: 131.245987 m, bearing: 337.880036 deg, approach rate: -0.392004 m/s, LOS rate: -0.185700 deg/s, cmd heading: 329.435132 deg, new cmd heading: 329.202148 deg. BhemHeadingCmd: 5.745661 target range: 134.937378 and range: 135.70 m.hmuܷ@hi*hi"hi higifqff:BdddjdZd8@BDAT read: Rx Time:05:33:40.2564 TRx dataTimestamp_ set to:1761543221.684337%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015596!=BɢE#!U=)A E'?iA)E:VE]FA4ZEYBE]Κi  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266241I I O >_C,- ?A$((F@F@=F*ٱF~ ^AHRS rotation from veh to nav: [[0.995820,-0.087341,-0.026730],[0.091233,0.965249,0.244891],[0.004412,-0.246306,0.969182]]FH?`[@_[?Q?X?`!r?Ͽ?iF@IFk^;FCYfҀByfsIhjAr@ApbDvVDv2yzG<%~R=ٔ~';Q-~>9Y=FyQE K|E > Q 5r5 (u?Q 9r5 F) uBYy">Q I@ DI ;i ; $r5y-0Bɮ-A-LEjhQUFNOT Ignoring new targets: 134.94 m.Rh]OZh]Om ProNav: ac range: 134.937378 m, nav range: 131.090668 m, bearing: 337.809761 deg, approach rate: -0.399550 m/s, LOS rate: -0.180993 deg/s, cmd heading: 329.202141 deg, new cmd heading: 328.991067 deg. BhmmuHeadingCmd: 5.741977 target range: 134.937378 and range: 135.70 m.huG@hq*hq"hq hqgyfyfyfydddjdZdJ @颵~Bɢފm=) *?i)Ī <项i*\i IG@Iu9@y @y@-0@ԑUDAT read: 05:33:40.2564 LVL= 32752, 32753, 26562, 32755, AGC= 64, IDX= 427,-0.27,-1.359,-2.443,-0.371,-1.202, PHS=-0.055,-1.196, 0.787, RAW= 175.0, 5.4, CAL= 174.5, 4.3, ROT= 335.5, -4.3 ]Ygot valid direction response: 05:33:40.2564 LVL= 32752, 32753, 26562, 32755, AGC= 64, IDX= 427,-0.27,-1.359,-2.443,-0.371,-1.202, PHS=-0.055,-1.196, 0.787, RAW= 175.0, 5.4, CAL= 174.5, 4.3, ROT= 335.5, -4.3 ePDAT read: Bearing 153.9, -24.3 (Local) e~Local bearing/azimuth received: Bearing 153.9, -24.3 (Local) mDAT read: Range 11 to 50 : 134.5 m (Round-trip 179.4 ms) speed 0.0 m/s u*DAT read: user:440> }BDAT read: Tx time:05:33:41.3728 }$Ping request sent.}BBIBBBBBB h;B(E^AM >AQ AU > I I) O >{fC, ?A<-"=@-=-hzٱ-} }AHRS rotation from veh to nav: [[0.997723,-0.064350,-0.020205],[0.067338,0.967370,0.244254],[0.003828,-0.245058,0.969501]]-H`X?@:y` =??C?([o?^Ͽ&?i-"=@I-z/^;-CỲByjIi-Mb@Mb@Mb@)))) )9-K7?Q?Q뱿Y- ?y-(\>-\-|A-@ -|@)-@)Y-@bDeVDeyuݼ%u%=ٔ}ޚ:Q-}>9yY=FyQE~FE>Q 5r5 v?Q 9r5C)WBYe?Q E:yF>Q I@DI:if:l(r5ԡyɮ#Ai i ?AJi CRi Cji ^q@b E\W^@QL`CKeWS$@R hӘk ?U4wڿ]1?Zi ھbi `j ~.#_@|-KpEr(r7@Z q?3ԿF)k?2i +:i B"i I?*i B$Bi GBi H㞊?i ?i i ]Ci /@= addTargetRange:: Added new target pos. range: 134.500000 m, deltaT: 3.535925 s, deltaX: -1.199997 m, approachRate: -0.339373 m/s, rangeRepo size: 4 m Added new target pos. range: 133.744385 m, bearing: 340.986600 deg, lat: 36.779391 deg, lon: -121.859645 deg, deltaT: 3.535925 s, deltaX: -1.192993 m, approachRate: -0.337392 m/s, posRepo size: 4 jhquFNOT Ignoring new targets: 133.74 m.Rh}Zhy ProNav: ac range: 133.744385 m, nav range: 132.365723 m, bearing: 339.635445 deg, approach rate: 0.000000 m/s, LOS rate: -0.180993 deg/s, cmd heading: 328.991060 deg, new cmd heading: 328.715531 deg. BhHeadingCmd: 5.737168 target range: 133.744385 and range: 134.50 m.h▷@h*h"h hgfff<Bdddjd`@Zd?5~Bɢ5E4J=)1 =)?iY)]AlC,e ?A29|@23=2oUٱ2Zb} :AHRS rotation from veh to nav: [[0.999034,-0.041694,-0.013896],[0.043827,0.968645,0.244554],[0.003264,-0.244927,0.969536]]2H? Xiup? #?M?j?YϿp?i29|@I25^;0YRByRUIbDZVDZ:ybݽ%b=ٔf:Q-f ?9dYd=jFyjQEjGEj ?ppQ 5vr5rv?Q 9vr5rA)rDBYtyv@>Q Iz@rDIr:ir[:r.+r5y~/Bɮ~A~MEjhFNOT Ignoring new targets: 133.74 m.Rh<Zh< ProNav: ac range: 133.744385 m, nav range: 132.232758 m, bearing: 339.582742 deg, approach rate: -0.415465 m/s, LOS rate: -0.164842 deg/s, cmd heading: 328.715531 deg, new cmd heading: 328.557264 deg. BhBHeadingCmd: 5.734406 target range: 133.744385 and range: 134.50 m.hA@h *h "h  h gf1f9f9dAdAdIjdIZdM?=~Bɢ=k=)9 =!?i9)Ea (sC,A ?A2׻@2Ħ<2c(ٱ2Z9| :AHRS rotation from veh to nav: [[0.999790,-0.019115,-0.007455],[0.020356,0.969630,0.243728],[0.002569,-0.243829,0.969815]]2HF?`ᒓ~ ؔ?`5?`|2?_ e?5Ͽ`?i2׻@I2t-^;2CYBByB[IIF%=)F%=J=J=Er  ErEr%Ep"ErC;*Er:VEr 4ZEpav@av@az@az@bDN VDN2y-<%-D=ٔ5":Q-5>91Y1=5Fy=QE9EfEE>IQ 5Ur5M*v?Q 9Ur5M?)M*BYQyU^>Q IU@M$DIM;iM<;M.r5yaɮezAajhFNOT Ignoring new targets: 133.74 m.RhBZhB ProNav: ac range: 133.744385 m, nav range: 132.053391 m, bearing: 339.514671 deg, approach rate: -0.448506 m/s, LOS rate: -0.170443 deg/s, cmd heading: 328.557261 deg, new cmd heading: 328.352771 deg. BhHeadingCmd: 5.730837 target range: 133.744385 and range: 134.50 m.hc@h*h"h hgfffdddjdZd;?~Bɢm0l=) %?i)#<iif Ic@IAYA]AAB]>BYBYBYB] =BYBYB]g;B]Z(Eu9@q @q@u4@qqԑ^A>AfAzAII)O5> RyC, ?A2/@2@2ٱ2'} :AHRS rotation from veh to nav: [[0.999993,0.003733,-0.000872],[-0.003404,0.969400,0.245464],[0.001761,-0.245459,0.969405]]2H?`ۓn?`Lk`R?_k? \?`7kϿ ^?i2/@I2)'^;2CYBByBFIiMb@Mb@Mb@ 9uV?RQ?DlYr?yB>OA@ f@)|@Yf@bDiVDiy}䨽%}E=ٔ}:Q->9Y=FyQEkE>ԙQ 5r5u=v?Q 9r5=)BY?Q E:y>Q I@,DI2;i1;o2r5y.BɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 133.74 m.Rh)Zh) ProNav: ac range: 133.744385 m, nav range: 131.870819 m, bearing: 339.453325 deg, approach rate: -0.440467 m/s, LOS rate: -0.148207 deg/s, cmd heading: 328.352766 deg, new cmd heading: 328.168473 deg. Bhm˻HeadingCmd: 5.727620 target range: 133.744385 and range: 134.50 m.hH@h*h"h hgff f ~Bd d djdZd?E~BɢEiY=)A E~?iA)M*, checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764541! :C,?A68@6w3@6^ٱ6&} BAHRS rotation from veh to nav: [[0.999638,0.026287,0.005772],[-0.026900,0.969118,0.245127],[0.000850,-0.245194,0.969474]]6H`?`?qw? ?R`?K?@bϿ?i68@I6{0^;6CYFByJAIbDRVDRyZp%ZX=ٔ^;Q-^>9\Y`=bFybQEb~Eb>dQ 5jr5fNv?Q 9jr5f]<)fBYlyn>Q In@f2DIf'!;if3";f5r5ytɮv AtjhFNOT Ignoring new targets: 133.74 m.Rh%Zh%- ProNav: ac range: 133.744385 m, nav range: 131.700531 m, bearing: 339.398635 deg, approach rate: -0.450542 m/s, LOS rate: -0.144884 deg/s, cmd heading: 328.168460 deg, new cmd heading: 328.004178 deg. Bh-ƻ5HeadingCmd: 5.724753 target range: 133.744385 and range: 134.50 m.h5-1@h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdME?u~Bɢu%b=) ?i)[3<iy۶i m  I -1@I9@ @@@!%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016461E EE&E"EsH;*EVE4ZEa @a @a @a @^A>B]>BYB]rIB]ҀBBYBYBYB]lg;B]4(EԁA .AI I! OM > iC,d?A,,Vw@V_r@V%9ٱVg} ^AHRS rotation from veh to nav: [[0.998726,0.048877,0.012511],[-0.050453,0.968303,0.244629],[-0.000158,-0.244948,0.969536]]VH@?g?l? ԩ`W? O?`$xZϿp?iVw@IV'^;VCYfByf)IiUMb@Mb@Mb@QQQQ Q9UK7?S?UtUAQ UO@)U@QYU@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268568bDmVDmNy %==ٔ;Q->9 ?Y ?=FyQE=_E>Q 5r5ybv?Q 9r5:)BY?Q E:y}_>Q I@:DI ;i ;9r5y-BɮANEjhFNOT Ignoring new targets: 133.74 m.Rh=Zh= ProNav: ac range: 133.744385 m, nav range: 131.498444 m, bearing: 339.341203 deg, approach rate: -0.467617 m/s, LOS rate: -0.133098 deg/s, cmd heading: 328.004180 deg, new cmd heading: 327.831621 deg. BhHeadingCmd: 5.721741 target range: 133.744385 and range: 134.50 m.h@h*h"h  h g f ff~BdddjdZdi@ԉ%~Bɢ%(L=)) -?i))-<<))i-Wi5ʺ19I=@I9II)I9@ @@@@@fAԹ^A >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522119E%  E% E% $E! "E% W;*E% :VE% 4ZE! BE% C ʏC,4?A>0@>@>s:ٱ>D{ FAHRS rotation from veh to nav: [[0.997266,0.071414,0.019011],[-0.073893,0.967331,0.242510],[-0.001072,-0.243252,0.969963]]>H?+H?w?`겿_? ?sQ"Ͽ ?i>0@I>;^;>CYRByR'IbDZVDZܲyb%bX=ٔfq;Q-f>9j"?Yj"?=jFyjQEr}Er>xQ 5 r5z tv?Q 9 r5z9)zBYyG>Q I@zADIz;iz6;z= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024487wC,]N?AB$@B@B<;ٱBs{ JAHRS rotation from veh to nav: [[0.995257,0.093757,0.025938],[-0.097250,0.965460,0.241722],[-0.002379,-0.243098,0.969999]]BH%?v?`i?Y帿 ?`?@|c Ͽ@; ?iB$@IB!^;@Eb EbEb%E`"Eb>T;*Ebj:VEb 4ZE`af@af@af@af@YUByUIbDeVDeyuW%u@=ٔ}H;Q-}>9yY=FyQEaE>Q 5r5v?Q 9r58)BYy/>Q I@IDI ;i. ;@r5yɮAjhFNOT Ignoring new targets: 133.74 m.RhZh ProNav: ac range: 133.744385 m, nav range: 131.114609 m, bearing: 339.239824 deg, approach rate: -0.489228 m/s, LOS rate: -0.126420 deg/s, cmd heading: 327.684718 deg, new cmd heading: 327.527039 deg. BhHeadingCmd: 5.716425 target range: 133.744385 and range: 134.50 m.h@h*hBA<BBBSIBBBBBB@g;B(EBBBB =BC 4"h hgf!f!f!d)d)d)jd)Zd-:@额~BɢZ=) ?i)K<顡iai,I@IIq@q @q@u0@qԁBDAT read: Rx Time:05:33:43.9546 TRx dataTimestamp_ set to:1761543225.476201checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277647^A>Ա A I I O >RC,Ndh?Aɰ:<@:6@:cZh;ٱ:z@ FAHRS rotation from veh to nav: [[0.992774,0.115517,0.032506],[-0.119951,0.963243,0.240362],[-0.003545,-0.242524,0.970139]]:H??`??/?`H m Ͽ` ?i:<@I:^;:CYR~ByR IV=V=i-Mb@Mb@Mb@)))) )9-Fx?T㥛 ?V-Y- ?y->-m-A) -X@)-f@)Y-@ 9=p<bDEVDEyUj%UM=ٔUx?;Q-]>9aYa=eFyeQEeiEm>iQ 5ur5mZv?Q 9}r5mg8)mBY}7?Q E}:y}=Q I@mPDIm ;im` ;m Dr5y+BɮjAPEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 133.74 m.Rh:Zh: ProNav: ac range: 133.744385 m, nav range: 130.913086 m, bearing: 339.198533 deg, approach rate: -0.503203 m/s, LOS rate: -0.103262 deg/s, cmd heading: 327.527050 deg, new cmd heading: 327.402987 deg. BhHeadingCmd: 5.714260 target range: 133.744385 and range: 134.50 m.h8۶@h*h"h hgfff~BdddjdZd @~Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529248ɢjP=)  ?i ) R< 1i5*Fi=99I=8۶@I9ԩE  EE&E"ED;*Eu:VE4ZEBEΚ  DAT read: 05:33:43.9546 LVL= 32752, 32753, 31650, 32755, AGC= 60, IDX= 425,-0.04,-2.614, 2.354,-1.947,-2.646, PHS= 0.134,-1.238, 0.655, RAW= 165.4, 5.4, CAL= 164.6, 4.5, ROT= 345.4, -4.5  Ygot valid direction response: 05:33:43.9546 LVL= 32752, 32753, 31650, 32755, AGC= 60, IDX= 425,-0.04,-2.614, 2.354,-1.947,-2.646, PHS= 0.134,-1.238, 0.655, RAW= 165.4, 5.4, CAL= 164.6, 4.5, ROT= 345.4, -4.5  PDAT read: Bearing 143.2, -15.1 (Local)  ~Local bearing/azimuth received: Bearing 143.2, -15.1 (Local)  DAT read: Range 11 to 50 : 133.2 m (Round-trip 177.7 ms) speed 0.2 m/s  *DAT read: user:441>  BDAT read: Tx time:05:33:45.0728  $Ping request sent.  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.964726,-0.251292,0.078459] :publishing transmit ping time  Fpublishing direction and range infoy   ?f"-п5;?Y 3C { ) <I L7 >i v '? 8@ '7@ |٠=) b@I |٠ ܗAY?;mv?q7? K?) dI wi |٠  :publishing transmit ping time  Fpublishing direction and range infoy   ?f"-п5;?Y ) I i ) I ܗAY?;mv?q7? ) I i C,A?AZ4y@Zs@Z[n;ٱZyU{ bAHRS rotation from veh to nav: [[0.989636,0.138146,0.039195],[-0.143528,0.960143,0.239844],[-0.004499,-0.242984,0.970020]]ZH ?@Ů?`[?!_¿}?`5?@mr@Ͽ g ?iZ4y@IZ .^;ZClYtByIbDVDy`=%>=ٔ%g;Q-%>9!Y!=%Fy-QE-bE->QQ 5]r5Uv?Q 9]r5U8)UBYayerS=Q Ie@UWDIU:iU :UGr5yiɮmAiii(~?AJisCRisCji"@ba_@\V@s$@R ?f"-п5;?Ziwbi|٠jT^@zij:Ghc̗1@Z7;?ua׿xt?2i8?:iB"i*힊?*ipr!BiBi*힊?iiBiCiin@ addTargetRange:: Added new target pos. range: 133.199997 m, deltaT: 3.792617 s, deltaX: -1.300003 m, approachRate: -0.342772 m/s, rangeRepo size: 4 M Added new target pos. range: 132.450806 m, bearing: 338.644672 deg, lat: 36.779392 deg, lon: -121.859645 deg, deltaT: 3.792617 s, deltaX: -1.293579 m, approachRate: -0.341078 m/s, posRepo size: 4 jhIUFNOT Ignoring new targets: 132.45 m.RhUZhQe ProNav: ac range: 132.450806 m, nav range: 130.809189 m, bearing: 339.175413 deg, approach rate: 0.000000 m/s, LOS rate: -0.103262 deg/s, cmd heading: 327.402987 deg, new cmd heading: 327.263844 deg. BhaHeadingCmd: 5.711832 target range: 132.450806 and range: 133.20 m.hSǶ@h*h"h hgfffdddjd`f`@ZdJ? ~BɢH=) > ?i)nZ<i%iE>DIIIMSǶ@II9@ @@ 0@DD<E EE%E"EO;*E1:VE 4ZEa@a@a@a@1B>BB-IBBB =BBqDBg;B(E^A >a A] .AIy I O >C,:$?A>@>I@>;[;ٱ>*z JAHRS rotation from veh to nav: [[0.985981,0.160465,0.045740],[-0.166765,0.956782,0.238238],[-0.005535,-0.242526,0.970129]]>H(?`??k?@Xſ?@~?_v Ͽ L ?i>@I>G"^;>CYN]ByRI\i}Mb@Mb@Mb@yyyy y9}v/?1Zd?MbY}x ?y}"=}@}A}@ }+@)yyY}(@bDVDy%J=ٔa';Q->9 ?Y ?=FyQEmE>Q 5r5v?Q 9r58)BY ?Q E:yC;Q I@^DI:i:WKr5y*BɮlAjhFNOT Ignoring new targets: 132.45 m.Rh O̺Zh O̺ ProNav: ac range: 132.450806 m, nav range: 130.605179 m, bearing: 339.141063 deg, approach rate: -0.529592 m/s, LOS rate: -0.089310 deg/s, cmd heading: 327.263842 deg, new cmd heading: 327.160630 deg. Bh+u%HeadingCmd: 5.710030 target range: 132.450806 and range: 133.20 m.h%@h!*h!"h) h)g)f)f1f5 ~Bd1d1d9jd9Zd=3?m~BɢmK=)i m>ii)-8`<)1i5_i5K99I=@I99@ @@2@^A) Eu  Eu Eu 'Eq "Eu M;*Eu u:VEu '4ZEq BEu 0C,S?A N@N[@NTc;ٱN%y VAHRS rotation from veh to nav: [[0.981795,0.182550,0.052473],[-0.189815,0.953050,0.235937],[-0.006939,-0.241602,0.970351]]NHj?]?ݪ?`Kȿb?23?[l|ο ?iN@INL^;NCY^XBy^IbDdVDdyn㸼%nU=ٔr_p;Q-r>9pYp=vFyvQEvzEv>x|Q 5r5~v?Q 9r5~+8)~qBYy1Q I @~eDI~y:i~:~Nr5yu)BɮuAuQEjhFNOT Ignoring new targets: 132.45 m.RhZh ProNav: ac range: 132.450806 m, nav range: 130.408600 m, bearing: 339.110141 deg, approach rate: -0.488207 m/s, LOS rate: -0.076912 deg/s, cmd heading: 327.160624 deg, new cmd heading: 327.067718 deg. Bh "SHeadingCmd: 5.708408 target range: 132.450806 and range: 133.20 m.hH@h*h"h hgff!f!d!d!d!jdIZdM`?-~Bɢ-^A=)1 5 >i1)5g<11i=ȿi=$AAIEH@IAQ!9@ @@4@I^A>A>A>y A I I) O= >C,?AD@AzDbE-4jET4rE?/E E E%E"EL;*E:VE 4ZEa@a@a@a@ft7@f<2@fK <ٱf y nAHRS rotation from veh to nav: [[0.977036,0.204630,0.059394],[-0.212903,0.948755,0.233531],[-0.008563,-0.240813,0.970534]]fHC? P1?h?`h@˿3\?W?`j`ο?ift7@If];^;fCYv`ByvIAA?AB >B CB IB |BB B B B g;B (EbDVD02y-_=%-F=ٔ5;Q-5>91Y1==Fy=QE=iEE>AQ 5Mr5Ev?Q 9Mr5Em8)EaBYQyU3Q IU@ElDIE:iE):EKRr5YyaɮeIAajhFNOT Ignoring new targets: 132.45 m.RhZh ProNav: ac range: 132.450806 m, nav range: 130.195724 m, bearing: 339.079001 deg, approach rate: -0.540249 m/s, LOS rate: -0.079158 deg/s, cmd heading: 327.067707 deg, new cmd heading: 326.974135 deg. BhMYHeadingCmd: 5.706775 target range: 132.450806 and range: 133.20 m.h睶@h*h"h hgfffdddjdZdZ?u~BɢͣR=) :?i)8n<顩iiI睶@Iԉ@ @@2@iIԱ^A A ؟AI I O% >o=C,?AYUByIԹiMb@Mb@Mb@ 9#~j?v/?:vY?yxi=Լ A@ @)@Y@bDVDN2yL%==ٔ Q- >9 "?Y "?= FyQEE>Q 5%r5~v?Q 9%r5&9)XBY-?Q E-:y-Q I-@sDI:i:Vr5y1ɮ=A=REB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 132.45 m.RhwZhwE5  E5E5(E1"E5G;*E5r:VE5c44ZE1BE5(i)}{u<i3¼iI@I)@ @@0@% T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.^A5 >9 Au .AI I O >KC,3o?Aɰ4<2@2@2,3<ٱ2Vz :AHRS rotation from veh to nav: [[0.965593,0.249560,0.073139],[-0.259827,0.937625,0.230973],[-0.010936,-0.242030,0.970207]]2H$??D?п??zeο ?i2@I2r^;2CYBYByBIJ=J= HJp;bDNVDN0yV5<%V]=ٔZ@;Q-Z>9Z ?YZ ?=^Fy^QE^E^>`Q 5fr5bw?Q 9fr5b:)bOBYhyjf-Q Ij@bzDIb;ibn;bKYr5ylɮn~AljhFNOT Ignoring new targets: 132.45 m.RhOZhO ProNav: ac range: 132.450806 m, nav range: 129.785629 m, bearing: 339.038156 deg, approach rate: -0.514819 m/s, LOS rate: -0.045247 deg/s, cmd heading: 326.901569 deg, new cmd heading: 326.851412 deg. BhkHeadingCmd: 5.704633 target range: 132.450806 and range: 133.20 m.h[@h*h "h  h gfffdddjdZd7d@~Bɢj3V=) F?i){<igüib;؁>I[@IA9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237757E E E'E"Ea?;*E:VE'4ZEa@a@a@a@BBBIBgBB =BBBng;B4(E1^AA zA dAAU ؟Aa I I O >rC,=?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489549J@Jv@J(=<ٱJHx RAHRS rotation from veh to nav: [[0.959196,0.271601,0.078584],[-0.282506,0.931984,0.227149],[-0.011545,-0.240081,0.970684]]JH ?a?? ҿ?`:?इο@?iJ@IJƏ^;HYZ\ByZIi=Mb@Mb@Mb@9999 99=V-?Zd;O?Y= ?y=j<==̼9=@ =@)=f@9Y=3@bD]VD]Nyeg<%m?=ٔm:Q-m>9u"?Yu"?=uFyuQEuaE}>yQ 5r5}w?Q 9r5}X;)}FBY3?Q E:y]Q I@}DI}1;i}1;}]r5y(Bɮ_A)jhFNOT Ignoring new targets: 132.45 m.Rh#Zh# ProNav: ac range: 132.450806 m, nav range: 129.551620 m, bearing: 339.022592 deg, approach rate: -0.537389 m/s, LOS rate: -0.035807 deg/s, cmd heading: 326.851408 deg, new cmd heading: 326.804632 deg. BhĺHeadingCmd: 5.703817 target range: 132.450806 and range: 133.20 m.h@h*h"h hgfff}BdddjdZd @颭~BɢEQ=) X?i)!}<顱iļi|Q<iu>I@I]9@Y @Y@Y@Ya^AU^‚>5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741983AԉIIO>E  E E E "E sH;*E :VE ZE BE 9TYT=VFyVQEZсEZ>\Q 5br5^4-w?Q 9br5^<)^>BYdyfCvQ If@^DI^` ;i^:^S`r5yhɮjAhjh|FNOT Ignoring new targets: 132.45 m.RhZh ProNav: ac range: 132.450806 m, nav range: 129.344025 m, bearing: 339.010978 deg, approach rate: -0.587549 m/s, LOS rate: -0.032924 deg/s, cmd heading: 326.804635 deg, new cmd heading: 326.769736 deg. BhôHeadingCmd: 5.703208 target range: 132.450806 and range: 133.20 m.h@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@颥~Bɢl=)  ?i)v<顩i9*żiay<^=b>I@Iԙq@q @q@u0@qBDAT read: Rx Time:05:33:47.6523 TRx dataTimestamp_ set to:1761543229.009904checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996368^A2g>A I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245584E  E !E &E "E ,K;*E :VE 4ZE a- @a- @a- @a- @) ҀC,GR?AB2<A2<B6>B6CB6IB6]BB6 =B4B6pDB6g;B6>(EB}^@BEY@BpOE<ٱBx JAHRS rotation from veh to nav: [[0.944411,0.316170,0.090132],[-0.328545,0.917660,0.223514],[-0.012043,-0.240702,0.970524]]BH`8?9Y=FyQE_dE>Q 5r5Aw?Q 9 r5U>)5BY y Q I @DIsIE{@IA=9@A @I@I@Qichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511748^Ap>ԉ A! I) I9 OM >fC,Ql?A0J@J_@J:iE<ٱJ| ZAHRS rotation from veh to nav: [[0.935684,0.339278,0.096878],[-0.352633,0.908575,0.223922],[-0.012049,-0.243683,0.969780]]JH ?@?`̸? ֿ@ ?}? 1Ͽ@p?iJ@IJO^;JCYbByf IiMb@Mb@Mb@ 9RQ?J +?9Y=FyQEE>Q 5r5Qw?Q 9r5?)/BY.?Q E:yQ I@DI]:i:gr5y&Bɮ<ATEB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 132.45 m.Rh5UйZh5UйE ProNav: ac range: 132.450806 m, nav range: 128.894775 m, bearing: 338.991295 deg, approach rate: -0.537753 m/s, LOS rate: -0.022767 deg/s, cmd heading: 326.736879 deg, new cmd heading: 326.710585 deg. BhEzMHeadingCmd: 5.702176 target range: 132.450806 and range: 133.20 m.hM9x@hI*hI"hIDAT read: 05:33:47.6523 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.36,-3.117, 1.563,-2.764, 3.020, PHS= 0.248,-1.411, 0.456, RAW= 155.8, 8.0, CAL= 155.4, 8.4, ROT= 354.6, -8.4 Ygot valid direction response: 05:33:47.6523 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.36,-3.117, 1.563,-2.764, 3.020, PHS= 0.248,-1.411, 0.456, RAW= 155.8, 8.0, CAL= 155.4, 8.4, ROT= 354.6, -8.4 PDAT read: Bearing 137.6, -7.8 (Local) ~Local bearing/azimuth received: Bearing 137.6, -7.8 (Local) DAT read: Range 11 to 50 : 131.4 m (Round-trip 175.3 ms) speed 0.3 m/s *DAT read: user:442> BDAT read: Tx time:05:33:48.7728 $Ping request sent.iUUx>U.@U5>U^-@ UQ >)U @IUQ QQUM? ?w? U ?)U|IUiUQ QQ}:publishing transmit ping timeFpublishing direction and range infoyQUFt'?yOշ/8ٲ?YQQQQQ Q)QIQԉiQQQQQ Q)QIQQQUM? ?w? Q)QIQiQQQ~Bɢ2Xo=) =?i)+<iƫǼi <(:>I9x@I@ @@80@Թ ^A b>A1 IA IQ Oe >ԙC,?AXY ~By  IbD%VD%y-%5T=ٔ5Q-5>99Y9==Fy=QE=EE>AQ 5Mr5Eaw?Q 9Ur5E2A)E*BYQyQQ IU@EDIE];iE;Ekr5yYɮ]CAaiyi}q?AJi}CRi}Cji}@b}}`@uS(WtG93@R}Ft'?yOշ/8ٲ?Zi}bi}Q j}_&.]@jJx3@Z}I,l? 8ٿJ?2i}P:i}AB"i}yKD?*i}Bi}WBiyiyi}WBi}Ci}R@ addTargetRange:: Added new target pos. range: 131.399994 m, deltaT: 3.795576 s, deltaX: -1.800003 m, approachRate: -0.474237 m/s, rangeRepo size: 4  Added new target pos. range: 130.657288 m, bearing: 336.177723 deg, lat: 36.779392 deg, lon: -121.859645 deg, deltaT: 3.795576 s, deltaX: -1.793518 m, approachRate: -0.472529 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 130.66 m.RhMZhI] ProNav: ac range: 130.657288 m, nav range: 128.698273 m, bearing: 338.982962 deg, approach rate: 0.000000 m/s, LOS rate: -0.022767 deg/s, cmd heading: 326.710597 deg, new cmd heading: 326.684035 deg. BhYeHeadingCmd: 5.701712 target range: 130.657288 and range: 131.40 m.hemt@ha*ha"ha higifififqdqdqdqjdqZd}\;?~Bɢ=w=) %8?i!)%R>I-mt@I1E, EHE'E"Ec;*E;VE'4ZEa@a@a@a@BU>BQBUIBUgBBU =BQBQBUg;BUW(EBCi@i @q@uh1@qBCBB =BC5 ^AmW>A I I O >9 C,o?AYEByE IM=Ma=iMb@Mb@Mb@ 9Zd;?L7A`?{GztY>y+=ףA@ @)@Y(@ 4<bDVD:2y^=%?=ٔQ->9Y=FyQEE> Q 5r5 sw?Q 9r5 B) $BY?Q E:ypQ I@ DI ;i : nr5y%%Bɮ%A!jhQUFNOT Ignoring new targets: 130.66 m.Rh]Zh]m ProNav: ac range: 130.657288 m, nav range: 128.485275 m, bearing: 338.970360 deg, approach rate: -0.501300 m/s, LOS rate: -0.029709 deg/s, cmd heading: 326.684041 deg, new cmd heading: 326.646171 deg. BhmuHeadingCmd: 5.701051 target range: 130.657288 and range: 131.40 m.huo@hq*hq"hq hqgyfyfyf}r~BdddjdZd?颵~Bɢͅ=) y&?i)<项i=ʼis-!IEo@IIA@ @@4@^A>>iAIIO>E EE$E"E*E&:VE4ZEBEs9 Y = Fy QE\HE>Q 5%r5w?Q 9%r5C)BY!y%fQ I%@DI;i1:rr5y1ɮ5<A1jhY]FNOT Ignoring new targets: 130.66 m.RheuZheuu ProNav: ac range: 130.657288 m, nav range: 128.299042 m, bearing: 338.965395 deg, approach rate: -0.501718 m/s, LOS rate: -0.013394 deg/s, cmd heading: 326.646175 deg, new cmd heading: 326.631260 deg. BhuyHeadingCmd: 5.700791 target range: 130.657288 and range: 131.40 m.hl@h*h"h hgfffdddjdZd@?~Bɢ<Nj=) .?i)Z<iډ˼i$<I=Il@I9@ @@/@ԡ^A;>A I I O > E  E E &E "E ,K;*E ]:VE 4ZE a @a @a @a @AY A] AABe />Be ԍCBe IBe BBe ' =Be EDBe eDBe Nh;Be \(ECC,3k?A2}@2mx@2<ٱ2t :AHRS rotation from veh to nav: [[0.897703,0.424259,0.118885],[-0.440285,0.874007,0.205574],[-0.016690,-0.236888,0.971394]]2H?'?Fo?-ܿ?`CP? ZRο?i2}@I2SE^;2CYBByB=IbDJVDJfyR2=%RN=ٔV ;Q-V>9TYT=VFyVQEZkEZ>\Q 5fr5^Uw?Q 9fr5^E)^BYhyj Q In@^DI^;i^#;^ur5yxɮzAzUEԹjhFNOT Ignoring new targets: 130.66 m.RhWZhW ProNav: ac range: 130.657288 m, nav range: 128.100586 m, bearing: 338.962113 deg, approach rate: -0.472876 m/s, LOS rate: -0.007832 deg/s, cmd heading: 326.631257 deg, new cmd heading: 326.621396 deg. BhHeadingCmd: 5.700619 target range: 130.657288 and range: 131.40 m.hxk@h*h"h hgf!f!f!d!d)d)jd)Zd-@W?}{~Bɢ܈=) 4?i)<顁i/̼i# f(<=Ixk@IM9@I @I@I@I^A-t0>AqIIO>9 xC,?A$$Nʲ@NIŹ@N<ٱN*`u VAHRS rotation from veh to nav: [[0.887830,0.442800,0.125244],[-0.459793,0.864649,0.202415],[-0.018663,-0.237297,0.971258]]NHi?V??@mݿ4?@?m_ο?iNʲ@IN0^;LY^By^TI`bAiEMb@Mb@Mb@AAAA A9EbX9??~jthYEE>yE=EDEO AE@ E@)E@AYAQUAAbD]VD]ymմ=%m@=ٔu;Q-u>9qYq=}Fy}RE}BRE}>Q 5r5>w?Q 9r54G)BY>Q E:y=Q I@DI:is:Byr5yBɮ(A9EB*** querying acoustic contact ***iA iAjhq}FNOT Ignoring new targets: 130.66 m.Rh} Zh}  ProNav: ac range: 130.657288 m, nav range: 127.892632 m, bearing: 338.953948 deg, approach rate: -0.494710 m/s, LOS rate: -0.019457 deg/s, cmd heading: 326.621395 deg, new cmd heading: 326.596858 deg. BhUE  EE$E"EC;*E:VE4ZEBEԑA  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I I O- >Թ D,/?A2#@2i@2q<ٱ2/x :AHRS rotation from veh to nav: [[0.878232,0.459393,0.132914],[-0.477756,0.855209,0.200913],[-0.021371,-0.239949,0.970550]]2Hz?`f?U? ޿]??`╿ο ?i2#@I2rE^;2CYBĀByBaIbDHVDHyRV=%VX=ٔVS;Q-V>9XYX=ZFyZREZp\EZ>\Q 5br5^-w?Q 9fr5^H)^ BYdyfQ If@^DI^:i^:^|r5yjBɮjAnVEjh|FNOT Ignoring new targets: 130.66 m.RhōZh ō ProNav: ac range: 130.657288 m, nav range: 127.707520 m, bearing: 338.948368 deg, approach rate: -0.513215 m/s, LOS rate: -0.015493 deg/s, cmd heading: 326.596861 deg, new cmd heading: 326.580096 deg. Bh *HeadingCmd: 5.699898 target range: 130.657288 and range: 131.40 m.he@h*h"h hgfffdddjdZd@19@r~BɢD=) E?i) ԧ<i ϼiYRsb-<5s=I5e@I9ԑ@ @@0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508057DD=bEM!4jEM24rEM8/E EE'E"EP;*Ex:VE'4ZEa@a@a@a@BV>BՍCB:IBBB< =BBgDB h;BD(E^A=A I I! O) ! ^D,2!?AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762265@~@<ٱ!y -AHRS rotation from veh to nav: [[0.868706,0.475182,0.139831],[-0.494735,0.846184,0.198012],[-0.024231,-0.241193,0.970175]]Ho?``i? ?߿? qX? Иjο ?i@I.-^;CY=ӀBy=sIiMb@Mb@Mb@ 9Zd;O??~jtY~>y>D A@ @)@Y@bD VD2y=%7=ٔM;Q->9Y=FyRE2E>Q 5r5Jw?Q 9 r5J)BY &>Q E:y6Q I@ýDI]A 6D,g;?Aɰ6@6s@6[<ٱ6x >AHRS rotation from veh to nav: [[0.860284,0.488831,0.144762],[-0.509096,0.838788,0.193016],[-0.027073,-0.239746,0.970458]]6Hq?I?@?JZ?`?`ο ?i6@I6*X^;6CY^߀By^IbDfVDfk1yn9=%n]=ٔr;Q-r>9pYt=vFyv REv8Ev>xQ 5~r5zgw?Q 9r5z\K)zBYyQ I@zɽDIz ;iz6;zr5y Bɮ AWEjh1=FNOT Ignoring new targets: 130.66 m.Rh=갹ZhE갹M ProNav: ac range: 130.657288 m, nav range: 127.324646 m, bearing: 338.931796 deg, approach rate: -0.491594 m/s, LOS rate: -0.019334 deg/s, cmd heading: 326.550770 deg, new cmd heading: 326.530287 deg. BhULTeHeadingCmd: 5.699028 target range: 130.657288 and range: 131.40 m.heq^@ha*ha"ha hagififqfydddjdZd@ @颵h~BɢǨ=) xU?i)&<项ioҼiK0</VF=Iq^@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2655949@ @@~0@@ >@ >^A]C=AeeAzAefAԁII)O]v>ԡ  DAT read: 05:33:51.3499 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424,-0.32,-2.327, 2.202,-2.401,-2.561, PHS= 0.335,-1.475, 0.116, RAW= 143.6, 11.9, CAL= 143.1, 13.0, ROT= 6.9, -13.0  Ygot valid direction response: 05:33:51.3499 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424,-0.32,-2.327, 2.202,-2.401,-2.561, PHS= 0.335,-1.475, 0.116, RAW= 143.6, 11.9, CAL= 143.1, 13.0, ROT= 6.9, -13.0  PDAT read: Bearing 133.4, 1.9 (Local)  ~Local bearing/azimuth received: Bearing 133.4, 1.9 (Local)  DAT read: Range 11 to 50 : 129.6 m (Round-trip 172.9 ms) speed -0.1 m/s  *DAT read: user:443>  BDAT read: Tx time:05:33:52.4728  $Ping request sent. i] ̼D zD @AE  E E )E "E N;*E :VE FA4ZE a @a @a @a @] h=] g @] ȭT>] @ ] Vh>)] Ϣ=I] VhB A <B >B CB _IB ÀBB  =B DDB qDB `g;B ((EPD,sU?A@t9?ޛx?sT.? 6>)UIϢ=iVhN:publishing transmit ping timeNFpublishing direction and range infoyw:??:/2?Y )Ii )It9?ޛx?sT.? )Ii)@|@<ٱw AHRS rotation from veh to nav: [[0.852571,0.500711,0.149705],[-0.521758,0.831874,0.189085],[-0.029859,-0.239318,0.970482]]H BH??`)?>? 3? Mο 0?i)@I6^;CYByIbDVDy}<%3=ٔ;Q->9Y=FyREE>Q 5r5w?Q 9r5 M)BYy+Q I@нDI:i:‡r5yɮAii jS?AJiCRiCji3@b)_@5l+.@F:3<@Rw:??:/2?ZiϢ=biVhj!]@QIGhʽ4@ZzҶW?6X׿}l7?2i <:iWB"i<$ɞ?*i"!Bi}Biipr!i}Bi(Bi@ addTargetRange:: Added new target pos. range: 129.600006 m, deltaT: 3.527842 s, deltaX: -1.799988 m, approachRate: -0.510223 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 128.868301 m, bearing: 338.306669 deg, lat: 36.779392 deg, lon: -121.859660 deg, deltaT: 3.527842 s, deltaX: -1.788986 m, approachRate: -0.507105 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 128.87 m.RhZhU ProNav: ac range: 128.868301 m, nav range: 127.578972 m, bearing: 338.379726 deg, approach rate: 0.000000 m/s, LOS rate: -0.019334 deg/s, cmd heading: 326.530280 deg, new cmd heading: 326.502294 deg. BhQ]HeadingCmd: 5.698540 target range: 128.868301 and range: 129.60 m.h]qZ@hY*hY"hY hYgYfafafidididijdu@33`@Zdu@?c~Bɢ=) X?i )$<i ԼiEPE1eGD,No?A2@2@2O=ٱ2y :AHRS rotation from veh to nav: [[0.845475,0.510933,0.155307],[-0.533038,0.825038,0.187573],[-0.032297,-0.241373,0.969895]]2H!?Y?`? f?`d? 7@Mο a ?i2@I2'^;2CYBByBIli Mb@Mb@Mb@     9 x&1?On?:vY A>y > Լ A $@ @) 1@ Y @bD!VD!y5j%5b=ٔ} ;Q-}>9yY=FyREE>Q 5r5w?Q 9r5$N)BY@>Q E:yQ I@սDI ;iK ;r5yBɮB*** querying acoustic contact ***i ijhT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-FNOT Ignoring new targets: 128.87 m.RhUZhUe ProNav: ac range: 128.868301 m, nav range: 127.414841 m, bearing: 338.370665 deg, approach rate: -0.469913 m/s, LOS rate: -0.025974 deg/s, cmd heading: 326.502303 deg, new cmd heading: 326.475086 deg. BhemHeadingCmd: 5.698065 target range: 128.868301 and range: 129.60 m.hmV@hi*hiE EE&E"EL;*E:VE4ZEBEܡ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744314a /"D,(?A2@2I@2 =ٱ2jx :AHRS rotation from veh to nav: [[0.839542,0.519601,0.158696],[-0.542196,0.819874,0.183931],[-0.034540,-0.240462,0.970044]]2H??'P?`Yg91Y1==F9yEREEEE>IQ 5Ur5MJw?Q 9Ur5McO)MBYQy]"Q I]@M۽DIMn;iM;M`r5yaɮeAajhFNOT Ignoring new targets: 128.87 m.RhԹZhԹ ProNav: ac range: 128.868301 m, nav range: 127.235184 m, bearing: 338.361597 deg, approach rate: -0.459582 m/s, LOS rate: -0.023231 deg/s, cmd heading: 326.475092 deg, new cmd heading: 326.447848 deg. BhHeadingCmd: 5.697590 target range: 128.868301 and range: 129.60 m.hR@h*h"h hgfffdddjdZd@;?[~Bɢ=) T?i)7g<i^~ּiӐ2<ABA>IIO (>-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996391E  EE'E"ED;*E:VE'4ZEa@a@a@a@B>BCBxIB׀BB =BBrDBg;B'Eԙ ](D,+?AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.250864o@qj@=ٱv -AHRS rotation from veh to nav: [[0.834432,0.527162,0.160694],[-0.549910,0.815671,0.179668],[-0.036359,-0.238287,0.970514]]H`??@?ܘ?`X?3ο s?io@I/^;Y=ՀBy=uIԑiMb@Mb@Mb@ 9y'>\A +@)@Y@bD-VD-:y=%=:=ٔE;Q-E>9AYA=EFyEREMEM>QQ 5]r5Ux?Q 9]r5UP)UBYe8>Q Ee:yekQ Ie@UDIU;iU;U6r5ym BɮmAuaEjhFNOT Ignoring new targets: 128.87 m.RhZh ProNav: ac range: 128.868301 m, nav range: 127.045418 m, bearing: 338.348870 deg, approach rate: -0.432022 m/s, LOS rate: -0.029018 deg/s, cmd heading: 326.447853 deg, new cmd heading: 326.409615 deg. BhQHeadingCmd: 5.696922 target range: 128.868301 and range: 129.60 m.h0M@h*h"h hgfffBdddjdZd2b?}W~Bɢ}=)y T?i)V<顁i ׼iW 2<hQ7.D,޼?A24@2/@2=ٱ2Dq :AHRS rotation from veh to nav: [[0.830412,0.533496,0.160616],[-0.555866,0.812882,0.173883],[-0.037796,-0.233675,0.971580]]2H?f? ?!?`A?YͿ.?i24@I2(^;2CYB΀ByBmIbDJVDJ:yvX%vc=ٔz;Q-z>9xYx=zFy~!RE~E~>Q 5 r5x?Q 9 r5Q)BYyrQ I@DI`:i:[r5y BɮA!jhAMFNOT Ignoring new targets: 128.87 m.RhMZhM] ProNav: ac range: 128.868301 m, nav range: 126.889717 m, bearing: 338.338856 deg, approach rate: -0.432899 m/s, LOS rate: -0.027876 deg/s, cmd heading: 326.409604 deg, new cmd heading: 326.379526 deg. Bhe eHeadingCmd: 5.696397 target range: 128.868301 and range: 129.60 m.heH@hi*hi"hi higififqfqdqdqdyjdyZd}"#?颭T~Bɢ}=) Q?i)|8<顱i]ؼi7N2<;IH@Im9@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.754018^AM9=!AyIIO^>QE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004381y A A B >B CB B B B B B f;B 'EBmCBmݍCBm˛CBm =Bm =Cm7m5D,;?AE^ E^E^$E\"E^L;*E^>:VE^4ZE\BE^ܡ<2E^ܡ<JE^8<:E^8?d?`M ?@g?(H#Ϳ|"?iz@Izm>^;zCY=ÀBy=`IE=E= IIbDUVDU0yeB%eC=ٔedM;Q-e>9iYi=mFym%REm_Eu>yQ 5r5}*x?Q 9r5}R)}BYyvQ I@}DI}:i}:}r5yɮ4AjhFNOT Ignoring new targets: 128.87 m.Rh/Zh/ ProNav: ac range: 128.868301 m, nav range: 126.708015 m, bearing: 338.327532 deg, approach rate: -0.432837 m/s, LOS rate: -0.027013 deg/s, cmd heading: 326.379524 deg, new cmd heading: 326.345504 deg. BhOHeadingCmd: 5.695804 target range: 128.868301 and range: 129.60 m.hD@h*h"h hgfffdddjdZd]@%P~Bɢ%y=)! %M?i!)-ȿ<))i-ڼi5^5g`2<5r;I5D@I9Y9@ @@@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258653^AMXR<AIzAMgAԩAy I I O > ;D,6?A6u@6=ܵ@6\ %=ٱ6d BAHRS rotation from veh to nav: [[0.824637,0.543288,0.157518],[-0.564226,0.809838,0.160657],[-0.040281,-0.221360,0.974360]]6H`mc? b?@)?#@2?i?U̿-?i6u@I6m0^;6CYFByJOIiMb@Mb@Mb@ 9/$?7A`? ףp= Y>y>Q8AQ@ )^@Y=@bD-VD-Ny=>%EM=ٔE@;Q-E>9IYI=MFyM)REM\6EM>QQ 5]r5UO9x?Q 9er5U T)UBYeJ>Q Ee:yehQ Ie@UDIUy;iU ;Ur5yuBɮuAubEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 128.87 m.RhGZhG ProNav: ac range: 128.868301 m, nav range: 126.530052 m, bearing: 338.321024 deg, approach rate: -0.445472 m/s, LOS rate: -0.016314 deg/s, cmd heading: 326.345510 deg, new cmd heading: 326.325958 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508253Bh5#3=HeadingCmd: 5.695462 target range: 128.868301 and range: 129.60 m.h=:A@h9*h9"h9 hAgAfAfAfMBdIdIdIjdIZdU?@Թ5L~Bɢ= =)9 EH?iA)EJ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7603869 9}BD,p ?A2Ʈ@2@2w(=ٱ2] :AHRS rotation from veh to nav: [[0.822766,0.546836,0.155005],[-0.566886,0.809260,0.154073],[-0.041187,-0.214636,0.975825]]2H T??2?#u?৸?g/y˿9?i2Ʈ@I2Q^;2CYvByv4IbD~VD~1y % N=ٔY;Q->9Y=Fy-REE>!Q 5-r5%Gx?Q 9-r5%lU)%lBY1y5|Q I5@%DI%l:i%:%r5y9ɮ=?AAjhamFNOT Ignoring new targets: 128.87 m.RhmZhm ProNav: ac range: 128.868301 m, nav range: 126.352325 m, bearing: 338.314677 deg, approach rate: -0.447744 m/s, LOS rate: -0.016013 deg/s, cmd heading: 326.325948 deg, new cmd heading: 326.306880 deg. Bh/HeadingCmd: 5.695129 target range: 128.868301 and range: 129.60 m.h>@h*h"h hgfffdddjdZdL@I~Bɢ_=) w=?i)?<iܼiӊ1<I>@I9@ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012320B>BBfIBȀBB =BBsDAB f;B'EE EE'E"EsH;*Eu:VE'4ZEBEݪHD,Z$?A >BDAT read: Rx Time:05:33:55.0476 BTRx dataTimestamp_ set to:1761543236.583539Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270488W@@ 9,=ٱ;V AHRS rotation from veh to nav: [[0.821597,0.549434,0.151990],[-0.568518,0.809361,0.147389],[-0.042034,-0.207503,0.977331]]H J? ?ht?K1H??vʿ@KF?iW@I,?^;CYBy,IiMb@Mb@Mb@ 9-?Zd;?~jtY?>y=DfA A@)Y@bD VD2y7ؼ%2=ٔ:Q->9Y=Fy2REE>Q 5r5)Yx?Q 9r5W)VBYD>Q E:y-¾Q I@DII;i:r5yEBɮE\AMcEijhFNOT Ignoring new targets: 128.87 m.Rh?6Zh?6 ProNav: ac range: 128.868301 m, nav range: 126.128784 m, bearing: 338.314755 deg, approach rate: -0.470046 m/s, LOS rate: 0.000164 deg/s, cmd heading: 326.306878 deg, new cmd heading: 326.307112 deg. Bh16HeadingCmd: 5.695134 target range: 128.868301 and range: 129.60 m.h>@h*h"h hgfffBdddjd Zd , @额F~Bɢ=) O;?i)<iݼiF1<> SI>@IYml>im>ԙ@ @@0@@@fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516410 E  E E (E "E L;*E :VE c44ZE BE ܡ<2E ܡ<JE 4<:E 4< 9 Y5 hA^A5 e) Aa Iq I O >"0PD,@?AYByIbD%VD%0y5!R%5N=ٔ=Q-=>99YA=EFyE6REEEE>IQ 5Ur5MJhx?Q 9]r5M{Y)MDBYYyYQ I]@MDIM? ;iM ;Mqr5yaɮeAijhFNOT Ignoring new targets: 128.87 m.RhP6ZhP6 ProNav: ac range: 128.868301 m, nav range: 125.935539 m, bearing: 338.314822 deg, approach rate: -0.510336 m/s, LOS rate: 0.000178 deg/s, cmd heading: 326.307124 deg, new cmd heading: 326.307327 deg. Bh6HeadingCmd: 5.695137 target range: 128.868301 and range: 129.60 m.h>@h*h"h hgfffdddjdZd!@]DAT read: 05:33:55.0476 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.03,-2.461, 1.950,-2.796,-2.812, PHS= 0.453,-1.476,-0.027, RAW= 136.2, 12.0, CAL= 135.6, 13.1, ROT= 14.4, -13.1 eYgot valid direction response: 05:33:55.0476 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.03,-2.461, 1.950,-2.796,-2.812, PHS= 0.453,-1.476,-0.027, RAW= 136.2, 12.0, CAL= 135.6, 13.1, ROT= 14.4, -13.1 mPDAT read: Bearing 128.5, 9.0 (Local) u~Local bearing/azimuth received: Bearing 128.5, 9.0 (Local) }DAT read: Range 11 to 50 : 128.0 m (Round-trip 170.7 ms) speed 0.4 m/s *DAT read: user:444> BDAT read: Tx time:05:33:56.1728 $Ping request sent.i--/ݼ- #@-PwV>-ww@ - j>)->I- j))-?3%o?,Hˀu? ->)-PWI->i- j)):publishing transmit ping timeFpublishing direction and range infoy)-a$0?}?+#?Y))))) )))I)i))))) )))I)))-?3%o?,Hˀu? )))I)i)))-C~Bɢ-A1=)1 56?i1)5n<11i5޼i=U=0<='FIE>@IA@ @@,2@^A q) BA AE <BQ BQ BU :IBU BBU  =BQ BQ BU e;BU Y'EbE5ˀ'4jE57&4rE5˧/E  E E E "E sH;*E :VE ZE BE <2E <JE 5<:E 5<AU .AIY Ii O} >MUVD,:Z?A Y]rBy]IbDmVDmk1y} %}F=ٔQ->9 ?Y ?=Fy:REE>Q 5r5xx?Q 9r5p[)0BYyQ I@ DI ;iz; r5yBɮAiiimSE?AJimBRimBjim}@bm(^@zFu>@K` T<@Rma$0?}?+#?Zim>bim jjm]@9x过CbG0@Zmn:)?Zӿ95?2im=:imB"im,S?*imp^BimBiiiiimWBimxBim`@U addTargetRange:: Added new target pos. range: 128.000000 m, deltaT: 3.779882 s, deltaX: -1.600006 m, approachRate: -0.423295 m/s, rangeRepo size: 4 e Added new target pos. range: 127.283356 m, bearing: 341.966625 deg, lat: 36.779392 deg, lon: -121.859660 deg, deltaT: 3.779882 s, deltaX: -1.584946 m, approachRate: -0.419311 m/s, posRepo size: 4 jhimFNOT Ignoring new targets: 127.28 m.RhuZhq ProNav: ac range: 127.283356 m, nav range: 125.734612 m, bearing: 338.314892 deg, approach rate: 0.000000 m/s, LOS rate: 0.000178 deg/s, cmd heading: 326.307315 deg, new cmd heading: 326.307544 deg. BhHeadingCmd: 5.695141 target range: 127.283356 and range: 128.00 m.h>@h*h"h hgfffdddjd`@Zd?@~BɢQ=) (?i)~<i>޼iv60<HI>@Iq@ @@4@ԩ^Ayb] A I I O >\D,kt?Aɰp;:4@:@:1=ٱ:C FAHRS rotation from veh to nav: [[0.818546,0.556161,0.143760],[-0.572804,0.809117,0.131245],[-0.043325,-0.189777,0.980871]]:H@1??f?iTH?? . Jȿ`Kc?i:4@I:xC^;:CPYV[ByVIn!>n=iMb@Mb@Mb@ 9Pn?~jt?lY?y=9 Ah@ @)G@Y@bDVDy۽%E=ٔK;Q->9Y=Fy>REOE>Q 5r5E EEE"EP;*E:VEZEa=@a=@a=@a=@}x?Q 9Ur5]) BY]?Q E]:y]iQ I]@DIgYgcD,F?A2}@2ax@2y2=ٱ2'> :AHRS rotation from veh to nav: [[0.817586,0.558184,0.141365],[-0.574157,0.808864,0.126816],[-0.043559,-0.184849,0.981801]]2H`)??B?~_@7?;?SM ǿ@j?i2}@I2b^;2CYBUByBIbDN VDN:2yVQ %V`=ٔV':Q-V>9XYX=ZFyZBREZE^>`Q 5fr5bx?Q 9fr5b`)bBYdyfQ If@bDIb:ib:bݱr5ynBɮnVAndE9jhyFNOT Ignoring new targets: 127.28 m.Rhڍ9Zhڍ9 ProNav: ac range: 127.283356 m, nav range: 125.328850 m, bearing: 338.326830 deg, approach rate: -0.520286 m/s, LOS rate: 0.015502 deg/s, cmd heading: 326.326440 deg, new cmd heading: 326.343418 deg. Bh9*:HeadingCmd: 5.695767 target range: 127.283356 and range: 128.00 m.hC@h*h"h hgfffdddjdZd ?%;~Bɢ%И=)! %?i!)-e<))i-Eoi5 a;.<IC@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254080B>BBIB|BB =BBBe;Ba'EM9@I @I@M/@QDD=E E&E&E"E[I;*E;VE4ZEBE  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506590PiD,1?Aj>q@jl@j4=ٱj: rAHRS rotation from veh to nav: [[0.816700,0.559882,0.139761],[-0.575376,0.808571,0.123105],[-0.044083,-0.180955,0.982503]]jHh"???{i?@˃?`)ǿ p?ij>q@Ij_I^;jCYzJByzIi}Mb@Mb@Mb@yyyy y9}m?T㥛 ?:vY}?y}=}Լ}& A}~@ }A@)yyY}@bD VD2yF%;=ٔg:Q->9"?Y"?=FyFRE>bE>Q 5r5x?Q 9r5'c)BY?Q E:yQ I@ DI:i:r5yɮAjhFNOT Ignoring new targets: 127.28 m.Rh;:Zh;: ProNav: ac range: 127.283356 m, nav range: 125.087410 m, bearing: 338.341587 deg, approach rate: -0.550472 m/s, LOS rate: 0.033710 deg/s, cmd heading: 326.343406 deg, new cmd heading: 326.387762 deg. Bh:HeadingCmd: 5.696541 target range: 127.283356 and range: 128.00 m.hJ@h*h"h hgff)f5W~Bd1d1d9jd9Zd=`g?颵9~Bɢ7L=) ?i)<项i-iQ.-.<SN9IJ@I9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758381E EE'E"ECJ;*E&:VE'4ZEa@a@a@a@)^A A >A >Y A I I O >[ypD,?A2e@2`@2'7=ٱ2{5 :AHRS rotation from veh to nav: [[0.815877,0.561546,0.137877],[-0.576495,0.808406,0.118887],[-0.044701,-0.176483,0.983288]]2H?/?? ru?\o?⦿ƿw?i2e@I2V9^;2CY^GBybIbDjVDj1y-H%-S=ٔ-:Q-->91Y1=5Fy5JRE=jE=>AQ 5Mr5EŸx?Q 9Mr5Ee)EBYIyMQ IU@E'DIEK:iEB:Er5y]Bɮ]A]eEjhFNOT Ignoring new targets: 127.28 m.RhK$:ZhK$: ProNav: ac range: 127.283356 m, nav range: 124.873047 m, bearing: 338.354847 deg, approach rate: -0.579540 m/s, LOS rate: 0.035909 deg/s, cmd heading: 326.387775 deg, new cmd heading: 326.427622 deg. Bh':HeadingCmd: 5.697237 target range: 127.283356 and range: 128.00 m.hO@h*h"h hgfffdddjdZdl@7~Bɢ#=)  ?i)<ii-<HUIO@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008647A9@ @@/@^A+WBaAIIOf>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260888A A @AB >B B IB NBB  =B B rDB e;B x'ED zD AAE  E E (E "E F;*E :VE c44ZE BE `9IYI=MFyMNREMEU>QQ 5]r5Unx?Q 9er5Uh)UBYayaQ Ie@U.DIU;iU;Ur5yiɮuAqjhFNOT Ignoring new targets: 127.28 m.RhL:ZhL: ProNav: ac range: 127.283356 m, nav range: 124.648315 m, bearing: 338.368797 deg, approach rate: -0.552863 m/s, LOS rate: 0.034381 deg/s, cmd heading: 326.427609 deg, new cmd heading: 326.469534 deg. Bh¼:HeadingCmd: 5.697968 target range: 127.283356 and range: 128.00 m.hU@h*h"h hgfffdddjdZdiH@ԑ5~BɢH=) ?i)=iji,<S\IU@IQ9@ @@@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515748^A- *:A5 fAzA1 Ay I I O > |D,E?AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765342L@|G@l'<=ٱ/ AHRS rotation from veh to nav: [[0.814058,0.564761,0.135478],[-0.578965,0.807566,0.112414],[-0.045920,-0.169948,0.984383]]H ?`?TW?`?+Ǽ?ς@ſ?iL@I@^;CY%HBy%IE]  E] EYEY"E]C;*E]:VEYZEYae@ae@am@am@iMb@Mb@Mb@ 9> ףp=?Zd;O?{GztY?yj<=ף A@ @)1@Yf@bDVDy<%@=ٔ;;Q->9Y=FySREE>Q 5r5x?Q 9 r5'l)BY f?Q E :y H Q I @6DIu ;iu ;Xr5yBɮAfE=B*** querying acoustic contact ***i9 i9jhAEFNOT Ignoring new targets: 127.28 m.RhMB:ZhMB: ProNav: ac range: 127.283356 m, nav range: 124.408318 m, bearing: 338.386933 deg, approach rate: -0.562182 m/s, LOS rate: 0.042565 deg/s, cmd heading: 326.469546 deg, new cmd heading: 326.524059 deg. Bh:HeadingCmd: 5.698920 target range: 127.283356 and range: 128.00 m.h]@h*h"h hgf f f+~BdddjdZd @e3~Bɢfߒ=) ?i)f,=顑iPip+<tI]@IY@a @a@e0@aUBDAT read: Rx Time:05:33:58.7450 UTRx dataTimestamp_ set to:1761543240.112106]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017629I ^A jbA I I O >jD,"?A22B@2<@2_>=ٱ2, >AHRS rotation from veh to nav: [[0.813294,0.566030,0.134768],[-0.579994,0.807147,0.110093],[-0.046461,-0.167702,0.984742]]2H??`@?P`%? /?ɧEwſ ?i22B@I2@d^;2CYF8ByFIIJN>)Jp;J=J= Np9\Y\=^Fy^VREb'gEb>dQ 5jr5fx?Q 9jr5fn)fBYhyj Q Ij@f=DIf:if:fr5ypɮrApjh  FNOT Ignoring new targets: 127.28 m.RhnE:ZhnE:% ProNav: ac range: 127.283356 m, nav range: 124.203629 m, bearing: 338.402576 deg, approach rate: -0.563709 m/s, LOS rate: 0.043152 deg/s, cmd heading: 326.524051 deg, new cmd heading: 326.571058 deg. Bh%:-HeadingCmd: 5.699740 target range: 127.283356 and range: 128.00 m.h-Fd@h)*h)"h) h)g1f1f1f1dddjdZd`e @ 2~Bɢ x=)  ?i)W=1i5i=\=*<=.IEFd@IAQB>BBIB0BB =BBB>f;B'EBeCBeCBeÓCBe =checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273417Be =CeU5@ @@4@D%=DR=E  E E$E"EE;*E:VE4ZEBEԩ  PExceeded connect timeout, disconnecting.- DAT read: 05:33:58.7450 LVL= 27296, 32753, 32754, 32755, AGC= 66, IDX= 421,-0.18,-0.178,-2.079,-0.515,-0.527, PHS= 0.451,-1.507,-0.032, RAW= 136.3, 12.3, CAL= 135.7, 13.3, ROT= 14.3, -13.3 E Ygot valid direction response: 05:33:58.7450 LVL= 27296, 32753, 32754, 32755, AGC= 66, IDX= 421,-0.18,-0.178,-2.079,-0.515,-0.527, PHS= 0.451,-1.507,-0.032, RAW= 136.3, 12.3, CAL= 135.7, 13.3, ROT= 14.3, -13.3 D,s)?APDAT read: Bearing 127.3, 9.2 (Local) ~Local bearing/azimuth received: Bearing 127.3, 9.2 (Local) @^DAT read: Range 11 to 50 : 126.0 m (Round-trip 168.0 ms) speed 0.3 m/s b*DAT read: user:445> fBDAT read: Tx time:05:33:59.8728 f$Ping request sent.fi`o?@[>@ ,m>)r>I,mfތ?L&k?K,;? >)[Ir>i,m5:publishing transmit ping timedFpublishing direction and range infoyD-?zv?gz}"Er?Y )Ii )I:@5@@=ٱĄ(fތ?L&k?K,;? )Ii mAHRS rotation from veh to nav: [[0.812747,0.567225,0.133034],[-0.580711,0.807141,0.106295],[-0.047084,-0.163645,0.985395]]H?&?D?`/? '6?`iUĿ[?i:@IdL^;CY@ByIԩiMb@Mb@Mb@ 9tV?y&1?~jth?Y?y`e=D;@ A@)^@Y@bDVDyM<%M=ٔU:Q-U>9QYQ=UFy]\RE}ZӺE}>Q 5r5xy?Q 9r51s)BYc?Q E:yQ I@GDI<:i:ir5yBɮfApEii'?AJiBRiBji6@bh/]@q>@[<@RD-?zv?gz}"Er?Zir>bi,mj$K<]@erמD,;ж/1@ZMX?ɀZտ 1AL?2i$:iB"i̇a?*iGBiBiiiBiBi@ addTargetRange:: Added new target pos. range: 126.000000 m, deltaT: 3.541316 s, deltaX: -2.000000 m, approachRate: -0.564762 m/s, rangeRepo size: 4 % Added new target pos. range: 125.292847 m, bearing: 340.575032 deg, lat: 36.779392 deg, lon: -121.859660 deg, deltaT: 3.541316 s, deltaX: -1.990509 m, approachRate: -0.562082 m/s, posRepo size: 4 jh!5FNOT Ignoring new targets: 125.29 m.Rh=Zh9M ProNav: ac range: 125.292847 m, nav range: 123.885414 m, bearing: 338.424266 deg, approach rate: 0.000000 m/s, LOS rate: 0.043152 deg/s, cmd heading: 326.571070 deg, new cmd heading: 326.648297 deg. BhIUHeadingCmd: 5.701088 target range: 125.292847 and range: 126.00 m.hUQo@hQ*hQ"hQ hQgYfYfYf]b~Bdadadajde_@Zdea?E} E}E}&Ey"E}B;*E}1:VE}4ZEya@a@a@a@0~BɢC=) 1?i)=i iJc)<o㧼IQo@I  9@  @ @ /@  1 ^A A >A >IIO?D, J?A2;@2l6@2?C=ٱ2qV# :AHRS rotation from veh to nav: [[0.812781,0.567725,0.130672],[-0.580610,0.807786,0.101852],[-0.047732,-0.158653,0.986180]]<2HM?*?߹?[a?`? GpNĿ`Ɏ?i2;@I2vC^;2CYB:ByFIbD  VD 2y%%-T=ٔ-:Q-->9)Y1=5Fy5`RE59E=>9Q 5Mr5=qy?Q 9]r5=v)=BYiyuQ Iu@=NDI=;i=>;=r5y}BɮAjhFNOT Ignoring new targets: 125.29 m.RhB:ZhB: ProNav: ac range: 125.292847 m, nav range: 123.668983 m, bearing: 338.439066 deg, approach rate: -0.620696 m/s, LOS rate: 0.042520 deg/s, cmd heading: 326.648306 deg, new cmd heading: 326.692785 deg. Bhs:HeadingCmd: 5.701865 target range: 125.292847 and range: 126.00 m.hu@h*h"h hgfffdddjdZd W? /~Bɢ =) t?i)/=iTio(<I%u@I!ԩ9@ @@4@^AI1IIOe3>B<A<B B B IB  BB B B B f;B 'EE EEE"EsH;*E>:VEZEBE9hYh=jFyjdREy%:E>Q 5Ur5#y?Q 9]r5Ry)BYayeQ Im@VDI&oD,ԁ?A$ZJQ@ZL@Z>L=ٱZw fAHRS rotation from veh to nav: [[0.814229,0.566872,0.125253],[-0.578401,0.810640,0.091187],[-0.049844,-0.146693,0.987925]]ZH@)?#?I?B?@X?¿?iZJQ@IZYq^;ZCYhynIi]Mb@Mb@Mb@YYYY Y9]V-? rh?9Y=FyiRE;E>Q 5r566y?Q 9r5||)BYv?Q E:yQ I@^DI ;i ;\r5yBɮ+AqEUB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 125.29 m.Rhq6:Zhq6: ProNav: ac range: 125.292847 m, nav range: 123.173508 m, bearing: 338.470053 deg, approach rate: -0.701817 m/s, LOS rate: 0.039876 deg/s, cmd heading: 326.743245 deg, new cmd heading: 326.785932 deg. Bh:HeadingCmd: 5.703490 target range: 125.292847 and range: 126.00 m.h@h*h"h hgfffp~BdddjdZd`?MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.a颁ɢf=) ?i)Rz =顉i߶if8&<|I@Iq@y @y@}4@yԉ^A 𕭼 I I O5 >Be >Ba Ba Ba Be  =Ba Ba Be f;Be (E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714500D =D <bE˞4jE˞4rE0E  E E #E "E D;*E :VE 3ZE BE ϚAHRS rotation from veh to nav: [[0.815391,0.565683,0.123047],[-0.576669,0.812361,0.086730],[-0.050897,-0.141676,0.988604]]2H??@?@t ?`3?2q"¿@?i2db@I2X^;0PYRQByRIbDZVDZ:y=6=%=P=ٔE/;Q-E>9AYI=MFyMmREM;EM>QQ 5]r5UFy?Q 9]r5UK)UBYayeQ Ie@UeDIUw;iU;Ur5yiɮmAqjhFNOT Ignoring new targets: 125.29 m.Rh:Zh: ProNav: ac range: 125.292847 m, nav range: 122.950592 m, bearing: 338.482521 deg, approach rate: -0.592328 m/s, LOS rate: 0.033190 deg/s, cmd heading: 326.785920 deg, new cmd heading: 326.823392 deg. Bh9:HeadingCmd: 5.704144 target range: 125.292847 and range: 126.00 m.hZ@h*h"h hgfffdddjdZdS?,~Bɢ =) ?i)P=i/hi < a%< =I Z@I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968719 ^A&IYIqO>! D,}?AZRv@Zq@ZT=ٱZ& jAHRS rotation from veh to nav: [[0.816748,0.564016,0.121693],[-0.574653,0.814120,0.083570],[-0.051938,-0.138187,0.989043]]ZH "?@k ?`H'?c`D ?d? >?iZRv@IZwK^;XYzLByzI|checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218652iMb@Mb@Mb@ 9/$?Zd;O?9Y=FyqRE;E>Q 5 r5gXy?Q 9 r5)BY; ?Q E:yQ I@lDIP ;i ;r5yBɮArEjhAMFNOT Ignoring new targets: 125.29 m.E] E]E](EY"E]B;*E]Z:VE]c44ZEYae@ae@ae@ae@RhM9Zhe9u ProNav: ac range: 125.292847 m, nav range: 122.720848 m, bearing: 338.489545 deg, approach rate: -0.537689 m/s, LOS rate: 0.016468 deg/s, cmd heading: 326.823404 deg, new cmd heading: 326.844514 deg. Bh}4:}HeadingCmd: 5.704513 target range: 125.292847 and range: 126.00 m.h_@h*h"h hgfff~BdddjdZd@(]@ɢJ=) l?i)Mt=IIiMiU#U^$ӥD,L?A2@2凵@2Z=ٱ2" :AHRS rotation from veh to nav: [[0.818289,0.561890,0.121174],[-0.572340,0.815978,0.081280],[-0.053205,-0.135863,0.989298]]2Hk/??B?`P~?δ?=c@T?i2@I2j^;0YFQByFIbDNVDN0yV<%Va=ٔZ7e;Q-Z>9XYX=ZFyZuRE^;E^>`Q 5fr5bPgy?Q 9fr5b)bBYhyjSQ Ij@bsDIb :ib9:br5YyYɮeAajhFNOT Ignoring new targets: 125.29 m.Rh9Zh9 ProNav: ac range: 125.292847 m, nav range: 122.525833 m, bearing: 338.495270 deg, approach rate: -0.511187 m/s, LOS rate: 0.015032 deg/s, cmd heading: 326.844523 deg, new cmd heading: 326.861727 deg. Bh%:HeadingCmd: 5.704813 target range: 125.292847 and range: 126.00 m.hՍ@h*h"h hgfffdddjdZdc@+~Bɢj.=) ?i)]=i Di 0 Ӝ#<EyIՍ@I@ @@@A A BBBIB%BB =BBB>g;B"(Eԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.722632Em EmEm$Ei"Em1A;*Em:VEm4ZEiBEm йD,N(?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977136Fã@F@F`=ٱFH fAHRS rotation from veh to nav: [[0.819802,0.559596,0.121559],[-0.570029,0.817730,0.079902],[-0.054690,-0.134796,0.989363]]FH;?@6?}?`=*?rt?`G@ܨ?iFã@IFPV^;FCYzJBy~IbD=VD=:2y%-=ٔM;Q->9Y=FyzRE;E>Q 5 r5zy?Q 9r5)BYy޾Q I@{DI;i;r5yBɮ%A%sEjhAMFNOT Ignoring new targets: 125.29 m.RhU9ZhU9e ProNav: ac range: 125.292847 m, nav range: 122.268837 m, bearing: 338.502506 deg, approach rate: -0.560001 m/s, LOS rate: 0.015801 deg/s, cmd heading: 326.861735 deg, new cmd heading: 326.883490 deg. Bhe-:mHeadingCmd: 5.705193 target range: 125.292847 and range: 126.00 m.hm@hi*hi"hi higqfqfqfqdydydyjdyZd}v @颩ɢ< =) p?i)â=顱iciM"<9 ]I@Ia@a @a@e0@aBDAT read: Rx Time:05:34:02.4423 TRx dataTimestamp_ set to:1761543243.900117checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227582Eu  EuEu%Eq"EuG;*Eu:VEu 4ZEqa@a@a@a@^A mA A I I O >ڷD,!?A@B@Bq@Be=ٱB, JAHRS rotation from veh to nav: [[0.821050,0.557650,0.122080],[-0.568092,0.819192,0.078719],[-0.056109,-0.133985,0.989394]]BH F?D?@?-`6?&? Xi&?iB@IBos^;BCYRMByRITVAi-Mb@Mb@Mb@)))) )9-x&1?ʡE?{Gzt?Y-A?y-=-ף;-A-v@ -+@)-A)Y)bDIVDIyUn<%]e=ٔ];Q-]>9aYa=eFye}REe;Em>iQ 5ur5m&y?Q 9}r5m)mBY}?Q E}:y}Q I}@mDImG ;im ;mr5yɮAjhFNOT Ignoring new targets: 125.29 m.RhX6ZhX6 ProNav: ac range: 125.292847 m, nav range: 122.088158 m, bearing: 338.502571 deg, approach rate: -0.513439 m/s, LOS rate: 0.000184 deg/s, cmd heading: 326.883483 deg, new cmd heading: 326.883677 deg. Bh7HeadingCmd: 5.705196 target range: 125.292847 and range: 126.00 m.h@h*h"h hgfff~BdddjdZd5 @ɢ(=) ?i)w}=ii "<|=>I@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.479703@ @@@Aq^AlXB B CB IB +BB B B B Vg;B .(EI I O > DAT read: 05:34:02.4423 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.13,-0.642,-2.464,-0.936,-0.946, PHS= 0.406,-1.472,-0.034, RAW= 137.1, 12.9, CAL= 136.4, 13.9, ROT= 13.6, -13.9  Ygot valid direction response: 05:34:02.4423 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.13,-0.642,-2.464,-0.936,-0.946, PHS= 0.406,-1.472,-0.034, RAW= 137.1, 12.9, CAL= 136.4, 13.9, ROT= 13.6, -13.9 % PDAT read: Bearing 128.4, 8.3 (Local) - ~Local bearing/azimuth received: Bearing 128.4, 8.3 (Local) ] DAT read: Range 11 to 50 : 124.0 m (Round-trip 165.4 ms) speed 0.4 m/s e *DAT read: user:446> m BDAT read: Tx time:05:34:03.5728 m $Ping request sent.m i j C f$@ f> :\@ Ulx>) s>I Ulx Ʒ?*EL?Wq? k>) #fI s>i Ulx  :publishing transmit ping timei  Fpublishing direction and range infoy  #1?Sݰ7?ؼʿ?Y ) I i ) I Ʒ?*EL?Wq? ) I i SD,?AYɮ@!ĵ@Ri=ٱ. AHRS rotation from veh to nav: [[0.822299,0.555822,0.122008],[-0.566187,0.820628,0.077472],[-0.057063,-0.132785,0.989501]]HFP?@J?@;?3B?@6ճ?Y7 ?iYɮ@I~ ^;Y EBy IbD]VD]ym%m:=qٔs;Q->9Y=FyREf;E>Q 5r5y?Q 9r5؊)BYyOQ I@DI;i`;r5yBɮAii?AJiBRiBji9@bx1]@'%<@~ 2=@R#1?Sݰ7?ؼʿ?Zis>biUlxj%\@=D[-2@ZUS?hտʧ?2i!:iB"i0o?*imB|Bi#Bi0o?imB|i#BiBi9@ addTargetRange:: Added new target pos. range: 124.000000 m, deltaT: 3.778877 s, deltaX: -2.000000 m, approachRate: -0.529258 m/s, rangeRepo size: 4  Added new target pos. range: 123.303703 m, bearing: 340.596908 deg, lat: 36.779406 deg, lon: -121.859613 deg, deltaT: 3.778877 s, deltaX: -1.989143 m, approachRate: -0.526385 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 123.30 m.Rh-Zh)= ProNav: ac range: 123.303703 m, nav range: 121.841179 m, bearing: 340.597164 deg, approach rate: 0.000000 m/s, LOS rate: 0.000184 deg/s, cmd heading: 326.883674 deg, new cmd heading: 326.883933 deg. Bh9EHeadingCmd: 5.705201 target range: 123.303703 and range: 124.00 m.hE@hA*hA"ha hagifififidqdqdqjdu_@Zd}?!ɢ%=)) -?i))-=))i-i55@C!<5T"I=@I9ԡ%9@! @!@)@)^A] *: IY Ii O} >D,K!9?A2-ڮ@2Ե@2io=ٱ2z >AHRS rotation from veh to nav: [[0.823393,0.553873,0.123484],[-0.564450,0.821809,0.077633],[-0.058482,-0.133623,0.989305]]2Hy->-94-9 A-@ -f@)-A)Y-@bDVDJԩy%D=ٔ^;Q->9Y=FyREŢ;E>Q 5r5y?Q 9r5)BY?Q E:yQ I@DI:i:pr5yɮPAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 123.30 m.Rha?8Zha?8- ProNav: ac range: 123.303703 m, nav range: 121.629890 m, bearing: 340.598181 deg, approach rate: -0.542171 m/s, LOS rate: 0.002614 deg/s, cmd heading: 326.883920 deg, new cmd heading: 326.886976 deg. Bh-85HeadingCmd: 5.705254 target range: 123.303703 and range: 124.00 m.h5q@h1*h1"h1 h9g9f9f9fEBdAdAdAjdIZdM ?u,~Bɢ}u=)y }?iy)}dw=顁i iL <Iq@I9@! @!@%Q0@!-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.^AeIIO>1 vD,R?A2j@22@2%v=ٱ22 :AHRS rotation from veh to nav: [[0.824703,0.551636,0.124752],[-0.562358,0.823288,0.077139],[-0.060154,-0.133772,0.989185]]2H@c? ?@?@_X? d?`̮qf?i2j@I2];2CYv&ByzII~<)~;~=~=bD  VD 2y%ꜽ%%U=ٔ-;Q-->91Y9=EFyEREMX;EM>YQ 5er5]uy?Q 9mr5])]zBYqyuUQ Iu@]DI]\;i]];]r5yݓBɮAtEjhFNOT Ignoring new targets: 123.30 m.Rh8Zh8 ProNav: ac range: 123.303703 m, nav range: 121.431686 m, bearing: 340.598904 deg, approach rate: -0.503711 m/s, LOS rate: 0.001839 deg/s, cmd heading: 326.886980 deg, new cmd heading: 326.889151 deg. Bh8 HeadingCmd: 5.705292 target range: 123.303703 and range: 124.00 m.h @h *h "h hgf!f!f!d!d)d)jd)Zd- ?B<A<B>BBIB BBBBBBBaBaBaBe =Be =Ceª4ɢׇ=) A?i)j4=iri -) <5лI5@I1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990997E=  E= E=)E9"E=G;*E=:VE=FA4ZE9BE=(E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242848ԙ ήD,l?A@@`}=ٱ AHRS rotation from veh to nav: [[0.825890,0.549559,0.126060],[-0.560432,0.824644,0.076669],[-0.061820,-0.133968,0.989055]]Hm??"? |c??릯%W?i@I];CY By IiiMb@Mb@Mb@ 9MbX9?X9v? rhY?y=C A@ |@)AYbDVD:2y%2=ٔ?o;Q->9Y=FyRE ;E>Q 5r5y?Q 9r5)lBYc?Q E:yǽQ I@DI ;i7 ;r5yғBɮA}EjhFNOT Ignoring new targets: 123.30 m.Rh%q9Zh%q95 ProNav: ac range: 123.303703 m, nav range: 121.197418 m, bearing: 340.602454 deg, approach rate: -0.523429 m/s, LOS rate: 0.007947 deg/s, cmd heading: 326.889138 deg, new cmd heading: 326.899809 deg. Bh59=HeadingCmd: 5.705478 target range: 123.303703 and range: 124.00 m.h=G@h9*h9"h9 h9gAfAfAfM~BdIdIdIjdQZdUhz?]-~Bɢ]Ґ=) g>i)k=顉ii<0IG@Iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4957309@ @@0@E= E= E=*E9"E=L;*E=:VE=(N4ZE9aM@aM@aM@aM@^A `ԻIy I O > D,?AY~ By~IbD VD y3;%%j=ٔ%Q-%>9)Y)=-Fy-RE-E->1Q 5=r55y?Q 9Er55x)5`BYAyAQ IE@5DI5&;i5;5r5yMГBɮMAU~Ejhq}FNOT Ignoring new targets: 123.30 m.Rh}9Zh9 ProNav: ac range: 123.303703 m, nav range: 121.016815 m, bearing: 340.605200 deg, approach rate: -0.517024 m/s, LOS rate: 0.007873 deg/s, cmd heading: 326.899820 deg, new cmd heading: 326.908071 deg. Bh9HeadingCmd: 5.705622 target range: 123.303703 and range: 124.00 m.hu@h*h"h hgfffdddjdZd?.~BɢZe=) >i)a=ii+9<Iu@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7469289@ @@/@^A3IQIiOu>B>BCB~IB BB =BBB g;B(E)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000229Em  Em Em (Ei "Em O;*Em Z:VEm c44ZEi BEm 6AHRS rotation from veh to nav: [[0.827592,0.545893,0.130735],[-0.557511,0.826479,0.078195],[-0.065364,-0.137600,0.988329]]6H {?@w??!r? ? @c?i6@I6l^;6CYRByRcI TTbDZVDZ1yb%fP=ٔf9hYh=jFyjREj <En>pQ 5rr5r y?Q 9vr5rc)rSBYtyvQ Iv@rDIr:ir:rGr5yxɮ~A|jhFNOT Ignoring new targets: 123.30 m.Rhn8Zhn8 ProNav: ac range: 123.303703 m, nav range: 120.813774 m, bearing: 340.607983 deg, approach rate: -0.496364 m/s, LOS rate: 0.006815 deg/s, cmd heading: 326.908071 deg, new cmd heading: 326.916434 deg. Bh9HeadingCmd: 5.705768 target range: 123.303703 and range: 124.00 m.h@h*h"h hgfffdddjdZd V@e/~BɢeJ=)a e>ia)m =iiim_ iuMD,N?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502733Z8"@Z@Z|=ٱZ` fAHRS rotation from veh to nav: [[0.827876,0.544847,0.133274],[-0.556885,0.826812,0.079125],[-0.067082,-0.139724,0.987916]]ZH}?co?? ?u?A? B,y ?iZ8"@IZy^;ZCYnByrWIE  EE)E"EE;*Eu:VEFA4ZEa @a @a @a @i}Mb@Mb@Mb@yyyy y9}E?S㥻?I +Y}?y}/=}9} A}@ }O@)}AyY}@bDVDy-8%==ٔ};Q->9Y=FyRE:E>Q 5r5y?Q 9r5)CBY ?Q E:yʾQ I@DI:i]: r5y͓BɮUAUEuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 123.30 m.Rh9Zh9 ProNav: ac range: 123.303703 m, nav range: 120.583923 m, bearing: 340.614261 deg, approach rate: -0.521412 m/s, LOS rate: 0.014268 deg/s, cmd heading: 326.916431 deg, new cmd heading: 326.935301 deg. Bh:HeadingCmd: 5.706098 target range: 123.303703 and range: 124.00 m.hZ@h*h"h hgfff~BdddjdZd@e0~Bɢe=)a eh>ia)m^"=iiiu"i\<?IZ@Ia@a @a@e/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754790^A- ?BɺI Aa Ii Iy O >D,)?A2#@2N@2=ٱ2 FAHRS rotation from veh to nav: [[0.827880,0.544317,0.135400],[-0.556696,0.826884,0.079697],[-0.068579,-0.141357,0.987581]]2H}?@ k?@T?uu? g?l ¿B?i2#@I2^;2CqYBy8IbDVDkyR%J=ٔ\s;Q->9Y=FyRE9E>Q 5s5z?Q 9s5)4BYyʾQ I@DI-:ig:s5yɮAjhFNOT Ignoring new targets: 123.30 m.Rh 9Zh 9 ProNav: ac range: 123.303703 m, nav range: 120.368996 m, bearing: 340.620144 deg, approach rate: -0.565757 m/s, LOS rate: 0.015513 deg/s, cmd heading: 326.935310 deg, new cmd heading: 326.952990 deg. BhW*:%HeadingCmd: 5.706406 target range: 123.303703 and range: 124.00 m.h%ᚶ@h!*h!"h! h!g)f)f)f)d1d1AYAYBe>BeCBeSIBeBBe =BaBaBef;Be'EdjdZd@@e1~Bɢeԅ=)a e>ia)e#=iiimA 켝uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007040i}ʧ}3<&Iᚶ@IbEc44jE(4rEÅ0E  EE$E"ED;*E#:VE4ZEBEϚ D,S?AIɰM;}%@} @}R=ٱ}ί AHRS rotation from veh to nav: [[0.827951,0.543602,0.137823],[-0.556390,0.827008,0.080546],[-0.070196,-0.143371,0.987176]]}H ~?/e? 1?` v??`Y¿?i}%@I}_;}CYBy"IiMb@Mb@Mb@ 9Fx?bX9ȶ? rhY ?yE=CO A@ @)AYA 54<5p<bD=VD=y]%]&=ٔ]W;Q-e>9aYa=eFymREm=:Em>qQ 5}s5uY#z?Q 9}s5u)u#BY} ?Q E:y޾Q I@uDIu<:iu:us5yʓBɮH AjhFNOT Ignoring new targets: 123.30 m.Rh9Zh9 ProNav: ac range: 123.303703 m, nav range: 120.099716 m, bearing: 340.632632 deg, approach rate: -0.546645 m/s, LOS rate: 0.025409 deg/s, cmd heading: 326.952987 deg, new cmd heading: 326.990536 deg. Bh:HeadingCmd: 5.707061 target range: 123.303703 and range: 124.00 m.h?@h*h"h hgfff~BdddjdZd @%3~Bɢ%T|=)) ->i))-i$=))i-CsE,F ?AvDAT read: 05:34:06.1397 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.20,-0.656,-2.535,-0.943,-0.998, PHS= 0.444,-1.492, 0.012, RAW= 137.7, 11.8, CAL= 137.1, 12.8, ROT= 12.9, -12.8 xzYgot valid direction response: 05:34:06.1397 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.20,-0.656,-2.535,-0.943,-0.998, PHS= 0.444,-1.492, 0.012, RAW= 137.7, 11.8, CAL= 137.1, 12.8, ROT= 12.9, -12.8 ~PDAT read: Bearing 127.8, 6.8 (Local) ~Local bearing/azimuth received: Bearing 127.8, 6.8 (Local)  DAT read: Range 11 to 50 : 122.1 m (Round-trip 162.8 ms) speed 0.8 m/s 5*DAT read: user:447> =BDAT read: Tx time:05:34:07.2227 =$Ping request sent.=iZZDZf$@ Zd>)Zf>IZdXXZ/ѪQ?l?ETե? Zl>)ZRIZf>iZdXXe:publishing transmit ping time9eFpublishing direction and range infoyXZ$j?^Cs?@|[?YXXXXX X)XIXiXXXXX X)XIXXXZ/ѪQ?l?ETե? X)XIXiXXXYmeByIbDVDNyN%f=ٔQ->9Y=FyREE>Q 5s5D2z?Q 9s5)BYyQ I@ƾDIy:i:s5yȓBɮ AEiXiZM ?AJiZBRiZBjiZ/@bZ>y!'\@$n:@YWo+:@RZ$j?^Cs?@|[?ZiZf>biZdjZvP9h\@i<DUS-@ZZڹ%D?Z.տQ?2iZ :iZAB"iZTd?*iZ^BiZBiŻa?iXiZBiZ2BiZD@u addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 3.780190 s, deltaX: -1.900002 m, approachRate: -0.502621 m/s, rangeRepo size: 4  Added new target pos. range: 121.414047 m, bearing: 340.523238 deg, lat: 36.779408 deg, lon: -121.859613 deg, deltaT: 3.780190 s, deltaX: -1.889656 m, approachRate: -0.499884 m/s, posRepo size: 4 !jhY]FNOT Ignoring new targets: 121.41 m.RheZhau ProNav: ac range: 121.414047 m, nav range: 120.097900 m, bearing: 340.673938 deg, approach rate: 0.000000 m/s, LOS rate: 0.025409 deg/s, cmd heading: 326.990525 deg, new cmd heading: 327.020959 deg. BhqHeadingCmd: 5.707592 target range: 121.414047 and range: 122.10 m.h@h*h"h hgfffdddjd`f^@Zd?M5~BɢMRw=)Q }>iy)}%=yyi}i Z<[I@IIB9B9B=IB=vBB9B9B9B=f;B='E@ @@@E  E E E "E L;*E 1:VE ZE BE Æ E,'?AY 4By IbDVDy-ڽ%-7=ٔ1Q-5>95 ?Y5 ?==Fy=RE9E=>AQ 5Ms5EDz?Q 9Ms5EȠQ =MtI)EBYQyQQ IU@EξDIE ;iE\ ;E s5yYɮ]n!AajhFNOT Ignoring new targets: 121.41 m.Rhv:Zhv: ProNav: ac range: 121.414047 m, nav range: 119.854393 m, bearing: 340.685365 deg, approach rate: -0.606414 m/s, LOS rate: 0.028515 deg/s, cmd heading: 327.020961 deg, new cmd heading: 327.055311 deg. Bh:HeadingCmd: 5.708192 target range: 121.414047 and range: 122.10 m.h@h*h"h hgfffdddjdZd`|?7~Bɢ2%q=) }>i)&=i;i2 !< ~I @I ԩ@ @@0@^A%yb] EE  EE 4EA EA "EE C;*EE ;VEA ZEA aM @aM @aM @aM @A] ؟AIa Iq O >) iE,9U"?YU"?=UFyURE]&E]>aQ 5ms5eVz?Q 9ms5e)eBYu;?Q Eu:yuQ Iu@eվDIeH:ie:eqs5y}œBɮ}!AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 121.41 m.Rh::Zh:: ProNav: ac range: 121.414047 m, nav range: 119.619553 m, bearing: 340.701970 deg, approach rate: -0.576421 m/s, LOS rate: 0.040838 deg/s, cmd heading: 327.055303 deg, new cmd heading: 327.105217 deg. Bh7:HeadingCmd: 5.709063 target range: 121.414047 and range: 122.10 m.h@h*h"h hgffqfuE~BdqdydyjdyZd}9?9~Bɢa=) X>i))-]'=iwi<I@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a@a @a@e0@aAi ^A yBm >Bi Bm IBm BBi Bi Bi Bm f;Bm 'EA I I O >͓E,_[?A 6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243364:@:n@:ь=ٱ:u` BAHRS rotation from veh to nav: [[0.827270,0.542938,0.144370],[-0.556854,0.826483,0.082700],[-0.074418,-0.148809,0.986062]]:H`x?_?z?@r?`+? * ÿ`э?i:@I:%[a;:CYR~ByRIbDZVDZ0ybD%bS=ٔfR;Q-f>9dYd=jFyjREj43:Ej>lQ 5rs5ngz?Q 9rs5nq)nBYtyvQ Iv@nݾDInN:in:ns5yxɮz/"AxD|zD|E EE#E"EV;*EZ:VE3ZEBE?颅;~Bɢ._=) C>i)'=顉i3iS9<Ip@IqI@I @I@M5@Iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495428^Au&t A I I O= >E,uu?APb@b@bP=ٱbn jAHRS rotation from veh to nav: [[0.826813,0.543281,0.145694],[-0.557417,0.826076,0.082970],[-0.075278,-0.149813,0.985844]]bH?u?b??\7o?@=?@jE`-ÿ ?ib@IbYda;bCYr~ByrIieMb@Mb@Mb@aaaa a9e^I +? ףp= ?~jtxYeX?yeQ8=eĻe|Ae@ e@)eAaYeAbDVD1y{%>=ٔV;Q->9Y=FyREܺE>Q 5s5Nzz?Q 9s5Ω)BY?Q E:y-Q I@DI ;iP ;s5y“Bɮ"AEjhFNOT Ignoring new targets: 121.41 m.Rh|:Zh|: ProNav: ac range: 121.414047 m, nav range: 119.143631 m, bearing: 340.740367 deg, approach rate: -0.616944 m/s, LOS rate: 0.055235 deg/s, cmd heading: 327.152729 deg, new cmd heading: 327.220646 deg. Bh ; HeadingCmd: 5.711078 target range: 121.414047 and range: 122.10 m.h &@h*h"h hgfffT~Bdd!d!jd!Zd%?=~BɢrV=) &>i)(=iۥ#E,L?A ɰ >n@>7@>J=ٱ> ZAHRS rotation from veh to nav: [[0.826411,0.543635,0.146650],[-0.557922,0.825729,0.083035],[-0.075952,-0.150440,0.985697]]>Hq?`ue?@l?`~_l?A?q@AÿԊ?i>n@I>%!a;)f>bDnVDnN2yvyp%vV=ٔv:Q-v>9xYx=zFyzRE~ ݺE~>|Q 5 s5 z?Q 9 s5ά)BYyXQ I@DI:i:s5yɮ%"A!jhAMFNOT Ignoring new targets: 121.41 m.RhMr:ZhMr:e ProNav: ac range: 121.414047 m, nav range: 118.918465 m, bearing: 340.760639 deg, approach rate: -0.587957 m/s, LOS rate: 0.053035 deg/s, cmd heading: 327.220648 deg, new cmd heading: 327.281579 deg. Bhe;mHeadingCmd: 5.712141 target range: 121.414047 and range: 122.10 m.hmɶ@hi*hi"hi higifqfqfqdqdydyjdyZd}@颭?~BɢW=)  >i)L)=顱ihi/_{<RIɶ@I!I)))@ @@/@@=@=)BBBIB~BBBBBxf;B'EBCBCBBBCu4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251318D!D%R=E5  E5E1E1"E5C;*E5:VE1ZE1BE5ԁ )E,c(?A2]@2&@2=ٱ2a :AHRS rotation from veh to nav: [[0.826504,0.543545,0.146457],[-0.557700,0.826010,0.081715],[-0.076560,-0.149217,0.985836]]2H`r?d??n?A?h`ÿ`?i2]@I2s`;0YB~ByBIbDNVDNfyV %VN=ٔV:Q-V>9XYX=ZFyZRE^N:E^>`Q 5fs5bSz?Q 9fs5b)bBYdyfFQ If@bDIbd:ib:bas5ynBɮn"AljhFNOT Ignoring new targets: 121.41 m.Rh  s:Zh  s: ProNav: ac range: 121.414047 m, nav range: 118.686172 m, bearing: 340.781603 deg, approach rate: -0.587647 m/s, LOS rate: 0.053139 deg/s, cmd heading: 327.281573 deg, new cmd heading: 327.344590 deg. Bh;%HeadingCmd: 5.713241 target range: 121.414047 and range: 122.10 m.h%Ҷ@h!*h!"h! h)g)f)f)f1d1d1d1jd1Zd= @ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503800A~BɢP=) h>i!)%y)=!!i-Pi==v ܷ0E,*?AY~~By~IiMb@Mb@Mb@ 97A`?Q?~jtx?Y?yu=;AA@ ) AYAbDVDy%9=ٔQ->9 ?Y ?=FyREE>Q 5s5z?Q 9s5!)BYQ?Q E:y}Q I@DIcQ;iO;>"s5y Bɮ"AE-B*** querying acoustic contact ***i) i)jh9EFNOT Ignoring new targets: 121.41 m.RhEI:ZhEI:U ProNav: ac range: 121.414047 m, nav range: 118.428696 m, bearing: 340.801164 deg, approach rate: -0.579660 m/s, LOS rate: 0.044134 deg/s, cmd heading: 327.344602 deg, new cmd heading: 327.403413 deg. Bh]O:]HeadingCmd: 5.714268 target range: 121.414047 and range: 122.10 m.h]H۶@ha*ha"ha hagafafifmx~BdididqjdqZdu:@颥D~BɢxK=) =i))=顩iYi+<{>,IH۶@Im9@i @i@i@iBDAT read: Rx Time:05:34:09.7868 TRx dataTimestamp_ set to:1761543251.209321checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009758)Q^AA ؟AI I B B B IB ~BB B B B kf;B 'EO% >ԁ 6E,?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2593796@6 @6<=ٱ6&f BAHRS rotation from veh to nav: [[0.826256,0.543942,0.146381],[-0.558048,0.825823,0.081230],[-0.076701,-0.148804,0.985888]]6H p?@g?`?@ %m? {˴? ÿ d?i6@I6`;4YJ~ByJIPRAAbDRVDRyZCT%Z_=ٔ^;9Q-^>9b"?Yb"?=bFybREbEb>dQ 5js5fz?Q 9js5fе)fBYlD!zD%@AE5 E5E5#E1"E5=;*E5:VE53ZE1BE5:Zh\>:% ProNav: ac range: 121.414047 m, nav range: 118.215080 m, bearing: 340.817504 deg, approach rate: -0.542951 m/s, LOS rate: 0.041607 deg/s, cmd heading: 327.403424 deg, new cmd heading: 327.452533 deg. Bh%o:-HeadingCmd: 5.715125 target range: 121.414047 and range: 122.10 m.h-M@h)*h)"h) h)g1f1QfqfqdydydyjdyZd @G~BɢEJ=) `=i)E*=iill%u<%im>I%M@I!@ @@0@ԩ=DAT read: 05:34:09.7868 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.30, 0.172,-1.718,-0.081,-0.150, PHS= 0.424,-1.523, 0.025, RAW= 138.8, 12.0, CAL= 138.2, 13.1, ROT= 11.8, -13.1 MYgot valid direction response: 05:34:09.7868 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.30, 0.172,-1.718,-0.081,-0.150, PHS= 0.424,-1.523, 0.025, RAW= 138.8, 12.0, CAL= 138.2, 13.1, ROT= 11.8, -13.1 ]PDAT read: Bearing 129.2, 4.7 (Local) ]~Local bearing/azimuth received: Bearing 129.2, 4.7 (Local) uDAT read: Range 11 to 50 : 119.9 m (Round-trip 159.9 ms) speed 0.1 m/s }*DAT read: user:448> BDAT read: Tx time:05:34:10.8727 $Ping request sent.i¿< @PwV>^@  j>)BR>I j4?X/?!S/x? !>)WIBR>i j :publishing transmit ping time Fpublishing direction and range infoy2?~?+#?Y )^A -A fAzA fAIi )I4?X/?!S/x? )IiA .A 1 1 ԁ GI I  9 Y @AO >l=E,L?A%@%@% =ٱ%4h ]AHRS rotation from veh to nav: [[0.826378,0.543886,0.145899],[-0.557947,0.825857,0.081579],[-0.076122,-0.148819,0.985930]]%Hq?g?`Ӭ?lm?V?|@~ ÿ?i%@I%i_;%CYm~BymIԙiMb@Mb@Mb@ 9-?Zd;?y&1|?Y??yy=`;5AX@ @) AYAbDVDyW;%#=ٔӗQ->9 ?Y ?=FyREٟ9E>Q 5s5z?Q 9-s5m)BY-?Q E-:y-2Q I5@ DI;i;)s5y=Bɮ="A=EEu EuEu&Eq"Eu;;*Eur:VEu4ZEqa}@a}@a}@a}@iiim?AJimsBRimsBjim@bmH͕j\@*` &7@̩+;@Rm2?~?+#?ZimBR>bim jjm[@H"|D+ V,@Zm;[? |iUֿ? ?2imk&:imB"imEM?*im BimHBiiiiimBimBimN\@ addTargetRange:: Added new target pos. range: 119.900002 m, deltaT: 3.528065 s, deltaX: -2.199997 m, approachRate: -0.623570 m/s, rangeRepo size: 4 5 Added new target pos. range: 119.225632 m, bearing: 339.417436 deg, lat: 36.779408 deg, lon: -121.859613 deg, deltaT: 3.528065 s, deltaX: -2.188416 m, approachRate: -0.620288 m/s, posRepo size: 4 jh15FNOT Ignoring new targets: 119.23 m.Rh=Zh9} ProNav: ac range: 119.225632 m, nav range: 117.926071 m, bearing: 340.839282 deg, approach rate: 0.000000 m/s, LOS rate: 0.041607 deg/s, cmd heading: 327.452519 deg, new cmd heading: 327.514403 deg. BhHeadingCmd: 5.716205 target range: 119.225632 and range: 119.90 m.h&@h*h"h hgfff~Bdddjd]@Zd?=K~Bɢ]UG=)y }(=i)r*=顁ibi%<VJI&@IԹ ?] 9@Y  @Y @] 4@Y  A^A}0:DBM>BMCBMkIBMY~BBM =BMCDBIBMsf;BM'EAIIO?K)GE,c ?A4B}@BF@Bh=ٱBL JAHRS rotation from veh to nav: [[0.827080,0.543527,0.143235],[-0.557190,0.826365,0.081607],[-0.074009,-0.147304,0.986319]]BH`qw?d?U?q? ,?<¿?iB}@IB04_;BCYR~ByRIIVC=)V=bD^VD^\ybR%f=bE-4jE-4rE-S}/Ej  EjEhEh"EjE;*Ej:VEhZEhBEj9xYx=zFyzRE~:E~>Q 5 s5Vz?Q 9 s54)BYyQ I@DI;i&;h.s5yɮ"AjhAEFNOT Ignoring new targets: 119.23 m.Rh]P:Zh]P: ProNav: ac range: 119.225632 m, nav range: 117.623138 m, bearing: 340.862074 deg, approach rate: -0.604563 m/s, LOS rate: 0.045602 deg/s, cmd heading: 327.514401 deg, new cmd heading: 327.582952 deg. Bh_:HeadingCmd: 5.717401 target range: 119.225632 and range: 119.90 m.h@h*h"h hgfffdddjdZd`D[?UO~BɢU)@=)Y ]=iY)]Y+=YYii>۱<aLI@IԙY@Y @a@e4@a ^A NJN! AIIO>NE,M=?AY~By IEM EMEM'EI"EMsH;*EM>:VEM'4ZEIaU@aU@aU@aU@aiMb@Mb@Mb@ 9ʡE?MbX9?Mbp?Y?yʡ=;KA@ G@)O AYfAbDVDJy ﺼ% =ٔ Q->9Y=FyREE>!Q 5-s5%{?Q 9-s5%)%BY- ?Q E5:y5Q I5@% DI%:i%:%2s5y=Bɮ=#AEEjhamFNOT Ignoring new targets: 119.23 m.Rhm:Zhm:} ProNav: ac range: 119.225632 m, nav range: 117.328575 m, bearing: 340.879256 deg, approach rate: -0.560353 m/s, LOS rate: 0.032767 deg/s, cmd heading: 327.582949 deg, new cmd heading: 327.634624 deg. Bh:HeadingCmd: 5.718303 target range: 119.225632 and range: 119.90 m.hV@h*h"h hgfff~BdddjdZdM?S~Bɢ<=) h=i)W+=i/i#<C4ZIV@Iԑ-9@) @1@E4@A@I@M= ^A% JMA- >A- >B <A <B>BCBeIBO~BB =BBBf;B'EI!I1Om>VE,"[?A2`3@2).@2R]=ٱ2; :AHRS rotation from veh to nav: [[0.828792,0.541643,0.140454],[-0.554983,0.827730,0.082807],[-0.071406,-0.146579,0.986618]]2Hu?#U?f?k|?@2?G¿`?i2`3@I2Fg_;2CYB~ByBIbDJVDJN2yR;%R?=ٔVeȻQ-V>9TYX=ZFyZREZ;EZ>\Q 5bs5^{?Q 9bs5^_)^BYdyfxQ If@^'DI^;i^r;^6s5yjBɮj"AjEzB*** querying acoustic contact ***ix ixjh|FNOT Ignoring new targets: 119.23 m.Rh :Zh : ProNav: ac range: 119.225632 m, nav range: 117.089478 m, bearing: 340.892937 deg, approach rate: -0.560273 m/s, LOS rate: 0.032125 deg/s, cmd heading: 327.634612 deg, new cmd heading: 327.675741 deg. Bh`:%HeadingCmd: 5.719020 target range: 119.225632 and range: 119.90 m.h%7@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5@ ?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.V~BɢJ_==) X=i)+=ifi mc<*8:I7@IEE EEEAEA"EEP;*EE:VEAZEABEEG\E,@u?AB@=@̏=ٱ AHRS rotation from veh to nav: [[0.829920,0.540287,0.139010],[-0.553454,0.828697,0.083364],[-0.070157,-0.146121,0.986776]]H?J??@?SW?¿?iB@IgY_;CY~ByI ieMb@Mb@Mb@aaaa a9eE?Zd;O?{Gzt?Ye?yej=eף;ebAe@ a)e AaYe Ay}@AbDVDyƼ%0=ٔ0Q->9Y=FyRE6;E>Q 5s5$({?Q 9s5)zBY?Q E:yhԾQ I@/DIy;i ::s5yɮ#AjhFNOT Ignoring new targets: 119.23 m.Rh9Zh9 ProNav: ac range: 119.225632 m, nav range: 116.843140 m, bearing: 340.902789 deg, approach rate: -0.530678 m/s, LOS rate: 0.021268 deg/s, cmd heading: 327.675730 deg, new cmd heading: 327.705347 deg. Bhi: HeadingCmd: 5.719537 target range: 119.225632 and range: 119.90 m.h s@h *h "h  h gfffBdddjdZd%,@IU[~Bɢ]y8=)Y ]G=iY)]o+=Yaieim=KmN@cE,k ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5100386vQ@6?L@6c=ٱ6Q@ FAHRS rotation from veh to nav: [[0.830966,0.538954,0.137925],[-0.552029,0.829552,0.084301],[-0.068982,-0.146191,0.986848]]6HF????9ఋ?Ɣ?@ʨ@_¿ C?i6vQ@I6;_;6CYJ~ByJIbDVVDVNy^[w%^o=ٔ^:aQ-b?9`Y`=bFybREf';Ef?hQ 5ns5j96{?Q 9ns5j)jrBY9yEӾQ IE@j5DIjlBBYIB;~BB =BDDBBzf;B'Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761858E} E}E}(Ey"E}9;*E}#:VE}c44ZEyBE}g qiE,?A2b@2R]@2d=ٱ2OH :AHRS rotation from veh to nav: [[0.832171,0.537518,0.136257],[-0.550333,0.830704,0.084051],[-0.068011,-0.144931,0.987102]]2H@$?Y3?p?@T@ ?@W?(i@¿V?i2b@I2_;2CYV~ByVIbDbVDbyf%jI=ٔjQ-j>9hYl=nFlynREr;Er>tQ 5zs5vF{?Q 9zs5v3)viBYxy~qҾQ I~@va  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265910E  E E 'E "E B;*E Z:VE '4ZE a @a @a @a @pE,P?AY|y|I4>)p< = =9a}@a} a}@a} a}@a} a}@a} bDVDJٔQ->9Y=FyREE>Q 5s5X{?Q 9s5)_BQ A+:YQ E:yQ I@CDI;i>_Ds5yBɮ*#AEjhFNOT Ignoring new targets: 119.23 m.RhS9ZhS9 ProNav: ac range: 119.225632 m, nav range: 116.217667 m, bearing: 340.926988 deg, approach rate: -0.530397 m/s, LOS rate: 0.020471 deg/s, cmd heading: 327.751764 deg, new cmd heading: 327.778094 deg. Bh`: HeadingCmd: 5.720807 target range: 119.225632 and range: 119.90 m.h @h *h"h hgfffddd!jd!Zd%@5 @Ug~BɢUF2=)Q ] B >B CB RIB 1~BB  =B CDB B Sf;B 'EBaBeCBaBe =Be =Ce(5vvE,0?AJ@JЅ@J]=ٱJV VAHRS rotation from veh to nav: [[0.834937,0.533875,0.133635],[-0.546250,0.833491,0.083094],[-0.067022,-0.142376,0.987541]]JH@ͷ???z?E?`V( c9¿?iJ@IJ_;JCY^h~By^uIbDfVDfynO%n<ٔr*Q-r>9pYp=vFyvREvT<Ev>xQ 5~s5zDh{?Q 9~s5z)zWBQ A :YQ E:yϾQ I@zJDIzu ;izO?zFs5y ɮ #A -B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 119.23 m.RhE9ZhE9U ProNav: ac range: 119.225632 m, nav range: 116.015770 m, bearing: 340.934296 deg, approach rate: -0.530274 m/s, LOS rate: 0.019229 deg/s, cmd heading: 327.778101 deg, new cmd heading: 327.800064 deg. BhU$S:]HeadingCmd: 5.721190 target range: 119.225632 and range: 119.90 m.h]@hY*hY"hY hYgafafafadididijdiZdm_A@DAT read: 05:34:13.4341 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408,-0.36,-2.276, 2.227,-2.461,-2.555, PHS= 0.381,-1.456, 0.050, RAW= 140.3, 12.1, CAL= 139.6, 13.1, ROT= 10.4, -13.1 Ygot valid direction response: 05:34:13.4341 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408,-0.36,-2.276, 2.227,-2.461,-2.555, PHS= 0.381,-1.456, 0.050, RAW= 140.3, 12.1, CAL= 139.6, 13.1, ROT= 10.4, -13.1 8DAT read: $Error in header *Received a bad headerD1zD5?AE= E=E=(E9"E=9;*E=:VE=c44ZE9BE=i5^L=t@@X>I@ )9>IĻ:@[?A}?Oy? w>)ȒWI9>i}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse额k~Bɢ_+=) i)A ,=顡i$i <I@IM9@I @I@M0@I!Q^AuAA>U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseA ؟AI I O >ԁ }E,e?AM혯@M@M]=ٱM AHRS rotation from veh to nav: [[0.835884,0.532647,0.132609],[-0.544846,0.834454,0.082641],[-0.066638,-0.141330,0.987717]]MH`?@r ?X?ao׳?'?.¿a?iM혯@IM_;MCYK~BybIIaUaU a]a] a]a] a]a] i]Mb@Mb@Mb@YYYY Y9]NbX9?|?5^?9"?Y"?=FyREj;E> Q 5s5 {{?Q 9s5 1) GBQ AT:YI?Q E:yƾQ I@ RDI o;i ; Js5y%Bɮ%#A-EjhQUFNOT Ignoring new targets: 119.23 m.Rh]9Zh]9m ProNav: ac range: 119.225632 m, nav range: 115.765976 m, bearing: 340.941168 deg, approach rate: -0.527047 m/s, LOS rate: 0.014529 deg/s, cmd heading: 327.800067 deg, new cmd heading: 327.820725 deg. Bhm:uHeadingCmd: 5.721551 target range: 119.225632 and range: 119.90 m.hu@hq*hq"hq hygyfyfyf_BdddjdZd 4@颵p~BɢK"=) i)+=iDM߼iF<*xI@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE] E]E]'EY"E]=;*E]:VE]'4ZEYau@au@au@au@y}9@y @@1@ԡ^A 3 A I I O >iQ IU AU T****** received valid address query ******U R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseE,eo?A2<@2@2j=ٱ28a :AHRS rotation from veh to nav: [[0.836717,0.531204,0.133140],[-0.543455,0.835399,0.082247],[-0.067535,-0.141173,0.987679]]2H@c?@? ?c?@%?I`¿`?i2<@I2 _;2CYB1~ByBSI DDbDNVDNyR˛%Vx=ٔV2;Q-V?9XYX=ZFyZRE^k;E^?`Q 5fs5b\{?Q 9fs5b)b;BYdyfžQ Ij@bWDIb;ib7;bMs5ylɮn#AljhFNOT Ignoring new targets: 119.23 m.Rh 9Zh 9 ProNav: ac range: 119.225632 m, nav range: 115.592224 m, bearing: 340.945822 deg, approach rate: -0.528492 m/s, LOS rate: 0.014178 deg/s, cmd heading: 327.820721 deg, new cmd heading: 327.834705 deg. Bh:%HeadingCmd: 5.721795 target range: 119.225632 and range: 119.90 m.h%@h!*h!"h! h!g)f)f)f1d1d1d1jd1Zd=V@et~Bɢe=)i m…iA)M+=IIiM޼i]CeORBUCBUFIBU~BBU =BQBUsDBUf;BU'ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A5_DIDM<Ee EeEe%Ea"Ee9;*Ee:VEe 4ZEaBEegVE,B*?A >x@>A@>c=ٱ> JAHRS rotation from veh to nav: [[0.837483,0.529934,0.133386],[-0.542176,0.836294,0.081589],[-0.068313,-0.140648,0.987700]]>H ?7??`Y? ? |¿@=?i>x@I>>_;>CYN!~ByRHIbDZVDZ yb %bI=ٔb:Q-f>9dYd=fFyfREjp;Ej>lQ 5rs5n${?Q 9rs5n )n-BYpyv*žQ Iv@n^DIn:in:n Qs5yzBɮz $AzEjhFNOT Ignoring new targets: 119.23 m.Rh%l|9Zh%l|9E ProNav: ac range: 119.225632 m, nav range: 115.377670 m, bearing: 340.951424 deg, approach rate: -0.527301 m/s, LOS rate: 0.013793 deg/s, cmd heading: 327.834709 deg, new cmd heading: 327.851546 deg. BhEt:MHeadingCmd: 5.722089 target range: 119.225632 and range: 119.90 m.hMZ@hI*hQ"hQ hQgYfYfYfadadadijdiZdm`@颵y~Bɢ=) xi)\q+=iXݼiMUm T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE]  EY E] "EY "E] I@;*EY VE] (3ZEY ae @ae @ae @ae @RE,@LD?A 2侯@2@2=ٱ2 >AHRS rotation from veh to nav: [[0.838258,0.528607,0.133785],[-0.540875,0.837182,0.081120],[-0.069122,-0.140361,0.987685]]2H ? Y??N1?`KĴ?W?i2侯@I28O^;2CYZ~ByZ>IbDbVDbyj}$%jH=ٔn;Q-n>9lYl=rFyrSErr;Er>tQ 5zs5v{?Q 9zs5v*)vBY|y~_ľQ I~@veDIv;iv";vTs5yɮc$A jh)5FNOT Ignoring new targets: 119.23 m.Rh5u9Zh5u9E ProNav: ac range: 119.225632 m, nav range: 115.162010 m, bearing: 340.956908 deg, approach rate: -0.527245 m/s, LOS rate: 0.013434 deg/s, cmd heading: 327.851539 deg, new cmd heading: 327.868024 deg. BhM:MHeadingCmd: 5.722376 target range: 119.225632 and range: 119.90 m.hM@hI*hQ"hQ hQgQfQfYfYdYdadajdaZde=@~~Bɢ+ =) ܽi)+=iܼi-<NI@I!q@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱ^A}U I I O >B% >B! B% 'IB% }BB%  =B! B! B% g;B% (EA0E,&^?A2ǯ@2¶@2>=ٱ2 :AHRS rotation from veh to nav: [[0.838807,0.527494,0.134734],[-0.539946,0.837716,0.081792],[-0.069724,-0.141356,0.987500]]2H@?@;?>?=G ?J?qٱ¿@?i2ǯ@I2T];2CYB}ByB$IIF<)Fa=bDJVDJPy ̽% G=ٔ :Q- >9Y=FySE,;E>!Q 5-s5%{?Q 9-s5%K)%BY)y-þQ I-@%lDI%:i%:%IXs5y=Bɮ=$A=EUB*** querying acoustic contact ***iQeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse iQjhquFNOT Ignoring new targets: 119.23 m.Rh}p9Zh}p9 ProNav: ac range: 119.225632 m, nav range: 114.945435 m, bearing: 340.962325 deg, approach rate: -0.524727 m/s, LOS rate: 0.013148 deg/s, cmd heading: 327.868013 deg, new cmd heading: 327.884293 deg. Bh^:HeadingCmd: 5.722661 target range: 119.225632 and range: 119.90 m.h @h*h"h hgfffdddjdZd@@~Bɢ <) ti)`*=iaۼi~Y<lI @IbE'4jE4rE10E EE$E"E1A;*E;:VE4ZEBE T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA U^E,Mx?A]ɯ@]Ķ@]c=ٱ]uc AHRS rotation from veh to nav: [[0.838919,0.527096,0.135593],[-0.539699,0.837838,0.082177],[-0.070290,-0.142119,0.987351]]]H`l??[?6E? ?  0¿`?i]ɯ@I]M];YY}ByImonly read 0 of 1 data item for water mass range. Device response is::WD +0.00, +0.00, 20.00,631.32 am@am am@au au@au au@au bD}VD}y4D%(=ٔ:Q->9Y=Fy SE:E>Q 5s5{?Q 9s5)BQ A+:YQ E:yþQ I@tDI ;iT>[s5yBɮA%AjhFNOT Ignoring new targets: 119.23 m.Rhr9Zhr9 ProNav: ac range: 119.225632 m, nav range: 114.688805 m, bearing: 340.968739 deg, approach rate: -0.529306 m/s, LOS rate: 0.013259 deg/s, cmd heading: 327.884297 deg, new cmd heading: 327.903582 deg. Bh:HeadingCmd: 5.722997 target range: 119.225632 and range: 119.90 m.h"@h*h"h  h g f f fdddjdZd`a1@AeT****** received valid address query ******eR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseE EE%E"E4;*E:VE 4ZEa @a @a @a @%~Bɢ%-<)! %/A >IY Ii O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGBE,ܑ?A2Я@2ʶ@2=ٱ2ŝ :AHRS rotation from veh to nav: [[0.839273,0.526352,0.136285],[-0.539047,0.838269,0.082055],[-0.071054,-0.142331,0.987266]]2HS??q???? 07¿?i2Я@I2^;0YB}ByBIbDJVDJk1yRt׽%R=ٔV #;Q-V?9TYT=VFyV SEZ;EZ?\Q 55s5^{?Q 9]s5^h)^BQ Ae :YaQ Ee:yeUþQ Im@^zDI^0BCBIB}BBBBBOg;B6(E}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseE E$E)E"EO6;*E;VEFA4ZEBEE lE,?AY~}ByI  bD%VD%y5Y%mA=ٔuQ-u>9yYy=FySEE>Q 5s5{?Q 9s5)BQ A9YQ ES:yQ I@DI ;iO?_s5yɮ%AjhFNOT Ignoring new targets: 119.23 m.Rhۃ9Zhۃ9 ProNav: ac range: 119.225632 m, nav range: 114.298798 m, bearing: 340.978395 deg, approach rate: -0.580025 m/s, LOS rate: 0.014410 deg/s, cmd heading: 327.915634 deg, new cmd heading: 327.932601 deg. Bh::HeadingCmd: 5.723504 target range: 119.225632 and range: 119.90 m.h&@h*h"h hgff f d d djdZdp(@E~BɢEQM<)A E'miI)My(=IIiM`BؼiUIGU/r T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE%  E% E! E! "E% 2;*E% ;:VE! ZE! a- @a- @a- @a5 @Y TE,p?ARү@RLͶ@Rv=ٱR܁ ZAHRS rotation from veh to nav: [[0.839324,0.525619,0.138781],[-0.538720,0.838421,0.082650],[-0.072914,-0.144134,0.986868]]RH ???1=@X?`(?``r¿l?iRү@IR8Z^;RCY }By Iaa aa aa aa iMb@Mb@Mb@ 9Gz?sh|??~jtY?y=-A?@ A)AY AbDVD1y0%A=ٔڒ;Q->9Y=FySET?:E>Q 5s5|?Q 9s57)BQ AT:YE?Q E:y8ܾQ I@DI;i); cs5yBɮX&AEjh)-FNOT Ignoring new targets: 119.23 m.1Rh56:Zh=6:M ProNav: ac range: 119.225632 m, nav range: 114.064812 m, bearing: 340.989965 deg, approach rate: -0.565566 m/s, LOS rate: 0.028023 deg/s, cmd heading: 327.932600 deg, new cmd heading: 327.967381 deg. BhMڙ:UHeadingCmd: 5.724111 target range: 119.225632 and range: 119.90 m.hU+@hQ*hQ"hQ hQgYfYfYf]~BdadadajdaZde@颕~Bɢ<) i)Č'=顙iּi!<h I+@Iq@q @y@}4@ya%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse^Am9AqzAqԑA A A AAB >B CB IB p}BB =B B tDB Ig;B 8(EI I O >Թ H~E,m?AY~e}By~IbD VD ܲy%%V=ٔ%Q-%>9)Y)=-Fy-SE-E->1Q 5=s55'|?Q 9Es55)5BYAyAQ IE@5DI5;i53;5ufs5yM0BɮM#AUEmB*** querying acoustic contact ***ii iiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsejhFNOT Ignoring new targets: 119.23 m.Rhx9Zhx9 ProNav: ac range: 119.225632 m, nav range: 113.849823 m, bearing: 341.000638 deg, approach rate: -0.561321 m/s, LOS rate: 0.027919 deg/s, cmd heading: 327.967379 deg, new cmd heading: 327.999458 deg. BhH:HeadingCmd: 5.724670 target range: 119.225632 and range: 119.90 m.h0@h*h"h hgfffdddjdZd)X@E EE&E"E&;*E:VE4ZEBEE,'J?A4nɯ@n^Ķ@n3=ٱn3 AHRS rotation from veh to nav: [[0.838653,0.526001,0.141365],[-0.539581,0.837734,0.083987],[-0.074249,-0.146714,0.986389]]nH ???@=? @D`? +?¿~?inɯ@In_;nCYO}ByII<)== p<<bD VD :yEo@%E9=ٔMnF;Q-M>9IYQ=UFyUSE]!E]>YQ 5es5]V$|?Q 9ms5]X)]BYiymܾQ Im@]DI]:i] :]Rjs5yyɮ}H$AyjhFNOT Ignoring new targets: 119.23 m.Rh:Zh:= ProNav: ac range: 119.225632 m, nav range: 113.600441 m, bearing: 341.013221 deg, approach rate: -0.566533 m/s, LOS rate: 0.028650 deg/s, cmd heading: 327.999454 deg, new cmd heading: 328.037288 deg. Bh=K:EHeadingCmd: 5.725331 target range: 119.225632 and range: 119.90 m.hE5@hA*hA"hA hAgIԉfIffdddjdZdj @T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse颥~Bɢ<) ri)}A%=顩iӼia<)I5@IE EEE"E);*E:VEZEa@a@a@a@Թ@ @@4@ ^A 0:ĺA >A >E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse AQ Ia Iy O >3E,?A:į@:@:q=ٱ: BAHRS rotation from veh to nav: [[0.838295,0.526311,0.142332],[-0.540054,0.837404,0.084238],[-0.074854,-0.147484,0.986228]]:HO? ?@7?H`??@)¿-?i:į@I:w_;:CYf8}ByfIiUMb@Mb@Mb@QQQQ Q9U(\?~jt?y&1YUz?yU=U`eQUV@ Q)U1AQYU3 AbDmVDmy}xc%}B=ٔ}:Q-}>9Y=Fy"SEE>Q 5s56|?Q 9s5)BY?Q E:ysQ I@DI3:i ;ms5y/Bɮ$AjhFNOT Ignoring new targets: 119.23 m.Rh8:Zh8: ProNav: ac range: 119.225632 m, nav range: 113.357895 m, bearing: 341.027358 deg, approach rate: -0.577087 m/s, LOS rate: 0.033707 deg/s, cmd heading: 328.037293 deg, new cmd heading: 328.079794 deg. Bh:HeadingCmd: 5.726073 target range: 119.225632 and range: 119.90 m.h;@h*h"h hgf f f ~Bd ddjdZd@d!@ԡB-ſ>B)B-IB-3}BB- =B)B-uDB-cg;B-I(EBCBCB”CB =B =C5颅~BɢGu<)  i)n$=顉ij$Ҽio <YoI;@IU9@Q @Q@U4@YUT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseDD<E EE(E"E;*E^:VEc44ZEBEd9 VE,/?A2@2@2֩=ٱ2Hi :AHRS rotation from veh to nav: [[0.837798,0.526471,0.144649],[-0.540743,0.836720,0.086582],[-0.075447,-0.150756,0.985688]]2H9TYT=VFyZ&SEZ EZ>\Q 5bs5^hG|?Q 9bs5^)^BYdyfQ If@^DI^:i^:^Bqs5yhɮj$Ahjh|FNOT Ignoring new targets: 119.23 m.Rh;:Zh;: ProNav: ac range: 119.225632 m, nav range: 113.142082 m, bearing: 341.040096 deg, approach rate: -0.577430 m/s, LOS rate: 0.034147 deg/s, cmd heading: 328.079804 deg, new cmd heading: 328.118091 deg. Bhz:HeadingCmd: 5.726741 target range: 119.225632 and range: 119.90 m.h%vA@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@$"@e~Bɢem-<)a e ľia)m"=iiimNмiu"su6 ?E,M?A2״@2@2w=ٱ2> bAHRS rotation from veh to nav: [[0.837184,0.526928,0.146527],[-0.541638,0.835937,0.088529],[-0.075839,-0.153479,0.985237]]2H5?@? f?`U ?Щ?2j`6ÿ`?i2״@I2U`;2CYj }ByjIlnAi]Mb@Mb@Mb@YYYY Y9]"~?㥛 ?~jthY]?y]=]D]Ai]l@ ]&A)YYY]z Au@AqbD}VD}1yx%$=ٔ-N:Q->9Y=Fy+SEE>Q 5s5`]|?Q 9s5)BY%?Q E:yQ I@DIz ;im ;us5y.BɮJ%AEjhFNOT Ignoring new targets: 119.23 m.Rh :Zh : ProNav: ac range: 119.225632 m, nav range: 112.854614 m, bearing: 341.057603 deg, approach rate: -0.575448 m/s, LOS rate: 0.035135 deg/s, cmd heading: 328.118080 deg, new cmd heading: 328.170735 deg. Bh:HeadingCmd: 5.727660 target range: 119.225632 and range: 119.90 m.hH@h*h"h hgfff~BdddjdZd+#@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse~Bɢ.]<) ־i)\3!=ilμi6 <;G׻I H@I)%ewVԙ@ @@/@B)A-<B5Ϳ>B5CB5IB5|BB5 =B1B5vDB5Xg;B5J(E^A SA zA } T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseE  E E &E "E ;*E |:VE 4ZE BE I\iE,{g?A^@^ϭ@^(=ٱ^zK$ fAHRS rotation from veh to nav: [[0.836986,0.526076,0.150661],[-0.541773,0.835388,0.092783],[-0.077049,-0.159282,0.984222]]^H`??H?4V??`XcĿ~?i^@I^&`;^CYn|BynIbD%VD%0y5Ƽ%=P=ٔ=ZJ;Q-=>9AYA=EFyE/SEEEE>QQ 5Us5Un|?Q 9]s5U)UBYYy]Q I]@UDIUd:iU9:Uys5ye#Bɮm%AmEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 119.23 m.Rh!:Zh!: ProNav: ac range: 119.225632 m, nav range: 112.628189 m, bearing: 341.071496 deg, approach rate: -0.574858 m/s, LOS rate: 0.035343 deg/s, cmd heading: 328.170727 deg, new cmd heading: 328.212490 deg. Bh :HeadingCmd: 5.728389 target range: 119.225632 and range: 119.90 m.hN@h*h"h hgfffdddjdZd#@~Bɢ~<) ݾi) b=  i y̼i$j} <lIN@I!!]ƐC'G1Ex9AYMSbAy?ɦAY ^A 㻍 2Acoustic response timeoutA E  E E *E "E ;*E :VE (N4ZE a@a@a@a@I I!O->6=E,{2?A(2g@20@2=ٱ2' >AHRS rotation from veh to nav: [[0.837019,0.525536,0.152354],[-0.541740,0.835080,0.095709],[-0.076929,-0.162647,0.983681]]2H ? 1?S?`U?g? Ŀ@Pz?i2g@I2 `;2CYB|ByFIi Mb@Mb@Mb@     9 i|?5?sh|??MbPY ?y =  pA AA A) A Y G AbD%VD%1y5J%=0=ٔ=Q-=>99YA=EFyE4SEE8EE>Q 5s5|?Q 9s5)rBY4?Q E:yܾQ I@DI#;i';J}s5y%"Bɮ%q%A)jhiuFNOT Ignoring new targets: 119.23 m.Rhu^:Zhu^: ProNav: ac range: 119.225632 m, nav range: 112.352661 m, bearing: 341.085694 deg, approach rate: -0.560074 m/s, LOS rate: 0.028931 deg/s, cmd heading: 328.212501 deg, new cmd heading: 328.255199 deg. Bhמ:HeadingCmd: 5.729134 target range: 119.225632 and range: 119.90 m.hU@h*h"h hgfffBdddjdZdv$@~Bɢ<]<) i)=i=ʼiEI ED BQ BU kIBU |BBU  =BQ BQ BU 1g;BU ;(EOu > _E,?AJ۴@J@J=ٱJl, RAHRS rotation from veh to nav: [[0.837136,0.524741,0.154434],[-0.541605,0.834701,0.099691],[-0.076594,-0.167097,0.982961]]JH?@??@T޵?X? qcſjt?iJ۴@IJ`;HYZ|ByZI`I^%=)^;b=b= ddbDjVDj0yrE %rQ=ٔr`Q-v>9tYt=vFyv8SEz9Ez>|Q 5s5~|?Q 9s5~)~gBYyܾQ I @~ƿDI~;i~:~s5y Bɮ%AEjh9=FNOT Ignoring new targets: 119.23 m.RhE :ZhE :U ProNav: ac range: 119.225632 m, nav range: 112.141602 m, bearing: 341.096610 deg, approach rate: -0.582257 m/s, LOS rate: 0.030171 deg/s, cmd heading: 328.255203 deg, new cmd heading: 328.288013 deg. BhU:]HeadingCmd: 5.729707 target range: 119.225632 and range: 119.90 m.h]Y@hY*hY"hY hagafafafidididijdiZdu ע%@额~Bɢ$;) i)=顡i ȼiư [W <IY@I}2Acoustic response timeoutbE]-4jE]64rE]n0E EE'E"Ea;*E:VE'4ZEBEhi BE,XƸ?A2@2R@2b=ٱ2R0 :AHRS rotation from veh to nav: [[0.837592,0.523401,0.156493],[-0.540932,0.834655,0.103650],[-0.076367,-0.171469,0.982225]]2H`???`PO?Ј?ˌſcn?i2@I2_;2CY^|By^sIbDj VDj2yrE%rJ=ٔvQ-v>9xY|=FyQ 5%s5|?Q 9%s5s)ZBY)y-PܾQ I-@οDI:i:s5y1ɮ5%A19jhiuFNOT Ignoring new targets: 119.23 m.Rh:Zh:} ProNav: ac range: 119.225632 m, nav range: 111.909134 m, bearing: 341.108597 deg, approach rate: -0.567151 m/s, LOS rate: 0.029305 deg/s, cmd heading: 328.288015 deg, new cmd heading: 328.324051 deg. Bh:HeadingCmd: 5.730336 target range: 119.225632 and range: 119.90 m.h^@h*h"h hgff1f1d9dAdIjdqZdul&@颽~Bɢ;) <i)՜=iEƼiM ML E,?A^2Acoustic response timeoutY5|By5}IqiMb@Mb@Mb@ 9B`"?ˡE?~jthY?y=DAXA SA)AY\AbDVDyA=%8=ٔQ->9Y=Fy@SEE >Q 5s5|?Q 9s5))MBYb?Q E:yܾQ I@ֿDIn:i:s5y-Bɮ-%A-EjhQUFNOT Ignoring new targets: 119.23 m.Rh]A:Zh]A: ProNav: ac range: 119.225632 m, nav range: 111.663223 m, bearing: 341.121270 deg, approach rate: -0.559676 m/s, LOS rate: 0.028907 deg/s, cmd heading: 328.324052 deg, new cmd heading: 328.362155 deg. Bh:HeadingCmd: 5.731001 target range: 119.225632 and range: 119.90 m.h\d@h*h"h hgfffyBdd!d!jd)Zd-`<`'@u~Bɢ}1;)y }_iy)}=yiYļi[ ! <^ I}\d@IԡAA?ABԿ>BCBRIB|BBBBwDBg;B2(E9@ @@@m2Acoustic response timeoutE EE%E"E;*E:VE 4ZEBE.NE,?AY5|By=iIAAEAAEAAbDMVDMy%P=ٔQ->9Y=FyDSEE>Q 5s5|?Q 9s5Ա)ABYyQ I@ݿDI},;i-;cs5yɮ&&AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 119.23 m.Rh:Zh:  ProNav: ac range: 119.225632 m, nav range: 111.443535 m, bearing: 341.132640 deg, approach rate: -0.556744 m/s, LOS rate: 0.028871 deg/s, cmd heading: 328.362164 deg, new cmd heading: 328.396341 deg. Bh :HeadingCmd: 5.731597 target range: 119.225632 and range: 119.90 m.h?i@h*h"h hgfffdd!d!jd!Zd% (@U~BɢU@=޺)Q ]iY)]a=YYi]¼ie4 e 9 e BDAT read: Response Not Received e *response not receivede *DAT read: user:450> m 9Y=FyISEE<E > Q 5s5 f|?Q 9s5 ) 3BY% ?Q E%:y%վQ I%@ DI 5;i |4; s5y-Bɮ-&A1jhFNOT Ignoring new targets: 119.23 m.Rh9Zh9 ProNav: ac range: 119.225632 m, nav range: 111.216728 m, bearing: 341.142926 deg, approach rate: -0.523794 m/s, LOS rate: 0.023803 deg/s, cmd heading: 328.396342 deg, new cmd heading: 328.427262 deg. Bh:HeadingCmd: 5.732137 target range: 119.225632 and range: 119.90 m.hm@h*h"h hgfffBdddjd Zd J(@颕~Bɢ@q) i)sM=顙iiz E_ B CB 9IB h|BB B B B g;B 3(Eԙ A .AI! I1 O] >F, ?A:@:@:Ø=ٱ:W`5 BAHRS rotation from veh to nav: [[0.841348,0.517347,0.156479],[-0.535331,0.837543,0.109280],[-0.074523,-0.175711,0.981617]]:HR???@o!&??`}ƿ@hi?i:@I:F`;8YJ|ByJKIbDRVDRJyZy%^`=ٔ^1Q-^>9b ?Yb ?=bFybLSEbN;Eb>dQ 5js5f|?Q 9ns5f)f(BYlynԾQ In@fDIf9:if:f7s5ypɮv&Atjh FNOT Ignoring new targets: 119.23 m.Rh{9Zh{9% ProNav: ac range: 119.225632 m, nav range: 111.018547 m, bearing: 341.151776 deg, approach rate: -0.570356 m/s, LOS rate: 0.025515 deg/s, cmd heading: 328.427269 deg, new cmd heading: 328.453867 deg. Bh-:5HeadingCmd: 5.732602 target range: 119.225632 and range: 119.90 m.h5yq@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE2)@~BɢL)$ i)=iؾi 8<ҒIyq@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252911Em EmEm&Ei"Ems!;*Em:VEm4ZEiBEmx checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502568 F,:?Aɰ4<2@2@2_=ٱ2 4 >AHRS rotation from veh to nav: [[0.842620,0.515678,0.155135],[-0.533401,0.838826,0.108878],[-0.073986,-0.174492,0.981875]]2H@?o?z?``? g߻?Uƿ@k?i2@I2`;2CYF[|ByF1IJ=H N49XY\=^Fy^PSE^=;Eb>`Q 5fs5b|?Q 9fs5bn)bBYhyjӾQ Ij@bDIb:ib:bs5ynBɮrz'ArEjhFNOT Ignoring new targets: 119.23 m.RhD9ZhD9e ProNav: ac range: 119.225632 m, nav range: 110.800110 m, bearing: 341.161299 deg, approach rate: -0.518518 m/s, LOS rate: 0.022651 deg/s, cmd heading: 328.453880 deg, new cmd heading: 328.482506 deg. Bhmx:HeadingCmd: 5.733101 target range: 119.225632 and range: 119.90 m.hu@h*h"h hgfffd!d!dIjdQZd]*@~Bɢ ) "i);5=i]i L [N< R;I u@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754640E EE)E"E;*E:VEFA4ZEa@a@a@a@y@y @y@}3@yI ^A A >A ?y A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007638I I O >=F,U?A2h@21@2㯖=ٱ22 :AHRS rotation from veh to nav: [[0.843852,0.514039,0.153874],[-0.531516,0.840075,0.108464],[-0.073511,-0.173314,0.982119]]2H?s?&?-`? GĻ?Ѳ&/ƿm?i2h@I2x0`;0YBL|ByB(Ii Mb@Mb@Mb@     9 (\?ʡE?:vY ?y = T #A \A nA) GA Y AbD%VD%:2y5 %57=ٔ)Q->9Y=FyUSE;E>Q 5s5}?Q 9s5 ) BY% ?Q E:yؾQ I@DI ;i ;șs5yɮ'Ajh!-FNOT Ignoring new targets: 119.23 m.Rh-9Zh-9= ProNav: ac range: 119.225632 m, nav range: 110.553970 m, bearing: 341.173389 deg, approach rate: -0.552930 m/s, LOS rate: 0.027220 deg/s, cmd heading: 328.482512 deg, new cmd heading: 328.518863 deg. BhEr:EHeadingCmd: 5.733736 target range: 119.225632 and range: 119.90 m.hEz@hI*hI"hI hIgIfQfQfUBdQdYdYjdYZd]j+@颍~Bɢt<ԑ) 'i)}=顙i0i c<\غIz@IBA<B>BCBIB5|BB =BBDBzDB!g;BJ(EBuCBuCBuÕCBu =Bu =Cu8y6I@I @I@M/@IԹ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257882DzD@AE EE%E"E ;*Ev:VE 4ZEBEtT NfF,Bo?A:+@:W&@:{=ٱ:2 FAHRS rotation from veh to nav: [[0.845129,0.512165,0.153114],[-0.529565,0.841224,0.109100],[-0.072926,-0.173287,0.982168]]:HK ?c?@:?@2 O?@?@F.ƿm?i:+@I:G`;8YN/|ByNIbDVVDVky^r%^S=ٔ^кQ-b>9b"?Yb"?=bFybYSEf;Ef>hQ 5ns5j}?Q 9ns5j5 )jBYlyr׾Q Ir@jDIj;ij;js5yvBɮv!(AvE B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 119.23 m.RhE9Zh%E9- ProNav: ac range: 119.225632 m, nav range: 110.358849 m, bearing: 341.182774 deg, approach rate: -0.529079 m/s, LOS rate: 0.025492 deg/s, cmd heading: 328.518876 deg, new cmd heading: 328.547080 deg. Bh5:5HeadingCmd: 5.734228 target range: 119.225632 and range: 119.90 m.h5~@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM',@}~Bɢ}) t0i)N =顁i iv <ٸI~@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509676!]jb9@ @@/@Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761776E  E E $E "E f;*E :VE 4ZE a @a @a @a @^Au NJκy A zA fAAIIO> #F,?AXY- |By- IiMb@Mb@Mb@ 9|?5^?Dl?{GzY ?yO=ף9"AnA A)AYGAbDVD:2y׼%=ٔQ->9Y=Fy^SEE>Q 5s53}?Q 9s5)BY ?Q E :yQ I@ DI;ie;s5y-Bɮ5O(A1jhFNOT Ignoring new targets: 119.23 m.Rh:Zh:- ProNav: ac range: 119.225632 m, nav range: 110.068985 m, bearing: 341.200154 deg, approach rate: -0.541119 m/s, LOS rate: 0.032530 deg/s, cmd heading: 328.547071 deg, new cmd heading: 328.599347 deg. Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013996Bh-:UHeadingCmd: 5.735140 target range: 119.225632 and range: 119.90 m.hUE@hY*hY"hY hYgYfYfafe?BdadidijdiZdm`E-@颽~BɢE) 5i) =ig iL [J<(IE@Ie@ @@@B>BCBIB|BB =BB{DBfg;Bs(E)9 ^A 9 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267050DU %=DU %=Ee  Ee Ee (Ea "Ee ;*Ee ^:VEe c44ZEa BEe bF*F,/?A2/K@2E@2=ٱ20 >AHRS rotation from veh to nav: [[0.847252,0.509520,0.150176],[-0.526351,0.843360,0.108157],[-0.071544,-0.170681,0.982726]]2H?M?8??.?Pſ|r?i2/K@I2y`;2CYB{ByFIbDNVDNyV%VM=ٔZ dQ-Z>9XY\=^Fy^bSE^<E^>dQ 5js5fD}?Q 9ns5f)fBYlyrQ Ir@fDIf=;if>;fs5yzBɮz(AzEjh15FNOT Ignoring new targets: 119.23 m.Rh=:Zh=:] ProNav: ac range: 119.225632 m, nav range: 109.849327 m, bearing: 341.212923 deg, approach rate: -0.557305 m/s, LOS rate: 0.032461 deg/s, cmd heading: 328.599335 deg, new cmd heading: 328.637718 deg. Bh]8:HeadingCmd: 5.735810 target range: 119.225632 and range: 119.90 m.h‹@h*h"h hgfffdddjdZd~ .@m~Bɢm"A)m mBii)uAR=qqiu)i} }<}v:I}‹@I9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517832G1Ii9YxA@ @@@ԑ ^A% 9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771266Em  Em Ei Ei "Em ;*Em :VEi ZEi a} @a} @a} @a} @AQIaIqO}>]C2F,~?AYn{BynIqiMb@Mb@Mb@ 9n?V-?~jtYV?ym=#A  A)rAYfAbDVD0y#%!=ٔQ->9Y=FygSEE>Q 5s5 Z}?Q 9-s5?)BY-0?Q E5:y5Q I5@DI_jA >A A AAB >B B IB {BB =B B |DB g;B (E AU .AIY Ii O} >]i8F,G?A2^@2bY@22=ٱ20 :AHRS rotation from veh to nav: [[0.848673,0.507848,0.147796],[-0.524450,0.844225,0.110615],[-0.068598,-0.171388,0.982813]]2HT(? K@??K?FQ? ſ`3s?i2^@I2+`;2CYB{ByBIbDJVDJfyVͽ%V]=ٔVQ-V>9Z ?YZ ?=ZFyZkSEZ;E^>`Q 5fs5bi}?Q 9fs5b)bBYhyjQ Ij@b DIb:ib-:bs5ylɮn)AljhFNOT Ignoring new targets: 119.23 m.Rh):Zh):checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273976 ProNav: ac range: 119.225632 m, nav range: 109.366600 m, bearing: 341.245932 deg, approach rate: -0.545187 m/s, LOS rate: 0.037059 deg/s, cmd heading: 328.695368 deg, new cmd heading: 328.736963 deg. Bhw:HeadingCmd: 5.737542 target range: 119.225632 and range: 119.90 m.h@h*h"h hbE4jE!4rE#0E EE%E"E;*EVE 4ZEBEp) WTi)}=iZiB <N ;I@I  m9@i @i@u0@q1} DAT read: 05:34:25.8749 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 344, 0.30,-1.446, 2.880,-1.577,-1.712, PHS= 0.368,-1.647, 0.091, RAW= 142.7, 12.5, CAL= 142.2, 13.6, ROT= 7.8, -13.6  Ygot valid direction response: 05:34:25.8749 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 344, 0.30,-1.446, 2.880,-1.577,-1.712, PHS= 0.368,-1.647, 0.091, RAW= 142.7, 12.5, CAL= 142.2, 13.6, ROT= 7.8, -13.6  PDAT read: Bearing 137.5, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 137.5, 0.8 (Local)  DAT read: Range 11 to 50 : 111.0 m (Round-trip 148.0 ms) speed 0.4 m/s  *DAT read: user:451>  BDAT read: Tx time:05:34:26.9727  $Ping request sent. iM ҿM 5^=M e@M f_>M @ M s>)M 'g >IM sI I M )\?7 ?Ea? M {>)M _IM 'g >iM sI I  :publishing transmit ping time  Fpublishing direction and range infoyI M 3yТ?4^_To?#?YI I I I I I )I II iI I I I I I )I II I I M )\?7 ?Ea? I )I II iI I I a A1 IA IQ O] >H>F,7?AYU{ByUIbDe VDe2ys%8=ٔQ->9Y=FyoSEE>Q 5s5-|}?Q 9s5z)B1Y!yQQ I]@'DI}biusjum{q*]Y@geKDfis/@Zu la[h?̀׿S;?2iu[":iuB"iuƺដ?*iu1EBiuABiu0o?iu^iuABiu$Biut@ addTargetRange:: Added new target pos. range: 111.000000 m, deltaT: 16.143704 s, deltaX: -8.900002 m, approachRate: -0.551299 m/s, rangeRepo size: 4  Added new target pos. range: 110.399277 m, bearing: 338.195306 deg, lat: 36.779406 deg, lon: -121.859618 deg, deltaT: 16.143704 s, deltaX: -8.826355 m, approachRate: -0.546737 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 110.40 m.RhZh ProNav: ac range: 110.399277 m, nav range: 109.072250 m, bearing: 341.009255 deg, approach rate: 0.000000 m/s, LOS rate: 0.037059 deg/s, cmd heading: 328.736950 deg, new cmd heading: 328.792372 deg. BhHeadingCmd: 5.738510 target range: 110.399277 and range: 111.00 m.hߡ@E EE'E"E*Ea:VE'4ZEa @a @a @a @h*h "h  hgff1f9d9d9d9jdE[@ZdEdv?Y颍Bɢ ) \i)<顱iPio 2E<`:Iߡ@I@ @@/@ԁ^A ] ;Ա I I O >:FF,?AY~{ByIiMb@Mb@Mb@ 9B`"?J +?:vY?yH=T9"A?A  A)CAYAbDVD:yZ%4=ٔQ->9Y=FytSEE>Q 5s5%}?Q 9s5})BYo?Q E:y Q I@0DI@:i:s5y B>BCBIB{BB =BB~DBh;B(Eɮ-[*A)EB*** querying acoustic contact ***iA iAjhY]FNOT Ignoring new targets: 110.40 m.Rheg[:Zheg[:u ProNav: ac range: 110.399277 m, nav range: 108.822121 m, bearing: 341.027725 deg, approach rate: -0.647925 m/s, LOS rate: 0.047954 deg/s, cmd heading: 328.792384 deg, new cmd heading: 328.847922 deg. Bhu;}HeadingCmd: 5.739479 target range: 110.399277 and range: 111.00 m.h}Щ@hy*hy"hy hygfff~BdddjdZd^?颽Bɢ) ci)<ifۧiT0  <Y}G9IЩ@IA=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.E EEE"E*Ek:VEZEBEa2EaJEEMF,![9?A@6w@6dr@6p=ٱ6- BAHRS rotation from veh to nav: [[0.850806,0.507220,0.137319],[-0.522186,0.845307,0.113041],[-0.058740,-0.167882,0.984056]]6H 9?%;?@? ?`B?'(}ſb}?i6w@I6R`;4YFn{ByFI LLbDRVDRβyZD%Z5=ٔ^Q-^>9\Y\=bFybySEb;Eb>dQ 5js5f}?Q 9js5fw)fBYlyntQ In@f8DIfr;if;fs5yr Bɮr*ArEjhFNOT Ignoring new targets: 110.40 m.Rh1:Zh1: ProNav: ac range: 110.399277 m, nav range: 108.573372 m, bearing: 341.045763 deg, approach rate: -0.534716 m/s, LOS rate: 0.038864 deg/s, cmd heading: 328.847927 deg, new cmd heading: 328.902165 deg. Bh`:HeadingCmd: 5.740426 target range: 110.399277 and range: 111.00 m.h@h*h"h hgfffdddjdZd?  Bɢ) ji)o<i$i%I %]<%m;I%@I)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246749E5 E5E5%E1"E5;*E5خ:VE5 4ZE1aE@aE@aE@aE@E9@I @I@I@Iqԑ ^Au ?B:I I O- >.UF,T?A62z@6t@6ad=ٱ63. BAHRS rotation from veh to nav: [[0.851119,0.507147,0.135641],[-0.522007,0.845000,0.116117],[-0.055729,-0.169635,0.983930]]6H`] ?ܹ?`s@ſZ|?i62z@I6eC`;6CYFV{ByFI=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498821ieMb@Mb@Mb@aaaa a9egfffff?~jt?{GzYe3?yeD=e#e#AeA eh A)aaYe3AbD}VD}2yZL%2=ٔk׻Q->ԑ9Y=Fy}SE4:E>Q 5s5}?Q 9s5")BY?Q E:yQ I@@DI ;iu ;s5y Bɮ*AEjhFNOT Ignoring new targets: 110.40 m.RhJK:ZhJK: ProNav: ac range: 110.399277 m, nav range: 108.311684 m, bearing: 341.065262 deg, approach rate: -0.594887 m/s, LOS rate: 0.044432 deg/s, cmd heading: 328.902159 deg, new cmd heading: 328.960795 deg. Bh: HeadingCmd: 5.741449 target range: 110.399277 and range: 111.00 m.h @h *h"h hgfff~Bdddjd!Zd%E?-Bɢ-)1 5qi1)5f<11i=pi=> =;BECBEIBEK{BBABABABEh;BE))Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750770 9@  @ @ @ Em  Em Em (Ei "Em &;*Em S:VEm c44ZEi BEm ߾[F,Cq?A2_@2)}@2:Z=ٱ24 :AHRS rotation from veh to nav: [[0.851754,0.505873,0.136405],[-0.521228,0.844585,0.122466],[-0.053254,-0.175409,0.983054]]2HA? 0?@u? ?@Y?D`sƿ.u?i2_@I2(`;0YBT{ByBIbDJVDJNyR8%RF=ٔVĻQ-V>9TYX=ZFyZSEZ;EZ>\Q 5bs5d^}?Q 9fs5^q%)^BYhyjQ Ij@^HDI^4o;i^sp;^ s5yxɮz+Axjh9MFNOT Ignoring new targets: 110.40 m.RhU>:ZhU>:m ProNav: ac range: 110.399277 m, nav range: 108.077072 m, bearing: 341.082723 deg, approach rate: -0.558695 m/s, LOS rate: 0.041671 deg/s, cmd heading: 328.960789 deg, new cmd heading: 329.013285 deg. Bhm:}HeadingCmd: 5.742365 target range: 110.399277 and range: 111.00 m.h}t@hy*hy"h hgff f d d djdZd೵?颅"Bɢ4) `si)<顉i`i3s Q<:It@Ii>i>iI%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003112u9@q @q@u 0@q^AM] ;IIOD>!Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254829EM  EM EM %EI "EM ;*EM :VEM 4ZEI a] @a] @a] @a] @0bF,?AF@FV~@FN=ٱF{8 RAHRS rotation from veh to nav: [[0.851961,0.505715,0.135701],[-0.521186,0.843935,0.127042],[-0.050275,-0.178960,0.982571]]FHCC?.?^? ?B?(ƿ8q?iF@IF_;FCYZC{ByZII^=)^<^=^a=9iEMb@Mb@Mb@AAAA A9E(\?A`"?~jtxYEz?yEY=EĻE #AEA E9 A)AAYE\AbD] VD]f2ym%%m@=ٔmLQ-m>9qYq=uFyuSE9E>Q 5s5}?Q 9s5l()uBY?Q E:yQ I@PDI:i:s5y BɮA+AjhaeFNOT Ignoring new targets: 110.40 m.Rhm}8:Zhm}8: ProNav: ac range: 110.399277 m, nav range: 107.824600 m, bearing: 341.100370 deg, approach rate: -0.575534 m/s, LOS rate: 0.040323 deg/s, cmd heading: 329.013272 deg, new cmd heading: 329.066339 deg. Bhc:HeadingCmd: 5.743291 target range: 110.399277 and range: 111.00 m.h ɷ@h*h"h hgfff~BdddjdZd`<@-&Bɢ5j)1 5xi1)=ܥ<99i=Xiiu6 u B1 B5 qIB5 "{BB5 =B1 B1 B5 i;B5 )EBUCBUCBUɔCBU =BU =CU 6^Ae }U; IY Iq O} >KhF,!?A2@2DŽ@2y`B=ٱ2%: :AHRS rotation from veh to nav: [[0.852489,0.505195,0.134314],[-0.520588,0.843786,0.130433],[-0.047437,-0.181115,0.982317]]2HG?`*?`/1?K? ?I .ǿ`$o?i2@I2`;0YB'{ByBtIbDNVDNyRˎ%RU=ٔVWQ-V>9TYX=ZFyZSEZ ;E^>\Q 5bs5^8}?Q 9fs5^*)^mBYdyfQ If@^WDI^:i^:^5s5yhɮn+AlzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 110.40 m.Rh I<:Zh I<:}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758818y ProNav: ac range: 110.399277 m, nav range: 107.610275 m, bearing: 341.115335 deg, approach rate: -0.588239 m/s, LOS rate: 0.041153 deg/s, cmd heading: 329.066329 deg, new cmd heading: 329.111312 deg. Bh:HeadingCmd: 5.744076 target range: 110.399277 and range: 111.00 m.hxϷ@h*h"h hgfffdddjdZd@eG@E EE)E"Es!;*E8:VEFA4ZEBEx oF,6?A @ ]@ !7=ٱ `< %AHRS rotation from veh to nav: [[0.852888,0.504910,0.132842],[-0.520177,0.843572,0.133423],[-0.044695,-0.182896,0.982116]] H`J?9(??I??D⦿%iǿ}m?i @I _; CY%%{By=sIy}@AbDVDkyp%-=ٔQ->9Y=FySE:E>Q 5=s5N~?Q 9Es54.)cBYyeQ I@`DI= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514738SuF,&?A2@2I@2SC,=ٱ2s; >AHRS rotation from veh to nav: [[0.853553,0.504479,0.130189],[-0.519307,0.843944,0.134453],[-0.042044,-0.182371,0.982331]]2HMP?`$?` ?*?`5?`ʆWǿ`@o?i2@I2W_;2CYB*{ByFvI DDi}Mb@Mb@Mb@yyyy y9}zG?V-?~jtxY} ?y}m=y}M&Ay }A)yyY}AbDVDܲy&T<%^=ٔQ->9Y=FySEE;E>Q 5s5b~?Q 9s50)[BY?Q E:y[Q I@fDI:is:s5yBɮ>+AŤEjhFNOT Ignoring new targets: 110.40 m.Rh&E:Zh&E: ProNav: ac range: 110.399277 m, nav range: 107.122932 m, bearing: 341.148553 deg, approach rate: -0.652517 m/s, LOS rate: 0.043090 deg/s, cmd heading: 329.169492 deg, new cmd heading: 329.211191 deg. Bh:HeadingCmd: 5.745819 target range: 110.399277 and range: 111.00 m.hݷ@h*h!"h! h!g!f!f)f-*Bd)d)d)jd19Zd= @1Bɢy]) ـi)'*<irYiא S<C:Iݷ@IAAAA@AB!>BCBeIB{BB =BBDB2j;B)E9@ @@/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766733E EE'E"E*E:VE'4ZEBE3}Թ 1|F,4?Ab1@b@b"=ٱb< rAHRS rotation from veh to nav: [[0.854502,0.503340,0.128357],[-0.517929,0.844466,0.136480],[-0.039697,-0.183102,0.982292]]bHX?\?n??,x?8Soǿn?ib1@Ib`;bCY~{By~nIbDVDky-%-R=ٔ5ŻQ-5>91Y1==Fy=SE=;E=>AQ 5Ms5E!~?Q 9Ms5EF3)ESBYQyUQ IU@EnDIEB:iE:Es5yYɮep+AajhFNOT Ignoring new targets: 110.40 m.Rh/:Zh/: ProNav: ac range: 110.399277 m, nav range: 106.894485 m, bearing: 341.163467 deg, approach rate: -0.587488 m/s, LOS rate: 0.038438 deg/s, cmd heading: 329.211184 deg, new cmd heading: 329.256024 deg. Bh :HeadingCmd: 5.746602 target range: 110.399277 and range: 111.00 m.h)@h*h"h hgfffdddjdZd@ Ej>EѐCԡGchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.0188049 Y A5Bɢ-@)1 5ӂi1)5lG<19i=i=] E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273326E%  E% E% *E! "E% ;*E% :VE% (N4ZE! a- @a5 @a5 @a5 @ F,t| ?A2@2M@2*=ٱ2= :AHRS rotation from veh to nav: [[0.855729,0.501659,0.126748],[-0.516060,0.845241,0.138739],[-0.037533,-0.184132,0.982185]]2H"b? ?C9? 7 ?0?`}7ǿ`n?i2@I2[ `;0YB{ByBmIiEMb@Mb@Mb@AAAA A9E|?5^?Mb?MbYE?yE=EE"'AEA E|A)EAAYEAbDUVDU:ye%eG=ٔmQ-m>9iYq=uFyuSEuJ;Eu>yQ 5s5}3~?Q 9s5}5)}KBY?Q E:y&߾Q I@}uDI}:i}/:}s5yBɮm+AƤEjhFNOT Ignoring new targets: 110.40 m.Rh:Zh: ProNav: ac range: 110.399277 m, nav range: 106.658913 m, bearing: 341.177070 deg, approach rate: -0.572471 m/s, LOS rate: 0.033130 deg/s, cmd heading: 329.256017 deg, new cmd heading: 329.296916 deg. Bh:HeadingCmd: 5.747315 target range: 110.399277 and range: 111.00 m.h@h*h"h hgfffOBdddjdZd`@%8Bɢ%\*T)) -ji))-<))i5ԑi=. =<=&6;I=@IAII)I@ @@0@ @@@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523298II)O5>I B #>B B XIB zBB B B B j;B 6*E.$F,mW&?A2Ȱ@2÷@2=ٱ2b< >AHRS rotation from veh to nav: [[0.856889,0.500419,0.123783],[-0.514300,0.846261,0.139061],[-0.035164,-0.182821,0.982517]]2Hk?n???`%u?? fǿp?i2Ȱ@I2eC`;2CYF{ByFgIIJ<)J=bDNVDNJyV%VW=ٔZ@̻Q-Z>9XYX=ZFy^SE^;E^>`Q 5fs5bD~?Q 9fs5bT8)bCBYhyj޾Q Ij@b|DIbW:ib-:bs5ylɮn+Ap~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 110.40 m.Rh>:Zh>:% ProNav: ac range: 110.399277 m, nav range: 106.440994 m, bearing: 341.189454 deg, approach rate: -0.572838 m/s, LOS rate: 0.032620 deg/s, cmd heading: 329.296916 deg, new cmd heading: 329.334144 deg. Bh%:-HeadingCmd: 5.747965 target range: 110.399277 and range: 111.00 m.h-U@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE#@echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.774828DD<bEe'4jEe$4rEeXQ0E EE"E"E%;*E:VE(3ZEBE~y checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026713ԩ o F,&4@?A2ذ@2ӷ@2WV=ٱ2t\9 :AHRS rotation from veh to nav: [[0.857957,0.499452,0.120239],[-0.512658,0.847450,0.137874],[-0.033035,-0.179932,0.983124]]2H@bt??Ǿ?@gP?ڥ? ꠿ ǿ u?i2ذ@I25<`;2CPYR {ByRaIbDZVDZ0yvm%vF=ٔvQ-v>9z"?Yz"?=zFyzSEzޛ;E~>Q 5 s5V~?Q 9 s5:);BY y ݾQ I@DI;i;ss5yBɮ+AǤEjhAEFNOT Ignoring new targets: 110.40 m.RhM+:ZhM+: ProNav: ac range: 110.399277 m, nav range: 106.204994 m, bearing: 341.202661 deg, approach rate: -0.573549 m/s, LOS rate: 0.032167 deg/s, cmd heading: 329.334155 deg, new cmd heading: 329.373862 deg. Bh:HeadingCmd: 5.748658 target range: 110.399277 and range: 111.00 m.h@h*h"h hgfffdddjdZd@m=BɢuiQ) i)B<顩i1Fi-p<W;I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.281460E EE%E"E ;*E:VE 4ZEa@a@a@a@@ @@0@AQIYIqO}>! % checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530858F6F,Z?A2@2@2<ٱ2=8 :AHRS rotation from veh to nav: [[0.859076,0.498120,0.117750],[-0.510904,0.848459,0.138182],[-0.031075,-0.178868,0.983382]]2H}? 2?$?@SY&??ҟ'ƿw?i2@I2G`;2CYB{ByB_I|ieMb@Mb@Mb@aaaa a9e7A`?l?~jtYe?ye=eDe(Aa eA)eAaYeAbD}VD}0yg%@=ٔWQ->9Y=FySEt;E>Q 5s55j~?Q 9s5=)1BY?Q E:y[վQ I@DI:i:)s5yɮ+AjhFNOT Ignoring new targets: 110.40 m.Rh:Zh: ProNav: ac range: 110.399277 m, nav range: 105.954895 m, bearing: 341.214679 deg, approach rate: -0.588972 m/s, LOS rate: 0.028371 deg/s, cmd heading: 329.373852 deg, new cmd heading: 329.409993 deg. BhÛ:HeadingCmd: 5.749289 target range: 110.399277 and range: 111.00 m.h -@h *h "h  h g f ffBdddjdZd {@M@BɢM \)I M[iQ)<iA ip<;I-@Ie>iBYAYBe'>BeCBeRIBezBBaBaBaBek;Beb*E)@ @@0@AzAgAAIIOn>Y}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782752E EE)E"EC#;*E:VEFA4ZEBE{9xY|=~Fy~SE~;E~>Q 5 s5{~?Q 9 s5@))BYyԾQ I@DI-:i ;s5yBɮ%+A!jhAMFNOT Ignoring new targets: 110.40 m.RhM9ZhM9Ye ProNav: ac range: 110.399277 m, nav range: 105.728508 m, bearing: 341.225406 deg, approach rate: -0.589109 m/s, LOS rate: 0.027973 deg/s, cmd heading: 329.409997 deg, new cmd heading: 329.442246 deg. Bhe:mHeadingCmd: 5.749852 target range: 110.399277 and range: 111.00 m.hm@hi*hq"hq hqgqfqfyfydydydjdZdv@颵DBɢj) i)Q<项i߈i.<i;I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.035513@ @@4@ԉԱ^A AA Ia  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288724I O > E  E E (E "E %;*E :VE c44ZE a5 @a} @a} @a} @4HF,č?A2:@2@2.<ٱ26 :AHRS rotation from veh to nav: [[0.861005,0.495898,0.112939],[-0.507883,0.850086,0.139314],[-0.026922,-0.177310,0.983787]]2HZ?ʼ??@3?@ ?`k@ƿ@.{?i2:@I2S`;2CYV{ByZ]Ii5Mb@Mb@Mb@1111 195n?ʡE?9aYi=mFymSEmz;Em>qQ 5}s5u~?Q 9s5ukB)u!BY?Q E:y̾Q I@uDIuC ;iu ;u+s5yɮ+AԹjhFNOT Ignoring new targets: 110.40 m.Rh9Zh9 ProNav: ac range: 110.399277 m, nav range: 105.495140 m, bearing: 341.234602 deg, approach rate: -0.558613 m/s, LOS rate: 0.022061 deg/s, cmd heading: 329.442235 deg, new cmd heading: 329.469884 deg. Bh>r:HeadingCmd: 5.750334 target range: 110.399277 and range: 111.00 m.h@h*h"h hgfffJBdddjdZdS@颭GBɢOZ) i)<iFih<EMBY BY BY BY BY BY B] k;B] *EA I I O >9 CrF,힧?A2"@2 @2Λ<ٱ2*3 :AHRS rotation from veh to nav: [[0.861660,0.495519,0.109562],[-0.506866,0.850986,0.137512],[-0.025096,-0.174021,0.984422]]2H??= ? >8G;?@?ȲTFƿb?i2"@I2Tu`;2CYBzByBZI HJbDJVDJyRq%VW=ٔVOQ-V>9TYX=ZFyZSEZNP;EZ>\Q 5bs5^t~?Q 9fs5^D)^BYdyf-̾Q If@^DI^:i^g:^s5yjBɮj+AnȤEzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 110.40 m.Rh 9Zh 9 ProNav: ac range: 110.399277 m, nav range: 105.282410 m, bearing: 341.242866 deg, approach rate: -0.558244 m/s, LOS rate: 0.021730 deg/s, cmd heading: 329.469884 deg, new cmd heading: 329.494727 deg. Bhn:%HeadingCmd: 5.750768 target range: 110.399277 and range: 111.00 m.h%J@h!*h!"h! h)g)f)f)f1d1d1d1jd1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.790908D=D<E EEE"E=-;*E-:VEZEBEpԙ ,ZF,5z?A6i@63@6 <ٱ6M/ BAHRS rotation from veh to nav: [[0.862457,0.494920,0.105937],[-0.505596,0.852084,0.135373],[-0.023269,-0.170315,0.985115]]6H>?Ƭ??-`ED?S?`ӗſ?i6i@I6F`;6CYFzByFWIN=N=bDRVDRyZ,@%ZI=ٔZQ-^>9^ ?Y^ ?=bFybSEbr;Eb>dQ 5js5f~?Q 9js5fF)fBYhynX˾Q In@fDIf:if;f s5yrBɮr+ArɤEjh  FNOT Ignoring new targets: 110.40 m.Rh9Zh9% ProNav: ac range: 110.399277 m, nav range: 105.055710 m, bearing: 341.251507 deg, approach rate: -0.559511 m/s, LOS rate: 0.021373 deg/s, cmd heading: 329.494719 deg, new cmd heading: 329.520699 deg. Bh%j:-HeadingCmd: 5.751221 target range: 110.399277 and range: 111.00 m.h- @h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE@uLBɢuy)q uiq)}! checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546698 OF,eU?A2%@2] @2<ٱ2/ :AHRS rotation from veh to nav: [[0.862995,0.494279,0.104532],[-0.504757,0.852337,0.136900],[-0.021430,-0.170908,0.985054]]2H?D? º? &XF??`Lſ?i2%@I2)`;2CYBzByBJIieMb@Mb@Mb@aaaa a9en? rh?9Y=FySE<;E>Q 5s5~?Q 9s5I) BY?Q E:yD׾Q I@DI:i;s5yɮ,AjhFNOT Ignoring new targets: 110.40 m.RhL :ZhL : ProNav: ac range: 110.399277 m, nav range: 104.802567 m, bearing: 341.264445 deg, approach rate: -0.585752 m/s, LOS rate: 0.030009 deg/s, cmd heading: 329.520701 deg, new cmd heading: 329.559607 deg. Bh¤: HeadingCmd: 5.751900 target range: 110.399277 and range: 111.00 m.h @h *h "h  h g fffrBdddjdZd%@F@OBɢ+k)A@AAB/>BBLIBzBB =BBDB7l;B*EBCBCB“CB =B =CJ4 i1)5<11i5 i=Q=ı<=1AF,0?AY~zBy~OI  AAbDVDܲy%b<%%Q=ٔ%Q-%>9-"?Y-"?=-Fy-SE5E5>1Q 5Es55U~?Q 9Es55L)5BYAyAQ IE@5DI5;i5:58s5yUBɮU+AUʤEjhFNOT Ignoring new targets: 110.40 m.Rh# :Zh# : ProNav: ac range: 110.399277 m, nav range: 104.573982 m, bearing: 341.276182 deg, approach rate: -0.586730 m/s, LOS rate: 0.030192 deg/s, cmd heading: 329.559605 deg, new cmd heading: 329.594893 deg. Bhå: HeadingCmd: 5.752516 target range: 110.399277 and range: 111.00 m.h @h *h "h  h g fffdddjdZd @MRBɢM)I UҌiQ)UtQF, ?A@21@2d,@2(;<ٱ252 :AHRS rotation from veh to nav: [[0.863802,0.493328,0.102341],[-0.503528,0.852333,0.141377],[-0.017483,-0.173653,0.984652]]2H D?`?3?PF??@)瑿 F:ƿ D?i21@I23`;2C@YnzBynKIieMb@Mb@Mb@aaaa a9eX9v?Q?y&1Ye?yeu=e`eeM&AeSA a)eCAaYefAbD}VD}02y%D=ٔQ->9Y=FySEd;E>Q 5s5~?Q 9s5N)BY?Q E:yܾQ I@DIz;i~;s5yɮ+AjhFNOT Ignoring new targets: 110.40 m.Rh:Zh: ProNav: ac range: 110.399277 m, nav range: 104.330696 m, bearing: 341.289993 deg, approach rate: -0.548687 m/s, LOS rate: 0.031221 deg/s, cmd heading: 329.594904 deg, new cmd heading: 329.636434 deg. Bhj:HeadingCmd: 5.753241 target range: 110.399277 and range: 111.00 m.h@h*h "h hgfffKBdddjd!Zd%@ @ԩ颵UBɢev) i)c<项iGwik=<!BCBEIBzBB =BBDB2l;B*E^Ai  A I I O >\F,}(?A2;@2t6@2r<ٱ25 :AHRS rotation from veh to nav: [[0.864445,0.492240,0.102148],[-0.502481,0.852347,0.144971],[-0.015705,-0.176647,0.984149]]2H@?ۀ?_&?TmF?h?]ƿ &~?i2;@I2G`;2CYVzByZJIl%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806749E EE'E"E77;*EVE'4ZEBE9Y=FySE A;E >!Q 5-s5%~?Q 9-s5%kQ)%BY1y5۾Q I=@%DI%xL;i%tM;%s5yEBɮE+AMԤEuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 110.40 m.Rh!:Zh!: ProNav: ac range: 110.399277 m, nav range: 104.091194 m, bearing: 341.303507 deg, approach rate: -0.599524 m/s, LOS rate: 0.033907 deg/s, cmd heading: 329.636431 deg, new cmd heading: 329.677067 deg. Bh-(:5HeadingCmd: 5.753950 target range: 110.399277 and range: 111.00 m.h5\ @h9*h9"h9 h9g9f9fAfAdAdAdAjdIZdM@7!@ XBɢぽ) i)NT @F,`>E?A2F@2lA@2!_<ٱ26 >AHRS rotation from veh to nav: [[0.865143,0.491343,0.100542],[-0.501339,0.852728,0.146676],[-0.013667,-0.177302,0.984062]]2H@?+r?#? I?G?kѱƿn}?i2F@I2nE`;2CYFzByF9I Np9^ ?Y^ ?=^Fy^SE^6[;E^>`Q 5ft5b< ?Q 9jt5bS)bBYhyjھQ Ij@bDIb :ib:bt5ylɮn,Apjh FNOT Ignoring new targets: 110.40 m.Rh:Zh:% ProNav: ac range: 110.399277 m, nav range: 103.861412 m, bearing: 341.316365 deg, approach rate: -0.583746 m/s, LOS rate: 0.032738 deg/s, cmd heading: 329.677057 deg, new cmd heading: 329.715717 deg. Bh%:-HeadingCmd: 5.754625 target range: 110.399277 and range: 111.00 m.h-%@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd="@ ZBɢȒ) oi)G<inchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.313148i-O5A  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562726A ؟AI I! O- >9_F,^?Aɰ2TV@2Q@2\A<ٱ26 :AHRS rotation from veh to nav: [[0.866123,0.489963,0.098830],[-0.499692,0.853455,0.148062],[-0.011802,-0.177624,0.984028]]2H G? [?@L? ߿O??x+cƿ'}?i2TV@I2`;2C@YFzByF1IiMb@Mb@Mb@ 9n?Zd;?I +YV?yy=94(A$A ^A)rAY\AbD-VD-ByA}<BM>BCB?IBzBB =BBDB_l;B+Ey`ټ%:=ٔQ->9"?Y"?=FySE;E>Q 5t5#?Q 9t5V)BY7?Q E:y־Q I@DI:i:t5y Bɮ 6,AjhFNOT Ignoring new targets: 110.40 m.RhX:ZhX: ProNav: ac range: 110.399277 m, nav range: 103.616875 m, bearing: 341.328985 deg, approach rate: -0.546533 m/s, LOS rate: 0.028271 deg/s, cmd heading: 329.715716 deg, new cmd heading: 329.753664 deg. Bh7:HeadingCmd: 5.755287 target range: 110.399277 and range: 111.00 m.hP+@h*h"h hgfff_BdddjdZdq#@U]BɢUYT)Y ]BiY)]5=F,Cx?A2fi@20d@2} <ٱ26 :AHRS rotation from veh to nav: [[0.867302,0.488290,0.096745],[-0.497685,0.854432,0.149186],[-0.009816,-0.177538,0.984065]]2H?$@?`Mĸ?`߿W??@ƿv}?i2fi@I23`;0YBzByB,IbDNVDNyR˼%V`=ٔVQ-V>9XYX=ZFyZSEZQ;E^>`Q 5ft5b.?Q 9ft5bX)bBYdyfjվQ If@bDIb:ib|:b t5ylɮn[,Alpjh FNOT Ignoring new targets: 110.40 m.Rh :Zh :% ProNav: ac range: 110.399277 m, nav range: 103.413864 m, bearing: 341.339244 deg, approach rate: -0.567673 m/s, LOS rate: 0.028744 deg/s, cmd heading: 329.753665 deg, new cmd heading: 329.784502 deg. Bh%ϝ:-HeadingCmd: 5.755826 target range: 110.399277 and range: 111.00 m.h-/@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=$$@m_BɢmO)i miq)uyo(ksF,?ARy@Rs@R;ٱR7 bAHRS rotation from veh to nav: [[0.868270,0.486958,0.094757],[-0.496032,0.855129,0.150688],[-0.007650,-0.177841,0.984030]]RH ?P*?@A?߿6]?@I?@V{ƿ+}?iRy@IR_;RCYjzByj%IQiMb@Mb@Mb@ 9oʡ?V-?y&1|Y ?ym=`b*A /A)YAbD VD2yȼ%:=ٔ)Q->9 ?Y ?=FySE;E>Q 5t5A?Q 9t5V[)BY ?Q E:y־Q I@DIa:i: t5yBɮ,AդEjhFNOT Ignoring new targets: 110.40 m.Rh%*:Zh%*:5 ProNav: ac range: 110.399277 m, nav range: 103.171150 m, bearing: 341.351725 deg, approach rate: -0.551940 m/s, LOS rate: 0.028450 deg/s, cmd heading: 329.784510 deg, new cmd heading: 329.822042 deg. Bh53:=HeadingCmd: 5.756481 target range: 110.399277 and range: 111.00 m.h=5@h9*h9"h9 h9gAfAfAfEsBdIdIdIjdYZd]%@颍aBɢ o) \i)ES<顑i]ai)r<1kByB}3IB}zBB} =ByByB}l;B}3+Eԩ^A jZX<A zA eA AU ؟AIa Iq O} >= 2Acoustic response timeoutxF,}?A "@E6 E6E6'E4"E6(;*E6E:VE6'4ZE4BE62E69"?Y"?=FySE;E>Q 5t5R?Q 9t5])BԹYyԾQ I@DI;ih;^t5yBɮ,A֤E%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 110.40 m.Rhe9Zhe9 ProNav: ac range: 110.399277 m, nav range: 102.951950 m, bearing: 341.362739 deg, approach rate: -0.539833 m/s, LOS rate: 0.027182 deg/s, cmd heading: 329.822049 deg, new cmd heading: 329.855161 deg. Bh=:HeadingCmd: 5.757059 target range: 110.399277 and range: 111.00 m.h9@h*h"h hgfffdddjdZd7%@udBɢuZ)q uiq)}F,1?A2@2ߛ@2+`;ٱ2{2 :AHRS rotation from veh to nav: [[0.870702,0.483833,0.088225],[-0.491799,0.857807,0.149335],[-0.003427,-0.173415,0.984843]]2H`??`ꕶ?y߿`'s?j?al z2ƿԃ?i2@I2`;2CYBzByBIbDJVDJyRR¼%VL=ٔVץQ-V>9Z ?YZ ?=ZFyZSEZ;EZ>\Q 5bt5^c?Q 9ft5^_)^BYdyfxӾQ If@^DI^;i^;^t5yhɮj,Aljh|FNOT Ignoring new targets: 110.40 m.Rh9Zh 95 ProNav: ac range: 110.399277 m, nav range: 102.733116 m, bearing: 341.373476 deg, approach rate: -0.564054 m/s, LOS rate: 0.027732 deg/s, cmd heading: 329.855161 deg, new cmd heading: 329.887438 deg. Bh5A:EHeadingCmd: 5.757622 target range: 110.399277 and range: 111.00 m.hEp>@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU&@aU2Acoustic response timeout颅fBɢ) i);顱E EE-E"EU,;*En:VEt4ZEa@a@a@a@i=2^YiMVU<}&@Iԑ)@1 @1@5/@1Թ^AU < 2Acoustic response timeout A ؟AI I O >F,{?A2@2ⴸ@2&:ٱ2/ :AHRS rotation from veh to nav: [[0.872204,0.481713,0.084935],[-0.489141,0.859505,0.148297],[-0.001565,-0.170890,0.985289]]2H`?a?E?`N߿`?e?ϤY`ſ`|?i2@I2#`;2CA@A@BFG>BFCBF&IBFzBBF =BDBFDBFl;BF)+EYRzByRIi-Mb@Mb@Mb@)))) )9-kt?y&1?9]"?Y]"?=]Fy]SEeh;Ee>iQ 5ut5mu?Q 9ut5mb)mBY?Q E:y վQ I@mDIm(AM >Y Ay I I O >%F,W?A>ͱ@>kȸ@>Yֹٱ>- FAHRS rotation from veh to nav: [[0.873369,0.480115,0.081957],[-0.487060,0.860774,0.147787],[0.000409,-0.168991,0.985618]]>H? 5? ?@+߿u?@? 7:? }ſ-?i>ͱ@I>"P`;>CYNzByNIIR<)R<bDZ VDZ2b2Acoustic response timeoutyfm%fS=ٔf1Q-j>9hYh=jFyjSEn ;En>pQ 5vt5r߆?Q 9vt5rd)rBYxyzӾQ Iz@rDIrH:ir:rt5y|ɮ~,Ajh!-FNOT Ignoring new targets: 110.40 m.Rh-:Zh-:= ProNav: ac range: 110.399277 m, nav range: 102.276825 m, bearing: 341.396505 deg, approach rate: -0.594281 m/s, LOS rate: 0.029700 deg/s, cmd heading: 329.923982 deg, new cmd heading: 329.956659 deg. BhE:EHeadingCmd: 5.758830 target range: 110.399277 and range: 111.00 m.hEVH@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]m;(@颍lBɢ鯽) i)Y;顑iPi(<~<i3 BDAT read: Tx time:05:34:39.4227 $Ping request sent.Q oG,q9?A2J@2߸@2ٱ2, :AHRS rotation from veh to nav: [[0.874711,0.478054,0.079659],[-0.484641,0.862128,0.147844],[0.002001,-0.167927,0.985797]]2H@?`o? d?\߿??`c`? ~ſ?i2J@I2-%`;0YRzByRIi]Mb@Mb@Mb@YYYY Y9]|?5^? ףp= ?{GzY] ?y]Q8=]#]'AY Y)]CAYY]AbDVDky};%;=ٔ+oQ->9 ?Y ?=FySEv;E>Q 5t5x?Q 9t5g)BYP?Q E:y۾Q I@ DI:i2 ;t5yBɮ,Ajh!%FNOT Ignoring new targets: 110.40 m.Rh-:Zh-:= ProNav: ac range: 110.399277 m, nav range: 102.035484 m, bearing: 341.410701 deg, approach rate: -0.552651 m/s, LOS rate: 0.032585 deg/s, cmd heading: 329.956658 deg, new cmd heading: 329.999347 deg. Bh=:EHeadingCmd: 5.759575 target range: 110.399277 and range: 111.00 m.hEpN@hA*hA"hA hAgIfIfQfUHBdQdQdQjdYZd])@颅nBɢ&) "i) ;顑iڣLiU @<0ByB}IB}zBB} =ByByB}]l;B}+EBECBECBEƔCBE =BE =CE26^AD-<ԁ A ؟AI) I9 OE > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495893E . E E E "E ye;*E ˭:VE ZE BE AHRS rotation from veh to nav: [[0.876006,0.475923,0.078172],[-0.482286,0.863150,0.149572],[0.003711,-0.168727,0.985656]]2H>?u?? ޿?@-%?en?@ژſ~?i2P@I2_;2CYFzByF ILLbDNVDN1yVy%V^=ٔZQ-Z>9Z"?Y^"?=^Fy^SE^A;E^>`Q 5ft5b)?Q 9ft5bi)bBYhyjRھQ Ij@bDIb:ibPi>=9@9 @9@=j2@AԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.747160^Ae ~M< A .AI I O >dG,%H?A@2@2r@2ɵٱ2n/ :AHRS rotation from veh to nav: [[0.876783,0.474626,0.077340],[-0.480854,0.863457,0.152387],[0.005548,-0.170800,0.985290]]2H?F`?̳?O޿ p?`n?1v? ſ@?i2@I2E_;2CYBizByBI DDbDNVDN0yV`%VK=ٔVkQ-Z>9Z ?YZ ?=ZFyZSE^;E^>``Q 5ft5b`?Q 9jt5b*l)bBYhyjپQ Ij@bDIb:ib :bx#t5ynߒBɮrU-ArؤEjh FNOT Ignoring new targets: 110.40 m.Rh 9:Zh9:% ProNav: ac range: 110.399277 m, nav range: 101.608940 m, bearing: 341.435112 deg, approach rate: -0.606205 m/s, LOS rate: 0.034583 deg/s, cmd heading: 330.034549 deg, new cmd heading: 330.072723 deg. Bh%޽:-HeadingCmd: 5.760856 target range: 110.399277 and range: 111.00 m.h-X@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=`*@msBɢmA4)m6< m:iq)u;qihDi gUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.001700]KPG,b?ABA <B7>BCBIBzBB =B BDByl;B+EB@B @BٱB<. JAHRS rotation from veh to nav: [[0.877368,0.473930,0.074943],[-0.479765,0.864168,0.151783],[0.007171,-0.169124,0.985569]]BH e?@T?q/?y޿D?m?_}?ޥſ@lj?iB@IB_;@YRozByRI i5Mb@Mb@Mb@1111 195i|?5?Q?y&1|Y5?y5<5`15A 5A)5A1Y1bDM VDM:2y]3g<%]?=ٔ][xQ-e>9aYa=eFyeSEm<;Em>qQ 5}t5u?Q 9}t5un)uBY}?Q E:yQ I@uDIu:iu:u5't5y ɮ =-A jhiFNOT Ignoring new targets: 110.40 m.Rh0:Zh0: ProNav: ac range: 110.399277 m, nav range: 101.367081 m, bearing: 341.452504 deg, approach rate: -0.536177 m/s, LOS rate: 0.038648 deg/s, cmd heading: 330.072717 deg, new cmd heading: 330.125017 deg. Bh1:HeadingCmd: 5.761768 target range: 110.399277 and range: 111.00 m.hh`@h*h"h hgfff2BdddjdZdc+@颅uBɢ5) i)):顉ib?i{< G,@4}?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755311B'@B@BٱB+ NAHRS rotation from veh to nav: [[0.877554,0.473967,0.072489],[-0.479398,0.864551,0.150760],[0.008784,-0.167051,0.985909]]BH?yU??s޿g?L?? aſ ?iB'@IB`;@YZOzBy^I1 <4<bDVD y-k%-:=ٔ5AqQ-5>91Y1=5Fy=SE=v:E=>AQ 5Mt5E?Q 9Mt5Eq)EBYQyUtQ IU@E'DIE;iE;E +t5y]ԒBɮ]f-A]EjhFNOT Ignoring new targets: 110.40 m.RhE:ZhE: ProNav: ac range: 110.399277 m, nav range: 101.119568 m, bearing: 341.470325 deg, approach rate: -0.596577 m/s, LOS rate: 0.043058 deg/s, cmd heading: 330.125008 deg, new cmd heading: 330.178602 deg. Bhg:HeadingCmd: 5.762704 target range: 110.399277 and range: 111.00 m.hh@h*h"h hgfffdddjdZdEa,@wBɢm0) i) '9i6;i%I>%+u<%A5 >Թ A ؟AI I O >z%G,"?Aɰ2@2@2b+ٱ2, :AHRS rotation from veh to nav: [[0.877469,0.474267,0.071544],[-0.479519,0.864182,0.152483],[0.010491,-0.168106,0.985713]]2H9?fZ?@P? o޿`a??`|?~ſ@?i2@I2_;0YBUzByBIiUMb@Mb@Mb@QQQQ Q9U-?~jt?y&1|YU??yU9"?Y"?=FԙyTEɹE>Q 5t5?Q 9t5nt)BYb?Q E:yVQ I@/DI ;i ;a.t5yӒBɮF-AEjhFNOT Ignoring new targets: 110.40 m.RhMQ:ZhMQ: ProNav: ac range: 110.399277 m, nav range: 100.898232 m, bearing: 341.487806 deg, approach rate: -0.577952 m/s, LOS rate: 0.045746 deg/s, cmd heading: 330.178612 deg, new cmd heading: 330.231170 deg. Bh): HeadingCmd: 5.763621 target range: 110.399277 and range: 111.00 m.h o@h *h "h  h gfffUBdddjd!Zd%j%-@MyBɢU_) ti)LVi7i&<BCBIBvzBB =BBDBl;B:+Eq9@ @@d3@- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5115641 bE)jE-:4rE-f0E  E E )E "E ;;*E :VE FA4ZE BE ;,G, ?AJ} @JG@J6cٱJ"5 ^AHRS rotation from veh to nav: [[0.876820,0.475272,0.072823],[-0.480619,0.861976,0.161253],[0.013868,-0.176389,0.984223]]JH?j? ?@v޿ O??`f?`ƿ~?iJ} @IJ_;HYfMzByfIbDnVDnβyv%v0=ٔzQ-z>9|Y|=~Fy~TE~)4E~>Q 5 t5?Q 9 t5w)YyQ I@7DI;i;p2t5yɮ%f-A!=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 110.40 m.RhUtT:ZhUtT:e ProNav: ac range: 110.399277 m, nav range: 100.629845 m, bearing: 341.509330 deg, approach rate: -0.577465 m/s, LOS rate: 0.046435 deg/s, cmd heading: 330.231177 deg, new cmd heading: 330.295922 deg. Bhe:mHeadingCmd: 5.764751 target range: 110.399277 and range: 111.00 m.hmx@hi*hi"hq hqgqfqfyfydydydyjdZd^.@颭{BɢH) i)"项i'3iv < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015236EU  EU EQ EQ "EU 9;*EU ;:VEQ ZEQ au @a} @a} @a} @3G,\?A0Yu6zByuIiMb@Mb@Mb@ 9n?Q?{GzY?y<#)AA A)AYA  @AbDVDy%@>%%)=ٔ%Q-->9- ?Y- ?=5Fy5 TE5E5>9Q 5Et5=?Q 9Et5=z)=BԉYE;?Q E:y}Q I@=@DI=dB5 CB5 IB5 azBB5 =B1 B5 DB5 l;B5 \+E E 9@A  @A @E 4@A @M >@M = ^AE[<AMeAzAMgAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.520081E  E E 'E "E C;*E :VE '4ZE BE > EAHRS rotation from veh to nav: [[0.875659,0.477250,0.073846],[-0.482589,0.859010,0.170908],[0.018131,-0.185294,0.982516]]5Hf?B?`? ޿@}?M?`␒?ǿp?i5@I5_;1YU?zByUIbDaVDayu><%}#=ٔ}K Q-}>9Y=FyTEjE>Q 5t50?Q 9t5M~)BYyQ I@JDI*;i`+; ;t5yђBɮ-AjhFNOT Ignoring new targets: 110.40 m.RhT:ZhT: ProNav: ac range: 110.399277 m, nav range: 100.056953 m, bearing: 341.553101 deg, approach rate: -0.599151 m/s, LOS rate: 0.046473 deg/s, cmd heading: 330.359803 deg, new cmd heading: 330.427629 deg. Bh&:HeadingCmd: 5.767050 target range: 110.399277 and range: 111.00 m.h@h*h"h hgfffdddjd Zd  0@=~Bɢ=6)9 =§i9)E*AAiEU)iMm!M` ԙBDAT read: Tx time:05:34:43.0727 $Ping request sent.i=\¿=>=vh!@=@X>= @ =k>)=B=I=k99=u?4)?uc8? =l;>)=XI=B=i=k995:publishing transmit ping time5Fpublishing direction and range infoy9=jȘuO?<%Ɏ? :?Y99999 9)9I9i99999 9)9I999=u?4)?uc8? 9)9I9i9999@ @@4@^A < E}  E} E} (Ey "E} 8;*E} :VE} c44ZEy a @a @a @a @I I O>G(DG,o?A)@@ժٱ4C AHRS rotation from veh to nav: [[0.874869,0.478705,0.073794],[-0.483910,0.857295,0.175715],[0.020852,-0.189437,0.981671]]H??@)?a޿n? }?XZ?|?ȿi?i)@I_;CY MzByIiMb@Mb@Mb@ 9V-?~jt?{GztY?y<ף,A$A rA)AYA p<bDVDy <%"=ٔ0Q->9Y=FyTEQHE>Q 5t5G?Q 9t5)BY?Q E:yQ I@TDIz ;i ;q?t5yɮZ-Aii?AJiRBRiRBji:@bi}X@BCBBB =BBDBl;B[+E^A m<ԙ I I O >$MJG,4+?A2@2ܸ@2[üٱ2DD :AHRS rotation from veh to nav: [[0.874323,0.479998,0.071850],[-0.484756,0.856349,0.177981],[0.023902,-0.190442,0.981407]]2H@s?G?d??߿6g??y?j`ȿg?i2@I2M_;2CYB-zByBIbDJVDJfyR%Ru=ٔV%Q-V?9TYT=ZFyZTEZEEZ?`Q 5ft5bKW?Q 9jt5b)bBYhyjjQ In@bZDIbv";ibG;b\Bt5ytɮv-AvEyjhFNOT Ignoring new targets: 101.16 m.RhbF:ZhbF:  ProNav: ac range: 101.161766 m, nav range: 99.978966 m, bearing: 340.189330 deg, approach rate: -0.571572 m/s, LOS rate: 0.043360 deg/s, cmd heading: 330.498292 deg, new cmd heading: 330.544508 deg. Bh:]HeadingCmd: 5.769090 target range: 101.161766 and range: 101.70 m.h]c@hY*hY"ha hagafafifidididijdqE} E}E}'Ey"E}L;*E}:VE}'4ZEyBE}i!i-L <-mA II IY Om > 5QG,0E?A6 ٱ@6Ӹ@6ܼٱ62D BAHRS rotation from veh to nav: [[0.873733,0.481433,0.069372],[-0.485657,0.855561,0.179310],[0.026973,-0.190360,0.981344]]6H`??d±?`߿@`??䞛?]ȿ+g?i6 ٱ@I6_;6CYFJzByJIbDRVDRyZЍ=%ZI=ٔZ@Q-Z>9\Y\=^Fy^TEb-Eb>dQ 5jt5fi?Q 9jt5f)fBYhyjQ Ij@fbDIf:if:fEt5ypɮr]-ApB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 101.16 m.Rhc:Zhc:% ProNav: ac range: 101.161766 m, nav range: 99.732971 m, bearing: 340.208192 deg, approach rate: -0.647917 m/s, LOS rate: 0.049803 deg/s, cmd heading: 330.544519 deg, new cmd heading: 330.601245 deg. Bh-;-HeadingCmd: 5.770080 target range: 101.161766 and range: 101.70 m.h-@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE`0?uBɢu*޽)q uiy)}yyi})iZ <8R1Y >_WG,^?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4995586ֱ@6JѸ@6}ٱ66E BAHRS rotation from veh to nav: [[0.873500,0.482174,0.067130],[-0.485894,0.854973,0.181460],[0.030101,-0.191124,0.981104]]6H@??u/?߿@[?:?Ҟ?vȿ4e?i6ֱ@I6_;4Y^EzBy^IiMb@Mb@Mb@ 9$C?:v?~jth?Y?y<D; )AYAbDVDk2y1%:=ٔQ->9Y=Fy TE?E>Q 5t5}?Q 9t5)BYA?Q E:yQ I@kDI: ;iP:It5yВBɮj-AEjhFNOT Ignoring new targets: 101.16 m.Rh<:Zh<:- ProNav: ac range: 101.161766 m, nav range: 99.471069 m, bearing: 340.226209 deg, approach rate: -0.598549 m/s, LOS rate: 0.041285 deg/s, cmd heading: 330.601237 deg, new cmd heading: 330.655430 deg. Bh-:1=HeadingCmd: 5.771026 target range: 101.161766 and range: 101.70 m.h=?@h9*h9"h9 hAgAfAfAfMZBdIdIdIjdIZdU`3?B}\>B}CByByB} =B}ADB}DB}l;B}\+EBECBECBE•CBE =BE =CEG6颡ɢĽ) fi)顩i9Gi.+ <DԹ Q]G,x?A2Ա@2ϸ@2M ٱ2_D :AHRS rotation from veh to nav: [[0.873305,0.482927,0.064194],[-0.486020,0.854574,0.182995],[0.033515,-0.191010,0.981016]]2H? E?n?߿X?bl?(?sȿ@{d?i2Ա@I2_;2CYf[zByfIbDrVDrJyve=%zX=ٔz.Q-z>9xY|=~Fy~$TEE> Q 5 t5 ㎀?Q 9t5 K) BYyQ I@ rDI  :i : Mt5y!ɮ%-A!jhIMFNOT Ignoring new targets: 101.16 m.RhU=:ZhU=:e ProNav: ac range: 101.161766 m, nav range: 99.245010 m, bearing: 340.241864 deg, approach rate: -0.598079 m/s, LOS rate: 0.041513 deg/s, cmd heading: 330.655441 deg, new cmd heading: 330.702513 deg. Bhe:mHeadingCmd: 5.771848 target range: 101.161766 and range: 101.70 m.hm@hi*hi"hi higqfqfqfqdydydyjdyZdr=?颭Bɢӽ) i)#顱iiA <6% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255574D zD AAE  E E E "E >T;*E :VE ZE a @a @a @a @I sdG,ʩ?Aֱ@Ѹ@>ٱɫE -AHRS rotation from veh to nav: [[0.873329,0.483206,0.061708],[-0.485740,0.854259,0.185197],[0.036773,-0.191712,0.980762]]HP?? 7?]߿`V??Ӣ?`ȿ@gb?iֱ@I_;CY=_zBy=I AAiMb@Mb@Mb@ 9(\?{Gz?Mb?Yz?y#=<7+AXA A)bAYAbDVD1ye<%e.=ٔeaܻQ-m>9m"?Ym"?=mFym)TEu :Eu>yQ 5t5}b?Q 9t5}n)}BY?Q E:y߾Q I@}{DI} ;i} ;}BQt5yŒBɮ,AEjhFNOT Ignoring new targets: 101.16 m.Rh|:Zh|: ProNav: ac range: 101.161766 m, nav range: 98.964592 m, bearing: 340.256920 deg, approach rate: -0.578393 m/s, LOS rate: 0.031143 deg/s, cmd heading: 330.702515 deg, new cmd heading: 330.747811 deg. Bh:HeadingCmd: 5.772638 target range: 101.161766 and range: 101.70 m.ht@h*h"h hgfffBdddjdZd @!ɢ%S)! %=i))- 7))i-JOi535Y <5IA1BuCBuIBukzBBu =BqBuDBuHm;Bu+Ea ^A 0<A I I O >PjG,|?A FԱ@Fiϸ@F,#ٱF+VE VAHRS rotation from veh to nav: [[0.873088,0.483991,0.058911],[-0.485927,0.853892,0.186398],[0.039911,-0.191368,0.980706]]FHU?`?)?l߿S? ?Ao?~ȿa?iFԱ@IF_;DYy 9=<bDEVDE:ٔm Q-m?9iYi=uFyu,TEuYEu?yQ 5t5}d?Q 9t5})}BYy Q I@}DI}:i}:}7Tt5yĒBɮ,AEjhFNOT Ignoring new targets: 101.16 m.RhA:ZhA:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759790 ProNav: ac range: 101.161766 m, nav range: 98.768829 m, bearing: 340.267513 deg, approach rate: -0.577505 m/s, LOS rate: 0.031310 deg/s, cmd heading: 330.747812 deg, new cmd heading: 330.779653 deg. Bh:HeadingCmd: 5.773194 target range: 101.161766 and range: 101.70 m.h@h*h"h hgfffdddjdZd 8@1ɢ= )9 =;i9)=DFAAiE4iEЎM>e .qG,W?A2ױ@2Ҹ@2Z/ٱ2eB :AHRS rotation from veh to nav: [[0.873177,0.484294,0.054971],[-0.485521,0.854351,0.185346],[0.042798,-0.188529,0.981135]]2H??%?߿ V?k??!ȿ`te?i2ױ@I2_;0YVszByVI`bDbVDbkyj4<%j<ٔnQ-n>9n ?Yr ?=rFyr0TEr:Er>tQ 5zt5v}Ā?Q 9zt5v)vBY|y~߾Q I~@vDIv<;iv;vWt5yɮV,A %B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 101.16 m.Rh=:Zh=:M ProNav: ac range: 101.161766 m, nav range: 98.545853 m, bearing: 340.279577 deg, approach rate: -0.578786 m/s, LOS rate: 0.031385 deg/s, cmd heading: 330.779641 deg, new cmd heading: 330.815914 deg. BhMP:UHeadingCmd: 5.773827 target range: 101.161766 and range: 101.70 m.hU1ø@hQ*hQ"hQ hQgYfYfYfadadadajdaZdm`J @颕Bɢӽ) i)#V顙i) iMefq <#;*E}:VE} 4ZEya@a@a@a@^A &<A>A?A I I O >I wG,5?A:DAT read: 05:34:45.6095 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411,-0.07,-1.913, 2.619,-1.961,-2.068, PHS= 0.257,-1.551, 0.063, RAW= 144.4, 14.2, CAL= 144.0, 15.5, ROT= 6.0, -15.5 >Ygot valid direction response: 05:34:45.6095 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411,-0.07,-1.913, 2.619,-1.961,-2.068, PHS= 0.257,-1.551, 0.063, RAW= 144.4, 14.2, CAL= 144.0, 15.5, ROT= 6.0, -15.5 BPDAT read: Bearing 144.4, 4.6 (Local) F~Local bearing/azimuth received: Bearing 144.4, 4.6 (Local) JDAT read: Range 11 to 50 : 99.5 m (Round-trip 132.7 ms) speed 0.5 m/s N*DAT read: user:454> RBDAT read: Tx time:05:34:46.7227 R$Ping request sent.Ri"+ƿ"%="K!@"}>"| @ "c>)"Pw=I"c "LƤ@?eH?>i? ">)"~}I"Pw=i"c  :publishing transmit ping timeP Fpublishing direction and range infoy "Ъ?5;ɹ?֚n?Y ) I i  ) I "LƤ@?eH?>i? ) I i YMzByMIIU=B_>BCBIBzBBBBDBm;B+E)UiuMb@Mb@Mb@qqqq q9utV?Q?Mb?Yu?yu\=qu,Aq uA)qqYuzAbDVDfy<%$=ٔʻQ->9Y=Fy5TEDU:E>Q 5t5uڀ?Q 9t5b)BY?Q E:yQ I@DI:i`;[t5y-ÒBɮ5,A1Ii i"?AJi"BRi"Bji"ֽ@b"f2W@E#@>4Bs:@R"Ъ?5;ɹ?֚n?Zi"Pw=bi"cj"]BV@$I@HWo<@Z"*z?&տrxb?2i"M:i"B"i"j)?*i"3Bi"Bi"ƺដ?i i i"Bi"2@ addTargetRange:: Added new target pos. range: 99.500000 m, deltaT: 3.528105 s, deltaX: -2.199997 m, approachRate: -0.623563 m/s, rangeRepo size: 4  Added new target pos. range: 98.981369 m, bearing: 339.904011 deg, lat: 36.779391 deg, lon: -121.859645 deg, deltaT: 3.528105 s, deltaX: -2.180397 m, approachRate: -0.618008 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 98.98 m.RhZh ProNav: ac range: 98.981369 m, nav range: 97.052292 m, bearing: 340.041195 deg, approach rate: 0.000000 m/s, LOS rate: 0.031385 deg/s, cmd heading: 330.815923 deg, new cmd heading: 330.867331 deg. BhHeadingCmd: 5.774724 target range: 98.981369 and range: 99.50 m.hʸ@h*h "h  h g fffmBd9dAdAjdEX@ZdM9?ɢ ) i)͟mi iz*  < zBAHRS rotation from veh to nav: [[0.873437,0.484437,0.049293],[-0.484486,0.854430,0.187677],[0.048800,-0.187806,0.980993]]6H`1??9\Y`=bFyb9TEbQ:Eb>dQ 5=t5f뀊?Q 9Et5f)fBYAyE<6G, ?A2M@2߸@2qSٱ2M@ :AHRS rotation from veh to nav: [[0.873544,0.484560,0.046064],[-0.483993,0.854658,0.187914],[0.051687,-0.186446,0.981105]]2H ??`?޿ZY? ?v?@sǿ5e?i2M@I2`;0YBzByBIi Mb@Mb@Mb@     9 &1?kt?Mb`?Y ?y  0= ; 3+A $A A) ^A Y AbD-VD-N2y5 %5C=ٔ{ٻQ->9"?Y"?=Fy=TEϑ:E>Q 5ut5?Q 9ut5)BY}P?Q E}:y}ܾQ I}@DIB-f>B)B-&IB-zBB- =B)B-DB-]n;B-(,EA}9@y @y@}/@yq^AA AI zAM dAԙ EU  EU EU (EQ "EU y>;*EU :VEU c44ZEQ BEU SㅌG,w4?AR1@R@R{^ٱRQ= ^AHRS rotation from veh to nav: [[0.873771,0.484505,0.042181],[-0.483298,0.855356,0.186522],[0.054291,-0.183363,0.981545]]RH? ?Ř? Y޿_?? ˫?rxǿh?iR1@IR_;PYbzByf%IbDnVDnNyv=%vJ=ٔvܻQ-z>9xYx=zFyzATE~:E~>Q 5 t5?Q 9 t5)BYy&ܾQ I@DI;iY;ft5y)ɮ5}+A9jhi)DNOT Ignoring new targets: 98.98 m.Rh:Zh: ProNav: ac range: 98.981369 m, nav range: 96.360123 m, bearing: 340.076859 deg, approach rate: -0.595338 m/s, LOS rate: 0.029181 deg/s, cmd heading: 330.942364 deg, new cmd heading: 330.974588 deg. Bh6:HeadingCmd: 5.776596 target range: 98.981369 and range: 99.50 m.hٸ@h*h"h hgfffdddjdZd@n?ɢ tս) i ) %  i iѯ <v{G,0N?A>c@>.@>hٱ>; FAHRS rotation from veh to nav: [[0.873896,0.484515,0.039374],[-0.482783,0.855596,0.186754],[0.056797,-0.182213,0.981617]]>H?J?@(? ޿ a???`Rǿhi?i>c@I>_;>CYNzByN+I V49dYd=jFyjETEj:Ej>lQ 5t5n!?Q 9 t5n)nBY y ۾Q I@nDIn;in;n+jt5y’BɮS+AEUB*** querying acoustic contact ***iQ iQ}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.D)D-B CB ?IB zBB =B B B n;B V,E^A X< A) II Ia Om >1G,j?An@n^@nٱn5= zAHRS rotation from veh to nav: [[0.874025,0.484621,0.034960],[-0.481853,0.855289,0.190520],[0.062429,-0.183365,0.981061]]nH? ?G?`޿`^?b?`?}xǿ`d?in@In9_;nCYzBy /IiMb@Mb@Mb@ 9|?5^?/$?Y ?y,=A )YAbD5VD5ܲyEg<%E'=ٔM=Q-M>9IYQ=UFyUJTEU?:EU>YQ 5et5]5?Q 9et5])]BYm;?Q Em:ym۾Q Im@]DI]G;i] ;]qnt5yuBɮ}1+AyjhDNOT Ignoring new targets: 98.98 m.Rh* :Zh* : ProNav: ac range: 98.981369 m, nav range: 95.862068 m, bearing: 340.101229 deg, approach rate: -0.614209 m/s, LOS rate: 0.030198 deg/s, cmd heading: 331.007988 deg, new cmd heading: 331.047865 deg. Bh̥:HeadingCmd: 5.777875 target range: 98.981369 and range: 99.50 m.h[@h*h"h hgfffBdddjdZdf@!ɢ-ӽ)) -i1)519i=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257465i[j <A >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509111y A I IY Om >$G,Ʉ?Aɰ;Z5@Z@ZEٱZ[; fAHRS rotation from veh to nav: [[0.874308,0.484365,0.031240],[-0.480948,0.855875,0.190178],[0.065378,-0.181299,0.981252]]ZH`U?@?i? ޿Sc?@W??4ǿkf?iZ5@IZ_;ZCYjzByj1IbDvVDvβyz<%~a=ٔ~Q-~>9Y=FyNTE ';E >Q 5t5TE?Q 9t5§)BYyX۾Q I@DI+;iY;qt5y)ɮ-#+A)jhQUDNOT Ignoring new targets: 98.98 m.Rh]9Zh]9 ProNav: ac range: 98.981369 m, nav range: 95.660728 m, bearing: 340.111031 deg, approach rate: -0.553315 m/s, LOS rate: 0.026994 deg/s, cmd heading: 331.047876 deg, new cmd heading: 331.077344 deg. Bh5:HeadingCmd: 5.778390 target range: 98.981369 and range: 99.50 m.h@h*h"h hgfffdd!d!jd!Zd%@9qɢuE׽) i)i iH: <p% 9Y=FyRTEvD;E>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013265Q 5t5SW?Q 9t5m)BY?Q E:yQ I@DI;i;Sut5yɮ+AEjh)-DNOT Ignoring new targets: 98.98 m.Rh5w:Zh5w:E ProNav: ac range: 98.981369 m, nav range: 95.425430 m, bearing: 340.124699 deg, approach rate: -0.549743 m/s, LOS rate: 0.032012 deg/s, cmd heading: 331.077355 deg, new cmd heading: 331.118461 deg. BhE¯:MHeadingCmd: 5.779108 target range: 98.981369 and range: 99.50 m.hMs@hI*hI"hI hQgQԱfffBdddjdZd/}@)ɢ-нB]j>BYB]RIB]zBB] =BYBYB]n;B]e,EBCBCBÓCB =B =Cu5)}': }iy)D顁idRi=  <i,9 jG,C?AFm@F8 @F?ӒٱF;= NAHRS rotation from veh to nav: [[0.875116,0.483193,0.026389],[-0.478582,0.856116,0.195000],[0.071631,-0.183277,0.980448]]FH ? ??޿Le??aV?uǿ_?iFm@IF_;FCYVzByV7IbD^VD^Nyf%;%fY=ٔf Q-j>9hYh=jFyjVTEnQ;En>pQ 5vt5r9g?Q 9vt5rǬ)rBYtyzQ Iz@rDIr :ir:rxt5y|ɮ~*A|jh!%DNOT Ignoring new targets: 98.98 m.Rh-@:Zh-@:= ProNav: ac range: 98.981369 m, nav range: 95.217613 m, bearing: 340.136682 deg, approach rate: -0.560728 m/s, LOS rate: 0.032403 deg/s, cmd heading: 331.118473 deg, new cmd heading: 331.154500 deg. Bh=:EHeadingCmd: 5.779737 target range: 98.981369 and range: 99.50 m.hE@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd]@=K @颍Bɢ) si)5顑iмiD <Y4RG,!?APVDAT read: 05:34:49.2568 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.13,-0.015,-1.793,-0.088,-0.240, PHS= 0.327,-1.508, 0.109, RAW= 143.7, 12.3, CAL= 143.3, 13.4, ROT= 6.7, -13.4 ZYgot valid direction response: 05:34:49.2568 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.13,-0.015,-1.793,-0.088,-0.240, PHS= 0.327,-1.508, 0.109, RAW= 143.7, 12.3, CAL= 143.3, 13.4, ROT= 6.7, -13.4 ^PDAT read: Bearing 143.4, 7.2 (Local) b~Local bearing/azimuth received: Bearing 143.4, 7.2 (Local) fDAT read: Range 11 to 50 : 97.4 m (Round-trip 129.9 ms) speed 0.5 m/s j*DAT read: user:455> jBDAT read: Tx time:05:34:50.3727 E EE&E"E=;*E:VE4ZEa @a @a @a @$Ping request sent.i&%&d;=& @&[>&Q @ &|o>)&|=I&|o AHRS rotation from veh to nav: [[0.875673,0.482264,0.024873],[-0.477061,0.855937,0.199462],[0.074903,-0.186529,0.979590]]H`?k?fx?*޿c??,?@0ǿX?i@IJ_;YzByEI$$&gL?!0?T'?L? &L>)&\I&|=i&|o$ $-:publishing transmit ping timel-Fpublishing direction and range infoy$&0\?G9Y=Fy\TEx7;E > Q 5t5 ?Q 9t5 V) BY=?Q E=:y=߾Q I=@ DI d;i ; }t5yMBɮMG*AMEi$i&?AJi&BRi&Bji&G@b&S9gW@wu%@Kft6@R&0\?GAq:@Z&WW*?%~RԿhC?2i&#:i&B"i&mi?*i&!Bi&XBi&m|?i$i&Bi&zBi&@ addTargetRange:: Added new target pos. range: 97.400002 m, deltaT: 3.780555 s, deltaX: -2.099998 m, approachRate: -0.555474 m/s, rangeRepo size: 4   Added new target pos. range: 96.894470 m, bearing: 340.695590 deg, lat: 36.779384 deg, lon: -121.859645 deg, deltaT: 3.780555 s, deltaX: -2.086899 m, approachRate: -0.552009 m/s, posRepo size: 4 jh-DNOT Ignoring new targets: 96.89 m.Rh-Zh)} ProNav: ac range: 96.894470 m, nav range: 94.239052 m, bearing: 340.009140 deg, approach rate: 0.000000 m/s, LOS rate: 0.032403 deg/s, cmd heading: 331.154509 deg, new cmd heading: 331.211862 deg. BhHeadingCmd: 5.780737 target range: 96.894470 and range: 97.40 m.h@h*h"h hgfffBdddjdYX@ZdO?=Bɢ={c)= =i9)ECAAiEsiMoM B] CB] eIB] {BB] =BY BY B] n;B] m,E! A @A  @A @E 0@A Q ^Am9<Ee EeEe*Ea"Eey>;*Ee:VEe(N4ZEaBEeSAHRS rotation from veh to nav: [[0.876184,0.481497,0.021506],[-0.475575,0.856434,0.200871],[0.078300,-0.186228,0.979382]]2H` ???o޿g?@%?@{ ?PǿW?i2R+@I2_;2CYBzByB6IbD VD 02y%O=ٔ% Q-%>9!Y!=-Fy-`TE-;E->1Q 5=t55F?Q 9=t55)5BYAyE޾Q IE@5DI5:i5:5t5yIɮM*AUEmB*** querying acoustic contact ***ii ii }k>ƐCjh߀GDNOT Ignoring new targets: 96.89 m.fA Rh|:Zh|:}9}fAY}ҢA ProNav: ac range: 96.894470 m, nav range: 94.022324 m, bearing: 340.020548 deg, approach rate: -0.565445 m/s, LOS rate: 0.029831 deg/s, cmd heading: 331.211855 deg, new cmd heading: 331.246157 deg. Bhȣ:HeadingCmd: 5.781336 target range: 96.894470 and range: 97.40 m.h@h*h"h hgfffdddjdZdZ?]Bɢ]"ݽ)a ei)Fɼ顉i^[i,y< <IiA @  @ @ /@ i ^A A >A >Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.989865E EE'E"E1A;*E:VE'4ZEa@a@a@a@ԙA.AIIO?G,s?AYuzBy}:II!>)&?bDVD 3yVK<% =ٔQ->9% ?Y- ?=5Fy5fTE=EE>YQ 5}t5]`?Q 9}t5]?Ա)]BYyQ I@]DI]3;*EM:VEM(N4ZEIBEIa]2EIa]JEMz$9e"?Ye"?=eFymkTEm97<Em>qQ 5}t5u?Q 9}t5u)u'BY ?Q E:yQ I@uDIu:iu:ut5yBɮ**AEjhEDNOT Ignoring new targets: 96.89 m.RhM3:ZhM3:] ProNav: ac range: 96.894470 m, nav range: 93.416512 m, bearing: 340.055547 deg, approach rate: -0.526500 m/s, LOS rate: 0.033266 deg/s, cmd heading: 331.296249 deg, new cmd heading: 331.351516 deg. Bh]:eHeadingCmd: 5.783175 target range: 96.894470 and range: 97.40 m.h@h*h"h hgfffeBdddjdZd ?BɢŽ) i)~޼ici < checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745211 `\?AFi@FMd@F}SٱF2 RAHRS rotation from veh to nav: [[0.878945,0.476907,0.004018],[-0.468471,0.861756,0.194708],[0.089395,-0.173020,0.980853]]FHP ??up?kݿ ?3??%ƿ%c?iFi@IFda_;FCYVzByVMIiiuMb@Mb@Mb@qqqq q9uQ?{Gz?y&1|Yu\?yuף9Y=FypTEcE;E>Q 5t5ԁ?Q 9t5)1BYv?Q E:yQ I@DI;i;8t5yɮ*AjhDNOT Ignoring new targets: 96.89 m.Rh::Zh:: ProNav: ac range: 96.894470 m, nav range: 93.124565 m, bearing: 340.075118 deg, approach rate: -0.604584 m/s, LOS rate: 0.040655 deg/s, cmd heading: 331.351519 deg, new cmd heading: 331.410415 deg. Bh5:HeadingCmd: 5.784203 target range: 96.894470 and range: 97.40 m.h1@h*h"h hgff!f%mBd!d)d)jd)Zd-@]Bɢ]jSӽ)Y ]͓iY)eaaiehimzm BBIBA{BB =BBB$o;B,E^Ap<IIO k> U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501104E  E E .E "E 1;*E >:VE ـ4ZE BE [9IYI=MFyMtTEMb;EU>QQ 5et5UP偊?Q 9et5U)U9BYayegQ Ie@UDIU:iU]:Ut5yqɮud)AqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 96.89 m.Rh'':Zh'': ProNav: ac range: 96.894470 m, nav range: 92.908058 m, bearing: 340.089345 deg, approach rate: -0.554657 m/s, LOS rate: 0.036534 deg/s, cmd heading: 331.410423 deg, new cmd heading: 331.453205 deg. Bh:HeadingCmd: 5.784950 target range: 96.894470 and range: 97.40 m.hO@h*h"h hgfffdddjdZd@@}Bɢ}[ڽ) i)顁iJi% <Y G,Џ?A6ݑ@6@6(ܿٱ6b. JAHRS rotation from veh to nav: [[0.880905,0.473287,-0.002595],[-0.463957,0.864598,0.192909],[0.093545,-0.168731,0.981213]]6H^0?`TJ?Ae@zݿ@ɪ?A??ſf?i6ݑ@I6&u_;4YZ{ByZaIbDjVDjNyM%MJ=ٔUIQ-U>9aYa=eFyeyTEm;Em>qQ 5}t5u?Q 9}t5u")uBBYy9Q I@u DIu ;iu ;u/t5yBɮ)AEjhDNOT Ignoring new targets: 96.89 m.Rh$:Zh$: ProNav: ac range: 96.894470 m, nav range: 92.681618 m, bearing: 340.103971 deg, approach rate: -0.556698 m/s, LOS rate: 0.036044 deg/s, cmd heading: 331.453207 deg, new cmd heading: 331.497191 deg. Bh:HeadingCmd: 5.785717 target range: 96.894470 and range: 97.40 m.h$@h*h"h hgfffdddjdZdv#@BDAT read: Rx Time:05:34:52.9041 %TRx dataTimestamp_ set to:1761543294.316276%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006341)ɢ-ڜ)1 5揿1i9)=D99i=ziEEz  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257056B [>B CB IB _{BB =B BDB DB *o;B ,EԹ G,?Aɰ49aYiy=Fy}TEE>Q 5t5i ?Q 9t5)KBY?Q E:ySQ I@DIW eBDAT read: Tx time:05:34:54.0227 e$Ping request sent.mi 㥻 Dl> ?!@ "> E/!@ ;0>) %=I ;0   *?i3v?/(F6? 3>) c"I %=i ;0  :publishing transmit ping timeaFpublishing direction and range infoy  21-^?g ?!?Y      ) I i ԡZd4. @E EEE"E;*E՚:VEZEBEm__9G,`"?A2@2@2/ƽٱ2b, NAHRS rotation from veh to nav: [[0.883270,0.468807,-0.007332],[-0.458769,0.867375,0.192853],[0.096771,-0.166977,0.981200]]2HC??~y\ݿ`?d? Ÿ?_ſ@e?i2@I2Sc_;2CYV={ByVIbDbVDbk1yfjo=%fY=ٔji Q-j>9lYl=nFynTEn}<Er>pQ 5vt5r?Q 9zt5rk)rSBYxyz^߾Q Iz@rDIr;ira;rNt5yɮ(AEiiXs?AJiͽBRiͽBji@b?>AW@Iđ "@xYCP0@R21-^?g ?!?Zi%=bi;0jlU@O&z?v7@Z/"?ȴE:տ7(֤?2i:iͬB"iUh?*iWBiBiUh?iWiBiBi@U addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 3.527510 s, deltaX: -2.000000 m, approachRate: -0.566972 m/s, rangeRepo size: 4 e Added new target pos. range: 94.901703 m, bearing: 339.982515 deg, lat: 36.779381 deg, lon: -121.859647 deg, deltaT: 3.527510 s, deltaX: -1.992767 m, approachRate: -0.564922 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 94.90 m.RhmZhi} ProNav: ac range: 94.901703 m, nav range: 91.955887 m, bearing: 339.982714 deg, approach rate: 0.000000 m/s, LOS rate: 0.031027 deg/s, cmd heading: 331.543174 deg, new cmd heading: 331.573473 deg. BhyHeadingCmd: 5.787049 target range: 94.901703 and range: 95.40 m.h/@h*h"h hgfffdddjdW@Zdt?ɢd0) Qi)vi,߻iY6<Թ bG,?A2ײ@2kҹ@2+ɽٱ2, :AHRS rotation from veh to nav: [[0.884414,0.466613,-0.009186],[-0.456228,0.868541,0.193631],[0.098329,-0.167059,0.981032]]2H M??Ђ@2ݿ??`,?.bſ@d?i2ײ@I2J_;2CYB<{By@i Mb@Mb@Mb@     9 |?5^?Q?9= ?Y= ?==Fy=TEE ;EE>IQ 5Ut5M,?Q 9Ut5M)M\BYU<?Q E]:y]`־Q I]@M DIM ;iM: ;Mt5yaɮe(AajhDNOT Ignoring new targets: 94.90 m.Rh9Zh9% ProNav: ac range: 94.901703 m, nav range: 91.717613 m, bearing: 339.993050 deg, approach rate: -0.577852 m/s, LOS rate: 0.025132 deg/s, cmd heading: 331.573473 deg, new cmd heading: 331.604562 deg. Bh%:-HeadingCmd: 5.787591 target range: 94.901703 and range: 95.40 m.h-3@h)*h)"hA hAgAfAfIfM2BԉdddjdZd ?ɢ!Wս) ki)M\IIiMm޻iUxU ie)>AABM>BCBIB~{BB =BADBDBo;Bt,EBuCBqBuÔCBu =BqCu69@ @@4@@=@=^A U<E=  E= E= ,E9 "E= ;*E= :VE= g4ZE9 BE= R1 *G,?A6@6@6pQ̽ٱ6RL. BAHRS rotation from veh to nav: [[0.885750,0.464050,-0.010202],[-0.453351,0.869625,0.195512],[0.099599,-0.168550,0.980648]]6HX??䄿`ݿ??V? ſ`xa?i6@I6L_;6CYF`{ByJI LLNANAbDVVDV:yZ=%ZS=ٔ^XQ-^>9`Y`=bFybTEb<Ef>dQ 5jt5f>?Q 9nt5fU)fdBYlynԾQ In@f'DIf ;if ;fTt5yvBɮv(AvEB*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 94.90 m.Rh99Zh99- ProNav: ac range: 94.901703 m, nav range: 91.495872 m, bearing: 340.002278 deg, approach rate: -0.571663 m/s, LOS rate: 0.023848 deg/s, cmd heading: 331.604564 deg, new cmd heading: 331.632315 deg. Bh-:5HeadingCmd: 5.788076 target range: 94.901703 and range: 95.40 m.h57@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM?1ɢ=,߽)9 =넿i9)= 9AiEܘݻiEMqQeqH, ?A2@2@2v*Ͻٱ25- >AHRS rotation from veh to nav: [[0.886860,0.461879,-0.012094],[-0.450867,0.870844,0.195832],[0.100983,-0.168223,0.980563]]2H(a?n?Ĉܿ@?@?ڹ?Tſ``?i2@I2^_;2CYF}{ByFIbDNVDNNyV=%VK=ٔZ7bQ-Z>9Z"?YZ"?=ZFy^TE^K;E^>`Q 5ft5bO?Q 9ft5b)bmBYhyj[ӾQ Ij@b.DIbI:ib:b٧t5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500141yYɮ]'AYjhDNOT Ignoring new targets: 94.90 m.Rh9Zh9 ProNav: ac range: 94.901703 m, nav range: 91.265358 m, bearing: 340.011520 deg, approach rate: -0.545929 m/s, LOS rate: 0.021943 deg/s, cmd heading: 331.632322 deg, new cmd heading: 331.660118 deg. Bhp:HeadingCmd: 5.788561 target range: 94.901703 and range: 95.40 m.h;@h*h"hDzDE EE'E"Ef;*E :VE'4ZEa @a @a @a @ hgQfQfYfYdYdYdajdaZde`?ɢѽ) 7i) i?wݻi=l?=<=B CB IB {BB =B BDB |DB +o;B R,E^A <A5 .AIA IQ O] >: H,u, ?AF@F@F%ѽٱF-)L rAHRS rotation from veh to nav: [[0.888023,0.459544,-0.015290],[-0.448355,0.872816,0.192797],[0.101944,-0.164353,0.981120]]FHj?+i?xPرܿ??? ſTe?iF@IFJ_;DY~{By~IiMb@Mb@Mb@ 99v? ףp= ?{GzY?yQ8=# #AA A)YAbDVD1y=%:=ٔQ->9 ?Y ?=FyTE9;E>Q 5t5c?Q 9t5^)wBYu?Q E:yɾQ I@6DI;i ;t5yBɮ'A EjhDNOT Ignoring new targets: 94.90 m.Rhԕ9Zhԕ9- ProNav: ac range: 94.901703 m, nav range: 91.008560 m, bearing: 340.018839 deg, approach rate: -0.572924 m/s, LOS rate: 0.016374 deg/s, cmd heading: 331.660107 deg, new cmd heading: 331.682125 deg. Bh-3:5HeadingCmd: 5.788945 target range: 94.901703 and range: 95.40 m.h5 ?@h1*h1"h1 h9g9f9f9fE9BdadadajdiZdm?颵BɢFkѽ) ~i)项!i%[sݻi% -<-`H,lG ?A,2|0@2G+@2ӽٱ2D' ^AHRS rotation from veh to nav: [[0.888898,0.457761,-0.017739],[-0.446401,0.874236,0.190885],[0.102888,-0.161759,0.981452]]2H@q?K?0*ԑܿ?n?V?@Ŀ@h?i2|0@I2_;2CYn{BynIIr=)r>r=rp=bDzVDz0yy>%L=ٔfQ->9 "?Y "?= Fy TE ;E>Q 5%t5v?Q 9%t5)BY!y%ȾQ I%@>DI:i:0t5y1ɮ5I&A1jhY]DNOT Ignoring new targets: 94.90 m.Rheԛ9Zheԛ9u ProNav: ac range: 94.901703 m, nav range: 90.776779 m, bearing: 340.025152 deg, approach rate: -0.623572 m/s, LOS rate: 0.017030 deg/s, cmd heading: 331.682128 deg, new cmd heading: 331.701117 deg. Bhu::}HeadingCmd: 5.789277 target range: 94.901703 and range: 95.40 m.h}A@hy*hy"hy hygfffdddjdZdT@颹ɢdؽ) qi)ei4ݻik<=IA@Ia@a @i@i@iԑԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508680Dm=Dm%=E} E}E}!Ey"E}~ ;*E}:VE}c3ZEya@a@a@a@^A< A1 IY I O >OH,Bza ?A2K>@29@2Kսٱ2# :AHRS rotation from veh to nav: [[0.889563,0.456354,-0.020445],[-0.444859,0.875590,0.188265],[0.103817,-0.158378,0.981906]]2HMw?@4?@xܿ??`?@EĿ k?i2K>@I2J_;2CYB{ByBI`iMMb@Mb@Mb@IIII I9MCl?V-?{GzYM?yMm=IIMA I)M AIYMAbDeVDeܲyu=%uD=ٔ}Q-}>9yYy=FyTE1;E>Q 5t5?Q 9t5)BY?Q E:yǺQ I@EDI ;i ;ֲt5yɮ%AjhDNOT Ignoring new targets: 94.90 m.Rh8Zh8 ProNav: ac range: 94.901703 m, nav range: 90.541435 m, bearing: 340.027561 deg, approach rate: -0.563501 m/s, LOS rate: 0.005782 deg/s, cmd heading: 331.701116 deg, new cmd heading: 331.708360 deg. Bh}9HeadingCmd: 5.789403 target range: 94.901703 and range: 95.40 m.hB@h*h"h hgfffdBdddjdZd ((@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760165EBɢEʽ)A EViiI)MIIiMݻiU U{?BCBIB{BB =BCDB{DBo;B5,E9@ @@@^Aur= BDAT read: Rx Time:05:34:56.5513  TRx dataTimestamp_ set to:1761543297.844842 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014164A bE !4jE ʀ'4rE ʻ1E  E E %E "E *E :VE 4ZE BE V'H,l\{ ?A2A@2r<@2(սٱ2 5# :AHRS rotation from veh to nav: [[0.889720,0.456022,-0.021007],[-0.444481,0.875859,0.187905],[0.104088,-0.157846,0.981963]]2Hx?x/?ӂarܿ?G ? ?L4Ŀ9TYT=VFyVTEZ^:EZ>\Q 5bt5^P?Q 9bt5^)^BYdyfQ If@^LDI^:i^:^#t5yjBɮjP%AjEzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 94.90 m.Rh 8Zh 8% ProNav: ac range: 94.901703 m, nav range: 90.328522 m, bearing: 340.029693 deg, approach rate: -0.563169 m/s, LOS rate: 0.005652 deg/s, cmd heading: 331.708356 deg, new cmd heading: 331.714766 deg. Bh%>x9%HeadingCmd: 5.789515 target range: 94.901703 and range: 95.40 m.h-C@h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=/ @mBɢmν)i maiq)u@qqiu޻i}T}<}g=IC@II)fA59@1 @1@51@1@==@==Q-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264202^A;=qI I! O- >ԡ K %H,w0 ?A2A@2<@2սٱ2}" :AHRS rotation from veh to nav: [[0.889725,0.455998,-0.021357],[-0.444465,0.875995,0.187306],[0.104120,-0.157158,0.982069]]2Hx?/?ޕ@rܿ&???Ŀm?i2A@I2`^;0Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516083YF$|ByFI HHNANAbDRVDRkyZ=%ZI=ٔ^ܦQ-^>9\Y`=bFybTEbg,8Eb>dQ 5jt5fS?Q 9jt5f )fBYlynQ In@fSDIf;if;ft5ypɮr$Atjh DNOT Ignoring new targets: 94.90 m.Rh8Zh8EU EUEU&EQ"EU ;*EU:VEU4ZEQa}@a}@a}@a}@ԉU ProNav: ac range: 94.901703 m, nav range: 90.099808 m, bearing: 340.031988 deg, approach rate: -0.564248 m/s, LOS rate: 0.005676 deg/s, cmd heading: 331.714776 deg, new cmd heading: 331.721679 deg. BhSy9HeadingCmd: 5.789636 target range: 94.901703 and range: 95.40 m.hD@h*h"h hg fffdddjdZd@ @颕Bɢ) Wi)顙i ߻iS<=ID@IԱ9@ @@_0@eDAT read: 05:34:56.5513 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.32, 1.404,-0.355, 1.423, 1.146, PHS= 0.359,-1.457, 0.233, RAW= 146.4, 9.9, CAL= 146.0, 10.8, ROT= 4.0, -10.8 mYgot valid direction response: 05:34:56.5513 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.32, 1.404,-0.355, 1.423, 1.146, PHS= 0.359,-1.457, 0.233, RAW= 146.4, 9.9, CAL= 146.0, 10.8, ROT= 4.0, -10.8 uPDAT read: Bearing 142.6, 7.7 (Local) }~Local bearing/azimuth received: Bearing 142.6, 7.7 (Local) DAT read: Range 11 to 50 : 93.3 m (Round-trip 124.5 ms) speed 0.4 m/s *DAT read: user:457> BDAT read: Tx time:05:34:57.6727 $Ping request sent.i5~5n>5Ƈ#@5;0>5e#@ 5A>)55=I5A115ójDŽ:?/`Z?Ò? 5@>)50I55=i5A11:publishing transmit ping timeFpublishing direction and range infoy15K[?ו?0i?Y11111 1)1I1i111B>BBIB+|BB =BBBn;B,E11 1)1I1115ójDŽ:?/`Z?Ò? 1)1I1i111^A @o= I I O >:+H, ?A2B@2=@2ֽٱ2Y# NAHRS rotation from veh to nav: [[0.889755,0.455948,-0.021135],[-0.444348,0.875845,0.188283],[0.104359,-0.158135,0.981887]]2H@x?@A.?t0pܿ`??>?=Ŀk?i2B@I2(^;2CY9|ByIiuMb@Mb@Mb@qqqq q9u rh?V-?{GztYuC ?yuh=uףu AuA uA)u AqYuAbDVD1y@4=%-=ٔTQ->9Y=FyTE9E>Q 5t5ֿ?Q 9t5H)BYs ?Q E:yQ I@\DI;i;̽t5y ɮ^$AEiYi]F\ ?AJi]BRi]Bji][}@b]ۿdV@B$n@ ZAGc1@R]K[?ו?0i?Zi]5=bi]Aj]wT@3?sw9@Z]e?V*տ"Z?2i]|:i]ަB"i]6?*i]wiBi]9Bi]mi?iYi]9Bi]Bi]۽@ addTargetRange:: Added new target pos. range: 93.300003 m, deltaT: 3.779842 s, deltaX: -2.099998 m, approachRate: -0.555578 m/s, rangeRepo size: 4  Added new target pos. range: 92.793701 m, bearing: 339.279959 deg, lat: 36.779378 deg, lon: -121.859647 deg, deltaT: 3.779842 s, deltaX: -2.108002 m, approachRate: -0.557696 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 92.79 m.RhZh EM EMEIEI] ProNav: ac range: 92.793701 m, nav range: 89.463089 m, bearing: 339.941754 deg, approach rate: 0.000000 m/s, LOS rate: 0.005676 deg/s, cmd heading: 331.721688 deg, new cmd heading: 331.730013 deg. "EM~ ;*EMh:VEIZEIBEIae2EIamJEM;am:EM;amBhYuHeadingCmd: 5.789781 target range: 92.793701 and range: 93.30 m.huE@hq*hq"hy hygyfyfflBdddjd@3SW@Zd|?Bɢ) Qi ) #  i i%x%K<%YC=I%E@I)@ @@0@)^A Y Ia Iq O >(2H,* ?A2A@2;@2Mսٱ2@& :AHRS rotation from veh to nav: [[0.889667,0.456180,-0.019816],[-0.444540,0.875246,0.190599],[0.104291,-0.160760,0.981468]]2H&x? 2?J Ysܿ?e? ֲ?ʓĿ/h?i2A@I2];2CYZT|By^-IbDfVDfk1yn=%no=ٔnO9Q-r?9pYp=rFyrTEv#Ev?xQ 5~t5z΂?Q 9~t5z)zBY|yDQ I@zbDIz];iz;zt5y ɮ #A jh15DNOT Ignoring new targets: 92.79 m.Rh=Zh=M ProNav: ac range: 92.793701 m, nav range: 89.276360 m, bearing: 339.940121 deg, approach rate: -0.576778 m/s, LOS rate: -0.005054 deg/s, cmd heading: 331.730021 deg, new cmd heading: 331.725113 deg. BhM]UHeadingCmd: 5.789695 target range: 92.793701 and range: 93.30 m.hU/E@hQ*hQ"hQ hQgYfYfafadadadajdiZdm@%?颕Bɢdս) Ji)r!顡ibiªwh<=I/E@I>i>959@1 @1@5/@9@=gA@=fAa^AE] E]E]+EY"E];*E]M:VE] [4ZEYae@ae@am@am@IIO>ԉ I8H, ?A28@23@2,ֽٱ2 + :AHRS rotation from veh to nav: [[0.889216,0.457159,-0.017340],[-0.445419,0.873785,0.195196],[0.104387,-0.165848,0.980611]]2Hut?B?ܿ ?1??:ſ*a?i28@I2'];2CYBv|ByBBIIF=)F;F=F=i Mb@Mb@Mb@     9 MbX?#~j?{GzY  ?y = # A CA vA) A Y AbD%VD%y5=%5E=ٔ=sQ-=>99YA=EFyETEEvEE>IQ 5Ut5M?Q 9Ut5M)MBY]P ?Q E]:y]SQ I]@MiDIM ;iMP ;Mjt5yaɮmh#AmEjh1=DNOT Ignoring new targets: 92.79 m.Rh=3Zh=3M ProNav: ac range: 92.793701 m, nav range: 89.048950 m, bearing: 339.935853 deg, approach rate: -0.519964 m/s, LOS rate: -0.009784 deg/s, cmd heading: 331.725103 deg, new cmd heading: 331.712266 deg. BhMֹBBBFIB||BB =BBBn;B,EԑHeadingCmd: 5.789471 target range: 92.793701 and range: 93.30 m.hYC@h*h"h hgfffBdddjdZd`?颽~Bɢ赽) Ai)ud$ii  VS< kR=I YC@I50:: 9@  @ @ 3@ Eu  Eu Eu (Eq "Eu ;*Eu :VEu c44ZEq BEu d9lYl=rFyrTErEr>tQ 5zt5v?Q 9zt5v)vBY|y~⤾Q I~@vqDIva;ivn;vpt5yɮJ#A %B*** querying acoustic contact ***i! i!jh15DNOT Ignoring new targets: 92.79 m.Rh=?Zh=?M ProNav: ac range: 92.793701 m, nav range: 88.797028 m, bearing: 339.931276 deg, approach rate: -0.573179 m/s, LOS rate: -0.010442 deg/s, cmd heading: 331.712262 deg, new cmd heading: 331.698494 deg. BhMSUHeadingCmd: 5.789231 target range: 92.793701 and range: 93.30 m.hUaA@hQ*hQ"hQ hQgYfYfYfYdadadajdaZdee?颵}Bɢ) ?i)&iiMdDQ zDU AAE]  E] EY EY "E] ;*E] :VEY ZEY ae @ae @ae @am @0eFH,!?AYn|ByrWIbDzVDzky5=9%=D=ٔEQ-E>9AYI=MFyMTEMEM>QQ 5]t5U;?Q 9]t5U)UBYayaQ Ie@UxDIUj;iU;Ut5yiɮm"AijhDNOT Ignoring new targets: 92.79 m.Rh;5Zh;5 ProNav: ac range: 92.793701 m, nav range: 88.569382 m, bearing: 339.927118 deg, approach rate: -0.540768 m/s, LOS rate: -0.009903 deg/s, cmd heading: 331.698493 deg, new cmd heading: 331.685987 deg. BhzٹHeadingCmd: 5.789012 target range: 92.793701 and range: 93.30 m.h?@h*h"h hgfffdddjdZd &!?E|BɢE0W)I M8iI)M])IIiM iU@]<]J=I]?@IYq checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005002 &Be>BaBexIBe|BBaBaBaBePn;Be+EB%CB%CB%ƓCB% =B% =C%ƨ5ԑ9@ @@1@ ^A5 V<A= >A= > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257597 Eu EuEu'Eq"Eu ;*Euh:VEu'4ZEqBEuOVMH,9!?A6 @6@6ֽٱ6/_C BAHRS rotation from veh to nav: [[0.887881,0.460031,-0.006276],[-0.448021,0.867642,0.215579],[0.104619,-0.188597,0.976466]]6H`i?&q?Jy@aܿ? ?MȺ?#ȿ6??i6 @I6];4YF|ByJoIiMb@Mb@Mb@ 9L7A`??QY+?y=u"AA A)nAYAbDVDky=%#=ٔ^Q->9Y=FyTEۉE>Q 5t5?Q 9t5)BY ?Q E:y蓾Q I@DI ;i:rt5yɮC"AEjh  DNOT Ignoring new targets: 92.79 m.RhmƹZhmƹ% ProNav: ac range: 92.793701 m, nav range: 88.301163 m, bearing: 339.916408 deg, approach rate: -0.541428 m/s, LOS rate: -0.021685 deg/s, cmd heading: 331.685980 deg, new cmd heading: 331.653752 deg. Bh%n-HeadingCmd: 5.788450 target range: 92.793701 and range: 93.30 m.h-:@h)*h)"h1 h1g1f1f9f=Bd9d9d9jdAZdE`@Iu{BɢuL6)y }.iy)}`",yyi}8Bi%M%<%UH,y$Y!?ADJ=DJ<EN ENEN*EL"ENl;*EN1:VEN(N4ZELaR@aR@aR@aR@X%@@'սٱF AHRS rotation from veh to nav: [[0.887568,0.460659,-0.004041],[-0.448768,0.866572,0.218312],[0.104069,-0.191953,0.975871]]H@f?n{?np ܿ??E?ȿ@U:?i%@I];Y|ByxIbDVDNy)<%E$=ٔMю:Q-M>9QYQ=UFyUTEUѺEU>YQ 5t5]2?Q 9t5])]BYypQ I@]DI]v#BYB]IB]}BB] =B]BDBYB]m;B]+EA@A @A@E4@A9 ^A- @]H,%w!?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2641276@6@6gԽٱ6J BAHRS rotation from veh to nav: [[0.887396,0.461006,-0.001490],[-0.449268,0.865516,0.221453],[0.103381,-0.195847,0.975170]]6H`e? ?PjX`ܿM?X?`,w?ɿ4?i6@I6%];6CYF|ByJI PPG1E} E}E}(Ey"E};*E}:VE}c44ZEyBE}D9Y=FyTEfE>Q 5%t5G?Q 9%t5)BY-?Q E-:y-Q I-@DI$ E9@I @I@M4@IiuBDAT read: Tx time:05:35:01.3227 u$Ping request sent.ui-Zd>.k#@K6>"@ aF>)C=IaFDF#Q;?A"/ ?? ]>)'v6IC=iaF:publishing transmit ping timeqFpublishing direction and range infoy85-R?pr?M?Y )Ii )IDF#Q;?A"/ ?? )Iiԙ ^A A eAzA AYIiIyO@eH,> !?A2@2k @2ҽٱ2N >AHRS rotation from veh to nav: [[0.887172,0.461438,0.000860],[-0.449863,0.864500,0.224194],[0.102708,-0.199286,0.974544]]2Hc?1?.L?@ܿ@?@c?K?0ɿ`w/?i2@I2];2CYF|ByFIbDNVDNJyV(<%VI=ٔZ:Q-Z>9XY\=^Fy^TE^n̺E^>`Q 5ft5b]Y?Q 9ft5b)bBYhyj!Q Ij@bDIba;ib;bt5ynBɮnY Apii(!?AJi6BRi6Bjil@bO~+V@R!xm@Yq1@R85-R?pr?M?ZiC=biaFjwqC hT@(s2}>ߵ[8@Z_A?E>տ+?2i:i@B"ic7?*i) s Bi+Bic7?iiiBiW@5 addTargetRange:: Added new target pos. range: 91.099998 m, deltaT: 3.528114 s, deltaX: -2.200005 m, approachRate: -0.623564 m/s, rangeRepo size: 4 E Added new target pos. range: 90.605919 m, bearing: 339.518210 deg, lat: 36.779373 deg, lon: -121.859647 deg, deltaT: 3.528114 s, deltaX: -2.187782 m, approachRate: -0.620100 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 90.61 m.RhZh ProNav: ac range: 90.605919 m, nav range: 87.000313 m, bearing: 339.755439 deg, approach rate: 0.000000 m/s, LOS rate: -0.019234 deg/s, cmd heading: 331.593499 deg, new cmd heading: 331.570174 deg. BhHeadingCmd: 5.786991 target range: 90.605919 and range: 91.10 m.h/@h*h "h  h g f ffdddjd`fV@Zd`E?EU EUEU&EQ"EU;*EU':VEU4ZEQa]@a]@a]@a]@颙ɢ)  i) 3ii( Y<sBBIBQ}BB =BCDBBm;Bx+EԹ A .AI I O- >hkH,ٯ!?APYU|ByUIiMb@Mb@Mb@ 9?Zd;O?:vYf?yj=Լ#AA A)XAYQAbDVDky*%7=ٔ Q- >9  ?Y  ?PExceeded connect timeout, disconnecting.=FyTEE>!Q 5-t5%l?Q 9-t5%n)%BY5?Q E5:y5nQ I5@%DI%;i%~ ;%t5y=Bɮ= AA]B*** querying acoustic contact ***iY iYjhimDNOT Ignoring new targets: 90.61 m.RhuVZhuV ProNav: ac range: 90.605919 m, nav range: 86.761307 m, bearing: 339.748505 deg, approach rate: -0.538474 m/s, LOS rate: -0.015664 deg/s, cmd heading: 331.570167 deg, new cmd heading: 331.549309 deg. Bh,HeadingCmd: 5.786627 target range: 90.605919 and range: 91.10 m.h ,@h*h"h hgfffBdddjdZd?颱ɢ) $i) 6项iXi< <=I ,@I-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.bEm-4jEm-4rEm0Em EmEm%Ei"Em1;*Em :VEm 4ZEiBEmkNrH, !?A2-@2@2zнٱ2Q :AHRS rotation from veh to nav: [[0.886642,0.462443,0.003553],[-0.451153,0.863257,0.226381],[0.101621,-0.202322,0.974032]]2H`__??m?`ܿ`͟? ?`?`ɿ F+?i2-@I2];2CYB}ByBI J;J<bDJVDJyR=%Vd=ٔVG;Q-V>9Z"?YZ"?=ZFyZTEZEZ>|IQ 5Ut5M|?Q 9Ut5M )MBYYy]HQ I]@MDIM7;iM";Mt5yeBɮmAmEjhDNOT Ignoring new targets: 90.61 m.RhZZhZ ProNav: ac range: 90.605919 m, nav range: 86.560966 m, bearing: 339.742884 deg, approach rate: -0.533757 m/s, LOS rate: -0.015011 deg/s, cmd heading: 331.549321 deg, new cmd heading: 331.532419 deg. Bh$HeadingCmd: 5.786332 target range: 90.605919 and range: 91.10 m.h)@h*h"h hgfffdddjdZdL?ɢⷽ) i)7iXvic^<Si>@ @@@@=@=1aechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.245517^AE} E}E}&Ey"E};*E}˭:VE}4ZEya@a@a@a@A I I! O- >ԁ {xH,d!?A%@%@%tAнٱ%RQ eAHRS rotation from veh to nav: [[0.886313,0.463066,0.004336],[-0.451823,0.862666,0.227296],[0.101512,-0.203415,0.973816]]%H`\?ߢ?q? ܿ ? ??~ ʿ@)?i%@I%];%CYm}BymI i-Mb@Mb@Mb@)))) )9- rh?Dl?S㥛Y-C ?y-O=-/ݼ-$$A-1@ -xA)))Y-AbDEVDE0yU<%U2=ٔ]x9Q-]>9YYa=eFyeTEeպEe>qQ 5}t5uΏ?Q 9}t5uH)uBY} ?Q E}:y}dQ I}@uDIun:iua:ut5yBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494792B>BCBIB}BB =BBzDBqm;Bj+EɮAEjhDNOT Ignoring new targets: 90.61 m.Rh7Zh7 ProNav: ac range: 90.605919 m, nav range: 86.318298 m, bearing: 339.743631 deg, approach rate: -0.542144 m/s, LOS rate: 0.001672 deg/s, cmd heading: 331.532410 deg, new cmd heading: 331.534655 deg. Bhؒ8HeadingCmd: 5.786371 target range: 90.605919 and range: 91.10 m.h)@h*h"h hgfffBdddjdZd?zBɢbժ) ii)EK:AAiE8iMf^Mr\~H,B!?A:@:@:нٱ:ԩR RAHRS rotation from veh to nav: [[0.886531,0.462651,0.004212],[-0.451415,0.862934,0.227091],[0.101429,-0.203224,0.973864]]:Hu^?@?@q?ܿ&?O???Aʿ)?i:@I:];:CY^8}By^IbDjVDjya=%^=ٔ%Tn9Q-%>9% ?Y- ?=-Fy-TE-:E->1Q 5=t55?Q 9=t55%)5BYAyE%Q IE@5DI56:i5 :5t5yMBɮMAQjhq}DNOT Ignoring new targets: 90.61 m.Rh}7Zh7ԑ ProNav: ac range: 90.605919 m, nav range: 86.116310 m, bearing: 339.744190 deg, approach rate: -0.557127 m/s, LOS rate: 0.001548 deg/s, cmd heading: 331.534650 deg, new cmd heading: 331.536334 deg. Bh8HeadingCmd: 5.786401 target range: 90.605919 and range: 91.10 m.h2*@h*h"h hgfffdddjdZdE?ɢW6) i);iiZ< H,~"?A2Q@2@2Mнٱ2R >AHRS rotation from veh to nav: [[0.886382,0.462935,0.004209],[-0.451683,0.862771,0.227174],[0.101536,-0.203264,0.973845]]2H=]?@?9XYX=ZFy^TE^OEb>dQ 5jt5f?Q 9jt5f)fBYhyjNQ Ij@fDIf :ifF:rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250815fjt5yv~BɮvAzEjhDNOT Ignoring new targets: 90.61 m.Rh%7Zh%75 ProNav: ac range: 90.605919 m, nav range: 85.902832 m, bearing: 339.744829 deg, approach rate: -0.546677 m/s, LOS rate: 0.001640 deg/s, cmd heading: 331.536344 deg, new cmd heading: 331.538265 deg. Bh5 85HeadingCmd: 5.786434 target range: 90.605919 and range: 91.10 m.h=x*@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM 0A@{Bɢk) i)}s=i pi *V <B}CB}IB}}BB} =B}BDB}}DB}Fm;B}b+Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506994I I O >ԁ ŋH,1`1"?A:@:g@:нٱ:Q BAHRS rotation from veh to nav: [[0.885988,0.463694,0.003700],[-0.452396,0.862593,0.226431],[0.101803,-0.202288,0.974020]]:HZ?)?lOn? ܿ@]???ɿ,+?i:@I:Q];:CYJM}ByJIiMMb@Mb@Mb@IIII I9M=ٔ}#Q-}>9yY=FyTErE>Q 5t5ă?Q 9t5)BYg?Q E:yƾQ I@DI;i;*t5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 90.61 m.Rhn9Zhn9 ProNav: ac range: 90.605919 m, nav range: 85.654167 m, bearing: 339.750386 deg, approach rate: -0.580330 m/s, LOS rate: 0.013006 deg/s, cmd heading: 331.538257 deg, new cmd heading: 331.554976 deg. Bh:HeadingCmd: 5.786726 target range: 90.605919 and range: 91.10 m.h,@h*h"h hgff f Bd d d jdZd@E|BɢE)A E iA)M_?IIiMQiU/]qh<]oD BDAT read: Rx Time:05:35:03.8458  TRx dataTimestamp_ set to:1761543305.156177 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011751 H,4K"?A2@2`@2Jѽٱ2^Q :AHRS rotation from veh to nav: [[0.885690,0.464262,0.003613],[-0.452930,0.862309,0.226449],[0.102016,-0.202200,0.974016]]2HW?x?@m? ܿ?D??`ɿ`$+?i2@I2e];2CY\}ByIbD-VD-:2y5=%=N=ٔ= Q-=>9AYA=EFyETEM<˺EM>IQ 5Ut5MՃ?Q 9]t5M)MBYYy]iƾQ I]@MDIM;iM;Mt5ym}BɮmzAmEjhDNOT Ignoring new targets: 90.61 m.Rhs9Zhs9 ProNav: ac range: 90.605919 m, nav range: 85.424957 m, bearing: 339.755630 deg, approach rate: -0.580077 m/s, LOS rate: 0.013307 deg/s, cmd heading: 331.554977 deg, new cmd heading: 331.570752 deg. Bh:HeadingCmd: 5.787001 target range: 90.605919 and range: 91.10 m.h/@h*h"h hgfffdddjdZd@ɢ+h) ,i)OAiSi   <9 ؘH,3e"?A-@-@-Oҽٱ-ֳP AHRS rotation from veh to nav: [[0.885161,0.465275,0.003017],[-0.453852,0.861964,0.225911],[0.102510,-0.201337,0.974143]]-H=S??h? ݿ@6? ?>?@fɿ.,?i-@I-@];-CYu}ByIB>BCBIB}BB =BB~DBm;BI+EBBCBCB =B =C46i]Mb@Mb@Mb@YYYY Y9]x? rh?I +Y]K?y]C =]9]!A]@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515455 Y)]AYY] A bDVDk yQ=%'=ٔDŽQ->9Y=FyTEMI EM>QQ 5]t5U샊?Q 9t5U)UBY?Q E:yپQ I@UDIU^;iU;Ut5yɮAjh)5DNOT Ignoring new targets: 90.61 m.Rh559Zh559u ProNav: ac range: 90.605919 m, nav range: 85.128014 m, bearing: 339.769978 deg, approach rate: -0.568447 m/s, LOS rate: 0.027562 deg/s, cmd heading: 331.570741 deg, new cmd heading: 331.613935 deg. BhuS:HeadingCmd: 5.787755 target range: 90.605919 and range: 91.10 m.hJ5@h*h"h hgfffBdddjdZd`1 @9u~Bɢu!)y }(iy)}^Cyyii < } BDAT read: Tx time:05:35:04.9727 } $Ping request sent. i% }?% ̌>% "@% >% 0"@ % nF>)% =I% nF! ! % /?\!mv?ډ$#? % >)% kI% =i% nF! !  :publishing transmit ping timey  Fpublishing direction and range infoy! % 2O,?PIh[+?8C ?Y! ! ! ! ! ! )! I! i! ! ! ! ! ! )! I! ! ! % /?\!mv?ډ$#? ! )! I! i! ! ! EE  EE EE &EA "EE %;*EE :VEE 4ZEA BEE +A >I I) O= >v2H,Ӏ"?AF@Fs޹@F=\ӽٱF$O ^AHRS rotation from veh to nav: [[0.884661,0.466229,0.002400],[-0.454711,0.861645,0.225401],[0.103020,-0.200495,0.974263]]FH$O??c?ݿ??_?ϩɿ)-?iF@IF'];FCYf{}ByvIbDVD:yux<%uf=ٔuQ-u>9yYy=}Fy}TE?E?Q 5t5F?Q 9t5I)BYyھQ I@DI9;i;t5y|BɮAiiim Sz"?AJimqBRimqBjimЎ@bmyU@saX@ Lk%+@Rm2O,?PIh[+?8C ?Zim=bimnFjmW/T@ LX>54@Zm۸?Jqտ˃?2im:im}B"imF?*imzBim?Bimmi?im) s im+Bim9Bimѵ@ԁ addTargetRange:: Added new target pos. range: 89.199997 m, deltaT: 3.783822 s, deltaX: -1.900002 m, approachRate: -0.502138 m/s, rangeRepo size: 4  Added new target pos. range: 88.721176 m, bearing: 339.402052 deg, lat: 36.779378 deg, lon: -121.859651 deg, deltaT: 3.783822 s, deltaX: -1.884743 m, approachRate: -0.498106 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 88.72 m.RhZh ProNav: ac range: 88.721176 m, nav range: 85.612015 m, bearing: 339.674844 deg, approach rate: 0.000000 m/s, LOS rate: 0.027562 deg/s, cmd heading: 331.613935 deg, new cmd heading: 331.643002 deg. Bh HeadingCmd: 5.788262 target range: 88.721176 and range: 89.20 m.hr9@h*h"h hgfffddYdajdeLV@Zde`f-?颵Bɢ) i)D项i6ifB!< iI IM A[H,z"?A2tز@2?ӹ@2[Խٱ2N :AHRS rotation from veh to nav: [[0.883993,0.467496,0.001830],[-0.455898,0.861182,0.224774],[0.103505,-0.199533,0.974409]]2H@I?`t?]?l-ݿ ͎? d?O?`Jɿ@\.?i2tز@I2>];2CYB}ByBIbDNVDNyRD=%VX=ٔVQ-V>9Z"?YZ"?=ZFyZTE^mE^>`Q 5bu5bm ?Q 9fu5b)bBYdyfھQ If@bDIb2:ib;bOu5ylɮnAljhDNOT Ignoring new targets: 88.72 m.Rh :Zh :E EEE"E;*EP:VEZEa%@a%@a%@a%@5 ProNav: ac range: 88.721176 m, nav range: 85.388939 m, bearing: 339.685719 deg, approach rate: -0.638491 m/s, LOS rate: 0.031210 deg/s, cmd heading: 331.643004 deg, new cmd heading: 331.675717 deg. Bh5Z:=HeadingCmd: 5.788833 target range: 88.721176 and range: 89.20 m.h=>@h9*h9"h9 h9gAfAfAfAdIdIdIjdQZdU@5?Bɢ譽) Zi)-0F))i-ei55!<5@I9@ @@@BM>BMCBMIBM}BBM =BIBMDBM m;BMR+E^AE<9 A .AI I O >H,k"?A6]˲@6(ƹ@6ފԽٱ6EL BAHRS rotation from veh to nav: [[0.883255,0.468891,0.000863],[-0.457305,0.861021,0.222520],[0.103594,-0.196936,0.974928]]6HC?P?PIL?}Dݿ{?{?(?75ɿ2?i6]˲@I61];6CYF}ByJIiUMb@Mb@Mb@QQQQ Q9Ul? rh?MbYU?yQUUAU@ UA)QQYUQ AaabDmVDmy} =%}>=ٔZQ->9 ?Y ?=FyTEsE>Q 5u5 ?Q 9u5~)BY?Q E:yھQ I@DI ;i ;u5y{BɮA EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 88.72 m.Rh@:Zh @: ProNav: ac range: 88.721176 m, nav range: 85.135353 m, bearing: 339.698066 deg, approach rate: -0.583000 m/s, LOS rate: 0.028469 deg/s, cmd heading: 331.675707 deg, new cmd heading: 331.712856 deg. BhM:%HeadingCmd: 5.789482 target range: 88.721176 and range: 89.20 m.h%oC@h!*h!"h! h!g!f)f)f-Bd)d1d9jd9ZdEi?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.56GMgAQa9gAYABɢM) Fi)Gii'"<WюH,>"?A ɰ Vȿ@V@VԽٱVJ jAHRS rotation from veh to nav: [[0.882597,0.470130,0.000534],[-0.458548,0.860603,0.221578],[0.103710,-0.195809,0.975142]]VH<>? ?PA?Xݿ?\?Č?Fɿ^4?iVȿ@IVp];VCYv}ByvIbDVDy-=%-J=ٔ5Q-5>95"?Y5"?=5Fy=TE=eE=>IQ 5u5MF3?Q 9u5M)M BYy5۾Q I@MDIMjH,2"?AB^>B\B^9IB^~BB^ =B\B\B^m;B^W+Edõ@@ԽٱvhKechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756249 AHRS rotation from veh to nav: [[0.882027,0.471198,0.000946],[-0.459622,0.859913,0.222030],[0.103806,-0.196271,0.975039]]H`9?@(?0N?@tjݿg?vk??fɿ3?iõ@I];CY}By0Ii]Mb@Mb@Mb@YYYY Y9]1Zd?Zd;O?MbPY]"?y]j<]]A]@ ]A)]rAYY] AbDVD0y=%1=ٔ[Q->9Y=FyUE U-E>Q 5Uu5H?Q 9Uu5A )BY]??Q E]:yeQ Ie@DI H,#?A2@2k@2 Խٱ2-N >AHRS rotation from veh to nav: [[0.881274,0.472595,0.003003],[-0.461166,0.858537,0.224145],[0.103352,-0.198918,0.974551]]2H@f3???h?ݿ!y?@ǰ?Bu?$vɿ/?i2@I2o];2CYZ=~ByZZIbDbVDb:yjH>%jq=ٔn:Q-n?9lYl=rFyrUEr]Er?|tQ 5u5vX?Q 9%u5v )v!BY!y%Q I%@vDIv0;iv;vu5y5yBɮ5A5"EjhY]DNOT Ignoring new targets: 88.72 m.Rhe3:Zhe3: ProNav: ac range: 88.721176 m, nav range: 84.415871 m, bearing: 339.739414 deg, approach rate: -0.630255 m/s, LOS rate: 0.039245 deg/s, cmd heading: 331.799388 deg, new cmd heading: 331.837251 deg. Bhx:HeadingCmd: 5.791653 target range: 88.721176 and range: 89.20 m.h8U@h*h"h hgfffd)d1d1jd1Zd5@&@颅BɢiB) ᤾i)?K顩ii$B#<c checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508474nH,#?A@2@2m@2ӽٱ2O :AHRS rotation from veh to nav: [[0.880547,0.473942,0.004068],[-0.462565,0.857476,0.225319],[0.103300,-0.200286,0.974276]]2H p-?U?p?૚ݿpp?@B?q?ɿE-?i2@I2!];2CER EREPEP"ER3;*ER:VEPZEPaZ@aZ@aZ@aZ@YP~ByfIbDEVDE02yU5=%UC=Yٔew9Q-e>9aYa=mFymUEmwEm>qQ 5u5uGk?Q 9u5uq)u-BYyQ I@u DIu`;iu;u@u5yɮAjhDNOT Ignoring new targets: 88.72 m.RhM.:ZhM.:- ProNav: ac range: 88.721176 m, nav range: 84.163467 m, bearing: 339.755455 deg, approach rate: -0.597640 m/s, LOS rate: 0.038096 deg/s, cmd heading: 331.837255 deg, new cmd heading: 331.885523 deg. Bh-):5HeadingCmd: 5.792495 target range: 88.721176 and range: 89.20 m.hU\@hQ*hQ"hY hYgYfYfYfadadadajdaZdm@5Bɢ=s)9 =i9)=LAAiEiE;MB#BBeIBO~BB =BB~DBm;BJ+EԱ^A <Iy I O > H,x6#?A2@2@2$ӽٱ2|P :AHRS rotation from veh to nav: [[0.880304,0.474383,0.005046],[-0.463112,0.856986,0.226060],[0.102915,-0.201338,0.974100]]2Ht+?H\?t? ݿll?? X?rɿ+?i2@I2Q~];0Ybz~BybIiMb@Mb@Mb@ 9`"? ףp= ?~jtxY?yQ8=ĻA|@ A)nAY= AԹbDVDyZ=%C=ٔgr:Q->9Y=Fy UEE>Q 5u5t~?Q 9u5)7BY@?Q E:yҾQ I@DI1;i51;u5yqBɮA,E%B*** querying acoustic contact ***i! i!jh15DNOT Ignoring new targets: 88.72 m.Rh=U9Zh=U9M ProNav: ac range: 88.721176 m, nav range: 83.915573 m, bearing: 339.765389 deg, approach rate: -0.601858 m/s, LOS rate: 0.024188 deg/s, cmd heading: 331.885531 deg, new cmd heading: 331.915419 deg. BhM̄:UHeadingCmd: 5.793017 target range: 88.721176 and range: 89.20 m.hUe`@hQ*hQ"hQ hQgYfYfYf]BdadadajdaZdm7%@BDAT read: Rx Time:05:35:07.4930 TRx dataTimestamp_ set to:1761543308.936293checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013762Bɢ) i) zMi!u i%X%j#<%|'nM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2644759 H,\P#?AF@F_@F?ҽٱFZL rAHRS rotation from veh to nav: [[0.880393,0.474232,0.003568],[-0.463041,0.857942,0.222551],[0.102480,-0.197584,0.974914]]FH -,?Y? :m?@uݿBt? |?@!3>%W=ٔ:Q->9Y=FyUE%9E%>)Q 5-u5-܏?Q 95u5-n)-@BY1y5ҾQ I5@-DI-n;i-;-;u5yAɮEAAjhimDNOT Ignoring new targets: 88.72 m.Rhu9Zhu9 ProNav: ac range: 88.721176 m, nav range: 83.690552 m, bearing: 339.774425 deg, approach rate: -0.593647 m/s, LOS rate: 0.023905 deg/s, cmd heading: 331.915420 deg, new cmd heading: 331.942603 deg. Bh>:HeadingCmd: 5.793491 target range: 88.721176 and range: 89.20 m.hHd@h*h"h hgfffdddjdZd^- @Bɢ) Li)5 N19i=i iu"}ڏ#<5j BDAT read: Tx time:05:35:08.6227 $Ping request sent.i1~j>j"@)>p!@ 9>)¸=I9"~?3/#?&"3? V>) e*I¸=i9E:publishing transmit ping timeEFpublishing direction and range infoy&aZ?a?lE@?Y )Ii )I"~?3/#?&"3? )IiE EE&E"E;*E:VE4ZEa@a@a@a@i^Ae a<I I O >ԡ H,ADj#?AB<A<B"%>B"CB"IB"~BB" =B B"DB" m;B"^+Etɰv;E@Eڤ@EνٱElF ]AHRS rotation from veh to nav: [[0.881641,0.471917,0.001643],[-0.461024,0.860537,0.216640],[0.100822,-0.191756,0.976250]]EHg6?@3?Z?lݿ?`ݺ?|Ϲ?yȿq=?iE@IEN];ECY~ByIiiMMb@Mb@Mb@IIII I9MQ?x&?~jtxYM?yM7=IMAI MxA)IIYM AbDe VDe2yuo=%u)=ٔu/b;Q-u>9yYy=}Fy}UEz;E>Q 5u5R?Q 9u5))JBY?Q E:yHQ I@"DI<:iE:|u5ypBɮAii'\#?AJiEBRiEBjiҗ@bC8U@qEE@sUG/@R&aZ?a?lE@?Zi¸=bi9jS@ҏ2[=qcg6@Z (܍?1ѱտs?2i:iB"i |r?*i8LBi@Bi |r?iwiiBiZBi@u addTargetRange:: Added new target pos. range: 87.099998 m, deltaT: 3.528600 s, deltaX: -2.099998 m, approachRate: -0.595136 m/s, rangeRepo size: 4  Added new target pos. range: 86.635284 m, bearing: 339.465042 deg, lat: 36.779379 deg, lon: -121.859657 deg, deltaT: 3.528600 s, deltaX: -2.085892 m, approachRate: -0.591139 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 86.64 m.RhZh ProNav: ac range: 86.635284 m, nav range: 83.676842 m, bearing: 339.486924 deg, approach rate: 0.000000 m/s, LOS rate: 0.023905 deg/s, cmd heading: 331.942604 deg, new cmd heading: 331.978690 deg. BhHeadingCmd: 5.794121 target range: 86.635284 and range: 87.10 m.hqi@h*h"h hgfff Bdddjd`fU@Zd-?mBɢm1x)m⫘ m(iq)uNqԙqiifX#<?H,>#?A2o@2:@2Xͽٱ2A :AHRS rotation from veh to nav: [[0.882121,0.471023,-0.000147],[-0.460264,0.862037,0.212246],[0.100099,-0.187159,0.977216]]2H@U:??%??#tݿϕ?@*??`ǿ[E?i2o@I2y];2CYB~ByBIhbDnVDnyv=%vT=ٔv%:Q-z>9xYx=zFyzUE~;E~>Q 5 u5귄?Q 9 u5K)QBY y Q I@)DI;i; u5yɮA-EjhAEDNOT Ignoring new targets: 86.64 m.RhMp8ZhMp8] ProNav: ac range: 86.635284 m, nav range: 83.452904 m, bearing: 339.488858 deg, approach rate: -0.613606 m/s, LOS rate: 0.005312 deg/s, cmd heading: 331.978694 deg, new cmd heading: 331.984511 deg. Bh]Si9eHeadingCmd: 5.794223 target range: 86.635284 and range: 87.10 m.heFj@ha*ha"ha hagififqfqdqdqdqjdyZd} h?颥Bɢ{) Fi)z5O顱iDiFY>#<̒Q D @AzD E  E E !E "E ;*E ՚:VE c3ZE a @a @a @a @H,Y#?A2%@2@2jP˽ٱ2|< >AHRS rotation from veh to nav: [[0.882978,0.469412,-0.001832],[-0.458833,0.863889,0.207769],[0.099111,-0.182615,0.978176]]2H`ZA? ?^]ݿ?@,?^_?_ǿ@8M?i2%@I2lc];0YBFByFI J4%VO=ٔV%;Q-Z>9Z ?YZ ?=ZFyZUE^7;E^>`Q 5fu5bʄ?Q 9fu5b})bZBYdyfѼQ Ij@b1DIb:ib:bB$u5ylɮndAljhDNOT Ignoring new targets: 86.64 m.Rh :8Zh :8 ProNav: ac range: 86.635284 m, nav range: 83.221321 m, bearing: 339.490578 deg, approach rate: -0.587517 m/s, LOS rate: 0.004378 deg/s, cmd heading: 331.984514 deg, new cmd heading: 331.989690 deg. BhF@9%HeadingCmd: 5.794313 target range: 86.635284 and range: 87.10 m.h%k@h!*h)"h) h)g)f)f1f1d1d1d1jd99ZdEY?BɢFd) i)tOi8iM:$<+BIBMIBMBBIBIBMDBM0m;BMh+EBCBCBēCB =B =Cbt5ԑ^A<A>A>AE ؟AII IY Om > DH,,ػ#?A@:˲@:\ƹ@:Ƚٱ: 7 JAHRS rotation from veh to nav: [[0.883779,0.467891,-0.003585],[-0.457548,0.865796,0.202598],[0.097898,-0.177412,0.979255]]:HG?`?^myHݿ?? ?nƿ`V?i:˲@I:V];8YR`ByR Ii-Mb@Mb@Mb@)))) )9- rh?Mb?~jtxY- ?y-=)-GA-X@ -fA)-A)Y-QAbDEVDEyU m=%U@=ٔU;;Q-]>9]"?Y]"?=]Fye"UEe]i;Ee>iQ 5uu5m݄?Q 9uu5mg)m`BYu?Q E}:y} Q I}@m8DIm(;im;m'u5yoBɮA.EE EE&E"E7;*E:VE4ZEBEZ9\Y\=^Fy^&UEbC;Eb>dQ 5ju5f?Q 9ju5f)fhBYlyn9Q In@fADIf ;if ;f-,u5yrnBɮr Ar/Ejh  DNOT Ignoring new targets: 86.64 m.RhFZhF% ProNav: ac range: 86.635284 m, nav range: 82.717842 m, bearing: 339.474446 deg, approach rate: -0.561390 m/s, LOS rate: -0.018390 deg/s, cmd heading: 331.967384 deg, new cmd heading: 331.941141 deg. Bh%I-HeadingCmd: 5.793466 target range: 86.635284 and range: 87.10 m.h-d@h)E EE(E"E;*E:VEc44ZEa@a@a@a@*h)"h hgfff d ddjdZd`q@)eBɢe@JO)a e:ia)XO顉ihi#$<'BYB]'IB]BB] =BYB]DB]m;B]U+Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256027ԉ^A D-<Ա A I I O >H,J#?A2k@26۹@2ٱ2Ys/ :AHRS rotation from veh to nav: [[0.885239,0.465113,-0.004735],[-0.455451,0.868826,0.194181],[0.094430,-0.169739,0.980954]]2H S? i?~es&ݿl?`?`,?ſc?i2k@I2o];2CYBByBJIi Mb@Mb@Mb@     9 HzG?Q?:vY = ?y = T 1A f@ O A) EA Y A!!bD-VD-ky=Y=%=C=ٔ=w;Q-E>9AYA=EFyE+UEM,;EM>QQ 5]u5Uq?Q 9]u5U&!)UlBY] ?Q Ee:yeQ Ie@UHDIU-;iU;U/u5yiɮmaAi Wk>ԑGhAE9EhAYEͧAjhchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505233DNOT Ignoring new targets: 86.64 m.Rh,Zh, ProNav: ac range: 86.635284 m, nav range: 82.486588 m, bearing: 339.459232 deg, approach rate: -0.477615 m/s, LOS rate: -0.031511 deg/s, cmd heading: 331.941128 deg, new cmd heading: 331.895356 deg. BhHeadingCmd: 5.792667 target range: 86.635284 and range: 87.10 m.h]@h)*h)"h) h)g)f)f1f5>Bd1d1d9jd9Zd=L@额BɢD) 0$=iE EEE"E ;*E:VEZEBERQ%-z%<- t@>@@>μٱ>. JAHRS rotation from veh to nav: [[0.885938,0.463790,-0.003486],[-0.454575,0.869778,0.191959],[0.092060,-0.168479,0.981397]]>HY??lݿ 8??E?ſ g?i>t@I>I];9dYd=fFyf0UEjc;Ej>lQ 5ru5n?Q 9ru5n6#)npBYpyrxQ Iv@nRDInl:ind:n4u5yzmBɮzAxjh-DNOT Ignoring new targets: 86.64 m.RhE@ZhE@Q] ProNav: ac range: 86.635284 m, nav range: 82.185844 m, bearing: 339.439069 deg, approach rate: -0.623907 m/s, LOS rate: -0.041981 deg/s, cmd heading: 331.895366 deg, new cmd heading: 331.834657 deg. Bh]}eHeadingCmd: 5.791607 target range: 86.635284 and range: 87.10 m.heT@ha*ha"ha hagafififidqdqdqjdqZdu@颥Bɢ:) =i)G0O顩i^iF%<BuCBulIBuBBu =BqBu}DBum;BuO+E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263562AY I I O >A I,e3$?A2@2@2}ֶٱ20 :AHRS rotation from veh to nav: [[0.886415,0.462891,0.000115],[-0.454224,0.869769,0.192826],[0.089158,-0.170976,0.981233]]2H]???`ݿ&?? Ӷ?ſBf?i2@I2x];2CYvByvtIiuMb@Mb@Mb@qqqq q9u/$?uļuAuX@ u A)ut@qYu=AbDVDNy+=%>=ٔ;Q->9Y=Fy5UE=:E>ԹQ 5u52?Q 9u5$)qBY?Q E:y=iQ I@ZDIl0;i/;`8u5ylBɮFA0EjhDNOT Ignoring new targets: 86.64 m.RhlZhl ProNav: ac range: 86.635284 m, nav range: 81.944588 m, bearing: 339.416829 deg, approach rate: -0.559248 m/s, LOS rate: -0.051706 deg/s, cmd heading: 331.834659 deg, new cmd heading: 331.767742 deg. Bh HeadingCmd: 5.790440 target range: 86.635284 and range: 87.10 m.hHK@h*h!"h! h!g!f!f)f-2Bd)d)d)jd1Zd5%z @Bɢn3) =i)Ni!i "I-&<N(I,@M$?AJDAT read: 05:35:11.1402 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.04,-2.112, 2.452,-2.094,-2.303, PHS= 0.294,-1.483, 0.165, RAW= 146.3, 11.9, CAL= 146.0, 13.0, ROT= 4.0, -13.0 NYgot valid direction response: 05:35:11.1402 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.04,-2.112, 2.452,-2.094,-2.303, PHS= 0.294,-1.483, 0.165, RAW= 146.3, 11.9, CAL= 146.0, 13.0, ROT= 4.0, -13.0 VPDAT read: Bearing 146.5, 6.8 (Local) Z~Local bearing/azimuth received: Bearing 146.5, 6.8 (Local) fDAT read: Range 11 to 50 : 84.9 m (Round-trip 113.3 ms) speed 0.4 m/s j*DAT read: user:461> rBDAT read: Tx time:05:35:12.2727 v$Ping request sent.vi2ҽ2(>2.k#@2ȭT>2e#@ 2Vh>)25=I2Vh002c+?C^L˶?gk? 2>)2TI25=i2Vh00m:publishing transmit ping timetuFpublishing direction and range infoy02ʁ?[5df?:/2?Y0=.@=@=ٱ=1000 AHRS rotation from veh to nav: [[0.886617,0.462492,0.003307],[-0.454414,0.869755,0.192443],[0.086127,-0.172126,0.981302]]=H*_? y?k?ݿ ?@? r ? ;ƿf?i=.@I=|o];=CYByI bDVD:yo==%6=ٔi;Q->9Y=Fy9UE4E> 0 0)0I0i00000 0)0I0002c+?C^L˶?gk? 0)0I0i000Q 55u5 F?Q 95u5 *&) pBY1y5kiQ I=@ bDI ;i G; JI,йh$?A2@2h@2oٱ2 . JAHRS rotation from veh to nav: [[0.886959,0.461820,0.005044],[-0.454394,0.870640,0.188448],[0.082637,-0.169438,0.982070]]2Ha? t?dt?ݿG? ?'?@!ſm?i2@I2M];2CYR ByR}I TTXZAbD^ VD^:2yf%fd=ٔf 9j ?Yj ?=jFyn=UEn9En>pQ 5zu5rW?Q 9~u5r_')pYy hQ I @rhDIr;ir;rm?u5yɮA%1E=B*** querying acoustic contact ***i9 i9jhIMDNOT Ignoring new targets: 84.44 m.B]>B]CB]IB]+BB] =BYB]~DB]l;B];+EԱRh-}Zh-} ProNav: ac range: 84.443245 m, nav range: 80.840202 m, bearing: 339.200832 deg, approach rate: -0.572724 m/s, LOS rate: -0.055336 deg/s, cmd heading: 331.696553 deg, new cmd heading: 331.638205 deg. T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Bh-HeadingCmd: 5.788178 target range: 84.443245 and range: 84.90 m.h-8@h1*h9"h9 h9gifqfyfydydydyjdZd )?Bɢ%U/)! %=i!)%N!)i-%i-q5'<5l I,ʈ$?A2w@2B@2Uٱ22G. :AHRS rotation from veh to nav: [[0.887111,0.461498,0.007371],[-0.454629,0.870928,0.186542],[0.079669,-0.168835,0.982419]]2H`6c?,?|1~?ݿ?`?*e?_ſo?i2w@I2c{];0YB&ByBIi-Mb@Mb@Mb@)))) )9-Q?x&?S㥛Y-?y-7 >-/ݼ-xA) -& A)))Y)ԙbDVDy"=%6=ٔ;Q->9"?Y"?=FyAUE&E>Q 5u5k?Q 9u5()nBY\ ?Q E:yZvQ I@pDI;i;VCu5yɮ.Ajh DNOT Ignoring new targets: 84.44 m.Rh Q^ZhQ^% ProNav: ac range: 84.443245 m, nav range: 80.594818 m, bearing: 339.179367 deg, approach rate: -0.553777 m/s, LOS rate: -0.048591 deg/s, cmd heading: 331.638196 deg, new cmd heading: 331.573602 deg. Bh%d-HeadingCmd: 5.787051 target range: 84.443245 and range: 84.90 m.h-/@h)*h)"h) h)g)f1f1f5TBd9d9d9jd9ZdE@N?mBɢm)q u>iq)u6Mqyi}='i}P) H'I,a$?A6j@65@61ٱ6q0 BAHRS rotation from veh to nav: [[0.886894,0.461844,0.010903],[-0.455482,0.870248,0.187628],[0.077166,-0.171372,0.982180]]6H@pa?؎?wT?&ݿ?0?(?ſ@n?i6j@I6];6CYFByJIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.243472TTbDZVDZܲyr%rX=ٔvP;Q-v>9v ?Yv ?=zFyzEUEz"Ez>|Q 5u5~|?Q 9u5~<*)~mBY y wwQ I @~wDI~d:i~:~Fu5ykBɮfAjh9EDNOT Ignoring new targets: 84.44 m.RhEM[ZhEM[U ProNav: ac range: 84.443245 m, nav range: 80.387413 m, bearing: 339.161282 deg, approach rate: -0.548316 m/s, LOS rate: -0.047932 deg/s, cmd heading: 331.573610 deg, new cmd heading: 331.519217 deg. BhUeHeadingCmd: 5.786102 target range: 84.443245 and range: 84.90 m.he'@ha*ha"ha hagafififididqdqjdqZdu ?颥Bɢl$) \ >i)!M顩i)iDzDE EE'E"E&:*E:VE'4ZEa@a@a@a@(<BCBIBDBB =BBDBl;B+E^A8<AfAzAfA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499749ԙA ؟AI I O Թ z+-I,<$?A6ڲ@6չ@6ٱ6"4 >AHRS rotation from veh to nav: [[0.886392,0.462703,0.014662],[-0.456799,0.869064,0.189901],[0.075126,-0.175024,0.981694]]6H S]???0<ݿ_?N?n;?0gƿ j?i6ڲ@I6֖];6CYF!ByFIIJ>)J>i5Mb@Mb@Mb@1111 195"~?Mb?lY5?y5>55A5@ 5nA)5^@1Y5zAbDUVDU:yT<%==ٔ;Q->9"?Y"?=FyJUENTE>Q 5u5?Q 9u5,)iBY?Q E:yQ I@DI:i] ;nJu5yjBɮJA2Ejh!-DNOT Ignoring new targets: 84.44 m.Rh-k0Zh-k0= ProNav: ac range: 84.443245 m, nav range: 80.131485 m, bearing: 339.144619 deg, approach rate: -0.590319 m/s, LOS rate: -0.038559 deg/s, cmd heading: 331.519214 deg, new cmd heading: 331.469063 deg. BhEӺEHeadingCmd: 5.785226 target range: 84.443245 and range: 84.90 m.hE @hI*hI"hI hIgIfIfQfUBdQdYdYjdYZd]Ո?颍Bɢ6&) >ԑi)L顙i+ity)<^"8m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000431 Q4I,$?A2ϲ@2ʹ@2ٱ2N; :AHRS rotation from veh to nav: [[0.885906,0.463452,0.019582],[-0.458049,0.867354,0.194650],[0.073226,-0.181411,0.980677]]2H`WY?0?_ ?Pݿ\?`L??}8ǿ a?i2ϲ@I2c];0YV$ByVIbD^VD^0y<%X=ٔ ;Q->9  ?Y  ?= Fy MUE gE>Q 5%u5ޣ?Q 9%u5-)fBY!y%Q I%@DIz;iv;Mu5y1ɮ51A1jhQ]DNOT Ignoring new targets: 84.44 m.Rhe-Zhe-u ProNav: ac range: 84.443245 m, nav range: 79.908371 m, bearing: 339.130324 deg, approach rate: -0.590800 m/s, LOS rate: -0.037959 deg/s, cmd heading: 331.469053 deg, new cmd heading: 331.426048 deg. Bhugк}HeadingCmd: 5.784476 target range: 84.443245 and range: 84.90 m.h}m@hy*hy"hy hgfffdddjdZd@颽BɢLY") 7>i)2Li6-iV*<li=:I,$?ABJ>BJCBJIBJSBBJ =BHBJ~DBJwl;BJ*EBMCBMCBMCBIBM =CM>v6^@^@^䛏ٱ^"!D rAHRS rotation from veh to nav: [[0.884197,0.466323,0.027165],[-0.461829,0.863992,0.200578],[0.070064,-0.189896,0.979301]]^H`XK?9"?Y"?=FyRUE=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506810E]>yQ 5u5}n?Q 9u5}/)}aBYyMQ I@}DI}oQiq)}2Kyyi}/i*<KAI,J%?AY%ByI  iMb@Mb@Mb@ 9l?Cl?Q롿Y?y;=\bA@ & A)G@YAbDVDJym<%6=ٔQ->9Y=FyVUEE>Q 5u5Cͅ?Q 9u51)^BY\?Q E:yѠQ I@DI1;i[;>Uu5y cBɮAi)JK顡i0i +< % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259443GI,%?A2-@2@2Sٱ2jO :AHRS rotation from veh to nav: [[0.882046,0.469830,0.035420],[-0.466304,0.859712,0.208462],[0.067491,-0.200389,0.977389]]2H9??`"?ݿ?`ޮ?G?`Yɿ@F?i2-@I2];2CY@y@bDJVDJ0yRjk;%Vb=ٔV;Q-V>9XYX=ZFyZZUEZaEZ>`Q 5bu5bޅ?Q 9fu5bh3)b\BYdyfޣQ If@bDIb:ib:bfXu5yjXBɮnAln=EE EE*E"E';*E:VE(N4ZEa @a @a @a @jh%DNOT Ignoring new targets: 84.44 m.Rh%ɰZh%ɰ5 ProNav: ac range: 84.443245 m, nav range: 79.178360 m, bearing: 339.098153 deg, approach rate: -0.596230 m/s, LOS rate: -0.019320 deg/s, cmd heading: 331.350399 deg, new cmd heading: 331.329249 deg. Bh5%T=HeadingCmd: 5.782786 target range: 84.443245 and range: 84.90 m.h= @hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU6 @Bɢ~$)! %>i!)%J!!i-f1i-&-f+<5¬BCBIBXBB =BCDB{DBl;B+E9 DAT read: 05:35:14.7875 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.20, 2.098, 0.306, 2.100, 1.859, PHS= 0.341,-1.508, 0.197, RAW= 146.0, 10.9, CAL= 145.6, 11.9, ROT= 4.4, -11.9 M Ygot valid direction response: 05:35:14.7875 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.20, 2.098, 0.306, 2.100, 1.859, PHS= 0.341,-1.508, 0.197, RAW= 146.0, 10.9, CAL= 145.6, 11.9, ROT= 4.4, -11.9  PDAT read: Bearing 144.2, 6.2 (Local)  ~Local bearing/azimuth received: Bearing 144.2, 6.2 (Local)  DAT read: Range 11 to 50 : 83.0 m (Round-trip 110.7 ms) speed 0.5 m/s  *DAT read: user:462>  BDAT read: Tx time:05:35:15.8727  $Ping request sent. i%^I>e#@B>"@ ȭT>)nF=IȭTzl ??"?FO2? 5>)BInF=iȭT} :publishing transmit ping time } Fpublishing direction and range infoytR8?u/7?Fa5d?Y )Ii )Izl ??"?FO2? )IiA .AI! I1 Oe >MI,:%?AG ,BB9@YBAY-By-IiMb@Mb@Mb@ 9$C?Dl?:vY?yO=ԼA@ XA)YzAbDVDk1E EE%E"E%;*E:VE 4ZEBE*9 ?Y ?=Fy_UEE>AIQ 5Mu5M?Q 9Uu5M6)IYUC?Q EU:yU>ľQ IU@MDIM:iM:M\u5yɮA>Eiip 0%?AJiBRiBji~O@b\^["T@ ڲ@^Ý1@RtR8?u/7?Fa5d?ZinF=biȭTjZ\9MR@d8 <.i4@Z977\?d<ֿ=g&?2im:iB"i]܁?*i`H(BiũBi |r?i8Li@Bi BiOz@- addTargetRange:: Added new target pos. range: 83.000000 m, deltaT: 3.531317 s, deltaX: -1.900002 m, approachRate: -0.538043 m/s, rangeRepo size: 4 e Added new target pos. range: 82.548950 m, bearing: 338.959175 deg, lat: 36.779379 deg, lon: -121.859657 deg, deltaT: 3.531317 s, deltaX: -1.894295 m, approachRate: -0.536427 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 82.55 m.RhmZhi ProNav: ac range: 82.548950 m, nav range: 79.523232 m, bearing: 339.258639 deg, approach rate: 0.000000 m/s, LOS rate: -0.019320 deg/s, cmd heading: 331.329253 deg, new cmd heading: 331.297888 deg. BhHeadingCmd: 5.782239 target range: 82.548950 and range: 83.00 m.h@h*h"h hgfffBdddjdT@ZdO?%Bɢ%0)) -p=i))-iJ))i-B3iU>U`+<]DUI,S$Y%?Aɰ6U@6P@6Cٱ6X >AHRS rotation from veh to nav: [[0.879462,0.474022,0.043010],[-0.471459,0.855153,0.215501],[0.065372,-0.209802,0.975556]]6H $? aV?b?`a,޿ i]? ?9? ʿ`7?i6U@I6];6CYFByFIIn=)n4<bDrVDrβyz%~U=ٔ~F;Q-~>9Y=FycUEvE>Q 5u5z ?Q 9u58)YyǾQ I@DId:i9:L`u5y!ɮ-A)jhQUDNOT Ignoring new targets: 82.55 m.Rh]Hk9Zh]Hk9m ProNav: ac range: 82.548950 m, nav range: 79.293327 m, bearing: 339.263240 deg, approach rate: -0.640493 m/s, LOS rate: 0.012856 deg/s, cmd heading: 331.297889 deg, new cmd heading: 331.311733 deg. Bhm+ :uHeadingCmd: 5.782481 target range: 82.548950 and range: 83.00 m.hu @hq*hq"hq hqgyfyfyfydddjdZd"?颵Bɢ+e-) P=i)'Jih4i0.x,< BE CBE IBE SBBA BA BE }DBE l;BE %+EAy I I O >%\I,r%?A ZA@Z<@Z~ʃٱZ>#U bAHRS rotation from veh to nav: [[0.878377,0.476058,0.042693],[-0.473623,0.854894,0.211748],[0.064307,-0.206215,0.976391]]ZH?@w?ۥ?@O޿J[??fv??eʿ >?iZA@IZ@];ZCYj"ByjIiMb@Mb@Mb@ 9On?J +?:vY?yH=Av@ )YAbDVDyN=%?=ٔ^#;Q->9Y=FygUEE>Q 5u53?Q 9u5;)Y<?Q E:yؾQ I@DI:i: du5yɮAB*** querying acoustic contact ***i ijh%DNOT Ignoring new targets: 82.55 m.Rh%#9Zh%#95 ProNav: ac range: 82.548950 m, nav range: 79.037109 m, bearing: 339.274661 deg, approach rate: -0.596649 m/s, LOS rate: 0.026680 deg/s, cmd heading: 331.311740 deg, new cmd heading: 331.346112 deg. Bh={:=HeadingCmd: 5.783081 target range: 82.548950 and range: 83.00 m.h=@hA*hA"hA hAgAfAfIfMBdIdQdQjdQZdU B?颅Bɢ+) X=i)I顉i5iD,<Vo A] ؟AIa Iq O > cI,%?A2{2@2G-@2 Sٱ24R >AHRS rotation from veh to nav: [[0.877546,0.477560,0.042996],[-0.475321,0.854608,0.209083],[0.063105,-0.203917,0.976952]]2H ?X??k޿X?9?'?ʿ`1C?i2{2@I2];2CYB#ByD Jp9-"?Y-"?=5Fy5kUE=VE]>iQ 5u5m/?Q 9u5m">)m]BYyپQ I@mDIm;imb;mqgu5yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.441446jh=DNOT Ignoring new targets: 82.55 m.Rh=9Zh=9M ProNav: ac range: 82.548950 m, nav range: 78.804573 m, bearing: 339.285387 deg, approach rate: -0.577934 m/s, LOS rate: 0.026737 deg/s, cmd heading: 331.346110 deg, new cmd heading: 331.378384 deg. BhM̒:UHeadingCmd: 5.783644 target range: 82.548950 and range: 83.00 m.hU@hY*hY"hY hYgYfYfafadadadijdiZdm@ho?Bɢw+) =i)jIi 7i|Z,<EP3iI, %?A2!@2U@2>~ٱ2S >AHRS rotation from veh to nav: [[0.876620,0.479079,0.044943],[-0.477168,0.853465,0.209545],[0.062031,-0.205137,0.976766]]2H@F ?;??޿@O?^?¯?AʿA?i2!@I2^];2CYB/ByFI HHbDNVDN02yVr=%VK=ٔZ5;Q-Z>9XYX=^Fy^oUE^E^>`Q 5fu5b@?Q 9fu5b@)`YhyjھQ Ij@bDIb:ibN:bju5ylɮnEAr?Ejh DNOT Ignoring new targets: 82.55 m.Rh T:Zh T:% ProNav: ac range: 82.548950 m, nav range: 78.576035 m, bearing: 339.296349 deg, approach rate: -0.619393 m/s, LOS rate: 0.029797 deg/s, cmd heading: 331.378376 deg, new cmd heading: 331.411359 deg. Bh%:-HeadingCmd: 5.784219 target range: 82.548950 and range: 83.00 m.h-S@h)*h)"h1 h1g1f1f1f9d9d9dAjdAZdEZK?Bɢ $) h>i)@I11i5"8i=~x=],B-CB)B)B- =IB-BDB-DB-m;B-I+E@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945545q^ALM<ԡ I I O >pI,:t%?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197873:6@:@:8zٱ:V ^AHRS rotation from veh to nav: [[0.875890,0.480176,0.047411],[-0.478618,0.852164,0.211519],[0.061164,-0.207959,0.976223]]:HJ?@3?HF?޿@D? ?@P?gʿ8=?i:6@I:i];:CYf4ByfIiUMb@Mb@Mb@QQQQEe EeEe)Ea"Ee;*Ee~:VEeFA4ZEaBEe`9Y=FysUE;uE>Q 5u5#U?Q 9u5C)bBYx?Q E:y]Q I@DI7 ;i~ ;nu5yɮA@EjhDNOT Ignoring new targets: 82.55 m.Rh!A:Zh!A:  ProNav: ac range: 82.548950 m, nav range: 78.306755 m, bearing: 339.314624 deg, approach rate: -0.619871 m/s, LOS rate: 0.042212 deg/s, cmd heading: 331.411352 deg, new cmd heading: 331.466364 deg. Bh :HeadingCmd: 5.785180 target range: 82.548950 and range: 83.00 m.h1 @h*h"h hgfffBdddjdZd@@5Bɢ5%)9 =>i9)=H99i=zX9iEE8N,mFvI,Q%?A2& @2@2fvٱ2;X >AHRS rotation from veh to nav: [[0.875533,0.480657,0.049104],[-0.479404,0.851584,0.212077],[0.060120,-0.209221,0.976019]]2H ]? ?!$?@޿@-@?T%? Ȯ?ʿ@;?i2& @I2];0YBDByFIHJ@AbDNVDNܲyV"=%V[=ٔV7;Q-Z>9XYX=ZFyZwUE^ZE^>`Q 5fu5bf?Q 9fu5bpF)beBYhyjQ Ij@bDIb-:ib:bqu5yYɮ]AYjhDNOT Ignoring new targets: 82.55 m.Rh:;:Zh:;: ProNav: ac range: 82.548950 m, nav range: 78.075089 m, bearing: 339.330602 deg, approach rate: -0.591594 m/s, LOS rate: 0.040922 deg/s, cmd heading: 331.466376 deg, new cmd heading: 331.514451 deg. Bh:HeadingCmd: 5.786019 target range: 82.548950 and range: 83.00 m.h'@h*h"h hgfffdddjdZdο@Bɢb) ">i)-His:i  7,< I;I '@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7029319@ @@/@@@gAEu EuEu$Eq"Eu :*Eug:VEu4ZEqa}@a}@a}@a}@^A8<1IQIqO>AA@AB >B CB IB bBB =B CDB yDB mm;B \+E= BDAT read: Rx Time:05:35:18.3846 E TRx dataTimestamp_ set to:1761543319.779310U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959206a ju|I,_A%?AEn@E: @EcrٱEP uAHRS rotation from veh to nav: [[0.875663,0.480677,0.046513],[-0.479297,0.853269,0.205442],[0.059063,-0.202191,0.977563]]EHn?@k?`Ч?ά޿M? K?@=?hɿ3H?iEn@IEh];ECY}GByIIp>)99Y9=EFyE|UEE9EE>QQ 5]u5Uo|?Q 9]u5UI)UkBY]0!?Q Ee:yeQ Ie@UDIU:iU':Uuu5yqɮuAuAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 82.55 m.RhcX:ZhcX: ProNav: ac range: 82.548950 m, nav range: 77.789467 m, bearing: 339.351299 deg, approach rate: -0.650281 m/s, LOS rate: 0.047295 deg/s, cmd heading: 331.514460 deg, new cmd heading: 331.576781 deg. Bh;HeadingCmd: 5.787107 target range: 82.548950 and range: 83.00 m.h/@h*h"h hgfffBdddjdZdvC @}Bɢ}) ">i)|Gi\;i ,<;I/@IY@ @@/@iqIq}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205976Eu EuEu%Eq"Eua:*EuAr:VEu 4ZEqBEu(Ա hI, BDAT read: Tx time:05:35:19.4727 $Ping request sent.iZĿ=i"@Vh> "@ }>)%=I}3)?e?p{? `A>)ngI%=i}=:publishing transmit ping time=Fpublishing direction and range infoy$/s?Î2?/;f?Y )Ii )I3)?e?p{? )IiY]^By]IqbD}VD}ܲy=%A=ٔQ->9Y=FyUEE>Q 5u5?Q 9u5L)qBYyQ I@DIB:i:yu5yɮAiiP&?AJiBRiBjih@bߓgS@S*@ng3@R$/s?Î2?/;f?Zi%=bi}j`ӌOR@v y;B Z6@ZW_?>0KտmR?2i:i*B"iJ?*iOBibBiiziiBi"@5 addTargetRange:: Added new target pos. range: 80.800003 m, deltaT: 3.528679 s, deltaX: -2.199997 m, approachRate: -0.623462 m/s, rangeRepo size: 4  Added new target pos. range: 80.358437 m, bearing: 339.135511 deg, lat: 36.779379 deg, lon: -121.859658 deg, deltaT: 3.528679 s, deltaX: -2.190514 m, approachRate: -0.620774 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 80.36 m.RhZh ProNav: ac range: 80.358437 m, nav range: 77.553673 m, bearing: 339.313349 deg, approach rate: 0.000000 m/s, LOS rate: 0.047295 deg/s, cmd heading: 331.576779 deg, new cmd heading: 331.641851 deg. BhHeadingCmd: 5.788242 target range: 80.358437 and range: 80.80 m.hH9@h*h"h hgyfffdddjd@33T@Zdi?ԱBɢy) eK>i)IJFi*=i &i +< ;I H9@I@ @!@%/@)Em  Em Em 'Ei "Em :*Em :VEm '4ZEi au @au @au @au @ ^AU X;A] >A] >I I O >hԉI,:)&?A2$@2@2o4kٱ2E :AHRS rotation from veh to nav: [[0.877063,0.478523,0.042143],[-0.476934,0.856943,0.195404],[0.057391,-0.191481,0.979817]]2H?`?@?޿ l?? kb?sȿZ?i2$@I2s];2CY^iBy^IbDfVDf0ynK{=%nd=ٔnɘ;Q-n>9pYp=rFyrUEv;Ev>xQ 5~u5z?Q 9~u5zO)zvBY|y~jQ I~@zDIz;iz|:z|u5y ɮ uA jh15DNOT Ignoring new targets: 80.36 m.Rh=Ga:Zh=Ga:M ProNav: ac range: 80.358437 m, nav range: 77.328911 m, bearing: 339.329190 deg, approach rate: -0.696597 m/s, LOS rate: 0.049239 deg/s, cmd heading: 331.641857 deg, new cmd heading: 331.689518 deg. BhM+;UHeadingCmd: 5.789074 target range: 80.358437 and range: 80.80 m.hU@@hQ*hQ"hQ hQgYfYfYfYdadadajdaZdm`E?颕Bɢl6) (_>i)|2F顙iv+>i +<;I@@II)IB ؿ>B CB IB |BB  =B B xDB m;B m+EBCBCB–CB =B =Cs6A@I @I@M<0@I@U=@U=ԁ^A-[R;IIO>ԡ I,C&?A68@6V3@6Nfٱ6C BAHRS rotation from veh to nav: [[0.878255,0.476376,0.041643],[-0.474865,0.858574,0.193270],[0.056315,-0.189515,0.980262]]6H?|? @R?1d޿py??aլ?`Bȿ`M^?i68@I6];4YFxByFI HHEV EVEV&ET"EV:*EVg:VEV4ZETBEVE-9aYi=mFymUEm;Em>qQ 5}u5uĵ?Q 9u5uCR)u|BYA?Q E:y,ԾQ I@uDIu ;iu ;uVu5ySBɮALEjh15DNOT Ignoring new targets: 80.36 m.Rh=S9Zh=S9M ProNav: ac range: 80.358437 m, nav range: 77.068336 m, bearing: 339.339588 deg, approach rate: -0.620453 m/s, LOS rate: 0.024843 deg/s, cmd heading: 331.689532 deg, new cmd heading: 331.720832 deg. BhMe:uHeadingCmd: 5.789621 target range: 80.358437 and range: 80.80 m.huD@hq*hq"hy hygyfyff BdddjdZd6?ԱBɢ) x>i)lMEi ɘ?iMzU+A EI,\&?A2K@2F@2m cٱ2•? :AHRS rotation from veh to nav: [[0.879414,0.474363,0.040137],[-0.472823,0.860516,0.189606],[0.055403,-0.185719,0.981040]]2H@($?[?Ռ?@B޿X?`D?@]?@ǿ@d?i2K@I2];0YBByBIbDJ VDJ2yV=%VW=ٔV?;Q-V>9XYX=ZFyZUEZT;E^>`Q 5fu5bȆ?Q 9fu5bT)bBYdyfҾQ If@bDIb:ib:bu5ylɮn)AljhDNOT Ignoring new targets: 80.36 m.Rh 9Zh 9 ProNav: ac range: 80.358437 m, nav range: 76.831787 m, bearing: 339.348665 deg, approach rate: -0.620821 m/s, LOS rate: 0.023895 deg/s, cmd heading: 331.720841 deg, new cmd heading: 331.748155 deg. Bh0:%HeadingCmd: 5.790098 target range: 80.358437 and range: 80.80 m.h%{H@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5 Qa?eBɢe.Sܼ)i m>ii)m.}Diiim@iuuu+<9,BB:IBBBBBwDBm;B+Ei I I O >I, v&?A ^r^@^>Y@^G_ٱ^": fAHRS rotation from veh to nav: [[0.880532,0.472461,0.037988],[-0.470844,0.862669,0.184682],[0.054484,-0.180505,0.982064]]^H@R-? ףp=?T㥛 ?Mbp? Ym?ym=m;mAmv@ mrA)m@iYmAG bDVD009YܣAy^=%+=y?ÜAٔ:Q->9Y = Fy UE ;E >Q 5u5݆?Q 9u5uW)BY%?Q E%:y%IþQ I%@DI2 ;i ;߇u5y)ɮ5 A1MB*** querying acoustic contact ***iI iIjhY]DNOT Ignoring new targets: 80.36 m.Rhe%9iZhe%9} ProNav: ac range: 80.358437 m, nav range: 76.556091 m, bearing: 339.352996 deg, approach rate: -0.572232 m/s, LOS rate: 0.009021 deg/s, cmd heading: 331.748162 deg, new cmd heading: 331.761201 deg. Bh}9HeadingCmd: 5.790325 target range: 80.358437 and range: 80.80 m.hXJ@h*h"h hgfffBdddjdZd5?颅Bɢ ) >i)IC顉iBi.X+<_'Gie>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑE EE(E"E:*EAr:VEc44ZEBE#uI,ݴ&?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004689Rs@Rn@Rb \ٱRȜ2 ZAHRS rotation from veh to nav: [[0.881804,0.470336,0.034732],[-0.468550,0.865305,0.178066],[0.053697,-0.173293,0.983405]]RH@7??fȡ?ݿ ??@)~?t.ƿx?iRs@IR];RCYbBybBIIf>)f>bDnVDnyr=%r[=ٔv ;Q-v>9tYx=zFyzUEz;E~>|Q 5u5~ ?Q 9 u5~Y)~BY y Q I @~DI~K:i~:~u5yɮB Ajh9EDNOT Ignoring new targets: 80.36 m.RhE9ZhM9] ProNav: ac range: 80.358437 m, nav range: 76.345406 m, bearing: 339.355897 deg, approach rate: -0.573769 m/s, LOS rate: 0.007921 deg/s, cmd heading: 331.761194 deg, new cmd heading: 331.769920 deg. Bh]9eHeadingCmd: 5.790477 target range: 80.358437 and range: 80.80 m.heK@ha*ha"ha hagafififidqdqdqjdqZdu |@颥Bɢ5) >i)^KB顩iDi8D+<YiE EE#E"E:*Ez:VE3ZEa@a@a@a@! I, z&?AN#@N@NvWٱN ) jAHRS rotation from veh to nav: [[0.883120,0.468115,0.031121],[-0.466188,0.868175,0.170119],[0.052617,-0.164744,0.984932]]NH B??ޟ? ݿ?`v? ?@Qſ ?iN#@IN];NCYzByzYIB}ؿ>ByB}lIB}̀BByByB}xDB}m;B}+EbDqVDqy=%<=ٔ";Q->9Y=FyUE;E>Q 5u5?Q 9u5[)BY y uQ I @DI$:i:u5yɮ AMEjhAEDNOT Ignoring new targets: 80.36 m.RhM8ZhM8] ProNav: ac range: 80.358437 m, nav range: 76.096123 m, bearing: 339.358822 deg, approach rate: -0.572240 m/s, LOS rate: 0.006737 deg/s, cmd heading: 331.769909 deg, new cmd heading: 331.778714 deg. Bh]9eHeadingCmd: 5.790631 target range: 80.358437 and range: 80.80 m.heL@ha*ha"ha hagifififidqdqdqjdyZd}`f@BɢYN) ˺>i)@iEi"0,<U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760607bEe˻ 4jEew4rEe0E  E E $E "E :*E g:VE 4ZE BE w9Y=FyUEE > Q 5u5 ?Q 9u5 ]) BY[?Q E:yQ I@ DI  ;i ] ; ou5y)ɮ-A A-NEjhI]DNOT Ignoring new targets: 80.36 m.Rh]Zh]m ProNav: ac range: 80.358437 m, nav range: 75.868866 m, bearing: 339.348829 deg, approach rate: -0.559725 m/s, LOS rate: -0.024686 deg/s, cmd heading: 331.778707 deg, new cmd heading: 331.748637 deg. BhmuHeadingCmd: 5.790106 target range: 80.358437 and range: 80.80 m.h}H@hy*hy"hy hygyfyff7BdddjdZd8@颽Bɢc) 9>i)?ih}GitK,< (I,v2&?A2=@2 @2Lٱ2 :AHRS rotation from veh to nav: [[0.885857,0.463151,0.027348],[-0.461278,0.872882,0.159061],[0.049798,-0.153521,0.986890]]2HX? D?@? ݿ?\??ÿ?i2=@I2%];2CYB߀ByBI DDbDNVDNyV =%Vb=ٔV9XYX=ZFyZUE^P<E^>`Q 5fu5bK$?Q 9fu5b?_)bBYdyfQ If@b%DIb:ib:bu5ylɮn AlpjhDNOT Ignoring new targets: 80.36 m.RhZh﹝checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264723 ProNav: ac range: 80.358437 m, nav range: 75.666901 m, bearing: 339.338955 deg, approach rate: -0.534260 m/s, LOS rate: -0.026189 deg/s, cmd heading: 331.748626 deg, new cmd heading: 331.718926 deg. BhɏHeadingCmd: 5.789587 target range: 80.358437 and range: 80.80 m.hMD@h*h"h hgfffdddjdZdN @E EEE"Em:*E&p:VEZEa@a@a@a@颍BɢF) >i)|S>项i5Iiָ>,<nҵBYB]IB]BB] =BYBYB]m;B]_+E^A5]<IIO>m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519425 ٽI,&?A2IJ@2۾@2+Fٱ24 :AHRS rotation from veh to nav: [[0.886576,0.461799,0.026929],[-0.460027,0.874070,0.156131],[0.048563,-0.150811,0.987369]]2H^?`?_?`qݿa??@Dݨ?Mÿ ?i2IJ@I2];2CYNـByNzIiUMb@Mb@Mb@QQQQ Q9Ush|??L7A`?/$YU ?yU+>UU AQ UA)U@QYU @bDmVDmN2y}Qݼ%}==ٔ;;Q->9Y=FyUE[;E>Q 5u57?Q 9u5`)BY)?Q E:y+}Q I@,DI:i:^u5yɮ AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 80.36 m.RhcZhc ProNav: ac range: 80.358437 m, nav range: 75.428741 m, bearing: 339.318357 deg, approach rate: -0.572068 m/s, LOS rate: -0.049633 deg/s, cmd heading: 331.718929 deg, new cmd heading: 331.656940 deg. Bh@HeadingCmd: 5.788506 target range: 80.358437 and range: 80.80 m.hp;@h*h"h hgf f f 0BdddjdZd @E BɢE)I M >iI)M=iyJiF-<_" BDAT read: Tx time:05:35:23.0727  $Ping request sent. i~>$@6&>_#@ J4>)5z=IJ4R(?Қ?? [>)%I5z=iJ45:publishing transmit ping time5Fpublishing direction and range infoyr?FŮ?:ujr?Y@A @A@E0@A )Ii )IR(?Қ?? )IiE EE%E"E:*Ei:VE 4ZEBE#I,U'?A: ɲ@:ù@:CBٱ:y FAHRS rotation from veh to nav: [[0.886903,0.461167,0.026962],[-0.459501,0.874681,0.154249],[0.047552,-0.149193,0.987664]]:H`a?Ã?뛛? vhݿ b?p?X?ÿ?i: ɲ@I:T];8YNByNIR@APbDVVDV0y^ּ=%^W=ٔb.;Q-b>9`Y`=fFyfUEf:Ef>hQ 5nu5jI?Q 9nu5j$b)jBYpyrh|Q Ir@j3DIj:ij:ju5ytɮvE Atii'?AJiUBRiUBjig@b[a4S@BH@Ʉj+@Rr?FŮ?:ujr?Zi5z=biJ4ji)Y;项i{Li.-<z8Ա I,-'?AB^Ϳ>B^CB^IB^BB^ =B\B^vDB^bm;B^D+Enʲ@nŹ@n=ٱn6 zAHRS rotation from veh to nav: [[0.887049,0.460790,0.028570],[-0.459341,0.874660,0.154840],[0.046360,-0.150474,0.987526]]nHb?@}?|A? eݿ 7? ?o?BÿЙ?inʲ@In];lY~ByII R=) =bDVD:y%%%D=ٔ-;;Q-->9)Y)=5Fy5UE51:E5>9Q 5Eu5=\?Q 9Eu5=c)=BYIyMH|Q IM@=:DI=):i=d:=Tu5yTBɮU AOEjhDNOT Ignoring new targets: 78.17 m.Rh%XZh%Xe ProNav: ac range: 78.167870 m, nav range: 75.017014 m, bearing: 339.223988 deg, approach rate: -0.530819 m/s, LOS rate: -0.047340 deg/s, cmd heading: 331.600029 deg, new cmd heading: 331.538453 deg. BhmuHeadingCmd: 5.786438 target range: 78.167870 and range: 78.60 m.hu*@hq*hq"hq hqgyfyfyfydddjdZd?ԉ颽 Bɢtڈ) >i)S:i`/NiU* .<%XE  E E %E "E :*E :VE 4ZE BE M"\@ A)@Yf@bDVDy%Z<%%<=ٔ%Q-%>9)Y)=-Fy-UE5E5>9Q 5Eu5=wp?Q 9Eu5=e)=BYEv?Q EE:yE(fQ IM@=BDI=:i=:="u5yQɮUG AUPEjhyDNOT Ignoring new targets: 78.17 m.RhZh ProNav: ac range: 78.167870 m, nav range: 74.770561 m, bearing: 339.197787 deg, approach rate: -0.592788 m/s, LOS rate: -0.063228 deg/s, cmd heading: 331.538448 deg, new cmd heading: 331.459587 deg. Bh-HeadingCmd: 5.785061 target range: 78.167870 and range: 78.60 m.h9@h*h"h hgfff8BdddjdZd]?%Bɢ%B)) -n>i1)5x899i="OiE Eě.Am >I I O >>I,ya'?A2@2Ҵ@21ٱ2h >AHRS rotation from veh to nav: [[0.886224,0.462004,0.034038],[-0.461223,0.873075,0.158158],[0.043352,-0.155863,0.986827]]2H@[?x?vm?`ݿ:?@>? 02? Oÿ ?i2@I20:^;2CYFByFI HJbDNVDNk1yV=%Vf=ٔZ 9XYX=ZFyZUE^мE^>`Q 5fu5b*?Q 9fu5bJf)b{BYhyjhQ Ij@bIDIbK:ibd:b?u5ylɮn ApjhDNOT Ignoring new targets: 78.17 m.RhZh ProNav: ac range: 78.167870 m, nav range: 74.569016 m, bearing: 339.176634 deg, approach rate: -0.538056 m/s, LOS rate: -0.056624 deg/s, cmd heading: 331.459600 deg, new cmd heading: 331.395969 deg. BhqHeadingCmd: 5.783951 target range: 78.167870 and range: 78.60 m.h @h*h"h hgfffdddjdZd@m[?Bɢi)G7i_Qi  L/<{`BBIBBB =BBBm;B+EBCBCBƔCB =B =CƢ26^A<I9IIOU>ԩ )I,{f{'?A6G@6@6}+ٱ6#< BAHRS rotation from veh to nav: [[0.885389,0.463361,0.037183],[-0.462953,0.871729,0.160509],[0.041960,-0.159327,0.986334]]6H U?ට? ?ݿ3?? {?@dĿ ?i6G@I6>^;6CYFByFI LLiMb@Mb@Mb@ 9n?V-?ktYV?yh> 0 A`@ t@)@Yz@bD5VD5yE%EA=ٔE1W;Q-E>9IYI=MFyMUEME>Q 5u5Ε?Q 9u5g)rBYQ?Q E:yG}Q I@QDIH:i:u5y ɮ AQEMB*** querying acoustic contact ***iI iIjhY]DNOT Ignoring new targets: 78.17 m.RhepZhepu ProNav: ac range: 78.167870 m, nav range: 74.318100 m, bearing: 339.154075 deg, approach rate: -0.583393 m/s, LOS rate: -0.052629 deg/s, cmd heading: 331.395970 deg, new cmd heading: 331.328064 deg. Bhuy}HeadingCmd: 5.782765 target range: 78.167870 and range: 78.60 m.h}j @hy*hy"hy hgfff$BdddjdZd=?颽Bɢn) >i)5iRiĘ/<W35 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255641 I,1'?A2z@2F@2|%ٱ2` + :AHRS rotation from veh to nav: [[0.884211,0.465179,0.042181],[-0.465338,0.869490,0.165671],[0.040391,-0.166117,0.985279]]2HtK?~?@? ݿ?`4?? PCſf?i2z@I2RC^;2CYBByBIbDJVDJܲyR %RU=ٔVL;Q-V>9TYX=ZFyZUEZEZ>\Q 5bu5^?Q 9bu5^KiQ =ftI)^jBYdyfcQ If@^XDI^j:i^:^Lu5yhɮj AljhaeDNOT Ignoring new targets: 78.17 m.RhmcZhmc ProNav: ac range: 78.167870 m, nav range: 74.108780 m, bearing: 339.135697 deg, approach rate: -0.563578 m/s, LOS rate: -0.049621 deg/s, cmd heading: 331.328051 deg, new cmd heading: 331.272761 deg. Bh7HeadingCmd: 5.781800 target range: 78.167870 and range: 78.60 m.h@h*h"h hgfffdddjdZd p@-Bɢ5^Z)9 =>i9)=^49AiEHTiMZ0<u49I,'?AB.>B.CB.IB.BB. =B,B.uDB.l;B.*ERx@Rs@R5ٱR3 ^AHRS rotation from veh to nav: [[0.882685,0.467546,0.047621],[-0.468346,0.866711,0.171650],[0.038980,-0.173816,0.984006]]RH`>?@G?a?aݿ@?@? ;? ?ƿ|?iRx@IRX^;RCYbByfIhhbDnVDn0yv %vF=ٔv_;Q-z>9z ?Yz ?=zFy~UE~E~>Q 5 u5U?Q 9 u5j)`BYyQ I@_DI:i:u5yUBɮ. A!9jhIMDNOT Ignoring new targets: 78.17 m.RhU4eZhU4ee ProNav: ac range: 78.167870 m, nav range: 73.873123 m, bearing: 339.115668 deg, approach rate: -0.587536 m/s, LOS rate: -0.050096 deg/s, cmd heading: 331.272753 deg, new cmd heading: 331.212474 deg. Bhe mHeadingCmd: 5.780748 target range: 78.167870 and range: 78.60 m.hm@hi*hi"hi hqgqfqfyfydydydjdZd@颭Bɢ8Gd) >i) 3项i=UiFe0<j BDAT read: Rx Time:05:35:25.5791  TRx dataTimestamp_ set to:1761543327.084184 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012714Թ E  E E &E "E 2:*E k:VE 4ZE BE #*Aǿq?i20]@I23^;2CYfByhIna>)n<-ionly read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-327W,-32768,-32768,V +0.00, +0.00, 20.00,701.37 a-@a- a-@a- a-@a- a-@a5 bD=VD=JyM%ME=ٔM?;Q-M>9U"?YU"?=UFyUUEU&E]>aQ 5eu5e͇?Q 9mu5eyl)eVBQ Am+:YiQ Em:ymQ Im@egDIe:ie>eٴu5yyɮ}1 AyԙjhDNOT Ignoring new targets: 78.17 m.RhWZhW ProNav: ac range: 78.167870 m, nav range: 73.636200 m, bearing: 339.096197 deg, approach rate: -0.570166 m/s, LOS rate: -0.047008 deg/s, cmd heading: 331.212484 deg, new cmd heading: 331.153884 deg. Bh HeadingCmd: 5.779726 target range: 78.167870 and range: 78.60 m.h@h*h"h hgfffdddjdZdy @Bɢt)! %>i))-'1)1iuVi0<_ KI,'?A2=@2~8@2ٱ2>@ :AHRS rotation from veh to nav: [[0.879409,0.472450,0.058574],[-0.474774,0.861298,0.180983],[0.035056,-0.186968,0.981740]]2H$?`9XYX=ZFyZUEZ$EZ>!Q 5%u5%8?Q 9-u5%n)%LBQ A- :Y)Q E-r:y-Q I-@%nDI%:i%EP?%u5y9ɮ=2 A=REDAT read: 05:35:25.5791 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420,-0.11, 2.943, 1.185, 2.971, 2.792, PHS= 0.252,-1.562, 0.135, RAW= 146.7, 13.3, CAL= 146.5, 14.6, ROT= 3.5, -14.6 Ygot valid direction response: 05:35:25.5791 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420,-0.11, 2.943, 1.185, 2.971, 2.792, PHS= 0.252,-1.562, 0.135, RAW= 146.7, 13.3, CAL= 146.5, 14.6, ROT= 3.5, -14.6 PDAT read: Bearing 146.8, 3.1 (Local) ~Local bearing/azimuth received: Bearing 146.8, 3.1 (Local) DAT read: Range 11 to 50 : 76.7 m (Round-trip 102.3 ms) speed 0.5 m/s *DAT read: user:465> BDAT read: Tx time:05:35:26.6727 $Ping request sent.? @^??!?Y]fBY]YY Y)]GI]%>i]ǿ]q= >]#@],m>Y ]w>)YI]wYY]?⯒?5]n? ]<>)]%mIYi]wYY:publishing transmit ping timeFpublishing direction and range infoyY]>? @^??!?YYYYYY Y)YIYiYYiYi]='?AJi]BRi]Bji]T@b]2p$kR@[{?@@#93@R]>? @^??!?ZiYbi]wj]c-WQ@Ji) 0iWi&1<aBCBIBBB =BBB!l;B*E}9@y @y@}0@yI^A R5<A >A >ԁ A .AI I) O5 >>I,~'?AB@B@BٱBsB ZAHRS rotation from veh to nav: [[0.877686,0.475247,0.061706],[-0.478084,0.859364,0.181465],[0.033213,-0.188770,0.981460]]BH?rj?@?޿?`?:?D?)ȿh?iB@IB^B^;BCYbBybIqaa aa aa aa iMb@Mb@Mb@ 9(\?`"?+Yz?y=bA@ V@)@Y@bDVDy2p%-=ٔ0;Q->9 ?Y ?=FyUEE>Q 5u5 ?Q 9u55p)BBQ AT:Y?Q E:yrQ I@wDI;i;!u5yQBɮ1 A \EiiJiRiji흼@bj& kR@};@ԁ 93@R>? @^??!?ZibijTcP@Hj;_w4@ZUF?Ϡ`׿U99,?2i:iB"ifuW?*iD8MBiکBifuW?iyqDiکBiBi򤿼@jhQUDNOT Ignoring new targets: 76.27 m.Rh] Zh]  ProNav: ac range: 76.274757 m, nav range: 72.827606 m, bearing: 338.673822 deg, approach rate: -0.621628 m/s, LOS rate: -0.030727 deg/s, cmd heading: 331.094294 deg, new cmd heading: 331.054051 deg. BhHeadingCmd: 5.777983 target range: 76.274757 and range: 76.70 m.h=@h*h"h hgfff#Bdd!d!jd)Zd-8?uBɢuD+z)y }>iy)}|.yyiXiT31<Y,J,B(?A2@2@2\ٱ21A >AHRS rotation from veh to nav: [[0.875735,0.478597,0.063510],[-0.481759,0.857662,0.179791],[0.031577,-0.188045,0.981653]]2H?T?)B?!޿`q?`?*?ȿi?i2@I2/^;2CYBByFI DDbDNVDNk1yV%V`=ٔZ;Q-Z>9Z"?YZ"?=ZFy^UE^:E^>`Q 5fu5b]?Q 9fu5bq)b:BYhyjQ Ij@b~DIb:ibB:bQu5ylɮn? Ap~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 76.27 m.RhqZhq% ProNav: ac range: 76.274757 m, nav range: 72.611923 m, bearing: 338.663823 deg, approach rate: -0.598023 m/s, LOS rate: -0.027806 deg/s, cmd heading: 331.054051 deg, new cmd heading: 331.023965 deg. Bh%-HeadingCmd: 5.777458 target range: 76.274757 and range: 76.70 m.h-@h)*h)"h) h)g1f1f1f1d9d9d9jdAZdEc? BɢP:V) ;>i)Ï-iYi%Ww%1D1<%#MB >B B IB BB B B B k;B z*EY J,2(?A2h@24޸@2`Xٱ2 A :AHRS rotation from veh to nav: [[0.874272,0.481035,0.065223],[-0.484520,0.856453,0.178123],[0.029823,-0.187330,0.981844]]2H?`H?x?@`߿ h??@㉞?@nǿDk?i2h@I21>^;2CYBByBIbDJ VDJ2yRoۼ%VK=ٔV;Q-V>9XYX=ZFyZUEZEZ>\Q 5bu5^|?Q 9fu5^s)^1BYdyfQ If@^DI^-:i^:^u5yjRBɮjo An]Ejh9EDNOT Ignoring new targets: 76.27 m.RhEZhMU ProNav: ac range: 76.274757 m, nav range: 72.373512 m, bearing: 338.653274 deg, approach rate: -0.580130 m/s, LOS rate: -0.025754 deg/s, cmd heading: 331.023971 deg, new cmd heading: 330.992219 deg. Bh}eHeadingCmd: 5.776904 target range: 76.274757 and range: 76.70 m.hfܸ@h*h"h hgfffdddjdZdT?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248063 "Bɢ Cg) >9i)K,i|ZiE1<.J,K(?A2ɱ@2zĸ@2X?ٱ2? :AHRS rotation from veh to nav: [[0.872786,0.483562,0.066419],[-0.487286,0.855352,0.175854],[0.028225,-0.185848,0.982173]]2H??@?/߿ _?c?`?ǿ m?i2ɱ@I2"^;0YHyHiMb@Mb@Mb@ 95^I ?EԸ?V-Y?y=O A@ ^@)Yz@AAAAbDVDٔl;Q->9Y=FyUEYE>Q 5u5/?Q 9u5av)*BYA?Q E:yQ I@DIz ;i ;u5y ɮ jh1=DNOT Ignoring new targets: 76.27 m.RhEZhEU ProNav: ac range: 76.274757 m, nav range: 72.107140 m, bearing: 338.650450 deg, approach rate: -0.612640 m/s, LOS rate: -0.006518 deg/s, cmd heading: 330.992224 deg, new cmd heading: 330.983722 deg. BhU$UHeadingCmd: 5.776756 target range: 76.274757 and range: 76.70 m.h]/۸@hY*hY"hY hYgafafafeBdididijdiZdm?ԙ颥#Bɢ) T>i)*顩i'[iY31<^ dJ,-e(?A:@:@:ڲڼٱ:NZ>Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003854 JAHRS rotation from veh to nav: [[0.871275,0.486097,0.067743],[-0.490068,0.854151,0.173950],[0.026693,-0.184757,0.982422]]:H|?6?W?`G]߿@5U?C?U?ǿo?i:@I:1Q^;8YNByRIIV?>)V>bDZVDZܲyb<%b<ٔf;Q-f>9dYd=fFyjUEj8Ej>lQ 5ru5n@?Q 9ru5nmx)n%BYtyvQ Iv@nDIn:inp:nu5yxɮz Az^Ejh%DNOT Ignoring new targets: 76.27 m.Rh%ǵZh%ǵ5 ProNav: ac range: 76.274757 m, nav range: 71.887589 m, bearing: 338.648645 deg, approach rate: -0.601983 m/s, LOS rate: -0.004966 deg/s, cmd heading: 330.983727 deg, new cmd heading: 330.978293 deg. Bh5#Z=HeadingCmd: 5.776661 target range: 76.274757 and range: 76.70 m.h=hڸ@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUV@E EE$E"E:*ErN:VE4ZEa@a@a@a@颕%BɢJ) >i))顡i;[i1<\!;Ihڸ@I}9@y @@/@B>BCBIBBB =BBtDBk;BW*E9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256712^AMJ,*o(?A 2隱@2@2Bμٱ2< >AHRS rotation from veh to nav: [[0.870059,0.488148,0.068619],[-0.492300,0.853330,0.171663],[0.025243,-0.183138,0.982763]]2H? =?@? ؁߿ {N? ?@4ٙ?qǿr?i2隱@I2o7^;2CYFByFIiMMb@Mb@Mb@IIII I9MzG?&1?I +YM ?yM=M9MfAI M@)M@IYM@bDeVDe!yu!%u@=ٔu*_;Q-}>9yYy=}Fy}UEQûE>Q 5u5T?Q 9u5z)BYb?Q E:yQ I@DIp;i;u5ySBɮZ AjhDNOT Ignoring new targets: 76.27 m.Rh(Zh( ProNav: ac range: 76.274757 m, nav range: 71.632339 m, bearing: 338.644720 deg, approach rate: -0.598200 m/s, LOS rate: -0.009231 deg/s, cmd heading: 330.978290 deg, new cmd heading: 330.966474 deg. BhʹHeadingCmd: 5.776455 target range: 76.274757 and range: 76.70 m.hظ@h*h"h hgfffBdddjdZd`@5&Bɢ5)9 =>i9)=(99i=fa\iEE~0A I I O- >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759968&J,L(?AF@F{@FٱFz:L RAHRS rotation from veh to nav: [[0.869057,0.489832,0.069321],[-0.494148,0.852810,0.168917],[0.023623,-0.181053,0.983190]]FHP?fY? ?߿7J?? 0?`,ǿIv?iF@IF^;DYZByZI b;b<bDbVDbk2yj ;%jU=ٔn;Q-n>9pYp=rFyrUErVEv>tQ 5zu5v(g?Q 9~u5v|)vBY|y~Q I~@vDIv;iv;vu5y ɮ W A %B*** querying acoustic contact ***i! i!jh15DNOT Ignoring new targets: 76.27 m.Rh=Zh=M ProNav: ac range: 76.274757 m, nav range: 71.402382 m, bearing: 338.641520 deg, approach rate: -0.598130 m/s, LOS rate: -0.008350 deg/s, cmd heading: 330.966488 deg, new cmd heading: 330.956857 deg. BhMbUHeadingCmd: 5.776287 target range: 76.274757 and range: 76.70 m.hUW׸@hQ*hY"hY hYgYfYfafadadadijdiZdm@额(Bɢf) !>i)P'顡i\i N0<;IW׸@IM9@Q @Q@U0@Q@]=@]=BDAT read: Rx Time:05:35:29.1763 TRx dataTimestamp_ set to:1761543330.612141checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013037 ^Ar;E EE&E"E:*ET:VE4ZEa@a@a@a@I I O >) B >B B B B  =B B B mk;B >*EBCBCBʓCB =B =C~5m1,J,5$(?A2|@2w@2ٱ2m8 :AHRS rotation from veh to nav: [[0.868300,0.491114,0.069738],[-0.495539,0.852487,0.166454],[0.022297,-0.179090,0.983580]]2H ?gn?Rڱ?߿ G?`^N?'Ֆ?`iƿ|y?i2|@I2x;^;2CYBByBI DDHHbDNVDN yVg<%VM=ٔVFZ;Q-Z>9XYX=ZFyZUE^dE^>|!Q 5-u5%z?Q 9-u5%)%BY)y-Q I-@%DI%:i%:%u5y]YBɮ]s A]_EjhDNOT Ignoring new targets: 76.27 m.Rh Zh  ProNav: ac range: 76.274757 m, nav range: 71.156860 m, bearing: 338.638365 deg, approach rate: -0.588388 m/s, LOS rate: -0.007586 deg/s, cmd heading: 330.956844 deg, new cmd heading: 330.947347 deg. BhHeadingCmd: 5.776121 target range: 76.274757 and range: 76.70 m.hո@h*h"h hgfffdddjdZd + @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264132 )BɢN.p) >i):&iRH]i%%7C0<%a:I%ո@I!9@ @@0@Yy^AM] ;IIO> DAT read: 05:35:29.1763 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.29, 0.896,-0.852, 0.870, 0.760, PHS= 0.238,-1.567, 0.066, RAW= 145.1, 14.5, CAL= 144.7, 15.8, ROT= 5.3, -15.8  Ygot valid direction response: 05:35:29.1763 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.29, 0.896,-0.852, 0.870, 0.760, PHS= 0.238,-1.567, 0.066, RAW= 145.1, 14.5, CAL= 144.7, 15.8, ROT= 5.3, -15.8  PDAT read: Bearing 147.0, 3.6 (Local)  ~Local bearing/azimuth received: Bearing 147.0, 3.6 (Local)  DAT read: Range 11 to 50 : 74.6 m (Round-trip 99.5 ms) speed 0.5 m/s  *DAT read: user:466>  BDAT read: Tx time:05:35:30.2727  $Ping request sent. i uȿ += "@ > !@ 0>) q=I 0 ᥘr?A;?KNx ? >) I q=i 0 5 :publishing transmit ping time 5 Fpublishing direction and range infoy  6.ʨ?D? ^ m?Y ) I i ) I ᥘr?A;?KNx ? ) I i E  E E 'E "E ,:*E Ar:VE '4ZE BE 9Y=FyUEE>Q 5%u5ː?Q 9%u5)BY%?Q E%:yE*Q IM@DI;i;u5yQɮU AU`Eiia(?AJi^BRi^Bji@bkTQ@H_@224@R6.ʨ?D? ^ m?Ziq=bi0j=#P@:W:/C14@ԙZxU?[A~ֿ4k?2i:iB"ig?*iT6Bi[BiiiiΎBiM@ addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 3.527857 s, deltaX: -2.099998 m, approachRate: -0.595262 m/s, rangeRepo size: 4 - Added new target pos. range: 74.184288 m, bearing: 338.345628 deg, lat: 36.779376 deg, lon: -121.859675 deg, deltaT: 3.527857 s, deltaX: -2.090469 m, approachRate: -0.592561 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 74.18 m.Rh5Zh1 ProNav: ac range: 74.184288 m, nav range: 71.402626 m, bearing: 337.894741 deg, approach rate: 0.000000 m/s, LOS rate: -0.007586 deg/s, cmd heading: 330.947336 deg, new cmd heading: 330.935734 deg. BhHeadingCmd: 5.775918 target range: 74.184288 and range: 74.60 m.hRԸ@h*h"h hgfffBdddjd`fR@Zd?M*BɢMWc)Q U/>iQ)u;$qqi}]i}B}*/<tT:IRԸ@I 9@  @ @ /@@@fA ^A5 q:A1 zA5 gAI I O >z9J,(?A2u@2pp@2sٱ234 NAHRS rotation from veh to nav: [[0.867916,0.491763,0.069932],[-0.496314,0.852954,0.161685],[0.019862,-0.175037,0.984361]]2H? y??߿fK??V? gƿ?i2u@I2L]^;2CYVByVIbD^VD^ܲyfH%fi=ٔjQ;Q-j>9hYh=jFyjUEn49En?pEz EzEz&Ex"Ezl;*Ez1]:VEz4ZExa~@a~@a~@a~@Q 5u5r!?Q 9u5r)r BYy Q I @rDIrL;irG;ru5yɮ7 Ajh9=DNOT Ignoring new targets: 74.18 m.RhEJZhEJU ProNav: ac range: 74.184288 m, nav range: 71.195732 m, bearing: 337.890025 deg, approach rate: -0.689865 m/s, LOS rate: -0.015768 deg/s, cmd heading: 330.935725 deg, new cmd heading: 330.921538 deg. BhU%-]HeadingCmd: 5.775671 target range: 74.184288 and range: 74.60 m.h]KҸ@hY*hY"ha hagafaififidqdqdqjdqZd}\?颥+Bɢл) _>i)c#顩iU^i/<`:IKҸ@I@ @@4@AAB>BBIBBB =BBB_k;B5*Eԙ^A0::IAIYOe> ] 6Gm gA 9 gAY A Y@J,>x)?A6Wr@6#m@6`ٱ6]S3 BAHRS rotation from veh to nav: [[0.867724,0.492093,0.069993],[-0.496668,0.852936,0.160688],[0.019373,-0.174196,0.984520]]6He?r~??`h߿ AK?k?֓?Lƿ0?i6Wr@I6V^;6CYFByFIIJ4=)J=N=N=iMb@Mb@Mb@ 9ʡE?1Zd?~jtY-?y"=O A@ @)YbD5VD5yE)=%ED=ٔE:Q-E>9IYI=MFyMUEUg}EU>YQ 5eu5]V?Q 9eu5])]BYe?Q Ee:yeQ Im@]DI]s;i]a:]Qu5yuZBɮu AuaEjhDNOT Ignoring new targets: 74.18 m.Rh Zh  ProNav: ac range: 74.184288 m, nav range: 70.953926 m, bearing: 337.881681 deg, approach rate: -0.584057 m/s, LOS rate: -0.020222 deg/s, cmd heading: 330.921545 deg, new cmd heading: 330.896429 deg. Bh ^HeadingCmd: 5.775232 target range: 74.184288 and range: 74.60 m.hθ@h*h"h hgfffBdddjdZd@i?,BɢL)  >i)!i^i4 WF/<I:Iθ@IE EE%E"E:*E[:VE 4ZEBE#ԩ YFJ,U)?A2q@2nl@2—ٱ2/0 :AHRS rotation from veh to nav: [[0.867695,0.492253,0.069224],[-0.496751,0.853454,0.157652],[0.018524,-0.171181,0.985065]]2H@)??@?߿O?-? ?Aſ?i2q@I2/^;2CYBByBIbDJVDJ0yRco<%VU=ٔV;Q-V>9V ?YZ ?=ZFyZUEZ{kEZ>\Q 5bu5^ƈ?Q 9fu5^)^BYdyfQ If@^DI^ :i^|:^u5yhɮj AluB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 74.18 m.RhRZhR ProNav: ac range: 74.184288 m, nav range: 70.730843 m, bearing: 337.873912 deg, approach rate: -0.548420 m/s, LOS rate: -0.019160 deg/s, cmd heading: 330.896437 deg, new cmd heading: 330.873056 deg. BhbRHeadingCmd: 5.774824 target range: 74.184288 and range: 74.60 m.h\˸@h*h"h hgfffdddjdZd@?-Bɢ<9#) >i) !!i%c^i%#-.<-5U:I-\˸@I)Ա 9@  @@/@@=@=%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.E EE$E"E:*E|:VE4ZEa-@a-@a-@a-@^A*:A>A1 B >B B IB BB  =B B B ek;B 9*EI I O >Q °LJ,G:5)?A2w@2xr@2^ٱ2D- :AHRS rotation from veh to nav: [[0.868077,0.491648,0.068737],[-0.496120,0.854293,0.155076],[0.017522,-0.168719,0.985508]]2HI?'w??@n߿^V??/?ſH?i2w@I2Q^;2CYBByBIbDJVDJyRc%RJ=ٔV";Q-V>9TYT=VFyVUEZ:EZ>\Q 5bu5^؈?Q 9bu5^͉)^BYdyf1Q If@^DI^:i^:^6u5yhɮj Ahjh|DNOT Ignoring new targets: 74.18 m.RhɹZhɹ ProNav: ac range: 74.184288 m, nav range: 70.496315 m, bearing: 337.865519 deg, approach rate: -0.614426 m/s, LOS rate: -0.022062 deg/s, cmd heading: 330.873051 deg, new cmd heading: 330.847788 deg. BhArHeadingCmd: 5.774383 target range: 74.184288 and range: 74.60 m.hǸ@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5?e.Bɢe2[&)a eq>ia)mfiiimK_iu@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752546u.<";IǸ@Iau9@q @q@u/@qy^A?B:5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005092I I ԡ O >bEjE4rEɋS0E-  E- E- #E) "E- :*E- X:VE- 3ZE) BE- 9Y=FyVE:E>Q 5u5l숊?Q 9u5)BY^?Q E:yQ I@DI ;i& ; u5yɮ Ajh9EDNOT Ignoring new targets: 74.18 m.RhEZhEU ProNav: ac range: 74.184288 m, nav range: 70.249382 m, bearing: 337.853828 deg, approach rate: -0.555651 m/s, LOS rate: -0.026401 deg/s, cmd heading: 330.847779 deg, new cmd heading: 330.812581 deg. Bh]]HeadingCmd: 5.773769 target range: 74.184288 and range: 74.60 m.he¸@ha*ha"ha hagafafifmBdididqjdqZdu`t@颥/Bɢ:9) #>i)顩i_iMiMq.< ];I¸@IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257291%9@! @!@!@)^Ayb];IQ Ia O} > = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508420YJ,2h)?AF$@F{@F|ٱFF' NAHRS rotation from veh to nav: [[0.868680,0.490740,0.067594],[-0.495133,0.855889,0.149322],[0.015426,-0.163181,0.986476]]FH:?Jh?M? D߿qc???Ŀ 5?iF$@IF5^;DYVByVIbDbVDbyf<%j[=ٔjA;Q-j>9lYlEr ErEr%Ep"ErO:*Er]t:VEr 4ZEpav@av@av@av@x=zFyzVE~:E~>Q 5 u5g?Q 9 u5)BY yQ I@DIK:i:Xu5y[Bɮ AbEjhAEDNOT Ignoring new targets: 74.18 m.RhM7ZhM7] ProNav: ac range: 74.184288 m, nav range: 70.036903 m, bearing: 337.843560 deg, approach rate: -0.570920 m/s, LOS rate: -0.027672 deg/s, cmd heading: 330.812590 deg, new cmd heading: 330.781694 deg. Bh]eHeadingCmd: 5.773230 target range: 74.184288 and range: 74.60 m.heL@hi*hi"hi higififqfqdqdqdyjdyZd}@@颩ɢ0) >i)ۣ项i_ix>A.BBIBBB =BBBqk;BB*E I@I @I@Q@Q@U@U@]@]1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760476AeAzAdAIaIqO>m PExceeded connect timeout, disconnecting.a `J,>Ђ)?A>@>f~@>nٱ>Dz% FAHRS rotation from veh to nav: [[0.868840,0.490507,0.067236],[-0.494879,0.856418,0.147114],[0.014579,-0.161092,0.986832]]>H?@vd?^6?߿`g?? ^ۍ?@Ŀ?i>@I>^;>CYbBybI9imMb@Mb@Mb@iiii i9mB`"?Cl?~jtYm?ym;=mm Ai m@)iiYm@bD VD2yU%>=ٔ;Q->9Y=Fy VE8:E>Q 5u5?Q 9u5ȏ)BY?Q E:y^Q I@DIY;i[;u5yɮ AcEjhDNOT Ignoring new targets: 74.18 m.Rh Zh%  ProNav: ac range: 74.184288 m, nav range: 69.795036 m, bearing: 337.832837 deg, approach rate: -0.560172 m/s, LOS rate: -0.024921 deg/s, cmd heading: 330.781690 deg, new cmd heading: 330.749409 deg. BhӈHeadingCmd: 5.772666 target range: 74.184288 and range: 74.60 m.h@h*h"h hgfffBddBDAT read: Rx Time:05:35:32.7735 TRx dataTimestamp_ set to:1761543334.140266checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013625djdZd6@0BɢY:) E>i)i'`ie.<x;E EE'E"E,:*E[:VE'4ZEBEԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264962Թ fJ,ԝ)?A2@2O@2bٱ2Ak% :AHRS rotation from veh to nav: [[0.868904,0.490328,0.067708],[-0.494787,0.856571,0.146534],[0.013853,-0.160825,0.986886]]2H ?a?@RU?`߿i? ?^?Ŀ`?i2@I2^;2CYBByBIIF>)F9XYX=ZFyZVE^#9E^>`Q 5fu5b!?Q 9fu5b)bBYdyjLQ Ij@bDIbv:ib:bUu5ynXBɮn AnlE~B*** querying acoustic contact ***i| i|jh DNOT Ignoring new targets: 74.18 m.Rh  Zh % ProNav: ac range: 74.184288 m, nav range: 69.583237 m, bearing: 337.823362 deg, approach rate: -0.574880 m/s, LOS rate: -0.025796 deg/s, cmd heading: 330.749397 deg, new cmd heading: 330.720885 deg. Bh%-HeadingCmd: 5.772168 target range: 74.184288 and range: 74.60 m.h-@h)*h)"h) h)g)f1f1f1d1d9d9jd9ZdEF @ԙ 1Bɢ @tһ)  !>i )i`io-<Bݰ;I@I!@ @@4@IIO$>uDAT read: 05:35:32.7735 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 410, 0.28,-1.247,-3.096,-1.256,-1.479, PHS= 0.334,-1.572, 0.179, RAW= 145.8, 11.5, CAL= 145.4, 12.6, ROT= 4.6, -12.6 Ygot valid direction response: 05:35:32.7735 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 410, 0.28,-1.247,-3.096,-1.256,-1.479, PHS= 0.334,-1.572, 0.179, RAW= 145.8, 11.5, CAL= 145.4, 12.6, ROT= 4.6, -12.6 PDAT read: Bearing 144.0, 3.3 (Local) ~Local bearing/azimuth received: Bearing 144.0, 3.3 (Local) DAT read: Range 11 to 50 : 72.4 m (Round-trip 96.6 ms) speed 0.4 m/s *DAT read: user:467> BDAT read: Tx time:05:35:33.8727 $Ping request sent.i L7ɿ K7> 4"@ M> i"@ z0a>) l=I z0a   /:?=+J?Jk? >) GNI l=i z0a  :publishing transmit ping timeFpublishing direction and range infoy  `uDK ?%XV ?'$?Y      ) I i      ) I    /:?=+J?Jk? ) I i   DzD@AE EE)E"E>:*EX:VEFA4ZEa @a @a @a @B >B B B B B B B k;B G*E! lJ,:y)?A2@2@2Xٱ2y$ :AHRS rotation from veh to nav: [[0.868948,0.490224,0.067899],[-0.494727,0.856756,0.145649],[0.013228,-0.160153,0.987004]]2H k?`_?`a?߿j??<?Ŀ?i2@I2^;2CYNByRIbDZVDZyvN%vF=ٔv:Q-v>9xYx=zFyzVEz!<9E~>Q 5 u5<4?Q 9 u5)BY y i)p顡i`i9-<;I@nManaging dock network, ignoring radio surface power offI9@ @@4@A>A>9AIIYOew>QE  E E &E "E &:*E ą:VE 4ZE BE `;9 Y = Fy VE9E>Q 5%u5 H?Q 9%u5ƕ)BY%?Q E-:y-AQ I-@DI;i;u5y1ɮ5 A9IjhaeDNOT Ignoring new targets: 72.00 m.RhmrZhmr} ProNav: ac range: 71.996399 m, nav range: 69.401329 m, bearing: 337.612706 deg, approach rate: -0.600263 m/s, LOS rate: -0.026932 deg/s, cmd heading: 330.686887 deg, new cmd heading: 330.653427 deg. Bh}ޓHeadingCmd: 5.770991 target range: 71.996399 and range: 72.40 m.h@h*h"h hgfffBdddjdZd 3B?ɢ) %>i)i`i,-<;I@I9@ @@1@y^Ar;ԩA I I O% > zJ,.)?A2@2{~@2?Cٱ2N6" :AHRS rotation from veh to nav: [[0.868875,0.490359,0.067848],[-0.494888,0.857127,0.142898],[0.011917,-0.157737,0.987409]]2H? b?~^?<߿m?xJ?g? 0Ŀ@ۘ?i2@I2_;0YVByZI \\Db=Db=Ef EfEf(Ed"Ef:*EfX:VEfc44ZEdaj@aj@aj@aj@hhbDVD:y  % A=ٔ(:Q-u>9yYy=}Fy}VE4E>Q 5u5Z?Q 9u5җ)BYyaQ I@DI;i<;nu5yYBɮ AnEԱjhDNOT Ignoring new targets: 72.00 m.Rh-Zh- ProNav: ac range: 71.996399 m, nav range: 69.166039 m, bearing: 337.602159 deg, approach rate: -0.564157 m/s, LOS rate: -0.025373 deg/s, cmd heading: 330.653419 deg, new cmd heading: 330.621672 deg. BhNHeadingCmd: 5.770437 target range: 71.996399 and range: 72.40 m.hk@h*h"h hgfffdddjdZd?52Bɢ5)9 =t>i9)=W99i=f aiECEo-9 fJ,?*?AY]By]IiMb@Mb@Mb@ 9ʡE?|?5^?~jtY?y= A )@Y@bDVDy T<% J=ٔQ->9Y=Fy VEE>!Q 5-v5%l?Q 9-v5%͙)%BY5?Q E5:y5Q I5@%DI% ;i%* ;%v5y9ɮ= A9jhamDNOT Ignoring new targets: 72.00 m.Rhm͹Zhm͹} ProNav: ac range: 71.996399 m, nav range: 68.942871 m, bearing: 337.593392 deg, approach rate: -0.570231 m/s, LOS rate: -0.022474 deg/s, cmd heading: 330.621673 deg, new cmd heading: 330.595286 deg. Bh}vHeadingCmd: 5.769976 target range: 71.996399 and range: 72.40 m.h@h *h"h  h g fffBdddjdZdS?颙ɢL~ ) C>i)Yin:aia,O-<r;I@IA1u9@q @q@q@qa ^A ;A fAzA fAԉ A ؟AI I O >({J,`*?AYrByrIbDzVDzy-Z<%-M=ٔ1Q-5>95"?Y5"?==Fy=$VE9E=>AQ 5Mv5E~~?Q 9Mv5EЛ)EBYQyQQ IU@EDIE):iE:ETv5y]ZBɮ] Aa}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 72.00 m.RhŹZhŹ- ProNav: ac range: 71.996399 m, nav range: 68.716377 m, bearing: 337.584436 deg, approach rate: -0.544578 m/s, LOS rate: -0.021604 deg/s, cmd heading: 330.595281 deg, new cmd heading: 330.568324 deg. Bh-:m5HeadingCmd: 5.769506 target range: 71.996399 and range: 72.40 m.h5ʟ@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM?yɢ}߻)y }>i) 顁i|ai|5-<;Iʟ@I9@ @@/@@%p=@%=i)I)5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.Ee EeEe'Ea"Ee:*Eex:VEe'4ZEa^A0;B>BCBBB =BBsDBk;BX*EBMCBMCBIBM =BM =CM5 I I O >8J,9*?AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247552Zn@Zh@Z{ٱZ# rAHRS rotation from veh to nav: [[0.867589,0.492158,0.071211],[-0.497196,0.855824,0.142694],[0.009284,-0.159205,0.987202]]ZHI??`:?߿b?C?=?`Ŀ@(?iZn@IZY|_;ZC-GEhAYUBYyUI9hAYAI4>)>=bDVDky˻%D=ٔ;Q->9Y=Fy)VEYϻE>Q 5v5Y?Q 9v5)BYyZQ I@DI;i;v5yɮ AoEjhDNOT Ignoring new targets: 72.00 m.Rh;ùZh;ù ProNav: ac range: 71.996399 m, nav range: 68.478722 m, bearing: 337.575515 deg, approach rate: -0.566419 m/s, LOS rate: -0.021336 deg/s, cmd heading: 330.568315 deg, new cmd heading: 330.541459 deg. BhGjHeadingCmd: 5.769037 target range: 71.996399 and range: 72.40 m.h@h*h"h hgfffdddjdZd% @Qɢq) c>i)iYaiM@U-J,R*?A@F/a@F[@F+ ٱF[% NAHRS rotation from veh to nav: [[0.866815,0.493224,0.073227],[-0.498560,0.854819,0.143955],[0.008406,-0.161290,0.986871]]FH??`?f߿Z?m? 87?*Ŀr?iF/a@IFM_;FCYVByVIi5Mb@Mb@Mb@1111 195Dl?J +?~jtY5O ?y5=5D11 5@)11Y5=@bDVDy]e%L=ٔY;Q->9Y=Fy-VE(E>Q 5v5?Q 9v5)BY?Q E:y5Q I@$DI ;i ;z v5yɮ AjhDNOT Ignoring new targets: 72.00 m.Rh#Zh#  ProNav: ac range: 71.996399 m, nav range: 68.254295 m, bearing: 337.568087 deg, approach rate: -0.589506 m/s, LOS rate: -0.019577 deg/s, cmd heading: 330.541459 deg, new cmd heading: 330.519100 deg. Bh VHeadingCmd: 5.768647 target range: 71.996399 and range: 72.40 m.h@h*h"h hgff!f% Bd!d!d!jd)Zd-@:@Yɢ]D»)Y ]>iY)ecaaieaim͸m,A >IiIyO9> e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003491dJ,sl*?AEZ EZEZ%EX"EZa:*EZAr:VEZ 4ZEXab@ab@ab@ab@hU@ZP@]ٱh* 5AHRS rotation from veh to nav: [[0.866111,0.493967,0.076468],[-0.499793,0.853488,0.147530],[0.007610,-0.165996,0.986097]]H/?`)? p?߿O?A?@+?X?ſ?iU@Iv_;CYUByUIbDeVDeyuT;%uL=ٔu.;Q-}>9yYy=}Fy}1VE4hE>Q 5v5ݴ?Q 9v5)BYyQ I@+DIN:i$:v5y[Bɮ ApEjhDNOT Ignoring new targets: 72.00 m.Rh Zh  ProNav: ac range: 71.996399 m, nav range: 68.029930 m, bearing: 337.560923 deg, approach rate: -0.559644 m/s, LOS rate: -0.017927 deg/s, cmd heading: 330.519110 deg, new cmd heading: 330.497549 deg. BhDHeadingCmd: 5.768270 target range: 71.996399 and range: 72.40 m.h@h*h"h hgfffdddjdZdB@)ɢ5THܻ)1 5h>i1)5619i=ai=rE,BUCBUIBU BBU =BQBQBU|k;BUA*EIay@y @y@}2@y@fA@gABDAT read: Rx Time:05:35:36.3708 TRx dataTimestamp_ set to:1761543337.920102checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256479)^Aϩ;I I O- >Q ږJ,v*?ABG@BB@BٱB@6/ NAHRS rotation from veh to nav: [[0.865285,0.494969,0.079297],[-0.501230,0.852065,0.150842],[0.007096,-0.170267,0.985372]]BH@j??@L? @D?N?}?Rſ+?iBG@IB|s_;BCYVByVI XX1i=Mb@Mb@Mb@9999 99=kt?I +?9iYi=mFym5VEpE>Q 5v5lj?Q 9v5N)BY?Q E:yQ I@3DI:i:v5iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.507784yɮ% A!jhAMDNOT Ignoring new targets: 72.00 m.RhU6ZhU6e ProNav: ac range: 71.996399 m, nav range: 67.792236 m, bearing: 337.557563 deg, approach rate: -0.567000 m/s, LOS rate: -0.008044 deg/s, cmd heading: 330.497554 deg, new cmd heading: 330.487438 deg. BhemHeadingCmd: 5.768094 target range: 71.996399 and range: 72.40 m.hm:@hi*hi"hi higqfqff BdddjdZdl @E EE'E"E:*E]t:VE'4ZEBEi)ys iai>P,<˙;I:@I9@ @@1@ԉ DAT read: 05:35:36.3708 LVL= 29312, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.11, 1.101,-0.665, 1.069, 0.898, PHS= 0.304,-1.518, 0.126, RAW= 144.9, 12.5, CAL= 144.5, 13.6, ROT= 5.5, -13.6  Ygot valid direction response: 05:35:36.3708 LVL= 29312, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.11, 1.101,-0.665, 1.069, 0.898, PHS= 0.304,-1.518, 0.126, RAW= 144.9, 12.5, CAL= 144.5, 13.6, ROT= 5.5, -13.6  PDAT read: Bearing 145.3, 3.5 (Local)  ~Local bearing/azimuth received: Bearing 145.3, 3.5 (Local)  DAT read: Range 11 to 50 : 70.4 m (Round-trip 93.9 ms) speed 0.5 m/s  *DAT read: user:468> - BDAT read: Tx time:05:35:37.4727 = $Ping request sent.= i M¿ %> !@ f_> vh!@ s>) =I s ǙMV?mcS?Qp? >) w^I =i s  :publishing transmit ping time1  Fpublishing direction and range infoy  UTm˥?d|9ٷ?#?Y ) I i ) I ǙMV?mcS?Qp? ) I i Թ ^A rg;I I O >§J,*?A s:@ @5@ yѻٱ ;[2 %AHRS rotation from veh to nav: [[0.864460,0.496023,0.081668],[-0.502660,0.850841,0.152976],[0.006393,-0.173293,0.984850]] H਩?@վ?:?:?@?(/z?@y.ƿ ?i s:@I _; Y5By=IbDMVDMβԉyF<%?=ٔ:Q->9Y=Fy9VEe}E%>!Q 5Mv5%ى?Q 9Uv5%)%BYQyUQ IU@%:DI%-:i%[:%7v5yYɮe Aaii*?AJiBRiBjiϑ@bZSP@*/:9@%v0@RUTm˥?d|9ٷ?#?Zi =bisjO@Lo9(/@Zšt5D?4<ѿ׿A0^?2i:i|B"i?*iОQBiBiiiiBi@  addTargetRange:: Added new target pos. range: 70.400002 m, deltaT: 3.778189 s, deltaX: -2.000000 m, approachRate: -0.529354 m/s, rangeRepo size: 4  Added new target pos. range: 70.006668 m, bearing: 337.632506 deg, lat: 36.779378 deg, lon: -121.859678 deg, deltaT: 3.778189 s, deltaX: -1.989731 m, approachRate: -0.526636 m/s, posRepo size: 4 jh!EDNOT Ignoring new targets: 70.01 m.RhMZhI] ProNav: ac range: 70.006668 m, nav range: 67.558411 m, bearing: 337.554586 deg, approach rate: 0.000000 m/s, LOS rate: -0.008044 deg/s, cmd heading: 330.487446 deg, new cmd heading: 330.477096 deg. BhYHeadingCmd: 5.767913 target range: 70.006668 and range: 70.40 m.h@h*h"h hgfffdddjdQ@ZdG?ɢ) >i ) #  i ai,<O:I@IԹ9@ @@4@bEƀ'4jE!4rEQ/E EE$E"E:*E|:VE4ZEa@a@a@a@BM>BMCBIBIBM =BIBMuDBMxk;BMG*E^A ] ;A eAzA II IY Om > ;J,P*?A2=7@2 2@2vٱ2Go2 :AHRS rotation from veh to nav: [[0.864268,0.496200,0.082619],[-0.503002,0.850723,0.152513],[0.005391,-0.173370,0.984842]]2H`??@&?`9??v?0ƿӃ?i2=7@I2_;0YFByFIbDNVDNyVƼ%Ve=ٔZ7;Q-Z>9XYX=^Fy^=VE^ᏺE^>`Q 5fv5b鉊?Q 9fv5b)bBYhyjQ Ij@bADIbB:ib:bVv5ylɮn Ap~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 70.01 m.Rh Zh  ProNav: ac range: 70.006668 m, nav range: 67.354919 m, bearing: 337.552047 deg, approach rate: -0.602753 m/s, LOS rate: -0.007546 deg/s, cmd heading: 330.477091 deg, new cmd heading: 330.469449 deg. BhHeadingCmd: 5.767780 target range: 70.006668 and range: 70.40 m.h@h*h"h hgfffd1d1djdZd@:g?9ɢ=Տ)9 E>iA)E AAiEaiMM+GٴJ,KV*?A2?0@2 +@2ٱ23 :AHRS rotation from veh to nav: [[0.863843,0.496652,0.084333],[-0.503742,0.850170,0.153148],[0.004363,-0.174778,0.984598]]2H`? $?`?`4?Y? Pq? _ƿԁ?i2?0@I2_;0YB ByBIIFa=)Fi>i Mb@Mb@Mb@     9 Cl?/$?{GztY ?y = ף  A @ @) 1@ Y @bD-VD-y5=%5A=ٔ=;Q-=>99Y9=EFyEAVEEEM>IQ 5Uv5M?Q 9Uv5M)MBY]y?Q E]:y]GľQ I]@MHDIM/:iM:M v5yaɮm AmqEjh DNOT Ignoring new targets: 70.01 m.RhZhAM ProNav: ac range: 70.006668 m, nav range: 67.114014 m, bearing: 337.550311 deg, approach rate: -0.547955 m/s, LOS rate: -0.003961 deg/s, cmd heading: 330.469441 deg, new cmd heading: 330.464217 deg. BhU-UHeadingCmd: 5.767689 target range: 70.006668 and range: 70.40 m.hU萸@hY*hY"hY hYgyfyffBdddjdZdF?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9935930Bɢ@qn) R>i)v 顉iAai^g+<9I萸@IM9@I @I@U/@Qԉԙ^Au rg:5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245484Iy I O > yJ, *?AE EE'E"Ea:*E]t:VE'4ZEa@a@a@a@b ,@b&@bonٱb3 jAHRS rotation from veh to nav: [[0.863592,0.497039,0.084621],[-0.504178,0.850108,0.152055],[0.003640,-0.173977,0.984743]]bH?@}?@?9" 4?v?m?Dƿ?ib ,@Ib _;bCYByIbDVDfy-X%-L=ٔ-:Q-->91Y1=5Fy5EVE],E]>aQ 5mv5e?Q 9mv5e,)eBYiymľQ Im@ePDIe:ie$:e!v5yɮ AjhDNOT Ignoring new targets: 70.01 m.RhƑZhƑAA@ABɿ>BCBBB =BBvDByk;BQ*EE ProNav: ac range: 70.006668 m, nav range: 66.884468 m, bearing: 337.548739 deg, approach rate: -0.579488 m/s, LOS rate: -0.003983 deg/s, cmd heading: 330.464223 deg, new cmd heading: 330.459490 deg. BhE.EHeadingCmd: 5.767606 target range: 70.006668 and range: 70.40 m.hM;@hI*hI"hI hIgIfQfQfQdYdYdYjdYZd] ?颩ɢ)  >i)(iai+<ڗ8I;@I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497522^A"9A>A) I I O >Y :J,[ +?A^&@^!@^E?ٱ^!2 fAHRS rotation from veh to nav: [[0.863275,0.497479,0.085265],[-0.504725,0.849876,0.151539],[0.002922,-0.173855,0.984767]]^H??@ӵ?@&/2?e?`g? @ƿ5?i^&@I^ͺ_;^CYlynIi]Mb@Mb@Mb@YYYY ]2D9]?~jt?{GztY] ?y]=Y]9 A]@ ]@)YYY]@bDuVDuy,K;%C=ٔ:Q->9Y=FyIVEǺE>Q 5v5 ?Q 9v5P)BY?Q E:yQ I@WDI ;i ;0%v5y\Bɮ ArEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751003E% E%E%$E!)"E%:*E%Ar:VE%4ZE!BE%#i)s顙iai:*<I@II@ @@@@@fAq  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001407^A 9IQ Ia Om > J,ܻ!+?A02$@2@2B4ٱ2 1 >AHRS rotation from veh to nav: [[0.863099,0.497909,0.084539],[-0.505028,0.849995,0.149851],[0.002754,-0.172031,0.985088]]2H ? ?`?0)(3? S.?`f?ƿօ?i2$@I2R_;2CYFByFI HHbDR VDRf2yZ =%Z[=ٔZ9Q-Z>9\Y\=^Fy^MVEbuEb>dQ 5jv5f81?Q 9jv5fA)fBYhyjQ Ij@f^DIf:if:fu(v5y][Bɮei Ae|EjhDNOT Ignoring new targets: 70.01 m.RhLZhL ProNav: ac range: 70.006668 m, nav range: 66.444855 m, bearing: 337.536861 deg, approach rate: -0.618854 m/s, LOS rate: -0.016753 deg/s, cmd heading: 330.440700 deg, new cmd heading: 330.423750 deg. Bh7HeadingCmd: 5.766983 target range: 70.006668 and range: 70.40 m.h@h*h"h hgfffdddjdZd@H@.Bɢ m:) X>i)viai%i*<?1I@Iԉ@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254637EM EMEM(EI"EM:*EMi:VEMc44ZEIa]@a]@a]@a]@^AuBտ>BCBBBBBxDB{k;BY*EII)O5> 5J,;+?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505520:$@:@:/ٱ:- FAHRS rotation from veh to nav: [[0.863142,0.498083,0.083065],[-0.504955,0.850498,0.147223],[0.002682,-0.169019,0.985609]]:H`۞??C?(F7?3?:e?@fſ`?i:$@I:Ab_;:CYRByRIbDZ`VDZ1yfG%fH=ٔj89Q-j>9hYh=jFynQVEnZ9En>pQ 5vv5r&C?Q 9vv5r])rBYxyzQ Iz@reDIrd:ir:r,v5y|ɮ~ AB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 70.01 m.Rh5Zh5E ProNav: ac range: 70.006668 m, nav range: 66.217613 m, bearing: 337.530649 deg, approach rate: -0.579868 m/s, LOS rate: -0.015907 deg/s, cmd heading: 330.423761 deg, new cmd heading: 330.405060 deg. BhE.MHeadingCmd: 5.766656 target range: 70.006668 and range: 70.40 m.hMs@hI*hI"hI hIgQfQfQfQdadadajdaZdm,m@颕-Bɢ3) >i),顙iai:;#*<G9Is@IU9@Q @Q@U4@Q^A"AzAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758039I)OE>EU  EU EU %EQ "EU :*EU :VEU 4ZEQ BEU .9aYa=eFyeVVEmFEm>qQ 5v5uU?Q 9v5u)uBY$?Q E:yQ I@umDIui)y顙iai'P)<{9Iօ@II9@ @@4@@@=q^A 9ԩ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262784AA D] =D] R=Ee  Ee Ee 'Ea "Ee :*Ee ą:VEe '4ZEa am @am @am @am @IQ Iy O >aJ,o+?A2c @20@27y7ٱ2. :AHRS rotation from veh to nav: [[0.862871,0.498541,0.083130],[-0.505416,0.850196,0.147383],[0.002800,-0.169187,0.985580]]2H? ?G?^,4?n?$f? ſމ?i2c @I2^;2CYV ByVIIZ>)Z=bDbVDbNyjE<%jP=ٔj]Q-j>9lYl=nFynZVErEr>tQ 5zv5v g?Q 9zv5v)vBYxyz⹾Q Iz@vtDIv:ivN:v%3v5yɮ{ AIB>BCBBB =BByDBk;Bq*EB5CB5CB5CB5 =B5 =C5}6jhYuDNOT Ignoring new targets: 70.01 m.Rh=yZh=yM ProNav: ac range: 70.006668 m, nav range: 65.762154 m, bearing: 337.518979 deg, approach rate: -0.534046 m/s, LOS rate: -0.013644 deg/s, cmd heading: 330.386796 deg, new cmd heading: 330.369952 deg. BhMUHeadingCmd: 5.766043 target range: 70.006668 and range: 70.40 m.hUm@hQ*hq"hy hygyfyfyfdddjdZd @,Bɢ) >i)9iailc UX)< 9I m@I q ai'G@ @@4@ )DAT read: 05:35:39.9681 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.35, 0.423,-1.369, 0.395, 0.295, PHS= 0.230,-1.619, 0.056, RAW= 145.1, 14.9, CAL= 144.8, 16.3, ROT= 5.2, -16.3 Ygot valid direction response: 05:35:39.9681 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.35, 0.423,-1.369, 0.395, 0.295, PHS= 0.230,-1.619, 0.056, RAW= 145.1, 14.9, CAL= 144.8, 16.3, ROT= 5.2, -16.3 PDAT read: Bearing 147.7, 2.3 (Local) ~Local bearing/azimuth received: Bearing 147.7, 2.3 (Local) DAT read: Range 11 to 50 : 68.4 m (Round-trip 91.3 ms) speed 0.4 m/s *DAT read: user:469> 9YoABDAT read: Tx time:05:35:41.0727 $Ping request sent.iMd;ϿMB`e=M "@M%>M?!@ M>)M޹=IMIIMlŀ?'>?{? Mf>)MAYIM޹=iMII:publishing transmit ping timeFpublishing direction and range infoyIM {]?}\D?rwkq?YIIIII I)IIIiIIIII I)IIIIIMlŀ?'>?{? I)IIIiIIIԙ^A A I I O >J,f܊+?AE@@E @E0ٱE3. uAHRS rotation from veh to nav: [[0.862554,0.499049,0.083367],[-0.505957,0.849875,0.147374],[0.002695,-0.169299,0.985561]]EH ?`k?W?`0-2?*?@f?ſ`?iE@@IE{3^;ECY ByIEM EMEM&EI"EM:*EMAr:VEM4ZEIBEM+9Y9==Fy=_VE=ݣEE>AQ 5Mv5E9}?Q 9Uv5Ei)EBYU?Q EU:yUľQ IU@E}DIE1;iEB;E7v5y\Bɮ A~Eii|+?AJi BRi Bji@b2t1yAP@ye@]K$)3@R {]?}\D?rwkq?Zi޹=bij+PN@bP9P1@Z8Tm?JU׿IZ?2ir:irB"iεsr?*iUqMBiBiεsr?iUqMiBi5Bi@ addTargetRange:: Added new target pos. range: 68.400002 m, deltaT: 3.528634 s, deltaX: -2.000000 m, approachRate: -0.566792 m/s, rangeRepo size: 4 1E Added new target pos. range: 68.026024 m, bearing: 337.546924 deg, lat: 36.779379 deg, lon: -121.859678 deg, deltaT: 3.528634 s, deltaX: -1.980644 m, approachRate: -0.561306 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 68.03 m.RhMZhQ ProNav: ac range: 68.026024 m, nav range: 65.603973 m, bearing: 337.547081 deg, approach rate: 0.000000 m/s, LOS rate: -0.013644 deg/s, cmd heading: 330.369939 deg, new cmd heading: 330.350312 deg. BhHeadingCmd: 5.765701 target range: 68.026024 and range: 68.40 m.h@h*h"h hgfffABdddjdQ@Zd3? +BɢV>) >i),顑ilaiy(<AII@Ia9@ @@4@ԉ ^A A A >Թ A IIO->hJ,+?A:@:@:6ٱ:- BAHRS rotation from veh to nav: [[0.862278,0.499554,0.083199],[-0.506427,0.849644,0.147093],[0.002792,-0.168969,0.985617]]:Hȗ?? L?4I0??Af?Ơſ-?i:@I:];:CYJByJIbDRVDR0yZz$%ZS=ٔZmQ-^>9\Y\=^Fy^cVEbEb>dQ 5jv5f+?Q 9jv5f)fBYhynľQ In@fDIf:if:f:v5ypɮr Apjh  DNOT Ignoring new targets: 68.03 m.Rh؏Zh؏% ProNav: ac range: 68.026024 m, nav range: 65.387085 m, bearing: 337.545644 deg, approach rate: -0.591420 m/s, LOS rate: -0.003930 deg/s, cmd heading: 330.350323 deg, new cmd heading: 330.345999 deg. Bh%,-HeadingCmd: 5.765625 target range: 68.026024 and range: 68.40 m.h-@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdE D$?ɢ*:) K>i ) |>iaiU~Uڟ(BCBIBBB =BBxDBk;Bc*E^Aybݹ Ai Iq I O >}J,y<+?A0Z@Z@Z!0ٱZ, bAHRS rotation from veh to nav: [[0.862346,0.499514,0.082730],[-0.506311,0.849878,0.146139],[0.002688,-0.167909,0.985799]]ZHW? ?-?332??5f? ~ſੋ?iZ@IZ ];ZCYhyh llppbDvVDv:2y~%~G=ٔ9Q->9Y=FygVE 9E >Q 5v5K?Q 9v5־)BY!y%ľQ I%@DI@;i;s>v5y)ɮ- A)MB*** querying acoustic contact ***iI iIjhQ]DNOT Ignoring new targets: 68.03 m.RheZhem ProNav: ac range: 68.026024 m, nav range: 65.155106 m, bearing: 337.544062 deg, approach rate: -0.565521 m/s, LOS rate: -0.003871 deg/s, cmd heading: 330.346006 deg, new cmd heading: 330.341242 deg. Bhu*uHeadingCmd: 5.765543 target range: 68.026024 and range: 68.40 m.huS@hy*hy"hy hygyfffdddjdZd@!?颽*Bɢ`) x>i)0oiSai;uJ(<ĢIS@I9@ @@@mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.E EE$E"E:*E&p:VE4ZEBEF-"J,+?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494663^ @^@^jٱ^L\, nAHRS rotation from veh to nav: [[0.862295,0.499580,0.082872],[-0.506401,0.849915,0.145612],[0.002310,-0.167527,0.985865]]^H??7?p42?f?`Ab?qſ`4?li^ @I^];^CYvByvIiuMb@Mb@Mb@qqqq q9uK7?Zd;O?MbYu ?yuj=uu Aq u@)u^@qYup@bDVD2yn<%@=ٔh:Q->9Y=FykVEHE>Q 5v5?Q 9v5)BY ?Q E:yQ I@DI ;i<:*Bv5yɮ AEjhDNOT Ignoring new targets: 68.03 m.RhaZha  ProNav: ac range: 68.026024 m, nav range: 64.923462 m, bearing: 337.538847 deg, approach rate: -0.545707 m/s, LOS rate: -0.012328 deg/s, cmd heading: 330.341252 deg, new cmd heading: 330.325553 deg. Bh_HeadingCmd: 5.765268 target range: 68.026024 and range: 68.40 m.h}@h*h"h hgfffBBdddjdZd@??1ɢ=8)9 =>i9)=!LAAiEIaiE8M 'B B B B =B B B tk;B Z*EIa Iq O >+J,+?A9E@E@EZ9ٱE+ UAHRS rotation from veh to nav: [[0.862280,0.499599,0.082911],[-0.506428,0.849976,0.145158],[0.002048,-0.167156,0.985928]]EH˗?n?9?43??*`? Zeſ?iE@IE];AYeByeIbDuVDuJy@<%L=ٔ+:Q->9Y=FyoVEE>Q 5v5Ċ?Q 9v5){BYyQ I@DI:i:Ev5yɮ AqjhDNOT Ignoring new targets: 68.03 m.RhUXZhUX ProNav: ac range: 68.026024 m, nav range: 64.700424 m, bearing: 337.533794 deg, approach rate: -0.519906 m/s, LOS rate: -0.011821 deg/s, cmd heading: 330.325543 deg, new cmd heading: 330.310330 deg. BhHeadingCmd: 5.765003 target range: 68.026024 and range: 68.40 m.hz@h*h"h hgfffdd d jd Zd-`i?yɢ}8)y }O>iy)U顁ibichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.998885i'<Iz@I9@ @!@!@!@-=@-=ԑ^AM 8 iy I} A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250981IY Iq O >5K,,,?AE EE$E"E:*E:VE4ZEBE'@>f@> ٱ>* nAHRS rotation from veh to nav: [[0.862331,0.499505,0.082944],[-0.506343,0.850218,0.144037],[0.001427,-0.166206,0.986090]]>H7??;?3`4?o?{aW?=Fſ ?i>@I>ع];>CYvByvIIz=)z<~=~=ii}Mb@Mb@Mb@yyyy y9}!rh?~jt?MbPY}l?y}=}} A}`@ }@)}t@yYybDVDfy%I%F=ٔ:Q->9Y=FysVEi{9E>Q 5v5MՊ?Q 9v5)xBY ?Q E:yVQ I@DIy;i;GIv5yɮ AEjhDNOT Ignoring new targets: 68.03 m.RhϮZhϮ ProNav: ac range: 68.026024 m, nav range: 64.482658 m, bearing: 337.526450 deg, approach rate: -0.564559 m/s, LOS rate: -0.019104 deg/s, cmd heading: 330.310325 deg, new cmd heading: 330.288219 deg. BhQHeadingCmd: 5.764617 target range: 68.026024 and range: 68.40 m.hw@h!*h!"h! h!g!fff;BdddjdZd@ɢb,)  >i ) ٨  i &bi%-;'<-I9I-w@I)ԙ9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502782^A= ጹI I O > Z K,),?Az@z@z.ٱz( AHRS rotation from veh to nav: [[0.862287,0.499697,0.082241],[-0.506419,0.850508,0.142042],[0.001031,-0.164129,0.986438]]zH ۗ? ?@ ?4]7?m.?P?`/ſ?iz@Iz];zCY5By5IbD]VD]k1y}<%}N=ٔo:Q->9Y=FyxVEeE>Q 5v5N把?Q 9v5)uBYyYQ I@DI8;i0:;Lv5y`Bɮ A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755342jhDNOT Ignoring new targets: 68.03 m.RhZh ProNav: ac range: 68.026024 m, nav range: 64.267639 m, bearing: 337.519153 deg, approach rate: -0.507087 m/s, LOS rate: -0.017264 deg/s, cmd heading: 330.288223 deg, new cmd heading: 330.266261 deg. Bh=HeadingCmd: 5.764234 target range: 68.026024 and range: 68.40 m.ht@h*h"h hgfffdddjdZdg@IE] E]E]%EY"E]D:*E]|:VE] 4ZEYae@ae@ae@ae@ɢm9)q u>iq)uFqqi}8bi}&<Ԇ:It@IB>BCBIB BB =BByDBk;Bl*E %9@) @)@-0@)1^Am 9Ai Am > BDAT read: Rx Time:05:35:43.5655  TRx dataTimestamp_ set to:1761543344.976106 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007804I I O >Y K, C,?AnJ@n@n>ٱn{( zAHRS rotation from veh to nav: [[0.862251,0.499713,0.082525],[-0.506481,0.850541,0.141620],[0.000579,-0.163909,0.986475]]nH?`M?U ?@57? ?B?Ŀ4?inJ@In];nCY-By-IbD=VD=yMA%MM=ٔU1:Q-U>9QYQ=]Fy]|VE]|?E]>aQ 5mv5e?Q 9mv5e)eqBYqyuaQ Iu@eDIe):ieB:e;Pv5yyɮ AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 68.03 m.RhZh ProNav: ac range: 68.026024 m, nav range: 64.055511 m, bearing: 337.511919 deg, approach rate: -0.570822 m/s, LOS rate: -0.019532 deg/s, cmd heading: 330.266257 deg, new cmd heading: 330.244481 deg. BhyVHeadingCmd: 5.763854 target range: 68.026024 and range: 68.40 m.h}q@h*h"h hgfffdddjdZd@X @ ɢ x;) C>i)NLi_Xbi%&<%Q:I%}q@I!19@ @@4@@@5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260266aEe EeEe(Ea"Ee2:*Ee&p:VEec44ZEaBEe#*Թ K,#],?AZDAT read: 05:35:43.5655 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408, 0.10,-2.563, 1.932,-2.578,-2.700, PHS= 0.240,-1.606, 0.078, RAW= 145.5, 14.4, CAL= 145.2, 15.8, ROT= 4.8, -15.8 ^Ygot valid direction response: 05:35:43.5655 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408, 0.10,-2.563, 1.932,-2.578,-2.700, PHS= 0.240,-1.606, 0.078, RAW= 145.5, 14.4, CAL= 145.2, 15.8, ROT= 4.8, -15.8 bPDAT read: Bearing 146.6, 2.1 (Local) f~Local bearing/azimuth received: Bearing 146.6, 2.1 (Local) jDAT read: Range 11 to 50 : 66.4 m (Round-trip 88.6 ms) speed 0.4 m/s n*DAT read: user:470> rBDAT read: Tx time:05:35:44.6727 r$Ping request sent.riBhͿBw=Bj"@B>B0"@ B0>)B=IB0@@Bt?>?{? B]x>)B〾IB=iB0@@ :publishing transmit ping timep Fpublishing direction and range infoy@BDخ?5鷜? ^ m?Y@@@@@ @)@I@i@@@@@ @)@I@@@Bt?>?{? @)@I@i@@@u@u@uTٱu( AHRS rotation from veh to nav: [[0.862157,0.499802,0.082962],[-0.506640,0.850499,0.141302],[0.000064,-0.163856,0.986484]]uH ˖??=? f6`J7?-???Ŀ@G?iu@Iu];qԑYByIAi]Mb@Mb@Mb@YYYY Y9]NbX9?sh|??MbpY]?y]=]]O AY ]1@)]^@YY]@bD VD2ya%=ٔ k:Q- >9 Y = Fy VE"E>Q 5v5 ?Q 9v5)mBYP?Q E:yQ I@DIؿThY?2iB#:iBjB"iBb?*iBt~]BiBBi@iBОQiBBiB^BiBl@ addTargetRange:: Added new target pos. range: 66.400002 m, deltaT: 3.527345 s, deltaX: -2.000000 m, approachRate: -0.566999 m/s, rangeRepo size: 4  Added new target pos. range: 66.037155 m, bearing: 336.931071 deg, lat: 36.779379 deg, lon: -121.859680 deg, deltaT: 3.527345 s, deltaX: -1.988869 m, approachRate: -0.563843 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 66.04 m.Rh-Zh)e ProNav: ac range: 66.037155 m, nav range: 63.842430 m, bearing: 337.368725 deg, approach rate: 0.000000 m/s, LOS rate: -0.019532 deg/s, cmd heading: 330.244482 deg, new cmd heading: 330.212060 deg. BhiHeadingCmd: 5.763288 target range: 66.037155 and range: 66.40 m.hl@h*h"h hgfffPBdddjdP@Zd U?iɢm$[)i >i)N'顱ikai*&<:Il@IEu  Eu Eu %Eq "Eu :*Eu :VEu 4ZEq a @a @a @a @E 9@A  @I @M 0@I B <A <B >B CB IB BB B B B k;B *E ^A-rg:A1zA5fAIAYIiIyO ?  K,xG,?A2m@2:@2ɒ7ٱ2t* :AHRS rotation from veh to nav: [[0.862198,0.499551,0.084047],[-0.506572,0.850253,0.143016],[-0.000017,-0.165884,0.986145]]2H@? ??5F5?YN?;Y@;ſ?i2m@I2];2CYBByBIbDNVDN!yRv%VK=ٔVkU9Q-V>9TYX=ZFyZVE^CP9E^>\Q 5bv5^T?Q 9fv5^)^iBYdyfQ If@^DI^:i^-:^MXv5ylɮnt AnEjh|DNOT Ignoring new targets: 66.04 m.Rh *Zh * ProNav: ac range: 66.037155 m, nav range: 63.631927 m, bearing: 337.365297 deg, approach rate: -0.568589 m/s, LOS rate: -0.009289 deg/s, cmd heading: 330.212052 deg, new cmd heading: 330.201735 deg. Bh̹%HeadingCmd: 5.763107 target range: 66.037155 and range: 66.40 m.h%`k@h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd=?ɢXX ;) >i)zik bi#<%<:I`k@I@ @@4@!^AEU EUEU$EQ"EU:*EU~:VEU4ZEQBEU> F6&K,,?A2@2@2ٱ2- :AHRS rotation from veh to nav: [[0.862238,0.499249,0.085420],[-0.506504,0.849846,0.145657],[0.000126,-0.168856,0.985641]]2Hs?@?޵?G5@1??Ws ?ſ`^?i2@I2];0YnBynIieMb@Mb@Mb@aaaa a9e#~j?/$?MbpYe?ye=aefAev@ eG@)aaYe@bD}VD}yͣ%==ٔQ->9 ?Y ?=FyVEPA9E>Q 5v5B/?Q 9v5)eBY?Q E:y2Q I@DI:i':\v5yɮ} AjhDNOT Ignoring new targets: 66.04 m.Rh,Zh, ProNav: ac range: 66.037155 m, nav range: 63.403294 m, bearing: 337.361232 deg, approach rate: -0.528601 m/s, LOS rate: -0.009431 deg/s, cmd heading: 330.201725 deg, new cmd heading: 330.189488 deg. BhϹ HeadingCmd: 5.762894 target range: 66.037155 and range: 66.40 m.h i@h *h "h  h gfffQBdddjdZd@G?+BɢP') >i) i]ai1%<:Ii@I@ @@4@@@) ^A% Β{:E  E E %E "E V:*E x:VE 4ZE a @a @a @a @BY BY B] IB] BB] =BY BY B] /l;B] *EB-CB-CB-̓CB- =B- =C-̬5y A I I O >*,K,g,?A2@2 @2ٱ20 :AHRS rotation from veh to nav: [[0.862052,0.499398,0.086422],[-0.506820,0.849225,0.148158],[0.000598,-0.171521,0.985180]]2H`? "??7`,?@?C?@bſ?i2@I2];2CYBByBIIF4=)F%=J=J=bDNVDN{UyVr%VT=ٔVpQ-Z>9XYX=ZFyZVE^}yE^>`Q 5fv5bD??Q 9fv5b)baBYdyjnQ Ij@bDIb;ib;br_v5ynaBɮn AnEjhyDNOT Ignoring new targets: 66.04 m.RhW#ZhW# ProNav: ac range: 66.037155 m, nav range: 63.199112 m, bearing: 337.357663 deg, approach rate: -0.508936 m/s, LOS rate: -0.008925 deg/s, cmd heading: 330.189485 deg, new cmd heading: 330.178743 deg. BhĹHeadingCmd: 5.762706 target range: 66.037155 and range: 66.40 m.hh@h*h"h hgfffdddjdZdq?)ɢ--)) -u>i))5߼11i5ai= >=W%<=*:Ieh@IaGgA9gAYA 9@! @!@%/@!)^AM0::Q A ؟AI I O >i3K,M,?A =@=@= ֚ٱ=_3 UAHRS rotation from veh to nav: [[0.862101,0.499117,0.087542],[-0.506734,0.848734,0.151230],[0.001181,-0.174736,0.984615]]=HU??`(i?*7(?~[? ZS?`]ƿ?i=@I=];=CY]ByeIE EE#E"E%;*E:VE3ZEBE K9"?Y"?=FyVE^9E>Q 5v5R?Q 9v5)\BY ?Q E:y2ϾQ I@DI;i;cv5yɮ AEB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 66.04 m.Rh58Zh58E ProNav: ac range: 66.037155 m, nav range: 62.945133 m, bearing: 337.359859 deg, approach rate: -0.556938 m/s, LOS rate: 0.004834 deg/s, cmd heading: 330.178748 deg, new cmd heading: 330.185362 deg. BhERT9MHeadingCmd: 5.762822 target range: 66.037155 and range: 66.40 m.hM i@hI*hI"hI hIgQfQfQfU`BdYdYdYjdYZd]f?i频ɢp) >i)dݼ顙i%ai6%<I i@I)@ @@/@ԙUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. ^A :AQ IY Ii O} > 9K,x,?A2-@2 @2ۺٱ268 >AHRS rotation from veh to nav: [[0.861995,0.499104,0.088655],[-0.506914,0.848126,0.154014],[0.001678,-0.177700,0.984083]]2Hw?@P??8#??~[? ƿ }?i2-@I2];2CYDyDbDNVDNNyV-$%Vn=ٔV;Q-V?9XYX=ZFyZVE^E^?`Q 5fv5bsa?Q 9fv5b|)bXBYdyf_ϾQ Ij@bDIb;ib;bfv5ylɮn AljhDNOT Ignoring new targets: 66.04 m.Rh 08Zh 08 ProNav: ac range: 66.037155 m, nav range: 62.757812 m, bearing: 337.361549 deg, approach rate: -0.553143 m/s, LOS rate: 0.005005 deg/s, cmd heading: 330.185360 deg, new cmd heading: 330.190445 deg. Bh[9HeadingCmd: 5.762910 target range: 66.037155 and range: 66.40 m.hi@h*h"h hgfffdddjdZd@颵,Bɢf) >i)w=ۼi!ai0^$<dy:Ii@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256299ԡE EE'E"E:*EM:VE'4ZEa@a@a@a@9@ @@/@@@eAAAB>BBIBBBBBzDBNl;B*E^A ": A1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508545II Ia Om >~@K,˃-?A:u@:B @:ٱ:o5 FAHRS rotation from veh to nav: [[0.861949,0.499422,0.087296],[-0.506988,0.848240,0.153141],[0.002434,-0.176258,0.984341]]:H?? Y??9$?!?>c?`ƿ?i:u@I:];:CYJـByNzI PPPRAbDZVDZk\yb%bG=ٔf^Q-f>9dYd=jFyjVEjR`Ej>lQ 5rv5nr?Q 9rv5n)nSBYtyvcϾQ Iv@nDIn/:in:njv5yxɮz@ AzEjh%DNOT Ignoring new targets: 66.04 m.Rh% 8Zh% 85 ProNav: ac range: 66.037155 m, nav range: 62.534412 m, bearing: 337.363583 deg, approach rate: -0.544334 m/s, LOS rate: 0.004974 deg/s, cmd heading: 330.190442 deg, new cmd heading: 330.196565 deg. Bh5sZ9=HeadingCmd: 5.763017 target range: 66.037155 and range: 66.40 m.hEj@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU@-Bɢ~%) C>i)ټiai)s$<P:Ij@I!9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7629351E EE&E"E:*EZ:VE4ZEBE>8+FK, ]-?A2H@2@2#:ٱ2$3 :AHRS rotation from veh to nav: [[0.862061,0.499450,0.086024],[-0.506796,0.848584,0.151868],[0.002852,-0.174517,0.984650]]2H???7'?`lp?@\g?VƿA?i2H@I2o];0Y^ԀBy^tIQiMb@Mb@Mb@ 9Cl?)\(?MbY?yGa=Av@ )YQAbDVDy%==ٔ}Q->9Y=FyVE:E>Q 5v5a?Q 9v5)MBY?Q E:ysQ I@DI;i0;mv5BDAT read: Rx Time:05:35:47.1629 TRx dataTimestamp_ set to:1761543348.504257checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013293yɮg AjhDNOT Ignoring new targets: 66.04 m.Rh%"9Zh%"9] ProNav: ac range: 66.037155 m, nav range: 62.290276 m, bearing: 337.373752 deg, approach rate: -0.559619 m/s, LOS rate: 0.023401 deg/s, cmd heading: 330.196562 deg, new cmd heading: 330.227188 deg. Bh]{:eHeadingCmd: 5.763552 target range: 66.037155 and range: 66.40 m.heo@ha*ha"hi higififqfuEBdqdqdyjdyZd}@[@颩ɢ>) >i))51ּ11i5ʯai==$<=|8:I=o@IAi@ @@ 0@ԙ^A 9 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264605 bEeʻ 4jEeO4rEeg/E  E E %E "E *E :VE 4ZE a @a @a @a @A I I O% >B >B CB IB ܀BB =B B B @l;B *ELK,66-?A2 @2@2k]tٱ2wU5 :AHRS rotation from veh to nav: [[0.861465,0.500431,0.086293],[-0.507802,0.847666,0.153620],[0.003729,-0.176159,0.984355]]2H ??M??@ ?թ?n?]ƿ?i2 @I2];2CYB΀ByBmIbDJVDJ:yR%R\=ٔVQ-V>9TYX=ZFyZVEZNEZ>\Q 5bv5^T?Q 9bv5^)^IBYdyfQ If@^DI^p:i^$:^#qv5yhɮj AljhyDNOT Ignoring new targets: 66.04 m.Rh9Zh9 ProNav: ac range: 66.037155 m, nav range: 62.081181 m, bearing: 337.382766 deg, approach rate: -0.545095 m/s, LOS rate: 0.023579 deg/s, cmd heading: 330.227188 deg, new cmd heading: 330.254323 deg. Bhu:ԙHeadingCmd: 5.764025 target range: 66.037155 and range: 66.40 m.hr@h*h"h hgfffdddjdZd~r @}.Bɢب) >i)GԼ顁iai #<0ƒIr@IU9@Q @Y@]0@a@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518266^A0::A ! I! I9 OE >SK,P-?AjDAT read: 05:35:47.1629 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.20,-0.520,-2.288,-0.552,-0.651, PHS= 0.233,-1.592, 0.054, RAW= 144.9, 14.8, CAL= 144.6, 16.2, ROT= 5.4, -16.2 Ygot valid direction response: 05:35:47.1629 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.20,-0.520,-2.288,-0.552,-0.651, PHS= 0.233,-1.592, 0.054, RAW= 144.9, 14.8, CAL= 144.6, 16.2, ROT= 5.4, -16.2 =PDAT read: Bearing 146.8, 2.9 (Local) =~Local bearing/azimuth received: Bearing 146.8, 2.9 (Local) MDAT read: Range 11 to 50 : 64.5 m (Round-trip 86.1 ms) speed 0.4 m/s M*DAT read: user:471> E} E}E}'Ey"E} ;*E}1:VE}'4ZEyBE}QQi"˿"/]="!@" A>"!@ "Ð>)"=I"Ð "0?PU\ ?Ma? "x>)"򈄾I"=i"Ð ]:publishing transmit ping time]Fpublishing direction and range infoy "2+%!З? ."??Y ) I i ) I "0?PU\ ?Ma? ) I i @@uᢻٱ6 AHRS rotation from veh to nav: [[0.859798,0.503245,0.086562],[-0.510611,0.845664,0.155337],[0.004971,-0.177758,0.984062]]H`v??(?`V ?? )\t?ƿn}?i@I:k];YŀBybIu=u=iMb@Mb@Mb@ 9&1?{Gz?~jtxY?y#=ĻxAn@ V@)AAYzAbD VD2y%=ٔ Q->9Y=FyVE E>Q 5v5y?Q 9v5)FBYC?Q E:yQ I@DIz&i)Ҽ顑iPfai7#<Ix@IQ% 9@!  @) @- /@) y ^AM Β{AQ AU >ԩAIIO?[K,Kq-?A2 ߰@2ٷ@2yٱ2n97 :AHRS rotation from veh to nav: [[0.858803,0.504957,0.086466],[-0.512276,0.844597,0.155658],[0.005572,-0.177974,0.984019]]2HO{? (?`"?d?@?`v?@ƿ`}?i2 ߰@I2K];2CYBByB\IbDNVDN0yRUм%V[=ٔVӺQ-V>9XYX=ZFyZVEZE^>\Q 5bv5^?Q 9fv5^)^DBYdyfQ If@^DI^;i^ ;^4yv5yhɮn AnEzB*** querying acoustic contact ***ix ixE  E E E "E ;*E $:VE ZE a@a@a@a@jhDNOT Ignoring new targets: 64.15 m.Rh%D:Zh%D:5 ProNav: ac range: 64.149086 m, nav range: 61.699020 m, bearing: 337.473070 deg, approach rate: -0.598951 m/s, LOS rate: 0.042982 deg/s, cmd heading: 330.294643 deg, new cmd heading: 330.338132 deg. Bh5:=HeadingCmd: 5.765488 target range: 64.149086 and range: 64.50 m.h=~@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdU?B<A<B>BBrIBҀBB =BBB:l;B*EYɢe)a e>ia)e мaiimuaimˇuR"ԁ ZbK,-?AVPӰ@Vη@V̻ٱV6 fAHRS rotation from veh to nav: [[0.858064,0.506365,0.085556],[-0.513504,0.843984,0.154932],[0.006244,-0.176875,0.984214]]VHCu?@$4??n??`3y?֣ƿ`~?iVPӰ@IV ^;VCYrˀByriIbD|VD|yWM=% F=ٔ ԺQ- >9Y=Fy%VE-aE5>AQ 5Ev5E΋?Q 9Mv5E)EBBYIyMQ IM@EDIE :iE:E|v5yɮ Ay checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966411jh9EDNOT Ignoring new targets: 64.15 m.Rhu/(:Zhu/(: ProNav: ac range: 64.149086 m, nav range: 61.462551 m, bearing: 337.490417 deg, approach rate: -0.499166 m/s, LOS rate: 0.036760 deg/s, cmd heading: 330.338138 deg, new cmd heading: 330.390380 deg. Bh:HeadingCmd: 5.766400 target range: 64.149086 and range: 64.50 m.hY@h*h"h hgfffdddjdZd(?E- E-E)E)"E-;*E-Z:VE)ZE)BE-Di)v(μ顡ixaiL!!< 6 IY@Iԡ@ @@0@@@dA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219093^A `Ի A I I) O5 >8iK,ͭ-?ABɰ@Bdķ@BջٱB86 JAHRS rotation from veh to nav: [[0.857453,0.507398,0.085570],[-0.514521,0.843336,0.155089],[0.006528,-0.177009,0.984188]]BH Ap?9YYY=]Fy]VEe0Ee>iQ 5uv5mqዊ?Q 9uv5m,)mABYu?Q E}:y}:Q I}@mDIm;im;mv5yɮ AEjhDNOT Ignoring new targets: 64.15 m.Rh:Zh: ProNav: ac range: 64.149086 m, nav range: 61.208050 m, bearing: 337.515675 deg, approach rate: -0.666262 m/s, LOS rate: 0.066396 deg/s, cmd heading: 330.390375 deg, new cmd heading: 330.466462 deg. BhD6;HeadingCmd: 5.767728 target range: 64.149086 and range: 64.50 m.hm:@hi*hi"hi higqfqfyf}ABdddjdZd`?53Bɢ=\Ж)9 =>iA)eQ̼aiaiN!<c+I:@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468640)=9@9 @9@=4@9E] E]EYEY"E]l;*E]v:VEYZEYae@ae@ae@ae@B>BCBlIB̀BB =BB{DBZl;B*EA^A% AU .AIY Iq q O >pK,t-?A2ʰ@2Lŷ@2ѻٱ2:B: >AHRS rotation from veh to nav: [[0.857510,0.506945,0.087653],[-0.514427,0.842785,0.158362],[0.006408,-0.180888,0.983483]]2Hp?8?ip?.v`?7E??z? X'ǿx?i2ʰ@I2)^;Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7201552CYJπByJnIbD VD2y.=%@=ٔE9Q- >9  ?Y  ?= Fy VE[9E>Q 5%v5?Q 9%v5M)?BY)y-5Q I-@DIQ;i<;fv5y1ɮ5 A=EQjhaeDNOT Ignoring new targets: 64.15 m.RhmZ:ZhmZ:} ProNav: ac range: 64.149086 m, nav range: 60.960651 m, bearing: 337.540421 deg, approach rate: -0.580424 m/s, LOS rate: 0.058293 deg/s, cmd heading: 330.466463 deg, new cmd heading: 330.541004 deg. Bh} ;HeadingCmd: 5.769029 target range: 64.149086 and range: 64.50 m.h⛸@h*h"h hgfffdddjdZdN?4Bɢk) >i)1ʼ))i-fai5Ÿ5ߓ <59I5⛸@I9ԁ9@ @@4@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.974360ԱE  E E (E "E ;*E :VE c44ZE BE m;vK,!-?A>ʰ@>ŷ@>ʻٱ>{> FAHRS rotation from veh to nav: [[0.857536,0.506491,0.089993],[-0.514387,0.842148,0.161844],[0.006185,-0.185078,0.982704]]>H@p? -5? ?u?O? Uy? ǿ`Pr?i>ʰ@I>S];>CYNӀByNtIi%Mb@Mb@Mb@!!!! !9%I +?~jt?Y%9?y%<%%A%`@ %G@)%EA!Y%(A5AA1bD=VD=02yME<%MX=ٔM:Q-U>9U"?YU"?=UFyUVE]9E]>aQ 5mv5e ?Q 9mv5e)aYuY?Q Eu:yuQ Iu@eDIe;ie;ev5y}cBɮ} AEjhDNOT Ignoring new targets: 64.15 m.Rh-:Zh-:= ProNav: ac range: 64.149086 m, nav range: 60.743095 m, bearing: 337.562587 deg, approach rate: -0.576972 m/s, LOS rate: 0.058996 deg/s, cmd heading: 330.540994 deg, new cmd heading: 330.607730 deg. Bh=!;EHeadingCmd: 5.770194 target range: 64.149086 and range: 64.50 m.hEm@hA*hA"hA hAgifififu?BdqdqdqjdqZd}k@5Bɢ) >i)]^ȼi^aioSn< HIm@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.224169@ @@/@@=@=^A0:D! AQ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476479Ii Iy O >_|K,d-?AE& E&E&)E$"E&l;*E&h:VE&FA4ZE$a*@a*@a*@a*@>Ұ@>ͷ@> (ٱ>j? JAHRS rotation from veh to nav: [[0.858030,0.505593,0.090335],[-0.513566,0.842602,0.162087],[0.005834,-0.185468,0.982633]]>Ht?-? 0 ?"o?`C?@w?mǿq?i>Ұ@I>^;>CARAAARAABV>BTBVrIBVҀBBTBTBV|DBVl;BV+EBmCBmCBmCBm =Bm =Cm,U5YbԀBydbDnVDn1yvY;%vQ=ٔv l:Q-z>9xYx=zFyzVE~ ;E~>Q 5 v5?Q 9 v5)Y y MQ I@&DI:i:v5yɮz AE=B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 64.15 m.RhM:ZhM: ProNav: ac range: 64.149086 m, nav range: 60.518135 m, bearing: 337.585470 deg, approach rate: -0.575938 m/s, LOS rate: 0.058802 deg/s, cmd heading: 330.607739 deg, new cmd heading: 330.676643 deg. Bhk!;HeadingCmd: 5.771396 target range: 64.149086 and range: 64.50 m.hG@h*h"h hgfffdddjdZd@e7Bɢm0- )i mb>ii)mfƼiqiubi9<&zJIG@IQ k>C5HG1@1 @1@9@9UhAiʴ9hAYhAychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.728130^Am2DԱ A .AI I O >6HK, .?A6@6۷@6sٱ6Q=@ BAHRS rotation from veh to nav: [[0.858908,0.504246,0.089518],[-0.512101,0.843767,0.160653],[0.005476,-0.183829,0.982943]]6H+|?"? ?`"c#?@J?snv?ǿDt?i6@I6N];6CYJ߀ByJIbDZVDZkyjW=%nK=ٔni:Q-n>9r ?Yr ?=rFyrVEv4;Ev>xQ 5zv5z&?Q 9~v5z)xY|y~kQ I~@z.DIz;iz/;zv5y ɮ # A jhauDNOT Ignoring new targets: 64.15 m.Rh:Zh:5BDAT read: Rx Time:05:35:50.7601 ETRx dataTimestamp_ set to:1761543352.287756Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.986113 ProNav: ac range: 64.149086 m, nav range: 60.286674 m, bearing: 337.608810 deg, approach rate: -0.567948 m/s, LOS rate: 0.057493 deg/s, cmd heading: 330.676642 deg, new cmd heading: 330.746933 deg. Bh;HeadingCmd: 5.772623 target range: 64.149086 and range: 64.50 m.hT@h*h"h hgf EU EUEU(EQ"EU:*EUą:VEUc44ZEQBEU.i1)5gü11i5@bi=1=i<=3CI=T@IA9@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232060 ^AA A ؟AI I O >K,ö(.?A,YByIiMb@Mb@Mb@ 9-?:v?y&1|?Y??y<`;Av@ ^@)AYA =4<=4<bDEVDEy]<=%].=ٔeQ-e>9m"?Ym"?=mFymVEuEu>Q 5v5:?Q 9v5?)@BYh?Q E:yQ I@7DIQ;i5P;v5yɮ AEjhDNOT Ignoring new targets: 64.15 m.Rh[:Zh[:ԁ ProNav: ac range: 64.149086 m, nav range: 60.012432 m, bearing: 337.635299 deg, approach rate: -0.582778 m/s, LOS rate: 0.056547 deg/s, cmd heading: 330.746938 deg, new cmd heading: 330.826767 deg. Bh:;HeadingCmd: 5.774016 target range: 64.149086 and range: 64.50 m.hĸ@h*h"h hgffftBdddjdZd @59Bɢ5몹)1 =>i9)=99DAT read: 05:35:50.7601 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.02, 1.876, 0.072, 1.847, 1.692, PHS= 0.286,-1.575, 0.111, RAW= 145.1, 13.2, CAL= 144.7, 14.4, ROT= 5.3, -14.4 Ygot valid direction response: 05:35:50.7601 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.02, 1.876, 0.072, 1.847, 1.692, PHS= 0.286,-1.575, 0.111, RAW= 145.1, 13.2, CAL= 144.7, 14.4, ROT= 5.3, -14.4 PDAT read: Bearing 145.0, 3.0 (Local) ~Local bearing/azimuth received: Bearing 145.0, 3.0 (Local) DAT read: Range 11 to 50 : 62.4 m (Round-trip 83.3 ms) speed 0.7 m/s *DAT read: user:472> BDAT read: Tx time:05:35:51.8727 $Ping request sent.iɿS= "@k>!@ >)q=Ijd6?hl"?s?ؘs)? o>)]kIq=i-:publishing transmit ping time-Fpublishing direction and range infoyص?.Ri?l?Y )Ii )Ijd6?hl"?s?ؘs)? )Iii=+biXF<? ZIĸ@IE EE'E"E ;*E:VE'4ZEa@a@a@a@B>BBIBBB =BBBl;B"+EԱM9@Q @Q@Q@Q@Y@]fA ^Au 0:D A .AI I O >%YK,E.?A28@2@2Gٱ2d:) :AHRS rotation from veh to nav: [[0.860874,0.502541,0.079679],[-0.508797,0.848757,0.144003],[0.004739,-0.164509,0.986364]]2HF??@e?@H )?n?hs?@ſK?i28@I2];0YBByBI DDbDNVDNܲyV:h<%VN=ٔV:Q-V>9Z ?YZ ?=ZFyZVE^=<E^>`Q 5fv5bK?Q 9fv5b)bABYdyfQ If@b>DIb:ib:b2v5ylɮn AliYi]#g2.?AJi]?xBRi]?xBji]>@b]JM@\5@[.@R]ص?.Ri?l?Zi]q=bi]j] t0K@ļ4؄7fM#0-@Z]5v*?#@ؿV2Ck?2i]&:i]1^B"i]z?*i]fBi]Bi]T?iYiYi]9oBi]@- addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.527427 s, deltaX: -2.099998 m, approachRate: -0.595334 m/s, rangeRepo size: 4 = Added new target pos. range: 62.062416 m, bearing: 337.052414 deg, lat: 36.779380 deg, lon: -121.859680 deg, deltaT: 3.527427 s, deltaX: -2.086670 m, approachRate: -0.591556 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 62.06 m.RhEZhA ProNav: ac range: 62.062416 m, nav range: 59.806046 m, bearing: 337.665861 deg, approach rate: 0.000000 m/s, LOS rate: 0.056547 deg/s, cmd heading: 330.826769 deg, new cmd heading: 330.893683 deg. BhHeadingCmd: 5.775184 target range: 62.062416 and range: 62.40 m.hOθ@h *h "h  h gfffdddjd@33O@Zd?q;BɢЬ:) (>i)Ci.bi [ </IOθ@II)))@ @@0@ԙE EE%E"Es:*E$:VE 4ZEBEh0 Q~K,n_.?AY~By~IiMb@Mb@Mb@ 9I +?9"?Y"?=FyVEE>Q 5v5^?Q 9v5)@BY?Q E:yQ I@FDIG~;ia|;v5yɮ AjhDNOT Ignoring new targets: 62.06 m.RhL:ZhL: ProNav: ac range: 62.062416 m, nav range: 59.553501 m, bearing: 337.686010 deg, approach rate: -0.557901 m/s, LOS rate: 0.044699 deg/s, cmd heading: 330.893678 deg, new cmd heading: 330.954380 deg. Bhi:HeadingCmd: 5.776244 target range: 62.062416 and range: 62.40 m.hָ@h*h"h hgfffBdddjdZd=?i)isNci%%4<%EI%ָ@I)@ @@0@^A*:) bE ʀ'4jE (4rE ?/E  E E &E "E *E :VE 4ZE a @a @a @a @B A <B >B CB IB BB =B B {DB l;B !+EA I) I9 OE >Q K,Ry.?A.e"@.3@.ٱ. :AHRS rotation from veh to nav: [[0.862990,0.500356,0.069939],[-0.505201,0.853436,0.128135],[0.004425,-0.145912,0.989288]].H?`?`}?*XO? f? 5 r?B¿>?i.e"@I.^;.CYNByNIbDVVDVy%T=ٔU:Q-%>9!Y!=%Fy%VE-1<E->1Q 5=v55vo?Q 9=v55)1Y9y=Q IE@5MDI5;i5;5`v5yIɮM AImB*** querying acoustic contact ***ii iijhq}DNOT Ignoring new targets: 62.06 m.Rh}U:Zh}U: ProNav: ac range: 62.062416 m, nav range: 59.330997 m, bearing: 337.702963 deg, approach rate: -0.608780 m/s, LOS rate: 0.046558 deg/s, cmd heading: 330.954385 deg, new cmd heading: 331.005434 deg. Bh:HeadingCmd: 5.777135 target range: 62.062416 and range: 62.40 m.hJ޸@h*h"h hgfffdddjdZd@? =Bɢ ;)  8>i )Qi_ciH<dIJ޸@I!)9@ @@4@@=@=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y^A2Dԁ A I I O% >m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501899K,N.?AE- E-E-'E)"E-:*E-x:VE-'4ZE)BE-+9Y=FyVEE>Q 5v5?Q 9v5)?BY?Q E:yzԾQ I@VDI" ;i ;v5y ɮ  AEjh9=DNOT Ignoring new targets: 62.06 m.RhEʀ9ZhEʀ9U ProNav: ac range: 62.062416 m, nav range: 59.051960 m, bearing: 337.709959 deg, approach rate: -0.558674 m/s, LOS rate: 0.014075 deg/s, cmd heading: 331.005447 deg, new cmd heading: 331.026537 deg. BhU:]HeadingCmd: 5.777503 target range: 62.062416 and range: 62.40 m.h]N@hY*hY"hY hagafafafidididijdiZdu`З?=@Bɢ=(;)A E>iA)E綼AAiE=diMbtMoK,g.?AG@NB@s~ٱ 5AHRS rotation from veh to nav: [[0.865272,0.496751,0.067410],[-0.501288,0.856345,0.124032],[0.003887,-0.141113,0.989986]]HM?? A? ,g?? )o?@¿?iG@I];CY=ByEIbDUVDU0ye=%e]=ٔez:Q-e>9iYi=mF}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004027ymVE}G<E}>Q 5v5 ?Q 9v5)>BYy"ҾQ I@]DI;iL;v5yɮ= AEjhDNOT Ignoring new targets: 62.06 m.RhU9ZhU9 ProNav: ac range: 62.062416 m, nav range: 58.844193 m, bearing: 337.714286 deg, approach rate: -0.559306 m/s, LOS rate: 0.011689 deg/s, cmd heading: 331.026539 deg, new cmd heading: 331.039565 deg. BhY:HeadingCmd: 5.777730 target range: 62.062416 and range: 62.40 m.h+@h*h"h hgfffdddjdZdD@-ABɢ-@<)) 57>i1)5l11i5di=e=E`<=I=+@IAԉE EE#E"Ea:*EM:VE3ZEa@a@a@a@B>BBIBBB =BBBl;B#+E@ @@q4@Թ^Ae0- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256303A I I O > "pK,9.?Ar4Y@rT@rF`wٱr" AHRS rotation from veh to nav: [[0.866353,0.494810,0.067794],[-0.499418,0.857284,0.125086],[0.003775,-0.142226,0.989827]]rH)?? Z?v߿ n?@?n? w4¿?ir4Y@Ir ^;rCYy %p<%<bD)VD)ٔ=b9Q-=>99YA=EFyEVEE;EE>IQ 5v5M)?Q 9v5M9 )IYyѾQ I@MdDIM\iQ)UQQiUzei]W]E<]I]@Ia 9@  @ @ /@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508812E EE'E"E:*Ee:VE'4ZEBE3= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759898ۗK, .?A,Y=By=IiMb@Mb@Mb@ 9MbX? ףp= ?MbpY ?yQ= A G@)Y(AbDVD:2yi <%<ٔQ->9Y=FyVEE>Q 5 v5?Q 9v5f );BY ?Q E:yݸQ I@kDIԕi)<顁i{fi!mf<|I6@IY@ @@@ԙBDAT read: Rx Time:05:35:54.3573 TRx dataTimestamp_ set to:1761543355.812197checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013051A@AA@AB>BBIBBBBBzDB7m;BE+ED%=D4=E EEE"E;*E:VEZEBED<2ED<JE;:E; ^A% ;A) zA- gAAQ IY Iq O} >־K,i:.?A8R v@Rp@RpٱR1f ZAHRS rotation from veh to nav: [[0.868106,0.491491,0.069490],[-0.496366,0.858498,0.128848],[0.003671,-0.146346,0.989227]]RH?@t?ʱ?u߿@x? ~?7n?u¿?iR v@IR8^;RCYb,BybIbDjVDjyr=%rY=ٔvސ9Q-v>9tYt=zFyzVEzm<Ez>|Q 5v5~Ȍ?Q 9v5~M )~8BY y  Q I @~rDI~`:i~:~vv5yqɮu AqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 62.06 m.Rh~Zh~ ProNav: ac range: 62.062416 m, nav range: 58.182407 m, bearing: 337.705698 deg, approach rate: -0.548659 m/s, LOS rate: -0.016993 deg/s, cmd heading: 331.032877 deg, new cmd heading: 331.013706 deg. Bh:HeadingCmd: 5.777279 target range: 62.062416 and range: 62.40 m.hx߸@h*h"h hgff)f)d)d1d1jd1Zd5@ @颅GBɢ.6<)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264147 >i)Siefi<t8yIx߸@Iԡ@ @@/@^Ay A .AI Ia E  E E %E "E :*E Ǚ:VE 4ZE a @a @a @a @O >% DAT read: 05:35:54.3573 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.05,-0.436,-2.227,-0.419,-0.577, PHS= 0.243,-1.605, 0.114, RAW= 146.4, 13.9, CAL= 146.2, 15.2, ROT= 3.8, -15.2 E Ygot valid direction response: 05:35:54.3573 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.05,-0.436,-2.227,-0.419,-0.577, PHS= 0.243,-1.605, 0.114, RAW= 146.4, 13.9, CAL= 146.2, 15.2, ROT= 3.8, -15.2 K,V /?A"PDAT read: Bearing 146.9, 1.9 (Local) "~Local bearing/azimuth received: Bearing 146.9, 1.9 (Local) &DAT read: Range 11 to 50 : 60.3 m (Round-trip 80.4 ms) speed 0.4 m/s **DAT read: user:473> BBDAT read: Tx time:05:35:55.4727 B$Ping request sent.BipͿx=Ƈ#@Ulx>N#@ ԇ>)ԇ=Iԇ&?g?>0i? >)wIԇ=iԇ:publishing transmit ping time@Fpublishing direction and range infoyW?ϲa_?;f$?Y @Ă@6aٱ: AHRS rotation from veh to nav: [[0.869191,0.489660,0.068850],[-0.494465,0.859735,0.127903],[0.003436,-0.145215,0.989394]])Ii )I&?g?>0i? )IiHi?V? ?Q߿?_? &l?`k¿?i@I^;CY(ByIiMb@Mb@Mb@ 9{Gz?:v?~jtxY?y=ĻA )YAbDUVDUβycX%=ٔ9Q->9 ?Y ?=FyVEW;E>Q 5v5ߌ?Q 9v5)3BY?Q E:yQ I@{DIy;i6;v5ybBɮ AEiiL/?AJioBRioBji޻@bNL@'@Y{r/@RW?ϲa_?;f$?Ziԇ=biԇj%NܥJ@֘>7yre.@Z,\?J1iؿ28?2i:iTB"i*$^?*irBiBiεsr?it~]iigBi3U@ addTargetRange:: Added new target pos. range: 60.299999 m, deltaT: 3.529644 s, deltaX: -2.100002 m, approachRate: -0.594962 m/s, rangeRepo size: 4  Added new target pos. range: 59.971863 m, bearing: 336.379355 deg, lat: 36.779379 deg, lon: -121.859685 deg, deltaT: 3.529644 s, deltaX: -2.090553 m, approachRate: -0.592284 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 59.97 m.RhZh ProNav: ac range: 59.971863 m, nav range: 57.916588 m, bearing: 337.208600 deg, approach rate: 0.000000 m/s, LOS rate: -0.016993 deg/s, cmd heading: 331.013698 deg, new cmd heading: 330.986678 deg. BhHeadingCmd: 5.776807 target range: 59.971863 and range: 60.30 m.h۸@h!*h!"h! h!g!f!f)f-Bd)d)d1jd5`f&N@Zd5+?颥IBɢT;) >i)駼顩i/~gi^<`j:I۸@I1i@i @i@m/@i@u=@u=a ^A Β{ԑ B>BCBIB)BB =BBBm;Bq+EBaBaBaBaBe =Ce5ADzDE EE'E"Es:*E:VE'4ZEBEh0?@#?h?@ms¿h?iBښ@IB];BCY~ByII=) = =bDVDy%U%%R=ٔ-ء:Q-->9)Y)=5FyeVEe;Ee>yiQ 5v5mz?Q 9v5mL)m/BYy}Q I@mDIm|;imTE;m{v5ygBɮJ AE'G5fAI}9}fAY}AjhDNOT Ignoring new targets: 59.97 m.Rhp7Zhp7 ProNav: ac range: 59.971863 m, nav range: 57.711380 m, bearing: 337.192580 deg, approach rate: -0.511778 m/s, LOS rate: -0.040093 deg/s, cmd heading: 330.986678 deg, new cmd heading: 330.938449 deg. Bh ܺHeadingCmd: 5.775966 target range: 59.971863 and range: 60.30 m.hԸ@h*h"h hgfffdddjdAZdMP?颕LBɢ <) %>i)^8顙ihi( y< Nh;I Ը@Iԡ@ @@/@^A ; A ؟AI I) O5 >b7K,BQ/?A2@2V@27.ٱ2D{ :AHRS rotation from veh to nav: [[0.871152,0.486191,0.068648],[-0.491007,0.861823,0.127173],[0.002668,-0.144493,0.989502]]2Hy?@?꒱?l߿?2G? e? ~¿?i2@I2^;0YB&ByBIbDJVDJN2yRo*=%RU=ٔV_G:Q-V>9V"?YV"?=ZFyZVEZʐ;E^>\Q 5bv5^\?Q 9bv5^)^+BYdyfQ If@^DI^:i^-:^Ⱥv5yɮ AjhaeDNOT Ignoring new targets: 59.97 m.RhmIZhmI ProNav: ac range: 59.971863 m, nav range: 57.513592 m, bearing: 337.176703 deg, approach rate: -0.547812 m/s, LOS rate: -0.044126 deg/s, cmd heading: 330.938457 deg, new cmd heading: 330.890661 deg. BhDHeadingCmd: 5.775132 target range: 59.971863 and range: 60.30 m.h͸@h*h"h hgfffdddjdZd @|g?E EE#E"E :*EVE3ZEa@a@a@a@NBɢ\<)  >i)X1i5hiS< ;I͸@I@ @@0@I^A r;y AI IY Ii O >K,n/?AR±@R@RٱRM ZAHRS rotation from veh to nav: [[0.872730,0.483001,0.071080],[-0.488200,0.862913,0.130542],[0.001716,-0.148630,0.988891]]RH@g?}?@M2?>߿ ??W\?Kÿ?iR±@IR^;RCYbBybIiMMb@Mb@Mb@IIII I9M'1Z?V-? rhYM?yM=MCM9 AM@ Mt@)MAIYIbDVDyv%+=ٔ9;Q->9Y=FyVEl;E>Q 5v5?Q 9v5)#BY6?Q E:yQ I@DII;i;v5yɮQ AEjhDNOT Ignoring new targets: 59.97 m.RhZh- ProNav: ac range: 59.971863 m, nav range: 57.264420 m, bearing: 337.150578 deg, approach rate: -0.534163 m/s, LOS rate: -0.056248 deg/s, cmd heading: 330.890673 deg, new cmd heading: 330.811958 deg. Bh-i5HeadingCmd: 5.773758 target range: 59.971863 and range: 60.30 m.h5¸@h1*h1"h9 h9g9f9fAfEBdAdAdAjdIZdM`?}PBɢ},<)y }>iy)}ǟ顁iGiiiP<i!>B!A%<B)B)B)B)B)B)B)B-m;B-+EAM9@I @I@M0@I@Q@UeAE EE'E"E:*Ez:VE'4ZEBE'K,/?AFȱ@Fø@FݞٱFq NAHRS rotation from veh to nav: [[0.873089,0.482292,0.071484],[-0.487560,0.863287,0.130467],[0.001212,-0.148762,0.988872]]FH X?? L?`-4߿ ?@&? S? ÿפ?iFȱ@IF];FCYVByVI XXXXbDbVDb02yjP%j[=ٔj:Q-j>9lYl=]Fy]WEe:Ee>yqQ 5v5u$?Q 9v5ud)uBYyQ I@uDIu;iui)顡iiioiY<9, K,;ȡ/?A>ձ@>ϸ@>ٱ>% FAHRS rotation from veh to nav: [[0.873809,0.480976,0.071561],[-0.486270,0.864146,0.129591],[0.000491,-0.148036,0.988982]]>H=?M?`Q? ߿ ?p?@?¿`?i>ձ@I>D];>CYNByNIi%Mb@Mb@Mb@!!!! !9%}?5^I?T㥛 ?Zd;OY%M?y%>%j%fA! %A)%rA!Y%AbD=VD=yM3%MB=ٔU:Q-U>9QYY=]Fy]WE]Mo;E]>aQ 5mv5e-5?Q 9mv5e)eBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.191613Yu]?Q E:yPQ I@eDIekiQ)U_QQi]"jiem*wB) B- IB- BB) B) B) B- m;B- +E^A] *:<bE)jE-T4rE-5/E  E E %E "E :*E &p:VE 4ZE BE <9zK,/?A2ܱ@2ָ@29m9ٱ2; :AHRS rotation from veh to nav: [[0.874227,0.479821,0.074158],[-0.485518,0.864103,0.132661],[-0.000426,-0.151981,0.988383]]2H ?d? ?@߿? ? ;tÿ ֠?i2ܱ@I2];2CYBByBIHJ@AbDNVDN:yRǘ%RL=ٔVc;Q-V>9XYX=ZFyZWEZ ;E^>\Q 5bv5^%F?Q 9fv5^a)^ BYdyfQ If@^DI^1;i^;^ev5ylɮn AljhDNOT Ignoring new targets: 59.97 m.Rh Zh  ProNav: ac range: 59.971863 m, nav range: 56.644337 m, bearing: 337.075795 deg, approach rate: -0.552110 m/s, LOS rate: -0.071092 deg/s, cmd heading: 330.666916 deg, new cmd heading: 330.586783 deg. Bh(C%HeadingCmd: 5.769828 target range: 59.971863 and range: 60.30 m.h%n@h!*h!"h! h)g)f)f1f1d1d1d1jd9Zd=^@ԩXBɢ;)  >i ) n  i }mjiakU<qq  BDAT read: Rx Time:05:35:57.9548  TRx dataTimestamp_ set to:1761543359.340143 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.948787ZK,)v/?AB۱@Bָ@B ?:ٱB NAHRS rotation from veh to nav: [[0.874222,0.479537,0.076029],[-0.485526,0.863671,0.135412],[-0.000729,-0.155295,0.987868]]BH@??v?߿1?`2U?G@ÿ@?iB۱@IBC];BCE~ E~E|E|"E~:*E~:VE|ZE|a%@a%@a%@a%@Y^ByIIM,>)M=Ym=ma=iMb@Mb@Mb@ 9w/??S㥛Y?y=/ݼ@ t@)AYpAbDVDy^%!=ٔ:Q->9Y=Fy WEJE>Q 5v5[?Q 9v5)BY ~ ?Q E :y Q I @DI ;i? ;v5yɮ AEjhAEDNOT Ignoring new targets: 59.97 m.Rh0Zh0 ProNav: ac range: 59.971863 m, nav range: 56.372723 m, bearing: 337.056230 deg, approach rate: -0.534262 m/s, LOS rate: -0.038670 deg/s, cmd heading: 330.586784 deg, new cmd heading: 330.527805 deg. BhOԺHeadingCmd: 5.768798 target range: 59.971863 and range: 60.30 m.h@h*h"h hgfffBdddjdZd @%[Bɢm::)i m(>ii)my镼iqiu8mjiuޮ}7<}{IK,vQ/?A(RDAT read: 05:35:57.9548 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.27, 1.812, 0.024, 1.865, 1.703, PHS= 0.211,-1.634, 0.119, RAW= 147.5, 14.4, CAL= 147.4, 15.8, ROT= 2.6, -15.8 VYgot valid direction response: 05:35:57.9548 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.27, 1.812, 0.024, 1.865, 1.703, PHS= 0.211,-1.634, 0.119, RAW= 147.5, 14.4, CAL= 147.4, 15.8, ROT= 2.6, -15.8 ZPDAT read: Bearing 147.7, 0.5 (Local) ^~Local bearing/azimuth received: Bearing 147.7, 0.5 (Local) bDAT read: Range 11 to 50 : 58.5 m (Round-trip 78.0 ms) speed 0.4 m/s f*DAT read: user:474> fBDAT read: Tx time:05:35:59.0727 j$Ping request sent.ji:&ѿAtAtBz>BxBzIBzBBxBxBxBz&n;Bz+E:F=:S$@:>:$@ :0>):9=I:088:C??~,? :k>):SI:9=i:088:publishing transmit ping timehFpublishing direction and range infoy8:o`?jO!,Y? ^ m?Y88888 8)8I8i8888D=D<E EE&E"Es:*E:VE4ZEBEh09Y=FyWEE%>)Q 55v5-Eo?Q 95v5-)-BY1y5Q I=@-DI- :i-[:-v5yaɮe Aayi8i:hiq)u͓qqiuEji}}p<}L,}0?A2ɱ@2Nĸ@2Tյ:ٱ2^( :AHRS rotation from veh to nav: [[0.873123,0.480725,0.080991],[-0.487498,0.861458,0.142250],[-0.001387,-0.163684,0.986512]]2H?@3?ѻ?*3߿`?=5?V Ŀ ?i2ɱ@I2];0YBۀByB}IbDJVDJNyRX?%RD=ٔV4:Q-V>9TYT=ZFyZWEZE^>\Q 5bv5^?Q 9fv5^)^BYdyfQ If@^DI^:i^:^av5yhɮn\ Al~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 58.18 m.bh QPowering the camera and arming the capture device at range: 58.50 m.2hRh GZh GE- E-E-%E)"E-:*E- n:VE- 4ZE)a]@a]@a]@a]@u ProNav: ac range: 58.181164 m, nav range: 55.875187 m, bearing: 336.626579 deg, approach rate: -0.559528 m/s, LOS rate: -0.043505 deg/s, cmd heading: 330.472692 deg, new cmd heading: 330.421909 deg. BhuHeadingCmd: 5.766950 target range: 58.181164 and range: 58.50 m.hۊ@h*h"h h2hgfffdddjdZd?aBɢ@T) nt>i)e aaiekjim(mP]% L,߿.0?A$$F˱@FvƸ@F&:ٱFl* NAHRS rotation from veh to nav: [[0.873251,0.480308,0.082076],[-0.487268,0.861313,0.143908],[-0.001573,-0.165660,0.986182]]FH@?`_??f/߿?`k? Y@[4ſ̎?iF˱@IF]_;FCYV̀ByVjIXZAi5Mb@Mb@Mb@1111 195?#~j?X9vY5 ?y5=55|A5@ 1)5\A1Y1bDMVDMk2y]%]<=ٔeN9Q-e>9aYa=eFymWEm;:Em>qQ 5}v5u?ԁQ 9v5u!)uBY?Q E:ykQ I@uDIu<;iu<;;u*v5yɮ AEjh9=DNOT Ignoring new targets: 58.18 m.bhAEPowering the camera and arming the capture device at range: 58.50 m.2hARhMZhM} ProNav: ac range: 58.181164 m, nav range: 55.634876 m, bearing: 336.618142 deg, approach rate: -0.534922 m/s, LOS rate: -0.018861 deg/s, cmd heading: 330.421903 deg, new cmd heading: 330.396484 deg. Bh}OHeadingCmd: 5.766507 target range: 58.181164 and range: 58.50 m.h9@h*h"h h2hgfff`BdddjdZd?颕dBɢhP) P>i)hŐ顙iii Eu<(B1B5IB5BB5 =B1B1B5,n;B5+EԩE EE)E"E:*E~:VEFA4ZEBE3  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248237L,cH0?A2DZ@2¸@2U:ٱ2/. :AHRS rotation from veh to nav: [[0.873029,0.480422,0.083758],[-0.487667,0.860448,0.147685],[-0.001118,-0.169779,0.985482]]2H`?;?`&q? 5߿@Ɉ?T?`JRRPſ?i2DZ@I2z\_;2CYBByBYIbDPVDPyf͑%jV=ٔjQ-n>9YYY=]Fy]WEeӕEm>yQ 5v5}?Q 9v5}$)}BYyӿQ I@}DI}_;i}T`;}v5yɮH AjhDNOT Ignoring new targets: 58.18 m.bhPowering the camera and arming the capture device at range: 58.50 m.2hRhiZhi ProNav: ac range: 58.181164 m, nav range: 55.412212 m, bearing: 336.610442 deg, approach rate: -0.577273 m/s, LOS rate: -0.020044 deg/s, cmd heading: 330.396495 deg, new cmd heading: 330.373301 deg. Bh\HeadingCmd: 5.766102 target range: 58.181164 and range: 58.50 m.h胸@h*h"h h2hgfffdd d jd Zd =?=fBɢ=hޢ)9 E/>iA)EAAiEiiM_MT<A->A->YIIO>y g-L,^Lb0?A2μ@2@2luK:ٱ22 :AHRS rotation from veh to nav: [[0.872367,0.481315,0.085505],[-0.488851,0.859196,0.151022],[-0.000776,-0.173546,0.984825]]2H`n?@??TI߿~?T?`nI@6ƿ?i2μ@I2^;2CYNByNQIi%Mb@Mb@Mb@!!!! !9%ʡE?y&1?S㥛Y%-?y%`e=%/ݼ%A! !)%A!Y%AbD=VD=:2yE`%MB=ٔMUQ-M>9QYQ=UFyU#WE]O\E]>aQ 5mv5e?Q 9mv5e&)eBYm ?Q Em:ymaؾQ Im@eDIe;ie:;e.v5yyɮ}} A}Ejh!%DNOT Ignoring new targets: 58.18 m.bh!-Powering the camera and arming the capture device at range: 58.50 m.2h)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752292YRhe9Zhe9 ProNav: ac range: 58.181164 m, nav range: 55.182026 m, bearing: 336.613881 deg, approach rate: -0.552529 m/s, LOS rate: 0.008291 deg/s, cmd heading: 330.373300 deg, new cmd heading: 330.383661 deg. Bh9HeadingCmd: 5.766283 target range: 58.181164 and range: 58.50 m.hc@h*h"h h2hgfff[BdddjdZdr|?iBɢڒ)  >i)iMii-S-G<5)gi?yl0@ @@/@ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004436BE <AE <BM >BI BM fIBM ȀBBI BI BI BM )n;BM +EB CB CB ʓCB =B =C 5^Am <I I O >E  E E &E "E :*E n:VE 4ZE BE 69aYa=mFym'WEm=Em>qQ 5}v5uȍ?Q 9v5u))uBYyؾQ I@uDIu:iu:uv5yɮ AjhDNOT Ignoring new targets: 58.18 m.bhPowering the camera and arming the capture device at range: 58.50 m.2hRh'+9Zh'+9 ProNav: ac range: 58.181164 m, nav range: 54.948826 m, bearing: 336.617516 deg, approach rate: -0.597483 m/s, LOS rate: 0.009352 deg/s, cmd heading: 330.383654 deg, new cmd heading: 330.394605 deg. Bhb9HeadingCmd: 5.766474 target range: 58.181164 and range: 58.50 m.h@h*h"h h2hgfffdddjdZd@@%kBɢ%,߻)! %\>i!)-ɍ)ԩ)imhi4G<_! ;%L,0?A2c@21@2d*ٱ2h2 >AHRS rotation from veh to nav: [[0.871805,0.482486,0.084640],[-0.489854,0.858635,0.150963],[0.000162,-0.173072,0.984909]]2H ? ??Y߿y?R?@L%?9'ƿ@`?i2c@I2>^;0YFByFBIbDNVDNyV'%VW=ٔZJQ-Z>9XYX=ZFy^+WE^ߺfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508379E^>hQ 5nv5jlٍ?Q 9nv5jx+)jBYpyrؾQ Ir@jDIj;ijF;jv5ytɮv At B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 58.18 m.bhPowering the camera and arming the capture device at range: 58.50 m.2h!Rh%0,9Zh%0,95 ProNav: ac range: 58.181164 m, nav range: 54.729988 m, bearing: 336.621099 deg, approach rate: -0.572375 m/s, LOS rate: 0.009409 deg/s, cmd heading: 330.394610 deg, new cmd heading: 330.405402 deg. Bh59=HeadingCmd: 5.766662 target range: 58.181164 and range: 58.50 m.hE@hA*hA"hA hA2hAgAfIfIfIdQdadajdiZduV@E EEE"E2:*E:VEZEa@a@a@a@QmBɢ h)  =i )ߌiN.hi:k#<)T+L,an0?A6@6a@6(ٱ63 >AHRS rotation from veh to nav: [[0.871457,0.483090,0.084776],[-0.490472,0.858113,0.151920],[0.000643,-0.173972,0.984750]]6H`??賵? c߿ u?`r?^E?Dƿ@?i6@I6Y^;6CYFByF;IiMb@Mb@Mb@ 9-?9AYA=EFyE/WEMI׺EM>QQ 5]v5Uk썊?Q 9]v5Ue.)UBY]?Q Ee:yeQ Ie@UDIU':iU:Uv5yɮ Ajh1=DNOT Ignoring new targets: 58.18 m.bh9=Powering the camera and arming the capture device at range: 58.50 m.2h9RhE:ZhE:u ProNav: ac range: 58.181164 m, nav range: 54.478947 m, bearing: 336.634418 deg, approach rate: -0.557284 m/s, LOS rate: 0.029702 deg/s, cmd heading: 330.405401 deg, new cmd heading: 330.445541 deg. Bh}:}HeadingCmd: 5.767363 target range: 58.181164 and range: 58.50 m.h<@h*h"h h2hgfff:BdddjdaBDAT read: Rx Time:05:36:01.5523 TRx dataTimestamp_ set to:1761543362.872089checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013284B>BCBFIBBB =BByDBn;B+EZd@e@@-oBɢ-5 jAHRS rotation from veh to nav: [[0.871253,0.483341,0.085435],[-0.490833,0.857542,0.153962],[0.001152,-0.176074,0.984376]]bH N??ߵ?i߿p?`?R?ƿ?ib.@Ib ^;`YrByr9IvAvAbDz VDz2y,.% I=ٔ ݣQ- >9Y=Fy3WEwE>Q 5%v5[?Q 9-v5)1)BY)y-Q I-@DIY;i;bv5y5mBɮ=MA=EjhYeDNOT Ignoring new targets: 58.18 m.bhaePowering the camera and arming the capture device at range: 58.50 m.2hiRhm:Zhm:} ProNav: ac range: 58.181164 m, nav range: 54.241821 m, bearing: 336.647241 deg, approach rate: -0.614268 m/s, LOS rate: 0.033364 deg/s, cmd heading: 330.445536 deg, new cmd heading: 330.484174 deg. Bh.:HeadingCmd: 5.768037 target range: 58.181164 and range: 58.50 m.h“@h*h"h h2hgfffdddjdZd @颥qBɢ!) (=i)Ž顩i@giF<z3ݶ8L,0?A2@2ǝ@2Mٱ2E&6 :AHRS rotation from veh to nav: [[0.870820,0.484107,0.085514],[-0.491599,0.856931,0.154917],[0.001717,-0.176944,0.984219]]2H`??8?Yv߿k?T?"\?ƿ~?i2@I2i];2CYBByBCI\iMb@Mb@Mb@ 9\(\?Q?Mb`Y?y\=A@ )YAbD-VD-y= =%I=ٔ5Q->9 ?Y ?=Fy7WE E>DAT read: 05:36:01.5523 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417,-0.33, 1.407,-0.267, 1.438, 1.268, PHS= 0.241,-1.490, 0.126, RAW= 146.6, 13.3, CAL= 146.4, 14.6, ROT= 3.6, -14.6 Ygot valid direction response: 05:36:01.5523 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417,-0.33, 1.407,-0.267, 1.438, 1.268, PHS= 0.241,-1.490, 0.126, RAW= 146.6, 13.3, CAL= 146.4, 14.6, ROT= 3.6, -14.6 PDAT read: Bearing 146.1, 1.4 (Local) ~Local bearing/azimuth received: Bearing 146.1, 1.4 (Local)  DAT read: Range 11 to 50 : 56.5 m (Round-trip 75.4 ms) speed 0.5 m/s *DAT read: user:475> BDAT read: Tx time:05:36:02.6727 $Ping request sent.iR%>#@,m>Ƈ#@ w>)=IwK?X=.?ڣ? >)!nI=iwM:publishing transmit ping timeUFpublishing direction and range infoyA?C R?!?Y )Ii )IK?X=.?ڣ? )IiQ 5v5 ?Q 9v5W4)BY#?Q E:yNQ I@DI4s;iZr;Tv5yɮ Aii(0?AJi`BRi`BjiN@bu"K@4FaP @DbT,@RA?C R?!?Zi=biwj }I@GY5& *@ZzgV? 4Pؿ:@?2ix:i~HB"iВ?*i̥ckBiBiT?i̥cki?Bi}YBi@ addTargetRange:: Added new target pos. range: 56.500000 m, deltaT: 3.780005 s, deltaX: -2.000000 m, approachRate: -0.529100 m/s, rangeRepo size: 4 M Added new target pos. range: 56.191296 m, bearing: 336.726752 deg, lat: 36.779380 deg, lon: -121.859691 deg, deltaT: 3.780005 s, deltaX: -1.989868 m, approachRate: -0.526419 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 56.19 m.bhIUPowering the camera and arming the capture device at range: 56.50 m.2hQRh]ZhY% ProNav: ac range: 56.191296 m, nav range: 54.372295 m, bearing: 336.640494 deg, approach rate: 0.000000 m/s, LOS rate: 0.033364 deg/s, cmd heading: 330.484167 deg, new cmd heading: 330.536393 deg. Bh)-HeadingCmd: 5.768949 target range: 56.191296 and range: 56.50 m.h-:@h1*h1"h1 h12h1g1f1ffOBdddjd@L@Zd`?tBɢ¢*) 8=i)%e!!i%fi--~I<-JB CB :IB BB B B B m;B +EA bE jE -4rE :0E  E E *E "E s:*E :VE (N4ZE BE h0A >q A!I)IAOU?DAL,~1?A2@2b@2ٱ2h3 :AHRS rotation from veh to nav: [[0.870615,0.484741,0.083993],[-0.491959,0.857014,0.153307],[0.002331,-0.174792,0.984603]]2H?@??@|߿l??_c? _ƿ`݁?i2@I2^;2CYBByB?IIF=)F4<bDNVDN:2yV/%V)=ٔVQ-Z>9XYX=ZFyZ`Q 5fv5b+'?Q 9fv5bp7)bBYdyfQ Ij@bDIbT:ib;b+v5ylɮn#AljhDNOT Ignoring new targets: 56.19 m.bh Powering the camera and arming the capture device at range: 56.50 m.2h Rh 0:Zh0: ProNav: ac range: 56.191296 m, nav range: 54.106361 m, bearing: 336.654675 deg, approach rate: -0.720606 m/s, LOS rate: 0.038616 deg/s, cmd heading: 330.536404 deg, new cmd heading: 330.579157 deg. Bh%:%HeadingCmd: 5.769695 target range: 56.191296 and range: 56.50 m.h%W@h)i*h)"h h2hgfffdddjdZd?颅vBɢ ) $=i),顑iQfitvD< JGL,1?Avћ@v@v[>ٱv02 ~AHRS rotation from veh to nav: [[0.870388,0.485373,0.082692],[-0.492358,0.857018,0.152001],[0.002909,-0.173014,0.984915]]vH8?X?@L+? ʂ߿l?`t? Ig?S%ƿl?ivћ@Iv];vCY By AIiMb@Mb@Mb@ 9zG?~jt?~jth?Y ?y=D;@ A)rAY=AbD VDf2y;%7=ٔQ->9Y=FyAWEE>Q 5 v5*;?Q 9 v5u:)Y Z?Q E :y Q I@ DI:i<:v5ynBɮAE=B*** querying acoustic contact ***i9 i9jhDNOT Ignoring new targets: 56.19 m.bhPowering the camera and arming the capture device at range: 56.50 m.2hRha9Zha9 ProNav: ac range: 56.191296 m, nav range: 53.843006 m, bearing: 336.666766 deg, approach rate: -0.569398 m/s, LOS rate: 0.026270 deg/s, cmd heading: 330.579161 deg, new cmd heading: 330.615612 deg. Bh:: HeadingCmd: 5.770331 target range: 56.191296 and range: 56.50 m.h @h *h "h  h 2hgff9f=XBd9d9dAjdAZdEϝ?颍xBɢ') h=i)6L项i\eijJ 6<Jd;I@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.u@y @y@}/@y^A iML,B81?AB>BB@IBBBBBzDBym;Bd+E&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248234r휱@r@rQٱr݀. zAHRS rotation from veh to nav: [[0.870454,0.485583,0.080743],[-0.492239,0.857583,0.149168],[0.003189,-0.169589,0.985510]]rH`???ڀ߿Rq? ? j?@ſK?ir휱@Ir];pYByNIbDVDy%b=%%Z=ٔ%CQ-->9-"?Y-"?=-Fy-DWE59E5>9Q 5Ev5=L?Q 9Ev5==)9YAyEQ IM@=DI=:i=:=Xv5yQɮU AQEe EeEe'Ea"Ee;*Ee:VEe'4ZEaBEe@Թ kRTL, R1?A2@2]@2/Vٱ2Q* :AHRS rotation from veh to nav: [[0.870492,0.485854,0.078678],[-0.492172,0.858217,0.145705],[0.003268,-0.165558,0.986195]]2H? :?@$?`߿v?s?j?1ſ?i2@I22^;2CYBʀByBhI DD J;JbDNVDNk1yv=%vN=ٔvPQ-v>9xYx=zFyzIWE~L9E~>Q 5 w5]?Q 9 w5?)BY y Q I@DIW:i :w5yɮ AEjhAEDNOT Ignoring new targets: 56.19 m.bhAMPowering the camera and arming the capture device at range: 56.50 m.2hIRhM9ZhU9e ProNav: ac range: 56.191296 m, nav range: 53.386616 m, bearing: 336.687900 deg, approach rate: -0.597541 m/s, LOS rate: 0.027875 deg/s, cmd heading: 330.646452 deg, new cmd heading: 330.679287 deg. Bhe :mHeadingCmd: 5.771442 target range: 56.191296 and range: 56.50 m.hm@hi*hi"hi hi2higqfqfqfydddjdZd@Y?{Bɢ:v) 0>i)4i@ei<`;I@Iԑechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753685 @ @@0@Eu EuEu)Eq"Eu:*Euk:VEuFA4ZEqa@a@a@a@^A ;I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005704 |ZL,k1?A61@6@6tMٱ6& FAHRS rotation from veh to nav: [[0.871070,0.485143,0.076636],[-0.491148,0.859388,0.142215],[0.003135,-0.161519,0.986865]]6H? ?b?n߿?4? i?@Ŀ@e?i61@I6^;6CYǸByNlIiMb@Mb@Mb@ 9(\?v/?9Y=FyMWE0;E>Q 5w5p?Q 9 w5=B)BY ?Q E :y ѾQ I @ DI:i:w5yɮ AEjhAEDNOT Ignoring new targets: 56.19 m.bhAEPowering the camera and arming the capture device at range: 56.50 m.2hIRhM8ZhM8] ProNav: ac range: 56.191296 m, nav range: 53.143188 m, bearing: 336.688670 deg, approach rate: -0.557856 m/s, LOS rate: 0.001772 deg/s, cmd heading: 330.679292 deg, new cmd heading: 330.681612 deg. Bhe8eHeadingCmd: 5.771483 target range: 56.191296 and range: 56.50 m.he@hi*hi"hi hi2higififqfuBdydydyjdyZd} @颭|Bɢ㼻) !>i)顱i-ceiT <>B1B5SIB5BB5 =B1B1B57m;B5F+Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256364E} E}E}&Ey"E}&:*E}҆:VE}4ZEyBE}`; nManaging dock network, ignoring radio surface power offeaL,ۅ1?A>e@>3@>!ٱ>% JAHRS rotation from veh to nav: [[0.871024,0.485146,0.077135],[-0.491234,0.859423,0.141710],[0.002458,-0.161324,0.986898]]>Hn? ?@#?`p߿ d? #?@#d?@DĿ?i>e@I>W`;9dYd=fFyfQWEf(Ej>hQ 5rw5jp?Q 9rw5jbD)hYpyrѾQ Ir@j&DIj9:ij|:jw5ytɮz AxjhDNOT Ignoring new targets: 56.19 m.bhPowering the camera and arming the capture device at range: 56.50 m.%lFinal approach. Armed for intercept at range: 56.50 m.%\Transitioning guidance mode to: FINAL_APPROACH:h%@Rh-)8Zh-)8= ProNav: ac range: 56.191296 m, nav range: 52.938717 m, bearing: 336.689344 deg, approach rate: -0.558220 m/s, LOS rate: 0.001846 deg/s, cmd heading: 330.681614 deg, new cmd heading: 330.683643 deg. Bh=18eHeadingCmd: 5.771518 target range: 56.191296 and range: 56.50 m.heG@hi*hi"hi higifqfqfqdydydyjdyZd}@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509735颕~Bɢ) 2>i)b顙iNei<m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760495ԡ E  E E )E "E :*E :VE FA4ZE a @a @a @a @FgL,ş1?Aw& eAHRS rotation from veh to nav: [[0.871921,0.483352,0.078257],[-0.489644,0.860335,0.141676],[0.001152,-0.161849,0.986815]]UH?;? ?UV߿݇?t"?@R?`xĿ?iUY@IUOha;UCYuByuI==iMb@Mb@Mb@ 9ˡE?+?91Y1=5Fy5UWE5;E=>9Q 5Ew5=?Q 9w5=F)=BYj ?Q E:y纾Q I@=.DI=>iy)}uyyih,ei" <^%B >B CB rIB ҀBB =B B {DB l;B -+EBBB˔CBBC)'5u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264190EmL,1?AXDzDE EE'E"E~ ;*Ex:VE'4ZEBEV9YY=FyZWEE>Q 5w5ۦ?Q 9w5H)BYyQ I@6DI:i:w5yɮ A jhQUDNOT Ignoring new targets: 56.19 m.bhQRh}Zh} ProNav: ac range: 56.191296 m, nav range: 52.451077 m, bearing: 336.667061 deg, approach rate: -0.547007 m/s, LOS rate: -0.025227 deg/s, cmd heading: 330.650469 deg, new cmd heading: 330.616470 deg. BhHeadingCmd: 5.770346 target range: 56.191296 and range: 56.50 m.h@h*h"h hgfffdddjdZd` @}Bɢ# ) 2Y>i)wh顉ieipIB <:* ]BDAT read: Tx time:05:36:06.2727 ]$Ping request sent.eiKǿE6>$@@X>#@ ,m>)s=I,m1N?fSI?mG? m$>)DXIs=i,m:publishing transmit ping timeYFpublishing direction and range infoys"C??錭?gz}"Er?Y )Ii )I1N?fSI?mG? )Ii9 ^AU .`uL,1?AFݱ@Fظ@F~p8ٱFQe" ZAHRS rotation from veh to nav: [[0.874325,0.479243,0.076697],[-0.485341,0.863357,0.138051],[-0.000057,-0.157926,0.987451]]FH x?@?o? ߿??6Ŀ2?iFݱ@IFj_;FCYbBybIbDjVDjܲyr,=%rW=ٔrgV;Q-r>9v ?Yv ?=vFyv]WEz_<Ez>|Q 5w5~?Q 9w5~J)|Yy]Q I @~iE EE&E"E:*E:VE4ZEa@a@a@a@)Bi$eig 1< P|{L,?S1?A6 @6@6OY:ٱ6c >AHRS rotation from veh to nav: [[0.876115,0.476110,0.075773],[-0.482102,0.865496,0.135998],[-0.000831,-0.155680,0.987807]]6H@" ?x?`e?޿#?dh?i:K@Vÿ?i6 @I66_;6CYZByZIi=Mb@Mb@Mb@9999 99=rh|?"~j?Y=>y=S===A=@ 9)=A9Y9bDUVDUyeP %eC=ٔm:Q-m>9iYi=mFyubWEu<Eu>yQ 5w5} ǎ?Q 9w5}KL)}BY?Q E:yJQ I@}CDI}@:i}':}w5yɮ AjhDNOT Ignoring new targets: 54.01 m.bhRhɢZhɢ ProNav: ac range: 54.005367 m, nav range: 52.355892 m, bearing: 336.427910 deg, approach rate: -0.506677 m/s, LOS rate: -0.071160 deg/s, cmd heading: 330.589817 deg, new cmd heading: 330.501460 deg. BhXCHeadingCmd: 5.768339 target range: 54.005367 and range: 54.30 m.h;@h*h"h hgfffBdddjdZd e6?颥Bɢp-) *T>i)f顩i ei><*BUCBUIBUBBU =BQBU|DBUl;BU+Em?@i @i@i@i^AMv<E EE$E"Es:*E:VE4ZEBEh0ԩ oL,7 2?A9pYp=rFyrfWEv<Ev>xQ 5~w5z֎?Q 9~w5zM)zBY|y~PQ I~@zIDIzj;iz;zw5y ɮ  A Ejh)5DNOT Ignoring new targets: 54.01 m.bh1Rh=æZh=æM ProNav: ac range: 54.005367 m, nav range: 52.162785 m, bearing: 336.399855 deg, approach rate: -0.499910 m/s, LOS rate: -0.072897 deg/s, cmd heading: 330.501461 deg, new cmd heading: 330.416984 deg. BhMHUHeadingCmd: 5.766864 target range: 54.005367 and range: 54.30 m.hU'@h*h"h hgfffdddjdZd ?uBɢuX5:)q un>iy)}e|yyi}4ei-.<lA ?I I O > L,9 $2?A67@61@6D ;ٱ6k] >AHRS rotation from veh to nav: [[0.879567,0.470023,0.073757],[-0.475770,0.869617,0.131940],[-0.002125,-0.151142,0.988510]]6Hi%?`??`s޿?l?haXÿ@ߡ?i67@I6n^;6CY^By^IliMb@Mb@Mb@ 9v?HzG?QY>y= >u+@ )AY3AbDVDJy=q;%=6=ٔ=(:Q-E>9AYI=MFyMjWE];E]>iQ 5w5mx鎊?Q 9w5mO)mBY/?Q E:ymQ I@mPDIm;im;mw5yɮ| AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 54.01 m.bhRhߺZhߺ% ProNav: ac range: 54.005367 m, nav range: 51.938938 m, bearing: 336.354985 deg, approach rate: -0.485899 m/s, LOS rate: -0.097819 deg/s, cmd heading: 330.416985 deg, new cmd heading: 330.281794 deg. Bh%C=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.]HeadingCmd: 5.764505 target range: 54.005367 and range: 54.30 m.h]v@hY*hY"hY hYgYfafafèBdadi d jdZd?颽Bɢ 甹) l>i)xidi<]<M?@ @@/@9^AU<II)O5>BM >BI BM IBM BBI BI BM {DBM l;BM +Eԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741211bEjEˣ#4rE+/E%  E% E% 'E! "E% ;*E% :VE% '4ZE! BE% D:Q-j>9hYh=nFynnWEnO;Er>pQ 5vw5r?Q 9vw5r'P)rBYxyzjQ Iz@rVDIrK:ir:r w5y~wBɮ AǥEjh!-DNOT Ignoring new targets: 54.01 m.bh)Rh-Zh5y ProNav: ac range: 54.005367 m, nav range: 51.763588 m, bearing: 336.319020 deg, approach rate: -0.507210 m/s, LOS rate: -0.104382 deg/s, cmd heading: 330.281802 deg, new cmd heading: 330.173543 deg. BhEHeadingCmd: 5.762615 target range: 54.005367 and range: 54.30 m.hXg@h*h"h hgfffdddjdZd?BɢP;) _>i)RvidiD:<ۂ=IXg@I!@@ @@P0@ԩEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.993434^A<IaIqO}> L,W2?A2^@2MY@2];ٱ2i, :AHRS rotation from veh to nav: [[0.881841,0.465612,0.074586],[-0.471536,0.871852,0.132396],[-0.003383,-0.151922,0.988387]]2H 8??@?`-޿5?V?k+rÿ@ݠ?i2^@I2+:^;2CYBByBIbDJ VDJf2yVT<%VM=ٔZ:Q-Z>9XYX=ZFyZrWE^;E >Q 5w5 ?Q 9w5`Q)BY!y%hQ I%@\DID;i@;$w5y)ɮ- A)jhQUDNOT Ignoring new targets: 54.01 m.bhQRh]hZh]hm ProNav: ac range: 54.005367 m, nav range: 51.561016 m, bearing: 336.276676 deg, approach rate: -0.494525 m/s, LOS rate: -0.103779 deg/s, cmd heading: 330.173530 deg, new cmd heading: 330.045998 deg. BhmquHeadingCmd: 5.760389 target range: 54.005367 and range: 54.30 m.huU@hq*hy"hy hygyfyffdddjdZd@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245683Bɢ :) `>i)si_di <S=IU@IE EE&E"Ea:*E]t:VE4ZEa@a@a@a@uH@q @q@u4@q^AM<AQzAUfAI I!OM1>1U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497363Y ԛL,|q2?A2j@2we@2;ٱ2K" :AHRS rotation from veh to nav: [[0.882536,0.463705,0.078155],[-0.470224,0.871819,0.137193],[-0.004520,-0.157828,0.987456]]2H=?W??`$޿`??r3Ŀ=?i2j@I2D^;2CYNByRIi%Mb@Mb@Mb@!!!! !9% +?Dl?{GzY%>y%O >%ף!%A@ %\A)%A!Y%AbD=VD=yM:%M@=ٔU/;Q-U>9QYQ=UFyUvWE\;E>Q 5w5?Q 9w5R)BYs?Q E:yFaQ I@cDIM;is;O(w5yxBɮ AȥEjh!%DNOT Ignoring new targets: 54.01 m.bh!Rh-Zh-1E ProNav: ac range: 54.005367 m, nav range: 51.349983 m, bearing: 336.230395 deg, approach rate: -0.490177 m/s, LOS rate: -0.107941 deg/s, cmd heading: 330.045997 deg, new cmd heading: 329.906584 deg. BhE(MHeadingCmd: 5.757956 target range: 54.005367 and range: 54.30 m.hM-A@hI*hI"hI hIgQfQfQf]ՀBdYdYdYjdYZde`H@颍Bɢ@c ) \>i)p顙iOldiku <3G=I-A@IBABBBBBBBBl;B#+E-C@) @)@-4@)@5fA@5fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.749819aE EE$E"E:*E:VE4ZEBE3Թ ] BDAT read: Rx Time:05:36:08.7468 e TRx dataTimestamp_ set to:1761543370.180113e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002425ŢL,w2?ArGp@rk@r;ٱr% zAHRS rotation from veh to nav: [[0.882855,0.462710,0.080422],[-0.469616,0.871695,0.140030],[-0.005310,-0.161393,0.986876]]rH@X@?? ?2޿?@?u@Ŀ|?irGp@Iro+^;rCYByI  bDVD:2y-%-K=ٔ-;Q-->91Y1=5Fy5zWE=:E=>9Q 5Mw5=*?Q 9Mw5=S)=BYIyM`Q IM@=jDI=;i=;=+w5yYɮ] AYjhDNOT Ignoring new targets: 54.01 m.bhRhoZho ProNav: ac range: 54.005367 m, nav range: 51.160770 m, bearing: 336.188477 deg, approach rate: -0.490364 m/s, LOS rate: -0.109036 deg/s, cmd heading: 329.906579 deg, new cmd heading: 329.780361 deg. BhHeadingCmd: 5.755753 target range: 54.005367 and range: 54.30 m.h!/@h*h"h hgfffdddjdZdѦ@eBɢe P)i mN>ii)mVmiiim diuuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.253377E EE(E"E:*E:VEc44ZEa@a@a@a@ U`UAU+@ Q)UAQYUQAbDVD:ye!%6=ٔ] ;Q->9"?Y"?=Fy~WE:E>Q 5w5=?Q 9w5"U)uBYg?Q E:y+oQ I@qDI:i/:/w5=DAT read: 05:36:08.7468 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.22, 1.334,-0.402, 1.440, 1.217, PHS= 0.219,-1.574, 0.179, RAW= 148.9, 13.2, CAL= 148.8, 14.6, ROT= 1.2, -14.6 EYgot valid direction response: 05:36:08.7468 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.22, 1.334,-0.402, 1.440, 1.217, PHS= 0.219,-1.574, 0.179, RAW= 148.9, 13.2, CAL= 148.8, 14.6, ROT= 1.2, -14.6 MPDAT read: Bearing 147.8, -1.0 (Local) M~Local bearing/azimuth received: Bearing 147.8, -1.0 (Local) ]DAT read: Range 11 to 50 : 52.5 m (Round-trip 70.0 ms) speed 0.4 m/s ]*DAT read: user:477> eBDAT read: Tx time:05:36:09.8727 m$Ping request sent.mi xɿ K7> R&@ k> 6&@ w>) iA)EWjAAiEqciMM A B >B B IB BB B B B m;B 5+EE  E E %E "E :*E :VE 4ZE BE 5A >q AE.AIIIYOm>ܰL,2?A>w@>r@>;;ٱ>, FAHRS rotation from veh to nav: [[0.883279,0.461055,0.085123],[-0.468790,0.871329,0.144992],[-0.007321,-0.167973,0.985764]]>H@C? ? ʵ?޿`??5}@%ſa?i>w@I>8^;>CYNހByNIbDVVDV0y^=%^G=ٔ^&;Q-^>9b ?Yb ?=bFybWEfM:Ef>dQ 5nw5f#O?Q 9nw5fnV)fjBYlynNoQ In@fxDIf;if:f23w5ytɮv AtB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 52.22 m.bhRhZh- ProNav: ac range: 52.215378 m, nav range: 50.382992 m, bearing: 335.851005 deg, approach rate: -0.597056 m/s, LOS rate: -0.129010 deg/s, cmd heading: 329.613318 deg, new cmd heading: 329.477769 deg. 1Bh-=HeadingCmd: 5.750472 target range: 52.215378 and range: 52.50 m.h=@h9*h9"hA hAgAfAfIfIdIdIdQjdQZd]\?颅Bɢ`X) >i)Jli顉i7ci_tu!<p<=I@I ?@  @ @/@^A#'=T****** received valid address query ******R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.aAII)O=P>ԉԱ i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748632cL,b2?A2Ns@2n@2C<ٱ2b2 :AHRS rotation from veh to nav: [[0.883012,0.460938,0.088459],[-0.469282,0.870263,0.149724],[-0.007969,-0.173720,0.984763]]2H`A??>?޿`1? &*?R v<ƿ@-?i2Ns@I2#3^;2CYBԀByBuIIF=)F9AYA=MFyMWEMܮEM>QQ 5}w5U`?Q 9}w5UW)U^BYympQ I@UDIUi;iU;U6w5yyBɮ' AɥEԙjhDNOT Ignoring new targets: 52.22 m.bhRhZh  ProNav: ac range: 52.215378 m, nav range: 50.169342 m, bearing: 335.804913 deg, approach rate: -0.500287 m/s, LOS rate: -0.108390 deg/s, cmd heading: 329.477780 deg, new cmd heading: 329.338915 deg. Bh ƔHeadingCmd: 5.748048 target range: 52.215378 and range: 52.50 m.h@h*h"h hgf!f!f!d!d)d)jd)Zd-@?颽Bɢһ) =i) gi0bi"<icB=I@I1MB@I @I@U/@Q=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000468^A .=! A ؟AI I O >U+L,d<2?A2\p@2*k@2s<ٱ29 :AHRS rotation from veh to nav: [[0.882837,0.460549,0.092163],[-0.469596,0.869242,0.154590],[-0.008916,-0.179757,0.983671]]2H2@?y?@? ޿ ??~BGǿ:z?i2\p@I2^;2CYB΀ByBmIiMMb@Mb@Mb@IIII I9M??MbYMf?yM>MIM@ MrA)MAIYM(AbDaVDayu%uG=ٔu;Q-u>A}AAAyB>BCBIBBBBBB&m;BA+EBMCBMCBMCBM =BM =CM49"?Y"?=FyWEbE>Q 5w5s?Q 9w5SY)QBYf ?Q E:yQ I@DIe ;iz ;:w5yzBɮa AʥEjhDNOT Ignoring new targets: 52.22 m.bhRhܺZhܺ ProNav: ac range: 52.215378 m, nav range: 49.948402 m, bearing: 335.765754 deg, approach rate: -0.541492 m/s, LOS rate: -0.096398 deg/s, cmd heading: 329.338908 deg, new cmd heading: 329.220911 deg. BhPHeadingCmd: 5.745989 target range: 52.215378 and range: 52.50 m.h$߷@h*h"h h!g!f!f!f-Bd)d)d)jd)Zd5? Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253999~G gA!U9UgAYUA额Bɢ)hy =i)ef顡i 9aE EE+E"E:*E&p:VE [4ZEBE3H=I$߷@I)A@ @@/@@@bAQ^A &t@=U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504911y A I I O- >AL,3?AY~ŀBy~bIbD VD :y*%%P=ٔ%Q-%>9!Y)=-Fy-WE-E->1Q 5}w55?Q 9}w55Z)5FBYyyQ I@5DI58 {=L,I*3?A6e@6`@6v0<ٱ6ڏE BAHRS rotation from veh to nav: [[0.882213,0.460198,0.099587],[-0.470727,0.866867,0.164187],[-0.010770,-0.191726,0.981389]]6H;?@s? ~?@b ޿`??`xȿg?i6e@I6~^;4YJ€ByJ_I LLNAL checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009064iMMb@Mb@Mb@IIII I9ME?X9v?/$YM?yM=MMxAM@ M\A)IIYMQAbDuVDuyAm%D=ٔN;Q->9Y=FyWEIE>Q 5]w5[?Q 9]w5j\);BY]) ?Q E]:y]Q Ie@DIByB}rIB}ҀBB} =ByByB}Mm;B}U+Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260248 ^A JM=D zD ?AE  E E %E "E =;*E :VE 4ZE BE {I9 [%L,lD3?A2\@2{W@2)4<ٱ2J :AHRS rotation from veh to nav: [[0.881688,0.460614,0.102282],[-0.471706,0.865540,0.168326],[-0.010996,-0.196658,0.980411]]2H6?@z?*/?m0޿?`?!,ɿ_?i2\@I25^;2CY^By^UIbDf VDf2yn%nV=ٔrF:Q-r>9pYt=vFyvWEvq?Ev>xQ 5w5zᦏ?Q 9w5z])z1BY y Q I @zDIz,7;izI8;zDw5yvBɮ A5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 52.22 m.bhARhMغZhMغ] ProNav: ac range: 52.215378 m, nav range: 49.316990 m, bearing: 335.657183 deg, approach rate: -0.559626 m/s, LOS rate: -0.094667 deg/s, cmd heading: 328.996279 deg, new cmd heading: 328.893798 deg. Bh]eHeadingCmd: 5.740280 target range: 52.215378 and range: 52.50 m.he_@ha*ha"ha hagifififidqdqdqjdqZd}u@颥Bɢ}*) >=i)d项i@^i (<S=I_@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512543=}UAA@ @@/@@>@=i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764450^A% QO=ԙ E  E E 'E "E :*E M:VE '4ZE a @a @a @a @I1IAOU>ML,b3?A2L@2`G@28w1<ٱ2&L :AHRS rotation from veh to nav: [[0.880760,0.462199,0.103121],[-0.473439,0.864380,0.169416],[-0.010831,-0.198037,0.980135]]2H//? ?f? L޿@?`p?.CYɿC]?i2L@I2 ^;0YBByBNIbDNVDNN2yVWּ%V1=ٔ^|Q-^>9dYd=5Fy=WEE%EM>yaQ 5w5e经?Q 9w5e_)e%BYyQ I@eDIeBy B} YIB} BBy By B} zDB} m;B} y+E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268406bEu!4jEu*4rEu͈t0E  E E )E "E :*E Z:VE FA4ZE BE p%}L,3?A>;@>6@>"1<ٱ>}K JAHRS rotation from veh to nav: [[0.879791,0.464007,0.103276],[-0.475238,0.863495,0.168891],[-0.010811,-0.197669,0.980209]]>H?'?I?Ep?@Mj޿@?:? C$;Mɿ`]?i>;@I>^;>CYRByRAIIVG>)V=V>V=i-Mb@Mb@Mb@)))) )9- rh?J +?Zd;OY-C ?y-=-j-A-@ ))-A)Y-GA=@A9bDEVDEJyU#%U =ٔ]a%Q-]>9YYY=eFyeWEeEe>iQ 5uw5mgя?Q 9uw5mb)mBY} ?Q E}:y}*Q I}@mDIm ;im` ;m_Mw5yxBɮkḀEjhDNOT Ignoring new targets: 52.22 m.bhRhZh ProNav: ac range: 52.215378 m, nav range: 48.791622 m, bearing: 335.583390 deg, approach rate: -0.602350 m/s, LOS rate: -0.069329 deg/s, cmd heading: 328.763861 deg, new cmd heading: 328.671230 deg. BhQ>HeadingCmd: 5.736395 target range: 52.215378 and range: 52.50 m.h@h*h"h hgfffBdddjdZd H @q颽Bɢ_) ;i)7uci-[im e+<^S=I@IDAT read: 05:36:12.3446 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.26,-1.032,-2.744,-0.876,-1.072, PHS= 0.142,-1.627, 0.152, RAW= 150.3, 14.9, CAL= 150.5, 16.6, ROT= 359.5, -16.6 Ygot valid direction response: 05:36:12.3446 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.26,-1.032,-2.744,-0.876,-1.072, PHS= 0.142,-1.627, 0.152, RAW= 150.3, 14.9, CAL= 150.5, 16.6, ROT= 359.5, -16.6 PDAT read: Bearing 149.6, -4.0 (Local) ~Local bearing/azimuth received: Bearing 149.6, -4.0 (Local) DAT read: Range 11 to 50 : 50.7 m (Round-trip 67.7 ms) speed 0.5 m/s *DAT read: user:478> R#Rx 1: Read range and direction messages. ^direction in FSK: [0.958286,-0.008363,0.285688] Fpublishing direction and range infoyVG?`k WԷH?YJB )DIsh>iAп>'@%>0(@ V>)^@IV/.>?n&:0?֛n? J?)zIDiV=T****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.Y @  @ @ /@ ԁ ^A- CT=I I ԩ O >L,3?AB1@B,@BH<.<ٱBKNBDAT read: Tx time:05:36:13.4727 N$Ping request sent.N9pYt=vFyvWEvEEz>xQ 5~w5z ㏊?Q 9w5zc)zBYy¨Q I@zDIz:izw:zPw5y ɮaAiqiu*3?AJiuIBRiuIBjiu ƺ@buH)H@JJڿz ,@RuVG?`k WԷH?ZiuDbiuVjuFE@W4`Uw9b+@Zu ,@? Nڿ14`?2iu:iu/B"iuVK?*iu,BiuBiqiuVquiqiuVBBiuy L,y3?A06!@6@6&<ٱ6¿G >AHRS rotation from veh to nav: [[0.878284,0.467257,0.101431],[-0.478032,0.862614,0.165476],[-0.010176,-0.193823,0.980984]]6H`??@i? ޿ ?T.?8ׄ@.ȿ8d?i6!@I6E^;4Y^By^5Ii}Mb@Mb@Mb@yyyy y9}Dl?bX9ȶ?:vY}O ?y}E=}Ty}@ }A)}AyY}AbDVDyN%?=ٔQ->9Y=FyWEE>Q 5w5?Q 9w5f)BY,?Q E:yQ I@DI:i3:Tw5yyBɮAͥEjhDNOT Ignoring new targets: 50.42 m.bhRh*yZh*y ProNav: ac range: 50.424316 m, nav range: 48.347095 m, bearing: 335.500319 deg, approach rate: -0.561423 m/s, LOS rate: -0.054459 deg/s, cmd heading: 328.586905 deg, new cmd heading: 328.517722 deg. BhHeadingCmd: 5.733716 target range: 50.424316 and range: 50.70 m.hz@h*h!"h! h!g!f!f)f)d)d)d)jd1B=>B=CB=FIB=BB= =B9B=yDB=m;B=+EZdUߓ?}Bɢ,}) pi)ݶc顁iRXi f.<rR=Iz@Iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.507560E EE%E"E:*Ez:VE 4ZEBE.A > AY Ia Iq  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759442O >L,*U3?A2@2 @2<ٱ2܇C :AHRS rotation from veh to nav: [[0.877248,0.469658,0.099278],[-0.479943,0.862209,0.162022],[-0.009504,-0.189781,0.981780]]2H@k?`?Lj? a޿7? ?@vJȿj?i2@I2^;2CYBByF7IbDNVDNkyV<%V\=ٔVQ-V>9XYX=ZFyZWE^EE^>\`Q 5fw5br?Q 9fw5bg)bBYhyjQ Ij@bDIb:ib:bWw5ylɮrAp~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 50.42 m.bh RhrZhr% ProNav: ac range: 50.424316 m, nav range: 48.139587 m, bearing: 335.480591 deg, approach rate: -0.555930 m/s, LOS rate: -0.053080 deg/s, cmd heading: 328.517728 deg, new cmd heading: 328.458290 deg. Bh%-HeadingCmd: 5.732678 target range: 50.424316 and range: 50.70 m.h-r@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE@RD?Bɢ;~) `i)5di?AWi %c/<%ƯN=I%r@I!@@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011414E EE'E"E*Ex:VE'4ZEa@a@a@a@^AMdO=A A .AI I O >L,73?AbE@b@b<ٱbB nAHRS rotation from veh to nav: [[0.876738,0.470731,0.098704],[-0.480881,0.861818,0.161316],[-0.009128,-0.188897,0.981955]]bH=?s ? D? ޿??@̱-ȿ,l?ibE@Ib^;bCYvByv<IiMb@Mb@Mb@ 9Dl?+η?9E ?YM ?=MFyMWEUEU>YQ 5ew5]?Q 9ew5]6j)]BYmR?Q Em:ymiQ Im@]DI]:i]s:][w5yqɮuA}ΥEjhDNOT Ignoring new targets: 50.42 m.bhRhZh ProNav: ac range: 50.424316 m, nav range: 47.885468 m, bearing: 335.453979 deg, approach rate: -0.550894 m/s, LOS rate: -0.057998 deg/s, cmd heading: 328.458278 deg, new cmd heading: 328.378018 deg. Bh6HeadingCmd: 5.731277 target range: 50.424316 and range: 50.70 m.hf@hi*hi"hi higififqfuـBdqdydyjdyZd}?Bɢx) i)Ldi}UiI -0<-P=I-f@I)=x>i=>I@ @@@@=@=qA-@AA-@AB5>B1B5:IB5BB1B1B5zDB5m;B5+E^A ;O=i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516989ԙ E  E E (E "E :*E Ar:VE c44ZE BE #M,4?A:`@:.@: <ٱ:SB FAHRS rotation from veh to nav: [[0.876220,0.471789,0.098250],[-0.481835,0.861298,0.161247],[-0.008549,-0.188628,0.982011]]:H ?@1? &?c޿?ຣ?၁$ȿ l?i:`@I:x__;:CYNByN;IbDVVDVJy^M%^g=ٔ^ֺQ-^>9b"?Yb"?=bFybWEfJKEf>dQ 5nw5f=*?Q 9nw5fk)fBYpyrQ Ir@fDIfH!;if:f^w5ytɮvAtjhDNOT Ignoring new targets: 50.42 m.bhRhPZh%P- ProNav: ac range: 50.424316 m, nav range: 47.690598 m, bearing: 335.433633 deg, approach rate: -0.564209 m/s, LOS rate: -0.059150 deg/s, cmd heading: 328.378010 deg, new cmd heading: 328.316722 deg. Bh5`"=HeadingCmd: 5.730208 target range: 50.424316 and range: 50.70 m.h=]@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM`*?}Bɢ}Ş)y }ļi)d顁iTi ԑ1<&Q=I]@I @  @ @ /@ Թ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767334^AQO=A I) I9 OE > M,U4?A4<ɰ2@2@2<ٱ2vC :AHRS rotation from veh to nav: [[0.875775,0.472520,0.098708],[-0.482649,0.860658,0.162228],[-0.008297,-0.189717,0.981804]]2HX?@=?@D?޿??%Hȿj?i2@I2Ȑ_;2CYBByB6IJ=J=JAAHbDNVDNyVٞ%VL=ٔVL$Q-Z>9XYX=ZFyZWE^E^>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019470dQ 5jw5fy ; M,5~74?A6^@6,@6*<ٱ6B BAHRS rotation from veh to nav: [[0.875516,0.473069,0.098370],[-0.483121,0.860469,0.161827],[-0.008089,-0.189207,0.981904]]6H:?@F?.?s޿?`?`ِ7ȿk?i6^@I6TT_;6CYJByJ7IiMb@Mb@Mb@ 9Pn?&1?y&1|Y?y=`xA@ )AYAbD5VD5kyE[;%EA=ٔMQ-M>9IYI=UFyUWEUEU>YQ 5ew5]M?Q 9ew5]o)]BYm?Q Em:ym;Q Im@]DI]@:i]:]fw5yqɮuAyjhDNOT Ignoring new targets: 50.42 m.bhRhZh ProNav: ac range: 50.424316 m, nav range: 47.246071 m, bearing: 335.379620 deg, approach rate: -0.522311 m/s, LOS rate: -0.073037 deg/s, cmd heading: 328.246351 deg, new cmd heading: 328.153945 deg. BhHHeadingCmd: 5.727367 target range: 50.424316 and range: 50.70 m.hF@h*h"h hgfffBdddjdZd@aGB>hABB4IBBEu9EhAYEaABBBBim;B]+EBCBCBB =B =C5额Bɢ) i)e顡iDQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523671i J4<V=IF@IIDzDE EEE"E:*E:VEZEBEa2EaJE [(M,;pQ4?A2l@2:@2<ٱ2B :AHRS rotation from veh to nav: [[0.875578,0.472978,0.098265],[-0.483008,0.860607,0.161427],[-0.008217,-0.188805,0.981980]]2H`?CE?'?޿?? Ӏ*ȿbl?i2l@I2_;2CYBByB9IbDJVDJ1yR;%RT=ٔVZ9Q-V>9TYT=VFyZWEZ69EZ>\Q 5bw5^^?Q 9bw5^`q)^BYdyf'Q If@^DI^6:i^:^|iw5yjBɮnAnإEuB*** querying acoustic contact ***iq iqjhyDNOT Ignoring new targets: 50.42 m.bhRhZh ProNav: ac range: 50.424316 m, nav range: 47.045208 m, bearing: 335.351375 deg, approach rate: -0.500558 m/s, LOS rate: -0.070690 deg/s, cmd heading: 328.153952 deg, new cmd heading: 328.068854 deg. Bh BHeadingCmd: 5.725882 target range: 50.424316 and range: 50.70 m.hl:@h*h"h hgfffdddjdZdj@}Bɢ})  iԩ)f顩iAPiun66<\=Il:@IA@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027493E EE$E"E:*Ez:VE4ZEa@a@a@a@^AgW=A>A? A5 .AIY I O >1 NM,.9m ?Ym ?=mFymWEmEu>qQ 5}w5us?Q 9w5u}s)uBY)?Q E:yQQ I@uDIu$(!8<Fd=I(@I-?@) @)@50@1@==@9BYA]4<B]>B]CB]:IB]BB] =BYB]{DB]$m;B]A+Ea E DAT read: 05:36:15.9418 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406,-0.12,-0.143,-1.843,-0.015,-0.229, PHS= 0.188,-1.568, 0.170, RAW= 149.5, 13.8, CAL= 149.6, 15.2, ROT= 0.4, -15.2 M Ygot valid direction response: 05:36:15.9418 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406,-0.12,-0.143,-1.843,-0.015,-0.229, PHS= 0.188,-1.568, 0.170, RAW= 149.5, 13.8, CAL= 149.6, 15.2, ROT= 0.4, -15.2 U PDAT read: Bearing 148.4, -2.7 (Local) U ~Local bearing/azimuth received: Bearing 148.4, -2.7 (Local) e DAT read: Range 11 to 50 : 48.7 m (Round-trip 65.0 ms) speed 0.4 m/s e *DAT read: user:479> m BDAT read: Tx time:05:36:17.0727 m $Ping request sent.u i 9ȿ {.> <&@ Ϣv> '@ ԇ>) ;I ԇ A6es?HUO?36q? ?) uI ;i ԇ  :publishing transmit ping timei  Fpublishing direction and range infoy  U@8?'J{?;f$?Y ) I i ) I A6es?HUO?36q? ) I i E  E E &E "E :*E k:VE 4ZE BE p%r"M,D4?AxvJ@v@vh-<ٱv> AHRS rotation from veh to nav: [[0.876095,0.472275,0.097025],[-0.482056,0.861749,0.158147],[-0.008922,-0.185323,0.982637]]vH ?9?@ָ?`޿r? *>? E`ǿq?ivJ@IvO^;vCYBy6IbD-VD-fy=2%=I=ٔ=t:Q-=>9AYA=EFyEWEEG;EM>qQ 5}w5uك?Q 9}w5u u)uBYyy}Q I}@uDIu6:iu:urqw5yɮAiiE4?AJiABRiABji5ʺ@bgz^G@5K?Xۮf)@RU@8?'J{?;f$?Zi;biԇjk*E@#?=4yk(@Z,/?b ڿƺ!07?2i:iV)B"i%Rs?*iqBiBi%Rs?i[^{iBi:Bi@ addTargetRange:: Added new target pos. range: 48.700001 m, deltaT: 3.787214 s, deltaX: -2.000000 m, approachRate: -0.528093 m/s, rangeRepo size: 4 - Added new target pos. range: 48.435558 m, bearing: 334.445967 deg, lat: 36.779379 deg, lon: -121.859698 deg, deltaT: 3.787214 s, deltaX: -1.988758 m, approachRate: -0.525124 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 48.44 m.bh1Rh5Zh1E ProNav: ac range: 48.435558 m, nav range: 46.696838 m, bearing: 335.038406 deg, approach rate: 0.000000 m/s, LOS rate: -0.081641 deg/s, cmd heading: 327.940413 deg, new cmd heading: 327.846781 deg. BhAHeadingCmd: 5.722006 target range: 48.435558 and range: 48.70 m.h@h*h"h hgfffdddjdYH@ZdY?Bɢݒ)  Xi ) Kg  i HMiw9<U{n=I@I!B@ @@4@I^AJc=y A ؟AI I) O= >E}  E} Ey Ey "E} :*E} ~:VEy ZEy a @a @a @a @(M, 4?A2b@21@2I<ٱ2R= :AHRS rotation from veh to nav: [[0.876333,0.471915,0.096623],[-0.481617,0.862204,0.157002],[-0.009217,-0.184121,0.982860]]2H ?3?I?`޿,??wHǿ`s?i2b@I2#+_;2CYBByB9IbDJVDJyRv8<%RU=ٔVI:Q-V>9V"?YV"?=VFyVWEZȪ:EZ>\Q 5bw5^?Q 9bw5^v)^BYdyf]Q If@^DI^" ;i^:^tw5yjBɮjAjڥEjh|DNOT Ignoring new targets: 48.44 m.bhRh̺Zh̺ ProNav: ac range: 48.435558 m, nav range: 46.503223 m, bearing: 335.005731 deg, approach rate: -0.527502 m/s, LOS rate: -0.089393 deg/s, cmd heading: 327.846785 deg, new cmd heading: 327.748353 deg. BheuHeadingCmd: 5.720288 target range: 48.435558 and range: 48.70 m.h @h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@: ?iMBɢ$璼) Wi)giPLi- U%;<]u=I] @Iiԉm?@i @i@m4@iԱ^A m=A fAzA eA A B >B B @IB BB =B B zDB m;B 4+EI I O >.M,T4?A2@2@2p<ٱ2؍? :AHRS rotation from veh to nav: [[0.876371,0.471668,0.097483],[-0.481549,0.861943,0.158637],[-0.009201,-0.185968,0.982513]]2H`; ?@/??@޿?6N?ׂ ǿp?i2@I2C_;2CY^BybGIIbR=)b>ԹiMb@Mb@Mb@ 9%C?B`"۹?~jtYZ?y=D A)AYAbDVDN2y`V=%7=ٔsQ->9Y=FyWE79E>Q 5 w5]?Q 9 w5yx)BY ?Q E:y;Q I@DI:i ;xw5yɮA!bEjE4rE/E= E=E='E9"E=:*E=1:VE='4ZE9BE=5r5M,j4?A2@2N@2}<ٱ2uC :AHRS rotation from veh to nav: [[0.875637,0.472687,0.099128],[-0.482890,0.860567,0.161993],[-0.008734,-0.189715,0.981800]]2H8?@?l`?`޿`É?`2?みHȿj?i2@I2t_;2CYBByB;IbDJVDJkyVM[%Va=ٔZQ-Z>9XYX=ZFyZWE^E^>!Q 5-w5%%?Q 9-w5%z)%BY)y-!Q I-@%DI%:i%:%{w5y=Bɮ=A=ۥEUB*** querying acoustic contact ***iY iYjhquDNOT Ignoring new targets: 48.44 m.bhqRh}6Zh6 ProNav: ac range: 48.435558 m, nav range: 46.074520 m, bearing: 334.942216 deg, approach rate: -0.525165 m/s, LOS rate: -0.077902 deg/s, cmd heading: 327.644065 deg, new cmd heading: 327.556921 deg. BhUHeadingCmd: 5.716947 target range: 48.435558 and range: 48.70 m.h:@h*h"h hgfffdddjdZd@?ÀBɢߗ) ki)iiIiG><ۤ{=I:@I!@@ @@/@uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.AEU EUEU(EQ"EU:*EU:VEUc44ZEQa]@a]@a]@a]@^A|=qAI Iq I O >ԙ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750792;M,x4?A2@2߸@2Ǭ <ٱ2E :AHRS rotation from veh to nav: [[0.874716,0.474159,0.100227],[-0.484561,0.859311,0.163661],[-0.008525,-0.191723,0.981412]]2H`?@X?|?@ ߿@z??ucȿ g?i2@I2d_;2CYBByB?Ii Mb@Mb@Mb@     9 Cl?:v?y&1Y d>y = `e 1A X@ rA) XA Y bDVD1yb<%;=ٔsQ->9Y=FyWEE>Q 5w5iǐ?Q 9w5{)BY?Q E:yQ I@DI;i;w5yɮAjh)-DNOT Ignoring new targets: 48.44 m.bh)Rh5Zh5E ProNav: ac range: 48.435558 m, nav range: 45.861538 m, bearing: 334.907076 deg, approach rate: -0.498346 m/s, LOS rate: -0.082604 deg/s, cmd heading: 327.556912 deg, new cmd heading: 327.451003 deg. BhEbMHeadingCmd: 5.715098 target range: 48.435558 and range: 48.70 m.hM@hI*hI"hI hQgQfQfYf]BdYdYdYjdaZde`?q颕ŀBɢ[<) 0gi)0i顙i[Hi+n@<{=I@I@ @@@AAB>BBBB =BB{DBm;B:+Eԡ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002983EU EUEU%EQ"EUV:*EU҆:VEU 4ZEQBEU9 BM,!v 5?AY By <IbDVDk1y-H%-S=ٔ-Q-5>91Y1=5Fy5WE=E=>AQ 5Mw5E֐?Q 9Mw5ES})EBYQyQQ IU@EDIE`:iE:Ew5ymBɮm AijhDNOT Ignoring new targets: 48.44 m.bhRh4Zh4 ProNav: ac range: 48.435558 m, nav range: 45.671246 m, bearing: 334.875400 deg, approach rate: -0.494788 m/s, LOS rate: -0.082707 deg/s, cmd heading: 327.450989 deg, new cmd heading: 327.355564 deg. Bh cHeadingCmd: 5.713432 target range: 48.435558 and range: 48.70 m.hpԶ@h*h"h hgfffdddjdZd`@ȀBɢ) 0i)?jiFi X :A< K=I pԶ@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255014?@ @@/@^A|=) A! I) I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506838Em  Em Em 'Ei "Em :*Em :VEm '4ZEi au @au @au @au @Q HM,Z%5?AB)@B@B?;ٱB`E JAHRS rotation from veh to nav: [[0.871888,0.479347,0.100190],[-0.489651,0.856380,0.163872],[-0.007249,-0.191936,0.981381]]BH??` ? sV߿xg??}[ȿ`xg?iB)@IBLR_;BCYjByj?IbDrVDrβyzWg<%~M=ٔ~RQ-~>9Y=FyWE oE >!Q 5=w5%搊?Q 9=w5%~)%BYAyEQ IM@%DI%c;i%h;%w5yiɮuAqjhDNOT Ignoring new targets: 48.44 m.bhRhZhe ProNav: ac range: 48.435558 m, nav range: 45.472321 m, bearing: 334.843494 deg, approach rate: -0.485558 m/s, LOS rate: -0.078220 deg/s, cmd heading: 327.355558 deg, new cmd heading: 327.259422 deg. BhmVHeadingCmd: 5.711754 target range: 48.435558 and range: 48.70 m.hƶ@h*h"h hgfffdddjdZdR@1ʀBɢ J)  i ) ~kiEiMIC<Lr=Iƶ@IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759559Y@@ @@/@ԁ ^A X=A eAzA B >B CB B B B B B Gm;B T+EԱ Ai Iq I  BDAT read: Rx Time:05:36:19.5394  TRx dataTimestamp_ set to:1761543381.028210 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011960O >PM,rB5?A2A@2@2O;ٱ2пF :AHRS rotation from veh to nav: [[0.870458,0.481826,0.100729],[-0.492195,0.854778,0.164617],[-0.006784,-0.192870,0.981201]]2H`?`;?``ɹ?!߿WZ?(?{ȿ@e?i2A@I2D_;2CYBByB6IE^ E^E\E\"E^;*E^:VE\ZE\BE^Ay=C@ A)AY AbDVDy z% )=ٔ {Q->9Y=FyWEŻE>!)Q 5-w5%L?Q 95w5%)%BY5A?Q E5:y5aQ I5@%"DI%3;i% 3;%w5y=BɮE<AEܥEjhDNOT Ignoring new targets: 48.44 m.bhRhﯺZhﯺ ProNav: ac range: 48.435558 m, nav range: 45.231880 m, bearing: 334.806778 deg, approach rate: -0.500986 m/s, LOS rate: -0.076908 deg/s, cmd heading: 327.259416 deg, new cmd heading: 327.148685 deg. Bh%S-HeadingCmd: 5.709822 target range: 48.435558 and range: 48.70 m.h-ܶ@h1*h1"h1 h1g9f9fifmBdqdqdqjdyZd}@" @̀Bɢd) li)mliCi3.E<>q=Iܶ@IY@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262739ԁ^A | u=Ա A) I1 IA O] >-VM,1 \5?A2@2|@2;ٱ2^F :AHRS rotation from veh to nav: [[0.868824,0.484853,0.100315],[-0.495085,0.853202,0.164124],[-0.006013,-0.192259,0.981326]]2H@g??)F=J=J=HHbDNVDNyV;%Vc=ٔZ< Q-Z>9XYX=ZFy^WE^E^>`Q 5fw5b?Q 9fw5bt)bBYhyjQ Ij@b(DIb:ib9:bw5ylɮn4Al~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 48.44 m.bh RhnZhn% ProNav: ac range: 48.435558 m, nav range: 45.051613 m, bearing: 334.779756 deg, approach rate: -0.512462 m/s, LOS rate: -0.077125 deg/s, cmd heading: 327.148685 deg, new cmd heading: 327.067296 deg. Bh%S-HeadingCmd: 5.708401 target range: 48.435558 and range: 48.70 m.h-9@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd= @πBɢ}L) i)jmiSRBi%TvF<j=I9@Iy-DAT read: 05:36:19.5394 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.18, 1.839, 0.145, 1.956, 1.811, PHS= 0.130,-1.622, 0.100, RAW= 149.2, 15.8, CAL= 149.4, 17.6, ROT= 0.6, -17.6 =Ygot valid direction response: 05:36:19.5394 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.18, 1.839, 0.145, 1.956, 1.811, PHS= 0.130,-1.622, 0.100, RAW= 149.2, 15.8, CAL= 149.4, 17.6, ROT= 0.6, -17.6 EPDAT read: Bearing 150.4, -3.1 (Local) M~Local bearing/azimuth received: Bearing 150.4, -3.1 (Local) ]DAT read: Range 11 to 50 : 46.8 m (Round-trip 62.5 ms) speed 0.4 m/s e*DAT read: user:480> mBDAT read: Tx time:05:36:20.6227 m$Ping request sent.uiϿ=r&@0>&@ nF>)+ }\M,Ȳu5?A2Yd@2(_@2;ٱ2iJF :AHRS rotation from veh to nav: [[0.867027,0.488064,0.100294],[-0.498235,0.851331,0.164312],[-0.005189,-0.192433,0.981296]]2H?n? +?@uȿf?i2Yd@I24m_;0YvByv4IiuMb@Mb@Mb@qqqq q9u+?EԸ?/$Yuv>yu=uuAu9@ u&A)u AqYuAbDVD02ye%==ٔQ->9 ?Y ?=FyWE E>Q 5w5!?Q 9w5^)BY?Q E:y#Q I@/DI ;i ;w5yBɮWAݥEi)i-ob5?AJi-/:BRi-/:Bji-@b-'.F@K1?%,@R- ?BB:IBBB =BBBm;By+EBCBBB =B =C֮56GAfA1ed9mAfAYm&Ayx?AрBɢ{) |ǽi)Zoi<@i4>H<2e=IԜ@I!@ @@0@E EE'E"E;*EVE'4ZEBE@A >y A ؟AI I O > dM,5?A2J@2E@2T;ٱ2F JAHRS rotation from veh to nav: [[0.865482,0.490702,0.100757],[-0.500917,0.849672,0.164742],[-0.004771,-0.193052,0.981177]]2H?g?3˹?`0? F?s ȿ e?i2J@I21_;0YRByV'IbDbVDbfyjF%jL=ٔjQ-j>9n"?Yn"?=nFynWEnEr>tQ 5zw5v3*?Q 9zw5v))vBYxyzQ Iz@v5DIv:iv|:v)w5y|ɮAjh)-DNOT Ignoring new targets: 46.55 m.bh)Rh5Zh5E ProNav: ac range: 46.546284 m, nav range: 44.727787 m, bearing: 334.397686 deg, approach rate: -0.507496 m/s, LOS rate: -0.067577 deg/s, cmd heading: 326.966620 deg, new cmd heading: 326.886146 deg. BhE9MHeadingCmd: 5.705239 target range: 46.546284 and range: 46.80 m.hMR@hI*hI"hI hIgQfQfQfQdYdYdYjdYZde`?颍ӀBɢ) (i)p顑i)j?iI]I<n?`=IR@Iԡ9@9 @9@=/@9^A]0f=E=  E= E= ,E9 "E= :*E= :VE= g4ZE9 aE @aE @aE @aM @A I I O >5jM,Ѫ5?A22@2`-@2K9;ٱ2bK >AHRS rotation from veh to nav: [[0.863985,0.492779,0.103433],[-0.503496,0.847419,0.168444],[-0.004645,-0.197611,0.980269]]2H`ĥ? ?`z?@ ??$s SKɿ ^^?i22@I2I_;0YJByJI XXbD^VD^Nyf%fK=ٔj'Q-j>9hYl=nFynWEnEn>pQ 5]w5rS:?Q 9ew5r)rzBYyvQ I@ri!>)@) @1@5p4@11B% >B! B% 4IB% BB! B! B% |DB% m;B% +EY ^AU |^=DI zDM @AEU  EU EU &EQ "EU l;*EU k:VEU 4ZEQ BEU YF[qM,N5?A@l@O";ٱcO ]AHRS rotation from veh to nav: [[0.862264,0.495374,0.105381],[-0.506442,0.845034,0.171562],[-0.004063,-0.201301,0.979521]]H`? 4?:?`4 ??Fp<ɿ9 Y = Fy WE OE>Q 5w5'N?Q 9%w5h)rBY%?Q E%:y%Q I%@DDI ;iL ;w5y1ɮ5A1jhDNOT Ignoring new targets: 46.55 m.bhRh rZh r ProNav: ac range: 46.546284 m, nav range: 44.273254 m, bearing: 334.347645 deg, approach rate: -0.557444 m/s, LOS rate: -0.053018 deg/s, cmd heading: 326.807176 deg, new cmd heading: 326.735238 deg. Bh%HeadingCmd: 5.702606 target range: 46.546284 and range: 46.80 m.h%{@h!*h)"h) h)g)f)f1f5Bd1d1d9jd9ZdE!?mـBɢm, )q u\iq)uuqyi}e;i}۠jL<T=I{@I@ @@/@1Y ^A5 5[=A= dAzA= dAA .AI I O >|wM,D5?A>@>@>'zv;ٱ>uQ FAHRS rotation from veh to nav: [[0.860683,0.497859,0.106587],[-0.509127,0.843135,0.172952],[-0.003761,-0.203123,0.979146]]>H ??BI?@J?M#? @nɿ)U?i>@I>_;}M,5?A2o@2>@2(`;ٱ2 gQ :AHRS rotation from veh to nav: [[0.859398,0.500049,0.106709],[-0.511296,0.841851,0.172809],[-0.003420,-0.203071,0.979158]]2H/?e?JQ?\q??l?ɿCU?9E"?YE"?=EFyEXEE,ŻEE>IQ 5Uw5Ml?Q 9]w5MA)MfBY]?Q E]:y]#ȾQ I]@MPDIMX;iM ;Mw5yiɮm AiBBB'IBBBBBBm;B+Ejh5DNOT Ignoring new targets: 46.55 m.bh1Rh5.Zh5.E ProNav: ac range: 46.546284 m, nav range: 43.884659 m, bearing: 334.315728 deg, approach rate: -0.509828 m/s, LOS rate: -0.038236 deg/s, cmd heading: 326.687074 deg, new cmd heading: 326.639076 deg. BhEѺmHeadingCmd: 5.700927 target range: 46.546284 and range: 46.80 m.hum@hq*hq"hq hqgqfyfyf}BdyddjdZd @݀BɢZҼ) f"i)xiQ9iN<4#H=Im@Iiԡmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502850@@ @@/@D9D=R=bEĀ'4jE^+4rE0EE EEEE&EA"EE:*EE:VEE4ZEABEE< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753945 M,G6?ARذ@R^ӷ@Ro&^;ٱRjQ ZAHRS rotation from veh to nav: [[0.858405,0.501723,0.106835],[-0.512961,0.840940,0.172310],[-0.003390,-0.202714,0.979232]]RHx?`?Y?,j?A?`k ɿU?iRذ@IRq_;RCYbBybIbDjVDjlyv%vP=ٔvqQ-z>9xYx=zFyz XE~rE~>Q 5 w53|?Q 9 w5G)`BY yɾQ I@WDI:i:w5yBɮvAEjhAEDNOT Ignoring new targets: 46.55 m.bhIRhM*ZhM*] ProNav: ac range: 46.546284 m, nav range: 43.684101 m, bearing: 334.301124 deg, approach rate: -0.509669 m/s, LOS rate: -0.037283 deg/s, cmd heading: 326.639071 deg, new cmd heading: 326.595057 deg. Bhe̺eHeadingCmd: 5.700159 target range: 46.546284 and range: 46.80 m.heg@hi*hi"hi higififqfqdqdqdyjdyZd}@颭ހBɢ) -i)z顱iT7i2AO<dD=Ig@IU?@Q @Q@U-0@Q9BDAT read: Rx Time:05:36:23.0872 TRx dataTimestamp_ set to:1761543384.556708checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007592^A<H=A>A?E] E]E])EY"E];*E]v:VE]FA4ZEYae@ae@ae@ae@A I I O >a M,-6?Aj9Ͱ@jȷ@j1P;ٱjN AHRS rotation from veh to nav: [[0.857695,0.503160,0.105775],[-0.514148,0.840604,0.170399],[-0.003177,-0.200534,0.979682]]jH=r?? ? s ;?? :jɿ Y?ij9Ͱ@Ijy_;jC9Y-By-Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257989i-Mb@Mb@Mb@)))) )9-+?333333?MbY-v>y-=--A-X@ -A)- A)Y-G AbDEVDE1yUL<%U)=ٔ]Q-]>9YYY=eFyeXEe;Ee>iQ 5uw5m?Q 9}w5m)mZBY}?Q E}:y}ʾQ I}@m_DIm':imQ:mIw5yɮ]AjhDNOT Ignoring new targets: 46.55 m.bhRhZh ProNav: ac range: 46.546284 m, nav range: 43.441525 m, bearing: 334.284423 deg, approach rate: -0.501281 m/s, LOS rate: -0.034705 deg/s, cmd heading: 326.595057 deg, new cmd heading: 326.544675 deg. BhHeadingCmd: 5.699280 target range: 46.546284 and range: 46.80 m.h`@h*h"h hgfffBdddjdZd } @BɢSּ) +i)}!i%ޭ5i-z-Y1Q<-C=I-`@I)iA@ @@0@ԙB>BB!IBBB =BB{DBjm;Bf+E^A B= DAT read: 05:36:23.0872 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.00, 0.733,-1.048, 0.779, 0.611, PHS= 0.224,-1.614, 0.124, RAW= 147.2, 14.0, CAL= 147.1, 15.4, ROT= 2.9, -15.4 Թ  Ygot valid direction response: 05:36:23.0872 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.00, 0.733,-1.048, 0.779, 0.611, PHS= 0.224,-1.614, 0.124, RAW= 147.2, 14.0, CAL= 147.1, 15.4, ROT= 2.9, -15.4  PDAT read: Bearing 147.4, -0.6 (Local)  ~Local bearing/azimuth received: Bearing 147.4, -0.6 (Local)  DAT read: Range 11 to 50 : 45.2 m (Round-trip 60.3 ms) speed 0.4 m/s  *DAT read: user:481>  BDAT read: Tx time:05:36:24.1727  $Ping request sent. M,H6?Ag6TT?-9?<?Y4B )IB`e>iο=l$@5z>O$@ >)4QO=IPiZŚ?MXh?D9Z ? M>)zI4QO=ij:publishing transmit ping timejFpublishing direction and range infoyg6TT?-9?<?Y )Ii )IPiZŚ?MXh?D9Z ? )Iiaǰ@l·@%Q;ٱK AHRS rotation from veh to nav: [[0.857343,0.504020,0.104532],[-0.514736,0.840721,0.168032],[-0.003191,-0.197868,0.980224]]HZo? ?º?x0??$j Sɿ]?iǰ@I_;CYByIbDVD2ym䔼%mW=ٔmF 8Q-u>9qYq=uFyuXE}E>Q 5w5 }M,c6?A6İ@6Y@6܁W;ٱ6tI NAHRS rotation from veh to nav: [[0.857150,0.504540,0.103603],[-0.515057,0.840898,0.166154],[-0.003288,-0.195780,0.980642]]6Hm?1%??X{?D?`8jPɿ la?i6İ@I6d`;6CYVxByVIbDbVDbyf%jX=ٔj9Q-j>9n ?Yn ?=nFynXErEr>tQ 5vw5xv?Q 9~w5v)vQBY|y~`˾Q I~@vkDIv,;iv-;vw5yɮA E EE(E"E2:*E:VEc44ZEa%@a%@a%@a%@=B*** querying acoustic contact ***i9 i9jhIMDNOT Ignoring new targets: 44.95 m.bhIRhUv$ZhUv$e ProNav: ac range: 44.954948 m, nav range: 43.061443 m, bearing: 334.258231 deg, approach rate: -0.518483 m/s, LOS rate: -0.035946 deg/s, cmd heading: 326.502577 deg, new cmd heading: 326.464026 deg. BheZźmHeadingCmd: 5.697872 target range: 44.954948 and range: 45.20 m.hmT@hi*hi"hq hqgqfqfqfydydydyjdyZd`)v?Bɢ9) J[i)9ia2ihS<F=IT@I!!@) @)@-4@)QT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^ASE=AfAzAgAy A ؟AI I O >aM,ta}6?A6i@68@6K;ٱ6 H BAHRS rotation from veh to nav: [[0.856953,0.505067,0.102656],[-0.515385,0.840969,0.164772],[-0.003109,-0.194109,0.980975]]6H`)l?)?G?~7?=?`xi`ȿ%d?i6i@I6`;6CYFByJIBV>BTBVIBVBBV =BTBTBVGm;BVV+Ei5Mb@Mb@Mb@1111 195x&1?~jt?MbpY5A?y5=55A5f@ 1)11Y5AbDMVDMNYye5=%eB=ٔe޹Q-e>9m"?Ym"?=mFymXEumEu>yQ 5w5}??Q 9w5}Ƙ)}LBY?Q E:y[ʾQ I@}rDI}@:i}H:}w5yBɮAEjhDNOT Ignoring new targets: 44.95 m.bhRh)Zh) ProNav: ac range: 44.954948 m, nav range: 42.848457 m, bearing: 334.242822 deg, approach rate: -0.510355 m/s, LOS rate: -0.037105 deg/s, cmd heading: 326.464027 deg, new cmd heading: 326.417572 deg. Bh˺]HeadingCmd: 5.697062 target range: 44.954948 and range: 45.20 m.h]TN@hY*hY"hY hYgafafafe BdididijdiZdm@S?颽Bɢ})  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243499nM,S=6?Aɰ4<2@2@2/K;ٱ2&F :AHRS rotation from veh to nav: [[0.856924,0.505240,0.102047],[-0.515433,0.841138,0.163755],[-0.003100,-0.192924,0.981209]]2H k?@*??n~??`eiȿ f?i2@I2 a;2CYBxByBIF=Fp=HJ@AbDNVDNܲyVE%VW=ٔVǷQ-Z>9XYX=ZFyZXE^IE^>`Q 5fw5b>̑?Q 9fw5b)bHBYdyj]ʾQ Ij@bxDIb:ib:bw5ylɮ] AYjhDNOT Ignoring new targets: 44.95 m.bhRh!Zh! ProNav: ac range: 44.954948 m, nav range: 42.655922 m, bearing: 334.228764 deg, approach rate: -0.481523 m/s, LOS rate: -0.035317 deg/s, cmd heading: 326.417582 deg, new cmd heading: 326.375217 deg. BhԹHeadingCmd: 5.696322 target range: 44.954948 and range: 45.20 m.hEH@h*h"h hgfffdddjdZd`?Bɢ0) *ci ) Iꃼ  i H.i<U<@iJ=IEH@I@ @@/@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495396Em EmEm*Ei"Em&:*EmAr:VEm(N4ZEiau@au@au@au@^A<H=A I I! O- >9 ZM,c(6?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749925ð@p@\LZ;ٱE AHRS rotation from veh to nav: [[0.857092,0.505013,0.101761],[-0.515152,0.841464,0.162960],[-0.003331,-0.192094,0.981371]]HLm?)?@ ? |F??@Ikȿcg?ið@I b;CYyIiMb@Mb@Mb@ 9)\(?Zd;O?{GztYG?yj=ף^A AA)AYAbDVD1yo%,=ٔU$9Q-U>9QYQ=]Fy]#XE].:E]>aQ 5mw5e?Q 9mw5e)eBBYui?Q Eu:yupQ Iu@eDIe:ie:e5w5y}Bɮ}AEjhDNOT Ignoring new targets: 44.95 m.bhRhZh ProNav: ac range: 44.954948 m, nav range: 42.404934 m, bearing: 334.200311 deg, approach rate: -0.531556 m/s, LOS rate: -0.060618 deg/s, cmd heading: 326.375207 deg, new cmd heading: 326.289341 deg. Bhg&HeadingCmd: 5.694823 target range: 44.954948 and range: 45.20 m.h;@h*h"h hgfffBdddjdZd[?Bɢp) fji)iٵ,i%%CW<-?.Q=I-;@I)9A@ @@ 9U(hA@iB>BCBIBBB =BB|DBBX+EBeCBeCBaBe =BaCeZ/5쳿9(hAY+Aim checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999436EE  EE EE 'EA "EE :*EE ą:VEE '4ZEA BEE 'AE >Թ A I I O >)MM,6?A2 İ@2ܾ@2/X;ٱ2A :AHRS rotation from veh to nav: [[0.857119,0.505365,0.099767],[-0.515108,0.842116,0.159702],[-0.003307,-0.188274,0.982111]]2Hm?`+?Q?{?q?Bk^ȿsm?i2 İ@I2}b;2CYBByBIbDJVDJ2yRM=%RX=ٔVnQ-V>9TYT=VFyV&XEZ9EZ>\Q 5bw5^?Q 9bw5^מ)^>BYdyfSQ If@^DI^:i^-:^]w5yhɮjAljh|DNOT Ignoring new targets: 44.95 m.bhRhކZhކQ ProNav: ac range: 44.954948 m, nav range: 42.220337 m, bearing: 334.179112 deg, approach rate: -0.511152 m/s, LOS rate: -0.058956 deg/s, cmd heading: 326.289338 deg, new cmd heading: 326.225464 deg. Bh!HeadingCmd: 5.693708 target range: 44.954948 and range: 45.20 m.h2@h*h"h hgfffdddjdZd @%Bɢ%&$)! %8[i!)%& )iim*iuuX  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503492D zD AAsM,6?A$$b2@b@b\E;ٱb= jAHRS rotation from veh to nav: [[0.856940,0.506128,0.097408],[-0.515407,0.842589,0.156201],[-0.003017,-0.184059,0.982911]]bH l? 32?`?7~}?@a?hAǿt?En EnEn(El"En ;*En҆:VEnc44ZElar@ar@ar@ar@ib2@Ibb;bCYzsByzIbDVDk2y%D=ٔ5Q->9!Y!=%Fy%+XE%ZE->)Q 5=w5-~?Q 9=w5-ܠ)-9BY9y=iQ I=@-DI- ;i- ;-w5yMBɮMRAIeB*** querying acoustic contact ***ia iajhq}DNOT Ignoring new targets: 44.95 m.bhyRh}ćZh}ć ProNav: ac range: 44.954948 m, nav range: 42.006939 m, bearing: 334.154422 deg, approach rate: -0.510363 m/s, LOS rate: -0.059348 deg/s, cmd heading: 326.225462 deg, new cmd heading: 326.151017 deg. Bh"HeadingCmd: 5.692409 target range: 44.954948 and range: 45.20 m.h7(@h*h"h hgfffdddjdZd@ԱBɢh ) 8|i)砈i)i=Y<xX=I7(@I@@ @@/@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758050^A&V= A I I O >A9 A9 BE >BA BE IBE |BBE =BE BDBA BE ?m;BE V+EY 0ZM,Fz7?AFt@FC@F 1;ٱFG; RAHRS rotation from veh to nav: [[0.856768,0.506675,0.096068],[-0.515695,0.842736,0.154453],[-0.002703,-0.181872,0.983319]]FH@j?6?`闸??`?#fGǿXw?iFt@IFb c;FCYVvByVIi5Mb@Mb@Mb@1111 195Pn?/$?9iYi=mFym/XEmTEu>qQ 5w5uR?Q 9w5u)u3BY?Q E:yžQ I@uDIu:iuH:uw5yBɮEAEjhDNOT Ignoring new targets: 44.95 m.bhRhUZhU ProNav: ac range: 44.954948 m, nav range: 41.791824 m, bearing: 334.135247 deg, approach rate: -0.521312 m/s, LOS rate: -0.046709 deg/s, cmd heading: 326.151013 deg, new cmd heading: 326.093192 deg. Bh9iIBDAT read: Rx Time:05:36:26.6346 TRx dataTimestamp_ set to:1761543388.084526checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008923HeadingCmd: 5.691400 target range: 44.954948 and range: 45.20 m.h@h*h"h hgfffBdddjdZd1w@颵Bɢ) Dzi)s项i!&i?[F[<Z=E EE'E"E;*Ek:VE'4ZEBEpEM,;U7?AYrkByvIbDVD0yfS%C=ٔQ->9Y=Fy3XEE>1Q 5Mw55!?Q 9]w556)5.BYayiQ Im@y5DI5 E} E}E}/Ey"E}:*E}:VE}J4ZEya@a@a@a@BDAT read: Tx time:05:36:27.7226 $Ping request sent.i1̿T%>$@ j>S$@ >)¸2=Iȗ8L?œձ?1MFR? >)iI¸2=i :publishing transmit ping time Fpublishing direction and range infoy߯?G~L?l?Y )Ii )Iȗ8L?œձ?1MFR? )Ii^Am 5[=A .AI  I O] >ϸM, \57?Axɰxm@mb@m7M[:ٱmԵ= AHRS rotation from veh to nav: [[0.855074,0.509500,0.096215],[-0.518505,0.840522,0.157084],[-0.000837,-0.184206,0.982887]]mH\?M?? ?P?iKǿ s?im@Imȴc;mCYoByIԹiMb@Mb@Mb@ 9Pn?MbX?y&1|Yy=`1A@ XA) AYAbDVDy ܆<% 7=ٔ Q- >9 ?Y ?=Fy8XE4E>!Q 5-w5%3?Q 9-w5%W)%(BY-?Q E-:y-举Q I-@%DI%:i%:%.w5y}Bɮ}A}EiiQ%7?AJi,BRi,Bji@bA$HD@ gV^-?Ng49x%@R߯?G~L?l?Zi¸2=bijT|B@a Fp21CG\$@Zz?z=fVۿϖ0?2i:iB"i~隞?*iRBi˔Bi%Rs?iqiBi%Bi>j@E addTargetRange:: Added new target pos. range: 43.400002 m, deltaT: 3.528441 s, deltaX: -1.799999 m, approachRate: -0.510140 m/s, rangeRepo size: 4 U Added new target pos. range: 43.165455 m, bearing: 333.924192 deg, lat: 36.779379 deg, lon: -121.859704 deg, deltaT: 3.528441 s, deltaX: -1.789494 m, approachRate: -0.507163 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 43.17 m.bhqRh}Zhy ProNav: ac range: 43.165455 m, nav range: 41.477863 m, bearing: 333.774799 deg, approach rate: 0.000000 m/s, LOS rate: -0.044576 deg/s, cmd heading: 326.032550 deg, new cmd heading: 325.973870 deg. BhHeadingCmd: 5.689317 target range: 43.165455 and range: 43.40 m.h@h*h"h hgfffBdddjd@3E@ZdL?B>BBIBrBBBBBHm;B[+E5Bɢ=)9 =i9)=@@9AiE!"iEMU^M,yS7?A2@2틷@26 ٱ2)B :AHRS rotation from veh to nav: [[0.853904,0.511188,0.097645],[-0.520430,0.838548,0.161213],[0.000530,-0.188478,0.982077]]2H.S?[?`C?\ c? ?]A? ȿ-m?i2@I2c;2CYB`ByBIbDLVDLyRӔ%RP=ٔV2dQ-V>9TYT=ZFyZ`Q 5fw5bD?Q 9fw5bE)b#BYdyf(Q Ij@bDIbT:ib;bw5ylɮnAljhDNOT Ignoring new targets: 43.17 m.bhRh HZh Hq ProNav: ac range: 43.165455 m, nav range: 41.272522 m, bearing: 333.747887 deg, approach rate: -0.561829 m/s, LOS rate: -0.073999 deg/s, cmd heading: 325.973865 deg, new cmd heading: 325.892729 deg. Bh#KHeadingCmd: 5.687901 target range: 43.165455 and range: 43.40 m.hI@h*h"h hgfffdddjdZd`o?=Bɢ=b; )9 E䘾iA)EAAiE imdmxD_E  E E (E "E ;*E Ar:VE c44ZE a @a @a @a @ M,Gm7?AFz@Fzu@F; ٱFDC VAHRS rotation from veh to nav: [[0.852473,0.513569,0.097656],[-0.522767,0.836701,0.163237],[0.002125,-0.190207,0.981742]]FHuG?@(o?@?A?`? wga?Xȿmj?iFz@IF.c;FCYfaByfIbDpVDpyzK;%zF=ٔ~}Q-~>9~"?Y~"?=Fy@XEٻE> Q 5w5 #U?Q 9w5 O) BYyQ I@ DI n;i ; 7w5y%Bɮ%A%EEB*** querying acoustic contact ***iA iAjhIUDNOT Ignoring new targets: 43.17 m.bhQRh].Zh].m ProNav: ac range: 43.165455 m, nav range: 41.056915 m, bearing: 333.720200 deg, approach rate: -0.522108 m/s, LOS rate: -0.067398 deg/s, cmd heading: 325.892723 deg, new cmd heading: 325.809225 deg. Bhm9uHeadingCmd: 5.686444 target range: 43.165455 and range: 43.40 m.huY@hq*h"h hgfffdddjdZd =?uBɢub)q uiy)}(yyi}i D`<-ZP=IY@I]T****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.  >1A@ @@O0@B>BBIBmBBBBBm;B+EY  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457960^A lT=EU  EU EU )EQ "EU :*EU M:VEU FA4ZEQ BEU 6M,s7?A BBL@BG@Bm ٱB4mC JAHRS rotation from veh to nav: [[0.849489,0.518827,0.095852],[-0.527583,0.833569,0.163766],[0.005067,-0.189687,0.981831]]BH/?:??? K?Gt?Gȿ)k?iBBL@IBc;BCYR`ByRIi-Mb@Mb@Mb@)))) )9-Mb?RQ?QY-?y-=-u-A) -A)-& A)Y-p AbDEVDE0yU%U =ٔUqQ-]>9YYY=]Fy]EXEew6Ee>iQ 5uw5mi?Q 9uw5m)mBY}]?Q E}:y}þQ I}@mDIm ;imh;mw5yɮAjh-DNOT Ignoring new targets: 43.17 m.bh)Rh5Zh5E ProNav: ac range: 43.165455 m, nav range: 40.793163 m, bearing: 333.691367 deg, approach rate: -0.518758 m/s, LOS rate: -0.057077 deg/s, cmd heading: 325.809231 deg, new cmd heading: 325.722171 deg. BhEmHeadingCmd: 5.684924 target range: 43.165455 and range: 43.40 m.hm@hi*hi"hq hqgqfqfyf}BdydydyjdZd*?ԉBɢr) i)_iti'a< B=I@I)}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710199Թ@ @@91@^A} 0M= E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963755Ia Iy O >wM,嶧7?AD.%=D,f8@Ej EjEhEh"EjV:*Ejxv:VEhZEhan@an@an@an@fq3@fW׻ٱfE zAHRS rotation from veh to nav: [[0.848215,0.520841,0.096210],[-0.529611,0.831780,0.166297],[0.006588,-0.192010,0.981371]]fH$?@?@?` ? 8I? ^z?@Ɠȿdg?if8@Ifgc;fCY~ZBy~IbDVDJy%K%%G=ٔ%'sQ-%>9)Y)=-Fy-IXE5WE5>9Q 5Ew5=z?Q 9Ew5=)=BYAyEaľQ IE@=DI=:i=9:=?w5yUBɮUTAQjhDNOT Ignoring new targets: 43.17 m.bhRhuZhu5 ProNav: ac range: 43.165455 m, nav range: 40.580364 m, bearing: 333.668603 deg, approach rate: -0.499338 m/s, LOS rate: -0.053696 deg/s, cmd heading: 325.722159 deg, new cmd heading: 325.653510 deg. Bh5g=HeadingCmd: 5.683726 target range: 43.165455 and range: 43.40 m.h=@h9*h9"h9 h9gAfAfAfAԉdddjdZd*@额BɢjD#) Τi)vii-v"c<|?=I@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.216602] ?@Y  @a @e 0@a @i @i B >B B IB gBB B B B m;B +E) ^AE B=AM eAzAM gAI I O >$M,K7?A2<'@2 "@2ٱ2xK :AHRS rotation from veh to nav: [[0.847079,0.522324,0.098161],[-0.531406,0.829587,0.171445],[0.008116,-0.197391,0.980291]]2HD??`!?`F@?? G? Dɿ^?i2<'@I2Ec;2CYB`ByBIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.467376aimMb@Mb@Mb@iiii i9mK7A?+η?MbYm ?ymv=mmtAi mXA)mAiYibD%VD%k1E5 E5E1E1"E5:*E5?:VE1ZE1BE5>9qYq=uFyuNXE}BE}>Q 5w5w?Q 9w5)BYE?Q E:yǾQ I@DI:i:w5yBɮfAEjhDNOT Ignoring new targets: 43.17 m.bhRhwvZhwv ProNav: ac range: 43.165455 m, nav range: 40.325066 m, bearing: 333.642894 deg, approach rate: -0.531579 m/s, LOS rate: -0.053870 deg/s, cmd heading: 325.653502 deg, new cmd heading: 325.575887 deg. BhHeadingCmd: 5.682371 target range: 43.165455 and range: 43.40 m.hյ@h*h"h hgfffBdddjdZd@Bɢa} ) zi) [iSiZd<==Iյ@IԉeB@a @a@m4@iԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.720830^A &t@=II IY Om > fOM,77?ABV@B%@BQ0ٱB]P JAHRS rotation from veh to nav: [[0.845839,0.523963,0.100095],[-0.533351,0.827306,0.176354],[0.009594,-0.202552,0.979224]]BH?@M?̟?6 Ky?’?`?@=ɿU?iBV@IBc;BCYRTByRIV=V=bDZVDZfyb7%be=ٔfQ-f>9dYh=jFyjRXEj׻Ej>lQ 5rw5n?Q 9vw5n^)nBYtyvpȾQ Iv@nDIn:in9:nw5yzBɮzA~EjhDNOT Ignoring new targets: 43.17 m.bhRh]Zh] ProNav: ac range: 43.165455 m, nav range: 40.144615 m, bearing: 333.625215 deg, approach rate: -0.492361 m/s, LOS rate: -0.048454 deg/s, cmd heading: 325.575884 deg, new cmd heading: 325.522609 deg. ԹBhHeadingCmd: 5.681441 target range: 43.165455 and range: 43.40 m.h^ε@h*h"h hgfffdddjdZd @uBɢu)4)y }ޭiy)}M]yyi}Ei Ee<U8=I^ε@IBDAT read: Rx Time:05:36:30.1821 %TRx dataTimestamp_ set to:1761543391.613242-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9728225@@1 @1@5/@9E EE(E"E;*E5:VEc44ZEa@a@a@a@^AU<=IIO>9  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224381}M,7?AY^ByI  YYGhA19hAYAi=Mb@Mb@Mb@9999 99=T㥛 ?ʡE?MbY=?y=-=9=A9 =A)= A9Y=f AbDUVDU1ye%=%e&=ٔmQ-m>9yYy=FyWXEE>B>BCBBB =BB}DB#n;B+EBmCBmCBiBm =Bm =Cm74qQ 5w5u>?Q 9w5u)uBY?Q E:y;Q I@uDIu=Iĵ@ImDAT read: 05:36:30.1821 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420,-0.48,-0.090,-1.852,-0.076,-0.221, PHS= 0.233,-1.586, 0.101, RAW= 146.2, 14.1, CAL= 146.0, 15.5, ROT= 4.0, -15.5 }Ygot valid direction response: 05:36:30.1821 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420,-0.48,-0.090,-1.852,-0.076,-0.221, PHS= 0.233,-1.586, 0.101, RAW= 146.2, 14.1, CAL= 146.0, 15.5, ROT= 4.0, -15.5 PDAT read: Bearing 146.8, 1.2 (Local) ~Local bearing/azimuth received: Bearing 146.8, 1.2 (Local) DAT read: Range 11 to 50 : 41.4 m (Round-trip 55.3 ms) speed 0.4 m/s *DAT read: user:483> BDAT read: Tx time:05:36:31.2726 $Ping request sent.i ˿=N#@d{>e#@ c>)5=Ic\.T?zҙw?KdsnF? ڽ>)|I5=ic:publishing transmit ping timeFpublishing direction and range infoyS8?2toK5?֚n?Y )Ii )I\.T?zҙw?KdsnF?E EE%E"E:*Ez:VE 4ZEBEa2EaJE;a:E;a )Iiq @  @ @ 4@ ԑ ^A 8=A ?A >A.AI!I9OE?]N,S8?A2U@2$@2Tٱ2XJN >AHRS rotation from veh to nav: [[0.843192,0.528822,0.096818],[-0.537455,0.824813,0.175575],[0.012991,-0.200079,0.979694]]2Hn??ɸ?2`d?;y?蚊?-ɿY?i2U@I2|c;2CYV[ByVIbDbVDbܲyfl%j6=ٔjHQ-j>9n ?Yn ?=nFyn[XEn4Er>pQ 5vw5r?Q 9zw5rR)rBYxyzϾQ Iz@rDIr+;ir;rw5y|ɮAiYi]vq8?AJi]$BRi]$Bji]`޺@b]f֐C@,3$@#Lb&@R]S8?2toK5?֚n?Zi]5=bi]cj]A@V1La{%@Z]$a,(?TLϚڿVű?2i]x:i]B"i]]?*i]VzBi]֕Bi]]?i]=i]ʖBi]Bi]M@U addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 3.528451 s, deltaX: -2.000000 m, approachRate: -0.566821 m/s, rangeRepo size: 4 e Added new target pos. range: 41.176781 m, bearing: 334.587027 deg, lat: 36.779382 deg, lon: -121.859701 deg, deltaT: 3.528451 s, deltaX: -1.988674 m, approachRate: -0.563611 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 41.18 m.bhaԩRhZh ProNav: ac range: 41.176781 m, nav range: 39.891293 m, bearing: 334.166860 deg, approach rate: 0.000000 m/s, LOS rate: -0.042146 deg/s, cmd heading: 325.454552 deg, new cmd heading: 325.405391 deg. BhHeadingCmd: 5.679396 target range: 41.176781 and range: 41.40 m.h@h*h"h hgff!fadadadijdm@3D@Zdm N?Bɢ.) i)ExAAiEQiMM~g/=IM@IQA@ @@/@E  E E (E "E :*E :VE c44ZE a@a@a@a@^A &t@=) AU ؟AIY Ii O} >u N,k48?A2߯@2ڶ@2!mٱ2SP :AHRS rotation from veh to nav: [[0.842346,0.530151,0.096920],[-0.538743,0.823485,0.177845],[0.014473,-0.202022,0.979274]]2H??ϸ?`a=Y?? ݣ?ɿ6V?i2߯@I2`Rc;0YNMBynI pptvAbDzVDz2y4%%G=ٔ-kQ-->9="?YE"?=EFyM_XEUrE]>qQ 5w5uWҒ?Q 9w5u)uBYyоQ I@uDIu+BBIBbBB =BBBTn;B+E]?@Y @Y@a@aqE-  E- E- 'E) "E- V:*E- ą:VE- '4ZE) BE- 9.N,O8?A6pү@6?Ͷ@6Q؂ٱ6S >AHRS rotation from veh to nav: [[0.841453,0.531391,0.097877],[-0.540094,0.821817,0.181426],[0.015972,-0.205525,0.978522]]6H.?(?u?sHRL?8?Z?Nʿ P?i6pү@I6Gc;6CYFTByFIiMMb@Mb@Mb@IIII I9Me;O?MbX9?:vYM>yMʡ=MTMAM@ I)MAIYM AbDeVDeyu>=%}:=ٔ}aQ-}>9yY=FydXE|uE>Q 5w5]⒊?Q 9w5Ž)BY%>Q E:yԾQ I@DIU:i:Ew5yɮAjh)5DNOT Ignoring new targets: 41.18 m.bh1Rh5eZh=em ProNav: ac range: 41.176781 m, nav range: 39.469170 m, bearing: 334.142916 deg, approach rate: -0.529609 m/s, LOS rate: -0.027255 deg/s, cmd heading: 325.365268 deg, new cmd heading: 325.333197 deg. BhmuHeadingCmd: 5.678135 target range: 41.176781 and range: 41.40 m.huI@h*h"h hgfffBdddjdZd@h?Bɢ:) i)LiliJi<۸*=II@I@ @@@!^A.=AzAaAA .AI I O >Q lN,i8?AE EE(E"E:*E:VEc44ZEa"@a"@a"@a"@";ɰ";>@>@>ፑٱ>mU JAHRS rotation from veh to nav: [[0.840331,0.533231,0.097513],[-0.541783,0.820282,0.183326],[0.017767,-0.206885,0.978204]]>H`?:??HV??:w?`}1? 9{ʿ rM?i>@I>Wc;>CYNPByNIbDZVDZfybJ̼%bV=ٔbXQ-b>9f ?Yf ?=fFyfhXEj$Ej>lQ 5rw5n?Q 9rw5n)nBYpyr־Q Ir@nDInK:in#;nw5yzBɮz)AzEjhDNOT Ignoring new targets: 41.18 m.bhRh%[߹Zh%[߹5 ProNav: ac range: 41.176781 m, nav range: 39.284657 m, bearing: 334.133948 deg, approach rate: -0.499847 m/s, LOS rate: -0.024409 deg/s, cmd heading: 325.333194 deg, new cmd heading: 325.306162 deg. Bh5=HeadingCmd: 5.677664 target range: 41.176781 and range: 41.40 m.h=l@h9*h9"hA hAgAfAfIfIdIdIdQjdQZdU6?颅 Bɢ@) Źi ) t  iix{dj<t%=Il@!I)@ @@0@Q^AE#'=ԁA ؟AI I O >B <A <B% >B! B! B! B% =B! B! B% n;B% +Eԩ N,9E8?AJ@JU@JҺٱJQ RAHRS rotation from veh to nav: [[0.839686,0.534836,0.094226],[-0.542718,0.820142,0.181174],[0.019619,-0.203267,0.978927]]JH?_?9? ]>?0?? ʿ^S?iJ@IJOc;JCYnNBynIIr>)r>v=vp=iMb@Mb@Mb@ 9/$?yt=#A|@  A)nAY AbDVDky»%;=ٔ Q->9"?Y"?=FylXE *E>iqIqԑQ 5w5?Q 9w5)BY>Q E:y\ھQ I@DI3:i:w5yɮ4AB*** querying acoustic contact ***i ijh%DNOT Ignoring new targets: 41.18 m.bh!Rh%:Zh%:bEc44jE'N,8?A2^@2-@2@ٱ2KM >AHRS rotation from veh to nav: [[0.839113,0.536302,0.090941],[-0.543533,0.820051,0.179134],[0.021494,-0.199743,0.979613]]2H?b)? G?d=??x?+ɿX?i2^@I2b;0YBQByBIbDNVDNyVN<%VY=ٔVQ-V>9XYX=ZFyZpXE^O.E^>`Q 5fw5b ?Q 9fw5b)bBYdyfھQ Ij@bDIb;ib;bw5ylɮn AljhDNOT Ignoring new targets: 41.18 m.bhRh Zh  ProNav: ac range: 41.176781 m, nav range: 38.905960 m, bearing: 334.120221 deg, approach rate: -0.477942 m/s, LOS rate: -0.017168 deg/s, cmd heading: 325.282514 deg, new cmd heading: 325.264774 deg. Bh<%HeadingCmd: 5.676941 target range: 41.176781 and range: 41.40 m.h%@h!*h!"h) h)g)f)ffdddjdZd _;@  Bɢ-G)1 5i1)5&w11i5~< i=2=l<=Q!=IE@IAԹB@ @@0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501230E EE'E"E&:*E:VE'4ZEa%@a%@a%@a%@^A-C"=A1A5? A I I O >) W?-N,O8?AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755597S@"@ ¼ٱ M AHRS rotation from veh to nav: [[0.838670,0.537355,0.088783],[-0.544125,0.819581,0.179488],[0.023684,-0.198841,0.979746]]Hb?2?~?@xi:?y?@? sɿZ?iS@I "c;CYULBy]I i=Mb@Mb@Mb@9999 99=Q?p= ף?MbY=>y===99 =nA)=A9Y= AbDUVDUye%e&=ٔmQ-m>9iYi=mFyuuXEuĺEu>yQ 5x5}?Q 9x5})}BY#>Q E:yQ I@}DI}.;i}-;}x5yBɮVAjhDNOT Ignoring new targets: 41.18 m.bhRh-Zh- ProNav: ac range: 41.176781 m, nav range: 38.667183 m, bearing: 334.119711 deg, approach rate: -0.483772 m/s, LOS rate: -0.001039 deg/s, cmd heading: 325.264782 deg, new cmd heading: 325.263243 deg. Bh6HeadingCmd: 5.676915 target range: 41.176781 and range: 41.40 m.hI@h*h"h hgfffBdddjdZd`e @BBBBBBBBn;B+E Bɢ;) i)bi i4m<|=II@I9}?@y @y@}d0@yMBDAT read: Rx Time:05:36:33.7296 UTRx dataTimestamp_ set to:1761543395.140194Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006245E-  E- E- )E) "E- ;*E- :VE- FA4ZE) BE- At4N,8?A2@2@2Լٱ2M :AHRS rotation from veh to nav: [[0.837982,0.538649,0.087423],[-0.545078,0.818589,0.181112],[0.025992,-0.199421,0.979569]]2H?  BDAT read: Tx time:05:36:34.8227  $Ping request sent. Ft5?S\r޳?C.j?Y fB ) AI >i \ҿ D j"@ Θ> :M"@ >) =Dq zDu ?AEy  E} Ey Ey "Ey *E} :VEy ZEy a @a @a @a @A I I O >I  p?&ku`?3? 1>) YI =i   :publishing transmit ping time  Fpublishing direction and range infoy  ">Ft5?S\r޳?C.j?Y ) I i ) 1 :N,"8?AIp?&ku`?3? )Ii@~@/ٱ~M 5AHRS rotation from veh to nav: [[0.837195,0.540114,0.085919],[-0.546170,0.817548,0.182521],[0.028339,-0.199732,0.979441]]HM? H??@9z@Z)?\??Аɿ W?i@Ic;YEMByEIbD}VD}1y=<%=(=ٔ=Q-=>9AYA=EFyE}XEM 5EM>qQ 5}x5u:>?Q 9}x5u8)uBYyy}Q I}@uDIu:iu:uA x5yBɮ\AEii28?AJiBRiBjiR@bJPEB@Fpt@J3pA)@R">Ft5?S\r޳?C.j?Zi=bij @@8/rdf)@Z*z?_01ٿC?2ix:iuB"itc?*i#%cBiBiiVziiBi=ں@= addTargetRange:: Added new target pos. range: 39.599998 m, deltaT: 3.527409 s, deltaX: -1.800003 m, approachRate: -0.510290 m/s, rangeRepo size: 4 M Added new target pos. range: 39.386467 m, bearing: 335.401089 deg, lat: 36.779382 deg, lon: -121.859697 deg, deltaT: 3.527409 s, deltaX: -1.790314 m, approachRate: -0.507544 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 39.39 m.bhQRhUZhY ProNav: ac range: 39.386467 m, nav range: 38.124882 m, bearing: 334.558089 deg, approach rate: 0.000000 m/s, LOS rate: -0.000166 deg/s, cmd heading: 325.263089 deg, new cmd heading: 325.262835 deg. BhHeadingCmd: 5.676908 target range: 39.386467 and range: 39.60 m.h:@h*h"h hgfffdddjdC@Zdݗ?5Bɢ5;)1 5i1)=99i=ie5enB CB B B B B B n;B +E^A =A fAzA fAԑ A) I9 II Oe >eBN,9?A4<ɰ4<6@6~@6s#ٱ6]\M BAHRS rotation from veh to nav: [[0.836547,0.541389,0.084188],[-0.547058,0.816854,0.182965],[0.030286,-0.199115,0.979508]]6H`?@S?\?#?fk?7?|ɿ`!X?i6@I6c;6CYFWByJIE- E-E-&E)"E- ;*E-:VE-4ZE)BE-O9!Y!=-Fy-XE-2E->1YQ 5}x55L?Q 9}x55t)5BY>Q E:ynQ I@5DI5&9HN,"9?A2i@28{@2ٱ2%M :AHRS rotation from veh to nav: [[0.835678,0.542875,0.083242],[-0.548279,0.815746,0.184251],[0.032120,-0.199614,0.979348]]2H ?`:_?]O?@ ??r?ɿV?i2i@I2U c;2CYBZByBIIFC=)F<bDNVDN1yV|p<%Vg=ٔV5Q-Z>9f ?Yf ?=jFyjXErEr>tQ 5zx5vY?Q 9zx5vy)vBYxyz7Q Iz@vDIv:iv[:vx5yBɮ AEi^@I1JjhDNOT Ignoring new targets: 39.39 m.bhRhu39Zhu39U ProNav: ac range: 39.386467 m, nav range: 37.758335 m, bearing: 334.565097 deg, approach rate: -0.477662 m/s, LOS rate: 0.009806 deg/s, cmd heading: 325.273279 deg, new cmd heading: 325.283974 deg. Bh]Z9eHeadingCmd: 5.677276 target range: 39.386467 and range: 39.60 m.he?@ha*ha"hi higifffdddjdZd f?}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994123颵BɢNSG) i)6项ii p< =I?@IEU EUEU+EQ"EUD:*EU$:VEU [4ZEQae@ae@ae@ae@@ @@/@) ^Am l=% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245719A I I O >Y VnNN,+<9?AG5gAIuB9ugAYuABe >BeCBeIBemBBe =BaBaBeUn;Be+EB-CB-CB)B)B)C-5YQByIonly read 0 of 1 data item for altitude. Device response is::BD, - 8, +6.96, 8.64, 0.00 a@a a@a a@a a@a bD VD y% %%(=ٔ%Q-%>9)Y)=-Fy-XE5E5>9Q 5Ex5=k?Q 9Ex5=0)=BQ AE+:YAQ EE:yAQ IM@=#DI=:i=>=Hx5yUĒBɮUAUEii1JmqJmjhDNOT Ignoring new targets: 39.39 m.bhRh.;9Zh.;95 ProNav: ac range: 39.386467 m, nav range: 37.524681 m, bearing: 334.569924 deg, approach rate: -0.492058 m/s, LOS rate: 0.010228 deg/s, cmd heading: 325.283962 deg, new cmd heading: 325.298532 deg. Bh59=HeadingCmd: 5.677530 target range: 39.386467 and range: 39.60 m.h=T@h9*hA"hA hAgAfAfIfIdIdIdIjdqZd}O*? Bɢ-uA)1 5i1)="99i=im8 m^pA ԡ A= ؟AIA IQ Ou >UN,X9?A6(f@6`@6 ٱ6AM >AHRS rotation from veh to nav: [[0.833866,0.545841,0.082000],[-0.550922,0.813916,0.184461],[0.033945,-0.198991,0.979413]]6H?`w? ?@& ?i?Aa?@xɿ`ZW?i6(f@I6b;6CYFRByFIbDNVDN󡲝Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749954y^;%^b=ٔbDQ-b>9b"?Yf"?=fFyfXEfEf>hQ 5nx5jx?Q 9nx5j<)jBQ Ar :YpQ Er:yrQ Ir@j)DIj. ;ijX?j[x5yvƒBɮzAzEjYqJ]]Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqI]]Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLjhimDNOT Ignoring new targets: 39.39 m.bhqRhuh9Zhuh9 ProNav: ac range: 39.386467 m, nav range: 37.349361 m, bearing: 334.574439 deg, approach rate: -0.491540 m/s, LOS rate: 0.012718 deg/s, cmd heading: 325.298524 deg, new cmd heading: 325.312133 deg. Bh : HeadingCmd: 5.677768 target range: 39.386467 and range: 39.60 m.h F@h *h"h hgfffd9d9dAjdAZdE ?Y颉ɢhP) ѿi)JX项i[3iJq<q =IF@I@ @@/@ԉ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001784Ա^A#=E=  E= E= (E9 "E= :*E= :VE= c44ZE9 aM @aM @aM @aU @Aa Ii I O > y\N,F_r9?A2a@2f\@2 ٱ2L :AHRS rotation from veh to nav: [[0.833554,0.546418,0.081331],[-0.551383,0.813803,0.183579],[0.034123,-0.197867,0.979635]]2Hy?A|? Ҵ? ??@x?`Sɿ*Y?i2a@I2b;2CY^ZBy^I ddbDjVDjyrl=%rI=ٔvQ-v>9tYt=zFyzXEzEz>|Q 5x5~?Q 9x5~)~BQ A 9Y Q E h:y Q I @~/DI~:i~Q?~>x5yɮ]AjhAEDNOT Ignoring new targets: 39.39 m.bhARhMu9ZhMu9] ProNav: ac range: 39.386467 m, nav range: 37.152695 m, bearing: 334.579703 deg, approach rate: -0.497724 m/s, LOS rate: 0.013394 deg/s, cmd heading: 325.312129 deg, new cmd heading: 325.328006 deg. Bh]:eHeadingCmd: 5.678045 target range: 39.386467 and range: 39.60 m.he@ha*ha"ha hagifififidqdqdqjdqZdu߆@颥BɢvK) i)顩iYqiz7q<BeCBeIBerBBe =BaBaBe3n;Be+E^A<) A I I1 O= > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509214E]  E] E] %EY "E] :*E] ą:VE] 4ZEY BE] <AHRS rotation from veh to nav: [[0.833216,0.547186,0.079622],[-0.551905,0.814132,0.180526],[0.033958,-0.194361,0.980342]]6H??@!b?4_ ?@y?b?ȿ^?i6~\@I65b;4YFVByFIaa aa aa aa iMb@Mb@Mb@ 9K?Mb?yt )YbDVDyӒ%<=ٔ9Q->9Y=FyXE滺E>Q 5x5ٗ?Q 9x5 )BQ AT:Y>Q E:yQ I@6DIo;iM;x5yȒBɮAEB*** querying acoustic contact ***i ixjh DNOT Ignoring new targets: 39.39 m.bhRhWs9ZhWs9- ProNav: ac range: 39.386467 m, nav range: 36.938755 m, bearing: 334.585448 deg, approach rate: -0.492329 m/s, LOS rate: 0.013297 deg/s, cmd heading: 325.328003 deg, new cmd heading: 325.345337 deg. Bh-:5HeadingCmd: 5.678347 target range: 39.386467 and range: 39.60 m.h5@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdEn@qɢu8G)y }7iy)}*üyyiKiZr<!%iN,^9?A &;ɰ&p;Z2Z@ZU@ZMF ٱZ!E rAHRS rotation from veh to nav: [[0.833060,0.547616,0.078287],[-0.552137,0.814419,0.178509],[0.033996,-0.191934,0.980819]]ZHl?? ?@?`c?g?@Jȿ@b?iZ2Z@IZ7c;ZCYz]ByzIbDVD1yw=%U=ٔ&ϸQ->9Y=%Fy%XE%2?E%>)Q 55x5-(?Q 95x5-C)-BY9y=Q I=@-HpN,JD9?ABvX@BES@Bx ٱBDL RAHRS rotation from veh to nav: [[0.832946,0.547909,0.077442],[-0.552316,0.814630,0.176988],[0.033887,-0.190194,0.981162]]BH ~?w?<ӳ?`s??@Y?CXȿe?iBvX@IBc;@YV^ByVII^G>)^=Bn>BnCBnIBnwBBn =BlBlBn&n;Bn+EiUMb@Mb@Mb@QQQQ Q9URQ?ʡE?~jtYU?yU=UUAU|@ Q)UXAQYU AbDmVDmk2y}^<%}C=ٔS9Q->9Y=FyXEE>Q 5x5?Q 9x5)BY!?Q E:yQ I@CDI:iQ: $x5yʒBɮ`A EjhQ]DNOT Ignoring new targets: 39.39 m.bhYRh]7Zh]7 ProNav: ac range: 39.386467 m, nav range: 36.533401 m, bearing: 334.591344 deg, approach rate: -0.496600 m/s, LOS rate: 0.001616 deg/s, cmd heading: 325.361006 deg, new cmd heading: 325.363113 deg. Bh8HeadingCmd: 5.678658 target range: 39.386467 and range: 39.60 m.h@h*h"h hgff fBdd!dIjdQZd] @ɢ?) 鵾i)VȼiiQvs< BDAT read: Tx time:05:36:38.3726 $Ping request sent.i5~ʿ5h=5vh!@5b>5 @ 5Ϣv>)5B=I5Ϣv115:h??7EQu? 5>)5ܶbI5B=i5Ϣv11:publishing transmit ping timeA@ @@2@Fpublishing direction and range infoy15Nc?Wǟ'?iC?Y11111 1)1I1i11111 1)1I1115:h??7EQu? 1)1I1i111! ^A <A I I O >vN,r9?A6Y@6xT@6P ٱ6ëB >AHRS rotation from veh to nav: [[0.833030,0.547875,0.076772],[-0.552196,0.814964,0.175821],[0.033762,-0.188858,0.981424]]6H/?0?Q? /?P?@:I?|,ȿ g?i6Y@I6d;6CYFcByFIbDRVDR0yV<%ZL=ٔZ9Q-Z>9\Y\=^Fy^XEb9Eb>`Q 5fx5bRƓ?Q 9jx5b)bBY1y5Q I5@bJDIbe|N,6r9?A6a@6[@6 ٱ6FB >AHRS rotation from veh to nav: [[0.833534,0.547088,0.076911],[-0.551454,0.815475,0.175782],[0.033449,-0.188933,0.981420]]6HP?`?@i?_?`?C ?.ȿ`g?i6a@I6c;4YF\ByFIPbDN VDN2yZ%ZK=ٔZXK:Q-Z>9\Y\=^Fy^XEb;Eb>dQ 5jx5f%֓?Q 9jx5fh)fBYhyjQ Ij@fPDIfp:ifg:f+x5yr͒BɮrApjh  DNOT Ignoring new targets: 37.80 m.bh Rh8Zh8% ProNav: ac range: 37.795330 m, nav range: 36.190948 m, bearing: 334.680475 deg, approach rate: -0.548605 m/s, LOS rate: 0.002172 deg/s, cmd heading: 325.365104 deg, new cmd heading: 325.367575 deg. Bh-վ8-HeadingCmd: 5.678735 target range: 37.795330 and range: 38.00 m.h-3@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE@z?ɢ0R) i1)5̼99i=ViE;E ktB1B1B1B5 =B1B1B5?n;B5+E^A<I I O >) Ee  Ee Ee *Ea "Ee ;*Ee :VEe (N4ZEa BEe p9Y=FyXE9<:E>Q 5x5M瓊?Q 9x5)BY?Q E:yQ I@XDI: ;i ;.x5yɮAB*** querying acoustic contact ***i ijhuDNOT Ignoring new targets: 37.80 m.bhqRh}9Zh}9 ProNav: ac range: 37.795330 m, nav range: 35.964806 m, bearing: 334.683528 deg, approach rate: -0.521675 m/s, LOS rate: 0.007089 deg/s, cmd heading: 325.367563 deg, new cmd heading: 325.376782 deg. Bh9HeadingCmd: 5.678896 target range: 37.795330 and range: 38.00 m.h@h*h"h hgfff߀BdddjdZd~?1ɢ5M)9 =ÿi9)=Oϼ99i=iEEti}>)?@ @@ @ @@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Y^A<I1 IA O] >ԁ ЉN,F():?A6f@6ka@61 ٱ6G? BAHRS rotation from veh to nav: [[0.833903,0.546785,0.075049],[-0.550879,0.816302,0.173733],[0.033732,-0.186220,0.981929]]6HU?B?f6?͠$?9\Y`=bFybXEbҁ:Eb>dQ 5jx5f/?Q 9jx5f=)fBYlyn\Q In@f^DIfU;if;f#2x5yrϒBɮrTAv Ejh DNOT Ignoring new targets: 37.80 m.bhRh8Zh8- ProNav: ac range: 37.795330 m, nav range: 35.768650 m, bearing: 334.686062 deg, approach rate: -0.522953 m/s, LOS rate: 0.006792 deg/s, cmd heading: 325.376770 deg, new cmd heading: 325.384413 deg. Bh-(95HeadingCmd: 5.679029 target range: 37.795330 and range: 38.00 m.h5@h1*h1"h1 h1g1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491844fAfIfIdIdIdQjdQZdU /2?Y颁ɢQ) Pi)NѼ顉iiuu<6=I@ID=Da=E% E%E%(E!"E%;*E%:VE%c44ZE!a=@a=@a=@a=@@@ @@/@ԉ^AUV<ԱIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743776 B% >B! B! B! B! B! B! B% fn;B% +EsN,C:?Aɰ;6k@6f@6m ٱ6R? >AHRS rotation from veh to nav: [[0.834242,0.546352,0.074432],[-0.550333,0.816616,0.173990],[0.034278,-0.186111,0.981930]]6H`?{?` ?@S!?JE?Ռ?ǿk?i6k@I6a;6CYN_ByRIi5Mb@Mb@Mb@Թ1111 195Pn?333333?~jtY5?y5=55A5@ 5 A)5AA1Y5 AbDVD:2y%ļ%%5=ٔ-Q-->9)Y)=-Fy-XE5:E5>9Q 5Ex5=?Q 9Ex5=)=BYM?Q EM:yMQ IM@=fDI=:i=#:=6x5yQɮUAYjhDNOT Ignoring new targets: 37.80 m.bhRhc8Zhc8 ProNav: ac range: 37.795330 m, nav range: 35.533325 m, bearing: 334.688501 deg, approach rate: -0.516996 m/s, LOS rate: 0.005393 deg/s, cmd heading: 325.384420 deg, new cmd heading: 325.391784 deg. Bhl9HeadingCmd: 5.679158 target range: 37.795330 and range: 38.00 m.h@h*h"h hgfffBdddjd Zd  ?Yɢ]H)Y ]ƵiY)]ԼaaieTimmQv<*=I@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.996771%?@! @!@!@)EU EUEU'EQ"EUV:*EUh:VEU'4ZEQBEU99  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247722N,\:?A6n@6i@6ٱ6'B >AHRS rotation from veh to nav: [[0.834401,0.546064,0.074764],[-0.550025,0.816295,0.176451],[0.035324,-0.188353,0.981466]]6H`i?Zy?#?Ι? ??ȿ+h?i6n@I6 b;6CYDyDbDNVDNyVI%Vf=ٔV@Q-Z>9XYX=ZFyZXE^O~:E^>!Q 5-x5%?Q 9-x5%)%BY)y-eQ I-@%lDI%p:i%g:%K9x5y=ђBɮ]A] EjhDNOT Ignoring new targets: 37.80 m.bhRh8Zh8 ProNav: ac range: 37.795330 m, nav range: 35.341625 m, bearing: 334.690450 deg, approach rate: -0.515976 m/s, LOS rate: 0.005275 deg/s, cmd heading: 325.391797 deg, new cmd heading: 325.397676 deg. Bhg9HeadingCmd: 5.679261 target range: 37.795330 and range: 38.00 m.h@h*h"h hgfffd d d jd Zdn@AɢE|1U)A MൾiI)M%ּIIiMiϚܚv<-=I@I)@@ @@/0@A]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499699EM EMEM%EI"EM;*EM:VEM 4ZEIa]@a]@a]@a]@q^A2g=A9 IA IY Oe >ԙ - N,v:?A2n@2h@2ٱ2}A >AHRS rotation from veh to nav: [[0.834337,0.546256,0.074075],[-0.550076,0.816216,0.176656],[0.036038,-0.188138,0.981481]]2H?z?@?`9@q??`s?@ȿ`Kh?i2n@I2[a;0YBTByFIbDNVDN:2yV[%VJ=ٔVQ-Z>9XYX=ZFyZXE^JE^>`Q 5fx5b%&?Q 9fx5bp)bBYhyjnQ Ij@brDIb:ib:bDA zDE ?AEM  EM EM &EI "EM %;*EM Ǚ:VEM 4ZEI BEM K9xYx=~FyXE!E>!Q 5-x5%6?Q 9-x5%)%BY1y5}Q I5@%yDI%:i%:%\@x5y]Bɮ]AeEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 37.80 m.bhRh8Zh8 ProNav: ac range: 37.795330 m, nav range: 34.919792 m, bearing: 334.694902 deg, approach rate: -0.511411 m/s, LOS rate: 0.005510 deg/s, cmd heading: 325.404091 deg, new cmd heading: 325.411116 deg. Bhr9HeadingCmd: 5.679495 target range: 37.795330 and range: 38.00 m.hm@h*h"h hgfffdddjd!Zd%= @iɢm@S) :i)A ۼiViiƻw<m=Im@I @ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259850^Ar=I A I I O% >D"N,$:?ADAT read: 05:36:40.8250 LVL= 32224, 32753, 32754, 32755, AGC= 64, IDX= 412,-0.48,-2.589, 1.884,-2.620,-2.787, PHS= 0.300,-1.567, 0.123, RAW= 145.1, 12.8, CAL= 144.7, 13.9, ROT= 5.3, -13.9 Ygot valid direction response: 05:36:40.8250 LVL= 32224, 32753, 32754, 32755, AGC= 64, IDX= 412,-0.48,-2.589, 1.884,-2.620,-2.787, PHS= 0.300,-1.567, 0.123, RAW= 145.1, 12.8, CAL= 144.7, 13.9, ROT= 5.3, -13.9 PDAT read: Bearing 145.3, 4.5 (Local) ~Local bearing/azimuth received: Bearing 145.3, 4.5 (Local) DAT read: Range 11 to 50 : 36.2 m (Round-trip 48.3 ms) speed 0.4 m/s *DAT read: user:486> BDAT read: Tx time:05:36:41.9226 $Ping request sent.iEuȿEm=E "@Ed>E!@ EUlx>)Eq=IEUlxAA ]AHRS rotation from veh to nav: [[0.833741,0.547765,0.069499],[-0.550889,0.816687,0.171883],[0.037392,-0.181592,0.982663]]%H?@J?ʱ?` M"?A?@%? i>ǿ q?i%e@I%b;%CYeeByeI qqbD}VD}kIE$:D?|s?#aI? E>)E'*dIEq=iEUlxAA:publishing transmit ping timeFpublishing direction and range infoyAEVx? . T?ؼʿ?YAAAAA A)AIAiAAAAA Ay =%%=ٔQ->9Y=FyXEȺE>)AIAAAE$:D?|s?#aI? A)AIAiAAAchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.062769Q 5x5J?Q 9x5)BYyQ I@DID;i;Dx5yaɮmAiiAiE:?AJiEBRiEBjiE>@bE07sfA@* @cL!@REVx? . T?ؼʿ?ZiEq=biEUlxjE ~b?@EO.vm"@ZEkR?wڿAa?2iEp:iEA"iE Ȟ?*iEXBiEҒBiAiEVziE˔BiE BiE"@ addTargetRange:: Added new target pos. range: 36.200001 m, deltaT: 3.530824 s, deltaX: -1.799999 m, approachRate: -0.509796 m/s, rangeRepo size: 4 M Added new target pos. range: 36.005005 m, bearing: 334.383271 deg, lat: 36.779383 deg, lon: -121.859697 deg, deltaT: 3.530824 s, deltaX: -1.790325 m, approachRate: -0.507056 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 36.01 m.bhQRhUZhQ ProNav: ac range: 36.005005 m, nav range: 34.672489 m, bearing: 334.669266 deg, approach rate: 0.000000 m/s, LOS rate: 0.005510 deg/s, cmd heading: 325.411112 deg, new cmd heading: 325.419641 deg. BhHeadingCmd: 5.679644 target range: 36.005005 and range: 36.20 m.h@h*h"h hgfffdddjdB@Zd?)ɢ5FUD)Q UiQ)]x޼YYi]ieeexB B IB |BB B B B n;B ,E^A 2g= Ae.AIiIyO>$N, :?ARq^@R@Y@R ٱR%: fAHRS rotation from veh to nav: [[0.833215,0.548707,0.068361],[-0.551619,0.816263,0.171557],[0.038334,-0.180653,0.982800]]RH@???ܦ??`?ǿ s?iRq^@IREb;RCYn_BynIqiMb@Mb@Mb@checking for new query: numPingsReceived=1, elapsed TxPingTime=0.482281 9~jt?=ٔ=Q-E>9E ?YE ?=EFyEXEM( EM>QQ 5]x5U[?Q 9]x5Uq)UBY]?Q Ee:yeQ Ie@UDIU:iU:UeHx5ymBɮmAmED=D<E EE$E"E;*E :VE4ZEBE/N]N,L:?Aɰ26T@2O@2 ٱ2cL: >AHRS rotation from veh to nav: [[0.832495,0.549856,0.067896],[-0.552639,0.815459,0.172096],[0.039262,-0.180791,0.982738]]2H@ͣ?k? a?`8=?`:??%$ǿ r?i26T@I29XYX=ZFyZXE^eE^>`Q 5bx5b'i?Q 9fx5b)bBYdyfQ If@bDIb:ib:bKx5ylɮn7Aljh%DNOT Ignoring new targets: 36.01 m.bh!Rh59Zh59Ա ProNav: ac range: 36.005005 m, nav range: 34.261166 m, bearing: 334.679943 deg, approach rate: -0.549831 m/s, LOS rate: 0.015079 deg/s, cmd heading: 325.436521 deg, new cmd heading: 325.451854 deg. Bh%:HeadingCmd: 5.680206 target range: 36.005005 and range: 36.20 m.h@ĵ@h*h"h hgfffd!d!d!jd!Zd-`>?Qɢ]p^)Y ]iY)]iYaieie\AFy<1 2N,:?A2checking for new query: numPingsReceived=1, elapsed TxPingTime=1.238123NoE@N>@@N%ٱN= VAHRS rotation from veh to nav: [[0.831458,0.551280,0.069053],[-0.554114,0.813775,0.175295],[0.040443,-0.184014,0.982091]]NHM??@u?Mq ?p??ǿJm?iNoE@INc;LY^kBy^IIb=)bx>bDjVDj1yra=%rG=ٔr9tYt=vFyvXEzEz>|Q 5x5~Zy?Q 9x5~Q =tI)~BYy Q I @~DI~.:i~3:~Ox5yBɮAjh9EDNOT Ignoring new targets: 36.01 m.bhARhE9ZhE9U ProNav: ac range: 36.005005 m, nav range: 34.046608 m, bearing: 334.686599 deg, approach rate: -0.526907 m/s, LOS rate: 0.016448 deg/s, cmd heading: 325.451848 deg, new cmd heading: 325.471941 deg. BhU4:]HeadingCmd: 5.680557 target range: 36.005005 and range: 36.20 m.heǵ@ha*ha"ha hagafafifidididqjdqZdu?颥BɢR) Ҧi)_p顩iiEmy<i!>A!A%@AB=>B=CB9B9B9B9B=~DB=zn;B=+E@ @@/@A^A <checking for new query: numPingsReceived=1, elapsed TxPingTime=1.490289IQIiqO}>DzD@AbEeȀ'4jEeȀ'4rEe0E EE&E"ET;*Eh:VE4ZEBEG :AHRS rotation from veh to nav: [[0.830558,0.552616,0.069199],[-0.555407,0.812675,0.176303],[0.041192,-0.184863,0.981901]]2H? ?@?@o???ǿk?i28@I2b;0Y^sBybIiMMb@Mb@Mb@IIII I9M(\?V-?QYM?yMm=MuMAM|@ MA)MAIYMAbDVDy=%<=ٔ}Q->9Y=FyXEnE>Q 5x5?Q 9x5)Y?Q E:yQ I@DI:i:Rx5yɮAB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 36.01 m.bh)Rh5s>:Zh5s>:E ProNav: ac range: 36.005005 m, nav range: 33.815384 m, bearing: 334.704545 deg, approach rate: -0.532665 m/s, LOS rate: 0.041626 deg/s, cmd heading: 325.471928 deg, new cmd heading: 325.526136 deg. BhE:MHeadingCmd: 5.681503 target range: 36.005005 and range: 36.20 m.hMε@hI*hI"hI hIgQfQfYf]ـBdYdYdajdaZde౦?q颕BɢPH) Ii)顙iiy<!- checking for new query: numPingsReceived=1, elapsed TxPingTime=1.994610E  E E (E "E ;*E 1:VE c44ZE a @a @a @a @ 5N,0;?A2/@2*@2+ٱ2< :AHRS rotation from veh to nav: [[0.829943,0.553750,0.067501],[-0.556275,0.812437,0.174654],[0.041874,-0.182502,0.982313]]2H?Q?@G? |? [? zp?7\ǿo?i2/@I2 c;2CYBpByBIbDJVDJfy Er% W=ٔQ->9Y=FyXE7E>!Q 5-x5%?Q 9-x5%x)%BY1y5 Q I5@%DI%:i%[:%3Vx5y=BɮEAEEjhamDNOT Ignoring new targets: 36.01 m.bhiRhm E:Zhu E: ProNav: ac range: 36.005005 m, nav range: 33.613056 m, bearing: 334.720781 deg, approach rate: -0.533497 m/s, LOS rate: 0.043067 deg/s, cmd heading: 325.526133 deg, new cmd heading: 325.575132 deg. Bhs:HeadingCmd: 5.682358 target range: 36.005005 and range: 36.20 m.hյ@h*h"h hgfffdddjdZd`@BɢaP) fi)Еi3i?z<վB- >B- CB- IB- BB- =B) B) B- =n;B- +Eԁ }N,oJ;?A 2,@2'@2*-ٱ2z: >AHRS rotation from veh to nav: [[0.829730,0.554206,0.066367],[-0.556563,0.812475,0.173557],[0.042265,-0.180943,0.982585]]2H%?`?l?]`?`7?@? )ǿ`Vq?i2,@I2b;0YByByFIi Mb@Mb@Mb@     9 ~jt?Zd;?I +Y ?y y= 94 A f@  A) +A Y A u49Y=FyXE_E>Q 5x5?Q 9x5 )Y?Q E:yxQ I@DI:i:Yx5yɮjAchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.499217jh1UDNOT Ignoring new targets: 36.01 m.bhYRhm:Zhm:D=D<E EEE"El;*E:VEZEBEYFi ȿ Q= Ϣv> >) I cty&?%F2V?z? ^>) H5vI i  checking for new query: numPingsReceived=2, elapsed TxPingTime=2.767097^AE < Aq I I O >"PN,g;?AV&1@V+@V/ٱVD$; ^AHRS rotation from veh to nav: [[0.830000,0.553826,0.066156],[-0.556115,0.812593,0.174437],[0.042849,-0.181573,0.982444]]VH\??? ?S?@X?=ǿ`-p?iV&1@IV b;VCYfzByfIbDrVDry(;%==ٔQ->9Y=FyXEE:EE>IQ 5Ux5M ?Q 9Ux5M)IYQyU7Q IU@MDIM:iMp:M]x5yBɮsAEiqiu^;?AJiuBRiuBjiu@bu:Mt@@μ6l@^f!@Ru$?aS׶?V!}?Ziqbiu ju :=@8OPW,HB#@Zu2?,躳ڿ$ ?2iuhd:iuA"iux?*iu]]}BiuBiu]?iqiuBiuXBiu:@ addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 2.772039 s, deltaX: -1.799999 m, approachRate: -0.649341 m/s, rangeRepo size: 4 E Added new target pos. range: 34.215775 m, bearing: 334.245882 deg, lat: 36.779382 deg, lon: -121.859697 deg, deltaT: 2.772039 s, deltaX: -1.789230 m, approachRate: -0.645456 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 34.22 m.bhYRheZhau ProNav: ac range: 34.215775 m, nav range: 33.085972 m, bearing: 334.683915 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.618477 deg, new cmd heading: 325.663202 deg. BhqyHeadingCmd: 5.683895 target range: 34.215775 and range: 34.40 m.hx@h*h"h hgfffdddjd@33A@Zd?checking for new query: numPingsReceived=2, elapsed TxPingTime=3.004763%BEm EmEiEi"Em:*Emą:VEiZEia@a@a@a@ɢ-l0G) ߓi))1i5imkmzi] ZĿ] o>] p!@] f_>Y ] s>)Y I] sY Y ] pl7O?m?yk5q? ] ؙ>)] _IY i] sY Y  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.275609 I! I1 O= >N,ӂ;?A$ɰ&4<B<A><BB>B@BB'IBBBB@B@B@BBn;BB+EYByIiMb@Mb@Mb@ 9)\(?ʡE?91Y1==Fy=XE=E}>Q 5x5Д?Q 9x5 )Y?Q E:yQ I@DI7:i:dbx5yBɮSAEiIDDAT read: Rx Time:05:36:45.0973 TRx dataTimestamp_ set to:1761543406.237772PDAT read: Bearing 144.7, 4.9 (Local) %~Local bearing/azimuth received: Bearing 144.7, 4.9 (Local) =checking for new query: numPingsReceived=3, elapsed TxPingTime=3.520885ii~;?AE EE'E"E:*E]t:VE'4ZEBE<9?sں&ۿ3He?2i9f:iA"iR|?*iMyBiBiR|?i]]}i BiBi@ addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.505856 s, deltaX: -0.300003 m, approachRate: -0.593060 m/s, rangeRepo size: 4  Added new target pos. range: 33.917332 m, bearing: 333.967233 deg, lat: 36.779380 deg, lon: -121.859699 deg, deltaT: 0.505856 s, deltaX: -0.298443 m, approachRate: -0.589976 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.92 m.bhRhZh ProNav: ac range: 33.917332 m, nav range: 32.684193 m, bearing: 334.333129 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.663201 deg, new cmd heading: 325.725134 deg. BhHeadingCmd: 5.684976 target range: 33.917332 and range: 34.10 m.hS@h*h"hI hgIfIfQfU݀BdQdQdYjd] A@Zd]``r? BɢN7) ‹i)ii>${<`uim ÿm )\>m 0"@m [>m !@ m |o>)m K=Im |oi i m  G??s/? m >)m ([Im K=im |oi i  checking for new query: numPingsReceived=4, elapsed TxPingTime=3.772136ԡ^AU<IIO ?N,;?AjG@jpB@jW3ٱj ?|  AHRS rotation from veh to nav: [[0.831487,0.551495,0.066956],[-0.553811,0.813337,0.178260],[0.043851,-0.185302,0.981703]]jH?٥? $?Ҹ`?9?s? ǿj?ijG@Ijb;jCYByIIE>)E9Y=FyXE;E>Q 5x5ᔊ?Q 9x5 )YylQ I@DI:i:ffx5yɮAi!i%;?AJi%BRi%Bji%e@b%U@@!S@#7A@R%lOln?,#?] A?Zi%K=bi%|oj%U)MK=@c,:  !@Z%A-(?2ۿ^A?2i%Ce:i%_A"i%ў?*i%ۇBi%Bi%ў?i%Xi%ҒBi% Bi%{@ addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.501030 s, deltaX: -0.199997 m, approachRate: -0.399172 m/s, rangeRepo size: 4  Added new target pos. range: 33.718403 m, bearing: 333.936721 deg, lat: 36.779381 deg, lon: -121.859700 deg, deltaT: 0.501030 s, deltaX: -0.198929 m, approachRate: -0.397040 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.72 m.bhRhZh ProNav: ac range: 33.718403 m, nav range: 32.531528 m, bearing: 334.231061 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.725137 deg, new cmd heading: 325.764314 deg. BhHeadingCmd: 5.685660 target range: 33.718403 and range: 33.90 m.h@h*h"h hgfffdddjd@3@@Zd:?  Bɢ zA)  vyi)SiKik*X{<ԁ  PDAT read: Bearing 146.7, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 146.7, 4.5 (Local)  DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 .N,!;?ADAT read: 05:36:45.5970 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.48,-0.794,-2.538,-0.816,-0.944, PHS= 0.252,-1.549, 0.084, RAW= 145.2, 14.0, CAL= 144.8, 15.3, ROT= 5.2, -15.3 Ygot valid direction response: 05:36:45.5970 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.48,-0.794,-2.538,-0.816,-0.944, PHS= 0.252,-1.549, 0.084, RAW= 145.2, 14.0, CAL= 144.8, 15.3, ROT= 5.2, -15.3 R#Rx 5: Read range and direction messages.\direction in FSK: [0.960588,0.087420,0.263873]Fpublishing direction and range infoyIMac"? Ȧ-a?&K?YMBIMII I)M>IM%>iMEƿM1=IM5z>M?!@ Mܸ>)M޹=IMܸIIMDK|?hEf?fu? M >)MyIM޹=iMܸII6checking for new query: numPingsReceived=5, elapsed TxPingTime=4.282187BhALbA9bhAYbHAyYBy*IB5>B5CB5:IB5BB5 =B1B1B1B5+EBCBCBB =BC5bD VD2ym=%2=ٔQ->9Y=FyXEE>Q 5mx5a?Q 9mx5a)BYqyqQ Iu@DIg"@ZM}ΕĪ?ڦ?l|ڿnuN,j;?ABU@BsP@Bb5ٱB;5 ^AHRS rotation from veh to nav: [[0.832413,0.550796,0.060934],[-0.552375,0.815896,0.170867],[0.044397,-0.175890,0.983408]]BH?@?2?`??`B? ƿ@x?iBU@IBUb;BCYbByb<IxDAT read: 05:36:46.0970 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.03, 0.136,-1.652, 0.122,-0.063, PHS= 0.300,-1.544, 0.140, RAW= 145.5, 12.4, CAL= 145.2, 13.6, ROT= 4.8, -13.6 Ygot valid direction response: 05:36:46.0970 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.03, 0.136,-1.652, 0.122,-0.063, PHS= 0.300,-1.544, 0.140, RAW= 145.5, 12.4, CAL= 145.2, 13.6, ROT= 4.8, -13.6 X#Rx 7: Read direction message, but no range.%\direction in FSK: [0.968552,0.081332,0.235142]yw,a? `%Ҵ?#? )@I>iˡſ)\>j"@k]>0"@ s>)=Is3?>?? d>)_S^I=is=checking for new query: numPingsReceived=7, elapsed TxPingTime=4.775893iMMb@Mb@Mb@IIII I9Mjt?V-?~jtYM?yMh=MDM1AMA@ MnA)MAIYM3A Y]bDeVDeyu=%9=ٔQ->9Y=FyXE;E>Q 5x5?Q 9x5)Y?Q E:yvQ I@DI;i;Cnx5yBɮvA#E!ii;?AJiRijiY@bq e"@@xYf @xW@Rw,a? `%Ҵ?#?Zi=bisj[}<@?,H R!@Zp< ?ٕAlۿu̢?2imd:iA"i}?*im]BiBiiMyiBi^Bi+@ addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.259615 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 33.320168 m, bearing: 333.658503 deg, lat: 36.779380 deg, lon: -121.859701 deg, deltaT: 0.259615 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.32 m.bhRh ZhU ProNav: ac range: 33.320168 m, nav range: 32.092655 m, bearing: 333.956113 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.813438 deg, new cmd heading: 325.855166 deg. BhQeHeadingCmd: 5.687245 target range: 33.320168 and range: 33.50 m.hm@hi*hi"hi higqfqfyf}BdydydyjdZdB?BɢBJ/) Ci)g<i0i{<- Ygot valid direction response: 05:36:46.5967 LVL= 32064, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.31, 1.013,-0.751, 1.003, 0.860, PHS= 0.255,-1.565, 0.099, RAW= 145.6, 13.8, CAL= 145.3, 15.0, ROT= 4.7, -15.0  R#Rx 8: Read range and direction messages. \direction in FSK: [0.962678,0.079147,0.258819] Fpublishing direction and range infoy  9˦A?6JB?V!}?Y B @} ) I \>i Qȿ = "@ Ϣv> :M"@ >) =I &.% ?JXC-?Xv? 8t>) +vI =i E checking for new query: numPingsReceived=8, elapsed TxPingTime=5.103836ԮN,/2;?A2Y@2XT@26ٱ2u2 :AHRS rotation from veh to nav: [[0.832667,0.550600,0.059211],[-0.551974,0.816585,0.168860],[0.044624,-0.173286,0.983860]]2H4??P?ĩw!?1?ئ??.ƿ{?i2Y@I2tb;2CYNByREIbDZVDZyv4=%v=ٔv=Q-v?9xYx=zFyzXEz:E~?AQ 5Mx5E?Q 9Mx5E)AYIyM'Q IM@EDIE:iE:Eqx5yy}Bɮ}QA$Eii:;?AJiJBRiJBjip@bdV ?@MpR@5 @R9˦A?6JB?V!}?Zi=bi j/%k><@-K+M=Ţ"@Z*"'?Pۿ^++?2i*^:iA"id&]?*iABiPBiiiioAi @- addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.501671 s, deltaX: -0.500000 m, approachRate: -0.996669 m/s, rangeRepo size: 4 ] Added new target pos. range: 32.822849 m, bearing: 333.820164 deg, lat: 36.779380 deg, lon: -121.859701 deg, deltaT: 0.501671 s, deltaX: -0.497318 m, approachRate: -0.991324 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 32.82 m.bhaRhiZhi ProNav: ac range: 32.822849 m, nav range: 31.929276 m, bearing: 333.955210 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.855157 deg, new cmd heading: 325.887881 deg. BhHeadingCmd: 5.687817 target range: 32.822849 and range: 33.00 m.h@h*h"h hgfffdddjd@@Zd ?MBɢM%2)q u~3iq)u'qqiui}j}"|<}I[BECBESIBEBBE =BABE}DBEAn;BE+E^Ae<I I O > `O, B<~checking for new query: numPingsReceived=9, elapsed TxPingTime=5.542201DzDAAE5 E5E5(E1"E5D:*E5:VE5c44ZE1BE51y=f@ )AYIMAAbDMVDM2y|<%=ٔ Q->9Y=FyXE:E>Q 5x5$?Q 9x5)BY?Q E:y߾Q I@DI;i;ux5yɮA-B*** querying acoustic contact ***i) i)M addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.503063 s, deltaX: -0.099998 m, approachRate: -0.198779 m/s, rangeRepo size: 4 jhIUDNOT Ignoring new targets: 32.82 m.bhQRh]Zh]m ProNav: ac range: 32.822849 m, nav range: 31.669989 m, bearing: 333.947117 deg, approach rate: -0.510870 m/s, LOS rate: -0.016077 deg/s, cmd heading: 325.887887 deg, new cmd heading: 325.863409 deg. Bhm0mHeadingCmd: 5.687389 target range: 32.822849 and range: 32.90 m.hu@hq*hq"hq hqgfffBdddjd@3s@@Zd@;?Bɢ`#) $!i)li6i%%}|<%lmi7 0>"@M>i"@ z0a>)l=Iz0aJ۴??E` 8?|e:? >)˚MIl=iz0achecking for new query: numPingsReceived=10, elapsed TxPingTime=5.788972Y ^A m<AYIqIԉO> O,-9Y=FyYE:E>Q 5x56?Q 9 x5)BY y ߾Q I @DI&iNb^I>1#@B>4"@ ȭT>)Q =IȭT uPX6?G?B L? %N>)CIQ =iȭTE checking for new query: numPingsReceived=12, elapsed TxPingTime=6.292983a B >B B rIB ҀBB =B B ~DB n;B ,E^A5 8<ԉ AIIO>-O,UM9QYQ=]Fy]YE]4;E]>uDAT read: 05:36:48.0963 LVL= 32288, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.16,-1.756, 2.781,-1.750,-1.916, PHS= 0.262,-1.542, 0.121, RAW= 146.0, 13.3, CAL= 145.7, 14.5, ROT= 4.3, -14.5 }Ygot valid direction response: 05:36:48.0963 LVL= 32288, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.16,-1.756, 2.781,-1.750,-1.916, PHS= 0.262,-1.542, 0.121, RAW= 146.0, 13.3, CAL= 145.7, 14.5, ROT= 4.3, -14.5 }T#Rx 13: Read range and direction messages.\direction in FSK: [0.965422,0.072590,0.250380]Fpublishing direction and range infoywۖ?S/J?=9?Y ~ )I$>iB`ſ=e#@,m>"@ >)`=IQ 5x5H?Q 9x5)BQ A+:YQ E:y޾Q I@DIFh)" mI`=imchecking for new query: numPingsReceived=13, elapsed TxPingTime=6.626854iiOQ.qO,!k9"?Y"?=Fy YE g,;E >Q 5%x5W?Q 9%x5)BQ A- :Y)Q E-:y-z޾Q I5@DI$P;ib?9x5yEBɮMAM%E1DDAT read: Rx Time:05:36:48.5960 TRx dataTimestamp_ set to:1761543409.768665PDAT read: Bearing 145.2, 4.0 (Local) ~Local bearing/azimuth received: Bearing 145.2, 4.0 (Local) E EE&E"E*EVE4ZEa-@a-@a-@a-@=DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4 }DAT read: 05:36:48.5960 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498, 0.23,-1.089,-2.846,-1.068,-1.284, PHS= 0.297,-1.517, 0.172, RAW= 146.5, 11.9, CAL= 146.2, 13.1, ROT= 3.8, -13.1 jhDNOT Ignoring new targets: 32.23 m.bhRhYZhY ProNav: ac range: 32.225876 m, nav range: 30.764091 m, bearing: 333.479152 deg, approach rate: -0.524249 m/s, LOS rate: -0.027687 deg/s, cmd heading: 325.817017 deg, new cmd heading: 325.785780 deg. BhYgot valid direction response: 05:36:48.5960 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498, 0.23,-1.089,-2.846,-1.068,-1.284, PHS= 0.297,-1.517, 0.172, RAW= 146.5, 11.9, CAL= 146.2, 13.1, ROT= 3.8, -13.1 T#Rx 14: Read range and direction messages.\direction in FSK: [0.971835,0.064549,0.226651]Fpublishing direction and range infoyD?$.K?+#?YB )Ib>i-¿ 0>_#@HeadingCmd: 5.686035 target range: 32.225876 and range: 32.40 m.h@h*h"h hgfffdddjd@@Zd?8?ȭT>N#@  j>)ԇ=I j!wp?ޚ?yq? fz>)UIԇ=i j-checking for new query: numPingsReceived=14, elapsed TxPingTime=7.095158颍Bɢ) i)顑i[i}<#!O,c_y=uxAX@ )rAY=AbDVD:y%7=%%"=ٔ%uQ-%>9)Y)=-Fy-YE5 ;E5>9Q 5Ex5= j?Q 9Ex5=?)=BQ AET:YE>Q EE:yMھQ IM@=DI=G:i=:*<=x5yɮADDAT read: Rx Time:05:36:49.0960 TRx dataTimestamp_ set to:1761543410.273417PDAT read: Bearing 145.8, 3.6 (Local) )EM EMEM$EI"EM:*EM:VEM4ZEIBEM>@=MpEo@$FA@RD?$.K?+#?Ziԇ=bi jj߇e;@,v>RaE @ZS"l?բ]{+ܿ`$ \?2i%`:i,A"i=n?*iIBi+Biim]iBiAi'@DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4  addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.502838 s, deltaX: -0.400002 m, approachRate: -0.795488 m/s, rangeRepo size: 4  Added new target pos. range: 31.828045 m, bearing: 332.917094 deg, lat: 36.779378 deg, lon: -121.859703 deg, deltaT: 0.502838 s, deltaX: -0.397831 m, approachRate: -0.791171 m/s, posRepo size: 4 jhDAT read: 05:36:49.0960 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.20,-1.798, 2.729,-1.769,-1.975, PHS= 0.279,-1.535, 0.161, RAW= 146.7, 12.4, CAL= 146.4, 13.6, ROT= 3.6, -13.6 Ygot valid direction response: 05:36:49.0960 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.20,-1.798, 2.729,-1.769,-1.975, PHS= 0.279,-1.535, 0.161, RAW= 146.7, 12.4, CAL= 146.4, 13.6, ROT= 3.6, -13.6 DNOT Ignoring new targets: 31.83 m.bhRh%Zh!5 ProNav: ac range: 31.828045 m, nav range: 30.565582 m, bearing: 333.309128 deg, approach rate: 0.000000 m/s, LOS rate: -0.027687 deg/s, cmd heading: 325.785789 deg, new cmd heading: 325.739562 deg. Bh1]T#Rx 15: Read range and direction messages.e\direction in FSK: [0.970043,0.061030,0.235142]eFpublishing direction and range infoy&m ?t4P??#?Y )Iَ>izĿ/$>#@k]>Ƈ#@ s>)=Is=HeadingCmd: 5.685228 target range: 31.828045 and range: 32.00 m.h}c@hy*hy"hy hygfffBdddjdZdȬ?r G?H E ?zJO? M>)g]I=ischecking for new query: numPingsReceived=15, elapsed TxPingTime=7.614605颍Bɢ}o ) Si)F0顱iiW~<6ٱ6\8 >AHRS rotation from veh to nav: [[0.835917,0.545598,0.059707],[-0.546878,0.818735,0.174922],[0.046553,-0.178873,0.982770]]6Hտ?@u?@?3?c?է?Qƿr?i6@I6^?a;6CYFByFI HHbDRVDR:yZf=%Z;=ٔZFQ-Z>9^ ?Y^ ?=^Fy^YEbQ;Eb>dQ 5jx5f4z?Q 9jx5f4!)fBYhyjQ Ij@fDIfD;ifr;fkx5yrBɮrgAr&Eii@zT?14p@R&m ?t4P??#?Zi=bisjܓ_VP;@[`+RU @Z5{v?>SܿI13?2i_:iA"i|x?*ib Bi֑BiiWi֑BiAi-@5 addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.504752 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 31.828045 m, bearing: 332.888047 deg, lat: 36.779378 deg, lon: -121.859704 deg, deltaT: 0.504752 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 31.83 m.bhIRhIZhI] ProNav: ac range: 31.828045 m, nav range: 30.371586 m, bearing: 333.235770 deg, approach rate: 0.000000 m/s, LOS rate: -0.027687 deg/s, cmd heading: 325.739563 deg, new cmd heading: 325.709062 deg. BhaeHeadingCmd: 5.684696 target range: 31.828045 and range: 32.00 m.he@ha*hi"hi  higfffd!d!d)jd)Zd5 ?颱ɢf) ϼi)U项iMai%6-~<5IF?yh? ? `| ) I >i d;_> $@ t;?> _#@ Q>) 5z=I Q u} ?j'j?河? >) r?I 5z=i QE checking for new query: numPingsReceived=17, elapsed TxPingTime=8.308701B >B B IB BB B B B o;B C,E^A]#<A؟AIIO?2O,8y=1AA@ A)AY3A)I)\>iFÿ}?5>O$@^ Z>(#@ ,m>)d=I,mv? .f~? 7? a>)9YId=i,mchecking for new query: numPingsReceived=18, elapsed TxPingTime=8.623779bDVD:2y%<ٔQ-%~>9%"?Y%"?=%Fy%YE-E-~> Q 5x5 ؕ?Q 9x5 $) BY8>Q E:yþQ I@  DI :i n: ʍx5y%Bɮ%Am'Eii4@ ~w;?u@Rq?n&SeЫ?gz}"Er?Zid=bi,mjrbހ:@B@ + rd @Z;ka?˛ܿV?2i_:itA"ih?*iBiWBih?iIiWBi6Aiع@5 addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 1.011055 s, deltaX: -0.500000 m, approachRate: -0.494533 m/s, rangeRepo size: 4 A Added new target pos. range: 31.330696 m, bearing: 332.433504 deg, lat: 36.779378 deg, lon: -121.859707 deg, deltaT: 1.011055 s, deltaX: -0.497349 m, approachRate: -0.491911 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.33 m.bhRhZh ProNav: ac range: 31.330696 m, nav range: 30.151672 m, bearing: 332.755444 deg, approach rate: 0.000000 m/s, LOS rate: -0.027687 deg/s, cmd heading: 325.709073 deg, new cmd heading: 325.646446 deg. BhHeadingCmd: 5.683603 target range: 31.330696 and range: 31.50 m.h@h*h"h hgfff?Bdddjd=?@ZdE$\?颍Bɢ=) @i)~顡iQi=~S<=I@I] checking for new query: numPingsReceived=18, elapsed TxPingTime=8.802329q ԙ A@ @@p4@=DDAT read: Rx Time:05:36:50.5955 ETRx dataTimestamp_ set to:1761543411.786595MPDAT read: Bearing 146.0, 3.1 (Local) M~Local bearing/azimuth received: Bearing 146.0, 3.1 (Local) ]DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 eZ#Rx 19: Read range message, but no direction.y9Y=A9mchecking for new query: numPingsReceived=19, elapsed TxPingTime=9.067075E EE"E"E:*Eą:VE(3ZEa@a@a@a@^Ar=A II)O51?}=O,69aYa=mFym YEiEm>qQ 5}x5uw?Q 9}x5uA')uBYyQ I@uDIu:iu:ux5yɮxAB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.502123 s, deltaX: -0.299999 m, approachRate: -0.597462 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 31.33 m.bhRhӺZhӺ ProNav: ac range: 31.330696 m, nav range: 29.889107 m, bearing: 332.708269 deg, approach rate: -0.508939 m/s, LOS rate: -0.092244 deg/s, cmd heading: 325.646453 deg, new cmd heading: 325.503686 deg. Bh9}HeadingCmd: 5.681111 target range: 31.330696 and range: 31.20 m.h˵@h*h"h hgfffdddjd@33?@ZdE?-Bɢ5)1 5` I^>i¿/>l$@k]>Y3$@ s>)PwV=Is* 9?дfܕ?7>fvl? V(>)]IPwV=ischecking for new query: numPingsReceived=20, elapsed TxPingTime=9.316148A%@AA%?AB- >B)B-IB-BB)B)B)B-o;B-B,EBCBCBB =BC:4?@ @@4@Q^A} 9=ԉ U DDAT read: Rx Time:05:36:51.0953 U TRx dataTimestamp_ set to:1761543412.287506] PDAT read: Bearing 144.0, 3.3 (Local) e ~Local bearing/azimuth received: Bearing 144.0, 3.3 (Local) u DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 u Z#Rx 21: Read range message, but no direction.yQ YU 3AQ } checking for new query: numPingsReceived=21, elapsed TxPingTime=9.567126E  E E (E "E :*E VE c44ZE BE 3)EO,D=?AxYuByuIiMb@Mb@Mb@ 9x&1?v/?~jtYA?yx=ļA A)AY=AbDUVDUye|Q=%e*=ٔaQ-m>9iYi=mFyu%YEqEu>yQ 5x5}?Q 9x5}))}BY?Q E:y]Q I@}DI};i}h;}x5yBɮ*Ai)i-f=?AJi-ARi-Aji-@b-Z@=@3?0,J@R-R1wd?mxo ?#?Zi-PwV=bi-sj-൏8:@h1+0=l @Z-/M?g3pܿ=jm?2i-Q\:i-A"i-_?*i-ǓBi-{Bi)i-b i-{Bi-TAi- @ addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.500911 s, deltaX: -0.300001 m, approachRate: -0.598911 m/s, rangeRepo size: 4  Added new target pos. range: 30.733944 m, bearing: 332.293824 deg, lat: 36.779378 deg, lon: -121.859707 deg, deltaT: 1.003034 s, deltaX: -0.596752 m, approachRate: -0.594947 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.73 m.bhRhZh ProNav: ac range: 30.733944 m, nav range: 29.666136 m, bearing: 332.570424 deg, approach rate: 0.000000 m/s, LOS rate: -0.092244 deg/s, cmd heading: 325.503675 deg, new cmd heading: 325.369377 deg. BhHeadingCmd: 5.678767 target range: 30.733944 and range: 30.90 m.hu@h*h"h! h!g!f!f)f-=Bd)d1d1jd5`f>@Zd5K ?aɢef)a m =ii)mHiiimiu/u,i= =w>=$@=f;>="$@ =%K>)=A=I=%K9=\{?xb8?s|=? =^:>)=:I=A=i=%Kchecking for new query: numPingsReceived=22, elapsed TxPingTime=9.820642Q^A Nw =y I I O >LKO,Ee/=?A9}DDAT read: Rx Time:05:36:51.5951 }TRx dataTimestamp_ set to:1761543412.788908PDAT read: Bearing 144.9, 2.9 (Local) ~Local bearing/azimuth received: Bearing 144.9, 2.9 (Local) DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 DAT read: 05:36:51.5951 LVL= 30576, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.12, 1.835, 0.078, 1.902, 1.640, PHS= 0.296,-1.517, 0.217, RAW= 147.8, 11.3, CAL= 147.5, 12.4, ROT= 2.5, -12.4 Ygot valid direction response: 05:36:51.5951 LVL= 30576, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.12, 1.835, 0.078, 1.902, 1.640, PHS= 0.296,-1.517, 0.217, RAW= 147.8, 11.3, CAL= 147.5, 12.4, ROT= 2.5, -12.4 T#Rx 23: Read range and direction messages.\direction in FSK: [0.975743,0.042602,0.214735]Fpublishing direction and range infoyy}4H9?ʸϥ?h`r|?Y}Ay}pwyy y)}>I}P>i}-¿}?5^>}%@}I>}S$@ }k]>)}¸2=I}k]yy}ޤ]?JB?4f? }MW>)}"JI}¸2=i}k]yychecking for new query: numPingsReceived=23, elapsed TxPingTime=10.078959E EE)E"E:*E:VEFA4ZEa@a@a@a@@ʒ@ȇAٱ0 MAHRS rotation from veh to nav: [[0.836750,0.544833,0.054838],[-0.545545,0.820803,0.169304],[0.047231,-0.171582,0.984037]]H?Eo??uD?? .? cſ@;}?i@I_;CYYy]I iibDmVDm0y}5?%8=ٔ%ƺQ->9Y=Fy*YEe;E>Q 5x5Е?Q 9x5+){BYy=Q I@$DI;i;x5yBɮGA(EYiyi}x}2=?AJi}|ARi}|Aji}.@b}i=@І?pvq$@R}4H9?ʸϥ?h`r|?Zi}¸2=bi}k]j}19@6QnW,<r@Z}z>?JՀݿ%d\?2i}|`:i}OA"i}W?*i}͜Bi}GBiyi}Ǔi}WBi}Ai}/@ addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.501402 s, deltaX: -0.299999 m, approachRate: -0.598321 m/s, rangeRepo size: 4  Added new target pos. range: 30.435558 m, bearing: 331.567880 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.501402 s, deltaX: -0.298386 m, approachRate: -0.595103 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.44 m.bhRh!Zh!5 ProNav: ac range: 30.435558 m, nav range: 29.484903 m, bearing: 332.340593 deg, approach rate: 0.000000 m/s, LOS rate: -0.092244 deg/s, cmd heading: 325.369366 deg, new cmd heading: 325.238164 deg. Bh1]HeadingCmd: 5.676477 target range: 30.435558 and range: 30.60 m.h]@hY*hY"hY hYgafafafadididijdm>@Zdm?BɢM)  =i)tiH9iB B IB )BB =B B B n;B -,E^A =I9 IQ O] >7RO,MI=?A@@m?ٱ 1 mAHRS rotation from veh to nav: [[0.837288,0.543927,0.055601],[-0.544770,0.821240,0.169680],[0.046632,-0.172361,0.983929]]H?g?w?nG???ƿY|?i@I_;CԉY5By5I QQiMb@Mb@Mb@ 9Zd;O?y&1?y`=t XA)rAYAbDUVDUkyeK=%e<=ٔm:Q-m>9iYi=mFym.YEDDAT read: Rx Time:05:36:52.0950 TRx dataTimestamp_ set to:1761543413.292852PDAT read: Bearing 145.4, 2.5 (Local) ~Local bearing/azimuth received: Bearing 145.4, 2.5 (Local) DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 ԱE EE&E"E:*E:VE4ZEBE.iSÿ= W>MQ%@Q>%@ d>)nF=Id PI]Ũ?3L[v?$ެ? C>)ڸPInF=idechecking for new query: numPingsReceived=24, elapsed TxPingTime=10.595791m!;Eu>qQ 5}x5u|╊?Q 9x5u-)uwBY?Q E:yQ I@u,DIu':iu:ux5yɮAiiR=?AJiARiAji@biu=@'O]f+?i=6@R{.?8*?@|[?ZinF=bidjQ9@uC,>.@Zabd'?;ݿ|Gr?2i}`:iA"i[?*i״BiBi_?iiibAi}@e addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.503944 s, deltaX: -0.100000 m, approachRate: -0.198436 m/s, rangeRepo size: 4  Added new target pos. range: 30.336065 m, bearing: 331.407470 deg, lat: 36.779377 deg, lon: -121.859709 deg, deltaT: 0.503944 s, deltaX: -0.099493 m, approachRate: -0.197429 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.34 m.bhRhZh ProNav: ac range: 30.336065 m, nav range: 29.172937 m, bearing: 332.121237 deg, approach rate: 0.000000 m/s, LOS rate: -0.092244 deg/s, cmd heading: 325.238172 deg, new cmd heading: 325.112714 deg. BhHeadingCmd: 5.674287 target range: 30.336065 and range: 30.50 m.hÓ@h*h"h hgfffIdIdIdIjdU>@ZdU` ?ɢ%ڼ)! %xg=i!)%!)i-Zi-5Ϟ<5M+=I5Ó@I1 @  @ @ @ - checking for new query: numPingsReceived=24, elapsed TxPingTime=10.818317^AI =9IIO>-YO,lh=?AYv!ByvIbDVD:y5$=%5Z=ٔ=Q-=>99Y9==Fy=2YEEEE>IQ 5Ux5M,?Q 9Ux5M/)MuBYQyYQ I]@M2DIM:iM:Mx5yeBɮeA)EjhDNOT Ignoring new targets: 30.34 m.bhRhZh  ProNav: ac range: 30.336065 m, nav range: 29.000536 m, bearing: 332.078991 deg, approach rate: -0.513569 m/s, LOS rate: -0.126595 deg/s, cmd heading: 325.112715 deg, new cmd heading: 324.985225 deg. Bh ­HeadingCmd: 5.672062 target range: 30.336065 and range: 30.50 m.h@h*h"h hgfffd!d!d!jd)Zd-?iɢmBȼ)i u=iq)u`8qqi}7ir\<^2=I@IM@@I @Q@U/@Y=DDAT read: Rx Time:05:36:52.5948 ETRx dataTimestamp_ set to:1761543413.796899MPDAT read: Bearing 145.6, 2.2 (Local) M~Local bearing/azimuth received: Bearing 145.6, 2.2 (Local) ]DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 DAT read: 05:36:52.5948 LVL= 32176, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.39, 2.927, 1.181, 3.010, 2.757, PHS= 0.271,-1.532, 0.208, RAW= 148.2, 11.9, CAL= 148.0, 13.0, ROT= 2.0, -13.0 Ygot valid direction response: 05:36:52.5948 LVL= 32176, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.39, 2.927, 1.181, 3.010, 2.757, PHS= 0.271,-1.532, 0.208, RAW= 148.2, 11.9, CAL= 148.0, 13.0, ROT= 2.0, -13.0 T#Rx 25: Read range and direction messages.\direction in FSK: [0.973777,0.034005,0.224951]Fpublishing direction and range infoy9=RڱX-)?ZIi?:/2?Y=A9=}99 9)9I=>i=Ŀ=T>=~%@=ȭT>=MQ%@ =Vh>)=5=I=Vh99=?<ơ? P? =Q>)=TI=5=i=Vh99checking for new query: numPingsReceived=25, elapsed TxPingTime=11.086423E EEE"E*E:VEZEa@a@a@a@^A#'=IQIaOuW> i`O,=?A4<ɰ:@:ק@: "9ٱ:6@ FAHRS rotation from veh to nav: [[0.838228,0.542088,0.059281],[-0.543445,0.821388,0.173174],[0.045183,-0.177375,0.983106]]:H?X? Z?c H? *?@="?;ƿu?i:@I:s_;:CRchecking for new query: numPingsReceived=25, elapsed TxPingTime=11.322148YV(ByVIbDbVDb1yf=%jR=ٔjrt;Q-j>9lYl=nFyn6YEr;Er>tQ 5zx5v?Q 9zx5vg1)vrBYxyzNQ Iz@v8DIv :iv|:vx5y!BɮA2Eiies=?AJiMARiMAji @b ?=@ XW?,@RRڱX-)?ZIi?:/2?Zi5=biVhj x9@tb^U+Á"@Z0"?mNnݿ^`?2i/^:iA"i},b?*imBiBii͜iBiAiJ$@ addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504047 s, deltaX: -0.299999 m, approachRate: -0.595181 m/s, rangeRepo size: 4  Added new target pos. range: 30.037678 m, bearing: 331.402435 deg, lat: 36.779377 deg, lon: -121.859712 deg, deltaT: 0.504047 s, deltaX: -0.298388 m, approachRate: -0.591984 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.04 m.bhRhZh ProNav: ac range: 30.037678 m, nav range: 28.950327 m, bearing: 331.495042 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.985236 deg, new cmd heading: 324.837357 deg. BhB9A==BABABEIBE=BBE =BABABEn;BE1,EHeadingCmd: 5.669481 target range: 30.037678 and range: 30.20 m.hdl@h*h"h hgfffdddjd@33>@Zd ?9ɢ=ܢǼ)9 ==i9)EמAAiE_iMM`}i]n¿]xi>]H%@]%K>]%@ ]f_>)])]KI]fO,=?AB\@B,@B7ٱB9 JAHRS rotation from veh to nav: [[0.838661,0.541230,0.060971],[-0.542805,0.821345,0.175372],[0.044839,-0.180173,0.982612]]BHO?@Q?7?`^ uH?r??`ǿq?iB\@IB_;BClYv-ByvIIz=)z9aYa=eFye:YEm:Em>Q 5x5?Q 9x53)mBYp?Q E:y Q I@?DI:i:x5y$BɮA3EiicA=?AJiARiAji@b`=@?\eiK@RK:?7w|?K?Zi<bif_js?>H9@.8+<@ZtN?IoR ݿ?s?2ii_:iAA"ie?*i2ܢBi+BiimiBiAi @e addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.503967 s, deltaX: -0.200001 m, approachRate: -0.396853 m/s, rangeRepo size: 4  Added new target pos. range: 29.838787 m, bearing: 331.088190 deg, lat: 36.779377 deg, lon: -121.859713 deg, deltaT: 0.503967 s, deltaX: -0.198891 m, approachRate: -0.394650 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.84 m.bhRhZhchecking for new query: numPingsReceived=26, elapsed TxPingTime=11.826470 ProNav: ac range: 29.838787 m, nav range: 28.747639 m, bearing: 331.304268 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.837349 deg, new cmd heading: 324.661701 deg. BhHeadingCmd: 5.666416 target range: 29.838787 and range: 30.00 m.hGS@h*h"h hgfffABdddjd>@Zd%?Bɢ VLü)  0=i )  i.i!<.N=IGS@IA@ @@@1i ^A -B=m DDAT read: Rx Time:05:36:53.5944 u TRx dataTimestamp_ set to:1761543414.805538} PDAT read: Bearing 143.9, 1.9 (Local) } ~Local bearing/azimuth received: Bearing 143.9, 1.9 (Local)  DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4  DAT read: 05:36:53.5944 LVL= 28736, 31009, 31522, 32755, AGC= 62, IDX= 497, 0.40,-2.516, 2.026,-2.409,-2.726, PHS= 0.312,-1.487, 0.272, RAW= 148.9, 10.2, CAL= 148.6, 11.1, ROT= 1.4, -11.1  Ygot valid direction response: 05:36:53.5944 LVL= 28736, 31009, 31522, 32755, AGC= 62, IDX= 497, 0.40,-2.516, 2.026,-2.409,-2.726, PHS= 0.312,-1.487, 0.272, RAW= 148.9, 10.2, CAL= 148.6, 11.1, ROT= 1.4, -11.1  T#Rx 27: Read range and direction messages. \direction in FSK: [0.981000,0.023975,0.192522] Fpublishing direction and range infoyi m -!Yd??M?Ym Ai m @pm !ym "{ i )m >Im w>im Vm C>m R&@m K6>m %@ m aF>)m +jPmO,׷=?A %r@%B@%5ٱ%7|; ]AHRS rotation from veh to nav: [[0.839214,0.540241,0.062127],[-0.541988,0.821618,0.176616],[0.044371,-0.181891,0.982317]]%H@?@I? ϯ?W J?Z?˷? 0Hǿ$o?i%r@I%_;%CYe/BymIbD}VD}02y<%E=ٔ|:Q->9Y=Fy?YEU;E>Q 5x5#?Q 9x55)hBYyQ I@FDI%;i;x5yɮAiyi}=?AJi}ARi}Aji}ڣ@b}S<@>R?uC@R}-!Yd??M?Zi}+<bi}aFj}=Τ8@̅%,~7@Z}N$??L`޿wn8?2i}(a:i}A"i}<[?*i}%Bi}Bi}<[?i}״i}GBi}Ai}@ addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.504672 s, deltaX: -0.400000 m, approachRate: -0.792593 m/s, rangeRepo size: 4  Added new target pos. range: 29.440937 m, bearing: 330.596740 deg, lat: 36.779376 deg, lon: -121.859713 deg, deltaT: 0.504672 s, deltaX: -0.397850 m, approachRate: -0.788334 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.44 m.bhRhZh% ProNav: ac range: 29.440937 m, nav range: 28.502283 m, bearing: 331.177197 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.661704 deg, new cmd heading: 324.502347 deg. Bh!-HeadingCmd: 5.663634 target range: 29.440937 and range: 29.60 m.h-~<@h1*h1"h1 h1g1f1f9f9d9d9IdAjdm=@Zdu;?ɢ ) D=i)9ii<;Z=I~<@I%]>i%>}?@y @y@}/0@y@@checking for new query: numPingsReceived=27, elapsed TxPingTime=12.332196qB >BBIBGBB =BB}DBn;B,E^A] dO=ԡ A I I O= >2tO,Л=?A@>;@> @>&4ٱ>Z!; JAHRS rotation from veh to nav: [[0.839539,0.539748,0.062023],[-0.541503,0.822017,0.176247],[0.044145,-0.181552,0.982390]]>H? E??SM?`A?@#?=ǿ@o?i>;@I>C_;>CYR5ByRIiI DDAT read: Rx Time:05:36:54.0944  TRx dataTimestamp_ set to:1761543415.309015PDAT read: Bearing 131.5, 2.4 (Local) e~Local bearing/azimuth received: Bearing 131.5, 2.4 (Local) uDAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 DAT read: 05:36:54.0944 LVL= 31328, 32753, 32754, 32755, AGC= 62, IDX= 513,-0.14,-1.405, 2.931,-1.194,-1.963, PHS= 0.660,-1.344, 0.725, RAW= 151.6, -0.4, CAL= 150.5, -1.2, ROT= 359.5, 1.2 Ygot valid direction response: 05:36:54.0944 LVL= 31328, 32753, 32754, 32755, AGC= 62, IDX= 513,-0.14,-1.405, 2.931,-1.194,-1.963, PHS= 0.660,-1.344, 0.725, RAW= 151.6, -0.4, CAL= 150.5, -1.2, ROT= 359.5, 1.2 T#Rx 28: Read range and direction messages.`direction in FSK: [0.999743,-0.008724,-0.020942]Fpublishing direction and range infoy  7s:?eށ_2qY   `z   ) I (?i 1E EEE"E:*E҆:VEZEBE39Y=FyCYEԩg:E>Q 5x56?Q 9x57)dBY?Q E:yQ I@NDI:i:ٰx5yM'BɮMAM4Ei i =?AJi ARi Aji U@b G۹fn=@ZJpп<R 7s:?eށ_2qZi Dbi <j ^8@X8 B0&3#?Z ც?d׫C C?2i :i DA"i ^J?*i tBi Bi i 2ܢi +Bi Ai Ǹ@ addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.503477 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.440857 m, bearing: 326.468098 deg, lat: 36.779376 deg, lon: -121.859715 deg, deltaT: 0.503477 s, deltaX: -0.000080 m, approachRate: -0.000159 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.44 m.bhRhZhE ProNav: ac range: 29.440857 m, nav range: 28.334665 m, bearing: 330.848889 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.502342 deg, new cmd heading: 324.313737 deg. BhAMHeadingCmd: 5.660343 target range: 29.440857 and range: 29.60 m.hM!@hI*hI"hI hIgQfQfQfUOBdYddjdZdk?-Bɢ-3)1 5=i1)uGqqiu64i}r}<}Vg=I!@Ichecking for new query: numPingsReceived=28, elapsed TxPingTime=12.835755M @@I  @Q @U /@Q 1 ^Am 5[=AIIO?&|O,j=?A6n@6>@6J0ٱ68b:BDDAT read: Rx Time:05:36:54.5941 BTRx dataTimestamp_ set to:1761543415.812796JPDAT read: Bearing 146.7, 0.8 (Local) J~Local bearing/azimuth received: Bearing 146.7, 0.8 (Local) RDAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 fDAT read: 05:36:54.5941 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.21,-1.933, 2.634,-1.822,-2.058, PHS= 0.228,-1.546, 0.192, RAW= 149.0, 12.8, CAL= 148.9, 14.1, ROT= 1.1, -14.1 jYgot valid direction response: 05:36:54.5941 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.21,-1.933, 2.634,-1.822,-2.058, PHS= 0.228,-1.546, 0.192, RAW= 149.0, 12.8, CAL= 148.9, 14.1, ROT= 1.1, -14.1 jT#Rx 29: Read range and direction messages.n\direction in FSK: [0.969693,0.018619,0.243615]nFpublishing direction and range infoy@BJE3?j)? .?YBA@B@@ @)B=IBxi>iBTſBD>BBo&@Bd>BR&@ Bd{>)BnF?ɑ}K? B"?)BAdIBnF9QYY=]Fy]HYE]AE]>aQ 5x5eI?Q 9x5e:)e_BYy溾Q I@eVDIe);ie;ex5y(BɮYAi@iB=?AJiBARiBAjiBȸ@bBU4<@%k>?N4@RBJE3?j)? .?ZiBnF<biBd{jBaH8@9p7+ @ZB ?WݿUh?2iBX:iBDA"iBBH?*iB FBiBRBi@i@i@iBAiB@ addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503781 s, deltaX: -0.500000 m, approachRate: -0.992495 m/s, rangeRepo size: 4  Added new target pos. range: 28.943544 m, bearing: 330.855356 deg, lat: 36.779376 deg, lon: -121.859715 deg, deltaT: 0.503781 s, deltaX: -0.497313 m, approachRate: -0.987160 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.94 m.bhRhZh ProNav: ac range: 28.943544 m, nav range: 28.093618 m, bearing: 330.777727 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.313747 deg, new cmd heading: 324.141174 deg. BhHeadingCmd: 5.657331 target range: 28.943544 and range: 29.10 m.h@h*h"h hgf f f d ddjd=@Zd0?!颡ɢϮ) ^>i)>a顩iYri8 S<cn=I@Iu?@q @q@u0@qQ=checking for new query: numPingsReceived=29, elapsed TxPingTime=13.339951A A AAB B B IB QBB =B B B n;B ,Ey ^A c=A .AI I! O] >ԡ4;O,H>?AR@R}@Rc/ٱR}< ZAHRS rotation from veh to nav: [[0.838556,0.541026,0.064144],[-0.543127,0.820885,0.176526],[0.042850,-0.182865,0.982204]]RH@t?P?k?LaD? f?t? hǿ6n?iR@IR ^;PYb-BybI5DDAT read: Rx Time:05:36:55.0940 =TRx dataTimestamp_ set to:1761543416.316782EPDAT read: Bearing 146.4, 1.1 (Local) m~Local bearing/azimuth received: Bearing 146.4, 1.1 (Local) }DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.4 DAT read: 05:36:55.0940 LVL= 31440, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.24, 2.299, 0.591, 2.404, 2.163, PHS= 0.238,-1.527, 0.196, RAW= 148.8, 12.5, CAL= 148.7, 13.8, ROT= 1.3, -13.8 DzD@AE EE'E"E;*E:VE'4ZEBEDI=Fs>i=tÿ=9H>=6&@=f_>=x&@ =Ϣv>)=޹_I=޹9 ?Y ?=FyMYE E>Q 5x5r^?Q 9 x5<)[BY L?Q E :y !ξQ I @^DI:iH:^x5y+BɮAi9i=(F>?AJi=ARi=Aji=׸@b="!r<@V?Vh@R=S{?p?iC?Zi=޹<bi=Ϣvj=tD8@Ҵ*ܩ9m]@Z=o?*Kݿ35/f?2i=W:i=%A"i=[|[?*i=p@Bi=ېBi=[|[?i9i9i=Ai=@E addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.503986 s, deltaX: -0.100000 m, approachRate: -0.198419 m/s, rangeRepo size: 4  Added new target pos. range: 28.844101 m, bearing: 330.961173 deg, lat: 36.779376 deg, lon: -121.859715 deg, deltaT: 0.503986 s, deltaX: -0.099443 m, approachRate: -0.197314 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.84 m.bhRhZh ProNav: ac range: 28.844101 m, nav range: 27.824606 m, bearing: 330.714119 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.141162 deg, new cmd heading: 323.949461 deg. BhHeadingCmd: 5.653985 target range: 28.844101 and range: 29.00 m.hq@h*h"h hgff f 2Bd d d1jd5=@Zd5 ?颁ɢVü) =i)顉 iUiL!TD<Riv=Iq@I!a@@ @@/@checking for new query: numPingsReceived=30, elapsed TxPingTime=13.844003A ^AE .o=i A؟AIIO?͋O,1>?A$ɰ$4F@Ff@F 0ٱF>> NAHRS rotation from veh to nav: [[0.837484,0.542543,0.065326],[-0.544770,0.819505,0.177868],[0.042967,-0.184549,0.981884]]FH?\?-? n@b9?@b?@?Nǿ@k?iF@IF>_;DYV.ByZIbDbVDb!yj;%j==ٔjoQ-j>9n"?Yn"?=nFynRYErEr>tQ 5zx5vp?Q 9zx5v8?)vWBYxyz4ϾQ Iz@vfDIv:ivg:vx5y.BɮA5EuDDAT read: Rx Time:05:36:55.5937 uTRx dataTimestamp_ set to:1761543416.820772PDAT read: Bearing 145.7, 1.4 (Local) ~Local bearing/azimuth received: Bearing 145.7, 1.4 (Local) DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 DAT read: 05:36:55.5937 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.10,-2.960, 1.600,-2.860,-3.115, PHS= 0.257,-1.523, 0.211, RAW= 148.7, 12.0, CAL= 148.6, 13.2, ROT= 1.4, -13.2 Ygot valid direction response: 05:36:55.5937 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.10,-2.960, 1.600,-2.860,-3.115, PHS= 0.257,-1.523, 0.211, RAW= 148.7, 12.0, CAL= 148.6, 13.2, ROT= 1.4, -13.2 T#Rx 31: Read range and direction messages.\direction in FSK: [0.973288,0.023787,0.228351]Fpublishing direction and range infoyquGv-%?DC[? :?YuAquqq q)qIu>iu¿ubX>ux&@uPwV>u%@ uk>)u+?AJiuARiuAjiuDȸ@bu&1;@W=?ߖ1]@RuGv-%?DC[? :?Ziu+<biukju"u27@* ׻@Zuk *T? ZC޿X|W¾?2iu7U:iu'A"iuuM?*iuBiuBiuuM?iup@iuBiuAiu%@ addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503990 s, deltaX: -0.500000 m, approachRate: -0.992083 m/s, rangeRepo size: 4  Added new target pos. range: 28.346788 m, bearing: 330.851399 deg, lat: 36.779375 deg, lon: -121.859713 deg, deltaT: 0.503990 s, deltaX: -0.497313 m, approachRate: -0.986751 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.35 m.bhRhZh- ProNav: ac range: 28.346788 m, nav range: 27.387569 m, bearing: 330.745654 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 323.949452 deg, new cmd heading: 323.779966 deg. Bh)5HeadingCmd: 5.651026 target range: 28.346788 and range: 28.50 m.h55մ@h1*h9"hY hYgYfYfafadadadijdm<@Zdm`|?ԙBɢ]) =i)Zi i 1!  < y=I 5մ@I?@ @@0@6G=肿99YEomA- checking for new query: numPingsReceived=31, elapsed TxPingTime=14.347872^A np= B] >BY BY BY B] =BY B] ~DB] n;B] !,EBBBB =B =CBN4A I I O >O,6K>?AB@Br@B0ٱB91Y9==Fy=WYE=ǻE=>AQ 5Mx5E˃?Q 9Ux5EA)ERBYQyUоQ IU@EnDIEn;iE;EJx5yYɮ]'Aa}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 28.35 m.bhRhZh ProNav: ac range: 28.346788 m, nav range: 27.134119 m, bearing: 330.690472 deg, approach rate: -0.591586 m/s, LOS rate: -0.130004 deg/s, cmd heading: 323.779954 deg, new cmd heading: 323.612863 deg. BhqHeadingCmd: 5.648110 target range: 28.346788 and range: 28.50 m.hQ@h*h"h hgfffdddjdZd`?ɢ) خ=i)tRiF iN" Ƈ<y=IQ@IIIDDAT read: Rx Time:05:36:56.0937 TRx dataTimestamp_ set to:1761543417.326522PDAT read: Bearing 144.8, 1.5 (Local) ~Local bearing/azimuth received: Bearing 144.8, 1.5 (Local) DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 DAT read: 05:36:56.0937 LVL= 30240, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.36, 2.280, 0.548, 2.383, 2.104, PHS= 0.279,-1.511, 0.235, RAW= 148.8, 11.3, CAL= 148.6, 12.4, ROT= 1.4, -12.4 EM EMEM#EI"EM:*EM:VEM3ZEIBEM>?6Wo?h`r|?Y v )Iَ>ishףp>6&@I> k]>)Ik]@@ @@?0@ﳌ?7]?4?'켌? P?)xIIik]checking for new query: numPingsReceived=32, elapsed TxPingTime=14.647981q^A% \O,>e>?AVo@Vj@Vs1ٱVBB bAHRS rotation from veh to nav: [[0.834202,0.547230,0.068158],[-0.549746,0.815504,0.180918],[0.043421,-0.188392,0.981134]]VH ɱ??r??R(? D;? 8ȿ`re?iVo@IV&_;TYf0ByfI9i]Mb@Mb@Mb@YYYY Y9]p= ף?#~j?Zd;OY]?y]=Y]bA]@ ]AA)YYYY im<bDuVDu:2yU=%c=ٔ%lQ->9Y=FyZYE^ E>Q 5x50?Q 9x5C)OBY?Q E:yQ I@tDI':i:lx5y1Bɮ A6EiiT>?AJiRiji@bb;@.88?&9'Y@RE[ς>?6Wo?h`r|?Zibik]j7@7  +vt/@Z΁>??(޿)8?2iY:iA"im?*iKBiGBiiiiAi@ addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.505750 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.346821 m, bearing: 330.398960 deg, lat: 36.779375 deg, lon: -121.859713 deg, deltaT: 0.505750 s, deltaX: 0.000032 m, approachRate: 0.000064 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.35 m.bhRhZh ProNav: ac range: 28.346821 m, nav range: 26.945887 m, bearing: 330.661527 deg, approach rate: 0.000000 m/s, LOS rate: -0.130004 deg/s, cmd heading: 323.612860 deg, new cmd heading: 323.465431 deg. BhHeadingCmd: 5.645537 target range: 28.346821 and range: 28.50 m.h=@h*h"h hgfff5Bd d d)jd)Zd5`lZ?颅Bɢ%) =i)%项i8 i<#π<iw=I=@Iq?@ @@0@eDDAT read: Rx Time:05:36:56.5934 mTRx dataTimestamp_ set to:1761543417.829364uPDAT read: Bearing 144.1, 1.6 (Local) u~Local bearing/azimuth received: Bearing 144.1, 1.6 (Local) DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 ԑDAT read: 05:36:56.5934 LVL= 28912, 32017, 31826, 32755, AGC= 62, IDX= 503,-0.01, 2.204, 0.460, 2.307, 2.011, PHS= 0.295,-1.506, 0.252, RAW= 148.8, 10.8, CAL= 148.5, 11.8, ROT= 1.5, -11.8 Ygot valid direction response: 05:36:56.5934 LVL= 28912, 32017, 31826, 32755, AGC= 62, IDX= 503,-0.01, 2.204, 0.460, 2.307, 2.011, PHS= 0.295,-1.506, 0.252, RAW= 148.8, 10.8, CAL= 148.5, 11.8, ROT= 1.5, -11.8 T#Rx 33: Read range and direction messages.\direction in FSK: [0.978532,0.025624,0.204496]Fpublishing direction and range infoyaebo>"P?F"=?rG,?YeAaepe}eR| a)aIe= >iee%>aeA>eH%@ eBR>)ePwbOO,L>?A2CS@2N@2j2ٱ22B NAHRS rotation from veh to nav: [[0.832287,0.550019,0.069118],[-0.552639,0.813480,0.181220],[0.043449,-0.189024,0.981011]]2H? ??8`? 72? >?@1ȿpd?i2CS@I2F_;2CYV-ByVIXbDbVDbyj6,%nG=ٔnQ-n>9pYp=rFyr^YEr Ev>tQ 5zx5v?Q 9~x5vlF)vLBY|y~Q I~@v{DIv;iv;vx5yɮ A iiMu>?AJiARiAjii@b @UY;@á? e`$@Rbo>"P?F"=?rG,?ZiPw<biBRj7@ͼ*>@Zu?LIf`޿E ?2iW:ihA"i;c?*iTeBiBi[|[?iiiAi"@ addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.502842 s, deltaX: -0.400000 m, approachRate: -0.795478 m/s, rangeRepo size: 4  Added new target pos. range: 27.948973 m, bearing: 330.185494 deg, lat: 36.779376 deg, lon: -121.859713 deg, deltaT: 0.502842 s, deltaX: -0.397848 m, approachRate: -0.791199 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.95 m.checking for new query: numPingsReceived=33, elapsed TxPingTime=15.355531bhRhZh ProNav: ac range: 27.948973 m, nav range: 26.873964 m, bearing: 330.801534 deg, approach rate: 0.000000 m/s, LOS rate: -0.130004 deg/s, cmd heading: 323.465437 deg, new cmd heading: 323.308228 deg. BhHeadingCmd: 5.642793 target range: 27.948973 and range: 28.10 m.hÑ@h*h"h hgfffdddjd<@B<A<BBBBB =BBB o;BJ,EZd`?qɢuV,)q ut=iq)}yyi} i#A<u=IÑ@I}@@y @y@}4@y DDAT read: Rx Time:05:36:57.0933  TRx dataTimestamp_ set to:1761543418.332776 PDAT read: Bearing 145.8, 1.7 (Local)  ~Local bearing/azimuth received: Bearing 145.8, 1.7 (Local)  DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4  DAT read: 05:36:57.0933 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502, 0.29,-1.301,-3.024,-1.221,-1.454, PHS= 0.254,-1.526, 0.189, RAW= 148.1, 12.4, CAL= 148.0, 13.6, ROT= 2.0, -13.6  Ygot valid direction response: 05:36:57.0933 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502, 0.29,-1.301,-3.024,-1.221,-1.454, PHS= 0.254,-1.526, 0.189, RAW= 148.1, 12.4, CAL= 148.0, 13.6, ROT= 2.0, -13.6  T#Rx 34: Read range and direction messages. \direction in FSK: [0.971369,0.033921,0.235142] Fpublishing direction and range infoy   >t? 0^?#?Y 3A    ) I J >i Sÿ 7A> m%@ k]> MQ%@ s>) 5=I s a+w?R?xVXb? k>) \I 5=i s  checking for new query: numPingsReceived=34, elapsed TxPingTime=15.622788^A 9 EM  EM EI EI "EM :*EM :VEI ZEI BEM 3aO,wf>?AB3@B.@B4S1ٱB1 Gx ~AHRS rotation from veh to nav: [[0.830173,0.552813,0.072181],[-0.555823,0.810651,0.184135],[0.043279,-0.192983,0.980247]]BHȐ?@?mz?L? ?(? ȿ /^?iB3@IB6_;BCY*By I i5Mb@Mb@Mb@1111 195(\?y&1?/$Y5?y5`e=55A5@ 5A)5A1Y5AbDIVDIy}f%}1=ٔ}*9Q-}>9 ?Y ?=FycYEE>Q 5x5 ?Q 9x5I)JBY?Q E:y#Q I@DI:ij:x5y4BɮNA7Eii4L>?AJiARiAjiQ̸@bpV:@o3?k@R >t? 0^?#?Zi5=bisjø!^7@ڒ, *m@i@Z"A?0c޿@?2iIP:iA"i6Qf?*iBiBi;c?iiBiAiƸ@e addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.503412 s, deltaX: -0.200001 m, approachRate: -0.397290 m/s, rangeRepo size: 4  Added new target pos. range: 27.750071 m, bearing: 330.879757 deg, lat: 36.779377 deg, lon: -121.859714 deg, deltaT: 0.503412 s, deltaX: -0.198902 m, approachRate: -0.395108 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.75 m.bhRhZh ProNav: ac range: 27.750071 m, nav range: 26.718412 m, bearing: 330.841638 deg, approach rate: 0.000000 m/s, LOS rate: -0.130004 deg/s, cmd heading: 323.308234 deg, new cmd heading: 323.126675 deg. Bh!5HeadingCmd: 5.639625 target range: 27.750071 and range: 27.90 m.h5w@h1*h1"h9 h9gafafifm4Bdqdqdqjd}`f;@Zd}[?checking for new query: numPingsReceived=34, elapsed TxPingTime=15.8623435Bɢ5-ü) =i)0e顙iOie$<rHt=Iw@IQ ?@  @ @ 4@ ԁ ^A) } DDAT read: Rx Time:05:36:57.5931  TRx dataTimestamp_ set to:1761543418.837667 PDAT read: Bearing 144.3, 2.1 (Local)  ~Local bearing/azimuth received: Bearing 144.3, 2.1 (Local)  DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4  DAT read: 05:36:57.5931 LVL= 29392, 31377, 32498, 32755, AGC= 62, IDX= 500,-0.21, 1.520,-0.232, 1.598, 1.327, PHS= 0.295,-1.514, 0.228, RAW= 148.1, 11.2, CAL= 147.9, 12.2, ROT= 2.1, -12.2  Ygot valid direction response: 05:36:57.5931 LVL= 29392, 31377, 32498, 32755, AGC= 62, IDX= 500,-0.21, 1.520,-0.232, 1.598, 1.327, PHS= 0.295,-1.514, 0.228, RAW= 148.1, 11.2, CAL= 147.9, 12.2, ROT= 2.1, -12.2  T#Rx 35: Read range and direction messages.E5  E5 E5 &E1 "E5 ;*E5 :VE5 4ZE1 a= @a= @a= @a= @ \direction in FSK: [0.976759,0.035816,0.211325] Fpublishing direction and range infoy  [ A?dM~V?\ ?Y A r z ~ ) I = >i ԩ xi> +H> 4%@ ^ Z>) Q =I ^ Z Vw?0?灬? 4[>) gGI Q =i ^ Z  checking for new query: numPingsReceived=35, elapsed TxPingTime=16.156040Ae؟AIiIyO>˭O,'ݹ>?AB@BS@B`0ٱBHI jAHRS rotation from veh to nav: [[0.828180,0.555496,0.074439],[-0.558806,0.808217,0.185798],[0.043047,-0.195472,0.979764]]BH@t??u? ?=? D ?7ɿ`:Z?iB@IBk_;BCYr4ByrI11bD=VD=yM*2=%M;=ٔM :Q-M>9"?Y"?=FygYEE>Q 5x5wƖ?Q 9x5zL)HBYy Q I@DIG;i;x5y3BɮAiiV>?AJiARiAji@bN:@?%{v?^Jss4@R[ A?dM~V?\ ?IZiQ =bi^ ZjΓ@/7@t8*xd@ZB?} ޿A/*?2iQ:izA"i.h?*iUBiBi6Qf?iUiGBiAiN@ addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.504891 s, deltaX: -0.299999 m, approachRate: -0.594186 m/s, rangeRepo size: 4  Added new target pos. range: 27.451685 m, bearing: 330.511357 deg, lat: 36.779377 deg, lon: -121.859716 deg, deltaT: 0.504891 s, deltaX: -0.298386 m, approachRate: -0.590990 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.45 m.bhRhZhM ProNav: ac range: 27.451685 m, nav range: 26.615797 m, bearing: 330.487979 deg, approach rate: 0.000000 m/s, LOS rate: -0.130004 deg/s, cmd heading: 323.126687 deg, new cmd heading: 322.948951 deg. BhIUHeadingCmd: 5.636522 target range: 27.451685 and range: 27.60 m.hUd^@hQ*hY"hY hYgYfYfafadddjd;@Zd`~R?BɢAԷ)  =i)=izi % Ԋ< $=s=I d^@Iy@@ @checking for new query: numPingsReceived=35, elapsed TxPingTime=16.362329@4@B >BBBBBBBWo;Bf,Eԡ^A Hu=A ?A ? A I1 Ii Ou >ôO,L>?A;ɰ4<2@2@2*0ٱ2RK >AHRS rotation from veh to nav: [[0.826171,0.558219,0.076380],[-0.561777,0.805811,0.187282],[0.042996,-0.197636,0.979332]]2H o??? 4? ? ?!Lɿ`V?i2@I2b_;0YB;ByFIrDDAT read: Rx Time:05:36:58.0929 rTRx dataTimestamp_ set to:1761543419.340796vPDAT read: Bearing 144.9, 2.0 (Local) z~Local bearing/azimuth received: Bearing 144.9, 2.0 (Local) DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 %DAT read: 05:36:58.0929 LVL= 30240, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.02, 2.938, 1.178, 3.008, 2.760, PHS= 0.280,-1.537, 0.204, RAW= 147.9, 11.8, CAL= 147.6, 12.9, ROT= 2.4, -12.9 -Ygot valid direction response: 05:36:58.0929 LVL= 30240, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.02, 2.938, 1.178, 3.008, 2.760, PHS= 0.280,-1.537, 0.204, RAW= 147.9, 11.8, CAL= 147.6, 12.9, ROT= 2.4, -12.9 =T#Rx 36: Read range and direction messages.E\direction in FSK: [0.973906,0.040819,0.223250]EFpublishing direction and range infoypr/B=*?B{g~2?Nu?YrfApr vrr p)r=Ir)\>irjĿr`P>r4%@rBR>r$@ rf>)r+=Irfppr]Ĝ?:MuK?Q۝3? r&>)rSIr+=irfppechecking for new query: numPingsReceived=36, elapsed TxPingTime=16.631075bE!jE%24rE%8/E EEE"EV:*E:VEZEBE99YYY=]Fy]lYEeUEe>Q 5x5ٖ?Q 9x5P)GBY?Q E:y7 Q I@DIn:i: x5y>BɮAAEipir>?AJir:ARir:Ajiru@br-Amq:@,@޻?TWy?@Rr/B=*?B{g~2?Nu?Zir+=birfjrI6@+§)8/k@Zrg֠?t3 <޿*p(?2ir>M:iroA"ir%e?*irNlBirBipipirBirAir@U addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503129 s, deltaX: -0.300001 m, approachRate: -0.596271 m/s, rangeRepo size: 4  Added new target pos. range: 27.153351 m, bearing: 330.775813 deg, lat: 36.779377 deg, lon: -121.859716 deg, deltaT: 0.503129 s, deltaX: -0.298334 m, approachRate: -0.592957 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.15 m.bhRhZh ProNav: ac range: 27.153351 m, nav range: 26.352005 m, bearing: 330.499977 deg, approach rate: 0.000000 m/s, LOS rate: -0.130004 deg/s, cmd heading: 322.948939 deg, new cmd heading: 322.769737 deg. BhHeadingCmd: 5.633395 target range: 27.153351 and range: 27.30 m.hD@h*h"h hgfffBddd1jd5L;@Zd5@!?颥Bɢ3) =i)顩iiX&Թ'<gr=ID@Iu?@q @q@u4@ychecking for new query: numPingsReceived=36, elapsed TxPingTime=16.866310^A @p= A I I9O]>7O,G>?AF®@FZ@F-ٱFM RAHRS rotation from veh to nav: [[0.822433,0.563318,0.079224],[-0.567282,0.801786,0.187963],[0.042362,-0.199529,0.978976]]FH@_Q?? H?`-' ;?)?w?,ɿS?iF®@IF5_;FCYZ:ByZII^<)^=bDbVDb2yjٻ%jR=ٔn:Q-n>l9pYp=rFyrpYEvԋEv>xQ 5~x5z1閊?Q 9~x5zR)xY|y Q I@zDIz;iz;zix5y ɮ $A -B*** querying acoustic contact ***i) i)jh1=DNOT Ignoring new targets: 27.15 m.bh9RhE$:ZhE$:U ProNav: ac range: 27.153351 m, nav range: 26.135744 m, bearing: 330.513197 deg, approach rate: -0.584664 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.769742 deg, new cmd heading: 322.809731 deg. BhU:UHeadingCmd: 5.634093 target range: 27.153351 and range: 27.30 m.h]}J@hY*hY"hY hYgYfafafadadidijdiZdm E?DDAT read: Rx Time:05:36:58.5926 TRx dataTimestamp_ set to:1761543419.844584PDAT read: Bearing 144.4, 2.6 (Local) ~Local bearing/azimuth received: Bearing 144.4, 2.6 (Local) DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 %DAT read: 05:36:58.5926 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 495, 0.22, 2.829, 1.073, 2.880, 2.630, PHS= 0.300,-1.512, 0.206, RAW= 147.3, 11.4, CAL= 147.1, 12.5, ROT= 2.9, -12.5 -Ygot valid direction response: 05:36:58.5926 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 495, 0.22, 2.829, 1.073, 2.880, 2.630, PHS= 0.300,-1.512, 0.206, RAW= 147.3, 11.4, CAL= 147.1, 12.5, ROT= 2.9, -12.5 5T#Rx 37: Read range and direction messages.=\direction in FSK: [0.975046,0.049394,0.216440]=Fpublishing direction and range infoy3?;"!J?K?Y3A )>I>i7R>"$@%K>O$@ f_>)4QO=If_L?)}?kنB?  |>)jKI4QO=if_Uchecking for new query: numPingsReceived=37, elapsed TxPingTime=17.133635E EE)E"E:*Ez:VEFA4ZEa@a@a@a@BɢGB)) -=i1)5&"11i5riU*&Ui6Bq Bu IBu VBBq Bq Bq Bu o;Bu ,Eԑ IA IQ O >KO, ??A6a@61@6*ٱ6K BAHRS rotation from veh to nav: [[0.820779,0.565724,0.079242],[-0.569721,0.800542,0.185879],[0.041720,-0.197711,0.979372]]6HC?@h?.I?@'; ? ?J\?Nɿ`W?i6a@I65_;4YFIByFI j49|Y|=FytYE E>1YQ 5ex55?Q 9mx55 V)5FBYyy} Q I@5DI5&&?AJi ARi Aji 稸@b rlz:@3i%?jw)@R 3?;"!J?K?Zi 4QO=bi f_j "(!.l6@t)v@Z sFq ?)o^r޿Ш?2i K:i A"i Ёk?*i Bi HBi i i Bi +Ai 􎞸@u addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503788 s, deltaX: -0.400000 m, approachRate: -0.793984 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 26.755478 m, bearing: 330.632041 deg, lat: 36.779377 deg, lon: -121.859716 deg, deltaT: 0.503788 s, deltaX: -0.397873 m, approachRate: -0.789763 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.76 m.bhRhZhDDAT read: Rx Time:05:36:59.0925 TRx dataTimestamp_ set to:1761543420.348746PDAT read: Bearing 144.9, 2.6 (Local) ~Local bearing/azimuth received: Bearing 144.9, 2.6 (Local)  DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.4 5DAT read: 05:36:59.0925 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.46, 2.557, 0.806, 2.603, 2.372, PHS= 0.287,-1.521, 0.187, RAW= 147.2, 11.9, CAL= 146.9, 13.0, ROT= 3.1, -13.0 =Ygot valid direction response: 05:36:59.0925 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.46, 2.557, 0.806, 2.603, 2.372, PHS= 0.287,-1.521, 0.187, RAW= 147.2, 11.9, CAL= 146.9, 13.0, ROT= 3.1, -13.0 =T#Rx 38: Read range and direction messages.E\direction in FSK: [0.972944,0.052693,0.224951]MFpublishing direction and range infoyr["?:?:/2?YA )I>i!¿|?>l$@ȭT>$@e ProNav: ac range: 26.755478 m, nav range: 25.896095 m, bearing: 330.559670 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.809739 deg, new cmd heading: 322.864135 deg. BhamHeadingCmd: 5.635042 target range: 26.755478 and range: 26.90 m.hmDR@hi*hq"hq hqgq Vh>)k]=IVh uJj?8"鼛?)'W? }>),CTIk]=iVhchecking for new query: numPingsReceived=38, elapsed TxPingTime=17.642921E EE$E"E;*Eą:VE4ZEBEDiq)u7yyi}h@i%.<+*L=IDR@IԩM?@I @I@M4@I ^Am lT=Aq zAq  checking for new query: numPingsReceived=38, elapsed TxPingTime=17.875793IIIYOe>O,h@*??A2@2퐵@2*)ٱ2K :AHRS rotation from veh to nav: [[0.819381,0.567670,0.079782],[-0.571760,0.799276,0.185066],[0.041288,-0.197256,0.979482]]2H_8?Y*?l?@K@?=? #??ɿ W?i2@I2-O_;2CYBGByBIimMb@Mb@Mb@iiii i9m#~j?L7A`?9Y=FyyYEE>Q 5x5s ?Q 9x5Y)HBY ,?Q E:y Q I@DI޿N?2iH:iA"i|>o?*i?£BiBi.h?i?£iBiAiY@ addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504162 s, deltaX: -0.199999 m, approachRate: -0.396696 m/s, rangeRepo size: 4 E Added new target pos. range: 26.556553 m, bearing: 330.787139 deg, lat: 36.779378 deg, lon: -121.859715 deg, deltaT: 0.504162 s, deltaX: -0.198925 m, approachRate: -0.394566 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 26.56 m.bhIRhIZhI} ProNav: ac range: 26.556553 m, nav range: 25.635633 m, bearing: 330.691113 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.864135 deg, new cmd heading: 322.914572 deg. BhHeadingCmd: 5.635922 target range: 26.556553 and range: 26.70 m.hzY@h*h"h hgfff8BdddjdZd@?Bɢ )  >i ) igui%n<A=IzY@IDDAT read: Rx Time:05:36:59.5923 TRx dataTimestamp_ set to:1761543420.856717 PDAT read: Bearing 146.1, 2.5 (Local) ~Local bearing/azimuth received: Bearing 146.1, 2.5 (Local) %DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 MDAT read: 05:36:59.5923 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.20, 1.043,-0.725, 1.080, 0.887, PHS= 0.258,-1.567, 0.149, RAW= 146.9, 13.0, CAL= 146.7, 14.3, ROT= 3.3, -14.3 ]Ygot valid direction response: 05:36:59.5923 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.20, 1.043,-0.725, 1.080, 0.887, PHS= 0.258,-1.567, 0.149, RAW= 146.9, 13.0, CAL= 146.7, 14.3, ROT= 3.3, -14.3 ]T#Rx 39: Read range and direction messages.m\direction in FSK: [0.967409,0.055780,0.246999]mFpublishing direction and range infoyE EE&E"EV:*E:VE4ZEa@a@a@a@2?Y?1A?⩝?Y3A )=I>iuȿu>$@Vh>#@ r>)k=Ir잢?B(,A?!? u>)]hIk=irchecking for new query: numPingsReceived=39, elapsed TxPingTime=18.1643031@1 @1@5/@1! ^AU G=I I O >O,1 D??A f؂@f}@f%ٱf:qI rAHRS rotation from veh to nav: [[0.818061,0.569578,0.079725],[-0.573705,0.798399,0.182817],[0.040476,-0.195294,0.979909]]fH@-? 9? h?[{?f?O?hȿ@j[?if؂@IfLG_;dYvRByvI xx  AbDVD y%|W=%%T=ٔ%8 ;Q-->9)Y)=-Fy-}YE5ȻE5>Echecking for new query: numPingsReceived=39, elapsed TxPingTime=18.378298AQ 5Mx5E?Q 9Ux5Ex\)EIBYQyU Q IU@EDIE:iE ;Ex5yeEBɮeAai9i=t6??AJi=ARi=Aji=@b=Zӆg9@#6`o?ܳKe@R=2?Y?1A?⩝?Zi=k=bi=rj=]0!6@@o(?n(c@Z=f]}?[K&ݿ&UʘL?2i=~C:i=A"i=Tc?*i=םBi=Bi9i9i9i=yAi= @ addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.507971 s, deltaX: -0.300001 m, approachRate: -0.590587 m/s, rangeRepo size: 4  Added new target pos. range: 26.258163 m, bearing: 331.098396 deg, lat: 36.779378 deg, lon: -121.859715 deg, deltaT: 0.507971 s, deltaX: -0.298389 m, approachRate: -0.587414 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.26 m.bhRhZh ProNav: ac range: 26.258163 m, nav range: 25.434366 m, bearing: 330.709999 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.914569 deg, new cmd heading: 322.949707 deg. BhHeadingCmd: 5.636536 target range: 26.258163 and range: 26.40 m.h^@h*h"h hgfffB >BB!IB`BBBBBo;B,Edddjd`ff:@Zd?Bɢp) >i ) hA  i zi5ӊ%5;Ӎ<5 '8=I5^@I9i@@ @@/@^A&t@=ԩI)IOM>DDAT read: Rx Time:05:37:00.0922 TRx dataTimestamp_ set to:1761543421.356742 PDAT read: Bearing 144.9, 3.2 (Local)  ~Local bearing/azimuth received: Bearing 144.9, 3.2 (Local)  DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 E DAT read: 05:37:00.0922 LVL= 31344, 32753, 32754, 32755, AGC= 62, IDX= 507,-0.03, 2.415, 0.672, 2.440, 2.223, PHS= 0.294,-1.506, 0.173, RAW= 146.6, 11.9, CAL= 146.3, 13.0, ROT= 3.7, -13.0 M Ygot valid direction response: 05:37:00.0922 LVL= 31344, 32753, 32754, 32755, AGC= 62, IDX= 507,-0.03, 2.415, 0.672, 2.440, 2.223, PHS= 0.294,-1.506, 0.173, RAW= 146.6, 11.9, CAL= 146.3, 13.0, ROT= 3.7, -13.0 U T#Rx 40: Read range and direction messages.U \direction in FSK: [0.972339,0.062878,0.224951]] Fpublishing direction and range infoyf?P,?:/2?YfApz )>I+>i&1>#@ȭT>.k#@ Vh>) A=IVhaU^?7ơsz?+f? F>)=TI A=iVhu checking for new query: numPingsReceived=40, elapsed TxPingTime=18.647192D D %=E  E E 'E "E ;*E :VE '4ZE BE @9Y=FyYEE>Q 5x5*?Q 9x5u_)LBY?Q E:y Q I@DI.:i:Wx5yɮAi)i-V??AJi-EARi-EAji-@b--fo9@E,Q?Ш@R-f?P,?:/2?Zi- A=bi-Vhj-/6@~%i(d<@Z-&%pH$?-ݿf?2i- D:i-A"i-^xx?*i-~Bi-QBi-Ёk?i-~i)i-Ai-Ѹ@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.500025 s, deltaX: -0.100000 m, approachRate: -0.199991 m/s, rangeRepo size: 4 - Added new target pos. range: 26.158726 m, bearing: 331.080413 deg, lat: 36.779378 deg, lon: -121.859714 deg, deltaT: 0.500025 s, deltaX: -0.099438 m, approachRate: -0.198865 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 26.16 m.bh1Rh9Zh9M ProNav: ac range: 26.158726 m, nav range: 25.218182 m, bearing: 330.917138 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.949704 deg, new cmd heading: 322.994908 deg. BhIUHeadingCmd: 5.637325 target range: 26.158726 and range: 26.30 m.hUd@hQ*hQ"hQ hQgYfYfYf]FBdadadajdeL:@Zdm+?MBɢU 悼)Q U:>iY)]Yaieiu W%uB<}1/=I}d@IUchecking for new query: numPingsReceived=40, elapsed TxPingTime=18.883057!@! @!@%/@!^A I I O >!  DDAT read: Rx Time:05:37:00.5919  TRx dataTimestamp_ set to:1761543421.860591 PDAT read: Bearing 145.0, 3.1 (Local)  ~Local bearing/azimuth received: Bearing 145.0, 3.1 (Local) % DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.4 E DAT read: 05:37:00.5919 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.12, 2.906, 1.142, 2.930, 2.714, PHS= 0.295,-1.527, 0.173, RAW= 146.6, 12.0, CAL= 146.3, 13.1, ROT= 3.7, -13.1 M Ygot valid direction response: 05:37:00.5919 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.12, 2.906, 1.142, 2.930, 2.714, PHS= 0.295,-1.527, 0.173, RAW= 146.6, 12.0, CAL= 146.3, 13.1, ROT= 3.7, -13.1 U T#Rx 41: Read range and direction messages.oJO,׾w??A\direction in FSK: [0.971946,0.062853,0.226651]Fpublishing direction and range infoy15c".?ʊh!?+#?Y5fA1511 1)1I5= >i5tÿ115PwV>1 5 j>)1I5 j115ji?ֻ??K? 5f>)5%VI1i5 j11"checking for new query: numPingsReceived=41, elapsed TxPingTime=19.153767E6 E6E4E4"E6:*E6Z:VE4ZE4a:@a:@a:@a:@TɰV; %e@%`@%ٱ%&F 5AHRS rotation from veh to nav: [[0.816085,0.572347,0.080145],[-0.576628,0.797068,0.179395],[0.038795,-0.192615,0.980507]]%H _?`P?\? s?@f?ܣ?ȿP`?i%e@I%uF_;!YegBye)IbDuVDu1ys(<%C=ٔ%;Q-%>9!Y!=%Fy-YE-vE->1Q 5]x55:?Q 9x55yb)5OBYyA Q I@5DI5N>?颵 Bɢ:) ;>i)xi!;i%Î<^'=Il@I]checking for new query: numPingsReceived=41, elapsed TxPingTime=19.386297aB<ABBB4IBpBBBBBo;B,EBBBB =B =C3?@ @@/@ԁ ^A S,= A.A5DDAT read: Rx Time:05:37:01.0918 5TRx dataTimestamp_ set to:1761543422.368845EPDAT read: Bearing 144.8, 3.2 (Local) E~Local bearing/azimuth received: Bearing 144.8, 3.2 (Local) UDAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 }DAT read: 05:37:01.0918 LVL= 29552, 32753, 32738, 32755, AGC= 61, IDX= 503, 0.33,-2.482, 2.024,-2.461,-2.682, PHS= 0.302,-1.532, 0.177, RAW= 146.5, 11.8, CAL= 146.2, 13.0, ROT= 3.8, -13.0 Ygot valid direction response: 05:37:01.0918 LVL= 29552, 32753, 32738, 32755, AGC= 61, IDX= 503, 0.33,-2.482, 2.024,-2.461,-2.682, PHS= 0.302,-1.532, 0.177, RAW= 146.5, 11.8, CAL= 146.2, 13.0, ROT= 3.8, -13.0 T#Rx 42: Read range and direction messages.\direction in FSK: [0.972228,0.064575,0.224951]Fpublishing direction and range infoy15:}?]?:/2?Y5A15ps15 1)5=I5>i5Ŀ5}?5>5_#@5BR>5N#@ 5Vh>)5ԇ=I5Vh115'!?@?<*G? 5>)5SI5ԇ=i5Vh11checking for new query: numPingsReceived=42, elapsed TxPingTime=19.658566IE EE&E"E&:*E:VE4ZEBEa;9 ?Y ?=FyYE;E>Q 5x5O?Q 9x5f)SBY?Q E:yQ I@DI;i;x5yɮAii(??AJi~ARi~Ajiظ@bTe!8@lR~'i?-3@R:}?]?:/2?Ziԇ=biVhj ,N2 5@%x ( 5to @ZD?P_޿_?t?2ih@:iPA"ip?*i\BiBi|>o?iiiAi۸@ addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.508254 s, deltaX: -0.099998 m, approachRate: -0.196749 m/s, rangeRepo size: 4  Added new target pos. range: 25.561983 m, bearing: 330.966122 deg, lat: 36.779378 deg, lon: -121.859714 deg, deltaT: 0.508254 s, deltaX: -0.099430 m, approachRate: -0.195631 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.56 m.bhRhZh  ProNav: ac range: 25.561983 m, nav range: 24.757465 m, bearing: 330.988730 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 323.049506 deg, new cmd heading: 323.100373 deg. Bh HeadingCmd: 5.639165 target range: 25.561983 and range: 25.70 m.h5 t@hQ*hQ"hQ hQgQfYfYf]VBdYdadajde@39@Zde@?颵 Bɢn) T>i)Gi2iz$-<8 =I t@I@@ @@/@checking for new query: numPingsReceived=42, elapsed TxPingTime=19.894985Aq ^A #'=A ؟AI I O >yO,??AHYByJIbD%VD%y5<=%5T=ٔ=Q-=>9="?YE"?=EFyEYEEEE>IQ 5Ux5M]?Q 9]x5Mh)MUBYYyYQ I]@MDIM;iMc;M x5yeKBɮmLAmDEB*** querying acoustic contact ***i iDDAT read: Rx Time:05:37:01.5916 TRx dataTimestamp_ set to:1761543422.872792PDAT read: Bearing 149.3, 2.0 (Local) ~Local bearing/azimuth received: Bearing 149.3, 2.0 (Local) DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 %DAT read: 05:37:01.5916 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.29, 0.497,-1.268, 0.518, 0.429, PHS= 0.170,-1.652, 0.045, RAW= 146.5, 16.1, CAL= 146.4, 17.7, ROT= 3.6, -17.7 -Ygot valid direction response: 05:37:01.5916 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.29, 0.497,-1.268, 0.518, 0.429, PHS= 0.170,-1.652, 0.045, RAW= 146.5, 16.1, CAL= 146.4, 17.7, ROT= 3.6, -17.7 E5 E5E5*E1"E5l;*E5:VE5(N4ZE1a=@a=@a=@a=@mT#Rx 43: Read range and direction messages.u\direction in FSK: [0.950782,0.059818,0.304033]}Fpublishing direction and range infoyl?zz?z0Gu?Y3A )I{.>itӿQ8=ޏ>Ƈ#@ addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503947 s, deltaX: -0.300001 m, approachRate: -0.595303 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 25.56 m.bhRh{ 9Zh{ 9 2+>)=I2+օ?{=k?FF? >)I=i2+checking for new query: numPingsReceived=43, elapsed TxPingTime=20.1869745 ProNav: ac range: 25.561983 m, nav range: 24.561571 m, bearing: 330.992184 deg, approach rate: -0.493270 m/s, LOS rate: 0.008769 deg/s, cmd heading: 323.100377 deg, new cmd heading: 323.110825 deg. Bh59=HeadingCmd: 5.639348 target range: 25.561983 and range: 25.40 m.h=u@h9*h9"h9 h9g9fAffdddjd`ff9@ZdM? BɢHF) Zj>i) g  i i$< =Iu@I?@ @@/@@gA@m checking for new query: numPingsReceived=43, elapsed TxPingTime=20.402214B >B B SIB BB =B B }DB So;B c,E^A ;=) AI Iq I O >gO,$d??A<N@I@Qٱ~D AHRS rotation from veh to nav: [[0.814488,0.574617,0.080159],[-0.578941,0.795924,0.177007],[0.037910,-0.190578,0.980940]]H@H?Bc?`R?6x?@+?i?dȿc?iN@I8:_;CYByeIbDVDy=%5:=ٔ=ҫ:Q-E>9iYq=}Fy}YEb4E>Q 5x5)o?Q 9-x5k)XBY1y5Q I=@DI1i-xɿ-9=-N#@-}>-e#@ -c>)-5=I-c))-?0g?gi BZ? -5>)- f}I-5=i-c))checking for new query: numPingsReceived=44, elapsed TxPingTime=20.676617JiMARiMAjiMh>@bMv 8@LT-?> D@RMl?zz?z0Gu?ZiM=biM2+jMO+O 5@c&1/tP @ZMJmR?ԑI½ܿMu?2iM5:iMbA"iM@\?*iMKBiMBiMTc?iMIiIiM>AiM@= addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.504000 s, deltaX: -0.299999 m, approachRate: -0.595237 m/s, rangeRepo size: 4 M Added new target pos. range: 25.263458 m, bearing: 331.677700 deg, lat: 36.779377 deg, lon: -121.859713 deg, deltaT: 0.503947 s, deltaX: -0.298525 m, approachRate: -0.592373 m/s, posRepo size: 4 jhQDNOT Ignoring new targets: 25.26 m.bhRhZh ProNav: ac range: 25.263458 m, nav range: 24.155542 m, bearing: 331.025057 deg, approach rate: 0.000000 m/s, LOS rate: 0.008769 deg/s, cmd heading: 323.110814 deg, new cmd heading: 323.123934 deg. BhHeadingCmd: 5.639576 target range: 25.263458 and range: 25.10 m.hiw@h*h"h hgfffdddjd9@Zd?uBɢu2)y }&>iy)}:yyi}i$< n=Iiw@I@@ @@/@  checking for new query: numPingsReceived=44, elapsed TxPingTime=20.902445^A "=) AII)OU?zO,%??A\L@G@ٱB AHRS rotation from veh to nav: [[0.814354,0.574912,0.079398],[-0.579153,0.796159,0.175252],[0.037541,-0.188701,0.981317]]H@0?@e?qS?l!z?@n?@8?Z'ȿf?iL@I_;CYMBy}I Ai Mb@Mb@Mb@     9 Gz?y t= : KA  A) rA Y bD%VD%y5=%5=ٔ5=:Q-5>99Y9==Fy=YEEmEE>IQ 5Ux5M?Q 9Ux5Mn)MZBYU ?Q EU:yUQ I]@MDIM:iM:Myx5yeOBɮe AeEEii\??AJiARiAji-@b'}ɝ7@t?n@RS8?2toK5?֚n?Zi5=bicj'} 5@ |&i)顩iцi%hP<=Io@IDDAT read: Rx Time:05:37:02.5912 TRx dataTimestamp_ set to:1761543423.881888PDAT read: Bearing 145.4, 3.1 (Local)  ~Local bearing/azimuth received: Bearing 145.4, 3.1 (Local) DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 EDAT read: 05:37:02.5912 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.35, 0.233,-1.549, 0.248, 0.051, PHS= 0.284,-1.555, 0.153, RAW= 146.3, 12.5, CAL= 146.1, 13.7, ROT= 3.9, -13.7 MYgot valid direction response: 05:37:02.5912 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.35, 0.233,-1.549, 0.248, 0.051, PHS= 0.284,-1.555, 0.153, RAW= 146.3, 12.5, CAL= 146.1, 13.7, ROT= 3.9, -13.7 UT#Rx 45: Read range and direction messages.]\direction in FSK: [0.969299,0.066080,0.236838]amFpublishing direction and range infoyg]l?;?4ӋHP?YfA )<Ish>i= ǿ>.k#@f_>E EE(E"E:*E:VEc44ZEa@a@a@a@1#@ Gt>)'g=IGtx]?K?)`I'g=iGtchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.180508?@ @!@%/@!ԉ^AE =Թ Au .AIy I  checking for new query: numPingsReceived=45, elapsed TxPingTime=21.406248O >A A @AB >B B IB BB B B ~DB o;B B,E]P, @?A2JK@2F@2ٱ2o@ :AHRS rotation from veh to nav: [[0.814259,0.575154,0.078615],[-0.579315,0.796457,0.173348],[0.037088,-0.186693,0.981718]]2H`i?`g?@ ?|?F0?=?ǿ;j?i2JK@I21`;2CYzByzIbD-VD-0yE =%E\=ٔE:Q-E>9M ?YM ?=MFyMYEU EU>YQ 5ex5]?Q 9ex5]p)][BYayeQ Ie@]DI] :i]:]x5yuWBɮu AuNEԙi1i5p??AJi5UARi5UAji54@b5>W,7@DŽTi?;^@R5g]l?;?4ӋHP?Zi5'g=bi5Gtj54@8J6'ZdLE@Z5}?&*ݿ?+Jd?2i58:i5A"i5Lm?*i5|Bi5VBi5Lm?i1i5VBi5Ai5@ addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.505096 s, deltaX: -0.300001 m, approachRate: -0.593949 m/s, rangeRepo size: 4  Added new target pos. range: 24.666744 m, bearing: 331.053803 deg, lat: 36.779378 deg, lon: -121.859713 deg, deltaT: 1.009096 s, deltaX: -0.596714 m, approachRate: -0.591335 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.67 m.bhRhZh ProNav: ac range: 24.666744 m, nav range: 23.825823 m, bearing: 331.132868 deg, approach rate: 0.000000 m/s, LOS rate: -0.041276 deg/s, cmd heading: 323.070352 deg, new cmd heading: 323.024225 deg. BhHeadingCmd: 5.637836 target range: 24.666744 and range: 24.80 m.h (i@h *h"hY hYgafiffdddjd8@Zd ?Bɢ) >i)&߼i% i5%<b!=I(i@I@ @@0@@=@=%DDAT read: Rx Time:05:37:03.0912 5TRx dataTimestamp_ set to:1761543424.389456uDAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 }Z#Rx 46: Read range message, but no direction.y)Y))checking for new query: numPingsReceived=46, elapsed TxPingTime=21.674726bEǀ'4jEǀ'4rEDz/E EE'E"E:*E:VE'4ZEBE6A>A ؟AI I  O- >P,B#@?ANL@NG@NٱNt7> VAHRS rotation from veh to nav: [[0.814378,0.575109,0.077706],[-0.579177,0.796985,0.171373],[0.036628,-0.184568,0.982137]]NH c? Jg?`????ǿm?iNL@IN1a;NCY^By^IiMb@Mb@Mb@ 9q= ףp?+η?Y>yv=A@ +A)AYbDVDNyP,=%B=ٔg:Q->9"?Y"?=FyYE9E>Q 5y5➗?Q 9y5s)YI>Q E:y)ؾQ I@DIj:i:gy5yZBɮ AOE- addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.507568 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jh)5DNOT Ignoring new targets: 24.67 m.bh1Rh= غZh= غM ProNav: ac range: 24.666744 m, nav range: 23.628742 m, bearing: 331.093766 deg, approach rate: -0.472230 m/s, LOS rate: -0.094476 deg/s, cmd heading: 323.024235 deg, new cmd heading: 322.905949 deg. BhM]checking for new query: numPingsReceived=46, elapsed TxPingTime=21.910360]HeadingCmd: 5.635772 target range: 24.666744 and range: 24.80 m.h]>X@ha*ha"ha hagafafifmBdidqdqjdqZdu?颥Bɢ>|) 2>i)ݼ顩i!i5%5 <5X@I1A@ @@4@9I^AA  DDAT read: Rx Time:05:37:03.5909  TRx dataTimestamp_ set to:1761543424.888633 PDAT read: Bearing 149.0, 2.5 (Local)  ~Local bearing/azimuth received: Bearing 149.0, 2.5 (Local) - DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4 U DAT read: 05:37:03.5909 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.11, 1.037,-0.663, 1.049, 0.966, PHS= 0.173,-1.583, 0.039, RAW= 146.1, 16.0, CAL= 145.9, 17.5, ROT= 4.1, -17.5 ] Ygot valid direction response: 05:37:03.5909 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.11, 1.037,-0.663, 1.049, 0.966, PHS= 0.173,-1.583, 0.039, RAW= 146.1, 16.0, CAL= 145.9, 17.5, ROT= 4.1, -17.5 ] T#Rx 47: Read range and direction messages.e \direction in FSK: [0.951276,0.068188,0.300706]e Fpublishing direction and range infoy  ȱp?+:t?->?Y fA ) I &1>i ʿ w= 1#@ 5> "@ a>) C=I a XO?_ ?Oj? >) ŎI C=i a  checking for new query: numPingsReceived=47, elapsed TxPingTime=22.177803E  E E %E "E %;*E M:VE 4ZE a @a @a @a @ԁ A1 I9 II O] >P,=@?AY~ƁBy~II<)= = =  bD]VD]0yms8=%mP=ٔuQ-u>9qYy=}Fy}YE}E}>Q 5y5?Q 9y5u)YyQ I@DI;i;y5yɮ Ai9i=]8@?AJi=ZARi=ZAji=Um@b=i6@7^?.Q@R=ȱp?+:t?->?Zi=C=bi=aj= <4@^m~%?7?@Z=XQi?j%/|ܿ %6nS?2i=,:i=A"i=_V?*i=Bi= Bi9i=3bi=Bi=ϺAi=M!@I addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.499177 s, deltaX: -0.500000 m, approachRate: -1.001649 m/s, rangeRepo size: 4  Added new target pos. range: 24.169430 m, bearing: 332.005899 deg, lat: 36.779378 deg, lon: -121.859711 deg, deltaT: 1.006745 s, deltaX: -0.497314 m, approachRate: -0.493983 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.17 m.bhRhZh5 ProNav: ac range: 24.169430 m, nav range: 23.351248 m, bearing: 331.474126 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.905936 deg, new cmd heading: 322.789882 deg. Bh9EHeadingCmd: 5.633746 target range: 24.169430 and range: 24.30 m.hmG@hi*hi"hi hqgqfqfyfydydydyjdL8@ZdL?BɢE) >i)ڼi#iA&z<0=IG@Imchecking for new query: numPingsReceived=47, elapsed TxPingTime=22.415064yB >BBIBƁBB =BBBn;B6,E?@ @@4@ԩ^A )= A I1 IY O >~P,X@?AFDDAT read: Rx Time:05:37:04.0909 JTRx dataTimestamp_ set to:1761543425.400790NPDAT read: Bearing 147.3, 3.0 (Local) N~Local bearing/azimuth received: Bearing 147.3, 3.0 (Local) VDAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4 jDAT read: 05:37:04.0909 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.23,-0.983,-2.728,-0.981,-1.106, PHS= 0.225,-1.577, 0.081, RAW= 145.9, 14.5, CAL= 145.6, 15.9, ROT= 4.4, -15.9 nYgot valid direction response: 05:37:04.0909 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.23,-0.983,-2.728,-0.981,-1.106, PHS= 0.225,-1.577, 0.081, RAW= 145.9, 14.5, CAL= 145.6, 15.9, ROT= 4.4, -15.9 DlDn<Er ErEr(Ep"Er:*Erą:VErc44ZEpBEr>iF#ɿFT=F"@F>F"@ Fq>)FnF=IFqDDF.ӳ ?  ? ? F=>)F2ˁIFnF=iFqDD%checking for new query: numPingsReceived=48, elapsed TxPingTime=22.6938991YɁByIiUMb@Mb@Mb@QQQQ Q9U?)\(?y&1|YUf>yUG=U`UKAQ UA)QQYUAbDVDfyAX<%=ٔQ->9Y=FyYEE>Q 5y5l?Q 9Ey5w)XBYM5>Q EM:yM^žQ IM@DI. iY)]׼Yaie%ieM&m*AHRS rotation from veh to nav: [[0.811023,0.579440,0.080568],[-0.583881,0.793169,0.173106],[0.036400,-0.187435,0.981602]]2H?Ɗ??'a?U(??ǿ Ii?i2i@I2-b;2CYBByFIRDDAT read: Rx Time:05:37:04.5906 RTRx dataTimestamp_ set to:1761543425.904786VPDAT read: Bearing 148.3, 2.9 (Local) Z~Local bearing/azimuth received: Bearing 148.3, 2.9 (Local) bDAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.4 E~ E~E|E|"E~:*E~?:VE|ZE|a@a@a@a@EDAT read: 05:37:04.5906 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.11, 0.607,-1.114, 0.606, 0.515, PHS= 0.195,-1.583, 0.048, RAW= 145.7, 15.5, CAL= 145.5, 17.0, ROT= 4.5, -17.0 MYgot valid direction response: 05:37:04.5906 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.11, 0.607,-1.114, 0.606, 0.515, PHS= 0.195,-1.583, 0.048, RAW= 145.7, 15.5, CAL= 145.5, 17.0, ROT= 4.5, -17.0 UT#Rx 49: Read range and direction messages.]\direction in FSK: [0.953357,0.075031,0.292372]]Fpublishing direction and range infoyPR ?u85?兗7?YR3APPPP P)PIRG>iRʿRD=R"@Rc>Rj"@ R>)R|٠=IR闾PPRTX?[? z$?? R>)R@pIR|٠=iR闾PPchecking for new query: numPingsReceived=49, elapsed TxPingTime=23.214851bDuVDuy >%-D=ٔ- :Q-5>91Y1=5Fy5YE=KdE=>AQ 5y5E2ϗ?Q 9y5Ely)EVBYykȾQ I@EDIE$?2iR):iRɟA"iRSb?*iRBiRBiPiR:[iPiRAiRdL@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503996 s, deltaX: -0.400000 m, approachRate: -0.793656 m/s, rangeRepo size: 4  Added new target pos. range: 23.771664 m, bearing: 332.012335 deg, lat: 36.779378 deg, lon: -121.859709 deg, deltaT: 0.503996 s, deltaX: -0.397852 m, approachRate: -0.789395 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.77 m.bhRhaZhiu ProNav: ac range: 23.771664 m, nav range: 22.825474 m, bearing: 331.775505 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.634559 deg, new cmd heading: 322.515557 deg. BhyHeadingCmd: 5.628958 target range: 23.771664 and range: 23.90 m.hm @h*h"h hgfffdddjd`f7@Zd T?mBɢm 9:)mΟ u>iq)Լ顙i (ij{'܃<z*=Im @Ii@i @i@un3@qB <A <BBBIBBB =BBBn;B),EUchecking for new query: numPingsReceived=49, elapsed TxPingTime=23.430536! ^Au `9=Q A I I O >S1%P,Ǖ@?Aԩ@ @5DDAT read: Rx Time:05:37:05.0906 ETRx dataTimestamp_ set to:1761543426.412791]PDAT read: Bearing 148.4, 2.9 (Local) E EEE"EV:*E:VEZEBE9i=\ҿ= #=9=0>=i"@ =#>)=l=I=#99=v~?ҘO ?xxc? =g>)=!ጾI=l=i=#99checking for new query: numPingsReceived=50, elapsed TxPingTime=23.721088ٱk>  AHRS rotation from veh to nav: [[0.809994,0.581010,0.079601],[-0.585316,0.792571,0.170983],[0.036253,-0.185087,0.982053]]Hx? ?`?@\?@? ɏ?ǿl?i@I>Pb;CYByI !!)-AԹiMb@Mb@Mb@ 9+?X9v?~jtY>y=D@ A)AYA%@A!bDmVDmy}p;%}=ٔ#u9Q->9Y=FyYE6E>Q 5y5 旊?Q 9y50|)PBY>Q E:y5Q I@DIX:i:y5y-aBɮ- A-PEi9i=+k@?AJi9Ri9ji=%q@b=:o6@سԙ?F1F@R=4t?j$?+0?Zi=l=bi=#j=+3@Z%B.%Dճ@Z=L??k 0ܿy?2i=r):i=A"i=(v?*i=\Bi=ĐBi9i=\i=Bi=Ai=K_@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.508005 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 23.771664 m, bearing: 332.032565 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.508005 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 23.77 m.bh Rh Zh M  ProNav: ac range: 23.771664 m, nav range: 22.489874 m, bearing: 331.907724 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.515549 deg, new cmd heading: 322.340106 deg. BhI U HeadingCmd: 5.625896 target range: 23.771664 and range: 23.90 m.hU W@hQ *hQ "hQ  hQ gY fY fy f} ƁBd d d jd Zd z? checking for new query: numPingsReceived=50, elapsed TxPingTime=23.934378 Bɢ hoD)  >i ) м i *i D( "< h1=I W@I9  U ?@Y  @Y @] /@a A^A#'=A>A?}DDAT read: Rx Time:05:37:05.5903 }TRx dataTimestamp_ set to:1761543426.912728PDAT read: Bearing 146.9, 3.1 (Local) ~Local bearing/azimuth received: Bearing 146.9, 3.1 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 DAT read: 05:37:05.5903 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.14, 0.491,-1.267, 0.489, 0.364, PHS= 0.229,-1.586, 0.081, RAW= 145.8, 14.5, CAL= 145.5, 15.9, ROT= 4.5, -15.9 E EE%E"E;*E?:VE 4ZEa@a@a@a@Ygot valid direction response: 05:37:05.5903 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.14, 0.491,-1.267, 0.489, 0.364, PHS= 0.229,-1.586, 0.081, RAW= 145.8, 14.5, CAL= 145.5, 15.9, ROT= 4.5, -15.9 T#Rx 51: Read range and direction messages.\direction in FSK: [0.958777,0.075457,0.273959]Fpublishing direction and range infoyy}Ii} ˿}T=}4"@}>}j"@ }q>)}|٠=I}qyy} @t?`y?f?4Y? } u>)}zI}|٠=i}qyychecking for new query: numPingsReceived=51, elapsed TxPingTime=24.206772AiIq=GU(hAi6x9(hAIO-?D0P, @?AYaA4鰝4<ɰYByIbDVDܲyM/%U=ٔUQ-U>9QYy=}Fy}YE}E>Q 5y5?Q 9y5z~)KBYyQ I@DԙIy:i?;[y5ydBɮ$ AQEiQiU#j@?AJiU1ARiU1AjiU9@bUPxNP6@z?S_*S@@RUIBBIBBB =BBBn;B,EBBBB =BC%4:iUҜA"iU#l?*iUcBiU^BiU#l?iQiQiUAiUgR@}checking for new query: numPingsReceived=51, elapsed TxPingTime=24.438278 addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.499937 s, deltaX: -0.500000 m, approachRate: -1.000126 m/s, rangeRepo size: 4  Added new target pos. range: 23.274349 m, bearing: 331.645519 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.499937 s, deltaX: -0.497314 m, approachRate: -0.994754 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.27 m.bhRhZh ProNav: ac range: 23.274349 m, nav range: 22.239407 m, bearing: 331.817544 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.340095 deg, new cmd heading: 322.186387 deg. BhHeadingCmd: 5.623213 target range: 23.274349 and range: 23.40 m.h]@h*h"h hgfff!d!d!d!jd%`ff7@Zd-`s?颕#BɢZ2) ż>i)ͼ顙i*-i(< ;=I]@Iu@@y @y@/@ ^A [1= PExceeded connect timeout, disconnecting.i1 I5 A] DDAT read: Rx Time:05:37:06.0902 m TRx dataTimestamp_ set to:1761543427.423184D =D =E  E E *E "E :*E :VE (N4ZE BE 5ie ѿe P=e i"@e K>e "@ e `>)e %=Ie `a a e Vh?8n?~Q? e >)e _LIe %=ie `a a =checking for new query: numPingsReceived=52, elapsed TxPingTime=24.753065A.AIIO>27P,gC@?AyY߁ByIiMb@Mb@Mb@ 9ףp= ?"~j?~jtY>yS=xA@ A)AYAbDuVDu:2y,e%$=ٔQ->9 ?Y ?=FyYEE>Q 5y5@ ?Q 9y5)EBY>Q E:yƾQ I@DI;i;y5yɮ& Aiir@?AJifARifAjio@bِB6@i$A?3;yi@RR7 u?~m?-?Zi%=bi`j+¼3@z$v,;@Z܀i)ʼi>/ia)S<s C=Iݳ@I!= ?@  @ @ Y4@ @ @ gA DDAT read: Rx Time:05:37:06.5899  TRx dataTimestamp_ set to:1761543427.920701 PDAT read: Bearing 145.8, 3.4 (Local)  ~Local bearing/azimuth received: Bearing 145.8, 3.4 (Local)  DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4  DAT read: 05:37:06.5899 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.29,-0.740,-2.511,-0.751,-0.898, PHS= 0.260,-1.568, 0.104, RAW= 145.6, 13.6, CAL= 145.3, 14.9, ROT= 4.7, -14.9 E  E E 'E "E ;*E :VE '4ZE a @a @a @a @ Ygot valid direction response: 05:37:06.5899 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.29,-0.740,-2.511,-0.751,-0.898, PHS= 0.260,-1.568, 0.104, RAW= 145.6, 13.6, CAL= 145.3, 14.9, ROT= 4.7, -14.9 % T#Rx 53: Read range and direction messages.- \direction in FSK: [0.963127,0.079183,0.257133]5 Fpublishing direction and range infoy  3 ?djB]E?Fht?Y fA ) I >i 9ȿ = "@ s> :M"@ %>) =I % O{ed ?a5:?@|+? j>) sI =i %  checking for new query: numPingsReceived=53, elapsed TxPingTime=25.227144A^AC;=AzAfAQA؟AII O%?@AP,KA?AYفByIbDVDy%ϼ%-=ٔ)Q-->95"?Y5"?=5Fy5YE1E5>9Q 5My5=1?Q 9My5=)=?BYIyIQ IU@=DI=!;i=$:=% y5y]hBɮ]w A]REAAAAB >BBIBBB =BCDB}DBo;B@,Eii@?AJikARikAji8@bX;4d5@2S #?l`S@R3 ?djB]E?Fht?Zi=bi%j=23@ݳ*xM$z k@Z˪[?֊ե?ݿ̪4u?2i%:iA"i n?*i*Bi8Bi n?iiikAiLC@Echecking for new query: numPingsReceived=53, elapsed TxPingTime=25.446335Ym addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.497517 s, deltaX: -0.500000 m, approachRate: -1.004991 m/s, rangeRepo size: 4  Added new target pos. range: 22.677574 m, bearing: 331.639074 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.497517 s, deltaX: -0.497314 m, approachRate: -0.999593 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.68 m.bhRhZh ProNav: ac range: 22.677574 m, nav range: 21.802631 m, bearing: 331.711901 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.049594 deg, new cmd heading: 321.900554 deg. BhHeadingCmd: 5.618225 target range: 22.677574 and range: 22.80 m.hȳ@h*h"h hgfffdddjd6@Zd?ԉ颵*Bɢƛ) >i)NǼ项i1i:*|<+K=Iȳ@I FΞ@@ @@4@u nManaging dock network, ignoring radio surface power off DDAT read: Rx Time:05:37:07.0899 - TRx dataTimestamp_ set to:1761543428.430025Ee  Ee Ee )Ea "Ee &:*Ee :VEe FA4ZEa BEe a;i% (̿% q=% :M"@% %>% p!@ % >)% ¸=I% ! ! % ?<`s?L{? % I>)% [I% ¸=i% ! !  checking for new query: numPingsReceived=54, elapsed TxPingTime=25.759766 ^A B=AII  O>+IP,&A?AN#ʭ@NĴ@N ٱN4L fAHRS rotation from veh to nav: [[0.805125,0.586071,0.091073],[-0.592154,0.785607,0.179376],[0.033580,-0.198350,0.979556]]NH?@?P?`#??`_1?cɿX?iN#ʭ@INʂb;NCY~ӁBy~IiMb@Mb@Mb@ 9sh|??B`"۹?Y>y=̼bA@ )AYAAAAbDVD1y% =ٔ ;Q- >9Y=FyYEƂE>!Q 5%y5%/?Q 9-y5%)%7BY->Q E-:y-ݾQ I-@%$DI% ;i%. ;%$y5y9ɮ= A9iyi}A?AJiyRiyji}c@b}՘߮5@n/:7Z?iu@R}Θ?@j?rwkq?Zi}¸=bi}j}NW(&3@d;Yj$?tX@Z}Axh?ܿ]-?2i}R#}checking for new query: numPingsReceived=54, elapsed TxPingTime=25.950293:i}1A"i}x|?*i}&+Bi}Bi}`v?iyi}^Bi}'Ai}FO@ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.509324 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.677439 m, bearing: 331.939428 deg, lat: 36.779379 deg, lon: -121.859708 deg, deltaT: 0.509324 s, deltaX: -0.000135 m, approachRate: -0.000266 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.68 m.bhRhZh ProNav: ac range: 22.677439 m, nav range: 21.644127 m, bearing: 331.795661 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 321.900559 deg, new cmd heading: 321.758165 deg. BhHeadingCmd: 5.615739 target range: 22.677439 and range: 22.80 m. h#@hI*hI"hQ hQgQfQfYf]BdadadajdiZdmC?}-Bɢ}/) >i)?ļi3i*%<-5=I-#@I1IIQQ9i 5 DDAT read: Rx Time:05:37:07.5896 = TRx dataTimestamp_ set to:1761543428.930042M PDAT read: Bearing 149.0, 2.0 (Local) M ~Local bearing/azimuth received: Bearing 149.0, 2.0 (Local) ] DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 E  E E 'E "E :*E ~:VE '4ZE a @a @a @a @ DAT read: 05:37:07.5896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.44,-0.739,-2.506,-0.735,-0.789, PHS= 0.152,-1.671, 0.011, RAW= 146.0, 16.9, CAL= 145.8, 18.5, ROT= 4.2, -18.5  Ygot valid direction response: 05:37:07.5896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.44,-0.739,-2.506,-0.735,-0.789, PHS= 0.152,-1.671, 0.011, RAW= 146.0, 16.9, CAL= 145.8, 18.5, ROT= 4.2, -18.5  T#Rx 55: Read range and direction messages. \direction in FSK: [0.945777,0.069454,0.317305] Fpublishing direction and range infoy9 = ;dC?DZ?Hs%N?Y= 3A9 9 9 9 9 )= ;I= >i= Tտ= X94<= e#@ @  @ @ 0@ @ =@ == >= 4"@ = MQ>)= Q =I= MQ9 9 = 1?I:?]i? = w>)= HݖI= Q =i= MQ9 9  checking for new query: numPingsReceived=55, elapsed TxPingTime=26.228365ԑ ^A L=B9B9B9B9B9B9B9B=\o;B=e,EAQIaIqO?yRP,#KA?Achecking for new query: numPingsReceived=55, elapsed TxPingTime=26.454248>ǭ@>|´@>ٱ>@L JAHRS rotation from veh to nav: [[0.804964,0.586234,0.091445],[-0.592409,0.785564,0.178723],[0.032937,-0.198039,0.979641]]>HD?`n? h?@V#?f?-ݠ?UYɿ@7Y?i>ǭ@I>b;>CYNȁByRIbDZVDZyb*%%b=ٔbE:Q-b>9dYd=fFyfYEjBEj>lQ 5ry5n4B?Q 9ry5np)n/BYpyr1ݾQ Ir@n,DInN:in:nl)y5yzkBɮz Axiiυ;A?AJi@QU addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.500017 s, deltaX: -0.400000 m, approachRate: -0.799972 m/s, rangeRepo size: 4  Added new target pos. range: 22.279589 m, bearing: 331.617592 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.500017 s, deltaX: -0.397850 m, approachRate: -0.795673 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.28 m.bhRhZhM ProNav: ac range: 22.279589 m, nav range: 21.296637 m, bearing: 331.680737 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 321.758163 deg, new cmd heading: 321.606552 deg. BhYeHeadingCmd: 5.613093 target range: 22.279589 and range: 22.40 m.hev@hi*hi"hi higififqfqdqdqdyjd}`ff6@Zd}?1Bɢ.л) >i)4¼i)}5i(+:<@=Iv@Iy?@ @@4@^A3=ԩDDAT read: Rx Time:05:37:08.0896 5TRx dataTimestamp_ set to:1761543429.438159bE-4jEǨ,4rE/E] E]EYEY"E]s:*E]k:VEYZEYBE]h0e DAT read: 05:37:08.0896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.11, 1.107,-1.141, 1.020, 0.757, PHS= 0.452,-1.853, 0.219, RAW= 144.7, 10.8, CAL= 144.3, 11.7, ROT= 5.7, -11.7 m Ygot valid direction response: 05:37:08.0896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.11, 1.107,-1.141, 1.020, 0.757, PHS= 0.452,-1.853, 0.219, RAW= 144.7, 10.8, CAL= 144.3, 11.7, ROT= 5.7, -11.7 m T#Rx 56: Read range and direction messages.u \direction in FSK: [0.974381,0.097256,0.202787] Fpublishing direction and range infoyL!.? A? ?Y )Il>i/A`>!@A>E/!@ Q>)%=IQ읩b?,a7N? ? >)i@I%=iQ checking for new query: numPingsReceived=56, elapsed TxPingTime=26.764725 XP,dA?ARwƭ@RG@RqٱRJ ZAHRS rotation from veh to nav: [[0.804890,0.586392,0.091086],[-0.592537,0.785767,0.177401],[0.032454,-0.196760,0.979914]]RH? ?oQ?@@%??Ν?o/ɿ`u[?iRwƭ@IRb;PYnÁBynIԱiMb@Mb@Mb@ 9ʡE?x&?{GzY>y7=ףA@ )\AYQAbD]VD]ym(%m3=ٔm:Q->9Y=FyYEE>Q 5y5LR?Q 9y55)+BYF>Q E:yQ I@3DI;i;s-y5yoBɮ^ ASEiYi] \A?AJiYRiYji]2@b]St5@k4U@/&s@R]L!.? A? ?Zi]%=bi]Qj]d'3@bwq$.)8d@Uchecking for new query: numPingsReceived=56, elapsed TxPingTime=26.958294Z]cl=?DOXݿ&?2i]%:i]>A"i](z?*i]VIBi],Bi]`v?iYi]Bi]SAi]Q@ addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.508117 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.279589 m, bearing: 331.595621 deg, lat: 36.779379 deg, lon: -121.859708 deg, deltaT: 0.508117 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 22.28 m.bh RhZhU ProNav: ac range: 22.279589 m, nav range: 21.165699 m, bearing: 331.813303 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 321.606560 deg, new cmd heading: 321.470556 deg. BhYHeadingCmd: 5.610720 target range: 22.279589 and range: 22.40 m.h@h*h"h hgff fBddAdIjdQZd] w?U5BɢU Z)Q U΍>iQ)511i5.7i=&,= ޖi ׿ o N#@ |> 1#@ 㭪>) 'g=I 㭪 Ϯl$ f?^i) GI 'g=i 㭪  checking for new query: numPingsReceived=57, elapsed TxPingTime=27.238934^A C;=A eAzA qA.AIIO?߇aP,kA?A2ĭ@2|@2ٱ2J :AHRS rotation from veh to nav: [[0.804785,0.586411,0.091888],[-0.592731,0.785758,0.176785],[0.031467,-0.196739,0.979951]]2H???$?@?r?@.ɿ[?i2ĭ@I2vb;0YBByBI Jp;J4<bDnVDn1yvf6%v,=ٔvY ;Q-v>9z ?Yz ?=zFyzYE~eE~>Q 5 y5b?Q 9 y5 )&BY y Q I@:DI;i;1y5yɮ Aii|{A?AJiٯARiٯAji@bZ]4@h1?7D@R3}l+??t?#e#?Zi'g=bi㭪j6*2@+4#*/@Z8~r?rAܿ?2il:iUA"i^]?*iкyBiBi n?iкyiiAix<@m addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.498577 s, deltaX: -0.299999 m, approachRate: -0.601711 m/s, rangeRepo size: 4 } Added new target pos. range: 21.981201 m, bearing: 331.408259 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.498577 s, deltaX: -0.298388 m, approachRate: -0.598478 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 21.98 m.bhRhZhԑ ProNav: ac range: 21.981201 m, nav range: 20.861158 m, bearing: 331.664140 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 321.470558 deg, new cmd heading: 321.342504 deg. BhHeadingCmd: 5.608485 target range: 21.981201 and range: 22.10 m.hx@h*h"h hgfffdddjd6@Zdx$?8Bɢ𺭻BA4=B >BBIBBBBB~DBIo;B^,E)  >i )ri|8i*,PU<̐O=Ix@I!checking for new query: numPingsReceived=57, elapsed TxPingTime=27.462057eA@i @i@u4@q^A]E=AIIO>ii Ii  DDAT read: Rx Time:05:37:09.0893  TRx dataTimestamp_ set to:1761543430.445802E  E E %E "E :*E :VE 4ZE BE 6iɿ= =e#@Ulx>"@ ԇ>)`=IԇKW&?Rmn3??r? l>)wI`=iԇMchecking for new query: numPingsReceived=58, elapsed TxPingTime=27.852383iMb@Mb@Mb@ 9^I +?V-?/$YX>ym=bA )rAYAbDVDfy%Fi%%!=ٔ%:Q-M>9IYI=MFyMYEUEU>YQ 5ey5] u?Q 9ey5]^)]"BYV>Q E:y1Q I@]BDI]);i];] 6y5y{BɮA]EiiA?AJiBARiBAjifϸ@b%4@"= 7?Y{,@R g)?Gsh煲?;f$?Zi`=biԇj5sP2@p Db$9=ĵ@ZV_?<0ݿTYPyj?2i#:iA"i*Ye|?*ih{BiBi*Ye|?iiiAi_@!E addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.509066 s, deltaX: -0.200001 m, approachRate: -0.392878 m/s, rangeRepo size: 4 U Added new target pos. range: 21.782391 m, bearing: 330.901289 deg, lat: 36.779380 deg, lon: -121.859708 deg, deltaT: 0.509066 s, deltaX: -0.198811 m, approachRate: -0.390540 m/s, posRepo size: 4 jhQ]DNOT Ignoring new targets: 21.78 m.bhYRhYZh ProNav: ac range: 21.782391 m, nav range: 20.760084 m, bearing: 331.910540 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 321.342505 deg, new cmd heading: 321.193777 deg. BhHeadingCmd: 5.605889 target range: 21.782391 and range: 21.90 m.hqc@h*h"h hchecking for new query: numPingsReceived=58, elapsed TxPingTime=27.966389gfffBdddjd`f5@ZdA?颭i)3i9i%Oc--H<5T=I5qc@IaQm @@i  @i @m n0@i y  DDAT read: Rx Time:05:37:09.5891  TRx dataTimestamp_ set to:1761543430.945452 PDAT read: Bearing 147.2, 2.5 (Local)  ~Local bearing/azimuth received: Bearing 147.2, 2.5 (Local)  DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4  eDAT read: 05:37:09.5891 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.00,-0.789,-2.526,-0.789145.8, 15.2, CAL= 145.5, 16.7, ROT= 4.5, -16.7  unknown deviceResponse_: 05:37:09.5891 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.00,-0.789,-2.526,-0.789145.8, 15.2, CAL= 145.5, 16.7, ROT= 4.5, -16.7  Z#Rx 59: Read range message, but no direction.y Y ̬A E  E E 'E "E :*E :VE '4ZE a @a @a @a @^A <H=A >A ?checking for new query: numPingsReceived=59, elapsed TxPingTime=28.234903ԩAAIYIqO ?pP,GA?AIYByfIbDVD!yO%/=ٔQ->9Y=FyYEE>Q 5y5?Q 9y5_)BYyQ I@JDI:i::y5yɮAB*** querying acoustic contact ***i i5 addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.499650 s, deltaX: -0.299999 m, approachRate: -0.600419 m/s, rangeRepo size: 4 jh15DNOT Ignoring new targets: 21.78 m.bh1Rh==x:Zh==x:M ProNav: ac range: 21.782391 m, nav range: 20.533688 m, bearing: 331.934463 deg, approach rate: -0.507867 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.193771 deg, new cmd heading: 321.266330 deg. BhM;UHeadingCmd: 5.607155 target range: 21.782391 and range: 21.60 m.hUm@hQ*hY"hY hYgYfYfafadadadijdm5@Zdm ?额@Bɢ64) 1>i)mY顡id;iL-ՠ<O=Im@IB >BBIBՁBBBB}DB*o;BM,E]D@Y @Y@]4@Yԁchecking for new query: numPingsReceived=59, elapsed TxPingTime=28.470310ԡ^A}&V=A ؟A I I O >BvP,A?AE: E:E:(E8"E:V:*E:x:VE:c44ZE8BE:9ifB`տfB`;fN#@fΘ>f1#@ f>)f'g=Ifdd⣭@@yMٱpMfnsNpm? }| ?:UAF? fD~>)fT(If'g=ifddchecking for new query: numPingsReceived=60, elapsed TxPingTime=28.786274 AHRS rotation from veh to nav: [[0.802464,0.588937,0.095939],[-0.595991,0.783245,0.176979],[0.029086,-0.199198,0.979528]]Hɭ??@r?[X?`;?ȝ?Nɿ@JX?i⣭@Ioa;Y ByaIiMb@Mb@Mb@ 9"~j?l?{GzYS?y=ף@ rA)AY3A5@A5@AbD5 VD52ym䐼%m'=ٔuS;Q-u>9u"?Yu"?=uFy}YE}eͻE}>Q 5y5K?Q 9y5)BY?Q E:yxQ I@RDI@:i:Y>y5yBɮEAE^EidifHA?AJifARifAjif@bf/'UX24@&?`Pې@Rfy8?LkP{?ɜL?Zif'g=bifjf`ܭ1@Xz#שA@Zf臓t?Cw%ݿF#?2if:ifnA"ifi?*ifP"BifBifi?ifP"ifBifyAif@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.527723 s, deltaX: -0.100000 m, approachRate: -0.189494 m/s, rangeRepo size: 4  Added new target pos. range: 21.384413 m, bearing: 331.150832 deg, lat: 36.779378 deg, lon: -121.859710 deg, deltaT: 1.027373 s, deltaX: -0.397978 m, approachRate: -0.387374 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 21.38 m.bh RhZh ProNav: ac range: 21.384413 m, nav range: 20.184135 m, bearing: 331.150890 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.266335 deg, new cmd heading: 321.350590 deg. BhHeadingCmd: 5.608626 target range: 21.384413 and range: 21.50 m.hy@h*h"h hgfffaBdddjd5@Zd@F$?UDBɢU%\)Q UV>iY)]QYYi]*C oGhA!U9UhAY]dlAeYgot valid direction response: 05:37:10.5887 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503, 0.12,-0.293,-2.035,-0.299,-0.413, PHS= 0.222,-1.577, 0.070, RAW= 145.6, 14.7, CAL= 145.4, 16.1, ROT= 4.6, -16.1 eT#Rx 61: Read range and direction messages.Iq\direction in FSK: [0.957684,0.077053,0.277315]Fpublishing direction and range infoy6~Y?/wƹ?/?YA ):ISc>i#ɿ)\="@G\>i"@ ޏ>)l=Iޏ%&#?{#)b?GiWE?  >IO?P,B?A)Il=iޏ.checking for new query: numPingsReceived=61, elapsed TxPingTime=29.358084YByJIbDVD02 y4%=ٔQ->9Y=%Fy%YE%E%>Q 5y5?Q 9y5)BYyQ I@[DI:iR:>Cy5yɮLAAA@AB >B CB IB BB  =B B |DB o;B 4,EBBBBB =CŒ4ii-|A?AJiARiAji@b>\4@ME|?C/+@R6~Y?/wƹ?/?Zil=biޏj(51@ E#S<@Ze2P?;B4ݿMbg/?2i,:ipA"iXr?*iBi`BiXr?iiBi4Ai@] addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.487529 s, deltaX: -0.500000 m, approachRate: -1.025580 m/s, rangeRepo size: 4  Added new target pos. range: 20.886654 m, bearing: 331.237907 deg, lat: 36.779379 deg, lon: -121.859711 deg, deltaT: 0.487529 s, deltaX: -0.497759 m, approachRate: -1.020983 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 20.89 m.bh Rh Zh Echecking for new query: numPingsReceived=61, elapsed TxPingTime=29.486334M ProNav: ac range: 20.886654 m, nav range: 20.025740 m, bearing: 331.237965 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.350592 deg, new cmd heading: 321.439757 deg. BhIHeadingCmd: 5.610182 target range: 20.886654 and range: 21.00 m.h@h*h"h hgfffd AdIdqjd}5@Zd_?MIBɢM ,)i m0=iq)uݸqqiuA*=i}I,}<}x<=I}@I!@) @)@-/@)aԡ E%  E% E% *E! "E% T;*E% $:VE% (N4ZE! BE% G P,Hp$B?A )IY>iq=ʿxi=j"@V>:M"@ r>)=Irc?9!C? Z ? >)ʆI=ir2checking for new query: numPingsReceived=62, elapsed TxPingTime=29.855955b@b΀@b ٱbWJ UAHRS rotation from veh to nav: [[0.800294,0.592013,0.095130],[-0.598922,0.781672,0.174013],[0.028658,-0.196237,0.980138]]bH?? iZ? _*u?F?zX?`IɿI]?ib@Ib;c;bCYeByeLIi Mb@Mb@Mb@     9 K7?{Gzt?~jtY  ?y ף; D   A) \A Y  %p<%;bD-VD-:y}K<%=ٔN:Q->9Y=FyYEۻE>Q 5y51?Q 9y5)BY ?Q E:yB#Q I@dDI:i:Gy5y-Bɮ-]A5_Echecking for new query: numPingsReceived=62, elapsed TxPingTime=29.992508iihB?AJiRijiK@b F3@܇NA?qpW@RbZ5=? ?HN-?Zi=birjvXN1@ ܥ2G#F]A@Zކ??GMݿ?2i9:iA"iˣ?*i('BiBiiiBiAi@U addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.520766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 20.886654 m, bearing: 331.166339 deg, lat: 36.779379 deg, lon: -121.859711 deg, deltaT: 0.520766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhaDNOT Ignoring new targets: 20.89 m.bhRhZh ProNav: ac range: 20.886654 m, nav range: 19.740074 m, bearing: 331.351222 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.439767 deg, new cmd heading: 321.536454 deg. BhHeadingCmd: 5.611870 target range: 20.886654 and range: 21.00 m.hp@h*h"h hgfffPBdddjdZd`?MMBɢM)I M|=iI)UQQiU >i]S+]q<],)=I]p@I Y @Y  @Y @] /@Y @a @e =5 DDAT read: Rx Time:05:37:11.5884 5 TRx dataTimestamp_ set to:1761543432.968866E PDAT read: Bearing 147.1, 2.4 (Local) EM  EM EI EI "EM :*EM :VEI ZEI aU @aU @aU @aU @Y ] ~Local bearing/azimuth received: Bearing 147.1, 2.4 (Local) u DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4  DAT read: 05:37:11.5884 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.08,-0.380,-2.173,-0.387,-0.483, PHS= 0.205,-1.645, 0.052, RAW= 145.7, 15.4, CAL= 145.5, 16.9, ROT= 4.5, -16.9  Ygot valid direction response: 05:37:11.5884 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.08,-0.380,-2.173,-0.387,-0.483, PHS= 0.205,-1.645, 0.052, RAW= 145.7, 15.4, CAL= 145.5, 16.9, ROT= 4.5, -16.9  T#Rx 63: Read range and direction messages. \direction in FSK: [0.953864,0.075071,0.290702] Fpublishing direction and range infoy1 5 ($ ?!7?Tcݚ?Y5 ̤A1 1 1 1 1 )5 ;I5 Q>i5 \ҿ5 T=5 "@5 >5 j"@ 5 >)5 |٠=I5 1 1 5 ?,#?y1q? 5 >)5 ىI5 |٠=i5 1 1 = checking for new query: numPingsReceived=63, elapsed TxPingTime=30.275988^A} &t@=qA.AIIO?SXP,3EB?AF3d@F_@F TٱFH ^AHRS rotation from veh to nav: [[0.797826,0.595300,0.095347],[-0.602226,0.779515,0.172281],[0.028235,-0.194870,0.980422]]FHˇ? ?h?oE?J ??ȿ_?iF3d@IFte;FCYfyByf@IbDVDkye9%U:=ٔUx:Q-]>9] ?Y] ?=]Fy]YEe)Ee>iQ 5y5mCϘ?Q 9y5m^)mBYyN$Q I@mlDIm;im2;mKy5yɮAii>B?AJiARiAji@b&}%3@q_?'!@R($ ?!7?Tcݚ?Zi|٠=bij4Jm1@'#F]@Zj|j?NYTݿEW0?2i:iA"i~6n?*i^5jBiBiih{iiAi@U addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.487396 s, deltaX: -0.400000 m, approachRate: -0.820687 m/s, rangeRepo size: 4 e Added new target pos. range: 20.488813 m, bearing: 330.797119 deg, lat: 36.779379 deg, lon: -121.859713 deg, deltaT: 0.487396 s, deltaX: -0.397840 m, approachRate: -0.816257 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 20.49 m.bhiB>BCByIBBB =BB{DBn;B,ERhZh ProNav: ac range: 20.488813 m, nav range: 19.576231 m, bearing: 331.066006 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.536455 deg, new cmd heading: 321.598864 deg. BhHeadingCmd: 5.612959 target range: 20.488813 and range: 20.60 m.h\@h *h "h  h g f ffdddjd4@Zdy=?颍PBɢo) `=i)k顑i>i+C<\b=I\@I%DDAT read: Rx Time:05:37:12.0883 5TRx dataTimestamp_ set to:1761543433.224010Mchecking for new query: numPingsReceived=63, elapsed TxPingTime=30.501011}?@ @@/@) ^A #'=i E  E E &E "E D:*E :VE 4ZE BE 1+P,}aB?AJDAT read: 05:37:12.0883 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.45, 0.787,-1.013, 0.782, 0.695, PHS= 0.194,-1.664, 0.042, RAW= 145.8, 15.8, CAL= 145.6, 17.3, ROT= 4.4, -17.3 nYgot valid direction response: 05:37:12.0883 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.45, 0.787,-1.013, 0.782, 0.695, PHS= 0.194,-1.664, 0.042, RAW= 145.8, 15.8, CAL= 145.6, 17.3, ROT= 4.4, -17.3 rT#Rx 64: Read range and direction messages.v\direction in FSK: [0.951947,0.073248,0.297375]zFpublishing direction and range infoyhNYv?|rZf?+0?Y3A )<IF>iԿ1,=4"@0>"@ #>)nF=I#dӋ ?X_' ?tUf? pT>)hInF=i#Uchecking for new query: numPingsReceived=64, elapsed TxPingTime=30.8403661Y]By]IIiMb@Mb@Mb@ 9n?~jtxy&1|YV?yĻ`v@ rA)EAYAAAbD VD :y<%=ٔQ->9%"?Y%"?=%Fy%YEMEM>QQ 5]y5U☊?Q 9]y5U)UBY][?Q E]:y](Q I]@UuDIUz:iU:UlPy5ymBɮmAm`Eii_B?AJiPARiPAji־@b=7"rP3@sE?N"@RhNYv?|rZf?+0?ZinF=bi#j.d#0@ZI"l=5@Z|6?%W~ݿNw?2i:iA"i qp?*iG?Bi؍Bi qp?i('iBi*Ai@ addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.524111 s, deltaX: -0.200001 m, approachRate: -0.381600 m/s, rangeRepo size: 4 - Added new target pos. range: 20.289209 m, bearing: 330.785455 deg, lat: 36.779379 deg, lon: -121.859713 deg, deltaT: 0.524111 s, deltaX: -0.199604 m, approachRate: -0.380843 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 20.29 m.bh1Rh1Zh1au ProNav: ac range: 20.289209 m, nav range: 19.270737 m, bearing: 331.091095 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.598856 deg, new cmd heading: 321.684479 deg. Bhq}HeadingCmd: 5.614453 target range: 20.289209 and range: 20.40 m.h@h*h"h hgfff9Bdddjd`ff4@Zd i?=DDAT read: Rx Time:05:37:12.5881 MTRx dataTimestamp_ set to:1761543433.728388]checking for new query: numPingsReceived=64, elapsed TxPingTime=31.004692TBɢX) =i)iw?i2+0+<=I@Iԑ @  @ @ /@ Թ ^A l=A gAzA fA PDAT read: Bearing 148.9, 1.9 (Local) E  E E $E "E :*E L_:VE 4ZE a@a@a@a@ ~Local bearing/azimuth received: Bearing 148.9, 1.9 (Local) %DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.5 DAT read: 05:37:12.5881 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497,-0.23,-1.386, 3.120,-1.391,-1.431, PHS= 0.147,-1.687,-0.004, RAW= 145.8, 17.2, CAL= 145.6, 18.9, ROT= 4.4, -18.9 Ygot valid direction response: 05:37:12.5881 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497,-0.23,-1.386, 3.120,-1.391,-1.431, PHS= 0.147,-1.687,-0.004, RAW= 145.8, 17.2, CAL= 145.6, 18.9, ROT= 4.4, -18.9 T#Rx 65: Read range and direction messages.\direction in FSK: [0.943297,0.072583,0.323917]Fpublishing direction and range infoy  8}/?eȔ??Y ̠A ) ;I +>i ׿ o `> [>) I [䨾 MVg?7=~܎?-? >) ݵI i [䨾 checking for new query: numPingsReceived=65, elapsed TxPingTime=31.284777AII)OM?P,B?AJ.?@J9@J$ٱJiE RAHRS rotation from veh to nav: [[0.795103,0.599101,0.094285],[-0.605830,0.777431,0.169033],[0.027968,-0.191519,0.981090]]JH@{q?+?`#?b@? ??@ȿe?iJ.?@IJf;JCYzByzGIbD VD Ny%;=ٔ :Q->9!Y!=%Fy%ZEeF(Em>iQ 5uy5m!?Q 9}y5m)mBYyy}*Q I}@m}DImW:imp:mDTy5yBɮAi i ~B?AJi ARi Aji ¸@b ?w2@)mA7?& 4@R 8}/?eȔ??Zi bi [䨾j *y0@\~Fg")h@Z k{X^?v~uݿy1#?2i ::i ɃA"i LM_?*i Bi Bi i i i `Ai t@] addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.483712 s, deltaX: -0.299999 m, approachRate: -0.620202 m/s, rangeRepo size: 4  Added new target pos. range: 19.990839 m, bearing: 330.813019 deg, lat: 36.779379 deg, lon: -121.859713 deg, deltaT: 0.483712 s, deltaX: -0.298370 m, approachRate: -0.616835 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.99 m.bhRhZh ProNav: ac range: 19.990839 m, nav range: 19.046913 m, bearing: 331.111494 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.684479 deg, new cmd heading: 321.757510 deg. BhHeadingCmd: 5.615728 target range: 19.990839 and range: 20.10 m.h @h*h"h hgfffddd9jd=4@Zd=?颍VBɢ) =i)%顑i@B<AB>BBfIBBB =BBBOn;B+Eiz*Yb<=I @I]DDAT read: Rx Time:05:37:13.0880 mTRx dataTimestamp_ set to:1761543434.233536PDAT read: Bearing 142.7, 8.5 (Local) ~Local bearing/azimuth received: Bearing 142.7, 8.5 (Local) checking for new query: numPingsReceived=65, elapsed TxPingTime=31.514917@ @@/@^A =I AA II IY Om >P,B?AbE5!4jE57&4rE5+0EZ EZEZ%EX"EZ:*EZe:VEZ 4ZEXBEZ25Y?D&?>x_?Y>A<<<< <)Zd>i>tӿ>J >>c@>9>>t@ >I>)>-\->I>I<< AHRS rotation from veh to nav: [[0.793571,0.601068,0.094668],[-0.607844,0.775994,0.168405],[0.027762,-0.191185,0.981161]]Hd?;?!4l[e0h?`Yk?o4y+? >y>)>d:I>-\->i>I<<5checking for new query: numPingsReceived=66, elapsed TxPingTime=31.842539iMb@Mb@Mb@ 9n?Mby&1|?Yy`;A@ )Y=AbDVD:9y=%==ٔE.9Q-E>9AYA=MFyMZEM<EM>QQ 5}y5U?Q 9}y5U)U$BY\?Q E:yU*Q I@UDIU;iUa:UXy5yBɮuAjEi<i>mB?AJi>"ARi>"Aji>@b>&:3@X|J @yv.@R>5Y?D&?>x_?Zi>-\->bi>Ij>v@1@p "l @Z>HQ?yPHۿS?2i>:i>ҌA"i>-P"Ҟ?*i>NBi>Bi<i<i<i>Ai>A@] addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.502585 s, deltaX: -0.100000 m, approachRate: -0.198972 m/s, rangeRepo size: 4 m Added new target pos. range: 19.891626 m, bearing: 334.276671 deg, lat: 36.779379 deg, lon: -121.859713 deg, deltaT: 0.502585 s, deltaX: -0.099213 m, approachRate: -0.197405 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.89 m.bhRhZh ProNav: ac range: 19.891626 m, nav range: 18.754049 m, bearing: 331.256981 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.757508 deg, new cmd heading: 321.845113 deg. BhHeadingCmd: 5.617257 target range: 19.891626 and range: 20.00 m.h@h*h"h hgfff>Bdddjd4@Zd?]ZBɢe))a e$=ia)&顉i@iGz*䘛</iֿ ף; "@r>?!@ |٠>)޹=I|٠O ?yP,tbB?A;ɰZ3?#ۉ?(ȳ4? >)I޹=i|٠:checking for new query: numPingsReceived=68, elapsed TxPingTime=32.294174=@=@=ܼٱ=L,D ]AHRS rotation from veh to nav: [[0.790658,0.604752,0.095581],[-0.611665,0.773335,0.166789],[0.026950,-0.190336,0.981349]]=H M? Z?@w?’ )?XY?ۘ?`\ȿ5g?i=@I=f;=CiYByuIbDVD:2yE=%M4=ٔM7:Q-M>9QYQ=UFyU ZEU1EU>Q 5y5G?Q 9y5))BYy+Q I@DIF:i:\y5yÓBɮAkEiQiU&B?AJiU'ARiU'AjiU׸@bU꤃^2@e?[Nf@RUh5EvN?w*?;[@?ZiU޹=biU|٠jU5[͈0@| I!uQƩ;@ZU1O^?ps9ݿ5?2iU:iU܀A"iUCd?*iUR7BiUBiU~6n?iU^5jiUBiUAiU @E addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.257470 s, deltaX: -0.500000 m, approachRate: -1.941974 m/s, rangeRepo size: 4 } Added new target pos. range: 19.394335 m, bearing: 330.959661 deg, lat: 36.779378 deg, lon: -121.859713 deg, deltaT: 0.257470 s, deltaX: -0.497292 m, approachRate: -1.931454 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 19.39 m.bhyRhZh ProNav: ac range: 19.394335 m, nav range: 18.490355 m, bearing: 331.316367 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.845125 deg, new cmd heading: 321.916806 deg. BhHeadingCmd: 5.618508 target range: 19.394335 and range: 19.50 m.hʳ@h*h"h hgfffdddjd3@Zd 1?=\BɢUQO)Q Ur>iQ)]l$YYi]/AieD(*eB}CB}lIB}BB} =ByB}xDB} n;B}+E ?@  @ @ @ -DDAT read: Rx Time:05:37:14.0875 5TRx dataTimestamp_ set to:1761543435.240881MPDAT read: Bearing 145.6, 3.7 (Local) U~Local bearing/azimuth received: Bearing 145.6, 3.7 (Local) checking for new query: numPingsReceived=68, elapsed TxPingTime=32.530010^A < A! I9 II OU >4BP,!@B?AYByIbDVDyE =%M\=ٔMQ-M>9QYQ=UFyUZEUE]>YQ 5ey5]$?Q 9my5]P)].BYiyiQ Im@]DI];i]:]`y5yqɮuAyB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 19.39 m.bhRhP;ZhP; ProNav: ac range: 19.394335 m, nav range: 18.289354 m, bearing: 331.424186 deg, approach rate: -0.571709 m/s, LOS rate: 0.310042 deg/s, cmd heading: 321.916815 deg, new cmd heading: 322.243823 deg. BhT<HeadingCmd: 5.624216 target range: 19.394335 and range: 19.50 m.h@h*h"h hgfffdddjdZdW?E^BɢMe)QDD%=E EEE"E:*Ee:VEZEBEi1)==99i=fBiE9(Mz<UDAT read: 05:37:14.0875 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.04, 0.836,-0.955, 0.792, 0.674, PHS= 0.264,-1.584, 0.073, RAW= 144.6, 14.1, CAL= 144.2, 15.3, ROT= 5.8, -15.3 eYgot valid direction response: 05:37:14.0875 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.04, 0.836,-0.955, 0.792, 0.674, PHS= 0.264,-1.584, 0.073, RAW= 144.6, 14.1, CAL= 144.2, 15.3, ROT= 5.8, -15.3 eT#Rx 69: Read range and direction messages.9Limʿm=m!@md{>m!@ mܸ>)m4Q=Imܸiim"W8??? :'? m]>)m M{Im4Q=imܸiichecking for new query: numPingsReceived=69, elapsed TxPingTime=32.849899!@! @)@-/@)^A]<A1 IA Iq O >5 DDAT read: Rx Time:05:37:14.5873 = TRx dataTimestamp_ set to:1761543435.744363] PDAT read: Bearing 149.0, 2.6 (Local) e ~Local bearing/azimuth received: Bearing 149.0, 2.6 (Local)  DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5  Z#Rx 70: Read range message, but no direction.y1 Y5 fA1  checking for new query: numPingsReceived=70, elapsed TxPingTime=33.042896A baP,[B?A2Q@2"@2dͼٱ2fC> :AHRS rotation from veh to nav: [[0.789744,0.606223,0.093801],[-0.612924,0.773555,0.161047],[0.025070,-0.184679,0.982479]]2HE?@-f?X?`?.?龎?ǿ xp?i2Q@I2g;2CYƁByIi Mb@Mb@Mb@   1  9 |?5^?9aYa=eFyeZEmiEm>Q 5y5>5?Q 9y5%)3BY ?Q E:y#Q I@DI:i:cy5yȓBɮ Aiyi}B?AJi}ARi}Aji}@b}$1@e+R(?@R}4?o ?&K?Zi}4Q=bi}ܸj}ly/@f]!ϗ u@Z}Z-?c.q޿Ii?2i} :i}{A"i}bc?*i}_jBi}Bi}Cd?i}R7iyi}؏Ai}@] addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 1.007619 s, deltaX: -0.700001 m, approachRate: -0.694708 m/s, rangeRepo size: 4  Added new target pos. range: 18.696949 m, bearing: 330.806851 deg, lat: 36.779377 deg, lon: -121.859714 deg, deltaT: 1.007619 s, deltaX: -0.697386 m, approachRate: -0.692113 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.70 m.bhRhZh ProNav: ac range: 18.696949 m, nav range: 17.980852 m, bearing: 331.168371 deg, approach rate: 0.000000 m/s, LOS rate: 0.310042 deg/s, cmd heading: 322.243817 deg, new cmd heading: 322.668227 deg. BhHeadingCmd: 5.631623 target range: 18.696949 and range: 18.80 m.hA6@h*h"h hgfffBdddjd2@Zd0?颵bBɢ ) pI>i)Ѯ项ihCi&R7i#ٿX9?!@`>vh!@ >) =IiZҼ?wt?o[D? >)3I =i%checking for new query: numPingsReceived=71, elapsed TxPingTime=33.285889}@@y @@/@@fA@ԉ^Ay Ay A} AAB >B CB IB BB  =B DDB tDB 8n;B +E A I I U DDAT read: Rx Time:05:37:15.0872 e TRx dataTimestamp_ set to:1761543436.248370 PDAT read: Bearing 149.6, 2.4 (Local)  ~Local bearing/azimuth received: Bearing 149.6, 2.4 (Local) O>&P,jC?ADAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 ,,RDAT read: 05:37:15.0872 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.05, 1.642,-0.156, 1.607, 1.601, PHS= 0.143,-1.712,-0.038, RAW= 144.9, 17.8, CAL= 144.6, 19.4, ROT= 5.4, -19.4 VYgot valid direction response: 05:37:15.0872 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.05, 1.642,-0.156, 1.607, 1.601, PHS= 0.143,-1.712,-0.038, RAW= 144.9, 17.8, CAL= 144.6, 19.4, ROT= 5.4, -19.4 VT#Rx 72: Read range and direction messages.hz\direction in FSK: [0.939037,0.088765,0.332161]~Fpublishing direction and range infoyj} ?;s*O?` B?Y );In>i"ۿ!@>!@ -\>)=I-\A$?P5r?Ԯ͋? >)e螾I=i-\C@@żٱ:: %AHRS rotation from veh to nav: [[0.789309,0.606999,0.092436],[-0.613522,0.773793,0.157594],[0.024133,-0.181102,0.983168]]HB?@l?ީ?? ,?e?W.ǿ@v?iC@Ie3g;CUchecking for new query: numPingsReceived=72, elapsed TxPingTime=33.589634Y]ԁBy]IbDVD0y~=%;=ٔQ ;Q->9Y=FyZE=ݺE>Q 5y5wE?Q 9y5)9BYy#Q I@DI;io;gy5yɮAiiKC?AJiARiAji@bBM21@w:?M@Rj} ?;s*O?` B?Zi=bi-\jdu@.@z!2@Zl?}% ݿ8lpR?2i :iwA"i GeZ?*ikJBiIBibc?ikJiiÍAim @ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.695187 m, bearing: 331.140669 deg, lat: 36.779377 deg, lon: -121.859714 deg, deltaT: 0.504007 s, deltaX: -0.001762 m, approachRate: -0.003497 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.70 m.bhRh!Zh)= ProNav: ac range: 18.695187 m, nav range: 17.720638 m, bearing: 331.307163 deg, approach rate: 0.000000 m/s, LOS rate: 0.310042 deg/s, cmd heading: 322.668218 deg, new cmd heading: 323.075849 deg. Bh9=HeadingCmd: 5.638737 target range: 18.695187 and range: 18.80 m.hEp@hA*hA"hA hAgafififididqdqjdqZdu{?dBɢFݻ) _>i),$itDi$v<5;Ip@I@ @@0@^AaY LP,2+C?A27@2@2<ٱ2]5 :AHRS rotation from veh to nav: [[0.789402,0.607206,0.090254],[-0.613447,0.774773,0.153000],[0.022976,-0.176144,0.984096]]2H`B?`;n?@?@[?? ?`ƿ@}?i27@I2g;2CYnBynIA]DDAT read: Rx Time:05:37:15.5869 eTRx dataTimestamp_ set to:1761543436.752021PDAT read: Bearing 149.6, 2.4 (Local) ~Local bearing/azimuth received: Bearing 149.6, 2.4 (Local) DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.4 Z#Rx 73: Read range message, but no direction.yYY]fAYchecking for new query: numPingsReceived=73, elapsed TxPingTime=34.043514i}Mb@Mb@Mb@yyyy y9}HzG?Q?~jt?Y}= ?y}\=}D<}Ay }A)yyY}AbDVD:2y=%/=ٔ";Q->9Y=FyZE>9E>Q 5y5OW?Q 9y5)=BY ?Q E:yQ I-@DIu'i)}9yyiɗEi#C#<;I@Iԙq@q @q@q@qE!  E% E! E! "E! *E% e:VE! ZE! a- @a5 @a5 @a5 @M DAT read: 05:37:15.5869 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.19,-0.791,-2.594,-0.825,-0.835, PHS= 0.145,-1.714,-0.034, RAW= 145.0, 17.7, CAL= 144.7, 19.3, ROT= 5.3, -19.3 U Ygot valid direction response: 05:37:15.5869 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.19,-0.791,-2.594,-0.825,-0.835, PHS= 0.145,-1.714,-0.034, RAW= 145.0, 17.7, CAL= 144.7, 19.3, ROT= 5.3, -19.3 U Z#Rx 74: Read direction message, but no range.] \direction in FSK: [0.939766,0.087179,0.330514]y  Pq?#CzdQ? 3%'? ) :I z>i Zdۿ C p!@ 2+> !@ iw>) q=I iw )w?Tf<?a|0t? W>) "I q=i iw} checking for new query: numPingsReceived=74, elapsed TxPingTime=34.291801 G ! } w9 Y yaA^A ,< AIIO>ʁP,܃JC?ABnȿ>BnCBnIBn߁BBn =BnCDBnwDBn3n;Bn+EBCBCBCB =B =C7Y~By~I== 4< p;bD VD ky=%A=ٔQ->9Y=Fy!ZEE>Q 5%y5g?1Q 9-y5)ABYAyIQ IU@DI,i'1ؿ ף;!@>E/!@ >)%=I?\XT?I? m>)I%=iuchecking for new query: numPingsReceived=75, elapsed TxPingTime=34.616581jBɢHM) v>i)iFi"'Ú<0MIh@I)@ @@/@@=@=ԑ^A ;m checking for new query: numPingsReceived=75, elapsed TxPingTime=34.779240E  E E E "E y:*E a9:VE ZE BE P,GYdC?A4ɰ64^?=?`r? ?}7?`ƿ@c?ir@Irg;pYBy IiMb@Mb@Mb@ 9Q?p= ף?~jt?Y>y=A@ A)AYfAbDVDy\>%H=ٔ^9 ?Y ?=Fy%ZE;E>Q 5y5u?Q 9y5)CBY>Q E:yzQ I@DI ;iX ;sy5yѓBɮ AmEiQiU*QC?AJiU̐ARiU̐AjiU@bU?%1@a˶b? !@RU~;GQ?◨m5?ќ?ZiU%=biUjUh{1.@!R )~@ZUQa{D?eWzݿDQk?2iUb:iUqA"iUm?*iUBiUBiUCd?iUR7iUBiUAiU@M addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.513797 s, deltaX: -0.099998 m, approachRate: -0.194626 m/s, rangeRepo size: 4 ԉ] Added new target pos. range: 18.099672 m, bearing: 331.093543 deg, lat: 36.779377 deg, lon: -121.859714 deg, deltaT: 1.017448 s, deltaX: -0.595514 m, approachRate: -0.585302 m/s, posRepo size: 4 jhYDNOT Ignoring new targets: 18.10 m.bhRhZh ProNav: ac range: 18.099672 m, nav range: 17.064411 m, bearing: 331.437210 deg, approach rate: 0.000000 m/s, LOS rate: 0.158476 deg/s, cmd heading: 323.529559 deg, new cmd heading: 323.696558 deg. BhHeadingCmd: 5.649571 target range: 18.099672 and range: 18.20 m.hIɴ@h *h "h  h g fffɁBdddijdiZdm?DDAT read: Rx Time:05:37:16.5866 TRx dataTimestamp_ set to:1761543437.760610 PDAT read: Bearing 150.1, 1.8 (Local) ~Local bearing/azimuth received: Bearing 150.1, 1.8 (Local) MDAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 ]Z#Rx 76: Read range message, but no direction.yY3Aechecking for new query: numPingsReceived=76, elapsed TxPingTime=35.050789aumBɢu@D1;)q }w>iy)}^שyyi}-Hi4"l<#sIIɴ@I @  @ @ 0@ԁ ^A1 ԩ E  E E &E "E :*E V:VE 4ZE a @a @a @a @ DAT read: 05:37:16.5866 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497,-0.24, 2.243, 0.442, 2.223, 2.213, PHS= 0.132,-1.726,-0.034, RAW= 145.3, 17.9, CAL= 145.1, 19.6, ROT= 4.9, -19.6  Ygot valid direction response: 05:37:16.5866 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497,-0.24, 2.243, 0.442, 2.223, 2.213, PHS= 0.132,-1.726,-0.034, RAW= 145.3, 17.9, CAL= 145.1, 19.6, ROT= 4.9, -19.6  Z#Rx 77: Read direction message, but no range. \direction in FSK: [0.938615,0.080468,0.335452]yq u u1N! ?%Z?g* x?q q q q q )q Iu +>iu ܿu C u :M"@u >u "@ u %>)u %=Iu %q u 69? ? K? u >)u CIu %=iu %-checking for new query: numPingsReceived=77, elapsed TxPingTime=35.305897AE؟AIYIqO>P,RC?A~@~ @~֔ٱ~'p.  AHRS rotation from veh to nav: [[0.791991,0.603968,0.089290],[-0.610262,0.778776,0.145214],[0.018168,-0.169499,0.985363]]~HW?S?۶?D?c??$ſ?i~@I~4f;|Y]$By] IbDm VDm:2ya=%+=ٔW;Q->9"?Y"?=Fy*ZEoo;E>Q 5y5†?Q 9y5)FBYyQ I@DI:i:Gwy5yɮh Aii֭pC?AJiiARiiAjiD@b e0@vi)b项i9Ii%!<%xOI%(@I!IBaAe<Bm>BmCBmIBmBBm =BmDDBmpDBmgn;Bm+E@  @ @ ]0@DDAT read: Rx Time:05:37:17.0865 TRx dataTimestamp_ set to:1761543438.265447PDAT read: Bearing 140.7, 2.1 (Local) ~Local bearing/azimuth received: Bearing 140.7, 2.1 (Local) DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 Z#Rx 78: Read range message, but no direction.yYAchecking for new query: numPingsReceived=78, elapsed TxPingTime=35.553474q^A Β{ԙ A) I9 II OU >P,4C?A26$@2@2Kٱ23* :AHRS rotation from veh to nav: [[0.793306,0.602413,0.088113],[-0.608599,0.780740,0.141611],[0.016515,-0.165966,0.985993]]2H@b?F??y?K ?G?]>ſA?i26$@I2f;2CYB0ByB I DDbDN VDN2yR=%R[=ٔVQ;Q-V>9TYX=ZFyZ.ZEbi;Eb>dQ 5jy5f瓙?Q 9ny5f)fGBYlyn}Q In@fDIf;if;fzy5yrݓBɮrg AvwEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504837 s, deltaX: -0.199999 m, approachRate: -0.396165 m/s, rangeRepo size: 4 jh%DNOT Ignoring new targets: 17.80 m.bh!Rh%9Zh%95 ProNav: ac range: 17.801325 m, nav range: 16.696743 m, bearing: 331.074894 deg, approach rate: -0.511036 m/s, LOS rate: 0.022286 deg/s, cmd heading: 323.933469 deg, new cmd heading: 323.956950 deg. Bh=t:=HeadingCmd: 5.654115 target range: 17.801325 and range: 17.70 m.h=@hA*hA"hA hAgAfAfIfIdIqE EEE"E*EA:VEZEBE[ iΈM>Y3$@6&>#@ K6>)s=IK6=8 ?|?~A? Pr>).'Is=iK6]checking for new query: numPingsReceived=79, elapsed TxPingTime=35.806789ddjd@31@Zd? rBɢ ܜ;) >i)E祿IIiUeJԩir@!f<eI@IIfA)eAuA@q @q@u2@q@y@}fA DDAT read: Rx Time:05:37:17.5862  TRx dataTimestamp_ set to:1761543438.769089 PDAT read: Bearing 149.5, 1.6 (Local)  ~Local bearing/azimuth received: Bearing 149.5, 1.6 (Local)  DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 U DAT read: 05:37:17.5862 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510,-0.27, 0.443,-1.378, 0.429, 0.387, PHS= 0.158,-1.720,-0.003, RAW= 145.6, 17.1, CAL= 145.4, 18.7, ROT= 4.6, -18.7  Ygot valid direction response: 05:37:17.5862 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510,-0.27, 0.443,-1.378, 0.429, 0.387, PHS= 0.158,-1.720,-0.003, RAW= 145.6, 17.1, CAL= 145.4, 18.7, ROT= 4.6, -18.7  T#Rx 80: Read range and direction messages. \direction in FSK: [0.944159,0.075965,0.320613] Fpublishing direction and range infoy  IV6? Wur?C.j?Y fA ^A yb]) I !>i (ܿ D "@ Θ> i"@ >) l=I  6jǘ?ZTIf?-UT? Yr>) vI l=i   checking for new query: numPingsReceived=80, elapsed TxPingTime=36.088779A I I O >mP,SC?AZ:@Z5@Z)oٱZ ( AHRS rotation from veh to nav: [[0.795006,0.600238,0.087638],[-0.606426,0.782961,0.138635],[0.014597,-0.163361,0.986458]]ZH`p?%5? mo?g@?ɾ??Ŀ ?iZ:@IZgf;ZC1YAByu5 IiMb@Mb@Mb@ 9%C?Mb?y&1|?YZ>y=`;5A )YAbDVD02y<=%$=ٔEv;Q-M>9IYI=MFyM3ZEU";EU>YQ 5ey5]?Q 9y5])YYe>Q E:yoQ I@]DI]d;i]:;]~y5yɮ Ai!i%8C?AJi%ARi%Aji%@b%е=0@PiA)E@AAiEKiM M]9IM@IQԑ @  @ @ +1@ B v>B ݍCB ! IB 1BB  =B B mDB 7n;B s+EԹ  DDAT read: Rx Time:05:37:18.0861  TRx dataTimestamp_ set to:1761543439.273341 PDAT read: Bearing 150.5, 1.0 (Local) % ~Local bearing/azimuth received: Bearing 150.5, 1.0 (Local) ^AE 9AU >AU > DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4  DAT read: 05:37:18.0861 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.10, 2.965, 1.184, 2.968, 2.944, PHS= 0.124,-1.714,-0.020, RAW= 146.0, 17.8, CAL= 145.8, 19.6, ROT= 4.2, -19.6  Ygot valid direction response: 05:37:18.0861 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.10, 2.965, 1.184, 2.968, 2.944, PHS= 0.124,-1.714,-0.020, RAW= 146.0, 17.8, CAL= 145.8, 19.6, ROT= 4.2, -19.6  T#Rx 81: Read range and direction messages. \direction in FSK: [0.939528,0.068995,0.335452] Fpublishing direction and range infoy  i[?9t?g* x?Y ̈A     ) I =i Zdۿ ף e#@ > 4"@  %>) Q =I %   dc?_?y/?  >) 5F I Q =i %   checking for new query: numPingsReceived=81, elapsed TxPingTime=36.614323IiIyO>pP,C?ArY@r\T@rBOٱr]! AHRS rotation from veh to nav: [[0.797296,0.597564,0.085059],[-0.603455,0.786207,0.133119],[0.012673,-0.157465,0.987443]]rHs???`rƵ?O(? ?Z?'Ŀ"?irY@Irf;rCY-OBy-F IbD=VD=0yd=%A=ٔL;Q->9Y=Fy7ZE}<E>Q 5y5/?Q 9y5)FBYytQ I@DI6:i :y5yBɮ AxEiik~C?AJiARiAjiq@b?Pj/@zJ@?d@P@Ri[?9t?g* x?ZiQ =bi%jϾ)+@9i pN!@Z%G3?/ݿ\>D?2i:i^A"iaI?ԉ*iRBiBi.W?iiBipAi@ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504252 s, deltaX: -0.199999 m, approachRate: -0.396625 m/s, rangeRepo size: 4  Added new target pos. range: 17.002254 m, bearing: 330.247072 deg, lat: 36.779376 deg, lon: -121.859716 deg, deltaT: 0.504252 s, deltaX: -0.199722 m, approachRate: -0.396076 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.00 m.bhRhZh ProNav: ac range: 17.002254 m, nav range: 16.180164 m, bearing: 330.570530 deg, approach rate: 0.000000 m/s, LOS rate: 0.022286 deg/s, cmd heading: 323.993630 deg, new cmd heading: 324.020489 deg. BhHeadingCmd: 5.655224 target range: 17.002254 and range: 17.10 m.h@h*h"h hgf!fAfAdIdIdIjdM1@ZdM r?额xBɢLM%<) 1>i)QiBLi <sYM;I@Ichecking for new query: numPingsReceived=81, elapsed TxPingTime=36.795822?@ @@4@bEĀ'4jE!4rET.E EE&E"Eغ:*EA:VE4ZEBEi /ݿ o; N#@ `> 1#@ [>) 'g=I [䨾 Wl?#!Y?P? $(>) ڙI 'g=i [䨾 m checking for new query: numPingsReceived=82, elapsed TxPingTime=37.069973Om >'P,;C?A@ɔ@ݑٱ> AHRS rotation from veh to nav: [[0.802050,0.591450,0.083079],[-0.597190,0.792096,0.126286],[0.008885,-0.150902,0.988509]]He?`(?D?/ X? *?+2? Pÿ`ݡ?i@ILEf;CYNByI<)=>=ieMb@Mb@Mb@aaaa a9eOn?V-?{GztYe>ye=eףe|Ae@ e\A)eAaYeA y}4<bD VD2yMS%M=ٔM>;Q-M>9QYQ=UFyUQ 5y5pƙ?Q 9y5 )ABY>Q E:yQ I@DI;i;Iy5yɮ AiiC?AJiքARiքAjiac@bԊX/@V>w?w@Rh9b4?@ y??Zi'g=bi[䨾jsmL+@iUq/V,-@ZСM?H2޿bh?2i:icZA"iyD?*i{BiBieP?ii.Bi}Aiy@M addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503022 s, deltaX: -0.400000 m, approachRate: -0.795193 m/s, rangeRepo size: 4 } Added new target pos. range: 16.604542 m, bearing: 330.145812 deg, lat: 36.779375 deg, lon: -121.859716 deg, deltaT: 0.503022 s, deltaX: -0.397713 m, approachRate: -0.790647 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.60 m.bhRhZh ProNav: ac range: 16.604542 m, nav range: 15.873910 m, bearing: 330.302046 deg, approach rate: 0.000000 m/s, LOS rate: 0.022286 deg/s, cmd heading: 324.020486 deg, new cmd heading: 324.055743 deg. BhHeadingCmd: 5.655839 target range: 16.604542 and range: 16.70 m.h@h*h"h hgfffBdddjd@30@Zd?颵|Bɢ6;) >i)X项i6Mi checking for new query: numPingsReceived=82, elapsed TxPingTime=37.300148-u<-6B B A IB JBB  =B B B m;B Q+E^A yb];IaԁDDAT read: Rx Time:05:37:19.0858 TRx dataTimestamp_ set to:1761543440.277738PDAT read: Bearing 150.6, -0.0 (Local) ~Local bearing/azimuth received: Bearing 150.6, -0.0 (Local) DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 Z#Rx 83: Read range message, but no direction.yYchecking for new query: numPingsReceived=83, elapsed TxPingTime=37.561073IO?Q,/D?A&4<ɰ$fr@fC@fٱfe nAHRS rotation from veh to nav: [[0.804351,0.588455,0.082099],[-0.594113,0.794942,0.122872],[0.007041,-0.147608,0.989021]]fH=?? o? )p?t?|?¿@?ifr@If^f;fCYvVByvP IbD~VD~y k=%C=ٔb;Q->9Y=FyAZEj<E%>!Q 55y5%ԙ?Q 95y5%)%=BY1y5Q I5@%DI%X ;i% ;%y5yEBɮEy AAu addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.501375 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhquDNOT Ignoring new targets: 16.60 m.bhyRh}Zh} ProNav: ac range: 16.604542 m, nav range: 15.694310 m, bearing: 330.206095 deg, approach rate: -0.451812 m/s, LOS rate: -0.244142 deg/s, cmd heading: 324.055730 deg, new cmd heading: 323.764586 deg. Bh'HeadingCmd: 5.650758 target range: 16.604542 and range: 16.70 m.hӴ@h*h"h hgfffdddԩjdZd?Bɢ=D<) f>i)̘i,Ni!֘<BDqzDu?ADAT read: 05:37:19.0858 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.30,-2.531, 1.951,-2.497,-2.548, PHS= 0.119,-1.739, 0.007, RAW= 146.9, 17.5, CAL= 146.9, 19.3, ROT= 3.1, -19.3 Ygot valid direction response: 05:37:19.0858 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.30,-2.531, 1.951,-2.497,-2.548, PHS= 0.119,-1.739, 0.007, RAW= 146.9, 17.5, CAL= 146.9, 19.3, ROT= 3.1, -19.3 Z#Rx 84: Read direction message, but no range.\direction in FSK: [0.942420,0.051040,0.330514]yQUM(?g!? 3%'?QQQQ Q)U;IUF=iU޿UB`;U$@Ua>U$@ Uiw>)Uk]=IUiwQUD*4?}p:Ġ?W;H? UՌ>)U붜IUk]=iUiwchecking for new query: numPingsReceived=84, elapsed TxPingTime=37.820972EU EUEU$EQ"EU7:*EU.:VEU4ZEQBEU;ae2EU;aeJEU ;ae:EU ;ae)Q & Q,OZ.D?ADDAT read: Rx Time:05:37:19.5856 TRx dataTimestamp_ set to:1761543440.780728PDAT read: Bearing 150.1, 0.0 (Local) ~Local bearing/azimuth received: Bearing 150.1, 0.0 (Local) DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.3 DAT read: 05:37:19.5856 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.04, 2.137, 0.326, 2.170, 2.100, PHS= 0.139,-1.729, 0.026, RAW= 146.9, 16.9, CAL= 146.9, 18.7, ROT= 3.1, -18.7  Ygot valid direction response: 05:37:19.5856 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.04, 2.137, 0.326, 2.170, 2.100, PHS= 0.139,-1.729, 0.026, RAW= 146.9, 16.9, CAL= 146.9, 18.7, ROT= 3.1, -18.7  T#Rx 85: Read range and direction messages.\direction in FSK: [0.945824,0.051224,0.320613]Fpublishing direction and range infoyiOݿ<> >)IYK?^?s*?)YMGByU= I >s>)zIichecking for new query: numPingsReceived=85, elapsed TxPingTime=38.082199iMb@Mb@Mb@ 9|?5^?T㥛 ? rhY>y>CA A)YAbDVDNyMo%M =ٔMQ-U>9QYQ=UFyUFZE]E]>Q 5y5.晊?Q 9y5)5BY>Q E:yGQ I@DI:i:ey5yVBɮvAiis1D?AJirARirAji@bEn.@|?l@R@u addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.502990 s, deltaX: -0.300001 m, approachRate: -0.596436 m/s, rangeRepo size: 4 = Added new target pos. range: 16.306118 m, bearing: 329.478080 deg, lat: 36.779374 deg, lon: -121.859716 deg, deltaT: 1.004365 s, deltaX: -0.298424 m, approachRate: -0.297127 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 16.31 m.bhARhMZhI ProNav: ac range: 16.306118 m, nav range: 15.408617 m, bearing: 329.886125 deg, approach rate: 0.000000 m/s, LOS rate: -0.244142 deg/s, cmd heading: 323.764572 deg, new cmd heading: 323.373053 deg. BhHeadingCmd: 5.643925 target range: 16.306118 and range: 16.40 m.h@h*h"h hgfff Bdddjd`ff0@Zd@G?}Bɢ{;) >i)顉iOi#X<Ʊ0@ @ @ E=  E= E= &E9 "E= %:*E= C:VE= 4ZE9 aM @aM @aM @aM @Ա ^A 8<I)I5iJIAOM>Q,ZLD?A2@2@2Dٱ2-lB>]>B>ڍCB>S IB>YBB> =B<B>kDB>m;B>6+EH NAHRS rotation from veh to nav: [[0.808729,0.582033,0.084823],[-0.588174,0.799528,0.121684],[0.003006,-0.148300,0.988938]]2H???Q ?&?h?@¿`?i2@I2f;2CYR@ByV4 I 99bDVD:y %P=ٔ=$9iYq=}Fy}JZEm<E>Q 5y5 ?Q 9y5M)-BYy|Q I@DI :i9:y5DDAT read: Rx Time:05:37:20.0856 TRx dataTimestamp_ set to:1761543441.284831PDAT read: Bearing 151.0, -0.4 (Local) ~Local bearing/azimuth received: Bearing 151.0, -0.4 (Local) DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.3 DAT read: 05:37:20.0856 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.20, 2.788, 1.021, 2.831, 2.776, PHS= 0.113,-1.710, 0.010, RAW= 147.1, 17.5, CAL= 147.2, 19.4, ROT= 2.8, -19.4 Ygot valid direction response: 05:37:20.0856 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.20, 2.788, 1.021, 2.831, 2.776, PHS= 0.113,-1.710, 0.010, RAW= 147.1, 17.5, CAL= 147.2, 19.4, ROT= 2.8, -19.4 %T#Rx 86: Read range and direction messages.-\direction in FSK: [0.942097,0.046076,0.332161]-Fpublishing direction and range infoyܵ%?b0 M?` B?Y )<Il=iHڿ #<O$@a>l$@ -\>)+H=I-\k'?q$S?=NLkM? R>)ܜI+H=i-\Mchecking for new query: numPingsReceived=86, elapsed TxPingTime=38.574528yU\BɮUAUyEԹii:RD?AJiqARiqAjiY'@bDS.@}ܕ ?HO@Rܵ%?b0 M?` B?Zi+H=bi-\j Ϳ*@T|qY)@Z{,(#?BOل޿X^?2i:iUA"i~V?*iШBiՌBiiiBisAi #@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504103 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.305424 m, bearing: 329.725922 deg, lat: 36.779374 deg, lon: -121.859716 deg, deltaT: 0.504103 s, deltaX: -0.000694 m, approachRate: -0.001377 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.31 m.bhRhZh ProNav: ac range: 16.305424 m, nav range: 15.246733 m, bearing: 329.695824 deg, approach rate: 0.000000 m/s, LOS rate: -0.244142 deg/s, cmd heading: 323.373066 deg, new cmd heading: 323.052688 deg. Bh  HeadingCmd: 5.638333 target range: 16.305424 and range: 16.40 m.h 9m@h*h"h1 h1g1f1f9f9d9d9dAjdAZdE@?Bɢ;) >i)ꭒi4Pi%<=I9m@ImA@i @i@m74@i^AEه<  checking for new query: numPingsReceived=86, elapsed TxPingTime=38.810547D D <A .AI I O >E  E E E "E :*E |;:VE ZE BE bQ? y¿ ?i^@I;f;CY=By1 IiMb@Mb@Mb@ 9&1?X9v?{GzY>y=ףfA+@ )rAYA bD-VD-0yG%%=ٔ;Q->9 ?Y ?=%Fy%OZE54;E5>iQ 5uy5m?Q 9uy5m()m$BYu>Q E:y&Q I@mDIm;im;mMy5yɮADDAT read: Rx Time:05:37:20.5853 TRx dataTimestamp_ set to:1761543441.788723PDAT read: Bearing 150.0, -0.9 (Local) ~Local bearing/azimuth received: Bearing 150.0, -0.9 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.3  DAT read: 05:37:20.5853 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.33, 0.834,-0.971, 0.895, 0.796, PHS= 0.141,-1.721, 0.055, RAW= 147.7, 16.5, CAL= 147.7, 18.3, ROT= 2.3, -18.3 Ygot valid direction response: 05:37:20.5853 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.33, 0.834,-0.971, 0.895, 0.796, PHS= 0.141,-1.721, 0.055, RAW= 147.7, 16.5, CAL= 147.7, 18.3, ROT= 2.3, -18.3 T#Rx 87: Read range and direction messages.\direction in FSK: [0.948661,0.038102,0.313992]Fpublishing direction and range infoym[??v9s?Yf~A );INb>iIܿGa=$@r>$@ Ƈ>)l$=IƇ=Kf-? Ǜ{?o,? r!>)kIl$=iƇ=checking for new query: numPingsReceived=87, elapsed TxPingTime=39.078098iipzrD?AJi|ARi|Aji@br\[Q-@JF?q`@Rm[??v9s?Zil$=biƇj6d))@谘+Z:X@Z/_̵s-?z!+߿ ?2ia:iNA"iF?*iSBiBi"I?iSiՌBi6qAi@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503892 s, deltaX: -0.500000 m, approachRate: -0.992276 m/s, rangeRepo size: 4  Added new target pos. range: 15.808308 m, bearing: 329.231426 deg, lat: 36.779374 deg, lon: -121.859717 deg, deltaT: 0.503892 s, deltaX: -0.497116 m, approachRate: -0.986553 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.81 m.bhRh!Zh!1U ProNav: ac range: 15.808308 m, nav range: 15.075739 m, bearing: 329.288677 deg, approach rate: 0.000000 m/s, LOS rate: -0.244142 deg/s, cmd heading: 323.052675 deg, new cmd heading: 322.696325 deg. BhQ]HeadingCmd: 5.632113 target range: 15.808308 and range: 15.90 m.h]F:@hY*hY"hY hagafafafmBdddjd/@Zd@;?Bɢ`;) >i)=!)i-nPi-&5ׄ<5$=I5F:@I1 ?@  @ @ N1@ Y = Wk>E C ߀G (hA ] 6v9] (hAY] H_A} checking for new query: numPingsReceived=87, elapsed TxPingTime=39.315296ԙ ^A ~M<A fAzA gAE EE(E"E:*EVEc44ZEa@a@a@a@yed?eAA؟AIIO?8!Q,D6D?A2,@2'@21:ٱ25 :AHRS rotation from veh to nav: [[0.812651,0.576243,0.086848],[-0.582751,0.803748,0.119959],[-0.000679,-0.148095,0.988973]]2H<?p?;?N??`>F¿`?i2,@I2e;0YB(ByB IHbDNVDNβyVؽ%VN=ٔVQ;Q-Z>9Z"?YZ"?=ZFy^SZE^<E^>`Q 5fy5b?Q 9fy5b)bBYdyfnQ Ij@bDIb;ib;by5ynaBɮnAnzE~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 15.81 m.bh RhjлZhjл% ProNav: ac range: 15.808308 m, nav range: 14.919150 m, bearing: 329.167230 deg, approach rate: -0.464987 m/s, LOS rate: -0.364420 deg/s, cmd heading: 322.696331 deg, new cmd heading: 322.328171 deg. Bh%z-HeadingCmd: 5.625688 target range: 15.808308 and range: 15.90 m.h-@h)*h)"h) hgfffdddjdZd@l[?-Bɢ-Hx;)) 5>i1)5M11i5Pi=Q(9=+tF=I=@IAB<A<BQ>BٍCBA IBJBB =BBiDBm;B+EBeݍCBe܍CBaBe =Be =Ce6@@ @@4@@@=DDAT read: Rx Time:05:37:21.0853 TRx dataTimestamp_ set to:1761543442.294282%PDAT read: Bearing 150.0, -2.0 (Local) -~Local bearing/azimuth received: Bearing 150.0, -2.0 (Local) EDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.3 mDAT read: 05:37:21.0853 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.37,-2.147, 2.349,-2.049,-2.170, PHS= 0.126,-1.719, 0.077, RAW= 148.7, 16.4, CAL= 148.9, 18.2, ROT= 1.1, -18.2 uYgot valid direction response: 05:37:21.0853 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.37,-2.147, 2.349,-2.049,-2.170, PHS= 0.126,-1.719, 0.077, RAW= 148.7, 16.4, CAL= 148.9, 18.2, ROT= 1.1, -18.2 ^A}<T#Rx 88: Read range and direction messages.\direction in FSK: [0.949797,0.018237,0.312335]Fpublishing direction and range infoyld??IK?Y )<I%>i1ܿ-=x&@C>R&@ >)nF N(Q,uD?A:checking for new query: numPingsReceived=88, elapsed TxPingTime=39.819141bB@b<@b;ٱb jAHRS rotation from veh to nav: [[0.814165,0.573999,0.087527],[-0.580629,0.805432,0.118947],[-0.002222,-0.147663,0.989035]]bH ?2^?`*h? ?Hs?3b¿@-?ibB@En EnElEl"En:*En:VElZElBEn9Y=FyWZE;E>Q 5y5 ?Q 9y5*)BYyQ I@DI:iA:sy5y ɮ ZAiIiMՒD?AJiM|ARiM|AjiMe@bM+8P.@ Ss?+Lڿ@RMld??IK?ZiMnF<biMjMD2)@@@З>:@ZM#"?nc߿y5}v?2iM:iM%MA"iM$: Y?*iMy\BiMBiIiMШiMBiMkAiM@1e addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.505559 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 15.807890 m, bearing: 328.366710 deg, lat: 36.779374 deg, lon: -121.859717 deg, deltaT: 0.505559 s, deltaX: -0.000418 m, approachRate: -0.000826 m/s, posRepo size: 4 jhq}DNOT Ignoring new targets: 15.81 m.bhyRh}Zh ProNav: ac range: 15.807890 m, nav range: 14.737931 m, bearing: 329.000655 deg, approach rate: 0.000000 m/s, LOS rate: -0.364420 deg/s, cmd heading: 322.328184 deg, new cmd heading: 321.772891 deg. BhHeadingCmd: 5.615996 target range: 15.807890 and range: 15.90 m.h>@h*h"h hgfffdd d jd Zd `Q?uBɢu`)y }Ã>iy)"顡iŌPi* n=I>@IAY?@ @@4@DDAT read: Rx Time:05:37:21.5851 %TRx dataTimestamp_ set to:1761543442.796870-PDAT read: Bearing 148.1, -1.7 (Local) -~Local bearing/azimuth received: Bearing 148.1, -1.7 (Local) =DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.3 uDAT read: 05:37:21.5851 LVL= 30448, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.22, 2.405, 0.585, 2.504, 2.322, PHS= 0.185,-1.692, 0.138, RAW= 148.7, 14.6, CAL= 148.8, 16.2, ROT= 1.2, -16.2 Ygot valid direction response: 05:37:21.5851 LVL= 30448, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.22, 2.405, 0.585, 2.504, 2.322, PHS= 0.185,-1.692, 0.138, RAW= 148.7, 14.6, CAL= 148.8, 16.2, ROT= 1.2, -16.2 T#Rx 89: Read range and direction messages.\direction in FSK: [0.960083,0.020111,0.278991]Fpublishing direction and range infoy|!???YyAv )Ip=>iuؿO >w>6&@ Ð>)#/Q,D?A;ɰY=By=Ichecking for new query: numPingsReceived=89, elapsed TxPingTime=40.322308E EE%E"Ey:*E=:VE 4ZEa@a@a@a@iMb@Mb@Mb@ 9"~?)\(?:vY>yG=ԼA@ A)AYAAA@AbDVD:y%"=ٔ Q- >9 Y=Fy\ZEE>Q 5%y5M1?Q 9My52) BYM>Q EM:yM Q IM@DI;i ;΢y5y]gBɮ] A]{EiiD?AJi'xARi'xAjiE@bU-@2^?̈N@R|!???Zi<biÐj5ӻ\)@GŝĨE@Z3( *?BFADU?2i(:iJA"iq]?*i.vBijBi~V?iNgiBijAiη@  addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.502588 s, deltaX: -0.299999 m, approachRate: -0.596909 m/s, rangeRepo size: 4  Added new target pos. range: 15.509629 m, bearing: 328.143440 deg, lat: 36.779376 deg, lon: -121.859718 deg, deltaT: 0.502588 s, deltaX: -0.298261 m, approachRate: -0.593450 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 15.51 m.bhARhAZhIU ProNav: ac range: 15.509629 m, nav range: 14.676212 m, bearing: 329.105469 deg, approach rate: 0.000000 m/s, LOS rate: -0.364420 deg/s, cmd heading: 321.772889 deg, new cmd heading: 321.276863 deg. BhY}HeadingCmd: 5.607339 target range: 15.509629 and range: 15.60 m.hRo@h*h"h hgfffƁBdddjd@33/@Zd/?Bɢ4) Y>i)   i BPiD-=IRo@I9BU>BB IB,BB =BBjDBl;B*EE@@I @Q@U4@Q^AUQO=IIO>! m DDAT read: Rx Time:05:37:22.0850 u TRx dataTimestamp_ set to:1761543443.300776} PDAT read: Bearing 148.3, -2.3 (Local) } ~Local bearing/azimuth received: Bearing 148.3, -2.3 (Local)  DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.3  DAT read: 05:37:22.0850 LVL= 29904, 32753, 32754, 32755, AGC= 60, IDX= 497, 0.06, 1.739,-0.073, 1.854, 1.668, PHS= 0.174,-1.695, 0.142, RAW= 149.2, 14.7, CAL= 149.3, 16.4, ROT= 0.7, -16.4  Ygot valid direction response: 05:37:22.0850 LVL= 29904, 32753, 32754, 32755, AGC= 60, IDX= 497, 0.06, 1.739,-0.073, 1.854, 1.668, PHS= 0.174,-1.695, 0.142, RAW= 149.2, 14.7, CAL= 149.3, 16.4, ROT= 0.7, -16.4  T#Rx 90: Read range and direction messages. \direction in FSK: [0.959242,0.011720,0.282341] Fpublishing direction and range infoyi m ?7B樟?Ix?Ym xAi m ti i i )i Im -2>im ؿm sh>m r&@m G\>m &@ m C>)m +Hi)h≼i,Oi9. H=I :@IY>i>ԉ?@ @@/@@gA@checking for new query: numPingsReceived=90, elapsed TxPingTime=40.827766E EE#E"E:*E|;:VE3ZEBE8 e1iL7ٿq= >&@V>'@ Q >);IQ ˑ? BW?f? e?)ɆI;iQ vchecking for new query: numPingsReceived=91, elapsed TxPingTime=41.103542W@Q@;ٱi$ -AHRS rotation from veh to nav: [[0.815636,0.570409,0.096802],[-0.578537,0.805730,0.126860],[-0.005635,-0.159475,0.987186]]H?@?ȸ?`?`y = ̼ |A  EA) rA Y =AbDE VDE2yk%'=ٔ:Q->9Y=FyeZEE> Q 5y5 M?Q 9y5 ) BYJ>Q E:y޾Q I@ DI z:i : y5y!ɮ%A!iiD?AJiqARiqAji@b1~,@۹?x@Rnt+?i _{?\.?Zi;biQ jHfY(@l h@ZM<?8I`࿵?2i}:izDA"iPX?*i#oBi:Bii#oijBiQhAi)@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503956 s, deltaX: -0.300000 m, approachRate: -0.595290 m/s, rangeRepo size: 4  Added new target pos. range: 15.112020 m, bearing: 327.796940 deg, lat: 36.779376 deg, lon: -121.859721 deg, deltaT: 0.503956 s, deltaX: -0.298264 m, approachRate: -0.591844 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 15.11 m.bh!Rh!Zh)5 ProNav: ac range: 15.112020 m, nav range: 14.519856 m, bearing: 327.815233 deg, approach rate: 0.000000 m/s, LOS rate: -0.364420 deg/s, cmd heading: 320.909717 deg, new cmd heading: 320.367929 deg. Bh9=HeadingCmd: 5.591475 target range: 15.112020 and range: 15.20 m.h=]@ha*ha"ha hagafafifmzBdidqdqjdu`ff.@Zdu@;?Bɢ3) =i)E!iiNi 1 =I]@I!checking for new query: numPingsReceived=91, elapsed TxPingTime=41.330376@ @@@E EEE"E:*EP:VEZEa-@a-@a-@a-@^A{=I1 IA OQ A CQ, E?A "@BRY>BRڍCBRIBRBBR =BPBPBRk;BRG*E!G@B@׽;ٱئ( %AHRS rotation from veh to nav: [[0.814558,0.571439,0.099760],[-0.580053,0.804100,0.130238],[-0.005794,-0.163953,0.986451]]H?:I?`ډ?`ʏ 0?`?w@fĿ ?iG@Ie;CY5By5I e9Y=FyiZEݣE>Q 5y5Y?Q 9y5)BYy߾Q I@DIB:i :Ly5ymBɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 15.11 m.bhRh냻Zh냻=DDAT read: Rx Time:05:37:23.0847 =TRx dataTimestamp_ set to:1761543444.308872MPDAT read: Bearing 148.8, -3.4 (Local) M~Local bearing/azimuth received: Bearing 148.8, -3.4 (Local) ]DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 DAT read: 05:37:23.0847 LVL= 30288, 32753, 32754, 32755, AGC= 60, IDX= 511,-0.30, 0.532,-1.258, 0.670, 0.494, PHS= 0.140,-1.707, 0.132, RAW= 149.8, 15.4, CAL= 150.1, 17.2, ROT= 359.9, -17.2 Ygot valid direction response: 05:37:23.0847 LVL= 30288, 32753, 32754, 32755, AGC= 60, IDX= 511,-0.30, 0.532,-1.258, 0.670, 0.494, PHS= 0.140,-1.707, 0.132, RAW= 149.8, 15.4, CAL= 150.1, 17.2, ROT= 359.9, -17.2 T#Rx 92: Read range and direction messages.^direction in FSK: [0.955277,-0.001667,0.295708]Fpublishing direction and range infoy9='ݠ?0Q[-?Y=pA9=Pv99 9)9I=)\>i=~ڿ=+>=T'@=>=ϩ'@ =`>)=@I=`99- ProNav: ac range: 15.112020 m, nav range: 14.360324 m, bearing: 327.735671 deg, approach rate: -0.457436 m/s, LOS rate: -0.230667 deg/s, cmd heading: 320.367919 deg, new cmd heading: 320.126583 deg. BhNHeadingCmd: 5.587263 target range: 15.112020 and range: 15.20 m.hʲ@h*h"h hgfffddd=H?3.跦?xjx? =5?)=I="i=`99checking for new query: numPingsReceived=92, elapsed TxPingTime=41.602962jd.@Zd*? Bɢ ?n) bE-4jEO4rE0E  E E E "E :*E VL:VE ZE BE vym`e=m`mAi i)mAiYm3AbDVDy%+=ٔ%9Q->9Y=FymZE!UgػEU>YQ 5ey5]j?Q 9my5])]BYmQ>Q Em:ymJQ Im@] DI]* ;i]3:]y5yqɮ}AyiiimE?AJimnARimnAjimζ@bml"~,@3vMԣ@Rm'ݠ?0Q[-?Zim"bim`jmEL(@z%V5 @ZmT*q?g%C9 eL L?2im:imr@A"im]z`?*imuӶBim"Bimq]?im.vim@BimbAim@ addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504140 s, deltaX: -0.200000 m, approachRate: -0.396715 m/s, rangeRepo size: 4  Added new target pos. range: 14.913330 m, bearing: 327.314810 deg, lat: 36.779377 deg, lon: -121.859721 deg, deltaT: 0.504140 s, deltaX: -0.198689 m, approachRate: -0.394116 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.91 m.bhRhZh ProNav: ac range: 14.913330 m, nav range: 14.176148 m, bearing: 327.812989 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 320.126595 deg, new cmd heading: 319.786328 deg. BhHeadingCmd: 5.581324 target range: 14.913330 and range: 15.00 m.h5@h*h"h hgff f hBd d d jdZd ?MDDAT read: Rx Time:05:37:23.5845 MTRx dataTimestamp_ set to:1761543444.812777UPDAT read: Bearing 145.1, -2.6 (Local) ]~Local bearing/azimuth received: Bearing 145.1, -2.6 (Local) mDAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 DAT read: 05:37:23.5845 LVL= 25040, 32753, 31074, 32755, AGC= 58, IDX= 508, 0.41, 0.705,-1.095, 0.844, 0.565, PHS= 0.242,-1.614, 0.236, RAW= 149.8, 12.2, CAL= 149.7, 13.5, ROT= 0.3, -13.5 Ygot valid direction response: 05:37:23.5845 LVL= 25040, 32753, 31074, 32755, AGC= 58, IDX= 508, 0.41, 0.705,-1.095, 0.844, 0.565, PHS= 0.242,-1.614, 0.236, RAW= 149.8, 12.2, CAL= 149.7, 13.5, ROT= 0.3, -13.5 T#Rx 93: Read range and direction messages.\direction in FSK: [0.972357,0.005091,0.233445]%Fpublishing direction and range infoyIM/?a)ݛt?%E?YM3kAIMaIMby I)M:IMw>iMοMq>IM^ Z>Mm7'@ M:Fq>)M;IM:FqIIM8t ?"-?? =? MR?)MБZIM;iM:FqII=checking for new query: numPingsReceived=93, elapsed TxPingTime=42.118366MBɢM͑)I MiI)MQQiU@e > checking for new query: numPingsReceived=93, elapsed TxPingTime=42.338959E EE$E"E:*EAr:VE4ZEa%@a%@a%@a%@ԩ^Au&=Bh>BۍCBIBƁBB =BBkDB4k;B)EAII1OE)?"TQ,}YQE?AB @B @Bt6;ٱBY; JAHRS rotation from veh to nav: [[0.810522,0.575039,0.111286],[-0.585681,0.797563,0.144469],[-0.005683,-0.182274,0.983231]]BH?f?E}?`ࢅ?}?@Fw Tǿv?iB @IB f;@YRByRNIIV=)V;Z=Z=\\`bDjVDjyr!%r=ٔreQ-r>9tYt=vFyvsZEv3Ez>xQ 5~y5z}?Q 9y5z)zBYyuQ I@z(DIz<;izj;zy5y sBɮlA|EieDDAT read: Rx Time:05:37:24.0845 mTRx dataTimestamp_ set to:1761543445.316794uPDAT read: Bearing 146.9, -3.5 (Local) }~Local bearing/azimuth received: Bearing 146.9, -3.5 (Local) DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 DAT read: 05:37:24.0845 LVL= 28192, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.08, 2.019, 0.217, 2.164, 1.942, PHS= 0.178,-1.681, 0.177, RAW= 150.0, 14.2, CAL= 150.1, 15.7, ROT= 359.9, -15.7 Ygot valid direction response: 05:37:24.0845 LVL= 28192, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.08, 2.019, 0.217, 2.164, 1.942, PHS= 0.178,-1.681, 0.177, RAW= 150.0, 14.2, CAL= 150.1, 15.7, ROT= 359.9, -15.7 T#Rx 94: Read range and direction messages.^direction in FSK: [0.962690,-0.001680,0.270600]Fpublishing direction and range infoyim[?6c[RlyQ?Yiim nim i)m;ImE6>im+׿m}?5>m6'@m}>mϩ'@ mK>)m@ImKiim8ϗI?o?:I[N? m?)m3}Im"imKiichecking for new query: numPingsReceived=94, elapsed TxPingTime=42.614296i4E?AJiiARiiAji𯙶@bF5l,@9r ?aK @R/?a)ݛt?%E?Zi𧒫;bi:FqjnB '@w|`U4 @Z*%?k3ʍ?2i:i?A"i^k?*ibBi BiIW_?iji:Biz_Aih@M addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 1.007922 s, deltaX: -0.300000 m, approachRate: -0.297642 m/s, rangeRepo size: 4  Added new target pos. range: 14.615365 m, bearing: 326.944639 deg, lat: 36.779377 deg, lon: -121.859722 deg, deltaT: 0.503905 s, deltaX: -0.297965 m, approachRate: -0.591312 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.62 m.bhRhZh ProNav: ac range: 14.615365 m, nav range: 13.967518 m, bearing: 327.684072 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 319.786315 deg, new cmd heading: 319.405970 deg. BhHeadingCmd: 5.574686 target range: 14.615365 and range: 14.70 m.hc@h!*h!"h! h!g!f!f)f)dddjd`ff-@Zd@%Y?额Bɢg) i ) GƉ iC!Ji5`5P<%]=Ic@I checking for new query: numPingsReceived=94, elapsed TxPingTime=42.842461D] =D] <Ea  Ee Ee %Ea "Ea *Ee 1]:VEe 4ZEa BEe 1iwϿbX>m7'@f>'@ }>);I},?I0F?0B+? m?).eI;i}uchecking for new query: numPingsReceived=95, elapsed TxPingTime=43.116249AQII!O5 ?]Q,؟yE?AH=@=@=xw;ٱ=O AHRS rotation from veh to nav: [[0.804305,0.581187,0.123754],[-0.594194,0.788421,0.159139],[-0.005080,-0.201530,0.979469]]=H޼??O?:?^? tɿW?i=@I=f;=CYdBy&IiMb@Mb@Mb@ 9Cl?+?QYd>y=uKA@ \A)YAI 3s?bD VD 1y%<ٔ%`Q-%~>9AYI=MFyMzZEMUtEU|>aQ 5}y5e?Q 9}y5e)eBYL>Q E:yQ I@e3DIeB- CB- YIB- BB- =B) B- qDB- j;B- )E9 @A  @A @E /@A  DDAT read: Rx Time:05:37:25.0842  TRx dataTimestamp_ set to:1761543446.324701 PDAT read: Bearing 144.2, -2.8 (Local)  ~Local bearing/azimuth received: Bearing 144.2, -2.8 (Local)  DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 A  DAT read: 05:37:25.0842 LVL= 25200, 32753, 30482, 32755, AGC= 58, IDX= 505, 0.25,-2.863, 1.617,-2.731,-3.006, PHS= 0.245,-1.615, 0.231, RAW= 149.6, 12.3, CAL= 149.6, 13.5, ROT= 0.4, -13.5  Ygot valid direction response: 05:37:25.0842 LVL= 25200, 32753, 30482, 32755, AGC= 58, IDX= 505, 0.25,-2.863, 1.617,-2.731,-3.006, PHS= 0.245,-1.615, 0.231, RAW= 149.6, 12.3, CAL= 149.6, 13.5, ROT= 0.4, -13.5  T#Rx 96: Read range and direction messages. \direction in FSK: [0.972346,0.006788,0.233445] Fpublishing direction and range infoy  jwu??{?%E?Y pb w ) I Hz>i Rο Dl> '@ [> :Fq>) I :Fq SŊ.?))B?.? ]?) * [I i :Fq checking for new query: numPingsReceived=96, elapsed TxPingTime=43.636536^A=yAIIQIiOu?4gQ,9E?A2L@2@2;ٱ2rV >AHRS rotation from veh to nav: [[0.801078,0.584855,0.127356],[-0.598547,0.784150,0.163860],[-0.004032,-0.207493,0.978228]]2Hm?`!? 0M?K'`? Z? pʿM?i2L@I2=e;2CYFGByFI HHbDNVDNNyV%V&=ٔZ Q-Z>9 Y = Fy ZE2E>!Q 55y5%R?Q 9=y5%~)%BYAyEQ IE@%;DI%Q;i%;%y5yYɮ]AaiiǔE?AJicARicAji:V@bqN+@B:ﵸ? 5 @Rjwu??{?%E?Zibi:Fqjt/('@>$b_ @Z8Ds?&X:q `?2i:i8A"i u?*i[BiBiM4e?icԺi Bi@YAi@ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.502709 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.219339 m, bearing: 326.472835 deg, lat: 36.779377 deg, lon: -121.859725 deg, deltaT: 0.502709 s, deltaX: 0.001671 m, approachRate: 0.003324 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.22 m.bhRhZh!)5 ProNav: ac range: 14.219339 m, nav range: 13.578135 m, bearing: 326.841797 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 318.916777 deg, new cmd heading: 318.584216 deg. Bh9=HeadingCmd: 5.560344 target range: 14.219339 and range: 14.30 m.h=V@hA*hA"hA hAgAfA-checking for new query: numPingsReceived=96, elapsed TxPingTime=43.850376f1f1d1d9d9jd9Zd=3?Em EmEm'Ei"Em;*Em:VEm'4ZEiBEmDi ;Ͽ M> Bo&@ d> R&@ d{>) nF* nQ,E?AB[@BV@BN;ٱB7Z jAHRS rotation from veh to nav: [[0.797533,0.589122,0.129905],[-0.603270,0.779677,0.167836],[-0.002408,-0.212222,0.977218]]BHd?`? ?M`?{?ȹc*˿_E?iB[@IBŗe;@Yr;ByrI1ieMb@Mb@Mb@aaaa a9e?~jtx?~jtYe ?ye;eDeAe@ a)e+AaYeA ;-'GMhAYbDU9hAYsAVDU0y,(%=ٔ >Q- >9 Y=FyZE0E>Q 5%y5?Q 9-y57)BY- ?Q E-:y-=$Q I-@EDIT ;i :iy5y5Bɮ5QA=Eaiic E?AJi[ARi[Ajiܣ@bќ*@:gwZ?NWN @RJE3?j)? .?ZinF<bid{jl8d&@DOmq @Z*~?ڠtW࿭)?2i:i&3A"in!k?*i[BiBin!k?i[i BiUAiޣ@ addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503997 s, deltaX: -0.500000 m, approachRate: -0.992069 m/s, rangeRepo size: 4  Added new target pos. range: 13.722159 m, bearing: 327.015798 deg, lat: 36.779378 deg, lon: -121.859725 deg, deltaT: 0.503997 s, deltaX: -0.497180 m, approachRate: -0.986474 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.72 m.bhRhZh ProNav: ac range: 13.722159 m, nav range: 13.348482 m, bearing: 327.015841 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 318.584229 deg, new cmd heading: 318.213811 deg. BhHeadingCmd: 5.553879 target range: 13.722159 and range: 13.80 m.h`@h*h"h hgfff6Bdddjd+@Zd,?checking for new query: numPingsReceived=97, elapsed TxPingTime=44.354324Bɢ@) oiEe EeEe(Ea"Ee&:*Ee:VEec44ZEaam@am@am@am@)N莼顙i CiԳ:F<H=I`@IU?@Q @Q@Q@QԉB >B CB !IB `BB  =B B tDB {j;B )EBmۍCBmލCBmɘCBm =Bm =Cm6 ^A5 = DDAT read: Rx Time:05:37:26.0838  TRx dataTimestamp_ set to:1761543447.333858 PDAT read: Bearing 147.6, -3.9 (Local)  ~Local bearing/azimuth received: Bearing 147.6, -3.9 (Local)  DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4  DAT read: 05:37:26.0838 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501, 0.11,-3.118, 1.366,-2.994, 3.140, PHS= 0.127,-1.729, 0.105, RAW= 149.4, 16.0, CAL= 149.7, 17.9, ROT= 0.3, -17.9  Ygot valid direction response: 05:37:26.0838 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501, 0.11,-3.118, 1.366,-2.994, 3.140, PHS= 0.127,-1.729, 0.105, RAW= 149.4, 16.0, CAL= 149.7, 17.9, ROT= 0.3, -17.9  T#Rx 98: Read range and direction messages. \direction in FSK: [0.951581,0.004983,0.307357] Fpublishing direction and range infoy  BZs?ht?uY?Y 3[A   ) ;I J >i Oݿ = = &@ 5> m7'@ >) ;I ?-5?kp? e?) I ;Aq Iy I O >uQ,?E?Ai-))bchecking for new query: numPingsReceived=98, elapsed TxPingTime=44.677998@@hٱ` AHRS rotation from veh to nav: [[0.789595,0.599037,0.133016],[-0.613627,0.770507,0.172573],[0.000888,-0.217885,0.975974]]H]D?`P+? ? բ??;M? ˿.;?i@I?/e;Y0ByIbDVDy>h%%N=ٔ%9Q-%>9)Y)=-Fy-ZE-E->QQ 5]y5UQʚ?Q 9ey5U)UBYaye'Q Ie@ULDIU:iUk:Uy5yiɮmAqi)i-]E?AJi-YARi-YAji-9U@b->2)@hOq`?$2̿@R-BZs?ht?uY?Zi-;bi-j-ε%@rwq@>lU@Z-Cr?y࿻]}.?2i-:i-W-A"i-A E[?*i-wBi-[Bi)i-bi)i-RAi-ޫ@% addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.505160 s, deltaX: -0.100000 m, approachRate: -0.197958 m/s, rangeRepo size: 4 u Added new target pos. range: 13.623596 m, bearing: 326.465802 deg, lat: 36.779378 deg, lon: -121.859725 deg, deltaT: 0.505160 s, deltaX: -0.098563 m, approachRate: -0.195113 m/s, posRepo size: 4 jhq}DNOT Ignoring new targets: 13.62 m.bhyRhyZhy ProNav: ac range: 13.623596 m, nav range: 13.131749 m, bearing: 327.071817 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 318.213814 deg, new cmd heading: 317.928389 deg. BhHeadingCmd: 5.548897 target range: 13.623596 and range: 13.70 m.h@h*h"h hgfffdddjd`ff+@Zd~8?颅Bɢ ) i)ː顱iAiI;Ȣ<*=I@Ip>i>Mchecking for new query: numPingsReceived=98, elapsed TxPingTime=44.859032QE EEE"E:*E~:VEZEBE>|Q,E?A:DDAT read: Rx Time:05:37:26.5835 :TRx dataTimestamp_ set to:1761543447.836566>PDAT read: Bearing 146.6, -2.2 (Local) B~Local bearing/azimuth received: Bearing 146.6, -2.2 (Local) JDAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 ZDAT read: 05:37:26.5835 LVL= 30848, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.44, 0.344,-1.489, 0.420, 0.269, PHS= 0.177,-1.713, 0.107, RAW= 148.1, 15.2, CAL= 148.2, 16.8, ROT= 1.8, -16.8 ^Ygot valid direction response: 05:37:26.5835 LVL= 30848, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.44, 0.344,-1.489, 0.420, 0.269, PHS= 0.177,-1.713, 0.107, RAW= 148.1, 15.2, CAL= 148.2, 16.8, ROT= 1.8, -16.8 ^T#Rx 99: Read range and direction messages.b\direction in FSK: [0.956847,0.030070,0.289032]fFpublishing direction and range infoy8:$ځ}?nFʞ?\.?Y:3SA8:x88 8)::I:}?5>i:Cۿ:"=:m%@:ԇ>:~%@ :Q >):=I:Q 88:l6:?p} ?U `_? :4[>):I:=i:Q 88rchecking for new query: numPingsReceived=99, elapsed TxPingTime=45.125645@@0ٱUb AHRS rotation from veh to nav: [[0.785733,0.603933,0.133748],[-0.618561,0.766290,0.173726],[0.002429,-0.219234,0.975669]]H$? lS??`As?9  ?Y  ?= FyZEgXE%>Q 5y5Nܚ?Q 9 y5G)Ye?Q E:y-Q I@TDIhi=<=If_@Ichecking for new query: numPingsReceived=99, elapsed TxPingTime=45.3624235A@9 @9@9@9E EE'E"E:*E:VE'4ZEa@a@a@a@Ա^A ȝ=AE ؟AII IY Om > =iQ,NF?AA4A4BB>BBCBBIBB=BBB =BBCDBBzDBB j;BB)Eԩ@Ձ@lɌٱ1c %AHRS rotation from veh to nav: [[0.781582,0.609242,0.133992],[-0.623788,0.761841,0.174606],[0.004296,-0.220051,0.975479]]H?~?&?@a?`|Y?*q?*̿`7?i@I%%e;CY=0By=IQUAAbD]VD]:y}P=%}A=ٔ}Q-}>9"?Y"?=FyZEDDAT read: Rx Time:05:37:27.0834 TRx dataTimestamp_ set to:1761543448.340807PDAT read: Bearing 145.8, -1.1 (Local) ~Local bearing/azimuth received: Bearing 145.8, -1.1 (Local) DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.4 DAT read: 05:37:27.0834 LVL= 29424, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.15, 0.948,-0.909, 0.992, 0.837, PHS= 0.213,-1.701, 0.112, RAW= 147.3, 14.6, CAL= 147.2, 16.1, ROT= 2.8, -16.1 Ygot valid direction response: 05:37:27.0834 LVL= 29424, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.15, 0.948,-0.909, 0.992, 0.837, PHS= 0.213,-1.701, 0.112, RAW= 147.3, 14.6, CAL= 147.2, 16.1, ROT= 2.8, -16.1 V#Rx 100: Read range and direction messages.\direction in FSK: [0.959632,0.046934,0.277315]Fpublishing direction and range infoy#}sgN?W?/?YQAr )IZ>i^ٿB`="$@w>l$@ ޏ>)+H=IޏYW^.?"rj?E=KG&? l>)I+H=iޏ checking for new query: numPingsReceived=100, elapsed TxPingTime=45.630257E>Q 5%y5뚊?Q 9%y50)BY)y-/Q I-@\DI;i<;y5y1ɮ5A1iiF?AJiuPARiuPAji@bpZ)@D)@A?e=&u @R#}sgN?W?/?Zi+H=biޏjMA%@ 7$t @ZCq?o#5vRkjs?2iy:i*A"i??k?*iBVzBiBin!k?iiBiIAiSҶ@ addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504241 s, deltaX: -0.099999 m, approachRate: -0.198317 m/s, rangeRepo size: 4  Added new target pos. range: 13.028581 m, bearing: 327.764639 deg, lat: 36.779378 deg, lon: -121.859725 deg, deltaT: 0.504241 s, deltaX: -0.097804 m, approachRate: -0.193963 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.03 m.bhRhAZhAU ProNav: ac range: 13.028581 m, nav range: 12.622844 m, bearing: 327.340765 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 317.584508 deg, new cmd heading: 317.312313 deg. BhQ]HeadingCmd: 5.538145 target range: 13.028581 and range: 13.10 m.h]{8@hY*h"h hgfffdddjd@33*@Zd΅?]Bɢ]')a eĊia)e8딼aaieP&=im>mz Q,O.F?AR@M@~˻ٱ1a AHRS rotation from veh to nav: [[0.777595,0.614561,0.132894],[-0.628735,0.757900,0.174014],[0.006221,-0.218868,0.975735]]H?`{??@?F?{y?̿89?iR@If*e;CY-ByIiuMb@Mb@Mb@qqqq q9ugfffff?y&1{Gzt?Yu3?yu`euף;uAq uA)qqYuAbDVDy.p%-=ٔąQ->9Y=FyZE\E>Q 5y5g?Q 9y5 )BY??Q E:y3Q I@dDI3:i:y5yBɮ!AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 13.03 m.bhRh;Zh; ProNav: ac range: 13.028581 m, nav range: 12.364141 m, bearing: 327.499699 deg, approach rate: -0.574556 m/s, LOS rate: 0.360365 deg/s, cmd heading: 317.312311 deg, new cmd heading: 317.799079 deg. BhPw<HeadingCmd: 5.546640 target range: 13.028581 and range: 13.10 m.h~@h*h"h! h!g!f!f)f-QBd)d)d1jd1Zd5-?IeBɢeFDDAT read: Rx Time:05:37:27.5832 TRx dataTimestamp_ set to:1761543448.844614PDAT read: Bearing 146.9, -0.9 (Local) ~Local bearing/azimuth received: Bearing 146.9, -0.9 (Local) DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 DAT read: 05:37:27.5832 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 511,-0.04, 0.538,-1.311, 0.568, 0.461, PHS= 0.179,-1.727, 0.063, RAW= 146.9, 15.8, CAL= 146.8, 17.4, ROT= 3.2, -17.4 Ygot valid direction response: 05:37:27.5832 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 511,-0.04, 0.538,-1.311, 0.568, 0.461, PHS= 0.179,-1.727, 0.063, RAW= 146.9, 15.8, CAL= 146.8, 17.4, ROT= 3.2, -17.4 V#Rx 101: Read range and direction messages. \direction in FSK: [0.952752,0.053267,0.299041] Fpublishing direction and range infoyj]|?OTE?-{#?YIA )9IK7>iVݿ%=$@0>(#@ |>)d=I|t?Gq?նWyw? F>)qId=i|-checking for new query: numPingsReceived=101, elapsed TxPingTime=46.133690)a eia)mpҖiiimq;iu8Q,sGF?A2 @2@2ٱ2x` :AHRS rotation from veh to nav: [[0.773723,0.619629,0.131952],[-0.633473,0.754055,0.173531],[0.008026,-0.217853,0.975949]]2HW? ??`hE8!?G6?p?˿:?i2 @I2d;2CYBAQ 5My5Em ?Q 9My5E)EBYIyu:5Q Iu@EkDIEO;iE;Ey5y}Bɮ}A}Eii(6F?AJiHARiHAji-@b '@\\7\?d @Rj]|?OTE?-{#?Zid=bi|j[J$@|Paqw @ZL?w$^q0)l?2i:iT"A"i b`?*i`[BitBi b`?i`[ipBi@Ai/@- addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503807 s, deltaX: -0.500000 m, approachRate: -0.992444 m/s, rangeRepo size: 4 = Added new target pos. range: 12.531306 m, bearing: 327.717433 deg, lat: 36.779377 deg, lon: -121.859724 deg, deltaT: 0.503807 s, deltaX: -0.497274 m, approachRate: -0.987034 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 12.53 m.bhARhEZhA] ProNav: ac range: 12.531306 m, nav range: 12.000769 m, bearing: 327.717470 deg, approach rate: 0.000000 m/s, LOS rate: 0.360365 deg/s, cmd heading: 317.799085 deg, new cmd heading: 318.197884 deg. BhYeHeadingCmd: 5.553601 target range: 12.531306 and range: 12.60 m.he@ha*ha"ha hagafffdddjd@33)@Zda?B>BCBIB3BB =BBDB|DBi;B)EBɢ) i)´iD9i :7<1rZ=I @I DDAT read: Rx Time:05:37:28.0832 TRx dataTimestamp_ set to:1761543449.349730PDAT read: Bearing 144.0, 0.8 (Local) ~Local bearing/azimuth received: Bearing 144.0, 0.8 (Local) DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 =DAT read: 05:37:28.0832 LVL= 25760, 32753, 30610, 32755, AGC= 57, IDX= 510, 0.07, 2.482, 0.587, 2.479, 2.303, PHS= 0.281,-1.671, 0.132, RAW= 146.1, 13.3, CAL= 145.8, 14.5, ROT= 4.2, -14.5 MYgot valid direction response: 05:37:28.0832 LVL= 25760, 32753, 30610, 32755, AGC= 57, IDX= 510, 0.07, 2.482, 0.587, 2.479, 2.303, PHS= 0.281,-1.671, 0.132, RAW= 146.1, 13.3, CAL= 145.8, 14.5, ROT= 4.2, -14.5 MV#Rx 102: Read range and direction messages.U\direction in FSK: [0.965548,0.070905,0.250380]UFpublishing direction and range infoy4?KA&?=9?Ydw )I;ߏ>iTտ+>1#@,m>4"@ >)Q =ItY?")mIQ =iuchecking for new query: numPingsReceived=102, elapsed TxPingTime=46.642349}?@y @y@}0@y^Ab$=! A I I O >VQ,aF?AxY~JBy~I)| 4< bDVDk1y==%EA=ٔEQ-E>9IYI=MFyMZEMEU>YQ 5]y5]c?Q 9ey5])]BYayaQ Ie@]rDI]:i] :]gy5ymBɮmAuEiiaVF?AJiHARiHAji1@bg>3(@/4o?T! @R4?KA&?=9?ZiQ =bijJRJ$@aE\)@Z}L^?Ux࿬3J?2ij:i:%A"iY'~?*ilýBi9BiiiiOi ۿ E= "@y ^A] = > i"@ 0>) l=I 0 ]?@?>@? [>) PI l=i 0 5 checking for new query: numPingsReceived=103, elapsed TxPingTime=47.160946A I I O >Q,+0}F?ABT@B%@BtAٱBXa JAHRS rotation from veh to nav: [[0.765943,0.629350,0.131339],[-0.642800,0.745907,0.174443],[0.011818,-0.218038,0.975869]]LBH@? #??ёx?#T?I4?˿P:?iBT@IBd;BCYbVBybIiMb@Mb@Mb@ 9/$?Mbp?y&1?Y&?y;`e<1A@ )AYAbD%VD%yEqK=%E1=ٔMQ-U>9QYQ=UFy]ZEeּEe>qQ 5}y5u)?Q 9}y5u{)uBY}3?Q E}:y}/Q I@u{DIu :iu3:uuy5yɮUAiaievF?AJieCARieCAjie2@be"xw'@5)5?BCBIBBBB =BBBvi;Bq)E! A .AI I O >= DDAT read: Rx Time:05:37:29.0827 E TRx dataTimestamp_ set to:1761543450.356837zQ,F?ADAT read: Bearing 144.9, 1.5 (Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 unknown deviceResponse_: Bearing 144.9, 1.5 (Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 .DAT read: 05:37:29.0827 LVL= 28512, 32753, 31906, 32755, AGC= 58, IDX= 505, 0.14, 2.513, 0.588, 2.481, 2.356, PHS= 0.260,-1.723, 0.082, RAW= 145.3, 14.4, CAL= 145.0, 15.8, ROT= 5.0, -15.8 0ɰ2;NYgot valid direction response: 05:37:29.0827 LVL= 28512, 32753, 31906, 32755, AGC= 58, IDX= 505, 0.14, 2.513, 0.588, 2.481, 2.356, PHS= 0.260,-1.723, 0.082, RAW= 145.3, 14.4, CAL= 145.0, 15.8, ROT= 5.0, -15.8 R\#Rx 104: Read direction message, but no range.V\direction in FSK: [0.958556,0.083863,0.272280]yquI~? x? ^ m?qu`oqu| q)qIu>iuDܿu=u:M"@qup!@ q)u¸=Iqqu5"v?N?\{? u>)uĀIu¸=iqbchecking for new query: numPingsReceived=104, elapsed TxPingTime=47.658092yYiBy+IbD}VD}yO=%F=ٔQ->9 ?Y ?=FyZEE>Q 5y58?Q 9y5b)BYyQ I@DI';i;y5yBɮAEjhAMDNOT Ignoring new targets: 12.23 m.bhIRhm;Zhu;} ProNav: ac range: 12.233463 m, nav range: 11.386024 m, bearing: 328.539126 deg, approach rate: -0.575032 m/s, LOS rate: 0.398371 deg/s, cmd heading: 319.141354 deg, new cmd heading: 319.623722 deg. Bh<HeadingCmd: 5.578486 target range: 12.233463 and range: 12.30 m.h@h*h"h hgfffdddjdZdr?-ƁBɢ5_)1 5:i1)5ݜ19i=G26i=$g4AEKQ,`F?A6c@6^@6qٱ6[ BAHRS rotation from veh to nav: [[0.758851,0.638706,0.127277],[-0.651097,0.739605,0.170461],[0.014740,-0.212224,0.977110]]6HH? Gp? J?@ت??/?`)*˿{D?i6c@I6d;6CYF}ByFEIiMb@Mb@Mb@ 9Pn?9Y=FyZEE>Q 5y5F?Q 9y5)BY?Q E:y7"Q I@DI ;i:y5yɮIA B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 12.23 m.bhRh%;Zh%;EDDAT read: Rx Time:05:37:29.5823 ETRx dataTimestamp_ set to:1761543450.860820MPDAT read: Bearing 141.0, 2.6 (Local) U~Local bearing/azimuth received: Bearing 141.0, 2.6 (Local) eDAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.6 DAT read: 05:37:29.5823 LVL= 23008, 32753, 26450, 32755, AGC= 55, IDX= 502, 0.19, 1.279,-0.658, 1.241, 1.005, PHS= 0.376,-1.618, 0.192, RAW= 145.2, 11.0, CAL= 144.8, 12.0, ROT= 5.2, -12.0 Ygot valid direction response: 05:37:29.5823 LVL= 23008, 32753, 26450, 32755, AGC= 55, IDX= 502, 0.19, 1.279,-0.658, 1.241, 1.005, PHS= 0.376,-1.618, 0.192, RAW= 145.2, 11.0, CAL= 144.8, 12.0, ROT= 5.2, -12.0 V#Rx 105: Read range and direction messages.\direction in FSK: [0.974122,0.088652,0.207912]Fpublishing direction and range infoyAEYD,?ɉA]汶?hٜ?YEf6AAEYAERg A)E7IE>iEϿED>E0"@E D>E?!@ EPwV>)E޹=IEPwVAAEosbrWk?8Vo?op? EI>)EDIE޹=iEPwVAAchecking for new query: numPingsReceived=105, elapsed TxPingTime=48.150944 ProNav: ac range: 12.233463 m, nav range: 11.181134 m, bearing: 328.628122 deg, approach rate: -0.525751 m/s, LOS rate: 0.232553 deg/s, cmd heading: 319.623729 deg, new cmd heading: 319.895610 deg. Bh<HeadingCmd: 5.583231 target range: 12.233463 and range: 12.30 m.hթ@h*hI"hI hIgQfQfQfUBdYdYdYjd]&@Zde?ȁBɢ) i)۝ig5i)03d<2 checking for new query: numPingsReceived=105, elapsed TxPingTime=48.386242E  E E %E "E :*E ?:VE 4ZE a @a @a @a @ԡ ,۲Q,F?AYByiIbDEVDEy}>%Q=ٔQ->ԙ9Y=FyZEE>B>BCB'IBfBB =BCDB{DBi;B)EQ 5y5U?Q 9y5#)BYyQ I@DI:i1:Ay5yBɮAiiF?AJii5ARii5Aji@bT&@4i? @RYD,?ɉA]汶?hٜ?Zi޹=biPwVjjă"@$Θ}/Ԁ@ZwzEP?6@L῁n?2ix:i,A"i_g?*iBiBiigiBi0AiJ/@] addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 1.007248 s, deltaX: -0.900001 m, approachRate: -0.893524 m/s, rangeRepo size: 4  Added new target pos. range: 11.338223 m, bearing: 327.037634 deg, lat: 36.779378 deg, lon: -121.859726 deg, deltaT: 1.007248 s, deltaX: -0.895241 m, approachRate: -0.888799 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 11.34 m.bhRhZh ProNav: ac range: 11.338223 m, nav range: 11.049285 m, bearing: 327.990990 deg, approach rate: 0.000000 m/s, LOS rate: 0.232553 deg/s, cmd heading: 319.895598 deg, new cmd heading: 320.202562 deg. BhHeadingCmd: 5.588589 target range: 11.338223 and range: 11.40 m.hղ@h*h"h hgfffdddjdZd \?UʁBɢUѼ)Q UDiQ)]zYYi]!4ie1e2iuT忉uTu!@ u>)uK=Iuqqu>]$??Qց? u>)uIuK=iuqq%checking for new query: numPingsReceived=106, elapsed TxPingTime=48.662018Y@a @a@e/@a^A 8<I I  O% >Q,F?A2'@2!@24"ٱ2U >AHRS rotation from veh to nav: [[0.753982,0.645040,0.124235],[-0.656697,0.735508,0.166663],[0.016129,-0.207246,0.978156]]2H ?`+? Ϳ?`H? :U??`ʿ M?i2'@I20d;2CYNByN~Ibchecking for new query: numPingsReceived=106, elapsed TxPingTime=48.890068bDZVDZ0yj=%jU=ٔnnQ-n>9lYp=rFyrZEr/Er>tQ 5zy5va?Q 9zy5v%)vBEe EeEe(Ea"Ee:*Ee:VEec44ZEaBEe.i}DDAT read: Rx Time:05:37:30.5820 TRx dataTimestamp_ set to:1761543451.869354PDAT read: Bearing 140.6, 2.7 (Local) ~Local bearing/azimuth received: Bearing 140.6, 2.7 (Local) DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 DAT read: 05:37:30.5820 LVL= 24288, 32753, 29026, 32755, AGC= 53, IDX= 499,-0.46,-1.040,-3.009,-1.078,-1.321, PHS= 0.383,-1.643, 0.199, RAW= 145.3, 10.9, CAL= 144.9, 11.9, ROT= 5.1, -11.9 Ygot valid direction response: 05:37:30.5820 LVL= 24288, 32753, 29026, 32755, AGC= 53, IDX= 499,-0.46,-1.040,-3.009,-1.078,-1.321, PHS= 0.383,-1.643, 0.199, RAW= 145.3, 10.9, CAL= 144.9, 11.9, ROT= 5.1, -11.9 V#Rx 107: Read range and direction messages.\direction in FSK: [0.974635,0.086984,0.206204]Fpublishing direction and range infoylB60?JD?Fa5d?Y0A^bq )5I>iMҿK>:M"@B> ȭT>)IȭTI8=h?dnC?VK? >)CIiȭTchecking for new query: numPingsReceived=107, elapsed TxPingTime=49.159519ԙ w/Q,6F?A >k><~G )]Y~9YY]LgA}@}@}ڄٱ}XS AHRS rotation from veh to nav: [[0.752428,0.647085,0.123015],[-0.658475,0.734367,0.164669],[0.016217,-0.204904,0.978648]]}H@??}?`9?@?@,?K:ʿ Q?i}@I}1c;}CYÁByIqiMb@Mb@Mb@ 9?ˡE?Mb?Y?y=<1A@ A)AAYA p<<bDVD0yL=%0=ٔFQ->9Y=FyZEE>Q 5y5r?Q 9y5 ))Y?Q E:y{Q I@DI*(;i';^y5yBɮ{AEiiF?AJi /ARi /Aji:@bJQ5fS%@ @ks?Ӫ1 @RlB60?JD?Fa5d?ZibiȭTjbw-!@{*ӹnVU|@ZHp?dƑg?2im:iA"i2b?*i;Bi"Biilýi9Bi)Ai@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503680 s, deltaX: -0.400000 m, approachRate: -0.794154 m/s, rangeRepo size: 4  Added new target pos. range: 10.940391 m, bearing: 326.280310 deg, lat: 36.779378 deg, lon: -121.859726 deg, deltaT: 0.503680 s, deltaX: -0.397832 m, approachRate: -0.789851 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.94 m.bhchecking for new query: numPingsReceived=107, elapsed TxPingTime=49.394306RhZh ProNav: ac range: 10.940391 m, nav range: 10.609035 m, bearing: 327.813832 deg, approach rate: 0.000000 m/s, LOS rate: 0.232553 deg/s, cmd heading: 320.457969 deg, new cmd heading: 320.762595 deg. BhHeadingCmd: 5.598363 target range: 10.940391 and range: 11.00 m.h%@h*h"h h)g)f)f)f5Bd1d1d1jd5&@Zd=q?Em EmEm$Ei"Em&:*Em҆:VEm4ZEia}@a}@a}@a}@颽́Bɢԩ) pi)EAAiE+4iMP/MX[BBfIBBBBB|DBi;B)EBCBCBǔCB =B =Cǣ>6 DDAT read: Rx Time:05:37:31.0819  TRx dataTimestamp_ set to:1761543452.373597 PDAT read: Bearing 146.0, 1.3 (Local)  ~Local bearing/azimuth received: Bearing 146.0, 1.3 (Local)  DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.4  DAT read: 05:37:31.0819 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.22,-0.791,-2.753,-0.825,-0.896, PHS= 0.207,-1.812, 0.027, RAW= 145.4, 16.1, CAL= 145.1, 17.6, ROT= 4.9, -17.6  Ygot valid direction response: 05:37:31.0819 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.22,-0.791,-2.753,-0.825,-0.896, PHS= 0.207,-1.812, 0.027, RAW= 145.4, 16.1, CAL= 145.1, 17.6, ROT= 4.9, -17.6  V#Rx 108: Read range and direction messages. \direction in FSK: [0.949707,0.081419,0.302370] Fpublishing direction and range infoy  :d?I״?-JZ?Y ,A   ) 9I S>i 翉 /< i"@ ^A Β;A ?A > ޏ> "@ nF>) %=I nF Uϼ?`}ư[?o% a? >) $I %=i nF  checking for new query: numPingsReceived=108, elapsed TxPingTime=49.664989I I O >.NQ,\rG?AF@F@FٱFM>N ^AHRS rotation from veh to nav: [[0.751386,0.648837,0.120124],[-0.659667,0.734167,0.160747],[0.016107,-0.200025,0.979658]]FH`Z ?E?@v?K~?W?b~? hɿ\Y?iF@IF'c;FCYrՁByrIbD~VD~y=%V=ٔ9Q->9Y=FyZEևE>Q 5y5?Q 9y5+)YyQ I@DI:i:y5yɮA iQiUG?AJiU+ARiU+AjiU@bUPg$@UM%p?E>D @RU:d?I״?-JZ?ZiU%=biUnFjUD>!@"RBZ]E^ @ZU?Eb[࿓u^?2iU:iU A"iU|(aW?*iUS<BiU-BiUZe?iUS<iUBiUp&AaiUk@ addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504243 s, deltaX: -0.200000 m, approachRate: -0.396634 m/s, rangeRepo size: 4  Added new target pos. range: 10.741588 m, bearing: 327.160892 deg, lat: 36.779377 deg, lon: -121.859726 deg, deltaT: 0.504243 s, deltaX: -0.198803 m, approachRate: -0.394260 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.74 m.bhRhAZhA ProNav: ac range: 10.741588 m, nav range: 10.402493 m, bearing: 327.656178 deg, approach rate: 0.000000 m/s, LOS rate: 0.232553 deg/s, cmd heading: 320.762595 deg, new cmd heading: 321.040535 deg. BhHeadingCmd: 5.603214 target range: 10.741588 and range: 10.80 m.hM@h*h"h hgfffdddjd%@Zd`?%ρBɢ%g)) -:uchecking for new query: numPingsReceived=108, elapsed TxPingTime=49.898685^A0::E% E%E%'E!"E%D:*E%z:VE%'4ZE!BE%1 ?uQ,@4G?A6' @6@6ٱ6 H >AHRS rotation from veh to nav: [[0.751662,0.649176,0.116513],[-0.659363,0.735445,0.156079],[0.015634,-0.194143,0.980849]]6H@ ?@ ? ӽ?Ĉ?g?`e?@ȿc?i6' @I6c;6CYJByJIIN=)Ny]=]`;Y]@ ]+A)YYY]fAbDuVDu1y=%L=ٔ:Q->9"?Y"?=FyZE:E>Q 5y5?Q 9y5-)BY>Q E:yQ I@DI ;i;5y5yɮ0ADDAT read: Rx Time:05:37:31.5816 TRx dataTimestamp_ set to:1761543452.876774PDAT read: Bearing 141.6, 2.7 (Local) ~Local bearing/azimuth received: Bearing 141.6, 2.7 (Local) DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 DAT read: 05:37:31.5816 LVL= 23632, 32753, 29938, 32755, AGC= 55, IDX= 511, 0.10,-1.358, 2.914,-1.407,-1.616, PHS= 0.360,-1.708, 0.164, RAW= 145.1, 12.0, CAL= 144.7, 13.0, ROT= 5.3, -13.0 %Ygot valid direction response: 05:37:31.5816 LVL= 23632, 32753, 29938, 32755, AGC= 55, IDX= 511, 0.10,-1.358, 2.914,-1.407,-1.616, PHS= 0.360,-1.708, 0.164, RAW= 145.1, 12.0, CAL= 144.7, 13.0, ROT= 5.3, -13.0 -V#Rx 109: Read range and direction messages.5\direction in FSK: [0.970204,0.090003,0.224951]5Fpublishing direction and range infoy?w ?ur ?:/2?Yf&AP\t )7IQ>iڿ'> "@PwV>!@ Vh>)q=IVhc[?i2%?eUƂ?ii8G?AJi%ARi%Aji/\@b*3$@ӫ?c ]@R?w ?ur ?:/2?Ziq=biVhjxn @R2-F'/mD@Zh~ ?6%:ῂ}?2i7 j>)UIq=iVhchecking for new query: numPingsReceived=109, elapsed TxPingTime=50.182667:iA"iS?*iҁnBiqBi2b?iҁniqBi#AiQ@ addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503177 s, deltaX: -0.400001 m, approachRate: -0.794950 m/s, rangeRepo size: 4 5 Added new target pos. range: 10.343751 m, bearing: 326.514502 deg, lat: 36.779377 deg, lon: -121.859727 deg, deltaT: 0.503177 s, deltaX: -0.397837 m, approachRate: -0.790650 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 10.34 m.bh1Rh9Zh9 ProNav: ac range: 10.343751 m, nav range: 10.234597 m, bearing: 327.032976 deg, approach rate: 0.000000 m/s, LOS rate: 0.232553 deg/s, cmd heading: 321.040529 deg, new cmd heading: 321.330984 deg. BhHeadingCmd: 5.608284 target range: 10.343751 and range: 10.40 m.hw@h*h"h hgfff Bdddjd$@Zd4?颕сBɢx) Z=i)ʏ项i( 4iZ,9<ZIw@IuA@q @q@}4@y! i߁ I߁  checking for new query: numPingsReceived=109, elapsed TxPingTime=50.402809E%  E% E% &E! "E% :*E% :VE% 4ZE! a- @a- @a- @a- @^A zQ A I I OM >Q,z4PG?AB>BCBIBˁBB =BBBj;B)EYByIAAbDVDJy3y=%7=ٔQ->9Y=FyZEE>Q 5y5?Q 9y5N0)BYyQ I@DI:i:y5!ye”BɮmAAmEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 10.34 m.bhRhĻZhĻ ProNav: ac range: 10.343751 m, nav range: 10.031094 m, bearing: 326.889879 deg, approach rate: -0.480050 m/s, LOS rate: -0.344401 deg/s, cmd heading: 321.330976 deg, new cmd heading: 320.892986 deg. Bh\lHeadingCmd: 5.600639 target range: 10.343751 and range: 10.40 m.hp8@h*h"h hgfffdddjdZdh?ӁBɢYb) =i)Di 4i W.  CI p8@I DDAT read: Rx Time:05:37:32.0816 TRx dataTimestamp_ set to:1761543453.381524PDAT read: Bearing 144.2, 2.2 (Local) ~Local bearing/azimuth received: Bearing 144.2, 2.2 (Local) DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 UDAT read: 05:37:32.0816 LVL= 29248, 32753, 32690, 32755, AGC= 57, IDX= 511,-0.34,-2.235, 2.030,-2.285,-2.414, PHS= 0.281,-1.795, 0.084, RAW= 145.1, 14.3, CAL= 144.7, 15.6, ROT= 5.3, -15.6 eYgot valid direction response: 05:37:32.0816 LVL= 29248, 32753, 32690, 32755, AGC= 57, IDX= 511,-0.34,-2.235, 2.030,-2.285,-2.414, PHS= 0.281,-1.795, 0.084, RAW= 145.1, 14.3, CAL= 144.7, 15.6, ROT= 5.3, -15.6 eV#Rx 110: Read range and direction messages.m\direction in FSK: [0.959045,0.088968,0.268920]uFpublishing direction and range infoy+~?=Zƶ?]^|5?Y@r )9I;ߏ>i忉1=r> 'g>)I'g{ b?ТBG?"i? >)gIi'gchecking for new query: numPingsReceived=110, elapsed TxPingTime=50.676220?@ @@*4@a^AhIIO>ԁ checking for new query: numPingsReceived=110, elapsed TxPingTime=50.906166ԩ E-  E- E) E) "E- O;*E- k:VE) ZE) BE- (Y9qYq=uFyuZEO<E>Q 5y5ī?Q 9y5[2)BYy'Q I%@DI}iXٿX9>!@%K>vh!@ k]>) =Ik]f~u?e?3؋9? T>)KI =ik]}checking for new query: numPingsReceived=111, elapsed TxPingTime=51.174698m @@i  @i @m 4@i @q @q  ^A ]checking for new query: numPingsReceived=111, elapsed TxPingTime=51.414211AEU EUEU)EQ"EU:*EU:VEUFA4ZEQa]@a]@a]@a]@IiIyO?Q,䂊G?A2PW@2!R@2IaCٱ2L6 :AHRS rotation from veh to nav: [[0.757878,0.643565,0.106985],[-0.652288,0.744496,0.142293],[0.011925,-0.177626,0.984026]]2H@??@ac?@`?@6?@l? qƿ#}?i2PW@I2Uc;2CYBByB I DDDDiMb@Mb@Mb@ 9Fx?'1Z?~jtxY>y">ĻAA@ )YAbDVDy}h=%=B >B CB IB BB  =B B B jk;B g*EIٔeu6;Q-e>9iYi=mFymZEuo;Eu>yQ 5z5}?Q 9z5}{4)}BYt>Q E:ylQ I@}DI};i};}z5yȔBɮAEiixG?AJiARiAji@b%#@@M~?~A@RE?mW?h`r|?Zi =bik]jMu% @X XU?@Ze=?<"bg?2i8:i/A"ip&}g?*iBi'BiiiqBiAiL@e addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503279 s, deltaX: -0.500000 m, approachRate: -0.993485 m/s, rangeRepo size: 4 u Added new target pos. range: 9.846462 m, bearing: 326.932654 deg, lat: 36.779377 deg, lon: -121.859727 deg, deltaT: 0.503279 s, deltaX: -0.497379 m, approachRate: -0.988277 m/s, posRepo size: 4 jhquBNOT Ignoring new targets: 9.85 m.bhq}6Short final. Range: 9.90 m.}VTransitioning guidance mode to: SHORT_FINAL:h@@RhZh ProNav: ac range: 9.846462 m, nav range: 9.616580 m, bearing: 326.407225 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 320.402917 deg, new cmd heading: 319.895873 deg. Bh|HeadingCmd: 5.583236 target range: 9.846462 and range: 9.90 m.hߩ@h*h"h hgfffPBdddjd#@ZdQ0?颽؁Bɢ6) =i)gi%4i/3dNiDܿ">!@ȭT>E/!@ Vh>)%=IVhos?/92%?Ψ!f? a>)TI%=iVhchecking for new query: numPingsReceived=112, elapsed TxPingTime=51.702740^AM፨IIO>ԡ Q,{NG?A2g@28~@2w)ٱ2m 0 :AHRS rotation from veh to nav: [[0.761391,0.640037,0.103133],[-0.648211,0.749061,0.136861],[0.010343,-0.171056,0.985207]]2H@P]?`/{?f?`$@N??.?@,ſІ?i2g@I2c;2Ci z俉 t= vh!@ r>  @  'g>) B=I 'g   E6?˻?L|/?  >) iI B=i 'g   checking for new query: numPingsReceived=113, elapsed TxPingTime=52.189816I I O >Q,(G?A2@2ְ@2 ٱ2J) :AHRS rotation from veh to nav: [[0.765394,0.635837,0.099412],[-0.643504,0.754075,0.131427],[0.008602,-0.164565,0.986329]]2H~?X?s?a!?@? ? {ſ?i2@I2c;2CYLyLtiMb@Mb@Mb@ 9K?I +?y&1Y^>y94>`exA A)YfAbDVD0ٔ=k;Q-=>9AYA=EFyEZEEUQ<EE>Q 5z5ڛ?Q 9z56)BY">Q E;y턾Q I@DIa;if; z5yΔBɮAE iAiEcdG?AJiE-ARiE-AjiE8h@bE0U"@^?OVS@REln?`fsX?]^|5?ZiEB=biE'gjEwVY @Q$Q6Vp@ZE7tu?2iE%:iE@"iE(Si?*iExߴBiEBiE(Si?iAiAiETAiE]O@ addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.506629 s, deltaX: -0.400000 m, approachRate: -0.789532 m/s, rangeRepo size: 4  Added new target pos. range: 9.448626 m, bearing: 328.389161 deg, lat: 36.779378 deg, lon: -121.859727 deg, deltaT: 1.011949 s, deltaX: -0.397837 m, approachRate: -0.393139 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.45 m. 9.85 m.RhZh  ProNav: ac range: 9.846462 m, nav range: 9.297796 m, bearing: 325.806101 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 319.555974 deg, new cmd heading: 319.046684 deg. Bh  |HeadingCmd: 5.568415 target range: 9.846462 and range: 9.50 m.hu0@h*h"h hgfffKBdMchecking for new query: numPingsReceived=113, elapsed TxPingTime=52.418419dadajde#@Zdm?颵݁Bɢ:) H=iE EE'E"E&:*EVE'4ZEa@a@a@a@) Қi3i+6L =Iu0@I!-t>i->9@ @@@@ =@ =^Ak<B >B B  IB BB =B B B l;B *EI I O >a xQ,G?A2 @2@2yܻٱ2R$ :AHRS rotation from veh to nav: [[0.769711,0.631021,0.096740],[-0.638357,0.759179,0.127073],[0.006743,-0.159564,0.987165]]2H@x? R1? ø?lm 1K?C?`{?lĿ ږ?i2 @I2hc;2CVDDAT read: Rx Time:05:37:34.0809 VTRx dataTimestamp_ set to:1761543455.396616ZPDAT read: Bearing 144.2, 3.6 (Local) ^~Local bearing/azimuth received: Bearing 144.2, 3.6 (Local) fDAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.3 vDAT read: 05:37:34.0809 LVL= 26736, 32753, 27314, 32755, AGC= 56, IDX= 504, 0.18,-0.887,-2.897,-0.966,-1.116, PHS= 0.331,-1.736, 0.106, RAW= 144.3, 13.2, CAL= 143.9, 14.3, ROT= 6.1, -14.3 zYgot valid direction response: 05:37:34.0809 LVL= 26736, 32753, 27314, 32755, AGC= 56, IDX= 504, 0.18,-0.887,-2.897,-0.966,-1.116, PHS= 0.331,-1.736, 0.106, RAW= 144.3, 13.2, CAL= 143.9, 14.3, ROT= 6.1, -14.3 ~V#Rx 114: Read range and direction messages.\direction in FSK: [0.963529,0.102972,0.246999]Fpublishing direction and range infoyTV';?s+X\?⩝?YVATVphTVj T)TIVx>iV?5޿V=VE/!@Vk>V @ Vr>)V^ =IVrTTV%{e?;:ݦ?H$? V4>)V4kIV^ =9iVrTTEchecking for new query: numPingsReceived=114, elapsed TxPingTime=52.690365YMByMIIQ)U=bDVDfy%<ٔ;Q->9Y=FyZE<E>QQ 5]z5U益?Q 9]z5U 8)UBYaye2Q Ie@UDIUz:iU.:Uz5yɮAiiTiV(bG?AJiVARiVAjiV@bVn%!@'m6=z??G@RV';?s+X\?⩝?ZiV^ =biVrjV5`@xuh1iN@ZVB?0.-»YG?2iV:iV@"iVmn?*iVJBiVhBiVmn?iV殯iVhBiV]AiV\@= addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.499864 s, deltaX: -0.200000 m, approachRate: -0.400108 m/s, rangeRepo size: 4 u Added new target pos. range: 9.249743 m, bearing: 328.671958 deg, lat: 36.779378 deg, lon: -121.859726 deg, deltaT: 1.511813 s, deltaX: -0.596720 m, approachRate: -0.394705 m/s, posRepo size: 4 jhqbhq}zIgnoring new targets. Set target to previous: 9.25 m. 9.85 m.RhZh ProNav: ac range: 9.846462 m, nav range: 9.147682 m, bearing: 325.468429 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 319.046688 deg, new cmd heading: 318.611340 deg. Bh|HeadingCmd: 5.560817 target range: 9.846462 and range: 9.30 m.h6@h*h"h hgfffdddjd"@Zd@?=BɢE A)A E=iA)EsAIiM3iM(8QU>;=IU6@IQԙ@@ @@@]checking for new query: numPingsReceived=114, elapsed TxPingTime=52.922325DD=E EE&E"E:*E:VE4ZEBE>8Q,G?AUDDAT read: Rx Time:05:37:34.5807 ]TRx dataTimestamp_ set to:1761543455.900524ePDAT read: Bearing 146.1, 3.5 (Local) e~Local bearing/azimuth received: Bearing 146.1, 3.5 (Local) uDAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.3 DAT read: 05:37:34.5807 LVL= 31024, 32753, 32482, 32755, AGC= 57, IDX= 502, 0.02,-2.485, 1.797,-2.570,-2.664, PHS= 0.281,-1.778, 0.050, RAW= 144.1, 14.7, CAL= 143.7, 16.0, ROT= 6.3, -16.0 Ygot valid direction response: 05:37:34.5807 LVL= 31024, 32753, 32482, 32755, AGC= 57, IDX= 502, 0.02,-2.485, 1.797,-2.570,-2.664, PHS= 0.281,-1.778, 0.050, RAW= 144.1, 14.7, CAL= 143.7, 16.0, ROT= 6.3, -16.0 V#Rx 115: Read range and direction messages.\direction in FSK: [0.955457,0.105483,0.275637]Fpublishing direction and range infoyY]z+?ٞ? ?Y]AY]0yY]~ Y)]9I];ߏ>i]㿉]L=] @]G\>] @ ]5>)]z0=I]5YY]b@?ʴM?ov@56? ]>)]dI]z0=i]5YYchecking for new query: numPingsReceived=115, elapsed TxPingTime=53.189587YByIaiMb@Mb@Mb@ 9 +?oʡ?S㥛Yȶ>y->/ݼKAf@ )XAYbDMVDM 3ydc%=ٔQ->9Y=FyZE E >1Q 5=z55m?Q 9=z559)5BYE>Q EE;yEQ IE@5DI57:i5:5z5yMԔBɮMAIԑiYi]/G?AJi]8ARi]8Aji]ַ@b]!@!E8 7?Wz@R]z+?ٞ? ?Zi]z0=bi]5j]5@f)Ƚ@Z]XDR?tT߿t`޿?2i]:i]\@"i]}i?*i].Bi]Bi]}i?i]xߴiYi]j Ai]@ addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503908 s, deltaX: -0.300000 m, approachRate: -0.595347 m/s, rangeRepo size: 4 U Added new target pos. range: 8.951364 m, bearing: 329.157170 deg, lat: 36.779378 deg, lon: -121.859722 deg, deltaT: 2.015721 s, deltaX: -0.895099 m, approachRate: -0.444059 m/s, posRepo size: 4 jhQbhQ]zIgnoring new targets. Set target to previous: 8.95 m. 9.85 m.RhYZhY ProNav: ac range: 9.846462 m, nav range: 8.946658 m, bearing: 325.016523 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 318.611331 deg, new cmd heading: 318.083693 deg. Bh|HeadingCmd: 5.551608 target range: 9.846462 and range: 9.00 m.hŦ@h*h"h hgfff7Bdddjd"@Zd`?Bɢ$r) =i)>i,3i%H;!E{U=IMŦ@II?@ @@@ checking for new query: numPingsReceived=115, elapsed TxPingTime=53.427460E  E E %E "E l;*E :VE 4ZE a @a @a @a @^A r =A .A I! A AAA B >B CB  IB !BB =B B B bl;B *EI O >;R,H?A2iq@2:l@2nٱ2e  :AHRS rotation from veh to nav: [[0.779940,0.619386,0.089750],[-0.625851,0.771376,0.115282],[0.002173,-0.146083,0.989270]]2HC?? ? ??`a?ز¿`?i2iq@I2c;2CYBByBIbDzVDzNyt%=ٔBz:)-BY9y=g}Q I=@-DI-:i-:-Sz5yAɮMAIeB*** querying acoustic contact ***ia iajhqbhq}zIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh}Zh} ProNav: ac range: 9.846462 m, nav range: 8.840821 m, bearing: 324.755679 deg, approach rate: -0.394360 m/s, LOS rate: -0.983565 deg/s, cmd heading: 318.083685 deg, new cmd heading: 317.291840 deg. Bh(|HeadingCmd: 5.537787 target range: 9.846462 and range: 9.00 m.h5@h*h"h hgfffdddjdZd $?Bɢχ) 0 =I5@IAY@a @a@e0@aDDAT read: Rx Time:05:37:35.0810 TRx dataTimestamp_ set to:1761543456.406021PDAT read: Bearing 148.6, 3.3 (Local) ~Local bearing/azimuth received: Bearing 148.6, 3.3 (Local) DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.3 EDAT read: 05:37:35.0810 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.09,-2.094, 2.208,-2.183,-2.201, PHS= 0.209,-1.829,-0.026, RAW= 143.9, 16.8, CAL= 143.5, 18.2, ROT= 6.5, -18.2 MYgot valid direction response: 05:37:35.0810 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.09,-2.094, 2.208,-2.183,-2.201, PHS= 0.209,-1.829,-0.026, RAW= 143.9, 16.8, CAL= 143.5, 18.2, ROT= 6.5, -18.2 MV#Rx 116: Read range and direction messages.U\direction in FSK: [0.943865,0.107540,0.312335]]Fpublishing direction and range infoyBag%4?B껇?IK?YA ):IV>i꿉Լ @Q >J @ >)V=IPxQ>?dN?q{w?  >)ٕIV=iuchecking for new query: numPingsReceived=116, elapsed TxPingTime=53.697369q^Aп8=AA>ԙA- ؟AI9 II OU > checking for new query: numPingsReceived=116, elapsed TxPingTime=53.930176 E-  E- E- )E) "E- T;*E- 1:VE- FA4ZE) BE- G9}"?Y"?=FyZEԹ<E>Q 5z5U?Q 9z5a;)BYyyQ I@DIK:i :Pz5yڔBɮAEi1i5@H?AJi5.ARi5.Aji5@b5mC^0!@MB? O{@R5Bag%4?B껇?IK?Zi5V=bi5j5@?l&y@f8@Z5k^ǥ?QhZ޿Z.?2i5ݍ:i5@"i5/a?*i5Bi5sBi5mn?i5Ji5Bi5*Ai5 @ addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.505497 s, deltaX: 0.500000 m, approachRate: 0.989126 m/s, rangeRepo size: 4 U Added new target pos. range: 9.448738 m, bearing: 330.601262 deg, lat: 36.779378 deg, lon: -121.859722 deg, deltaT: 2.521218 s, deltaX: -0.397724 m, approachRate: -0.157751 m/s, posRepo size: 4 jh]TStarting intercept timer at range: 9.50 m.bhzIgnoring new targets. Set target to previous: 9.45 m. 9.85 m.Rh-Zh-Ļ] ProNav: ac range: 9.846462 m, nav range: 8.674166 m, bearing: 324.326314 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 317.291848 deg, new cmd heading: 316.795240 deg. Bh]\le|HeadingCmd: 5.529120 target range: 9.846462 and range: 9.50 m.he@ha*hi"hi higififqfqdqdqdqjd#@Zdp?DDAT read: Rx Time:05:37:35.5808  TRx dataTimestamp_ set to:1761543456.908849PDAT read: Bearing 146.6, 3.5 (Local) ~Local bearing/azimuth received: Bearing 146.6, 3.5 (Local) %DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.3 MDAT read: 05:37:35.5808 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.14, 2.370, 0.394, 2.287, 2.199, PHS= 0.273,-1.760, 0.044, RAW= 144.1, 14.8, CAL= 143.6, 16.1, ROT= 6.4, -16.1 UYgot valid direction response: 05:37:35.5808 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.14, 2.370, 0.394, 2.287, 2.199, PHS= 0.273,-1.760, 0.044, RAW= 144.1, 14.8, CAL= 143.6, 16.1, ROT= 6.4, -16.1 UV#Rx 117: Read range and direction messages.]\direction in FSK: [0.954791,0.107097,0.277315]]Fpublishing direction and range infoyg榍?1j?/?Y3A )9IƋ>iGΈX94= @ A>g @ ޏ>)=Iޏ3j4g=?U>.C? |]? W>)RfI=iޏ}checking for new query: numPingsReceived=117, elapsed TxPingTime=54.198299颥Bɢԗ) Իi)䊙顩iD1im Af<=I@I ) @)  @) @- /@) ^A = ߀G (hA E 9E (hAYM +jAA I! 9 I9 OE ><R,1EH?AY-ЁBy-Ii5Mb@Mb@Mb@1111 195Zd;O?V-?y5h>5t15X@ 5Amchecking for new query: numPingsReceived=117, elapsed TxPingTime=54.434261)5AA1Y5AbD}VD}N2y Ƚ%<=ٔQ->9Y=FyZEE>Q 5z5?Q 9z5<)BY>Q E;yQ I@DI:i':z5yɮTAE  E E &E "E ;*E :VE 4ZE a@a@a@a@!iAiE*:H?AJiEgARiEgAjiEfg@bEJqz.y!@~M2[?AL@REg榍?1j?/?ZiE=biEޏjEU@,ٔD@ZEK?z6ft޿t?2iE:iEU@"iE?*iEHLBiEBiAiEHLiAiEAiE4@ addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502828 s, deltaX: -0.300000 m, approachRate: -0.596626 m/s, rangeRepo size: 4  Added new target pos. range: 9.150356 m, bearing: 330.173922 deg, lat: 36.779378 deg, lon: -121.859721 deg, deltaT: 3.024046 s, deltaX: -0.696106 m, approachRate: -0.230190 m/s, posRepo size: 4 jhRStopped intercept timer at range: 9.20 m.bhzIgnoring new targets. Set target to previous: 9.15 m. 9.85 m.RhZh] ProNav: ac range: 9.846462 m, nav range: 8.523389 m, bearing: 324.010122 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 316.795239 deg, new cmd heading: 316.387184 deg. BhY|HeadingCmd: 5.521998 target range: 9.846462 and range: 9.20 m.h5@h*h"h hgfffBd!d)dajde`ff"@Zdm]?B >BCBIBBB =BBDB~DBl;B +EBCBCBœCBBC 5IUBɢ]b)Y ]ZiY)]RڙYaie=0ie*Bi2=I5@I%@@! @!@%/@!ԁ % DDAT read: Rx Time:05:37:36.0808 % TRx dataTimestamp_ set to:1761543457.412839- PDAT read: Bearing 146.4, 3.2 (Local) 5 ~Local bearing/azimuth received: Bearing 146.4, 3.2 (Local) E DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.3  DAT read: 05:37:36.0808 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.22,-2.978, 1.353,-3.048, 3.135, PHS= 0.273,-1.736, 0.057, RAW= 144.4, 14.6, CAL= 144.0, 15.9, ROT= 6.0, -15.9  Ygot valid direction response: 05:37:36.0808 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.22,-2.978, 1.353,-3.048, 3.135, PHS= 0.273,-1.736, 0.057, RAW= 144.4, 14.6, CAL= 144.0, 15.9, ROT= 6.0, -15.9  V#Rx 118: Read range and direction messages. \direction in FSK: [0.956473,0.100529,0.273959] Fpublishing direction and range infoy! % Il?%CyJ?ψ.?Y! ! ! ! ! ! )! I! i% ?5޿% xi=% K!@% w>% | @ % q>)% Pw=I% q! ! % ɹx4? ?ZB? % >)% aYI% Pw=i% q! !  checking for new query: numPingsReceived=118, elapsed TxPingTime=54.708031^AM `=Ա AIIO>R,dH?AV/@V@VP:ٱV ^AHRS rotation from veh to nav: [[0.783880,0.613259,0.097187],[-0.620910,0.774624,0.120118],[-0.001620,-0.154503,0.987991]]VH? џ? C?~@??Z@ÿ@?iV/@IVGc;TYfByfIbD%VD%yur%u>=ٔu;Q-u>9yYy=}Fy}ZE;E>Q 5z5*?Q 9z5>)~BYyAQ I@DIu;i%;!z5yɮ5AiikZH?AJihARihAjiS@bx[*!@?o?B\@RIl?%CyJ?ψ.?ZiPw=biqjcT3@IŮDT@Z}0?ԑr*޿sP:?2iv:id@"i񰞊?*iaBiXBi?iiBi AiF@u addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.503990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 9.150576 m, bearing: 330.037797 deg, lat: 36.779384 deg, lon: -121.859721 deg, deltaT: 3.528036 s, deltaX: -0.695887 m, approachRate: -0.197245 m/s, posRepo size: 4 jhTStarting intercept timer at range: 9.20 m.bhzIgnoring new targets. Set target to previous: 9.15 m. 9.85 m.RhZh ProNav: ac range: 9.846462 m, nav range: 8.359769 m, bearing: 323.651426 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 316.387176 deg, new cmd heading: 315.934264 deg. Bh|HeadingCmd: 5.514093 target range: 9.846462 and range: 9.20 m.hss@h*h"h hgfffdddjdZd`%?checking for new query: numPingsReceived=118, elapsed TxPingTime=54.938332颍Bɢ*rܼ) i)顑i.i?DP=E EEE"E=;*Eh:VEZEBE{Iԙ  DDAT read: Rx Time:05:37:36.5806  TRx dataTimestamp_ set to:1761543457.916760 PDAT read: Bearing 146.1, 2.3 (Local)  ~Local bearing/azimuth received: Bearing 146.1, 2.3 (Local)  DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.3  DAT read: 05:37:36.5806 LVL= 32368, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.27, 2.108, 0.179, 2.067, 1.948, PHS= 0.262,-1.724, 0.075, RAW= 145.1, 14.5, CAL= 144.8, 15.8, ROT= 5.2, -15.8  Ygot valid direction response: 05:37:36.5806 LVL= 32368, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.27, 2.108, 0.179, 2.067, 1.948, PHS= 0.262,-1.724, 0.075, RAW= 145.1, 14.5, CAL= 144.8, 15.8, ROT= 5.2, -15.8  V#Rx 119: Read range and direction messages. \direction in FSK: [0.958258,0.087208,0.272280]% Fpublishing direction and range infoy  %jr ?(lgHS? ^ m?Y fA p~ ) I $>i ܿ = "@ > ?!@ 0>) ޹=I 0 mt_?ٟ5K? I) (\I ޹=i 0 = checking for new query: numPingsReceived=119, elapsed TxPingTime=55.206505R,d}H?AYnByr\IIz<)z=yiMb@Mb@Mb@ 9l?B`"۹?ˡEY>y='|@ A)AYAbD VD2y%1=ٔQ->9 Y)=-Fy-ZE5E5>9Q 5Uz5=9?Q 9Uz5=`@)=qBYU>Q EU:yU Q IU@=DI=};i=3{;=%z5yeBɮeAeEii2zH?AJi ARi AjiG@b3! @?ksȑ>H@R%jr ?(lgHS? ^ m?Zi޹=bi0jim>-checking for new query: numPingsReceived=119, elapsed TxPingTime=55.443222E EE)E"E;*E:VEFA4ZEa@a@a@a@?@ @@I0@Bi Am <Bu >Bq Bu IBu ځBBu =Bq Bq Bu l;Bu )+E^A 5ߺ= I I O >~%R,ؘH?A2{@2u@2:ٱ2A5 >AHRS rotation from veh to nav: [[0.780672,0.614929,0.111413],[-0.624938,0.768672,0.136365],[-0.001785,-0.176083,0.984374]]2HD???~`?jt? @]ƿ ?i2{@I2/c;2CYBrByF6IbDNVDNkyV0%Vn=ٔV99Q-Z?9\Y\=^Fy^ZE^wEb?`Q 5fz5bD?Q 9jz5bB)bgBYhyj6Q Ij@bDIbG ;ibe ;b(z5ypɮrrApDDAT read: Rx Time:05:37:37.0805 TRx dataTimestamp_ set to:1761543458.420792 PDAT read: Bearing 146.0, 1.2 (Local) ~Local bearing/azimuth received: Bearing 146.0, 1.2 (Local) %DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.3 EDAT read: 05:37:37.0805 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.35, 2.162, 0.267, 2.156, 2.026, PHS= 0.238,-1.714, 0.086, RAW= 146.0, 14.6, CAL= 145.7, 16.0, ROT= 4.3, -16.0 QYgot valid direction response: 05:37:37.0805 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.35, 2.162, 0.267, 2.156, 2.026, PHS= 0.238,-1.714, 0.086, RAW= 146.0, 14.6, CAL= 145.7, 16.0, ROT= 4.3, -16.0 V#Rx 120: Read range and direction messages.\direction in FSK: [0.958556,0.072074,0.275637]Fpublishing direction and range infoy(?]}?ts? ?Y3 A )IFs>iZdۿ =e#@w>"@ 5>)`=I5iiBH?AJis ARis Aji8m@b%ݖ @v,?l{@R(?]}?ts? ?Zi`=Kӊ?߈!?vX.? 7>)`ނI`=i5T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.bi5j!@g /A@ZdX?ҁ#1*8GĀq?2i :i@"i>1?*iLDBiBiiaiXBiHAi@m addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504032 s, deltaX: -0.200000 m, approachRate: -0.396800 m/s, rangeRepo size: 4 } Added new target pos. range: 8.653287 m, bearing: 328.424136 deg, lat: 36.779384 deg, lon: -121.859721 deg, deltaT: 4.535989 s, deltaX: -1.193175 m, approachRate: -0.263046 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.65 m. 9.85 m.RhZh ProNav: ac range: 9.846462 m, nav range: 8.021044 m, bearing: 323.211869 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 315.458789 deg, new cmd heading: 315.083735 deg. Bh|HeadingCmd: 5.499249 target range: 9.846462 and range: 8.70 m.h@h*h"h hg f ffddd!jdE`ff!@ZdMl?颵Bɢ|) Ài)/i^*iH<t =I@I!UPExceeded connect timeout, disconnecting.ԁA@ @@4@^AA=II Om>ԩ2Acoustic response timeoutDA zDE @AEM  EM EM 'EI "EM l;*EM :VEM '4ZEI BEM YF9YYY=]Fy]ZEeJEe>iQ 5uz5mR?Q 9uz5m?D)mZBԹYqyQ I@mDImkiӿV>_#@,m>.k#@ w>) A=Iw%!?$Ӏ?JU~? 2!>)]nI A=iw2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. ProNav: ac range: 9.846462 m, nav range: 7.841292 m, bearing: 322.978348 deg, approach rate: -0.392661 m/s, LOS rate: -0.521809 deg/s, cmd heading: 315.083730 deg, new cmd heading: 314.367148 deg. Bh%|HeadingCmd: 5.486742 target range: 9.846462 and range: 8.70 m.h%d@h!*h)"h) h)g)f)f1f1d1d1d1jd= @Zd=`?Bɢ) i)_Οio(iK],=Ied@Ia?@ @@2@9  2Acoustic response timeoutE}  E} E} (Ey "E} ;*E} :VE} c44ZEy a @a @a @a @^A Dc=A >A I I O >3R,H?A<B~>B|B~fIB~BB~ =B|B~}DB~m;B~F+E@@o:ٱM -AHRS rotation from veh to nav: [[0.773582,0.620852,0.126936],[-0.633696,0.758060,0.154192],[-0.000495,-0.199720,0.979853]]H`/??t??yL=xA+@ A)AYbDVD:2y%(=ٔ촺Q->9Y=Fy[ENE>Q 5 z5Yb?Q 9 z5G)NBY>Q E:ydQ I@DI ;iG ;0z5yɮAii.H?AJiARiAji]Ƕ@boҩ" @K|&?Ȧj@RF?d;@?!?Zi A=biwj"YT@n5I?ZX';y+?S0 ?2i:i@"i?*i[%Bi/Bi?iXiBiZ@i8Ʒ@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503932 s, deltaX: -0.300000 m, approachRate: -0.595319 m/s, rangeRepo size: 4  Added new target pos. range: 8.354835 m, bearing: 327.264127 deg, lat: 36.779384 deg, lon: -121.859722 deg, deltaT: 5.039921 s, deltaX: -1.491628 m, approachRate: -0.295963 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.35 m. 9.85 m.Rh%Zh-Ļ5 ProNav: ac range: 9.846462 m, nav range: 7.614682 m, bearing: 322.898214 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 314.367161 deg, new cmd heading: 313.946683 deg. Bh=\l=|HeadingCmd: 5.479403 target range: 9.846462 and range: 8.40 m.h=FW@h9*hA"ha hagafafifmjBdididqjdqZdu@?ԡBɢPS4) ?i)ie&iM=IFW@IDDAT read: Rx Time:05:37:38.0802 TRx dataTimestamp_ set to:1761543459.432795PDAT read: Bearing 145.7, -1.6 (Local) ~Local bearing/azimuth received: Bearing 145.7, -1.6 (Local) DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.3 A@ @@D4@%DAT read: 05:37:38.0802 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510, 0.33,-2.159, 2.288,-2.084,-2.232, PHS= 0.175,-1.718, 0.104, RAW= 148.1, 15.3, CAL= 148.2, 16.9, ROT= 1.8, -16.9 -Ygot valid direction response: 05:37:38.0802 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510, 0.33,-2.159, 2.288,-2.084,-2.232, PHS= 0.175,-1.718, 0.104, RAW= 148.1, 15.3, CAL= 148.2, 16.9, ROT= 1.8, -16.9 =R#Rx 1: Read range and direction messages.E\direction in FSK: [0.956341,0.030054,0.290702]EFpublishing direction and range infoy8"dY?J Չƞ?Tcݚ?YA )9I333>imۿ=m%@ܸ>~%@ >)=I9?~2?G2?^A߁= #>)ΈI=i2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.II!O-q>nManaging dock network, ignoring radio surface power off 9R,ͬH?A2f@27@2sٱ2Z :AHRS rotation from veh to nav: [[0.769131,0.624715,0.134789],[-0.639091,0.751716,0.162747],[0.000348,-0.211316,0.977418]]2H`?`?@?ns ??r6? j ˿`G?i2f@I2-b;2CYN#ByRIp2Acoustic response timeoutbDZVDZNy=;%=W=ٔ=lQ-E>9AYA=EFyE[EMזEM>QQ 5]z5Un?Q 9]z5USJ)UEBYYy]|Q Ie@UDIU';iUf;U3z5yiɮmAiD}<D}<bE!4jE7&4rE/E EE&E"E%;*E$:VE4ZEBE Kiv޿5^=%@5>6&@ >))IzAR,n5I?A2@2❲@2$ٱ2c ZAHRS rotation from veh to nav: [[0.763931,0.629622,0.141371],[-0.645297,0.744886,0.169520],[0.001428,-0.220728,0.975334]]2Hr?@%?u?`E ?`Ӳ?dW?@@̿`5?i2@I2b;2CYbBybIiMb@Mb@Mb@ 9~jt?Q?~jtY?yu<A@ A)YfAbDVD0ysh% -=ٔ Q- >9 Y=Fy [EE>Q 5%z5~?Q 9-z5`N)@BY-?Q E-:y-g.Q I-@DIm ;i;7z5y5Bɮ5A9iiH?AJi@Ri@ji0@bK#X4L@)O?2u@R }e&"v?<k?ќ?Zi<bijA@"Bm1?i[%iDžBi@i1ɶ@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504039 s, deltaX: -0.300000 m, approachRate: -0.595192 m/s, rangeRepo size: 4  Added new target pos. range: 7.956985 m, bearing: 325.031751 deg, lat: 36.779383 deg, lon: -121.859725 deg, deltaT: 6.052031 s, deltaX: -1.889477 m, approachRate: -0.312205 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.96 m. 9.85 m.RhZh ProNav: ac range: 9.846462 m, nav range: 7.189711 m, bearing: 322.906068 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 313.504208 deg, new cmd heading: 313.066670 deg. Bh|HeadingCmd: 5.464044 target range: 9.846462 and range: 8.00 m.hsٮ@h*h"h h2Acoustic response timeoutgfffHBdddjd @Zd5?!E] E]EYEY"E]:*E]Ǚ:VEYZEYam@am@am@am@颽BɢO) i)Di i5=Q=}<==I=sٮ@I9A@AAB>BCBIBVBB =BB~DBm;BK+EIy I ) fA DDAT read: Rx Time:05:37:39.0801  TRx dataTimestamp_ set to:1761543460.441846 PDAT read: Bearing 145.6, -2.2 (Local)  ~Local bearing/azimuth received: Bearing 145.6, -2.2 (Local)  DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4  DAT read: 05:37:39.0801 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.00,-1.547, 2.941,-1.467,-1.591, PHS= 0.146,-1.706, 0.080, RAW= 148.2, 16.0, CAL= 148.3, 17.8, ROT= 1.7, -17.8  Ygot valid direction response: 05:37:39.0801 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.00,-1.547, 2.941,-1.467,-1.591, PHS= 0.146,-1.706, 0.080, RAW= 148.2, 16.0, CAL= 148.3, 17.8, ROT= 1.7, -17.8 5 R#Rx 1: Read range and direction messages.= \direction in FSK: [0.951710,0.028246,0.305695]= Fpublishing direction and range infoy  k8it?zZ]?ќ?Y A ) 7I >i 5^ڿ ף= ~%@ Q @Q  @Q @U "2@Q %@ ) ) #XI 9Y=Fy[EE>Q 5z5'?Q 9z5S):BYy!3Q I@DI;iq;E=z5y Bɮ AEi9i=4GI?AJi=ARi=Aji=DU@b= H@me ?IJ@R=k8it?zZ]?ќ?Zi=<bi9j=y@ VC7 k @Z=gv?`=(/8?2i=i:i=@"i=rX?*i= Bi=Bi9i=ۿi=Bi=@i=O@ addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.505012 s, deltaX: 0.100000 m, approachRate: 0.198016 m/s, rangeRepo size: 4  Added new target pos. range: 8.056527 m, bearing: 324.675615 deg, lat: 36.779383 deg, lon: -121.859727 deg, deltaT: 6.557043 s, deltaX: -1.789935 m, approachRate: -0.272979 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.06 m. 9.85 m.RhZh  ProNav: ac range: 9.846462 m, nav range: 6.875357 m, bearing: 323.043254 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 313.066666 deg, new cmd heading: 312.426387 deg. Bh |HeadingCmd: 5.452869 target range: 9.846462 and range: 8.10 m.h}@h*h"h hgf9f9f9dAdAdAjdE@33 @ZdM=?颕BɢxMԹ) `i)B+iE iT`=I}@IDDAT read: Rx Time:05:37:39.5798 TRx dataTimestamp_ set to:1761543460.944839PDAT read: Bearing 146.7, -2.2 (Local) %~Local bearing/azimuth received: Bearing 146.7, -2.2 (Local) 5DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4 UDAT read: 05:37:39.5798 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 507,-0.35,-2.660, 1.834,-2.600,-2.668, PHS= 0.109,-1.737, 0.024, RAW= 147.6, 17.4, CAL= 147.8, 19.3, ROT= 2.2, -19.3 eYgot valid direction response: 05:37:39.5798 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 507,-0.35,-2.660, 1.834,-2.600,-2.668, PHS= 0.109,-1.737, 0.024, RAW= 147.6, 17.4, CAL= 147.8, 19.3, ROT= 2.2, -19.3 eR#Rx 1: Read range and direction messages.m\direction in FSK: [0.943105,0.036230,0.330514]mFpublishing direction and range infoy #)-?6@̌? 3%'?Yf@ )Id;=iV޿<$@|>%@ iw>)nF=IiwV ?X?l6i.? <2>)ܛInF=iiw 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.e 9 ?@  @ @ 0@  I^AA>A?2Acoustic response timeoutE] E]E]%EY"E]:*E]:VE] 4ZEYa}@a}@a}@a}@AiyIIOM TR,PI?ABǪ@B±@B˻ٱB coBZ>BXBZIBZBBZ =BXBXBZ6m;BZ]+E jAHRS rotation from veh to nav: [[0.746377,0.648476,0.149666],[-0.665494,0.725133,0.176916],[0.006198,-0.231649,0.972780]]BH`R?P?`D(?KJ4? 3?.cy?Ϳ !?iBǪ@IB-kb;BCYrByrIiMb@Mb@Mb@ 9gfffff?~jt~jtxY3?yĻtA@ A)AY3AbDVDNy%=ٔ (Q->9Y=Fy[E,E>Q 5z5?Q 9z5Y)YI?Q E:yACQ I@"DI:i:Bz5y ɮ  A ii>x )IHN?e]?PFt4? g>)2 Ii2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.i> Y @Y  @Y @] /@Y A M 2Acoustic response timeout^A 4=E  E E 'E "E :*E :VE '4ZE BE <Xb;2CYBByBI DDbDNVDNyV밼%V*=ٔVw8Q-V>9XYX=ZFyZ[E^ME^>`Q 5fz5bL?Q 9fz5b^)b;BYdyfEQ If@b+DIbl:ib:bQFz5ynBɮn!AliIiMV\I?AJiIRiIjiMC@bM@z\@A};? Ѧ(@@RM #)-?6@̌? 3%'?ZiIbiIjMIl@m Da @ZM]6 x?֔? ~?2iM:iM#@"iM^?*iMABiIiIiMiMDžBiM@iMv@ addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.503973 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 7.658752 m, bearing: 324.552115 deg, lat: 36.779383 deg, lon: -121.859730 deg, deltaT: 7.564009 s, deltaX: -2.187710 m, approachRate: -0.289226 m/s, posRepo size: 4 jhbh zIgnoring new targets. Set target to previous: 7.66 m. 9.85 m.RhZh% ProNav: ac range: 9.846462 m, nav range: 6.284561 m, bearing: 323.702979 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 311.865372 deg, new cmd heading: 311.348397 deg. Bh!=|HeadingCmd: 5.434055 target range: 9.846462 and range: 7.70 m.h=@h9*hA"hA hAgififqfqdqdqdqjdyZd} ?%DDAT read: Rx Time:05:37:40.5795 -TRx dataTimestamp_ set to:1761543461.9529045PDAT read: Bearing 146.6, -1.3 (Local) =~Local bearing/azimuth received: Bearing 146.6, -1.3 (Local) MDAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 mDAT read: 05:37:40.5795 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.46,-0.656,-2.483,-0.632,-0.658, PHS= 0.104,-1.780,-0.018, RAW= 146.7, 18.2, CAL= 146.7, 20.0, ROT= 3.3, -20.0 uYgot valid direction response: 05:37:40.5795 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.46,-0.656,-2.483,-0.632,-0.658, PHS= 0.104,-1.780,-0.018, RAW= 146.7, 18.2, CAL= 146.7, 20.0, ROT= 3.3, -20.0 }R#Rx 1: Read range and direction messages.}\direction in FSK: [0.938134,0.054092,0.342020]Fpublishing direction and range infoy)-o~B2?I?Kj?Y-f@)))) ))-8I-=i- 㿉-t-#@->-#@ -¸>)-k=I-¸))颕Bɢ k) i)-޶顡i5i`Y</=I@I-K +?)-DI-k=i-¸))2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. !!@ @@/@hAƈ9hAYxA! ^A5 "=Y  2Acoustic response timeoutEu  Eq Eu (Eq "Eu %;*Eq VEu c44ZEq a @a @a @a @AaIIO>'dR,mI?AHBLALBR >BRCBRIBRBBR =BPBR}DBRim;BRp+EBmCBmCBiBm =Bm =Cm5YnBynIiMb@Mb@Mb@ 9On?V-~jt?Y?yD<A@ A)AAYA ;bD VD2yӟ%=ٔQ->9Y = Fy  [E E>Q 5z5Nʜ?Q 9%z5qd)ABY%?Q E%:y%GQ I%@5DI:i:Jz5y5Bɮ5 !A1iia|I?AJi)@Ri)@jiL@bR#̲u@?՚'@Ro~B2?I?Kj?Zik=bi¸j b@żna j@Z ?YĚȦ?2ius:i@"i衞?*iBiBi衞?iii@iM@} addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.504092 s, deltaX: -0.500000 m, approachRate: -0.991882 m/s, rangeRepo size: 4  Added new target pos. range: 7.161258 m, bearing: 325.794880 deg, lat: 36.779384 deg, lon: -121.859731 deg, deltaT: 8.068101 s, deltaX: -2.685205 m, approachRate: -0.332817 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.16 m. 9.85 m.RhZh ProNav: ac range: 9.846462 m, nav range: 5.970973 m, bearing: 324.146126 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 311.348409 deg, new cmd heading: 310.820125 deg. Bh|HeadingCmd: 5.424835 target range: 9.846462 and range: 7.20 m.h?@h*h"h hgfffGBdddjd@ZdC?uBɢuYq)y }niy)}~yyi}Li[ă=I?@IA@ @@@DDAT read: Rx Time:05:37:41.0794 TRx dataTimestamp_ set to:1761543462.457822PDAT read: Bearing 144.4, 0.2 (Local) ~Local bearing/azimuth received: Bearing 144.4, 0.2 (Local) DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.5 DAT read: 05:37:41.0794 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.09,-1.305, 3.105,-1.312,-1.380, PHS= 0.177,-1.753, 0.024, RAW= 145.9, 16.5, CAL= 145.7, 18.0, ROT= 4.3, -18.0  Ygot valid direction response: 05:37:41.0794 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.09,-1.305, 3.105,-1.312,-1.380, PHS= 0.177,-1.753, 0.024, RAW= 145.9, 16.5, CAL= 145.7, 18.0, ROT= 4.3, -18.0  R#Rx 1: Read range and direction messages.\direction in FSK: [0.948379,0.071309,0.309017]Fpublishing direction and range infoyY?nNA?;[@?Y3@ )7I}?5>iNb࿉<"@r>"@ |٠>)`=I|٠˩G"Ԛ?頹FL?yLN? >)I`=i|٠52Acoustic response timeout5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^AE ~E=AA zAE gA Aq Iy I O >MjR,4I?A2ߝ@2@2_Pٱ2,m :AHRS rotation from veh to nav: [[0.721638,0.675847,0.149901],[-0.692154,0.700413,0.174199],[0.012739,-0.229463,0.973234]]2H??/?&i?#L?? _Ϳ$?i2ߝ@I2*b;2CYRByRIbDZVDZNyf=%fa=ٔjiQ-j>9lYl=rFyr#[EvsEz>2Acoustic response timeoutaE EE'E"El;*E:VE'4ZEBEYF?-u@RY?nNA?;[@?Zi`=bi|٠j[/u@!*@8xY@ZKA?k,~KɷD?2iy:i@"i꧞?*iBi"BirX?i iBi@i?>@m addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.504918 s, deltaX: -0.100000 m, approachRate: -0.198052 m/s, rangeRepo size: 4  Added new target pos. range: 7.061796 m, bearing: 324.643463 deg, lat: 36.779384 deg, lon: -121.859731 deg, deltaT: 8.573019 s, deltaX: -2.784667 m, approachRate: -0.324817 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.06 m. 9.85 m.RhZh ProNav: ac range: 9.846462 m, nav range: 5.733180 m, bearing: 324.582586 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 310.820134 deg, new cmd heading: 310.372789 deg. Bh|HeadingCmd: 5.417027 target range: 9.846462 and range: 7.10 m.hIX@h*h"h hgff f d d djd`ff@Zd@m?]BɢeDZt)a eh ԉi)JT顉i7i]=IIX@I=?@9 @A@E0@A@I@I^A%zA=ԹDDAT read: Rx Time:05:37:41.5791 TRx dataTimestamp_ set to:1761543462.966443PDAT read: Bearing 144.7, -0.4 (Local) ~Local bearing/azimuth received: Bearing 144.7, -0.4 (Local)  DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.5 5 DAT read: 05:37:41.5791 LVL= 32752, 31729, 32754, 32755, AGC= 51, IDX= 499, 0.14,-2.639, 1.735,-2.634,-2.682, PHS= 0.145,-1.821, 0.004, RAW= 146.3, 17.3, CAL= 146.2, 19.0, ROT= 3.8, -19.0 = Ygot valid direction response: 05:37:41.5791 LVL= 32752, 31729, 32754, 32755, AGC= 51, IDX= 499, 0.14,-2.639, 1.735,-2.634,-2.682, PHS= 0.145,-1.821, 0.004, RAW= 146.3, 17.3, CAL= 146.2, 19.0, ROT= 3.8, -19.0 E R#Rx 1: Read range and direction messages.M \direction in FSK: [0.943440,0.062663,0.325568]M Fpublishing direction and range infoyI0? ?`FI?Y3@{ )3Iz>i鿉o;.k#@#>N#@ ɩ>)ԇ=IɩMjc?~?] Ҳ? %>)zIԇ=iɩ 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A I I O > 5qR,I?A2T@2O@2mٱ2Zl :AHRS rotation from veh to nav: [[0.715419,0.682469,0.149707],[-0.698545,0.694198,0.173563],[0.014525,-0.228747,0.973377]]2H??)?zZ6?S7?y?GͿ`%?i2T@I2Hb;0YNByNIIP)RR=iMb@Mb@Mb@ 91Zd?y&1Q?Y"?y`eu< A@ )XAYAbDVDܲy$=%9=ٔLQ->9Y=Fy([E%E%>)Q 5Uz5-朊?Q 9Uz5-m)-LBYU9?Q E]:y]QJQ I]@-DDI-;i-u;- Rz5yaɮe) Aaii4ڽI?AJi@Ri@ji@bC@UHS?x@RI0? ?`FI?Ziԇ=biɩjز+ @Q[ %@Zm}N׆?ȏ|b=?2ij:i@"i#䎞?*i)g"Bi*Bi衞?iAiBi@i@ addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.508621 s, deltaX: -0.500000 m, approachRate: -0.983050 m/s, rangeRepo size: 4 % Added new target pos. range: 6.564486 m, bearing: 323.894371 deg, lat: 36.779384 deg, lon: -121.859733 deg, deltaT: 9.081640 s, deltaX: -3.281976 m, approachRate: -0.361386 m/s, posRepo size: 4 jh!bh!MzIgnoring new targets. Set target to previous: 6.56 m. 9.85 m.RhQZhQe ProNav: ac range: 9.846462 m, nav range: 5.492387 m, bearing: 325.019623 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 310.372784 deg, new cmd heading: 309.970935 deg. Bhae|HeadingCmd: 5.410013 target range: 9.846462 and range: 6.60 m.he@hi*h"h hgfffBdddjd`ff@ZdT?%DDAT read: Rx Time:05:37:42.0791 5TRx dataTimestamp_ set to:1761543463.215440=2Acoustic response timeoutE EE%E"E=;*E~:VE 4ZEa@a@a@a@颍 Bɢ+n) i)¼i i3_7<=I@IB>BCBIBBB =BB~DBm;B+E@ @@0@A ^A = PDAT read: Bearing 148.8, -4.7 (Local)  ~Local bearing/azimuth received: Bearing 148.8, -4.7 (Local)  DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.5  DAT read: 05:37:42.0791 LVL= 32752, 28465, 32754, 32755, AGC= 50, IDX= 498, 0.46, 2.174, 0.464, 2.249, 2.255, PHS= 0.020,-1.747,-0.050, RAW= 148.0, 19.9, CAL= 149.6, 24.5, ROT= 0.4, -24.5  Ygot valid direction response: 05:37:42.0791 LVL= 32752, 28465, 32754, 32755, AGC= 50, IDX= 498, 0.46, 2.174, 0.464, 2.249, 2.255, PHS= 0.020,-1.747,-0.050, RAW= 148.0, 19.9, CAL= 149.6, 24.5, ROT= 0.4, -24.5  R#Rx 1: Read range and direction messages. \direction in FSK: [0.909939,0.006353,0.414693] Fpublishing direction and range infoy  ; 8?Cz?~U?Y @ 1o ) 2I ף '@ !>) ;I !ھ \M[?1X,:>?d? [+>) I ;i !ھ 5 2Acoustic response timeout= Querying Benthos address 50 with 120 pings in terminal homing one-way mode.iA.AIIO>;xR,h!I?A @@ ٱm 5AHRS rotation from veh to nav: [[0.709145,0.688814,0.150491],[-0.704872,0.687664,0.173993],[0.016362,-0.229464,0.973180]]HQ? ?MC?`P`W?@iE?`?_ͿI$?i @I(b;CYEByEIQQbD]VD]k2ym=%m/=ٔ Q->9 ?Y ?=Fy-[EE>Q 5z5?Q 9-z5s)SBY)y-LQ I-@NDIma?SYr@Ru; 8?Cz?~U?Ziu;biu!ھjuAj@-17 W@Zuw7?91g⿚U$&?2iui:iuP@"iu{{?*iuZBiuvBiqiu)g"iqiu.@iu׵@ addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.497555 s, deltaX: -0.100000 m, approachRate: -0.200983 m/s, rangeRepo size: 4  Added new target pos. range: 6.465131 m, bearing: 321.575570 deg, lat: 36.779384 deg, lon: -121.859733 deg, deltaT: 9.579195 s, deltaX: -3.381331 m, approachRate: -0.352987 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.47 m. 9.85 m.RhZh ProNav: ac range: 9.846462 m, nav range: 5.211882 m, bearing: 325.609004 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 309.970923 deg, new cmd heading: 309.483649 deg. Bh|HeadingCmd: 5.401509 target range: 9.846462 and range: 6.50 m.h)٬@h*h"h hgfffdddjd@Zd/? Bɢvk)  i ) :Ƽ  i iaI)٬@IDDAT read: Rx Time:05:37:42.5788 TRx dataTimestamp_ set to:1761543463.722085PDAT read: Bearing 159.5, -13.2 (Local) D!D!E= E=E=*E9"E=:*E=:VE=(N4ZE9BE=6[~R,|&I?ADAT read: 05:37:42.5788 LVL= 32752, 26161, 24386, 32755, AGC= 49, IDX= 496,-0.29,-2.659, 2.476,-2.435,-2.383, PHS=-0.175,-1.380,-0.096, RAW= 153.1, 25.1, CAL= 157.1, 36.9, ROT= 352.9, -36.9 Ygot valid direction response: 05:37:42.5788 LVL= 32752, 26161, 24386, 32755, AGC= 49, IDX= 496,-0.29,-2.659, 2.476,-2.435,-2.383, PHS=-0.175,-1.380,-0.096, RAW= 153.1, 25.1, CAL= 157.1, 36.9, ROT= 352.9, -36.9 X#Rx 1: Read direction message, but no range.*^direction in FSK: [0.793553,-0.098842,0.600420]yqu1sd?hZM 56?qqu1fuB_ q)u1Iu333iuףuĽu+@uK>u~{/@ u$?)u@Iu$qu}{9"?Y"?=Fy1[EʮE>Q 5z5?Q 9z5w)ZBY?Q E:y GQ I@VDI6;i; Zz5y!ɮ%jA!ii6I?AJiU@RiU@jibn@b4e@My @R1sd?hZM 56?Zibi$ja @$Df 9B@ZNJ?*)P?2i+P:id@"iz5?*iBiՈBi#䎞?iii@id@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.258087 s, deltaX: -0.300000 m, approachRate: -1.162399 m/s, rangeRepo size: 4  Added new target pos. range: 6.166740 m, bearing: 317.689316 deg, lat: 36.779382 deg, lon: -121.859733 deg, deltaT: 9.837282 s, deltaX: -3.679722 m, approachRate: -0.374059 m/s, posRepo size: 4 jhbh-zIgnoring new targets. Set target to previous: 6.17 m. 9.85 m.Rh1Zh1= ProNav: ac range: 9.846462 m, nav range: 4.946431 m, bearing: 326.160324 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 309.483658 deg, new cmd heading: 309.020167 deg. BhAe|HeadingCmd: 5.393419 target range: 9.846462 and range: 6.20 m.hm䖬@hi*hi"hi higififqfuBdqdqdyjd}@Zd}@aP? BɢEY) $i)lɼi+b ic<%=I䖬@II))-eA@@ @@1@@>@J>DDAT read: Rx Time:05:37:43.0787 TRx dataTimestamp_ set to:1761543464.2216692Acoustic response timeoutE EE(E"E;*E:VEc44ZEa%@a%@a%@a%@A A AA) B5 >B5 CB5 IB5 BB5 =B1 B5 }DB5 6n;B5 +E^A Gg=A I I O > R,dJ?A(2u@2o@27Iٱ2Kn NAHRS rotation from veh to nav: [[0.696006,0.701701,0.152291],[-0.717760,0.674022,0.174687],[0.019931,-0.230891,0.972775]]2H`E?Ut?B~?@?(\?@h? ڍͿ ?i2u@I2Ua;0YV@ByVI XXbDbVDbyj=%jc=ٔjQ-j>9lYl=nFyn5[Er2˼Er>pQ 5zz5r?Q 9zz5r |)r`BYxyzQIQ I~@r]DIr ;ir ;r/]z5yBɮAE%B*** querying acoustic contact ***i! i!jh)bh)5zIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh=d<Zh=d<E ProNav: ac range: 9.846462 m, nav range: 4.732077 m, bearing: 326.675512 deg, approach rate: -0.630270 m/s, LOS rate: 1.583419 deg/s, cmd heading: 309.020161 deg, new cmd heading: 310.635286 deg. BhMՇ=U|HeadingCmd: 5.421608 target range: 9.846462 and range: 6.20 m.hU}@hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde ?频ɢf) ̾i)J˼顙iiaj=I}@I]DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.5 eX#Rx 2: Read range message, but no direction.yIYM@Imchecking for new query: numPingsReceived=2, elapsed TxPingTime=61.749725A@A @I@M/@IԁԱ^A$=A I  DDAT read: Rx Time:05:37:43.5784  TRx dataTimestamp_ set to:1761543464.724971 checking for new query: numPingsReceived=2, elapsed TxPingTime=62.0004399 IA Oe >bEʀ'4jE(4rEַ/E}  E} Ey Ey "E} l;*E} v:VEy ZEy BE} YF9xYx=zFyz9[EzRE~>YQ 5ez5]#?Q 9ez5]π)]gBYaymKQ Im@]eDI]:i]R:]`z5yqɮuRAq addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.749321 s, deltaX: -0.200000 m, approachRate: -0.266908 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh<Zh< ProNav: ac range: 9.846462 m, nav range: 4.484806 m, bearing: 327.362359 deg, approach rate: -0.593581 m/s, LOS rate: 1.739656 deg/s, cmd heading: 310.635282 deg, new cmd heading: 312.808336 deg. Bh==|HeadingCmd: 5.459536 target range: 9.846462 and range: 6.00 m.h@h*h"h hgfffdddjd@Zd? Bɢ j|L)  i)"μiTidY/IB=I%@I!@ @@/@^A=DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.5 X#Rx 3: Read range message, but no direction.yyY}3@ychecking for new query: numPingsReceived=3, elapsed TxPingTime=62.2655269A9IAIYOew>a R,MJ?A6m@6?@6mƼٱ6q6t >AHRS rotation from veh to nav: [[0.683254,0.713242,0.156365],[-0.729779,0.659934,0.178636],[0.024220,-0.236165,0.971411]]6H8? ?`?XZ-? ?͘?:ο?i6m@I67a;6Cb*DAT read: user:487> bDAT read: 120 f%3=ٔQ->9Y=Fy>[EהE>Q 5z5X3?Q 9z5$)kBY ?Q E:y;Q I@mDI ;i;dz5y%BɮAEBBBIB8BB =BBBNn;B+E addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.506715 s, deltaX: -0.400000 m, approachRate: -0.789399 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh<Zh< ProNav: ac range: 9.846462 m, nav range: 4.241587 m, bearing: 327.897190 deg, approach rate: -0.525150 m/s, LOS rate: 1.220989 deg/s, cmd heading: 312.808348 deg, new cmd heading: 314.504323 deg. Bh}Q=|HeadingCmd: 5.489136 target range: 9.846462 and range: 5.60 m.h@h*h"h hgfffBddd jd `ff@Zd `a?]Bɢ](8)Y ]9iY)eмaaieiiFK잻I@I}?@y @y@}/@@@ԑ}DAT read: Ok :unknown deviceResponse_: Ok *DAT read: user:488> BDAT read: Tx time:05:37:44.5226 $Ping request sent.A >A .AI I) O= >R,|hJ?A2㡧@2@2\ڼٱ2t :AHRS rotation from veh to nav: [[0.677172,0.719080,0.156082],[-0.735341,0.653636,0.178981],[0.026681,-0.235974,0.971393]]2Hd??@~???7R? g4ο?i2㡧@I2a;0YBByBZIIFp<)F4<bDNVDN!yR->%V\=ٔVJٻQ-V>9Z ?YZ ?X=^Fy^A[E^E^>`Q 5fz5b??Q 9fz5b)boBYhyj7=Q Ij@btDIb;ib;bgz5ylɮnApjhbh zIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh <Zh<% ProNav: ac range: 9.846462 m, nav range: 4.044292 m, bearing: 328.402828 deg, approach rate: -0.555960 m/s, LOS rate: 1.494332 deg/s, cmd heading: 314.504311 deg, new cmd heading: 316.094796 deg. Bh%1=-|HeadingCmd: 5.516895 target range: 9.846462 and range: 5.60 m.h-g@h)*h)"h) h)g)fffdddjdZd7?UBɢ]vr5)Y ]/iY)eҼaaie3iuREquiIug@Iychecking for new query: numPingsReceived=3, elapsed TxPingTime=0.247748Eu EuEqEq"EuO;*Eu:VEqZEqBEu'YI  checking for new query: numPingsReceived=3, elapsed TxPingTime=0.501592R,"J?A2^@2Y@2@ٱ2r :AHRS rotation from veh to nav: [[0.671081,0.725040,0.154817],[-0.740798,0.647462,0.178917],[0.029484,-0.234756,0.971607]]2H ~y?3??@??@)1?z οg?i2^@I2a;0YBByBiIi Mb@Mb@Mb@     9 Gz?333333?:v?Y p>y = T< l!A +@ AA) nA Y  A%@A!bD-VD-ky=f=%=B=ٔ=ٻQ-E>9E"?YE"?=EFyEF[EMEM>QQ 5]z5UM?Q 9]z5U2)UqBY]5?Q Ee:ye.Q Ie@UzDIU ;iUC ;Ukz5yiɮmRAijhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.RhH<ZhH<- ProNav: ac range: 9.846462 m, nav range: 3.835264 m, bearing: 328.814406 deg, approach rate: -0.496126 m/s, LOS rate: 1.030110 deg/s, cmd heading: 316.094789 deg, new cmd heading: 317.396583 deg. Bh-0=U|HeadingCmd: 5.539616 target range: 9.846462 and range: 5.60 m.hUD@hQ*hQ"hQ hQgYfYfYf]?BdadadajdaZdm`}B1B5@IB5zBB1B1B5~DB5@n;B5+EAIIO>ԙ ¦R,d[J?A2%@2@2ٱ2No :AHRS rotation from veh to nav: [[0.665789,0.730438,0.152265],[-0.745458,0.642461,0.177582],[0.031888,-0.231740,0.972255]]2H$N?`_?`n}? ??@S?঩Ϳ?i2%@I2a;2CY^BybIbDjVDj0yEC>%MJ=ٔM»Q-M>9Qechecking for new query: numPingsReceived=3, elapsed TxPingTime=1.003138Yi=uFyuJ[EyE>Q 5z5[?Q 9z5)sBYy0Q I@DIcl;iP];Aoz5y+BɮGAEB*** querying acoustic contact ***i ijh bh zIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rhǩ<Zhǩ<% ProNav: ac range: 9.846462 m, nav range: 3.631204 m, bearing: 329.285465 deg, approach rate: -0.487037 m/s, LOS rate: 1.187463 deg/s, cmd heading: 317.396596 deg, new cmd heading: 318.888835 deg. Bh-K=-|HeadingCmd: 5.565660 target range: 9.846462 and range: 5.60 m.h-@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdEܞ?uBɢ,) .i)֟ԼiEi7I@I?@ @@0@@=@4=Ա^Aerg:AizAmdAA.AIIO> checking for new query: numPingsReceived=3, elapsed TxPingTime=1.254831E  E E $E "E ;*E :VE 4ZE BE 7C%O=ٔQ- >9  ?Y  ?= Fy N[EtUE>Q 5%z5g?Q 9%z5)vBY!y-1Q I-@DI:i:rz5y56Bɮ5A5ƦEjhYbhYezIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rhe@<Zhe@<u ProNav: ac range: 9.846462 m, nav range: 3.439296 m, bearing: 329.796676 deg, approach rate: -0.502972 m/s, LOS rate: 1.414578 deg/s, cmd heading: 318.888828 deg, new cmd heading: 320.507585 deg. Bhur=}|HeadingCmd: 5.593913 target range: 9.846462 and range: 5.60 m.h}U@h*h"h hgfffdddjdZdླྀ?Bɢ) L̽i)b?ռi|Li+t0GIU@I@ @@m4@checking for new query: numPingsReceived=3, elapsed TxPingTime=1.510349G (hA!U9U(hAYUfA^A31A ؟AI I O >Y  checking for new query: numPingsReceived=3, elapsed TxPingTime=1.758675<ճR,J?AE& E&E&&E$"E&:*E&Z:VE&4ZE$a*@a*@a*@a*@>@>@>T ٱ>2i FAHRS rotation from veh to nav: [[0.660714,0.736025,0.147395],[-0.749841,0.638113,0.174787],[0.034593,-0.226007,0.973511]]>H$?`??lk?l_?"?̿'?i>@I>Xa;>CYNByNIiMb@Mb@Mb@ 9Q?J +?y&1|?Y\>y=`;(A@ A) AY -p<)bD5VD5ܲyEٯ=%EF=ٔM Q-M>9M"?YM"?=UFyUR[EUほEU>B>BCBIBBB =BBBPn;B+EBBBBB =C5Q 5z5t?Q 9 z5)Y _>Q E :y  Q I @DI:i:pvz51y==Bɮ=SA=ǦEjhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh:<Zh:< ProNav: ac range: 9.846462 m, nav range: 3.259393 m, bearing: 330.070437 deg, approach rate: -0.406944 m/s, LOS rate: 0.653427 deg/s, cmd heading: 320.507583 deg, new cmd heading: 321.374126 deg. Bh8<|HeadingCmd: 5.609036 target range: 9.846462 and range: 5.60 m.h:}@h*h"h hgfffBdddjdZd@MBɢMM)m uiq)ueռqqiui}0u.}O<}LHI}:}@Ia@ @@:2@^A}echecking for new query: numPingsReceived=3, elapsed TxPingTime=2.011504ԉAIIO>Թ R,"J?A2?@2@2pٱ24` :AHRS rotation from veh to nav: [[0.661539,0.736692,0.140184],[-0.749093,0.640441,0.169395],[0.035013,-0.217073,0.975527]]2H`S+???@~~??,?`˿ 7?i2?@I2‚a;2CYBByBIbDJVDJfyR=%RU=ٔVZQ-V>9TYT=ZFyZV[EZ>;EZ>\Q 5bz5^~?Q 9bz5^)^uBYdyfQ If@^DI^:i^I:^yz5yhɮnAljh|bhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh FS<Zh FS< ProNav: ac range: 9.846462 m, nav range: 3.108554 m, bearing: 330.320433 deg, approach rate: -0.425164 m/s, LOS rate: 0.738842 deg/s, cmd heading: 321.374115 deg, new cmd heading: 322.160443 deg. Bh<%|HeadingCmd: 5.622760 target range: 9.846462 and range: 5.60 m.h%@h!*h!"h! h!g)f)f)f)d)d1d1jd1Zd=ּ@uBɢuG)y },iy)@ռ顁ii);I@II]eA)Yԉchecking for new query: numPingsReceived=3, elapsed TxPingTime=2.263348E] E]E]$EY"E]:*E]]t:VE]4ZEYBE]F- DDAT read: Rx Time:05:37:46.6567  TRx dataTimestamp_ set to:1761543468.004755 DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.3  X#Rx 4: Read range message, but no direction.y Y 3s@  checking for new query: numPingsReceived=4, elapsed TxPingTime=2.530940 R,K?AR@R^@RgrٱRR ^AHRS rotation from veh to nav: [[0.664305,0.736108,0.129781],[-0.746641,0.645363,0.161349],[0.035014,-0.204085,0.978327]]RHA?`3??|Ц??\?sʿ tN?iR@IR9a;PYrByr IIv>)v=iMb@Mb@Mb@ 9Mb?V-?y=tAA@ nA)AY AbDVD02yI>%9=ٔZQ->9Y=FyZ[E1 <E>Q 5z5?Q 9z5Z)qBY>Q E;y7Q I@DI ;i~ ;x}z5yɮA5 addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 3.026634 s, deltaX: -1.800000 m, approachRate: -0.594720 m/s, rangeRepo size: 4 jh1bh1=zIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.RhEY;ZhEY;M ProNav: ac range: 9.846462 m, nav range: 2.935137 m, bearing: 330.447526 deg, approach rate: -0.392764 m/s, LOS rate: 0.304856 deg/s, cmd heading: 322.160434 deg, new cmd heading: 322.564235 deg. BhU8Q<]|HeadingCmd: 5.629808 target range: 9.846462 and range: 3.80 m.h]c'@hY*hY"hY hYgafafafeƂBdididijdm`ff@Zdm?额BɢF|ϼ) @B5CB5IB5BB5 =B1B1B5kn;B5+EIyO>I R,K?A JJ@JE@JeDٱJjC ZAHRS rotation from veh to nav: [[0.669142,0.733676,0.118191],[-0.742323,0.652471,0.152441],[0.034726,-0.189741,0.981220]]JHi?Ez?A?  ?3?@ǡ?`nIȿ@'f?iJJ@IJa;JCYf*Byf IvAAv@AbD~VD~y=%W=UDDAT read: Rx Time:05:37:47.1567 UTRx dataTimestamp_ set to:1761543468.505881]PDAT read: Bearing 225.7, -58.8 (Local) e~Local bearing/azimuth received: Bearing 225.7, -58.8 (Local) uDAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.3 DAT read: 05:37:47.1567 LVL= 17696, 14241, 9330, 25555, AGC= 43, IDX= 512,-0.18, 1.982, 2.853,-2.878,-2.831, PHS=-1.368,-0.554,-0.091, RAW= 249.0, 32.4, CAL= 252.3, 41.5, ROT= 257.7, -41.5 Ygot valid direction response: 05:37:47.1567 LVL= 17696, 14241, 9330, 25555, AGC= 43, IDX= 512,-0.18, 1.982, 2.853,-2.878,-2.831, PHS=-1.368,-0.554,-0.091, RAW= 249.0, 32.4, CAL= 252.3, 41.5, ROT= 257.7, -41.5 R#Rx 5: Read range and direction messages.`direction in FSK: [-0.159550,-0.731764,0.662620]Fpublishing direction and range infoyQUC$lĿ()jЃ.4?YQQU EU7Ur$ Uc)U+IUiU U5^U^@U?U1@ U}l9?)UE@IU}l9QQUPlΏ? E*? U@)UIUWiU}l9QQchecking for new query: numPingsReceived=5, elapsed TxPingTime=3.043899ٔ6:Q->9Y=Fy%_[E%݀<E%>)Q 55z5-?Q 9Uz5-)-mBYYy]A Q I]@-DI-;i-;-z5yeCBɮeAaiQiU[` K?AJiUq@RiUq@jiUvd@bULaL 4>A @RUC$lĿ()jЃ.4?ZiUWbiU}l9jU}OeI4-@ZUz7 6=3+пRF?2iUy:iU"iUZP✊?*iU9BiUBiU{{?iQiUvBiUS@iU@q addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.501126 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.779594 m, bearing: 204.531329 deg, lat: 36.779380 deg, lon: -121.859733 deg, deltaT: 14.621078 s, deltaX: -6.066868 m, approachRate: -0.414940 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 3.78 m. 9.85 m.RhZhĻ ProNav: ac range: 9.846462 m, nav range: 2.773055 m, bearing: 330.554994 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 322.564235 deg, new cmd heading: 322.117244 deg. Bh\l|HeadingCmd: 5.622006 target range: 9.846462 and range: 3.80 m.h-z@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=[z?BɢF"ļ) H=i)*ռiiC)2<(Iz@Iԙchecking for new query: numPingsReceived=5, elapsed TxPingTime=3.271338 ?BɺEu  Eu Eu )Eq "Eu :*Eu ~:VEu FA4ZEq BEu >8@ C> ^A`߽A eAzA fA)DDAT read: Rx Time:05:37:47.6565 TRx dataTimestamp_ set to:1761543469.014971PDAT read: Bearing 267.8, -15.8 (Local) ~Local bearing/azimuth received: Bearing 267.8, -15.8 (Local) UDAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.3 A.AIIO?%R,_DK?A&DAT read: 05:37:47.6565 LVL= 26048, 23953, 14994, 24371, AGC= 47, IDX= 510, 0.06,-1.479, 0.583,-0.953, 0.399, PHS=-1.777, 0.229,-1.396, RAW= 319.7, 29.4, CAL= 319.7, 34.7, ROT= 190.3, -34.7 *Ygot valid direction response: 05:37:47.6565 LVL= 26048, 23953, 14994, 24371, AGC= 47, IDX= 510, 0.06,-1.479, 0.583,-0.953, 0.399, PHS=-1.777, 0.229,-1.396, RAW= 319.7, 29.4, CAL= 319.7, 34.7, ROT= 190.3, -34.7 *R#Rx 6: Read range and direction messages.P.`direction in FSK: [-0.808895,-0.147001,0.569280]nFpublishing direction and range infoy~8x¿0}7?Y`@e]: 3_)/Iti~j>!ލ@G\?ލ@ ?)0T@I  Ăފ=jDҿq? 3)zI=i ~checking for new query: numPingsReceived=6, elapsed TxPingTime=3.621473mD@m@miٱm~ AHRS rotation from veh to nav: [[0.685463,0.723083,0.085393],[-0.727346,0.674656,0.125723],[0.033297,-0.148289,0.988383]]mH O? #?Qܵ?kFɖ? ?`U ? ¿@֠?imD@ImW`;mCY3By$ I i]Mb@Mb@Mb@YYYY Y9](\?p= ף?{GzY]>y]>]ף]GA]f@ Y)]AYY](AbDuVDuβy<%<ٔ!;Q->9 ?Y ?=Fye[E =E>Q 5z5?Q 9z5c)dBY >Q E ;y Q I @DIdgBCB! IB1BB =BCDBzDBn;B+E! =  @@  @ @ /@ ] DDAT read: Rx Time:05:37:48.1564 e TRx dataTimestamp_ set to:1761543469.512919u DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.2 } X#Rx 7: Read range message, but no direction.yY Y] 3S@Y  checking for new query: numPingsReceived=7, elapsed TxPingTime=4.032286ԑ ԡ^A=Am؟AIyIO$?_R,[nK?AJ@y@Jt@JiٱJ' RAHRS rotation from veh to nav: [[0.696157,0.714794,0.066593],[-0.717173,0.688318,0.109003],[0.032078,-0.123642,0.991808]]JHF? ?@B ??@?yl??iJ@y@IJǬ`;HYZ>ByZ2 I b;b<bDfVDfyn=%n=ٔn;Q-r>9r"?Yr"?=rFyrk[Ev<Ev>xQ 5~z5echecking for new query: numPingsReceived=7, elapsed TxPingTime=4.278994z?Q 9}z5z)z]BYyy}Q I}@zDIzLKR,K?A2@2@2{ٱ2nӽ :AHRS rotation from veh to nav: [[0.707639,0.704705,0.051355],[-0.705912,0.701962,0.094538],[0.030572,-0.103151,0.994196]]2H? ?5K?Ֆxv?3? 9N?hs?i2@I2`;2CYB6ByB' Ii Mb@Mb@Mb@     9 m?Zd;?~jtY >y = ļ KA @ XA)  Y AbD%VD%0y5%58=ٔ=^;Q-=>9AYA=EFyEo[EE=EM>IQ 5Uz5MHĝ?Q 9Uz5M)MWBY]ֹ>Q E];y]4Q I]@MDIM" ;iMX ;Mz5yiɮmAi5 addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.506378 s, deltaX: -0.400000 m, approachRate: -0.789923 m/s, rangeRepo size: 4 jh1bhY]BIntercept lockout. Range: 2.90 m.]bTransitioning guidance mode to: INTERCEPT_LOCKOUT:h]@hYha*ha"ha hagafafifmxBdididqjdu@33@Zdu? Bɢ)! %0+=i!)%LԼ!!i%i-15"cBCBA IBJBB =BByDBn;B,E^AAA>!AII1O=>I M DDAT read: Rx Time:05:37:49.1561 U TRx dataTimestamp_ set to:1761543470.520669] PDAT read: Bearing 263.5, -0.8 (Local) ] ~Local bearing/azimuth received: Bearing 263.5, -0.8 (Local) m DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.2  DAT read: 05:37:49.1561 LVL= 20816, 11473, 15474, 28195, AGC= 44, IDX= 507,-0.08,-2.932,-1.783,-2.939,-1.735, PHS=-1.096,-0.003,-1.248, RAW= 336.4, 35.2, CAL= 335.4, 40.5, ROT= 174.6, -40.5  Ygot valid direction response: 05:37:49.1561 LVL= 20816, 11473, 15474, 28195, AGC= 44, IDX= 507,-0.08,-2.932,-1.783,-2.939,-1.735, PHS=-1.096,-0.003,-1.248, RAW= 336.4, 35.2, CAL= 335.4, 40.5, ROT= 174.6, -40.5  R#Rx 9: Read range and direction messages. ^direction in FSK: [-0.757031,0.071560,0.649448] Fpublishing direction and range infoyI M ^â96Q?AG?YI I M PQM ,M r< M #n)M ,IM IiM DM wM @M nF?M R@ M 4?)M C@IM 4I I M Hj X ߿kq? M ` )M +DIM C@iM 4I I  checking for new query: numPingsReceived=9, elapsed TxPingTime=5.050700hR, EK?A f@fЄ@fٱf: nAHRS rotation from veh to nav: [[0.719707,0.693223,0.038267],[-0.693662,0.715654,0.081680],[0.029236,-0.085330,0.995924]]fH?@.? ɗ?{2?`?` ?1ص`?if@If`;fCY$By II%=)p=bDVD02y\%C=ٔeQ;Q->9Y=Fyt[E(=E>Q 5z5ϝ?Q 9z51)RBYyܾQ I@DI:i:Bz5yɮ*AiiRK?AJi8@Ri8@jii @b$wsk?p9I?R^â96Q?AG?ZiC@bi4js%ݴL"? ?%i?Z$޿{-]#?D#BB?2iZ?:i"iެ]?*i]ruBiBiެ]?i9iik?ie@ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.501372 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 2.884167 m, bearing: 126.773243 deg, lat: 36.779349 deg, lon: -121.859723 deg, deltaT: 16.635866 s, deltaX: -6.962295 m, approachRate: -0.418511 m/s, posRepo size: 4 jhQbhQhQhQ*hQ"hQ hYgYfYfYfadadadajdaZdm` ?i"BɢҼ) /;i)GԼi2i-1-\<-yI)I1@ @@00@ԙchecking for new query: numPingsReceived=9, elapsed TxPingTime=5.286961EU EQEQEQ"EU:*EQVEQZEQBEU<R,K?A2@2@2#pٱ2 >AHRS rotation from veh to nav: [[0.731911,0.680826,0.027984],[-0.680840,0.729026,0.070559],[0.027638,-0.070696,0.997115]]2Hk? S? ?p-T?-? M?`]?i2@I2)`;2CYNByRI\dfAAbDnVDnyz3%~Y=ٔ~_;Q-~>9 Y = Fy w[E(@=E>!Q 55z5%yڝ?Q 9=z5%)%MBY9y=ҾQ IE@%DI%Z;i%[;%z5y]OBɮ]A]ɦEjhUDDAT read: Rx Time:05:37:49.6560 ]TRx dataTimestamp_ set to:1761543471.029023PDAT read: Bearing 259.8, -19.5 (Local) ~Local bearing/azimuth received: Bearing 259.8, -19.5 (Local) bhhh*h"h hgfff-DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.2 dadidqjdqZd} s?eDAT read: 05:37:49.6560 LVL= 21888, 21985, 18098, 32755, AGC= 45, IDX= 505, 0.20, 0.829, 2.520, 1.613, 2.791, PHS=-1.860,-0.225,-1.222, RAW= 307.2, 39.3, CAL= 308.6, 44.2, ROT= 201.4, -44.2 mYgot valid direction response: 05:37:49.6560 LVL= 21888, 21985, 18098, 32755, AGC= 45, IDX= 505, 0.20, 0.829, 2.520, 1.613, 2.791, PHS=-1.860,-0.225,-1.222, RAW= 307.2, 39.3, CAL= 308.6, 44.2, ROT= 201.4, -44.2 uT#Rx 10: Read range and direction messages.颽$Bɢ`V) i)Լi*i1<NII`direction in FSK: [-0.667484,-0.261584,0.697165]Fpublishing direction and range infoyY]\忞Cʽп;-O?Y],@Y]U]U]F ])]-I]{i]fff]j]@]/?]Z@ ]|E?)]I`@I]|EYY] #؎n;縿q.DG? ]@)]/I]l(1i]|EYY=checking for new query: numPingsReceived=10, elapsed TxPingTime=5.638394@@ @@0@ ^A| checking for new query: numPingsReceived=10, elapsed TxPingTime=5.790987A I I 9 Eu  Eu Eu #Eq "Eu O:*Eu c:VEu 3ZEq a @a @a @a @O >B >B CB 4 IB @BB =B B {DB n;B +ECkR,K?AY~By~I!iMb@Mb@Mb@ 9^I +?`"?:vYX>y=ԼO A^@ A)+AYAbDVDJyJ%?=ٔQ->9Y=Fy|[EE>Q 5z5杊?Q 9z5h)HBY>Q E ;yݾQ I@DI ;iL ;=z5yɮ5AiiK?AJi+@Ri+@ji;,@bz#ǭ`4lz???R\忞Cʽп;-O?Zil(1bi|EjeCu)?(_ў?ZUEO9修4?-ٹ??2i!W?:in޿"iSnT?*i~MBiąBiSnT?i~MiBi?i;,@= addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.508354 s, deltaX: -0.200000 m, approachRate: -0.393427 m/s, rangeRepo size: 4 M Added new target pos. range: 2.685348 m, bearing: 154.192214 deg, lat: 36.779348 deg, lon: -121.859708 deg, deltaT: 0.508354 s, deltaX: -0.198819 m, approachRate: -0.391104 m/s, posRepo size: 4 jhIbhIhIhI*hQ"hQ hgfff1Bdddjd@Zd ?M&BɢM)Q UmiQ)UFԼQQi] i]1]U]휿]퀳@],>] V@ ] ?)]S@I] YY]x@TԿ? ]P11)]I]?i] YYchecking for new query: numPingsReceived=11, elapsed TxPingTime=6.084152yAIIYIiOu>ԡ ~R,-K?A2/@2*@2ހѼٱ2>QP :AHRS rotation from veh to nav: [[0.754541,0.656102,0.014071],[-0.655755,0.752959,0.055123],[0.025571,-0.050820,0.998380]]2H`2%??xь?<?9?`/?`?i2/@I2`;2CVchecking for new query: numPingsReceived=11, elapsed TxPingTime=6.294921YZBy^I E= E=E='E9"E=D:*E=:VE='4ZE9BE=19Y=Fy[Ei=E>Q 5z5?Q 9z5)CBYyV˾Q I@DIT;i;z5yUBɮIAʦEiiAK?AJiRiji|#@b'Wֹ@ֿS5“?RJw*9k?Zi?bi j;8F?g?ZH7ѯl8?*qAhP?2iZ?:i%"iCHR?*i&BiBiCHR?i&iąBi@i{#@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501571 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.685348 m, bearing: 146.000320 deg, lat: 36.779348 deg, lon: -121.859703 deg, deltaT: 0.501571 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjdZdd?M(BɢMj )I M\iI)UռQQiU"i]1]أ<]n;IYIYԡ=@@9 @9@E\3@A !)}DDAT read: Rx Time:05:37:50.6559 TRx dataTimestamp_ set to:1761543472.037477PDAT read: Bearing 264.4, -7.9 (Local) ~Local bearing/azimuth received: Bearing 264.4, -7.9 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.1 } G hA % ڧ9% hAY% A DAT read: 05:37:50.6559 LVL= 17392, 20657, 32754, 32723, AGC= 53, IDX= 504,-0.06,-1.610,-0.211,-1.308,-0.068, PHS=-1.440,-0.097,-1.283, RAW= 323.9, 38.1, CAL= 323.7, 43.3, ROT= 186.3, -43.3  Ygot valid direction response: 05:37:50.6559 LVL= 17392, 20657, 32754, 32723, AGC= 53, IDX= 504,-0.06,-1.610,-0.211,-1.308,-0.068, PHS=-1.440,-0.097,-1.283, RAW= 323.9, 38.1, CAL= 323.7, 43.3, ROT= 186.3, -43.3  T#Rx 12: Read range and direction messages. `direction in FSK: [-0.723378,-0.079862,0.685818] Fpublishing direction and range infoy@9%PqyNF9?Yf&@CP )5IQiƽX9_@;*?ɴ@ \wA?)_P@I\wA ^A NZeiTF`Կz)? +h.)v5*IVBi\wAe checking for new query: numPingsReceived=12, elapsed TxPingTime=6.646907AI IY Ii O} >WS, L?AR%@R@Rl̼ٱR L=X jAHRS rotation from veh to nav: [[0.764094,0.645016,0.010739],[-0.644623,0.762772,0.051383],[0.024952,-0.046184,0.998621]]RHts?`?b?`h?N? ㌙?v?iR%@IR`;RCYrځByrIeonly read 0 of 1 data item for BIT error. Device response is::TS,00050309261067,35.0, +100,14 ae@ae ae@ae ae@ae ae@ae im4<bDVDy۩%D=ٔ:Q->9Y=Fy[E=E>Q 5z5?Q 9z5)>BQ A+:YQ E:yþQ I@DI:i]>z5yɮAiifL?AJi%@Ri%@ji\ @b^-Vä oʿ5I`?R@9%PqyNF9?ZiVBbi\wAj(:tLM;? 8?ZibGC3?90t?2iؑ?:iſchecking for new query: numPingsReceived=12, elapsed TxPingTime=6.801145"iu}?*irBiRBiSnT?iiBE- E-E-(E)"E-:*E-:VE-c44ZE)aM@aU@aU@aU@ij@i#@% addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.506883 s, deltaX: -0.100000 m, approachRate: -0.197284 m/s, rangeRepo size: 4 AIAM@ABU>BUCBU IBU!BBU =BQBUzDBUXn;BU+EB5CB5CB5ĕCB5 =B5 =C5ʲ6 Added new target pos. range: 2.585891 m, bearing: 143.564298 deg, lat: 36.779348 deg, lon: -121.859703 deg, deltaT: 0.506883 s, deltaX: -0.099458 m, approachRate: -0.196214 m/s, posRepo size: 4 jhTStarting intercept timer at range: 2.60 m.bhhh*h"h hgfffdddjd@Zd@b? *Bɢ  ) i)ּ19i=i=1EE DDAT read: Rx Time:05:37:51.1562 E TRx dataTimestamp_ set to:1761543472.536606U PDAT read: Bearing 207.1, 20.8 (Local) U ~Local bearing/azimuth received: Bearing 207.1, 20.8 (Local) e DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.1  DAT read: 05:37:51.1562 LVL= 26896, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.45, 2.776, 2.161, 2.215,-2.772, PHS=-0.633,-1.305,-1.340, RAW= 87.5, 59.2, CAL= 86.5, 63.7, ROT= 63.5, -63.7  Ygot valid direction response: 05:37:51.1562 LVL= 26896, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.45, 2.776, 2.161, 2.215,-2.772, PHS=-0.633,-1.305,-1.340, RAW= 87.5, 59.2, CAL= 86.5, 63.7, ROT= 63.5, -63.7  T#Rx 13: Read range and direction messages. \direction in FSK: [0.197697,0.396520,0.896486] Fpublishing direction and range infoyA E VJ%N?̯`?~_?YE @@A E iE A E )E 6IE J "iE = E E z?E A?E ,>? E N?)E A܍?IE NA A E m/ʜ?>:Jѿ{~? E I)E OIE A܍?iE NA A  checking for new query: numPingsReceived=13, elapsed TxPingTime=7.066875 V4 S,0&L?A2`@[@ Ǽٱ1Tԙ AHRS rotation from veh to nav: [[0.778395,0.627627,0.013600],[-0.627304,0.776791,0.055545],[0.024297,-0.051767,0.998364]]H?@?ڋ?`x?Vp?`?+@?i2`@I Y`;CYByIbDVDJy % D=ٔ :Q- >9Y1=5Fy5[E=#]=E=>AQ 5Ez5E ?Q 9Mz5E)E9BQ AM :YIQ EM:yMYQ IM@EDIEE:iEJV?ETz5yyɮ}AyiiW"L?AJi>@Ri>@jiZ?bJ=l!?nԴ?Ete@RVJ%N?̯`?~_?ZiA܍?biNjKm?mLWR?Ex@@ZFu???"L2#?2i2?:ix?"it?*iWÚBiBiެ]?iriiM@i''@= addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.499129 s, deltaX: 0.400000 m, approachRate: 0.801396 m/s, rangeRepo size: 4 u Added new target pos. range: 2.983650 m, bearing: 29.398088 deg, lat: 36.779349 deg, lon: -121.859706 deg, deltaT: 0.499129 s, deltaX: 0.397759 m, approachRate: 0.796907 m/s, posRepo size: 4 jhybhyhyhy*hy"h hgfffdddjd@Zd%?5,BɢE8@))I MSiI)MI*ؼIQiUiU1]"<]=IYIYi߱I߱DDAT read: Rx Time:05:37:51.6557 TRx dataTimestamp_ set to:1761543472.793539checking for new query: numPingsReceived=13, elapsed TxPingTime=7.312164E% E%E%*E!"E%D:*E%]t:VE%(N4ZE!BE!a52E!a5JE%;a5:E%;a5=?@9 @9@E/@A^A5 ;Ae .AIq I O >! S,.t@L?ADAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.1 %Z#Rx 14: Read range message, but no direction.yY3@-checking for new query: numPingsReceived=14, elapsed TxPingTime=7.559516Y-By5sII=<)==bDEVDE0ye!%mV=ٔuQ-u>9 ?Y ?=Fy[EE>Q 5z58?Q 9z5y)4BQ A9YQ E:yQ I@DI;i?z5y\BɮAB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504838 s, deltaX: -0.700000 m, approachRate: -1.386584 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjd`ff@Zd`ty?M-BɢMbL:)I MfiI)UټQQiUi]1]M<]p=IYIY!@@ @@/@QDDAT read: Rx Time:05:37:52.1559 TRx dataTimestamp_ set to:1761543473.295557checking for new query: numPingsReceived=14, elapsed TxPingTime=7.813082EM  EM EM &EI "EM :*EM Z:VEM 4ZEI a} @a @a @a @BM >BM CBM IBM BBM  =BI BM uDBM Ln;BM +E^Ae [R;ԁ A ؟AI I O >@|S,3[L?AJ@J@JмٱJx RAHRS rotation from veh to nav: [[0.785714,0.618037,0.026144],[-0.618064,0.782603,0.074359],[0.025497,-0.074584,0.996889]]JH $?? pŚ? . ?7 ?`?@?iJ@IJS`;JCYZByZgIaa aa aa aa iMb@Mb@Mb@ 9gfffff?T㥛 ? rhY3>y=C AEA A)AYA@AbDVDy4%9=ٔ2Q->9-"?Y-"?=-Fy-[E5<E5>9Q 5Ez5=J'?Q 9Ez5=L)=/BQ AMT:YM>Q EM:yM^ Q IM@=DI=(;i=;=z5yUgBɮUqA]ԦEjh}RStopped intercept timer at range: 2.30 m.bh!h!h!*h!"h! h!g)f)f)f-Bd1d1d1jd1Zd= D?PDAT read: Bearing 209.5, 18.8 (Local) ~Local bearing/azimuth received: Bearing 209.5, 18.8 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.1 DAT read: 05:37:52.1559 LVL= 18912, 13841, 15122, 32755, AGC= 50, IDX= 503, 0.11, 0.905, 0.111, 0.140, 1.917, PHS=-0.910,-1.762,-1.822, RAW= 86.6, 60.9, CAL= 85.5, 65.2, ROT= 64.5, -65.2 Ygot valid direction response: 05:37:52.1559 LVL= 18912, 13841, 15122, 32755, AGC= 50, IDX= 503, 0.11, 0.905, 0.111, 0.140, 1.917, PHS=-0.910,-1.762,-1.822, RAW= 86.6, 60.9, CAL= 85.5, 65.2, ROT= 64.5, -65.2 T#Rx 15: Read range and direction messages.\direction in FSK: [0.180579,0.378591,0.907777]Fpublishing direction and range infoyr5?1#:? hH ?Yf&@I6; )2Ihi7ΈL7鿩\w?J ?C? ?))?Iup?+#ѿxڄ? )CI)?ichecking for new query: numPingsReceived=15, elapsed TxPingTime=8.073058%/Bɢ%)B)! -ᕾi))-nۼ))i-i515N<5U50=IQIY?@ @@/@@=@>^Ame DDAT read: Rx Time:05:37:52.6555 i m TRx dataTimestamp_ set to:1761543473.798311} DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 } Z#Rx 16: Read range message, but no direction.yi Ym @i  checking for new query: numPingsReceived=16, elapsed TxPingTime=8.317071E  E E 'E "E ;*E :VE '4ZE BE 6C%Q=ٔ,޺Q->9Y=Fy[E;E>Q 5z54?Q 9z5ٳ))BYy Q I @DI:i:]z5ynBɮ5A5զEQiisL?AJi?Ri?ji z?be?W4r?+%'G?Rr5?1#:? hH ?Zi)?bij)b^>?M;?l|?Zb5 ?>?64?2i?:i)O?"in'y?*i*BiBiu}?i~MiRBi(!@i'@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.756867 s, deltaX: -0.300000 m, approachRate: -0.396371 m/s, rangeRepo size: 4  Added new target pos. range: 1.988910 m, bearing: 33.007001 deg, lat: 36.779353 deg, lon: -121.859708 deg, deltaT: 1.261705 s, deltaX: -0.994740 m, approachRate: -0.788409 m/s, posRepo size: 4 jhbhhh*h"h hgfffdd!d!jd%@Zd%?u0Bɢu$^Y)q uiy)}=޼yyi}_i1<A6=IIԁ9@9 @9@A@Achecking for new query: numPingsReceived=16, elapsed TxPingTime=8.563075Ա^A ;= A .AI I O >#S,c&L?A2@2޳@2ܼٱ2 1ٽ :AHRS rotation from veh to nav: [[0.788342,0.613661,0.044022],[-0.614651,0.782448,0.099900],[0.026860,-0.105814,0.994023]]2H:???`8 ?? A? ?i2@I2M`;2CYB`ByB!IDDAT read: Rx Time:05:37:53.1557 TRx dataTimestamp_ set to:1761543474.304652PDAT read: Bearing 234.0, -32.8 (Local) ~Local bearing/azimuth received: Bearing 234.0, -32.8 (Local) E EEE"E:*Ec:VEZEa%@a%@a-@a-@1UDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 eZ#Rx 17: Read range message, but no direction.yY3@checking for new query: numPingsReceived=17, elapsed TxPingTime=8.856816BA<Bտ>BCBIBBBBBwDB6n;B+EiMb@Mb@Mb@ 9oʡ??MbY ?y< A1@ A)AY(AbDVD2yM%M!=ٔMQ-U>9U ?YU ?=UFyU[E]);E]>Q 5z5H?Q 9z5B)$BYp ?Q E:yQ I@DI:i:z5yɮh Am addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.506341 s, deltaX: 0.300000 m, approachRate: 0.592486 m/s, rangeRepo size: 4 Yjhqbhqhyhy*hy"hy hygyfyffLBdddjd`ff@Zd {?U2Bɢ]X)Y ]ѾiY)]dYaieAi1W:<9=IIA@I @I@I@Iԁ^A% .=M DAT read: 05:37:53.1557 LVL= 15920, 15729, 21282, 26707, AGC= 42, IDX= 502, 0.17,-1.958,-0.768,-0.527, 0.577, PHS=-2.433,-1.300,-1.147, RAW= 263.8, 54.8, CAL= 265.3, 60.3, ROT= 244.7, -60.3 U Ygot valid direction response: 05:37:53.1557 LVL= 15920, 15729, 21282, 26707, AGC= 42, IDX= 502, 0.17,-1.958,-0.768,-0.527, 0.577, PHS=-2.433,-1.300,-1.147, RAW= 263.8, 54.8, CAL= 265.3, 60.3, ROT= 244.7, -60.3 U Z#Rx 18: Read direction message, but no range.e `direction in FSK: [-0.211738,-0.447936,0.868631]y) - Z<˿b=ܿ}D?) - 0>- q=- "S - Sh)- *I- Fi- ff- В- nU@- Gt?- +@ - $?)- @I- $) - a"™ݿKã?%Vbc&? - u @)- ZtI- i- $} checking for new query: numPingsReceived=18, elapsed TxPingTime=9.077168A I I O >)S,hL?A2@2@2gٱ2 :AHRS rotation from veh to nav: [[0.788455,0.612727,0.053884],[-0.614465,0.780671,0.113951],[0.027756,-0.122955,0.992024]]2H;?u?ਖ?಩ B?+?k? z?i2@I2Qo`;2CYBOByB IbDJVDJfyvG%v=ٔzHQ-z?9xYx=zFyz[E~4B:E~?Q 5 z5 S?Q 9 z5)!BYyQ I@DI6:i-:Sz5ytBɮ*!AjhEMTStarting intercept timer at range: 2.30 m.bhIhIhI*hI"hI hIgQfQfQfQdYdYdajdaZde T?颭3Bɢb )Ȥ: pi)3项ii1x}<B:=IIIfA)Q@Q @Q@U4@Q@Y@]gADDAT read: Rx Time:05:37:53.6556 TRx dataTimestamp_ set to:1761543474.808770PDAT read: Bearing 239.0, -39.6 (Local) ~Local bearing/azimuth received: Bearing 239.0, -39.6 (Local) bE!4jE{4rE0E EE%E"E;*E]t:VE 4ZEBED0S,L?ADAT read: 05:37:53.6556 LVL= 21168, 19185, 25378, 29939, AGC= 43, IDX= 501, 0.12,-2.257,-0.846,-0.587, 0.259, PHS=-2.414,-1.060,-0.890, RAW= 264.2, 46.8, CAL= 266.0, 53.6, ROT= 244.0, -53.6 .Ygot valid direction response: 05:37:53.6556 LVL= 21168, 19185, 25378, 29939, AGC= 43, IDX= 501, 0.12,-2.257,-0.846,-0.587, 0.259, PHS=-2.414,-1.060,-0.890, RAW= 264.2, 46.8, CAL= 266.0, 53.6, ROT= 244.0, -53.6 .Z#Rx 20: Read direction message, but no range.2`direction in FSK: [-0.260138,-0.533361,0.804894]yim=|EпLy?imRmJm"c mt)m+Im~imm cm@mQ?m@ m|o?)m{F@Im|oim-&ڊ?<'kLX? m!@)m]PQImim|ofchecking for new query: numPingsReceived=20, elapsed TxPingTime=9.599059~~ܬ@~P׳@~Vٱ~ MAHRS rotation from veh to nav: [[0.787731,0.612973,0.061190],[-0.615350,0.778351,0.124558],[0.028724,-0.135771,0.990324]]~H5?@z?CT?@???@i?@`?i~~ܬ@I~P`;~CY}@By}IqiMb@Mb@Mb@ 9Gz?Mbpy&1|Y?y`fA@ A)rAY!%AAbDmVDm:2y}vY%}=ٔQ->9"?Y"?=Fy[EE>Q 5z5f?Q 9z5u)$BY?Q E:y+Q I@DI;i;z5yɮ!Aii³L?AJi@Ri@ji\@b]ab῁l* yCB?R=|EпLy?Zibi|oj^DN b'Կ̼,?Z޿`ÿT\?2i:i"i?*iF|BiڄBi?iWÚiBiM?i @} addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504118 s, deltaX: -0.200000 m, approachRate: -0.396733 m/s, rangeRepo size: 4  Added new target pos. range: 2.088439 m, bearing: 197.785329 deg, lat: 36.779368 deg, lon: -121.859711 deg, deltaT: 1.010459 s, deltaX: 0.099529 m, approachRate: 0.098498 m/s, posRepo size: 4 jhRStopped intercept timer at range: 2.10 m.bhhh*h"h hgfff,Bdddjd@Zde?ԙ}5Bɢ}BB@IBzBB =BBBn;B+E @  @ @ 0@ ^AMC;=DAT read: 05:37:54.1559 LVL= 26752, 15953, 16178, 29555, AGC= 47, IDX= 504,-0.32, 2.161, 3.043,-2.571,-1.929, PHS=-2.091,-1.266,-0.686, RAW= 245.8, 49.4, CAL= 248.3, 55.9, ROT= 261.7, -55.9 Ygot valid direction response: 05:37:54.1559 LVL= 26752, 15953, 16178, 29555, AGC= 47, IDX= 504,-0.32, 2.161, 3.043,-2.571,-1.929, PHS=-2.091,-1.266,-0.686, RAW= 245.8, 49.4, CAL= 248.3, 55.9, ROT= 261.7, -55.9 Z#Rx 22: Read direction message, but no range.`direction in FSK: [-0.080932,-0.554767,0.828060]yIMؘ:ﷴ.`k\rx?IMhMQ>M2? Mss)M/IMiMJ M/MG@M\?MH@ M|y?)M.)@IM|yIMY)qNؿiq?Z[P? Mv @)M\IMۿiM|ychecking for new query: numPingsReceived=22, elapsed TxPingTime=10.093649!AyIIO ?89S,yL?Aɰ4<+Ь@ʳ@Ҽٱ: uAHRS rotation from veh to nav: [[0.786783,0.613488,0.067861],[-0.616518,0.775835,0.134111],[0.029627,-0.147354,0.988640]]HT-?డ?@S_??`*?@wV?|¿`?i+Ь@It`;CY 3ByMIԩbDeVDeyMTH%M=ٔMۺQ-U>9QYQ=UFyU[Ee7Em>qQ 5}z5uz?Q 9z5up)u'BYyi,Q I@uDIu;iu/;uz5yzBɮ9"A֦EiiL?AJi{%@Ri{%@ji>s@b~g ʿs?pmIf @Rؘ:ﷴ.`k\rx?Ziۿbi|yj^ěιqKFAI@ZذC2BֿKj>ѿblp?2i\2:iԹ9 ?Y ?=Fy[E@E>Q 5z5?Q 9z5<)-BY?Q E:y3Q I@ DI\ ;i ;z5yɮ>"Ai1i5oIL?AJi5c@Ri5c@ji5ܽ@b5QA+n? s?R5B|?\p ?Zi5bi5pj56;G/wv뿎e#bO@Z5}[Dп\NؿQōQ?2i5[:i5"i5[?*i5 Bi5FBi5[?i5F|i5FBi5]?i5C@5 addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504633 s, deltaX: -0.300000 m, approachRate: -0.594491 m/s, rangeRepo size: 4 E Added new target pos. range: 2.287302 m, bearing: 235.882488 deg, lat: 36.779376 deg, lon: -121.859731 deg, deltaT: 0.504633 s, deltaX: -0.298344 m, approachRate: -0.591210 m/s, posRepo size: 4 jhMMRStopped intercept timer at range: 2.30 m.bhIhIhI*hI"hI hQgQfQfYf]-BdYdYdYjde`ff@Zde 0?颍7Bɢ) ti)项ivi1<3)=IIi5DDAT read: Rx Time:05:37:55.1559 ETRx dataTimestamp_ set to:1761543476.325700]PDAT read: Bearing 228.2, -49.7 (Local) E} E}EyEy"E}V:*E}~:VEyZEya@a@a@a@~Local bearing/azimuth received: Bearing 228.2, -49.7 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.3 Z#Rx 24: Read range message, but no direction.y9Y=f&@9checking for new query: numPingsReceived=24, elapsed TxPingTime=10.860026A!A!B-¿>B-CB-IB-VBB- =B)B-uDB-m;B-w+EU]x>i]> @  @ @ /@ @ =@ =   DAT read: 05:37:55.1559 LVL= 30816, 28113, 23858, 32019, AGC= 47, IDX= 503, 0.30,-1.966,-0.861,-0.060, 0.349, PHS=-2.213,-1.165,-0.453, RAW= 246.3, 41.5, CAL= 249.3, 49.1, ROT= 260.7, -49.1  Ygot valid direction response: 05:37:55.1559 LVL= 30816, 28113, 23858, 32019, AGC= 47, IDX= 503, 0.30,-1.966,-0.861,-0.060, 0.349, PHS=-2.213,-1.165,-0.453, RAW= 246.3, 41.5, CAL= 249.3, 49.1, ROT= 260.7, -49.1  Z#Rx 25: Read direction message, but no range. `direction in FSK: [-0.105808,-0.646135,0.755853]y  mG,C_"MA/? `x m 2] }) I ˡ i  義 T@ }l9? B<@ a[?) 4@I a[ -=cܿ0T?)T&:/? - @) 79I ݿi a[checking for new query: numPingsReceived=25, elapsed TxPingTime=11.098396^A.=QA؟AIIO ?CJS,t +M?AR@RS@R'ZٱRň* ^AHRS rotation from veh to nav: [[0.782435,0.617802,0.078203],[-0.621894,0.768680,0.149595],[0.032307,-0.165682,0.985650]]RH ? ???%?@?5ſq?iR@IR)`;RCYb6ByfIbDrVDryd<%%=ٔ?kQ- >9 "?Y"?=Fy[EE>!Q 55z5%?Q 95z5%f)%4BY9y=5Q I=@%DI%R;i%_N;%z5yUBɮUN"AUצEiiEM?AJiz%@Riz%@jiOr@bw.Hѿ?m5+pD?RmG,C_"MA/?Ziݿbia[jPW~nPK\iˍ@Z?+ۿVԿ/(?2iZR:i"i*C?*iDoBiBi*C?iii?i,[@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.508718 s, deltaX: 0.300000 m, approachRate: 0.589718 m/s, rangeRepo size: 4  Added new target pos. range: 2.585585 m, bearing: 216.926346 deg, lat: 36.779374 deg, lon: -121.859737 deg, deltaT: 0.508718 s, deltaX: 0.298283 m, approachRate: 0.586342 m/s, posRepo size: 4 jhTStarting intercept timer at range: 2.60 m.bhhh*h"h hgfffdddjd @ZdA{?ԩ颽8Bɢx) Bi)Yi߮i1Y<]=IIDDAT read: Rx Time:05:37:55.6559 E EEE"Ea:*Eą:VEZEBE(9u ?Yu ?=uFyu[E}E}>Q 5z5Z?Q 9z5 )@BY?Q E:y@4Q I@DI ;i ;z5yBɮ"AEiiW5M?AJiRijiV`@biisuFl?RH#ҿVBr=)?ZibiAjP B]CB]IB]GBB] =BYBYB]hm;B]@+EB%CB%CB%ŔCB% =B% =C%6颥9Bɢ3r) Fi)_顩ij軝Ygot valid direction response: 05:37:56.1560 LVL= 21744, 22609, 11698, 17731, AGC= 46, IDX= 505,-0.14, 0.945, 3.087,-3.061, 3.064, PHS=-2.017, 0.068, 0.114, RAW= 268.9, 17.1, CAL= 269.8, 23.9, ROT= 240.2, -23.9 T#Rx 28: Read range and direction messages.`direction in FSK: [-0.454360,-0.793358,0.405142]Fpublishing direction and range infoybd=ݿl90c?Y,@TQX- CE).IiC=x=.@Θ>K@ >)*'@Iվi1ʤ<=IIr=1D %ڊ?s? W&@)טIaiվ5checking for new query: numPingsReceived=28, elapsed TxPingTime=11.901980A  B@  @ @ w4@ 5 checking for new query: numPingsReceived=28, elapsed TxPingTime=12.098970i ^A=y=ԙI1IAOU?,z[S,#pM?Aɰ2Px@2"s@2 ٱ2%4 NAHRS rotation from veh to nav: [[0.780019,0.620181,0.083341],[-0.624835,0.764709,0.157487],[0.033939,-0.174918,0.983998]]2H??`U?~x?(?@h`?cƿ`|?i2Px@I2E_;2CYVNByV IbDbVDb1yj=%j=ٔnOQ-n>9lYl=rFyr[ErEr>xQ 5z5zɞ?Q 9z5zM)zLBY)y-"5Q I5@z(DIzrbS,DM?Afk@ff@f ٱf۩4 rAHRS rotation from veh to nav: [[0.779061,0.621355,0.083556],[-0.626005,0.763642,0.158017],[0.034377,-0.175412,0.983895]]fH ?$?c?;`o? 9?왡?sƿ|?ifk@Ifk_;fCԩYdBy%IiUMb@Mb@Mb@QQQQ Q9U@5^I ?~jthS㥛?YUb?yUDU/9Y=Fy[ESE>Q 5z5Yڞ?Q 9z5)WBY?Q E:yy,Q I@0DI ;i ;qz5yBɮ!AEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.491502 s, deltaX: 0.200000 m, approachRate: 0.406916 m/s, rangeRepo size: 4 jhRStopped intercept timer at range: 2.90 m.bhhh*h"h hgf ff=}BdAdAdAjdE@33@ZdE|?颕;Bɢoo) ׾i)ii)i1WY< =IIDDAT read: Rx Time:05:37:57.1563 TRx dataTimestamp_ set to:1761543478.341930DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.6 Z#Rx 30: Read range message, but no direction.yYL@checking for new query: numPingsReceived=30, elapsed TxPingTime=12.859903E EE)E"E:*Ec:VEFA4ZEa@a@a@a@B9A=<BEǿ>BABEIBEQBBE =BABEvDBEm;BE+E@@ @@@ ^A =1 IY Ii O >hS,t M?A2b@2]@2{ٱ2&6 :AHRS rotation from veh to nav: [[0.778353,0.622153,0.084218],[-0.626834,0.762555,0.159967],[0.035303,-0.177302,0.983523]]2HD??@W?@f?y? 9? ձƿy?i2b@I2̍^;2Crchecking for new query: numPingsReceived=30, elapsed TxPingTime=13.106872YqBy6IbDVDky=%W=ٔ Q->9Y=Fy[E=E>Q 5z5J螊?Q 9z5)`BYy,Q I@7DI] ;i{!;z5y ɮ :!AE addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.505789 s, deltaX: 0.300000 m, approachRate: 0.593133 m/s, rangeRepo size: 4 jhAbhAhAhI*hI"hI hIgIfIffdddjd @Zd`!?)ɢ-wy)1 5ʾi1)5P<11i5߻i=1=<='=IAIA@ @ @ /@ @=@=AqDDAT read: Rx Time:05:37:57.6564 TRx dataTimestamp_ set to:1761543478.846121PDAT read: Bearing 293.5, -48.5 (Local) ~Local bearing/azimuth received: Bearing 293.5, -48.5 (Local) DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed -0.5 E EE&E"E:*EVE4ZEBE*r@ ɩ>)|@IɩpOU>*o?Nu(? 5R9@)6^I&Xiɩ checking for new query: numPingsReceived=31, elapsed TxPingTime=13.400463I I) O5 >ԙ nS,M?ARl\@R>W@ReٱR͹7 ZAHRS rotation from veh to nav: [[0.777836,0.622745,0.084614],[-0.627445,0.761828,0.161028],[0.035817,-0.178344,0.983316]]RH ?`?J?``? ?V?ƿ@Sw?iRl\@IR3^;PY By ^IbDEVDENyMU(>%UT=ٔUQ-U>9yYy=}Fy}[E}_E>Q 5z5?Q 9z5)jBYy,Q I@>DI ;i;%z5yBɮh AEii&M?AJiR@RiR@jiu/M@brj&^#Ot5C?RLNT\俥`FI?Zi&Xbiɩjtj GȿVǨz?Z@@fﭿSP.?2i}D:iW>"i:!?*iBiQBiiDoi DDAT read: Rx Time:05:37:58.1567  TRx dataTimestamp_ set to:1761543479.348704 PDAT read: Bearing 246.6, -63.9 (Local)  ~Local bearing/azimuth received: Bearing 246.6, -63.9 (Local)  DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.5 E  E E $E "E O:*E VE 4ZE a @a @a @a @  DAT read: 05:37:58.1567 LVL= 24688, 14689, 9058, 17155, AGC= 49, IDX= 513,-0.17,-0.728, 0.634, 1.322, 1.210, PHS=-1.836,-0.531, 0.068, RAW= 252.1, 25.7, CAL= 255.1, 33.3, ROT= 254.9, -33.3  Ygot valid direction response: 05:37:58.1567 LVL= 24688, 14689, 9058, 17155, AGC= 49, IDX= 513,-0.17,-0.728, 0.634, 1.322, 1.210, PHS=-1.836,-0.531, 0.068, RAW= 252.1, 25.7, CAL= 255.1, 33.3, ROT= 254.9, -33.3  T#Rx 32: Read range and direction messages. `direction in FSK: [-0.217732,-0.806949,0.549023] Fpublishing direction and range infoy  9˿n نS=L?Y 3s@ p` a9 b# C) 1I i  C= ̌@ L> y@ ,?) \@I , /DQ d?? @) pI B= Ͽ>B= CB= :IB= uBB=  =B9 B= wDB= l;B= +EuS,M?A2Y@2T@2&ٱ27 >AHRS rotation from veh to nav: [[0.777630,0.623044,0.084307],[-0.627681,0.761619,0.161098],[0.036162,-0.178192,0.983331]]2H`X??? ._?ܞ?ǃ?`ƿrw?i2Y@I2];i,Bchecking for new query: numPingsReceived=32, elapsed TxPingTime=13.9024712CYJByNiIi%Mb@Mb@Mb@!!!! !9% r?~jt?~jt?Y%?y%=%<%A! %A)%A!Y%=AbDmVDmy=%6=ٔFQ->9Y=Fy[E}G6E}>Q 5z5?Q 9z5H)rBY?Q E:yQ I@FDIJn@ZF6(ؿ?2ie:iZ"i-I@?*i0uBiBiiii@i~J@  addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.502583 s, deltaX: 0.500000 m, approachRate: 0.994861 m/s, rangeRepo size: 4  Added new target pos. range: 3.779063 m, bearing: 211.896898 deg, lat: 36.779372 deg, lon: -121.859745 deg, deltaT: 0.502583 s, deltaX: 0.497343 m, approachRate: 0.989573 m/s, posRepo size: 4 jhbhhh*h"h! hAgAfAfIfMɁBdIdIdQjdU`ff@ZdU`"?ɢU) ki)iۻi1<p=IIchecking for new query: numPingsReceived=32, elapsed TxPingTime=14.115397@ @@0@) ^A 9=Y A ؟AI1IO>|S,lM?A DDAT read: Rx Time:05:37:58.6568 TRx dataTimestamp_ set to:1761543479.852856PDAT read: Bearing 260.2, -46.2 (Local) ~Local bearing/azimuth received: Bearing 260.2, -46.2 (Local) DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.5 bEm4jEm4rEm/E& E&E&'E$"E&%;*E&]t:VE&'4ZE$BE& KDAT read: 05:37:58.6568 LVL= 22512, 14113, 12306, 19619, AGC= 48, IDX= 514,-0.12,-2.828,-1.604,-1.613,-1.299, PHS=-1.427,-0.260,-0.358, RAW= 274.3, 32.8, CAL= 277.4, 40.9, ROT= 232.6, -40.9 BYgot valid direction response: 05:37:58.6568 LVL= 22512, 14113, 12306, 19619, AGC= 48, IDX= 514,-0.12,-2.828,-1.604,-1.613,-1.299, PHS=-1.427,-0.260,-0.358, RAW= 274.3, 32.8, CAL= 277.4, 40.9, ROT= 232.6, -40.9 BT#Rx 33: Read range and direction messages.F`direction in FSK: [-0.459087,-0.600461,0.654741]JFpublishing direction and range infoy 9"?Y"?=Fy[E);E>Q 5-z5H?Q 9z5){BYyQ I@MDI݄S, jN?AzMg@zb@z ٱz6  AHRS rotation from veh to nav: [[0.778611,0.622078,0.082368],[-0.626365,0.762553,0.161803],[0.037844,-0.177574,0.983380]]zHa???. f??J`?@ƿ`w?izMg@Iz^;zC-DDAT read: Rx Time:05:37:59.1571 -TRx dataTimestamp_ set to:1761543480.3567085PDAT read: Bearing 306.8, -12.4 (Local) =~Local bearing/azimuth received: Bearing 306.8, -12.4 (Local) MDAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.5 Ee EeEe#Ea"Ee2:*EeAr:VEe3ZEaam@am@am@am@DAT read: 05:37:59.1571 LVL= 13296, 10529, 9874, 9603, AGC= 53, IDX= 4, 0.27, 1.813,-2.320, 2.277, 2.937, PHS=-1.021, 1.072,-0.703, RAW= 321.9, 6.7, CAL= 320.4, 6.1, ROT= 189.6, -6.1 Ygot valid direction response: 05:37:59.1571 LVL= 13296, 10529, 9874, 9603, AGC= 53, IDX= 4, 0.27, 1.813,-2.320, 2.277, 2.937, PHS=-1.021, 1.072,-0.703, RAW= 321.9, 6.7, CAL= 320.4, 6.1, ROT= 189.6, -6.1 T#Rx 34: Read range and direction messages.AAAABÿ>BBrIBBB =BBvDBl;B*E`direction in FSK: [-0.980413,-0.165824,0.106264]Fpublishing direction and range infoy)-{⧋_£9ſO4?Y-̌@)-3-!)-& -%)-5I-!i-L7?-3-jȳ@-|=-@ -^ =)-S@I-^ ڽ))-%yY| Rڧ̳׿· ? -0)-I-V>i-^ ڽ))checking for new query: numPingsReceived=34, elapsed TxPingTime=14.893521YȁByIqi-Mb@Mb@Mb@)))) )9-w/?V-?~jt?Y->y-h=-<)-A@ -AA)-+A)Y-fAbDeVDeyU=%&=ٔRĺQ->9Y=Fy[ES:E>Q 5z5(?Q 9z5)BY>Q E:y)Q I@TDIQ;i:z5yɮAi)i-NN?AJi-@Ri-@ji-3'@b-wsp(f`8習)J0?R-{⧋_£9ſO4?Zi-V>bi-^ ڽj-`p@kt@h?Z- r~l}'?kʸ?2i-` @:i-5p"i--E읊?*i-Bi-Bi-N/?i)i-QBi-OT@i-6F@- addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503852 s, deltaX: 0.500000 m, approachRate: 0.992355 m/s, rangeRepo size: 4 = Added new target pos. range: 4.375677 m, bearing: 149.520860 deg, lat: 36.779368 deg, lon: -121.859746 deg, deltaT: 0.503852 s, deltaX: 0.497164 m, approachRate: 0.986727 m/s, posRepo size: 4 jhAbhahaha*ha"ha hagifififmBdqdqdqjdu@Zd} ?ԡ!ɢ%Ķ@)! -ii))-F))i- ٻi515|<5 =I1I9@ @@0@checking for new query: numPingsReceived=34, elapsed TxPingTime=15.123027^A G= A)IQIyO>P;S,M3N?A2l@2g@2Wٱ234 >AHRS rotation from veh to nav: [[0.779005,0.621931,0.079705],[-0.625820,0.763360,0.160094],[0.038723,-0.174595,0.983879]]2H??`g?`rm?}?ӣ?` Yƿ {?i2l@I2Ir_;2CYJByJIbDRVDR:yZ>%ZR=ٔZ~Q-^>9\Y\=^Fy^[Eb:Eb>dQ 5jz5f5?Q 9jz5f)fBYhyjQ In@fZDIf:ifI:fz5yrBɮrArEB*** querying acoustic contact ***i ijh bhhh*h"h hgfffdd!d!jd!Zd%?U=BɢU";)Q U.iY)]YYi]Biػie1ex S,VMN?ALLl%x@%us@%P ٱ%2 =AHRS rotation from veh to nav: [[0.779892,0.620971,0.078505],[-0.624682,0.764348,0.159824],[0.039241,-0.173686,0.984019]]%H?@?@?eu?u?W?X;ƿ`}?i%x@I%_;%CYMByMIiMb@Mb@Mb@ 9Cl?A`"?~jtxY;>y=ĻAX@ A)AYAbDUVDUye=%e2=ٔm/Q-u>9yYy=Fy[EL;E>Q 5z5mE?Q 9z5\)BY>Q E:yQ I@aDI&BECBEIBEځBBE =BABEuDBEl;BE*EeDAT read: 05:38:00.1574 LVL= 25968, 16673, 23202, 21235, AGC= 54, IDX= 501, 0.21,-2.353,-0.878,-2.837,-1.183, PHS=-1.068, 0.350,-1.699, RAW= 347.5, 25.2, CAL= 347.0, 30.0, ROT= 163.0, -30.0 mYgot valid direction response: 05:38:00.1574 LVL= 25968, 16673, 23202, 21235, AGC= 54, IDX= 501, 0.21,-2.353,-0.878,-2.837,-1.183, PHS=-1.068, 0.350,-1.699, RAW= 347.5, 25.2, CAL= 347.0, 30.0, ROT= 163.0, -30.0 uT#Rx 36: Read range and direction messages.^direction in FSK: [-0.828184,0.253201,0.500000]Fpublishing direction and range infoyj&7|Xr4?-B?Y@pe!AZ R)6I9i33>xٿ@z0>&@  ?)6@I ѐ㿟,Y`:? )I6@i checking for new query: numPingsReceived=36, elapsed TxPingTime=15.921637额 S,lN?AFw@FI@F"ٱF`d2 VAHRS rotation from veh to nav: [[0.780778,0.619972,0.077588],[-0.623544,0.765270,0.159859],[0.039733,-0.173194,0.984086]]FH"??@ܳ?}?Fv? W?;+ƿ}?iFw@IF_;DYr ByrIbDUVDUyeC=%e2=ٔeQ-e>9iYi=mFym[EuO;Eu>yQ 5z5}T?Q 9z5}Q =tI)}BYyQ I@}gDI}U:i}:}z5yBɮAԱiiimSZWN?AJim@Rim@jim@bmh/CN(njV?(@Rmj&7|Xr4?-B?Zim6@bim jmsx7),@Y?ZmWxܿLH? ?2im`q@:im "im{?*imqBimBim&`;?imimBimW@imv@@ addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504700 s, deltaX: 0.300000 m, approachRate: 0.594413 m/s, rangeRepo size: 4  Added new target pos. range: 4.773398 m, bearing: 119.710293 deg, lat: 36.779373 deg, lon: -121.859745 deg, deltaT: 1.008180 s, deltaX: 0.397721 m, approachRate: 0.394494 m/s, posRepo size: 4 jhbhhh*h"h hgff f d d djd@33@Zd?AɢEm")A EiA)MkIIiMW*ػiU1U@ - X|9) Y- zeA1 S,YN?AB4@B@B-l&ٱB{j4 NAHRS rotation from veh to nav: [[0.781263,0.619310,0.077998],[-0.622879,0.765365,0.161981],[0.040619,-0.175133,0.983707]]BH?@b??}?Ȼ?̤?@jƿ@z?iB4@Rchecking for new query: numPingsReceived=37, elapsed TxPingTime=16.634939IB_;@Y~By~ IbD VD y]=%]L=ٔ]Q-]>9aYa=eFye[Em<;Em>qQ 5}z5ub?Q 9}z5u)uBYyy}Q I}@umDIu;iu;u{z5yɮAiiˠwN?AJi@Ri@jiF+1@beu hTg @RN'Z|Nտ0}7?Zix-bi j`8 vJGn?Ldv@Z]/՘r8]?_?2ir?:iFo"i穒'?*i4%BiBii4%iBi9s@i¾/@ addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.504301 s, deltaX: 0.200000 m, approachRate: 0.396588 m/s, rangeRepo size: 4   Added new target pos. range: 4.972290 m, bearing: 158.609975 deg, lat: 36.779373 deg, lon: -121.859735 deg, deltaT: 0.504301 s, deltaX: 0.198891 m, approachRate: 0.394390 m/s, posRepo size: 4 jh bh h h*h"h hgff!f!d!d!d!jd-@Zd5I?ɢ) Hi)i%ػiM1M’BCBIBBB =BBwDB0l;B*EB]CBYBYBYBYC]ȇ6DAT read: 05:38:01.1577 LVL= 19824, 10865, 11378, 18931, AGC= 52, IDX= 506, 0.33, 1.954,-1.786,-2.877,-3.060, PHS=-1.167, 1.320, 0.139, RAW= 298.3, -2.7, CAL= 297.4, -7.1, ROT= 212.6, 7.1 Ygot valid direction response: 05:38:01.1577 LVL= 19824, 10865, 11378, 18931, AGC= 52, IDX= 506, 0.33, 1.954,-1.786,-2.877,-3.060, PHS=-1.167, 1.320, 0.139, RAW= 298.3, -2.7, CAL= 297.4, -7.1, ROT= 212.6, 7.1 T#Rx 38: Read range and direction messages.bdirection in FSK: [-0.835992,-0.534640,-0.123601] Fpublishing direction and range infoyY]+seA7XY]@Y]pM]q*]r, ]I)]4I]B`i]?]V>]&@]A]x@ ])]ym@I]=YY]N{+ ?ɀ ]4G@)]}D=I]$i]=YY= checking for new query: numPingsReceived=38, elapsed TxPingTime=16.916620^AE r =ԡ Aq I I O >ЧS,ƠN?Aɰp;J听@J@J{)ٱJ8 bAHRS rotation from veh to nav: [[0.781668,0.618615,0.079442],[-0.622314,0.765114,0.165307],[0.041479,-0.178654,0.983037]]JHl??VV?{?`(?y=94A XA)AYbDVDy<%1=ٔ}Q->9Y=Fy[Eh:E>Q 5z5`q?Q 9z5)}BY*>Q E;yǾQ I@sDI:i:z5yŕBɮA EiAiEڗN?AJiE@RiE@jiE:iE"iEx%ෝ?*iEBiE~BiE穒'?iAiEBiE@iE1@U addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.503527 s, deltaX: 0.300000 m, approachRate: 0.595798 m/s, rangeRepo size: 4 mchecking for new query: numPingsReceived=38, elapsed TxPingTime=17.138918u Added new target pos. range: 5.270761 m, bearing: 174.783184 deg, lat: 36.779371 deg, lon: -121.859735 deg, deltaT: 0.503527 s, deltaX: 0.298471 m, approachRate: 0.592761 m/s, posRepo size: 4 jhybhyhyhy*hy"hy hygfffZBdddjd@33@Zdoa?Yɢ]) 0Ni) K顁iW)ٻi1.ߧ<#=IIaEA@A @A@E4@A@Q@UgAԉ^A 3=A ?A - DDAT read: Rx Time:05:38:01.6578 - TRx dataTimestamp_ set to:1761543482.8774535 PDAT read: Bearing 327.7, -34.7 (Local) = ~Local bearing/azimuth received: Bearing 327.7, -34.7 (Local) M DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 DQ zDU @AE]  E] E] (EY "E] :*E] ]:VE] c44ZEY BE] 5- 4@Ա - 4QO- S¤@ - )- E(p@I- >) ) -  ? - TD@)- P=I- p!i- >) )  checking for new query: numPingsReceived=39, elapsed TxPingTime=17.412355A I I O >RS,RN?Am@m|@m -ٱm2; AHRS rotation from veh to nav: [[0.782309,0.617659,0.080561],[-0.621457,0.765184,0.168177],[0.042232,-0.181632,0.982459]]mH??? d|?`ֆ?}??ǿNp?im@ImF_;mCi`eIc/FIipUA )LC "s@CsAI)i ) sCI tkA   LCii˽LChiA) /FIYY*By IbD-VD-k1y} =%6=ٔoܺQ->9Y=Fy[Ex;E>Q 5z5?Q 9z5i)yBYyxǾQ I@yDI:i:wz5yɮAii1(N?AJiث@Riث@jiF@b}oxr^ Uno,4nR{'鿪!2⿛ /Zip!bi >jD=.k.x=^?D8#\ԿZ^n&6L|*4b?RWPU2i>:iY"i?*iJBiBi-E읊?iiBi@iW4@} addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504737 s, deltaX: 0.100000 m, approachRate: 0.198123 m/s, rangeRepo size: 4  Added new target pos. range: 5.370209 m, bearing: 177.265493 deg, lat: 36.779364 deg, lon: -121.859735 deg, deltaT: 0.504737 s, deltaX: 0.099448 m, approachRate: 0.197030 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@Zd`T? ɢ) i)4l!!i%ٻiM1M"4B CB ! IB 1BB =B B yDB k;B *EE  E E &E "E :*E |:VE 4ZE BE >8<2E >8<JE a;:E a; PDAT read: Bearing 324.1, -32.1 (Local)  ~Local bearing/azimuth received: Bearing 324.1, -32.1 (Local)  DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.4  DAT read: 05:38:02.1580 LVL= 13104, 12369, 15826, 15571, AGC= 53, IDX= 509,-0.17,-0.861, 1.789, 0.593, 0.505, PHS=-1.264, 1.328, 0.044, RAW= 299.7, -1.0, CAL= 298.4, -5.2, ROT= 211.6, 5.2 II)O=>+S,N?A(.Ygot valid direction response: 05:38:02.1580 LVL= 13104, 12369, 15826, 15571, AGC= 53, IDX= 509,-0.17,-0.861, 1.789, 0.593, 0.505, PHS=-1.264, 1.328, 0.044, RAW= 299.7, -1.0, CAL= 298.4, -5.2, ROT= 211.6, 5.2 2T#Rx 40: Read range and direction messages.6bdirection in FSK: [-0.848221,-0.521830,-0.090633]6Fpublishing direction and range infoyoAS$Ӳ0L3Yf@03Q0= <)5Iʡi?X94=Rb@5r@ ޹)\l@I޹=ڵПu??sj EH@)UU VAHRS rotation from veh to nav: [[0.782837,0.616798,0.082013],[-0.620739,0.765043,0.171442],[0.043002,-0.185120,0.981775]]NH ?`ϼ??`;{??^?ǿj?iN@IN_;NCY 8By+ IԁieMb@Mb@Mb@aaaa a9e(\?Dl?:vYe>yeO >eԼeAa a)aaYeAbDVD0yMi=%M&=ٔMOͺQ-M>9QYQ=UFyU[E]:E]>aQ 5m{5e͏?Q 9m{5e8)eqBYm:>Q Em;yuNQ Iu@eDIee:ieL:e{5yɮhAiihN?AJif@Rif@jiA@bX7c;oF0pRoAS$Ӳ0L3Zi%bi޹=j; K S*F?x2ĿZ<(>ٝ-?*f|.2i1"?:i0"iX{L?*i{BiBi?i{iBi@iA@- addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503925 s, deltaX: 0.300000 m, approachRate: 0.595326 m/s, rangeRepo size: 4 ] Added new target pos. range: 5.668790 m, bearing: 173.580315 deg, lat: 36.779359 deg, lon: -121.859746 deg, deltaT: 0.503925 s, deltaX: 0.298581 m, approachRate: 0.592511 m/s, posRepo size: 4 jhYbhYhaha*ha"ha hagafafifmvBdididqjdu@ZdN?ɢI ) i)si}2ۻi1{<!=IIԱchecking for new query: numPingsReceived=40, elapsed TxPingTime=18.147438@ @@4@ ^A = Ae.AIqIO> rS,dN?ADDAT read: Rx Time:05:38:02.6580 TRx dataTimestamp_ set to:1761543483.884739PDAT read: Bearing 320.6, -30.3 (Local) ~Local bearing/azimuth received: Bearing 320.6, -30.3 (Local) DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.4 D*=D(E. E.E.%E,"E.:*E.ga:VE. 4ZE,a2@a2@a2@a2@>DAT read: 05:38:02.6580 LVL= 15008, 12401, 17458, 21843, AGC= 54, IDX= 509,-0.05, 1.373,-2.336, 2.666, 2.738, PHS=-1.263, 1.254,-0.116, RAW= 302.9, 1.2, CAL= 301.1, -2.7, ROT= 208.9, 2.7 BYgot valid direction response: 05:38:02.6580 LVL= 15008, 12401, 17458, 21843, AGC= 54, IDX= 509,-0.05, 1.373,-2.336, 2.666, 2.738, PHS=-1.263, 1.254,-0.116, RAW= 302.9, 1.2, CAL= 301.1, -2.7, ROT= 208.9, 2.7 BT#Rx 41: Read range and direction messages.Fbdirection in FSK: [-0.874493,-0.482746,-0.047106]JFpublishing direction and range infoy B뿣N޿P7VY :q02D SU)6Ii?h+@<}*@ A)Wi@IA= Y<쎠J6q&IҺ? E)}٥I(iA= ddvchecking for new query: numPingsReceived=41, elapsed TxPingTime=18.417616@ɮ@,3ٱ? %AHRS rotation from veh to nav: [[0.784250,0.615106,0.081221],[-0.618902,0.766341,0.172283],[0.043730,-0.185381,0.981693]]H? ?@ʴ?` `݅? a ?`c?ǿj?i@I _;ԩYM4ByM% I]AY 4<4<bDVD2y%%?=ٔm޺Q->9 ?Y ?=Fy [E ;E >Q 5{5?Q 9{5)iBYIyM%Q IM@DI;i;{5ye̕BɮeAeEi iN?AJi Ri ji>@bMsJ A ѿRB뿣N޿P7VZi(biA=j?=j^a ?0y"?ZW]#5 ~?xt?2il?:i"iR,Ɲ?*iF}BiCBi i i i&@i*RA@ addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503361 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 5.668790 m, bearing: 170.609400 deg, lat: 36.779359 deg, lon: -121.859746 deg, deltaT: 0.503361 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhAbhAhAhA*hI"hI hIgIfIfQfQdQdqdyjdyZd}H?ɢ ) i)iNܻi1.<z*=II@ @@@checking for new query: numPingsReceived=41, elapsed TxPingTime=18.650997^A ȿ=9 I I! OM >S,PO?A Yy& I5DDAT read: Rx Time:05:38:03.1582 5TRx dataTimestamp_ set to:1761543484.388805=PDAT read: Bearing 317.1, -32.2 (Local) E~Local bearing/azimuth received: Bearing 317.1, -32.2 (Local) UDAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 Em EmEm$Ei"Em:*EmF:VEm4ZEiDAT read: 05:38:03.1582 LVL= 18416, 11137, 20162, 22563, AGC= 54, IDX= 511, 0.21,-1.283, 1.222, 0.000, 0.160, PHS=-1.340, 1.108,-0.204, RAW= 302.4, 4.2, CAL= 300.0, 0.7, ROT= 210.0, -0.7 Ygot valid direction response: 05:38:03.1582 LVL= 18416, 11137, 20162, 22563, AGC= 54, IDX= 511, 0.21,-1.283, 1.222, 0.000, 0.160, PHS=-1.340, 1.108,-0.204, RAW= 302.4, 4.2, CAL= 300.0, 0.7, ROT= 210.0, -0.7 T#Rx 42: Read range and direction messages.e`direction in FSK: [-0.865961,-0.499963,0.012217]eFpublishing direction and range infoy15ʚ bf"mc߿I:?Y5@15G5+5N 5#X)1I5i5ҍ?5`P5[@5Q =56@ 5+H<)5j@I5+H11A}@AA}AAB߿>BCBA IBJBB =BBBk;B*E5_x p←7z-H? 5*hF)5څI56'i5+H11 checking for new query: numPingsReceived=42, elapsed TxPingTime=18.9644859iEMb@Mb@Mb@AAAA A9ET㥛 ?㥛 ?:vYE>yE>AEAEA@ EnA)AAYE3AbDVDyPX:%=ٔQ->9Y=Fy\EE>Q 5{5?Q 9{5)_BYk>Q E;y}Q I@DI":i': {5yɮA i1i5.O?AJi5@Ri5@ji5?@b5faQd% ;૩?R5ʚ bf"mc߿I:?Zi56'bi5+Hj50 نPp?ŗ?Z53J@?v]?2i5l?:i56"i5)\?*i5x?Bi5Bi1i1i1i5о@i5g@@ addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504066 s, deltaX: 0.300000 m, approachRate: 0.595161 m/s, rangeRepo size: 4  Added new target pos. range: 5.967216 m, bearing: 171.068415 deg, lat: 36.779359 deg, lon: -121.859746 deg, deltaT: 0.504066 s, deltaX: 0.298426 m, approachRate: 0.592038 m/s, posRepo size: 4 jhbhhh*h"h hgfffBdddjd@Zd ?a颱ɢ ) `i)项iҨݻi1i<)=II ?@  @ @ 0@  checking for new query: numPingsReceived=42, elapsed TxPingTime=19.154940ԑ Թ ^A #'=A >A >IIO?S,?5O?A:nƬ@:A@:6ٱ:? FAHRS rotation from veh to nav: [[0.785612,0.613447,0.080604],[-0.617108,0.767492,0.173589],[0.044624,-0.186115,0.981514]]:H#?[?@~?YK? +8?@٦?ǿ h?i:nƬ@I:S`;:CYN5ByN' IbDVVDV0y^;%^`=ٔb !Q-b>9`Y`=fFyf\Ef;Ef>hQ 5n{5j?Q 9n{5j)jYBYpyrfQ Ir@jDIjB:ij9:jB {5yvҕBɮvAxzEB*** querying acoustic contact ***i ijhbh!h!h!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5`h?e=Bɢe) )a egia)miiim޻iu1uxS,˟OO?AYԬ@wϳ@p7ٱ5r? AHRS rotation from veh to nav: [[0.786676,0.612171,0.079924],[-0.615741,0.768614,0.173481],[0.044770,-0.185685,0.981589]]H@s,??u?%}?4? ?ǿ,i?iԬ@IÉ`;CY=6By=( II%=);iMb@Mb@Mb@ 9E?l?y&1Y>y>`1A A)YA@A@AbDVDy%A[;%%=ٔ-דQ-->9)Y)=5Fy5 \E5\;E5>9Q 5E{5=˟?Q 9M{5=)=OBYM>Q EM:yMXQ IM@=DI=;i=;={5yQɮUAYԁ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.505216 s, deltaX: 0.200000 m, approachRate: 0.395870 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffyBdddjd@Zd`p?DDAT read: Rx Time:05:38:04.1583 TRx dataTimestamp_ set to:1761543485.400787PDAT read: Bearing 311.9, 79.4 (Local) E EE(E"E;*Ek:VEc44ZEa@a@a@a@~Local bearing/azimuth received: Bearing 311.9, 79.4 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 %DAT read: 05:38:04.1583 LVL= 25072, 15825, 24898, 24995, AGC= 56, IDX= 513, 0.04,-2.268,-2.870, 2.222, 2.977, PHS= 1.141, 0.481,-0.799, RAW= 49.5, -9.7, CAL= 51.9, -10.9, ROT= 98.1, 10.9 -Ygot valid direction response: 05:38:04.1583 LVL= 25072, 15825, 24898, 24995, AGC= 56, IDX= 513, 0.04,-2.268,-2.870, 2.222, 2.977, PHS= 1.141, 0.481,-0.799, RAW= 49.5, -9.7, CAL= 51.9, -10.9, ROT= 98.1, 10.9 5T#Rx 44: Read range and direction messages.=`direction in FSK: [-0.138359,0.972162,-0.189095]=Fpublishing direction and range infoyfrZ=?oG4ȿYa=Ba a)8IJ ?iE>DL +]?-\-5g? B)R(?IB>(Vl?-Xsۧ}ſ ze),>IR(?iB>qɢu checking for new query: numPingsReceived=44, elapsed TxPingTime=19.933674B>BCBS IBYBB =BBrDBFl;B*E) \i)!!i% i1?<t7=IIԱ 5 9 } checking for new query: numPingsReceived=44, elapsed TxPingTime=20.167818 ?@  @ @ /@ ^A4/=AzAgA1IqIO?*S,tO?A@@y9ٱJ< -AHRS rotation from veh to nav: [[0.788854,0.609698,0.077314],[-0.612902,0.771158,0.172239],[0.045392,-0.183257,0.982016]]H`J>? ?ʳ? S? ?=?tǿl?i@IM9`;Y=%By= IbDUVDU02ye%e'=ٔeQ-m>9iYi=mFyu\EuA;Eu>yQ 5{5}ܟ?Q 9{5}*)}FBYy[Q I@}DI}f;i};} {5yؕBɮAiiYO?AJiI@RiI@ji+T?b\K,F.b@#^"RfrZ=?oG4ȿZiR(?biB>j7!@jL@!^AZd2Ot?_XX?\:׿2i5@:i 9@"i5Ϡ?*iC9 Bi){Bi)\?ix?iiM@iU3>@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.506766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.165162 m, bearing: 59.681068 deg, lat: 36.779360 deg, lon: -121.859744 deg, deltaT: 1.011982 s, deltaX: 0.197946 m, approachRate: 0.195602 m/s, posRepo size: 4 jhbhhh*h"h hgfffdd d jd Zd +k?uDDAT read: Rx Time:05:38:04.6584 uTRx dataTimestamp_ set to:1761543485.904677}PDAT read: Bearing 312.8, -37.1 (Local) ~Local bearing/azimuth received: Bearing 312.8, -37.1 (Local) E EE%E"E:*ET:VE 4ZEBEBɢeB)a eHHia)miiimIiu1uɪ]S,OO?AaY=!By= IiMb@Mb@Mb@ 9Q?x&?V-Y\>y7 >A A)AYAbDVDkyꂼ%=ٔQ->9 Y = Fy \E E >Q 5{5K퟊?Q 9%{51)Q E%:y%Q I%@DI:i3:{5y)ɮ5A1ii:yO?AJiw@Riw@jiC@bBWGXq, qq:+?RpEkm50L3?Zid#bi޹jĻ2/$|z??Z'Ł{↑)\?t?2i?:i9"i坊?*iBi BiR,Ɲ?iiCBip@i=@ addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503890 s, deltaX: 0.100000 m, approachRate: 0.198457 m/s, rangeRepo size: 4  Added new target pos. range: 6.264601 m, bearing: 174.646885 deg, lat: 36.779360 deg, lon: -121.859744 deg, deltaT: 0.503890 s, deltaX: 0.099439 m, approachRate: 0.197342 m/s, posRepo size: 4 jhbhhh*h"h hgfffxBdddjd@33@DDAT read: Rx Time:05:38:05.1586 TRx dataTimestamp_ set to:1761543486.408810PDAT read: Bearing 316.9, -38.2 (Local) E EE'E"E:*E҆:VE'4ZEa@a@a@a@~Local bearing/azimuth received: Bearing 316.9, -38.2 (Local) DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 DAT read: 05:38:05.1586 LVL= 27616, 18641, 26226, 27635, AGC= 57, IDX= 500, 0.00, 2.098,-1.599,-2.642,-2.580, PHS=-1.504, 1.026,-0.106, RAW= 296.5, 5.4, CAL= 294.3, 2.3, ROT= 215.7, -2.3 %Ygot valid direction response: 05:38:05.1586 LVL= 27616, 18641, 26226, 27635, AGC= 57, IDX= 500, 0.00, 2.098,-1.599,-2.642,-2.580, PHS=-1.504, 1.026,-0.106, RAW= 296.5, 5.4, CAL= 294.3, 2.3, ROT= 215.7, -2.3 -T#Rx 46: Read range and direction messages.5`direction in FSK: [-0.811429,-0.583071,0.040132]5Fpublishing direction and range infoy9ej:鿿}ऄ⿂.='?Y3@kHrf k)9IiS?ٽʘ@==^@ l$=)pp@Il$hkS?*+_i? .E@)VIE/!il$ԉBA4=B>BCBBB =BDDBsDBXl;B*EZd?-checking for new query: numPingsReceived=46, elapsed TxPingTime=20.970049颵?Bɢ) pi)."i|i1a<%gC=II@ @@0@ m checking for new query: numPingsReceived=46, elapsed TxPingTime=21.175102^A -B=A ؟AI I O%>nmS,$O?A2u@2H@2[8ٱ24c9 :AHRS rotation from veh to nav: [[0.791366,0.606745,0.074827],[-0.609684,0.774278,0.169645],[0.044994,-0.179873,0.982660]]2HR?@uj? '? ?`?} ?@ǿ q?i2u@I2_;2CYFByFI llbDr VDr:2yzό%zN=ٔ~؃:Q-~>9~"?Y~"?=Fy\E)<E> Q 5%{5 ?Q 9-{5 ) 6BY1y=Q I=@ DI ;i |; {5yeߕBɮu`AuEi!i%)O?AJi%@Ri%@ji%oE@b%T]?M: 2aR?R%9ej:鿿}ऄ⿂.='?Zi%E/!bi%l$j%#Pw`i?? ?Z%-q|? D?2i%;>:i%"i%&՝?*i%yBi%}Bi%&՝?i!i%Bi%=@i%=@!5 addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504133 s, deltaX: 0.300000 m, approachRate: 0.595080 m/s, rangeRepo size: 4 e Added new target pos. range: 6.563035 m, bearing: 177.113459 deg, lat: 36.779362 deg, lon: -121.859744 deg, deltaT: 0.504133 s, deltaX: 0.298434 m, approachRate: 0.591974 m/s, posRepo size: 4 jhabhahaha*ha"hi higififqfqdqdqdqjd}`ff@Zd}?ɢ{P!) i)qlii16ޫ<&S=III ) fA DDAT read: Rx Time:05:38:05.6587 TRx dataTimestamp_ set to:1761543486.913767E% E%E%&E!"E%[:*E%rN:VE%4ZE!BE%}@>Ygot valid direction response: 05:38:05.6587 LVL= 32752, 17601, 32754, 32755, AGC= 57, IDX= 500, 0.48, 1.094,-2.609, 2.650, 2.649, PHS=-1.453, 1.070,-0.043, RAW= 296.1, 3.9, CAL= 294.1, -0.4, ROT= 215.9, 0.4 5T#Rx 47: Read range and direction messages.Ebdirection in FSK: [-0.810022,-0.586358,-0.006981]EFpublishing direction and range infoy   L@z qa|Y @Q   D  ) I i ?  0 _@ 'g= A@ ) )q@I ;    y,\Q?Qw?  D@) I  i ;  5checking for new query: numPingsReceived=47, elapsed TxPingTime=21.499289ԁ G ^A  9 Y kAA I I! O5 >7NS,O?A6checking for new query: numPingsReceived=47, elapsed TxPingTime=21.6786824Y5By5IbDMVDMkyeĩ%mD=ٔmQ-m>9qYq=uFyu\EuE}>yQ 5{5}?Q 9{5}[ )}.BYyQ I@}DI}:i}:} {5yɮAiIiM){O?AJiMa@RiMa@jiMF@bM#qEuЛy+RM L@z qa|ZiM biM;jM\(ڣ,?y?ZMk# aoṣ?M?ӯ?2iM>:iM"iMxbН?*iM^zBiMBiIiMiIiM@iM*gB@ addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504957 s, deltaX: 0.200000 m, approachRate: 0.396074 m/s, rangeRepo size: 4  Added new target pos. range: 6.761915 m, bearing: 177.779568 deg, lat: 36.779362 deg, lon: -121.859751 deg, deltaT: 0.504957 s, deltaX: 0.198880 m, approachRate: 0.393856 m/s, posRepo size: 4 jhbhhh*h"h hgff f d d djd@33@Zd?E@BɢEr&)A EhǽiA)MfIIiM}iU1U>MDAT read: 05:38:06.1589 LVL= 32752, 23393, 32754, 32755, AGC= 61, IDX= 503,-0.01, 1.340,-2.389, 2.922, 2.835, PHS=-1.392, 1.104, 0.043, RAW= 295.1, 2.3, CAL= 293.4, -2.2, ROT= 216.6, 2.2 Ygot valid direction response: 05:38:06.1589 LVL= 32752, 23393, 32754, 32755, AGC= 61, IDX= 503,-0.01, 1.340,-2.389, 2.922, 2.835, PHS=-1.392, 1.104, 0.043, RAW= 295.1, 2.3, CAL= 293.4, -2.2, ROT= 216.6, 2.2 T#Rx 48: Read range and direction messages.B >B CB A IB JBB  =B CDB qDB Hl;B *EBCBCBȗCB =B =C7  bdirection in FSK: [-0.802226,-0.595786,-0.038388] Fpublishing direction and range infoygիN@.Y3@a[ )=I-iO? 0=Ф@l$=ݣ@ nF)q@InF=fj)Y k ?aO~l? C@)np#I- inF= checking for new query: numPingsReceived=48, elapsed TxPingTime=22.013487)yS,O?A2)@2$@25ٱ2a: :AHRS rotation from veh to nav: [[0.793058,0.604428,0.075677],[-0.607532,0.775786,0.170474],[0.044330,-0.181172,0.982452]]2H `?xW?_? p@=?`?i? 0ǿ>p?i2)@I2^;2CYNByRI\imMb@Mb@Mb@iiii i9mʡE?Pn?S㥛Ym>ym>m/ݼm1Am+@ mA)mrAiYmAAAAAbDVDyk%E=ٔ:Q->9Y=Fy\E];E>Q 5{5R?Q 9{5/ )(BY>Q E:y¾Q I@DI;i:B${5y Bɮ A EiIiMO?AJiM@RiM@jiMfG@bM*ឧE.uWXѿRMgիN@.ZiM- biMnF=jMX67 C(?^kR?ZMѳ8{/ ?4S?2iM>:iM"iMĝ?*iMc޹BiMoBiIiMyiMBiM@iMD@ addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503040 s, deltaX: 0.300000 m, approachRate: 0.596373 m/s, rangeRepo size: 4  Added new target pos. range: 7.059974 m, bearing: 178.931808 deg, lat: 36.779362 deg, lon: -121.859755 deg, deltaT: 0.503040 s, deltaX: 0.298059 m, approachRate: 0.592516 m/s, posRepo size: 4 jhbhhh *h "h  hgfff*Bdddjd%`ff@Zd%?uchecking for new query: numPingsReceived=48, elapsed TxPingTime=22.182838颍ABɢ*3) ni)C 顑ii1Y<Y[=IIe@@a @i@m/@i^A dO=A 5 DDAT read: Rx Time:05:38:06.6590 5 TRx dataTimestamp_ set to:1761543487.922059EE  EE EE $EA "EE :*EE 1]:VEE 4ZEA BEE #I5 ףi5 S?5 "=5 7@5 d;5 Y3@ 5 `)5 :Fq@I5 `=1 1 5  ;N0ȴ?wh*n? 5 $C@)5 lSqA I I O% >I5 { i5 `=1 1 5 checking for new query: numPingsReceived=49, elapsed TxPingTime=22.469141S,cO?A-/@-)@-84ٱ-< AHRS rotation from veh to nav: [[0.793455,0.603724,0.077114],[-0.607038,0.775846,0.171955],[0.043985,-0.183249,0.982082]]-H@c?`Q? ?l?@?`&?tǿ 7m?i-/@I-^;-CYByII=<)=bDEVDE:y]׋%]A=ٔ]U:Q-]>9aYa=eFye$\Ee :Em>iQ 5{5mN&?Q 9{5m )m!BYyv¾Q I@mDIm:ie "ie^$˝?*ie Bie݁BiexbН?ie^ziaiek@iepE@ addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.505252 s, deltaX: 0.100000 m, approachRate: 0.197921 m/s, rangeRepo size: 4  Added new target pos. range: 7.159410 m, bearing: 178.734725 deg, lat: 36.779361 deg, lon: -121.859756 deg, deltaT: 0.505252 s, deltaX: 0.099436 m, approachRate: 0.196804 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@Zd?Iqɢua<)q uf1T,YP?A6-@6(@6+5ٱ6= >AHRS rotation from veh to nav: [[0.793354,0.603824,0.077373],[-0.607153,0.775610,0.172613],[0.044217,-0.183920,0.981946]]6H'c?R?γ?@m?@.? ?ǿ@l?i6-@I6^;6CYZ؁ByZIx]DDAT read: Rx Time:05:38:07.1591 ]TRx dataTimestamp_ set to:1761543488.424708mPDAT read: Bearing 325.2, -35.6 (Local) m~Local bearing/azimuth received: Bearing 325.2, -35.6 (Local) }DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 E EE'E"E:*Ei:VE'4ZEa@a@a@a@DAT read: 05:38:07.1591 LVL= 32752, 25633, 29746, 32755, AGC= 63, IDX= 505, 0.00, 0.110, 2.515, 1.552, 1.422, PHS=-1.211, 1.138, 0.086, RAW= 296.6, -0.1, CAL= 295.3, -4.6, ROT= 214.7, 4.6 Ygot valid direction response: 05:38:07.1591 LVL= 32752, 25633, 29746, 32755, AGC= 63, IDX= 505, 0.00, 0.110, 2.515, 1.552, 1.422, PHS=-1.211, 1.138, 0.086, RAW= 296.6, -0.1, CAL= 295.3, -4.6, ROT= 214.7, 4.6 T#Rx 50: Read range and direction messages.bdirection in FSK: [-0.819496,-0.567446,-0.080199]Fpublishing direction and range infoyY]wB܍CB! IB1BB =BDDBmDBnl;B*EI]l=YY]&*RƮ?%3Lyb ]q6E@)];I]9M"i]l=YYchecking for new query: numPingsReceived=50, elapsed TxPingTime=22.991615iMb@Mb@Mb@ 9'1Z?RQ?~jtY>y=ļAA@ nA)AYfAbDVD0yC%.=ٔQ->9Y=F!y(\E%3E%>)Q 55{5-6?Q 95{5-)-BY=L>Q E=:yEJQ IE@-DI-7;i-s6;-%,{5yeBɮe !AeEiYi]j.P?AJi]q@Ri]q@ji]BEF@b]$(=6D?GR]w:i]4"i]@[T˝?*i] Bi]Bi]@[T˝?i] i]oBi]n@i]BEF@U addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.502649 s, deltaX: 0.200000 m, approachRate: 0.397893 m/s, rangeRepo size: 4  Added new target pos. range: 7.357612 m, bearing: 177.501023 deg, lat: 36.779361 deg, lon: -121.859758 deg, deltaT: 0.502649 s, deltaX: 0.198202 m, approachRate: 0.394314 m/s, posRepo size: 4 jhbhhh*h"h hgfff Bdddjd@Zd5`? BBɢ TjA)1 Ti)! 顱iyi1"<ݨ\=IIIm@@q @q@}/@y checking for new query: numPingsReceived=50, elapsed TxPingTime=23.191683y ^A Y=ԩ IIO>/ T,N7P?A2)@2d$@2{5ٱ2> :AHRS rotation from veh to nav: [[0.793034,0.604165,0.077984],[-0.607565,0.775119,0.173364],[0.044293,-0.184864,0.981765]]2H`?`RU?`?`,q?0?`? ǿ`j?i2)@I2^;2CYFByFI Np9\Y\=^Fy^,\E^Eb>`Q 5f{5bzC?Q 9j{5b)bBYhyjQ Ij@bDIb;ib;bf/{5ypɮr!Ap}B*** querying acoustic contact ***iy iyjhbhhh*h"h hgfffdddjdZd@?DDAT read: Rx Time:05:38:07.6592 TRx dataTimestamp_ set to:1761543488.928848 PDAT read: Bearing 325.1, -33.8 (Local) ~Local bearing/azimuth received: Bearing 325.1, -33.8 (Local) %DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 E5 E5E5&E1"E52:*E5:VE54ZE1BE5"*1*T\῝OY@Zk )@Iiz?%=ۋ@+HH@ ¸)\m@I¸=i\"iM1Mԑ ;T,QP?Af"@f@fI7ٱfz? -AHRS rotation from veh to nav: [[0.792462,0.604832,0.078628],[-0.608279,0.774278,0.174615],[0.044733,-0.186204,0.981492]]fH[? Z? ?`w`?Y? D?@ǿbh?if"@If^;fCYByI ybDVDk1yB%+=ٔqQ->9Y=Fy1\EE> Q 5{5 S?Q 9{5 ) BYy#Q I@ DI ;i ; 3{5y%Bɮ%"A%Ei1i5?r;P?AJi5@Ri5@ji5MdD@b55k /9,R5>1*T\῝OZi5Y3$bi5¸=j5ܽ\d?TĿZ5]S>ZѨ?Wˉi2i5$ ?:i5"i50Aᝊ?*i5|iBi5jBi1i1i5݁Bi5@i5D@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504140 s, deltaX: 0.100000 m, approachRate: 0.198357 m/s, rangeRepo size: 4  Added new target pos. range: 7.457038 m, bearing: 175.819087 deg, lat: 36.779361 deg, lon: -121.859758 deg, deltaT: 0.504140 s, deltaX: 0.099427 m, approachRate: 0.197221 m/s, posRepo size: 4 jhbhhh*h"h hgffafidididijdu@Zdu?颽CBɢO) 2iDDAT read: Rx Time:05:38:08.1594 TRx dataTimestamp_ set to:1761543489.432781PDAT read: Bearing 324.1, -33.3 (Local) %~Local bearing/azimuth received: Bearing 324.1, -33.3 (Local) 5DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.5 DAT read: 05:38:08.1594 LVL= 32752, 27057, 31666, 32755, AGC= 65, IDX= 508, 0.07, 0.264, 2.601, 1.582, 1.513, PHS=-1.147, 1.133, 0.025, RAW= 299.1, -0.1, CAL= 297.6, -4.3, ROT= 212.4, 4.3 ԡB>BCBIB BB =BBqDB!l;B*EYgot valid direction response: 05:38:08.1594 LVL= 32752, 27057, 31666, 32755, AGC= 65, IDX= 508, 0.07, 0.264, 2.601, 1.582, 1.513, PHS=-1.147, 1.133, 0.025, RAW= 299.1, -0.1, CAL= 297.6, -4.3, ROT= 212.4, 4.3 )E4 AAiEc]ờET#Rx 52: Read range and direction messages.Mbdirection in FSK: [-0.841951,-0.534318,-0.074979]UFpublishing direction and range infoyC"Ὲ]1Y@i{ )AIВi%?< @6@ `)@m@I`=wָ!C ӗ?e; "` ZH@)W;I$i`=mchecking for new query: numPingsReceived=52, elapsed TxPingTime=23.992010iu1E EE(E"E:*E n:VEc44ZEBE#<2E#<JE;:E;}F<0X=II?@ @@/@@=@= PExceeded connect timeout, disconnecting.  checking for new query: numPingsReceived=52, elapsed TxPingTime=24.198807^A mY=IA I O >T,mP?AYBy{IyiMb@Mb@Mb@ 9{Gz?S㥫?X9vY?y/]=1A@ A)rAYAbDVDy%E=ٔQ->9Y=Fy5\EE>Q 5 {5c?Q 9 {5 )BY ?Q E :y 7Q I @DI:i:/7{5yɮ"Aii[P?AJi0@Ri0@jiC@bJgQPLRC"Ὲ]1Zi$bi`=j&kc.?ӼZZd3bص?2ip)?:iD"iם?*ieBi{BiiiBi@i'D@ addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503933 s, deltaX: 0.300000 m, approachRate: 0.595318 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 7.755968 m, bearing: 175.104203 deg, lat: 36.779361 deg, lon: -121.859758 deg, deltaT: 0.503933 s, deltaX: 0.298929 m, approachRate: 0.593192 m/s, posRepo size: 4 jhbhhh*h"h hgfffӁBdddjd@33@Zd$E?IɢU0])Q UciQ)U] QYi];i]1ί<X=IIDDAT read: Rx Time:05:38:08.6595 TRx dataTimestamp_ set to:1761543489.938968PDAT read: Bearing 323.0, -32.0 (Local) D%=DR= ~Local bearing/azimuth received: Bearing 323.0, -32.0 (Local) %DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.4 ]@@Y @Y@e/@aDAT read: 05:38:08.6595 LVL= 32752, 23137, 27362, 32755, AGC= 65, IDX= 509,-0.27,-2.186, 0.119,-0.941,-0.960, PHS=-1.123, 1.124,-0.025, RAW= 300.7, 0.2, CAL= 299.2, -3.8, ROT= 210.8, 3.8 Ygot valid direction response: 05:38:08.6595 LVL= 32752, 23137, 27362, 32755, AGC= 65, IDX= 509,-0.27,-2.186, 0.119,-0.941,-0.960, PHS=-1.123, 1.124,-0.025, RAW= 300.7, 0.2, CAL= 299.2, -3.8, ROT= 210.8, 3.8 T#Rx 53: Read range and direction messages.%bdirection in FSK: [-0.857071,-0.510917,-0.066274]%Fpublishing direction and range infoyr m뿑oY{SYAaZj )Iwi;ߏ?̼L@d;@ ԇ)Cwk@Iԇ=~8cՊ2q? +9H)ގIr&iԇ=echecking for new query: numPingsReceived=53, elapsed TxPingTime=24.504021 ^A} eZ=I I O >!T,_]P?A2@2@2<ٱ2VAD :AHRS rotation from veh to nav: [[0.790935,0.606559,0.080670],[-0.610175,0.771932,0.178347],[0.045906,-0.190284,0.980655]]2HWO?h?ʦ? @???5[ȿ@a?i2@I2 _;2CY^BybtIf@AdbDjVDjkyr%r_=ٔrQQ-v>9tYt=vFyv9\EzٻEz>|Q 5{5~p?Q 9{5~)~ BYy Q I @~DI~:i~:~b:{5yBɮ#AEi)i- |P?AJi-@Ri-@ji-A@b-uK~EpbAJbR-r m뿑oY{SZi-r&bi-ԇ=j-Yי014/?!Z-;ޥT`?o'}2i-m?:i-"i-V֝?*i-KBi-Bi-V֝?i-|ii-Bi-@i-vB@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.506187 s, deltaX: 0.200000 m, approachRate: 0.395111 m/s, rangeRepo size: 4  Added new target pos. range: 7.954839 m, bearing: 173.295213 deg, lat: 36.779362 deg, lon: -121.859757 deg, deltaT: 0.506187 s, deltaX: 0.198871 m, approachRate: 0.392881 m/s, posRepo size: 4 jhbhhh*h"h hgfff!d!d!d!jd% @Zd- "?=checking for new query: numPingsReceived=53, elapsed TxPingTime=24.702879频ɢrGt) Ei)q顡i/!߻i1$/<O=IIi@i @q@u 0@q!Y^A5[=AzAII O > DDAT read: Rx Time:05:38:09.1597 = TRx dataTimestamp_ set to:1761543490.446331M PDAT read: Bearing 323.0, -32.0 (Local) U ~Local bearing/azimuth received: Bearing 323.0, -32.0 (Local) Bm >Bm CBm IBm BBm  =Bm CDBm tDBm k;Bm K*E DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.3  DAT read: 05:38:09.1597 LVL= 32752, 22257, 25922, 32755, AGC= 64, IDX= 511, 0.22, 0.873,-3.130, 2.104, 2.087, PHS=-1.112, 1.111,-0.027, RAW= 300.8, 0.3, CAL= 299.2, -3.8, ROT= 210.8, 3.8 bE!4jE{4rE/E  E E %E "E :*E Ar:VE 4ZE BE w<2E w<JE G;:E H;m Ygot valid direction response: 05:38:09.1597 LVL= 32752, 22257, 25922, 32755, AGC= 64, IDX= 511, 0.22, 0.873,-3.130, 2.104, 2.087, PHS=-1.112, 1.111,-0.027, RAW= 300.8, 0.3, CAL= 299.2, -3.8, ROT= 210.8, 3.8 m T#Rx 54: Read range and direction messages.u bdirection in FSK: [-0.857071,-0.510917,-0.066274]u Fpublishing direction and range infoy y  r m뿑oY{SY A   V Be  ) @I Vi ?5? /ݼ @ ;  ) I    ȡ~׿ 0 1Tu?  X.H) zI i    checking for new query: numPingsReceived=54, elapsed TxPingTime=25.009600'T,9P?A2@2x@2 ?ٱ2[2D :AHRS rotation from veh to nav: [[0.789971,0.607880,0.080168],[-0.611351,0.770907,0.178751],[0.046857,-0.190219,0.980623]]2HqG?s? 腴?/E?O?? Yȿ Ca?i2@I2T^;2CQYBylI=nManaging dock network, ignoring radio surface power offiMb@Mb@Mb@ 9K7?9Y=Fy?\E _9E >Q 5{5T?Q 9{58) BY ?Q E:y!Q I@DI:i; ;?{5y)ɮ-E#A)iIiMP?AJiMARiMAjiMyA@bMXKlBe,a9RMr m뿑oY{SZiIbiIjMmEd {H;?dˤqӰZMAᅢ+,VE?8O2iMy?:iM mchecking for new query: numPingsReceived=54, elapsed TxPingTime=25.210859"iM[Iѝ?*iM?BiM|BiIiMeiM|BiMAiM6A@ԁ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.507363 s, deltaX: 0.300000 m, approachRate: 0.591293 m/s, rangeRepo size: 4 - Added new target pos. range: 8.253718 m, bearing: 173.208373 deg, lat: 36.779362 deg, lon: -121.859757 deg, deltaT: 0.507363 s, deltaX: 0.298880 m, approachRate: 0.589084 m/s, posRepo size: 4 jh)bh)h1h1*h1"h1 h1g9fYfafeBdididijdm @Zdu'?ɢ<<_) i)i޻i1а<KK=IIԱ@ @@/@@ @ fA i I - DDAT read: Rx Time:05:38:09.6598 E TRx dataTimestamp_ set to:1761543490.952298M PDAT read: Bearing 325.6, -42.7 (Local) U ~Local bearing/azimuth received: Bearing 325.6, -42.7 (Local) ^Au 0M= DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4  DAT read: 05:38:09.6598 LVL= 32752, 27521, 30706, 32755, AGC= 63, IDX= 512,-0.06, 1.270, 3.076, 2.564, 2.396, PHS=-1.024, 0.725, 0.124, RAW= 289.8, 2.3, CAL= 288.3, -2.6, ROT= 221.7, 2.6  Ygot valid direction response: 05:38:09.6598 LVL= 32752, 27521, 30706, 32755, AGC= 63, IDX= 512,-0.06, 1.270, 3.076, 2.564, 2.396, PHS=-1.024, 0.725, 0.124, RAW= 289.8, 2.3, CAL= 288.3, -2.6, ROT= 221.7, 2.6  T#Rx 55: Read range and direction messages.E  E E )E "E O:*E V:VE FA4ZE BE <2E <JE ;:E ;bdirection in FSK: [-0.745870,-0.664545,-0.045363]Fpublishing direction and range infoy9 = ؾ*VdC忁99Y= fA9 9 = k= wY 9 )= ?I= oi= 9?= == ڡ@= l$== `@ = 9)= *w@I= 9=9 9 = X wᅢ ?&d? = =@)= $I= {i= 9=9 9 checking for new query: numPingsReceived=55, elapsed TxPingTime=25.544386AIIO?0T,ސP?Af4@f@f1Gٱf_tG AHRS rotation from veh to nav: [[0.787923,0.610391,0.081237],[-0.613842,0.768147,0.182065],[0.048729,-0.193321,0.979925]]fH6?S?˴??M?`?຾ȿ@[?if4@If^;fC ))-kA-D->LF)1ukAiuj91Y9==Fy=C\E=ME=>AQ 5m{5E?Q 9u{5E")EBYqyu"Q Iu@EDIEu;iE ;EB{5y} Bɮ}#AԉiisP?AJiARiAjiL@bfG4^fK@ؿRؾ*VdC忁99Zi{bi9=j^ uU ̢F,c|?Zcx:+iB\h?2i0:i@"io8֝?*iA40BieBiiii9Ai@@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.505967 s, deltaX: 0.099999 m, approachRate: 0.197640 m/s, rangeRepo size: 4 % Added new target pos. range: 8.353161 m, bearing: 183.494359 deg, lat: 36.779362 deg, lon: -121.859757 deg, deltaT: 0.505967 s, deltaX: 0.099442 m, approachRate: 0.196539 m/s, posRepo size: 4 jh!bh)h)h)*h)"h) h)g)f1f1f1d1d9d9jd= @Zd=T?ɢVn) i)ui-ݻi1B<}@=IIchecking for new query: numPingsReceived=55, elapsed TxPingTime=25.716076Թ@ @@@^A G=A I I O > 6T,`P?A*DDAT read: Rx Time:05:38:10.1600 BJ>BJCBJIBJˁBBJ =BHBJrDBJ5k;BJ*E^TRx dataTimestamp_ set to:1761543491.454505bPDAT read: Bearing 321.5, -32.7 (Local) f~Local bearing/azimuth received: Bearing 321.5, -32.7 (Local) nDAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.5 DAT read: 05:38:10.1600 LVL= 32752, 20161, 23410, 32755, AGC= 67, IDX= 3,-0.34,-0.343, 1.914, 0.879, 0.904, PHS=-1.145, 1.055,-0.069, RAW= 300.7, 1.7, CAL= 298.8, -2.3, ROT= 211.2, 2.3  Ygot valid direction response: 05:38:10.1600 LVL= 32752, 20161, 23410, 32755, AGC= 67, IDX= 3,-0.34,-0.343, 1.914, 0.879, 0.904, PHS=-1.145, 1.055,-0.069, RAW= 300.7, 1.7, CAL= 298.8, -2.3, ROT= 211.2, 2.3  T#Rx 56: Read range and direction messages.bdirection in FSK: [-0.854675,-0.517610,-0.040132]Fpublishing direction and range infoy,E= E=E=%E9"E=:*E=L_:VE= 4ZE9BE=v<2E=w<JE=;:E=;.Y~B࿂.='Y.3 A,,.N.r[ ,).CI.\i.= ?.O.L@.<.@ .l$).k@I.l$=,,.bƙ ȉ= n2? .{AH).I.6&i.l$=,,checking for new query: numPingsReceived=56, elapsed TxPingTime=26.017378YBybIi=Mb@Mb@Mb@9999 99=S?~jtxMbPY=?y=Ļ==1A=@ =A)=A9Y=pA imp;bDuVDuky%)=ٔQ->9Y=FyH\EE>Q 5{5?Q 9{58')BY?Q E:y8,Q I@DIi%BzCBzIBzBBz =BzDDBzpDBzDk;Bz *EBCBCBCB =B =C7E EE$E"E:*EF:VE4ZEBE.<2E.<JE;:E;-TRx dataTimestamp_ set to:1761543492.4726715PDAT read: Bearing 320.8, -33.1 (Local) 5~Local bearing/azimuth received: Bearing 320.8, -33.1 (Local) MDAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.6 mDAT read: 05:38:11.1603 LVL= 32752, 26785, 32754, 32755, AGC= 62, IDX= 501, 0.16, 1.592,-2.435, 2.820, 2.859, PHS=-1.165, 1.035,-0.083, RAW= 300.5, 2.3, CAL= 298.6, -1.8, ROT= 211.4, 1.8 uYgot valid direction response: 05:38:11.1603 LVL= 32752, 26785, 32754, 32755, AGC= 62, IDX= 501, 0.16, 1.592,-2.435, 2.820, 2.859, PHS=-1.165, 1.035,-0.083, RAW= 300.5, 2.3, CAL= 298.6, -1.8, ROT= 211.4, 1.8 f@9@RTٱ5F AHRS rotation from veh to nav: [[0.784206,0.615385,0.079513],[-0.618334,0.764324,0.182954],[0.051813,-0.192640,0.979901]]T#Rx 58: Read range and direction messages.bdirection in FSK: [-0.853130,-0.520752,-0.031411]Fpublishing direction and range infoy!%;$ЎL뿸4"IzY%3A!!%h! !)%>I%i%z?%%ԧ@%l$=% Ŧ@ %)%"l@I%=!!H6?`￿G&U)u8? %uH)%u!I%%i%=!!checking for new query: numPingsReceived=58, elapsed TxPingTime=27.011580iMb@Mb@Mb@ 9(\? rhI +?Yz?yC94< AA)rAYAbDVDky_=%&=ٔr Q->9Y=FyR\EكE>Q 5{5ʠ?Q 9{50)(BY?Q E:y^1Q I@DIz:i:O{5y!Bɮ#A Ei!i%>@Q?AJi%]ARi%]Aji%}A@b% )7!LcҿR%;$ЎL뿸4"IzZi%%bi%=j%1Z1&"b*?icjA?Z%b,U ?vT?2i%?:i%1"i%͝?*i%_>Bi% Bi%if ҝ?i%uLi%Bi%Ai%)@@m addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.514717 s, deltaX: 0.300000 m, approachRate: 0.582845 m/s, rangeRepo size: 4 } Added new target pos. range: 9.147873 m, bearing: 172.889207 deg, lat: 36.779362 deg, lon: -121.859762 deg, deltaT: 0.514717 s, deltaX: 0.297755 m, approachRate: 0.578483 m/s, posRepo size: 4 jhbhhh*h"h hgfffȁBdddjd`ff"@Zd i?}BBɢHb) Øi)顁iڻi1 <.=II1}checking for new query: numPingsReceived=58, elapsed TxPingTime=27.227663@ @@/@a ^A ·3=ԉAII!OE>QHNT,;Q?A88vDDAT read: Rx Time:05:38:11.6604 vTRx dataTimestamp_ set to:1761543492.965685~PDAT read: Bearing 320.0, -33.7 (Local) ~~Local bearing/azimuth received: Bearing 320.0, -33.7 (Local)  DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.5 DzD?A=DAT read: 05:38:11.6604 LVL= 32752, 24321, 28370, 32755, AGC= 62, IDX= 502, 0.21,-0.227, 2.095, 1.041, 1.101, PHS=-1.225, 1.039,-0.103, RAW= 300.3, 3.0, CAL= 298.2, -1.0, ROT= 211.8, 1.0 EYgot valid direction response: 05:38:11.6604 LVL= 32752, 24321, 28370, 32755, AGC= 62, IDX= 502, 0.21,-0.227, 2.095, 1.041, 1.101, PHS=-1.225, 1.039,-0.103, RAW= 300.3, 3.0, CAL= 298.2, -1.0, ROT= 211.8, 1.0 ET#Rx 59: Read range and direction messages.Mbdirection in FSK: [-0.849763,-0.526876,-0.017452]U@U[@UTVٱUSEmFpublishing direction and range infoytv`B1뿺bZ*W7) ߑYvAttv_Eu EuEu)Eq"Eu;*Eux:VEuFA4ZEqa}@a}@a}@a}@ AHRS rotation from veh to nav: [[0.783057,0.616976,0.078499],[-0.619736,0.763390,0.182107],[0.052430,-0.191248,0.980140]]UH?E?@~?m?`DO?#ت?zȿ@O]?iU@IUS];QYByIbDVD1vn t)tIv̜iv?vҽv@vPwV=vۋ@ v5)v7l@Iv59)Y)=-Fy-W\E5E5>9Q 5={5=۠?Q 9E{5=5)=2BYAy1Q I@=DI=.%iv BivAiv@@U addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.493014 s, deltaX: 0.100000 m, approachRate: 0.202835 m/s, rangeRepo size: 4  Added new target pos. range: 9.247307 m, bearing: 173.031017 deg, lat: 36.779362 deg, lon: -121.859763 deg, deltaT: 0.493014 s, deltaX: 0.099434 m, approachRate: 0.201686 m/s, posRepo size: 4 jhbh-XTarget missed at range: 9.30 m. Rolling out.2hNTransitioning guidance mode to: ROLLOUT:h@hh*h"h h2hgfffdddjd"@Zd@!?TV) Ni)=i9iE1AE)=IAIM U&Changing to mode: 1ԙ @@  @ @ /@ checking for new query: numPingsReceived=59, elapsed TxPingTime=27.731649 ^Au +,=AIIO>yVT,)[Q?AZ@Z’@ZZٱZLoC nAHRS rotation from veh to nav: [[0.781761,0.618804,0.077014],[-0.621291,0.762364,0.181103],[0.053355,-0.189427,0.980444]]ZH0?@=?-?`Ie?c.?OQ?)?ȿ _?iZ@IZu];ZCYҁBy II))-<]DDAT read: Rx Time:05:38:12.1607 eTRx dataTimestamp_ set to:1761543493.468777mPDAT read: Bearing 319.0, -31.4 (Local) m~Local bearing/azimuth received: Bearing 319.0, -31.4 (Local) }DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.5 E EE&E"Em:*Ee:VE4ZEDAT read: 05:38:12.1607 LVL= 28736, 21665, 26226, 32755, AGC= 62, IDX= 505, 0.35, 0.714, 2.987, 1.874, 1.987, PHS=-1.171, 1.045,-0.156, RAW= 302.8, 3.0, CAL= 300.5, -0.8, ROT= 209.5, 0.8 Ygot valid direction response: 05:38:12.1607 LVL= 28736, 21665, 26226, 32755, AGC= 62, IDX= 505, 0.35, 0.714, 2.987, 1.874, 1.987, PHS=-1.171, 1.045,-0.156, RAW= 302.8, 3.0, CAL= 300.5, -0.8, ROT= 209.5, 0.8 T#Rx 60: Read range and direction messages.bdirection in FSK: [-0.870271,-0.492376,-0.013962]Fpublishing direction and range infoyY]AB܍CBIBƁBB =BBlDB]k;B*EaiUMb@Mb@Mb@QQQQ Q9UGz?~jty&1?YU?yUDU`9Y=Fy\\EsuE>Q 5{5l?Q 9{5:)CBY?Q E:y.Q I@DI;i^;fX{5y ɮ "AKEEAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse1LMUEntering Midcourse tracking update period 60.000000 s sec at 9.300000 m (mode 5.000000 count ).1LUqLUJ} }Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJ}Resuming normal ranging with 1.000000 count pings 9.300000 m (mode 5.000000 count ).J1KiYi]q^Q?AJi]ARi]Aji]>>@b]Bl q0.iR]A@ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503092 s, deltaX: 0.500000 m, approachRate: 0.993854 m/s, rangeRepo size: 4   Added new target pos. range: 9.743741 m, bearing: 170.625743 deg, lat: 36.779362 deg, lon: -121.859762 deg, deltaT: 0.503092 s, deltaX: 0.496434 m, approachRate: 0.986766 m/s, posRepo size: 4 5BNOT Ignoring new targets: 9.74 m.h1h1*h1"h1 h12h9g9f9f9fEׁB1:E tEAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyq:EtE@Uninitialize Buoyancy Component.dAdAjdM#@ZdM ۤ?ԑZ) i9)项ii1+i޹<Jchecking for new query: numPingsReceived=61, elapsed TxPingTime=28.534842-@-֐@-'D_ٱ-B =AHRS rotation from veh to nav: [[0.781568,0.619253,0.075344],[-0.621436,0.762334,0.180732],[0.054481,-0.188076,0.980642]]-H??I? e?6"?@?@ȿla?i-@I-=a;)Y]By]IbDVDfy4>%+=ٔQ->ԡ9Y=FyQE>Q 5{5?Q 9{5>)QBYy.Q I@"DIm%+bi޹<jϷ@9#@6yҾ?ZFMv?)?l̠ ?2i@:i"io֝?*iBi;Bi6ӝ?ii;BiAi=@] addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504022 s, deltaX: 0.099999 m, approachRate: 0.198403 m/s, rangeRepo size: 4 m Added new target pos. range: 9.843166 m, bearing: 167.572714 deg, lat: 36.779362 deg, lon: -121.859762 deg, deltaT: 0.504022 s, deltaX: 0.099425 m, approachRate: 0.197264 m/s, posRepo size: 4 mBNOT Ignoring new targets: 9.84 m.hihq*hq"hq hq2hqgqfffddjd#@Zd?Z?Z?Za@Z2@'D_) =i9)!i!i%1)-U"=I)I)@ @@/@checking for new query: numPingsReceived=61, elapsed TxPingTime=28.738964^A N!=IQ Iy O >a .fT,Q?AZ؈@Z@ZؾdٱZ`= jAHRS rotation from veh to nav: [[0.780510,0.621008,0.071785],[-0.622646,0.761998,0.177964],[0.055817,-0.183600,0.981415]]ZH ?@K?`? `Ib?@? ?2ǿg?iZ؈@IZa`;ZCY~)By~ IiMb@Mb@Mb@ 9"~j??%D=5DDAT read: Rx Time:05:38:13.1612 5TRx dataTimestamp_ set to:1761543494.476800=PDAT read: Bearing 317.8, -26.6 (Local) E~Local bearing/azimuth received: Bearing 317.8, -26.6 (Local) UDAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.5 Ei EmEm$Ei"Ei*EmT:VEm4ZEiau@au@au@au@DAT read: 05:38:13.1612 LVL= 30320, 30913, 32754, 32755, AGC= 57, IDX= 510,-0.25,-0.867, 1.340, 0.103, 0.305, PHS=-1.070, 1.081,-0.245, RAW= 307.7, 2.5, CAL= 305.4, -0.9, ROT= 204.6, 0.9 Ygot valid direction response: 05:38:13.1612 LVL= 30320, 30913, 32754, 32755, AGC= 57, IDX= 510,-0.25,-0.867, 1.340, 0.103, 0.305, PHS=-1.070, 1.081,-0.245, RAW= 307.7, 2.5, CAL= 305.4, -0.9, ROT= 204.6, 0.9 T#Rx 62: Read range and direction messages.bdirection in FSK: [-0.909124,-0.416230,-0.015707]Fpublishing direction and range infoy15\R}ڿy&Y5(A15pv5x1 1)59I5i55^?5Hz5$ګ@5¸2=5J@ 5)5Xd@I5<115U^ ; >}5? 5ǁ@)5,4I5]-i5<1B<A<B\>BڍCBIBBB =BBjDBk;B)E1checking for new query: numPingsReceived=62, elapsed TxPingTime=29.014790ٔRQ->9Y=FyR_E>Q 5{5?Q 9{5,B)`BY]?Q E]:y]Q I]@*DI9Y=FyRzE%>5DDAT read: Rx Time:05:38:13.6613 =TRx dataTimestamp_ set to:1761543494.980841EPDAT read: Bearing 317.1, -24.8 (Local) E~Local bearing/azimuth received: Bearing 317.1, -24.8 (Local) UDAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.6 Em EmEm&Ei"Em:*EmrN:VEm4ZEiBEm[ )=T,I=/a!Q 5{5%_!?Q 9{5%E)%nBYyQ I@%1Di=d<99checking for new query: numPingsReceived=63, elapsed TxPingTime=29.546474I%:i%]$<%d{5yɮA RjLtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseK%Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse*j!K%%Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJ% -Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRi9i=ƾQ?AJi=6*ARi=6*Aji= 7@b=8xZ#vk%˖ÿR=l˟ؿ4Zi=/bi=d<j=\Vp$iof(͡@@<"I?Z=>ֽs~?iN?2i==@:i=#"i=\:+ĝ?*i=Bi=IBi=ŝ?i=i9i='Ai=V:@ addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504041 s, deltaX: 0.200000 m, approachRate: 0.396793 m/s, rangeRepo size: 4   Added new target pos. range: 10.638200 m, bearing: 163.878264 deg, lat: 36.779360 deg, lon: -121.859757 deg, deltaT: 0.504041 s, deltaX: 0.198845 m, approachRate: 0.394501 m/s, posRepo size: 4  DNOT Ignoring new targets: 10.64 m.hh*h"h h2hgfffdd!jd%`ff%@Zd% ?ZaZaZaZe!o@}kh)y }h+=i}9)yyii1_=IIԑ9 checking for new query: numPingsReceived=63, elapsed TxPingTime=29.751753U %@Q  @Q @U 4@Q ^A}=IIOE>vT,$cQ?Aj%@j@jͪfٱj2] rAHRS rotation from veh to nav: [[0.781196,0.621978,0.053624],[-0.621743,0.767395,0.156655],[0.056285,-0.155719,0.986196]]jH`?>?t?Q?H ?sѬ?ÿ?ij%@Ij*^;hY~gBy~d IEDDAT read: Rx Time:05:38:14.1616 ETRx dataTimestamp_ set to:1761543495.484713UPDAT read: Bearing 316.4, -24.3 (Local) U~Local bearing/azimuth received: Bearing 316.4, -24.3 (Local) eDAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.5 bE4jE4rE5/E} E}E}'Ey"E}[:*E} H:VE}'4ZEya@a@a@a@DAT read: 05:38:14.1616 LVL= 25296, 18913, 23282, 32755, AGC= 62, IDX= 2,-0.17,-0.253, 1.973, 0.640, 0.904, PHS=-1.055, 1.114,-0.308, RAW= 310.2, 2.6, CAL= 307.9, -0.5, ROT= 202.1, 0.5 Ygot valid direction response: 05:38:14.1616 LVL= 25296, 18913, 23282, 32755, AGC= 62, IDX= 2,-0.17,-0.253, 1.973, 0.640, 0.904, PHS=-1.055, 1.114,-0.308, RAW= 310.2, 2.6, CAL= 307.9, -0.5, ROT= 202.1, 0.5 T#Rx 64: Read range and direction messages.Be>BۍCB IBBB =BBkDBj;B)Ebdirection in FSK: [-0.926493,-0.376210,-0.008727]Fpublishing direction and range infoyAE};ե.%:ؿB7߁YE1AAEbEIEZ A)E>IE= iE?E-E?@E9=E@ E5)Eua@IE5yt=<bA+@ AA)YbDVDy-=%5=ٔ5u9:Q-5>91Y9==Fy9=);E=>aQ 5m{5eM5?Q 9u{5e I)e{BYu>Q Eu:yu Q Iu@e:DIe7:ie:ei{5y};BɮAiAiEQ?AJiE0ARiE0AjiE%6@bEn*s$&;RE};ե.%:ؿB7߁ZiE@`0biE5<jE17&%.o? @еNZEݩfF(]M?@a2iEI@:iE4)"iEe&?*iEb BiEZBiE\:+ĝ?iE~iEZBiER-AiEM$8@5 addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503872 s, deltaX: 0.400001 m, approachRate: 0.793854 m/s, rangeRepo size: 4 e Added new target pos. range: 11.036165 m, bearing: 163.383006 deg, lat: 36.779360 deg, lon: -121.859754 deg, deltaT: 0.503872 s, deltaX: 0.397965 m, approachRate: 0.789815 m/s, posRepo size: 4 eDNOT Ignoring new targets: 11.04 m.hihi*hi"hi hi2higifqfqfulBdqdyjd}@33&@Zd 8?Z>Z>Z*&>Z0@ͪf) i9)ii%1!%;p!=I!I)1111checking for new query: numPingsReceived=64, elapsed TxPingTime=30.251282A  W?i ? )@  @ @ 1@ q ԡ^A=IIO ?v~T,.Q?A2g@2:@2"cٱ2 :AHRS rotation from veh to nav: [[0.782466,0.620818,0.048288],[-0.620221,0.770112,0.149175],[0.055424,-0.146674,0.987631]]2H ??$?`? .?`?@4¿`?i2g@I2r^;2CNDDAT read: Rx Time:05:38:14.6616 RTRx dataTimestamp_ set to:1761543495.988641VPDAT read: Bearing 316.6, -21.1 (Local) V~Local bearing/azimuth received: Bearing 316.6, -21.1 (Local) ^DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.4 Ej EhEj&Eh"Ej,:*EhVEj4ZEhBEj9Y=Fy_;E> Q 5{5 EH?Q 9{5 FL) BYyHQ I@ BDI ;i 8; n{5y!ɮ%A!iLiNEQ?AJiLRiLjiNge3@bNdx$NVQ |AѿRN%t-`?˖6Կ{JZiN3biN+<jN+.$fO @TTTԿZNGV+>?^cx2iNxj@:iN|&"iN&l۝?*iNXBiNBiLiNiNIBiNo2AiNf6@u addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.036165 m, bearing: 160.603745 deg, lat: 36.779360 deg, lon: -121.859751 deg, deltaT: 0.503928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.04 m.hh*h"h h2hgfffddjdZd`%?ZZZZP@"c) pY=i9)ii1(=IIUchecking for new query: numPingsReceived=65, elapsed TxPingTime=30.755552+@ @@4@! Q ^A "=I9 IY O} >OT,yR?AM@Mű@M]ٱM mAHRS rotation from veh to nav: [[0.784076,0.619099,0.044061],[-0.618302,0.772934,0.142393],[0.054099,-0.138889,0.988829]]MH@'???!߻?9?`޲? }?iM@IM A^;MCqqiyIyyIyiy yǁ)ȁȁ Ʌs@ȉȉȉɉɉIɉ)ɑiɑ)ʑIʕxkAɑɑ ʑʙʝjAʙiʙʙiˡ˭iA)˭z ˭/FI˩YYBy IiEMb@Mb@Mb@AAAA A9Ev??yE>EtBBZ IB^BB =BBBk;B)E}~Local bearing/azimuth received: Bearing 314.5, -23.2 (Local) DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 mDAT read: 05:38:15.1618 LVL= 32752, 29505, 32754, 32755, AGC= 61, IDX= 500, 0.24, 2.634,-1.437,-2.812,-2.489, PHS=-1.058, 1.097,-0.367, RAW= 311.7, 3.5, CAL= 309.3, 0.8, ROT= 200.7, -0.8 bD}VD}ܲyr>%_=ٔm;Q->9Y=FyYgot valid direction response: 05:38:15.1618 LVL= 32752, 29505, 32754, 32755, AGC= 61, IDX= 500, 0.24, 2.634,-1.437,-2.812,-2.489, PHS=-1.058, 1.097,-0.367, RAW= 311.7, 3.5, CAL= 309.3, 0.8, ROT= 200.7, -0.8 T#Rx 66: Read range and direction messages.`direction in FSK: [-0.935353,-0.353440,0.013962]Fpublishing direction and range infoyim8iࣅkĞֿ4?Ymf6AimmAsi i)m=Imlimj?mm绾m @m5z=m澬@ md<)m/`@Imdi;E>Q 5{5S?Q 9{5M)BY>Q E ;yUQ I@GDI':i/:>r{5yBBɮrA Eim)FhfHɿ {? m;)mxIm1imdii=checking for new query: numPingsReceived=66, elapsed TxPingTime=31.067144iiimR?AJimY5ARimY5Ajim5@bm4%)$ʗDA?Rm8iࣅkĞֿ4?Zim1bimdjmw~C7%U ] @)g?Zma1)gs4&~X?Anh-?2im^@:im,"imHƝ?*im*BimBiiimb imZBim5Aim5@ addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504127 s, deltaX: 0.299999 m, approachRate: 0.595087 m/s, rangeRepo size: 4  Added new target pos. range: 11.334301 m, bearing: 162.112078 deg, lat: 36.779360 deg, lon: -121.859750 deg, deltaT: 0.504127 s, deltaX: 0.298136 m, approachRate: 0.591390 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.33 m.hh*h"h h2hgfffBddjd&@Zd?Z->Z->Z-u>Z-{z@}])y }i9)顁ii1U0=IIE.@A @A@Mi4@I9 checking for new query: numPingsReceived=66, elapsed TxPingTime=31.258930q ^A K'=I I O >uT,C4R?AeT̬@e'dz@eXٱe AHRS rotation from veh to nav: [[0.785746,0.617215,0.040617],[-0.616299,0.775601,0.136453],[0.052718,-0.132249,0.989814]]eH $?@9?ˤ?ุ@?Gw???ieT̬@Ie^;aIYEByM IbD]VD]02ym=%m_=ٔuw;Q-u>9qYy=}Fyy};E}>Q 5{5^?Q 9{5N)BYyQ I@KDI;i;`u{5yɮAADNOT Ignoring new targets: 11.33 m.hh*h"h h2hgfffddjdZdǷ?ZZZZߏ@X) ;ip9)h0ii%1!%ߠ9=I)I)1/@ @@/@@=@=iyIyDDAT read: Rx Time:05:38:15.6619 TRx dataTimestamp_ set to:1761543496.997248PDAT read: Bearing 316.8, -19.3 (Local) ~Local bearing/azimuth received: Bearing 316.8, -19.3 (Local) DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.4 E EE(E"EI:*E H:VEc44ZEBE9 XT,NR?A69߬@6 ڳ@6Qٱ6i, >AHRS rotation from veh to nav: [[0.787228,0.615453,0.038594],[-0.614534,0.777779,0.131937],[0.051184,-0.127582,0.990506]]6H0?˱?£?C?P? 4? T:?i69߬@I6/3^;4%checking for new query: numPingsReceived=67, elapsed TxPingTime=31.770998Y-̂By- I 11bD=VD=:2yv=%Y=ٔȅ;Q->9Y=Fy;E>Q 5{5j?Q 9{5O)BYyӦQ I@PDI:i:x{5yɮAii?R?AJi8ARi8Aji1@bmt&rmUD KٿRvsߌ,]ҿXޡZio5bi5=jx,P %p?@z |Zm{[?& i2i@:i,"iY2ݝ?*iFBiBiHƝ?i*iIBi9Ai5@m addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504480 s, deltaX: 0.200001 m, approachRate: 0.396449 m/s, rangeRepo size: 4 E Added new target pos. range: 11.533150 m, bearing: 159.353408 deg, lat: 36.779360 deg, lon: -121.859749 deg, deltaT: 0.504480 s, deltaX: 0.198849 m, approachRate: 0.394166 m/s, posRepo size: 4 YuDNOT Ignoring new targets: 11.53 m.hh*h"h h2hgfffddjd@33'@Zd@p?Z1Z1Z1Z5@EQ)a m@=im9)ime2iiiiu1quA=IqIym2@qԁ @q@/@DDAT read: Rx Time:05:38:16.1621 TRx dataTimestamp_ set to:1761543497.508641PDAT read: Bearing 314.2, -21.8 (Local) ~Local bearing/azimuth received: Bearing 314.2, -21.8 (Local) DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.3  DAT read: 05:38:16.1621 LVL= 32096, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.25, 2.265,-1.904, 3.029,-2.924, PHS=-0.993, 1.065,-0.375, RAW= 313.0, 3.4, CAL= 310.6, 0.7, ROT= 199.4, -0.7 % Ygot valid direction response: 05:38:16.1621 LVL= 32096, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.25, 2.265,-1.904, 3.029,-2.924, PHS=-0.993, 1.065,-0.375, RAW= 313.0, 3.4, CAL= 310.6, 0.7, ROT= 199.4, -0.7 % T#Rx 68: Read range and direction messages.5 `direction in FSK: [-0.943152,-0.332136,0.012217]5 Fpublishing direction and range infoygM.1dAտI:?Yf>A`} )I?5~iQ?Ϯ@s=x@ +H<)`^@I+H Hn̿糬? :)boIUd3i+HM checking for new query: numPingsReceived=68, elapsed TxPingTime=32.038445B] [>B] ڍCB] IB] BB]  =BY BY B] -k;B] )EBۍCBۍCBȔCB =B =C:6E}  E} E} &Ey "E} :*E} T:VE} 4ZEy BE} v<2E} v<JE} ̨;:E} ̨;ԩ ^A l;=I I O >IT,"gR?A6@6@6Mٱ6< BAHRS rotation from veh to nav: [[0.788970,0.613246,0.038138],[-0.612389,0.779776,0.130110],[0.050051,-0.126008,0.990766]]6H???ඟ?Æ? @?`q?>? !Z?i6@I6 ^;6CYRڂByR Ii%Mb@Mb@Mb@!!!! !9%Fx?#~j?Mbp?Y%Ƌ>y%%>%;%A! %AA)%EA!Y%AbDEVDE:yMr=%UP=ٔU<;Q-U>9YYY=]FyY]C;Ee>aQ 5m{5et?Q 9u{5eIP)aYu>Q Eu';yuwQ Iu@eTDIe:ie?;e|{5yXBɮAEi i `R?AJi M=ARi M=Aji 34@b hy+LHQ&< of?R gM.1dAտI:?Zi Ud3bi +Hj GHj&hŤyM@ȺQ#=r?Z mP=F}?,TS4y{?2i or@:i T3"i [ĝ?*i Bi Bi i i ZBi Z>ZK ?Z@=M)9 =أ=iE9)AE@3AiAiu1qu/@J=IqIyԩ=checking for new query: numPingsReceived=68, elapsed TxPingTime=32.275764-4@1 @1@50@9^Am K@=Iy I O >  DDAT read: Rx Time:05:38:16.6621  TRx dataTimestamp_ set to:1761543498.012711 PDAT read: Bearing 316.6, -18.7 (Local)  ~Local bearing/azimuth received: Bearing 316.6, -18.7 (Local)  DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.3 - DAT read: 05:38:16.6621 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.20,-1.959, 0.224,-1.252,-0.930, PHS=-0.926, 1.200,-0.365, RAW= 315.3, 1.0, CAL= 313.3, -2.1, ROT= 196.7, 2.1 5 Ygot valid direction response: 05:38:16.6621 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.20,-1.959, 0.224,-1.252,-0.930, PHS=-0.926, 1.200,-0.365, RAW= 315.3, 1.0, CAL= 313.3, -2.1, ROT= 196.7, 2.1 5 T#Rx 69: Read range and direction messages.= bdirection in FSK: [-0.957179,-0.287167,-0.036644]E Fpublishing direction and range infoy  Vo[6T`ҿ(א¢Y  ) >I Vmi ? HẾ @ 5< @ Q ) L[@I Q =  0_Ӂ4п-)cB?NjT,ཁR?AD4=DR=E EEE"E>:*Eg:VEZEa@a@a@a@ 8)Iih6iQ =Zchecking for new query: numPingsReceived=69, elapsed TxPingTime=32.565060lj @j@j%Gٱj zAHRS rotation from veh to nav: [[0.790661,0.611049,0.038392],[-0.610310,0.781608,0.128884],[0.048747,-0.125334,0.990916]]jHM??@?@?B? \? ?ij @IjX^;jCYeقBye IbDVDk2ym%?=ٔTH;Q- >9 Y = Fy ;E>9Q 5E{5=?Q 9E{5=P)=BYAyEYQ IM@=XDI=:i=:={5yqɮuAqiiBЀR?AJiRiji1@bǁ@&VJ <. U/ۿRVo[6T`ҿ(א¢Ziih6biQ =jPV&|@FlCZHW?0[͐ 2ig@:i0"iMݝ?*iBBiBi&l۝?iXiBia;Ai3@ addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 11.831339 m, bearing: 159.182429 deg, lat: 36.779363 deg, lon: -121.859746 deg, deltaT: 0.504070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 =DNOT Ignoring new targets: 11.83 m.h9h9*h9"h9 h92h9gAfAfAfAdIdIjdiZdu4?ZZZZv@%G) =i9).Z3ii1R=IIIeA)cA 7@ @@j0@Uchecking for new query: numPingsReceived=69, elapsed TxPingTime=32.781448Y^A <H=I I O >ԁ T,R?A`ɰb4yUQ8>UU|AU|@ U+A)UAQYUAbDmVDm0y}<%}B=ٔF;Q->DDAT read: Rx Time:05:38:17.1624 TRx dataTimestamp_ set to:1761543498.516796PDAT read: Bearing 312.4, -25.2 (Local) ~Local bearing/azimuth received: Bearing 312.4, -25.2 (Local) DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -3.3 DAT read: 05:38:17.1624 LVL= 22672, 25169, 25586, 32179, AGC= 63, IDX= 506,-0.22, 0.711, 2.783, 1.567, 1.858, PHS=-1.045, 0.970,-0.335, RAW= 309.7, 4.7, CAL= 307.3, 2.6, ROT= 202.7, -2.6 BABk>B܍CB IBӂBB =BBlDBj;B)EYgot valid direction response: 05:38:17.1624 LVL= 22672, 25169, 25586, 32179, AGC= 63, IDX= 506,-0.22, 0.711, 2.783, 1.567, 1.858, PHS=-1.045, 0.970,-0.335, RAW= 309.7, 4.7, CAL= 307.3, 2.6, ROT= 202.7, -2.6 T#Rx 70: Read range and direction messages. `direction in FSK: [-0.921588,-0.385509,0.045363] Fpublishing direction and range infoyփ}ݑ(-ؿ99?YDAXQbc })?I…iQx?@=@ 9=)kb@I9E- E-E-%E)"E-:*E-~:VE- 4ZE)BE-[ )~TI/i9Mchecking for new query: numPingsReceived=70, elapsed TxPingTime=33.054871yAUۡ;EU>YQ 5]{5]?Q 9e{5]P)]BYeQ>Q Ee0;ye޼Q Ie@]\DI] =i] =]{5ym\BɮuAqyii0R?AJiCARiCAji~7@bMHz&LRc^?Rփ}ݑ(-ؿ99?Zi/bi9jC/D' @l4?Zp籉^ʵ?WQu?2i6O@:ir<"iV?*iFBiBiHƝ?iiBi@Ai4@E addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504085 s, deltaX: 0.400001 m, approachRate: 0.793518 m/s, rangeRepo size: 4 M Added new target pos. range: 12.229396 m, bearing: 164.629172 deg, lat: 36.779360 deg, lon: -121.859746 deg, deltaT: 0.504085 s, deltaX: 0.398057 m, approachRate: 0.789662 m/s, posRepo size: 4 UDNOT Ignoring new targets: 12.23 m.hQhq*hq"hy hy2hygyfyff‚Bddjd(@Zd ?ZQ>ZQ>Z9$?Z1@cC)! %L=i%)9)!%d3!i!i-1)-Y=IQIQԩ 9@  @ @ P0@ E checking for new query: numPingsReceived=70, elapsed TxPingTime=33.283043 ^A5 dO=Ia I O >CT,HR?Ar(@r^#@r?ٱr2 AHRS rotation from veh to nav: [[0.792868,0.608197,0.038166],[-0.607595,0.784170,0.126115],[0.046774,-0.123182,0.991281]]rH@-_? Yv?|?lq ?@$??@؈@?ir(@Ir+^;pY-΂By- IbD=VD=1yM%MY=Qٔ*;Q->9Y=Fy*l;E>Q 5{53?Q 9{5P)BYyѼQ I@`DI;iu;{5ycBɮAE-DNOT Ignoring new targets: 12.23 m.h)hI*hQ"hQ hQgYfYfafadadqjdyZd}c?ZZZZ->@U?)Q UIU}?iU~?URU?@U4QO=Uo@ UdDzDAAE EE'E"E:*EM:VE'4ZEa@a@a@a@)U a@IUd;QQUVtᅥƿFſg? Uέ=)U#[PIUC0iUd;QQchecking for new query: numPingsReceived=71, elapsed TxPingTime=33.559025^A &V=I I O > ԳT,R?A2#@2@2Y;ٱ2 :AHRS rotation from veh to nav: [[0.792558,0.608602,0.038149],[-0.608080,0.784088,0.124277],[0.045723,-0.121695,0.991514]]2H\?y?B?cu @?п? i?a'`{?i2#@I2ǐ`;2CRchecking for new query: numPingsReceived=71, elapsed TxPingTime=33.786617YVByV IbD^VD^yf%fS=ٔjD6;Q-j>9hYh=jFyl}ƺE>Q 5{5r?Q 9 {5P)BYy%QԼQ I-@dDIo]DDAT read: Rx Time:05:38:18.1625 eTRx dataTimestamp_ set to:1761543499.524828mPDAT read: Bearing 314.3, -23.5 (Local) m~Local bearing/azimuth received: Bearing 314.3, -23.5 (Local) }DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.2 Bu>BލCB!IBBB =BBnDBi;B2)EDAT read: 05:38:18.1625 LVL= 32752, 25665, 32754, 32755, AGC= 63, IDX= 508,-0.40,-2.723,-0.559,-1.886,-1.586, PHS=-1.035, 1.072,-0.344, RAW= 311.2, 3.3, CAL= 308.8, 0.5, ROT= 201.2, -0.5 Ygot valid direction response: 05:38:18.1625 LVL= 32752, 25665, 32754, 32755, AGC= 63, IDX= 508,-0.40,-2.723,-0.559,-1.886,-1.586, PHS=-1.035, 1.072,-0.344, RAW= 311.2, 3.3, CAL= 308.8, 0.5, ROT= 201.2, -0.5 T#Rx 72: Read range and direction messages.`direction in FSK: [-0.932288,-0.361611,0.008727]Fpublishing direction and range infoyY]LPN3k$׿B7߁?Y]HAY]]AdY Y)]?I]zi]L7?] ]έ@]k=]iw@ ]5<E EE%E"E>:*E1]:VE 4ZEBE T,{R?A2@2@2zm7ٱ28 :AHRS rotation from veh to nav: [[0.792221,0.608986,0.039010],[-0.608590,0.783781,0.123717],[0.044767,-0.121752,0.991550]]2HY?|??y ???&+Ⱥ?i2@I2"`;0Y^By^ IbA`iUMb@Mb@Mb@QQQQ Q9Uy&1?ףp= ?MbYU`e>yU>UUAU@ UA)U\AQYUAbD}VD}ܲy(%>=ٔ ;Q->9Y!=%Fy!%+E->QQ 5]{5U?Q 9e{5U1Q)UwBYem>Q EeA;yeQ Im@UgDIU9;iU8;U {5yɮfAiiȖR?AJiFARiFAji׏6@b_mLA,' ˰8 wZĻ?RLPN3k$׿B7߁?Zia1bi5jM:^'XXW @pL2i?ZR$e&Y7 >?BNi?2ib@:i>"iK?*iBiBi[ĝ?iiBiqEAi5m6@M addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503013 s, deltaX: 0.300000 m, approachRate: 0.596406 m/s, rangeRepo size: 4 ] Added new target pos. range: 12.428714 m, bearing: 163.437887 deg, lat: 36.779360 deg, lon: -121.859749 deg, deltaT: 0.503013 s, deltaX: 0.298744 m, approachRate: 0.593910 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 12.43 m.hYha*ha"ha hagafaffBddjd)@Zd`q?checking for new query: numPingsReceived=72, elapsed TxPingTime=34.290874Zm>Zm>Z?Z@zm7) ;ib9)Ǧ0ii1aX=II@ @@/@) ^A= Y=IA e DDAT read: Rx Time:05:38:18.6625 m TRx dataTimestamp_ set to:1761543500.028778u PDAT read: Bearing 312.1, -24.9 (Local) u ~Local bearing/azimuth received: Bearing 312.1, -24.9 (Local)  DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.3  DAT read: 05:38:18.6625 LVL= 32752, 27633, 32754, 32755, AGC= 66, IDX= 508,-0.40, 2.060,-2.060, 2.933,-3.036, PHS=-1.086, 1.020,-0.358, RAW= 310.1, 4.6, CAL= 307.8, 2.6, ROT= 202.2, -2.6  Ygot valid direction response: 05:38:18.6625 LVL= 32752, 27633, 32754, 32755, AGC= 66, IDX= 508,-0.40, 2.060,-2.060, 2.933,-3.036, PHS=-1.086, 1.020,-0.358, RAW= 310.1, 4.6, CAL= 307.8, 2.6, ROT= 202.2, -2.6  T#Rx 73: Read range and direction messages. `direction in FSK: [-0.924918,-0.377452,0.045363] Fpublishing direction and range infoya e $M1-+(ؿ99?Ya a a e ka a )e BIe ie \?e Ke I1@e l=e o@ e 9=)e a@Ie 9a a e ʆfŧaƿW6?D =D <E  E E &E "E :*E VE 4ZE a @a @a @a @Y Ia Om >T,S?A =)[IC0i9checking for new query: numPingsReceived=73, elapsed TxPingTime=34.582771j@j@j/4ٱj AHRS rotation from veh to nav: [[0.791522,0.609879,0.039248],[-0.609548,0.783195,0.122707],[0.044097,-0.121049,0.991667]]jH@%T?"?_?k?i?哦??ij@Ij5#`;jCYBy IbDUVDU1y%J=ٔl:Q->9Y=FyHE>Q 5{5ذ?Q 9{5bQ)oBYyQ I@kDIu;i;w{5yiBɮTAEiiS?AJiRijiDK7@bv϶&*%̭ ?R$M1-+(ؿ99?ZiC0bi9j48'T37 @?{?Zg@Bʄ?WDk?2iY@:i?"ir?*iBi܃Bir?iiiFAiCK7@ addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.428714 m, bearing: 164.093332 deg, lat: 36.779360 deg, lon: -121.859751 deg, deltaT: 0.503950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.43 m.hh*h"h hgfffddjdZd-Ͽ?Z Z Z Z o@=/4)9 =iE9)AEAiAiM1IMT=IIIQ 9@  @ @ /@ Qchecking for new query: numPingsReceived=73, elapsed TxPingTime=34.795002^AM u \=IY q Iq O} >T,S?A,] @]@]^3ٱ]t| uAHRS rotation from veh to nav: [[0.790840,0.610778,0.039012],[-0.610459,0.782664,0.121559],[0.043712,-0.119949,0.991817]]]HN?}?f? ??@xa??i] @I])?_;]CYBy IDDAT read: Rx Time:05:38:19.1625 %TRx dataTimestamp_ set to:1761543500.532738-PDAT read: Bearing 315.2, -25.8 (Local) -~Local bearing/azimuth received: Bearing 315.2, -25.8 (Local) A1A1B=q>B=ݍCB= IB=݂BB= =B9B=mDB=0i;B=(E]DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 bE1jE5ž4rE5S/E EE'E"E:*Ea9:VE'4ZEBEvy > # |A X@ +A)  Y AbDEVDE02yU%U1=ٔU [:Q-U>9YYY=]FyY]!Ee>mYgot valid direction response: 05:38:19.1625 LVL= 32752, 21489, 30482, 32755, AGC= 63, IDX= 508, 0.45,-2.723,-0.536,-1.802,-1.558, PHS=-1.062, 1.067,-0.288, RAW= 308.9, 3.1, CAL= 306.5, -0.2, ROT= 203.5, 0.2 mT#Rx 74: Read range and direction messages.ubdirection in FSK: [-0.917055,-0.398747,-0.003491]uFpublishing direction and range infoyHw8X GٿQC1mlYSw )?Iiu?t@k]=.@ d)Oc@Id;ԉQ 5{5?Q 9{5R)dBY>Q E>;yRQ I@oDIH;i+;{5yɮAdx.EɿÿHבּh? z?)[[I.id;checking for new query: numPingsReceived=74, elapsed TxPingTime=35.107250!iia"S?AJiFARiFAjiO9@b6U&5 td6RHw8X GٿQC1mlZi.bid;jG<^(]@1i=?Zz$p¢( ?x^q?2iD@:i@"i?ĝ?*iʎ=BiBiiFiiHAi 8@ addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503960 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.428549 m, bearing: 165.681144 deg, lat: 36.779360 deg, lon: -121.859753 deg, deltaT: 0.503960 s, deltaX: -0.000165 m, approachRate: -0.000327 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.43 m.hh*h"h hgffflBddjdZd%2?Ze>Ze>Ze[>Zew@u^3)q u`=iuz9)y顽͝2ii1'Q=IIԹ59@9 @9@=/@9@A@A checking for new query: numPingsReceived=74, elapsed TxPingTime=35.298904 ^A= lT=Ii I O >];T,7S?AB@B@B2ٱB< JAHRS rotation from veh to nav: [[0.789796,0.612136,0.038892],[-0.611814,0.781695,0.120981],[0.043655,-0.119345,0.991893]]BHF?? ?? ?Y?@e?iB@IBm^;BC\Y~sBy~s II)<bDVDyEw,%Es=ٔEs39Q-M?9IYI=MFyIUEU?YQ 5e{5]¡?Q 9m{5]R)]]BYiymTQ Im@]rDI]w:i],:]p{5yqɮA-DNOT Ignoring new targets: 12.43 m.h)h)*h)"h) h)gQfYfYfadadajdiZdms?ZZZZj@2) " A :$T,^QS?A2{@2N@2g2ٱ2 :AHRS rotation from veh to nav: [[0.788504,0.613787,0.039077],[-0.613479,0.780418,0.120793],[0.043645,-0.119219,0.991908]]2Hl;?$??@/?@M?X?!`?i2{@Nchecking for new query: numPingsReceived=75, elapsed TxPingTime=35.805176I2N^;2CYjiByrf I!bD-VD-:ymF%uH=ٔ}7Q->9Y=Fy%?E->qQ 5}{5u̡?Q 9}{5u=S)uSBYyVQ I@uvDIu[:iu:uH{5yɮ AiYi][BS?AJiYRiYji]9@b]Hbr&h00ϖ%?R]]fieԎŅڿ(א¢?Zi]-bi]Q j] =(3J@+R?Z]4]Uh £-Xd? Hѕ?2i]>@:i]@"i]d ՝?*i]&Bi]Bi]?ĝ?i]$iYi]KAi]'$8@e addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504067 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.428549 m, bearing: 166.164759 deg, lat: 36.779360 deg, lon: -121.859753 deg, deltaT: 0.504067 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.43 m.hh*h"h hgfffd d jd Zd }?AZZZZY@=g2) i9)ii 1D=IIIYIfA)fAy=DDAT read: Rx Time:05:38:20.1627 =TRx dataTimestamp_ set to:1761543501.540891MPDAT read: Bearing 314.4, -27.6 (Local) M~Local bearing/azimuth received: Bearing 314.4, -27.6 (Local) ]DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.2 DAT read: 05:38:20.1627 LVL= 32752, 24337, 32402, 32755, AGC= 65, IDX= 510, 0.29,-2.239,-0.052,-1.261,-1.038, PHS=-1.099, 1.030,-0.268, RAW= 307.2, 3.7, CAL= 304.8, 0.5, ROT= 205.2, -0.5 Ygot valid direction response: 05:38:20.1627 LVL= 32752, 24337, 32402, 32755, AGC= 65, IDX= 510, 0.29,-2.239,-0.052,-1.261,-1.038, PHS=-1.099, 1.030,-0.268, RAW= 307.2, 3.7, CAL= 304.8, 0.5, ROT= 205.2, -0.5 T#Rx 76: Read range and direction messages.`direction in FSK: [-0.904793,-0.425763,0.008727]Fpublishing direction and range infoBe>B܍CB IBBB =BBlDB%i;B(Ey9=Ĕ?ۿB7߁?Y=LA99=_=~ 9)=AI=i= ׃?=L7=@= A==;@ =5<)=5e@I=599=PٹoB" O+@`? =@)=I=,i=599checking for new query: numPingsReceived=76, elapsed TxPingTime=36.080223E EE&E"E[:*ET:VE4ZEBE~T,omS?A0J֬@Jjѳ@JH2ٱJR nAHRS rotation from veh to nav: [[0.786861,0.615942,0.038283],[-0.615583,0.778988,0.119313],[0.043668,-0.117449,0.992118]]JH -?@˵?ݙ?۲@w?H?[?% o?iJ֬@IJ^;JCYzSByzK IiuMb@Mb@Mb@qqqq q9u$C?V-?{GzYu>yuh=qu Au+@ uA)ut@qYufAbDVDySĽ%7=ٔVQ->9Y=FyYλE>Q 5{5֡?Q 9{5T)LBY>Q E*;yWQ I@zDI ;i:{5ypBɮ AEiYi]bS?AJi]KARi]KAji].r:@b]Ѹ'Z|T4zYn?R]Ĕ?ۿB7߁?Zi],bi]5j]<(} @{Z3?Z] pw) uO?&\朓?2i]]8@:i]MF"i]%;W?*i]ZmBi]ЂBi]r?i]ʎ=iYi]LAi]9@% addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504086 s, deltaX: 0.300000 m, approachRate: 0.595137 m/s, rangeRepo size: 4 5 Added new target pos. range: 12.726562 m, bearing: 166.915146 deg, lat: 36.779360 deg, lon: -121.859755 deg, deltaT: 0.504086 s, deltaX: 0.298014 m, approachRate: 0.591196 m/s, posRepo size: 4 checking for new query: numPingsReceived=76, elapsed TxPingTime=36.308590DNOT Ignoring new targets: 12.73 m.hh*h"h h g1fQfafeBdqdyjd})@Zd@C8?ԙZ=>Z=>Z=4m>Z=e@]H2)Y ]>i]9)ae3aiaim1im:=IiIq@ @@C1@ 5 DDAT read: Rx Time:05:38:20.6627 5 TRx dataTimestamp_ set to:1761543502.044645= PDAT read: Bearing 312.5, -27.9 (Local) E ~Local bearing/azimuth received: Bearing 312.5, -27.9 (Local) Q Q 6G DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3 hAE  E E E "E :*E 0:VE ZE BE ;2E ;JE ܉;:E ܉; ^A B= $q9 hAY J[Ayu ?u o|A DAT read: 05:38:20.6627 LVL= 32752, 29649, 32754, 32755, AGC= 67, IDX= 510, 0.22, 2.429,-1.706,-2.887,-2.646, PHS=-1.107, 0.985,-0.285, RAW= 307.1, 4.5, CAL= 304.7, 2.0, ROT= 205.3, -2.0 I I O >T,uS?A6Ygot valid direction response: 05:38:20.6627 LVL= 32752, 29649, 32754, 32755, AGC= 67, IDX= 510, 0.22, 2.429,-1.706,-2.887,-2.646, PHS=-1.107, 0.985,-0.285, RAW= 307.1, 4.5, CAL= 304.7, 2.0, ROT= 205.3, -2.0 6T#Rx 77: Read range and direction messages.:`direction in FSK: [-0.903532,-0.427098,0.034899]:Fpublishing direction and range infoy4aCd쿩{UۿXޡ?Ys )CI-i(|?둾Z@|٠=5-@ 5=)Re@I5S߸6Pcx? a0A)I2,i5jchecking for new query: numPingsReceived=77, elapsed TxPingTime=36.652729lY?By3 I AAbDVD:2y굽%==ٔQ->9Y=FyE>Q 5{5ࡊ?Q 9{5?V)DBYyQ I@~DIN:i:{5yɮ!AiiwۂS?AJiRijiX:@b_i&mql?R4aCd쿩{UۿXޡ?Zi2,bi5jH(I-@;v?Zmn< ] j#?@Y5?2im9@:iF"i͝?*i]_ BifBi?ĝ?i&ifBiMAi.9@ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503754 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.726562 m, bearing: 166.826910 deg, lat: 36.779360 deg, lon: -121.859757 deg, deltaT: 0.503754 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.73 m.hh*h"h hgff f d d jdZd?ZQZQZQZQDDAT read: Rx Time:05:38:21.1629 TRx dataTimestamp_ set to:1761543502.299949checking for new query: numPingsReceived=77, elapsed TxPingTime=36.817062) t=iJ9)L3ii 1  $P<=I I1@ @@(2@a ^A 89=I IQ O} >+T,SS?A^_@^2@^$4ٱ^c꽝nDAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.0 rZ#Rx 78: Read range message, but no direction.yhYjQAhvchecking for new query: numPingsReceived=78, elapsed TxPingTime=37.065121 zAHRS rotation from veh to nav: [[0.783442,0.620382,0.036673],[-0.619910,0.775948,0.116685],[0.043933,-0.114150,0.992492]]^H?`+?`Ƣ?M?߽?i~?8}?i^_@I^\];^CY*By  IB<ABL>BٍCB IBBB =BBiDB9i;B(EB}܍CB}܍CB}CB} =B} =C}E6IEu EuEqEq"Eu:*EurN:VEqZEqBEu[ <2Eu[ <JEuV;:EuW;iMb@Mb@Mb@ 9bX9?~jt?YE>y<̼ A )^@YAbDVDN2y%1ɽ%%@=ٔ%{#Q-->9)Y)=-Fy)5mTE5>9Q 5E{5=s롊?Q 9E{5=X)=ABYE">Q EM;yMSQ IM@=DI= ;i= ;=j{5yQɮU1"AQ addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.502875 s, deltaX: 0.300000 m, approachRate: 0.596570 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.73 m.hh*h"h hgfffȁBddjd@33*@Zd vm?Z">Z">Zۉ=Zc@$4) B>i 9)3ii18{'=IIԹ}9@y @y@/@@gA@hADDAT read: Rx Time:05:38:21.6629 TRx dataTimestamp_ set to:1761543502.803895PDAT read: Bearing 278.9, -26.3 (Local) ~Local bearing/azimuth received: Bearing 278.9, -26.3 (Local) checking for new query: numPingsReceived=78, elapsed TxPingTime=37.325024^A ;=I I O% > T,d S?AV@VČ@VRH4ٱVea fAHRS rotation from veh to nav: [[0.781663,0.622678,0.035697],[-0.622146,0.774400,0.115057],[0.044000,-0.112145,0.992717]]VH c??@F??`dt?-? W?iV@IV;];VCYnByn IbDvVDv0y~%v=ٔRQ-?9 Y = Fy   E ?Q 5{5?Q 9%{5XZ)?BY!y%Q I%@DIB:i:S{5y-vBɮ-"A1]DNOT Ignoring new targets: 12.73 m.hYha*ha"ha hagafafifididijdqZdu a?ZZZZi_9)页ii1=IIiM9@I @I@M/@IDAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 -DAT read: 05:38:21.6629 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 512, 0.11,-0.797, 0.565,-0.108, 0.446, PHS=-1.141, 0.164,-0.598, RAW= 305.5, 26.1, CAL= 305.8, 31.7, ROT= 204.2, -31.7 5Ygot valid direction response: 05:38:21.6629 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 512, 0.11,-0.797, 0.565,-0.108, 0.446, PHS=-1.141, 0.164,-0.598, RAW= 305.5, 26.1, CAL= 305.8, 31.7, ROT= 204.2, -31.7 5T#Rx 79: Read range and direction messages.=`direction in FSK: [-0.776042,-0.348767,0.525472]=Fpublishing direction and range infoy^AE+,=IQIyE EEE"E:*E|;:VEZEa@a@a@a@b8U*;2Rֿk?Y )DIJ i'>@Z;>{ʪ@  ?)d@I  טt* '.? _B)rI.i checking for new query: numPingsReceived=79, elapsed TxPingTime=37.591991O>ԙ DDAT read: Rx Time:05:38:22.1631  TRx dataTimestamp_ set to:1761543503.307813 PDAT read: Bearing 313.8, -28.1 (Local)  ~Local bearing/azimuth received: Bearing 313.8, -28.1 (Local)  checking for new query: numPingsReceived=79, elapsed TxPingTime=37.828503 T,S?Aex@es@e4ٱex AHRS rotation from veh to nav: [[0.779738,0.625141,0.034753],[-0.624548,0.772686,0.113556],[0.044136,-0.110249,0.992924]]eH@?'?!ˡ?Lٹ???H9?iex@Ie];eCYBy II)=bDVDJy-/<%58=ٔ5Q-5>99Y9==Fy9=EE>AQ 5m{5E?Q 9u{5E\)E=BYqyuQ Iu@EDIE2;iE;E2{5yyɮ}"AiirOS?AJibPARibPAjiI4@bRA6$iǠ_+@ d`@Rb8U*;2Rֿk?Zi.bi jDJ*$Gal` @˲ pf@ZC̋evtI?\?2ie@:i'"i/?*iBȉBi͝?iiiRAiM8@ addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.024045 m, bearing: 161.145373 deg, lat: 36.779361 deg, lon: -121.859757 deg, deltaT: 1.007079 s, deltaX: 0.297482 m, approachRate: 0.295391 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.02 m.hh*h"h hgff f d d jdZd.?ZZZZ1W@4) b!>i9)  63 i i1C=II9@ @@/@B)B-؍CB-Z IB-^BB- =B-EDB)B-6i;B-(EeDAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.3 DAT read: 05:38:22.1631 LVL= 32752, 25633, 32754, 32755, AGC= 69, IDX= 2, 0.05,-3.101,-0.944,-2.116,-1.906, PHS=-1.093, 1.007,-0.254, RAW= 306.6, 3.7, CAL= 304.2, 0.6, ROT= 205.8, -0.6 E EEE"EƱ:*EC:VEZEBE;;a2E<;aJE=;a:E=;aYgot valid direction response: 05:38:22.1631 LVL= 32752, 25633, 32754, 32755, AGC= 69, IDX= 2, 0.05,-3.101,-0.944,-2.116,-1.906, PHS=-1.093, 1.007,-0.254, RAW= 306.6, 3.7, CAL= 304.2, 0.6, ROT= 205.8, -0.6 T#Rx 80: Read range and direction messages.`direction in FSK: [-0.900269,-0.435207,0.010472]Fpublishing direction and range infoy-oۿ/;r?YfVA!d )EIm狿i`?J <@ A=@ +<)}e@I+RJ￷wvKp{եŰ? rA)EI8>,i+checking for new query: numPingsReceived=80, elapsed TxPingTime=38.100204! ^A #'=I I O- >aT,S?A>N^@>!Y@>55ٱ>޽ JAHRS rotation from veh to nav: [[0.777716,0.627703,0.033868],[-0.627053,0.770856,0.112185],[0.044312,-0.108485,0.993110]]>H ? %?'W? ۪?)??Ż?i>N^@I>]];>CDDAT read: Rx Time:05:38:22.6631 TRx dataTimestamp_ set to:1761543503.811857PDAT read: Bearing 313.7, -27.9 (Local) ~Local bearing/azimuth received: Bearing 313.7, -27.9 (Local) DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.2 QZ#Rx 81: Read range message, but no direction.yYchecking for new query: numPingsReceived=81, elapsed TxPingTime=38.367271YByIieMb@Mb@Mb@aaaa a9erh|?MbMb`Ye>yeee& AeX@ eA)et@aYabD VD2yA%=ٔ Q->9Y=FyE> Q 5{5  ?Q 9{5 5`) ABY>Q E;yi3Q I@ DI  ;i 7 ;  {5y!ɮ%#A!iiwS?AJi'UARi'UAji_1:@b&޲'P1f]?R-oۿ/;r?Zi8>,bi+j I)@{ש7?Z;֦"￲yw?~O7k%?2iGD@:ieO"i _ǝ?*i]Bi{BiiZmiiTAi8@u addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.760133 s, deltaX: 0.299999 m, approachRate: 0.394667 m/s, rangeRepo size: 4  Added new target pos. range: 13.322182 m, bearing: 166.688519 deg, lat: 36.779361 deg, lon: -121.859758 deg, deltaT: 0.760133 s, deltaX: 0.298137 m, approachRate: 0.392217 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.32 m.hh*h"h hgfffBddjd*@Zd ?Z>Z>ZO]@Z@55) B>iv9)3ii1{ =II 9@  @ @ @ U DAT read: 05:38:22.6631 LVL= 32752, 26369, 32754, 32755, AGC= 66, IDX= 498, 0.03, 1.495,-2.627, 2.475, 2.688, PHS=-1.091, 1.014,-0.257, RAW= 306.8, 3.7, CAL= 304.4, 0.5, ROT= 205.6, -0.5 ] Ygot valid direction response: 05:38:22.6631 LVL= 32752, 26369, 32754, 32755, AGC= 66, IDX= 498, 0.03, 1.495,-2.627, 2.475, 2.688, PHS=-1.091, 1.014,-0.257, RAW= 306.8, 3.7, CAL= 304.4, 0.5, ROT= 205.6, -0.5 e Z#Rx 82: Read direction message, but no range.m `direction in FSK: [-0.901798,-0.432069,0.008727]y) - lˇ쿂KۿB7߁?) ) - g) ) )- BI- 㥋i- ʁ?- - uY@) - P@ - 5<)- Le@I- 5) - ?\F$g/fXn? - kmA)- 鉃I- iw,i- 5 checking for new query: numPingsReceived=82, elapsed TxPingTime=38.586506D <D %=E  E E %E "E :*E VL:VE 4ZE a @a @a @a @ ^Am =Iy I O >ʡU, T?ABCH@BC@B[6ٱBؽ VAHRS rotation from veh to nav: [[0.776022,0.629882,0.032232],[-0.629140,0.769483,0.109904],[0.044424,-0.105566,0.993419]]BH+?`'?ƀ?! ?"??g?iBCH@IBv];@ X)^kA^+^0LF\\^kAibI``I`ibr@ ``)dd fkAfddjCjkAIj)hih)lInkAn`nJF lpr vApippYpYzByzIbD VD:2yC<%=ٔQ-0?9Y=%Fy!%y.E%0?)Q 55{5-?Q 95{5-a)-CBY9y=4Q I=@-DI-r;i-;-A{5yE}BɮE#AEEuDNOT Ignoring new targets: 13.32 m.hqhq*hq"hq hqgqfyfyfydydjdZd 8?ZZZZ@[6) E>i9)W 4ii1-=IIԩ9@ @@0@eDDAT read: Rx Time:05:38:23.1632 uTRx dataTimestamp_ set to:1761543504.316678^A}]=IIPDAT read: Bearing 314.4, -27.8 (Local) ~Local bearing/azimuth received: Bearing 314.4, -27.8 (Local) O5->DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.3 DAT read: 05:38:23.1632 LVL= 32752, 24785, 32754, 32755, AGC= 65, IDX= 499, 0.04, 1.461,-2.653, 2.448, 2.642, PHS=-1.079, 1.034,-0.237, RAW= 306.7, 3.1, CAL= 304.3, -0.4, ROT= 205.7, 0.4 Ygot valid direction response: 05:38:23.1632 LVL= 32752, 24785, 32754, 32755, AGC= 65, IDX= 499, 0.04, 1.461,-2.653, 2.448, 2.642, PHS=-1.079, 1.034,-0.237, RAW= 306.7, 3.1, CAL= 304.3, -0.4, ROT= 205.7, 0.4 T#Rx 83: Read range and direction messages.bdirection in FSK: [-0.901055,-0.433648,-0.006981]Fpublishing direction and range infoyim5i;B (EU,$T?AE& E&E&(E$"E&غ:*E&F:VE&c44ZE$BE&y< Af@ )G@YbD VD :2y%;=ٔ Q->9!Y!=%Fy!%лE->)Q 5u{5-u?Q 9}{5-~d)-KBY}>Q E};y}&9Q I}@-DI-%Z5>Z5@Z5@H6) B>i9)顕VA4ii1U,>T?A 2@2@2@7ٱ2Uǽ >AHRS rotation from veh to nav: [[0.772884,0.633963,0.027235],[-0.632963,0.767212,0.103655],[0.044818,-0.097353,0.994240]]2Hv?lI??;A@?@)? p?츿?i2@I23];2CY|y~IbDVD:y}:%}U=ٔQ->9Y=FyzE>Q 5{5$?Q 9{5f)RBYy9Q I@DI ;i; ;k{5yɮ#A addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504384 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.42 m.hh*h"h hgfffddjdZd@k?ZZZZױ@-@7)) -C>i-;9)15:n41i1i=19=NZ|0+(ׇɰ?  B)dIo+i559@1 @1@54@1checking for new query: numPingsReceived=85, elapsed TxPingTime=39.613640^AG<II!O5->ԙ  DDAT read: Rx Time:05:38:24.1634  TRx dataTimestamp_ set to:1761543505.324060 PDAT read: Bearing 313.9, -27.6 (Local)  ~Local bearing/azimuth received: Bearing 313.9, -27.6 (Local)  DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.3  Z#Rx 86: Read range message, but no direction.y Y \A E checking for new query: numPingsReceived=86, elapsed TxPingTime=39.853676 U,zXT?A2@2~ @2*7ٱ2Ð :AHRS rotation from veh to nav: [[0.771719,0.635456,0.025413],[-0.634379,0.766360,0.101277],[0.044881,-0.094279,0.994534]]2H?`U?@?@L`?C?@? "@8?i2@I2@];2CLYN ByRIbDZVDZy=l=%=N=ٔ=K&Q-E>9IYI=UFyQ]E]>aQ 5u{5e-?Q 9{5e`i)eZBYyF:Q I@eDIe;ie;e{5yɮ#AiifTT?AJi[ARi[Aji9@b## (4"$pv?R\*}'ܿB7߁?Zio+bi5jKC 9*#ˈ @7*L?Z]2Oᅪ}jCx?S7,?2iL@:iqU"i xȝ?*i&%BiSBii]i{Bim[Ai 8@e addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.502998 s, deltaX: 0.300000 m, approachRate: 0.596424 m/s, rangeRepo size: 4  Added new target pos. range: 13.719940 m, bearing: 166.501252 deg, lat: 36.779361 deg, lon: -121.859761 deg, deltaT: 1.007382 s, deltaX: 0.298260 m, approachRate: 0.296074 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.72 m.hh*h"h hgfffddjd+@Zd:?Z!Z!Z!Z% DZ@U*7)Y ]tZ>i](9)Y] 4YiYie1 BٍCB IBBB =BBBDi;B(EbEjE24rEų/Eu EuEu'Eq"Eu:*EuF:VEu'4ZEqBEu&U,_rT?A4ɰ6;EDDAT read: Rx Time:05:38:24.6634 MTRx dataTimestamp_ set to:1761543505.828520mPDAT read: Bearing 313.2, -27.9 (Local) u~Local bearing/azimuth received: Bearing 313.2, -27.9 (Local) DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.3 Z#Rx 88: Read range message, but no direction.yAYAAchecking for new query: numPingsReceived=88, elapsed TxPingTime=40.365845]@]r@]#9ٱ] mAHRS rotation from veh to nav: [[0.770465,0.637034,0.023896],[-0.635881,0.765335,0.099589],[0.045153,-0.091925,0.994742]]]H ?b?@Lx?#Y }?~? A?d?i]@I]ش];]CYBy I==)iMb@Mb@Mb@ 9X9v?:vZd;O?Y>yTj< A|@ )^@YA 4<p<bDVD02y<%=ٔQ->9Y=FylE>Q 5{59?Q 9{5l)eBY8>Q E;y8Q I@DI;i;{5yBɮu#AEiAiEyuT?AJiE[ARiE[AjiEG9@bEsWJ((JuS; BRE6D k:sۿQC1mlZiE,biEd;jE *q @ՁPVZER~4 >?n2 s2iEWV@:iET"iEם?*iEtBiEBiEН?iEǑiESBiEf]AiEj8@ addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504460 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.719983 m, bearing: 165.871019 deg, lat: 36.779361 deg, lon: -121.859762 deg, deltaT: 0.504460 s, deltaX: 0.000043 m, approachRate: 0.000085 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.72 m.hh*h"h hgfffBddjdZdG?Z 8>Z 8>Z @Z @Y#9) L>i9)4ii1H,i仝M checking for new query: numPingsReceived=89, elapsed TxPingTime=40.606308Eu  Eu Eu $Eq "Eu [:*Eu [:VEu 4ZEq a} @a} @a} @a} @ 9@  @ @ 0@ ԁ ^A <Ա I I O >#U,lT?A2@2@29ٱ2| >AHRS rotation from veh to nav: [[0.769630,0.638113,0.021940],[-0.636878,0.764794,0.097349],[0.045340,-0.088896,0.995008]]2HϠ?@kk?w?Ma1y??6??i2@I2<];2CYF&ByJ IbDRVDRܲyZ=%Z=ٔZ%Q-^?9\Y\=^Fy\bEb?dQ 5j{5f??Q 9j{5fvn)fkBYhyj8Q In@fDIf6);if-J;f8{5yɮ "A DNOT Ignoring new targets: 13.72 m.hh*h"h hg)f1f9fAdidqjdqZd}Ē?DDAT read: Rx Time:05:38:25.1636 TRx dataTimestamp_ set to:1761543506.332782PDAT read: Bearing 311.8, -27.6 (Local) ~Local bearing/azimuth received: Bearing 311.8, -27.6 (Local) =DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4 ZZZZ`@9) %m>i%9)!%!i!i-1)-B ڍCB B B  =B B jDB :i;B (E^A 8<E  E E 'E "E s:*E 1:VE '4ZE BE g0)U,p(T?A 2@2@2_j:ٱ2 >AHRS rotation from veh to nav: [[0.769078,0.638829,0.020410],[-0.637534,0.764463,0.095642],[0.045496,-0.086568,0.995207]]2HH?Jq?`?f zv?{?yt<`<A@ rA)t@YpAbDVDy=%<=ٔQ->9Y=Fy;E>Q 5{5H?Q 9{5p)tBY>Q E*;yC Q I@DIG;iF;{5yBɮ"A%EiiMLT?AJiL`ARiL`Aji8@bQ) Fb(?R<%qۿ{J?Zi,bi+ȼj L#+# @=i B?Z'4FW?I }֔?2i`@:iY"iZ>Z)Un=Z\@_j:)  W>i)9)6Y3ii1_V0U,)T?A00FGPlls9Ys A%checking for new query: numPingsReceived=91, elapsed TxPingTime=41.598717E EE%E"Eغ:*EX:VE 4ZEa@a@a@a@YBBy7 I !!bD-VD-Ny=Z<%=A=ٔEQ-E>9AYA=MFyIMEM>QQ 5]{5UQ?Q 9]{5Ur)U}BYYyaQ Ie@UDIU6:iU :U{5ymBɮim&EiiqT?AJizcARizcAji8@bH芺)zn)6RwmWR{?ۿZi,bije+  @IQZZ|HV`?OQq2id@:i,\"i7ʝ?*ieBi#Biiei#Bi[bAi8@ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503976 s, deltaX: 0.200000 m, approachRate: 0.396844 m/s, rangeRepo size: 4  Added new target pos. range: 14.217459 m, bearing: 165.441518 deg, lat: 36.779361 deg, lon: -121.859763 deg, deltaT: 0.503976 s, deltaX: 0.198846 m, approachRate: 0.394554 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.22 m.hh*h"h hgfffddjd,@Zd@#?ZZZZ) Rd>im9)顝3ii1 ߾@k=X@^A <I ) I) O9 )d@I:#6bIf? @)mI"-i:U checking for new query: numPingsReceived=92, elapsed TxPingTime=41.9004106U,T?AYrOByrF I|bDzVDzyM؄=%M[=ٔQQ-U>9QYQ=FyE>Q 5{5Y?Q 9{5Xt)BYyQ I@DIz$B}ݍCB} IB},BB} =ByB}lDB}h;B}(EB ٍCB ڍCB B  =B  =C 4{6E EE#E"E:*E&p:VE3ZEBE[ i9)54ii1IIy9@ @@@9a  DDAT read: Rx Time:05:38:26.6638  TRx dataTimestamp_ set to:1761543507.844339- PDAT read: Bearing 313.3, -26.6 (Local) - ~Local bearing/azimuth received: Bearing 313.3, -26.6 (Local) E DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.4 E Z#Rx 93: Read range message, but no direction.y Y  M checking for new query: numPingsReceived=93, elapsed TxPingTime=42.368362^AU @<Iy I O >2=U,ZT?Az@z@z:ٱzLR  AHRS rotation from veh to nav: [[0.768593,0.639517,0.016833],[-0.638109,0.764494,0.091461],[0.045622,-0.081038,0.995666]]zH@P?v?y `e= j<  A  A) EA Y =AbDAVDAy=%&=ٔㆹQ->9Y=Fyx̺E>Q 5{5Dc?Q 9{5u)BY>Q EH;yQ I@DI7:i:K{5yɮ!Am addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.502831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 14.32 m.hqhq*hy"hy hygyfyffBddjdZd`=?Z>Z>ZZZ>Z@:) #>if9)|]4ii1Hi EDU,U?A$ɰ&4@_[T¿Z' ]K{?d/sۄ2iu@:i_"iOhΝ?*i Bi'BiOhΝ?i|iigAi#V8@ addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504215 s, deltaX: 0.200001 m, approachRate: 0.396658 m/s, rangeRepo size: 4  Added new target pos. range: 14.516340 m, bearing: 164.676751 deg, lat: 36.779361 deg, lon: -121.859763 deg, deltaT: 1.007046 s, deltaX: 0.199459 m, approachRate: 0.198064 m/s, posRepo size: 4  DNOT Ignoring new targets: 14.52 m.h h *h "h  h gfffddjd@33-@Zd?ZZZZ@9) rI>i9)ii1lCJU, +U?AB@B@B7ٱB ZAHRS rotation from veh to nav: [[0.769801,0.638101,0.015294],[-0.636707,0.765995,0.088636],[0.044844,-0.077970,0.995947]]BH5?Rk?{R?_? ᰶ??`?iB@IB*^;@YbByf Ii=Mb@Mb@Mb@9999 99=A`"?sh|?? rh?Y=Y>y===C<=nA9 =A)99Y=AbDuVDuy=%?=ٔ:Q->9Y=Fy;E>Q 5{5q?Q 9{5w)BYi>Q Eh;yQ I@DI2;i;{5yBɮ!A'EAEDNOT Ignoring new targets: 14.52 m.hAhI*hI"hI hIgIfIfQfU*BdQdQjdYZd]`?Zi>Zi>Z>Z@%7)) -.>i-g9)Yu13qiqi}1y )QU, DU?A2@2w@25ٱ2>D< BAHRS rotation from veh to nav: [[0.770574,0.637180,0.014757],[-0.635810,0.766895,0.087282],[0.044298,-0.076640,0.996074]]2H?c?8?X`g? X? +?`?i2@I2^;2Ci1I1=checking for new query: numPingsReceived=96, elapsed TxPingTime=43.631042E] E]E]'EY"E]:*E]v:VE]'4ZEYae@ae@ae@ae@YBy IbDVDy0=%E=ٔc:Q->9Y=Fy:;E>Q 5{5[y?Q 9{5x)BY y _Q I @DI;i;{5yɮ AiiX7U?AJiChARiChAji7@b褚V*yS1h&D?R%L;rlgڿa|?Zi@.bijNR+V/;L@P]gZlA6p}??(ZՎ.c2iez@:i_"i9]ߝ?*icBi}BiiՀAi'BijAiA8@m addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.516230 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 14.516364 m, bearing: 164.364278 deg, lat: 36.779361 deg, lon: -121.859763 deg, deltaT: 0.516230 s, deltaX: 0.000024 m, approachRate: 0.000046 m/s, posRepo size: 4 }DNOT Ignoring new targets: 14.52 m.hyhy*hy"hy hgfffddjdZd\?ԡZZZZ@5) I>i9)]13Yiaie1amgPWU,^U?AB @B@Bȶ2ٱB} JAHRS rotation from veh to nav: [[0.771300,0.636304,0.014632],[-0.634976,0.767708,0.086202],[0.043618,-0.075779,0.996170]]BH }?\?s?@Q?W?U?;f`?iB @IB2S^;BC`bjAi`I``Idid dd)dh jr@hhhllnsAI|)|i|)I    i  i iA)E IYY]Bye IimAim@AbDuVDuyp=%a=ٔ=:Q->9Y=FyE;E>Q 5{5 ?Q 9{5,y)BYy՞Q I@DI:i:{5y9ɮ=a A9i)i-WU?AJi-mARi-mAji-d7@b-v`5Y!+B^'KzR-MM?xٿQC1mlZi-.bi-d;j-#K,~&@.qȿZ-Ĺ*LUq?jo;2i-4@:i- d"i- -ϝ?*i-Bi-3Bi)i- i)i-lAi-7@ addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503927 s, deltaX: 0.299999 m, approachRate: 0.595323 m/s, rangeRepo size: 4 - Added new target pos. range: 14.814645 m, bearing: 164.183025 deg, lat: 36.779361 deg, lon: -121.859762 deg, deltaT: 0.503927 s, deltaX: 0.298281 m, approachRate: 0.591913 m/s, posRepo size: 4 5DNOT Ignoring new targets: 14.81 m.h1h1*h1"h1 h9g9f9f9fAdAdAjdE-@ZdE@?B\>BۍCBs IBsBB =BBkDBh;B(E echecking for new query: numPingsReceived=97, elapsed TxPingTime=44.136719E} E}E})Ey"E}غ:*E}a9:VE}FA4ZEyBE}W>i9)顥4ii1b DDAT read: Rx Time:05:38:28.6642 - TRx dataTimestamp_ set to:1761543509.8760385 PDAT read: Bearing 314.2, -24.3 (Local) = ~Local bearing/azimuth received: Bearing 314.2, -24.3 (Local) M DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.1 by]U,ÃxU?ADAT read: 05:38:28.6642 LVL= 32752, 22417, 32754, 32755, AGC= 68, IDX= 510,-0.18, 0.676, 2.821, 1.554, 1.778, PHS=-1.001, 1.087,-0.269, RAW= 309.8, 2.0, CAL= 307.6, -1.2, ROT= 202.4, 1.2 "Ygot valid direction response: 05:38:28.6642 LVL= 32752, 22417, 32754, 32755, AGC= 68, IDX= 510,-0.18, 0.676, 2.821, 1.554, 1.778, PHS=-1.001, 1.087,-0.269, RAW= 309.8, 2.0, CAL= 307.6, -1.2, ROT= 202.4, 1.2 "T#Rx 98: Read range and direction messages.&bdirection in FSK: [-0.924343,-0.380987,-0.020942]&Fpublishing direction and range infoyQUGm8bؿ_2qYUpAQQUWU Q)UDIU iU"?U^Uc@U5=U˫@ U)U=b@IU)U\IUx 0iUy=`;@ A)AYfAbD VD y$<%=ٔR:Q->9!Y!=%Fy!-<;E->1Q 5={55?Q 9={55Hy)5BY=J>Q E=;y=(Q IE@5DI5d;i52;5M{5yiɮmL AiiQiUxU?AJiUnARiUnAjiU6@bUt+ ?t)ӿRUGm8bؿ_2qZiUx 0biU<jUv{%,^&Tc@ֱ޿ZU0f*B?iҸg2iU@:iU!d"iUCuם?*iUBiUBiU -ϝ?iUciQiU*nAiU~7@ addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.507327 s, deltaX: 0.100000 m, approachRate: 0.197112 m/s, rangeRepo size: 4 - Added new target pos. range: 14.913595 m, bearing: 163.045732 deg, lat: 36.779361 deg, lon: -121.859762 deg, deltaT: 0.507327 s, deltaX: 0.098950 m, approachRate: 0.195043 m/s, posRepo size: 4 -DNOT Ignoring new targets: 14.91 m.h1h1*h1"h1 h1g1f1fYf]KBdydyjd.@Zd@d?ZJ>ZJ>ZA%?Z@_/) >i9)?4ii1CdU,U?A2!@2@2,ٱ2t :AHRS rotation from veh to nav: [[0.773079,0.634147,0.014398],[-0.632918,0.769681,0.083701],[0.041997,-0.073821,0.996387]]2H?J?|?@9?om??岿f?i2!@I2^;2CxY~By~ IbD VD 0yg=%%=ٔ%F;Q-%?9!Y)=-Fy)-q;E-?1Q 5={55?Q 9={55Wy)5BYAyE!Q IE@5DI5;i5^;5{5yIɮM AI}DNOT Ignoring new targets: 14.91 m.hyhy*hy"hy hygfffddjdZd@8?ZZZZ@,) *>i)9)b4ii1BA<B J>B ؍CB IB BB  =B B iDB i;B (EE  E E !E "E :*E ?:VE c3ZE BE b<2E c<JE ;:E ; checking for new query: numPingsReceived=99, elapsed TxPingTime=45.144913i jU,íU?AɰFG.@F)@F (ٱF RAHRS rotation from veh to nav: [[0.774135,0.632853,0.014572],[-0.631690,0.770811,0.082569],[0.041021,-0.073124,0.996479]]FH?T@?؍? 6|?8#? ?@I'?iFG.@IF];FC9YBy Ii%Mb@Mb@Mb@!!!! !9%Zd;?/$?Y%=y%1>%%A! !)%A!Y%AbD=VD=yU=%]9=ٔe;Q-m>9qYy=}Fyl;E>Q 5{5W?Q 9{5 y)BY8>Q E;y>Q I@DIo=iB0<{5yBɮ A(Ei} addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.501922 s, deltaX: 0.300000 m, approachRate: 0.597703 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 14.91 m.hh*h"h hgfffkBddjd.@Zdg?Z8>Z8>Z'T?Z>DDAT read: Rx Time:05:38:29.6643 TRx dataTimestamp_ set to:1761543510.880842PDAT read: Bearing 314.9, -24.3 (Local) %~Local bearing/azimuth received: Bearing 314.9, -24.3 (Local) 5DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2 UDAT read: 05:38:29.6643 LVL= 32752, 23025, 30818, 32755, AGC= 70, IDX= 511, 0.28, 2.411,-1.737,-2.991,-2.791, PHS=-0.980, 1.098,-0.245, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 eYgot valid direction response: 05:38:29.6643 LVL= 32752, 23025, 30818, 32755, AGC= 70, IDX= 511, 0.28, 2.411,-1.737,-2.991,-2.791, PHS=-0.980, 1.098,-0.245, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 eV#Rx 100: Read range and direction messages.mbdirection in FSK: [-0.923372,-0.382473,-0.033155]mFpublishing direction and range infoyj_;B;pzؿB3Y3sAYbx )FIHziD?Hz@+<@ )1b@I=e6ܽ￴/UfPſ=,Y/?  Z>)ɼI/i=checking for new query: numPingsReceived=100, elapsed TxPingTime=45.428062 () =i^9)額ق4ii1D/qU,aU?Achecking for new query: numPingsReceived=100, elapsed TxPingTime=45.646843D<zD<bE 4jE4rES0EB EBEB%E@"EB7:*EB|;:VEB 4ZE@aJ@aJ@aJ@aJ@v@8@v3@vD#ٱvɕ AHRS rotation from veh to nav: [[0.774935,0.631858,0.015187],[-0.630773,0.771637,0.081859],[0.040004,-0.073015,0.996528]]vH@E? .8?@?@K/A??@b{?  ?iv@8@IvL];vCY]By] IibDuVDu1y]%U=ٔ.;Q->9Y=FyS;E>Q 5{5?Q 9{5x)Yy6>Q I@DIB:i@;{5yɮ Aii_U?AJiqARiqAjij6@b '\+`7zRj_;B;pzؿB3Zi/bi=jyb%*,Y3@UZ?n㯥R6?m߇2i@:ig"i_֝?*iԪBibBi_֝?iiiXpAi͵7@E addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.502882 s, deltaX: -0.100000 m, approachRate: -0.198855 m/s, rangeRepo size: 4 u Added new target pos. range: 15.111823 m, bearing: 163.450388 deg, lat: 36.779362 deg, lon: -121.859761 deg, deltaT: 1.004804 s, deltaX: 0.198228 m, approachRate: 0.197280 m/s, posRepo size: 4 uDNOT Ignoring new targets: 15.11 m.hqhq*hy"hy hygyfyffddjd`ff.@ZdH?ZZZZ6>D#) =i9)顕a4ii1] xU,U?A2D@2?@2dٱ2* :AHRS rotation from veh to nav: [[0.775936,0.630614,0.015796],[-0.629617,0.772683,0.080897],[0.038809,-0.072716,0.996597]]2Hw? -?@,?%ѹ??`ޣ? ?i2D@I2?];0Y^Byb IbDjVDj:yro%rV=ٔrOM;Q-r>9tYt=vFytvj;Ez>xQ 5U{5z?Q 9]{5zx)zBYaye>Q Ie@zDIzdd) t=i9),4ii1o=IIB4>BՍCB IBBB =BEDBgDBHi;B(Emchecking for new query: numPingsReceived=101, elapsed TxPingTime=46.153076E EEE"E:*E*5:VEZEBE1 DDAT read: Rx Time:05:38:30.6644  TRx dataTimestamp_ set to:1761543511.888238 DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0  \#Rx 102: Read range message, but no direction.y Y tA % checking for new query: numPingsReceived=102, elapsed TxPingTime=46.406208Y 1E~U,U?AraN@r4I@r"ٱr9 zAHRS rotation from veh to nav: [[0.776710,0.629640,0.016601],[-0.628737,0.773486,0.080061],[0.037569,-0.072622,0.996652]]rH? &?@?@d? ~?;-ף-nA) ))-\A)Y-AbDEVDE1yUwټ%U3=ٔ]l2;Q-]>9YYY=eFyaer(;Ee>iQ 5u{5m?Q 9u{5m x)mBY},>Q E};y}x>Q I}@mDIm;imy;mp{5yɮl A addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504029 s, deltaX: -0.200000 m, approachRate: -0.396802 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.11 m.hh*h"h hgfffSBddjd.@Zd?Z,>Z,>Zm?Zx>") ^>i9)54ii%1!%:=I!I)I) -'GIi 9YA%9@! @)@-1@)@1@1QEchecking for new query: numPingsReceived=102, elapsed TxPingTime=46.654831E EE'E"E:*E=:VE'4ZEa@a@a@a@i^AM y=IQ Iq O} >ԡ ! U,xV?A^wX@^JS@^5ٱ^ ! jAHRS rotation from veh to nav: [[0.777518,0.628625,0.017191],[-0.627809,0.774348,0.079002],[0.036351,-0.072218,0.996726]]^H`n??k? u?`w9??@|.?i^wX@I^];^CYrByr IbD~VD~N2yFm% d=ٔ _;Q- >9Y=Fy=a;E>Q 5%{5쪢?Q 9-{5w)BY)y-Nz>Q I-@DIG:iu:{5y1ɮ= A9eDNOT Ignoring new targets: 15.11 m.haha*ha"ha hagifififidqdqjdqZduб?ZZZZ:Nz>5DDAT read: Rx Time:05:38:31.1644 TRx dataTimestamp_ set to:1761543512.393305PDAT read: Bearing 319.0, -29.6 (Local) ~Local bearing/azimuth received: Bearing 319.0, -29.6 (Local) DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 UDAT read: 05:38:31.1644 LVL= 32752, 25073, 32754, 32755, AGC= 68, IDX= 513,-0.27, 3.076,-0.983,-2.076,-2.085, PHS=-1.020, 1.147,-0.034, RAW= 303.0, -1.0, CAL= 301.6, -4.9, ROT= 208.4, 4.9 eYgot valid direction response: 05:38:31.1644 LVL= 32752, 25073, 32754, 32755, AGC= 68, IDX= 513,-0.27, 3.076,-0.983,-2.076,-2.085, PHS=-1.020, 1.147,-0.034, RAW= 303.0, -1.0, CAL= 301.6, -4.9, ROT= 208.4, 4.9 ԑ) D=i9)4ii1o =IImV#Rx 103: Read range and direction messages.Mbdirection in FSK: [-0.876434,-0.473886,-0.085417]MFpublishing direction and range infoy (e%T޿b$ݵYa )DI\iВ?C %:@5q@ %)h@I%=>탯pꑿ iE)RB}ӍCB} IB}BB}$ =ByB}eDB}i;B}(EBM؍CBM؍CBMȗCBM =BICMM6^AII O= > checking for new query: numPingsReceived=103, elapsed TxPingTime=47.161163E  E E &E "E :*E ,:VE 4ZE BE ];a 2E ^;a JE 8;a :E 8;a  GU,O/V?A2ma@2@\@22>ٱ2T :AHRS rotation from veh to nav: [[0.778237,0.627727,0.017508],[-0.626983,0.775147,0.077709],[0.035208,-0.071453,0.996822]]2HP? W?@?????`J?i2ma@I2B^;2CY^By^ Ii}Mb@Mb@Mb@yyyy y9}Mb?T㥛 ?}t}Ay y)}AyYybD VD2yʀ%==ٔ{,;Q->9Y=Fy-#;E->AQ 5e|5E?Q 9m|5E7w)EBYuQ E};y}z>Q I@EDIEH;iE;Ek|5yBɮe!Aii+V?AJi[sARi[sAji=@bd۫8*clN$v(xR (e%T޿b$ݵZiV)bi%=jR-s-\@ԝ#yZ`ϱd￴x?Ĝ~'K2i*@:in"i8t+ǝ?*iS0BiBiiiBi;tAi@8@  addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.505067 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.209947 m, bearing: 169.855249 deg, lat: 36.779362 deg, lon: -121.859761 deg, deltaT: 1.512463 s, deltaX: 0.098124 m, approachRate: 0.064877 m/s, posRepo size: 4 %DNOT Ignoring new targets: 15.21 m.h!h!*hA"hA hIgIfIfIfU;BdQdQjdQZdUu6?ZZZ n?Z*z>DDAT read: Rx Time:05:38:31.6644 TRx dataTimestamp_ set to:1761543512.896811PDAT read: Bearing 324.6, -19.7 (Local) ~Local bearing/azimuth received: Bearing 324.6, -19.7 (Local)  DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 M2>)Q U\>iU9)Y]4YeDAT read: 05:38:31.6644 LVL= 32752, 25073, 31794, 32755, AGC= 67, IDX= 512, 0.10,-2.005, 0.540,-1.034,-1.082, PHS=-0.822, 1.667, 0.004, RAW= 311.0, -7.8, CAL= 310.7, -11.4, ROT= 199.3, 11.4 uYgot valid direction response: 05:38:31.6644 LVL= 32752, 25073, 31794, 32755, AGC= 67, IDX= 512, 0.10,-2.005, 0.540,-1.034,-1.082, PHS=-0.822, 1.667, 0.004, RAW= 311.0, -7.8, CAL= 310.7, -11.4, ROT= 199.3, 11.4 }V#Rx 104: Read range and direction messages.iYi1 =IIbdirection in FSK: [-0.925181,-0.323994,-0.197657]Fpublishing direction and range infoyݔd[PԿg4LɿY2| )CInRiB`?o;@'g @ %K)Ȟ^@I%K>j/+ȿ[{'&V <) >I3i%K>}checking for new query: numPingsReceived=104, elapsed TxPingTime=47.4664199@ @@4@@=@=I ^A & =I I O% >.U,'IV?Achecking for new query: numPingsReceived=104, elapsed TxPingTime=47.662849ɰp;E2 E2E2%E0"E2;*E2rN:VE2 4ZE0a:@a:@a:@a:@Fg@FWb@F ٱFߑ  AHRS rotation from veh to nav: [[0.778738,0.627083,0.018277],[-0.626433,0.775699,0.076633],[0.033878,-0.071126,0.996892]]FHl??#?@ ?>?{X?X5?iFg@IF^;FCYBy II%<)%=bD5VD502yE%EV=ٔEKe;Q-M>9IYI=MFyIUf;EU>YQ 5e|5]]?Q 9e|5]v)]BYaym{>Q Im@]DI]s:i]:]|5yqɮu~!AqiiZe9V?AJiRiji84@b$0$,=2;; Rݔd[PԿg4LɿZi3bi%K>jk>5,Ou @dZ=C& ?@Hʿ2ic@:ia"i}K?*iuBixBiiԪibBi% )) -* >i-B9))-X4)i)i1:$=IIQ-9@) @)@-/@1yDDAT read: Rx Time:05:38:32.1645 TRx dataTimestamp_ set to:1761543513.401925DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2  \#Rx 105: Read range message, but no direction.yYxAchecking for new query: numPingsReceived=105, elapsed TxPingTime=47.923248^ANw =IIO>ԩ ZU, cV?A2l@2g@2*ٱ2N :AHRS rotation from veh to nav: [[0.779168,0.626521,0.019208],[-0.625972,0.776165,0.075679],[0.032506,-0.070990,0.996947]]2H?`u ?5?X?@_??g,?i2l@I2^;2C9\Y\=^Fy\b:Eb>dQ 5j|5fO?Q 9j|5fsv)fBYhyj|>Q Ij@fDIf;if;f|5ypɮr"Ap addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505114 s, deltaX: 0.200000 m, approachRate: 0.395950 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.21 m.hh*h"h hg!f!f!f!d)d)jd-/@Zd-?ZIZIZIZMz|>e*)a e<=ieZ9)im~4iiiiu1qu)=IqIyB%&>B!B% IB%BB!B!B!B%i;B%(E9@ @@/@ iAIA]checking for new query: numPingsReceived=105, elapsed TxPingTime=48.171341E EE$E"E[:Ա*Ea9:VE4ZEBE}  DDAT read: Rx Time:05:38:32.6645  TRx dataTimestamp_ set to:1761543513.906315 PDAT read: Bearing 319.6, -46.1 (Local)  ~Local bearing/azimuth received: Bearing 319.6, -46.1 (Local) - DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 e DAT read: 05:38:32.6645 LVL= 32752, 28449, 32754, 32755, AGC= 67, IDX= 513, 0.15,-2.080, 0.017,-0.487,-0.748, PHS=-1.230, 0.811, 0.217, RAW= 286.4, 2.2, CAL= 285.0, -2.9, ROT= 225.0, 2.9 m Ygot valid direction response: 05:38:32.6645 LVL= 32752, 28449, 32754, 32755, AGC= 67, IDX= 513, 0.15,-2.080, 0.017,-0.487,-0.748, PHS=-1.230, 0.811, 0.217, RAW= 286.4, 2.2, CAL= 285.0, -2.9, ROT= 225.0, 2.9 u V#Rx 106: Read range and direction messages. bdirection in FSK: [-0.706201,-0.706201,-0.050593] Fpublishing direction and range infoy  ql3p73濛|rQ穿Y !o  ) I pi O? ?5^> @ nF= ,@ 4QO) S{@I 4QO= IbQᅱְ@1?"8? 9@) S I i 4QO=  checking for new query: numPingsReceived=106, elapsed TxPingTime=48.445686U,|V?AFn@Fh@F1ٱFJ NAHRS rotation from veh to nav: [[0.779305,0.626324,0.020048],[-0.625863,0.776337,0.074811],[0.031292,-0.070848,0.996996]]FH? ?a? ?&??`#d?iFn@IFl_;FClYvSByvK Ii}Mb@Mb@Mb@yyyy y9}"~j?y&1?~jtY}S=y}`=}} A}@ y)}\AyY}A bD VD 1yOŽ%=ٔ%L;Q-%>9aYa=mFyimת9Em>qQ 5}|5u5?Q 9}|5u;v)uBY">Q E;y=Q I@uDIuR-ql3p73濛|rQ穿Zi-bi-4QO=j-5?9R.q!?`1ֿZ-5'ִ'yY5,8 2i- ٿ:i-t"i-?*i-bcբBi-Bi)i)i)i-LxAi-7@U addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504390 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 15.408691 m, bearing: 186.319780 deg, lat: 36.779362 deg, lon: -121.859758 deg, deltaT: 1.009504 s, deltaX: 0.198745 m, approachRate: 0.196874 m/s, posRepo size: 4 uDNOT Ignoring new targets: 15.41 m.hqhq*hq"hq hygyfyffBddjdZd ?Z">Z">Z5J?Z=1) % >i%9)!%5!i!i-1)-́=I)I1Echecking for new query: numPingsReceived=106, elapsed TxPingTime=48.670734E EE%E"Eغ:*EC:VE 4ZEa@a@a@a@99@ @@/@@@i ^A= .=IA IY Oe >sU,UۖV?A@2tn@2Gi@2ٱ2 :AHRS rotation from veh to nav: [[0.779363,0.626229,0.020758],[-0.625850,0.776445,0.073789],[0.030092,-0.070500,0.997058]]2H? ? A??? OО?E ?i2tn@I2nK`;0YFAByF5 I HHLLbDRVDR1yZ%Z=ٔZۅ;Q-^?9\Y\=^Fy\b~+9Eb?dQ 5j|5fĢ?Q 9j|5fv)fBYhyj(=Q In@fDIf/;ifN:f!|5ypɮrq#Ap)DDAT read: Rx Time:05:38:33.1646 TRx dataTimestamp_ set to:1761543514.409589PDAT read: Bearing 311.9, -26.7 (Local) ~Local bearing/azimuth received: Bearing 311.9, -26.7 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 DAT read: 05:38:33.1646 LVL= 32752, 25745, 32754, 32755, AGC= 70, IDX= 3,-0.23,-0.467, 1.698, 0.497, 0.727, PHS=-1.092, 1.017,-0.274, RAW= 307.4, 3.8, CAL= 305.0, 0.8, ROT= 205.0, -0.8 Ygot valid direction response: 05:38:33.1646 LVL= 32752, 25745, 32754, 32755, AGC= 70, IDX= 3,-0.23,-0.467, 1.698, 0.497, 0.727, PHS=-1.092, 1.017,-0.274, RAW= 307.4, 3.8, CAL= 305.0, 0.8, ROT= 205.0, -0.8 V#Rx 107: Read range and direction messages.-`direction in FSK: [-0.906219,-0.422577,0.013962]5Fpublishing direction and range infoyI5^ ۿ4?YyAd )FIƋi-?I>@ԇ=X@ d<)d@IdNfAE_wf{{? @)I"-idUchecking for new query: numPingsReceived=107, elapsed TxPingTime=48.947540ii6V?AJi!xARi!xAji 9@bj_,TVU,ꓰV?A:mi@:@d@:-ٱ:>$ BAHRS rotation from veh to nav: [[0.779001,0.626657,0.021417],[-0.626346,0.776119,0.073016],[0.029134,-0.070294,0.997101]]:H@? ?Y? ?&?1՝?` @?i:mi@I:@`;:CY^6Byb( IԡiMb@Mb@Mb@ 9?{Gz?QY>yף=uXA@ A)AYAbDVDk1yM.%M(=ٔM;Q-U>9QYQ=UFyQ]@E]>aQ 5e|5eˢ?Q 9m|5eUv)eBYm>Q Em;ymQ Iu@eDIe7 ;ie ;eb|5yyɮ}#AyDNOT Ignoring new targets: 15.51 m.hh*h"h h g f ff߁BddjdZd?Z>Z>Z?ZpQ@DDAT read: Rx Time:05:38:33.6646 TRx dataTimestamp_ set to:1761543514.913868PDAT read: Bearing 311.3, -25.9 (Local) ~Local bearing/azimuth received: Bearing 311.3, -25.9 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.1 5DAT read: 05:38:33.6646 LVL= 32752, 27889, 32754, 32755, AGC= 67, IDX= 498, 0.13, 0.429, 2.555, 1.354, 1.599, PHS=-1.068, 1.001,-0.289, RAW= 308.1, 4.0, CAL= 305.7, 1.2, ROT= 204.3, -1.2 =Ygot valid direction response: 05:38:33.6646 LVL= 32752, 27889, 32754, 32755, AGC= 67, IDX= 498, 0.13, 0.429, 2.555, 1.354, 1.599, PHS=-1.068, 1.001,-0.289, RAW= 308.1, 4.0, CAL= 305.7, 1.2, ROT= 204.3, -1.2 =V#Rx 108: Read range and direction messages.m-)i m.>im\9)qu33qiqi}1y}H=Iy`direction in FSK: [-0.911203,-0.411424,0.020942]Fpublishing direction and range infoy(TTڿ_2q?Yl )CI9i ?T@5=/@ <)4d@Im$"¿8+z±? ??)1I'-Iichecking for new query: numPingsReceived=108, elapsed TxPingTime=49.472317}9@y @y@y@y! ^A ]=I I O >] checking for new query: numPingsReceived=108, elapsed TxPingTime=49.678719U,V?AE EE(E"E:*E3:VEc44ZEa"@a"@a"@a"@>a@>[@>$ٱ>DΏ FAHRS rotation from veh to nav: [[0.778381,0.627406,0.022028],[-0.627154,0.775528,0.072352],[0.028311,-0.070132,0.997136]]>H ??d?` ???(?i>a@I>na;>CYNByR IbDZVDZ1yb4%b}=ٔb%';Q-b ?9dYd=fFydjOEj ?lQ 5r|5nϢ?Q 9r|5nzv)n~BYpyrQ Ir@nDIn:in:n4|5yɮ$Aii|V?AJiRiji8@bjrC,FgU2%?R(TTڿ_2q?Zi'-bijh^-h/AI@?ZP NÎ @?t?2i|@:io"icߝ?*i BiׂBiiiBizAi9@ addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504279 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 15.508089 m, bearing: 165.286754 deg, lat: 36.779362 deg, lon: -121.859763 deg, deltaT: 0.504279 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 15.51 m.hYhY*hY"hY hYgafaffddjdZd@a?ZZZZI@$) `=i 9)   i i1 =III)gA!=9@A @A@E4@I@e=@e>DDAT read: Rx Time:05:38:34.1647 TRx dataTimestamp_ set to:1761543515.418104PDAT read: Bearing 311.2, -26.0 (Local) ~Local bearing/azimuth received: Bearing 311.2, -26.0 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.2 %DAT read: 05:38:34.1647 LVL= 32752, 26913, 32754, 32755, AGC= 66, IDX= 500,-0.27, 0.136, 2.280, 1.073, 1.318, PHS=-1.080, 1.007,-0.289, RAW= 308.0, 4.0, CAL= 305.6, 1.2, ROT= 204.4, -1.2 -Ygot valid direction response: 05:38:34.1647 LVL= 32752, 26913, 32754, 32755, AGC= 66, IDX= 500,-0.27, 0.136, 2.280, 1.073, 1.318, PHS=-1.080, 1.007,-0.289, RAW= 308.0, 4.0, CAL= 305.6, 1.2, ROT= 204.4, -1.2 5V#Rx 109: Read range and direction messages.=`direction in FSK: [-0.910484,-0.413014,0.020942]=Fpublishing direction and range infoygE"(q ~U,sLV?A2R@2gM@2Dfٱ26 :AHRS rotation from veh to nav: [[0.777281,0.628743,0.022712],[-0.628541,0.774426,0.072118],[0.027755,-0.070331,0.997137]]2H`}??A?@?Tv?@k?;?i2R@I2b;2CYNByRIIV=)V91Y9==Fy9=)EE>AQ 5M|5E,Ԣ?Q 9U|5Ev)E{BYQyU'Q IU@EDIE,:iEZ:E|5yeBɮe6%Ae)Eii7V?AJiO{ARiO{Aji8@bfAA,ٯ hs] ?RgE"(BԍCB` IBdBB" =BBBi;B(E Added new target pos. range: 15.706910 m, bearing: 165.284773 deg, lat: 36.779362 deg, lon: -121.859761 deg, deltaT: 0.504236 s, deltaX: 0.198821 m, approachRate: 0.394302 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.71 m.hh*h"h hgfffddjd/@Zd`PQ?ZZZZ>;@-Df)1 5=i59)1521i9i=1AE=IAIAԑ%checking for new query: numPingsReceived=109, elapsed TxPingTime=50.184452EU EUEU&EQ"EU:*EU?:VEU4ZEQBEU];ae2EU^;aeJEU;ae:EU;ae@ @@4@^A =I I O% > DDAT read: Rx Time:05:38:34.6647  TRx dataTimestamp_ set to:1761543515.922191 PDAT read: Bearing 311.1, -25.3 (Local)  ~Local bearing/azimuth received: Bearing 311.1, -25.3 (Local)  DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 - DAT read: 05:38:34.6647 LVL= 32752, 30273, 32754, 32755, AGC= 67, IDX= 499, 0.13, 0.517, 2.642, 1.428, 1.681, PHS=-1.062, 1.006,-0.297, RAW= 308.6, 3.9, CAL= 306.2, 1.2, ROT= 203.8, -1.2 5 Ygot valid direction response: 05:38:34.6647 LVL= 32752, 30273, 32754, 32755, AGC= 67, IDX= 499, 0.13, 0.517, 2.642, 1.428, 1.681, PHS=-1.062, 1.006,-0.297, RAW= 308.6, 3.9, CAL= 306.2, 1.2, ROT= 203.8, -1.2 5 V#Rx 110: Read range and direction messages.E `direction in FSK: [-0.914759,-0.403457,0.020942]E Fpublishing direction and range infoy  7EEٵ<ٿ_2q?Y Av ) CI i Ā? b Z@ 'g= @ ) c@I vɺ"8¿e? ;?) y錽I !z.i ] checking for new query: numPingsReceived=110, elapsed TxPingTime=50.454193:ѾU,%V?AM B@M<@Me߼ٱM퐽 AHRS rotation from veh to nav: [[0.776027,0.630264,0.023436],[-0.630108,0.773157,0.072051],[0.027291,-0.070680,0.997126]]MH7?+?? )@? q?@I?t?iM B@IMa;MCYByIiMb@Mb@Mb@ 9ˡE?y&1?:vY'>y`e=T@ )EAYAbDVD 8y-J%0=ٔ  :Q- >9 Y)=5Fy15E5>9Q 5E|5=ڢ?Q 9E|5=lw)=xBYM1>Q EM;yM Q IM@=DQI=:i=L&<=|5yɮ%Ai i -V?AJi P{ARi P{Aji 7@b p,`5=Y۱ئp ?R 7EEٵ<ٿ_2q?Zi !z.bi j K?sE.YX @;2I?Z Mmse7ǩ?LN ?2i @:i /r"i q ߝ?*i >Ŋ Bi ȂBi i i ȂBi Y|Ai 8@% addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504087 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 15.707129 m, bearing: 164.570642 deg, lat: 36.779362 deg, lon: -121.859761 deg, deltaT: 0.504087 s, deltaX: 0.000218 m, approachRate: 0.000433 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 15.71 m.hYhY*hY"hY hYgafaffBddjdZdM?Z1>Z1>Z5y>Z@e߼) L>i9)  3 i i1,U,`W?A200@2+@20ܼٱ2Ƒ :AHRS rotation from veh to nav: [[0.774655,0.631921,0.024192],[-0.631814,0.771765,0.072044],[0.026855,-0.071094,0.997108]]2H`?8?Ř? 7L?sq?@?`53 O?i200@I2u b;2C`YrByvIbD-VD-:yE7%Ml=ٔU:Q-U?9YYY=eFyamлEm?DDAT read: Rx Time:05:38:35.1647 TRx dataTimestamp_ set to:1761543516.426147PDAT read: Bearing 310.6, -25.3 (Local) ~Local bearing/azimuth received: Bearing 310.6, -25.3 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.2 DAT read: 05:38:35.1647 LVL= 32752, 28449, 32754, 32755, AGC= 67, IDX= 500,-0.20,-1.434, 0.697,-0.521,-0.260, PHS=-1.072, 1.002,-0.305, RAW= 308.5, 4.2, CAL= 306.2, 1.6, ROT= 203.8, -1.6 Ygot valid direction response: 05:38:35.1647 LVL= 32752, 28449, 32754, 32755, AGC= 67, IDX= 500,-0.20,-1.434, 0.697,-0.521,-0.260, PHS=-1.072, 1.002,-0.305, RAW= 308.5, 4.2, CAL= 306.2, 1.6, ROT= 203.8, -1.6 V#Rx 111: Read range and direction messages.`direction in FSK: [-0.914603,-0.403388,0.027922]Fpublishing direction and range infoyQS{RmDٿ|p}?Y!oqQ 5|5uLߢ?Q 9|5uw)uuBYy0Q I@uDIuN.}_@_?Z5͐/?)\?2i@:iq"i坊?*i BiBiq ߝ?i iՂBi{AiAo8@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.707129 m, bearing: 164.413875 deg, lat: 36.779363 deg, lon: -121.859760 deg, deltaT: 0.503956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.71 m.hh*h"h hgfffddijdiZdm?ZZZZ|@0ܼ) <>i 9)  4 i i%1)-4B֍CB( IB6BB =BBgDBoi;B(E5 checking for new query: numPingsReceived=111, elapsed TxPingTime=51.190792E  E E E "E Ʊ:*E A:VE ZE BE ;;a 2E <;a JE k;a :E k;a I ^AE V<Ia Iq O rU,#1W?A:@:@:ڼٱ:H ^AHRS rotation from veh to nav: [[0.773183,0.633704,0.024657],[-0.633622,0.770279,0.072062],[0.026673,-0.071340,0.997095]]:H?LG???F ? r?KP?\C4?i:@I:ua;:C!Y-By5I AAQDDAT read: Rx Time:05:38:35.6647 TRx dataTimestamp_ set to:1761543516.931445PDAT read: Bearing 311.8, -24.8 (Local) ~Local bearing/azimuth received: Bearing 311.8, -24.8 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 DAT read: 05:38:35.6647 LVL= 32752, 24481, 32754, 32755, AGC= 65, IDX= 499, 0.24,-0.686, 1.450, 0.217, 0.465, PHS=-1.048, 1.030,-0.292, RAW= 308.9, 3.4, CAL= 306.5, 0.3, ROT= 203.5, -0.3 Ygot valid direction response: 05:38:35.6647 LVL= 32752, 24481, 32754, 32755, AGC= 65, IDX= 499, 0.24,-0.686, 1.450, 0.217, 0.465, PHS=-1.048, 1.030,-0.292, RAW= 308.9, 3.4, CAL= 306.5, 0.3, ROT= 203.5, -0.3 V#Rx 112: Read range and direction messages.`direction in FSK: [-0.917048,-0.398744,0.005236]%Fpublishing direction and range infoyGtXQٿsNru?Y_ )AI$i ׃?@s=.@ ;)Oc@ISAÿ? H?)s"vI.i=checking for new query: numPingsReceived=112, elapsed TxPingTime=51.465374i}Mb@Mb@Mb@yyyy y9}MbX?X9v?~jthY}J>y}<}D}nA}@ }A)}\AyY}=AbDVDk1yD%=ٔJ9Q->9Y=Fy0E>Q 5|57碊?Q 9|5py)Y>M>Q E;y_Q I@DI<:i#:$|5yɮ!&Aii˜;W?AJiR{ARiR{AjiBG7@b?K),J 88 ?RGtXQٿsNru?Zi.bij%uJz5.Y;@F?Z!p?6 ?!Nڂ?2i߉@:iq"ie?*i}`Bi;Bicߝ?i>Ŋ ii}Ai7@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.505298 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.707596 m, bearing: 164.079308 deg, lat: 36.779363 deg, lon: -121.859759 deg, deltaT: 0.505298 s, deltaX: 0.000467 m, approachRate: 0.000925 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.71 m.hh*h"h h!g!f!f!f-Bd)d)jd)Zd-#?Zu>M>qZu>M>Zu:>Zu@ڼ) #>i9)顭.4ii1"lU, ^NW?AF@F@F-ۼٱF6֒ ^AHRS rotation from veh to nav: [[0.771457,0.635792,0.024964],[-0.635719,0.768531,0.072253],[0.026752,-0.071611,0.997074]]FHů?hX?E? WΗ?0?d?@U@?iF@IFa;FC d)fkAfdddzkAizIxxI|i~r@ ||)|~fC kAُCI ) i ) I kA vAiYY5By5IbDMVDM:y%=ٔQ- ?9Y=FyS E ?Q 5|5뢊?Q 9%|5Lz)Y1y5 Q I=@DIx4i9)顅N4ii1{U,!hW?AB7>BBIB BB =BBB[i;B(EBuԍCBuԍCBuCBu" =Bu! =CuPj6B@Bp@BۼٱBTђ NAHRS rotation from veh to nav: [[0.769885,0.637689,0.025086],[-0.637619,0.766959,0.072226],[0.026818,-0.071601,0.997073]]BH?g?)?_g?i}?$v?`tT ?iB@IB>a;PBCYEByEIbD]VD]ye%mR=ٔmA1Q-m>9qYq=uFyquϻchecking for new query: numPingsReceived=113, elapsed TxPingTime=52.202854E EE!E"E:*E?:VEc3ZEBE1aQ 5m|5e?Q 9m|5em{)aYqy Q I@eDIe\Fim9)imVs4qiqi}1y}j<U,0W?A2H@2۲@2ܼٱ2 ZAHRS rotation from veh to nav: [[0.768454,0.639419,0.024925],[-0.639338,0.765552,0.071947],[0.026923,-0.071223,0.997097]]2H-?v?`?uu@g?k?`?`;7?i2H@I2!b;2CYmBymIIuC=)up=i5Mb@Mb@Mb@1111 195n?/$?y&1|?Y5V>y5<5`;5A1 5rA)11Y1bDmVDmN2iIchecking for new query: numPingsReceived=114, elapsed TxPingTime=52.707169y;%=ٔSQ->9Y=FyE EEE"E;*E*5:VEZEa @a @a @a @=E=>9Q 5E|5=C?Q 9M|5=|)=xBYM6W>Q EM|;yMqQ IM@=DI=':i=:=/|5yɮ&AiiB|W?AJi|ARi|Aji7@bpI,9uiNU0?RQ^MkٿsNru?Zi.bijXOS]._@J?Zv!} ?؁Ղ?2i@:ir"iQL?*i Z Bi-Bi坊?iirBi`Ai A7@- addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504877 s, deltaX: -0.200001 m, approachRate: -0.396138 m/s, rangeRepo size: 4 ] Added new target pos. range: 15.807034 m, bearing: 163.853699 deg, lat: 36.779364 deg, lon: -121.859758 deg, deltaT: 0.504877 s, deltaX: -0.198832 m, approachRate: -0.393822 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 15.81 m.hYha*ha"ha hagafafifmBddjd/@ZdЖ?Z6W>Z6W>Zt=Z!@ܼ) #>i i9)  4 ii1f2U,bW?AYv݁ByvIbD~VD~y f%X=ٔQ->9Y=FyE>!Q 5-|5%?Q 9-|5%~)%zBY1y1Q I5@%DI%Q;i%;%2|5y9ɮ=&AAԩDNOT Ignoring new targets: 15.81 m.hh*h"h hgfffddjdZd@p?ZZZZ!)! -:>i-d9))-4)i)i5115!BՍCBIBBB =BBfDBGi;B(E9@ @@0@^AU<IE EE'E"E:*E]t:VE'4ZEBE.Ai 3UU,W?A&DDAT read: Rx Time:05:38:37.6650 *TRx dataTimestamp_ set to:1761543518.948764.PDAT read: Bearing 312.1, -24.9 (Local) .~Local bearing/azimuth received: Bearing 312.1, -24.9 (Local) 6DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 JDAT read: 05:38:37.6650 LVL= 32752, 29329, 32754, 32755, AGC= 67, IDX= 502,-0.10, 1.523,-2.628, 2.433, 2.664, PHS=-1.039, 1.036,-0.275, RAW= 308.7, 3.1, CAL= 306.3, -0.2, ROT= 203.7, 0.2 NYgot valid direction response: 05:38:37.6650 LVL= 32752, 29329, 32754, 32755, AGC= 67, IDX= 502,-0.10, 1.523,-2.628, 2.433, 2.664, PHS=-1.039, 1.036,-0.275, RAW= 308.7, 3.1, CAL= 306.3, -0.2, ROT= 203.7, 0.2 NV#Rx 115: Read range and direction messages.Rbdirection in FSK: [-0.915657,-0.401945,-0.003491]VFpublishing direction and range infoy$&MM?xٿQC1mlY&A$$&r$ $)&CI&i&?&̌$&k]=$ &d)$I&d;$$&\9￷?;ÿt}? &y%<%ף9Y=Fy E>Q 5|5?Q 9|5)BY}V>Q E};y7Q I@DI:i:6|5yɮ&Ai$i&W?AJi&׀ARi&׀Aji&6@b&O~-Q4 Ւ}ȬR&MM?xٿQC1mlZi$bi&d;j&qՅ.=!@ -UWX?Z&~:3B?`=7 .?2i&@:i&Dw"i&?*i&SBi&Bi&e?i&Si&;Bi&Ai&6@ addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 1.007177 s, deltaX: 0.300001 m, approachRate: 0.297863 m/s, rangeRepo size: 4  Added new target pos. range: 16.105051 m, bearing: 163.654839 deg, lat: 36.779365 deg, lon: -121.859758 deg, deltaT: 1.007177 s, deltaX: 0.298018 m, approachRate: 0.295894 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.11 m.hh*h"h hgfffBd d jd @330@Zd @?ZU}V>ZU}V>ZU&=ZUȶ@ԁݼ) >i9)顕ɵ4ii1J(dU,˜W?Ab8@b @bhݼٱbP zAHRS rotation from veh to nav: [[0.764531,0.644124,0.024429],[-0.644021,0.761721,0.070844],[0.027024,-0.069896,0.997188]]bHw?જ?@?ћ`?@"?@7?䱿@?ib8@Iba;bCYByI AAAbDVDNy<%`=ٔQ->9Y=%Fy!EBEE>IQ 5U|5MH ?Q 9U|5M)MBYQyUQ I]@MDIM:iM-:M6:|5ayiɮmn&AiDNOT Ignoring new targets: 16.11 m.hh*h"h hgfffddjdZdo?ZZZZ@hݼ DDAT read: Rx Time:05:38:38.1650  TRx dataTimestamp_ set to:1761543519.452751PDAT read: Bearing 311.2, -24.9 (Local) ~Local bearing/azimuth received: Bearing 311.2, -24.9 (Local) -DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 UDAT read: 05:38:38.1650 LVL= 32752, 31217, 32754, 32755, AGC= 68, IDX= 503,-0.34, 0.912, 3.039, 1.819, 2.065, PHS=-1.051, 1.019,-0.290, RAW= 308.7, 3.6, CAL= 306.3, 0.6, ROT= 203.7, -0.6 ]Ygot valid direction response: 05:38:38.1650 LVL= 32752, 31217, 32754, 32755, AGC= 68, IDX= 503,-0.34, 0.912, 3.039, 1.819, 2.065, PHS=-1.051, 1.019,-0.290, RAW= 308.7, 3.6, CAL= 306.3, 0.6, ROT= 203.7, -0.6 ]V#Rx 116: Read range and direction messages.e`direction in FSK: [-0.915612,-0.401926,0.010472]eFpublishing direction and range infoy  fL2}&ٿ/;r?Y    y  ) DI +i n? z  =  +<) I +   l A.MÿŲ ? Z?) eI i +  checking for new query: numPingsReceived=116, elapsed TxPingTime=53.990799) !>i9)%<4!i!i%1)-׈ԹBE 1>BA BE IBE BBE  =BA BA BE i;BE (Ei߱ I߱  checking for new query: numPingsReceived=116, elapsed TxPingTime=54.219490E  E E $E "E :*E ]t:VE 4ZE BE D->yU 0=U/9Y=Fy>E>Q 5|5?Q 9|5)BYnE>Q E;yQ I@DI;i;+>|5yÖBɮ%+EiAiEW?AJiARiAjiE6@bEê}-1E\=A?REfL2}&ٿ/;r?ZiAbiE+jE.W+d@H@rf?ZEJ35zE?Z9Ԇ?2iE!@:iEv"iEB?*iE.׷BiEdBiE?iAiAiEAiEf6@ addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503987 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.104988 m, bearing: 163.410286 deg, lat: 36.779365 deg, lon: -121.859758 deg, deltaT: 0.503987 s, deltaX: -0.000063 m, approachRate: -0.000125 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.10 m.hh*h"h hgfffBdydyjdyZd`?ZnE>ZnE>Zڤh>Z4@%DDAT read: Rx Time:05:38:38.6650 %TRx dataTimestamp_ set to:1761543519.9570165PDAT read: Bearing 311.9, -24.2 (Local) 5~Local bearing/azimuth received: Bearing 311.9, -24.2 (Local) EDAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 mDAT read: 05:38:38.6650 LVL= 32752, 27953, 32754, 32755, AGC= 67, IDX= 502, 0.23, 2.753,-1.401,-2.640,-2.396, PHS=-1.032, 1.040,-0.288, RAW= 309.2, 3.1, CAL= 306.8, -0.1, ROT= 203.2, 0.1 uYgot valid direction response: 05:38:38.6650 LVL= 32752, 27953, 32754, 32755, AGC= 67, IDX= 502, 0.23, 2.753,-1.401,-2.640,-2.396, PHS=-1.032, 1.040,-0.288, RAW= 309.2, 3.1, CAL= 306.8, -0.1, ROT= 203.2, 0.1 }V#Rx 117: Read range and direction messages.}bdirection in FSK: [-0.919134,-0.393941,-0.001745]Fpublishing direction and range infoy!%%떋iU6ٿn p\Y!!!%1m! !)%CI%i%?%t%@%k]=%uY@ %)%b@I%:!!%&殉@mBĿƌӡ֫? %>)%0^I%%/i%:!!checking for new query: numPingsReceived=117, elapsed TxPingTime=54.487370oݼ)  >i9)4ii1#V,Q X?A2 @2@2|ۼٱ2 :AHRS rotation from veh to nav: [[0.762795,0.646194,0.024034],[-0.646084,0.760070,0.069779],[0.026823,-0.068755,0.997273]]2Hh?`?F?~R?ݱ?w?虱?i2 @I2`;0YFByFIbDNVDN:yV=%V=ٔZ&:Q-Z ?9XYX=^Fy\^E^ ?`Q 5f|5bb?Q 9f|5b_)bBYhyjvQ Ij@bDIb3;ib@;b@|5ylɮn%Al~checking for new query: numPingsReceived=117, elapsed TxPingTime=54.722874E EE&E"Ea:*EV:VE4ZEa%@a%@a%@a%@ii?W?AJiRiji5@b$-.`LxȜR%떋iU6ٿn p\Zi%/bi:j#?=.5KkT@6ņ?Zh7U@u?tF?2i@:iDv"iJnZ?*i"BiBiQL?ii-BiAivz6@ addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504265 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.104988 m, bearing: 162.884860 deg, lat: 36.779366 deg, lon: -121.859758 deg, deltaT: 0.504265 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.10 m.hh*h"h h)g)f)f)f1d1d1jd1Zd5?ZyZyZyZ}x(@ԡ|ۼ) +>i9)页ii1oi>9@ @@u3@@=@=^A{<IIOE>DDAT read: Rx Time:05:38:39.1652 TRx dataTimestamp_ set to:1761543520.460834PDAT read: Bearing 310.7, -25.0 (Local) ~Local bearing/azimuth received: Bearing 310.7, -25.0 (Local) DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 DAT read: 05:38:39.1652 LVL= 32752, 28785, 32754, 32755, AGC= 67, IDX= 504, 0.08,-2.934,-0.818,-2.025,-1.777, PHS=-1.056, 1.004,-0.292, RAW= 308.5, 3.9, CAL= 306.1, 1.0, ROT= 203.9, -1.0 Ygot valid direction response: 05:38:39.1652 LVL= 32752, 28785, 32754, 32755, AGC= 67, IDX= 504, 0.08,-2.934,-0.818,-2.025,-1.777, PHS=-1.056, 1.004,-0.292, RAW= 308.5, 3.9, CAL= 306.1, 1.0, ROT= 203.9, -1.0  V#Rx 118: Read range and direction messages. `direction in FSK: [-0.914115,-0.405080,0.017452] Fpublishing direction and range infoygm@H ٿW7) ߑ?YAqp )I+i?L@'g=`@ 5<),c@I5~L￱ؑh¿o48? Ֆ?)Q≽I].i5- checking for new query: numPingsReceived=118, elapsed TxPingTime=54.991455) V,%X?A2L@2@2ڼٱ2) :AHRS rotation from veh to nav: [[0.762261,0.646825,0.023998],[-0.646723,0.759568,0.069322],[0.026611,-0.068361,0.997306]]2H@pd?˲?`ޒ?aN?@????i2L@I2`;0Yb BybIIf4=)fp;bDj VDj2y;% E=ٔ :Q- >9Y=FyE>Q 5%|5T?Q 9-|5O)BY)y-Q I-@ DI:i :D|5y1ɮ5%A9iiN~X?AJi9ARi9Aji̔6@bzM.&-F{|WR?Rgm@H ٿW7) ߑ?Zi].bi5jp/q5!@]\?ZG" L8?"E?2iq@:i{"i?*iyBiBiiyiiCAiq6@ addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503818 s, deltaX: 0.299999 m, approachRate: 0.595452 m/s, rangeRepo size: 4  Added new target pos. range: 16.403227 m, bearing: 163.455222 deg, lat: 36.779366 deg, lon: -121.859758 deg, deltaT: 0.503818 s, deltaX: 0.298239 m, approachRate: 0.591957 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.40 m.hh*h"h hgfffddjd0@Zd 1?ZZZZ0!@ڼ) .>i9)+3ii1sfB}ԍCB}IB}BB} =ByByB}h;B}(Em9@q @q@u/@qchecking for new query: numPingsReceived=118, elapsed TxPingTime=55.227764E5 E5E5#E1"E5g:*E58:VE53ZE1BE5;aM2E5;aMJE5i  DDAT read: Rx Time:05:38:39.6652  TRx dataTimestamp_ set to:1761543520.964684 PDAT read: Bearing 310.6, -24.6 (Local)  ~Local bearing/azimuth received: Bearing 310.6, -24.6 (Local)  DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.3  DAT read: 05:38:39.6652 LVL= 32752, 27825, 32754, 32755, AGC= 65, IDX= 504,-0.03, 1.470,-2.694, 2.367, 2.625, PHS=-1.053, 1.008,-0.302, RAW= 308.9, 3.9, CAL= 306.5, 1.1, ROT= 203.5, -1.1  Ygot valid direction response: 05:38:39.6652 LVL= 32752, 27825, 32754, 32755, AGC= 65, IDX= 504,-0.03, 1.470,-2.694, 2.367, 2.625, PHS=-1.053, 1.008,-0.302, RAW= 308.9, 3.9, CAL= 306.5, 1.1, ROT= 203.5, -1.1  V#Rx 119: Read range and direction messages.% `direction in FSK: [-0.916891,-0.398676,0.019197]% Fpublishing direction and range infoy  ,W%@ٿ]~?Y l ) AI Ȇi %? @ .@ nF<) Oc@I nF UƊ[sÿ~`'"X? ?) P܊I .i nF E checking for new query: numPingsReceived=119, elapsed TxPingTime=55.495174V,B>X?A2k@2>@2,׼ٱ2 :AHRS rotation from veh to nav: [[0.761960,0.647183,0.023899],[-0.647089,0.759313,0.068694],[0.026311,-0.067806,0.997351]]2Ha?`?x? KL?镱?9?[M?i2k@I2|_;2Cy\=< A@ )AY AbDVD:yr=%"=ٔL:Q->9Y=Fy%yvE%>)Q 55|5-!#?Q 95|5-݃)-BY5,>Q E5;y5Q I=@- DI-]:i-:-H|5yAɮEM%AAiib=X?AJiRijiT6@b3će.ot(9F'?R,W%@ٿ]~?Zi.binFj9mu^/ !'@OI'?Z&DL|QW?t2h?2i9@:iz"i n?*iBi҂Bi n?iSidBiAip6@ addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503850 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.403082 m, bearing: 163.023447 deg, lat: 36.779366 deg, lon: -121.859758 deg, deltaT: 0.503850 s, deltaX: -0.000145 m, approachRate: -0.000288 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.40 m.hh*h"h hgfffBddjdZd@(?Z,>Z,>Z>Zf@,׼) H=i!9){3ii1`V,XX?AR@R튲@RӼٱR7 fAHRS rotation from veh to nav: [[0.762181,0.646937,0.023500],[-0.646847,0.759621,0.067562],[0.025858,-0.066695,0.997438]]RHc?@?F?N?K?oz??iR@IR`_;RCpYzByz IbDVD0y<%U=ٔ]Ǽ:Q-] ?9YYa=eFyaef:Ee ?iQ 5u|5ma'?Q 9u|5m6)mBYyy}ゾQ I}@m DIm;im;mK|5yɮ4%ADNOT Ignoring new targets: 16.40 m.hh*h"h hgfffddjdZd`?ZZZZ@Ӽ) =i9)3ii 1  fBu+>BqBuIBuBBqBqBueDBu,h;BuJ(E- 2Acoustic response timeoutEM  EM EM &EI "EM Ʊ:*EM *5:VEM 4ZEI BEM ;;a] 2EM <;a a] JEM ;am :EM ;am 0V,rX?AnManaging dock network, ignoring radio surface power offdf@9w@J@>ϼٱ8u AHRS rotation from veh to nav: [[0.762378,0.646719,0.023140],[-0.646635,0.759904,0.066400],[0.025358,-0.065585,0.997525]]Hee?`??<!Q??`q?-ʰ?iw@IІ_;CY)By I !!iMb@Mb@Mb@ 9q= ףp?~jt?~jt?Y=y=< A1@ A)rAYAbDVDy9Y=Fy/:E>Q 5|5i-?Q 9|55)BYZ>Q E;y:Q I@DI;i;O|5yɮ$Aii]X?AJiARiAji 47@b;uZk.D3Ř$w8ٽ?R+j#$V#pڿa|?Zi-bijZJ@ 0>G7f@<[p?ZҨ`q?2̤jt?2i1@:io"i䝊?*it8 BiBiiyiBaiAi{6@ addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504040 s, deltaX: 0.299999 m, approachRate: 0.595189 m/s, rangeRepo size: 4  Added new target pos. range: 16.701250 m, bearing: 164.012104 deg, lat: 36.779366 deg, lon: -121.859758 deg, deltaT: 0.504040 s, deltaX: 0.298168 m, approachRate: 0.591557 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.70 m.hh*h"h hgfff Bddjd0@Zd[ ?DDAT read: Rx Time:05:38:40.6653 TRx dataTimestamp_ set to:1761543521.972819PDAT read: Bearing 311.4, -24.8 (Local) ~Local bearing/azimuth received: Bearing 311.4, -24.8 (Local) DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2 DAT read: 05:38:40.6653 LVL= 32752, 26161, 32754, 32755, AGC= 66, IDX= 506,-0.16, 0.402, 2.545, 1.318, 1.563, PHS=-1.058, 1.028,-0.289, RAW= 308.6, 3.5, CAL= 306.2, 0.5, ROT= 203.8, -0.5 Ygot valid direction response: 05:38:40.6653 LVL= 32752, 26161, 32754, 32755, AGC= 66, IDX= 506,-0.16, 0.402, 2.545, 1.318, 1.563, PHS=-1.058, 1.028,-0.289, RAW= 308.6, 3.5, CAL= 306.2, 0.5, ROT= 203.8, -0.5 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.914925,-0.403530,0.008727]Fpublishing direction and range infoy_GyoٿB7߁?YA1f )Ili?Z@@ 5<)c@I5PVu(ÿ7P? m?)z|I!z.i52Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Z%Z>Z%Z>Z%c2?Z%:U>ϼ)Q ]u=i]L9)Y]3YiYie1aeYi#V,6X?A2'@2@2ʼٱ2 :AHRS rotation from veh to nav: [[0.762917,0.646087,0.023001],[-0.646023,0.760516,0.065337],[0.024721,-0.064706,0.997598]]2Hi???8`&V?`繰?@UP?S?i2'@I2^;2CYF2ByF# IbDNVDNyVV>=%ZQ=ٔZx:Q-Z>9XY\=^Fy\^;E^>`Q 5f|5b2?Q 9f|5b4)bBYhyj:Q Ij@bDIb;ib;bS|5ynɖBɮn$AliiB~X?AJiЄARiЄAjiӔ6@b8>`.EP"~P?R_GyoٿB7߁?Zi!z.bi5jdv/c@WIH?Z1? @59?E?2iE@:i~"ix?*i!BiBix?i!iBi΄Aiє6@ addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504095 s, deltaX: -0.099998 m, approachRate: -0.198372 m/s, rangeRepo size: 4 !M Added new target pos. range: 16.601839 m, bearing: 163.455326 deg, lat: 36.779365 deg, lon: -121.859758 deg, deltaT: 0.504095 s, deltaX: -0.099411 m, approachRate: -0.197207 m/s, posRepo size: 4 MDNOT Ignoring new targets: 16.60 m.hIhI*hI"hQ hQgQfQfYfYdydyjd@30@Zd E?ZZZZ}:ʼ)  =i9)   4 i iE1AE; v5)V,X?AB6&>B6ӍCB6 IB6BB6" =B4B4B6g;B6((EB)B)B-CB- =B- =C-5PRܠ@R@RJüٱR֟ ZAHRS rotation from veh to nav: [[0.763540,0.645343,0.023227],[-0.645318,0.761190,0.064461],[0.023919,-0.064207,0.997650]]RHn??ȗ?q[?? P~?`o?iRܠ@IRA^;P=2Acoustic response timeoutEe EeEe Ea"Ee,:*EeA:VEe3ZEaBEe9Y!=-Fy)=:Em>Q 5|519?Q 9|53)BYy2;Q I@DIji > DDAT read: Rx Time:05:38:41.6655  TRx dataTimestamp_ set to:1761543522.981670 PDAT read: Bearing 312.8, -24.1 (Local)  ~Local bearing/azimuth received: Bearing 312.8, -24.1 (Local) ! 5 DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.2 m DAT read: 05:38:41.6655 LVL= 32752, 24801, 31570, 32755, AGC= 69, IDX= 508,-0.28,-2.344,-0.210,-1.446,-1.226, PHS=-1.016, 1.061,-0.264, RAW= 309.0, 2.4, CAL= 306.8, -0.9, ROT= 203.2, 0.9 u Ygot valid direction response: 05:38:41.6655 LVL= 32752, 24801, 31570, 32755, AGC= 69, IDX= 508,-0.28,-2.344,-0.210,-1.446,-1.226, PHS=-1.016, 1.061,-0.264, RAW= 309.0, 2.4, CAL= 306.8, -0.9, ROT= 203.2, 0.9 u R#Rx 1: Read range and direction messages.} bdirection in FSK: [-0.919022,-0.393893,-0.015707] @  @ @ /@ = Fpublishing direction and range infoy  b﹠hM<5ٿy&Y ` R{ ) I J i ·? + @ += uY@ ) b@I < 2㸒A(ĿR`rپ? >) 6.I %/i <  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Q ^AMu<IQIiOu>+1V,p>X?A6ѳ@6@6ȸٱ6\ BAHRS rotation from veh to nav: [[0.765055,0.643550,0.023095],[-0.643570,0.762838,0.062423],[0.022555,-0.062620,0.997783]]6H U{??#?@*i?@? ??i6ѳ@I6];6CDHiHIHHIHiL LL)LL Nr@LPPPRsAIP)PiT)TITTT XXXXiXXi\^iA)^ \I\Y\YfIByf@ IIj<)j=n=n=iMb@Mb@Mb@  9i|?5?q= ףp?/$?Yq=y=< A^@ A)AYQAbDVD:y-==%5P=ٔ5te;Q-5>99Y9==Fy9=;E=>AQ 5M|5EQ EU;yU>Q IU@EDIE:iE:E1[|5yYɮe$Aai i ӾX?AJi Ri ji :6@b   /Z`+['пR b﹠hM<5ٿy&Zi %/bi <j l#,0 !l@ ^ȣbɿZ &aXQ)Q?o2i Ԝ@:i a"i Ꝋ?*i EBi Bi Ꝋ?i !i Bi Ai 6@  addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504485 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.899855 m, bearing: 163.141006 deg, lat: 36.779364 deg, lon: -121.859758 deg, deltaT: 0.504485 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -2Acoustic response timeoutEM EMEM'EI"EMغ:*EM*5:VEM'4ZEIaU@aU@aU@aU@UDNOT Ignoring new targets: 16.90 m.hYhY*hY"hY hYgyfff:BddjdZd`V?Z>Z>Zb?Z>ȸ)  DDAT read: Rx Time:05:38:42.1656  TRx dataTimestamp_ set to:1761543523.484717 PDAT read: Bearing 313.5, -24.1 (Local)  ~Local bearing/azimuth received: Bearing 313.5, -24.1 (Local) % DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 M DAT read: 05:38:42.1656 LVL= 32752, 22897, 32674, 32755, AGC= 69, IDX= 508, 0.32,-1.260, 0.874,-0.357,-0.160, PHS=-0.999, 1.078,-0.241, RAW= 308.9, 1.8, CAL= 306.7, -1.5, ROT= 203.3, 1.5 U Ygot valid direction response: 05:38:42.1656 LVL= 32752, 22897, 32674, 32755, AGC= 69, IDX= 508, 0.32,-1.260, 0.874,-0.357,-0.160, PHS=-0.999, 1.078,-0.241, RAW= 308.9, 1.8, CAL= 306.7, -1.5, ROT= 203.3, 1.5 U R#Rx 1: Read range and direction messages.] bdirection in FSK: [-0.918132,-0.395410,-0.026177]] Fpublishing direction and range infoy  |Ua{{ fNٿP!ΚY ̈A qY  ) I wi ? v @ = )K@ Pwּ) c@I Pw< J2+ckÿ_M? L)?) ZI  /i Pw< } 2Acoustic response timeout} Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԑ 8V,&X?AR\@R/@R_1ٱRM} ^AHRS rotation from veh to nav: [[0.766053,0.642362,0.023078],[-0.642409,0.763906,0.061304],[0.021750,-0.061788,0.997852]]RH`?;??`q?Ac?E?h?iR\@IRϜ];PYe?Bye2 IbD}VD}02y^%V=ٔa ;Q->9Y=Fy;E>Q 5|5@?Q 9|52)BYyK>Q I@DI:i:^|5yɮU$A!iiX?AJiARiAji{6@bR7/Sb0ܲzܿR|Ua{{ fNٿP!ΚZi /biPw<jH0j2z+u@r`׿ZnTc\P?{q-2i@q:iF"i3t䝊?*isZ@BiBi䝊?iiKBiAi(7@ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503047 s, deltaX: 0.100000 m, approachRate: 0.198789 m/s, rangeRepo size: 4  Added new target pos. range: 16.999266 m, bearing: 163.368089 deg, lat: 36.779364 deg, lon: -121.859758 deg, deltaT: 0.503047 s, deltaX: 0.099411 m, approachRate: 0.197618 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.00 m.hh*h"h h g f f1f1d9d9jd=1@Zd=-t?ZyZyZyZ}uK>_1) i9)顽ii1p0BYB]! IB]1BBYBYBYB]g;B](Eԡ9@ @@o0@E2Acoustic response timeoutEm EiEm&Ei"Emg:*EiVEm4ZEiBEm;a}2Em;a}JEm;a}:Em;a^A '<I I O > D>V,X?A2ɫ@2IJ@2ٱ2~ :AHRS rotation from veh to nav: [[0.766794,0.641461,0.023548],[-0.641544,0.764649,0.061103],[0.021189,-0.061961,0.997854]]2H`?ن??@x?H?`? Kj?i2ɫ@I2`];2CYMBByM7 IDDAT read: Rx Time:05:38:42.6656 TRx dataTimestamp_ set to:1761543523.988719PDAT read: Bearing 313.7, -23.9 (Local) ~Local bearing/azimuth received: Bearing 313.7, -23.9 (Local) DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 DAT read: 05:38:42.6656 LVL= 32752, 21073, 29810, 32755, AGC= 68, IDX= 508,-0.06, 2.709,-1.463,-2.683,-2.492, PHS=-0.980, 1.073,-0.236, RAW= 309.0, 1.6, CAL= 306.9, -1.7, ROT= 203.1, 1.7 Ygot valid direction response: 05:38:42.6656 LVL= 32752, 21073, 29810, 32755, AGC= 68, IDX= 508,-0.06, 2.709,-1.463,-2.683,-2.492, PHS=-0.980, 1.073,-0.236, RAW= 309.0, 1.6, CAL= 306.9, -1.7, ROT= 203.1, 1.7 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.919417,-0.392165,-0.029666]Fpublishing direction and range infoyp]bkѐ59ٿ `YQRrt )DIHziX?q@<g@ )ib@I<PQ$)Ŀ6? +>)ILB/i<=2Acoustic response timeout=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.iuMb@Mb@Mb@qqqq q9uI +?X9v?9Y=Fy*;E>Q 5|5FE?Q 9|5Z)Y >Q E;y?Q I@DI:i/:b|5yɮM9$AIii,GX?AJiRiji#Y6@beZ >Zj?Z3?) i)ii%1!%ji R9 Y = Fy  Y;E>Q 5%|5HH?Q 9%|5ˁ)BY)y- ?Q I-@DI>e;ii;ve|5yAɮMI$AIDNOT Ignoring new targets: 17.00 m.hh*h"h hgfffddjdZdI?ZqZqZqZu ?9v) i)顉ii1C)׼I~{/i=2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9^AmR5<IyIO>i A1 A5 AAB= *>B= ԍCB= 4 IB= @BB9 B9 B9 B= g;B= (E= 2Acoustic response timeout1[KV,/Y?AE EE#E"E:*E;J:VE3ZEBE];a2E^;aJE;a:E;a,Fޫ@Fز@F@ ٱF NAHRS rotation from veh to nav: [[0.768407,0.639485,0.024679],[-0.639652,0.766265,0.060693],[0.019902,-0.062423,0.997851]]FHʖ?v?hE?x@>?3?/a?e?iFޫ@IFJ];DYVAByZ5 IbDbVDb0yjW;%jO=ٔn;Q-n>9lYl=nFypr*;Er>tQ 5z|5vL?Q 9z|5v)tY|y~b ?Q I~@vDIv;iv;vh|5yɮC$AiiY?AJiaARiaAji~J6@b[h\/NvӐbRv= BؿIzZi~{/bi=jI0:G@ itܿZm&+<?|*,2i@:im"i ٝ?*i{Bi`Bi3t䝊?iEiBiڈAi6@ԉ addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504978 s, deltaX: 0.299999 m, approachRate: 0.594084 m/s, rangeRepo size: 4  Added new target pos. range: 17.297653 m, bearing: 163.195379 deg, lat: 36.779364 deg, lon: -121.859756 deg, deltaT: 0.504978 s, deltaX: 0.298433 m, approachRate: 0.590983 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.30 m.hh *h "h  h g f ffddjd`ff1@Zd`?ZZZZgb ?@ ) i)  i i19=k?RV,lIY?A2@2mݲ@2䞼ٱ2s} :AHRS rotation from veh to nav: [[0.768769,0.639030,0.025202],[-0.639232,0.766623,0.060585],[0.019395,-0.062686,0.997845]]2H? r?Ι?t.?@ ?`Kܓ? 6 X?i2@I2^]];2C\Yb9Byb+ Ii}Mb@Mb@Mb@yyyy y9}I +?p= ף?Yyy}>}} Ay }+A)}AyY}AbD VD2yQ%>=ٔ:Q->9Y=Fy:E>Q 5|5LP?Q 9|5I)BY >Q E;y ?Q I@DI:if:l|5yЖBɮ$A,Eii-?Y?AJiRiji6@b&'/sA&ن@9S@տRVL+hܓ'5ٿ]~Zi%/binF<j"0 Bk@l965˿Z77DX[L2?ճ+2i`@:i"i}ڝ?*iZBíBii܁iiHAi 6@% addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503445 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 17.297653 m, bearing: 163.480507 deg, lat: 36.779364 deg, lon: -121.859755 deg, deltaT: 0.503445 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 =DNOT Ignoring new targets: 17.30 m.h9h9*h9"h9 hAgAfAfAfM3BdIdIjdIZdMA?Zu >Zu >ZuI?Zu ?䞼) ;ie9)額 0ii1A  DDAT read: Rx Time:05:38:44.1659  TRx dataTimestamp_ set to:1761543525.500661 PDAT read: Bearing 312.7, -24.4 (Local)  ~Local bearing/azimuth received: Bearing 312.7, -24.4 (Local)  DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0  DAT read: 05:38:44.1659 LVL= 32752, 25393, 32338, 32755, AGC= 69, IDX= 511, 0.02, 2.322,-1.826,-3.055,-2.834, PHS=-1.026, 1.053,-0.266, RAW= 308.8, 2.7, CAL= 306.5, -0.6, ROT= 203.5, 0.6  Ygot valid direction response: 05:38:44.1659 LVL= 32752, 25393, 32338, 32755, AGC= 69, IDX= 511, 0.02, 2.322,-1.826,-3.055,-2.834, PHS=-1.026, 1.053,-0.266, RAW= 308.8, 2.7, CAL= 306.5, -0.6, ROT= 203.5, 0.6  R#Rx 1: Read range and direction messages.% bdirection in FSK: [-0.917010,-0.398727,-0.010472]% Fpublishing direction and range infoy  VC$XEľٿ/;rY ̌A 1c R~ ) I Si Ȇ? '1 iw@ A= .@ +) Oc@I +< KxwYW $8ÿux? 4?) X=I .i +< E 2Acoustic response timeoutE Querying Benthos address 50 with 120 pings in terminal homing one-way mode.hXV, FcY?A4<ɰ;6@6Z@6ٱ6W RAHRS rotation from veh to nav: [[0.769082,0.638629,0.025795],[-0.638869,0.766923,0.060621],[0.018931,-0.063102,0.997827]]6H`R? o?j?@q@?@ ?@b?w'3?i6@I6];6CYf0Byf IIj=)j=j=j=bDrVDrJyz9%zV=ٔz:Q-z>9!Y!=%Fy!%:E->)Q 55|5-T?Q 9E|5-)-BYIyM ?Q IM@-DI-f;i-Fg;- p|5yYɮ]%Aaii `Y?AJiARiAji6@b&A` 0҂ oԾGsǿRVC$XEľٿ/;rZi.bi+<j@&0A:@ Zŏ`~ ?\6e2iq@:ie"io̝?*iBiBi}ڝ?iiiAi6@M addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503519 s, deltaX: 0.200001 m, approachRate: 0.397206 m/s, rangeRepo size: 4 } Added new target pos. range: 17.496477 m, bearing: 163.774249 deg, lat: 36.779363 deg, lon: -121.859754 deg, deltaT: 0.503519 s, deltaX: 0.198824 m, approachRate: 0.394869 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.50 m.hh*h"h hgfffddjd1@ZdN?ZZZZ ?-)) -iM9)QUQiQi]1Y]"BՍCBBBBBfDBg;B(EI%9@) @)@-/@)i!I%A%2Acoustic response timeoutEU EUEU&EQ"EU[:*EU]t:VEU4ZEQBEU}ԡ ^V,}Y?A:@:w@:&ٱ: BAHRS rotation from veh to nav: [[0.769408,0.638219,0.026231],[-0.638487,0.767240,0.060633],[0.018572,-0.063400,0.997815]]:H?Il?-ܚ? }n ;?`Q ??@:?i:@I:p];:CYJ&ByN Ii%Mb@Mb@Mb@!!!! !9% ףp= ?ʡE?y&1|Y%Q8=y%=%`!! %A)%A!Y%AbD5VD5yE'D%ME=ٔMb:Q-M>9QYQ=UFyQU:EU>YQ 5e|5]W?Q 9m|5]~)]BYm>Q Em;ym?Q Im@]!DI]:i]E:]s|5yqDDAT read: Rx Time:05:38:44.6658 TRx dataTimestamp_ set to:1761543526.004831PDAT read: Bearing 312.4, -24.1 (Local) ~Local bearing/azimuth received: Bearing 312.4, -24.1 (Local) DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.2 DAT read: 05:38:44.6658 LVL= 32752, 25025, 32594, 32755, AGC= 66, IDX= 510, 0.11,-2.295,-0.158,-1.400,-1.162, PHS=-1.032, 1.048,-0.283, RAW= 309.2, 3.0, CAL= 306.8, -0.3, ROT= 203.2, 0.3 Ygot valid direction response: 05:38:44.6658 LVL= 32752, 25025, 32594, 32755, AGC= 66, IDX= 510, 0.11,-2.295,-0.158,-1.400,-1.162, PHS=-1.032, 1.048,-0.283, RAW= 309.2, 3.0, CAL= 306.8, -0.3, ROT= 203.2, 0.3 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.919123,-0.393936,-0.005236]Fpublishing direction and range infoyNtimA6ٿsNruY3AaR )BIi$?`吾@PwV=uY@ )b@I;1ܞZKA?bĿ}\s? >)SI%/i;E2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ɮUQ%AYii'OY?AJibARibAji6@bcʐM/^[AX/RNtimA6ٿsNruZi%/bi;j$K0,xk@ V+?Z H\1?^e?2i]@:i"iX❊?*iBi=BiiZíBiAi6@ addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504170 s, deltaX: -0.200001 m, approachRate: -0.396693 m/s, rangeRepo size: 4 - Added new target pos. range: 17.298048 m, bearing: 163.483708 deg, lat: 36.779363 deg, lon: -121.859754 deg, deltaT: 0.504170 s, deltaX: -0.198429 m, approachRate: -0.393576 m/s, posRepo size: 4 -DNOT Ignoring new targets: 17.30 m.h)hi*hi"hq hqgqfqfyf}0Bdydyjd}`ff1@Zd}?Z>Z>ZM?Z#?&) ƣi9)ii%1!% H{eV,Y?A2}@2P@2Ŗٱ2 :AHRS rotation from veh to nav: [[0.769711,0.637853,0.026257],[-0.638128,0.767556,0.060413],[0.018381,-0.063256,0.997828]]2H@x? Ji??k@ҏ?}? Ғ?@1 5?i2}@I2f];2CY^Byb IbDrVDryz֡%P=ٔ 9Q- >9Y=Fy&:E>Q 5|5[?Q 9|5?~)BYy?Q I@#DI:iK:;w|5yɮ%ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd?ZZZZ?-Ŗ)) 5XQi5H9)151i1i=19EiM>ԑ@ @@0@@=@=DDAT read: Rx Time:05:38:45.1658 TRx dataTimestamp_ set to:1761543526.509236PDAT read: Bearing 311.0, -24.2 (Local) ~Local bearing/azimuth received: Bearing 311.0, -24.2 (Local) DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 DAT read: 05:38:45.1658 LVL= 32752, 27025, 32754, 32755, AGC= 67, IDX= 510, 0.31,-1.075, 1.055,-0.185, 0.079, PHS=-1.052, 1.021,-0.308, RAW= 309.2, 3.8, CAL= 306.8, 1.0, ROT= 203.2, -1.0 Ygot valid direction response: 05:38:45.1658 LVL= 32752, 27025, 32754, 32755, AGC= 67, IDX= 510, 0.31,-1.075, 1.055,-0.185, 0.079, PHS=-1.052, 1.021,-0.308, RAW= 309.2, 3.8, CAL= 306.8, 1.0, ROT= 203.2, -1.0 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.918995,-0.393882,0.017452]Fpublishing direction and range infoyhh2ol\5ٿW7) ߑ?Yi )CI𧆿i!?-ԇ= 5<)I5X0CCĿ5԰? >)Ii52Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^A5]<I9IIOU>B <A B \>B ۍCB . IB ;BB  =B DDB kDB Lg;B 'E = 2Acoustic response timeoutͤkV,bְY?AE EEE"E,:*ErN:VEZEBE?iR@IRn_];RCYzByzI AAbDVD0y %;=ٔ H9Q-=>9IYI=}Fyy;E>Q 5|5_?Q 9|5})BYy3?Q I%@$DI))ILB/iPwּ}2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.I G M Q 9I YM A^A e<I I O >0rV,Y?A6@6@6Օٱ6} BAHRS rotation from veh to nav: [[0.770534,0.636893,0.025388],[-0.637136,0.768463,0.059349],[0.018289,-0.061906,0.997914]]6H7?la?^?kc??@ c?`m?@5 ?i6@I6F];6CYJ ByJIiMb@Mb@Mb@ 9l?Cl?{GztY=y;=ף )AYAbD VD2y%%%H=ٔ%Q-%>9)Y)=-Fy)5N:E5>YQ 5]|5]b?Q 9e|5]|)]BYe=Q Ee;ye ?Q Ie@]&DI]:i]#:]~|5yqɮ&AiidY?AJiARiAji|6@bS/gt=$`2Y?Rdl|jٿP!Κ?ZiLB/biPwּj'x0R #@R|?Zhb/;N?t*2?2il@:iƃ"i&H?*iEBi4BiX❊?ii=Bi8Ai7@iIA2Acoustic response timeout% addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504887 s, deltaX: -0.100000 m, approachRate: -0.198065 m/s, rangeRepo size: 4 D1zD5AAE= E=E9E9"E=:*E=F:VE9ZE9aE@aE@aE@aE@Q Added new target pos. range: 17.200342 m, bearing: 163.371069 deg, lat: 36.779363 deg, lon: -121.859754 deg, deltaT: 0.504887 s, deltaX: -0.099424 m, approachRate: -0.196924 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.20 m.hh*h"h hgfff BddjdL1@Zd?Z=Z=Z,?Zw ?Օ) i9)ii1|PTUٿ_2q?Y ̌A 1j ) @I Ȇi J ? Ġ 3ͬ@ 'g= v@ <) b@I #%/FYĿҚs? >) I ^/i % 2Acoustic response timeout% Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^AU m<Ia Iq O >xV,Y?A(Z@Z@Z痼ٱZI| bAHRS rotation from veh to nav: [[0.770508,0.636938,0.025036],[-0.637161,0.768445,0.059317],[0.018542,-0.061656,0.997925]]ZH`?a??c@?`^? ?c?iZ@IZe_];ZCYByIbD-VD-ky%Q=ٔr)Q->9Y=FyE>Q 5|5f?Q 9|5Q|)BYy ?Q I@'DI:i9:|5yɮ&AiiwY?AJiARiAji?e6@b0yHW"t?R@s>TUٿ_2q?Zi^/bijGə0^Jf@@5D?ZWM-Oe?Ak|z"?2i@:i"i `❊?*iBiBi `❊?i9iBiAi6@ addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.502568 s, deltaX: 0.300001 m, approachRate: 0.596936 m/s, rangeRepo size: 4  Added new target pos. range: 17.498615 m, bearing: 163.288932 deg, lat: 36.779363 deg, lon: -121.859753 deg, deltaT: 0.502568 s, deltaX: 0.298273 m, approachRate: 0.593498 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.50 m.hh*h"h hg f f f ddjd1@Zd$?ZQZQZQZUo ?BmR>BmڍCBm IBm!BBm =BiBmjDBmCg;Bm'EyB-ՍCB-׍CB-ÖCB-" =B- =C-6痼) `i49)顱ii1l~V,LY?A\Y~By~II)<E*DAT read: user:489> MDDAT read: Command 'bl' not found Mbunknown deviceResponse_: Command 'bl' not found M"DAT read: Error U@unknown deviceResponse_: Error U*DAT read: user:490> ]BDAT read: Tx time:05:38:47.1224 ]$Ping request sent.]9yY=FyE>Q 5|5i?Q 9|5{)BYS=Q EQ I@)DI:i:|5yɮ?'AUDNOT Ignoring new targets: 17.50 m.hQhQ*hQ"hQ hQgYfYfYf]BdadajdaZd@?ZS=ZS=ZO?Zڥ>) i9)ii 1  I I9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248437D- =D- p=E5  E5 E1 E1 "E5 :*E5 X:VE1 ZE1 a= @a= @a= @a= @A ^A e<I I O >؅V,sZ?Ab@b@bSWٱb | jAHRS rotation from veh to nav: [[0.770045,0.637520,0.024459],[-0.637697,0.767964,0.059780],[0.019328,-0.061630,0.997912]]bH5?f? ?h@*?s?ʓ??ib@Ib];bCYv؁ByvIbD~VD~ky Ľ% |=ٔQ- ?9Y=Fy%E% ?)Q 5-|5-Yl?Q 95|5-{)-BY1y5z>Q I5@-*DI-%:i-:-Lj|5yAɮE'AAmDNOT Ignoring new targets: 17.50 m.hihi*hi"hi hqgqfqfyfydydyjdyZd}I?ZZZZmz>SW) X(ik9)顽ii14qAy Ay B V>B ۍCB IB BB  =B B kDB _g;B (Eԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752442E=  E= E= %E9 "E= [:*E= L_:VE= 4ZE9 BE= ~AHRS rotation from veh to nav: [[0.769689,0.637964,0.024070],[-0.638109,0.767595,0.060123],[0.019880,-0.061636,0.997901]]2HK?4j?٥?@ck#?@wȮ?@[?``?i2@I27w];2CYFŁByJIbDRVDR:2yZ%ZP=ٔZQ-Z>9\Y\=^Fy\b+Eb>dQ 5j|5fqo?Q 9j|5fW{)fBYhyj0>Q Ij@f+DIf:if:f4|5yYɮeW(AayDNOT Ignoring new targets: 17.50 m.hh*h"h hgfffddjdZd@ZG?Z1Z1Z1Z5u0>ޢ) Hi9)𲉢iiE1Iu]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004453^A <I I! O5 > ]V,y:LZ?A6"@6@6󚧼ٱ6k| >AHRS rotation from veh to nav: [[0.769262,0.638496,0.023627],[-0.638606,0.767158,0.060429],[0.020458,-0.061575,0.997893]]6H̝?n?1?to???`?i6"@I6x];6CY^BybI ddiMb@Mb@Mb@ 99Y=FyMźE>Q 5|5s?Q 9|5C{)Y<=Q E1m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508444Y MV,%fZ?AYŁByIbD-VD-fy=<%=Q=ٔ=Q-=>9AYA=EFyAEEM>IQ 5U|5M\v?Q 9]|5M0{)MBYYyYQ I]@M.DIMa;iM;Mk|5yaɮm(AiDNOT Ignoring new targets: 17.50 m.hh*h"h hgfffddjdZd`)@Z!Z!Z!Z!)9)A AiA)AAAiAiM1QUB:B؍CBIBBB =BBiDBog;B'E9@ @@1@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760472E EE)E"EI:*ER:VEFA4ZEBEԉԱ >V,ZZ?A2Fܫ@2ײ@2<ͱٱ2SE} >AHRS rotation from veh to nav: [[0.768239,0.639754,0.022900],[-0.639795,0.766093,0.061346],[0.021703,-0.061780,0.997854]]2H@i?x?%s?`4y@Ճ?@h? 59? k?i2Fܫ@I2.|];2C%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012426YmBymIԑiMb@Mb@Mb@ 9sh|??:v?Mbp?Y=yT=;& At@ A)YGAbDVDNy%%%/=ٔ%'/Q-->9)Y)=-Fy)5\E5>9Q 5E|5=-z?Q 9E|5=Y{)=BYE=Q EMi%>Y@Y @Y@]0@a@mfA@mfAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264512E%  E% E% &E! "E% &:*E% [:VE% 4ZE! a- @a- @a- @a- @^A] <Ii I O >! z)V,kؙZ?A]֫@]Ѳ@]ٱ]j} AHRS rotation from veh to nav: [[0.767796,0.640298,0.022520],[-0.640307,0.765635,0.061729],[0.022283,-0.061815,0.997839]]]H@ɑ?R}?c?@d} ?隯?Zі?`)K?i]֫@I]];]C )iIIir@ )sC kAI`)i)IkAy iYY By II)>)=p=bD%VD%ܲy5%5Z=ٔ5Z˺Q-=>99Y9==Fy9EEE>IQ 5U|5M<}?Q 9U|5Mz{)IYQyU' Q I]@M0DIMw;iMQ;Mš|5yaɮe5)AaMDNOT Ignoring new targets: 17.50 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZd]@ZZZZ@) 0\iG9)顽˯ii1IB= X>B= ڍCB= IB= BB=  =B9 B= jDB= Rg;B= 'E checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768424E  E E E "E :*E H:VE ZE BE AHRS rotation from veh to nav: [[0.767260,0.640954,0.022135],[-0.640929,0.765086,0.062069],[0.022848,-0.061810,0.997826]]6H@d???`~ {?`}ǯ?ye?1?i6Ы@I6];6CY=By=IbDUVDU:yea%eY=ٔeĺQ-e>9iYi=mFyim-Eu>qQ 5}|5uP?Q 9|5u{)uBYy Q I@u1DIu:iu:u |5yɮ:)AiiimZ?AJimARimAjim7@bm0+o"x/ ʿRmXzX8V,VZ?A2Cʫ@2Ų@2]ٱ2y| >AHRS rotation from veh to nav: [[0.766799,0.641524,0.021588],[-0.641457,0.764622,0.062330],[0.023480,-0.061642,0.997822]]2H?\? ?`цw??$ ?(?i2Cʫ@I2œ];2C@Y=By=IiMb@Mb@Mb@ 9{Gz?Mb?:v?Yף=y@=T< )YbDVD0y<%B=ٔĺQ->9Y=FyٺE>Q 5|5?Q 9 |5{)BY =Q E  ?cV,_Z?ABī@Bپ@BEļٱB| NAHRS rotation from veh to nav: [[0.766301,0.642130,0.021261],[-0.642033,0.764109,0.062706],[0.024020,-0.061702,0.997806]]BH@?T?`ŕ?`s? ??`?liBī@IB];BCYzByzI ||AbD VD βy׼%=Y=ٔ=dQ-=>9AYA=EFyAMEM>QQ 5|5U?Q 9|5U{)UBYy!Q I@U4DIU%BBIBBB =BBBg;B,(E @ @@/@i߱I߱checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778566E EE&E"E2:*EV:VE4ZEBE"*zJV,a8[?A2a@24@2"ɼٱ2~| >AHRS rotation from veh to nav: [[0.765847,0.642686,0.020787],[-0.642551,0.763650,0.062983],[0.024605,-0.061592,0.997798]]2H`ҁ?? I? ȏ`o?@?1?`?i2a@I2z];0YnBynuI DDAT read: Rx Time:05:38:50.7746  TRx dataTimestamp_ set to:1761543532.052770PDAT read: Bearing 311.6, -25.2 (Local) ~Local bearing/azimuth received: Bearing 311.6, -25.2 (Local) -DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 9UDAT read: 05:38:50.7746 LVL= 32752, 26017, 32754, 32755, AGC= 67, IDX= 505,-0.43, 0.420, 2.588, 1.344, 1.588, PHS=-1.066, 1.045,-0.288, RAW= 308.6, 3.4, CAL= 306.2, 0.2, ROT= 203.8, -0.2 ]Ygot valid direction response: 05:38:50.7746 LVL= 32752, 26017, 32754, 32755, AGC= 67, IDX= 505,-0.43, 0.420, 2.588, 1.344, 1.588, PHS=-1.066, 1.045,-0.288, RAW= 308.6, 3.4, CAL= 306.2, 0.2, ROT= 203.8, -0.2 ]R#Rx 4: Read range and direction messages.e`direction in FSK: [-0.914954,-0.403543,0.003491]mFpublishing direction and range infoy  Г@MGٿQC1ml?Y fA   e  ) CI ri …? t Z@ s= @ d;) c@I d  C   >-  ̄:,ÿ[}ed2? k?)  qI !z.i dG9q>9YuA  checking for new query: numPingsReceived=4, elapsed TxPingTime=4.092142iMb@Mb@Mb@ 9l??{Gz?Y=yL=ף<^@ AA)+AYpAbDVD1y- %-%=ٔ-SQ-->91Y1=5Fy1=E=>AiQ 5m|5EI?Q 9u|5E|)EBYuo=Q EufV,[?A@g@j@̼ٱ/{ AHRS rotation from veh to nav: [[0.765700,0.642876,0.020343],[-0.642715,0.763516,0.062940],[0.024930,-0.061267,0.997810]]H ? q?Ԕ?@n?@?_?p^@?i@I=];CY-By-I1bDEVDE:y=%q=ٔQ-?9Y=Fy-E?Q 5|5ƌ?Q 9|5|)BYy Q I@6DI;i;S|5yɮ,)ADNOT Ignoring new targets: 17.20 m.hh*h"h hgfffddjdZd z?ZZZZ'@-j@̼)1 5+7i59)151i1i=19=AAA@ABu I>Bu ٍCBq Bq Bu  =Bq Bu iDBu h;Bu J(EBEڍCBEٍCBEɔCBE =BE =CEɛ6Ա ] checking for new query: numPingsReceived=5, elapsed TxPingTime=4.784506E  E E 'E "E >:*E VE '4ZE BE 9Y=FyE>Q 55|5ڏ?Q 9=|5/|)BYAyMGQ IM@7DI30a@(;Z/:.?TU֥`2i@:i"i0?*iBiBiiiBiAiC&7@ addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504725 s, deltaX: 0.300001 m, approachRate: 0.594385 m/s, rangeRepo size: 4  Added new target pos. range: 17.497820 m, bearing: 163.923046 deg, lat: 36.779368 deg, lon: -121.859754 deg, deltaT: 0.504725 s, deltaX: 0.297901 m, approachRate: 0.590225 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.50 m.hh*h"h hgf f f d djd1@Zd?ZQZQZQZU"@e\yм)a eie9)imiiiiu1qu XV,;R[?A2'@2@2lSӼٱ2vv :AHRS rotation from veh to nav: [[0.765179,0.643538,0.018990],[-0.643301,0.763050,0.062598],[0.025794,-0.060115,0.997858]]2H X|?`ܗ? 3r?j?p?i?oǮ t?i2'@I2kz^;2CYFByFIXD zD @AE EE%E"E:*EF:VE 4ZEa@a%@a%@a%@i!I!-checking for new query: numPingsReceived=6, elapsed TxPingTime=5.299683iMb@Mb@Mb@ 9+η?Q?:v?Yv=yu=T<A )AYAbDVDky6%3=ٔJHQ->9Y=Fy E >Q 5|5?Q 9|5W|)BY8=Q E;yQ I@9DI:i:ݳ|5y-ݖBɮ-W)A-.Eii?C[?AJidARidAji?7@bO/(\hc`> ?R+?[݇/G;ڿI:?Zi.bi+HjJ0^p@v?Z1q lH?'b@?2i@:i "iT?*iYWBi(BiI2r?iiсBi&Ai"7@  addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503311 s, deltaX: -0.200001 m, approachRate: -0.397370 m/s, rangeRepo size: 4 U Added new target pos. range: 17.298981 m, bearing: 164.053198 deg, lat: 36.779369 deg, lon: -121.859754 deg, deltaT: 0.503311 s, deltaX: -0.198839 m, approachRate: -0.395062 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 17.30 m.hYhY*hY"h hgfffցBddjd`ff1@Zd@?Z8=Z8=Z?Zu;@lSӼ) \i9)aii1-x|V,zk[?A6 @6@66ռٱ6}w BAHRS rotation from veh to nav: [[0.765015,0.643734,0.018919],[-0.643486,0.762873,0.062847],[0.026024,-0.060253,0.997844]]6H`{?x?w_? pui?? ? xٮ@V?i6 @I6^;6CYbBybIbDnVDnyz<%z^=ٔ~#Q-%>9)Y)=-Fy)5,E5>aQ 5m|5e?Q 9m|5ey|)eBYqyuQ Iu@e:DIeU;ie;e/|5yɮ/)AB<>B֍CBIBBB =BEDBgDBh;B(Ei)i-d[?AJi-cARi-cAji-7@b-(ERx/f)~ | ?R-8f-8Nڿ{J?Zi--bi-+ȼj-5FF0 rp@oyfzo?Z-֖vCrP;R?CHyM?2i-Е@:i-,"i-?*i-.UBi-Bi-T?i-YWi-ׁBi-Ai-F7@5 addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.515974 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 17.298382 m, bearing: 164.292091 deg, lat: 36.779369 deg, lon: -121.859754 deg, deltaT: 0.515974 s, deltaX: -0.000599 m, approachRate: -0.001161 m/s, posRepo size: 4 MDNOT Ignoring new targets: 17.30 m.hIhI*hI"hI hIgQfffddjdZd`c ?ZZZZ9@6ռ) vi 9)ii%1!%|i5>E5 E5E5$E1"E5:*E5i:VE54ZE1Uchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.804850YBE51ԡ  DDAT read: Rx Time:05:38:52.7747  TRx dataTimestamp_ set to:1761543534.080836 PDAT read: Bearing 311.3, -25.8 (Local)  ~Local bearing/azimuth received: Bearing 311.3, -25.8 (Local) % DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 M DAT read: 05:38:52.7747 LVL= 32752, 25393, 32754, 32755, AGC= 66, IDX= 505, 0.15, 1.534,-2.576, 2.480, 2.719, PHS=-1.083, 1.033,-0.284, RAW= 308.0, 3.7, CAL= 305.6, 0.6, ROT= 204.4, -0.6 dV,,Յ[?AYgot valid direction response: 05:38:52.7747 LVL= 32752, 25393, 32754, 32755, AGC= 66, IDX= 505, 0.15, 1.534,-2.576, 2.480, 2.719, PHS=-1.083, 1.033,-0.284, RAW= 308.0, 3.7, CAL= 305.6, 0.6, ROT= 204.4, -0.6 R#Rx 8: Read range and direction messages.`direction in FSK: [-0.910634,-0.413082,0.010472]Fpublishing direction and range infoy9=#bDj#R;=oڿ/;r?Y999=1c9 9)=BI=i=X9?=sh=@= A==㭪@ =+<)=&Qd@I=+99=*yU}s`l2 fM? =p@)=UI=-i=+99jchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.093862N@Nj@N ּٱNOy rAHRS rotation from veh to nav: [[0.764812,0.643969,0.019131],[-0.643720,0.762635,0.063336],[0.026196,-0.060755,0.997809]]NHWy?d? ?@[`g?6?8Ӛ?D ?iN@INz];NCY]ByeI iiyiMb@Mb@Mb@ 9&1?333333?{Gz?YP=y=ף< AEA A)YAbDeVDeβy =%'=ٔ{Q->9Y=Fy'E>Q 5|5?Q 9|5&|)BY5=Q EQ I@ ּ) ԣi9)顝^ii1DlV,xϟ[?A2.@2@2ؼٱ2y :AHRS rotation from veh to nav: [[0.764697,0.644107,0.019096],[-0.643847,0.762502,0.063653],[0.026439,-0.060970,0.997789]]2Hex?`? э?fif?K?? z7?i2.@I23n];2CYFByFIbDNVDNyVr%Z=ٔZmLQ-Z?9XY\=^Fy\^E^?`Q 5f|5bj?Q 9f|5b{)bBYhyj>Q Ij@b=DIb;ib;b|5ylɮn(Al DNOT Ignoring new targets: 17.30 m.h h *h "h  h gfffddjdZdZ?Z9Z9Z9Z=>Uؼ)Q U@iUi9)Q] YiYi]1ae`BBIBBB =BBfDBi;B(EYE=  E= E= 'E9 "E= :*E= |;:VE= '4ZE9 BE= 9!Y!=-Fy)= :E=>yQ 5|5ꠣ?Q 9-|5{)BY9y=>Q IE@>DI/]߰ؼԡ) (i9)顭ii1NU [V,g[?A22@2@2Κؼٱ2Py :AHRS rotation from veh to nav: [[0.765091,0.643643,0.018954],[-0.643379,0.762906,0.063541],[0.026438,-0.060809,0.997799]]2H@{?`?h? i?;D??b"?i22@I2I];2CYNˁByRIIV%=)V<E EE&E"E:*ErN:VE4ZEa @a @a @a @%checking for new query: numPingsReceived=10, elapsed TxPingTime=7.316536iMMb@Mb@Mb@IIII I9M&1?#~j?Q?YIyM=Mu9Y=%Fy!-s:E->1Q 5E|55ף?Q 9M|55R{)5BYMl=Q EMQ IM@5?DI5E;i5D;5|5yɮ(Aii[?AJiRiji V7@b/:A#?-sǿRE/-$;ڿ/;rZi.bi+<jP0i"@nڔſZ{MnP?$y,2i@:i"iHȪ?*i|BitBiiiiAi7@5 addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.496954 m, bearing: 164.131010 deg, lat: 36.779369 deg, lon: -121.859754 deg, deltaT: 0.503025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.50 m.hh*h"h hgff!f%Bd!d!jd)Zd- ?Zml=Zml=Zm"?Zm>}Κؼ) Di<9)顥4ii1DDAT read: Rx Time:05:38:54.2749 TRx dataTimestamp_ set to:1761543535.592687PDAT read: Bearing 313.1, -24.7 (Local) ~Local bearing/azimuth received: Bearing 313.1, -24.7 (Local) DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0  DAT read: 05:38:54.2749 LVL= 32752, 21537, 27442, 32755, AGC= 68, IDX= 508,-0.24,-2.250,-0.090,-1.335,-1.122, PHS=-1.027, 1.077,-0.257, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 % Ygot valid direction response: 05:38:54.2749 LVL= 32752, 21537, 27442, 32755, AGC= 68, IDX= 508,-0.24,-2.250,-0.090,-1.335,-1.122, PHS=-1.027, 1.077,-0.257, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 - T#Rx 11: Read range and direction messages.5 bdirection in FSK: [-0.917615,-0.397087,-0.017452]5 Fpublishing direction and range infoy(q]~liٿW7) ߑYA!T2k )Iti#ۉ?iw@l$=<@ 5)13c@I5<?₩zlÿ6x}N? %B~؍CB~IB~ˁBB~ =B~DDB~iDB~'i;B~(EYʁBybDEVDEkyU%]L=ٔ]ʦQ-]>9aYa=eFyae":Em>iQ 5|5mæ?Q 9|5m{)mBYy>Q I@m@DIm2;im;m|5yɮ(Aii[?AJinjARinjAjiO}6@b$%0A2D^eƧӿR(q]~liٿW7) ߑZi.bi5<jG0"]K#@0 ԿZN ;YO?dǁ@;2i@:iކ"i5?*iƚBi*Bi5?iӥi BiAi|7@U addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503846 s, deltaX: 0.100000 m, approachRate: 0.198474 m/s, rangeRepo size: 4 e Added new target pos. range: 17.597303 m, bearing: 163.373083 deg, lat: 36.779369 deg, lon: -121.859754 deg, deltaT: 0.503846 s, deltaX: 0.100349 m, approachRate: 0.199167 m/s, posRepo size: 4 mDNOT Ignoring new targets: 17.60 m.hihi*h"h hgfffddjd@31@Zd?ZZZZ>Ixټ) (i9)iE  E E $E "E :*E =:VE 4ZE BE  DDAT read: Rx Time:05:38:54.7749  TRx dataTimestamp_ set to:1761543536.096647 PDAT read: Bearing 313.0, -24.9 (Local)  ~Local bearing/azimuth received: Bearing 313.0, -24.9 (Local)  DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.1 % DAT read: 05:38:54.7749 LVL= 32752, 20193, 23922, 32755, AGC= 67, IDX= 507, 0.02,-1.556, 0.598,-0.641,-0.427, PHS=-1.027, 1.070,-0.258, RAW= 308.7, 2.4, CAL= 306.5, -0.9, ROT= 203.5, 0.9 - Ygot valid direction response: 05:38:54.7749 LVL= 32752, 20193, 23922, 32755, AGC= 67, IDX= 507, 0.02,-1.556, 0.598,-0.641,-0.427, PHS=-1.027, 1.070,-0.258, RAW= 308.7, 2.4, CAL= 306.5, -0.9, ROT= 203.5, 0.9 W,\?A"T#Rx 12: Read range and direction messages.&bdirection in FSK: [-0.916947,-0.398700,-0.015707]&Fpublishing direction and range infoy.W#Lٿy&YNr] )CIi?i@+=.@ )Oc@I<$iaB6tÿ];)? I?)gZ)I.i<6checking for new query: numPingsReceived=12, elapsed TxPingTime=8.101008@@沲@Xڼٱv AHRS rotation from veh to nav: [[0.765312,0.643396,0.018382],[-0.643107,0.763162,0.063225],[0.026651,-0.060208,0.997830]]Hp}??Ғ?Uk?/?KJ?`Ӯ@9?i@IB];CԩYӁByIimMb@Mb@Mb@iiii i9m+?~jt?:v?Ym=ym=mT9Y=Fy _9E>Q 5|5?Q 9|5Sz)BY=Q E;y>Q I@BDI;iS;|5yɮQ(Aiiw/\?AJiRiji6@bŅX"0Tm]z~rѿR.W#Lٿy&Zi.bi<j3;0t uP@el#ҿZ2엉cC4?O }2i*@:i"i)?*iBiBBii|itBiAiQ7@= addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503960 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 17.597303 m, bearing: 163.473052 deg, lat: 36.779369 deg, lon: -121.859753 deg, deltaT: 0.503960 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 17.60 m.hQhQ*hQ"hQ hQgYfYfafe%BdadajdaZdm?bE-4jEƙ4rEƝ/E EE#E"E:*Ea9:VE3ZEa-@a-@a-@a-@=checking for new query: numPingsReceived=12, elapsed TxPingTime=8.324574Ze=Ze=Ze@?Ze>uXڼ)q u#iu9)y}Fyiyi1b W, $\?A>@>@>ڼٱ>`v FAHRS rotation from veh to nav: [[0.765441,0.643247,0.018263],[-0.642952,0.763297,0.063168],[0.026693,-0.060093,0.997836]]>H ~~?z?@o?l?+?NU? Į`E?i>@I>*];Q I@CDI,R;is;`|5yɮ(Aiit&\?AJi^ARi^Aji߷6@b\E^N0IJ} ~"!&ϿR[mREٿ4ZiR.bid<j#41T{de@O:VSпZf x?}BQ [2i@:i"i?*i8BiIBiHȪ?iiIBiLAi6@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504190 s, deltaX: 0.199999 m, approachRate: 0.396674 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 17.796141 m, bearing: 163.577887 deg, lat: 36.779369 deg, lon: -121.859751 deg, deltaT: 0.504190 s, deltaX: 0.198837 m, approachRate: 0.394370 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfffddjd`f1@Zd^?ZZZZ>ڼ) 1i9)o i i 1BڍCBIBՁBB =BBjDB]i;B(EԹ9@ @@ 0@E EE*E"E:*E:VE(N4ZEBE  fW,V=\?AYցByIbDVD:y=3=%E8=ٔMQ-U>9aYa=eFyiuEu>yQ 5}|5}Ȱ?Q 9|5}Zy)}BYyQ I@}EDI}:i}K:})|5yBɮm(ADNOT Ignoring new targets: 17.80 m.hh*h"h hgfff!d!d!jd9Zd=h;?GZ=DDAT read: Rx Time:05:38:55.7749 =TRx dataTimestamp_ set to:1761543537.106215MPDAT read: Bearing 313.0, -24.6 (Local) M~Local bearing/azimuth received: Bearing 313.0, -24.6 (Local) ]DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.1 DAT read: 05:38:55.7749 LVL= 32736, 19361, 23122, 32755, AGC= 66, IDX= 508,-0.29,-2.342,-0.195,-1.442,-1.221, PHS=-1.019, 1.071,-0.265, RAW= 309.1, 2.4, CAL= 306.9, -0.9, ROT= 203.1, 0.9 Ygot valid direction response: 05:38:55.7749 LVL= 32736, 19361, 23122, 32755, AGC= 66, IDX= 508,-0.29,-2.342,-0.195,-1.442,-1.221, PHS=-1.019, 1.071,-0.265, RAW= 309.1, 2.4, CAL= 306.9, -0.9, ROT= 203.1, 0.9 T#Rx 14: Read range and direction messages.bdirection in FSK: [-0.919708,-0.392289,-0.015707]Fpublishing direction and range infoy9==p?n{Bٿy&Y=A9==K=RZ 9)=BI=ni=?==O@=+==g@ =)=ib@I=<99=ܬQ5&MĿ,!? =>)=)(I=LB/i=<99checking for new query: numPingsReceived=14, elapsed TxPingTime=9.097906a9Y{ AZZZ)  i 9)   i iU1Q]6QW,+X\?AzE@z@zV ۼٱz+u }AHRS rotation from veh to nav: [[0.765875,0.642735,0.018089],[-0.642433,0.763740,0.063091],[0.026736,-0.059940,0.997844]]zH ?@H?΅?ώp?@&?`?~@V?izE@Izb3];xYՁByI<)<iEMb@Mb@Mb@AAAA A9EI +?&1?~jt?YE99qYq=Fy:E>Q 5|5?Q 9|5x)BY=Q E;y)?Q I@FDIi;i;(|5y!ɮ%r(A)i9i=:F\?AJi=njARi=njAji=666@b=WD/0 쥩y۶ѿR==p?n{Bٿy&Zi=LB/bi=<j=~-}a02VVn@IaҿZ=,"Á?6&2i=r@:i="i=\f)?*i=b;Bi=>Bi=5?i=ƚi=BBi=Ai=6@} addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.505378 s, deltaX: -0.199999 m, approachRate: -0.395741 m/s, rangeRepo size: 4  Added new target pos. range: 17.597582 m, bearing: 163.124452 deg, lat: 36.779369 deg, lon: -121.859751 deg, deltaT: 0.505378 s, deltaX: -0.198559 m, approachRate: -0.392892 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.60 m.hh*h"h hgfff,Bddjd@31@Zd<?Z=Z=Zޭ?Z)?V ۼ) .i9)ii1Fi>I9@ @@4@@@@@DDAT read: Rx Time:05:38:56.2750 TRx dataTimestamp_ set to:1761543537.608850PDAT read: Bearing 313.2, -24.8 (Local) %~Local bearing/azimuth received: Bearing 313.2, -24.8 (Local) 5DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 UDAT read: 05:38:56.2750 LVL= 32752, 19697, 26194, 32755, AGC= 67, IDX= 508,-0.02,-1.799, 0.363,-0.883,-0.669, PHS=-1.028, 1.077,-0.257, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 eYgot valid direction response: 05:38:56.2750 LVL= 32752, 19697, 26194, 32755, AGC= 67, IDX= 508,-0.02,-1.799, 0.363,-0.883,-0.669, PHS=-1.028, 1.077,-0.257, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 eT#Rx 15: Read range and direction messages.mbdirection in FSK: [-0.917615,-0.397087,-0.017452]mFpublishing direction and range infoy(q]~liٿW7) ߑY3ALRf )CIi#ۉ?iw@l$=<@ 5)13c@I5<8Y uÿm'\e? A?)5#I.i5<checking for new query: numPingsReceived=15, elapsed TxPingTime=9.600864q IA IQ Oe >B P>B ٍCB IB ځBB  =B B B li;B )EB ؍CB ؍CB ˕CB  =B  =C ˏ6W,q\?A;ɰ0:8«@: @:ټٱ: v FAHRS rotation from veh to nav: [[0.766110,0.642451,0.018233],[-0.642160,0.763973,0.063052],[0.026579,-0.060013,0.997844]]:H@?? ?`xr?0$?n7?@ U?i:8«@I:U];8Y^ԁBy^IbDjVDj1yrvݻ%r=ٔrM:Q-v ?9tYt=vFytz:Ez?|Q 5|5~?Q 9|5~x)~BYy)?Q I@~GDI~;i~:~|5yɮ{(AiQiUff\?AJiU^ARiU^AjiU6@bUÈT0jvOD&tӿRU(q]~liٿW7) ߑZiU.biU5<jUn1:q1E@lxԿZUWjb -:?fѕg2iU/@:iUs"iU*?*iU BiU0BiQiU8iU>BiUAiU6@e addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.502635 s, deltaX: 0.199999 m, approachRate: 0.397901 m/s, rangeRepo size: 4 u Added new target pos. range: 17.796366 m, bearing: 163.450907 deg, lat: 36.779369 deg, lon: -121.859750 deg, deltaT: 0.502635 s, deltaX: 0.198784 m, approachRate: 0.395484 m/s, posRepo size: 4 uDNOT Ignoring new targets: 17.80 m.hqhy*hy"hy hygyfyffddjd`f1@Zd r3?ZZZZ)?ټ) H0ix9)ֵii1Թ 5 DDAT read: Rx Time:05:38:56.7749 5 TRx dataTimestamp_ set to:1761543538.112735= PDAT read: Bearing 313.1, -25.6 (Local) E ~Local bearing/azimuth received: Bearing 313.1, -25.6 (Local) U DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.1 u DAT read: 05:38:56.7749 LVL= 32752, 22097, 26994, 32755, AGC= 68, IDX= 507, 0.25,-2.544,-0.377,-1.602,-1.394, PHS=-1.047, 1.063,-0.252, RAW= 308.1, 2.6, CAL= 305.8, -0.8, ROT= 204.2, 0.8 } Ygot valid direction response: 05:38:56.7749 LVL= 32752, 22097, 26994, 32755, AGC= 68, IDX= 507, 0.25,-2.544,-0.377,-1.602,-1.394, PHS=-1.047, 1.063,-0.252, RAW= 308.1, 2.6, CAL= 305.8, -0.8, ROT= 204.2, 0.8  T#Rx 16: Read range and direction messages. bdirection in FSK: [-0.912031,-0.409883,-0.013962] Fpublishing direction and range infoy1 5 C *\/& ̅;ڿ4Y5 A1 1 5 QV5 ri 1 )5 DI5 i5 b?5 %5 T@5 9=5 {ʪ@ 5 d)5 d@I5 d<1 1 5 '# !4¿͎4E? 5 2@)5 I 9I5 .i5 d<1 1  checking for new query: numPingsReceived=16, elapsed TxPingTime=10.104488}"W,+\?A2«@2@2ڼٱ2bw :AHRS rotation from veh to nav: [[0.766159,0.642389,0.018352],[-0.642100,0.764006,0.063262],[0.026618,-0.060253,0.997828]]2H_?s?ʒ?r?1?`A?uٮ`5?i2«@I2'H];2CYNҁByNIlimMb@Mb@Mb@iiii i9mMb`?Cl?:v?Ym;ym;=mT=ٔQ->9Y=Fy&:9E>Q 5|5?Q 9|5w)BY=Q E;yH[?Q I@IDI`;i;|5y!ɮ%(A!iaie 7\?AJienjARienjAjieKu7@be 04?R sϿReC *\/& ̅;ڿ4Zie.bied<jer'90H@OoοZeWkHDVXZa?Vz2ie@:iey"ieHr%?*ie?iBieXBie)?iaieBBieԍAie 7@ addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503885 s, deltaX: -0.199999 m, approachRate: -0.396914 m/s, rangeRepo size: 4  Added new target pos. range: 17.597527 m, bearing: 164.240303 deg, lat: 36.779370 deg, lon: -121.859750 deg, deltaT: 0.503885 s, deltaX: -0.198839 m, approachRate: -0.394612 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.60 m.hh*h"h hgf!f!f%.Bd!d)jd-@31@ZdM?Z=Z=Z?ZH[?ڼ) R8i9)'ϴii1 II)Eu EuEu'Eq"Eu:*EuV:VEu'4ZEqa@a@a@a@checking for new query: numPingsReceived=16, elapsed TxPingTime=10.3427889@ @@@II1OeU>9a (W,R\?A2ū@2n@2Yؼٱ2Ex :AHRS rotation from veh to nav: [[0.766377,0.642121,0.018618],[-0.641845,0.764211,0.063372],[0.026464,-0.060517,0.997816]]2H*?@?? kt?@#9?{?`?i2ū@I2mR];2CYNʁByNIbDVVDVyr@%rX=ٔv9Q-v>9tYt=zFyxzk:Ez>DDAT read: Rx Time:05:38:57.2749  TRx dataTimestamp_ set to:1761543538.620785PDAT read: Bearing 313.0, -25.7 (Local) ~Local bearing/azimuth received: Bearing 313.0, -25.7 (Local) %DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 MDAT read: 05:38:57.2749 LVL= 32752, 21057, 27058, 32755, AGC= 66, IDX= 509,-0.38,-2.457,-0.282,-1.508,-1.300, PHS=-1.055, 1.063,-0.252, RAW= 308.0, 2.7, CAL= 305.7, -0.7, ROT= 204.3, 0.7 UYgot valid direction response: 05:38:57.2749 LVL= 32752, 21057, 27058, 32755, AGC= 66, IDX= 509,-0.38,-2.457,-0.282,-1.508,-1.300, PHS=-1.055, 1.063,-0.252, RAW= 308.0, 2.7, CAL= 305.7, -0.7, ROT= 204.3, 0.7 Q]T#Rx 17: Read range and direction messages.ebdirection in FSK: [-0.911335,-0.411484,-0.012217]eFpublishing direction and range infoyru)3UڿI:YARi )BI= i@A=/@ +H)4d@I+H<$Ԓ"Ӗڇ?ҧ? /@)Y>I'-i+H<checking for new query: numPingsReceived=17, elapsed TxPingTime=10.613049Q 5|5?Q 9U|5Bv)BYQy]][?Q I]@JDI<+2B?2:9d\2iߗ@:i"iÛ;'?*iymBicBiHr%?iiIBi;Ai7@ addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.508050 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.597527 m, bearing: 164.352452 deg, lat: 36.779371 deg, lon: -121.859750 deg, deltaT: 0.508050 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4  DNOT Ignoring new targets: 17.60 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZd] A?ZQZQZQZU][?ԉYؼ) ^Gi9)顕贉ii1B[>BۍCBBB =BBkDBCi;B(ErԱchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.849656EM  EM EM %EI "EM :*EM P:VEM 4ZEI BEM 1y NAHRS rotation from veh to nav: [[0.766551,0.641908,0.018802],[-0.641640,0.764369,0.063551],[0.026423,-0.060779,0.997801]]BH? ?@?Pu?D?@?`t@?iBǫ@IBs];BCYybDEVDENٔ=c8Q-=>9AYI=MFyQ}h:E>Q 5|5½?Q 9|5Lu)BYyn[?Q I@LDI:it:|5yɮ=DNOT Ignoring new targets: 17.60 m.h9h9*h9"h9 h9g9f9fAfAdAdIjdIZdM h?ZZZZn[?5{ؼ) il9)ii1zŸ<DDAT read: Rx Time:05:38:57.7749 TRx dataTimestamp_ set to:1761543539.124764%PDAT read: Bearing 312.9, -26.4 (Local) %~Local bearing/azimuth received: Bearing 312.9, -26.4 (Local) 5DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.1 ]DAT read: 05:38:57.7749 LVL= 32752, 22337, 29458, 32755, AGC= 68, IDX= 508,-0.13, 2.792,-1.305,-2.520,-2.317, PHS=-1.073, 1.056,-0.248, RAW= 307.4, 2.9, CAL= 305.1, -0.5, ROT= 204.9, 0.5 eYgot valid direction response: 05:38:57.7749 LVL= 32752, 22337, 29458, 32755, AGC= 68, IDX= 508,-0.13, 2.792,-1.305,-2.520,-2.317, PHS=-1.073, 1.056,-0.248, RAW= 307.4, 2.9, CAL= 305.1, -0.5, ROT= 204.9, 0.5 eT#Rx 18: Read range and direction messages.mbdirection in FSK: [-0.907010,-0.421020,-0.008727]uFpublishing direction and range infoy 8trڿB7߁YAWs )DIXi+?}>@4QO=ff@ 5) d@I5<Imt￑&wĩ? y@)";NI?-i5<checking for new query: numPingsReceived=18, elapsed TxPingTime=11.120792I%9@! @!@!@!^AE D-<IQ Ia Om >A  checking for new query: numPingsReceived=18, elapsed TxPingTime=11.3531246W,kJ\?AEB EBE@E@"EB:*EB[:VE@ZE@a%@a%@a%@a%@˫@Ų@_w׼ٱ*y -AHRS rotation from veh to nav: [[0.766811,0.641594,0.018925],[-0.641334,0.764626,0.063544],[0.026299,-0.060863,0.997800]]H ??`?΅w?gD?` ?`r)?i˫@IqO];CYEƁByEIiMb@Mb@Mb@ 9:v:v?~jt?YTy=D< AA )YAbDVDy!%<ٔ9Q->9Y=Fyz:E>Q 5 |5?Q 9|5Tt)BY% =Q E%;y%?Q I%@MDIC{;iXz;|5y)ɮ-(A1iAiE"\?AJiEȌARiEȌAjiEG8@bE&~T/8-ÿRE 8trڿB7߁ZiE?-biE5<jEq=059?@*j?ZEbn ?f(i|2iE@:iE"iE'?*iEXBiEBiEÛ;'?iE?iiEXBiE AiEU7@] addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503979 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.598032 m, bearing: 164.975908 deg, lat: 36.779371 deg, lon: -121.859752 deg, deltaT: 0.503979 s, deltaX: 0.000505 m, approachRate: 0.001003 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.60 m.hh*h"h hgfff'BddjdZdQ?Z- =Z- =Z-?Z-_?=_w׼A)9 Bi9)顅 ii1ԈB ڍCB IB ЁBB  =B B jDB Ai;B (Eԙ ^AU FΞ<Ia Iq O >$9tYt=zFyx~:E~>Q 5|5?Q 9%|5rs)BY)y-?Q I-@NDI7CW,bN]?Aɰ4<2ԫ@2hϲ@2zԼٱ2w :AHRS rotation from veh to nav: [[0.767559,0.640700,0.018855],[-0.640451,0.765405,0.063070],[0.025977,-0.060486,0.997831]]2H؏? ?N?~ 2~?T%? ? ;?i2ԫ@I28];2CYnBynIiMb@Mb@Mb@ 9{GzEԸ?~jtx?Y#y=;rA A)nAYzAԹbDVDy;%==ٔ29Q->9Y=Fy:E>Q 5%|5ã?Q 9%|5r)Y-=Q E-T$r1}7@WvZm` :ϻJj? N42im@:im"im#?*imBimBiiimXimBim(Aim8@  addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.502165 s, deltaX: -0.199999 m, approachRate: -0.398273 m/s, rangeRepo size: 4 = Added new target pos. range: 17.597595 m, bearing: 166.120492 deg, lat: 36.779371 deg, lon: -121.859753 deg, deltaT: 0.502165 s, deltaX: -0.198841 m, approachRate: -0.395968 m/s, posRepo size: 4 =DNOT Ignoring new targets: 17.60 m.hAhA*hA"hA hAgAfAfIfM/Bdidqjdu@31@Zdu·?Z=Z=Z6?Z[z?uzԼ)y }ki}9)顅*E EE&E"E:*Eg:VE4ZEa@a@a@a@checking for new query: numPingsReceived=20, elapsed TxPingTime=12.366594ii 1ASe DDAT read: Rx Time:05:38:59.2750 e TRx dataTimestamp_ set to:1761543540.644639m PDAT read: Bearing 311.7, -28.1 (Local) u ~Local bearing/azimuth received: Bearing 311.7, -28.1 (Local)  DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0  DAT read: 05:38:59.2750 LVL= 32752, 21441, 28978, 32755, AGC= 67, IDX= 509, 0.42, 0.628, 2.818, 1.649, 1.850, PHS=-1.120, 1.013,-0.245, RAW= 305.9, 3.8, CAL= 303.5, 0.6, ROT= 206.5, -0.6  Ygot valid direction response: 05:38:59.2750 LVL= 32752, 21441, 28978, 32755, AGC= 67, IDX= 509, 0.42, 0.628, 2.818, 1.649, 1.850, PHS=-1.120, 1.013,-0.245, RAW= 305.9, 3.8, CAL= 303.5, 0.6, ROT= 206.5, -0.6  T#Rx 21: Read range and direction messages. `direction in FSK: [-0.894885,-0.446173,0.010472] Fpublishing direction and range infoya e e쿼{ܿ/;r?Ye 3Aa a e Se 2q a )a Ie )\ie ?e Hze ت@e ԇ=e @ e +<)e f@Ie +a a e -ojVT 2? e esB)e T Ie v+ie +a a  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.636147JW,C*]?A2ث@2VӲ@2Qռٱ2v :AHRS rotation from veh to nav: [[0.767865,0.640342,0.018571],[-0.640082,0.765730,0.062868],[0.026037,-0.060161,0.997849]]2H`Z?}?1? {܀?? l?jͮ a?i2ث@I2)];2CYFByFIbDNVDNyVi %VU=ٔVo$Q-Z>9 Y = Fy :E>1Q 5E|55^ţ?Q 9E|55q)1YAyE{z?ԑQ I@5QDI5[BۍCBIBBB =BBkDB-i;B(Ej t UO1#'\e@ P&?Z 5 ᅤiO6?4A?2i @:i z"i P?*i ^-Bi 2Bi #?i Si Bi =Ai L 9@% addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.507943 s, deltaX: 0.199999 m, approachRate: 0.393743 m/s, rangeRepo size: 4 5 Added new target pos. range: 17.796436 m, bearing: 166.595020 deg, lat: 36.779370 deg, lon: -121.859754 deg, deltaT: 0.507943 s, deltaX: 0.198841 m, approachRate: 0.391463 m/s, posRepo size: 4 =DNOT Ignoring new targets: 17.80 m.h9h9*h9"h9 h9g9fAfifididqjdu`f1@Zdu7k?ZZZZ{z?Qռ) xi9)k:ii1ei>Թ@ @@/1@5checking for new query: numPingsReceived=21, elapsed TxPingTime=12.872742E= E=E=)E9"E=I:*E=:VE=FA4ZE9BE= PW,DD]?Am߫@mڲ@mWԼٱmRv AHRS rotation from veh to nav: [[0.768427,0.639666,0.018639],[-0.639412,0.766291,0.062846],[0.025918,-0.060211,0.997849]]mH?@$x?.?v`u???`Ӯ@a?im߫@Im;];mCYBy|I !ieMb@Mb@Mb@aaaa a9e#~j?y&1|?Ye̼ye=e`;efAeA e A)aaYeAbD}VD}k1y}%0=DDAT read: Rx Time:05:38:59.7750 TRx dataTimestamp_ set to:1761543541.148935PDAT read: Bearing 313.0, -28.2 (Local) ~Local bearing/azimuth received: Bearing 313.0, -28.2 (Local) DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1 DAT read: 05:38:59.7750 LVL= 32752, 23825, 29682, 32755, AGC= 67, IDX= 509,-0.26,-2.116, 0.103,-1.072,-0.901, PHS=-1.112, 1.049,-0.214, RAW= 305.6, 3.0, CAL= 303.3, -0.6, ROT= 206.7, 0.6 Ygot valid direction response: 05:38:59.7750 LVL= 32752, 23825, 29682, 32755, AGC= 67, IDX= 509,-0.26,-2.116, 0.103,-1.072,-0.901, PHS=-1.112, 1.049,-0.214, RAW= 305.6, 3.0, CAL= 303.3, -0.6, ROT= 206.7, 0.6 T#Rx 22: Read range and direction messages.bdirection in FSK: [-0.893322,-0.449294,-0.010472]Fpublishing direction and range infoyDpMc<ܿ/;rY]s )IViE?"[㭪@PwV= e@ +)f@I+<TI|xC и%Z? /B)u#UI<+i+<checking for new query: numPingsReceived=22, elapsed TxPingTime=13.141296ٔ9Q-%>9!Y!=%Fy!-2:E->1Q 5=|55ƣ?Q 9=|55p)1Y=3=Q EE9@} addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504296 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.796860 m, bearing: 166.923154 deg, lat: 36.779369 deg, lon: -121.859756 deg, deltaT: 0.504296 s, deltaX: 0.000423 m, approachRate: 0.000840 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfff+BddjdZd @A?AZm3=Zm3=Zm|a?Zm}?WԼ) i9)%K!i!i%1)-;hcFWW,k^]?AYByaIbD!VD!yE>%E\=ٔMQ-M>9IYQ=UFyQUEU>YQ 5e|5]ǣ?Q 9e|5]o)]BYayiQ Im@]SDI];i];]<|5yuіBɮu)Au%EDNOT Ignoring new targets: 17.80 m.hh*h"h hgfffddjdZd ?ZZZZ) i 9)ii1,ie5aachecking for new query: numPingsReceived=23, elapsed TxPingTime=13.647084^Au<IIO>BmZ>BmڍCBmyIBmBBiBiBiBmNi;Bm(E k]W,Ix]?A@Fb@F5ݲ@F:ԼٱFvEN ENEN%EL"ENO:*EN;J:VEN 4ZELBEN 9Y=Fy@:E>Q 5|5ȣ?Q 9|5 o)Yy?Q I@TDI:i9:4|5yɮ N*A iii]?AJiRiji"9@b/?d/bB*?R rqC)(uۿ&k۱?Zi8>,bi5jA41`|@[/?ZF^qcp?@Ú?2i@:i"i6?*i BiBiiiBi`Ai9:@ԩ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503698 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.796713 m, bearing: 165.742433 deg, lat: 36.779369 deg, lon: -121.859756 deg, deltaT: 0.503698 s, deltaX: -0.000147 m, approachRate: -0.000292 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfffddjdZd ?Z9Z9Z9Z=?U:Լ)Q U-i]9)Y]WYiYie1ae9'G1/"9Y|A}DDAT read: Rx Time:05:39:00.7749 TRx dataTimestamp_ set to:1761543542.157303PDAT read: Bearing 313.2, -29.6 (Local) ~Local bearing/azimuth received: Bearing 313.2, -29.6 (Local) DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 DAT read: 05:39:00.7749 LVL= 32752, 22769, 32754, 32755, AGC= 68, IDX= 508, 0.07,-2.023, 0.214,-0.927,-0.782, PHS=-1.139, 1.041,-0.189, RAW= 304.3, 3.1, CAL= 302.0, -0.6, ROT= 208.0, 0.6 Ygot valid direction response: 05:39:00.7749 LVL= 32752, 22769, 32754, 32755, AGC= 68, IDX= 508, 0.07,-2.023, 0.214,-0.927,-0.782, PHS=-1.139, 1.041,-0.189, RAW= 304.3, 3.1, CAL= 302.0, -0.6, ROT= 208.0, 0.6 T#Rx 24: Read range and direction messages.bdirection in FSK: [-0.882899,-0.469446,-0.010472]Fpublishing direction and range infoyy}qֵ@1Ef ޿/;rY}Ayy}X} y)}DI}ʑi}}??}7A}@}k]=}+@ }+)}Vh@I}+ReW,S]?AEU EUEU(EQ"EU:*EUR:VEUc44ZEQae@ae@ae@ae@@t߲@(Լٱv AHRS rotation from veh to nav: [[0.768813,0.639205,0.018551],[-0.638947,0.766679,0.062855],[0.025955,-0.060176,0.997850]]H? ]t??@r???`ᓚ? oϮc?i@I-];CYwBy=II=)iIchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.387120)==Uonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 90.02, 85.95, 84.93 a]@a] a]@a a@a a@a bDVD02yc%#=ٔDQ->9Y=Fy :E>Q 5}5Eʣ?Q 9}5n)Q A+:YQ E;y?Q I@VDI>+;i9?}5yɮ%*A!iiA]?AJiȌARiȌAjiR;@b~܏/_ j{oޅǿRqֵ@1Ef ޿/;rZi)bi+<j}z:1AՃ& @I ZKMaT ?zt2iAe@:iՉ"iԁ DDAT read: Rx Time:05:39:01.2750  TRx dataTimestamp_ set to:1761543542.660719 PDAT read: Bearing 312.0, -30.1 (Local)  ~Local bearing/azimuth received: Bearing 312.0, -30.1 (Local)  DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0  DAT read: 05:39:01.2750 LVL= 32752, 25073, 32754, 32755, AGC= 69, IDX= 509, 0.21,-0.132, 2.112, 0.978, 1.142, PHS=-1.172, 1.015,-0.208, RAW= 303.9, 3.9, CAL= 301.5, 0.4, ROT= 208.5, -0.4  Ygot valid direction response: 05:39:01.2750 LVL= 32752, 25073, 32754, 32755, AGC= 69, IDX= 509, 0.21,-0.132, 2.112, 0.978, 1.142, PHS=-1.172, 1.015,-0.208, RAW= 303.9, 3.9, CAL= 301.5, 0.4, ROT= 208.5, -0.4  T#Rx 25: Read range and direction messages. `direction in FSK: [-0.878796,-0.477147,0.006981] Fpublishing direction and range infoy  BTɺ޿a|?Y 3A a ) EI i ? T Ӻ@ 'g= c@ ;) h@I 仩 zcz*8l.k\? [D) DI %:)i 仩  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.652479 vkW,]?ABg>B܍CBYIBBB =BBlDBYi;B)EBuۍCBuۍCBuCBu =Bu =Cu6b)@b߲@bIռٱb!w nAHRS rotation from veh to nav: [[0.768852,0.639159,0.018516],[-0.638895,0.766709,0.063014],[0.026080,-0.060278,0.997841]]bH@o? s? ?q@?!?? ܮP?ib)@Ib4N];bCYkBy.IbDVD0y%t=ٔùQ-?9Y=Fy*K9E?Q 5}51ˣ?Q 9}5Rm)BQ A :YQ E;y?Q I@WDI:iV?}5yɮ1+Aii8I]?AJi`ARi`AjiOn<@bC740G/ FsP #kο?RBTɺ޿a|?Zi%:)bij{EHs1/S @jN-?Z>ڽP`O, ?r|;?2iR_@:i"i՛ ?*i8ҊBiBiP?iiBi|AiF:@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503416 s, deltaX: 0.199999 m, approachRate: 0.397283 m/s, rangeRepo size: 4 Ա Added new target pos. range: 17.797239 m, bearing: 168.692111 deg, lat: 36.779369 deg, lon: -121.859757 deg, deltaT: 0.503416 s, deltaX: 0.199371 m, approachRate: 0.396037 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfffddjd`f1@ZdR?Iռ) }i9)ii16 9 E^rW,]?A&PDAT read: Bearing 313.3, -29.8 (Local) *~Local bearing/azimuth received: Bearing 313.3, -29.8 (Local) 2DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 BDAT read: 05:39:01.7749 LVL= 32752, 22321, 30450, 32755, AGC= 67, IDX= 508, 0.39,-1.498, 0.747,-0.391,-0.254, PHS=-1.142, 1.046,-0.181, RAW= 304.0, 3.0, CAL= 301.8, -0.7, ROT= 208.2, 0.7 FYgot valid direction response: 05:39:01.7749 LVL= 32752, 22321, 30450, 32755, AGC= 67, IDX= 508, 0.39,-1.498, 0.747,-0.391,-0.254, PHS=-1.142, 1.046,-0.181, RAW= 304.0, 3.0, CAL= 301.8, -0.7, ROT= 208.2, 0.7 JT#Rx 26: Read range and direction messages.Nbdirection in FSK: [-0.881238,-0.472515,-0.012217]NFpublishing direction and range infoy "d3-=޿I:Y"A "1W"v )"CI"-i"T?"X9"ɩ@"PwV="@ "+H)"Ǐh@I"+H< "1uوY汿001\? "D)"RI")i"+H< Zchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.154621nK@nݲ@n׼ٱnK#x zAHRS rotation from veh to nav: [[0.768623,0.639435,0.018497],[-0.639160,0.766460,0.063360],[0.026338,-0.060522,0.997819]]nH@??v?@?sֆ?_8?C?"?inK@In6];nCYcBy$Iaa aa aa aa iMb@Mb@Mb@ 9{Gz?i|?5?I +Y#<yq=94AA A)AY AbD]VD]ym%1=ٔIQ->9Y=FyFE>Q 5}5̣?Q 9}5l)BQ AT:Y7y=Q EZޣ?j!{2i"a@:i""i"V ?*i"r#Bi"%Bi"xW,]?A 29@2 ݲ@2 ټٱ2w >AHRS rotation from veh to nav: [[0.768612,0.639458,0.018130],[-0.639162,0.766460,0.063338],[0.026606,-0.060271,0.997827]]2H`x? qv?`?@tֆ?@6?>?ۮ3?i29@I2m];2CYZYByZI \\``bDfVDfynr%n=ٔr^Q-r ?9pYp=rFytvEv ?xQ 5~}5z'Σ?Q 9~}5zl)zBYy\3?Q I@xIzz;iz;zy }5y ɮ +A 5DNOT Ignoring new targets: 17.60 m.h9h9*h9"h9 h9g9fAfAfAdAdIjdIZdM?ZiZiZiZm\3? ټ) Ti:9)顅vشii1-nHU? }YD)}ݭI}Us)i}+yy%checking for new query: numPingsReceived=27, elapsed TxPingTime=15.670932B!B!B%4IB%pBB!B!B!B%i;B%&)Eԙ^AuoE<IIO> E  E E $E "E :*E ;J:VE 4ZE BE 9Y=FywKE->1Q 5=}55ϣ?Q 9=}55l)5BYAyEB3?Q IE@5YDI5`:i5:5_}5yɮ5,Aiiim a]?AJim`ARim`Ajim<@bmQ P/;=1 zC?RmM &쿋9P޿ ۷p?ZimUs)bim+jm1Ki163 @QOWa?Zm5M?JbHr\?2imIf@:imH"im]?*im3s BimBiiiiimBim.Aim$@<@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.764349 s, deltaX: 0.199999 m, approachRate: 0.261659 m/s, rangeRepo size: 4 M Added new target pos. range: 17.797241 m, bearing: 168.322835 deg, lat: 36.779370 deg, lon: -121.859761 deg, deltaT: 0.764349 s, deltaX: 0.198853 m, approachRate: 0.260159 m/s, posRepo size: 4 UDNOT Ignoring new targets: 17.80 m.hQhQ*hQ"hQ hQgYfYfYfYdadajd`f1@Zd@J^?ZZZZB3?nݼ) iK9)顽 ii1AE2W,^?ANګ@Nղ@N^ٱN(7s ZAHRS rotation from veh to nav: [[0.768030,0.640188,0.016980],[-0.639828,0.765924,0.063093],[0.027385,-0.059322,0.997863]]NH@?l|?Sc?@xy@s?&? ?g_~?iNګ@IN];NCYf=ByfI|EU EUEU*EQ"EU:*EUL_:VEU(N4ZEQam@au@au@au@DDAT read: Rx Time:05:39:03.2750  TRx dataTimestamp_ set to:1761543544.433373ePDAT read: Bearing 312.7, -30.5 (Local) u~Local bearing/azimuth received: Bearing 312.7, -30.5 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 Z#Rx 30: Read range message, but no direction.yYAiMb@Mb@Mb@ 9/$? rh?{GztY,=yC =ףAA  A)AYp AbD-VD-1y=Qr%=2=ٔ=rLQ-=>9AYA=EFyAMŝEM>QQ 5]}5Uѣ?Q 9]}5Ul)UBY]G^=Q E]tB B B IB QBB B B B Dj;B {)EŋW,}]1^?A2 ԫ@2β@2qٱ2dGr >AHRS rotation from veh to nav: [[0.767482,0.640855,0.016647],[-0.640472,0.765384,0.063104],[0.027699,-0.059093,0.997868]]2H`5?@? ? ~~?'?` ]?`nA ?i2 ԫ@I2#^;2CY~DBy~II<)4<bDVD:2y-2=%-s=ٔ5jtQ-5?91Y1==Fy9Ym&"Em?qQ 5}}5uiӣ?Q 9}}5ul)uBYy Q I@qIu:iub;u5}5yɮ,ADNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjdZd@l[?kJTimed out from 2025-10-27T05:29:04.6Z5jfCompleted lineCaptureHoming:MicromodemComms:CheckInq5jAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInjVCompleted lineCaptureHoming:MicromodemCommsZZZZZ@ q)  i  9)  'ii1qO YW,]6K^?Aɰ;2DAT read: 05:39:03.7750 LVL= 32752, 21809, 25890, 32755, AGC= 67, IDX= 509,-0.05,-1.873, 0.410,-0.699,-0.593, PHS=-1.179, 1.048,-0.151, RAW= 302.5, 3.0, CAL= 300.3, -0.9, ROT= 209.7, 0.9 6Ygot valid direction response: 05:39:03.7750 LVL= 32752, 21809, 25890, 32755, AGC= 67, IDX= 509,-0.05,-1.873, 0.410,-0.699,-0.593, PHS=-1.179, 1.048,-0.151, RAW= 302.5, 3.0, CAL= 300.3, -0.9, ROT= 209.7, 0.9 :Z#Rx 33: Read direction message, but no range.>bdirection in FSK: [-0.868524,-0.495398,-0.015707]y "GɅK߿y& "1U""e ) I"y閿i"$?""@"PwV="@ ")"9Y=Fy)E>Q 5 }5ԣ?Q 9-}5$l)BY5=Q E5BBIBBBBBBBj;B)EOu#?hW, t^?A2@2̺@2ٱ2u :AHRS rotation from veh to nav: [[0.765900,0.642736,0.016953],[-0.642342,0.763743,0.063978],[0.028173,-0.059891,0.997807]]2HA?K?*\?p?@`?`wٜ? ?i2@I2-z];2CYF9ByFI HHbDPVDPyZ%Z=ٔZ[Q-^>9\Y\=^Fy\bEb>dQ 5j}5f֣?Q 9j}5f+l)fBYhyjVQ Ij@f\DIf;if;f}5ypɮr,Apԉi)i-{0\^?AJi)Ri)ji-SA=@b-dV.hY!Jο?R-胸m䫃߿a|?Zi-0(bi-j-#r~1*@Rf @E.1?Z-3Oktlgz?>;r?2i-P@:i-"i-Ŏo?*i-&OBi-Bi-Ŏo?i)i)i-Ai-m<@5 addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504168 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 17.797174 m, bearing: 169.430036 deg, lat: 36.779369 deg, lon: -121.859761 deg, deltaT: 0.504168 s, deltaX: -0.000071 m, approachRate: -0.000140 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 17.80 m.hYhY*hY"hY hYgYfafafadidijdiZdm@?ZZZZb@) li:9)!-3S)i1EU EUEQEQ"EU:*EUc:VEQZEQBEU[  DAT read: 05:39:04.7749 LVL= 32752, 23953, 29170, 32755, AGC= 67, IDX= 508, 0.13,-0.923, 1.337, 0.225, 0.353, PHS=-1.174, 1.029,-0.172, RAW= 303.0, 3.4, CAL= 300.7, -0.4, ROT= 209.3, 0.4  Ygot valid direction response: 05:39:04.7749 LVL= 32752, 23953, 29170, 32755, AGC= 67, IDX= 508, 0.13,-0.923, 1.337, 0.225, 0.353, PHS=-1.174, 1.029,-0.172, RAW= 303.0, 3.4, CAL= 300.7, -0.4, ROT= 209.3, 0.4  Z#Rx 36: Read direction message, but no range. bdirection in FSK: [-0.872048,-0.489371,-0.006981]y  ?,Q߿a| ] q ) CI Ei F? 0 %:@ s= L@ ) Ti@I ; q,Ҁ[Ȟ`>|>%? (E) RpI aU(i ; checking for new query: numPingsReceived=36, elapsed TxPingTime=18.184668QHW,č^?A2Ÿ@2@2Yiٱ2u :AHRS rotation from veh to nav: [[0.765334,0.643409,0.017011],[-0.643014,0.763169,0.064076],[0.028245,-0.059978,0.997800]]2H}?Ζ? vk?k?Pg?/?@?i2Ÿ@I2];2CYF>ByFIiMb@Mb@Mb@ 9~jt??Q?YD=y<u<AA  A)jAYp AbDVDyN<%8=ٔz(Q->9Y = Fy  E >QQ 5]}5Uأ?Q 9]}5ULl)UBYef=Q EelZ̟@eYi!bEŞ4jE{4rEa0Eu EuEu$Eq"Eu:*Eux:VEu4ZEqa@a@a@a@)a {-DDAT read: Rx Time:05:39:05.2750 =TRx dataTimestamp_ set to:1761543546.450111UPDAT read: Bearing 312.6, -30.7 (Local) ]~Local bearing/azimuth received: Bearing 312.6, -30.7 (Local) DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1 Z#Rx 37: Read range message, but no direction.y)Y-3A)checking for new query: numPingsReceived=37, elapsed TxPingTime=18.443380i9)gii10dW,g^?ANDAT read: 05:39:05.2750 LVL= 32752, 23873, 29538, 32755, AGC= 67, IDX= 509, 0.34, 0.286, 2.550, 1.434, 1.561, PHS=-1.173, 1.034,-0.171, RAW= 303.0, 3.3, CAL= 300.7, -0.5, ROT= 209.3, 0.5 VYgot valid direction response: 05:39:05.2750 LVL= 32752, 23873, 29538, 32755, AGC= 67, IDX= 509, 0.34, 0.286, 2.550, 1.434, 1.561, PHS=-1.173, 1.034,-0.171, RAW= 303.0, 3.3, CAL= 300.7, -0.5, ROT= 209.3, 0.5 ZZ#Rx 38: Read direction message, but no range.^bdirection in FSK: [-0.872036,-0.489364,-0.008727]y8:9iYq=uFyqu 3Eu>yQ 5}5}ڣ?Q 9}5}ol)}BYyOQ I@}]DI}j;i};}0'}5yɮ,ABA<Bh>BBIB=BB =BBBmj;B)Eiyi}Μ^?AJi}`ARi}`Aji}<@b}w% /]+k! j"ÿR}DW,aQ^?AV6G`p% *9!Y%A9]-@]@]߼ٱ]m AHRS rotation from veh to nav: [[0.764128,0.644854,0.016517],[-0.644486,0.762107,0.061898],[0.027328,-0.057943,0.997946]]]Hs???`-c?"? ?,?i]-@I]];YYDByI QQchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.176685bDEVDEky؅<%6=ٔT:Q->9Y=Fy`E>iQ 5}5ܣ?Q 9}5l)BYyPQ I@^DI:iB:L+}5yɮ,Aii ^?AJiRiji<@bx{I!/I3A!Retbך:߿Zi*(bijHNu1L0v @ĴI?Zcᅵdc?Hz)q?2i3]@:i"iܭ?*iBikBi!?iiiAi$=@} addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503617 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.797222 m, bearing: 168.801707 deg, lat: 36.779369 deg, lon: -121.859764 deg, deltaT: 0.503617 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfffddjdZd`?Z!Z!Z!Z%@=߼)y i9)顅ii1fHW,YP^?A@Ӡ@[ݼٱ{k eAHRS rotation from veh to nav: [[0.763883,0.645144,0.016482],[-0.644787,0.761890,0.061428],[0.027072,-0.057551,0.997975]]Hq?`? ?ga?{s?`͸?^w j?i@Ij^;CYHByIiEMb@Mb@Mb@AAAA A9ES㥛?{Gz?S㥛?YE/9Y=FyvE>Q 5}5dޣ?Q 9}5kl)BYb=Q EoQ I@_DI:i:.}5yɮ,A- addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503228 s, deltaX: 0.100000 m, approachRate: 0.198718 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 17.80 m.h)h)*h1"h1 h1g1f19fYf}Bdydyjd}2@Zd@?Zb=Zb=Zz?Z՛>[ݼ) i9)ii1`BMݍCBMIBMGBBM =BIBIBM;j;BMz)EB ܍CB ܍CB ȓCB  =B  =C 5ԑ ^A I I O >0W,^?AEZ EZEZ%EX"EZ,:*EZ:VEZ 4ZEXBEZ9Y=FyDE> Q 5}5 ࣊?Q 9}5 Al) BYy>Q I@ I :i  : k2}5y!ɮ% ,A!iaieN{^?AJieaARieaAjie{<@bef;V!/?fOyA!)L?Rej}뿲߿/;r?Ziabie+je` s1`vV @04kf9?ZeJf!da?D*?2ieb^@:ie"ieSZ!?*ie:BieBieܭ?ie HsiekBieAie<@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503695 s, deltaX: -0.100000 m, approachRate: -0.198534 m/s, rangeRepo size: 4   Added new target pos. range: 17.797409 m, bearing: 168.739923 deg, lat: 36.779370 deg, lon: -121.859763 deg, deltaT: 1.006923 s, deltaX: 0.000187 m, approachRate: 0.000186 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfffYdadajde`f1@Zde?ZZZZ>ټ) Xi9)7ii1II9@ @@t4@1 DAT read: 05:39:06.7750 LVL= 32752, 20049, 25138, 32755, AGC= 67, IDX= 509, 0.17,-2.063, 0.168,-0.953,-0.811, PHS=-1.151, 1.024,-0.186, RAW= 303.7, 3.4, CAL= 301.4, -0.3, ROT= 208.6, 0.3  Ygot valid direction response: 05:39:06.7750 LVL= 32752, 20049, 25138, 32755, AGC= 67, IDX= 509, 0.17,-2.063, 0.168,-0.953,-0.811, PHS=-1.151, 1.024,-0.186, RAW= 303.7, 3.4, CAL= 301.4, -0.3, ROT= 208.6, 0.3  Z#Rx 43: Read direction message, but no range. bdirection in FSK: [-0.877971,-0.478685,-0.005236]y  |ViXǢ޿sNru   QN 2b  ) CI Si o? v> ;@ s= aU@  ) )i@I ;  zݷhIeٕa `?  D) oI )i ; checking for new query: numPingsReceived=43, elapsed TxPingTime=20.218197Y ^A I I O >W,~7_?A2צ@2@2Ҽٱ2k :AHRS rotation from veh to nav: [[0.763977,0.645006,0.017525],[-0.644732,0.762007,0.060555],[0.025704,-0.057561,0.998011]]2H`r??!?@[b??`R?x?i2צ@I2b^;2CY^cBy^$IiMb@Mb@Mb@ 9V-?Q?Yym=\=|AA  A)AYbDVD02yј=%s=ٔ2;Q-?9Y=Fy}9E?Q 5}5!ᣊ?Q 9}5k)BY=Q EC޿a|YA1S2h )Ioii_?AJiÐARiÐAji;@b Y/Qi!5+RoIv3:&>޿a|ij?F@k=@ )Ǐh@I;P`6?㔲 ={"? gD)4iI)i;-checking for new query: numPingsReceived=44, elapsed TxPingTime=20.461775Zi)bi;jOGvx1mj@dARjZuXM←|?+4Pc2ip@:i"i ?*iBiMBiiiMBiAiY<@y addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503857 s, deltaX: 0.300001 m, approachRate: 0.595409 m/s, rangeRepo size: 4  Added new target pos. range: 18.095692 m, bearing: 168.012974 deg, lat: 36.779370 deg, lon: -121.859762 deg, deltaT: 0.503857 s, deltaX: 0.298283 m, approachRate: 0.591999 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffBdd!jd%@332@Zd%?Z=Z=Z?Z&b?Ҽ) i.9)ii1@CNW,m/_?A2ê@2@2Cʼٱ2J\m >AHRS rotation from veh to nav: [[0.764304,0.644593,0.018435],[-0.644381,0.762330,0.060212],[0.024759,-0.057899,0.998015]]2H,u?? ?@Şe?Ԯ?^Z?`?i2ê@I2I^;2CYJpByJ4IbDRVDRyZ=%ZS=ٔZ;Q-^>9\Y\=^Fy\b:Eb>dQ 5j}5f^⣊?Q 9j}5fak)fBYhyj$b?Q In@faDIf;if;f8}5ypɮr=+ApB5f>B5܍CB5IB5VBB5 =B1B1B5 j;B5^)EDNOT Ignoring new targets: 18.10 m.hh*h"h hgfffddjdZd? Z!Z!Z!Z%$b?mCʼ)q uiup9)quVqiqi}1yLˆԉ 0W,A-I_?A$$J @Jܭ@JRٱJm nAHRS rotation from veh to nav: [[0.764975,0.643770,0.019316],[-0.643627,0.763017,0.059583],[0.023620,-0.058012,0.998036]]JHz? ę?qǓ? j??/? ?iJ @IJq^;JCMchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.194414ԑYqyqI}=)}9AYA=EFyAMS:EM>QQ 5]}5U㣊?Q 9]}5Uj)UBY]=Q E]W,e_?Afཫ@f@f_Wٱfn AHRS rotation from veh to nav: [[0.765850,0.642698,0.020317],[-0.642634,0.763915,0.058779],[0.022257,-0.058072,0.998064]]fHׁ??͔?@uq?@D?pʖ?ࣻ`$?ifཫ@If^;fC 1i1I11I1i9 99)99 =nr@9AAAAIA)AiI)MsCIMxkAYY ]aejAaiaaiiԩmiA)˵ ˱I˱YYzByAIbDVDy~=%p=ٔ-X;Q--?9)Y1=5Fy15{;E5?9Q 5E}5=䣊?Q 9E}5=/i)=BYiymĠ?Q Im@=cDI=;i=O;=@}5yqɮu*Ayii ^_?AJiRiji%;@b3hEQ/*?-_3 TZE-?R$[쿺ꡦݿn p\?Zi;*bijxYy1/Bo@>/p?Z,4{>ᅩR?# F?2i w@:i̋"i$}$?*i BíBiSZ!?iixBiAi;@% addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.501856 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 17.896587 m, bearing: 167.543614 deg, lat: 36.779370 deg, lon: -121.859758 deg, deltaT: 0.501856 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 =DNOT Ignoring new targets: 17.90 m.h9h9*h9"h9 h9gAfafifididqjdqZdu K? checking for new query: numPingsReceived=46, elapsed TxPingTime=21.696987ZiZiZiZmĠ?_W) \iB9)顭õii1!BB.IBkBBBBBi;B:)E@ @@/@^A <I E-  E- E- %E) "E- a:*E- L_:VE- 4ZE) BE- ( DDAT read: Rx Time:05:39:08.7750  TRx dataTimestamp_ set to:1761543549.972784 PDAT read: Bearing 312.1, -28.2 (Local)  ~Local bearing/azimuth received: Bearing 312.1, -28.2 (Local)  DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1  DAT read: 05:39:08.7750 LVL= 32752, 20769, 25170, 32755, AGC= 64, IDX= 509, 0.32, 1.424,-2.664, 2.468, 2.647, PHS=-1.120, 1.018,-0.223, RAW= 305.3, 3.5, CAL= 302.9, -0.0, ROT= 207.1, 0.0  Ygot valid direction response: 05:39:08.7750 LVL= 32752, 20769, 25170, 32755, AGC= 64, IDX= 509, 0.32, 1.424,-2.664, 2.468, 2.647, PHS=-1.120, 1.018,-0.223, RAW= 305.3, 3.5, CAL= 302.9, -0.0, ROT= 207.1, 0.0  T#Rx 47: Read range and direction messages. bdirection in FSK: [-0.890213,-0.455545,-0.000000] Fpublishing direction and range infoy  e|9z'ݿY 3A !Q Rb ) @I )\i M? Zd @ 5z= +@ ) ;Ug@I L"ZZKͫ+ѓ? :"C) |I z*i 5 checking for new query: numPingsReceived=47, elapsed TxPingTime=21.964615?W,_?Ar̫@rDz@reٱr_$l zAHRS rotation from veh to nav: [[0.767050,0.641246,0.020932],[-0.641247,0.765170,0.057603],[0.020921,-0.057607,0.998120]]rH??Lo?@E|?*~?Pl?`~?ir̫@Ir~^;pYxBy>IbDVD0yeNY%mA=ٔu@N;Q-u>9yYy=}Fyy;E>Q 5}5壊?Q 9}5'h)BYy?Q I@eDI;i;1D}5yɮ+AiiB~_?AJi`ARi`AjiK:@b:(8/-҅6 Re|9z'ݿZiz*biji{4Y1"U:@Ʊ`Z?Z{$2D~Վs?i~4?2i-}@:iϊ"i}ܑ/?*iBiBiV"?iiBi;Ai;@M addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503189 s, deltaX: -0.100000 m, approachRate: -0.198733 m/s, rangeRepo size: 4 } Added new target pos. range: 17.797131 m, bearing: 167.156840 deg, lat: 36.779370 deg, lon: -121.859757 deg, deltaT: 0.503189 s, deltaX: -0.099457 m, approachRate: -0.197653 m/s, posRepo size: 4 }DNOT Ignoring new targets: 17.80 m.hyhy*h"h hgfffddjd`f1@Zd;?ZZZZb?e) ԁ (W,ҙ_?AE EE"E"E[:*EX:VE(3ZEa@a@a@a@  ߫@ ٲ@ 8ٱ i=DDAT read: Rx Time:05:39:09.2751 ETRx dataTimestamp_ set to:1761543550.476796MPDAT read: Bearing 311.9, -28.7 (Local) QU~Local bearing/azimuth received: Bearing 311.9, -28.7 (Local) eDAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1 DAT read: 05:39:09.2751 LVL= 32752, 22769, 28530, 32755, AGC= 65, IDX= 510, 0.48,-2.880,-0.672,-1.813,-1.639, PHS=-1.139, 1.011,-0.219, RAW= 304.8, 3.7, CAL= 302.3, 0.3, ROT= 207.7, -0.3 Ygot valid direction response: 05:39:09.2751 LVL= 32752, 22769, 28530, 32755, AGC= 65, IDX= 510, 0.48,-2.880,-0.672,-1.813,-1.639, PHS=-1.139, 1.011,-0.219, RAW= 304.8, 3.7, CAL= 302.3, 0.3, ROT= 207.7, -0.3 T#Rx 48: Read range and direction messages.`direction in FSK: [-0.885381,-0.464836,0.005236]Fpublishing direction and range infoyAEȘ U62޿ݿsNru?YEAAAEXEro A)EAIEʑiEsh?EA`E;@E A=E֨@ E;)Eh@IEAAEIV/8 I1( Ű? EC)EHIE*iEAAchecking for new query: numPingsReceived=48, elapsed TxPingTime=22.469273 AHRS rotation from veh to nav: [[0.768492,0.639492,0.021665],[-0.639568,0.766679,0.056174],[0.019313,-0.057026,0.998186]] H|?v?j/?Vw`?¬?Ɠ? |2#?i  ߫@I c^; CYmyBym@I qqiMb@Mb@Mb@ 9~jtv/?Q?Yyx=<A  A)& AY3 AbDVDy-<%-%=ٔ5iU;Q-5>91Y1==Fy9y=ؒ;E>Q 5}5`棊?Q 9}5Uf)BY>Q E;y ?Q I@gDI:i:H}5yɮ*AiAiEӃ_?AJiEÐARiEÐAjiE;@bEv0 qliUA?REȘ U62޿ݿsNru?ZiE*biEjEadr12a[l@c6sx?ZEGHo? ?2iEgs@:iE"iE?*iElrLBiEBiAiE iAiENAiE;@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504012 s, deltaX: 0.300001 m, approachRate: 0.595226 m/s, rangeRepo size: 4  Added new target pos. range: 18.095409 m, bearing: 167.866036 deg, lat: 36.779370 deg, lon: -121.859756 deg, deltaT: 0.504012 s, deltaX: 0.298279 m, approachRate: 0.591809 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffUFBdQdQjd]@332@Zd]c?Z>Z>Z) @Z ?8) ̾i 9)'ݵii1B B :IB uBB B B B i;B 0)E ^A `=<I I O >#W,._?A>@>z@>uٱ>@]h FAHRS rotation from veh to nav: [[0.769889,0.637777,0.022597],[-0.637933,0.768132,0.054910],[0.017663,-0.056690,0.998236]]>H?@h?#?i? /?1?`?i>@I>^;8R-g? [C);[cIO*i5<echecking for new query: numPingsReceived=49, elapsed TxPingTime=22.981167@ @@1@a^A U<I I O >ԙ e checking for new query: numPingsReceived=49, elapsed TxPingTime=23.210335W,_?A2B@2@2f*ٱ2h :AHRS rotation from veh to nav: [[0.771202,0.636146,0.023781],[-0.636389,0.769481,0.053934],[0.016011,-0.056728,0.998261]]2H ?N[?@Z?@L]?@2?e?@i ?i2B@I2"^;0Yn}BynDIieMb@Mb@Mb@aaaa a9eˡEZd;?Q?Ye什ye=eu9Y=Fy^;E>Q 5}5J磊?Q 9}5c)BYN>Q E;yD?Q I@jDI ;i; ;N}5yɮ*AiiȾ_?AJi,ARi,Aji;@b//A[qX i*ÿRJ5N쿾׮nݿB7߁ZiO*bi5<jE@^1\% @+pdi?Z=ZbTѱI/?W4Xm?2i.i@:i,"i"?*i}BiBi"?iii-Ai;@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504192 s, deltaX: -0.200001 m, approachRate: -0.396676 m/s, rangeRepo size: 4  Added new target pos. range: 17.896511 m, bearing: 168.253332 deg, lat: 36.779370 deg, lon: -121.859756 deg, deltaT: 0.504192 s, deltaX: -0.198898 m, approachRate: -0.394489 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffOBd d1jd52@Zd5 ?Z}N>Z}N>Z}g @Z}D?f*) Ѿi9)页ii1iԹ9@ @@4@@@gAbE-4jEw4rE/E% E%E%&E!"E%,:*E%R:VE%4ZE!a5@a5@a5@a5@DDAT read: Rx Time:05:39:10.2751 TRx dataTimestamp_ set to:1761543551.484835PDAT read: Bearing 310.8, -28.3 (Local) ~Local bearing/azimuth received: Bearing 310.8, -28.3 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1  DAT read: 05:39:10.2751 LVL= 32752, 20465, 27330, 32755, AGC= 65, IDX= 511,-0.15, 1.758,-2.323, 2.812, 3.008, PHS=-1.147, 0.998,-0.240, RAW= 305.1, 4.2, CAL= 302.7, 1.2, ROT= 207.3, -1.2 Ygot valid direction response: 05:39:10.2751 LVL= 32752, 20465, 27330, 32755, AGC= 65, IDX= 511,-0.15, 1.758,-2.323, 2.812, 3.008, PHS=-1.147, 0.998,-0.240, RAW= 305.1, 4.2, CAL= 302.7, 1.2, ROT= 207.3, -1.2 T#Rx 50: Read range and direction messages.`direction in FSK: [-0.888422,-0.458549,0.020942]%Fpublishing direction and range infoyxmbXݿ_2q?YAOj )IВi|?uff@Q =A@ <)kg@I&$ZS6&Ӳ? `C)IJ*i=checking for new query: numPingsReceived=50, elapsed TxPingTime=23.476282^A m<I I O > P.W,_?A6k@6> @6Pnٱ6i >AHRS rotation from veh to nav: [[0.772318,0.634745,0.024977],[-0.635069,0.770615,0.053288],[0.014576,-0.057018,0.998267]]6H@Զ?O??|R`?H?$ڍ?h1@?i6k@I6_;6CY^tBy^:IIb<)bp;bDjVDjNyr/%rV=ٔr v;Q-v>9tYt=vFytz6;Ez>Q 5 }5磊?Q 9 }5b)BYy{?Q I@lDI-;i+ ;SR}5y!ɮ-+A)ii_?AJiÐARiÐAji{b;@b 0[9%` HM@?RxmbXݿ_2q?ZiJ*bijq+f1*n7@8 ?Z @￰*!?Ogu?2ixu@:ic"is?*i7BiBiilrLíBi6Ai;@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503847 s, deltaX: 0.200001 m, approachRate: 0.396947 m/s, rangeRepo size: 4  Added new target pos. range: 18.095362 m, bearing: 167.755497 deg, lat: 36.779370 deg, lon: -121.859756 deg, deltaT: 0.503847 s, deltaX: 0.198851 m, approachRate: 0.394665 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffddjd@332@Zdi4?%checking for new query: numPingsReceived=50, elapsed TxPingTime=23.712851ZZZZQ{?Pn) Sھi99)ii1BBBBBBBi;B9)Ei@i @i@m/@iPExceeded connect timeout, disconnecting.1^Au<IIO >EU  EU EU )EQ "EU :*EU 1]:VEU FA4ZEQ BEQ ae 2EQ ae JEU ;ae :EU ;ae  DDAT read: Rx Time:05:39:10.7750  TRx dataTimestamp_ set to:1761543551.988661 PDAT read: Bearing 312.4, -29.1 (Local)  ~Local bearing/azimuth received: Bearing 312.4, -29.1 (Local)  DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0  DAT read: 05:39:10.7750 LVL= 32752, 20113, 27250, 32755, AGC= 66, IDX= 510,-0.04, 0.303, 2.532, 1.400, 1.558, PHS=-1.153, 1.019,-0.202, RAW= 304.1, 3.6, CAL= 301.7, -0.1, ROT= 208.3, 0.1  Ygot valid direction response: 05:39:10.7750 LVL= 32752, 20113, 27250, 32755, AGC= 66, IDX= 510,-0.04, 0.303, 2.532, 1.400, 1.558, PHS=-1.153, 1.019,-0.202, RAW= 304.1, 3.6, CAL= 301.7, -0.1, ROT= 208.3, 0.1 % T#Rx 51: Read range and direction messages.- bdirection in FSK: [-0.880476,-0.474088,-0.001745]- Fpublishing direction and range infoy  ~(,LXlsW޿n p\Y A N rj ) BI i n? N kש@ = F@ ) `h@I : q"￸,J? yD) րI Us)i : M checking for new query: numPingsReceived=51, elapsed TxPingTime=23.980415Y X,S`?A2k@2>@2OVٱ2k :AHRS rotation from veh to nav: [[0.773341,0.633443,0.026356],[-0.633855,0.771649,0.052780],[0.013096,-0.057523,0.998258]]2H4?)E? ?@H`X??ъ?`s@?i2k@I22`;2CYbfByb(I dd5GIa9YlAbDVDy%9=ٔ/\;Q->9 Y = Fy  %l;E>19Q 5E}5=J裊?Q 9E}5=a`)=BYAyM?Q IM@=nDI=:i=:=6V}5yqɮu+Aqii9F_?AJi,ARi,AjiC<@b]/m8 9R~(,LXlsW޿n p\ZiUs)bi:j61Gp @ ?Z}fP#?[c\ ?2i\@:i}"i,o ?*iXGBiBi,o ?iiBi`Ai3<@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503826 s, deltaX: -0.200001 m, approachRate: -0.396964 m/s, rangeRepo size: 4 5 Added new target pos. range: 17.896688 m, bearing: 168.919254 deg, lat: 36.779370 deg, lon: -121.859756 deg, deltaT: 0.503826 s, deltaX: -0.198673 m, approachRate: -0.394329 m/s, posRepo size: 4 =DNOT Ignoring new targets: 17.90 m.h9h9*h9"hI hIgIfQfQfQdQdYjd]2@Zd]`?ZyZyZyZ}ɬ?OV) |i39)页, ii1Թ EY  E] E] &EY "EY *E] P:VE] 4ZEY ae @ae @ae @ae @uJX,}`?A2w(@2J#@2YeAٱ2l:DDAT read: Rx Time:05:39:11.2751 >TRx dataTimestamp_ set to:1761543552.492648BPDAT read: Bearing 313.2, -29.5 (Local) B~Local bearing/azimuth received: Bearing 313.2, -29.5 (Local) JDAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 ^DAT read: 05:39:11.2751 LVL= 32752, 19361, 25282, 32755, AGC= 66, IDX= 511,-0.00, 2.322,-1.728,-2.842,-2.714, PHS=-1.145, 1.031,-0.172, RAW= 303.5, 3.1, CAL= 301.2, -0.7, ROT= 208.8, 0.7 bYgot valid direction response: 05:39:11.2751 LVL= 32752, 19361, 25282, 32755, AGC= 66, IDX= 511,-0.00, 2.322,-1.728,-2.842,-2.714, PHS=-1.145, 1.031,-0.172, RAW= 303.5, 3.1, CAL= 301.2, -0.7, ROT= 208.8, 0.7 bT#Rx 52: Read range and direction messages.fbdirection in FSK: [-0.876241,-0.481718,-0.012217]fFpublishing direction and range infoy8:e+ v޿I:Y:A88:K:b 8)8I:\i:?: 0:@:k]=:8@ :+H):Z;i@I:+H<88:94$ᅵA2rf$cTa? :B)E):*[I:[(i:+H<88vchecking for new query: numPingsReceived=52, elapsed TxPingTime=24.483999 5AHRS rotation from veh to nav: [[0.774284,0.632243,0.027429],[-0.632728,0.772614,0.052188],[0.011804,-0.057764,0.998260]]2H ?U;?W? N?@? l?`,?@2?i2w(@I2%3`;0YubByu#Iyi}Mb@Mb@Mb@yyyy y9}333333`"?Mb`Y}y}=}}5A}A } A)}O AyY} AbD9VD9y%ꌼ%%+=ٔ-1;Q-->9)Y1=UFyQ](H;E]>aQ 5m}5e飊?Q 9m}5e^)eBYm>Q Em;ymt?Q I@epDIe/;ie;e`Z}5yɮ+Ai8i:`?AJi:ÐARi:ÐAji:_=@b:hM/!Io! L̿R:e+ v޿I:Zi:[(bi:+H<j:QqE]1<.#J @~!~?Z:Lw+>?u?2i:QR@:i:Z"i:kG ?*i:-Bi:Bi:s?i:}i8i:.Ai:<@U addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503987 s, deltaX: 0.200001 m, approachRate: 0.396837 m/s, rangeRepo size: 4 e Added new target pos. range: 18.095541 m, bearing: 169.536724 deg, lat: 36.779369 deg, lon: -121.859756 deg, deltaT: 0.503987 s, deltaX: 0.198853 m, approachRate: 0.394559 m/s, posRepo size: 4 eDNOT Ignoring new targets: 18.10 m.haha*ha"ha higfffbBddjd@332@Zd?ԩZ>Z>Z @Zt? YeA)  i9)ii10EB B 'IB fBB  =B B B i;B K)EByByByB} =B} =C}W4 9  E 9@A  @A @E 4@A @M =@M = nManaging dock network, ignoring radio surface power off1EU EUEQEQ"EUm:*EU]t:VEQZEQBEUT9yY=Fy8;E>Q 5}5飊?Q 9}5\)BYy?Q I@sDI:i:^}5y!ɮ%,A!iiH@`?AJi,ARi,Ajirq>@bùB/:!q–&RH|߿sNruZi'bi;j,1?դ@̽םv?ZvX`, dY#?qs`o?2i&=@:i1"iv?*iBi؁Biv?iXGi؁BiAi=:=@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.508712 s, deltaX: -0.200001 m, approachRate: -0.393151 m/s, rangeRepo size: 4  Added new target pos. range: 17.896708 m, bearing: 170.493564 deg, lat: 36.779369 deg, lon: -121.859757 deg, deltaT: 0.508712 s, deltaX: -0.198833 m, approachRate: -0.390857 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjd2@Zd@?ZYZYZYZ]Q?m ,)i miup9)quqiyi1/k0X,[`?A_:@25@ٱ&o %AHRS rotation from veh to nav: [[0.775685,0.630433,0.029466],[-0.631049,0.774048,0.051252],[0.009503,-0.058350,0.998251]]Hh?,?h,? 1 ?@=?@v? ୿?i_:@I_;CY=HBy=IDzDE EE$E"Ea:*Ei:VE4ZEa@a@a@a@iMb@Mb@Mb@ 9v/|?5^?MbYxiy=A 9 A)9 AY( ADDAT read: Rx Time:05:39:12.2750 TRx dataTimestamp_ set to:1761543553.500700-PDAT read: Bearing 313.0, -30.6 (Local) -~Local bearing/azimuth received: Bearing 313.0, -30.6 (Local) =DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 eDAT read: 05:39:12.2750 LVL= 32752, 21137, 25474, 32755, AGC= 67, IDX= 510,-0.03, 2.490,-1.542,-2.628,-2.512, PHS=-1.179, 1.015,-0.159, RAW= 302.3, 3.4, CAL= 300.0, -0.4, ROT= 210.0, 0.4 mYgot valid direction response: 05:39:12.2750 LVL= 32752, 21137, 25474, 32755, AGC= 67, IDX= 510,-0.03, 2.490,-1.542,-2.628,-2.512, PHS=-1.179, 1.015,-0.159, RAW= 302.3, 3.4, CAL= 300.0, -0.4, ROT= 210.0, 0.4 mT#Rx 54: Read range and direction messages.ubdirection in FSK: [-0.866004,-0.499988,-0.006981]uFpublishing direction and range infoy&ޜNƀ߿a|YRc )Iy閿i?"֨@s=6@ )j@I;oҏ;7̱G̢? AxF)~uI6'i;checking for new query: numPingsReceived=54, elapsed TxPingTime=25.497410bDVD1yc%C=ٔ!;Q->9Y=Fy)-:E->1Q 5=}55꣊?Q 9=}55[)5BY==Q EE;yE?Q IE@5tDI5:i5a:5`b}5yiɮm},Aiiix ``?AJiRijiv>@bєK. r!O+R&ޜNƀ߿a|Zi6'bi;joy1rr@?Z&іGr^?fql?2i@6@:iU"iO?*i<&BiȁBiO?i-iiAi=@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.499340 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 17.896708 m, bearing: 170.843333 deg, lat: 36.779369 deg, lon: -121.859758 deg, deltaT: 0.499340 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 17.90 m.hQhQ*hQ"hQ hQgYfYfYf]3BddjdZd??Z=Z=Z1@Z?)Y ]i]9)ae'#aiaim1imBA BE IBE LBBA BA BA BE j;BE _)EIQ Oe >1 X,zu`?A^>@^9@^ ٱ^Y'p nAHRS rotation from veh to nav: [[0.776025,0.629974,0.030296],[-0.630643,0.774403,0.050887],[0.008596,-0.058596,0.998245]]^H2?(??;.? ?ʚ?;?i^>@I^Ї_;^CYz+ByzIbDVD02y&'%o=ٔ-;Q-?9!Y!=%Fy!%:E%?)Q 55}5-룊?Q 9=}5-zZ)- BY9y=?Q I=@-vDI-;i-;-Re}5yAɮEa-AIDNOT Ignoring new targets: 17.90 m.hh*h"h hgf ffd!d)jd1Zd=@?ZZZZ? ) i9)ii1s3#X,R`?A Nchecking for new query: numPingsReceived=55, elapsed TxPingTime=26.234617@@s;@4ٱp =AHRS rotation from veh to nav: [[0.776177,0.629758,0.030896],[-0.630466,0.774571,0.050523],[0.007886,-0.058693,0.998245]]H@q?&?@&?,`I?`ީ?@&? @?i@@IE_;Y}#ByI=p= QU<bDVDk2y%4=ٔ:Q->9Y=Fym:E>Q 5}5룊?Q 9}5Y)BYy?Q I@wDI;it;Xi}5y1ɮ5-A1qiaie6Y`?AJie`ARie`Ajiej?@beyrٞQ.X"ReTcwH*=Zie<&bieje3z@1{YT_@ 0?Ze;/j6?B ߜ΋?2ie*@:ie"ieA!?*iedBieBiev?ieiaie,Aie(>@5 addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504745 s, deltaX: -0.100000 m, approachRate: -0.198121 m/s, rangeRepo size: 4 M Added new target pos. range: 17.797224 m, bearing: 171.364794 deg, lat: 36.779369 deg, lon: -121.859761 deg, deltaT: 0.504745 s, deltaX: -0.099483 m, approachRate: -0.197097 m/s, posRepo size: 4 MDNOT Ignoring new targets: 17.80 m.hIhI*hI"hI hQgQfQfQfYdYdYjd]`f1@Zd]@m?ZZZZ쬲?E4)I UsԱiU}9)ii1!%N=I!I!E EE&E"EI:*EF:VE4ZEa@a@a@a@EDDAT read: Rx Time:05:39:13.2750 ETRx dataTimestamp_ set to:1761543554.509514UPDAT read: Bearing 312.3, -30.4 (Local) ]~Local bearing/azimuth received: Bearing 312.3, -30.4 (Local) mDAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.2 DAT read: 05:39:13.2750 LVL= 32752, 21057, 24482, 32755, AGC= 66, IDX= 510, 0.08,-2.510,-0.283,-1.367,-1.231, PHS=-1.177, 0.993,-0.180, RAW= 302.7, 3.9, CAL= 300.3, 0.3, ROT= 209.7, -0.3 Ygot valid direction response: 05:39:13.2750 LVL= 32752, 21057, 24482, 32755, AGC= 66, IDX= 510, 0.08,-2.510,-0.283,-1.367,-1.231, PHS=-1.177, 0.993,-0.180, RAW= 302.7, 3.9, CAL= 300.3, 0.3, ROT= 209.7, -0.3 T#Rx 56: Read range and direction messages.`direction in FSK: [-0.868620,-0.495452,0.005236]Fpublishing direction and range infoyAEH|߿sNru?YEAAAEARE_ A)EBIE𧖿iE?5~?EQ8EA@E'g=E@ E;)Ec*X,搫`?A>=@>Z8@>+[ٱ>p FAHRS rotation from veh to nav: [[0.775941,0.630029,0.031283],[-0.630761,0.774343,0.050333],[0.007488,-0.058788,0.998242]]>H ?`3)?Z?2/j? Nũ?R~?v ?i>=@I> _;>CYVByVIiMb@Mb@Mb@ 9ʡE?~jtY̼y=D5AA  A) AYQ AbDVDyႽ%F=ٔ1}:Q->91Y1=5Fy1=9kE=>AQ 5M}5E죊?Q 9M}5EAX)EBYM=Q EU"@bMg </!.޻!To!?RMH|߿sNru?ZiM'biMjMR1>Ι@?ZM,,И??2iMl<@:iM*"iMڳ?*iMP. BiMBiIiIiIiM:AԡiMI?@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504069 s, deltaX: 0.100000 m, approachRate: 0.198386 m/s, rangeRepo size: 4  Added new target pos. range: 17.896650 m, bearing: 170.527794 deg, lat: 36.779369 deg, lon: -121.859761 deg, deltaT: 0.504069 s, deltaX: 0.099426 m, approachRate: 0.197247 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffBddjd2@Zd?Z =Z =Z >?Z ?+[) %i%9)!%!i)i-1)5mzBBIB)BB =BBBDj;B{)E}9@y @y@}/@y ^A} V<I E  E E E "E :*E rN:VE ZE BE 1% DDAT read: Rx Time:05:39:13.7750 % TRx dataTimestamp_ set to:1761543555.0125545 PDAT read: Bearing 310.4, -30.0 (Local) 5 ~Local bearing/azimuth received: Bearing 310.4, -30.0 (Local) E DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 m DAT read: 05:39:13.7750 LVL= 32752, 24513, 27218, 32755, AGC= 67, IDX= 509, 0.24, 2.621,-1.454,-2.542,-2.375, PHS=-1.185, 0.966,-0.211, RAW= 303.1, 4.7, CAL= 300.7, 1.8, ROT= 209.3, -1.8 u Ygot valid direction response: 05:39:13.7750 LVL= 32752, 24513, 27218, 32755, AGC= 67, IDX= 509, 0.24, 2.621,-1.454,-2.542,-2.375, PHS=-1.185, 0.966,-0.211, RAW= 303.1, 4.7, CAL= 300.7, 1.8, ROT= 209.3, -1.8 u T#Rx 57: Read range and direction messages.} `direction in FSK: [-0.871639,-0.489141,0.031411]} Fpublishing direction and range infoy! % awxN߿Iz?Y% 3A! ! % _% Rj ! )% CI% i% Kw?% bX% qH@% =% L@ % =)% Ti@I% ! ! % ANADëeʴ? % E)% vI% aU(i% ! !  checking for new query: numPingsReceived=57, elapsed TxPingTime=27.004055) ,E1X,S`?A:Q<@:$7@:;ٱ:p RAHRS rotation from veh to nav: [[0.775850,0.630131,0.031480],[-0.630878,0.774276,0.049905],[0.007073,-0.058579,0.998258]]:H`? *??`&0? &?W|?`@?i:Q<@I:^;:CY~ By~IbDEVDEN2y b%M=ٔ;:Q->9Y=FyɹE>Q 5}5?Q 9}5|W)BYy?Q I@yDI:i:kp}5yɮn.Aiaie`?AJie`ARie`AjieR=@be??/ȪWi!6?ReawxN߿Iz?ZieaU(bieje[߀1`Z@~v1?ZeC]xᅴz/?{?2ieD@:ie"ie*?*ie?BieBieڳ?iaieBieAie'?@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503040 s, deltaX: -0.100000 m, approachRate: -0.198792 m/s, rangeRepo size: 4  Added new target pos. range: 17.797150 m, bearing: 170.038516 deg, lat: 36.779370 deg, lon: -121.859761 deg, deltaT: 0.503040 s, deltaX: -0.099501 m, approachRate: -0.197799 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfffddjd`f1@Zd @?ZQZQZQZU?e;)a mim39)顕Ŵii1i>checking for new query: numPingsReceived=57, elapsed TxPingTime=27.2427239@ @@P0@Aq ^A G<I I OE >n7X,,`?A E6 E6E4E4"E6,:*E6T:VE4ZE4a:@a:@a:@a:@Fh6@F;1@FgAٱFgn NAHRS rotation from veh to nav: [[0.775396,0.630690,0.031483],[-0.631438,0.773843,0.049528],[0.006874,-0.058283,0.998276]]FH ?`.?~?4 R?[?`(|?I׭?iFh6@IF^;FCYVByVI XX\^AzDDAT read: Rx Time:05:39:14.2751 TRx dataTimestamp_ set to:1761543555.519169PDAT read: Bearing 312.0, -29.7 (Local) %~Local bearing/azimuth received: Bearing 312.0, -29.7 (Local) 5DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.1 UDAT read: 05:39:14.2751 LVL= 32752, 20321, 24130, 32755, AGC= 66, IDX= 510, 0.45, 2.621,-1.446,-2.541,-2.394, PHS=-1.166, 0.993,-0.191, RAW= 303.2, 3.9, CAL= 300.8, 0.4, ROT= 209.2, -0.4 }Ygot valid direction response: 05:39:14.2751 LVL= 32752, 20321, 24130, 32755, AGC= 66, IDX= 510, 0.45, 2.621,-1.446,-2.541,-2.394, PHS=-1.166, 0.993,-0.191, RAW= 303.2, 3.9, CAL= 300.8, 0.4, ROT= 209.2, -0.4 T#Rx 58: Read range and direction messages.`direction in FSK: [-0.872901,-0.487848,0.006981]Fpublishing direction and range infoy|~a8߿a|?Y~A||~aO~B^ |)~BI~}?i~?5~?~C~V@~'g=~@ ~;)~i@I~仩||~Fj!s,%+? ~}E)~I~q(i~仩||checking for new query: numPingsReceived=58, elapsed TxPingTime=27.521496iMb@Mb@Mb@q 9Mbp?)\(?{GztY;yGa=ףKA  A)9 AY( AbDm VDm:2y:%=ٔ,9Q->9Y=Fy%E->)Q 55}5-w?Q 95}5-V)-BY=b=Q E=o@E addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.506615 s, deltaX: 0.300001 m, approachRate: 0.592168 m/s, rangeRepo size: 4 U Added new target pos. range: 18.095428 m, bearing: 169.974495 deg, lat: 36.779370 deg, lon: -121.859759 deg, deltaT: 0.506615 s, deltaX: 0.298279 m, approachRate: 0.588768 m/s, posRepo size: 4 UDNOT Ignoring new targets: 18.10 m.hYhY*hy"hy hgfffBddjd@332@Zdu?ԙZb=Zb=ZĿ?ZK0P?MgA)Q UiU9)y}yiyi1 B B IB BB  =B B B !j;B j)E ^A r=I9IYO}>*>X,M`?A6v @6I@64{ٱ6n >AHRS rotation from veh to nav: [[0.773700,0.632770,0.031456],[-0.633512,0.772144,0.049549],[0.007064,-0.058264,0.998276]]6H`'?`???E`h?m^?V|? ԭ?i6v @I6Im^;6CYJByJIbDRVDRyZh%^t=ٔ^Q-^?9`Y`=bFy`bEb?dQ 5j}5f?Q 9n}5fV)fBYlyn~O?Q In@f{DIf):if :fw}5yrޖBɮr/Av'EDNOT Ignoring new targets: 18.10 m.hh*h"h hgfffd!d!jd!Zd%?Eu EuEu'Eq"Eu[:*EuV:VEu'4ZEqBEu}} checking for new query: numPingsReceived=59, elapsed TxPingTime=28.2485431 EX,=a?A6@6@6`ٱ6n >AHRS rotation from veh to nav: [[0.772945,0.633696,0.031398],[-0.634432,0.771387,0.049585],[0.007202,-0.058246,0.998276]]6H?;G?@Z?`DM 3?1c?@}?`nҭ ?i6@I6 )^;6CY^By^IiMb@Mb@Mb@ 9:v?L7A`?y&1|?Y9Y=Fy#E>!Q 5-}5%.?Q 9]}5%}V)%BY]s.=Q E]Q Ie@!I%@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.501629 s, deltaX: -0.200001 m, approachRate: -0.398703 m/s, rangeRepo size: 4 M Added new target pos. range: 17.896605 m, bearing: 169.876279 deg, lat: 36.779370 deg, lon: -121.859757 deg, deltaT: 0.501629 s, deltaX: -0.198824 m, approachRate: -0.396357 m/s, posRepo size: 4 UDNOT Ignoring new targets: 17.90 m.hQhQ*hQ"hQ hQgYfYfYf]ՁBdadabEÞ4jET4rE?/E EE%E"E:*E&p:VE 4ZEa@a@a@a@jde2@ZdJ?DDAT read: Rx Time:05:39:15.2750 TRx dataTimestamp_ set to:1761543556.524874PDAT read: Bearing 310.8, -28.7 (Local) ~Local bearing/azimuth received: Bearing 310.8, -28.7 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 =DAT read: 05:39:15.2750 LVL= 32752, 19697, 24354, 32755, AGC= 65, IDX= 510,-0.15, 0.186, 2.393, 1.272, 1.452, PHS=-1.165, 0.986,-0.225, RAW= 304.2, 4.4, CAL= 301.8, 1.4, ROT= 208.2, -1.4 AEYgot valid direction response: 05:39:15.2750 LVL= 32752, 19697, 24354, 32755, AGC= 65, IDX= 510,-0.15, 0.186, 2.393, 1.272, 1.452, PHS=-1.165, 0.986,-0.225, RAW= 304.2, 4.4, CAL= 301.8, 1.4, ROT= 208.2, -1.4 MT#Rx 60: Read range and direction messages.U`direction in FSK: [-0.881040,-0.472410,0.024432]UFpublishing direction and range infoyR{1HBx;޿{J?YL"_ )AIij|?fff@nF=@ +<)Ǐh@I+ȼtÇBᅤ^*E? 1jD)QI)i+ȼmchecking for new query: numPingsReceived=60, elapsed TxPingTime=28.517286Zs.=Zs.=Z#Kg?ZZ]c>`) iM9) Cii1KX,=1a?Achecking for new query: numPingsReceived=60, elapsed TxPingTime=28.752516: @:j@:e?ٱ:Bo BAHRS rotation from veh to nav: [[0.772160,0.634650,0.031443],[-0.635386,0.770595,0.049682],[0.007301,-0.058341,0.998270]]:H@? O?C? U`?o?@}?ޭ?i: @I:~-^;:CYNByNIIRC=)Rp<bDTVDTy^g%^s=ٔbWQ-b?9`Y`=bFydftEf?hQ 5n}5jT?Q 9n}5jhV)jBYlyrb>Q Ir@j|DIj:ij`:j~}5ytɮv/Atii!a?AJiRiji[<@b@/ ?RR{1HBx;޿{J?Zi)bi+ȼjhwb1Z3 @|[?Z/Vᅡ̔6?W %N?2ia@:i7"i\.?*ipBiBi'?i)!iBiAi=@= addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 AIAIBUf>BQBUIBUBBU =BQBQBUi;BUJ)Em Added new target pos. range: 17.896605 m, bearing: 168.627749 deg, lat: 36.779371 deg, lon: -121.859756 deg, deltaT: 0.504076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 17.90 m.hqhq*hq"hq hqgyfyfyfyddjd!Zd%}?aZZZZb>e?) i9)]ii1g޿ ۷p?Y3AZ_ )BIli+v?Dl;@%=G@ +=)i@I+u]GJy>sֵ? D)ꮽI)i+checking for new query: numPingsReceived=61, elapsed TxPingTime=29.024357Թ^A= <II IY Oe > 'G - d;91 Y5 i*A RX,Ja?AYnـBynzIbDzVDz02y%b*%-E=ٔ-Q-->91Y1=5Fy15E5>qQ 5}5u?Q 9}5uNV)uBYyQ I@qIu>;iu?;u}5yɮ(0Ai1i5QAa?AJi5`ARi5`Aji5<@b5J;1/՚!d[8?R5o.rYG }>޿ ۷p?Zi5)bi5+j5?tp1a @)hn ?Z5x%H[K867?qM:?2i5|W@:i5"i597?*i5Bi5Bi5*?i5i5ЂBi5Ai5$=@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503954 s, deltaX: -0.100000 m, approachRate: -0.198432 m/s, rangeRepo size: 4  Added new target pos. range: 17.797125 m, bearing: 169.072523 deg, lat: 36.779371 deg, lon: -121.859756 deg, deltaT: 0.503954 s, deltaX: -0.099480 m, approachRate: -0.197398 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfffddjd `f1@Zd Z?Z)Z)Z)Z)9)A EiE9)AE|AiAiM1IMrE  E E E "E :*E ?:VE ZE a @a @a @a @ DDAT read: Rx Time:05:39:16.2750  TRx dataTimestamp_ set to:1761543557.532693 PDAT read: Bearing 309.1, -28.7 (Local)  ~Local bearing/azimuth received: Bearing 309.1, -28.7 (Local) - DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.1 M DAT read: 05:39:16.2750 LVL= 32752, 26545, 25074, 32755, AGC= 66, IDX= 510, 0.17, 1.565,-2.531, 2.642, 2.842, PHS=-1.176, 0.955,-0.244, RAW= 304.1, 5.1, CAL= 301.7, 2.8, ROT= 208.3, -2.8 ] Ygot valid direction response: 05:39:16.2750 LVL= 32752, 26545, 25074, 32755, AGC= 66, IDX= 510, 0.17, 1.565,-2.531, 2.642, 2.842, PHS=-1.176, 0.955,-0.244, RAW= 304.1, 5.1, CAL= 301.7, 2.8, ROT= 208.3, -2.8 ] T#Rx 62: Read range and direction messages.e `direction in FSK: [-0.879426,-0.473522,0.048850]m Fpublishing direction and range infoy   {GB$#}0N޿s!D?Y A g a ) I +i zt? #y kש@ K= F@ +H=) `h@I +H J Q QYeDij? pD) Q}I Us)i +H  checking for new query: numPingsReceived=62, elapsed TxPingTime=29.524689XX,da?A2@2@2ٱ2l :AHRS rotation from veh to nav: [[0.770777,0.636359,0.030824],[-0.637057,0.769226,0.049494],[0.007785,-0.057785,0.998299]]2H 5? ]?g?b?;W??` ?i2@I2 ^;0YNހByRIiMb@Mb@Mb@ 9 rh?y&1?9yYy=}Fyy.E>Q 5}5r?Q 9}5KV)BYB=Q EBiBmxIBm׀BBiBiBmkDBmi;Bm/)EB!B!B!B!B!C%4ԩ ^A I I O >g^X,~a?A4<ɰ@YڀBy|I))bD5VD502yE@%E[=ٔEQ-E>9IYI=MFyIUEU>Ee EeEe+Ea"EeI@;*Ee':VEe [4ZEaBEeD)I)iPwVchecking for new query: numPingsReceived=63, elapsed TxPingTime=30.067385) i9)顥iԩi1fOfX,a?AFd@F7@FIKٱFGj NAHRS rotation from veh to nav: [[0.769965,0.637364,0.030362],[-0.638037,0.768440,0.049083],[0.007952,-0.057164,0.998333]]FH?Ie? <?j?n!?]I?`D@X?iFd@IF];FCYZ׀ByZxIiMb@Mb@Mb@ 9L7A`?{Gz?~jt?Y+=y#=<AA )Y AbDVD0y=J%'=ٔzQ->9Y=FyZ*E>Q 5}5?Q 9}5&V) BY j=Q EhQ I@I:i\:ٍ}5yɮ80AiiZa?AJi+ARi+Aji;@b;׮Շ/ , jp?Rǿz0쿞o{޿yoU˪?Zi)biPwVjq\>y14A @.?ZCHU?BoI? <5w?2ih@:i͋"iR9?*i&BilBi4?ipiBiAif<@EM EMEM&EI"EM:*EM?:VEM4ZEIaU@a]@a]@a]@] addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504094 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DDAT read: Rx Time:05:39:17.2751 TRx dataTimestamp_ set to:1761543558.540706PDAT read: Bearing 310.3, -28.8 (Local) ~Local bearing/azimuth received: Bearing 310.3, -28.8 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 DAT read: 05:39:17.2751 LVL= 32752, 21393, 22882, 32755, AGC= 65, IDX= 511,-0.38, 0.488, 2.689, 1.575, 1.760, PHS=-1.170, 0.975,-0.229, RAW= 304.0, 4.6, CAL= 301.6, 1.8, ROT= 208.4, -1.8 Ygot valid direction response: 05:39:17.2751 LVL= 32752, 21393, 22882, 32755, AGC= 65, IDX= 511,-0.38, 0.488, 2.689, 1.575, 1.760, PHS=-1.170, 0.975,-0.229, RAW= 304.0, 4.6, CAL= 301.6, 1.8, ROT= 208.4, -1.8 T#Rx 64: Read range and direction messages. `direction in FSK: [-0.879215,-0.475390,0.031411] Fpublishing direction and range infoy[p}"If%l޿Iz?YASbY )AI•iy?~jɩ@l=q@ =)h@IF`4r;7nj? D)IV)i%checking for new query: numPingsReceived=64, elapsed TxPingTime=30.532383 Added new target pos. range: 17.896448 m, bearing: 168.246034 deg, lat: 36.779372 deg, lon: -121.859752 deg, deltaT: 0.504094 s, deltaX: -0.000101 m, approachRate: -0.000201 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffBddjd@332@Zd@?Z j=Z j=Za?ZzKT>IK) i9)=79i9iE1AE] checking for new query: numPingsReceived=64, elapsed TxPingTime=30.768452B5 <A5 <B= c>B9 B= lIB= ̀BB9 B9 B9 B= i;B= K)Eq mX,3a?A6@6@6ٱ6AHRS rotation from veh to nav: [[0.769693,0.637696,0.030287],[-0.638365,0.768173,0.048994],[0.007978,-0.057045,0.998340]]6HR?h??{m?@?`V?4@f?i6@I6 ];4YnByrIbDzVDzy:=%X=ٔQ->9 Y = Fy zE>Q 5%}5?Q 9%}5 V)BY!y%S>Q I%@DI:i:(}5y1ɮ5/A1ii횢a?AJiÐARiÐAjiCP<@bS^/z{a4!Ϻ80?R[p}"If%l޿Iz?ZiV)bij &ƶ1b @|+?Z._SK?kXY?Y2id@:i"iH&?*iR,BiBiiiiJAiS<@= addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503919 s, deltaX: 0.200001 m, approachRate: 0.396891 m/s, rangeRepo size: 4 m Added new target pos. range: 18.095280 m, bearing: 168.587032 deg, lat: 36.779372 deg, lon: -121.859752 deg, deltaT: 0.503919 s, deltaX: 0.198832 m, approachRate: 0.394570 m/s, posRepo size: 4 uDNOT Ignoring new targets: 18.10 m.hqhq*hq"hq hqgyfyfyfyddjdZd ~?ZZZZ*S>) iN9)gµii-1AMȼ wsX,a?A2 @2@2eٱ2'j :AHRS rotation from veh to nav: [[0.769548,0.637865,0.030417],[-0.638541,0.768026,0.049005],[0.007898,-0.057134,0.998335]]2H`"? ci?%?n૓?-?`,?@\?i2 @I2Ku];2CYNByRIIV4=)V=V=V==checking for new query: numPingsReceived=65, elapsed TxPingTime=31.274593bDZVDZ:2y=%B=ٔJG9Q->9Y=Fy E>Q 5}5t?Q 9}5UQ =tI)BYyS>Q I @DIe) i9)页Zӵii1odzX,ݔa?A>@>@>zٱ>kj FAHRS rotation from veh to nav: [[0.769617,0.637774,0.030554],[-0.638459,0.768096,0.048974],[0.007766,-0.057199,0.998333]]>H?h?I?@n???J?I@W?i>@I>]?];>CYVByZIiMb@Mb@Mb@ 9Mb`?y&1?YyL=`<5AnA ) AYG AbDVD0yD;%:=ٔ'9Q->9Y=Fy%9E%>)Q 55}5-?Q 95}5-sU)-BY=j=Q E=gBqBuxIBu׀BBu =BqBqBui;BuF)E9@ @@5@Ա^A ]<I) I9 OE >E  E E &E "E m:*E k:VE 4ZE BE S9Y=FyE>!Q 5-}5%?Q 9-}5%U)%!BY1y1Q IU@!I%;i%;%/}5yYɮ]F/Aaii_b?AJi+ARi+Ajiә<@bF/[X1!!?*ig\BiaBi7?iiiMAiGh<@5 addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503958 s, deltaX: -0.200001 m, approachRate: -0.396860 m/s, rangeRepo size: 4 E Added new target pos. range: 17.896465 m, bearing: 168.844284 deg, lat: 36.779372 deg, lon: -121.859751 deg, deltaT: 0.503958 s, deltaX: -0.198814 m, approachRate: -0.394506 m/s, posRepo size: 4 MDNOT Ignoring new targets: 17.90 m.hIhi*hi"hi higqfqfqfqdydyjd}2@Zd}E}?ZZZZ) i'9)|󵉢ii1II   I)i=9@9 @9@E4@A@M=@M=checking for new query: numPingsReceived=67, elapsed TxPingTime=32.281109I ^Ae <I I O >nX,,b?A2@2@2ٱ2Qi >AHRS rotation from veh to nav: [[0.770464,0.636740,0.030774],[-0.637443,0.768974,0.048431],[0.007174,-0.056931,0.998352]]2H ?,`??ep?`˨?@Rb}?&?i2@I2,];2CYFByJI HHLNAiMb@Mb@Mb@ 9S㥛Q?:v?E EE$E"E:*Ee:VE4ZEa@a@a@a@Y/ݼy\=<bAA O A)|AY=AbDVDJyq/=%J=ٔR:Q->9Y=FyY;E>Q 5 }5z?Q 9 }5BT)%BY =Q E'!޿ᢔ?Y!!!%a%rk !)%CI%xi%q?%!r%Us@%q=%0@ %d=)%ti@Iz:i =}5yɮ.AI%d!!%I7￵VjA3ٷ? %LJE)%I%*(i%d!!=checking for new query: numPingsReceived=68, elapsed TxPingTime=32.569008Qi!i%#b?AJi!Ri!ji%s<@b%TNA/7aS!$?R%'k뿰>!޿ᢔ?Zi%*(bi%dj%׋~10Y @;t ?Z%AVD?\?2i%UV@:i%5"i%;?*i%,Bi%Bi!i%g\i%Bi%9Ai%<@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.896465 m, bearing: 169.182189 deg, lat: 36.779372 deg, lon: -121.859752 deg, deltaT: 0.504071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgf f f ,BddjdZd@"Q?Zu=Zu=Zu.?Zun!?)  i9)ii1vBq Bu IBu BBu  =Bq Bu lDBu i;Bu N)EI I O >X,9b?A@R@Rx@RݻٱRVg ]AHRS rotation from veh to nav: [[0.771158,0.635898,0.030805],[-0.636608,0.769697,0.047929],[0.006768,-0.056571,0.998376]]RHS? GY?C?_`[?@$? g{?@?iR@IRw];RCY-By-IbDVD:2y»%<=ٔ^t:Q->9Y=Fy  !;E>Q 5}5b?Q 9%}5lS)*BY!y%B?Q I%@DIB:i:}5yiɮm /AqԩDNOT Ignoring new targets: 17.90 m.hh*h"h hgff f d d jd Zd?ZqZqZqZuB?E EE&E"E[:*ErN:VE4ZEBE} X,CRb?A2@2@2ͻٱ2kf :AHRS rotation from veh to nav: [[0.771881,0.635015,0.030905],[-0.635736,0.770451,0.047387],[0.006280,-0.056225,0.998398]]2H?? R??@W?C?@xy?wɬ@?i2@I21];2CBchecking for new query: numPingsReceived=69, elapsed TxPingTime=33.288532YbBybItbD VD y0<%^=ٔ`:Q->9Y=Fy H;E >!Q 5}}5%'?Q 9}5%R)%.BYyd?Q I@%DI%DAT read: 05:39:20.2751 LVL= 32752, 22129, 25170, 32755, AGC= 65, IDX= 511,-0.08,-1.751, 0.450,-0.667,-0.495, PHS=-1.155, 0.990,-0.216, RAW= 304.1, 4.1, CAL= 301.7, 0.9, ROT= 208.3, -0.9 Ygot valid direction response: 05:39:20.2751 LVL= 32752, 22129, 25170, 32755, AGC= 65, IDX= 511,-0.08,-1.751, 0.450,-0.667,-0.495, PHS=-1.155, 0.990,-0.216, RAW= 304.1, 4.1, CAL= 301.7, 0.9, ROT= 208.3, -0.9 T#Rx 70: Read range and direction messages.`direction in FSK: [-0.880369,-0.474030,0.015707]Fpublishing direction and range infoyAEـ_+#V޿y&?YEAAAEqVERb A)AIE דiEp}?E/]Ekש@EC=EF@ E<)E`h@IEAAEZc=/)tM|w? ElxD)EޓIEUs)iEAA checking for new query: numPingsReceived=70, elapsed TxPingTime=33.569641a 嫚X,elb?AF@F} @F ٱFf RAHRS rotation from veh to nav: [[0.772483,0.634272,0.031114],[-0.635008,0.771068,0.047113],[0.005892,-0.056151,0.998405]]FH.?K?Aܟ?Q ?&? !x?׿?iF@IF.];FC9Y} By}IiMb@Mb@Mb@ 9V-kt?I +?Ymy =9<5AA )fAY Achecking for new query: numPingsReceived=70, elapsed TxPingTime=33.792419 <bDVDyH=%,=Bd>BBIBBBBBkDB#j;Bi)Eٔ=S:Q-=>i9AY=FyG:E>Q 5}5?Q 9}5[Q)3BY*=Q E;yJ?Q I@DI@:i:}5yɮ.AiiqiuE,db?AJiuÐARiuÐAjiuL<@bu޸5p/~f'!0?Ruـ_+#V޿y&?ZiuUs)biujuLVN1’ @}}?Zu:+^↑?ut?2iu`@:iu"iu}8+?*iuz BiubBiqiuiqiuAiu+=@e addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504564 s, deltaX: 0.200001 m, approachRate: 0.396383 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 18.095310 m, bearing: 168.789982 deg, lat: 36.779373 deg, lon: -121.859752 deg, deltaT: 0.504564 s, deltaX: 0.198790 m, approachRate: 0.393983 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h  h g f1f1f=)Bd9d9jd=@332@Zd=?Z*=Z*=Z` @ZJ? ) \i9)顽7!ii1 E  E E &E "E ,:*E k:VE 4ZE BE 9yYy=}FyyE>Q 5}5?checking for new query: numPingsReceived=71, elapsed TxPingTime=34.297966Q 9}5P)7BYyQ I@DIG?*i},gBi}jBi};?iyi}Bi}Ai}==@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503609 s, deltaX: -0.200001 m, approachRate: -0.397135 m/s, rangeRepo size: 4  Added new target pos. range: 17.896460 m, bearing: 168.385045 deg, lat: 36.779373 deg, lon: -121.859752 deg, deltaT: 0.503609 s, deltaX: -0.198851 m, approachRate: -0.394851 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjd2@Zd4?1ZZZZ1 )9 E i} 9) 顭 e* i i 1 t?c\h ޿NGY;?Y]AYY]J]V Y)]=I]Si]m{?]fff]P@]`=]+@ ]޹<)]Vh@I]޹YY]eunz}p? ]p,D)]ǘI])i]޹YYchecking for new query: numPingsReceived=72, elapsed TxPingTime=34.569199^A<IIO ?X,b?AdV@Vt@VٱVzh rAHRS rotation from veh to nav: [[0.773646,0.632799,0.032199],[-0.633599,0.772233,0.046992],[0.004872,-0.056757,0.998376]]VH???a|?qF"?d?Qs?8?iV@IV];VC  jAiIIitUA ) ^r@!!I!)!i!)QIQQQ UY]jAYiYYiaeiA)e ˅/FIˁYY ByIi%Mb@Mb@Mb@!!!! !9%T㥛 Mb?y&1?Y%y%=%`e<%bA% A !)%A!Y%AbD=VD=:2ym;%m2=ٔm;Q-m>9qYq=uFyq};E}>Q 5}5l?Q 9}5N)8BY=Q E;yp?Q I@DI3:i]:}5y̖Bɮ.AEii7b?AJiÐARiÐAjijL<@b9/>pyp 4-Х1F?Rrmk>?c\h ޿NGY;?Zi)bi޹jyc51OjW @\P ?ZW'߀UU??2i2e@:i"i@M.?*iBBiBi4:?iz iBi/Ai<@e addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503895 s, deltaX: 0.200001 m, approachRate: 0.396910 m/s, rangeRepo size: 4  Added new target pos. range: 18.095310 m, bearing: 168.573572 deg, lat: 36.779373 deg, lon: -121.859750 deg, deltaT: 0.503895 s, deltaX: 0.198851 m, approachRate: 0.394627 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffCBddjd@332@Zda?%checking for new query: numPingsReceived=72, elapsed TxPingTime=34.801697Z]=Z]=Z]Q @Z]p?ByA}<Be>BBIBBB =BBBj;Bd)EBABABABABE =CEj4) (iA9)4ii1i% >Q @  @ @ 4@ Eu  Eu Eu #Eq "Eu O:*Eu R:VEu 3ZEq BEu 9Y=Fy6;E>Q 5}5?Q 9}5aM):BYy?Q I@DI:i:}5yɮ-A iib?AJi,ARi,Ajiݥ<@b ӿO/j >LK?RC1nLG<޿NGY;?Zi)bij=xϊ1Dùi\ @~5d?Z.]f}?jx>?2i\@:iV"iؘ=?*iBiBiiiiDAiu<@U addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504014 s, deltaX: -0.200001 m, approachRate: -0.396816 m/s, rangeRepo size: 4 m Added new target pos. range: 17.896498 m, bearing: 168.886386 deg, lat: 36.779373 deg, lon: -121.859749 deg, deltaT: 0.504014 s, deltaX: -0.198812 m, approachRate: -0.394458 m/s, posRepo size: 4 mDNOT Ignoring new targets: 17.90 m.hihi*hi"hi hqgqfqfqfydydyjd}2@Zd}q7?ZZZZ஼?~) +i%9)>ii%1!%C|ԑ D) zD) E5  E5 E5 $E1 "E5 :*E5 P:VE5 4ZE1 a= @a= @a= @a= @X,b?A&DDAT read: Rx Time:05:39:22.2751 *TRx dataTimestamp_ set to:1761543563.580613.PDAT read: Bearing 310.6, -28.3 (Local) .~Local bearing/azimuth received: Bearing 310.6, -28.3 (Local) 6DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 JDAT read: 05:39:22.2751 LVL= 32752, 17905, 21442, 32755, AGC= 60, IDX= 511,-0.01, 1.620,-2.478, 2.689, 2.879, PHS=-1.157, 0.971,-0.235, RAW= 304.4, 4.6, CAL= 302.0, 1.9, ROT= 208.0, -1.9 NYgot valid direction response: 05:39:22.2751 LVL= 32752, 17905, 21442, 32755, AGC= 60, IDX= 511,-0.01, 1.620,-2.478, 2.689, 2.879, PHS=-1.157, 0.971,-0.235, RAW= 304.4, 4.6, CAL= 302.0, 1.9, ROT= 208.0, -1.9 NT#Rx 74: Read range and direction messages.R`direction in FSK: [-0.882462,-0.469213,0.033155]RFpublishing direction and range infoy$&s|X!=J駗޿B3?Y&A$&&E&S $)$I$i&ux?&ףp&P@&l=&+@ &=)&Vh@I&$$&N*o u|? &#D)&3I&)i&$$bchecking for new query: numPingsReceived=74, elapsed TxPingTime=35.572140M6@Mu1@M `ٱMih ]AHRS rotation from veh to nav: [[0.775427,0.630561,0.033245],[-0.631428,0.774054,0.046246],[0.003427,-0.056852,0.998377]]MH@L? -??@4 ??l??iM6@IMZ];IyY ByIiEMb@Mb@Mb@AAAA A9E333333:v?I +?YEyE=E949Y=Fy:E>Q 5}5&?Q 9}5K)Q E;yN?Q I@DI:;i9;*}5y ɮ-Aԩi$i&(b?AJi&ÐARi&ÐAji&q<@b&r0/p„[- g2?R&s|X!=J駗޿B3?Zi&)bi&j&js\1;^N @61 kn?Z&aT¼UE? ?e?2i&vb@:i&"i& =/?*i&)Bi&Bi& =/?i&,gi$i&_Ai&a<@- addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503893 s, deltaX: 0.200001 m, approachRate: 0.396911 m/s, rangeRepo size: 4 = Added new target pos. range: 18.095348 m, bearing: 168.704827 deg, lat: 36.779372 deg, lon: -121.859748 deg, deltaT: 0.503893 s, deltaX: 0.198851 m, approachRate: 0.394629 m/s, posRepo size: 4 =DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffOBddjd@332@Zd i?Z%>Z%>Z%] @Z%N?5 `)1 =G!i]w9)Y]?JYiYie1am#BABEIBEBBE =BABElDBEj;BEb)Ee9@a @a@i@i@=@= ^A 8<I I O >5X,b?A2;@2c6@2VFٱ2"@i NAHRS rotation from veh to nav: [[0.775808,0.630076,0.033567],[-0.630962,0.774445,0.046062],[0.003026,-0.056915,0.998374]]2Hj?)?/? 0 A?@l?@h?#?i2;@I2];2CYZ ByZIbDbVDbJyj%jy=ٔnE:Q-n?9lYl=nFypr:Er?tQ 5z}5v]?Q 9z}5vJ)tY|y~a?Q I~@vDIv;iv;v}5yɮ.A)5DNOT Ignoring new targets: 18.10 m.h1h1*h1"h9 h9g9f9f9fAdAdAjdAZdE@^H?ZiZiZiZma?}VF)y } #iq9)顅Rii1qe checking for new query: numPingsReceived=75, elapsed TxPingTime=36.313580Ա PX,c?AԙyA@L<@UR.ٱoi AHRS rotation from veh to nav: [[0.776264,0.629499,0.033847],[-0.630403,0.774911,0.045890],[0.002660,-0.056960,0.998373]]H&?@$?WT?B,@?~?Ie?`)?iyA@I}];CY-By-II54<)5;5=5=iMb@Mb@Mb@ 9Q뱿1Zd?{Gzt?Y\y"=ף;bA A  A)AY AbD VD 1y%+=ٔ5I:Q->9!Y!=%Fy!%:E->)Q 55}5-?Q 9=}5-I))Y=>Q E=;y=ػ?Q I=@-DI-:i-#:-3}5yIɮMV.AIiiW{c?AJi,ARi,Aji<@buT/ :Jď U^?Rtyh{RԬ8Sݿ|rQ?Zi;*bi4QOjzTWz1 j @ ړV?Z(SY@W ?R7?2i g@:iҋ"iD?*i %BiBiؘ=?iBiBiAiL<@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.505040 s, deltaX: -0.200001 m, approachRate: -0.396010 m/s, rangeRepo size: 4  Added new target pos. range: 17.896582 m, bearing: 168.329653 deg, lat: 36.779373 deg, lon: -121.859748 deg, deltaT: 0.505040 s, deltaX: -0.198767 m, approachRate: -0.393566 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffIBddjd2@Zd`?Z>Z>Z @Zػ?UR.) #i9) ^ii 1  D=I IEe EeEe'Ea"Ee[:*Ee:VEe'4ZEaau@au@au@au@y@y @y@} 0@DDAT read: Rx Time:05:39:23.2751 TRx dataTimestamp_ set to:1761543564.588901PDAT read: Bearing 309.9, -27.6 (Local) ~Local bearing/azimuth received: Bearing 309.9, -27.6 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 DAT read: 05:39:23.2751 LVL= 29776, 19313, 21874, 31443, AGC= 63, IDX= 510, 0.31,-1.077, 1.102,-0.035, 0.179, PHS=-1.154, 0.968,-0.258, RAW= 305.1, 4.9, CAL= 302.7, 2.5, ROT= 207.3, -2.5 %Ygot valid direction response: 05:39:23.2751 LVL= 29776, 19313, 21874, 31443, AGC= 63, IDX= 510, 0.31,-1.077, 1.102,-0.035, 0.179, PHS=-1.154, 0.968,-0.258, RAW= 305.1, 4.9, CAL= 302.7, 2.5, ROT= 207.3, -2.5 -T#Rx 76: Read range and direction messages.`direction in FSK: [-0.887771,-0.458213,0.043619]Fpublishing direction and range infoy@h쿨\SݿGU?YAPtqKrU z)?IFiw?ff@%=A@ ¸2=)kg@I¸2k؈϶kם? TC)VҭIJ*i¸2checking for new query: numPingsReceived=76, elapsed TxPingTime=36.604431^A V<I I O > `AX,g3c?A:^F@:1A@:ͭ ٱ:Ej NAHRS rotation from veh to nav: [[0.776641,0.629006,0.034345],[-0.629940,0.775296,0.045746],[0.002147,-0.057163,0.998362]]:H>? ?? w(8?k?a?D?i:^F@I:m];8YrByrIbD VD:2-checking for new query: numPingsReceived=76, elapsed TxPingTime=36.817165BIBIBMIBMBBIBIBIBMi;BML)Ey %r=ٔٹ:Q->9Y=Fyn:E>Q 5}5K?Q 9}5G)Yy?Q I@DI?;i@;\}5y ɮ .Aii%c?AJiÐARiÐAji;@b)[80xG C; B?R@h쿨\SݿGU?ZiJ*bi¸2j.1_ @X?ZR =zֆ]?+Aϧ]?2in@:iQ"ixb4?*iBipBixb4?i)iBiAi<@] addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503248 s, deltaX: 0.200001 m, approachRate: 0.397420 m/s, rangeRepo size: 4 m Added new target pos. range: 18.095438 m, bearing: 168.084853 deg, lat: 36.779372 deg, lon: -121.859747 deg, deltaT: 0.503248 s, deltaX: 0.198856 m, approachRate: 0.395146 m/s, posRepo size: 4 uDNOT Ignoring new targets: 18.10 m.hqhq*hq"hy hygyfyfyfddjd@332@Zd`?ZZZZw?ͭ ) b&i9)hii1=II9 QQIQ)Q!i@i @i@m0@iQEu EuEu$Eq"Eu:*Eui:VEu4ZEqBEu#y )X,RCMc?A;ɰ;2nH@2AC@2ٱ29wj :AHRS rotation from veh to nav: [[0.776800,0.628802,0.034495],[-0.629744,0.775458,0.045685],[0.001978,-0.057211,0.998360]]2H?`%?J?&? d?3`?J?i2nH@I2];2CYNByRIbDZVDZNy:<% K=ٔ a9Q- >9Y=Fy.:E>9Q 5E}5=?Q 9M}5=F)9YIyM?Q IM@=DI=:i=9:=}5yQɮ}d.Ayi i Ec?AJi ,ARi ,Aji g;@b N7t&/9n<: %[?R Ay򫔷ݿyoU˪?Zi *bi PwVj l9p1ƺB};@i?Z |T.￁q}L?_ɐ?2i q@:i "i $4 H?*i 5Bi Bi ؘ=?i %i pBi MAi rk<@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503720 s, deltaX: -0.200001 m, approachRate: -0.397047 m/s, rangeRepo size: 4 5 Added new target pos. range: 17.896587 m, bearing: 167.773333 deg, lat: 36.779373 deg, lon: -121.859745 deg, deltaT: 0.503720 s, deltaX: -0.198851 m, approachRate: -0.394764 m/s, posRepo size: 4 =DNOT Ignoring new targets: 17.90 m.h9h9*h9"h9 hAgAfAfAfAdIdIjdM2@ZdMI?QZZZZ?) $i9)mrii1Fr=II=checking for new query: numPingsReceived=77, elapsed TxPingTime=37.322300m9@i @i@m4@iԁ^AV<ԱIIO>E  E E E "E :*E ]t:VE ZE a @a @a @a @ DDAT read: Rx Time:05:39:24.2751  TRx dataTimestamp_ set to:1761543565.596611 PDAT read: Bearing 309.2, -27.2 (Local)  ~Local bearing/azimuth received: Bearing 309.2, -27.2 (Local)  DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 - DAT read: 05:39:24.2751 LVL= 30448, 18385, 22706, 32755, AGC= 63, IDX= 511,-0.36,-2.923,-0.755,-1.897,-1.667, PHS=-1.154, 0.957,-0.274, RAW= 305.5, 5.2, CAL= 303.1, 3.1, ROT= 206.9, -3.1 5 Ygot valid direction response: 05:39:24.2751 LVL= 30448, 18385, 22706, 32755, AGC= 63, IDX= 511,-0.36,-2.923,-0.755,-1.897,-1.667, PHS=-1.154, 0.957,-0.274, RAW= 305.5, 5.2, CAL= 303.1, 3.1, ROT= 206.9, -3.1 5 T#Rx 78: Read range and direction messages.= `direction in FSK: [-0.890493,-0.451773,0.054079]= Fpublishing direction and range infoy  IJ~Y.{ܿʾ7?Y A v G X ) I Fi t? I @ ޹= qH@ k]=) g@I k] G.2+\f挹? B) /I +i k]RX,"gc?Achecking for new query: numPingsReceived=78, elapsed TxPingTime=37.592007I@C@ۺٱj`k AHRS rotation from veh to nav: [[0.776845,0.628725,0.034865],[-0.629689,0.775504,0.045671],[0.001677,-0.057433,0.998348]]H??@١?i&?`7b?z[?g`w?iI@I|];CYByI 99AAQiMb@Mb@Mb@ 9&1B`"۹?{Gzt?YPy=AA )AYAbDVDJ2y%#=ٔ:Q->9Y=Fy!9E>)Q 55}5-?Q 95}5-'E)-;BY5=Q E=;y=?Q I=@-DI-@:i-j:-}5yAɮE.AAii.fc?AJiÐARiÐAjiJ;@br\~%0ϻoY Jp~P?RIJ~Y.{ܿʾ7?Zi+bik]jê1,h.@Z"?ZN9Tp*￱Vޖ>?y?2iv@:i"i׆9?*iBi̓Bi׆9?iiBiAi~<@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503990 s, deltaX: 0.200001 m, approachRate: 0.396835 m/s, rangeRepo size: 4 % Added new target pos. range: 18.095438 m, bearing: 167.671874 deg, lat: 36.779373 deg, lon: -121.859743 deg, deltaT: 0.503990 s, deltaX: 0.198851 m, approachRate: 0.394553 m/s, posRepo size: 4 -DNOT Ignoring new targets: 18.10 m.h)h)*h)"h) h)g1f1f1f5RBd9d9jd=@332@Zd=?Z}=Z}=Z}u@Z} ?ۺ) .i$9)顽~ii1=IIԁEchecking for new query: numPingsReceived=78, elapsed TxPingTime=37.825371B]h>BYB]IB]BB] =BYBYB] j;B]_)Eu9@q @q@u4@qԱ ^A} 9=I I O >:X,c?A:K@:vF@:ٱ:k@ FAHRS rotation from veh to nav: [[0.777047,0.628456,0.035213],[-0.629441,0.775714,0.045524],[0.001295,-0.057539,0.998342]]:H`?P?n? a$?@N?`7U?`uk?i:K@I:];:CYRByRIbD^VD^0yfG%f=ٔfΦ:Q-f?9hYh=jFyhn:En?pQ 5v}5rS?Q 9v}5rKD)pYtyv?Q Iv@rDIrB:ir:r}5y|ɮ~.A|%DNOT Ignoring new targets: 18.10 m.h!h)*h)"h) h)g)f)f1f1d1d1jd1Zd=O?ZYZYZYZ]?m)q u0iu9)quۃqiqi}1y=IIEE EEEE)EA"EE:*EExv:VEEFA4ZEABEE M checking for new query: numPingsReceived=79, elapsed TxPingTime=38.328590LiX,c?A@@N@cI@ٱ2k  AHRS rotation from veh to nav: [[0.777272,0.628177,0.035240],[-0.629163,0.775951,0.045310],[0.001118,-0.057390,0.998351]]Hj??` ?`"?@2?7RR?9b@~?iN@I5g];CYMByUIi Mb@Mb@Mb@     9  ףp= J +?~jtx?Y Q8y = ; xA  A fA)  Y AbD%VD%y5}%5)=ٔ=U9Q-=>99Y9==Fy9ENA:EE>IQ 5U}5Mk?Q 9U}5MB)IY]1=Q E];y]?Q I]@MDIMj:iM:M}5yaɮe.Aiiic?AJi,ARi,Aji;@b 8/K_ G{by?ROe,\QHGݿ M?ZiJ*biCj} nm1CC{ @S0G^?Z葖A)￟i^ o[?Aٗ?2ik@:ik"iK?*i#BibBiD?i5iBi&AiJ;@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.505074 s, deltaX: -0.200001 m, approachRate: -0.395983 m/s, rangeRepo size: 4  Added new target pos. range: 17.896618 m, bearing: 168.060206 deg, lat: 36.779374 deg, lon: -121.859742 deg, deltaT: 0.505074 s, deltaX: -0.198820 m, approachRate: -0.393646 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffNBddjd2@Zdv?!bE-4jE-4rE#0EA EEEE'EA"EA*EEVL:VEE'4ZEAaM@aM@aM@aM@Z}1=Z}1=Z}@Z}j?) 0i<9)顕PiDDAT read: Rx Time:05:39:25.2751 TRx dataTimestamp_ set to:1761543566.604717PDAT read: Bearing 307.7, -27.3 (Local) ~Local bearing/azimuth received: Bearing 307.7, -27.3 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 DAT read: 05:39:25.2751 LVL= 32752, 23057, 24850, 32755, AGC= 64, IDX= 511,-0.14,-2.365,-0.195,-1.336,-1.085, PHS=-1.179, 0.935,-0.295, RAW= 305.4, 5.9, CAL= 303.0, 4.5, ROT= 207.0, -4.5 Ygot valid direction response: 05:39:25.2751 LVL= 32752, 23057, 24850, 32755, AGC= 64, IDX= 511,-0.14,-2.365,-0.195,-1.336,-1.085, PHS=-1.179, 0.935,-0.295, RAW= 305.4, 5.9, CAL= 303.0, 4.5, ROT= 207.0, -4.5 T#Rx 80: Read range and direction messages.`direction in FSK: [-0.888260,-0.452591,0.078459]Fpublishing direction and range infoy!l쿬Ac@ܿ5;?YAZa )Iy閿i)\o?= J@B=%:@ |٠=)8g@I|٠oj:M3c? :C)yӽI*i|٠checking for new query: numPingsReceived=80, elapsed TxPingTime=38.596676i1F=IIIi@i @i@m_1@i@ugA@ugAy ^A y=I I O >X,oֵc?AB.~>B.ߍCB.IB.BB. =B,B.nDB.4j;B.)E>checking for new query: numPingsReceived=80, elapsed TxPingTime=38.832661dgP@:K@'Gvٱj UAHRS rotation from veh to nav: [[0.777414,0.628000,0.035262],[-0.628989,0.776106,0.045074],[0.000939,-0.057221,0.998361]]H?`? ? @?`?N?`L?igP@I>];CYeByeIIm=)m<bD}VD}0y8:%\=ٔ9Q->9Y=Fy:E>Q 5}5A ?Q 9}5A)Y1y5?Q I=@DIo9hYh=jFyhjn:En>lQ 5}5n_ ?Q 9}5n@)lYy?Q I@nDInX,vc?A2V@2zQ@2%ٱ2Eh BAHRS rotation from veh to nav: [[0.777894,0.627415,0.035092],[-0.628396,0.776623,0.044444],[0.000632,-0.056625,0.998395]]2H????`k?D?`?i2V@I2+];2CYNԀByNtIxi5Mb@Mb@Mb@1111 195/$Zd;O?9)Y)=-Fy)-}:E5>1Q 5=}55V ?Q 9E}55i?)5BCBxIB׀BB =BCDBqDB'j;B)EBiBmލCBm•CBiBm =Cm¢6checking for new query: numPingsReceived=82, elapsed TxPingTime=39.840553ii,Fc?AJiǐARiǐAjif ;@bCp0Hjh0 ??RٰvK0ܿ|ӄ{?Zi<+bijGN1( r9@kX0@Z$0₩h`?6d?2iy@:iR"idAE?*iBi BidAE?iP.iBirAi';@M addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504990 s, deltaX: 0.200001 m, approachRate: 0.396049 m/s, rangeRepo size: 4 ] Added new target pos. range: 18.097305 m, bearing: 167.454459 deg, lat: 36.779374 deg, lon: -121.859740 deg, deltaT: 0.504990 s, deltaX: 0.199797 m, approachRate: 0.395645 m/s, posRepo size: 4 }DNOT Ignoring new targets: 18.10 m.hh*h"h hgfff5Bddjd@332@ZdŦ?Z=Z=Z6?Zڷ?%) 0i9)i!i]1ae =IiIqg9I)M9@I @I@M/@I@U=@U=aE  E E &E "E :*E V:VE 4ZE BE o%I $i Ck? ף `@ z0= @ ) Sf@I (ן`}N(!V? EB) -I +i 5 checking for new query: numPingsReceived=83, elapsed TxPingTime=40.116142^A  =I I O >Y, 7 d?AJX@JS@JٱJńg MAHRS rotation from veh to nav: [[0.778054,0.627214,0.035140],[-0.628197,0.776796,0.044236],[0.000448,-0.056493,0.998403]]JH ? #??1@??c=?쬿?iJX@IJwJ];JCYY5΀By5mI 99bDMVDMy]I%]G=ٔ])9Q-e>9aYa=eFyam'#:Em>Q 5}58 ?Q 9}5W>)=BYy?Q I@DI:ip:}5yɮ/Aii„d?AJi/ARi/Ají:@b+]/bx#6ED?R\PA/!ܿ|ӄ{?Zi+bijm5ƟP1A@:@Zǀ9u?1N?2i:@:i"i Y?*iBi BiK?i˔iBiAi#;@] addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503820 s, deltaX: -0.200001 m, approachRate: -0.396969 m/s, rangeRepo size: 4  Added new target pos. range: 17.898432 m, bearing: 166.969786 deg, lat: 36.779375 deg, lon: -121.859739 deg, deltaT: 0.503820 s, deltaX: -0.198874 m, approachRate: -0.394731 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjd2@Zd`?ZZZZ?%)! M3iM9)QUQiQi]1Y] =IaԉIchecking for new query: numPingsReceived=83, elapsed TxPingTime=40.344639Թ9 9@  @ @ @ @ @ @ @ D1 D5 %=E=  E= E9 E9 "E= :*E= P:VE9 ZE9 aE @aE @aE @aE @ DDAT read: Rx Time:05:39:27.2750  TRx dataTimestamp_ set to:1761543568.620682 PDAT read: Bearing 306.4, -26.4 (Local)  ~Local bearing/azimuth received: Bearing 306.4, -26.4 (Local)  DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0  DAT read: 05:39:27.2750 LVL= 29152, 21809, 23154, 31699, AGC= 63, IDX= 510, 0.29,-2.142, 0.014,-1.145,-0.862, PHS=-1.177, 0.921,-0.327, RAW= 306.2, 6.4, CAL= 303.9, 5.6, ROT= 206.1, -5.6  Ygot valid direction response: 05:39:27.2750 LVL= 29152, 21809, 23154, 31699, AGC= 63, IDX= 510, 0.29,-2.142, 0.014,-1.145,-0.862, PHS=-1.177, 0.921,-0.327, RAW= 306.2, 6.4, CAL= 303.9, 5.6, ROT= 206.1, -5.6  T#Rx 84: Read range and direction messages. `direction in FSK: [-0.893742,-0.437840,0.097583] Fpublishing direction and range infoy  J)ܿA_1?Y q 1U rZ {) ?I 𧖿i k? l @ = Ӻ@ +=) F7f@I +Ƚ  S￶uGT5? B ) I o+i +Ƚ checking for new query: numPingsReceived=84, elapsed TxPingTime=40.613056IIO>l Y,S*d?AhhX@S@ඹٱ$h AHRS rotation from veh to nav: [[0.778053,0.627206,0.035313],[-0.628199,0.776791,0.044291],[0.000349,-0.056645,0.998394]]H??@?4 y?X?6? ?iX@I-];CaYByeZIiuMb@Mb@Mb@qqqq q9uL7A`堿/$?~jtx?Yu+yu=u;uxAu A ufA)uAqYqbDVDk1yVi%=ٔD9Q->9Y=FyqE>Q 5}5n ?Q 9}5%=)Y==Q E/ߜX^?RMJ)ܿA_1?ZiMo+biM+ȽjM,ϓAL1f'@t@ZM8mj?5x5?2iM?@:iMe"iMu[?*iMBiMBiM:.S?iMiM BiMAiM=;@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 17.898432 m, bearing: 166.858560 deg, lat: 36.779375 deg, lon: -121.859738 deg, deltaT: 0.503204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EDNOT Ignoring new targets: 17.90 m.hAhA*hA"hA hAgIfIfqfu BdydyjdyZd}/?ԑZ==Z==Z?Z?ඹ) 0i9))ii1 =IA AAA B>BCB_IBÀBB =BBBi;Bv)EI }checking for new query: numPingsReceived=84, elapsed TxPingTime=40.849476%9@) @)@)@)IiIO> Y, Dd?A2W@2R@2O+ٱ2h :AHRS rotation from veh to nav: [[0.777995,0.627273,0.035399],[-0.628271,0.776727,0.044408],[0.000361,-0.056789,0.998386]]2HU????`?i7?u?i2W@I2 ];2CYNByROIbDXVDXy{T%=ٔ%#Q-% ?9!Y)=-Fy)-E- ?1Q 5=}55'?Q 9E}55m<)5>BYAyE?Q IE@5DI5 ;i5 ;5_}5yIɮM0AQE EE)E"E:*E]t:VEFA4ZEBEIirh?/ݤ@V=;@ %=)wpf@I%˽) 歺Q*? VB)g=I>+i%˽checking for new query: numPingsReceived=85, elapsed TxPingTime=41.154079@ @@0@IIO>)  checking for new query: numPingsReceived=85, elapsed TxPingTime=41.352432a 4Y,8^d?A%X@%S@% ٱ%h ]AHRS rotation from veh to nav: [[0.778058,0.627193,0.035427],[-0.628192,0.776791,0.044385],[0.000319,-0.056789,0.998386]]%H?@?#?&y? ?`?4?|?i%X@I%8];%CYByNII<)=iMb@Mb@Mb@ 9y&1{Gz?Y`eyף=A |A)5AYQAbDVDyj%2=ٔ8Q->9Y=Fyqe9E>Q 5}5?Q 9}5;)=BYT=Q E#+bi%˽jt+ʝ61Jx#@/@ZZ8=t?LhG?2iA}@:i"id)e?*ia|BiBi Y?iiBiPAi:@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504136 s, deltaX: -0.100000 m, approachRate: -0.198360 m/s, rangeRepo size: 4  Added new target pos. range: 17.799311 m, bearing: 167.053319 deg, lat: 36.779376 deg, lon: -121.859736 deg, deltaT: 0.504136 s, deltaX: -0.099121 m, approachRate: -0.196616 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfff%Bddjd`f1@Zd@}?Z5T=Z5T=Z5ԡ B >B CB FIB BB B B rDB Ni;B ))EKY,wd?A;ɰ&checking for new query: numPingsReceived=86, elapsed TxPingTime=41.856537LYEByE:IbDVDfyï%^=ٔQ->9Y=%Fy!=EE>yQ 5}5}?Q 9}5}:)}6@ rˉ>?R% xyw%Vܿ0L3?Zi%+bi%޹j%Nm1Ff@*qr]@Z%;wKs^6?H$~?2i%N@:i%;"i%%K?*i%Bi%҄Bi!i%a|i!i%{Ai%:@m addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504217 s, deltaX: 0.300001 m, approachRate: 0.594984 m/s, rangeRepo size: 4 } Added new target pos. range: 18.097998 m, bearing: 167.179334 deg, lat: 36.779376 deg, lon: -121.859736 deg, deltaT: 0.504217 s, deltaX: 0.298687 m, approachRate: 0.592378 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffddjd@332@Zd B?ZZZZ) d@iz9)Aii%1!!I!IQ@Q @Y@]?0@YE EE&E"E[:*Ei:VE4ZEBE~2$Y,(d?A2Z@2U@2a+ٱ2f :AHRS rotation from veh to nav: [[0.778206,0.627021,0.035227],[-0.628009,0.776966,0.043911],[0.000163,-0.056295,0.998414]]2H?? 9 ? ?{? 3l%? Ҭ`?i2Z@I2Y];2CY^By`bDhVDhyr%rY=ٔr9Q-r>9tYx=zFyx):E >Q 5-}5'?Q 9-}5,:);BY1y5\?Q I5@DIR;i"A;}5yIɮMm1AIi1i5Ld?AJi51ARi51Aji5;@b57(ky/p a-r?R5Qt {TʿܿaVX?Zi5<+bi5 Ľj5ʼ.X1*@>pI@Z5j￐Eˊ?X?2i5}v@:i5Ċ"i5v\?*i5+Bi5Bi5u[?i1i5 Bi5PAi5:@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504528 s, deltaX: -0.200001 m, approachRate: -0.396412 m/s, rangeRepo size: 4  Added new target pos. range: 17.899118 m, bearing: 167.481283 deg, lat: 36.779376 deg, lon: -121.859736 deg, deltaT: 0.504528 s, deltaX: -0.198879 m, approachRate: -0.394189 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjd2@ZdE  E E $E "E :*E V:VE 4ZE a @a @a @a @ DDAT read: Rx Time:05:39:29.2751  TRx dataTimestamp_ set to:1761543570.636763 PDAT read: Bearing 306.4, -26.7 (Local)  ~Local bearing/azimuth received: Bearing 306.4, -26.7 (Local) - DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 U DAT read: 05:39:29.2751 LVL= 32224, 18833, 21650, 32755, AGC= 61, IDX= 511,-0.10, 2.258,-1.882,-3.021,-2.750, PHS=-1.173, 0.914,-0.315, RAW= 305.8, 6.4, CAL= 303.5, 5.4, ROT= 206.5, -5.4 ] Ygot valid direction response: 05:39:29.2751 LVL= 32224, 18833, 21650, 32755, AGC= 61, IDX= 511,-0.10, 2.258,-1.882,-3.021,-2.750, PHS=-1.173, 0.914,-0.315, RAW= 305.8, 6.4, CAL= 303.5, 5.4, ROT= 206.5, -5.4 ] T#Rx 88: Read range and direction messages.e `direction in FSK: [-0.890963,-0.444218,0.094108]e Fpublishing direction and range infoy   Âsnܿ|ӄ{?Y A } I T ) I $i i? G {ʪ@ @ =) f@I  OӢ{׶]j? +B) @I v+i   checking for new query: numPingsReceived=88, elapsed TxPingTime=42.628510|*Y,d?AUZ@UU@UU> 8ٱUe AHRS rotation from veh to nav: [[0.778219,0.627005,0.035209],[-0.627993,0.776998,0.043577],[-0.000034,-0.056023,0.998429]]UH+?`m?`?*?O?ʧ `"?iUZ@IUQ];UCYuByu4I yyAiMb@Mb@Mb@ 99Y=Fy%8E>Q 5}5?Q 9}5a9)Y=Q EGBCB-IBBB =BBtDB i;B)E addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503200 s, deltaX: 0.200001 m, approachRate: 0.397458 m/s, rangeRepo size: 4  Added new target pos. range: 18.097998 m, bearing: 167.289601 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.503200 s, deltaX: 0.198879 m, approachRate: 0.395229 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffBddjd@332@Zd a?%checking for new query: numPingsReceived=88, elapsed TxPingTime=42.864525Ze=Ze=Zeh?Ze|?uU> 8)q :iY9)顭Ŷii1IIԁ9@ @@4@ԡ ^A Nw =I I O >1Y,yd?AE, E.E.&E,"E,*E.c:VE.4ZE,BE.29aYa=eFyaw3E>Q 5}5?Q 9}58)Yy[?Q I@DI:i :}5yɮ1Ai\i^d?AJi^2ARi^2Aji^:@b^h/e;CD_s?R^xN10{ERtPܿaVX?Zi^tY+bi^ Ľj^(DU1Y/@\JU@Z^lg>i?bE?2i^}y@:i^"i^\_?*i^v!LBi^Bi^v\?i^v!Li^Bi^wAi^:@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504023 s, deltaX: -0.200001 m, approachRate: -0.396809 m/s, rangeRepo size: 4  Added new target pos. range: 17.899567 m, bearing: 167.326261 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.504023 s, deltaX: -0.198431 m, approachRate: -0.393694 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjd2@ZdS?ZAZAZAZEU[?UO]9)Q UN?Yi9)顽˶ii1v=IIu9@q @q@}/@yԉmchecking for new query: numPingsReceived=89, elapsed TxPingTime=43.369122^A =I I O >n7Y,Ld?Au6N@u I@u.:ٱu!i AHRS rotation from veh to nav: [[0.777246,0.628148,0.036310],[-0.629197,0.776011,0.043796],[-0.000666,-0.056886,0.998380]]uH2??(?a"?jl?E) ?iu6N@Iu];qYBy%IԱiUMb@Mb@Mb@QQQQ Q9UMb`?X9v?Mbp?YU;yU}=U;UAQ U|A)UAQYUAbDmVDm1y}%}H=ٔ:|:Q->9Y=FyE>Q 5~5 ?Q 9~5V8)Y~=Q EUB B B !IB BB =B B B ~i;B I)E1 } checking for new query: numPingsReceived=90, elapsed TxPingTime=43.872444>Y,-d?AeL@eG@ea-:ٱe9i uAHRS rotation from veh to nav: [[0.777133,0.628257,0.036833],[-0.629335,0.775908,0.043630],[-0.001169,-0.057087,0.998369]]eHF?? ۢ? #>?V?%St:?ieL@Ie];aYBy"II=)4<== ;bDVDyJ%U=ٔ:Q->9Y=FyE> Q 5~5r?Q 9~57)Yy[?Q I@I:i:~5y!ɮ%2A)iiAJd?AJiɐARiɐAji:@b'N0._,  ?R'mlܿO4?Zi<+bi^ ڽj_ـ1`@l@Ho+4@ZArO?$?2ib{@:i"izT?*i<Bi^BizT?iiikAi;@u addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504371 s, deltaX: 0.200001 m, approachRate: 0.396535 m/s, rangeRepo size: 4  Added new target pos. range: 18.098520 m, bearing: 167.351990 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.504371 s, deltaX: 0.198954 m, approachRate: 0.394459 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffddjd@332@Zd!q?ZZZZ[?a-:) >i+9)顅0׶\ii1m=II99@A @A@E/@A CMԀGay,9Y0ADDAT read: Rx Time:05:39:30.7750 TRx dataTimestamp_ set to:1761543572.148832PDAT read: Bearing 305.8, -26.9 (Local) ~Local bearing/azimuth received: Bearing 305.8, -26.9 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 %DAT read: 05:39:30.7750 LVL= 32224, 16945, 21874, 32755, AGC= 60, IDX= 510, 0.22, 2.901,-1.238,-2.367,-2.094, PHS=-1.186, 0.901,-0.317, RAW= 305.5, 6.7, CAL= 303.2, 6.0, ROT= 206.8, -6.0 -Ygot valid direction response: 05:39:30.7750 LVL= 32224, 16945, 21874, 32755, AGC= 60, IDX= 510, 0.22, 2.901,-1.238,-2.367,-2.094, PHS=-1.186, 0.901,-0.317, RAW= 305.5, 6.7, CAL= 303.2, 6.0, ROT= 206.8, -6.0 -T#Rx 91: Read range and direction messages.5`direction in FSK: [-0.887696,-0.448408,0.104528]5Fpublishing direction and range infoyڕhiǵܿ4ޮ`º?YA}1BrU )IΗif?M@V@ Pw=)qf@IPwֽM <>o̓ͽ? B)UID +iPwֽUchecking for new query: numPingsReceived=91, elapsed TxPingTime=44.140953E EE%E"E:*E:VE 4ZEBE+ԑ DY,e?A,ɰ,J2J@JE@J#K:ٱJ͋i ^AHRS rotation from veh to nav: [[0.776936,0.628483,0.037128],[-0.629577,0.775733,0.043262],[-0.001612,-0.056987,0.998374]]JH??z?~%`?w&?ciZj- ?iJ2J@IJ^;JCY|y|bD VD 0y:%X=ٔ%{:Q-%>9!Y!=-Fy)-XE->1Q 5=~55?Q 9=~55e7)1YAyE[?Q IE@5DI5;i5;5~5yIɮM2AIiiw e?AJi2ARi2Aji;@b(C1;d/vj{ ??Rڕhiǵܿ4ޮ`º?ZiD +biPwֽjQ17E@H$@Zߖ_ݔR*?pAE?2iv@:i"ig6e?*i~BiEBiv\?i~iBiĎAiq;@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503675 s, deltaX: -0.200001 m, approachRate: -0.397083 m/s, rangeRepo size: 4  Added new target pos. range: 17.899635 m, bearing: 167.441617 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.503675 s, deltaX: -0.198885 m, approachRate: -0.394868 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjd2@ZdG?ZZZZG[?#K:) >i9)ܶ0i i 1"=IIqDDAT read: Rx Time:05:39:31.2750 TRx dataTimestamp_ set to:1761543572.4254145PDAT read: Bearing 306.0, -27.0 (Local) =~Local bearing/azimuth received: Bearing 306.0, -27.0 (Local) @ @@0@DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 -Z#Rx 92: Read range message, but no direction.yY5checking for new query: numPingsReceived=92, elapsed TxPingTime=44.441620ԙ^A{=IIO> DAT read: 05:39:31.2750 LVL= 32368, 16449, 23218, 32755, AGC= 60, IDX= 510, 0.41, 2.680,-1.458,-2.584,-2.316, PHS=-1.186, 0.903,-0.313, RAW= 305.4, 6.6, CAL= 303.0, 5.9, ROT= 207.0, -5.9  Ygot valid direction response: 05:39:31.2750 LVL= 32368, 16449, 23218, 32755, AGC= 60, IDX= 510, 0.41, 2.680,-1.458,-2.584,-2.316, PHS=-1.186, 0.903,-0.313, RAW= 305.4, 6.6, CAL= 303.0, 5.9, ROT= 207.0, -5.9  Z#Rx 93: Read direction message, but no range. `direction in FSK: [-0.886287,-0.451586,0.102793]y  e'u\쿿ŏܿzBP? p~ A@ Z ) I i +g? AE  E E #E "E ,:*E 1]:VE 3ZE a @a @a @a @ J@ = %:@ B=) 8g@I Bҽ y4~8(QeȺ:*|? SC) kI *i Bҽ5 checking for new query: numPingsReceived=93, elapsed TxPingTime=44.671017 )KY,.e?AF_F@F2A@Fz;ٱFg NAHRS rotation from veh to nav: [[0.776642,0.628846,0.037158],[-0.629940,0.775469,0.042705],[-0.001960,-0.056574,0.998397]]FH???g?w(?`aݥ?@]` 8@?iF_F@IF]^;FCYnByn)IiMb@Mb@Mb@ 9&1?{Gz?YyP=#<A A)AYAbDVD1y<%>=ٔT:Q->9Y=FyE>Q 5~5?Q 9~56)BiBmIBmBBm =BiBmsDBmj;Bm)EB5CB5CB5ĔCB5 =B5 =C5X16x>i>DDAT read: Rx Time:05:39:31.7750  TRx dataTimestamp_ set to:1761543572.9280425PDAT read: Bearing 305.5, -27.0 (Local) =~Local bearing/azimuth received: Bearing 305.5, -27.0 (Local) ]DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 mZ#Rx 94: Read range message, but no direction.yYchecking for new query: numPingsReceived=94, elapsed TxPingTime=44.9204149@ @@0@I ^A ;=I I O >8RY,JHe?A YBy$I !%A!%@AbD-UDAT read: 05:39:31.7750 LVL= 32752, 20385, 24914, 32755, AGC= 60, IDX= 510,-0.33, 0.061, 2.200, 1.079, 1.351, PHS=-1.189, 0.894,-0.317, RAW= 305.4, 6.8, CAL= 303.0, 6.2, ROT= 207.0, -6.2 eYgot valid direction response: 05:39:31.7750 LVL= 32752, 20385, 24914, 32755, AGC= 60, IDX= 510,-0.33, 0.061, 2.200, 1.079, 1.351, PHS=-1.189, 0.894,-0.317, RAW= 305.4, 6.8, CAL= 303.0, 6.2, ROT= 207.0, -6.2 eZ#Rx 95: Read direction message, but no range.m`direction in FSK: [-0.885795,-0.451335,0.107999]y1E EE&E"E*EX:VE4ZEBE9YYa=eFyaeEe>Q 5~5?Q 9~5}6)>BYyQ I@I:i:j~5yɮ1AAi)i- e;e?AJi)Ri)ji-8;@b-v/D( @?R-\/nX쿳i5ܿNiإ?Zi)bi-kݽj-/}R1:Ecq@fH_X@Z-c6?ԽJ?2i-s@:i-"i-ag?*i-dBi-iBi-Ve?i-v!Li-EBi-Ai-:;@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.502628 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.899445 m, bearing: 167.609111 deg, lat: 36.779377 deg, lon: -121.859735 deg, deltaT: 0.502628 s, deltaX: -0.000191 m, approachRate: -0.000379 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffdd!jd!Zd%@?ZAZAZAZAQ)Y ]Gi]9)y}궉gռii1e|=IIq}9 DDAT read: Rx Time:05:39:32.2751 % TRx dataTimestamp_ set to:1761543573.434171= PDAT read: Bearing 306.2, -27.2 (Local) U ~Local bearing/azimuth received: Bearing 306.2, -27.2 (Local) u DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 ԩ  Z#Rx 96: Read range message, but no direction.y Y A = checking for new query: numPingsReceived=96, elapsed TxPingTime=45.443302u 9@q  @q @} /@y @ gA@ gA ^Ar=IIO?YY,ie?AzDAT read: 05:39:32.2751 LVL= 31728, 17761, 22370, 32755, AGC= 60, IDX= 511,-0.15, 1.336,-2.789, 2.370, 2.630, PHS=-1.192, 0.909,-0.304, RAW= 305.1, 6.5, CAL= 302.7, 5.6, ROT= 207.3, -5.6 ~Ygot valid direction response: 05:39:32.2751 LVL= 31728, 17761, 22370, 32755, AGC= 60, IDX= 511,-0.15, 1.336,-2.789, 2.370, 2.630, PHS=-1.192, 0.909,-0.304, RAW= 305.1, 6.5, CAL= 302.7, 5.6, ROT= 207.3, -5.6 Z#Rx 97: Read direction message, but no range. `direction in FSK: [-0.884376,-0.456461,0.097583]yhjKcL쿍Ցf6ݿA_1?hj{jaEjbW h)hIjuij9h?j㥛jff@jV=jA@ j+=)jkg@Ij+Ƚhjb^$׃KE? j{\C)jXIjJ*ij+Ƚ%checking for new query: numPingsReceived=97, elapsed TxPingTime=45.666252D1zD5?AE= E=E=%E9"E=:*E=ga:VE= 4ZE9aE@aE@aE@aE@YByIi5Mb@Mb@Mb@1111 195~jty&1?~jt?Y5Dy5`e=5D<5A5h Aa 5|A)5A1Y5AbDVDy%=ٔQ->9Y=FyE>Q 5~5M?Q 9~55)@BYo=Q EbBCBIBBB =BBuDBnj;B)E9@ @@/@DDAT read: Rx Time:05:39:32.7750 TRx dataTimestamp_ set to:1761543573.937954PDAT read: Bearing 306.3, -26.8 (Local) ~Local bearing/azimuth received: Bearing 306.3, -26.8 (Local)  DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0  Z#Rx 98: Read range message, but no direction.yYA checking for new query: numPingsReceived=98, elapsed TxPingTime=45.942516Թ ^AI IY Ii Ou >`Y,e?A2;@26@2t;ٱ2,Dd8 >AHRS rotation from veh to nav: [[0.775827,0.629798,0.038029],[-0.630934,0.774759,0.040868],[-0.003725,-0.055700,0.998441]]2H?N'?|x? 0?@? nఄ9?i2;@I2_;2CYfByf,IbDnVDnNyv=%v=ٔzc;Q-z ?9xY|=~Fy|~vE~ ?Q 5 ~5?Q 9 ~5Q5)BBYyX?Q I@DI;i;~5yɮ1A!U addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503783 s, deltaX: -0.200001 m, approachRate: -0.396998 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 18.10 m.hQhQ*hQ"hY hYgYfYfYfadadajde2@Zde@?ZZZZX?t;) %;i>9)顥7ii1/:*E%k:VE%(N4ZE!BE%  DDAT read: Rx Time:05:39:33.2751  TRx dataTimestamp_ set to:1761543574.440317 PDAT read: Bearing 306.7, -26.9 (Local)  ~Local bearing/azimuth received: Bearing 306.7, -26.9 (Local)  DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 [gY,`e?A>\#Rx 100: Read range message, but no direction.yYABchecking for new query: numPingsReceived=100, elapsed TxPingTime=46.456413lva8@v43@va;ٱve eAHRS rotation from veh to nav: [[0.775558,0.630077,0.038892],[-0.631260,0.774509,0.040572],[-0.004559,-0.056017,0.998419]]vH _?`)??G3 ?Ť?9r`F@ ?iva8@Iv%-_;vCYBy&I== p<4<bDVD:3yء%;=ٔ:Q->9Y=Fy \}E >9Q 5m~5=?Q 9u~5=4)=DBYqyuF?Q Iu@=DI=;i=!;=~5yyɮ1Aii'.e?AJiʐARiʐAji*;@b;A RM 0j[ ?S?R8-aVŏܿaVX?Zi*bi Ľj1# @ 8@Zޘ￁O\? y?2iw@:iG"iZX?*i)BiBiii=Bi@Ait;@u addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.502363 s, deltaX: 0.200001 m, approachRate: 0.398120 m/s, rangeRepo size: 4  Added new target pos. range: 18.098862 m, bearing: 167.558316 deg, lat: 36.779377 deg, lon: -121.859735 deg, deltaT: 1.006146 s, deltaX: 0.000534 m, approachRate: 0.000531 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffddjd@332@Zd ?Z1Z1Z1Z5F?Ma;)Q U\=iU{9)QUU9iQi]1aeleV ):I𧖿irh?bff@z0=@ ޹=)qg@I޹-'%ƭ￝gζy? XQC)$I*i޹checking for new query: numPingsReceived=101, elapsed TxPingTime=46.685585a ^A= G<IA IY Oe >;mY,t~e?Aɰ66@60@6Q;ٱ6g >AHRS rotation from veh to nav: [[0.775373,0.630239,0.039957],[-0.631480,0.774341,0.040362],[-0.005503,-0.056528,0.998386]]6H ?`*?@Bu?5f?K?@1v,?i66@BB>BBCB@B@BB =B@B@BBj;BB)EI6G_;6CYVByV5Ia]DDAT read: Rx Time:05:39:33.7750 eTRx dataTimestamp_ set to:1761543574.944524PDAT read: Bearing 306.8, -27.2 (Local) ~Local bearing/azimuth received: Bearing 306.8, -27.2 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 \#Rx 102: Read range message, but no direction.yaYeAi-Mb@Mb@Mb@)))) )9-y&1Mb?y&1?Y-`ey-=-`e<-A-9 A ))-A)Y-pAa5checking for new query: numPingsReceived=102, elapsed TxPingTime=46.948006bD=VD=yE&^=%M7=ٔ ;Q->9Y=Fy"&E>Q 5~5#?Q 9~54)FBY3=Q EF@#tY,Ze?A26@2x1@2 ;ٱ2ٽh >AHRS rotation from veh to nav: [[0.775416,0.630124,0.040917],[-0.631417,0.774415,0.039920],[-0.006532,-0.056790,0.998365]]2H5?`)? ?4?`Yp?`z?i26@I2w_;0YVByV4IbDbVDbβy%|=ٔ%'J;Q--?9)Y)=5Fy15Zu9E] ?aQ 5u~5e?Q 9~5e3)eHBYy?Q I@eDIe1;iek;e ~5Թyɮ1A%DNOT Ignoring new targets: 17.90 m.h)h)*h)"h) h)g)f)f1fQdqdqjdyZd}?ZZZZ? ;) Ji9)vii1m9 LzY,P4e?A6@8@63@6s;ٱ6Uh BAHRS rotation from veh to nav: [[0.775535,0.629927,0.041688],[-0.631260,0.774574,0.039321],[-0.007521,-0.056811,0.998357]]6H-?](?#X?H3N?!?`b~Q?i6@8@I6c_;6CiPIPfDAT read: 05:39:34.2751 LVL= 31344, 17217, 20914, 32755, AGC= 58, IDX= 511, 0.43,-1.641, 0.522,-0.591,-0.342, PHS=-1.197, 0.910,-0.293, RAW= 304.7, 6.4, CAL= 302.3, 5.4, ROT= 207.7, -5.4 nYgot valid direction response: 05:39:34.2751 LVL= 31344, 17217, 20914, 32755, AGC= 58, IDX= 511, 0.43,-1.641, 0.522,-0.591,-0.342, PHS=-1.197, 0.910,-0.293, RAW= 304.7, 6.4, CAL= 302.3, 5.4, ROT= 207.7, -5.4 r\#Rx 105: Read direction message, but no range.v`direction in FSK: [-0.881464,-0.462779,0.094108]yPRtxm4",ݿ|ӄ{?PRpzRACRQ R)PE  E E )E "E :*E :VE FA4ZE a@a@a@a@IRL7iRh?RR5-@R=R֨@ R=)Rh@IRPR,N.A~7ƴ~? RC)RnIR*iR5checking for new query: numPingsReceived=105, elapsed TxPingTime=47.690468YBy;I AAi]Mb@Mb@Mb@YYYY Y9]Zd;㥛 ?Zd;O?Y]yy]=]j<]A]h A Y)]AYY]GAquAAbD}VD}k2yV<%=ٔf:Q->9Y=Fy!9E>Q 5~5?Q 9~5#2)MBYq=Q EBBIBBB =BBBj;B)E Added new target pos. range: 18.099030 m, bearing: 168.268806 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.503935 s, deltaX: 0.198891 m, approachRate: 0.394675 m/s, posRepo size: 4 %DNOT Ignoring new targets: 18.10 m.h)h)*h)"h1 hQgYfafifqddjd@332@Zd4?qDDAT read: Rx Time:05:39:34.7751 TRx dataTimestamp_ set to:1761543575.954962PDAT read: Bearing 305.8, -26.6 (Local) ~Local bearing/azimuth received: Bearing 305.8, -26.6 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 \#Rx 106: Read range message, but no direction.yYZ q=Z q=Z @Z 1?5 s;)1 5 Gi= y9)9 = q= i9 iE 1A E ^Y,G f?A2:@25@2a <ٱ2h :AHRS rotation from veh to nav: [[0.775717,0.629647,0.042520],[-0.631022,0.774804,0.038601],[-0.008640,-0.056775,0.998350]]2H?&?9ť?@T12?}ã?ݱ {?i2:@I2,v_;2C@@i@I@@IDiFpUA DD)DH JMr@HHHLLIL)LiL)PIPPP PPVjATiTTiTZiA)Z$ XIXYXYbByb@IvDAT read: 05:39:34.7751 LVL= 32752, 21489, 28530, 32755, AGC= 55, IDX= 511,-0.32, 2.011,-2.134, 3.032,-2.983, PHS=-1.188, 0.894,-0.312, RAW= 305.2, 6.8, CAL= 302.9, 6.1, ROT= 207.1, -6.1 zYgot valid direction response: 05:39:34.7751 LVL= 32752, 21489, 28530, 32755, AGC= 55, IDX= 511,-0.32, 2.011,-2.134, 3.032,-2.983, PHS=-1.188, 0.894,-0.312, RAW= 305.2, 6.8, CAL= 302.9, 6.1, ROT= 207.1, -6.1 ~\#Rx 107: Read direction message, but no range.`direction in FSK: [-0.885172,-0.452966,0.106264]ydfTS쿡rdܿO4?dffSfro d)f7Ifbif/d?fwft@f=f+@ f^ =)f;Ug@If^ ڽdffcBO*y5T? f8C)fV9Ifz*if^ ڽchecking for new query: numPingsReceived=107, elapsed TxPingTime=48.186237E- E-E-'E)"E-:*E-:VE-'4ZE)BE-+9Y=FyMP:E>Q 5~5?Q 9~5/1)QBYy?Q I@DI(;iF;(~5y!ɮ%A1A!Թiie?AJiRijiE;@bF{N0& i}e ?xA?RTS쿡rdܿO4?Ziz*bi^ ڽjgZs1F]y6@ !1@Ze|%?J?2i9u@:i"i\?*i5gBiBiiii|Ai;@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.506503 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.098999 m, bearing: 167.655218 deg, lat: 36.779376 deg, lon: -121.859734 deg, deltaT: 0.506503 s, deltaX: -0.000031 m, approachRate: -0.000060 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffddjdZd5?ZiZiZiZmw?a <) wEi9)\ ii1GƈY,$f?A@Y5By=CIiMb@Mb@Mb@ 9i|?5 ףp= ?Mb?YqyQ=< )YbDVD1y <%3=ٔQ- >9 Y = FyE>Q 5%~5` ?Q 9%~5/)TBY%=Q E%;y%U?Q I-@DI:i/:,~5ԩDAT read: 05:39:35.2751 LVL= 31216, 15185, 21490, 32755, AGC= 56, IDX= 511,-0.18, 1.648,-2.469, 2.703, 2.943, PHS=-1.193, 0.916,-0.284, RAW= 304.6, 6.2, CAL= 302.2, 5.0, ROT= 207.8, -5.0 -Ygot valid direction response: 05:39:35.2751 LVL= 31216, 15185, 21490, 32755, AGC= 56, IDX= 511,-0.18, 1.648,-2.469, 2.703, 2.943, PHS=-1.193, 0.916,-0.284, RAW= 304.6, 6.2, CAL= 302.2, 5.0, ROT= 207.8, -5.0 -\#Rx 109: Read direction message, but no range.=`direction in FSK: [-0.881215,-0.464612,0.087156]ye2쿲N4ݿO?yQ;S bE!4jE$4rE?0EU EUEU)EQ"EU:*EUga:VEUFA4ZEQam@am@am@au@)8I9i~j?sh@k=Ǩ@ ¸=)fh@I¸P : |6=6? iC)5ܽIO*i¸checking for new query: numPingsReceived=109, elapsed TxPingTime=48.700016yEBɮM0AMEii8f?AJiRiji`<@bnot./ïj (=?Re2쿲N4ݿO?ZiO*bi¸jG1Y0 @RB7@ZӆpB}v?>?2ig@:ǐ"iJU?*iBi BiiiirAi<@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.501637 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 18.098999 m, bearing: 168.409072 deg, lat: 36.779376 deg, lon: -121.859734 deg, deltaT: 0.501637 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 18.10 m.hihi*hi"hi higifqfqfu;BdqdyjdZds ?Z=Z=Z @ZU?) Gi#9){8ii1Өi%>B >B CB !IB BB  =B B tDB k;B *E 9@  @ @ @  DDAT read: Rx Time:05:39:35.7750  TRx dataTimestamp_ set to:1761543576.960782 PDAT read: Bearing 306.8, -27.3 (Local)  ~Local bearing/azimuth received: Bearing 306.8, -27.3 (Local)  DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 % DAT read: 05:39:35.7750 LVL= 28528, 15601, 18770, 32739, AGC= 56, IDX= 510,-0.10, 1.139,-2.968, 2.205, 2.446, PHS=-1.205, 0.914,-0.286, RAW= 304.4, 6.3, CAL= 302.0, 5.2, ROT= 208.0, -5.2 - Ygot valid direction response: 05:39:35.7750 LVL= 28528, 15601, 18770, 32739, AGC= 56, IDX= 510,-0.10, 1.139,-2.968, 2.205, 2.446, PHS=-1.205, 0.914,-0.286, RAW= 304.4, 6.3, CAL= 302.0, 5.2, ROT= 208.0, -5.2 - V#Rx 110: Read range and direction messages.= `direction in FSK: [-0.879314,-0.467539,0.090633]E Fpublishing direction and range infoy  f>V#쿝/*ݿ0L3?Y A po < RI ) I q=i i? n P@ z0= +@ ޹=) Vh@I ޹  *`+}lOId3? +D) PI )i ޹ ] checking for new query: numPingsReceived=110, elapsed TxPingTime=48.9561509 ^A V<I I O>ːY,N_Bf?AzcI@z6D@z 9<ٱzVnd AHRS rotation from veh to nav: [[0.776826,0.628187,0.043858],[-0.629615,0.776064,0.036203],[-0.011294,-0.055737,0.998382]]zH@? ?@t?%?,? !?izcI@Iz_;zCY-By-OII5<)5;AbDEVDEk2G )]39YY]`#Ay *=%.=ٔ;Q->9Y=Fys;E>Q 5~5 ?Q 9~5.)WBYy?Q I@DI~;i;0~5yɮO0Ai1i5t}=f?AJi52ARi52Aji5u<@b5rz/l׼ U?R5f>V#쿝/*ݿ0L3?Zi5)bi5޹j5rǼi1e U @iˢt@Z5Nu.!￟jE?ѕ`0?2i5R^@:i5M"i5}e?*i595Bi5=Bi5\?i5i5=Bi5Ai5<<@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504183 s, deltaX: -0.200001 m, approachRate: -0.396683 m/s, rangeRepo size: 4  Added new target pos. range: 17.899744 m, bearing: 168.717847 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.504183 s, deltaX: -0.199255 m, approachRate: -0.395204 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjd2@Zd ?Z!Z!Z!Z%i?i1I1=checking for new query: numPingsReceived=110, elapsed TxPingTime=49.184811] 9<)Y ]Bi]K9)aee;iaim1imr=IiqE EE'E"E:*EVE'4ZEBE>ĖY,|d\f?A8RDDAT read: Rx Time:05:39:36.2751 VTRx dataTimestamp_ set to:1761543577.464665ZPDAT read: Bearing 307.1, -27.5 (Local) ^~Local bearing/azimuth received: Bearing 307.1, -27.5 (Local) fDAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 vDAT read: 05:39:36.2751 LVL= 30704, 16833, 20530, 32755, AGC= 57, IDX= 511,-0.02, 2.772,-1.343,-2.442,-2.210, PHS=-1.199, 0.913,-0.276, RAW= 304.1, 6.2, CAL= 301.7, 4.9, ROT= 208.3, -4.9 ɰ8Ygot valid direction response: 05:39:36.2751 LVL= 30704, 16833, 20530, 32755, AGC= 57, IDX= 511,-0.02, 2.772,-1.343,-2.442,-2.210, PHS=-1.199, 0.913,-0.276, RAW= 304.1, 6.2, CAL= 301.7, 4.9, ROT= 208.3, -4.9 V#Rx 111: Read range and direction messages.`direction in FSK: [-0.877259,-0.472356,0.085417]Fpublishing direction and range infoyTV-dYW.;޿b$ݵ?YVATVwVAV2P V)V9IVxiV^i?VOVkש@Vk=VF@ V%=)V`h@IV%TTV~֛aOGuwd? VjD)VݽIVUs)iV%TTUchecking for new query: numPingsReceived=111, elapsed TxPingTime=49.496304ԩY-By-HIbDEVDEk1yu %uE=ٔuQ-u>9yYy=}FyyE>Q 5~5:!?Q 9~5n-)YBY)y)Q I-@DIBiVBiV\V?iV"!iTiVtAiV<@m addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503883 s, deltaX: 0.200001 m, approachRate: 0.396919 m/s, rangeRepo size: 4  Added new target pos. range: 18.098631 m, bearing: 169.032072 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.503883 s, deltaX: 0.198887 m, approachRate: 0.394708 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffddjd@332@Zd f?Z9Z9Z9Z9I)I MEiM9)qu@uDY,xf?AB.>B.CB.'IB.BB,B,B,B.Qk;B.0*EBCBCBCBB =C36}DDAT read: Rx Time:05:39:36.7750 TRx dataTimestamp_ set to:1761543577.966310PDAT read: Bearing 307.1, -27.5 (Local) ~Local bearing/azimuth received: Bearing 307.1, -27.5 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 \#Rx 112: Read range message, but no direction.yYAchecking for new query: numPingsReceived=112, elapsed TxPingTime=49.9486439\@ W@}<ٱc AHRS rotation from veh to nav: [[0.778228,0.626234,0.046822],[-0.627792,0.777663,0.033431],[-0.015477,-0.055411,0.998344]]H=? ?@??`?A@^n?i9\@I_;CYByFIiEMb@Mb@Mb@AAAA A9EA`"MbX?~jt?YEٽyE=E9qY=FyW;E>Q 5~5p ?Q 9~5+)]BY>Q E;y\?Q I@DI;iL;w8~5yɮ0A addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.501645 s, deltaX: -0.200001 m, approachRate: -0.398690 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfffXBddjd2@Zd 7?Z>Z>Z @Z\?%}<)! -zTi-]9))MMOaY,af?AYEByEKIQQbDYVDYym<%m=ٔmQ-m?9qYq=uFyq}E}?Q 5~5?Q 9~5*)_BYyQ I@DI:i: ;~5yɮk0ADNOT Ignoring new targets: 18.10 m.hh*h"h hgfffddjdZd k?Z!Z!Z!Z!19)9 =RiE,9)AEYEaDDAT read: Rx Time:05:39:37.2751 TRx dataTimestamp_ set to:1761543578.472375PDAT read: Bearing 307.3, -27.9 (Local) ~Local bearing/azimuth received: Bearing 307.3, -27.9 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 DAT read: 05:39:37.2751 LVL= 31184, 16497, 22610, 32755, AGC= 59, IDX= 511, 0.17, 2.993,-1.127,-2.207,-1.988, PHS=-1.201, 0.905,-0.264, RAW= 303.6, 6.2, CAL= 301.2, 4.9, ROT= 208.8, -4.9 Ygot valid direction response: 05:39:37.2751 LVL= 31184, 16497, 22610, 32755, AGC= 59, IDX= 511, 0.17, 2.993,-1.127,-2.207,-1.988, PHS=-1.201, 0.905,-0.264, RAW= 303.6, 6.2, CAL= 301.2, 4.9, ROT= 208.8, -4.9 V#Rx 114: Read range and direction messages.`direction in FSK: [-0.873104,-0.479993,0.085417]Fpublishing direction and range infoywтg4޿b$ݵ?YAyq@RX );I^ig?+@8@ )Z;i@I,|ς'-?? 4D)3ݽI[(i%checking for new query: numPingsReceived=114, elapsed TxPingTime=50.464756ԉԹ ڋY,9Y=Fy7:E>ԑQ 5~5?Q 9~5()Y>Q E;y#?Q I@DI':i/:>~5yɮ0Aiid;f?AJiRijiד=@bUỶ/?_!GH?Rwтg4޿b$ݵ?Zi[(bij,1Æ @I5`@Z7G;N:?g>?2iM@:iO"i iO?*iQBiBBiJU?i95ii$AiZ=@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.506065 s, deltaX: 0.200001 m, approachRate: 0.395208 m/s, rangeRepo size: 4  Added new target pos. range: 18.098454 m, bearing: 169.718607 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 1.007710 s, deltaX: -0.000177 m, approachRate: -0.000176 m/s, posRepo size: 4 -DNOT Ignoring new targets: 18.10 m.h)h)*h)"h1 h1g1f1f1f=]Bd9d9jd=@332@ZdE`?Z>Z>Z@Z#?5<)1 5Yi5d9)9=.=BmCBiBiBm =BiBmrDBmk;BmS*E9@ @@?0@ IIO%>DDAT read: Rx Time:05:39:37.7750 TRx dataTimestamp_ set to:1761543578.977133PDAT read: Bearing 306.9, -27.7 (Local) ~Local bearing/azimuth received: Bearing 306.9, -27.7 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0  DAT read: 05:39:37.7750 LVL= 31536, 18353, 23106, 32755, AGC= 58, IDX= 510, 0.26, 0.933, 3.105, 2.015, 2.243, PHS=-1.208, 0.906,-0.272, RAW= 303.8, 6.3, CAL= 301.4, 5.2, ROT= 208.6, -5.2  Ygot valid direction response: 05:39:37.7750 LVL= 31536, 18353, 23106, 32755, AGC= 58, IDX= 510, 0.26, 0.933, 3.105, 2.015, 2.243, PHS=-1.208, 0.906,-0.272, RAW= 303.8, 6.3, CAL= 301.4, 5.2, ROT= 208.6, -5.2  V#Rx 115: Read range and direction messages. `direction in FSK: [-0.874370,-0.476722,0.090633] Fpublishing direction and range infoyi뿀 ޿0L3?YA0{GBZ ):Iig?C@z0=aU@ ޹=))i@I޹S y¥~ǰ$? D)tI)i޹] checking for new query: numPingsReceived=115, elapsed TxPingTime=50.973591 sY,ef?A>Mg@> b@>w<ٱ>g NAHRS rotation from veh to nav: [[0.779039,0.625015,0.049540],[-0.626709,0.778574,0.032521],[-0.018245,-0.056382,0.998242]]>H ?? J]?`?`? ެ@?i>Mg@I>sY`;>CYnByn>IbDvVDvy~[%f=ٔ>s;Q->9 Y = Fy  ;E >Q 5~5?Q 9%~5x')`BY!y%:?Q I%@DI;i;A~5y)ɮ-0A1iiYf?AJi0ARi0Ajic=@b6L/ J!j! ?Ri뿀 ޿0L3?Zi)bi޹j(q1r @j@Z 90A^?%٨?2iM@:i"iÚa?*i͍BimBiiiiAi=@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504758 s, deltaX: -0.200001 m, approachRate: -0.396231 m/s, rangeRepo size: 4  Added new target pos. range: 17.898903 m, bearing: 169.549934 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.504758 s, deltaX: -0.199551 m, approachRate: -0.395339 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjd2@Zd?ZZZZ:?w<) Zi 9)  )" i i1=III)checking for new query: numPingsReceived=115, elapsed TxPingTime=51.205418EU EUEU$EQ"EU>:*EUAr:VEU4ZEQBEU)I  DDAT read: Rx Time:05:39:38.2750  TRx dataTimestamp_ set to:1761543579.480702 PDAT read: Bearing 307.1, -28.5 (Local)  ~Local bearing/azimuth received: Bearing 307.1, -28.5 (Local)  DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0  DAT read: 05:39:38.2750 LVL= 30912, 18833, 22770, 32755, AGC= 60, IDX= 510, 0.28, 1.219,-2.878, 2.334, 2.545, PHS=-1.224, 0.905,-0.255, RAW= 303.0, 6.3, CAL= 300.5, 5.0, ROT= 209.5, -5.0  Ygot valid direction response: 05:39:38.2750 LVL= 30912, 18833, 22770, 32755, AGC= 60, IDX= 510, 0.28, 1.219,-2.878, 2.334, 2.545, PHS=-1.224, 0.905,-0.255, RAW= 303.0, 6.3, CAL= 300.5, 5.0, ROT= 209.5, -5.0  V#Rx 116: Read range and direction messages. `direction in FSK: [-0.867044,-0.490550,0.087156]% Fpublishing direction and range infoy  uҾx*e߿O?Y x I X ) <I i g? \ %:@ ԧ@ ¸=) j@I ¸ > ӔVS \a? E) 7I 0(i ¸ = checking for new query: numPingsReceived=116, elapsed TxPingTime=51.472446Y,Mf?A@>m@>h@><ٱ>ªg JAHRS rotation from veh to nav: [[0.779513,0.624342,0.050555],[-0.626083,0.779104,0.031900],[-0.019471,-0.056518,0.998212]]>H?@?@g?j?@6U?L﬿Y?i>m@I>b`;>CYVByV4IZ=Z= \^bDbVDb0yfq$%jM=ٔjJ;Q-j>9lYl=%Fy!%:E%>)Q 55~5-?Q 95~5-%))Y9y=S?Q I=@-DI-a;i-;-E~5yɮ1Aiif?AJiRijiKv>@b / ot˃!*8B?RuҾx*e߿O?Zi0(bi¸jtB17Wf@?sT@Z\IM{|.Z?Pپ?2i7;@:i"iR]?*iBiUBiR]?i>iBBi:Ai-=@E addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503569 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.898903 m, bearing: 170.510526 deg, lat: 36.779377 deg, lon: -121.859736 deg, deltaT: 0.503569 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjdZdM!?ԱZiZiZiZmS?-<)) 5^i59)9=&aiiim1qu6=IqIq9@ @@4@!Mchecking for new query: numPingsReceived=116, elapsed TxPingTime=51.714264DQzDU@AE] E]E]%EY"E]:*E]c:VE] 4ZEYam@am@am@am@ ^A= y=II IY Oe >B] >B] CB] !IB] BB] =BY B] qDB] Cl;B] *EY,#f?Apɰp|@w@n<ٱc AHRS rotation from veh to nav: [[0.780631,0.622857,0.051625],[-0.624617,0.780360,0.029879],[-0.021676,-0.055570,0.998219]]H`?@q?n? ??2`si?i|@Ig_;CYBy1IDDAT read: Rx Time:05:39:38.7750 TRx dataTimestamp_ set to:1761543579.988746 PDAT read: Bearing 307.1, -28.7 (Local)  ~Local bearing/azimuth received: Bearing 307.1, -28.7 (Local) DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 EDAT read: 05:39:38.7750 LVL= 30096, 17009, 21234, 32755, AGC= 58, IDX= 509, 0.30, 0.263, 2.451, 1.388, 1.593, PHS=-1.228, 0.903,-0.249, RAW= 302.7, 6.3, CAL= 300.3, 5.0, ROT= 209.7, -5.0 MYgot valid direction response: 05:39:38.7750 LVL= 30096, 17009, 21234, 32755, AGC= 58, IDX= 509, 0.30, 0.263, 2.451, 1.388, 1.593, PHS=-1.228, 0.903,-0.249, RAW= 302.7, 6.3, CAL= 300.3, 5.0, ROT= 209.7, -5.0 MV#Rx 117: Read range and direction messages.U`direction in FSK: [-0.865326,-0.493573,0.087156]UFpublishing direction and range infoyQ=ꭴ߿O?Y3AuqBR ):I/i+g?~A@@ )9Y=Fyx;E>iQ 5~5?Q 9~5$)Y1>Q E;yG?Q I@DI:i<:I~5yɮ1AiiGf?AJidARidAji>@b2.է !lB&?RQ=ꭴ߿O?Zi'bij!1Mj1ӥb:}@$@ZHDO^A7?ւ4 ?2i3@:iR"i,j*d?*iXBi[BiiQiUBiAi.>@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.508044 s, deltaX: -0.100000 m, approachRate: -0.196834 m/s, rangeRepo size: 4 - Added new target pos. range: 17.799244 m, bearing: 170.830484 deg, lat: 36.779377 deg, lon: -121.859736 deg, deltaT: 0.508044 s, deltaX: -0.099659 m, approachRate: -0.196162 m/s, posRepo size: 4 5DNOT Ignoring new targets: 17.80 m.h1h1*h1"h1 h1g9f9fAfEPBdAdAjdE`f1@ZdM˛?Z1>Z1>Z@ZKG?n<) Yi9))ii1=IIԑiߩ I߭ A checking for new query: numPingsReceived=117, elapsed TxPingTime=52.218182E  E E 'E "E :*E g:VE '4ZE BE ia 9@  @ @ 70@ ^A]=AIYIyO ?Z!Y,g?A2@2|@2e<ٱ2a :AHRS rotation from veh to nav: [[0.781003,0.622350,0.052097],[-0.624116,0.780796,0.028950],[-0.022660,-0.055125,0.998222]]2H?J?z? G?@,?*4W9o?i2@I24_;0YFByF0IHHbDNVDNN2yVq%V.=ٔZ ;Q-Z>9XYX=^FfDDAT read: Rx Time:05:39:39.2750 fTRx dataTimestamp_ set to:1761543580.492837jPDAT read: Bearing 307.4, -29.6 (Local) n~Local bearing/azimuth received: Bearing 307.4, -29.6 (Local) vDAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0  DAT read: 05:39:39.2750 LVL= 30192, 17873, 21570, 32755, AGC= 60, IDX= 510, 0.30, 1.584,-2.509, 2.741, 2.922, PHS=-1.236, 0.897,-0.225, RAW= 301.7, 6.2, CAL= 299.3, 4.7, ROT= 210.7, -4.7 Ygot valid direction response: 05:39:39.2750 LVL= 30192, 17873, 21570, 32755, AGC= 60, IDX= 510, 0.30, 1.584,-2.509, 2.741, 2.922, PHS=-1.236, 0.897,-0.225, RAW= 301.7, 6.2, CAL= 299.3, 4.7, ROT= 210.7, -4.7 }V#Rx 118: Read range and direction messages.`direction in FSK: [-0.856961,-0.508826,0.081939]Fpublishing direction and range infoydf>Y9l뿸wMH࿫?YfAdfufEfBT d)f<If?5ifˡe?fffffF@fk=f )@ f=)fZk@Ifddf2Uo jKv^sv? f#G)f ܽIf &ifddchecking for new query: numPingsReceived=118, elapsed TxPingTime=52.496796y\:E>Q 5~5?Q 9~58")_BYy[?Q I@DI$Y9l뿸wMH࿫?Zif &bifjfRDy(1-eְ. @s*S=@ZfJill?(?2ifI @:if"if!CV?*ifXBif=BidifidifAif>@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504091 s, deltaX: 0.100000 m, approachRate: 0.198378 m/s, rangeRepo size: 4  Added new target pos. range: 17.898682 m, bearing: 171.887952 deg, lat: 36.779377 deg, lon: -121.859738 deg, deltaT: 0.504091 s, deltaX: 0.099438 m, approachRate: 0.197261 m/s, posRepo size: 4  DNOT Ignoring new targets: 17.90 m.h1h1*h1"h1 h1g1f1f9f9d9dAjdE2@ZdE?ZZZZ[?e<)  Zi9)顽v-ii1  Ť=I I 9@ @@4@D=DE EE&E"E:*E1]:VE4ZEa@a@a@a@checking for new query: numPingsReceived=118, elapsed TxPingTime=52.726994I ^A r =I I O >KY,7g?A:؄@:@:G<ٱ:Ta BAHRS rotation from veh to nav: [[0.781207,0.622042,0.052718],[-0.623826,0.781052,0.028268],[-0.023592,-0.054970,0.998209]]:H??? b``?-?i($T?i:؄@I:j_;:CYRByR%IBM>BMCBMIBMBBM =BIBMrDBMl;BM*EiMb@Mb@Mb@ 9ʡE"~j?Y-yS=9 A )AYAbDVDܲIym%m%=ٔu6:Q-u>9qYy=}Fyy}G:E}>Q 5~5?Q 9~5 )^BYj>Q E;y?Q I@DI;ib;3R~5yɮc1ADDAT read: Rx Time:05:39:39.7750 TRx dataTimestamp_ set to:1761543580.996749PDAT read: Bearing 308.3, -29.7 (Local) ~Local bearing/azimuth received: Bearing 308.3, -29.7 (Local) DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 DAT read: 05:39:39.7750 LVL= 28016, 15969, 21762, 32755, AGC= 59, IDX= 509, 0.37,-0.008, 2.202, 1.165, 1.333, PHS=-1.239, 0.915,-0.211, RAW= 301.5, 5.8, CAL= 299.1, 3.9, ROT= 210.9, -3.9 %Ygot valid direction response: 05:39:39.7750 LVL= 28016, 15969, 21762, 32755, AGC= 59, IDX= 509, 0.37,-0.008, 2.202, 1.165, 1.333, PHS=-1.239, 0.915,-0.211, RAW= 301.5, 5.8, CAL= 299.1, 3.9, ROT= 210.9, -3.9 %V#Rx 119: Read range and direction messages.-`direction in FSK: [-0.856078,-0.512352,0.068015]5Fpublishing direction and range infoykd뿌͟0e,::si?Y3Apma>U );Iiq=j?bXc@4Q= @ 'g=)ۓk@I'g1I*m~jXѹ? aG)νIڋ&i'gmchecking for new query: numPingsReceived=119, elapsed TxPingTime=52.992569ii?g?AJieARieAjiH@@b'y.h@="Ԣ^?Rkd뿌͟0e,::si?Ziڋ&bi'gj[>^J1yPV@}A؍@ZݥX) |0wqa? ½?2i@:i"i}[?*iBiBiiXiiAiX?@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503912 s, deltaX: -0.100000 m, approachRate: -0.198448 m/s, rangeRepo size: 4  Added new target pos. range: 17.799551 m, bearing: 172.141916 deg, lat: 36.779377 deg, lon: -121.859738 deg, deltaT: 0.503912 s, deltaX: -0.099131 m, approachRate: -0.196722 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfffLBddjd`f1@Zd[̟?Zj>Zj>Z@Zn?G<) )\i9)1i i 1 =IIy9@ @@4@ԩ ^A I I O% > checking for new query: numPingsReceived=119, elapsed TxPingTime=53.224506E  E E *E "E f;*E V:VE (N4ZE BE W<ٱ6ob@ RAHRS rotation from veh to nav: [[0.781117,0.622088,0.053506],[-0.623908,0.780996,0.027979],[-0.024383,-0.055238,0.998176]]6H?$?@(e? ??"H ?i6ۃ@I6G_;6CYb~Byb IbDrVDr:y~%}=ٔ;Q-  ?9Y=Fyx¹E ?Q 5~5?Q 9~5;)]BYy?Q I@DI:i:/U~5yɮ 2ADNOT Ignoring new targets: 17.80 m.hh*h"h hgf!f!f!d!d)jd)Zd-`.T?ZIZIZIZMm?]><)a efie9)aeaiiim1iu=IqIqԱ)@1 @1@=/@9DDAT read: Rx Time:05:39:40.2750 TRx dataTimestamp_ set to:1761543581.500613PDAT read: Bearing 308.1, -30.1 (Local) ~Local bearing/azimuth received: Bearing 308.1, -30.1 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 -DAT read: 05:39:40.2750 LVL= 31296, 20369, 21586, 32755, AGC= 59, IDX= 510, 0.40, 0.918, 3.115, 2.099, 2.259, PHS=-1.239, 0.901,-0.205, RAW= 301.1, 5.9, CAL= 298.7, 4.1, ROT= 211.3, -4.1 5Ygot valid direction response: 05:39:40.2750 LVL= 31296, 20369, 21586, 32755, AGC= 59, IDX= 510, 0.40, 0.918, 3.115, 2.099, 2.259, PHS=-1.239, 0.901,-0.205, RAW= 301.1, 5.9, CAL= 298.7, 4.1, ROT= 211.3, -4.1 5V#Rx 120: Read range and direction messages.=`direction in FSK: [-0.852272,-0.518190,0.071497]=Fpublishing direction and range infoyE뿍vT࿡ M?YA@zORT )Iif?Q}*@B=XӦ@ C=)=l@ICU○ ȓS^]_? G)ZӽIx&iC]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.i^AIIO>ԁ M_Y,$kg?AQ܂@}@<ٱ c AHRS rotation from veh to nav: [[0.781029,0.622138,0.054211],[-0.623994,0.780934,0.027829],[-0.025022,-0.055563,0.998142]]H0? ?@?`h?+?h@r?i܂@I9_;CYyByII<)49Y=Fy E>Q 5~5?Q 9~5)[BY>Q E;y?Q I@DI" ;ii ;Y~5yɮ42Aii `g?AJi1ARi1AjiW@@bbd]v.dD֌"# fKy?RE뿍vT࿡ M?Zix&biCj[a1˾p}@E1e@Zf9~kW?gv?2i@:i"iS?*ihBi҄Bi}[?iXi=Bi^AiS@@ԁ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503864 s, deltaX: 0.100000 m, approachRate: 0.198467 m/s, rangeRepo size: 4  Added new target pos. range: 17.898991 m, bearing: 172.524989 deg, lat: 36.779376 deg, lon: -121.859741 deg, deltaT: 0.503864 s, deltaX: 0.099440 m, approachRate: 0.197354 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfff1Bddjd2@Zd?Z=>Z=>Z=GI @Z=O?<) )\i;9)页zii1޵=IIB5>B5CB5IB5mBB5 =B1B5sDB5l;B5*E@ @@/@ DDAT read: Rx Time:05:39:40.7750  TRx dataTimestamp_ set to:1761543582.004826 PDAT read: Bearing 308.7, -30.7 (Local)  ~Local bearing/azimuth received: Bearing 308.7, -30.7 (Local)  DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 M DAT read: 05:39:40.7750 LVL= 32752, 18545, 21410, 32755, AGC= 60, IDX= 509, 0.46,-0.520, 1.694, 0.691, 0.831, PHS=-1.249, 0.908,-0.184, RAW= 300.4, 5.7, CAL= 298.0, 3.5, ROT= 212.0, -3.5 U Ygot valid direction response: 05:39:40.7750 LVL= 32752, 18545, 21410, 32755, AGC= 60, IDX= 509, 0.46,-0.520, 1.694, 0.691, 0.831, PHS=-1.249, 0.908,-0.184, RAW= 300.4, 5.7, CAL= 298.0, 3.5, ROT= 212.0, -3.5 U R#Rx 1: Read range and direction messages.  `direction in FSK: [-0.846466,-0.528931,0.061049] Fpublishing direction and range infoy   @yr࿟.xA?Y  qH S ) <I ;ߟi rh? j< gƧ@ %= Bo@ 5z=) hl@I 5z L0֣t}E)O? sH) ʽI MQ%i 5z  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.^A5 2=IA IQ O] >KY,og?ABD@Bz@B<ٱBe ^AHRS rotation from veh to nav: [[0.780746,0.622434,0.054880],[-0.624329,0.780665,0.027867],[-0.025497,-0.056020,0.998104]]BH ??/?`4? ?w?iBD@IB^;BCYvuByvI |~<bDVD1 9EC6Gy7%^=;9Y*AٔC:Q- >9 Y =FyE>Q 5%~5 ?Q 9-~5)ZBY)y-?Q I-@DI;i;f\~5yIɮMV2AIiiOg?AJiRiji~A@bww*QM.=XO"y{?R @yr࿟.xA?ZiMQ%bi5zj ȸu1p{T@<@Z5*szZ?ܚ?2iR@:iK"iO?*iPBiyBi!CV?ii҄BiǍAi@@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504213 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 17.899130 m, bearing: 173.223245 deg, lat: 36.779376 deg, lon: -121.859741 deg, deltaT: 0.504213 s, deltaX: 0.000139 m, approachRate: 0.000276 m/s, posRepo size: 4 -DNOT Ignoring new targets: 17.90 m.h)h1*h1"h1 h1g1f1f9f9d9dajdaZdebg?ZZZZ?<) C^i9)䴉ii1=II I)E2Acoustic response timeoutEe EeEe'Ea"Ee :*Ee n:VEe'4ZEaBEeM"Q nY,(,g?Aɰ2O~@2"y@2Y<ٱ2'e :AHRS rotation from veh to nav: [[0.780664,0.622504,0.055249],[-0.624413,0.780605,0.027645],[-0.025918,-0.056079,0.998090]]2H3? ?I?@1@?N?_o Z?i2O~@I2^;2CYFfByFIVDDAT read: Rx Time:05:39:41.2751 VTRx dataTimestamp_ set to:1761543582.508736^PDAT read: Bearing 308.1, -30.5 (Local) ^~Local bearing/azimuth received: Bearing 308.1, -30.5 (Local) fDAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 zDAT read: 05:39:41.2751 LVL= 32752, 18497, 21490, 32755, AGC= 59, IDX= 511,-0.47,-0.045, 2.159, 1.156, 1.306, PHS=-1.249, 0.897,-0.194, RAW= 300.6, 5.9, CAL= 298.2, 4.1, ROT= 211.8, -4.1 ~Ygot valid direction response: 05:39:41.2751 LVL= 32752, 18497, 21490, 32755, AGC= 59, IDX= 511,-0.47,-0.045, 2.159, 1.156, 1.306, PHS=-1.249, 0.897,-0.194, RAW= 300.6, 5.9, CAL= 298.2, 4.1, ROT= 211.8, -4.1 ~R#Rx 1: Read range and direction messages.`direction in FSK: [-0.847718,-0.525607,0.071497]Fpublishing direction and range infoyTV 6 /࿡ M?YVATTVAHVS T)V;ITiVˡe?VFV@VB=Vۋ@ VC=)V7l@IVCTTbDVD02ys% D=ٔ Q:Q- >9Y=FVO' x pr? V-qH)VTӽIV~%iVCTT2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9yuE}>yQ 5~5}V ?Q 9~5}&)}XBYy?Q I@}DI}:i}:}`~5yɮ2AiTiV!g?AJiVȐARiVȐAjiV=A@bVE._#3R?RV 6 /࿡ M?ZiV~%biVCjVH1<@#@ZV=xS- A;?\Zp?2iV) @:iV"iVSB?*iVBiV؄BiVS?iVhiTiVAiVA@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503910 s, deltaX: 0.200001 m, approachRate: 0.396898 m/s, rangeRepo size: 4  Added new target pos. range: 18.098009 m, bearing: 172.996270 deg, lat: 36.779375 deg, lon: -121.859741 deg, deltaT: 0.503910 s, deltaX: 0.198879 m, approachRate: 0.394672 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfff d d jd@332@Zdv?ZQZQZQZU?eY<) ei9)額-ii1=IIa!@) @)@)@1U2Acoustic response timeoutE} E}E}%Ey"E}:*E}:VE} 4ZEya@a@a@a@ԑ^Aa Iq I O >Թ wY,R g?A2[{@2.v@2"<ٱ2e BAHRS rotation from veh to nav: [[0.780435,0.622779,0.055389],[-0.624691,0.780390,0.027440],[-0.026137,-0.056016,0.998088]]2HR??\?w@? ?Ú#U?i2[{@I2^;2CBj>BjCBjIBjSBBj =BhBjrDBjl;Bj*EBCBCBB =B =C6YUXByUI ԑi Mb@Mb@Mb@     9 :vkt?~jtxY Ty  = Ļ A  A ) A Y AbD-VD-ky=%=8=ٔ=:Q-E>9AYA=EFyAM3[EM>QQ 5]~5U ?Q 9]~5U)UVBY]0=Q E]iY I] Ae 2Acoustic response timeoutE  E E (E "E >:*E &p:VE c44ZE BE @Zb0E݂￑%?Z2_?2i\ @:i"iS?*i BḯBiiḯBiAilYA@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504065 s, deltaX: -0.200001 m, approachRate: -0.396776 m/s, rangeRepo size: 4  Added new target pos. range: 17.898848 m, bearing: 172.957047 deg, lat: 36.779375 deg, lon: -121.859741 deg, deltaT: 0.504065 s, deltaX: -0.199162 m, approachRate: -0.395111 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjdZd6?ZZZZGԸ?<)  _i9)bii1{=II 9@ @@4@DDAT read: Rx Time:05:39:42.2750 TRx dataTimestamp_ set to:1761543583.516739PDAT read: Bearing 307.3, -30.4 (Local) ~Local bearing/azimuth received: Bearing 307.3, -30.4 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 DAT read: 05:39:42.2750 LVL= 32752, 18801, 21106, 32755, AGC= 58, IDX= 510,-0.29,-1.701, 0.488,-0.510,-0.350, PHS=-1.249, 0.883,-0.204, RAW= 300.6, 6.2, CAL= 298.2, 4.7, ROT= 211.8, -4.7  Ygot valid direction response: 05:39:42.2750 LVL= 32752, 18801, 21106, 32755, AGC= 58, IDX= 510,-0.29,-1.701, 0.488,-0.510,-0.350, PHS=-1.249, 0.883,-0.204, RAW= 300.6, 6.2, CAL= 298.2, 4.7, ROT= 211.8, -4.7 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.847035,-0.525184,0.081939]Fpublishing direction and range infoyQ>XN࿫?YqIrR )I;ߟiJ b?`Pk= =)Ia@eA'qBb`ƻ? UH)5޽Ii=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.^AIIO>A Y,g?AHHM u@Mo@Mr<ٱMfc ]AHRS rotation from veh to nav: [[0.779948,0.623399,0.055269],[-0.625288,0.779931,0.026859],[-0.026362,-0.055508,0.998110]]MH@V??5L?\2?`?@k?iM u@IMr];MCYuJByuIiMb@Mb@Mb@ 9J +l?MbpYHy=vA A )3AYA2Acoustic response timeoutbDVDE5 E5E5'E1"E5 :*E5ga:VE5'4ZE1a=@a=@a=@a=@y=ou%E==ٔE9Q-E>9Y=Fy*E>Q 5~5t!?Q 9~5)SBY=Q EXN࿫?Zibij- 1:\@ı@ZxؤJ??2i @:iԌ"i V?*iBBiBiii҄BiAir~A@- addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 17.898848 m, bearing: 172.915409 deg, lat: 36.779375 deg, lon: -121.859741 deg, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 eDNOT Ignoring new targets: 17.90 m.haha*ha"ha hagifififmBdqdqjdqZdu?Z=Z=Z @Z|? r<)  )\i 79)ii1=II!ԁB>BCBIB:BB =BBqDBl;B*E@ @@%4@!ԙ  DDAT read: Rx Time:05:39:42.7750  TRx dataTimestamp_ set to:1761543584.020642 PDAT read: Bearing 306.8, -30.3 (Local)  ~Local bearing/azimuth received: Bearing 306.8, -30.3 (Local)  DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0  DAT read: 05:39:42.7750 LVL= 32752, 19617, 20706, 32755, AGC= 59, IDX= 509,-0.24,-2.722,-0.544,-1.539,-1.372, PHS=-1.248, 0.873,-0.211, RAW= 300.7, 6.4, CAL= 298.3, 5.2, ROT= 211.7, -5.2  Ygot valid direction response: 05:39:42.7750 LVL= 32752, 19617, 20706, 32755, AGC= 59, IDX= 509,-0.24,-2.722,-0.544,-1.539,-1.372, PHS=-1.248, 0.873,-0.211, RAW= 300.7, 6.4, CAL= 298.3, 5.2, ROT= 211.7, -5.2  R#Rx 1: Read range and direction messages.% `direction in FSK: [-0.847310,-0.523309,0.090633]% Fpublishing direction and range infoy  =(뿡VO0L3?Y 3A L P ) ;I wi |_? bX L@ = &@ ޹=) xl@I ޹  _\ᅫ@4Ѱ? A>H) >I %i ޹ = 2Acoustic response timeout= Querying Benthos address 50 with one ping in standard two-way mode. nManaging dock network, ignoring radio surface power off^Aq I I O > Z,|h?A6o@6j@6<ٱ6Q'c >AHRS rotation from veh to nav: [[0.779563,0.623885,0.055209],[-0.625769,0.779549,0.026761],[-0.026343,-0.055410,0.998116]]@6H/?@?ZD?M ? )g?^@?i6o@I6];6CYzGByzII)bDVDNy%3S%%K=ٔ%LQ-%>9)Y)=-Fy)5ӺE5>YQ 5e~5]!?Q 9e~5]/)]RBYayeڽ?Q Ie@]DI]-:i]:]n~5yqɮ3Aii3Rh?AJidARidAjij@@b]-).ȗ"j+3?R=(뿡VO0L3?Zi%bi޹j0|z1D.ܱ@#Z,Lq h?A6g@6b@6<ٱ6Td >AHRS rotation from veh to nav: [[0.778936,0.624661,0.055299],[-0.626556,0.778907,0.027023],[-0.026193,-0.055697,0.998104]]FDDAT read: Rx Time:05:39:43.2750 JTRx dataTimestamp_ set to:1761543584.524787NPDAT read: Bearing 306.7, -30.0 (Local) N~Local bearing/azimuth received: Bearing 306.7, -30.0 (Local) VDAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 jDAT read: 05:39:43.2750 LVL= 32752, 20273, 20898, 32755, AGC= 59, IDX= 510,-0.15,-1.223, 0.961,-0.049, 0.127, PHS=-1.248, 0.878,-0.220, RAW= 301.1, 6.5, CAL= 298.7, 5.2, ROT= 211.3, -5.2 nYgot valid direction response: 05:39:43.2750 LVL= 32752, 20273, 20898, 32755, AGC= 59, IDX= 510,-0.15,-1.223, 0.961,-0.049, 0.127, PHS=-1.248, 0.878,-0.220, RAW= 301.1, 6.5, CAL= 298.7, 5.2, ROT= 211.3, -5.2 prR#Rx 1: Read range and direction messages.v`direction in FSK: [-0.850942,-0.517381,0.090633]vFpublishing direction and range infoyDFek :ݰXb0L3?YFADDF1OFQ D)DIDiF`?FGaF}*@FV=FXӦ@ D)F=l@IDDDF 1%y۷V)Tmм? FpG)FIFx&iDDD 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.6H ?`8?@$P? `?ϫ?IҚ Ix?i6g@I6];6CY-9aYa=eFyams.Em>qQ 5}~5u!?Q 9}~5uP)uPBYyy}?Q I@uDIu;iu ;u^q~5yɮ4AiDiF!h?AJiF0ARiF0AjiFGv@@bF?s%v.M4Y"J̭D?RFek :ݰXb0L3?ZiFx&biDjF[1x|g@*DOE@ZFddY??2iF@:iFx"iFr9QZ?*iFBiFNBiF V?iFBiFBiFAiFdA@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504145 s, deltaX: 0.100000 m, approachRate: 0.198356 m/s, rangeRepo size: 4  Added new target pos. range: 17.898697 m, bearing: 172.300957 deg, lat: 36.779376 deg, lon: -121.859740 deg, deltaT: 0.504145 s, deltaX: 0.099438 m, approachRate: 0.197240 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgff f d dQjdU2@ZdU9?ZZZZ_?<) b i-*9))-ⵉ)i)i511=8Q=I9I9!@) @)@)@1A=2Acoustic response timeoutE] E]E]$EY"E]:*E]T:VE]4ZEYam@am@am@am@^AA IQ a Ii Ou >; Z,]:h?AA4A6AABB>B@BBIBB%BBB =B@BBrDBBl;BB*EIyɰyhb@;]@1<ٱe AHRS rotation from veh to nav: [[0.778530,0.625163,0.055348],[-0.627066,0.778491,0.027207],[-0.026079,-0.055888,0.998096]]H?U?@V?`e?`5ܛ?_ag?ihb@IV];CY9ByIiMb@Mb@Mb@ 9S㥛Zd;?~jtxY/ݼyy=Ļ MA)YAbDVD0yw%3=ٔ䂹Q->9Y=Fy຺E> Q 5~5 "?Q 9~5 ) NBY+=Q EF= 2Acoustic response timeout"Z,+Th?AE2 E2E2%E0"E2:*E2[:VE2 4ZE0BE2 ! Z,nh?AuaW@u4R@u<ٱuc AHRS rotation from veh to nav: [[0.777696,0.626263,0.054621],[-0.628123,0.777642,0.027108],[-0.025498,-0.055390,0.998139]]uH?W ?9?`q?F›?;@"\`?iuaW@Iu~];uCY3ByI2Acoustic response timeoutiMb@Mb@Mb@ 9~jt?YļyL= )AYAAAbD VD 1y =%,=ٔDQ->9!Y!=%FE% E%E%$E!"E%:*E%R:VE%4ZE!a5@a5@a5@a5@y1=E=>AQ 5M~5E#?Q 9M~5EK)ELBYM+c=Q EMoBqBuIBuBBqBqBuqDBul;Bu*E@ @@0@i DDAT read: Rx Time:05:39:44.7750  TRx dataTimestamp_ set to:1761543586.036663 PDAT read: Bearing 306.6, -29.0 (Local)  ~Local bearing/azimuth received: Bearing 306.6, -29.0 (Local)  DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0  DAT read: 05:39:44.7750 LVL= 32752, 19121, 20578, 32755, AGC= 59, IDX= 509, 0.15,-1.636, 0.536,-0.498,-0.304, PHS=-1.231, 0.884,-0.238, RAW= 302.0, 6.4, CAL= 299.6, 5.3, ROT= 210.4, -5.3  Ygot valid direction response: 05:39:44.7750 LVL= 32752, 19121, 20578, 32755, AGC= 59, IDX= 509, 0.15,-1.636, 0.536,-0.498,-0.304, PHS=-1.231, 0.884,-0.238, RAW= 302.0, 6.4, CAL= 299.6, 5.3, ROT= 210.4, -5.3  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.858826,-0.503870,0.092371] Fpublishing direction and range infoy  P7{뿤vH{]U?Y 3A J bP ) I hi Mb? Fs +@ = T@ q=) k@I q eI}Ӧ硿? $F) $I 'i q % 2Acoustic response timeout% Querying Benthos address 50 with one ping in standard two-way mode.^Au =I ԑ I O >!Z,h?AY6ByIbD-VD-ܲymV_<%mj=ٔuQ-u?9qYy=}Fyy}E}?Q 5~5#?Q 9~5)YyQ I@IH%;iv&;~5yɮN4AiiXh?AJidARidAjitQ?@bas .;Gcc!na\N?RP7{뿤vH{]U?Zi'biqj Dj1AK``@88@Z .Od/7?VEH-?2i+@:iR"iZlh?*i:BiDBib?iVEii+AiR@@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.502368 s, deltaX: -0.100000 m, approachRate: -0.199058 m/s, rangeRepo size: 4  Added new target pos. range: 17.799292 m, bearing: 171.276942 deg, lat: 36.779377 deg, lon: -121.859736 deg, deltaT: 0.502368 s, deltaX: -0.099499 m, approachRate: -0.198059 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh *h "h  h g f ffddjd`f1@Zd -?Z9Z9Z9Z9Q)Q U`iU&9)QU)QiYi]1Ye[H =IaIaq @  @ @ 4@  2Acoustic response timeoutԡE EE&E"Em:*EVE4ZEBET (Z,~ȡh?A2DDAT read: Rx Time:05:39:45.2750 6TRx dataTimestamp_ set to:1761543586.540639:PDAT read: Bearing 305.3, -29.1 (Local) :~Local bearing/azimuth received: Bearing 305.3, -29.1 (Local) BDAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 VDAT read: 05:39:45.2750 LVL= 32752, 18417, 19778, 32755, AGC= 59, IDX= 510, 0.26,-0.579, 1.591, 0.559, 0.768, PHS=-1.245, 0.868,-0.253, RAW= 302.0, 6.9, CAL= 299.6, 6.3, ROT= 210.4, -6.3 ZYgot valid direction response: 05:39:45.2750 LVL= 32752, 18417, 19778, 32755, AGC= 59, IDX= 510, 0.26,-0.579, 1.591, 0.559, 0.768, PHS=-1.245, 0.868,-0.253, RAW= 302.0, 6.9, CAL= 299.6, 6.3, ROT= 210.4, -6.3 ZR#Rx 1: Read range and direction messages.^`direction in FSK: [-0.857305,-0.502978,0.109734]^Fpublishing direction and range infoy02= o5d,=?Y2A002G2BM 0)0I2)\i2?5^?2702Ϣ=0 2z0=)0I2z0Ὡ002V|68(Q硿 r@? 2F)2lI0i2z0Ὡ00n2Acoustic response timeoutnQuerying Benthos address 50 with one ping in standard two-way mode.~^J@~1E@~dx<ٱ~ a  AHRS rotation from veh to nav: [[0.776711,0.627542,0.053953],[-0.629368,0.776632,0.027196],[-0.024835,-0.055079,0.998173]]~H??@?#*?3ٛ? an a3?i~^J@I~Β];|Y%4By%IbD5VD5:yE%EM=ٔMٺQ-M>9IYI=MFyIUwEU>YQ 5e~5]b$?Q 9e~5]<)]KBYayma?Q Im@]DI]:i]:]~5yqɮu^4Aqi0i2ԙh?AJi20ARi20Aji2,?@b2,dvx.U\"Vȣl?R2= o5d,=?Zi0bi2z0j26vBv1Jz@) @Z258q?J?2i2.@:i2"i2ld?*i2Bi2Bi221d?i2i0i2@Ai2~?@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503976 s, deltaX: 0.100000 m, approachRate: 0.198423 m/s, rangeRepo size: 4  Added new target pos. range: 17.898729 m, bearing: 171.149221 deg, lat: 36.779377 deg, lon: -121.859734 deg, deltaT: 0.503976 s, deltaX: 0.099438 m, approachRate: 0.197306 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgff)f)d)d1jd52@Zd5M~?ZqZqZqZu~a?dx<) ai9)页x8ii1G=IIy@ @@4@@gA@gA%2Acoustic response timeoutbE!4jE4rEJ0E EE*E"E:*EV:VE(N4ZEa@a@a@a@) ^Aa Iq I O >7.Z,h?AB*<A*<B6>B4B6IB6BB4B4B6rDB6m;B6 +EuA@uc<@u<ٱuc AHRS rotation from veh to nav: [[0.776042,0.628372,0.053930],[-0.630208,0.775931,0.027722],[-0.024426,-0.055501,0.998160]]uH`U???* m?9c?j?iuA@IuQ];uCY;ByIi%Mb@Mb@Mb@!!!! !9%S㥛Zd;O?~jth?Y%/ݼy%j<=%D;!%9 A !)!!Y%A 9=<bDEVDENyUF =%U:=ٔUtQ-U>9YYY=]FyYe Ee>aQ 5~5e$?Q 9~5e)eLBYZ=Q ExE  E E &E "E :*E n:VE 4ZE BE '9tYt=vFytvU0Ev>xQ 5~~5z$?Q 9~5z")xYyk?Q I@xIz;iz;z~5y ɮ $4Aiih?AJi9Rijie>@bQ-.D!suq?R}gЧhܸm?Zil7'bi%˽jҦa){1I@o߳0@Z0@￸qam?xi ?2iO2@:iً"ic?*ij@BiBii:iBi]AiE?@e addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504158 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 17.898760 m, bearing: 170.944514 deg, lat: 36.779377 deg, lon: -121.859733 deg, deltaT: 0.504158 s, deltaX: 0.000031 m, approachRate: 0.000061 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffdd jd Zd M?ZZZZk?u;G<)y }^i}9)顅TTii1 BJ;Z,Zh?AU2@U-@U<ٱUgԙ AHRS rotation from veh to nav: [[0.774921,0.629745,0.054025],[-0.631615,0.774744,0.028885],[-0.023666,-0.056507,0.998122]]UH`'?&?7? 06 ? ? ; x?iU2@IU9];UC2Acoustic response timeoutY9Y=FyE>!Q 5-~5%$?Q 9-~5%0)%NBY59=Q E5-@bf..V!+p?Rڜd뿝61BzBP?ZiT'biBҽjDv14p@9(@ZB9C?6[[?2i[5@:i"i-e?*iBiBild?iiBiTAiu?@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.509579 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.898760 m, bearing: 170.783781 deg, lat: 36.779377 deg, lon: -121.859732 deg, deltaT: 0.509579 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffBddjdZdr?ZU9=ZU9=ZU@ZUc?<) ki9)額dii1BQBUIBUBBU =BQBUqDBU%m;BU +EBCBCB9@ @@@@=@=B =B =CD4 DDAT read: Rx Time:05:39:46.7750  TRx dataTimestamp_ set to:1761543588.052724 PDAT read: Bearing 305.2, -28.5 (Local)  ~Local bearing/azimuth received: Bearing 305.2, -28.5 (Local)  DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0  DAT read: 05:39:46.7750 LVL= 32752, 18241, 19298, 32755, AGC= 59, IDX= 509,-0.27, 1.465,-2.665, 2.577, 2.799, PHS=-1.232, 0.865,-0.266, RAW= 302.6, 7.0, CAL= 300.1, 6.5, ROT= 209.9, -6.5  Ygot valid direction response: 05:39:46.7750 LVL= 32752, 18241, 19298, 32755, AGC= 59, IDX= 509,-0.27, 1.465,-2.665, 2.577, 2.799, PHS=-1.232, 0.865,-0.266, RAW= 302.6, 7.0, CAL= 300.1, 6.5, ROT= 209.9, -6.5  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.861324,-0.495283,0.113203] Fpublishing direction and range infoy  py 뿼߿5?Y 3A AG bK ) ;I -i p]? '1 @ 5= @ V=) uj@I V轩 -|>■vtFzG? (F) II ϩ'i V轩  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. ^A G<I) I9 OE >/BZ,+ i?Ab1@b+@bֿ<ٱbaXg jAHRS rotation from veh to nav: [[0.774791,0.629924,0.053793],[-0.631783,0.774603,0.028975],[-0.023416,-0.056435,0.998132]]bH@? W(??7??F@嬿?ib1@IbA*];bCYvIByvI||bDVD0y- =%-o=ٔ5?Q-5?91YY=]FyY] E]?aQ 5m~5e$?Q 9m~5e)ePBYqyu^?Q Iu@aIe:ie:e ~5yɮ3Aii_i?AJidARidAjic>@b9|{l.b!,Qre@Rpy 뿼߿5?Ziϩ'biVjDAR12 S@S@Z 1$Q2y?VG;N?2i:@:i"i8q?*i1iBiBi-e?ij@iifAi(?@u addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.498348 s, deltaX: -0.100000 m, approachRate: -0.200664 m/s, rangeRepo size: 4  Added new target pos. range: 17.799227 m, bearing: 170.446383 deg, lat: 36.779377 deg, lon: -121.859731 deg, deltaT: 0.498348 s, deltaX: -0.099533 m, approachRate: -0.199726 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgfffddjd`f1@Zd?ZZZZ^?-ֿ<)1 5ei59)15q1i1i=19E :*EL_:VEFA4ZEBEy YHZ,#i?A@&DDAT read: Rx Time:05:39:47.2751 *TRx dataTimestamp_ set to:1761543588.556805.PDAT read: Bearing 305.1, -28.6 (Local) .~Local bearing/azimuth received: Bearing 305.1, -28.6 (Local) 6DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 JDAT read: 05:39:47.2751 LVL= 32752, 21265, 21090, 32755, AGC= 60, IDX= 511,-0.20,-2.124, 0.035,-1.007,-0.786, PHS=-1.236, 0.866,-0.265, RAW= 302.5, 7.0, CAL= 300.1, 6.5, ROT= 209.9, -6.5 NYgot valid direction response: 05:39:47.2751 LVL= 32752, 21265, 21090, 32755, AGC= 60, IDX= 511,-0.20,-2.124, 0.035,-1.007,-0.786, PHS=-1.236, 0.866,-0.265, RAW= 302.5, 7.0, CAL= 300.1, 6.5, ROT= 209.9, -6.5 NR#Rx 1: Read range and direction messages.R`direction in FSK: [-0.861324,-0.495283,0.113203]VFpublishing direction and range infoy$&py 뿼߿5?Y&A$$&S&bR $)&<I&?5i&-]?&&@$$ $)$I$$$r2@r,@r<ٱr:d zAHRS rotation from veh to nav: [[0.774873,0.629871,0.053239],[-0.631692,0.774689,0.028678],[-0.023180,-0.055853,0.998170]]rH?'?0B?6 @?]??ir2@&Άʭj8qOK~#N? &K@F)&I$i$$$2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Ir-];rCY%KBy-IbD=VD=0yM><%MI=ٔMuQ-M>9QYQ=UFyQ]Ǟ9E]>aQ 5m~5e$?Q 9m~5e)eSBYiymd?Q Im@eDIeS:ie:e~5y5Bɮ53A= EQi$i&#i?AJi&ǐARi&ǐAji&f>@b& ,/<$!C!%Kc@R&py 뿼߿5?Zi$bi$j&91g@\A@Z&k%£Qj?2"+Z?2i&=@:i&"i&bX?*i&9Bi&Bi&ld?i&i&Bi&}Ai&>@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504081 s, deltaX: 0.300001 m, approachRate: 0.595145 m/s, rangeRepo size: 4 U Added new target pos. range: 18.097538 m, bearing: 170.456247 deg, lat: 36.779377 deg, lon: -121.859730 deg, deltaT: 0.504081 s, deltaX: 0.298311 m, approachRate: 0.591792 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 18.10 m.hYhY*hY"hY hYgYfafafadadijdm@332@Zd`->?Z Z Z Z @d?<)! %ci%9)!%YAiIiM1QU AA AA NZ,B"CB"IB"%BB" =B B"rDB"l;B"*EY}WBy}IIC=);i Mb@Mb@Mb@     9  rhX9v?Mb?Y Cy }= < vA  ) A Y AbD%VD%02y5S=%5<=ٔ5Q-5>99Y9==Fy9EEE>AQ 5U~5ER$?Q 9U~5E)EVBYUI=Q EU9)iUDDAT read: Rx Time:05:39:47.7750 UTRx dataTimestamp_ set to:1761543589.060745ePDAT read: Bearing 304.8, -28.4 (Local) e~Local bearing/azimuth received: Bearing 304.8, -28.4 (Local) uDAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 DAT read: 05:39:47.7750 LVL= 32752, 18161, 20722, 32755, AGC= 59, IDX= 510,-0.13,-3.099,-0.957,-1.997,-1.770, PHS=-1.227, 0.858,-0.272, RAW= 302.8, 7.2, CAL= 300.3, 6.8, ROT= 209.7, -6.8 Ygot valid direction response: 05:39:47.7750 LVL= 32752, 18161, 20722, 32755, AGC= 59, IDX= 510,-0.13,-3.099,-0.957,-1.997,-1.770, PHS=-1.227, 0.858,-0.272, RAW= 302.8, 7.2, CAL= 300.3, 6.8, ROT= 209.7, -6.8 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.862521,-0.491973,0.118404]Fpublishing direction and range infoyQUNřD~|߿EO?YUAQQUFUP Q)U;IUViU[?UCU@U>U@ U=)Ui I  2Acoustic response timeoutE=  E= E= &E9 "E= >:*E= X:VE= 4ZE9 BE9 aM 2E9 aM JE= p;aM :E= q;aM 1 .kUZ,AVi?AN4@Nu/@N<ٱN|` VAHRS rotation from veh to nav: [[0.775074,0.629701,0.052317],[-0.631455,0.774905,0.028033],[-0.022888,-0.054764,0.998237]]NHh?&?Uɪ? 4 ?ƴ? p  ?iN4@IN7];NCYbZBybI hj<bDjVDj0yr<%vc=ٔv;TQ-v>9tYx=zFyxza:Ez>Q 5 ~5#?Q 9 ~5 )XBY y ?Q I @DIy:i-:~5yɮ2A!ii?Ci?AJi0ARi0Aji0>@bЅaZ. ! %} U@RNřD~|߿EO?Zi'bij (^f1CU@2@Z+*biW? ?2i>@:i2"i,i?*iJBiABi-e?i1iiBimAiO>@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503940 s, deltaX: -0.200001 m, approachRate: -0.396874 m/s, rangeRepo size: 4  Added new target pos. range: 17.898916 m, bearing: 170.267777 deg, lat: 36.779377 deg, lon: -121.859729 deg, deltaT: 0.503940 s, deltaX: -0.198622 m, approachRate: -0.394138 m/s, posRepo size: 4 uDNOT Ignoring new targets: 17.90 m.hyhy*h"h hgfffddjd2@Zd5?ZqZqZqZu?<) _i9)顭Zii1ki [Z,3pi?AHɰJ4<2Acoustic response timeoutE EEE"E;*Ec:VEZEa@a @a @a @6@1@X<ٱ` -AHRS rotation from veh to nav: [[0.775255,0.629481,0.052271],[-0.631235,0.775083,0.028088],[-0.022834,-0.054771,0.998238]]H ?`$?Oê? 3`z?@Ü?a@ ?i6@I];CY=mBy=IiMb@Mb@Mb@ 9~jt+?~jt?YĽy=<A )Y\AbD5VD5kyE=%E)=ٔMQ-M>9IYI=UFyQU:EU>YQ 5e~5i]"?Q 9m~5]> )]]BYm%>Q Em;ymW?Q Iu@]DI]3;i]2;]П~5yyɮ}2Ayii 'di?AJiȐARiȐAji>@bay&@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504143 s, deltaX: 0.200001 m, approachRate: 0.396714 m/s, rangeRepo size: 4  Added new target pos. range: 18.097795 m, bearing: 170.175740 deg, lat: 36.779377 deg, lon: -121.859728 deg, deltaT: 0.504143 s, deltaX: 0.198879 m, approachRate: 0.394490 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.10 m.hh*h"h hgfff?Bddjd@332@Zd?Z%>Z%>Zd@ZW?-X<)) -hi-9)15镶1i1i=19B B IB 5BB B B B l;B *Eԑ9@ @@4@m DDAT read: Rx Time:05:39:48.7750 u TRx dataTimestamp_ set to:1761543590.068675} PDAT read: Bearing 304.1, -28.1 (Local) } ~Local bearing/azimuth received: Bearing 304.1, -28.1 (Local)  DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0  DAT read: 05:39:48.7750 LVL= 32752, 19169, 20130, 32755, AGC= 57, IDX= 510,-0.13,-1.989, 0.153,-0.895,-0.651, PHS=-1.236, 0.850,-0.288, RAW= 303.0, 7.5, CAL= 300.6, 7.5, ROT= 209.4, -7.5  Ygot valid direction response: 05:39:48.7750 LVL= 32752, 19169, 20130, 32755, AGC= 57, IDX= 510,-0.13,-1.989, 0.153,-0.895,-0.651, PHS=-1.236, 0.850,-0.288, RAW= 303.0, 7.5, CAL= 300.6, 7.5, ROT= 209.4, -7.5  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.863761,-0.486704,0.130526] Fpublishing direction and range infoyi m O/(&߿ /?Ym Ai i m Jm N i )m 9Im ?5im Y?m tm %:@m >m @ m >)m i@Im i i m $ZY9_%j? m E)m jIm 8(im i i  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.^A G<I I O% >w}bZ,qi?A2n9@2A4@2_ݺ<ٱ2wa :AHRS rotation from veh to nav: [[0.775445,0.629234,0.052429],[-0.631003,0.775263,0.028348],[-0.022809,-0.055065,0.998222]]2Hr?"?ת?,1?M? '[@1o?i2n9@I2p];2CYFnByFI HHPbDRVDRyZ_;%Z=ٔZQ-^ ?9lYl=nFyprs:Er ?tQ 5z~5vG"?Q 9z~5v6 )v_BYxyz`?Q I~@vDIv*;iv;v~5y!ɮ%1A!ii,ei?AJi0ARi0Aji=@bF˲.G; Dl!@RO/(&߿ /?Zi8(bi jnY11gyo@PCP @ZUv<<L:?da??2i[D@:iȊ"iQll?*ieABi†Bi,i?iJiABiAi>@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503787 s, deltaX: -0.200001 m, approachRate: -0.396995 m/s, rangeRepo size: 4  Added new target pos. range: 17.898884 m, bearing: 169.970489 deg, lat: 36.779378 deg, lon: -121.859727 deg, deltaT: 0.503787 s, deltaX: -0.198912 m, approachRate: -0.394833 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjd2@Zd%?ZaZaZaZe`?_ݺ<) hi9)顝ii1! hZ,Hi?A*DAT read: user:491> DAT read: 0 8unknown deviceResponse_: 0 DAT read: Ok :unknown deviceResponse_: Ok *DAT read: user:492> BDAT read: Tx time:05:39:49.6723 $Ping request sent.9pYp=rFyprD:Ev>tQ 5z~5vr!?Q 9z~5v )vcBY||y~q?Q I@vDIv+;iv},;v+~5y ɮ 1A 5DNOT Ignoring new targets: 17.90 m.h9h9*h"h hgfffddjdZd?ZZZZRq?<) fi9)  㣶 i i1X1YDD<E EE)E"E:*Ei:VEFA4ZEa=@a=@a=@aE@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251615ԁ B A B >B B IB IBB =B B B l;B *E-nZ,mui?A@2E@2@@2<ٱ2$d :AHRS rotation from veh to nav: [[0.776385,0.628015,0.053132],[-0.629832,0.776199,0.028753],[-0.023184,-0.055788,0.998173]]2H%?@?@$4?'?q?p @ ?i2E@I2];2CYNnByNIiMb@Mb@Mb@ 9Cl绿~jt?y&1?Y;߽y=`e<GA A A)AYA1bD=VD=yM%MA=ٔM :Q-U>9QYQ=UFyY]7;E]>aQ 5m~5e ?Q 9m~5eQ)eeBYml>Q Em;yu?Q I@eDIeZl>Z}@Z?<) pi9)ɫii1=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501435Ia9@ @@/@IIO )>) checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753284E  E E ,E "E :*E C:VE g4ZE BE 6;a y 3uZ,~i?A2M@2H@2+<ٱ2c :AHRS rotation from veh to nav: [[0.777010,0.627254,0.052998],[-0.629061,0.776829,0.028629],[-0.023212,-0.055584,0.998184]]2H@C?v?@"?C! ? Q?ė@u ?i2M@I2];2CYfByf IIj=)j<bDrVDr0yv=%zS=ٔz&8Q-z>9|Y|=~Fy|';E>Q 5 ~5?Q 9~5)hBYy ?Q I@DI:i :B~5y!ɮ%j1A!MDNOT Ignoring new targets: 17.90 m.hIhI*hI"hI hQgQfQfQfQdYdYjdYZde?ZZZZ ?+<) gi9)顝ii1Z=IIqM9@Q @Q@U0@QIaIqO}=ԡEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005293 {Z,i?AvZ@vmU@v<ٱvya mAHRS rotation from veh to nav: [[0.777983,0.626067,0.052753],[-0.627849,0.777827,0.028130],[-0.023421,-0.055005,0.998211]]vH9Y=FyP;E>Q 5~5?Q 9~5)iBY>Q E;y?Q I@DI;i* ;~5yɮ1ADNOT Ignoring new targets: 17.90 m.hh*h"h hgfff]BddjdZd,o?Z>Z>ZQ@Z?<) 3si9)顭%ii1E =IIB>BBIBSBB =BBBwl;B*E}9@y @y@}/@y) U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509308^A 2g=I I - GE gAO5 >Q } t09} gAY} AʂZ, j?Aɰp;6e@6`@6C[<ٱ6_ >AHRS rotation from veh to nav: [[0.778846,0.625006,0.052602],[-0.626771,0.778708,0.027777],[-0.023601,-0.054604,0.998229]]6HM?` ??,?q?@* @~?i6e@I6];6CYFzByJIbDPVDPyZ<%Z=ٔZ%:Q-Z?9\Y\=^Fy\b6;Eb?dQ 5j~5f?Q 9j~5f)dYhyjE?Q Ij@fDIfB:if:f?~5ypɮr1Ap DNOT Ignoring new targets: 17.90 m.h h*h"h hgfffdd!jd!Zd%_5@ZAZAZAZEE?UC[<)Y qi9)ii1=IIQ@ @@4@^AO =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761352IE EE$E"E;*Ee:VE4ZEBE`yԩ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013318TZ,%j?A8Jto@JGj@J;D<ٱJo_ RAHRS rotation from veh to nav: [[0.779573,0.624096,0.052626],[-0.625862,0.779441,0.027732],[-0.023712,-0.054556,0.998229]]JHC?`? ?-?e?@G@~?iJto@IJU];JCY^xBy^I ```bAbDfVDf1yn%nG=ٔr9Q-r>9pYt=vFytv9;Ez>xQ 5~~5z7?Q 9~5z)zjBYyk?Q I@zDIz:iz$:z׷~5y ɮ1A=DNOT Ignoring new targets: 17.90 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdU @ZqZqZqZu#k?;D<) ri9)額ɶii1P=IIA@A @A@Ez4@Aԡ^AmNw =IE EE%E"E:*E:VE 4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267562IO> Aq Au @AB} >By B} IB} ]BB}  =By By B} Ql;B} *EB=CB=CB9B= =B= =C=-5iZ,m?j?A2Ix@2s@2:<ٱ2` :AHRS rotation from veh to nav: [[0.780245,0.623238,0.052833],[-0.625019,0.780111,0.027897],[-0.023829,-0.054789,0.998214]]2H@?? ?(`?@?@f > ]?i2Ix@I2 ^;2CY^yBybI i}Mb@Mb@Mb@yyyy y9}p= ףA`"?Y}y}=}}Ay }MA)yyYyAAbDVDy;%?=ٔՏ9Q->9Y=Fy$;E>Q 5~5?Q 9~5!)iBY+>Q E;yB?Q I@DIo;ib;~5yɮ1ADNOT Ignoring new targets: 17.90 m.hh*h "h  h g f ff`BddjdZd@[@ZE+>ZE+>ZEZH@ZEbB?]:<)Y ]3si]09)Y]Ѷaiaie1im=IiIichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517370)@ @@3@Q^A l=I! I9 OU >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769345E  E E E "E :*E k:VE ZE BE =889hYh=jFyhn ;En>pQ 5v~5r?Q 9v~5r)pYtyv]?Q Iv@rDIry:ir:r޾~5y|ɮ~1A|%DNOT Ignoring new targets: 17.90 m.h!h)*h)"h) h)g)f)f1f1d1d1YjdZd@ @ZZZZ-]? m<)  ui '9)6ٶ1i1i=19=e=I9IA9@ @@/@ԉ%BDAT read: Rx Time:05:39:52.1004 %TRx dataTimestamp_ set to:1761543593.596137-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022379Ա^A1IAIQO}> 6Z,7sj?A>?@>@>V<ٱ>2c JAHRS rotation from veh to nav: [[0.781155,0.622052,0.053359],[-0.623878,0.781000,0.028542],[-0.023918,-0.055585,0.998167]]>H9? ?Q?@?/:?~u?i>?@I>^;>CYfeByfIIv?>)vp;bDVDyE㊽%MB=ٔUƃ7Q-]>9aYi=mFi߁I߅AE EE$E"E:*E1]:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286734!y:E> Q 5~5 c?Q 9~5 u) hBYys?Q I@ DI :i : ~5y!ɮED2AADNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddAjdIZdUR@BE>BECBEIBEXBBABABABE4l;BE*EaZZZZ6s?V<) D}i9)[ⶉii1=IIԁ DAT read: 05:39:52.1004 LVL= 32752, 20209, 19474, 32755, AGC= 58, IDX= 482,-0.09, 1.634,-2.526, 2.664, 2.973, PHS=-1.237, 0.830,-0.353, RAW= 304.8, 8.5, CAL= 302.4, 9.5, ROT= 207.6, -9.5  Ygot valid direction response: 05:39:52.1004 LVL= 32752, 20209, 19474, 32755, AGC= 58, IDX= 482,-0.09, 1.634,-2.526, 2.664, 2.973, PHS=-1.237, 0.830,-0.353, RAW= 304.8, 8.5, CAL= 302.4, 9.5, ROT= 207.6, -9.5  PDAT read: Bearing 302.2, -26.6 (Local)  ~Local bearing/azimuth received: Bearing 302.2, -26.6 (Local)  DAT read: Range 11 to 50 : 18.0 m (Round-trip 24.0 ms) speed 0.0 m/s  *DAT read: user:493>  BDAT read: Tx time:05:39:53.2223  $Ping request sent. ݿG ?Ya a a e Ne L a )e :Ie Vie zT?e je ;@e >e [@ e )>)e 5g@Ie )a a e GI￀M/j? e C)e 7 Ie ;*ie )a a  :publishing transmit ping time  Fpublishing direction and range infoya e [:7s>ݿG ?Ya a a a a a )a Ia ia a a a a a )a Ia a a e GI￀M/j? a )a Ia ia a a  v9Թ m 9@q  @q @u 0@q ^Ar =IIO ?WZ,hj?AE. E.E.#E,"E.:*E.T:VE.3ZE,BE.o%9AYA=EFyAM7;EM>QQ 5]~5U?Q 9}~5Ui)UeBY}m>Q E};y?Q I@UDIU%;iU;U~5yɮT2Aii+ކj?AJiRijin<@bNJI/t[ @R[:7s>ݿG ?Zi;*bi)j I(1U7q @|s4+@Z#XkJ? r?2i[@:iB"iGq?*idi.BiBiiJ.iBiVAiZW@@= addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 4.038635 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 17.898800 m, bearing: 168.693293 deg, lat: 36.779378 deg, lon: -121.859726 deg, deltaT: 4.038635 s, deltaX: -0.000084 m, approachRate: -0.000021 m/s, posRepo size: 4 MDNOT Ignoring new targets: 17.90 m.hIhQ*hQ"hQ hQgqfqfyf}OBdydjdZdq?Z-m>Z-m>Z-È@Z-?qj<) ui9)顭붉ii1w =II@ @@4@ԙ ^A- 3=IA IY Om >uZ,sj?Af@f@f=<ٱfa vAHRS rotation from veh to nav: [[0.782114,0.620907,0.052646],[-0.622695,0.781943,0.028577],[-0.023423,-0.055133,0.998204]]fH`?x?g??@8C? W: J?if@If{];fCY HBy IbD5VD5ܲyM%MZ=ٔUYQ-U>9YYY=eFyam#8Em>qQ 5}~5u?Q 9~5u)ucBYyQ I@uDIuY;iuv;u~5yɮ*3AԹDNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjdZd =~?ZZZZ?=<)  i _9)   i i1B =IIEm EmEm$Ei"Em;*Em:VEm4ZEia@a@a@a@q@q @q@}/@yBA<B>BBIBIBB =BBqDBk;Bt*E^Amȿ=IyIO>9 _Z,Mj?ABǏ@B@B,<ٱB b JAHRS rotation from veh to nav: [[0.782046,0.621006,0.052487],[-0.622789,0.781862,0.028740],[-0.023190,-0.055164,0.998208]]BH?@H? ߪ?? m?{>Q?iBǏ@IBN];@YVMByVI XXi5Mb@Mb@Mb@1111 195RQ{Gz?MbY5½y5ף=55A5 A 5A)5A1Y5AbDVDy_<%F=ٔQ->9Y=Fy}E>Q 5~5?Q 9~5)_BY:>Q E;y?Q I@DI ;i ;x~5yɮ3ADNOT Ignoring new targets: 17.90 m.hh*h"h hgfff$BddjdZd@?Z-:>Z-:>Z-D@Z-?=,<)9 EkiE9)AEqpAiAiM1IM=IQIQ)@) @)@5/@1AEY E]E])EY"EY*E]:VE]FA4ZEYBE]@9lYl=nFyln8eEn>pQ 5v~5r?Q 9z~5ro)r[BYxyz?Q Iz@rDIr:irt:r~5y|ɮ~?3A-DNOT Ignoring new targets: 17.90 m.h)h)*h)"h) h)g1f1f1f1d9d9jd9Zd=L?ZYZYZYZ]j?u|<)q uGoiuy9)y}yiyi1=IIa@ @@0@ԉ^A"=IIO>ԱDY zD] ?AE  E E %E "E :*E ga:VE 4ZE a @a @a @a @ DZ,j?AB6>B6CB6IB65BB6 =B4B6pDB6k;B6h*E>ه@>@>m<ٱ>a JAHRS rotation from veh to nav: [[0.781459,0.621806,0.051750],[-0.623558,0.781231,0.029208],[-0.022267,-0.055094,0.998233]]>H@? ? ~?0??%͖B5?i>ه@I>D];>CY BBy IiMb@Mb@Mb@ 9QMb?~jtYuy=GA A |A)Y3AbDVDye%>=ٔQ->9Y=FyE>Q 5~5?Q 9~5r)WBYԷ=Q E_Z,{k?AE EE'E"E>:*E1]:VE'4ZEBE)^;b=b=bDfVDfynw%rY=ٔrQ-r>9pYt=vFytvIEv>xQ 5}~5zj?Q 9}~5z)zRBYyy}?Q I@zDIzԩ LZ,}Z1k?A@Raw@R4r@Re<ٱRb bAHRS rotation from veh to nav: [[0.780226,0.623417,0.050978],[-0.625146,0.779927,0.030124],[-0.020979,-0.055372,0.998245]]RH???1(?@؞?`{Y@?iRaw@IR?];RCYj/ByjI rp9Y= Fy   E >Q 5~5%?Q 9~5)NBY!y%?Q I%@DIM;iY;j~5y)ɮ-3A)UDNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjdZd@ZIZIZIZM?}e<)y }pi9)顅lii1X=IID1D5a=bE» 4jEO4rE/E= E=E=&E9"E=:*E=T:VE=4ZE9a}@a}@a}@a@ԱI@I @Q@U4@QA]AAAYBe>BeCBeIBe BBe =BeDDBaBek;Bei*E^A=IIO>  BDAT read: Rx Time:05:39:55.6502  TRx dataTimestamp_ set to:1761543597.132195 ߀G hA 9 hAY -AZ,4Kk?AlY=0By=IiMb@Mb@Mb@ 9y&1I +?MbY`ey94=vA A)bAYAbDVDy;;%;=ٔQ->9Y=FyE > Q 5~5 ?Q 9~5 ) LBYŒ=Q E9i Z,ek?AY~2By~I bDVDy%<%%Y=ٔ!Q-%>9)Y)=-Fy)1E5>91Q 5E~55?Q 9E~55.)5JBYIyIQ IM@5DI5);i5*;5~5yQɮU3AQDNOT Ignoring new targets: 17.90 m.hh*h"h hgfffddjdZd@. @ZDAT read: 05:39:55.6502 LVL= 28656, 17393, 18466, 32755, AGC= 57, IDX= 432,-0.08, 0.175, 2.308, 1.240, 1.555, PHS=-1.278, 0.799,-0.359, RAW= 303.8, 9.3, CAL= 301.4, 11.1, ROT= 208.6, -11.1 Ygot valid direction response: 05:39:55.6502 LVL= 28656, 17393, 18466, 32755, AGC= 57, IDX= 432,-0.08, 0.175, 2.308, 1.240, 1.555, PHS=-1.278, 0.799,-0.359, RAW= 303.8, 9.3, CAL= 301.4, 11.1, ROT= 208.6, -11.1 PDAT read: Bearing 300.2, -27.7 (Local) ~Local bearing/azimuth received: Bearing 300.2, -27.7 (Local)  DAT read: Range 11 to 50 : 17.8 m (Round-trip 23.8 ms) speed 0.0 m/s *DAT read: user:494> BDAT read: Tx time:05:39:56.7723 $Ping request sent.aU@ aF>))i@IaFEŁМվ3? D)2&I)iaF:publishing transmit ping timeFpublishing direction and range infoyc+޿M?Y )IiZZZ) `i9) ϵ i  )IEŁМվ3? )Iii]1aaIaIauR>iu%>i9@ @ @ /@ II)O5.>ԑEe  Ee Ee 'Ea "Ee 7;*Ee e:VEe '4ZEa a @a @a @a @ Be >Ba Be IBe BBe  =Ba Ba Ba Be f*EB%CB%CB%̔CB% =B% =C%́6Z, Bk?A2|]@2OX@2z <ٱ2b :AHRS rotation from veh to nav: [[0.778271,0.625950,0.049814],[-0.627629,0.777900,0.030891],[-0.019414,-0.055306,0.998281]]2H ??8??¡?`]ᓿ Q`?i2|]@I2T];2CYJ(ByJIiMb@Mb@Mb@ 9 ףp= {Gz?YQ8y#= MA)3AY15@AbD5VD5JyEt@%EE=ٔMwQ-M>9IYQ=UFyQUEU>YQ 5e~5]?Q 9e~5])YYmv=Q Em\ E5  E5 E5 &E1 "E5 :*E5 i:VE5 4ZE1 BE5 =889XY\=^Fy\^ۻE^>`Q 5f~5bU?Q 9f~5b)`YhyjQ?Q Ij@`Ib;ib@;b~~5ylɮnC4AlDNOT Ignoring new targets: 17.70 m.hh*h"h hgfffddjdZd`?ZZZZmQ?5w5<)1 5bi5(9)9=9i9iE1AEY =IAII9@ @@/@IIO>Aq "Z,k?A2R@2tM@20<ٱ2_ :AHRS rotation from veh to nav: [[0.777449,0.627055,0.048736],[-0.628668,0.777072,0.030576],[-0.018699,-0.054410,0.998344]]2H?`?@?`  ?ZO?%۫ n?i2R@I2.];2CY^By^IIba=)b{>f=dbDjVDjkyr;%rG=ٔvkQ-v>9tYt=vFytzEz>|Q 5~5~?Q 9~5~K)~IBYy 7?Q I @~DI~:i~ :~~5yɮs4AEDNOT Ignoring new targets: 17.70 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdU@=?ZZZZ{7?%0<)! %ei%9)!-()i)i-11Q5 =IYIYaE  E E %E "E  :*E :VE  4ZE a5@a=@a=@a=@)@1 @1@50@9ԉB<AB>BCB~IB BB =BBoDB0l;B*E^A<=IԩIO> D Z,k?A6M@6`H@6ӗ<ٱ64_ >AHRS rotation from veh to nav: [[0.777062,0.627542,0.048640],[-0.629152,0.776677,0.030668],[-0.018533,-0.054433,0.998345]]6H@??f?"`?@eg? 1 ޫ r?i6M@I6u];6CY^+BybIiEMb@Mb@Mb@AAAA A9EQ롿~jt?~jth?YE\yE=ED;ECAE A EA)EAAYEA ]4<]4<bDeVDe2ymk=%uB=ٔuιQ-u>9yYy=}FyyE>Q 5~5?Q 9~5)JBYS=Q E9 4Z,k?A2E@2@@2<ٱ20a :AHRS rotation from veh to nav: [[0.776478,0.628246,0.048869],[-0.629876,0.776072,0.031114],[-0.018378,-0.054941,0.998320]]2H ??@]?`'?rܟ?ђ9pYp=rFypvOEv>xQ 5z~5z?Q 9~~5z3)xY|y~?Q I~@zDIz;iz;z~5y ɮ x3A 5DNOT Ignoring new targets: 17.70 m.h1h1*h1"h9 h9g9f9fAfAdAdAjdAZdM.@ZiZiZiZm?<) ki9)額y/ii1#=II59@1 @1@54@19^Au@o=IIO>E  E E (E "E :*E x:VE c44ZE a @a @a @a @i B >B B B B  =B B nDB l;B *E[,~tl?A 2B@2|=@2<ٱ2,$c :AHRS rotation from veh to nav: [[0.776226,0.628530,0.049225],[-0.630185,0.775808,0.031428],[-0.018436,-0.055417,0.998293]]2H??4?z* l?@_?_`?i2B@I22F];2CY^6BybI ``ddiMb@Mb@Mb@ 9A`"/$?{Gz?YYy,=#< )YbDVD02y8=%==ٔ 9Q->9Y=FyrE>Q 5~5B?Q 9~5r)LBY=Q EBYiYie1ae=IaIiq)@) @)@-4@)ԙ^Am2g=IIO> E%  E% E% %E! "E% O:*E% [:VE% 4ZE! BE% 9xY|=~Fy|~AT:E>Q 5 ~5?Q 9~5)NBYy2?Q I@I):iB:4~5yɮ%2A!MDNOT Ignoring new targets: 17.70 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZde@_@ZZZZ2?<) 3hi9)顝Mii1*=II@ @@/@BDAT read: Rx Time:05:39:59.2002 TRx dataTimestamp_ set to:1761543600.660951^AIIO>! o [,*4l?A|YyIbDVDky%%%G=ٔ-Q-->9)Y)=-Fy)5E5>9Q 5E~5=N?Q 9E~5=)=OBYAyIQ IM@=DI=:i=:=~5yQɮU2AQ}DNOT Ignoring new targets: 17.70 m.hh*h"h hgfffddjdZd) @ZZZZ) Phi$9)[ii1P=IIE EE'E"E:*Eg:VE'4ZEa@a@a@a@y@y @y@y@y1A@AAB>BߍCBIBBB =BBBl;B*EY^Ar=IIO>ԁ  DAT read: 05:39:59.2002 LVL= 29552, 19265, 19298, 32755, AGC= 57, IDX= 448,-0.39,-1.651, 0.508,-0.525,-0.248, PHS=-1.301, 0.801,-0.321, RAW= 302.2, 9.1, CAL= 299.7, 10.6, ROT= 210.3, -10.6  Ygot valid direction response: 05:39:59.2002 LVL= 29552, 19265, 19298, 32755, AGC= 57, IDX= 448,-0.39,-1.651, 0.508,-0.525,-0.248, PHS=-1.301, 0.801,-0.321, RAW= 302.2, 9.1, CAL= 299.7, 10.6, ROT= 210.3, -10.6  PDAT read: Bearing 300.6, -29.1 (Local)  ~Local bearing/azimuth received: Bearing 300.6, -29.1 (Local)  DAT read: Range 11 to 50 : 17.8 m (Round-trip 23.8 ms) speed 0.0 m/s  R#Rx 3: Read range and direction messages. `direction in FSK: [-0.848662,-0.495918,0.183951] Fpublishing direction and range infoy  =(bH߿ =η?Y ps AK bK ) I +i VM? Z Ǩ@ "> Rb@ q=>) Ij@I q= ,yΓŁ5(}#? (F) !I l7'i q= lX[,Nl?AbL@bF@b <ٱb` jAHRS rotation from veh to nav: [[0.776932,0.627639,0.049457],[-0.629289,0.776574,0.030455],[-0.019292,-0.054784,0.998312]]bH@??fR?"#?/?H +?ibL@Ib1];bCYYyy}IiMb@Mb@Mb@ 9v/I +?~jtx?Yxiy94=;A A A)AYAbDUVDU02y]2;%e+=ٔe:Q-e>9iYi=Fy]:E>Q 55?Q 95*)QBY=Q E7@bV .eKߍ!A @R=(bH߿ =η?Zil7'biq=jG(z1:^@MP@Z lp?+(J?2i /@:i#"iu?*i|9BiHBԁiGq?i|9iBi:AiY>@ addTargetRange:: Added new target pos. range: 17.799999 m, deltaT: 3.530248 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.698675 m, bearing: 170.869254 deg, lat: 36.779379 deg, lon: -121.859715 deg, deltaT: 3.530248 s, deltaX: -0.000473 m, approachRate: -0.000134 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.70 m.hh*h"h hgfff$Bddjd Zd  ?ZM=ZM=ZM1@ZMa? <) 3si.9)amii1=IIE EE%E"E:*E҆:VE 4ZEBE9 y[,sgl?Aɰp;2^R@21M@2<ٱ2^ >AHRS rotation from veh to nav: [[0.777413,0.627040,0.049492],[-0.628680,0.777093,0.029810],[-0.019768,-0.054289,0.998330]]2H? ?W?`%`??=˫P?i2^R@I2_];2CYFFByFI PRbDRVDRܲyZ[=%^=ٔ^V:Q-^?9\Y`=bFy`bH(;Eb?dQ 5j5f7?Q 9j5f)dYlyn{?Q In@fDIfr;if:f5ypɮr}2AtDNOT Ignoring new targets: 17.70 m.hh*h"h hgfffddjdZdIc?ZZZZ{?U<)Q ]ni]9)Y]ozYiaim1qu=IqIy!@ @@/@)^A9=IIO>bEȀ'4jE!4rE[/E  E E 'E "E :*E :VE '4ZE a @a @a @a @Q B ~>B B IB BB  =B B B l;B *Ei [,l?A2V@2Q@2s<ٱ2 ^ :AHRS rotation from veh to nav: [[0.777750,0.626594,0.049850],[-0.628244,0.777461,0.029385],[-0.020344,-0.054173,0.998324]]2HT?` ?@??1? ՔE?i2V@I2C];2CYRHByRIi-Mb@Mb@Mb@)))) )9-MbS㥫?Mb?Y-y-/]=-<)) -MA)-A)Y-AbDEVDEkyM6<%U@=ٔUj:Q-U>9YYY=]FyYeg:Ee>aQ 5m5e ?Q 9u5ex)eSBYu=Q Eu;yu?Q Iu@eDIeYԙ E  E E %E "E [:*E z:VE 4ZE BE ~9xYx=zFyx~:E~>Q 5 5 ?Q 9 5q)TBY y ?Q I@DI:iB: 5yɮK2AEDNOT Ignoring new targets: 17.70 m.hAhI*hI"hI hIgIfIfQfQdQdQjdYZd]?ZyZyZyZ}?6<) iik9)顕ɋii1t =IIԑ1@1 @1@52@1@==@==^A =IIO%o> ޮ,[,Y2l?AY~NByI AA AAbDVD02y%<%%G=ٔ-Q-->9)Y)=5Fy15E5>9Q 5E5=2 ?Q 9E5=X)=VBYIyIQ IM@= DI=:i=:=h5yQɮU;2AQDNOT Ignoring new targets: 17.70 m.hh*h"h hgfffddjdZdv?ZZZZ) hi9)5ii1* =IID%=D%=E EE&E"Ea:*Eg:VE4ZEa@a@a@a@9@ @@4@B]>BYB]IB]%BB] =BYBYB]l;B]*EB%ߍCB%ߍCB%œCB% =B% =C%5!^AuNw =IIO>I T3[, l?AY~LBy~IiMb@Mb@Mb@ 9J +v/?Mb`YȽyxi=GA A)AYAbDVDy,$%>=ٔQ->9Y=FyE > Q 55  ?Q 95 %) UBY8=Q E;y ?Q I@  DI  ;i  ; ,5y!ɮ-M2A)UDNOT Ignoring new targets: 17.70 m.hQhQ*hY"hY hYgYfYfafe-BdadajdaZdm.@Z8=Z8=ZX'@Z ?) piB9)顥ii1IIQI@I @I@M4@IE EE'E"Es:*E՚:VE'4ZEBEg0ԩ g9[,l?A6]l@60g@6s<ٱ6R0`@ BAHRS rotation from veh to nav: [[0.779347,0.624406,0.052307],[-0.626164,0.779183,0.028150],[-0.023180,-0.054692,0.998234]]6Hh?!?Ǫ? ?jӜ?c ?i6]l@I6y];6CYJPByNIbDVVDVy^<%^a=ٔb;Q-b>9`Y`=fFydf;Ef>hQ 5n5jw?Q 9n5j")jTBYpyrL?Q Ir@j DIj;ij;jY5ytɮv12AtDNOT Ignoring new targets: 17.70 m.hh*h"h hgf!f!f!d!d)jd)Zd- @ZQZQZQZUL?ms<)i mnim9)qu?qiqi}1y}=IyIIfA)9@ @@/@@gA@fAԱ^AI!I1OEs>E EE&E"E:*E:VE4ZEa@a@a@a@ B] >B] CB] IB] +BB]  =B] CDB] qDB] Ql;B] *EV@[, m?A.q@.l@.Ll<ٱ._ :AHRS rotation from veh to nav: [[0.779742,0.623883,0.052645],[-0.625646,0.779621,0.027553],[-0.023853,-0.054422,0.998233]].H??I?@J? 6?l@&ݫ?i.q@I.b];,Y^RBybIliMb@Mb@Mb@ 9 ףp= V-?y&1|YQym=` A )YA 4<bDVD0y"<%<=ٔ :Q->9Y=FyZ:E>Q 555?Q 95)SBY=Q E;y?Q I@DI;i ;&5yɮ2A DNOT Ignoring new targets: 17.70 m.h h *h "h  hgfff)BddjdZd%@ZE=ZE=ZEl$@ZE,?ULl<)Y ]ki]m9)Y]YiYie1ae*=IiIi @ @@ @ 9^A- l=I1 II OU >q E  E E (E "E ,:*E V:VE c44ZE BE 9XYX=ZFyX^E:E^>`Q 5f5b"?Q 9f5b)bQBYdyf?Q Ij@bDIb:ib|:bd5ylɮn-2AlDNOT Ignoring new targets: 17.70 m.hh *h "h  h g f ffddjdZd @yZZZZ ?<) gliI9)Eii1tz=II@ @@/@ԡ^AS=IIO> L[,Q6m?A2v@2p@2E<ٱ2] :AHRS rotation from veh to nav: [[0.780057,0.623437,0.053267],[-0.625213,0.779998,0.026704],[-0.024900,-0.054134,0.998223]]2H:?1? E?`?@?X?[gq?i2v@I2|];0YFKByFIbDNVDNyVѼ%VJ=ٔV:Q-Z>9XYX=ZFy\^9E^>`Q 5f5b?Q 9f5b)bPBYdyf?Q Ij@bDIb:ib:b"5ylɮnX2AlDNOT Ignoring new targets: 17.70 m.hh *h "h  h g f ffddjdZd`| @Z9Z9Z9Z=A?ME<)Q UoiU9)Q]YiYi]1ae=IaIauN>iu>E EE%E"Em:*ET:VE 4ZEa@a@a@a@9@ @@0@@=@=Bu>BލCBBB =BDDBmDBBl;B*E^Am=IyIO~>)Q S[, ]Pm?AZxu@ZKp@Z_<ٱZt,_ fAHRS rotation from veh to nav: [[0.780000,0.623456,0.053877],[-0.625263,0.779960,0.026607],[-0.025434,-0.054441,0.998193]]ZH?Z?˕?'o?>?A ߫2?iZxu@IZi];ZCYrSByrIimMb@Mb@Mb@iiii i9m~jtp= ף?9Y=Fy6E>Q 55?Q 95)MBY&=Q E;y)?Q I@DI~ ;i;&5yɮ2A1]DNOT Ignoring new targets: 17.70 m.hYhY*hY"hY hYgYfafafu*BdydyjdyZd}`:@Z&=Z&=Zo"@Z)?_<) ki9) i)i-115W=I1I19@ @@0@aE EEE"E,:*Ei:VEZEBEa2EԱ Z[,A.jm?A2w@2[r@2<ٱ2s__ :AHRS rotation from veh to nav: [[0.780146,0.623234,0.054326],[-0.625058,0.780135,0.026318],[-0.025979,-0.054489,0.998176]]2H??Ы?y?"?V 嫿`?i2w@I2F];2CYFJByFIbDNVDN:yV=%V[=ٔVֿ:Q-Z>9XYX=ZFyX^0:E^>Q 55?Q 9%5)KBY!y%2?Q I%@DI;i;*5y)ɮ5Y2A1}DNOT Ignoring new targets: 17.70 m.hyh*h"h hgfffddjdZd .@ZZZZ2?<) oi79)Ƕii1 P=I I ԑ@ @@ 3@@@@@IAIQOew>E EE&E"E:*Exv:VE4ZEa@a@a@a@B m>B ܍CB IB %BB  =B B kDB l;B d*E `[,m?A6!v@6p@6<ٱ6l_ JAHRS rotation from veh to nav: [[0.780032,0.623344,0.054707],[-0.625185,0.780037,0.026188],[-0.026349,-0.054629,0.998159]]6H?o?@~?? њ?2_ ?i6!v@I6];6CYVAByVIIZ%=)Z<\^=ieMb@Mb@Mb@aaaa a9e ףp= x&?I +YeQye7=e94eCAa eIA)eAaYabD}VD}0yK+%<=ٔ-_:Q->9Y=FyιE>Q 55?Q 95S)IBY=Q E;y?Q I@DI" ;iG ;-5yɮ2ADNOT Ignoring new targets: 17.70 m.hh*h"h hgfffBddjdZdT@Z=Z=Z$ @Z?5<)1 5ki5z9)9=f϶9i9iE1AE=IAIAQ@ @@4@II O- >I E  E E $E "E *E R:VE 4ZE BE AHRS rotation from veh to nav: [[0.779827,0.623583,0.054900],[-0.625430,0.779847,0.025991],[-0.026606,-0.054605,0.998154]]2H@W? e?@?@?v?>`'?i2s@I2~];0YbCBybI hj<bDnVDn:2yv9<%vV=ٔz\0:Q-z>9xYx=zFyx~ZE~>Q 5 5?Q 9 5=)FBY y?Q I@DI:i-:15yɮ2AEDNOT Ignoring new targets: 17.70 m.hIhI*hI"hI hIgIfIfQfQdQdQjdYZd]a@ZZZZ? <) jji9)ֶii=19=Eh=I9IAq@ @@2@IIO% >ԙ Jm[,m?A6r@6l@6<ٱ6I_ >AHRS rotation from veh to nav: [[0.779713,0.623711,0.055061],[-0.625558,0.779755,0.025681],[-0.026917,-0.054467,0.998153]]6Hi?p?0? ? L? 㫿?i6r@I6];6CYJ:ByJIPbDVVDV:y^z6%^N=ٔ^L:Q-b>9`Y`=bFy`fEf>hQ 5n5j?Q 9n5j)jDBYlyn?Q Ir@jDIj;ij;j45ytɮv2AtDNOT Ignoring new targets: 17.70 m.hh*h"h hgff!f!d!d!jd)Zd-@ZIZIZIZM?e<)a enieJ9)ae޶iiiim1qu>=IqIqbE%ž4jE% 4rE%L/E EE&E"E;*Ec:VE4ZEa@a@a@a@1@1 @1@5/@1IAIYO]=B<ABe>BۍCBIB BB =BBBk;BO*E6G5 91 Y= tA! 4t[,m?A|Y|y| AiMb@Mb@Mb@ 9/$ rh?9Y=FyE>Q 55?Q 95)ABY=Q E;y??Q I@DI ;i ;d85yɮ2A DNOT Ignoring new targets: 17.70 m.h h *h "h  h gfff BddjdZd>@Z=Z=Z2@Z??) hi9)嶉ii13=II)I1)5gA)9@ @@/@E EE#E"E:*Exv:VE3ZEBEvy \z[,um?A2zh@2Mc@2<ٱ2 ~` :AHRS rotation from veh to nav: [[0.778971,0.624601,0.055478],[-0.626470,0.779022,0.025681],[-0.027179,-0.054760,0.998130]]2HU?? g? ? L? ԛ `?i2zh@I2?];0YF9ByFILLbDRVDRy^*%^\=ٔb8:Q-b>9dYd=fFydjNEj>lQ 5v5n?Q 9v5n)n?BYxyz?Q Iz@nDIn$;in%;n;5Yyɮ2ADNOT Ignoring new targets: 17.70 m.hh*h"h hgff f dd9jd9ZdE`X@ZZZZ?<) ii 9)  R i i1H=IIԉ@ @@/@Ա^A=IDzD@AE EE'E"E,:*ErN:VE'4ZEa@a@a@a@IO>B o>B ݍCB IB BB  =B B lDB k;B Z*EBeݍCBeލCBeʖCBe =Be =Ceg7 G[,]n?ANc@N^@N<ٱN` ZAHRS rotation from veh to nav: [[0.778619,0.625033,0.055563],[-0.626907,0.778671,0.025677],[-0.027216,-0.054826,0.998125]]NHq?@D?r??K?ޛ?iNc@INP];NCY`y`iMMb@Mb@Mb@IIII I9MlDl?~jtxYMyMO=MĻMAM A M|A)MAIYMAbDeVDe:Աٔd8Q->9Y=FyҦE>Q 55u?Q 95)>BY=Q E9 E  E E $E "E :*E k:VE 4ZE BE a 2E a JE Ѽ;a :E Ҽ;a n[,4,n?AN]@NX@N<ٱN8Wa VAHRS rotation from veh to nav: [[0.778145,0.625612,0.055672],[-0.627494,0.778195,0.025744],[-0.027218,-0.054967,0.998117]]NH?? ? o?\?ޛ$`?iN]@IN];NCYb@BybIIf=)fp;bDjVDjyr<%r<ٔv6Q-v>9tYt=zFyxz%Ez>|Q 55~?Q 95~)~i>Q@Q @Q@U0@QA^Au#=IIO>qԙ [,J9n?AY~>By~I ; bDVDy%,%%F=ٔ%Q-->9)Y)=-Fy)5E5>9Q 5E5=|?Q 9E5=)=;BYAyAQ IE@=DI=;i=:=YF5yQɮU2AQ}DNOT Ignoring new targets: 17.70 m.hyhy*h"h hgfffddjdZd@ZZZZ) ^i9)ii1 =IIDu=Du<E EE&E"E[:*E1]:VE4ZEa@a@a@a@ԡu9@q @q@u4@qB5m>B1B1B1B5 =B1B1B5l;B5c*E^AuNw =IIO> [,Rn?A2U@2P@2S<ٱ2` :AHRS rotation from veh to nav: [[0.777543,0.626360,0.055677],[-0.628236,0.777604,0.025517],[-0.027312,-0.054819,0.998123]]2H`?# ??`@"?@9!?`H?i2U@I2];2CYDyFIiEMb@Mb@Mb@AAAA A9E333333㥛 ?MbpYEyE=EEGAA EMA)AAYEAbD]VD]!ymi%mF=ٔun9Q-u>9qYq=}Fyy}UE}>Q 55 ?Q 95)9BY=Q E;y?Q I@ DIf:i:I5yɮ2ADNOT Ignoring new targets: 17.70 m.hh*h"h hgfffBddjdZdWa @Z=Z=ZH@Zw?S<) ki9)ii%1!%9=I!I)9@ @@4@E EEE"E:*Ega:VEZEBEI [,{ln?AF+U@FO@F<ٱFo^ VAHRS rotation from veh to nav: [[0.777487,0.626447,0.055474],[-0.628300,0.777566,0.025079],[-0.027424,-0.054354,0.998145]]FH,? ?$g? ?n?``;ԫ?iF+U@IFw];FCY`yfI hhbDrVDr:y&:% Q=ٔ D9Q->9Y=Fy%(dE%>!Q 5-5%?Q 955%r)%8BY1y5?Q I5@%!DI%`:i%&;%dM5yAɮE2AI5DNOT Ignoring new targets: 17.70 m.hQhQ*hQ"hQ hQgYfYfYfYdadajdaZde9!@ZZZZ?<) iki9)ii1y`=II I9@ @@24@@gA@gAyE EEE"E;*EL_:VEZEa@a@a@a@^AG=IIO>ԡ B- l>B) B- IB- BB) B) B) B- k;B- :*E[,n?A@rR@rkM@rB <ٱr4^ zAHRS rotation from veh to nav: [[0.777286,0.626693,0.055524],[-0.628542,0.777379,0.024834],[-0.027600,-0.054202,0.998148]]rH? ?@m?J?n?Cf?irR@IrK];pY FBy IiMb@Mb@Mb@ 9kt~jt?Mb`Y y= A |A)AY\AbDVDy!=%?=ٔ=9Q->9Y=FyM9EM>QQ 5]5U?Q 9]5U )U7BYe=Q Ee;ye?Q Ie@U#DIU:iU:UCQ5yiɮmy2AqDNOT Ignoring new targets: 17.70 m.hh*h"h hgfffBddjdZd "@Z=Z=Z@Z?B <) hij9)] ii1==IIԱ9@ @@/@^AIIO> E  E E E "E :*E :VE ZE BE L"9)Y)=-Fy)-d8E5>1Q 5=55L?Q 9E55 )1YAyE?Q IE@5$DI5n;i5&;5wT5yIɮU2AQ}DNOT Ignoring new targets: 17.70 m.hyhy*hy"hy hgfffddjdZd"@ZZZZ?<) ki(9)ii1a=IIi@i @q@q@q 9^A@o=IIO>a [,Nn?A2+O@2I@2W(<ٱ2)^ :AHRS rotation from veh to nav: [[0.777015,0.627003,0.055815],[-0.628860,0.777130,0.024570],[-0.027970,-0.054191,0.998139]]2HN?g????(??i2+O@I2 q];2CYF7ByFIbDNVDNkyVTQ%VR=ٔVm9Q-Z>9XYX=ZFyX^عE^>`Q 5f5b?Q 9f5b)b6BYdyf?Q Ij@b&DIbB:ib:bW5ylɮn2Al~B*** querying acoustic contact ***i|9 i|DNOT Ignoring new targets: 17.70 m.hh*h"h hgfffddjdZd#@ZZZZ?W(<)1 5pi59)9=9i9iE1AE=IAIIE] E]E]'EY"E]:*E]P:VE]'4ZEYae@ae@ae@ae@}2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.I)fABg>B܍CBBB =BBkDBwk;B*EE9@I @I@M/@I@U@U@Q@QiԑIIO%>5 *DAT read: user:495> = BDAT read: Tx time:05:40:10.2723 M $Ping request sent.M 9Y=Fy P8E>Q 55?Q 95a)Y>Q E;y?Q I@'DI ;i ;[5yɮ2A-DNOT Ignoring new targets: 17.70 m.h)h1*h1"h1 h1g1f9f9f=Bd9dAjdAZdEFr$@Zm>Zm>ZmW@Zm?}67<)y }hiL9)顅ii1:=II-9@) @)@-0@)I9IIOU>Em EiEm$Ei"Em :*EiVEm4ZEiBEiau2EiauJEm(;au:Em);a}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248229 A[,n?AjO@vchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500772jJ@j%<ٱj2Z_ AHRS rotation from veh to nav: [[0.777043,0.626914,0.056408],[-0.628801,0.777181,0.024465],[-0.028502,-0.054480,0.998108]]jH???@$?`e ?/䫿 ?ijO@Ij==];jCY=ByIbDVD:y /% 8=ٔ F&:Q->9Y=Fy8E>!Q 5-5%^?Q 9-5%)%5BY)y-?Q I5@%)DI%;i%;%_5y=Bɮ=92A=EeDNOT Ignoring new targets: 17.70 m.haha*hi"hi higififqfqdqdqjdyZd}mU%@ZAZAZAZEk?U%<)Y ]-ji]9)Y]yYiYie1im?=IiIqi@ @@%/@!I1IIOUS>bEjE4rEA/Eu EuEu%Eq"Eu:*Euą:VEu 4ZEqa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752103ԙB b>B ۍCB IB BB  =B B B Qk;B )EԹ [,o?A fj>hA](hAi29(hAYR"AQ@~L@01<ٱ_ AHRS rotation from veh to nav: [[0.777185,0.626701,0.056827],[-0.628606,0.777345,0.024293],[-0.028950,-0.054602,0.998088]]H? ?v?`@? 5? W?iQ@IF];CY9ByI  ԉiMb@Mb@Mb@ 9+η+?{GztYvy=ף |A)AY3AbDVDy|%L=ٔ:Q->9Y=Fy\:E>Q 55?Q 95)4BY =Q E ;y 5?Q I @+DI ;i2 ;c5yɮU2AEDNOT Ignoring new targets: 17.70 m.hAhA*hA"hA hAgIfIfIfMBdQdQjdQZdU@a"&@Z=Z=Zje@Z5?01<) ffij9)ii1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005133e!=IaIiԹQ@Q @Q@U?0@YIiIyOZ>E}  E} E} 'Ey "E} [:*E} x:VE} '4ZEy BE} }I 5[,̖;o?A2W@2vR@2<ٱ2^ >AHRS rotation from veh to nav: [[0.777628,0.626118,0.057194],[-0.628027,0.777830,0.023724],[-0.029633,-0.054368,0.998081]]2H S?) ?H?  ?)K?X֫G?i2W@I2GE];2CYFBByFIbDRVDR:yVXջ%ZN=ٔZx:Q-Z>9\Y\=^Fy\b(:Eb>`Q 5f5b?Q 9j5bR)b1BYhyjM?Q Ij@b.DIb :ib|:bi5ylɮr 2Ap DNOT Ignoring new targets: 17.70 m.h h *h "h  h gfffddjdZd%x'@ZAZAZAZEM?U<)Q UaiU9)Y]%YiYie1ae =IiIiE= E=E9E9"E=:*E=VL:VE9ZE9aE@aE@aE@aM@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760292Qi@q @q@u/@qAAAAB\>BڍCBIB BB =BBjDB9k;B)EBM܍CBM܍CBMÔCBM =BM =CM46ԁ^A}G=IIO>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013117[,rUo?A6e[@68V@6<ٱ6q^@ >AHRS rotation from veh to nav: [[0.777907,0.625746,0.057474],[-0.627663,0.778131,0.023505],[-0.030014,-0.054359,0.998070]]6H?`?0m?r??`廞`ԫ 1?i6e[@I6(];6CYHyLiMb@Mb@Mb@ 9S㥻kt?{GztY/ݽy =A A)vAYbD5VD5kyE~%EA=ٔMk:Q-M>9IYI=UFyQU!:EU>YQ 5e5]?Q 9e5])]0BYmv >Q Em;ym?Q Im@]0DI]a:i]:]7m5yqɮu2AyDNOT Ignoring new targets: 17.70 m.hh*h"h hgfffBddjdZd"s(@Z]v >Z]v >Z]@Z]F?m<)i mffim?9)顕)ii1$ =IIԩI@I @I@M/@IEI EMEIEI"EI*EMga:VEIZEIBEM /I[,Voo?A ɰ bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516574f_@lfeZ@f<ٱf&_ vAHRS rotation from veh to nav: [[0.778219,0.625331,0.057766],[-0.627260,0.778459,0.023379],[-0.030348,-0.054428,0.998056]]fH*?@?`u?@#?@?  ޫ?if_@If];fCY>ByI p<4<bDVD 3y%Z%-L=ٔ-[:Q-->91Y1=5Fy1=:E=>9Q 5E5=?Q 9M5=h)=/BYIyM?Q IM@=1DI=y:i=N:=p5yYɮ],2AYDNOT Ignoring new targets: 17.70 m.hh*h"h hgfffddjdZdX@)@ZZZZq?<) Hhi9),-ii1Q =IIM9@Q @Q@U/@Q@]fA@]hA A^ANw =IIO>EU EUEU&EQ"EUa:*EUe:VEU4ZEQa]@a]@a]@a]@uBDAT read: Rx Time:05:40:12.6997 uTRx dataTimestamp_ set to:1761543614.016180}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769219Bm f>Bm ۍCBi Bi Bm  =Bi Bm kDBm k;Bm )EY 2[,n5o?APExceeded connect timeout, disconnecting.95}b@5P]@5L<ٱ5Y_ ]AHRS rotation from veh to nav: [[0.778435,0.625039,0.058012],[-0.626977,0.778691,0.023257],[-0.030637,-0.054476,0.998045]]5H?Q?ij?1?З?G_V䫿?i5}b@I5<];5CYDByIi=Mb@Mb@Mb@9999 99=|?5^K?9qYq=uFyq}Q:E}>yQ 55}?Q 95})},BY >Q E;ya?Q I@}3DI} ;i}" ;}t5yɮ1ADNOT Ignoring new targets: 17.70 m.hh*h"h hgfffBddjdZd`&*@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020213aZu >Zu >Zu @Zua?L<) ffi9)顭21ii1I =IIU9@Q @Y@]/@Yԑ^Ay I I O >Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274655Eu  Eu Eu $Eq "Eu :*Eu &p:VEu 4ZEq BEu v9Y=FyԑR#:E>Q 55T?Q 95})*BYyj?Q I@5DI:i-:w5yɮ1A=DNOT Ignoring new targets: 17.70 m.hAhA*hA"hA hAgAfAfIfIdYdYjdYZd]*@ZZZZ9j?<) Ifi9)4ii1=III)gA9@ @@/@%DAT read: 05:40:12.6997 LVL= 30992, 18897, 17682, 32755, AGC= 54, IDX= 442,-0.12,-3.014,-0.935,-1.891,-1.603, PHS=-1.309, 0.714,-0.332, RAW= 301.1, 10.6, CAL= 298.6, 13.8, ROT= 211.4, -13.8 5Ygot valid direction response: 05:40:12.6997 LVL= 30992, 18897, 17682, 32755, AGC= 54, IDX= 442,-0.12,-3.014,-0.935,-1.891,-1.603, PHS=-1.309, 0.714,-0.332, RAW= 301.1, 10.6, CAL= 298.6, 13.8, ROT= 211.4, -13.8 5PDAT read: Bearing 296.9, -29.4 (Local) =~Local bearing/azimuth received: Bearing 296.9, -29.4 (Local) EDAT read: Range 11 to 50 : 17.4 m (Round-trip 23.2 ms) speed 0.0 m/s MR#Rx 1: Read range and direction messages.U`direction in FSK: [-0.828912,-0.505970,0.238533]UFpublishing direction and range infoyXps[0࿹iC?Y3AyIE )6IPi6?}*@q=> Ŧ@ Ϣv>)"l@IϢvr02ѓ^P? CG)6V=I%iϢv^AV =II O > [,U޼o?A2of@2Ba@2 <ٱ2K` :AHRS rotation from veh to nav: [[0.778726,0.624635,0.058456],[-0.626593,0.779003,0.023139],[-0.031084,-0.054647,0.998022]]2H`S???` @?ױ?@qԟ`?i2of@I2A];0YfFByfIln@AbDrVDrN2yzq;%zT=ٔz# :Q-z>9|Y|=~Fy|):E> Q 55 ?Q 95 ) (BYyr?Q I@ 7DI :i ; >{5y!ɮ%1A!i i ]o?AJi eARi eAji ;I@@b o ,'l!mo-@R Xps[0࿹iC?Zi %bi Ϣvj *d0g^@2Z]}+@Z 1\qRį?B[i?2i @:i %"i #?*i $Bi [Bi u?i di.i HBi Ai $C@u addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 13.605602 s, deltaX: -0.400000 m, approachRate: -0.029400 m/s, rangeRepo size: 4  Added new target pos. range: 17.299700 m, bearing: 172.143424 deg, lat: 36.779379 deg, lon: -121.859714 deg, deltaT: 13.605602 s, deltaX: -0.398975 m, approachRate: -0.029324 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjd`ff1@Zd?ZZZZr? <) eim9)8ii1t=IID=DE% E%E!E!"E%:*E%1]:VE!ZE!a5@a5@a5@a5@Bn>BݍCBBB =BBlDBDk;B*E@ @@1@!nManaging dock network, ignoring radio surface power off^A=I!I1OE>Qy k[,o?A2h@2c@2_<ٱ2>k_ :AHRS rotation from veh to nav: [[0.778903,0.624417,0.058418],[-0.626369,0.779188,0.022982],[-0.031168,-0.054492,0.998028]]2H`?@:??`7 ? ?@ꟿc櫿?i2h@I2];2CYFDByFIi Mb@Mb@Mb@     9 MbXI +?I +Y ʽy 9= 94 rA 9 A A) A Y AbD-VD-y=%=F=ٔEV9Q-E>9AYA=EFyAM75:EM>QQ 55U?Q 95U)U%BY>Q E;yZM>ZM@ZMSԩ [,o?A:i@:hd@: =ٱ:" _ JAHRS rotation from veh to nav: [[0.778963,0.624342,0.058427],[-0.626291,0.779254,0.022861],[-0.031256,-0.054400,0.998030]]:HC?`?,? ? h? aګ`?i:i@I:];8YVEByVIIZ<)Z;bDbVDb:2yj;%jQ=ٔjXl9Q-j>9pYp=rFypv 9Ev>tQ 5~5v?Q 9~5v\)v#BY|y~??Q I~@v:DIvD;ivQ;vF5y ɮ 1A 5DNOT Ignoring new targets: 17.30 m.h1h1*h9"h9 h9g9f9fAfAdAdAjdAZdMz?ZiZiZiZmo??} =)y *^i9)顅 ?ii1=IIN>i>ԱM9@I @I@M/@I^Au.=IyIO~>EE EEEE'EA"EE:*EEh;VEE'4ZEAaM@aM@aU@aU@B \>B ڍCB B B  =B B jDB Xk;B )E! 9 \,| p?A]6m@] h@]=ٱ]] AHRS rotation from veh to nav: [[0.779237,0.624006,0.058364],[-0.625943,0.779541,0.022603],[-0.031393,-0.054146,0.998039]]]H ??@?@?@4%? @`?i]6m@I]$];]CY;ByIiMb@Mb@Mb@ 9(\µʡE?:vYy-=TA A  A)AYA p<bDVDy2%,=ٔ9 Q->9Y=Fys:E>!Q 5-5%?Q 9-5%ٿ)%BY-=Q E-;y5{?Q I5@%EE  EE EE (EA "EE :*EE [:VEE c44ZEA BEE D-AHRS rotation from veh to nav: [[0.778966,0.624346,0.058353],[-0.626288,0.779259,0.022787],[-0.031245,-0.054296,0.998036]]2H I??`u? ?U?@̫?i2i@I2];0YFDByFIbDRVDRNyV/]=%Zy=ٔZ\,?p?A2l@2f@2))=ٱ2] >AHRS rotation from veh to nav: [[0.779156,0.624115,0.058279],[-0.626049,0.779455,0.022659],[-0.031284,-0.054140,0.998043]]2H?@?֭?K?`3?y`H ?i2l@I2w8];2CYF=ByFI LLLLbDR VDR2yZ%ZC=ٔ^%8Q-^>9\Y\=bFy`b?:Eb>dQ 5j5f?Q 9j5f|)fBYlynv?Q In@f?DIf3;if;f5ypɮr2ApbE'4jE'4rE '0E EE*E"E:*EV:VE(N4ZEa@a@a@a@DNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd U)@ZZZZv?BUi>BU܍CBUIBUBBU =BQBUkDBUj;BU)E}))=)y } Si}9)y}0Iii1)=IIԁ}9@y @y@}/@yGhA]/(9ehAYeAԱ^A=IIO> \,.Xp?A2j@2e@2<ٱ2] :AHRS rotation from veh to nav: [[0.779054,0.624259,0.058103],[-0.626185,0.779344,0.022695],[-0.031115,-0.054064,0.998053]]2H@??? c?C=? ܟ: ?i2j@I2];2CYF@ByFI\aj@aj aj@aj aj@aj aj@aj llbDnVDnyvr<%vH=ٔzعQ-z>9xYx=~Fy|~ٹE~>Q 5 5D?Q 9 5/)BQ A+:YQ E;yp?Q I@@DI]:i>׏5yɮ1A!MDNOT Ignoring new targets: 17.30 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZdeOH@ <)  ~Qi 9)  oLii519==I9I9@ @@0@ E EE(E"E :*E:VEc44ZEBEL"A 9\,Urp?A6{f@6Na@6#<ٱ6] >AHRS rotation from veh to nav: [[0.778734,0.624672,0.057943],[-0.626593,0.779014,0.022800],[-0.030896,-0.054062,0.998060]]6Hd?P?? ?X?4?i6{f@I6];6CYJCByJIbDV VDV:2y^0g<%^M=ٔbWQ-b>9`Yd=fFydfɪEf>hQ 5n5j죊?Q 9n5j)jBQ Ar :YpQ Er;yr^?Q Ir@jBDIj ;ijGO?j5ytɮv1AxDNOT Ignoring new targets: 17.30 m.h!h!*h!"h! h!g!f!f)f)d)d)jd1Zd5w@e#<)a ePie9)amOiiiim1qu=IqIqI)fA@ @@?0@I^AIIOj>qE EE&E"E:*E~:VE4ZEa@a@a@a@B]Y>B]ڍCBYBYB] =BYB]jDB]j;B])EBۍCBۍCBB =B =C6ԡ #\,p?AqeSe@e&`@e<ٱe\ AHRS rotation from veh to nav: [[0.778650,0.624806,0.057632],[-0.626706,0.778925,0.022698],[-0.030709,-0.053792,0.998080]]eH`?`h?ね? ?`>? 1r E?ieSe@Ie2-];eCYAByII=)=aa aa aa aa iMb@Mb@Mb@ 9ˡEʡE?MbY什y=A |A)AYAbDVD0y%-=ٔϹQ->9Y=FyE>Q 553죊?Q 95)BQ AT:Y=Q E;y?Q I@DDI;i;?5yɮ1A%DNOT Ignoring new targets: 17.30 m.h!h!*h!"h! h!g!f)f)f-Bd)d1jd1Zd5> @Z]=Z]=Z]@Z]?m<)i m^iu|9)quSqԙiqi1=II@ @@0@^A =E  E E E "E :*E :VE ZE BE <!$)\,6Wp?A2b@2]@2<ٱ2?\ :AHRS rotation from veh to nav: [[0.778451,0.625064,0.057526],[-0.626958,0.778723,0.022678],[-0.030621,-0.053721,0.998086]]2H??t? K?@9?`8[BR?i2b@I2m];2CYFHByFI LLbDRVDR:yZ=%Zu=ٔZQ-Z?9\Y\=^Fy\bg|Eb?dQ 5j5f룊?Q 9j5f)fBYhyj?Q Ij@fEDIf1:if:f+5ypɮr1ApmDNOT Ignoring new targets: 17.30 m.hihi*hi"hq hqgqfqfqfddjdZd@] @ZZZZ ?<) [i 9)!%V!i!i-1)- =I)I) 11I9)9)@) @)@-4@1 1^AMNw =IYIiO}>Y 0 0\,3p?A2T_@2'Z@2w<ٱ2D[ >AHRS rotation from veh to nav: [[0.778201,0.625405,0.057208],[-0.627283,0.778460,0.022719],[-0.030326,-0.053565,0.998104]]2H ?P?eJ? $?@C? l@w?i2T_@I2@];2CYF?ByFIbDRVDRNyV3%VJ=ٔZ@Q-Z>9XY\=^Fy\^2Eb>`Q 5f5b2룊?Q 9f5bb)b BYhyj{?Q Ij@bFDIb:ibp:b5ylɮr1Ap DNOT Ignoring new targets: 17.30 m.h h *h "h  hgfffddjdZd% @ZAZAZAZE{?Uw<)Q U `iU9)Y]ZYiYie1aeE =IaIiBA<Bh>BۍCBBB =BBkDBj;B)EE% E%E!E!"E%:*E%L_:VE!ZE!BE%<2E%<JE%;:E%;19@ @@3@i^A =II9O]>ԉԹ \66\,sp?AYEByI !!iMb@Mb@Mb@ 9V-~jt?{GzYhy=# )AYAbDVDy$<%9=ٔQ->9Y!=%Fy)-E->1Q 5=55꣊?Q 9=55')5 BY==Q EE;yEL?Q IE@5HDI5:i5Z:55yIɮM1AI}DNOT Ignoring new targets: 17.30 m.hyhy*hy"hy hygyfffBddjdZd@ԑZ=Z=ZԞ@ZL?) )\i9)]ii1 =IIm9@i @i@m/@i@u=@u=E  E E E "E :*E R:VE ZE a@a@a@a@i)I)^AG=IIO> P`<\,p?A2W@2R@25<ٱ2F\ :AHRS rotation from veh to nav: [[0.777640,0.626115,0.057068],[-0.627998,0.777872,0.023099],[-0.029929,-0.053801,0.998103]]2H@l?" ?`7?T?W?֋u?i2W@I2];2CYHyHPRAAbDVVDVNٔ~:Q-~>9Y=Fy o"E > Q 55 ꣊?Q 95 () BYy.?Q I@ IDI ;i ; գ5y)ɮ))UDNOT Ignoring new targets: 17.30 m.hQhQ*hQ"hQ hYgYfYfafadadajdaZdmiW@ZZZZ.?5<) i9)顥aii1=II9@ @@/@^A =IIO>B{>BލCBIB BB =BBmDBj;B)EDzDE EE)E"E:*ErN:VEFA4ZEBEv9Y=FyE%>)Q 5-5-飊?Q 955-ҳ)-BY5+=Q E5;y5?Q I5@-KDI-:i-:-5yAɮE1AAԉDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZd9H@Z+=Z+=ZC@Z?8z<) Gai{9)eii1!%V=I!I!9@ @@/@Ա ^A G=I) I9 OE >E  E E 'E "E 77;*E T:VE '4ZE a% @a% @a- @a- @qI\,A'q?A6Q@6L@66<ٱ6qH] BAHRS rotation from veh to nav: [[0.777188,0.626690,0.056909],[-0.628574,0.777397,0.023421],[-0.029563,-0.053974,0.998105]]6H`? ?)#?G`o?? E y?i6Q@I6];6CYJOByJIIN4=)N=bDVVDVfy^]O<%^p=`ٔb;Q-f?9dYd=fFydj?Ej?lQ 5r5n)飊?Q 9r5n)nBYpyr?Q Iv@nLDInf;in;nԪ5yxɮz{1AxDNOT Ignoring new targets: 17.30 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5i@ZQZQZQZUa?e6<)a m,`im9)im$hiiiiu1qu=IqIy9q@q @y@}/@yA ^A =I I O >ZP\,yAq?A>Q@>K@>f<ٱ> ] FAHRS rotation from veh to nav: [[0.777120,0.626776,0.056894],[-0.628657,0.777332,0.023357],[-0.029586,-0.053917,0.998107]]>H*? ?@%!?`??`K ~?i>Q@I>Z@];>CYNSByRI V9dYd=jFyhj|Ej>lQ 5r5nl裊?Q 9v5nñ)nBYtyv?Q Iv@nMDInp:inN:n]5yxɮ~[1A|-DNOT Ignoring new targets: 17.30 m.h)h)*h)"h) h)g)f1f1f1d1d9jd9Zd=*@ZYZYZYZ]Ģ?uf<)q u/^iu9)qukyiyi1G=IIB>BCBIB%BB =BBoDBj;B)EDU%=DUR=E] E]E]+EY"E]:*E]xv:VE] [4ZEYBE]+ԡ TV\,zU[q?A2Q@2jL@2<ٱ2u\ :AHRS rotation from veh to nav: [[0.777165,0.626728,0.056812],[-0.628601,0.777381,0.023240],[-0.029599,-0.053773,0.998114]]2H ?'?x?M? <̗?NO 1?i2Q@I2b#];2CYFXByFIiEMb@Mb@Mb@AAAA A9EktL7A`?MbpYE yE+=EE3AE A EA)AAYEAbDeVDekym<%m@=ٔuM8Q-u>y9qYy=}Fy/9E>Q 55磊?Q 95)BY*=Q E;y?Q I@ODI;iK;5yɮ01ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZd @Z*=Z*=Z^+@Z?<) zTi9)!%o!i!i-1)-=I)I1ԡEm EmEm&Ei"Em:*Emi:VEm4ZEia}@a}@a}@a}@C9U9@Q @Y@]/@Y@e=@e= ^A =I I O >\\, vq?A2P@2J@2<ٱ2?[ :AHRS rotation from veh to nav: [[0.777050,0.626885,0.056654],[-0.628746,0.777266,0.023140],[-0.029529,-0.053602,0.998126]]2H?p? ?]??<q`?i2P@I2Y ];2CY`ybI ddbDnVDn!yv %vK=ٔv 9Q-v>9xYx=zFyx~E~>|Q 5 5~棊?Q 9 5~x)~BY y ?Q I @~PDI~M;i~;~5ymBɮ0AEEDNOT Ignoring new targets: 17.30 m.hAhA*hA"hI hIgIfIfIfQdQdQjdQZdU x@aZyZyZyZ}.?<) Ti~9)顝urii1F=II]9@Y @Y@]4@YԑB->B-CB-IB-+BB- =B)B)B-j;B-)E^A}=IIO>ԹbE !4jE *4rE ./E EE'E"E:*E:VE'4ZEBE#9Y=Fy%9E%>)Q 555-壊?Q 955-)-BY5=Q E5;y5?Q I=@-RDI-:i-:-5yAɮEv0AAmDNOT Ignoring new targets: 17.30 m.hihq*hq"hq hqgqfqfyf}+BdydyjdZd]@Z=Z=Z@ZȀ?`<) ffih9)顽fvii1O=II9@9 @9@=4@9)^A] @o=Ii Iy O >E  E E %E "E m:*E :VE 4ZE a% @a% @a% @a% @Q hi\,ҫq?A2)R@2L@2<ٱ2}v\ :AHRS rotation from veh to nav: [[0.777201,0.626661,0.057041],[-0.628541,0.777434,0.023059],[-0.029896,-0.053774,0.998106]]2H? ?@x4??ผ?@{?i2)R@I2];2CYF\ByFIbDLVDLyV.%%Vn=ٔZ:Q-Z?9XYX=ZFy\^69E^ ?`Q 5f5b䣊?Q 9f5b&)bBYhyj?Q Ij@bSDIb:ib9:b5ylɮn0Ap DNOT Ignoring new targets: 17.30 m.h h *h "h  hgfffddjdZd%:@ZAZAZAZEJ?U<)Q UHgi9)yii1@=IIA@ @@/@@gA@fAa^AIIO>ԉԹ 'p\,jq?A6S@6N@6T<ٱ6\ BAHRS rotation from veh to nav: [[0.777331,0.626469,0.057394],[-0.628364,0.777581,0.022944],[-0.030254,-0.053900,0.998088]]6H@?` ?b?? ~? V?i6S@I6 ];6CYJ[ByJIIR%=)R<bDVVDVky^%^I=ٔ^g:Q-b>9`Y`=bFy`f[ :Ef>hQ 5n5j㣊?Br>BpBrIBr5BBr =BpBrnDBrj;Br)EBCBߍCBCB =B =CW6Q 9n5j)jBYy?Q I@jTDIj;ij2;j5yɮ0AEDNOT Ignoring new targets: 17.30 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdUE @ZqZqZqZu ?T<) hi9)顝a}ii1] =IIE EE$E"E:*EL_:VE4ZEBE# Iw\,aq?A2pX@2CS@2y<ٱ2 \ :AHRS rotation from veh to nav: [[0.777666,0.626042,0.057503],[-0.627932,0.777940,0.022587],[-0.030594,-0.053673,0.998090]]2H??q?? !?S{Z?i2pX@I2%];2CYrcByrIiMb@Mb@Mb@ 9&1Q?Yнy\=A A A)3AYA 4<<bDVDy=%<=ٔL:Q->9Y=Fyߤ:E>Q 55⣊?Q 95)Y[=Q E;yQ?Q I@VDI3:i ;5yɮM0A DNOT Ignoring new targets: 17.30 m.h h *h "h  h gfff BddjdZd:!@Z[=Z[=Z"@ZQ?-y<)) -zTi-9)15y1i1i=19= =I9IA AAII)IE EE'E"E:*Ek:VE'4ZEa@a@a@a@@ @@/@!I ^A G=I I O >+}\,=q?AYviByvIbD~VD~yE<%EQ=ٔMQ-M>9IYI=UFyQUEU>aQ 5e5eXᣊ?Q 9m5ed)eBYiyiQ Im@eXDIey:ie:eT5yyɮ}0AyDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZdK"@ZZZZ) Qif9) ii1O =II Qq@q @q@u/@q@y@}=yB}>BߍCBIB:BB =BBBj;B^A =IE EEE"E:*EVEZEBEԡ H\,r?AD%b@%r]@%=ٱ%( Z AHRS rotation from veh to nav: [[0.778420,0.625057,0.058024],[-0.626944,0.778766,0.021585],[-0.031695,-0.053180,0.998082]]%H@?@w?@L??D?_:X:`I?i%b@I%TM];%CYeByI !%AiMb@Mb@Mb@ 9!rhL7A`?MbPYly+= A )AYAbD VD:2y%4=ٔM;Q->9QYQ=UFyQ]_-;E]>YQ 5e5]~ߣ?Q 9m5])YYm>Q Em;ym?Q Im@]ZDI] ;i]T ;]m5yyɮ}?0AyԱDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZd?#@Z >Z >Z :'@Z ?=) %(\i%9)!%!i!i-1)52^=I1I19@ @@@^A Nw =I I O >E  E E E "E :*E ]t:VE ZE a @a @a @a @L\,D4+r?A6 f@6`@60=ٱ6rY BAHRS rotation from veh to nav: [[0.778667,0.624713,0.058416],[-0.626608,0.779047,0.021197],[-0.032267,-0.053109,0.998067]]6H@?`??+ ? ?G%1*?i6 f@I6H];6CYJkByJIPRAAbDVVDV`yfT=%fo=ٔj:Q-j?9lYl=nFypr:Er?xQ 5~5z3ޣ?Q 95zӦ)xYy?Q I@z[DIz?;iz@;zK5yɮ0AeDNOT Ignoring new targets: 17.30 m.hahi*hi"hi higqfqffddjdZd  #@ZYZYZYZ]W?m0=)q HYi]9)顕ii1 l=IIm9@i @i@m1@i^A =IIO>A F%\,Dr?A6jj@6=e@6#=ٱ6YA@A@BF>BFCBFIBF?BBF =BDBFoDBFj;BF)E NAHRS rotation from veh to nav: [[0.778983,0.624266,0.058965],[-0.626177,0.779404,0.020776],[-0.032987,-0.053107,0.998044]]6Hm??0? `?`aF?㠿0?i6jj@I6c];6CYZhByZIbDbVDbyjS%jL=ٔn:Q-n>9lYp=rFypr:Er>tQ 5z5vܣ?Q 9z5v)tY|y~?Q I~@v]DIv;iv;v5yɮ&0A5DNOT Ignoring new targets: 17.30 m.h1h1*h1"h1 h1g19f9fAfAdAdIjdIZdM$@ZqZqZqZu?#=) Zi9)額1ii11=IIE EE&E"E*E~:VE4ZEBE bO\,&^r?A2hn@2;i@2&> =ٱ2{Z :AHRS rotation from veh to nav: [[0.779268,0.623851,0.059584],[-0.625781,0.779732,0.020382],[-0.033744,-0.053170,0.998015]]2H`?? ́?f@?ߔ?F 9?i2hn@I2a];2CYFfByFIIJ<)JR=iMMb@Mb@Mb@IIII I9M+ηDl?{GzYMvyMO=M#MAM A MA)M/AIYMAbDeVDeyu%uA=ٔu:Q-}>9yYy=}Fyy:E>Q 55ۣ?Q 95K)BY =ԙQ E;y?Q I@^DI|4;i3;~5yɮ50ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZd 4%@Z  =Z  =Z 5 @Z ?&> =)! %zTi%9)!%鈷!i!i-1)5=I1I19@ @@/@iiIiE EE'E"E;*E:VE'4ZEa@a@a@a@^A=I)I9OM> y\,xr?A27s@2 n@2mD =ٱ2Z :AHRS rotation from veh to nav: [[0.779616,0.623363,0.060149],[-0.625308,0.780123,0.019959],[-0.034482,-0.053172,0.997990]]2H@?@?ˮ?`?@$p?@f9`?i27s@I2];2CYDyD LN4<bDRVDRyVb:%ZX=ٔZY:Q-Z>9XY\=^Fy\^:Eb>`Q 5f5bڣ?Q 9f5b.)bBYhyj?Q Ij@b`DIbK:iby:b5ylɮr30Ap DNOT Ignoring new targets: 17.30 m.h h *h "h  h gfffddjdZd K&@ZZZZ??mD =) ^TiL9)ii1=II9@ @@@!Br>BݍCBBB =BBmDBk;B)E^A]=IIO>DzDE  E E &E "E ;*E &p:VE 4ZE BE D9Y!=%Fy)5:E=>IYQ 55]l٣?Q 95]ա)]BYy?Q I@]aDI]:i]:]5yɮ60AEDNOT Ignoring new targets: 17.30 m.hAhA*hI"hI hIgIfIfQfQdQdQjdQZd}+A'@ZZZZK?#=) Tio9)`ii1oY=IIi}9p>i!>ԡ @  @ @ 4@ @ @ =E  E E #E "E a:*E 5:VE 3ZE a @a @a @a @ ^A l=IIO%>!}\,/r?A9YEaByEI IIQUAiMb@Mb@Mb@ 9KMb?:vY^y=T9 A  A)AYAbDVD 8y ߨ% )=ٔQ->9Y=FyE>!Q 5-5%2أ?Q 9-5%)%BY5d=Q E5;y5@?Q I5@%cDI%7:i%:%5y9ɮ=_0AAmDNOT Ignoring new targets: 17.30 m.hihi*hi"hi higqfqfqfuBdydyjdyZd} (@Zd=Zd=Z!@ZT@?) Qi9)顽ii1:=IIY9@ @@/@ԁ^A=IIO>B p>B B B B  =B B lDB j;B )EԱ bEjE˞4rE˃/E5  E5 E5 (E1 "E5 :*E5 ą:VE5 c44ZE1 BE5 9Y=Fy8E>Q 55ף?Q 95a)BYyF?Q I@eDI5;i;t5yɮ]0AMDNOT Ignoring new targets: 17.30 m.hIhQ*hQ"hQ hQgQfQfYfYdYdYjdaZde@(@ZZZZF?;=) Qi9)ԏii1Ll=II)9@ @@@^A *_=I I O > \,r?AYcByIiMb@Mb@Mb@ 9+i|?5? rhYyq=CAh A )YGAbDVDy-<%N=ٔQ->9Y=Fy E >Q 55B֣?Q 95l)BYL=Q Ey \,+r?A2@s@2n@2)=ٱ2?[ :AHRS rotation from veh to nav: [[0.779526,0.623206,0.062876],[-0.625230,0.780230,0.018110],[-0.037771,-0.053429,0.997857]]2H`? N???@?V[q?i2@s@I2^;2CYFfByFIIJ4=)J4<bDRVDR2yVx<%Vb=ٔZ:Q-Z>9XY\=^Fy\^IEb>pQ 5z5r|գ?Q 9z5r)rBYxy~L?Q I~@rgDIr ;ir;r5yɮ50A -DNOT Ignoring new targets: 17.30 m.h)h)*h)"h) h)g1QfYfYfYdYdajdaZde *@ZZZZSL?)=) Fi9)撷ii%1!-O=I)I)BUm>BQBUIBU:BBU =BQBQBUWk;BU*EBݍCBލCBĔCB =B =CĞs6@ @@ 0@ II)O5.>ԉE EE'E"E;*EV:VE'4ZEBED9)Y1=5Fy15E5>9Q 5E5=ԣ?Q 9E5=)=BYM=Q EM+ E  E E E "E a:*E :VE ZE a @a @a @a @1 %\,Y1s?AY~eBy~IbD VD :yE%Ep=ٔAQ-E?9IYI=MFyIIEU?QQ 5]5U(ԣ?Q 9e5U)UBYayaQ Ie@UiDIU;iU;U25yiɮm<0AqDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd ,@ZZZZ) ?i9)Օii1III)@ @@4@IIO>Ai AA AE @ABM j>BM ܍CBI BI BM  =BI BI BM k;BM B*EE  E E &E "E [:*E i:VE 4ZE BE }9pYp=vFytv!Ev>xQ 55zӣ?Q 95z.)zBYy?Q I@zjDIzɺ \,^es?APYUrByUIiMb@Mb@Mb@ 9&1+?y&1YPy=`e A K A)AYGA@AbDVD2y<%8=ٔQ-%>9!Y!=%Fy!-E->1Q 5=55ң?Q 9=55t)5BY==Q E=I! 0\,~s?AJE@J@@Jj$=ٱJ0Z RAHRS rotation from veh to nav: [[0.775965,0.627428,0.064895],[-0.629489,0.776841,0.016169],[-0.040269,-0.053397,0.997761]]JH ??? $ ?{?V?iJE@IJg_;JCY^xBy^IbDfVDfk1yn:<%na=ٔrlS;Q-r>9pYp=vFytvEv>xQ 5~5|znң?Q 95zܙ)zBYyS?Q I@xIz*;iz+;z5yɮ/AMDNOT Ignoring new targets: 17.30 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZde`4.@ZZZZS?j$=) Di9)顝mii1]=IIa>iBh>BBIB?BB =BBBl;B_*E 9@  @ @ /@ 1E EEE"E:*Ee:VEZEBE'ԁ 4\,9Әs?AQe=@e7@e&=ٱeZ uAHRS rotation from veh to nav: [[0.775285,0.628236,0.065223],[-0.630298,0.776193,0.015766],[-0.040721,-0.053333,0.997746]]eH!??s?f+?@$? Z٤@{N`?ie=@Ie=_;eCY~By II<)iMMb@Mb@Mb@IIII I9MT㥛 Q?{GztYMyM\=MףIM A M A)MAIYMAbDaVDayu<%u3=ٔ}:Q-}>9yYy=}FyE>Q 55bѣ?Q 95)BY=Q E7 \,s?A ɰ";>%5@>/@>(=ٱ>Z FAHRS rotation from veh to nav: [[0.774658,0.628965,0.065641],[-0.631036,0.775601,0.015411],[-0.041219,-0.053360,0.997724]]>H?@z ?@Ͱ?q1??@Q[?i>%5@I>l_;9dYh=jFyhm+,Em>qQ 5}5uУ?Q 9}5ui)uBYyh?Q I@qIu:iu:u5yɮ.AԱDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd0@ZZZZh? (=)  D=i U9)ii1qB A <B d>B B IB IBB  =B B kDB k;B A*E1 E  E E 'E "E D:*E خ:VE '4ZE BE 19Y=Fy^̺E> Q 55ϣ?Q 95)BYyR?Q I@nDI;i;5y%gBɮ%\.A)DNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd@0@ZZZZR?h+=) L6i9)iiM1IM=ԑ Y$\,!Xs?A6)@6$@6%4-=ٱ6.Y BAHRS rotation from veh to nav: [[0.773760,0.630008,0.066221],[-0.632067,0.774781,0.014338],[-0.042273,-0.052950,0.997702]]6H?`)? ?9?O]?ݤ K,?i6)@I6Zm_;6CYJByJ6I LLiMb@Mb@Mb@ 9x&I +?Mb`Y7y94=3A A )AYAbD-VD-iQIUAyel<%e6=ٔeC:Q-m>9iYi=mFyiq^޺E>Q 55Σ?Q 95і)Y5=Q E%  ],r2t?A2'@2v"@2J/=ٱ2 X :AHRS rotation from veh to nav: [[0.773563,0.630212,0.066583],[-0.632268,0.774626,0.013829],[-0.042861,-0.052796,0.997685]]2H?*? ? ; ?\R? @ ?i2'@I2_;0YZByZ>I`bAAbDfVDf02yn =%ng=ٔr:Q-r>9pYp=rFytvOEv>xQ 5~5zΣ?Q 9~5z)xY|y^?Q I@zpDIz{;iz;z)5y ɮ -A =DNOT Ignoring new targets: 17.30 m.h9h9*h9"hA hAgAfAfAfIdIdIjdIZdM-F1@ZqZqZqZu^?J/=) v?iw9)額󡷉ii1BۍCBIB]BB =BBBk;B**E j>C]GyDzDAAbEM-4jEM^+4rEMͰ/E EE(E"E:*EL_:VEc44ZEBE) 9],2t?A J'@"@U2=ٱ7nX AHRS rotation from veh to nav: [[0.773514,0.630220,0.067078],[-0.632283,0.774622,0.013384],[-0.043525,-0.052765,0.997658]]H?*?,?;?i?`H`?iJ'@IӍ^;CYByJIiMb@Mb@Mb@ 9"~jV-?9Y=FyE>Q 55̣?Q 95)BY>Q E;y??Q I@rDIG ;i ;8 5yɮ-A=DNOT Ignoring new targets: 17.30 m.hAhA*hA"hA hAgAfIfIfMFBdQdQjdQZdU ʾ1@iZ}>Z}>Z}>*@Z}D??U2=) =Ji9)顕ii1III)gA@ @!@%3@!ԑE EE%E"E~ ;*EAr:VE 4ZEa@a@a@a@^AE <IY I O > :` ],3t?A2(@2#@2x5=ٱ2\Y :AHRS rotation from veh to nav: [[0.773606,0.630021,0.067876],[-0.632111,0.774768,0.013035],[-0.044376,-0.052989,0.997609]]2H`a? ")? O`?@A:`?@+?ec!h?i2(@I2/^;2CYF€ByF^IIJ<)J%=PbDRVDRkyZ=%Zv=ٔZ(;Q-Z?9\Y\=^Fy\bl:Eb?dQ 5j5fʣ?Q 9j5f)fBYhyjD?Q Ij@ftDIf:ifd:f 5ypɮr(-Ap DNOT Ignoring new targets: 17.30 m.h h*h"h hgfffddjdZd 2@ZyZyZyZ}/D?x5=) Ai9)页%ii17B e>B ܍CB IB wBB  =B B B k;B *EBU܍CBU܍CBUɓCBU =BU =CUw5! E  E E &E "E m:*E :VE 4ZE BE S9Y=Fy!:E>Q 55ȣ?Q 95E)BYyL?Q I@uDIC;i; 5yɮ\-ADNOT Ignoring new targets: 17.30 m.hh*h"h hgff f ddjdZd02@ZZZZL?j8=) &Ei9)ʦii1lva Cr],gt?A6x.@6K)@6u;=ٱ6iZ >AHRS rotation from veh to nav: [[0.773989,0.629415,0.069119],[-0.631541,0.775243,0.012391],[-0.045785,-0.053242,0.997531]]6H`?*$?ȱ?5@?@`?`q B ?i6x.@I6U];4YJ΀ByJmIYiMb@Mb@Mb@ 9n#~j?9Y=Fy :E>Q 55 ǣ?Q 95̐)BY$>Q E;y?Q I@wDI ;i ;T5yɮ,AuDNOT Ignoring new targets: 17.30 m.hqhy*hy"hy hygyfff]BddjdZd2@Z=$>Z=$>Z=6K'@Z=?u;=) Gi#9)页Sii1B>ԉ9@ @@/@Ա^A )<I I O > $Z ],zt?A25@2/@2>=ٱ2Y :AHRS rotation from veh to nav: [[0.774471,0.628772,0.069568],[-0.630898,0.775775,0.011885],[-0.046497,-0.053095,0.997506]]2H x??=ϱ?P0%?@V?lΧ B/?i25@I2=];2CYFӀByFsI HHbDNVDNfyV<%V[=ٔZE:Q-Z>9XYX=ZFy\^ ;E~>Q 5 5<ţ?Q 9 5I)BY y ?Q I@yDI|:i:5y}VBɮ},A}EԹDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZdQ3@ZYZYZYZ]?u>=) Ei9)顝өii1$B=ۍCB=!IB=BB= =B9B9B=k;B=*Ei@i @i@m 0@i^A:W<IIO>A F&],at?A<<;@a6@sA=ٱHY AHRS rotation from veh to nav: [[0.774946,0.628136,0.070032],[-0.630262,0.776299,0.011388],[-0.047212,-0.052964,0.997480]]HZ??@?@+q?R?@0, Z?i;@I];CY-׀By-yIiMb@Mb@Mb@ 9333333ÿ(\µ?MbP?Yy=:A )3AYA))bD5VD5kyE<%E'=ٔM:Q-M>9IYI=UFyQUM:EU>YQ 5e5]£?Q 9e5]@)]BYm0>Q Em;ym?Q Im@]|DI]C ;i]z ;]5yqɮu+AqDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffRBddjdZd 3@Z0>Z0>Z(@Z&?sA=) p=i9)iii1ԑ ,],1t?A2C@2>@2|;D=ٱ2fX :AHRS rotation from veh to nav: [[0.775549,0.627348,0.070411],[-0.629468,0.776950,0.010864],[-0.047890,-0.052747,0.997459]]2HL?<? p?$@?@?/?i2C@I2>c];2CYFByFIbDNVDN yV=%V=ٔV ;Q-Z ?9XYX=ZFyX^M;E^ ?`Q 5f5b?Q 9f5b)bBYdyf?Q Ij@b~DIb:ib:b}5ylɮn+AlDNOT Ignoring new targets: 17.30 m.h h *h "h  h g f ffddjdZd4@ZaZaZaZek?|;D=) 6i9)ii1  W=I I q9@ @@4@ԡ^A2g=IIO>B) A- <B5 a>B1 B5 4IB5 BB5  =B1 B1 B5 lk;B5 *E 3], t?AE EE%E"ED:*EL_:VE 4ZEBE1=ٔ}Q-}>9Y=FyE>Q 55?Q 95)YyQ I@DI;i;^5yɮ+ADNOT Ignoring new targets: 17.30 m.hh*hY"hY hYgYfafafadadijdiZdm`4@ZZZZ) 9i9)顥=ii1m=IIe9@i @i@m4@i^AQIIO>) п9],2t?Aɰp;6Q@6L@6H=ٱ6X >AHRS rotation from veh to nav: [[0.776594,0.625946,0.071363],[-0.628089,0.778073,0.010344],[-0.049051,-0.052855,0.997397]]6H??D?M@?@/?`E?i6Q@I6a];6CYJ݀ByJIiuMb@Mb@Mb@qqqq q9uףp= ÿRQ?{GzYuyu=u#uAu A u A)uAqYuA ;<bDVDyW>%H=ٔ:;Q->9Y=Fy;E>Q 55?Q 95A)BYp:>Q E;yK?Q I@DIi ;i ;&5yɮ+ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffvBddjdZd4@E5 E5E5'E1"E5m:*E5˭:VE5'4ZE1a=@a=@a=@a=@ZMp:>ZMp:>ZM%@QZMK?}H=)y Li,9)顅鯷ii1t=IIe9@a @i@m2@i@u@u@q@qyI I) O5 >ԩ ;@],u?A2PV@2#Q@2)ZJ=ٱ2hY :AHRS rotation from veh to nav: [[0.776919,0.625502,0.071732],[-0.627662,0.778418,0.010320],[-0.049382,-0.053041,0.997371]]2H`??`]??w"?H`((u?i2PV@I2\p];2C@YFByFIbDRVDR0yV =%Z[=ٔZ>h:Q-Z>9\Y\=^Fy\b:Eb>dQ 5j5f?Q 9j5f)fBYhyj]?Q Ij@fDIf:if:f5ypɮr+ApDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd U5@ZZZZu]?5)ZJ=)1 M{IiM9)QUkQiQi]1Y]( =IYIaIi)mfABc>BBFIBBBBBBk;B)Eԩ@ @@/@IIO >i)I-AE EE%E"E:*E[:VE 4ZEBE#9Y=Fyx:E>Q 55?Q 95Q =tI)BY2>Q E;y?Q I@DIj;i;5y ɮ +A DNOT Ignoring new targets: 17.30 m.hh*h"h hgfffcBddjdZd`5@ Z-2>Z-2>Z-l'@Z-?=IK=)9 =EiE9)AEAiAiM1IM =IIIQ@ @@/@II)O5O>1E  E E E "E :*E ga:VE ZE a @a @a @a @a L], x6u?AYЀByoI))bD5VD5IyUL%Ug=ٔ]Q-]>9YYY=eFyaeEe>iQ 5u5m7?Q 9u5m )mBYqyyQ I}@mDIm;imL;mh5yɮ0,ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd#6@ZZZZ) Ii9)顝ii1 =IIi@ @@/@IIO&>ԑAA?ABB܍CBBB =BBBj;B)E5 GI Y 9 Y D A E  E E $E "E :*E i:VE 4ZE BE 91Y1=5Fy15+;E5>IQ 5U5M?Q 9U5MX)MBYYy]?Q I]@MDIM;iM";M'5yaɮe,AiDNOT Ignoring new targets: 17.30 m.hh*h"h hԙgfffddjdZd6@ZZZZ?L=) KOi9),ii1)=IIi>i>q@q @q@uK0@q^AIIO=> }Z],0.ju?A2d@2_@2#L=ٱ2Y :AHRS rotation from veh to nav: [[0.778004,0.624113,0.072061],[-0.626281,0.779531,0.010185],[-0.049817,-0.053054,0.997348]]2Hh??r?~ ?@ۄ?@)F?i2d@I2R2];2CYDyFbIIH)J=iMb@Mb@Mb@ 991bE» 4jE4rEn/Ee EeEe#Ea"Ee:*Ee:VEe3ZEaam@am@am@am@Y1=uFyӂ9E>Q 55?Q 95)BYt>Q E;yO?Q I@DI:i: 5yɮ,A%DNOT Ignoring new targets: 17.30 m.h!h!*h!"h! h!g)f)fIfUJBdQdQjdQZdU(6@Zt>Zt>Z!@ZO?#L=) Bi9)ӷii1¶=II)9@ @@>0@Q^A V =I I! O- >y `], u?A4<ɰ4<2c@2m^@2K=ٱ2YY :AHRS rotation from veh to nav: [[0.777929,0.624235,0.071810],[-0.626395,0.779438,0.010274],[-0.049558,-0.052974,0.997365]]2H@?? )b?`m (?@ ?_nj?i2c@I2"];2CYFByFKI NpQ-Z>9\Y\=^Fy\bϹEb?dQ 5j5f?Q 9j5f~)fBYhyjI?Q Ij@fDIf6:if-:f!5ypɮr-Ap DNOT Ignoring new targets: 17.30 m.h h *h"h hgfffddjd!Zd%@T7@ZQZQZQZUI?eK=)a eKim9)imiiiiu1qu =IqIQB}]>B}ۍCB}:IB}BB} =ByByB}k;B})EB=ۍCB=ۍCB9B9B9C=Nj5m9@q @q@u4@q@}gA@}gAEm EmEm(Ei"Em:*EmT:VEmc44ZEiBEmvԩ %g],u?Afl_@f?Z@f3I=ٱfSY  AHRS rotation from veh to nav: [[0.777627,0.624652,0.071457],[-0.626806,0.779104,0.010518],[-0.049102,-0.052969,0.997388]]fHQ?&?J? l?@? #?ifl_@If:];fCYuBy}BIbDVDk2ye%e1=ٔmQ->9Y=Fy@E>Q 55R?Q 95p})BYy5?Q I@DI:i=:#5ԩyɮX-ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd7@ZZZZ5?%3I=)) -Oi-Z9))-`)i)i5115P =I9I9I@ @@4@Eu EuEu&Eq"Eu>:*EuAr:VEu4ZEqa}@a}@a}@a}@^AV =II  O >1 Jm],ru?A2X@2S@2i^F=ٱ2Y :AHRS rotation from veh to nav: [[0.777143,0.625311,0.070956],[-0.627459,0.778573,0.010929],[-0.048411,-0.053015,0.997420]]2HZ?? 2*?%?a?Rɨ$?i2X@I26];2CYFByF;I HHi]Mb@Mb@Mb@YYYY Y9]q= ףp)\(?QY]y]Ga=]]xA]& A ] A)]xAYY]zAbDuVDuNy%Z=ٔ(Q->9Y=FyE>Q 55?Q 95Q|)BY>Q E;y@Q I@DI:i:B%5yQBɮEDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZd@)8@Z>Z>Z܂,@Zk@-i^F=)) -:i-/9)15ʴ1ii1f =IIi@i @i@m/@i9BqAu<B\>BBIBBB =BBjDBnk;B*E^A =IIO>i E  E E 'E "E ;*E e:VE '4ZE BE @AHRS rotation from veh to nav: [[0.776574,0.626089,0.070332],[-0.628230,0.777944,0.011444],[-0.047549,-0.053072,0.997458]]6H???? u`?@o?WX1,-?i6P@I6Za];6CYJByJ&IPR@AbDVVDV1yZж%^X=ٔ^Q-^>9`Y`=bFy`b.&Ef>dQ 5j5f?Q 9j5f-{)fBYlyn @Q In@fDIf;if<;f&5ypɮv-AteDNOT Ignoring new targets: 17.30 m.haha*ha"ha hagafififididqjdqZdu 8@ZZZZ @B=) Ci9)Xii1/=II!i@ @@/@ԙ^A5G=IYIyO> \z],uu?A2F@2A@2E?=ٱ2Z FAHRS rotation from veh to nav: [[0.775833,0.627064,0.069820],[-0.629210,0.777142,0.012087],[-0.046680,-0.053309,0.997486]]2H? ?߱?@|"@X??@槿@Kh?i2F@I2Q];0PY^By^IiMb@Mb@Mb@ 9(\µV-?X9vYy<bA A  A)AYAbD VD 0y>%6=ٔQ->9!Y!=%Fy!-d3E->)E= E=E9E9"E=:*E=҆:VE9ZE9aE@aE@aM@aM@Q 5M5-ժ?Q 9U5-Iz)-BYU=Q EU ! 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(ڒ?͡x?i2Dܫ@I2];2CYF^ByFIiMb@Mb@Mb@ 9nʿV-?Mb?YVyh><A A  A)5AY=A p<p;bDVDfy\=%H=ٔ;Q->9Y=Fy<E>Q 55P?Q 95g)BYo>Q EQ;y?Q I@DI ;i" ; M5y:Bɮ&AئE DNOT Ignoring new targets: 17.30 m.h h *h "h  hgfffBd!d!jd!Zd%@@ZEo>ZEo>ZE%"@ZE?t=)  i]9)hii1BqBuIBuBBqBqBqBu1k;Bu)EB!B!B!B% =B% =C%5q^A u<I I O >D @AzD E  E E &E "E :*E [:VE 4ZE BE v9Y=FyL;E>!Q 5-5%?Q 9-5%Xe)%BY)y-?Q I5@%DI%:i%:%N5y9ɮ=&A9mDNOT Ignoring new targets: 17.30 m.hihi*hi"hi higifqfqfqdqd1jd1Zd= @@ZaZaZaZe?q}=) io9)顅ഉii1 ^,2x?A6@6w@6]=ٱ6\X BAHRS rotation from veh to nav: [[0.770267,0.634711,0.061888],[-0.636664,0.770946,0.017346],[-0.036702,-0.052763,0.997932]]6H?O??`_@? &Ñ?@ʢ ?i6@I6];6CYJeByJ'I PPEE EEEAEA"EE :*EEa:VEAZEAaM@aM@aM@aM@imMb@Mb@Mb@iiii i9mZd;OͿMbX9?~jtxYm~jym!>mĻim A i)mAiYm AbDVD3y<%A=ٔ;Q->9Y=Fyn;E>Q 55W?Q 95ab)BY{>Q E>;y?Q I@DI? ;i ;P5yɮ&AmDNOT Ignoring new targets: 17.30 m.hihq*hq"hq hqgyfyfyf}BddjdZd A@Z{>Z{>Zh"@Z?]=) i9)ii1 AY AY Bi Bi Bm IBm 3BBm  =Bi Bi Bm Gk;Bm )Eԉ ^,t|Lx?AzM@z @zQ=ٱzV AHRS rotation from veh to nav: [[0.772818,0.631476,0.063170],[-0.633445,0.773621,0.016058],[-0.038729,-0.052425,0.997874]]zH ? 5?@+? /E? q?Eԣdת?izM@IzJ];zCY`By!I-AA)bD5VD5yE?%EL=ٔE;Q-E>9IYI=MFyIM'<EU>QQ 5]5U?Q 9e5U_)UBYaye;?Q Ie@UDIU;iU:URR5yiɮu&AqDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd:=A@ZZZZ;?Q=) !i9)%:ii1o*^,Gsfx?AF*@F%@F] "=ٱFW RAHRS rotation from veh to nav: [[0.773905,0.630082,0.063781],[-0.632066,0.774757,0.015656],[-0.039550,-0.052430,0.997841]]FH@?`)?S?9?`/?`?)ت`P?iF*@IFR];DYzYByzIbDVDN2y %L=ٔ;Q->9!Y!=%Fy!%ۏ;E%>)Q 555-?Q 9=5-\)-BY9y=u?Q I=@-DI-p:i-g:-T5yAɮE'AIDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZdqA@ZZZZtu?] "=) %i%9))5`1i1i1t ^,x?A>.4@>/@>$=ٱ>XX FAHRS rotation from veh to nav: [[0.774617,0.629131,0.064520],[-0.631154,0.775499,0.015679],[-0.040171,-0.052868,0.997793]]>H?!?c?i2?:?It ?i>.4@I>P^;>CYRZByPIV%=)Vp=Z=Z=i-Mb@Mb@Mb@)))) )9-V-ϿS?{GzY-|y->-ף-A-A -A)-A)Y)bDMVDMy];%]:=ٔeչ:Q-e>9iYi=mFyim-;Eu>qQ 5}5uz?Q 9}5uY)uBY>Q E6;y?Q I@uDIu ;iuT ;uU5yɮ'ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfff~BddjdZdA@Z>Z>Z%@Z)?$=) i9)׃ii1{BBIB=BB =BBB*k;B)EU9@Q @Q@U3@Q)E]  E] E] #EY "E] :*E] L_:VE] 3ZEY BE] &^,tx?A06Z<@6-7@6=&=ٱ6aZ >AHRS rotation from veh to nav: [[0.775231,0.628304,0.065208],[-0.630368,0.776134,0.015842],[-0.040657,-0.053386,0.997746]]6H??@v?+? 8?ФkU?i6Z<@I6^;6CY^ABy^I dfbDjVDjk1y%_%-O=ٔ-:Q-->9)Y1=5Fy15%;E5>9Q 5E5=9}?Q 9M5=V)=BYIyM3?Q IM@=DI=:i=g:=W5yQɮU'AYDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd A@ZZZZ3?=&=) Oi9)ii1' $,^,irx?AE EE'E"E:*E H:VE'4ZEa@a@a@a@>A@><@>&=ٱ>B\ FAHRS rotation from veh to nav: [[0.775643,0.627767,0.065472],[-0.629855,0.776547,0.016072],[-0.040752,-0.053704,0.997725]]>H??`°?'`x?@u? vݤ]?i>A@I>H^;>CYR9ByRI`i-Mb@Mb@Mb@)))) )9-zGʿPn?+Y- Wy->--1A-A - A)))Y-G AbDVDy%A=ٔ|l9Q->9Y=Fy:E>Q 555z?Q 951T)xBY>Q ET;y?Q I@DI ;i ;Y5yɮ(A%DNOT Ignoring new targets: 17.30 m.h!h!*h!"h! h!g)f)f)f-IBd1d1jd1Zd=fB@Z]>Z]>Z]%@Z]F?m&=)i mim9)qu yiyi}1t=II U}99@ @@/@^A<IIO>A B A <B S>B B IB .BB  =B B B j;B )Eo3^,7x?A6E@6?@6&=ٱ6EI] BAHRS rotation from veh to nav: [[0.775899,0.627437,0.065611],[-0.629541,0.776796,0.016302],[-0.040738,-0.053954,0.997712]]6H@)??˰?@3%? ?ۤ֟A?i6E@I6^;6CYJ!ByJI LLbDTVDTy^%^[=ٔb4 Q-b>9`Y`=bFy`fЍ:Ef>hQ 5n5jw?Q 9n5jQ)jqBYlyr?Q Ir@jDIj;ij;j1[5ytɮv(At|DNOT Ignoring new targets: 17.30 m.hh*h"h! h!g!f!f)f)d)d)jd)Zd5JAB@ZQZQZQZU?e&=)a eimR9)imiiiiu1qu-=IqIi߹I߹E EE%E"E>:*Ex:VE 4ZEBE9^,V(x?A:wF@:JA@:W%=ٱ:i[ JAHRS rotation from veh to nav: [[0.776018,0.627350,0.065026],[-0.629419,0.776898,0.016198],[-0.040356,-0.053499,0.997752]]:H@#?@?`?2$@X?`S?@+d?i:wF@I:];:CY^By^IdfAAbDj VDjf2yr%rJ=ٔrJwQ-v>9xY|=Fy 9E>)Q 555-t?Q 955-hO)-iBY9yE?Q IE@-DI-|S;i-T;-\5yM*BɮU(AUϦEԁDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffdd!jd)ZdU`i}B@ZZZZ?W%=) @i9)h,ii1  =I IԩEE EEEE)EA"EE2:*EEe:VEEFA4ZEAaM@aM@aM@aM@Uv9 9@  @ @ /@  ^A I I O >A^,&sy?A2C@2r>@2"=ٱ26Z >AHRS rotation from veh to nav: [[0.775820,0.627666,0.064331],[-0.629705,0.776662,0.016367],[-0.039691,-0.053208,0.997794]]2H@??x?&`j?`?XR>?i2C@I2|];2CYFByFIi]Mb@Mb@Mb@YYYY Y9]sh|?ſkt?&1Y])y] =]PY]A ]A)]AYY] AbDuVDuβy%+=ٔQ->9Y=Fy@E>Q 55q?Q 95JM)]BYoF>Q E;y@Q I@DIs:i; _5yɮ\)ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZd FB@ZoF>ZoF>ZJx*@Z@-"=)) -i--9)15}1i9 }j>}ECoGBR>BBIB BB =BBiDBj;B)EAYaQ9YAiE1|;=IIIa?)5?@ @@/@ԑE EE(E"E;*EVEc44ZEBEsG^,M2 y?A2:@25@2=ٱ2MY :AHRS rotation from veh to nav: [[0.775183,0.628537,0.063500],[-0.630551,0.775965,0.016842],[-0.038688,-0.053095,0.997840]]2H`M?@?A?`x-?>?ΣJ/M?i2:@I2];2CYFByFIIJ=)JC=PbDRVDR!yZ߽%ZY=ٔZ.Q-^>9\Y\=bFy`b8Eb>dQ 5j5f o?Q 9j5fK)fTBYhyj?Q In@fDIfB:if[:f`5yr%Bɮr)ArΦE DNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZdyB@ZZZZU?5=)9 =i=9)9=9i9iE1AMŨH,N^,r;y?Aɰ(6,@6'@6=ٱ6ZZ >AHRS rotation from veh to nav: [[0.774117,0.629915,0.062843],[-0.631926,0.774827,0.017654],[-0.037572,-0.053378,0.997867]]6H@?@D(?~?8b??`<`dT`?i6,@I6?];6CYJրByJwIieMb@Mb@Mb@aaaa a9e|?5^?:vYeҽyeL=eTeAa eA)eAaYe A }49Y=Fy{E>Q 55m?Q 95`J)HBY>Q E;y:@Q I@DI ;i ;b5yɮp*ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZdtC@Z>Z>Zq#,@Z:@5=)1 5)ܾi59)9=峉9i9iE1AEBiBmIBm܀BBiBiBiBmj;Bm)EB5ٍCB5ٍCB1B1B5 =C54 ^Am <Iq I O >(3U^,FUy?A86@6@6=ٱ6h\ BAHRS rotation from veh to nav: [[0.772712,0.631716,0.062056],[-0.633728,0.773328,0.018792],[-0.036119,-0.053847,0.997896]]6H ?7?@ů?G?'>?)~@呫?i6@I6"];6CEN ENEN&EL"EN:*EN]t:VEN4ZELBEN19pYp=rFypvEv>iQ 5u5mRk?Q 9}5mGI)m>BYyy}@Q I}@mDIm:im:mqd5yɮ*ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd`JQC@ZZZZV@=) i9)顝slii1^ Y[^,oy?Al5@5@5e =ٱ5L1^ uAHRS rotation from veh to nav: [[0.771273,0.633567,0.061077],[-0.635568,0.771788,0.019926],[-0.034514,-0.054187,0.997934]]5HD?/F?E?V{?g?ҫp?i5@I5^;5CYByYI iMb@Mb@Mb@ 9:v~jt?ˡEYTyD<'AA A)fAY AbD-VD-y=1%=6=ٔ=jQ-=>9AYA=EFyAE請EM>QQ 5]5U j?Q 9]5UH)U5BY]Ӊ=Q E]E>b^,iy?A6@6@6"=ٱ6S\ BAHRS rotation from veh to nav: [[0.769689,0.635660,0.059288],[-0.637592,0.770096,0.020702],[-0.032498,-0.053736,0.998026]]6HJ?TW?[?&g?3?`S?i6@I6sy^;6CYJByJQIPPbDZVDZ:yjb%je=ٔrlQ-r>9tYt=zFyxzEz>Q 5 5h?Q 9 5iH).BYy-@Q I@IP;id;g5y)ɮ-k+A)9DNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd@ C@BBBFIBBBBBB k;B)EZiZiZiZm-@}"=)y ľi9)顅״ii15~h^,衣y?A:ܫ@:ײ@:1<ٱ:;X FAHRS rotation from veh to nav: [[0.768106,0.637769,0.057136],[-0.639604,0.768411,0.021271],[-0.030338,-0.052883,0.998140]]:HS?h?`@? wі?)ȕ?y?i:ܫ@I:i^;:CYNByNJIbDZVDZ1ybм%bI=ٔbNQ-b>9dYd=fFydjϻEj>lQ 5n5ng?Q 9r5nG)n%BYpyr@Q Ir@nDIn:in:ni5yxɮz+AxDNOT Ignoring new targets: 17.30 m.hh*h"h! h!g!f!f!f)d)d)jd1Zd5xC@ZQZQZQZU@e1<)a mɾim9q)quNqiqi}1yュBn^,`y?A2ȫ@2²@2 #<ٱ2V :AHRS rotation from veh to nav: [[0.766530,0.639826,0.055263],[-0.641588,0.766730,0.022132],[-0.028211,-0.052421,0.998226]]2H`j?`ty? wK? ?թ?f㜿֪x?i2ȫ@I2^;2CYDyDIJ=)JR=iUMb@Mb@Mb@QQQQ Q9UMbp{GzS㥛YUyU#U/ݼUAU+A UXA)QQYU AbDmVDm1y};%?=ٔXQ->9Y=Fy»E>Q 55jg?Q 95H) BY!BB'IBBBBBBk;B*E@ @@/@9Y ^A5 p<IA IQ Om >u^,iy?A;ɰD&=D&<E* E*E*$E("E*:*E*:VE*4ZE(BE*+9lYl=rFyprEr>tQ 5z5vg?Q 9z5vH)vBY|y~I*Q I~@tIv:iv:v7m5yaɮeX+AaDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZdSD@ZZZZg@!-^<)) -i-9)15v61i1i=19=Њ7|^,9Y=FyE>Q 55rf?Q 95(H)BY[ V^,~ z?AB6N>B4B6!IB6BB6 =B4B4B6k;B60*EB@B@B7v<ٱBY JAHRS rotation from veh to nav: [[0.761913,0.645643,0.051317],[-0.647297,0.761793,0.026054],[-0.022271,-0.053068,0.998343]]BH a?`?:F?@`?@뭚?@KΖ+l?iB@IB}_;BCYRӀByVsI XXbD^ VD^f2yf=%fl=ٔf @Q-j?9hYh=jFyhn[En?pQ 5v5rf?Q 9v5r3H)rBYtyz4Q Iz@rDIrp:ir:rp5y|ɮ}*AyDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZdD@Z9Z9Z9Z=t]@M7v<)I M|iM9)QUlaqiqi}1y}Sy F^,\&z?A2{{@2Mv@2<ٱ29[ :AHRS rotation from veh to nav: [[0.760647,0.647225,0.050147],[-0.648847,0.760422,0.027504],[-0.020331,-0.053458,0.998363]]2H 9W?@?Ь?`Z `U?)?є@^ ?i2{{@I2QM`;2CYJByJIR@AR@AbDV VDV2y^=%^K=ٔ^杻Q-b>9`Y`=bFy`fۢEf>hQ 5n5je?Q 9n5j@H)jBYlyn4Q Ir@hIj;ij3;jr5ytɮv"*AtDNOT Ignoring new targets: 17.30 m.hh*h"h hgff!f!d!d!jd)Zd- D@ZIZIZIZM]]@e<)a eie}9)amriiiim1qun@ԁE EE(E"E:*EP:VEc44ZEa@a@a@a@ԩ +^,@z?A2l@2Vg@2Jϖ<ٱ2m\ :AHRS rotation from veh to nav: [[0.759489,0.648676,0.048946],[-0.650259,0.759162,0.028905],[-0.018408,-0.053780,0.998383]]2HM?@?x?@K? *?ْ ?i2l@I2j`;2CYNByRIi%Mb@Mb@Mb@!!!! !9%Zd;Oy&1|?{Gzt?Y%jy%`;%ף;%bA%A !)!!Y!bDVDfy=%>=ٔdQ->9Y=FyE>Q 55 e?Q 95H)BY)BB@IBBBBBBk;B(*E9) @  @ @ 0@ @ fA@ E  E E &E "E :*E V:VE 4ZE BE )^,(}]z?A2c@2`^@2<ٱ20B\ >AHRS rotation from veh to nav: [[0.758801,0.649581,0.047591],[-0.651110,0.758390,0.029987],[-0.016614,-0.053741,0.998417]]2H`H?^?`]?` D?`̴?0烫?i2c@I2`;2CYF ByFIIj4=)jp<bDrVDrܲyz=%z>=ٔzQ-z>9|Y|=~Fy|~(E>Q 5 5d?Q 95G)BYy @Q I@DI;i;bv5yɮ%(A!mDNOT Ignoring new targets: 17.30 m.hihi*hi"hi hqgqfqfqfqdydyjdyZd}r^E@ZZZZ @<) i9)顽ii12K+^,:9Y=FyE>Q 55d?Q 95G)BY=Q EGB- L>B- ؍CB- rIB- ҀBB-  =B) B) B- k;B- *EBBBB =B =C)5Թ h^,]z?A2^@2Y@2~^<ٱ2syY :AHRS rotation from veh to nav: [[0.758450,0.650185,0.044868],[-0.651590,0.757921,0.031418],[-0.013579,-0.053065,0.998499]]2H8E?P??@??`ϋ@E+?i2^@I2b;2CYF4ByFIbDRVDR0yVy=%V]=ٔZEyQ-Z>9XY\=^Fy\^8Eb>`Q 5f5bc?Q 9f5bpF)bBYhyjL?Q Ij@bDIb1:ib:by5ylɮr'Ap DNOT Ignoring new targets: 17.30 m.h h *h "h  h gfffddjdZdE@ZZZZL?~^<) i9)ii1ܒ =^,Mz?AZ`@Za[@ZEI<ٱZX fAHRS rotation from veh to nav: [[0.758610,0.650073,0.043767],[-0.651429,0.758029,0.032138],[-0.012284,-0.052892,0.998525]]ZHF?`e?h?A?@qt?( ?iZ`@IZnb;ZCYrDByrI xxbDVDyœ=%D=ٔ%JQ-%>9)Y)=-Fy)5:E5>QQ 5e5Uc?Q 9e5UE)UBYaymW?Q Im@UDIUC;iU/;U{5yyɮ}'AyDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdQZdU@E@ZZZZW?EI<) "i9) o)i)i511=A%^,z?A2f@2`@2 8<ٱ2@Y >AHRS rotation from veh to nav: [[0.759060,0.649597,0.043026],[-0.650924,0.758428,0.032943],[-0.011233,-0.053012,0.998531]]2H8J???]@ E?ݠ? i$?i2f@I2b;2CYFXByFIi]Mb@Mb@Mb@YYYY Y9]|?5^9Y=Fy:E>Q 55b?Q 95eD)BY>Q E;y?Q I@DIH:i:}5yɮg&ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZd/F@Z%>Z%>Z%f"@Z%,? 8<) i9)%ii1ϵ#BBIBBBBBhDB=k;B)Ey^AX<IIO>ԩ EM  EM EM (EI "EM a:*EM P:VEM c44ZEI BEM (9\Y\=^Fy\b':Eb>`Q 5f5b a?Q 9j5b0C)b BYhyj?Q Ij@bDIb:ibd:b*5ypɮr%ApDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZdhbF@Z!Z!Z!Z%?Uo(<)Q ]i]9)Y]YiYie1aei, y^,Iz?A2s@2n@2g <ٱ25\ :AHRS rotation from veh to nav: [[0.760177,0.648348,0.042146],[-0.649647,0.759440,0.034771],[-0.009464,-0.053812,0.998506]]2H^S?C?*?UM?͡?aM`?i2s@I2KCc;0YJyByJ?IIN<)N;lE EE&E"E%;*E[:VE4ZEa @a @a @a @iMb@Mb@Mb@ 9ʡEÿ&1?Yy= A=A SA)Y AbDVDy G5=% 6=ٔQ->9Y=Fy;E%>!Q 5-5%_?Q 9-5%A)%BY5&=>Q E5;y5?Q I5@%DI% ;i%P ;% 5yAɮE]%AAmDNOT Ignoring new targets: 17.30 m.hihi*hi"hi hqgqfqfyf}BdydyjdyZdF@Z&=>Z&=>Z8#@Z?g <) ףi9)顽ii1҈:a B B B IB =BB  =B B B j;B )E`a^,c_{?A6]@6/z@6<ٱ6] >AHRS rotation from veh to nav: [[0.761083,0.647309,0.041764],[-0.648595,0.760305,0.035499],[-0.008775,-0.054106,0.998497]]6H`Z??@b?KkT?,?kó@?i6]@I6Uc;4YJByJ[I R49`Y`=bFy`f|;Ef>dQ 5j5f]?Q 9n5fj?)dYlyn?Q In@fDIfe;ifa;f5ytɮv$AtDNOT Ignoring new targets: 17.30 m.hh*h"h hgf!f!f!d!d)jd)Zd-F@ԹZZZZ?<) Fi;9)ii1NA ˋ^,;,{?A:z@:L@:8<ٱ: ^ FAHRS rotation from veh to nav: [[0.762124,0.646114,0.041266],[-0.647380,0.761315,0.036039],[-0.008131,-0.054181,0.998498]]:H`Rc? ? ?U\?s? ?i:z@I:lc;:CYvByvYIbDVD0y%D=ٔ%2ʺQ-%>9)Y)=-Fy)57{;E5>IQ 5U5M[?Q 9]5Mt=)MBYaye6?Q Ie@MDIM?;iM<;M5yiɮm$AiDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZdF@ZZZZH6?8<) Ҏi9);ii1J ciԙ _s^,F{?A2d@26@2-;ٱ2\ :AHRS rotation from veh to nav: [[0.763227,0.644860,0.040506],[-0.646088,0.762398,0.036333],[-0.007452,-0.053900,0.998519]]2HZl? ?$?@@e?`??~`ؘ ?i2d@I2b;2CYFByFiI HHiMb@Mb@Mb@ 9I +ƿi|?5?~jtY94y=DAA A)K AY AbDVD0y3x=%?=ٔeкQ->9Y=FyS;E> Q 55 Y?Q 9%5 *;) BY%TY>Q E%z;y-?Q I-@ DI ;i `; g5y9ɮ=K$A9yDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffYBddjd!Zd%6G@ZeTY>ZeTY>Ze!C#@ZeW?-;) pi9)顽+ii1nyBqBu.IBukBBu =BqBuiDBuvj;Bu)E9@ @@@ԩ^A k<I I O >E-  E- E) E) "E- :*E- i:VE) ZE) BE) a5 2E) a= JE- ;a= :E- ;a= ^,(_{?A2⧫@2@2̨;ٱ2[[ :AHRS rotation from veh to nav: [[0.764293,0.643644,0.039727],[-0.644833,0.763451,0.036517],[-0.006825,-0.053527,0.998543]]2Hu?@?W?@x0n?e?@ {g?i2⧫@I2^`b;2CYFByFoIN@AN@AbDRVDRkyV2<%V_=ٔZ Q-Z>9XY\=^Fy\^g;Eb>`Q 5f5bW?Q 9f5b:9)bBYhyjD?Q Ij@bDIb:ib:b5ylɮr($Ap DNOT Ignoring new targets: 17.30 m.h h *h "h  h gfffddjdZdaG@ZZZZ{D?-̨;)) -i529)QU) T^,y{?AEr ErWEr%Ep"Er:*Erj;VEr 4ZEpav@av@av@av@YByuIiMb@Mb@Mb@ 9RQȿMb?Zd;OYBy>jAAA XA) AYf AbD%VD%ܲy5<%5(=ٔ5Q-=>99Y9==Fy9EEE>IQ 55M4U?Q 95Mk6)MBYk>Q Ef;y@?Q I@MDIMZEk>ZE#@ZE@?Y)Y ]3i]:9)Yejaiaim1imC% G= hAQ m 9 9 hAY A! Bi Bi Bm MIBm BBi Bi Bi Bm i;Bm B)E 9@  @ @ /@ @ @ gAI ^A]<II!O->A^,X{?A20@2@2;ٱ2 Z :AHRS rotation from veh to nav: [[0.766130,0.641523,0.038642],[-0.642660,0.765248,0.037199],[-0.005707,-0.053333,0.998560]]2H#? [?`ȣ?|? ?_wsN 5?i20@I2a;0YFByFqIIN<)LE EEE"E :*EL_:VEZEBEL"9AYA=EFyAMY;IEm>qQ 5}5uR?Q 9}5u3)u BYyy}?Q I}@uDIu:iu:u5yɮ$ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd A^,e{?A2ǫ@2@2C;ٱ2?\ :AHRS rotation from veh to nav: [[0.766753,0.640791,0.038426],[-0.641922,0.765832,0.037923],[-0.005127,-0.053744,0.998542]]2H=?\?? ?j?`ud` ?i2ǫ@I2oa;2CYFByFiI bDVDy%@=ٔ eQ- >9Y=%Fy!5;E=>IQ 5e5M~P?Q 9m5Mk1)MBYyy}?Q I@MDIM;iM;M獀5yɮK$AmDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd0H@ZZZZȺ?C;) Ei~9) ii1Xܟi ,^,8N{?AYzBy~pIbD VD 0y<%Y=ٔQ->9!Y!=%Fy!-E->)B=<A9BEH>BABEYIBEBBE =BABEhDBEi;BE)EB؍CB؍CBBBC5Q 5]5-}N?Q 9e5-L/)-BYayaQ Ie@-DI-;i-_;-5ymBɮuq#AuĦEDNOT Ignoring new targets: 17.30 m.1hh1*h1"h1 h1g9f9f9f9dAdAjdAZdE@UAH@ZaZaZaZa) i9)顥 ii1Ա S^,{?ANګ@N\ղ@NN;ٱN^ VAHRS rotation from veh to nav: [[0.768280,0.639033,0.037183],[-0.640106,0.767260,0.039707],[-0.003155,-0.054307,0.998519]]NH?@r? ?{`d?`qT?`9xYx=zFyxz;E~>|Q 55~PL?Q 9 5~-)~BY y ?Q I @~DI~-:i~:~?5yɮ $AEDNOT Ignoring new targets: 17.30 m.hAhI*hI"hI hIgQfQfYfadadijdiZdu rqH@ZZZZ?N;) ɾi}9) 9ii1 EM  EI EM *EI "EM :*EI VEM (N4ZEI aU @aU @aU @aU @9 :_,s|?AF@FT۲@F);ٱFҹ\ NAHRS rotation from veh to nav: [[0.768748,0.638521,0.036296],[-0.639547,0.767717,0.039869],[-0.002408,-0.053862,0.998545]]FH?n?Z?@,w#?@i?ccʓ?iF@IF_;FCYVByZNIa@a a@a a@a a@a% %AA%AAbD)VD)y5~3%=E=ٔ=rQ-=>9AYA=EFyAMm:EM>IQ 5U5M J?Q 9]5M*)MBQ A]+:YYQ E]:;y]?Q Ie@MDIM;iM;>M5yiɮmT$AiDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZdH@);) Ҿi`9)Sii1 B9B=SIB=BB= =B9B9B=i;B=#)E^A<II O >i e_,|?A$J@J޲@Jm:ٱJZ[ RAHRS rotation from veh to nav: [[0.769006,0.638255,0.035497],[-0.639239,0.767962,0.040100],[-0.001666,-0.053528,0.998565]]JH ?@l?,?@t$??M[h>?iJ@IJ_;JCY^tBy^9IbDfVDf0yn%nP=ٔrQ-r>9pYp=vFytvz:Ev>xE EE&E"E[:*EVE4ZEBE} _,o4|?ABx@BJ޲@BY:ٱB3xZ JAHRS rotation from veh to nav: [[0.768981,0.638328,0.034717],[-0.639271,0.767916,0.040467],[-0.000828,-0.053312,0.998578]]BH}?/m?fơ?t`Ē??#K@KX?iBx@LIB_;BCYVvByV;II^<)^p<bDbVDbyj<%jK=ٔnCQ-n>9lYl=nFyprոEv>|Q 55~E?Q 95~&)~BQ A9YQ E:y ?Q I@~DI~j[;i~?~ǔ5y!ɮ%$A)UDNOT Ignoring new targets: 17.30 m.hQhQ*hQ"hQ hQgYfYfafidqdjdZd@cI@5Y:)1 5i=9)AE.iiiiu1q}ѣ! y_,`N|?A>@>ܲ@>U'9ٱ>[ FAHRS rotation from veh to nav: [[0.768850,0.638508,0.034308],[-0.639429,0.767756,0.041003],[-0.000160,-0.053463,0.998570]]>H l?n?ڐ? 3vu?[? $~_H?i>@I>^;>CYRgByR)IBrF>BpBr:IBruBBr =BpBpBri;Br*)E|aMaM aMaM aMaM aUaU iUMb@Mb@Mb@QQQQ Q9U9Y=Fy,E>Q 55D?Q 95"$)BQ AT:Yc9>Q E;ys?Q I@DI ;i:5yɮC%AUDNOT Ignoring new targets: 17.30 m.hQhi*hi"hq hqgqfqfqf}BdydyjdyZd}DI@Zc9>Zc9>Z!@Zs?U'9) i&9)=ii1$y c_,dh|?A2߫@2ٲ@2b ٱ2t`\ >AHRS rotation from veh to nav: [[0.768633,0.638788,0.033961],[-0.639690,0.767501,0.041700],[0.000572,-0.053777,0.998553]]2Hࣘ?p?^c?Wx`^?Y? B?@%?i2߫@I2^;2CYFTByFIbDVD1y-ɼ%5P=ٔ5|Q-=>9AYA=MFyIMSaEM>aaQ 5u5eB?Q 9u5eZ")eBYyy}g?Q I}@e DIee;ieU;e]5yɮ%ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZduI@ZZZZ?g?b ) iS9)A%iI@I @I@M/@I@Q@U=ԁԹ^A<II9Oe>E=  E= E= %E9 "E= m:*E= ~:VE= 4ZE9 aM @aM @aM @aM @  _,>|?A2o۫@2Aֲ@2ٱ2h] :AHRS rotation from veh to nav: [[0.768353,0.639145,0.033567],[-0.640025,0.767186,0.042356],[0.001319,-0.054029,0.998538]]2H@Y?s?/?@{Ɍ??U? ?i2o۫@I2<9^;0YbQBybI ddiMb@Mb@Mb@ 9v/I +?MbYxy9=K AA ) AYzAbDVDfy}%C=ٔQ->9Y=FyԹE>Q 55_A?Q 95 )BY>Q E;y^?Q I@ DI:i;.5yɮ%A DNOT Ignoring new targets: 17.30 m.h h *h "h  h g fffǁBddjdZdI@ZE>ZE>ZE1@ZEw^?U)Q UkiU9)Y]ǟ]BBIB[BB =BBBi;B)E^A5?<I9IIO]>9 .&_,|?A6ԫ@6ϲ@6 ٱ6m^ >AHRS rotation from veh to nav: [[0.767846,0.639779,0.033098],[-0.640631,0.766640,0.043072],[0.002183,-0.054276,0.998524]]6H1?y? 0? P?@ ?~a?ʫ?i6ԫ@I6];6CYJKByJIPR@AbDV VDV2y^%^[=ٔb\Q-b>9`Y`=bFydf Ef>hQ 5n5j[@?Dn?AzDlEv EvEv$Et"Ev:*EvT:VEv4ZEtBEv9`Yd=fFydfEf>hQ 5n5jB??Q 9n5j)jBYpyr,?Q Ir@jDIjU;ijQ;j5ytɮv<&AtDNOT Ignoring new targets: 17.30 m.hh*h"h hg!f!f!f!d)d)jd)Zd-` J@ZiZiZiZm,?1<) ~i9)額^ G1 I } 09y Y}  A )3_,-|?A2]ͫ@2/Ȳ@2X^ٱ2`n^ :AHRS rotation from veh to nav: [[0.767249,0.640540,0.032212],[-0.641340,0.766004,0.043817],[0.003393,-0.054277,0.998520]]2HM?M?`~?`܅`?@?o?@k?Bʫ`?i2]ͫ@I2ӕ];2CB@A@BFC>BF׍CBFIBFBBBF =BDBDBFi;BF)EYV9Y=Fy_E>Q 55H>?Q 95)BY=Q E;y?Q I@DI7 ;im ;{5yɮ&ADNOT Ignoring new targets: 17.30 m.hh*h"h hgff!f%Bd!d!jd!Zd-`EJ@ZM=ZM=ZMT@ZM:*Exv:VEZEBE) Y 9_,:|?ANXȫ@N*ò@NٱNX] ^AHRS rotation from veh to nav: [[0.766854,0.641040,0.031655],[-0.641809,0.765600,0.044025],[0.003987,-0.054077,0.998529]]NH?f?5? ? y?Tp??iNXȫ@INt];NCYn8ByrI xzp<bDzVDzJyظ%V=ٔ ˺Q- >9 Y=FyѺE>Q 5%5l=?Q 9%5)BY!y-?Q I-@DIԙ bEɻ 4jEə4rE- 0E  E E $E "E :*E ]t:VE 4ZE aE @aE @aE @aE @@_,.}?A,6ī@6־@6 ΐٱ68\ >AHRS rotation from veh to nav: [[0.766514,0.641470,0.031192],[-0.642213,0.765257,0.044100],[0.004419,-0.053835,0.998540]]6H`G?? ? |? L? r?K@ ?i6ī@I6];6CYF?ByJIiMb@Mb@Mb@ 9x&Zd;?I +Y7yy=99 AnA &A)Y AbD5VD5!yE=%EG=ٔEQ-E>9IYI=MFyIU٨EU>YQ 5e5]BBIB3BB =BEDBgDBei;B(EBABE׍CBABE =BE =CEƫ5Թ^A I I! O5 > G_,Ad}?A::@: @:fٱ:[ BAHRS rotation from veh to nav: [[0.766294,0.641749,0.030858],[-0.642473,0.765039,0.044086],[0.004684,-0.053608,0.998551]]:Hz?4?@H?#@3{?l? /s?r`!?i::@I:o];:CEb EbEb'E`"Ebغ:*EbV:VEb'4ZE`BEb9 Y = Fy aE>Q 5%5A y+M_,<7}?A2@2︲@2ٱ2)f[ :AHRS rotation from veh to nav: [[0.766049,0.642051,0.030662],[-0.642764,0.764791,0.044161],[0.004904,-0.053538,0.998554]]2Hy??e?`*y? J? t? Ti'?i2@I2+g];2CYF:ByFILLbDRVDR:yV/%VP=ٔZMQ-Z>9XY\=^Fy\ vE>Q 5%5ԡ eT_,PQ}?AAAAAB@>BBIB)BB =BDDBhDBvi;B(EBԼ@B@BٱBYC[ JAHRS rotation from veh to nav: [[0.765948,0.642168,0.030709],[-0.642884,0.764694,0.044080],[0.004824,-0.053505,0.998556]]BH@??!r?`x? ?`s?d+?iBԼ@IBG];BCYV@ByVIi-Mb@Mb@Mb@)))) )9-+Q?y&1Y-y-u=-`e)) -A)))Y-AbDEVDEyUI<%U@=ٔ]'E9Q-e>9aYa=eFyamŹEm>qԹQ 55uZ;?Q 95u)uBY=Q E9 ?Z_,+j}?A>v@>H@>gjٱ>[ FAHRS rotation from veh to nav: [[0.765685,0.642471,0.030945],[-0.643199,0.764428,0.044106],[0.004682,-0.053675,0.998547]]>H|?@ ?믟?0v?@?@H-s?<{?i>v@I>.n];9hYh=jFyhn|En>pQ 5z5r:?Q 9z5r)rBYxy~?Q I~@rDIrH@;irp/;r5y ɮ "&A MDNOT Ignoring new targets: 17.30 m.hIhI*hI"hQ hQgQfYfYfYdadajdaZdmyK@ZZZZk?gj) ݽii9)е3ԉE  E E &E "E :*E k:VE 4ZE a- @a5 @a5 @a5 @Թ W%a_,[΄}?A2W@2)@2͐ٱ2[ :AHRS rotation from veh to nav: [[0.765676,0.642472,0.031140],[-0.643211,0.764428,0.043929],[0.004419,-0.053664,0.998549]]2Hj?"? ?/0v?@}?@r?@y?i2W@I2Q];2CYBHByFIiEMb@Mb@Mb@AAAA A9EZd;OQ?MbpYEjyAEAEA EA)AAYE\A Y]bDeVDek1ymG7%m@=ٔu&":Q-u>9qYy=}Fyy} E>Q 559?Q 95)BY=Q E;y?Q I@DI:i%;˫5yɮ5&ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZdK@Z=Z=Z$@ZD?-͐)) -#i59)1=/ֵ=H9 Og_,ũ}?A6@6k@6_ٱ6'Z >AHRS rotation from veh to nav: [[0.765776,0.642350,0.031199],[-0.643095,0.764549,0.043525],[0.004105,-0.053394,0.998565]]6H@?i6@I6W];6CYJSByJIER ERER%EP"ER>:*ERga:VER 4ZEPBER9lYl=nFylr9Er>pQ 5v5rx8?Q 9z5r|)rBYxyz?Q Iz@rDIr[:irR:rx5yɮ%ADNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd`XK@ZZ=ZZ6?5_)1 M iU9)顕ڵ';ii1i ym_,w}?A 2 @2@2fٱ2Y :AHRS rotation from veh to nav: [[0.766054,0.642005,0.031472],[-0.642766,0.764856,0.042980],[0.003522,-0.053154,0.998580]]2H@?M??`y??l? 7@^?i2 @I2];2CYj]BynI ppbDvVDv02y~QB=%~G=ٔ@:Q->9Y=Fy  ̉:E >Q 55\7?Q 95[)BY!y%?Q I%@DI;iU;B5y)ɮ-%A)UDNOT Ignoring new targets: 17.30 m.hQhY*hY"hY hYgYfafafadadijdiZdm`2L@Z)Z)Z)Z-?f) Hi;9)޵;ii1i9I9 U-B! B! B% IB% 8BB%  =B! B% gDB% i;B! ~at_,_}?AB«@B@Bw4ٱBY JAHRS rotation from veh to nav: [[0.766417,0.641545,0.032006],[-0.642337,0.765244,0.042479],[0.002760,-0.053115,0.998585]]BH }? ?c?|? ѿ?f?1g?iB«@IB6];BCPYZjByZ-Ii5Mb@Mb@Mb@1111 195S㥻 rh?Mb`Y5/ݽy5C=55K A5XA 5&A)5A1Y5AIIbDUVDU1ye{z=%eD=ٔe:Q-e>9iYi=mFyiu:Eu>yQ 55}5?Q 95})}BY>Q E;y?Q I@}DI}:i}:}5yɮ*%AB*** querying acoustic contact ***i iDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZdIL@Z>Z>ZU%@Z=?w4) i9)ⵉ[;ii1! z_,:}?A:ū@:@:ٱ:5;Z FAHRS rotation from veh to nav: [[0.766672,0.641204,0.032716],[-0.642036,0.765520,0.042064],[0.001927,-0.053254,0.998579]]:H? ?&?@$?[?`_?D@\?i:ū@I:^;:CYvqByv6I|bD VD y%h=%%N=ٔ- ;Q-->91Y1=5Fy1=w:E=>AQ 5U5E4?Q 9U5E)EBYYy]!?Q I]@EDIEF;iE}G;EҲ5yiɮm$AiDNOT Ignoring new targets: 17.30 m.h*DAT read: user:496> BDAT read: Tx time:05:41:10.7722 $Ping request sent.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252948E  E E $E "E :*E :VE 4ZE a @a @a @a @ԩ Us_,{~?A2 ʫ@2IJ@2xٱ2[ :AHRS rotation from veh to nav: [[0.766992,0.640771,0.033684],[-0.641655,0.765856,0.041740],[0.000949,-0.053628,0.998561]]2H3? 3? >?q@?^?@O?u@5?i2 ʫ@I26^;2CY^uByb;IIf<)fyiMb@Mb@Mb@ 9S㥛ʡE?Mb`?Y$y=; AnA A)jAY AbDVD0y<%>=ٔ;Q->9 Y = Fy :E>!Q 555%2?Q 9E5%!)!YE>Q EE;yE?Q IE@%!DI%;i%";%5y]Bɮ]L$A]EDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffBddjdZdVL@Z>Z>Z '@Z? j>EC}GgAx9gAYA) \i9);뵉:ii1$á ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754722[_,L3 ~?AD2@AzD2AAE6 E6E6'E4"E6,:*E6e:VE6'4ZE4BE6bѫ@b^̲@bIL9ٱb\ jAHRS rotation from veh to nav: [[0.767581,0.640014,0.034672],[-0.640952,0.766469,0.041301],[-0.000142,-0.053925,0.998545]]bH?z?@? ?@[%? "@ ?ibѫ@Ibs^;bCY~By FI p<4<bD5VD52yE7=%MT=ٔM9;Q-M>9QYQ=UFyQU~;E]>YQ 5e5](1?Q 9m5] )YYiym ?Q Im@]#DI]W:i]B:]a5Թyqɮ$ADNOT Ignoring new targets: 17.30 m.hh*h "h  h g f ffddjdZdnL@Z9Z9Z9Z= ?UIL9)Q UPiU9)Y]$﵉]_;iYie1aeK9 Ǎ_,9~?A6#ګ@6Բ@6߭:ٱ6] BAHRS rotation from veh to nav: [[0.768252,0.639153,0.035673],[-0.640146,0.767172,0.040742],[-0.001327,-0.054136,0.998533]]6H?s?C?@|ૌ?2ܤ? U·?i6#ګ@I6^;6CYJByJWIbDVVDV0yZn=%^V=ٔ^nK;Q-^>9`Y`=bFy`f3;Ef>dQ 5j5f/?Q 9n5fA )fBYlyn0?Q In@f%DIf;if;f 5yvBɮvn#AtDNOT Ignoring new targets: 17.30 m.hh*h"h hgff!f!d!d!jd!Zd-`M@ZIZIZIZM0?]߭:)Y e½ie9)ae򵉢ei+;iaim1imgTԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510766A A @AB A>B B 'IB fBB  =B B B i;B )EB׍CBBB =B =Cˈ4 _,3S~?AYByfI !!iMb@Mb@Mb@ 9 rh#~j?{GztYC y=ף A A)AYAbDVDNyU=%:=ٔQ->9Y=FyE>Q 55-?Q 95 )BY,">Q E;y?Q I@'DI:i/:5yɮ#A%DNOT Ignoring new targets: 17.30 m.h)h)*h)"h) h)g)f)f1f5ہBd9d9jd9Zd=MM@Z],">Z],">Z]&@Z]и?qԱ) i9)x([;ii13 9 5ۚ_,׈m~?AF|@FN@F{;ٱFC\ RAHRS rotation from veh to nav: [[0.769990,0.636968,0.037240],[-0.638044,0.769014,0.038947],[-0.003830,-0.053749,0.998547]]FH£? b??jÛ??`o ?iF|@IFŘ^;DYbBybbIhjAAbDjVDjyr%vZ=ٔv;Q-v>9xYx=zFyxzf;E~>|Q 55~+?Q 9 5~ )~BY y ?Q I @~)DI~:i~:~5yɮ)#A}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014671DNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZdM@ZQZQZQZU?m{;)i mP im9)i顕ܬ;ii1- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266721i E  E E )E "E ,:*E V:VE FA4ZE a @a @a @a @_,}[~?A 6@6@6;ٱ66Z BAHRS rotation from veh to nav: [[0.770862,0.635872,0.037927],[-0.636981,0.769946,0.037928],[-0.005085,-0.053396,0.998560]]6H?Y?`:k?'bd?`@k?t V5?i6@I6j]^;6CYJByJeIimMb@Mb@Mb@iiii i9m(\ſ/$?~jthYm.ym=mDimA mA)m AiYm AbDVD02y]V<%>=ٔ?;Q->9!Y!=-Fy)-IK;E->1Q 5=55(?Q 9=55 )5BYE2B>Q EE;yE*?Q IE@5,DI5:i5:55yIɮM#AI}DNOT Ignoring new targets: 17.30 m.hyhy*hy"hy hygfff߁BddjdZdM@Z2B>Z2B>Z+@Zw*?;) \i9)wBiBm@IBmzBBm =BiBiBmi;Bm-)Eԙ^Au<IIO> E BDAT read: Rx Time:05:41:13.1988 E TRx dataTimestamp_ set to:1761543674.516135M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771834_,d:~?AE2 E2E2&E0"E2:*E2҆:VE24ZE0BE21@>@>;ٱ>ѿY JAHRS rotation from veh to nav: [[0.771633,0.634891,0.038685],[-0.636037,0.770772,0.036974],[-0.006343,-0.053135,0.998567]]>H6?Q?Σ?jZ*?:?4y 4C?i>@I>z^;>CdYayefIIm>)mC=bD}VD}:y ;%M=ٔN;Q->9Y=Fy}O;E>Q 55g&?Q 95H)BYyR?Q I@.DI:i|:=5yɮ#AEDNOT Ignoring new targets: 17.30 m.hAhA*hA"hA hAgIfIfIfIdQdQjdYZd]M@ZZZZR?;) zi9)61 _,~?AY By pI 4<bD%VD%ܲy56+=%5P=ٔ5Q-5>99Y9==Fy9EEE>IQ 5U5M#?Q 9U5M)MBYQyQQ IU@M0DIM;iM;M5yaɮe"AaDNOT Ignoring new targets: 17.30 m.hh*h"h hgfffddjdZd@AN@ZZZZ) Ti9)fԁ  DAT read: 05:41:13.1988 LVL= 26832, 14577, 15682, 26835, AGC= 47, IDX= 434,-0.28,-2.084,-0.298, 0.095,-0.400, PHS=-1.583, 0.146, 0.450, RAW= 262.0, 10.4, CAL= 261.7, 11.2, ROT= 248.3, -11.2  Ygot valid direction response: 05:41:13.1988 LVL= 26832, 14577, 15682, 26835, AGC= 47, IDX= 434,-0.28,-2.084,-0.298, 0.095,-0.400, PHS=-1.583, 0.146, 0.450, RAW= 262.0, 10.4, CAL= 261.7, 11.2, ROT= 248.3, -11.2 B] <A] <Be B>Ba Be MIBe BBe  =Ba Ba Be -j;Be X)E PDAT read: Bearing 288.6, -66.7 (Local)  ~Local bearing/azimuth received: Bearing 288.6, -66.7 (Local)  DAT read: Range 11 to 50 : 16.8 m (Round-trip 22.4 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.362705,-0.911437,0.194234] Fpublishing direction and range infoy  T6׿~*mVѫ?Y fA h 8 B= h) /I ʿi > ff> T@ 9> .)@ +H>) H@I +H l M\?9Y=Fy,;E>Q 55 ?Q 95)BY:>Q E;y?Q I@3DI:i:€5y ɮ "A ii ^~?AJiARiAji8i@bPV;ũ&r.P @RT6׿~*mVѫ?ZiKbi+Hj^.&a,1Xڽe@Z V/ cݿFj?2i:i c"i14u?*i<Bi։BiiiyBivAib@e addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 60.500036 s, deltaX: -0.600000 m, approachRate: -0.009917 m/s, rangeRepo size: 4 u Added new target pos. range: 16.702135 m, bearing: 208.790834 deg, lat: 36.779379 deg, lon: -121.859714 deg, deltaT: 60.500036 s, deltaX: -0.597565 m, approachRate: -0.009877 m/s, posRepo size: 4 }DNOT Ignoring new targets: 16.70 m.hyhy*hy"hy hygyfffBddjd0@Zd@?Z:>Z:>Z+@Z?<) #i9) -)_,~?A6 @6T@6 <ٱ6`[Y >AHRS rotation from veh to nav: [[0.773686,0.632230,0.041185],[-0.633493,0.772964,0.034830],[-0.009814,-0.053038,0.998544]]6H?`9;? B? E?=ա?@' ?i6 @I6^Y^;6CYJByJwI LLbDRVDRβyZW<%Zu=ٔ^oW;Q-^?9`Y`=bFy`bT;Ef?dQ 5j5f?Q 9j5f)fBYlyn?Q In@f5DIf;ifz;fgĀ5ypɮv"AtDNOT Ignoring new targets: 16.70 m.hh*h"h hgff!f!d!d!jd!Zd-`?ZIZIZIZM?Ա <) i9)ýE  E E $E "E y:*E A:VE 4ZE a @a @a @a @9 _,B?A&@!@1<ٱ- Z AHRS rotation from veh to nav: [[0.774172,0.631576,0.042070],[-0.632882,0.773485,0.034359],[-0.010840,-0.053225,0.998524]]H?5?.?`@ d?`? Y3 P@?i&@IO^;CYEByMnIi-Mb@Mb@Mb@)))) )9-Sÿl?MbY-y-=-)-A -A)-A)Y-A99bDEVDE1yU<%U3=ٔ];Q-]>9YYY=]FyYe:Ee>iQ 5u5m?Q 9u5m;)mBYu,>Q E};y}f@Q I}@m7DIm ;im ;mfƀ5yɮ"ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfff݁BddjdZdȉ?Z,>Z,>Z,+@Zf@1<) i&9) ~= PExceeded connect timeout, disconnecting.ԑ 9_,"?AE& E&E&)E$"E&:*E&Ar:VE&FA4ZE$BE&[ )@>V$@>=<ٱ>4[ JAHRS rotation from veh to nav: [[0.774367,0.631287,0.042802],[-0.632630,0.773703,0.034105],[-0.011586,-0.053487,0.998501]]>H? 3?!? >+?*v?u`b ?i>)@I>^;>CYByuIbDVDy%$<%%`=ٔ-;Q-->9)Y)=5Fy15d:E5>9Q 5E5=?Q 9E5=)=}BYIyMl@Q IM@=9DI=:i=$:=ǀ5yQɮU"AQDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd }?ZZZZl@=<) hi9)  c_,d[<?A2+@2&@2(+H<ٱ2H[ :AHRS rotation from veh to nav: [[0.774552,0.631027,0.043292],[-0.632392,0.773914,0.033734],[-0.012217,-0.053506,0.998493]]2H!?^1? ]*?<?E?@<2e ?i2+@I2^;2CYFByFeIIJC=)J<bDNVDN1yVӁ%VR=ٔZ:Q-Z>9XYX=ZFy\^K:E^>`Q 5f5b?Q 9f5b7)byBYhyjr@Q Ij@b;DIbB:ib:bɀ5ylɮn#Ap DNOT Ignoring new targets: 16.70 m.h h *h "h  hgfffddjdZd%`T?ZZZZXr@(+H<)  i9)ii1A"='GUhAi?9hAY.AI B @>B B B B B B B j;B )E Z_,`rV?A2.@2)@2|P<ٱ2`Z >AHRS rotation from veh to nav: [[0.774771,0.630742,0.043534],[-0.632114,0.774161,0.033258],[-0.012725,-0.053286,0.998498]]2H@? /?@J?G:?4?i ?H?i2.@I2];2CYFByJdIiMb@Mb@Mb@ 9`"L7A`?I +Yy+=9" AXA A)jAYA -p<-4<bD5VD5f?yEE%M?=ٔM:Q-M>9IYQ=UFyQUX:EU>YQ 5e5]?Q 9m5])]tBYm>Q Em;ym?Q Im@]=DI]:i]:]ˀ5yqɮu#Ay=DNOT Ignoring new targets: 16.70 m.hAhA*hA"hA hAgAfAfIfMBdIdQjdQZdUe=@nManaging dock network, ignoring radio surface power offZ>Z>Z)@ZK?|P<) ԣi9)6ii1|ԩ u_,p?A6.@6)@6W<ٱ6Z BAHRS rotation from veh to nav: [[0.774751,0.630737,0.043946],[-0.632129,0.774157,0.033073],[-0.013161,-0.053403,0.998486]]6H?.?$?`g:@?`?` @W?i6.@I6];6CYJByJ_IPbDVVDVky^%^V=ٔbZ:Q-b>9`Y`=fFydf>Ef>hQ 5n5j?Q 9n5j)joBYpyr?Q Ir@j?DIj;ij;j:̀5ytɮv9#AtDNOT Ignoring new targets: 16.70 m.hh*h"h hgf!f!f!d!d)jd)Zd- $@ZQZQZQZUO?mW<)i mijimr9)iuqiqi}1y}9bE-4jEȞ4rE0Eu  Eu Eu #Eq "Eu :*Eu :VEu 3ZEq a} @a} @a} @a} @) __,N?A:+@:&@:@Z<ٱ:?[ BAHRS rotation from veh to nav: [[0.774539,0.630981,0.044170],[-0.632384,0.773951,0.033006],[-0.013359,-0.053497,0.998479]]:H?0?~?`~<@5?9?\d`?i:+@I:];8YrByrdI ttxzA|i}Mb@Mb@Mb@yyyy y9}S㥻v/?~jtY}/ݽy}xi=}} A}A }A)yyY}AbD VD2y <%<=ٔ9Q->9Y=FyHE>Q 551?Q 95=)kBY=Q E;y{?Q I@ADI:iv:π5yɮ#ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfff Bd d jd Zd @@Z5=Z5=Z5l)@Z5t{?E@Z<)A E\iM9)IMIiIi1ABBMIBBB =BBgDBj;B)EBiBiBiBm =BiCm5Q^AM8<IYIiOu>ԁ _,.ȣ?ADzD@AE EE&E"E:*Ec:VE4ZEBE<9 Y = Fy :E>YQ 55?Q 95)gBYyk?Q I@BDI:i:Ѐ5yɮ#ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZdp @ZQZQZQZUHk?e.?\<)i mi9)額ii1s $_,?A2$@2@2Z<ٱ2I\ :AHRS rotation from veh to nav: [[0.773981,0.631651,0.044390],[-0.633069,0.773380,0.033285],[-0.013306,-0.053863,0.998460]]2Ht?`{6?B?@B? ? @a?i2$@I2"`];2CY^BybnIbDjVDjk1yrD(=%rL=ٔrQ-r>9tYt=vFytv+REz>xQ 55z?Q 95z)zbBYy`?Q I@zDDIz;iz;zҀ5y Bɮ"AE=DNOT Ignoring new targets: 16.70 m.h9h9*h9"hA hAgAfAfAfIdIdIjdIZdM @ZqZqZqZuX`?Թ%Z<)! %`i%9)!-)i)i519=}B <A p<B <>B B B B  =B B B =j;B \)E9 ܙ_, ~?A6 @6@6IV<ٱ6\ BAHRS rotation from veh to nav: [[0.773619,0.632103,0.044258],[-0.633516,0.773007,0.033433],[-0.013079,-0.053902,0.998461]]6H}?0:? ?`Ey?@?`Ɋ`c?i6 @I69];6CYJByJ^IIR<)Rp9QYQ=UFyQ]kE]>aQ 5m5e ?Q 9m5e)e_BYml=Q Em;yu'?Q Iu@eEDIef:ie:e^Ԁ5yyɮ}#AyDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZd࿛@Z]l=Z]l=Z])@Z]'?mIV<)q uPi9)顕<ii1nԙ _,[?A2@2t@2 P<ٱ2P \ :AHRS rotation from veh to nav: [[0.773361,0.632448,0.043844],[-0.633839,0.772740,0.033491],[-0.012698,-0.053691,0.998477]]2H_?=?r?@hHH?@%?U}?i2@I2'];2CYFByFiI N49xYx=zFyx~E~>Q 5 5$ ?Q 9 5)\BY y ?Q I @GDI:ip:ր5y!ɮ%"A!MDNOT Ignoring new targets: 16.70 m.hIhQ*hQ"hQ hQgQfQfYfYdYdajdaZde@-@ZZZZk? P<) 씽i9)顝_ii1&EU  EU EU (EQ "EU T;*EU :VEU c44ZEQ a] @a] @a] @a] @ P`,> ?A2@2@2I<ٱ2s[ :AHRS rotation from veh to nav: [[0.773007,0.632904,0.043503],[-0.634278,0.772373,0.033640],[-0.012309,-0.053597,0.998487]]2H y?@@?E?L G?@E9? 5q?i2@I2;H];2CYDyDiEMb@Mb@Mb@AAAA A9EʡEQ?9qYq=uFyy}E}>Q 55] ?Q 95)ZBY=Q EBIBMGIBMBBIBIBIBMj;BM@)Eu9p>i9@ @@5@@=@=! E]  E] E] 'EY "E] 7:*E] c:VE] '4ZEY BE] ;ae 2E] ;am JE] ;am :E] ;am i ^A <I I O >4 `,1&?A2e@27@2A<ٱ2 [ :AHRS rotation from veh to nav: [[0.772809,0.633177,0.043055],[-0.634529,0.772159,0.033814],[-0.011835,-0.053451,0.998500]]2Hٺ?B?E ?N?P?@<]?i2e@I2fG];0YFByFzI HHbDNVDNyV/=%V<ٔZQ-Z>9XY\=^Fy\^SE^>`Q 5f5b ?Q 9f5b)bXBYQyU?Q IU@bIDIbZ) >`,g??A2@2o@2;:<ٱ2Z :AHRS rotation from veh to nav: [[0.772675,0.633370,0.042613],[-0.634700,0.772010,0.034006],[-0.011360,-0.053322,0.998513]]2H ?D?\ѥ?vO@N?`-i?CL ?i2@I2Fh];2CYFByFINAALbDRVDRNyZ<%ZK=ٔZۚQ-Z>9\Y\=^Fy\b Eb>dQ 5f5f ?Q 9j5f)fUBYhyj?Q Ij@fJDIf):if:fiۀ5yrBɮr!ArE DNOT Ignoring new targets: 16.70 m.h h *h "h  hgfffddjdZd% ~@ZZZZ.?;:<) i9)ii1; B ֍CB SIB BB B EDB B i;B 5)E^A I I O% >-`,tY?A2g@29 @21<ٱ2 Z >AHRS rotation from veh to nav: [[0.772508,0.633599,0.042232],[-0.634913,0.771819,0.034384],[-0.010810,-0.053375,0.998516]]2Hc?pF?`t? 4Q༲?໚?#T?i2g@I2i];2CYJByJIiMb@Mb@Mb@ 9kt9AYA=EFyIM&EM>QQ 5]5U$ ?Q 9]5U)UTBYe=Q Ee;ye!?Q Ie@ULDIU3:iU:UC݀5yiɮm!AqDNOT Ignoring new targets: 16.70 m.hh*h"h hgff!f%BdAdIjdIZdMZ@Z=Z=Zs@Z !?1<) Hi#9)ii1@y"`,<w?A>@>^@>ͻ)<ٱ>R[ FAHRS rotation from veh to nav: [[0.772678,0.633409,0.041965],[-0.634713,0.771964,0.034790],[-0.010360,-0.053517,0.998513]]>Hǹ?@D?||?@O ?ϡ?`7f?i>@I>];>CYPyRIIT)VbD^VD^yb?;%b9=ٔfQ-f>9hYh=jFyhj:En>lQ 5r5n]?Q 9r5nF)nSBYtyv)?Q Iv@nMDIn;in;n0߀5yxɮ~!A|%DNOT Ignoring new targets: 16.70 m.h!h!*h!"h! h!g)f)f1f1d1d1jd1Zd=@ZYZYZYZ]])?mͻ)<)i u޽iu9)qu^qiqi}1y}%x$`,Ր?Aɰ29@2 @2K <ٱ2s[ :AHRS rotation from veh to nav: [[0.772890,0.633180,0.041529],[-0.634465,0.772150,0.035192],[-0.009783,-0.053548,0.998517]]2H?C?@FC?Mt? ?^ j?i29@I2K^;0YzBy~IiMb@Mb@Mb@ 9ʡE#~j?MbpY-y= AA )SAYA p<4<bD VD:2ym=%==ٔQ->9Y=FyrF:E>Q 55?Q 95)QBY=Q E;y?Q I@ODI:iH:5B:>BB`IBBB =BBBi;Byɮ2!A-DNOT Ignoring new targets: 16.70 m.h)h)*h1"h1 h1g1f1f9f=ށBd9d9jdAZdEB@ԑZ=Z=Z@Z?5K <)1 5ui59)9=g9i9iE1AECq*`,?AB@Bq@B:<ٱBb[ NAHRS rotation from veh to nav: [[0.773157,0.632879,0.041146],[-0.634147,0.772394,0.035565],[-0.009273,-0.053590,0.998520]]BH?@??Jt?@5?` !p@?iB@IB^;BCYVǁByVIbDbVDbNyj=%j?=ٔjGQ-j>9lYp=rFypr}:Er>tQ 5z5v1?Q 9z5v)vOBY|y~?Q I~@vQDIv;iv;v5yɮ A YDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZdR@Z Z Z Z ?=:<)9 =6iEB9)AE#AiAiM1IM~ bE-ˀ'4jE-24rE-./E  E E 'E "E غ:*E V:VE '4ZE a @a @a @a @?1`,ǀ?A @q@`<ٱZԹ AHRS rotation from veh to nav: [[0.773702,0.632245,0.040639],[-0.633489,0.772926,0.035744],[-0.008812,-0.053399,0.998534]]H@*?@Z;?Τ? E@ϻ? L? `!W`?i @I^;CY!y) AAiMb@Mb@Mb@ 9X9vRQ?Yy= AA )AYfAbDVD1yu %u&=ٔ}uQ-}>9yYy=}FyyZ:E>Q 55?Q 95)NBY>Q E;y?Q I@SDI;i;5yɮ ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBd d jd Zd @Z->Z->Z-8@Z-ػ?E`<)A E̽iEZ9)IM IiIiU1QUo(K9`,?A6)@6$@6 <ٱ6Y JAHRS rotation from veh to nav: [[0.774428,0.631391,0.040075],[-0.632606,0.773646,0.035810],[-0.008394,-0.053084,0.998555]]6H ?[4??N>`?`U?0 -@)?i6)@I6^;6CY^΁By^IhjAAbDnVDn0y]=%]D=ٔeQ-e>9aYa=eFy2;E>Q 55n?Q 95)MBYy?Q I@UDI:i$:5yɮ ADNOT Ignoring new targets: 16.70 m.hh*h"h hgff!f!d)d)jd)Zd-`, @ZiZiZiZm? <) i9)P"ii1  U@`, ?A6(;@65@6;ٱ6X >AHRS rotation from veh to nav: [[0.775757,0.629807,0.039283],[-0.630986,0.774945,0.036294],[-0.007584,-0.052942,0.998569]]6H@?a'? ?1Y?`?`@F?i6(;@I6_;6CYJفByJIbDRVDRyZA=%Z?=ٔ^Q-^>9\Y`=bFy`bա;Eb>dQ 5j5f"?Q 9j5fG)dYlyn$?Q In@fWDIfg:ift:f5ypɮrf AtDNOT Ignoring new targets: 16.70 m.hh*h"h hg!f!f!f!d)d)jd)Zd-@!@ZIZIZIZM$?e;)a e ie9)ima#iiiiu1qu8B]9>BYB]IB]BBYBYBYB]i;B]+)EA JG`,a?AYʁByII%<)%;iMb@Mb@Mb@ 9p= ף&1?y&1|Yy=`A )YAbDVDky%;=ٔQ->9Y=FyE>Q 55?Q 95o)JBY[)>Q E;y?Q I@ZDI@:1i:5yyɮ} AyDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZdn"@Z[)>Z[)>Z{@ZP? )  ԣi 9)$ii1 r+M`,<7?A2M@2H@2W;ٱ26Z :AHRS rotation from veh to nav: [[0.777195,0.628063,0.038802],[-0.629225,0.776328,0.037304],[-0.006694,-0.053407,0.998550]]2H??ݣ?"?r?j{)X ?i2M@I2=`;2CYzЁByzI -p;-p;bD-VD-:ym<%mQ=ٔuQ-u>9qYq=}Fyy} ;E}>Q 55?Q 95)HBYy5?Q I@\DI:iN:e5yɮ ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd N#@ZZZZ5?W;) Ќi9)%ii%1!%=I!I)ԑ@ @@/@^AI!I9OM>E-  E- E- 'E) "E- :*E- :VE- '4ZE) a5 @a5 @a5 @a5 @ OT`,Q?A2gW@29R@2;ٱ2[ :AHRS rotation from veh to nav: [[0.777936,0.627163,0.038495],[-0.628313,0.777043,0.037772],[-0.006223,-0.053571,0.998545]]2H? ??#?V?P}y`m?i2gW@I2,J`;2CY\y`i}Mb@Mb@Mb@yyyy y9}7A`¿~jt?{GzY}y}=}#}" A}XA }A)yyY}AbDVDy%G=ٔ.Q->9Y=Fy;;E>Q 55?Q 95)EBY4>Q E;y?Q I@^DI:i:05yɮ ADNOT Ignoring new targets: 16.70 m.hh*h"h hgff f d d jdZd`H $@A@AAB!B!B%IB%BB% =B!B!B%i;B%)EZU4>ZU4>ZUP $@ZUݎ?e;)i m\im9)im&iiiiu1y} =IyIy @  @ @ /@ @=@=^A5G=I9IIOYI E  E E *E "E :*E T:VE (N4ZE BE +9tYt=vFytz $;Ez>Q 5 5?Q 9 5K)BBYy?Q I@`DI3;i4;5y!ɮ% A)eDNOT Ignoring new targets: 16.70 m.hihi*hi"hi higifqfqfddjdZd$@Z9Z9Z9Z=?M2Q;)q u䒽iu9)q}!(yiyi1 =II I)19@ @@/@Y^AIIO>ԉ i%a`,΄?A6,j@6d@6);ٱ6~[@ BAHRS rotation from veh to nav: [[0.779378,0.625430,0.037505],[-0.626533,0.778440,0.038573],[-0.005071,-0.053561,0.998552]]6H ??3? ?ȿ? 2tNl"?i6,j@I6z`;6CYJՁByNITTbDVVDVܲy^B<%^N=ٔbCQ-b>9`Yd=fFydf\;Ef>hQ 5n5j?Q 9n5j)j?BYpyr?Q Ir@jbDIj;ijr;j5ytɮv At%DNOT Ignoring new targets: 16.70 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5v%@ZqZqZqZu>?);) vi9)顥)ii1k=IIEu EuEu'Eq"Eu;*Eu?:VEu'4ZEqa@a@a@a@9@ @@/@Ա^A]=IIO>BBBIBBBBBBIi;B(E pOg`,a?A2_r@21m@2ݑ;ٱ2\_[ >AHRS rotation from veh to nav: [[0.780007,0.624678,0.036966],[-0.625754,0.779046,0.038974],[-0.004451,-0.053532,0.998556]]2H@?[?%? .? q? ;r~h@,?i2_r@I2``;2CYFʁByFIliUMb@Mb@Mb@QQQQ Q9U rh/$?I +YUC yU=U9U AUA UA)QQYUAbDmVDm1y}:>%}?=ٔ}Q-}>9Y=FyF;E>Q 55?Q 95)9BY:%>Q E;y?Q I@eDI ;i ;v5yɮ ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZd "&@Z :%>Z :%>Z %@Z ?ݑ;)! %ui%9)!%*!i!i-1)-+=I1I1IA)EfA9@ @@0@@@gA1E EE&E"E:*Ec:VE4ZEBE[ ԁ ym`,?A2x@2s@2}r;ٱ2[ :AHRS rotation from veh to nav: [[0.780500,0.624097,0.036381],[-0.625145,0.779508,0.039511],[-0.003700,-0.053582,0.998557]]2H ??}?0?@:?On o-?i2x@I2u`;2CYFāByFIIJ=)J=bDN VDN2yV%VX=ٔZQQ-Z>9XYX=^Fy\^;E^>`Q 5f5b]?Q 9f5be)b4BYhyj?Q Ij@bgDIb:ibp:b5ylɮn !Ap DNOT Ignoring new targets: 16.70 m.h h *h "h  h g fffddjdZd`K'@ZAZAZAZEX?U}r;)Q UiU9Y)Ye0+aiaie1im=IiIi9@ @@1@ԉԹ^AI!I1O=>EU EUEQEQ"EU:*EU;J:VEQZEQa]@a]@a]@a]@ ߀G hA 9 hAY |Aat`,`ҁ?A6/~@6y@638;ٱ6P[ >AHRS rotation from veh to nav: [[0.780914,0.623619,0.035675],[-0.624633,0.779888,0.040108],[-0.002811,-0.053604,0.998558]]6H>??`C???`^g`r0?i6/~@I6`;6CYRByRInonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 86.96, 80.50, 82.54 an@ar ar@ar ar@ar ar@ar r9Y=Fy  :E >Q 55u?Q 95)/BQ A+:Y!Q E%;y%?Q I%@iDI ;i >5y)ɮ-!A)UDNOT Ignoring new targets: 16.70 m.hYhY*hY"hY hYgYfafafadadijdiZdm (@38;) i9)顥m,ii1.=IIԹB:>BBIBBB =BBBLi;B(E@ @@4@^A=IIO>E=  E= E9 E9 "E= غ:*E= VL:VE9 ZE9 BE= 9)Y)=-Fy)5j:E5>AQ 5M5E?Q 9M5E')E)BQ AU :YQQ EUW;yU?Q IU@EkDIEc;iES?E5yyɮ}>!ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd(@MrH;)I M0iMl9)IU-QiQi}1y}=IyIe>i)@) @)@-4@)@5=@5>A^AMr =IYIiqO}>ԙ qs`,?A2@2@2ë:ٱ2}\ :AHRS rotation from veh to nav: [[0.781416,0.623059,0.034445],[-0.624010,0.780316,0.041464],[-0.001044,-0.053895,0.998546]]2H[? ?բ?X?:?`Q"?i2@I2`;2CYFByFI LLbD^VD^0yjZ׼%jO=ٔnQ-v>9xYx=zFyx~":E> Q 55 ?Q 95 ) $BQ A%9Y!Q E%.;y%?Q I%@ mDI \;i ? 5y1bE4jEY"4rE/E EE%E"E:*EA:VE 4ZEa@a@a@a@ɮ=i!ADNOT Ignoring new targets: 16.70 m.hh*h"h hgf f f d djdZd5)@që:) pýi29)額f/ii1כ=IIԡU9B9>BBIBBB =BDDBB'i;B(EByByByByByC}IO5@ @@Q2@ ^A1 I9 IQ O] > `,D"?A2ֆ@2@2/8ٱ2" ] :AHRS rotation from veh to nav: [[0.781576,0.622899,0.033701],[-0.623810,0.780440,0.042118],[-0.000066,-0.053941,0.998544]]2H?? 5A?@]??E`5?i2ֆ@I2r`;2CYFByFIaUaU aUaU aUaU a]a] i]Mb@Mb@Mb@YYYY Y9]X9v)\(?/$Y]y]Ga=]]" A]l@ ]A)]=AYY]GAim@AbDuVDuN2y.H%2=ٔx Q->9Y=Fy:E>Q 55u?Q 953)BQ AT:Y>Q E;y@Q I@oDI;i;5yBɮ!ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZd*@Z>Z>ZZ-@Z^@u/8)q uiuc9)qu/yiyDzD?AE EE)E"E:*E1]:VEFA4ZEBE Q D`,,;?A2҈@2@2lٱ2S\ :AHRS rotation from veh to nav: [[0.781727,0.622753,0.032895],[-0.623621,0.780561,0.042677],[0.000901,-0.053876,0.998547]]2H??נ?\?٥?`M?@?i2҈@I2`;2CYFByF|IbDNVDNyVa%VZ=ٔZ(Q-Z>9XYX=ZFyX^h):E^>`Q 5f5b?Q 9f5b )bBYdyj@Q Ij@bpDIb:ib:bM5ylɮn!AlDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZdhn+@ZZ>ZZ@ l)  iD9)1w0=ԑԹ ,`,U?AB64>B4B6yIB6BB6 =B6EDB4B6=i;B6(E>@>̈́@>Vٱ>+\ JAHRS rotation from veh to nav: [[0.781814,0.622688,0.032046],[-0.623509,0.780624,0.043163],[0.001861,-0.053727,0.998554]]>H??Vh??@?)^?`'?i>@I>`;9Y=Fy 9E>Q 55d뢊?Q 95)BYL=Q E;y@Q I@rDI%;i;;5y!ɮ%!A!mDNOT Ignoring new targets: 16.70 m.hihi*hqԱ"h hgfffBddjdZdT,@ZEL=ZEL=ZE,S1@ZE@uV)y }i}9)y}}E  E E 'E "E :*E a9:VE '4ZE BE ٱ69[ BAHRS rotation from veh to nav: [[0.781727,0.622842,0.031162],[-0.623614,0.780508,0.043728],[0.002913,-0.053617,0.998557]]6H?`R?@ ? `?~c?@g?`s.?i6܈@I6c`;6CYHyJI Rp9`Y`=bFy`f¹Ef>hQ 5n5j颊?Q 9n5j)jBYlyr@Q Ir@jsDIj;ij;j5yvѕBɮv&!AvEDNOT Ignoring new targets: 16.70 m.hh*h"h hgf!f!f!d!d)jd)Zd--@ZIZIZIZM@e>)a aia)aimrq >`,AHRS rotation from veh to nav: [[0.781714,0.622901,0.030282],[-0.623625,0.780472,0.044219],[0.003910,-0.053451,0.998563]]2H?`?,?` ?⣦?p?]:?i2@I2q`;EB EBEB&E@"EB:*EBB:VEB4ZE@aJ@aJ@aJ@aJ@0YEByE}IbDYVDYqyO%%=ٔQ->9Y=mFyi}E}>Q 55梊?Q 95)BYy@Q I%@uDIo`,i?A2@2@2K4ٱ2v[ :AHRS rotation from veh to nav: [[0.781588,0.623092,0.029614],[-0.623777,0.780313,0.044884],[0.004859,-0.053554,0.998553]]2H? _?BS?`R??@s?hk%?i2@I2c`;0 <)@B+@@DDiFIDDIDiJr@ HH)HH HNLLLNkAIN)PiP)PIRkART TVCZvAZiZjFZYXYjByjxIttE} E}E}(Ey"E}:*E};J:VE}c44ZEyBE}D-9Y=Fy?E>Q 55a墊?Q 95) BY=Q E;y@Q I@wDIL;iK;5yɮs!A DNOT Ignoring new targets: 16.70 m.h h *h"h hgfffBd!d!jd!Zd-@.@Z]=Z]=Z]|,@Z]U@uK4)y yiy)y顁H`,9*?A2 @2߀@2ٱ2T1\ >AHRS rotation from veh to nav: [[0.781503,0.623226,0.029022],[-0.623875,0.780194,0.045585],[0.005767,-0.053731,0.998539]]2H?`w?? Y?@V?@'w??i2 @I2_;0Y]By]uIiibDuVDuNy7%l=ٔ,Q-?9Y=FyzĹE?Q 55 䢊?Q 95)BYy@Q I@xDI#;iQ;o5y ɮ !A DNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd/@ZZZZ@) i)vԩ Be <Ae <Bm 3>Bi Bm lIBm BBi Bi Bi Bm i;Bm (E`,ق?A6p@6B@6-ܻٱ6u\< BAHRS rotation from veh to nav: [[0.781452,0.623322,0.028323],[-0.623929,0.780112,0.046227],[0.006719,-0.053796,0.998529]]6H@?A??:?? {?*?i6p@I6i_;4Y=By9i Mb@Mb@Mb@     9 MbXZd;O?MbpY ʽy j<=   A AA A) &A Y AbD%VD%y5-L%5D=ٔ=Q-=>99Y9=EFyAE<EE>IQ 5U5MW⢊?Q 9U5M)MBY]=Q E];y]=@Q I]@MyDIMe ;iM ;M@5yaɮe!AiDNOT Ignoring new targets: 16.70 m.hh*h"h! h!g!f!f)f-Bd)d)jd1Zd5`q90@ZU=ZU=ZU[9-@ZU=@e-ܻ)a m;iub9)quh0uq !`,L?A2@2k@2@ٱ2_\ :AHRS rotation from veh to nav: [[0.781612,0.623149,0.027701],[-0.623720,0.780252,0.046695],[0.007484,-0.053775,0.998525]]2H`? ?@]?? d? ~?\?i2@I2_;0YBByF}IIJ<)Jp<bDLVDLyVi=%Vh=ٔVQ-Z>9XYX=ZFyX^C:E^>`Q 5f5bࢊ?Q 9f5b)bBYdyfA@Q Ij@bzDIb6:ibd:b5yllɮnS!Ap DNOT Ignoring new targets: 16.70 m.h h *h "h hgfffddjd!Zd%`j0@ZZZZA@@)  i i I E  E E 'E "E 7:*E *5:VE '4ZE a @a @a @a @3`, ?A ((V'G`hCA9Y/AE@EÄ@E%ٱEt[ UAHRS rotation from veh to nav: [[0.781786,0.622960,0.027032],[-0.623493,0.780415,0.047008],[0.008188,-0.053605,0.998529]]EHd?J?b?`(?n?Ā?r?iE@IE>_;ECYByzI 4<bDVDy%7=ٔκQ->9Y=Fy@(:E>Q 55 ߢ?Q 95)BYyE@Q I@|DI&;i; 5yɮc!AMDNOT Ignoring new targets: 16.70 m.hIhQ*hQ"hQ hQgQfYfYfYdYdajdaZdek1@ZZZZE@%) Ғԡ 3`,&?AVǎ@V@VnhٱVZ fAHRS rotation from veh to nav: [[0.782150,0.622531,0.026389],[-0.623028,0.780777,0.047158],[0.008753,-0.053326,0.998539]]VH `?`???%??}M?iVǎ@IVh^;VCYzByzIԙiMb@Mb@Mb@ 9+ηZd;?~jthYvyy=DA )YzAbDVDNy/<%K=ٔlQ->9Y=Fy:E>Ey E}EyEy"Ey*E}e:VEyZEyBE};a2E};aJE}[;a:E}\;aQ 55ݢ?Q 95z)BY=Q E;y?Q I@}DIݱ@>^Ar =IIO> `,q@?A2@2َ@2+ٱ2Y :AHRS rotation from veh to nav: [[0.782547,0.622051,0.025949],[-0.622525,0.781169,0.047317],[0.009163,-0.053182,0.998543]]2H@ ??@|? U?9? Â?: ?i2@I2.^;2CYFByD HHLNAbDRVDRyZ%Z`=ٔZQ-Z>9\Y\=^Fy\ :E>Q 5%5ܢ?Q 9-5o)BY)y-?Q I-@DI:i:$5y1ɮ58!A9eDNOT Ignoring new targets: 16.70 m.haha*ha"ha hagifififidqdqjdqZdu@h1@ZZZZ?+)  Ɋ`,p[?AYByIiMb@Mb@Mb@ 9Q?~jthY̽y\= Al@ )AYQAAAbDVDyY<%3=ٔQ->9Y=FyE>Q 55vۢ?Q 95)BY=Q E;y?Q I@DI@:i:5yɮ !ADNOT Ignoring new targets: 16.70 m.hh*h"h hgff!f%BddjdZd?2@Z =Z =Z !@Z >?) Q `,0u?A2ɠ@2@2ٱ2LZ :AHRS rotation from veh to nav: [[0.783512,0.620849,0.025600],[-0.621303,0.782118,0.047687],[0.009584,-0.053268,0.998534]]2H??`6? ?^j? ᠃?E?i2ɠ@I2Z^;0YFByFIbDNVDNkyV<%V^=ٔZQ-Z>9XYX=ZFyX^;E^>`Q 5f5baڢ?Q 9f5b)bBYdyjP?Q Ij@bDIbB:ib:b5ylɮn!AlDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd2@ZZZZP?%)! %@=i%9)!%3-#i)i-1115'=IQIQa9I)@ @@/@ԙ@@E%  E% E% 'E! "E% y:*E% =:VE% '4ZE! a- @a- @a5 @a5 @Թ ^A I I O > `, o?AY ByII4=)<bD%VD%k1y5~%58=ٔ=Q-=>99Y9==FyAEEE>IQ 5U5M٢?Q 9U5M)MBYQyYQ I]@MDIM:iMb:M5yaɮe!AaDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd 3@ZZZZA) 0=i9)83wii1E&=IIIQB4>BBrIBBB =BBBVi;B(E9A 9@  @ @ @ q D ?AzD @AE  E E &E "E [:*E c:VE 4ZE BE }`,ŭ?AB^@B0@Bg* ٱB[P VAHRS rotation from veh to nav: [[0.784615,0.619456,0.025546],[-0.619906,0.783202,0.048080],[0.009776,-0.053560,0.998517]]BH? ?(?D ?읨?8?El`?iB^@IBD^;@Y^By^IiMb@Mb@Mb@ 91Zdkt?MbY"۽y = At@ A)+AYzA 4<bDVDy!=%*=ٔйQ->9Y=FyOr;E>Q 55ע?Q 9 5)BY  >Q E ;y 4?Q I @DIn:i:5yɮ AEDNOT Ignoring new targets: 16.70 m.hAhA*hA"hA hIgIfIfIfUBdQdQjdYZd].3@Z} >Z} >Z}@Z}]4?g* ) ! `,ǃ?AF@Fг@F#ٱFb[ RAHRS rotation from veh to nav: [[0.785344,0.618530,0.025608],[-0.618984,0.783933,0.048039],[0.009639,-0.053578,0.998517]]FH !??8?` ??`?`n@?iF@IF^;FCYZByZIbDfVDfkyn7\%n]=ٔn9Q-n>9pYp=rFypvHP;Ev>t|Q 5~5v֢?Q 9~5v)vBYy[?Q I@vDIv*;iv*;vX5y ɮ !A =DNOT Ignoring new targets: 16.70 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM3@ZiZiZiZm.[?#)! %i%9)!%%Ѽi!i-1)U1=IQIQE EE#E"E:*EL_:VE3ZEa@a@a@a@)}9YB3>BByIBBB =BBBi;B(EM9@I @I@U}0@Q@]>@]>y ^A )=I! I9 OE >`,x_?A>!@>@>yٱ>m\ FAHRS rotation from veh to nav: [[0.785809,0.617930,0.025818],[-0.618397,0.784391,0.048130],[0.009489,-0.053787,0.998507]]>HX%??p??p?o?鉫?i>!@I>];>CYNByRI TTi-Mb@Mb@Mb@)))) )9-ʡEkt?:vY-y)-T)) -A)-A)Y-AbDEVDE1yU%UD=ٔU9Q-]>9YYY=]FyYeB:Ee>iiQ 5u5myբ?Q 9}5m)mBY}I>Q E};y}%?Q I}@mDIm:im:m+5yɮ.!ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZdN4@ZmI>ZmI>Zm~ @Zm%?y) ;ib9)顽0ii1sB3=IIԑ@ @@/@E EE&E"E:*ErN:VE4ZEBE8 `,?AY~By~I  BAbDVDy% =%%O=ٔ%Q-->9)Y)=-Fy)5E5>9Q 5E5=,Ԣ?Q 9E5=)=BYAyAQ IM@=DI=:i=E:=5yQɮU AQ}DNOT Ignoring new targets: 16.70 m.hyh*h"h hgfffddjdZd4@ZZZZ) 1E EE'E"E:*Ec:VE'4ZEa@a@a@a@i a,?ABϬ@Bʳ@BmٱB[ JAHRS rotation from veh to nav: [[0.787069,0.616311,0.026138],[-0.616802,0.785676,0.047624],[0.008815,-0.053605,0.998523]]BH/?Ҹ?`Ú?@ؼ B$?b? ? r ?iBϬ@IBH];BCBBBIBBBBBBh;B(E9YByIiMb@Mb@Mb@ 9V-sh|??QYy=uAV@ A)AYQAbDVDk1yʻ%'=ٔ:Q->9Y=Fy7;E>Q 55Ң?Q 95޻)BY>Q E;y!?Q I@DI;i#T;5yɮ!A=DNOT Ignoring new targets: 16.70 m.h9h9*h9"hA hAgAfAffBddjdZd75@Z5>Z5>Z5UP!@Z5c!?amm)i mԹ E  E E &E "E :*E &p:VE 4ZE BE UFhhhIh)hih)nLCInkAn#nZF prCrkArj a,@H?A6N٬@6 Գ@6%Bٱ6\ BAHRS rotation from veh to nav: [[0.787791,0.615358,0.026816],[-0.615891,0.786417,0.047190],[0.007950,-0.053691,0.998526]]6H5??`u? aS*?:)?`9H?b}?i6N٬@I6Dl];6CYByI )-p;bD5VD5k1yE%P%EH=ٔE|:Q-M>9IYI=MFyIU:EU>YQ 5e5]Т?Q 9e5]D)]BYaymJ?Q Im@]DI]:i];:]5 5yqɮu'!AqDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd;5@ZZZZ(J?%B) AI I)9@ @@0@!AAAAB2>BBBB =BBBi;B(EI ^A l;=I I O >9a,b?A2ܬ@2׳@2+ٱ2\ >AHRS rotation from veh to nav: [[0.788067,0.614992,0.027101],[-0.615543,0.786702,0.046982],[0.007573,-0.053707,0.998528]]2H7??Y?,? ?b?` ?i2ܬ@I2#];2CYJByJIiMMb@Mb@Mb@IIII I9MT㥛 ʡE?:vYMyM=MTM AMl@ MA)MAIYMzAbDeVDeyur=%uG=ٔ}p:Q-}>9Y=Fy׍:E>Q 553΢?Q 95ȷ)BY>Q E;y?Q I@DIT ;i ;"5yѕBɮ AEDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBdd jd ZdU6@QZU>ZU>ZUl%@ZUҒ?e+)a m@u)>E EE%E"E:*EE7:VE 4ZEBE ca,1[|?A67ݬ@6 س@6ٱ6l\ >AHRS rotation from veh to nav: [[0.788090,0.614944,0.027542],[-0.615519,0.786727,0.046878],[0.007160,-0.053896,0.998521]]@6H 8??3?T,?h?@S}?`R ?i67ݬ@I61];6CY~By  bDVDyEU;%MM=ٔMW:Q-M>9IYQ=UFyQUy8EU>Q 55d̢?Q 95L)BYy?Q I@DI:i8:#5yɮ ADNOT Ignoring new targets: 16.70 m.hh*h"h hgff f d d jdZd36@Z1Z1Z1Z5]?M)I M=IYIYԩ @  @ @ 4@ iI^AUl;=IYIiO}>bE=Ȟ4jE=T4rE=b/E EE'E"E:*EC:VE'4ZEa@a@a@a@ K%a,6?A6ެ@6س@6,ٻٱ6F] BAHRS rotation from veh to nav: [[0.788157,0.614838,0.027970],[-0.615438,0.786806,0.046604],[0.006647,-0.053945,0.998522]]6H8? ?@+?@@-?{ܧ?`9{??i6ެ@I6];6CYVByVI`b@AbDbVDbN2yj%jR=ٔn:Q-n>p9pYp=rFypv9Ev>xQ 55zʢ?Q 9 5z)zBYy?Q I@zDIzc;iz;zr%5yAɮE AIB0>BByIBBB =BBBh;B(EB=ՍCB=ՍCB9B= =B9C=^5DNOT Ignoring new targets: 16.70 m.hh*h"h hgff!f!d!d!jd!Zd--7@ZZZZ?,ٻ) i9)ii1u^?=II @ @@4@9^A I I O >a D @AzD ?AE  E E -E "E :*E E7:VE t4ZE BE ];2CYBByFI9iMb@Mb@Mb@ 9T㥛 Dl?~jtxYyO=Ļ& A^@ rA)AYQAbDVDy =%>=ٔa:Q->9Y=Fy9E>Q 55Ȣ?Q 95q)BY;>Q E;yv?Q I@DI3:i:S'5yɮ ADNOT Ignoring new targets: 16.70 m.hh*h"h  h g f f fBddjdZd`K7@Z=;>Z=;>Z=@(@Z=v?Mǻ)I U ]2a,BɄ?AB=@Bܳ@BBٱB\ JAHRS rotation from veh to nav: [[0.788400,0.614489,0.028771],[-0.615138,0.787087,0.045829],[0.005516,-0.053830,0.998535]]BH@:??-v?5 /?v?v??iB=@IB0];@YbBybIIf<)f<bDnVDn yv,%vW=ٔz5:Q-z>9xYx=zFy|~ :E~>Q 5 5Ƣ?Q 9 5 )BYy~?Q I@DId:i:(5yɮ A!ԙDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd@7@ZZZZ~?-B)) -ByByByB} =ByByB}h;B}(E9@A @A@E3@I ^Aq I I O >8a,c?A>U@>'߳@>ٱ>[ FAHRS rotation from veh to nav: [[0.788635,0.614176,0.029027],[-0.614842,0.787356,0.045162],[0.004883,-0.053463,0.998558]]>HU@I>];>CYRByRIieMb@Mb@Mb@aaaa a9ep= ףDl?MbPYeyaeeAa eA)e+AaYe(A p;p<bDVDy-%z%-4=ٔ-:Q-->91Y1=5Fy1=*Z:E=>9Q 5M5=Ģ?Q 9M5=)=BYM>Q EM;yM?Q IU@=DI=;i= ;=*5yYɮ] AYDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZda8@Z>Z>Z#)@Z?) #=i9)G2ii1  A=I I @ @@/@1D==D=<EE EE}EE&EA"EE:*EEk&:VEE4ZEABEE ԑ >a,'?A2l@2>@2ٱ2rZ :AHRS rotation from veh to nav: [[0.788869,0.613854,0.029465],[-0.614547,0.787618,0.044619],[0.004183,-0.053306,0.998569]]2H k>? ?+?]*4?@Wئ?@"q? JG?i2l@I2];2CYZByZIbDfVDf0yjO<%nc=ٔn]:Q-n>9pYp=rFypv|:Ev>tQ 5z5v¢?Q 9~5vA)vBY|y~?Q I~@vDIv~ ;ivi ;v,5y Bɮ @ A E5DNOT Ignoring new targets: 16.70 m.h1h1*h1"h1 h9g9f9fAfAdAdAjdAZdM`ɽ8@ZiZiZiZmt?}) L=iI9)顅3ii1l8C=IIq1@1 @1@50@1@=>@=>ԡ^AU&t@=IaIqO{>EU EUEQEQ"EU:*EUa9:VEQZEQae@ae@ae@ae@ ˹Ea,?A2@2R@2z2rٱ20Z :AHRS rotation from veh to nav: [[0.788877,0.613826,0.029857],[-0.614540,0.787639,0.044332],[0.003696,-0.053321,0.998571]]2Hz>?u?? PV4?า?JFn?L@J?i2@I2׵];2CYFByJI TTB`B`B`B`Bb =B`B`Bbhh;Bbl(EbDMVDM:y$%?=ٔX:Q->9Y=Fy-7E5>AQ 55Em?Q 95E)EBYy?Q I@EDIE~Ee  Ee Ee $Ea "Ee :*Ee 1]:VEe 4ZEa BEa am 2Ea au JEe ;au :Ee ;au .Ka,1?A02@2@2Bٱ2Z >AHRS rotation from veh to nav: [[0.789133,0.613466,0.030480],[-0.614215,0.787912,0.043991],[0.002972,-0.053436,0.998567]]2H@??` 6?@6??UXh?[B?i2@I2,];0YFƁByFIonly read 2 of 4 data items for bottom velocity. Device response is::BS, +78, -14,A a@a a@a a @a  a @a   bD VD2y%=%%R=ٔ-:Q-->9)Y)=-Fy)5‘:E5>Q 55x?Q 95P)BQ A+:YQ E;y?Q I@DI@:i>/5yɮADNOT Ignoring new targets: 16.70 m.hh*h"h! h!g!f!f!f)d)d)jd)Zd-)9@B) x=i9)顭ʆ3ii1D=IIԑ@ @@2@Թ^AIIO> .Ra,K?A`Y~By~IbD  VD 2y%%J=ٔ%Q-%>9)Y)=-Fy)-E5>1Q 5=55?Q 9=55)5BQ AE :YAQ EEl;yAQ IE@5DI5" ;i53F?505yIɮUC AQDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd9@E EE(E"E[:*EC:VEc44ZEa%@a%@a%@a-@) I=i<9)顕3ii1pkD=II I)9@ @@4@@ gA@ AABBBIBBBBBB&h;BL(E^A) I1 II OU >A Xa,e?AV @V@VٱVJ[ jAHRS rotation from veh to nav: [[0.790121,0.612119,0.031919],[-0.612950,0.788947,0.043067],[0.001179,-0.053593,0.998562]]VHH?z?W?H??@ ?@RS?p8?iV @IV>];VCYvByvII<)=!aa aa aa aa iMb@Mb@Mb@ 9+ÿI +?{Gzt?Yy9=ף; AV@ A)AYbDVDy9Y=Fyw;E>Q 55?Q 95)Q AT:Yz7>Q E;y?Q I@DI+;i0;25yɮ. ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZd6h:@Zz7>Zz7>Z0(@Zb?%)! %#=i- 9))-M3)i)i5115zJ=I1I9I9@ @@3@E- E-E-$E)"E-:*E-1]:VE-4ZE)BE-ԡ x_a,n?A2@2@2W_ٱ2Z :AHRS rotation from veh to nav: [[0.790866,0.611129,0.032437],[-0.611990,0.789727,0.042427],[0.000312,-0.053405,0.998573]]2HN?`_?? kqE??k4?W O?i2@I2];2CY^BybI f;f<bDjVDjy% %%U=ٔ%6;Q-%>9)Y)=-Fy)5O;E5>1Q 5E55Ƿ?Q 9E55o)1YAyE?Q IE@5DI5;i5:545yQɮU^ AQyDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd`_:@ZZZZ1?W_)  E= E=E=%E9"E=m:*E=;J:VE= 4ZE9aE@aE@aE@aE@ fa,@L?AB0B0B0B0B2 =B0B0B2nh;B2p(EB @B@B:ٱB &Z JAHRS rotation from veh to nav: [[0.791543,0.610226,0.032933],[-0.611114,0.790437,0.041827],[-0.000507,-0.053234,0.998582]]BHQT??ܠ?>BK?@bj?ҟ@wA b?iB @IB];BCYRByRIbD^VD^yf/=%fP=ٔf;Q-f>9hYh=jFyhj8;En>xQ 55zu?Q 9 5z)xY y #?Q I @zDIzI;izw;z:65yɮ A DNOT Ignoring new targets: 16.70 m.hh1*h1"h9 h9gAfIfqfddjdZd 6;@ZqZqZqZuu#?:) 9=i9)顭(3]ii1-Q=IIY>i @ @@/@@@>1^A \J=I I) O= >EE  EE EE /EA "EE y:*EE X:VEE J4ZEA BEE Q9YYY=]FyYeB!;Ee>iQ 5m5m?Q 95m)mBY:>Q E;yW?Q I@mDIml;im);m385yɮJ ADNOT Ignoring new targets: 16.70 m.hhI*hI"hQ hQgQfQfYf]BdYdYjdYZdeG;@Z:>Z:>Z'$@Z>W?:)! %L=i%?9)!%3%i!i-115ـU=I1I9ԁ@ @@/@!ԩ^Ae dO=Ii I O > <sa,̅?A29@2 @2I ;ٱ2oZ :AHRS rotation from veh to nav: [[0.792819,0.608498,0.034181],[-0.609453,0.791763,0.040958],[-0.002141,-0.053304,0.998576]]2H`^?x?1?@ V? o?3aJU?i29@I2F];2CYBByFIHHbDNVDNyvv%vZ=ٔv ;Q-v>9xYx=zFyx~2;E~>Q 5 5@?Q 9 5)BY y w?Q I @DI:i:95yɮW AMDNOT Ignoring new targets: 16.70 m.hIhI*hQ"hQ hQgQfQfYfYdYdYjdaZde ;@ZZZZw?I ;) h@=iR9)顝-4|ii1xX=IIbEjE,4rE1E EE)E"E:*EVEFA4ZEa @a @a @a @ԱU9@Q @Q@U!0@QB]<A]4=Be.>BaBaBaBe =BaBaBeh;Be(EB)B)B)B- =B- =C-Ɗ5^AR=IIO > 9 Cya,?AY By IiMb@Mb@Mb@ 9+ÿMbX?9Y=FyE>Q 55ꮢ?Q 95)BYk=>Q E;y:?Q I@DI*:is:;5y Bɮ K AE=DNOT Ignoring new targets: 16.70 m.h9h9*h9"h9 hAgAfAfAfEBdIdIjdIZdM`2i<@Zuk=>Zuk=>Zu$@Zu:?) 7X=I!I!9@ @@?0@@@E  E E (E "E 7:*E g:VE c44ZE BE ;a2E ;aJE -;a:E .;a9^ACT=II O >i =+a,[?A 2F-@2(@2e;ٱ2Z >AHRS rotation from veh to nav: [[0.794083,0.606787,0.035232],[-0.607799,0.793069,0.040273],[-0.003505,-0.053394,0.998567]]2H i?`j? ?s`??@.lrVC?i2F-@I2j];2CYFByDIJ=)Jp<bDRVDR0yV;%Z`=ٔZt;Q-Z>9XY\=^Fy\^;Eb>`Q 5f5b񬢊?Q 9j5bo)bBYhyj?Q Ij@bDIb(:ib:bC=5ypɮrH Ap DNOT Ignoring new targets: 16.70 m.h h*h"h hgfffdd!jd!Zd%<@ZAZAZAZEЀ?Ue;) E EE-E"E:*Ega:VEt4ZEa%@a%@a%@a%@ Be />Ba Be yIBe BBe  =Ba Ba Be yh;Be t(Ecda,?A@J2@J-@JB8;ٱJn[ VAHRS rotation from veh to nav: [[0.794485,0.606237,0.035646],[-0.607271,0.793479,0.040151],[-0.003943,-0.053547,0.998558]]JHkl?Jf?<@?n/d??'psj/?iJ2@IJi];JCY^By^}I fp9tYt=zFyxz:Ez>|Q 55~?Q 95~)~BYy?Q I@~DI~;i~;~?5y1ɮ5f A1DNOT Ignoring new targets: 16.70 m.hh*h"h hgffYfadidijdqZd}s:=@ZqZqZqZux?ԩB8;)  D zD @AE  E E 'E "E :*E 1]:VE '4ZE BE 19Y=Fy:E>Q 55󨢊?Q 95)BY>Q E;y9?Q I@DI ;i ;@5yɮ ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBd d jd Zd @K=@Z5>Z5>Z5"@Z5&9?Eʴ;)A E@ԁ ^A u \=I I O >ޜa,-'O?A27@22@2;ٱ23\ :AHRS rotation from veh to nav: [[0.794870,0.605710,0.036018],[-0.606765,0.793869,0.040107],[-0.004300,-0.053734,0.998546]]2Ho?a?`p?j_g?܈?`/q`?i27@I28]];2CYBByBnI DDbDNVDN:yV %VS=|ٔ59Q-5>99Y9==Fy9Em:EE>IQ 5U5MH?Q 9U5MZ)MBYQyU@?Q IU@MDIM;iM;MB5yaɮe AaEu EuEu&Eq"Eu:*Eu=:VEu4ZEqa}@a}@a}@a}@DNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd`z>@ZZZZ9@?;) WBBlIBBB =BBB"h;BH(EQ^A5[=II9Oe>q ea,h?A29@2U4@2U;ٱ2 \ :AHRS rotation from veh to nav: [[0.794987,0.605555,0.036037],[-0.606610,0.793989,0.040058],[-0.004356,-0.053707,0.998547]]2Hp?`?xs? Zi\h??&ql`?i29@I2 h];2CYBByF^IYimMb@Mb@Mb@iiii i9mX9vʡE?QYmym-=imAi mA)mAiYm(A@AbDVDky4i%==ٔ9Q->9Y=Fy9E>Q 55˥?Q 95З)BY>Q E;y?Q I@DI& ;i; ;D5yɮ,!A DNOT Ignoring new targets: 16.70 m.h h *h "h  h gfff~Bd!d!jd!Zd%p>@Z]>Z]>Z]̨ @Z]D?uU;)y }#=i}9)y}14ii1 d=IIM9@I @I@M/@IDDR=E EE'E"E:*Ek:VE'4ZEBE+ a,tς?A29@24@2Wމ;ٱ2Nv[ :AHRS rotation from veh to nav: [[0.795004,0.605546,0.035826],[-0.606590,0.794006,0.040027],[-0.004207,-0.053554,0.998556]]2H@p? `?W?0ih?z~?;q]k,?i29@I2l9];2CYBByB[IbDNVDN1yfcM%fX=ٔj͹Q-j>9lYl=nFylnx8Er>pQ 5v5rp?Q 9v5ri)rBYxyxQ Iz@rDIr;ir;r(F5y|ɮ?!A-DNOT Ignoring new targets: 16.70 m.h)h)*h1"h1 h1g9f9fAfAdAdIjdIZdU >@ԱZ1Z1Z1Z50?MWމ;)I U`=iU9)Y]:4]niYiu1qqIqIy%9@! @!@%/@!@)@)E EEE"E:*ErN:VEZEa@a@a@a@ ^AiIqIO>9 B />B B YIB BB =B B B g;B (EqҦa,?AZD1@Z,@Z];ٱZW[ fAHRS rotation from veh to nav: [[0.794379,0.606400,0.035222],[-0.607413,0.793354,0.040497],[-0.003386,-0.053564,0.998559]]ZH@k?g??o'c??`kl@1?iZD1@IZ7<];ZCYlyn\IIp)r=bDzVDzyO;%G=ٔoQ->9 Y = Fy  D%E>!Q 5E5%?Q 9E5%)%BYIyMr?Q IM@%DI%;i%;%G5yQɮU:!AQDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd@:?@ZZZZVr?}];) =i)顭D4Pii1#`=IIAe9@a @a@a@aq^A 5[=I I O >E  E |E &E "E :*E P$:VE 4ZE BE 8 9Y=FyE>Q 550?Q 95)BY=Q E;y[?Q I@DI;i%;I5yɮc!ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffrBd!d!jd!Zd%K?@ZE=ZE=ZE<@ZE`[?q) L=iX9)!Q46ii1 `=I I  11II)IA@A @A@E.0@Aԩ^Ai Iq I O > G (hA - 59- (hAY- $Aa,SІ?AJ6%@J @JN;ٱJe[ RAHRS rotation from veh to nav: [[0.793487,0.607613,0.034411],[-0.608583,0.792418,0.041246],[-0.002206,-0.053670,0.998556]]JH`?d?@q?`H?y@|[? 9?(bz@,?iJ6%@IJxU];JCYZBy^RIbDfVDfynƒ%nY=ٔrMQ-r>9pYp=rFypv0Ev>xQ 5~5z?Q 95z)zBYy '?Q I @zDIzE;izF;zuK5yɮ{!AEe EeEe'Ea"Ee:*Ee3:VEe'4ZEaam@am@am@am@DNOT Ignoring new targets: 16.70 m.hh*h"h hgfffd d jd Zd  u@@ZiZiZiZm'?N;) 4=i29)顥\4#ii1)Z=II9@ @@5@@>@,>BM<AM<BM.>BMԍCBMGIBMBBIBIBIBMg;BM(E^Au \=II 1 Oe > PExceeded connect timeout, disconnecting.Q a,E?AB^@B0@B:ٱB6?\ NAHRS rotation from veh to nav: [[0.792905,0.608399,0.033939],[-0.609343,0.791809,0.041701],[-0.001502,-0.053745,0.998554]]BHz_?@x?@q`?V?Y?X`&?iB^@IBG];BCYVByVHI XX\^AiEMb@Mb@Mb@AAAA A9E{GzZd;?MbYEףyEy=EE AEV@ A)EAAYEAbDeVDeβy}b%}@=ٔuغQ->9Y=Fy  E>Q 5-5?Q 9-5)BY5=Q E5a, ?A0J)@J@Js\5:ٱJsS\ jAHRS rotation from veh to nav: [[0.792370,0.609129,0.033346],[-0.610041,0.791246,0.042180],[-0.000692,-0.053765,0.998553]]JH`[?}?`?tQ??@F@&?iJ)@IJP@];JCY~ByIIAAAAbD%VD%!3y=UW;%=O=ٔEQ-E>9IYI=UFyQU<EU>iQ 5u5m?Q 9u5m)mBYyyI?Q I@mDImW;imd;m O5yɮ!ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd l@@ZZZZI? s\5:)  {=i 9)  {4 ii1BU=IIԉ@ @@/@ԹbE ǀ'4jE ^+4rE \00Ey E}EyEy"Ey*E}*:VEyZEya@a@a@a@^A`T=IIO> BE ->BE ՍCBE :IBE uBBE  =BA BA BE g;BE !(EBBBB =B =C/5$a,?AXY%By%]IbD5VD5βyE9=%EI=ٔEQ-M>9IYI=MFyIUEU>YQ 5u5]ž?Q 9}5])]BYyQ I@]DI](;i];]P5yBɮ AEDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZdƠ@@ZQZQZQZQ5nManaging dock network, ignoring radio surface power offI)Q U$=i]9)a顅 4 ii1U=III)59@1 @1@5/@1@9@9^A% lT=I1 9 IA OU >E  E E )E "E :*E rN:VE FA4ZE BE m;a 2E n;a JE V;a :E W;a Ma,7?A2 @2@2*{ٱ2G[ :AHRS rotation from veh to nav: [[0.791522,0.610302,0.031990],[-0.611139,0.790354,0.042997],[0.000958,-0.053583,0.998563]]2H&T??``? t J??`XeO?Jo :?i2 @I2j];2CYFByF\IIJ%=)Jp=iMb@Mb@Mb@ 99IYI=MFyIMzaEM>QQ 5]5U ?Q 9e5U)UBYe=Q Ee 9a,T?A4<ɰR@R@RٱRʔ[ ZAHRS rotation from veh to nav: [[0.791093,0.610891,0.031368],[-0.611693,0.789900,0.043478],[0.001783,-0.053583,0.998562]]RHP?j?r?F?`B?6]?8o7?iR@IRm];RCYfByjfI n;np<bDrVDr!yz=%z8=ٔ~Q-~>9|Y|=~FyκE> Q 55 o?Q 95 x) BYy?Q I@ DI _:i w: T5y!ɮ%V A)UDNOT Ignoring new targets: 16.70 m.hQhQ*hQ"hQ hQgQfYfYfYdYdajdaZde A@ZZZZ?) >i9)顥4"ii1˗N=II9BiBiBiBiBm =BiBiBmg;Bm'(EQ@Q @Q@]/@YQ^AE`T=IYIqO>q a,n?A0>@>h@>5b*ٱ>i[ FAHRS rotation from veh to nav: [[0.790758,0.611358,0.030722],[-0.612124,0.789541,0.043928],[0.002600,-0.053542,0.998562]]>H M?@>?`zu?`@C?}?ELe?i8?i>@I>];9Y=FyFE>Q 55?Q 95a)Y<=Q E a,^c?A2@2W@2Mٱ2P[ :AHRS rotation from veh to nav: [[0.790677,0.611484,0.030289],[-0.612226,0.789445,0.044233],[0.003136,-0.053518,0.998562]]2H9M?F?`4?`Z!C?@?@Yi?f@8?i2@I2:];2CYFByFhI HHbDNVDNkyV<%VY=ٔZպQ-Z>9XYX=ZFyX^`Eb>dQ 5f5f?Q 9j5ff)fBYhyj'?Q Ij@fDIfN:if:fW5ypɮrH Ap DNOT Ignoring new targets: 16.70 m.h h *h "h hgfffddjdZdtA@ZZZZ3'?M) =iS9)4Rii1L=II  fAfAi߁I߁E E{E'E"E:*E5":VE'4ZEa@a@a@a@99@ @@0@Bq Bq Bu GIBu BBq Bq Bq Bu h;Bu :(EA ^A} L=I I O >M*a,[??AB@B@BsٱBx[ JAHRS rotation from veh to nav: [[0.790622,0.611575,0.029896],[-0.612293,0.789368,0.044665],[0.003717,-0.053618,0.998555]]BH L???B?@Dަ?@Psn?`s(?iB@IB.];BCYVByVIf@Af@AbDzVDz:2!y5l=%EB=ٔMγQ-M>9qY=Fy LE5>IQ 5m5M ?Q 95M8)IYy$?Q I@MDIMhi9)页4uii1veL=IIIq9DzDAAE EE$E"EC:*EE7:VE4ZEBE(;a 2E);a JEQ;a :ER;a a @a  @a @e /@a ԡ ^AIIO>|Aa,?A2@2@2z挻ٱ2o[ :AHRS rotation from veh to nav: [[0.790626,0.611590,0.029456],[-0.612284,0.789354,0.045049],[0.004300,-0.053653,0.998550]]2HL?%?)? ԗbB??˜q?`\x ?i2@I2];2CIYByIiMb@Mb@Mb@ 9|?5^#~j?{Gz?Yҽy=#< A^@ A)AYAbDVD1y=%=ٔQ->9Y=Fy$7E>Q 55?Q 95p)BY>Q E;y+?Q I@DI ;iK ;M\5yɮcADNOT Ignoring new targets: 16.70 m.hh*h!"h! h!g!f!f)f-Bd)d)jd)Zd5A@ZU>ZU>ZUi@ZU+?Ez挻)A Eu=iEv9)AE4MsiIiM1QUL=IQIYIe]>)e/?y-999@ @@/@@@fAԡE  E ~E (E "E Ʊ:*E (:VE c44ZE a @a @a @a @ ^A I I O >ma,ڇ?A2`@22@2tٱ2[ :AHRS rotation from veh to nav: [[0.790960,0.611171,0.029174],[-0.611850,0.789681,0.045208],[0.004592,-0.053608,0.998551]]2H@O?@?ߝ?FE? %?r?r@"?i2`@I2D)^;2C @)@B@@DF$lAiF 0IDDIHiJkA JtH)HH LNLLLNpAIP)PiP)PIRkARP TB^,>B\B^YIB^BB\B\B\B^nh;B^m(EdjkAjijHFhihh)l lIlYlYrByrIbD~VD~k1y ھ<% =ٔ 9rQ- ?9Y=FyW:E ?!Q 5%5%Ǚ?Q 9-5%a)%BY)y->?Q I-@%DI%U;i%;%]5y9ɮ=EA9eDNOT Ignoring new targets: 16.70 m.haha*hi"hi higififqfqdqdqjdqZd}KB@Z1Z1Z1Z5>?mt)i m=im9)qu4u砼iqi}1y}ډN=IyԡI}9Y@Y @a@e4@a ^A I I O >! a,Ͻ?Aɰ;D,D.%=E2 E2E2'E0"E27:*E2*:VE2'4ZE0BE2;a62E2;a6JE2f;a::E2f;a:fL @f@fjٱf[ nAHRS rotation from veh to nav: [[0.791402,0.610612,0.028928],[-0.611277,0.790113,0.045399],[0.004865,-0.053612,0.998550]]fH@)S?!?`?Js?r?ifL @If6^;dYÁByIiMMb@Mb@Mb@IIII I9MDlbX9ȶ?~jt?YMO yME=MD9yYy=}Fyy:E>Q 55?Q 95)BY(>Q E;yL?Q I@DI<:if:_5yɮADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZdRB@ Z(>Z(>Zg$@ZL?j)! %u=i%9)!%#4%Ri)i-1)5P=I1I11m9 @  @ @ N0@ a Y Y Ա G  ^AM JM=IQ Ii Ou > b,?A*a9(Y*LA:y@:K @:ٱ:[ FAHRS rotation from veh to nav: [[0.792011,0.609831,0.028719],[-0.610487,0.790726,0.045370],[0.004959,-0.053466,0.998557]]:H 'X??h? M?@:? Ot?@_.?i:y@I:^;:CY-By)bDEVDEyL%F=ٔnQ->9Y=Fy<;E>Q 55ϕ?Q 95ۃ)BYym?Q I@DIy:iN:sa5yɮADNOT Ignoring new targets: 16.70 m.hh*h"h hgf f f d djdZd҇B@Z1Z1Z1Z5m?IEU EU|EU&EQ"EUg:*EUP$:VEU4ZEQa]@a]@a]@a]@e)a ep=im9)im4mO˼iiiu1qucT=IqIy qBBԍCBrIBBBBBeDBh;B(EԡA @A  @A @M 0@I ^AE QO=IQ Ii O} > b,E-?AR&@R@R4ٱRQo[ bAHRS rotation from veh to nav: [[0.792657,0.608992,0.028703],[-0.609648,0.791367,0.045477],[0.004981,-0.053547,0.998553]]RHq]?|? Yd?;R?H?@ft? xj@%?iR&@IREU^;RCYnȁBynIieMb@Mb@Mb@aaaa a9eSÿ&1?{Gzt?Yeye=eף;e Ael@ eA)eAaYeQAybDVDNy<%9=ٔ#MQ->9Y=Fye;E>Q 55?Q 95ځ)Y:>Q E;y?Q I@DIp;i;`c5yɮADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZd`*B@Z:>Z:>ZE #@Z~?4)  b,=H?A>"@>W@>ٱ> [ JAHRS rotation from veh to nav: [[0.793279,0.608181,0.028706],[-0.608837,0.791984,0.045591],[0.004993,-0.053644,0.998548]]>H`b?7v?e?{W?W?pst?`*w@?i>"@I>E^;>CYRҁByRIZAAXbD^VD^0yfD=%fN=ٔf%Q-f>9hYh=jFyhn$);En>pQ 5r5r?Q 9v5r )pYtyv7?Q Iv@rDIr;ir;re5y|ɮ~A|%DNOT Ignoring new targets: 16.70 m.h!h!*h!"h) h)g)f)f1f1d1d1jd9Zd=@B@IZYZYZYZ]7?u)q uH=iuw9)y}4}iyi1:[=IIe9@a @a@e/@aԁbE1jE5*4rE5./E E|E'E"Eغ:*EP$:VE'4ZEa@a@a@a@^A&V=IԩIO>A A B +>B B IB BB  =B B B h;B (EBBBB =B =Cɰ5 b,a?A2\+@2.&@2(&ٱ2\ :AHRS rotation from veh to nav: [[0.793936,0.607318,0.028824],[-0.607981,0.792631,0.045767],[0.004948,-0.053861,0.998536]]2Hg?%o??t <]?n?Dt?@?i2\+@I2T^;2CYF؁ByFIbDNVDN1yV<%VM=ٔZ88Q-Z>9XYX=ZFyX^1;E>Q 5%5?Q 9%50~)BY!y%[?Q I%@DI;i/:f5y5Bɮ5BA5EDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd`)C@ZZZZX[?(&) x=i9)5ii13^=II@ @@@^A mY=E  E E *E "E a:*E F:VE (N4ZE BE (9 Db,4{?A27@2Q2@2ٱ2{\ :AHRS rotation from veh to nav: [[0.794837,0.606138,0.028843],[-0.606805,0.793538,0.045670],[0.004794,-0.053802,0.998540]]2HMo?{e??jd?a?s?拫` ?i27@I2Mb^;2CYBЁByFIi Mb@Mb@Mb@     9 ʡEÿ!rh?~jtxY y l= Ļ  A AA A) A Y zAbD%VD%:y5%5B=ٔ9Q->9Y=Fy^;E>Q 55͍?Q 95|)BYC>Q E;y?Q I@DI:i3:h5yɮAeDNOT Ignoring new targets: 16.70 m.hihi*hi"hi higififfƁBddjdZd_C@ZC>ZC>ZI @Z?) ԙ ,%b,c?Aɰ:A@:<@:&㛻ٱ:n\EF EFEF&ED"EF:*EF*5:VEF4ZEDaJ@aJ@aJ@aJ@ RAHRS rotation from veh to nav: [[0.795600,0.605137,0.028820],[-0.605804,0.794301,0.045691],[0.004757,-0.053811,0.998540]]:Hu?@G]??bj?d?_|s? ?i:A@I:=O^;:CYZʁByZI b49pYp=rFypvZ;Ev>tQ 5z5v?Q 9~5vTz)vBY|y~ ?Q I~@vDIv;iv;vfj5y ɮ A 5DNOT Ignoring new targets: 16.70 m.h1h1*h1"h1 h9g9f9fAfAdAdAjdAZdM`C@ZiZiZiZm ?}&㛻)y }i 9)顅ii1g=IIqI@Q @Q@UL0@Q@]=@]>B*>BBIBBBBBBh;B(Eԡ^Au<|^=IIO> V+b,&?A2I@2D@2ٱ2O\ :AHRS rotation from veh to nav: [[0.796200,0.604354,0.028652],[-0.605014,0.794900,0.045749],[0.004873,-0.053760,0.998542]]2Hxz? V?`V?E\o?hl?s? w@?i2I@I2O^;2CYBŁByFI HHiMMb@Mb@Mb@IIII I9MjtĿzG?MbYM yM =MM AMV@ MA)M&AIYIbDeVDeyu%uA=ٔu9Q-u>9yYy=}Fyl;E>Q 55㉢?Q 95XxQ =tI)BYA>Q E;y?Q I@DI ;iF;@l5yɮADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZdCC@ZA>ZA>ZU#@Z?)  >2b,gɈ?A2wP@2IK@2ڢٱ2(\ >AHRS rotation from veh to nav: [[0.796682,0.603723,0.028576],[-0.604379,0.795375,0.045880],[0.004970,-0.053823,0.998538]]2Hj~?`Q?C? W@s?@}? V[t?@?i2wP@I2-^;2CYFByFIbDRVDRyVr%ZX=ٔZQ-Z>9\Y\=^Fy\^ ;Eb>`Q 5f5b釢?Q 9j5bv)bBYhyj?Q Ij@bDIbd:ib:bm5ylɮrApDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZdC@ZZZZ?ڢ) B <A <B )>B B B B  =B B B h;B (Eԩ h8b,D?A26U@2P@2vٱ2\ :AHRS rotation from veh to nav: [[0.797031,0.603273,0.028357],[-0.603916,0.795715,0.046076],[0.005233,-0.053850,0.998535]]2H@F?N? ? HSv?V?nu?,`?i26U@I2];2C@YNByRIbDfVDfk2yr %rG=ٔv'Q-v>9tYx=zFyx~|:E>Q 55?Q 95t)BYy%?Q I%@DINm;in;o5y1ɮ5*A9DNOT Ignoring new targets: 16.70 m.hh*h"h hgff)f)dQdYjdaZdm -D@ZaZaZaZe?Աv) i 9)!i!im1imao=IiIq@ @@%4@!@)@-gAE  E E )E "E ,:*E ?:VE FA4ZE BE >b,?A6YY@6+T@6ܳٱ6] >AHRS rotation from veh to nav: [[0.797334,0.602879,0.028186],[-0.603513,0.796007,0.046320],[0.005489,-0.053943,0.998529]]6H@Ã?J?@ܜ?@Ox?B?{v?@v?i6YY@I6];6CYJByJIIN<)N9QYQ=UFyQU!:E]>aQ 5m5eك?Q 9m5er)eBYm:>Q Em;ym?Q Im@eDIe:ie:eq5yyɮ}SAyDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZd^D@Z]:>Z]:>Z]H!@Z]?mܳ)i mL=imC9)quD2ii1p=II I@Q @Q@U/@Q9^AIIO>a iY IY zEb,b?AE. E.E,E,"E.y:*E.~:VE,ZE,a2@a2@a6@a6@>]@>W@>ᄏٱ> ] FAHRS rotation from veh to nav: [[0.797608,0.602530,0.027890],[-0.603147,0.796272,0.046528],[0.005827,-0.053933,0.998528]]>H ?G?`?L`{?ҧ?w?@?i>]@I>];9!Y!=%Fy!%:E->1)Q 5=5-?Q 9=5-p)-BYAyE*?Q IE@-DI-:i-[:-Ds5yIɮMAQ}DNOT Ignoring new targets: 16.70 m.hyhy*hy"hy hygyfffddjdZd`͑D@ZZZZ*?ᄏ) @=i9)2ii1hr=IIB5'>B1B5IB5BB5 =B1B1B5h;B5(Ea@a @a@m/@iY^Anp=ԑIIO> ˤKb,Z0?A;ɰ4<2^@2Y@2zϻٱ2W\ :AHRS rotation from veh to nav: [[0.797744,0.602373,0.027413],[-0.602963,0.796397,0.046768],[0.006340,-0.053838,0.998530]]2H?F?@?@xK|??cy?@?i2^@I2,];2CYFByFxIiMMb@Mb@Mb@IIII I9M&1bX9ȶ?/$YMнyME=MM AM?@ MA)MAIYM(A ]p<]p;bDeVDeyuC%uE=ٔuyQ-}>9yYy=}Fy:E>Q 55?Q 95o)BԙYF >Q E;y??Q I@DIJ4;i,3;u5yBɮ+AEDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZdD@Z F >Z F >Z Q%@Z ???zϻ)! %#=i%9)!%x2!i!i-1)-s=I1I1E EEE"E:*E[:VEZEBE[ @>^A@p=IIO> Rb,J?A2c^@25Y@2E+ٱ2\ :AHRS rotation from veh to nav: [[0.797699,0.602449,0.027051],[-0.603017,0.796336,0.047113],[0.006841,-0.053894,0.998523]]2H?`CG?c?K{?.?@Z|?@ ?i2c^@I2];2CYFByFcI HHbDNVDNyVݳ%VX=ٔZAQ-Z>9XYX=^Fy\^DEb>`Q 5f5b?Q 9j5b0n)b~BYhyj;?Q Ij@bDIb:ib:bv5ypɮrAp DNOT Ignoring new targets: 16.70 m.h h *h "h  hgfffddjdZd%OD@ZAZAZAZE;?UE+)Q UiU 9)ii1cr=IImGhAN9hAY\iA@ @@0@!E EE&E"E*E;J:VE4ZEa@a@a@a@^A.o=IIO>QA) A- @AB1 B1 B5 IB5 BB5 =B1 B1 B5 yh;B5 n(Ey ֹXb,cd?AZ[@ZUV@ZٱZ\ fAHRS rotation from veh to nav: [[0.797483,0.602761,0.026470],[-0.603294,0.796100,0.047548],[0.007587,-0.053888,0.998518]]ZH?I?? /N@y?3X?m?9`?iZ[@IZ];ZCYrByreIbD~VD~02y.<%D=ٔ Q- >9 Y=Fy\E>!Q 5-5% ?Q 9-5%l)%xBY)y5,?Q I5@%DI!i%/;%x5y9ɮ=A9eDNOT Ignoring new targets: 16.70 m.hihi*hi"hi higififyfydydjdZd,E@ZZZZg,?) ;ie9)Ժ0ii1cq=IIII@Q @Q@U 0@Yy^Anp=IIԩO>E  E E 'E "E :*E A:VE '4ZE BE ];a 2E _;a JE k;a :E k;a ^b,g~?A2V@2P@2ٱ2] :AHRS rotation from veh to nav: [[0.797076,0.603314,0.026096],[-0.603822,0.795663,0.048156],[0.008289,-0.054141,0.998499]]2H@? ZN?踚?R@v?@ާ? ?b?i2V@I2];2CYFByF]IiMMb@Mb@Mb@IIII I9M:v+?I +YMԽyM=M94MAMV@ MnA)MAIYM\AaeAAbDeVDe1yu%uD=ٔ}ܺQ-}>9Y=FyѺE>Q 55}?Q 95ck)uBY>Q E;yA?Q I@DI ;i ;_z5yɮADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffcBddjdZdaE@Z >Z >Z @Z A?) T=i%9)!%2!i!i-1)-o=I)I19Ա9@ @@4@@@hA^AIIO> A eb,C?AbEIjEM,4rEM7/E& E&E$E$"E&,:*E&;J:VE$ZE$a*@a*@a*@a*@YBy`II%<)%=bD5VD50yE <%EN=ٔEQ-M>9IYI=MFyIUEU>Q 55|?Q 95 j)qBYyQ I@DI:i:*|5yɮADNOT Ignoring new targets: 16.70 m.hh*h"h hgf f f d djdZd`nE@Z1Z1Z1Z1A)I MH=iM9)IMeF3IiQiU1Y]`o=IYIYB&>BBfIBBBBBBh;B5(EBԍCBԍCBB =B =Cl5@ @@4@A^AIIO>i kb,?A 6M@6tH@6 ٱ6"] >AHRS rotation from veh to nav: [[0.796444,0.604202,0.024838],[-0.604633,0.795002,0.048895],[0.009796,-0.053960,0.998495]]6Hx|?U? o?`&Yp????i6M@I6];6CYZByZOIiEMb@Mb@Mb@AAAA A9E rhp= ף?{GzYECyE=E#E AEG@ EA)EAAYEAbDUVDU1yeD%eH=ٔmqQ-m>9iYq=uFyqu$Eu>yQ 55}|?Q 95}i)}nBY=Q E rb,ˉ?Aɰ2G@2A@2;-ٱ2A] >AHRS rotation from veh to nav: [[0.795948,0.604875,0.024342],[-0.605272,0.794481,0.049452],[0.010573,-0.054095,0.998480]]2H@hx?@#[??@d^cl?Q?`? L?i2G@I2٦];2CYFByFJI N;NPbDRVDRܲyZ%ZW=ٔZQ-^>9\Y\=^Fy`b+ Eb>dQ 5j5f{?Q 9j5f)h)flBYhyj?Q In@fDIfl:if :f5yaɮeS AaDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd@IE@ZZZZJ?;-) T=i|9)b3ii1\h=IIu9@q @q@u/@qEm EmEm'Ei"Em:*Em|;:VEm'4ZEiau@au@au@au@^Ah=IIO>B<AB(>BBMIBBB =BBBg;B!(E! yb,?A:@@:;@:v :ٱ:] BAHRS rotation from veh to nav: [[0.795484,0.605507,0.023791],[-0.605868,0.793996,0.049950],[0.011355,-0.054148,0.998468]]:Ht?O`?\?@Dc jh??nA?Us?i:@@I: ];8YNxByN?I PPbDVVDV0yb;%bI=ٔfQ-f>9dYd=jFyhj(Ej>lQ 5r5n{?Q 9r5n,g)niBYtyv?Q Iv@nDIn:in:nV5yxɮz A||%DNOT Ignoring new targets: 16.70 m.h!h)*h)"h) h)g)f)f1f1d1d9jd9Zd=.F@ZaZaZaZe?}v :)y }4=i})9)y}ѽ3ii1Iyf=II59@1 @9@=/@9)Y^AIIOEm  Em Em (Ei "Em غ:*Em V:VEm c44ZEi BEm 9Y=Fy' E>Q 55z?Q 95Bf)gBYn=Q E$ b,e?AE EE$E"Eg:*EA:VE4ZEa@a@a@a@44R2@Rl-@RpTٱR@^ ^AHRS rotation from veh to nav: [[0.794416,0.606951,0.022650],[-0.607235,0.792887,0.050951],[0.012966,-0.054230,0.998444]]RHk?@%l? s1?ynS_?1?荊?ëA?iR2@IRs];RCYfzByf@In@AlbDrVDrNyzQ;%z<ٔzQ-z>9|Y|=~Fy| E> Q 5 5 Ez?Q 95 ye) eBYy?Q I@ DI :i  : ㄁5y!ɮ% A!MDNOT Ignoring new targets: 16.70 m.hIhI*hI"hQ hQgQfQfQfYdYdYjdYZdeF@ZZZZȕ?pT) 4=i9)顝E3ii1,`=IIBBB@IBzBB =BBBg;B(E@ @@0@!^A5Jc=IAIQOew>Qy Ab,e3?A2+@2s&@2`ٱ2b:^ :AHRS rotation from veh to nav: [[0.793891,0.607659,0.022089],[-0.607905,0.792345,0.051387],[0.013724,-0.054223,0.998434]]2H g?q?@a?sZ?`[O?=?#ë,?i2+@I2o];0YB|ByFDIIJ4=)J9yYy=}FyyE>Q 55|z?Q 95d)cBY=Q E+ @Z^?`) #=i9)!%5 4!i!i-1)-]=I)I1yiIE= E=E=)E9"E=7:*E=E7:VE=FA4ZE9BE=;aE2E=;aEJE=Q;aE:E=R;aM9@ @@/0@ԡ^Au<|^=IIO> (b,@M?A2%@2u @2͙iٱ2z^ :AHRS rotation from veh to nav: [[0.793440,0.608259,0.021777],[-0.608481,0.791877,0.051790],[0.014257,-0.054343,0.998421]]2Hc?v?L?x W?6?2?ҫ?i2%@I2v];2CY^~BybFIbDjVDjyrZ%<%rT=ٔrgQ-r>9tYt=vFytzEz>xQ 55zz?Q 95zc)zbBYyپ?Q I@zDIz;iz;zh5yɮo ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd vF@ZZZZ/پ? ͙i) 3=i+9)4ii1%m[=I!I! 9@  @ @ 4@ EE EE{EE&EA"EEg:*EE5":VEE4ZEAaM@aM@aM@aM@^A1I9IQO]>AqAuAAB}%>ByB}:IB}uBB} =ByByB}g;B}'E) Q IUb,c%g?A4<ɰYByHIbD-VD-yE<%ED=ٔEQ-E>9IYI=MFyIUEU>YQ 5e5]z?Q 9e5]c)]aBYayaQ Ie@]DI]:i]:];5yqɮua A1DNOT Ignoring new targets: 16.70 m.hh*h"h hgfff d d jd Zd @@G@ZQZQZQZQ) A=i$9)額b"4ii1 \=IIY1@1 @1@50@1@==@==EM  EM EM 'EI "EM I:*EM 0:VEM '4ZEI BEM ^:b,?A06Q @6#@6wٱ6L^ >AHRS rotation from veh to nav: [[0.793035,0.608813,0.021055],[-0.608989,0.791458,0.052225],[0.015131,-0.054239,0.998413]]6H `?d{?@?|@S?E??2ū?i6Q @I6e];6CYZByZJI \\``iEMb@Mb@Mb@AAAA A9E+)\(?y&1|?YEyEGa=E`;EAEt@ EA)EAAYEAbDu VDu:2y;%F=ٔ{ Q->9Y=FyͺE>Q 55y?Q 95b)Y=Q E i I db,1К?AE EE&E"E:*E|;:VE4ZEa@a@a@a@>|@>N@>6{ٱ> ^ FAHRS rotation from veh to nav: [[0.792896,0.608998,0.020923],[-0.609164,0.791310,0.052425],[0.015370,-0.054313,0.998406]]>Hf_?|?`l?D~ iR?cת?z?@Ϋ`?i>|@I>A];>CYRByRSIbDZVDZ`yf#=%fX=ٔf5%Q-j>9hYh=jFyhnEn>YQ 5e5]x?Q 9e5]a)]bBYiym_?Q Im@]DI] :i]:]5yqɮu AqDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd G@ZZZZW_?6{) ܙ=B%#>B%ӍCB!B!B% =B!B%dDB%Wg;B%'Ei9)15B49i9i=1AEX=IAIA9@ @@/@^A&V=IIO>Q 'b,T?A6@6@6|ٱ6n^ >AHRS rotation from veh to nav: [[0.792941,0.608940,0.020889],[-0.609103,0.791353,0.052476],[0.015424,-0.054334,0.998404]]6H_?p|? d?}R?@'ު??@ѫ@?i6@I6\];6CYFByJ\IiMb@Mb@Mb@ 9Zd;OMb?~jtx?Yjy=; AEA A)AYA5AA1bD5VD51y=%<=ٔQ->9Y=Fy59E>Q 55w?Q 95_)Y=Q E;yH?Q I@DIG;im ;5y ɮ A =DNOT Ignoring new targets: 16.70 m.h9h9*h9"h9 h9g9fAfAfEBdAdIjdIZdM2G@Zm=Zm=Zm)"@ZmH?|) ;iz9)額;D4ii1ydY=IIE= E=E='E9"E=غ:*E=E7:VE='4ZE9BE=ԡ xb,;Ί?A2 @2@2e}ٱ2;^ :AHRS rotation from veh to nav: [[0.792936,0.608947,0.020868],[-0.609108,0.791346,0.052516],[0.015466,-0.054353,0.998402]]2H_?~|?^?}R?f?@a?)ԫ?i2 @I23];2CYFByFUIIJ<)JbDRVDRyZ%Z\=ٔZkQ-Z>9\Y\=^Fy\b(Eb>dQ 5j5fv?Q 9j5f^)dYhyhQ Ij@fDIf;if] ;f55ypɮr Ap DNOT Ignoring new targets: 16.70 m.h h*h"h hgfffdd!jd!Zd% G@ZAZAZAZEsH?]e})Y ]i] 9)Y]Yiaie1amLY=IiIiy)@) @)@-0@)ԡbE!4jE4rEp/EE EEEE%EA"EE:*EER:VEE 4ZEAaM@aM@aM@aU@^AqIyIO~>B!A%<B-">B)B-GIB-BB-" =B)B)B-Jg;B-'EBBBBB =Cz5 b,Va?A2_@21@2W`}ٱ2^ >AHRS rotation from veh to nav: [[0.792960,0.608916,0.020856],[-0.609077,0.791371,0.052502],[0.015464,-0.054335,0.998403]]2H`_?=|?K[?}@R? ? ?ѫ?i2_@I2N"];2CYbByb]IbDjVDjyr=%rG=ٔvLN6Q-v>9tYt=vFytz8Ez>|Q 55~u?Q 95~])|Yy I?Q I @~DI~ ;i~(:~5yɮAEDNOT Ignoring new targets: 16.70 m.hIhI*hI"hI hIgIfIfQfQdQdQjdYZd]3H@ZyZyZyZ}I?W`}) f;ij9)顽0ii1K|Y=IIy@y @y@ 0@ ^A-tY=IIO>1EU  EU EQ EQ "EU y:*EU H:VEQ ZEQ BEU ?AɰY%By%mIiMb@Mb@Mb@ 9V-㥛 ?~jtx?Yy= At@ )YbDVDܲy $h=% 9=ٔQ->9Y=FyE>!Q 5-5%s?Q 9-5%0\)!Y5{ >Q E5;y59?1Q I=@%DI%3;i%2;%5yAɮErAAmDNOT Ignoring new targets: 16.70 m.hihq*hq"h! h!g)f)f1f5Bd1d1jd1Zd=@3oH@Z]{ >Z]{ >Z]%@Z]9?i)i u;iua9)quRG1qiqi}1yyIyI]>iA@A @A@E00@A@M@M@M@MaԉII O >Թ b,?AE EE'E"E:*EC:VE'4ZEa@a@a@a@>%@> @>~Ksٱ>^ FAHRS rotation from veh to nav: [[0.793440,0.608278,0.021211],[-0.608467,0.791872,0.052025],[0.014849,-0.054185,0.998420]]>Hc? w?`t?x W? ?&i?,?i>%@I>$];>CYRByRcI TTbDZVDZ0yb9+%bb=ٔf:Q-f>9dYd=jFyhj ;Ej>lQ 5r5nXr?Q 9v5nZ)lYtyvS?Q Iv@n DInt:in:n5yxɮ~A|%DNOT Ignoring new targets: 16.70 m.h!h!*h)"h) h)g)f)f1f1d1d1jd1Zd=~H@B$>BBMIBBB! =BBBg;B'EZZZZS?E~Ks)I MiM 9)IMIiIiu1q} l\=IyIyԙ @ @@4@I1IIO]> b,6?A2)@2$@2@kٱ2p] :AHRS rotation from veh to nav: [[0.793758,0.607853,0.021505],[-0.608064,0.792205,0.051679],[0.014377,-0.054097,0.998432]]2Hwf?s? Z?Au`Y?@u?q? (?i2)@I2];0YFByF`IiMb@Mb@Mb@ 9L7A`{Gz?{Gzt?Y+yף=ף; AAA &A)AYAbDEVDEye6%e@=ٔe:Q-e>9iYi=mFyiuh:Eu>yQ 55}Vp?Q 95}ZY)yY#>Q E;y?Q I@} DI}3:i}:}^5y ɮA]DNOT Ignoring new targets: 16.70 m.hYhY*hY"hY hagafafafmBdidjdZdH@Z#>Z#>Z0&@Z? @k) i)ii1]=I!I!D)zD-?AE5 E1E5#E1"E5O:*E1VE53ZE1BE5 A b,O?A60@6*@6aٱ6jP] >AHRS rotation from veh to nav: [[0.794217,0.607241,0.021875],[-0.607478,0.792681,0.051260],[0.013787,-0.054000,0.998446]]6H8j?`n?~f?`vp]?>?@Z9Y=Fy:E>Q 554n?Q 95W)Yy?Q I@DIa;iL;V5yBɮAE5DNOT Ignoring new targets: 16.70 m.h1h1*h1"h1 h1g9f9f9f9dAdAjdAZdE@ I@QZiZiZiZmh?}a) i)顁ii1.{`=II!@! @!@%1@)I1IIOU2>EE EEEE&EA"EE:*EE*:VEE4ZEAaM@aM@aM@aM@yAAB!>BBYIBBBBBBh;B3(Eԩ lb,i?A2 2@2,@23Xٱ2>^ :AHRS rotation from veh to nav: [[0.794372,0.607018,0.022433],[-0.607288,0.792836,0.051116],[0.013243,-0.054228,0.998441]]2H}k?`l? ?n@^?`+?`?ë:?i2 2@I23];2C@ @)BlAFDDDF1lAiFIDHIHiJkA JJKF)HL NkANԼLLPPIP)PiP)TIVkAV/ݼT TXZkAZ/ݼiXXi\\)\ \I\Y\YfByffIIj<)jQ 55|l?Q 95FV)Yy?Q I@DI;i&;웁5yɮADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd@;I@ZZZZw?%3X)I QiQ)QQQiQi]1Y],a=IYIaԱ)@) @1@5/@1DM =DM <E]  E] EY EY "E] m:*E] 0:VEY ZEY BE] S b,X?AN 7@N1@NUMٱNrY^ ^AHRS rotation from veh to nav: [[0.794756,0.606495,0.022970],[-0.606800,0.793234,0.050727],[0.012545,-0.054254,0.998448]]NH`n?gh?@j?j,b??>? ǫJ?iN 7@INl];NCpY]By]lIiMb@Mb@Mb@ 9S㥛Ŀ#~j?{Gzt?Y$y= AA A)&AYAbD-VD-y=ǵ<%=7=ٔEg:Q-E>9AYI=MFyIM:EU>QQ 5]5Ui?Q 9]5UuT)UaBYe8>Q Ee;yer@Q Ie@UDIUa:iUH:Uɝ5yiɮudAqDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBddjdZdoI@Z8>Z8>Z:+@Znr@UM) ƣi9)Kii1\Dc=II@ @@/@1^A|^=IIO>a b,_?AE EEE"EI:*Ea9:VEZEa@a@a@a@6;ɰ6p;R<@R7@RCAٱR^ ZAHRS rotation from veh to nav: [[0.795185,0.605909,0.023584],[-0.606253,0.793676,0.050360],[0.011796,-0.054344,0.998453]]RH&r?c?p&? lfe?@ȩ?@O(?ҫS?iR<@IR;V];RC9YEByEfIBe >BaBe`IBeBBaBaBaBeIh;BeS(EbDUVDU0yռ%W=ٔ9;Q->9Y=Fy:E>Q 55"g?Q 95R)Yy}@Q I@DI6:i:r5yɮAeDNOT Ignoring new targets: 16.70 m.haha*ha"ha hagafififididqjdZdǢI@ZZZZ}@CA)! % i-9))-mN)i)i=19Ede=IAIAIy)yi 9@  @ @ /@ ԙ^AJc=II O > H/b,L?A6|D@6N?@6/4ٱ6^ >AHRS rotation from veh to nav: [[0.795758,0.605137,0.024043],[-0.605514,0.794275,0.049801],[0.011040,-0.054188,0.998470]]6Hv?@H]?ў?^`j??盆?`v?i6|D@I6A[];6CYFByFbI xx|~AiuMb@Mb@Mb@qqqq q9uw/Ŀ ףp= ?~jth?Yu&yuQ=uD;u" Aq uA)uAqYqԑbDVD02yPa%H=ٔb:Q->9Y=Fy;E>Q 55d?Q 95Q)`BY>>Q E;yC?Q I@DI ;i ;;5yɮADNOT Ignoring new targets: 16.70 m.hh*h"h hg f ffBddjdZdI@Z>>Z>>ZI(@ZC?/4) ƣi9)cii1h=IID1zD5@AE= E=E=(E9"E=7:*E=F:VE=c44ZE9BE=;aE2E=;aEJE=;aM:E=;aM9@ @@0@Թ^AQf=IIO> G  = 99 Y= Amb,rы?A2I@2uD@2(i*ٱ2] :AHRS rotation from veh to nav: [[0.796144,0.604611,0.024482],[-0.605017,0.794680,0.049381],[0.010401,-0.054127,0.998480]]2Hz?X?@?@M\n?H? M? ?i2I@I2];2CYJByJ[IbDbVDbܲyj%jY=ٔj:Q-j>9lYl=nFypr>:Er>tQ 5z5v(b?Q 9z5vQO)tYxyzW?Q I~@vDIvy:iv_BҍCBBB# =BBBh;B(EQ^Am0f=IyIO>ԁ =b,|?A2Q@2~L@2Eٱ2=] NAHRS rotation from veh to nav: [[0.796744,0.603800,0.024986],[-0.604241,0.795305,0.048808],[0.009599,-0.053985,0.998496]]2H~?@UR?앙? U $s?`]?? ?i2Q@I2];2CYVByXbDbVDbkyj %jJ=ٔj;Q-n>9pYp=rFypv;Ev>xQ 5 5z_?Q 95zM)z_BYyx?Q I@zDIz;izI;z5y!ɮ-1A)DNOT Ignoring new targets: 16.70 m.hh*h"h hgfffdd jd Zd ;J@Z)Z)Z)Z-i>i@i @q@u4@yԉԱ^A- Xh=I1 DI DI EU  EU EU $EQ "EU %:*EU H:VEU 4ZEQ BEU ;a] 2EU ;ae JEU ;ae :EU ;ae I O > 'c,?AV\@VW@VٱVA] ^AHRS rotation from veh to nav: [[0.797574,0.602658,0.026059],[-0.603165,0.796171,0.047986],[0.008172,-0.053990,0.998508]]VH?H?@%?`!M9Y=Fy(Q;E>Q 55\?Q 95K)^BY?>Q E;y?Q I@DI:i:5yɮLA}DNOT Ignoring new targets: 16.70 m.hyh*h"h hgfffBddjdZdqJ@ԩZ?>Z?>Zi'@Z ?) i9)%l'!i!i%1IM^r=IIII@ @@4@^A h= I I) O5 >1 bE˞4jET4rE+0E]  E] EY EY "E] :*E] ?:VEY ZEY ae @ae @ae @am @T\c,r?A^ma@^?\@^Jٱ^Ӡ] jAHRS rotation from veh to nav: [[0.797919,0.602177,0.026618],[-0.602718,0.796529,0.047671],[0.007504,-0.054081,0.998508]]^H?E?A?@xI)}?Fh?`v~?q?i^ma@I^];^CYr~ByrFIbD~VD~ B >B ӍCB YIB BB  =B B B +i;B (EBӍCBӍCBB! =B! =C5y-j%5N=ٔ5:Q-5>99Y9==Fy9E:EE>AQ 5M5EZ?Q 9U5EI)E\BYQyU?Q IU@E DIE:iE[:E<5yaɮeAaDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd@šJ@ZZZZ?J) hi-9)X_ii12t=II9@ @@/@!^A&o=IIO>Q | c,͑8?A 64<ɰ6;Ve@V_@V0 ٱV] ^AHRS rotation from veh to nav: [[0.798185,0.601805,0.027053],[-0.602372,0.796805,0.047433],[0.006990,-0.054156,0.998508]]VHຊ?`A??Fl?`I?6|?M ?iVe@IVW];VCYfuByf;IiMb@Mb@Mb@ 9l¿kt?{GztYy =ף At@ A)AAYAbDVDy;-%C=ٔ:Q->9Y=Fy:E>Q 555X?Q 95 H)ZBYZ/>Q E;y9?Q I@"DI ;i<:5yɮ ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfffBd!d!jd!Zd%ZJ@ZMZ/>ZMZ/>ZMq_'@ZM9?]0 )a eƣie9)aertaiaiu1y}͗u=IyIyD zD E EE(E"E:*E3:VEc44ZEBE ?fc,sR?A>f@>a@>ֻٱ>C^ FAHRS rotation from veh to nav: [[0.798320,0.601605,0.027507],[-0.602198,0.796943,0.047325],[0.006550,-0.054345,0.998501]]>H֋?X@?*?4E?;?@ z?`ӫ?i>f@I>-];9dYh=jFyhj:En>lQ 5r5nV?Q 9v5n~F)nXBYtyvA?Q Iv@n$DInW:in-:n5yxɮ~ A|%DNOT Ignoring new targets: 16.70 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd54K@ZZZZA?ֻ) ri-09))-1i1i519=4v=I9I99@ @@/@@gA@gAE EE)E"EI:*Ea9:VEFA4ZEa%@a%@a%@a-@AAB>BBGIBBB =BBB4i;B(E^A)I9IQOm> ͏c,Ll?ABj@Be@BƻٱBi^ RAHRS rotation from veh to nav: [[0.798626,0.601184,0.027837],[-0.601797,0.797264,0.047012],[0.006069,-0.054298,0.998506]]BHX?@9Y=Fy%՟:E%>)Q 5=5-S?Q 9=5-D)-VBYAyER?Q IE@-'DI-DA;i-PB;-5yQɮU AQDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZdrD% %=D% <E-  E- E- *E) "E- 7:*E- =:VE- (N4ZE) BE- ;a5 2E- ;a5 JE- ǔ;a= :E- ǔ;a= y s!c,?A2dk@26f@2_ཻٱ2^ :AHRS rotation from veh to nav: [[0.798660,0.601125,0.028108],[-0.601754,0.797302,0.046920],[0.005795,-0.054387,0.998503]]2H?`k9yY=FyH 9E>Q 55Q?Q 95/C)TBY0$>Q E;y?Q I@)DI ;i ;Q5yɮ!ADNOT Ignoring new targets: 16.70 m.hh*h"h hgfff_BddjdZdZqK@Z 0$>Z 0$>Z (@Z ?_ཻ) ƣi9)!%ϲ!i!i-1))I)I1a@i @i@m0@i^AIIO> E=  E= E= 'E9 "E= %:*E= E7:VE= '4ZE9 aM @aM @aM @aM @s'c,?A2>i@2d@2/ٱ2Y_ :AHRS rotation from veh to nav: [[0.798503,0.601324,0.028327],[-0.601964,0.797145,0.046899],[0.005621,-0.054501,0.998498]]2HV? >??JC@5?/? w? 竿?i2>i@I2J}];2CYFPByF IbDNVDN0yVͼ%VX=ٔV9Q-Z>9XYX=ZFyX^5Bb>B`Bb'IBbfBBb =B`B`Bbi;Bb(EEn>pQ 5v5rjO?Q 9v5rA)rRBYtyv?Q Iv@r+DIr:ir8:r5y~sBɮ}!A}|E5DNOT Ignoring new targets: 16.70 m.h1h9*h9"h9 h9g9fAfAfIdIdqjdqZdujK@ZZZZN?/) i9) qii1v=II@ @@ 1@@ >@>!I^AHu=IIO >ԁ -c,Aع?Afg@fb@fٱfN_ rAHRS rotation from veh to nav: [[0.798401,0.601459,0.028336],[-0.602101,0.797046,0.046818],[0.005574,-0.054441,0.998501]]fH?'???hD@g?? v?߫@?ifg@IfQu];fCYzDByzIiMb@Mb@Mb@ 91ZdV-?y&1|Y"۽ym=` AAA A)AYpAbDVDyc%8=ٔ8Q->9Y=FyɹE>Q 55M?Q 95p@)OBY=Q E;y@Q I@,DI:i:貁5yɮ z!A 5DNOT Ignoring new targets: 16.70 m.h1h9*h9"h9 h9g9f9fAfEXBdAdAjdIZdM}K@YZ}=Z}=Z}E)@Z}@) #i9)顕N0ii1;jv=IIDzD?AE EE%E"E7:*ErN:VE 4ZEBEa2E;aJEV;a:EW;aE9@I @I@M4@Iy^AIԩIO> 4c,nӌ?A;ɰp;:d@:^@:ٱ:kv_ BAHRS rotation from veh to nav: [[0.798122,0.601826,0.028402],[-0.602470,0.796764,0.046881],[0.005585,-0.054528,0.998497]]:H@7?(B?@e?oG@??v?$뫿?i:d@I:IW];:CYJ1ByJI R49`Y`=bFy`fAEf>hQ 5n5jK?Q 9n5j`?)jMBYlyn@Q Ir@j.DIj;ij;j5ytɮv"AtDNOT Ignoring new targets: 16.70 m.hh*h"h hgff!f!d!d!jd)Zd-c L@ZIZIZIZMU@])a e@ie9)ae_{aiaim1iu[t=IqIqԱ59@1 @1@5/@1E EE'E"E*EP:VE'4ZEa@a@a@a@BA<BBBIBLBB! =BBBh;B(E^AIIO%n> 9 6:c,x?A ^@ eY@ `nٱ _ %AHRS rotation from veh to nav: [[0.797718,0.602362,0.028385],[-0.603003,0.796352,0.047022],[0.005720,-0.054627,0.998490]] H@?F? ?K`{?O?mw?@?i ^@I 4l]; CY=/By=IbDMVDM1y]%]@=ٔeǦQ-e>9aYa=mFyimκEm>qQ 5}5u(J?Q 9}5u$>)uKBYy @Q I@u/DIu;iqu]5yɮ"AB*** querying acoustic contact ***i iDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZd?L@ZZZZe @`n) Xi 9)   i i1{r=II-9@) @1@1@1@9@9A^A| u=II1O=>u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.i E  E E %E "E :*E ?:VE 4ZE BE 8 AHRS rotation from veh to nav: [[0.797285,0.602941,0.028261],[-0.603574,0.795915,0.047094],[0.005902,-0.054605,0.998491]]2H`\?JK? W? zP#x?`?`n,x? ?i2X@I2V];2CY^)BybIi}Mb@Mb@Mb@yyyy y9}~jt/$?~jtxY}Ľy},=}Ļ} Ay }A)}SAyY}AbDVDkyE%F=ٔQ->9Y=FyZE>Q 55^H?Q 95'=)IBY=Q E;yg@Q I@1DI:i:+5yɮM"ADNOT Ignoring new targets: 16.70 m.hh*h"h hgff f CBd d jdZd@tL@Z5=Z5=Z5.@Z5g@Ec)I MLiMX9)IM>³IiIiU1Y]p=IYIYq*DAT read: user:497> BDAT read: Tx time:05:42:11.2721 $Ping request sent.  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254005Gc,8!?AB6!>B4B6IB63BB6 =B4B4B6h;B6(EEB E@E@E@"EBغ:*E@VE@ZE@BEB<2EB<JE@:E@PNQ@NL@N]ʻٱN_ fAHRS rotation from veh to nav: [[0.796789,0.603606,0.028055],[-0.604227,0.795413,0.047209],[0.006180,-0.054567,0.998491]]NHJ?P?v?Ut?+? Py? @`?iNQ@INcN];NCY]&By]IAAAAbDVDk1yd%E=ٔ/Q->9Y= Fy  QE >Q 55F?Q 95(<)GBY!y%Y@Q I%@2DI:i|:5y)ɮ-i"A)]DNOT Ignoring new targets: 16.70 m.hYhY*hY"hY hYgYfafafadadijdiZdmʩL@ZZZZzY@]ʻ)  ii99)m೉ii1Zm=II@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502682^A I I) O5 >! ENc,`";?Ax>I@D@jڻٱװ^ AHRS rotation from veh to nav: [[0.796141,0.604483,0.027582],[-0.605075,0.794763,0.047291],[0.006665,-0.054340,0.998500]]Hy? W?>? \`n?6?GM{?oҫ?i>I@I];CY-By-IiMb@Mb@Mb@ 99Y=Fy%+E%>5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754883)Q 5=5-4E?Q 9E5-q;)-FBYE=Q EE* checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006797y UTc,T?AY~By~IbD VD :y<%\=ٔ%Q-%>9!Y!=%Fy)-E->1Q 5=55C?Q 9=55:)1Y9yAQ IE@54DI5;i5;5c5yIɮM"AIY}DNOT Ignoring new targets: 16.70 m.hyhy*hy"h hgfffddjdZd M@ZaZaZaZaq)q qiq)yyyiyi15j=II!@! @)@-0@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258889Be">BeԍCBeIBe#BBe =BaBeeDBeHh;BeW(EB)B)B)B- =B- =C- 6bEjE{4rEƿJ0E EE#E"E*E=:VE3ZEBE;a2E;aJEǔ;a:Eǔ;a1^AmXh=IyIO>Y )[c,n?Aɰ;69@64@6nٱ6 ^ BAHRS rotation from veh to nav: [[0.794992,0.606018,0.027002],[-0.606574,0.793604,0.047546],[0.007385,-0.054177,0.998504]]6Hp?`d?H?i3e?W??~? ?i69@I6];4YJ!ByJIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867 V9QYQ=UFyQ]E]>aQ 5m5eB?Q 9m5e:)eEBYiym@Q Im@e5DIel:ie:e.5yyɮ}"AyDNOT Ignoring new targets: 16.70 m.hh*h"h hgfffddjdZdBM@ZZZZD@n) ^Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762820ԉE  E zE &E "E g:*E  :VE 4ZE a @a @a @a @Թ bc,?A21@2Y,@2 >ٱ2W=^ :AHRS rotation from veh to nav: [[0.794380,0.606830,0.026809],[-0.607373,0.792980,0.047769],[0.007728,-0.054229,0.998499]]2Hk?@&k?s?o`?u??`ë`?i21@I2l];2CY^$BybI ``iMb@Mb@Mb@ 9333333Q?y&1|?Yy<`; A A)YAbDVDNyO]<%E=ٔjXQ->9Y=FyE>Q 55$A?Q 95P9)FBY =Q E#BddjdZdKwM@Z= =Z= =Z=0@Z=@M >)I MLiUd9)QU9QiQi]1Y][?`=IaIaԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015459@ @@4@@fA@fA^A(a=IIO>e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266768 :hc,?AB>>B>ӍCB>IB>BB>! =B<B>dDB>g;B>(E-'@-Z"@-<ٱ-N_ EAHRS rotation from veh to nav: [[0.793634,0.607815,0.026557],[-0.608339,0.792210,0.048236],[0.008280,-0.054438,0.998483]]-Hse?8s?1?wY?@f??C߫@?i-'@I-];-CYU'ByUIbDmVDm:y}y<%}M=ٔ}sQ-}>9Y=FyHE>Q 55??Q 958)GBYy@Q I@7DI';i;5yɮ]"A-DNOT Ignoring new targets: 16.70 m.h1hQ*hQ"hQ hQgQfYfYfYdYdajdaZde @M@ZZZZ@<) 4i~9)ii1\=II @ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518801^ABa=II O >I .hnc,Ym?ATTU @U@UqٱU^ mAHRS rotation from veh to nav: [[0.793077,0.608559,0.026166],[-0.609058,0.791643,0.048470],[0.008783,-0.054377,0.998482]]UH``?Py?:˚?g}$U?Ѩ??N׫@?iU @IU];UCY}-By}IiMb@Mb@Mb@ ]BDAT read: Rx Time:05:42:13.7028 ]TRx dataTimestamp_ set to:1761543735.020708echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7803889K rh?Mb?Y^yC =< A &A)AYu@Au@AbDuVDuβy|<%:=ٔ9Q->9Y=FyE>Q 55=?Q 957)JBY=Q EKuc,6֍?A29@2 @2ٱ2^ :AHRS rotation from veh to nav: [[0.792713,0.609047,0.025833],[-0.609525,0.791270,0.048693],[0.009215,-0.054345,0.998480]]2H]? Q}?@s?;R? A? ߂?`!ӫ?i29@I2];2CYF3ByFIPbDNVDN0yZp<%Zn=ٔZ*Q-Z?9\Y\=^Fy\bNEb?dQ 5j5feBEҍCBABABE# =BABABEkg;BE'EE EE&E"EƱ:*Ec:VE4ZEBE;;2E<;JE;:E;^A&V=IIO>I u{c,?A2@2@2=ٱ2^ :AHRS rotation from veh to nav: [[0.792306,0.609589,0.025531],[-0.610047,0.790851,0.048966],[0.009658,-0.054371,0.998474]]2HZ? ?@$?@N? ?@ǃ?z֫?i2@I2];2CvDAT read: 05:42:13.7028 LVL= 23536, 17393, 8178, 23011, AGC= 47, IDX= 476, 0.09,-1.823,-0.628, 0.797,-0.472, PHS=-1.249,-0.111, 1.225, RAW= 237.3, 1.3, CAL= 234.2, 1.8, ROT= 275.8, -1.8 zYgot valid direction response: 05:42:13.7028 LVL= 23536, 17393, 8178, 23011, AGC= 47, IDX= 476, 0.09,-1.823,-0.628, 0.797,-0.472, PHS=-1.249,-0.111, 1.225, RAW= 237.3, 1.3, CAL= 234.2, 1.8, ROT= 275.8, -1.8 ~PDAT read: Bearing 114.9, -83.6 (Local) ~Local bearing/azimuth received: Bearing 114.9, -83.6 (Local)  DAT read: Range 11 to 50 : 19.8 m (Round-trip 26.5 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.101006,-0.994390,0.031411]Fpublishing direction and range infoy`b/7۹?s_f Iz?YbfA`b[bCb bY)`Ib;ߟibS㽉b̜?b@b޹9iYi=mFyim뼺Eu>Q 55h:?Q 955)OBYy@Q I@;DI4:i :-ȁ5yɮ!Ai`ib4?AJibvARibvAjib@bb;~4?yi3z}"?Rb/7۹?s_f Iz?ZibbibjbNG,$*S0VDd5?Zb[) yZYV{<+y?2ibJ:ibq%"ibӞ?*ibBibBibqZ?ib|9i`ibzAib/@ addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 60.503911 s, deltaX: 3.000000 m, approachRate: 0.049584 m/s, rangeRepo size: 4  Added new target pos. range: 19.682852 m, bearing: 238.176008 deg, lat: 36.779380 deg, lon: -121.859715 deg, deltaT: 60.503911 s, deltaX: 2.980717 m, approachRate: 0.049265 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjd3@Zd-`}?iZiZiZiZm۵@=) i9)顭Oii1lbU=II9@ @@/@ԑE  E E +E "E :*E ga:VE [4ZE BE b<2E c<JE ;:E ; ^A I) I9 OM >]c,5 ?A:@:Q@: $ٱ:V*^ FAHRS rotation from veh to nav: [[0.792206,0.609735,0.025160],[-0.610171,0.790749,0.049051],[0.010013,-0.054210,0.998479]]:HY?`?@Ù?`M?.??`s?i:@I:{];8YN?ByNIi%Mb@Mb@Mb@!!!! !9%Cl绿S㥫?I +?Y%;߽y%/]=%9<%" A%XA !)%=A!Y%A 54<54<bD=VD=02yM%#=%M^=ٔU|Q-U>9QYQ=]FyY]E]>aQ 5m5e8?Q 9m5e4)eRBYu*=Q Eu;yu#@Q Iu@e=DIe:ie{:eɁ5yyɮ}!AԙDNOT Ignoring new targets: 19.68 m.hh*h"h hgfQfYf]cBdYdYjdYZdegB?Z*=Z*=Z+@Z#@ $) \i9)vii1T=II@ @@ 0@^AT=IIO> B% >B! B% IB% BB! B! B% cDB% Ug;B% 'Ec,u#?AEN ENEN&EL"ENy:*ENT:VEN4ZELBEN<2EN<JEN̨;:EN̨;nc@n5@n(ٱn^ vAHRS rotation from veh to nav: [[0.792196,0.609759,0.024909],[-0.610180,0.790733,0.049202],[0.010305,-0.054176,0.998478]]nHY?$?? M?0?@?`?inc@In]];nCYMBy IbD VD2y%2=%%M=ٔ-?Q-->9)Y1=5Fy15_ E5>9Q 5E5=7?Q 9E5=3)=VBYIyM$@Q IM@=>DI=-:i=:=ˁ5yQɮU4!AYDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd@ ?ZZZZ+$@() 2im9);ii1IIQ@Q @Q@U3@Q@]gA@]gA!^A5`T=IAIQO]v>Iԁ Dc,ݴ=?AM?@M@Mi+ٱMc] AHRS rotation from veh to nav: [[0.792333,0.609585,0.024788],[-0.610000,0.790868,0.049282],[0.010438,-0.054168,0.998477]]MHZ??a?N?y;?S`?@ﻫ?iM?@IMo];MCYYByIQieMb@Mb@Mb@aaaa a9eM¿#~j?Zd;O?Yenye=ej9Y=Fy%W9E%>E- E-E-*E)"E-s:*E-R:VE-(N4ZE)a=@a=@a=@a=@9Q 5M5=~4?Q 9M5=1)=ZBYM)>Q EM;yM|?Q IM@=ADI=" ;i=7 ;=́5yYɮ] AYDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffBddjdZds?Z)>Z)>Z(@Z`|?i+) ̽i9)$׳ii1U=II]9@Y @Y@]H2@Yԁԡ5 GI i j9 Y XUA^A I I O > ݙc,~W?A2@2@2R..ٱ2] :AHRS rotation from veh to nav: [[0.792525,0.609343,0.024597],[-0.609747,0.791056,0.049379],[0.010631,-0.054132,0.998477]]2H]\??0?@ UP?3H?`Ņ?5`?i2@I2Y];0YFXByFIHHbDNVDNk1yV-%V{=ٔZQ-Z ?9XYX=^Fy\b:Eb ?dQ 5j5f2?Q 9j5fv0)f]BYhyj?Q In@fBDIf:if:f΁5ypɮr Ap DNOT Ignoring new targets: 19.68 m.h h*h"h hgfffdd!jd!Zd%?ZZZZ6?R..) ӽi*9)ii%1!%W=I!I)Ա@ @@ 3@AAB>BBIB3BBBBB{g;B'EEE EE}EE(EA"EEU:*EEk&:VEEc44ZEABEE;aU2EE;aUJEE€;aU:EE€;aU^A&V=IIO>) #ƛc,5bq?A2@2b@2,e/ٱ2t^ >AHRS rotation from veh to nav: [[0.792801,0.608986,0.024543],[-0.609387,0.791328,0.049470],[0.010705,-0.054176,0.998474]]2H^? |?!?R? T??뼫?i2@I2oS];0YF]ByFIbDVVDV1y^<%^I=ٔ^V?Q-b>9`Y`=bFy`f~:Ef>hQ 5n5j0?Q 9n5j.)jaBYlyn?Q Ir@jEDIj ;ij ;jЁ5yv_Bɮv AvrEDNOT Ignoring new targets: 19.68 m.hh*h"h hgff!f!d!d!jd)Zd-E@ZIZIZIZM?e,e/)a eܼie9)aeiiiim1quX=IqIq)@) @)@5/@1@5@5@=@=9YII!OMt>EI  EM EM )EI "EI *EM 3:VEM FA4ZEI aU @aU @aU @aU @ԁ Jc,1?A02I$@2@2.ٱ2d^ >AHRS rotation from veh to nav: [[0.793375,0.608238,0.024546],[-0.608639,0.791903,0.049472],[0.010653,-0.054190,0.998474]]2HTc?v?@"?y EW?nT?х? ʾ@?i2I$@I2ؘ];2CY^jBy^-IiEMb@Mb@Mb@AAAA A9E~jtÿ:v?9qYq=}Fyy};E}>Q 55.?Q 95,)cBY~=>Q E;y"?Q I@GDI:iE:ҁ5y]BɮADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffBddjdZd @Z~=>Z~=>Z"@Z%"?.) Hi?9)8ii1[=IIV>i%>ԑ9@ @@/@IIO >Թ B >B B IB GBB $ =B B B g;B (EBҍCBҍCBB# =B# =CQ5E]  E] E] 'EY "E] :*E] F:VE] '4ZEY BE] ;am 2E] ;am JE] ;am :E] ;am c,{I?Aɰ2+@2%@2 .ٱ2K^ >AHRS rotation from veh to nav: [[0.793879,0.607580,0.024560],[-0.607983,0.792404,0.049515],[0.010623,-0.054242,0.998471]]2Htg?Jq?U&?t`[?Z?v?@ū z?i2+@I2ɛ];2CYFiByF,I N;Np;PbDRVDRkyZָ%ZU=ٔ^8Q-^>9\Y\==Fy9E|;EE>IQ 5U5M,?Q 9U5M+)MeBYQyU=?Q I]@MIDIM:iM :M\ԁ5yɮADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd@ @ZaZaZaZe=? .) i09)額Vii1^=IIPExceeded connect timeout, disconnecting.m9@q @q@u/@qIIO>) c,?Au1@u,@u.ٱuD^ AHRS rotation from veh to nav: [[0.794386,0.606918,0.024540],[-0.607320,0.792906,0.049619],[0.010657,-0.054320,0.998467]]uHk?k? ?*o|_?g?{Ӆ?@ϫ`p?iu1@Iu];qYfBy(I AiMb@Mb@Mb@ 9bX9ƿi|?5?I +?YE6y=94<& AA AA)nAYAbE-4jE…04rEa0E  E E &E "E غ:*E V:VE 4ZE a@a@a@a@bDM VDMf2y]u<%]'=ٔ]Q-e>9aY=Fy:E>Q 55)?Q 95|()fBYZ>Q Ex;yq?Q I@MDI:i;pց5yɮADNOT Ignoring new targets: 19.68 m.hh*h"h hgff!f%Bd)d)jd)Zd- @AZZ>ZZ>Z#@Zq?.) i9)zii1$Ka=II 9@ @@/@IIOb>iԙ nc,؎?A2-=@27@2f*ٱ2h^ >AHRS rotation from veh to nav: [[0.795223,0.605817,0.024633],[-0.606228,0.793751,0.049465],[0.010414,-0.054269,0.998472]]2Hvr?b?v9? 8fhf?@S?T?1ɫ{?i2-=@I2f];0YFnByF2IbDRVDRN2yZC=%Z=ٔZI:Q-Z ?9\Y\=^Fy\b;Eb?dQ 5f5f(?Q 9j5f&)dYhyj?Q Ij@fODIf:if ;fׁ5ypɮrxAp DNOT Ignoring new targets: 19.68 m.h h *h"h hgfffddjd!Zd%0 @ZAZAZAZE?]f*)Y ]Di]9)Y]!aiaie1im9f=IiIiy)@) @)@-0@1ԩBaAaBm>BiBmIBm[BBm" =BiBiBmg;Bm(EE% E%E%$E!"E%:*E%P:VE%4ZE!BE%b nManaging dock network, ignoring radio surface power off c,?A2G@2B@2w'ٱ29^ :AHRS rotation from veh to nav: [[0.796015,0.604771,0.024743],[-0.605191,0.794545,0.049408],[0.010221,-0.054303,0.998472]]2Hx?IZ?#V?]l?@K?`? ͫ{?i2G@I2];0YjBy-IbDVDy~%-=ٔk9Q->9Y=Fy.5;E>Q 559%?Q 95Q$)gBYy?Q I@RDId:i9:ف5yɮA%DNOT Ignoring new targets: 19.68 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd5w{@ZYZYZYZ]?mw')i mLim9)qu:qiqi}1y}Lj=IyI!@! @!@%0@!9E5  E5 E5 'E1 "E5 %:*E5 a9:VE5 '4ZE1 aE @aE @aE @aE @^AM 0f=Ii I O >Y c,{ ?A2R@2ZM@2<$ٱ2z^ :AHRS rotation from veh to nav: [[0.796804,0.603729,0.024810],[-0.604155,0.795339,0.049319],[0.010043,-0.054287,0.998475]]2Hj?Q?g?``;A XA)AY\AbDVD:y%K=%%U=ٔ-s9Q-->9)Y)=-Fy)15^;E=>AQ 5M5E"?Q 9M5E")EfBYMsp>Q EMb;yM?Q IM@EUDIE:iE:Eہ5yYɮ]AYDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffBddjdZd @Zsp>Zsp>Zh!@Z?-<$)1 =#i=,9)9=9i9iU1QUn=IQIY9@ @@4@ aԑ^A- Xh=I1 Ii Ou >Be >Be ӍCBe 'IBe fBBe  =Ba Be dDBe g;Be (EԹ E=  E= E9 E9 "E= 7:*E= C:VE9 ZE9 BE= ;aM 2E= ;aM JE= =;aM :E= =;aM y$c,X&?A2]@2pX@2ٱ2M^ :AHRS rotation from veh to nav: [[0.797623,0.602635,0.025068],[-0.603078,0.796163,0.049207],[0.009696,-0.054367,0.998474]]2H@!?H?r? jL*z?1??ۃ?ի?i2]@I2];0Y^ByIbD-VD-yf[%S=ٔj:Q->9Y=Fyd;E>Q 55 ?Q 95)Yy?Q I@XDI:iw:;݁5yɮADNOT Ignoring new targets: 19.68 m.hh*h"h hgff f d d jdZd@@Z1Z1Z1Z5?E)I M&)iM9)IMXĴIiIiU1Q]s=IYIYIi)iԑ @  @ @/@@gA@hAԹ^A-h=I9IQO]> Zc,d@@?Ai@nd@ Vٱ7^ ]AHRS rotation from veh to nav: [[0.798507,0.601457,0.025199],[-0.601911,0.797055,0.049055],[0.009420,-0.054338,0.998478]]H`_?#??͙?B y?`?J?3ҫ?ii@I^;CY=ZBy=IiMb@Mb@Mb@ 9EȿMb?MbpYFy>9 A A)XAYE EEE"E:*EV:VEZEa@a@a@a@ 4<bD VD ܲy%4=ٔ:Q->9!Y!=%Fy!RN;E>Q 55?Q 95)cBY n>Q Ed;y?Q I@[DI:i:C߁5yɮ ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffBd!d!jd!Zd- u@Zm n>Zm n>Zm9#@Zm?} V)y #id9)ڴii1w=II@ @@4@A ^A np=I I O >36c, Z?A:q@:l@:iٱ:R_ BAHRS rotation from veh to nav: [[0.799105,0.600656,0.025371],[-0.601121,0.797653,0.049030],[0.009213,-0.054431,0.998475]]:HD?8??b<^?h?;ނ?Uޫ?i:q@I:];:CYNKByNIbDVVDVy^%^{=ٔbS&:Q-b ?9`Yd=fFydfN;Ef?hQ 5n5ju?Q 9n5jO)jaBYpyr?Q Ir@j^DIj;ij;j5ytɮv AtDNOT Ignoring new targets: 19.68 m.hh*h"h hg!f!f!f!d)d)jd)Zd-@ZIZIZIZM?ei)a ezAie9)imﴉiiiiu1qu{=IqIyIU9@Q @Q@U/@QA A B>BҍCB!IB`BB" =BBcDBtg;B'EE EE$E"E,:*ER:VE4ZEBEԩ W`c,s?A6x@6s@6eٱ6_@ BAHRS rotation from veh to nav: [[0.799621,0.599962,0.025524],[-0.600436,0.798165,0.049090],[0.009079,-0.054579,0.998468]]6H`?@2?"?`6?C"?;?s?i6x@I6];4YJ>ByJIbDV VDV:2y^\%^J=ٔ~'9Q-~>9Y=Fy ;E > Q 55 ?Q 95 ) ^BYy/?Q I@ aDI ;i ; n5y)ɮ- A)UDNOT Ignoring new targets: 19.68 m.hQhQ*hQ"hQ hQgYfYfafadadajdaZdm[S@ZZZZ+/?e) [i'9)顥ii1{}=II>i>i@i @q@u/@qԩ^Apu=IIO >E  E E )E "E Ʊ:*E rN:VE FA4ZE a @a @a @a @ Ic, ʍ?A2@2y@2ٱ2U` :AHRS rotation from veh to nav: [[0.800089,0.599330,0.025722],[-0.599816,0.798628,0.049133],[0.008904,-0.054739,0.998461]]2HS?-?V?1]?@'?`9yYy=}Fyy:E>Q 55?Q 95h)[BYi>Q Eh;y?Q I@dDI. ;iC ;h5yɮO!AuDNOT Ignoring new targets: 19.68 m.hqhq*hy"hy hygyfyffBddjdZd`>@Zi>Zi>Z$@Zb? ) P8i9)ii%1!-- =I)I)@ @@@1^A w=I I O% >i B >B B IB QBB # =B B B :g;B 'EE  E E &E "E U:*E 3:VE 4ZE BE ;a- 2E ;a- JE ;a- :E ;a- qc,?AJp@JA}@J.ٱJ` VAHRS rotation from veh to nav: [[0.800331,0.599009,0.025664],[-0.599491,0.798866,0.049224],[0.008983,-0.054781,0.998458]]JHO?+?`G?@/P?3? e?2 @^?iJp@IJz];JCY^*By^IbDfVDfynG%rg=ٔrkQ-r>9tYt=vFytvږ:Ev>xQ 5~5z5?Q 95zp)zXBYy?Q I@zgDIzD;iz@;z5y ɮ !A=DNOT Ignoring new targets: 19.68 m.9hAhA*hA"hA hAgAfAfIfIdIdIjdQZdU ˋ@ZqZqZqZu?.) Ji 9)  m i i115˫=I9I9@ @@o0@i^APz=ԙIIO> Fac,?A%Ԇ@%@%jٱ%!` eAHRS rotation from veh to nav: [[0.800651,0.598587,0.025507],[-0.599062,0.799188,0.049222],[0.009079,-0.054690,0.998462]]%H?`'??`+?@3?ܗ?Wf?i%Ԇ@I%];%CԑYByIE EE(E"E*E?:VEc44ZEa@a@a@a@iMb@Mb@Mb@ 9w/Ŀ+η?{GzY&yv=# A )XAY\AbD-VD-y=j%=)=ٔ=ZOQ-E>9AYA=EFyAMd:EM>QQ 5]5U'?Q 9]5UB)UTBY]p@>Q E;y?Q I@UiDIUZp@>Z'@Z?j)! %#i-W9))-))i)i5115=I1I9@ @@0@^A |=I I  O >ec,Uۏ?Aɰ2@2̂@2<ٱ2` >AHRS rotation from veh to nav: [[0.800735,0.598478,0.025450],[-0.598948,0.799262,0.049412],[0.009231,-0.054810,0.998454]]2H?@&??*?L? ? V?i2@I2`];2CYFByFI N;NbDnVDnJyv%vz=ٔzQ-z?9xYx=zFy|~9E~?Q 5 5?Q 9 5)QBYy?Q I@kDI:i:{5yZBɮ"A%qEMDNOT Ignoring new targets: 19.68 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]@ZyZyZyZ}?<) 6Ki9)顝ii1=IIQ@Q @Y@]04@YBABBBIB8BB$ =BBB3g;B'EByByByB}" =B}" =C}5)E EE%E"E:*E&p:VE 4ZEBE];a2E^;aJEu;a:Eu;a^AqIIO>Qy tc,0?A2@2g@2vٱ2?` :AHRS rotation from veh to nav: [[0.800923,0.598235,0.025223],[-0.598692,0.799450,0.049465],[0.009427,-0.054718,0.998457]]2H@*?$?@ә?|(?|S?@N? \?i2@I2*K];2CYJ ByJI LLbDVVDVyZ<%ZN=ٔ^Q-^>9`Y`=bFy`bQ:Ef>dQ 5j5f ?Q 9j5f)fNBYlyn?Q In@fnDIf;ifn;f75yrGBɮv!AvgEDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd 7 @ZZZZ?v) Gi9)?M!i!i%1)-M=I)I)Q9@ @@/@ԁ^A1IqIO>ԩbEuȀ'4jEuY"4rEuȳ0E  E E )E "E :*E 7;VE FA4ZE a @a @a @a @ Gd, ?A2܉@2@2iٱ2` :AHRS rotation from veh to nav: [[0.800869,0.598314,0.025097],[-0.598762,0.799384,0.049691],[0.009669,-0.054823,0.998449]]2H?b%??`)`?#q?%̓?K?i2܉@I2|a];2CYBByFIiMb@Mb@Mb@ 9Q+?9AYA=EFyAM[EM>QQ 55U= ?Q 95Ub )UKBY]$>Q E;yB?Q I@UpDIU[ZM]$>ZM(@ZMB?]i)Y e.ie19)aeaiaim1im =IiIqԱ @  @ @ /@ ^AIIYIiO}> B B B IB BB B B B Xg;B 'EE  E E %E "E y:*E [:VE 4ZE BE X@>*@>rd$ٱ>Pa ZAHRS rotation from veh to nav: [[0.800609,0.598669,0.024920],[-0.599103,0.799108,0.050023],[0.010034,-0.054978,0.998437]]>H?`K(??`+`J?@?w?`&`2?i>X@I>>];>CYfހByfIbDlVDlyv%vO=ٔzrQ-z>9xY|=~Fy|~E>Q 5 5?Q 9 5 )HBYy4?Q I@rDI6:iN:5yɮF#A!MDNOT Ignoring new targets: 19.68 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZd]@!@ZZZZ`4?rd$) fai$9)顝ii19>=III@Q @Q@U/@Q9^AU|=IaIqO}{>i d,)B?A V@Vl|@V',ٱVa bAHRS rotation from veh to nav: [[0.800258,0.599150,0.024615],[-0.599564,0.798742,0.050352],[0.010507,-0.055052,0.998428]]VH? =,?@4?/J?@ǩ?ㄅ?/?iV@IVb`];VCYBy II%<)%bDMVDM0y}f'<%A=ٔQ->9Y=FyȱE>Q 55?Q 959 iIE EE$E"E:*E.:VE4ZEa@a@a@a@)DBYy ?Q I@tDI=i=5yɮ4#A UDNOT Ignoring new targets: 19.68 m.hQhQ*hQ"hQ hYgYfYfYfYdadajdaiZd`6"@ZZZZ ?',) \i9)siiE1IMP=IIII9@ @@/@ԙ ^A I I O >d,\?A2%~@2x@25ٱ2l?a :AHRS rotation from veh to nav: [[0.800000,0.599514,0.024145],[-0.599898,0.798475,0.050596],[0.011054,-0.054961,0.998427]]2H@?7/?i?\2??@e?#?i2%~@I26L];0YBӀByBsIPiMMb@Mb@Mb@IIII I9MV-?y&1|YM̽yMm=M`II MA)MXAIYIbDeVDe:2yu%uK=ٔ}mQ-}>9yYy=FyފE>Q 55,?Q 95 )BBY0=Q E;y?Q I@vDIC ;iz ;b5yɮ#ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfff*BddjdZdw#@Z0=Z0=Zl'@Z?5) .i9)!%<˳!i!i-1)-*=I1I9 @  @ @ 0@ AIAM@ABU>BUэCBUIBUBBQBQBQBU0g;BU'EE EE&E"Ey:*E|;:VE4ZEBEa2EaJE;a:E;a^AI!I9OM>! yd,wv?Aɰ4<6w@6}r@6Ę>ٱ6{a >AHRS rotation from veh to nav: [[0.799521,0.600168,0.023775],[-0.600526,0.797978,0.050993],[0.011633,-0.055047,0.998416]]6H ?4?aX?`7 ?`?@҇? ,/ ?i6w@I6?];6CYJǀByJdIbDRVDRyZT%ZW=ٔZ3ȺQ-^>9\Y\=^Fy`bEb>dQ 5j5f?Q 9j5f)f@BYhyj?Q In@fwDIf:ify:f 5yrFBɮr#Ap|DNOT Ignoring new targets: 19.68 m.hh*h"h hgf!f!f!d!d)jd)Zd-8:$@ZZZZu?Ę>)! %jFi%9)!%Q!i!i-1)- l|=I1IQ9@ @@0@)a^A1IiIO>E EE$E"E7:*E0:VE4ZEa@a@a@a@ԁ #d,hY?A2q@2hl@2JHٱ2'a :AHRS rotation from veh to nav: [[0.799069,0.600789,0.023275],[-0.601115,0.797518,0.051243],[0.012225,-0.054938,0.998415]]2H?9?@H՗?V<C?9AYA=EFyAMEM>QYQ 5]5UV?Q 9e5U!)U?BYe=Q EeBM >BM ҍCBM xIBM ׀BBI BI BI BM f;BM 'E E  E E %E "E I:*E n:VE 4ZE BE 9Y=FyE>Q 55?Q 95)>BYyC@Q I@zDI:i:5yɮD$A DNOT Ignoring new targets: 19.68 m.h h *h "h  h g f ffddjdZd`a%@Z9Z9Z9Z=C@MO)Q UiU9)QUodQiQi]1aex=IaIaq@ @@4@^A] z=Ia Iq O >1 e0d,t Đ?A2yf@2Ka@2Zٱ2` :AHRS rotation from veh to nav: [[0.798242,0.601920,0.022425],[-0.602190,0.796671,0.051787],[0.013306,-0.054843,0.998406]]2H 2?`B??$E`T~?@σ? -@?X?i2yf@I2҃];2CYB€ByB_IHJ@AbDVVDVܲyfY<%fp=ٔfQ-f?9hYh=jFyhj-En?pQ 5v5r?Q 9v5r^)pYtyv4@Q Iv@r{DIr :ir[:rX5y|ɮ~$AE EE&E"E:*E*5:VE4ZEa@a@a@a@DNOT Ignoring new targets: 19.68 m.hh*h"h h g)f1f1f1d1d9jd9Zd=`\&@ZyZyZyZ}4@Z) \i9)页{ii1ku=IIA@ @@4@G "9Y]Ai^AM (z=IQ Ii Ou >ԙ #7d,ݐ?A2r_@2DZ@2ӱbٱ2Ya :AHRS rotation from veh to nav: [[0.797719,0.602623,0.022133],[-0.602871,0.796130,0.052200],[0.013836,-0.054984,0.998391]]2H?@H?`?`Jy?﹪? U?@&`?i2r_@I2o];2CY@yDi Mb@Mb@Mb@     9 333333L7A`?Mb?Y y += <  A rA )  Y AbD%VD%Jٔ=Q-=>99Y9==FyAEOEE>IQ 5U5MS?Q 9U5M)M?BY]=Q E]! J=d,?A2<[@2V@2Viٱ2a :AHRS rotation from veh to nav: [[0.797404,0.603051,0.021803],[-0.603277,0.795809,0.052388],[0.014241,-0.054928,0.998389]]2H`V?2L?S? NDw?Ҫ?*? ?i2<[@I2c];2CY^ɀBy^gIbDfVDf:2yn<%r<ٔrwQ-r>9tYt=vFytvEv>xQ 5~5z?Q 95z)z@BYy@Q I@z}DIz;iz;z5y ɮ #A=DNOT Ignoring new targets: 19.68 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdMF(@ZiZiZiZmQ@Vi) (*i9)額lii1G%q=III)gA@ @@/@@@gA^Ao=IQIyO>i9I9E EE$E"EƱ:*E=:VE4ZEa@a@a@a@I u2Dd,?A YvπByvoIimMb@Mb@Mb@iiii i9mMbX9l? rh?Ymʡym=mC9Y=FyE>Q 55?Q 95)CBY=Q E B >B B SIB BB $ =B B B Uf;B X'EBBBB$ =B$ =CP4E  E E 'E "E :*E *5:VE '4ZE BE l;a 2E m;a JE ;a :E ;a \Jd,Gv+?APfkP@f=K@fxٱf)` %AHRS rotation from veh to nav: [[0.796596,0.604143,0.021105],[-0.604321,0.794983,0.052900],[0.015181,-0.054894,0.998377]]fH`}?@$U??`Vp?? %?@?ifkP@If]];fCYèByekI qqbDVDy5TY%53=ٔ=Q-=>99Y9=EFyAE=EE>iQ 5u5m?Q 9}5m)mFBYyy}@Q I}@mDIm:im:m5yɮ#ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdIZdM*@ZZZZ/@x) >i9)顽ᴉii14l=II@ @@@) ^A np=I I O >uDQd,PE?A2,N@2H@2~ٱ2` :AHRS rotation from veh to nav: [[0.796426,0.604378,0.020788],[-0.604536,0.794810,0.053042],[0.015535,-0.054811,0.998376]]2HR|?`W?@jI?`\Xo?@\(?Џ?9?i2,N@I2];2CYZՀByZuIbD`VD`yjN=%j{=ٔjqQ-n?9lYl=rFypv[Ez?Q 55?Q 95W)HBYy@Q I%@DI] ;iX ;25y)ɮ-#A)UDNOT Ignoring new targets: 19.68 m.hQhQ*hY"ha hagifqfyfddjdZd=*@bE-4jE™4rE®1/E EE&E"Eg:*EF:VE4ZEa@a@a@a@ZZZZL@u~) -i9)顕ii1<l=II)%9@! @!@%?0@!Q^AM fm=IQ Iq O} >ԁ nWd, ,_?A23O@2J@23ٱ2!r` :AHRS rotation from veh to nav: [[0.796501,0.604282,0.020702],[-0.604436,0.794886,0.053043],[0.015597,-0.054762,0.998378]]2H|? HV?3?Wo?`z(?Q? ?i23O@I2S];2CYBByBIYiMb@Mb@Mb@ 9bX9ȶ ףp= ?/$?YEyQ8=<O AA A)YbDVDyJ=%;=ٔQ->9Y=Fy9E>Q 55P?Q 95N)LBY=Q EB֍CBYIBBB =BDDBgDBCf;Bf'Eԡ@ @@4@E EE#E"E%:*E|;:VE3ZEBE;a2E;aJE;a:E;aԱ^A`k=II O > ʘ]d,}y?AY~By~II4=)=bDVD1y%U=%%W=ٔ-Q-->9)Y)=-Fy)5E5>9Q 5E5=?Q 9E5=f)=OBYAyAQ IM@=DI=:i=:=5yQɮU"AQԹDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd\,@ZZZZ1)1 5#i5 9)9=9i9iE1AAIAII9@ @@3@^Am=IAIayDDE EE(E"E*E?:VEc44ZEa@a@a@a@O>9 dd,?A69R@6 M@6Qkٱ6 ` BAHRS rotation from veh to nav: [[0.796724,0.603991,0.020629],[-0.604142,0.795115,0.052966],[0.015589,-0.054662,0.998383]]6H~?`S??@!U q?@d?`? @?i69R@I6cT];6CYJByJIiMb@Mb@Mb@ 9X9vp= ף?S㥛?Yy=/< A A)Y(AbD5VD5yED=%EH=ٔM7Q-M>9IYI=MFyQUm:EU>YQ 5e5] ?Q 9e5])]TBYm >Q Em;ym?Q Im@]DI].:i]z:]5yqɮuw"AqDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffcBddjdZd@h&-@Z >Z >Z)@Z?Qk)  Wi79)顭ii1 n=II9@ @@/@@@A^Auh=qIIO>B I>B ٍCB lIB ̀BB  =B B iDB f;B 'EE  E E &E "E g:*E 0:VE 4ZE BE ;a 2E ;a JE ܉;a :E ܉;a Թ jd,ì?Aɰ;fHU@fP@f~ٱf_ AHRS rotation from veh to nav: [[0.796951,0.603693,0.020600],[-0.603845,0.795349,0.052828],[0.015508,-0.054540,0.998391]]fH?sQ? ?Rs?@ ?`?쫿?ifHU@If66];fCY%By%IbD5VD5 83ye=%eH=ٔeO9Q-m>9iYi=mFyiuo:Eu>Q 55?Q 95)YBYy)?Q I@DI|;i};U 5yɮ7"ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd%-@ZaZaZaZe.)?q~) Gib9)顝+ii1L?o=IIE9@A @I@M/@Iԙ^Amm=IyIO qd,ݘƑ?A2qZ@2CU@2~xٱ2b_ :AHRS rotation from veh to nav: [[0.797336,0.603175,0.020893],[-0.603346,0.795739,0.052659],[0.015137,-0.054592,0.998394]]2HŃ?4M?d? N v? ? B??i2qZ@I2*];2CYF ByFI HHbDNVDNP)yVq=%VW=ٔZ:Q-Z>9XYX=ZFy\^:E^>`Q 5f5b_?Q 9f5bw)b]BYhyjQ wd,R?AR`@R[@R.sٱR\Q_ bAHRS rotation from veh to nav: [[0.797808,0.602546,0.021024],[-0.602729,0.796222,0.052414],[0.014842,-0.054488,0.998404]]RH? H? G?`I z? ֪? e?嫿@?iR`@IR9];RCY%By%IiMb@Mb@Mb@ 9jtĿ ףp= ?:v?Y yQ=<O AA XA)YbDVDky+=%8=ٔ.:Q->9Y=Fy:E>Q 55롊?Q 95)aBY6;>Q E;y?Q I@DI ;i ; 5yɮ|!A 5DNOT Ignoring new targets: 19.68 m.h1h1*h1"h1 h1g9f9f9f=BdAdAjdAZdE /@Ze6;>Ze6;>Ze'@Ze`?.s)  Wi9)Cii1)B1A1B=M>B9B=IB=BB9B9B9B=f;B='Eam_t=IiIiIy)y9@ @@/@@ =@ =Ee EeEe&Ea"Eeغ:*Ee;J:VEe4ZEaBEeԁ }d,N?A0:i@:{d@:jٱ:)_ BAHRS rotation from veh to nav: [[0.798465,0.601664,0.021330],[-0.601871,0.796894,0.052068],[0.014329,-0.054412,0.998416]]:H?@?ו?B'??X?@۫?i:i@I:)];8Y^BybIbDjVDj1yr<%r\=ٔr:Q-r>9tYt=vFytzs>;Ez>xQ 55z顊?Q 95z)zeBYy#?Q I@zDIz;iz;z5yɮT!ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd@10@Z)Z)Z)Z-0#?]j)Y ]Lie"9)aePaiaim1imw=IiIqԑ)@) @)@-00@)Թ^Auur=E EE"E"E;*EC:VE(3ZEa@a@a@a@II O- > j> ;C5 ߀GI a Q&9 Y ?Aۄd,`?APYByII <) iMb@Mb@Mb@ 9ktƿ)\(?{Gz?Y 0yG=ף< AA A)nAYQAbDVD1yh!<%;=ٔQ->9Y=FyE>Q 55桊?Q 95)gBYR>Q E;y0?Q I@DI*:i:s5yɮB!A-DNOT Ignoring new targets: 19.68 m.h)h)*h)"h) h)g1f1f1f5Bd9dAjdAZdE0@ZeR>ZeR>Ze$@Ze0?q)y }Hai}9)y}^ii1S=w=II9@ @@2@^AHu=I!I1OE>B N>B ڍCB IB BB B B B f;B 'E) Em  Em Em &Ei "Em y:*Em 0:VEm 4ZEi BEm 9aYa=eFyae_;Em>iQ 5u5m䡊?Q 9}5m)miBYyy}}?Q I}@mDImU;im@;m"5yɮ!ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd`r1@ZZZZ}?]GX)Y ]Qi]9)aekaiaim1im'=IiIa>i!>-9@) @)@-4@)@1@1Qq^AU| u=IaIqO}>ԡ d,G?A2i@2:@2fNٱ2^ :AHRS rotation from veh to nav: [[0.800737,0.598594,0.022507],[-0.598884,0.799204,0.051095],[0.012597,-0.054393,0.998440]]2H@?'?2 ?@* ?()?̉?l٫8?i2i@I2];2CYF$ByFI HJbDNVDNyV ];%VV=ٔZ:Q-Z>9XYX=^Fy\ Lk;E>Q 5%5?⡊?Q 9%5)lBY!y%?Q I%@DI;i;5y)ɮ5 A1]DNOT Ignoring new targets: 19.68 m.hYhY*hY"ha hagafafafididijdiZdm d1@yZZZZ?fN) xPi9)yii1#=IIEM EMEM$EI"EM:*EMVL:VEM4ZEIa@a@a@a@Y@Y @Y@e/@aԡ^A|=IIO> d,a?AB\@B-@BeBٱBH^ JAHRS rotation from veh to nav: [[0.801616,0.597397,0.022986],[-0.597721,0.800101,0.050678],[0.011884,-0.054363,0.998451]]BH צ? ??` `m? y? V?@իN?iB\@IB];@YR&ByRIi-Mb@Mb@Mb@)))) )9-Zd;Oǿx&?:v?Y-j-T<-bA-A -A)- A)Y-p AbDEVDEy<%@=ٔ#:Q->9Y=FyY;E>Q 55ߡ?Q 95G)mBYwi>Q Eh;yT?Q I@DI/;i.;5y0BɮU A]EDNOT Ignoring new targets: 19.68 m.hh*h"h hgf!f!f%Bd!d)jd)Zd-1@ZMwi>ZMwi>ZM @ZMT?eeB)a e{ie9)aeiiiiu1qu=IqIqAA@ABP>BBIBBB =BBjDBf;B'EBٍCBٍCB”CB =B =CK6@ @ @ /@ EM EMEM)EI"EM:*EMa9:VEMFA4ZEIBEMcY $5d,F{?A:d@:5@:p6ٱ: _ BAHRS rotation from veh to nav: [[0.802500,0.596187,0.023547],[-0.596548,0.800999,0.050314],[0.011135,-0.054424,0.998456]]:H??? ȡ? ©?͆?zݫY?i:d@I:ܶ];8YNByNIbDVVDVFy^N*%bU=ٔb;Q-b>9dYd=fFydfx;Ej>hQ 5n5jݡ?Q 9r5j&)hYpyr?Q Ir@jDIj;ij;jW5ytɮv AxDNOT Ignoring new targets: 19.68 m.hh*h"h h!g!f!f!f!d)d)jd)Zd-12@ZIZIZIZMЄ?p6) i9)額ii19e=IiIm9@i @i@m/@i@u=@u>aiIbEǞ4jE4rEz:0Em EmEm&Ei"Em:*EmR:VEm4ZEia@a@a@a@^A6=ԱII O% >Թ d,Gr?A2ꬭ@2@2p*ٱ2^ :AHRS rotation from veh to nav: [[0.803417,0.594931,0.024024],[-0.595325,0.801934,0.049903],[0.010424,-0.054395,0.998465]]2H`? ??@ p??X?٫m?i2ꬭ@I2 ^;0YByIԑi Mb@Mb@Mb@     9 I +ƿn?MbP?Y 94y V> : xA  jA)  A Y  A!%AAbD%VD%Ny=ڼ%E(=ٔE:Q-E>9IYI=MFyIUN;EU>QQ 5]5UNۡ?Q 9e5Ub)UkBYee>Q Eel;ye?Q Ie@UDIU:iU#:Uw5yqɮu AqDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffBd)d)jd)Zd- >2@Zme>Zme>ZmG@Zm?p*) i9)顭xii1v=II]9@Y @Y@]/@aBR>BBIBBB =BBB&g;B'E^A [=I I O >Em  Em Ei Ei "Em Ʊ:*Em 4:VEi ZEi BEm <;a} 2Em =;a} JEm HI .d,,(ɒ?A2í@2@2ٱ2A_ >AHRS rotation from veh to nav: [[0.805096,0.592620,0.024958],[-0.593074,0.803638,0.049280],[0.009147,-0.054477,0.998473]]2HX??@x?@w g?;;?껂?b䫿}?i2í@I2)^;0YByIbD-VD-1y} %}I=ٔ}M;Q->9Y=Fy;E>Q 55ס?Q 95)hBYyU?Q I@DIWH;iI;5yɮ!ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfff d d jd Zd No3@E E}E'E"E:*Em0;VE'4ZEa-@a-@a-@a-@ZQZQZQZUU?) :i9)顭ѭii1Qaek=IiI9@ @@@y^A Ա I I O >Yd,?Aɰ2~ͭ@2Oȴ@2 t ٱ2_ :AHRS rotation from veh to nav: [[0.805793,0.591651,0.025441],[-0.592136,0.804343,0.049076],[0.008572,-0.054610,0.998471]]2H ? ?9 ?,? z ?s? y?i2~ͭ@I2:,^;0XY]By]IiMb@Mb@Mb@ 9Zd;OǿV-?~jthYjD|AA  A) AY A p<bDVD y C8% A=ٔ l:Q->9Ya=eFyim0;Em>Bu<AqB}S>ByByByB} =ByByB}g;B}(EQ 555ա?Q 95)eBYn>Q Ed;y?Q I@DI:i :5y.BɮG!ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffBddjdZd@3@Zn>Zn>Z&@Z?% t )! %i%9))-!)i)i5115=I1I9E= E=`E=%E9"E=:*E='!;VE= 4ZE9BE=;aM2E=;aMJE=y9XY\=^Fy\^bG;E^>`Q 5f5bTӡ?Q 9f5b)bcBYhyj$?Q Ij@bDIbY;ib;b) 5ylɮn!Apx DNOT Ignoring new targets: 19.68 m.h h *h"h hgfffddjd!Zd%64@ZZZZ$?5)1 5i=9)9=µ9i9im1quĪ=IqIy!9@ @@4@IEM EMEM&EI"EM:*EMA:VEM4ZEIam@am@am@am@^AII O >y gld,b?A2 ۭ@2մ@2-ٱ2Y` :AHRS rotation from veh to nav: [[0.806776,0.590284,0.026043],[-0.590806,0.805337,0.048784],[0.007823,-0.054744,0.998470]]2H`??? S?:? ?`kw?i2 ۭ@I2^;2CYBByFIi Mb@Mb@Mb@     9 oʡſS㥛?y&1|Y -y $> `   A)  A Y  AbD-VD-N2y=%=B=ٔEZ:Q-E>9AYA=EFyAM2:EM>QYQ 5]5U9ѡ?Q 9e5UA)U`BYe[>Q Eex;ye ?Q Ie@UDIU5;iU4;U"5yqɮu"AqDNOT Ignoring new targets: 19.68 m.hh*h"h hg!f!f!f%Bd)d)jd)Zd-4@Z[>Z[>Z4@Z ?-) ףi9)顭V͵ii1|=IIԁ@ @@/@ԱBBBIB BB =BBBh;B\(E^A% W=I1 II OU > EE  EE EE %EA "EE :*EE a9:VEE 4ZEA BEE 19xYx=zFyx~M;E~>Q 5 5Aϡ?Q 9 5")]BY y *?Q I@DIW:i:#5y,Bɮ"A\EEDNOT Ignoring new targets: 19.68 m.hIhI*hI"hI hIgIfIfQfQdQdQjdYZd]"5@ZyZyZyZ}R*?) i^9)顝ii1=IIԹ9@ @@/@^A5v=IAIYOuy>9 |d,oJ?A2@2T@2Hٱ2B` :AHRS rotation from veh to nav: [[0.807750,0.588935,0.026379],[-0.589481,0.806329,0.048427],[0.007251,-0.054667,0.998478]]2H?`?? @s?o˨?}? E?i2@I2];2CYBЀByFoIIJ<)JC=bDNVDNNyVp%VN=ٔZ :Q-Z>9XYX=ZFyX^:E^>Q 5%56͡?Q 9%5)YBY!y-B?Q I-@DIt:i:%5y1ɮ5"A1]DNOT Ignoring new targets: 19.68 m.haha*ha"ha hagafafifididijdqZduFo5@iyIyZZZZtB?H) Cic9)顽ijii1a:=IIE EE(E"E:*E,:VEc44ZEa @a @a @a @'GA/&9Y AE9@ @@/@Ay^AI IQ Ii Ou >ԙ %d,Jd?A2*@2@2`ٱ2` :AHRS rotation from veh to nav: [[0.807797,0.588862,0.026553],[-0.589417,0.806368,0.048559],[0.007183,-0.054877,0.998467]]2H@y??0??ܨ?@ l}?`q?i2*@I2];2CYBByFZIa@a a@a a@a% a%@a% bD-VD-y5{%5B=ٔ='9Q-=>9AYA=EFyAEE9EM>IQ 5U5M'ˡ?Q 9U5M)MVBQ A]+:YYQ E]H;y]E?Q I]@MDIM? ;iMH>M&5yiɮme#AiDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZdw5@`) Ҿi9)Mii10=IIAAB!B!B%IB%BB!qB!B!B%th;B%(Eq@q @q@u0@qE EE&E"Em:*E*5:VE4ZEBET d,='~?Aɰp;2@2@22hٱ2a :AHRS rotation from veh to nav: [[0.808003,0.588577,0.026604],[-0.589135,0.806574,0.048559],[0.007123,-0.054909,0.998466]]2H)? ? =? 1u?ܨ? ,}?n?i2@I2]];2CYFByFTIbDNVDN2yV%VT=ٔVp#9Q-Z>9XYX=ZFyX^nm:E^>`Q 5f5b6ɡ?Q 9f5b)bSBQ Af :YhQ Ej";yjQ?Q Ij@bDIbp3;ibL?b(5ytɮv#AxDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd/B6@]2h)Y ]׾i]9)ae򝴉aiaim1im ؕ=IiIq)@) @)@-0@)^A̓=E- E-E-'E)"E-:*E-]t:VE-'4ZE)a5@a5@a5@a5@IAIQO]>) Q md, ?A2@2@2ٱ2` :AHRS rotation from veh to nav: [[0.807935,0.588676,0.026514],[-0.589228,0.806504,0.048605],[0.007229,-0.054892,0.998466]]2H? n?d&??@?)}?@`o?i2@I2ph];2CY^By^<I ```bAaEaE aEaM aMaM aMaM iMMb@Mb@Mb@IIII I9MK7Akt?~jtxYM yM =MĻIM+A M A)M AIYM= AbDVDyg%8=ٔzQ->9Y=Fy߈E>Q 55Cǡ?Q 95)PBQ AT:Y.>Q E;y?Q I@DI;i;)5y ɮ+$A=DNOT Ignoring new targets: 19.68 m.h9h9*h9"h9 h9gAfAfAfETBdIdIjdIZdU@6@Zu.>Zu.>Zu"@Zuݎ?) i9)額ʴii1=II) @  @ @ 0@ Y^AIҔ=IBT>BBlIB̀BB =BBBh;B(EBڍCBڍCBǓCB =B =C5I1O=>ԁ E!  E% E% %E! "E! *E% ,:VE% 4ZE! BE% c9xYx=zFy|~8E~>Q 5 5š?Q 9 5)NBYy?Q I@DI:i:+5yɮ$A!MDNOT Ignoring new targets: 19.68 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]J 7@ZyZyZyZ}:? ) xi 9)顝ii1=III)fAԉ@ @@4@Թ^A=IIO> d,k˓?A\Y~By~I  bDVD02y%W%%G=ٔ%Q-%>9)Y)=-Fy)5E5>1Q 5E55á?Q 9E55)5LBYAyAQ IE@5DI5;i5;5k-5yQɮU$AQDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZdu7@ZZZZ) Ǿi9)lbEajEe24rEe(/E EE'E"E:*E3:VE'4ZEa@a@a@a@ii1II9@ @@d3@!^A̓=IIO>A Id,?AYBy IiMb@Mb@Mb@ 9zGếMb?MbPY ׽y=fAA A) AY AbD VD2BABQ>BB@IBBB =BBBi;B(Ey%?=ٔQ->9Y=FyE>Q 55¡?Q 95)KBY=Q E;y?Q I@DI ;i3:J/5y ɮ ,%A =DNOT Ignoring new targets: 19.68 m.h9h9*h9"h9 h9g9fAfAfE BdAdIjdIZdM7@Zm=Zm=Zm^&@Zm?) i9)顅d)ii1 III@ @@/@E EE%E"Em:*EV:VE 4ZEBETԡ d, t?AR@R޴@R|;ٱRa bAHRS rotation from veh to nav: [[0.807398,0.589436,0.025979],[-0.589952,0.805931,0.049317],[0.008132,-0.055145,0.998445]]RH`3??D?/?`@?c?;C?iR@IR.];RCYr~Byr IbDVDNyX,%%W=ٔ%Q-%>9)Y)=-Fy)-@!E->1Q 5=55?Q 9E55)5JBYAyEf?Q IE@5DI5:i5:505yMBɮU$AUSEyDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZdU@pD8@ZyZyZyZ}f?|;) ɡi+9)顝=ii1gғ=IIp>i>e9@a @i@i@i@q@uhA)iqIqE EE&E"E,:*E?:VE4ZEa@a @a @a @Q^A=I I9 O] >y e,9yYy=}Fyy E>Q 55ᄀ?Q 95)Y=Q E;y@Q I@DI ;i ;25yɮ5%ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffBddjdZdf8@Z=Z=Ztc+@Z@ ) i9)Ri!i%1)-G=I)I)Q@ @@/@ԁBL>BٍCBIBBB =BBiDBi;B(EԱ^Ai=IIO>E  E |E (E "E :*E P$:VE c44ZE BE 9XYX=ZFy\^!Eb>`Q 5f5bg?Q 9j5b)bKBYhyj@Q Ij@bDIb:ib:bj45ypɮr$ApDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd9@ZZZZ@%'-)! %oi-9))-Og)i)i511==I9I9Ա@ @@@^Av=IIO> 9 fe,L?AYrtByrIbDxVDxy ü% D=ٔ Q- >9Y=FyE>!Q 5-5%?Q 9-5%)!Y)y)Q I-@%DI%:i%N:%;65y9ɮE!%AAE E{E%E"E%:*E5":VE 4ZEa@a@a@a@ DNOT Ignoring new targets: 19.68 m.h h *h "h  h g fffddjdZd )9@Z9Z9Z9Z9Q)Q UiU9)Y]|YiYie1aeC=IaIi@ @@$0@9^AIIYIqO}>i cCe,Qf?A :zέ@:Kɴ@:p1(ٱ:a BAHRS rotation from veh to nav: [[0.805851,0.591621,0.024262],[-0.592029,0.804343,0.050337],[0.010266,-0.054928,0.998438]]:H??/ؘ? -? ũ??@3?i:zέ@I:Ĕ];:CYHyHi%Mb@Mb@Mb@!!!! !9%ʡE~jt?I +?Y%y%=%94<%A%+A % A)!!Y%= A11bD=VD=N2ٔM8Q-M>9QYQ=UFyQAYAYBeU>BeڍCBeIBewBBe =BaBejDBeDi;Be(E}0lE}>Q 55X?Q 95)MBYJ=Q E N, e,Թ?ALYwByII%<)%;bD5VD5yer<%e<ٔmQ-m>9iYi=mFyquEu>yQ 55}?Q 95})}OBYyQ I@}DI}:i}:}95yɮ%ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZdK:@ZZZZ)  êi m9)   i i13я=II@ @@4@E EE,E"E*EC:VEg4ZEa@a@a@a@ G^A= !9 Y AIIY O >1 cU&e,?A27ƭ@2@29ٱ2c` :AHRS rotation from veh to nav: [[0.805244,0.592483,0.023358],[-0.592835,0.803720,0.050797],[0.011323,-0.054752,0.998436]]2H??$?@? ?@0?l/?i27ƭ@I2];2CY^Byb I|iMb@Mb@Mb@ 9x&ˡE?y&1?Y7y'=`e<AA A)Yf AbDVD2y"=%F=ٔ'Q->9Y=FyE>Q 55?Q 95))QBYg=Q E&BYB]IB]gBB] =BYBYB]Yi;B](Eq^A =I I1 OE >ԁ E  E E 'E "E :*E .:VE '4ZE BE ;a 2E ;a JE ;a :E ;a ,e,k?Aɰ;Y~By~I p< bDVDy%<%%T=ٔ%Q-%>9)Y)=-Fy)5E5>Y1Q 555 ?Q 955j)5SBYyQ I@5DI55 ~j3e,SΔ?A2­@2弴@2 Hٱ2(` :AHRS rotation from veh to nav: [[0.804936,0.592931,0.022606],[-0.593235,0.803394,0.051289],[0.012249,-0.054695,0.998428]]2H@ ? J?%?@f? B?`8?@?i2­@I2p];2CYBByBI DDbDNVDNyV#<%VR=ٔZQ-Z>9XY\=^Fy\^E^>`Q 5f5b?Q 9f5b)bUBYhyj?Q Ij@bDIb:ib:b?5ylɮn$Ap DNOT Ignoring new targets: 19.68 m.h h *h "h  h g fffddjdZd@|;@i9I9ZIZIZIZM&?] H)Y ]櫾ieH9)aeִaiaim1im@1=IiIqԱE EE%E"El;*EE7:VE 4ZEa-@a-@a-@a-@)@1 @1@5/@1^AiIyIO~> 9 9e,!?A2D@2@2Nٱ2_ :AHRS rotation from veh to nav: [[0.804874,0.593028,0.022278],[-0.593312,0.803326,0.051452],[0.012615,-0.054630,0.998427]]2H ? ?Ж? jٴ?W? $։?`v ?i2D@I2];2CYBByF'IBQ>BٍCBIBmBB =BBiDBhi;B)EBBٍCBB =B =Cr6imMb@Mb@Mb@iiii i9mʡEy&1?/$?Ym-ym`e=m9Y=FyfpE>Q 55?Q 95)YBY7=Q E;y?Q I@DI ;ie ;@5yɮ$ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffXBddjdZd;@Z-7=Z-7=Z-u$@Z-?N) ¾i9)ii1  I I1@ @@/@E- E-E-&E)"E-:*E-rN:VE-4ZE)BE-ԙ oy@e,T?A2@2]@22cTٱ2:` :AHRS rotation from veh to nav: [[0.804818,0.593112,0.022052],[-0.593380,0.803259,0.051721],[0.012963,-0.054711,0.998418]]2H`??ǔ?L?@!{?5?` ?i2@I2];2CYFByFIbDN VDN:2yV%VZ=ٔVrQ-Z>9XYX=ZFyX^uE^>`Q 5f5b?Q 9f5b)b\BYdyf?Q Ij@bDIb :ib[:bB5ylɮnT$AlDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZdN<@ZZZZХ? 2cT)  ɾi 9)2εii=19==I9IAq@ @@@ԡ^A=IbE9jE=$4rE=60E= E=E=(E9"E=:*E= H:VE=c44ZE9aE@aE@aE@aE@IIOU> Fe,?A2@2@2$Yٱ2y6` :AHRS rotation from veh to nav: [[0.804913,0.592992,0.021808],[-0.593245,0.803348,0.051894],[0.013253,-0.054707,0.998415]]2H`? ?T?`?ʑ?e$??i2@I2];2CYBByF.IIJ=)J9AYA=EFyAM9EM>QQ 55U1?Q 95U7)U`BY >Q E;y?Q I@UDIUZ- >Z-]!@Z-?]$Y)a e̾ie9)ae۵aiai1[=II!@! @!@% 0@!BW>BڍCBIBwBB =BBjDB@i;B(E) ^AM =IY Iq O} >ia Ie AEE  EA EE *EA "EE :*EA VEE (N4ZEA BEE 9xYx=zFyx~V:E~>Q 5 5డ?Q 9 5)cBY y ?Q I @DI:ip:F5yɮ#AEDNOT Ignoring new targets: 19.68 m.hAhA*hA"hI hIgIfIfQfQdQdQjdYZd]@=@ZyZyZyZ}c?4 Z) þi9)顕9絉ii1P`=II19@ @@4@Y^Atn=IIO>ԁ ySe,aO?A062˭@6ƴ@6 [ٱ6_ >AHRS rotation from veh to nav: [[0.805584,0.592089,0.021571],[-0.592330,0.804021,0.051919],[0.013397,-0.054602,0.998418]]6HW?`d??^? ?o? ?i62˭@I6p];6CYZBy^FI b;bbDfVDf0yn4F=%nK=ٔrhQ-r>9pYp=vFytv:Ev>xQ 5~5z?Q 9~5z)zfBYy?Q I@zDIz;iz;zG5y Bɮ <#A REEDNOT Ignoring new targets: 19.68 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdUĂ=@ZqZqZqZu? [) i9)顕򵉢ii1M=IIDzDE EE'E"E:*EC:VE'4ZEa @a @a @a @1@1 @1@5p4@1ԉ^AU5=IaIyO~> AYe,Dli?A2{ԭ@2Lϴ@2>EZٱ2o^ :AHRS rotation from veh to nav: [[0.806256,0.591178,0.021457],[-0.591417,0.804704,0.051741],[0.013322,-0.054406,0.998430]]2H`?`??`"?`}?rH?%۫`#?i2{ԭ@I2];2CYFByFJIBRe>BR܍CBRIBRBBR =BPBRlDBRh;BR(E\iMb@Mb@Mb@ 9K7EԸ?Zd;O?YI y=j<AXA  A)& AY\ AbDVD2yD<%==ٔ69Q->9Y=Fy+;E>Q 55?Q 95)jBY->Q E;y?Q I@DIb:;i2I;I5yɮ&#AEDNOT Ignoring new targets: 19.68 m.hAhA*hA"hI hIgYfaffBddjdZd=@Z}->Z}->Z}á!@Z}ª?>EZ) ѾiY9)顭ii1[S=IIE EEE"E*E*5:VEZEBE;a-2E;a-JE;a-:E;a5e9@a @a@e4@a^A Ď=I I O >A `e,FE?A2*ޭ@2ش@2Wٱ2^ :AHRS rotation from veh to nav: [[0.806956,0.590219,0.021520],[-0.590465,0.805409,0.051652],[0.013153,-0.054388,0.998433]]2H@??o ?@@?r? ?ث`*?i2*ޭ@I2|];2CYBByFOIbDNVDNNyVߵ<%V]=ٔVs9Q-Z>9XYX=ZFyX^2R;E^>`Q 5f5b?Q 9f5b?)bmBYdyf?Q Ij@bDIb:ib9:b[K5ylɮn#AlDNOT Ignoring new targets: 19.68 m.hh *h "h  h g f ffddjdZd%`O>@ZZZZ??W) ;iT9)ii1C=II I9)=gA9@ @@/@@=@=Ii9I=AyE EE&E"EƱ:*Ega:VE4ZEa-@a-@a-@a-@^AMH=IYIiO}>Ա 9fe,&?AY|y|yiMb@Mb@Mb@ 9w/ĿQ?9IYI=MFyQUEU>YQ 5e5]?Q 9e5])]oBYeP>Q Em;ym?Q Im@]DI]7:i]:]ZM5yqɮqqDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffBddjdZd>@ZP>ZP>Zor @ZA?) i&9)mii1+=I I ԡ9@ @@@Bh>BݍCB4IBBB =BBBh;B(E^A =I I) O5 > E%  E! E% %E! "E% :*E! VE% 4ZE! BE% ?i2@I2];2CYZǀByZdIbDfVDf:yno'=%n<ٔnz:Q-r>9pYp=rFypv;Ev>xQ 5~5zѧ?Q 9~5z)zqBY|y~ ?Q I@zDIz];izH;zN5y ɮ |"A 5DNOT Ignoring new targets: 19.68 m.h1h1*h9"h9 h9g9f9fAfAdAdAjdIZdM % ?@ZiZiZiZm ?}bCO) |ھi9)顅ii1L=II9@ @@/@^A5v=IAIQOew>1Y te,=Е?A6G@6@6zXHٱ6_fG| %AHRS rotation from veh to nav: [[0.809489,0.586720,0.022073],[-0.587008,0.807958,0.051237],[0.012228,-0.054433,0.998443]]6H`U?`i?W?`? ;?` ?ޫ=?i6G@E 9AYE AI6^;6CYUByUWIbDm VDm:2y}C%}@=ٔ}\:Q->9Y=Fyh;E>Q 55?Q 95)sBYy9?Q I@DI;i;P5yɮ"AE EE&E"E:*EC:VE4ZEa @a @a @a @DNOT Ignoring new targets: 19.68 m.hh*h"h hgfffd!d!jd!Zd%@ʎ?@1ZIZIZIZM9?ezXH)a eie09)aefiiiim1qHa=II%{>i!9@ @@@iԑ^A- =I9 II O] >Թ -ze,y?AB&g>B&܍CB&FIB&BB& =B$B$B&h;B&(EB@B @BB@ٱB^ JAHRS rotation from veh to nav: [[0.810668,0.585080,0.022318],[-0.585388,0.809152,0.050921],[0.011734,-0.054345,0.998453]]BH? ?ږ??`\?,? ӫ@T?iB@IBi^;BCYRByVXIiMb@Mb@Mb@ 9bX9ƿL7A`?~jt?YE6y+>D<AA  A)9 AY A p<bDVD1y>;%A=ٔn:Q-%>9!Y!=%Fy!-;E->1Q 5=55=?Q 9=55)5tBY=Ac>Q E=o;yE3?Q IE@5DI5d;i5;5R5yIɮM"AI}DNOT Ignoring new targets: 19.68 m.hyhy*hy"hy hygyfffBddjdZd?@ԑZAc>ZAc>Zt9 @Z13?B@) fi9)#ii1s˝=IIE EE'E"E[:*E1]:VE'4ZEBE~ e,$?A2C!@2@2 6ٱ2y^ :AHRS rotation from veh to nav: [[0.811785,0.583516,0.022689],[-0.583850,0.810281,0.050629],[0.011158,-0.054347,0.998460]]2H$?`)?;??@?@Bچ?Zӫa?i2C!@I2T^;2CYFByFKIHJAbDNVDNk1yVq%Vd=ٔZ:Q-Z>9\Y\=^Fy\^;Eb>`Q 5f5b6?Q 9f5b)`Yhyjq?Q Ij@bDIb;ib;b/T5ylɮr#Ap DNOT Ignoring new targets: 19.68 m.h h *h "h  h gfffddjdZd`*@@ZAZAZAZETq?U 6)Q U>iU9)Y]*YiYie1aep=IaIi@ @@4@ ^A-D=I9IIO]v>E EEE"Em:*Ei:VEZEa @a @a @a @A ?e,fh?A V.@V)@Vn~0ٱV^ fAHRS rotation from veh to nav: [[0.812753,0.582156,0.022957],[-0.582509,0.811255,0.050495],[0.010772,-0.054412,0.998460]]VH? ?? ? rک??`۫`c?iV.@IVf^;VCYvByzEIiMb@Mb@Mb@ 9NbX9ȿL7A`?Mbp?YEy;5AXA )YQ AbD VD2yڧ%9=ٔd:Q->9Y=FyLu;E>yQ 55}?Q 95})}sBYxo>Q Eb;y?Q I@}DI}:i}:}1V5yɮD#ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffBddjdZd`le@@Zxo>Zxo>Z"@ZN? n~0)  i9)3ii1=II!i@ @@4@BABABELIBEBBE =BABABEih;BE(EB܍CB܍CBƔCB =B =C"k6ԙ^Amܝ=IyIO> E  E E &E "E :*E 1]:VE 4ZE BE ?L\?i2i;@I2<^;2CPYBy,IbDVDy{%;=ٔoo:Q->9Y=Fyf;E>Q 55G?Q 95)rBYy?Q I@DI:i:X5yBɮP#AIEmDNOT Ignoring new targets: 19.68 m.hqhq*hq"hq hqgyfyfyfddjdZd4@@ZZZZ?)) i9);ii1g =II@ @@o1@! ^A `=I I1 O= >Ŕe,.T?AiI^/Y@^T@^_ٱ^Ef_bE}'4jE}'4rE}/En EnEn)El"En:*En]t:VEnFA4ZElar@ar@ar@ar@ vAHRS rotation from veh to nav: [[0.815767,0.577886,0.023935],[-0.578306,0.814295,0.049855],[0.009321,-0.054511,0.998470]]^H? ~?J?`{???諿v?i^/Y@I^w^;\ |)|~~LF|iI`FI i kA  )  kApAI)i)I!!! !!!-i))i)1)1 1I1Y1Y=By=*IIE<)Ep;M=M=bDUVDUyeܻ%eT=ٔm3;Q-m>9iYq=uFyquv<Eu>yQ 55}?Q 95}H)}qBYyb?Q I@}DI}w;i}a;}Y5yɮZ#ADNOT Ignoring new targets: 19.68 m.hh*h"h hgffIfIdIdIjdQZdUv@@ZZZZdb?_) EiB9)Cii1=IIAm9@q @q@}/@yi^AТ=IIO>ԙ BY BY B] FIB] BB]  =BY B] kDB] sh;B] (Ee,;m?A@jPc@j!^@jrٱj!K_ rAHRS rotation from veh to nav: [[0.816483,0.576869,0.024037],[-0.577298,0.815017,0.049737],[0.009102,-0.054486,0.998473]]jH ?`u?` ?9y@?$w?`ݣ?嫿}?ijPc@Ij&^;jCYByIi%Mb@Mb@Mb@!!!! !9%KǿV-?MbY%^:y%=%%A%A %9 A)% A!Y!bDVD0yK%9=ٔ:Q->9Y=Fy7;E>Q 55?Q 95)mBY']>Q Eu;y?Q I@DI:i:[5yɮ#ADNOT Ignoring new targets: 19.68 m.hh*h"h hgff f }Bd d jdZd A@Z5']>Z5']>Z5$@Z5?Er)I MiMQ9)QUKQiYi]1Ye=IaIaPExceeded connect timeout, disconnecting.ԩE EE%E"EO:*EF:VE 4ZEBE  ѡe,Ԟ?A4<ɰ49Y=Fy2;E>Q 55 ?Q 95 )jBYy?Q I@DI:i:@]5yɮ$ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd)4A@ZZZZ?-2)) -%i-79)152S1i1i=19==I9IA9@ @@/@ E EE&E"EI:*EC:VE4ZEa @a @a @a @1^A5ʞ=I9IQO]>i De,z?ABp@Bk@BٱB _ NAHRS rotation from veh to nav: [[0.817428,0.575518,0.024291],[-0.575963,0.815963,0.049709],[0.008788,-0.054624,0.998468]]BH _(?j?ߘ?Jn]?ps??s?iBp@IB];BCYVlByVI XX\^A9i=Mb@Mb@Mb@9999 99='1ZĿbX9ȶ?~jtY="y=E==D=A=AA = A)=9 A9Y= AbDUVDUܲy@ƽ%E=ٔ|9Q->9Y=Fy:E>Q 55I?Q 95@)fBY:>Q E;yU@Q I@DI ;i ;_5y ɮ $A =DNOT Ignoring new targets: 19.68 m.h9h9*h9"h9 h9g9fAfAfElBdAdIjdIZdM@GiA@Zm:>Zm:>Zm'g(@ZmU@) i9)顅f[ii1~=IIԙBBB-IBBBBBlDB}h;B(Ee9@a @a@a@iԱ nManaging dock network, ignoring radio surface power off^A I I O >E  E E *E "E 7:*E ,:VE (N4ZE BE ;a 2E ;a JE 8;a :E 8;a *e,h?AYbByIbD%VD%ky5T%5U=ٔ=Q-=>99YA=EFyAEEE>IQ 5U5M?Q 9U5M)McBYYyYQ I]@MDIM;iM;M`5yeBɮe$AeHEԱDNOT Ignoring new targets: 19.68 m.hh*h"h hgfIfQfQdYdYjdaZde`A@ZZZZ) i*9)cii1  =W=I I N>i!>@ @@)0@ ^A 벫=I I! O- >1 e,BՖ?A:u@:Vp@:ٱ:~k` BAHRS rotation from veh to nav: [[0.817765,0.575041,0.024246],[-0.575483,0.816290,0.049901],[0.008904,-0.054760,0.998460]]:H "+? f?@Ә? [j ?ঌ?#9AYA=EFyAMC:EM>QQ 5]5U?Q 9]5Uۣ)U_BYYy]_@Q I]@UDIU:iU:Ub5yiɮm%AiDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd*A@ZZZZr_@) Ci9)lii1Tl=IIAJ9@ @@/@iB% l>B% ݍCB% IB% wBB%  =B! B! B% h;B% (E^A ԙ I I O >9e,?A2s@2n@2ٱ2]i` :AHRS rotation from veh to nav: [[0.817655,0.575203,0.024112],[-0.575637,0.816176,0.049995],[0.009078,-0.054758,0.998458]]2H;*?h?෰?k?`??`H _?i2s@I2G];2CYFJByFIi Mb@Mb@Mb@     9 S㥛x&?~jtY $y 7=  A XA  A)  Y ( AbDeVDe:yu%}G=ٔ}.޹Q-}>9Y=FySE>Q 55?Q 95u)[BY+>Q E;y@Q I@DI$;i#;Md5yɮ%ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfff6BddjdZd B@Z +>Z +>Z *@Z @)! %i%9)!%&t!i!i-1)5u=I1I1qM\9E EE(E"EƱ:*Ea9:VEc44ZEBE<;a2E>;aJE$;a:E$;a%9@! @!@%4@!ԡ^AA IQ Ii Ou > ^e, ?A2n@2i@2ٱ2HFa :AHRS rotation from veh to nav: [[0.817285,0.575732,0.024024],[-0.576157,0.815788,0.050322],[0.009373,-0.054969,0.998444]]2H@3'?`fl?? o ?é?d2?$A?i2n@I2)/];2CY^=BybIbDjVDjyr %rU=ٔr~IQ-r>9tYt=vFytzٺEz>xQ 55zk?Q 95z&)zXBYy@Q I@zDIzn;izY;ze5yɮ &A=DNOT Ignoring new targets: 19.68 m.h9h9*h9"hA hAgAfAfIfIdIdIjdIZdU4B@ZqZqZqZub@E)A EiE~9)AE |IiIiM1QUį=IqIq }fA}fAMM9Y YYG@  @ @ 3@ @@gA1e19aYe!AiaIaE EE&E"E:*Ek:VE4ZEa@a@a@a@^A I ) I) O= >Q nKe,O"?A:fi@:7d@:ٱ:Oa BAHRS rotation from veh to nav: [[0.816906,0.576281,0.023751],[-0.576688,0.815400,0.050533],[0.009755,-0.054977,0.998440]]:H$?p?@ R?9t?`sߩ?M?@&`8?i:fi@I:\J];:CY^2By^IiEMb@Mb@Mb@AAAA A9E ףp= kt?MbYEQyE 0=EE5AA E9 A)E AAYEQ A U49qYq=uFyq}VʺE}>Q 55?Q 950)VBY=Q Eoe,;=?ABa@B\@B5(ٱB"ha ZAHRS rotation from veh to nav: [[0.816364,0.577064,0.023394],[-0.577447,0.814845,0.050825],[0.010267,-0.055000,0.998434]]BH?Ow?@?qz`5??? (*?iBa@IB F];BCYjByjI ppbD~VD~y%K=ٔQ->9!Y!=%Fy!5E5>9Q 5E5=?Q 9M5=D)=SBYQyUe@Q IU@=DI=z;i=g;=i5yaɮm1'AiDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZdXB@ZZZZe@e5()i mim9)imiiqiu1q}Y=IyIyA@ @@/@i^AIIO>ԙ ze,"V?AE2 E2E2'E0"E2Ʊ:*E2?:VE2'4ZE0a6@a:@a:@a:@@YByIbDVD:yEl;%EH=ٔMQ-M>9IYQ=UFyQUEU>YQ 5e5]V?Q 9e5]W)]QBYiyiQ Im@]DI]:i]:]^k5yqɮu)'AyDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZdB@ZZZZ) }i9)ii1R=IIm9@q @y@}0@Ա^AIIO> Ai Am AAB u>B ލCB IB BB  =B B mDB i;B 2)EBMݍCBMݍCBIBIBICMʜ?6Ǥe,Ip?A2JR@2M@2N8ٱ2B#` :AHRS rotation from veh to nav: [[0.815264,0.578652,0.022511],[-0.578981,0.813739,0.051096],[0.011249,-0.054690,0.998440]]2H?Q?  ?`% ?K)? ?_`8?i2JR@I2Ѧ];2CYBByFIliMb@Mb@Mb@ 9V-S㥛?Mb`?Yhy/<; ) AY AbDuVDuJy%G=ٔQ->9Y=FyaE>Q 55?Q 95)Y=Q E.a e,W?A2J@2kE@2oK?ٱ2'/_ :AHRS rotation from veh to nav: [[0.814716,0.579440,0.022077],[-0.579743,0.813194,0.051133],[0.011675,-0.054458,0.998448]]2H '?Ŋ?@]?@?.?@J?᫿H?i2J@I2˟];0YBByFIbDNVDNyVa%VY=ٔVjQ-Z>9XYX=ZFyX^I#E^>`Q 5f5b~?Q 9f5b)`Ydyf+ @Q If@bDIb :ib:bn5ylɮn'AlDNOT Ignoring new targets: 19.68 m.hh *h "h  h g f ffddjdZd@6C@9ZAZAZAZE_+ @UoK?)Q UiUs9)Y]Q´YiYie1aeul=IaIim9@i @q@u1@qibE!4jE^+4rEƇ0E EE'E"E:*EF:VE'4ZEa@a@a@a@ԑ^A\=II O> e,r?A6aD@62?@63Bٱ6] >AHRS rotation from veh to nav: [[0.814273,0.580074,0.021765],[-0.580360,0.812761,0.051006],[0.011897,-0.054164,0.998461]]6H??I?O#?e?`]? id?i6aD@I6x];6CYJByJIiMb@Mb@Mb@ 99IYI=MFyIMDEU>QQ 5e5U|?Q 9m5U^)UTBYm=Q Em-i5>@ @@f3@B%>B%CB%~IB% BB% =B!B%oDB%i;B%6)E^A ܪ=I! I1 OE >E  E E &E "E :*E VE 4ZE BE <99Y9==FyAE~$EE>IQ 5U5MS{?Q 9U5M)MVBYQy]@Q I]@MDIM;iMj;Mlr5yaɮe&AaDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd~C@ZZZZq@-D) ;ic9)Jii1҃=II9@ @@4@^AIIO>Iq e, Cؗ?AE& E&E&+E$"E&:*E&S:VE& [4ZE$a*@a*@a*@a*@>9@>4@>@ٱ><^ FAHRS rotation from veh to nav: [[0.813528,0.581108,0.022023],[-0.581407,0.812013,0.051002],[0.011754,-0.054296,0.998456]]>Hl?p?D?`??@? ̫`Y?i>9@I>{];>CYR&ByRIbDZ VDZ2yb;%bR=ٔf:Q-f>9dYh=jFyhj7Ej>lQ 5r5ny?Q 9r5n)nYBYtyv@Q Iv@nDIn:in6:nt5yxɮz&Ax%DNOT Ignoring new targets: 19.68 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd5`GC@ZZZZ@@)  i s9)  = i Qi]1Y]E=IYIa 9@  @ @ /@ ԁ^AMh=IYIiO}>ԩB A B= >B= CB= IB= BB= =B= CDB9 B= ;i;B= )E se,-_?A28@22@2[H:ٱ2S^ :AHRS rotation from veh to nav: [[0.813401,0.581273,0.022397],[-0.581593,0.811890,0.050843],[0.011370,-0.054382,0.998456]]2H`? ə?O?h??H?׫Y?i28@I2ˑ];2CY^*BybIiEMb@Mb@Mb@AAAA A9ET㥛 +?~jt?YEyE=E=ٔuk:Q-u>9qYq=FyE>Q 55x?Q 95P)\BY=Q E -;aU@ @@@^AT=IIO> f, ?A:9@:4@:0ٱ:^ FAHRS rotation from veh to nav: [[0.813527,0.581075,0.022903],[-0.581427,0.812030,0.050496],[0.010744,-0.054397,0.998462]]:Hj?+?t? %?ک?@?`٫e?i:9@I:];8YN.ByNITTbDZVDZy^<%bX=ٔb:Q-b>9dYd=fFydf:Ef>hQ 5n5jw?Q 9r5j)j_BYpyr|?Q Ir@jDIj;ij;jw5ytɮv&AxDNOT Ignoring new targets: 19.68 m.hh*h"h hg!f!f!f!d)d)jd)Zd-`9D@ZIZIZIZM|?e0)a eie|9)im{iiiiu1quW=IqIy1@1 @1@5/@1AEe EeEe)Ea"Ee,:*Ee=:VEeFA4ZEaam@am@am@am@^AUO=IaIqO}{>i o f,F%?A 6=@68@6p"ٱ6e^ >AHRS rotation from veh to nav: [[0.813831,0.580625,0.023536],[-0.581017,0.812354,0.050004],[0.009914,-0.054369,0.998472]]6H ?{?@? ?@!?M?N֫z?i6=@I6];4YJ=ٔg:Q->9Y=Fyߛ:E>Q 55v?Q 95c)eBYt>Q E;y?Q I@ DI:iU:y5yɮ$&ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffLBddjdZdpD@Zt>Zt>Z(@Z?-p")) -i5Z9)151i1i=19=H=I9IAq9@ @@@Bm>BiBmIBmBBm =BmDDBiBm"i;Bm)Eԙ^A5@=IAIQOe>Eu  Eu Eu $Eq "Eu :*Eu VL:VEu 4ZEq BEu <%bX=ٔb1;Q-b>9dYd=fFydf5;Ej>hQ 5n5jrt?Q 9r5jF)jjBYpyr?Q Ir@j DIj@;ijL;j-{5ytɮz%AxDNOT Ignoring new targets: 19.68 m.hh*h"h h!g!f!f!f)d)d)jd)Zd- D@Z Z Z Z {?=٘)9 =?i=/9)AEAiAiM1IM)=IIIQIY)]fA 9@  @ @ 0@ ^A-T=I9IIO]>E 'GY q B=9 Y ,A! f,Y?AD zD E EE)E"E:*ErN:VEFA4ZEa@a@a@a@|Y~BBy~I 4< bDVDkyE;%EB=ٔEQ-M>9IYI=MFyIUEU>YQ 5e5]r?Q 9e5] )]pBYayaQ Ie@] DI]:i]:]}5yqɮu%Aq-DNOT Ignoring new targets: 19.68 m.h)h)*hQ"hQ hQgQfqfyfyddjdZdvD@ZZZZ) it9)ޱii%1!%=I!IIQ@ @@^0@q^A) IA IQ Oe >A A @ABe >Be CBe IBe 0BBa Be CDBe pDBe ~i;Be 5)Eԙ @f,wes?A6_@6Z@6ɻٱ6[ >AHRS rotation from veh to nav: [[0.816253,0.577109,0.026002],[-0.577661,0.814902,0.047351],[0.006138,-0.053671,0.998540]]6H?@w?`3?3|@?c>?#y?z ?i6_@I6^;6CYJPByJIiMb@Mb@Mb@ 9@5^I ¿kt?V-?Yby =<5AA )AY AbD5VD5yE=%EJ=ٔM;Q-M>9IYI=MFyQU|;EU>YQ 5e5]pp?Q 9e5]i)]uBYm+>Q Em;ymM?Q Im@]DI]:i]:]~5yqyɮu%AyDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffjBddjdZd E@Z+>Z+>Z&@ZM?uɻ)q u i}9)y}µyiyi1=IIE= E=E=(E9"E=:*E=VL:VE=c44ZE9BE=' (#f,@?A2 n@2h@2ٱ2[ :AHRS rotation from veh to nav: [[0.817263,0.575625,0.027145],[-0.576246,0.815953,0.046484],[0.004608,-0.053632,0.998550]]2H@'?k?˛?pI?@̧?r?`u`?i2 n@I2T_;2CYBQByBIbDNVDNk2yV;%VT=ٔZL;Q-Z>9XYX=^Fy\~;E~>Q 5 5Jn?Q 9 5֒)yBYy?Q I@DI:i9:5y=Bɮ=s%AEGEDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd ?E@ZZZZ0?5)1 5 i59)9=Ե9i9iE1AE%A=IAIAJ>i> 9@  @ @ 3@ @=@=iIEE EEEE&EA"EEg:*EE1]:VEE4ZEAaM@aM@aM@aM@1^AM벫=IaIyO>a V)f,(?A: |@:v@:Dٱ:;\ BAHRS rotation from veh to nav: [[0.818252,0.574155,0.028439],[-0.574851,0.816981,0.045699],[0.003004,-0.053741,0.998550]]:H/?{_?@?.e$?e?`h?󃫿?i: |@I:_;:CYNYByNIi]Mb@Mb@Mb@YYYY Y9]Qſ?I +?Y](y]=]9<]A] A Y)YYY]AuAAuAAbD}VD}yA=%==ٔr;Q->9Y=Fyh;E>Q 55k?Q 95ڐ)}BYF>Q E;yk?Q I@DI:i ;Z5yɮ3%ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffBddjdZdOsE@ZF>ZF>Z0&@Zk?15D)1 5zi=9)9=絉9i9iE1AEn=IAII9@ @@/@B >B CB IB ?BB  =B B rDB %j;B )EBCBCBB =B =Co5Y^A "=II)O5>ԉEM  EM EM *EI "EM m:*EM F:VEM (N4ZEI BEM T9XYX=ZFyX^`;E^>`Q 5f5bi?Q 9f5b)bBYdyj?Q Ij@bDIb:ib9:b5ynBɮr$Ar>E DNOT Ignoring new targets: 19.68 m.h h *h "h  hgfffddjd!Zd%`E@ZAZAZAZE?Uvc)Q ]i]%9)Y]YiYie1am=IiIiԑi@i @q@q@q^AU=IaIqO}{> bE:4jE˅04rEˋS0E]  E] E] )EY "E] :*E] L_:VE] FA4ZEY am @am @am @am @r6f,ۘ?AN3@N@N:ٱN] VAHRS rotation from veh to nav: [[0.820506,0.570776,0.031379],[-0.571638,0.819325,0.044014],[-0.000587,-0.054051,0.998538]]NHA?C??J@7??;C ?iN3@INa;NCY^SBy`bDjVDj02yvL%vE=ٔv;Q-v>9xYx=zFyx~M;E~>|Q 5 5~af?Q 9 5~+)~BY y ?Q I @~DI~[:i~$:~ͅ5yɮ$AUDNOT Ignoring new targets: 19.68 m.hQhY*hY"ha hagififqfqdqdyjdZd!E@ZZZZV?M:)I U[iU9)QUUiQi1=IIq@q @q@u/@q ^Au=IIO>9 B >B CB IB DBB  =B B tDB Kj;B )E AHRS rotation from veh to nav: [[0.821678,0.569006,0.032840],[-0.569947,0.820553,0.043039],[-0.002457,-0.054081,0.998533]]6H.K?@K5?[Р?= A? A ?@ d?i6 @I6Aua;6CYFNByFIiUMb@Mb@Mb@QQQQ Q9U+ǿ)\(?~jtx?YUv>yUG=U;QU A Q)QQYU=A im4<bDuVDuNy%B=ٔ;Q->9Y=Fy5;E>Q 55/c?Q 95)BY]]>Q Eu;y@Q I@DIv:i:5yɮ$ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfff|BddjdZd PF@Z]]>Z]]>Z&@Z@-u!;)) - i-J9)15k&ii1=IIE ECE&E"EU:*E;VE4ZEBE;a%2E;a-JEtCf,?A>@>]@>P;ٱ>Lc] JAHRS rotation from veh to nav: [[0.822888,0.567169,0.034290],[-0.568187,0.821828,0.041974],[-0.004374,-0.054023,0.998530]]>HU?>&?@e? .`jL?}?@q`娫?i>@I>Cia;>CYRMByRI TTXZAbD^VD^yf#S%fK=ٔj;Q-j>9hYh=nFylnխ;En>pQ 5v5r`?Q 9v5r)pYxyz)@Q Iz@rDIr;ir;rf5y|ɮ~$A|%DNOT Ignoring new targets: 19.68 m.h)h)*h)"h) h)g)f1f1f1d1d9jd9Zd=AF@ZYZYZYZ])@uP;)q u_iuE9)q}}#׼iyi}1$v=II]9@Y @Y@]?0@a^A5=IAIYOe>Eu EuEu%Eq"Euy:*Eu~:VEu 4ZEqa@a@a@a@)Y If,ɭ)?A 2Fͮ@2ȵ@2Ⱦ;ٱ2.] >AHRS rotation from veh to nav: [[0.823900,0.565613,0.035653],[-0.566702,0.822903,0.040985],[-0.006157,-0.053972,0.998523]]2Hc]?? A?k"8U?`?7y >`?i2Fͮ@I2ja;2CYF?ByFIiUMb@Mb@Mb@QQQQ Q9U(\ȿMbX?MbpYUGyU=UUbAU A U A)UAQYUfAbDmVDmk1y%@=ٔD;Q->9Y=Fy;E>Q 55X\?Q 95†)BY_>Q Er;y@Q I@!DIhL;iK;D5yɮh%A DNOT Ignoring new targets: 19.68 m.hh*h"h hgff!f%rBd!d)jd)Zd-3yF@Bƿ>BCBIB?BB =BBvDBWj;B)EZ_>Z_>Z*@ZO@-Ⱦ;)I MiU9)QUQ$U8iQi]1Y][=IYIai9@ @@N0@@ >@ >ԙE EEE"E>:*Eg:VEZEBE;Pf,C?A2خ@2ӵ@2<ٱ2f] :AHRS rotation from veh to nav: [[0.824695,0.564361,0.037076],[-0.565523,0.823754,0.040157],[-0.007879,-0.054085,0.998505]]2Hc??? ?@@2\?o?`"`@?i2خ@I2a;2CYFEByFIPbDNVDNkyZ<%ZY=ٔZ;Q-Z>9\Y\=^Fy\bw;Eb>dQ 5j5fY?Q 9j5fބ)fBYhyj@Q Ij@f$DIfl:ifB:f猂5ypɮr<%ApDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZdF@ZZZZ%@5<)1 5i=9)9=l-=i9iE1AEx=IAII9@ @@4@^A=II1O=>! iy Iy E  E E &E "E :*E X:VE 4ZE a @a @a @a @Wf,Ug]?Ab@bܵ@b+<ٱb;~^ rAHRS rotation from veh to nav: [[0.825292,0.563389,0.038542],[-0.564625,0.824406,0.039415],[-0.009568,-0.054290,0.998479]]bHh?I?`Ļ?h@a? +.?˫?ib@Ib`;`Y 9By II%=);==bD%VD%N2y5b%=B=ٔ=T;Q-=>9AYA=EFyAE';EE>IQ 5U5MIU?Q 9]5M)MBYYy]@Q I]@M'DIMf;iM;M5yaɮe%AiDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjd Zd  F@ZiZiZiZmb@+<) i9)顥7Sfii1B=II)e9@a @i@m4@iQBɿ>BCBIB+BBBBwDBj;B)E^A+W=IIO>ԁ +]f,K=w?A6@6@6Ә4<ٱ6î^ BAHRS rotation from veh to nav: [[0.825768,0.562609,0.039733],[-0.563902,0.824936,0.038667],[-0.011023,-0.054336,0.998462]]6H l?? W?| e?6̣?` ѫ`f?i6@I6`;6CYJ+ByNIi%Mb@Mb@Mb@!!!! !9%I +ƿ(\µ?~jtY%94y%=%D%A% A %K A)%A!Y%AbD=VD=:yMV%MI=ٔMj;Q-U>9QYQ=UFyQYeU ;Ee>iQ 5m5mQ?Q 9u5m)m|BYuH>Q Eu;yu-@Q Iu@m)DIm ;ime ;m5yɮ &ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffmBddjdZdG@E] E]E]%EY"E]:*E]?:VE] 4ZEYBE]ZH>ZdD,@Z -@Ә4<) G!iN9)A ii1=I!I) 11I1)1ԉe9@a @a@e2@i@i@iԱ^A S=I I O > qdf,?A2e@26@2H<ٱ2F'_ :AHRS rotation from veh to nav: [[0.826001,0.562191,0.040797],[-0.563536,0.825213,0.038086],[-0.012254,-0.054450,0.998441]]2Hn?x?N?|%h?? @૿ ;?i2e@I2Ei`;2CYFByFIbDNVDN Vk>V6C6G1I=9Y,AԹyE%B=ٔ@;Q->9Y=Fy_:E>Q 55tN?Q 95)yBYy4@Q I@,DI:ip:[5yBɮ&A=E%DNOT Ignoring new targets: 19.68 m.h!h)*h)"h) h)g)f)f1f1d1d9jd9Zd=BHG@ZZZZ4@H<) +i~9)Lii19=II9@ @@/@Em EmEm(Ei"Em,:*EmrN:VEmc44ZEiau@au@au@au@^AM 2=IQ Ii Ou >A |@jf,?A:.@:@:gY<ٱ:-\_ BAHRS rotation from veh to nav: [[0.826113,0.561963,0.041654],[-0.563349,0.825365,0.037566],[-0.013269,-0.054499,0.998426]]:Ho?? S?@ci? ;? ,Y竿@?i:.@I:M `;8YNByRI TTTTiMb@Mb@Mb@ 9QMb?y&1Y\y=`eA 9 A)AY=AbDVD:yO%H=ٔ";Q->9Y=Fy :E>Q 5 5K?Q 95})uBYG>Q E;y@Q I@.DI8;i7;$5y!ɮ%&A!B=ʿ>B9B=~IB= BB= =B9B9B9B9mDNOT Ignoring new targets: 19.68 m.hihq*hq"hq hqgqfqfyf}?BdydyjdZd7}G@ZG>ZG>Z-@Z@5gY<)9 = i=9)9=YV=;i9iE1am=IiIi9@ @@/@9Eu EuEu$Eq"Eu ;*Eu&p:VEu4ZEqBEuRԱ i(qf,<ę?A2@2@2e<ٱ2%V_ :AHRS rotation from veh to nav: [[0.825948,0.562159,0.042282],[-0.563573,0.825232,0.037126],[-0.014022,-0.054493,0.998416]]2H)n?@5?`?Lh?+?櫿?i2@I2_;2CY}By}wIԉbDVDk2yGB%?=ٔ:Q->9Y=Fy|*E>Q 55H?Q 95/|)rBYy@Q I@0DI<;iY;5yɮ 'ADNOT Ignoring new targets: 19.68 m.hh*h"h hgf f f d djdZd UG@ZZZZݩ@e<) =i 9)  ` G@>^A 2=I) I9 OM >E}  E} E} (Ey "E} :*E} ga:VE} c44ZEy a @a @a @a @ Owf,~ޙ?A Z@Z@Z:o<ٱZO^ bAHRS rotation from veh to nav: [[0.825794,0.562359,0.042629],[-0.563783,0.825112,0.036582],[-0.014601,-0.054243,0.998421]]ZHl?`?gӥ? Qg?麢?@獿ū?iZ@IZD_;ZC h)hjhhllinIllIpip r+p)pt vkAvttxzpAIx)xix)xI~kA~\| |kAtii)  I Y YByeI!%@AbD-VD-Jy=%=e=ٔ=:Q-E>9AYA=EFyAM?EM>QQ 5]5UbF?Q 9]5Uz)UoBYYy]@Q Ie@U2DIUY;iU;U5yiɮm'AiDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd` G@ZZZZ@:o<) #i9)iVB9B=_IB=BB= =B9B9B=j;B=)EBCBCBB =B =Ch!6IyO>I ~y}f,8?A060@6޵@6`t<ٱ6^ >AHRS rotation from veh to nav: [[0.825337,0.563010,0.042877],[-0.564444,0.824673,0.036313],[-0.014915,-0.054172,0.998420]]6H(i?@.??@c??@Ӌr?i60@I6_;4YByhIiMb@Mb@Mb@ 9Pn{Gz?MbpYy#=GA A K A)YAbDVDyI<%A=ٔB:Q->9Y=FyE>Q 55cC?Q 95y)nBY\ >Q E;y@Q I@3DI-;i;k5yɮ'AEM EMEM)EI"EM:*EMR:VEMFA4ZEIBEM: Z\ >Z5@Z@`t<) (i-P9))-t-Vaf,9_?A:ڮ@:յ@: w<ٱ:x^ FAHRS rotation from veh to nav: [[0.824761,0.563837,0.043105],[-0.565279,0.824106,0.036167],[-0.015131,-0.054195,0.998416]]:Hpd? ?? _?@u?  ?i:ڮ@I:9^;:CY=By=]IbDMVDMky]1%eR=ٔeK:Q-e>9aYi=mFyim*Em>qyQ 55u@?Q 95ux)umBYy@Q I@u5DIu,;iu-;u5yɮ'ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd IH@ZZZZ@ w<) y i9)D~ Rf,J,?AnѮ@n̵@nCw<ٱnD'^ zAHRS rotation from veh to nav: [[0.824130,0.564756,0.043118],[-0.566199,0.823476,0.036148],[-0.015091,-0.054204,0.998416]]nHF_?|?? MY??1莿 ?inѮ@In^;nCY ByWIiMb@Mb@Mb@ 9 rh?MbP?Y̽yC =:AA 9 A)AY=A bDVDBͿ>BB@IBBB =BBBj;B)EyǼ%@=ٔĸQ->9Y=Fy +E >Q 55]>?Q 95w)nBYR=Q E;y @Q I%@7DI":i*:5y)ɮ'ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfff%Bd!d!jdAZdM@H@ZR=ZR=Z04@Z @Cw<)  i9)ii1=II}9@y @y@}4@y9Ee  Ee Ee +Ea "Ee :*Ee T:VEe [4ZEa BEe Q rf,EF?A2ɮ@2sĵ@2~u<ٱ2] :AHRS rotation from veh to nav: [[0.823571,0.565577,0.043043],[-0.567015,0.822914,0.036136],[-0.014983,-0.054166,0.998420]]2HZ?5? ?$PU?b?w ?i2ɮ@I2 ^;2CYBByBII DDbDNVDN1yV%Vc=ٔZQ-Z>9XYX=ZFyX^4E^>`Q 5f5bsԑԹ E  E E %E "E :*E ga:VE 4ZE a% @a% @a% @a% @f,_?A2@2U@2xp<ٱ2] :AHRS rotation from veh to nav: [[0.822943,0.566509,0.042795],[-0.567934,0.822277,0.036209],[-0.014677,-0.054102,0.998428]]2H`U? ?@4?,P?@퉢? I`?i2@I2];2CYBByFQIbDNVDNyVj=%VJ=ٔVFQ-V>9XYX=ZFyX^4E^>`Q 5f5bN:?Q 9f5b v)`Ydyfl @Q If@b9DIby:ib:bP5ylɮn(AlDNOT Ignoring new targets: 19.68 m.hh*h "h  h g f ffddjdZd.H@Z9Z9Z9Z=l @Mxp<)I UyiU9)QUbQiQi1 =IIԙF9Bο>BB3IBBB =BBBxk;BY*Ei@q @q@up4@q1 ^A I I O > f,gz?A2z@2K@29l<ٱ2U] :AHRS rotation from veh to nav: [[0.822528,0.567131,0.042553],[-0.568542,0.821855,0.036244],[-0.014418,-0.054005,0.998437]]2H`%R?%? ɥ?1 L??@ @1?i2z@I2];2CYBByFZIi-Mb@Mb@Mb@)))) )9-MbX9{Gz?9 Y = Fy  ϺE>Q 558?Q 9%5u)pBY%H=Q E%;aU2EE?;aUJEE;aU:EE;aUi}DNOT Ignoring new targets: 19.68 m.hyhy*hy"hy hygfff,BddjdZdQI@ZH=ZH=Z+@Z( @%9l<)! %i%9))-˒)i)i5115=I1I9@ @@/@ԑ^AI I1 O= > f,?A2c@24@2Ne<ٱ2_] :AHRS rotation from veh to nav: [[0.822109,0.567758,0.042273],[-0.569157,0.821421,0.036437],[-0.014037,-0.054015,0.998441]]2HN?+?ͤ?`6@I?ѧ?Kԧ;?i2c@I2T];2CYBByBSIIF<)Fp=bDNVDNyVw%Vc=ٔV͊Q-Z>9XYX=^Fy\^zE^>`Q 5f5be7?Q 9f5bYt)bqBYdyj@Q Ij@b;DIb:ib:b룂5ylɮn (Al DNOT Ignoring new targets: 19.68 m.h h *h "h  h g fffddjdZdJI@Z9Z9Z9Z=9@UNe<)Q UC!iU9)Y]YiYie1ae=IaIa9@ @@0@E] E]E])EY"E]:*E]E7:VE]FA4ZEYae@ae@ae@ae@^A5 =I9IIO]v>! Lf,u?ANU@N&@N\<ٱN\ VAHRS rotation from veh to nav: [[0.821834,0.568196,0.041751],[-0.569568,0.821128,0.036625],[-0.013473,-0.053880,0.998456]]NH@vL?`.?b`?9F??`'[?iNU@IN"-];NCYbBybVIBͿ>BB-IBBB =BBB;l;B*EimMb@Mb@Mb@iiii i9mktA`"?Q?Ym ymY=mu9Y=FyȕE>Q 555?Q 95Js)tBY(=Q E8ԡ f,ZcȚ?Aɰ;2 @2ڨ@2`U<ٱ2\ :AHRS rotation from veh to nav: [[0.821679,0.568445,0.041398],[-0.569802,0.820954,0.036877],[-0.013023,-0.053890,0.998462]]2H1K?0?`2? ;AE??߫xf?i2 @I2F];0@YFByFbI Np;N4<bDRVDRyZNF=%ZZ=ٔZEQ-Z>9\Y\=Fy>E>!Q 5-5%4?Q 9-5%Xr)%wBY)y-?Q I-@%>DI%[:i%1:%5y9ɮ='A9eDNOT Ignoring new targets: 19.68 m.haha*hi"hi higififqfqdqdqjdqZd}ੳI@ZZZZL?`U<) !i9)页ii1$=IIi@i @i@m4@qԩIay/9YA^A =IIO> E  E E (E "E :*E 3:VE c44ZE a @a @a @a @%*f,>?A2@2è@2@N<ٱ2\ :AHRS rotation from veh to nav: [[0.821677,0.568471,0.041073],[-0.569814,0.820934,0.037142],[-0.012604,-0.053922,0.998466]]2H-K? 0??`;`E? 9?@;Љ@ n?i2@I2X];2CYBByFdI DDbDNVDN1yZ<%ZJ=ٔZQ-Z>9\Y\=^Fy\b'Eb>dQ 5f5fQ3?Q 9j5fbq)fyBYhyhQ Ij@f?DIf:ifp:f65pypɮv'AtDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd@I@ZZZZ?=@N<)9 = i=g9)9=.AiAiE1IM=IIII QQIQ)QIi@q @q@u4@qB ȿ>B CB :IB BB  =B B vDB l;B +EQ^AIIYIiO}>ԁ >Tf,?AFd@F5@FF<ٱFϖ\ VAHRS rotation from veh to nav: [[0.821921,0.568151,0.040614],[-0.569472,0.821162,0.037347],[-0.012132,-0.053825,0.998477]]FH@.M? K.?@cˤ?9F??؈뎫`?iFd@IF];FCYfByflIaE EE'E"E:*Ea9:VE'4ZEBE+9IYI=MFyIU@r:EU>YQ 5e5]1?Q 9e5] p)]}BYe=Q Ee;yed?Q Ie@]ADI]H:i]:]35yqɮuh'AqDNOT Ignoring new targets: 19.68 m.hh*h"h hgfff;BddjdZd7 J@Z=Z=Z @ZYd?F<) i9)\ii1g=IIi@i @i@m4@iԑԱ^A:=IIO> 9tYt=vFytv;Ez>xQ 5~5z0?Q 95zo)zBYy~?Q I@zBDIzj;izD;zĬ5y ؔBɮq&A4E=DNOT Ignoring new targets: 19.68 m.h9h9*h9"hA hAgAfAfAfIdIdIjdIZdM`NJ@ZqZqZqZu~??<) i9)額鰶ii1ɴ=II@ @@/@E EE*E"E7:*EF:VE(N4ZEa@a@a@a@^AO=I!I9OE>A hf,Q/?ABRǿ>BPBRLIBRBBR =BPBPBRGm;BR9+EBaBeCBeCBe =Be =Ce׮5r@r@r$y7<ٱrQ[ zAHRS rotation from veh to nav: [[0.822854,0.566867,0.039669],[-0.568143,0.822063,0.037773],[-0.011198,-0.053619,0.998499]]rHT?#?zO?`9.VN?V? s?ir@IrXX^;rCYU ByUIIY)];iMb@Mb@Mb@ 9HzG/$?~jt?Y= y=<A A  A)1AY\AbDVD y<%9=ٔ Q- >9Y=Fy5;E>!Q 5-5%Z.?Q 9-5%Km)%BY5#>Q E5;y5?Q I5@%EDI%e ;i% ;%5y=֔Bɮ=C&A=3EeDNOT Ignoring new targets: 19.68 m.hihi*hi"hi higifqfqfu_BdqdyjdyZd}ֆJ@Z5#>Z5#>Z5p%@Z5Z?m$y7<)i m(im9)quҶqiqi}1y}v;=IyIA9@9 @A@E/@AE EE%E"E:*EVE 4ZEBEdԑ /Qf,I?A2jŮ@2;@2A.<ٱ2+\ :AHRS rotation from veh to nav: [[0.823325,0.566213,0.039234],[-0.567471,0.822507,0.038210],[-0.010636,-0.053723,0.998499]]2HX?j? ? (`Q?4? ȅ?i2jŮ@I2^;2CYBByFIbDNVDNyV@1<%Vc=ٔV̺Q-Z>9XYX=ZFy\^;E^>`Q 5f5bs,?Q 9f5bk)bBYdyf?Q Ij@bGDIb:ib:bE5ylɮn3&AlDNOT Ignoring new targets: 19.68 m.hh *h "h  h g f ffddjdZdƴJ@Z9Z9Z9Z=?MA.<)Q U'iU9)QUrYiYi]1aeNw=IaIaq9@ @@0@ԙ^A=II1O=r>D zD ?AbE%!4jE%*4rE%?0E  E E E "E 7:*E ;J:VE ZE a @a @a @a @ @xf,Mc?A2Ϯ@2ʵ@2&<ٱ2 [ :AHRS rotation from veh to nav: [[0.824051,0.565188,0.038768],[-0.566425,0.823215,0.038483],[-0.010164,-0.053671,0.998507]]2H^??b٣?& W?? Є z?i2Ϯ@I2m_;2CYFByFI J9XYX=ZFy\^N;E^>`Q 5f5bN*?Q 9f5b[j)bBYhyj?Q Ij@bIDIb:ib:b5yYɮ]&AYDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffddjdZd`J@ZZZZ?&<) 2%i9)ii1=II9@ @@0@AA?ABʿ>BB_IBBB =BBBm;Bz+E^A=IIO>) f,d}?ARخ@RTӵ@RA<ٱR>[\ ZAHRS rotation from veh to nav: [[0.824654,0.564338,0.038316],[-0.565556,0.823791,0.038925],[-0.009598,-0.053770,0.998507]]RHc? ?7? \??`)`?iRخ@IR"_;RCYfByfIEy E}E})Ey"Ey*E}T:VE}FA4ZEyBE};a2E};aJE}ͨ;a:E}ͨ;aiMb@Mb@Mb@ 9~jtÿMb?9Y=Fy;E>Q 55'?Q 95th)BY=7>Q E;y?Q I@KDI~ ;i ;5yɮ%A-DNOT Ignoring new targets: 19.68 m.h)h)*h1"h1 h1g1f1f9f=dBd9d9jdAZdE@ K@Ze=7>Ze=7>Ze%@Ze`?uA<)y }f&i}9)y}+ƶyii1)e=IIi @  @@O0@ԙ^A- C=IAIQO]> f,JB?A2@2nݵ@2K<ٱ2\ :AHRS rotation from veh to nav: [[0.825355,0.563338,0.037955],[-0.564541,0.824468,0.039321],[-0.009141,-0.053881,0.998506]]2HNi??n? b?!?@@:?i2@I2/`;0YBByFILbDRVDR yV%Z_=ٔZ$Q-Z>9\Y\=^Fy\b\;Eb>`Q 5f5be%?Q 9j5bf)bBYhyj6?Q Ij@bMDIb:ib:b5ypɮr&Ap DNOT Ignoring new targets: 19.68 m.hh*h"h hgfffdd!jd!Zd%PK@ZAZAZAZE6?]K<)Y ],'i]9)Y]5˶aiaie1imy=IiIi9@ @@4@@=@=iIIIEm EmEm&Ei"EmƱ:*Em3:VEm4ZEiau@au@au@au@^A5p=IAIQO]v>! طf,B&?AB*Ϳ>B*CB*lIB*BB* =B(B*wDB* n;B*+E|5@5@5" <ٱ5'] EAHRS rotation from veh to nav: [[0.825943,0.562504,0.037513],[-0.563688,0.825031,0.039735],[-0.008599,-0.053965,0.998506]]5Hn?@ ?4?@ f?!X?6 A?i5@I58`;5CY]By]IiMb@Mb@Mb@ 9gfffffƿ:v?Mbp?Y33y=;^A" A bA)AYA@AbDVDk1y <% 6=ٔ cQ->9Y=Fy5;E>!Q 5-5%&"?Q 9-5%d)!Y-P>Q E5;y5f@Q I5@%PDI% ;i% ;%5y9ɮ=%A9eDNOT Ignoring new targets: 19.68 m.hahi*hi"hi hgfffvBddjdZd vK@Z]P>Z]P>Z]&@Z]f@" <) .i9)顕)Ѷii1&=II!]9@a @a@e4@aQEu EuEqEq"Eu:*Eu=:VEqZEqBEu<y 8f,ʛ?A2o@2@@2<ٱ2V\ :AHRS rotation from veh to nav: [[0.826726,0.561390,0.036951],[-0.562547,0.825797,0.039995],[-0.008061,-0.053851,0.998516]]2Ht? ?3?`cl?4z?@M`e?i2o@I2c`;0YBByFIJ=J=bDNVDN2yVM<%Vd=ٔZĺQ-Z>9XYX=^Fy\^&};E^>`Q 5f5b?Q 9f5bb)`Yhyj}@Q Ij@bRDIb:ibg:b5ylɮn%Ap DNOT Ignoring new targets: 19.68 m.h h *h "h  h g fffddjdZdFK@YZZZZD}@<) 1-i9)Jֶii1%|=I!I!ԉI)Աq@q @q@uO2@yE  E E (E "E :*E F:VE c44ZE a @a @a @a @ ^AY Ii Iy O >Qf,f2?A2{@2L@2<;ٱ2,\ :AHRS rotation from veh to nav: [[0.827555,0.560200,0.036445],[-0.561333,0.826613,0.040200],[-0.007606,-0.053726,0.998527]]2HT{? )??p`s?"?`' ?i2{@I2`;2CYBByFIbDNVDNyVW,<%VG=ٔZtQ-Z>9XYX=ZFy\^ k;E^>`Q 5f5b?Q 9f5b`)`Ydyj@Q Ij@bUDIb;ib;b⺂5ylɮn%AlDNOT Ignoring new targets: 19.68 m.hh *h "h  h g fffddjdZdK@Z9Z9Z9Z=V@U<;)Q U,iU]9)QU۶QiYi]1Ye=IaIaԉ9@ @@/@B%̿>B%CB%xIB%BB!B!B!B%n;B%+E^A!=IIO > f,F?AɰYyE% E%E%%E!"E%:*E%C:VE% 4ZE!BE%+;a5iMb@Mb@Mb@ 9ʡEƿ&1?~jthY-2y=DA A fA)AY ;4<bDVDy%:=ٔQ->9Y=FyE>Q 55W?Q 95^Q =tIq)BYN>Q E;y@Q I@XDI|ZMN>ZM '@ZM@a)a e.ieA9)aeᶉaiiim1qu-=IqIqԡ892Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.- 9@)  @) @- 4@) @= >@= !> j>  1 a 49 Y X$A ^A I! I1 OE >w_g,ܺ?A2@2 @2V;ٱ2!] :AHRS rotation from veh to nav: [[0.828619,0.558680,0.035596],[-0.559776,0.827620,0.041187],[-0.006450,-0.054054,0.998517]]2H ?`? 9?@{?i?jz鬫`?i2@I2`;2CYBByFIbDNVDNyV>%VN=ٔV>Q-Z>9XYX=^Fy\br;Eb>hQ 5r5jh?Q 9v5j\)jBYxyz2@Q Iz@j[DIj;ij;j5yɮ%A UDNOT Ignoring new targets: 19.68 m.hQhQ*hQ"hQ hQgYfYffddjdZdJZL@Z1Z1Z1Z52@eV;)a e.im"9)im 綉iiiiu1qu+ =IqIy%*DAT read: user:498> 5BDAT read: Tx time:05:43:11.5720 5$Ping request sent.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251959Bm ˿>ԉ Bi Bi Bi Bm  =Bi Bm vDBm n;Bm +E# g,v4?AJT@J%@J\;ٱJ1] VAHRS rotation from veh to nav: [[0.829195,0.557857,0.035086],[-0.558928,0.828174,0.041565],[-0.005870,-0.054076,0.998520]]JHĈ?@?? @f?G?` x`ѯ@?iJT@IJw`;HYbBybIiuMb@Mb@Mb@qqqq q9uK7A`ſEԸ?~jtxYu+yu=uĻqu& A u A)u5AqYuAbDVDys%==ٔiQ->9Y=Fy;E>Q 55V?Q 95Z)BYE>Q E;y@Q I@]DIf;i8;m5yɮ&ADNOT Ignoring new targets: 19.68 m.hh*h"h hgfff|Bd d jd Zd ;L@iZE>ZE>Zjb'@Z@ \;) 33i9)춉ii1K=II!9@ @@/@ԙEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501998EY E]E])EY"EY*E]k:VE]FA4ZEYBE]2 hgg,FN?AY By vI@AbD% VD%2y5ꧽ%5R=ٔ5Q-=>99Y9==Fy9EEE>IQ 5U5M?Q 9U5M7Y)MBYQyQQ IU@M`DIM ;iM3;M!‚5yaɮe&AaDNOT Ignoring new targets: 19.68 m.Resuming propulsion at range: 19.80 m and bearing: 250.819246 deg. Not drifting fast enough.rhz@h36?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753962h*h"h hL?gfffddjdZdiL@ZZZZɢX) b;i9)򶉢iջiX+-L=I36?IAq@q @q@u0@q^Ao=IIO>) U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005910Eu  Eu Eu &Eq "Eu :*Eu C:VEu 4ZEq a} @a} @a} @a} @)g,$h?A2(@2s#@2;ٱ2\ :AHRS rotation from veh to nav: [[0.830176,0.556473,0.033856],[-0.557483,0.829117,0.042169],[-0.004605,-0.053881,0.998537]]2H`̐??U?? ? srX@?i2(@I2U`;2CYF ByFIbDRVDR:yV}$=%ZS=ٔZVQ-Z>9XY\=^Fy\b;Eb>dQ 5f5f ?Q 9j5fsW)fBYhyj@Q Ij@fbDIf:if_:fÂ5yrԔBɮr5&Ar2E DNOT Ignoring new targets: 19.68 m.h h *h "h  hgfff1: tAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyq:tBɿ>BBrIBBBBBBn;B,EBCBCBB =B =Cľ4aԉ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509801Q g,?AE EE'E "E>:*EA:VE'4ZE BE99Y9==Fy9= ;EE>AQ 5M5E ?Q 9U5EsU)EBYU`?>Q EU;yU@Q IU@EeDIE:iE:Eł5yaɮe&AaDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffTBdddjdZd+M@Z`?>Z`?>Z'@Z*@Bɢ{;) h=i)s8iԻi%_MII I)ԉ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762004^A x=I) I9 OM > &g,f؛?A"4<ɰ V7@V2@Vap;ٱV7Z`  AHRS rotation from veh to nav: [[0.831223,0.554975,0.032741],[-0.555928,0.830150,0.042366],[-0.003668,-0.053417,0.998565]]VH`?Z?pà?(@?? n@Y??iV7@IV6_;VCY%By%oI 54<5bD= VD=:2yM_p%MV=ٔM烺Q-M>9QYQ=UFyQ]+;E]>aQ 5m5e?Q 9m5eS)e}BYiym@Q Iu@egDIe:ie:epǂ5yyɮ}&AyDNOT Ignoring new targets: 19.68 m.hh*h"h hgfffdddjdZd[M@ZZZZ@Bɢ?U;) =i)%9ia4ջiII I!)%eAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014786bEž4jE$4rEϚ/E= E=E=&E9"E=:*E=P:VE=4ZE9aM@aU@aU@aU@9@ @@/@^A=IIO>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267782B ȿ>B B _IB BB B B B o;B ,Eb,g,Pǵ?AV>@V9@Vc[;ٱVZ ^AHRS rotation from veh to nav: [[0.831684,0.554302,0.032414],[-0.555238,0.830603,0.042532],[-0.003348,-0.053371,0.998569]]VH(?ּ??L?@ƥ?]lk@zS@G?iV>@IV^;VCYzByzhIiMb@Mb@Mb@ 9㥛 ¿Mb?{GztYy=ף A)AYAbD VD2yؼ%@=ٔEQ->9Y=Fy:E>Q 55?Q 95 R){BY1>Q E;y ?Q I @iDI*y;ix;Kɂ5y!ɮ%&A!MDNOT Ignoring new targets: 19.68 m.hIhI*hQ"hQ hQgQfQfYf][BdYdYdajdaZdeDM@Z1>Z1>Zs$@Zv?额Bɢ{-;) =i)T9顡iñջiE ;IMtIIIYA9@9 @9@9@9^A*_=iI%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518885I)E= E=E=(E9"E= :*E=i:VE=c44ZE9BE=M"ԩ 3g,Ϝ?AY~By~fIbDVDy%%%X=ٔ%Q-%>9)Y)=-Fy)-E5>1Q 5E55I?Q 9E55uP)5yBYAyAQ IE@5kDI5;i5;5ʂ5yYɮe&AiBDAT read: Rx Time:05:43:14.0107 TRx dataTimestamp_ set to:1761543795.292343checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771129Թ5DNOT Ignoring new targets: 19.68 m.h1h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM`nM@ZZZZ颽bBɢ\]%<) >i)M9iUjֻi Q)TII@ @@@^Ae9IiIO9>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021828EU  EU EU 'EQ "EU %;*EU $:VEU '4ZEQ a] @a] @a] @a] @9 9g,i?A>NI@>D@>|?;ٱ>[ FAHRS rotation from veh to nav: [[0.832398,0.553245,0.032152],[-0.554171,0.831290,0.043025],[-0.002924,-0.053631,0.998556]]>H@?/?7v? Ż?R?@g@u,?i>NI@I>z0^;9dYd=fFydjV;Ej>lQ 5r5n?Q 9r5nN)nwBYpyr?Q Iv@nnDInQ;in];n̂5yzBɮz&Az)EDNOT Ignoring new targets: 19.68 m.hh!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5M@ZQZQZQZU?eDBɢmXSC<)m^ m>ii)mE9qqiuC׻iuiuy} IyI)9@ @@/@@fA@gAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273802B<A4=BBBSIBBBBBBn;B,EQ^AIIO>qԙ E]  E] E] (EY "E] :*E] L_:VE] c44ZEY BE] +U6v@ U>)UZ@IUQQU|Q*ǿ/?? UB?)U&IUiUQQYYeBye[II=)9Y=FyE>Q 55?Q 95L)vBY 1>Q E;y1@Q I@pDIq:i :΂5y)ɮ-&A1iQiU?AJiUBARiUBAjiU@bU jk @S#>7ir@RU%? 8Gj?ZiUbiUjU`NX\8@ZUӹ]οhbFa‰ ?2iU:iUL"iU\?*iUyBiUaBiU#?iUyiU։BiUAiU&Q@ addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 60.272080 s, deltaX: 6.000000 m, approachRate: 0.099549 m/s, rangeRepo size: 4  Added new target pos. range: 25.657345 m, bearing: 255.865571 deg, lat: 36.779381 deg, lon: -121.859733 deg, deltaT: 60.272080 s, deltaX: 5.974493 m, approachRate: 0.099125 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.66 m.hh*h"h hgfffVBdddjd9@Zd  ?ԉZ  1>Z  1>Z '@Z 1@Bɢ1I<) eH>ia)e%7:aaieMػimIbiqIqIq9@ @@/@Ա^A7I I O > 7Fg,&?ANU@NO@N?;ٱN\ VAHRS rotation from veh to nav: [[0.833196,0.552037,0.032253],[-0.552971,0.832074,0.043314],[-0.002926,-0.053924,0.998541]]NH?I?~?Z?4-?g盫 ?iNU@IN];LYbBybMIbDjVDjyr!%v=ٔv}6Q-v?9tYx=zFyxzN;Ez?|Q 55~?Q 9 5~K)~uBY y I@Q I @~rDI~:i~:~6Ђ5yɮ&AEDNOT Ignoring new targets: 25.66 m.hAhA*hA"hA hIgIfIfIfIdQdQdQjdYZd]?ZyZyZyZ}I@颍Bɢ!<) "E>i)%P:顑i<ٻi卽IID=D<E% E% E!E!"E% :*E%:VE!ZE!a5@a5@a5@a5@a@a @a@eo0@i^A]esIIOE>) B ǿ>B B @IB BB B B B n;B ,EMg,W7?A b;ɰ`\@W@JOJ;ٱ\ AHRS rotation from veh to nav: [[0.833722,0.551238,0.032312],[-0.552176,0.832608,0.043206],[-0.003087,-0.053864,0.998544]]Hڭ??@? l?@ ?Ii?i\@I՜];CY-By-GIiMb@Mb@Mb@ 9L7A`ˡE?~jtxY+y=Ļ A  A)AYAbDVDfy%<=ٔ9Q->9Y=Fy;E>Q 55L?Q 95I)sBY>>Q E;y5@Q I@tDIs;i:҂5yɮ 'A 5DNOT Ignoring new targets: 25.66 m.h1h9*h9"h9 h9gAifififu@BdqdqdqjdyZd}?Z>>Z>>Zw|%@Z5@~Bɢ6x<) ,b>i) :i4"ۻi=IIAE EE+E"E:*Ei:VE [4ZEBE>88^A خI I O >Tg,(P?A2e@2_@2 ^;ٱ26\ :AHRS rotation from veh to nav: [[0.834266,0.550407,0.032433],[-0.551351,0.833168,0.042919],[-0.003400,-0.053688,0.998552]]2HO?`??P?p?k|@#?i2e@I26];2CPGr9YAYBy<I AAbDVDy%/=ٔ/:Q->9Y=Fy ;E>Q 55?Q 95,H)qBYyE@Q I@wDI;i ;&Ԃ5yɮZ'ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZdy?ZZZZE@~Bɢ8<) as>i)::i@ܻi=IID) zD- @AE5  E5 E5 (E1 "E5 :*E5 :VE5 c44ZE1 a= @a= @a= @a= @! =  9@  @ @ @ Q ^A ?I9IQOe>6[g, o?Anv@np@n ;ٱn,[ vAHRS rotation from veh to nav: [[0.835406,0.548634,0.033127],[-0.549615,0.834350,0.042226],[-0.004473,-0.053483,0.998559]]nH?i? ? s?@?Qr&b`1?inv@In];nC x)~kA~Ga||lAiIIi kA + )   kA`弉pAI)i)IkA! !!!%i!!i)))) )I)Y)Y=By=3IbDMVDMJy]u%]P=ٔe2;Q-e>9aYi=mFyimc;Em>qQ 5}5u?Q 95uF)uoBYyh@Q I@uxDIu;iu ;uՂ5yɮ'ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZdH?ZZZZBh@~Bɢu<) k>i ) _U:  i 5޻i2N>B%Ϳ>B!B%-IB%BB% =B!B!B%n;B%,E99I9I9AAIIIU9@Y @Y@]0@Y^A5؜bqE-  E- E- $E) "E- O;*E- e:VE- 4ZE) BE- 'Yԙ bg,?AY]By](IiEMb@Mb@Mb@AAAA A9Ev/Dl?y&1|YExyEO=E`EAE A EK A)EAAYEAbD]VD]βym '%m<=ٔmQ-m>9>Y>=Fy_\EE>ԑQ 55s?Q 95XE)mBY>Q E;y1@Q I@zDI[0;i.;ׂ5yɮ'AUDNOT Ignoring new targets: 25.66 m.hQhQ*hY"hY hYgYfYfafeBdadadajdiZdm@w~Bɢ<) >i)E:ii9>  I I@ @@N4@@gA@eA^A%A=A?A2AIIO> 9=?Y=?=EFyEc\EEt\<EE>IQ 5U5M?Q 9U5MD)MjBYYy]@Q I]@M|DIM:iM-:Mق5yaɮe(AaDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd@Z~Bɢv<) j>i)+:i Gilz>II9@ @@/@BM˿>BIBM!IBMBBM =BIBIBMn;BM+EBBBBBCp5^AA A II Iq O} >dng,^?Az@zȥ@z;<ٱz AHRS rotation from veh to nav: [[0.838893,0.541223,0.057761],[-0.544175,0.836207,0.068057],[-0.011466,-0.088524,0.996008]]zH6?Q?Ԓ? i`4?(l?@{` L?iz@Iz];xYBy0IiMb@Mb@Mb@ 9RQV-?{GzY½ym=#A  A)AYAbDVDyL=%R=ٔ;Q->9Y=Fyf\E>;E>Q 55?Q 95C)hBY=Q E;y@Q I@}DI:i:4ۂ5yBɮ'A(E%DNOT Ignoring new targets: 25.66 m.h!h!*h)"h) h)g)f)f1fBdddjdZd@@E9~BɢEs<)I M>IiI)m%= ;iiim3iu7>qyIyIyE EE+E"E,:*Eg:VE [4ZEBEug,\ם?Aɰ2@2~@2rO<ٱ2tƽ RAHRS rotation from veh to nav: [[0.839061,0.540352,0.063214],[-0.543890,0.835859,0.074323],[-0.012677,-0.096743,0.995229]]2H? J?.?@g`[??ĸ?i2@I2];0YZByZ!I `b4<bDfVDfynx%nQ=ٔrJ;Q-r>9r?Yr?=rFyvj\Ev]:Ev>xQ 5~5zG?Q 9~5zB)zeBYy@Q I@zDIz:iz:z܂5y ɮ 'A5DNOT Ignoring new targets: 25.66 m.h9h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM8 @}~Bɢ}p<)y }>i)M;顁i-Ji ?II!E9@A @A@E/@AIbEc44jEƅ04rEW\0E EE$E"E:*EVL:VE4ZEa@a@a@a@^AeAmfAzAmfAy A AI I O >q{g,?A0>@>ت@>"W<ٱ> JAHRS rotation from veh to nav: [[0.839212,0.540250,0.062082],[-0.543645,0.836246,0.071707],[-0.013176,-0.093928,0.995492]]>H?`I?`=ɯ?e?k[?  ?i>@I>];9j??Yj??=jFyjm\EnB<:En>9Q 5E5=렊?Q 9E5=@)=bBYIyIQ IM@=DI=:i=:=ނ5yQɮU'AQBeҿ>BeCBeIBelBBaBaBewDBen;Be+EDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd2@}Bɢ|<) >i)g2;i$i,` ?IIԑԹ9m9@q @q@u/@qE  E E %E "E :*E ]t:VE 4ZE BE .Ƀg,?A2@2@2!b<ٱ2t :AHRS rotation from veh to nav: [[0.840114,0.539383,0.057225],[-0.542234,0.837843,0.063258],[-0.013825,-0.084173,0.996355]]2H7?`B?L? Y?1?IP ^$?i2@I2];2CYZByZ%Ii=Mb@Mb@Mb@9999 99=:vMb?~jtxY=Ty=@==Ļ=-A=A =K A)=A9Y=AIIbD]VD]Nyea;%e#=ٔm:Q-m>9qYq=uFyur\EuZ;E}>yQ 55}ꠊ?Q 95}@)}_BY=Q E<<ԑy?Q I@}DI}3;i}2;}5yɮ'ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfff BdddjdZd @颭}BɢV)<) 4>i)~M;顱iZi;?II9q@y @y@}0@y^A #Ee  Ee Ee )Ea "Ee ;*Ee k:VEe FA4ZEa am @am @am @am @ A 0AI I O >6g,)?A2˯@2pƶ@23d<ٱ2U! :AHRS rotation from veh to nav: [[0.841029,0.538423,0.052633],[-0.540810,0.839270,0.056125],[-0.013954,-0.075667,0.997036]]2H ?`:? ? PNM?z?ɓ ^?i2˯@I2];2CYFByF,IbDNVDNyV<%VX=ٔV>9Q-Z>9Z?YZ?=ZFyZv\E^;E^>`Q 5f5b5ꠊ?Q 9f5bq?)b^BYdyf?Q Ij@bDIb :ib9:b5ylɮ='A9DNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd@@颅}BɢY=) |>i)f;顙ihi!Q?IIk9B׿>!BCBBB =BBxDBn;B,E@ @@0@@fA@fAYU PExceeded connect timeout, disconnecting.^A FӅy I I O > אg,MC?A2[ޯ@2,ٶ@2f<ٱ2Ε :AHRS rotation from veh to nav: [[0.842263,0.536632,0.051183],[-0.538884,0.840646,0.054014],[-0.014042,-0.073076,0.997228]]2H ?@,?4? >@? ?I?i2[ޯ@I2];2CYBByF;IIF=)FiMb@Mb@Mb@ 9{Gz/$?Mb`E% E%E!E!"E%;*E%x:VE!ZE!BE%A9Y=Fyz\E;E>Q 55ꠊ?Q 9 5>)]BY 1=Q E  g,Y]?A2@2f@2)e<ٱ2 :AHRS rotation from veh to nav: [[0.843657,0.534321,0.052389],[-0.536700,0.841891,0.056319],[-0.014013,-0.075631,0.997037]]2H 9XYX=^Fy^}\E^;E^>`Q 5f5b)렊?Q 9f5b>)b\BYhyjڞ?Q Ij@`Ib ;ib ;b 5ylɮnN'Ap DNOT Ignoring new targets: 25.66 m.h h *h "h  h gfffdddjdZd @M}}BɢMg5=)Q U ?iQ)U)T;QQiUi]2z?YYIYIaIԡ@ @@4@DzDE% E%E!E!"E%V:*E%:VE!ZE!a-@a-@a-@a-@^A%o셾IIO>B ߿>B CB IB vBB =B B yDB o;B *,E) +g,>w?Aɰ4<:T @:%@:e<ٱ: FAHRS rotation from veh to nav: [[0.845209,0.531671,0.054298],[-0.534252,0.843212,0.059729],[-0.014029,-0.079492,0.996737]]:H ?r?@̫?`@??2YD?i:T @I:)];:CY^By^FIbDjVDjyr=%vH=ٔz[8Q-~>9Y = Fy \E :;E>Q 5%5렊?Q 9%5#>)[BY!y%>?Q I-@DIS;i:5y1ɮ5'A1mDNOT Ignoring new targets: 25.66 m.hihi*hq"hq hygfffdddjdZd`|@nManaging dock network, ignoring radio surface power off}Z}Bɢ}w1=) ?i)ؠ;顁i1i?II99Y@Y @Y@]4@YEE EEEE+EA"EE:*EE:VEE [4ZEABEE+3g,?A 2+)@2#@2ab<ٱ2|~ >AHRS rotation from veh to nav: [[0.847152,0.528544,0.054548],[-0.531172,0.845060,0.061073],[-0.013817,-0.080712,0.996642]]2H???[ ?D?K@ }?i2+)@I2f];0YFByFMI ))߀GgA鋿9gAY}Ay=9?E)AiMMb@Mb@Mb@IIII I9MS㥛?v/?y&1|?YM/9Y=Fy\Ev<E>Q 55?Q 95=)Y=Q EQiߡ Iߥ Aj=g,?A2O@2J@2h_<ٱ2­ :AHRS rotation from veh to nav: [[0.849652,0.524635,0.053384],[-0.527168,0.847622,0.060260],[-0.013635,-0.079342,0.996754]]2H@Y0??`)U?@?@Zڮ?싿Oi?i2O@I2$];0YBByFQIJAAJAAPbDRVDRyZW<%Zp=ٔZ Q-Z?9\Y\=^Fy^\Eb*c<Eb?dQ 5j5f:?Q 9j5fj=)dYlyn??Q In@fDIf8;if:;fU5ytɮv&AxDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd@d@=!}Bɢ=>a=)E Et+?iA)Es;AAiEoiM~?IQIQI fAeAiBݿ>BB-IBBB =BBxDBn;B,E9@ @@/@ IIO=>A \%g,pĞ?A2~@2x@2 ^<ٱ2. :AHRS rotation from veh to nav: [[0.852610,0.519997,0.051577],[-0.522373,0.850721,0.058320],[-0.013552,-0.076667,0.996965]]2HH?У?@[h?F9?`.ܭ?`v`"?i2~@I2];2CY^BybXIE EE$E"Es:*E:VE4ZEBEh09Y=Fy\EM<E%>!Q 5-5%?Q 955%=)%]BY5=Q E= Q I=@%DI%);i%(;%K5yEBɮE&AE)EmDNOT Ignoring new targets: 25.66 m.hihq*hq"hy hygyfyff]BdddjdZdq@颵}Bɢ`=)  6?i)2;ihim?II9I@ @@/@yA-AI9IIOU>ԡ Og,ޞ?A6ִ@6@6Y<ٱ6 >AHRS rotation from veh to nav: [[0.856090,0.514446,0.049548],[-0.516656,0.854329,0.056471],[-0.013279,-0.073943,0.997174]]6He?Vv?Q^?@qV?`?1?i6ִ@I6];6CYNByPbDZVDZNyv%v_=ٔvCQ-v>9zc?Yzc?=zFyz\E~<E~>Q 5 5/?Q 9 5<)^BY y w>Q I @DI):i :5yɮ&AEDNOT Ignoring new targets: 25.66 m.hAhA*hI"hI hIgIfIfQfQdQdQdQjdYZd]@@@y颍|Bɢy=) B ҿ>B CB @IB BB =B B wDB n;B +EBmCBmCBmʔCBm =Bm =Cmʘ5 yg,?A2z@2K@2kQ<ٱ2ɒ :AHRS rotation from veh to nav: [[0.859834,0.508355,0.047543],[-0.510412,0.858165,0.055057],[-0.012811,-0.071606,0.997351]]2H@Ã?@qD?W?`LU`v?k0?`<TL?i2z@I2Ȼ];2CYBByBfI HJ4<bDNVDNN2yvc=%vJ=ٔvQ-z>9xYx=zFyz\E~<E~>Q 5 5 ?Q 9 5K<)_BY y $>Q I@DI>:i:5yɮK&A}DNOT Ignoring new targets: 25.66 m.hyh*h"h hgfffdddjdZd @U|Bɢ]u=)a eJ?ii)/;;顑ii ?IIIT?)q?9E EE&E"E2:*E:VE4ZEBE#*ug,5?Aɰ24@2/@2OJ<ٱ2 d :AHRS rotation from veh to nav: [[0.864071,0.501321,0.045361],[-0.503218,0.862507,0.053412],[-0.012348,-0.068979,0.997542]]2Hx?` ?9?\?@X?I?i24@I2A];0YFByFqIiUMb@Mb@Mb@QQQQ Q9U&1?B`"۹?Mb?YU=yU=U9 ?Y ?=Fy\Eԟ<E>Q 55$?Q 95;)Y7>Q E;y^>Q I@DIQ:i{:5yɮ&ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffmBdddjdZd @ %|Bɢ% =)! %3V?i!)- <))i-@i5?11I1I9E892D99@ @@1@AIIO>abEFA4jE9 Y = Fy \EH<E>!Q 5-5%?Q 9-5%;)!Y1y5Ԇ>Q I5@%DI%51;i%7;%95yAɮE&AADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjd!Zd%&o!@q颕|Bɢ=) T\?i)<<顙i6 id?IIB=˿>B=CB=SIB=BB= =B9B=vDB=@n;B=+Eԡm 9@  @ @ 0@ A ?A ? A1 IA IQ O] >ɇg,DkF?A:Nб@:˸@:T4<ٱ:V7~ BAHRS rotation from veh to nav: [[0.873476,0.485238,0.039788],[-0.486742,0.872180,0.048833],[-0.011006,-0.062021,0.998014]]:H?`$? _?&߿ ??r4`?i:Nб@I:/];8E^ E^E^$E\"E^D:*E^S:VE^4ZE\BE^1y>; A  A)AY@AbDVD:2yE<%?=ٔjQ->9Y=Fy\E<E>Q 5-5N?Q 9-5 ;)]BY5A>Q E5;y5a>Q I5@DI>gg,/`?A6+@6&@610*<ٱ6l >AHRS rotation from veh to nav: [[0.878870,0.475650,0.036668],[-0.476949,0.877736,0.045827],[-0.010387,-0.057765,0.998276]]6H? q?`)Ƣ? S޿@i?v?EW?i6+@I6];6CYF ByFzIbDnVDnk2yvp=%vY=ٔzֺQ-z>9xYx=zFyz\E~<E~>Q 5 5)?Q 9 5:)\BYyzm>Q I@DI:i:5yɮ%AEDNOT Ignoring new targets: 25.66 m.hIhI*hI"hI hIgIfIfQfQdQdQdYjdYZd]"@颍U|Bɢ>=) Xo?i),<顑iai&?II19QE EE'E"E:*Ev:VE'4ZEa@a@a@a@I@I @I@M/@IIiyIO\>ԩ B5 ɿ>B1 B5 _IB5 BB5  =B1 B1 B5 m;B5 k+EQg, z?A6,@6@6<ٱ6ȟT@ RAHRS rotation from veh to nav: [[0.884420,0.465537,0.032819],[-0.466591,0.883506,0.041351],[-0.009746,-0.051884,0.998606]]6H*M?[?͠?ݿE?`+? ?i6,@I6];6CYbBybsIIf<)f9Y=Fy\E<E>Q 55?Q 95:)[BYyy>Q I@DI:i:5yÔBɮ&A*EDNOT Ignoring new targets: 25.66 m.hh*h"h hg!f)fYfYdadidjdZd#@Աe2|Bɢm=)i m:u?ii)m < g,%듟?A2@2@2c<ٱ2= :AHRS rotation from veh to nav: [[0.890043,0.454933,0.029328],[-0.455783,0.889320,0.037020],[-0.009240,-0.046316,0.998884]]2H;{?@?@?@+ݿ@Pu?I?b삿Ƕ?i2@I2?^;2CYBByBpIliMb@Mb@Mb@ 9ʡE?S?y>tA" A bA)GAYA )-<bD- VD-f2y=h%=O=ٔE Q-E>9AYI=MFyM\EMn<EM>QQ 55U ?Q 95U9)UWBYl>Q Ef;yu>Q I@UDIU1E  E E &E "E s:*E :VE 4ZE a @a @a @a @a g,ŭ?A ɰ";RW@RR@RU<ٱR, ZAHRS rotation from veh to nav: [[0.895756,0.443739,0.026775],[-0.444454,0.895171,0.033611],[-0.009054,-0.042007,0.999076]]RH`?8f?j?qܿ=?q5?n?iRW@IR^;RCYfByffIbDnVDnfyv%vP=ٔvQ-z>9xYx=zFyz\E~0=E~>Q 5 5#?Q 9 58)TBY y {>Q I@DI:i:5yɮV&A9MDNOT Ignoring new targets: 25.66 m.hIhI*hI"hI hIgQfQfQfQdYdYdYjdYZde`l%@颍{Bɢ,ԭ=) |?i)&S<顑iiIIu9B>BCBBB =BBuDB/m;B'+Ea@ @@80@I)I9OM0>ԙ 2g,,ǟ?A2'Ƴ@2@2<ٱ2 :AHRS rotation from veh to nav: [[0.901657,0.431772,0.024239],[-0.432362,0.901192,0.030267],[-0.008776,-0.037771,0.999248]]2H@`?`%?6Ҙ?`ӫۿ ?c? V?i2'Ƴ@I2M^;2CER ERER$EP"ER:*ERe:VER4ZEPBER'y >ĻA A A)AYAbDVD0y=%;=ٔ&Q->9Y=Fy\Ed<E>Q 5 5L,?Q 9 5B8)QBY v|>Q E W;y x>Q I@DI;iu:5yɮ&AEDNOT Ignoring new targets: 25.66 m.hAhI*hI"hI hIgIfIfQf{BdddjdZdjR&@ {Bɢ O=)  5?i)~wb<i!i111I1I9 9@ @@p0@A](hAq׿9(hAYAIIO> Pg,Fz?A2;@25@2S<ٱ27 :AHRS rotation from veh to nav: [[0.907737,0.418951,0.022199],[-0.419445,0.907382,0.026908],[-0.008870,-0.033737,0.999391]]2H@/ ?@?]?0ڿE ?@Ǎ?`d*E?i2;@I2M!^;2CYBByFeIHHbDNVDNyV=%Va=ٔZŇ9Q-Z>9XYX=ZFyZ\E^ =E^>`Q 5f5b3?Q 9f5b7)bNBYhyj>Q Ij@bDIb:ibd:b5ynŔBɮnj&Al DNOT Ignoring new targets: 25.66 m.h h *h "h  h gfffdddjdZd'@{Bɢr=) I?i!)%s3oB CB YIB BB  =B B vDB m;B +EI! I9 OE >y 'g,_?AR@RҮ@R<ٱRXK ^AHRS rotation from veh to nav: [[0.913829,0.405590,0.020334],[-0.406005,0.913553,0.024127],[-0.008791,-0.030304,0.999502]]RH>?0?}Ҕ?ٿ;?? ?iR@IR!^;RCYfByfYIbDrVDr:2yzD%zF=ٔzHQ-z>9|Y|=~Fy~\E&=E> Q 55 ;?Q 95 6) LBYy=>Q I@ DI T ;i  ; U5y!ɮ%&A!MDNOT Ignoring new targets: 25.66 m.hIhI*hQ"hQ hQgQfQfYfYdYdYdajdaZde'@ {Bɢ5Z=)9 =7?i9)E }ԩ h h,0?A60@6+@6S;<ٱ6a߼ BAHRS rotation from veh to nav: [[0.919909,0.391686,0.018728],[-0.392036,0.919695,0.021656],[-0.008742,-0.027264,0.999590]]6Ho? `?`-?@ٿ$n? -?`[灿@뛿@?i60@I68^;6CYJByJRIR=R=iMb@Mb@Mb@ 9v/?On?I +Yxi>y>94AO A fA)AYQAbD5VD5yEݼ%EE=ٔMQ-M>9IYI=UFyU\EU=EU>YQ 5e5]4E?Q 9e5]m6)]HBYm>Q EmB;ym_3>Q Im@]DI]:i]:]$5yqɮu&AyDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffXBdddjdZd(@{Bɢ/)=) 1?i)z<i-iyIIԹ9 M 9@I  @I @M 4@I E  E E (E "E &:*E :VE c44ZE a @a @a @a @I) I9 OM >9 9 h,/?A2ȭ@2@2[y<ٱ2ȼ :AHRS rotation from veh to nav: [[0.925782,0.377662,0.017281],[-0.377957,0.925621,0.019328],[-0.008696,-0.024425,0.999664]]2H?+? ?t0ؿ@?ʓ?ρ??i2ȭ@I26%^;2CY^By^FIbDfVDf1y>%M=ٔ(Q-%>9!Y!=%Fy%\E-=E->1Q 5=55-N?Q 9=555)5EBY9y=C>Q IE@5DI5;i5;55yIɮM5'AIuDNOT Ignoring new targets: 25.66 m.hqhq*hy"hy hygyfyffdddjdZdy)@颽s{Bɢ(=) 3?i)w<i1iII Buҿ>BuCBuFIBuBBu =BqBuwDBul;BqB=CB=CB9B= =B= =C=y59=9@9 @9@=/@9IIO>i 4h,\H?A 2^2@2/-@28<ٱ2>ֳ >AHRS rotation from veh to nav: [[0.931774,0.362664,0.016508],[-0.362923,0.931662,0.017127],[-0.009169,-0.021950,0.999717]]2H`?5??`#:׿+?Ӊ?` ǂz?i2^2@I2Q^;2CEB EBEB&E@"EBf;*EBZ:VEB4ZE@BEBWy5= >5u11 1)5A1Y5AbDVDyZ%@=ٔ:Q->9Y=Fy\E=E>Q 55RY?Q 955)@BY̟>Q E*;y=Q I@DI:i:5yǔBɮl'A+E%DNOT Ignoring new targets: 25.66 m.h!h!*h!"h! h)g)f)f)f5TBd1d1d9jd9Zd=/T*@mW{Bɢm3e=)i m?ii)uԙ Jh,Kb?A2㷶@2@2h"<ٱ2ƀ :AHRS rotation from veh to nav: [[0.937558,0.347466,0.015865],[-0.347687,0.937503,0.014231],[-0.009929,-0.018858,0.999773]]2H z??@ֿ?$? U`O#?i2㷶@I2FC^;2CYFByF+ILbDRVDR!yV%Z^=ٔZ;Q-Z>9\Y\=^Fy^\Eb4=Eb>dQ 5f5fb?Q 9j5fX5)f{BɢU&=)Q U_?iQ)]皚Ai Ai Bu ׿>Bq Bu 'IBu BBu  =Bq Bq Bu l;Bu *E! sh,0|?A6'@@6:@6h3<ٱ6?5 >AHRS rotation from veh to nav: [[0.943202,0.331856,0.015565],[-0.332040,0.943198,0.011241],[-0.010950,-0.015771,0.999816]]6H .?`!=?R?`&@տ.?? l<&`}?i6'@@I6x4^;6CYJ{ByJIbDRVDRkyZV%ZJ=ٔ^%;Q-^>9^"?Yb"?=bFyb\Eb(=Eb>dQ 5j5fm?Q 9j5f4)f8BYlyn=Q In@fDIf7 ;if ;f 5ypɮvK(At|DNOT Ignoring new targets: 25.66 m.hh*h"h hgf!f!f!d!d)d)jd)Zd-&+@]#{Bɢe:=)a e ?ia)e СE EEE"E:*E:VEZEBE<y"=tA A)AYAbDVD1y%;=ٔ;;Q->9Y=Fy\E=E>Q 55z?Q 954)3BY>Q E;yIQ I@DI;;iM; 5yȔBɮh(A,EEDNOT Ignoring new targets: 25.66 m.hAhA*hI"hI hIgQfafifmBdiddjdZd ,@e{Bɢe=)a es?ia)mdE  E E %E "E *E :VE 4ZE a @a @a @a @ +h,7S?A2{W@2LR@28^<ٱ2%' :AHRS rotation from veh to nav: [[0.953942,0.299563,0.016018],[-0.299683,0.954022,0.005661],[-0.013586,-0.010201,0.999856]]2H?` ,?%g?`.ӿ@Y?`/w?Ӌ`䄿`?i2{W@I2;^;0YFbByFIIJ=)J=J=Jp=bDRVDR02yV`%Z\=ٔZt;Q-Z>9\Y\=^Fy^\Eb==Eb>dQ 5f5f?Q 9j5f4)f/BYhyjjBCBIBWBB =BByDBel;B*E@ @@/2@AI I!O-N>9 p2h,;ʠ?AE2 E2E2&E0"E2:*E2M:VE24ZE0BE2>8F@>@>w<ٱ> Ȼ JAHRS rotation from veh to nav: [[0.959034,0.282826,0.016218],[-0.282887,0.959152,0.001581],[-0.015108,-0.006104,0.999867]]>Hh??]?@ҿ`_?Y?`y?i>F@I><^;>CYR?ByRIi5Mb@Mb@Mb@1111 195ʡE?bX9ȶ?I +Y5->y5E=59415A 5 A)11Y5A IIbDMVDMܲy]%e?=ٔe{i;Q-e>9aYi=mFym\Emg(=Em>qQ 5}5u?Q 95u5)u+BY>Q E;yzQ I@uDIu:iuQ:u5yʔBɮU)A-E]DNOT Ignoring new targets: 25.66 m.hYhY*ha"ha hagafafifmBdddjdZd`d.@zBɢ =) ?i)}ո<iMi  II@ @@/@9A)I9IIOUu>yԑ 8h,[ ?A4<ɰ2t@2o@2<ٱ2PWI :AHRS rotation from veh to nav: [[0.963765,0.266240,0.016549],[-0.266254,0.963902,-0.001385],[-0.016320,-0.003072,0.999862]]2H )? ?>?N ѿH?VG *i?i2t@I21T^;2CqY>ByIbDVDyz=%7=ٔ1;Q->9Y=Fy\E^=E>Q 55!?Q 95-5)'BYylQ I@DI;ip:w5yɮZ)ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffd!d!d!jd!Zd%B A B ޿>B B IB /BB =B B xDB Ml;B *E >h,~?AN% @N@N<ٱN]^0: VAHRS rotation from veh to nav: [[0.968401,0.248822,0.016971],[-0.248771,0.968549,-0.005054],[-0.017695,0.000673,0.999843]]NH@#?d? `?ϿZ?t@ F? ?iN% @INgS^;NC p)zkAzOxx!!i-+I))I1i5kA 5h1)11 =kA=+YYaepAIa)aia)aImkAmi iimkAu`eiqqiqq)q ՙIՙYY@ByI bDVDy];%X=ٔn;Q->9Y=Fy\E B=E>!Q 5-5%?Q 9-5%.5)%$BY)y-fQ I-@%DI%K:i% :%"5yaɮmQ)AiDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddd)jd9Zd=w0@颅zBɢ_=) ?i)<iXViIIIeA)fA}9@y @y@y@E EE%E"E&:*E:VE 4ZEBE`; k> 1C 'G hA1 e ÿ9e hAYe ;AQ Eh,?AY9y9i=Mb@Mb@Mb@9999 99=\(\?V-?Y=>y=h===A=A = A)=A9Y=AQUAAbDUVDU1ye%eB=ٔmQ-m>9iYq=uFyu\EuEu>yQ 55}?Q 95}k5)}"BYa>Q E;yrQ I@}DI}.;i} /;}5y̔Bɮa)ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBdddjdZdj0@)zBɢn-=) ?i)<i[iII9@ @@/@YAII O>ԁ D <D E  E E E "E :*E Ǚ:VE ZE a @a @a @a @Kh,̚1?A0:5@:u0@:<ٱ::; FAHRS rotation from veh to nav: [[0.976818,0.213233,0.018949],[-0.213078,0.976985,-0.009888],[-0.020621,0.005621,0.999772]]:H B? 6K? Lg? F˿vC?@ @  w?!?i:5@I:G^;:CY<ByIbD5VD5ye%e\=ٔmP9iYq=uFyu\Eu=Eu>yQ 55}Qá?Q 95}5)}!BYyEQ I@}DI}:i}:}5yɮo)ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZdU@0@B>BCBIBBB =BBzDB[l;B*EgzBɢ=) ?i)$<i_i )1I1I1ԉ9@ @@0@ԹAI!I1O=r>9 Rh,vK?AE$ E&E&$E$"E$*E&:VE&4ZE$BE&<@ѻ@>@>u<ٱ> s < JAHRS rotation from veh to nav: [[0.980659,0.194703,0.019950],[-0.194479,0.980825,-0.012633],[-0.022027,0.008509,0.999721]]>Ha?@ ?m?ȿb?߉@G@>m? ?i>@ѻ@I>=^;>C|Y/ByIiMb@Mb@Mb@ 9K7?Q?Y>y\=A K A)1AYQAbDVD1y%E=ٔu^;Q->9Y=Fy\E;=E>Q 55Fѡ?Q 955)BY>Q E;y$Q I@DI;ir;b5y͔Bɮ)A.EDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBd!d!d!jd!Zd-31@NzBɢH=) 9?i)<iydiII 5>i5>)%9@! @!@%0@!A1zA5hAYAqIIO>ԁ Xh, Qe?A2m@2g@2<ٱ2@< :AHRS rotation from veh to nav: [[0.984149,0.176095,0.020999],[-0.175788,0.984303,-0.015693],[-0.023433,0.011753,0.999656]]2H&~?F? ܀?4ƿ i??@/?i2m@I2 c^;2CYB'ByFI Jp9XYX=ZFyZ\E^R=E^>`Q 5f5bݡ?Q 9f5b5)bBYhyjGkQ Ij@bDIb:ib:b5ylɮn)ApYmDNOT Ignoring new targets: 25.66 m.hihi*hi"hi higqfqfqfqdddjdZd@1@ 6zBɢ E=) z ?i)<11i5ԱB>BBIB~BB =BBBl;B*EB}CB}CByB} =B} =C}A76 _h,,?A;ɰ4<2 @2w@2B<ٱ2{< :AHRS rotation from veh to nav: [[0.987339,0.157111,0.021879],[-0.156699,0.987456,-0.019413],[-0.024655,0.015739,0.999572]]2HG?6?g?Ŀ`9\Y\=^Fy^\EbC=Eb>dQ 5f5fc롊?Q 9j5f5)fBYhyj+9 eh,?A:`@:1@:<ٱ:< RAHRS rotation from veh to nav: [[0.990173,0.137820,0.023720],[-0.137292,0.990272,-0.022630],[-0.026608,0.019151,0.999462]]:H??`$J?ɒO?f, B?`f??i:`@I: [^;:CYf"ByfIiMb@Mb@Mb@ 9S?V-?Y/>yh=AA  A)AYAbDVDfy%%%5=ٔ-;Q-->9)Y)=5Fy5\E51=E5>9Q 5E5=?Q 9E5=b5)=BYM&>Q EM:yMibEjEw4rE..Eu  Eu Eq Eq "Eu :*Eu :VEq ZEq a @a @a @a @i I Aԙ !lh,mᲡ?AY~KBy~I @A @AbDVDy%~=%%]=ٔ%Q-->9)Y)=-Fy-]E5E5>9Q 5E5= ?Q 9E5=G5)=BYAyAQ IM@=DI=2:i=K:=\ 5yQɮUM)AQ}DNOT Ignoring new targets: 25.66 m.hyhy*h"h hgfffdddjdZdn2@颽yBɢj>)  ?i)=i(xiIIBe>BeCBeIBe~BBe =BaBaBeal;Be*EyԡѼ@ @@/@I I O > sh,̡?AE EE(E"E;*Eą:VEc44ZEBE@BynIiMb@Mb@Mb@ 9Q?Zd;O?y&1|?Y(>yj=`;AA )^AYGAbDVD:y%>=ٔN;Q->9Y=Fy]E=E> Q 55 ?Q 95 4) BY+>Q E:y4=Q I@ DI };i ; ="5y%єBɮ%)A-0EUDNOT Ignoring new targets: 25.66 m.hQhQ*hQ"hQ hQgYfYfYf].BdadadajdaZde:3@额yBɢ,=) ?i)M=顡i%z}iIIQK@ @@/@II)O5P>ԁԩ &5yh,?A2@2Ò@2=ٱ2< :AHRS rotation from veh to nav: [[0.996476,0.078545,0.029426],[-0.077653,0.996519,-0.030319],[-0.031705,0.027927,0.999107]]2H "??@!? ᳿|? ;혜?`?i2@I2S^;2C9\Y\=^Fy^ ]Eb,c=Eb>dQ 5j5f&?Q 9j5f)4)fBYhyj>Q Ij@fDIf;if ;f#5ypɮr<)Ap DNOT Ignoring new targets: 25.66 m.h h *h "h hgfffddd!jd!Zd%@ė3@MyBɢU >)Q U?iQ)]v =YYi]Q:iaaaIaIiE= E=E=$E9"E=;*E=:VE=4ZE9aM@aM@aM@aM@ԩ31@1 @1@5/@9AAzAEfAIIO>BU>BUCBUIBU~BBU =BQBU{DBUl;BU*Ea h,Su?A:?@::@:e =ٱ:'d= BAHRS rotation from veh to nav: [[0.997782,0.058279,0.032159],[-0.057210,0.997809,-0.033236],[-0.034026,0.031322,0.998930]]:H?@֭?/w?`J ?@G kw ? 9Y=Fy]ErJ=E>!Q 5%5%6?Q 9-5%n3)%BY)y->Q I-@%DI%:i%:%%5y5ҔB9ɮ=)AAmDNOT Ignoring new targets: 25.66 m.hihi*hi"hi higifqfqfqdqdydyjdyZd}4@颭yBɢ>) ?i)Z=顱iiIIiEM EMEIEI"EM;*EMP:VEIZEIBEIaU2EIa]JEMsyu=uuIAq u A)qqYuAbDVDԙyU%A=ٔ;Q->9Y=Fy]EK=E>Q 55F?Q 95V2)BYB>Q E:y(T>Q I@ DI:i:}'5yɮ9)ADNOT Ignoring new targets: 25.66 m.hh*h"h  h g f ff5BdddjdZdn4@EyBɢM= >)I M?iI)f=iiIIe9@a @a@m5@iI I!O-->EU  EU EU (EQ "EU ;*EU :VEU c44ZEQ ae @ae @ae @ae @ foh,$(4?A2@2@2!=ٱ2* = >AHRS rotation from veh to nav: [[0.999109,0.016666,0.038772],[-0.015386,0.999334,-0.033076],[-0.039297,0.032450,0.998701]]2H?@?٣?ڂ ?I@9\Y\=^Fy^]Ebd=Eb>dQ 5f5f^U?Q 9j5fH1)fBYhyji>Q Ij@fDIf:if|:f)5yrԔBɮr(Ar1E DNOT Ignoring new targets: 25.66 m.h h *h "h hgfffdddjdZd`4@B>BCBIB~BBBBDBBl;B*E-pyBɢ->)1 5?i1)=VR=99i=\iYYYIYIa @  @ @ 4@ !AYIiIyOZ>Qy Ee  Ee Ee &Ea "Ee %;*Ee :VEe 4ZEa BEe KAHRS rotation from veh to nav: [[0.999111,-0.003941,0.041974],[0.005278,0.999481,-0.031779],[-0.041827,0.031972,0.998613]]6H?$p}? u??\E`Tj^??i6P@@I6B^;6CYbxBybIiMMb@Mb@Mb@IIII I9MbX9?333333?y&1|?YME>yM>M`;MAI I)M/AIYMAbDVDyY<%5=ٔ;Q->9Y= Fy ]E <=E >Q 55g?Q 95z/)BY%?Q E%:y%*>Q I%@DI? ;i:+5y-Bɮ-%(A5(E9]DNOT Ignoring new targets: 25.66 m.hYha*ha"ha hagafafifmABdididqjdqZd}@VA5@颥VyBɢ=>) @?i)h=顩i)iIIG)59@1 @1@5/@1]v9YYeb`AaIQIqO}X>ԑԹ h,g?A:@:<:7=ٱ:`= FAHRS rotation from veh to nav: [[0.998636,-0.025201,0.045737],[0.026656,0.999149,-0.031488],[-0.044904,0.032664,0.998457]]:H?@MΙj?@K?`?*U?`\?i:@I:R^;8Y^By^'IbDjVDjyn==%ra=ٔr 9tYt=vFyv ]Evp=Ez>xQ 5~5z7v?Q 95z-)z BYy>Q I@zDIz;iz;z,5y ”Bɮ'A=DNOT Ignoring new targets: 25.66 m.h9h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU`O5@}AyBɢ}*>) ?i) M"=顁iǎiIIԱE% E%E!E!"E% ;*E%:VE!ZE!a-@a-@a-@a5@U9@Q @Q@U/@QIIIYOe4>AAAAB>BBIBBBBBBl;B*E 9 Uih,˹?A=F@=E==˹D=ٱ= = MAHRS rotation from veh to nav: [[0.997690,-0.046450,0.049560],[0.048050,0.998345,-0.031600],[-0.048010,0.033908,0.998271]]=H`?`Nȧ@_?` ?q?-͔`a\?@?i=F@I=~?^;9YeBye/IIm%=)mbDuVDuy<%@=ٔ;Q->9Y=Fy$]EN=E>Q 55+?Q 95+) BYy>Q I@#DI:i :.5yɮ'ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd 6@%(yBɢ%>)! %?i))-='=))i-Ri111I1I9A9@ @@/@AzAIiIO>E% E%E%'E!"E%~ ;*E%$:VE%'4ZE!BE%VAHRS rotation from veh to nav: [[0.996238,-0.068033,0.053670],[0.069876,0.997002,-0.033242],[-0.051247,0.036867,0.998005]]2H/?`j z?a? p?=9??i2R@I2r^;2CYFByF5IiMb@Mb@Mb@ 9 ףp= ?-?:v?YQ>y?5>T<AA K A)AYA -<-p<bD5VD5:y'<%H=ٔF9Y=Fy(]E`Z=E>Q 55~?Q 95))BY6?Q E:yU>Q I@*DIJ;iuI;S05yĔBɮ'A)EDNOT Ignoring new targets: 25.66 m.hh*h"h hgf!f!f%Bd!d)d)jd)Zd-}t6@]yBɢ]:W>)Y e+?ia)ep-=aaieZqiiiqIqIqԉ!@! @)@-/@)IIO >ԱD- %=D- =E=  E= E= &E9 "E= ;*E= :VE= 4ZE9 aE @aE @aE @aM @ gh,w?Aɰ;2/@2@ɻ=2)b=ٱ23)= :AHRS rotation from veh to nav: [[0.994282,-0.089219,0.058676],[0.091425,0.995160,-0.036031],[-0.055177,0.041189,0.997627]]2H(?׶` ?g?Y?r`8@??i2/@I2"J^;2CYBByF?IbDNVDN02yVH&=%V[=ٔVh.9XYX=ZFyZ,]E^p=E^>`Q 5f5b?Q 9f5b')bBYhyjW>Q Ij@b0DIb:ib:b15lypɮrY'Ap DNOT Ignoring new targets: 25.66 m.h h *h"h hgfffddd!jd!Zd%@26@UxBɢU)>)Q U?iQ)]~2=YYi] iaaaIaIiB->B-CB-IB-%BB- =B)B-|DB-k;B)BeCBeCBaBe =Be =Ce5 @ @@l0@IIO= 1a E=  E= E= $E9 "E= %;*E= k:VE= 4ZE9 BE= Kt<xAA  A)rAYAbDVD!y2%;=ٔK9Y=Fy0]EN=E>Q 55y?Q 95$)BYZ?Q E:yC>Q I@8DI ;ie ;35yŔBɮx'A*EmDNOT Ignoring new targets: 25.66 m.hihi*hi"hi higfffBdddjdZd 2G7@-xBɢ5P>)1 5w?i1)58=99i= i9AAIAIAIUfA)Qi9@ @@n0@A>A>IIOn>ԑ йh,N(?A2m@2 >2 =ٱ2\8= :AHRS rotation from veh to nav: [[0.988819,-0.132360,0.068687],[0.135054,0.990178,-0.036159],[-0.063227,0.045031,0.996983]]2Hg?*@~? oI?`?@o/T?`H?i2m@I2L^;2CYBByFBIHJAAbDNVDN:yV<%V]=ٔZ79XYX=ZFyZ4]E^r=E~>Q 5 5?Ȣ?Q 9 5!)BYy?Q I@?DI:i:55yɮ%Q'A!mDNOT Ignoring new targets: 25.66 m.hihi*hi"hi higifqfqfqԙdddjdZd"7@%xBɢ%0>)! %M?i))-(>=))i-tiYYYIYIaDzDbEjE24rE.0E EE)E"E ;*E:VEFA4ZEa@a @a @a @59@1 @1@54@1I!I1OEQ>B%>B!B%IB%/BB!B!B!B%"l;B%*E h,d?A2$ @2@c!>2ω=ٱ23= :AHRS rotation from veh to nav: [[0.985371,-0.153901,0.073204],[0.156598,0.987123,-0.032626],[-0.067240,0.043613,0.996783]]2H(? ÿw?i ??`i 6gT??i2$ @I20^;2CYFByFAIbDNVDNyVQ%VJ=ٔV-#9XYX=ZFyZ8]E^]=E^>`Q 5f5bآ?Q 9f5b)bBYdyjb?Q Ij@bFDIb:ib:b<75ynƔBɮnb'An+EDNOT Ignoring new targets: 25.66 m.h h *h "h  h g f ffdddjdYZd]`P 8@颭xBɢ]/>) ?i)C=顱i]iII@ @@/@I1IqO>)E EEE"E;*EVEZEBE@2=ٱ2Kg6= :AHRS rotation from veh to nav: [[0.981329,-0.175817,0.077983],[0.178659,0.983421,-0.031052],[-0.071231,0.044404,0.996471]]2H g?,ƿ? O?/x?̟,<@)? ?i2N@I2[S^;2CY^Byb4IiEMb@Mb@Mb@AAAA A9EMbX?}?5^I?~jt?YE ?yEMb>ED9qYq=uFyu=]EN=E>Q 5 5 뢊?Q 9 5C)BY?Q E:y?Q I@NDI ;iT ;.95y!ɮ%'A!MDNOT Ignoring new targets: 25.66 m.hIhI*hI"hI hIgQQfYfYf]BdadadajdaZdmg{8@额xBɢM$+>) [?i)J=顡iiIIl>i>-9@) @)@-/@)A5gAzA1IIO >ԁԱE  E gE -E "E :*E $;VE t4ZE a @a @a @a @iߩ Iߩ * h,6?A6@6P>6V9=ٱ6iH= BAHRS rotation from veh to nav: [[0.976648,-0.197970,0.083468],[0.201244,0.978994,-0.032738],[-0.075234,0.048771,0.995973]]6H@?Wɿ)^?Y? S? àB@??i6@I6,^;6CYJByJ2I PR<bDV VDV:2y^%^V=ٔ^,9`Y`=bFyb@]Ef=Ef>hQ 5j5j?Q 9n5j&)jBYlyn?Q Ir@jUDIj/;ij];j:5yvȔBɮv'Av,EDNOT Ignoring new targets: 25.66 m.hh*h"h hgff!f!d!d!d!jd)Zd- m8@颅xBɢ-8>) ?i)[O=顑iSiIIB>BBIB%BBBBBB*EԱ 9@  @ @ @ IIO> E%  E% E% %E! "E% ;*E% h:VE% 4ZE! BE% D6K=ٱ69U= >AHRS rotation from veh to nav: [[0.971355,-0.220576,0.088404],[0.224177,0.973990,-0.032998],[-0.078826,0.051871,0.995538]]6HW?`;̿ ?ֱ? *? 堿- Վ?r?i67A  A)AYAbDVD!y<%<=ٔ9Y=FyE]E^=E>Q 55 ?Q 955)BY6?Q E:yo?Q I@]DI:i:<5yɮ'ADNOT Ignoring new targets: 25.66 m.h h *h "h  h g f ffBdddjdZdG9@颍pxBɢѬ0>) ?i)U=顙i9NiIIi@i @i@m/@iII O+>9i eh,pj?A 2,L=2>2ϱ=ٱ2^= >AHRS rotation from veh to nav: [[0.965283,-0.244051,0.093102],[0.247910,0.968246,-0.032241],[-0.082277,0.054203,0.995134]]2H? =Ͽ@շ???@?$?i2,L=I2f^;2CYFtByFIbDN VDN2yV%V\=ٔZu9XYX=^Fy^I]E^*=Eb>`Q 5f5b?Q 9f5b)bBYhyj$?Q Ij@bdDIbK:ib:bL>5ynɔBɮr|(ApDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd੭9@mZxBɢm+6>)i m(?ii)ud[=qqiuΩiIIE EE'E"E~ ;*E:VE'4ZEa@a@a@a@ԉM9@I @I@I@IAU?AU?ԙAIIOb>B>BBIBBB =BBBl;B*E h,QK?A27g=2>2x=ٱ2#nk= :AHRS rotation from veh to nav: [[0.958973,-0.266082,0.097833],[0.270267,0.962250,-0.032112],[-0.085595,0.057236,0.994685]]2H ?|ѿ ?L??p鵿M?u?i27g=I222^;2CYFwByFINAALPbDPVDPyZX;%ZJ=ٔZ9\Y\=^FybM]Ebl=Eb>dQ 5j5f*?Q 9j5f )fBYhyn*?Q In@flDIf:ifj;f@5yrBɮr'Ar#E DNOT Ignoring new targets: 25.66 m.h h*h"h hgfffdd!d!jd!Zd% :@UFxBɢU>>)Q U ?iQ)ea=i:iII 9@  @ @ ^0@ E EE"E"Ef;*E:VE(3ZEBEW 6C%G9Q$k9YUA) 90h,t&?A:=:O>:=ٱ:hk~= BAHRS rotation from veh to nav: [[0.951737,-0.289152,0.102899],[0.293819,0.955285,-0.033198],[-0.088699,0.061830,0.994138]]:Ht?vҿ W?`?఑?@W`??i:=I:M^;:CY^PBybI|iMMb@Mb@Mb@IIII I9MV-?`"?y&1|?YM ?yMw>M`;MAMCA I)MAIYMAbDeVDe!yu%u?=ٔuH;Q-u>9yYy=}Fy}Q]Etl=E>Q 55;?Q 95`)BY?Q E:y5?Q I@tDI ;i ;A5yBɮw(A$EDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBdddjdZd|:@.xBɢn1>) A?i)g=iP®iII)@ @@1@IIOf>QD=D<E EE'E"E;*E':VE'4ZEa@a@a@a@ԁ GZh,K?A2|=2 >2=ٱ2y= :AHRS rotation from veh to nav: [[0.944515,-0.310925,0.105911],[0.315476,0.948493,-0.028900],[-0.091470,0.060709,0.993956]]2H`w9?2ӿ?`0?Z? jA?{?i2|=I2Z8^;2CY,By IbD-VD-k2yE%MM=ٔM;Q-M>9QԁBm>BmCBmIBm~BBm =BiBm{DBmk;Bm*EYQ=FyU]Ef=E>Q 55dJ?Q 95 )BYy;?Q I@|DI=:iV:C5yɮ)ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZdi:@-xBɢ-K=>)) -R?i))-:m=11i5Ni999I9IA@ @@4@AfAzAI1IAOM>ԩ E  E E E "E %;*E Ǚ:VE ZE BE K6:>6B=ٱ67w= >AHRS rotation from veh to nav: [[0.936915,-0.332289,0.108508],[0.336753,0.941254,-0.025259],[-0.093740,0.060206,0.993775]]6H5?9Dտ&ǻ? ]??zݙV`IӮ??i6X>I6^;6CYJByJIiMb@Mb@Mb@ 9d;O?|?5^?y&1|Y?yR>`A )AYA p<p;bDVDy%D=ٔ;Q->9Y=FyY]Ec=E>Q 55Z?Q 95)BY?Q E:y/?Q I@DI:i:E5yBɮ)ADNOT Ignoring new targets: 25.66 m.h h *h "h  h g f ffBdddjdZd L;@MxBɢM89>)I M?iQ)Uss=QQiU|iiYYYIYIa@ @@/@IQIiO}>1Y flh,?Aɰ;2>2<>2=ٱ2-ȁ= :AHRS rotation from veh to nav: [[0.928911,-0.353063,0.111672],[0.357784,0.933474,-0.024851],[-0.095469,0.063038,0.993434]]2H?`ֿ`???ir@p`I#?6?i2>I2^;2CYb~BybIbDnVDnܲyz%zW=ٔzl;Q-~>9|Y=Fy]]E tr=E >Q 5%5i?Q 9%5)BY)y-5?Q I-@DIP;i R;*G5y9ɮ= *AADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffd d d jd Zd ޳;@1颅wBɢ9>) :?i)Rx=顉iE EE&E"E ;*E:VE4ZEa@a@a@a@iIIa9@ @@@I!I1OuW>BYAYBe>BeCBeIBe~BBe =BaBe|DBek;Be*EB%CB%CB%ǓCB!B% =C%ǻ5ԉԹ .Ti,ђ?A6 1>6d=>6zJ=ٱ6A= BAHRS rotation from veh to nav: [[0.920075,-0.374308,0.115566],[0.379378,0.924912,-0.024700],[-0.097642,0.066569,0.992993]]6HAq?@׿?@G? ?K@ ??i6 1>I6];6CYJ~ByJIbDVVDVk1yZ%ZN=ٔ^;Q-^>9`Y`=bFyba]Efr=Ef>dQ 5j5fx?Q 9n5f)fBYlyn;?Q In@fDIf;if;fH5yvBɮv*Av%EDNOT Ignoring new targets: 25.66 m.hh*h"h hgff!f!d!d!d!jd)Zd-<@UwBɢ]}L@>)Y ]?iY)e~=aaie2෼iiiiIiIqԙ9@ @@/@A>A>IIO=E EE(E"ET;*EM:VEc44ZEBEG2D >2>m=ٱ2Ĉ= :AHRS rotation from veh to nav: [[0.910903,-0.395426,0.117878],[0.400407,0.916095,-0.021079],[-0.099652,0.066400,0.992804]]2H&?Nٿ@:-?F?P?@̂? ?i2hH>I2>];2CYF~ByFIiEMb@Mb@Mb@AAAA A9ECl? ףp= ?~jtYE?yEQ8>EDAA EA)EAAYEAYYbDeVDeym%u?=ٔu;Q-u>9yYy=}Fy}f]E\=E>Q 55ƈ?Q 95/)BY?Q E:y9?Q I@DI ;i? ;J5yɮs+ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBdddjdZd`<@wBɢ7>) ?i!)% =!!i%i)))I)I19@ @@/@!AIIO%o>D=DR=bE]Ȁ'4jE]Ȁ'4rE]T0E EE&E"E ;*E:VE4ZEa@a@a@a@I  i,O9?A V>V=ٱV= fAHRS rotation from veh to nav: [[0.901164,-0.416812,0.119048],[0.421267,0.906830,-0.013888],[-0.102168,0.062666,0.992791]]VHU?` ڿy? ??q' ?`?iVm`>IVi];VCYno~ByrxIbDzVDz:BE>BABEFIBE~BBE =BABABEk;BE*Eye|%eK=ٔe;Q-e>9iYi=mFymj]Emk=Eu>yQ 55}[?Q 95})}BYy??Q I@}DI}:i}:}L5yBɮx+AEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd@8<@wBɢ!;>) ?i)҄=i 4i II@ @@0@ԱAIIOI> E  E E 'E "E ;*E Ǚ:VE '4ZE BE /NV>V#=ٱVq= bAHRS rotation from veh to nav: [[0.890909,-0.438186,0.119472],[0.442026,0.896979,-0.006375],[-0.104370,0.058489,0.992817]]VHT?< ܿ@?(J?@?zQ?(?iV Dx>IV];VChYn=~BynZIieMb@Mb@Mb@aaaa a9eeueAa e A)e AaYe AbDVDy%C=ٔ;Q->9Y=Fyn]Eb=E>Q 55?Q 95)BY'?Q E:y\,A 5DNOT Ignoring new targets: 25.66 m.h9h9*h9"h9 h9g9f9fAfEfBdAdAdIjdIZdMS=@颥wBɢ 7>) T?i)=顱iZEiIIe9@a @a@eO0@aAizAiA.AIIOe>)Y i,m?AJ1>J)>Jw=ٱJq= VAHRS rotation from veh to nav: [[0.880097,-0.459087,0.121112],[0.462803,0.886456,-0.002904],[-0.106027,0.058607,0.992635]]JH)?@aݿ 1??]?`g$??iJ1>IJ^;HYf~ByfDI r49  ?Y  ?=Fyr]E@=E>Q 5%5?Q 9%5})BY)y-gB?Q I-@DI:i:O5y5B9ɮ=,A=EeDNOT Ignoring new targets: 25.66 m.hahi*hi"hi higififqfqdqdydyjdyZd} L=@颭wBɢ|>>) K?i)6=顱ij=iIID?AzD?AE EEE"E~ ;*EB:VEZEa@a@a@a@m9@i @i@m4@qaA؟AIIOH>B=>B9B=IB=}BB= =B9B9B=k;B=*Eԑ !i,ۆ?Aɰp;2R>2?2.=ٱ2|= :AHRS rotation from veh to nav: [[0.868765,-0.479556,0.123586],[0.483459,0.875365,-0.001832],[-0.107304,0.061341,0.992332]]2H? ޿X? ?@?^`Mx h?`/?i2R>I2];0ԙY}By0IbDVDܲyَ%0=ٔ35;Q->9"?Y"?=Fyw]EP=E>Q 55ţ?Q 95])|BYyzH?Q I@DI:i:R5yɮj-A=DNOT Ignoring new targets: 25.66 m.h9h9*h9"hA hAgAfAfAfIdIdIdIjdQZdU` +>@颅pwBɢ'T3>) ?i)Q=顉iL¼iIII@I @Q@U4@YE EE&E"El;*EVE4ZEBEYF b'i,p?A `)bkAb'``df lAif'IddIhijkA j,jJF)hl nkAnllprpAIp)pip)pIvkAvtt ttvkAvizyHFxixz;A)x xI|Y|Y}ByIi5Mb@Mb@Mb@1111 1959yYy=Fy{]EE>Q 55ӣ?Q 95)nBY??Q E:y3?Q I@DI ;im ;S5yBɮ-AEeDNOT Ignoring new targets: 25.66 m.haha*ha"ha hagafififmGBdqdqdqjdqZdu >@颭\wBɢ:>) g?i)d=顱iNļiIII)!a@a @a@e3@aAm>Am>Au.AIIO>QE EE%E"E ;*Ev:VE 4ZEa@a@a@a@iI II ԁ -i,A?ABr>BpBrIBrG}BBr =BpBpBrk;Br*EY}ByI@AbDVDky蹽%T=ٔQ->9 ?Y ?=Fy~]EE>Q 554⣊?Q 95)_BYy Q I@DIt;in;jU5y1ɮ=.A9QeDNOT Ignoring new targets: 25.66 m.hihi*hi"hi higqfqfqfqdydydyjdyZd}>@颭IwBɢX@>) 9?i)|z=顱irDƼiII9@ @@/@yA؟AIIOi>ԩE  E E &E "E ;*E :VE 4ZE BE J\Б?Z=ٱ= AHRS rotation from veh to nav: [[0.833154,-0.537253,0.131200],[0.541631,0.840612,0.002732],[-0.111755,0.068786,0.991352]]H@3?,1`&?` U?J?d`f??@(?iv>Ij];CYM}ByUIԹonly read 0 of 1 data item for altitude. Device response is::BD, 8+316.79, +5.78, 9.57, 0.00 a@a a@a a@a a@a bD%VD%0y5n%55=ٔ="9="?Y="?==FyE]EE>EE>IQ 5U5M ?Q 9U5M)MNBQ A]+:YYQ E]:y])E?Q I]@MDIM ;iM>MW5yeBɮe/AeE DNOT Ignoring new targets: 25.66 m.h h *h"h hgfffdddjd!Zd%h?@颍2wBɢ,4>) ?i)=顑i|;ȼiIIE9@A @A@A@AAQIaIqO}> ;i,ZH?AB>B/?B*=ٱB4Y= JAHRS rotation from veh to nav: [[0.820957,-0.555788,0.130880],[0.559703,0.828653,0.008123],[-0.112969,0.066585,0.991365]]BH`GE???T?袀?뼿 ?B?iB>IBY ^;BCYVy}ByVIbD^VD^βyf%f~=ٔjx;Q-j ?9hYh=jFyj]En=En ?pQ 5v5r#?Q 9v5re)rABQ Az :YxQ Ezm:yzJ?Q Iz@rDIr;ir2F?rW5yyɮ}x/ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd@?@ #wBɢ(J>) ?i)7=iʼi!!!I!I)E} E}E}(Ey"E}7;*E}^:VE}c44ZEya@a@a@a@I@ @@/@AzAdAAIIOG>yB >BCBIB|BB =BB}DBk;B*Eԡ Ai,$?A2u>2D?2A=ٱ2 = :AHRS rotation from veh to nav: [[0.808557,-0.573903,0.129890],[0.577272,0.816435,0.013832],[-0.113985,0.063798,0.991432]]2H?`i]=?y?; ?T?". U?Ϲ?i2u>I2];2C@YFw}ByFI N9\Y\=^Fy^]Eb']=Eb>dQ 5j5f ?Q 9j5f)f1BQ Aj9YhQ Ej@:yjQP?Q In@fDIfE:ifb?fX5yrBɮr.ArE DNOT Ignoring new targets: 25.66 m.h h *h"h hgfffddd!jd!Zd%@@@MwBɢUB>)Q U?iQ)=i˼iII9@ @@40@ԱE EE&E"E;*E:VE4ZEBEa2EJ\ Hi,!?Aɰ;:!>:R$?:=ٱ:l= BAHRS rotation from veh to nav: [[0.795669,-0.592390,0.126428],[0.594746,0.803603,0.022351],[-0.114839,0.057408,0.991724]]:Hv?@.? (??I? fd?3?i:!>I:];:CYJX}ByNIla%a% a%a% a%a- a-a- i-Mb@Mb@Mb@)))) )9-X9v?~jt?~jthY-?y-=-D-A-A -xA)-$A)Y-AbDEVDE0yU%UA=ٔU;Q-U>9YYY=]Fy]]EeR=Ee>iQ 5u5ml?Q 9u5mm)m#BQ AuT:Yu?Q E:yF?Q I@mDIm^V;imbU;mZ5yBɮ_/AE]DNOT Ignoring new targets: 25.66 m.hYhY*hY"hY hYgYfafafeEBdididijdiZdmH@@颽vBɢ9>) ?i)=iͼiII 9@ @@0@AIIOb>1E EE)E"E%;*E:VEFA4ZEa@a@a@a@a DNi,;?A25>2`)?2=ٱ2ɕR= :AHRS rotation from veh to nav: [[0.782291,-0.610625,0.123113],[0.611967,0.790273,0.031062],[-0.116260,0.051041,0.991906]]2H?`>@S? I2];2CBF>BFCBFeIBF|BBF =BDBDBFk;BF*EBIBMCBIBM =BICM5YR}ByI !!)-AbD5VD5N2Ay@%J=ٔ`;Q->9Y=Fy]EW=E>Q 55'?Q 95)BYyK?Q I@DI :i:\5yɮz/A%DNOT Ignoring new targets: 25.66 m.h!h!*h!"h! h!g)f)f)f)d1ddjdZd }@@vBɢ@>) L?i) Ÿ=i3ϼi!!)I)I)i9@ @@4@A>A>AI!I1O=r>ԑ E  E E &E "E ;*E ՚:VE 4ZE BE QQN/?>=ٱ!@= %AHRS rotation from veh to nav: [[0.768221,-0.628775,0.120328],[0.629353,0.776191,0.037961],[-0.117267,0.046567,0.992008]]H@C?@;?#??o?.ק??i>I];CԡY6}ByIiMb@Mb@Mb@ 9zG?Mb?I +?Y ?y=94<^Ah!A A)|%AY\ABAbDVD1yx%6=ٔ;Q->9Y=Fy]E S=E> Q 55 16?Q 95 ʾ)  BY?Q E:y X?Q I@ DI 3:i ]: q^5y%Bɮ%/AMEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffmBdddjdZd@@-vBɢ-d[>>)1 5f?i1)5'=11i5Ѽi99AIAIA9@ @@4@A)I1IAOU> Y[i,Io?A2^>285?2=ٱ2;hF= :AHRS rotation from veh to nav: [[0.753240,-0.646490,0.121160],[0.647025,0.761406,0.040244],[-0.118269,0.048080,0.991817]]2H@? Y?n?o]?Ӛ?F??i2^>I2];2CY^<}By^IbDfVDfNyn<%nn=ٔn@;Q-r?9pYp=rFyr]Ev =Ev?xQ 5~5zWA?Q 9~5z)zBY|y~^?Q I@zDIzn;izH;z_5y ɮ /A 5DNOT Ignoring new targets: 25.66 m.h1h1*h9"h9 h9g9fAfYfYdididijdqZdu-@@bE4jEY"4rE$Z/EU EUEQEQ"EUT;*EU1:VEQZEQae@ae@ae@ae@颕vBɢN>):> @?i)U=顙i)ӼiIIa@a @i@m/@i!AqAqB}>B}CB}FIB}||BB} =ByB}|DB}k;B}*EA.AIIOe>Iq >bi,j?A6\?6;?6=ٱ6d= BAHRS rotation from veh to nav: [[0.737361,-0.663686,0.125774],[0.664871,0.745967,0.038465],[-0.119352,0.055261,0.991313]]6Hv?<`?F??ఱ?ߍ0K?ո?i6\?I6];6CYJI}ByJIIN=)Np;bDVVDV1yZ=%^M=ٔ^M3;Q-b>9b ?Yb ?=bFyb]Efv=Ef>hQ 5n5jM?Q 9n5jԵ)jBYlynd?Q Ir@jDIj;ij;ja5ytɮv/AtDNOT Ignoring new targets: 25.66 m.hh*h"h hgff!f!d!d!d1jd1ZdEA@}vBɢJRN>) ?i)t=顉ilռiIII)QI@Q @Q@U/@QEm EmEm)Ei"Em;*Em:VEmFA4ZEiBEm/Nԩ hhi,D?A2 ?2AA?2=ٱ2[= :AHRS rotation from veh to nav: [[0.721120,-0.680449,0.130291],[0.682211,0.730188,0.037608],[-0.120727,0.061766,0.990762]]2Hi?<]?`?]?@dA?`羿@?@S?i2 ?I2];2CYv8}ByvIiMb@Mb@Mb@ 9Cl??{Gz?Y;?y>ף<AA A)M&AYA 4<p;bDVDNyB%:=ٔN;Q->9Y=Fy]Ed_=E>Q 55u[?Q 95߯)BY"?Q E:y>t?Q I@DI:ij:c5yBɮ:/AE%DNOT Ignoring new targets: 25.66 m.h!h!*h)"h) h)g)f)f1f5sBd1d1d9jd9Zd=@IA@ԱvBɢjD>)  }?i ) m=)1i5׼i199I9I9@ @@ /@ AU؟AIYIqO}z>DqDu<E} E}EyEy"E};*E}:VEyZEya@a@a@a@ 9 :ni,!?AB>BCB?IBr|BB =BB{DBk;B*E&4<ɰ$YM2}ByMIbD]VD]N2ymY%mP=ٔuQ-u>9u"?Yu"?=}Fy}]E}E}>Q 55g?Q 95)BYyQ I@DI :i:Qe5yɮU/ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd{A@ vBɢ fR>)  ?i )=iټiII!9]@ @@/@i Aa Ii Iy O >E  E E +E "E ;*E h:VE [4ZE BE Rj<rA #A A)(AYAbDVD0y<%5=ٔQ->9Y=Fy]EE>Q 55u?Q 95У)BY5-?Q E:y~?Q I@ DaI) ?i)%V=!!i%%ܼi)))I)I1Q9ԑ9@ @@0@A>A>A! I1 IA O] >Թ ɤ{i,R?APY(}ByI)-AAbD5VD5k1yEr%Ei=ٔAQ-E>9IYI=MFyM]EQEU>YQ 5e5]o?Q 9e5])]BYayaQ Ie@](DI]$:i]:]h5yqɮu/AqDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZdA@D5@AzD5@AE= E=E='E9"E==;*E=B:VE='4ZE9aM@aM@aM@aM@}hvBɢ}^>)y ?i)>=顁i{:޼iIIB->B-CB-9IB-h|BB- =B)B-|DB-l;B-*E`>@ @@/@ PExceeded connect timeout, disconnecting.I AY Ii I O >i, ?AY%,}By%IbD5VD5:yE<%EJ=ٔIQ-M>9IYI=MFyM]EQEU>YQ 5e5]?Q 9e5])]BYayiQ Im@]0DIYiY]j5yqɮus/AqDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZdbB@VvBɢT>) ?i)r=iiIII EU EUEU(EQ"EUf;*EU՚:VEUc44ZEQBEUWԡ ̶i,$?A2\)(?2_?2>ٱ2n= :AHRS rotation from veh to nav: [[0.635845,-0.761534,0.125568],[0.761373,0.645558,0.059721],[-0.126541,0.057631,0.990286]]2H`X?{^?)]?i?@?`}2с?l?i2\)(?I2v];2CYR7}ByVIIZ<)Z5T<5A5$A 1)5)A1Y5fAbDVDyg<%D=ٔe9Y=Fy]Eď>E>Q 55ڗ?Q 95:)BY=?Q E:y?Q I@:DIN;i;jl5yBɮJ/AE DNOT Ignoring new targets: 25.66 m.h h *h "h  h gfff΁Bdddjd!Zd%KB@MDvBɢM V>)Q Ul?iQ)]{l=YYi]iaeHEU EUEQEQ"EU ;*EU:VEQZEQae@ae@ae@ae@iI B% >B! B% 3IB% ]|BB! B! B! B% l;B% *Ei,\>?AJ4?Jl?JSv>ٱJkn= RAHRS rotation from veh to nav: [[0.597436,-0.792269,0.124018],[0.791473,0.607439,0.067735],[-0.128997,0.057690,0.989965]]JH2?CZ?@S?$p? W?z? ̭?iJ4?IJ];JCY^}By^I dfbDdVDdyn%rV=ٔr;Q-r>9tYt=vFyv]Ev >Ev>xQ 5~5z?Q 95z\)zBYy?Q I@zCDIz;iz;zn5y pBɮ./AE=DNOT Ignoring new targets: 25.66 m.h9h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM|B@Թ3vBɢr[>) ,?i)=ii  X< HcI I5nManaging dock network, ignoring radio surface power off@ @@/@IIIaOm>EE  EE EE %EA "EE I;*EE :VEE 4ZEA BEE ejף;A A)3+AY AbDVD:yۼ%/=ٔQ->9Y=Fy]EE>Q 55˫?Q 9 5s)BYH?Q E:y?Q I@ODI0;id.;p5yɮa/AMDNOT Ignoring new targets: 25.66 m.hIhI*hI"hI hIgIfQfQfUBdQdYdYjdYZd]B@颍vBɢQ>) ?i)k=顑i7i <-jIIY@Y @Y@]/@YyIIOI>ԩ i,r?AY-|By-I 11bD=VD=kyMVw%Mi=ٔQQ-U>9QYQ=UFy]]EYE]>aQ 5m5e?Q 9m5ez)eBYqyqQ Iu@eXDIe:ie:eq5yyɮ/AEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZdqB@vBɢ?d>) 7?i)W=i ]iv<CkIIE5 E5E5'E1"E5l;*E5Ǚ:VE5'4ZE1aE@aE@aE@aE@1@ @@/@AA?AB>BB&IBI|BB =BB{DBl;B*EBBCBB =B =C 6Y^AE2A>A>II O>ԉ ڢi,U?A0F|tH?F%?F>ٱFO= NAHRS rotation from veh to nav: [[0.534543,-0.835637,0.126389],[0.834601,0.545485,0.076730],[-0.133062,0.064469,0.989009]]FH?-? ? t??)@ ??iF|tH?IF}];FCYZ|ByZ}IbDVDyև%A=ٔ9Y=Fy]E8:>E>Q 55?Q 95zr)uBY y ?Q I @bDI:i:s5yɮ.0A=DNOT Ignoring new targets: 25.66 m.hAhA*hA"hA hAgAfAfIfIdIdIdQjdQZdUC@颅uBɢHY>) ?i)=顉ii4<T#IIԉI@I @I@M0@I^A%iE5 E5E5&E1"E5=;*E5Z:VE54ZE1BE5{I r i,K祦?ABN?BU?BF >ٱB$= NAHRS rotation from veh to nav: [[0.513485,-0.849126,0.123766],[0.847472,0.524452,0.082101],[-0.134623,0.062730,0.988909]]BHxn?@ ,?~?O??T;@?%?iBN?IB];BCYV|ByVhIXi5Mb@Mb@Mb@1111 195 rh?)\(?S㥛Y5L?y5Ga>5/ݼ5A5)A 5A)5,A1Y5="AbD]VD]:2ye%mR=ٔm;Q-m>9u ?Yu ?=uFyu]Eu=E}>yQ 55}Uä?Q 95}cj)}]BYDT?Q E:yJ?Q I@}lDI}u ;i} ;}4u5y\Bɮ0AEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBdddjdZdsMC@颅uBɢ[>) ?i)=顩iib<QII}9@ @@f0@@fA@fA^A]-Qj AIIO>bE-4jEB CB IB |BB B B B k;B *E 0i,?A2%U?2Wm?2 >ٱ2?= >AHRS rotation from veh to nav: [[0.492759,-0.861629,0.121593],[0.859455,0.503775,0.086873],[-0.136108,0.061697,0.988771]]2H[?@v ??`? I=?@k?@?i2%U?I2 ];2CYF|ByFQIIJ<)J=bDRVDRfyZZ%ZW=ٔZB;Q-Z>9\Y|=~Fy~]E)=E> Q 55 ɤ?Q 95 Fb) DBYyc?Q I@ wDI ;i %; v5yAɮE0AADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd`C@uBɢ5S^>)1 5?i9)=S=99i=ĵiAE_EE  EE EE (EA "EE ;*EE :VEE c44ZEA BEE Oٱ/o= AHRS rotation from veh to nav: [[0.473018,-0.873264,0.116897],[0.870235,0.483807,0.092854],[-0.137642,0.057806,0.988794]]HE?@?@?? Hŷ?>Ϙ?2?i0Z?IE];Yl|By<IiMb@Mb@Mb@ 9q= ףp??lYK?yL>A'A )C/AYf"A p<p<bDVDy-썽%5(=ٔ5P;Q-5>9="?Y="?==Fy=]E=B=E=>AQ 5M5EѤ?Q 9U5EfX)E#BYUR?Q EU:yU?Q IU@EDIEe:iE7:Ex5yYɮe11AaDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBdddjdZdbC@uBɢT>) $?i)9v=ii<IIԡY@Y @Y@e4@a^A57`Ae.AIqIO> DDi,;s?Aɰp;6Q`?6D?6&>ٱ6^w[= >AHRS rotation from veh to nav: [[0.454162,-0.883952,0.111201],[0.880025,0.464560,0.098695],[-0.138901,0.053036,0.988885]]6H ?UIw?@))? Z?D? '?@?i6Q`?I6v];4YF3|ByFIbDRVDRβyZ-1%Z~=ٔZU;Q-Z ?9^ ?Y^ ?=^Fy^]EbE=Eb ?dQ 5j5f֤?Q 9j5fQ)f BYhynR?Q In@fDIf;if;fez5ypɮr2Ap DNOT Ignoring new targets: 25.66 m.h h*h"h hgfffdd!d!jd!Zd%C@UuBɢU`Rh>)Q U?iY)]ǖ=YYi]~iaeRBeCBeIBe{BBe =BaBe|DBek;Be*EA؟AIIOH>)Q (i,@ ?A:hٱ:9D= FAHRS rotation from veh to nav: [[0.437080,-0.893280,0.104934],[0.888377,0.446993,0.104804],[-0.140524,0.047413,0.988941]]:H?@ܺ?m??wԺ?@F?@h?i:h9f"?Yf"?=fFyf]Ej!B=Ej>lQ 5r5n]ܤ?Q 9r5nFI)nBYpyrƮ?Q Ir@nDIn;in;n*|5yzHBɮz'2AzEDNOT Ignoring new targets: 25.66 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5dD@]uBɢeܛY>)a e?ia)e8=iiimKiiuutA>iAI!I9E= E=E9E9"E=7;*E=Ǚ:VE9ZE9BE=Zԉ Si,'?A.i?.ϴ?.>ٱ.= :AHRS rotation from veh to nav: [[0.421869,-0.901631,0.095333],[0.895459,0.430824,0.111998],[-0.142053,0.038118,0.989125]].H?(g??@??@.¿.?@?i.i?I.3];,YR{ByRIieMb@Mb@Mb@aaaa a9euV?I +?A`"YerH?ye94>eYe$Aa eA)aaYe"Aqu@AbD}VD}k2y%>=ٔNk;Q->9Y=Fy]EW!=E>Q 55g⤊?Q 95@)BYM?Q E:yӭ?Q I@DI:i ; ~5yɮ3ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBdddjd Zd  PD@5uBɢ=fT>)9 =?i9)==AAiEgiAM`Be >Be CBe ~IBe 7{BBa Ba Ba Be k;Be *E :i,Q@?A2'm?2?2>ٱ2< :AHRS rotation from veh to nav: [[0.409210,-0.908916,0.080121],[0.901058,0.416371,0.121366],[-0.143672,0.022530,0.989369]]2H0?@`ւ?w?@ҥ?`?c¿??i2'm?I2];0YF{ByFIbDN VDN:2yV0%VZ=ٔZǎ;Q-Z>9XYX=^Fy^]E^=E^>`Q 5f5bX礊?Q 9f5b8)bBYhyj?Q Ij@bDIb:ibg:b5ypɮr4Ap DNOT Ignoring new targets: 25.66 m.h h *h "h hgfffdydydyjdyZdD@uBɢ W>) u?i);X=i<iiǐ<[II9@ @@/@^AmAIIOb>I  G5 hAI u zr9} hAY} \AE=  E= E= (E9 "E= ;*E= Ǚ:VE= c44ZE9 BE= L`e A A)0AY#AbDVD:yC%+=ٔQ->9Y=Fy]EE>IQ 5M5?Q 9U5/)BYUF?Q EU:yU ?Q IU@DI/)i mw?iq)uD=qqiuiy}KR<}AdIyI@ @@@y^AA! I1 II O] >ԡ +i,dt?A6Ks?6l?6 D>ٱ6A@ BAHRS rotation from veh to nav: [[0.388282,-0.920160,0.050424],[0.909711,0.391463,0.138503],[-0.147184,-0.007907,0.989078]]6H ?q 4ѩ?@Z? ?t?¿X1?i6Ks?I6-];6CYN{ByNfI V;V4<bDVVDV3y^9%bv=ٔb/) >?i)=顑iHi<A IIDYzDYE EE&E"E1;*E5:VE4ZEa@a@a@a@m9@q @q@u5@qԩB >BB,IBzBB =BBBgk;By*E^AȄA I I  O >vi,U?A4<ɰ4<2u?2v?2s>ٱ2 :AHRS rotation from veh to nav: [[0.380787,-0.923939,0.036573],[0.912531,0.381883,0.146469],[-0.149295,-0.022399,0.988539]]2H^??s3?@p?@}?ÿ?i2u?I2];2CYFzByFBIbDjVDjk2lyv%vH=ٔv̪;Q-z>9xYx=zFyz]E~ڡ<E~>Q 5 5?Q 9 5=!)FBY y?Q I@DI:i:5yɮI6AMDNOT Ignoring new targets: 25.66 m.hIhI*hI"hI hIgQfQfQfQdYdYdYjdaZde E@颍_uBɢʆO>) Į?i)P=顑i|iҍ<PIIU9@Q @Q@U4@Q@]=@],> ^AM;hEu EuEqEq"Eux;*Eu:VEqZEqBEuBg9a ȡi,ٱ2 :AHRS rotation from veh to nav: [[0.374233,-0.926978,0.025727],[0.914897,0.373600,0.152927],[-0.151371,-0.033692,0.987903]]2Hm?ͩBX?@F? ??!`ÿ@?i2v?I2[^;2CY^zBy^&I ``9iMb@Mb@Mb@ 9V-?q= ףp?Y=ٔR;Q->9 ?Y ?=Fy]E<E>Q 55?Q 952)"BY??Q E:yJ?Q I@DI ;i ;䆃5yɮ6ADNOT Ignoring new targets: 25.66 m.hh*h"h! h!g!f!f)f-^Bd1d1d9jd9Zd=`TE@颅OuBɢnK>) )?i)1=i iv<ʼI!I!i@ @@4@ԡEu EuEu)Eq"Eu ;*EuB:VEuFA4ZEqa}@a}@a@a@^AGii Ii A ؟AB >B B IB $zBB =B B }DB pk;B *EBCBCBʔCBB =Cʀ5IQ Ia Om >i,>§?A2Lx?2?2d>ٱ2: :AHRS rotation from veh to nav: [[0.369076,-0.929280,0.014875],[0.916702,0.366624,0.158882],[-0.153100,-0.045003,0.987185]]2H`?v?U?v?`@V?Řÿ ?i2Lx?I2];2CYFqzByFILNAAbDNVDNNyV!%V\=ٔZ;Q-Z>9Z"?YZ"?=^Fy^]E^t<E^>`Q 5f5b?Q 9f5bH)bBYhyj?Q Ij@bDIb:ib:b5ylɮr7Ap DNOT Ignoring new targets: 25.66 m.h h *h "h  h gfffdddjdZd%E@MAuBɢMR>)Q U?iQ)UE=QQiUp"ԙiCu<II9@ @@/@^AmAIIOf>! E  E E &E "E ;*E :VE 4ZE BE tTٱ\k =AHRS rotation from veh to nav: [[0.365767,-0.930698,0.003903],[0.917702,0.361351,0.165067],[-0.155038,-0.056794,0.986275]]Hh?H2o?]?a ? ?Lÿ`&?iG1y?Idl^;CY]:zBy]IiMb@Mb@Mb@ 91Zd?/$?ˡEY";?y=')Ah!A )4AY&AbD VD:2y % *=ٔb;Q->9Y=Fy]E;E>!Q 5-5%l ?Q 9-5%| )%BY5)i mQ?iq)u9=qqiuѳiy}W<}SIyI!9@9 @9@9@AQ^A ѼA zA fAy A I I O > i,?Ajpy?jʘ?jz!>ٱjW̍ zAHRS rotation from veh to nav: [[0.363649,-0.931513,-0.006571],[0.918175,0.357233,0.171289],[-0.157211,-0.068322,0.985199]]jHF?`za? ??yĿ}?ijpy?Ij“^;hYyByIbD-VD-:y=S%=b=ٔES;Q-E>9AYA=EFyM^EM;EM>YQ 5]5](?Q 9e5])]BYaye;?Q Ie@]DI]k:i]:]25yuBɮu(9AuEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdbEjE*4rEL/E EEE"E%;*E:VEZEa@a@a@a@dd jdZdJE@!uBɢ|`K>) v?i)=  i 85i O9<#ÇIIB!A%p<B5 >B1B5}IB5yBB1B1B5|DB5mk;B5|*E@ @@/@A^A}AIIO>aԑ j,{?A27z?2 ?24 $>ٱ2 :AHRS rotation from veh to nav: [[0.361830,-0.932115,-0.015546],[0.918496,0.353591,0.177029],[-0.159515,-0.078333,0.984083]]2H`7(?h֏ Qd?@:? ?jĿ @}?i27z?I2o^;2CYNyByRI V49)Y)=-Fy-^E5I;E5>9Q 5E5=q?Q 9E5=)=BYAyMd?Q IM@=DI=b:i=:=5yQɮU9AQDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZdF"F@uBɢ6L>) 7?i)j=iti <yIIi@q @q@u0@qE EE%E"E ;*E :VE 4ZEBEL- j,K*?A;ɰ;Y yBy IQiMb@Mb@Mb@ 99Y=Fy ^EE>Q 55 ?Q 95)xBY4?Q E:y_?Q I@DIm ;i ;5yɮZ:A%DNOT Ignoring new targets: 25.66 m.h!h!*h!"h! h!g!f)f)f-'Bd1d1d1jd1Zd5`F@euBɢe|?>) ?i)'=ii8<\~IIԁ@ @@/@E EEE"Ea;*E':VEZEa@a@a@a@ԩ BE >BA BE ,IBE yBBE =BA BA BE jk;BE }*E^A zlA >A > A1 I9 II O] >nj,F?A2sz?2}Q?2%)>ٱ27˽ >AHRS rotation from veh to nav: [[0.359448,-0.932586,-0.032882],[0.918564,0.347394,0.188569],[-0.164434,-0.097985,0.981509]]2H1?ՠ`d?;?@#?@) ſ @h?i2sz?I2c7^;2C @)@F 0DDF&CFkAiF'IJLFHItivlA v,zKkF)xx ~kA~j<~>F|~C~kAI94)#QFi)IkA94 dXF  C  i  iC) IYY%gyBy%`IbD5VD5kyE!%Ef=ٔMe9QYQ=UFyU^EUU;E]>YQ 5e5]%?Q 9e5])]^BYiym?Q Im@] DI]:i];]5yuBɮ}:A}ڥEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZdpF@tBɢCJ>)  ?i)6=iW~i[<'\IIԩ@ @@M1@^A E  E E E "E 7;*E :VE ZE BE Z1 9j,o`?A=+{?=Yt?=+>ٱ=Qc MAHRS rotation from veh to nav: [[0.358317,-0.932633,-0.042472],[0.918552,0.344041,0.194674],[-0.166947,-0.108768,0.979948]]=H? "@辥 d???@^ſ 5ػ[?i=+{?I=6^;=CYYyByXIi}Mb@Mb@Mb@yyyy y9}(\?sh|??I +Y}z4?y}=}9}X3Ay }A)}9AyY})AbDVD1y%6=ٔf;Q-> 9% ?Y% ?=-Fy-^E-L;E->1Q 5=55y,?Q 9=55)5;BYE5?Q EE:yE>?Q IE@5DI5 ;i5m ;55yIɮU:AQ}DNOT Ignoring new targets: 25.66 m.hyhy*hy"hy hygfffPBdddjdZd`F@颽tBɢ@>)` E?i)3=ii<SII]9@Y @Y@]X1@aAa ^A ONA ؟AI I O >j,Oz?A 6K{?6?6.>ٱ6+ >AHRS rotation from veh to nav: [[0.357375,-0.932533,-0.051627],[0.918512,0.340914,0.200282],[-0.169169,-0.118996,0.978377]]6H9U"?YU"?=UFyU^EUL';EU?aQ 5e5e1?Q 9m5e)e BYiymM?Q Im@eDIe:ie:e(5yɮ;AۥE]DNOT Ignoring new targets: 25.66 m.hYhY*hY"hY hYgYfafafadadidijdiZdmF@额tBɢeG>) ?i)\x=顡iiK<HHIIAABBBIBxBBBBBk;B*Ei)@) @)@-4@)ԙ^AmNJNAzAgA A I I O >$j,)?A6b2{?6t?6g0>ٱ6d BAHRS rotation from veh to nav: [[0.357587,-0.931992,-0.059349],[0.918013,0.339135,0.205524],[-0.171419,-0.127976,0.976851]]6H`? c[`? d?N?ſa\B?i6b2{?I6^;4YJxByJIP TT 'GbDr!VDr09u|9qYueAy%F=ٔ$;Q->9Y=Fy^ErE>Q 557?Q 95/)BYy5?Q Iu@%DI)q u*?iq)uE=qyi}Siy <3QIIE EE(E"E7;*Eh:VEc44ZEBEa2EaJE;a:E;a@ @@3@^A ON) A1 II Ii O} >P+j,1_?AhYxBy IiMb@Mb@Mb@ 9n? ףp= ? rhY6?yQ=C9Ah!A A);AYz,A ;;bDVD:2y.i%D=ٔQ->9Y=Fy^EE>Q 55=?Q 95)BY7?Q E:ys?Q I@.DI;i);Ș5yBɮ1)I Mу?iI)Mj=IIiMiQUZBCBIBGxBB =BB}DBk;B*E= 9@A  @A @E 4@A Y ^A ԉ AIIO?3j,qϨ?A4<ɰ4<2`{?2?2s4>ٱ2 NAHRS rotation from veh to nav: [[0.356686,-0.932381,-0.058656],[0.917628,0.337876,0.209282],[-0.175312,-0.128473,0.976095]]2H?@75]??@?pƿq*9pYp=rFyr$^Er:Er>tQ 5~5vD?Q 9~5v)vBY|y~?Q I~@v9DIv;ivB;v5y ɮ )y }5?iy)}=yyii4<HIIE EE$E"Ex;*E:VE4ZEBEBga:j,?A^w{?^&?^_6>ٱ^`P jAHRS rotation from veh to nav: [[0.356236,-0.932576,-0.058286],[0.917416,0.337244,0.211221],[-0.177323,-0.128718,0.975699]]^H`?@׭y[? f?`M ? ƿy8?i^w{?I^y3^;^CYrxByrIimMb@Mb@Mb@iiii i9m$C?EԸ?I +Ym:?ym=m9mQ9Y=Fy)^E9:E>Q 55K?Q 95)BY;?Q E:yc?Q I@DDI2 ;iT ;5yɮ=ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddd jd Zd G@Y颕tBɢ(;>) ?i)=顙ii!x<MEIIԁE% E%E%(E!"E%+$;*E%:VE%c44ZE!a-@a-@a-@a-@Ia)aԱ @  @ @ 1@ B A <B% >B! B% wIB% wBB% =B! B! B% k;B% *EBBCBȓCB =B =C0E5 ^Aq AIIO?-Cj,?A:݃{?:0?::>ٱ:3 BAHRS rotation from veh to nav: [[0.355844,-0.932107,-0.067466],[0.916908,0.334259,0.218062],[-0.180706,-0.139456,0.973600]]:H@'?uEOW?@~d? q?@\!ǿ '?i:݃{?I: ^;:CYjlxByjIppbDrVDryz۽%~$=ٔ~;Q-~>9|Y=Fy.^E9E> Q 55 R?Q 95 ) fBYy\?Q I@ PDI :i : A5y%Bɮ%=A!MDNOT Ignoring new targets: 25.66 m.hIhQ*hQ"hQ hQgQfQfYfYdYdYdajdaZdeH@颍tBɢ};>) ,w?i)=顑ii<6DIIa9@A @A@E/@AԑE EE'E"E;*E:VE'4ZEBE d aIj,(?A2{?2ʙ?2Q;>ٱ2W :AHRS rotation from veh to nav: [[0.354935,-0.932333,-0.069108],[0.917022,0.332816,0.219782],[-0.181910,-0.141382,0.973098]]2H`C? >X? L?!? Hǿ@¿#?i2{?I2J^;2CYBJxByFIi Mb@Mb@Mb@     9 V-?"~j?V-Y |??y S=  >A 9"A A) CA Y 1AbD%VD%y5/%5G=ٔ =;Q->9Y=Fy2^Et ;E>Q 55X?Q 95)?BYA?Q E:yB?Q I@ZDI:ij:5yÓBɮ>)y r?i)=顁i_iZt<7IIQ @  @ @/@@@@@yԩ I bEUɞ4jEU{4rEU/E  E E )E "E *E ':VE FA4ZE a @a @a @a @I O >i I B %>B CB EIB wBB =B B DB gk;B *EzPj,sB?A02H|?2f?2;>ٱ2( >AHRS rotation from veh to nav: [[0.353711,-0.932905,-0.067656],[0.917400,0.331908,0.219579],[-0.182391,-0.139735,0.973246]]2H@3? [QV[?=? (?Xǿ$?i2H|?I2]^;2CYb-xBybIbDjVDj1yrY%rN=ٔrj:Q-v>9tYt=vFyv6^Ez^;Ez>|Q 55~^?Q 95~)~BYyp?Q I @~cDI~;i~ ;~Ȣ5yɮe=A=DNOT Ignoring new targets: 25.66 m.h9h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUH@vtBɢ6B>) m?i)=i0i  `<X&IIaiaԑ9@ @@/@IIO J>Թ Vj,t\\?Aɰ;EB EBEB&E@"EB;*EB8:VEB4ZE@BEB]uٱRO ZAHRS rotation from veh to nav: [[0.352377,-0.933596,-0.065037],[0.917782,0.331143,0.219135],[-0.183047,-0.136907,0.973525]]RHV??`y^?p1? ?nǿ/ '?iRtp|?IR ];RClYvxByvIxzA ~4<~bD VD2y΄%I=ٔ5:Q->99Y9==Fy=:^EEj`;EE>IQ 5U5Mc?Q 9U5M)MBYQyU?Q I@MlDIM!;iM;M5yɮ=ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd`~H@颽itBɢ==>) $j?i)=ii㕄<II1!@! @!@%/@!IIOA>1a \j,6v?AJ|?JU?J@=>ٱJy ZAHRS rotation from veh to nav: [[0.350938,-0.934294,-0.062749],[0.918190,0.330190,0.218866],[-0.183766,-0.134424,0.973735]]JHu?V a?!??ǿ@4(?iJ|?IJ ^;JCYjwByjuI9iMb@Mb@Mb@ 9x&1?i|?5?L7A`堿YA@?y=+CA#A h!A)FAY4AbDVD1y½%==ٔF:Q->9Y=Fy?^Eh;E>Q 5 5Bi?Q 9 5ؕ)BY B?Q E:y?Q I@wDI:i ;q5yBɮh>AEDNOT Ignoring new targets: 25.66 m.hIhI*hI"hI hIgIfIfQfUځBdQdYdYjdYZd] )I Mb?ia)mO0=iiimiqu)BMCBM IBM?wBBM =BIBIBM^k;BM*EIIOD>ԑ cj,?A2|?2b?2g=>ٱ2B4 :AHRS rotation from veh to nav: [[0.350513,-0.934480,-0.062350],[0.918215,0.329774,0.219387],[-0.184452,-0.134149,0.973643]]2H@n?BQ쯿b?@?`?ǿ +`(?i2|?I2`^;2CYBwByBfIbDJVDJ:yRL%Va=ٔV:Q-V>9XYX=ZFyZB^EZm:EZ>\Q 5b5^m?Q 9f5^)^BYdyf?Q If@^DI^:i^:^5yjBɮnG>AnEDNOT Ignoring new targets: 25.66 m.hh*h"h hg f f f dddjdZd@I@ERtBɢE;D>)I Mr_?iI)M2>IIiMiQUՃ<ԙUnIIq@q @q@um0@yE EE&E"E;*ES:VE4ZEBE;r! ij,쩩?A:}?:z?:>>ٱ: BAHRS rotation from veh to nav: [[0.349790,-0.934762,-0.062180],[0.918347,0.329016,0.219969],[-0.185161,-0.134046,0.973523]]:Hb?@֯@c??@'? Yǿn('?i:}?I:c_;:CYJwByJPIIR=)R9IYQ=UFyUG^EU:E]>aQ 5u5eqt?Q 9u5e{)eBY}M?Q E}:y};?Q I}@eDIeO;iepN;e⩃5yBɮ>ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBdddjdZd@UI@9EtBɢ:>) Y?i)]>ii e< I I 9@ @@1@aԑ^AD =D <E  E E *E "E ;*E :VE (N4ZE a @a @a @a @A9 BM %>BM CBM IBM vBBM =BI BI BM k;BM *EIa Iq O >Թ pj,é?A2}?2?2)?>ٱ2\ :AHRS rotation from veh to nav: [[0.348106,-0.935284,-0.063764],[0.918756,0.326854,0.221481],[-0.186306,-0.135683,0.973078]]2H^G?`R`rf?/?@Y?ǿ@^s#?i2}?I2l`;2CYvwByv5IbDVDy ܽ%N=ٔ@;Q->9Y=FyK^E%x;E%>)Q 5-5-gz?Q 955-~)-VBY1y5r?Q I5@-DI-:i-:-5yAɮE?AAmDNOT Ignoring new targets: 25.66 m.hihi*hi"hi hqgqfqfqfydydydyjdZd‡I@颭:tBɢ>>) dQ?i)>项iiO<\IIԙ59@1 @1@54@1^AU[Rӻ = 6Ga y {~9 Y kgAA I I O > wj,rݩ?AE2 E2E2'E0"E2I;*E2 :VE2'4ZE0BE2ej~?>?>Y@>ٱ>Y JAHRS rotation from veh to nav: [[0.346225,-0.935769,-0.066814],[0.919262,0.324173,0.223314],[-0.187312,-0.138736,0.972454]]>H(?@j????ǿW?i>~?I>,`;>CYRYwByRIbDZVDZ 3yb.ý%bO=ٔf);Q-f>9dYd=fFyjO^Ej;Ej>lQ 5r5nI?Q 9r5nv)n-BYtyv?Q Iv@nDIn:in:nV5yxɮz@AxDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZd?I@/tBɢQ:>) J?i)7E> i i <II1IA)A9@ @@/@@gA@fA^A]`ԻI A I I O >@}j,x?AJ~?J4?J̽A>ٱJ VAHRS rotation from veh to nav: [[0.344379,-0.936388,-0.067679],[0.919800,0.322079,0.224129],[-0.188074,-0.139436,0.972207]]JH`O ?`hSn?? C?`ȿ Q?iJ~?IJa;JCY^,wBy^I ``iEMb@Mb@Mb@AAAA A9Eq= ףp?|?5^?ˡEYEK?yE=E'EGAE'A E|%A)EJAAYE8AbD]VD]1ymս%?=ٔ:Q->9Y=FyS^E;E>Q 55?Q 95m)BY}M?Q E:y?Q I@DI:i:C5y Bɮ U@A E5DNOT Ignoring new targets: 25.66 m.h1h9*h9"h9 h9g9f9fAfEBdAdAdIjdIZdMI@}#tBɢ}7>)y }DB?i)>顁iif<{-IIaEu EuEu*Eq"Eu[";*Euk:VEu(N4ZEqa@a@a@a@%9@! @!@%/@!B&>BCBIBvBBBBBk;B*Eԉ^AE Aq I I O >"j,Y?A::~?:h?:B>ٱ: BAHRS rotation from veh to nav: [[0.342855,-0.937005,-0.066869],[0.920186,0.320675,0.224555],[-0.188966,-0.138522,0.972164]]:H@T?Q@*r??9? 0ȿ`?i::~?I:lb;8YJ wByJIPbDVVDV 8y^Ͱ%^W=ٔb";Q-b>9`Yd=fFyfW^Efm;Ef>hQ 5n5j?Q 9n5jf)jBYpyrO?Q Ir@jDIjU;ija;jݰ5ytɮv@AxDNOT Ignoring new targets: 25.66 m.hh*h"h hg!f!f!f!d)d)d)jd)Zd-!J@]tBɢ]:>)a ebaaieziim#) Mj,4+?A2g?2'?2mbC>ٱ2k >AHRS rotation from veh to nav: [[0.341284,-0.937583,-0.066808],[0.920629,0.319079,0.225011],[-0.189649,-0.138298,0.972063]]2H? Zu?k?*?@oFȿó $?i2g?I2b;2CYFvByFIiMb@Mb@Mb@ 9V-?zG?ktYhQ?y = 0HA)A Q&A)tMAYp9AbDVDy%:=ٔ:Q->9Y=Fy[^Ev;E>Q 55L?Q 95])BYiS?Q E:y[?Q I@DI;i;ɲ5yɮHAA E5DNOT Ignoring new targets: 25.66 m.h1h1*h1"h1 h9g9f9f9fE BdAdAdAjdAZdM YJ@= tBɢU4>)Q UZ8?iQ)UM+>QYi]_iYeZԁiq)%9@! @!@%/@)@5>@5>Q^Am NJκE  E E )E "E x;*E :VE FA4ZE a @a @a @a @ԑ B #>B CB dIB ,vBB B B ~DB l;B *EBCBCBB =B =Co5A I I O >4j,E?A2?2?2C>ٱ2 >AHRS rotation from veh to nav: [[0.339262,-0.938474,-0.064562],[0.921260,0.317592,0.224536],[-0.190217,-0.135655,0.972325]]2H@v? `z?lS??Yȿ!]H?i2?I2c;2CYFvByFIIH)J49\Y\=^Fy^_^Eb;Eb>dQ 5j5f꘥?Q 9j5f6V)fBYhyj?Q Ij@fDIf:if:fc5ypɮreBAp DNOT Ignoring new targets: 25.66 m.h h *h "h  hgfffYdddjdZdPJ@tBɢr6>) (?i)A>i7i!%=<%:I!I)9@ @@0@ԉԱ^A9AA II IY Om > _j,^?AE& E&E&%E$"E&;*E&E:VE& 4ZE$BE&oٱB JAHRS rotation from veh to nav: [[0.337711,-0.939195,-0.062154],[0.921722,0.316602,0.224037],[-0.190737,-0.132949,0.972597]]BH`? ү@~?3C?`@?`jȿw?iBe0?IBwc;@YVvByVIbD^VD^fyf%fH=ٔjE:Q-j>9hYh=jFync^EnM;En>pQ 5v5r?Q 9v5rM)rVBYxyz?Q Iz@rDIr:ir$:r+5y~Bɮ~WBAE-DNOT Ignoring new targets: 25.66 m.h)h)*h)"h) h)g)f1f1f1d1d9dAjdAZdEJ@usBɢu3>Թ)uX $?i)O+>i#i!%e<%:;I!I)9@ @@0@^A] ;AE .AII IY Oi A ;j,;x?A6gn?6Y?6D>ٱ6K BAHRS rotation from veh to nav: [[0.335936,-0.939864,-0.061671],[0.922275,0.314944,0.224097],[-0.191198,-0.132160,0.972614]]6H?]@f F? (?7? +yȿ`?i6gn?I67c;6CYJPvByJzIiMb@Mb@Mb@ 9tV?1Zd?I +YR?y"=94LA,A 'A)ZRAY9M ?YU ?=UFyUg^EU;EU>YQ 5e5]m?Q 9m5];E)]'BYmT?Q Em:ymY?Q Im@]DI]a:i]:]5yqɮ}@CAyDNOT Ignoring new targets: 25.66 m.hh*h"h hgfff(BdddjdZd J@esBɢe_.>)i m?ii)m>iiimݳiqu2<};IyIybE-4jE14rE 0E] E]E]'EY"E];*E]:VE]'4ZEYau@au@au@au@@ @@4@B+>BCBIBuBB =BBDB6l;B*E@fA@Aq^AqZ;A I! I9 OE >ԙ qj,?A;ɰ2奀?2&?2~7E>ٱ2 :AHRS rotation from veh to nav: [[0.334360,-0.940359,-0.062681],[0.922804,0.313159,0.224420],[-0.191406,-0.132879,0.972475]]2H%f?k` ?@ ?ɹ?ȿ`, ?i2奀?I2l^c;2CYFvByF[IHHbDNVDN:yV%VU=ٔZ:Q-Z>9XYX=ZFy^k^E^g;E>!Q 5-5%X?Q 9-5%=)%BY)y-?Q I-@%DI%:i%:%5y9ɮ=DA9eDNOT Ignoring new targets: 25.66 m.haha*ha"ha hagifififidqdqdqjdqZduC%K@颥sBɢ/>) x?i)$">顱i,oi <z;IIyu9@q @q@u&4@qԡEe EeEe$Ea"Ee);*Ee^:VEe4ZEaBEeM tj,p}?AB,Ӏ?Bm?BWD>ٱB@ RAHRS rotation from veh to nav: [[0.333111,-0.940721,-0.063878],[0.923339,0.311732,0.224205],[-0.191001,-0.133666,0.972446]]BHQ?cRZ?i??`rȿG?iB,Ӏ?IBdb;BCYbuBybGIiMb@Mb@Mb@ 9bX9?Zd;O?/$YEV?yj=,LAC/A b*A)"SAYf>AbDVDy䍽%9=ٔ?tQ->9"?Y"?=Fyp^EL;E>Q 55k?Q 954)BYW?Q E{:y,?Q I@DI;ie;5y Bɮ DA E=DNOT Ignoring new targets: 25.66 m.h9h9*h9"h9 h9g9fAfAfE2BdAdIdIjdIZdM\K@}sBɢ}H+>)y S ?i)>顁i2i<;III)m9@q @q@u`3@q) Em  Em Em &Ei "Em 1;*Em :VEm 4ZEi a @a @a @a @B ,>B B IB WuBB =B B B ^l;B +Ei I Y ^A ;A.AIIO>ϲj,h˪?A2(׀?2iœ?2v{D>ٱ2 H :AHRS rotation from veh to nav: [[0.333018,-0.940668,-0.065138],[0.923435,0.311386,0.224293],[-0.190702,-0.134844,0.972342]]2H,P?@ڬƌ???@hȿBn?i2(׀?I2]b;2CYVuByV)IbD^VD^k2yfֽ%f4=ٔj/Q-j>9n ?Yn ?=nFynt^En'9En>pQ 5v5r乥?Q 9v5r*)rBYxyz-?Q Iz@rDIrr;ir;r5y~BɮDAE-DNOT Ignoring new targets: 25.66 m.h)h)*h)"h) h)g1f1f1f9d9d9d9jd9ZdEK@msBɢu (>)q u>iq)u>qyi}iy=<;IIm&l@ @@/@^A`;E  E E $E "E ;*E :VE 4ZE BE ;rDj,?A2?2ٜ?2C>ٱ2I :AHRS rotation from veh to nav: [[0.332429,-0.940815,-0.066013],[0.923806,0.310724,0.223683],[-0.189932,-0.135342,0.972424]]2HF?(:氿Џ???OȿR?i2?I2Jb;2CYFuByFIJ=Jp=LN@AbDRVDR:yZ)%ZM=ٔZQ-Z>9\Y`=bFybx^Ej:Ej>|Q 55?Q 95!)mBYyB?Q I@DIV) 6>i)ˉ>项i)iEA >A5؟AIAIQOe?bj, ?AY5\uBy5IiMb@Mb@Mb@ 9:v?"~j?I +YT?yS=94OAr.A ,A)UAY@AbDVD1yB%=ٔQ->9"?Y"?=Fy^E%E%>)Q 555-ɥ?Q 955-{)-,BY=,W?Q E=|:y=B?Q I=@-DI-:i- :-ƒ5yAɮEFAAeB*** querying acoustic contact ***ia iauDNOT Ignoring new targets: 25.66 m.hqhq*hq"hq hygyfyfyf}BdddjdZdL@ԩ颽sBɢL">) b>i) >iiZ<&;II2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. 1CeG}9YfA!@) @)@-?0@) E  E E 'E "E f;*E k:VE '4ZE BE W } BDAT read: Tx time:05:44:11.6220 } $Ping request sent.} Nj,A})?A,YtByIbDVDy=J%E$=ٔQQ-U>9YYY=]Fy]^EaEe>qQ 5}5uХ?Q 9}5u )uBYyQ I@u$DIuI8;iuw)a eۦ>ia)eN>iiimiiu,E]  E] E] (EY "E] C#;*E] :VE] c44ZEY ae @ae @ae @ae @B5 .>B5 CB5 DIB5 YtBB5 =B1 B1 B5 l;B5 4+Ej,DC?Aɰ4ٱNr{ ^AHRS rotation from veh to nav: [[0.329309,-0.940368,-0.085224],[0.925574,0.303638,0.226092],[-0.186732,-0.153335,0.970371]]NHf? 8ѵL?n??ǿyÿ G ?iNc?IN*b;`LYjtByjrIiUMb@Mb@Mb@QQQQ Q9UM?Zd;?J +YUnR?yU=UHUQRAU0A U,A)U7WAQYUAA p<bDVD1yU%Q=ٔ9 Q->9 ?Y ?=Fy^E<E>Q 55'֥?Q 95)BYU?Q E:y\?Q I@.DI:i:Ń5y ɮHA=DNOT Ignoring new targets: 25.66 m.h9h9*h9"h9 hAgAfAfAfEBdIdIdIjdIZdUL@}sBɢ}6>) J>i)E>顁i i<J+j,G ]?A6q?6l?6?>ٱ6! >AHRS rotation from veh to nav: [[0.328494,-0.940507,-0.086820],[0.925937,0.302535,0.226081],[-0.186365,-0.154656,0.970232]]6H@ ?9`G?\? :?ǿ@ÿ@# ?i6q?I6b;6CYJrtByJTIbDRVDRN2yZ@%Z_=ٔ^Q-^>9\Y`=bFyb^Eb6";Eb>dQ 5j5fۥ?Q 9j5fr)fBYlynu?Q In@f7DIf;ifL;fǃ5ypɮrIAtDNOT Ignoring new targets: 25.66 m.hh*h"h hgff!f!d!d!d)jd)Zd- L@]sBɢ],>)Y ]Y>iY)e>aaie)iimԡ e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262651j,w?A^?^ٱ^2! jAHRS rotation from veh to nav: [[0.327173,-0.940983,-0.086651],[0.926477,0.301371,0.225423],[-0.186005,-0.154032,0.970400]]^H@e?@.?I??ǿSÿ@ ?i^?I^Ha;^CYr6tByr/IIv=)vR=imMb@Mb@Mb@iԡiii i9m-?Pn?y&1Ym?U?ym>m`em7WAm1A mC/A)mXAiYmQDAbDVDJy%:=ٔYQ->9Y=Fy^EW;E>Q 55ॊ?Q 954)lBYCX?Q E{:yY?Q I@CDIq ;i ;mɃ5yɮJADNOT Ignoring new targets: 25.66 m.hh*h"h hgfff BdddjdZdhL@-sBɢ->)) 5'>i1)5>11i55i9=<=DBCBIBsBBBB~DBl;B*+EBCBCBB =B =C 5i߹I߽Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514917^AE 0< Au ؟AI I O >j,֐?A2ށ?2ɝ?2?>ٱ2  :AHRS rotation from veh to nav: [[0.325886,-0.941579,-0.085009],[0.926946,0.300544,0.224600],[-0.185929,-0.151993,0.970736]]2HR?j!-õ?9^"?Y^"?=^Fy^^Ebx;Eb>`Q 5f5b奊?Q 9j5b)bABYhyj?Q Ij@bLDIb:ib|:b˃5y]aBɮ]0KA]Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7667585DNOT Ignoring new targets: 25.66 m.h1h1*h1"hQ hQgYfYfafididqdjdZd`'M@颵sBɢ >) =i)p>项iyim<W5j,Ӫ?A>?>?>s?>ٱ>c VAHRS rotation from veh to nav: [[0.324781,-0.942101,-0.083444],[0.927431,0.299935,0.223408],[-0.185445,-0.149947,0.971147]]>H 5?`%\?$2?? ǿu1ÿ@?i>?I>`;>CYvsByzIbD=VD=NIy%,=ٔQ->9 ?Y ?=Fy^En);E>Q 55륊?Q 95) BYy?Q I @YDI&;i;̓5yɮLADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdddjdZdh_M@}sBɢ= >)= =v=i9)=>AAiEAiAMB CB IB j,ī?A2|G?22?2&>>ٱ2 :AHRS rotation from veh to nav: [[0.322973,-0.942762,-0.083000],[0.928140,0.298370,0.222558],[-0.185054,-0.148915,0.971380]]2H?`+u?Q?~?|?@ݯǿÿ`?i2|G?I2x`;2CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522764ԱYrsByI iMb@Mb@Mb@ 9L7A`?ʡE?)\(Y+G?y=GaXAX3A 0A)]AYFAbDVD y'%==ٔAqQ->9"?Y"?=Fy^E;E>Q 55?Q 95)ۿBYI?Q E:y\?Q I@cDI? ;i ;΃5y_Bɮ0MADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBdddjdZd@aM@ tsBɢ[>)  i)e>ii%0j,*?A$ɰ&p;B y?BKd?BM>>ٱB` JAHRS rotation from veh to nav: [[0.321554,-0.943222,-0.083279],[0.928585,0.296905,0.222659],[-0.185291,-0.148929,0.971333]]BH@X?.Q?@??@ǿÿ(?iB y?IBo_;BC RC)RkAR,EV EVEV'ET"EV;*EVخ:VEV'4ZETBEVs95 ?Y5 ?=5Fy5^E= ;E=>9Q 5M5=?Q 9M5=)=BYIyM?Q IM@=lDI=[:i=:=Ѓ5yYɮ]NAYԹDNOT Ignoring new targets: 25.66 m.hh*h"h hgf f f d ddjdZdM@EBDAT read: Rx Time:05:44:14.0981 MTRx dataTimestamp_ set to:1761543855.592226Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027966颽lsBɢ>) ޣi)>i[i<͊Q j,?AQ??>>ٱ  AHRS rotation from veh to nav: [[0.320725,-0.943417,-0.084262],[0.928872,0.295878,0.222828],[-0.185289,-0.149735,0.971209]]H?x00`R?`?`?ǿ*ÿ`%?iQ?I?_;C1YrByRIiMb@Mb@Mb@ 9Cl?X9v?A`"Y;??y=YzZA4A 2A)\AYGAbD-VD-y="%=.=ٔ=ZQ-E>9E"?YE"?=EFyM^EML:EM>QQ 5]5U?Q 9]5U)UBY]RB?Q Ee:ye?Q Ie@UwDIU:iU/:U҃5ymPBɮmJOAuEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffÁBdddjdZdM@E- E-E-)E)"E-;*E-:VE-FA4ZE)a5@a5@a5@a5@BE<AABM%>BIBM+IBMrBBM =BIBIBMYl;BM+EcsBɢl=) i)>ili  < ŏ>ٱ2 :AHRS rotation from veh to nav: [[0.320168,-0.943488,-0.085571],[0.929107,0.295070,0.222922],[-0.185074,-0.150877,0.971073]]2H}? 1`絿@>?m? ?ǿOÿ?i2h?I2L._;0YnvrBynIIr=)rbDzVDzy!1%#=ٔQ->9 Y = Fy ^E:E>Q 5%5?Q 9-5)KBY)y-?Q I-@DII:i:ԃ5y1ɮ=PA9iiim?AJimqVBRimqVBjim7@bm<ĢJ0C@@EnRmII%X't/?(א¢Zim?B@bimQ =jm(XB62}!e H6|=^@Zm ڿF!J쿟{=?2imA:im"imV'?*im ɳBimjBimV'?iiiiimXBimG5@ addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 60.048091 s, deltaX: 28.100002 m, approachRate: 0.467958 m/s, rangeRepo size: 4  Added new target pos. range: 53.610966 m, bearing: 245.236115 deg, lat: 36.779385 deg, lon: -121.859733 deg, deltaT: 60.048091 s, deltaX: 27.953621 m, approachRate: 0.465521 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjd@3J@Zd@?ZsBɢ`=) di)T>iTi <\ k,H9?A2?2?2&>>ٱ2R% :AHRS rotation from veh to nav: [[0.319824,-0.943388,-0.087930],[0.929314,0.294256,0.223134],[-0.184628,-0.153078,0.970814]]2Hx?;0?@?`?ǿÿ ?i2?I2^;0YB0rByFIi Mb@Mb@Mb@     9 x??v/Y K7?y = xi ^A 6A 4A) 1`A Y JA!%@AbD-VD-:yy=*%G=ٔ%Q->9Y=Fy^Ev:E>Q 55?Q 95)BY9?Q E:y5?Q I@DIL:i:փ5yɮQADNOT Ignoring new targets: 53.61 m.h h *h "h  h g f ffЁBddd!jd!Zd%@"?URsBɢU=)Q UiY)]dL>YYi];]iaeBABEIBEqBBABABABE3l;BE*E@ @@/@ ^A <A!AGIIO>9YfAk,X?A2?2?2%~=>ٱ2 $ >AHRS rotation from veh to nav: [[0.320425,-0.942836,-0.091585],[0.929233,0.294070,0.223718],[-0.183997,-0.156789,0.970341]]2HՁ?+"rE? ?@̢? 8ǿ`Ŀ` ?i2?I2_;2CYFqByFIbD VD2y%&%-'=ٔ-бQ-->91Y1=5Fy5^E=aE=>AQ 5M5Ey ?Q 9M5E)EBYIyM?Q IU@EDIE;iE;E؃5y]BBɮ]RA]EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdw?IsBɢZ&=) vi)>i iV <;G k,`r?Aɰ2?2q?2X<>ٱ2& :AHRS rotation from veh to nav: [[0.321315,-0.942285,-0.094109],[0.929143,0.294510,0.223512],[-0.182896,-0.159258,0.970147]]2H k?`2'@@?@B?@ ?#iǿbĿr ?i2?I2 _;2CY^qBy^IiMb@Mb@Mb@ 9tV?#~j?~jtY2?y=D1`Al7A 5A)bAYLAbDVDky%X%%/=ٔ%ZQ-%>9)Y)=-Fy-^E5E5>9Q 5E5=x?Q 9E5=b)=BYEN4?Q EE:yE?Q IM@=DI=U:i=]:=ڃ5yU@BɮU^SAQ}DNOT Ignoring new targets: 53.61 m.hyhy*h"h hgfffBdddjdZdZ?AsBɢXB=)cr ̾i)>iiy<N?BBWIB6qBB =BBBk;B*EDzDAAE EE'E"E /;*E|:VE'4ZEBE<2E<JEx<:Ex<) ^A e<A1 IA IQ Y Oe >"k,X?A2L?2W7?2;>ٱ2( :AHRS rotation from veh to nav: [[0.323053,-0.941504,-0.095952],[0.928790,0.295957,0.223065],[-0.181619,-0.161181,0.970070]]2H@?` G@??g?@M?ǿĿ ?i2L?I2<*_;0YBZqByFmI J;JbD^VD^yjo%jw=ٔnȀQ-n?9lYl=nFyn^Er}Er?tQ 5z5v?Q 9z5v)vBYxy~ѫ?Q I~@vDIv;iv;v8܃5yɮTA-DNOT Ignoring new targets: 53.61 m.h)h1*h1"h1 h1g1f1f9f9d9d9d9jdAZdE@ ;sBɢ =) i)=>iui<%.|E  E E %E "E ;*E *:VE 4ZE a @a @a @a @)k,?A0j?jĤ?j^8>ٱj!* rAHRS rotation from veh to nav: [[0.327346,-0.939900,-0.097121],[0.927738,0.300194,0.221778],[-0.179294,-0.162702,0.970248]]jH=?ܸ? `6?9c?ƿ`gĿ@F ?ij?Ij5_;hYz'qBy~NIbD VD yZ%G=ٔ%HQ-%>9!Y!=%Fy-^E-2E->1Q 5=551?Q 9=55|)5{BYAyE8?Q IE@5DI53;i5@;5ރ5yIɮMdUAIuDNOT Ignoring new targets: 53.61 m.hqhq*hy"hy hygyfyffdddjdZd e@54sBɢ=غ=)9 =Ai9)=>AAiEiAMg>/k,?A\Y~pBy~,IiMb@Mb@Mb@ 9 rh?X9v?Y,?y}=̼bA7A 6A)3cAYLAbDVDk1y%A=ٔQ->9Y=Fy^EE>Q 55 ?Q 95c)YBYd-?Q E:y?Q I@DI:i:߃5yɮ?VADNOT Ignoring new targets: 53.61 m.hh *h "h  h g f ff}BB=4>B=CB=IB=pBB= =B9B=DB=k;B=*EBCBB”CB =B =C[ 5Du=Du=E} E}E})Ey"E};*E}:VE}FA4ZEyBE}b11i5vi9=h<=EA >q A%.AI)IAOM?F7k,?A6 ?6K؜?6i6>ٱ6, BAHRS rotation from veh to nav: [[0.333239,-0.937662,-0.098700],[0.925982,0.305773,0.221495],[-0.177507,-0.165205,0.970154]]6HS? TdD?Ǒ?Y?ƿn%ſ ?i6 ?I6^;6CYJpByJIPRAAbDVVDVy^%^.=ٔ^}Q-^>9b ?Yb ?=bFyb^EfYEf>dQ 5n5f&?Q 9n5f)f4BYlyn?Q In@fDIf;if;f5yv2BɮvxVAvyEQDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd@ @E EE&E"Es!;*E:VE4ZEa@a@a@a@颭&sBɢռ=) i)>顱i_iv<y;IIܪ&ԁ]9@Y @Y@]/@YԱ^A -B< A I I) OE >d=k,^?A2P?2w?25>ٱ2x 0 >AHRS rotation from veh to nav: [[0.336023,-0.936383,-0.101372],[0.925138,0.307955,0.221997],[-0.176656,-0.168379,0.969763]]2H f?|??gj?ƿpſ`M?i2P?I2(_;2CYFpByFIJAJAiMb@Mb@Mb@ 9K7?kt?9AYA=MFyM^EMEM>QQ 5]5UX-?Q 9]5U)UBYe,?Q Ee:yea?Q Ie@UDIU;iU%;U5ym3Bɮm`WAqԹDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZd`6@UsBɢN=) G$i))>项ii/<;II  BU2>BQBUIBUpBBU =BUADBQBUk;BU*EDzD@AbE5c44jE5Ņ04rE5Ͱ/E EE'E"E(;*E|:VE'4ZEBEٱ2 3 :AHRS rotation from veh to nav: [[0.339046,-0.935027,-0.103789],[0.924246,0.310471,0.222211],[-0.175550,-0.171266,0.969459]]2H`? 瑺k??iq? lxƿ ſ@?i2#?I2^;2CYFxpByFIbDN VDN2yV+%V"=ٔZQ-Z>9Z"?YZ"?=^Fy^^E^ϻE^>`Q 5f5b`5?Q 9f5b{)bBYhyj?Q Ij@bDIb;ib;b5yn0BɮnWArzEDNOT Ignoring new targets: 53.61 m.hh *h "h  h g fffdddjdZd v@MsBɢM=)I M'iQ)U>QQiUq ޼iY]~<]:IYIa}9@y @y@/@^AUr;E% E!E!E!"E%/;*E!VE!ZE!a-@a-@a-@a-@AIIO_>Aq fLk,4?A~?~?~&3>ٱ~2 AHRS rotation from veh to nav: [[0.341763,-0.934106,-0.103173],[0.923526,0.313486,0.220965],[-0.174062,-0.170800,0.969809]]~Hp?1@i?@(?H?Gƿſ ?i~?I~^;~CY-WpBy-IiMb@Mb@Mb@ 9&1?I +?{Gzt?Y0?y94=ף;nfA9A :A)nfAYzPAbDVDy%9=ٔ`Q->9Y=Fy^EvһE>Q 55yiZ@ۼi<~<2rII9@! @!@!@!yB4>BB]IBoBB =BBBk;B*EE5 E5E5)E1"E5%.;*E5:VE5FA4ZE1BE58 Sk,N?A2E?2bu?2%h1>ٱ2i 4 :AHRS rotation from veh to nav: [[0.343566,-0.933271,-0.104730],[0.923172,0.315152,0.220075],[-0.172383,-0.172294,0.969845]]2H?`ZϺ?q+?i+?@ƿ@ ƿ?i2E?I2_;2CYBpByBIIF=)F9XYX=ZFyZ^E^,E^>`Q 5f5bB?Q 9f5bGm)b½BYdyjã?Q Ij@bDIb:ib:bx5yn#BɮnXAnpEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd @ sBɢL=) Niؼi?}<IIԱ9@ @@0@^AqAIIOn> EE  EA EE 'EA "EE C#;*EA VEE '4ZEA aM @aM @aM @aU @9 Yk,"h?A6~?6LD?6O/>ٱ6.4 >AHRS rotation from veh to nav: [[0.345071,-0.932659,-0.105228],[0.922985,0.316848,0.218418],[-0.170368,-0.172494,0.970165]]6H?X: ? >G??ſEƿ ?i6~?I6"^;6CYJ pByJIbDRVDRyZ/%ZJ=ٔZvQ-^>9`Y`=bFyb^EfqEf>hQ 5n5j]I?Q 9r5jNf)jBYtyv?Q Iv@jDIj;ij;j>5yɮXA-DNOT Ignoring new targets: 53.61 m.h)h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdER@sBɢ y=) >i)>!!i%jּi)-|<5pNI1IY 9@  @ @ 0@ A^AMrgAQzAUfAq A I I O >`k,$?A :ޙ~?:.8?:i,>ٱ:2 BAHRS rotation from veh to nav: [[0.345554,-0.932555,-0.104568],[0.923235,0.317901,0.215814],[-0.168016,-0.171116,0.970819]]:H?| ĺ@$?}X?Ο?@ſ#ſ ?i:ޙ~?I:Y^;8YJoByJIiMb@Mb@Mb@ 9/$? rh?I +?YA)gAYRAbD5VD5k1yEV%EA=ٔMQ-M>9IYQ=UFyU^EUeEU>Be9>BeCBe1IBeXoBBe =BaBeDBek;Be*EyQ 55}.P?Q 95}l^)}BY~=?Q E:yR?Q I@}DI}n:i}:}5y BɮIYAqEE EEE"E);*E*:VEZEBEMiӼiQ|<9[IIi@ @@m0@ԙ^Avт Wk> 5 'GM (hAa ~9 (hAY fAA I I O >y5 %?5 Afk,S[?A2~?29?2Z5*>ٱ20 :AHRS rotation from veh to nav: [[0.345679,-0.932627,-0.103503],[0.923651,0.318738,0.212781],[-0.165455,-0.169155,0.971602]]2H ?3? 2f?g9tYx=zFyz^EzΙ8Ez>|Q 55~fV?Q 9 5~;W)~uBY y Q?Q I @~DI~$:i~:~5yɮ}YAEDNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hAgAfIfIfIdIdQdQjdQZdU@0@颅rBɢK=) Fi)U|>顉irxѼi{<JXIIi@ @@4@@=@=E  E E 5E "E  /;*E :VE 4ZE a@a@a@a@^Ayb]AI IQ Ia Ou >! lk,J?Axg~?sJ?K'>ٱͅ* AHRS rotation from veh to nav: [[0.345354,-0.933222,-0.099130],[0.924271,0.319918,0.208271],[-0.162649,-0.163550,0.973035]]H@G?`?y??@Ŀ6Ŀ#?ig~?I^;CY%oBy%yIiMb@Mb@Mb@ 9y&1?)\(?y&1?Y`E?yG=`e<kAS?A AA)hAYGUA 4<bDVDy&6%;=ٔ0ջQ->9Y=Fy^Em:E>Q 55`\?Q 95N)XBYhG?Q E:yҭ?Q I@DI:i:5yBɮgYAhE=DNOT Ignoring new targets: 53.61 m.h9h9*h9"hA hAgAfAfAfMBdIdIdQjdQZdU@kP@}rBɢ}=) !Ji)Ϲ>i|μi7 {<?BQBU IBUoBBQBQBQBUk;BU*EiD =D %=E EE(E"E/;*EVEc44ZEBEɈA= >y  PExceeded connect timeout, disconnecting.Ai Iy I O >sk,ıЭ?A2~?2c?2#>ٱ2% :AHRS rotation from veh to nav: [[0.344821,-0.933734,-0.096117],[0.925026,0.320628,0.203777],[-0.159456,-0.159177,0.974288]]2H`?' ϙ?`-?^? iĿ`_Ŀ@]-?i2~?I2 _;0YFoByFiIbDLVDLyV>%V[=ٔZ&Q-Z>9XYX=ZFyZ^E^;E^>`Q 5f5bua?Q 9f5b:G)b@BYhyj?Q Ij@bDIb/;ib;bV5ylɮnYAlDNOT Ignoring new targets: 53.61 m.hh*h "h  h g fffdddjdZd%@MrBɢU1=)Q UdOiQ)U(>QQi]̼iY]Yzԑ E  E $E E "E 8;*E ;VE ZE a @a @a @a @tzk,&q?A6:J?6\?6-< >ٱ6r >AHRS rotation from veh to nav: [[0.343763,-0.934462,-0.092774],[0.926035,0.320942,0.198635],[-0.155842,-0.154195,0.975673]]6H 8?` `? R?l?@ÿÿ8?i6:J?I6 ^;6CY^oBy^UII`)b4<bDjVDjk2yr%rG=ٔr_Q-v>9tYt=vFyv^EzY;Ez>|Q 55~g?Q 95~ ?)~&BYy ?Q I @~#DI~R:i~:~ 5yɮQZAUDNOT Ignoring new targets: 53.61 m.hYhY*hY"hY hagafafifididqdqyjdqZdRw@rBɢ;=) tVi)=ih$ʼiY]y<]{IYIai9@ @@@@gA@gAԩ^A5?BɺA I I O > k,J?A2?2ś?2 L>ٱ2z :AHRS rotation from veh to nav: [[0.342480,-0.934956,-0.092544],[0.927141,0.320382,0.194331],[-0.152042,-0.152356,0.976561]]2H0?@)󰷿$?#??vÿ@dÿ`??i2?I2^;2CBbD>BbCBbIBbnBB`B`BbDBbk;Bb*EBCBCBCB =B =CA5YtoByBIDzDE EE)E"E2;*E :VEFA4ZEBE#;jAj@A CA)YUA@AbDVD0yX%:=ٔQ->9Y=Fy^E2p;E> Q 5 5 l?Q 95 5) BYMU?Q E~:y?Q I@ .DI  ;i . ;  5y!ɮ%ZA!DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff݁BdddjdZd$ @颕rBɢd=) \i)vG=顙i8Ǽiky<9IIMnManaging dock network, ignoring radio surface power off q@q @q@u/@q1^Am Β{Ai zAi a A I I O >0k,%?A2[?2?2b>ٱ2( :AHRS rotation from veh to nav: [[0.340963,-0.935139,-0.096221],[0.928311,0.318784,0.191350],[-0.148265,-0.154566,0.976794]]2H V?򡸿?`f?(~? Z¿ÿA?i2[?I2_;0YFRoByF-IbDNVDN02yV%Vb=ٔV,Q-Z>9XYX=ZFyZ^E^G;E^>`Q 5f5bq?Q 9f5b(.)bBYdyj0?Q Ij@b8DIbR:ib:b5ynBɮnZAn_EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd @%rBɢ% l=)! %jdi!)-=))i-gżi11=y<=:I9I99@ @@0@E EE(E"E/;*EV:VEc44ZEa@a@a@a@a^A9ԉA% .AI) I9 OM > `k,8?A~]J?~5?~K>ٱ~"  AHRS rotation from veh to nav: [[0.339690,-0.935228,-0.099800],[0.929400,0.317491,0.188190],[-0.144315,-0.156680,0.977049]]~H z?byऽ?Q?@? x¿Ŀ C?i~]J?I~_;~CY:oBy%I ))iMb@Mb@Mb@ 9^I +?sh|?? rhYXY?y)>CkACA DA)hAY3WAbDVD1y O%5=ٔQ->9 ?Y ?=Fy^Ef;E>!Q 5-5%v?Q 955%6$)%ǼBY5]?Q E5u:y5?Q I5@%DDI% ;i%:%5yAɮE7[AAmDNOT Ignoring new targets: 53.61 m.hihi*hi"hi higqfqfqfuBdydydyjdyZd}!@ԉ颵rBɢ8w=) (ii)]=项iüi_x<յ9;III)9@ @@0@@=@=ԱBK>BCBIBnBB =BBBk;B*EbE1jE5ǏB4rE531E EE'E"E4;*Er:VE'4ZEBE 0Bk,Q?A>?>?> >ٱ>'$ FAHRS rotation from veh to nav: [[0.337638,-0.935639,-0.102855],[0.930775,0.315595,0.184548],[-0.140210,-0.158045,0.977427]]>H@ޛ? @T?`2?F?f:Ŀ G?i>?I>}_;>CYNnByRI TVp;bDZVDZk1ybO3%bc=ٔf9f"?Yf"?=jFyj_Ej^;Ej>lQ 5r5nz?Q 9r5nA)nBYtyv?Q Iv@nNDIn:in:n*5yxɮz:\AxDNOT Ignoring new targets: 53.61 m.h!h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5q"@颅rBɢM=) bxi)=顙ii8Dx<;IIu9@q @q@u5@q^A;I A I I O >E  E E (E "E 0;*E VE c44ZE a @a @a @a @Zpk,k?A2?2ܜ?2] >ٱ2I$ BAHRS rotation from veh to nav: [[0.335364,-0.936233,-0.104877],[0.932222,0.313720,0.180394],[-0.135988,-0.158266,0.977987]]2Hv?`@:ٺ??@$? h`BĿK?i2?I2 _;2CYnnBynIbDVDy-e%-D=ٔ-'Q-5>99Y9==Fy=_EE;EE>IQ 5]5M?Q 9]5M)MBYayeA?Q Ie@MYDIM!E;iM#;M5yqɮu\AyDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdJ#@rBɢ|U=) i)1=iiVw<5h;II I@ @@4@y^A;ԡ A I I O5 >BTk,%?AB6G>B4B6IB6enBB4B4B4B6ek;B6*E@Y%nBy%IE EE)E"E*E:VEFA4ZEBELKqADA IA)YYAbDVD1y%?=ٔQ->9Y=Fy _EE>Q 5 5=?Q 9 5 )]BY_?Q Es:yu?Q I@eDI ;i ;5yBɮA]A%VEEDNOT Ignoring new targets: 53.61 m.hIhI*hI"hI hIgIfIfQfUBdYdYdYjdYZd]=#$@颍rBɢRF=) ?i))5`=11i5&i9=˫w<=bh;I9IAma>im>ԩE9@A @A@E4@A@I@I^Am P; A I I O >g~k,]n?A2?2܌?2>ٱ2v*& :AHRS rotation from veh to nav: [[0.330701,-0.937263,-0.110336],[0.935072,0.309613,0.172567],[-0.127579,-0.160240,0.978799]]2H5*?>???TགĿQR?i2?I2*_;2CYF_nByFILNAAbDNVDN02yVs5%Va=ٔZKQ-Z>9XYX=^Fy^_E^os<Eb>`Q 5f5b?Q 9f5bw)b:BYhyj?Q Ij@boDIb:ib:bs5lypɮrH^Ap DNOT Ignoring new targets: 53.61 m.h h *h"h hgfffddd!jd!Zd%s$@MrBɢUb=)Q UiQ)U=YYi]{iaewa 7k,X?A1=?=?=h=ٱ=& UAHRS rotation from veh to nav: [[0.328165,-0.937858,-0.112830],[0.936523,0.307416,0.168581],[-0.123419,-0.160990,0.979209]]=H?`i⼿`?@??g RĿU?i=?I=1_;=CYe2nBye|Ii%Mb@Mb@Mb@!!!! !9%A`"?K7A`?DlY%Y?y%+>%O%9pA! !)%jA!Y%=ZAbD=VD=JyMý%U2=ٔUQ-U>9QYY=]Fy]_E]=;E]>aQ 5u5e?Q 9u5ek)e BYu]?Q E}t:y}Y?Q I}@e{DIe},;ie+;es5yɮ^ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffǁBdddjdZd`%@rBɢn/=) .i) =i⏷i|w<^BYB]\IB]mBB] =BYBYB]jk;B]*EԉE EE'E"E:;*E:VE'4ZEBE1lk,$Ӯ?A2X?2D?2<=ٱ2 V' :AHRS rotation from veh to nav: [[0.325813,-0.938402,-0.115099],[0.937896,0.305468,0.164443],[-0.119155,-0.161529,0.979648]]2H?`c@$w=?nj?z ?Ŀ GY?i2X?I2a_;0YFmByFSINANAbDZVDZk1yM4%M]=ٔU?>Q-U>9aYa=eFye_EmP;Em>yQ 55}?Q 95}7)}BYԙy?Q I@}DI}y;i};}5yBɮ_AME%G=hAGs9hAY;]ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd `&@5rBɢ5=)9 =i9)=ʅ=99iE=iAEywk,-?AF(?Ff?F]=ٱFm' VAHRS rotation from veh to nav: [[0.324004,-0.938821,-0.116772],[0.939005,0.304089,0.160625],[-0.115289,-0.161692,0.980084]]FH{? 使`S ? 0v?Z?VĿ`\?iF(?IFT3_;DYbmByb)I n9  ?Y  ?= Fy _E ;E >Q 5}5C?Q 9}5)BYyy}?Q I}@DI;i;5yɮ`ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdT'@rBɢƶ<)O|: Wi)=ii  ˎw< ey ˡk,Z?ABABK>BBIBmBBBBBk;B*EB܂?BǞ?B=ٱB[( JAHRS rotation from veh to nav: [[0.322324,-0.939104,-0.119126],[0.940032,0.302702,0.157200],[-0.111568,-0.162652,0.980356]]BH@?# ?w_?@$?ഏ`Ŀ_?iB܂?IB(_;BCYVpmByVIi-Mb@Mb@Mb@)))) )9-n?ףp= ?{GzY-VN?y->-ף-brA-FA -ZLA)))Y-(\AbDMVDMyU %UE=Ee EeEe$Ea"Ee9;*EeI:VEe4ZEaBEe9Y=Fy _E;E> Q 55 ˙?Q 95 ) BYS?Q E:y8?Q I@ DI {!;i  ; 5y9ɮ=aA9QDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZdd3(@ rBɢ5` <)5 5Li1)5q:=99i=i9EүwNk, ?A>?>?>;4=ٱ>( FAHRS rotation from veh to nav: [[0.321303,-0.939228,-0.120896],[0.940821,0.302070,0.153657],[-0.107800,-0.163112,0.980701]]>H?I>qE_;>CYR"mByRIbDZVDZkybJ%bT=ٔb"Q-f>9f"?Yf"?=fFyf$_Ej\;Ej>lQ 5r5n?Q 9r5n)nqBYpyvY?Q Iv@nDIn;int:nH 5yzBɮzbAxDNOT Ignoring new targets: 53.61 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5 (@erBɢeب <)a eia)m8=iiim]FiquwA k,:?A??=ٱ@( AHRS rotation from veh to nav: [[0.320791,-0.939283,-0.121819],[0.941357,0.301978,0.150518],[-0.104592,-0.162960,0.981073]]HՇ? @/?@S?`+D?ƺ@Ŀ`d?i?I_;YlByIiMb@Mb@Mb@ 9+?T㥛 ??y>tjrAFA tMA)hAY[A@AbDVDyYȽ%-=ٔ߻Q->9 ?Y ?=Fy)_E:E>Q 55?Q 95)HBY B?Q E:y?Q I@DI:i:Y 5yBɮ2cA DE5DNOT Ignoring new targets: 53.61 m.h1h1*h1"h1 h1g1f9f9f=ZBdIdQdYjdiZdm)@额rBɢ٢<) Di)b=顡ioix<BBIBlBBBBBIl;B+EBCBC1BB =B =C&5Dm<Dm<Eu EuEu%Eq"Eu3;*EuI:VEu 4ZEqBEu9"?Y"?=Fy._EdE>Q 55?Q 95Q =tI)BYy?Q I@DI:i: 5yɮdA-DNOT Ignoring new targets: 53.61 m.h)h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE`L*@ rBɢ ؼ<) ſi)=ii9E9xk,x?Ab??b|ڞ?bo=ٱb%  AHRS rotation from veh to nav: [[0.322342,-0.938691,-0.122291],[0.941834,0.305046,0.141052],[-0.095100,-0.160645,0.982420]]bHB?@ pN#?ޅ?@?X Ŀ@o?ib??Ib_;bC ֱ)ֹ# kAi 'I5LF1IAiMlA u,q)qy }kA}94}>Fy؁؁I؅,)؁i؁)ىIٍkA؍,ؑ ّّٕlAّiّٙiڝCڝ A)ڙ ڙIڙYYHlByOIiMb@Mb@Mb@ 99Y=Fy3_E+E>Q 55?Q 95:)BY5?Q E:yW?Q I@DIL:i:5yɮeA%DNOT Ignoring new targets: 53.61 m.h)h)*h)"h) h)g)f)f1f5Bd1d1d9jd9Zd=+@颭rBɢ x;) Ϳi)S=顱ii_x<LBBVIBTlBB =BBDB|l;B8+EIbE:4jE14rE]%0E EE*E"E2;*Er:VE(N4ZEBE#A>ԩIYIqO} ?k,k?A2?2榞?2=ٱ2v( :AHRS rotation from veh to nav: [[0.323916,-0.937751,-0.125304],[0.941590,0.306641,0.139208],[-0.092119,-0.163077,0.982303]]2H ? @!??@?# Ŀo?i2?I2(0_;2CYnkBynIbDvVDvN2y~BF%~6=ٔڻQ->9Y= Fy 7_E fE >Q 55^?Q 95+)ںBY!y%?Q I%@DI:i:5y-ܒBɮ5!gA1YeDNOT Ignoring new targets: 53.61 m.haha*ha"hi higififqfqdqdqdyjdyZd},@rBɢЄ) ؿi)=i*iyx<'Wi I ߯k,6?AF{?F4g?FHE=ٱFha* RAHRS rotation from veh to nav: [[0.325842,-0.936742,-0.127833],[0.941237,0.308708,0.137012],[-0.088882,-0.164965,0.982286]]FH?\ ? ?@? ſn?iF{?IF*_;FCY]kBy]IIeC=)e=e=abDmVDm:y:%C=ٔQ->9Y=Fy<_EE>Q 55i?Q 95)BYԱyЮ?Q I@DI-/;i0;5yӒBɮgA;EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd@h-@5rBɢ5\)1 5޿i1)=]=99i=BdiAEIxBBBIBkBBBBDBl;BC+ED =D E  E E %E "E g5;*E r:VE 4ZE BE }9Y=Fy@_EE>Q 5e5?Q 9e5)BYm*?Q Eu:yuU?Q Iu@DI]ԑ Xk,m?A2?2(ٝ?2$=ٱ230 :AHRS rotation from veh to nav: [[0.330103,-0.934291,-0.134656],[0.940339,0.313020,0.133348],[-0.082436,-0.170641,0.981879]]2H`f ?j<A???@`ſ k?i2?I2X0_;2CYF]kByFIbDNVDN0yV6%V`=ٔV/Q-Z>9XYX=ZFyZD_E^BE^>Q 5%5I¦?Q 9%5>)BY)y-?Q I-@DI:i:5y1ɮ5#iA9EE EEEE'EA"EEm+;*EE:VEE'4ZEAaM@aM@aM@aM@}DNOT Ignoring new targets: 53.61 m.hyhy*hy"hy hygfffdddjdZd*0/@rBɢ<:) oi!)%`=!!i-i15~x<5;I Ol,?A2N?2?2I=ٱ2^^0 :AHRS rotation from veh to nav: [[0.332446,-0.933328,-0.135565],[0.939794,0.315768,0.130679],[-0.079159,-0.170847,0.982113]]2HF? 1Z?5?@?COſ`wm?i2N?I2/_;0YB8kByFI DDi Mb@Mb@Mb@     9 p= ף?:v?y&1|Y %?y T= ` tA HA QA)  Y ]AbD}VD}yک%==ٔQ->9Y=FyH_EE>Q 55XȦ?Q 951)BY%?Q E:y?Q I@DI ;i ;5y ɮ iA 5DNOT Ignoring new targets: 53.61 m.h1h9*h9"h9 h9g9f9fAfEBdAdAdIjdIZdM0@}rBɢ}0Լ)y }iy)=顁i ֗iYx<X@/l,|?A2a?2L?2 E=ٱ2>%0 >AHRS rotation from veh to nav: [[0.334304,-0.932566,-0.136244],[0.939417,0.318104,0.127693],[-0.075743,-0.170678,0.982411]]2H;e?qp?`[?BX? c`ſo?i2a?I2H_;2CYFkByFIbDNVDN0yV&%VY=ٔZ`Q-Z>9Z ?YZ ?=^Fy^L_E^E^>`Q 5f5bͦ?Q 9f5b7)byBYhyjA?Q Ij@bDIb:ib:bw5ylɮr3jAp DNOT Ignoring new targets: 53.61 m.h h *h "h  h g fffdddjdZdOc0@MrBɢM)Ma!< UiQ)UA=QQiU6iam-x l,x6?Aɰ:"?: ?:O=ٱ:10@ FAHRS rotation from veh to nav: [[0.336193,-0.931750,-0.137169],[0.939009,0.320436,0.124827],[-0.072354,-0.170769,0.982651]]:H1?@] ?`??υ@ſ`q?i:"?I:'_;:CY^ kBybIbDjVDjyrN%rG=ٔrQ-r>9tYt=vFyvP_Ev{Ez>xQ 55zaӦ?Q 95z)zlBYy?Q I@zDIz<;izH;zB5yƒBɮjA2E=DNOT Ignoring new targets: 53.61 m.h9h9*h9"hA hAgAfAfAfIdIdIdIjdIZdU Z0@}rBɢ¸) /i)m=顁iBBoIBjBBBBBm;B+EI1 IA OM >! Em  Em Em )Ei "Em 0;*Em :VEm FA4ZEi BEm 9Y=FyT_EE>Q 55r٦?Q 9%5+)aBY%.?Q E%:y%è?Q I%@ DI<ԁ l,.j?A2y?2?2D=ٱ2ӓ1 :AHRS rotation from veh to nav: [[0.339652,-0.930031,-0.140279],[0.938267,0.324649,0.119410],[-0.065514,-0.172177,0.982885]]2H ݼ?G? ? ?Ű ƿs?i2y?I20L_;2CYBjByBsIbDN VDN2yVE%VY=ٔVQ-V>9XYX=ZFyZX_EZE^>`Q 5f5bަ?Q 9f5b{)bXBYdyf?Q If@bDIb:ib:b5ylɮnjAlDNOT Ignoring new targets: 53.61 m.hh*h "h  h g f ffdddjdE% E%E%(E!"E%3;*E%:VE%c44ZE!a-@a-@a-@a-@Zd5 ?1@y颭rBɢ8) i)L=i6iVGw<x;II!ԩe@ @@0@@@ ^A #2;A zA IY Ii Ou >C!l,i?A2?2j?2~=ٱ2Z'3 :AHRS rotation from veh to nav: [[0.341097,-0.929141,-0.142653],[0.937969,0.326368,0.117041],[-0.062190,-0.173727,0.982828]]hAAAABBBIIBjBBBBB^m;B+EBBBB =B =CN42H?vB¿?8?@e?]ׯ <ƿ`Ts?i2?I2%_;2CYjBycIiMb@Mb@Mb@ 9m? rh?~jt?Y.?yC=<vA 7WA)Y _AbDVD0yS%=E  E E &E "E *E :VE 4ZE BE 9)Y)=-Fy-]_E-7E5>1Q 5=55-榊?Q 9E55r)5PBYE/?Q EE:yE?Q IE@5 DI5 ;i5 ;5 "5yQɮUkAQ}DNOT Ignoring new targets: 53.61 m.hyhy*hy"hy hygfffBdddjdZd 2@颹ɢ) Hi)p=iKi%v<%s;II H<9@ @@ 0@1a ^A ԅ;IY Ii O} >M'l,3?AYnjByn^I ppttbDzVDzy6%r=ٔ Q- ?9 Y = Fy`_EE?Q 5%5ꦊ?Q 9%5l)KBY!y)Q I-@(DI:iN:#5y5Bɮ5jA5)E9eDNOT Ignoring new targets: 53.61 m.haha*ha"ha hagifififidqdqdqjdqZd%@Jz2@QɢU1^)Y ]1iY)]7=YYieV憼iaeIv0l,%A?AT???O=ٱF3 AHRS rotation from veh to nav: [[0.342552,-0.927904,-0.147148],[0.938139,0.329412,0.106686],[-0.050522,-0.174591,0.983344]]H_?`c¿ =?@?O? ީ@Yƿw?iT?I*_;CYjByWIiMb@Mb@Mb@ 9S?~jt?~jt?Y:?y=<wA-JA MXA)AdAY_AbDVD:y9%=ٔ=Q->9"?Y"?=Fyf_EE>Q 55?Q 95Gb)BBY;?Q E:y?Q I@5DI:i:%5yBɮkA*E DNOT Ignoring new targets: 53.61 m.h h*h"h hgfffBddd!jd!Zd%@3@QɢUtA)Q UiQ)]߸=YYi] iae/uB)B-0IB-wjBB- =B)B)B-?m;B-+EbEŀ'4jEŨ,4rEş/E9 E=E9E9"E9*E=I:VE9ZE9BE=7l,j?A2h?2S?2Q;=ٱ2Z,3 >AHRS rotation from veh to nav: [[0.342057,-0.927936,-0.148091],[0.938559,0.329687,0.102050],[-0.045872,-0.173899,0.983694]]2HD?`¿`???|SBƿlz?i2h?I2.1_;2CYJjByJPIbDRVDRβyZO%Z==ٔ^0Q-^>9^ ?Y^ ?=bFybj_Eb:Eb>dQ 5j5f?Q 9j5f1Z)f =l,O?A6?t?6|_?6n(=ٱ6o2 BAHRS rotation from veh to nav: [[0.341793,-0.927879,-0.149057],[0.938875,0.330201,0.097374],[-0.041132,-0.173228,0.984023]]6H`?@/NÿB ?"?|?@HS,ƿ}?i6?t?I6^;6CYJjByJNIIN<)N;R=R=bDVVDV1y^%^K=ٔb@Q-b>9b"?Yb"?=bFyfn_Ef*h:Ef>hQ 5n5j}?Q 9n5jR)j7BYpyr ?Q Ir@jHDIj;ij;j)5ytɮv9kAtDNOT Ignoring new targets: 53.61 m.hh*h"h hgf!f!f!d!d)d)jd)Zd- }3@Yɢ]X)Y ]1ia)e=aaie6}iime1uBiBm*IBmljBBiBiBiBml;Bmn+EI E  E E 'E "E 1;*E :VE '4ZE BE [Dl,)?AZ?Z2?ZP=ٱZF1 jAHRS rotation from veh to nav: [[0.340639,-0.928072,-0.150488],[0.939512,0.329910,0.092065],[-0.035795,-0.172747,0.984316]]ZH?IJ`3Cÿ|?@=?@?`Sƿ?iZ?IZ[ _;ZCYzjByzBIiMb@Mb@Mb@ 9MbX9?B`"۹?9Y=Fys_EWA;E>Q 55?Q 95I)/BYC?Q E:y?Q I@SDI&:i:+5yBɮZkA E=DNOT Ignoring new targets: 53.61 m.h9h9*h9"hA hAgAfAfAfMπBdIdIdQjdQZdUI4@yɢJ) wi)|]=顉iyiZt<;III 9@  @ @ a1@ q^A-qZ;A1zA5hAԩ AY Ia Iy O >Jl,{-?AE$ E&E$E$"E$*E&:VE$ZE$a.@a.@a.@a.@@v߀?vʜ?vx<ٱvW0 ~AHRS rotation from veh to nav: [[0.338846,-0.928549,-0.151593],[0.940345,0.329006,0.086636],[-0.030571,-0.171906,0.984639]]vH?`cgÿN? q?-?Mƿ)?iv߀?Iv8_;vCY jBy LIbD%VD%02y5+=%5W=ٔ5`Q-5>99Y9==Fy=w_EE^;EE>IQ 5U5M ?Q 9U5MB)M(BYQyUʭ?Q IU@M\DIM;iM;M+-5yaɮekAaDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd W4@rBɢ w)Q }{iy)}:=顁i{tit<;IIԱI@I @I@M/@I^Amϩ; A I I O >Ql,]G?AlYrjByr?I ttxzABS>BCBBB =BBDBl;B`+EiMb@Mb@Mb@ 9x&?!rh?~jthY7I?yl=DzA1JA ]A)IdAYaAbDVDyI%B=ٔQ->9Y=Fy{_EE>Q 55z?Q 959)BYIK?Q E:y?Q I@gDI ;i ;/5yBɮHkA!EDNOT Ignoring new targets: 53.61 m.hh*h"h hgff!f%Bd!d!d!jd)Zd- 5@rBɢ]) i)[=ioiz7t<Z;I I EU EUEU&EQ"EU /;*EU-:VEU4ZEQBEUWl,8a?A6g?6R?6Y<ٱ6Kn. >AHRS rotation from veh to nav: [[0.335025,-0.929684,-0.153121],[0.941997,0.327051,0.075357],[-0.019980,-0.169486,0.985330]]6H q?@yÿ$?e?@J?uſ҇?i6g?I6_;4YJjByJAI Rp9b ?Yb ?=bFyb_Eb7<Ef>dQ 5j5fq?Q 9j5fV2)fBYlynE?Q In@fqDIf ;if ;f05ytɮv:kAt9DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd@{5@rBɢ) i)}=ifki^ t<yR" (^l,!{?A2?2匝?2Rn<ٱ2c/ :AHRS rotation from veh to nav: [[0.333390,-0.929809,-0.155906],[0.942677,0.326206,0.070357],[-0.014561,-0.170425,0.985263]]2H@AV?`ÿ`h*?`?? %ҍ zſF?i2?I2e_;2CYDyDbDNVDN0ٔVB\Q-V>9Z"?YZ"?=ZFyZ_E^;E^>`Q 5f5b?Q 9f5b*)bBYdyf}?Q If@b{DIb:ib:bc25ynBɮnkAnEDNOT Ignoring new targets: 53.61 m.hh*h"h  h g f f fdddjdZd:5@ErBɢMw)I MiI)MN=IQiUWgiY]s<]T3BB0IBwjBBBBBl;Bf+EqE}  E} Ey Ey "E} 9;*E} :VEy ZEy BE} i I Aԙ <el,?A:,?:h͝?:<ٱ:)/ NAHRS rotation from veh to nav: [[0.331554,-0.930182,-0.157587],[0.943391,0.325250,0.065003],[-0.009209,-0.170218,0.985363]]:H/8? +ĿB0?? ?l܂ſ?i:,?I:e_;:CYejBye>IImC=q)m=u=u=iMb@Mb@Mb@ 9 rh?y&1?{GzYL?y`=#^LA ^A)YfbAbD VD y%<ٔ25Q-%>9!Y!=%Fy%_E-Q;E->1Q 5=55h!?Q 9=55 )5BY=N?Q EE:yE?Q IE@5DI5@:i5:545yIɮM*kAIuDNOT Ignoring new targets: 53.61 m.hqhy*hy"hy hygyfyffBdddjdZd@!Y6@5rBɢ=hO)=m : =2i9)=p#=9AiekciimsUYkl,ٙ?A2!?2 ?2)K;ٱ2/ :AHRS rotation from veh to nav: [[0.329736,-0.930535,-0.159305],[0.944064,0.324278,0.059887],[-0.004068,-0.170141,0.985411]]2Hd? dĿ5??? bp0ſ@}?i2!?I2T_;2ClnIt@ilIllrC prĻr#$FpttIt)tit)zLCIzjAz/ݽzWF x~C~jA|i||iCjA) I C)    Y Y{jBy3I)-@AbD5VD50yE(Q%Ef=ٔEmQ-E>9IYI=MFyM_EM޲;EU>YQ 5e5]9&?Q 9e5])]BYayeZ?Q Ie@]DI]:i]:]65yqɮutkAyDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd6@q颽rBɢT) oi).9=i_ids<$g >rl,iɱ?AB&`>B&CB&6IB&jBB& =B$B&DB&l;B&u+EB CB CB CB B C !5Y}zjBy}2IiMb@Mb@Mb@ 9n?p= ף? rhYVN?y>CxAZLA _A)`AYaAbDVD02y-%-==ٔ-Q-->91Y1=5Fy5_E=E=>AQ 5M5E+?Q 9M5E)EBYM Q?Q EM:yMȱ?Q IM@EDIE:iEU:E75y]Bɮ][kA]EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfE EE'E"E /;*E:VE'4ZEBEY kxl,O?A2 ?2Gm?2Krػٱ2- :AHRS rotation from veh to nav: [[0.326954,-0.931203,-0.161126],[0.945017,0.323351,0.048856],[0.006605,-0.168241,0.985724]]2H?jʟĿ=?DZ??<{?ſ ?i2 ?I20_;2CYpjBy,I!!bD-VD-y=%EZ=ٔEJQ-E>9IYI=MFyM_EM<EM>Q 55X0?Q 95X)BYy(?Q I@DI:i_:95yBɮ`kAEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffd d d jd Zd 7@=rBɢ=-)A EWiA)E\=AAiMA >Թ AIIO> l,ޫ?A;ɰtѤ? ?(@ٱ+ AHRS rotation from veh to nav: [[0.325936,-0.931462,-0.161694],[0.945319,0.323230,0.043519],[0.011728,-0.167036,0.985881]]H`"?aĿ @?ί?@H??saſ V?iѤ?I_;CY5\jBy= IiMb@Mb@Mb@ 9Zd;O?7A`?I +Y~J?y>9{A bA)_AYfbA bD VD :2yO %=ٔ%VQ-%>9!Y!=%Fy%_E-s:E->1Q 5=555?Q 9=55)5BYE N?Q EE:yE+?Q IE@5DI5h;i5 ;5;5yIɮMkAIuDNOT Ignoring new targets: 53.61 m.hyhy*hy"hy hygyfyffBdddjdZd8@BA<Bh>BCB0IBwjBB =BBDBl;Bl+E]rBɢ]d)] ]iY)eL=aaieUiimsݒl,/?A2?2ש?2ٱ2H+ :AHRS rotation from veh to nav: [[0.325169,-0.931540,-0.162786],[0.945509,0.323301,0.038595],[0.016676,-0.166465,0.985906]]2H? ,@(ĿA??£?? Nſ?i2?I2!_;2CYFRjByFIbDRVDRyVؼ%ZZ=ٔZWQ-Z>9\Y\=^Fy^_Ebc ;Eb>`Q 5f5b9?Q 9j5b@)bBYhyjD?Q Ij@bDIbe;ib;b=5ypɮrkAp DNOT Ignoring new targets: 53.61 m.h h *h "h  h gfffdddjdZd t8@rBɢ㤽) i)V=ixQi!%cs<%Pl,w=?A2ׂ?2ž?2seٱ2* :AHRS rotation from veh to nav: [[0.324416,-0.931611,-0.163877],[0.945669,0.323371,0.033772],[0.021531,-0.165929,0.985903]]2H ?,=ſ?i2ׂ?I2_;0YFAjByFIIJ<)Jp;bDNVDN0yV%V0=ٔZ+Q-b>9`Y`=bFyf_Ef-:Ef>hQ 5n5j>?Q 9n5j)jڹBYpyr]?Q Ir@jDIj:ij|:j?5yvBɮv lAvEDNOT Ignoring new targets: 53.61 m.hh*h"h hgff!f!d!d!d)jd)Zd-!8@qrBɢ:) i)V=iNi@t< Eܖi>9@ @@/@ԡB=p>B9B=*IB=ljBB9B9B=DB=l;B=j+E^AE  E E (E "E 3;*E ;:VE c44ZE BE i I Ɖl,:W?A:?:Ҟ?:vռٱ:*>* BAHRS rotation from veh to nav: [[0.323922,-0.931603,-0.164897],[0.945724,0.323650,0.029280],[0.026091,-0.165432,0.985876]]:H$? Xſ^C? ?@??,ſL?i:?I:~^;:CYN=jByN Ii5Mb@Mb@Mb@1111 195NbX9?L7A`?/$Y5E?y5+>55xA1 5+cA)5^A1Y5aAIIbDUVDUyeG&%e@=ٔe/Q-e>9m ?Ym ?=mFym_Em:Eu>qQ 55ugC?Q 95u)uչBYH?Q E:y?Q I@uDIu: ;iu:uA5yɮlAeDNOT Ignoring new targets: 53.61 m.haha*ha"ha hagifififmBdqddjdZd@#Z9@rBɢ;) *i)=iKi=t<}E!  E% E% )E! "E! *E% :VE% FA4ZE! a- @a- @a- @a- @xl,q?A2Z?2?22ٱ2* :AHRS rotation from veh to nav: [[0.323225,-0.931492,-0.166881],[0.945834,0.323661,0.025345],[0.030404,-0.166033,0.985651]]2H ?W\ſ@ED?۶??K"?@ſt?i2Z?I2D _;2CY "jByIbD5VD5N2yM %UK=ٔ]/Q-]>9]"?Ye"?=eFye_Em:Eu>yQ 55}G?Q 95})}ѹBYy?Q I@}DI}3;i};}HC5yɮlADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffddd jd Zd 9@9rBɢ㵽)  i)=iطHibt< eƞԹ A9 A= @ABE {>BE CBE IBE XjBBE =BA BE DBE l;BE ~+El,I?A2?2I?2 ٱ2* :AHRS rotation from veh to nav: [[0.323396,-0.931280,-0.167725],[0.945646,0.324469,0.021739],[0.034177,-0.165639,0.985594]]2H? xſ@B??B??3ſ?i2?I2^;2CYFjByFI HHi}Mb@Mb@Mb@yyyy y9})\(?Mb?I +Y}GA?y}>}9}zAy }AdA)}\AyYybDVDy%E=ٔ&Q->9Y=Fy_E> E>Q 55PL?Q 95)ιBYD?Q E:yu?Q I@DI*:i@:E5yɮlA-DNOT Ignoring new targets: 53.61 m.h)h)*h)"h) h)g)f1f1f5Bd9d9d9jd9ZdE@ &:@mrBɢmؼԑE EE(E"E9;*E:VEc44ZEBEԹ  m'GhA9hAYmA^A) AY Ia Iq O > *ʨl,ݤ?A2?2?2ٱ25+ :AHRS rotation from veh to nav: [[0.323051,-0.931075,-0.169520],[0.945628,0.324720,0.018566],[0.037760,-0.166301,0.985352]]2H@ݬ?`^@ֲſB?5??OU?XIſ?i2?I2_;2CYF jByFI N9tYt=vFyv_Ezi]:Ez>|Q 55~lP?Q 95~)~˹BYy~?Q I@~DI~:i~R:~F5yBɮlAEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd =:@mrBɢm+)q u iq)uvq=qqi}:Biy}\t<2l,?A2:?2u?2H'ٱ2P]+ >AHRS rotation from veh to nav: [[0.322991,-0.930883,-0.170687],[0.945515,0.325206,0.015608],[0.040980,-0.166428,0.985202]]2H?ſA?+??G?Mſņ?i2:?I2C^;0YFjByFIbDRVDRyV<%ZJ=ٔZQ-Z>91Y9==Fy=_E=pM8E=>AQ 5M5ET?Q 9M5E)EȹBYQyqQ Iu@EDIE;iEK;EH5yyɮ}lAEDNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hIgIfifqfqdqdqdqjdyZd}:@rBɢ2I)I M iI)UaEj=QQiU?iY]tBCBIBDjBB =BBDBl;B+EqDD=E  E E E "E 0;*E :VE ZE BE Xصl,ز?A@>?>?>3ٱ>+ JAHRS rotation from veh to nav: [[0.323109,-0.930726,-0.171317],[0.945342,0.325829,0.012794],[0.043912,-0.166087,0.985133]]>H`ӭ?@ſ>@?``?3? {?@VBſ5?i>?I>9^;>CYV jByVIiMb@Mb@Mb@ 9On?"~j?~jtY8?yS=xAGKA `eA)~ZAY`AbDEVDE02yM%U3=ٔUһQ-U>9YYY=]Fy]_Ee\ȹEe>iQ 5u5mY?Q 9u5mo)mǹBYu:?Q Eu:y}?Q I}@mDIm~ ;im ;myJ5yɮlADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZd`;@rBɢQ ǽ) T i)c=i)=it<ߝE  E E &E "E 2;*E :VE 4ZE a @a @a @a @l,_?AR?Rٞ?Rk>ٱR<+x MAHRS rotation from veh to nav: [[0.323481,-0.930412,-0.172316],[0.945093,0.326632,0.010545],[0.046473,-0.166266,0.984985]]RH@?`tƿ`3>??|?M˧?2Hſ?iR?IR^;RCY}jBy}IAAbDVDy%7=ٔQ->9 ?Y ?=Fy_E}E>Q 55^?Q 95)ƹBYy?Q I@DIp:i:mL5yɮlADNOT Ignoring new targets: 53.61 m.hh*h"h hgfff d ddjdZd,;@rBɢDf)  i)Z=i2:iu<wB CB IB :jBB =B B DB l;B +EBCBCB˕CB =B =C"6AM ؟AIY Ii Ou >{l,М?A Z7̂?Zr?ZSٱZ}, bAHRS rotation from veh to nav: [[0.324387,-0.929548,-0.175254],[0.944510,0.328422,0.006293],[0.051707,-0.167570,0.984503]]ZH?۾nƿ`m9?`?y?]y?rſ ?iZ7̂?IZ^;ZC d)jkAj94hhn3CnkAinQ8IllIpirlA rj9"?Y"?=Fy_E&E>Q 55d?Q 95V)ȹBY?7?Q E:y3?Q I@DAIv:i /<>N5yUBɮUlAUEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZdA<@%rBɢ%ν)) -p i))->S=))i-7i15W9u<=jl,'(?A(Ffl?F*?F]ٱF, ^AHRS rotation from veh to nav: [[0.325246,-0.929115,-0.175954],[0.944077,0.329700,0.004137],[0.054168,-0.167460,0.984390]]FH?Oƿ@5??p??Soſ?iFfl?IFL^;FCYmiBymI qqbDVD1y%Y=ٔٻQ->9 ?Y ?=Fy_E(E>Q 55h?Q 95)ʹBYy?Q I@"DI|:i:O5yɮmADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdd djdZd<@rBɢ) [i)%RGL=!!i-5i)-!Lu<5 0iE!>ԉE EE'E"E);*E;:VE'4ZEa@a@a@a@=9@9 @9@=/@9@M=@M=ԩ^A '< A ؟AI I O >l,*B?A>?>s?>ZXhٱ>8- FAHRS rotation from veh to nav: [[0.326247,-0.928494,-0.177373],[0.943583,0.331129,0.002196],[0.056694,-0.168083,0.984141]]>H?I>Ƭ^;>CXYUjByUI ep9"?Y"?=Fy_E5E>Q 55m?Q 95:)̹BYy?Q I@,DI9:i:Q5yɮlADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd`=@%rBɢ%)! % i!)-qE=))i-6a2i15Wu<5#܅BeCBeIBe/jBBe =Be@DBeDBesl;Bek+ED=DC=bE-c44jE-<4rE- 0E EE(E"E%;*E#:VEc44ZEBE~l,k\?A2Me?2P?25sٱ2F- :AHRS rotation from veh to nav: [[0.327213,-0.927921,-0.178592],[0.943086,0.332550,0.000052],[0.059343,-0.168444,0.983923]]2H@ ?`ƿ-?H?0 ?'b? ſL|?i2Me?I24^;0YBiByFIiEMb@Mb@Mb@AAAA A9EbX9?ʡE?~jtYEE6?yE=EDExAE1JA EvfA)E;WAAYE(`AbDeVDeβymd%mK=ٔu׻Q-u>9yYy=}Fy}_E};/E>Q 55Us?Q 95ٓ)йBY\7?Q E:y?Q I@5DI%;im ;ZS5yBɮlAEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffiBdddjdZd`h=@rBɢBN߽) qi)>=i/i!%B]u<%}E  E E )E "E &;*E a:VE FA4ZE a @a @a @a @ 'l,7v?A6T8?6#?6u.~ٱ6~- >AHRS rotation from veh to nav: [[0.328453,-0.927338,-0.179341],[0.942482,0.334249,-0.002234],[0.062016,-0.168292,0.983784]]6H`?ƿ@(?Vd?Lb?ſ@){?i6T8?I6e^;6CYF jByFIbDRVDRܲyV#=%ZX=ٔZQ-Z>9XY\=^Fy^_E^mEb>`Q 5f5bx?Q 9j5b)bӹBYhyj^?Q Ij@b=DIb :ib:bU5yrBɮrlArEԙDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjd!Zd%`.=@mrBɢmbܽ)  i)$6=顙i$I-iBYu<)jAQ AQ Bm >Bm CBm IBm :jBBm =Bi Bm DBm l;Bm {+E l,4?A6@?6{?6-ٱ6A. BAHRS rotation from veh to nav: [[0.329549,-0.926643,-0.180913],[0.941918,0.335815,-0.004271],[0.064711,-0.168998,0.983490]]6H`U?@,(ǿ1$?}?~q?ſx?i6@?I6Í^;6CYJ jByJIiMb@Mb@Mb@ 9/$?V-?~jth?Y&1?yh=D;wA gA)QXAYz`AIM@AbDmVDmy;%==ٔ˻Q->9Y=Fy_E>8EU>YQ 5e5]~?Q 9e5]τ)]ܹBYe2?Q Em:ym?Q Im@]HDI]:i]:]V5E EEE"E /;*E:VEZEBE@颕rBɢؽ)  i):.=顙i*iLu<[y vl,ꩳ?Ar?rԝ?r$ٱr[. zAHRS rotation from veh to nav: [[0.330597,-0.926065,-0.181957],[0.941347,0.337374,-0.006725],[0.067616,-0.169062,0.983283]]rH (?S@aJǿ??׋{`BO?ϣſw?ir?IrH^;pY-jBy-IbD= VD=2yM;%MO=ٔU3Q-U>9QYQ=]Fy}_EBE>Q 55?Q 95~)BYyת?Q I@PDI;i-;X5yɮlAQDNOT Ignoring new targets: 53.61 m.hh*h"h hgffQfQdQdQdYjdYZd]A>@颥rBɢ@s) i)h.'=iE(iq7u<QK l,ó?A2Á?2J?2`2ٱ2- :AHRS rotation from veh to nav: [[0.331640,-0.925601,-0.182420],[0.940779,0.338895,-0.009215],[0.070350,-0.168561,0.983177]]2H9?`Yǿ ?r?+߂@|?jſ0v?i2Á?I2^;2CYBjByBI DDHJAbDNVDN:2yVb=%VU=ٔVOQ-Z>9XYX=ZFyZ_E^fKE^>`Q 5f5b*?Q 9f5bdw)bBYdyf?Q Ij@bXDIb:ib:bLZ5ylɮ=VlA9DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd` ?@rBɢK)  ] i )  = i%i1=Ou<=;7<B B IB NjBB  =B B B l;B +Ea@y @y@}4@E5 E5E5'E1"E5s!;*E5خ:VE5'4ZE1BE5x G  M y9I YU rbA9 l,ݳ?Aɰp;2?2*?2o}ٱ2t3- :AHRS rotation from veh to nav: [[0.332529,-0.925232,-0.182673],[0.940269,0.340233,-0.011648],[0.072928,-0.167888,0.983105]]2H )H? @aǿ?a?ڇn?Z}ſ@u?i2?I2 ^;0Y^1jBy^IiEMb@Mb@Mb@AAAA A9E9v?Zd;?~jtx?YE4?yEy=E;ExAA EhA)EUAAYE(`A ];]<bDeVDe0yu$=%u>=ٔu;ŻQ-u>9Y=Fy_EE>Q 5 5ҏ?Q 9 5^o)BY 5?Q E :y?Q I@bDIe:i ;=\5yBɮkAEEDNOT Ignoring new targets: 53.61 m.hAhI*hI"hI hIgIfIfQfUBdQdYdYjdYZd]q?@颍rBɢd)  i)iB=顑i#i:t</E=  E= E= )E9 "E= U,;*E= n:VE= FA4ZE9 aE @aE @aE @aE @>l,?A9pYp=rFyr_EvEv>xQ 5~5z_?Q 9~5zh)zBY|y~?Q I@zkDIz;iz;z]5y Bɮ rkA E5DNOT Ignoring new targets: 53.61 m.h1h9*h9"h9 h9g9f9fAfAdAdAdAjdIZdM}?@}rBɢ}y)y } iy)>=顁i}!it<#B CB *IB ljBB B B B l;B +Ea I O >"m,W?AVX?VD?V1ٱVJ, vAHRS rotation from veh to nav: [[0.334503,-0.924241,-0.184085],[0.939173,0.343075,-0.015908],[0.077858,-0.167566,0.982782]]VH}h?@aǿ ??.Jz?`rſr?iVX?IV;^;VCQYUjByIE EE&E"E(;*E*:VE4ZEBE9 ?Y ?=Fy_E 0E>Q 55?Q 9 5__) BY R:?Q E :y c?Q I@vDI5;i|;`5yɮ1kAEDNOT Ignoring new targets: 53.61 m.hAhAi*hA"h hgfffrBdddjdZd4*@@%sBɢ-̽)) - i))-(g =)1i5i1=ؔt<=|im>@ @@/@@@ԑ ^A9 A ؟AI I O>$ m,#.?A:D4?:~?:.ٱ:- BAHRS rotation from veh to nav: [[0.335490,-0.923573,-0.185634],[0.938634,0.344472,-0.017471],[0.080082,-0.168381,0.982464]]:Hx?`ǿJ ? ?㑿8?ſWp?i:D4?I: ^;:CYJbjByN#IAAbDVDy=%O=ٔɸQ->9"?Y"?= Fy _E8E>!Q 5-5%}?Q 955%W)%BY9y=??Q I=@%DI%y;i%;%a5yQɮUjAQDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd@\@@ sBɢE EE'E"Em+;*E:VE'4ZEa%@a%@a%@a%@)  i)v=顱ii*Zt<i! I! Em,dH?A0B ?B&?BmڧٱB. JAHRS rotation from veh to nav: [[0.336567,-0.922890,-0.187071],[0.938094,0.345882,-0.018597],[0.081868,-0.169231,0.982170]]BH`R?Q@ǿ@?"?@0 J?`]ſ`m?iB ?IBO|^;@YnjByn7IbDzVDz:y~=%]=ٔQ->9 Y = Fy _E UE>Q 5%5ܧ?Q 9%51Q)!BY!y%?Q I%@DI;iT;ec5y1ɮ5|jA1]DNOT Ignoring new targets: 53.61 m.hYhY*hY"hY hYgafafafadididijdiZdu@@颽sBɢ Q) i)KE<ii7#t<};IB>BBIIBjBB =BBBm;B+EBCBCBCB =B =C6Iԑi@i @i@m/@iE EE%E"E);*E:VE 4ZEBEN9*m,?b?A2F܀?2ǜ?2ٱ2b0 :AHRS rotation from veh to nav: [[0.337920,-0.921958,-0.189218],[0.937483,0.347512,-0.019009],[0.083281,-0.170965,0.981751]]2H{?ୀM8ȿ@?=?vQ?1ſ j?i2F܀?I2b^;2CYBjByF;IhiEMb@Mb@Mb@AAAA A9E?~jt?9qYq=}Fy}_E}hE}>Q 55?Q 95I)-BYA?Q E:y#?Q I@DIW;i;9e5yBɮjA٤EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff|BdddjdZd@@ sBɢ+) i)d<ii!%ls<%};I!I!-9@) @)@-0@)^Ar;E EE&E"E[";*Ea:VE4ZEa@a@a@a@i Iy I O >DTm,|?A4<ɰ;2)Ȁ?2c?2ٱ200 :AHRS rotation from veh to nav: [[0.338449,-0.921604,-0.189994],[0.937147,0.348343,-0.020303],[0.084894,-0.171181,0.981575]]2H '? }Qȿ`??K?Eʔ?Bſi?i2)Ȁ?I2^;2CYFjByFKIbDNVDNN2yVN=%VW=ٔZQ-Z>9XYX=ZFy^_E^AԺE^>`Q 5f5bײ?Q 9f5bA)b8BYhyj?Q Ij@bDIb|:ibR:bf5ynBɮniArڤE9DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd/@@sBɢ )  i ) @<iis<;II!9@ @@o1@iԑ^Aϩ;AAB)B-CB-hIB-jBB)B)B)B-m;B-+EI I O- > bEjE˅04rE˓/E  E E )E "E m+;*E :VE FA4ZE BE ߄9Y=Fy`EE>Q 55?Q 959)DBY)D?Q E:yG?Q I@DI ;i? ;h5yɮ{iA-DNOT Ignoring new targets: 53.61 m.h)h)*h)"h) h1g1f1f9f=Bd9d9dAjdAZdE)A@m#sBɢu)q u iq)}Ak! bf+m,Я?A6ր?69`Y`=bFyb`EfP:Ef>hQ 5n5j?Q 9n5j1)jNBYlyrV?Q Ir@jDIj;ij3;jjj5ytɮvDiAt5DNOT Ignoring new targets: 53.61 m.h1h9*h9"h9 h9gAfAfIfIdQdQdQjdYZd] YA@颭)sBɢX)1 5i9)=z<99i=%iAESry cN2m,Cɴ?A2?2?2:Nٱ2/ :AHRS rotation from veh to nav: [[0.337048,-0.922055,-0.190297],[0.937327,0.347614,-0.024145],[0.088413,-0.170232,0.981430]]2H`3?y[ȿ?`N??e4? +ſ`g?i2?I2w];2CYZjByZ{IbDfVDfNyn=%nH=ٔnx(Q-r>9pYp=rFyr `EvX;Ev>xQ 5~5zç?Q 9~5z))zZBY|yv?Q I@zDIz/;iz<;z3l5y Bɮ hA ФE5DNOT Ignoring new targets: 53.61 m.h1h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM`|A@}0sBɢ})y }iy)<顁iYiڤr<M;IIB>BBIBkBB =BBB$n;BJ,EY59@9 @9@E/@AԁDD=E EE&E"E);*E:VE4ZEBENԩ w{8m,ɓ?A2w?2?2ٱ2,/ :AHRS rotation from veh to nav: [[0.336023,-0.922446,-0.190214],[0.937616,0.346755,-0.025244],[0.089244,-0.169865,0.981418]]2Hh?ୄ Xȿ`?`;1?ٙ`ض?@%ſg?i2w?I2];2CYUkByUIԩiMb@Mb@Mb@ 9'1Z?X9v?MbP?YB?y=:uAHA iA)QAYbDVDy =%+=ٔwQ->9Y=Fy`E;E>!Q 55%ȧ?Q 95%N )%fBYbE?Q E:ys?Q I@%DI%;i%;%Hn5yɮnhAmDNOT Ignoring new targets: 53.61 m.hihq*hq"hq hqgqfffBdddjdZd%A@9sBɢн) i)Œ<iypi  Nr< ;II9@ @@/4@E EEE"EC#;*E:VEZEa@a@a@a@ ^A g;1 AI I!O->_O@m,L?A6=?6(?6+ٱ6. BAHRS rotation from veh to nav: [[0.334924,-0.922907,-0.189916],[0.937909,0.345855,-0.026664],[0.090292,-0.169193,0.981438]]6Hdo?t*OȿY?@}"?M`d? ſg?i6=?I6];6CDFs@iDIDHX XX\\\\I\)\i\)`IbjAbԽ` `dddiddihx)x xIx |)~|{A|||Y|YkBy IbDVD0y-z<%-K=1ٔ-d+Q-U>9QYQ=UFy]`E]w7;E]>aQ 5m5eͧ?Q 9m5e6)epBYqyu?Q Iu@eDIe;ie;ep5yɮGhADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffd d d jdZdA@]?sBɢ]Rf )a eeia)eBBIBLkBBBBBwn;Bu,Eԑ^AM;E  E E *E "E %;*E :VE (N4ZE BE +Թ &Ce ߀G} (hA p9 (hAY 4ZAtFm,?AY]*kBy]IԙiMb@Mb@Mb@ 9y&1?K7?{GzY`E?yI >#xsAEA hA)OAYQ\A p<<bDVDy=%==ٔ]Q-e>9aYa=eFye`EmEm>qQ 5}5uҧ?Q 9}5uW)uxBY}{H?Q E:y?Q I@uDIu.:iua:uq5yBɮhAȤEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZd`5B@FsBɢ) i)a<  i ] iq<5ԞLm,4?A2Aw?2{b?22ٱ2e- :AHRS rotation from veh to nav: [[0.333203,-0.923636,-0.189399],[0.938283,0.344586,-0.029744],[0.092737,-0.167799,0.981450]]2H 2S?m:>ȿj? ?,u ? rzſh?i2Aw?I2k^;2CER ERER)EP"ER&;*ER:VERFA4ZEPaV@aZ@aZ@aZ@Y];kBy]IbDmVDmky}/3=%}T=ٔ-ֻQ->9 ?Y ?=Fy`E;E>Q 55֧?Q 95)BYyP?Q I@DI;i;s5yɮgADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd@eB@MsBɢ%o)! %!i!)% u<))i- i)5gq<5 y B >B B IB kBB B B B n;B ,ESm,N?AY%UkBy%I==bD VD:2ywt=%C=ٔ Q->9%"?Y-"?=-Fy-`E=EE>YyQ 55}ۧ?Q 95})}BYyQ I@}DI};i};}u5yɮ=ggA9eDNOT Ignoring new targets: 53.61 m.hahi*hi"hi higifqfqfqdqdydyjdyZd}B@E EE(E"E /;*E:VEc44ZEBEuYm,h?A2?2?2EĽٱ2+ :AHRS rotation from veh to nav: [[0.332065,-0.924149,-0.188896],[0.938390,0.343976,-0.033235],[0.095690,-0.166222,0.981435]]2H`@?`-ȿJ?@?(?`Fſ`g?i2?I2_;2CYBskByBIiMb@Mb@Mb@ 9)\(?S㥛?y&1YGA?y$>`esAEA gA)NAY[A))bD5VD5NyEB=%EV=ٔE&Q-E>9IYI=MFyM#`EUA;EU>YQ 5e5]ߧ?Q 9e5])]BYe3D?Q Em:ymԲ?Q Im@]DI] ;i]K ;]w5yqɮufAqMDNOT Ignoring new targets: 53.61 m.hIhI*hI"hQ hQgQfQfYf]BdddjdZdB@ԡ]sBɢNM) Bi))>! #`m,~?A2b?2?2ƽٱ25$+ :AHRS rotation from veh to nav: [[0.331837,-0.924276,-0.188676],[0.938352,0.343948,-0.034575],[0.096851,-0.165571,0.981431]]2H 9tYt=vFyv'`Ez:Ez>|Q 55~㧊?Q 95~)~BYyܲ?Q I @~DI~a;i~; ;~x5yBɮfAE=DNOT Ignoring new targets: 53.61 m.h9h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU=B@颅dsBɢn ) Vi)n'<顉i%iIq<G.BiBmIBmkBBm =BiBiBmn;Bm,EB)B)B-œCB- =B- =C-ր5I^A} &<AA> PExceeded connect timeout, disconnecting.i A I I O >E  E E E "E ;;*E :VE ZE BE AHRS rotation from veh to nav: [[0.331953,-0.924292,-0.188394],[0.938207,0.344227,-0.035699],[0.097847,-0.164902,0.981445]]2H>? ̓Hȿ??-G| ?@ſ`g?i23?I2O`;2CY^kBybI ddiMb@Mb@Mb@ 9X9v?Zd;?MbY=?y==pA vfA)tMAYZAbDVD2yo=%>=ٔQ->9Y=Fy+`E(E>Q 55觊?Q 95)BY@?Q E:y?Q I@ DI:i:z5yɮbfADNOT Ignoring new targets: 53.61 m.hh*h"h  h g f ffBdddjdZdL5C@MlsBɢM<)I M0iI)U6 lm,Y6?A2?2?2X˽ٱ2* :AHRS rotation from veh to nav: [[0.331842,-0.924205,-0.189015],[0.938124,0.344348,-0.036708],[0.099013,-0.165138,0.981288]]2H@9v ?Yv ?=vFyv/`EvU9Ez>xQ 55zA?Q 95z2)zBYy?Q I@zDIz;iz;zY|5yɮeA=DNOT Ignoring new targets: 53.61 m.h9h9*h9"hA hAgAfAfAfIdIdIdIjdIZdUeC@tsBɢ) %i!)%͵;!!i%$i)-p<-,Be >Be CBe $IBe lBBe =Ba Be DBe ko;Be ,Esm,е?AB?Bw?B̽ٱB}y* NAHRS rotation from veh to nav: [[0.332362,-0.923999,-0.189108],[0.937844,0.345022,-0.037524],[0.099919,-0.164882,0.981239]]BH`lE?e`4ȿ?`?d6G?@ſOf?iB?IBš`;@YfkByjI|bD~ VD~2y%ݞ=%-F=ٔ5.Q-E>9M"?YM"?=UFyU3`EewEm>Q 55#?Q 95)BY9yE?Q IM@DIyzm,?A2s?2o?2 Ͻٱ2* JAHRS rotation from veh to nav: [[0.332559,-0.923852,-0.189477],[0.937667,0.345407,-0.038399],[0.100921,-0.164897,0.981134]]2H@H?2`@ȿ@^?&? չ?Vſ se?i2s?I2Z`;2CYRlByV"IIZC=)Z49 ?Y ?=Fy7`EE>Q 55?Q 952)BY=?Q E:y?Q I@(DIMq;i^q;5yɮdADNOT Ignoring new targets: 53.61 m.h h *h"h hgfffBdddjdZd C@ sBɢ ) i)|;iV9iup<% m,?A2V{?2f?2?нٱ2i+ :AHRS rotation from veh to nav: [[0.332800,-0.923467,-0.190927],[0.937518,0.345808,-0.038424],[0.101508,-0.166210,0.980852]]2H`L? @Hpȿ`&?!?`\ f?ZFſ#c?i2V{?I2]_;2CYBlByF,IHJ@AbDN VDN2yVk$=%VY=ٔZ%ͺQ-Z>9Z"?YZ"?=ZFy^;`E^)BE^>`Q 5f5b?Q 9f5b)bĺBYhyj?Q Ij@b1DIb:ib:b5y=Bɮ=dA=EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd LD@ԹsBɢ=m ) i)z";izOiÅp<B CB IIB @lBB  =B ADB DB o;B  -E^A;<D zD @AE  E E &E "E 9;*E :VE 4ZE BE 9 m,{?A2/e?2hP?2Ooѽٱ2F$, :AHRS rotation from veh to nav: [[0.333414,-0.923153,-0.191372],[0.937237,0.346532,-0.038746],[0.102085,-0.166442,0.980753]]2H`V?y~ȿ`?-?֣ ="?Mſ`Sb?i2/e?I2E_;2CY^lByb5Ii}Mb@Mb@Mb@yyyy y9}+?|?5^?{Gzt?Y}v>?y}=}ף;}&oA}CA y)}GKAyY}YAbDVD:y6 =%<=ٔQ->9 ?Y ?=Fy?`E˺E>Q 55?Q 95)ҺBYH@?Q E:y?Q I@;DI :i3:5yɮdADNOT Ignoring new targets: 53.61 m.hh*h"h hgff f Bd d d jdZd 7D@EsBɢE)I MiI)Mq:IIiMiQ]Tp<]8$ԱA ؟AI I O > W>m,7?A2I?2J4?2ҽٱ2^, :AHRS rotation from veh to nav: [[0.334207,-0.922749,-0.191936],[0.936921,0.347391,-0.038703],[0.102390,-0.166894,0.980644]]2Hc?)@YȿB?;?У86? \ſoa?EB EBEB'E@"EBO6;*EB:VEB'4ZE@aF@aF@aF@aF@i2I?I2^;2CYNGlByRNI TTbDXVDXyb<=%bY=ٔboUQ-f>9f"?Yf"?=fFyfC`EjeEj>lQ 5r5ng?Q 9r5nc)nߺBYpyvŮ?Q Iv@nDDIn:inR:n)5yxɮzcAxDNOT Ignoring new targets: 53.61 m.hh!*h!"h! h!g!f!f)f)d)d)d)jd1Zd5gD@esBɢe-)a mii)mTiiim2iqu #p<}B j>B CB uIB lBB =B B DB &p;B -E1 z%m,(dQ?Abh0?b?bKҽٱbv4- rAHRS rotation from veh to nav: [[0.334908,-0.922371,-0.192530],[0.936659,0.348125,-0.038463],[0.102502,-0.167453,0.980537]]bH#o?Ӥȿ?G?u=?oſ`?ibh0?Ib$^;bCYblBy_I %9E ?YM ?=MFyMG`EMEM>QQ 5e5U ?Q 9m5UN)UBYyy}?Q I}@UNDIUk;iUr;U5yɮcADNOT Ignoring new targets: 53.61 m.hh*h"h h!g!DD%=E EEE"E1;*E :VEZEBE[Gm,l?A^?^;?^=ҽٱ^- nAHRS rotation from veh to nav: [[0.335573,-0.922008,-0.193112],[0.936407,0.348825,-0.038252],[0.102631,-0.167995,0.980431]]^Hz?  ȿ ?@&S?@ѕ` F? ڀſ_?i^?I^ڛ];^CY~wlBy~lIiMb@Mb@Mb@ 9V-?/$?y&1?Y9Y=FyL`ERԺE>Q 55 ?Q 95)BY.>?Q E:y̫?Q I@YDI:i:누5yBɮUcAEDNOT Ignoring new targets: 53.61 m.hh*h"h hgf!f!f%Bd!ddjdZd`KD@esBɢm!# )i muii)mrqqqiuiq}o<}a;IyIy@ @@4@E EE#E"E2;*E:VE3ZEa @a @a @a @^AΒ;! A ؟AI I) O= >xm,T?A6 ?62?6ӽٱ6. >AHRS rotation from veh to nav: [[0.335938,-0.921797,-0.193486],[0.936252,0.349238,-0.038266],[0.102846,-0.168297,0.980357]]6H`?[%ȿ?Y? `#T? ſ_?i6 ?I6qa];6CY}lBy}II4<)p;bDVD:y=%<=ٔ\Q->9"?Y"?=FyP`EoE>Q 550?Q 95)BYy?Q I@cDI:i:ъ5yɮbADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffd!d!d!jd!Zd%` E@i1I1QesBɢe7)i mii)mzyiqiuiq}_[o<};IyIyB`>BCBIBlBB =BBDBDp;B"-Em9@i @i@u/@qyE  E E &E "E 4;*E :VE 4ZE BE &m,n2?A2?2+?2ӽٱ2t- :AHRS rotation from veh to nav: [[0.335815,-0.921851,-0.193442],[0.936266,0.349164,-0.038593],[0.103120,-0.168153,0.980352]]2H }?@@ȿ ? X?`v£f? ſ _?i2?I2B\;2C@ @)FkAF'DDF&CHiJ,IHHIHiH J,L)LL NkAR94PPPPIR,)TiT)TIVkATT XXZlAXiXXi\\)\ \I\Y`YflByfIiUMb@Mb@Mb@QQQQ Q9UʡE?~jt? rh?YU=?yU=UC9Y=FyT`E9E>Q 5%5M?Q 9%5)BY%>?Q E%:y%r?Q I%@mDI7:i:5yQɮU/bAQDNOT Ignoring new targets: 53.61 m.hh*h"h hgffԩfǀBdddjdZdDE@=sBɢ=)9 EiA)Eq)ڻAAiM[iIMol٭m,?AN^?N?N%ӽٱN- VAHRS rotation from veh to nav: [[0.336142,-0.921732,-0.193439],[0.936139,0.349502,-0.038623],[0.103208,-0.168103,0.980352]]NHZ?~ȿ ?=^?oƣk?@hſ _?iN^?IN?\;NClYUlBy]IbDmVDm!y}=%}c=ٔ} Q-}>9Y=FyX`EE>Q 55"?Q 953).BYyf?Q I@uDIG;iH;,5yɮ-aA1]DNOT Ignoring new targets: 53.61 m.hYhY*hY"hY hYgYfafafadadidijdiZdmrE@额sBɢ ) W޿i)顡i}in<A;II A@A @A@E/@I1^Am0;B a>B B IB mBB B B B Vp;B ,-EBCBCBɖCB =B =C57a A .AI I O >"m,Ӷ?A2 ?2?2Խٱ21- :AHRS rotation from veh to nav: [[0.335981,-0.921836,-0.193221],[0.936153,0.349406,-0.039156],[0.103608,-0.167729,0.980374]]2H඀? tȿ?\? 8 ? xſ8_?i2 ?I29\;2CYrlByrI ttbD~VD~k2y K=% R=ٔ ZQ->9 ?Y ?=%Fy%\`E-A9E5>AiQ 55mt(?Q 95m)m>BYyk?Q I@mDIm;im?;mꏄ5yBɮsaAEE EEE"E9;*E:VEZEBEhm,?AF?F4?FӝսٱFv- RAHRS rotation from veh to nav: [[0.335607,-0.921931,-0.193421],[0.936231,0.349138,-0.039683],[0.104116,-0.167769,0.980313]]FH z?t ȿ?GX?@XQW?vyſ@^?iF?IF\;FCYZmByZIi}Mb@Mb@Mb@yyyy yԑ9}Mb?l?9Y=Fy``Ef:E> Q 55 /?Q 95 ^) OBYD?Q E%:y%?Q I%@ DI ;i 4; Ƒ5y9ɮ=aA9DNOT Ignoring new targets: 53.61 m.hh*h"h hgff!f%Bd!d)d)jd)Zd- E@]sBɢ]O)a eٿia)e1/aaieiimLTnBm,o?A2?2W?23ֽٱ2EA- :AHRS rotation from veh to nav: [[0.335425,-0.922043,-0.193200],[0.936274,0.348984,-0.040005],[0.104310,-0.167470,0.980343]]2Hw?aǺȿ?@U?{ ?oſ@^?i2?I2\;2CYFmByDbDNVDNkyV:%Va=ٔV4 Q-Z>9Z"?YZ"?=ZFyZd`E^ :E^>`Q 5f5b4?Q 9f5b^{)b]BYdyf?Q Ij@bDIb:ibF:bY5ynBɮn`AnEDNOT Ignoring new targets: 53.61 m.hh*h "h  h g f ffdddjdZdF@sBɢy) ڿi)r6CiKin<;IIm9@i @q@u4@qB<A<B]>BBIB\mBB =BBB\p;B!^A0;ibE}Ȁ'4jE}7&4rE}0E  E E ,E "E *;*E :VE g4ZE BE y m,v!?A2?2?2|ֽٱ2e- :AHRS rotation from veh to nav: [[0.335486,-0.921978,-0.193407],[0.936227,0.349094,-0.040155],[0.104539,-0.167602,0.980296]]2Hx?`׀ȿ@?W?$ú? sſ^?i2?I2f\;2CYB1mByBIIF<)Fp9E ?YE ?=EFyEh`EEy6EM>IQ 5]5Mv;?Q 9]5M8s)MlBY]^B?Q E]:y]ݨ?Q I]@MDIM :iMj:M25yiɮm`AiDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdd!d!jd!Zd% ?F@I颕sBɢ) ؿi)5[顙ii{m<3;II]9@a @a@e4@ay^A8<ԹA I I O > E  E E %E "E *E :VE 4ZE a @a @a @a @&m,X;?A2?2K ?2n׽ٱ2I{- >AHRS rotation from veh to nav: [[0.335345,-0.921982,-0.193630],[0.936226,0.349047,-0.040576],[0.104997,-0.167674,0.980235]]2HIv?ȿ?V?@hƤ ?Zvſ ^?i2?I2\;2CYFemByFILNAAbDRVDRNyZe>%ZT=ٔZcQ-Z>9\Y\=-Fy-l`E59E5>9Q 5E5=A?Q 9E5=k)={BYIyM?Q IM@=DI=9:i=:=5yUBɮU `AUEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd5qF@tBɢ{ ) ӿi)ۢoiH޻i`m<;IIԹQ@Q @Q@U/@Q^Au;A}>A}> A ؟AB B B IB mBB =B B B o;B ,EI I O >9 l m,1U?AYdmByIbD=VD=:2yM]%MA=ٔMQ-U>9U"?YU"?=UFyUp`E]E]>iQ 55mNH?Q 95mc)mBYyQ I@mDImE;imj;m5yɮ `AuDNOT Ignoring new targets: 53.61 m.hyhy*h"h hgfffE EE(E"Em+;*EVEc44ZEBEބNm,vmo?A69?6 %?64Yٽٱ6. >AHRS rotation from veh to nav: [[0.334518,-0.921947,-0.195223],[0.936417,0.348473,-0.041107],[0.105928,-0.169059,0.979897]]6H@h? @ ȿ ?bM? ?@ſ@Q[?i69?I68\;6CYJmByJI LLiuMb@Mb@Mb@qqqq q9uV-?~jt?Yu|??yu=uuiAu=>A ubA)uDAqYuSAbDVDy =% <=ٔ, Q->9Y=Fyu`Eg:E>!Q 5-5%N?Q 9-5%R[)%BY5y@?Q E5:y5?Q I5@%DI%n:i%:%5y9ɮ=W_AAmDNOT Ignoring new targets: 53.61 m.hihi*hi"hi higifqfqfuBdqdydyjdyZd}@F@颵tBɢx ) пi)S项i9ٻi#m<y.m,x(?A;ɰp;6B?6.?6Lڽٱ6. >AHRS rotation from veh to nav: [[0.334245,-0.922051,-0.195196],[0.936462,0.348287,-0.041652],[0.106390,-0.168871,0.979879]]6H@Fd?q@,ȿ`? UJ?yS`]9tYx=zFyzx`Ez/E:Ez>|Q 55~jT?Q 9 5~ZT)~BY y ?Q I @~DI~9:i~1:~95yBɮ4_AEEDNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hAgIfIfIfIdQdQdQjdQZdU G@颅#tBɢT+) ѿi)d顉iȠֻil<B=CB=CIB=mBB= =B9B=DB=o;B=,EM9@Q @Q@U/@QԱ uwk>yE EE&E"E9;*E:VE4ZEBEXm,?A2J?26?2H۽ٱ2 . >AHRS rotation from veh to nav: [[0.334000,-0.922139,-0.195203],[0.936495,0.348132,-0.042197],[0.106868,-0.168713,0.979855]]2H`A`? ) hȿ?G?ך[? aſ@Z?i2J?I2N\;2CYFmByF)Ilav@av av@av av@av av@av bDxVDxy]VF=%eC=ٔeEQ-e>9m ?Ym ?=mFym}`Em<:Em>qQ 5}5uZ?Q 95uWL)uBQ A+:YQ Ed:y?Q I@uDIu ;iu>u5yBɮ _AEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdUAG@/tBɢiu) oпi)uiӻi  l< E  E E 'E "E /;*E :VE '4ZE a @a @a @a @Cm,޼?A2O?2:?2gܽٱ2. :AHRS rotation from veh to nav: [[0.333845,-0.922146,-0.195432],[0.936488,0.348089,-0.042709],[0.107412,-0.168762,0.979787]]2H]?8ɿ@?G?@ݥU?ſiZ?i2O?I2\;2CYBmByF;IIJ=)JJ=J=bDRVDRyZE=%ZV=ٔZŻQ-Z>9^"?Y^"?=bFyb`Eb9Eb>dQ 5j5f`?Q 9j5fE)fBQ An :YlQ En9:yn ?Q In@fDIf` ;ifM?f͞5ypɮv^AtDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffd!d!d!jd!Zd-OrG@A:tBɢx ) οi)'iѻil<ABU CBU iIBU nBBU =BQ BQ BU o;BU ,EA I I) OE > km,ַ?A6S?6>?6_kݽٱ6- BAHRS rotation from veh to nav: [[0.333711,-0.922312,-0.194879],[0.936479,0.348020,-0.043459],[0.107904,-0.167997,0.979864]]6H [?@ȿ? E?E@@?ſ [?i6S?I6\;6CYJmByJIITTbDVVDV0yb^=%bJ=ٔbQ-b>9dYd=fFyf`Ej59Ej>hQ 5r5jf?Q 9r5jG=)jϻBQ Ar9YpQ Er:yr?Q Iv@jDIjz ;ij?j5yxɮzO^AxEDNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hIgIfIfIfIdQdQdQjdQZd]@֦G@颅FtBɢx) ̿i)l顉icλԡiUl< "m,?AYumByuXIaa aa aa aa iMb@Mb@Mb@ 9v?EԸ?I +Y8?y=94vfA9Y=Fy`EE>Q 55l?Q 954)ۻBQ AT:Y:?Q E:yͭ?Q I@DI;i);ġ5yɮ]ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdd djdZd%$G@UStBɢUiU)Q ]W˿iY)]}ļYYi]̻iaely }n,.p ?A2C?2.?2 ޽ٱ2D- :AHRS rotation from veh to nav: [[0.334143,-0.922117,-0.195062],[0.936250,0.348570,-0.043991],[0.108558,-0.167928,0.979804]]2Hb?@ȿ ?N? tʻ?`~ſZ?i2C?I26];2CYBnByFaI HHbDNVDN:yV=%Vg=ٔZNQ-Z?9XYX=ZFyZ`E^2E^?`Q 5f5bq?Q 9f5b:.)bBYhyj?Q Ij@bDIb-:ib:bC5ynBɮn]AnEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdYH@%^tBɢ%)! %ʿi!)-ͼ))i-Ȼi15dk<5EiB CB IB FnBB  =B B DB on;B 4,EBCBCB“CB =B =C5@ @@/@ԁ^AUz<E EEE"E*E:VEZEBEQ sn,T$?A2;?2'?2Cn߽ٱ2l- :AHRS rotation from veh to nav: [[0.334355,-0.922089,-0.194827],[0.936136,0.348825,-0.044378],[0.108881,-0.167547,0.979833]]2Hf?ȿ?@'S?߻?`-rſZ?i2;?I2 A];2CYF nByFqIiMb@Mb@Mb@ 9 +?K?~jtY6?y^=D`eA:A \A)YOA %<%<bD-VD-:y=r=%=A=ٔ=9AYA=EFyE`EMnEM>QQ 5]5Uv?Q 9e5Uo&)UBYeI8?Q Ee:yeѬ?Q Ie@UDIU(;iU:U5yiɮu]AqUDNOT Ignoring new targets: 53.61 m.hQhY*hY"hY hYgYfYfafeqBdadadajdiZdmFH@额ktBɢF& ) Yɿi)gؼ顡i4ƻik<};II)@ @@/@Y^A8<ԁ A .AI I O >E  E E %E "E 4;*E :VE 4ZE a @a @a @a @Nn,F&>?A0F#2?F[?F߽ٱF. NAHRS rotation from veh to nav: [[0.334621,-0.921842,-0.195542],[0.936011,0.349168,-0.044331],[0.109143,-0.168195,0.979693]]FHnj? ɿ`?X?@?`lſY?iF#2?IFNi];FCY}>nBy}IbDVDy=%6=ٔ&Q->9 ?Y ?=Fy`E)E>Q 55|?Q 95)BYyǬ?Q I@DI*;i:,;5yɮ]A%DNOT Ignoring new targets: 53.61 m.h!h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd= }H@mxtBԉɢm) ,ǿi!)%U!!i%͎ûi)-nk<-h!;I)I19@ @@@ԹBN>BCBIBnBBBBDBm;B+E ^AE <Au ؟AI I O >n,#X?A8B$?B?BI|ٱB- JAHRS rotation from veh to nav: [[0.334998,-0.921703,-0.195548],[0.935847,0.349584,-0.044518],[0.109393,-0.168090,0.979683]]BHp?~ɿu?_?@˦(? ſ`Y?iB$?IBF];@PRs@iPIPPT TTTTXZlkAIZ)XiX)\I^jA^ٽ^WF \^&CbjA`i``i``)` dId d)dhhhYhYnNnBynIIp)rp;bDzVDz:y+=%c=ٔX6Q->9 "?Y "?= Fy `EE>Q 5=5y?Q 9E5)BYAyE?Q IM@DI;i);5yYɮ]\AYDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd`H@bE-4jEY"4rE/E= E=E=(E9"E==-;*E=:VE=c44ZE9BE=pn,ir?A2??2w?2ٱ2&, >AHRS rotation from veh to nav: [[0.335550,-0.921846,-0.193922],[0.935645,0.350053,-0.045065],[0.109426,-0.166321,0.979981]]2Hy?`qȿ?Cg?R?@Jſ\?i2??I21.];2CQYpnByIi%Mb@Mb@Mb@!!!! !9%x?+η?9YYY=]Fy]`E]E]>aQ 5m5eć?Q 9u5e)eBYu8?Q Eu:yu?Q Iu@eDIe:ieU:e5y}ǒBɮv\AEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZdFH@tBɢ ) ,Ŀi)ViB彻ij<<;I!IEM EMEM&EI"EM';*EM-:VEM4ZEIaU@aU@aU@a]@Q@Y @Y@]0@YQ^A} `;ԁ A A >Iy I O > #n,hό?A24?2l?2ĥٱ2, :AHRS rotation from veh to nav: [[0.335978,-0.921566,-0.194514],[0.935486,0.350510,-0.044807],[0.109471,-0.166911,0.979876]]2H਀?@w}@ȿ`?@n?@P? W]ſ$[?i24?I2Y];0Y-nBy5IbDAVDAye=%ej=ٔe Q-e>9iYi=mFym`Eu-Eu>yQ 55}a?Q 95}5)}BYy?Q I@}"DI}:i}:}C5yɮ \ADNOT Ignoring new targets: 53.61 m.hAABK>BCBIBnBB =BBDBm;B+Eh*h1"h1 h9g9fAfIfIdIdQdQjdYZd];I@tBɢ%)! %T¿ia)e:5iiimjۺiquUjԙ 3)n,?A2v?2ќ?2ٱ23+ :AHRS rotation from veh to nav: [[0.336769,-0.921565,-0.193146],[0.935200,0.351224,-0.045197],[0.109490,-0.165409,0.980128]]2H@?u}ȿ (?uz?@ $`?,ſ`6]?i2v?I2D];2CYBnByBI DDHHiMb@Mb@Mb@ 9X9v?Cl?Mb`?Y3?y;=;3cA \A)S?AY=NAbD-VD-0y==%=M=ٔ=;EQ-E>9AYA=EFyE`EM{ EM>QyQ 55U쐨?Q 95U)U(BY5?Q E:yd?Q I@U+DIU? E%  E% E% *E! "E% m+;*E% n:VE% (N4ZE! a- @a5 @a5 @a5 @0n,%t?A"4<ɰ";>*?>b͜?>ٱ>o* ZAHRS rotation from veh to nav: [[0.336885,-0.921607,-0.192739],[0.935138,0.351349,-0.045508],[0.109659,-0.164906,0.980194]]>H ?}৫ȿ?~|? L?ſ]?i>*?I>X];>CYfnByfI j49xYx=~Fy~`E~fE~>Q 5 5n?Q 9 5)4BYy`?Q I@4DI:iF:5yɮ[A!MDNOT Ignoring new targets: 53.61 m.hIhI*hI"hI hIgIfQfQfQdQdYdYjdYZd] _zI@颍tBɢ}) $i)ni 顑iI̴i$j< ;II@ @@/@^Aϩ;AzAeABH>BBIBnBBBBBrm;B+EAIYIqO>a G (hA1 E6n,Oڸ?A6$s96(hAY6\A:Ҁ?:?: ٱ:4* FAHRS rotation from veh to nav: [[0.337321,-0.921532,-0.192336],[0.934981,0.351758,-0.045585],[0.109664,-0.164454,0.980270]]:H?1}`{ȿ@\? 2?V? ſ^^?i:Ҁ?I:4];:CYNnByNIbDzVDz02y=%I=ٔQPQ- >9 Y = Fy `E"E>Q 5%5?Q 9%5O)ABY!y-Q?Q I-@=DI:i=:5y1ɮ5ZA9DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdE EE(E"EU,;*E:VEc44ZEBEa2Ea%JE%ifipi<Ӥ;IIi@ @@@ԑ^A% ;I I Ou > NoAQYULAbDVDy=%A=ٔ&fQ->9Y=Fy`EJE>Q 55 ?Q 95p)PBY,9?Q E:y/?Q I@GDIK ;i` ;Y5y̒Bɮ7ZAxEDNOT Ignoring new targets: 53.61 m.hh*h"h hgff f Bd d d jdZdI@=tBɢED)A EٸiA)EdRIIiMBiIUTiWCn,?A06?62?6aٱ6n) >AHRS rotation from veh to nav: [[0.337859,-0.921472,-0.191678],[0.934782,0.352260,-0.045768],[0.109694,-0.163715,0.980390]]6H}?|ȿ?m?n@?Ŀ [_?i6?I6];4Y^*oBybIfAAf@AbDjVDjyr=%rW=ٔv^Q-v>9v ?Yv ?=vFyz`Ez],Ez>|Q 5 5~?Q 9 5~^)~^BYy'?Q I@~PDI~3;i~ ;~5y1ɮ5YA1B<ABD>BB$IBDoBBBBBLm;B+EMDNOT Ignoring new targets: 53.61 m.hIhI*hI"hI hIgQfqfyfydyddjdZd SJ@tBɢ8 ) Ҷi)2Eii,i<aE;II ԉ9@ @@/@ԹE  E E *E "E /;*E I:VE (N4ZE BE ɈA > A ؟AI) I9 OE >ԁIn,7'?A:P?:?:ٱ:C) FAHRS rotation from veh to nav: [[0.337841,-0.921494,-0.191602],[0.934762,0.352279,-0.046046],[0.109929,-0.163546,0.980392]]:H/?|kȿ?ཋ?@YH$?@Ŀ^_?i:P?I:\;8YNCoByN$I`i-Mb@Mb@Mb@)))) )9-ʡE?1Zd?Mb?Y-=?y-"=-<-_A-6A -hYA)-9"?Y"?=Fy`E:7E>Q 55ߨ?Q 95?)mBY??Q E:y?Q I@ZDI ;i ;ܶ5yɮVYADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffiBdddjdZdOJ@颅tBɢ ) qi):顡iũih<;IIi I @ @@/@^A A E  E E (E "E /;*E E:VE c44ZE a @a @a @a @A .AI I O >iPn,=A?A6 ?6C?6IJٱ6( >AHRS rotation from veh to nav: [[0.338046,-0.921538,-0.191032],[0.934681,0.352462,-0.046281],[0.109981,-0.162909,0.980492]]6H`?<} sȿ`?໎?,@'?0Ŀ 1`?i6 ?I6%];6CY^YoBy^1I ``dfAbDjVDjyrma=%rT=ٔrQ-r>9v ?Yv ?=vFyv`EzDEz>|Q 55~?Q 95~)~{BYy?Q I@~cDI~7;i~;~5!y1ɮ=YAAmDNOT Ignoring new targets: 53.61 m.hihi*hi"hi higifqfqfqdqdydyjdyZd}v}J@颭tBɢp) 7i)0"顱i iېh<ࢎ;II1@1 @1@50@1I^AQyB?>BCBVIBoBB =BBDB;m;B+EBmCBmCBiBm =Bm =CmǾ5Iq I O >ԡ tVn,[?A2?2)?2p(ٱ2( :AHRS rotation from veh to nav: [[0.338041,-0.921536,-0.191050],[0.934657,0.352496,-0.046509],[0.110204,-0.162844,0.980478]]2H@v?8}Ptȿ`?K?@ЧZ6?@Ŀ `?i2?I2\;2CYBvoByFCI Jp9XYX=ZFy^`E^E^>`Q 5f5bȲ?Q 9f5b;)bBYhyhQ Ij@blDIb:ib:bG5y]ҒBɮ]XA]oEyD%=D<E EE*E"E&;*En:VE(N4ZEBE+\n,ru?A2鵀?2 ?2ٱ2( :AHRS rotation from veh to nav: [[0.338120,-0.921445,-0.191348],[0.934605,0.352623,-0.046586],[0.110401,-0.163083,0.980416]]2H@£? z|~ȿH?@a?,ڧ@7C?Ŀ_?i2鵀?I2\;2CYFoByF^Ii5Mb@Mb@Mb@1111 195MbX9?MbX?y&1?Y5A?y5=5`e<5]A57A 5;WA)11Y5=JAbDMVDM1y]O=%]@=ٔeQ-e>9aYi=mFym`EmcEm>qQ 55u?Q 95u)uBY yC?Q E :y ?Q I @uwDIuuY cn,4M?AJ?Jߨ?J=ٱJ) ZAHRS rotation from veh to nav: [[0.337896,-0.921317,-0.192356],[0.934677,0.352468,-0.046325],[0.110479,-0.164138,0.980231]]JH ? n{ȿ@?`Ԏ?ݷ@XH? vſ ^?iJ?IJ\;JCYvoByzoII=)<bDVDky59=%5M=AEAAAE@ABU=>BQBUIBUoBBQBUBDBQBU9m;BU+Eٔ=-OQ-e>9iYi=mFym`Eu6:Eu>yQ 55} ?Q 95})}BYy?Q I@}DI}:i}:}轄5yɮWADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdK@iIA1颽'uBɢ ) #i)50i;ig<e9;II9@ @@/@abEmǀ'4jEm^+4rEmA0E EE%E"E/;*E:VE 4ZEBEɈԹ in,A(?A2ƀ?2?2Bٱ2p* :AHRS rotation from veh to nav: [[0.337620,-0.921289,-0.192973],[0.934728,0.352299,-0.046570],[0.110888,-0.164654,0.980098]]2H?4{ TȿJ? ?ק`.c?bſ@\?i2ƀ?I2\;2CYFoByFpIimMb@Mb@Mb@iiii i9m}?5^I?)\(?9Y=Fy`E2:E>Q 55kè?Q 95)BYXD?Q E:y3?Q I@DIE;iuE;5yɮWADNOT Ignoring new targets: 53.61 m.hh*h"h hgff!f%Bd)d)d)jd1Zd5POK@ԑ=5uBɢ=ԩ)A EîiI)U4QQiU6iYeE  E E (E "E 4;*E :VE c44ZE a @a @a @a @ pn,ù?A2eՀ?2?2`ٱ2r* :AHRS rotation from veh to nav: [[0.337189,-0.921413,-0.193138],[0.934837,0.351953,-0.047000],[0.111282,-0.164704,0.980045]]2H@?6| ȿ@/?e?@m |?ſ \?i2eՀ?I23\;0YZoByZIbDfVDfkyjN=%nW=ٔn~Q-n>9pYp=rFyr`Ev:Ev>xQ 5~5zQȨ?Q 9~5zx)z˼BY|y~B?Q I@zDIz<;iz;z\5y ֒Bɮ ?WA fE5DNOT Ignoring new targets: 53.61 m.h1h1*h1"h1 h9gfffdddjdZd5K@MDuBɢML)Q UѬiQ)UX8QYi]BCBIB$pBB =BBBGm;B+E^AII O >I vn,vܹ?AR-?Rdܜ?RnٱR+ ZAHRS rotation from veh to nav: [[0.336371,-0.921446,-0.194400],[0.935053,0.351331,-0.047367],[0.111944,-0.165841,0.979778]]RH?@}|ȿ@?`3|?u@d?G:ſWZ?iR-?IRB\;RCYboBybI ddbDnVDnyv6=%vI=ٔv׺Q-v>9xYx=zFyz`E~;E~>Q 5 5ͨ?Q 9 5y)ۼBY y ]?Q I@DI:i:#Ä5yɮVAEDNOT Ignoring new targets: 53.61 m.hAhA*hI"hI hIgIfIfQfQdQdQdYjdYZd]-K@颅RuBɢ") Di)5=顑i1E EE%E"E0;*E:VE 4ZEBEB }n,?A@F?F=?F[ٱF[+ NAHRS rotation from veh to nav: [[0.335850,-0.921618,-0.194489],[0.935204,0.350876,-0.047744],[0.112243,-0.165852,0.979742]]FH~?}@ȿ0? t?q ? :ſ Z?iF?IF׭\;FCYZpByZIimMb@Mb@Mb@iiii i9mJ +?&1?YmH?ym=mm]Amr4A mSA)m9AiYmHA 4<<bDVD:yb=%@=ٔ8Q->9"?Y"?=Fy`E}:E>Q 55Ө?Q 95ۛ)BYeJ?Q E:yR?Q I@DI ;i ;Ą5yɮbVADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffpBdddjd Zd `K@=buBɢ= )9 =i9)E)AAAiEmiIMjfn,:?AV?V ?V7ٱV.w+ bAHRS rotation from veh to nav: [[0.335183,-0.921886,-0.194369],[0.935393,0.350289,-0.048352],[0.112660,-0.165604,0.979736]]VH@s?@ȿ@?!k?`C׼? 2ſY?iV?IV~\;VChYn#pBynIbDvVDvy~=%~T=ٔQ->9 ?Y ?=Fy`E :E >Q 55٨?Q 95 )BY!y%j?Q I%@DIp:iF:Ƅ5y)ɮ-)VA1MB*** querying acoustic contact ***iI iI]DNOT Ignoring new targets: 53.61 m.hYhY*hY"hY hYgafafafadiBu<AqBu9>BqBuIBukpBBqBqBqBum;Bup+E 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.d)d)jd)Zd-`AL@}ruBɢ}O )y }ߩi)jXF顁i[i-*f<l(;II k>1C)@) @)@-0@)'GhA Xx9 hAY aA)EU EUEU(EQ"EU';*EU:VEUc44ZEQBEU  BDAT read: Tx time:05:45:11.6219  $Ping request sent. ;n,7p*?AB3?BT?By?ٱBH9, JAHRS rotation from veh to nav: [[0.334442,-0.921983,-0.195180],[0.935598,0.349692,-0.048707],[0.113159,-0.166320,0.979557]]BHg?@ȿj? Ya?`?`IſX?iB3?IB\;@9Y}FpBy}II<)=i%Mb@Mb@Mb@!!!! !9% r?bX9ȶ?MbpY%C?y%E=%%^A%4A !)!!Y%QHAbD=VD=NyMň=%M =ٔUQ-U>9QYY=]Fy]`E]:E]>iaQ 5u5eਊ?Q 9u5e)e BYuD?Q E}:y}?Q I}@eDIe:ieH:eȄ5yڒBɮUA]EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZd \L@uBɢg) ӧi)KiPie<];II Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.244803}9@y @y@o0@ԑ^A q; EE  EE EA EA "EE =-;*EE a:VEA ZEA aM @aM @aM @aU @I I O >*n,D?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.4966516P?6;?6")ٱ6+ BAHRS rotation from veh to nav: [[0.333584,-0.922342,-0.194955],[0.935851,0.348915,-0.049417],[0.113602,-0.165964,0.979567]]6H oY?`ӃFȿ@}? T?9M?`L>ſX?i6P?I6\;6C D)DHJ)eFHHNkAiLILLILiP R 0RB1B5IB5pBB1B1B1B5l;B5X+Eԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748674^A Β;A >A >Ia Iy O > yOn,^?A2Z?27E?2qEٱ2+ :AHRS rotation from veh to nav: [[0.333313,-0.922463,-0.194847],[0.935941,0.348652,-0.049565],[0.113656,-0.165845,0.979580]]2H@T?@Єȿ:?PP?@`?h:ſX?i2Z?I2Z\;2CYgpByIbD-VD-0yu7=%uT=ٔ}Q-}>9Y=Fy`EB:E>Q 55)먊?Q 95{)#BYy٫?Q I@DI;i3;̄5yɮ7UAE EE&E"E';*E:VE4ZEBEa2EaJE % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2528639 Wn,x?A6_?6K?6ٱ6) BAHRS rotation from veh to nav: [[0.333152,-0.922889,-0.193096],[0.936013,0.348378,-0.050131],[0.113536,-0.164039,0.979898]]6H\R? N@aȿ?@K? ?@>ĿS[?i6_?I6o\;6CYpByI !!))iMb@Mb@Mb@ 9NbX9?+?MbYE?y=]A\3A ZRA)A8AYFAbDVDk2y c=% ?=ٔn9Q->9Y=Fy`E9E>!Q 5-5%?Q 9-5%gs)%2BY5F?Q E5:y5ԩ?Q I5@%DI% ;i%* ;%̈́5y=ےBɮETAE^EmDNOT Ignoring new targets: 53.61 m.hihi*hi"hi higifqfqf}BdydydyjdyZd L@颵uBɢ) 8i)W项iiVe<=ԁ san,_?A;ɰAr@AApBv9>BtBvIBvpBBv =BtBtBvl;Bv<+EBCBCBB =B =C4Y=pBy=IbDMVDMܲy]<%eX=ٔeQ-e>9iYi=mFym`EmEm>qQ 5}5u?Q 95uk)u?BYyQ I@uDIu;iu;uτ5yޒBɮTATEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd M@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756869q颍uBɢ) i)\iIi&e< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010739 n,!;?A:m?:7X?: Mٱ:)* JAHRS rotation from veh to nav: [[0.332769,-0.922963,-0.193403],[0.936132,0.348042,-0.050227],[0.113670,-0.164337,0.979833]]:HL?@mȿ?SF?`g ? ſZ?i:m?I:\;:CYZpByZIiMb@Mb@Mb@ 9x&1?l?~jthYA?y=DYA1A QA)YGEAbDVD0yD=%?=ٔ%Q-%>9!Y!=-Fy-`E5Vv:E=>AQ 5U5E~?Q 95Ec)ENBYvB?Q E:y?Q I@EDIEQ un,ƺ?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5128396^?6I?6 ٱ6L* BAHRS rotation from veh to nav: [[0.333180,-0.922842,-0.193273],[0.935997,0.348424,-0.050108],[0.113583,-0.164208,0.979865]]6H R?.ȿ?L?@̧ ?ſ [?i6^?I6ޣ\;6CYJpByJIIN4>)Np=R=Rp=bDVVDVy^^<%^c=ٔb9Q-b>9b"?Yb"?=bFyb`EfEf>hQ 5n5j ?Q 9n5j\)j[BYpyr?Q Ir@jDIj;ij;jӄ5ytɮvTAtDNOT Ignoring new targets: 53.61 m.hh*h"h hgff!f!d!d!d)jd)Zd-@݄M@uBɢq) Mi)>2di9(sid<MYBBB>IB qBBBBBbl;B+Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764699ԁ n,ߺ?A0:O?::?:ٱ:Z) BAHRS rotation from veh to nav: [[0.333611,-0.922809,-0.192687],[0.935846,0.348812,-0.050229],[0.113563,-0.163568,0.979974]]:HY?ȿr?R?ॷ@}?Ŀ@[?i:O?I:]\;:CYJpByJIbDVVDVNy^=%^K=ٔbeN8Q-b>9`Y`=bFyb`Ef<Ef>hQ 5n5jO ?Q 9n5jT)jjBYpyr?Q Ir@jDIj;ij;jԄ5ytɮvSAtDNOT Ignoring new targets: 53.61 m.hh*h"h hgff!f!d!d!d)jd)Zd-@M@]uBɢ]D)Y ]ia)eWkhaaie"eliim6dԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268723ǽn,?A28?2#?2$ٱ2S' :AHRS rotation from veh to nav: [[0.334268,-0.922942,-0.190902],[0.935608,0.349366,-0.050814],[0.113593,-0.161624,0.980293]]2H`d?༈woȿ@?\?C`i?Ŀ^?i28?I2\;2C`YbpByb(IiMb@Mb@Mb@ 9+?MbX9?{GzY??yʡ=#0A OA)4AYCAbDVD0y8G=%<=ٔ[Q->9Y=FyaEԺE>Q 55?Q 95L)xBY@?Q E:y-?Q I@ DI ;i ;ք5yBɮ]SALE DNOT Ignoring new targets: 53.61 m.h h *h "h  h g fffVBdddjdZd%9M@MvBɢM)Q UiQ)UElQQi]eiY]\dX#Rx 1: Read direction message, but no range.bdirection in FSK: [-0.980613,-0.188836,-0.052336]yY]t.a,+ȿyoU˪YY]Q~Y Y)]II]E6i]/?]C˾]@]:]8@ ]PwV)]BDBF]IBF@qBBF =BDBDBF!l;BF*EY~pBy~2I   AbDVDܲyM=%MQ=ٔU^9Q-U>9QYY=]Fy]aE]䭺Ee>aQ 5m5e?Q 9u5eE)eBYqyu?Q Iu@eDIe:ie;eg؄5yɮ!SADNOT Ignoring new targets: 53.61 m.hh*h"h hgfi߹I߹ffdddjdZd "N@vBɢ}) Ai)qikj^i  o!d< 6;I I 9@ @@/@IԁDzD?AE EE&E"Em+;*E:VE4ZEBEބn,s-?AF|?F?FٱFB' VAHRS rotation from veh to nav: [[0.335329,-0.922438,-0.191474],[0.935229,0.350439,-0.050393],[0.113584,-0.162174,0.980203]]FH@v?:ȿ@e? m? ͩ? Ŀ]?iF|?IF%\;FCYb$qBybLIyiMb@Mb@Mb@ 9\(\?K?MbY:?y^=UAK/A ENA)YBAbD VD2y-r=%-==ٔ54Q-5>91Y1==Fy= aE=E=>AQ 5M5E?Q 9M5E<)EBYUVn,]G?A6?6?6ٱ6w( >AHRS rotation from veh to nav: [[0.336095,-0.922121,-0.191657],[0.934964,0.351188,-0.050094],[0.113501,-0.162356,0.980183]]6H@?`8ȿ9?y?`a?@Ŀ]?i6?I6\;6CYJ2qByJTIbDRVDR1yZ>=%Zf=ٔZRw9Q-^>9^ ?Y^ ?=bFybaEbIEb>dQ 5j5f!?Q 9j5fL6)fBYhyn_?Q In@f(DIf:iff;fۄ5ypɮr>RAp DNOT Ignoring new targets: 53.61 m.h h*h"h hgfffd!d!d!jd!Zd%EN@U5vBɢU'k )Q `i)%yiuPic<ߴ;II@ @@/@@a=@=B7>BB|IBsqBB =BBBk;B*E^A d;1 6G1 a 9 Y 0AA ؟AI I O >Y n,8a?A6ހ?6ɜ?6{!ٱ6)( BAHRS rotation from veh to nav: [[0.336835,-0.921679,-0.192484],[0.934687,0.351976,-0.049733],[0.113588,-0.163161,0.980039]]6H?`d~Tȿ?ņ?@v?tĿz\?i6ހ?I6\;6CYJFqByJ`IIN=)N%=R=R=bDVVDVfy^L@=%^J=ٔbbQ-b>9b"?Yb"?=bFybaEfEf>hQ 5n5j4'?Q 9n5j.)jBYpyrD?Q Ir@j1DIjn;ij;j݄5yvBɮvQAvBEDNOT Ignoring new targets: 53.61 m.hh*h"h hg!f!f!f!d)d)d)jd)Zd5"N@]GvBɢ]o)a e#ia)eZL}aaimݥHiimTc9yYy=}Fy}aEÃE>Q 55,?Q 95&)BY;?Q E:y!?Q I@;DI06;i5;{߄5yɮMQAԑDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff=BdddjdZd fN@-[vBɢ-@^)) -Ni1)511i5Ai9=Wb<=o;I9IAE EE&E"E=-;*E;:VE4ZEa@a@a@a@9@ @@@^A;A= .AIA IY Oe > n,?AAAB1>BCBIBqBBBBDBk;B*EBȀ?B?BJٱBT) JAHRS rotation from veh to nav: [[0.337441,-0.921301,-0.193231],[0.934421,0.352679,-0.049740],[0.113974,-0.163775,0.979892]]BH@?L{ ʻȿ?K? we-?`ĿE[?iBȀ?IBM\;BCYqByIbDVDfyƋ=%6=ٔQ->9 ?Y ?=FyaE E>Q 552?Q 95<)ĽBYy?Q I@FDI},;i-;r5yBɮPA CE5DNOT Ignoring new targets: 53.61 m.h1h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdMe+O@}nvBɢ}0)y }iy) 顁i\:ib<!;II%9@! @!@% 0@)@5fA@5fAE EE(E"E[";*E:VEc44ZEBEze)n,Ю?AZo?Z?Z=ٱZ+ jAHRS rotation from veh to nav: [[0.338124,-0.920797,-0.194435],[0.934215,0.353356,-0.048801],[0.113641,-0.165143,0.979701]]ZH`ѣ?+w>ȿ?@a?|@?@i#ſ`Y?iZo?IZ];XtvSs@itIttx x|||hkAIt)i) I  ׽ %jA!i!!i!%jA)) )I) ))))11Y1Y=qBy=I AAIMAimMb@Mb@Mb@iiii i9m\(\?S㥻?Ym:?ym/=mmSAm-A mENA)iiYm@AbDVDy=%N=ٔ]:Q->9"?Y"?=Fy!aEE>Q 557?Q 95)ѽBY1@y^A y;ԩ E  E E 'E "E +$;*E :VE '4ZE a @a @a @a @A I I O >Yn,Ȼ?AɰٱBl* NAHRS rotation from veh to nav: [[0.338406,-0.920709,-0.194360],[0.934132,0.353601,-0.048612],[0.113483,-0.165108,0.979725]]BHp?sv ȿi?f?㨿@9 ?>"ſ@Y?iB?IB\;@Y5qBy5IbDM VDM2yU|=%]a=ٔ]9Q-]>9aYa=eFye$aEeTEm>iQ 5u5mZBBIBrBB =BBBk;B*EBBBB =BC"5^Azl; A I I O >9n,?A2?2σ?2Lٱ2 + :AHRS rotation from veh to nav: [[0.338849,-0.920548,-0.194351],[0.934008,0.353984,-0.048218],[0.113184,-0.165187,0.979746]]2Hയ?`!u~ȿ@d???$ſZ?i2?I2$\;2CpYvqByvIbD~VD~ky =% P=ٔIH:Q->9Y=Fy(aE뙺E>!Q 5-5%CA?Q 9-5%_)%BY1y5?Q I5@%aDI%:i%:%|5y9ɮE]OAAEe EeEe&Ea"Eem+;*Ee:VEe4ZEaBEeބcn,[?A2?2~?2ٱ2L* :AHRS rotation from veh to nav: [[0.338999,-0.920579,-0.193945],[0.933980,0.354071,-0.048117],[0.112965,-0.164829,0.979832]]2H'?au/ȿ *?`?L?ſ Z?i2?I2\;2CYB(rByBIIF%=)F=J=J=iMb@Mb@Mb@ 9Q?A`"?y&1|?Y(%=H=ٔ= :Q-=>9AYA=EFyE,aEM<EM>QQ 5U5YUqF?Q 95U)UBY>?Q E:yܮ?Q I@UjDIUHB <A B% 0>B! B% IB% HrBB% =B! B! B% k;B% *EKo,7?A >ט?> ?>ٱ>A.* ZAHRS rotation from veh to nav: [[0.338856,-0.920733,-0.193463],[0.934047,0.353883,-0.048197],[0.112839,-0.164372,0.979923]]>HЯ?v@bȿ?`?7?` ſ[?i>ט?I>\;>CYbSrBybIbDnVDnyve=%vO=ٔv 9Q-v>9xYx=zFyz0aEz9E~>Q 5 5mK?Q 9 5)BY y ?Q I @tDI:i[:5yɮMAEDNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hIgIfIfIfIdQdQdQjdQZd]@P@颕vBɢ) di)]顙ii`<N;II9@ @@/@bEc44jE-4rE/E} E}EyEy"E}+$;*E}L:VEyZEyBE}3}y Iw o,z0?AN?N/?N=ٱN) ZAHRS rotation from veh to nav: [[0.338858,-0.920824,-0.193024],[0.934066,0.353833,-0.048188],[0.112671,-0.163968,0.980010]]NHۯ?cw ȿ`?2?׼?Ŀ >\?iN?INb\;NCYbjrBybIiMMb@Mb@Mb@IIII I9MPn?V-?I +?YMD?yM=M949yYy=}Fy}5aE%7E>Q 55P?Q 95)BYZF?Q E:y?Q I@~DIq ;i ;5yBɮMADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffSBdddjdZd -P@ vBQɢ) i)F顑i^i`<L;IIi߁I߁@ @@@@@ԁԩ^A"5;E  E E %E "E *;*E :VE 4ZE a @a @a @a @I I O > ]o,RI?A2?2݆?2\ٱ2( :AHRS rotation from veh to nav: [[0.338791,-0.921195,-0.191365],[0.934120,0.353638,-0.048586],[0.112431,-0.162298,0.980316]]2H®?`mz ~ȿO??KਿNȼ?*Ŀ^?i2?I2l\;2CYBrByF/I DDHHbDNVDN:2yV=%VX=ٔZ&:Q-Z>9XYX=ZFy^9aE^b9E^>`Q 5f5bU?Q 9f5b+)b(BYhyj?Q Ij@bDIbd:ib|:b~5yɮLA1EeDNOT Ignoring new targets: 53.61 m.hahi*hi"hi higififqfqdqdqdjdZd(GP@vBɢ) NJi) iiE`<O;II!Թ 9@  @ @ 00@ B/>BB8IBrBBBBBk;B*E^A-qZ;IIO> 9 uo,c?Aɰ60?6e?6eٱ6' >AHRS rotation from veh to nav: [[0.338519,-0.921366,-0.191023],[0.934217,0.353354,-0.048782],[0.112445,-0.161943,0.980373]]6HL?`{msȿ?[?`.ɼ?@Ŀ6_?i60?I6ݫ\;4YFrByFEIbDRVDRyV=%ZJ=ٔZ7 Q-Z>9\Y\=^Fy^=aEb<:Eb>dQ 5f5fZ?Q 9j5f!)f8BYhyj?Q Ij@fDIf:if:fB5ypɮrBLAp DNOT Ignoring new targets: 53.61 m.h h *h "h  h gfffdddjdZd%``P@E EE'E"EU,;*ES:VE'4ZEBEi o,T}?A 6=?6r?6ٱ6e' >AHRS rotation from veh to nav: [[0.338033,-0.921566,-0.190918],[0.934394,0.352869,-0.048899],[0.112432,-0.161863,0.980387]]6HV?w}pȿ?h? @ `_ȼ?Ŀ U_?i6=?I6ب\;6CYFrByF^IiMb@Mb@Mb@ 9q= ףp?i|?5?Q?YK?y=u<ENAf*A HA)Y(9AYA=EFyMAaEMw:EM>QQ 5]5UK`?Q 9]5Ul)UKBYeM?Q Ee:ye?Q Ie@UDIU\ ;iUv:U5yiɮmKAiDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff%\Bd!d!d!jd!Zd-|P@颕wBɢV) Mi)顙ii_<z;IIie9@a @a@e4@i@q@u=E EE%E"E%;*E:VE 4ZEa@a@a@a@ԑ^AII IY Om > A A B ->B B vIB sBB B B B 1k;B x*E%o,~?AFr?F?FbٱF(P RAHRS rotation from veh to nav: [[0.337744,-0.921474,-0.191872],[0.934504,0.352627,-0.048538],[0.112386,-0.162912,0.980219]]FH?|@Cȿu?p? ڨ@Tż?JĿ]?iFr?IF.\;FCYZrByZhIIb<)bbDjVDjk2yr"=%rQ=ٔr8Q-r>9tYt=vFyvEaEz\P:Ez>| wk> &CQ 55~ze?Q 9-5~X)~\BYAyMƯ?Q IU@iaIauG~DI~/<i~<~5yq9Y\AɮbKAy}}?}fADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdP@E)wBɢM)I m醿ii)uh}qqiuiy}@_<}2*;IyI%9@! @)@-4@)E EE*E"E2;*Ed:VE(N4ZEBE#+o,Y?A2:?2o?2~ٱ2( :AHRS rotation from veh to nav: [[0.337724,-0.921433,-0.192104],[0.934519,0.352609,-0.048388],[0.112324,-0.163184,0.980181]]2H F?``| ȿ@? $? Dƨ>?@3Ŀ ]?i2:?I2X\;2CYvsByvI|i}Mb@Mb@Mb@yyyy y9}sh|??L7A`?I +?Y}I?y}+>}9<}OAy y)}-AyY}9Y=FyIaE%i8E>Q 55j?Q 95)oBYL?Q E:yP?Q I@DI*:iv:5yBɮJA(EDNOT Ignoring new targets: 53.61 m.hh*h"h hgf f f vBd ddjdZd@P@E;wBɢE)I MyiI)M IIiM׺i^<[;II)@ @@/@Q^Aϩ;ԁ E  E E )E "E [";*E :VE FA4ZE a @a @a @a @A I! I9 OE >2o,35˼?A2?2̜?2ٱ27) :AHRS rotation from veh to nav: [[0.336816,-0.921616,-0.192819],[0.934831,0.351776,-0.048418],[0.112452,-0.163945,0.980039]]2He?`}Iȿ #? ?@ʨɼ?&Ŀz\?i2?I2\;0YB5sByFIbDNVDNfyV)d=%V\=ٔZQ-Z>9XYX=ZFy^MaE^*;E^>`Q 5f5bn?Q 9f5bֿ)bBYhyjo?Q Ij@bDIb:ib:bQ5ylɮnMJAp DNOT Ignoring new targets: 53.61 m.h h *h "h  h g fffddYdjdZdvP@}OwBɢ}Lx) Ni)H顉iɺi^<;IIM9@I @I@M/@I@Y@]gAԉBm,>BiBmIBmesBBm =BiBiBmk;Bmn*EԹ^AM;A .AI I O > "8o,?A2?2?2bٱ2) :AHRS rotation from veh to nav: [[0.335949,-0.921923,-0.192862],[0.935108,0.350977,-0.048867],[0.112741,-0.163930,0.980008]]2H`1? eȿ h?fv? ܼ? Ŀ:\?i2?I2\;0YBKsByBI DD HJ4<bDNVDNyVZ=%VJ=ٔZ9Z ?YZ ?=ZFy^QaE^;Eb>dQ 5j5fs?Q 9j5f)fBYhyj?Q Ij@fDIf:if|:f5yrBɮrJAp DNOT Ignoring new targets: 53.61 m.h h *h "h  hgfffdddjd!Zd% LP@MawBɢM+)Q UׂiQ)UNQEe EeEaEa"Ees!;*EeS:VEaZEaBEex9 ?o,%?Aɰ49"?Y"?=FyVaE:E>Q 55y?Q 95)BY X?Q E{:y?Q I@DIn:i:5yBɮIAEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZdP@xwBɢ) Ƃi):ii  #^< ;I IEu EuEu%Eq"Eu;*Eu:VEu 4ZEqa@a@a@a@@ @@@Iq^AA I) I9 OE >Bi Am <Bu ->Bq Bu IBu sBBu =Bq Bq Bu .k;Bu v*EB-CB-CB)B- =B)C-/4ԙ Eo,?A2M?2I8?2ٱ2iM( >AHRS rotation from veh to nav: [[0.333672,-0.922959,-0.191861],[0.935780,0.348889,-0.050906],[0.113922,-0.162554,0.980101]]2H Z? ȿ?2T?X@*?Ŀ\?i2M?I2D\;2CYFsByFIbDn VDn2y5?=%5Q=ٔEQ-E>9IYI=MFyMZaEM1;EM>QQ 5]5U&?Q 9e5U)UBYaye?Q Ie@UDIU;iU;U5yiɮuHAqDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd(Q@wBɢ:) i)^it,i.]<p<;IIyu9@q @q@u0@q@}=@}=ԡE EEE"E';*E :VEZEBE 7Lo,M2?A2Wu?2`?2`ٱ2% :AHRS rotation from veh to nav: [[0.332493,-0.923792,-0.189885],[0.936108,0.347749,-0.052658],[0.114678,-0.160245,0.980393]]2HG?@(Nȿ`?A?`[?Ŀa_?i2Wu?I28\;2CYBsByFIIFC=)Fa=iMMb@Mb@Mb@IIII I9Mgfffff?q= ףp?Mbp?YM3S?yM=M;MtMAM'A MFA)M7+AIYM9AbDmVDm1yu,<%}F=ٔ}6Q-}>9Y=Fy^aEC;E>Q 55󄩊?Q 95՜)ȾBY>U?Q E~:y ?Q I@DIX ;i ;}5yɮHADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffiBdddjdZd0Q@wBɢ) :i)o!!i%i!-(]<- Q BRo,L?A2흁?2!?2ٱ2x% :AHRS rotation from veh to nav: [[0.331303,-0.924262,-0.189678],[0.936435,0.346698,-0.053754],[0.115444,-0.159813,0.980374]]2H4?aGȿG?M0??tĿ8_?i2흁?I21\;2CYFsByFIbDNVDN1yVH=%VX=ٔZQ-Z>9XYX=ZFy^baE^sV;E^>`Q 5f5bA?Q 9f5b)b׾BYhyj7?Q Ij@bDIb:ib:b$5ylɮnHAp5DNOT Ignoring new targets: 53.61 m.h1hA*hA"hA hAgIfIfIfQdddjdZdYJQ@UwBɢUR)Y ]viY)] YYi]iae]B B IB sBB B B B 7k;B y*EYPExceeded connect timeout, disconnecting.^A8<ԁ A I I O >$Yo,!Wf?A0>?>2?>Dٱ>P[% FAHRS rotation from veh to nav: [[0.330362,-0.924588,-0.189733],[0.936689,0.345884,-0.054569],[0.116080,-0.159693,0.980318]]>H$?8-Iȿ@[?"?`f?pĿ^?i>?I>\;9dYd=fFyffaEj;Ej>lQ 5r5n돩?Q 9r5n)nBYtyvW?Q Iv@nDInD;inI:n5yzBɮzHAzEDNOT Ignoring new targets: 53.61 m.hh!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5bQ@bE4jE7&4rE30EE EAEE%EA"EE;*EAVEE 4ZEABEE]u  `o,2?A2Ё?2Ż?2ٱ2<2& :AHRS rotation from veh to nav: [[0.329819,-0.924611,-0.190563],[0.936842,0.345452,-0.054685],[0.116393,-0.160491,0.980151]]2H?i]dȿ`?@?@ ˽? Ŀe]?i2Ё?I2r\;2CYFsByFI HHliUMb@Mb@Mb@QQQQ Q9UtV?S㥻?{GztYUR?yU/=UףUKAUQ&A UzDA)U,AQYUz8AbDiVDiy}<%}?=ٔ$AQ->9Y=FyjaE:E>Q 55#?Q 95)BYT?Q E:y'?Q I@DI: ;i;:5yBɮsHADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffLBdddjdZd`~Q@wBɢOJ)! %i!)%!!i%Hi)-l]<5ۉ-A A B (>B CB %IB &tBB =B B ~DB "k;B m*E+6fo, ?Aɰ;2ف?2ĝ?2ٱ2_' :AHRS rotation from veh to nav: [[0.329548,-0.924532,-0.191412],[0.936890,0.345300,-0.054810],[0.116768,-0.161270,0.979978]]2HO?ĕ/ȿ`?@g?`~?{Ŀ`[?i2ف?I2\;2CYFsByFIbDNVDN02yV6=%VY=ٔZ,Q-Z>9XYX=ZFy^naE^8>:E^>`Q 5f5b?Q 9f5bz)bBYhyj/?Q Ij@bDIb:ib:bo5ylɮn.HAp!eDNOT Ignoring new targets: 53.61 m.haha*hi"hi higififqfqdqdqdjdZdOQ@nManaging dock network, ignoring radio surface power offwBɢ,)[< i)IF11i5 9)i9=GU] F`lo,賽?A2?2͝?27ٱ24B' :AHRS rotation from veh to nav: [[0.329275,-0.924570,-0.191699],[0.936954,0.345094,-0.055021],[0.117025,-0.161496,0.979910]]2H?ȿ ??+X?@Ŀl[?i2?I2\;2CԙY}sByIiMb@Mb@Mb@ 9 rh?|?5^?{GzYL?y=#KA$A CA))AY7AbD5VD50yE=%E'=ٔE Q-M>9IYI=MFyUsaEUO:EU>YQ 5e5]?Q 9e5]p)]BYe@N?Q Em:ymɭ?Q Im@]DI]e:i] ;]5yqɮuGAqDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff?BdddjdZd Q@ xBɢ<2) Xi)Mii<]<[3Em  Em Em (Ei "Em ;*Em :VEm c44ZEi au @au @au @au @ *Hso,ͽ?AVׁ?VO?VtٱV( fAHRS rotation from veh to nav: [[0.329609,-0.924150,-0.193143],[0.936842,0.345499,-0.054372],[0.116979,-0.163023,0.979663]]VHP?ȿ?? ֫V?`ĿfY?iVׁ?IV\;VC p)pr#tttvkAitIxxIi ,)  kAQ8kAI)!i!))I-kA)1 1999i99iAE"A)A AIAYAYMsByUII]=)]=]=]=bDeVDeܲyuӫ=%um=ٔ}; 9Q-}?9Y=FyvaEE?Q 55?Q 95i)#BYy?Q I@&DI;i;5yBɮYGA EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd*Q@ xBɢ>") i)[穽iϹi!%W&]<%-BB>IBOtBB =BBB'k;Bo*E%9@! @!@%0@!I5߀GIaGy9YbAq^AM 9<I I O >ԙ Cryo,?A2ف?2ĝ?2fٱ2y' :AHRS rotation from veh to nav: [[0.329534,-0.924428,-0.191939],[0.936852,0.345378,-0.054978],[0.117114,-0.161701,0.979866]]2H? uȿ ??&@4?@Ŀ[?i2ف?I2\;2CYrsByrIbD~VD~0y ~<% Q=ٔ @Q- >9Y=FyzaE#I9E% E%E%&E!"E%);*E%:VE%4ZE!BE%M9Q 5E5=2?Q 9M5=a)=1BYIyM?Q IM@=0DI=:i=:= 5yQɮUAGAYDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdQ@3xBɢI%) ͇i)!~iViY]<,/ *o, ?A2ց?2?2ٱ2B' :AHRS rotation from veh to nav: [[0.329613,-0.924350,-0.192180],[0.936806,0.345495,-0.055023],[0.117258,-0.161899,0.979816]]2H``?EZȿ Q? ?@,`? ĿZ?i2ց?I2\;2C1Y5sBy=IiMb@Mb@Mb@ 9NbX9? ףp= ?9Y=FyaECE>Q 55J?Q 95X)?BY G?Q E :y ?Q I @B B KIB ctBB =B B B ?k;B y*E% 9@!  @! @% /@! @) @- fAԹ i߱ Iߵ A^AE < A}.AIIO?o,%?A2vԁ?2?2eٱ2j( :AHRS rotation from veh to nav: [[0.329658,-0.924091,-0.193344],[0.936740,0.345678,-0.054997],[0.117657,-0.162983,0.979588]]2H`?&@ȿ??(?ĿX?i2vԁ?I2ɰ\;2CYBsByBI DDJAJAbDNVDNyV{<%V-=ٔZ_Q-Z>9^ ?Y^ ?=^Fy^aE^E^>`Q 5f5b??Q 9f5bN)bMBYhyj?Q Ij@bGDIbn;ibz;b 5ynBɮrIGArE DNOT Ignoring new targets: 53.61 m.h h *h "h  h gfffdddjdZd%`!R@q颭hxBɢx ) {i)ݯi7i\<P-o,C?A2΁?2?2ٱ27+ :AHRS rotation from veh to nav: [[0.329802,-0.923470,-0.196045],[0.936606,0.346096,-0.054654],[0.118321,-0.165592,0.979071]]2Hz? ɿ?o&? MJ?2ſT?i2΁?I2u\;2CYFtByFIiuMb@Mb@Mb@qqqq q9u$C?/$?y&1Yu:?yu=u`euFAu="A u;AA)uQ&AqYu(4AbDVD0y|]=%"=ٔ)Q->9"?Y"?=FyaEYE>Q 55>©?Q 95>E)\BYb;?Q E:y߫?Q I@SDI:i& ;*5yɮFADNOT Ignoring new targets: 53.61 m.hh*h"h hgff f Bd d d jdZdBR@ExBɢEF )A MciI)MIIiMM:9iQU\B B WIB wtBB =B B B 4k;B t*EBmCBmCBiBiBiCmɓ4A I! I1 OE >o,ע]?AY4tBy.IbDVDyR=%G=ٔQ->9Y=FyaEE>Q 55ǩ?Q 95=)hBYy Q I @]DI(:i :5yɮJFA=DNOT Ignoring new targets: 53.61 m.h9hA*hA"hA hAgAfAfIfIdIdIdQjdQZd]i\R@颅xBɢ ') Œi)顉i9i\<IIQM9@I @I@M1@I@U=@U=yE EE(E"E;*E :VEc44ZEBE`A}?Ա A I I Ou >;o,w?A@TTi??2ٱEW) -AHRS rotation from veh to nav: [[0.330589,-0.923525,-0.194453],[0.936186,0.346970,-0.056274],[0.119440,-0.163441,0.979296]]H_(?ȿ =?@4?Ϭ?Ŀ@eV?ii?In\;CY=:tBy=2IiMb@Mb@Mb@ 9A`"? ףp= ?y&1Y9?yQ=CAl!A j@A)$AY2AbDVDky&<%J=ٔS6Q->9Y=mFymaEm{ Eu>yQ 55}ͩ?Q 95}5)}uBY:?Q E:y?Q I@}gDI}":i}7:}5yBɮ@FADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZdRwR@xBɢ() i ) ൽ iO9i|\<Q#o,Y?AlY[tByFIbDVD:y0=%J=ٔQ->9 ?Y ?=FyaEE>Q 55ҩ?Q 9 5|.)BY y Q I @pDI:i:~5yBɮEAEEDNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hAgIfIfIfIdQdQdQjdQZd]!R@%xBɢ%o*)! %i!)-))i-l%:AQAQB]>B]CB]pIB]tBB] =BYB]}DB]%k;B]g*Ei[\<Mo,4?AbE -4jE 14rE 8/EB EBEB'E@"EB;*EB:VEB'4ZE@BEBb9yYy=}Fy}aE9E>Q 55eة?Q 95&)BYy?Q I@yDIk;i ;U5yBɮzEA DNOT Ignoring new targets: 53.61 m.h!h)*h)"h) h)g)f1f1f1d1d9dAjdIZdUR@颍xBɢ+) ̎i)񡹽顑iN:i<\< =o,4ž?AYtBydIAAiMb@Mb@Mb@ 9tV?MbX?~jtxY2?y=ĻzDAA =A)#AYG1A 5;5bD=VD=yM=%MJ=ٔMQ-M>9U"?YU"?=UFyUaE]E]>aQ 5m5e$ݩ?Q 9m5e])eBYm{4?Q Em:ymK?Q Iu@eDIe;ie~:e5yyɮ}DAyDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdR@xBɢ9.) Mi)`iڴw:i\<9 BM CBM IBM tBBM =BI BM |DBM Ak;BM j*EA .AI I) O= >ԉ աo,?A6ش?6 ?6ٱ6*+ >AHRS rotation from veh to nav: [[0.330503,-0.923250,-0.195902],[0.936255,0.346921,-0.055433],[0.119141,-0.165094,0.979056]]6H&?C Qɿ?@3?@a`?!ſ@lT?i6ش?I6Y\;6CYMtByMqIbD]VD]kyu9D=%uA=ٔuB;:Q-u>9} ?Y} ?=}Fy}aEE>Q 55(⩊?Q 95)BYyJ?Q I@DI:i:5yɮDADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd R@颭yBɢR+) i)K顱iLP:i[<Ji>!}9@y @y@}/@yE% E%E%&E!"E%f;*E%:VE%4ZE!BE%WQʽo,8?A>?>?>0Vٱ>* FAHRS rotation from veh to nav: [[0.330260,-0.923422,-0.195498],[0.936356,0.346637,-0.055506],[0.119022,-0.164724,0.979132]]>H@"?@ɿ?`K/? Ek=x?`ſ U?i>?I>\;>CHLiLILLL RGkAPPPPPIT)TiT)TIViAV;߽T XXXXiX\i\\)\ \I` `)````Y`YjtByjIi]Mb@Mb@Mb@YYYY Y9]㥛 ?"~j?Y]5?y]S=]] BAY Y)]="AYY]Q0AbDuVDu:yv=%[=ٔ9Q->9"?Y"?=FyaEN::E>Q 55K橊?Q 95)BY7?Q E:yX?Q I@DI3:i:5yɮCDAQ}DNOT Ignoring new targets: 53.61 m.hyhy*hy"hy hygyfffBdddjdZdSR@&yBɢ1.) ʍi)bi:i O[<# o,a?A2?24?2Fsٱ2) :AHRS rotation from veh to nav: [[0.330444,-0.923479,-0.194918],[0.936284,0.346792,-0.055747],[0.119077,-0.164077,0.979234]]2H%?$ȿ ?1?⊬ {?{ſU?i2?I2%\;2CYrtByrIbD~VD~y R=% S=ٔ Q- >9Y=FyaEZE>!Q 5-5%ꩊ?Q 9-5% )%BY)y-R?Q I-@%DI%:i%:%B5y=Bɮ=rCA=EeDNOT Ignoring new targets: 53.61 m.haha*ha"hi higifififqdqdqdqjdyZd}S@颥;yBɢH"2) ri)!顩iŠ:i[<' BCBIBuBBBB{DBBh*EԹ -k>-1C@ @@0@%}9 Y 4fA^A8< A! I) I9 O] >9 EM  EM EM &EI "EM ;o,{-?A*E}:VE}4ZEyBE}p?J?@,ĿV?if0?If\;fCYuByIbDVDy(=%A=ٔiQ->9Y=FyaEE>Q 55V琢?Q 95)ϿBYy8?Q I@DIp:iF: 5yɮBADNOT Ignoring new targets: 53.61 m.hh*h"h hg f f f dddjdZd+S@ETyBɢEx,)I MiI)MJ½IIiM:iQ][<]o,]G?A 6|?6Rg?61ٱ6A) >AHRS rotation from veh to nav: [[0.332096,-0.922890,-0.194901],[0.935605,0.348544,-0.056221],[0.119818,-0.163680,0.979210]]6HA?`Pȿ@y?N?ɬ]?uĿU?i6|?I6\;6CYF3uByFIiMb@Mb@Mb@ 91Zd?Q?I +?Y";?y=94<(A &=A)l!AY/AbD-VD-:y5=%=R=ٔ=Q-=>9AYA=EFyEaEMm$EM>QQ 5U5U?Q 9]5U])U߿BY]=?Q E]:y]`?Q Ie@UDIU ;iUT ;U!5ymBɮm`BAmEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBd!d!d!jd!Zd%ES@颕lyBɢ,) i)YĽ顙i :i=t[<BBIBauBB =BBBTk;Bq*E I I O >o,8a?A28Y?2kD?25ٱ2 . :AHRS rotation from veh to nav: [[0.333068,-0.921628,-0.199166],[0.935182,0.349862,-0.055047],[0.120414,-0.167922,0.978418]]2HP?@}E~ɿ?%d?(/pӾ?@x~ſ 4O?i28Y?I2{\;2CPY^`uBy^I`bA fp9tYt=vFyvaEz1Ez>xQ 55z?Q 95z)zBYy;?Q I@zDIzY;izD;z#5yɮAA=DNOT Ignoring new targets: 53.61 m.h9h9*h9"hA hAgAfAfAfIdIdIdIjdIZdU@]S@}yBɢ/) -i)Ž顁i:iF[<;II59@1 @1@5/@1E9 E=E=*E9"E9*E=:VE=(N4ZE9BE=x! o,{?A2B?2-?2N?ٱ2"2 :AHRS rotation from veh to nav: [[0.333676,-0.920526,-0.203207],[0.934838,0.350879,-0.054427],[0.121403,-0.171804,0.977622]]2HZ?tʿ1?t?ݫ=?ſH?i2B?I2\;2CYFuByFI|iMMb@Mb@Mb@IIII I9MMbX9?K7A?I +?YMA?yM >IMBAMA M:A)MAIYMf.AbDeVDekyu=%uA=ٔ}"Q-}>9yY=FyaEֺE>Q 55?Q 95)BYD?Q E:y?Q I@DI ;i7 ;b%5yBɮ@AEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZdxS@yBɢ(*) ?i)ȭǽi%;i!%= [<-Z;I)I)@ @@@!Y^A r;IqIO>E%  E% E% &E! "E% (;*E% :VE% 4ZE! a- @a- @a- @a- @y o,?AY~uBy~#IbD VD y=%%P=ٔ%Q-%>9!Y)=-Fy-aE-E->1YQ 5}55?Q 9}55)5BYyyQ I@5DI5!B%CB%IB%uBB% =B!B%}DB%fk;B%*EBCBCBCB =B =CB6I99@ @@/@@=@ԉi߁I߁Ա^AI9IIOU> 0o,﮿?AEF EFEF+ED"EF;*EF:VEF [4ZEDBEF`9YYY=]Fy]aEaEe>iQ 5u5m?Q 9u5m)m!BYqyqQ Iu@mDIm|:im:m(5yɮ?AԡMDNOT Ignoring new targets: 53.61 m.hIhI*hI"hI hIgQfQfQfQdYdYdYjdYZd]íS@颍yBɢ:V)) yi)ʽ顑i;iZ<II!@! @!@%/@)^A]jZ;IIO>) o,Dȿ?A6+?6?6-ٱ6Y7 BAHRS rotation from veh to nav: [[0.334226,-0.919092,-0.208719],[0.934328,0.352191,-0.054708],[0.123791,-0.176727,0.976444]]6H@c?2iPʿ?`J?Ű?ƿ??i6+?I6\;4YJvByJQIiMb@Mb@Mb@ 9'1Z?K7A?y&1?YB?y`e<;AAA )Yp-AbD5VD50yE=%EL=ٔM+ŻQ-M>9IYI=MFyUaEUEU>YQ 5e5]I ?Q 9e5])]3BYmE?Q Em:ymv?Q Im@]DI]':i]:]*5yqɮu>AqDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZdS@yBɢx},) ti)z̽i";ieZ<";IIE EE%E"E;*E:VE 4ZEa@a@a@a@i@i @i@m/@iAB>BCBdIB,vBB =BBBnk;B*Eԁ^A0;A .AI I O >ԙ 9o,?A2=?2-)?2+ٱ2R4 :AHRS rotation from veh to nav: [[0.333661,-0.919838,-0.206319],[0.934390,0.351689,-0.056837],[0.124841,-0.173818,0.976833]]2HZ?Pohʿ????ƿ`6B?i2=?I2o];2CYB/vByBfIbDJVDJ1yR=%VU=ٔV4Q-V>9V ?YZ ?=ZFyZaEZ:EZ>Q 55?Q 95)DBY!y%?Q I%@DI;i;_,5y-Bɮ-T>A-EUDNOT Ignoring new targets: 53.61 m.hQhY*hY"hY hYgYfafafadadidijdiZdm@ZS@额yBɢ2+) qi)-ν顡i+;i>/Z<҆;IIqm9@i @i@ur1@qԡbEjErE?0E] E]E])EY"E];*E]:VE]FA4ZEYBE]b! >go,ji?A.4<ɰ.4<?A )(AY,AbDVDy=%:=ٔt@Q->9Y=FyaER;E>Q 55?Q 95)YBY*Q?Q E:yx?Q I@DI* ;i ;=.5yBɮ=AEDNOT Ignoring new targets: 53.61 m.hh *h "h  h g fff)BdddjdZdS@MzBɢM')Q ]liY)]ҟϽYYi]6 4;iaeY?Kp,P4?A 6|?69g?6vٱ6/ >AHRS rotation from veh to nav: [[0.331797,-0.921257,-0.202969],[0.934754,0.350054,-0.060799],[0.127062,-0.169554,0.977296]]6H*%Z\=ٔZL(Q-Z>9XY\=^Fy^aE^.;Eb>`Q 5f5bN?Q 9j5b)bkBYhyj?Q Ij@bDIb:ib:b/5ypɮrBBIBvBBBBBk;B*Eq9@ @@-4@ԡ^AUr<I1 IA OU > EU  EU EU &EQ "EU ;*EU ^:VEU 4ZEQ BEU l_9xYx=~Fy~aE~-h;E~>Q 5 56?Q 9 5Q)BYy̲?Q I@ DI;i:15yɮxA?IIO> ]p,I?A2M?2̝?2ٱ2U+ :AHRS rotation from veh to nav: [[0.328798,-0.923090,-0.199490],[0.935466,0.347325,-0.065329],[0.129592,-0.165136,0.977720]]2H ?߈ɿ`W?:?i{?*#ſ {I?i2M?I2#];2CYFvByFIIJ<)J;J=J=|i]Mb@Mb@Mb@YYYY Y9]i|?5?Mb?~jt?Y]Q?y]>]<]>A]GA ]p7A)]\AYY]3+AbDuVDu:y=%B=ٔBQ->9Y=FyaE{;E>Q 55}"?Q 95C)BYCT?Q E:y?Q I@DIv;iw;35yBɮ;AأE=DNOT Ignoring new targets: 53.61 m.h9h9*h9"hA hAgIfIE EE%E"E;*EVE 4ZEa@a@a@a@ff4BdddjdZdJT@EWzBɢE%)I MaiI)$Խ顉iJ;iY<s2BBIBwBBBBBk;B*E9Qiv9Y_A^AM <I I O >ԁ Ոp,c?A2?2?2i,ٱ2) :AHRS rotation from veh to nav: [[0.328031,-0.923604,-0.198374],[0.935588,0.346678,-0.067001],[0.130654,-0.163618,0.977834]]2H`v? ) NdɿV? /?&F?@kĿjJ?i2?I2S];0YFvByFIbDNVDNyV=%VY=ٔZ:Q-Z>9XYX=ZFyZaE^;E^>`Q 5f5b'?Q 9f5bV)bBYhyj?Q Ij@bDIb :ib:b'55ylɮrF;Ap DNOT Ignoring new targets: 53.61 m.h h *h "h  h g fffdYddjdZdaT@kzBɢ +)  \i ) mսiQ;i9=̉Y<= ; p,}?Af'?f?flpٱf( nAHRS rotation from veh to nav: [[0.326686,-0.924177,-0.197921],[0.935887,0.345538,-0.068699],[0.131879,-0.162789,0.977808]]fHm?ےyUɿ?K?F`m?AĿ 3J?if'?Ife];dYvwByvIiMb@Mb@Mb@Ա 9n?Mb?{Gz?YV?y#<:AvA 6A)AY)AbDVDܲy<%9=ٔ6Q->9Y=FyaE8L;E>Q 55,?Q 95)BYX?Q E{:y?Q I@+DI :i:75yɮ#;A =DNOT Ignoring new targets: 53.61 m.h9h9*h9"h9 h9g9fAfAfE BdAdIdIjdIZdMg|T@}zBɢ}() }`i)ֽ顁iY;iLY<M1 %p,_~?A;ɰ;:uC?:.?:ٖٱ:Dk) FAHRS rotation from veh to nav: [[0.325847,-0.924314,-0.198666],[0.936022,0.344963,-0.069739],[0.132993,-0.163231,0.977583]]:H?`mɿ ??cڱ?Ŀ\H?i:uC?I:];:CYN#wByNIbDZVDZ0yb=%b^=ٔfGQ-f>9f"?Yf"?=jFyjaEj\;Ej>lQ 5r5n1?Q 9r5n)nBYtyv?Q Iv@n5DIn:in:n85yzBɮz:A~ϣE%DNOT Ignoring new targets: 53.61 m.h!h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5@T@A]@AA]@ABe>BaBe&IBegwBBe =BaBaBek;Be*E颅zBɢ,) ]i);ؽ顉i_;i݀Y<\Xԙ E  E E E "E 1;*E P:VE ZE BE k9% ?Y% ?=%Fy%aE-:E->1Q 55556?Q 9=55)5BY9y=ױ?Q I=@5@DI5;i5;5:5yIɮM0:AIuDNOT Ignoring new targets: 53.61 m.hqhq*hq"hq hygyfyffdddjdZdnT@颵zBɢ() Zi)ٽizf;i.Y<;aq9@ @@4@ԩ^AjZX<A I I O > ū2p,3?AY]wByIiEMb@Mb@Mb@AAAA A9E-?T㥛 ?Mb?YE?U?yE>E9qYq=uFyuaE}E}>Q 55<v<5yIɮU9AQ}DNOT Ignoring new targets: 53.61 m.hyhy*hy"hy hygyfffBdddjdZd`T@zBɢ&) Zi)VU۽i[m;iY<_BaBeXIBewBBaBaBaBek;Be*EB%CB%CB%ǓCB% =B% =C%C51 ^A a8p,~?AB|?Bg?BJs ٱB\0 ZAHRS rotation from veh to nav: [[0.324086,-0.923442,-0.205483],[0.936236,0.344244,-0.070416],[0.135761,-0.169560,0.976124]]BH`ѽ?֌@CMʿ??`?!ſh9~"?Y~"?=~Fy~aE~;;E> Q 55 5A?Q 95 1t) BYy?Q I@ VDI :i _:  >5y!ɮ%9A!MDNOT Ignoring new targets: 53.61 m.hIhI*hI"hQ hQgQfQfQfYdYdYdYjdYZde>T@-zBɢ-W0)1 5.`i1)5ܽ11i5.t;i9]Y?p,9Y=FyaEA:E>Q 5u5(G?Q 9u5j)%BYumU?Q Eu~:yu?Q Iu@aDI$Ep,?A2y?2?2 ٱ23_0 :AHRS rotation from veh to nav: [[0.322787,-0.923786,-0.205980],[0.936520,0.343213,-0.071657],[0.136891,-0.169774,0.975929]]2H?@]ʿ?5?X`?*ſ:?i2y?I2\];2CYB{wByF2ILbDNVDNyVϛ:%V_=ٔZQ-Z>9XBlAn<Br>BrCBr}IBrwBBr =BpBpBrk;Br*EYX==Fy=aE=N:E=>AQ 5M5EjL?Q 9M5Eb)E7BYQyU?Q IU@ElDIE:iE;EA5yyɮ}R9AyDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdWU@M{BɢMId1)I mbiq)ue߽qqiu;iy} Y<}"! bE%ˀ'4jE%ˀ'4rE%˲/E  E E )E "E ;*E ':VE FA4ZE BE dAHRS rotation from veh to nav: [[0.322179,-0.923781,-0.206951],[0.936694,0.342737,-0.071662],[0.137130,-0.170762,0.975723]]6H@? ^}ʿ`f?`e?@rXw?ſ 9?i6\?I6];6CYJwByJ?I LLbDRVDRNyZR=%ZJ=ٔ^Q-^>9`Y`=bFybaEb :Ef>dQ 5j5fQ?Q 9j5fZ)fIBYlynï?Q In@fvDIfz;if;fKC5yrBɮv9At|DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd0U@5{Bɢm-0)i mbiq)顙i٠;iY<pԁ A Sp,L?AVĂ?V,?V ٱVG0 fAHRS rotation from veh to nav: [[0.321966,-0.924096,-0.205875],[0.936784,0.342424,-0.071986],[0.137018,-0.169683,0.975927]]VH?1Zʿ "?F?m`҉? /ſ`:?iVĂ?IV\;TQE EE'E"EO;*Eh:VE'4ZEa@a@a@a@Y=wBy=EIiMb@Mb@Mb@ 9S㥛?EԸ?{GztYD?y=9AbA \3A)AY%AbDVDyO<% =ٔf9Q->9Y=FybE9E> Q 55 X?Q 95 `P) _BYmF?Q E:yv?Q I@ DI :i : E5y!ɮ%8A!MDNOT Ignoring new targets: 53.61 m.hIhI*hQ"hQ hQgQfQfYf]BdYdYdYjdaZdeOU@ԁ颕5{Bɢ),) fi)顙i";i!%_Y<%BBIBxBB =BBBk;B*E9@ @@/@Ա ^AU }U<I I O >3Yp,f?A:Y߂?:ʞ?:L ٱ:G. FAHRS rotation from veh to nav: [[0.321232,-0.924795,-0.203874],[0.937099,0.341469,-0.072413],[0.136583,-0.167789,0.976316]]:H?ʿ??@{?zſ =?i:Y߂?I:\;8 L)LLLLPPiPIPPITiT TT)TT ZkAZ94Z>FXXZkAIZ')\i\)\I\b'` ``blA`iddidd)d dIdYhYnwBynRIbDvVDv:y~=%~=ٔ˻:Q-?9Y= Fy bE ,;E ?Q 55\?Q 95MJ)lBY!y%?Q I%@DIU;ir;F5y)ɮ-8A-EUDNOT Ignoring new targets: 53.61 m.hQhY*hY"hY hYgYfafafadadidijdiZdm`qcU@额E{Bɢw;) zei)%顡il3;i[Z<hA>II1O=>9 `p,|?AM?Mޞ?MQ ٱMN+ ]AHRS rotation from veh to nav: [[0.320703,-0.925568,-0.201181],[0.937380,0.340618,-0.072790],[0.135898,-0.165239,0.976846]]MH g?@@ Kɿ@?@?Ye?&ſ`RB?iM?IMf\;IYwByNIiMb@Mb@Mb@ 9 r?I +? rhYC?y9=C4AA 1A)Y#AbD VD yBQ%,=ٔ:Q->9!Y!=%Fy% bE-:E->1Q 5=55Wc?Q 9=55@)5}BY=D?Q EE:yE?Q IE@5DI5:i5:5H5yIɮM8AIuDNOT Ignoring new targets: 53.61 m.hyhy*hy"hy hygyfyfflBdddjdZdˁU@颽^{Bɢ/) +mi)i;i)Z<+Efp,O?A k>A@A@BF>BFCBFIBFGxBBF =BDBF|DBFk;BF*E`lxu9Y_A<?l? ٱ*  AHRS rotation from veh to nav: [[0.319864,-0.926086,-0.200130],[0.937761,0.339597,-0.072652],[0.135246,-0.164435,0.977072]]H x?~ ܝɿ`#??@SO?7 ſ,D?i<?I];CqYwBydIbDVD:y =%O=ٔv:Q->9Y=FybE;E>Q 55h?Q 95:9)BYy ?Q I@DI;iw:J5yɮ08A DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd6U@s{BɢZ 4) ii )  :  i ";iSZ<rĕi%>ԡ9@ @@5@^A% e<I9 II Ou >lp,t?AE" E"E"&E "E";*E":VE"4ZE BE"/N9Y=FybE E >1Q 5=55Bn?Q 9=551)5BY9yAQ IE@5DI5:i5f:5VL5yIɮM 8AI}DNOT Ignoring new targets: 53.61 m.hyhy*hy"hy hygyfffdddjdZd୳U@颽{BɢZ9) li)iM;i3xZ< isp,P?A:?:!֞?: ٱ:4+ NAHRS rotation from veh to nav: [[0.321002,-0.925647,-0.200337],[0.937510,0.340562,-0.071369],[0.134290,-0.164909,0.977124]]:H`J? ɿ ??9Ef0?ſD?i:?I:\;:CYVwByVIXZAli=Mb@Mb@Mb@9999 99=l?Dl?QY=7?y=O==u=2A=A =z.A)=A9Y=p!AbDUVDU1ye=%eT=ٔec$;Q-m>9iYi=mFymbEu%GEu>yQ 55}s?Q 95}*)}BYp8?Q E:y?Q I@}DI}:i}Q:}N5yBɮ7AEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff#BdddjdZd@U@{Bɢs7) gi)   i ;iXZ<p BeCBeIBeexBBe =BaBe{DBek;Be*E1^A}W<II O >Y yp,>"?A2P?2֞?2P ٱ2T+ >AHRS rotation from veh to nav: [[0.321017,-0.925552,-0.200752],[0.937589,0.340504,-0.070594],[0.133696,-0.165561,0.977095]]2H?`@?ɿ@??w?@1ſ@]D?i2P?I2R];2CYFwByFIbDPVDPyVݔ;%ZW=ٔZ:Q-Z>9XY\=^Fy^bE^7Eb>`Q 5f5by?Q 9j5b#)bBYhyj?Q Ij@bDIb:ibt:bO59y]Bɮ]7AYDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdU@{Bɢ8) Gli)i8;iZ<n {p,?A}ڂ?}Ş?}2ٱ}, AHRS rotation from veh to nav: [[0.321525,-0.925371,-0.200773],[0.937521,0.340872,-0.069713],[0.132949,-0.165814,0.977154]]}H ߓ?ࣜɿ,?@?@ر`v? g9ſD?i}ڂ?I} ];}CԙYxByIi5Mb@Mb@Mb@1111 195gfffff?+?{GzY533?y5=5#5 0A5QA 5,A)5A1Y5 AbDM VDM2y])=%]2=ٔ]:Q-]>9aYa=eFye!bEmEm>qQ 5}5u?Q 9}5uv)uBY}S4?Q E}:y}?Q I@uDIu :iuv:uQ5yɮm7ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfff~BdddjdZd V@u{BɢuP3)y }iiy)};yyi};iZ<䴉A- >Ee  Ee Ee 'Ea "Ee T;*Ee :VEe '4ZEa am @am @am @am @I I O > p,?ABAB>BCBIBxBB =BBzDBk;B*EBUCBUCBUCBU =BU =CUV5JcՂ?J?JٱJ+ VAHRS rotation from veh to nav: [[0.321705,-0.925440,-0.200168],[0.937551,0.340889,-0.069226],[0.132300,-0.165398,0.977313]]JHЖ?3ɿk??͸2?+ſ%F?iJcՂ?IJ\];JCYbBxBybIbDjVDjk2yr=%rf=ٔr:Q-v>9tYt=vFyv%bEzEz>|Q 55~?Q 95~)~BYy ?Q I @~DI~ ;i~ ;~8S5yɮ6A=DNOT Ignoring new targets: 53.61 m.h9h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUvV@}{Bɢ!<)땕< di)x顉i.&;iZ<y E]  E] EY EY "E] ;*E] :VEY ZEY BE] e9IYI=MFyM)bEM~EM>YQ 5]5]?Q 9e5]Z )]BYayaQ Ie@]DI]:i]_:]VU5ymBɮu6AuEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffd d d jdZdR8V@={BɢEǠ1)A EeiA)EKAIiM;iQU[p,dP?A2΂?26?2ٱ2( :AHRS rotation from veh to nav: [[0.321965,-0.925975,-0.197254],[0.937621,0.340728,-0.069072],[0.131169,-0.162710,0.977916]]2H@? ?ɿ`?`|? $?ĿK?i2΂?I2*];2C@B3s@i@I@@D FCkAF`廉DDHHIJ)tit)xIxz/ݽzWF x|||i||ijA) I )    Y YxByIiMb@Mb@Mb@ 9@5^I ?~jt?~jtx?Yb0?y=;~.AA  ,A)"AYAbDVD:yZ9>%`=ٔ:Q->9Y=Fy-bE E>Q 55?Q 95)BYu1?Q E:y?Q I@DI ;iu ;V5yɮ5A%DNOT Ignoring new targets: 53.61 m.h!h!*h!"h! h!g!f)ԉE EE(E"Ea;*E:VEc44ZEa@a@a@a@ff BdddjdZd0PV@%{Bɢ%I7)A EXiA)MnIIiMa<;iQUI.[BCBIBxBB =BCDBxDBk;B*E^A< II Ia Om >1 p,.j?A2Â?2?2ٱ2( :AHRS rotation from veh to nav: [[0.322290,-0.925916,-0.196998],[0.937592,0.340927,-0.068491],[0.130579,-0.162629,0.978009]]2Hh?`97ɿ ??@Ѷ? ĿK?i2Â?I29];2CYmxBymI A 4<bD VD2yD=%H=ٔv:Q->9Y=Fy1bE "ME >Q 5%5듪?Q 9%5)BY)y-֬?Q I-@DI>;i@;X5y=BɮE#5AEEuDNOT Ignoring new targets: 53.61 m.hqhy*hy"hy hygyfyffdddjdZd^iV@u|BɢuR4)y }Uiy)}yyi} ;iG[<k7աp,?A25Ȃ?2e?2ٱ2l( :AHRS rotation from veh to nav: [[0.322168,-0.926039,-0.196620],[0.937672,0.340731,-0.068365],[0.130303,-0.162340,0.978093]]2Hf?*ɿh?`?^@ǭ?@ĿL?i25Ȃ?I2.%];2CYxByIԱiMb@Mb@Mb@ 9|?5^?Mb?Mb?Y2?y=<,AA )A)AYAbDVDy=%0=ٔ :Q- >9 Y=Fy6bE*9E>Q 5-5+?Q 955Q)BY=4?Q E=:y=3?Q IE@DIH;iD;Z5yYɮ]?4AaDNOT Ignoring new targets: 53.61 m.hh*h"h hgffAfM)BdIdIdIjdIZdUV@额)|Bɢb/) Li)_i;ie[<I݆B CB ,IB yBB  =B B wDB l;B ^A] <I I O >1 p,?AYz0yByz?IbD VD yY>%[=ٔQ->9!Y!=%Fy%:bE%E->)Q 5=5-j?Q 9=5-)-,BYAyAQ IE@-DI-3;i-4;-`\5yMBɮM`3AME}DNOT Ignoring new targets: 53.61 m.hyhy*hy"hy hygyfffdddjdZdV@]:|Bɢ] 4)Y ]BiY)e'aaieb;ii|[<III@ @@4@@=@=iE%  E% E% 'E! "E% ;*E% :VE% '4ZE! BE% .NY*p,?A2߂?2˞?42ٱ2Q% >AHRS rotation from veh to nav: [[0.321498,-0.926887,-0.193700],[0.937929,0.339822,-0.069359],[0.130112,-0.159378,0.978606]]2Hj?-ȿ??@?@fĿ@P?i2߂?I2"];0YFcyByF^IIJ=)HbDRVDRyZ=%Z3=ٔZ9Q-Z>9\Y\=^Fy^?bEb:Eb>dQ 5j5f?Q 9j5fS)fBBYpyvK?Q Iv@fDIfF;ifD;f_^5yɮ2A-DNOT Ignoring new targets: 53.61 m.h)h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE@ V@额P|Bɢ+) f;i) i ;iy}%[<}0?p,DL?ApEGY=yByM{IYqz9Y$dABڿ>BCBqIByBB =BBBl;B*Ei}Mb@Mb@Mb@yyyy y9}x&1?X9v? rh?Y}A@?y}=}C<}7+A} A }'A)}|AyY}AbDVDܲy=%0=ٔQ->9Y=FyCbEE>Q 55?Q 95<޿Q =tI)XBYB?Q E:yD?Q I@DI;i;f`5yɮ1ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfff `Bd d d jdZdV@md|Bɢm,)i md4iq)uWqqiulW;iy}[<}਋6p,9?A270?2g?21ٱ29$ :AHRS rotation from veh to nav: [[0.319120,-0.927829,-0.193121],[0.938484,0.337752,-0.071909],[0.131947,-0.158294,0.978536]]2H`wl? ư3ȿ??h?@BĿ@+P?i270?I2 ];2CYByByBIbDNVDNyRY>%Rp=ٔV$Q-V?9TYX=ZFyGbE ;E >Q 55T?Q 95^׿)jBYy%?Q I%@DI:i :a5y)ɮ-0A)1]DNOT Ignoring new targets: 53.61 m.hYhY*hY"hY hYgafafafadididijdiZduV@额t|Bɢ܍.) %i)dB顡i;i\[<Ա p, ?A"4<ɰ Nk?NV?N ٱNH$ VAHRS rotation from veh to nav: [[0.317323,-0.928185,-0.194367],[0.938788,0.336448,-0.074022],[0.134101,-0.158981,0.978132]]NH`O? ȿ` ?^?7*?|YĿ@L?iNk?INJ\;NCYbyBybIi}Mb@Mb@Mb@yyyy y9}y&1?'1Z?I +?Y}`E?y}">}99Y=FyKbE;E>Q 55?Q 95ο)BYI?Q E:yҹ?Q I@$DI:i:c5yBɮ80AEDNOT Ignoring new targets: 53.61 m.hh *h "h  h g f ffBdddjdZdH W@M|BɢMQ))I Mo"iI)U\QQiU<;iY]-)\<]3BCBIBzBB =BBvDBBl;B*E^A}<A>A>IYIiOu>! Cp,&?A2{?2?2n) ٱ2B$ :AHRS rotation from veh to nav: [[0.315737,-0.928735,-0.194325],[0.938984,0.335284,-0.076767],[0.136450,-0.158230,0.977929]]2H 5?1ȿ( ?Lu?/w?@Ŀ1K?i2{?I2\;0YR=zByVIbD^ VD^2yf(>%fZ=ٔfλQ-j>9hYh=jFyjObEn;En>pQ 5v5r?Q 9v5r ǿ)rBYtyz?Q Iz@r-DIr:ir@:rne5y~ Bɮ~^/A~E%DNOT Ignoring new targets: 53.61 m.h!h)*h)"h) h)g)f)f1f1d1d1d1jd9Zd=M#W@m|Bɢmj>))i mii)mDqqiu;ij\<y K+p,@?A:߃?:$˟?:kٱ:fp$ BAHRS rotation from veh to nav: [[0.313774,-0.929226,-0.195152],[0.939259,0.333866,-0.079535],[0.139061,-0.158342,0.977543]]:H?8ȿ`i? ^?h\?@DĿH?i:߃?I:\;8Y^`zBybIbDjVDjyr=%rI=ٔrRԻQ-r>9tYt=vFyvSbEv~;Ez>xQ 55z?Q 95z)zBYyJ?Q I@z7DIz;iz;z5g5y ɮ.AEDNOT Ignoring new targets: 53.61 m.hIhI*hQ"hQ hQgYfafafadididijdiZdm=W@额|Bɢ4&) i);顡i;i\< XE%  E% E% &E! "E% s!;*E% k:VE% 4ZE! a- @a- @a5 @a5 @ pUp,͐Z?AYfzByfIhj=iUMb@Mb@Mb@QQQQBeſ>BeCBeIBezBBe =BaBeuDBevl;Be*EB%CB%CB!B% =B% =C%W6 Q9UGz?bX9?y&1?YUP?yUE6>U`%?=ٔQ->9Y=FyWbEE>Q 55?Q 95u)BYU?Q E~:y?Q I@CDI:i:i5yɮ-ADNOT Ignoring new targets: 53.61 m.hh*h"h hgff f Bd d d jdZdXW@Թ|Bɢ ") i)4i\;i]< 9 p,nlt?A2z?2e?2ٱ2~% :AHRS rotation from veh to nav: [[0.309088,-0.930270,-0.197641],[0.939969,0.330431,-0.085291],[0.144650,-0.159414,0.976557]]2H?MLɿ9? %?@յ`? gĿ@??i2z?I2];2CYBzByF5IbDNVDN0yV,=%V[=ٔV`xQ-Z>9XYX=ZFyZ[bE^O<E^>`Q 5f5b;?Q 9f5bf)bBYdyj?Q Ij@bLDIb :ibF:bj5yn Bɮn^-AnEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddE EE#E"E ;*E~:VE3ZEBELggp,F?A 2ք?2?2~ٱ2x& >AHRS rotation from veh to nav: [[0.306317,-0.930904,-0.198968],[0.940437,0.328315,-0.088245],[0.147472,-0.160086,0.976025]]2H?wɿ?@?@@_? }Ŀ`;?i2ք?I2\;2CYFzByFLIiMb@Mb@Mb@ 97A`?J +?~jt?YV?yH>< "'A)h AYAbD-VD-:2y5A=%=B=ٔ=hݻQ-=>9AYA=EFyE`bEM;EM>QQ 5U5U?Q 95U)UBYg\?Q Ev:y?Q I@UXDIU-BeCBekIBe{BBe =BaBesDBel;Be*E^A< A! I) IA OM >up,!?A:0?:?:Tٱ:s' JAHRS rotation from veh to nav: [[0.303611,-0.931477,-0.200426],[0.940892,0.326258,-0.090989],[0.150145,-0.160954,0.975474]]:H\n?ɿ?g? K7?@'Ŀ7?i:0?I:\;:CPYV{ByV^I XXXZAbDbVDbyf=%jQ=ٔjQ-j>9lYl=nFyndbEr4;Er>tQ 5z5v辪?Q 9z5v9)vBYxyz?Q Iz@vcDIv:iv$:vBn5yɮV,A-DNOT Ignoring new targets: 53.61 m.h)h)*h)"h) h)g1f1f1f1d9d9d9jdAZdE@W@m|Bɢm t$)q u)iq)uqqi}Sp;iyǞ^<@=II9@ @@/@^A5<bE}!4jE}Ǟ4rE}0E EE'E"E*E n:VE'4ZEBE ! dyp,&?A2z?2q?2#ٱ29( :AHRS rotation from veh to nav: [[0.301024,-0.932049,-0.201664],[0.941309,0.324284,-0.093683],[0.152713,-0.161627,0.974964]]2HC?`Yɿ4?? ? 2Ŀ@2?i2z?I2];2CYB{ByBnIbDNVDNJyV=%VM=ٔVTջQ-V>9Z ?YZ ?=ZFyZhbE^T;E^>|Q 5%5&?Q 9%5 )!BY)y-U?Q I-@nDIN:i: p5y1ɮ5+A1]DNOT Ignoring new targets: 53.61 m.haha*ha"ha hagafafifidididqjdqZdu`W@}Bɢ !) .i)1i;iN_<( =IIe9@i @i@u/@q)Y^A2g=A ؟AI I! O- >ԑ E  E E &E "E :*E z:VE 4ZE a @a @a @a @p,?AB>BCBIB~{BB =BBoDBl;B*EY){ByuIԁiMb@Mb@Mb@ 9jt?Mb?{Gz?Y`?y@>#<'AA %A)(AYAbDVD:y<%7=ٔQ->9"?Y"?=FylbE E > Q 5-5 WĪ?Q 9=5 凿) ;BYEe?Q EEl:yE?Q IE@ zDI ;i ; q5yUBɮU+AUE}DNOT Ignoring new targets: 53.61 m.hyhy*hy"hy hgfffBdddjdZd W@颽}Bɢè!) ii)ߟis;iO`< =IIԡ'A*p,i?A67O?6f:?6'$ٱ6- >AHRS rotation from veh to nav: [[0.294909,-0.932595,-0.208075],[0.942040,0.320225,-0.100082],[0.159966,-0.166500,0.972979]]6H ?1ʿ 1%?`~?@񞹿y?Oſ@"?i67O?I6l];6CYF5{ByJ}II~<)~<bDVDܲy%7<%%/=ٔ- Q-->91Y1=5Fy5qbE=V<E=>AQ 5M5EǪ?Q 9M5E})EWBYIyUR?Q IU@EDIEj;iED;Es5yYɮ]+AYDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd`W@)}Bɢ^!) i)i;iv`<}!=III \ q,0?A2q?2\?2E&ٱ29- :AHRS rotation from veh to nav: [[0.293815,-0.932732,-0.209006],[0.942009,0.319642,-0.102215],[0.162147,-0.166854,0.972558]]2H?ʿ@$?u?*8?t[ſ@1?i2q?I2\;2CYBM{ByFIiMb@Mb@Mb@ 9\(\?K?YZ?y^:>Q&AA )XAYfAbDmVDmky}b=%}E=ٔQ->9 ?Y ?=FyubEV&;E>Q 55bʪ?Q 95s)nBY_?Q Er:y?Q I@DI ;iG ;u5yɮ@+ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBdddjdZdX@E EEE"E*E n:VEZEa%@a%@a-@a-@5:}Bɢ5Vl#)9 =oi9)=7~99i=*;iAE a&CEGIU(hAi9(hAYgABM<AM<BU>BUߍCBUIBU{BBU =BUDDBUnDBULl;BU*EYy@y @y@}/@y@@gAԉ ^A = A I I O > q,82?A2?2q?2L(ٱ2]. :AHRS rotation from veh to nav: [[0.293117,-0.932716,-0.210058],[0.941886,0.319423,-0.104012],[0.164111,-0.167363,0.972140]]2Hk?`@,ʿ#?nq??%lſ`?i2?I2-];2CYBZ{ByBIbDNVDNyVH<%V>=ٔVNQ-Z>9XYX=ZFyZybE^A:E^>`Q 5f5bRͪ?Q 9f5bi)bBYhyj?Q Ij@bDIb2 ;ibP ;bw5ynBɮn+An~E DNOT Ignoring new targets: 53.61 m.h h *h "h  h gfffdddjdZd.X@MK}BɢM%p#)Q UiQ)U QQiU1);iY]bԑ q,KL?A.;ɰ,Zx?Z*d?ZO|*ٱZ0 bAHRS rotation from veh to nav: [[0.293425,-0.932040,-0.212609],[0.941508,0.320299,-0.104742],[0.165722,-0.169439,0.971507]]ZH{? F6˿ ??Yк^6?,ſ?iZx?IZ0(];ZCYnW{BynI ppieMb@Mb@Mb@aaaa a9e(\?Mb?y&1YezT?ye>e`ee$AeA e#A)eAaYeA yybDVD:y%==ٔWwQ->9Y=Fy~bEIzE>Q 55Ѫ?Q 95u`)BYW?Q E|:ys?Q I@DI ;i" ;y5yBɮH+AIDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffWBdddjdZd@KX@^}Bɢj_$) i)hei#r;ic<E#=II)9@ @@p0@yE EE&E"E[:*E H:VE4ZEa@a@a@a@B>BBIB|BB =BBmDBl;Bi*E^A =A ؟AI I1 O= > q,f?A23\?2aG?2",ٱ22 :AHRS rotation from veh to nav: [[0.294172,-0.931253,-0.215010],[0.940994,0.321587,-0.105410],[0.167308,-0.171315,0.970906]]2H? u˿@?`?,[j?ſ`?i23\?I2T];2CYFo{ByFIbDjVDjk1yr=%rW=ٔv~Q-v>9v"?Yv"?=vFyvbEz?Ez>|Q 55~֪?Q 95~5X)~BY y U?Q I @~DI~:i~:~<{5yɮ*AEDNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hAgIfIfIfIdQdQdQjdQZdU`bX@颅l}BɢD~() Yi).顉i*;iƂd< =IIU9@Q @Q@]4@Y@m>@m >^AMȿ=1 E  E E %E "E :*E X:VE 4ZE BE 6+>q,?A 6?6?6y-ٱ6@6 BAHRS rotation from veh to nav: [[0.295962,-0.929734,-0.219090],[0.940202,0.324033,-0.104984],[0.168600,-0.174918,0.970040]]6H ?`b# ̿#??:຿@?cƿ ?i6?I6G*];6CYJk{ByJIbDVVDVyZ1%ZM=ٔ^WQ-^>9`Y`=bFybbEbJEf>dQ 5j5fjڪ?Q 9n5fO)fBYlyn?Q In@fDIf;if";f|5yrBɮv+AvuEDNOT Ignoring new targets: 53.61 m.hh*h"h hgff!f!d!d!d!jd)Zd-:|X@U|}BɢUL()Y ]8ia)e-aaie3;iimJea &'&q,Ι?AE2 E2E2$E0"E2:*E2e:VE24ZE0a6@a6@a:@a:@>q?>?>.ٱ>+9 ^AHRS rotation from veh to nav: [[0.298654,-0.928177,-0.222020],[0.939128,0.327224,-0.104708],[0.169838,-0.177234,0.969404]]>H`'?%k̿`U ?q?I>];>CYj{ByjI9imMb@Mb@Mb@iiii i9m#~j?i|?5?Zd;OYmE?ym=mjimrA i)mCAiYm\AbDVDynH=%==ٔ%>Q->9Y=FybE*޻E>Q 55ߪ?Q 95F)BYDH?Q E:y%?Q I@DIG;i~ ;~5yɮ*ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfff$BdddjdZd X@AQAQB]|>B]ލCB]IB]5|BBYBYBYB]k;B]1*EBߍCBCB–CB =B =C6}Bɢ^0&) ;i)i˗;if<.-=II i@ @@/@ԑ^A = AY Ii Iy O >P,q,3?AYr{ByvIbD~VD~:yE=%MO=ٔMQ-M>9IYQ=UFyUbEUEU>YQ 5e5]9㪊?Q 9m5]>)]BYiyiQ Im@]DI] :i]:]5yqɮu|*AyԙDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd-X@}Bɢ*) i) i%;iξf<g=III ) E EE&E"E>:*Ec:VE4ZEBE! <3q,?ANԄ?Nڿ?N<0ٱNX> VAHRS rotation from veh to nav: [[0.305165,-0.924610,-0.227970],[0.936708,0.334582,-0.103116],[0.171617,-0.182074,0.968192]]NH`Ӈ?g".Ϳ?i?e`?5Nǿn?iNԄ?IN1];NCYb{BybIi}Mb@Mb@Mb@yyyy y9}Q?K?~jtY}(9Y=FybEE>Q 55Y誊?Q 956)BY=?Q E:y?Q I@DI;i;i5yɮS*A DNOT Ignoring new targets: 53.61 m.h h *h "h hgfff~Bdddjd!Zd%X@U}BɢU()Q UiQ)]O~YYi]S;iaeIgA->B]{>BYB]&IB]I|BB] =BYBYB] k;B])EyI I O% >ԑ e9q,j?A4<ɰ4<ԁYE{ByEI QQbDeVDeJyւ=%/=ٔQ->9Y=FybEE>Q 55?Q 95.)BYyQ I@DIy:ia;t5yBɮ)AlEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdd d jd Zd X@=}Bɢ=&)9 =i9)EXAAiET";iIMg J@q,8?A60?6]?6$1ٱ6бE BAHRS rotation from veh to nav: [[0.314027,-0.919690,-0.235707],[0.933680,0.344165,-0.098955],[0.172130,-0.189000,0.966773]]6H`?`n@+ο?`?U`X?)1ȿ ?i60?I6BE];6C D)JkAJ94HHHJkAiNQ8INLFLILiR lA Rji>i@q @q@u0@q^A<II)O=>) tFq,k?AE& E&E&%E$"E&O:*E&rN:VE& 4ZE$a*@a*@a*@a*@>?>?>G1ٱ>\F JAHRS rotation from veh to nav: [[0.318559,-0.917723,-0.237286],[0.932120,0.348772,-0.097524],[0.172259,-0.190112,0.966532]]>HDc?]b_ο?GR?] ?Uȿ?i>?I>7:];>CY]{By]IiMb@Mb@Mb@ 9i|?5?kt?y&1Y1?y =`eA^@ (A)EAY\ABABw>BB?IBr|BBBBlDBTj;B)EbDVDy-<%-8=ٔ-tQ-->91Y1=5Fy5bE=3E=>AQ 5M5E?Q 9M5E7 )E5BYM3?Q EM:yU?Q IU@EDIE:iE;EŇ5yYɮ]O)AY%DNOT Ignoring new targets: 53.61 m.h!h!*h!"h! h!g)f)Qff~BdddjdZd`Y@}Bɢ%%) i)iS;i9=xHh<=dԩ Lq,4?A28W?2eB?2Ep1ٱ2G :AHRS rotation from veh to nav: [[0.323283,-0.915678,-0.238793],[0.930463,0.353561,-0.096088],[0.172414,-0.191124,0.966305]]2H?;M ƐοZ???`?@vȿ?i28W?I2#L];0@Y"|ByII%%=)%;bD5 VD52y!>%U=ٔ?׹Q->9Y=FybEYE>Q 55g?Q 95d)GBYy\?Q I@DI[:i:q5yɮW(ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd2Y@%}Bɢ%Vo()! %9i!)-))i-;i15Jh<5Ib ЎSq,9N?AdYmN|Bym)IiMb@Mb@Mb@ 9M?(\µ?Yn2?y=@ A)t@YAbDVDNy-=%-?=ٔ5Q-5>91Y1==Fy=bE=E=>AQ 5M5E?Q 9M5E)E]BYU3?Q EU:yU?Q IU@E DIEe:iE:EP5yYɮ]'AYDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff~BdddjdZdCNY@}BɢuD#) Ծi)+ti;i?Mh< .mBt>BݍCB_IB|BBBBBi;BU)EQ m nManaging dock network, ignoring radio surface power off5Yq,h?A2?2?2!a1ٱ2CG :AHRS rotation from veh to nav: [[0.332515,-0.912206,-0.239403],[0.927215,0.362598,-0.093784],[0.172357,-0.190794,0.966380]]2H@G? 0¤ο ?4?2 ?`kȿ@?i2?I2 6];2CY^~|By^GIbDfVDfy%>%%^=ٔ-T$9Q-5>99AYA=EFyMbEUڼEU>aQ 5m5e?Q 9u5e )eqBYyye?Q I@eDIe\;ie];e5yBɮ&AcEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd `fY@e~Bɢe")i mþii)mii;i! h<[;IIi@ @@/@ԑ^Ak<A>A>Eu  Eu Eu $Eq "Eu >:*Eu ;J:VEu 4ZEq BEu `q,?AԙYe|ByeoI iiiibD}VD}N2y>%6=ٔQ->9Y=FybEE>Q 55X ?Q 952)BYyQ I@DI:i:⎅5yɮ%AMDNOT Ignoring new targets: 53.61 m.hIhI*hI"hI hIgQfQfQfQdYdYdYjdYZd]nY@~Bɢd) i)i5;ig<;II @  @@@^Aϩ;AM .AIQ Ia Ou > pfq,-^?AE EE&E"E:*Ega:VE4ZEa@a@a@a@Rw?Ri̛?Rm1ٱRFE ^AHRS rotation from veh to nav: [[0.341111,-0.909339,-0.238215],[0.924078,0.370857,-0.092442],[0.172404,-0.188596,0.966803]]RH?`M}ο ?`?BY?#ȿ ?iRw?IR?8];RCdf"s@idIhhh hhhllndkAIl)pip)pIrjArٽp ttv~jAtittixx)x xIx |)||||Y|Y |By IiMb@Mb@Mb@AA?ABr>BBIB}BB =BBBi;B6)E 9|?5^?y&1?I +?Y2?y`=9<A@ A)@Y( AbDE VDE2y=%D=ٔQ->9 ?Y ?=FybEE>Q 5 5?Q 9 5)BY P5?Q E:yӰ?Q I@'DIP ;i ;5y BɮA%AdEDNOT Ignoring new targets: 53.61 m.hh*h"h hg f f f ~BdddjdZdϞY@颅$~Bɢj) II!@ @@/@Q^A A zA gAy A ؟AI I O >Amq,?A2t~?2M?2`1ٱ2C :AHRS rotation from veh to nav: [[0.344662,-0.908227,-0.237342],[0.922715,0.374274,-0.092277],[0.172640,-0.187195,0.967033]]2H@?29aο@??@|?ǿ?i2t~?I2b];2CY .}ByIbD%VD% 3y5(>%5]=ٔ5)Q-5>9="?Y="?==Fy=bEEl+EE>AԩQ 55E?Q 95E )EBYyU?Q I@E0DIEm}9 g&tq, h?AV}?VϚ?Vb2ٱV8A ^AHRS rotation from veh to nav: [[0.348190,-0.907391,-0.235384],[0.921310,0.377598,-0.092776],[0.173064,-0.184558,0.967464]]VH H?X !ο_{?@*? '&?ǿ`w?iV}?IVK];VCYur}ByuII}=)}p<i5Mb@Mb@Mb@1111 1957A`??5t<5A5@ 5^A)5@1Y5 AbDMVDM02y]O>%]9=ٔeQ-e>9aYa=eFymbEmEm>qQ 5}5u?Q 9}5u)uBY^9?Q E:y?Q I@u:DIu:iu:u?5yɮ:#AZEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffBddd!jd!Zd%Y@U@~BɢUn)Uioc UMiQ)]MYYi];iaeeB9B=IB=}BB= =B9B9B=Ei;B=)EBݍCBލCBƓCBB =C}K5i^A A >A >ԑ A1 II Ia Ou >bzq,:?Af||?fkZ?fY2ٱfO> rAHRS rotation from veh to nav: [[0.351453,-0.906626,-0.233475],[0.919984,0.380674,-0.093362],[0.173523,-0.181981,0.967870]]fH@6~?@Ϳ p?`\?淿5?$Kǿ@?if||?If:];fCY}ByIbD%VD%ܲy=k>%=\=ٔ=Q-E>9AYI=MFyMbEUREU>YQ 5m5])?Q 9}5])]BYyy?Q I@]BDI]ݒ;i]l;]5yɮ!ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd VY@I颍L~BɢR) qi)顑i);i)5e<Z-II@ @@1@q^ArA!I)I9OM>E EE"E"E:*E:VE(3ZEBEc?ǿ@?i2{?I2Y];2CYB~ByB>IbDJVDJfyR4>%VU=ٔV*Q-V>9TYX=ZFyZbEZO&EZ>\Q 5b5^"?Q 9f5^޾)^BYdyf?Q If@^KDI^[:i^:^5yhɮj Al]DNOT Ignoring new targets: 53.61 m.haha*ha"ha hagafafifidididqjdqZdu8Z@Y~Bɢ^ ) .i)i;i[d<aIIA@ @@4@a^Aԑ AA II IY O} >E  E E $E "E *E ga:VE 4ZE a @a @a @a @nq,I-?A02{?2n?23ٱ2: >AHRS rotation from veh to nav: [[0.358004,-0.904604,-0.231355],[0.917285,0.387020,-0.093830],[0.174418,-0.178627,0.968334]]2H?ͿeZ??@CUS?;ƿ?i2{?I2C];2CYFa~ByFpI HHBbo>B`BbFIBb~BBb =B`B`Bbi;Bb(Ei5Mb@Mb@Mb@1111 195X9v?㥛 ?L7A`?Y5=?y5>5+=5A5@ 5A)5@1Y5 AbDVD02y/:>%:=ٔĺQ->9Y=FybEE>Q 552'?Q 95v־) BYA?Q E:yP?Q I@VDI ;ia:v5yɮADNOT Ignoring new targets: 53.61 m.hh*h"h hgf!f!f%Bd!d)d)jd)Zd-Z@]g~Bɢ]E)Y ]`ƻia)e aaie;iimTc*q,f>?A^Xz?^?^ml4ٱ^tU7 fAHRS rotation from veh to nav: [[0.360384,-0.904294,-0.228860],[0.916187,0.389249,-0.095325],[0.175285,-0.175325,0.968781]]^H@?EKͿgQ?r?/go? qƿ@?i^Xz?I^4j];^CYn~ByrIbDzVDzyb>%-=ٔQ- >9 Y = Fy bE"E>Q 5%5L,?Q 9-5R;)ABY)y-?Q I-@aDI:i:5y9ɮ=WA=QEeDNOT Ignoring new targets: 53.61 m.haha*hi"hi higififqfqdqdqdyjdyZd} ;Z@颥v~Bɢ~) M=i)顱i 8;ib<]II"Aa@a @a@ea4@aq^A ԙ A I I O >Hq,X?AY~By~IyiMb@Mb@Mb@ 9@5^I ?sh|??Zd;O?YbP?y)>j<AX@ A)X@Y(AbDVDyQ>%@=ٔQ->9Y=FybEE>Q 55?1?Q 95Gľ)_BYT?Q E:yk?Q I@lDI2;i ;d5y"BɮARE DNOT Ignoring new targets: 53.61 m.h h*h"h hgfffBdd!d!jd!Zd%#WZ@E EE'E"E[:*EL_:VE'4ZEa@a@a@a@~Bɢx) ^=i)ii;i`<IIB :>B ׍CB IB ~BB  =B B gDB 2i;B (Eԡu9@q @q@u4@q@y@y ^A u1AIIO>vq,wx?A2zy?2?25ٱ2 0 :AHRS rotation from veh to nav: [[0.363396,-0.904490,-0.223252],[0.914727,0.391852,-0.098624],[0.176686,-0.168375,0.969759]]2HA?̿qE??@d?ࣝ?Sſ@C?i2zy?I2O];2CYFDByFIIJ<)J<bDNVDNkyV >%V1=ٔZ7JQ-Z>9XYX=ZFy^bE^E^>`Q 5f5b6?Q 9f5bz)bBYhyj?Q Ij@bxDIbR:ibI:bh5ylɮnAl-DNOT Ignoring new targets: 53.61 m.h1h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdEtZ@u~Bɢu )q u1>iq)}|yyi}t;9iAE1_ Uq,w/?AY-By-'IԩiMb@Mb@Mb@ 9"~?ʡE?Q?YS?y-2><5A+@ A)+@YGAbDVDyA>%,=ٔQ->9Y=FybEE>Q 55-i ) CO  i ;iwE^<D2II G)A6|9Y[eA9@ @@@E EE'E"Ey:*E0:VE'4ZEa @a @a @a @A1A5@AB=)>B=ԍCB=-IB=BB=# =B=EDB=dDB=&i;B=(E ^A vɯA I! I9 A O] >q,6?AYMByMSIbDeVDeyuDE>%}d=ٔyQ-}>9Y=FybEE>Q 55Q@?Q 95t)BYyQ I@DI`:i : 5y!BɮAHEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd` Z@~Bɢ)! %>i!)%N!!i-iʞ;i)5K]<5%I1I1@ @@/@@=@=)^Aq歼AzAgAE  E E #E "E :*E ?:VE 3ZE BE 0cq,?A 2Ky?2ǘ?26ٱ2P! >AHRS rotation from veh to nav: [[0.362510,-0.907866,-0.210631],[0.915043,0.389604,-0.104430],[0.176871,-0.154880,0.971972]]2H`^3?= ʿ@H? G??ÿ d?i2Ky?I2_];0YFByFfI HHbDRVDRkyVq=%ZY=ٔZwQ-Z>9`Yd=fFyjbEr$;Er>tQ 5z5vD?Q 9z5v8)vBY|y~?Q I~@vDIvD;iv;v5yɮ@A -DNOT Ignoring new targets: 53.61 m.h1h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE@XZ@]~BɢeKA)i m>iq)} yyi};i>&\<IIqm9@i @i@m/@ii I ԡ^A6 A I I O >E%  E% E% "E! "E% :*E% 0:VE% (3ZE! a- @a- @a- @a- @q,?ABl?z?B ?BG5ٱB JAHRS rotation from veh to nav: [[0.360649,-0.909315,-0.207553],[0.915815,0.387393,-0.105874],[0.176677,-0.151897,0.972477]]BH?`ʿ@[N? ?\?[qÿ ?iBl?z?IB8w];BCTYjByjIBr#>BrӍCBrIBrBBpBpBpBr i;Br(EiMb@Mb@Mb@ 9Q?K?Zd;O?Y(\?y^:>j<A@ A)@Y3AbDVD:yf>%6=ٔ 9Q- >9 Y = FybED;E>Q 5%5I?Q 9%5?)BY-a?Q E-q:y-Q?Q I-@DI:i3:5y1ɮ=SA9eDNOT Ignoring new targets: 53.61 m.haha*ha"ha hagifififmBdqdqdqjdqZd}Z@颥~Bɢ۽) >i)f顩i;i[<=II0:: 9@ @@/@@@! ^A U֣A >A >Q A.AIIO >q,[@?AE EE$E"E:*E3:VE4ZEBEb9n ?Yr ?=rFyrbEr<Er>tQ 5U5vO?Q 9U5v)vBYYy]ߴ?Q I]@vDIvFfiy)}*yyi}c;iY<2mwIIԙ9@ @@0@^AE X A ؟AI I O >q,?A2{?2?2F4ٱ2s :AHRS rotation from veh to nav: [[0.354740,-0.913544,-0.198989],[0.918414,0.380346,-0.108872],[0.175144,-0.144133,0.973936]]2H@?@;uxɿc?W? ߻k?r¿z*?i2{?I2g];2CYBDByBIID)F< A A)v@YpA!%AAbD-VD-:y=4=%=D=ٔE:Q-E>9E"?YE"?=EFyEbEM;EM>QQ 55UQT?Q 95U)U>BY`?Q Eq:y?Q I@UDIUi)i};iX<^IIE5 E5zE1E1"E5:*E5 :VE1ZE1a=@a=@a=@a=@B->B-ҍCB-IB-gBB-& =B)B-cDB-Xi;B-(EBԍCB֍CB×CB# =B =Cï 7Uܪ&19@ @@/@Y ^A zlA zA dAԉA9IIIYOe?"q,\9?A>||?>)?>3ٱ>y FAHRS rotation from veh to nav: [[0.352800,-0.914942,-0.195993],[0.919391,0.377897,-0.109150],[0.173931,-0.141686,0.974512]]>H@E?4G`Lɿ`k?u/?@9[C?@"¿@3/?i>||?I>];>CYRTByRIbDZVDZ0ybͅ=%b'=ٔf$;Q-f>9dYd=fFyfbEj;Ej>lQ 5r5n^Z?Q 9r5nw)ndBYtyvF?Q Iv@nDIn;in;n5yxɮ~_A|%DNOT Ignoring new targets: 53.61 m.h!h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd55[@e~Bɢe'н)a e6>ii)mfiiim3\l;iqu3 X<}6BIyIyIE- E-E-'E)"E-[:*E-R:VE-'4ZE)BE-}Nq,BV?Av'|?v@`?v61ٱv3< AHRS rotation from veh to nav: [[0.351373,-0.915777,-0.194653],[0.920264,0.376071,-0.108098],[0.172197,-0.141149,0.974897]]vH`|? N@aȿr?? V` ?+¿ \2?iv'|?Iv];tYoByIqiMb@Mb@Mb@ 9Mb?333333?{Gz?Y`?y>#< Av@ 9 A)3@Y@bDVDfyp=%&=ٔ 4j;Q- >9 Y =FybE4^;E>Q 5%5_a?Q 9%5l)BY-c?Q E-n:y-P?Q I-@DIH:i;5y5Bɮ5hA=6EmDNOT Ignoring new targets: 53.61 m.hihq*hq"hq hqgqfqfyf}cBdydydjdZd@dU[@颵~Bɢw̽) >i)项impY;iW<.IIԡE EE$E"E:*EV:VE4ZEa@a@a@a@9@ @@0@B>BB4IBBB% =BBBPi;B(E^A*: A I) IA OU >v~q,5p?A2S}?2?2M/ٱ2 :AHRS rotation from veh to nav: [[0.350017,-0.916906,-0.191757],[0.921159,0.374090,-0.107344],[0.170159,-0.139067,0.975554]]2Hf?KWȿ`"z??z ?7?i2S}?I2q];2CYF{ByFIbDNVDNJyV!=%Zb=ٔ^;Q-^>9\Y\=^FybbEb;Eb>dQ 5j5f}f?Q 9j5fLd)fBYlyn?Q In@fDIfj:if:fR5ypɮrApDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffddd!jd!Zd%vl[@UBɢUy)Q U}>iQ)]YYi]J;iaeNfViu,>9@ @!@%4@!@)@-fA^AEܪ&bEMǻ 4jEM4rEMDz0E EE'E"E:*E&p:VE'4ZEBEI ]q,?Af}?f?f,ٱf rAHRS rotation from veh to nav: [[0.348978,-0.917502,-0.190799],[0.921942,0.372639,-0.105659],[0.168041,-0.139033,0.975926]]fH`U?-\lȿ ?`O?x b?`:?if}?If];fCY ~By  IbD!VD!y59<%5C=ٔ=Z;Q-=>99YA=EFyEcEEF;EE>IQ 5U5M\l?Q 9U5MZ)MBYYy]?Q I]@MDIM@;iML;M&5yaɮeAiDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd@>[@BɢĽ) >>i)q&i:;i!U< II1U9@Q @Q@U4@Qa^AԉA .AI I O >E  E E (E "E :*E c:VE c44ZE a @a @a @a @B >B ЍCB fIB ȀBB ) =B B bDB h;B (E q,ȣ?A2}?2ݚ?2*ٱ2} :AHRS rotation from veh to nav: [[0.348243,-0.917861,-0.190417],[0.922637,0.371525,-0.103492],[0.165735,-0.139645,0.976233]]2HI?`__ȿ=?@?k~6?M=?i2}?I2w];2CYFByFIiEMb@Mb@Mb@AAAA A9EzG?x&?~jt?YE W?yE7 >ED9u ?Yu ?=uFyucE};E}>Q 55&r?Q 95Q)BYY?Q Ey:yj?Q I@DIa:iU:5yBɮA7EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff%BdddjdZd[@ Bɢ -½)  >i)ʼi,e+;iT<II!ԙ@ @@1@^A8A ؟AI I O > q,?A2 ~?2/?21(ٱ2 :AHRS rotation from veh to nav: [[0.347538,-0.918106,-0.190523],[0.923299,0.370507,-0.101213],[0.163514,-0.140734,0.976451]]2H>?`a cȿ?d?@鹿@?¿??i2 ~?I2 ];2CYDyDJ=J=LN@AbDRVDRfyZҕ%ZW=ٔZ;Q-Z>9^"?Y^"?=^Fy^ cEb;Eb>dQ 5j5f}w?Q 9j5fI)fBYhyj?Q In@fDIfN:ifg:f5yrBɮrAr.E DNOT Ignoring new targets: 53.61 m.h h *h"h hgfffddd!jd!Zd%[@E EE#E"E :*E]t:VE3ZEBEK"i)$Xi\;i/JT<"II@ @@/@!^A5A1zA5gAY Aa Ii Iy O >uq,?A =W9~?=?=%ٱ=q MAHRS rotation from veh to nav: [[0.347316,-0.918299,-0.189997],[0.923790,0.369878,-0.099010],[0.161197,-0.141130,0.976779]]=H`l:?@b Qȿ ??`X@? ¿A?i=W9~?I=];=CY]By]*Ii-Mb@Mb@Mb@)))) )9-Q?y&1?~jtx?Y-\O?߀Gy-`=-;-AA-@(hA -XA)-@)Y-@ 9 (hAY iAbDVD0y%=%%)=ٔ-͞;Q-->91Y1=5Fy5cE5P:E5>9Q 5E5=~?Q 9E5=?i)=BYVQ?Q E:yĬ?Q I@=DI=̓iI)MIIiM. ;iQÚSBuύCBuIBuBBu, =BqBuaDBuuh;BuY(E@ @@@ԙ ^A% `ԻAq Iy I O >Pq,?Ai,I.A0BF~?B/?Bn#ٱBi NAHRS rotation from veh to nav: [[0.347267,-0.918192,-0.190603],[0.924202,0.369545,-0.096374],[0.158926,-0.142688,0.976925]]BH9?@aeȿ ??򫸿 W?C¿B?iBF~?IBʀ];BCYVByV-IbDVD0y%K<%%l=ٔ%J;Q-%?9)Y)=-Fy-cE5b:E5?9Q 5E5=ꃫ?Q 9E5=e8)=&BYAyEȬ?Q IE@=DI=:i=:==5yQɮUAQ}DNOT Ignoring new targets: 53.61 m.hyhy*hy"h hgfffdddjdZd[@颽:Bɢ) (>i)ބi;;iamRr, ?A6l~?6!?6!ٱ6` BAHRS rotation from veh to nav: [[0.346815,-0.918035,-0.192176],[0.924662,0.369000,-0.094021],[0.157227,-0.145090,0.976846]]6H`82?@`8ȿӖ?ೝ?`@ ?`N¿SB?i6l~?I61];6CYJByJ/ILNA Rp9dYd=fFyfcEf:Ej>hQ 5M5j?Q 9M5jI0)j=BYIyU٬?Q IU@j#DIji)iT:iZUR<ϻII@ @@0@!^AA I I! O- >A E  E E E "E :*E ]t:VE ZE a @a @a @a @B! A! B- >B- ΍CB- IB- BB- 0 =B) B- `DB- =h;B- 7(Egr,:%?A2n~?2"?2 ٱ2 :AHRS rotation from veh to nav: [[0.346882,-0.917824,-0.193060],[0.924930,0.368881,-0.091820],[0.155491,-0.146717,0.976881]]2HO3?`^2ȿ? ??¿@B?i2n~?I2H];2CYFByF0IiMb@Mb@Mb@ 9!rh?I +?MbPYlG?y9=A~@ A)~@YG@bD5VD5y;%==ٔ5;Q->9Y=FycEҝ8E>Q 55?Q 95')UBYH?Q E:y|?Q I@.DIL:i3:ռ5yBɮA%EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff0~BdddjdZd%\@额OBɢi~ý) F>i)?顩i:iQ<MһIIIe9@a @a@a@aq^A [Rӻԩ A .AI I O >'r,ō??A29x~?2H'?2J ٱ2= :AHRS rotation from veh to nav: [[0.346848,-0.917479,-0.194754],[0.925238,0.368732,-0.089280],[0.153724,-0.149227,0.976781]]2H 2?[@ȿ?`O?۶;?ÿ@A?i29x~?I2];2CYFByFBIbDNVDN02yV=%VZ=ٔZX;Q-Z>9Z ?YZ ?=^Fy^cE^F9E^>`Q 5f5b?Q 9f5bK )biBYhyj~?Q Ij@b7DIb;ib<;bx5ylɮn:AlDNOT Ignoring new targets: 53.61 m.h h *h "h  h g fffdddjdZd;\@E5 E5E5$E1"E5a:*E5c:VE54ZE1BE5(iq)uQqqiu`:iy}qQ<ϻII9@ @@3@ԙ^A!AU ؟AIY Ii O} > r,XY?A-~?--?-dٱ- EAHRS rotation from veh to nav: [[0.346745,-0.917366,-0.195469],[0.925540,0.368442,-0.087332],[0.152134,-0.150632,0.976814]]-H`1?[`ɿ ??`[!y?@GÿB?i-~?I-];-CYUBy]JIiMb@Mb@Mb@ 9S? rh?y&1|Y/=?yC=`rA@ A);@Y@bD}VD}y<%0=ٔFc;Q->9"?Y"?=Fy#cE+9E>Q 55E?Q 95)BY=?Q E:y?Q I@BDI;i;5yɮ ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}BdddjdZduY\@-bBɢ-4)) -D?i))511i5u:i9=]P<=˻I9IAEM EMEM(EI"EM:*EM:VEMc44ZEIa]@a]@a]@a]@@ @@4@@=@=B>B͍CBIBBB1 =BB_DBh;B(EBύCBύCBĕCB, =B, =C61^A A1 I9 IQ Q Oe >0r,!s?A6a~?6\/?6G-ٱ6 BAHRS rotation from veh to nav: [[0.346820,-0.917412,-0.195117],[0.925860,0.368135,-0.085203],[0.149995,-0.151101,0.977072]]6H`N2?p[ȿ??`ϵ` 3?CWÿ-D?i6a~?I6];4YJĀByJaIbDVVDV1y^=%^n=ٔ~;Q-~>9Y=Fy&cE 8E >Q 55?Q 95)BYy!Q I%@JDIG;iS;…5y)ɮ-vA)UDNOT Ignoring new targets: 53.61 m.hQhY*hY"hY hYgYfafafadadidijdiZdmo\@额kBɢ) c?i)2w顡izv:iO<II9i@q @q@u/@qaE] E]E]'EY"E]:*E]x:VE]'4ZEYBE]& >#r,?AԑY΀BymIbDVD:2y'=%,=ٔQ->9 ?Y ?=Fy+cEE>Q 55?Q 9 5W)BY y Q I @UDIG ;i. ;ą5y BɮAEEDNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hAgIfIfQfYdYdYdYjdYZde\@颍uBɢl)  ?i)_顑i_A;:i[O<~ͻII@ @@/@^A rEm  Em Em #Ei "Em :*Em i:VEm 3ZEi au @au @au @au @A A AAB >B ̍CB IB BB 3 =B B ^DB g;B 'EA I I  O% >C)r,ڦ?A2ӂ~?2,?2ٱ2} :AHRS rotation from veh to nav: [[0.347158,-0.917194,-0.195541],[0.926521,0.367692,-0.079761],[0.145056,-0.153484,0.977446]]2H@7?Yɿ?@E?9k.?Yÿ=G?i2ӂ~?I2]];2C @)@F 0DDDDiF 0IHHIHiJlA J 0H)HL NkANQ8LPPRkAIR,)RQFiP)TITV'T TXXXiXXi\\)\ \I\Y\YfۀByf}I hhhjAi]Mb@Mb@Mb@YYYY Y9]`"?Zd;?~jtxY]7?y]y=]Ļ]O@]@ ]A)]@YY]@ bDVDy=%N=ٔK9Y=Fy/cE![E >Q 5%5l?Q 9%5)BY-z8?Q E-:y-Υ?Q I5@_DIm;i'W;Ņ5y= BɮEAEEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}BdddjdZd \@mBɢu)q u?iq)uyyi}:iy lN<aѻIIe9@a @a@a@aI ^A [RӻA >A >y I I O >^Q0r,GU?A2q~?2#?2= ٱ2 >AHRS rotation from veh to nav: [[0.347552,-0.917165,-0.194978],[0.926813,0.367561,-0.076923],[0.142217,-0.153973,0.977787]]2HL>?iYȿr? ?`9-4?bÿJ?i2q~?I2];2CbE]J4jE]r 4rE]+0Eh EjEj%Eh"Eh*EjAr:VEj 4ZEhBEjm%%W=ٔ ;Q->9Y=Fy3cE>E>Q 55~?Q 95F)BYyĥ?Q I%@gDIHH<xDž5y)ɮ-A)UDNOT Ignoring new targets: 53.61 m.hQhQ*hQ"hY hYgYfYfYfadadadijdiZdm C\@Bɢ ) ?i)i{9iIMFMw6r,!?A =V~?=4?=lٱ=w MAHRS rotation from veh to nav: [[0.348085,-0.917728,-0.191343],[0.927069,0.367289,-0.075113],[0.139212,-0.151242,0.978645]]=HG? ^ }ȿ?@?:@?[ÿ Q?i=V~?I=];=CiB->B)B-IB-#BB)B)B-_DB-f;B-'EEM EMEIEI"EM2:*EM:VEIZEIBEM!*<2EM!*<JEMy;:EMz;YByIiMb@Mb@Mb@ԙ 9zG?J +?Y 7?yH=9@@ @)@Y@bDVDyM=%=ٔͮ;Q->9Y=Fy8cE>E>Q 55F«?Q 95)BYx7?Q E:yУ?Q I@tDIM;i;Ʌ5y ɮ ?AmDNOT Ignoring new targets: 53.61 m.hihq*hq"hq hqgqfyfyf}BdddjdZd@\@mBɢm v)q u?iq)uÒqyi}E8iNL<ZII Y @Y  @Y @e /@a @m =@m = ^AI IO%>3 >r,*?AR~?R?RxٱRN- ZAHRS rotation from veh to nav: [[0.349227,-0.919329,-0.181313],[0.927556,0.366617,-0.072327],[0.132965,-0.142919,0.980762]]RHY?%kB5ǿ?v??`-K¿`gb?iR~?IR];RC`bs@i`I``d dfĻddhhIh)hih)lIln ׽nWF lprjApippipt)t tIt t)txxxxY|Y/ByIbD VD2y%{>%-=ٔ-٤y Dr,ܹ?AFD}?FϚ?FٱF NAHRS rotation from veh to nav: [[0.350548,-0.919335,-0.178715],[0.927568,0.367166,-0.069334],[0.129359,-0.141466,0.981455]]FH@ao?@1k#ƿࢮ? ?߿@؎?@¿h?iFD}?IF÷];FCQY]JBy]IbDmVDmN2y}0>%}E=ٔ}9Y=Fy@cEDE>Q 55Ϋ?Q 95)BYy?Q I@DI :i:#ͅ5yɮ AB*** querying acoustic contact ***i iDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd]@%Bɢ%xϒ)! %!C@ @@0@qԑhAq9hAY%[ABQAQB]>B]͍CB]IB]GBB]0 =BYBYB]=f;B]5'EԩE EE$E"EO:*Ex:VE4ZEBE rKr,ۢ.?A:f}?:?:lٱ: BAHRS rotation from veh to nav: [[0.352091,-0.918859,-0.178131],[0.927439,0.368138,-0.065817],[0.126053,-0.142032,0.981803]]:H ?Jg ƿ@??[ٰ~"?.¿j?i:f}?I:];:CYMdByU&I QQa@a a@a a@a a@a ԩbDVDy=%E=ٔ9Y=FyDcEQmE>Q 55֫?Q 95۽)BQ A+:YQ Eo:yX?Q I@DI;i%>΅5yBɮ AE%DNOT Ignoring new targets: 53.61 m.h!h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=&-]@eBɢefU)i mpG?ii)mj2iiimIiquJ<}'IyIymDAT read: uBDAT read: Tx time:05:46:11.8719 u$Ping request sent.uRr,lH?A~ }?~p?~tٱ~T" =AHRS rotation from veh to nav: [[0.353529,-0.918841,-0.175354],[0.927307,0.368889,-0.063419],[0.122958,-0.140187,0.982461]]~H 7?$gqƿ`??6< +z?@Qp?i~ }?I~];~CYUzBy]AIbDVD1y=%I=ٔ;Q->9Y=FyHcECbE>Q 551ݫ?Q 95UԽ)(BQ A :YQ EB:y*?Q I@DI:iR?υ5yɮB A DNOT Ignoring new targets: 53.61 m.h h*h"h hgfffdddjd!Zd%%G]@MBɢU2 )Q U\P?iQ)UYYi]f9(iae/JU9Xr,g~b?A:W|?:)?:H'ٱ:n FAHRS rotation from veh to nav: [[0.356216,-0.917761,-0.175572],[0.926741,0.371016,-0.059142],[0.119418,-0.141643,0.982688]]:H`??`K^&yƿ ݧ??@G@0?X!¿ /r?i:W|?I:];:CYNByNrIBv>Bv̍CBv@IBvzBBv/ =BtBv^DBvke;Bv&EEE EEEE"EA"EE:*EEB:VEE(3ZEABEE<8%N=ٔi9"?Y"?=FyLcEE>Q 55㫊?Q 95ͽ);BQ AT:YW9?Q E:y9?Q I@DI;i;х5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754345yBɮ A EDNOT Ignoring new targets: 53.61 m.hh*h"hq hqgqfyfyf}}BdyddjdZd`a]@Bɢt) rb?i)Si\iKI<^bII Y@ @@4@y^A 0:D} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007142ԩ A9 I I O >c^r,W[|?A2{?2?25ٱ2| :AHRS rotation from veh to nav: [[0.359313,-0.916388,-0.176431],[0.925955,0.373627,-0.054862],[0.116194,-0.143655,0.982783]]2H ? SKƿm?@?@龽?Fc¿ r?i2{?I25];2C@Y^ÁBybIIfa=)f%5P=ٔ=<99YA=EFyEPcEEEE>IQ 5U5M髊?Q 9U5MŽ)MMBYYy]Ϩ?Q I]@MDIM;iM;M7Ӆ5yaɮe AiDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd@y]@BɢQ) p?i)"i6Շi[qH< II9@ @@/@ԱEU EQEU'EQ"EU ;*EQVEU'4ZEQa]@a]@a]@a]@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258187^AhA I I  O >Ker,z6?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5101796oz?6%ZS=ٔ^z;Q-^>9`Y`=bFybTcEbEb>dQ 5j5f?Q 9j5fʾ)f^BYllyn]?Q Ir@fDIf+;if,;fԅ5ytɮvAtDNOT Ignoring new targets: 53.61 m.hh*h"h hgff!f!d!d!d)jd)Zd-]@Bɢ56M)9 =G}?i9)==99i=N䢺iAEbGBǍCBIBBB+ =BFDBZDBe;B|&EB̍CBˍCBB0 =B0 =CƉR61Ee EeEe%Ea"EeT;*Ee:VEe 4ZEaBEeGZwkr,?A2y?2ט?2Gvٱ2 :AHRS rotation from veh to nav: [[0.365572,-0.913578,-0.178134],[0.924102,0.379129,-0.047929],[0.111322,-0.147092,0.982838]]2He?`<ƿ=?C?%?¿`is?i2y?I2.];2CYBByFIi Mb@Mb@Mb@     9 K7A?)\(??Y  B?y G= < @ 5@ ) K@ Y @bD%VD%0y5>%5B=9ٔ=8;Q-E>9AYA=EFyEXcEMEM>QQ 5]5U?Q 9]5U)UrBY]/D?Q E]:ye׫?Q Ie@UDIU ;iU ;Uօ5ymBɮmAiDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff%]~Bd!d!d!jd!Zd-`z]@颕Bɢ8A) ?i)ut顙ixLi._rr,?AVgFy?V^?V}ٱVr6 bAHRS rotation from veh to nav: [[0.367686,-0.912235,-0.180651],[0.923375,0.381190,-0.045519],[0.110386,-0.150072,0.982493]]VH@*?1ǿ`J?@le?@NIB?@5ÿp?iVgFy?IV_];VCYj+Byj I llprAbDvVDvNy~o>%~N=ٔ~;Q->9Y=Fy\cE 빻E >Q 55?Q 95ޮ)BYy%?Q I%@DI;i;z؅5y-Bɮ-A-EUDNOT Ignoring new targets: 53.61 m.hQhY*hY"hY hYgYfYfafadadadijdiZdm]@ԑ额Bɢ^) ?i)$顡iܺi(E<OIIIeA)i@i @i@m0@iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518115^AA I I9 Oe >! xr,?A;ɰ;2:x?2i?2Aٱ2e :AHRS rotation from veh to nav: [[0.368722,-0.910890,-0.185265],[0.922978,0.382414,-0.043259],[0.110252,-0.155045,0.981736]]2H %?& Ŷǿ ?wy?&9?ÿaj?i2:x?I2];2CBF>BFCBFIBFBBFB =BFGDBFSDBFd;BF5&EYRGByR= IE% E%E%!E!"E%O:*E%[:VE%c3ZE!BE% <@ @)5@Y@bDVDN2y>%;=ٔ9Q- >9 Y = Fy `cE['E>Q 5%5$?Q 9%5ȥ)BY%7P?Q E-:y-?Q I-@DI\:i:dڅ5y1ɮ5A1]DNOT Ignoring new targets: 53.61 m.haha*ha"ha hagafafifm~BdididqjdZd]@颅Bɢ#) ݕ?i)~顱iiC< ȼII!@ @@0@Qm checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025253^A eԁ A I I O% >~r,Ƣ?A^x?^\?^ٱ^;' AHRS rotation from veh to nav: [[0.369083,-0.909403,-0.191740],[0.922813,0.383097,-0.040651],[0.110424,-0.161937,0.980603]]^H?`ȿே??BФD?@XĿa?i^x?I^];^CYgByd IbD%VD%Fy5>%=G=ٔ=۹Q-=>9AYA=EFyEecEEG~EE>IQQ 5]5M?Q 9]5MB)MBYaye?Q Ie@MDIM`+;iMl,;M/܅5yiɮm"AiDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd]@uBɢu,)y }؜?iy)}yyi}FiB<vʼIIbE3jE3rEÓ/E5 E5E5#E1"E5:*E5~:VE53ZE1aM@aM@aM@aM@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274930E9@A @A@E0@AԁԱ^Am ̼A I I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526047r,?ABy?Bm?BٱB, JAHRS rotation from veh to nav: [[0.368595,-0.908602,-0.196417],[0.922930,0.382939,-0.039466],[0.111075,-0.166732,0.979726]]BH?D3$ɿ??4 ko?|WſY?iBy?IB];BCYbByb IbDnVDny~>%~^=ٔtQ->9Y = Fy hcE ȱ:E >Q 55L ?Q 9%5)BY!y%?Q I%@DIW;ic;݅5y)ɮ59A1]DNOT Ignoring new targets: 53.61 m.hYhY*hY"hY hYgafafafadididijdiZdm^@BɢL[) \?i)in!i  A< ]ƼI I1ԑ]rBe<Ae<Bm}>BmCBmS IBmYBBmI =BiBmRDBmd;Bm%EY>i%>E% E%E!E!"E%[:*E%L_:VE!ZE!BE%{Er,6?AiLILNchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030363PYzByz IiMb@Mb@Mb@ 9333333?sh|??{Gz?YY?y)>ף<@@ @)@YQ@bD VD2y=%=ٔQ->9Y=FyncEE> Q 55 &?Q 95 /) BY]?Q Eu:yb?Q I@ DI A;i : 5y%ޒBɮ%?A%EUDNOT Ignoring new targets: 53.61 m.hQhQ*hQ"hQ hQgQfYfYf]BdYdadajdaZde@m5^@颕Bɢ ) ?i)顙i7i$@<T6ȼIaIiEFΞ9@ @@1@DzD?AE EEE"Eg:*E;J:VEZEa@a@a@a@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282262^A  A I I) OE >ߓr,%@P?A2Vz?2m?2ٱ2, :AHRS rotation from veh to nav: [[0.363741,-0.910456,-0.196884],[0.924620,0.378539,-0.042265],[0.113009,-0.166669,0.979515]]2H`G?s"@~3ɿ |?9?#?`kUſ0X?i2Vz?I2];2CYBByB IbDJVDJNyR=>%Vd=ٔVQ-V>9XYX=ZFyZqcEZk<EZ>\Q 5b5^?Q 9f5^/)^BYdyf ?Q If@^DI^U;i^a;^5yhɮn/AlDNOT Ignoring new targets: 53.61 m.hh*h"h  h g f ffdddjdZdnL^@MBɢM3)I M?iI)UQQiUEJiY]?<]꠼IYIaiiiichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.5340971Ii99YhA@ @@4@aB- ~>B- CB- IB- BB- E =B) B) B- c;B- %Eԉ ^A ǼE  E E E "E :*E z:VE ZE BE 5ZTr,7Sk?AhYzByz IAiMb@Mb@Mb@ 9T㥛 ?gfffff?y&1?Ya?y33>`e<@@ `@)@Y@ 4<p<bDVDk1y=%.=ٔQ->9Y=FyvcEE%>)Q 555- ?Q 955-Vw)-BY5we?Q E5l:y5U?Q I5@- DI-:i-:-5yAɮEAAmDNOT Ignoring new targets: 53.61 m.hihi*hi"hi hqgqfqfqf}'BdydydyjdyZdnj^@颵Bɢ)  ?i)B项i`i=<nII}9@y @y@}/@y^AUbި5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038155)A.AIIO>Q 4r,o?A64d|?6D?66ٱ6:G* >AHRS rotation from veh to nav: [[0.356338,-0.913940,-0.194262],[0.927573,0.371029,-0.044113],[0.112393,-0.164473,0.979957]]6H ȿ ?? ż?u ſ`[?i64d|?I60];6CYFтByJ IbDRVDRyZ֯=%Ze=ٔZ7:Q-^>9^ ?Y^ ?=^FybzcEbķ<Eb>dQ 5j5f"?Q 9j5fo)f BYhyj]?Q In@fDIf:if:f65yrϒBɮr@vE DNOT Ignoring new targets: 53.61 m.hh*h"h hgfE% E%E!E!"E%;*E%:VE!ZE!a-@a-@a-@a-@f1f1d1d1d99jdAZdE@^@mBɢm ʻ)u uM?iq)u 1qqi}Ftiy=<TIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.2934291@1 @1@5/@1i^Au}ԙU checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542488A ؟AI I O > ^r,?A2/}?2­?2= ٱ2t' :AHRS rotation from veh to nav: [[0.352314,-0.916100,-0.191404],[0.929320,0.366625,-0.044164],[0.110632,-0.162315,0.980517]]2HP?`P@ȿ?v? @hR?Ŀe`?i2/}?I2];2CYB؂ByB IbDvVDvy~=%~F=ٔn;Q- >9"?Y"?=Fy~cE-K-<E5>IQ 5e5M'?Q 9m5MXe)MBYqy}?Q I@M!DIMx;iM;M 5ԡyɮ|@DNOT Ignoring new targets: 53.61 m.hh*h"h hgA5@AA5AAB=>B=CB= !IB=BB=< =B=FDB=TDB=Pc;B=~%Ef fQfQdQdQdYjdYZd]ϟ^@颥Bɢt) '?i)Lqݽii 9<<$IIE5 E5E5$E1"E5T;*E5P:VE54ZE1BE5Gfr,]?A2~?2W?2޽ٱ2 :AHRS rotation from veh to nav: [[0.347588,-0.919450,-0.183830],[0.931384,0.361188,-0.045458],[0.108193,-0.155416,0.981906]]2H>?@#l ǿ`?? AF?@ÿk?i2~?I2];2CYBByB IimMb@Mb@Mb@iiii i9mjt?S?~jtx?Ym`?ym/>m;m@mS@ m3@)m@iYmz@bDVDβy%@=%==ٔҹ;Q->9 ?Y ?=FycEE<E>ԱQ 55 -?Q 95~[)-BYd?Q Em:y?Q I@.DI:;i<:5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff!Bdddjd Zd ^@= Bɢ=0F)9 =?i9)EN۽AAiE7iIM;1 9r,#?A2d?2?2CNؽٱ2W :AHRS rotation from veh to nav: [[0.342711,-0.922640,-0.176877],[0.933507,0.355584,-0.046093],[0.105422,-0.149319,0.983153]]2H?Cƿ J? ?@?`ÿu?i2d?I2];2CY^Byb!IbDjVDjkyr)<%rW=ٔrg;Q-r>9v"?Yv"?=vFyvcEzNf<Ez>|Q 55~1?Q 95~R)~;BYy?Q I @~8DI~; ;i~G ;~5yВBɮ@EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd ^@= Bɢ=p)9 E?iA)EؽAAiESiIMe=;BCB;!IBBBA =BGDBRDB@c;Bn%EBȽCBȽCBȔCBB =BC =C<6E  E E %E "E ;*E :VE 4ZE BE Rr,|?AYxy|i}Mb@Mb@Mb@yyyy y9}Cl?'1Z?y&1Y};_?y}">}`e}`@}=@ }@)}@yY}@bDVDy+X%=ٔQ->9 ?Y ?=FycEE>Q 55X8?Q 95F)JBYb?Q Eo:y?Q I@GDI ;ie ;5yBɮ@EDNOT Ignoring new targets: 53.61 m.hh*h"h hgf f f ~BdddjdZd^@%B-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054225ɢ5)1 5ɵ?i1)5ս99i=,i9E:| r,z ?A2^?2I?2"ͽٱ2 >AHRS rotation from veh to nav: [[0.333657,-0.927753,-0.167174],[0.937340,0.345378,-0.045916],[0.100337,-0.141379,0.984858]]2H`Z?'eſ?`?M? ¿@?i2^?I2^;2CYFނByF IbDRVDRfy~'5%~V=ٔU9"?Y "?= Fy cE <E>Q 55&=?Q 9%5=)TBY!y%?Q I%@RDI:i:5y)ɮ5(@1]DNOT Ignoring new targets: 53.61 m.hYhY*hY"hY hYgYfafafadadidijdiZdu _@额Bɢ)  ?i)ӽ顡iEiq{:<S;IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.55883319@ @@0@Y ^A A >A ?B <A B z>B CB T!IB *BB F =B B B b;B >%Eԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811316A .AI I O%>2r,&*?AE* E*E*$E("E*%;*E*:VE*4ZE(BE* K?>&̝?>Lɽٱ>r FAHRS rotation from veh to nav: [[0.330004,-0.929473,-0.164857],[0.938865,0.341327,-0.045039],[0.098133,-0.139916,0.985289]]>H?`= ſ. ?L?`R7?{?i>?I>];>CYNՂByN Iԑi=Mb@Mb@Mb@9999 99=A`"? rh?~jtY=Y?y=C >=ļ=@=@ =h@)99Y=p@bDUVDU0ye %e=ٔ;Q->9 ?Y ?=FycE;E>Q 55D?Q 95Z2)_BY[?Q Ew:yt?Q I@`DI;i;5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hg f f f %~BdddjdZd+_@UBɢU掼)Q U?iY)]нYYi]>iae<_: r,D?A2`e?2P?2eýٱ2%  :AHRS rotation from veh to nav: [[0.326291,-0.931188,-0.162550],[0.940431,0.337162,-0.043723],[0.095520,-0.138600,0.985731]]2H@? KnĿ ?@?bs??i2`e?I2];0YFтByF IIJ<)J;bDNVDNyVp%Vl=ٔZ!;Q-Z?9Z"?YZ"?=^Fy^cE^C<E^?`Q 5f5bgH?Q 9j5b*)beBYhyj?Q Ij@bjDIb:ib:bG5ynBɮr@rޢE DNOT Ignoring new targets: 53.61 m.h h *h "h  h g fffdddjdZd%@@_@Bɢ9) v?i)νi(Ļi1=d:<=Nԁ Cr,u^?A2?2Ξ?2}jٱ2 :AHRS rotation from veh to nav: [[0.322765,-0.932666,-0.161114],[0.941962,0.333147,-0.041475],[0.092356,-0.138377,0.986064]]2H`.?eaĿ@$?GR?&<`?T֍?i2?I2 ^;2CYFłByF IbDN VDN2yVt%VJ=ٔZ9Z ?Y^ ?=^Fy^cE^<E^>`Q 5f5bM?Q 9j5b!)bmBYhyjx?Q Ij@buDIb;ib;b 5ypɮr@p DNOT Ignoring new targets: 53.61 m.h h *h "h  h gfffdddjdZd%Z_@MBɢMܭ)Q UΪ?iQ)]+̽YYi] ͻiae:BCBBBD =BBBHb;B$E^A%*:<A1zA5eAԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.820901E5 E5E5'E1"E5=;*E5:VE5'4ZE1BE5xIԡ ir,Bx?A@Y|y~ I%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074332iMb@Mb@Mb@ 9MbX9?MbX?L7A`堿YA?y=+@ @)=@Y@bDVDy'}%9=ٔQ->9"?Y"?=FycEE>Q 55hS?Q 95$)rBYC?Q E:y?Q I@DI;:iL:5yBɮ@ߢEԱDNOT Ignoring new targets: 53.61 m.hh*h"h hg f ff}Bdddjd!Zd- x_@5Bɢ5H)z)1 5?i1)=^ʽ99i=׻iAEƨ:r,?A2$l?2LW?2魽ٱ2 NAHRS rotation from veh to nav: [[0.319050,-0.933611,-0.163027],[0.943935,0.328428,-0.033498],[0.084816,-0.143200,0.986053]]2H Qk?#Ŀ 4?@?&?^T¿?i2$l?I2 ];0YVByV I \\\^AbDbVDbkyjⅽ%nU=ٔn9lYp=rFyrcEr)2<Er>tQ 5z5veX?Q 9~5v)vvBY|y~?Q I~@vDIv ;iv" ;v5yɮ@ ]DNOT Ignoring new targets: 53.61 m.hYhY*hY"hY hYgafafafadididijdqZduڏ_@额Bɢ@9:) k?i)TȽ顡iK޻i:<B CB ;!IB BB E =B B B a;B $EA9 Ii I O >} checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830154E  E E E "E 1;*E #:VE ZE BE Y9!Y!=%Fy%cE%E->)Q 5=5-$_?Q 9=5- )-{BY=/?Q E=:y=?Q I=@-DI-Q;i-.:-5yMBɮM@MբE %DNOT Ignoring new targets: 53.61 m.h!h!*h)"h) h)g)f)f1f5-}Bd1d9d9jd9Zd=`j_@m BɢmdC)i uq?iq)uŽqqiuiy}y;<} aA >A I I O >r,Ԙ?A 6c?6?6ٱ6% >AHRS rotation from veh to nav: [[0.317972,-0.934760,-0.158488],[0.945044,0.325898,-0.026119],[0.076066,-0.141474,0.987015]]6HY?YIĿ=??׾ y?`¿ ?i6c?I6];6CY^Byb IbDjVDj1y@% _=ٔi9)Y)=-Fy5cE5r;E5>Q 55e?Q 95 )BYy?Q I@DIz ;iT ;Q5yɮ@E EE&E"EsH;*E:VE4ZEa%@a%@a%@a%@EDNOT Ignoring new targets: 53.61 m.hIhI*hI"hI hIgIfIfQfQdQdYdYjdYZd]j_@颍"Bɢ M) ţ?i) ý顑i i^;<?r,?A2o?2Z?2𓐽ٱ2C :AHRS rotation from veh to nav: [[0.319300,-0.934937,-0.154726],[0.945025,0.326294,-0.021445],[0.070536,-0.139373,0.987725]]2Hio? ÿ =???p?i2o?I2];2CYFByF IIJ4=)Ja=LN=N=bDVVDVy^ =%^N=ٔ^f9`Y`=bFybcEbTEf>lQ 5~5nj?Q 9~5n)nBYy?Q I@nDInd;inL;n5y ɮ @=DNOT Ignoring new targets: 53.61 m.h9h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM_@}$Bɢ}9)y T?i)顁ii!;<B-CB-!IB-BB-@ =B-FDB-TDB-a;B-$E 9@  @@0@E E E)E"E4;*E:VEFA4ZEBE9qYy=}Fy}cE}sE}>Q 55q?Q 95)BY-|"?Q E-:y-?Q I-@DIi>!E9@A @A@En0@A@M=@M=QE EE#E"E=-;*E :VE3ZEa@a@a@a@^A0Bs,)?A@:J?:r?:jgٱ: FAHRS rotation from veh to nav: [[0.325484,-0.934039,-0.147077],[0.943860,0.330238,-0.008456],[0.056468,-0.136068,0.989089]]:H? @i¿@4?"?MQ`o?j?i:J?I:];:CY-BPC1B failed to parse battery data due to unrecognized msg size.YɂBy I p<bDVDkyl=%6=ٔQ9 ?Y ?=FycEDE>Q 55x?Q 95)BYy~?Q I@DIt;iu;5yBɮ@͢E=DNOT Ignoring new targets: 53.61 m.h9h9*h9"h9 hAgAfAfAfAdIdIdIjdQZdU ~ `@}(Bɢ`t) [?i)H顁iXiIM;B5 CB5 !IB5 BB5 > =B1 B5 RDB5 a;B5 $EBBBBD =BB =CȶU6^A <E  E E E "E CJ;*E :VE ZE BE Pi s,/?A6??6*?6X*ٱ6ib >AHRS rotation from veh to nav: [[0.335954,-0.930176,-0.148009],[0.940960,0.338393,0.009148],[0.041576,-0.142344,0.988944]]6H F?@¿X?9u"?Yu"?=}Fy}cE}ӼE}>Q 55?Q 95')BY ?Q E:y?Q I@DI ;i] ;5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff|BdddjdZd`@颍*Bɢ^x:) j?i)顑iUiz;<n;II)=9@9 @9@=4@AQ^Ae 0:D<ԁ A I I O >Os, I?AJhT?J??ER EPER%EP"ER=;*EPVER 4ZEPaV@aV@aV@aV@JN ٱJ bAHRS rotation from veh to nav: [[0.342797,-0.927271,-0.150529],[0.938787,0.343974,0.018978],[0.034180,-0.147820,0.988423]]JHd?3Dÿ ? ? o?` ?`¿@*?iJhT?IJi^;HEBDAT read: Response Not Received E*response not receivedE9QYQ=UFyUcE]4}E]>aQ 5m5eH?Q 9m5e)eBYiym?Q Im@eDIeH;ieD;e5yyɮ}{@yԁDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd&`@+BɢC) ?i)ZiJ`i0;<1ԺIIԱ .ۼ a @a  @i @m /@i BMb>BMCBM !IBMBBMM =BMGDBMODBM_a;BMo$EE EEE"EU,;*E:VEZEBEA%>9AiIyIO?s,.p?A4<ɰ4<2w~?2dC?2kݼٱ2vh :AHRS rotation from veh to nav: [[0.350088,-0.924764,-0.149163],[0.936326,0.350074,0.027230],[0.027037,-0.149198,0.988438]]2Hg? ÿb?g?@"?@?ÿH?i2w~?I2];0@Br@i@I@@D DF`廉DDHJhkAIH)HiH)LINiAN;߽L LPR~jAPiPPiTT)T TIT T)XXXXYXY^ Byb-!IiEMb@Mb@Mb@AAAA A9EGz?9Y=FycElE>)Q 555-?Q 955-ؼ)-BY=z?Q E=:y=m?Q I=@-DI-;:i-:-5yAɮE@E΢EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff|BdddjdZd@(8`@-Bɢ*7) E?i)p$ii!%(]:%M&=ٔMV9QYQ=UFyUcEU~E]>aQ 5m5e9?Q 9m5eRѼ)eBYiyme?Q Im@eDIe:ie:e 5yyɮ}@ymDNOT Ignoring new targets: 53.61 m.hihi*hi"hi higifqfqfqdydydyjdyZd`VH`@颭/Bɢм;) ?i)顱iBiJW9<kII)@ @@/@YA @AA ?AB B B !IB BB O =B B B a;B E$Eԉ ^A oME  E E %E "E %.;*E 1:VE 4ZE BE 6l+s,Tt?A6x?6g?6kbDٱ6 >AHRS rotation from veh to nav: [[0.371034,-0.916510,-0.149478],[0.928542,0.368243,0.046981],[0.011986,-0.156228,0.987648]]6H? T"ÿ?J?@ ?&?HÿК?i6x?I6];6CYeSBye!IiMb@Mb@Mb@ 9K7A`?~jt?Q?Y+?y<u<@ @)S@Y@bDVD1y>%!=ٔ݊9 ?Y ?=Fy%cE%E%>)Q 555-ϣ?Q 955-ȼ)-BY=)+?Q E=:y=d?Q I=@-DI-v:i-:-Q 5yEBɮM(@MĢE!eDNOT Ignoring new targets: 53.61 m.haha*hi"hi higififqfu}BdqdqdqjdyZd}`X`@颭0Bɢ9<) ?i)Ʈ顱i7v i|7<ټIIq@q @q@q@q@}=@}=I^AuAzAdAA؟AIIO>y l2s,,?A0:Pw?:PƗ?:gٱ:# BAHRS rotation from veh to nav: [[0.375596,-0.914501,-0.150386],[0.926738,0.372211,0.051149],[0.009199,-0.158580,0.987303]]:H` ? C?ÿ@֧?L?90?ׂ?@YLĿ?i:Pw?I:^;:CYJwByJ!IbDVVDVk1y^I>%^e=ٔ^_;Q-b>9b"?Yb"?=bFybcEf`Ef>hQ 5n5j?Q 9n5j¼Er  ErEpEp"ErG;*Er:VEpZEpav@az@az@az@)jBYxyzĜ?Q Iz@jDIj;ij;j 5yBɮ@-DNOT Ignoring new targets: 53.61 m.h)h)*h)"h) h)g1f1f1f1d9d9d9jdAZdE Uc`@m1BɢmZ!,=)q uW?iq)uWqqiu8 i*6<II@ @@5@ԑԹ^AUmi1 I5 Aa y A .A {9 Y dAI I O >8s, ?A2v?2i?2,$ٱ2r& :AHRS rotation from veh to nav: [[0.378223,-0.913046,-0.152625],[0.925684,0.374378,0.054321],[0.007542,-0.161828,0.986790]]2H@4?`75ÿ3??ϫ?@r~?ĶĿ ɓ?i2v?I2];2CYZByZ!I` ``dfAbDjVDj1yru=%rH=ٔr„;Q-r>9v ?Yv ?=vFyvcEzEz>|Q 55~?Q 95~9)~BYyi?Q I@~DI~;i~;~5yɮF@ŢE=DNOT Ignoring new targets: 53.61 m.h9h9*h9"hA hAgAfAfAfIdIdIdIjdIZdU Tp`@}2Bɢ2> =) a?i)ũ顉iJiO5<S'IIBc>BBT!IB*BBM =BBB`;B$Eq@y @y@}4@E EEE"E2;*E:VEZEBE!A 6>s,?AB v?BL?B»ٱBy( JAHRS rotation from veh to nav: [[0.379043,-0.912513,-0.153777],[0.925360,0.374828,0.056678],[0.005921,-0.163783,0.986479]]BH%@=ٔz;Q->9"?Y"?=FycEE>Q 55?Q 95)Y25?Q E:y?Q I@DIv:i:5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff`~BdddjdZd}`@%3Bɢ% =)! %k?i))-))i-Ni 3<lIII@ @@4@E  EE$E"EE;*EZ:VE4ZEa@a@a@a @q^Aԡ A I I O > Es,?Aɰp;Y~ŃBy~"IbDVDNy==%=O=ٔEQ-E>9AYA=MFyMcEMEM>QQ 5]5UD?Q 9]5U)QYayaQ Ie@U DIU;iU;U?5ymwBɮm@mEyDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd@`@4Bɢ:=) ?i)#֣ieih2<YII9@ @@/@ԩBA4=B^>BB!IBgBBL =BBBO`;B#E^A yI) Ee  Ee Ea Ea "Ee L;*Ee j:VEa ZEa BEe ۡKs,1?A6æw?6?6lHٱ6$& BAHRS rotation from veh to nav: [[0.375830,-0.914331,-0.150831],[0.926684,0.371354,0.057910],[0.003063,-0.161537,0.986862]]6H ?3BmNÿ`d? D?`d?i?>Ŀ`_?i6æw?I6^;6CY^Byb3"IIf%=)f%uG=ٔu;Q-u>9yYy=}Fy}cE <E>Q 55bƬ?Q 95x)BYqE?Q E:yy?Q I@DI ;i2 ; 5yɮn@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff~BdddjdZd`@=5Bɢ=#/=)9 =?iA)EwAAiEiIm0ԁ Rs,vK?A2`x?2X9?2Xɺٱ2`! >AHRS rotation from veh to nav: [[0.372356,-0.916499,-0.146224],[0.928089,0.367965,0.057031],[0.001536,-0.156944,0.987606]]2H?@Su¿`??33?+Y?Ŀ`x?i2`x?I2&^;2CY-By-^"I 9=<bDEVDEkyU\+>%UL=ٔUy;Q-U>9aYa=eFyecEm<Em>qD}?AzDyE EE&E"E,K;*E:VE4ZEa@a@a@a@Q 55uB̬?Q 95u)uBYy?Q I@uDIu;iu;u5yɮJ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd `@6Bɢ}=) ?i)5iki!%W/<%$ּI!I)Qi@i @i@m/@iԁ^AԩII O > Xs,Qe?A2Ey?2J?2s)9ٱ2X :AHRS rotation from veh to nav: [[0.368814,-0.918569,-0.142148],[0.929503,0.364424,0.056737],[-0.000315,-0.153052,0.988218]]2H ?d1¿}?R? ?`.4`9ÿ`{?i2Ey?I23^;0 BC)FkAF94FKFDDFkAiJ94IJQFHIJCiJt@ HH)NPJNfC NkAN94Rq8FPPRkAIR,)RaFiT)V@CIVkAV'VIF TZCXXiXXYXYb Bybl"IbDjVDjk2yrk=%rQ=ٔv};Q-v>9tYt=zFyzcEz <Ez>B`>BB!IBBBM =BBB_;B#EBUCBUCBUCBUM =BUM =CUr5Q 553Ҭ?Q 95a)BYyv?Q I@'DI2;i4;5yɮ@ԹDNOT Ignoring new targets: 53.61 m.hh*h"h hg fQfYfadiddjdZd `@E E E%E"Ea?;*E:VE 4ZEBE9 _s,-?A2z?2n0?2U[;ٱ2 :AHRS rotation from veh to nav: [[0.365346,-0.920677,-0.137393],[0.930869,0.360973,0.056410],[-0.002340,-0.148503,0.988909]]2H`a?.v@?-??i+c )ÿ$?i2z?I2^;0Y*By"I !!)-AiMb@Mb@Mb@ 9!rh?+?MbpYlG?y>@E@ @)j@Y=@bDVD2y>%<=ٔ;Q->9Y=FycE <E>Q 55׬?Q 95)BYbK?Q E:y?Q I@2DI ;i ;c5yjBɮ @EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffhBdddjdZd`@Qɢ]ŕ=)Y ]?iY)]qܖaaie iim~-es,?A2b{?2ę?2;ٱ2h >AHRS rotation from veh to nav: [[0.361123,-0.923499,-0.129385],[0.932506,0.356924,0.055116],[-0.004719,-0.140556,0.990061]]2H?L` ??'8?Ts`?i2b{?I2:^;0Y1By"I))bD-VD-0ye=%eQ=ٔe;Q-m>9iYi=mFymcEu><Eu>yQ 55}۬?Q 95}ꄼ)}BYy?Q I@}!=) Q?i)퓽  i v;#i ,<aIIi@ @@5@ԑBa>BBG"IBBBL =BBB3_;B[#E^A ፨IqIO> E / E E E "E af;*E O:VE ZE BE ˷-C-@-/@ -@)))Y-@bDVDN2y<%F=ٔ;Q->9Y=FycE#<E>Q 552ଊ?Q 95{)BY]?Q Eu:y?Q I@GDI ;i ;5yɮ6@ DNOT Ignoring new targets: 53.61 m.h h *h "h  h gfffyBdddjd!Zd%`@M8BɢU =)Q U?iQ)]YYi]v&iae+ ss,?A2}?2ǚ?2p <ٱ2Z :AHRS rotation from veh to nav: [[0.353735,-0.927678,-0.119520],[0.935295,0.349482,0.055556],[-0.009768,-0.131438,0.991276]]2H@?ט?]?q? ?i2}?I2DQ^;2CYB3ByB"IIF=)F=bDNVDN1yV%V\=ٔV^;Q-Z>9XYX=ZFyZcE^&<E^>`Q 5f5b2䬊?Q 9f5bCs)b~BYhyj?Q Ij@bQDIb:ibz:b5ylɮnn@l| DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffd!d!d!jd!Zd%@`@bEjErE.E] E]8EYEY"E]>T;*E] ;VEYZEYam@am@am@am@qɢu=)y }?iy)}2yi)iB/+<+II9@ @@/@!Y^AONA= .AII IY Om >ԉ 3ys,?A6~?6A?6p@<ٱ6w >AHRS rotation from veh to nav: [[0.350242,-0.928892,-0.120373],[0.936585,0.345697,0.057458],[-0.011759,-0.132864,0.991065]]6H@]j?`|о??`k?IͶ?i6~?I60'^;6CYR,ByV"I f;f<bDjVDjβyv %vF=ٔzS;Q-z>9 ?Y ?=FydE <E >B-b>B)B-"IB-BB)B)B)B-P^;B-"EQaQ 5m5U謊?Q 9m5Ui)UsBYqyu?Q Iu@U]DIU;iU6;UU 5y_Bɮ&@EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd`@颁ɢg$=) ?i)顉i,in*<JpIIE} E}E}#Ey"E},K;*E}j:VE}3ZEyBE}Is,t?A2?2ț?2>X<ٱ2p :AHRS rotation from veh to nav: [[0.346366,-0.929865,-0.124023],[0.938007,0.341431,0.059733],[-0.013198,-0.137024,0.990480]]2H*?t&?`?J?`?i2?I2!^;2CYB ByF"IiMMb@Mb@Mb@IIII I9MX9v?Cl? rhYM]?yMd;>MC M@M\@ M@)IIYM@bDeVDekyuf%uB=ٔ}_;Q-}>9}"?Y}"?=FydE$!<E>Q 55J?Q 95O`)dBYc?Q Eo:y?Q I@iDI ;i ;)"5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff@BdddjdZd '`@9Bɢ+=) ?i!)%dΆ!!i%/i)-N *<-[όI)I19@ @@/@!E EE&E"E*E:VE4ZEa@a@a@a@^AQAm .AIy I O >y Es,O?A2}}?2h?2wl<ٱ2B :AHRS rotation from veh to nav: [[0.341784,-0.931149,-0.127065],[0.939667,0.336527,0.061443],[-0.014452,-0.140399,0.989990]]2H ?C@?উ?hu?`˘@?i2}}?I2@^;2CYBByBp"I DDbDNVDN:yV%VX=ٔV5Y;Q-Z>9Z ?YZ ?=ZFyZ dE^@S<E^>`Q 5f5bq?Q 9f5bW)bVBYdyf!?Q Ij@bsDIb-:ib:b#5ylɮn@lDNOT Ignoring new targets: 53.61 m.hh*h "h  h g f ffdddjdZd< a@ mk>mC(hA-v9-(hAY-)_AQaɢe=)i m"?ii)m%iiim2iq})<}zIyIy)@) @)@-/@)ԁB!A%<B)B)B-"IB--BB-K =B)B)B-v];B-"E^AmrԱE  E 8E $E "E *E  ;VE 4ZE BE a 2E a A% ؟AII Iq JE j os,=*4?A6?6>?6H]<ٱ6 >AHRS rotation from veh to nav: [[0.337367,-0.932762,-0.127035],[0.941234,0.331916,0.062526],[-0.016157,-0.140664,0.989926]]6H l?@0B?>??y J¿@x?i6?I6^;6CYFByJS"IiMb@Mb@Mb@ 9Q?/$?Q롿Y\O?y&1>\@E@ S@)@Y@))bD5VD502yE%EA=ٔE;Q-E>9M"?YM"?=MFyMdEUe5<EU>YQ 5e5]?Q 9e5]N)]FBYe9T?Q Ee:ye?Q Im@]DI]:i]:]%5yuUBɮu@uEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff~BdddjdZda@aɢeX=)a e?ia)mriiimMd5iqg)<,];IIԹ-9@) @)@-0@)^Aq9A>A> AA IQ Ia Om >9 Ws,N?A2?2䌝?2ڽ<ٱ2/ :AHRS rotation from veh to nav: [[0.333372,-0.934284,-0.126398],[0.942625,0.327755,0.063513],[-0.017912,-0.140320,0.989944]]2HU?-)??hB?{W?i2?I2];2CYBByB7"IbDNVDN2ynQ%rQ=ٔr;Q-r>9tYt=vFyvdEv1<Ev>xQ 5~5zO?Q 95zF)z7BYy?Q I@zDIzw;iz;z_'5y ɮ "@=DNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hAgAfIfIfIdIdQdQjdQZdU@W%a@Ee" Ee)EaEa"EeZ;*Ee0;VEaZEaam@am@am@am@额8Bɢt=) ?i)6{顡i8i#G)<x;IIi@q @q@u1@q9^A_;iIi A I I O >7s,:g?AVs-?V?VUq<ٱVBfa>BdBf"IBfBBfL =BdBdBf\;Bf;"E zAHRS rotation from veh to nav: [[0.329338,-0.935792,-0.125818],[0.944004,0.323530,0.064688],[-0.019828,-0.140077,0.989942]]VH?H5?ิ?_?`M ?iVs-?IV^;VCYMăByM"IIQ)Up9yYy=}Fy}dE}%<E>Q 555?Q 95<)'BYy?Q I@DI;i;9)5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd2a@ɢNz=) ?i)luiH:i!%@)<%%is,˻?A2F?2l?2a߱<ٱ2H :AHRS rotation from veh to nav: [[0.325755,-0.937052,-0.125768],[0.945205,0.319720,0.066082],[-0.021711,-0.140403,0.989856]]2H@-?S)??Lv??y;@?i2F?I2%^;0YBByB!IPiMb@Mb@Mb@ 9sh|??)\(?ˡEYI?yG='@/@ )Y@ %p;%4<bD- VD-:2y=[%=N=ٔEm;Q-E>9E ?YE ?=MFyMdEM<EM>QQ 55U?Q 95U4)UBY5L?Q E:y??Q I@UDIUYɓs,O?A:"?:?:<ٱ:; FAHRS rotation from veh to nav: [[0.322233,-0.938363,-0.125060],[0.946377,0.316082,0.066798],[-0.023151,-0.139878,0.989898]]:Hu?@ H?:??`>?i:"?I:X^;8YNByN!IbDTVDTy^6%bS=ٔbgs;Q-b>9`Yd=fFyfdEf<Ef>hQ 5n5j?Q 9r5j,)j BYpyr?Q Ir@jDIj;ij;j,5yvLBɮv@zE|DNOT Ignoring new targets: 53.61 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5 Ka@YɢeFX=)a e?ia)e"jiiimp>iqu$|)E C E HE %E "E x;*E ;VE 4ZE BE x=ٔI;Q->9"?Y"?=Fy$dE>;E>Q 553 ?Q 959%)BY2?Q E:Թy?Q I@DI4;i,3;.5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}BdddjdZdYa@7Bɢ"N=) ?i).d i ?i15Խ)<59 饳s,M?A2u?2D`?2=<ٱ2E :AHRS rotation from veh to nav: [[0.319827,-0.939568,-0.122161],[0.947089,0.313347,0.069535],[-0.027054,-0.137937,0.990072]]2H x?EN? ?ͱ? 곛?i2u?I2^;2CYBNByB!IHJ@AbDNVDNNyV2%VZ=ٔVs;Q-Z>9XYX=ZFyZ'dE^ܹ:E^>`Q 5f5b?Q 9f5b)bBYdyj?Q Ij@bDIbp:ib:b+05EE5 EE]EE&EA"EEk;*EE;VEE4ZEAaM@aM@aM@aM@ynMBɮ}@yDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdfa@iɢm4`=)q u?i)F;_顁i]Ai)<%.ԡ Pҹs,1?Aɰ;B2d>B0B2!IB2BB0B0B2PDB2G\;B2!EJ^?JI?JE<ٱJF RAHRS rotation from veh to nav: [[0.320461,-0.939616,-0.120115],[0.946815,0.313831,0.071069],[-0.029082,-0.136502,0.990213]]JH@m?T࿾OL??`1?ǝxү?iJ^?IJ];JCY^9By^g!IbDfVDfk1yný%nG=ٔrС;Q-r>9pYp=rFyv,dEvjۺEv>xQ 5~5zV?Q 9~5z6)zBYy?Q I@zDIzY;ize;z15y ɮ 4@ DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdvsa@]6Bɢ]9W=)a e?ia)mkSZiiimUByi>3*< 1s,?A6M?6s?6=ٱ6$ BAHRS rotation from veh to nav: [[0.322411,-0.939200,-0.118127],[0.946083,0.315594,0.072989],[-0.031271,-0.135290,0.990312]]6Hc? =OF?2?`i?  1Q?i6M?I6];6CYJByJ=!IIN<)N;iMb@Mb@Mb@ 9S㥛?Mb?~jtY$&?y=ļ@@ @)Y@bD5VD5yE$%ED=ٔM;;Q-M>9IYI=MFyU0dEUգEU>YQ 5e5]?Q 9e5]b)]BYmu&?Q Em:ym?Q Im@]DI];i]:]35yqɮ}Y@yDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff|Bdddjd1Zd=ƀa@55Bɢ5+!==)9 =z?i9)=XU9AiEiCiAM_*Q Ds,?A2W?2}?2=ٱ2B :AHRS rotation from veh to nav: [[0.325274,-0.937951,-0.120185],[0.945031,0.317950,0.076318],[-0.033370,-0.138403,0.989814]]2HI? 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E} ,E} $Ey "E} Y;*E} ;VE} 4ZEy BE} Ӭ9Y=Fy8dEE>Q 55k+?Q 95r)BY ?Q E:yp?Q I@DIi:iC:Y75yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff|BdddjdZd Sa@4BɢX3=)! %ΰ?i!)% s,P?A2ƌ?2w?2=ٱ2D :AHRS rotation from veh to nav: [[0.333778,-0.933701,-0.129594],[0.941857,0.324686,0.086512],[-0.038699,-0.150935,0.987786]]2H\? `#?`?%?KУQÿ@?i2ƌ?I2S];2CYFByF!I HHbDNVDNyV/%VY=ٔZc9XYX=ZFyZ`Q 5f5bK2?Q 9f5b)bBYhyj?Q Ij@bDIb:ib:b85lyrFBɮr@rEDNOT Ignoring new targets: 53.61 m.hh*h"hE%% E%)E%#E!"E%O];*E%0;VE%3ZE!a-@a-@a-@a-@ h1g1f1f1f9dddjdZd`Pa@M3BɢM~8=)I M?iQ)uGqqiuEiy}F*<}I;II)@) @)@-3@)hAu9hAY_AA^A<AA II IY a Om >B] i>BY B] 4!IB] BB] I =BY BY B] [;B] !E-s,%j?AB׀?Bœ?B,=ٱBS ! JAHRS rotation from veh to nav: [[0.338938,-0.931322,-0.133267],[0.939870,0.328861,0.092164],[-0.042008,-0.156492,0.986786]]BH(?d@k?@ ??@Ŀ@?iB׀?IB^;BCYVۂByV I\^BAbDbVDbyj%jF=ٔj9lYl=nFyn@dEr[Er>tQ 5z5v9?Q 9z5vM)vBYxyz?Q I~@vDIv;iv;v:5y ɮ @ !UDNOT Ignoring new targets: 53.61 m.hQhQ*hQ"hY hYgYfafafidididqjdqZdu̳a@-2Bɢ-w7=)1 5:?iQ)UmCQYi]?EiYe3)s,J?Aɰ2+?2?2^8=ٱ2b$ :AHRS rotation from veh to nav: [[0.343811,-0.929311,-0.134814],[0.937963,0.332989,0.096661],[-0.044937,-0.159683,0.986145]]2H ? A ?@O?ƾ? pĿ?i2+?I21,^;0YDyF IiUMb@Mb@Mb@QQQQ Q9Un?QMb?YU?yUU9 ?Y ?=FyDdETHE>Q 55/B?Q 953)BY9?Q E:y?Q I@DILy;irx;<5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff|Bdddjd Zd  Ea@额0Bɢ@+=)2 ê?i)>顡iEi=~)<gIIA@A @A@A@AE=* E=2E=%E9"E=a;*E=;VE= 4ZE9aM@aM@aM@aM@^A q! A I I O 0s,%?A2?2yo?2zB=ٱ2& :AHRS rotation from veh to nav: [[0.348563,-0.927425,-0.135602],[0.936083,0.337126,0.100474],[-0.047467,-0.161956,0.985656]]2H@N?@vd[c? z??M`Ŀ}?i2?I2d^;2CYBނByF IIJ%=)J<bDNVDN2yV,b<%VZ=ٔZ;Q-Z>9XYX=ZFy^HdE^aE^>`Q 5f5beI?Q 9f5b)bBYhyjA?Q Ij@bDIbp:ib$:bJ>5yn@Bɮr"@rEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZda@ /Bɢ v^=) ?i)5l:11i=bEi9E(QEM  EM -EM 'EI "EM V;*EM K;VEM '4ZEI BEM 9"?Y"?=FyMdEE>Q 55S?Q 95)BY?Q E:yE?Q I@DI ;i? ;w@5yBBɮ@EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff|BdddjdZda@%.Bɢ%-=)! %?i))-qo5))i-=Ei15IQ(<5:I1I9ԁ9@ @@@@=@=ԡ^A yb]A zA eA A I I O >Bs,?A> }?>p?>OT=ٱ>* FAHRS rotation from veh to nav: [[0.355757,-0.924532,-0.136667],[0.933141,0.343285,0.106785],[-0.051811,-0.165519,0.984845]]>H ?ÕN~K?`?FV?@솪/ſك?i> }?I>P;^;>CLNr@iLILLP R?kAPPPTVdkAIT)TiT)TIXZ/ݽX XXZjAXi\\i\\)` `I` `)``ddYdYjByj!IbDzVDz0E< ELE(E"E,r;*E;VEc44ZEa @a @a @a @y4=%}=ٔ\))Y9y=M?Q I=@- DI-Y;i-;-A5yAɮM@IuDNOT Ignoring new targets: 53.61 m.hqhq*hq"hq hqgyfyfyfydddjdZd`wa@颵-Bɢ5ŀ=)Q U?iY)]1YYi]Eiae'B B IB BB B B B [;B !EB˺CB˺CBBI =BI =Cˀt59 ^AU HA.AIIO>s,C?A2/|?2?2^=ٱ2, :AHRS rotation from veh to nav: [[0.358828,-0.923243,-0.137351],[0.931830,0.345782,0.110126],[-0.054179,-0.167504,0.984381]]2H@ ?@4 ?K!?21?`pſ ?i2/|?I2[^;2CXYrByr!I tt||bDVD1yg=%*=ٔ;Q->9 ?Y ?=FyUdE%E%>)Q 555-d?Q 955-kٻ)-BY9y=?Q IE@-DI-d;i-\};E) E(E%E"E`;*E;VE 4ZEBE9 }t,p ?A6{?6k?6;g=ٱ6- >AHRS rotation from veh to nav: [[0.361274,-0.922327,-0.137087],[0.930751,0.347798,0.112869],[-0.056423,-0.168370,0.984108]]6H?`?RB??@㬿*ſ@}?i6{?I6V^;6CY~By~3!IiMb@Mb@Mb@ 9V-?V-?Y?y<Q@/@ j@)5@Y@AAbDVDܲy=%A=ٔ1;Q->9Y=FyZdEλE>Q 55l?Q 95ӻ)BY?Q E:y?Q I@DI.';iv&;E5yɮ,@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}BdddjdZd b@5)Bɢ5?5=)1 =o?i9)=, '99i=DiAE%A > IIO>h t,!\)?AB[{?B?Bk=ٱB9<+ ZAHRS rotation from veh to nav: [[0.361783,-0.922499,-0.134565],[0.930484,0.348401,0.113209],[-0.057553,-0.166168,0.984417]]BHs'?@m9?1L?G?w@Dſ W?iB[{?IB^;BCYfByf:!IbDnVDnkBpApBvi>BtBv IBvĂBBvG =BtBtBv[;Bv!Ey-<%-/=ٔ-;Q-5>91Y1=5Fy5^dE=E=>aQ 5m5eHu?Q 9m5e˻)eBYiym?Q Iu@e%DIe1:ie:eG5y}?Bɮ}@}EDNOT Ignoring new targets: 53.61 m.hh*h"h hAgyfyffdddjdZdLb@'Bɢ8]=) O?i )  E!  i ӻDie $ t,SC?Ai`IbAY 6By c!II=)iMb@Mb@Mb@ 9(\?+?Zd;O?Y.?y=j<~@r@ )K@Y@bDVD1y >%C=ٔQ->9Y=FybdEE>Q 55|?Q 95Ļ)BYw.?Q E:y?Q I@/DI:i:I5yɮ@MDNOT Ignoring new targets: 53.61 m.hQhQ*hQ"hQ hYgYfYfYfe~BdadidijdqZdu`!b@Ա颅%Bɢ=) ?i)J顑ii>Ei#<IIa@a @a@ek2@abEȻ 4jE4rEa0E EE)E"EP;*E:VEFA4ZEa@a@a@a@ ^A R5I I O >9 +t,\?A2{?2Ǚ?2 q=ٱ2nu :AHRS rotation from veh to nav: [[0.360424,-0.924796,-0.121850],[0.930933,0.348390,0.109493],[-0.058808,-0.152898,0.986491]]2H1?`13? L??@(ÿU?i2{?I2.K^;2CYB?ByFn!I J49XYX=ZFyZfdE^w~;E^>`Q 5f5b򂭊?Q 9f5b)bBYhyj?Q Ij@b7DIb6:ib :bNK5ylɮn@lDNOT Ignoring new targets: 53.61 m.hh *h "h  h g f ffdddjdZd`,b@M$BɢM|=)I M?iI)UQQiUCFiB"<:II9@ @@P3@9Bd>BB IB݂BBI =BBODB[;B!E^A7ƙAeAzAdAII1OE>i E  E E $E "E mR;*E :VE 4ZE BE 9Y=FykdE%;E>Q 55"?Q 95õ)BY:?Q E:y ?Q I@BDI:ij:_M5yɮ@=DNOT Ignoring new targets: 53.61 m.h9h9*hA"hA hAgAfAfIfM]~BdIdIdQjdQZdU ;b@ԡ%"Bɢ%ƒ=)! %?i!)-h))i-iFi15٫!<57I1I9@ @@S4@ ^A I I O >#t,J?A22|?2*?2Ăs=ٱ2 :AHRS rotation from veh to nav: [[0.357593,-0.927528,-0.108712],[0.931986,0.347036,0.104733],[-0.059416,-0.138770,0.988541]]2H? PԻ?@5?Ϻ?k9 ?i22|?I2T^;2ClYM]ByM!IE] E]JE]#EY"E]V;*E];VE]3ZEYae@ae@ae@ae@ iiuAqbD}VD}:yQ=%N=ٔi9Q->9Y=FyodE$;E>Q 55!?Q 95c)BYyD?Q I@KDIL;i;O5y>Bɮ@vE DNOT Ignoring new targets: 53.61 m.h h *h "h hgfffdddjd!Zd%Hb@M BɢUVק=)Q UE?iQ)U\ YYi]GiYeF I{9YeA1^Ae a A} ؟AI I O >*t,~o?A2z}?2ck?2r=ٱ2 :AHRS rotation from veh to nav: [[0.355761,-0.928490,-0.106491],[0.932709,0.345536,0.103242],[-0.059063,-0.136055,0.988939]]2H`?`0@C?D?@n?}=@jc?i2z}?I2z^;2C @)@@BKF@DFkAiFQ8IDDIJCiJs@ HH)JJL NkALLLBVc>BVCBV(!IBVBBTBTBTBV[;BV!E\`Ib 0)`i`)`IbkAf,fIF ddf vAdihhYhYnaByn!Iv@AtbDzVDz9y<%]=ٔSzQ->9"?Y"?=FysdE9;E>Q 55?Q 95x)BYy?Q I@TDI;iR;P5yɮ@MDNOT Ignoring new targets: 53.61 m.hIhI*hI"hI hIgIfQfqfqdydydyjdyZd}Tb@Bɢ3=) ?i).iHi  .! < _I I1i9@ @@0@Em Em"EiEi"EmW;*Em;VEiZEiBEmBA .A I I O >1t,J?A4<ɰ4ee@e@ e@)e@aYe@bD}VD}y1<%;=ٔQ->9 ?Y ?=FywdEE>Q 55?Q 95Y)BYIP?Q E:y?Q I@_DI2;i7;R5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff~BdddjdZd`cb@Bɢ=) "?i) 9  i HJiZG< eII@ @@/@Eu EuEu)Eq"Eu,K;*Eu:VEuFA4ZEqa@a@a@a@^A jbA I I O >07t,%?A>V~?>?>j=ٱ>g FAHRS rotation from veh to nav: [[0.350926,-0.929977,-0.109520],[0.934660,0.340734,0.101547],[-0.057119,-0.138000,0.988784]]>Hu?`^ `? ??>@?i>V~?I>9^;9iYi=mFym{dEm j<Eu>qQ 55u?Q 95u)uuBYy?Q I@uhDIuR:iu:u;T5yɮ@EDNOT Ignoring new targets: 53.61 m.hAhA*hI"hI hIgIfIfQfQdQdQdYjdYZd]ynb@颍Bɢ=)Ț ?i)@项iKi<E  E E &E "E 1A;*E :VE 4ZE BE t~@&@ @)Y3@ p<bD%VD%02y%%%=ٔ-gQ-->9)Y)=5Fy5dE5,;E5>aQ 5m5eW?Q 9m5e6)e`BYmlV?Q Eu}:yu?Q Iu@ewDIew;ie;eV5y=Bɮ@mEԙDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff~BdddjdZd`b@Bɢ]=)   ?i )?ivLi!%i<%I!I) 9@  @ @ /@ ^A A fAzA gAIIIaOu>SEt,X?AE E.E'E "E,K;*E;VE'4ZE a@a@a@a@PPTvB?v-?v?J=ٱv ~AHRS rotation from veh to nav: [[0.343085,-0.930664,-0.127112],[0.938001,0.332332,0.098533],[-0.049458,-0.153036,0.986982]]vH?3E?D?@s9?R@ÿ[?ivB?Ivk^;vCY OBy !IbD%VD%y5<%5m=ٔ5Q-5?99Y9==Fy=dE={<EE?AQ 5U5Ev?Q 9U5E჻)ESBYYy]Ҳ?Q I]@EDIE :iE:E X5yaɮe@aDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd`ԉb@BɢF=) ?i)( iřNie1 B} d>By B} m!IB} >BBy By B} PDB} t[;B} !EB9B9B9B9B9C=W25uKt,0?ABx?B?B&;=ٱB%" NAHRS rotation from veh to nav: [[0.339745,-0.930991,-0.133527],[0.939409,0.329018,0.096216],[-0.045643,-0.158125,0.986364]]BH b?@ j@??`?^@t=Ŀ@J?iBx?IB^;@YVHByVx!I XXbD~VD~y 6% N=ٔ Q- >9Y=FydE<E>!Q 5-5%4?Q 9-5%G{)%EBY1y5A?Q I5@%DI%=:i%V:%Y5y=?BɮEz@EnEmDNOT Ignoring new targets: 53.61 m.hihi*hi"hi higifqfqfqdqdydyjdyZdb@颭Bɢr=) k?i)v׼顱iPiD<wʃ9IIE5 E5E5$E1"E5<;*E5:VE54ZE1BE5Rt,ɑJ?A21?24?2,=ٱ2 B$ :AHRS rotation from veh to nav: [[0.336366,-0.931801,-0.136396],[0.940788,0.326007,0.092933],[-0.042129,-0.159579,0.986286]]2H? Qku`?L?{ʷ?mĿ ?i21?I2 w^;0YB7ByFd!I)iUMb@Mb@Mb@QQQQ Q9U> ףp=?K7A`? rhYUQ?yU+>UC U@U@ U@)U@QYU@mAAibDm VDmf2y}%}>=ٔKQ->9Y=FydEA <E>Q 55?Q 95r)0BYgV?Q E}:yɵ?Q I@DI ;iz ;[5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfff~BdddjdZd?b@BɢmX=)! %?i!)%̼!)i- Ri)5 <5L;I1I1U֣Y@ @@4@^AqD@AzDE EE E"E9;*E:VE3ZEa@a@a@a@II!O5O>ԁԱ 3Xt,8Kd?A;ɰ;2?2᫝?2=ٱ2% :AHRS rotation from veh to nav: [[0.332281,-0.932828,-0.139362],[0.942376,0.322252,0.089895],[-0.038947,-0.161201,0.986153]]2HD?@'?ǟ?@X?>Ŀ@?i2?I2^;2CYFByF@!IbDNVDNyVk%VZ=ٔV3 Q-Z>9XYX=ZFyZdE^?<E^>`Q 5f5b?Q 9f5bi)bBYdyfR?Q Ij@bDIb:ib[:bI]5yn@Bɮn`@ndEDNOT Ignoring new targets: 53.61 m.h h *h "h  h g f ffdddjdZd>b@ԙ% Bɢ%I=)) -^?i))Uy¼QQi]8CUiY]<BCBBBBBODB\[;Bz!E}𕭼9@ @@4@@=@=E  E E &E "E U,;*E :VE 4ZE BE `t,Ղ?A24M?2Y8?2=ٱ2+"' :AHRS rotation from veh to nav: [[0.328271,-0.933892,-0.141720],[0.943887,0.318555,0.087179],[-0.036270,-0.162386,0.986061]]2He?p#¿@R4?5c?@VQ? Ŀ΍?i24M?I2 ^;2CYBByB(!IIF=)F=i]Mb@Mb@Mb@YYYY Y9]n?'1Z?:vY]V?y]">]T]A@]@ Y)]@YY]z@bDuVDuy%"=ٔQ->9Y=FydE <E>Q 557?Q 95^)BYBZ?Q Ey:yʹ?Q I@DIU:i:~_5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgff f h~Bdddjd!Zd% b@% Bɢ%ݒ=)) -/?i))-~z))i5Wi15<=x$AHRS rotation from veh to nav: [[0.324214,-0.935538,-0.140195],[0.945377,0.315118,0.083448],[-0.033890,-0.159592,0.986601]]6H`?`@?*?\? ZmĿ9\Y\=^Fy^dEb<Eb>dQ 5j5fhí?Q 9j5fXT)fBYhyja?Q Ij@fDIf:if:fa5ypɮr@p DNOT Ignoring new targets: 53.61 m.h h *h "h hgfffdddjd!Zd%b@MBɢU֯=)Q U?iQ)U6QYi][YiaeQ BCB!IBBBG =BBPDB[;B`!EA؟AI I!O-N>ԡ E  E E &E "E f;*E :VE 4ZE BE W_Ŀ{?iml?Imͥ^;mCYĂBy Ii}Mb@Mb@Mb@yyyy y9}v/?Pn?A`"Y}xI?y}>}Y}X@}۹@ }-@)}@yY}f@bDVD1yA%/=ٔQ->9"?Y"?=FydE<E>Q 55ȭ?Q 95J)BYL?Q E:y?Q I@DI ;i` ;c5yCBɮ@[EDNOT Ignoring new targets: 53.61 m.hh*h"h h g f f f!~BdddjdZd@b@UBɢU@=)Y ]E?iY)]YYi]4=\iamPAe >9 A .AI I O ><[ut,`w?A2?2џ?2<ٱ2^! >AHRS rotation from veh to nav: [[0.316520,-0.938247,-0.139671],[0.948130,0.308358,0.077225],[-0.029388,-0.156869,0.987182]]2HA? W? %?ų?`LĿ?i2?I2K^;2CEb EbEb%E`"Eb=;*Eb:VEb 4ZE`af@af@af@af@YjByj IbDv VDv2Aym99%ma=ٔu_Q-u>9u ?Yu ?=}Fy}dE(<E>Q 55̭?Q 95MC)BYy?Q I@DI&;ia;0e5yɮ @DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd"b@ Bɢ ^=) ?i)=iۍ^i%<%_ԑ B m>B CB IB BB B B B Z;B R!E{t,nQ?A4<ɰ6W?6B?6F<ٱ6 >AHRS rotation from veh to nav: [[0.313263,-0.939686,-0.137320],[0.949261,0.305615,0.074181],[-0.027740,-0.153591,0.987745]]6H@ ? X`?2??gܨÿ?i6W?I6^;6CYFByF IbDPVDPyV%ZW=ٔZNQ-Z>9Z"?Y^"?=^Fy^dE^<Eb>`Q 5f5b:ѭ?Q 9j5b;)bBYhyj?Q Ij@bDIb:ib:bf5yrEBɮr@r\E DNOT Ignoring new targets: 53.61 m.h h *h "h  h gfffdddjdZd%`Eb@MBɢM)=)Q U?iQ)USQQiU;`iYeI qmt,. ?A6ة?6?6B<ٱ6 BAHRS rotation from veh to nav: [[0.310894,-0.940942,-0.134064],[0.950073,0.303722,0.071513],[-0.026572,-0.149604,0.988389]]6H?2)`f?0p?@N?`56&ÿ?i6ة?I6^;6CYJrByJr IiMb@Mb@Mb@ 9V-?Zd;O?~jtY9IYQ=UFyUdEU;EU>YQ 5e5]֭?Q 9m5]i3)]BYm>?Q Em:ym?Q Im@]DI]:i]:]h5yqɮ}*@yDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff~}BdddjdZdc@Bɢ$=) ,?i)"ici1< ԙ t, $?A2݄?2Ƞ?2 Z<ٱ2d :AHRS rotation from veh to nav: [[0.309396,-0.941405,-0.134279],[0.950587,0.302371,0.070402],[-0.025675,-0.149426,0.988440]]2H#?` 04k?` Z??J`b ÿK?i2݄?I2e^;2CYBRByBJ IbDJVDJyV'%VU=ٔVQ-Z>9XYX=ZFyZdE^8;E^>Q 5%5}ۭ?Q 9%5+)BY!y%J?Q I-@DI-;iK;lj5y=IBɮEo@EREDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdc@Bɢ)=) ?i)%/ۀ!)i-[Dei15<=BCBl IBnBB? =BFDBSDBZ;BU!E^AM7<E  E E 'E "E ;*E :VE '4ZE BE pÿC?i܄?I^;CY9By+ IiMb@Mb@Mb@ 9q= ףp??Y+?y<̼@ @)@Y@bDVDy-н%)=ٔQ->9!Y!=%Fy%dE5E5>9Q 5E5=⭊?Q 9M5=#)=BYM+?Q EM:yMɤ?Q IM@=DI= ;i= ;=l5yYɮ]AYDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff|BdddjdZdc@Bɢ8rs=) ?i)|piDXgi<Y4t,W?A:R?:v?:<ٱ:H BAHRS rotation from veh to nav: [[0.310289,-0.942006,-0.127846],[0.950329,0.303920,0.067131],[-0.024382,-0.142325,0.989520]]:H ?$@]@i?ls?w/?7¿$?i:R?I:ҍ^;:CYJ&ByJ IEV EVEV#ET"EV%.;*EV1:VEV3ZETaZ@aZ@aZ@aZ@bDbVDbkyjQ߽%jy=ٔj*Q-n?9pYp=rFyrdEv3Ev?xQ 5~5z*譊?Q 9~5zK)zzBY|y~?Q I@zDIz;iz;zm5y ɮ A 5DNOT Ignoring new targets: 53.61 m.h1h1*h1"h1 hAgAfAfIfIdIdIdIjdQZdU1*c@}Bɢϗ=) ?i)hd顉i`ii@ <2AE>IIO>ԁ B} p>B} CB} ! IB} 1BB} @ =B} GDB} QDB} Z;B} L!EB=˻CB=˻CB=˔CB=G =B=D =C=Lj63ӛt,q?A02?2r?2 <ٱ2 >AHRS rotation from veh to nav: [[0.311929,-0.942379,-0.120923],[0.949809,0.306115,0.064474],[-0.023742,-0.134965,0.990566]]2H`?'d?b?@\?@OF ?i2?I2 ^;2CYrByv I ttzAzAbDVDfy8%G=ٔ˺Q->9Y=FydE%1E%>)Q 555-?Q 955-Z)-pBY1y5?Q I5@-DI-I:i-:-o5yAɮEAAmDNOT Ignoring new targets: 53.61 m.hihi*hi"hq hqgqfqfqfydydydjdZd@P7c@颭Bɢ}=) ?i)dU项inki <" t,:v?A;ɰ2R/?2v?2a<ٱ2 :AHRS rotation from veh to nav: [[0.314471,-0.941374,-0.122160],[0.948982,0.308610,0.064751],[-0.023255,-0.136290,0.990396]]2HJ ?`@E^?`C??`?ЗqR?i2R/?I2`^;2CYRByRI\imMb@Mb@Mb@iiii i9m rh?{GzYmC+?ymmףm@i i)mZ@iYm@bDVD1y%B=ٔQ->9Y=FydE!лE>Q 55>?Q 95V)iBYW+?Q E:y?Q I@DIG;i~ ;q5yKBɮ)ASEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffJ|BdddjdZd `Dc@5Bɢ=u=)9 =?i9)=]G9AiEvmiAM 9|Y|=~Fy~dE#E>!Q 5-57?Q 9-5 )bBY1y5?Q I5@DI;i#;>s5yQBɮLAJEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdQc@颍Bɢ<~=) ψ?i) 8顑ioiB!<QBBIBBBB =BBB&[;Bn!Eq^A፨<AzAgAE  E E %E "E ;*E :VE 4ZE BE bft,DL?Ar$?rH?rV<ٱrb %AHRS rotation from veh to nav: [[0.322773,-0.938095,-0.125682],[0.946182,0.316504,0.067560],[-0.023598,-0.140725,0.989767]]rHP?ZG?@A?K?0*D¿,?ir$?Ir_;rCYeBqyeIIMp<)M9 Y = Fy dE *E>Q 55?Q 95)]BY!?Q E :y ?Q I @!DI Ƕt,To?A8Vm[?VF?V]<ٱVp nAHRS rotation from veh to nav: [[0.327984,-0.936002,-0.127776],[0.944380,0.321439,0.069448],[-0.023931,-0.143447,0.989369]]VH?@Z\8?t?@QDZ?@R`y\¿`?iVm[?IVhM_;VCYvByvIbDVDNy ػ%Q=ٔi^:Q->9Y=FydE%fE%>!Q 5-5% ?Q 955%)%ZBY1y5I?Q I5@%)DI%;i%;%w5yAɮEpAAmDNOT Ignoring new targets: 53.61 m.hihi*hi"hi hqgqfqfqfydydydyjdyZdlc@颭Bɢ=) ?i)<顱iAsix!<|B% z>B% CB% IB% BB% C =B! B% RDB% N[;B% !E t,6?A2?2؀?2;<ٱ2 :AHRS rotation from veh to nav: [[0.333671,-0.933748,-0.129534],[0.942368,0.326805,0.071694],[-0.024611,-0.145991,0.988980]]2HZ?B'?`?Z?3ׯ¿?i2?I2<_;0YFByFIhbDNVDNyr`2<%rN=ٔv:Q-v>9tYt=vFyzdEzxEz>|Q 55~,?Q 95~c)~VBY y ?Q I @~1DI~:i~A:~x5ySBɮqAEDNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hAgAfIfIfIdIdQdQjdQZdUoyc@颅Bɢ=) 6?i)^ 顉i(vi9S!<ի;IIE% E%E!E!"E% ;*E%:VE!ZE!BE%vA]>A I I O >1 t,?A2р?23?2h<ٱ2 :AHRS rotation from veh to nav: [[0.339315,-0.931286,-0.132560],[0.940335,0.332034,0.074315],[-0.025194,-0.149867,0.988385]]2HU? ``:? @?`H?`k̙.ÿڠ?i2р?I2^;2C!YeByeI iiiMb@Mb@Mb@ 9+?l{Gz?Yv?y#<+@@ )@Yf@bDVDky%[=%-+=ٔ-:Q-->91Y1=5Fy5dE=ME=>9Q 5E5=?Q 9M5=6)9YM?Q EM:yM}?Q IU@=:DI= ;i=~ ;=z5y][Bɮ]eA]AEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff|BdddjdZdc@Bɢ݁=) ?i){i͓xi <pIIIE EE'E"Em+;*Eخ:VE'4ZEa%@a%@a%@a%@@ @@F0@^A}r; j>C9Iay9YZhAA.AII O% >Ա lt,)?A4<ɰ`br@i`I`dd fCkAdddhjhkAIh)hih)lIniAn;߽nWF ppr~jApittitt)t tIx x)xxxxY|Y="By= IbDUVDUye=%el=ٔmQ-m?9u ?Yu ?=uFyudEԁUE]>aQ 5m5e&?Q 9u5Bu{>BuCBuIBuBBu> =BuFDBqBuy[;Bu!Ee)aYyQ I@eBDIe;ie;e{|5yɮADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd%`+c@颥Bɢ=) ?i)qٻi){i} <T:IIԩ@ @@4@E EE"E"EI;*E:VE(3ZEBEaj*t,7D?Ar~?r\?r<ٱr%$  AHRS rotation from veh to nav: [[0.349375,-0.926406,-0.140389],[0.936609,0.341060,0.080260],[-0.026472,-0.159530,0.986838]]rH(\?@`A`??@鋴?` {kĿ`-?ir~?Ir^;rCQY/By Ii=Mb@Mb@Mb@9999 99=!rh?MbP~jt?Y=l'?y==D<=@9 =@)=p@9Y=@bDUVDU02ye3f=%e4=ٔe8;Q-e>9m"?Ym"?=mFymdEuμEu>yQ 55}.?Q 95})}UBYs'?Q E:y?Q I@}KDI}q ;i} ;}V~5yɮ^AUDNOT Ignoring new targets: 53.61 m.hQhQ*hY"hY hYgYfYfafe|BdadadijdiZdmc@颽Bɢ=) ?i)Fi}i: <IIy9@ @@4@@=@=ԩ^A 9E  E E E "E ;*E :VE ZE a @a @a @a @ A I I) O5 >Dt,|^?A64"~?6>?6V<ٱ6e' JAHRS rotation from veh to nav: [[0.352117,-0.924998,-0.142799],[0.935555,0.343383,0.082612],[-0.027381,-0.162686,0.986298]]6H`?=G¿? ?@&?@ Ŀ?i64"~?I6B^;6CY59YYa=eFyedEeEe>iQ 5u5m5?Q 9}5mܺ)mTBYyy},?Q I}@mRDImA:im,:m5y]BɮABEDNOT Ignoring new targets: 53.61 m.hh*h"h hgffIfIdIdIdQjdQZdU c@颥Bɢ=)}, J?i)iTino<h1II 9@ @@/@^Au[RӻA.AIIO>1B=|>B=CB=IB=BB=C =B=GDB9B=[;B=!EQ it,Bx?A2}?2š?2.<ٱ2, :AHRS rotation from veh to nav: [[0.353739,-0.923760,-0.146754],[0.934897,0.344342,0.085997],[-0.028907,-0.167620,0.985428]]2H@?p¿? ??tſ?i2}?I2^;2CYjLByjC IbDvVDv1y~Ǣ=%~Q=ٔw;Q->9 ?Y  ?= Fy dE E >Q 55{=?Q 95ֺ)RBY!y%?Q I%@[DI@;i;5y)ɮ-A1UDNOT Ignoring new targets: 53.61 m.hYhY*hY"hY hYgYfafafadadidijdiZdmc@E EE%E"E;*EB:VE 4ZEBEbA>AE ؟AII IY Om > Qt,?A2}?2?2<ٱ20 :AHRS rotation from veh to nav: [[0.354127,-0.923104,-0.149909],[0.934692,0.344091,0.089172],[-0.030733,-0.171697,0.984670]]2H ?90ÿ? ?Ӷ? _x+ſ@k?i2}?I2^;2CYF_ByFZ IiMMb@Mb@Mb@IIII I9M"~? rh?~jtx?YM3?yMC =M;MA@I MZ@)M@IYM @bDeVDeyu=%uC=ٔu;Q-u>9}"?Y}"?=}Fy}dEEE>Q 55!E?Q 95*Ϻ)NBY/4?Q E:y?Q I@dDIgP|t,7?A6D}?6ߚ?6-=ٱ6.i@IBA RAHRS rotation from veh to nav: [[0.352876,-0.923949,-0.147636],[0.935105,0.342763,0.089954],[-0.032509,-0.169798,0.984943]]6H`?`¿a??9?ſ@?i6D}?I6^;6CY^kBybi I ddbDrVDry~>q=%~R=ٔt;Q->9 Y = Fy dE'];E>!Q 5-5%>L?Q 955%FȺ)%IBY1y5(?Q IE@%mDI%;i%';%.5yQɮU@QB}>B}CB}. IB};BB}< =B}FDB}UDB}[;B}!EB}CB}CByB}B =B}@ =C}L6 DNOT Ignoring new targets: 53.61 m.h h )*h "hI hIgIfQfQfQdQdYdYjdYZd]tc@MsBɢMF=)I MS?iI)UQQiUiY]9<]5IYIaYE EEE"E;*E :VEZEBE@?y+=:n@@ p@)@YQ@bDVDNy-y=%-=ٔ5;Q-5>91Y1==Fy=dE=<E=>AQ 5M5EV?Q 9M5E)E>BYU6??Q EU:yUԦ?Q IU@E|DIE:iE:E懆5y]hBɮ]@e9EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}BdddjdZdhc@MfBɢMŨ=)I Mղ?iI)Up9QQiU̧iY]|<]bλIyIYE EE$E"ET;*E҆:VE4ZEa%@a%@a%@a%@mԉ! @!  @! @% 4@! @- =@- =Թ ^A*:IIO?ωt,,e?AB>BCB` IBdBB8 =BBVDB[;B!E l)llllprkAir94IppItivds@ tt)tx xz 0xx|~kAI~94)|i|)IkA   i  Y YBy IbD-VD-Jy5=%=5=ٔ=Q-=>9AYA=EFyEdEEEM>IQ 5]5M^?Q 9]5M)M5BYYyaQ Ie@MDIM&;iMF:M5yiɮm3@iDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdc@\Bɢ=) ?i):i9ni<L޻IIIyE EEE"E;*E:VEZEBE4CYmu,. ?A2Uv?2ya?2l(=ٱ2 >AHRS rotation from veh to nav: [[0.341737,-0.932289,-0.118549],[0.938896,0.333165,0.086458],[-0.041108,-0.140851,0.989177]]2H?@O9Y=FydEi<E> Q 55 ^d?Q 95  ) (BYFP?Q E:yR?Q I@ DI C ;i  ; 5y%rBɮ%\@-0EMDNOT Ignoring new targets: 53.61 m.hQhQ*hQ"hQ hQgYfYfYf]#~BdadadajdaZded@Ա5QBɢ59=)1 5Ѽ?i9)=v.;99i=&iAEL|9 u, $?A2OҀ?2r?2x0=ٱ2i :AHRS rotation from veh to nav: [[0.339072,-0.933704,-0.115009],[0.939774,0.330579,0.086848],[-0.043070,-0.137530,0.989561]]2H`Z? @:q?3(?;?@S @ {?i2OҀ?I2^;2CYBy% IbDEVDEN2y#=%L=ٔ;Q->9Y=FydE;E>Q 55*j?Q 95)BYy?Q I@DI;i7;}5yɮ@-DNOT Ignoring new targets: 53.61 m.h)h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdETd@uHBɢu!=)q }?iy)}};yyi}Ji3<d#:II-9@) @)@-/@1^ANJκIIO=>IB5>B1B5 IB5}BB53 =B1B1B5\;B5"Ei E  E E E "E :*E :VE 3ZE BE ;89Y=FyeE <E >Q 55o?Q 95ۚ)BYy'?Q I%@DI;i;!5y)ɮ-@)UDNOT Ignoring new targets: 53.61 m.hQhQ*hY"hY hYgYfYfafadadadijdiZdm^d@额?Bɢy=) E?i);顡ii<`;IIi@i @i@uo0@qԑԹ^AII)O5> u,W?A2f?2?2==ٱ2( :AHRS rotation from veh to nav: [[0.332676,-0.937008,-0.106499],[0.941906,0.324610,0.086262],[-0.046257,-0.129010,0.990564]]2HJ?C $?@j?B?@ b?i2f?I2^;2CYFByF I HH|iUMb@Mb@Mb@QQQQ Q9Ui|?5?Q?UtU@Ub@ Q)U@QYU@bDm VDmf2y'%B=ٔ&W;Q->9Y=FyeEY<E>Q 55t?Q 95ԑ)BYT?Q E:yβ?Q I@DI:i:5ytBɮ@1EDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff~BdddjdZd*d@%4Bɢ%*=)! %?i))-H;))i-[i15]<5x>;I1I9E EE"E"El;*E:VE(3ZEa@a@a@a@@ @@3@hAUp9UhAYUiA^AqZ;AzAgAAA I IY Ii O >B% >B% CB% IB% BB% 9 =B! B! B% 8\;B% "E\u,q?A2?2?2A=ٱ23 :AHRS rotation from veh to nav: [[0.329657,-0.938496,-0.102718],[0.942915,0.321838,0.085623],[-0.047298,-0.125080,0.991019]]2H@?) K@\,??[?m7l?i2?I27^;2C|YBy  IbDVDy-V=%-N=ٔ-,;Q-->91Y1=5Fy5 eE=<E=>AQ 5M5EOy?Q 9M5EO)EBYIyM=?Q IU@EDIE|:iE:E5y]~Bɮ]@]'E DNOT Ignoring new targets: 53.61 m.h h*h"h hgfffdd!d!jd!Zd% 8d@U*BɢURc=)Q U?iY)];YYi]*iae"u,v?A6k?6V?6 G=ٱ6r >AHRS rotation from veh to nav: [[0.327219,-0.939740,-0.099073],[0.943699,0.319596,0.085387],[-0.048578,-0.121435,0.991410]]6H )?Z`\ 2?@At?۵?:ߨ`c`?i6k?I6^;6CFCFjAiF;IDDIHiJtUA HH)HNC NffALLNPJRCPIP)PiP)VfCIVtkATT TV3CZjAXiXXiZ@CZSiA)^ ^.FI\Y\YbByb IiUMb@Mb@Mb@QQQQ Q9U ףp= ?~jt? rhYUQX?yU>UC U@Ux@ UZ@)U$@QYU@bDmVDmy}#%}G=ٔ}L;Q->9Y=FyeE;E>ԡQ 55 ~?Q 957)BY[?Q Ew:yp?Q I@DIq;ibp;5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h hgfffH~BdqdqdqjdyZd}`AEd@ Bɢ=) ?i)<i,i<-9Y=FyeEa;E>Q 55?Q 95%w)BYy?Q I@DI:i:H5yɮ@DNOT Ignoring new targets: 53.61 m.hh*h"h h g f f f dddjdZdQd@EBɢE]=)I MM?iI)M'4$BCB IBBB4 =BBTDB{\;B&"E^Ah%y E  E E $E "E ;*E y:VE 4ZE BE m9AYA=EFyEeEMaj;EM>Q 55C?Q 950n)BYy?Q I@DIF:i: 5yBɮ AEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjd Zd @^d@=Bɢ= 7=)9 =?i9)=Q8 5u,?AYyByz IiMb@Mb@Mb@ 9gfffff?+?Q롿Y3S?y>\+@@ );@Y@bDVDy%?=ٔQ->9 Y = Fy eE E>Q 55?Q 9%5!e)BY%!W?Q E%|:y%?Q I%@DIA;i:ޙ5y1ɮ5|A1]DNOT Ignoring new targets: 53.61 m.hYhY*hY"hY hagafafafm~BdidiE} E}E}#Ey"E};*E}:VE}3ZEya@a@a@a@dijdZdld@Ա颽Bɢ=) ?i)&cL<iSi1<XYB q>B CB f IB iBB ? =B GDB QDB \;B M"EBCBCB˕CB8 =B8 =C61 !9Y=Fy eE ];E=>AQ 5M5E?Q 9M5E\)EBYIyM?Q IU@EDIE9:iEt:E5yyɮ}ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd@Wxd@ ~Bɢ )=) ?iUnManaging dock network, ignoring radio surface power off)z^<顉iiY<m Cu, ?Aɰp; 6?6?6b=ٱ6 >AHRS rotation from veh to nav: [[0.322633,-0.939645,-0.113907],[0.944903,0.312701,0.096831],[-0.055367,-0.138872,0.988761]]6H?`)U#Un@Ux@ Q)QQYQbDmVDmyȽ%C=ٔG;Q->9Y=Fy$eE2E>Q 55`?Q 95+T)vBYR?Q E:yC?Q I@DI*:i:T5yBɮAEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}BdddjdZdbd@-~Bɢ-=)) -g?i))5q<11i5REi9=<=jfR6Iu,&?AFY?F|?FDgg=ٱFx"L RAHRS rotation from veh to nav: [[0.323092,-0.939397,-0.114651],[0.944682,0.312912,0.098298],[-0.056465,-0.140068,0.988531]]FH`?`Y:?? *?@謿` ?iFY?IFr^;FCYZIByZ@ IbDbVDb0yjF%jV=ٔnF<;Q-n>9lYl=rFyr(eErZEr>tQ 5z5vؘ?Q 9z5vL)vbBY|y~1?Q I~@vDIv<;ivH;v5yBɮ]AE-DNOT Ignoring new targets: 53.61 m.h1h1*h1"h1 h1gfffdddjdZd^d@U~BɢU=)Y ]3?iY)]XBmCBm4 IBm@BBmD =BiBmPDBm];Bm"E^A kE  E E &E "E &:*E :VE 4ZE BE ];9hYh=nFyn,eEl=E>!Q 5-5%?Q 9-5%OC)%KBY1y5?Q I5@%DI%[:i%:%Ϡ5y9ɮ=*AADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd"d@=~Bɢ==)A E?iI)MmVFVu, SZ?AYBy IYiMb@Mb@Mb@ 9(\?zG?9)Y)=-Fy-1eE-E->9Q 5=5=?Q 9E5=:)=6BYEI?Q EE:yE?Q IE@=DI=C:i=:=5DQzDQbE3jE3rE/EY E]E]$EY"EY*E]z:VE]4ZEYam@am@am@am@yIɮmAiDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffx}BdddjdZd@d@~Bɢ,=) K?i)ת<iih<PBu r>Bu CBu IBu BBu E =Bq Bu QDBu ^;Bu "Eo\u,g*t?A2w?24b?2Gv=ٱ2 :AHRS rotation from veh to nav: [[0.326689,-0.936880,-0.124622],[0.943220,0.314798,0.106013],[-0.060091,-0.152179,0.986524]]2H`z?>翿.? %?#?2Įzÿ?i2w?I2^;2CYFByFIbDN VDN:2yz %zY=ٔ~f;Q-~>9 ?Y ?=Fy4eEEE> Q 55 ?Q 95 /3) #BYy?Q I@ &DI ];i j; N5y!ɮ-A)UDNOT Ignoring new targets: 53.61 m.hQhQ*hQ"hQ hQgQfYfYfYdadadajdaZde|d@颕~BɢP=) ͥ?i)!Y<顙i!i<{'A _Xcu,?A2LM?2o8?2qy=ٱ2 :AHRS rotation from veh to nav: [[0.327876,-0.936278,-0.126023],[0.942757,0.315673,0.107516],[-0.060883,-0.154061,0.986184]]2H?@!+?3?'?+Eÿ`ю?i2LM?I2^;2CY^By^I ``fAfAiMb@Mb@Mb@ 9+? ףp= ?:vY??yQ=Լx@ )@Y@bDVDyU%>=ٔN:Q->9"?Y"?=Fy9eEBE>Q 55v?Q 95*)BYԹ iu,%?Aɰ4<2!?2 ?2|=ٱ2< >AHRS rotation from veh to nav: [[0.329114,-0.936013,-0.124750],[0.942272,0.316900,0.108158],[-0.061704,-0.153145,0.986275]]2H@6?@ ￿`'?H?C? Bÿ?i2!?I2{^;0YFՁByFIbDNVDNyV%V\=ٔZ;Q-Z>9XY\=^Fy^=eE^jE^>`Q 5f5b?Q 9f5b#)bBYhyj?Q Ij@b9DIb;ib@;bΧ5ynBɮncAr EDNOT Ignoring new targets: 53.61 m.h h *h "h  h g fffdddjdZdd@M~BɢM&=)I U ?iQ)UլBCBIBՁBB< =BFDBTDB]^;B#Eԩ^A%}<AU .AIa Iq O >Eu  Eu Eu &Eq "Eu :*Eu :VEu 4ZEq BEu .%rH=ٔrN;Q-r>9v ?Yv ?=vFyvAeEvHEz>xQ 55zd?Q 95z)zBYyV?Q I@zCDIz<;iz7;z5y ɮA=DNOT Ignoring new targets: 53.61 m.h9h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM+d@}~Bɢ}n=) M?i)<顁iwi<S;IIi@i @q@u?0@q!^AUvu,?A2?2?2=ٱ2N >AHRS rotation from veh to nav: [[0.332916,-0.934891,-0.123070],[0.940766,0.320410,0.110893],[-0.064240,-0.152698,0.986183]]2H`N??`?@c? rÿ ώ?i2?I2|^;2CYFByFIIJ=)J4J=iUMb@Mb@Mb@QQQQ Q9UGz?)\(?Zd;OYUp=?yUGa=UjU@U@ U@)U@QYU\@ im;bDuVDuy؏%@=ٔ+B;Q->9"?Y"?=FyEeE须E>Q 55x?Q 95)BY >?Q E:yX?Q I@MDI:i:q5yɮ^ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfff$}BdddjdZd@d@%~Bɢ%bu=)! %ۘ?i))-!B<))i-E= E=E="E9"E=:*E=ą:VE=(3ZE9aE@aM@aM@aM@i1MB >B CB yIB BB 4 =B B UDB ^;B -#E |u,q?A2T?2@?2=ٱ2 :AHRS rotation from veh to nav: [[0.334915,-0.934203,-0.122870],[0.939974,0.322200,0.112407],[-0.065422,-0.153142,0.986036]]2H ?o?@ht@E? ?@Ƽ? $ÿ ?i2T?I2y^;2C@Y^Byb~IbDjVDj:2yr=F%rU=ٔrDJ;Q-v>9tYt=vFyvIeEzʷEz>|Q 55~Ʈ?Q 95~ )~BYy ?Q I @~VDI~_:i~:~5yBɮAEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd d@~Bɢ=) ̗?i)%u,X?A>?>?>=ٱ> JAHRS rotation from veh to nav: [[0.337322,-0.933598,-0.120864],[0.938988,0.324514,0.113979],[-0.067189,-0.151938,0.986104]]>H? `1 ?@?@-?E3rÿ`)?i>?I>I^;9m ?Ym ?=mFymMeEmʻEu>Q 55eή?Q 95)BY4?Q E:yu?Q I@`DI:iL:5y ɮ A=DNOT Ignoring new targets: 53.61 m.h9h9*h9"h9 hAgAfAfAfM|BdIdIdIjdQZdU e@}~Bɢ=) ?i) <顁iΧi%<|:II @  @ @ K4@ 1^A-yb];E] E]E] EY"E]:*E]:VE]3ZEYam@am@am@am@AY i I I O >Љu,c()?A6l?6?6=ٱ6 >AHRS rotation from veh to nav: [[0.339547,-0.933018,-0.119100],[0.938049,0.326605,0.115724],[-0.069074,-0.151015,0.986115]]6H`!?I`Q}`??`?Ԯ@vTÿA?i6l?I6u^;6CYFByJ[I HHNANAbDRVDRyZP%ZV=ٔ^S;Q-^>9`Y`=bFybQeEb_ϻEf>dQ 5j5fԮ?Q 9n5fQ =ntI)fBYlyn'?Q In@fhDIf ;if ;f5yvBɮvAvEDNOT Ignoring new targets: 53.61 m.hh*h"h hgff!f!d!d!d!jd)Zd-e@9]~Bɢ]=)Y eX?ia)e0BCB@IBzBB; =BBSDB^;B,#EBuĿCBuľCBqBu< =Bu= =Cu6^Arg:ԙAM ؟AIQ Ia Ou > Em  Em Em 'Ei "Em s:*Em :VEm '4ZEi BEm e09"?Y"?=FyUeEe˻E>ԙQ 55;ܮ?Q 95)BYyѢ?Q I@rDIݖ;i;5yBɮ= A DNOT Ignoring new targets: 53.61 m.h h *h "h  h g fffddd!jd!Zd% e@额y~Bɢ!=) +?i)8<顡ioig<GII@ @@/@@=@=^AΒ{A ! I) I9 OM >u,n\?A2+?2L?2=ٱ2 :AHRS rotation from veh to nav: [[0.343948,-0.931823,-0.115788],[0.936145,0.330700,0.119455],[-0.073020,-0.149480,0.986065]]2H<?}@@?@/*??@o+"ÿ׍?i2+?I2w^;2CYBpByF5IiEMb@Mb@Mb@AAAA A9E㥛 ?~jt?9qYq=uFyuYeE}E}>Q 55G㮊?Q 95)BY5?Q E:y?Q I@{DIj:i:A5yBɮ AEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff|BdddjdZdR-e@ n~Bɢ)=E% E%E%$E!"E%:*E%:VE%4ZE!a-@a-@a-@a-@) -]?i1)5?<11i5i9=7B B B IB QBB 6 =B B B a^;B #Ey O u,Ev?A2{?2_?2=ٱ2 :AHRS rotation from veh to nav: [[0.345988,-0.931115,-0.115397],[0.935265,0.332487,0.121376],[-0.074647,-0.149922,0.985876]]2H$? ?yG?~?@ `0ÿK?i2{?I2r^;0YBfByB(IIF<)DJ=J=bDNVDNfyVQ%VW=ٔZ;Q-Z>9XYX=^Fy^]eE^E^>`Q 5f5bꮊ?Q 9f5b,)bBYhyjD?Q Ij@bDIb:ibp:b굆5ylɮnR Ap DNOT Ignoring new targets: 53.61 m.h h *h "h  h g fffdddjdZdw9e@Uc~BɢU=)Q U7?iQ)U<11i5`i9=q u,j?A<9Y=FybeEdE>Q 556?Q 95.)yBY1 iu,p?A2Ԙ~?27?2=ٱ2 :AHRS rotation from veh to nav: [[0.349524,-0.929542,-0.117412],[0.933788,0.335357,0.124804],[-0.076636,-0.153260,0.985210]]2H`^?;@@?{v?*?g`ÿֆ?i2Ԙ~?I2ƃ^;2CYf[ByfIbDrVDrP)yv%vV=ٔz;Q-z>9xYx=~Fy~feE~E>Q 5 5p?Q 9 5(ڹ)kBYyE?Q I@DIQ;i;{5y!ɮ% A)mDNOT Ignoring new targets: 53.61 m.hihi*hi"hi higqfqfyfydddjdZdSe@M~Bɢ=)  ?i)<iiD<lII9@ @@4@AIAM@AB]d>B]CB]IB]8BB]> =BYB]PDB]p^;B]#E9^AzII)O5>i EE  EE EE $EA "EE :*EE rN:VEE 4ZEA BEE t9iYi=uFyujeEunREu>yQ 55}g?Q 95}tҹ)}[BYy?Q I@}DI}:i}:}P5yɮ ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZdae@A~Bɢ=) ?i ) O=  i ׭iٚ<Q/II!y9@ @@4@ԡ^A &IqIO> !0u,&?Aɰ;B$ ~?TB4?B?=dٱB9xp|-q9)Y-ZA 5AHRS rotation from veh to nav: [[0.351521,-0.928828,-0.117094],[0.932932,0.337141,0.126391],[-0.077919,-0.153670,0.985045]]BH@S?? ?-?ytÿ}?iB$ ~?IBf^;BCYMRByMIE EEE"E:*Eg:VEZEa @a @a @a @i=Mb@Mb@Mb@9999 99=n?)\(?Mb`?Y=V.?y=Ga==;=G@=@ =@)=|@9Y=z@bDUVDUNyeN2%e;=ٔm:Q-m>9iYi=uFyuneEu~Eu>yQ 55}T?Q 95}ʹ)}NBY.?Q E:y:?Q I@}DI}:i}:}85yBɮ: AEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}BdddjdZd oe@5~Bɢ=) ԍ?i)=ii)-<-9I)I19@ @@4@^A 0) Ba Be CBe IBe )BBe C =Be GDBa Be ^;Be 4#EAU .AIa Iq O >tu,;q?A2i}?2VԚ?2J=ٱ2[e :AHRS rotation from veh to nav: [[0.352297,-0.928922,-0.113980],[0.932586,0.338220,0.126056],[-0.078546,-0.150705,0.985453]]2H` ?@-@?d?"? MJÿՈ?i2i}?I2NN^;2CYF[ByFIbDNVDNyZAV=%Zf=ٔZQ:Q-Z>9^ ?Y^ ?=^Fy^reEbEb>ddQ 5j5f ?Q 9n5fĹ)fCBYlyn?Q In@fDIf:if1:fƾ5ytɮv AtDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffd!d!d!jd)Zd-^ze@U-~Bɢ]==)Y ]J?iY)]=aaie֌iimAQ ;Uu,s,?Af}?f?f`ġ=ٱf rAHRS rotation from veh to nav: [[0.352992,-0.928936,-0.111687],[0.932293,0.339152,0.125719],[-0.078906,-0.148503,0.985759]]fHk?عX? ??`*3$ÿV?if}?IfQ^;fC1YQByII=)==imMb@Mb@Mb@iiii i9mOn?ʡE?~jthYm8?ym=mDm^@m;@ m@)m@iYm@ ;4<bDVDky'%!=ٔ::Q->9"?Y"?=FyweEúE>Q 55?Q 95)0BY9?Q E:y/?Q I@DI ;i ;5yBɮM AE=DNOT Ignoring new targets: 53.61 m.h9h9*h9"h9 h9gAfAfIfME}BdIdIdIjdQZdUe@a颍 ~Bɢ=) B?i)@ =顑ibdi[<lPII@ @@/@ԉE EE$E"E:*E|;:VE4ZEa@a@a@a@^A= 2DԹ Ai Iy I O >u,,?AZEv}?ZD?Za=ٱZ fAHRS rotation from veh to nav: [[0.353585,-0.929126,-0.108178],[0.932028,0.340131,0.125036],[-0.079379,-0.145036,0.986237]]ZH !?f@ -?@?@,?1R¿@?iZEv}?IZC^;ZC p)pv 0ttxzkAiz,IxxI|i~Cs@ )  ,  I')i)I!%'! !)-vA)i))Y1Y=IBy=IQbDUVDUye@@%ew=ٔm:Q-m?9qYq=uFyuzeEuE}?yQ 55}?Q 95}u)}$BYy?Q I@}DI}H;i};}n†5yɮ ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd*e@ ~Bɢ%=) P?i)I=顱iKi<iYIIB<A<B>BCBIBBB: =BFDBUDB^;BI#Ey@y @y@/@ԙԩ^AONE  E E "E "E :*E V:VE (3ZE BE J"u,aF?A6.v}?69?6L=ٱ6y >AHRS rotation from veh to nav: [[0.353578,-0.929329,-0.106445],[0.932008,0.340316,0.124688],[-0.079652,-0.143294,0.986470]]6H?????dwW¿(?i6.v}?I6a;^;6CYEKByEIbDU VDU2ye+<%eK=ٔe1:Q-m>9m ?Ym ?=mFym~eEuzZEu>yQ 55}(!?Q 95})}BYy?Q I@}DI}|:i}:}1Ć5yBɮ AEԱDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZde@  ~Bɢ JJ=)  ?i)=i9i8<XII!9@ @@ 0@^AjbA ؟AI) I9 OE >9 Pu,3`?A2NA}?2ɋ?2=ٱ2w :AHRS rotation from veh to nav: [[0.354296,-0.929323,-0.104081],[0.931632,0.341154,0.125203],[-0.080846,-0.141324,0.986657]]2HȬ?  ?v??V¿ ?i2NA}?I2U^;2CYCByI !!)-AE EEE"E,:*Ek:VEZEa@a@a@a@i Mb@Mb@Mb@     9 jt?Zd;O?I +Y @?y j= 94 @ Q@ @) |@ Y \@bDmVDmky%9=ٔU1;Q->9"?Y"?=FyeEE>Q 55(?Q 95~)BY8B?Q E:yǩ?Q I@DIhc;ib;#Ɔ5yɮ ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfff>}BdddjdZd@ e@=~BɢE!=)A E?iA)MSo=IIiMViim B CB IB BB , =B B B ^;B \#EBiBiBmɖCBm: =Bm9 =Cm7^A ONԡ A .AI I O >u,+{?AɰY;ByIbD%VD%y5$%5Y=ٔ=Q-=>9= ?Y= ?==FyEeEEEE>IQ 55M-?Q 95MO)MBYyQ I@MDIM6y u,?AJW|?JMU?J=ٱJ8 VAHRS rotation from veh to nav: [[0.355776,-0.929117,-0.100822],[0.930864,0.342697,0.126696],[-0.083165,-0.138927,0.986804]]JH ?SsϹ`?`?7?EJZ?iJW|?IJ^;HY^BBy^IiEMb@Mb@Mb@AAAA A9E?Mb?MbYE@?yE=EAE~@ E3@)E@AYEG@bD]VD]ym=%mG=ٔm;Q-m>9u"?Yu"?=uFyueE}ȄE}>Q 553?Q 95p)BYA?Q E:y ?Q I@DIu;i;Ɇ5yBɮ AQDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff{}BdddjdZdOe@}Bɢ=) ̒?i)Ҵ=ii!<{~II 9@ @@4@yE5 E5E5&E1"E5غ:*E53:VE54ZE1aE@aE@aE@aE@ԩ^AmA I I O c)u,Ю?A6|?6/2?6=ٱ6 >AHRS rotation from veh to nav: [[0.356741,-0.928721,-0.101064],[0.930397,0.343446,0.128090],[-0.084250,-0.139724,0.986600]]6H?`P߹@??@?e?c |9?i6|?I6^;6CYu>By}IbDVD:y蟼%9=ٔN!;Q->9Y=FyeEE>ԱBm>BCBIB BB: =BBQDB%_;Bi#EQ 55:?Q 95ލ)BYy?Q I@DI:i:ˆ5yĒBɮ/ AEDNOT Ignoring new targets: 53.61 m.hh*h"h hgff!f!d!d!d)jd1Zd5e@e}Bɢe2=)a e?ia)mΣ"=iiim赼iqu1 u,?A@2R|?2.?24Z=ٱ2U >AHRS rotation from veh to nav: [[0.357569,-0.928453,-0.100599],[0.930008,0.344204,0.128878],[-0.085030,-0.139641,0.986545]]2Hh?@`?@o??ĵ Ƒ?i2R|?I2^;2CBCBjAiBuI@DIDiFpUA DD)DJ@C Js@HHJJLLIL)LiL)RsCIPPP PV@CTTiTTiXZOiA)Z Z.FIXYXY^:BybIbDjVDj:yr9%rk=ٔr;Q-v?9v ?Yv ?=vFyveEz,Ez?|Q 55~ @?Q 95~L)~BYy ɩ?Q I @~DI~F:i~:~͆5yɮO ADNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd*e@%}Bɢ5=)9 =?i9)=c &=99i=۶iAEg9u,E?A 63#|?6?6U=ٱ6/. >AHRS rotation from veh to nav: [[0.358208,-0.928327,-0.099474],[0.929684,0.344859,0.129464],[-0.085880,-0.138855,0.986582]]6H?۴@&w?`+?B?9`?i63#|?I6^;6CY /By IbEjErEp/E EE%E"E:*EAr:VE 4ZEa@a@a@a@iMb@Mb@Mb@ 9v/?y&1? rhYxI?y`=C@@ I@)O@Y@bDVDy>%,=ٔ :Q- >9 Y =MFyMeEUºEU>YQ 5e5]WG?Q 9e5]})]BYeK?Q Ee:ym?Q Im@] DI]:ii]:]φ5yyɮ} AyDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}BdddjdZdae@m}BɢuI=)q ur?iq)uXy*=yyi}&i3<nIIY@Y @Y@]/@aԙBd>BCBIBBB= =BBPDB?_;Bp#E ^A ]I I O >zu,7?A6{?6?6~=ٱ6- >AHRS rotation from veh to nav: [[0.358785,-0.928070,-0.099797],[0.929398,0.345277,0.130396],[-0.086559,-0.139535,0.986427]]6HV? G࠽?? ϰ? ( Hΐ?i6{?I6$^;6CY5'By5I 99AAbDMVDM1y]E4%]a=ٔ]:Q-e>9aYa=eFyeeEmEm>Q 55L?Q 95v)BYy?Q I@DI7;i";І5yɮ ADNOT Ignoring new targets: 53.61 m.h!h!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5e@e}BɢeU>)a m_?ii)m-=iiim̪iqua,Թ F~v,W ?A ɰ >^{?>ә?>=ٱ>i JAHRS rotation from veh to nav: [[0.359329,-0.927726,-0.101029],[0.929132,0.345544,0.131582],[-0.087162,-0.141150,0.986144]]>H=?@ݹ@r?c??AP@4¿@}?i>^{?I>b^;L>CYR#ByVIieMb@Mb@Mb@aaaa a9eCl?K7A?:vYeO?ye >eԼaa ev@)e @aYez@bD}VD}Nyf%H=ٔ:Q->9Y=FyeEE>Q 55R?Q 95m){BYR?Q E:y?Q I@DIi ;i ;t҆5yƒBɮ AءEuB*** querying acoustic contact ***iq iqDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}BdddjdZdN f@%}Bɢ-p=)) -?i))-ǭ1=11i5i9=6 <=!zI9I9 ihA%{9hAYcdA9@9 @9@=0@9U2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.Em EmEm&Ei"Em:*Eme:VEm4ZEiau@a}@a}@a}@^Ae mI I O > ˤ v,Z0?A2ڜ{?2?2A=ٱ2 :AHRS rotation from veh to nav: [[0.360050,-0.927278,-0.102570],[0.928783,0.345916,0.133060],[-0.087903,-0.143174,0.985786]]2H@ ?A B?`{#?@?@ʀ`S¿?i2ڜ{?I2^;2CYBByBIbDzVDz|y% S=ٔ :Q- >9Y=FyeEE>Q 5%5X?Q 9-5e)eBY)y-?Q I-@)DI:i:$Ԇ5y1ɮ= A9eDNOT Ignoring new targets: 53.61 m.hahi*hi"hi higififqfqdqdqdyjdyZd}f@颭}Bɢ>) ?i)&4=顱iAyie <$aIIB`>BCBIBBB@ =BGDBODBf_;B#E*DAT read: user:502> BDAT read: Tx time:05:47:11.9219 $Ping request sent.EE  EE EA EA "EE I:*EE x:VEA ZEA BEE 9tYt=zFyzeEz:Ez>|Q 55~^?Q 95~h])~MBY y ?Q I @~3DI~$:i~:~Ն5yɮAyDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd0$f@]}Bɢm=)i mp?ii)u8=qqiu9Uiy}1m <} v,d?A "@fzX|?f^?f;=ٱf8F nAHRS rotation from veh to nav: [[0.357382,-0.928216,-0.103406],[0.929793,0.343156,0.133151],[-0.088109,-0.143732,0.985686]]fHZ?x?E? ? H`e¿`?ifzX|?Ifdg^;fCEv EvEv!Et"Ev>:*Evg:VEvc3ZEta~@a~@a~@a~@YByIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753975iMb@Mb@Mb@ 9V-?rh|?QYM?y=?@@ )^@Y\@bD5VD5yE8%E5=ٔM>8Q-M>9IYQ=UFyUeEU;EU>YQ 5e5]=e?Q 9m5]T)]2BYmP?Q Em:ym֬?Q Im@]?DI]G ;i] ;]׆5yqɮuAyDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd2f@}Bɢ`=) O?i)Km<=i ,i <󌋼II9@ @@4@B_>BBrIBҀBBA =BBB_;B#E)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006630^A7ƙA1 I9 IQ Q Oe >v,sg~?AN }?Ni{?N=ٱN ZAHRS rotation from veh to nav: [[0.354544,-0.929621,-0.100518],[0.930885,0.340802,0.131553],[-0.088038,-0.140212,0.986200]]NHڰ?s ???ਉy?iN }?INvt^;NCYbBybIbDjVDjyrU%re=ٔvOQ-v>9tYt=zFyzeEz& <Ez>|Q 55~uj?Q 95~L)~BY y A?Q I @~HDI~:i~:~kن5yɮAϡEEDNOT Ignoring new targets: 53.61 m.hAhA*hA"hA hIgIfIfIfIdQdQdQjdQZd] =f@颅}Bɢw=) ҆?i)?=顉ii <x mII1U9@Q @Q@U/@QE  E E %E "E m:*E 1]:VE  4ZE BE Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512184N%v,Q?AZ}?Z/?Z=ٱZB| bAHRS rotation from veh to nav: [[0.351439,-0.931038,-0.098282],[0.932108,0.338149,0.129729],[-0.087549,-0.137201,0.986667]]ZH`}?)?:??iϏƒ?iZ}?IZN^;XYjByIiMb@Mb@Mb@ 9sh|???Zd;OYI?y>jd@@ @)t@Y@bDVDy?%<=ٔQ->9"?Y"?=FyeE4;E>Q 55pp?Q 95C)BYL?Q E:y}?Q I@SDI ;ie ;Qۆ5yɮ$AСE-DNOT Ignoring new targets: 53.61 m.h)h)*h1"h1 h1g1f1f9f=}Bd9d9d9jdAZdEuKf@ԉ }Bɢ =) G?i)*8C=iὼi0 <%NBI!I!@ @@/@ԹE EE#E"E:*EC:VE3ZEa@a@a@a@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761908^AmA5 .AIA IQ O] > +v,?A$ɰ&49j ?Yn ?=nFyneEn<Er>pQ 5v5rpu?Q 9z5rO<)rBYxyz?Q Iz@r\DIr:ir:r܆5y|ɮA-DNOT Ignoring new targets: 53.61 m.h)h)*h)"h) h)g1f1f1f1d9AAB^>BBLIBBBBBB_;B#EBeCBeCBeCBe@ =Be? =Ce'L6ddjdZdXf@-}Bɢ-w=)) -X?i))5MF=11i5¾iY].<]cIYIachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014171 @  @ @ /@ ^A59Y E 6 E E &E "E l;*E 0:VE 4ZE BE HW2v,h%?A2q?2YЛ?2=ٱ26 >AHRS rotation from veh to nav: [[0.344906,-0.934184,-0.091327],[0.934704,0.332934,0.124431],[-0.085835,-0.128281,0.988016]]2H@?:a?N?ڿ? M`k`ԝ?i2q?I2g^;2CYFByFTIbDNVDN0yV %VK=ٔZl Q-Z>9Z"?YZ"?=^Fy^eE^`<E^>`Q 5f5bz?Q 9f5b4)bBYhyjq?Q Ij@bfDIb;ib:bކ5ylɮndAl DNOT Ignoring new targets: 53.61 m.h h *h "h  h g fffdddjdZd,df@M}BɢM=)I U/z?iQ)UI=QQiUiY]<]Ȱ̻IYIi@ @@0@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520062ԙ^AeA I Ա I O >,9v,^?AE2 E2}E2!E0"E2U:*E2k&:VE2c3ZE0a:@a:@a:@a:@:U?:@?:{^=Pٱ: bAHRS rotation from veh to nav: [[0.341717,-0.935561,-0.089189],[0.935948,0.330192,0.122374],[-0.085038,-0.125294,0.988468]]:H?  նH?@!?@S?@ŵ` ?i:U?I:];8YjByjMIIr=)r<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770060imMb@Mb@Mb@iiii i9mK7?q= ףp?S㥛YmI?ym=m/ݼmAm`@ m@)m@iYm@bDVDk1y%==ٔQ->9Y=FyeEO<E>Q 55?Q 95R+)BYK?Q E:yB?Q I@qDIm ;i ;5yÒBɮwAơEDNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}Bdd d jd Zd qf@}Bɢ =) y?i)/,M=iNui<~iII@ @@0@@@Bc>BCB!IBBB? =BFDBPDB_;B#Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021903^A`Ի) A .AI I O% >/?v,?A2?2;?2=ٱ2 :AHRS rotation from veh to nav: [[0.338955,-0.936698,-0.087789],[0.937012,0.327748,0.120792],[-0.084373,-0.123202,0.988788]]2H p?mVy?@?`>?|1`'?i2?I2(^;0YBByB.IbDNVDNyVu%V[=ٔVQ-V>9Z ?YZ ?=ZFyZeE^<E^>`Q 5f5bՅ?Q 9f5b#)bBYdyf?Q If@b{DIb:ib[:b55ylɮnCA|YDNOT Ignoring new targets: 53.61 m.hh*h"h hgfffdddjdZd~f@{}Bɢw=) n?i)P=iUIiR<o靺IIE} E}E}%Ey"E}I:*E}C:VE} 4ZEyBE}ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532806iFv,?AY?ٜ?G=ٱ>X eAHRS rotation from veh to nav: [[0.337371,-0.937347,-0.086956],[0.937615,0.326343,0.119912],[-0.084022,-0.121986,0.988969]]Hz?B??@?x@|:@?i?Io ^;YByIiMMb@Mb@Mb@IIII I9M#~j? ףp= ?~jtYME?yMQ=MļMd@Mv@ M@)M@IYIbDeVDeyua]%u%=ٔuc:Q-u>9}"?Y}"?=}Fy}eE}`;E>Q 55J?Q 95)BYQG?Q E:y3?Q I@DIn:iU:`5yɮADNOT Ignoring new targets: 53.61 m.hh*h"h hgfff}BdddjdZd`ɍf@s}Bɢ@=) i?i)ڔS=i¼i!%<%l}I!I)9@ @@S1@bEjE4rEƈ0E EE$E"EO:*E]t:VE4ZEa@a@a@a@eDAT read: 05:47:14.6071 LVL= 32752, 27041, 32754, 32755, AGC= 69, IDX= 212,-0.41, 0.568, 2.455, 0.928, 1.184, PHS=-0.514, 1.316,-0.300, RAW= 323.9, -5.9, CAL= 323.3, -9.1, ROT= 186.7, 9.1 mYgot valid direction response: 05:47:14.6071 LVL= 32752, 27041, 32754, 32755, AGC= 69, IDX= 212,-0.41, 0.568, 2.455, 0.928, 1.184, PHS=-0.514, 1.316,-0.300, RAW= 323.9, -5.9, CAL= 323.3, -9.1, ROT= 186.7, 9.1 uPDAT read: Bearing 45.1, -0.2 (Local) u~Local bearing/azimuth received: Bearing 45.1, -0.2 (Local) DAT read: Range 11 to 50 : 210.7 m (Round-trip 281.0 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.980670,-0.115202,-0.158158]Fpublishing direction and range infoy150a00}@\~>ĿY5RC115i1 1)5EI5i5r?55_@5Bҽ5@ 5")5P@I5">115nlOٿTg  5h.)5=I5Ai5">11)^A ?BɺY A I! I1 O= >8Lv,B3?A2??2`?2&=ٱ2 :AHRS rotation from veh to nav: [[0.336159,-0.937783,-0.086952],[0.938056,0.325160,0.119679],[-0.083959,-0.121797,0.988998]]2H? Q~B?j?F?^~.@ޥ?i2??I2I^;2CYFuByFI LLbDPVDPyZ%Z=ٔ^]SQ-^?9\Y\=^Fy^eEb;Eb?dQ 5z5f񑯊?Q 9z5f)fBYxy~^?Q I~@fDIf.;if;f5y ɮ oA ǡEBQAQB]n>B]CB]IB]bBB]= =BYB]QDB]_;B]#Eiyi}ʩ(?AJi}_QCRi}_QCji}T@b}N _is)8V}@R}0a00}@\~>ĿZi}Abi}">j}EBL*i@%)Z}㝛ʿ=lt⾮2i}iL:i}."i}.e]>?*i}з`Bi}NBi}Ӟ?i}<i}jBi}B=Ci}@ addTargetRange:: Added new target pos. range: 210.699997 m, deltaT: 180.539911 s, deltaX: 156.799988 m, approachRate: 0.868506 m/s, rangeRepo size: 4 AU Added new target pos. range: 209.371262 m, bearing: 257.980191 deg, lat: 36.779389 deg, lon: -121.859733 deg, deltaT: 180.539911 s, deltaX: 155.760300 m, approachRate: 0.862747 m/s, posRepo size: 4 ]FNOT Ignoring new targets: 209.37 m.]Completed rollout at range: 210.70 m. Resuming terminal guidance.]bTransitioning guidance mode to: TERMINAL_GUIDANCE:h]?h]z@hY*ha"ha hagfffdddjd`fVj@Zd U?em}Bɢe*=)a m_?ii)m!-V=iiimg¼iuH?qu$Iuz@IyIeA)@ @@4@@%=@%=qԩ^A= 9E  E E %E "E m:*E 1]:VE 4ZE BE R Sv, L?A>K?>6?>=ٱ>9 JAHRS rotation from veh to nav: [[0.334721,-0.938102,-0.089031],[0.938575,0.323488,0.120133],[-0.083897,-0.123774,0.988757]]>Hl?ʶ?`? ?@>z?i>K?I> ^;>CYRfByRIbDZVDZ1yb%fJ=ٔf#Q-f>9dYh=jFyjeEjx;Ej>lQ 5r5n?Q 9v5n )noBYtyv?Q Iv@nDIn:in:n5yzBɮzA~E1M  Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqMEntering Terminal tracking update period 2.000000 s sec at 210.699997 m (mode 1.000000 count ).qMMh)h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE z?ug}Bɢu=)q ueY?iq)}X=yyi}üi"?0IIԱ1@1 @1@5/@1^A *:AYIIOm> 9 U (hAi A9 (hAY xA9 CYv,f?AE6 E6E4E4"E67:*E6x:VE4ZE4a:@a:@a:@a:@>Yi?>yT?>Ѭ=ٱ>Ѫ FAHRS rotation from veh to nav: [[0.333856,-0.938134,-0.091894],[0.938848,0.322218,0.121405],[-0.084284,-0.126806,0.988340]]>H]?@2@W ?7?d?-;{?i>Yi?I>1];9Y=FyeE;E>Q 5 51?Q 9 5)WBY H?Q E :y ;?Q I@DI:i:n5yɮ_Ajj-@M5M5=B*** querying acoustic contact ***i9 i9hAhA*hI"hI hIgIfIfQfUJ}BdQdQdYjdYZd]?5`}Bɢ5Ξ=)9 =Q?i9)=[=9AiE*MļiMԭ?quOѽIqIy9@ @@/@ 9B]>B]ōCB]IB]5BB]8 =BYB]XDB]^_;B]#ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AM q A I I O >M+`v,?A 6?6&?6=ٱ6/ >AHRS rotation from veh to nav: [[0.332392,-0.938420,-0.094254],[0.939331,0.320417,0.122433],[-0.084692,-0.129232,0.987991]]6HE? @ ! ??@W?g@?i6?I6^;6CY^5BybI f;f<bDjVDjfyr%r]=ٔr:Q-v>9tYt=vFyveEzڈ;Ez>|Q 55~b?Q 95~)~BBYy j?Q I @~DI~:i~R:~ 5yɮHArj)M-1N-hh*h"h hgfffdddjd!Zd% ?额Z}Bɢ36=) lD?i) ^=项i_ļi,?}+IIiE} E}E}$Ey"E}y:*E}?:VE}4ZEyBE} UBDAT read: Tx time:05:47:17.2219 ]$Ping request sent.]  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253578Xfv,f?APe:?eZ?eֈ=ٱe_ uAHRS rotation from veh to nav: [[0.331370,-0.938765,-0.094418],[0.939653,0.319334,0.122789],[-0.085119,-0.129409,0.987931]]eH+5?\ @+?@o?o?Xʵv"?ie:?Ier^;eCY%ByIiEMb@Mb@Mb@AAAA A9E#~j?/$?Zd;OYEE?yE=EjEAE@ Ef@)E@AYEQ@bD]VD]2ymԓ%m4=ٔuev:Q-u>9u ?Yu ?=uFy}eE};E}>Q 55D?Q 95)+BY#G?Q E:y?Q I@DI ;i& ; 5yBɮAzj1NrCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1M Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalhh*h"h hgfff!}BdddjdZd 7? S}Bɢ `=) =?i):`=iwżij#?qII!@ @@@^A{E} E}EyEy"E}U:*E}*5:VEyZEya@a@a@a@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503592A؟AIIO> lv,k?A2D?2d?2m=ٱ2I :AHRS rotation from veh to nav: [[0.329765,-0.939468,-0.093034],[0.940134,0.317813,0.123057],[-0.086040,-0.128044,0.988029]]2H?` ѷ? W??c?i2D?I2G^;2CYF ByF}IbDNVDNfyVO%Vl=ٔZI/;Q-Z?9Z"?YZ"?=^Fy^eEA|A~AAB>BЍCBrIBBB# =BEDBaDB^;B#E9U%;EU?YQ 5e5]?Q 9e5]g)]BYiymE  E E #E "E *E E7:VE 3ZE BE ;a 2E ;a JE Q;a :E R;a ia Ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007167ԁ cgsv,F?A2?24w?2%Q=ٱ27 :AHRS rotation from veh to nav: [[0.325410,-0.941569,-0.086931],[0.941476,0.314078,0.122386],[-0.087932,-0.121670,0.988668]]2H`?T!#A ?`?T?ం%`+?i2?I2x^;2CYBByBhI DDbDNVDN:yV%VJ=ٔV;Q-Z>9Z ?YZ ?=ZFyZeE^9<E^>`Q 5f5bi?Q 9f5b)bBYhyj۫?Q Ij@bDIb:ib:bP5ylɮrArEhh*h "h  h g f ffdddjdYZd@H}Bɢ=) <+?i) d=iPUƼi?II 9@ @@4@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258890^AwѽA ؟AI I1 OU > yv,"?Aɰ;E& E&E&%E$"E&:*E&VL:VE& 4ZE$a*@a*@a*@a*@>Ir?>h]?>@=ٱ>rI FAHRS rotation from veh to nav: [[0.318724,-0.944662,-0.077639],[0.943551,0.308423,0.120778],[-0.090149,-0.111751,0.989639]]>H`e?:#೿`1?3?P? ?i>Ir?I>\^;>CYRByR[I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510893i=Mb@Mb@Mb@9999 99=}?5^I?{Gz?I +Y=MB?y=ף==9=A=@ =O@)=@9Y9bDUVDUyeN%e?=ٔm;Q-m>9m"?Ym"?=mFyueEu<Eu>ԹQ 5%5?Q 9%5۸)BY%vC?Q E%:y%i?Q I-@DI:i:D5yQɮUTAYB*** querying acoustic contact ***i ihh*h"h hgfff|Bdd djdZd@颭A}BɢV=) h'?i)mg=项i^Ƽi*?II@ @@4@^A}/B>BՍCB3IBBB =BDDBeDB^;B#EBōCBǍCBƞCB8 =B. =CY7AiIyIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7628499 syv,e?A6?6?6":=ٱ6н BAHRS rotation from veh to nav: [[0.309599,-0.948426,-0.068094],[0.946380,0.300398,0.118849],[-0.092265,-0.101238,0.990575]]6Hv?YnH? 9?l? 깿ɲ?i6?I6r_;6CYJByN<IbDbVDbyr%rS=ٔv;Q-v>9xYx=~FyeE P<E >Q 5-5?Q 9-5Ӹ)BY1y5?Q I5@DIJ;iJK;5yAɮMAIhh*h"h hgfffdddjdZdz @]<}Bɢ]=)Y ]_?ia)e1i=aaieƼim,?iiIiIE] E]E]!EY"E]:*E]C:VE]c3ZEYBE];am2E];amJE]=;au:E]=;au5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014910m9@i @i@m/@iA^AeY A.AIIO>iԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268937֦v,6?AY5By5'IiiMb@Mb@Mb@ 9Cl?i|?5?MbYd;?yq=d@"@ |@)V@Y=@bDVDky%.=ٔQ->9 ?Y ?=FyeEE>Q 55ǯ?Q 9 5/˸)BY  ͌v,5?A2?2?2=ٱ2≽ :AHRS rotation from veh to nav: [[0.284663,-0.957922,-0.036782],[0.953706,0.279111,0.111989],[-0.097010,-0.066958,0.993028]]2H 7?@Kբ Ä??O?ո`/$?i2?I2^;2CYFhByFIBPAR<BV%>BV֍CBVIBV9BBTBTBVfDBV^;BV#EbDbVDb0yfPν%jt=ٔji) Eu  Eq Eu %Eq "Eu :*Eq VEu 4ZEq BEu *AHRS rotation from veh to nav: [[0.266198,-0.963847,-0.011713],[0.958797,0.263513,0.106162],[-0.099237,-0.039490,0.994280]]2Ha ?`v?c?`l-? g8$?i2z?I2^;2CY]LByeIbDuVDuNyn%2=ٔ;Q->9Y=FyeE+=E>Q 55-ѯ?Q 95D)BYy?Q I@DI|:i:f5yɮXAEhh*h"h hgfffdddjdZd@i颥'}Bɢ=) M ?i)Eo=顩i Ƽi>@IIa@i @i@m/@iBDAT read: Rx Time:05:47:19.8851 TRx dataTimestamp_ set to:1761544041.428192checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276009ԡ^A #A zA gA A I I lJI O- >ߙv,ii?AbE1jE5m4rE5Ϛ/E EE$E"E:*E:VE4ZEa@a@a@a@Pchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526901 kt? _? =ٱ j eAHRS rotation from veh to nav: [[0.243789,-0.969626,0.019781],[0.964536,0.244537,0.099362],[-0.101181,-0.005144,0.994855]] H@~4? .A?z?L?o? 繿~u?i kt?I ^;  i)quQ8qqq۹i۽94I۹۹Ii3s@ ) kAGakAIt)iݹ)IkA㥽   vA1i19Y9Y]-ByeI iMb@Mb@Mb@ 9rh|?i|?5?{GzY;?y#V@|@ )=AY@bDVD:yՁ%+=ٔ2;Q->9Y=FyeEsG=E>Q 55֯?Q 956)BYi >B>BӍCBIB~BB =BBcDBE_;B#E@ @@/@DAT read: 05:47:19.8851 LVL= 32752, 27025, 32754, 32755, AGC= 70, IDX= 201, 0.17,-0.928, 0.813,-0.701,-0.413, PHS=-0.413, 1.272,-0.332, RAW= 327.6, -6.5, CAL= 327.1, -9.6, ROT= 182.9, 9.6 Ygot valid direction response: 05:47:19.8851 LVL= 32752, 27025, 32754, 32755, AGC= 70, IDX= 201, 0.17,-0.928, 0.813,-0.701,-0.413, PHS=-0.413, 1.272,-0.332, RAW= 327.6, -6.5, CAL= 327.1, -9.6, ROT= 182.9, 9.6 PDAT read: Bearing 48.5, 3.6 (Local) ~Local bearing/azimuth received: Bearing 48.5, 3.6 (Local) DAT read: Range 11 to 50 : 194.2 m (Round-trip 259.0 ms) speed -0.7 m/s  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.984733,-0.049884,-0.166769] Fpublishing direction and range infoyVsyᅰNhp8_XſY3BCi )FItӾiТ?c@V毶@ +)ML@I+>'p0e+hkݿ o˼ G*)=IEi+>% T****** received valid address query ******% R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.! ^Ay Q A I I O >1v,?AE EE(E"E:*E&p:VEc44ZEBE 9Y=FyfEE>Q 55ٯ?Q 95[)|BYyQ I@DI/;i;5yBɮAEi9i= {?AJi= ACRi= ACji=@b=*;LgB#(@R=VsyᅰNhp8_XſZi=Ebi=+>j= xBGgL})Z=s7ȿЄrPMX氿2i=<:i="i=8u?*i=ڄWBi=LBi=\?i=i=Bi= uBDAT read: Tx time:05:47:21.2719 u$Ping request sent.uia)mQ{r=iiim`Ƽiur*@qqIul?@Iq9@ @@/@Ա^A9  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251010A .AI I  ! O > Cv,׊?Aʱ9Y;AyJ ?JosAH-?f?e=ٱ\= AHRS rotation from veh to nav: [[0.192766,-0.977540,0.085184],[0.975717,0.200158,0.088957],[-0.104010,0.065968,0.992386]]H ?`Hε?@9?ʞ?Ŷ?aF??iH-?I\^;CiY~ByI9 ?Y ?=FyfEp=E>Q 55Vݯ?Q 95)fBQ A+:YQ Ei:y?Q I@DI%;in?5yɮ@AjhFNOT Ignoring new targets: 193.05 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502965Rh :Zh :  ProNav pure pursuit: ac range: 193.050262 m, nav range: 194.607803 m, bearing: 254.710448 deg, approach rate: 0.728591 m/s, LOS rate: 0.033138 deg/s, cmd heading: 254.693601 deg, new cmd heading: 254.710448 deg. eHeadingCmd: 4.445536 target range: 193.050262 and range: 194.20 m.heA@ha*ha"ha hagififqfqԙdqddjdZd?E}BɢM=)MXΤ M>iQ)et=aaie5żi}@yIA@I-9@) @)@-0@1@Y@]fAAy A} @AB Ծ>B ˍCB xIB n~BB ! =B EDB \DB (`;B ,$E ^Ai Au >Au > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755167A؟AI&bCommunications Fault in component: RDI_PathfinderIO>!v,?A(25?2S?2=ٱ2 = >AHRS rotation from veh to nav: [[0.166308,-0.980653,0.103255],[0.980508,0.175571,0.088200],[-0.104622,0.086574,0.990737]]2H`I?an? R`?@y?E?`Ⱥ )?`?i25?I2k^;2CYF~ByFIIJ%=)HaN@NPowering downNNRRbDVVDVܲy ڽ%M=ٔ:Q->9"?Y"?= Fy  fE-j=E->1Q 5=55{߯?Q 9=55ٚ)5VBQ A= :Y9Q EE=:yE?Q IE@5%DI5:i5j?55yiɮmAqjhFNOT Ignoring new targets: 193.05 m.Rh,:Zh,:  ProNav pure pursuit: ac range: 193.050262 m, nav range: 194.897980 m, bearing: 254.726010 deg, approach rate: 0.705642 m/s, LOS rate: 0.037787 deg/s, cmd heading: 254.710458 deg, new cmd heading: 254.726010 deg. HeadingCmd: 4.445807 target range: 193.050262 and range: 194.20 m.hD@h*h"h hgfffd!d!d!jd)Zd-@?ԁ额}Bɢ=) >i) v=i4żim@ID@IE EE'E"Eغ:*EL_:VE'4ZEBEJv,c?A: ?:+?:=ٱ::= FAHRS rotation from veh to nav: [[0.140487,-0.983956,0.109974],[0.984485,0.150624,0.090014],[-0.105135,0.095622,0.989850]]:H`~?|A'??G?* ?`꺿`z? ڬ?i: ?I:$^;:CYN~ByNIXbDVVDVybA%b`=ٔf.:Q-f>9dYd=fFyffE~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258726]=E]>aQ 5m5eொ?Q 9m5e)eFBQ Au9YqQ Eu:yu^?Q Iu@e.DIe;ie?e5yyɮAjhFNOT Ignoring new targets: 193.05 m.RhM:ZhM:  ProNav pure pursuit: ac range: 193.050262 m, nav range: 195.168243 m, bearing: 254.742631 deg, approach rate: 0.732261 m/s, LOS rate: 0.044970 deg/s, cmd heading: 254.726004 deg, new cmd heading: 254.742631 deg. HeadingCmd: 4.446098 target range: 193.050262 and range: 194.20 m.hoF@h*h"h hgfffdddjdZd@?颥}Bɢ¾=) >i)kw=顱i7żig$@IoF@Ie9@a @i@m4@i E EE$E"E:*E H:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511454^A9 A I I O >?wv,I?A B>BƍCBFIB~BB+ =BBXDBa;B$EY~ByIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762868bD VD Ny%=ٔQ->9!Y!=%Fy%fE%E->)Q 555-⯊?9Q 955-)-1BQ AE9YAQ EE9yAQ IE@-9DI-3;i-&?-5yMBɮMAMEmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 193.05 m.Rh!H:Zh!H:  ProNav pure pursuit: ac range: 193.050262 m, nav range: 195.523636 m, bearing: 254.764415 deg, approach rate: 0.714919 m/s, LOS rate: 0.043742 deg/s, cmd heading: 254.742642 deg, new cmd heading: 254.764415 deg. HeadingCmd: 4.446478 target range: 193.050262 and range: 194.20 m.hI@h*h"h hgfffdddjdZd O@颕|Bɢ=) ->i)Uy=顙iļi+@II@Iiԑ E  E E %E "E :*E P:VE 4ZE BE uۤ?>?>=ٱ>)= FAHRS rotation from veh to nav: [[0.064329,-0.992290,0.105934],[0.992363,0.074804,0.098079],[-0.105247,0.098815,0.989524]]>Hw? w?p?Y&??u`K? /?i>ۤ?I>GO^;>CLNjAiLILLIPiRtUA PP)PP VSs@TTTTXIX)XiX)XIX\\ \\\\i\`i`bhA)bd `IdYdYn~BynIr:Expecting PD13 message formatbDzVDz:2y~s%=ٔ^9Q->9 Y = Fy fE_>E>Q 55*⯊?Q 9%5)BQ A%9Y!Q E%9y%:?Q I-@FDI ;i@5y1ɮ5NA1jhY]FNOT Ignoring new targets: 193.05 m.Rhe:Zh:  ProNav pure pursuit: ac range: 193.050262 m, nav range: 195.897232 m, bearing: 254.796171 deg, approach rate: 0.704298 m/s, LOS rate: 0.059753 deg/s, cmd heading: 254.764417 deg, new cmd heading: 254.796171 deg. HeadingCmd: 4.447032 target range: 193.050262 and range: 194.20 m.hN@h*h"h hgff!f!d!d!d)jd)Zd--@}|Bɢ}=) i>i)#{=顡i ļio@2@IN@IE EE$E"Ey:*E[:VE4ZEa@a@a@a@!eԅchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519552 @  @ @ /@ Q B <A <B >B čCB IB }BB 1 =B FDB WDB a;B $EBˍCB̍CB̚CB! =B =Cuo7^A= V݅y Ai}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771134IIO?׭v,=?AR ?R'?R=ٱRZ= ^AHRS rotation from veh to nav: [[0.039706,-0.994192,0.100030],[0.993661,0.049825,0.100776],[-0.105174,0.095394,0.989868]]RHcT?k`??? q̹?캿k?@?iR ?IRC^;RCYe~ByeIbDuVDuJyw %=ٔ\Q->9Y=FyfE?=E>Q 55ொ?Q 95u)BQ Ao9YQ E9yf?Q I@RDI ;ii6@K5yɮAjhFNOT Ignoring new targets: 193.05 m.Rh:Zh:  ProNav pure pursuit: ac range: 193.050262 m, nav range: 196.266373 m, bearing: 254.830341 deg, approach rate: 0.697979 m/s, LOS rate: 0.064488 deg/s, cmd heading: 254.796164 deg, new cmd heading: 254.830341 deg. HeadingCmd: 4.447628 target range: 193.050262 and range: 194.20 m.hR@h*h"h hgfffdddYjdYZde M @|BɢS=) W>i)}=i_üi9@IR@I1qqyyE EE%E"E:*E3:VE 4ZEBE7 9Y=Fy$fEE >Q 55f߯?Q 9%5(k)BQ A-B9Y)Q E59y1Q I5@_DIy;i}Y@5yEBɮEAEEjhFNOT Ignoring new targets: 193.05 m.Rh:Zh:  ProNav pure pursuit: ac range: 193.050262 m, nav range: 196.647507 m, bearing: 254.865480 deg, approach rate: 0.688757 m/s, LOS rate: 0.063377 deg/s, cmd heading: 254.830342 deg, new cmd heading: 254.865480 deg. HeadingCmd: 4.448242 target range: 193.050262 and range: 194.20 m.hW@h*h"h hgfffdddjdZd 5 @|Bɢ==) >i)I~=i޾¼i_@@IW@I9@ @@/@E EE#E"EO:*E?:VE3ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527687^A?΅A AU .AI I O >B >B CB IB }BB 2 =B B UDB b;B c%Ev,Iy?A2ZW?2xB?2O=ٱ2ٲ= :AHRS rotation from veh to nav: [[-0.009305,-0.996231,0.086237],[0.994435,-0.000169,0.105351],[-0.104939,0.086737,0.990689]]2H`` `?i?)&`C?`Iݺh4? ?i2ZW?I2~^;2CYBN~ByFeIIbDRVDRyZ4%Z]=ٔ^(Q-^>9^ ?Yb ?=bFyb(fEb >Eb>dQ 5j5faݯ?Q 9j5f>d)fBQ An9YlQ EnU9yn?Q In@fgDIf ;ifrp@f"5ypɮvRAtjh FNOT Ignoring new targets: 193.05 m.Rh:Zh:-  ProNav pure pursuit: ac range: 193.050262 m, nav range: 196.894974 m, bearing: 254.892182 deg, approach rate: 0.700153 m/s, LOS rate: 0.075453 deg/s, cmd heading: 254.865476 deg, new cmd heading: 254.892182 deg. 5HeadingCmd: 4.448708 target range: 193.050262 and range: 194.20 m.h5[@h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdMo@|Bɢ)L=MDAT read: 05:47:23.9916 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 228, 0.04,-1.428, 0.046,-1.710,-1.073, PHS=-0.252, 1.164,-0.681, RAW= 342.8, -2.8, CAL= 342.4, -5.8, ROT= 167.6, 5.8 UYgot valid direction response: 05:47:23.9916 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 228, 0.04,-1.428, 0.046,-1.710,-1.073, PHS=-0.252, 1.164,-0.681, RAW= 342.8, -2.8, CAL= 342.4, -5.8, ROT= 167.6, 5.8 ]8DAT read: $Error in header ]*Received a bad header)y }>iy)}&=yyiZ¼iE@I[@IX#Rx 1: Read direction message, but no range.`direction in FSK: [-0.971672,0.213636,-0.101056]yپᅯ츼lX?+hg޹ )EI%i?V.t@+Ht;@ 4QϽ)6;@I4Q=Dl p翫'忢~ 6)WG=I6;@i4Q=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse-9@) @)@-/@)Qq^AmE EE&E"E:*ET:VE4ZEBE v,1?A2?2n?2h,=ٱ2?= :AHRS rotation from veh to nav: [[-0.033955,-0.996263,0.079416],[0.993906,-0.025322,0.107284],[-0.104872,0.082575,0.991052]]2H`b@cT??@v?غ#?౶?i2?I2^;2CYBH~ByB`IbDNVDN:yR%VK=ٔVs/Q-V>9TYX=ZFyZ,fEZ|=E^>\Q 5b5^گ?Q 9f5^\)^BQ Af8YdQ Ef-9yf?Q If@^qDI^U:i^@^e5ylɮnlAl~B*** querying acoustic contact ***i| i|jhFNOT Ignoring new targets: 193.05 m.Rh :Zh :  ProNav pure pursuit: ac range: 193.050262 m, nav range: 197.169037 m, bearing: 254.923934 deg, approach rate: 0.679051 m/s, LOS rate: 0.078563 deg/s, cmd heading: 254.892169 deg, new cmd heading: 254.923934 deg. %HeadingCmd: 4.449262 target range: 193.050262 and range: 194.20 m.h%[`@h!*h!"h! h!g)f)f)f)d1d1d1jd9Zd=@e|Bɢe|=)i m>ii)mr=iiimLqi}GyyI}[`@I)@) @)@-Y0@)@5=@5=ԡ%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse^AA% ؟AI1 IA OM > bE}˻ 4jE}4rE}/E  E E $E "E >:*E &p:VE 4ZE a @a @a @a @v,y?AFT****** received valid address query ******FR****** received valid ping request ******Freceived new query, but waiting for acoustic response period to elapseRj?R?RH=ٱR|h= ^AHRS rotation from veh to nav: [[-0.058836,-0.995565,0.073406],[0.992789,-0.050662,0.108641],[-0.104440,0.079269,0.991367]]RH@ʲ??Tϻ?@J?G?iRj?IRo_;RCYjC~Byj]IbD~VD~k2y ;% D=ٔ Q->9"?Y"?=Fy0fE@v=E>!Q 5-5%֯?Q 9-5%T)%BQ A-8Y)Q E5 9y5?Q I5@%{DI%v:i%o@%5yɮAjhAEFNOT Ignoring new targets: 193.05 m.RhMͲ:ZhMͲ:}  ProNav pure pursuit: ac range: 193.050262 m, nav range: 197.449265 m, bearing: 254.958682 deg, approach rate: 0.631239 m/s, LOS rate: 0.078161 deg/s, cmd heading: 254.923943 deg, new cmd heading: 254.958682 deg. }HeadingCmd: 4.449869 target range: 193.050262 and range: 194.20 m.h}Se@h*h"h hgfffdddjdZdp@U|BɢU67=)Q U>iQ)] #=YYi]hieYAaaIeSe@IiE9@A @A@E;0@AB>BōCBIB}BB; =BBXDBbc;B%E5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse9^A N؅A9 II Y Ia Om >Ev,Y?A>?>?>P=ٱ>= FAHRS rotation from veh to nav: [[-0.083754,-0.994093,0.069028],[0.991015,-0.075845,0.110164],[-0.104278,0.077634,0.991513]]>Hpѫ?e?j3?߳?z?i>?I>$_;>CYN%~ByRKIbDZVDZy^%bO=ٔbعQ-b>9dYd=fFyf4fEf=Ef>hQ 5n5jү?Q 9r5j M)jBQ Ar8YpQ Er8yrJ?Q Ir@jDIj ;ij @j5yvBɮzAzEjhFNOT Ignoring new targets: 193.05 m.Rh%:Zh%:-  ProNav pure pursuit: ac range: 193.050262 m, nav range: 197.711411 m, bearing: 254.993369 deg, approach rate: 0.717104 m/s, LOS rate: 0.094763 deg/s, cmd heading: 254.958695 deg, new cmd heading: 254.993369 deg. 5HeadingCmd: 4.450474 target range: 193.050262 and range: 194.20 m.h5Hj@h1*h9"h9 h9g9f9fAfAdAdIdIjdIZdM@@}|Bɢ}r=)y }O>iy)0=顁i i׿<IHj@I1E EE#E"E:*E:VE3ZEBEE T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseԹ ^v,?A(6hA@V9ZhAYZ0A??=ٱ" = AHRS rotation from veh to nav: [[-0.108164,-0.992079,0.063868],[0.988640,-0.100600,0.111672],[-0.104362,0.075221,0.991691]]H@ Y?@?@? A??i?I1_;CY~ByFII=)<bD-VD-1y= %=4=ٔ=HD9Q-=>9AYA=EFyE9fEM^=EM>QQ 5]5Uͯ?Q 9]5UD)UBQ A]8YYQ E]8yeq?Q Ie@UDIU*:iU@U5ymBɮmAmEԉjhFNOT Ignoring new targets: 193.05 m.Rh:Zh:  ProNav pure pursuit: ac range: 193.050262 m, nav range: 198.009903 m, bearing: 255.035342 deg, approach rate: 0.656257 m/s, LOS rate: 0.092141 deg/s, cmd heading: 254.993365 deg, new cmd heading: 255.035342 deg. HeadingCmd: 4.451206 target range: 193.050262 and range: 194.20 m.hHp@h*h"h hgffIfIdIdQdQjdQZdU @颥|Bɢ=) .>i)J=itiAD6IHp@IIfA)fAE EE%E"E:*Ei:VE 4ZEa@a@a@a@Q@Q @Q@U4@Y@a@egAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^A} B} >B} ̍CB} IB} f}BB} , =B} EDB} ^DB} Oc;B} %E1 A I I O >(*v,4i?A22M?2P8?2m{=ٱ26= :AHRS rotation from veh to nav: [[-0.132914,-0.989433,0.057934],[0.985599,-0.125781,0.113018],[-0.104536,0.072122,0.991903]]2H`R@o`??`?ºv?`?i22M?I2U_;2CYB~ByF=IbDNVDNyV%V`=ٔV9Q-V>9XYX=ZFyZ=fE^=E^>`Q 5f5bȯ?Q 9f5b=)bBQ Af[8YdQ Ef8yf?Q Ij@bDIb:ib=@b 5ylɮnAljhFNOT Ignoring new targets: 193.05 m.Rh :Zh :  ProNav pure pursuit: ac range: 193.050262 m, nav range: 198.247406 m, bearing: 255.070787 deg, approach rate: 0.652687 m/s, LOS rate: 0.097290 deg/s, cmd heading: 255.035329 deg, new cmd heading: 255.070787 deg. %HeadingCmd: 4.451825 target range: 193.050262 and range: 194.20 m.h%Zu@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=X%@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse|Bɢߊ=) S>i)Ȃ=  i im9n1iiImZu@Iqԩ@  @ @ /@ ^A%N؅Eu EuEu#Eq"Eu:*EuL_:VEu3ZEqBEu() l w,1?A2?2p?2=ٱ2I%= :AHRS rotation from veh to nav: [[-0.157663,-0.986128,0.051909],[0.981922,-0.150982,0.114161],[-0.104740,0.068970,0.992105]]2HP.Ŀ`[@ٓ?k?^Sÿ9?=к?@S?i2?I2_;2CY^}By^,IbDfVDf1yn%rG=ٔr:Q-r>9r ?Yv ?=vFyvAfEv{=Ev>xQ 5U5z¯?Q 9U5z 6)zxBQ A]18YYQ E]q8y]?Q I]@zDIz^i)J=iݍi ,!I%K{@I19@ @@/@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9^Aq AE ؟AII IY Om >E  E E %E "E :*E g:VE 4ZE a @a @a @a @] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseG w,O/?A2ڭ?2?2J=ٱ2= >AHRS rotation from veh to nav: [[-0.181819,-0.982193,0.047312],[0.977665,-0.175404,0.115775],[-0.105415,0.067305,0.992148]]2H Eǿ n79?I? sƿv?:? ?i2ڭ?I2&_;2CY }By "IbDEVDE0yU%UA=ٔ]l:Q-]>9]"?Y]"?=eFyeEfEen=Ee>iQ 5u5m?Q 9u5m-.)mfBQ A8YQ EC8y?Q I@mDImu;im@m85y{BɮSA}Ejh 5FNOT Ignoring new targets: 193.05 m.Rh=:Zh=:E  ProNav pure pursuit: ac range: 193.050262 m, nav range: 198.778214 m, bearing: 255.157097 deg, approach rate: 0.632021 m/s, LOS rate: 0.105400 deg/s, cmd heading: 255.112347 deg, new cmd heading: 255.157097 deg. MHeadingCmd: 4.453331 target range: 193.050262 and range: 194.20 m.hM@hI*hQ"hQ higififfdddjdZd @Iu|Bɢ}=)y }>iy)}N؃=yi龼i%I@IB >BэCBIB=}BB =BBbDBb;B%EA@A @A@E/@A@I@M=yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Am ԩ A .AI I O >.w,'I?A2?2?22=ٱ2 = :AHRS rotation from veh to nav: [[-0.206236,-0.977556,0.043033],[0.972760,-0.200070,0.117092],[-0.105855,0.066009,0.992188]]2Heʿ"H@[? ?@ɿ ?K??i2?I2 ^;2C@Yj}Byn IbDvVDvNy~%~P=ٔ~:Q->9 ?Y ?=FyIfE Ƃ=E >Q 55?Q 95&)VBQ A7YQ E%8y%:?Q I%@DI ;io@G5y)ɮ-A)jhQUFNOT Ignoring new targets: 193.05 m.Rh];Zh];m  ProNav pure pursuit: ac range: 193.050262 m, nav range: 199.023026 m, bearing: 255.200243 deg, approach rate: 0.645035 m/s, LOS rate: 0.113541 deg/s, cmd heading: 255.157098 deg, new cmd heading: 255.200243 deg. uHeadingCmd: 4.454084 target range: 193.050262 and range: 194.20 m.hu܇@hq*hq"hq hqgqfyfyfydddjdZd @|Bɢc=) >i);=ikiNK!I܇@IE% E%E%&E!"E%O:*E% n:VE%4ZE!BE%  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse=[w, c?Alv ?v)?v*=ٱv2= ~AHRS rotation from veh to nav: [[-0.230005,-0.972297,0.041665],[0.967331,-0.223720,0.119251],[-0.106626,0.067732,0.991990]]vHpͿU?`_?`ݢ̿7? K@V?a?iv ?Ivm&_;tY }By IbDVD1y-U%-G=ٔ55:Q-5>9}"?Y}"?=}Fy}MfE}Zo=E>Q 55?Q 95C)DBQ A7YQ E8y_?Q I@DIXi)=顉i5iI@I%9@) @)@-0@)E- E-E-%E)"E-:*E-:VE- 4ZE)a=@a=@a=@a=@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1^A o셾A= .AII IY a Om >B >B B IB }BB =B B B b;B %EBe̍CBeˍCBaBe, =Be+ =Ce_C7sw,|?A2'?2?2=ٱ2= :AHRS rotation from veh to nav: [[-0.253589,-0.966485,0.039992],[0.961359,-0.247233,0.121097],[-0.107151,0.069155,0.991835]]2H`:п@ry?`t?SϿ`3?@n%?@?i2'?I2?(_;2CY^}By^II`)b= fp9v ?Yv ?=vFyvQfEz=Ez>xQ 55z?Q 95zE)z3BQ A7YQ E7y?Q I @zDIz:iz2@z^5yɮA=PExceeded connect timeout, disconnecting.AjhAMFNOT Ignoring new targets: 193.05 m.RhMY ;ZhMY ;]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapsem  ProNav pure pursuit: ac range: 193.050262 m, nav range: 199.514343 m, bearing: 255.293636 deg, approach rate: 0.620700 m/s, LOS rate: 0.120955 deg/s, cmd heading: 255.248131 deg, new cmd heading: 255.293636 deg. uHeadingCmd: 4.455715 target range: 193.050262 and range: 194.20 m.hu7@hq*hq"hy hygffQfQdQdYdYjdYZd] 1 @=|BɢE֝=)A Ef>iA)[ =顑iiI7@IiA@A @A@EO0@AԑE= E=E=&E9"E=a:*E=V:VE=4ZE9BE=(j%w,?AY~]}By~IbD VD 0y%Խ%%F=ٔ-Q-->9)Y)=-Fy-UfE5E5>9Q 5E5=?Q 9E5=)=!BQ AEw7YIQ EM7yIQ IM@=DI=*:i=A=g5yQɮUqAQԙB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 193.05 m.RhK;ZhK;  ProNav pure pursuit: ac range: 193.050262 m, nav range: 199.764099 m, bearing: 255.342222 deg, approach rate: 0.599796 m/s, LOS rate: 0.116536 deg/s, cmd heading: 255.293647 deg, new cmd heading: 255.342222 deg. HeadingCmd: 4.456563 target range: 193.050262 and range: 194.20 m.h)@h*h"h hgfffdddjdZd @ |Bɢ =)  >>i)tV=ipBiI%)@I!9@ @@4@@@@@mT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseIQ Ia Ou >! EM  EM EI EI "EM :*EM e:VEI ZEI a] @a] @a] @a] @ T****** received valid address query ****** R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse+w,!?ABf?BQ?B1w=ٱBҎ= JAHRS rotation from veh to nav: [[-0.300149,-0.953289,0.033924],[0.947767,-0.294009,0.123678],[-0.107927,0.069274,0.991742]]BH 5ӿX@^?T? ҿ@]?@ ?Z?iBf?IBX_;BCYVK}ByVIbD^ VD^:2yv|2%vN=ٔv;Q-z>9xYx=zFyzYfE~=E>!Q 5-5%C?Q 9-5% )%BQ A-H7Y)Q E57y5?Q I5@%DI%@:i% A%m5yeqBɮm^AmsEjhFNOT Ignoring new targets: 193.05 m.Rh6;Zh6;  ProNav pure pursuit: ac range: 193.050262 m, nav range: 199.998627 m, bearing: 255.392652 deg, approach rate: 0.578882 m/s, LOS rate: 0.124330 deg/s, cmd heading: 255.342223 deg, new cmd heading: 255.392652 deg. HeadingCmd: 4.457443 target range: 193.050262 and range: 194.20 m.h_@h*h"h hgfffd!d!d!jd!Zd%!@u|Bɢu=)y }1>iy)}P=yyi}{iiU I_@I @  @ @3@AIAMAABU>BUЍCBUxIBU|BBU! =BQBUaDBUb;BUw%EIIO>!=nManaging dock network, ignoring radio surface power off}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseQy R}2w,q?A2?2n?2W=ٱ29tYt=vFyv]fEz%w=Ez>|Q 55~h?Q 95~)~BQ A"7Y Q E \7y ?Q I @~DI~+;i~~A~s5ysBɮArEjhFNOT Ignoring new targets: 193.05 m.Rh;Zh;  ProNav pure pursuit: ac range: 193.050262 m, nav range: 200.227768 m, bearing: 255.444315 deg, approach rate: 0.565620 m/s, LOS rate: 0.127379 deg/s, cmd heading: 255.392658 deg, new cmd heading: 255.444315 deg. HeadingCmd: 4.458344 target range: 193.050262 and range: 194.20 m.hª@E EE$E"E:*E~:VE4ZEBEi)܅=iiQQIUª@IQIa)a@ @@/@AzAfAIiIyԁO9>ԩ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse 8w,L?Aɰ;2?2?2[=ٱ2"= :AHRS rotation from veh to nav: [[-0.346146,-0.937746,0.028556],[0.931992,-0.340213,0.125088],[-0.107586,0.069913,0.991735]]2H@'ֿ=? ? տ? ? J?i2?I2_;2CYv|ByzIbDVD:y5C%=E=ٔ=Q-=>9AYA=EFyEafEMr=EM>IQ 5U5M~?Q 9]5Mb)MBQ A]7YYQ E]27y]@Q Ie@MDIM ;iM!AMw5yiɮmAijhFNOT Ignoring new targets: 193.05 m.Rh;Zh;  ProNav pure pursuit: ac range: 193.050262 m, nav range: 200.461838 m, bearing: 255.499642 deg, approach rate: 0.587125 m/s, LOS rate: 0.138618 deg/s, cmd heading: 255.444321 deg, new cmd heading: 255.499642 deg. HeadingCmd: 4.459310 target range: 193.050262 and range: 194.20 m.h@h*h"h hgfffdddjdZdc#@|Bɢ3=) =i)J=iiI@I Աq@q @q@u/@yII O >bEjEr 4rEb/E EE&E"E:*Ee:VE4ZEa%@a%@a%@a%@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse BM %>BM ԍCBM FIBM ||BBM  =BM DDBM dDBM db;BM t%E1 >w,(?A2\?2y?2|=ٱ2*= :AHRS rotation from veh to nav: [[-0.368589,-0.929223,0.026222],[0.923418,-0.362749,0.125351],[-0.106967,0.070417,0.991766]]2H׿ 1ٚ?`?G7׿ ?@/b`??i2\?I2 _;2CYN|ByR|IbDZVDZyӽ% N=̺ٔQ->9Y=FyefE%w=E%>)Q 555-s?Q 955-)-BQ A56Y1Q E57ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsey5 @Q IE@-DI-g;i-A-{5yIɮUE AQjh)=FNOT Ignoring new targets: 193.05 m.Rh= ;Zh= ;  ProNav pure pursuit: ac range: 193.050262 m, nav range: 200.682617 m, bearing: 255.554278 deg, approach rate: 0.520350 m/s, LOS rate: 0.128627 deg/s, cmd heading: 255.499646 deg, new cmd heading: 255.554278 deg. HeadingCmd: 4.460264 target range: 193.050262 and range: 194.20 m.h{@h*h"h hgfffddd!jd!Zd%H$@u|Bɢu5=)q u$=iq)}'=yyi}i^I{@I!@! @!@%/@!IIOA>IDzDE EE#E"E:*E1]:VE3ZEBE 9Y=FyifEs=E>!Q 5-5% h?Q 9-5%)%BQ A-6Y)Q E-6y-@Q I5@%DI%:i%#A%}5y=jBɮ=l A=hEUB*** querying acoustic contact ***iY iYjhamFNOT Ignoring new targets: 193.05 m.Rhm*;Zhm*;}  ProNav pure pursuit: ac range: 193.050262 m, nav range: 200.900818 m, bearing: 255.610773 deg, approach rate: 0.577130 m/s, LOS rate: 0.149266 deg/s, cmd heading: 255.554287 deg, new cmd heading: 255.610773 deg. HeadingCmd: 4.461250 target range: 193.050262 and range: 194.20 m.hŽ@h*h"h hgfffdddjdZd$@|BɢA=) <=i)9=i箷iUL QQI]Ž@IYq9 @ @@0@ UDAT read: ]2Acoustic response timeoutmGp9YQZAԙAI!I1OEs> E%  E% E% %E! "E% :*E% C:VE% 4ZE! a5 @a5 @a5 @a5 @ 2Acoustic response timeout|Kw,L1?A2?2?2[=ٱ2i= :AHRS rotation from veh to nav: [[-0.412661,-0.910638,0.021205],[0.904761,-0.407081,0.125274],[-0.105447,0.070882,0.991896]]2H iڿ#ݶ?? ڿ`?` K%??i2?I2`;0YN|ByNJIPbDZVDZyr,%rL=ٔvQ-v>9tYt=zFyzmfEz x=Ez>aQ 5m5e[?Q 9m5e)eBQ Am6YiQ Em6ym"@Q Iu@e DIe;ie*Ae5yyɮ}E!AyjhFNOT Ignoring new targets: 193.05 m.RhQ$;ZhQ$;  ProNav pure pursuit: ac range: 193.050262 m, nav range: 201.119507 m, bearing: 255.670025 deg, approach rate: 0.530797 m/s, LOS rate: 0.143657 deg/s, cmd heading: 255.610787 deg, new cmd heading: 255.670025 deg. HeadingCmd: 4.462284 target range: 193.050262 and range: 194.20 m.hˎ@h*h"h hgfffdddjdZd%@|Bɢ=) @ki ) 7=  i iC迉Iˎ@IB<AB0>B֍CB IB |BB =BBeDB;b;Bh%E!@! @!@%0@)]2Acoustic response timeoutAu؟AIyIO~>! Rw,gK?A6?6gw@6[)=ٱ6bђ= >AHRS rotation from veh to nav: [[-0.434484,-0.900480,0.018947],[0.894611,-0.429023,0.124943],[-0.104381,0.071236,0.991983]]6H@ۿ f??`uۿ@K?9r"?Yr"?=rFyrqfErjv=Ev>tQ 5z5vnO?Q 9~5vE)vB|Q Ab6YQ E6y@Q I@vDIvx5;iv0Av5y lBɮ !AgEjh1=FNOT Ignoring new targets: 193.05 m.Rh=';ZhE';M  ProNav pure pursuit: ac range: 193.050262 m, nav range: 201.321396 m, bearing: 255.727262 deg, approach rate: 0.517927 m/s, LOS rate: 0.146690 deg/s, cmd heading: 255.670018 deg, new cmd heading: 255.727262 deg. UHeadingCmd: 4.463283 target range: 193.050262 and range: 194.20 m.hU6ӎ@hQ*hQ"hQ hYgYfYfafadadadajdiZdmZ&@颕|Bɢ؂=) 0i) .=顙ii+T忉I6ӎ@IEe EeEe&Ea"EeO:*Eex:VEe4ZEaBEe Qm 2Acoustic response timeoutԁ NXw,ђe?A2"?2@2Ɍ=ٱ2d= :AHRS rotation from veh to nav: [[-0.456209,-0.889716,0.016726],[0.883879,-0.450878,0.124370],[-0.103112,0.071523,0.992095]]2H2ݿx@ ?H?-ֿܿ?ePO?=?i2"?I2 ,`;2CYV'|ByVI XXbDbVDb1yfZ,%jK=ٔj]OQ-j>9j ?Yn ?=nFynufErw=Er>tQ 5v5vDB?Q 9z5vٷ)vBQ Az76YxQ Ezy6yz=@Q Iz@vDIvn:iv<7Av5yɮ"Ajh)-FNOT Ignoring new targets: 193.05 m.Rh5+;Zh5+;y  ProNav pure pursuit: ac range: 193.050262 m, nav range: 201.525543 m, bearing: 255.787843 deg, approach rate: 0.507148 m/s, LOS rate: 0.150343 deg/s, cmd heading: 255.727255 deg, new cmd heading: 255.787843 deg. HeadingCmd: 4.464340 target range: 193.050262 and range: 194.20 m.hێ@h*h"h hgfffdddjdZd`n'@%|Bɢ-^s=)-7 -zi))-H=)1i54Wi=$忉99I=ێ@IAI@ @@4@ԩEm EmEm%Ei"Em:*Emc:VEm 4ZEiau@au@au@au@2Acoustic response timeoutA؟AIIO%M>B N>B ڍCB IB {BB  =B B iDB b;B _%E t_w, n?A4<ɰR4?R@R=ٱR= ZAHRS rotation from veh to nav: [[-0.497752,-0.867237,0.011933],[0.861481,-0.492761,0.122628],[-0.100468,0.071318,0.992381]]RH*߿hp?@?d߿d?@=A??iR4?IR]_;RCYz{ByzIbD VD NyϽ-2Acoustic response timeout%-F=ٔ5AѻQ-=>9E"?YE"?=EFyMzfEMM=EU>aQ 5m5e3?Q 9m5e ӷ)eBQ Au6YqQ EuJ6y}F @Q I}@e%DIen;ie=Ae5yɮs#AjhFNOT Ignoring new targets: 193.05 m.Rh0;Zh0;   ProNav pure pursuit: ac range: 193.050262 m, nav range: 201.727737 m, bearing: 255.853625 deg, approach rate: 0.474798 m/s, LOS rate: 0.154316 deg/s, cmd heading: 255.787852 deg, new cmd heading: 255.853625 deg. HeadingCmd: 4.465488 target range: 193.050262 and range: 194.20 m.hG@h*h"h hg!f!f!f)d)d)d)jd1Zd5`"C(@颕}|BɢAyi=) fi)˅=顡i ijZ迉IG@I@ @@4@1AIIYIiEu EuEu&Eq"Eu:*Eux:VEu4ZEqBEuE-iI2Acoustic response timeoutY 'fw,L?AF(9Y=Fy~fES=E>Q 55"?Q 95˷)sBQ A5YQ E #6y  @Q I @0DI:iBEA5yeBɮ#A]E5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 193.05 m.RhM8;ZhM8;]  ProNav pure pursuit: ac range: 193.050262 m, nav range: 201.941910 m, bearing: 255.926468 deg, approach rate: 0.475082 m/s, LOS rate: 0.161412 deg/s, cmd heading: 255.853613 deg, new cmd heading: 255.926468 deg. eHeadingCmd: 4.466760 target range: 193.050262 and range: 194.20 m.he@ha*ha"ha hagafififidqdqdqjdqZdul')@颥z|BɢfZ=) .i)߂=顩iӱiM{迉I@I=BDAT read: Response Not Received E*response not receivedTDAT read: user:506>Tx time:05:47:33.7219 ԉE  E E #E "E ~ ;*E ':VE 3ZE a @a @a @a @Թ  DAT read:  2Acoustic response timeout1lw,%?ABYB?B @B`=ٱBސ= JAHRS rotation from veh to nav: [[-0.538069,-0.842873,0.006776],[0.837221,-0.533495,0.120184],[-0.097685,0.070340,0.992729]]BH7`{??@d@_ľ?`?n?iBYB?IB_;BC )94  i ,I  Iis@ ) =99AEkAIE)EaFiA)AIMkAMI IIMvAIiQQYQY]{By]IbDmVDmyD %a=ٔQ->9 ?Y ?=FyfE=E>`?bƷ)eBQ A5YQ E6yL@Q I@9DI:i KAyɮ$AjhFNOT Ignoring new targets: 193.05 m.Rh7;Zh7;-  ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.107346 m, bearing: 255.985326 deg, approach rate: 0.452313 m/s, LOS rate: 0.160791 deg/s, cmd heading: 255.926478 deg, new cmd heading: 255.985326 deg. UHeadingCmd: 4.467787 target range: 193.050262 and range: 194.20 m.hU@hQ*hQ"hY hYgYfYfYfadadadajdaZdm)@ԑx|Bɢ0I=) X_i)\-=ii^迉I@IAA@ABh>BލCBIBA{BB =BCDBlDBa;BW%EBU֍CBU׍CBUØCBU =BU =CU|!7Թq歼I1=2Acoustic response timeout)1@ @@ 4@A>A>I I O > ..sw,V?A:LP?: @:=ٱ:.= FAHRS rotation from veh to nav: [[-0.557969,-0.829848,0.004808],[0.824255,-0.553518,0.119251],[-0.096299,0.070501,0.992853]]:H s?M`?@k ;?` ` ?r?i:LP?I:_;8Y5R{By5IbDAVDAyU 1%UL=ٔUgdQ-]>9YYY=]Fy]fEet=Ee>iQ 55m?Q 95mc)mUBQ A5YQ E5y@Q I@mBDImM! - 2Acoustic response timeoutRyw,?A:J?: @:nJ=ٱ:= FAHRS rotation from veh to nav: [[-0.577055,-0.816699,0.003259],[0.811136,-0.572650,0.118867],[-0.095212,0.071237,0.992905]]:H;we"Nj??`&Sn?`_9aYa=mFymfEml=Em>qu?uo)uFBQ A}5YQ E5yP@Q I@uKDIu;iuWAqyɮr&AjhFNOT Ignoring new targets: 193.05 m.RhD;ZhD;  ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.458237 m, bearing: 256.119046 deg, approach rate: 0.442211 m/s, LOS rate: 0.172228 deg/s, cmd heading: 256.051279 deg, new cmd heading: 256.119046 deg. HeadingCmd: 4.470120 target range: 193.050262 and range: 194.20 m.h: @h*h"h hgfffdddjdZd{+@颕s|Bɢ.=) i)%0=i᭼i迉I: @IQE- E-E-'E)"E-1;*E-':VE-'4ZE)a5@a5@a5@a5@2Acoustic response timeoutԁ19@ @@/@I1 IA OU >Bu y>Bu ߍCBu EIBu zBBu =Bq Bu mDBu a;Bu d%Eԩ y=w,?A@r2Acoustic response timeoutY= {By=bIQQbD}VD}y޿%G=ٔQ->9Y=FyfEE>Q 55宊?Q 95a)6BQ AO5YQ E5yUDI^;iy^A5yiBɮ#'A[EjhFNOT Ignoring new targets: 193.05 m.Rhk?;Zhk?;  ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.635361 m, bearing: 256.187856 deg, approach rate: 0.431159 m/s, LOS rate: 0.167352 deg/s, cmd heading: 256.119035 deg, new cmd heading: 256.187856 deg. HeadingCmd: 4.471322 target range: 193.050262 and range: 194.20 m.h@h*h"h hgf f f dddjdZd N,@Eq|BɢE)"=)A ERiI)M*=IIiMpiU%翉QQIU@IYaaaaԡ@ @@/@II!E5 E5E5#E1"E5a;*E5B:VE53ZE1BE5h2Acoustic response timeout -ew,?A62@6T(@6=ٱ6m= >AHRS rotation from veh to nav: [[-0.615259,-0.788315,0.003835],[0.782943,-0.610484,0.119621],[-0.091958,0.076600,0.992812]]6H@4`9jo? ?@@|?@? ?i62@I6E`;6CYfzByfTIlbDrVDrN2yzx%zU=ٔ~X Q-~>9|Y=FyfE.=E>  oծ? ) (BQ A(5YQ Ed5y^@Q I@ ^DI ;i dA y%aBɮ%B'A-REjhIUFNOT Ignoring new targets: 193.05 m.RhUE;ZhUE;e  ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.790359 m, bearing: 256.254310 deg, approach rate: 0.403347 m/s, LOS rate: 0.172798 deg/s, cmd heading: 256.187856 deg, new cmd heading: 256.254310 deg. mHeadingCmd: 4.472481 target range: 193.050262 and range: 194.20 m.hm@hi*hi"hi hqgqfqfqfydydydyjdZd`-@颭o|BɢR=) Xi)] =11i5Bi=(翉99IE@IA2Acoustic response timeout@ @@4@IIO>1a bEjErE0EE  EE EE (EA "EE ;*EE :VEE c44ZEA aU @aU @aU @aU @ 2Acoustic response timeoutw,4?A1]m@]@]Ҹ=ٱ]= uAHRS rotation from veh to nav: [[-0.633764,-0.773517,0.003829],[0.768259,-0.628863,0.119624],[-0.090123,0.078755,0.992812]]]HG ]o? ??NB)??i]m@I]S`;YYzBy@IbDVD1yߘ%?=ٔ⌻Q->9Y=FyfEb=E>Q 55®?Q 95)BQ A5YQ E85y@hDI;izkA5ydBɮ'AQEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 193.05 m.Rh 'H;Zh 'H;  ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.957230 m, bearing: 256.329421 deg, approach rate: 0.389082 m/s, LOS rate: 0.174989 deg/s, cmd heading: 256.254300 deg, new cmd heading: 256.329421 deg. %HeadingCmd: 4.473793 target range: 193.050262 and range: 194.20 m.h%O)@h!*h!"h! h!g)f)f1f1d1d1d1jd9Zd=a-@em|Bɢm_=)i m;ii)mT=iqiuJiu/翉yyI}O)@IyB A <B>BCBIBkzBB =BBpDBb;B%E!a@ @@4@A>A>I!I1O=/>2Acoustic response timeoutԙԹ Qzw,BN?A2u?@25@2춴=ٱ2"e= :AHRS rotation from veh to nav: [[-0.652080,-0.758145,0.002742],[0.753011,-0.647235,0.118579],[-0.088125,0.079388,0.992941]]2H BNwf??&0[? ]R?+?i2u?@I2*`;2CԹE EE'E"E ;*En:VE'4ZEBEQQ)u= bDVDky%;=ٔQ->9Y=FyfE`=E>ï?#)BQ A4YQ E5yj@Q I@rDI;itrAygBɮ(APEjhFNOT Ignoring new targets: 193.05 m.Rh OK;Zh OK;  ProNav pure pursuit: ac range: 193.050262 m, nav range: 203.120972 m, bearing: 256.406894 deg, approach rate: 0.375983 m/s, LOS rate: 0.177749 deg/s, cmd heading: 256.329432 deg, new cmd heading: 256.406894 deg. HeadingCmd: 4.475144 target range: 193.050262 and range: 194.20 m.hb4@h*h!"h! h!g!f!ffdddjdZd.@l|Bɢ=) iA)E{=AAiEAꧼiMm翉IQIUb4@IQ9@ @@4@ A؟AI ЀG) A I1 9 Y AO > 2Acoustic response timeout9 w,och?A2@2N@2=ٱ2u = :AHRS rotation from veh to nav: [[-0.670177,-0.742199,0.001849],[0.737193,-0.665364,0.117634],[-0.086077,0.080198,0.993055]]2Hr`9"?Y"?=FyfEZ=E>H?T)BQ A4YQ E4y@{DIё;igxAyɮ!)Ajh FNOT Ignoring new targets: 193.05 m.Rh=I;ZhUI;m  ProNav pure pursuit: ac range: 193.050262 m, nav range: 203.252808 m, bearing: 256.472595 deg, approach rate: 0.354398 m/s, LOS rate: 0.176500 deg/s, cmd heading: 256.406886 deg, new cmd heading: 256.472595 deg. uHeadingCmd: 4.476291 target range: 193.050262 and range: 194.20 m.hu=@hq*hy"hy hygyfyffdddjdZdg/@5j|Bɢ5<)9 =Ji9)=€=99i=ԁiEMH翉AAIM=@IiE  E E &E "E  ;*E $:VE 4ZE a@a@a@a@@ @@/@ImBDAT read: Rx Time:05:47:36.4000 uTRx dataTimestamp_ set to:1761544057.808875}2Acoustic response timeoutAAIiIO>iB >B CB IB zBB  =B B qDB b;B %Eԡ w,jK?ANX@NM@N[=ٱNþ= VAHRS rotation from veh to nav: [[-0.687972,-0.725737,-0.000782],[0.720853,-0.683466,0.115091],[-0.084060,0.078616,0.993355]]NH <9I:? v?* ??iNX@INE7`;NC^2Acoustic response timeoutY5gzBy5IbD VD2y%F=ٔQ->9Y=FyfEp=E>:? )BQ A4YQ E4y@DI:i~AyjBɮ)AOEjhFNOT Ignoring new targets: 193.05 m.RhS;ZhS;-  ProNav pure pursuit: ac range: 193.050262 m, nav range: 203.395798 m, bearing: 256.547791 deg, approach rate: 0.352382 m/s, LOS rate: 0.185183 deg/s, cmd heading: 256.472592 deg, new cmd heading: 256.547791 deg. 5HeadingCmd: 4.477603 target range: 193.050262 and range: 194.20 m.h5H@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE -0@i}i|Bɢ}E EE#E"Ef;*Ek:VE3ZEBEWTx time:05:47:37.4719 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.691978,0.706625,0.147809]Fpublishing direction and range infoyim#dj;$濿?%)k?YmMCiimdi i)mBImP=imr?mMm0>mC>m'g> m>)mQ @Imiim?Ͽvq0C? m!)mImQ @imii2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. w, $?A6@6X@6=ٱ6qϜ= >AHRS rotation from veh to nav: [[-0.705321,-0.708876,-0.004133],[0.704078,-0.701202,0.112207],[-0.082439,0.076232,0.993676]]6H Lp·?>p?` ? 2?i6@I6z`;6CYRzByI !!%A%A)-BAbD-VD-Ny=Z%ES=ٔEtQ-E>9IYI=MFyMfEM=EM>Y]y?]2)]BQ Aej4YaQ Ee4ye@]DI]:i]AYyiɮm*Aqii?AJiWLCRiWLCjiY@bԬaQ( b@>.4>@R#dj;$濿?%)k?ZiQ @bij>#qH$\h^VJ@ZXR>Z[ 3R?2ijE:i/"iG?*izBiBi.e]>?izijBixICi[^@] addTargetRange:: Added new target pos. range: 205.500000 m, deltaT: 16.380046 s, deltaX: 11.300003 m, approachRate: 0.689864 m/s, rangeRepo size: 2 m Added new target pos. range: 204.343124 m, bearing: 269.202202 deg, lat: 36.779455 deg, lon: -121.859740 deg, deltaT: 16.380046 s, deltaX: 11.292862 m, approachRate: 0.689428 m/s, posRepo size: 2 jhFNOT Ignoring new targets: 204.34 m.RhZh ProNav: ac range: 204.343124 m, nav range: 201.469330 m, bearing: 258.490943 deg, approach rate: 0.000000 m/s, LOS rate: 0.185183 deg/s, cmd heading: 256.547779 deg, new cmd heading: 256.776574 deg. Bh-;HeadingCmd: 4.481596 target range: 204.343124 and range: 205.50 m.h=i@h)*h)"h1 h1g1f1f9f9dAdAdIjdMi@ZdU@?颥h|BDAT read: 2Acoustic response timeoutɢ%<)! -}i))- ~=))i-rti5w濉11I5=i@I9@ @@/@A .AII1OE>! E%  E% E% (E! "E% ;*E% :VE% c44ZE! a- @a- @a- @a- @} 2Acoustic response timeoutP߬w,?AJ;ɰJp;Lx @m@/=ٱ= AHRS rotation from veh to nav: [[-0.722533,-0.691309,-0.006135],[0.686578,-0.718571,0.110751],[-0.080972,0.075809,0.993829]]H 5!y`s?@.Z? 4h?s?iLx @IK^`;Y&zByIa-a- a-a5 a5a5 a5a5 a5a5 i5Mb@Mb@Mb@1111 195d;O?Q{GzY54?y55ף5A5G A 5|A)5^A1Y5AAAAAB>BCBIByBB =BBrDBc;B]&EbDMVDMky %0=ٔ1PQ->9 ?Y ?=FyfEY=E>!Q 5-5%f?Q 955%)%ͿBQ A5T:Y54?Q E5:y5@Q I5@%DI%5;i%|;%5yEfBɮE*AEEEIeB*** querying acoustic contact ***ia iajhquFNOT Ignoring new targets: 204.34 m.Rh}E;Zh}E; ProNav: ac range: 204.343124 m, nav range: 201.652985 m, bearing: 258.567230 deg, approach rate: 0.416620 m/s, LOS rate: 0.172900 deg/s, cmd heading: 256.776563 deg, new cmd heading: 257.005216 deg. BhQ;HeadingCmd: 4.485587 target range: 204.343124 and range: 205.50 m.h@h*h"h hgfff&{BdddjdZd?g|BɢX<) <i)&|=i⡼ie濉aiIm@Ii9@ @@@y2Acoustic response timeoutA II)O5>ԡ &ųw, ?A2 @2@2ˇ=ٱ2l= :AHRS rotation from veh to nav: [[-0.739038,-0.673598,-0.009404],[0.668925,-0.735421,0.108148],[-0.079764,0.073635,0.994090]]2H@32B g??@jkٲ??i2 @I2I`;2CPY^+zBybIbDjVDjyrcj<%rv=ٔr>oQ-r?9tYt=vFyvfEv=Ez?xQ 55zX?Q 95zÉ)zBYyc@Q I@zDIz;iz;z 5y ɮ*Ajh1=FNOT Ignoring new targets: 204.34 m.RhE(@;ZhE(@;M ProNav: ac range: 204.343124 m, nav range: 201.780228 m, bearing: 258.622750 deg, approach rate: 0.385266 m/s, LOS rate: 0.167996 deg/s, cmd heading: 257.005211 deg, new cmd heading: 257.171664 deg. BhU;UHeadingCmd: 4.488492 target range: 204.343124 and range: 205.50 m.hU@hY*hY"hY hYgYfafafadadidijdiZdm 3l?额f|BɢN<) i)z=顡iՌi}忉I@Ix>i>E EEE"E';*EE:VEZEBEA=>ԱI)I9OM0> 2Acoustic response timeout w,ŭ?A2 @2&@2j =ٱ24= :AHRS rotation from veh to nav: [[-0.755180,-0.655366,-0.014101],[0.650789,-0.752138,0.103741],[-0.078594,0.069166,0.994504]]2H o*ጿ`C??ܴ??i2 @I2;q`;2CYB$zByBIIF=)FU?bDNVDNܲyV%VN=ٔVAQ-Z>9XYX=ZFyZfE^{=Eb>`Q 5f5bG?Q 9f5b)bBYhyj@Q Ij@bDIb :ib:b 5lyriBɮr*ArDEjh  FNOT Ignoring new targets: 204.34 m.RhA;ZhA;% ProNav: ac range: 204.343124 m, nav range: 201.927338 m, bearing: 258.690261 deg, approach rate: 0.369087 m/s, LOS rate: 0.169255 deg/s, cmd heading: 257.171676 deg, new cmd heading: 257.374060 deg. Bh%Q;-HeadingCmd: 4.492025 target range: 204.343124 and range: 205.50 m.h-@h)*h)"h) h1g1f1f1fdddjdZdbj?%d|Bɢ%+<)) -i))-x=11iUi]D忉aaIe@Ii )@) @)@-4@)E EE'E"E*;*EV:VE'4ZEa@a@a@a@E2Acoustic response timeoutI!IAOmV>9Bȿ>BCBwIByBB =BBuDBAd;B&EBuCBuCBuȖCBu =Bu =Cu[6a w,?A@2!@28@2=ٱ2N= :AHRS rotation from veh to nav: [[-0.770773,-0.636804,-0.019751],[0.632334,-0.768415,0.098447],[-0.077868,0.063391,0.994946]]2H`+`9 9QYQ=UFyUfE]i=E]>aQ 5m5e$5?Q 9m5e)eBYmz3?Q Em:ym@Q Im@eDIe:ie:e 5yyɮ}+Ayjh%FNOT Ignoring new targets: 204.34 m.Rh%#;;Zh-#;;= ProNav: ac range: 204.343124 m, nav range: 202.079041 m, bearing: 258.762234 deg, approach rate: 0.345109 m/s, LOS rate: 0.163609 deg/s, cmd heading: 257.374068 deg, new cmd heading: 257.589825 deg. Bh=;EHeadingCmd: 4.495790 target range: 204.343124 and range: 205.50 m.hEݏ@hA*hA"hA hAgAfIfIfM@{BdIdqdqjdqZdu`Y0?b|BɢB<) ei)uv=iei[俉Iݏ@Ii9@ @@B4@I IO%,>ԑE EEE"E1;*E*:VEZEBEZ?i2z@I2)n`;2CYBzByFIbDN VDN:2yVpԼ%VU=ٔV˺Q-V>9XYX=ZFyZfE^߀=E^>`Q 5f5b$?Q 9f5bz)bBYdyf@Q If@bDIb:ibR:bF5ynmBɮn^+Aljh FNOT Ignoring new targets: 204.34 m.Rh L;Zh L; ProNav: ac range: 204.343124 m, nav range: 202.210892 m, bearing: 258.828101 deg, approach rate: 0.358764 m/s, LOS rate: 0.179105 deg/s, cmd heading: 257.589820 deg, new cmd heading: 257.787291 deg. Bh%;%HeadingCmd: 4.499237 target range: 204.343124 and range: 205.50 m.h%@h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd= c@ԙ`|Bɢx<) i) t=  i 3雼i=jX俉9AIE@IIY2Acoustic response timeout9@ @@/@AeAzAIqIO>E  E E $E "E 1;*E y:VE 4ZE a @a @a @a @! e 2Acoustic response timeout/w,]N7?AM;@M<1 @MZ=ٱMKSX= AHRS rotation from veh to nav: [[-0.800570,-0.598484,-0.030080],[0.594303,-0.799404,0.088075],[-0.076758,0.052634,0.995660]]MHD&@[͞?ඔ?g?`q?iM;@IMJY`;MCY zByIBUп>BUCBUdIBUmyBBU =BQBUwDBUd;BU+'EimMb@Mb@Mb@iiii i9ml?~jtMbYm7?ymDmmAm A mA)m^AiYm A@AAAbDVDNy-<%5'=ٔ5%Q-5>99Y9==Fy=fE=L=E=>AQ 5M5E ?Q 9U5Et)EBYU7?Q EU:yU@Q IU@EDIEq:iE:Eg5y]pBɮeY+AeCEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 204.34 m.RhI;ZhI; ProNav: ac range: 204.343124 m, nav range: 202.381531 m, bearing: 258.914346 deg, approach rate: 0.349414 m/s, LOS rate: 0.176454 deg/s, cmd heading: 257.787295 deg, new cmd heading: 258.045812 deg. Bh2;HeadingCmd: 4.503749 target range: 204.343124 and range: 205.50 m.h@h*h"h hgfff\{BdddjdZdh@^|Bɢ<) i)Er=i05i㿉 I @I !9@ @@/@I9IQO]U>2Acoustic response timeoutIq iw,aQ?Aɰ;2@2!@2 ќ=ٱ2>= :AHRS rotation from veh to nav: [[-0.815075,-0.578256,-0.035677],[0.574283,-0.814536,0.082033],[-0.076496,0.046374,0.995991]]2H3D``??@:`?@(?i2@I2Om`;2CYnzBynIbDzVDzy<%w=ٔOQ-?9 Y = Fy fE+=E?Q 5%5(?Q 9%5q)wBY!y%@Q I%@DIY;i:5y1ɮ56+A1jhYeFNOT Ignoring new targets: 204.34 m.RheL;ZheL;u ProNav: ac range: 204.343124 m, nav range: 202.492569 m, bearing: 258.973644 deg, approach rate: 0.335597 m/s, LOS rate: 0.179119 deg/s, cmd heading: 258.045804 deg, new cmd heading: 258.223597 deg. Bhu;}HeadingCmd: 4.506852 target range: 204.343124 and range: 205.50 m.h}"8@hy*h"h hgfffdddjdZd@ @E EEE"E;*EǙ:VEZEBE]ԁԩM BDAT read: Rx Time:05:47:40.1522 M TRx dataTimestamp_ set to:1761544061.604159U 2Acoustic response timeout =w,j?AY zBy IbD-VD-:y=IN<%EF=ٔEQ-E>9IYI=MFyUfEUEU>aQ 5u5eꭊ?Q 9u5e'l)eiBYqyyQ I}@eDIe0;ieGD;e5yoBɮ+A9EjhFNOT Ignoring new targets: 204.34 m.RhJ;ZhJ; ProNav: ac range: 204.343124 m, nav range: 202.631653 m, bearing: 259.047664 deg, approach rate: 0.333201 m/s, LOS rate: 0.177208 deg/s, cmd heading: 258.223607 deg, new cmd heading: 258.445515 deg. Bh;;HeadingCmd: 4.510725 target range: 204.343124 and range: 205.50 m.hW@h*h"h hgfffdd d jd Zd i @=Z|Bɢ=Ϣ<)A EIiA)Eo=AAiE{OiM⿉IIIMW@IQI]fA)YԱ 9@  @ @  0@A>A>bEM!4jEMT4rEM5/E EE%E"Ef;*E:VE 4ZEa@a@a@a@2Acoustic response timeoutA]؟AIaIqOY>Bm̿>BmCBiBiBiBiBmvDBme;Bm'E1 Q 'w,؄?A2P@2$@2=ٱ2$^= :AHRS rotation from veh to nav: [[-0.842334,-0.537172,-0.043821],[0.533556,-0.842614,0.072937],[-0.076104,0.038056,0.996373]]2He@0@o? ?{` |?`J?i2P@I2'`;2CY^zBy^IIb=)b4=b=b=-DAT read: 05:47:40.1522 LVL= 24016, 25297, 29858, 30067, AGC= 63, IDX= 444, 0.02, 0.719, 0.442,-0.994, 0.536, PHS= 0.285,-0.049,-1.574, RAW= 39.7, 15.4, CAL= 36.3, 17.5, ROT= 113.7, -17.5 5Ygot valid direction response: 05:47:40.1522 LVL= 24016, 25297, 29858, 30067, AGC= 63, IDX= 444, 0.02, 0.719, 0.442,-0.994, 0.536, PHS= 0.285,-0.049,-1.574, RAW= 39.7, 15.4, CAL= 36.3, 17.5, ROT= 113.7, -17.5 =PDAT read: Bearing 67.8, 65.7 (Local) E~Local bearing/azimuth received: Bearing 67.8, 65.7 (Local) MDAT read: Range 11 to 50 : 207.0 m (Round-trip 276.1 ms) speed -0.4 m/s UTDAT read: user:508>Tx time:05:47:41.2219 ]R#Rx 1: Read range and direction messages.e^direction in FSK: [-0.383344,0.873283,0.300706]eFpublishing direction and range infoy|~{՘ؿ?|$?->?Y~OC|~]~b~t ~su)~?I~>i~9H~xɿ~a1?~>~0"? ~a>)~?I~a||~A=? nσh8? ~c)~I~?i~a||=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9^I +?MbMb`?YX9?y;fA5 A "A)tAY= AbDVDJyv% 2=ٔ R^Q->9"?Y"?=FyfE=E>!)Q 5m5%]ԭ?Q 9m5%f)%\BYm:?Q Eu:yuC@Q Iu@%DI%&?Zi~?bi~aj~[BUg@ơs#gչR@Z~T_tfĿcfSa+?2i~=:i~<"i~?*i~ Bi~ Ci~?i|i|i~ICi~b@ addTargetRange:: Added new target pos. range: 207.000000 m, deltaT: 3.796066 s, deltaX: 1.500000 m, approachRate: 0.395146 m/s, rangeRepo size: 3  Added new target pos. range: 205.855759 m, bearing: 260.155548 deg, lat: 36.779504 deg, lon: -121.859740 deg, deltaT: 3.796066 s, deltaX: 1.512634 m, approachRate: 0.398474 m/s, posRepo size: 3 jhFNOT Ignoring new targets: 205.86 m.RhZh ProNav: ac range: 205.855759 m, nav range: 201.828003 m, bearing: 260.645310 deg, approach rate: 0.000000 m/s, LOS rate: 0.177208 deg/s, cmd heading: 258.445506 deg, new cmd heading: 258.701628 deg. BhHeadingCmd: 4.515195 target range: 205.855759 and range: 207.00 m.h{|@h*h"h hgfff n{Bd d d jd i@Zd`?}V|Bɢ}><) =i)Xl=顁ii~M⿉I{|@IY1@1 @1@5/@1E EE(E"E7;*E˭:VEc44ZEBEZԁ cPw,\?A,2Nj@2T&@2x=ٱ2= >AHRS rotation from veh to nav: [[-0.855244,-0.516186,-0.045938],[0.512599,-0.855655,0.071388],[-0.076156,0.037506,0.996390]]2H(^ %6g?axF?~`4?m?i2Nj@I2)`;0Y^zBy^IbDjVDjk1yr<%rs=ٔr%9Q-r?9tYt=vFyvfEv =Ez?x j> Q 5E5zí?Q 9e5zc߀GfA)zRBEs9EfAYEAYQyU @Q IU@zDIz8=izR6=z!5yerBɮe.+Ae8EjhFNOT Ignoring new targets: 205.86 m.RhD;ZhD; ProNav: ac range: 205.855759 m, nav range: 201.936218 m, bearing: 260.706419 deg, approach rate: 0.304476 m/s, LOS rate: 0.171846 deg/s, cmd heading: 258.701638 deg, new cmd heading: 258.884867 deg. Bh;HeadingCmd: 4.518394 target range: 205.855759 and range: 207.00 m.h@h*h"h hgfffdddjdZd?ԉ颭T|Bɢ4{<) i)/k=顱i'iΈI@I 2Acoustic response timeoute9@a @a@e0@aIaIqO|> E  E E %E "E ;*E :VE 4ZE a @a @a @a @ 2Acoustic response timeoutAzw,j?A`m$@m(@mtH=ٱm= AHRS rotation from veh to nav: [[-0.867746,-0.494739,-0.047433],[0.491126,-0.868202,0.070855],[-0.076236,0.038189,0.996358]]mH ϩ߿@I n?@O#?@4?*?im$@Im_;mCYzBB=>B=CB=kIB=xyBB= =B9B=uDB=f;B=(EyuIiUMb@Mb@Mb@QQQQ Q9U r?RQ~jtxYUC?yU½UĻUAU A UA)UAQYU AbDVDNyB;%#=ٔ'9Q->9Y=FyfEK=E>1Q 5E55?Q 9E55\)5ABYE?Q E:y- @Q I@5DI5iE>%2Acoustic response timeout)59@1 @1@5o0@1A=fAzA=dAIIO>A }aw,_?A2@2)@2^=ٱ2 w(= :AHRS rotation from veh to nav: [[-0.879875,-0.472784,-0.047912],[0.469044,-0.880224,0.072136],[-0.076278,0.040998,0.996243]]2H@' B޿􇨿?*`w?`?9?i2@I2_;2CYB/zByFI DDbDNVDN:yV+q=%V=ٔV9Q-Z?9XYX=ZFyZfE^@=E^?Q 5%5?Q 9-5pY)6BY)y-!@Q I-@DI:i:5y1ɮ5*A9jhYeFNOT Ignoring new targets: 205.86 m.Rhe{;Zhm{;u ProNav: ac range: 205.855759 m, nav range: 202.217484 m, bearing: 260.863972 deg, approach rate: 0.389642 m/s, LOS rate: 0.226406 deg/s, cmd heading: 259.179970 deg, new cmd heading: 259.357171 deg. Bh}a<HeadingCmd: 4.526637 target range: 205.855759 and range: 207.00 m.h5ڐ@h*h"h hgfffdddjdZd?E EE"E"Ef;*En:VE(3ZEBEWy- 2Acoustic response timeoutԡ w,.;?A6V@6/L+@6ݹ=ٱ68= FAHRS rotation from veh to nav: [[-0.891175,-0.451111,-0.048019],[0.447171,-0.891333,0.074595],[-0.076452,0.045004,0.996057]]6H ܿ@@r? ̅?V ? ?i6V@I6_;6CYn7zByrIbD~VD~1y<%D=ٔ[9Q-u>9qYq=uFyyufExk=E>Q 55 ?Q 95T)'BYya#@Q I@DI7;iD;5yzBɮ*A6EjhFNOT Ignoring new targets: 205.86 m.Rhb;Zhb; ProNav: ac range: 205.855759 m, nav range: 202.351196 m, bearing: 260.946544 deg, approach rate: 0.320288 m/s, LOS rate: 0.197657 deg/s, cmd heading: 259.357173 deg, new cmd heading: 259.604723 deg. Bh<HeadingCmd: 4.530957 target range: 205.855759 and range: 207.00 m.h@h*h"h hgfffdddjdZd@c?-K|Bɢ5~<)1 5i1)=Df=99i=iEI࿉AAIE@II@ @@/@IQIaOm>ԩE EE&E"E ;*E':VE4ZEa@a@a@a@2Acoustic response timeoutBM>BMCBM}IBMyBBM =BIBMsDBMg;BMU(E tsx,?A2@2$,@2ӏ=ٱ2s== :AHRS rotation from veh to nav: [[-0.902160,-0.428520,-0.049785],[0.424501,-0.902355,0.074525],[-0.076859,0.046099,0.995976]]2H}`lۿ[}`+?` ?Y?`?i2@I2_;2CYZNzByZIr2Acoustic response timeoutiEMb@Mb@Mb@AAAA A9Ew/?x&MbPYEF?yE7 EE AEG A EKA)EAAYEQ AbD]VD]02yml]=%mE=ٔuˀ:Q-u>9qYq=}Fy}fE},=E}>Q 55%m?Q 95O)BYI?Q E:y!@Q I@DIa:iG ;D5y{Bɮ*A,EjhFNOT Ignoring new targets: 205.86 m.Rhcd;Zhcd; ProNav: ac range: 205.855759 m, nav range: 202.490189 m, bearing: 261.027235 deg, approach rate: 0.344179 m/s, LOS rate: 0.199672 deg/s, cmd heading: 259.604726 deg, new cmd heading: 259.846629 deg. Bh <HeadingCmd: 4.535179 target range: 205.855759 and range: 207.00 m.h0 @h*h"h hgfff0|BdddjdZd`/m@颭H|BɢZ<) i)6_d=i?i߿I0 @I@ @@/@AA>I)I9OM0>E EEE"E;*EP:VEZEBEm9Y=FyfE!=E%>)Q 5=5-}W?Q 9E5-}K)- BYAyE#@Q IE@-DI-[j;i-5k;-5yɮ*AjhFNOT Ignoring new targets: 205.86 m.Rh[;Zh[;- ProNav: ac range: 205.855759 m, nav range: 202.618500 m, bearing: 261.106535 deg, approach rate: 0.310105 m/s, LOS rate: 0.191534 deg/s, cmd heading: 259.846624 deg, new cmd heading: 260.084373 deg. Bh-r<1=HeadingCmd: 4.539329 target range: 205.855759 and range: 207.00 m.h=.B@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdU4@颅E|Bɢ]<) i)wb=顉iuČi6߿I.B@I2Acoustic response timeouta4|E@ @@/@ԑE  E E 'E "E O;*E B:VE '4ZE a @a @a @a @A I I! O5 > 2Acoustic response timeoutԹ x,9?A "@rrG"@r<0@r/d=ٱrA-= %AHRS rotation from veh to nav: [[-0.922915,-0.380929,-0.055872],[0.377072,-0.923637,0.068632],[-0.077749,0.042274,0.996076]]rH`#aؿ; !? p`ߑ? `糿ꤥ?`?irrG"@Ir)`;rCYePzByeIB<Ap<B>BBIByBB =BBBg;B(EBCBCBCB =B =C6ԉbDVD0yC5<%.=ٔxK:Q->9Y=FyfEd=E> Q 55 M=?Q 95 `F) BYyH%@Q I@ 'DI :i : "5y%Bɮ%*A-+Ejh FNOT Ignoring new targets: 205.86 m.Rh j;Zh j;M ProNav: ac range: 205.855759 m, nav range: 202.762833 m, bearing: 261.201788 deg, approach rate: 0.311525 m/s, LOS rate: 0.205445 deg/s, cmd heading: 260.084369 deg, new cmd heading: 260.369922 deg. BhM <UHeadingCmd: 4.544312 target range: 205.855759 and range: 207.00 m.hUk@hQ*hQ"hQ hQgQfYfYfYdddjdZd@B|Bɢm<)9 =i9)=~`=AAiEiMc޿IIIMk@IIԹ5jZغ2Acoustic response timeout@ @@/@A I! I1 OE > x,*S?A2Z#@21@2=ٱ24'= :AHRS rotation from veh to nav: [[-0.932620,-0.356083,-0.058532],[0.352322,-0.933570,0.065698],[-0.078037,0.040649,0.996121]]2Hֿr?Ѱ?CϤ?:?i2Z#@I2*`;2CYDyDbDNVDNfٔVQg:Q-V?9XYX=ZFyZfEZ=E^?`Q 5f5b*?Q 9f5bB)bBYdyf&@Q If@b/DIb:ib:bs#5yjBɮn*An*EzB*** querying acoustic contact ***ix ixjh FNOT Ignoring new targets: 205.86 m.Rh y;Zh y; ProNav: ac range: 205.855759 m, nav range: 202.858170 m, bearing: 261.269330 deg, approach rate: 0.307572 m/s, LOS rate: 0.217800 deg/s, cmd heading: 260.369926 deg, new cmd heading: 260.572456 deg. Bh%y<%HeadingCmd: 4.547847 target range: 205.855759 and range: 207.00 m.h-@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd= @E EEE"E;*E:VEZEBEl_ 2Acoustic response timeoutx,m?A"%@3@=ٱM,= UAHRS rotation from veh to nav: [[-0.941751,-0.330972,-0.059682],[0.327169,-0.942706,0.065307],[-0.077878,0.041977,0.996079]]H"`.տV?*?ﳿ~??i"%@I!`;CY@zByI bDVD:y^%u<ٔ}rQ-}>9yYy=}Fy}fEzm=E>Q 55?Q 95O>)BYy(@Q I@;DI;i;y%5yBɮ;+AjhFNOT Ignoring new targets: 205.86 m.Rhn;Zhn; ProNav: ac range: 205.855759 m, nav range: 202.984192 m, bearing: 261.365609 deg, approach rate: 0.272543 m/s, LOS rate: 0.208089 deg/s, cmd heading: 260.572454 deg, new cmd heading: 260.861109 deg. Bh<HeadingCmd: 4.552885 target range: 205.855759 and range: 207.00 m.h<@h*h"h hgfffdddjd Zd 0 @5=|Bɢ=|t<)9 =i9)=]=9AiE&iEyzݿIIIIM<@IQE EE%E"E%;*Ek:VE 4ZEa@a@a@a@%9@! @!@%5@!DAT read: 05:47:43.9046 LVL= 28704, 26593, 31570, 30163, AGC= 65, IDX= 449, 0.16,-0.969,-1.727,-2.672,-1.422, PHS= 0.555,-0.260,-1.294, RAW= 56.1, 12.4, CAL= 52.7, 15.0, ROT= 97.3, -15.0 Ygot valid direction response: 05:47:43.9046 LVL= 28704, 26593, 31570, 30163, AGC= 65, IDX= 449, 0.16,-0.969,-1.727,-2.672,-1.422, PHS= 0.555,-0.260,-1.294, RAW= 56.1, 12.4, CAL= 52.7, 15.0, ROT= 97.3, -15.0 PDAT read: Bearing 42.3, 76.7 (Local) ~Local bearing/azimuth received: Bearing 42.3, 76.7 (Local) DAT read: Range 11 to 50 : 208.9 m (Round-trip 278.6 ms) speed -0.3 m/s TDAT read: user:509>Tx time:05:47:44.9719 R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.122735,0.958096,0.258819] Fpublishing direction and range infoyim["kL߹?V!}?YmPCim pmgmR{ mu)mAIm{?immˡm>z?mk]>mCwk? m >)m^?Im iim0*|?;̡w쿫37Rg? mǎ)m6]Im^?im iiM2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.ԁAqIIB>BBIByBBBBBh;B(EOE>ԩ !x,^?Aɰ:Od'@:Y5@:y=ٱ::=@ FAHRS rotation from veh to nav: [[-0.950090,-0.306182,-0.059845],[0.302228,-0.950889,0.066846],[-0.077373,0.045423,0.995967]]:H#g {ӿ W?`m?`γA??i:Od'@I:_;:CYR0zByRIbDAT read: b2Acoustic response timeoutam@au au@au au@au au@au bD}VD}βy %S=ٔ@Q->9Y=FyfEK=E>Q 55?Q 95:)ԾBQ A+:YQ EZ:ye*@Q I@DDI:i>&5yɮy+Aiix?AJiOCRiOCjiG@b~9Кsh@vXhJ@R["kL߹?V!}?Zi^?bi jt}UC* +h#P@Z3 ȿCh 7?2i\A:i"i|ԟ?*iҪBi7BiiiBiKCi@ addTargetRange:: Added new target pos. range: 208.899994 m, deltaT: 3.780403 s, deltaX: 1.899994 m, approachRate: 0.502590 m/s, rangeRepo size: 4  Added new target pos. range: 207.730453 m, bearing: 258.331616 deg, lat: 36.779504 deg, lon: -121.859740 deg, deltaT: 3.780403 s, deltaX: 1.874695 m, approachRate: 0.495898 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 207.73 m.RhZh ProNav: ac range: 207.730453 m, nav range: 203.079269 m, bearing: 261.444161 deg, approach rate: 0.000000 m/s, LOS rate: 0.208089 deg/s, cmd heading: 260.861098 deg, new cmd heading: 261.109879 deg. Bh5HeadingCmd: 4.557227 target range: 207.730453 and range: 208.90 m.h5ԑ@h1*h1"h9 h9g9f9f9fAdAdAdAjdEj@ZdMh?ԩ颕;|Bɢ*<) i)i\=项ii4ܿIԑ@IE9@A @A@E4@IA.AIIO>E EE'E"EN;*E:VE'4ZEBEm95 ?Y5 ?=5Fy5fE= =E=>AQ 5M5Ev⬊?Q 9M5E37)EƾBQ AM :YIQ EM0:yU,@Q IU@ENDIE:iED?E'5y]Bɮ],A])EjhFNOT Ignoring new targets: 207.73 m.Rhǀ;Zhǀ; ProNav: ac range: 207.730453 m, nav range: 203.171417 m, bearing: 261.527106 deg, approach rate: 0.250273 m/s, LOS rate: 0.225176 deg/s, cmd heading: 261.109881 deg, new cmd heading: 261.358602 deg. Bh<HeadingCmd: 4.561568 target range: 207.730453 and range: 208.90 m.h^@h*h"h hgfffdddjdZd?9|Bɢ4V<)  i)ąZ=ii]ܿI^@I2Acoustic response timeout9@ @@/@AA> A؟AI)I9OMS>1Y bE!jE%4rE!E  E E (E "E ;*E E:VE c44ZE a @a @a @a @} 2Acoustic response timeout-.x,f?AR*@RP8@Rb=ٱRaf= vAHRS rotation from veh to nav: [[-0.964870,-0.256013,-0.059022],[0.251556,-0.965041,0.073594],[-0.075800,0.056161,0.995540]]RH6bп!8? ײ?g`&?@w?iR*@IRo_;RCY5zBy5IAAA@AB>BCBIByBB =BBuDBh;B)EIe=)el>aa aa aa aa iMb@Mb@Mb@ 9S㥛?1Zd˿lY$F?y"[^A bA)AYG AbDVDfy%&=ٔźQ->9"?Y"?=FyfEX=E>Q 5 5Ŭ?Q 9 52)BQ A T:Y M?Q E :y '@Q I@[DI%;i;*5yBɮ,A(EjhIMFNOT Ignoring new targets: 207.73 m.RhU9n;ZhU9n;e ProNav: ac range: 207.730453 m, nav range: 203.315979 m, bearing: 261.630078 deg, approach rate: 0.292597 m/s, LOS rate: 0.208271 deg/s, cmd heading: 261.358609 deg, new cmd heading: 261.667304 deg. Bhe 4x,F?A2m,@2ic:@2=ٱ2)|= :AHRS rotation from veh to nav: [[-0.971119,-0.231315,-0.058483],[0.226639,-0.970936,0.076928],[-0.074578,0.061452,0.995320]]2H i Ϳ??v? ?i2m,@I2_;2CE EE'E"E;*EP:VE'4ZEBEo9Y=FygE =E>Q 5 5⯬?Q 9 5P.)BY y4)@Q I@dDI;iv;+5yBɮ,AE=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 207.73 m.RhUGq;ZhUGq;e ProNav: ac range: 207.730453 m, nav range: 203.418106 m, bearing: 261.708330 deg, approach rate: 0.275441 m/s, LOS rate: 0.210942 deg/s, cmd heading: 261.667306 deg, new cmd heading: 261.901942 deg. Bhe<mHeadingCmd: 4.571051 target range: 207.730453 and range: 208.90 m.hm F@hi*hi"hq hqgqfqfyfydydydyjdZd ?颭4|Bɢ(<) i)ɊV=顱i^i9'ۿI F@IQ@Y @Y@]/@Ya(hA۰9(hAYcAA I I! O5 > 2Acoustic response timeout 6);x,?A6e.@6<@6–=ٱ6= >AHRS rotation from veh to nav: [[-0.976654,-0.206687,-0.058543],[0.201835,-0.976201,0.079335],[-0.073547,0.065667,0.995127]]6H@@tʿ`O? =`TO?Ӳϰ??i6e.@I6е_;6C D)FkAFvDDHJkAiJuIJPFHILiNs@ LL)LP PR94Rc8FPTVkAIV 0)TiT)TIZkAZ,X XXZ vAXi\\Y\YbyBybIbDjVDj0yre%rr=ٔv*HQ-v?9tYx=zFyzgEzQ=Ez?|Q 55~?Q 9 5~+)~BY y *@Q I @~mDI~:i~:~--5yɮU-AjhFNOT Ignoring new targets: 207.73 m.Rhe;Zhe; ProNav: ac range: 207.730453 m, nav range: 203.504929 m, bearing: 261.780210 deg, approach rate: 0.242499 m/s, LOS rate: 0.200678 deg/s, cmd heading: 261.901937 deg, new cmd heading: 262.117483 deg. Bh <HeadingCmd: 4.574813 target range: 207.730453 and range: 208.90 m.hd@h!*h!"h! h!g!f!f)f)d)d)d)jdQZdU@R?颥2|Bɢp <) ei)T=顱ihiڿId@IE EE(E"E;*E:VEc44ZEa@a@a@a@9@ @@/@AzAdA!E2Acoustic response timeoutAII)O=r>B>BBkIBxyBB =BBtDBi;B()EQy Bx,n?A6/@6'=@6#=ٱ6͋= BAHRS rotation from veh to nav: [[-0.981471,-0.182360,-0.058815],[0.177458,-0.980875,0.079950],[-0.072270,0.068032,0.995062]]6H@6hWǿ`?Tcw?A@j??i6/@I6_;6CR2Acoustic response timeoutYyByI !!iMb@Mb@Mb@ 9K7A?$C˿Zd;OY B?yZj< AA A)AYAbDVDJ2y%==ٔAQ->9Y=Fy gE{k=E>Q 55?Q 958')kBYI?Q E:y:,@QQ I@xDI :Hx,b"?A28B1@27?@2[=ٱ23= :AHRS rotation from veh to nav: [[-0.985706,-0.157567,-0.059635],[0.152822,-0.985236,0.077173],[-0.070915,0.066956,0.995233]]2H`@$+Ŀ௏?` ?y'$??i28B1@I2Xv_;2CYyByyIbD5VD5y=%ET=ٔEfQ-E>9IYI=MFyM gEM=EM>QQ 5]5Uj?Q 9e5U#)UTBYaye-@Q Ie@UDIU;iU:U05ymBɮu.AuEjhFNOT Ignoring new targets: 207.73 m.Rh;Zh; ProNav: ac range: 207.730453 m, nav range: 203.691772 m, bearing: 261.952157 deg, approach rate: 0.233594 m/s, LOS rate: 0.224816 deg/s, cmd heading: 262.389312 deg, new cmd heading: 262.633073 deg. BhJ<HeadingCmd: 4.583812 target range: 207.730453 and range: 208.90 m.h@h*h"h hgfffdddjdZd௭@,|Bɢ;) 'i)P=i/gyi ٿ  I @IԱ2Acoustic response timeout=2@ @@0@ I) I9 OM >E  E E (E "E ;*E :VE c44ZE a @a @a @a @e 2Acoustic response timeoutcNx,Y5&?@q?iFQ2@IF@_;FCYbhyByfaIbDnVDn yv%vP=ٔvQ-v>9xYx=zFyzgE}=E >B-<A-<BE>BECBE?IBE0yBBE =BABABEh;BE )EQ 55Q?Q 95 )@Ux,V?A2 X4@2MB@2T8=ٱ2‡= :AHRS rotation from veh to nav: [[-0.992066,-0.109718,-0.061384],[0.105160,-0.991763,0.073119],[-0.068900,0.066084,0.995432]]2H@|m ??u? ?i2 X4@I2"j_;2CYBGyByBMILiUMb@Mb@Mb@QQQQ Q9U\(\?x&1ȿJ +YU:?yUAUHQQ Ux A)U(AQYU AbDmVDm1Ey E}E}&Ey"Ey*E}P:VE}4ZEyBE}v9Y=FygEf=E>Q 55:?Q 95)%BYrA?Q E:yC2@Q I@DI ;i;S45yBɮ/AEjhFNOT Ignoring new targets: 207.73 m.Rh`;Zh`; ProNav: ac range: 207.730453 m, nav range: 203.840683 m, bearing: 262.122790 deg, approach rate: 0.179692 m/s, LOS rate: 0.227965 deg/s, cmd heading: 262.898489 deg, new cmd heading: 263.144779 deg. Bhs<HeadingCmd: 4.592743 target range: 207.730453 and range: 208.90 m.h@h!*h!"h! h!g!f!52Acoustic response timeoutf1f5{Bd9d9d9jd9Zd=`h< @m&|Bɢmǂ)q u7iq)uK=qqi}yri}l`ؿyI@I    I@I @I@MA3@IIIO> DAT read: 05:47:47.6565 LVL= 29456, 31473, 32754, 32755, AGC= 64, IDX= 452, 0.08, 2.019, 0.995, 0.086, 1.309, PHS= 0.812,-0.269,-1.267, RAW= 61.3, 8.1, CAL= 59.5, 9.4, ROT= 90.5, -9.4  Ygot valid direction response: 05:47:47.6565 LVL= 29456, 31473, 32754, 32755, AGC= 64, IDX= 452, 0.08, 2.019, 0.995, 0.086, 1.309, PHS= 0.812,-0.269,-1.267, RAW= 61.3, 8.1, CAL= 59.5, 9.4, ROT= 90.5, -9.4 % PDAT read: Bearing 10.2, 82.9 (Local) % ~Local bearing/azimuth received: Bearing 10.2, 82.9 (Local) - DAT read: Range 11 to 50 : 210.3 m (Round-trip 280.4 ms) speed 0.0 m/s 5 BDAT read: Tx time:05:47:48.7219 9 E $Ping request sent.E ? '>) -?I ' 1{x?*q뿎a ? j) BI -?i ' m :publishing transmit ping time9 m Fpublishing direction and range infoy  ǡ}n:?$vz?Y ) I i ) I 1{x?*q뿎a ? ) I i Og[x,xo?AY] yBy]'IbDuVDuy,%J=ٔQ->9Y=FygEE>Q 55!?Q 95)BYyQ I@DIk:i:65y5BɮU1AQiij?AJi QCRi QCji.@bθnߴi@̼A@Rǡ}n:?$vz?Zi-?bi'j6j&F6Ii=G@ZvVJ!;?2iMJ:i"iL?*i'^-Bi Bi8u?iiiKCi@ addTargetRange:: Added new target pos. range: 210.300003 m, deltaT: 3.779505 s, deltaX: 1.400009 m, approachRate: 0.370421 m/s, rangeRepo size: 4  Added new target pos. range: 209.125961 m, bearing: 263.528824 deg, lat: 36.779516 deg, lon: -121.859740 deg, deltaT: 3.779505 s, deltaX: 1.395508 m, approachRate: 0.369230 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 209.13 m.RhZh  ProNav: ac range: 209.125961 m, nav range: 203.734222 m, bearing: 262.569765 deg, approach rate: 0.000000 m/s, LOS rate: 0.227965 deg/s, cmd heading: 263.144786 deg, new cmd heading: 263.436923 deg. BhIUHeadingCmd: 4.597842 target range: 209.125961 and range: 210.30 m.hU!@hQ*hQ"hQ hYgYfYfYfYdadadajdeIj@Zdmx?"|Bɢ00) Fi)1I=imiW׿ I !@I IE EEE"E&;*Ek:VEZEa@a@a@a@@ @@/@IAIQO]U>B=>B9B=IB=xBB9B9B=sDB=h;B=)EBCBCBǔCB =B =C6yԙ Nbx,?A2'V7@2KE@24=ٱ2c= :AHRS rotation from veh to nav: [[-0.995997,-0.063132,-0.063283],[0.058680,-0.995827,0.069902],[-0.067432,0.065908,0.995545]]2H4e)N3= ? ?5C_߰?@?i2'V7@I2z_;2CԡY]xBy]IiMb@Mb@Mb@ 9x?㥛 ¿YK7?yLx A(A )AY AbDVDy都% 6=ٔ VQ-U>9YYY=]Fy]gEe=Ee>iQ 5u5m?Q 9u5m)mBYu;?Q Eu:y}8@Q I}@mDIm ;im<;m85yBɮ1AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 209.13 m.RhJq;ZhJq; ProNav: ac range: 209.125961 m, nav range: 203.776184 m, bearing: 262.661616 deg, approach rate: 0.096393 m/s, LOS rate: 0.210953 deg/s, cmd heading: 263.436927 deg, new cmd heading: 263.712419 deg. Bh<HeadingCmd: 4.602650 target range: 209.125961 and range: 210.30 m.hH@h*h"h hgfff4{BdddjdZd?|Bɢۻ) Li)]F=iFii%׿!!I%H@I)5{>i5>9@ @@@IAIQOaE EE%E"E*E:VE 4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997843@ @@0@!IiIO:>QE  E E *E "E %;*E :VE (N4ZE a @a @a @a @e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249054y nnx,a?Aɰ2M:@2;CH@2 =ٱ2(= :AHRS rotation from veh to nav: [[-0.997717,-0.016935,-0.065383],[0.012461,-0.997592,0.068232],[-0.066381,0.067261,0.995525]]2H@KbW`W?`E@w?`8?V?i2M:@I2|_;2CYxByIbD- VD-2y5%5K=ٔ=׷Q-=>9AYA=EFyM%gEMk=EU>AaAaB}>B}CB}IB}oxBB} =ByByB}h;B}(EQ 55ګ?Q 95)˽BY y ;@Q I@YDI Eux,D?@t?i2v;@I2V_;2CY-xBy-IEe EeEe%Ea"Eef;*Ee:VEe 4ZEaBEeW9Y=Fy*gE`=E> Q 55 «?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753192Q 9%5 ) BY%.?Q E%:y%?@Q I%@ DI n;i m; 1=5y-Bɮ53A5EjhY]FNOT Ignoring new targets: 209.13 m.Rheu;Zheu;u ProNav: ac range: 209.125961 m, nav range: 203.832840 m, bearing: 262.892717 deg, approach rate: 0.014762 m/s, LOS rate: 0.214642 deg/s, cmd heading: 264.172046 deg, new cmd heading: 264.405669 deg. BhuN<}HeadingCmd: 4.614749 target range: 209.125961 and range: 210.30 m.h}@hy*hy"hy hygfffzBdddjdZdv?Ա}|Bɢ}8m)y }gbiy)==顁i|c]iOտI@IE9@A @A@M30@IAQAU>AIIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0051099 {x,z?A2F=@2)F>J=J=bDNVDN:yV*%Vb=ٔZͺQ-Z>9XYX=ZFyZ-gE^N=E^>`Q 5f5b?Q 9f5b)bBYhyjQA@Q Ij@bDIb:ib:b>5ynBɮn4ArEjh FNOT Ignoring new targets: 209.13 m.Rh Y;Zh Y; ProNav: ac range: 209.125961 m, nav range: 203.832245 m, bearing: 262.961322 deg, approach rate: -0.001650 m/s, LOS rate: 0.190233 deg/s, cmd heading: 264.405666 deg, new cmd heading: 264.611481 deg. Bh%<%HeadingCmd: 4.618341 target range: 209.125961 and range: 210.30 m.h%tɓ@h)*h)"h) h)g)f)f1f1d1d1d9jdZd?@|BɢYż) M< pi ) %;=  i3Yi5տ99I=tɓ@I99@ @@4@bEÀ'4jEÀ'4rEÃ/Eu EuEu(Eq"Eu[";*Euخ:VEuc44ZEqa@a@a@a@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260993A9AIIIYOeV>Be>BaBeIBexBBe =BaBaBeh;Be(Ei sx, ?A@ 6u>@6L@6u=ٱ6ې= >AHRS rotation from veh to nav: [[-0.996263,0.052136,-0.068863],[-0.056743,-0.996157,0.066722],[-0.065120,0.070380,0.995392]]6Hb?` ] ` ? t? A?Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509195i6u>@I6_;6CYvGxByvIiMb@Mb@Mb@ 9w/?+V-Y&?y A x A)?AYAbDVD0y0%9=ٔ.Q->9Y=Fy2gET=E>Q 55[?Q 95r)BYD(?Q E:yBE@Q I@DIn:i ;@5yɮ4AjhaeFNOT Ignoring new targets: 209.13 m.RhmM;ZhmM; ProNav: ac range: 209.125961 m, nav range: 203.814209 m, bearing: 263.042045 deg, approach rate: -0.040182 m/s, LOS rate: 0.179856 deg/s, cmd heading: 264.611473 deg, new cmd heading: 264.853662 deg. Bh;HeadingCmd: 4.622569 target range: 209.125961 and range: 210.30 m.h@h*h"h hgfffzBdddjdZdw@E |BɢMX7i)I qiq)uH7=qqi}_Ti}ԿyI@I=9@9 @9@9@9ԙE EE'E"Es!;*E:VE'4ZEBEx j> C) E hAY R9 hAY Asƈx,J$?A21@@2&N@2=ٱ2= :AHRS rotation from veh to nav: [[-0.994767,0.074685,-0.069711],[-0.079267,-0.994702,0.065453],[-0.064454,0.070636,0.995418]]2H"?`ر J? 6? v?i21@@I2_;2CLYR'xByRIbDZVDZ:yb竽%b]=ٔf>Q-f>9dYh=jFyj6gEj=z=Ej>lQ 5r5n?Q 9v5n6)nBYtyvF@Q Iv@nDIn:in:nQB5yzBɮzg5A~EB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 209.13 m.Rh-U;Zh-U; ProNav: ac range: 209.125961 m, nav range: 203.793900 m, bearing: 263.109802 deg, approach rate: -0.055985 m/s, LOS rate: 0.186797 deg/s, cmd heading: 264.853672 deg, new cmd heading: 265.056961 deg. Bh2<HeadingCmd: 4.626117 target range: 209.125961 and range: 210.30 m.h& @h*h"h hgfffdddjdZdм@额|BɢTSμ) wi)4=顩iOiԿ11I5& @I1IufA)ufABDAT read: Rx Time:05:47:51.4068 TRx dataTimestamp_ set to:1761544072.696314checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018342 @  @ @ /@ AzAIIO%n>! E  E E )E "E ';*E :VE FA4ZE a @a @a @a @e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269020x,ߩ>?A2A@2!O@2=ٱ2= :AHRS rotation from veh to nav: [[-0.992725,0.097584,-0.070522],[-0.102168,-0.992666,0.064614],[-0.063700,0.071349,0.995415]]2H@hC? '`?NC? q?i2A@I2_;2CYzxB!B Ŀ>B CB ^IB wBB  =B B tDB xh;B (Ey~I iiquAbDVDNy%>=ٔQ->9Y=Fy:gEZ=E>Q 55?j?Q 95)vBYy/H@Q I@DI;i;4D5y ŒBɮ 6AjhYmFNOT Ignoring new targets: 209.13 m.Rh=;Zh=; ProNav: ac range: 209.125961 m, nav range: 203.764130 m, bearing: 263.188582 deg, approach rate: -0.062433 m/s, LOS rate: 0.165241 deg/s, cmd heading: 265.056965 deg, new cmd heading: 265.293340 deg. Bh;HeadingCmd: 4.630242 target range: 209.125961 and range: 210.30 m.h*@h*h"h hgff f d d djdZd @Ie|BɢZ) 7~i)0=顩iJiӿI*@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.521081ye 9@  @ @ 5@ ԡ I I O% >gؕx,^X?A4<ɰ6C@6L Q@6k=ٱ6mI= >AHRS rotation from veh to nav: [[-0.990257,0.119650,-0.071236],[-0.124213,-0.990223,0.063483],[-0.062944,0.071713,0.995437]]6H/a?<`e̿l@?@[?@?i6C@I6Ze_;6CYF xByFIiMb@Mb@Mb@ 9w/?v//$Yyxi A?A  A)Y AbD-VD-EE EEEAEA"EE1;*EE:VEAZEABEEZ9Y=Fy>gE]=E>MDAT read: 05:47:51.4068 LVL= 29072, 32753, 32754, 32755, AGC= 66, IDX= 439,-0.16,-1.909, 3.078, 2.493,-2.618, PHS= 0.810,-0.542,-1.217, RAW= 70.9, 10.6, CAL= 69.6, 14.1, ROT= 80.4, -14.1 UYgot valid direction response: 05:47:51.4068 LVL= 29072, 32753, 32754, 32755, AGC= 66, IDX= 439,-0.16,-1.909, 3.078, 2.493,-2.618, PHS= 0.810,-0.542,-1.217, RAW= 70.9, 10.6, CAL= 69.6, 14.1, ROT= 80.4, -14.1 ]PDAT read: Bearing 5.1, 72.9 (Local) ]~Local bearing/azimuth received: Bearing 5.1, 72.9 (Local) mDAT read: Range 11 to 50 : 210.5 m (Round-trip 280.7 ms) speed -0.1 m/s uBDAT read: Tx time:05:47:52.4719 u$Ping request sent.u|? d{>)?Id{;; ?WDa,?? Q[)u=I?id{:publishing transmit ping timeqFpublishing direction and range infoyI ?lj? .?Y )Ii )ii\?AJiTQCRiTQCjip@bh@@JEi@d=qI@RI ?lj? .?Zi?bid{j=i k*|t*h|!W^~O@Z}|'(9s"zmA?2i0G:iXS"i??*ibBiBiL?ibiBi>HCi惓@I;; ?WDa,?? )Ii addTargetRange:: Added new target pos. range: 210.500000 m, deltaT: 3.784092 s, deltaX: 0.199997 m, approachRate: 0.052852 m/s, rangeRepo size: 4  Added new target pos. range: 209.328796 m, bearing: 266.206017 deg, lat: 36.779546 deg, lon: -121.859704 deg, deltaT: 3.784092 s, deltaX: 0.202835 m, approachRate: 0.053602 m/s, posRepo size: 4 jh!MFNOT Ignoring new targets: 209.33 m.RhUZhQԩ ProNav: ac range: 209.328796 m, nav range: 200.242264 m, bearing: 264.125009 deg, approach rate: 0.000000 m/s, LOS rate: 0.165241 deg/s, cmd heading: 265.293345 deg, new cmd heading: 265.492611 deg. BhHeadingCmd: 4.633720 target range: 209.328796 and range: 210.50 m.hpG@h*h"h hgfffzBdd d jd Pj@Zd ȸ?{Bɢ) |i)I-=i+Ei!ӿIpG@I9<q@q @q@u/@qII O > x,dr?A2D@2vR@2~=ٱ2= :AHRS rotation from veh to nav: [[-0.987322,0.141495,-0.071936],[-0.146055,-0.987291,0.062650],[-0.062157,0.072362,0.995440]]2H $~?`_j¿ ?@ӯT?`?i2D@I2x_;2CYNwByNIbDVVDVybC%f]=ٔf Q-f>9hYh=jFyjBgEjt=Ej>pQ 5r5rm??Q 9v5r)r\BYtyvEQ Iv@rDIrg:ir:rG5yzʒBɮ=f6A=EjhyFNOT Ignoring new targets: 209.33 m.Rh1a;Zh1a; ProNav: ac range: 209.328796 m, nav range: 200.202988 m, bearing: 264.193014 deg, approach rate: -0.113685 m/s, LOS rate: 0.196880 deg/s, cmd heading: 265.492622 deg, new cmd heading: 265.696677 deg. Bh<HeadingCmd: 4.637282 target range: 209.328796 and range: 210.50 m.hd@h*h"h hgfffdddjdZd@5?E{BɢE%)A E#iI)M*=IIiMAiUҿQQI]d@IYaaaaEM EMEM(EI"EM3;*EM:VEMc44ZEIaU@aU@aU@a]@V>i>B ҿ>B CB 8IB wBB  =B B vDB zh;B (E@ @@@1I9IIO]>q nx,:?A2E@2TS@2x=ٱ2= :AHRS rotation from veh to nav: [[-0.983888,0.163573,-0.072167],[-0.168161,-0.983752,0.062870],[-0.060710,0.073993,0.995409]]2H|?`y@PſzE?`l5? d?i2E@I2^;2CY^wByb}IIf4=)f4=f=f=iMb@Mb@Mb@ 9Pn?)\(MbpY$?yGa AA  A)VAYAbDVD:yd%==ٔB[Q->9Y=FyFgES=E>Q 55(?Q 95e)QBY$?Q E:yCQ I@DI? ;iP ;I5yϒBɮ6AEjh  FNOT Ignoring new targets: 209.33 m.RhvT;ZhvT;% ProNav: ac range: 209.328796 m, nav range: 200.151901 m, bearing: 264.271225 deg, approach rate: -0.121297 m/s, LOS rate: 0.185747 deg/s, cmd heading: 265.696681 deg, new cmd heading: 265.931371 deg. Bh%;-HeadingCmd: 4.641378 target range: 209.328796 and range: 210.50 m.h-+@h)*h)"h) h)g)f11f9f=pzBd9d9dAjdAZdE`?u{Bɢu)q u[iy)}'=yyi}3=i&ҿI+@I 9@  @ @90@IIO>aE] E]E]&EY"E]77;*E]1:VE]4ZEYBE]9 Y = Fy JgE -p=E>Q 5%5?Q 9%5)IBY!y%>BQ I%@DI<;it:-K5y1ɮ56A1MB*** querying acoustic contact ***iI iIjhYeFNOT Ignoring new targets: 209.33 m.Rhe}M;Zhe}M;u ProNav: ac range: 209.328796 m, nav range: 200.101822 m, bearing: 264.339854 deg, approach rate: -0.131061 m/s, LOS rate: 0.179651 deg/s, cmd heading: 265.931366 deg, new cmd heading: 266.137304 deg. Bhu;}HeadingCmd: 4.644972 target range: 209.328796 and range: 210.50 m.h}@hy*h"h hgfffdddjdZd`v?{Bɢ*) i)^w$=i~8iѿI@IԑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@4@AI IO%N>Em  Em Em (Ei "Em 2;*Em :VEm c44ZEi au @au @au @au @E *DAT read: user:511> M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501247A x,?AALANAABVܿ>BVCBV&IBVgwBBV =BTBVwDBVhh;BV(EBmCBmCBmCBm =Bm =Cm.6=xH@=V@=g=ٱ=f= mAHRS rotation from veh to nav: [[-0.975531,0.208161,-0.070772],[-0.212508,-0.975274,0.060673],[-0.056392,0.074228,0.995646]]=H@7 ?v3˿q5?n߬? T?i=xH@I=^;=CYwBy|IbDVD:2ye<%==ٔrQ->9Y=FyOgEX=E>Q 55f?Q 9%5)?BYQyU@Q IU@DIr(x,?A :KOJ@:DX@:9h\=ٱ:R+= BAHRS rotation from veh to nav: [[-0.970497,0.230884,-0.069489],[-0.235039,-0.970191,0.059049],[-0.053784,0.073639,0.995834]]:H O?@ ʱο@ `;? ڲ?@?i:KOJ@I:e^;:CYJwByJzI PPE EE&E"E*E:VE4ZEBE#9iYi=mFymSgEuVs=Eu>yQ 55}_窊?Q 95})}6BYf%?Q E:yAQ I@}DI}:i}:}N5yْBɮ 7AEjhFNOT Ignoring new targets: 209.33 m.Rhk;Zhk;iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004964u ProNav: ac range: 209.328796 m, nav range: 199.987213 m, bearing: 264.487570 deg, approach rate: -0.152358 m/s, LOS rate: 0.205916 deg/s, cmd heading: 266.369427 deg, new cmd heading: 266.580583 deg. BhuQ <}HeadingCmd: 4.652709 target range: 209.328796 and range: 210.50 m.h}@hy*hy"hy hygfffzBdddjdZd Z@IE{Bɢm3`)q u.|iq)uG=qqi}x-/iqпI@Ia@a @a@e4@aqAIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257029Ա Px, ?A2K@2pY@2<;O=ٱ2= :AHRS rotation from veh to nav: [[-0.965016,0.253327,-0.067596],[-0.257267,-0.964613,0.057759],[-0.050572,0.073128,0.996040]]2Hi6?Mwп?`䩿?@?i2K@I2("_;2C@Y^wBybIbDjVDj02y%/<%%O=ٔ%Q-%>9)Y)=-Fy-WgE-m=E5>1Q 5E55 Ҫ?Q 9E55)5/BYAyEk@Q IE@5 DI5";i5;5|P5yQɮU6AQjhq}FNOT Ignoring new targets: 209.33 m.RhM;ZhM; ProNav: ac range: 209.328796 m, nav range: 199.929047 m, bearing: 264.558544 deg, approach rate: -0.147468 m/s, LOS rate: 0.179991 deg/s, cmd heading: 266.580589 deg, new cmd heading: 266.793573 deg. Bh ;HeadingCmd: 4.656426 target range: 209.328796 and range: 210.50 m.hr@h*h"h hgfffdddjdZdG@{Bɢ_ ) xi)S=iU7+i9пIr@I@ @@/@E5 E5E5)E1"E5%.;*E5:VE5FA4ZE1a=@a=@a=@a=@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509081AII OL>Bۿ>BBIB]wBBBBBkh;B(E 8x,A ?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760574::M@:K0[@:AA=ٱ:q= BAHRS rotation from veh to nav: [[-0.959086,0.275535,-0.065078],[-0.279146,-0.958674,0.054961],[-0.047245,0.070879,0.996365]]:H`԰ ^?󨰿ѿv#?y0%?9?i::M@I: _;:CYJwByJxIli%Mb@Mb@Mb@!!!! !9%!rh?ʡEMbp?Y%l'?y%y%;%1 A%?A %1 A)%VA!Y%AbD=VD=yM %MH=ٔM`Q-M>9QYQ=UFyU[gEU4c=E>Q 55?Q 95q)'BY*?Q E:yGBQ I@)DI:i:TR5yޒBɮB7AjhAEFNOT Ignoring new targets: 209.33 m.RhM*Q;ZhM*Q;} ProNav: ac range: 209.328796 m, nav range: 199.873413 m, bearing: 264.637106 deg, approach rate: -0.129460 m/s, LOS rate: 0.182866 deg/s, cmd heading: 266.793582 deg, new cmd heading: 267.029333 deg. Bh};HeadingCmd: 4.660541 target range: 209.328796 and range: 210.50 m.h'#@h*h"h hgfffzBdddjdZd@{Bɢ) 4zi ) ")=  i I&i5ϲϿ19I='#@I9IEeA)A @ @@/@AIIOn>1EE EEEE(EA"EE%;*EE-:VEEc44ZEABEE~9tYt=vFyv_gEvo=Ev>xQ 5~5z?Q 95zJ)z!BYy@Q I@z1DIz;iz:zS5y BɮU7AE-B*** querying acoustic contact ***i) i)9jhAEFNOT Ignoring new targets: 209.33 m.RhEDX;ZhMDX;] ProNav: ac range: 209.328796 m, nav range: 199.818146 m, bearing: 264.707354 deg, approach rate: -0.148713 m/s, LOS rate: 0.189074 deg/s, cmd heading: 267.029333 deg, new cmd heading: 267.240132 deg. Bh]<eHeadingCmd: 4.664220 target range: 209.328796 and range: 210.50 m.heKA@ha*ha"ha hagifififidqdqdqjdqZd}` @%{Bɢ% )! %mwi!)-0=))i-E#i>:ϿIKA@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266668i@ @@/@A5.AI9IIO]v>ԑbEc44jEɨ,4rEɟ/EM  EM EM $EI "EM 0;*EM :VEM 4ZEI aU @aU @aU @aU @Թ = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518794Nx,sIA?AB A"<B.տ>B,B.&IB.gwBB. =B,B.vDB,B.(ETV@%6P@+^@%=ٱ&= =AHRS rotation from veh to nav: [[-0.945331,0.320525,-0.060104],[-0.323614,-0.944789,0.051468],[-0.040289,0.068105,0.996864]]H '@|? Ů Կ ;`Y?Mo? P?i%6P@I%_;CYMxByMIbDVD0ԑym)=%?=ٔ Q->9 ?Y ?=FycgEb=E>Q 55ʍ?Q 9 5p)BYyK?Q I@:DI7Tx time:05:47:56.2219 %R#Rx 1: Read range and direction messages.5\direction in FSK: [0.504092,0.816195,0.282341]5Fpublishing direction and range infoyy}!?D?Ix?Y}QCy}T}x}rz y)}?I}{N?i}}&}?}Gt>}? }C>)}S>?I}Cyy}W\?OK"Łݿ8/^? }/)}8HuI}S>?i}Cyy]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.A% ؟AI) I9 OM > ux,w[?A2Q@23_@2=ٱ2?= :AHRS rotation from veh to nav: [[-0.937653,0.342856,-0.057058],[-0.345643,-0.937070,0.049299],[-0.036565,0.065947,0.997153]]2HA \?`6@ֿz=??@?i2Q@I2^;2CYjxByjIE EEE"E%.;*Eg:VEZEBE89"?Y"?=FyggEl=E>Q 55jw?Q 95M)BY+?Q E:y2AQ I@CDI;i ;W5yɮ6ADAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021123iifN?AJiqPCRiqPCjiU@bqJDZ@K 'De@',j mM@R!?D?Ix?ZiS>?biCj8ЋExJshӫP@Z:xiʿњ]mUH?2i@:i4."ibs!?*iBiCi?iҪi7BiCCi@ addTargetRange:: Added new target pos. range: 209.600006 m, deltaT: 3.780691 s, deltaX: -0.899994 m, approachRate: -0.238050 m/s, rangeRepo size: 4 ] Added new target pos. range: 208.442551 m, bearing: 257.273796 deg, lat: 36.779504 deg, lon: -121.859656 deg, deltaT: 3.780691 s, deltaX: -0.886246 m, approachRate: -0.234414 m/s, posRepo size: 4 }'GgAjhiFNOT Ignoring new targets: 208.44 m.ڬ9gAYSARhZh ProNav: ac range: 208.442551 m, nav range: 195.866043 m, bearing: 263.377242 deg, approach rate: 0.000000 m/s, LOS rate: 0.174261 deg/s, cmd heading: 267.479879 deg, new cmd heading: 267.688547 deg. BhHeadingCmd: 4.672047 target range: 208.442551 and range: 209.60 m.hh@h!*h!"h! h!g!fAfIfM{BdIdQdQjdU@33j@ZdU EH?颥{Bɢ0I) nki)e =i4ei9οIh@Ix>i>!}9@y @y@}0@yAfAzAgAQIyIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272957y Оx,t?AYrwByruI ttttbDz VDz2y%Tڽ%-R=ٔ-Q-->91Y1=5Fy5kgE5E5>yQ 55}*a?Q 95}()}BYyQ I@}KDI}I:i}:}YY5yBɮ7AEjhFNOT Ignoring new targets: 208.44 m.Rhj;Zhj; ProNav: ac range: 208.442551 m, nav range: 195.803375 m, bearing: 263.452881 deg, approach rate: -0.169486 m/s, LOS rate: 0.204631 deg/s, cmd heading: 267.688555 deg, new cmd heading: 267.915543 deg. Bho <HeadingCmd: 4.676008 target range: 208.442551 and range: 209.60 m.hܡ@h*h"h hgfffdddjdZd?%{Bɢ%Dz&)! %ti!)- =))i-"i5Ϳ11I5ܡ@I9Y@ @@4@E- E-E-%E)"E-O6;*E-:VE- 4ZE)a=@a=@a=@a=@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.527402IIԩO@>BMԿ>BMCBM8IBMwBBM =BIBIBMmh;BM(E x,Ɏ?A;ɰ&checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776475NT@NCb@N <ٱN= ZAHRS rotation from veh to nav: [[-0.920551,0.387202,-0.051577],[-0.389521,-0.919825,0.046860],[-0.029297,0.063227,0.997569]]NH(u@?Eh ؿ4o?$/??iNT@IN^;NCYbwBybIiUMb@Mb@Mb@QQQQ Q9U/$?NbX9ȿ{GztYU,?yUEUףUAQ U^A)U?AQYUGAbDmVDmy}H=%}E=ٔ}Q-}>9Y=FyogE=E>Q 55lI?Q 95)BY2?Q E:yLAQ I@TDI ;i ; [5yBɮ7AEjhFNOT Ignoring new targets: 208.44 m.RhNc;ZhNc; ProNav: ac range: 208.442551 m, nav range: 195.737335 m, bearing: 263.533670 deg, approach rate: -0.162393 m/s, LOS rate: 0.198727 deg/s, cmd heading: 267.915536 deg, new cmd heading: 268.157983 deg. Bhb<HeadingCmd: 4.680240 target range: 208.442551 and range: 209.60 m.hĕ@h*hq"hq hqgqfyfyf}{BdyddjdZd QL?{Bɢ$) mi)=iiiR-ͿI ĕ@I 9@ @@4@I)I9OM0> E EE*E"E*EE:VE(N4ZEBEEV@23d@2#2<ٱ2^s= :AHRS rotation from veh to nav: [[-0.911123,0.409363,-0.047713],[-0.411342,-0.910431,0.043740],[-0.025534,0.059479,0.997903]]2H'3?m`nSڿ@"e? % t?@?i2S>V@I2ӷ^;2CYBxByFIbDNVDNNyV`<%VX=ٔV:#Q-V>9XYX=ZFyZsgE^=E^>`Q 5f5bg3?Q 9f5b)bBYdyf?Q If@b]DIb:ibb:b\5ylɮn7Al~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 208.44 m.Rh  b;Zh  b;% ProNav: ac range: 208.442551 m, nav range: 195.670151 m, bearing: 263.608438 deg, approach rate: -0.177516 m/s, LOS rate: 0.197621 deg/s, cmd heading: 268.157981 deg, new cmd heading: 268.382360 deg. Bh%<-HeadingCmd: 4.684156 target range: 208.442551 and range: 209.60 m.h-@h)*h)"h) h)g)f1f1f1d9d9d9jd9ZdE?m{Bɢm)q ujiq)=ii̿I@I Y)]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281234@ @@/@A>A>IiIyO>Qԁ E%  E% E% %E! "E% %.;*E% :VE% 4ZE! a5 @a5 @a5 @a5 @ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533729A1 A1 B= տ>B9 B= EIB= wBB=  =B9 B9 B= h;B= (Eݘx,(?A0BvW@Be@Bj<ٱB'vh= JAHRS rotation from veh to nav: [[-0.901150,0.431248,-0.044191],[-0.432957,-0.900449,0.041698],[-0.021810,0.056709,0.998152]]BH9?D@ۿ {uY?@YU ?`?iBvW@IB^;@YbxBybIIf>)f>j=jp=bDnVDnyv7;%vF=ٔzQ-z>9xYx=~Fy~wgE8j=E>!Q 5-5%@?Q 9-5%Z)%BY1y5A>Q I5@%fDI%N:i%:%^5y]Bɮ]7AajhFNOT Ignoring new targets: 208.44 m.Rh\;Zh\; ProNav: ac range: 208.442551 m, nav range: 195.589890 m, bearing: 263.690285 deg, approach rate: -0.189345 m/s, LOS rate: 0.193166 deg/s, cmd heading: 268.382366 deg, new cmd heading: 268.628006 deg. Bh<HeadingCmd: 4.688443 target range: 208.442551 and range: 209.60 m.h@h*h"h hgfffdd9dAjdAZdM ?ԑ颵{Bɢ ̼) gi)/=项ii ̿I@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=5.784626y@y @y@}/@yԹIIOn> x,[?A20IY@2>g@2b<ٱ23i= :AHRS rotation from veh to nav: [[-0.890693,0.452667,-0.041929],[-0.454249,-0.889852,0.042681],[-0.017990,0.057062,0.998209]]2H?@wiݿyOڥ?l`?7?S?i20IY@I2^;0`YbxBybIEr ErEr'Ep"Erm+;*ErE:VEr'4ZEpBErބ9Y=Fy|gEU=E>Q 55?Q 95 )BY2?Q E:y?Q I@pDI.;i:`5yBɮ7A EjhQuFNOT Ignoring new targets: 208.44 m.Rhu`;Zhu`; ProNav: ac range: 208.442551 m, nav range: 195.510147 m, bearing: 263.780286 deg, approach rate: -0.173830 m/s, LOS rate: 0.196273 deg/s, cmd heading: 268.628007 deg, new cmd heading: 268.898120 deg. Bh<HeadingCmd: 4.693158 target range: 208.442551 and range: 209.60 m.hY.@h*h"h hgfff!{BdddjdZd @{Bɢ6) @gi)ɜ<itB i%˿!!IY.@Iy@y @y@}/@yAIIO>u checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288560A x,7?A6Z@6{h@6gj<ٱ6sp= BAHRS rotation from veh to nav: [[-0.879776,0.473668,-0.040409],[-0.475174,-0.878753,0.044764],[-0.014306,0.058584,0.998180]]6H'P?@@>i޿@]?@L? ?i6Z@I6^;6CYR xByRIbDZVDZNyba<%bj=ٔbo/Q-f?9dYd=fFyfgEj=Ej?lQ 5r5n쩊?Q 9r5n!)nBYpyvI>Q Iv@nxDIna;in:nb5yzBɮz7Az Ejh!%FNOT Ignoring new targets: 208.44 m.Rh-i;Zh-i;= ProNav: ac range: 208.442551 m, nav range: 195.444580 m, bearing: 263.848049 deg, approach rate: -0.197780 m/s, LOS rate: 0.204474 deg/s, cmd heading: 268.898127 deg, new cmd heading: 269.101485 deg. Bh=T <EHeadingCmd: 4.696707 target range: 208.442551 and range: 209.60 m.hElK@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdUBۿ>BCBQIBwBBBBwDBh;B)EBCBCBœCB =B =C]5qԡ ny,?ABDAT read: Rx Time:05:47:58.9051 TRx dataTimestamp_ set to:1761544080.256264checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793775:Q\@:Fj@:W,<ٱ:y= FAHRS rotation from veh to nav: [[-0.868282,0.494512,-0.039291],[-0.495958,-0.867044,0.047541],[-0.010558,0.060765,0.998096]]:H`?`Ž߿Ӿ@DW?0?g?i:Q\@I:I^;:CqYxByI Ai-Mb@Mb@Mb@)))) )9-E?~jtп{GztY-&?y-)-A) -AA)-A)Y-pAbDUVDUye$%e&=ٔmQ-m>9qYq=uFyugEuF=E}>yQ 55}"Щ?Q 95}")}BY]3?Q E:y@Q I@}DI} ;i}: ;}:d5yɮ7AjhFNOT Ignoring new targets: 208.44 m.Rhc;Zhc; ProNav: ac range: 208.442551 m, nav range: 195.360260 m, bearing: 263.945808 deg, approach rate: -0.171623 m/s, LOS rate: 0.199061 deg/s, cmd heading: 269.101476 deg, new cmd heading: 269.394875 deg. Bh<HeadingCmd: 4.701828 target range: 208.442551 and range: 209.60 m.h_u@h*h"h hgfff.{BdddjdZd,1 @%{Bɢ-ڼ)) -?ci))-<11i5wi5iʿ99I=_u@I9ԡ9@ @@/@E  E E &E "E CJ;*E :VE 4ZE BE  D y,W)?A2]@2Ck@2k;ٱ2x= :AHRS rotation from veh to nav: [[-0.856300,0.514982,-0.039296],[-0.516426,-0.854815,0.050940],[-0.007358,0.063913,0.997928]]2Hfz? Z@?"~\??i2]@I2^;2C @)BkAB'BKF@@FkAiF'IDDIDiFr@ HH)HH JkAJTHLLNkAINC)PiP)PIRkARRIF TTVvATiTTYXYnxBynIbDzVDzyC%{=ٔZ!Q- ?9 Y = Fy gE=E ?Q 5%5:?Q 9%5#)BY!y%>Q I%@DI:i:e5y5Bɮ548A5 EMB*** querying acoustic contact ***iI iIjhFNOT Ignoring new targets: 208.44 m.RhV;ZhV; ProNav: ac range: 208.442551 m, nav range: 195.299545 m, bearing: 264.010108 deg, approach rate: -0.177040 m/s, LOS rate: 0.187553 deg/s, cmd heading: 269.394873 deg, new cmd heading: 269.587833 deg. Bh<HeadingCmd: 4.705195 target range: 208.442551 and range: 209.60 m.h@h*h"h hgfffMchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.298941didqdyjdZd M @E{BɢE/)A MbiI)UT1E  E E E "E [";*E :VE ZE a @a% @a% @a% @- DAT read: 05:47:58.9051 LVL= 24256, 32753, 32754, 32755, AGC= 64, IDX= 438, 0.10, 0.705,-1.307,-0.658,-0.081, PHS= 0.888,-1.181,-0.621, RAW= 105.2, 9.9, CAL= 106.5, 11.1, ROT= 43.5, -11.1 5 Ygot valid direction response: 05:47:58.9051 LVL= 24256, 32753, 32754, 32755, AGC= 64, IDX= 438, 0.10, 0.705,-1.307,-0.658,-0.081, PHS= 0.888,-1.181,-0.621, RAW= 105.2, 9.9, CAL= 106.5, 11.1, ROT= 43.5, -11.1 = PDAT read: Bearing 4.4, 42.0 (Local) = ~Local bearing/azimuth received: Bearing 4.4, 42.0 (Local) E DAT read: Range 11 to 50 : 209.3 m (Round-trip 279.1 ms) speed 0.0 m/s M BDAT read: Tx time:05:47:59.9719 U $Ping request sent.U B B XIB wBB  =B B B h;B )E y,C?AR\direction in FSK: [0.711805,0.675477,0.192522]R:publishing transmit ping timeRFpublishing direction and range infoÿX?$4Q?M?YLQC^ )@ISc?i+?;0>\? aF>) \B?IaF[- ]y?9#Z*#пAO0? ,)0I \B?iaF^:publishing transmit ping time^Fpublishing direction and range infoÿX?$4Q?M?Y )Ii )I[- ]y?9#Z*#пAO0? )IimX_@myNm@m;ٱm@=PExceeded connect timeout, disconnecting. AHRS rotation from veh to nav: [[-0.843873,0.535151,-0.038628],[-0.536527,-0.842213,0.053065],[-0.004135,0.065505,0.997844]]mH? ǣ@;+`h@\+?`]pİ?U?imX_@Im^;mCYwBy|IbDVDyҼ%(=ֻٔQ->9Y=FygEB=EU>Q 55?Q 95%)ۼBY y i>I Q @Q  @Q @U /@Q A] >A] ?I I O >y,ƥ]?A2`@2|n@2r:ٱ2= >AHRS rotation from veh to nav: [[-0.830904,0.555173,-0.037169],[-0.556415,-0.829158,0.053844],[-0.000926,0.065420,0.997857]]2HÖ@? 'v@j?`YN c?r?i2`@I2^;2CY~wByyIE EE$E"Em+;*E|:VE4ZEBEބ9 Y =FygE߀=E>Q 5%5?Q 9%5&)ּBY-*?Q E-:y-|yԡ h;y,w?A2Wdb@2Yp@2ٱ2= :AHRS rotation from veh to nav: [[-0.817409,0.574924,-0.036120],[-0.576053,-0.815552,0.055112],[0.002227,0.065856,0.997827]]2H7(e?R~o`7??b? ۰? 2?i2Wdb@I2^;0`YjwByjpIbDrVDr:2yz)%zm=ٔ~Q-~?9Y=FygE=E? Q 55 !y?Q 95 +() ҼBYy:Q I@ DI v;i ; j5y!ɮ-9A)jhIUFNOT Ignoring new targets: 208.15 m.RhUN;Zh]N;m ProNav: ac range: 208.147385 m, nav range: 197.863953 m, bearing: 261.487419 deg, approach rate: -0.241411 m/s, LOS rate: 0.180537 deg/s, cmd heading: 270.084886 deg, new cmd heading: 270.266734 deg. Bhm;uHeadingCmd: 4.717044 target range: 208.147385 and range: 209.30 m.hu@hq*hq"hq hqgyfyfyfydddjdZd?颵{{Bɢv,) fi)_<项ihiQwȿI@IQ@Q @Q@U/@QII O >bEUÞ4jEU{4rEU0E EE)E"E;*E:VEFA4ZEa@a@a@a@Bֿ>BCBBBBBvDBh;B)EnManaging dock network, ignoring radio surface power offI 2'$y,]k?A2]c@2q@2MMٱ2= :AHRS rotation from veh to nav: [[-0.803748,0.593887,-0.035875],[-0.594948,-0.801739,0.057028],[0.005106,0.067180,0.997728]]2HN`?:^ ק2?t?2?b?i2]c@I2^;2CYZwBy^fIi]Mb@Mb@Mb@YYYY Y9]^I +?rh|ϿMbY]X?y]{]]^A]VA ]A)]AYY]pAbDuVDu0y%A=ٔ޻Q->9Y=FygEa=E>Q 55b?Q 95))ͼBY%?Q E:y9Q I@DI:iP ;l5yBɮq9A EjhFNOT Ignoring new targets: 208.15 m.RhE;ZhE; ProNav: ac range: 208.147385 m, nav range: 197.757996 m, bearing: 261.560607 deg, approach rate: -0.250252 m/s, LOS rate: 0.172951 deg/s, cmd heading: 270.266733 deg, new cmd heading: 270.486415 deg. Bhc;HeadingCmd: 4.720879 target range: 208.147385 and range: 209.30 m.hp@h*h"h hgf ffzBdddjdZd?t{Bɢ) hi)T<i"6iǿIp@IA<iE EEE"E%;*E8:VEZEBE*UGq9YA@ @@`4@AfAzAfAԙ I I O >M*y,4?A2fe@2"\s@2Eٱ2X9= :AHRS rotation from veh to nav: [[-0.789412,0.612909,-0.034237],[-0.613813,-0.787394,0.056957],[0.007951,0.065977,0.997789]]2H@B?ZU2 h)?H?@? ?i2fe@I2q^;2CYFwByFhIHJAbDNVDN1yVi;%VZ=ٔZ\Q-Z>9\Y\=^Fy^gEb=Eb>hQ 5n5jN?Q 9r5j+)jɼBYpyr7Q Iv@jDIjK;ijSM;jnn5yzBɮ~9A~E%B*** querying acoustic contact ***i! i!yjhFNOT Ignoring new targets: 208.15 m.RhA;ZhA; ProNav: ac range: 208.147385 m, nav range: 197.658630 m, bearing: 261.625161 deg, approach rate: -0.260369 m/s, LOS rate: 0.169236 deg/s, cmd heading: 270.486419 deg, new cmd heading: 270.680176 deg. BhJ;HeadingCmd: 4.724260 target range: 208.147385 and range: 209.30 m.h$-@h*h"h hgfff d d d jd Zd?]n{Bɢ])a efia)ezE  E E %E "E ;*E y:VE 4ZE a @a @a @a @ *DAT read: user:513>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002947 Ay Ay B ׿>B B KIB wBB  =B B B i;B 2)E51y, ?AɰBf@Bt@B/ٱBm= JAHRS rotation from veh to nav: [[-0.774813,0.631352,-0.032545],[-0.632099,-0.772800,0.056841],[0.010736,0.064613,0.997853]]BHE4?ȩ`':Ǻ@R???h?iBf@IBR^;@YuwByu\IbDVDky"%/=ٔXûQ->9Y=FygEM=E>Q 556?Q 95-)żBYy6Q I@DI;i3;wp5yɮ9AjhFNOT Ignoring new targets: 208.15 m.Rh%SB;Zh%SB;5 ProNav: ac range: 208.147385 m, nav range: 197.529755 m, bearing: 261.704188 deg, approach rate: -0.276875 m/s, LOS rate: 0.169893 deg/s, cmd heading: 270.680178 deg, new cmd heading: 270.917414 deg. Bh51;EHeadingCmd: 4.728401 target range: 208.147385 and range: 209.30 m.hEO@hI*hQ"hQ hYgYfaffddd)jd)Zd5@ mf{Bɢmi)i miiq)uA- >i I I O >`7y,?AjAi%`eI%T/F!I!i! !)))) -r@)))11I1)1i1)9I=tkA99 9AEjAAiAAiIMhA)M IIIYI}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506129E EE'E"Es!;*E:VE'4ZEBEx9QYQ=UFyUgE]E]>aQ 5m5eu"?Q 9m5e 0)eBYm#?Q E:y4Q I@eDIeԹ $=y,?AYEwByEHIIMG>)M;bD]VD]yS%V=ٔQ->9Y=FygEE>Q 55?Q 952)BYyQ I@DI:i]:s5y#Bɮ:AEjhFNOT Ignoring new targets: 208.15 m.RhK;ZhK; ProNav: ac range: 208.147385 m, nav range: 197.310333 m, bearing: 261.833507 deg, approach rate: -0.301588 m/s, LOS rate: 0.178157 deg/s, cmd heading: 271.114278 deg, new cmd heading: 271.305568 deg. Bh;HeadingCmd: 4.735176 target range: 208.147385 and range: 209.30 m.h%@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5r@e[{BɢeB)a eoii)mԻB-п>B)B-?IB-wBB- =B)B)B-2i;B-?)E = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262305qDy,w?A2Kk@2րy@2̍ٱ2L= :AHRS rotation from veh to nav: [[-0.726862,0.686109,-0.030430],[-0.686565,-0.724801,0.057373],[0.017309,0.062595,0.997889]]2H@tB? )W1@ `?a?@5??i2Kk@I2q^;2CYmwBymLIiMb@Mb@Mb@ 9l?A`"˿{GzY?yY#AA &A)tAYAbD  VD 2y<%C=ٔ%aQ-%>9!Y!=%Fy%gE-51>E->1Q 5=55?Q 9=554)5BYE ?Q EE:yE.Q IE@5DI5e:i5:5u5yIɮM:AIjhq}FNOT Ignoring new targets: 208.15 m.Rh}}1;Zh}}1; ProNav: ac range: 208.147385 m, nav range: 197.170975 m, bearing: 261.898546 deg, approach rate: -0.332252 m/s, LOS rate: 0.155174 deg/s, cmd heading: 271.305578 deg, new cmd heading: 271.500833 deg. Bh;HeadingCmd: 4.738584 target range: 208.147385 and range: 209.30 m.hz@h*h"h hgfffzBdddjdZd/ @额T{Bɢ) ki)4"<顡i:7i ſIz@I9@ @@4@!AII)E= E=E=)E9"E=;*E=M:VE=FA4ZE9BE=]DAT read: 05:48:02.6546 LVL= 26160, 32753, 32754, 32755, AGC= 66, IDX= 418,-0.17, 1.312,-0.763, 0.275, 0.618, PHS= 0.796,-1.335,-0.386, RAW= 116.4, 10.0, CAL= 117.6, 11.2, ROT= 32.4, -11.2 Ygot valid direction response: 05:48:02.6546 LVL= 26160, 32753, 32754, 32755, AGC= 66, IDX= 418,-0.17, 1.312,-0.763, 0.275, 0.618, PHS= 0.796,-1.335,-0.386, RAW= 116.4, 10.0, CAL= 117.6, 11.2, ROT= 32.4, -11.2 PDAT read: Bearing 16.1, 32.8 (Local) ~Local bearing/azimuth received: Bearing 16.1, 32.8 (Local) DAT read: Range 11 to 50 : 208.9 m (Round-trip 278.6 ms) speed 0.8 m/s TDAT read: user:514>Tx time:05:48:03.7219 R#Rx 1: Read range and direction messages.\direction in FSK: [0.828248,0.525622,0.194234]Fpublishing direction and range infoy*?P p?mVѫ?YPC0f )BIK?iHᪿˡž"@¸2>G\@ +H>)?I+Hʡ#r?3C~ï<J? )+?3I?i+H5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.I Jy,},?AN!m@N{@N;ϙٱN!= ZAHRS rotation from veh to nav: [[-0.709579,0.703928,-0.031356],[-0.704376,-0.707438,0.058183],[0.018774,0.063372,0.997813]]NH`޴`? ?V*ʭ?`9?9?`?iN!m@IN^;NCYf|wByf3IbDvVDvy%߽%%\=ٔ-Q-->9)Y1=5Fy5gE]R=E]>aQ 5m5eo訊?Q 9m5ey7)eBYiym,Q Iu@eDIe:ie:eVw5y(BɮS;AEii'"?AJiOCRiOCjiX@bKe@VuL[@,D@R*?P p?mVѫ?Zi?bi+HjQ5?GmK "h4I@Z7xb̿14s1?2iD:i9"iW?*ia]BiBibs!?ia]iBiGCi@ addTargetRange:: Added new target pos. range: 208.899994 m, deltaT: 3.527262 s, deltaX: -0.400009 m, approachRate: -0.113405 m/s, rangeRepo size: 4  Added new target pos. range: 207.743668 m, bearing: 256.662140 deg, lat: 36.779315 deg, lon: -121.859685 deg, deltaT: 3.527262 s, deltaX: -0.403717 m, approachRate: -0.114456 m/s, posRepo size: 4 DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766921jhFNOT Ignoring new targets: 207.74 m.RhZh% ProNav: ac range: 207.743668 m, nav range: 199.903259 m, bearing: 258.804047 deg, approach rate: 0.000000 m/s, LOS rate: 0.155174 deg/s, cmd heading: 271.500839 deg, new cmd heading: 271.689661 deg. Bh!IHeadingCmd: 4.741879 target range: 207.743668 and range: 208.90 m.hy@h*h"h hgfffdddjdj@ZdR?N{Bɢ3) rti)<isiIſIy@Iy9@ @@4@A.AII O% >ԡ E  E E 'E "E s:*E :VE '4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018242B% <A% <B- >B- CB- 2IB- |wBB-  =B) B- tDB- ii;B- O)EBCBCBʔCB =B =C5 Qy,dWF?A2n@24|@2zٱ2J= :AHRS rotation from veh to nav: [[-0.692827,0.720282,-0.034422],[-0.720819,-0.690423,0.061116],[0.020255,0.067155,0.997537]]2H`+ ?@`J?@ҽ?1??i2n@I2!^;2C@YbywByb1I ddhhbDnVDnyv%vN=ٔvtQ-v>9z ?Yz ?=zFyzgEz&s=E~>iQ 5u5m?ը?Q 9u5mw:)mBYqyuj+Q Iu@mDIm;im;my5yɮa;AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 207.74 m.Rh/;Zh/; ProNav: ac range: 207.743668 m, nav range: 199.747574 m, bearing: 258.861785 deg, approach rate: -0.413441 m/s, LOS rate: 0.153451 deg/s, cmd heading: 271.689653 deg, new cmd heading: 271.863003 deg. Bh;HeadingCmd: 4.744905 target range: 207.743668 and range: 208.90 m.hB֗@h*h"h hgfffdddjdZd ;?I{Bɢ8V) ti)J<ii%aĿ!!I%B֗@I)Թ@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270393A}؟AIIO^> 0Wy,6`?A4<ɰ:D*p@:~@EB EBEB%E@"EB:*EB:VEB 4ZE@BEB#9 "?Y "?= Fy gE k^=E>Q 5%5?Q 9%5=)BY%?Q E%:y%)Q I-@DI:iz:z5y5-Bɮ5;A5EjhY]FNOT Ignoring new targets: 207.74 m.Rhe;Zhe;u ProNav: ac range: 207.743668 m, nav range: 199.581268 m, bearing: 258.920282 deg, approach rate: -0.389947 m/s, LOS rate: 0.137274 deg/s, cmd heading: 271.863003 deg, new cmd heading: 272.038637 deg. Bhuk;}HeadingCmd: 4.747970 target range: 207.743668 and range: 208.90 m.h}_@hy*hy"h hgfffzBdddjd Zd?}C{Bɢ}83/) ri)H<顁iiĿI_@I!e9@a @a@e/@a9A.AIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774261a V]y, z?A6xq@6@6gٱ6؏= >AHRS rotation from veh to nav: [[-0.657822,0.752178,-0.038716],[-0.752866,-0.655214,0.062351],[0.021532,0.070164,0.997303]]6H ?`ң z`~? ?@>? ?i6xq@I6^;6CYFiwByJ'IbDRVDRyZ%Zc=ٔZQ-Z>9^ ?Y^ ?=^Fy^gEb=Eb>dQ 5j5f_?Q 9j5f@)fBYhyj*(Q Ij@fDIf=:ifw:f|5ypɮr;Apjh  FNOT Ignoring new targets: 207.74 m.Rh;Zh;% ProNav: ac range: 207.743668 m, nav range: 199.436844 m, bearing: 258.968836 deg, approach rate: -0.400475 m/s, LOS rate: 0.134734 deg/s, cmd heading: 272.038648 deg, new cmd heading: 272.184416 deg. Bh%;-HeadingCmd: 4.750514 target range: 207.743668 and range: 208.90 m.h-6@h)*h)"h) h)g1f1f1f19d9dAdAjdAZdEZ?u={Bɢu0\)q u!uiy)}BCB&IBgwBB =BBqDBti;BF)EAE؟AIIIYOe4>ԑ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280125dy,?A2N,s@2쐀@2pٱ2F= :AHRS rotation from veh to nav: [[-0.639998,0.767327,-0.040140],[-0.768061,-0.637364,0.062045],[0.022025,0.070539,0.997266]]2Hz?@ JeSį?@?@??i2N,s@I2^;2CYn[wBynIIra=)r=r=pԑieMb@Mb@Mb@aaaa a9etV?Gzǿ{GztYe?yep=eףe Aa eA)etAaYeAbDVDy%/=ٔ@Q->9"?Y"?=FygEM=E>Q 5 5霨?Q 95D)BY&?Q E:y$Q I@DIy;i ;~5y2Bɮ%( ojy,{٭?AY5FwBy5IbDEVDENyU`%Ua=ٔ]Q-]>9YYY=eFyegEeEe>iQ 5u5m΍?Q 9u5mG)mBYyyyQ I}@mDIm;im?;m,5y7BɮIbE)jE-4rE-ɳ0E  E E E "E l;*E :VE ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034320A A B >B CB IB IwBB  =B B oDB ji;B 4)Eԩ +qy,?A22v@2@2F]ٱ2ŋ= :AHRS rotation from veh to nav: [[-0.602988,0.796707,-0.040780],[-0.797429,-0.600508,0.059136],[0.022626,0.068178,0.997417]]2HK~?&᤿@[7@!G? '+?t? ?i22v@I2^;0YrTwByrIbDzVDz:y =%P=ٔ ȺQ- >9  ?Y  ?= FygE=E>Q 5%5}?Q 9%57K)BY)y-!Q I-@DI1:i:ぇ5y1ɮ5j Hwy,%z?AE6 E6E4E4"E6:*E6:VE4ZE4BE6.JE6;a>:E6;a>f߀GrhAx%9-hAY-Ai9I=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.538642Y?wBy I iMb@Mb@Mb@ 9|?5^?S㥛Ŀ{GzY?y$#^AA A)AYAbDVDy`9%2=ٔQ->9Y=FygEE>Q 552k?Q 95O)BY?Q E:yYQ I@DI5;i4;䃇5ychecking for new query: numPingsReceived=0, elapsed TxPingTime=6.790353) &~y,W?AɰY~>wBy|bD VD 1y矺%%g=ٔ!Q-%>9)Y)=-Fy-gE)E->1Q 555]?Q 955R)5BYyQ I@5DI5gBuCBuIBu4wBBqBqBunDBuYi;Bu')E@ @@/@A>A>I IO%,>Yԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296408y,B?A9Y=FygEE%>!Q 5-5%K?Q 955%QW)%BY5[?Q E5:y5Q I5@%&DI%;i% ;%V5yE?BɮE=AEEjhimFNOT Ignoring new targets: 207.74 m.Rhu?;Zhu?; ProNav: ac range: 207.743668 m, nav range: 198.360672 m, bearing: 259.263445 deg, approach rate: -0.483351 m/s, LOS rate: 0.119116 deg/s, cmd heading: 272.919333 deg, new cmd heading: 273.069044 deg. Bh;HeadingCmd: 4.765954 target range: 207.743668 and range: 208.90 m.h@h*h"h hgfffyBdddjdZd@{Bɢ8lT) vi)8k<i_7лi4¿I@Iԡ9@ @@@IIIaOe5>E} E}E}$Ey"E}:*E}Z:VE}4ZEyBE}<{?`?i2|@I2[^;2CYN2wByNIIR=)R%=V=V=lbDZVDZyvԼ%v_=ٔzJQ-z>9xYx=zFy~gE~Ԁ>E~>Q 5 5>?Q 9 5h[)BYyQ I@-DIN:i:5yɮ-=A!jhAMFNOT Ignoring new targets: 207.74 m.RhM<:ZhM<: ProNav: ac range: 207.743668 m, nav range: 198.177994 m, bearing: 259.300716 deg, approach rate: -0.499259 m/s, LOS rate: 0.101955 deg/s, cmd heading: 273.069051 deg, new cmd heading: 273.180966 deg. Bh;HeadingCmd: 4.767907 target range: 207.743668 and range: 208.90 m.h@h*h"h hgfffdddjdZd @E {BɢM`a)I MviI)Mٗ_9E  E E 'E "E ;*E :VE '4ZE a @a @a @a @Bm >Bm CBm IBm wBBm  =Bi Bi Bm i;Bm G)E checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054317ԉ @y,H?A2A}@2漅@2yvļٱ2D= :AHRS rotation from veh to nav: [[-0.508042,0.860061,-0.046783],[-0.860998,-0.505584,0.055383],[0.023980,0.068417,0.997369]]2HA?@L-@/[?4? ΃?q?i2A}@I2MZ^;2CY^!wBybIbDjVDjyr'%rK=ٔrQ-v>9tYt=vFyvgEzb=Ez>|Q 55~/?Q 95~`)~BYylQ I @~5DI~;i~:~5yCBɮ=A9B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 207.74 m.Rh:Zh: ProNav: ac range: 207.743668 m, nav range: 197.974350 m, bearing: 259.340431 deg, approach rate: -0.483623 m/s, LOS rate: 0.094413 deg/s, cmd heading: 273.180956 deg, new cmd heading: 273.300222 deg. Bh;HeadingCmd: 4.769989 target range: 207.743668 and range: 208.90 m.h@h*h"h hgfffdddjdZdB@-{Bɢ5 a)1 5yi9)=R<99i=ɻiEoAAIE@II9@ @@0@qIIOE/>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308632ԑ yIy,b?AE" E"E E "E" ;*E"':VE ZE BE"PQ9aYa=eFyegEeEm>iQ 5}5mV?Q 9}5m e)mBY}?Q E}:y}WQ I@m>DIm,;img;m5yɮf=AjhFNOT Ignoring new targets: 207.74 m.Rh:Zh: ProNav: ac range: 207.743668 m, nav range: 197.747406 m, bearing: 259.384681 deg, approach rate: -0.523874 m/s, LOS rate: 0.102266 deg/s, cmd heading: 273.300211 deg, new cmd heading: 273.433117 deg. Bh^;HeadingCmd: 4.772308 target range: 207.743668 and range: 208.90 m.h@h*h"h hgfffzBdddjdZd h@=zBɢ=S)A EsiA)EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.810291 sy,R|?A2K7@22@2ȼٱ2d= :AHRS rotation from veh to nav: [[-0.468302,0.882238,-0.048470],[-0.883229,-0.465898,0.053341],[0.024477,0.067790,0.997399]]2H`ݿJ;?ѨiCFݿ@yO??Z??i2K7@I2^;2CYbwBybI hhprAbDzVDzyuT%uZ=ٔ}sQ->9"?Y"?=FygE=E>Q 55t?Q 95i)BYymQ I@EDIwT;iU;Q5yɮ=AjhFNOT Ignoring new targets: 207.74 m.Rh:Zh:  ProNav: ac range: 207.743668 m, nav range: 197.552277 m, bearing: 259.419186 deg, approach rate: -0.515061 m/s, LOS rate: 0.091166 deg/s, cmd heading: 273.433127 deg, new cmd heading: 273.536741 deg. Bh Dz;HeadingCmd: 4.774117 target range: 207.743668 and range: 208.90 m.hŘ@h*h"h hgfff!d!d!d!jd!Zd-|@UzBɢ] o)Y ]%wiY)]G9BCBIB wBBBBBi;Bl)EBCBCBB =B =CC659@1 @1@54@1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.066992!AyIIO]>Qԙ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320393N_y,r?A:;ɰ:p;~"@~@~ɀϼٱ~=  AHRS rotation from veh to nav: [[-0.448465,0.892419,-0.049671],[-0.893442,-0.446017,0.053205],[0.025327,0.068239,0.997348]]~Hܿಎ? xnܿ`=?`c? x?`E?i~"@I~ ^;~CY%"wBy%IiMb@Mb@Mb@ 9bX9?PnMb`YyG AA A)^AYAbDVD02yy<%D=ٔQ->9Y=FygE[=E>Q 55;?Q 95n)BY?Q E:yQ I@MDIq:iu: 5yHBɮ =A EijhFNOT Ignoring new targets: 207.74 m.Rh:Zh: ProNav: ac range: 207.743668 m, nav range: 197.333099 m, bearing: 259.453637 deg, approach rate: -0.508535 m/s, LOS rate: 0.080024 deg/s, cmd heading: 273.536755 deg, new cmd heading: 273.640224 deg. Bh[; HeadingCmd: 4.775923 target range: 207.743668 and range: 208.90 m.h \Ԙ@h *h"h hgfffyBdddjd!Zd%`@颽zBɢ)U) ri)P+<i}iIE\Ԙ@IIԙ9@ @@@Ee EeEe$Ea"Ee;*Ee:VEe4ZEaBEeb y,S?A2@2d@2Լٱ2K= :AHRS rotation from veh to nav: [[-0.428115,0.902322,-0.050316],[-0.903351,-0.425674,0.052524],[0.025975,0.067939,0.997351]]2H>ۿ`?7?@sd?@M?i2@I2Ί^;2CYF,wByFIbDNVDN:yV<%V`=ٔVQ-V>9XYX=ZFyZgE^c~=E^>Q 55?Q 9%5cs)BY!y%Q I%@TDIH;i;đ5y-FBɮ5=A5EjhQ]FNOT Ignoring new targets: 207.74 m.Rhe:Zhe:u ProNav: ac range: 207.743668 m, nav range: 197.132294 m, bearing: 259.483586 deg, approach rate: -0.561143 m/s, LOS rate: 0.083775 deg/s, cmd heading: 273.640218 deg, new cmd heading: 273.730155 deg. Bhue;}HeadingCmd: 4.777493 target range: 207.743668 and range: 208.90 m.h}8@hy*hy"hy hygyfffdddjdZd@颽zBɢU"z) ni) <iiI8@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.822712@ @@/@IIOA>) Eu  Eu Eu (Eq "Eu [";*Eu :VEu c44ZEq a} @a} @a} @a} @B >B CB B B B B pDB i;B W)E AHRS rotation from veh to nav: [[-0.406857,0.912061,-0.051112],[-0.913096,-0.404398,0.052123],[0.026870,0.067877,0.997332]]2H ڿ /?Q+ 8 ٿ`믪?݃?^`?`$?i2Cg@I2΃^;0Y^/wBy^IIbR=)`b=`bDjVDjyr;%rG=ٔrQ-r>9tYt=vFyvgEvh=Ez>|Q 55~?Q 95~}x)~BYy' Q I@~\DI~:i~I:~5yJBɮ=AE-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 207.74 m.RhEq:ZhEq:U ProNav: ac range: 207.743668 m, nav range: 196.915558 m, bearing: 259.514148 deg, approach rate: -0.540183 m/s, LOS rate: 0.076255 deg/s, cmd heading: 273.730158 deg, new cmd heading: 273.821945 deg. BhUUQ;]HeadingCmd: 4.779095 target range: 207.743668 and range: 208.90 m.h]X@hY*ha"ha hagafafifidididijdqZdu3@=zBɢ= \)A EkiA)EE xy,> ?AE EE%E"E8;*Ek:VE 4ZEBE֏wByV Ii5Mb@Mb@Mb@1111 1E2Acoustic response timeout95^I +?rh|y&1|Y5X?y55`11 5A)11Y5AbDVD1y3=%<=ٔQ->9Y=FygE=V=E>Q 55৊?Q 95F~)Y?Q E:y Q I%@dDI;i6;k5y)ɮ-\=A)jhFNOT Ignoring new targets: 207.74 m.Rh:Zh: ProNav: ac range: 207.743668 m, nav range: 196.672089 m, bearing: 259.545366 deg, approach rate: -0.541161 m/s, LOS rate: 0.069476 deg/s, cmd heading: 273.821956 deg, new cmd heading: 273.915728 deg. Bh>;HeadingCmd: 4.780731 target range: 207.743668 and range: 208.90 m.h@h*h"h hgfffzBdddjdZd`|@uzBɢuOS)q ueiq)}b2Acoustic response timeout! ľy,?AZF׃@Z Ҋ@Z ٱZG= jAHRS rotation from veh to nav: [[-0.365401,0.929258,-0.054427],[-0.930344,-0.362649,0.054285],[0.030707,0.070471,0.997041]]ZHb׿`z?ݫ_@5׿7˫?q?d ??iZF׃@IZí^;X|Y~]wBy~IbD VD y=%%W=ٔ%IJQ-%>9)Y)=-Fy-gE-Ln=E->9Q 5=5=B֧?Q 9E5=j)=BYAyE[ Q IE@=lDI=:i=:=5yIɮUBCBIBwBB =BBqDBEi;B/)E9@ @@/@!iIIMAM2Acoustic response timeoutIQIiOu>Qy  2Acoustic response timeouty,`?A @ F@ ٱ X= %AHRS rotation from veh to nav: [[-0.344826,0.937000,-0.055913],[-0.938101,-0.341937,0.055194],[0.032598,0.071484,0.996909]] H ֿ?Kտ`B?`?L??i @I ;E_; CY1y1 99AAQiMb@Mb@Mb@ 9On?p= ף{GztY?yף AA A)Y(AbDVD1yU~:%U8=ٔU܋Q-U>9YYY=]Fy]gEeHK=Ee>aQ 5u5e ʧ?Q 9u5ek)eBYu+?Q Eu:yuQ I}@etDIe ;ie;e5yOBɮ=AjhFNOT Ignoring new targets: 207.74 m.Rh:Zh: ProNav: ac range: 207.743668 m, nav range: 196.206238 m, bearing: 259.600946 deg, approach rate: -0.565378 m/s, LOS rate: 0.066767 deg/s, cmd heading: 273.993885 deg, new cmd heading: 274.082661 deg. BhI7;HeadingCmd: 4.783645 target range: 207.743668 and range: 208.90 m.h@h*h"h hgfff4zBdddjdZd@n@zBɢD) Yi) ;  i ;i𿿉I@Iԁ @ @@0@i9YTAE= E=E9E9"E=;*E=:VE9ZE9BE=pU2Acoustic response timeoutԩ y,1?Aɰ2C@2|>@2ٱ2A= :AHRS rotation from veh to nav: [[-0.323620,0.944542,-0.055777],[-0.945543,-0.320664,0.055880],[0.034895,0.070824,0.996878]]2H1Կ`9?ݎ@AԿ`K?ݡ?!?@m?i2C@I2L^;2CYj{wByj2IbDvVDvJyz&=%~d=ٔ~ѻQ-~>9Y=FyhE ,=E >Q 55?Q 95Z)BYyNQ I%@{DIv;i;5y)ɮ-EU  EU EQ EQ "EU ;*EU g:VEQ ZEQ a] @a] @a] @a] @B <A B >B CB IB ?wBB =B B sDB h;B )Em 2Acoustic response timeout9 y,%xK?A2v@2;@2˓ٱ2 ŋ= :AHRS rotation from veh to nav: [[-0.301725,0.951876,-0.053793],[-0.952667,-0.298811,0.056011],[0.037242,0.068147,0.996980]]2HvOӿ u? @| ӿ{?`X? r?B?i2v@I2^;2CYNwByR>IbDZVDZkyrF=%vK=ٔvzQ-v>9xYx=zFyzhEzj=E~>QQ 5]5U?Q 9]5U)UBYayeQ Ie@UDIU* ;iU ;Ud5ymLBɮm)iԙ y,PUe?AE" E"E")E "E";*E":VE"FA4ZE BE"b9Y=Fy hEE>Q 5 56?Q 9 5)BY?Q E:yQ I@DIK;i&@;5y%QBɮ%;A%#EjhYeFNOT Ignoring new targets: 207.74 m.Rhm*:Zhm*: ProNav: ac range: 207.743668 m, nav range: 195.496155 m, bearing: 259.678853 deg, approach rate: -0.541235 m/s, LOS rate: 0.062146 deg/s, cmd heading: 274.224391 deg, new cmd heading: 274.316657 deg. Bh%*;-HeadingCmd: 4.787729 target range: 207.743668 and range: 208.90 m.h-5@h)*h)"h) h)g)f1f1f5zBd1d9d9jd9Zd=2n"@ԡ颵zBɢ S)) @i)u;iqxi% k!!I-5@I)9@ @@0@ 2Acoustic response timeoutIi I O > 4y,H2?A$$Biu@B.p@Bh+ٱB%5=ٔ=sQ-= ?99Y9==Fy=hEEc>EE ?IQ 5U5M?Q 9U5MȞ)MBYYy] Q I]@MDIMz;iM;M럇5yaɮe(;AajhFNOT Ignoring new targets: 207.74 m.RhF:ZhF: ProNav: ac range: 207.743668 m, nav range: 195.321075 m, bearing: 259.696329 deg, approach rate: -0.561258 m/s, LOS rate: 0.056074 deg/s, cmd heading: 274.316653 deg, new cmd heading: 274.369128 deg. Bh;HeadingCmd: 4.788645 target range: 207.743668 and range: 208.90 m.h<@h*h"h hgfffdddjdZd@#@zBɢp[) a3i)\;!i%4i%M-<-dI-<@I)E] E]E](EY"E];*E]':VE]c44ZEYam@am@am@am@ByByB}2IB}|wBB} =ByByB}h;B})Em2Acoustic response timeoutm9@q @q@u/@qIIO(>) - 2Acoustic response timeouty,5?A$Eu3@E:.@E4ٱEM3= ]AHRS rotation from veh to nav: [[-0.235526,0.970485,-0.051838],[-0.970867,-0.232528,0.057865],[0.044103,0.063957,0.996978]]EH%ο5?@ W|Ϳ~??u_?=?iEu3@IEս^;ECY=wByE~IiMb@Mb@Mb@ 9x&?@5^I ¿y&1|?Y7 ?yb`;G A A) AYAbD5VD5yE=%E,=ٔEXQ-E>9IYI=MFyMhEUH=EU>YQ 5e5]?Q 9e5]ۤ)]BYe ?Q Ee:ymAQ Im@]DI]:i]:]5yqɮu:Ayyjh%FNOT Ignoring new targets: 207.74 m.Rh%_:Zh%_:] ProNav: ac range: 207.743668 m, nav range: 195.071518 m, bearing: 259.720284 deg, approach rate: -0.508396 m/s, LOS rate: 0.048863 deg/s, cmd heading: 274.369136 deg, new cmd heading: 274.441093 deg. Bh]#;eHeadingCmd: 4.789901 target range: 207.743668 and range: 208.90 m.heF@ha*hi"hi higififqfuzBdqdydyjdyZd}$@zBɢ) F)i)(y;iki#5?;xIF@IEU EUEQEQ"EU[";*EU:VEQZEQBEUze2Acoustic response timeout !y,L?A2F@2 @2<ٱ2Ӏ= :AHRS rotation from veh to nav: [[-0.212593,0.975775,-0.051638],[-0.976054,-0.209568,0.058304],[0.046070,0.062796,0.996962]]2H@>6˿9??p;!ʿ`٭? r?g??i2F@I2^;2C\Y"xByI!%AbD5VD5:2yE=%Et=ٔE4Q-E?9IYI=MFyMhEM=EU?QQ 5e5U?Q 9e5U4)UBYayeQ Ie@UDIU:iU:Ut5yuUBɮu":Au"EjhIUFNOT Ignoring new targets: 207.74 m.RhU5S:ZhU5S:e ProNav: ac range: 207.743668 m, nav range: 194.893753 m, bearing: 259.736036 deg, approach rate: -0.520487 m/s, LOS rate: 0.046163 deg/s, cmd heading: 274.441099 deg, new cmd heading: 274.488398 deg. Bhes:mHeadingCmd: 4.790726 target range: 207.743668 and range: 208.90 m.hmM@hi*hq"hq hqgqfqfyfydydydjdZd$@颵zBɢ3) i)_;项iݠi];K`eIM@I2Acoustic response timeouti@i @i@m/@iIIO (>Ai Am @ABq Bq Bu ^IBu wBBu =Bq Bq Bu h;Bu )EBCBCBB =B =C_f6E  E E #E "E ;*E VE 3ZE BE s<2E s<JE :E A  2Acoustic response timeout y,'?A4<ɰ4<:@:\@:Cٱ:= BAHRS rotation from veh to nav: [[-0.189130,0.980554,-0.052375],[-0.980797,-0.186052,0.058492],[0.047610,0.062432,0.996913]]:H h5ȿ``?Ъbǿ? V`?? ?i:@I:}^;:CYN3xByNIbDfVDfyv#+=%vP=ٔvQ-z>9xYx=zFyzhE~y=E~>Q 5 5 ?Q 9 5])BY y 8Q I@DId:i:+5y!ɮ%9A!=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 207.74 m.RhUGR:ZhUGR: ProNav: ac range: 207.743668 m, nav range: 194.683868 m, bearing: 259.753072 deg, approach rate: -0.565606 m/s, LOS rate: 0.045960 deg/s, cmd heading: 274.488391 deg, new cmd heading: 274.539556 deg. BhV:HeadingCmd: 4.791619 target range: 207.743668 and range: 208.90 m.hT@h*h"h hgfffdddjdZdbm%@zBɢ") 6i)6A;iii뾿[;PZSIT@I 9@  @ @ @I2Acoustic response timeouty^AM\AA .Aԡ I I O >3y,?AE& E&E&'E$"E&;*E&:VE&'4ZE$a*@a*@a*@a*@>n@>3{@>Gٱ>.= FAHRS rotation from veh to nav: [[-0.165142,0.984787,-0.054066],[-0.985072,-0.161993,0.058237],[0.048592,0.062876,0.996838]]>H_#ſ_? ,Ŀ 6ѭ?`?`? ?i>n@I>^;y-)-^A-A -A)-1 A)]2Acoustic response timeoutyY-AbDVDk2y -% 9=ٔQ-->9- ?Y5 ?=5Fy5 hE5`=E=>9Q 5E5=B?Q 9M5=ѳ)=żBYM?Q EM:yMZQ IM@=DI=:i=:=5y]RBɮ]9A],EjhFNOT Ignoring new targets: 207.74 m.RhG:ZhG: ProNav: ac range: 207.743668 m, nav range: 194.461441 m, bearing: 259.772422 deg, approach rate: -0.501491 m/s, LOS rate: 0.043676 deg/s, cmd heading: 274.539563 deg, new cmd heading: 274.597678 deg. Bh:HeadingCmd: 4.792634 target range: 207.743668 and range: 208.90 m.hA]@h*h"h hgfffzBdddjdZdN&@zBɢ) i)MZ ;IQiUʱi]gʾ]n;]<@IeA]@Iaԩ!@! @)@- 0@)^AYA5؟AIAIQOe>2Acoustic response timeout z,Ot?A2J@2D@2 Jٱ2~= :AHRS rotation from veh to nav: [[-0.140841,0.988526,-0.054600],[-0.988803,-0.137704,0.057505],[0.049327,0.062088,0.996851]]2H¿`?@EG[q?cA?ɯ? 4?i2J@I2e^;2CYtxByII)=bDVD:yq>%A=ٔHQ->9"?Y"?=Fy$hEuo=E>Q 55Yw?Q 95 )ʼBYyQ I@DI;i;5yɮ8AjhFNOT Ignoring new targets: 207.74 m.Rh 57:BBBIBxBBBBBh;B)EZh-57:= ProNav: ac range: 207.743668 m, nav range: 194.249298 m, bearing: 259.789257 deg, approach rate: -0.504026 m/s, LOS rate: 0.040043 deg/s, cmd heading: 274.597674 deg, new cmd heading: 274.648236 deg. Bh=:EHeadingCmd: 4.793516 target range: 207.743668 and range: 208.90 m.hE|d@hA*hA"hA hIgIEU EUEU%EQ"EU;*EU:VEU 4ZEQBEQae2EQaeJEU2ԑ  2Acoustic response timeoutHz,Z?A<<iuI!!I)i-xUA ))))1 5r@999AEsAIA)AiAQ)YIYYY Yaiiiqqiy}OiA)}+ }.FIyYyYxByIiMb@Mb@Mb@ 9uV?/$ÿ{Gzt?Yr>yף; A(A (A)G AYAbDVD:y<%;=ٔQ->9 ?Y ?=Fy(hEE>Q 55jo?Q 95)μBYN>Q E:ygQ I@DI:;i;ܪ5yVBɮ8A+EjhFNOT Ignoring new targets: 207.74 m.Rh 58:Zh 58: ProNav: ac range: 207.743668 m, nav range: 194.048706 m, bearing: 259.806839 deg, approach rate: -0.458862 m/s, LOS rate: 0.040261 deg/s, cmd heading: 274.648245 deg, new cmd heading: 274.701046 deg. Bh :%HeadingCmd: 4.794438 target range: 207.743668 and range: 208.90 m.h% l@h!*h!"h! h)g)f)f)f5/{Bd1d1d1jd1Zd=J(@ezzBɢm)i mii)mD:iqiumiuE}A;}1I} l@IyyEm EmEm&Ei"Em;*EmS:VEm4ZEiau@a}@a}@a}@@ @@0@]2Acoustic response timeoutԩ^A} S A ؟AI I O >k z,I5?AY5xBy5IbDEVDE1yu =%}j=ٔyQ-}?9}"?Y"?=Fy,hEE?Q 55i?Q 95)ѼBYyQ I@DI:i:b5yɮ:8AjhFNOT Ignoring new targets: 207.74 m.Rh5:Zh5: ProNav: ac range: 207.743668 m, nav range: 193.888596 m, bearing: 259.820900 deg, approach rate: -0.452456 m/s, LOS rate: 0.039766 deg/s, cmd heading: 274.701056 deg, new cmd heading: 274.743272 deg. BhT:HeadingCmd: 4.795175 target range: 207.743668 and range: 208.90 m.hr@h*h"h hgf!f!f!5BDAT read: Response Not Received 5*response not received5*DAT read: user:515> =BAp<ԡB>BBIBoxBB =BBrDBi;B)EbEjErEA0E EE#E"E;*E:VE3ZEBEb9Y=Fy0hEo>E>Q 55'c?Q 95Ʒ)ּBYyQ I@DI[:i:&5yɮ7AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 207.74 m.Rh9Zh9 ProNav: ac range: 207.743668 m, nav range: 193.698975 m, bearing: 259.831967 deg, approach rate: -0.475101 m/s, LOS rate: 0.027756 deg/s, cmd heading: 274.743267 deg, new cmd heading: 274.776500 deg. Bhc:HeadingCmd: 4.795754 target range: 207.743668 and range: 208.90 m.hv@h*h"h hgff f d d d jdZd)@=nzBɢE)A EԾiA)EZr:IIiM_iM#dUƚ;UIUv@IYԱechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.254674] ;9@ @@4@ 'G fA Xz9 fAY aAE  E E &E "E ;*E :VE 4ZE a @a @a @a @9 ^A= y 1AE >AE > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503556I9IQOe>z,?m?A;ɰ;J@JK@JOٱJ%= VAHRS rotation from veh to nav: [[-0.025184,0.998917,-0.039117],[-0.998399,-0.023151,0.051602],[0.050640,0.040354,0.997901]]JH@ə@!?!@Ҵ`k?@?B??iJ@IJ^;JCYfxByfI|iMb@Mb@Mb@ 9:v?7A`¿Y>y1 A )^AYAbD VDf2y!%*=ٔ%Q->9Y=Fy5hE9=E>Q 55\?Q 95˷)ټBY>Q E:yQ I@DIK ;i ;A5yɮ7Ajh)-FNOT Ignoring new targets: 207.74 m.Rh59Zh59E ProNav: ac range: 207.743668 m, nav range: 193.490234 m, bearing: 259.843683 deg, approach rate: -0.433442 m/s, LOS rate: 0.024355 deg/s, cmd heading: 274.776489 deg, new cmd heading: 274.811676 deg. BhE:MHeadingCmd: 4.796369 target range: 207.743668 and range: 208.90 m.hM{@hI*hI"hI hIgIfQfQfUj{BdYdYdYjdYZder}*@ gzBɢ  ׼)  MھiQ)Um:QQiUi]P]C;]0I]{@Ia)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755819@ @@4@q^A}pG(I1 IA OU >ԉ !z,&?AB>BCBIBxBB =BBBUi;B9)EBj@B0@B|NٱBX = JAHRS rotation from veh to nav: [[-0.003621,0.999404,-0.034319],[-0.998723,-0.001885,0.050485],[0.050391,0.034458,0.998135]]BH@jm?8@"^5٩?̩?p??iBj@IB^;BCER EREPEP"ER:*ER:VEPZEPBER69tYt=vFyv9hEzl=Ez>|Q 55~X?Q 95~Ϸ)~ܼBYyQ I @~DI~;i~1:~㱇5yɮ7Ajh9=FNOT Ignoring new targets: 207.74 m.RhE9ZhE9U ProNav: ac range: 207.743668 m, nav range: 193.327774 m, bearing: 259.851752 deg, approach rate: -0.435078 m/s, LOS rate: 0.021627 deg/s, cmd heading: 274.811678 deg, new cmd heading: 274.835904 deg. BhUym:YeHeadingCmd: 4.796792 target range: 207.743668 and range: 208.90 m.heQ@ha*ha"ha hagafififididqdqjdqZdu@<+@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007562=azBɢE)A EϾiA)EL9AIiMuξiM%BU-D;UxIuQ@Iqyyԁ9@ @@3@Թ^AIA U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259692Ia Om > 'z,y#G AA A)1 AY AbDVD0y09=%>=ٔQ->Թ9Y=Fy=hEE>Q 55S?Q 95{Է)޼BY>Q E:yQ I@DI-;i;ų5ySBɮE7A4Ejh FNOT Ignoring new targets: 207.74 m.Rh9Zh9 ProNav: ac range: 207.743668 m, nav range: 193.147400 m, bearing: 259.858415 deg, approach rate: -0.418349 m/s, LOS rate: 0.015467 deg/s, cmd heading: 274.835911 deg, new cmd heading: 274.855918 deg. Bh):HeadingCmd: 4.797141 target range: 207.743668 and range: 208.90 m.h-@h*h"h hgfffe{BdddjdZd %,@E EE#E"E:*E n:VE3ZEa@a@a@a@[zBɢdм) ¾i)NiIi6@;@I-@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5122409@ @@/@^A}份IIOj>9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763429N .z,?A2@2@2MIٱ2i< :AHRS rotation from veh to nav: [[0.034084,0.999120,-0.024449],[-0.998211,0.035235,0.048307],[0.049126,0.022759,0.998533]]2His?`?`H XJ ??'?`2N??i2@I2li_;2CYxByIbDEVDEy]%eO=ٔmQ;Q-m>9qYq=uFyuAhE}=E>Q 55O?Q 95ط)߼BYyQ I@DI;i';5yXBɮ7AIjhq}FNOT Ignoring new targets: 207.74 m.Rh}<9Zh}<9 ProNav: ac range: 207.743668 m, nav range: 192.980194 m, bearing: 259.862728 deg, approach rate: -0.399052 m/s, LOS rate: 0.010302 deg/s, cmd heading: 274.855910 deg, new cmd heading: 274.868860 deg. Bh=9HeadingCmd: 4.797367 target range: 207.743668 and range: 208.90 m.h@h*h"h hgfffdddjdZd@,@VzBɢ) þi)ii<ûiO/(|;II@I9@ @@/@qAAB>BBIBxBB =BBBi;BP)EE EE%E"E:*E:VE 4ZEBE 4z,?A2$i@2c@2%Eٱ29R< :AHRS rotation from veh to nav: [[0.049729,0.998647,-0.015227],[-0.997603,0.050400,0.047410],[0.048113,0.012833,0.998759]]2Hv??D/]` Ω?F? J? H?`?i2$i@I2H_;0YBxByBIbDJVDJyR" %VX=ٔV/;Q-V>9XYX=ZFyZEhEZ8*=EZ>`Q 5b5bL?Q 9f5bܷ)bBYdyfQ If@bDIb:ib|:b&5yhɮn7Al5B*** querying acoustic contact ***i1 i1jhaeFNOT Ignoring new targets: 207.74 m.Rhm'9Zhm'9 ProNav: ac range: 207.743668 m, nav range: 192.822159 m, bearing: 259.866084 deg, approach rate: -0.430538 m/s, LOS rate: 0.009152 deg/s, cmd heading: 274.868860 deg, new cmd heading: 274.878939 deg. Bh9HeadingCmd: 4.797543 target range: 207.743668 and range: 208.90 m.hx@h*h"h hgfffdddjdZd :-@QzBɢ)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267611 Ǿi!)-EQQi]tƻi);hIx@I@ @@0@^A2II1O=r> E  E E &E "E :*E X:VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5195119 ;z,`?ABّ@BԘ@B7AٱBD0: JAHRS rotation from veh to nav: [[0.063459,0.997978,-0.003667],[-0.996870,0.063562,0.047017],[0.047155,0.000672,0.998887]]BH`>?n?@ n[E??$?`=F??iBّ@IB_;BCYRxByRI TTi-Mb@Mb@Mb@)))) )9-Q?V-:vY-\>y--T-^A-^A -A)- A)Y-fAbDEVDE:yU%U@=ٔ]b;Q-]>9YYY=eFyeIhEe)=Ee>iQ 5u5mYI?Q 9u5mf)mBY}>Q E}:y}Q I}@mDImq ;im ;m5yɮ7AjhFNOT Ignoring new targets: 207.74 m.RhZ8ZhZ8 ProNav: ac range: 207.743668 m, nav range: 192.642593 m, bearing: 259.868134 deg, approach rate: -0.433705 m/s, LOS rate: 0.004955 deg/s, cmd heading: 274.878941 deg, new cmd heading: 274.885096 deg. BhY9HeadingCmd: 4.797650 target range: 207.743668 and range: 208.90 m.hY@h*h"h hgQfQfQf] {BdYdYdYjdYZde.@LzBɢ^) +ɾi)ݭiǻi&r;?IY@I 9@ @@1@@fA@gA^A}4/%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7715979AII O>a B >B CB IB xBB  =B B qDB Yi;B 3)EBCBBB =B =CI5HBz,d?A ɰ"4<EB EBEB'E@"EB,:*EBe:VEB'4ZE@BEBٱ^- jAHRS rotation from veh to nav: [[0.074609,0.997188,0.007106],[-0.996131,0.074195,0.047102],[0.046442,-0.010592,0.998865]]^H ??}?Mi?@?`Gǧ?u`?i^5@I^^;^CYxByIbDVDyE%EK=ٔM:Q-M>9IYQ=UFyUMhEU<EU>YQ 5e5]sF?Q 9m5])]BYiym:Q Im@]DI]:i]1:]ĺ5yuUBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023598ɮ7AjhFNOT Ignoring new targets: 207.74 m.Rh x8Zh x8 ProNav: ac range: 207.743668 m, nav range: 192.473236 m, bearing: 259.869524 deg, approach rate: -0.412453 m/s, LOS rate: 0.003388 deg/s, cmd heading: 274.885089 deg, new cmd heading: 274.889262 deg. Bh9%HeadingCmd: 4.797723 target range: 207.743668 and range: 208.90 m.h%@h!*h!"h) h)g)f)f)f1dQdQdQjdYZd]@V/@颥GzBɢ@) ˾i)顩i ɻi#;GI@Iqi@i @i@m4@iԙ^Ay5 BDAT read: Rx Time:05:48:18.8951 5 TRx dataTimestamp_ set to:1761544100.432148= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276587 A I I O >z*Hz,@"?AB~@By@B;ٱBj JAHRS rotation from veh to nav: [[0.083514,0.996337,0.018373],[-0.995461,0.082568,0.047335],[0.045644,-0.022243,0.998710]]BH`*a??\В?``%#?@;yvԼA1 A A)YAbDVDkyrJ%C=ٔ:Q->9Y=FyRhE<E>Q 55D?Q 95)Y>Q E:y׿Q I@DI:i:5yɮ?8AjhFNOT Ignoring new targets: 207.74 m.Rh%wZh%w5 ProNav: ac range: 207.743668 m, nav range: 192.276367 m, bearing: 259.865991 deg, approach rate: -0.479023 m/s, LOS rate: -0.008604 deg/s, cmd heading: 274.889269 deg, new cmd heading: 274.878660 deg. Bh5=HeadingCmd: 4.797538 target range: 207.743668 and range: 208.90 m.h=n@h9*h9"h9 hAgAfAfAfMzBdIdIdIjdIZdU90@}BzBɢ ) SӾi)顁iZ˻i)Ѓ;:z;In@IE EE#E"EI:*E H:VE3ZEa@a@a@a@-9@) @)@-/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527713^A ǼIAIYOew>! TNz,  BDAT read: Tx time:05:48:20.0219  $Ping request sent.immX9>m|0@m >m/@ m0 >)m@Im0 iimx'?<밄?_A(? m)?)m Im im0 ii:publishing transmit ping time =<=p;bD= VD=:2yM[8%MB= UFpublishing direction and range infoyim"Kl?s}yjȗ?Yiiiii i)iIiiiiiii i)iIiiimx'?<밄?_A(? i)iIiiiiiٔu:Q-u>9qYy=}Fy}VhE}<E}>Q 55B?Q 95')BYy/׿Q I@DI;i;v5yRBɮ98A=Eiiim;?AJimmCRimmCjim @bm{2m@]?bF>hWCzX@@Rm"Kl?s}yjȗ?Zim bim0 jm4xڙ? !?G6Z1m`QF@ZmL<:EYI8l￀d?2imi:ima"imm]t?*im fBimBiiiiiiim@Cimc"@u addTargetRange:: Added new target pos. range: 239.199997 m, deltaT: 16.396024 s, deltaX: 30.300003 m, approachRate: 1.848009 m/s, rangeRepo size: 4  Added new target pos. range: 237.850388 m, bearing: 267.909879 deg, lat: 36.779315 deg, lon: -121.859685 deg, deltaT: 16.396024 s, deltaX: 30.106720 m, approachRate: 1.836221 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 237.85 m.RhZh ProNav: ac range: 237.850388 m, nav range: 192.076508 m, bearing: 259.862018 deg, approach rate: 0.000000 m/s, LOS rate: -0.008604 deg/s, cmd heading: 274.878668 deg, new cmd heading: 274.867245 deg. BhHeadingCmd: 4.797338 target range: 237.850388 and range: 239.20 m.h̃@h*h"h h)g)f)f1f1d1d1d9jd=`fm@Zd=@Y1?BCBIBxBB =BBnDBNi;B)EDzDAAE EE%E"E:*EVE 4ZEBE[ cUz, V?A2Lߒ@2ڙ@2t4ٱ2= :AHRS rotation from veh to nav: [[0.095243,0.994573,0.041865],[-0.994474,0.093199,0.048324],[0.044160,-0.046236,0.997954]]2Ha??@\o?` ۷??,?@M =?i2Lߒ@I2Y_;2CYBzxByBIbDNVDNyR͟%Rc=ٔV:Q-V>9XYX=ZFyZZhEZ_<E^>\Q 5b5^*A?Q 9f5^)\YdyfֿQ If@^DI^L;i^z;^5yhɮn8AlzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 237.85 m. Rh>Zh>% ProNav: ac range: 237.850388 m, nav range: 191.909683 m, bearing: 259.858482 deg, approach rate: -0.490891 m/s, LOS rate: -0.010414 deg/s, cmd heading: 274.867248 deg, new cmd heading: 274.856631 deg. Bh%-HeadingCmd: 4.797153 target range: 237.850388 and range: 239.20 m.h-G@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdEZ?u9zBɢuP)q u߾iq)uΨyyi}ͻiM6{;sZaEm  Em Em &Ei "Em y:*Em [:VEm 4ZEi au @au @au @au @} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.722588ԙ ҅[z,qTp?A23@2@2jJ3ٱ2s :AHRS rotation from veh to nav: [[0.098146,0.993666,0.054728],[-0.994210,0.095484,0.049296],[0.043758,-0.059249,0.997284]]2H ??O?q?U=?@xg?U`?i23@I2_;2CYNxxByRIi%Mb@Mb@Mb@!!!! !9%Zd;?MbX9/$Y%>y%ʡ%%(A% A %A)% A!Y% AybDVDy%%;=ٔq:Q->9Y=Fy^hEB;E>Q 55@?Q 95M)BY1?Q E:yпQ I@ DI? ;i ;5yɮ8Ajh  FNOT Ignoring new targets: 237.85 m.RhZh% ProNav: ac range: 237.850388 m, nav range: 191.691116 m, bearing: 259.850870 deg, approach rate: -0.501408 m/s, LOS rate: -0.017485 deg/s, cmd heading: 274.856620 deg, new cmd heading: 274.833755 deg. Bh%?-HeadingCmd: 4.796754 target range: 237.850388 and range: 239.20 m.h-@h)*h)"h1 h1g1f1f9f=zBd9d9dAjdAZdE?u4zBɢuĖ)q }:޾iy)}wj4yyi}MϻidCge;Rp B n>B ލCB IB xBB =B B lDB _i;B )Embz,.?AbE1jE5 4rE5/E EE#E"E*EVL:VE3ZEBE91Y1=5Fy5bhEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.226704=T;EE>IQ 5U5M ??Q 9U5Mr)MBYYy]пQ I]@MDIML;iM;MÇ5yaɮm:9AijhFNOT Ignoring new targets: 237.85 m.RheZhe ProNav: ac range: 237.850388 m, nav range: 191.496567 m, bearing: 259.844035 deg, approach rate: -0.501550 m/s, LOS rate: -0.017638 deg/s, cmd heading: 274.833753 deg, new cmd heading: 274.813228 deg. BhAHeadingCmd: 4.796396 target range: 237.850388 and range: 239.20 m.h|@h*h"h hgfffdddjdZd`f?颕0zBɢ) i)L顙i3лiO;;ʉQ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482314ԁ Wk> C?hz,O?A6Gɰ2(hA8R9R(hAYRAy~q?~A@@T4ٱ1 AHRS rotation from veh to nav: [[0.099198,0.991230,0.087305],[-0.994091,0.094832,0.052819],[0.044076,-0.092029,0.994780]]He?(?Y? F? ?@+?6=?i@I^;CY%ExBy%IiMb@Mb@Mb@ 9K7A`?Dly&1Y ?yO`eAA A) AY AbDVDky%%-;=ٔ-5Q-->91Y1=5Fy5fhE=E=>AQ 5M5Ev>?Q 9M5E)EBYM+ ?Q EM:yM̿Q IM@EDIE:iE]:QEŇ5yYɮe}9AajhFNOT Ignoring new targets: 237.85 m.RhݹZhݹ ProNav: ac range: 237.850388 m, nav range: 191.261139 m, bearing: 259.833485 deg, approach rate: -0.540310 m/s, LOS rate: -0.024242 deg/s, cmd heading: 274.813235 deg, new cmd heading: 274.781546 deg. BhHeadingCmd: 4.795843 target range: 237.850388 and range: 239.20 m.hw@h*h"h hgfffzBdddjdZd`y?,zBɢٍ) Hi) giѻi>a;%  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984144Tnz,?AJ@J@Jz6ٱJo6޽ jAHRS rotation from veh to nav: [[0.098252,0.989774,0.103410],[-0.994164,0.092972,0.054710],[0.044536,-0.108182,0.993133]]JH@'?:?y?2ͷ??@gͦ?ѱ?iJ@IJC^;JCYv@xByvIbD~VD~J2y S% ^=ٔ ãQ- >9Y=FyjhE(E>!Q 5-5%=?Q 9-5% )%BY)y-̿Q I5@%DI%:i%:% LJ5y9ɮ=9A9jhaeFNOT Ignoring new targets: 237.85 m.RhmmݹZhmmݹ} ProNav: ac range: 237.850388 m, nav range: 191.061844 m, bearing: 259.824604 deg, approach rate: -0.542478 m/s, LOS rate: -0.024198 deg/s, cmd heading: 274.781543 deg, new cmd heading: 274.754873 deg. Bh}ۄHeadingCmd: 4.795377 target range: 237.850388 and range: 239.20 m.hs@h*h"h hgfffdddjdZd @(zBɢj) i)}iѻip ڇ;u%B%܍CB%IB%xBB% =B%DDB%jDB%ei;B%)EE= E=E='E9"E=:*E=1]:VE='4ZE9BE=1 uz,{?A2v@2<@2c7ٱ2^! :AHRS rotation from veh to nav: [[0.096595,0.988256,0.118405],[-0.994313,0.090453,0.056205],[0.044835,-0.123160,0.991373]]2Hu?ʟ?O?`j '?Ƭ?? pT?i2v@I2^;2CYF#xByFIIJ>)J=bDRVDRk1yZ蔽%ZP=ٔZGQ-^>9\Y\=bFybnhEb%Eb>dQ 5j5f`=?Q 9j5f)fBYhyn!ͿQ In@f$DIfI;if;fȇ5yrOBɮr9ArFEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 237.85 m.RhjڹZhjڹ- ProNav: ac range: 237.850388 m, nav range: 190.849487 m, bearing: 259.815241 deg, approach rate: -0.540778 m/s, LOS rate: -0.023869 deg/s, cmd heading: 274.754878 deg, new cmd heading: 274.726758 deg. Bh- 5HeadingCmd: 4.794887 target range: 237.850388 and range: 239.20 m.h5o@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdE@-%zBɢ5o)Q UViY)]Yaie*Sһchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.487606imL;!}@>9^A) Em  Em Ei Ei "Em :*Em rN:VEi ZEi au @au @a} @a} @y u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739732AY Ia Iy O >{z,?A >ڒ@>zՙ@>8ٱ>V~ JAHRS rotation from veh to nav: [[0.094681,0.986985,0.129988],[-0.994483,0.087852,0.057316],[0.045150,-0.134698,0.989857]]>H=?`?`v?r}?X??=?i>ڒ@I>4^;>CYRxByRIi-Mb@Mb@Mb@)))) )9-"~?X9vY-?y-}--A-|A -A)- A)Y-AbDEVDE1yU?%U@=ٔ] CQ-]>9YYa=eFyerhEeoEe>iQ 5u5m%=?Q 9u5m )mBY}?Q E}:y}}ʿQ I}@m,DIm ;imK ;mʇ5yɮ;:AjhFNOT Ignoring new targets: 237.85 m.Rh5ZhUe ProNav: ac range: 237.850388 m, nav range: 190.606491 m, bearing: 259.802956 deg, approach rate: -0.572576 m/s, LOS rate: -0.028986 deg/s, cmd heading: 274.726765 deg, new cmd heading: 274.689861 deg. Bhe#mHeadingCmd: 4.794242 target range: 237.850388 and range: 239.20 m.hmoj@hi*hi"hi higqfqfyf}azBdydydyjdZd_@!zBɢu#) i)uiһi^;&~mA? I I O >B% `>B! B% IB% exBB! B! B! B% i;B% (EE]  E] EY EY "E] I:*E] T:VEY ZEY BE] 9xYx=zFyzvhE~E~> BDAT read: Rx Time:05:48:22.7409  TRx dataTimestamp_ set to:1761544104.216280checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243757Q 5%5z,xa%?Ax%@%T@%?U<ٱ%? 5AHRS rotation from veh to nav: [[0.091017,0.985851,0.140761],[-0.994788,0.083483,0.058543],[0.045964,-0.145355,0.988311]]%HL??@q?M)_?Y?@?¿??i%@I%^;%CYE#xByMIiMb@Mb@Mb@ 9ʡE? rhMb?Y?yC<AA ) AYfAAAbDVD:y}<%}4=ٔQ->9Y=Fy{hEE>Q 55 BDAT read: Tx time:05:48:23.8719 $Ping request sent.i-t-?-e4@-K=-G3@ -`=)-2@I-`))-*U?1F,?SsL&? -09?)-&I-t;i-`)):publishing transmit ping timeFpublishing direction and range infoy)-#&`?PzBǿ]1?Y))9@! @!@%/@!))) )))I)i))))) )))I)))-*U?1F,?SsL&? )))I)i)))^Ae jZX<I I O > z,-??Aɰ24@2@2 >ٱ2 :AHRS rotation from veh to nav: [[0.088787,0.985750,0.142879],[-0.994969,0.081090,0.058826],[0.046401,-0.147384,0.987990]]2H?B?I?W´?h??@w¿?i24@I2j^;2CYN-xByRIbDZVDZܲyv[<%vh=ٔvBQ-z>9xYx=zFyzhE~лE~>Q 5 51BBIBQxBB =BBBh;B(EB܍CBݍCBĕCB =B =CR6m9@i @i@m/@iE- E-E-'E)"E-:*E-k:VE-'4ZE)BE-*Y z,Y?A2@2E@2,@ٱ2c :AHRS rotation from veh to nav: [[0.086391,0.985599,0.145367],[-0.995157,0.078502,0.059164],[0.046900,-0.149774,0.987607]]2H??a?S?J?B? +ÿz?i2@I2K^;2CYF%xByFIbDN VDN:2yV%VN=ٔZ Q-Z>9XYX=ZFyZhE^ƻE^>`Q 5f5b;?Q 9f5b0)bBYhyj˿Q Ij@bKDIb:ibV:bч5y]KBɮ]9A]PEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 234.74 m.RhjZhj ProNav: ac range: 234.735535 m, nav range: 189.648361 m, bearing: 259.755892 deg, approach rate: -0.613481 m/s, LOS rate: -0.029598 deg/s, cmd heading: 274.581227 deg, new cmd heading: 274.546214 deg. BhHeadingCmd: 4.791735 target range: 234.735535 and range: 236.10 m.hU@h*h"h hgfffdddjdZd@?9]zBɢe+)a miiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)xλ顉iջi羿u;!M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988433Ա !z,r?A2@2s@2I,Aٱ2L :AHRS rotation from veh to nav: [[0.084832,0.985457,0.147236],[-0.995279,0.076815,0.059317],[0.047144,-0.151572,0.987321]]2H?܈??T,?^?>#? fÿ"?i2@I2Hi^;2CYFExByFIIJ=)Je>iMb@Mb@Mb@ 9K7A?V-Zd;O?Y "?ymj<ASA A)1 AYAbD-VD-k1y5f=%=B=ٔEQ-E>9AYA=MFyMhEMsEM>QQ 5]5U;?Q 9]5U7)U(BYe"?Q Ee:yeɿQ Ie@UTDIU ;iU ;UӇ5yiɮmD9Aqjh5FNOT Ignoring new targets: 234.74 m.Rh=Zh=M ProNav: ac range: 234.735535 m, nav range: 189.385559 m, bearing: 259.741529 deg, approach rate: -0.626758 m/s, LOS rate: -0.034300 deg/s, cmd heading: 274.546202 deg, new cmd heading: 274.503056 deg. BhMQuHeadingCmd: 4.790982 target range: 234.735535 and range: 236.10 m.huO@hq*hq"hq hygyfyfyfzBdddjdZd ԅ?ԑ颕zBɢ ) Ai)hQۻ顙iSֻi̋;i>A@A @A@Ee0@A@]=@]=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239856^A- X<I I O >B Z>B ۍCB IB [xBB  =B B B h;B (E E=  E= E= $E9 "E= :*E= xv:VE= 4ZE9 BE= 19\Y\=^Fy^hEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491809=WE=>AQ 5M5E;?Q 9M5E`>)E5BYQyUGɿQ IU@E\DIE:iE:EBՇ5yaɮe9AajhFNOT Ignoring new targets: 234.74 m.RhZh ProNav: ac range: 234.735535 m, nav range: 189.135025 m, bearing: 259.727924 deg, approach rate: -0.641329 m/s, LOS rate: -0.034874 deg/s, cmd heading: 274.503062 deg, new cmd heading: 274.462192 deg. BhxHeadingCmd: 4.790269 target range: 234.735535 and range: 236.10 m.hI@h*h"h hgfffdd d jd Zd `d?}zBɢ}) ޾i)^顁i@׻i;; Aychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.744209I A I I O5 >7z,X?AYmxByIE EE&E"E:*Ee:VE4ZEa@a@a@a@IiMb@Mb@Mb@ 9x&1?L7A`尿y&1?YA ?y+`<Ad@ A) AYAbDVDk2yvS=% =ٔQ->9Y=FyhE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996270E>Q 5%5];?Q 9%5F)FBY%M!?Q E%:y-ʿQ I-@fDId;i;oׇ5y1ɮ58A1jhYFNOT Ignoring new targets: 234.74 m.RhZh ProNav: ac range: 234.735535 m, nav range: 188.827560 m, bearing: 259.712361 deg, approach rate: -0.623596 m/s, LOS rate: -0.031617 deg/s, cmd heading: 274.462191 deg, new cmd heading: 274.415425 deg. Bh HeadingCmd: 4.789453 target range: 234.735535 and range: 236.10 m.h 2C@h *h "h  h g fffzBddYdajdaZde@X{@ zBɢF) Ͼi)i{ٻi2{;7;jz,N?A h)nkAnjB܍CBIBzxBB =BBkDBh;B(Ey J=% ?=ٔQ->9Y=FyhEE>!Q 5M5% ;?Q 9M5%M)%TBYQyQQ IU@%oDI%?;i%:%Jه5yYɮ]P8AYjhFNOT Ignoring new targets: 234.74 m.Rh# Zh#  ProNav: ac range: 234.735535 m, nav range: 188.565140 m, bearing: 259.699037 deg, approach rate: -0.606759 m/s, LOS rate: -0.030848 deg/s, cmd heading: 274.415417 deg, new cmd heading: 274.375392 deg. Bh]HeadingCmd: 4.788754 target range: 234.735535 and range: 236.10 m.hy=@h*h"h hgfffdddjdZdE@DazDabE!4jET4rE?/Em EmEm'Ei"Em:*EmL_:VEm'4ZEiBEm#pz,?A,ɰ.p;NS@NVN@NݞMٱNc0" VAHRS rotation from veh to nav: [[0.078244,0.985068,0.153360],[-0.995671,0.069472,0.061756],[0.050179,-0.157528,0.986239]]NH@?ଅ?I? ȱ?n?@?`)ĿD?iNS@IN;^;LaYmxBymIhAM9MhAYUXAbDVD:yɚ=%3=ٔQ->9Y=FyhEq.E>Q 55:?Q 95U)eBYyv˿Q I@xDIB:i|:Jۇ5yGBɮ7AYE5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 234.74 m.RhE ZhE u ProNav: ac range: 234.735535 m, nav range: 188.282349 m, bearing: 259.685056 deg, approach rate: -0.617461 m/s, LOS rate: -0.030575 deg/s, cmd heading: 274.375393 deg, new cmd heading: 274.333384 deg. Bh}ݧ}HeadingCmd: 4.788021 target range: 234.735535 and range: 236.10 m.hw7@h*h"h hgfffԑdddjdZdt@%zBɢ%r)! %zz,Z?A,V2F@V@@V,QٱV# fAHRS rotation from veh to nav: [[0.076616,0.984964,0.154845],[-0.995745,0.067610,0.062618],[0.051207,-0.158983,0.985952]]VH?`҄??`$N?`?7?YĿ ?iV2F@IV3-^;VCY5xBy= IuBDAT read: Rx Time:05:48:26.5378 }TRx dataTimestamp_ set to:1761544107.996205}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256873-only read 0 of 1 data item for BIT error. Device response is::TS,00050309364620,35.0, +10.5, 0.0,1491.8RA, 0.00, 90.49, 91.01, 86.60 a@a a@a a@a a@a bD VDf2y >%T=ٔR/Q->9Y=FyhEE>Q 55/:?Q 95q[)sBQ A+:YQ E:y˿Q I@DIy;i+>܇5yɮ6AjhFNOT Ignoring new targets: 234.74 m.RhZh ProNav: ac range: 234.735535 m, nav range: 188.044434 m, bearing: 259.673375 deg, approach rate: -0.631654 m/s, LOS rate: -0.031050 deg/s, cmd heading: 274.333373 deg, new cmd heading: 274.298288 deg. BhyHeadingCmd: 4.787408 target range: 234.735535 and range: 236.10 m.hs2@h*h!"h! h!g!f!f)f)d)d)d1jd1Zd5 Xg @]zBɢeQ)a e啾ia)miiimq߻iuuue;uz;Ius2@IyI)ԉ@ @@/@@=@=^A#2;B]>B]CB]IB]xBB] =B]CDB]nDB]h;B](EԩAE  E E $E "E 2:*E :VE 4ZE BE "*% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507677 m[z,-x?Ad%6@%1@%:Vٱ%$ AHRS rotation from veh to nav: [[0.074748,0.984954,0.155817],[-0.995828,0.065526,0.063513],[0.052347,-0.159915,0.985742]]%H"?? ? Hư?bB?Dͪ?xĿ2?i%6@I%\j^;%CYyBy&II>)p<%=%=bD-VD-1y==%=B=ٔ=O1Q-E>9AYA=EFyEhEMdEM>QQ 5]5U9?Q 9]5Ubb)UBQ A] :YYQ Ee]:ye˿Q Ie@UDIU:iUO?U݇5yiɮu6AyjhFNOT Ignoring new targets: 234.74 m.RhZh ProNav: ac range: 234.735535 m, nav range: 187.783752 m, bearing: 259.660692 deg, approach rate: -0.612454 m/s, LOS rate: -0.029840 deg/s, cmd heading: 274.298293 deg, new cmd heading: 274.260190 deg. BhգHeadingCmd: 4.786743 target range: 234.735535 and range: 236.10 m.h-@h*h"h hgf ffdddjdZd@5zBɢ5Uʼ)1 =O}i9)=zl 99i=kiElE.%;e;Im-@IiDAT read: 05:48:26.5378 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.01, 0.367,-1.074, 0.946, 0.264, PHS= 0.206,-1.293, 0.639, RAW= 162.3, 5.2, CAL= 161.4, 4.3, ROT= 348.6, -4.3 Ygot valid direction response: 05:48:26.5378 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.01, 0.367,-1.074, 0.946, 0.264, PHS= 0.206,-1.293, 0.639, RAW= 162.3, 5.2, CAL= 161.4, 4.3, ROT= 348.6, -4.3 PDAT read: Bearing 61.2, -9.5 (Local) ~Local bearing/azimuth received: Bearing 61.2, -9.5 (Local) DAT read: Range 11 to 50 : 196.3 m (Round-trip 261.8 ms) speed -0.5 m/s *DAT read: user:518>  BDAT read: Tx time:05:48:27.6719 $Ping request sent.i#?uJ5@޹=I4@ )@IˮJ7?"6v?s? +"=?)3;IKiu:publishing transmit ping timeuFpublishing direction and range infoy5G?}Ϡ:ɿ]1?Y )Ii )IˮJ7?"6v?s? )Ii@! @!@!@!!^AA Q E5  E5 E5 (E1 "E5 s:*E5 xv:VE5 c44ZE1 aE @aE @aE @aE @Aq I I O >z,u0?A@B"*@B$@BZٱBF%l ~AHRS rotation from veh to nav: [[0.073196,0.984930,0.156704],[-0.995889,0.063775,0.064334],[0.053371,-0.160769,0.985548]]BH?? ?Q S?2x?`jS?@Ŀ?iB"*@IB^;BCYU2yByU@Ia]a] a]a] a]a] a]a] ieMb@Mb@Mb@aaaa a9eM?9Y=FyhEpE>Q 558?Q 95h)BQ AT:Y?Q E:yoοQ I@DI;i;߇5yɮq5Aii' ?AJi.CCRi.CCji2@bWYg@g6@Zk_yOf￈̏xC1?2i?:i"i)?*iTw;Bi.Bi)?iTw;iBi@Ci2@-]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 196.300003 m, deltaT: 3.782465 s, deltaX: -39.800003 m, approachRate: -10.522240 m/s, rangeRepo size: 4jhYeFNOT Ignoring new targets: 234.74 m.Rh׹Zh׹ ProNav: ac range: 234.735535 m, nav range: 187.543839 m, bearing: 259.650475 deg, approach rate: -0.553192 m/s, LOS rate: -0.023587 deg/s, cmd heading: 274.260181 deg, new cmd heading: 274.229492 deg. BhHeadingCmd: 4.786208 target range: 234.735535 and range: 236.10 m.h(@h*h"h hgfff{Bdddjdh@Zd@r?MzBɢM )I M`QiI)Uu6QQiUi]];]hz;I](@I@ @@/@1^A ;Y B v>B ߍCB 2IB yBB =B B mDB i;B (EAI IY Ii Ou >z,K?AJ@JK@J_ٱJ`& RAHRS rotation from veh to nav: [[0.071658,0.984919,0.157482],[-0.995935,0.062013,0.065331],[0.054580,-0.161523,0.985358]]JH(X?t?\(?@/???ɬĿ?iJ@IJD^;HEu EuEu'Eq"Eu:*Eu&p:VEu'4ZEqBEu59Y=FyhEmE%>)Q 555-7?Q 955-)o)-BY1y5οQ I5@-DI-d:i-9:-5yAɮE5AAjhimFNOT Ignoring new targets: 234.74 m.RhulZhul  ProNav: ac range: 234.735535 m, nav range: 187.302216 m, bearing: 259.640271 deg, approach rate: -0.587750 m/s, LOS rate: -0.024853 deg/s, cmd heading: 274.229500 deg, new cmd heading: 274.198848 deg. Bh tHeadingCmd: 4.785673 target range: 234.735535 and range: 236.10 m.h;$@h*h"h hgf!f!f!d!d)d)jd)Zd-%?A]zBɢe!)a e5ia)eaiim8im~u ;u~F;Iu;$@Iqt>i!>@Q @Q@U/@Q@Y@]fAi^A= r;ԙ Iq I O >Az,e?A|@ @7dٱ& AHRS rotation from veh to nav: [[0.070387,0.984965,0.157764],[-0.995959,0.060549,0.066323],[0.055774,-0.161795,0.985247]]H`?Մ?@1? U?`?@[?@Ŀ$?i@I._;Cǩǩiǭ`eIǩǩIȱiȵtUA ȱDZ)ȱȹ ɽr@ȹȹȹsAI)i)I iiGiA)b .FIYYyByqI Ai-Mb@Mb@Mb@)))) )9-NbX9?#~j~jt?Y-?y-㥽-=-I A-d@ -A)- A)Y-\AbDMVDM:2ye(=%e>=ٔm66Q-m>9qYq=uFyuhE}ZAE}>E EE%E)"EV:*E:VE 4ZEa5@a5@a5@a5@Q 5=56?Q 95Wu)BY?Q E:y ҿQ I@DI@ z,e?Aɰ4%uF=ٔu.Q-u>9yYy=}Fy}hERVE>Q 55J5?Q 95z)ŽBYyJҿQ I@DIH!;i3";@5yɮ33AjhFNOT Ignoring new targets: 234.74 m.RhZh ProNav: ac range: 234.735535 m, nav range: 186.863602 m, bearing: 259.625497 deg, approach rate: -0.571930 m/s, LOS rate: -0.019188 deg/s, cmd heading: 274.175049 deg, new cmd heading: 274.154471 deg. BhRHeadingCmd: 4.784898 target range: 234.735535 and range: 236.10 m.h@h*h"h hgfffdddjdZd?IUzBɢUi)]8r ]&iY)]dYYi]ieǿm ;m6+:Im@IiB>BCBwIByBB =BBnDB i;B(EBߍCBލCBB =B =C~w69@ @@0@E EE&E"E ;*E:VE4ZEBELԡ o0z,W'?A: @:@:pٱ:& BAHRS rotation from veh to nav: [[0.069265,0.985088,0.157496],[-0.995865,0.058976,0.069094],[0.058775,-0.161631,0.985099]]:HR?@օ?(? ! 2?`'??OĿ`?i: @I:_;:CYyByIbD-VD-y==%=N=ٔE<:Q-E>9AYA=MFyMhEM:EM>QQ 5]5U4?Q 9]5U,)UսBYayeGҿQ Ie@UDIUY;iU;U5yiɮm~2Aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003331jhFNOT Ignoring new targets: 234.74 m.RhZh ProNav: ac range: 234.735535 m, nav range: 186.657669 m, bearing: 259.618574 deg, approach rate: -0.518731 m/s, LOS rate: -0.017459 deg/s, cmd heading: 274.154477 deg, new cmd heading: 274.133684 deg. Bh?HeadingCmd: 4.784535 target range: 234.735535 and range: 236.10 m.h@h*h"h hgfffdQdQdYjdYZd]\@颥yBɢ0) ͼi)(Աiiӿ̘;Z;I@Ii@i @i@u/0@q@@=E EEE"E ;*E:VEZEa @a @a @a @ M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258010^A q:I) I9 OM >9 bZz,?AY~yBy~IIV>)%= = =iMb@Mb@Mb@ 9Q?x& rh?Y>y7C =@ ) AY=AbDVDy]=%A=ٔQ->9Y=FyhEE> Q 5}5  3?Q 95 ) BY>Q E:y]пQ I@ DI BCBIByBB =BBpDBi;B )Eԉ ^A ] ;E  E E )E "E *E :VE FA4ZE BE R= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759224jBz,?A9aYa=eFyehEm;Em>qQ 5}5u,2?Q 9}5ui)uBYyy}@пQ I@uDIu ;iu. ;u5yɮh1AjhFNOT Ignoring new targets: 234.74 m.RhZh ProNav: ac range: 234.735535 m, nav range: 186.270828 m, bearing: 259.603674 deg, approach rate: -0.502210 m/s, LOS rate: -0.019459 deg/s, cmd heading: 274.110190 deg, new cmd heading: 274.088932 deg. BhUHeadingCmd: 4.783754 target range: 234.735535 and range: 236.10 m.h@h*hq"hq hqgqfyfyfydyddjdZd@yBɢ) 2=i)Gi?mi%]%)h;%|l;I%@I)qԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011227[RӻM 9@I  @I @M 0@I ^A yb];E EE(E"E;*E:VEc44ZEa%@a%@a%@a%@MBDAT read: Rx Time:05:48:30.3624 UTRx dataTimestamp_ set to:1761544111.780151Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264264AaIiIyO?z,u?AHYUEzByUI YYiMb@Mb@Mb@ 9㥛 ?/$Mb?Y>y=3A=A A) AYAbDVD:y*A=%=ٔ Q- >9 Y=FyhEE>Q 5%50?Q 9%5@)BY-h>Q E-:y-׿Q I-@DI6;i ;5y5=Bɮ=0A=lEUB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 234.74 m.RhZh ProNav: ac range: 234.735535 m, nav range: 186.047714 m, bearing: 259.599126 deg, approach rate: -0.419511 m/s, LOS rate: -0.008561 deg/s, cmd heading: 274.088934 deg, new cmd heading: 274.075275 deg. BhHeadingCmd: 4.783516 target range: 234.735535 and range: 236.10 m.h@h*h"h h!g!f)f)f-|Bd)d1d1jd1Zd5 @颡ɢ) 8=i) 顩iHi,Y;vo;I@I(I)1@1 @1@5L1@1@9@9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515184 ^A= r;B >B CB IB WzBB =B B rDB i;B )EA I I I O] >$y{,S?AbEjEY"4rE/EJ EJEHEH"EJ ;*EJh:VEHZEHBEHaR2EHaRJEJ;aR:EJ;aV^PExceeded connect timeout, disconnecting.E<@E@Ez}ٱEPp' AHRS rotation from veh to nav: [[0.071471,0.984849,0.157999],[-0.995523,0.060610,0.072529],[0.061853,-0.162475,0.984772]]EHK??L9?SD? BDAT read: Tx time:05:48:31.4719 $Ping request sent.iX9?,4@4Q=G3@ q=)2@IqR??QE ? Ъ8?)нIt;iqE:publishing transmit ping timeEFpublishing direction and range infoy8cT?g`9ǿ{]U?Y )Ii )IR??QE ? )IibDUVDUy<%3=ٔTQ->9Y=FyhEB;E>Q 55*.?Q 95D)BYy׿Q I@DI;i;5yABɮ0AkE iiB#?AJi~UCRi~UCji@bք j@S^C{57r3@R8cT?g`9ǿ{]U?Zit;biqj"g64*H jRPRC@Z⇱S;C"+?2iQ:iȠ"iU?*i-&BirBiU?i-&irBiQCi@= addTargetRange:: Added new target pos. range: 214.699997 m, deltaT: 7.563444 s, deltaX: -21.400009 m, approachRate: -2.829400 m/s, rangeRepo size: 4 U Added new target pos. range: 213.493195 m, bearing: 264.507225 deg, lat: 36.779437 deg, lon: -121.859979 deg, deltaT: 7.563444 s, deltaX: -21.242340 m, approachRate: -2.808554 m/s, posRepo size: 4 jhQUFNOT Ignoring new targets: 213.49 m.Rh]ZhY ProNav: ac range: 213.493195 m, nav range: 209.967041 m, bearing: 264.507934 deg, approach rate: 0.000000 m/s, LOS rate: -0.008561 deg/s, cmd heading: 274.075274 deg, new cmd heading: 274.062464 deg. BhHeadingCmd: 4.783292 target range: 213.493195 and range: 214.70 m.h@h*h"h hgfffddd jd `fj@Zd ?qɢ} t) =i)_i if;;I@I9i G (hA M 9M (hAYM 4AY @Y  @Y @] /@Y ԙ ^A}d;AfAzAfAE EE%E"E:*E:VE 4ZEa@a@a@a@IIO?[U {,3?Aɰ;>'@>"@>3ٱ>' FAHRS rotation from veh to nav: [[0.072872,0.984717,0.158181],[-0.995377,0.061860,0.073466],[0.062558,-0.162803,0.984673]]>Hħ? ΂?E??! ?@β?`?Ŀq?i>'@I>rb;>CYRfzByRIi-Mb@Mb@Mb@1)))) )9-?bX9ȶ/$?Y->y-E-<- A-M@ -(A)))Y-3AbDMVDM0y]=%]=ٔ]ުQ-e>9aYa=eFyehEm*;Em>qQ 5}5u+?Q 9}5u)u(BY}>Q E};yڿQ I@uDIu*:iu:u45yɮn0AjhY]FNOT Ignoring new targets: 213.49 m.Rhe=8Zhe=8 ProNav: ac range: 213.493195 m, nav range: 209.747360 m, bearing: 264.510363 deg, approach rate: -0.422552 m/s, LOS rate: 0.004678 deg/s, cmd heading: 274.062461 deg, new cmd heading: 274.069757 deg. Bh}M9HeadingCmd: 4.783420 target range: 213.493195 and range: 214.70 m.h@h*h"h hgfff}BdddjdZd`!?ɢ@&) %=i!)i  iR܊;';I@aI@ @@0@ԉ^A= ϩ;Թ B5 <A5 <B= >B= CB= IB= zBB= =B9 B9 B= i;B= )EI1 II OU >={,9M?A2y9@2?4@2xٱ2' :AHRS rotation from veh to nav: [[0.075020,0.984615,0.157815],[-0.995207,0.063971,0.073970],[0.062736,-0.162607,0.984694]]2H`|4? ?D3?`b`??`{?QĿ?i2y9@I2<:b;2CYBZzByBIbDNVDNyV%VV=ٔVQ-V>9XYX=ZFyZhE^K;E^>`Q 5f5b)?Q 9f5b)b3BYdyf=ڿQ If@bDIb-:iba;b5ylɮn0Aljh FNOT Ignoring new targets: 213.49 m.Rh ɤ8E= E=E=&E9"E=:*E=k:VE=4ZE9BE=iA@A @A@E4@A@M=@M=^Am;IIO > b{,]g?AFP@FMK@F ٱFr' ZAHRS rotation from veh to nav: [[0.077821,0.984427,0.157627],[-0.995008,0.066783,0.074161],[0.062480,-0.162612,0.984710]]FH ?n?@#-? ?`9Y=FyhE;E>YQ 55]'?Q 95]٣)]ABYyٿQ I@]DI]&@h*h"h hgfffdddjdZdNU?EU EUEU%EQ"EUD:*EU&p:VEU 4ZEQa]@a]@a]@a]@颍zBɢ<) =i)| 顑iit򿿉';f%@I!%9@! @!@%4@!Q^AE <AU >AU >I I O >y Q {,W?AY~WzBy~I iMb@Mb@Mb@ 9HzG?MbXMbp?Y=>yʽ;Ad@ A)AY AbDVDNy%B=ٔQ->9Y=FyhEE>Q 5 5%?Q 9 5)KBY>Q E;y޿Q I@DI;i`;5yɮ0A=B*** querying acoustic contact ***i9 i9AjhIUFNOT Ignoring new targets: 213.49 m.RhU 9ZhU 9m ProNav: ac range: 213.493195 m, nav range: 209.248703 m, bearing: 264.516767 deg, approach rate: -0.429070 m/s, LOS rate: 0.008035 deg/s, cmd heading: 274.080028 deg, new cmd heading: 274.088985 deg. Bhmu9mHeadingCmd: 4.783755 target range: 213.493195 and range: 214.70 m.hu@hq*hq"hq hqgqfqfyf}|BdydydjdZd`?颱ɢxu) J=i)` 项iiSu;BCB,IBzBB =BBqDBh;B(EqEU EUEU(EQ"EU:*EUg:VEUc44ZEQBEU t&{,8?AF6@F@FtٱFH% ZAHRS rotation from veh to nav: [[0.084355,0.984190,0.155736],[-0.994648,0.073811,0.072298],[0.059660,-0.161001,0.985149]]FHE?|~?'?(C??`? ĿX?iF6@IFF`;DYj5zByjIbDz VDz2y%Z=ٔ%h;Q-%>9)Y)=5Fy=hEM<EU>Q 55#?Q 95)SBYy7ݿQ I@DI1:i:L5yɮ31AjhFNOT Ignoring new targets: 213.49 m.Rh8Zh8  ProNav: ac range: 213.493195 m, nav range: 209.090179 m, bearing: 264.519452 deg, approach rate: -0.405700 m/s, LOS rate: 0.006876 deg/s, cmd heading: 274.088989 deg, new cmd heading: 274.097049 deg. Bh 9HeadingCmd: 4.783896 target range: 213.493195 and range: 214.70 m.h@h*h"h hgff!f!d!d!d)jd)Zd-@]zBɢ])Y ]O=iY)e aaieXim迿m ;mNEm  Em Em &Ei "Em :*Em F:VEm 4ZEi au @au @au @au @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5119459 ,{,2?A2ٜ@2@2תmٱ2^$ JAHRS rotation from veh to nav: [[0.087111,0.984144,0.154505],[-0.994509,0.076883,0.070996],[0.057992,-0.159841,0.985438]]2H`L? ~? ??,??uĿ?i2ٜ@I2N `;2CYRzByRIiUMb@Mb@Mb@QQQQ Q9UzG?|?5^{GztYU >yUҽUףQU7@ U(A)QQYQbDmVDm:y}\%}C=ٔ;Q->9Y=FyhE;E>Q 55F!?Q 95ð)[BYm>Q E:yܿQ I@DI ;i` ;5y ;Bɮ 1A uEjh15FNOT Ignoring new targets: 213.49 m.Rh=8Zh=8M ProNav: ac range: 213.493195 m, nav range: 208.911835 m, bearing: 264.522244 deg, approach rate: -0.429998 m/s, LOS rate: 0.006737 deg/s, cmd heading: 274.097049 deg, new cmd heading: 274.105432 deg. BhM9UHeadingCmd: 4.784042 target range: 213.493195 and range: 214.70 m.hU@hQ*hQ"hQ hYgYfYfafeQ|BdadadajdiZdm`~@颕zBɢH) PQ A A AAB >B CB IB zBB =B B nDB h;B (EBCBCBʔCB =B =C<63{,\?A 2@2T@2eٱ2Q$ >AHRS rotation from veh to nav: [[0.089877,0.983952,0.154146],[-0.994372,0.079936,0.069537],[0.056100,-0.159528,0.985598]]2H5?|?` ?`v?4ͱ??ikĿ ?i2@I2_;0YFyByFIIJ>)HbDRVDR0yVϽ%ZZ=ٔZ;Q-Z>9Z ?Y^ ?=^Fy^hE^5;Eb>`Q 5f5bN?Q 9j5bմ)baBYhyj?ܿQ Ij@bDIb:ib:b5ypɮr(2ApE- E-E-'E)"E-:*E-:VE-'4ZE)BE-ٰ9{,n?A2Ē@2;@2 l_ٱ26# JAHRS rotation from veh to nav: [[0.091885,0.983876,0.153442],[-0.994276,0.082214,0.068235],[0.054519,-0.158834,0.985799]]2HÅ? {? ? ?`w??TĿ ?i2Ē@I2]_;2CPYVyByVIbDbVDbyj%jH=ٔj~;Q-j>9n"?Y"?=%Fy%hEE;EE>Q 55?Q 95)iBYyۿQ I@DIDtLA{,p?ADAT read: Range 11 to 50 : 211.3 m (Round-trip 281.8 ms) speed 0.6 m/s *DAT read: user:520> "BDAT read: Tx time:05:48:35.2719 "$Ping request sent."i M D ? 3@ V= 2@ k=) |]@I kݽ L@T?͂ɥ?Lq׼? 6?) 99I K6i kݽ V:publishing transmit ping time VFpublishing direction and range infoZے@Zՙ@ZUSٱZE! bAHRS rotation from veh to nav: [[0.094699,0.983940,0.151306],[-0.994169,0.085600,0.065577],[0.051573,-0.156633,0.986309]]ZH@8>?p|? ]?;`?ɰ?g? Ŀ؏?iZے@IZx_;ZCy  O_O?+k9ƈƿNiإ?Y ) I i ) I L@T?͂ɥ?Lq׼? ) I i YyByIiMb@Mb@Mb@ 9`"?ktZd;OY>y jA tA)KAYG AB-r>B-ލCB-IB-WzBB- =B-DDB-lDB-fi;B-)EbD]VD]1y0%=ٔe;Q->9Y=FyhE7;E>!Q 5-5%?Q 9-5%)%mBY->Q E-:y-ԿQ I5@%DI%:i%P:%5yYɮ]%3AYi i l?AJi RCRi RCji 2@b M' i@Y2~Bα6@R O_O?+k9ƈƿNiإ?Zi K6bi kݽj B4*);aJE);a:E);a)5zBɢ5\e)9 =$i9)=y 99i=#iENֿEƵ;EļA ԉ A.AI!I1OE>mH{,XY#?ABْ@Bԙ@BIOٱB JAHRS rotation from veh to nav: [[0.094539,0.984278,0.149193],[-0.994235,0.085736,0.064389],[0.050586,-0.154420,0.986709]]BH3?@5? ? ?{?_?@ ÿ?iBْ@IB_;BCYVpyByVfI \\\\bDbVDbܲyj&%j_=ٔn0;Q-n>9n ?Yn ?=rFyrhErSEr>tQ 5z5v?Q 9z5v5ŸQ =~tI)vpBY|y~ԿQ I~@vDIv ;iv ;v|5yɮ4A %B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 210.09 m.Rh=Zh=M ProNav: ac range: 210.088806 m, nav range: 208.021759 m, bearing: 264.845491 deg, approach rate: -0.515359 m/s, LOS rate: -0.000545 deg/s, cmd heading: 274.129233 deg, new cmd heading: 274.128667 deg. BhMUHeadingCmd: 4.784448 target range: 210.088806 and range: 211.30 m.hU2@hQ*hQ"hQ hQgYfYfYfYdadadajdaZde?ԉ颵zBɢOk) i)项i'$iֿ;C˹ ēN{,)$=?A6Ғ@6O͙@6%{Jٱ61 BAHRS rotation from veh to nav: [[0.093670,0.984359,0.149211],[-0.994376,0.085060,0.063092],[0.049414,-0.154281,0.986791]]6H`?? U? Ƶ?@&? L?~ÿɓ?i6Ғ@I6_;6CYJ:yByJEIiMb@Mb@Mb@ 9V-?ʡE:vYh?yԼhA @ ^A)5AY\ AbD5VD5yEY%ED=ٔMc8;Q-M>9M"?YM"?=MFyMhEU) EU>Q 55?Q 95˸)sBY?Q E:yοQ I@ DI:i:e5yɮ54A1jhq}FNOT Ignoring new targets: 210.09 m.Rh}Zh ProNav: ac range: 210.088806 m, nav range: 207.771118 m, bearing: 264.842460 deg, approach rate: -0.563553 m/s, LOS rate: -0.006823 deg/s, cmd heading: 274.128659 deg, new cmd heading: 274.119555 deg. BhוHeadingCmd: 4.784289 target range: 210.088806 and range: 211.30 m.h@h*h"h hgfffzBdddjdZd&? zBɢ) 8Pi)ib&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982735iۿ;ٴB=ݍCB=IB=yBB9B9B=kDB=Dj;B=)E)^A ~M<bEjE$4rE/E  E E +E "E :*E c:VE [4ZE BE fU{,W?A68ǒ@6@6Dٱ6+ RAHRS rotation from veh to nav: [[0.092303,0.984256,0.150732],[-0.994573,0.083836,0.061610],[0.048003,-0.155600,0.986653]]6H,?? ,K?@@?v?K?`ؓ?@ÿ`?i68ǒ@I6ق_;6CYj=yByjGIbDrVDr1y~q;%~N=ٔi;Q->9 ?Y ?=Fy hE dE >1Q 5=55?Q 9=55Ѹ)5vBYAyE&ϿQ IE@5DI5:i5:55yM5BɮM4AM~EjhFNOT Ignoring new targets: 210.09 m.RhZh ProNav: ac range: 210.088806 m, nav range: 207.553406 m, bearing: 264.839907 deg, approach rate: -0.574372 m/s, LOS rate: -0.006744 deg/s, cmd heading: 274.119561 deg, new cmd heading: 274.111892 deg. BhHeadingCmd: 4.784155 target range: 210.088806 and range: 211.30 m.h@h*h"h hg!f!1fIfQdQdYdYjdYZde@? zBɢȼ) IOi)i'i%;࿿%;M#`Թ '[{,p?Aɰ4<2&@2쯙@2,>ٱ2 :AHRS rotation from veh to nav: [[0.090116,0.984363,0.151357],[-0.994849,0.081890,0.059741],[0.046412,-0.155961,0.986672]]2H?`?`_?@?[? Sç?ÿђ?i2&@I2a_;2CYF2yByF@IIJN>)J>J=HEb EbEb&E`"Eb:*EbR:VEb4ZE`af@af@af@aj@i-Mb@Mb@Mb@)))) )9-S㥛?=ٔbp;Q->9Y=FyiEmE> Q 55 f?Q 95checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738839 ظ) zBY5?'?Q E5:y=̿Q I=@ DI ;i `; 5yAɮE4AAjhFNOT Ignoring new targets: 210.09 m.ԑRhmZZhmZ ProNav: ac range: 210.088806 m, nav range: 207.273209 m, bearing: 264.834768 deg, approach rate: -0.649948 m/s, LOS rate: -0.011935 deg/s, cmd heading: 274.111884 deg, new cmd heading: 274.096448 deg. BhHeadingCmd: 4.783885 target range: 210.088806 and range: 211.30 m.h@h*h"h hgfffzBdddjdZd ή?颵zBɢ`ż) &]i)U项i(i鿿q;1lb{,?A2+@2@28ٱ2U B>\>B>ۍCB>IB>yBB> =B<B>jDB>j;B>)E JAHRS rotation from veh to nav: [[0.087331,0.984543,0.151815],[-0.995167,0.079352,0.057851],[0.044910,-0.156133,0.986715]]2HM[?a?n?gqP?@?d?*ÿ`*?i2+@I2_;2CYRyByR3IbD^VD^yf]%fU=ٔf;Q-j>9j"?Yj"?=jFyjiEnEn>pQ 5v5r?Q 9v5ro߸)r~BYtyvx̿Q Iz@r!DIr;ir;r5y|ɮ~45A|jh15FNOT Ignoring new targets: 210.09 m.Rh=UZh=UE ProNav: ac range: 210.088806 m, nav range: 207.025497 m, bearing: 264.830407 deg, approach rate: -0.662733 m/s, LOS rate: -0.011682 deg/s, cmd heading: 274.096448 deg, new cmd heading: 274.083348 deg. BhMFUHeadingCmd: 4.783657 target range: 210.088806 and range: 211.30 m.hU@hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde@XB@5zBɢ5%~ڼ)1 5ti1)=h99i=)iE𿿉e~;e}Ǎ@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243377Ա^A%D-<Aq Iy I O > h{,;Q?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4947236@6s@6sy1ٱ6U BAHRS rotation from veh to nav: [[0.084239,0.984721,0.152408],[-0.995504,0.076521,0.055831],[0.043315,-0.156426,0.986739]]6H?Ղ??*@ܖ?ԕ?g-?@Ŀ^?i6@I6K_;6CYJ#yByJ7IPRAAbDVVDVyZ܄<%ZL=ٔ^;Q-^>9`Y`=bFyb iEb#Ef>dQ 5j5f0?Q 9n5fL)fBYlyn̿Q In@f)DIf;if;fW 5ytɮv5AtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 210.09 m.Rh-6IZh-6I ProNav: ac range: 210.088806 m, nav range: 206.764969 m, bearing: 264.826034 deg, approach rate: -0.654239 m/s, LOS rate: -0.010995 deg/s, cmd heading: 274.083361 deg, new cmd heading: 274.070226 deg. BhtHeadingCmd: 4.783428 target range: 210.088806 and range: 211.30 m.h@h*h"h hgfffdddjdZd s@%zBɢ%ռ)) -pi))-ó))i-*iuuC;}uAU>I A I I O >o{,b,?A6de@6*`@6+ٱ6 ! >AHRS rotation from veh to nav: [[0.080442,0.984981,0.152778],[-0.995876,0.072971,0.053901],[0.041943,-0.156483,0.986790]]6Hӗ??6?@8`:?@ꘫ?y?ĿǓ?i6de@I6_;6CY^yBy^0IiUMb@Mb@Mb@QQQQ Q9US?S㥫I +YU:?yU/]U94UAU@ U A)UAQYUAbDmVDmyutμ%}?=ٔ}Q;Q-}>9Y=Fy iEE>Q 55S?Q 95)BY(;?Q E:yfȿQ I@3DI ;iG ;6 5yɮE5AjhFNOT Ignoring new targets: 210.09 m.Rh@Zh@ ProNav: ac range: 210.088806 m, nav range: 206.453293 m, bearing: 264.817749 deg, approach rate: -0.727632 m/s, LOS rate: -0.019371 deg/s, cmd heading: 274.070220 deg, new cmd heading: 274.045328 deg. BhTHeadingCmd: 4.782993 target range: 210.088806 and range: 211.30 m.hH@h*h"h hgfff#zBdddjd Zd @@zBɢ "ۼ) >~i)T#!i+iKY&;Iu{,?A9Y=FyiEE>Q 55u?Q 95)BYyQ I@=DI:i: 5y .Bɮ q4AEjh9=FNOT Ignoring new targets: 210.09 m.Rh=űZhEűU ProNav: ac range: 210.088806 m, nav range: 206.149429 m, bearing: 264.809648 deg, approach rate: -0.727587 m/s, LOS rate: -0.019427 deg/s, cmd heading: 274.045330 deg, new cmd heading: 274.020990 deg. BhUSU]HeadingCmd: 4.782568 target range: 210.088806 and range: 211.30 m.h] @hY*hY"hY hYgYfafafadadidijdiZdm`6 @额zBɢwU˼) !Yi)l#顡i,i66;@NVw%|{, ?AE* E*E*#E("E*y:*E*VL:VE*3ZE(a:@a:@a:@a>@lDAT read: 05:48:37.9570 LVL= 30448, 32753, 29474, 32755, AGC= 65, IDX= 144, 0.50, 0.963,-0.405, 1.435, 0.884, PHS= 0.181,-1.244, 0.507, RAW= 160.1, 6.9, CAL= 159.5, 6.8, ROT= 350.5, -6.8 Ygot valid direction response: 05:48:37.9570 LVL= 30448, 32753, 29474, 32755, AGC= 65, IDX= 144, 0.50, 0.963,-0.405, 1.435, 0.884, PHS= 0.181,-1.244, 0.507, RAW= 160.1, 6.9, CAL= 159.5, 6.8, ROT= 350.5, -6.8 PDAT read: Bearing 67.3, -7.6 (Local) ~Local bearing/azimuth received: Bearing 67.3, -7.6 (Local) DAT read: Range 11 to 50 : 210.6 m (Round-trip 280.9 ms) speed -0.1 m/s *DAT read: user:521> BDAT read: Tx time:05:48:39.0719 $Ping request sent.id;?[2@Ϣ=)2@ =)@IFrM?Eys?^v? z3?)aI)i:publishing transmit ping timeFpublishing direction and range infoy:V? :ĿEO?Y )Ii )IFrM?Eys?^v? )Ii 1YEayByE]Ii}Mb@Mb@Mb@yyyy y9}x&1?:v?Y}A@?y}L}T<}Ay }x A)}AyY}QA 4<<bDVDyyT=%=ٔQ->9Y=FyiEE>Q 5% 5)?Q 9% 5)BY% @?Q E- :y- ƿQ I- @LDI;i;5y1 ɮ5 3A1 ii>?AJiaQCRiaQCji@b֡i@YK(AG8@R:V? :ĿEO?Zi)bij +]~%i&K7C@ZD{v ,kcH^{~?2iaM:iDX"i#?*iBiBiiiBiMCi@  addTargetRange:: Added new target pos. range: 210.600006 m, deltaT: 3.778484 s, deltaX: -0.699997 m, approachRate: -0.185259 m/s, rangeRepo size: 4   Added new target pos. range: 209.381699 m, bearing: 266.234611 deg, lat: 36.779447 deg, lon: -121.859979 deg, deltaT: 3.778484 s, deltaX: -0.707108 m, approachRate: -0.187141 m/s, posRepo size: 4 jh % FNOT Ignoring new targets: 209.38 m.Rh% Zh! 5  ProNav: ac range: 209.381699 m, nav range: 205.675949 m, bearing: 264.795331 deg, approach rate: 0.000000 m/s, LOS rate: -0.019427 deg/s, cmd heading: 274.020988 deg, new cmd heading: 273.983052 deg. Bh1 = HeadingCmd: 4.781906 target range: 209.381699 and range: 210.60 m.hE `@hA *hA "hA  hA gA fA fI fM CzBdI dI dQ jdU @3Sj@ZdU T?Y zBɢ z$) ;i ) ' i j.i ) o; e_B ڍCB XIB YyBB  =B B iDB ~j;B )EB=ۍCB=܍CB9B= =B= =C=̨!6 @  @ @ /@ ԉ E EE&E"E:*Ei:VE4ZEBEc%B=ٔQ->9Y=FyiE!E%>!Q 555%?Q 955%P )%BY1y1Q I5@%VDI%;i%L;%5yAɮE2AAjhauFNOT Ignoring new targets: 209.38 m.RhuiعZhuiع ProNav: ac range: 209.381699 m, nav range: 205.364899 m, bearing: 264.785889 deg, approach rate: -0.777949 m/s, LOS rate: -0.023650 deg/s, cmd heading: 273.983039 deg, new cmd heading: 273.954671 deg. Bh؁HeadingCmd: 4.781411 target range: 209.381699 and range: 210.60 m.hR@h*h"h hgfffdddjdZdg? zBɢ W) |i)ld)i/i$:ԁ>;sf͌{,)5?A\YyByIiMMb@Mb@Mb@IIII I9Mkt?i|?5Zd;O?YM 0?yMqMj<=M$AI M A)MAIYMAbDeVDek1yw>%C=ٔQ->9Y=Fy iEE>Q 55?Q 95)BY*1?Q E:yDȿQ I@_DIR;iP;y5y&Bɮ1AE-B*** querying acoustic contact ***i) i)jhAMFNOT Ignoring new targets: 209.38 m.Rh]]Zh]]u ProNav: ac range: 209.381699 m, nav range: 205.076004 m, bearing: 264.778016 deg, approach rate: -0.670253 m/s, LOS rate: -0.018290 deg/s, cmd heading: 273.954680 deg, new cmd heading: 273.931030 deg. Bh}H}HeadingCmd: 4.780998 target range: 209.381699 and range: 210.60 m.h}@h*h"h hgfff zBd d djdZd?}#zBɢ[m) ̀i)V*顡ir:1i-G-;-ki=>@ @@/@@=@=15T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.A ^A a<BA AA BM O>BI BM IBM yBBM  =BI BM hDBM _j;BM )EI I O >{,eP?AJ@J@JٱJg" RAHRS rotation from veh to nav: [[0.054360,0.986302,0.155735],[-0.997851,0.047943,0.044665],[0.036587,-0.157828,0.986789]]JH@ի? ɏ?@!?e ?\ަ?? 3Ŀœ?iJ@IJ _;JCtY=zByI!!bD5VD5kyEp>%EZ=ٔEj9IYI=MFyM$iEMEU>YQ 5e5]Y?Q 9e5])]̾BYaye˿Q Ie@]hDI]W:i] :]5yqɮuB0AqjhFNOT Ignoring new targets: 209.38 m.RhxZhx ProNav: ac range: 209.381699 m, nav range: 204.821671 m, bearing: 264.772932 deg, approach rate: -0.701486 m/s, LOS rate: -0.014040 deg/s, cmd heading: 273.931020 deg, new cmd heading: 273.915750 deg. Bh)HeadingCmd: 4.780732 target range: 209.381699 and range: 210.60 m.h@h*h"h hgfffddE EE#E"Eg:*Ea9:VE3ZEBE;a2E;aJE#;a:E$;adjdZd ?%zBɢ )! %hY  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752021{,4j?A R)s@Rm@RٱR! ZAHRS rotation from veh to nav: [[0.050975,0.986551,0.155303],[-0.998038,0.044659,0.043892],[0.036366,-0.157236,0.986891]]RH@k?ӑ?`? ݦ?x?@?K Ŀ ?iR)s@IR_;RCYbzByfIbDnVDnNyv2D>%vP=ٔv:Q-z>9xYx=zFyz(iE~ E~>Q 5 5?Q 9 5 )ܾBY y ̿Q I@pDI:i:5yɮ/A9jhQ]FNOT Ignoring new targets: 209.38 m.RhernZhern ProNav: ac range: 209.381699 m, nav range: 204.552567 m, bearing: 264.767799 deg, approach rate: -0.682183 m/s, LOS rate: -0.013029 deg/s, cmd heading: 273.915748 deg, new cmd heading: 273.900329 deg. BhHeadingCmd: 4.780463 target range: 209.381699 and range: 210.60 m.h @h *h "h  h g1f1f9f9d9dAdAjdAZdM.?)zBɢw~)1 5=i9)E(AAiMI4i}9Yj;sI@IqE EE&E"E:*E?:VE4ZEa @a @a @a @Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004203]9@Y @Y@] 0@Y^A5vтԑIIO>Թ s{, ?AF\@FW@FٱFn# RAHRS rotation from veh to nav: [[0.048244,0.986406,0.157084],[-0.998181,0.041920,0.043325],[0.036151,-0.158888,0.986635]]FHe?࣐?Q?`v?.?o?qVĿ?iF\@IF_;DYZzByZCIi=Mb@Mb@Mb@9999 99=x&1?A`"v/?Y=A ?y=Y=xi=9=@ =x A)=A9Y9bDUVDUkye8>%eC=ٔe,:Q-m>9iYi=mFym,iEu%ֻEu>yQ 55}[?Q 95}')}BY}!?Q E:y˿Q I@}yDI}v:i}':}5yɮ-Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256085ԡjhiuFNOT Ignoring new targets: 209.38 m.Rh}VWZh}VW ProNav: ac range: 209.381699 m, nav range: 204.291397 m, bearing: 264.762639 deg, approach rate: -0.594786 m/s, LOS rate: -0.011766 deg/s, cmd heading: 273.900339 deg, new cmd heading: 273.884839 deg. Bh3HeadingCmd: 4.780192 target range: 209.381699 and range: 210.60 m.hV@h*h"h hgfff{BdddjdZdj@,zBɢ:) *>i)%'&!!i%P6i-b-i;-7IMV@IQ]BBBIB$zBBBBiDBYj;B)E!@! @%@%3@!@)@)bE}ǻ 4jE} 4rE}Ǔ/E EEE"E[:*EA:VEZEBE}Y {,?AJU@JhP@JٱJO$ RAHRS rotation from veh to nav: [[0.047379,0.986312,0.157935],[-0.998249,0.041146,0.042502],[0.035422,-0.159672,0.986534]]JHB?ޏ?57?@#?¥?"? pĿ?iJU@IJ_;H9Y{BymII;>)p<=bDVD0y>%7=ٔ:Q->9Y=Fy1iEZE> 7k>CQ 55?Q 95.)BYy%˿Q I5@ADUhAIDyi)s#i8isk4;yO} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015569Q`{,?A4<ɰ4<2Y@2T@22 ٱ2*$ >AHRS rotation from veh to nav: [[0.047903,0.986306,0.157812],[-0.998254,0.041808,0.041720],[0.034551,-0.159535,0.986587]]2Hņ?ҏ?23?g?L\??kĿ?i2Y@I2_;2C@@iBuI@@IDiD DD)DJLC Jr@HHHLNsAIL)LiL)PIPPP PTTTiTTiTiA)u |.FI)Y)Ya{ByIԉiMb@Mb@Mb@ 9/$?㥛 Zd;?Y1?yy=;A@  A)AY AbDVDyp&>%D=ٔ ;Q->9Y=Fy5iE:E>Q 55?Q 954)BYZ ?Q E:yѿQ I@DIz:i:i5y%Bɮ%q+A%E=B*** querying acoustic contact ***iA iAjhIUFNOT Ignoring new targets: 209.38 m.RhUZhU} ProNav: ac range: 209.381699 m, nav range: 203.791016 m, bearing: 264.755795 deg, approach rate: -0.586973 m/s, LOS rate: -0.003675 deg/s, cmd heading: 273.868456 deg, new cmd heading: 273.864289 deg. Bh}o!HeadingCmd: 4.779833 target range: 209.381699 and range: 210.60 m.he@h*h"h hgfff|BdddjdZd5, @4zBɢm:<) >i)%hi;im<;t2I]e@IY9@ @@4@BDAT read: Rx Time:05:48:41.7556 TRx dataTimestamp_ set to:1761544123.124065checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265006 ^A 0:DAY A] AABi Bm ٍCBm EIBm zBBm  =Bi Bi Bm *j;Bm h)EA1 9 IA IY Oe >O{,{?A6Gc@6^@6x% ٱ6A" >AHRS rotation from veh to nav: [[0.049044,0.986546,0.155957],[-0.998219,0.043105,0.041242],[0.033965,-0.157702,0.986903]]6HS?ȑ?b?h`??c?@/Ŀ?i6Gc@I6\_;6CY%{By%IbD5VD5yEY>%Ei=ٔE:Q-E>9IYI=MFyM9iEUT;EU>YE EE&E"E:*EV:VE4ZEBE iI)MyIIiM=i]o]M;]w!I]@IaIi)i@ @@/@@@=!a ^A ) DAT read: 05:48:41.7556 LVL= 32752, 32753, 31938, 32755, AGC= 71, IDX= 411,-0.17,-2.363, 2.539,-1.854,-2.440, PHS= 0.179,-1.259, 0.542, RAW= 161.0, 6.6, CAL= 160.3, 6.3, ROT= 349.7, -6.3  Ygot valid direction response: 05:48:41.7556 LVL= 32752, 32753, 31938, 32755, AGC= 71, IDX= 411,-0.17,-2.363, 2.539,-1.854,-2.440, PHS= 0.179,-1.259, 0.542, RAW= 161.0, 6.6, CAL= 160.3, 6.3, ROT= 349.7, -6.3 M PDAT read: Bearing 66.8, -9.6 (Local) U ~Local bearing/azimuth received: Bearing 66.8, -9.6 (Local) U X#Rx 1: Read direction message, but no range.] ^direction in FSK: [0.977943,-0.177722,0.109734]y  OK?3Qƿ,=?  | ) GI K7>i & ? 3@ = 3@ z0=) 0O@I z0Ὡ =(C?I|?}R? 7?) I T8i z0Ὕ} T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapsey A I I O >2ں{,?AG|@w@8ٱ͎ AHRS rotation from veh to nav: [[0.052093,0.986655,0.154267],[-0.998113,0.046410,0.040215],[0.032518,-0.156070,0.987211]]H諪??@?ç??C? ÿ:?iG|@I~_;Y{ByI bDVD2y=%U3=ٔe*L;Q-e>ԙ9Y=Fy=iE;E>!Q 5=5% ?Q 9E5%@)% =BDAT read: Tx time:05:48:42.8719 E$Ping request sent.Ei)Eia@i8s G; I  @I 9@ @@2@^A  I1IAOU>{,X ?A2Ӗ@2@2ٱ2L :AHRS rotation from veh to nav: [[0.055329,0.986677,0.152995],[-0.997980,0.049860,0.039357],[0.031204,-0.154863,0.987443]]2H T?ے?T?tP?&? ?ÿ "?i2Ӗ@I20_;0YF#|ByFIxiMb@Mb@Mb@ 9Q?~jtV-?Y\>yĽm=QA )AY AB=\>B=ۍCB=IB={BB= =B9B=jDB=i;B=G)EbDUVDUNy]R.>%e7=ٔe E;Q-e>9iYi=mFymBiE;E>Q 55?Q 95$E)NBY*>Q E:yܿQ I@DIC:i:"5y-"Bɮ-(A5E} addTargetRange:: Added new target pos. range: 209.600006 m, deltaT: 4.031907 s, deltaX: -1.000000 m, approachRate: -0.248022 m/s, rangeRepo size: 4 jhyFNOT Ignoring new targets: 209.38 m.Rhv9Zhv9 ProNav: ac range: 209.381699 m, nav range: 203.167068 m, bearing: 264.755825 deg, approach rate: -0.442346 m/s, LOS rate: 0.007894 deg/s, cmd heading: 273.854877 deg, new cmd heading: 273.864360 deg. BhZ9HeadingCmd: 4.779835 target range: 209.381699 and range: 209.60 m.hh@h*h"h  h g f fft}BdddjdZd?AzBɢOq<) >i)6 iCim}Ϥ;}I}h@IE EE'E"E:*E;J:VE'4ZEBE{,rQ%?A2㶑@2@20qٱ2 :AHRS rotation from veh to nav: [[0.059237,0.986400,0.153315],[-0.997798,0.053918,0.038626],[0.029835,-0.155266,0.987422]]2H[T?@?֟? (? ƣ??ÿ`?i2㶑@I23=_;0YB0|ByBIbDJVDJkyR=%VX=ٔVm;Q-V>9XYX=ZFyZFiEZ0<EZ>Q 5%5 ?Q 9%5'I)_BY)y-ZܿQ I-@DI$:i1:$5y1ɮ5N(A1YjhaeFNOT Ignoring new targets: 209.38 m.RhmR9ZhmR9} ProNav: ac range: 209.381699 m, nav range: 203.013046 m, bearing: 264.758400 deg, approach rate: -0.419208 m/s, LOS rate: 0.007012 deg/s, cmd heading: 273.864358 deg, new cmd heading: 273.872086 deg. Bh}9HeadingCmd: 4.779970 target range: 209.381699 and range: 209.60 m.h@h*h"h hgfffdddjdZd7?EzBɢ#.<) >i)֋iRFi^iH;8ϺI@Ia>i>@ @@/@@@ԉ^A3E  E E &E "E :*E :VE 4ZE a-@a-@a5@a5@IYIO> {,Q/??A2ߑ@2ژ@2u'ٱ2Ց :AHRS rotation from veh to nav: [[0.064232,0.986122,0.153096],[-0.997540,0.059128,0.037666],[0.028091,-0.155139,0.987493]]2H~q?O?? `E?H?Ü?ÿ`?i2ߑ@I2._;2CYBA|ByB!IIFC=)F=i Mb@Mb@Mb@     9 V-?"~j~jt?Y >y S㽙 = A @ ) x A Y  AbD-VD-:y==%=A=ٔ=;Q-E>9AYA=EFyEJiEMA<EM>QQ 5]5U ?Q 9]5UL)UlBY]>Q E];yeQ Ie@UDIU ;iU ;Uc&5yiɮm (AiԹB*** querying acoustic contact ***i ijh15FNOT Ignoring new targets: 209.38 m.Rh=y9Zh=y9M ProNav: ac range: 209.381699 m, nav range: 202.869537 m, bearing: 264.764219 deg, approach rate: -0.336520 m/s, LOS rate: 0.013655 deg/s, cmd heading: 273.872090 deg, new cmd heading: 273.889559 deg. BhM:uHeadingCmd: 4.780274 target range: 209.381699 and range: 209.60 m.hu@hq*hq"hq hqgyfyfyf}}BdddjdZd ?UJzBɢUn<)Q U>iQ)]YYi]H^Iiea_e;e;Ie@IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A@A @A@E0@IB=Z>B9B= IB= |BB= =B9B9B=i;B=5)EB ڍCB ڍCB B  =B  =C C5^A- ?BɺI I O >D zD @AE  E E %E "E g:*E L_:VE 4ZE BE ;a 2E ;a JE ;a :E ;a 9 e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509294{,)Y?AFO@F@F`׼ٱFG ZAHRS rotation from veh to nav: [[0.069037,0.985850,0.152756],[-0.997267,0.064160,0.036636],[0.026317,-0.154868,0.987585]]FHc?? ?`l?? ?ÿK?iFO@IF_;FCYjZ|Byj1IbD~VD~2yA{=%L=ٔ;Q->9!Y!=-Fy5NiE5C<E=>IQ 5U5M5?Q 9]5MP)MyBYayegQ Ie@MDIM:K;iM5L;M)(5yuBɮ}c'A}EjhFNOT Ignoring new targets: 209.38 m.RhK9ZhK9 ProNav: ac range: 209.381699 m, nav range: 202.727859 m, bearing: 264.769773 deg, approach rate: -0.360182 m/s, LOS rate: 0.014130 deg/s, cmd heading: 273.889548 deg, new cmd heading: 273.906221 deg. Bh':HeadingCmd: 4.780565 target range: 209.381699 and range: 209.60 m.hd@h*h"h hgfffdddjdaZdev?颵OzBɢ`x<) ?i)项i=LiU;M;Id@I@ @@0@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760918Y^A] [R:I I O >ԑ !{,r?AB3@B-@BbȼٱBd JAHRS rotation from veh to nav: [[0.074370,0.985603,0.151844],[-0.996932,0.069751,0.035528],[0.024426,-0.154020,0.987766]]BH ??o?`7۱?@0?@ ?ÿ Ǜ?iB3@IBQ{_;BCYfD|Byj#IE EE&E"Eغ:*ET:VE4ZEa@a@a@a@bDVDy--J%U;=yٔeË;Q->9Y=FySiEB<E>Q 55@?Q 95T)BYyQ I@DIK;i:*5yɮ'Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012977jhY]FNOT Ignoring new targets: 209.38 m.Rhe*m9Zhe*m9 ProNav: ac range: 209.381699 m, nav range: 202.571243 m, bearing: 264.775682 deg, approach rate: -0.343214 m/s, LOS rate: 0.012959 deg/s, cmd heading: 273.906213 deg, new cmd heading: 273.923954 deg. BhL:HeadingCmd: 4.780875 target range: 209.381699 and range: 209.60 m.h@h*h"h hgfffdd d jdZdc@颵TzBɢ<) >i)项i:OiK{; !^A T; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264883I I O% > {,<܌?A2Z@2U@21ٱ2 :AHRS rotation from veh to nav: [[0.079220,0.985270,0.151552],[-0.996601,0.074832,0.034453],[0.022605,-0.153766,0.987849]]2H@G? T? f?@'`.(?`ݣ?%?@ÿt?i2Z@I2$_;2CYB0|ByBI HHBnO>BnڍCBn3IBn]|BBn =BlBniDBni;Bn0)Ei-Mb@Mb@Mb@)))) )9--?i|?5~jt?Y-5>y--D<-QA-@ - A)-bA)Y-f AbDEVDEܲyU!W%UX=ٔ]/;Q-]>9YYa=eFyeViEemZ<Ee>qQ 5}5u{?Q 9}5uW)uBY}v>Q E} ;yQ I@uDIu@:iu:u+5y ɮ  (A jhQUFNOT Ignoring new targets: 209.38 m.Rh]9Zh]9 ProNav: ac range: 209.381699 m, nav range: 202.453125 m, bearing: 264.781967 deg, approach rate: -0.317568 m/s, LOS rate: 0.016909 deg/s, cmd heading: 273.923944 deg, new cmd heading: 273.942812 deg. Bh9:HeadingCmd: 4.781204 target range: 209.381699 and range: 209.60 m.h@h*h"h hgfff}BdddjdZdtM@YzBɢp<) =Z>i9)=ۻ99iEQiE@M;Mox^W{,0?A>e@>,}@>'ٱ>q FAHRS rotation from veh to nav: [[0.084023,0.984903,0.151351],[-0.996247,0.079865,0.033361],[0.020769,-0.153586,0.987917]]>H ?R?w_? B@r?`?D? ÿ ?i>e@I>Lr_;>CYN|ByNIbDZVDZybi%bP=ٔb[;Q-b>9dYd=fFyfZiEf.I<Ej>lQ 5r5n?Q 9r5nZ)nBYpyrQ Ir@nDIn :in:nl-5yxɮz(AxjhFNOT Ignoring new targets: 209.38 m.Rh%9Zh%9=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769016= ProNav: ac range: 209.381699 m, nav range: 202.326340 m, bearing: 264.788540 deg, approach rate: -0.341176 m/s, LOS rate: 0.017700 deg/s, cmd heading: 273.942823 deg, new cmd heading: 273.962555 deg. BhEZB:EHeadingCmd: 4.781549 target range: 209.381699 and range: 209.60 m.hEr@hI*hI"hI hIgIfQfYfYdYdYdYjdaZde8@颕]zBɢ<) g>i)ѻ顙iSi5;$1E EE&E"Ey:*EVE4ZEa@a@a@a@ BDAT read: Rx Time:05:48:45.5246  TRx dataTimestamp_ set to:1761544126.907854% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027585A 3;{,M?A2@2v@2˜ٱ2* :AHRS rotation from veh to nav: [[0.088317,0.984492,0.151576],[-0.995909,0.084349,0.032427],[0.019139,-0.153819,0.987914]]2H??f?{ޗ?F?+? Yÿ ?i2@I2_;2CYN{ByRIi]Mb@Mb@Mb@YYYY Y9]bX9?`"QY]E>y]]u]A]@ ] A)YYY] AbDuVDuyG%?=ٔy;Q->9Y=Fy_iE$<E>Q 55Q?Q 95^)BY>Q E ;yQ I@DI:i:J/5yɮt)AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 209.38 m.Rh39Zh39 ProNav: ac range: 209.381699 m, nav range: 202.167160 m, bearing: 264.795383 deg, approach rate: -0.371420 m/s, LOS rate: 0.015977 deg/s, cmd heading: 273.962549 deg, new cmd heading: 273.983091 deg. Bhq/:HeadingCmd: 4.781907 target range: 209.381699 and range: 209.60 m.hb@h*h"h h g f f fG}BdddjdZd @EczBɢMz1<)I Mr>iI)M8ǻIQiUvUi])]涖;]B׍CB-IBS|BB =BBfDBB )E^AjZX<ԩ Aa I bE-ʞ4jE--4rE-/E  E E $E "E 7:*E E7:VE 4ZE BE ;a 2E ;a JE R;a :E R;a IQ O >gf{,?ADAT read: 05:48:45.5246 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 124, 0.49, 1.651, 0.207, 2.219, 1.603, PHS= 0.150,-1.351, 0.572, RAW= 162.1, 7.2, CAL= 161.5, 7.1, ROT= 348.5, -7.1 Ygot valid direction response: 05:48:45.5246 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 124, 0.49, 1.651, 0.207, 2.219, 1.603, PHS= 0.150,-1.351, 0.572, RAW= 162.1, 7.2, CAL= 161.5, 7.1, ROT= 348.5, -7.1 "PDAT read: Bearing 69.2, -10.8 (Local) &~Local bearing/azimuth received: Bearing 69.2, -10.8 (Local) <NDAT read: Range 11 to 50 : 186.3 m (Round-trip 248.5 ms) speed 0.2 m/s V*DAT read: user:523> ZBDAT read: Tx time:05:48:46.6219 Z$Ping request sent.Zi--n?-D5@->-e4@ -=)-@I-))-ȋ?#C?J!? -;?)-0dI-Mi-))e:publishing transmit ping timeXeFpublishing direction and range infoy)-i?^3RɿA7X?Y))))) )))I)i))))) )))I)))-ȋ?#C?J!?}ƒ@}d@}Wٱ}ld AHRS rotation from veh to nav: [[0.092323,0.984087,0.151820],[-0.995578,0.088569,0.031320],[0.017375,-0.154041,0.987912]]}Hs?}?n?``o?@+ ?ʑ?`ÿ?i}ƒ@I}K^;}C )))I)i)))Y{ByII=)=bDVD:y]> %]==ٔeӅ;Q-e>9aYi=mFymciEms<E>Q 55?Q 950c)BYytQ I@DIp:i:215y ɮ b*Ai)i-?AJi-59CRi-59Cji-@b-=./*f@RBH^6@R-i?^3RɿA7X?Zi-Mbi-j-^/~Vf@:c?@Z-X b}j +v?2i-5:i-J"i-?*i-3Bi-Bi-?i-i)i-}HCԩi-Y?@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 186.300003 m, deltaT: 3.528404 s, deltaX: -23.300003 m, approachRate: -6.603553 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 209.38 m.Rh 9Zh 9 ProNav: ac range: 209.381699 m, nav range: 202.004868 m, bearing: 264.802179 deg, approach rate: -0.349363 m/s, LOS rate: 0.014643 deg/s, cmd heading: 273.983094 deg, new cmd heading: 274.003500 deg. Bh :HeadingCmd: 4.782263 target range: 209.381699 and range: 209.60 m.(hAhM@h *h"h5d9e(hAYeA hgafififididqdqjduIg@ZduM?jzBɢ^L<) />i)+½iWi7C;~{,a4?A>;ɰ<?ܒ@י@zٱu AHRS rotation from veh to nav: [[0.094955,0.983510,0.153920],[-0.995364,0.091427,0.029854],[0.015289,-0.156041,0.987632]]HN?@x?? g?@?P?)ÿ?i?ܒ@I];CY[{ByIiMb@Mb@Mb@ 9+?X9v rhY>yC A@ A)YAbDVDܲy J% %=ٔ ĉ;Q- >9 ?Y ?=FyhiEj;E>!Q 5-5%?Q 9-5%h)%BY->Q E-:y-߿Q I-@%DI%:i%':%X35y9ɮ=b+A9jhaeFNOT Ignoring new targets: 209.38 m.Rhm\9Zhm\9} ProNav: ac range: 209.381699 m, nav range: 201.782303 m, bearing: 264.807760 deg, approach rate: -0.480296 m/s, LOS rate: 0.012058 deg/s, cmd heading: 274.003502 deg, new cmd heading: 274.020265 deg. Bh}g:HeadingCmd: 4.782556 target range: 209.381699 and range: 209.60 m.h @h*h"h hgfffe|BdddjdZd P?pzBɢJ'<) Tj>i)i6YiUU;] B} ԍCB} IB} {BB}  =By B} dDB} i;B} )Eq Ay I I O >ɴ|,<?A6@6ݙ@6yaٱ6! zAHRS rotation from veh to nav: [[0.095743,0.983211,0.155338],[-0.995311,0.092404,0.028595],[0.013762,-0.157347,0.987447]]6H ?`vv? ?@§?H?/?`#Ŀ`+?i6@I6];6CYzBy[IbDVD1y-%-g=ٔ-;Q-->9qYq=uFyuliE}9;E}>Q 55D?Q 958m)BYy߿Q I@DI2;i;45yɮ,AE EEE"E:*ET:VEZEBEi);!aimZim uZ;uA^A 8 |,-?AUܒ@Uי@U^NٱUg# mAHRS rotation from veh to nav: [[0.095028,0.983017,0.156997],[-0.995395,0.091834,0.027492],[0.012607,-0.158887,0.987216]]UHS? t?z? F r?&?щ?@eVĿF?iUܒ@IUh];UCYzBy7I AbDVDy %@=ٔ}1;Q->9"?Y"?=FypiEE>QYQ 5e5]U?Q 9e5]Hr)]BYaym߿Q Im@]DI],:i]:]65yBɮu-AEjhFNOT Ignoring new targets: 209.38 m.RhR9ZhR9 ProNav: ac range: 209.381699 m, nav range: 201.424042 m, bearing: 264.816738 deg, approach rate: -0.456861 m/s, LOS rate: 0.011515 deg/s, cmd heading: 274.032490 deg, new cmd heading: 274.047221 deg. Bh9HeadingCmd: 4.783026 target range: 209.381699 and range: 209.60 m.h@h*h"h hgfffd d d jdZdt?=|zBɢ=)A E=iA)EQAAiMZiM8U5;U)|,G?AZY͒@Z ș@Z@ٱZ$ fAHRS rotation from veh to nav: [[0.093149,0.982987,0.158302],[-0.995583,0.090077,0.026487],[0.011777,-0.160070,0.987035]]ZHط?t?@9 ?Y ?=FytiE˖E>Q 55?Q 950x)BY ?Q E :y ҿQ I @DI ;i ;85yBɮ.AE5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 209.38 m.RhMZhM] ProNav: ac range: 209.381699 m, nav range: 201.198776 m, bearing: 264.815899 deg, approach rate: -0.577380 m/s, LOS rate: -0.002153 deg/s, cmd heading: 274.047216 deg, new cmd heading: 274.044695 deg. Bh]%]HeadingCmd: 4.782982 target range: 209.381699 and range: 209.60 m.he1@ha*ha"ha hagafififm}{BdqdqdqjdqZdu ױ?ԁ颭zBɢj) @;i)2顱ivi_;@BՍCBIBj{BB! =BBeDBi;B)E9@9 @9@=\0@9ԱEU EUEU$EQ"EU:*EUF:VEU4ZEQBEU R|,Nza?A^ @^Я@^ 9ٱ^& fAHRS rotation from veh to nav: [[0.090194,0.982898,0.160553],[-0.995860,0.087180,0.025731],[0.011294,-0.162209,0.986692]]^H ?s?? rQ?MY?``!?`GĿ?i^ @I^];^CYnSzBynIbDvVDvy=P %=W=ٔ=o:Q-E>9AYA=EFyExiEMEM>QQ 5]5Uh?Q 9]5U})UBYYy]\ӿQ Ie@UDIU#;iU/;U4:5yiɮmU/AijhFNOT Ignoring new targets: 209.38 m.RhZh ProNav: ac range: 209.381699 m, nav range: 200.983398 m, bearing: 264.815283 deg, approach rate: -0.567287 m/s, LOS rate: -0.001624 deg/s, cmd heading: 274.044702 deg, new cmd heading: 274.042853 deg. BhHeadingCmd: 4.782950 target range: 209.381699 and range: 209.60 m.h @h*h"h hgfffdddjdZdsb@zBɢT) Vi)~i5[iZ; Eu  Eu Eu &Eq "Eu I:*Eu C:VEu 4ZEq a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492041ԡ |,|?AR1@R@Rg6ٱRr( ^AHRS rotation from veh to nav: [[0.086444,0.982965,0.162194],[-0.996194,0.083462,0.025120],[0.011155,-0.163748,0.986439]]RH`0!?@st??]??m؆?Ŀ?iR1@IR];RCYj4zByjIIn;>)np9Y=Fy|iE E>Q 55즊?Q 95)BY_*?Q E:yV̿Q I@DI~ ;i ;$<5yɮ/AjhFNOT Ignoring new targets: 209.38 m.RhaZha- ProNav: ac range: 209.381699 m, nav range: 200.688843 m, bearing: 264.809815 deg, approach rate: -0.663708 m/s, LOS rate: -0.012339 deg/s, cmd heading: 274.042844 deg, new cmd heading: 274.026416 deg. Bh-}5HeadingCmd: 4.782663 target range: 209.381699 and range: 209.60 m.h5 @h1*h1"h9 h9g9f9fAfEzBdAdAdIjdIZdM@}@uzBԹɢ1<)9 =i9)=L99i=0[iEEBZ;ERB ؍CB 9IB zBB  =B B gDB i;B ()EB׍CB׍CBȕCB =B =CQ6! I I O >i %|,0?APYvyByvIbD~VD~Ny p!% d=ٔQ->9Y=FyiEE>!Q 5-5%A즊?Q 9-5%)%BY1y1Q I5@%DI%:i%:%=5y9ɮ=0AAjhamFNOT Ignoring new targets: 209.38 m.RhmbZhmb} ProNav: ac range: 209.381699 m, nav range: 200.450668 m, bearing: 264.805382 deg, approach rate: -0.664212 m/s, LOS rate: -0.012378 deg/s, cmd heading: 274.026425 deg, new cmd heading: 274.013109 deg. BhHeadingCmd: 4.782431 target range: 209.381699 and range: 209.60 m.h @h*h"h hgfffdddjdZd@@zBɢ) i)iKZi; !  BDAT read: Rx Time:05:48:49.2717  TRx dataTimestamp_ set to:1761544130.688157 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246500I+|,X?AljH@jB@j Dٱjn- vAHRS rotation from veh to nav: [[0.076945,0.982925,0.167147],[-0.996963,0.073833,0.024761],[0.011998,-0.168545,0.985621]]jH?t?e?@ ?[?;?`ߒſ5?ijH@Ij];jCY~yBy~IbD VD ky%%G=ٔ%RQ-%>9)Y)=-Fy-iE-E5>9Q 5=5=q릊?Q 9E5=)=BYAyEͿQ IE@=DI=:i=|:=?5yM BɮUz0AUEjhFNOT Ignoring new targets: 209.38 m.Rh=Zh= ProNav: ac range: 209.381699 m, nav range: 200.177505 m, bearing: 264.801044 deg, approach rate: -0.651738 m/s, LOS rate: -0.010364 deg/s, cmd heading: 274.013119 deg, new cmd heading: 274.000088 deg. BhHeadingCmd: 4.782204 target range: 209.381699 and range: 209.60 m.h@h*h"h hgfffdddjdZd( @额zBɢ8) e#i) 3顡iaZi+ ?};)5AU>IIO>Y #2|,?AZ@Z@ZKٱZ3. fAHRS rotation from veh to nav: [[0.071570,0.983187,0.167990],[-0.997358,0.068444,0.024333],[0.012426,-0.169288,0.985488]]ZHfR?Ev?`?[??r? 8ſ?iZ@IZ^;ZCYyBy I  QDAT read: 05:48:49.2717 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 416, 0.19, 2.340, 0.954, 2.824, 2.210, PHS= 0.232,-1.211, 0.570, RAW= 160.3, 5.1, CAL= 159.4, 4.3, ROT= 350.6, -4.3 Ygot valid direction response: 05:48:49.2717 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 416, 0.19, 2.340, 0.954, 2.824, 2.210, PHS= 0.232,-1.211, 0.570, RAW= 160.3, 5.1, CAL= 159.4, 4.3, ROT= 350.6, -4.3 PDAT read: Bearing 66.4, -8.7 (Local) ~Local bearing/azimuth received: Bearing 66.4, -8.7 (Local) DAT read: Range 11 to 50 : 184.2 m (Round-trip 245.7 ms) speed 0.7 m/s *DAT read: user:524> BDAT read: Tx time:05:48:50.3719 $Ping request sent.iMb@Mb@Mb@ 9x&1?V-MbpYA@?ymA(@ bA)AY AbD-VD-1y=X;%=;=ٔEnQ-E>9AYA=EFyEiEMJEM>QQ 5]5UL릊?Q 9]5U)UBYe@?Q Ee:yeɿQ Ie@UDIU:iUU:UjA5AIAIBU:>BU׍CBUIBUCzBBU =BQBUfDBUi;BU)Ei ?3@K=/ 2@ `=)@I`bK6SP?z̄?r8߁? 4?)JI'i`u:publishing transmit ping timeuFpublishing direction and range infoyOJ?{?oĿ]1?Y )Iiyɮp0A )IbK6SP?z̄?r8߁? )Iiii1@?AJi7CRi7CjiXO@bgxf@=ؿu+@ROJ?{?oĿ]1?Zi'bi`jė)>,^dSf4@Z G39TJl?2ib5:ia"iK4E?ԁ*iV>BiBiK4E?iii5FCĩ@= addTargetRange:: Added new target pos. range: 184.199997 m, deltaT: 7.311930 s, deltaX: -25.400009 m, approachRate: -3.473776 m/s, rangeRepo size: 4 M Added new target pos. range: 183.121368 m, bearing: 265.547911 deg, lat: 36.779483 deg, lon: -121.859965 deg, deltaT: 11.343837 s, deltaX: -26.260330 m, approachRate: -2.314943 m/s, posRepo size: 4 jhIUFNOT Ignoring new targets: 183.12 m.RhUZhQe ProNav: ac range: 183.121368 m, nav range: 198.209412 m, bearing: 265.914792 deg, approach rate: 0.000000 m/s, LOS rate: -0.010364 deg/s, cmd heading: 274.000087 deg, new cmd heading: 273.984725 deg. BhimHeadingCmd: 4.781936 target range: 183.121368 and range: 184.20 m.hu@hq*hq"hq hqgqfffzBdddjd`fg@Zdr?zBɢO))! %'i!)%qû!!i-jZi5(=w;=;I=@I9Ա9@ @@@EE  EE EA EA "EE :*EE C:VEA ZEA BEE bH9|,F?A>@>a@>ptQٱ>/ FAHRS rotation from veh to nav: [[0.066168,0.983289,0.169600],[-0.997727,0.063022,0.023871],[0.012784,-0.170794,0.985224]]>H`?w?w?`` 6"?@q?@_.?ſ?i>@I>^;>CYjyByjIbDr VDr2yzi%~?=ٔ~\Q-~>9Y=FyiEPE> Q 55 릊?Q 95 *) BYylʿQ I@ DI ;i t: FC5y!ɮ-w0A)EB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 183.12 m.Rh]ƎZh]Ǝm ProNav: ac range: 183.121368 m, nav range: 197.889053 m, bearing: 265.909157 deg, approach rate: -0.885618 m/s, LOS rate: -0.015603 deg/s, cmd heading: 273.984733 deg, new cmd heading: 273.967801 deg. BhmT+uHeadingCmd: 4.781640 target range: 183.121368 and range: 184.20 m.hu2@hq*hq"hq hygyfyfyfdddjdZdT?zBɢ6^) U.i)C_ǻi#Zi2b;:I2@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.%9@! @!@%/@!^A;A-؟AI1IAOUu>I E%  E% E% &E! "E% >:*E% *5:VE% 4ZE! aE @aE @aE @aE @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750538L+@|,?A6‘@6@6Wٱ6h0 >AHRS rotation from veh to nav: [[0.060726,0.983486,0.170491],[-0.998068,0.057576,0.023368],[0.013166,-0.171580,0.985082]]6H ?x??+`z???Xſ˅?i6‘@I6Z2^;6CYFzByFIiMMb@Mb@Mb@IIII I9MFx?J +y&1?YMK?yMHM`e9}"?Y}"?=}Fy}iE}UE>Q 55릊?Q 95)BY1L?Q E:yȿQ I@DI ;i ;E5yɮE0AjhFNOT Ignoring new targets: 183.12 m.RhZh ProNav: ac range: 183.121368 m, nav range: 197.556641 m, bearing: 265.901951 deg, approach rate: -0.795804 m/s, LOS rate: -0.017279 deg/s, cmd heading: 273.967794 deg, new cmd heading: 273.946141 deg. Bh=HeadingCmd: 4.781262 target range: 183.121368 and range: 184.20 m.h@h*h"h hgfffvzBdddjdZdO?zBɢ#n) 'i) ˻iYi? ;I@IQ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000755yB]+>B]ՍCB]IB]zBB] =BYB]eDB]ti;B](E^A#2;AfAzAfAԩ A I I O- >]F|,?A8RȘ@R@R{]ٱR/bE-4jE 4rE@o/EZ EZEZ%EX"EZ:*EZC:VEZ 4ZEXBEZ 9Y=FyiEdVE>!5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252384Q 5=5% 릊?Q 9=5%,)%BY9y=QɿQ I=@%&DI%Kf;i%g;%F5yMBɮMd/AMEjh!-FNOT Ignoring new targets: 183.12 m.Rh-Zh5= ProNav: ac range: 183.121368 m, nav range: 197.244034 m, bearing: 265.895625 deg, approach rate: -0.747559 m/s, LOS rate: -0.015153 deg/s, cmd heading: 273.946129 deg, new cmd heading: 273.927119 deg. BhEd&HeadingCmd: 4.780930 target range: 183.121368 and range: 184.20 m.ha@h*h"h hgfffdddjdZd`?zBɢ>z) i)[ϻiYiIrX;bǻIa@I!ԙ Wk> C9@ @@0@5gAIR9gAYA^A AI)I9OE>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504601 L|,k4?Aɰ2 t@2n@2ƈeٱ2\0 :AHRS rotation from veh to nav: [[0.051112,0.984040,0.170448],[-0.998595,0.047963,0.022544],[0.014009,-0.171361,0.985109]]2HZ+?A}?>?|??@۰?'ſ?i2 t@I2];2CY^azBybIbDjVDjNy%.>%%J=ٔ-Q-->9)Y)=-Fy5iE5l5E5>9Q 5E5=ꦊ?Q 9E5=)=BYIyMɿQ IM@=1DI= :i=:=H5yQɮU.AQjhyFNOT Ignoring new targets: 183.12 m.RhZh ProNav: ac range: 183.121368 m, nav range: 196.921783 m, bearing: 265.889503 deg, approach rate: -0.847414 m/s, LOS rate: -0.016125 deg/s, cmd heading: 273.927114 deg, new cmd heading: 273.908718 deg. Bh1HeadingCmd: 4.780609 target range: 183.121368 and range: 184.20 m.h@h*h"h hgfffdddjdZdW?zBɢ VL)  i )ѻi\YijTv;I@I!E EE#E"E:*ER:VE3ZEa@a@a@a@@ @@2@1mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.758646Y^A"5A% .AI) I9 OM >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008246tS|,~N?A2U@2P@2ioٱ2. >AHRS rotation from veh to nav: [[0.047447,0.984587,0.168335],[-0.998767,0.044297,0.022422],[0.014619,-0.169192,0.985475]]2H@J? ????@?ſ`?i2U@I2"^;2CYFzByF*IBr<Ar<Bv->BtBvIBv$zBBv =BtBvdDBv%i;Bv(Ei5Mb@Mb@Mb@1111 195Gz?S㥫I +?Y5p=?y5/]594=5AA5(@ 1)5A1Y1bDMVDMy]:>%eE=ٔeQ-e>9m ?Ym ?=mFymiEmEm>qQ 55uꦊ?Q 95uŹ)uBYG>?Q E:yʿQ I@u:DIug2@@=@=E EE%E"E:*EC:VE 4ZEBE A>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260272ԙA؟AIIO> Y|,"h?A6"B@6<@6/{ٱ6, BAHRS rotation from veh to nav: [[0.045026,0.984939,0.166937],[-0.998868,0.041818,0.022683],[0.015361,-0.167769,0.985707]]6H ??@/^? )i?<:?Tu? uyſ?i6"B@I6b];6CY^zBybPI ddbDjVDj0yr >%rT=ٔvsQ-v>9v"?Yv"?=vFyviEzeλEz>|Q 55~ꦊ?Q 95~=͹)~BYy 9˿Q I @~DDI~:i~g:~L5yɮ_,A5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 183.12 m.RhE2eZhM2eU ProNav: ac range: 183.121368 m, nav range: 196.330673 m, bearing: 265.879803 deg, approach rate: -0.779139 m/s, LOS rate: -0.012524 deg/s, cmd heading: 273.893318 deg, new cmd heading: 273.879597 deg. BhU ]HeadingCmd: 4.780101 target range: 183.121368 and range: 184.20 m.he@ha*ha"ha hagafafifidididqjdqZdu@颥zBɢ2T) $,=i)Qѻi8Zie{C;K_I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512877@ @@2@^AE  E E #E "E y:*E F:VE 3ZE a @a @a @a @II } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766096I O >A my`|,L?A::@:4@:kٱ:q+ BAHRS rotation from veh to nav: [[0.044037,0.985124,0.166105],[-0.998902,0.040763,0.023072],[0.015958,-0.166939,0.985838]]:H@?#? B?@ޤ?I?_W?=^ſ?i::@I:W];:CYN){ByNvIi%Mb@Mb@Mb@!!!! !9%#~j?p= ףp= ף?Y%%?y%%=%$A%V@ %5A)%KA!Y%AbD= VD=:2yMb>%MD=ٔMỺQ-M>9QYQ=UFyUiE]eE]>aQ 5m5e9馊?Q 9m5e[Թ)eͿBYm'?Q Em:yuͿQ Iu@eLDIe:ie:eM5y}Bɮ}!+A}ȡEjhFNOT Ignoring new targets: 183.12 m.RhZhe ProNav: ac range: 183.121368 m, nav range: 196.059982 m, bearing: 265.877124 deg, approach rate: -0.641391 m/s, LOS rate: -0.006358 deg/s, cmd heading: 273.879603 deg, new cmd heading: 273.871553 deg. BhemHeadingCmd: 4.779960 target range: 183.121368 and range: 184.20 m.hmo@hi*hi"hi higqfff{BdddjdZd@f@zBɢ-8) =i)w9λi[ii%;%phI%o@I!9@ @@/@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.019335B@>B؍CBIBzBB =BBgDBh;B(Eq^AjbI I O >ԩ E=  E= E= $E9 "E= :*E= *:VE= 4ZE9 BE= b%VU=ٔV#:Q-Z>9XYX=ZFyZiE^A:E^>`Q 5f5bl覊?Q 9f5bڹ)bݿBYhyjͿQ Ij@bTDIb:ib[:bO5ylɮn*Aljh FNOT Ignoring new targets: 183.12 m.Rh Zh  ProNav: ac range: 183.121368 m, nav range: 195.811050 m, bearing: 265.874656 deg, approach rate: -0.657515 m/s, LOS rate: -0.006526 deg/s, cmd heading: 273.871543 deg, new cmd heading: 273.864131 deg. BhP%HeadingCmd: 4.779831 target range: 183.121368 and range: 184.20 m.h%`@h!*h)"h) h)g)f)f1f1d1d1EBDAT read: Rx Time:05:48:53.0185 ETRx dataTimestamp_ set to:1761544134.476242Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273392d1jdIZdUPJ @zBɢW;) %=$>i!)%Mʻ!!i%\i-m-Ù;-aI-`@IQIY)Yy9@ @@/@@@fAԡ^AmIyIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525043 l|,õ?A4]@W@iHmٱz" AHRS rotation from veh to nav: [[0.048327,0.986395,0.157131],[-0.998727,0.045439,0.021920],[0.014482,-0.157991,0.987334]]HL?`? ?C?Br? ɨ? 9Ŀ`>?i4]@IQ];CY {By II%>)= 154<bD=VD=0yU;=%U2=ٔ]n0;Q-]>9aYa=mFymiEuu<Eu>E EE&E"Eغ:*EǙ:VE4ZEa@a@a@a@Q 5-5禊?Q 9-5)BY)y-ͿQ I5@^DI BDAT read: Tx time:05:48:54.1219 $Ping request sent. r@?y1Psdǿ5?YU5CzBɢG;) :V>iQQQQ Q)UGIUX94>iUKU?U4@U=UUd3@ UV=)UK$@IUV轩QQUߐ?6!?[HcK#? U(8?)UIIUq=iUV轩QQe:publishing transmit ping timeeFpublishing direction and range infoyQU8{> r@?y1Psdǿ5?YQQQQ)»iiimc^iusuT;ur$I}@IyQ Q)QIQiQQQQQ Q)QIQQQUߐ?6!?[HcK#? Q)QIQiQQQ 9@  @ @ /@ 1 Q A A B >B ԍCB wIB -{BB B B dDB h;B (EBՍCB֍CB̔CB =BCK|6^A- cI I O >ut|,[?Aɰp;2 w@2q@2Zٱ2 :AHRS rotation from veh to nav: [[0.051477,0.986668,0.154393],[-0.998585,0.048785,0.021179],[0.013365,-0.155264,0.987783]]2H@8[?ǒ?#?hT??@_?`ÿ ?i2 w@I2p];2CYF{ByFIiMb@Mb@Mb@ 9n?Q뱿V-?YV?y\m=;A@ A)AYzAbDVDP)Աy=%==ٔ]);Q->9Y=FyiE;E>Q 55g榊?Q 95)BY9?Q E:yIпQ I@eDIH:i:zS5yɮb(Ai i ʾ?AJi 4CRi 4Cji $@b `%f@=|`@pmu4@R 8{> r@?y1Psdǿ5?Zi q=bi Vj `٣X4w-fb%8;@Z vҼy ^j 걝?2i m1:i Ţ"i 3?*i [#Bi QBi i V>i Bi 2Ci G@ addTargetRange:: Added new target pos. range: 181.800003 m, deltaT: 3.789665 s, deltaX: -2.399994 m, approachRate: -0.633300 m/s, rangeRepo size: 4  Added new target pos. range: 180.725449 m, bearing: 263.458274 deg, lat: 36.779483 deg, lon: -121.859781 deg, deltaT: 3.789665 s, deltaX: -2.395920 m, approachRate: -0.632225 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 180.73 m.RhZh ProNav: ac range: 180.725449 m, nav range: 178.997467 m, bearing: 265.493963 deg, approach rate: 0.000000 m/s, LOS rate: -0.006644 deg/s, cmd heading: 273.854304 deg, new cmd heading: 273.845951 deg. Bh%HeadingCmd: 4.779513 target range: 180.725449 and range: 181.80 m.h%@ha*ha"hi higifqfqf}|Bdydydjdf@Zd1?UzBɢUpJ<)Y ]1~>iYE EE%E"E:*E[:VE 4ZEBE1 $z|, |?ABz@BA@B@ٱB.  NAHRS rotation from veh to nav: [[0.055554,0.986824,0.151960],[-0.998387,0.053111,0.020090],[0.011755,-0.152831,0.988182]]BH`q? ?`ns?@_1???ÿ0?iBz@IBuc];@Y|By IbDVD0y>%;=ٔ_q;Q->9Y=FyiE}<E>Q 55P妊?Q 9 5)BY y ϿQ I @mDIM;i;hU5yɮY'A5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 180.73 m.RhMײZhMײ] ProNav: ac range: 180.725449 m, nav range: 178.751129 m, bearing: 265.491907 deg, approach rate: -0.584542 m/s, LOS rate: -0.004886 deg/s, cmd heading: 273.845944 deg, new cmd heading: 273.839766 deg. Bh]VeHeadingCmd: 4.779406 target range: 180.725449 and range: 181.80 m.he@ha*ha"ha hagififqfqdqdqdqjdyZd}y?颥zBɢYj<) N>i)䴻顱i ai{c;I@IY>i>Am9@i @i@m0@i@u=@u=E EE)E"E:*E;J:VEFA4ZEa@a@a@a@q T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A I I O > |,?W?A2@2ŷ@2 (ٱ2 :AHRS rotation from veh to nav: [[0.060005,0.986932,0.149548],[-0.998145,0.057785,0.019149],[0.010257,-0.150420,0.988569]]2H 긮?@?g$??`?@?@ÿ@[?i2@I2|];0\\i^`eI\\I`ibpUA ``)`f@C fnr@dddhjsAIh)hih)hInxkAll lpppippipvCiA)vO tItYtYzI|Byz&I iMb@Mb@Mb@ 9v/?Mb&1?Yx>yP=$A@ )x AYAbD VD:2y=%_=ٔ;Q->9Y=FyiEII<E>Q 55㦊?Q 95) BY>Q E:yٿQ I@sDI:i:V5yBɮ[&AѡEjhFNOT Ignoring new targets: 180.73 m.Rh 8Zh 8ԑ ProNav: ac range: 180.725449 m, nav range: 178.583145 m, bearing: 265.494407 deg, approach rate: -0.463098 m/s, LOS rate: 0.006900 deg/s, cmd heading: 273.839769 deg, new cmd heading: 273.847278 deg. Bh9HeadingCmd: 4.779537 target range: 180.725449 and range: 181.80 m.h@h*h"h hgfffI}BdddjdZd@cm?=zBɢE8<)A E>iA)E IIiM#biUwU9;UIU@IY]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.180534@ @@50@B->B-ҍCB-IB-{BB- =B)B-bDB-h;B-~(E^A qZE  E E #E "E :*E 1]:VE 3ZE BE  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.431355 |,3 ?A2Zߑ@2!ژ@2 ٱ2d  :AHRS rotation from veh to nav: [[0.064192,0.986748,0.149025],[-0.997902,0.062212,0.017915],[0.008407,-0.149862,0.988671]]2H n?p?@=?0گ?iX?7?.ÿ1?i2Zߑ@I2];0YEc|ByM6IbD]VD]2ym=%mN=ٔm;Q-m>9qYq=uFyuiE}G-<E}>Q 55ᦊ?Q 95)-BYyؿQ I@yDIW:ip:X5yɮ%AjhFNOT Ignoring new targets: 180.73 m.RhT8ZhT8 ProNav: ac range: 180.725449 m, nav range: 178.399643 m, bearing: 265.496898 deg, approach rate: -0.463146 m/s, LOS rate: 0.006293 deg/s, cmd heading: 273.847282 deg, new cmd heading: 273.854762 deg. Bh29HeadingCmd: 4.779667 target range: 180.725449 and range: 181.80 m.h @h*h"h hgfffdddjdZda?%zBɢ-v<)) ->i))-H<11i5ci=Is=;=2&/;I= @IA9@ @@4@!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.686427^AvтIqIO>Q ٍ|,:?A(V@V@VӻٱV bAHRS rotation from veh to nav: [[0.068381,0.986628,0.147951],[-0.997638,0.066663,0.016546],[0.006462,-0.148733,0.988856]]VH`g?t? ?`? v?`wz?` ÿ൤?iV@IV%];VCE] E]EYEY"E]:*E]V:VEYZEYae@ae@ae@ae@Ymm|Bym<IbD}VD}0yy<%E=ٔm;Q->9Y=FyiE%<E>iQ 5u5mߦ?Q 9u5m)mi)P99iEeiEoM ;M;IM@II9@ @@k2@@@dA } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.190362^A yb];A zA dAB A B% >B% ύCB% IB% 5|BB% % =B% EDB% `DB% h;B% i(EI I O >|,hS?A2j&@21!@2Aٱ2 :AHRS rotation from veh to nav: [[0.072847,0.986344,0.147713],[-0.997333,0.071384,0.015193],[0.004441,-0.148426,0.988914]]2H?!?@C?`'@3F??@$1r? ¿ .?i2j&@I2TO^;2CYf|ByfHIlieMb@Mb@Mb@aaaa a9eM?A`"S㥛?Yen>yeٽe/9Y=FyiE#9<E>Q 55tݦ?Q 95$)EBY>Q E:y޿Q I@DI:i:E\5yBɮm%AjhFNOT Ignoring new targets: 180.73 m.Rhc9Zhc9 ProNav: ac range: 180.725449 m, nav range: 178.039551 m, bearing: 265.503943 deg, approach rate: -0.431803 m/s, LOS rate: 0.012436 deg/s, cmd heading: 273.862199 deg, new cmd heading: 273.875934 deg. Bh:HeadingCmd: 4.780037 target range: 180.725449 and range: 181.80 m.h@h*h"h hg f f f }BdddjdZd/@zBɢ<) M>i)Si:fi5+g5vі;5n1Yu(hA9(hAYlAa [|,`m?AFKI@FD@F|0ٱFY? RAHRS rotation from veh to nav: [[0.077093,0.986055,0.147486],[-0.997020,0.075846,0.014075],[0.002693,-0.148131,0.988964]]FHe?@Í??`j?ӌ?f?¿?iFKI@IF^;FCYn|BynIIbDvVDvk%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.6915359ym ;%mL=ٔu;Q-u>9qYy=}Fy}iE}-<E}>Q 55!ۦ?Q 95)NBYyݿQ I@DI ;i ;^5yɮi%AjhFNOT Ignoring new targets: 180.73 m.RhS9ZhS9 ProNav: ac range: 180.725449 m, nav range: 177.870529 m, bearing: 265.508581 deg, approach rate: -0.421581 m/s, LOS rate: 0.011579 deg/s, cmd heading: 273.875942 deg, new cmd heading: 273.889869 deg. BhM9HeadingCmd: 4.780280 target range: 180.725449 and range: 181.80 m.h@h*h"h hgfffdddjdZd~d@-{Bɢ- <)) 5]>i1)5$11i5"*hi=2_=G;ElMԹ Aѡ|,k?A2_f@2&a@2ٱ2z :AHRS rotation from veh to nav: [[0.080632,0.985730,0.147768],[-0.996743,0.079546,0.013256],[0.001312,-0.148356,0.988933]]2HP???Q]?%?U?R¿@W?i2_f@I2t^;2CY^]|By^2IiEMb@Mb@Mb@AAAA A9EQ?)\(YE\>yEGὙEEAE@ A)EAAYE AbDYVDYym̳%mK=ٔmA`;Q-u>9qYq=uFyuiEԹv <E>Q 5 5rئ?Q 9 5 )RBY>Q E:yQQ I@DIq ;i ;_5yɮ%%A!=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 180.73 m.RhU 9ZhU 9e ProNav: ac range: 180.725449 m, nav range: 177.695312 m, bearing: 265.514437 deg, approach rate: -0.416683 m/s, LOS rate: 0.013941 deg/s, cmd heading: 273.889875 deg, new cmd heading: 273.907462 deg. Bhe:mHeadingCmd: 4.780587 target range: 180.725449 and range: 181.80 m.hm@hi*hi"hi higqfqfyf}q}BdydydyjdZd @颭 {Bɢ<) m>i)R y项iEii%U;ovBB?IBr|BB) =BBBsh;BZ(E^Ae/C<AIIO>E  E E &E "E :*E ,:VE 4ZE BE ;a 2E ;a JE 7;a :E 8;a I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447522H|,%z?A2@2_|@2[Wٱ22 :AHRS rotation from veh to nav: [[0.083944,0.985296,0.148813],[-0.996470,0.082992,0.012606],[0.000071,-0.149346,0.988785]]2H\}?@?N ?>?`dщ?`?ÿ` ?i2@I2T^;2CY%M|By5)IIMAbDUVDUy}I%}:=ٔ}s9;Q-}>9Y=FyiE<E>Q 5]5զ?Q 9e5)UBYqy}߿Q I}@DIi)zdiNjiK; BDAT read: Tx time:05:48:57.9219 $Ping request sent.i=t=?9= A>=3@ = A>)=@I= A99= q?%?8D? =7?)="I=t;?i= A99e:publishing transmit ping timeeFpublishing direction and range infoy9=⼞?.?Pz@ǿOZ_|?Y99999q 9)9I9i99999 9)9I999= q?%?8D? 9)9I9i999ԡ ^A hW<E  E E 'E "E 7:*E a9:VE '4ZE a @a @a @a @A)I1IAOU>$|,?A2@2@2@N:ٱ28 >AHRS rotation from veh to nav: [[0.086271,0.984784,0.150860],[-0.996271,0.085395,0.012283],[-0.000787,-0.151357,0.988479]]2H?X?bO?t@yܵ?'?I@_ÿ`?i2@I2s[^;2CYZ.|By^IbDfVDf1y%7=ٔ:Q->9Y!=MFyUiE]@;E]>yQ 55}Ҧ?Q 95})}YBYy߿Q I@}DI}u7R./Z;vhr/>@Zm}oC쳿/"!?2imKD:im)x"im鷡?*imP0?BimBim?iiimBimv1Cimi@ addTargetRange:: Added new target pos. range: 200.500000 m, deltaT: 3.778711 s, deltaX: 18.699997 m, approachRate: 4.948777 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 199.297760 m, bearing: 265.482214 deg, lat: 36.779468 deg, lon: -121.859781 deg, deltaT: 3.778711 s, deltaX: 18.572311 m, approachRate: 4.914986 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 199.30 m.RhZh  ProNav: ac range: 199.297760 m, nav range: 177.462723 m, bearing: 264.988857 deg, approach rate: 0.000000 m/s, LOS rate: 0.012199 deg/s, cmd heading: 273.925174 deg, new cmd heading: 273.940976 deg. Bh HeadingCmd: 4.781172 target range: 199.297760 and range: 200.50 m.h\@h*h"h hgfff9dAdAdAjdEi@ZdE?颕{Bɢr<) 0>i)?UikiA;%B΍CB3IB]|BBBB_DB`h;BM(E ^Au <A I I O >of|,?A:@:f@:Ǎ:ٱ: BAHRS rotation from veh to nav: [[0.087596,0.984311,0.153161],[-0.996155,0.086741,0.012268],[-0.001210,-0.153647,0.988125]]:H`l?z?Ś?@ 4?  ?Sపÿ?i:@I: I^;:CYJ{ByJIi]Mb@Mb@Mb@YYYY Y9]5^I ?ʡEy]y]t]$A]@ Y)] AYY] AbDuVDu1y%C=ٔL:Q->9Y=FyiE!Y;E EE#E"EI:*EVE3ZEBEQ 558Ц?Q 95M)[BYC>Q E:ysQ I@DI:i*:~e5yɮk'AjhFNOT Ignoring new targets: 199.30 m.RhV9ZhV9 ProNav: ac range: 199.297760 m, nav range: 177.287308 m, bearing: 264.994273 deg, approach rate: -0.467937 m/s, LOS rate: 0.014462 deg/s, cmd heading: 273.940965 deg, new cmd heading: 273.957229 deg. Bh:HeadingCmd: 4.781456 target range: 199.297760 and range: 200.50 m.h@h*h"h h!g!f!f!f-"}Bd)d)d)jd)Zd5 Ge?]"{BɢeU@<)a eL>ia)e6`Laiimkim8uښ;uH&|,O?A6۠@6@6Ѱ:ٱ65W >AHRS rotation from veh to nav: [[0.087746,0.983938,0.155459],[-0.996142,0.086882,0.012357],[-0.001348,-0.155943,0.987765]]@6H@v?j|? ? e=?N?Vÿś?i6۠@I6=^;4YJ{ByJIINp=)Np>bDVVDVy^ҽ%^X=ٔ^9Q-b>9`Y`=bFybiEf9Ef>hQ 5n5jͦ?Q 9n5j)j\BYlyrlQ Ir@jDIj;ij;j!g5yvBɮv((AtjhFNOT Ignoring new targets: 199.30 m.Rhv9Zhv9- ProNav: ac range: 199.297760 m, nav range: 177.124237 m, bearing: 264.999307 deg, approach rate: -0.436083 m/s, LOS rate: 0.013474 deg/s, cmd heading: 273.957221 deg, new cmd heading: 273.972337 deg. Bh-:5HeadingCmd: 4.781719 target range: 199.297760 and range: 200.50 m.h5@h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdM?u*{Bɢu:<)y }x>iy)}kD顁iki 0›;b> w|,?Aɰ4<2@2ؔ@2:ٱ2ܛ! :AHRS rotation from veh to nav: [[0.086920,0.983821,0.156656],[-0.996215,0.085993,0.012701],[-0.000976,-0.157167,0.987572]]2Hl@? v{?@K ?@?`? O Ŀ/?i2@I2Y^;2CYF{ByFIliMb@Mb@Mb@ 9'1Z?Cl绿~jtY?y;߽A@ A) AYbD-VD-1y=^%=B=ٔEgQ-E>9AYI=MFyMiEMEM>QQ 5e5Ua˦?Q 9e5UG#)QYm?Q Em:ym6ٿQ Im@UDIUJ;iU-J;Uh5yqB >BЍCB IB |BB* =BBaDB'h;B;(EBύCBύCBB) =B& =C>6ɮ(A1UB*** querying acoustic contact ***iQ iQjhYeFNOT Ignoring new targets: 199.30 m.RheR8ZheR8 ProNav: ac range: 199.297760 m, nav range: 176.904419 m, bearing: 265.002077 deg, approach rate: -0.492307 m/s, LOS rate: 0.006211 deg/s, cmd heading: 273.972329 deg, new cmd heading: 273.980649 deg. Bhd9HeadingCmd: 4.781865 target range: 199.297760 and range: 200.50 m.h @h*h"h hgfff|BdddjdZd-?%3{Bɢ%:;)! %t=i!)-m=))i- +liUH+UKӜ;UQ|,cc(?A:@:܉@:9ٱ:T$ FAHRS rotation from veh to nav: [[0.085585,0.983421,0.159871],[-0.996331,0.084540,0.013340],[-0.000397,-0.160426,0.987048]]:H?.x?v?@b? Q?`#9ڈĿ ?i:@I:0g^;:CYN{ByNIbDVVDVN2y^ٽ%^S=ٔbúQ-b>9b ?Yf ?=fFyfiEfbEf>hQ 5n5j5ɦ?Q 9n5j()hYpyrbٿQ Ir@jDIj;ij;jj5ytɮv-)AtjhFNOT Ignoring new targets: 199.30 m.Rh9Zh9- ProNav: ac range: 199.297760 m, nav range: 176.701965 m, bearing: 265.004723 deg, approach rate: -0.559661 m/s, LOS rate: 0.007322 deg/s, cmd heading: 273.980662 deg, new cmd heading: 273.988608 deg. Bh-̠95HeadingCmd: 4.782003 target range: 199.297760 and range: 200.50 m.h5,@h1*h99"h9 hAgAfAfAfIdIdIdIjdIZdU`$?}:{Bɢ}R/;) =i)k":顁iEli&;{(E  E E $E "E غ:*E VE 4ZE a @a @a @a @  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243193j|,[@B?AB|@Bw@BX3ٱB@' JAHRS rotation from veh to nav: [[0.083377,0.983263,0.161996],[-0.996518,0.082175,0.014114],[0.000565,-0.162608,0.986691]]BH@-X?v?E?ys ??jB? YĿ?iB|@IB^;BCYfb{ByfI tt  bD%VD%k1ԡy%8=ٔ%S Q-->9U"?Yu"?=}Fy}iEE>Q 55Ʀ?Q 95.)YyٿQ I@DI;i6;l5yɮ)Ajh!-FNOT Ignoring new targets: 199.30 m.RhM 9ZhU 9] ProNav: ac range: 199.297760 m, nav range: 176.459671 m, bearing: 265.008072 deg, approach rate: -0.513415 m/s, LOS rate: 0.007106 deg/s, cmd heading: 273.988613 deg, new cmd heading: 273.998673 deg. Bhe9eHeadingCmd: 4.782179 target range: 199.297760 and range: 200.50 m.he@hi*hi"hi hgfffdddjdZd%@D{Bɢ5) li% %>n;%W~BӍCBIB{BB =BDDBcDBg;B0(E^Ae <1 A I I O >(|,G]?A2h@2c@2Sƺٱ2d.* :AHRS rotation from veh to nav: [[0.080950,0.983006,0.164765],[-0.996717,0.079584,0.014883],[0.001518,-0.165428,0.986221]]2H ?t? ?  _?{?)X? ,ſ?i2h@I2,{^;2CYFL{ByFIEz EzEz"Ex"EzI:*EzR:VEz(3ZExBEz9YYY=eFyeiEeiϻiE>Q 55Ħ?Q 954)]BY?Q E:yԿQ I@DI:i:mn5y-Bɮ-)A-EMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.747486jhiuFNOT Ignoring new targets: 199.30 m.Rhu#+7Zh}#+7 ProNav: ac range: 199.297760 m, nav range: 176.226883 m, bearing: 265.008304 deg, approach rate: -0.583506 m/s, LOS rate: 0.000584 deg/s, cmd heading: 273.998667 deg, new cmd heading: 273.999366 deg. Bh^7HeadingCmd: 4.782191 target range: 199.297760 and range: 200.50 m.h@h*h"h hgfff|BdddjdZdV@UM{BɢU8)Q U iQ)}N8顁if-li ;D]|,v?A6U@6P@6yٱ6Q, BAHRS rotation from veh to nav: [[0.078638,0.982851,0.166791],[-0.996901,0.077144,0.015428],[0.002297,-0.167488,0.985872]]6H !?s?jY? ? 혏?b?;pſB?i6U@I6x^;6CYJ,{ByJwIbDRVDRyZv%ZV=ٔ^Q-^>9`Y`=bFybiEb1ǻEf>hQ 5z5j!æ?Q 95j:)j^BY y ԿQ I @jDIj";ij;jp5yɮO*A!jhamFNOT Ignoring new targets: 199.30 m.Rhm7Zhu7 ProNav: ac range: 199.297760 m, nav range: 176.012833 m, bearing: 265.008680 deg, approach rate: -0.582602 m/s, LOS rate: 0.001022 deg/s, cmd heading: 273.999377 deg, new cmd heading: 274.000504 deg. Bh38HeadingCmd: 4.782211 target range: 199.297760 and range: 200.50 m.h@h*h"h hgfffdddjdZdC @}T{Bɢ˹) , i)'::顉ilimvt;T?|,ߨ?AB~>B|B~IB~j{BB~ =B|B|B~lg;B~'Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.510943Y&{BytII%=)%C=-=)iMb@Mb@Mb@ 9)\(?I +Mb`?YG!?y9;A 5A)AYQAbDVDy-L%-6=ٔ5Q-5>91Y9==Fy=iE=E=>AIQ 5U5E?Q 9]5EB)EbBY]"?Q E]:y]oпQ I]@EDIE4T;iER;Eq5yaɮef*AiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 199.30 m.RhZh ProNav: ac range: 199.297760 m, nav range: 175.728027 m, bearing: 265.005938 deg, approach rate: -0.647419 m/s, LOS rate: -0.006243 deg/s, cmd heading: 274.000497 deg, new cmd heading: 273.992258 deg. BhHeadingCmd: 4.782067 target range: 199.297760 and range: 200.50 m.h@h*h"h hgfff|BdddAjdAZdE@ @颕]{Bɢhӻ) Yi)E=顙iki$;UF % BDAT read: Tx time:05:49:01.7219 - $Ping request sent.- i?)2@|=1@ V=)+@IV轩1݂c?:9`?`1ҽ? K.2?)"I5&iV轩U :publishing transmit ping time) U Fpublishing direction and range infoyѭZ`?&gaĿ5?Y )Ii )I1݂c?:9`?`1ҽ? )Ii 7k> C^A] *:< 1 a B9 Y IA IQ Ii Ou >2|,ƪ?Ar\'@r#"@r/~ٱr - =AHRS rotation from veh to nav: [[0.072963,0.983097,0.167918],[-0.997327,0.071265,0.016124],[0.003885,-0.168646,0.985669]]rH@?@u?U~?f>?˂?o?`-ſ?ir\'@Irp^;rCY#{ByrIbDVDJy%L=ٔ؁Q->9Y=FyiEM9hEM>QQ 5]5U\?Q 9]5UH)UfBYYye)ѿQ Ie@UDIU:iU1:Us5ԉyɮs*Aii?AJiFCRiFCjis@bąZh@ϭ?K5|~6@RѭZ`?&gaĿ5?Zi5&biVj@+[*thZO<@ZZ:m/|n\h|,?Am*@m @mKٱm. AHRS rotation from veh to nav: [[0.070382,0.983109,0.168948],[-0.997510,0.068612,0.016296],[0.004429,-0.169674,0.985490]]mH?u?@?`?`ٯ?#r?ſ"?im*@Im~^;mCY{BynIiMb@Mb@Mb@ 9?ʡEI +?Yf&?y-9<AV@ )x AYAbD5VD51yEl%E6=ٔMQ-M>9IYI=UFyUjEUEU>YQ 5e5]?Q 9e5]yP)]oBYm'?Q Em:ymпQ Im@]DI]3:i]:]u5yuؒBɮuM*AEjhQUFNOT Ignoring new targets: 198.72 m.Rh]CZh]Cm ProNav: ac range: 198.715256 m, nav range: 175.179932 m, bearing: 265.000881 deg, approach rate: -0.657172 m/s, LOS rate: -0.006919 deg/s, cmd heading: 273.984132 deg, new cmd heading: 273.975050 deg. BhmuHeadingCmd: 4.781767 target range: 198.715256 and range: 199.90 m.hu<@hq*hq"hq hygyfyfyf'|BdddjdZd`?颽n{Bɢ ) ȡi)?Ei\ki}.:;(@;I<@Ii@ @@B >BҍCB~IB7{BB =BBbDBf;B'E@@@=^A0;AAI!I1OEs>=PExceeded connect timeout, disconnecting.ԙ E%  E% E% E! "E% >:*E% F:VE% ـ3ZE! BE% 9tYt=zFyzjEzۻEz>|Q 55~彦?Q 95~V)~vBY y oпQ I @~DI~:i~:~?w5yɮI*AjhAEFNOT Ignoring new targets: 198.72 m.RhMZhM] ProNav: ac range: 198.715256 m, nav range: 174.946976 m, bearing: 264.998617 deg, approach rate: -0.698797 m/s, LOS rate: -0.006803 deg/s, cmd heading: 273.975061 deg, new cmd heading: 273.968258 deg. Bh]deHeadingCmd: 4.781648 target range: 198.715256 and range: 199.90 m.heC@ha*ha"ha hagifififidqdqdqjdqZd&#?颭t{Bɢ_@)  i)4H项iG'ki`2s-;J:l;IC@IԱ@ @@4@^Ar;II)O5> 9 |,3T?A6i@61@6sٱ6y+ BAHRS rotation from veh to nav: [[0.065906,0.983923,0.165986],[-0.997813,0.064150,0.015923],[0.005019,-0.166673,0.985999]]6H`7߰?L|? ??&l? N?@jt?UſN?i6i@I6pZ^;6CYJ2{ByJ{IbDVVDV0yZP=%^M=ٔ^W+Q-^>9`Y`=bFyb jEfbEf>dQ 5j5f?Q 9n5fq])f~BYlynпQ In@fDIf ;if&;fx5ytɮv)AtjhFNOT Ignoring new targets: 198.72 m.RhOٸZhOٸ ProNav: ac range: 198.715256 m, nav range: 174.686127 m, bearing: 264.996258 deg, approach rate: -0.655604 m/s, LOS rate: -0.005937 deg/s, cmd heading: 273.968259 deg, new cmd heading: 273.961172 deg. BhcHeadingCmd: 4.781525 target range: 198.715256 and range: 199.90 m.h@@h*h"h hgfffdddjdZd`f?u|{Bɢu).)q uԓiq)}zMyyi}Bjik6;F;I@@IE EE&E"EƱ:*E5:VE4ZEa @a @a @a@a@a @a@m4@iA^A"5;I1 IA OM >a B >B ЍCB qIB "{BB # =B EDB aDB cf;B ]'E },^+?A Y=F{By=IiMb@Mb@Mb@ 9 r?lL7A`?Y#?y+=QAl@ A)AYAbDVD:y3=%8=ٔQ->enManaging dock network, ignoring radio surface power off9Y=FyjEE>Q 55?Q 95Ye)BY$?Q E:yοQ I@DI;iτ;{5yɮ)A%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 198.72 m.Rh58Zh58E ProNav: ac range: 198.715256 m, nav range: 174.385742 m, bearing: 264.991509 deg, approach rate: -0.635126 m/s, LOS rate: -0.010058 deg/s, cmd heading: 273.961183 deg, new cmd heading: 273.946911 deg. BhEܹUHeadingCmd: 4.781276 target range: 198.715256 and range: 199.90 m.hU6@hQ*hQ"hQ hQgQfYfYf]<|BdYdadajdaZde?i颕{Bɢ)  }i)P顙i6ji>џ;r';I6@IE  E ~E $E "E I:*E (:VE 4ZE BE 5 }, .?AFב@F~Ҙ@F ٱFa(L RAHRS rotation from veh to nav: [[0.063263,0.984571,0.163149],[-0.997982,0.061526,0.015682],[0.005403,-0.163812,0.986477]]FH1?@??xJ??!v?Ŀ7?iFב@IFh^;FCYZW{ByZII^%>)^>b=b= fp9pYt=vFyvjEv^Ev?xQ 5m5zͺ?Q 9m5z*k)zBYiymtοQ Im@zDIz checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507666},G?A8ɰ8|Ym{ByIiMMb@Mb@Mb@IIII I9M/$?lMb?YM?yIM=M?AM@ MOA)M| AIYMG AbDe VDe2yu9=%u3=ٔ}Q-}>9yYy=}FyjEE>Q 55?Q 95r)BY?Q E:yϿQ I@DIa:i:~5yВBɮ(AEjhFNOT Ignoring new targets: 198.72 m.Rh!Zh! ProNav: ac range: 198.715256 m, nav range: 173.883331 m, bearing: 264.984456 deg, approach rate: -0.634022 m/s, LOS rate: -0.008477 deg/s, cmd heading: 273.937004 deg, new cmd heading: 273.925720 deg. Bh(HeadingCmd: 4.780906 target range: 198.715256 and range: 199.90 m.h.@h*h"h hgfff|BdddjdZd @{Bɢ) H i)]UijiJE;::I.@I!B}<AyB>BҍCBIBA{BB! =BBbDB@f;BT'EBEҍCBEҍCBABE =BE =CEŇb6@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759921I^A "y A E  E E E "E 7:*E A:VE ZE BE ;a% 2E ;a% JE k;a% :E k;a% I1 IA OU >b},ta?A2Ց@2OИ@2bȻٱ25P( :AHRS rotation from veh to nav: [[0.062996,0.984625,0.162924],[-0.997995,0.061148,0.016338],[0.006125,-0.163626,0.986503]]2H ?@ ?? N??"y?Ŀo?i2Ց@I2 ^;2CYF{ByFIbDNVDNyV=%Vm=ٔV& Q-V?9XYX=ZFyZjE^eJE^?`Q 5f5b׸?Q 9f5b$x)bBYdyfϿQ Ij@bDIby:ib;b 5ylɮn8(AljhFNOT Ignoring new targets: 198.72 m.Rh Zh ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012057Y ProNav: ac range: 198.715256 m, nav range: 173.671188 m, bearing: 264.981636 deg, approach rate: -0.615037 m/s, LOS rate: -0.008185 deg/s, cmd heading: 273.925720 deg, new cmd heading: 273.917251 deg. BhHeadingCmd: 4.780758 target range: 198.715256 and range: 199.90 m.h@h*h"h hgfffdddjdZd }S@kJTimed out from 2025-10-27T05:39:05.3Z5jfCompleted lineCaptureHoming:MicromodemComms:CheckInq5jAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInjVCompleted lineCaptureHoming:MicromodemCommsM{BɢM#)Q UiQ)UhUQQiUji]O]t;e:Ie@Ia!@! @!@%/@!@-=@-=ԁԹ^AErg:AM>AM> BDAT read: Rx Time:05:49:04.3893  TRx dataTimestamp_ set to:1761544145.824083 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264750A I I O > 5},{?A6ڑ@6Ԙ@6}Żٱ6v) BAHRS rotation from veh to nav: [[0.063544,0.984400,0.164072],[-0.997961,0.061687,0.016389],[0.006012,-0.164779,0.986312]]6H@eD?3?O?K?@<Ȑ?x?xſޏ?i6ڑ@I6ȹ];6CYJ{ByJI LLbDVVDVky^[=%^J=ٔ^ϑ9Q-b>9`Y`=bFybjEf:Ef>hQ 5n5jܷ?Q 9n5j~)jBYpyrϿQ Ir@jDIj ;ijG ;jρ5ytɮv'AtjhFNOT Ignoring new targets: 198.72 m.RhZh- ProNav: ac range: 198.715256 m, nav range: 173.422241 m, bearing: 264.978267 deg, approach rate: -0.614926 m/s, LOS rate: -0.008336 deg/s, cmd heading: 273.917251 deg, new cmd heading: 273.907127 deg. Bh-5HeadingCmd: 4.780581 target range: 198.715256 and range: 199.90 m.h5@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdMg @15U jUnAggregate::initialize lineCaptureHoming:MicromodemCommsq5UjU~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn5U颅{Bɢp) B ԍCB IB t{BB  =B DDB dDB tf;B y'EԹ M DAT read: 05:49:04.3893 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 399,-0.15, 2.935, 1.513,-2.853, 2.869, PHS= 0.168,-1.311, 0.517, RAW= 160.4, 7.5, CAL= 159.9, 7.5, ROT= 350.1, -7.5 U Ygot valid direction response: 05:49:04.3893 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 399,-0.15, 2.935, 1.513,-2.853, 2.869, PHS= 0.168,-1.311, 0.517, RAW= 160.4, 7.5, CAL= 159.9, 7.5, ROT= 350.1, -7.5 ] PDAT read: Bearing 70.7, -10.6 (Local) e ~Local bearing/azimuth received: Bearing 70.7, -10.6 (Local) m DAT read: Range 11 to 50 : 197.4 m (Round-trip 263.2 ms) speed 0.4 m/s u *DAT read: user:528> } BDAT read: Tx time:05:49:05.5219 } $Ping request sent.} i Χ Z? $+3@ > )2@  >) a@I    Eq9,?W$E?~2?  S4?) 3I 40i    :publishing transmit ping timey  Fpublishing direction and range infoy  6@?[?[ſ /?Y      ) I i      ) I    Eq9,?W$E?~2?  ) I i   E= E=E9E9"E=:*E=E7:VE9ZE9BE=9yYy=}Fy}%jE";Ew>Q 55˵?Q 95É)BYD?Q E:yпQ I@*DI(;i*(;5yɮ|'AiYi]?AJi]x0},?AE E~EE"E:*E(:VEZEa@a@a@a@0>@>}@>Gٱ>S) JAHRS rotation from veh to nav: [[0.065577,0.984297,0.163890],[-0.997832,0.063762,0.016313],[0.005607,-0.164604,0.986344]]>Hɰ?[?@U?=R?`S?!v?ſ ?i>@I>];>CYR{ByRIbDXVDXyb=%bW=ٔf/9Q-f>9dYd=jFyj)jEj:Ej>lQ 5r5n?Q 9v5n)nBYtyvsпQ Iv@n1DIng:in:n5yxɮz&A|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 196.24 m.Rh-㎸Zh-㎸T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 196.235352 m, nav range: 192.222794 m, bearing: 265.479698 deg, approach rate: -0.617747 m/s, LOS rate: -0.003904 deg/s, cmd heading: 273.888564 deg, new cmd heading: 273.884346 deg. Bhv+HeadingCmd: 4.780184 target range: 196.235352 and range: 197.40 m.hD@h*h"h hgfffdddjdZd`Ì?e{BɢeD)a e0=ii)m3Qiiimkiu\bgl;O;ID@Iԙ1@9 @9@=/@AԹAAB(>BՍCBIB{BB =BBeDBf;B'E^Ayb];U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996470 A I I O= >'6},?A2=@2@2ٱ2r( :AHRS rotation from veh to nav: [[0.066494,0.984361,0.163134],[-0.997773,0.064729,0.016119],[0.005308,-0.163842,0.986472]]2H??? @ ?@? u?Ŀ@.?i2=@I2o];2CYF{ByFIIJC=)J{>XiMb@Mb@Mb@ 9J +?ʡE:v?Y?y-<QA@ bA)AY AbD5VD5y=d<%EB=ٔE9:Q-E>9IYI=MFyM.jEU;EU>YQ 5e5]?Q 9e5])]BYe ?Q Ee:yeӿQ Ie@]9DI]H:i]:]v5yuɒBɮu&AuEjhFNOT Ignoring new targets: 196.24 m.Rh7Zh%7U ProNav: ac range: 196.235352 m, nav range: 191.995041 m, bearing: 265.480117 deg, approach rate: -0.521079 m/s, LOS rate: 0.000961 deg/s, cmd heading: 273.884357 deg, new cmd heading: 273.885616 deg. BhU(8]HeadingCmd: 4.780206 target range: 196.235352 and range: 197.40 m.h]r@hY*hY"hY hYgYfafaf.}BdddjdZd?bE» 4jE4rET0E- E-E-#E)"E-:*E-0:VE-3ZE)BE-;a=2E-;a=JE-܉;a=:E-܉;aE颕{Bɢ8+) -=i)Oi@kia5Y;H{;Ir@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248916gA9u9ugAYuHA@ @@/@ ^A "5;A A .AI I! O5 >U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500087K<},!?Aɰ;2(@2@2솢ٱ2' >AHRS rotation from veh to nav: [[0.067580,0.984373,0.162615],[-0.997702,0.065865,0.015919],[0.004960,-0.163317,0.986561]]2HL???+ܰ?,M?Pt?Ŀ?i2(@I2s];2CYF{ByFIbDRVDRyZ<%ZT=ٔZtl:Q-^>9^ ?Y^ ?=^Fy^1jEb 9;Eb>dQ 5j5f?Q 9j5f)fBYhynӿQ In@f?DIf;ifH;f&5ypɮrW&Apjh QFNOT Ignoring new targets: 196.24 m.Rh|7Zh|75 ProNav: ac range: 196.235352 m, nav range: 191.786880 m, bearing: 265.480436 deg, approach rate: -0.563607 m/s, LOS rate: 0.000864 deg/s, cmd heading: 273.885613 deg, new cmd heading: 273.886570 deg. Bh=8=HeadingCmd: 4.780222 target range: 196.235352 and range: 197.40 m.hE@hA*hA"hA hAgAfififididqdqjdqZdu}?{Bɢ6B9) ;=i)LiA,liaV;4;I@Iy@ @@/@E= E=E9E9"E=:*E=?:VE9ZE9aE@aE@aE@aE@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752112^Ar;A>A>A ؟A I I9 OU >C},?AY|ByIiMb@Mb@Mb@ 9{Gz?Zd;OQ?Y?yju< )YbDVDy"=%7=ٔ Q- >9 "?Y "?= Fy6jEE>!Q 5%5%?Q 9-5%!)%BY-?Q E-:y-&ֿQ I-@%GDI%:i%:%5B='>B9B=IB={BB9B9B9B=Sg;B='EyU͒Bɮ]0&A]EjhyFNOT Ignoring new targets: 196.24 m.Rh8Zh8 ProNav: ac range: 196.235352 m, nav range: 191.553802 m, bearing: 265.482064 deg, approach rate: -0.517680 m/s, LOS rate: 0.003620 deg/s, cmd heading: 273.886570 deg, new cmd heading: 273.891459 deg. Bh9HeadingCmd: 4.780308 target range: 196.235352 and range: 197.40 m.hH@h*h"h hgfffM}BdddjdZd@{Bɢ7:) D_=i)]IiyliI^R;w;IH@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007305@ @@0@ 9^A;EU  EU EU (EQ "EU :*EU [:VEU c44ZEQ BEU D- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261298Y I},i)?A2+@2 @2rtٱ2& :AHRS rotation from veh to nav: [[0.070139,0.984407,0.161315],[-0.997530,0.068610,0.015038],[0.003735,-0.161972,0.986788]]2H?C??`o?̎?n?}Ŀ œ?i2+@I2`^;2C9Y|ByI bDVDy<%==ٔ9;Q->9Y=Fy:jE;E>Q 55?Q 95)BYyտQ I@NDI :i:5y ɮ  &Ajh1=FNOT Ignoring new targets: 196.24 m.Rh=q8Zh=q8M ProNav: ac range: 196.235352 m, nav range: 191.328522 m, bearing: 265.483473 deg, approach rate: -0.527117 m/s, LOS rate: 0.003300 deg/s, cmd heading: 273.891460 deg, new cmd heading: 273.895691 deg. BhU9UHeadingCmd: 4.780382 target range: 196.235352 and range: 197.40 m.hU@hY*hY"hY hYgYfYfafadadadijdiZdm s@额{BɢPH:) Z=i)F顡i~li[ar;h;I@I)@) @)@-?0@)aEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512293ԑ^Am ;A I I O > E]  E] E] &EY "E] I:*E] rN:VE] 4ZEY ae @ae @am @am @P},aoC?A``"@@$3ٱ$ AHRS rotation from veh to nav: [[0.071231,0.984636,0.159430],[-0.997456,0.069876,0.014097],[0.002740,-0.160029,0.987109]]H59Y=Fy>jE/E;E>!Q 5-5%?Q 9-5%9)%BY)y5տQ I5@%TDI%:i%g:%5y9ɮ=&A9uB*** querying acoustic contact ***iy iyԁjhFNOT Ignoring new targets: 196.24 m.Rhr_8Zhr_8 ProNav: ac range: 196.235352 m, nav range: 191.130173 m, bearing: 265.484656 deg, approach rate: -0.510957 m/s, LOS rate: 0.003052 deg/s, cmd heading: 273.895695 deg, new cmd heading: 273.899249 deg. Bh9HeadingCmd: 4.780444 target range: 196.235352 and range: 197.40 m.he@h*h"h hgfffd!d!d!jd!Zd%ȡ@额{BɢKO) $=i)/D顡iliY;*;Ie@IԱM9@I @I@M0@IBA<B%&>B!B%IB%|BB% =B!B%dDB%pg;B%'E= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016123^AU ;Ae eAzAa A I I O >6W}, A^?A>"@>@>{ٱ># FAHRS rotation from veh to nav: [[0.072414,0.984688,0.158576],[-0.997373,0.071189,0.013397],[0.001903,-0.159129,0.987256]]>Hഉ??4L?z r9?p?^/_?`X^Ŀ?i>"@I>r^;>CY-|By5IiMb@Mb@Mb@ 9{Gz? ףp= {Gz?YyQ#<A@ KA) AY AbD-VD-fy=t?%=9=ٔ=:Q-=>9AYA=EFyECjEM0;EM>QQ 5]5UH?Q 9]5U)UBY]?Q E]:y]EտQ Ie@U[DIUU:iU':U5iymǒBɮu%AuEE EE#E"E*E*5:VE3ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520121 ]]}, x?ARG)@R$@ROٱR# fAHRS rotation from veh to nav: [[0.073197,0.984567,0.158965],[-0.997317,0.072211,0.011981],[0.000317,-0.159416,0.987211]]RH ??X?@`f|?M? 4?gĿ)}<=p=bDVDy:%U=ٔÇ;Q->9Y=FyFjE|;E>Q 55?Q 95E)BYy*տQ I@bDI:i$:+5yɮ%AjhFNOT Ignoring new targets: 196.24 m.Rhc78Zhc78  ProNav: ac range: 196.235352 m, nav range: 190.708237 m, bearing: 265.486706 deg, approach rate: -0.528382 m/s, LOS rate: 0.002505 deg/s, cmd heading: 273.902552 deg, new cmd heading: 273.905397 deg. Bh 8HeadingCmd: 4.780551 target range: 196.235352 and range: 197.40 m.hF@h*h"h hgf!f!f!d!d)d)jd)Zd5 @]{Bɢ]))Y e BDAT read: Tx time:05:49:09.2719 $Ping request sent.i55^5Q?5e4@5z0=53@ 54Q=)5@I54QϽ115׌?-`~? ? 5o9?)5߽I5Ai54QϽ1) 1u :publishing transmit ping time} Fpublishing direction and range infoy15E?d3⼬ǿ+hg޹?Y11111 1)1I1i11I I O >111 1)1I1115׌?-`~? ? 1)1I1i111Q Dd},%?Aɰ4<2'@2U"@2ů:ٱ2o% :AHRS rotation from veh to nav: [[0.072987,0.984330,0.160525],[-0.997332,0.072252,0.010420],[-0.001341,-0.160857,0.986977]]2H`D???$?QW?UĿ`P?i2'@I2^;2CYr|ByvIB]2>B]֍CB]IB]|BB] =BYB]fDB]^g;B]'EB%ՍCB%ՍCB%CB% =B% =C%5iUMb@Mb@Mb@QQQQ Q9US㥛?EԸ{Gz?YU$?yUƽQQU@ UbA)U AQYU AbDVD:2yʼ%;=ٔ"x;Q->9Y=FyKjEE >Q 5%5)?Q 9M5)BYMr?Q EM:yMuֿQ IU@iDI;i4<"5yaɮe&Aiaie ?AJie{,CRie{,Cjie @be0e@'@b(n1@ReE?d3⼬ǿ+hg޹?ZieAbie4QϽje0ekHeE&6@ZeHFᅱ|o?2ie@*:ief"iem\3?*ie;;BiePBie~]?iaiaie>Cie@-]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 173.500000 m, deltaT: 3.783891 s, deltaX: -23.899994 m, approachRate: -6.316248 m/s, rangeRepo size: 4jhYeFNOT Ignoring new targets: 196.24 m.Rhm8Zhm8} ProNav: ac range: 196.235352 m, nav range: 190.469040 m, bearing: 265.488569 deg, approach rate: -0.496705 m/s, LOS rate: 0.003873 deg/s, cmd heading: 273.905394 deg, new cmd heading: 273.910989 deg. Bh}*9HeadingCmd: 4.780649 target range: 196.235352 and range: 197.40 m.h@h*h"h hgfffE}Bdddjde@Zd q?E |BɢE[K)A M@iI)MXBIIiMyliU SUj;UG A] >Ա I9 II Oe >xj},/?AF!@Fm@F;U6;ٱF?& NAHRS rotation from veh to nav: [[0.072268,0.984237,0.161417],[-0.997381,0.071766,0.008943],[-0.002782,-0.161641,0.986846]]FH ? ~?O?``B_?P?f@Ŀ=?iF!@IF^;DYZ{ByZIbDVD1y %S=ٔ t;Q->9Y=FyOjE%:E%>)Q 555-Ф?Q 955-º)-BY1y5ֿQ I5@-pDI-y:i-:-Ɩ5yAɮE&AAjhiuFNOT Ignoring new targets: 196.24 m.Rhu8Zhu8 ProNav: ac range: 196.235352 m, nav range: 190.269241 m, bearing: 265.490169 deg, approach rate: -0.581373 m/s, LOS rate: 0.004660 deg/s, cmd heading: 273.910994 deg, new cmd heading: 273.915799 deg. BhL9HeadingCmd: 4.780733 target range: 196.235352 and range: 197.40 m.h@h*h"h hgfffdddjdZd#?|Bɢ#) i)OCiw.li_P<;KE  E E )E "E :*E xv:VE FA4ZE a @a @a @a @ q},$?AiI6@6@6;;ٱ6( >AHRS rotation from veh to nav: [[0.071579,0.983975,0.163307],[-0.997427,0.071280,0.007698],[-0.004066,-0.163438,0.986545]]6H`R?|?9`Y`=bFybSjEfEf>hQ 5j5j?Q 9n5j-Ⱥ)jBYlynֿQ Ir@jvDIj];ij;jy5ytɮvb&At B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 196.24 m.Rh8Zh8- ProNav: ac range: 196.235352 m, nav range: 190.062103 m, bearing: 265.491868 deg, approach rate: -0.532223 m/s, LOS rate: 0.004371 deg/s, cmd heading: 273.915803 deg, new cmd heading: 273.920906 deg. Bh-?95HeadingCmd: 4.780822 target range: 196.235352 and range: 197.40 m.h5~@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM@=?|Bɢ{) i)%E!)i-kiErMMŸ;M;IM~@II@ @@%0@!9Be<>Be׍CBeIBe|BBaBaBegDBebg;Be'ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A]r;IIO>i Iw},)z?A@ 69@6@6;ٱ60) >AHRS rotation from veh to nav: [[0.071241,0.983813,0.164428],[-0.997445,0.071146,0.006475],[-0.005329,-0.164469,0.986368]]6H9Y=FyWjExLE>Q 55ڠ?Q 95uκ) BY?Q E:yxֿQ I@~DI_;i;]5yΒBɮ'AjhFNOT Ignoring new targets: 196.24 m.Rh8Zh8  ProNav: ac range: 196.235352 m, nav range: 189.822098 m, bearing: 265.493756 deg, approach rate: -0.554820 m/s, LOS rate: 0.004370 deg/s, cmd heading: 273.920912 deg, new cmd heading: 273.926583 deg. Bh ?9HeadingCmd: 4.780921 target range: 196.235352 and range: 197.40 m.hN@h*h"h hgff!f% }Bd!d!d!jd)Zd-?]'|Bɢ]` )Y ]ءiY)eFJaaieHjim5Jm;m;ImN@Iq5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501913q9@ @@/@ԙ^A0;AdAzAI I! O5 >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755190|%~},U?A6@6 @6;ٱ6) >AHRS rotation from veh to nav: [[0.070360,0.983797,0.164901],[-0.997505,0.070355,0.005878],[-0.005819,-0.164904,0.986293]]6H ?@D{?}??x?w@ſ`?i6@I6q^;6CYJ{ByJIPbDVVDV02yZ_<%^W=ٔ^l:Q-^>9`Y`=bFyb[jEfUEf>dQ 5j5f?Q 9n5fӺ)fBYlynֿQ In@fDIf;if&;f5yvȒBɮv&AvEjhFNOT Ignoring new targets: 196.24 m.Rh8Zh8- ProNav: ac range: 196.235352 m, nav range: 189.614044 m, bearing: 265.495450 deg, approach rate: -0.554795 m/s, LOS rate: 0.004524 deg/s, cmd heading: 273.926594 deg, new cmd heading: 273.931684 deg. Bh-F95HeadingCmd: 4.781010 target range: 196.235352 and range: 197.40 m.h5@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdE ?u0|Bɢu)y }Tiy)})WNyyi<-jiLGM;;I@I1@1 @1@51@1E EE&E"E:*E?:VE4ZEa@a@a@a@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005784^Ar;I9IIOU>) B] j>B] ݍCB] IB] {BB]  =BY B] lDB] Ng;B] (E},n?A.@. @.x;ٱ..w+ :AHRS rotation from veh to nav: [[0.069964,0.983529,0.166658],[-0.997533,0.069954,0.005939],[-0.005817,-0.166663,0.985997]].H+?y? U?`?`Sx?@w@3Uſ@I?i.@I.{^;.CYB{ByBIIFt>)F>HJ=pchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258403iMb@Mb@Mb@ 9q= ףp?Mb9IYI=UFyU`jEubEu>yQ 55}񜦊?Q 95}ں)}BY ?Q E:yPտQ I@}DI}:i}:}5yɮ0'AjhFNOT Ignoring new targets: 196.24 m.RhmO8ZhmO8 ProNav: ac range: 196.235352 m, nav range: 189.358261 m, bearing: 265.496772 deg, approach rate: -0.547691 m/s, LOS rate: 0.002834 deg/s, cmd heading: 273.931676 deg, new cmd heading: 273.935646 deg. Bh8HeadingCmd: 4.781079 target range: 196.235352 and range: 197.40 m.h%@h!*h!"h! h!g!f!f)f- }Bd)dQdQjdQZdU@颥;|Bɢ//) i)WU顩 iM#iiUEU;Ua;IU@IQ@ @@m0@9bE!4jE4rEEC0E} E}E})Ey"E}:*E}:VE}FA4ZEyBE}5[},ף/?A: @:@:;ٱ:_+ FAHRS rotation from veh to nav: [[0.069365,0.983594,0.166527],[-0.997578,0.069249,0.006508],[-0.005130,-0.166575,0.986015]]:H?`y? P?) S?z?\u RRſ`p?i: @I: ^;:CYN{ByNIbDZVDZfy^N%bc=ٔbUQ-b>9dYd=fFyfcjEfںEj>lQ 5n5nY?Q 9r5nߺ)nBYpyrdտQ Ir@nDIn:in:n5ytɮzz'Axjh%FNOT Ignoring new targets: 196.24 m.Rh%\[8Zh%\[8= ProNav: ac range: 196.235352 m, nav range: 189.161789 m, bearing: 265.497826 deg, approach rate: -0.558129 m/s, LOS rate: 0.002997 deg/s, cmd heading: 273.935638 deg, new cmd heading: 273.938802 deg. Bh=9EHeadingCmd: 4.781134 target range: 196.235352 and range: 197.40 m.hE @hA*hA"hA hAgAfIfIfIdQdQdQjdQZd]@i@颅C|Bɢ޶g)K i)[顉iGhi6C;|ծ;I @I @ @@4@Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763599^A)iAY Ii Iy O >Ee  Ee Ee 'Ea "Ee :*Ee x:VEe '4ZEa am @am @am @am @ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013640>},9XYX=ZFyZgjEZE^>`Q 5f5b?Q 9f5b)bBYdyfiտQ If@bDIb:ib$:bS5ylɮn'AlzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 196.24 m.Rh [8Zh [8 ProNav: ac range: 196.235352 m, nav range: 188.940857 m, bearing: 265.499024 deg, approach rate: -0.552967 m/s, LOS rate: 0.003003 deg/s, cmd heading: 273.938807 deg, new cmd heading: 273.942406 deg. Bh%9%HeadingCmd: 4.781197 target range: 196.235352 and range: 197.40 m.h%@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=r@y5M|Bɢ=t)A Eu-iA)ueqyi}0gi)A#;%(;I%@IqԩB<ABy>BߍCBIB{BB =BCDBmDB|g;B.(E@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268893 ^A} ;Eu  Eu Eu &Eq "Eu :*Eu xv:VEu 4ZEq BEu *(},jf?A,2=@2@2vr;ٱ2\- fAHRS rotation from veh to nav: [[0.069174,0.983299,0.168340],[-0.997598,0.068806,0.008023],[-0.003694,-0.168491,0.985696]]2H_?@/w?`,?@RG? un?@*Bnſ ӊ?i2=@I2K^;2CYn{ByrI pptvA]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517918iuMb@Mb@Mb@qqqq q9uoʡ?K9Y=FyljEE>Q 55?Q 95)%BY?Q E:yԿQ I@DI:i]:q5yɮ'AjhFNOT Ignoring new targets: 196.24 m.Rh 8Zh 8 ProNav: ac range: 196.235352 m, nav range: 188.670151 m, bearing: 265.499917 deg, approach rate: -0.558410 m/s, LOS rate: 0.001845 deg/s, cmd heading: 273.942413 deg, new cmd heading: 273.945096 deg. Bh8HeadingCmd: 4.781244 target range: 196.235352 and range: 197.40 m.h@h*h"h hgfff |Bd dd!jdaZdm @ԁX|Bɢ ) Fi)CrAAiEeiE?M);Mȩ;IM@II@ @@4@@@@@Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770742 I I O > }, 2?A2%@2@2f 6;ٱ2lP, :AHRS rotation from veh to nav: [[0.068919,0.983499,0.167273],[-0.997618,0.068410,0.008811],[-0.002778,-0.167482,0.985871]]2H?x?3i?`}`P?^ ?jf pſA?i2%@I2s1^;2C\Yb{BybIbDnVDn1yv(<%vX=ٔvZQ-v>9xYx=zFyzpjEz0E~>Q 5 5앦?Q 9 5*))BY y ԿQ I @DI9:i:5yÒBɮ'AEjhAEFNOT Ignoring new targets: 196.24 m.RhM 8ZhM 8] ProNav: ac range: 196.235352 m, nav range: 188.458633 m, bearing: 265.500636 deg, approach rate: -0.558167 m/s, LOS rate: 0.001900 deg/s, cmd heading: 273.945091 deg, new cmd heading: 273.947251 deg. Bh]8eHeadingCmd: 4.781281 target range: 196.235352 and range: 197.40 m.heB@ha*ha"ha hagifififidqdqdqjdqZdu`@颭`|Bɢ}) 'Ji)dz顱idic>*;0;IB@IE EEE"Em:*E&p:VEZEa@a@a@a@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.021907!y@y @@.4@I I O >A BU >BU CBU IBU {BBU  =BQ BU rDBU g;BU Q(E% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274092G6},?A2@2@2_:ٱ2‰* :AHRS rotation from veh to nav: [[0.068532,0.983826,0.165500],[-0.997647,0.067871,0.009656],[-0.001733,-0.165772,0.986163]]2HW?@{?/?@ _?ƃ?b\8ſ?i2@I2R^;2CYbw{ByfIiMb@Mb@Mb@ 9"~?K~jth?Y?yD;QA A)Y AbD VDf2y%<=ٔQ->9Y=FyujE jE>Q 55?Q 95)-BY?Q E:yӿQ I@DIh;i ;5yɮ>(Ajh)-FNOT Ignoring new targets: 196.24 m.Rh5ǝ7Zh5ǝ7E ProNav: ac range: 196.235352 m, nav range: 188.204834 m, bearing: 265.501103 deg, approach rate: -0.584698 m/s, LOS rate: 0.001078 deg/s, cmd heading: 273.947249 deg, new cmd heading: 273.948652 deg. BhEU=8MHeadingCmd: 4.781306 target range: 196.235352 and range: 197.40 m.hMu@hI*hI"hQ hQgQfQfYf]|BdYdYdajdaZde~@Ei|BɢM)I Mrii)uUqqiuci}=}|%;}N;I}u@IIE EE$E"E,:*E;J:VE4ZEBE6`},q?A:@:@::ٱ:N( BAHRS rotation from veh to nav: [[0.068418,0.984159,0.163555],[-0.997656,0.067667,0.010163],[-0.001066,-0.163867,0.986482]]:H@Ճ?;~?\?R? 'Є?`uQ`ĿB?i:@I:7F^;:CYNg{ByNIIR=)R4=R=R=bDZVDZk2yb96%b]=ٔbQ-b>9dYd=fFyfxjEjaEj>hQ 5r5j?Q 9r5jw)j0BYtyvӿQ Iv@jDIjr#;ijL$;j5yxɮz(Axjh%FNOT Ignoring new targets: 196.24 m.Rh%7Zh%75 ProNav: ac range: 196.235352 m, nav range: 187.989166 m, bearing: 265.501513 deg, approach rate: -0.584065 m/s, LOS rate: 0.001110 deg/s, cmd heading: 273.948642 deg, new cmd heading: 273.949872 deg. Bh5C8=HeadingCmd: 4.781327 target range: 196.235352 and range: 197.40 m.h=@hA*hA"hA hAgAfAfIfIdIdIdIjdQZdUa@y颅q|Bɢ¼) i)g顉i?bi< ;D;I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.781055ԡ9@ @@/@IyIO~>E EE&E"E :*E1]:VE4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029837 )H},?Aɰ;2n@26@2-9:ٱ2*m' :AHRS rotation from veh to nav: [[0.068467,0.984340,0.162441],[-0.997653,0.067668,0.010450],[-0.000706,-0.162775,0.986663]]2H ??@?@R?f?#GĿ@?i2n@I2 a^;2CYRq{ByRIbDZVDZk1yb <%bJ=ٔf iQ-f>9dYd=fFyf}jEj8Ej>lQ 5r5n㐦?Q 9r5n)n4BYtytQ Iv@nDIn:in:n_5yxɮzV(AxmB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 196.24 m.Rh%{7Zh-{7 ProNav: ac range: 196.235352 m, nav range: 187.752670 m, bearing: 265.501962 deg, approach rate: -0.558404 m/s, LOS rate: 0.001062 deg/s, cmd heading: 273.949872 deg, new cmd heading: 273.951221 deg. Bh:8HeadingCmd: 4.781351 target range: 196.235352 and range: 197.40 m.h@h*h"h1 h1g9f9fIfqdydydjdZd4@AA@A"pFailed to parse device response: 63.36,10.6308,3.741.61 {|Bɢ߫) ̈́i)ࡒi .ai- <-;5:;I5@I1 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281836%9@! @!@%/@!1^AA AM >AM >I I O >Y E  E E E "E :*E E7:VE ZE Pr},#?AYj{ByIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.533881iMb@Mb@Mb@ 9Q?~jtMb`?Y(?y;A@ KA)Y AbDVDy%:=ٔQ->9Y=FyjEE>Q 55?Q 95 )7BY^?Q E:yϿQ I@DIi:i:L5y ȒBɮ(AE9jh9EFNOT Ignoring new targets: 196.24 m.RhEZhE] ProNav: ac range: 196.235352 m, nav range: 187.482040 m, bearing: 265.499873 deg, approach rate: -0.642006 m/s, LOS rate: -0.004964 deg/s, cmd heading: 273.951210 deg, new cmd heading: 273.944933 deg. Bh] Z]HeadingCmd: 4.781241 target range: 196.235352 and range: 197.40 m.he@ha*ha"ha hagafafifm~|BdqdqdyjdyZd}[@e|Bɢm8Ƽ) zi)顑i_i?;ܗ;I@IE9@A @A@EO0@Iqԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.785901^A ;A Թ I I O >>Z},z?A2Z@2"@20ٱ2f# :AHRS rotation from veh to nav: [[0.067239,0.985068,0.158491],[-0.997737,0.066278,0.011348],[0.000674,-0.158896,0.987295]]2H@6??`qI?`u? g=?wF?VĿ?i2Z@I2/X_;2CYB{ByFI DDHJAbDNVDNyV=%V`=ٔZwQ-Z>9XYX=ZFy^jE^]E^>`Q 5f5b?Q 9f5b)b9BYhyj пQ Ij@bDIb:ib:b䭈5ynĒBɮn(Ar#Ejh FNOT Ignoring new targets: 196.24 m.Rh Zh % ProNav: ac range: 196.235352 m, nav range: 187.257919 m, bearing: 265.498228 deg, approach rate: -0.615638 m/s, LOS rate: -0.004522 deg/s, cmd heading: 273.944927 deg, new cmd heading: 273.939988 deg. Bh%F%HeadingCmd: 4.781155 target range: 196.235352 and range: 197.40 m.h-8@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=@@m|Bɢm0Ƽ)i mii)u ?qqiu^iB;uh;I8@IE EEE"E:*EVEZEԹ9@ @@4@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.038329^A; B {>B CB IB t{BB  =B B nDB `h;B (EBߍCBލCBCB =B =C7A! I) I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.2898079 u},V?A@6{@6C@6nٱ6! >AHRS rotation from veh to nav: [[0.066768,0.985373,0.156789],[-0.997768,0.065775,0.011522],[0.001041,-0.157209,0.987565]]6H? ,?? ְ?? Q?iĿ!?i6{@I6_;6CYF{ByFIiuMb@Mb@Mb@qqqq q9u^I +?Mb9Y=FyjEcE>Q 55ٍ?Q 95)>BY;?Q E:yͿQ I@DI:i:ʯ5yɮ (AjhFNOT Ignoring new targets: 196.24 m.RhZh ProNav: ac range: 196.235352 m, nav range: 186.996399 m, bearing: 265.494811 deg, approach rate: -0.600850 m/s, LOS rate: -0.007861 deg/s, cmd heading: 273.939982 deg, new cmd heading: 273.929717 deg. BhHeadingCmd: 4.780975 target range: 196.235352 and range: 197.40 m.h@h*h"h! h!g!f!f)f-|Bd)d)d)jd1Zd5@p@|Bɢ) #i)i]i mH- ;5Q`;I5@I1@ @@4@E EE'E"E:*EC:VE'4ZEBE ;a9]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541937^A qZ;A fAzA dAi A] .AIa Iq O >Q}, 05?A >A@> @>*ٱ>E FAHRS rotation from veh to nav: [[0.065644,0.985775,0.154723],[-0.997842,0.064624,0.011622],[0.001458,-0.155152,0.987889]]>H ΰ? w?@?`R ,?@'͇?W? ÿ`ʜ?i>A@I>YL`;9f ?Yf ?=fFyfjEj~DEj>lQ 5r5n$?Q 9v5n})nBBYtyvͿQ Iz@nDIn-i;inj;nn5yÒBɮ'A jhQ]FNOT Ignoring new targets: 196.24 m.Rhe Zhe  ProNav: ac range: 196.235352 m, nav range: 186.770386 m, bearing: 265.491934 deg, approach rate: -0.590844 m/s, LOS rate: -0.007532 deg/s, cmd heading: 273.929709 deg, new cmd heading: 273.921065 deg. BhkHeadingCmd: 4.780825 target range: 196.235352 and range: 197.40 m.h@h*h"h hgfffdddYjdaZde0@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793889|Bɢļ) 臾i)SiPo\i\MUğ;';I@Iq9@ @@/@ԙ^Amyb];E EE&E"E:*EA:VE4ZEa@a@a@a@ ia Ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046113A ؟AI I O >S}, O?A2@2ޘ@22@ٱ2,= :AHRS rotation from veh to nav: [[0.064758,0.986028,0.153479],[-0.997899,0.063713,0.011722],[0.001780,-0.153916,0.988082]]2H? ?@3?zO??@(]?`ÿ^?i2@I21`;2CYB{ByBIID)F=PbDNVDNyVv=%ZK=ٔZRQ-Z>9^"?Y^"?=^Fy^jE^Eb>`Q 5j5b]?Q 9j5b$)bFBYhyjͿQ Ij@bDIb;ib;b/5ypɮr'ApB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 196.24 m.Rh Zh % ProNav: ac range: 196.235352 m, nav range: 186.528549 m, bearing: 265.488916 deg, approach rate: -0.612161 m/s, LOS rate: -0.007649 deg/s, cmd heading: 273.921076 deg, new cmd heading: 273.912010 deg. Bh%-HeadingCmd: 4.780666 target range: 196.235352 and range: 197.40 m.h-8@h)*h1"h1 h1g1f1f9f9d9dAdAjdAZdEΨ@颥|Bɢ]) h~i) Z1i5+V[iMR]ӓ;].;Ie8@IqB]>B܍CBBB =BDDBjDBi;B(Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.297765@ @@/@^A ;) 9 e (hAy D zD bEE˞4jEET4rEE.E  E E %E "E :*E L_:VE 4ZE BE c},9 ?Y ?=FyjEE>Q 55M?Q 95,)LBY ?Q E:yvοQ I@DI:i:D5y ɮ T'A jhQUFNOT Ignoring new targets: 196.24 m.Rh]Zh] ProNav: ac range: 196.235352 m, nav range: 186.229965 m, bearing: 265.485554 deg, approach rate: -0.617384 m/s, LOS rate: -0.006961 deg/s, cmd heading: 273.912005 deg, new cmd heading: 273.901906 deg. BhߘHeadingCmd: 4.780490 target range: 196.235352 and range: 197.40 m.h@h*h"h hgfff|BdddjdZd@m@颵|BɢB) wi)iZiRX*`;;I@I @ @@/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805786Y ^A ] ;A >A >A ؟AI I! O- >*},e?A,2ґ@2͘@2p9ٱ2 >AHRS rotation from veh to nav: [[0.062663,0.986178,0.153383],[-0.998035,0.061954,0.009403],[-0.000230,-0.153671,0.988122]]2H ?`Ŏ? ?k?A? . zÿ`?i2ґ@I2_;0YF{ByFIbDRVDR:yZ<%Z_=ٔ^N;Q-^>9^"?Y^"?=^Fy^jEbEb>dQ 5j5fr?Q 9j5f2)fQBYhynοQ In@fDIf;if;fܶ5yBɮ %'A -Ejh15FNOT Ignoring new targets: 196.24 m.Rh=rZh=rM ProNav: ac range: 196.235352 m, nav range: 186.000793 m, bearing: 265.483116 deg, approach rate: -0.631990 m/s, LOS rate: -0.006733 deg/s, cmd heading: 273.901897 deg, new cmd heading: 273.894572 deg. BhMޓEu EuEu#Eq"Eu[:*Eu&p:VEu3ZEqa@a@a@a@HeadingCmd: 4.780362 target range: 196.235352 and range: 197.40 m.h@h*h"h hgfffdddjdZd @u|Bɢu4ļ)q uwiy)}Дyyi}Xi\I";9I@I Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.058098ԁ@ @@/@ԹBQ>BڍCBIB{BB =BBiDB\i;B)E^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309801A I I1 O= >kO},L?A2,đ@2@2:ٱ2 :AHRS rotation from veh to nav: [[0.060883,0.986570,0.151570],[-0.998144,0.060369,0.007994],[-0.001263,-0.151776,0.988414]]2H ,?? f? ?`._?`rT dmÿ?i2,đ@I2/_;2C\Y~{By~I iMb@Mb@Mb@ 9v?㥛 ~jt?Y?y<?A@ OA) AY AbDVDy2=%;=ٔ;Q->9Y=FyjEE>Q 55D?Q 959)XBY?Q E:yϿQ I@DI:i:Ƹ5yɮ&AjhFNOT Ignoring new targets: 196.24 m.Rh%Zh%5 ProNav: ac range: 196.235352 m, nav range: 185.738022 m, bearing: 265.481046 deg, approach rate: -0.608086 m/s, LOS rate: -0.004796 deg/s, cmd heading: 273.894575 deg, new cmd heading: 273.888357 deg. Bh5RHeadingCmd: 4.780253 target range: 196.235352 and range: 197.40 m.h@h*h"h hgfff}BdddjdZd @|Bɢ) ki!)%Ȼ!!i% Wi-`-t;MKlIU@IQE EE'E"ED:*E:VE'4ZEBE1Ƈ},?AYf{ByfIbDrVDrβyz=%zV=ٔzQ-z>9|Y|=~FyjEE > Q 55 `a},c_?A2@2@2Mm;ٱ2>g :AHRS rotation from veh to nav: [[0.057199,0.986709,0.152100],[-0.998356,0.057083,0.005130],[-0.003621,-0.152143,0.988352]]2H)I??x?:?u?moyÿ?i2@I2g_;2CYB{ByFIbD VD2yT<%J=ٔԾ;Q->9!Y!=-Fy-jE5EE>YQ 5u5ԁ] ?Q 95]"F)]fBYy[пQ I@]DI]NBٍCBIB{BB =BBhDBi;B.)E%B*** querying acoustic contact ***i) i)jhAMFNOT Ignoring new targets: 196.24 m.Rh냸Zh냸 ProNav: ac range: 196.235352 m, nav range: 185.262177 m, bearing: 265.477562 deg, approach rate: -0.530409 m/s, LOS rate: -0.003604 deg/s, cmd heading: 273.882909 deg, new cmd heading: 273.877885 deg. BhNHeadingCmd: 4.780071 target range: 196.235352 and range: 197.40 m.hW@h*h"h hgfffdddjdZd`P"@E|Bɢm_)i m#Rii)mӻiqiu:)Uiuf}Uĝ;}ʂI}W@Iyԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.3231829@9 @A@E0@A^A Β{E  E E &E "E :*E ?:VE 4ZE BE &B},lx?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.574608f둑@f@f;ٱf>! vAHRS rotation from veh to nav: [[0.054758,0.986090,0.156931],[-0.998479,0.055097,0.002187],[-0.006490,-0.156812,0.987607]]fH`0 ?@ ?T? 5?8a?@SzmĿ z?if둑@If_;dY |By II=)<==ԹiMb@Mb@Mb@ 9q= ףp?/$l?Y ?y=$A@ bA) AY AbD5VD5yE=%E7=ٔM};Q-M>9IYI=MFyUjEU0EU>YQ 5e5]L?Q 9e5]L)]pBYm| ?Q Em:ym ԿQ Im@]DI]:i]:](5yqɮ}%AyjhFNOT Ignoring new targets: 196.24 m.Rh7Zh7 ProNav: ac range: 196.235352 m, nav range: 185.019424 m, bearing: 265.478075 deg, approach rate: -0.628179 m/s, LOS rate: 0.001329 deg/s, cmd heading: 273.877882 deg, new cmd heading: 273.879422 deg. Bhyi8HeadingCmd: 4.780097 target range: 196.235352 and range: 197.40 m.h@h*h"h hgfffY}BdddQjdQZdUGb#@|Bɢ򤟼) :i)-ػi-Si51e5`;5žI5@I9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825709^A vтA A I I O >Ys~,?A4<ɰF@F}@Fq<ٱF# NAHRS rotation from veh to nav: [[0.054488,0.985676,0.159607],[-0.998484,0.055040,0.000959],[-0.007839,-0.159417,0.987180]]FH`?৊?m?=.?9pYp=rFyrjEvGEv>xQ 5z5z僦?Q 9~5zQ)zxBYqyu ԿQ Iu@zDIz5A>aAIIOm>BUz>BUލCBUIԑBU{BBU =BQBUmDBUi;BUE)E 2Acoustic response timeoutԹ ~,Q ?AB)@B@B<ٱB & RAHRS rotation from veh to nav: [[0.054664,0.985320,0.161727],[-0.998467,0.055353,0.000245],[-0.008710,-0.161492,0.986836]]BH@??v?pHW?0?ցǫĿ (?iB)@IBd_;BCYZ|ByZIi=Mb@Mb@Mb@9999 99=Pn?~jtI +?Y=?y=Ľ=94==A=@ 9)=1 A9Y= AbDUVDUy]7%eA=ٔe;Q-e>9iYi=mFymjEu9Eu>qQ 5}5uǁ?Q 95ueW)uBY?Q E:y׿Q I@u%DIu$ ~,9?AF@F@F<ٱFX' NAHRS rotation from veh to nav: [[0.055614,0.985022,0.163216],[-0.998405,0.056458,-0.000534],[-0.009740,-0.162926,0.986590]]FHby?@L? B??{A`@Ŀ%?iF@IFM_;DYZ|ByZ I \\`bAbDf VDf2yj%<%nU=ٔnp/;Q-n>9r ?Yr ?=rFyrjEv";Ev>xQ 5z5z?Q 9~5z\)zBY|y~m׿Q I@z,DIzj;izv;z;È5y ɮ %A 2Acoustic response timeoutjhFNOT Ignoring new targets: 196.24 m.Rh(8Zh(8 ProNav: ac range: 196.235352 m, nav range: 184.401657 m, bearing: 265.482947 deg, approach rate: -0.524339 m/s, LOS rate: 0.005441 deg/s, cmd heading: 273.887772 deg, new cmd heading: 273.894041 deg. Bhn9HeadingCmd: 4.780353 target range: 196.235352 and range: 197.40 m.h@h*h"h hgfffdddjdZd %@5|Bɢ5)9 =GFi9)=>99i=tOiE\E$';EZ;IM@II9@ @@/@E EE'E"E;*E҆:VE'4ZEa@a@a@a@^A&tQ u 2Acoustic response timeoutAA II IY Om >~,S?A((Fͣ@F@F8.<ٱF( RAHRS rotation from veh to nav: [[0.056935,0.984727,0.164530],[-0.998321,0.057916,-0.001170],[-0.010681,-0.164188,0.986371]]FH&? ? U?`>8?)S߅ſZ?iFͣ@IFv_;FCYZ|ByZ IbDfVDfk1ynQ;%nJ=ٔrI;Q-r>9pYp=rFyrjEvvV;Ev>Q 55}?Q 95;b)BY!y%=׿Q I%@2DI2d;iZ;ň5y)ɮ-%A)jhQUFNOT Ignoring new targets: 196.24 m.Rh]^8Zh]^8B<A4=B>BCBIB|BB =BCDBqDB_i;B0)EB܍CBݍCB—CB =B =Cœ6 ProNav: ac range: 196.235352 m, nav range: 184.188660 m, bearing: 265.485061 deg, approach rate: -0.548040 m/s, LOS rate: 0.005447 deg/s, cmd heading: 273.894028 deg, new cmd heading: 273.900379 deg. Bh>o9HeadingCmd: 4.780463 target range: 196.235352 and range: 197.40 m.h@h!*h!"h)Q hYgafffdddjdZdg&@|Bɢd) |Mi ) K  i Mi5Y^z;|I@I2Acoustic response timeout@ @@@yԡ ^A A zA gAE  E E (E "E :*E $:VE c44ZE BE E- ~,D0n?AZ벑@Z@Z<<ٱZ_* fAHRS rotation from veh to nav: [[0.058777,0.984432,0.165646],[-0.998205,0.059875,-0.001640],[-0.011533,-0.165252,0.986184]]ZH?w? 3?J燐?Z@&ſю?iZ벑@IZ9_;ZCYn|BynIi]Mb@Mb@Mb@YYYY Y9]V-?S㥻ˡE?Y]>y]/ݽ]'=]hA] @ Y)] AYY] AbD} VD}2yÁ%;=ٔ;Q->9"?Y"?=FyjE;E>Q 5%5?{?Q 9%5g)BY%>Q E%:y%ܿQ I%@9DI6;82I@IYY@a @a@e0@aԁ2Acoustic response timeout^A}yb]Թ A I I O >!~,?A2‘@2x@2M<ٱ2) :AHRS rotation from veh to nav: [[0.060697,0.984347,0.165459],[-0.998077,0.061938,-0.002342],[-0.012553,-0.164998,0.986214]]2H ??-??I?.cwſ?i2‘@I2D$_;2CYF{ByFIIJ<)HJ=J=PbDRVDRyZD%ZZ=ٔ^2;Q-^>9`Y`=bFybjEbV;Ef>dQ 5j5fx?Q 9j5f:l)fBYlE% E%E%&E!"E%&:*E% :VE%4ZE!a-@a-@a-@a-@y]ZܿQ I]@f?DIfBCBBB =BBsDB#i;B")E^A NJN)  BDAT read: Response Not Received  *response not received *DAT read: user:530>  (~,4?Aɰ4y=̽=<=~A=@ =x A)=G A9Y= AbDUVDUyem%e@=ٔe:Q-m>9iYi=mFymjEu;Eu>yQ 55}v?Q 95}mq)}BYc>Q E:yۿQ I@}EDI}z:i} :}gʈ5yBɮ|&A?EjhFNOT Ignoring new targets: 196.24 m.Rh,9Zh,9 ProNav: ac range: 196.235352 m, nav range: 183.606033 m, bearing: 265.497625 deg, approach rate: -0.490134 m/s, LOS rate: 0.009439 deg/s, cmd heading: 273.926594 deg, new cmd heading: 273.938101 deg. BhI9HeadingCmd: 4.781122 target range: 196.235352 and range: 197.40 m.h@h*h"h hgfff}Bddd Ej>AjdZd`(@6t9Yx]AyUX?UcA颭}Bɢ) zi)D顱iyGiCC; h9I@I)bEÀ'4jE$4rE 0E5 E5E5)E1"E5V:*E5y:VE5FA4ZE1BE59A >ԁ A5 .AIA IQ Oe >a;.~,p?A2d@2,ݘ@2b<ٱ2c% >AHRS rotation from veh to nav: [[0.064558,0.984717,0.161753],[-0.997819,0.065940,-0.003180],[-0.013798,-0.161194,0.986826]]2H 憰? ΂?N? !l?n j@AĿ?i2d@I2^;0YF{ByFIbDNVDNkyVj%VV=ٔZ:Q-Z>9^ ?Y^ ?=^Fy^jE^4;E^>`Q 5f5bt?Q 9j5bv)bBYhyjڿQ Ij@bKDIbD;ibr;b̈5ylɮn&Apjh FNOT Ignoring new targets: 196.24 m.Rh  9Zh 9 ProNav: ac range: 196.235352 m, nav range: 183.427414 m, bearing: 265.500979 deg, approach rate: -0.467619 m/s, LOS rate: 0.008788 deg/s, cmd heading: 273.938097 deg, new cmd heading: 273.948167 deg. Bh%9%HeadingCmd: 4.781298 target range: 196.235352 and range: 197.40 m.h%d@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=)@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250413Y}Bɢj) ٣i!)%Q!!i%[tEi-=-;-ϻ:I5d@I1@ @@/@yEE EEEE&EA"EE ;*EE:VEE4ZEAaU@aU@aU@aU@ԩ^A9i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503030A I I O% > ~5~,it?A2@2@2m<ٱ2(% FAHRS rotation from veh to nav: [[0.066307,0.984694,0.161184],[-0.997694,0.067772,-0.003601],[-0.014470,-0.160574,0.986918]]2Hy??`?yY?m @ĿԔ?i2@I21_;2CY {ByI ))11BM>BMCBMIBM{BBM =BIBMtDBMh;BM)EbDVDNyں%<=ٔ:Q->9Y=FyjE ;E>)Q 5E5-%r?Q 9M5-{)-BYyڿQ I@-RDI-3 <~,?A2@2@2i<ٱ2# :AHRS rotation from veh to nav: [[0.068164,0.984780,0.159882],[-0.997572,0.069569,-0.003200],[-0.014274,-0.159276,0.987131]]2H3s?Q?w? Eϱ?Y6j@;&cĿ?i2@I2k_;2CYF{ByFIHiMb@Mb@Mb@ 9/$?S㥻~jt?Y&>y/ݽD< A @ A) AYQ AbD- VD-2y=vQ%=:=ٔEQ-E>9E"?Y"?=FyjE;E>Q 5 5po?Q 95")BY|>Q E:yOܿQ I@XDIkB~,: ?AJ@J{ @J*W<ٱJO@! VAHRS rotation from veh to nav: [[0.070077,0.985054,0.157345],[-0.997455,0.071270,-0.001947],[-0.013132,-0.156808,0.987542]]JH@?`?#? '>?_`势KĿ ?iJ@IJiz_;JCY^E{By^IbDfVDfyn %nR=ٔr@Q-r>9pYp=vFyvjEvF;Ev>x|Q 55z3m?Q 95z΅)zBYyܿQ I @z^DIzC*;iz +;zш5yɮ)Ajh9=FNOT Ignoring new targets: 196.24 m.RhE=S9ZhE=S9U ProNav: ac range: 196.235352 m, nav range: 182.824890 m, bearing: 265.513579 deg, approach rate: -0.523166 m/s, LOS rate: 0.011542 deg/s, cmd heading: 273.974160 deg, new cmd heading: 273.986011 deg. BhU|9]HeadingCmd: 4.781958 target range: 196.235352 and range: 197.40 m.h]@hY*hY"hY hYgafafafadididijdiZdm@,@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514129颭}Bɢ7) i)s顱iN5=i6(ؘ;*;I@I)B>BCBIB{BB =BBuDBh;B)E NI~,F)?A2@2X@2}B<ٱ2.e >AHRS rotation from veh to nav: [[0.071888,0.985221,0.155473],[-0.997342,0.072859,-0.000551],[-0.011871,-0.155021,0.987840]]2H8g?? ?:@⦲?B@O`ÿ`b?i2@I2B_;2CYF{ByF`IJ=J=E EEE"E:*E[:VEZEBE29Y = Fy jE r;E>Q 5-5j?Q 9-5)BY57 ?Q E5:y5ؿQ I5@gDI0U;ifT;ӈ5yAɮM)AIjhFNOT Ignoring new targets: 196.24 m. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018208 Rh8Zh8E ProNav: ac range: 196.235352 m, nav range: 182.559570 m, bearing: 265.516857 deg, approach rate: -0.523010 m/s, LOS rate: 0.006472 deg/s, cmd heading: 273.986017 deg, new cmd heading: 273.995867 deg. BhE!9MHeadingCmd: 4.782130 target range: 196.235352 and range: 197.40 m.hM6@hI*hI"hI hQgQfQfQf]|BdYdYdajdaZdmJ-@&}Bɢ +) i)=99i={9iE"EZ;E!;IM6@IIUጹ19@ @@/@Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270051^A ;IQ Ii Ou >P~,C?Aɰ; 6%@6 @6M+<ٱ6a >AHRS rotation from veh to nav: [[0.072785,0.985474,0.153436],[-0.997293,0.073530,0.000825],[-0.010470,-0.153081,0.988158]]6H` ??ͣ?@ Ҳ?K?q(ÿ?i6%@I6_;6CY^zBy^LIbDjVDj1yr7%r_=ٔrzQ-r>9tYt=vFyvjEvW!;Ez>xQ 5~5zh?Q 95zᑻ)zBYyؿQ I@zmDIz;iz ;zVՈ5y ɮ*AHEjh1=FNOT Ignoring new targets: 196.24 m.RhE8ZhE8M ProNav: ac range: 196.235352 m, nav range: 182.362961 m, bearing: 265.519241 deg, approach rate: -0.564171 m/s, LOS rate: 0.006847 deg/s, cmd heading: 273.995880 deg, new cmd heading: 274.003039 deg. BhU`9UHeadingCmd: 4.782255 target range: 196.235352 and range: 197.40 m.hU<@h*h"h hgfffdddjdZd-@,}Bɢ[) 7i)#i^6i| ;;I<@IiE5 E5E5"E1"E5:*E5:VE5(3ZE1a=@a=@a=@a=@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522518ԡ9@ @@/@ BE <AE <BM >BM CBM IBM K{BBM =BI BM sDBM h;BM (E^A [R;I I OM >NV~,k\?AP5>"@5@5u<ٱ56 EAHRS rotation from veh to nav: [[0.072338,0.985547,0.153183],[-0.997338,0.072893,0.001995],[-0.009200,-0.152919,0.988196]]5H඄? ?`?0?W`?@]ׂ ݒÿL?i5>"@I5_;5C}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774052YzByAIi5Mb@Mb@Mb@1111 195V-?~jtMb`Y5h?y5Ľ55hA5@ 5x A)51 A1Y5 AbDmVDmky} %}&=ٔ)Q->9Y=FyjEXoE>Q 55gf?Q 95O)BYx?Q E:y տQ I@vDI@:i:}׈5yɮ*AjhFNOT Ignoring new targets: 196.24 m.RhK8ZhK8 ProNav: ac range: 196.235352 m, nav range: 182.079315 m, bearing: 265.520612 deg, approach rate: -0.574853 m/s, LOS rate: 0.002784 deg/s, cmd heading: 274.003038 deg, new cmd heading: 274.007159 deg. Bh8 HeadingCmd: 4.782327 target range: 196.235352 and range: 197.40 m.h @h *h "h  h gfff|BdddjdZd.@ 4}Bɢ VB)  i ) -i2i K;?5;I@IE= E=E=%E9"E=:*E=X:VE= 4ZE9BE=3D8Zhe>D8 ProNav: ac range: 196.235352 m, nav range: 181.894577 m, bearing: 265.521556 deg, approach rate: -0.524394 m/s, LOS rate: 0.002681 deg/s, cmd heading: 274.007163 deg, new cmd heading: 274.009997 deg. Bh~8HeadingCmd: 4.782377 target range: 196.235352 and range: 197.40 m.h; @h*h"h hgfffdddjdZdk/@%9}Bɢ% u)! -*%i))4顩i/i~^;u;I; @I)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278796e9@a @a@e?0@aQ^AE ;I I! E]  E] E] "EY "E] :*E] :VE] (3ZEY a} @a} @a} @a @ԉ O >m DAT read: 05:49:24.3467 LVL= 32752, 32753, 30866, 32755, AGC= 68, IDX= 289,-0.30,-2.696, 2.132,-2.179,-2.751, PHS= 0.157,-1.355, 0.528, RAW= 160.7, 7.8, CAL= 160.3, 7.9, ROT= 349.7, -7.9 u Ygot valid direction response: 05:49:24.3467 LVL= 32752, 32753, 30866, 32755, AGC= 68, IDX= 289,-0.30,-2.696, 2.132,-2.179,-2.751, PHS= 0.157,-1.355, 0.528, RAW= 160.7, 7.8, CAL= 160.3, 7.9, ROT= 349.7, -7.9 } PDAT read: Bearing 76.1, -11.4 (Local) } ~Local bearing/azimuth received: Bearing 76.1, -11.4 (Local)  DAT read: Range 11 to 50 : 164.3 m (Round-trip 219.1 ms) speed 0.0 m/s  *DAT read: user:531> d~,?ABDAT read: Tx time:05:49:25.4719 $Ping request sent.i-p-+?-3@-'g >-3@ -0 >)-0O@I-0 ))-H!ai?]*Le?D@c? -5?)-v I-T8i-0 ))&:publishing transmit ping time*Fpublishing direction and range infoy)-ڥ!~/? lbƿyjȗ?Y))))) )))I)i))))) )))I)))-H!ai?]*Le?D@c? )))I)i)))ppC @ @ g;ٱ2 AHRS rotation from veh to nav: [[0.069785,0.985671,0.153568],[-0.997548,0.069778,0.005441],[-0.005353,-0.153571,0.988123]]H nݱ???@ܱ?Iv?u5ÿ?iC @I,`;CYuzByIbDVDJy]G%]'=ٔeՊQ-e>9iYi=mFBm>BߍCBRIBzBB =BBmDB i;B(EBCBCBÖCB =B =CZ6ymjEaE>Q 55b?Q 955)BY1y5^տQ I5@DI.9Y=FyjEE>Q 55(a?Q 95@)BY?Q E:yпQ I@DIb;iKb;݈5yɮ(,A jhFNOT Ignoring new targets: 163.36 m.RhHZhH ProNav: ac range: 163.359039 m, nav range: 181.318512 m, bearing: 265.521512 deg, approach rate: -0.665845 m/s, LOS rate: -0.003915 deg/s, cmd heading: 274.014239 deg, new cmd heading: 274.009181 deg. Bh+HeadingCmd: 4.782362 target range: 163.359039 and range: 164.30 m.h @h*h"h hgffIfM |BdIdQdQjdQZdU@?MH}BɢMMv)Q U2iQ)UKQQiU2(i}:;L-;I @I@ @@ 0@ ^A= r;A E=  E= E9 E9 "E= :*E= [:VE9 ZE9 aE @aE @aE @aE @IQ Ia Om >*s~,G?A2@2ߘ@2F:ٱ27# :AHRS rotation from veh to nav: [[0.064853,0.985127,0.159119],[-0.997894,0.064193,0.009290],[-0.001063,-0.159387,0.987216]]2H:? )? ^? n?`?hQ`fĿ`E?i2@I2K`;2CYBwzByBIbDJVDJ:yRb%VZ=ٔVQ-V>9XYX=ZFyZjEZEZ>\Q 5b5^_?Q 9f5^@)^BYdyf ѿQ If@^DI^ :i^|:^ވ5yjĒBɮnG,AnQE|jh FNOT Ignoring new targets: 163.36 m.Rh oZh o ProNav: ac range: 163.359039 m, nav range: 181.090103 m, bearing: 265.520364 deg, approach rate: -0.650528 m/s, LOS rate: -0.003272 deg/s, cmd heading: 274.009185 deg, new cmd heading: 274.005739 deg. Bh%HeadingCmd: 4.782302 target range: 163.359039 and range: 164.30 m.h%@h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd=?L}Bɢ)  D5i ) R  i W8%i;9I@II)))@ @@4@@fA@fA)AAAABZ>BڍCB IBzBB =BDDBiDBGi;B(Ea^A2;I) I9 OE >y Ty~, ?A .gA8B;ɰ@Z9ZgAYZ)AYYtzByIiMb@Mb@Mb@ 9%C?#~j~jt?YZ$?y㥽<A@ | A) AY AbD5VD5yEٻ%E3=ٔMQ-M>9IYI=FyjEE>Q 55^?Q 955)BY%?Q E:bE]-4jE]J4rE]°/E EE#E"E:*Ee:VE3ZEBE :~,?A6צ@6@6{'ٱ6%) >AHRS rotation from veh to nav: [[0.057308,0.984791,0.164019],[-0.998353,0.056109,0.011941],[0.002556,-0.164433,0.986385]]6H W?h??`O?@t?Md?" ſ@w?i6צ@I6]`;6CYF{zByJ IbDRVDR0yZ<%Zh=ٔZ}(Q-Z>9\Y\=^Fy^jEbEb?dQ 5j5fm]?Q 9j5f)fBYhyjпQ Ij@fDIf:if:fG5ypɮr7,Ap~B*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 163.36 m.RhtZht% ProNav: ac range: 163.359039 m, nav range: 180.567322 m, bearing: 265.516920 deg, approach rate: -0.677752 m/s, LOS rate: -0.003564 deg/s, cmd heading: 273.998858 deg, new cmd heading: 273.995389 deg. Bh%-HeadingCmd: 4.782122 target range: 163.359039 and range: 164.30 m.h-$@h)*h)"h1 h1g1f1f1Թf9dddjdZd`-?W}Bɢw)Y ]7iY)]eYaieie"m);mлIm$@Ii 9@  @ @ /@ E EE&E"E,:*Ega:VE4ZEa@a@a@a@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^Arg:IIO>9 B s>B ލCB IB vzBB  =B B lDB i;B ,)Ed~, ?A>^@>&@>Cٱ>* JAHRS rotation from veh to nav: [[0.053960,0.984760,0.165339],[-0.998531,0.052408,0.013735],[0.004860,-0.165838,0.986141]]>H`?`&?)?@@ժ? ?ns?+:ſw?i>^@I>m`;>CYRzByRITTXXbD^VD^ye=%e@=ٔusQ-u>9Y=FykEhE>)AQ 5}5E[?Q 95EȻ)EBYyaѿQ I@EDIE/xԙ k~,q4?A:s@:m@:ٱ:C- FAHRS rotation from veh to nav: [[0.050995,0.984497,0.167824],[-0.998674,0.049079,0.015552],[0.007074,-0.168394,0.985694]]:H ?@?>{?" ?@}ُ?@|?ſΊ?i:s@I:`;:CY^zBy^IiMb@Mb@Mb@ 9"~j?sh|?L7A`?YS#?y+=@  A)K AY AbDVDNy=%A=ٔ⫻Q->9Y=FykEE> Q 55 ^Z?Q 95 Yϻ) BY$?Q E:yѿQ I@ DI  ;i & ; 5y!ɮ-+A)jhIUFNOT Ignoring new targets: 163.36 m.Rh]'Zh]'m ProNav: ac range: 163.359039 m, nav range: 180.019852 m, bearing: 265.514852 deg, approach rate: -0.699579 m/s, LOS rate: -0.002292 deg/s, cmd heading: 273.991673 deg, new cmd heading: 273.989163 deg. Bhm_ɸuHeadingCmd: 4.782013 target range: 163.359039 and range: 164.30 m.qh}@@hy*hy"hy hygyfyff|BdddjdZd 4@颽b}Bɢ-) 2i)xiQik&wW;t.I@@I9@ @@/@ԡEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756472^AzII O > E  E E E "E 2:*E P:VE ZE a @a @a @a @w~,N?A2_@2Y@2ٱ2{/ :AHRS rotation from veh to nav: [[0.048563,0.984267,0.169881],[-0.998776,0.046248,0.017563],[0.009430,-0.170525,0.985308]]2HDݨ?@??@ ȭ? ? O?ſ?i2_@I2`;0YvzByv)IbDVDy O=%Z=ٔDλQ->9Y=Fy kEԻE%>!Q 5-5%X?Q 955%ջ)% BY1y5ҿQ I5@%DI%W:i%N:%5yEƒBɮE+AE[EjhamFNOT Ignoring new targets: 163.36 m.RhmZhu ProNav: ac range: 163.359039 m, nav range: 179.779373 m, bearing: 265.514240 deg, approach rate: -0.642510 m/s, LOS rate: -0.001639 deg/s, cmd heading: 273.989159 deg, new cmd heading: 273.987319 deg. BhHeadingCmd: 4.781981 target range: 163.359039 and range: 164.30 m.h@h*h"h hgfffchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008535dddjdZd 5@f}Bɢ) M.i)i~iv' O;^MI@I9@ @@/@BE<AABUl>BUݍCBQBQBU =BQBQBUj;BUh)E^A09  BDAT read: Rx Time:05:49:28.0922  TRx dataTimestamp_ set to:1761544169.553345 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282712A I I O >Q b~,lh?A2tR@2)b;b=b=iMb@Mb@Mb@ 9A`"? ףp= J +?Y?yQH=A@ )YG AbDVDy:=%@=ٔQ->9Y=FykE0nE>Q 55W?Q 95_ܻ)BYQ?Q E:y%ԿQ I@DI ;i ;{5y͒Bɮ+Ajh FNOT Ignoring new targets: 163.36 m.Rh7Zh75 ProNav: ac range: 163.359039 m, nav range: 179.523163 m, bearing: 265.514916 deg, approach rate: -0.602125 m/s, LOS rate: 0.001592 deg/s, cmd heading: 273.987329 deg, new cmd heading: 273.989361 deg. Bh=݋8EHeadingCmd: 4.782016 target range: 163.359039 and range: 164.30 m.hEG@hA*hA"hA hIgIfQfQfU|BdYdYdajdaZde@ @E EE(E"Ey:*ET:VEc44ZEBE  BDAT read: Tx time:05:49:29.2219  $Ping request sent. iU {U $?U ,4@U C>U 3@ U Q >)U @IU Q Q Q U 1?O?|ӮH? U D8?)U IU DiU Q Q Q  :publishing transmit ping time  Fpublishing direction and range infoyQ U l $9?gL\)ȿ/8ٲ?YQ Q Q Q Q Q )Q IQ iQ Q Q Q Q Q )Q IQ Q Q U 1?O?|ӮH? Q )Q IQ iQ Q Q A I I O% >~,?Aɰ4<2rK@2:F@2t_ٱ2k0 AHRS rotation from veh to nav: [[0.046163,0.984253,0.170629],[-0.998841,0.043148,0.021337],[0.013638,-0.171417,0.985104]]2H??.? `? Cٕ?c? ſ`?i2rK@I2s`;2CYUzByUPIbDmVDmkyuQ=%u3=ٔQ->9Y=FykEE>Q 55U?Q 95),BYyAԿQ I@DI;i ;5yɮ *A iixB?AJi+!CRi+!Cji@b17Tc@e+l>]bC7@Rl $9?gL\)ȿ/8ٲ?ZiDbiQ jGu#2n@tcsh>@Z|03;xA?2i#:i"iB-?*iBiBi~]?i;;iiCi@œ@ addTargetRange:: Added new target pos. range: 162.100006 m, deltaT: 3.779985 s, deltaX: -2.199997 m, approachRate: -0.582012 m/s, rangeRepo size: 4  Added new target pos. range: 161.168610 m, bearing: 263.213115 deg, lat: 36.779459 deg, lon: -121.859780 deg, deltaT: 3.779985 s, deltaX: -2.190430 m, approachRate: -0.579481 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 161.17 m.RhZh ProNav: ac range: 161.168610 m, nav range: 159.780685 m, bearing: 264.582081 deg, approach rate: 0.000000 m/s, LOS rate: 0.001592 deg/s, cmd heading: 273.989350 deg, new cmd heading: 273.991643 deg. Bh HeadingCmd: 4.782056 target range: 161.168610 and range: 162.10 m.h @h *h "h  h g1f1f1f9d9d9d9jd=@3Cd@ZdE 5?颵q}Bɢ{k)  !i)G项ii%9;!lI@E EE%E"E,:*Ec:VE 4ZEa@a@a@a@II@ @@@q ^AM jbB ]>B ۍCB &IB zBB  =B B jDB xj;B )EAy I ԡ I O >g~,Z?AYe{Bye_IiMb@Mb@Mb@ 9 rh?Mby&1?YC ?y`e=7A@ 5 A)5 AYbD VD yc=%8=ٔQ-%>9!Y!=%Fy%kE-E->1Q 5=55R?Q 9=55)5=BY= ?Q EE:yEֿQ IE@5DI5. ;i5 ;5j5yIɮMR*AImB*** querying acoustic contact ***ii iijhq}FNOT Ignoring new targets: 161.17 m.Rh}($8Zh($8 ProNav: ac range: 161.168610 m, nav range: 159.541260 m, bearing: 264.583022 deg, approach rate: -0.569948 m/s, LOS rate: 0.002242 deg/s, cmd heading: 273.991645 deg, new cmd heading: 273.994471 deg. Bh8HeadingCmd: 4.782105 target range: 161.168610 and range: 162.10 m.h@h*h"h hgf!f!f%$}Bd!d)d)jd)Zd-@?颽v}Bɢp) i)$ij ic#52;I@I@ @@0@E EEE"EO:*E&p:VEZEBE >~,e?ABb@BX]@B'kٱB?w- NAHRS rotation from veh to nav: [[0.048977,0.984656,0.167490],[-0.998627,0.045152,0.026575],[0.018605,-0.168562,0.985515]]BH?N?Sp?$?w6? ?pſW?iBb@IBa;BCYV-{ByVwI xzA|~AbDVD:y=%c=ٔaQ->9Y=FykE%L<E%>)Q 555--Q?Q 955-")-LBY1y5DֿQ I5@-DI-;i-;-5yAɮE)AAjhimFNOT Ignoring new targets: 161.17 m.Rhu7Zhu7 ProNav: ac range: 161.168610 m, nav range: 159.343460 m, bearing: 264.583634 deg, approach rate: -0.549673 m/s, LOS rate: 0.001704 deg/s, cmd heading: 273.994459 deg, new cmd heading: 273.996299 deg. Bh8HeadingCmd: 4.782137 target range: 161.168610 and range: 162.10 m.hE@h*h"h hgfffdddjdZd?y}Bɢ|) i)򬑼iz iV"K;?eAIE@Iԉm9@i @i@m4@i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997480Ա^AmE  E E (E "E >:*E i:VE c44ZE a @a @a @a @A I I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248554 iϴ~,,?A88Z>w@Zr@ZٱZ+ rAHRS rotation from veh to nav: [[0.051496,0.984811,0.165819],[-0.998466,0.047387,0.028646],[0.020353,-0.167040,0.985740]]ZH`]??9?n C?LU?`dה? aſ.?iZ>w@IZߑa;ZCYM{By IbD-VD-kyEߟ=%EH=ٔMċQ-U>9YYY=]Fye kEe;Ee>qQ 55uAO?Q 95u)u^BYyտQ I@uDIu];iu]^;u5yԒBɮm)AcEjheFNOT Ignoring new targets: 161.17 m.Rhm7Zhm7} ProNav: ac range: 161.168610 m, nav range: 159.116959 m, bearing: 264.584151 deg, approach rate: -0.544183 m/s, LOS rate: 0.001243 deg/s, cmd heading: 273.996290 deg, new cmd heading: 273.997841 deg. Bh}TZ8HeadingCmd: 4.782165 target range: 161.168610 and range: 162.10 m.h~@h*h"h hgfffdddjdZd .?}}BɢE2a)  i)8AABS>BڍCBRIBzBB =BBiDBUj;B)EBۍCB܍CB•CB =B =C¦6i^ iq!>;g"I~@I @ @@i4@!=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503200^A- 8Q AY Ii Iy O >~,y?AE< E>E>.E<"E<*E>:VE>ـ4ZE<BE>;aF:E>;aFz@zh@zZٱz'e+  AHRS rotation from veh to nav: [[0.054588,0.984752,0.165176],[-0.998271,0.050212,0.030557],[0.021798,-0.166558,0.985791]]zH?`?y$?f?gJ?`R? Qſ?iz@IzSa;zCYZ{ByIiMb@Mb@Mb@ 9V-?EԸ?Y|>yƽL=V@ )K AY AbD VD:2y<%B=ٔ`Q->9Y=Fy$kE;E>Q 55#M?Q 95)nBY?Q E:yOؿQ I@DI ;iX ;5yɮ<)Ajh!%FNOT Ignoring new targets: 161.17 m.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752620Rhb8Zhb8 ProNav: ac range: 161.168610 m, nav range: 158.905426 m, bearing: 264.586026 deg, approach rate: -0.509022 m/s, LOS rate: 0.004518 deg/s, cmd heading: 273.997847 deg, new cmd heading: 274.003480 deg. BhvF9HeadingCmd: 4.782263 target range: 161.168610 and range: 162.10 m.hL@h*h"h! h!g!f!f)f-}Bd)d1d1jd1Zd5:?a}Bɢԡa)  i)^ii<^;IL@I@ @@R4@ԑ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004665^Au ;A I I O >%~, ?A2@2I@2sٱ2( >AHRS rotation from veh to nav: [[0.058227,0.985098,0.161840],[-0.998037,0.053695,0.032242],[0.023072,-0.163399,0.986290]]2Hϭ??@)?}??%?`DĿ?i2@I2a;2CYF{ByFIbDNVDNNyV%=%VU=ٔZYQ-Z>9\Y\=^Fy^(kE^<E^>`Q 5f5b?K?Q 9j5b)b}BYhyj׿Q Ij@bDIb;ib;bL5ylɮr(Apjh FNOT Ignoring new targets: 161.17 m.Rh  8Zh 8 ProNav: ac range: 161.168610 m, nav range: 158.711533 m, bearing: 264.587524 deg, approach rate: -0.504997 m/s, LOS rate: 0.003908 deg/s, cmd heading: 274.003475 deg, new cmd heading: 274.007976 deg. Bh%+9%HeadingCmd: 4.782341 target range: 161.168610 and range: 162.10 m.h%@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=*@m}Bɢ9f) i)<iJiӍ;I@I ]>i E EE'E"ED:*EAr:VE'4ZEa-@a-@a-@a-@I@ @@/@@@eAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256570q^ABUV>BQBUIBUA{BBQBQBQBUi;BUL)Eԙ A .AI I O% >+M~,"?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512337H5ё@5̘@5:Ƽٱ5:& EAHRS rotation from veh to nav: [[0.062520,0.985110,0.160152],[-0.997750,0.057802,0.033958],[0.024195,-0.161915,0.986508]]5HV?`?? `8?b?Ƙ?`Ŀ`y?i5ё@I5a;5CY]{By]IiMb@Mb@Mb@ 9v/?&1+?Yx>yн= A?@  A) A YAbD=VD=ka(hA9(hAY%LAy-ٮ;%-(=ٔ5Q-5>95 ?Y= ?==Fy=-kE=[<E=>AQ 5M5EH?Q 9U5E)EBYU>Q EU:yU>ۿQ IU@EDIE:iE:Ek5yYɮ](AaB*** querying acoustic contact ***i iԡjhFNOT Ignoring new targets: 161.17 m.Rh9Zh9 ProNav: ac range: 161.168610 m, nav range: 158.486496 m, bearing: 264.591398 deg, approach rate: -0.455589 m/s, LOS rate: 0.007853 deg/s, cmd heading: 274.007983 deg, new cmd heading: 274.019620 deg. Bht9 HeadingCmd: 4.782545 target range: 161.168610 and range: 162.10 m.h  @h *h "h  h gfff}BdddjdZdEx%@u}BɢufP)q uYiy)}-^yyi}iV;I @IbEŞ4jE7&4rE0E% E%E%$E!"E%:*E%L_:VE%4ZE!BE%3~,u=?A2@2@26 Ҽٱ2j$ :AHRS rotation from veh to nav: [[0.066443,0.985275,0.157541],[-0.997461,0.061531,0.035858],[0.025636,-0.159523,0.986861]]2H b?^?K*?3?[?@j@?BkĿ ^?i2@I2a;2CYB{ByFIHbDRVDRβyVc=%Vt=ٔZ@Q-Z?9^"?Y^"?=^Fy^1kE^@<Eb?`Q 5f5bF?Q 9j5b )bBYhyjڿQ Ij@bDIb+;ib;b5ypɮr6(Apjh FNOT Ignoring new targets: 161.17 m.Rh  9Zh 9% ProNav: ac range: 161.168610 m, nav range: 158.331406 m, bearing: 264.593870 deg, approach rate: -0.476023 m/s, LOS rate: 0.007597 deg/s, cmd heading: 274.019622 deg, new cmd heading: 274.027047 deg. Bh%զ9-HeadingCmd: 4.782674 target range: 161.168610 and range: 162.10 m.h- @h)*h)"h) h)g)fffdddjdZd@}Bɢ Xi)) -i))5i 11i56&i==8,;=L:I= @IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013212@ @@0@^A0:ĺAII Om>E EE'E"EI:*E;J:VE'4ZEa@a@a@a@  BDAT read: Rx Time:05:49:31.8397  TRx dataTimestamp_ set to:1761544173.312151 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265668~,B>W?A6@6 @6aݼٱ6! BAHRS rotation from veh to nav: [[0.070212,0.985420,0.154979],[-0.997166,0.065126,0.037663],[0.027021,-0.157184,0.987200]]6Hn??V??`H?@Y?@Ŀ#?i6@I6\a;4YJ{ByJIhhbDnVDnyv_<%vG=ٔz\Q-z>9xY|=~F|y5kE<E> Q 55 D?Q 95 ) BYyVڿQ I@ DI ;i j; 5y!ɮ%(A!jhIMFNOT Ignoring new targets: 161.17 m.RhU8ZhU8e ProNav: ac range: 161.168610 m, nav range: 158.140518 m, bearing: 264.596680 deg, approach rate: -0.463699 m/s, LOS rate: 0.006833 deg/s, cmd heading: 274.027053 deg, new cmd heading: 274.035492 deg. Bhe9mHeadingCmd: 4.782822 target range: 161.168610 and range: 162.10 m.hm @hi*hi"hq hqgqfqfyfydydydjdZd@ @BA<BR>BBIB{BBBBBi;B.)E}Bɢ^) i)c1ii l*;%;I @I@ @@/0@@=@=)5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518634a^ANJκA! Ia ԁ I O >E  E E $E "E :*E L_:VE 4ZE BE 1y ҽ 9 BDAT read: Tx time:05:49:32.9719 $Ping request sent.iy}&?}3@}5=}$+3@ }Ϣ=)}@@I}Ϣyy A V@ K A) 5 A Y  A}7? ˄?W,/7M? }47?)} I}9i}Ϣyy:publishing transmit ping timeFpublishing direction and range infoyy}# ??ngƿrjƹI?YyyyyybDM y)yIyiyyyyy y)yIyyy}7? ˄?W,/7M? y)yIyiyyVDMkyy=9<%=+=ٔ=P>Q-=>9AYA=EFyE:kEE;EM>qQ 5}5uA?Q 95u2)uBY>Q E:yۿQ I@u DIuQ;iu;u5yגBɮ(AmEiyi}1t?AJi}ECRi}ECji}@b}֗pc@̎<X"3@R}# ??ngƿrjƹI?Zi}9bi}Ϣj}ҽ+$6[cQ6;@Z}G>, c;2;IQ?2i}7:i}m]"i}B?*i}rt'!Bi}_Biyi}(i}_Bi}6Ci}mē@= addTargetRange:: Added new target pos. range: 160.199997 m, deltaT: 3.780188 s, deltaX: -1.900009 m, approachRate: -0.502623 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 159.269684 m, bearing: 264.937476 deg, lat: 36.779459 deg, lon: -121.859772 deg, deltaT: 3.780188 s, deltaX: -1.898926 m, approachRate: -0.502336 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 159.27 m.RhZh ProNav: ac range: 159.269684 m, nav range: 157.211365 m, bearing: 264.576317 deg, approach rate: 0.000000 m/s, LOS rate: 0.006833 deg/s, cmd heading: 274.035495 deg, new cmd heading: 274.045734 deg. BhHeadingCmd: 4.783000 target range: 159.269684 and range: 160.20 m.hW@h*h"h hgff!f%}Bd!d)d)jd-`fd@Zd- p?]}Bɢ]N)Y ]Fi)J顁i<iU;Z;IW@I@ @@0@ ^A r;A II)O5>׍~,%?A29>@29@2ٱ2< NAHRS rotation from veh to nav: [[0.075714,0.985198,0.153793],[-0.996701,0.070255,0.040638],[0.029231,-0.156363,0.987267]]2Hb???7?vΤ?? Ŀ?i29>@I2a;2CYV{BE^ E^E^#E\"E^[:*E^ga:VE^3ZE\ab@ab@ab@ab@yVIbDnVDnk1yrp%vR=ٔv Q-z>9xYx=~Fy~>kE~;E~>Q 5 5??Q 9 5)BYyۿQ I@DI;i;y5yɮq(AjhAEFNOT Ignoring new targets: 159.27 m.RhM9ZhM9] ProNav: ac range: 159.269684 m, nav range: 157.038147 m, bearing: 264.579474 deg, approach rate: -0.469126 m/s, LOS rate: 0.008558 deg/s, cmd heading: 274.045740 deg, new cmd heading: 274.055220 deg. Bh]9eHeadingCmd: 4.783166 target range: 159.269684 and range: 160.20 m.he@ha*ha"hi higififqfqdqdqdyjdyZd}?颥}Bɢms) i)a(顱iEi;iQBٍCBIB{BB =BBhDB|i;B)E)^A%c;PExceeded connect timeout, disconnecting.a Ay I I O >԰~,Y?A 28L@2G@2ٱ2@! >AHRS rotation from veh to nav: [[0.077416,0.985043,0.153938],[-0.996554,0.071842,0.041454],[0.029775,-0.156617,0.987211]]2Hѳ? y?;?Cd?~9?V}? Ŀ:?i28L@I2a;2CYF{ByJIN=N=i%Mb@Mb@Mb@!!!! !9%ʡE?{Gz?Y%>y%̽%#9IYQ=UFyUBkEU_;EU>YQ 5e5]=?Q 9m5]z)]BYm>Q Em:ymvۿQ Im@]DI]*:i]:]H5yqɮ(AEB*** querying acoustic contact ***iA iAjhy}FNOT Ignoring new targets: 159.27 m.Rh^9Zh^9 ProNav: ac range: 159.269684 m, nav range: 156.855133 m, bearing: 264.582761 deg, approach rate: -0.414329 m/s, LOS rate: 0.007451 deg/s, cmd heading: 274.055221 deg, new cmd heading: 274.065095 deg. Bh9HeadingCmd: 4.783338 target range: 159.269684 and range: 160.20 m.h@h*h"h hgfff}Bdd!d!jd!Zd%@6?i颕}BɢVe) i)6顡iiE EE%E"Em:*Eg:VE 4ZEBESA- >AQ Ia Iq O} >~,?Aɰ;:Y@<:ZT@:ٱ:Ա! RAHRS rotation from veh to nav: [[0.079039,0.984842,0.154402],[-0.996415,0.073364,0.042123],[0.030157,-0.157178,0.987110]]:H`;?`҃?@s?@Dz??i?hĿ g?i:Y@I:a;:CYZ{ByZIbDbVDbfyn&<%nO=ٔr}Q-r>9pYp=rFyrFkEv;Ev>~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248307Q 55{;?Q 9 5")BY y @ۿQ I @DI:i:5yɮ(AjhAEFNOT Ignoring new targets: 159.27 m.RhM9ZhM9] ProNav: ac range: 159.269684 m, nav range: 156.679504 m, bearing: 264.585817 deg, approach rate: -0.475722 m/s, LOS rate: 0.008286 deg/s, cmd heading: 274.065083 deg, new cmd heading: 274.074260 deg. Bh]9eHeadingCmd: 4.783498 target range: 159.269684 and range: 160.20 m.hek@ha*ha"ha hagafififidqdqdqjdqZd}` l?颥}Bɢ%}) >i)3顩iѪiR;T3:*E|:VE4ZEa@a@a@a@^A<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500246A I I O >A AAA @AB N>B B IB {BB  =B B B pi;B )E~,Z?A2^@2uY@2ٱ2]% :AHRS rotation from veh to nav: [[0.079660,0.984239,0.157887],[-0.996359,0.073787,0.042723],[0.030399,-0.160716,0.986532]]2Hd?@~?5?@+?ߥ?@ ?UĿ?i2^@I2b;2CYFo{ByFIbDNVDNyVg%VN=ٔZF Q-Z>9XYX=ZFy^JkE^:E^>`Q 5f5bh9?Q 9f5b&)bBYhyj%ۿQ Ij@b#DIbB:ib:b5pypɮr(Atjh FNOT Ignoring new targets: 159.27 m.Rh~ 9Zh~ 9% ProNav: ac range: 159.269684 m, nav range: 156.504684 m, bearing: 264.588812 deg, approach rate: -0.441125 m/s, LOS rate: 0.007568 deg/s, cmd heading: 274.074263 deg, new cmd heading: 274.083260 deg. Bh-19-HeadingCmd: 4.783655 target range: 159.269684 and range: 160.20 m.h5@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE?}Bɢx)nManaging dock network, ignoring radio surface power off  i)%!!i%5di-𿿉-ʎ;-b7 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005221~, ?AB(b@B\@B9ٱB( JAHRS rotation from veh to nav: [[0.080083,0.983656,0.161267],[-0.996328,0.074074,0.042944],[0.030296,-0.164114,0.985976]]BHT?z? i????@ſ?iB(b@IBuMb;BCYVO{ByVI XZAQi}Mb@Mb@Mb@yyyy y9}w/?EԸ{Gzt?Y}>y}ƽ}ף;} A}=A y)} AyY} AbDVDky9%;=ٔw9Q->9 ?Y ?=FyNkE:E>Q 55B7?Q 95+)BY4>Q E:yaٿQ I@)DIv:i:5yɮ)AjhFNOT Ignoring new targets: 159.27 m.Rh8Zh8 ProNav: ac range: 159.269684 m, nav range: 156.304306 m, bearing: 264.591239 deg, approach rate: -0.460831 m/s, LOS rate: 0.005588 deg/s, cmd heading: 274.083252 deg, new cmd heading: 274.090541 deg. Bhmu9HeadingCmd: 4.783782 target range: 159.269684 and range: 160.20 m.h@h*h"h hg!f!f!f%}Bd)d)d)jd1Zd5M@]}Bɢ]Դ)a eia)eaaimimn쿿u,Gu?A2d@2_@2yٱ2/*E: E:E:$E8"E::*E:g:VE:4ZE8aB@aB@aB@aB@ FAHRS rotation from veh to nav: [[0.080424,0.983429,0.162481],[-0.996296,0.074332,0.043243],[0.030449,-0.165357,0.985764]]2H?`?x?.?@d?#?`-? k*ſ `?i2d@I2Za;2CYN\{ByRIbDZVDZJyb=%bY=ٔbAԹQ-f>9hYh=jFyjRkEn@m:En>pQ 5v5rf5?Q 9v5rb0)rBYxyzTٿQ Iz@r/DIr;ir;rL5y~ےBɮ~k)A~vEjh!%FNOT Ignoring new targets: 159.27 m.Rh-%8Zh-%8= ProNav: ac range: 159.269684 m, nav range: 156.130493 m, bearing: 264.593324 deg, approach rate: -0.459923 m/s, LOS rate: 0.005523 deg/s, cmd heading: 274.090546 deg, new cmd heading: 274.096808 deg. Bh=r9EHeadingCmd: 4.783892 target range: 159.269684 and range: 160.20 m.hE@hA*hA"hA hAgIfIfQfQdQdQdQjdYZd]G@ԩ颅}Bɢ%ȟ)) -i))-ř)1i5QiE迿}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509784}a;}>B=ۍCB=IB={BB= =B9B=jDB=i;B=(EBڍCBڍCBĔCB =B =C5 ^AY5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762383A ؟AI I A O >H ,c*?AE} EyE}(Ey"E}:*EyVE}c44ZEyBE}n%y]Ƚ]]A]7@ ]^A)] AYY] AbDuVDuya%=ٔ_9Q->9"?Y"?=FyXkEY7E>Q 55l2?Q 958)BY/?Q E:yU׿Q I@9DI@:i: 5yɮ)AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 159.27 m.Rh+j8Zh+j8Q ProNav: ac range: 159.269684 m, nav range: 155.812744 m, bearing: 264.595324 deg, approach rate: -0.507153 m/s, LOS rate: 0.003199 deg/s, cmd heading: 274.096803 deg, new cmd heading: 274.102815 deg. Bh 9HeadingCmd: 4.783997 target range: 159.269684 and range: 160.20 m.h@h*h"h hgfffl}BdddjdZd$ @% }Bɢ% cn)! % i) )- )CƼ) ) i- i5 l忿5 {;5 =A5>AYIaIyO?,:O?A(2>c@2^@2ٱ2Ց2 >AHRS rotation from veh to nav: [[0.080216,0.982080,0.170543],[-0.996315,0.073786,0.043723],[0.030356,-0.173422,0.984380]]2H@?`2m?`[?`@?b?@?2ƿ ?i2>c@I2ba;2CYF{ByFjIbDPVDPyV½%Zj=ٔZQ-Z>9\Y\=^Fy^\kEb*Eb>dQ 5j5f0?Q 9j5fU=)fBYhyjZ׿Q In@f?DIf;if;f 5ypɮr*ApE] E]E]&EY"E]:*E]P:VE]4ZEYae@ae@ae@ae@jhFNOT Ignoring new targets: 159.27 m.RhP`8ZhP`8 ProNav: ac range: 159.269684 m, nav range: 155.635193 m, bearing: 264.596454 deg, approach rate: -0.480623 m/s, LOS rate: 0.003064 deg/s, cmd heading: 274.102813 deg, new cmd heading: 274.106209 deg. Bh9HeadingCmd: 4.784056 target range: 159.269684 and range: 160.20 m.h@h*h"h hgfffdddjdZd@ @u}Bɢu`)y }I(iy)}ʼyyi}i{㿿;q9B܍CBIB{BB =BBkDBmh;B(EԱ^A] >< 9 Y y 9 Y DAA  DAT read: 05:49:35.5872 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 414, 0.41,-2.015, 2.860,-1.470,-2.092, PHS= 0.179,-1.286, 0.577, RAW= 161.7, 6.3, CAL= 161.0, 5.9, ROT= 349.0, -5.9 I I! O- >1,j?AYgot valid direction response: 05:49:35.5872 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 414, 0.41,-2.015, 2.860,-1.470,-2.092, PHS= 0.179,-1.286, 0.577, RAW= 161.7, 6.3, CAL= 161.0, 5.9, ROT= 349.0, -5.9 PDAT read: Bearing 76.6, -9.9 (Local) ~Local bearing/azimuth received: Bearing 76.6, -9.9 (Local) DAT read: Range 11 to 50 : 158.3 m (Round-trip 211.1 ms) speed 0.4 m/s *DAT read: user:534> %BDAT read: Tx time:05:49:36.7219 %$Ping request sent.%?9.tPKȿzBP?Y]LCYYY] Y)]<I]K7>i]]F?]4@]z0=]3@ ]B=)]@I]BҽYY][?I\)?\5? ]HT:?)]HI]Di]BҽYY:publishing transmit ping time!%Fpublishing direction and range infoyY]Sr>?9.tPKȿzBP?YYYYYY Y)YIY=c@=X^@=gٱ=1iYYYYY Y)YIYYY][?I\)?\5? Y)YIYiYYY AHRS rotation from veh to nav: [[0.080250,0.982198,0.169844],[-0.996259,0.073552,0.045376],[0.032076,-0.172850,0.984426]]=H>?*n? t?Y MԲ?;?`Bl?ƿ`j?i=c@I=`;=CY{ByfI !!bE--4jE--4rE-S)0E EE#E"E:*Ek:VE3ZEBE#9Y=FybkE(8E>Q 55.?Q 95D)BQ A+:YQ E:yQ I@HDI9?9.tPKȿzBP?Zi]Dbi]Bҽj]_,hCRc:@Z]zz1Ymz %)?2i]:i](d"i]m|?*i]@K&Bi]Bi]m|?i]@K&i]Bi]8Ci]Tړ@1= addTargetRange:: Added new target pos. range: 158.300003 m, deltaT: 3.781540 s, deltaX: -1.899994 m, approachRate: -0.502439 m/s, rangeRepo size: 4 M Added new target pos. range: 157.388077 m, bearing: 264.728979 deg, lat: 36.779462 deg, lon: -121.859771 deg, deltaT: 3.781540 s, deltaX: -1.881607 m, approachRate: -0.497577 m/s, posRepo size: 4 jhIUFNOT Ignoring new targets: 157.39 m.RhuZhq ProNav: ac range: 157.388077 m, nav range: 155.222595 m, bearing: 264.729502 deg, approach rate: 0.000000 m/s, LOS rate: 0.003064 deg/s, cmd heading: 274.106201 deg, new cmd heading: 274.111496 deg. BhHeadingCmd: 4.784148 target range: 157.388077 and range: 158.30 m.h@h*h"h hgfffdddjdc@Zd ?5}Bɢ5Ep)1 5*i9)=Svм99i=߻iEr࿿E猑;AIE@II 9@  @ @ )3@ a ԑ ^A5 :<AyIIO?@",׉?A2_@2Z@2gٱ2LK0 >AHRS rotation from veh to nav: [[0.079801,0.982524,0.168162],[-0.996261,0.073011,0.046190],[0.033105,-0.171219,0.984677]]2Hm?@p?@T?^۰?2?!?ſx?i2_@I2`;0YFzByFJIbDRVDRyZ%ZT=ٔZ.Q-^>9\Y\=^Fy^fkEbEb>dQ 5f5f?,?Q 9j5fI)fBQ Aj :YhQ En:ynj׿Q In@fNDIf ;if;r?f 5ypɮrp+ApjhFNOT Ignoring new targets: 157.39 m.Rh8Zh8 ProNav: ac range: 157.388077 m, nav range: 155.028915 m, bearing: 264.730944 deg, approach rate: -0.531922 m/s, LOS rate: 0.003965 deg/s, cmd heading: 274.111501 deg, new cmd heading: 274.115832 deg. Bh%.9HeadingCmd: 4.784224 target range: 157.388077 and range: 158.30 m.h]@h*h"h hgfffdddjdZd=?-}Bɢ [) 6i) Լ顱i \ۻiݿ;X1BݍCBIBU{BB =BBlDBg;BT(E^A*:<ԡ A I I O% >a(,\?A@ zW@ CR@ ˽ ٱ , UAHRS rotation from veh to nav: [[0.078774,0.983177,0.164795],[-0.996292,0.071906,0.047242],[0.034598,-0.167905,0.985196]] H*?0v? ?lh?(0?Ѷ?}ſ`?i zW@I `; CYzByIIbDVD02ym%u1=ٔuTQ-u>9yYy=}Fy}jkE}3E}>Q 55*?Q 95O) BQ A9YQ E]:y׿Q I@UDIG;i?5yɮy+Ajh FNOT Ignoring new targets: 157.39 m.RhG8ZhG8% ProNav: ac range: 157.388077 m, nav range: 154.795273 m, bearing: 264.732787 deg, approach rate: -0.516402 m/s, LOS rate: 0.004078 deg/s, cmd heading: 274.115845 deg, new cmd heading: 274.121381 deg. Bh%"39-HeadingCmd: 4.784321 target range: 157.388077 and range: 158.30 m.h-(@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd= 5{?ԩ颽}Bɢԗ) 08i)ټiֻi ڿ(X;"/,=,?A2O@2I@2 nٱ29%) :AHRS rotation from veh to nav: [[0.077749,0.983862,0.161152],[-0.996314,0.070802,0.048421],[0.036230,-0.164323,0.985741]]2H]?{??  ?ʨ?์?ſ0?i2O@I2_;2CYFzByFJIJ=J=laeam amam amam amam imMb@Mb@Mb@iiii i9mQ?kt~jtx?Ym\?ym m;im @ i)mx AiYm A bDVDyݖ;%Z=ٔQ->9Y=FynkE2E>Q 55(?Q 95U)BQ AT:Y ?Q E:y'ҿQ I@\DIh;i;Z5yBɮ+AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 157.39 m.Rh꣸Zh꣸  ProNav: ac range: 157.388077 m, nav range: 154.583130 m, bearing: 264.731141 deg, approach rate: -0.576513 m/s, LOS rate: -0.004478 deg/s, cmd heading: 274.121391 deg, new cmd heading: 274.116448 deg. Bh DHeadingCmd: 4.784235 target range: 157.388077 and range: 158.30 m.hs@h*h"h hgfff%|Bd!d!d!jd!Zd-{]?U}Bɢ]@ӣ)Y ]T8iY)](޼Yaieĉһieݿm垒;m\e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.6547935,V?A2jD@23?@26ٱ2' :AHRS rotation from veh to nav: [[0.076445,0.984308,0.159041],[-0.996346,0.069316,0.049909],[0.038102,-0.162275,0.986010]]2H쑳?@s?w[?@??@?`pĿd?i2jD@I2_;2CYFzByF@IbDfVDfNyn+%rV=ٔrQ-r>9pYt=vFyvrkEv"`Ev>xQ 5~5zp'?Q 95z.[)zBYyTҿQ I@zcDIzM:iz:z5y ɮ+A9jh9=FNOT Ignoring new targets: 157.39 m.RhEZhEU ProNav: ac range: 157.388077 m, nav range: 154.367828 m, bearing: 264.729578 deg, approach rate: -0.565989 m/s, LOS rate: -0.004115 deg/s, cmd heading: 274.116446 deg, new cmd heading: 274.111750 deg. BhU4]HeadingCmd: 4.784153 target range: 157.388077 and range: 158.30 m.h]@hY*ha"ha hagafafifidididijdqZduHv?A}@AAyBe>B܍CBwIB-{BBBBkDBg;B-(E颽}Bɢ) =i)iEλiN࿿ݒ;Թ !<,q?AE EE$E"E:*E:VE4ZEBE*?׀?`L?P[?aJ?@Y`? }Ŀ_?iB9@IB_;BCYVzByVCIԙiMb@Mb@Mb@ 9v?kt9Y=FywkE3E>Q 55%?Q 95b)$BYm?Q E:y;ѿQ I@lDI;:i: 5yɮ +A jhiuFNOT Ignoring new targets: 157.39 m.Rhu]Zhu] ProNav: ac range: 157.388077 m, nav range: 154.088821 m, bearing: 264.726653 deg, approach rate: -0.586384 m/s, LOS rate: -0.006157 deg/s, cmd heading: 274.111747 deg, new cmd heading: 274.102958 deg. Bh8HeadingCmd: 4.783999 target range: 157.388077 and range: 158.30 m.h@h*h"h hgfff|BdddjdZd@@}Bɢ`>) 9 C,< ?A:*0@:*@:L*ٱ:r& FAHRS rotation from veh to nav: [[0.073972,0.984659,0.158035],[-0.996394,0.066369,0.052865],[0.041565,-0.161375,0.986017]]:H@?S?@{:? u ? ?H?@Ŀ`t?i:*0@I:c`;:CYNzByNRITVAV@ATbDZVDZyb=%bp=ٔfQ-f?9dYd=fFyfzkEj;gEj?lQ 5r5n$?Q 9r5ng)n-BYpyvcѿQ Iv@nsDIn;in:n5yxɮz]+AxjhFNOT Ignoring new targets: 157.39 m.Rh%oZh%o5 ProNav: ac range: 157.388077 m, nav range: 153.884506 m, bearing: 264.724599 deg, approach rate: -0.622705 m/s, LOS rate: -0.006268 deg/s, cmd heading: 274.102950 deg, new cmd heading: 274.096780 deg. Bh5=HeadingCmd: 4.783891 target range: 157.388077 and range: 158.30 m.h=@h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU(@}}Bɢ}') 6i)S顁i-ƻi迿4;*;I@IE= E=E='E9"E=D:*E=g:VE='4ZE9aE@aE@aE@aE@Q@Q @Q@UE4@Q-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.6626781Bs>BݍCBkIB{BB =BBlDB|g;B((E^Ar;AdAzAfAI9IIQO]>y 3I,&?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.914819Fe&@F.!@Fz2ٱF>& VAHRS rotation from veh to nav: [[0.072777,0.984640,0.158705],[-0.996397,0.064832,0.054689],[0.043560,-0.162113,0.985810]]FH?@,? pP?{ Ϙ?)?rM?`Ŀ ‹?iFe&@IF>`;FCYvzByzMIbDVD02Yy5`%e5=ٔQ->9Y=FykEU&E>Q 55>#?Q 95Io)8BYyѿQ I@|DI;ic;5yɮ}+AjhFNOT Ignoring new targets: 157.39 m.Rht͸Zht͸ ProNav: ac range: 157.388077 m, nav range: 153.602066 m, bearing: 264.721876 deg, approach rate: -0.581079 m/s, LOS rate: -0.005613 deg/s, cmd heading: 274.096775 deg, new cmd heading: 274.088590 deg. Bh-v5HeadingCmd: 4.783748 target range: 157.388077 and range: 158.30 m.h5w@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZde* @颕}Bɢ☽) D9i)Q顙i»ilN;M;Iw@I ԁEM EMEM%EI"EM:*EM1:VEM 4ZEIBEM# #P,q@?A@^@$:ٱ& AHRS rotation from veh to nav: [[0.071700,0.984734,0.158611],[-0.996391,0.063471,0.056357],[0.045430,-0.162080,0.985731]]HZ??^M?o??@ڬ?`B?Ŀ?i@I`;CYzBy\IiMMb@Mb@Mb@IIII I9MI +? rh?YM9?yM̽MC9yYy=}FykE03E>ԱQ 55q!?Q 95Pu)DBY{?Q E:yԿQ I@DIu DAT read: 05:49:39.3344 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 418, 0.38,-1.152,-2.569,-0.591,-1.182, PHS= 0.132,-1.342, 0.547, RAW= 162.1, 7.8, CAL= 161.6, 7.8, ROT= 348.4, -7.8 } Ygot valid direction response: 05:49:39.3344 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 418, 0.38,-1.152,-2.569,-0.591,-1.182, PHS= 0.132,-1.342, 0.547, RAW= 162.1, 7.8, CAL= 161.6, 7.8, ROT= 348.4, -7.8  PDAT read: Bearing 79.2, -10.1 (Local)  ~Local bearing/azimuth received: Bearing 79.2, -10.1 (Local)  DAT read: Range 11 to 50 : 156.2 m (Round-trip 208.3 ms) speed 0.2 m/s  *DAT read: user:535>  BDAT read: Tx time:05:49:40.4219  $Ping request sent.% iuƫu1 ?uD5@u'g >uJ4@ u'g >)uQ@Iu'g qqu3 {??e>?LJ? uv;?)u Iu4QOiu'g qq:publishing transmit ping time>E@IjFpublishing direction and range infoyquNo?ɿ M _?Yqqqqq q)qIqiqB<A<B%>B%CB!B!B% =B%CDB%nDB%Pg;B%(EBݍCBݍCBB =B =C5 6qqqq q)qIqqqu3 {??e>?LJ? q)qIqiqqq>@> C@ٱ>`#( AHRS rotation from veh to nav: [[0.070684,0.984620,0.159775],[-0.996395,0.062159,0.057741],[0.046922,-0.163281,0.985463]]>HR??@s?vTӯ?@D??`Ŀ@?i>E@I><`;>CY{ByfIbDVD:y#(=%R=ٔw{Q->9 Y = Fy kE *E >9Q 5=5=?Q 9E5=V{)=PBYAyEտQ IE@=DI=:i=t:=5yIɮU*AqiqiuX?AJiuOCRiuOCjiuR@buO]b@A_>'|5@RuNo?ɿ M _?Ziu4QObiu'g juy@Tq0լb2$cr@@Zu$N @ߏ?2iu:iu"iu ?*iu9BiuRBiqiurt'!iu_BiuCiuNؓ@ addTargetRange:: Added new target pos. range: 156.199997 m, deltaT: 3.778318 s, deltaX: -2.100006 m, approachRate: -0.555804 m/s, rangeRepo size: 4 5 Added new target pos. range: 155.309952 m, bearing: 263.781058 deg, lat: 36.779462 deg, lon: -121.859769 deg, deltaT: 3.778318 s, deltaX: -2.078125 m, approachRate: -0.550013 m/s, posRepo size: 4 jh15FNOT Ignoring new targets: 155.31 m.Rh=Zh9M ProNav: ac range: 155.309952 m, nav range: 152.947266 m, bearing: 264.715359 deg, approach rate: 0.000000 m/s, LOS rate: 0.000170 deg/s, cmd heading: 274.088770 deg, new cmd heading: 274.088971 deg. BhIuHeadingCmd: 4.783755 target range: 155.309952 and range: 156.20 m.hu@hq*hq"hq hygyfyfyfdddjd`fc@Zd!V?5}Bɢ5J)1 = 0i9)=i`99i=0iEUEL;MK;IM@Ii9@ @@/@9ԉ ^A ;A >A >Ii Iy O >^o\,(t?A0j @jQ@jxEٱjl) zAHRS rotation from veh to nav: [[0.069738,0.984491,0.160978],[-0.996401,0.060948,0.058917],[0.048192,-0.164508,0.985198]]jH\ڱ?@? ?4?b*?`?@ſ?ij @Ij`;hY%{By%jIE] E]E]&EY"E]:*E] n:VE]4ZEYBE]9Y=FykEE> Q 55 ?Q 95 D) ^BY?Q E:yԿQ I@ DI ;i y; 5y!ɮ%*A!jhFNOT Ignoring new targets: 155.31 m.RhZh ProNav: ac range: 155.309952 m, nav range: 152.721008 m, bearing: 264.715152 deg, approach rate: -0.568593 m/s, LOS rate: -0.000523 deg/s, cmd heading: 274.088962 deg, new cmd heading: 274.088338 deg. Bh HeadingCmd: 4.783744 target range: 155.309952 and range: 156.20 m.h n@h *h "h  h g1f1f1f5|Bd9d9d9jd9Zd=t?ԉ颍}BɢOꣽ) .i)顙ii9;3VQ;In@Ie9@a @a@e/@aԹ^A vт; A I I O% >Xc,S?Aɰ2 @2@2f%Va=ٔVQ-Z>9XYX=ZFyZkE^xE^>\`Q 5f5bZ?Q 9j5b)bkBYhyjԿQ Ij@bDIb :ib:bX5ylɮr&*Apjh FNOT Ignoring new targets: 155.31 m.Rh Zh% ProNav: ac range: 155.309952 m, nav range: 152.514709 m, bearing: 264.714974 deg, approach rate: -0.595169 m/s, LOS rate: -0.000512 deg/s, cmd heading: 274.088333 deg, new cmd heading: 274.087801 deg. Bh%-HeadingCmd: 4.783735 target range: 155.309952 and range: 156.20 m.h-[@h)*h)"h) h)g)f1f1f1d1ddjdZd? }Bɢ Xܡ)  "#i ) i&i==%;=L;I=[@IA9@ @@0@Em EmEm$Ei"EmO:*EmAr:VEm4ZEiau@au@au@a}@B->B)B-~IB-7{BB- =B)B)B-Bg;B-(E^A"5;I I O >A % 7k>! i,)?A"G2gA@jR9jgAYjAYu\{By}I AbDVDy14=%*=ٔQ- >9Y=FykEE>!Q 555%G?Q 955%ۍ)%|BY9y9Q I=@%DI%yH;i%9;%s 5yIɮM)AQjhFNOT Ignoring new targets: 155.31 m.RhZh ProNav: ac range: 155.309952 m, nav range: 152.240463 m, bearing: 264.714738 deg, approach rate: -0.564413 m/s, LOS rate: -0.000487 deg/s, cmd heading: 274.087814 deg, new cmd heading: 274.087104 deg. BhGHeadingCmd: 4.783722 target range: 155.309952 and range: 156.20 m.hA@h*h"h hgfffdddjdZd?A]}Bɢ})y } i)6顁ik2if" ;N;IA@IbEŞ4jEw4rEų0E EE"E"Ea:*Ee:VE(3ZEBE(&p,'?AhYg{ByIiMb@Mb@Mb@ 9?EԸL7A`?Y ?yƽ+= K A)fAYbDVD:y{<%U=ٔQ->9Y=FykEE>Q 55?Q 95f)BY8?Q E:yտQ I@DI@:i<:"5yuBɮu)AuEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 155.31 m.Rh6Zh6 ProNav: ac range: 155.309952 m, nav range: 152.028748 m, bearing: 264.714858 deg, approach rate: -0.532882 m/s, LOS rate: 0.000303 deg/s, cmd heading: 274.087104 deg, new cmd heading: 274.087465 deg. T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Bh"U7HeadingCmd: 4.783729 target range: 155.309952 and range: 156.20 m.hN@h*h"h hgfff}BdddjdZd'U?-}Bɢ5C)1 5i1)599i=oi=1E;AIEN@II @ @@1@)^Ayb];II IY Oe >E  E E E "E :*E z:VE ZE a @a @a @a @Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988526#v,?AAA?ABw>BލCBIBj{BB =BDDBmDByg;B*(E$$B @B@BAٱB+ JAHRS rotation from veh to nav: [[0.069664,0.984131,0.163197],[-0.996448,0.060889,0.058170],[0.047310,-0.166670,0.984877]]BHzձ?@~?? ,?yȭ?9?oUſ?iB @IB3q_;BCYV{ByVIbD^VD^y%=%%V=ٔ%[7;Q-%>9)Y)=-Fy-kE-9E5>91Q 5E55?Q 9E55)5BYIyMտQ IM@5DI5+;i5:5#5yQɮU)AQjhyFNOT Ignoring new targets: 155.31 m.RhF6ZhF6 ProNav: ac range: 155.309952 m, nav range: 151.816910 m, bearing: 264.714956 deg, approach rate: -0.582036 m/s, LOS rate: 0.000270 deg/s, cmd heading: 274.087459 deg, new cmd heading: 274.087754 deg. Bh=7HeadingCmd: 4.783734 target range: 155.309952 and range: 156.20 m.hY@h*h"h hgfffdddjdZdS @}Bɢ)K) i)$iլi;U;IY@I9@ @@g4@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.240006ԡ^A52;II O= > D },?AE" E"E"%E "E"T;*E":VE" 4ZE BE"G)R=i%Mb@Mb@Mb@!!!! !9%E?:vQ?Y%?y%Խ%<%lA%@ % A)!!Y% AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.492152ԙbDVD0y-A<%-:=ٔ5`:Q-5>91Y9==Fy=kE=`¹E=>AQ 5M5E?Q 9M5E )EBYUz ?Q EU:yU׿Q IU@EDIE;iEF;E%5yaɮe)AajhFNOT Ignoring new targets: 155.31 m.Rh8Zh8 ProNav: ac range: 155.309952 m, nav range: 151.583542 m, bearing: 264.716923 deg, approach rate: -0.532626 m/s, LOS rate: 0.004495 deg/s, cmd heading: 274.087760 deg, new cmd heading: 274.093667 deg. BhjE9HeadingCmd: 4.783837 target range: 155.309952 and range: 156.20 m.h1@h*h"h hgfffF}BdddjdZd`G@Yɢ])a eia)e aaimi}꿿}Jǒ;}ND;I}1@I9@ @ @ 3@ @@gA^Ayb];checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744053I1 IA O} > E,ĕ?A6w @6@@6=ٱ68. BAHRS rotation from veh to nav: [[0.069737,0.983703,0.165729],[-0.996498,0.061012,0.057174],[0.046131,-0.169136,0.984513]]6HGڱ?}z?@6?@P9\Y`=bFybkEb+:Eb>dQ 5j5f?Q 9j5f)fBYlyn׿Q In@fDIf];if;fB'5ypɮry(Atjh FNOT Ignoring new targets: 155.31 m.Rhb8Zhb8% ProNav: ac range: 155.309952 m, nav range: 151.394165 m, bearing: 264.718498 deg, approach rate: -0.532707 m/s, LOS rate: 0.004437 deg/s, cmd heading: 274.093661 deg, new cmd heading: 274.098392 deg. Bh-B9-HeadingCmd: 4.783919 target range: 155.309952 and range: 156.20 m.h-@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE:f@u}Bɢu)q uiy)}TA yyi}i翿T;O;I@IE EE&E"E:*E?:VE4ZEa@a@a@a@@ @@/@iIIIUBDAT read: Rx Time:05:49:43.0317 UTRx dataTimestamp_ set to:1761544184.400526]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997474!B%s>B!B%IB%{BB% =B!B%lDB%g;B%G(E^Au2;IIO>Yy  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248006',o*?Aɰp;z@z@z=ٱz. EAHRS rotation from veh to nav: [[0.070546,0.983679,0.165527],[-0.996433,0.061789,0.057475],[0.046309,-0.168991,0.984529]]zHM?Lz?`/?`բ? Qm?ɵ?ſC?iz@Iz_;xY{ByIbDVDy 9=% 7=YٔȹQ->9Y=FykE:E>Q 55{?Q 95)BYy׿Q I@DI:i:Q)5yɮ%(AjhY]FNOT Ignoring new targets: 155.31 m.Rhe;8Zhe;8 ProNav: ac range: 155.309952 m, nav range: 151.143280 m, bearing: 264.720515 deg, approach rate: -0.523205 m/s, LOS rate: 0.004214 deg/s, cmd heading: 274.098387 deg, new cmd heading: 274.104449 deg. Bh99HeadingCmd: 4.784025 target range: 155.309952 and range: 156.20 m.h@h*h"h hgfffdddjdZd)L @ɢ') i)2H i줻i }俿 ;I"x;I@Iԁ%9@) @)@5/@1Ee EeEaEa"Ee&:*Ee:VEaZEaBEe_; BDAT read: Tx time:05:49:44.1219 $Ping request sent.ieheC ?e4@e0 >eI4@ e5>)e@Ie5aaest&?,{H?A\n@n@nȁ<ٱnç/ AHRS rotation from veh to nav: [[0.071600,0.983352,0.167010],[-0.996372,0.062791,0.057449],[0.046006,-0.170518,0.984280]]nHfT?`w?`?@G ?i??ſ8?in@In^;nCY%{By%IiMb@Mb@Mb@ 9y&1?q= ףpS㥛?Y`?y뽙/<A@  A)AY AbDVD:2y :-=% .=ٔ /:Q->9 ?Y ?=FykE;E>!Q 5-5% ?Q 9-5%)%BY-?Q E5:y5WڿQ I5@%DI% ;i% ;%D+5y=Bɮ=(A=Eii9?AJiPCRiPCji慓@b|Kb@M>4O_V5@RuiW;?1 ɿH@l?ZiKbi5jXQ.9M{Kb,Z{@@Z׏N/G@Cr̅?2i:it"i5`?*iV#fBiBi5`?iiBi Ci1@ addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 3.529850 s, deltaX: -2.000000 m, approachRate: -0.566596 m/s, rangeRepo size: 4  Added new target pos. range: 153.315536 m, bearing: 264.138999 deg, lat: 36.779449 deg, lon: -121.859758 deg, deltaT: 3.529850 s, deltaX: -1.994415 m, approachRate: -0.565014 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 153.32 m.RhZh ProNav: ac range: 153.315536 m, nav range: 150.125854 m, bearing: 264.155032 deg, approach rate: 0.000000 m/s, LOS rate: 0.004214 deg/s, cmd heading: 274.104453 deg, new cmd heading: 274.110035 deg. BhHeadingCmd: 4.784122 target range: 153.315536 and range: 154.20 m.h@h*h"h hgfffs}Bdddjd`fFc@Zd :v?颁ɢX>) i)=顉iniL῿Ƥ;K;I@I9@ @@/@E EE'E"E /;*E:VE'4ZEa@a@a@a@ ^A jb;B% <A! B- >B- CB- I9 B- {BB-  =B) B- nDB- g;B- U(EA I I O >*,p>b?A2 "@2@2z=ٱ2n, :AHRS rotation from veh to nav: [[0.072240,0.983833,0.163870],[-0.996320,0.063583,0.057480],[0.046131,-0.167419,0.984806]]2HO~?{?`?@F?n??mſ?i2 "@I2!^;2CYB{ByFIbDNVDNβyV1=%Zd=ٔZ鷹Q-Z>9\Y\=^Fy^kE :E>!Q 5-5% ?Q 9-5%ϵ)%BY)y5JڿQ I5@%DI% :i%|:%,5y9ɮ='A9]B*** querying acoustic contact ***iY iYjhamFNOT Ignoring new targets: 153.32 m.Rhm8Zhu8 ProNav: ac range: 153.315536 m, nav range: 149.929962 m, bearing: 264.157472 deg, approach rate: -0.534790 m/s, LOS rate: 0.006669 deg/s, cmd heading: 274.110026 deg, new cmd heading: 274.117355 deg. Bhw9HeadingCmd: 4.784250 target range: 153.315536 and range: 154.20 m.h@h*h"h hgfffdddjdZd?ɢP␽) i)  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989639T,|?A:'@:"@:>ٱ:( BAHRS rotation from veh to nav: [[0.072947,0.984373,0.160274],[-0.996257,0.064448,0.057608],[0.046379,-0.163877,0.985390]]:H`??`߃? V?~??ĿP?i:'@I:2"^;:CYJ|ByNIi%Mb@Mb@Mb@!!!! !9%T㥛 ?q= ףp/$?Y%?y!%<%A%@ % A)%bA!Y% AbD5VD52yE=%MA=ٔM+Q-M>9M"?YU"?=UFyUkEU:EU>YQ 5e5] ?Q 9m5]P)]BYms?Q Em:ymVۿQ Im@]DI]:i]':].5ԙyɮ'AjhY]FNOT Ignoring new targets: 153.32 m.Rhe 9Zhe 9u ProNav: ac range: 153.315536 m, nav range: 149.718735 m, bearing: 264.160771 deg, approach rate: -0.485709 m/s, LOS rate: 0.007596 deg/s, cmd heading: 274.117348 deg, new cmd heading: 274.127258 deg. BhuѦ9}HeadingCmd: 4.784423 target range: 153.315536 and range: 154.20 m.h}@hy*hy"hy hygfff}BdddjdZd ?颹ɢ) %i)i=Ꝼin׿5;B;I@Im9@i @i@m0@i@q@ubAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.241688^Aϩ;A I  I! O- >->,~?ABm/@B6*@B%q?ٱBG& JAHRS rotation from veh to nav: [[0.073865,0.984622,0.158316],[-0.996173,0.065411,0.057969],[0.046722,-0.161992,0.985685]]BH?`?C?ɾ? ??(Ŀ?iBm/@IBs^;BCYR|ByRIIV=)VY?Z=XEb EbEb"E`"Eb:*Eb~:VEb(3ZE`af@af@af@af@ Z49tYx=zFyzkEz.;E~>|Q 55~?Q 9 5~)~BY y <ۿQ I @~DI~:i~_:~d05yɮU'Ajh9EFNOT Ignoring new targets: 153.32 m.RhE9ZhM9] ProNav: ac range: 153.315536 m, nav range: 149.517487 m, bearing: 264.163863 deg, approach rate: -0.546082 m/s, LOS rate: 0.008401 deg/s, cmd heading: 274.127265 deg, new cmd heading: 274.136553 deg. Bh]9eHeadingCmd: 4.784585 target range: 153.315536 and range: 154.20 m.heS@ha*ha"ha hagafififididqdqjdyZd}V?颭}Bɢʘ) 4i)1g顱i֛i!ҿВ;\;IS@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493541B>BCBIB|BB =BCDBqDBg;Bh(EBCBCBÕCB =B =CW|6@ @@M1@!^A ;I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746025A9 II IY Oe >ԁ 6j,?A6@]1@\@ٱL& -AHRS rotation from veh to nav: [[0.074734,0.984645,0.157764],[-0.996096,0.066256,0.058339],[0.046991,-0.161508,0.985752]]H!?5?1? `%?ޭ?&?`KĿG?i6@IR8^;CYE |ByEIiMb@Mb@Mb@ 9MbX9?ʡE~jt?Y?yyD<QA@  A)KAY AbDVDfy@%9=ٔQ->9Y=%Fy%kE-;E5>9Q 5M5Q=?Q 9U5=Ƽ)= BY]=?Q E]:y]ۿQ I]@=DI=;i=x;=V25yqɮuj'Aqjh!%FNOT Ignoring new targets: 153.32 m.RhM(9ZhM(9] ProNav: ac range: 153.315536 m, nav range: 149.287338 m, bearing: 264.167783 deg, approach rate: -0.493760 m/s, LOS rate: 0.008423 deg/s, cmd heading: 274.136554 deg, new cmd heading: 274.148333 deg. Bh]9eHeadingCmd: 4.784791 target range: 153.315536 and range: 154.20 m.he@ha*h"h hgfff}}BdddjdZd@[\?E EE(E"E:*E:VEc44ZEBEo%Z,L?Aɰ4<2X<@2!7@2DBٱ2% :AHRS rotation from veh to nav: [[0.075434,0.984707,0.157040],[-0.996023,0.066920,0.058820],[0.047411,-0.160853,0.985839]]2H O??@?k!?@?`AF?`іĿ@?i2X<@I2^;2CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.249695YJ |ByHbDVVDVkyZS:%^a=ٔ^!Q-^>9b ?Yb ?=bFybkEf:Ef>hQ 5j5j?Q 9n5je˼)jBYlynۿQ In@jDIjp:ij:j35ytɮvi'AtjhFNOT Ignoring new targets: 153.32 m.Rhf)9Zhf)9- ProNav: ac range: 153.315536 m, nav range: 149.101501 m, bearing: 264.170911 deg, approach rate: -0.549317 m/s, LOS rate: 0.009256 deg/s, cmd heading: 274.148330 deg, new cmd heading: 274.157724 deg. Bh-G95HeadingCmd: 4.784955 target range: 153.315536 and range: 154.20 m.h5Z@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdMR@qɢu)q }iy)}ZVyyi}iƿ); ;IZ@I ԙ9@ @@1@E EE'E"EO:*Eą:VE'4ZEa@a@a@a@^AX;AzAgAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502071A A @AB >B CB IB 5|BB =B B pDB 4h;B (EAm ؟AIy I O >! z,֍?A6D@6?@6xBٱ6>% >AHRS rotation from veh to nav: [[0.076451,0.984730,0.156406],[-0.995940,0.067941,0.059053],[0.047525,-0.160286,0.985926]]6H@C?? ?`d?=9^"?Y^"?=^FybkEb';Eb>dQ 5j5f?Q 9j5fм)f!BYhynۿQ In@fDIf;if7;f55yrBɮr)'ArEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 153.32 m.Rh9Zh9- ProNav: ac range: 153.315536 m, nav range: 148.894272 m, bearing: 264.174329 deg, approach rate: -0.516479 m/s, LOS rate: 0.008530 deg/s, cmd heading: 274.157728 deg, new cmd heading: 274.167996 deg. Bh-V9-HeadingCmd: 4.785134 target range: 153.315536 and range: 154.20 m.h5@h1*h1"h1 h1gfffdddjdZd@ @mЀG(hA9(hAYA}Bɢ ) ׾i )))i-gi5"5QT;5Y4;I5@I9Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7538679@ @@/@A^A% 0;i bEu-4jEuɻ 4rEuɷ80E  E E $E "E :*E ~:VE 4ZE BE E- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010809r,a?A0RP@RK@RAٱRK$ ZAHRS rotation from veh to nav: [[0.077938,0.984703,0.155838],[-0.995839,0.069489,0.058960],[0.047229,-0.159785,0.986021]]RH? ? ~?` ʱ? 0?@r.?`sĿ|?iRP@IR/_;RCYb|Byb IiMMb@Mb@Mb@IIII I9M"~j?S㥻Mb?YMS?yM/ݽM9yYy=FykE}d;E>Q 55?Q 95ּ)+BY8?Q E:yٿQ I@DI ;i ;75yɮI'AjhFNOT Ignoring new targets: 153.32 m.Rh8Zh]8m ProNav: ac range: 153.315536 m, nav range: 148.670822 m, bearing: 264.176343 deg, approach rate: -0.522223 m/s, LOS rate: 0.004714 deg/s, cmd heading: 274.168001 deg, new cmd heading: 274.174052 deg. BhmO9uHeadingCmd: 4.785240 target range: 153.315536 and range: 154.20 m.h @h*h"h hgfffY}BdddjdZd_ @5}Bɢ5$)1 =Y۾i9)=cO99i=biEE՛;EO9|Y=FykEE> Q 55 ?Q 95 ۼ) 5BYyQ I@ DI 3;i ; 995y!ɮ%5'A!jhIUFNOT Ignoring new targets: 153.32 m.RhU8ZhU8e ProNav: ac range: 153.315536 m, nav range: 148.468460 m, bearing: 264.178172 deg, approach rate: -0.522086 m/s, LOS rate: 0.004726 deg/s, cmd heading: 274.174066 deg, new cmd heading: 274.179562 deg. BheO9mHeadingCmd: 4.785336 target range: 153.315536 and range: 154.20 m.hmy!@hi*hq"hq hqgqfqffdddjdZd6/ @=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513992m}Bɢm늽)q uNؾi)顱iLiޓ;W AM DAT read: 05:49:46.7291 LVL= 32752, 32753, 31218, 32755, AGC= 64, IDX= 411, 0.20, 0.844,-0.603, 1.400, 0.797, PHS= 0.149,-1.355, 0.560, RAW= 161.8, 7.4, CAL= 161.3, 7.4, ROT= 348.7, -7.4 ] Ygot valid direction response: 05:49:46.7291 LVL= 32752, 32753, 31218, 32755, AGC= 64, IDX= 411, 0.20, 0.844,-0.603, 1.400, 0.797, PHS= 0.149,-1.355, 0.560, RAW= 161.8, 7.4, CAL= 161.3, 7.4, ROT= 348.7, -7.4 i u PDAT read: Bearing 79.3, -9.5 (Local) u ~Local bearing/azimuth received: Bearing 79.3, -9.5 (Local)  DAT read: Range 11 to 50 : 152.2 m (Round-trip 203.0 ms) speed 0.0 m/s  *DAT read: user:537>  BDAT read: Tx time:05:49:47.8219  $Ping request sent. I?IGȿOZ_|?Y 3C A I I O > y ) @I u>i p )\? {4@ A> ,4@ A>) 6@I A .? "? ϙ? :?) .I Ii A  :publishing transmit ping time  Fpublishing direction and range infoy  ">I?IGȿOZ_|?Y ) k,(1?A9I!i!!!!! !)!I!!!%.? "? ϙ? !)!I!i!!!ud@u^@ukr=ٱu" AHRS rotation from veh to nav: [[0.080272,0.984782,0.154147],[-0.995700,0.072047,0.058227],[0.046235,-0.158159,0.986331]]uH`?T?`?q?ϭ? $?>Ŀ@?iud@Iu^;uCY|By IE EEE"E:*E:VEZEBE#9QYQ=UFyUkE];E]>aQ 55?Q 95 )CBY?Q E:yؿQ I@ DIX:i:};5yɮI'Ai!i%$,?AJi%VCRi%VCji%@b%eeb@{SI?IGȿOZ_|?Zi%Ibi% Aj%y}H,3lpb0?>@Z%뷿dSVI1￸H?2i%:i%Cb"i%Z P?*i%3 Bi%jBi%Z P?i%3 i%jBi%2Ci% @ addTargetRange:: Added new target pos. range: 152.199997 m, deltaT: 3.784552 s, deltaX: -2.000000 m, approachRate: -0.528464 m/s, rangeRepo size: 4   Added new target pos. range: 151.338440 m, bearing: 264.524222 deg, lat: 36.779457 deg, lon: -121.859759 deg, deltaT: 3.784552 s, deltaX: -1.977097 m, approachRate: -0.522412 m/s, posRepo size: 4 jh  FNOT Ignoring new targets: 151.34 m.RhZh1E ProNav: ac range: 151.338440 m, nav range: 148.195999 m, bearing: 264.524722 deg, approach rate: 0.000000 m/s, LOS rate: 0.004726 deg/s, cmd heading: 274.179557 deg, new cmd heading: 274.187396 deg. BhAMHeadingCmd: 4.785473 target range: 151.338440 and range: 152.20 m.hM"@hI*hI"hI hQgfff0}Bdddjd`fc@Zd? }Bɢ_$) پi)i0ˎi %Ef;% 3.9|Y|=~Fy~kE~:E>Q 5 5?Q 95h)NBYyؿQ I%@DIk;iT{;1=5y9ɮ=c'A9jhFNOT Ignoring new targets: 151.34 m.Rh8Zh8Ա ProNav: ac range: 151.338440 m, nav range: 147.990585 m, bearing: 264.526882 deg, approach rate: -0.565875 m/s, LOS rate: 0.005956 deg/s, cmd heading: 274.187398 deg, new cmd heading: 274.193885 deg. Bh΂9HeadingCmd: 4.785586 target range: 151.338440 and range: 152.20 m.h#@h*h"h hgfffdddjdZd% ?}Bɢ?1) Eܾi)li {iV@ɔ;94B]CB]-IB]S|BB] =BYB]oDB]|h;B](E ^A h%<A5 .A9 IA IY Oe >L,Y4k?Aɰ;2Gk@2f@2:ٱ2}x" :AHRS rotation from veh to nav: [[0.081146,0.984761,0.153823],[-0.995661,0.073038,0.057655],[0.045541,-0.157834,0.986415]]2H Ŵ? )? x? u? ?@0Q?@3Ŀ ?i2Gk@I2];2CYR&|ByVIbD^VD^yj#=%jM=ٔn:Q-n>9r ?Yr ?=rFyvkEv49Ev>|Q 55~k?Q 9 5~)~YBY y ؿQ I@~DI~:;i~:;~>5yɮ"'AB*** querying acoustic contact ***i ijh1=FNOT Ignoring new targets: 151.34 m.Rh=8Zh=8M ProNav: ac range: 151.338440 m, nav range: 147.779251 m, bearing: 264.529098 deg, approach rate: -0.496099 m/s, LOS rate: 0.005210 deg/s, cmd heading: 274.193873 deg, new cmd heading: 274.200531 deg. BhMd9uHeadingCmd: 4.785702 target range: 151.338440 and range: 152.20 m.huy$@hy*hy"hy hygyfyffdddjdZd,?}Bɢ  )1 =(Ӿi9)EAAIiMG"i9;38X,]?A2h@2c@2)8ٱ2$ :AHRS rotation from veh to nav: [[0.080869,0.984425,0.156103],[-0.995712,0.072732,0.057164],[0.044920,-0.160056,0.986085]]2HԳ?`h?*?@?D??|Ŀ?i2h@I23 ^;2CYB!|ByFIi Mb@Mb@Mb@     9 MbX?zGếQ?Y  ?y  ׽ u< ;A   A) A Y  AbDeVDey"%<=ٔF:Q->9"?Y"?=FykE(E>Q 55N?Q 95:)eBYb ?Q E:yhֿQ I@DI~ ;i ;@5yBɮL'AEjhFNOT Ignoring new targets: 151.34 m.Rh -8Zh -8 ProNav: ac range: 151.338440 m, nav range: 147.538284 m, bearing: 264.529919 deg, approach rate: -0.592828 m/s, LOS rate: 0.002024 deg/s, cmd heading: 274.200540 deg, new cmd heading: 274.203008 deg. Bhϱ8%HeadingCmd: 4.785745 target range: 151.338440 and range: 152.20 m.h%$@h!*h!"h! h!g))f1f1f5T}Bd1d9d9jd9Zd=2?m}Bɢu9)q ufԾiq)u yyi}i}  ;=.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.490035A@A @A@Ee0@AY^Ae9<ԉE  E E (E "E :*E ?:VE c44ZE a @a @a @a @A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741303Ա B >B ߍCB B B  =B DDB nDB h;B ^~,7n?AY3|ByIbD5VD5N2y=7=%EO=ٔEQ-E>9IYI=MFyMkEMEU>QQ 5e5Un壘?Q 9u5U)UpBYyQ I@U%DIU;iUS;UB5yBɮ'AEjhFNOT Ignoring new targets: 151.34 m.RhUY8ZhUY8e ProNav: ac range: 151.338440 m, nav range: 147.324417 m, bearing: 264.530650 deg, approach rate: -0.539913 m/s, LOS rate: 0.001849 deg/s, cmd heading: 274.202999 deg, new cmd heading: 274.205196 deg. Bhek8mHeadingCmd: 4.785783 target range: 151.338440 and range: 152.20 m.hm#%@hi*hq"hq hqgqfyfyfydyddjdZd`E"?ԙ颽}Bɢ) 9ʾi)*!iOWiߪ;I#%@Im9@i @i@m5@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.994169^AA I I O > ,K?AE& E&E&'E$"E&;*E&|:VE&'4ZE$BE&@=ٔ Q- >9Y=FykEJbE>!Q 5-5%쥊?Q 9-5%)%BY-?Q E-:y-ؿQ I-@%-DI%:i%:%pD5yɮ*'Ajh FNOT Ignoring new targets: 151.34 m.Rh58Zh58E ProNav: ac range: 151.338440 m, nav range: 147.085861 m, bearing: 264.533240 deg, approach rate: -0.536931 m/s, LOS rate: 0.005838 deg/s, cmd heading: 274.205184 deg, new cmd heading: 274.212965 deg. BhE59EHeadingCmd: 4.785919 target range: 151.338440 and range: 152.20 m.hM@&@hI*hI"hi higAfIfIfM9}BdQdQdQjdQZdU@颅}Bɢ>) O˾i)o#顉i߂ijjc;:A >y A I I O >A,?AjE@jv@@jeAٱj# rAHRS rotation from veh to nav: [[0.076569,0.985011,0.154566],[-0.995947,0.068220,0.058622],[0.047199,-0.158428,0.986242]]jH@?5??@v?`?m*?`bGĿJ?ijE@Ijmt];jCYE|By$IbDVDܲy%[]=%-L=ٔ-锻Q-->91Y1=5Fy5kE=E=>AQ 5M5Eꥊ?Q 9M5E)EBYIyM:ٿQ IM@E4DIE:iE:E/F5yYɮ]&AYjhFNOT Ignoring new targets: 151.34 m.RhI9ZhI9 ProNav: ac range: 151.338440 m, nav range: 146.864182 m, bearing: 264.535910 deg, approach rate: -0.585704 m/s, LOS rate: 0.007064 deg/s, cmd heading: 274.212971 deg, new cmd heading: 274.220992 deg. Bh$9HeadingCmd: 4.786059 target range: 151.338440 and range: 152.20 m.hf'@h*h"h hgfffdddjdZd@}Bɢ,) 0i)-|$iiա;{;If'@IE EE#E"E:*E:VE3ZEa@a@a@a@Ա@ @@/@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750362AAAAB >B CB 3IB ]|BB  =B CDB pDB h;B (EBCBCBĔCB =B =CJI6^AH< A I) I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0018051 @,3?AB4@B.@BHٱB! NAHRS rotation from veh to nav: [[0.074414,0.985350,0.153454],[-0.996032,0.065908,0.059801],[0.048811,-0.157296,0.986345]]BH ?`?d?~T߰?1??`B"Ŀ"?iB4@IB"];BCY^^|By^3IbDf VDf2yn}=%nJ=ٔrӂQ-r>9pYp=vFyvkEv殻Ev>xQ 5~5z-襊?Q 9~5z )zBYyٿQ I@z;DIz:iz:zG5y ɮ k&A-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 151.34 m.RhE9ZhE9 ProNav: ac range: 151.338440 m, nav range: 146.640060 m, bearing: 264.538817 deg, approach rate: -0.553815 m/s, LOS rate: 0.007194 deg/s, cmd heading: 274.221003 deg, new cmd heading: 274.229737 deg. Bh9HeadingCmd: 4.786212 target range: 151.338440 and range: 152.20 m.h(@h*h"h hgfff dddQjdYZd@w @=}Bɢ=)9 EiA)E%AAiE|~iMԜM钖;M;IM(@IqE] EYE]'EY"E]:*EYVE]'4ZEYBE]E-,w?A $ɰ&49Y=FykExE>Q 55奊?Q 95)BY ?Q E:yMٿQ I@CDI ;i ;I5yBɮ:&AEjh%FNOT Ignoring new targets: 151.34 m.Rh%\8Zh%\85 ProNav: ac range: 151.338440 m, nav range: 146.408524 m, bearing: 264.541677 deg, approach rate: -0.546152 m/s, LOS rate: 0.006758 deg/s, cmd heading: 274.229746 deg, new cmd heading: 274.238341 deg. Bh5j9=HeadingCmd: 4.786362 target range: 151.338440 and range: 152.20 m.h=)@h9*hA"hA hAgAfAfIfM}BdIdIdQjdQZdU% @颅}Bɢ) checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505671i))&顙i{i痿b;6j;I)@Iie9@i @i@m/@q@=@=ԑE EE(E"E:*EZ:VEc44ZEa@a@a@a@^A;Թ  DAT read: 05:49:50.4264 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 416, 0.10, 1.807, 0.349, 2.362, 1.703, PHS= 0.206,-1.309, 0.615, RAW= 161.6, 5.6, CAL= 160.8, 5.0, ROT= 349.2, -5.0  Ygot valid direction response: 05:49:50.4264 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 416, 0.10, 1.807, 0.349, 2.362, 1.703, PHS= 0.206,-1.309, 0.615, RAW= 161.6, 5.6, CAL= 160.8, 5.0, ROT= 349.2, -5.0  PDAT read: Bearing 76.9, -8.7 (Local)  ~Local bearing/azimuth received: Bearing 76.9, -8.7 (Local)  DAT read: Range 11 to 50 : 150.2 m (Round-trip 200.3 ms) speed 0.8 m/s  *DAT read: user:538>  BDAT read: Tx time:05:49:51.5219  $Ping request sent. iE PE p?E J4@E +=E 3@ E ¸=)E @IE ¸A A E N?kt)?ys ? E G :?)E "ȽIE AiE ¸A A  :publishing transmit ping time  Fpublishing direction and range infoyA E -ƌFP?'ǿO?YA A A A A A )A IA iA A A A A A )A IA A A E N?kt)?ys ? A )A IA B >B CB ?IB r|BB =B B qDB h;B (EiA A A .AI I1 OU >A *,lA"?AP@@SٱZ ]AHRS rotation from veh to nav: [[0.071454,0.985747,0.152306],[-0.996113,0.062636,0.061937],[0.051514,-0.156140,0.986391]]HJ?@=?@~?'?@2?`?bÿ@?i@Ig];CY|ByMI!%A-AA-AA %߀G=gAQ9gAYAbDVDk1yBa=%0=ٔJ>Q->9 ?Y% ?=-Fy-kE-8E5>9Q 5E5=⥊?Q 9E5=)=BYAyzٿQ I@=KDI=,99"?Y"?=FykEE>Q 55ߥ?Q 95i)BY?Q E=:y=|ݿQ I=@RDIՃE  E E 'E "E *E :VE '4ZE a @a @a @a @z,A\?A2@2H @2Ӿ[ٱ2# :AHRS rotation from veh to nav: [[0.070201,0.985427,0.154938],[-0.996091,0.060899,0.063991],[0.053623,-0.158824,0.985850]]2H??@?`2.?a?{t?[TĿ`?i2@I2.z];2CYB|ByFWIbDNVDNy'">%V=ٔ Z Q- >9 Y = Fy lETE>Q 5%5.ݥ?Q 9%5#)BY)y-ݿQ I-@YDI:i{:qO5y1ɮ5%A1YjhaeFNOT Ignoring new targets: 149.35 m.Rhmf9Zhmf9ByA}p<B>BCBRIB|BB =BBsDBh;B(E ProNav: ac range: 149.354996 m, nav range: 145.808701 m, bearing: 264.209257 deg, approach rate: -0.543959 m/s, LOS rate: 0.012568 deg/s, cmd heading: 274.264361 deg, new cmd heading: 274.278240 deg. Bh :HeadingCmd: 4.787058 target range: 149.354996 and range: 150.20 m.h/@h*h"h hgfffdddjdZd?}BɢF{) 6i)/)iui;Rg:I/@I@ @@/@ԉԱ^Arg:I I O > ',~v?A-$@-@-]ٱ-B"$ AHRS rotation from veh to nav: [[0.070521,0.985326,0.155435],[-0.996045,0.061114,0.064497],[0.054051,-0.159368,0.985738]]-H ?ʇ?`G?@KJ?@߂??,fĿ@+?i-$@I-G];-CY|BycIԱi-Mb@Mb@Mb@)))) )9-^I +?MbL7A`?Y-X>y--+=-$A-l@ ))))Y)bDEVDEfE] E]E]#EY"E]:*E]:VE]3ZEYBE]'9yYy=}Fy}lE{;:E>Q 55٥?Q 95r))BY.?Q E:yn߿Q I@`DIz ;i ;iQ5yɮC%AB*** querying acoustic contact ***i ijhIMFNOT Ignoring new targets: 149.35 m.RhU9ZhU9e ProNav: ac range: 149.354996 m, nav range: 145.584473 m, bearing: 264.215770 deg, approach rate: -0.479952 m/s, LOS rate: 0.013962 deg/s, cmd heading: 274.278240 deg, new cmd heading: 274.297809 deg. BheP:HeadingCmd: 4.787400 target range: 149.354996 and range: 150.20 m.ha2@h*h"h hgfff}BdddjdZdd?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. }BɢNm) ei)*itiu%Ү;%\:I%a2@IAUp>iU>9@ @@@ ^A! I I O% >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749959#,TT?AJ`@J)@J^ٱJ $ VAHRS rotation from veh to nav: [[0.070791,0.985326,0.155313],[-0.996006,0.061330,0.064892],[0.054415,-0.159287,0.985732]]JH`^?`ɇ?P?Gf?@ǜ?<ܫ?cĿ?iJ`@IJ];JCYb|BybkIbDhVDhy=% e=ٔ Q- >9Y=Fy lE4H:E>!Q 5%5%Hץ?Q 9-5%.Q =-tI)%BY)y-f߿Q I-@%fDI%:i%:%R5y1ɮ=%A9jhq}FNOT Ignoring new targets: 149.35 m.Rhى9Zhى9 ProNav: ac range: 149.354996 m, nav range: 145.406860 m, bearing: 264.220926 deg, approach rate: -0.518334 m/s, LOS rate: 0.015065 deg/s, cmd heading: 274.297802 deg, new cmd heading: 274.313288 deg. Bhk%:HeadingCmd: 4.787670 target range: 149.354996 and range: 150.20 m.h4@hY*hY"hY hYgYfafafadadidijdiZdm?}Bɢj9s) si)+isi my;I4@I@ @@o0@AEm EmEm&Ei"Em ;*Emv:VEm4ZEiau@au@au@a}@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001772B}>B}CB}qIB}|BByByByB}i;B})Eq^AII O >ԙ *,f.?A2@2@24_ٱ2$ :AHRS rotation from veh to nav: [[0.071580,0.985283,0.155221],[-0.995941,0.062087,0.065171],[0.054575,-0.159256,0.985728]]2H`S?p?E? ɯ? ?@8?|bĿ?i2@I22];0YF|ByF{IbDNVDN0yV=%VP=ٔVYֹQ-Z>9XYX=ZFyZ lE^r;E^>`Q 5f5boԥ?Q 9f5b3)bBYdyjL߿Q Ij@blDIb:ib|:bT5ynBɮn$ArEjh FNOT Ignoring new targets: 149.35 m.Rh 9Zh 9 ProNav: ac range: 149.354996 m, nav range: 145.211975 m, bearing: 264.226537 deg, approach rate: -0.499374 m/s, LOS rate: 0.014398 deg/s, cmd heading: 274.313292 deg, new cmd heading: 274.330149 deg. Bh:%HeadingCmd: 4.787964 target range: 149.354996 and range: 150.20 m.h%7@h!*h)"h) h)g)f)f1f1d1d1d9jd9ZdE@%}Bɢ%i)! -Ui))-T,))i5 s]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254264ieecmCH;m:Im7@Iiq-9@) @)@-4@)ԩ^AMq:AUeAzAUfAEu EuEu(Eq"Eu:*Euz:VEuc44ZEqBEu5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505776 j0, ?A2L$@2@2܀bٱ2% :AHRS rotation from veh to nav: [[0.072480,0.984940,0.156974],[-0.995837,0.062745,0.066116],[0.055270,-0.161112,0.985387]]2H??@? ??jL?RĿJ?i2L$@I2 ^;2CY^|BybqIi}Mb@Mb@Mb@yyyy y9}MbX9?p= ף~jt?Y}?y}}<}A}@ y)}AyY} AbDVDfyB%<=ٔѺQ->9Y=FylEp;E>Q 559ѥ?Q 958)BY!?Q E:y޿Q I@sDI:iH:V5yɮ$AjhFNOT Ignoring new targets: 149.35 m.Rh9Zh9 ProNav: ac range: 149.354996 m, nav range: 144.986450 m, bearing: 264.232670 deg, approach rate: -0.517663 m/s, LOS rate: 0.014099 deg/s, cmd heading: 274.330149 deg, new cmd heading: 274.348577 deg. Bh:HeadingCmd: 4.788286 target range: 149.354996 and range: 150.20 m.h9@h!*h!"h! h!g!f!f)f-}Bd)d)d1jd1Zd5U@e}Bɢe:0k)a etbia)m:-iiim^riuXu-;up;Iu9@Iy-9@) @)@-4@)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757921^A5] ;IIO>) E  E E $E "E ;*E :VE 4ZE a @a @a @a @ 7,?A$J+@Jr&@JGcٱJ"^& VAHRS rotation from veh to nav: [[0.073374,0.984824,0.157285],[-0.995753,0.063551,0.066607],[0.055600,-0.161504,0.985304]]JHȲ??!? 6D? $ ?@w?`-Ŀ@?iJ+@IJ(^;JCY^|By^zIfBDAT read: Rx Time:05:49:54.1236 fTRx dataTimestamp_ set to:1761544195.492239fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010958bDrVDr:yzA =%zV=ٔz&cQ-z>9|Y|=~Fy~lEa;E> Q 55 mΥ?Q 95 >) -BYy޿Q I@ yDA%@AA!B->B)B-IB-|BB- =B)B)B-ji;B-D)EI :i ; AX5yEBɮE$AEEjhimFNOT Ignoring new targets: 149.35 m.Rhu|9Zhu|9 ProNav: ac range: 149.354996 m, nav range: 144.789062 m, bearing: 264.237982 deg, approach rate: -0.512223 m/s, LOS rate: 0.013803 deg/s, cmd heading: 274.348564 deg, new cmd heading: 274.364520 deg. Bh:HeadingCmd: 4.788564 target range: 149.354996 and range: 150.20 m.h;@h*h"h hgfffdddjdZdKj@m}BɢmpCh)i u@Riq)-顑ijriO+;&;I;@IQI@I @I@M/@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264674^Av;ԩ I I O >5N=,?A@M`4@M)/@MdٱMJ& AHRS rotation from veh to nav: [[0.074432,0.984770,0.157121],[-0.995660,0.064561,0.067028],[0.055864,-0.161429,0.985302]]MH ? =?@?r?(?(?Ŀ ?iM`4@IM^;IYyEM EMEIEI"EM:*EM:VEIZEIBEM6 }BDAT read: Tx time:05:49:55.2218 iMb@Mb@Mb@ 9 +?/$I +?Y>y19<(At@  A) AYA$Ping request sent.i?I4@Ϣ= |=)I|ゥ%?aֆ?P]׾? 8?)TIi|ゥ:publishing transmit ping timeFpublishing direction and range infoyC57?£,ǿmu"޽?YbDVDٔ-Q-->9)Y1=5Fy5lE5;E5> )Ii )I%?aֆ?P]׾? )IiqQ 5}5u.ʥ?Q 95u'E)uABY ?Q E:yQ I@uDIu. ;iu:uZ5yɮiit?AJi_CRi_CjiƓ@b屠a@m;gJ11@RC57?£,ǿmu"޽?Zibi|jrI6+(1aߩf=@Zi_۞7GZ!?2i:iY"i̩O?*i& Bi5Bii& ii~Ci?@e addTargetRange:: Added new target pos. range: 148.199997 m, deltaT: 3.528819 s, deltaX: -2.000000 m, approachRate: -0.566762 m/s, rangeRepo size: 4  Added new target pos. range: 147.372437 m, bearing: 264.593847 deg, lat: 36.779449 deg, lon: -121.859759 deg, deltaT: 3.528819 s, deltaX: -1.982559 m, approachRate: -0.561819 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 147.37 m.RhZh ProNav: ac range: 147.372437 m, nav range: 144.495850 m, bearing: 264.246329 deg, approach rate: 0.000000 m/s, LOS rate: 0.013803 deg/s, cmd heading: 274.364519 deg, new cmd heading: 274.387989 deg. BhHeadingCmd: 4.788974 target range: 147.372437 and range: 148.20 m.hF?@h*h"h hgfff}Bd d d jd5`fb@Zd5Y?颅}Bɢ_) tNi)q.顉iriRB+Ҕ;F;IF?@I 9@  @ @ 4@ @ @ gA 1 ^A oM;A >A >IIO?5E,o?A2=@28@2ĕfٱ2τ& >AHRS rotation from veh to nav: [[0.075590,0.984665,0.157232],[-0.995550,0.065628,0.067621],[0.056265,-0.161644,0.985244]]2H`Y?@_? - ?@̰?O?ά?@Ŀ ?i2=@I2|$_;2CYF|ByDLIH)J%=bDRVDR1yZ:%Z<ٔ^IQ-^>9\Y`=bFyblEbM;Eb>dQ 5j5fdǥ?Q 9j5fI)fNBYlynQ In@fDIf{;if;f>\5ypɮr$ApB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 147.37 m.Rh9Zh9 ProNav: ac range: 147.372437 m, nav range: 144.316422 m, bearing: 264.252355 deg, approach rate: -0.500244 m/s, LOS rate: 0.016822 deg/s, cmd heading: 274.387987 deg, new cmd heading: 274.406088 deg. Bh8:E EE'E"E ;*E҆:VE'4ZEa@a@a@a@HeadingCmd: 4.789290 target range: 147.372437 and range: 148.20 m.hA@h*h"h hgf ffdddjdZd`em?m}Bɢxl) Ji)}G/顑iri77Ŕ;*v;IA@IuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.B>BCBIB }BB =BBBi;B])EBmCBmCBiBm =Bm =Cm.6e9@a @a@e/@a^Ayb];IIO >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.724814'L, 2?ARD@R?@R-WiٱRQ& bAHRS rotation from veh to nav: [[0.076415,0.984648,0.156934],[-0.995449,0.066352,0.068400],[0.056937,-0.161446,0.985238]]RH?=?e?o??&? DĿ ?iRD@IR_;RCY5|By5rIbDMVDMyU%]A=ٔ]кQ-]>9aYa=eFye#lEm;Em>qQ 5u5u'ĥ?Q 9}5u=O)u]BYyy}Q I}@uDIu#;iua;u^5yɮ$AjhFNOT Ignoring new targets: 147.37 m.Rh9Zh9 ProNav: ac range: 147.372437 m, nav range: 144.107147 m, bearing: 264.259336 deg, approach rate: -0.513615 m/s, LOS rate: 0.017158 deg/s, cmd heading: 274.406101 deg, new cmd heading: 274.427074 deg. Bhg<:HeadingCmd: 4.789656 target range: 147.372437 and range: 148.20 m.hD@h*h"h hgfffdddjdZd _?=}BɢE\l)I MViQ)]/Yaie}rri+;_V;ID@I1E EE%E"E ;*EVE 4ZEBEQQԁ R,{L?A2J@2D@2Glٱ2% :AHRS rotation from veh to nav: [[0.077061,0.984689,0.156361],[-0.995350,0.066889,0.069308],[0.057788,-0.160975,0.985265]]2HA? ? ??2?p?њĿ K?i2J@I2`;2CYB|ByBIi Mb@Mb@Mb@     9 ~jt?/$~jt?Y ?y  D< A ^@  A) A Y A!%@AbD%VD%:y5-=%5M=ٔ= Q-=>99YA=EFyE'lEE:EE>IQ 5U5M&?Q 9U5MTԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.228674)MjBY?Q E:y޿Q I@MDIM#B CB IB }BB  =B B tDB i;B |)E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488803I I O- >! ,$Y,dWf?A>(S@>M@>Aoٱ>2% FAHRS rotation from veh to nav: [[0.078161,0.984733,0.155540],[-0.995223,0.067915,0.070139],[0.058504,-0.160279,0.985336]]>H[??? `b? ?F?Ŀ@?i>(S@I>!a;>CYR|ByRIbDZVDZ0yb <%bR=ٔf$Q-f>9dYd=jFyj+lEj:;Ej>pQ 55rbE-4jE4rEʟ/E  E E &E "E :*E x:VE 4ZE BE E-TĿ@h?i6:Z@I6'a;4Yf|ByfIiUMb@Mb@Mb@QQQQ Q9UZd;O?ʡE{Gzt?YU~ ?yUyUף;UAUt@ U A)UAQYU\AbDmVDm:2y}Ƽ%}?=ٔQ->9Y=Fy/lET;E>Q 55?Q 95?`)BY ?Q E:yٿQ I@DI;i;ic5yɮ$AjhFNOT Ignoring new targets: 147.37 m.Rh/9Zh/9 ProNav: ac range: 147.372437 m, nav range: 143.453705 m, bearing: 264.273561 deg, approach rate: -0.581268 m/s, LOS rate: 0.007113 deg/s, cmd heading: 274.461207 deg, new cmd heading: 274.469832 deg. Bh89HeadingCmd: 4.790402 target range: 147.372437 and range: 148.20 m.hJ@h*h"h hgfff}Bdd d jd Zd  @ԑ}Bɢl%d) 2i)1i\tiΔ;;IJ@I9@ @@-0@i I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240179^Aϩ;A I I O > >f,1?A2#]@2W@2[wٱ2%" :AHRS rotation from veh to nav: [[0.079365,0.985066,0.152792],[-0.995017,0.069003,0.071972],[0.060354,-0.157742,0.985634]]2H>Q???--?l??@0ĿP?i2#]@I2Eb;2CYB|ByFI Jp9XYX=^Fy^3lE^Mu:E^>`Q 5f5b^?Q 9f5be)bBYhyjٿQ Ij@bDIb8;ibD;be5ylɮny$Al~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 147.37 m.Rh8Zh8% ProNav: ac range: 147.372437 m, nav range: 143.244751 m, bearing: 264.276098 deg, approach rate: -0.550052 m/s, LOS rate: 0.006687 deg/s, cmd heading: 274.469840 deg, new cmd heading: 274.477461 deg. Bh%ے9%HeadingCmd: 4.790535 target range: 147.372437 and range: 148.20 m.h-L@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=`@m}Bɢm2e)i u.iq)u_62qqiujui}(}ߔ;};I}L@IE EE(E"E*Ee:VEc44ZEa@a@a@a@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.489882Be>BeCBeIBe)}BBaBaBerDBei;Bey)E@ @@4@@@fA ^A#2;A%>A%?A AQ Ia Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740766`l,?A JI[@JV@J|ٱJ{,! RAHRS rotation from veh to nav: [[0.079134,0.985295,0.151429],[-0.994958,0.068677,0.073089],[0.061614,-0.156449,0.985762]]JHB?`?@b?@͔??`⋯?@Ŀ`]?iJI[@IJa;JCY^|By^IbDfVDf1ynP=%nH=ٔrJQ-r>9pYp=vFyv7lEv,Ev>xQ 5~5z綥?Q 9~5zk)zBYyٿQ I@zDIz;iz;zf5y ɮ $$A jh15FNOT Ignoring new targets: 147.37 m.Rh_8Zh_8 ProNav: ac range: 147.372437 m, nav range: 143.020126 m, bearing: 264.278860 deg, approach rate: -0.550908 m/s, LOS rate: 0.006786 deg/s, cmd heading: 274.477463 deg, new cmd heading: 274.485763 deg. Bh9HeadingCmd: 4.790680 target range: 147.372437 and range: 148.20 m.hAM@h*h"h hgfffdddjdZd@E}BɢE+[)I M3iI)M2IIiM:wiUg ]z;]>;I]AM@IYq@ @ @ 4@E EE&E"Em:*E:VE4ZEBET9Y=FyQ 55?Q 95r)BY?Q E:y-׿Q I@DI%;i ;h5yBɮ)$AѢEjh!-FNOT Ignoring new targets: 147.37 m.Rh--8Zh5-8E ProNav: ac range: 147.372437 m, nav range: 142.773865 m, bearing: 264.279890 deg, approach rate: -0.566152 m/s, LOS rate: 0.002371 deg/s, cmd heading: 274.485768 deg, new cmd heading: 274.488863 deg. BhEM8MHeadingCmd: 4.790734 target range: 147.372437 and range: 148.20 m.hMM@hI*hI"hI hIgQfQfafeF}BdadidijdqZd}c @}}Bɢn[)  i)F3顉iyi;IM@Im9@i @i@uq4@qE EEE"E,:*EAr:VEZEa@a@a@a@AM AAAM AAB] >u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497304B] CB] IB] 3}BB] =BY B] pDB] i;B] X)E^A ϩ;) A I I O% >yy,?A2Y@2RT@2ٱ2 VAHRS rotation from veh to nav: [[0.078910,0.985822,0.148080],[-0.994838,0.068369,0.074985],[0.063798,-0.153233,0.986129]]2Hv3? ۋ?G??12? U?ÿ]?i2Y@I2^a;0xYv"}ByI=@A9bDUVDU0y9=% N=ٔQ->9)Y)=5Fy5@lEEE]>iQ 5}5mc?Q 9}5mBx)mBYyy;׿Q I@mDIm;imP;mj5yɮp#Ajh)5FNOT Ignoring new targets: 147.37 m.Rh=O.8Zh=O.8u ProNav: ac range: 147.372437 m, nav range: 142.534393 m, bearing: 264.280935 deg, approach rate: -0.544890 m/s, LOS rate: 0.002381 deg/s, cmd heading: 274.488856 deg, new cmd heading: 274.491995 deg. Bhu,8HeadingCmd: 4.790789 target range: 147.372437 and range: 148.20 m.h%N@h*h"h hgfffdddjdZd{ @]}Bɢ]TO)a eнia)e3aaimV |imu ;u%;Iu%N@IqDAT read: 05:49:57.8211 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.08, 1.439, 0.042, 1.996, 1.399, PHS= 0.142,-1.311, 0.553, RAW= 162.1, 7.3, CAL= 161.6, 7.2, ROT= 348.4, -7.2 Ygot valid direction response: 05:49:57.8211 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.08, 1.439, 0.042, 1.996, 1.399, PHS= 0.142,-1.311, 0.553, RAW= 162.1, 7.3, CAL= 161.6, 7.2, ROT= 348.4, -7.2  PDAT read: Bearing 80.1, -8.7 (Local)  ~Local bearing/azimuth received: Bearing 80.1, -8.7 (Local) %DAT read: Range 11 to 50 : 146.4 m (Round-trip 195.2 ms) speed 0.5 m/s -*DAT read: user:540> =BDAT read: Tx time:05:49:58.9218 E$Ping request sent.EiΧh ?D5@w>J4@ >)Q@I#Υ?|H?cNoL? Q),7O?A2V@2Q@2,ٱ2u :AHRS rotation from veh to nav: [[0.078586,0.985909,0.147672],[-0.994787,0.067899,0.076080],[0.064981,-0.152881,0.986106]]2H@=??`?La?@y??ÿ.?i2V@I2`;2CxY%}ByI iMb@Mb@Mb@ 9tV?|?5^~jt?Y?yҽ<pA A)AYAbDUVDUye;%e8=ٔm6Q->9 ?Y ?=FyDlEDE>Q 55{?Q 95~)BY?Q E:yԿQ I@DIO;i ;pl5yɮb#Aii?AJiCRiCjis@b["a@2@RGg?%*eUɿcK ?Zi4QObij+K-<3|S7aß?@Zu~`#Φ?2iQ :im"iЎϠ?*i}BiҽBiiiiJCi@ addTargetRange:: Added new target pos. range: 146.399994 m, deltaT: 3.780401 s, deltaX: -1.800003 m, approachRate: -0.476141 m/s, rangeRepo size: 4  Added new target pos. range: 145.570663 m, bearing: 264.013761 deg, lat: 36.779449 deg, lon: -121.859759 deg, deltaT: 3.780401 s, deltaX: -1.801773 m, approachRate: -0.476609 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 145.57 m.RhZh ProNav: ac range: 145.570663 m, nav range: 142.290802 m, bearing: 264.280270 deg, approach rate: 0.000000 m/s, LOS rate: 0.002381 deg/s, cmd heading: 274.491998 deg, new cmd heading: 274.495049 deg. BhHeadingCmd: 4.790843 target range: 145.570663 and range: 146.40 m.hN@h *h "h  h g f ffc}BdddjdLb@Zd$?!颭}BɢisN) ýi)3顱i\Si'; ;IN@I@ @@/@Qԁ ^AU ϩ;A ؟AE  E E E "E :*E x:VE ZE a @a @a @a @I I Թ O >q,K9?A2T@2O@2 ٱ2 :AHRS rotation from veh to nav: [[0.078346,0.985909,0.147800],[-0.994750,0.067520,0.076903],[0.065840,-0.153049,0.986023]]2H?`??@H?`쯳?`ڰ?ÿ?i2T@I2V"`;2CYB,}ByFIbD~VD~2y *<% H=ٔj Q->Bp>BލCBIBG}BB =BDDBlDBi;B6)E95"?Y5"?=5Fy5HlE=xE=>AQ 5M5E?Q 9M5E΄)EBYIyMտQ IU@EDIEy:iETE;E8n5yeBɮeO#AeТEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 145.57 m.RhZh ProNav: ac range: 145.570663 m, nav range: 142.055298 m, bearing: 264.279648 deg, approach rate: -0.609202 m/s, LOS rate: -0.001611 deg/s, cmd heading: 274.495057 deg, new cmd heading: 274.493189 deg. BhHeadingCmd: 4.790810 target range: 145.570663 and range: 146.40 m.hQN@h*h"h hgfffdddjdZd?}BɢN)! %hi!)%;4!!i-*i'V;F;IQN@I a@a @a@e/@a1^A T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.q A I I O >,&9?AYM}ByI E49QYQ=]Fy]MlEmEu>Q 55?Q 95)BE EEE"Em:*EF:VEZEBEa2ETA] > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496222A I I O% >,T?A2PU@2P@2وٱ2-! :AHRS rotation from veh to nav: [[0.078386,0.985337,0.151544],[-0.994727,0.067221,0.077453],[0.066131,-0.156816,0.985411]]2H??e?@`5? ӳ??`Ŀ }?i2PU@I27_;2CYBk}ByBIIF=)F9Y=FyQlE8E>Q 55?Q 95)BYg?Q E:yֿQ I@DIH:i:q5yBɮ:"AڢEjhFNOT Ignoring new targets: 145.57 m.Rh6Zh6 ProNav: ac range: 145.570663 m, nav range: 141.564926 m, bearing: 264.279089 deg, approach rate: -0.608580 m/s, LOS rate: 0.000333 deg/s, cmd heading: 274.491151 deg, new cmd heading: 274.491531 deg. Bhj7%HeadingCmd: 4.790781 target range: 145.570663 and range: 146.40 m.h%N@h!*h!"h! h!g!f)f)f-}Bd1d1d1jd1Zd=?e~}Bɢe.:)mR6 m(ii)m|4iiiu$}iu};}-;I}N@Iy@ @@/@E  E E $E "E :*E V:VE 4ZE a@a@a@a@BES>BEٍCBEIBEp}BBE =BABEiDBEi;BE#)EB CB CB ƘCB =B =C $ 7checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746998^Ar;I A I I O >,Ɏn?A>^Z@>(U@>oٱ># RAHRS rotation from veh to nav: [[0.079001,0.985073,0.152940],[-0.994696,0.067758,0.077387],[0.065869,-0.158242,0.985201]]>Hj9? ?? X?ϳ? ܰ? GAĿÆ?i>^Z@I>@_;9|Y=FyUlE:E> Q 55 ƨ?Q 95 a) BYyտQ I@ DI n;i ; s5y!ɮ%!A)jhIUFNOT Ignoring new targets: 145.57 m.Rh]+6Zh]+6m ProNav: ac range: 145.570663 m, nav range: 141.345688 m, bearing: 264.279145 deg, approach rate: -0.574434 m/s, LOS rate: 0.000147 deg/s, cmd heading: 274.491533 deg, new cmd heading: 274.491701 deg. Bhm6uHeadingCmd: 4.790784 target range: 145.570663 and range: 146.40 m.huN@hq*hy"hy hygyfyffdddjdZd@颵|}Bɢ2) ;i)x4ii";UY;IN@I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000627I)@) @)@-B0@)ԁE- E-E)E)"E-:*E-R:VE)ZE)BE-J,h?A2^@2|Y@2ҧٱ2># :AHRS rotation from veh to nav: [[0.079525,0.985016,0.153032],[-0.994633,0.068215,0.077794],[0.066190,-0.158397,0.985154]]2H`[?@??v?U??^FĿb?i2^@I2P_;2CDYZ}ByZIi5Mb@Mb@Mb@1111 195v/?:vQ?Y5x ?y5Խ5<5ZA51@ 5fA)5=A1Y5GAbDMVDM0ye=%eC=ٔevIQ-m>9iYi=mFymYlEu:Eu>yQ 55}զ?Q 95}O)}BY< ?Q E:yֿQ I@}DI} :i}U:}nu5yɮW!AjhY]FNOT Ignoring new targets: 145.57 m.Rhe*7Zhe*7 ProNav: ac range: 145.570663 m, nav range: 141.119217 m, bearing: 264.279339 deg, approach rate: -0.516777 m/s, LOS rate: 0.000445 deg/s, cmd heading: 274.491697 deg, new cmd heading: 274.492281 deg. Bh27HeadingCmd: 4.790794 target range: 145.570663 and range: 146.40 m.h/N@h*h"h hgfff}BdddjdZdC@%y}Bɢ% ))! %)=i))-^Q4iiimiuu 8;uk;Iu/N@Iyԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504125E9@A @I@M0@I@]=@Y^A ; E-  E- E) E) "E- [:*E- T:VE) ZE) a= @a= @a= @a= @A I I O >B= I>B= ؍CB= IB= }BB=  =B9 B= hDB= i;B= )E{*,@?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757310Rt@Rn@R*bٱRt" ZAHRS rotation from veh to nav: [[0.082127,0.984944,0.152119],[-0.994463,0.070946,0.077529],[0.065570,-0.157644,0.985317]]RH@??x? `)?س?/ɰ?-Ŀ?iRt@IRA^;RCYb}Byf IlbDrVDr:2yv-z=%zR=ٔzO:Q-z>9|Y|=~Fy~]lE;E> Q 5 5 ?Q 95 Ӣ) &BYyտQ I@ DI :i : !w5yɮ AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 145.57 m.RhZh ProNav: ac range: 145.570663 m, nav range: 140.908478 m, bearing: 264.279301 deg, approach rate: -0.546860 m/s, LOS rate: -0.000100 deg/s, cmd heading: 274.492271 deg, new cmd heading: 274.492155 deg. Bh8 HeadingCmd: 4.790792 target range: 145.570663 and range: 146.40 m.h +N@h *h "h  h gff1f1d9d9d9jd9ZdE`@颭w}Bɢ=} ) =i)n4i?Zik;9- ?Y- ?=-Fy-clE5l";E5>9Q 5E5=?Q 9E5=)=4i)Cӕ;ABU׍CBU IBU}BBQBQBUgDBUki;BU(EDAT read: 05:50:01.5182 LVL= 32752, 32753, 30994, 32755, AGC= 69, IDX= 414,-0.36,-0.765,-2.168,-0.189,-0.815, PHS= 0.152,-1.308, 0.582, RAW= 162.5, 6.7, CAL= 161.9, 6.5, ROT= 348.1, -6.5 Ygot valid direction response: 05:50:01.5182 LVL= 32752, 32753, 30994, 32755, AGC= 69, IDX= 414,-0.36,-0.765,-2.168,-0.189,-0.815, PHS= 0.152,-1.308, 0.582, RAW= 162.5, 6.7, CAL= 161.9, 6.5, ROT= 348.1, -6.5 %PDAT read: Bearing 79.6, -8.8 (Local) %~Local bearing/azimuth received: Bearing 79.6, -8.8 (Local) 5DAT read: Range 11 to 50 : 144.1 m (Round-trip 192.2 ms) speed 0.5 m/s =*DAT read: user:541> =BDAT read: Tx time:05:50:02.6218 E$Ping request sent.Eil?5@|=4@ V=)mj@IV轩"j?'_"{?>]Q?  >?)ITiV轩:publishing transmit ping timeAFpublishing direction and range infoy) k?ymt9ʿ5?Y )Ii )QAu؟AIyIO ?Y, 7?AI"j?'_"{?>]Q? )IiM=@M@MIٱMC eAHRS rotation from veh to nav: [[0.084938,0.985056,0.149834],[-0.994261,0.073978,0.077275],[0.065036,-0.155538,0.985687]]MH? ?-?`@9?Sȳ?7?ÿྊ?iM=@IM^;IY}By!IbDVDym=%=ٔz9Q->9"?Y"?=FyhlE-+;E->1Q 5=55I?Q 9=55)5QBY9y=mտQ I=@5DI5 :i5F:5|5ymBɮm? AmEii?AJiBCRiBCjiq@b:aha@!sY=mO70@R) k?ymt9ʿ5?ZiTbiVjM-Kla*ci=@ZtC.jw6#rt?2ie :inj"iN͠?*iOIBi'Bi'?ii'BiZ Ci҉@ addTargetRange:: Added new target pos. range: 144.100006 m, deltaT: 3.778346 s, deltaX: -2.299988 m, approachRate: -0.608729 m/s, rangeRepo size: 4  Added new target pos. range: 143.257843 m, bearing: 263.999723 deg, lat: 36.779447 deg, lon: -121.859759 deg, deltaT: 3.778346 s, deltaX: -2.312820 m, approachRate: -0.612125 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 143.26 m.RhZh ProNav: ac range: 143.257843 m, nav range: 140.351929 m, bearing: 264.166407 deg, approach rate: 0.000000 m/s, LOS rate: -0.000416 deg/s, cmd heading: 274.491451 deg, new cmd heading: 274.490747 deg. BhHeadingCmd: 4.790767 target range: 143.257843 and range: 144.10 m.hM@h*h "h  h g f ffdddjd@3b@ZdE ?颽q}Bɢ#) =i)>3i[iV;'₽ٱ6Mt! >AHRS rotation from veh to nav: [[0.087279,0.984689,0.150900],[-0.994135,0.076383,0.076563],[0.063865,-0.156697,0.985580]]6HW??P?֍?@?nY?Ŀމ?i6x@I6ql^;6CYJ}ByJ'IiMb@Mb@Mb@ 9%C?"~j9U ?YU ?=UFyUnlEU;EU>YQ 5e5]?Q 9m5]V)]dBYmr?Q Em:ymؿQ Im@]DI]a:i]j:]N~5yqɮ} AyjhY]FNOT Ignoring new targets: 143.26 m.Rhe|w8Zhe|w8u ProNav: ac range: 143.257843 m, nav range: 140.075699 m, bearing: 264.168168 deg, approach rate: -0.529495 m/s, LOS rate: 0.003381 deg/s, cmd heading: 274.490741 deg, new cmd heading: 274.496032 deg. Bhu~9UHeadingCmd: 4.790860 target range: 143.257843 and range: 144.10 m.h]N@hY*hY"hY hYgYfYfafe}BdadadijdiZdm?o}Bɢv) =i)02i+i;7FBm ֍CBm FIBm ~BBi Bi Bm fDBm =i;Bm (Eԑ A I I O- >CȀ,{K$?A2D@2@2-ٱ2# :AHRS rotation from veh to nav: [[0.088107,0.984372,0.152474],[-0.994104,0.077182,0.076157],[0.063198,-0.158285,0.985369]]2H3?@? C?5³??-?@BĿ`$?i2D@I2V:^;2CYB~ByFAIbDNVDN:yr=%vR=ٔvP:Q-v>9xYx=zFyzqlEz ;Ez>Q 5 5?Q 9 5)qBY y׿Q I@DI|:i:5yɮqA=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 143.26 m.RhMv8ZhUv8e ProNav: ac range: 143.257843 m, nav range: 139.871490 m, bearing: 264.169394 deg, approach rate: -0.558967 m/s, LOS rate: 0.003362 deg/s, cmd heading: 274.496041 deg, new cmd heading: 274.499726 deg. Bhe9mHeadingCmd: 4.790924 target range: 143.257843 and range: 144.10 m.hm@O@hi*hi"hi higifqfqfqdqdydyjdyZd}@d?颭n}BɢV) U&>i)H2顱i3ijc;FNiqU9@Q @Q@U0@Q@]=@]=ԡ^A/C<T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A ؟AI I O > ΀,7>?AZT@Z@ZNٱZ $  AHRS rotation from veh to nav: [[0.089089,0.984146,0.153360],[-0.994054,0.078174,0.075800],[0.062610,-0.159201,0.985259]]ZH ζ? ~?I? J5?g?@.? `Ŀ=?iZT@IZ<^;XYM!~ByMIIE EE(E"Em:*Ec:VEc44ZEBES9"?Y"?=FyvlE;E>Q 55?Q 95UŽ)BY?Q E:ypؿQ I@DIk;i;(5yɮ<AjhFNOT Ignoring new targets: 143.26 m.Rhَ8Zhَ8 ProNav: ac range: 143.257843 m, nav range: 139.616562 m, bearing: 264.171315 deg, approach rate: -0.516996 m/s, LOS rate: 0.003903 deg/s, cmd heading: 274.499729 deg, new cmd heading: 274.505503 deg. Bhk+9HeadingCmd: 4.791025 target range: 143.257843 and range: 144.10 m.hP@h*h"h hg!f!f!f%}Bd)d)d)jd)Zd-@;?]l}Bɢ]d)a eC5>ia)e1aaie:韻imm};u`ZkՀ,#Y?AY 5~ByUI p;bD%VD%1y5b=%5n=ٔ=Q-=?99Y9==FyEzlEEEE?IQ 5U5M3?Q 9U5Mɽ)MBYYyYQ I]@M%DIM|:iM:M5yaɮeAajhFNOT Ignoring new targets: 143.26 m.Rhc8Zhc8 ProNav: ac range: 143.257843 m, nav range: 139.439850 m, bearing: 264.172651 deg, approach rate: -0.517654 m/s, LOS rate: 0.003918 deg/s, cmd heading: 274.505494 deg, new cmd heading: 274.509506 deg. Bh,9HeadingCmd: 4.791095 target range: 143.257843 and range: 144.10 m.hP@h*h"h hgfffdddjdZdN?k}Bɢʯ) I>i) 1ii;X) 7$܀,r?ARr@R<@R;+|ٱRa( ZAHRS rotation from veh to nav: [[0.089959,0.983364,0.157809],[-0.994043,0.078864,0.075223],[0.061526,-0.163635,0.984600]]RH?w?3?3o0?A?N?Ŀ؁?iRr@IR^;RCYbB~Byb]Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256056bDrVDryz =%zO=ٔ~J4;Q-~>9|Y|=Fy~lE<;E> Q 55 )?Q 95 FϽ) BYyIؿQ I@ +DI ;i "; `5y!ɮ%A!jhIMFNOT Ignoring new targets: 143.26 m.Rh68Zh68 ProNav: ac range: 143.257843 m, nav range: 139.235886 m, bearing: 264.174096 deg, approach rate: -0.516756 m/s, LOS rate: 0.003667 deg/s, cmd heading: 274.509510 deg, new cmd heading: 274.513852 deg. Bh!9HeadingCmd: 4.791171 target range: 143.257843 and range: 144.10 m.hEQ@h*h"h hgfffdddjdZd%@x@颍j}BɢM)Q UX>iQ)UoH0QYi]imWm<;udA >A .AI I O > ,@?A 2@2{@2I{ٱ2/, >AHRS rotation from veh to nav: [[0.089990,0.982748,0.161582],[-0.994054,0.078641,0.075318],[0.061311,-0.167399,0.983981]]2H ?@r??I!?`H?`2d?Vmſ|?i2@I2^;2CYbD~Byb^IIf>)diMMb@Mb@Mb@IIII I9MK7?S㥛:v?YM ?yM$MT9} ?Y ?=FylE8E>Q 55d?Q 95Iս)BY ?Q E:yVۿQ I@3DIu ;i ;65yBɮAEjhFNOT Ignoring new targets: 143.26 m.Rh*9Zh*9 ProNav: ac range: 143.257843 m, nav range: 139.005234 m, bearing: 264.178004 deg, approach rate: -0.549140 m/s, LOS rate: 0.009320 deg/s, cmd heading: 274.513854 deg, new cmd heading: 274.525599 deg. Bh9HeadingCmd: 4.791376 target range: 143.257843 and range: 144.10 m.hR@h*h"h hgfff}BdddjdZd`@i}Bɢz) 8[>i!)%/!)i-?iU󾿉Uҙ;]O`B B xIB n~BB  =B B gDB Ch;B f(EBm֍CBm׍CBmʓCBm =Bm =Cm-^5A] ؟AIa Iy O > BDAT read: Rx Time:05:50:05.2154  TRx dataTimestamp_ set to:1761544206.580083 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013023c4,g?A2u@2?@2{ٱ2- :AHRS rotation from veh to nav: [[0.090082,0.982530,0.162850],[-0.994039,0.078616,0.075544],[0.061421,-0.168685,0.983754]]2H@?p?I?). ? V?@r?vſz?i2u@I2^;2CPYbV~ByfiIhjAAbD~VD~:y 9=% Q=ٔQ->9"?Y"?nManaging dock network, ignoring radio surface power off==Fy=lE=w9EE>AQ 5M5Eʏ?Q 9U5Eڽ)EBYQyUQۿQ IU@E:DIEm;iE;E5yɮ8AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 143.26 m.Rhf&9Zhf&9- ProNav: ac range: 143.257843 m, nav range: 138.788116 m, bearing: 264.181680 deg, approach rate: -0.536172 m/s, LOS rate: 0.009092 deg/s, cmd heading: 274.525602 deg, new cmd heading: 274.536648 deg. Bh-9uHeadingCmd: 4.791568 target range: 143.257843 and range: 144.10 m.huT@hq*hy"hy hygyfyffdddjdZd @h}Bɢfؼ) n>i).i iQ]?g;]ҿ_,t?AE5 E5E5%E1"E5I:*E5L_:VE5 4ZE1BE5 BDAT read: Tx time:05:50:06.3218 $Ping request sent.ieΧe?aaa a)aIaaaeǓQk?v{? ? e>?)e0vIaiaay-qIa:publishing transmit ping timeFpublishing direction and range infoyae) k?ymt9ʿ5?Yaaaaa a)aIaiaaaaa a)aIaaaeǓQk?v{? ? a)aIaiaaa)iMb@Mb@Mb@ 9K7A`?Dl9)Y1=5Fy5lE5m9E5>9Q 5e5=?Q 9m5=)=BYm?Q Em:ymgܿQ Im@=CDI=;i=;=D5yqɮ}Ayiaieq?AJie+ CRie+ CjieJ@beC!g'a@2$< e&/@Re) k?ymt9ʿ5?ZiabiajefW.I *܎/aޙX=@ZeAԑZS+lȐ6Q?2ie :ieV"ieAT ?*iei:Bie>BiaieOIie>BieC Cie@5 addTargetRange:: Added new target pos. range: 142.000000 m, deltaT: 3.529304 s, deltaX: -2.100006 m, approachRate: -0.595020 m/s, rangeRepo size: 4  Added new target pos. range: 141.168808 m, bearing: 264.421498 deg, lat: 36.779447 deg, lon: -121.859757 deg, deltaT: 3.529304 s, deltaX: -2.089035 m, approachRate: -0.591911 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 141.17 m.RhZh ProNav: ac range: 141.168808 m, nav range: 138.265152 m, bearing: 264.178186 deg, approach rate: 0.000000 m/s, LOS rate: 0.009092 deg/s, cmd heading: 274.536640 deg, new cmd heading: 274.551526 deg. BhHeadingCmd: 4.791828 target range: 141.168808 and range: 142.00 m.hV@h*h"h hgfffdddjda@Zd`?Qiɢm)i m{>ii)m߬-qqiuUԲi}便}6;yI}V@II)) @1  @1 @5 4@1 @M =@M =ԁ ^AU f<Ա A.AIIO?,?A>@>ʯ@>''|ٱ>Ť/EF EFEF$ED"EF:*EFR:VEF4ZEDaJ@aN@aN@aN@ RAHRS rotation from veh to nav: [[0.090026,0.982256,0.164524],[-0.994037,0.078415,0.075767],[0.061522,-0.170364,0.983459]]>H` ?n? ?'?~e?`? {ſ~x?i>@I>#^;>CYZn~By^xI ``Bf:>BdBfIBf~BBdBdBffDBfg;Bf,(ErArAbDzVDzy~<%U=ٔ wNQ- >9  ?Y  ?=FylE2E>Q 5%5R?Q 9-52)BY)y-kܿQ I-@JDI ;i: ;5y1ɮ5A9jhYeFNOT Ignoring new targets: 141.17 m.Rhe/^9Zhe/^9u ProNav: ac range: 141.168808 m, nav range: 138.052139 m, bearing: 264.182576 deg, approach rate: -0.588178 m/s, LOS rate: 0.012141 deg/s, cmd heading: 274.551529 deg, new cmd heading: 274.564720 deg. BhuO:}HeadingCmd: 4.792058 target range: 141.168808 and range: 142.00 m.hX@h*h"h hgfffdddjdZd?g}Bɢ̸) p>i)',i>i?ݾP;OXԉ or,[?AF@FJ@Fp@}ٱF. NAHRS rotation from veh to nav: [[0.089600,0.982419,0.163784],[-0.994059,0.078008,0.075900],[0.061790,-0.169612,0.983572]]FH ?`o? ?`UO?6n?`䢯?@׵ſky?iF@IFR^;FCYj|~ByjIp <<bD VD 0y=%A=ٔ`&Q-=>9AYA=EFyElEE.EM>IQ 5U5ML?Q 9U5M])MBYYy}{ܿQ I}@MRDIM ;iM;Mώ5yɮAjhFNOT Ignoring new targets: 141.17 m.RhR9ZhR9E ProNav: ac range: 141.168808 m, nav range: 137.815262 m, bearing: 264.187523 deg, approach rate: -0.549995 m/s, LOS rate: 0.011505 deg/s, cmd heading: 274.564725 deg, new cmd heading: 274.579590 deg. BhE9MHeadingCmd: 4.792318 target range: 141.168808 and range: 142.00 m.hMZ@hI*hI"hI hIgQfQffdddjdZd[?DzD?AbEž4jE4rEz:0E5 E5E5'E1"E5:*E5:VE5'4ZE1BE58 iY)]+YYieZieԾm.a;mOA ԙ I I O >|,s?A2@2@2Y~ٱ2^. :AHRS rotation from veh to nav: [[0.089263,0.982528,0.163313],[-0.994073,0.077667,0.076071],[0.062058,-0.169135,0.983637]]2Hٶ?`p?p? r@?`_y?Ư?9ſy?i2@I2s^;2CYB~ByBIi Mb@Mb@Mb@     9 V-?K7Zd;O?Y  ?y I j< CA |@ "A) (@ Y AbD%VD%fy5rF=%54=ٔ=Q-=>99Y9==Fy=lEEzDEE>IQ 5U5M4?Q 9U5M)MBY]?Q E]:y]ۿQ I]@MZDIM:iM:Mǐ5yBɮ AEjhMFNOT Ignoring new targets: 141.17 m.RhU59ZhU59 ProNav: ac range: 141.168808 m, nav range: 137.561081 m, bearing: 264.192119 deg, approach rate: -0.546266 m/s, LOS rate: 0.009897 deg/s, cmd heading: 274.579588 deg, new cmd heading: 274.593403 deg. BhX9HeadingCmd: 4.792559 target range: 141.168808 and range: 142.00 m.h\@h*h"h hgfff~BdddjdZdo?ɢfȨ) ڕ>i)=*99i=riE̾Eٜ;ELHBBIB~BBBBB\g;B'E EE%E"E:*ErN:VE 4ZEBE <2E <JEV;:EW;9@ @@@)^A0:D1 ,%3?A Nc@N-@Nˢ}ٱN. VAHRS rotation from veh to nav: [[0.089343,0.982561,0.163067],[-0.994077,0.077795,0.075892],[0.061883,-0.168882,0.983692]]NH,߶?$q?b?yZ?m?)?`ſ gz?iNc@IN.^;LYb~BybIIfp=)dbDjVDjkyr<%vQ=ٔv9Q-v>9xYx=zFyzlEz;U9Ez>|Q 55~?Q 9 5~)~BY y ۿQ I @~aDI~:i~g:~}5yɮA5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 141.17 m.RhMbD9ZhMbD9] ProNav: ac range: 141.168808 m, nav range: 137.340225 m, bearing: 264.196121 deg, approach rate: -0.591268 m/s, LOS rate: 0.010731 deg/s, cmd heading: 274.593412 deg, new cmd heading: 274.605437 deg. Bh]9eHeadingCmd: 4.792769 target range: 141.168808 and range: 142.00 m.he]^@ha*ha"ha higifififqdqdqdqiyIyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.jdZd??ɢ^ ) >i) )i{ûiž"G;[GF,;L?A2 @2Ӭ@2E|ٱ2>- :AHRS rotation from veh to nav: [[0.089666,0.982610,0.162596],[-0.994072,0.078216,0.075517],[0.061486,-0.168404,0.983799]]2H`?q??`p`?U?{? ?ſ@G{?i2 @I2\L^;2CYB~ByFIPiMb@Mb@Mb@ 9oʡ?Mb9"?Y"?=FylEH:E>Q 55~?Q 95)"BY?Q E:y<ٿQ I@iDIa:i:W5yɮKAjhFNOT Ignoring new targets: 141.17 m.Rh8Zh8 ProNav: ac range: 141.168808 m, nav range: 137.103378 m, bearing: 264.198602 deg, approach rate: -0.559734 m/s, LOS rate: 0.005873 deg/s, cmd heading: 274.605433 deg, new cmd heading: 274.612888 deg. Bh9HeadingCmd: 4.792899 target range: 141.168808 and range: 142.00 m.hn_@h*h"h hgfff ~Bd d d jd Zd`N{@]h}Bɢ]xL)a ey>ii)m(iiiuuFȻi}}Ν;EKB B IB ~BB B B B g;B 'EE  E E !E "E غ:*E VL:VE c3ZE BE <2E <JE ;:E ;O% >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498217C,f?A2ί@2@2zٱ2, :AHRS rotation from veh to nav: [[0.089397,0.982763,0.161816],[-0.994112,0.078056,0.075152],[0.061226,-0.167582,0.983955]]2H?r?e?@r?#=?X?Ssſ|?i2ί@I2~^;0YB~ByBIbDNVDN:y1=%S=ٔ80:Q->9 Y = Fy lE 8E>!Q 5-5{?Q 9-5)4BY)y-HٿQ I-@oDIF;i:5y9ɮ=A9jhamFNOT Ignoring new targets: 141.17 m.Rhmb8Zhub8 ProNav: ac range: 141.168808 m, nav range: 136.886551 m, bearing: 264.200911 deg, approach rate: -0.556654 m/s, LOS rate: 0.005939 deg/s, cmd heading: 274.612892 deg, new cmd heading: 274.619832 deg. Bhn9HeadingCmd: 4.793020 target range: 141.168808 and range: 142.00 m.hl`@h*h"h hgfffdddjdZd`(@ɢ) ص>i)'ic̻iB;Dԡ G+ ,?A2Y@2#@2gxٱ23, :AHRS rotation from veh to nav: [[0.089466,0.982853,0.161233],[-0.994140,0.078261,0.074567],[0.060670,-0.166959,0.984095]]2H`@?s?E?@??)?^ſ}?i2Y@I2?^;0YB~ByBI DDbDNVDNk1yVe=%VP=ٔV:Q-Z>9XYX=ZFyZlE^09E^>`Q 5f5bYy?Q 9f5bQ )bFBYdyfGٿQ Ij@bvDIb:ibg:b5ylɮnAljhFNOT Ignoring new targets: 141.17 m.Rh 8Zh 8 ProNav: ac range: 141.168808 m, nav range: 136.666702 m, bearing: 264.203259 deg, approach rate: -0.562235 m/s, LOS rate: 0.006012 deg/s, cmd heading: 274.619831 deg, new cmd heading: 274.626884 deg. Bh 9%HeadingCmd: 4.793143 target range: 141.168808 and range: 142.00 m.h%na@h!*h!"h! h)g)f)f)f)d1d1d1jd1Zd=\@E EEE"E[:*E:VEZEa@a@a@a@Աi}Bɢ%Bp)) ->i1)]j&Yaieѻi;ž;Ina@I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004428@ @@4@^A BDAT read: Rx Time:05:50:08.9114  TRx dataTimestamp_ set to:1761544210.360926 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256095 A9 IA IY Oe >~U&,?A2@2Ю@2-Ouٱ2(+ :AHRS rotation from veh to nav: [[0.089917,0.982866,0.160904],[-0.994149,0.078866,0.073809],[0.059854,-0.166599,0.984206]]2H?s??@0??4?@ Sſ`~?i2@I2f^;2CY^~By^Ii}Mb@Mb@Mb@yyyy y9}sh|??q= ףp9Y=FylE:E>Q 550w?Q 95)ZBYc ?Q E:yֿQ I@~DI@:i:5yBɮ4AEjhFNOT Ignoring new targets: 141.17 m.Rh .7Zh .7 ProNav: ac range: 141.168808 m, nav range: 136.428986 m, bearing: 264.203935 deg, approach rate: -0.544474 m/s, LOS rate: 0.001552 deg/s, cmd heading: 274.626880 deg, new cmd heading: 274.628912 deg. BhN8%HeadingCmd: 4.793179 target range: 141.168808 and range: 142.00 m.h%a@h!*h!"h! h!g)f)f)f-*~Bd1d1d1jd9Zd=J8 @ej}Bɢe`_)m m>ii)m-%iiiuֻiu}B;}KBՍCBIB~BBBBE EE(E"E:*Ek:VEc44ZEBE[ A>A I I1 O] >ԉ ,,k?A2鶒@2@27rٱ27+ :AHRS rotation from veh to nav: [[0.090271,0.982834,0.160897],[-0.994162,0.079341,0.073122],[0.059101,-0.166558,0.984259]]2H? as?C?-@O??vB?Qſ` ?i2鶒@I2f^;2CYBByBIbDJVDJkyn,=%nX=ٔr;Q-r>9pYp=vFyvlEvs:Ev>xQ 5~5zRu?Q 9~5z)zjBYyֿQ I@zDIzQ;iz];zN5y ɮ A -B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 141.17 m.RhE7ZhE7U ProNav: ac range: 141.168808 m, nav range: 136.222534 m, bearing: 264.204492 deg, approach rate: -0.545974 m/s, LOS rate: 0.001475 deg/s, cmd heading: 274.628902 deg, new cmd heading: 274.630575 deg. BhU8DAT read: 05:50:08.9114 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 423, 0.13, 0.022,-1.385, 0.593,-0.019, PHS= 0.143,-1.321, 0.568, RAW= 162.4, 7.2, CAL= 161.8, 7.0, ROT= 348.2, -7.0 Ygot valid direction response: 05:50:08.9114 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 423, 0.13, 0.022,-1.385, 0.593,-0.019, PHS= 0.143,-1.321, 0.568, RAW= 162.4, 7.2, CAL= 161.8, 7.0, ROT= 348.2, -7.0 PDAT read: Bearing 80.7, -9.3 (Local) ~Local bearing/azimuth received: Bearing 80.7, -9.3 (Local) DAT read: Range 11 to 50 : 140.2 m (Round-trip 187.0 ms) speed 0.4 m/s *DAT read: user:543> BDAT read: Tx time:05:50:10.0203 $Ping request sent.i]]sh?] g5@]>]{4@ ]5=)]x@I]5YY]Szs?6Ϝf?kpL? ]]=?)]I]4Ri]5YY:publishing transmit ping time Fpublishing direction and range infoyY] IF?/nɿUM7P2?YYYYYY Y)YIYiYYYQYY Y)YIYYY]Szs?6Ϝf?kpL? Y)YIYiYYYk}Bɢ?) k>i)#imۻiuuП;uB4PHg3,kF?A2@2J@2 nٱ2.* :AHRS rotation from veh to nav: [[0.090832,0.982885,0.160273],[-0.994159,0.080076,0.072355],[0.058282,-0.165909,0.984417]]2H@@?`s?҃?'`?Յ?,׭?`<ſX?i2@I2J^;2CYBByBIIF=)F;J=Hi]Mb@Mb@Mb@YYYY Y9]Mb?S㥻L7A`?Y]?y]/ݽ]+=Y]@ Y)]@YY]AbDuVDuN2y=%?=ٔ:Q->9 ?Y ?=FylE :E>Q 55Ws?Q 95)|BY8?Q E:yֿQ I@DIj;iT;25yɮAԱiiB?AJi` CRi` Cji?ʓ@bb+D`@BJ?*iBi(BiAT ?ii'BiCi@ addTargetRange:: Added new target pos. range: 140.199997 m, deltaT: 3.778437 s, deltaX: -1.800003 m, approachRate: -0.476388 m/s, rangeRepo size: 4 - Added new target pos. range: 139.376907 m, bearing: 264.617023 deg, lat: 36.779452 deg, lon: -121.859757 deg, deltaT: 3.778437 s, deltaX: -1.791901 m, approachRate: -0.474244 m/s, posRepo size: 4 jh15FNOT Ignoring new targets: 139.38 m.Rh=Zh9M ProNav: ac range: 139.376907 m, nav range: 135.939514 m, bearing: 264.454902 deg, approach rate: 0.000000 m/s, LOS rate: 0.001475 deg/s, cmd heading: 274.630568 deg, new cmd heading: 274.632627 deg. BhIUHeadingCmd: 4.793243 target range: 139.376907 and range: 140.20 m.hU@b@hQ*hQ"hQ hYgYfYfYf]T~BdadadajdaZdm[ ?颕l}BɢBF)  >i)?"顙iQNij]; WB B IB /BB B B eDB f;B 'EBIBMՍCBIBM =BICM84E  E E E "E :*E VL:VE ZE BE "?AB@Bn@BkٱB߾* JAHRS rotation from veh to nav: [[0.091217,0.982878,0.160094],[-0.994168,0.080593,0.071662],[0.057533,-0.165697,0.984497]]BH`Z?s?}?8?`sX?t? 5ſ?iB@IB^;@Yb'BybIjAAhbDnVDn1yv/=%vV=ٔz0;Q-z>9z"?Yz"?=zFyzlEu:E>Q 5 5xq?Q 9 5Z#)BY y wֿQ I @DIA:i:5yyɮ}uAjhFNOT Ignoring new targets: 139.38 m.Rh7Zh7 ProNav: ac range: 139.376907 m, nav range: 135.727081 m, bearing: 264.455612 deg, approach rate: -0.494920 m/s, LOS rate: 0.001658 deg/s, cmd heading: 274.632617 deg, new cmd heading: 274.634752 deg. Bh8%HeadingCmd: 4.793281 target range: 139.376907 and range: 140.20 m.h%b@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5@R?9mn}BɢmF)i m>ii)uP qqiu8i}5};}O<\9M ?YM ?=MFyMlEMEU>QQ 5]5U o?Q 9e5U,)UBYez?Q Ee:yeAԿQ Ie@UDIU6;iU ;U5yuBɮuAuEjhFNOT Ignoring new targets: 139.38 m.Rh$Zh$ ProNav: ac range: 139.376907 m, nav range: 135.396851 m, bearing: 264.454307 deg, approach rate: -0.568391 m/s, LOS rate: -0.002253 deg/s, cmd heading: 274.634748 deg, new cmd heading: 274.630822 deg. BhŸHeadingCmd: 4.793212 target range: 139.376907 and range: 140.20 m.ha@h*h"h hgfff0~BdddjdZdj?p}Bɢ&]) >i)oiitϡ;u\B B IB WBB =B EDB B f;B 'E @  @ @ :0@ E=  E= E= %E9 "E= y:*E= c:VE= 4ZE9 BE= 9 Y = Fy lE;E>Q 5%5)m?Q 9%52)BY)y-ӿQ I-@DId:i:5y5גBɮ5A=EjhYeFNOT Ignoring new targets: 139.38 m.Rhe=Zhe= ProNav: ac range: 139.376907 m, nav range: 135.134918 m, bearing: 264.453008 deg, approach rate: -0.521780 m/s, LOS rate: -0.002593 deg/s, cmd heading: 274.630814 deg, new cmd heading: 274.626910 deg. BhHeadingCmd: 4.793144 target range: 139.376907 and range: 140.20 m.hoa@h*h"h hg!f!f!f!d)d)d)jd)ZdU`@额r}Bɢ() >i)顡iTiMMh;MY~ ;T,Q?ARӒ@RΙ@R ^ٱRR, bAHRS rotation from veh to nav: [[0.093795,0.982369,0.161722],[-0.994109,0.083550,0.069039],[0.054310,-0.167245,0.984418]]RH?o? N?@c??`Ϋ?Ghſ [?iRӒ@IRe];RCdYnGBynIiMb@Mb@Mb@ 9T㥛 ?I +I +?Y?y994<AO@ )@YzAbDVDyҦ% =ٔ:Q->9Y=FylEU::E>Q 55k?Q 959)BY?Q E:yyҿQ I@DI ;i ;-5yɮAB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 139.38 m.Rh-{Zh-{= ProNav: ac range: 139.376907 m, nav range: 134.875259 m, bearing: 264.450438 deg, approach rate: -0.508351 m/s, LOS rate: -0.005040 deg/s, cmd heading: 274.626907 deg, new cmd heading: 274.619184 deg. Bh=`]EHeadingCmd: 4.793009 target range: 139.376907 and range: 140.20 m.hET`@hA*hA"hA hAgIfIfIfM2~BdQdQdQjdQZd] @颭u}BɢX) >i)K顱ii};ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.MqQ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760082\Z,vk?A4<ɰp<2ڒ@2ԙ@2Zٱ2!d, :AHRS rotation from veh to nav: [[0.094573,0.982278,0.161819],[-0.994085,0.084464,0.068266],[0.053389,-0.167318,0.984456]]2H 5?n?x?n?y?U?jſ?i2ڒ@I25];2CYfFBydbDvVDvy~a%Y=ٔ ;Q- >9 Y =FylE;E>!Q 555%`j?Q 955%>)%BY19y=_ҿQ IE@%DI%;i%;%ԧ5yQɮUAQjhFNOT Ignoring new targets: 139.38 m.Rh"Zh" ProNav: ac range: 139.376907 m, nav range: 134.682678 m, bearing: 264.448461 deg, approach rate: -0.502491 m/s, LOS rate: -0.005167 deg/s, cmd heading: 274.619176 deg, new cmd heading: 274.613234 deg. BhbHeadingCmd: 4.792905 target range: 139.376907 and range: 140.20 m.h{_@h*h"h hgfffdddjdZd@w}Bɢ  X)  N>i )   ii}<; @Da,P?AEB EBEB%E@"EB[:*EBT:VEB 4ZE@aJ@aJ@aJ@aJ@m@mܙ@mVٱm,ԡBDAT read: Rx Time:05:50:12.6102 TRx dataTimestamp_ set to:1761544214.143573checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270272 AHRS rotation from veh to nav: [[0.095532,0.982228,0.161563],[-0.994055,0.085618,0.067268],[0.052239,-0.167029,0.984567]]mHt?hn??K`?q8??5aſ?im@Im];mCYLByIiMb@Mb@Mb@ 9S㥛?(\µMbP?Y?y:tA A)@YQAbDVDNyH<%=ٔ8;Q->9Y=FylE:E>Q 55h?Q 95F)BY?Q E:yNѿQ I@DI ;iu ;#5y ɮAjh1=FNOT Ignoring new targets: 139.38 m.Rh=qZhEqU ProNav: ac range: 139.376907 m, nav range: 134.405594 m, bearing: 264.444622 deg, approach rate: -0.529148 m/s, LOS rate: -0.007346 deg/s, cmd heading: 274.613247 deg, new cmd heading: 274.601707 deg. BhUU]HeadingCmd: 4.792704 target range: 139.376907 and range: 140.20 m.h]]@hY*hY"hY hYgYfafafe-~BdididijdiZdm@8- @颥z}Bɢ*4) >i)A顱iiȾL;ÏŐg,f?AYz9By~IbD VD y{%=ٔQ-?9!Y!=%Fy%lE-E-?1Q 5=55 h?Q 9=55I)5BY9y9Q I=@5DI5w;i5;5g5yIɮMAIjhiuFNOT Ignoring new targets: 139.38 m.Rh}Zh} ProNav: ac range: 139.376907 m, nav range: 134.254089 m, bearing: 264.442516 deg, approach rate: -0.524351 m/s, LOS rate: -0.007296 deg/s, cmd heading: 274.601718 deg, new cmd heading: 274.595394 deg. Bh9HeadingCmd: 4.792594 target range: 139.376907 and range: 140.20 m.h\@h*h"h hgfffdddjdZd| @Ա|}BɢE) >i)Hii˾C;I\@IB3>BB'IBBB =BEDBfDB-g;B'EE] E]E]&EY"E]:*E]R:VE]4ZEYBE] BDAT read: Tx time:05:50:13.7234 $Ping request sent.i}?V ?4@=I4@ )@Ii&.?>j@?3ır? 7;?)BIKi:publishing transmit ping timeFpublishing direction and range infoy٢M"?cɿUM7P2?Y )Ii )Ii&.?>j@?3ır? )Ii^AU'<IIO> 9 m,8?A2*ܒ@2֙@2[Mٱ2l 2 :AHRS rotation from veh to nav: [[0.094838,0.981295,0.167528],[-0.994230,0.084895,0.065564],[0.050116,-0.172780,0.983685]]2HIG?f? q?`?Ȱ?? ƿ`Xz?i2*ܒ@I2 ];0YJ@ByNIbDVVDV3yn<%rN=ٔr;Q-r>9tYt=vFyvlEvEz>|Q 5~5~f?Q 95~vO)~BYy_ѿQ I@~DI~N:i~$:~#5y ɮAii.?AJiI CRiI Cjid/@b#Fjx`@@B:ܐs60@R٢M"?cɿUM7P2?ZiKbij? %72^߿`YҺe;@ZyVo"UR;+]?2i:iW/"ilˡ?*i;Bi=Biiii Ci㰓@e addTargetRange:: Added new target pos. range: 138.100006 m, deltaT: 3.780014 s, deltaX: -2.099991 m, approachRate: -0.555551 m/s, rangeRepo size: 4 u Added new target pos. range: 137.288879 m, bearing: 265.324445 deg, lat: 36.779452 deg, lon: -121.859757 deg, deltaT: 3.780014 s, deltaX: -2.088028 m, approachRate: -0.552386 m/s, posRepo size: 4 jhq}FNOT Ignoring new targets: 137.29 m.Rh}Zhy ProNav: ac range: 137.288879 m, nav range: 134.045898 m, bearing: 264.439661 deg, approach rate: 0.000000 m/s, LOS rate: -0.007296 deg/s, cmd heading: 274.595407 deg, new cmd heading: 274.586615 deg. BhHeadingCmd: 4.792440 target range: 137.288879 and range: 138.10 m.h[@h*h"h hgff!f!d!d!dIjdM@3Ca@ZdUA?额}Bɢ@ܻ) >i) 顡iEPiо6;ԑ t,Mh?A>Lؒ@>ә@>Q{Iٱ>z3 FAHRS rotation from veh to nav: [[0.094373,0.981044,0.169253],[-0.994322,0.084488,0.064696],[0.049170,-0.174398,0.983447]]>H(?@d? ?@| ??,?Rƿex?i>Lؒ@I>B];>CYN-ByRIi%Mb@Mb@Mb@!!!! !9%/$?+ηY% ?y%v%%A! !)%@!Y%@ 9=<bDEVDE:yM:%UD=ٔU;Q-U>9YYY=]Fy]lE]>Ee>aQ 5m5ee?Q 9u5eU)eBYu ?Q Eu:yu<ҿQ Iu@eDIei ;ie ;e5y͒BɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 137.29 m.Rho޸Zho޸ ProNav: ac range: 137.288879 m, nav range: 133.815216 m, bearing: 264.437153 deg, approach rate: -0.558008 m/s, LOS rate: -0.006077 deg/s, cmd heading: 274.586609 deg, new cmd heading: 274.579072 deg. BhvquHeadingCmd: 4.792309 target range: 137.288879 and range: 138.10 m.h}Z@hy*hy"hy hygyfyff}BdddjdZd@?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.5}Bɢ=)9 =}>i9)=9AiEiE վMό;M:*Eu |;:VEu '4ZEq BEu A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999177A ؟AI I O > Oz,A?AFӒ@FΙ@FTGٱF 3 VAHRS rotation from veh to nav: [[0.093822,0.981094,0.169267],[-0.994395,0.084022,0.064178],[0.048742,-0.174340,0.983478]]FH ?e??u? m?@?Pƿx?iFӒ@IF^;FCYb*BybIbD%VD%:y5ӻ%5L=ٔ5*:Q-=>9="?Y="?=EFyElEEյEE>IQ 5U5M+d?Q 9U5MS[)MBYYy]NҿQ I]@MDIM;iM3;M5yaɮeAajhFNOT Ignoring new targets: 137.29 m.RhظZhظ ProNav: ac range: 137.288879 m, nav range: 133.593781 m, bearing: 264.434790 deg, approach rate: -0.553655 m/s, LOS rate: -0.005919 deg/s, cmd heading: 274.579069 deg, new cmd heading: 274.571967 deg. BhHeadingCmd: 4.792185 target range: 137.288879 and range: 138.10 m.hY@h*h"h hgfffdddjdZd @?U}Bɢ]ǻ)Y ]>iY)eXaiim iuپuOA;ui2j,?AE EE&E"E:*Ee:VE4ZEa@a@a@a@Zl̒@Z6Ǚ@ZoDٱZ2 fAHRS rotation from veh to nav: [[0.092937,0.981336,0.168351],[-0.994513,0.083336,0.063239],[0.048029,-0.173304,0.983697]]ZHʷ?@g?? {U?m0?A?`.ƿ qz?iZl̒@IZ}?^;ZCYn@BynIIr=)r>bDzVDz 3yZ=%N=ٔ{:Q- >9 Y = Fy lE~E>Q 5-5b?Q 955a)BYAyElҿQ IM@DI;i:;r5yQɮUgAQechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499389jhFNOT Ignoring new targets: 137.29 m.Rh%θZh%θm ProNav: ac range: 137.288879 m, nav range: 133.374069 m, bearing: 264.432524 deg, approach rate: -0.545169 m/s, LOS rate: -0.005632 deg/s, cmd heading: 274.571965 deg, new cmd heading: 274.565156 deg. Bhu`wHeadingCmd: 4.792066 target range: 137.288879 and range: 138.10 m.hX@h*h"h hgfffddd jd1Zd=(?Y}Bɢ) >i)ig( i ܾ; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751274ԩ -݇, ?A2cƒ@2-@2rBٱ21 :AHRS rotation from veh to nav: [[0.092206,0.981501,0.167791],[-0.994609,0.082754,0.062496],[0.047454,-0.172649,0.983840]]2H֚?th?+z?@ \/?q?`K?Zƿ@{?i2cƒ@I2^;2C9AYI=MFyMlEMSEM>QQ 5]5UTa?Q 9e5U_g)U BYea?Q Ee:yeҿQ Ie@UDIUP ;iU;U>5yɮAB9B9B=IB=vBB9B=DDB9B=g;B='EBՍCBBBBC5jhamFNOT Ignoring new targets: 137.29 m.Rhm̸Zhm̸ ProNav: ac range: 137.288879 m, nav range: 133.134644 m, bearing: 264.430106 deg, approach rate: -0.552958 m/s, LOS rate: -0.005594 deg/s, cmd heading: 274.565163 deg, new cmd heading: 274.557895 deg. BhuHeadingCmd: 4.791939 target range: 137.288879 and range: 138.10 m.hW@h*h"h hgfff}BdddjdZd`p?E5 E5E1E1"E5:*E5 H:VE1ZE1BE58 i))-g))i-%Oi5&᾿5+;=$|  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255240?,:?AJǼ@J@JJ@ٱJA1 RAHRS rotation from veh to nav: [[0.091042,0.981693,0.167303],[-0.994738,0.081720,0.061794],[0.046991,-0.172049,0.983967]]JH N?`j?@1j?` ?q?`$?ƿ|?iJǼ@IJ` _;JCYZ3ByZIbDfVDffyjp%nQ=lٔrz:Q-r>9pYt=vFyvlEvbDEv>xQ 5~5z_?Q 9~5zWm)zBYyҿQ I@zDIzU;iz;z5y ɮ Ajh1=FNOT Ignoring new targets: 137.29 m.Rh=۸Zh=۸U ProNav: ac range: 137.288879 m, nav range: 132.907181 m, bearing: 264.427918 deg, approach rate: -0.623649 m/s, LOS rate: -0.006010 deg/s, cmd heading: 274.557895 deg, new cmd heading: 274.551319 deg. BhU}HeadingCmd: 4.791824 target range: 137.288879 and range: 138.10 m.h}V@hy*h"h hgfffdddjdZd@}Bɢw) _>i)>iRDi便qB;Un9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509395a M,yT?A2@2@2y>ٱ2<0 :AHRS rotation from veh to nav: [[0.089362,0.981937,0.166776],[-0.994914,0.080189,0.060961],[0.046486,-0.171375,0.984109]]2Hg? l?X?U@@?D6? ͧ?ſ }?i2@I2Z_;2CY^HBy^I ``AiMb@Mb@Mb@ 9ʡE?EԸQ?Y?yƽu<A SA)YbDVDN2y:=%;=ٔ:Q->9 ?Y ?=FylE[~E>Q 55^?Q 95qt)!BY?Q E:yпQ I@DI ;i ;۷5yBɮAE%B*** querying acoustic contact ***i! i!jh1=FNOT Ignoring new targets: 137.29 m.Rh= 3Zh= 3M ProNav: ac range: 137.288879 m, nav range: 132.636871 m, bearing: 264.423653 deg, approach rate: -0.618794 m/s, LOS rate: -0.009783 deg/s, cmd heading: 274.551311 deg, new cmd heading: 274.538490 deg. BhMֹUHeadingCmd: 4.791601 target range: 137.288879 and range: 138.10 m.hUT@hY*hY"hY hYgYfYfafe}BdadadijdiZdmD@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759401U}BɢU@~̻)Y ]u>iY)] YYie˦ie@쾿m;m.ZBABABABABABABEf;BE'E^AI EU  EU EQ EQ "EU :*EU H:VEQ ZEQ BEQ ae 2EQ ae JEQ ae :EQ ae E GQ i  BDAT read: Rx Time:05:50:16.3086  TRx dataTimestamp_ set to:1761544217.668747 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012972 ۳9 Y AA ؟AI I O >,n?ABr@B<@B<ٱB;<0 JAHRS rotation from veh to nav: [[0.088091,0.982083,0.166590],[-0.995048,0.079029,0.060278],[0.046033,-0.171075,0.984182]]BH?@:m?R?`o@8;?ܮ??ſk~?iBr@IB%_;BCYnLBynI vp9%"?Y-"?=-Fy5lEEZEE>QQ 5e5UC]?Q 9e5Uz)U,BYiymѿQ Im@UDIUU;iUV;U5yyɮAԙjhFNOT Ignoring new targets: 137.29 m.Rh+Zh+ ProNav: ac range: 137.288879 m, nav range: 132.398285 m, bearing: 264.420007 deg, approach rate: -0.610383 m/s, LOS rate: -0.009344 deg/s, cmd heading: 274.538497 deg, new cmd heading: 274.527540 deg. Bh5͹HeadingCmd: 4.791409 target range: 137.288879 and range: 138.10 m.h:S@h*h"h hgfffdddjdZd g @}}Bɢ}x)y s>i)7 顁ii򾿉g`;LbE-4jErE/Em  Em Em "Ei "Em :*Em P:VEm (3ZEi a @a @a @a @I1,32?AMDAT read: 05:50:16.3086 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.22, 1.783, 0.383, 2.363, 1.743, PHS= 0.142,-1.314, 0.576, RAW= 162.7, 7.0, CAL= 162.1, 6.8, ROT= 347.9, -6.8 UYgot valid direction response: 05:50:16.3086 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.22, 1.783, 0.383, 2.363, 1.743, PHS= 0.142,-1.314, 0.576, RAW= 162.7, 7.0, CAL= 162.1, 6.8, ROT= 347.9, -6.8 ԙPDAT read: Bearing 80.6, -10.5 (Local) ~Local bearing/azimuth received: Bearing 80.6, -10.5 (Local) EDAT read: Range 11 to 50 : 135.8 m (Round-trip 181.1 ms) speed 0.2 m/s e*DAT read: user:545> BDAT read: Tx time:05:50:17.4218 $Ping request sent.@@a8tttt t)v?Ivsh>iv'1vt?vּ5@v5=vD5@ v=ٱ0 AHRS rotation from veh to nav: [[0.084790,0.982249,0.167324],[-0.995382,0.075916,0.058745],[0.045000,-0.171533,0.984150]]Hɴ?n?@j?+Ao??2 ? ſ(~?i>@)vM@Ivttv)0$[?B ?9V9? va>?)vkIv@Xivtt:publishing transmit ping timeFpublishing direction and range infoytv o?'vʿEO?YttI1a;CYeByII>)p;ttt t)tItittttt t)tItttv)0$[?B ?9V9? t)tItitttiMb@Mb@Mb@ 9Q?zGế~jt?Y(?y ׽< A@ =A)@Yz@bDVD:y =%=ٔ%2:Q-%>9% ?Y% ?=%Fy-lE-_E->QQ 5]5UZ?Q 9]5U)UBBYe?Q Ee:yeҿQ Ie@U DIU:iU:U75yiɮyAitiv?AJivCRivCjivs@bvEP`b`@udǒBivICiv9@E addTargetRange:: Added new target pos. range: 135.800003 m, deltaT: 3.529592 s, deltaX: -2.300003 m, approachRate: -0.651634 m/s, rangeRepo size: 4 u Added new target pos. range: 135.002213 m, bearing: 264.011055 deg, lat: 36.779452 deg, lon: -121.859760 deg, deltaT: 3.529592 s, deltaX: -2.286667 m, approachRate: -0.647856 m/s, posRepo size: 4 jhy}FNOT Ignoring new targets: 135.00 m.Rh}Zh ProNav: ac range: 135.002213 m, nav range: 132.288528 m, bearing: 264.428014 deg, approach rate: 0.000000 m/s, LOS rate: -0.009344 deg/s, cmd heading: 274.527542 deg, new cmd heading: 274.509960 deg. BhHeadingCmd: 4.791102 target range: 135.002213 and range: 135.80 m.hP@h*h"h hgfff}Bdddjd`@Zd ?= }Bɢ= Dj)9 = >iA )E  顡 i i ; #B B B B B EDB eDB f;B 'EAE  E E &E "E I:*E g:VE 4ZE BE 9`Yd=fFyfmEf Ef>hQ 5r5jHY?Q 9v5j)jOBYtyz)ӿQ Iz@jDIj;ij;jڽ5yɮAjhFNOT Ignoring new targets: 135.00 m.RhZh ProNav: ac range: 135.002213 m, nav range: 132.058105 m, bearing: 264.426178 deg, approach rate: -0.607939 m/s, LOS rate: -0.004851 deg/s, cmd heading: 274.509947 deg, new cmd heading: 274.504432 deg. BhU%HeadingCmd: 4.791006 target range: 135.002213 and range: 135.80 m.h%O@h!*h!"h! h!g!f)f)f)d)d1d1jdQZdU MJ?颥}Bɢ ;) e>i)B顩iMԱi;C 9 J,?AE EE'E"E:*EVE'4ZEa@a@a@a@>j@>e@>a4ٱ>h0 JAHRS rotation from veh to nav: [[0.081100,0.982560,0.167331],[-0.995731,0.072448,0.057186],[0.044066,-0.171255,0.984241]]>H´? q?k? @?~G? ͏?ſ~?i>j@I>tb;>CYRByR/IXXbD^VD^02yf<%fI=ٔfި:Q-f>9j"?Yj"?=jFyjmEnEn>pQ 5v5rW?Q 9v5r8)r]BYtyvgӿQ Iv@rDIrj:ir ;r5y~Bɮ~MA~#Ejh!-FNOT Ignoring new targets: 135.00 m.Rh-ԬZh-Ԭ= ProNav: ac range: 135.002213 m, nav range: 131.807739 m, bearing: 264.424381 deg, approach rate: -0.656660 m/s, LOS rate: -0.004722 deg/s, cmd heading: 274.504428 deg, new cmd heading: 274.499028 deg. BhEeOMHeadingCmd: 4.790912 target range: 135.002213 and range: 135.80 m.hm&O@hi*hq"hq hqgqfyfyfydyddjdZd2?M}BɢUଡ:)Y ey>i)顑iiFA;;I&O@I@ @@/@1a ^A ] <A I I) O5 >.,R?A,25X@2R@222ٱ2:1 >AHRS rotation from veh to nav: [[0.078836,0.982600,0.168173],[-0.995938,0.070272,0.056288],[0.043491,-0.171928,0.984149]]2H.?uq?`?`V?@Ѭ?uD?@ƿ@&~?i25X@I2c;2CYJByJAI lli]Mb@Mb@Mb@YYYY Y9]`"?X9v rh?Y]?y]]C =]G AY ]M@)]@YY]@bDuVDuy=%A=ٔű:Q->9Y=Fy mEϯE>Q 55FU?Q 95ᗾ)oBY?Q E:yֿQ I@!DI;i ;{5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 135.00 m.AAB,>BԍCB-IBBB =BBBzf;By'ERh D8Zh D8 ProNav: ac range: 135.002213 m, nav range: 131.553024 m, bearing: 264.425516 deg, approach rate: -0.600301 m/s, LOS rate: 0.002678 deg/s, cmd heading: 274.499019 deg, new cmd heading: 274.502429 deg. BhJ8%HeadingCmd: 4.790971 target range: 135.002213 and range: 135.80 m.h%O@h!*h!"h! h)gfff}BdddjdZd@H:?EM EMEM$EI"EM,:*EM[:VEM4ZEIBEM5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706736T,*?A2GJ@2E@2'H.ٱ25 :AHRS rotation from veh to nav: [[0.077145,0.982056,0.172092],[-0.996112,0.068554,0.055327],[0.042536,-0.175691,0.983526]]2Hȿ?l??`&?S? Vǥ?@ }ƿ y?i2GJ@I2}c;0YFByFbIbDRVDRfyZ# >%ZZ=ٔZ&;Q-Z>9\\Y\=bFyb mEbEf>dQ 5j5f4S?Q 9n5fʝ)f~BYlyn׿Q In@f(DIfq ;if ;f É5ytɮvAtjhFNOT Ignoring new targets: 135.00 m.Rh^8Zh}^8 ProNav: ac range: 135.002213 m, nav range: 131.326996 m, bearing: 264.426659 deg, approach rate: -0.601397 m/s, LOS rate: 0.003046 deg/s, cmd heading: 274.502434 deg, new cmd heading: 274.505868 deg. Bh9HeadingCmd: 4.791031 target range: 135.002213 and range: 135.80 m.h!P@h*h"h hgfffdddjdZd@i/?}Bɢ%@<)! %?i!)%t))i-}"i55T6;M ;IM!P@IY@ @@0@^A;;Ee EaEe&Ea"Eem:*EaVEe4ZEaam@au@au@au@AI!I1OEs>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958770I (<Ł,?A2B@2=@2A)ٱ28 :AHRS rotation from veh to nav: [[0.076255,0.981506,0.175589],[-0.996232,0.067702,0.054200],[0.041310,-0.179061,0.982970]]2Hl?~h?`y?"T? %?`&? wƿ@~t?i2B@I2+c;2CY^BybhIiMb@Mb@Mb@ 9d;O?9Y=FymEE>Q 55P?Q 95)BYk?Q E:yؿQ I@0DI* ;iq ;ʼn5yɮAjh  FNOT Ignoring new targets: 135.00 m.RhS8ZhS8% ProNav: ac range: 135.002213 m, nav range: 131.069992 m, bearing: 264.429492 deg, approach rate: -0.589499 m/s, LOS rate: 0.006511 deg/s, cmd heading: 274.505876 deg, new cmd heading: 274.514393 deg. Bh%9-HeadingCmd: 4.791180 target range: 135.002213 and range: 135.80 m.h-YQ@h)*h)"h) h1g1f1f9f=E~Bd9d9d9jdAZdE@@m}Bɢuy;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210807) i?i)i6%i  ; R;I YQ@I1I@ @@/0@qB0>BՍCBLIBBB! =BBB)f;BS'E^Aϩ;Eu  Eu Eu "Eq "Eu :*Eu k:VEu (3ZEq BEu 07fˁ,/?AV;@V6@V%ٱV\L8 jAHRS rotation from veh to nav: [[0.075393,0.981588,0.175499],[-0.996335,0.067025,0.053138],[0.040397,-0.178863,0.983044]]VHL? ,i?`v?(?4?ᮤ? ƿu?iV;@IVb;TYzByzqIbDVDfy5=%5S=ٔ=$;Q-E>9AYI=MFyMmEMEM>QQ 5]5U-N?Q 9e5U~)UBYayeؿQ Ie@U8DIUr;iUL ;UƉ5ymBɮuAqyjhFNOT Ignoring new targets: 135.00 m.Rh8Zh8 ProNav: ac range: 135.002213 m, nav range: 130.840530 m, bearing: 264.432117 deg, approach rate: -0.588519 m/s, LOS rate: 0.006746 deg/s, cmd heading: 274.514401 deg, new cmd heading: 274.522291 deg. Bh%9HeadingCmd: 4.791318 target range: 135.002213 and range: 135.80 m.hzR@h*h"h hgfffdddjdZd2a@E}BɢEj<)A E6?iA)MIIiM'im;^ ;IzR@IԩE9@A @A@E1@A@M=@M= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715175^A- jZX; AY Ia Iy O >Nҁ,I?AE EE%E"E[:*EV:VE 4ZEa@a@a@a@";ɰ >:@>}5@>ٱ>~3 fAHRS rotation from veh to nav: [[0.075262,0.982392,0.171001],[-0.996400,0.067377,0.051461],[0.039033,-0.174258,0.983926]]>HVD?o? ]?@??Y?+?Nƿ`R|?i>:@I>Xb;>CY%By%IbD5VD5yEj=%EI=ٔE\;Q-M>9IYI=MFyMmEUEU>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.966947aQ 5m5eK?Q 9u5e)eBYqyuؿQ Iu@e?DIe:ieR:eȉ5yBɮgA,EjhFNOT Ignoring new targets: 135.00 m.Rh 8Zh 8 ProNav: ac range: 135.002213 m, nav range: 130.600922 m, bearing: 264.434926 deg, approach rate: -0.591073 m/s, LOS rate: 0.006940 deg/s, cmd heading: 274.522296 deg, new cmd heading: 274.530737 deg. Bhk9HeadingCmd: 4.791465 target range: 135.002213 and range: 135.80 m.hS@h*h"h hgfffdddjdZdY@}BɢL<)1 5?i9)=AAiE"*i 𾿉;;IS@I@ @@1@1 BDAT read: Rx Time:05:50:20.0043  TRx dataTimestamp_ set to:1761544221.448103 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219820^A ] ;a A1 I9 II O] > ؁,e?A:(=@:7@:0ٱ:Dq2 FAHRS rotation from veh to nav: [[0.075564,0.982528,0.170082],[-0.996431,0.067970,0.050046],[0.037611,-0.173257,0.984158]]:H1X?`p?@?f??@A?@H-ƿ`9~?i:(=@I:3b;:CBLALBR1>BPBRxIBRBBR =BPBPBRe;BR3'EBaBaBaBe =Be =Ce6[5Yb*BybI1iUMb@Mb@Mb@QQQQ Q9UV-?X9vˡE?YU ?yUU'=UAU@ UM@)U@QYU@bDmVDm0y}b=%}8=ٔ}Q;Q->9Y=FymE0:E>Q 55H?Q 95>)BYv?Q E:yٿQ I@GDI7:ia:qʉ5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 135.00 m.Rh=9Zh=9E= E=E=(E9"E=;*E=e:VE=c44ZE9BE=d } BDAT read: Tx time:05:50:21.1218  $Ping request sent.  4@  V>) @I V   ͗?%Ǜ8?L$ m?  r;?) MI Qi V   :publishing transmit ping time  Fpublishing direction and range infoy  +^K?Xɿ'ЌCz?Y      ) I i      ) I    ͗?%Ǜ8?L$ m?  ) I i   A- .AI9 II OU >$߁,?An?@n{:@n[ٱn92 AHRS rotation from veh to nav: [[0.075877,0.982526,0.169957],[-0.996457,0.068514,0.048783],[0.036286,-0.173056,0.984243]]nH@l?@p? (?@?? ?&ƿ~?in?@Inb;nCY%6By%I ))bD}VD}ԑy@x=%I=ٔwQ;Q->9 ?Y ?=Fy"mEC:E>Q 55hF?Q 95R)BYyٿQ I@ODIz]=i]=@̉5yɮAiIiM6|?AJiMCRiMCjiM@bM<[TX`@N: 33@RM+^K?Xɿ'ЌCz?ZiMQbiMVjM s]*.3F*`A81<@ZM7^jfДr!?2iMR:iMR"iMW?*iMBiMBiIiIiMBiMCiM7@m addTargetRange:: Added new target pos. range: 133.800003 m, deltaT: 3.778542 s, deltaX: -2.000000 m, approachRate: -0.529305 m/s, rangeRepo size: 4 Թ Added new target pos. range: 133.013718 m, bearing: 264.179899 deg, lat: 36.779452 deg, lon: -121.859760 deg, deltaT: 3.778542 s, deltaX: -1.988495 m, approachRate: -0.526260 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 133.01 m.RhZh ProNav: ac range: 133.013718 m, nav range: 130.119095 m, bearing: 264.441940 deg, approach rate: 0.000000 m/s, LOS rate: 0.008209 deg/s, cmd heading: 274.541667 deg, new cmd heading: 274.553684 deg. BhHeadingCmd: 4.791866 target range: 133.013718 and range: 133.80 m.hV@h*h"h hgf f f d ddjd`@E= E=E=#E9"E=m:*E=g:VE=3ZE9aM@aM@aM@aM@ZdM c?}Bɢa<) '+?i)i,0i㾿]D;%;!;IV@I 9@ @@4@@@fA ^A ;A%؟AI1AIIOU> ,?AddL@F@ٱ0 5AHRS rotation from veh to nav: [[0.077391,0.982685,0.168344],[-0.996391,0.070331,0.047514],[0.034851,-0.171414,0.984582]]Hϳ?(r?N?`p9?S? ء?`ſ?iL@Ia;YE9]"?Y]"?=]Fy]'mEeUL;Ee>iQ 5u5mB?Q 9u5mľ)mBYu?Q Eu:yuݿQ I}@mWDImv:im]:m`Ή5yɮ[AjhFNOT Ignoring new targets: 133.01 m.Rh9Zh9 ProNav: ac range: 133.013718 m, nav range: 129.862030 m, bearing: 264.449182 deg, approach rate: -0.623268 m/s, LOS rate: 0.017593 deg/s, cmd heading: 274.553688 deg, new cmd heading: 274.575456 deg. Bh.A:HeadingCmd: 4.792246 target range: 133.013718 and range: 133.80 m.hZ@h*h"h hgfff~BdddjdZd X?}Bɢ<) ,?i)%!!i%v3i-׾-&;-}b;I-Z@I1B.>BBIB+BB =BBBe;B<'E@ @@/@ ЀG5AfAEU EUEU'EQ"EU:*EU n:VEU'4ZEQBEUb+,<?A@Y @By I 4<bDVDye<%e\=ٔmQ-m>9m ?Ym ?=uFyu*mEuEu>yQ 55}G@?Q 95}ɾ)}BYyQ I@}]DI}:i}:}ω5yɮ8AjhFNOT Ignoring new targets: 133.01 m.Rh9Zh9 ProNav: ac range: 133.013718 m, nav range: 129.665833 m, bearing: 264.454728 deg, approach rate: -0.528870 m/s, LOS rate: 0.014973 deg/s, cmd heading: 274.575462 deg, new cmd heading: 274.592126 deg. Bhj$:HeadingCmd: 4.792537 target range: 133.013718 and range: 133.80 m.hv\@h*h"h hgfffdddjdZd2?%}Bɢ%<)! %.?i!)-))i-G6i5;53;5I;I5v\@I9ԩ@ @@/@^AqZ;AfAzAbEȞ4jE-4rEȻ0E  E E E "E [:*E &p:VE ZE a @a @a @a @ A! I) IA OM >,'?Apl@g@[ٱwH* AHRS rotation from veh to nav: [[0.081383,0.983359,0.162428],[-0.996177,0.075063,0.044685],[0.031749,-0.165443,0.985708]]Hմ?@w? m?R7??@xA?>-ſ?il@I6[a;CYLByII%=)iMb@Mb@Mb@ 9Zd;?Mb?Y>y=@ @)Y@bDVD0yVM=%6=ٔ;Q->9Y=Fy/mE&<E>Q 55U=?Q 95ξ)BY8?Q E:yݿQ I@dDI:i:щ5yɮAjh)=FNOT Ignoring new targets: 133.01 m.Rh=Aq9ZhEAq9U ProNav: ac range: 133.013718 m, nav range: 129.442032 m, bearing: 264.460658 deg, approach rate: -0.496642 m/s, LOS rate: 0.013182 deg/s, cmd heading: 274.592128 deg, new cmd heading: 274.609949 deg. BhU:]HeadingCmd: 4.792848 target range: 133.013718 and range: 133.80 m.h]_@hY*hY"hY hYgYfafafe~BdididijdiZdm?额}Bɢ<) [2?i)EYAAiEA9iMbþM;MK;IM_@IQ9@ @@/@@=@4=1^A yb];Y B B ԍCB IB DBB ! =B B B :f;B X'EAM ؟AIY E  E E &E "E I:*E :VE 4ZE BE },?Aɰ;6@6z@6Nٱ6=' FAHRS rotation from veh to nav: [[0.083713,0.983640,0.159516],[-0.996027,0.077717,0.043473],[0.030365,-0.162521,0.986238]]6H/n?y?`k?t??B??Ŀ`B?i6@I6a;4lYJByIbDUVDU:2yL%W=ٔn;Q->9"?Y"?=Fy3mE;E>Q 55:?Q 95Ӿ)BYyܿQ I@kDI:i=:Ӊ5yBɮA6E%B*** querying acoustic contact ***i! i!jhAMFNOT Ignoring new targets: 133.01 m.Rhu g9Zhu g9 ProNav: ac range: 133.013718 m, nav range: 129.250031 m, bearing: 264.465584 deg, approach rate: -0.491370 m/s, LOS rate: 0.012625 deg/s, cmd heading: 274.609941 deg, new cmd heading: 274.624741 deg. Bh :HeadingCmd: 4.793106 target range: 133.013718 and range: 133.80 m.h a@h*h"h hgfffdddjdZd @Z?u}Bɢ}#<)y }/?iy)}ܼyyic,(?A2㒒@2@2yٱ2QY& :AHRS rotation from veh to nav: [[0.086012,0.983581,0.158655],[-0.995865,0.080206,0.042654],[0.029229,-0.161667,0.986412]]2H?}y?N? b?@֥?`!?Ŀ?i2㒒@I2Xa;0Y^OBybIbDjVDjkyr<%rV=ٔrB;Q-r>9tYt=vFyv7mEv;Ez>xQ 55zl8?Q 95zؾ)z BYyܿQ I@zqDIz;iz;zIՉ5yɮcAjh1yFNOT Ignoring new targets: 133.01 m.Rhg9Zhg9 ProNav: ac range: 133.013718 m, nav range: 129.061127 m, bearing: 264.470255 deg, approach rate: -0.511419 m/s, LOS rate: 0.012664 deg/s, cmd heading: 274.624749 deg, new cmd heading: 274.638782 deg. Bh :HeadingCmd: 4.793351 target range: 133.013718 and range: 133.80 m.h"c@h*h"h hgfffdddjdZd`ۢ@-}Bɢ-<)1 5@1?i1)5<ؼ11i=>i=䲾=p;EBA>AA II IY Om >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510822,`?ABE@B@B6ٱBA" JAHRS rotation from veh to nav: [[0.088127,0.984021,0.154715],[-0.995708,0.082613,0.041732],[0.028283,-0.157729,0.987077]]BH?}?? &?]?I?s0Ŀ@#?iBE@IB=a;@YVQByVI XXi5Mb@Mb@Mb@1111 195bX9?!rh/$?Y5E>y5l罙5<5 A5@ 5 @)5@1Y5=@bDMVDM:y](<%]C=ٔe;Q-e>9aYa=eFye;mEm;Em>qQ 5}5u6?Q 9}5u=޾)u+BY}4>Q E:y,ڿQ I@uwDIui ;iu ;u׉5yɮQAjhFNOT Ignoring new targets: 133.01 m.Rh9Zh9 ProNav: ac range: 133.013718 m, nav range: 128.854828 m, bearing: 264.473667 deg, approach rate: -0.491350 m/s, LOS rate: 0.008139 deg/s, cmd heading: 274.638792 deg, new cmd heading: 274.649043 deg. Bh9HeadingCmd: 4.793530 target range: 133.013718 and range: 133.80 m.Yhd@h*h"h hgfff~BdddjdZd @5}Bɢ5C<)1 50?i9)=Ӽ99i=QAiEE0;E|L7  ,ߊ9?A Y@ByIbD-VD-y=%EL=ٔEQ-E>9IYI=MFyM?mEMEU>QQ 5]5U3?Q 9e5U_)U6BYayaQ Ie@U~DIU;iU;U؉5yiɮuAqjhFNOT Ignoring new targets: 133.01 m.Rh{9Zh{9 ProNav: ac range: 133.013718 m, nav range: 128.658020 m, bearing: 264.476932 deg, approach rate: -0.491614 m/s, LOS rate: 0.008168 deg/s, cmd heading: 274.649037 deg, new cmd heading: 274.658847 deg. Bh`9=HeadingCmd: 4.793701 target range: 133.013718 and range: 133.80 m.h=f@hA*hI"hI}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015039 hQgfԱffdddjdZd=L@}Bɢ9<) &?i)# ϼi,Cij!M;%%1O,gGV?AY]:By]IiMb@Mb@Mb@ 9jt?|?5^9Y=FyDmEE%>!Q 555%1?Q 955%)%?BY5u?Q E5:y5ֿQ I5@%DI% ;i% ;%ډ5yAɮE AAjhamFNOT Ignoring new targets: 133.01 m.RhuP8ZhuP8 ProNav: ac range: 133.013718 m, nav range: 128.414459 m, bearing: 264.478286 deg, approach rate: -0.511853 m/s, LOS rate: 0.002852 deg/s, cmd heading: 274.658845 deg, new cmd heading: 274.662916 deg. Bh8HeadingCmd: 4.793772 target range: 133.013718 and range: 133.80 m.hf@h*h"h hgfff~~BdddjdZd @}Bɢ@<) 6"?i)ʼiFi;0= DAT read: 05:50:23.7020 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 423,-0.04, 0.928,-0.499, 1.493, 0.909, PHS= 0.121,-1.363, 0.541, RAW= 162.1, 8.1, CAL= 161.7, 8.4, ROT= 348.3, -8.4 'x,p?A"Ygot valid direction response: 05:50:23.7020 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 423,-0.04, 0.928,-0.499, 1.493, 0.909, PHS= 0.121,-1.363, 0.541, RAW= 162.1, 8.1, CAL= 161.7, 8.4, ROT= 348.3, -8.4 &PDAT read: Bearing 82.2, -11.3 (Local) *~Local bearing/azimuth received: Bearing 82.2, -11.3 (Local) 2DAT read: Range 11 to 50 : 132.0 m (Round-trip 176.0 ms) speed 0.4 m/s 6*DAT read: user:547> nBDAT read: Tx time:05:50:24.8218 r$Ping request sent.r)1I5Q 115yF?^1>?W{ ? 5/?W{ ? 1)1I1i111  ϒ@ ə@ мٱ #Q eAHRS rotation from veh to nav: [[0.093331,0.984442,0.148872],[-0.995309,0.088423,0.039266],[0.025491,-0.151838,0.988077]] H??:?@뢶??`f?`noÿR?i  ϒ@I `; Y1ByIbD}VD}02yY%3=ٔS;Q->9Y = Fy ImE 87<E >Q 55/?Q 95)HBY!y-\ֿQ I-@DI>;iH@;܉5yEBɮEAAM5Ei1i5qo?AJi59CRi59Cji5@b5!_@2*;S:!i+3@R5wͼ?*dɿ/8ٲ?Zi1bi5Q j5q)e&2v# `m'-:@Z5Oص<￞G?2i5:i5)3"i5Ep?*i5nNBi5Bi5 %>?i5i5=Bi5:Ci5͓@ addTargetRange:: Added new target pos. range: 132.000000 m, deltaT: 3.789698 s, deltaX: -1.800003 m, approachRate: -0.474973 m/s, rangeRepo size: 4 - Added new target pos. range: 131.223907 m, bearing: 265.004220 deg, lat: 36.779455 deg, lon: -121.859761 deg, deltaT: 3.789698 s, deltaX: -1.789810 m, approachRate: -0.472283 m/s, posRepo size: 4 jh)-FNOT Ignoring new targets: 131.22 m.Rh5Zh1e ProNav: ac range: 131.223907 m, nav range: 128.229172 m, bearing: 264.640225 deg, approach rate: 0.000000 m/s, LOS rate: 0.002852 deg/s, cmd heading: 274.662916 deg, new cmd heading: 274.667072 deg. BhamHeadingCmd: 4.793845 target range: 131.223907 and range: 132.00 m.hm-g@hi*hi"hi higqfqfqfqdyyddjd`@Zd?}Bɢ _<) ?i )  ż  i  &Ii&y;=}\#,v?A2<ϒ@2ʙ@2мٱ2 :AHRS rotation from veh to nav: [[0.093355,0.984228,0.150268],[-0.995307,0.088393,0.039387],[0.025483,-0.153240,0.987860]]2H@$?@~?`;?꠶?`x*??^ÿ`?i2<ϒ@I2`;2CYFByFIbDNVDNfyVf%V]=ٔV7Q-Z>\9b ?Yb ?=bFybLmEb)8Ef>lQ 5v5n-?Q 9v5n)nOBYxy~YֿQ I~@nDIn;inV;nމ5yBɮA>EB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 131.22 m.Rh5(8Zh5(8% ProNav: ac range: 131.223907 m, nav range: 128.043579 m, bearing: 264.641076 deg, approach rate: -0.500763 m/s, LOS rate: 0.002298 deg/s, cmd heading: 274.667069 deg, new cmd heading: 274.669624 deg. Bh%8MHeadingCmd: 4.793890 target range: 131.223907 and range: 132.00 m.hMg@hI*hI"hQ hQgQfQfYfYdYdadjdZd? }Bɢ <) b?i)U^¼YYi]22Ki}?N;Ct),?ABBBIBNBBBBBe;B-'EBiBiBiBiBiCm\5f*В@fʙ@fWuҼٱfj nAHRS rotation from veh to nav: [[0.093468,0.983893,0.152375],[-0.995291,0.088387,0.039797],[0.025688,-0.155377,0.987521]]fH ? |??@l?B`?@M?cÿ ƙ?if*В@If_;dYv!ByvIi}Mb@Mb@Mb@yyyy y9} rh?+Mb`Y} ?y}}}x A}@ y)}@yY}@@AbDVDy<%;=ٔQ->9"?Y"?=FyQmE9E>Q 55-?Q 95()TBY ?Q E:yϿQ I@DI<顑iMi򩾿ή;HzA} > } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219554A I I O >,0,V?A2bƒ@2,@2Ӽٱ26 :AHRS rotation from veh to nav: [[0.092279,0.984087,0.151845],[-0.995400,0.087223,0.039641],[0.025766,-0.154804,0.987609]]2H@?}?o?P@FT?@K? _b? ÿ`~?i2bƒ@I2c_;2CYBByBIbDNVDNyV爽%VS=ٔVRQ-V>9XYX=ZFyZUmE^IE^>`Q 5f5b&,?Q 9f5b)bYBYdyf*ϿQ If@bDIb:ib:b(5ylɮnAl1jhYeFNOT Ignoring new targets: 131.22 m.RheH[ZheH[ ProNav: ac range: 131.223907 m, nav range: 127.589211 m, bearing: 264.631580 deg, approach rate: -0.579169 m/s, LOS rate: -0.011982 deg/s, cmd heading: 274.654419 deg, new cmd heading: 274.641099 deg. BhHeadingCmd: 4.793391 target range: 131.223907 and range: 132.00 m.hvc@h*h"h hgfffdddjdZd9?%~Bɢ%<)! %?i!)-_ IIiMDŽOiUUP;U2kԹ x6,9?A2@2@2׼ٱ2 " :AHRS rotation from veh to nav: [[0.091252,0.983759,0.154569],[-0.995482,0.086024,0.040196],[0.026246,-0.157539,0.987164]]2HP\?z?@?@??S?;*Ŀؖ?i2@I2(^;2CY^By^sIiEMb@Mb@Mb@AAAA A9EGz?ʡEYE?yEEAE@ E@)E@AYEQ@bD]VD]ye%m?=ٔmrQ-m>9qYq=uFyuYmEu(E}>Q 55G+?Q 952)_BY?Q E:yοQ I@DI:i:5ԙyɮSAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.723630jhFNOT Ignoring new targets: 131.22 m.RhFvZhFv ProNav: ac range: 131.223907 m, nav range: 127.346184 m, bearing: 264.625974 deg, approach rate: -0.582242 m/s, LOS rate: -0.013457 deg/s, cmd heading: 274.641087 deg, new cmd heading: 274.624236 deg. BhHeadingCmd: 4.793097 target range: 131.223907 and range: 132.00 m.h a@h*h"h hgfff}BdddjdZd `Y? ~BɢG:<) >i)iQi8;|b<, x?A2H@2@2^ؼٱ2& :AHRS rotation from veh to nav: [[0.090321,0.983112,0.159162],[-0.995561,0.084884,0.040645],[0.026449,-0.162127,0.986415]]2HF?u?@l_??{Ϥ?\?Ŀ ?i2H@I2Z^;2CYBByFqIbDNVDN0yV'%VW=ٔV Q-V>9XYX=ZFyZ]mEZq!E^>`Q 5f5b}*?Q 9f5b )beBYdyfοQ If@bDIb :ib:b5ylɮncAljhFNOT Ignoring new targets: 131.22 m.Rh nZh n ProNav: ac range: 131.223907 m, nav range: 127.130272 m, bearing: 264.621057 deg, approach rate: -0.572201 m/s, LOS rate: -0.013052 deg/s, cmd heading: 274.624230 deg, new cmd heading: 274.609455 deg. BhS%HeadingCmd: 4.792839 target range: 131.223907 and range: 132.00 m.h%^@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd531@~BɢB(U<) >i)iSiþd;5*ZbEʻ 4jE#4rE0E5  E5 E5 !E1 "E5 ,:*E5 Ar:VE5 c3ZE1 aE @aE @aE @aE @Թ C,] ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.479908 @ @ Զݼٱ %) AHRS rotation from veh to nav: [[0.088457,0.982913,0.161425],[-0.995712,0.082853,0.041139],[0.027061,-0.164372,0.986027]] H@? t?? 5?(??@& ſ?i @I 3^; CY)y1I=)>)=<bDEVDE0yUZ;%]?=ٔ]3Q-]>9YYa=eFyeamEeEe>iQ 5u5m)?Q 9}5mC)mkBYyy}οQ I}@mDIm;im;m5yBɮAHEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 131.22 m.RheZhe ProNav: ac range: 131.223907 m, nav range: 126.887589 m, bearing: 264.615711 deg, approach rate: -0.568280 m/s, LOS rate: -0.012542 deg/s, cmd heading: 274.609449 deg, new cmd heading: 274.593381 deg. Bh HeadingCmd: 4.792559 target range: 131.223907 and range: 132.00 m.h\@h*h"h hgfffdddjdZd@ԉ颽~BɢH3<) >i)SiUi=̾= ;ECB B IB %BB B B B e;B 'E1 A .AI I O >7BJ,%+ ?A>Ř@>@>ٱ>!c+ JAHRS rotation from veh to nav: [[0.086732,0.982705,0.163612],[-0.995853,0.080995,0.041431],[0.027462,-0.166527,0.985654]]>H4? Qr?`??@ ?b6?`? Pſz?i>Ř@I>>^;>CYRByRcIE} E}E}&Ey"E}y:*E}k:VE}4ZEyBE}9- ?Y- ?=5Fy5fmE=E=>QQ 5e5U(?Q 9e5Uh)UqBYmI?Q Eu:yuTͿQ Iu@UDIUގ;iUa;U~5yɮ^ABDAT read: Rx Time:05:50:27.3988 TRx dataTimestamp_ set to:1761544228.765606checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986090)jhiuFNOT Ignoring new targets: 131.22 m.Rhu_Zhu_ ProNav: ac range: 131.223907 m, nav range: 126.616272 m, bearing: 264.608255 deg, approach rate: -0.572886 m/s, LOS rate: -0.015778 deg/s, cmd heading: 274.593385 deg, new cmd heading: 274.570968 deg. Bh?-HeadingCmd: 4.792168 target range: 131.223907 and range: 132.00 m.hpY@h*h"h hgfff}BdddjdZd`v@5~Bɢ5#<)1 5>i1)=֭99i=~WiEپEN;E)+3#%Q,D ?A2@2[@2ٱ2+ >AHRS rotation from veh to nav: [[0.084760,0.982784,0.164169],[-0.996007,0.078932,0.041715],[0.028038,-0.167049,0.985550]]2Hٲ?@r?}?I@4?[?@ ?`aſ?i2@I2^;2CYbBybpIjAAhbDnVDn:yvd=%va=ٔvϺQ-v>9xYx=zFyzimEzLE~>Q 55&(?Q 9 5- )vBY y ͿQ I @DI :i:5yɮ AjhAEFNOT Ignoring new targets: 131.22 m.RhMZhM] ProNav: ac range: 131.223907 m, nav range: 126.397263 m, bearing: 264.602409 deg, approach rate: -0.660740 m/s, LOS rate: -0.017667 deg/s, cmd heading: 274.570982 deg, new cmd heading: 274.553414 deg. Bh]AeHeadingCmd: 4.791861 target range: 131.223907 and range: 132.00 m.heV@ha*ha"ha hagifififidqdqdqjdqZdu` @颥 ~Bɢ%<) }>i)a顩iYi㾿;D) BDAT read: Tx time:05:50:28.5218 $Ping request sent.A=>u )?I7A>iB`?,4@k=Ud3@ 4Q=)K$@I4QϽ4wW?]3?@V? b8?)W߽Iq=i4QϽ:publishing transmit ping timeFpublishing direction and range infoy.J?("lǿ+hg޹?Y )Ii )I4wW?]3?@V? )I A ؟AI I iOM >OW,^ ?A2}@2x@2a8ٱ2+ :AHRS rotation from veh to nav: [[0.083447,0.982894,0.164184],[-0.996113,0.077608,0.041676],[0.028221,-0.167023,0.985549]]2H\?s??`'޳?V?? aſ?i2}@I2 ];2C@Y^By^hIiMb@Mb@Mb@ 9V-?ʡEI +?Y?y-94< A@ )@Y@bD VD2y%>=ٔ߹Q->9"?Y"?=FynmEHE>Q 55&?Q 95&')BY?Q E:yϿQ I@DI;ic;5yɮ>Ai!i%?Q ?AJi%CRi%Cji%y%@b%>g_@Tf7) *@R%.J?("lǿ+hg޹?Zi%q=bi%4QϽj%i)bާi}[i𾿉)ѱ;+BBIBBBBBB|e;B&E9@ @@4@@@fAE EE$E"E:*EVL:VE4ZEBE],x ?A>o@>Tj@>/Vٱ>7, JAHRS rotation from veh to nav: [[0.081716,0.983004,0.164395],[-0.996245,0.075830,0.041778],[0.028602,-0.167191,0.985510]]>HQ?t?` ?= i?c? I? fſ@K?i>o@I>v^;>CYRByRfIXbD^VD^2yf%fW=ٔfAQ-j>9hYh=nFynqmEnؕEn>pQ 5v5r%?Q 9v5rP-)rBYtyzпQ Iz@rDIr;irH;r5y|ɮ~LA|jh!-FNOT Ignoring new targets: 128.84 m.Rh-.Zh-.= ProNav: ac range: 128.837601 m, nav range: 126.049744 m, bearing: 264.956263 deg, approach rate: -0.625121 m/s, LOS rate: -0.009549 deg/s, cmd heading: 274.530383 deg, new cmd heading: 274.519636 deg. Bh=ѹEHeadingCmd: 4.791272 target range: 128.837601 and range: 129.60 m.hER@hA*hI"hI hIgIfIfQfQdQdQdYjdYZd]5?颅)~Bɢ b<) r>i)n顑i]i;(;IR@I-9@) @)@-/@) ^AM<Ay I I O >9 E  E E E "E :*E [:VE ZE a @a @a @a @qd,@ ?A2\a@2'\@2ٱ2\- :AHRS rotation from veh to nav: [[0.079991,0.982972,0.165433],[-0.996376,0.074036,0.041867],[0.028906,-0.168183,0.985332]]2H Iz?t?,?P`?o?o? ſև?i2\a@I2-^;2CYvByvjIbD~VD~0y ԉ<% G=ٔ BQ->9Y=FyvmEE%>)Q 5-5-$?Q 955-3)-BY1y5?пQ I5@-DI-:i-:-f5yEvBɮEAEQE]B*** querying acoustic contact ***iY iYjhimFNOT Ignoring new targets: 128.84 m.Rhui$Zhui$ ProNav: ac range: 128.837601 m, nav range: 125.795715 m, bearing: 264.952571 deg, approach rate: -0.616848 m/s, LOS rate: -0.008984 deg/s, cmd heading: 274.519646 deg, new cmd heading: 274.508547 deg. BhKŹHeadingCmd: 4.791078 target range: 128.837601 and range: 129.60 m.hP@h*h"h hgfffdddjdZd`1?.~Bɢ3<) >i);ki `ia;t$;IP@I@ @@/@aET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.y^AΒ;AfAzAaAA .AI I O >ԡ B +>B B xIB BB ! =B B B ze;B 'j,-| ?AFeT@F0O@FٱFN0 RAHRS rotation from veh to nav: [[0.078413,0.982571,0.168541],[-0.996494,0.072305,0.042091],[0.029172,-0.171251,0.984796]]FH?@8q??G@??&ߝ?ſr?iFeT@IFd^;FCYbBybuIԁE EE&E"E,:*ER:VE4ZEBE9 ?Y ?=FyzmE_E>Q 55:#?Q 95z;)BY ?Q E :y пQ I @DI3:i;m5y1ɮ=A9jhyFNOT Ignoring new targets: 128.84 m.Rh Zh  ProNav: ac range: 128.837601 m, nav range: 125.510559 m, bearing: 264.949025 deg, approach rate: -0.604193 m/s, LOS rate: -0.007530 deg/s, cmd heading: 274.508554 deg, new cmd heading: 274.497892 deg. BhaHeadingCmd: 4.790892 target range: 128.837601 and range: 129.60 m.hN@h*h"h hgfff}BdddjdZdw?E3~BɢE <)A e>ii)mǞiiimXzbiuxu;u ;IuN@Iyԩ@ @@/@@=@=e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736595^A ; AM ؟AIY Ii Ou >r,s ?Aɰ4<2G@2B@2 |ٱ2cp1 :AHRS rotation from veh to nav: [[0.076895,0.982497,0.169670],[-0.996603,0.070710,0.042210],[0.029474,-0.172340,0.984597]]2H b?p?࿷?-?@? c.?8ƿЁ?i2G@I2^;2CYFByFIXbDvVDvy~=%~V=ٔ~@OQ-~>9"?Y"?=Fy~mE E >Q 55"?Q 95A)BYy ѿQ I@DI:i1:5y)ɮ-A)jhQUFNOT Ignoring new targets: 128.84 m.Rh] Zh] m ProNav: ac range: 128.837601 m, nav range: 125.278229 m, bearing: 264.946280 deg, approach rate: -0.628001 m/s, LOS rate: -0.007434 deg/s, cmd heading: 274.497899 deg, new cmd heading: 274.489648 deg. BhmCuHeadingCmd: 4.790748 target range: 128.837601 and range: 129.60 m.huM@hq*hq"hq hqgyfyfyfydddjdZd ?颵7~Bɢ2<) >i)<ۛ项idi/;r;IM@Im9@i @i@u0@qE] E]E]%EY"E]:*E]rN:VE] 4ZEYam@am@am@am@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985628^A;A I I O% >9 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2374409x,$ ?A:?@::@:ٱ:M1 FAHRS rotation from veh to nav: [[0.075928,0.982510,0.170027],[-0.996674,0.069722,0.042191],[0.029599,-0.172665,0.984536]]:H p?p?t?Hٱ??O?ƿ Q?i:?@I:^;8YNByNIi-Mb@Mb@Mb@)))) )9-bX9?A`"X9v?Y-E?y-ٽ-<- A-@ -@)-@)Y-@bDEVDEyM̻%MF=ٔUAQ-U>9QYY=]Fy]mE]Ee>aQ 5m5e ?Q 9u5eH)eBYu?Q Eu:yuԿQ Iu@eDIea:ieBYB]IB]BB] =BYBYB]e;B]&EB%ԍCB%ԍCB!B!B!C%24 M>i)_1顱iGgiAѱ;`;IM@I I9@ @@/@E] E]E]&EY"E]:*E]i:VE]4ZEYBE]A >ԡ A .AI I O >c~,Z ?A20<@26@2ٱ2M1 :AHRS rotation from veh to nav: [[0.075468,0.982619,0.169604],[-0.996715,0.069321,0.041883],[0.029398,-0.172207,0.984622]]2H@Q?`q?@? ?q?y?@ ƿ?i20<@I2^;2CYB0ByFI HHJAJAbDRVDR0yV=%ZU=ٔZ> :Q-Z>9^ ?Y^ ?=^Fy^mEbEb>dQ 5f5fY?Q 9j5fM)fBYhyjԿQ Ij@fDIf:ifg:f5ypɮr0Apjh  FNOT Ignoring new targets: 128.84 m.RhF7ZhF7% ProNav: ac range: 128.837601 m, nav range: 124.804810 m, bearing: 264.947068 deg, approach rate: -0.626548 m/s, LOS rate: 0.001122 deg/s, cmd heading: 274.490795 deg, new cmd heading: 274.492019 deg. Bh%!E8-HeadingCmd: 4.790790 target range: 128.837601 and range: 129.60 m.h-&N@h)*h)"h) h)g1f1f1f1yd9ddjdZd I@ ?~Bɢ <) <ۼ y?i )i-ii=u;uJ;Iu&N@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.741627)@) @)@-4@1@5eA@1ԩ^AMyb];E%  E% E% #E! "E% :*E% P:VE% 3ZE! a- @a- @a- @a- @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993450A ؟AI I O > K,~6 ?A2:@24@2ٱ2C0 :AHRS rotation from veh to nav: [[0.075209,0.982721,0.169127],[-0.996738,0.069110,0.041671],[0.029262,-0.171709,0.984713]]2H@?`rr??G8?U??`ſł?i2:@I2z^;2CYn;BynIbDzVDzfyL=%E=ٔ9Q->9 "?Y "?= Fy mEq$E>Q 555p?Q 9E5kT)BYIyMԿQ IM@DI;i<_5yulBɮuAuZEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 128.84 m.Rh7Zh7 ProNav: ac range: 128.837601 m, nav range: 124.558899 m, bearing: 264.947543 deg, approach rate: -0.580611 m/s, LOS rate: 0.001124 deg/s, cmd heading: 274.492025 deg, new cmd heading: 274.493453 deg. BhjE8HeadingCmd: 4.790814 target range: 128.837601 and range: 129.60 m.hZN@h*h"h hg fffdddjdZdJ` @D~Bɢg<)  ?i)אi4li;Ғ=;IZN@I 9@ @@4@ BDAT read: Rx Time:05:50:31.0959  TRx dataTimestamp_ set to:1761544232.544525checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2469631 y y Bm '>^A 2; G  Bi Bm IBm BBm ! =] c9Y Y] UABi Bm dDBm e;Bm &Ea A1 II Ia O} >,a0 ?ADzD@ANuA@N@<@NٱN|. VAHRS rotation from veh to nav: [[0.076111,0.983026,0.166934],[-0.996688,0.070198,0.041045],[0.028630,-0.169505,0.985114]]NH{?@t? ^???)Q?@Tſ ?iNuA@INu^;NCE^ E\E^$E\"E^:*E\VE^4ZE\BE^u91Y1=5Fy5mE=b;E=>AQ 5M5E?Q 9M5EZ)EBYM1?Q EU:yUؿQ IU@EDIE ;iE. ;ES5yYɮ]AYjhFNOT Ignoring new targets: 128.84 m.RhU 9ZhU 9 ProNav: ac range: 128.837601 m, nav range: 124.307442 m, bearing: 264.950918 deg, approach rate: -0.574262 m/s, LOS rate: 0.007723 deg/s, cmd heading: 274.493446 deg, new cmd heading: 274.503590 deg. Bh9HeadingCmd: 4.790991 target range: 128.837601 and range: 129.60 m.hO@h*h"h hgfffV~BdddjdZd@` @mG~Bɢm4h<)i m ?ii)uB,qqiuI8oi}7}_;}4j;I}O@II)AQ@Q @Y@]4@ai^Aa u DAT read: 05:50:31.0959 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 409, 0.05, 0.662,-0.799, 1.225, 0.604, PHS= 0.160,-1.358, 0.577, RAW= 161.8, 7.1, CAL= 161.3, 6.9, ROT= 348.7, -6.9 } Ygot valid direction response: 05:50:31.0959 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 409, 0.05, 0.662,-0.799, 1.225, 0.604, PHS= 0.160,-1.358, 0.577, RAW= 161.8, 7.1, CAL= 161.3, 6.9, ROT= 348.7, -6.9  PDAT read: Bearing 81.4, -10.9 (Local)  ~Local bearing/azimuth received: Bearing 81.4, -10.9 (Local)  DAT read: Range 11 to 50 : 127.5 m (Round-trip 170.0 ms) speed 0.4 m/s  *DAT read: user:549>  BDAT read: Tx time:05:50:32.2218  $Ping request sent. i- ҭ- F?- {4@- =- ,4@ - Ϣ=)- 6@I- Ϣ) ) - Ӫ?"+?XJ? - :?)- I- Ii- Ϣ) )  :publishing transmit ping time  Fpublishing direction and range infoy) - ?S'?;QAȿrjƹI?Y) ) ) ) ) ) )) I) i) ) ) ) ) ) )) I) ) ) - Ӫ?"+?XJ? ) )) I) i) ) ) ԑ A I I) O= >Cc,J ?AbJ@bE@bsyٱb- zAHRS rotation from veh to nav: [[0.077242,0.983161,0.165614],[-0.996622,0.071493,0.040407],[0.027886,-0.168175,0.985363]]bH`!Ƴ?@v?2?T]M?8?;? Ɔſ?ibJ@Ib+T^;bCYUByIbD=VD=0yM=%M\=ٔM8;Q-u>9qYq=uFyumE}E;E}>Q 55?Q 95`)BYy׿Q I@DI$:iuC"iu?*iu>!BiuBiu?iunNiuBiuBiu-@ԉ addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 3.786436 s, deltaX: -2.100006 m, approachRate: -0.554613 m/s, rangeRepo size: 4 5 Added new target pos. range: 126.748207 m, bearing: 264.391893 deg, lat: 36.779451 deg, lon: -121.859765 deg, deltaT: 3.786436 s, deltaX: -2.089394 m, approachRate: -0.551810 m/s, posRepo size: 4 jh1=FNOT Ignoring new targets: 126.75 m.RhuZhq ProNav: ac range: 126.748207 m, nav range: 124.418266 m, bearing: 264.378728 deg, approach rate: 0.000000 m/s, LOS rate: 0.007723 deg/s, cmd heading: 274.503582 deg, new cmd heading: 274.512761 deg. BhHeadingCmd: 4.791152 target range: 126.748207 and range: 127.50 m.hQ@h*h"h hgfffbEJ4jEr 4rEn/E EE(E"Em:*E1]:VEc44ZEa@a@a@a@dddjd_@Zd`5z?eK~BɢeG<)i m8?ii)mBꈼiiiu%$riu}YK;}ޑ;I}Q@IԱuq @y  @y @} 0@y @ =@ = ^Ar;B9A=<BE$>BEӍCBEIBE?BBABABABEhe;BE&EYAIIO?暂,m ?AfU@fP@fp޼ٱf+ vAHRS rotation from veh to nav: [[0.078582,0.983300,0.164149],[-0.996538,0.072997,0.039797],[0.027150,-0.166708,0.985632]]fH?2w??@`毲?`E`?:͛?VſL?ifU@IfB^;fCYiByIaE EE#E"Eg:*EF:VE3ZEBE;a2E;aJE;a:E;aiMb@Mb@Mb@ 9ˡE?V-Q?Y?y\= A@ )@Y@@AbDVDkyiz=%=ٔ؞:Q->9Y=FymE;E> Q 555 y?Q 9=5 i) BY=n ?Q E=:y=ؿQ I=@ !DI ;i ; 5yAɮMAIjhFNOT Ignoring new targets: 126.75 m.Rh8Zh8 ProNav: ac range: 126.748207 m, nav range: 124.089500 m, bearing: 264.382589 deg, approach rate: -0.551243 m/s, LOS rate: 0.006490 deg/s, cmd heading: 274.512761 deg, new cmd heading: 274.524373 deg. Bh9HeadingCmd: 4.791354 target range: 126.748207 and range: 127.50 m.hR@h*h"h hgfff~BdddjdZd@5%?ԉ5P~Bɢ5<)1 5x ?i1)5 99i=uiEQEF;E);IER@IiԹ .ۼ % 9@!  @! @% /@! ^AM;AIAM>E- E-E-%E)"E-Ʊ:*E-c:VE- 4ZE)a5@a5@a5@a5@9A}.AIIO?x, ?AR>s@R n@R]̼ٱR@( ^AHRS rotation from veh to nav: [[0.082174,0.983529,0.160990],[-0.996304,0.077015,0.038038],[0.025013,-0.163520,0.986223]]RHb ?@y? N?@I?y??;Ŀ@#?iR>s@IR^;RCYj~Byj I llbDrVDr:yzߣ=%~=ٔ~);Q-~>9~ ?Y ?=FymE;E> Q 55 ?Q 95 Xp) BYyrؿQ I@ *DI :i [: 5y%cBɮ%(A-dEjhIUFNOT Ignoring new targets: 126.75 m.RhU8Zh]8e ProNav: ac range: 126.748207 m, nav range: 123.812126 m, bearing: 264.385432 deg, approach rate: -0.549218 m/s, LOS rate: 0.005643 deg/s, cmd heading: 274.524373 deg, new cmd heading: 274.532923 deg. Bhmw9uHeadingCmd: 4.791503 target range: 126.748207 and range: 127.50 m.huS@hq*hq"hq hqgqfyfyfydyddjdZd@ڔ?颵T~Bɢ <) )?i)i{项i@xip﾿w;iBI BM IBM bBBM " =BI BI BM ae;BM &E^A ϩ;Q A=؟AIQIiO}>t,; ?AE2 E2E2#E0"E2:*E2 H:VE23ZE0BE2yE ׽E`9u"?Y}"?=}Fy}mE}or;E}>Q 55H?Q 95v)#BY>Q E:yؿQ I@1DIgP;iO;5yaBɮ"AcEEB*** querying acoustic contact ***iA iAjhIuFNOT Ignoring new targets: 126.75 m.Rh}H8Zh}H8 ProNav: ac range: 126.748207 m, nav range: 123.569000 m, bearing: 264.387552 deg, approach rate: -0.479455 m/s, LOS rate: 0.004188 deg/s, cmd heading: 274.532924 deg, new cmd heading: 274.539295 deg. Bh79HeadingCmd: 4.791615 target range: 126.748207 and range: 127.50 m.hT@h*h"h hgfff~BdddjdZd?5Y~Bɢ5<)1 5'?i9)=p99i=R|iE뾿E:ͱ;E$,c ?A2@2̍@2ٱ2B" :AHRS rotation from veh to nav: [[0.086044,0.984096,0.155406],[-0.996066,0.081653,0.034436],[0.021199,-0.157757,0.987250]]2H@?}?T?`0??F?c1Ŀ?i2@I2Ԍ^;2CYbBybI jp9v ?Yv ?=zFyzmEzK;Ez>|Q 55~m ?Q 95~{)~.BY y ׿Q I @~8DI~:i~:~5yɮAjh9EFNOT Ignoring new targets: 126.75 m.RhEI8ZhEI8U ProNav: ac range: 126.748207 m, nav range: 123.377022 m, bearing: 264.389064 deg, approach rate: -0.520563 m/s, LOS rate: 0.004106 deg/s, cmd heading: 274.539290 deg, new cmd heading: 274.543833 deg. BhUX49YeHeadingCmd: 4.791694 target range: 126.748207 and range: 127.50 m.heU@ha*ha"hi higifififqdqdqdqjdyZd}N@颥]~Bɢa=) ,?i)h顩i~i2龿;=7 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499169b̸,. ?A2⠒@2@2<ٱ2 :AHRS rotation from veh to nav: [[0.087736,0.984256,0.153434],[-0.995965,0.083753,0.032241],[0.018883,-0.155643,0.987633]]2Hu? ?ร?p?? V?@ ÿ ?i2⠒@I2v^;2CYBByF"IiMb@Mb@Mb@ 9X9v?Cl绿/$?Y>y;߽< A @)Y@bD-VD-y=%;=%=D=ٔ=m;Q-=>9AYA=EFyEmEEh;EM>QQ 5]5U= ?Q 9]5U)U8BY]@>Q E]:y]ٿQ I]@U>DIU:iU:U5yiɮmzAԩijh)5FNOT Ignoring new targets: 126.75 m.Rh58Zh58E ProNav: ac range: 126.748207 m, nav range: 123.174637 m, bearing: 264.391932 deg, approach rate: -0.463921 m/s, LOS rate: 0.006585 deg/s, cmd heading: 274.543825 deg, new cmd heading: 274.552443 deg. Bhm9mHeadingCmd: 4.791844 target range: 126.748207 and range: 127.50 m.hmV@hq*hq"hq hqgqfqfyf}~BdydydjdAAAABBBIBBB# =BBBe;B&EZd@b~Bɢj<) -0?i!)-]))i- i5E便=;=J",W{ ?A2G@2@2 Wٱ2Q :AHRS rotation from veh to nav: [[0.089368,0.984192,0.152901],[-0.995866,0.085788,0.029865],[0.016276,-0.154937,0.987790]]2H? ~?`??!9???ÿ@?i2G@I2e|^;2CYBByB,IbDNVDNkyV =%VN=ٔV@;Q-V>9Z"?YZ"?=ZFyZmE^;E^>`Q 5f5b. ?Q 9f5b )bABYdyfIٿQ If@bDDIb:ib:b> 5ylɮn<AljhFNOT Ignoring new targets: 126.75 m.Rh 8Zh 8 ProNav: ac range: 126.748207 m, nav range: 122.981544 m, bearing: 264.394530 deg, approach rate: -0.512482 m/s, LOS rate: 0.006906 deg/s, cmd heading: 274.552431 deg, new cmd heading: 274.560237 deg. Bh9%HeadingCmd: 4.791980 target range: 126.748207 and range: 127.50 m.h%W@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=`@ef~BɢeF%=)i m3?ii)m7ViiimIԱi߾;w^e BDAT read: Rx Time:05:50:34.7936 m TRx dataTimestamp_ set to:1761544236.332122m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2562209 Ƃ,@L ?Aɰ;Y~By~I  bD VD yh%%C=ٔ%Q-%>9)Y)=-Fy-mE-E->1Q 5=55?Q 9E55Y)5KBYAyAQ IE@5KDI5;i5;5 5yIɮMAQjhq}FNOT Ignoring new targets: 126.75 m.Rh}8Zh}8 ProNav: ac range: 126.748207 m, nav range: 122.778069 m, bearing: 264.397276 deg, approach rate: -0.486548 m/s, LOS rate: 0.006578 deg/s, cmd heading: 274.560245 deg, new cmd heading: 274.568498 deg. Bhx9HeadingCmd: 4.792124 target range: 126.748207 and range: 127.50 m.hY@h*h"h hgfffdddjdZd. @k~Bɢ(=) +?i)BLiͧi ۾ ; ĀYBaBe'IBeBBe" =BaBaBee;Be'EB-ӍCB-ӍCB)B-" =B-" =C-o*5^A mY<A >A ?I I % PExceeded connect timeout, disconnecting.O- >ԙ E=  E= E= %E9 "E= :*E= R:VE= 4ZE9 BE= b BDAT read: Tx time:05:50:35.9218 $Ping request sent.y]^]u<]x A]@ ]@)]@YY]@u^direction in FSK: [0.968505,-0.204096,0.142629]u:publishing transmit ping time}Fpublishing direction and range infoy)1?I\ʿx0A?YfB )BI=iO ?uJ5@5>4@ C>)mj@ICנo?=[yT?=? :=?)ITiC:publishing transmit ping timeFpublishing direction and range infoy)1?I\ʿx0A?Y )Ii )Iנo?=[yT?=? )bDVDy[Z=%%=Iiٔ!9Y=FymE;E%>)Q 555-.?Q 955-)-TBY5>Q E5:y5ԿQ I5@-SDI-:i-*:-B 5yEXBɮE AElEiiw5 ?AJiBRiBji ٓ@bS]A^@kπ91@R)1?I\ʿx0A?ZiTbiCjԧ0&ڐ9^t6@Z~o'R?2i:i4"i|UL?*i>,"Bi|Bi|UL?i>!i|BiBiؓ@ addTargetRange:: Added new target pos. range: 125.699997 m, deltaT: 3.779488 s, deltaX: -1.800003 m, approachRate: -0.476256 m/s, rangeRepo size: 4  Added new target pos. range: 124.956863 m, bearing: 264.721077 deg, lat: 36.779457 deg, lon: -121.859769 deg, deltaT: 3.779488 s, deltaX: -1.791344 m, approachRate: -0.473965 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 124.96 m.RhZhE ProNav: ac range: 124.956863 m, nav range: 122.772011 m, bearing: 264.718863 deg, approach rate: 0.000000 m/s, LOS rate: 0.006578 deg/s, cmd heading: 274.568496 deg, new cmd heading: 274.578629 deg. BhAMHeadingCmd: 4.792301 target range: 124.956863 and range: 125.70 m.hMZ@hI*hI"hI hQgQfQfQf]BdYdYdYԩjdl_@Zd?r~BɢP<) 0?i)%@i+&iJվz;5 u'lӂ,ZN ?A^’@^M@^ٱ^d nAHRS rotation from veh to nav: [[0.091836,0.983648,0.154930],[-0.995733,0.089294,0.023303],[0.009088,-0.156409,0.987651]]^H`? z?? ۶?@ܗ??@4Ŀ՚?i^’@I^hi^;^CYzByz IbDVDy5 %5s=ٔ5p;Q-5?99Y9==Fy=mEE0:EE?IQ 5U5M?Q 9U5M)MYBYQyUpԿQ IU@MXDIML;iMz;M5yaɮeKAa}B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 124.96 m.RhdZhd ProNav: ac range: 124.956863 m, nav range: 122.610970 m, bearing: 264.718615 deg, approach rate: -0.505719 m/s, LOS rate: -0.000782 deg/s, cmd heading: 274.578632 deg, new cmd heading: 274.577885 deg. BhW HeadingCmd: 4.792288 target range: 124.956863 and range: 125.70 m.hmZ@h*h"h hgfffdddjdZd &?)EU EUEQEQ"EU:*EU H:VEQZEQa]@a]@a]@a]@颭u~BɢmD4=) N*?i)+9顱iL"iվf;yԉ= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.729691Ա ق,#h ?A2 Œ@2տ@2aܻٱ2! :AHRS rotation from veh to nav: [[0.092145,0.983476,0.155834],[-0.995723,0.089950,0.021091],[0.006725,-0.157111,0.987558]]2H Ж?x?`]?` ??({? 5Ŀ?i2 Œ@I2AW^;2CYNByRIB]<A]<BaBaBaBaBaBaBaBexe;Be&E'GfA 09fAYAi]Mb@Mb@Mb@YYYY Y9]I +?ˡEI +?Y]9>y]什]94<]AY ]@ԑ)]@YY]\@bDVDy0%4=ٔ;Q->9Y=FymE0:E>Q 5 5?Q 9=5ś)`BYE>Q EE:yEUҿQ IE@_DI#<) u%?i)F/顱iUԹi@پ=N;=D y, ?A6ǒ@6X™@6yٱ6y&# BAHRS rotation from veh to nav: [[0.092451,0.983174,0.157549],[-0.995706,0.090546,0.019242],[0.004653,-0.158652,0.987324]]6H@䪷?@)v?*? .?I? 5s?`NĿ'?i6ǒ@I6և^;6CYJByJIIN=)N[?bDTVDTy^)2%^r=ٔ^;Q-b?9`Y`=bFybmEfq:Ef?hQ 5n5j?Q 9n5j)jdBYlynGҿQ Ir@jdDIj;ij;j)5ytɮvAtjhFNOT Ignoring new targets: 124.96 m.RhZh- ProNav: ac range: 124.956863 m, nav range: 122.228416 m, bearing: 264.715039 deg, approach rate: -0.523236 m/s, LOS rate: -0.004962 deg/s, cmd heading: 274.571720 deg, new cmd heading: 274.567151 deg. Bh-Y5HeadingCmd: 4.792101 target range: 124.956863 and range: 125.70 m.h5X@h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM?u~Bɢu2=)y } ?iy)})yi-i۾;3;iAHRS rotation from veh to nav: [[0.092525,0.982908,0.159159],[-0.995707,0.090938,0.017242],[0.002473,-0.160071,0.987102]]2H ?s?T_?@G?Ч?4Cd?7}ĿW?i2&Ȓ@I2a^;2CYNxByRIbDZVDZyv=5%vG=ٔv3;Q-v>9xYx=zFyzmEz:9E~>Q 5 5r?Q 9 50)iBY y BҿQ I @jDI:i$:5yɮAjhFNOT Ignoring new targets: 124.96 m.RhRZhRE ProNav: ac range: 124.956863 m, nav range: 122.030144 m, bearing: 264.713141 deg, approach rate: -0.465230 m/s, LOS rate: -0.004462 deg/s, cmd heading: 274.567157 deg, new cmd heading: 274.561452 deg. BhECHeadingCmd: 4.792001 target range: 124.956863 and range: 125.70 m.hX@h*h"h hgff fdd!d)jdQZd]jV?ԑ~Bɢr`<) ?i)W i +i߾;jBaBaBaBaBaBaBe6e;Be&E ^A a<Dy zDy E  E E "E "E :*E i:VE (3ZE BE O,Է ?AɰY pBy IiMb@Mb@Mb@ 9 r?ʡEMb`?Y?y;| A@ @)@Y@AAbDVDky %0=ٔQ->9Y=FymEE>Q 55\?Q 95)mBY ?Q E:yϿQ I@rDI:i:5yɮFAjhFNOT Ignoring new targets: 124.96 m.Rh3Zh35 ProNav: ac range: 124.956863 m, nav range: 121.789177 m, bearing: 264.708747 deg, approach rate: -0.537335 m/s, LOS rate: -0.009816 deg/s, cmd heading: 274.561447 deg, new cmd heading: 274.548241 deg. Bh5׹=HeadingCmd: 4.791771 target range: 124.956863 and range: 125.70 m.h=0V@h9*h9"h9 hAgAfAfAfM~BdIdIdQjdQZdU@}~Bɢ*=) {?i)-׹))i-> i5澿5E;5/n2,| ?A >ڼ@>@>:ٱ>[\( JAHRS rotation from veh to nav: [[0.091152,0.982385,0.163129],[-0.995836,0.090168,0.013438],[-0.001508,-0.163675,0.986513]]>HU?o?k?@E?S?X`LĿ ?i>ڼ@I>ï^;9j ?Yj ?=jFyjmEnsEn>pQ 5v5rx?Q 9v5r)rpBYtyvпQ Iz@rxDIrN:ir$:r5y~RBɮ~6A~vEB*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 124.96 m.Rh-f(Zh-f(EE EEEE&EA"EE:*EEP:VEE4ZEAaM@aM@aM@aM@U ProNav: ac range: 124.956863 m, nav range: 121.596153 m, bearing: 264.705331 deg, approach rate: -0.519004 m/s, LOS rate: -0.009202 deg/s, cmd heading: 274.548251 deg, new cmd heading: 274.537984 deg. BhUʹ]HeadingCmd: 4.791592 target range: 124.956863 and range: 125.70 m.h]T@ha*ha"ha hagafafifidididqjdqZdu@颥~BɢT=) ?i)顩i͊i쾿M; wAY A] @ABe >Be ҍCBe IBe BBe # =Ba Be cDBe e;Be &El,ǹ ?A@Nf@N1@N>6j;ٱN) ZAHRS rotation from veh to nav: [[0.090245,0.982208,0.164694],[-0.995913,0.089596,0.011385],[-0.003574,-0.165048,0.986279]]NHN?>n??@@?P?FmJ ſ ?iNf@IN^;NCYjiByjIi Mb@Mb@Mb@     9 MbX?sh|?MbP?Y  ?y  :  A @ ) @ Y bDEVDEJyU %]2=ٔ];Q-]>9YYa=eFyemEeEe>iQ 5u5m7?Q 9}5m2)msBY}^ ?Q E}:y}пQ I}@mDIm: ;im` ;m5yɮFAjhFNOT Ignoring new targets: 124.96 m.RhZh ProNav: ac range: 124.956863 m, nav range: 121.344849 m, bearing: 264.701390 deg, approach rate: -0.548072 m/s, LOS rate: -0.008613 deg/s, cmd heading: 274.537978 deg, new cmd heading: 274.526131 deg. Bh$HeadingCmd: 4.791385 target range: 124.956863 and range: 125.70 m.hS@h*h"h hgfff~BdddjdZdQ@ԩ~Bɢư<) ?i)@V i3iS󾿉{;&Op,9 ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.249821Y\ByIbD%VD%y5>%5S=ٔ=Q-=>99Y9=EFyEmEEEE>IQ 5U5M'?Q 9]5Mȼ)MuBYYyYQ I]@MDIM;iM;MN5yaɮeAijhFNOT Ignoring new targets: 124.96 m.RhZh ProNav: ac range: 124.956863 m, nav range: 121.132217 m, bearing: 264.698043 deg, approach rate: -0.547030 m/s, LOS rate: -0.008626 deg/s, cmd heading: 274.526121 deg, new cmd heading: 274.516062 deg. BhrHeadingCmd: 4.791209 target range: 124.956863 and range: 125.70 m.hQ@h*h"h hgfffdddjdZd @~Bɢc<) K?i)i]7i ݑ; ti"?-5@ >4@  >)@I Gr~?^Q?z3? P, ?AF˛@LF@F2;ٱF+ =AHRS rotation from veh to nav: [[0.087130,0.982140,0.166763],[-0.996170,0.087129,0.007339],[-0.007322,-0.166764,0.985970]]FH(N?`m?}X?N?~?t}Xſ@?iF˛@IFH^;FCYWByII=);bDVDky崼% >=ٔ9-"?Y5"?=5Fy=mEME>Q 55?Q 95?ÿ)xBYyѿQ I@DI:i:D5yɮAjhFNOT Ignoring new targets: 124.96 m.RhkZhk  ProNav: ac range: 124.956863 m, nav range: 120.886024 m, bearing: 264.694511 deg, approach rate: -0.548923 m/s, LOS rate: -0.007891 deg/s, cmd heading: 274.516067 deg, new cmd heading: 274.505449 deg. Bh MHeadingCmd: 4.791024 target range: 124.956863 and range: 125.70 m.hP@h*h"h hgff!f!d!i)I-A=DAT read: Range 11 to 50 : 123.7 m (Round-trip 165.0 ms) speed 0.2 m/s =*DAT read: user:551> EBDAT read: Tx time:05:50:39.6218 M$Ping request sent.MBEэCBEIBEmBBE$ =BABABEue;BE&EY@Y @Y@Y@Y^A t<E  E E 'E "E :*E |:VE '4ZE BE j ,.: ?A|YJByIiMb@Mb@Mb@ 9 rh?ʡEQ?YC ?yu<1 A@ ?@)@Y@bDVDy}%O=ٔQ->9 ?Y ?=FymEE>Q 55 ?Q 95ȿ)|BY ?Q E:yϿQ I@DI;i ;5yɮ?A] addTargetRange:: Added new target pos. range: 123.699997 m, deltaT: 3.780319 s, deltaX: -2.000000 m, approachRate: -0.529056 m/s, rangeRepo size: 4 jhYeFNOT Ignoring new targets: 124.96 m.RheXZheXu ProNav: ac range: 124.956863 m, nav range: 120.679008 m, bearing: 264.690011 deg, approach rate: -0.544106 m/s, LOS rate: -0.011847 deg/s, cmd heading: 274.505439 deg, new cmd heading: 274.491917 deg. Bh}}HeadingCmd: 4.790788 target range: 124.956863 and range: 123.70 m.h}"N@h*h"h hgfffu~BdddjdZd?E~BɢEk<)A E>iI)M,IIi;Ni;Qԁ k,kT ?Aɰ4<E2 E2E0E0"E2;*E2rN;VE0ZE0a:@a:@a:@a:@YyI))bD5VD5ܲyEL;%ET=ٔAQ-E>9IYI=MFyMmEIEU>YQQ 5e5U5?Q 9e5UAο)UBYiyiQ Im@UDIU2*;iU`+;U 5yqɮu8AqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 124.96 m.Rh[Zh[E ProNav: ac range: 124.956863 m, nav range: 120.467583 m, bearing: 264.685399 deg, approach rate: -0.549205 m/s, LOS rate: -0.012000 deg/s, cmd heading: 274.491916 deg, new cmd heading: 274.478057 deg. BhMMHeadingCmd: 4.790546 target range: 124.956863 and range: 123.70 m.hU'L@hQ*hQ"hq hqgqfyfyfydyddjdZd!?~Bɢ<) >i)ܻiӍi?;&UBE <AE <BE >BE ҍCBE IBE XBBE % =BA BA BE e;BE &EB ҍCB ҍCB B # =B # =C ˝5h ,Sn ?Avf@va@v_/B<ٱv`]4 AHRS rotation from veh to nav: [[0.080669,0.981151,0.175598],[-0.996671,0.081496,0.002506],[-0.011852,-0.175216,0.984459]]vH?`e?`z?@ܴ?d?Exmƿ?ivf@Iv^;vCYFByI iMb@Mb@Mb@ 9S?kt/$?Y?y <Թ@ @)@Y@bD VD:2y%A=ٔ.9Y=FymEyE>Q 55?Q 9%5Կ)BY%?Q E%:y% ѿQ I%@DI:i:z"5y5LBɮ5.A5EjhFNOT Ignoring new targets: 124.96 m.RhqZhq  ProNav: ac range: 124.956863 m, nav range: 120.224976 m, bearing: 264.681959 deg, approach rate: -0.547706 m/s, LOS rate: -0.007783 deg/s, cmd heading: 274.478064 deg, new cmd heading: 274.467721 deg. BhHeadingCmd: 4.790365 target range: 124.956863 and range: 123.70 m.hJ@h*h"h hgff!f%x~Bd!d!dIjdIZdMs?Em EmEm(Ei"Em:*EmR:VEmc44ZEiBEia}2Eia}JEm;a}:Em;a颽~Bɢ<<) >ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256625) ϻ顩i7iI-;;IJ@I@ @@0@ ^A hW<9 e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509397A ؟AI I) O5 >[d",h ?A2X@2R@2&^<ٱ25 :AHRS rotation from veh to nav: [[0.078881,0.981047,0.176985],[-0.996791,0.080041,0.000589],[-0.013589,-0.176464,0.984213]]2H`1?d? s? }?JC?Lԋ]ƿ~?i2X@I2^;2CY@y@bDNVDNܲٔZ:;Q-Z>9Z"?YZ"?=^Fy^mE^E^>`Q 5f5b?Q 9f5bgڿ)bBYhyjXѿQ Ij@bDIbh;ibd;b-$5ylɮlp1jh15FNOT Ignoring new targets: 124.96 m.Rh=$Zh=$M ProNav: ac range: 124.956863 m, nav range: 120.004875 m, bearing: 264.679004 deg, approach rate: -0.581573 m/s, LOS rate: -0.007822 deg/s, cmd heading: 274.467709 deg, new cmd heading: 274.458829 deg. BhūHeadingCmd: 4.790210 target range: 124.956863 and range: 123.70 m.hgI@h*h"h hgfffdddjdZdW?}~Bɢ}<<)y }V>i)a7û顱iiw;;ו;IgI@IYE EE%E"E:*E H:VE 4ZEa@a@a@a@Q@Q @Q@Uo0@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760994^AM;AQzAUdAԉIA IQ Om >Ա (, ?APPԑ6@1@F<ٱ6 AHRS rotation from veh to nav: [[0.074845,0.981132,0.178266],[-0.997063,0.076546,-0.002673],[-0.016268,-0.177543,0.983979]]H` )?@ne?@o??eࠨƿ|?i6@I^;Y9ByI5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012636iMb@Mb@Mb@ 9㥛 ?EԸ:v?Y?yƽ< A@ t@)@YG@bDVDky %<ܹٔ;Q->9Y=FymEK E>Q 55?Q 95)BY?Q E:y4ӿQ I@DI~ ;i;=&5yɮAjh j>B>BӍCBIBIBB" =BBdDBme;B&E=GEFNOT Ignoring new targets: 124.96 m.](hAyRhTZhTԹ9(hAYA ProNav: ac range: 124.956863 m, nav range: 119.725388 m, bearing: 264.677178 deg, approach rate: -0.597849 m/s, LOS rate: -0.003916 deg/s, cmd heading: 274.458830 deg, new cmd heading: 274.453338 deg. Bh+%HeadingCmd: 4.790114 target range: 124.956863 and range: 123.70 m.h%H@h!*h)"h) h)g)f1fYf]h~BdadadajdaZdm@~Bɢ66<) >i)ii%% ;%G;I%H@I)@ @@0@E EE&E"E:*E~:VE4ZEBE@p0, ?A:1@:u,@:b<ٱ:7 FAHRS rotation from veh to nav: [[0.074208,0.981007,0.179214],[-0.997086,0.076176,-0.004117],[-0.017690,-0.178386,0.983801]]:H`J?id?}? I?@p`n@^ƿ@M{?i:1@I:| _;:CYN;ByNIIRV>)R4<bDZVDZfyb<%bK=ٔbg;Q-b>9dYd=fFyfmEjϺEj>lQ 5r5nA?Q 9r5n)nBYpyrFӿQ Ir@nDIn:in:n'5yxɮzA|jh%FNOT Ignoring new targets: 124.96 m.Rh%vZh%v ProNav: ac range: 124.956863 m, nav range: 119.487366 m, bearing: 264.675680 deg, approach rate: -0.591257 m/s, LOS rate: -0.003728 deg/s, cmd heading: 274.453339 deg, new cmd heading: 274.448836 deg. Bh#HeadingCmd: 4.790036 target range: 124.956863 and range: 123.70 m.hG@h*h"h hgfffdddjdZd@]~Bɢe<)i m>ii)mr穻iiiuiu};}==A;I}G@Iy!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517536@ @!@%4@!^A"5;IYIiO}7>Qy bEEɞ4jEE4rEE(0E  E E 'E "E :*E i:VE '4ZE a @a @a @a @% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7714816,1 ?A02+@2_&@2<ٱ29 >AHRS rotation from veh to nav: [[0.073466,0.980807,0.180609],[-0.997125,0.075607,-0.004989],[-0.018549,-0.179723,0.983542]]2H@β?@b?2?@sZ?joti,ǿ-y?i2+@I2W+_;2CYF:ByFIbDRVDRyV᰻%ZL=ٔZ ;Q-Z>9XY\=^Fy^mE^sEb>`Q 5f5b?Q 9j5b.)bBYhyj[ӿQ Ij@bDIbd:ib:b)5ylɮrAp~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 124.96 m.RhtZht- ProNav: ac range: 124.956863 m, nav range: 119.250717 m, bearing: 264.674257 deg, approach rate: -0.591682 m/s, LOS rate: -0.003564 deg/s, cmd heading: 274.448831 deg, new cmd heading: 274.444554 deg. Bh--HeadingCmd: 4.789961 target range: 124.956863 and range: 123.70 m.h5\G@h1*h1"h1 h1g1f1ffdddjdZd @M~BɢU<)Q ]>iY)]fYYi]~-ie!e­;eh;Ie\G@Iiԑ9@ @!@%/@)eBDAT read: Rx Time:05:50:42.1881 eTRx dataTimestamp_ set to:1761544243.640157mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021689ԹAAAAB>BBIB:BB# =BBB:e;B&E^A2;I I1 OM > <,q ?A4<ɰ;2H)@2$@2ٞ<ٱ2D8 :AHRS rotation from veh to nav: [[0.073185,0.980846,0.180512],[-0.997130,0.075482,-0.005877],[-0.019390,-0.179564,0.983555]]2HE?c?@?|R?Zxړ@ƿHy?i2H)@I2V_;0EB EBEB%E@"EBI:*EB H:VEB 4ZE@BEB9YYY=]Fy]mEe Ee>iQ 55mc金?Q 95mP)mBY?Q E:yտQ I@mDIm6;im;m+5yFBɮeAEjhFNOT Ignoring new targets: 124.96 m.Rh/7Zh/7% ProNav: ac range: 124.956863 m, nav range: 118.978149 m, bearing: 264.675032 deg, approach rate: -0.585682 m/s, LOS rate: 0.001668 deg/s, cmd heading: 274.444541 deg, new cmd heading: 274.446870 deg. Bh%8-HeadingCmd: 4.790001 target range: 124.956863 and range: 123.70 m.h-G@h)*h1"h1 h1g1f1f9f=~Bd9d9d9jdAZdE@ @m~Bɢmf4<)q u>iq)uꤑqqiuQi} }h;});I}G@I%9@) @)@1@1 DAT read: 05:50:42.1881 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410,-0.30,-2.572, 2.266,-2.073,-2.635, PHS= 0.165,-1.337, 0.518, RAW= 160.3, 7.7, CAL= 159.9, 7.8, ROT= 350.1, -7.8  Ygot valid direction response: 05:50:42.1881 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410,-0.30,-2.572, 2.266,-2.073,-2.635, PHS= 0.165,-1.337, 0.518, RAW= 160.3, 7.7, CAL= 159.9, 7.8, ROT= 350.1, -7.8  PDAT read: Bearing 81.3, -12.0 (Local)  ~Local bearing/azimuth received: Bearing 81.3, -12.0 (Local)  DAT read: Range 11 to 50 : 121.6 m (Round-trip 162.2 ms) speed 0.4 m/s  *DAT read: user:552>  BDAT read: Tx time:05:50:43.3218  $Ping request sent. ii m ?m 3@m >m )2@ m 'g >)m a@Im 'g i i m %-?**r?0? m L)4?)m b Im 40im 'g i i  :publishing transmit ping time  Fpublishing direction and range infoyi m  &Y;? ſ M _?Yi i i i i i )i Ii ii i i i i i )i Ii i i m %-?**r?0? i )i Ii ii i i I ^A ;Ia Iq O >#C,qV ?AVi,@V4'@VP<ٱV#G5 AHRS rotation from veh to nav: [[0.073564,0.981434,0.177132],[-0.997075,0.076074,-0.007414],[-0.020751,-0.176068,0.984159]]VHղ?`g???y?]~?eƿ;~?iVi,@IV_;VCY9Y=Fy%nE%|:E%>)Q 5U5-l?Q 9U5-)-BYYy]տQ I]@-DI-6;i-;-z-5yaɮeNAaii0+ ?AJiBRiBji|@bJE,~]@1F24-]Og0@R &Y;? ſ M _?Zi40bi'g jJd.?!=]Z)R1@Z}6C ȧ[v7EW?2i:i "i?*ic=BiBiEp?i>,"iBiBi@ addTargetRange:: Added new target pos. range: 121.599998 m, deltaT: 3.527509 s, deltaX: -2.099998 m, approachRate: -0.595321 m/s, rangeRepo size: 4 M Added new target pos. range: 120.880699 m, bearing: 265.866417 deg, lat: 36.779462 deg, lon: -121.859769 deg, deltaT: 7.307828 s, deltaX: -4.076164 m, approachRate: -0.557781 m/s, posRepo size: 4 jhIMFNOT Ignoring new targets: 120.88 m.RhUZhQe ProNav: ac range: 120.880699 m, nav range: 118.748184 m, bearing: 264.969859 deg, approach rate: 0.000000 m/s, LOS rate: 0.001668 deg/s, cmd heading: 274.446864 deg, new cmd heading: 274.448913 deg. BhaE EEE"EƱ:*EX:VEZEa@a@a@a@HeadingCmd: 4.790037 target range: 120.880699 and range: 121.60 m.hG@h*h"h hgfffdddjd`ff^@ZdiI)U;QQiUti]|]3;]qy%;I]G@I9@ @@@q^A= ;ԩ I I OE >FI,5) ?AY5>By5IqiMb@Mb@Mb@ 9&1?:vQ?Y?yԽ\=tA@ @)V@Y@bD=VD=!3y]B<<%]F=ٔeQ-m>B!>BBIB0BB" =BBB e;B&E99Y9==Fy=nEEEE>iQ 5u5mc뤊?Q 9u5m4)mBY}?Q E}:y}&տQ I}@mDIm:im:ml/5yɮ:AjhFNOT Ignoring new targets: 120.88 m.Rh 8Zh 85 ProNav: ac range: 120.880699 m, nav range: 118.492050 m, bearing: 264.970681 deg, approach rate: -0.592641 m/s, LOS rate: 0.001906 deg/s, cmd heading: 274.448913 deg, new cmd heading: 274.451384 deg. Bh5x8=HeadingCmd: 4.790080 target range: 120.880699 and range: 121.60 m.h=VH@hA*hA"hA hAgAfIfIfM~BdIdQdQjdQZdU?颍~Bɢ %<) >i)Ys顑i>i ;;IVH@ԡIi>i>U9@Y @Y@]/@Y@e=@e=E EE)E"E:*Ek:VEFA4ZEBE Q,^D ?A2b7@2-2@2W<ٱ2g/ :AHRS rotation from veh to nav: [[0.074895,0.982353,0.171387],[-0.996918,0.077786,-0.010204],[-0.023355,-0.170094,0.985151]]2HU,?`oo? ?`?儿gꗿ`ſ`[?i2b7@I2Е`;2CYF7ByFI z49Y=Fy nEx;E>!Q 5-5%養?Q 9-5%x1)%BY1y= տQ I=@%DI%6;i%7;%05yAɮEzAAjhiuFNOT Ignoring new targets: 120.88 m.Rhu7Zh}7 ProNav: ac range: 120.880699 m, nav range: 118.290970 m, bearing: 264.971249 deg, approach rate: -0.586666 m/s, LOS rate: 0.001660 deg/s, cmd heading: 274.451372 deg, new cmd heading: 274.453078 deg. BhΑ8HeadingCmd: 4.790110 target range: 120.880699 and range: 121.60 m.hH@h*h"h hgfffdddjdZdYO?~Bɢ~<) j>i).`iTiUܹ;xp;IH@Ii@i @i@m0@iaԉ^A"5;E  E E 'E "E y:*E [:VE '4ZE a @a @a @a @A .AI I O% >Թ +0W,9&^ ?A2?@2:@2@<ٱ2m!. :AHRS rotation from veh to nav: [[0.075912,0.982413,0.170594],[-0.996808,0.079014,-0.011457],[-0.024735,-0.169179,0.985275]]2Hn?@o??@=:?vT`ſ _?i2?@I2``;2CYB4ByFIbDNVDN0yVk%VQ=ٔVg;Q-Z>9Z ?YZ ?=ZFyZnE^+;E^>`Q 5f5b褊?Q 9f5bY )bBYdyjԿQ Ij@bDIb:ib|:b25ylɮzAx B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 120.88 m.Rh%<7Zh%<75 ProNav: ac range: 120.880699 m, nav range: 118.066399 m, bearing: 264.971782 deg, approach rate: -0.572779 m/s, LOS rate: 0.001361 deg/s, cmd heading: 274.453065 deg, new cmd heading: 274.454666 deg. Bh5o8ԙHeadingCmd: 4.790138 target range: 120.880699 and range: 121.60 m.hH@h*h"h hgfffdd d jd Zd O?}~Bɢ}nE<)} }>i)J顁ii-ù;P;IH@I1@ @@P0@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BAB5>B1B5IB5+BB5! =B1B1B5d;B5&E^A- jb;I) 9 I9 OM >E  E E %E "E :*E L_:VE 4ZE BE #9Y=FynEM;E>Q 55 椊?Q 95)BYA?Q E:y(տQ I@DIm ;i;45yCBɮeAEjhFNOT Ignoring new targets: 120.88 m.Rh 8Zh 8 ProNav: ac range: 120.880699 m, nav range: 117.813324 m, bearing: 264.972611 deg, approach rate: -0.586176 m/s, LOS rate: 0.001924 deg/s, cmd heading: 274.454677 deg, new cmd heading: 274.457170 deg. Bh8HeadingCmd: 4.790181 target range: 120.880699 and range: 121.60 m.h*I@h*h"h hgfff~BdddjdZdM8?U~BɢU<)Q ]>iY)]E2YYi]ܶieeu;e;Ie*I@Ii1I@ @@(1@@ fA@ dAichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004571^A ;ԙ I I O >!Bd,Uܑ ?Aɰ4<29T@2O@2k]<ٱ2k& :AHRS rotation from veh to nav: [[0.078397,0.983437,0.163418],[-0.996549,0.081790,-0.014131],[-0.027263,-0.161747,0.986456]]2H?Qx?`?1?꛿ Ŀ ?i29T@I2`;0YF=ByFIHJAAbDNVDN:2yV( =%VZ=ٔZX;Q-Z>9XYX=ZFyZnE^/G;E^>`Q 5f5bT䤊?Q 9f5b)bBYhyj տQ Ij@bDIby:ib :b/65ytɮv1AtjhFNOT Ignoring new targets: 120.88 m.RhK7ZhK7- ProNav: ac range: 120.880699 m, nav range: 117.595673 m, bearing: 264.973226 deg, approach rate: -0.579790 m/s, LOS rate: 0.001641 deg/s, cmd heading: 274.457164 deg, new cmd heading: 274.459012 deg. Bh--85HeadingCmd: 4.790214 target range: 120.880699 and range: 121.60 m.h5nI@h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdM`k@5~Bɢ5<)9 =>i9)=#99i=diEEŹ;M|;IMnI@IIqE EEE"E:*E҆:VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2573439@ @@4@ԡ^A;I1 IA OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514113 lj,ø ?AV$[@VU@VN<ٱV\%B>BBBB" =BBBd;B&EBӍCBӍCBB" =B" =C 5 AHRS rotation from veh to nav: [[0.079236,0.983522,0.162500],[-0.996451,0.082791,-0.015216],[-0.028419,-0.160718,0.986591]]VHH?y??1? )`hĿ'?iV$[@IV`;VCYAByI AAiuMb@Mb@Mb@qqqq q9un?~jt~jt?YuV?yuĽu9Y=FynE:E>!Q 5-5%G⤊?Q 955%J!)%BY5?Q E5:y5ӿQ I5@%DI%*:i%:%o85y9ɮEAAjhimFNOT Ignoring new targets: 120.88 m.RhuƜZhuƜ ProNav: ac range: 120.880699 m, nav range: 117.305161 m, bearing: 264.972678 deg, approach rate: -0.565962 m/s, LOS rate: -0.001071 deg/s, cmd heading: 274.459021 deg, new cmd heading: 274.457372 deg. Bh!<HeadingCmd: 4.790185 target range: 120.880699 and range: 121.60 m.h2I@h*h"h hgfff~BdddjdZd@~Bɢ#<) >i)6nikia߹;k;I2I@IE EEE"E7:*EF:VEZEBE;a2E;aJE;a:E;achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760769) M ̼ 9@  @ @ /0@ Q checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013996^AX;IIԙO?Tr,Ӆ ?A2_b@2*]@2%V<ٱ2dQ" :AHRS rotation from veh to nav: [[0.080112,0.983911,0.159693],[-0.996343,0.083816,-0.016582],[-0.029700,-0.157781,0.987027]]2H`:? 2|?p?` `t?i*2Ŀ?i2_b@I2`;2CYFFByFIbD=VD=y];<%];=ٔ]?;Q-e>9iYi=uFyu!nE;E>Q 55ऊ?Q 95')BYyӿQ I@ DI|:it:P:5yɮAjh%FNOT Ignoring new targets: 120.88 m.Rh%pZh%pU ProNav: ac range: 120.880699 m, nav range: 117.062660 m, bearing: 264.972134 deg, approach rate: -0.554295 m/s, LOS rate: -0.001246 deg/s, cmd heading: 274.457382 deg, new cmd heading: 274.455747 deg. Bh]Z]HeadingCmd: 4.790156 target range: 120.880699 and range: 121.60 m.heH@ha*ha"ha hagafafifidddjdZd# @ 颕~BɢT<) Y>i)cѺ顙ii;@%;IH@IeE EE&E"E ;*EP:VE4ZEa@a@a@a@)@) @)@-4@19BDAT read: Rx Time:05:50:45.8851 TRx dataTimestamp_ set to:1761544247.420935checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266820i ^A ;Ia Iq O >(y,j ?ANf@Nua@N:<ٱN,A rAHRS rotation from veh to nav: [[0.080631,0.984323,0.156864],[-0.996261,0.084487,-0.018059],[-0.031029,-0.154821,0.987455]]NH`;???^젵?~ Ɵ /ÿ`;?iNf@IN`;NCY@By%IbDVDkMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519280y%8=߀GٔvA;Q->AuAAAqԙA9YfA9Y=Fy%nE%:E->BIBMҍCBIBIBM# =BIBMcDBMd;BM&EQ 55ޤ?Q 95/)BYyӿQ I@DIui) ,顑i Xi|9; = BDAT read: Tx time:05:50:47.0218 = $Ping request sent.= i ^ /? {4@ B= 3@ q=) @I q Z?2a2?Skc(? ϊ:?) ̤ѽI Di q e :publishing transmit ping time9 m Fpublishing direction and range infoy  XxG?TPQȿ{]U?Y ) I i ) I Z?2a2?Skc(? ) I i ԑ e>i >m 9@q  @q @u 0@q ԡ ^A<iߑIߑAII O% ?z,B?AR]@RSX@Rd=ٱR ZAHRS rotation from veh to nav: [[0.079516,0.984290,0.157639],[-0.996300,0.083646,-0.019727],[-0.032603,-0.155487,0.987300]]RH-[? N?`-? i?>3Jÿ?iR]@IRl`;RCYfDByfIIj=)hln=n=iMb@Mb@Mb@ 9M?l񲿸Q?Yn?yu< A @)=AY@bDVDfyj<%=ٔP-;Q->9Y=Fy+nEZE>Q 55xݤ?Q 95;7)BY?Q E:yοQ I@DI:i;>5yɮAEi9i= ?AJi=0BRi=0Bji=@b=D\@W46A%@R=XxG?TPQȿ{]U?Zi=Dbi=qj=8w&}e]7zR%@Z=b?ܙ£לR?2i=-:i=3"i=*?*i=#LBi=YBi=|UL?i=1[.i=Bi=Bi=<ԓ@M addTargetRange:: Added new target pos. range: 119.300003 m, deltaT: 3.780055 s, deltaX: -2.299995 m, approachRate: -0.608456 m/s, rangeRepo size: 4 ] Added new target pos. range: 118.593857 m, bearing: 264.542800 deg, lat: 36.779457 deg, lon: -121.859774 deg, deltaT: 3.780055 s, deltaX: -2.286842 m, approachRate: -0.604976 m/s, posRepo size: 4 jhYeFNOT Ignoring new targets: 118.59 m.RheZhau ProNav: ac range: 118.593857 m, nav range: 116.946564 m, bearing: 264.686872 deg, approach rate: 0.000000 m/s, LOS rate: -0.001346 deg/s, cmd heading: 274.453667 deg, new cmd heading: 274.451552 deg. Bhq}HeadingCmd: 4.790083 target range: 118.593857 and range: 119.30 m.h}]H@hy*h"h hgfff~Bdddjd@3]@Zd;?~Bɢ3<) K>i)s?aiimimu[;uL>;Iu]H@Iq bEmĻ 4jEm-4rEm/E EE#E"Eg:*Ec:VE3ZEa@a@a@a@9@ @@0@ 1^A% X;a AU ؟AIa Iq O >$,"p(?A9YMIByMIbDVDyH<%I=ٔQ->9"?Y"?=Fy /nEE>9Q 55=ܤ?Q 95==)=BYyQ I@=$DI=BIBMIBM0BBM" =BIBIBMd;BM&EjhFNOT Ignoring new targets: 118.59 m.RhkZhk ProNav: ac range: 118.593857 m, nav range: 116.707008 m, bearing: 264.681056 deg, approach rate: -0.529651 m/s, LOS rate: -0.012886 deg/s, cmd heading: 274.451563 deg, new cmd heading: 274.434078 deg. Bh HeadingCmd: 4.789778 target range: 118.593857 and range: 119.30 m.hE@h*h"h hgf!f)f)d)d)d)jd1Zd5 ?a~Bɢ=<)9 E>iA)EيAAiE"iM'M~;M;IME@IQU9@Q @Q@U0@QԉDzDAAE EE$E"E:*EF:VE4ZEBE0?,6=E?A2S@2jN@2 =ٱ2 >AHRS rotation from veh to nav: [[0.078307,0.984368,0.157756],[-0.996351,0.082663,-0.021229],[-0.033938,-0.155518,0.987250]]2H@ ??`X1?`e)? F`ÿ@?i2S@I2 _;2CYFLByFIiMb@Mb@Mb@ 9Zd;O?)\(/$?Y~ ?yGa<K A"@ @)AYp@%AA!bD-VD-βy=vV<%=>=ٔ={L;Q-=>9E ?YE ?=EFyM3nEM:EM>QQ 5]5UKܤ?Q 9]5UC)UBY]P ?Q Ee:ye ˿Q Ie@U+DIUC ;iUi ;UB5yiɮmAqjhFNOT Ignoring new targets: 118.59 m.RhXɹZhXɹ] ProNav: ac range: 118.593857 m, nav range: 116.478851 m, bearing: 264.672364 deg, approach rate: -0.576463 m/s, LOS rate: -0.022004 deg/s, cmd heading: 274.434078 deg, new cmd heading: 274.407951 deg. Bh]qHeadingCmd: 4.789322 target range: 118.593857 and range: 119.30 m.h!B@h*h"h hgfffBdddjdZdf?~Bɢ<) >i ) h7  i ގi6֑;y1;I=!B@I9i9@ @@4@ԁ^A;AfAzAE  E E E "E :*E ;J:VE ZE a @a @a @a @ A ؟AI I O >j^,2^?A:7M@:H@:X =ٱ:` FAHRS rotation from veh to nav: [[0.077527,0.984523,0.157173],[-0.996401,0.081930,-0.021717],[-0.034258,-0.154924,0.987332]]:Hس?7?A?`@Y?<`>ÿ9?i:7M@I:}L_;:CYNWByNIP TTbDZVDZybi=%bT=ٔfhY:Q-f>9f"?Yj"?=jFyj7nEjEj>lQ 5r5nܤ?Q 9r5nI)nBYtyv(˿Q Iv@n2DIn:in_:n2D5yxɮzYA|jh%FNOT Ignoring new targets: 118.59 m.Rh%^ĹZh%^Ĺ5 ProNav: ac range: 118.593857 m, nav range: 116.269440 m, bearing: 264.664441 deg, approach rate: -0.566161 m/s, LOS rate: -0.021460 deg/s, cmd heading: 274.407959 deg, new cmd heading: 274.384146 deg. Bh5kEHeadingCmd: 4.788907 target range: 118.593857 and range: 119.30 m.hE>@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU@4?颅~Bɢ =) >i)$9顉i\ގiD9;.;I>@IQ@Q @Q@U/@QiIIMABE<AE<^A;B>BBIB5BB$ =BBBd;B&EA! ) I1 IA OU >!,x?AE2 E2E2'E0"E2:*E2F:VE2'4ZE0BE28 OG@>B@>7=ٱ>% JAHRS rotation from veh to nav: [[0.076808,0.984612,0.156971],[-0.996441,0.081285,-0.022298],[-0.034714,-0.154699,0.987352]]>H??`? ϴ? 6Ֆ ơ0ÿ@b?i>OG@I> /_;>CYRYByRI|iMb@Mb@Mb@ 9 rh?/$?YC ?yLO@ @)AY\@bDVDky<%;=ٔ:Q->9Y=FyQ 55ۤ?Q 95ZO)BY ?Q E:yʿQ I@:DI3:i:F5yɮJAB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 118.59 m.Rh-7ӹZh-7ӹ= ProNav: ac range: 118.593857 m, nav range: 116.031609 m, bearing: 264.654370 deg, approach rate: -0.543989 m/s, LOS rate: -0.023082 deg/s, cmd heading: 274.384135 deg, new cmd heading: 274.353860 deg. Bh=u}EHeadingCmd: 4.788378 target range: 118.593857 and range: 119.30 m.hEe:@hA*hA"hA hAgIfIfIfMkBdQdQdajdaZdeU@u~BɢuY<)q u>iq)ujC:yyi}ཎiU;P~;Ie:@I)e9@a @a@e/@aQU T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.^A ԁ A I I O >p,?A:>@:9@:=ٱ:b FAHRS rotation from veh to nav: [[0.075764,0.984631,0.157358],[-0.996516,0.080285,-0.022570],[-0.034856,-0.155100,0.987284]]:HEe??P$?@v?~ءQÿӗ?i:>@I:^;:CYLyL Vp9dYd=fFyf@nEf9Ej>hQ 5n5jۤ?Q 9r5jT)jBYpyr*ʿQ Ir@j@DIj;ij;jG5ytɮzVAzEjhFNOT Ignoring new targets: 118.59 m.Rh%ѹZh%ѹ5 ProNav: ac range: 118.593857 m, nav range: 115.829842 m, bearing: 264.645897 deg, approach rate: -0.545216 m/s, LOS rate: -0.022936 deg/s, cmd heading: 274.353864 deg, new cmd heading: 274.328400 deg. Bh5{=HeadingCmd: 4.787934 target range: 118.593857 and range: 119.30 m.h=6@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM G@Y颅~BɢR =) >i)"L:顉iifdر;;I6@IU9@Q @Q@U/@QE EE%E"E,:*ET:VE 4ZEa@a@a@a@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508615^Au0;A}>A}>ԱA I I O > m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762192򱪃,۬?AJ;ɰJ;BU>BQBUIBU?BBU# =BQBQBUd;BU&Eԉ8@3@Bt=ٱq" AHRS rotation from veh to nav: [[0.075038,0.984238,0.160141],[-0.996557,0.079697,-0.022857],[-0.035260,-0.157874,0.986830]]H`5?`~?@~?f?@g 95Ŀ?i8@I^;Y]ByII!>);iMb@Mb@Mb@ 9Pn?A`"X9v?Y?yY<bA|@ @)Y(AbD VD Nyӂ<%(=ٔhY:Q-%>9!Y!=%Fy%EnE-úE->1Q 5=55[ۤ?Q 9=55U[)5BY=?Q EE:yE'˿Q IE@5HDI5 ;i5e ;5I5yIɮM6AIjhquFNOT Ignoring new targets: 118.59 m.Rh}൹Zh}൹ ProNav: ac range: 118.593857 m, nav range: 115.577698 m, bearing: 264.636237 deg, approach rate: -0.517692 m/s, LOS rate: -0.019876 deg/s, cmd heading: 274.328401 deg, new cmd heading: 274.299358 deg. BhAZHeadingCmd: 4.787427 target range: 118.593857 and range: 119.30 m.h2@h*h"h hgfffBdddjdZd/@~Bɢ"<) j>i):iiuij; ;I2@IԹ@ @@/@E] E]E]$EY"E] ;*E]B:VE]4ZEYBE]R,?A:13@:-@:2=ٱ:g% FAHRS rotation from veh to nav: [[0.074358,0.983820,0.163002],[-0.996593,0.079160,-0.023157],[-0.035685,-0.160725,0.986354]]:H! ?s{?>? C?gYEĿ 6?i:13@I:^;:CYNbByNIbDZVDZ\yb=%bz=ٔb:Q-b?9dYd=fFyfHnEfEj?lQ 5r5nۤ?Q 9r5n_)nBYpyr6˿Q Ir@nNDIn:in:nFK5yxɮz AxjhFNOT Ignoring new targets: 118.59 m.Rh%`Zh%`5 ProNav: ac range: 118.593857 m, nav range: 115.408730 m, bearing: 264.629779 deg, approach rate: -0.517845 m/s, LOS rate: -0.019822 deg/s, cmd heading: 274.299359 deg, new cmd heading: 274.279956 deg. Bh5Y=HeadingCmd: 4.787088 target range: 118.593857 and range: 119.30 m.h=/@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM 3 @}~Bɢ}v=) e>i)B:顁iϛiP;;I/@IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265018m9@i @i@u_0@q^A#2;IE  E E %E "E O:*E ga:I I VE 4ZE a @O >a @a- @a- @ DAT read: 05:50:49.5825 LVL= 30192, 32753, 25394, 32755, AGC= 67, IDX= 415, 0.15,-1.689, 3.101,-1.071,-1.731, PHS= 0.144,-1.406, 0.616, RAW= 162.9, 7.1, CAL= 162.3, 7.0, ROT= 347.7, -7.0  Ygot valid direction response: 05:50:49.5825 LVL= 30192, 32753, 25394, 32755, AGC= 67, IDX= 415, 0.15,-1.689, 3.101,-1.071,-1.731, PHS= 0.144,-1.406, 0.616, RAW= 162.9, 7.1, CAL= 162.3, 7.0, ROT= 347.7, -7.0  PDAT read: Bearing 79.9, -15.2 (Local)  ~Local bearing/azimuth received: Bearing 79.9, -15.2 (Local)  X#Rx 1: Read direction message, but no range. ^direction in FSK: [0.969763,-0.211442,0.121869]y  [ (L?(˿UM7P2? u 2c ) I t>i -? 5@ = uJ5@ 5=) <1@I 5 ߋFC?yW?a:Ӫ? ??) (I [i 5% T****** received valid address query ******% R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseq x,v?A2 /@2)@2,P=ٱ2^' :AHRS rotation from veh to nav: [[0.073852,0.983580,0.164670],[-0.996612,0.078784,-0.023616],[-0.036201,-0.162368,0.986066]]2H`?|y??>@4+?.yĿ@ڍ?i2 /@I2[0_;2CYViByVIXXbDnVDnN2yv=%vH=ٔz:Q-z>9xYx=~Fy~LnEE>!Q 5-5%ڤ?Q 9-5%me)%BY1y5B˿Q I5@%UDI%:i%:%M5y9ɮ=AAjhFNOT Ignoring new targets: 118.59 m.Rh\Zh\ ProNav: ac range: 118.593857 m, nav range: 115.194992 m, bearing: 264.621624 deg, approach rate: -0.512759 m/s, LOS rate: -0.019601 deg/s, cmd heading: 274.279961 deg, new cmd heading: 274.255449 deg. Bhi)-;iyi¬;[F;IS,@I9@ @@0@ԑMDAT read: Range 11 to 50 : 117.3 m (Round-trip 156.5 ms) speed 0.1 m/s m*DAT read: user:554> BDAT read: Tx time:05:50:50.6718 $Ping request sent.A@AABQBUIBUDBBQBQBQBUd;BUw&EBUҍCBUҍCBQBU# =BU# =CUǝ5Ա^A;AzAgAIq I O > K罃,P?AE EE$E"E[:*EV:VE4ZEBE},@>'@>$=ٱ>-) FAHRS rotation from veh to nav: [[0.073573,0.983260,0.166693],[-0.996607,0.078671,-0.024183],[-0.036892,-0.164348,0.985712]]>Hղ?v?4V?4#?jØ@㢿^ ſ`?i>,@I>_;>CYlynI ppimMb@Mb@Mb@iiii i9m`"?QMb?Ym>ymum=m-Am@ m@)mAiYmAbDVDy%%%8=ٔ]g:Q-]>9YYY=]FyeQnEe#Ee>iQ 5u5m ڤ?Q 9u5m$k)mBY}=>Q E}:y}ͿQ I}@m\DIm ;imX ;mO5yɮAB*** querying acoustic contact ***i iԱ addTargetRange:: Added new target pos. range: 117.300003 m, deltaT: 3.782704 s, deltaX: -2.000000 m, approachRate: -0.528722 m/s, rangeRepo size: 4 jhFNOT Ignoring new targets: 118.59 m.RhZh ProNav: ac range: 118.593857 m, nav range: 114.977814 m, bearing: 264.615459 deg, approach rate: -0.491233 m/s, LOS rate: -0.013969 deg/s, cmd heading: 274.255454 deg, new cmd heading: 274.236927 deg. BhdHeadingCmd: 4.786337 target range: 118.593857 and range: 117.30 m.h)@h*h"h hgfff Bdddjd@3S]@ZdR?颥~Bɢ_=) S>i):+;ipi;;I)@Ia@a @a@e3@a T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.1 ^A I) IA OM >Q ă,v3?AY~UBy~IbD VD yϽ%]=ٔ%Q-%>9!Y!=%Fy%TnE-E->1Q 5=55٤?Q 9=55o)5BY9yAQ IE@5aDI5+;i5Y;5P5yIɮMqAIjhquFNOT Ignoring new targets: 118.59 m.Rh}~Zh}~ ProNav: ac range: 118.593857 m, nav range: 114.800186 m, bearing: 264.610400 deg, approach rate: -0.488241 m/s, LOS rate: -0.013928 deg/s, cmd heading: 274.236931 deg, new cmd heading: 274.221730 deg. BhHeadingCmd: 4.786072 target range: 118.593857 and range: 117.30 m.h'@h*h"h hgfffdddjdZd:?~BɢS=) 9>i)>;icii;;I'@IE= E=E=&E9"E=y:*E=:VE=4ZE9aE@aE@aM@aM@Q!@) @)@-3@)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.738026y^AM;IIO>ԡ A I gA= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993571 ʃ,.?AB@B@BBIBBIBBB" =B@B@BBtd;BBn&El~9gAYA3@.@uK=ٱ>+ AHRS rotation from veh to nav: [[0.074424,0.982829,0.168846],[-0.996468,0.079895,-0.025834],[-0.038881,-0.166327,0.985304]]H@x ?Us?`?t?Bt%裿4Jſ?i3@I_;CYiyIi5Mb@Mb@Mb@1111 195X9v?ˡEQ?Y5>y5什5\=15@ 5@)59A1Y5A AAbDMVDMky]}n%]+=ٔ]h;Q-e>9aYa=eFymYnEm:Em>qQ 5}5uפ?Q 9}5uu)u BY}>Q E:yxӿQ I@uiDIu ;iu ;uR5yFBɮAEjhFNOT Ignoring new targets: 118.59 m.RhnbZhnb ProNav: ac range: 118.593857 m, nav range: 114.569000 m, bearing: 264.608923 deg, approach rate: -0.483104 m/s, LOS rate: -0.003093 deg/s, cmd heading: 274.221741 deg, new cmd heading: 274.217300 deg. BhHeadingCmd: 4.785995 target range: 118.593857 and range: 117.30 m.h&@h*h"h hgfffBdddjdZdiI?%Bɢ%Q<)! %K>i!)-Y;))i-i55@;5;I5&@I9A9@ @@@2@E9 E=E=$E9"E9*E=F:VE=4ZE9BE=)у,6H?Aɰ>:@>4@>#=ٱ>h. JAHRS rotation from veh to nav: [[0.075182,0.982177,0.172265],[-0.996375,0.080888,-0.026338],[-0.039802,-0.169660,0.984698]]>H$??`m? ? N?`8`mſ`?i>:@I>j`;>CYRXByRIIV>)V>Z=Z=bD^VD^yf<%f|=ٔf:;Q-f ?9hYh=jFyj]nEnX;En ?pQ 5v5r֤?Q 9v5ry)rBYtyvSӿQ Iz@xrnDIr-;ir.;rT5yɮoAjh!-FNOT Ignoring new targets: 118.59 m.Rh5}vZh5}vE ProNav: ac range: 118.593857 m, nav range: 114.412331 m, bearing: 264.607831 deg, approach rate: -0.482608 m/s, LOS rate: -0.003367 deg/s, cmd heading: 274.217287 deg, new cmd heading: 274.214008 deg. BhEMHeadingCmd: 4.785937 target range: 118.593857 and range: 117.30 m.hMf&@hI*hI"hI hIgQfQfQfQdYdYdYjdYZd]w?颍Bɢ=) I>i)j;顑iiӥl˺;5;If&@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.49489259@1 @1@50@1!I^Amc;bE4jE 4rEȮ1/E-  E- E) E) "E- :*E- V:VE) ZE) a5 @a5 @a5 @a5 @A .AI I O >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745909y ؃,?a?A2-@@2:@2S'=ٱ2Ł0 :AHRS rotation from veh to nav: [[0.075923,0.981800,0.174079],[-0.996277,0.081845,-0.027085],[-0.040840,-0.171375,0.984359]]2Ho?j?9H?@?J褿ſ?i2-@@I2`;2CYFKByFIbDNVDN02yn%rJ=ٔr';Q-r>9v ?Yv ?=vFyvanEv:Ev>xQ 5~5zդ?Q 95z )zBYy5ӿQ I@ztDIz&;izD;zU5y ɮAjh1=FNOT Ignoring new targets: 118.59 m.RhESZhESM ProNav: ac range: 118.593857 m, nav range: 114.216446 m, bearing: 264.606371 deg, approach rate: -0.484040 m/s, LOS rate: -0.003615 deg/s, cmd heading: 274.214009 deg, new cmd heading: 274.209620 deg. BhUUHeadingCmd: 4.785861 target range: 118.593857 and range: 117.30 m.Yh]%@hY*ha"ha hagafafifidididijdqZdu`?颥 Bɢ <) >i)vy;顩ičiV;$ BaBeIBe?BBe# =BaBaBevd;BaԱ^A0;A ؟AI I! O- > E=  E= E= (E9 "E= a;*E= ;J:VE= c44ZE9 BE= hy j =%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250000 pA @ (@) A Y AbD5VD50Թy$%==ٔ<;Q->9"?Y"?=FyenE.;E>Q 55Ӥ?Q 95n)BY >Q E :y ֿQ I @{DI:i:W5yqɮu\AqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 118.59 m.Rh{Z8Zh{Z8 ProNav: ac range: 118.593857 m, nav range: 114.013611 m, bearing: 264.607724 deg, approach rate: -0.446561 m/s, LOS rate: 0.002985 deg/s, cmd heading: 274.209610 deg, new cmd heading: 274.213677 deg. Bh9HeadingCmd: 4.785932 target range: 118.593857 and range: 117.30 m.hZ&@h*h"h hgff f BdIdIdQjdQZdUɳ@颥Bɢ<) D>i);iKi(;۵8,%?A2Q@2TL@2߲0=ٱ22 :AHRS rotation from veh to nav: [[0.078026,0.981203,0.176499],[-0.996018,0.084380,-0.028774],[-0.043126,-0.173551,0.983880]]2H?f? ?`a홵?v@6ƿ {?i2Q@I2a`;0YF1ByFI HHHJAbDLVDLyVw>%Z\=ٔZ"7;Q-Z>9\Y\=^Fy^inE^*;E^>`Q 5f5bEҤ?Q 9j5b)b"BYhyjֿQ Ij@bDIb:ib:biY5ylɮrApjh FNOT Ignoring new targets: 118.59 m.Rh Z8ZhZ8 ProNav: ac range: 118.593857 m, nav range: 113.843300 m, bearing: 264.608772 deg, approach rate: -0.485398 m/s, LOS rate: 0.002990 deg/s, cmd heading: 274.213681 deg, new cmd heading: 274.216829 deg. Bh%X9-HeadingCmd: 4.785986 target range: 118.593857 and range: 117.30 m.h-&@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=h@mBɢm-<)i mE>iq)uy;qqiui}8}[;}  BDAT read: Rx Time:05:50:53.2303  TRx dataTimestamp_ set to:1761544254.729007 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008587 pY,J?AB">B B"IB"%BB"$ =B B B"d;B"&EDZ@U@Π4=ٱ3 AHRS rotation from veh to nav: [[0.079085,0.980921,0.177595],[-0.995893,0.085622,-0.029440],[-0.044084,-0.174537,0.983663]]H>?@c?k?@ZP?%@:9Wƿ`+z?iDZ@Iy_;CYByIiuMb@Mb@Mb@qqqq q9u'1Z?X9vL7A`?Yu>yuu+=uAu@ u7@)uKAqYuQA bDVD:y[%=ٔu:Q->9Y=FynnE;E>Q 55Τ?Q 9 5J)+BY v>Q E :y R޿Q I @DI`;i`;[5yDBɮ/AjhFNOT Ignoring new targets: 118.59 m.Rh9Zh9 ProNav: ac range: 118.593857 m, nav range: 113.596992 m, bearing: 264.617731 deg, approach rate: -0.442899 m/s, LOS rate: 0.016146 deg/s, cmd heading: 274.216823 deg, new cmd heading: 274.243761 deg. DzD?AE EEE"E:*EV:VEZEBE8 i)x;顑i~iϔhĻ;q"A ?MDAT read: 05:50:53.2303 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 425, 0.15, 1.997, 0.558, 2.564, 1.964, PHS= 0.135,-1.361, 0.555, RAW= 162.0, 7.7, CAL= 161.6, 7.8, ROT= 348.4, -7.8 UYgot valid direction response: 05:50:53.2303 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 425, 0.15, 1.997, 0.558, 2.564, 1.964, PHS= 0.135,-1.361, 0.555, RAW= 162.0, 7.7, CAL= 161.6, 7.8, ROT= 348.4, -7.8 ԉPDAT read: Bearing 80.6, -15.0 (Local) ~Local bearing/azimuth received: Bearing 80.6, -15.0 (Local) DAT read: Range 11 to 50 : 115.7 m (Round-trip 154.3 ms) speed 0.4 m/s AIIO?,.?A:*DAT read: user:555> >BDAT read: Tx time:05:50:54.3218 >$Ping request sent.>i}?5}{?}4@} >}J4@ }'g >)}Q@I}'g yy}b ?ND;?E?? });?)}j I}4QOi}'g yyr:publishing transmit ping time<vFpublishing direction and range infoyy}No?ɿ M _?YyyyyyRg@R`b@R7=ٱR2 AHRS rotation from veh to nav: [[0.080701,0.980973,0.176579],[-0.995737,0.087283,-0.029820],[-0.044665,-0.173420,0.983835]]RH@Ш? d?%?2X? 8`ަ2ƿ{?iRg@IR74_;RCYByuIbD%VD%:y5%5H=ٔ=@:Q-=>99Y9=EFyErnEE;EE> y)yIyiyyyyy y)yIyyy}b ?ND;?E?? y)yIyiyyyIQ 5-5MD̤?Q 9-5M)M2BY)y5!޿Q I5@MDIM$iA)EҢ;AAiM'uiMڈMN;U5,c ?AVt@Vvo@VxC8=ٱVl1 jAHRS rotation from veh to nav: [[0.082290,0.981041,0.175463],[-0.995593,0.088867,-0.029946],[-0.044971,-0.172226,0.984030]]VH`?d? u?`?#q ƿ@-}?iVt@IVJ_;VCYBy YII%=)%p;bD=VD=0y]ڽ%]@=ٔe<:Q-m>i߁I߁AAAA@AB>BBlIBBB" =BBB(e;B&E9 ?Ye ?=eFԑywnEa;E>Q 55Lɤ?Q 9-5):BY1y=ݿQ I=@DI`~i);顱ii{;{DD,Tq?A2:|@2w@2z9=ٱ2N1 :AHRS rotation from veh to nav: [[0.083208,0.980892,0.175861],[-0.995500,0.089848,-0.030126],[-0.045351,-0.172563,0.983954]]2HM?wc??@"@K?Xٞ E8ƿ|?i2:|@I2^;0YBByBIIiMMb@Mb@Mb@IIII I9M/$?!rhZd;O?YM&>yMl罙Mj9Y=Fy{nE;E>Q 55Ǥ?Q 95)>BYF>Q E:yڿQ I@DIe:i :Fa5yɮ9AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 115.01 m.Rh[9Zh[9 ProNav: ac range: 115.014175 m, nav range: 113.621902 m, bearing: 264.621342 deg, approach rate: -0.516519 m/s, LOS rate: 0.012019 deg/s, cmd heading: 274.287310 deg, new cmd heading: 274.300276 deg. Bh:HeadingCmd: 4.787443 target range: 115.014175 and range: 115.70 m.h2@h*h"h hgfffBdd d jd Zd ]?)E,BɢE|1<)A E>iA)MT;IIiMiU|tU;Ua M} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207620Ա ,9!?A.@.~@. .9=ٱ.f0 :AHRS rotation from veh to nav: [[0.084167,0.980943,0.175118],[-0.995426,0.090742,-0.029873],[-0.045195,-0.171803,0.984094]].H@?c?`Ej? :?#ſ}?i.@I.^;.CY^By^"IbDjVDjNyr!%rU=ٔriֹQ-r>9v"?Yv"?=vFyvnEv$;Ez>xQ 55zĤ?Q 95zj)zCBYyڿQ I@zDIza;izL ;zb5yɮ1Ajh9EFNOT Ignoring new targets: 115.01 m.RhEJ9ZhEJ9U ProNav: ac range: 115.014175 m, nav range: 113.436516 m, bearing: 264.625579 deg, approach rate: -0.483796 m/s, LOS rate: 0.011076 deg/s, cmd heading: 274.300288 deg, new cmd heading: 274.313021 deg. BhU>9]HeadingCmd: 4.787665 target range: 115.014175 and range: 115.70 m.h]4@hY*hY"hY hYgYfafafadadidijdiZdm 8?ԡ3Bɢ-<)‡ =i)%A;!!i%$i-3m-r;-SWB B -IB BB # =B B B e;B &EBBBBBCǛ5^A5 NJN<A9 IA IY Oe > ,;?A2@2ʉ@2F9=ٱ2'n. :AHRS rotation from veh to nav: [[0.085488,0.981254,0.172721],[-0.995307,0.091994,-0.030006],[-0.045333,-0.169345,0.984514]]2H ?nf??`?鹞@5ſ"?i2@I2^;2CYBKByFI DDE EEE"E:*EVL:VEZEBE9Y=FynEH;E>Q 55¤?Q 95)Y ?Q E:yIؿQ I@DIj:i:d5yɮAjh%FNOT Ignoring new targets: 115.01 m.Rh%9Zh%9=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711732E ProNav: ac range: 115.014175 m, nav range: 113.198181 m, bearing: 264.628613 deg, approach rate: -0.550630 m/s, LOS rate: 0.007023 deg/s, cmd heading: 274.313019 deg, new cmd heading: 274.322139 deg. BhE=9MHeadingCmd: 4.787825 target range: 115.014175 and range: 115.70 m.hM5@hI*hI"hI hIgQfQfYf]6BdYdYdajdiZd`|?9BɢG;)! %,WT?A>ۘ@>@>}m, JAHRS rotation from veh to nav: [[0.086686,0.981476,0.170852],[-0.995196,0.093145,-0.030147],[-0.045502,-0.167418,0.984835]]>H 1?@@h?|?``ط?ޞ LmſŃ?i>ۘ@I>~^;>CYR#ByRI XZ<bD^VD^0yf-ֽ%f\=ٔfQ9Q-f>9j ?Yj ?=jFyjnEj:T;En>pQ 5v5r?Q 9v5r)rDBYtyv%ؿQ Iv@rDIr:ir:rwf5y|ɮ~A|jh!%FNOT Ignoring new targets: 115.01 m.Rh-8Zh-8= ProNav: ac range: 115.014175 m, nav range: 112.993668 m, bearing: 264.631112 deg, approach rate: -0.550370 m/s, LOS rate: 0.006737 deg/s, cmd heading: 274.322144 deg, new cmd heading: 274.329655 deg. Bh=9EHeadingCmd: 4.787956 target range: 115.014175 and range: 115.70 m.hE6@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU@颍>Bɢs\;) hԼi){l;顑iic܂;uAe>A I I O >q (hA 9 (hAY 4A(,Gn?A6%@6@6:=ٱ6, BAHRS rotation from veh to nav: [[0.086721,0.981397,0.171287],[-0.995190,0.093203,-0.030155],[-0.045558,-0.167848,0.984760]]6HS3?g??@ܷ?fS@|ſ&?i6%@I65p^;6CBV<AV<BZ>BXBZIBZBBZ$ =BXBXBZe;BZ&Ejchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.473466lYr~ByrIbD~ VD~2y-ҽ%-D=ٔ= 9Q-E>9IYI=UFyUnE8EU>qQ 55u ?Q 95u)uEBYy#ؿQ I@uDIu4AHRS rotation from veh to nav: [[0.086717,0.982034,0.167600],[-0.995206,0.093028,-0.030164],[-0.045213,-0.164180,0.985394]]6H3?@l?s?@@з?8㞿0&`ſ X?i6@I6c^;4YJ~ByJIIN%>)Np=PPiMb@Mb@Mb@ 9X9v?~jtMb`?Y?yĽ;ZA@ )YA11bD=VD=yEv%M =ٔMQ-M>9U"?YU"?=UFyUnEU E]>YQ 5e5]?Q 9m5])]CBYm?Q Em:ymҿQ Im@]DI]L:i]:]j5yyɮ}AyԹ=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 115.01 m.RhMʸZhUʸ ProNav: ac range: 115.014175 m, nav range: 112.418182 m, bearing: 264.631105 deg, approach rate: -0.585301 m/s, LOS rate: -0.005544 deg/s, cmd heading: 274.338865 deg, new cmd heading: 274.329625 deg. Bh|sHeadingCmd: 4.787955 target range: 115.014175 and range: 115.70 m.h6@h*h"h hgfff~BdddjdZd`s @-LBɢ-i)) 5i1)5;1qiu̓i}c};}u{+,,+?AB>BBIB~BBBBBde;B&EnDAT read: 05:50:56.8779 LVL= 32752, 32753, 32530, 32755, AGC= 69, IDX= 416, 0.04,-1.804, 3.006,-1.232,-1.840, PHS= 0.138,-1.391, 0.565, RAW= 162.0, 7.8, CAL= 161.5, 7.9, ROT= 348.5, -7.9 zYgot valid direction response: 05:50:56.8779 LVL= 32752, 32753, 32530, 32755, AGC= 69, IDX= 416, 0.04,-1.804, 3.006,-1.232,-1.840, PHS= 0.138,-1.391, 0.565, RAW= 162.0, 7.8, CAL= 161.5, 7.9, ROT= 348.5, -7.9 ~PDAT read: Bearing 81.1, -14.7 (Local) ~~Local bearing/azimuth received: Bearing 81.1, -14.7 (Local) DAT read: Range 11 to 50 : 113.9 m (Round-trip 151.9 ms) speed 0.7 m/s  *DAT read: user:556> BDAT read: Tx time:05:50:57.9718 $Ping request sent.iJJ Jף?HJ'g >Je4@ J0 >)J@IJ0 HHJ9Y=FynE*yE>Q 55b?Q 95)@BYI?Q E:yϿQ I@DI:i:km5yqɮuAqE EE$E"E>:*ET:VE4ZEBEA@A @A@E/@A)^A%k<A-eAzA-dAI IO-)?UP6,c{?AB}@Bx@B3=ٱBo' NAHRS rotation from veh to nav: [[0.083409,0.982611,0.165885],[-0.995557,0.089464,-0.029359],[-0.043689,-0.162699,0.985708]]BHEZ?q?;?? )@_^UĿ?iB}@IB];BCYVw~ByV~I XXbDbVDbkyjh%j$=ٔj@/Q-j>9lYl=nFynnEnEr>tQ 5z5v𸤊?Q 9z5v)v>BYxyz:пQ Iz@vDIv:iv:vo5y|ɮAjh)-FNOT Ignoring new targets: 113.22 m.Rh5-fZh5-fE ProNav: ac range: 113.224297 m, nav range: 111.837158 m, bearing: 264.666442 deg, approach rate: -0.661084 m/s, LOS rate: -0.012577 deg/s, cmd heading: 274.319795 deg, new cmd heading: 274.302330 deg. BhE MHeadingCmd: 4.787479 target range: 113.224297 and range: 113.90 m.hM3@hI*hI"hI hIgQfQfQfQdYdYdYjdYZd] ?颍YBɢrU%) ai);顑iJiMs j;LԱ A @AA B >B B kIB Y~BB B B B se;B &E+t<,%<?ALn@\i@/=ٱ˗' AHRS rotation from veh to nav: [[0.081557,0.982775,0.165834],[-0.995752,0.087481,-0.028729],[-0.042741,-0.162786,0.985735]]H ?r? :?3`+e? k@+⥿`/Ŀ$?in@I];CYi~ByuIi-Mb@Mb@Mb@)))) )9-!rh?㥛 y&1|?Y-l'?y--`;-ZA) ))-A)Y-AbDEVDEyU%U5=ٔ]q Q-]>9YYY=eFyenEeEe>iQ 5u5mH?Q 9}5m])m:*E L_:VE (3ZE BE a2E a%JE ;a%:E ;a%@ @@4@^A :_G< I) I9 OE >YC, ?A:lZ@:8U@:r)=ٱ:( FAHRS rotation from veh to nav: [[0.079113,0.982920,0.166161],[-0.996007,0.084854,-0.027732],[-0.041358,-0.163303,0.985709]]:H@?t?D?J?e,Ŀ?i:lZ@I:ʹ];8Y^S~By^gIbDfVDf1|ys%a=ٔ%yQ-%>9!Y!=-Fy-nE-ݻE->1Q 5=55?Q 9=55)5;BYAyE̿Q IE@5DI5:i5t:5%s5yIɮMRAIjhq}FNOT Ignoring new targets: 113.22 m.Rh}ȹZh}ȹ ProNav: ac range: 113.224297 m, nav range: 111.301720 m, bearing: 264.648277 deg, approach rate: -0.656987 m/s, LOS rate: -0.021935 deg/s, cmd heading: 274.271601 deg, new cmd heading: 274.247723 deg. BhpHeadingCmd: 4.786526 target range: 113.224297 and range: 113.90 m.h8+@h*h"h hgfffdddjdZd< ?bBɢV#) i)3;i!zis;ԁ I,'?Aɰ4<2F@2A@2y$=ٱ2C) :AHRS rotation from veh to nav: [[0.076728,0.982866,0.167593],[-0.996248,0.082325,-0.026693],[-0.040033,-0.164916,0.985495]]2Hy?@s?s?C :?gU (@ſ,?i2F@I28];0YF[~ByFlIJ=Jp=LN@AbDRVDRN2yZ~<%ZR=ٔZ^Q-^>9\Y\=bFybnEbeɻEb>dQ 5j5f ?Q 9j5fe)f9BYhynͿQ In@fDIfB:ifr;ft5ypɮr2ApB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 113.22 m.Rh¹Zh¹- ProNav: ac range: 113.224297 m, nav range: 111.045464 m, bearing: 264.640014 deg, approach rate: -0.656000 m/s, LOS rate: -0.021204 deg/s, cmd heading: 274.247723 deg, new cmd heading: 274.222874 deg. Bh-h5HeadingCmd: 4.786092 target range: 113.224297 and range: 113.90 m.h5'@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdEI?ԙgBɢ_f) Ѕi)%Z<;!!i%wiu }AC;}yjBQBULIBU'~BBQBQBQBU&e;BU&Ei@i @i@u/@q T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AmX<IIO> E-  E- E- %E) "E- :*E- ;J:VE- 4ZE) BE- 9Y=FynEE>Q 55춤?Q 95):BY#?Q E:yɿQ I@DIv:i:v5yɮFAjhFNOT Ignoring new targets: 113.22 m.RhkZhk ProNav: ac range: 113.224297 m, nav range: 110.769135 m, bearing: 264.627296 deg, approach rate: -0.608362 m/s, LOS rate: -0.028068 deg/s, cmd heading: 274.222861 deg, new cmd heading: 274.184613 deg. BhHeadingCmd: 4.785424 target range: 113.224297 and range: 113.90 m.h2"@h*h"h hgfff~BdddjdZd`@]kBɢ]e)Y ]ia)eU}z;aaieŬtim1`; ;I2"@I)e9@a @a@e/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503986Q^A- Β;A] .AIa Iy y O >V,ݖ[?A2c'@2/"@2_=ٱ2+ :AHRS rotation from veh to nav: [[0.072916,0.982875,0.169233],[-0.996617,0.078259,-0.025110],[-0.037924,-0.166829,0.985256]]2H?s?k?H?q`jZſ7?i2c'@I2r^;2CYBb~ByBpIbDJVDJ:2yRt<%V\=ٔV>Q-V>9Z ?YZ ?=ZFyZnEZEZ>`Q 5f5bɶ?Q 9f5b)b;BYdyfɿQ Ij@bDIb:ib|:b`x5yn\BɮnWAnңEjhFNOT Ignoring new targets: 113.22 m.Rh  Zh   ProNav: ac range: 113.224297 m, nav range: 110.532150 m, bearing: 264.616575 deg, approach rate: -0.672845 m/s, LOS rate: -0.030505 deg/s, cmd heading: 274.184612 deg, new cmd heading: 274.152379 deg. Bh{%HeadingCmd: 4.784862 target range: 113.224297 and range: 113.90 m.h%@h!*h!"h! h)g)f)f)f1d1d1d1jd1Zd=`Η@E EE$E"E:*ET:VE4ZEa@a@a@a@oBɢ<) i)L&n;i'ri ɿ f; A!;I@I1i}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756777@ @@/@ԁ^Ar;A)zA)ԱA! I) I9 BE <AE <BI BI BM FIBM ~BBM # =BI BI BM d;BM &EB B B B $ =B $ =C ʝ4Ou >% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007989 \,]u?A} @}@}#=ٱ}4, AHRS rotation from veh to nav: [[0.070930,0.982969,0.169534],[-0.996801,0.076125,-0.024331],[-0.036823,-0.167266,0.985224]]}H}(?zt? I?|? Q꘿mڢhſ?i} @I}֍^;}CYg~BytIi}Mb@Mb@Mb@yyyy y9}}?5^I?v/:v?Y}M"?y}xi}<}A}^@ }A)} AyY}AbDVDyo4<%.=ԩٔQ->9Y=FynEΊE>Q 55?Q 95)>BY#?Q E:yfʿQ I@ DIT ;i ;nz5yɮBAjhFNOT Ignoring new targets: 113.22 m.Rh gZh g ProNav: ac range: 113.224297 m, nav range: 110.233528 m, bearing: 264.603580 deg, approach rate: -0.634653 m/s, LOS rate: -0.027693 deg/s, cmd heading: 274.152373 deg, new cmd heading: 274.113282 deg. Bh %HeadingCmd: 4.784179 target range: 113.224297 and range: 113.90 m.h%@h!*h!"h! h)g)f)f)f5~Bd1d1d1jd1Zd=\ @esBɢmb)i m8ii)m'^;iqiu,%oiuo߿}[;}B/;I}@IyE EE%E"E :*EV:VE 4ZEBEK") c,M?A2@2@2S=ٱ2, :AHRS rotation from veh to nav: [[0.069092,0.983037,0.169894],[-0.996971,0.074136,-0.023521],[-0.035717,-0.167754,0.985182]]2H ? u?@? /?@{Ixſ?i2@I2S^;2CYB~ByFIbDNVDNyV >%Vr=ٔVLVQ-Z?9Z"?YZ"?=ZFyZnE^dE^?`Q 5f5bM?Q 9f5b|)b@BYdyfʿQ Ij@bDIb:ib:b{5ylɮnAljhFNOT Ignoring new targets: 113.22 m.RhZh ProNav: ac range: 113.224297 m, nav range: 110.019226 m, bearing: 264.594415 deg, approach rate: -0.606238 m/s, LOS rate: -0.025977 deg/s, cmd heading: 274.113277 deg, new cmd heading: 274.085729 deg. BhHeadingCmd: 4.783699 target range: 113.224297 and range: 113.90 m.h@h*h"h hgfffdddjdchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.512233Zd7@ @颥wBɢM) `i)OS;顩ili.￿@;6Ճ;I@I]9@a @i@mO0@i9E EEE"E:*ER:VEZEa@a@a@a@^A;i  DAT read: 05:51:00.5244 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 412, 0.11,-0.428,-1.889, 0.118,-0.476, PHS= 0.150,-1.368, 0.550, RAW= 161.4, 7.7, CAL= 160.9, 7.7, ROT= 349.1, -7.7  Ygot valid direction response: 05:51:00.5244 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 412, 0.11,-0.428,-1.889, 0.118,-0.476, PHS= 0.150,-1.368, 0.550, RAW= 161.4, 7.7, CAL= 160.9, 7.7, ROT= 349.1, -7.7 A I I O > PDAT read: Bearing 81.2, -14.1 (Local)  ~Local bearing/azimuth received: Bearing 81.2, -14.1 (Local)  DAT read: Range 11 to 50 : 111.3 m (Round-trip 148.4 ms) speed 0.3 m/s  *DAT read: user:557>  BDAT read: Tx time:05:51:01.6218  $Ping request sent. i  ? I4@ > 3@ >) g@I  ?\-a?;Ny1? !8?) v* I tBi  :publishing transmit ping time  Fpublishing direction and range infoy  92zO#?#$gǿL`u&?Y ) I i ) I  ?\-a?;Ny1? ) I i i,k,?A Yn~BynIbDvVDv:y~L<%E=ٔQ->9Y = Fy nE E >Q 5=5?Q 9=5o)CBYAyAQ IE@DI;i};}5yIɮMoAQ 'G9Q9Y*Aii|?AJiGBRiGBjiq@bkgPZ@D{ힻ4-͌-@R92zO#?#$gǿL`u&?ZitBbi j/c$`kWN[@oy,@Zݐm %|Xx?2ir:i&"ii>9@ @@=0@ԙ ^A d;E  E E &E "E m:*E H:VE 4ZE BE S *q,?A>@>@>A =ٱ>nR. FAHRS rotation from veh to nav: [[0.066272,0.982994,0.171264],[-0.997222,0.071097,-0.022193],[-0.033992,-0.169317,0.984975]]>H+?`t?? ?o3?`Vg0ſ?i>@I>yl^;>CYR~ByRIi-Mb@Mb@Mb@)))) )9-S?DlˡE?Y-?y-O-'=-A-@ ))))Y-AbDEVDE0yU%U8=ٔU~Q-]>9YYY=]Fy]nEe4ѻEe>iQ 5u5m@?Q 9u5m )mJBYu?Q E}:y}nͿQ I}@m"DIm ;im~ ;m5yɮAB*** querying acoustic contact ***i ijh)5FNOT Ignoring new targets: 110.64 m.Rh5ƹZh5ƹE ProNav: ac range: 110.640221 m, nav range: 109.492279 m, bearing: 264.542262 deg, approach rate: -0.675752 m/s, LOS rate: -0.021638 deg/s, cmd heading: 274.049866 deg, new cmd heading: 274.023977 deg. BhEmmHeadingCmd: 4.782620 target range: 110.640221 and range: 111.30 m.hm: @hq*hq"hq hqgqfqfyf}ABdydydjdZd`L3?~Bɢ^) {ki)*:;iQgi%-;--';I-: @I)@ @@4@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^Aϩ;A A I! I1 O= >KOw,ƨ?AbEe4jEe3rEe/Er ErEr Ep"Er:*ErT:VEr3ZEpaz@az@az@az@Y=~By=IbDMVDM1yeZ>%eJ=ٔeQ-e>9iYi=mFymnEmEu>qQ 55u?Q 95u)uPBYyQ I@u*DIuK ;iu:ul5yeBɮxAܣEjhFNOT Ignoring new targets: 110.64 m.Rh]Zh] ProNav: ac range: 110.640221 m, nav range: 109.246651 m, bearing: 264.534379 deg, approach rate: -0.633159 m/s, LOS rate: -0.020367 deg/s, cmd heading: 274.023966 deg, new cmd heading: 274.000263 deg. Bh_HeadingCmd: 4.782207 target range: 110.640221 and range: 111.30 m.h@h*h"h hgfffdddjdZd{?}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.944075BɢtZ) 6i).3;iWSei d;՛Q;I@IQ@ @@p4@y^A"5;A A B >B B IB ~BB # =B B B md;B l&Eԩ = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197666A I I O% >L}},-?A@-ޑ@-ؘ@-̚=ٱ-S- UAHRS rotation from veh to nav: [[0.064009,0.983336,0.170155],[-0.997424,0.068569,-0.021052],[-0.032369,-0.168369,0.985193]]-Hb?}w?@?@?@ſ?i-ޑ@I- ^;)YayiiMb@Mb@Mb@ 9E?#~j&1?Y?y㥽P=At@ A)K AY AbDVDٔxQ->9Y=FynE%E%>)Q 555-2?Q 955-)-[BY=?Q E=:y=ҿQ I=@-1DI-:i-:-K5yAɮAAjhiuFNOT Ignoring new targets: 110.64 m.RhuZhu ProNav: ac range: 110.640221 m, nav range: 109.018768 m, bearing: 264.531347 deg, approach rate: -0.532280 m/s, LOS rate: -0.007095 deg/s, cmd heading: 274.000251 deg, new cmd heading: 273.991138 deg. BhқHeadingCmd: 4.782047 target range: 110.640221 and range: 111.30 m.h@h*h"h hgfffBdddjdZd@?MBɢU)Q UiQ)UG+;YYi]4ci]J%eJ{;eHf:Ie@IԩE EE"E"E:*ER:VE(3ZEBEBa,^?A2ؑ@2Ә@2}=ٱ2. :AHRS rotation from veh to nav: [[0.063382,0.983258,0.170843],[-0.997478,0.067894,-0.020689],[-0.031942,-0.169101,0.985081]]2H9?v?/?W`xa?/@Zſȅ?i2ؑ@I2#^;2CYB~ByBI DDHJAbDNVDN1yVZ<%V<ٔZQ-Z>9Z ?YZ ?=^Fy^nErchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.700233t^E>!Q 5-5%?Q 9-5%%)%cBY1y5ҿQ I5@%7DI%-:i%g:%脊5y9ɮ=*A9jhFNOT Ignoring new targets: 110.64 m.RhZh ProNav: ac range: 110.640221 m, nav range: 108.822075 m, bearing: 264.528777 deg, approach rate: -0.527006 m/s, LOS rate: -0.006899 deg/s, cmd heading: 273.991126 deg, new cmd heading: 273.983402 deg. BhHeadingCmd: 4.781912 target range: 110.640221 and range: 111.30 m.hm@h*h"h hgfffdddjdZd`?MBɢM)I M iI)U}$;QQiu:*E[:VEZEa @a @a @a @9^Am[RS:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953083a A I I O >},>,?AVב@VҘ@Vg8=ٱV. jAHRS rotation from veh to nav: [[0.063247,0.983193,0.171265],[-0.997492,0.067743,-0.020530],[-0.031787,-0.169537,0.985011]]VH0?Pv?@?`sW? YF`eſ5?iVב@IV^;VCYv*ByzIbD VD y%=%-C=ٔ-*¹Q-5>919Y1=EFyEnEMEM>QQ 5e5U?Q 9e5U$)UmBYaymҿQ Im@U>DIU ;iU ;U5yqɮu}Aqjh!%FNOT Ignoring new targets: 110.64 m.Rh-Zh-= ProNav: ac range: 110.640221 m, nav range: 108.603546 m, bearing: 264.525921 deg, approach rate: -0.514773 m/s, LOS rate: -0.006743 deg/s, cmd heading: 273.983394 deg, new cmd heading: 273.974807 deg. Bh=EHeadingCmd: 4.781763 target range: 110.640221 and range: 111.30 m.hE3@hA*hI"hI hIgIfIfQfQdQdQdYjdYZd] @颅Bɢ) ýi)R;顑iJ_i.Q;*:I3@IB>BBIB~BBBBB^d;Be&Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.205208ii@i @i@m/@iԙ^Arg:E  E E #E "E :*E T:VE 3ZE BE  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456065js,F?AFۑ@F֘@F=ٱF\/ NAHRS rotation from veh to nav: [[0.063735,0.983019,0.172078],[-0.997455,0.068272,-0.020573],[-0.031972,-0.170329,0.984868]]FHP?t??%`Hz?^ Tſ ?iFۑ@IFma^;FCYV7ByZIi=Mb@Mb@Mb@9999 99=/$?J +Mb?Y=>y=Ƚ===A=@ =A)=G A9Y= AbDUVDU1ye =%eG=ٔe#9Q-m>9m"?Ym"?=mFymnEu̜:Eu>yQ 55}̮?Q 95}))}{BY>Q E:yKؿQ I@}EDI}:i}:}|5ycBɮ:AԙۣEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 110.64 m.Rhu8Zhu8 ProNav: ac range: 110.640221 m, nav range: 108.411026 m, bearing: 264.528308 deg, approach rate: -0.491501 m/s, LOS rate: 0.006105 deg/s, cmd heading: 273.974816 deg, new cmd heading: 273.981990 deg. Bh9HeadingCmd: 4.781888 target range: 110.640221 and range: 111.30 m.h:@h*h"h hgfff?BdqdqdqjdyZd}`@Bɢ Dl) ni);i%\]i5*5;5r:I5:@I9IfA)fAE9@A @A@M/@I@UeA@UgAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.707888^Ai  A .AI I O >r,_?A2_@2+ݘ@2ފ=ٱ2}0 :AHRS rotation from veh to nav: [[0.064531,0.982773,0.173187],[-0.997399,0.069103,-0.020495],[-0.032109,-0.171414,0.984676]]2H?r?`*?@?p`ſv?i2_@I2p^;2CYBEByBIIF>)F=J=J=bDNVDNyV =%VW=ٔZd9Q-Z>9Z ?YZ ?=ZFy^nEEb EbEb"E`"Eb:*Ebga:VEb(3ZE`aj@aj@aj@aj@^r ;Ej>lQ 5r5n?Q 9v5n.)nBYtyv+ؿQ Iv@nJDInv:in:n)5yxɮzA|jhFNOT Ignoring new targets: 110.64 m.Rh8Zh8 ProNav: ac range: 110.640221 m, nav range: 108.230255 m, bearing: 264.530463 deg, approach rate: -0.445285 m/s, LOS rate: 0.005317 deg/s, cmd heading: 273.982001 deg, new cmd heading: 273.988476 deg. Bhi9HeadingCmd: 4.782001 target range: 110.640221 and range: 111.30 m.h'@h*h"h hgff f d d d jdZd@=BɢE:S)A EiA)E`;IIiMS[iM&UL;]BDAT read: Rx Time:05:51:04.1716 eTRx dataTimestamp_ set to:1761544265.576227echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.961199e+;Im'@Ii-9@) @)@-o0@)!^A5*:YBA<B>BӍCBIBBBBBBRd;B`&E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212126A ؟AI I O >ԁ ˝,]y?Ae@e@e=ٱe3 }AHRS rotation from veh to nav: [[0.065569,0.982181,0.176126],[-0.997339,0.070143,-0.019864],[-0.031864,-0.174355,0.984167]]eH`!ɰ?n?M?3?EW@PDQƿ L~?ie@Ie^;eCYJByIiEMb@Mb@Mb@AAAA AI9EQ?Zd;T㥛 ?YE\>yEE=EAE@ A)AAYEf AbD] VD]:2ymF<%u1=ٔu Q-u>9}"?Y}"?=}Fy}nE}W;E}>Q 55ө?Q 953)BY>Q E:y(Q I@QDI ;iu ;+5ymBɮ=AEjh9MFNOT Ignoring new targets: 110.64 m.Rh]9E EE&E"E:*EL_:VE4ZEBE BDAT read: Tx time:05:51:05.2718 $Ping request sent.]3@]t;?>]$+3@ ]Q>)]@@I]QYY]#Ϝ? +V?Q0ۺ? ]( 4?)]>I]9i]QYY:publishing transmit ping timeFpublishing direction and range infoyY]?Xƿ ?YYQiLLYi; ;I  @I YYYY Y)YIYiYYYYY Y)YIYYY]#Ϝ? +V?Q0ۺ? Y)YIYiYYY9@ @@0@@=@=ԩ^A ] ; A.AI IO->,G?A2+@2@2=ٱ25 :AHRS rotation from veh to nav: [[0.066820,0.981729,0.178165],[-0.997253,0.071431,-0.019587],[-0.031956,-0.176367,0.983806]]2H`?`Sj??II?@ |\2ƿU{?i2+@I2h^;2CYZaByZ IbDfVDf02hynZ=%nF=ٔrFh9Q-r>9r ?Yr ?=vFyvnEv#G;Ev>xQ 5~5z?Q 9~5z!8)zBYyQ I@zVDIzF:iz:z5y ɮ Aii?AJiBRiBjih@b@0kR#Z@Q-eX03-g6@R?Xƿ ?Zi9biQjY ī,>Y?A2 @2@2L=ٱ204 :AHRS rotation from veh to nav: [[0.069605,0.981771,0.176864],[-0.997045,0.074241,-0.019723],[-0.032494,-0.174968,0.984038]]2Hѱ? j?@w?u?@;2 [eƿ<}?i2 @I2V^;0BF>BFҍCBFIBF%BBDBDBDBFVd;BDBIBIBIBM# =BM# =CM,4YV@ByVI XX\^A b49r"?Yr"?=rFyrnEr;Ev>tQ 5z5vD?Q 9z5v<)vBY|y~Q I~@v\DIv;iv;v5yɮ eA YjhFNOT Ignoring new targets: 108.55 m.Rh9Zh9 ProNav: ac range: 108.553665 m, nav range: 107.695442 m, bearing: 264.558647 deg, approach rate: -0.408043 m/s, LOS rate: 0.021099 deg/s, cmd heading: 274.047134 deg, new cmd heading: 274.073301 deg. Bhg:HeadingCmd: 4.783482 target range: 108.553665 and range: 109.20 m.hH@h*h"h hgfffddd jd Zd  7C?额Bɢ) dýi) ;顡iUiK;פ;IH@Iԑ9@ @@4@ԱD?AzDE EE"E"E:*EL_:VE(3ZEBE쫲,4?AN)@N$@N`=ٱN1f0 ^AHRS rotation from veh to nav: [[0.073228,0.982136,0.173339],[-0.996768,0.077833,-0.019909],[-0.033045,-0.171320,0.984661]]NH`?m?`/?@? c@K렿@ſW?iN)@IND^;LYnUByrIԹiMb@Mb@Mb@ 9E?M¿)\(?Y>ynGa=A@ OA)AYQ AbDVD0y==%:=ٔb:Q->9Y=FynEp<E>Q 5 5w?Q 9 5A)BY>Q E:y@Q I@aDI;iV;5y!ɮ%A!=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 108.55 m.RhUu":ZhUu":e ProNav: ac range: 108.553665 m, nav range: 107.516502 m, bearing: 264.573693 deg, approach rate: -0.421599 m/s, LOS rate: 0.035508 deg/s, cmd heading: 274.073307 deg, new cmd heading: 274.118519 deg. Bhe:mHeadingCmd: 4.784271 target range: 108.553665 and range: 109.20 m.hm@hi*hi"hq hqgqfqfyf}BdydydjdZd ?5Bɢ5 )b)1 5i9)= Q;99i=SiEnܿEYԿ;E\b;IE@II T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@3@^A ϩ;A A >E-  E- E- %E) "E- [:*E- P:VE- 4ZE) a= @a= @a= @a= @I A I I O > ָ,?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499846ZqF@Z=A@Zi =ٱZ^, rAHRS rotation from veh to nav: [[0.076706,0.982478,0.169864],[-0.996489,0.081273,-0.020088],[-0.033541,-0.167726,0.985263]]ZH@?`up?`?=Lδ?摔@M,`xſF?iZqF@IZ^;ZCYz+ByzIbDVD1yv߽%Y=ٔ:Q->9Y=%Fy%nE%<E%>)Q 555-@?Q 955-E)-BY1y=Q I=@-fDI-;i-7;-J5yAɮEAAjhimFNOT Ignoring new targets: 108.55 m.Rhu:Zhu: ProNav: ac range: 108.553665 m, nav range: 107.363365 m, bearing: 264.586371 deg, approach rate: -0.407900 m/s, LOS rate: 0.033818 deg/s, cmd heading: 274.118523 deg, new cmd heading: 274.156611 deg. Bh:HeadingCmd: 4.784935 target range: 108.553665 and range: 109.20 m.h1@h*h"h hgfffdddjdZdX?Bɢw) ufiq)uN:yyi}׵Qiƿ ;%DBBBBBBBCd;BX&Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751909y^AM P;U PExceeded connect timeout, disconnecting.ԡ I I O] >,G?AYz~ByzII~0>)~>a}@a} i}Mb@Mb@Mb@yyyy y9}Mb?(\¿~jt?Y}>y}z}D=}A}@ y)}AyI}bDVDkybٽ%A=ٔQ->9Y=FynEE>Q 55?Q 95pI)BY)>Q E;yQ I@lDI:i]:$5Ee EeEe"Ea"Ee:i*EeC:VEe(3ZEaBEeu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271770 Uń,.?A6+y@6s@6Ύ =ٱ6# >AHRS rotation from veh to nav: [[0.082875,0.983376,0.161566],[-0.995994,0.087194,-0.019819],[-0.033577,-0.159277,0.986663]]6HG7?w?`4?@/^R?jK1-cĿ?i6+y@I6^;6CYF~ByJIbDRVDR02yZu%Z\=ٔZ8Q-^>9\Y\=^FybnEb8<Eb>dQ 5j5fC?Q 9j5fJM)fBYhynQ In@fqDIf:if;fĖ5ypɮrApjhimFNOT Ignoring new targets: 108.55 m.Rhu9&:Zhu9&: ProNav: ac range: 108.553665 m, nav range: 107.044456 m, bearing: 264.614782 deg, approach rate: -0.413012 m/s, LOS rate: 0.036331 deg/s, cmd heading: 274.202561 deg, new cmd heading: 274.241971 deg. Bhw:HeadingCmd: 4.786425 target range: 108.553665 and range: 109.20 m.he*@h*h"h hgfffdddjdZd @ Bɢ Z) RiQ)U&:QYi]GLi]וe^;e/b) ̄,2?ABBBIB~BBBBB+d;BL&EV@V^@VU. =ٱV! ^AHRS rotation from veh to nav: [[0.085720,0.983495,0.159338],[-0.995756,0.089944,-0.019475],[-0.033485,-0.156992,0.987032]]VH`?x?/e?<?K$SĿ ĕ?iV@IV'^;VCYf~ByjIbDrVDr0yz%zF=ٔz jQ-z>9|Y|=~Fy~nE;E> Q 55 ?Q 95 Q) BYyQ I@ vDI ;i ; 5y%wBɮ%A%EjhIMFNOT Ignoring new targets: 108.55 m.RhU=$:ZhU=$:e ProNav: ac range: 108.553665 m, nav range: 106.879089 m, bearing: 264.629128 deg, approach rate: -0.413153 m/s, LOS rate: 0.035897 deg/s, cmd heading: 274.241958 deg, new cmd heading: 274.285062 deg. Bhe:mHeadingCmd: 4.787178 target range: 108.553665 and range: 109.20 m.hm0@hi*hq"hq hqgqfqfyfydydydjdZdy@颭Bɢ!) Ti):项i,NJi.}0=;uaEu EuEu!Eq"Eu:*Eu n:VEuc3ZEqBEqa2EqaJEu;a:Eu;aԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027759o҄,vL?AyMVM9Y=FynEK;E>Q 55R?Q 95xV)BY>Q E:y-Q I@|DI:i:i5yvBɮAEB*** querying acoustic contact ***i ijhQUFNOT Ignoring new targets: 108.55 m.Rh]9Zh]9m ProNav: ac range: 108.553665 m, nav range: 106.689186 m, bearing: 264.641229 deg, approach rate: -0.433154 m/s, LOS rate: 0.027651 deg/s, cmd heading: 274.285070 deg, new cmd heading: 274.321438 deg. Bhϗ:HeadingCmd: 4.787812 target range: 108.553665 and range: 109.20 m.h5@h*h"h hgfffBdddjdZd` @Bɢ+) Vi)%$:!!i%/+GiMahM5;MZdE}  E} E} &Ey "E} :*E} :VE} 4ZEy a @a @a @a @#$ل,?Wf?A2@2@2R=ٱ2" :AHRS rotation from veh to nav: [[0.089779,0.983043,0.159892],[-0.995425,0.093836,-0.017991],[-0.032689,-0.157546,0.986971]]2H?@u?@Yw??`$ls*Ŀ@C?i2@I2^;2CYBC~ByF^IbDNVDN:yV %VY=ٔZ6lQ-Z>9XY\=^Fy^oEbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531969fM;Ef>hQ 5n5ljN?Q 9r5jZ)jBYpyrQ Ir@jDIj.;ij/;j5yxɮzAxjh FNOT Ignoring new targets: 108.55 m.Rh=9Zh=9 ProNav: ac range: 108.553665 m, nav range: 106.518539 m, bearing: 264.651965 deg, approach rate: -0.434749 m/s, LOS rate: 0.027394 deg/s, cmd heading: 274.321434 deg, new cmd heading: 274.353692 deg. Bhg:HeadingCmd: 4.788375 target range: 108.553665 and range: 109.20 m.h_:@h*h"h hg f f1f1d9dAdAjdAZdM @Bɢ̼) &¾i)U:i!C iU";ࠍB)B-~IB-x~BB)B)B)B-d;B-8&E1DAT read: 05:51:07.8202 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 433, 0.24, 0.478,-0.971, 1.014, 0.500, PHS= 0.080,-1.427, 0.470, RAW= 161.2, 10.1, CAL= 161.2, 11.0, ROT= 348.8, -11.0 Ygot valid direction response: 05:51:07.8202 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 433, 0.24, 0.478,-0.971, 1.014, 0.500, PHS= 0.080,-1.427, 0.470, RAW= 161.2, 10.1, CAL= 161.2, 11.0, ROT= 348.8, -11.0 PDAT read: Bearing 84.2, -14.0 (Local) ~Local bearing/azimuth received: Bearing 84.2, -14.0 (Local) DAT read: Range 11 to 50 : 108.1 m (Round-trip 144.2 ms) speed 0.4 m/s *DAT read: user:559> BDAT read: Tx time:05:51:08.9218 $Ping request sent.u4@uJ4>u4@ u D>)u@Iu DqquXn?e?R? u08?)u5Iu4+Hiu Dqq:publishing transmit ping timeFpublishing direction and range infoyquԴW?7|gȿP@ml?Yqqqqq q)qIqiqqqqq q)qIqqquXn?e?R? q)qIqiqqq^AE tN,I?AB@B@BZ=ٱB%\ ~AHRS rotation from veh to nav: [[0.091090,0.982312,0.163599],[-0.995326,0.095095,-0.016803],[-0.032063,-0.161304,0.986384]]BHQ?o?? -X?@4 j`Ŀt?iB@IB^;@Y5!~By5IIE EEE"E>:*ET:VEZEBEyu+u;uAu @ ubA)u AqYuz AbDVDyi%'=ٔQ->9Y=FyoEm/;E>Q 55Ĉ?Q 95*a)BYo>Q E:y[߿Q I%@DI;i[;65y1ɮ5*A1iix?AJiBRiBji7@bAwY@n%}4Fw4@RԴW?7|gȿP@ml?Zi4+Hbi Dji9boCRZP64@Z[I`VEZT G`?2i:i"i涵?*ixr2Bi}Bi[tx?iR?iBi]BiA@ addTargetRange:: Added new target pos. range: 108.099998 m, deltaT: 3.795837 s, deltaX: -1.099998 m, approachRate: -0.289791 m/s, rangeRepo size: 4  Added new target pos. range: 107.459335 m, bearing: 266.008635 deg, lat: 36.779461 deg, lon: -121.859782 deg, deltaT: 3.795837 s, deltaX: -1.094330 m, approachRate: -0.288297 m/s, posRepo size: 4 jh%FNOT Ignoring new targets: 107.46 m.Rh%Zh!5 ProNav: ac range: 107.459335 m, nav range: 106.183151 m, bearing: 264.973775 deg, approach rate: 0.000000 m/s, LOS rate: 0.027394 deg/s, cmd heading: 274.353700 deg, new cmd heading: 274.392943 deg. Bh1=HeadingCmd: 4.789060 target range: 107.459335 and range: 108.10 m.h=?@h*h"h hgfffBdddjd `f[@Zd ?颽Bɢ: ؼ) ~־i)k9iH@i?.;9dYd=fFyfoE1E:EE>IQ 5U5Mτ?Q 9U5M;h)MBYYy]9߿Q I]@MDIMr;iM;M5yaɮeAajhFNOT Ignoring new targets: 107.46 m.RhO9ZhO9 ProNav: ac range: 107.459335 m, nav range: 105.911385 m, bearing: 264.986362 deg, approach rate: -0.499644 m/s, LOS rate: 0.023202 deg/s, cmd heading: 274.392932 deg, new cmd heading: 274.430792 deg. Bh~:HeadingCmd: 4.789721 target range: 107.459335 and range: 108.10 m.heE@h *h "h  h gff!f!d!d!d)jd1Zd5`f?eBɢmS)i mii)miqiuI;iu)};}ϑ ^AI E  E E "E "E y:*E E7:VE (3ZE BE 9Y=FyoEE>Q 5%5݁?Q 9-5`pQ =-tI)BY-?Q E-:y-p׿Q I-@DI;i;5y=Bɮ=GA=EjhaeFNOT Ignoring new targets: 107.46 m.Rhmp9Zhmp9} ProNav: ac range: 107.459335 m, nav range: 105.599915 m, bearing: 264.990557 deg, approach rate: -0.584311 m/s, LOS rate: 0.007892 deg/s, cmd heading: 274.430799 deg, new cmd heading: 274.443420 deg. Bh}S9HeadingCmd: 4.789941 target range: 107.459335 and range: 108.10 m.h3G@h*h"h hgfff=BdddjdZdJ?EBɢE)I MiI)MNDIIiMu7iU"U;UAE >E  E E #E "E :*E R:VE 3ZE a @a @a @a @9AIIO,?A2 @2׮@28$<ٱ2+ >AHRS rotation from veh to nav: [[0.090046,0.981545,0.168707],[-0.995545,0.093467,-0.012429],[-0.027968,-0.166836,0.985588]]2HD ? h?/?p?@,t@Zſ?i2 @I2`;2CYR }ByRIbDjVDj0yr?&%z+=ٔ~*QQ-~>9Y=FyoE  E>Q 5-55?Q 955w)BY1y5׿Q I5@DI l;i_m;5yAɮMAQԩB*** querying acoustic contact ***i ijh1=FNOT Ignoring new targets: 107.46 m.Rhe 9Zhe 9u ProNav: ac range: 107.459335 m, nav range: 105.321594 m, bearing: 264.994493 deg, approach rate: -0.545403 m/s, LOS rate: 0.007734 deg/s, cmd heading: 274.443421 deg, new cmd heading: 274.455261 deg. Bh}ש9}HeadingCmd: 4.790148 target range: 107.459335 and range: 108.10 m.h}H@h*h"h hgfffdddjdZd o?%Bɢ%x2)! %w0i))-.))i-2i55Ay;5+BBIBf}BB# =BBBc;B&&EBaBaBaBaBaCe?4@ @@/@-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.^A <1 AI Iq I O >,X?A2@2Y@2z<ٱ2?* :AHRS rotation from veh to nav: [[0.088291,0.981882,0.167666],[-0.995772,0.091290,-0.010248],[-0.025369,-0.166052,0.985791]]2H@=?k?@v?\@^?8 /Aſ?i2@I2R`;2CY^|BybIE= E=E=%E9"E=[:*E=X:VE= 4ZE9BE=}=ٔƻQ->9Y=FyoE9E>Q 55@}?Q 95~)BYK%?Q E:yӿQ I@DI:i/:5yɮ/ Ajh!-FNOT Ignoring new targets: 107.46 m.Rh-[Zh-[E ProNav: ac range: 107.459335 m, nav range: 105.045670 m, bearing: 264.994026 deg, approach rate: -0.689603 m/s, LOS rate: -0.001170 deg/s, cmd heading: 274.455251 deg, new cmd heading: 274.453846 deg. BhEMMHeadingCmd: 4.790123 target range: 107.459335 and range: 108.10 m.hMH@hI*hI"hI hIgIfIfQfU~BdYdYdYjdYZd] g@颍Bɢ6^)< ;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256680i)ӛi&.io;plԙ ,?A>@>@>{<ٱ>]?+ FAHRS rotation from veh to nav: [[0.086250,0.982040,0.167802],[-0.996005,0.088904,-0.008360],[-0.023128,-0.166411,0.985785]]>Hr? l? z?F`q¶?` @@Lſ?i>@I>za;>CYR|ByRvIbDZVDZkybp%b\=ٔfƻQ-f>9dYd=fFyj!oEjEj>lQ 5r5n{?Q 9r5n&)nBYtyvԿQ Iv@nDIn:in:n5yxɮz AxjhFNOT Ignoring new targets: 107.46 m.Rh%DݶZh%Dݶ5 ProNav: ac range: 107.459335 m, nav range: 104.806473 m, bearing: 264.993887 deg, approach rate: -0.647013 m/s, LOS rate: -0.000378 deg/s, cmd heading: 274.453858 deg, new cmd heading: 274.453439 deg. Bh5„=HeadingCmd: 4.790116 target range: 107.459335 and range: 108.10 m.hEH@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU @颅Bɢs)  Hi)+顉io*i&o;YP ; ,J~7?A4<ɰ;2@2{{@25<ٱ2_+ :AHRS rotation from veh to nav: [[0.083818,0.982231,0.167919],[-0.996268,0.086089,-0.006281],[-0.020625,-0.166766,0.985781]]2H u?on?`~?l ?̹y@Xſ?i2@I2a;2CYF|ByFmIbDNVDNk1yV%VL=ٔZ̻Q-Z>9XY\=^Fy^%oE^ǻEb>`Q 5f5by?Q 9f5b)`YhyjlԿQ Ij@bDIb:ib:bV5ylɮr!ApBDAT read: Rx Time:05:51:11.4672  TRx dataTimestamp_ set to:1761544272.900239 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013761jhFNOT Ignoring new targets: 107.46 m.Rh7Zh7 ProNav: ac range: 107.459335 m, nav range: 104.547279 m, bearing: 264.994081 deg, approach rate: -0.620784 m/s, LOS rate: 0.000467 deg/s, cmd heading: 274.453448 deg, new cmd heading: 274.454033 deg. Bh7HeadingCmd: 4.790126 target range: 107.459335 and range: 108.10 m.hH@h*h"h hgfffdddjdZd@p@eBɢei)i mLii)m*Xiiiu&i}}J;}\0Q #%,bQ?A:i@:d@:/<ٱ:D1- -AHRS rotation from veh to nav: [[0.081056,0.982245,0.169190],[-0.996552,0.082886,-0.003765],[-0.017722,-0.168302,0.985576]]:H`?n? ?7?n % ſ@׉?i:i@I:b;:CYm|ByucIiMb@Mb@Mb@ 9kt?I +y&1|?Y 0?y9`;~A x A)^AYz AAAbDVDkyU%+=ٔƻQ->9Y=Fy)oENE>Q 5 5dx?Q 9 5)BY1?Q E:yοQ I@DI ;iX ;l5yBɮ!AE)jhIMFNOT Ignoring new targets: 107.46 m.RhUZhUe ProNav: ac range: 107.459335 m, nav range: 104.216141 m, bearing: 264.985910 deg, approach rate: -0.715466 m/s, LOS rate: -0.017712 deg/s, cmd heading: 274.454022 deg, new cmd heading: 274.429429 deg. Bhe|BmHeadingCmd: 4.789697 target range: 107.459335 and range: 108.10 m.hm3E@hi*hi"hi hqgqfqfqf}~BdydydyjdyZd @颵Bɢemo) =Ri) 项i!i*=DAT read: 05:51:11.4672 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.47, 2.266, 0.825, 2.827, 2.274, PHS= 0.094,-1.404, 0.509, RAW= 161.9, 9.2, CAL= 161.7, 9.8, ROT= 348.3, -9.8 EYgot valid direction response: 05:51:11.4672 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.47, 2.266, 0.825, 2.827, 2.274, PHS= 0.094,-1.404, 0.509, RAW= 161.9, 9.2, CAL= 161.7, 9.8, ROT= 348.3, -9.8 MPDAT read: Bearing 82.9, -13.8 (Local) U~Local bearing/azimuth received: Bearing 82.9, -13.8 (Local) ]DAT read: Range 11 to 50 : 105.9 m (Round-trip 141.3 ms) speed 0.6 m/s e*DAT read: user:560> eBDAT read: Tx time:05:51:12.5718 m$Ping request sent.m 4@ %/>) @I %/   / }?b ?OD=? 5;?) B$I Qi %/  :publishing transmit ping timeiFpublishing direction and range infoy  :Ϗ?Bɿrl?Y      ) I i      ) I    / }?b ?OD=? ) I i   =;= i bEɻ 4jEɶ4rE- 0EM  EM EM %EI "EM [:*EM ]t:VEM 4ZEI ae @ae @ae @ae @= 9@9  @9 @= /@9 Ա ^A}x/<A>A>B<A<B>BB_IB|BB$ =BBBc;B(&EIyIO?W,(Iv?A67@61@6~JA<ٱ6"a/ >AHRS rotation from veh to nav: [[0.074874,0.982452,0.170825],[-0.997123,0.075789,0.001170],[-0.011797,-0.170421,0.985301]]6H*??p??nf?*S?+)@[ſ@?i67@I6b;6CYF|ByJ^IbDRVDRܲyZo%Z"=ٔ^@Q-^>9\Y\=^Fy^/oEbIEb>dQ 5j5fv?Q 9j5fԝ)fBYlynKϿQ In@fDIf;if;f5ypɮr!ApqiicY?AJiBRiBjiﱓ@bMd%eY@롖M 5hM1@R:Ϗ?Bɿrl?ZiQbi%/j"XG$Zx#YT 4@ZƃqQ^nDC5AV^?2i:i "iH<,?*i\/BigBiixr2igBiBi@ addTargetRange:: Added new target pos. range: 105.900002 m, deltaT: 3.528249 s, deltaX: -2.199997 m, approachRate: -0.623538 m/s, rangeRepo size: 4  Added new target pos. range: 105.271927 m, bearing: 264.446966 deg, lat: 36.779461 deg, lon: -121.859776 deg, deltaT: 3.528249 s, deltaX: -2.187408 m, approachRate: -0.619970 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 105.27 m.RhZh  ProNav: ac range: 105.271927 m, nav range: 103.379585 m, bearing: 264.954682 deg, approach rate: 0.000000 m/s, LOS rate: -0.017712 deg/s, cmd heading: 274.429433 deg, new cmd heading: 274.401442 deg. Bh HeadingCmd: 4.789208 target range: 105.271927 and range: 105.90 m.h2A@h*h"h hgfffd!d!d!jd%yZ@Zd-y?UBɢ]q_c)Y ]tUiY)]gYaieie:m;mS/;Im2A@IiM<ԡ9@ @@u0@E EE&E"E:*ER:VE4ZEBE8 #,?A2@2i@2<ٱ2/ :AHRS rotation from veh to nav: [[0.071533,0.982637,0.171197],[-0.997399,0.071992,0.003529],[-0.008857,-0.171004,0.985230]]2H O? q??@@n?}l?@#yſ?i2@I2Nc;2CYB|ByFXIiEMb@Mb@Mb@AAAA A9E9qYq=}Fy}3oE}E}>Q 55u?Q 95)BY!5?Q E:yϿQ I@DI:i:}5yɮ!AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 105.27 m.RhoZho ProNav: ac range: 105.271927 m, nav range: 103.078110 m, bearing: 264.948730 deg, approach rate: -0.747429 m/s, LOS rate: -0.014801 deg/s, cmd heading: 274.401429 deg, new cmd heading: 274.383519 deg. Bh"HeadingCmd: 4.788896 target range: 105.271927 and range: 105.90 m.h>@h*h"h hgfff~Bddd jd Zd |??=Bɢ=`)9 =XiA)EнAAiEiMDM;MO:IM>@IQYYYYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@/0@1E%  E% E% $E! "E% ,:*E% X:VE% 4ZE! a- @a5 @a5 @a5 @a ^A qZ;I I O] >*,?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248093B[@B'@B;ٱB2 VAHRS rotation from veh to nav: [[0.068215,0.982446,0.173629],[-0.997658,0.068067,0.006813],[-0.005125,-0.173687,0.984788]]BHv? 2p?x9?l?{?t_;ƿ@a?iB[@IBXc;@Yf|ByfgI prp<bDvVDvk1yhx=% Q=ٔQ->9Y=%Fy%7oE-O E->9Q 5M5=Ot?Q 9M5=)=BYy3пQ I@=DI=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500068ԉԹ &0,?AE@E@Eq:ٱE4 ]AHRS rotation from veh to nav: [[0.065493,0.982367,0.175115],[-0.997853,0.064639,0.010583],[-0.000922,-0.175432,0.984491]]EH#İ?o?`+j?h(?? 9N`tƿ?iE@IEfoc;ECYm|BymxII}=)}>}=}=E EE(E"E[:*EP:VEc44ZEBE}9Y=Fy;oEbǻE>ԑQ 55Ps?Q 95)#BY.?Q E:yοQ I@DI:i<:,5yBɮ!A EjhFNOT Ignoring new targets: 105.27 m.RhFZhF ProNav: ac range: 105.271927 m, nav range: 102.494164 m, bearing: 264.935242 deg, approach rate: -0.728731 m/s, LOS rate: -0.020247 deg/s, cmd heading: 274.368316 deg, new cmd heading: 274.342917 deg. BhT^HeadingCmd: 4.788187 target range: 105.271927 and range: 105.90 m.h8@h*h"h hgfff~Bdd d jd Zd@?=Bɢ=`K)A EMiA)E(A]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753148Aiei\;e I8@IԹ9@ @@/@^A 0::Ia Iy O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007447! 7,w?A2aؑ@2.Ә@2fIVٱ22 :AHRS rotation from veh to nav: [[0.063347,0.982831,0.173295],[-0.997986,0.061815,0.014226],[0.003270,-0.173847,0.984767]]2H`7?@Ys?.?C?"?)j? @ƿ6?i2aؑ@I2c;0YB|ByFIbDNVDN1y~=%~f=ٔAQ->9Y = Fy ?oE ƻE >Q 55{r?Q 95p).BY!y%QοQ I%@DIw;i;5y)ɮ- A1jhQ]FNOT Ignoring new targets: 105.27 m.Rh]Zh]m ProNav: ac range: 105.271927 m, nav range: 102.253517 m, bearing: 264.928855 deg, approach rate: -0.680021 m/s, LOS rate: -0.018093 deg/s, cmd heading: 274.342908 deg, new cmd heading: 274.323700 deg. BhmFuHeadingCmd: 4.787852 target range: 105.271927 and range: 105.90 m.hu6@hy*hy"hy hygyfyffdddjdZd@@颽Bɢ~J) Ei)Siigr;b}I6@Iu9@q @q@u/@q^AMeE  E E $E "E a:*E :VE 4ZE a@a@a@a@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257390AIIOe>I A A @AB >B B xIB |BB B B B c;B ;=, ~?A Y~}By~IbD VD k1yca=%%H=ٔ%Q-%>9)Y)=-Fy-CoE-E->1Q 5u55q?Q 9u55)5;BYyQ I@5DI5'!"D,Y?A6 Ƒ@6@6<ٱ690 >AHRS rotation from veh to nav: [[0.061108,0.983530,0.170099],[-0.998065,0.058241,0.021798],[0.011532,-0.171102,0.985186]]6HI?y??%@ѭ?'R? ?ſ@?i6 Ƒ@I6?c;6CLYR=}ByRI TTXZAi-Mb@Mb@Mb@)))) )9-ףp= ?I +Q?Y-?y-9-u=-I A- @ -1 A)- A)Y-AbDEVDE3yU>%UG=ٔUQ-U>9YYY=]Fy]GoEeEe>iQ 5u5m0p?Q 9u5mw)mLBYu !?Q Eu:yuпQ I}@m DImq ;im ;mL5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 105.27 m.Rh0Zh0 ProNav: ac range: 105.271927 m, nav range: 101.720016 m, bearing: 264.917563 deg, approach rate: -0.634724 m/s, LOS rate: -0.009665 deg/s, cmd heading: 274.301435 deg, new cmd heading: 274.289739 deg. BhCԹHeadingCmd: 4.787259 target range: 105.271927 and range: 105.90 m.h:1@h*h"h hgfffBdddjdZd2o@颵BɢJKi) F4i)P项if iz9;I:1@I@ @@0@BDAT read: Rx Time:05:51:15.1135 TRx dataTimestamp_ set to:1761544276.428306checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013248^Ayb]! A I I E%  E% E% !E! "E% :*E% k:VE% c3ZE! a5 @a5 @a5 @a5 @Oe >iMJ,6+?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265295| ͑@ ǘ@ uٱ I1 -AHRS rotation from veh to nav: [[0.061969,0.983252,0.171391],[-0.997965,0.058459,0.025455],[0.015010,-0.172620,0.984874]] H^? v?&?T@S??f?jƿ?i ͑@I (b; CYE]}ByMIbDeVDe0y}E=%}G=ٔ Q->9Y=FyLoE ;E>Q 55n?Q 953)^BYyпQ I@DISI;iJ;5yBɮAEjhFNOT Ignoring new targets: 105.27 m.Rh3Zh3 ProNav: ac range: 105.271927 m, nav range: 101.463486 m, bearing: 264.913503 deg, approach rate: -0.619713 m/s, LOS rate: -0.009833 deg/s, cmd heading: 274.289742 deg, new cmd heading: 274.277531 deg. Bh׹HeadingCmd: 4.787046 target range: 105.271927 and range: 105.90 m.h{/@h*h"h hgfffdddjdZd @ BɢX]) 7-i)Fi1i)-b;-6I-{/@I1B>BBIB}BBBBBd;B9&EByByByB}$ =B}$ =C}ē4@ @@/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518767^A Sԁ A .AII Ii O >YQ,&E?AeBؑ@eӘ@e8ٱe0 uAHRS rotation from veh to nav: [[0.063322,0.983379,0.170164],[-0.997825,0.059251,0.028899],[0.018337,-0.171624,0.984992]]eH5?w??.0V?ȗ?`ƒ?@ſ ?ieBؑ@Ieb;eCY}ByIE EE%E"E:*E]t:VE 4ZEBE BDAT read: Tx time:05:51:16.2217 $Ping request sent.9 ?Y ?=FyPoEs7;E>Q 55l?Q 95v^direction in FSK: [0.964438,-0.196217,0.177085]:publishing transmit ping timeFpublishing direction and range infoy!,?N$פɿki?YfB )EI5^=i񲿉H>J4@)>e4@ K6>)@IK64f?r?I(? 9?) *IMiK6)tB]:publishing transmit ping timeeFpublishing direction and range infoy!,?N$פɿki?Y )Ii )I4f?r?I(? )Ii9YD?Q E:yֿQ I@DIBiœ@ addTargetRange:: Added new target pos. range: 103.199997 m, deltaT: 3.780323 s, deltaX: -2.700005 m, approachRate: -0.714226 m/s, rangeRepo size: 4  Added new target pos. range: 102.588387 m, bearing: 264.004540 deg, lat: 36.779456 deg, lon: -121.859775 deg, deltaT: 3.780323 s, deltaX: -2.683540 m, approachRate: -0.709871 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 102.59 m.RhZh  ProNav: ac range: 102.588387 m, nav range: 101.122658 m, bearing: 264.580401 deg, approach rate: 0.000000 m/s, LOS rate: -0.009833 deg/s, cmd heading: 274.277530 deg, new cmd heading: 274.261866 deg. Bh UHeadingCmd: 4.786773 target range: 102.588387 and range: 103.20 m.hU>-@hQ*hQ"hY hYgYfYfafeBdadadajdmY@ZdmZC? Bɢ,GL)[ $i)n$iis Z2; /IM>-@II]{>i]>q@ @@@@@fAԙ ^A 3 A=؟AIAIQOe? Y, e?A6@6@6rٱ6:. JAHRS rotation from veh to nav: [[0.065360,0.983692,0.167568],[-0.997627,0.060772,0.032371],[0.021659,-0.169286,0.985329]]6H w?fz?r? ?ޒ?@-?(ſЇ?i6@I6*b;6CYR}ByVIIV=)V=Z=Za=bD\VD\yf=%fD=ٔjQ-j>9n"?Yn"?=nFynUoEnc;Er>pQ 5v5rj?Q 9v5r)rBYxyzտQ Iz@r!DIr;ir;r5y|ɮqAjh!-FNOT Ignoring new targets: 102.59 m.Rh-H8Zh5H8E ProNav: ac range: 102.588387 m, nav range: 100.889244 m, bearing: 264.581067 deg, approach rate: -0.650154 m/s, LOS rate: 0.001862 deg/s, cmd heading: 274.261875 deg, new cmd heading: 274.263880 deg. BhE8EHeadingCmd: 4.786808 target range: 102.588387 and range: 103.20 m.hM-@hI*hI"hI hIgIfQfQfQdYdYdYjdYZd]"?颍 Bɢ,lE EE&E"E:*Ega:VE4ZEa@a@a@a@ԡ) i)L*顱iriN;냺I-@I'GfAAI@I @I@M0@Iuu9ufAYuEAԹBM<AIBU>BQBUIBU}BBU# =BQBQBU2d;BUP&E ^A 7A  I! I1 OE >._,?A>o@><@>˼ٱ>I+ FAHRS rotation from veh to nav: [[0.067840,0.984050,0.164447],[-0.997386,0.062782,0.035766],[0.024871,-0.166443,0.985737]]>H`]?W}?@ ?`?O?w?`Nſ(?i>o@I>>b;>CYN}ByRIbDZVDZkybb=%bL=ٔb(Q-f>9dYd=fFyfYoEj{;Ej>lQ 5r5nh?Q 9r5n)nBYpyrտQ Iv@n)DIn];inz;n5yxɮzAxjhFNOT Ignoring new targets: 102.59 m.Rh%|7Zh%|75 ProNav: ac range: 102.588387 m, nav range: 100.659973 m, bearing: 264.581462 deg, approach rate: -0.571734 m/s, LOS rate: 0.000987 deg/s, cmd heading: 274.263869 deg, new cmd heading: 274.265056 deg. Bh5b-8=HeadingCmd: 4.786828 target range: 102.588387 and range: 103.20 m.h=-@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUS?} Bɢ'Q) i)g,2顉ixiw;:I-@Iԁ9@9 @A@E4@AE EE#E"E:*EX:VE3ZEBE. f,H?A2q@2>@29ٱ24& :AHRS rotation from veh to nav: [[0.070757,0.984581,0.159978],[-0.997100,0.065309,0.039066],[0.028015,-0.162278,0.986347]]2H@??`*z?>?k? ? Ŀ(?i2q@I2#b;2CYB}ByB1Ii Mb@Mb@Mb@     9 Zd;?)\(S㥫?Y >y GὙ /]= d!A =A A)  Y Ay}@AbDVDk1y=%>=ٔWQ->9 ?Y ?=Fy]oE;E>Q 55Vf?Q 95A)BYJ?Q E:yiٿQ I@0DI ;i ;Š5yɮ!AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 102.59 m.Rh,/9Zh,/9  ProNav: ac range: 102.588387 m, nav range: 100.442154 m, bearing: 264.585583 deg, approach rate: -0.504804 m/s, LOS rate: 0.009572 deg/s, cmd heading: 274.265044 deg, new cmd heading: 274.277434 deg. Bh 59HeadingCmd: 4.787045 target range: 102.588387 and range: 103.20 m.hx/@h*h"h hgfff%_Bd!d!d!jd!Zd-@N?UBɢ]eMA)Y ]7iY)]9Yaieiem{@;mNQ;Imx/@Ii H<bE=J4jE= 4rE=\00E EE'E"E:*E:VE'4ZEa@a@a@a@9@ @@@0@@=@= T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I i ^A ?B:A >A >Ba Ba Be 'IBe }BBe $ =Ba Ba Be 9d;Be S&EAe؟AIiIyԑO?}m,D?A2N6@21@2ٱ2% :AHRS rotation from veh to nav: [[0.074750,0.984648,0.157736],[-0.996729,0.068900,0.042246],[0.030729,-0.160378,0.986577]]2H@"?9^"?Y^"?=^Fy^boEb<Eb>dQ 5j5fc?Q 9j5f)fBYlynؿQ In@f7DIf:if:fĊ5ypɮrAtjh FNOT Ignoring new targets: 102.59 m.Rh9Zh9-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7384685 ProNav: ac range: 102.588387 m, nav range: 100.198128 m, bearing: 264.589711 deg, approach rate: -0.505850 m/s, LOS rate: 0.008576 deg/s, cmd heading: 274.277448 deg, new cmd heading: 274.289859 deg. Bh5X9=HeadingCmd: 4.787261 target range: 102.588387 and range: 103.20 m.h=>1@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU rO?Bɢ ^:)  ^i ) B i i%sz%4@;%@;I5>1@I1U @  @ @ 4@ IE EE%E"E:*Ee:VE 4ZEBED-t,u?A0Y~ ~By~=IiMb@Mb@Mb@ 9)\(?L7A`I +?YG>y+94=I AA tA)^AYAbDVDy<%==ٔQ->9Y=FyfoEE>Q 55`?Q 95)BYF>Q E:yQ I@>DI:i ;Ɗ5yBɮ+AEjh FNOT Ignoring new targets: 102.59 m.Rh 9Zh 9 ProNav: ac range: 102.588387 m, nav range: 100.002548 m, bearing: 264.601529 deg, approach rate: -0.452263 m/s, LOS rate: 0.027382 deg/s, cmd heading: 274.289851 deg, new cmd heading: 274.325375 deg. Bh%V:%HeadingCmd: 4.787881 target range: 102.588387 and range: 103.20 m.h-R6@h)*h)"h) h)g)f)f1fcBdddjdZdѺ@ Bɢ >)1 5Ni1)5I11i=4i="f=6;E}4;IER6@IAԙUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.242448Թ9@ @@N0@ E  E E #E "E :*E ga:VE 3ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494496 ^A5 X;A5 eAzA5 eAI I!O->U|,s?AV@Vb@V3eٱVI& bAHRS rotation from veh to nav: [[0.085342,0.983708,0.158223],[-0.995611,0.078073,0.051611],[0.038417,-0.161933,0.986054]]VHص?z?@? ?@l? i?`8Ŀ?iV@IVjb;VCYj ~ByjHI prp<bDrVDrkAxAxB~>B|B~RIB~1~BB|B|B|B~d;B~D&EyH=%+=ٔ%Q-%>9!Y!=%Fy-koE-o<E->1Q 5=55]?Q 9=55P)5BYAyEAQ IE@5EDI5:i5:5Ȋ5yIɮMAIjhq}FNOT Ignoring new targets: 102.59 m.Rh}B9ZhB9 ProNav: ac range: 102.588387 m, nav range: 99.786125 m, bearing: 264.613342 deg, approach rate: -0.452012 m/s, LOS rate: 0.024726 deg/s, cmd heading: 274.325368 deg, new cmd heading: 274.360885 deg. Bh:HeadingCmd: 4.788501 target range: 102.588387 and range: 103.20 m.hf;@h*h"h hgfffdddjdZdn@UBɢ]ܷ9)Y ]iY)]ƥQaaieXieQ;mԡ E  E E &E "E :*E i:VE 4ZE BE )===iEMb@Mb@Mb@AAAA A9El?L7A`I +?YE>yAE99qYq=}Fy}poE}E}>Q 55*Y?Q 95)BY->Q E:yQ I@LDI :ia:ʊ5yɮAԡjhFNOT Ignoring new targets: 102.59 m.Rh\:Zh\: ProNav: ac range: 102.588387 m, nav range: 99.563606 m, bearing: 264.628012 deg, approach rate: -0.434522 m/s, LOS rate: 0.028711 deg/s, cmd heading: 274.360885 deg, new cmd heading: 274.404994 deg. Bh:HeadingCmd: 4.789270 target range: 102.588387 and range: 103.20 m.hA@h*h"h hgfffYBdddjdZd χ @5Bɢ5,;)1 5wi1)=Z99i=8biE8EZ;E!Q g,qr'?A Œ@ ܿ@ 1.ٱ J% %AHRS rotation from veh to nav: [[0.092067,0.983432,0.156158],[-0.994842,0.084136,0.056670],[0.042593,-0.160570,0.986105]] H?`Fx?? ?@?Υ?Ŀ@,?i Œ@I a; C ))-kA-\-KF111i5Q8I5PF9I9i=r@ 99)9EfC EkAE 0ET8FAIMpAIQ)QiQ)YIekAeƽe#ZF auCukAu94iu#HFqYyY"~ByJIDAT read: 05:51:18.7612 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 422,-0.12, 1.382, 0.003, 1.954, 1.353, PHS= 0.130,-1.305, 0.556, RAW= 162.6, 7.4, CAL= 162.1, 7.3, ROT= 347.9, -7.3 %Ygot valid direction response: 05:51:18.7612 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 422,-0.12, 1.382, 0.003, 1.954, 1.353, PHS= 0.130,-1.305, 0.556, RAW= 162.6, 7.4, CAL= 162.1, 7.3, ROT= 347.9, -7.3 -PDAT read: Bearing 81.0, -10.9 (Local) -~Local bearing/azimuth received: Bearing 81.0, -10.9 (Local) =DAT read: Range 11 to 50 : 101.4 m (Round-trip 135.3 ms) speed 0.4 m/s =*DAT read: user:562> EBDAT read: Tx time:05:51:19.8717 M$Ping request sent.Mi= V?>5@ A>D5@ w>)M@IwzVZ?`|?zq-s? k>?)I@Xiwu:publishing transmit ping timeAuFpublishing direction and range infoy' ?|ʿ9)Y)=-Fy-uoE-<E5>9Q 5=5=V?Q 9E5=)=BYAyEQ IE@=RDI=g:i=:=̊5yIɮUAQii-?AJiBRiBji~@bvTqpX@xĖG4EWʹ)@R' ?|ʿIIIYOm>3Y,ߧE?A 2ڒ@2ՙ@2\7ٱ2[;% >AHRS rotation from veh to nav: [[0.094702,0.983247,0.155749],[-0.994499,0.086408,0.059201],[0.044751,-0.160499,0.986021]]2H ^>?`v??@`?@O? ? ;Ŀ{?i2ڒ@I2a;2CYm~ByuAIbDVDNyh%`=ٔQ->9Y= Fy yoE;E>9Q 55=FS?Q 9 5=! )=BYyQ I@=WDI=S/,rSb?A2v@2C@2?ٱ2a$ :AHRS rotation from veh to nav: [[0.096833,0.983218,0.154612],[-0.994201,0.088251,0.061454],[0.046778,-0.159666,0.986062]]2Hʸ?v?T? ~ ?v?A?oĿ ҍ?i2v@I2b;2CY}By/I !%AiMb@Mb@Mb@ 9Q?7A`¿:v?Y(>yT<7AA A) AY AbDVD0yB%4=ٔQ->9 ?Y ?=Fy}oE%;E%>)Q 555-}O?Q 955-G)-BY5>Q E5:y=Q I=@-^DI-:i-n:-gЊ5yEBɮEAEEIjhquFNOT Ignoring new targets: 100.80 m.Rh}&':Zh}&': ProNav: ac range: 100.799271 m, nav range: 98.400688 m, bearing: 264.441315 deg, approach rate: -0.485519 m/s, LOS rate: 0.036534 deg/s, cmd heading: 274.473474 deg, new cmd heading: 274.518425 deg. Bh:HeadingCmd: 4.791250 target range: 100.799271 and range: 101.40 m.hQ@h*h"h hgfffCBdddjdZd+?Bɢw_) i)7oi`i( ;0 S,|?A>,@>@>Gٱ>$ JAHRS rotation from veh to nav: [[0.098365,0.983037,0.154795],[-0.993955,0.089428,0.063692],[0.048769,-0.160125,0.985891]]>Hv.? u?@V?z ?!N?6?~Ŀk?i>,@I>4a;>CYR}ByR%IbDZVDZyb0%bc=ٔf_Q-f>9f"?Yj"?=jFyjoEj$;Ej>lQ 5r5nrL?Q 9r5nr)n(BYtyvQ Iv@ncDIn:inR:nъ5yzBɮzAz$E%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252433jh)-FNOT Ignoring new targets: 100.80 m.Rh5z:Zh5z:E ProNav: ac range: 100.799271 m, nav range: 98.239510 m, bearing: 264.453320 deg, approach rate: -0.446727 m/s, LOS rate: 0.033327 deg/s, cmd heading: 274.518417 deg, new cmd heading: 274.554489 deg. BhE:MHeadingCmd: 4.791880 target range: 100.799271 and range: 101.40 m.hMW@hI*hI"hI hIgQfQfQfQdYdYdYjdYZde[?颍Bɢl) i)Mv顑i0i㾿;L9 Y<,?A2@2@2mOٱ2:t' :AHRS rotation from veh to nav: [[0.099642,0.982559,0.157000],[-0.993732,0.090230,0.065999],[0.050682,-0.162592,0.985391]]2H*?q??@K?M??@ĿR?i2@I2b;2CYB}ByBIi Mb@Mb@Mb@     9 ˡE?/$ÿ~jt?Y >y  D< M A =A A)  A Y \AbDVDkyA=%>=ٔ둻Q->9Y=FyoE"E;E>Q 55H?Q 95)5BY>Q E:y&Q I@iDI ;i. ;ӊ5yɮ_AjhFNOT Ignoring new targets: 100.80 m.Rh:Zh: ProNav: ac range: 100.799271 m, nav range: 98.036888 m, bearing: 264.467915 deg, approach rate: -0.472442 m/s, LOS rate: 0.034102 deg/s, cmd heading: 274.554480 deg, new cmd heading: 274.598357 deg. Bh;: HeadingCmd: 4.792645 target range: 100.799271 and range: 101.40 m.h Z]@h *h "h hgfff;Bddd!jd!Zd%R9?UBɢU g)Q UiQ)]v+YYi]Yieʾe ;e~E  E E E "E :*E ą:VE ZE a @a @a @a @ ) - C 6G (hA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009226 of,Я?A >۸9B(hAYBAy~C?~]A  @ f@ PYٱ 2( EAHRS rotation from veh to nav: [[0.100336,0.982420,0.157426],[-0.993535,0.090484,0.068566],[0.053116,-0.163288,0.985148]] H?o?&?` )??2? Ŀ@T?i  @I Kb; CYU}ByUIIe=)e>e=e=bDmVDmy}%}K=ٔƻQ->9Y=FyoE-:E>Q 558E?Q 95)ABYyQ I@oDI";i8:Պ5yɮAjhFNOT Ignoring new targets: 100.80 m.RhD:Zh%D:- ProNav: ac range: 100.799271 m, nav range: 97.847908 m, bearing: 264.481509 deg, approach rate: -0.461776 m/s, LOS rate: 0.033281 deg/s, cmd heading: 274.598357 deg, new cmd heading: 274.639217 deg. Bh5:]HeadingCmd: 4.793359 target range: 100.799271 and range: 101.40 m.h]2c@hY*hY"hY hYgYfafafadadidijdiZdm@g@!Bɢn) i)a̓iNi";B=>B9B=LIB='~BB9B9B9B=c;B= &EB٢B٢B٢B٢B٢Cݢm4qFN,?ATE EEE"E:*Ega:VEZEBE)y]b]#<]3A]M@ ]?A)]AYY]AbDuVDuy%.=ٔ&Q->9Y=FyoEʸE>Q 55A?Q 95")PBY?Q E:y߿Q I@wDI ;iC ;׊5yɮ AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 100.80 m.Rh9Zh9 ProNav: ac range: 100.799271 m, nav range: 97.613258 m, bearing: 264.492710 deg, approach rate: -0.506386 m/s, LOS rate: 0.024229 deg/s, cmd heading: 274.639229 deg, new cmd heading: 274.672911 deg. Bh:HeadingCmd: 4.793947 target range: 100.799271 and range: 101.40 m.hh@h*h"h  h g f ff BdddjdZdG@#BɢBrr) 'i)҈iWi]?M;ԮA >I I O >x,<?Aᾅ,'h?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276391pYo}ByI !!)-AbD5VD5kyE8%EF=ٔEQ-M>9IYI=MFyMoEUEU>YQ 5e5]$a Ņ,B?A2,@2@2jٱ2<. >AHRS rotation from veh to nav: [[0.098774,0.981683,0.162916],[-0.993127,0.086917,0.078380],[0.062784,-0.169538,0.983522]]2H8I?@i?@m?9@???lſy?i2,@I2)b;2CYFi}ByFI9iMMb@Mb@Mb@IIII I9Mv/?K7{Gzt?YMx ?yMI Mף;MAM @ MA)MbAIYMG AbDe VDe2yuq%uG=ٔ}G9yYy=FyoE"E>Q 55[9?Q 95E2)tBY ?Q E:yۿQ I@DI ;i. ;܊5yBɮL A-EjhFNOT Ignoring new targets: 100.80 m.RhZ9ZhZ9 ProNav: ac range: 100.799271 m, nav range: 97.013367 m, bearing: 264.517417 deg, approach rate: -0.549761 m/s, LOS rate: 0.016650 deg/s, cmd heading: 274.726683 deg, new cmd heading: 274.747176 deg. Bh6:HeadingCmd: 4.795243 target range: 100.799271 and range: 101.40 m.hr@h*h"h hgfffBdddjdZd @5(Bɢ5)9 =:i9)=:99i=h#iEtE;M=؛ BDAT read: Tx time:05:51:23.5217 $Ping request sent.?_H̿j?YB )IQ=i ?8/6@`>o5@ >)@I-B:?ٕ?FM` ? @?)5Itdi:publishing transmit ping timeFpublishing direction and range infoyLd >?_H̿j?Y )Ii )I-B:?ٕ?FM` ? )Iiԙ^AR5<AzAIq I O >E 3 E E $E "E j;*E :VE 4ZE a @a @a @a @ N˅,2?AY~S}By~IbD VD !3y`%%P=ٔ%Q-%>9!Y)=-Fy-oE-E->1Q 5=556?Q 9E557)5BYAyAQ IE@5DI57;i5;5sފ5yMBɮM AQiiH ?AJiBRiBji@b~,W@6Ș5 2fd.@RLd >?_H̿j?ZitdbijcsR"K1W8@Z˔1zGyS&?2ig:i*"io?*i| BiDBi)e*,?iiiBi༓@ԙ addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.793151 s, deltaX: -1.500000 m, approachRate: -0.395450 m/s, rangeRepo size: 4  Added new target pos. range: 99.308449 m, bearing: 264.398979 deg, lat: 36.779453 deg, lon: -121.859768 deg, deltaT: 3.793151 s, deltaX: -1.490822 m, approachRate: -0.393030 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 99.31 m.RhZh ProNav: ac range: 99.308449 m, nav range: 96.797256 m, bearing: 264.523495 deg, approach rate: 0.000000 m/s, LOS rate: 0.016650 deg/s, cmd heading: 274.747173 deg, new cmd heading: 274.767003 deg. BhHeadingCmd: 4.795589 target range: 99.308449 and range: 99.90 m.hwu@h*h"h hgfffdddjdX@Zd?BYB]ҍCB]IB]}BB]$ =BYBYB]ec;B]%E额*Bɢlo) ~@i)+顡i9ii;{ ҅,L?AEJ EJEJ#EH"EJ:*EJ1:VEJ3ZEHBEJ==iMb@Mb@Mb@ 9Gz?K7A~jt?Y?y <A A)AY AbDVDyr%'=ٔQ->9Y=FyoEE>Q 553?Q 959?)BYT?Q E:y׿Q I@DIG;i ;5yɮ:!AB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 99.31 m.Rh t8Zht8 ProNav: ac range: 99.308449 m, nav range: 96.517067 m, bearing: 264.526681 deg, approach rate: -0.578449 m/s, LOS rate: 0.006597 deg/s, cmd heading: 274.767008 deg, new cmd heading: 274.776594 deg. Bh%ߐ9-HeadingCmd: 4.795756 target range: 99.308449 and range: 99.90 m.h-v@h)*h)"h) h)g)f1f1f5iBd1d9d9jd9Zd=`I? ,Bɢ O)  PKi ) &jiCid;O.م,=h?A2b@2/ݙ@2jٱ2?O. >AHRS rotation from veh to nav: [[0.095489,0.982134,0.162156],[-0.993065,0.082765,0.083499],[0.068587,-0.169004,0.983226]]2Hq?m??/0? 6`? 厱?`ſ`v?i2b@I2mc;2CYFM}ByFIbDNVDN y^&=%^m=ٔbQ-b?9j ?Yj ?=jFynoErEr?xQ 5~5z1?Q 95zwD)zBY y 1ؿQ I @zDIz[;iz\;z5yɮ% A!)jhDNOT Ignoring new targets: 99.31 m.Rhp9Zhp9 ProNav: ac range: 99.308449 m, nav range: 96.316422 m, bearing: 264.529388 deg, approach rate: -0.539304 m/s, LOS rate: 0.007291 deg/s, cmd heading: 274.776598 deg, new cmd heading: 274.784736 deg. Bh 9-HeadingCmd: 4.795898 target range: 99.308449 and range: 99.90 m.h-x@h1*h1"h1 h1g1f9f9f9Eu EuEu$Eq"Eu>:*Euga:VEu4ZEqa}@a@a@a@dAddjdZd S?.Bɢ !) Ci)%V!!i%i5k_5]u;5΀B5ӍCB5IB5}BB1B1B1B5Dc;B5%Eԉ^A= <<AE >AE ?Թ A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482767ay,?A2ؒ@2ә@2Ԑٱ20 :AHRS rotation from veh to nav: [[0.094320,0.981863,0.164466],[-0.993031,0.081064,0.085542],[0.070658,-0.171388,0.982667]]2HT%?kk?: ???? ſ r?i2ؒ@I2c;0YrK}ByrIbDzVDz0y%F=ٔ hQ- >9 "?Y "?= FyoE}:E>Q 5%5/?Q 9%5J)BY)y-TؿQ I-@DI:i:5y5Bɮ5 A1jhYeDNOT Ignoring new targets: 99.31 m.RheG9ZheG9u ProNav: ac range: 99.308449 m, nav range: 96.082802 m, bearing: 264.532702 deg, approach rate: -0.608123 m/s, LOS rate: 0.008649 deg/s, cmd heading: 274.784739 deg, new cmd heading: 274.794707 deg. Bhu9}HeadingCmd: 4.796072 target range: 99.308449 and range: 99.90 m.hmy@h*h"h hgfffdddjdZd`??ԙ/Bɢ8) Di)>쪼i9iY;u! Ԧ,.?AY=[}ByEI IIIIiMb@Mb@Mb@ 99v?Mb?Y?y<@ A)KAY AbD VD2y=%:=ٔQ->9Y=%Fy%oE%E%>)Q 555-,-?Q 955-YQ)-BY=?Q E=:y=׿Q I=@-DI-<;i-a:-5yEŒBɮE AM6EjhiuDNOT Ignoring new targets: 99.31 m.Rhu8Zh}8 ProNav: ac range: 99.308449 m, nav range: 95.823532 m, bearing: 264.535465 deg, approach rate: -0.589512 m/s, LOS rate: 0.006299 deg/s, cmd heading: 274.794712 deg, new cmd heading: 274.803023 deg. BhV9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986859HeadingCmd: 4.796217 target range: 99.308449 and range: 99.90 m.hz@h*h"h hgfff[BdddjdZd'@1Bɢz\) Ai)aiiT;vq ,x?A2ɒ@2Qę@2ٱ22 :AHRS rotation from veh to nav: [[0.092435,0.981730,0.166319],[-0.992932,0.078395,0.089103],[0.074436,-0.173380,0.982038]]2Hѩ? Uj?I?`?@l϶? ?? M1ƿ l?i2ɒ@I2e;2C T)ZkAZʽZ0LFXXZkAi^㥽I^D`F\I^3CibkA bmbJF)`b&C bkAfxifTFddfpAId)dih)hIjkAj,jZF hBr>BrҍCBpBpBpBpBpBrc;Br%El~kA~yi||i9A) IYYh}ByIbD%VD%1y5\=%5Z=ٔ=%Q-=>99YA=EFyEoEE£EE>IQ 5U5M +?Q 9U5MW)MBYYy]׿Q I]@MDIMQ;iM];Mr5yaɮe AijhDNOT Ignoring new targets: 99.31 m.Rh8Zh8 ProNav: ac range: 99.308449 m, nav range: 95.602699 m, bearing: 264.538073 deg, approach rate: -0.589908 m/s, LOS rate: 0.006983 deg/s, cmd heading: 274.803017 deg, new cmd heading: 274.810859 deg. Bh[9HeadingCmd: 4.796354 target range: 99.308449 and range: 99.90 m.h{@h*h"h hgfffdddjdZd`#@2Bɢ) ?i)Sii|Pi ;AXE  E E %E "E 2:*E :VE 4ZE BE !*9!Y)=-Fy-oE-"E->1Q 5=55(?Q 9=55g^)5BYEY?Q EE:yE ֿQ IE@5DI5X ;i5 ;5}5yIɮU AQB*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 99.31 m.Rh08Zh08% ProNav: ac range: 99.308449 m, nav range: 95.324249 m, bearing: 264.539089 deg, approach rate: -0.572109 m/s, LOS rate: 0.002093 deg/s, cmd heading: 274.810858 deg, new cmd heading: 274.813914 deg. Bh-ӷ8-HeadingCmd: 4.796408 target range: 99.308449 and range: 99.90 m.h-,|@h1*h1"h1 h1g1f1f9f=.Bd9dAdAjdAZdEq@u3Bɢu#퐽)u uxAiq)}Ayyi}tiNL;L., ?AR@R@R˟ٱR8/ zAHRS rotation from veh to nav: [[0.090858,0.982423,0.163061],[-0.992809,0.076541,0.092045],[0.077946,-0.170252,0.982313]]RH~B?@p?2?6?@G?L?ſo?iR@IRve;RCY}}ByII >) ;==bDVD1y-=%-m=ٔ5?Q-5?95 ?Y5 ?==Fy=oE=#úE=?AQ 5M5E&?Q 9M5Ec)EBYQyU!ֿQ IU@EDIE;iE;E5yYɮ]4 AYjhDNOT Ignoring new targets: 99.31 m.Rh;8Zh;8 ProNav: ac range: 99.308449 m, nav range: 95.118835 m, bearing: 264.539928 deg, approach rate: -0.626319 m/s, LOS rate: 0.002564 deg/s, cmd heading: 274.813918 deg, new cmd heading: 274.816441 deg. Bh78HeadingCmd: 4.796452 target range: 99.308449 and range: 99.90 m.h|@h*h"h  hE EEE"Ea:*EZ:VEZEa@a@a@a@Gg9Y΢Aff!f!d)d)d)jd)Zd5M @}4Bɢ}"ԛ) %;i)|顡iϥiJMD;FBӍCBIB}BB# =BBBb;B%EB}ӍCB}ӍCByByByC}p4A ^A LM< DAT read: 05:51:26.0561 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.14, 0.730,-0.644, 1.326, 0.748, PHS= 0.085,-1.347, 0.534, RAW= 163.2, 8.6, CAL= 162.9, 9.0, ROT= 347.1, -9.0  Ygot valid direction response: 05:51:26.0561 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.14, 0.730,-0.644, 1.326, 0.748, PHS= 0.085,-1.347, 0.534, RAW= 163.2, 8.6, CAL= 162.9, 9.0, ROT= 347.1, -9.0  PDAT read: Bearing 81.8, -9.7 (Local)  ~Local bearing/azimuth received: Bearing 81.8, -9.7 (Local)  DAT read: Range 11 to 50 : 97.6 m (Round-trip 130.2 ms) speed 0.4 m/s  *DAT read: user:564>  BDAT read: Tx time:05:51:27.1717  $Ping request sent. ) r@I | ',?AJ@Jβ@JSٱJH0 vAHRS rotation from veh to nav: [[0.090276,0.982406,0.163491],[-0.992725,0.075634,0.093679],[0.079665,-0.170759,0.982087]]JHM?o?F? h@\?V? d?kſAm?iJ@IJWd;JCY}ByIbDVD0y=%6=ٔ{Q->9Y=FyoEE >Q 55$?Q 95j)BYy4ֿQ I@DI:i:5y)ɮuAyԩi)i-?AJi- BRi- Bji-T@b-_b1ZW@Vcd5>Z.@R-56?ue9̿p ?Zi-fbi-| j-g$4$!/D;W~:@Z-BgoD ein&?2i-ڹ:i-!"i-R6Ѡ?*i-sBi-DzBi-o?i- i-Bi-zBi-}@ addTargetRange:: Added new target pos. range: 97.599998 m, deltaT: 3.526884 s, deltaX: -2.300003 m, approachRate: -0.652135 m/s, rangeRepo size: 4  Added new target pos. range: 97.022385 m, bearing: 263.795005 deg, lat: 36.779452 deg, lon: -121.859760 deg, deltaT: 3.526884 s, deltaX: -2.286064 m, approachRate: -0.648182 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 97.02 m.RhZh% ProNav: ac range: 97.022385 m, nav range: 94.238998 m, bearing: 264.415892 deg, approach rate: 0.000000 m/s, LOS rate: 0.002564 deg/s, cmd heading: 274.816432 deg, new cmd heading: 274.820182 deg. Bh!5HeadingCmd: 4.796517 target range: 97.022385 and range: 97.60 m.h=}@h9*h9"ha hagifqE EE"E"E:*E:VE(3ZEBEn%AU >I)IAOM>M,"?AYj}BynIi}Mb@Mb@Mb@yyyy y9}Q?zGế~jt?Y}?y} ׽}=}A}@ y)}5AyYybDVDk1yn=%2=ٔQ->9Y=FyoEE>Q 55"?Q 95q),BYv?Q E:yҿQ I@DIK ;i ;5y̒BɮJA?EjhDNOT Ignoring new targets: 97.02 m.Rh Zh  ProNav: ac range: 97.022385 m, nav range: 93.970146 m, bearing: 264.412253 deg, approach rate: -0.643484 m/s, LOS rate: -0.008735 deg/s, cmd heading: 274.820174 deg, new cmd heading: 274.809225 deg. Bh׿%HeadingCmd: 4.796326 target range: 97.022385 and range: 97.60 m.h%{@h!*h!"h! h)g)f)f1f5Bd1d1d9jd9Zd= ?aɢmx)i m)ii)u?ɼqqiui}lQ};}EB:*Ee:VE4ZEa@a@a@a@z:yM9@I @I@M4@IB% >B% ҍCB% -IB% }BB% $ =B! B! B% b;B% %Eԙ ^Am l;<I I O >,>?A6R@6@69ٱ64 >AHRS rotation from veh to nav: [[0.088955,0.981946,0.166941],[-0.992555,0.073390,0.097207],[0.083200,-0.174345,0.981163]]6HŶ?l?@S^?ɲ??L?`Pƿe?i6R@I6d;6CYF}ByJI LLLNAbDR VDR2yZ;3=%^O=ٔ^Q-^>9\Y`=bFyboEbXdEf>hQ 5n5jd!?Q 9n5jw)jBBYlyrҿQ Ir@jDIjd:ij[:j5ytɮvAtjhDNOT Ignoring new targets: 97.02 m.Rhd Zhd 5 ProNav: ac range: 97.022385 m, nav range: 93.738518 m, bearing: 264.409252 deg, approach rate: -0.586489 m/s, LOS rate: -0.007617 deg/s, cmd heading: 274.809219 deg, new cmd heading: 274.800195 deg. Bh5E=HeadingCmd: 4.796168 target range: 97.022385 and range: 97.60 m.h=6z@h9*h9"h9 h9g9fAfAfAdIdIdIjdIZdM`b?}7Bɢ}ڐ)y %i)rͼ  iiV;Q0y,W?A2z@2G@2Sٱ2;4 :AHRS rotation from veh to nav: [[0.088597,0.981975,0.166963],[-0.992433,0.072717,0.098943],[0.085018,-0.174465,0.980986]]2H I?Ul?_? ?QT?õ?Tƿ9Y=FyoE{UE>Q 55?Q 95~)XBYH?Q E:yԿQ I@DI ;i ;5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 97.02 m.RhwZhw ProNav: ac range: 97.022385 m, nav range: 93.480896 m, bearing: 264.407425 deg, approach rate: -0.604858 m/s, LOS rate: -0.004302 deg/s, cmd heading: 274.800203 deg, new cmd heading: 274.794706 deg. Bh<HeadingCmd: 4.796072 target range: 97.022385 and range: 97.60 m.hmy@h*h"h! h!g!f!f)f-Bd)d)d)jd1Zd5'?]8Bɢe+)a eia)eѼiiimimYu9;YK/T,s?A2@2@2ȱٱ21 :AHRS rotation from veh to nav: [[0.088613,0.982410,0.164371],[-0.992286,0.072703,0.100416],[0.086700,-0.172002,0.981274]]2H@U?o? ??`ഹ?`1?@%ƿf?Li2@I2Jd;0Y-~By-AIbDEVDEyMϡ=%U==ٔUQ-U>9YYY=]Fy]oEe48Ee>aQ 5m5e?Q 9u5e)eoBYqyuԿQ Iu@eDIe3;iea;en5yɮ AjhDNOT Ignoring new targets: 97.02 m.RhZh ProNav: ac range: 97.022385 m, nav range: 93.219337 m, bearing: 264.405595 deg, approach rate: -0.606206 m/s, LOS rate: -0.004252 deg/s, cmd heading: 274.794712 deg, new cmd heading: 274.789208 deg. Bh:HeadingCmd: 4.795977 target range: 97.022385 and range: 97.60 m.hx@h*h"h hgfffdddjdZdg?B5<A5<B9B9B=_IB=E~BB=% =B9B9B=c;B=%E颍9Bɢ) Hi)ռ顑i2i\%;1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258817$,dv?Aj>@j @jٱj0 ~AHRS rotation from veh to nav: [[0.089018,0.982679,0.162533],[-0.991996,0.072797,0.103174],[0.089555,-0.170416,0.981294]]jHɶ? r?? n΢?i?@?4ſf?ij>@IjId;hY 9~By XII;>)>==QiMb@Mb@Mb@ 9|?5^?ʡEQ?Y?yy\=~A A)AYbDVDky=%=ٔ7Q->9 "?Y "?= Fy oEY:E>Q 5%5?Q 9%5Y)BY%;?Q E%:y%տQ I%@DI:iL:5y1ɮ5zA1jhY]DNOT Ignoring new targets: 97.02 m.Rhe7Zhe7u ProNav: ac range: 97.022385 m, nav range: 92.919983 m, bearing: 264.406209 deg, approach rate: -0.577071 m/s, LOS rate: 0.001186 deg/s, cmd heading: 274.789220 deg, new cmd heading: 274.791066 deg. BhuhP8}HeadingCmd: 4.796009 target range: 97.022385 and range: 97.60 m.h}x@hy*hy"hy hgfffBdddjdZdq@:Bɢy) UiQ)UKڼQYi]i][e;e7*,{?AB@Bf@BṽٱBq0 NAHRS rotation from veh to nav: [[0.089415,0.982608,0.162748],[-0.991862,0.072977,0.104330],[0.090638,-0.170752,0.981136]]BH?q??T࡮?W?4?5ſxe?iB@IBYc;BCYn~ByxIbD%VD%y5>%=`=ٔEBQ-E>9AYA=MFyMoEM:EM>QQ 5]5UM?Q 9]5Uߒ)UBYayeտQ Ie@UDIU;iU;UK5ymҒBɮmAuIEjhE EE'E"Em:*Eg:VE'4ZEa@a@a@a@DNOT Ignoring new targets: 97.02 m.Rhb7Zhb7 ProNav: ac range: 97.022385 m, nav range: 92.708847 m, bearing: 264.406591 deg, approach rate: -0.577281 m/s, LOS rate: 0.001048 deg/s, cmd heading: 274.791078 deg, new cmd heading: 274.792227 deg. Bh88HeadingCmd: 4.796029 target range: 97.022385 and range: 97.60 m.hy@h*h"h hgfffdddjdZd @ɢ2) i)4ݼ!!i%)Xi%#[-;;-(=BBIB~BB$ =BBB/c;B%E^AIAU>AU>yA I I O > BDAT read: Rx Time:05:51:29.7032  TRx dataTimestamp_ set to:1761544291.056117 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013662ԙ ۂ1,V?AZ@ZN@ZٱZ0 fAHRS rotation from veh to nav: [[0.090002,0.982529,0.162898],[-0.991729,0.073387,0.105296],[0.091502,-0.171027,0.981008]]ZH^ ?`p?? ?@ɲ?`? l?9ſ@kd?iZ@IZnSb;ZCYn~BynIbDvVDvk1yb=%N=ٔ\Q->9 Y = Fy oE ':E>Q 5%5`?Q 9%5ۘ)BY!y%տQ I%@DI;i;5y1ɮ5OA1jhiuDNOT Ignoring new targets: 97.02 m.Rhs7Zhs7 ProNav: ac range: 97.022385 m, nav range: 92.480255 m, bearing: 264.406923 deg, approach rate: -0.573026 m/s, LOS rate: 0.000833 deg/s, cmd heading: 274.792225 deg, new cmd heading: 274.793223 deg. Bhf8-HeadingCmd: 4.796047 target range: 97.022385 and range: 97.60 m.h-7y@h1*h1"hQ hQqgYfyfyfydddjdZd#3 @;Bɢ\t) i)iiZ ;UBE #7,a2?A2@2w@2Ǽٱ2l0 :AHRS rotation from veh to nav: [[0.090864,0.982436,0.162979],[-0.991600,0.074129,0.105989],[0.092046,-0.171241,0.980920]]2H`B?p??0?@"?@S?:ſ`c?i2@I2Aa;0YB~ByBI HH!%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519484i Mb@Mb@Mb@     9 kt?J +S㥛?Y  ?y Ƚ /< A @ A) A Y = AbD%VD%βy5=%5+=ٔ=dQ-=>99Y9==Fy=oEE:EE>IQ 5U5M?Q 9U5M)MBY]u?Q E]:y]OҿQ I]@MDIM;iM;M5yaɮeAaB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 97.02 m.Rh#Zh# ProNav: ac range: 97.022385 m, nav range: 92.211769 m, bearing: 264.402687 deg, approach rate: -0.566267 m/s, LOS rate: -0.008959 deg/s, cmd heading: 274.793236 deg, new cmd heading: 274.780493 deg. BhĹHeadingCmd: 4.795825 target range: 97.022385 and range: 97.60 m.hew@h*h"h hgfffBdddjdZd @ɢxi) i)zH顉i0ia;&T  BDAT read: Tx time:05:51:30.8217  $Ping request sent. m >5@ m +>)m W@Im +i i m h*?(f@v~?Lx? m x??)m J!Im t0aim +i i  :publishing transmit ping time  Fpublishing direction and range infoyi m ]ӫ?sW˿8_X?Yi i i i i i )i Ii ii i i i i i )i Ii i i m h*?(f@v~?Lx? i )i Ii ii i i ^A9 A A AAB >B B IB ~BB B B B c;B %EY Au .AIy I O >w>,?ABÒ@Bn@BٱB@. ZAHRS rotation from veh to nav: [[0.091587,0.982728,0.160802],[-0.991541,0.075085,0.105870],[0.091968,-0.169138,0.981292]]BH;r? r?*?`@8?O?4? Sſf?iBÒ@IB_`;BCYb~ByfIbD|VD|y =% Z=ٔ [9Q->9 ?Y ?=FyoE%O:E%>)Q 555-w?Q 9U5-u)-BYQyU<ҿQ I]@-DI-O;i-;-5yaɮeAaiYi]?AJi]BRi]Bji]y@b] eBV@Ne4 v/@R]]ӫ?sW˿8_X?Zi]t0abi]+j]=J"˦vVF\;@Z]Wkr-i{ /w?2i]:i]P"i]F|?*i]Bi](Bi]F|?i]| i]DBi]Bi]B@ addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 3.780050 s, deltaX: -2.199997 m, approachRate: -0.582002 m/s, rangeRepo size: 4 % Added new target pos. range: 94.834030 m, bearing: 264.219940 deg, lat: 36.779450 deg, lon: -121.859760 deg, deltaT: 3.780050 s, deltaX: -2.188354 m, approachRate: -0.578922 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 94.83 m.Rh-Zh)] ProNav: ac range: 94.834030 m, nav range: 91.992691 m, bearing: 264.295375 deg, approach rate: 0.000000 m/s, LOS rate: -0.008959 deg/s, cmd heading: 274.780505 deg, new cmd heading: 274.770008 deg. BhYeHeadingCmd: 4.795641 target range: 94.834030 and range: 95.40 m.heu@ha*ha"ha hagifffdddjdW@Zd`)Y?ɢve) ̾i)ioig;p`y l[E,)x?A2~ƒ@2K@2ٱ2- :AHRS rotation from veh to nav: [[0.091931,0.982966,0.159141],[-0.991487,0.075561,0.106036],[0.092205,-0.167534,0.981545]]2Hψ?vt?`^?`CW?.%? ?qſ h?i2~ƒ@I2\`;2CYB ByBIi Mb@Mb@Mb@     9 oʡ?S㥻:v?Y  ?y /ݽ < QA @ A) A Y bD%VD%1y5=%5H=ٔ5Q-=>9AYA=EFyEoEM`:EM>QQ 5U5U?Q 9]5U`)UBY]?Q E]:y]ԿQ Ie@UDIU ;iU ;U5yiɮm`Aijh DNOT Ignoring new targets: 94.83 m.Rh5*Zh=*E ProNav: ac range: 94.834030 m, nav range: 91.766640 m, bearing: 264.294424 deg, approach rate: -0.554028 m/s, LOS rate: -0.002336 deg/s, cmd heading: 274.770014 deg, new cmd heading: 274.767155 deg. BhM,͸MHeadingCmd: 4.795591 target range: 94.834030 and range: 95.40 m.hM|u@hQ*hQQ"h hgfff4BdddjdZd?ɢrX) li)P  i 8i{i ;evK,R0?AE& E&E&"E$"E&:*E&g:VE&(3ZE$a*@a*@a*@a*@:˒@:ƙ@:Vٱ:c, FAHRS rotation from veh to nav: [[0.092585,0.982963,0.158784],[-0.991399,0.076191,0.106408],[0.092497,-0.167270,0.981563]]:H?@nt? S?A?=?`ݭ?`iſh?i:˒@I:_;:CYN)ByNIIR=)R%=V=V=bDZVDZybS=%bR=ٔfEQ-f>9dYd=fFyjoEj :Ej>lQ 5r5n?Q 9r5n)nBYtyvԿQ Iv@n%DIn:in:n:5yzגBɮzAzREjhDNOT Ignoring new targets: 94.83 m.Rh;Zh; ProNav: ac range: 94.834030 m, nav range: 91.551147 m, bearing: 264.293428 deg, approach rate: -0.554307 m/s, LOS rate: -0.002568 deg/s, cmd heading: 274.767145 deg, new cmd heading: 274.764150 deg. BhHeadingCmd: 4.795539 target range: 94.834030 and range: 95.40 m.hu@h*h"h hg f f f dddQjdQZd]`Q?颥B=эCB=IB=WBB=% =B9B=bDB=c;B=%EBҍCBҍCBBBC\K5A@A @A@E/@A ^Am 8k<I I O >9 ApR,P:J?AFҒ@F̙@F*kٱF + ZAHRS rotation from veh to nav: [[0.093335,0.983180,0.156990],[-0.991342,0.077144,0.106256],[0.092358,-0.165548,0.981868]]FH?5v?=?`@? 3??0ſuk?iFҒ@IF_;FCYb>BybIbDnVDnkyvS=%vH=ٔv9Q-v>9xYx=zFyzoE~:E~>Q 5 5G?Q 9 5)BY y ԿQ I @,DI:i:5yɮAQEjhAEDNOT Ignoring new targets: 94.83 m.RhM@UZhM@U] ProNav: ac range: 94.834030 m, nav range: 91.324181 m, bearing: 264.292285 deg, approach rate: -0.576635 m/s, LOS rate: -0.002913 deg/s, cmd heading: 274.764140 deg, new cmd heading: 274.760700 deg. Bh]eHeadingCmd: 4.795479 target range: 94.834030 and range: 95.40 m.het@ha*ha"ha higifififidqdqdqjdyZd} W?颡ɢ{Q) i)G顩iU i-m;ÉzA>IIO>a X,x d?A >$ڒ@>ԙ@>施ٱ>+ FAHRS rotation from veh to nav: [[0.094307,0.983108,0.156858],[-0.991242,0.078097,0.106490],[0.092441,-0.165527,0.981863]]>H$?`u??`A@#?@B?`3?/ſlk?i>$ڒ@I>^;>CY^lBybIiEMb@Mb@Mb@AAAA A9E%C?|?5^/$?YEZ?yEҽE9qYq=uFyuoE} ;E}>Q 55 ?Q 95)+BY?Q E:y-տQ I@3DIU:i:5yɮ AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 94.83 m.Rh/Zh/ ProNav: ac range: 94.834030 m, nav range: 91.105522 m, bearing: 264.291602 deg, approach rate: -0.519739 m/s, LOS rate: -0.001627 deg/s, cmd heading: 274.760697 deg, new cmd heading: 274.758644 deg. Bh鎸HeadingCmd: 4.795443 target range: 94.834030 and range: 95.40 m.hEt@h*h"h hgfff,BdddjdZdΔ?i颅;Bɢ=) i)C顩iy(iXnt;'GBA BE :IBE BBE & =BA BA BE c;BE %E ^A u<IqIO>`,X?A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256435Ewߒ@EDڙ@E@ٱEs+ uAHRS rotation from veh to nav: [[0.094953,0.982989,0.157216],[-0.991196,0.078718,0.106464],[0.092278,-0.165941,0.981809]]EHN?t? ?߷@&?AA? ?=ſ@j?iEwߒ@IER^;ECYBy%Iԑ AbDVD:y^=%%=ٔ9Q->9Y=FyoE:E>Q 55 ?Q 95l)@BYy%տQ I%@ig,j?A2@2ۙ@2໽ٱ2*. :AHRS rotation from veh to nav: [[0.095137,0.982443,0.160482],[-0.991240,0.078658,0.106095],[0.091609,-0.169170,0.981320]]2HZ?,p?? ="?)?s?[ſf?i2@I2|^;2CYBByF9ITiMb@Mb@Mb@ 9v/?Cl绿{Gz?Yx ?y;߽ף<A )SAYAbD5VD5Ny==%EA=ٔE:Q-E>9IYI=MFyMpEU9EU>YQ 5]5] ?Q 9e5]l)]SBYe^ ?Q Ee:yeտQ Im@]CDI] ;i] ;]5yqɮuAqjh%DNOT Ignoring new targets: 94.83 m.Rh%JZh-J5 ProNav: ac range: 94.834030 m, nav range: 90.619263 m, bearing: 264.290396 deg, approach rate: -0.550049 m/s, LOS rate: -0.000692 deg/s, cmd heading: 274.755889 deg, new cmd heading: 274.755023 deg. Bh5C=HeadingCmd: 4.795380 target range: 94.834030 and range: 95.40 m.hEs@hA*hA"hA hAgAfAfIfM:BdIdIdQjdQZdU@@ɢr<4)  Oi)B}iijpG;B ҍCB lIB BB % =B B cDB b;B %EY Au؟AIyIO>ζn, ?A>@>ܙ@><ٱ>]k0 FAHRS rotation from veh to nav: [[0.095245,0.982164,0.162120],[-0.991331,0.078777,0.105153],[0.090506,-0.170730,0.981152]]>Ha?m?Y?*?M?f+?zſe?i>@I>H^;>CYRByRHI Vp9f"?Yf"?=jFyjpEja9Ej>lQ 5r5n?Q 9v5n)nhBYtyvտQ Iv@nKDInL:inC:n 5y|ɮ~A|jh!%DNOT Ignoring new targets: 94.83 m.Rh-JhZh-Jh= ProNav: ac range: 94.834030 m, nav range: 90.368683 m, bearing: 264.290042 deg, approach rate: -0.559940 m/s, LOS rate: -0.000793 deg/s, cmd heading: 274.755014 deg, new cmd heading: 274.753949 deg. Bh=_ EHeadingCmd: 4.795361 target range: 94.834030 and range: 95.40 m.hEs@hA*hA"hI hIgIfIfQfQdQdQdYjdYZd] F @颁ɢA*)  5i)f顑i0iqY;Ē - DAT read: 05:51:33.3504 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.50,-1.464,-2.793,-0.902,-1.436, PHS= 0.075,-1.312, 0.490, RAW= 162.7, 9.2, CAL= 162.5, 9.8, ROT= 347.5, -9.8 u,"?AYgot valid direction response: 05:51:33.3504 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.50,-1.464,-2.793,-0.902,-1.436, PHS= 0.075,-1.312, 0.490, RAW= 162.7, 9.2, CAL= 162.5, 9.8, ROT= 347.5, -9.8 *PDAT read: Bearing 82.3, -8.6 (Local) >~Local bearing/azimuth received: Bearing 82.3, -8.6 (Local) Z;ɰZp;~DAT read: Range 11 to 50 : 93.4 m (Round-trip 124.6 ms) speed 0.5 m/s *DAT read: user:566>  BDAT read: Tx time:05:51:34.4717  $Ping request sent. ּ5@l$>5@ %/>)@@I%/񑊶7?l?Y =j? >?) $If_i%/:publishing transmit ping time Fpublishing direction and range infoy_?]lL˿rl?Y )Ii )I񑊶7?l?Y =j?ܙ@fٱQ\1 AHRS rotation from veh to nav: [[0.095286,0.981963,0.163306],[-0.991598,0.079213,0.102267],[0.087486,-0.171678,0.981261]]Hd?@>l?3?+@OG? ).?@e? ſ}f?i@Ip^;C )IiYBy[IiMb@Mb@Mb@ 9{Gz?V-9YYa=eFye pEeA7Ee>iQ 5u5m?Q 9u5m)mBY8?Q E:yHؿQ I@mTDIm;im;mK 5yܒBɮfA[Eii ?AJiBRiBji+ɓ@binTV@Ve32cH/@R_?]lL˿rl?Zif_bi%/j?۴ ӓ!V å:@Z7/O9Xk?2i :i"iv D?*iބBi`Bio?isiDzBisBii@e addTargetRange:: Added new target pos. range: 93.400002 m, deltaT: 3.529489 s, deltaX: -2.000000 m, approachRate: -0.566654 m/s, rangeRepo size: 4 u Added new target pos. range: 92.846092 m, bearing: 264.609491 deg, lat: 36.779452 deg, lon: -121.859751 deg, deltaT: 3.529489 s, deltaX: -1.987938 m, approachRate: -0.563237 m/s, posRepo size: 4 jhqDNOT Ignoring new targets: 92.85 m.RhZh ProNav: ac range: 92.846092 m, nav range: 89.226181 m, bearing: 264.345408 deg, approach rate: 0.000000 m/s, LOS rate: -0.000793 deg/s, cmd heading: 274.753949 deg, new cmd heading: 274.752594 deg. BhHeadingCmd: 4.795337 target range: 92.846092 and range: 93.40 m.hgs@h*h"h hgfffABdddjdYW@Zd;?]:Bɢ] 8)Y eia)e]4aaiezimqm;BNэCBNIBNBBLBLBLBNc;BN%EbD~VD~y0=% W=ٔ ;Q- >9 ?Y ?=FypE"9E>!Q 5-5%?Q 9-5%)%BYIyMBؿQ IM@%ZDI%;i%;%5yYɮ]#AYB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 92.85 m.Rh|8Zh|8 ProNav: ac range: 92.846092 m, nav range: 89.029877 m, bearing: 264.347940 deg, approach rate: -0.533679 m/s, LOS rate: 0.006898 deg/s, cmd heading: 274.752583 deg, new cmd heading: 274.760195 deg. Bh~9HeadingCmd: 4.795470 target range: 92.846092 and range: 93.40 m.h~t@h*h"h h g f f fdddjdZdJ?颡ɢT") i)p顩i|ismԠ;I~t@I@ @@/@)uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.^A Y AM ؟AIQ Ii Ou >ga,_?AE EE#E"E,:*Ei:VE3ZEBE9j"?Yj"?=jFyjpEn2En>pQ 5v5r?Q 9v5r)rBYxyzEؿQ I~@raDIr<;ir;r5yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.948188jh)]DNOT Ignoring new targets: 92.85 m.Rhm>8Zhu>8 ProNav: ac range: 92.846092 m, nav range: 88.824173 m, bearing: 264.350615 deg, approach rate: -0.490929 m/s, LOS rate: 0.006400 deg/s, cmd heading: 274.760205 deg, new cmd heading: 274.768250 deg. Bh9UHeadingCmd: 4.795610 target range: 92.846092 and range: 93.40 m.hUu@hQ*hY"hY haqgifffdddjdZd?ɢ)! MhٽiI)MwIIiM3a iUhU_;UjR,,?A9Y=FypE ߹E>Q 5 58?Q 9 5%)BYw?Q E:yؿQ I@iDI(;i';5yɮ%A!jhAMDNOT Ignoring new targets: 92.85 m.RhU+9ZhU+9e ProNav: ac range: 92.846092 m, nav range: 88.589470 m, bearing: 264.354480 deg, approach rate: -0.568343 m/s, LOS rate: 0.009384 deg/s, cmd heading: 274.768238 deg, new cmd heading: 274.779864 deg. Bhe9mHeadingCmd: 4.795814 target range: 92.846092 and range: 93.40 m.hmNw@hi*hi"hi higqfqfqfuWBdydydyjdyZd}`R?E  E E !E "E :*E ga:VE c3ZE a-@a-@a-@a-@Yɢ])Y ]ia)e,(ai"i5bv;0ByB}IB}5BByByByB}Bc;B}%E^Ae ]<Ai zAm eA Iy I O >ꂑ,VF?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.702077N@Nܙ@NٱNfs3 VAHRS rotation from veh to nav: [[0.095332,0.981496,0.166063],[-0.992265,0.080372,0.094602],[0.079505,-0.173797,0.981567]]NH`g?jh?@A?`;?`7?`oZ? >ƿh?iN@INs^;NCY^BybIbDjVDj1pyvUe%v]=ٔv#;Q-v>9xYx=zFyzpEz1:E~>Q 550?Q 95>)BY!y%ؿQ I-@oDIB;i|;:5yAɮE(AAjhDNOT Ignoring new targets: 92.85 m.Rh89Zh89 ProNav: ac range: 92.846092 m, nav range: 88.394264 m, bearing: 264.357661 deg, approach rate: -0.516068 m/s, LOS rate: 0.008427 deg/s, cmd heading: 274.779876 deg, new cmd heading: 274.789439 deg. Bh9HeadingCmd: 4.795980 target range: 92.846092 and range: 93.40 m.hx@h*h"h hgfffdddjdZd"?颹ɢ0) i)i%i\1; aa ,Q2`?A2 ޒ@2ؙ@2ٱ22 :AHRS rotation from veh to nav: [[0.094900,0.981581,0.165810],[-0.992460,0.080311,0.092587],[0.077566,-0.173346,0.981802]]2HVK?i??9?`<J?@γ?V۳?@30ƿj?i2 ޒ@I2^;2CYB"ByBIi Mb@Mb@Mb@     9 )\(?MbI +?Y G?y  99Y=FypEE>Q 55?Q 95)BY|?Q E:yۿQ I@vDI%;i ;5yߒBɮAdEjhDNOT Ignoring new targets: 92.85 m.Rhs9Zhs9 ProNav: ac range: 92.846092 m, nav range: 88.175667 m, bearing: 264.364185 deg, approach rate: -0.523978 m/s, LOS rate: 0.015677 deg/s, cmd heading: 274.789439 deg, new cmd heading: 274.809059 deg. Bh $,: HeadingCmd: 4.796323 target range: 92.846092 and range: 93.40 m.h z{@h*h"h hgfffVBdd!d!jd!Zd%\@Qɢ]'e )Y ]>iY)]*aaiemH'ieQm+;mkqE5  E5 E5 #E1 "E5 :*E5 1]:VE5 3ZE1 a= @a= @a= @a= @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457969 bם,z?AB>BBIBIBBBBbDBc;B%EBuэCBuэCBqBu% =Bu% =Cu34Bݒ@Byؙ@BnٱB݂3 NAHRS rotation from veh to nav: [[0.094871,0.981457,0.166559],[-0.992635,0.080604,0.090436],[0.075334,-0.173912,0.981875]]BH`}I? h?Q?` }?@&?`I?Bƿ k?iBݒ@IB!^;BCY=,By=IbDMVDMNy]=?=%]M=ٔeB;Q-e>9aYi=mFym"pEmEm>qQ 5}5u?Q 95uC)uBYyۿQ I@u|DIuY;iuv;u5yɮAB*** querying acoustic contact ***i iԹjhDNOT Ignoring new targets: 92.85 m.Rhٌ9Zhٌ9 ProNav: ac range: 92.846092 m, nav range: 87.971352 m, bearing: 264.370301 deg, approach rate: -0.513027 m/s, LOS rate: 0.015393 deg/s, cmd heading: 274.809055 deg, new cmd heading: 274.827445 deg. Bh):HeadingCmd: 4.796644 target range: 92.846092 and range: 93.40 m.h~@h*h"h hgfffdddjdZd@n @%;Bɢ%I<)! %i))-))i-)i5F־;3IQ Ia Om >9 E=  E= E= %E9 "E= :*E= [:VE= 4ZE9 BE= 9hYh=jFyj&pEn< En>pQ 5v5r?Q 9v5r{)rBYtyvۿQ Iv@rDIr-:ir:r5y|ɮ~RAjhAEDNOT Ignoring new targets: 92.85 m.RhM9ZhM9] ProNav: ac range: 92.846092 m, nav range: 87.771088 m, bearing: 264.376446 deg, approach rate: -0.510657 m/s, LOS rate: 0.015707 deg/s, cmd heading: 274.827442 deg, new cmd heading: 274.845921 deg. Bh]x,:eHeadingCmd: 4.796966 target range: 92.846092 and range: 93.40 m.he@ha*ha"hi higififqfqBDAT read: Rx Time:05:51:36.9979 TRx dataTimestamp_ set to:1761544298.375626checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975910dqd9dAjdIZdMld@频ɢh) `=i)(顙i,iq<V;#oy ꪆ,ɭ?AF֒@Fdљ@F嫑ٱFM/ RAHRS rotation from veh to nav: [[0.094043,0.982134,0.162998],[-0.993028,0.080850,0.085780],[0.071069,-0.169929,0.982890]]FH.?m?!?`? ?1?@;ſs?iF֒@IFБ^;FCY^9By^IiuMb@Mb@Mb@qqqq q9uE?X9v9Y=Fy+pEE>Q 55?Q 95q)BYl ?Q E:yٿQ I@DI:i;:b5yɮ0AjhDNOT Ignoring new targets: 92.85 m.Rh`N9Zh`N9  ProNav: ac range: 92.846092 m, nav range: 87.542572 m, bearing: 264.381206 deg, approach rate: -0.539955 m/s, LOS rate: 0.011277 deg/s, cmd heading: 274.845911 deg, new cmd heading: 274.860228 deg. Bh 9HeadingCmd: 4.797216 target range: 92.846092 and range: 93.40 m.h˂@h*h"h hgff!f%/Bd!d)d)jd)Zd- @Yɢ]{)Y ]{ia)er.aaie9-im@4m;mlB!B%IB%]BB%& =B!B!B%c;B%%E}Ygot valid direction response: 05:51:36.9979 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.11,-0.890,-2.230,-0.313,-0.824, PHS= 0.036,-1.362, 0.466, RAW= 163.0, 10.4, CAL= 163.0, 11.4, ROT= 347.0, -11.4 PDAT read: Bearing 83.9, -10.3 (Local) ~Local bearing/azimuth received: Bearing 83.9, -10.3 (Local) DAT read: Range 11 to 50 : 91.5 m (Round-trip 122.0 ms) speed 0.4 m/s *DAT read: user:567> BDAT read: Tx time:05:51:38.1217 $Ping request sent. 6@ 9> 6@ %K>) &@I %K   pj!?0Sw?P0d/? = @?) :I Vhi %K   :publishing transmit ping timeFpublishing direction and range infoy  d8? /+9̿g4L?Y      ) I i      ) I    pj!?0Sw?P0d/? ) I i    PExceeded connect timeout, disconnecting.^AM es<A I I O > pѱ,0?AZ#Ւ@Zϙ@Z#ٱZ. AHRS rotation from veh to nav: [[0.093881,0.982308,0.162043],[-0.993199,0.081150,0.083489],[0.068862,-0.168779,0.983245]]ZH?o?ѽ?`I`9ƴ?@_?젱?@ſ@v?iZ#Ւ@IZ ^;ZCYUKByUIbDm VDm:2yQ=%K=ٔ;Q->9Y=Fy/pEE>Q 55?Q 95 )BYyٿQ I@DI;i~;%5yBɮAcEi9i=Y?AJi=BRi=Bji=1@b=[U@ݢ4j1@R=d8? /+9̿g4L?Zi=Vhbi=%Kj==F( D! efU n ;@Z=' .LˤvfD?2i=Ӭ:i= "i=G?*i=Bi=bBi=G?i=ބi=`Bi=#Bi=]@ addTargetRange:: Added new target pos. range: 91.500000 m, deltaT: 3.539666 s, deltaX: -1.900002 m, approachRate: -0.536774 m/s, rangeRepo size: 4  Added new target pos. range: 90.956367 m, bearing: 264.294896 deg, lat: 36.779451 deg, lon: -121.859748 deg, deltaT: 3.539666 s, deltaX: -1.889725 m, approachRate: -0.533871 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 90.96 m.RhZh ProNav: ac range: 90.956367 m, nav range: 87.069351 m, bearing: 264.310090 deg, approach rate: 0.000000 m/s, LOS rate: 0.011277 deg/s, cmd heading: 274.860227 deg, new cmd heading: 274.874409 deg. BhHeadingCmd: 4.797463 target range: 90.956367 and range: 91.50 m.h҄@h*h"h hgf!f!f!d)d)d)jdmV@ZduWs?ɢ) N,?A2tӒ@2AΙ@2<ሽٱ2g|. :AHRS rotation from veh to nav: [[0.093690,0.982227,0.162643],[-0.993359,0.081265,0.081451],[0.066786,-0.169194,0.983317]]2H?fn??@ʹ?@ٴ??*ſUw?i2tӒ@I2!^;2CYB?ByFIiMMb@Mb@Mb@IIII I9MuV?Zd;y&1?YMr?yMM`e9yYy=Fy3pEE>Q 55Z?Q 95 )$BY ?Q E:yٿQ I@DI:i":5yɮAjhDNOT Ignoring new targets: 90.96 m.Rh/9Zh/9 ProNav: ac range: 90.956367 m, nav range: 86.841110 m, bearing: 264.313955 deg, approach rate: -0.563650 m/s, LOS rate: 0.009568 deg/s, cmd heading: 274.874406 deg, new cmd heading: 274.886030 deg. Bh#9HeadingCmd: 4.797666 target range: 90.956367 and range: 91.50 m.h{@h*h"h hgfff:BdddjdZdZ?ԩiI ɢ9) ;i) !iEL2iM~%U\;Ujb:*EmrN:VEm'4ZEiau@au@au@au@ ^A k<By By B} IB} mBBy By By B} gc;B} %EA I I O >) s,?AYUBy%I 4<p;bDVDnManaging dock network, ignoring radio surface power offy8=%8=ٔQ->9Y=Fy8pEE>Q 55꣊?Q 95U)4BYyQ I@DI:io: 5y%Bɮ%jA5mE]B*** querying acoustic contact ***iY iYjhDNOT Ignoring new targets: 90.96 m.Rh29Zh29 ProNav: ac range: 90.956367 m, nav range: 86.599854 m, bearing: 264.318062 deg, approach rate: -0.509588 m/s, LOS rate: 0.008699 deg/s, cmd heading: 274.886017 deg, new cmd heading: 274.898372 deg. Bh 9HeadingCmd: 4.797882 target range: 90.956367 and range: 91.50 m.h?@h*h"h! h!g!f!f)f)d)d)d1jd1Zd5`B?aɢeMܼ)a eN=ii)miiim4iuquJ;uB`oņ,?A ɰ4<6aВ@6.˙@6+ԁٱ6X. >AHRS rotation from veh to nav: [[0.093338,0.982173,0.163170],[-0.993617,0.081462,0.078034],[0.063351,-0.169412,0.983507]]6H?m??ڴ?@? 7?`Mſx?i6aВ@I6ܯ^;4YFKByFIbDVVDV0yj p%jl=ٔn"A% >AM .AIY Ii Ou >Tˆ,0?A(2ϒ@2ʙ@2%1}ٱ2r. >AHRS rotation from veh to nav: [[0.093292,0.982104,0.163612],[-0.993720,0.081651,0.076503],[0.061775,-0.169722,0.983554]]2H?dm???`?@??@tſFy?i2ϒ@I2^;2CYFZByFIiMb@Mb@Mb@ 9 r?y&1 rh?Y?y`彙C<@ KA)YAbD-VD-ky=В=%=B=ٔEKu;Q-E>9E ?YE ?=EFyE?pEM EM>QQ 5]5U棊?Q 9]5U)UNBYe?Q Ee:ye׿Q Ie@UDIU3;iU;UH$5E EE&E"E2:*ET:VE4ZEa@a@a@a@yɮAAjhIUDNOT Ignoring new targets: 90.96 m.Rh]8Zh]8 ProNav: ac range: 90.956367 m, nav range: 86.191864 m, bearing: 264.323452 deg, approach rate: -0.575996 m/s, LOS rate: 0.005626 deg/s, cmd heading: 274.908120 deg, new cmd heading: 274.914574 deg. Bhw9HeadingCmd: 4.798164 target range: 90.956367 and range: 91.50 m.h@h*h"h hgfffABdddjdZd? ɢlӼ) w=i)iH8i+Eg;E^ZW checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207914Œ҆,ݱJ?A`YWByI@AbDVD02yw%2=ٔQ->9"?Y"?=FyDpEE>Q 5 5r䣊?Q 95=&)^BYyQ I@DIM;iI&5yɮ%^A!jhAMDNOT Ignoring new targets: 90.96 m.RhU8ZhU8e ProNav: ac range: 90.956367 m, nav range: 85.952820 m, bearing: 264.325793 deg, approach rate: -0.550634 m/s, LOS rate: 0.005408 deg/s, cmd heading: 274.914568 deg, new cmd heading: 274.921611 deg. Bhem9mHeadingCmd: 4.798287 target range: 90.956367 and range: 91.50 m.hm@hi*hi"hi higqfqfqfqdydydyjdyZd}4@颩ɢOؼ) Z=i)顱i=:i";VA ɶ؆,d?A@6Ւ@6Й@6+oٱ661 BAHRS rotation from veh to nav: [[0.094020,0.981630,0.166018],[-0.993858,0.082769,0.073449],[0.058358,-0.171904,0.983384]]6H ?@i?@?@\0?Ͳ??`ƿw?i6Ւ@I6%^;6C D)FkAFF!LFDHJkAiJ+IHHILiNkA N@L)LP RkAR 0PPTTIT)TiT)Z@CIZkAZ`eX XXZkA^i\\i\`)` b@FI`Y`YdyfIi]Mb@Mb@Mb@YYYY Y9]/$?RQMb?Y]1?y]½]<]?A]@ ]5A)]7@YY]3AbDuVDufyl;%e=ٔ9Y=FyHpE;E>Q 55/㣊?Q 95F+)hBY\ ?Q E:y ӿQ I@DIe- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963124ԡ B <A <B >B B IB BB B B cDB b;B %Edކ,i~?A2ؒ@2ә@2)hٱ2t0 :AHRS rotation from veh to nav: [[0.094390,0.981696,0.165422],[-0.993922,0.083472,0.071771],[0.056649,-0.171191,0.983608]]2H)? j?,?6`e^?_? (?@ſ`y?i2ؒ@I2l^;2CY~aBy~IbDVD:3y=E=%=O=ٔ=;Q-E>9AYA=EFyELpEMp:EM>QQ 5]5Uᣊ?Q 9]5U0)UsBYayeӿQ Ie@UDIU;iU;U)5ymBɮmAmvEyjhDNOT Ignoring new targets: 90.96 m.RhNZhN ProNav: ac range: 90.956367 m, nav range: 85.548531 m, bearing: 264.320050 deg, approach rate: -0.574665 m/s, LOS rate: -0.008268 deg/s, cmd heading: 274.913502 deg, new cmd heading: 274.904341 deg. BhHeadingCmd: 4.797986 target range: 90.956367 and range: 91.50 m.h@h*h"h hgfffdddjdZd< @ɢ(ɼ) 8=i ) h  i 6k=izd;ui E%  E% E% "E! "E% :*E% i:VE% (3ZE! BE% u9 ?Y ?=FyPpE9E >!Q 5e5%࣊?Q 95%7)%BYyҿQ I@%DI%3\ BDAT read: Tx time:05:51:41.7717 $Ping request sent.5@'g >-5@ 5>)?@I5lX?.zKHr?䝟t? 7>?){ It Zi5 :publishing transmit ping time Fpublishing direction and range infoyX#?]XKOʿH@l?Y )Ii )IlX?.zKHr?䝟t? )Ii CI a i ^A `<A >A ? 9 Y "AA ؟AI I O>,ĵ?AE EE&E"EO:*E;J:VE4ZEa@a@a@a@"4<ɰ 9"?Y"?=FyUpEE>Q 555ߣ?Q 95=)BYA?Q E:yοQ I@DI ;i ;-5yɮAB>BBIBBB% =BBBb;B%EBBBB& =B& =CO4ii4?AJiUBRiUBjiʓ@b 2U@xO2C`(@RX#?]XKOʿH@l?Zit Zbi5jXߵI -U4@ZN;aM .?2i:iM"i 0?*i BiBiiiiBi@E addTargetRange:: Added new target pos. range: 89.699997 m, deltaT: 3.778994 s, deltaX: -1.800003 m, approachRate: -0.476318 m/s, rangeRepo size: 4 U Added new target pos. range: 89.167442 m, bearing: 264.620670 deg, lat: 36.779451 deg, lon: -121.859748 deg, deltaT: 3.778994 s, deltaX: -1.788925 m, approachRate: -0.473387 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 89.17 m.RheZhau ProNav: ac range: 89.167442 m, nav range: 85.054497 m, bearing: 264.307757 deg, approach rate: 0.000000 m/s, LOS rate: -0.007524 deg/s, cmd heading: 274.892738 deg, new cmd heading: 274.883639 deg. Bhq}HeadingCmd: 4.797625 target range: 89.167442 and range: 89.70 m.h}$@hy*hy"hy hygfff,BdddjdlV@Zd!?ԡɢw) <=i)9zi*Ai&;Rp,`?A>xђ@>E̙@>(Uٱ>( FAHRS rotation from veh to nav: [[0.093531,0.982881,0.158736],[-0.994250,0.083860,0.066585],[0.052134,-0.164051,0.985073]]>H?s?rQ?@ w? ?K?Ŀ?i>xђ@I>O^;>CYR[ByRIXbD^VD^:yf%fi=ٔf 9hYh=jFyjXpEni@En>pQ 5v5rwޣ?Q 9v5rB)rBYtyvοQ Iv@rDIr:irR2;r/5y|ɮQAjh!-DNOT Ignoring new targets: 89.17 m.Rh58Zh58E ProNav: ac range: 89.167442 m, nav range: 84.860298 m, bearing: 264.300669 deg, approach rate: -0.571196 m/s, LOS rate: -0.020897 deg/s, cmd heading: 274.883641 deg, new cmd heading: 274.862326 deg. BhEweMHeadingCmd: 4.797253 target range: 89.167442 and range: 89.70 m.hM@hI*hI"hI hIgQfQfYfYdYdYdajdaZde`wH?频ɢ !ͼ) `=i)W"顙i\Bi 3A; f9 ,m?A6g͒@64ș@6Oٱ64& FAHRS rotation from veh to nav: [[0.093045,0.983326,0.156247],[-0.994378,0.083809,0.064711],[0.050537,-0.161390,0.985596]]6Hѷ?`gw??`t?됰??lĿ?i6g͒@I6^;6CYNdByNIi-Mb@Mb@Mb@)))) )9-Gz?333333y&1|?Y-?y-)-(A-|@ -A)-@)Y-AAAbDEVDE02yU 9=%UB=ٔuo;Q->9 ?Y ?=Fy]pEsE>Q 5 5ݣ?Q 9 5|I)BY ?Q E:yͿQ I@DI;i;05yAɮEAAjhDNOT Ignoring new targets: 89.17 m.RhyڹZhyڹ ProNav: ac range: 89.167442 m, nav range: 84.611465 m, bearing: 264.289851 deg, approach rate: -0.547559 m/s, LOS rate: -0.023876 deg/s, cmd heading: 274.862330 deg, new cmd heading: 274.829780 deg. BhHeadingCmd: 4.796685 target range: 89.167442 and range: 89.70 m.hq~@h*h"h hgff!f%Bd!d!d!jd)Zd-?]:Bɢ] Ǽ)Y ]=iY)eaaieCimEmz;]hBBBBBBbDBb;B%E^A w\<ԡ A= ؟AIA IY Oe >,?A@>Ē@>{@>XJٱ>x( JAHRS rotation from veh to nav: [[0.091992,0.983049,0.158592],[-0.994531,0.082795,0.063664],[0.049454,-0.163581,0.985290]]>H`Ì?$u?L?2@2? DL?R? :Ŀ~?i>Ē@I>^;>CYRfByRIbDZVDZkyb<%fT=ٔf@;Q-f>9f"?Yj"?=jFyj`pEj=Ej>lQ 5r5nݣ?Q 9v5nN)nBYtyvͿQ Iv@nDIn:inF:n25yxɮzA|jh!-DNOT Ignoring new targets: 89.17 m.Rh-Zh-= ProNav: ac range: 89.167442 m, nav range: 84.403137 m, bearing: 264.280883 deg, approach rate: -0.591897 m/s, LOS rate: -0.025540 deg/s, cmd heading: 274.829791 deg, new cmd heading: 274.802824 deg. BhE8EHeadingCmd: 4.796214 target range: 89.167442 and range: 89.70 m.hMz@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd] ?y颉ɢ^) P=i)顙i#EiU;_ ,p?AE~@EK@E~FٱE) AHRS rotation from veh to nav: [[0.090759,0.982964,0.159827],[-0.994694,0.081670,0.062561],[0.048442,-0.164657,0.985161]]EH;?pt?7u?U??^ͨ?@{ſo?iE~@IE^;ECYeByIi}Mb@Mb@Mb@yyyy y9}d;O?9Y=FyepE/E>Q 55cܣ?Q 95V)BY?Q E:y̿Q I@DIs:i;y;45yBɮ AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 89.17 m.RhZh ProNav: ac range: 89.167442 m, nav range: 84.131989 m, bearing: 264.268034 deg, approach rate: -0.561100 m/s, LOS rate: -0.026676 deg/s, cmd heading: 274.802826 deg, new cmd heading: 274.764153 deg. BhuHeadingCmd: 4.795539 target range: 89.167442 and range: 89.70 m.hu@h*h"h hgfffBdddjdZd1?M9BɢMIƼ)I U=iQ)U}TQQiUFi]2k]0^;Xv ,w8?A2ֱ@2@2AHRS rotation from veh to nav: [[0.089712,0.982933,0.160604],[-0.994832,0.080739,0.061562],[0.047544,-0.165296,0.985097]]2H ^?0t??U??W? o(ſ?i2ֱ@I2^;2CYFrByFI N49\Y\=^Fy^ipE^ AEb>dQ 5j5fۣ?Q 9j5f[)fBYhyjͿQ Ij@fDIfp:if:f165ylɮrApjh  DNOT Ignoring new targets: 89.17 m.Rh>Zh>% ProNav: ac range: 89.167442 m, nav range: 83.922874 m, bearing: 264.258216 deg, approach rate: -0.614081 m/s, LOS rate: -0.028904 deg/s, cmd heading: 274.764140 deg, new cmd heading: 274.734611 deg. Bh%-HeadingCmd: 4.795023 target range: 89.167442 and range: 89.70 m.h-p@h)*h)"h) h1g1f1f1f9d9d9d9jdAZdE@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255782ԙB>BBBB& =BBBb;B%E8Bɢ ^)  T=i ) W i%Gi|o;rQ! Q,R?A;ɰ21@2@2&@ٱ2U- :AHRS rotation from veh to nav: [[0.088179,0.982469,0.164254],[-0.994996,0.079098,0.061042],[0.046980,-0.168815,0.984528]]2Hᒶ?bp?`F?  ??@?@ ?ſ??i21@I2 ^;2CY^_BybIbDjVDjyr%rI=ٔrյ:Q-r>9tYt=vFyvmpEzxEz>|Q 55~-ۣ?Q 95~a)~BYyDͿQ I@~DI~;i~;~75yɮ:AjhDNOT Ignoring new targets: 89.17 m.RhZh ProNav: ac range: 89.167442 m, nav range: 83.685852 m, bearing: 264.247265 deg, approach rate: -0.560683 m/s, LOS rate: -0.025977 deg/s, cmd heading: 274.734606 deg, new cmd heading: 274.701661 deg. BhHeadingCmd: 4.794448 target range: 89.167442 and range: 89.70 m.hl@h*h"h hgfffdddjdZd @1ɢ5=|ż)1 =@=i9)=-99i=##IiEE ;EDiԙ = BDAT read: Rx Time:05:51:44.2926 E TRx dataTimestamp_ set to:1761544305.684066E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012648{,wk?Af@f@fT>ٱfr*1 AHRS rotation from veh to nav: [[0.086570,0.982057,0.167538],[-0.995162,0.077403,0.060504],[0.046451,-0.171966,0.984007]]fHs)?`m?@q?^г?j?aȧ?ƿ|?if@If@^;fCYMnByMIiUMb@Mb@Mb@QQQQ Q9U~jt?DlYU?yUOUUAUf@ Q)U7@QYUGAqbD}VD}y=%2=ٔu:Q->9Y=FyrpE>gE>Q 55ڣ?Q 95=i)BY?Q E:y;̿Q I@DI2 ;iz ;95yɮAjhDNOT Ignoring new targets: 89.17 m.RhZh ProNav: ac range: 89.167442 m, nav range: 83.406525 m, bearing: 264.232724 deg, approach rate: -0.630635 m/s, LOS rate: -0.032940 deg/s, cmd heading: 274.701657 deg, new cmd heading: 274.657887 deg. BhٴHeadingCmd: 4.793684 target range: 89.167442 and range: 89.70 m.he@h *h "h  h g fffBdddjdZd`` @7Bɢߵ)  =i )V]iMJi _;9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263679B>BBBB% =BBcDBb;B%E c!,Aԅ?A2@2Ԇ@2rU;ٱ20 :AHRS rotation from veh to nav: [[0.085127,0.982346,0.166581],[-0.995321,0.076169,0.059458],[0.045720,-0.170863,0.984234]]2H@ʵ?ao?`R??>q?@h?ſ`~?i2@I2N#_;0Y~By% IQQbDVD1y%=%%Q=ٔ5:Q-e>9iYi=mFymvpEmoEu>Q 55 ڣ?Q 95o)BYyk̿Q I@DI:i:;5yɮ6A%DAT read: 05:51:44.2926 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408, 0.04,-3.032, 1.807,-2.422,-3.061, PHS= 0.131,-1.370, 0.595, RAW= 163.0, 7.3, CAL= 162.5, 7.2, ROT= 347.5, -7.2 5Ygot valid direction response: 05:51:44.2926 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408, 0.04,-3.032, 1.807,-2.422,-3.061, PHS= 0.131,-1.370, 0.595, RAW= 163.0, 7.3, CAL= 162.5, 7.2, ROT= 347.5, -7.2 =PDAT read: Bearing 79.3, -10.7 (Local) =~Local bearing/azimuth received: Bearing 79.3, -10.7 (Local) EDAT read: Range 11 to 50 : 87.5 m (Round-trip 116.7 ms) speed 0.6 m/s M*DAT read: user:569> UBDAT read: Tx time:05:51:45.4216 U$Ping request sent.Ui)\Q?6@w>5@ >)@Ij<2|1?ac?W?? ^@?)YIf_i:publishing transmit ping timeii?AJiBRiBjiE@bGU@ x2%@Rdn?z^|˿cK ?Zif_bijT"?ijJ(U,'1@ZpYa "i '?2iB:i"i\LŠ?*i&!Bi BiiiiRBi@ addTargetRange:: Added new target pos. range: 87.500000 m, deltaT: 3.528059 s, deltaX: -2.199997 m, approachRate: -0.623571 m/s, rangeRepo size: 4  Added new target pos. range: 86.980713 m, bearing: 263.688742 deg, lat: 36.779451 deg, lon: -121.859748 deg, deltaT: 3.528059 s, deltaX: -2.186729 m, approachRate: -0.619811 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 86.98 m.Q Fpublishing direction and range infoydn?z^|˿cK ?Y )Ii )Ij<2|1?ac?W?? )IiRh-Zh)= ProNav: ac range: 86.980713 m, nav range: 83.161308 m, bearing: 264.220127 deg, approach rate: 0.000000 m/s, LOS rate: -0.032940 deg/s, cmd heading: 274.657889 deg, new cmd heading: 274.615492 deg. Bh9EHeadingCmd: 4.792944 target range: 86.980713 and range: 87.50 m.hE_@hA*hA"hA hAgifififidqdqdqjduU@Zdu@bI?%6Bɢ%3)! ->i))-U))i-Li565q;5'0i>@ @@/@IIO>E EE'E"E:*E:VE'4ZEBE#9Y=FyzpEȍE>Q 5 5أ?Q 9 5v)BY ?Q E:yϿQ I@DI:iH:=5y%Bɮ%A%Ei i Ji Ri ji F7@b GU@ x2%@R dn?z^|˿cK ?Zi bi j ~D( #Kƶ'U2~D㵼1@Z HYncǶ!¬ۛ+?2i =:i !"i ??*i I(Bi Bi i i Bi }Bi K@jhimDNOT Ignoring new targets: 86.98 m.Rhu˹Zhu˹ ProNav: ac range: 86.980713 m, nav range: 82.901337 m, bearing: 264.211263 deg, approach rate: -0.651230 m/s, LOS rate: -0.022276 deg/s, cmd heading: 274.615487 deg, new cmd heading: 274.588810 deg. BhtHeadingCmd: 4.792479 target range: 86.980713 and range: 87.50 m.h[@h*h"h hgfffBdddjdZd@:? 5Bɢ  P) >i)~!i%mXMi-yϾ-;5E  E E "E "E :*E i:VE (3ZE a @a @a @a @-,Q?A0Rl@Rog@R7ٱRT1 ZAHRS rotation from veh to nav: [[0.081315,0.982293,0.168783],[-0.995681,0.072450,0.058047],[0.044791,-0.172774,0.983943]]RH@Ѵ?`n? ?`?@Z??wƿu|?iRl@IRS^;PYf}Byf IbDnVDn1yv(=%vt=ٔvW:Q-z?9xYx=zFyz}pE~»E~?Q 5 5ף?Q 9 5{)BY yϿQ I@DIp:ig: ?5yɮVA=B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 86.98 m.RhMZhUeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.BBB!IBBB& =BBBb;B%E ProNav: ac range: 86.980713 m, nav range: 82.693962 m, bearing: 264.204431 deg, approach rate: -0.627116 m/s, LOS rate: -0.020712 deg/s, cmd heading: 274.588822 deg, new cmd heading: 274.568275 deg. BhncHeadingCmd: 4.792120 target range: 86.980713 and range: 87.50 m.h Y@h*h"h hgfffdddjdZd"?颕4Bɢ$y) >i)顙iNi8۾;} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995941 ۟4,se?A2Y@2T@2v5ٱ2h3 :AHRS rotation from veh to nav: [[0.079034,0.982155,0.170660],[-0.995883,0.070168,0.057386],[0.044387,-0.174493,0.983658]]2H;?m?@.?F@?@a?@幦?Uƿ`z?i2Y@I2^;0YZByZ"I`bDfVDf0yn==%nK=ٔr:Q-r>9r ?Yv ?=vFyvpEvEv>xQ 5~5z֣?Q 95z)zBYy2пQ I@z%DIz;iz;z@5y ɮ Ajh1=DNOT Ignoring new targets: 86.98 m.RhEiZhEiU ProNav: ac range: 86.980713 m, nav range: 82.445259 m, bearing: 264.196577 deg, approach rate: -0.619020 m/s, LOS rate: -0.019607 deg/s, cmd heading: 274.568277 deg, new cmd heading: 274.544645 deg. BhUKWUHeadingCmd: 4.791708 target range: 86.980713 and range: 87.50 m.h]U@hY*hY"hY hYgYfafafadadidijdiZdm?额3Bɢ) <>i)c顡iAOi辿;;IU@IEu EuEu(Eq"Eu>:*EuT:VEuc44ZEqBEuI % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500325e:,SB?AJ^L@J+G@J3ٱJ}I5 AHRS rotation from veh to nav: [[0.077396,0.982010,0.172237],[-0.996033,0.068551,0.056733],[0.043905,-0.175945,0.983420]]!!JH@:г?l? ? `?` ?z?`]ƿ .x?iJ^L@}gAIJ"^;JCS9gAYAYBy0II;>)Y?imMb@Mb@Mb@iiii i9mS? ףp= ~jt?Ym?ymQm9"?Y"?=FypEIjE>Q 55Rգ?Q 95)BYh?Q E:y%ѿQ I@.DI ;i:B5yɮ[AjhDNOT Ignoring new targets: 86.98 m.RhwZhw ProNav: ac range: 86.980713 m, nav range: 82.165474 m, bearing: 264.189130 deg, approach rate: -0.587023 m/s, LOS rate: -0.015678 deg/s, cmd heading: 274.544645 deg, new cmd heading: 274.522227 deg. Bh(,HeadingCmd: 4.791317 target range: 86.980713 and range: 87.50 m.hwR@h*h"h hgfffBdddjdZdh?I1Bɢ)! EU>iA)EAAiMQiMM;U;IUwR@IQEm EmEm#Ei"Em:*EmrN:VEm3ZEiau@au@au@au@9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752364ԉB>BB4IBBBBBbDBb;B%EB9B9B9B9B9C= 4ԡ ^A `;A1 IA IQ Ou >@B,*r ?A,2[@@2(;@2d1ٱ24 >AHRS rotation from veh to nav: [[0.075938,0.982156,0.172057],[-0.996172,0.067235,0.055861],[0.043295,-0.175641,0.983502]]2H`p?m?@?W6?™?*?@d{ƿx?i2[@@I2d^;2CYFByFEIbDRVDRyV=%ZX=ٔZ:Q-Z>9XY\=^Fy^pE^&~Eb>`Q 5f5bԣ?Q 9j5b)b BYhyjUѿQ Ij@b5DIb:ib2:buD5ypɮrApjhDNOT Ignoring new targets: 86.98 m.Rh㍹checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004143Zh㍹ ProNav: ac range: 86.980713 m, nav range: 81.935760 m, bearing: 264.183214 deg, approach rate: -0.600480 m/s, LOS rate: -0.015506 deg/s, cmd heading: 274.522214 deg, new cmd heading: 274.504419 deg. BhD*HeadingCmd: 4.791006 target range: 86.980713 and range: 87.50 m.hO@h*h"h hgfffdddjdZd%;@m0Bɢm&) 6{>i) f顑i kSiͬ;aN;IO@Iԉ%9@! @!@%3@!ԱE] E]EYEY"E]:*E]c:VEYZEYBE]eH,8#?Ad~a5@~.0@~6.ٱ~e1 AHRS rotation from veh to nav: [[0.074605,0.982754,0.169203],[-0.996302,0.066205,0.054763],[0.042617,-0.172663,0.984059]]~HN?r?t? ? ?ѥ?`ƿ`h}?i~a5@I~^;|Y%By%NIiMb@Mb@Mb@ 95^I ?1Zdy&1?Y?y"۽`<A ) @Y(AbDVD0ye<%"=ٔ:Q->9 ?Y ?=FypE.E>Q 55ѣ?Q 95ؗ)BY?Q E:y տQ I@?DIg5;iJ4;F5yBɮAEjh)-DNOT Ignoring new targets: 86.98 m.Rh5 ~Zh5 ~E ProNav: ac range: 86.980713 m, nav range: 81.633034 m, bearing: 264.181538 deg, approach rate: -0.624399 m/s, LOS rate: -0.003470 deg/s, cmd heading: 274.504428 deg, new cmd heading: 274.499381 deg. BhEmMHeadingCmd: 4.790918 target range: 86.980713 and range: 87.50 m.hM3O@hI*hI"hQ hQgQfQfYf] BdYdYdYjdaZde @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508415].Bɢ]+A)a @>i)A顉ioUi>m;;I3O@II)!]9@Y @Y@ep4@a@m=@m=I Eu  Eu Eu %Eq "Eu m:*Eu L_:VEu 4ZEq a} @a} @a} @a} @^A ϩ;Be >Ba Be _IBe ÀBBa Ba Ba Be rb;Be g%E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759916q A1I9IIO]>8QP,TA?AFQ,@F'@F`+ٱF91Y1=5Fy5pE5<E=>9Q 5E5=ϣ?Q 9E5=)=,BYIy4տQ I@=GDI=Ēii)mtqqiuE(Wiu}1;}G;I}N@Iy9@ @@/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011937^A%Β{;ԡAU ؟AIY Iq O} >bE4jE˔4rE0E}  E} E} $Ey "E} :*E} :VE} 4ZEy BE} K"9U"?Y]"?=]Fy]pE] Ee>aQ 5m5eͣ?Q 9u5eG)e:BYqyuPտQ Iu@eNDIe:ieR:eJ5yyɮjAjhDNOT Ignoring new targets: 86.98 m.Rh=Zh= ProNav: ac range: 86.980713 m, nav range: 81.158180 m, bearing: 264.179441 deg, approach rate: -0.625081 m/s, LOS rate: -0.002590 deg/s, cmd heading: 274.496096 deg, new cmd heading: 274.493056 deg. BhHeadingCmd: 4.790808 target range: 86.980713 and range: 87.50 m.hLN@h*h"h hgfffdddjdZdI_ @ +Bɢ Z) p>iԱ)?iYi:;Ej;ILN@I@ @@/@^A2;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516428 A .AI I) O] >A \,t?AYByIiMb@Mb@Mb@ 9oʡ?X9vQ?Y ?y\=tA =A)@Y @bDVDk2y=%@=ٔQ->9 ?Y ?=FypEE>Q 55Xˣ?Q 95q)KBY?Q E:y_ٿQ I@VDI":iU:K5y ɮ AE= E=E9E9"E=2:*E=ga:VE9ZE9aE@aE@aE@aE@jhIUDNOT Ignoring new targets: 86.98 m.RhU:9Zh]:9e ProNav: ac range: 86.980713 m, nav range: 80.921967 m, bearing: 264.183765 deg, approach rate: -0.555426 m/s, LOS rate: 0.010197 deg/s, cmd heading: 274.493063 deg, new cmd heading: 274.506073 deg. Bhe9mHeadingCmd: 4.791035 target range: 86.980713 and range: 87.50 m.hm(P@hi*hq"hq hqgqfqfyf}EBdydydjdZd` @颵*Bɢ˽) >i)项iU[i;;I(P@I]>i>ԑB>BЍCBIBBBBBB~b;Bl%E9@9 @9@=/@9@A}DAT read: 05:51:47.9391 LVL= 32752, 32753, 32338, 32755, AGC= 65, IDX= 406,-0.22,-2.037, 2.878,-1.466,-2.019, PHS= 0.085,-1.340, 0.510, RAW= 162.7, 8.9, CAL= 162.4, 9.4, ROT= 347.6, -9.4 Ygot valid direction response: 05:51:47.9391 LVL= 32752, 32753, 32338, 32755, AGC= 65, IDX= 406,-0.22,-2.037, 2.878,-1.466,-2.019, PHS= 0.085,-1.340, 0.510, RAW= 162.7, 8.9, CAL= 162.4, 9.4, ROT= 347.6, -9.4 PDAT read: Bearing 81.1, -11.5 (Local) ~Local bearing/azimuth received: Bearing 81.1, -11.5 (Local) DAT read: Range 11 to 50 : 84.9 m (Round-trip 113.3 ms) speed -0.1 m/s *DAT read: user:570> BDAT read: Tx time:05:51:49.0716 $Ping request sent.M g5@ M'>)M"@IM'IIMJг>?X0l?]Z? MH>?)MrgIMt]iM'II:publishing transmit ping timeFpublishing direction and range infoyIMTWv?P˿$vz?YIIIII I)IIIiIIIII I)IIIIIMJг>?X0l?]Z? I)IIIiIII@EfAԹ^A +; I I O% >i I c,.ʎ?A2Q&@2!@2$I$ٱ2. :AHRS rotation from veh to nav: [[0.072780,0.983339,0.166573],[-0.996542,0.064985,0.051786],[0.040098,-0.169766,0.984668]]2H@? w?ER?@ ᢰ? ??ſg?i2Q&@I2^;2C`Y By II=)==bD%VD%0y55=%5V=ٔ=}a;Q-=>99Y9=EFyEpEEo9EE>IQ 5U5Mɣ?Q 9U5M)MZBYYy]]ٿQ I]@M]DIM];iMz;MM5yeBɮe+AeEiyi}d}?AJi}ʨBRi}ʨBji}U"@b}5rTT@U1BW#[+@R}TWv?P˿$vz?Zi}t]bi}'j}X׻"A:_TM)N]3@Z}M/9ilm`_"?2i}:i}"i}~?*i}TBi}Bi}\LŠ?iyiyi}OBi}\>@ addTargetRange:: Added new target pos. range: 84.900002 m, deltaT: 3.779950 s, deltaX: -2.599998 m, approachRate: -0.687839 m/s, rangeRepo size: 4  Added new target pos. range: 84.395027 m, bearing: 263.442611 deg, lat: 36.779442 deg, lon: -121.859769 deg, deltaT: 3.779950 s, deltaX: -2.585686 m, approachRate: -0.684053 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 84.40 m.RhZh ProNav: ac range: 84.395027 m, nav range: 82.654335 m, bearing: 263.638629 deg, approach rate: 0.000000 m/s, LOS rate: 0.010197 deg/s, cmd heading: 274.506068 deg, new cmd heading: 274.517802 deg. BhHeadingCmd: 4.791239 target range: 84.395027 and range: 84.90 m.hQ@h*h"h hgfffdddjd9U@Zd@k ?-)Bɢ-`;)1 5>i1)=ݼ99i=]iEEGF;EH;IEQ@IA@ @@0@EM EMEM#EI"EM>:*EM[:VEM3ZEIBEMi,?AB8-@B(@Bf!ٱBt- ^AHRS rotation from veh to nav: [[0.073623,0.983498,0.165262],[-0.996508,0.066002,0.051146],[0.039394,-0.168451,0.984923]]BHز?x?`P'?`d?/?}+?`ʏſ`|?iB8-@IB x^;@YfByfIiMb@Mb@Mb@ 9jt?X9vZd;O?Y?yj<=A ) @Y@bDVD yI=%B=ٔ:Q->9Y=FypE(;E>Q 55Pƣ?Q 95)mBY%?Q E:ynܿQ I@dDI* ;i:yO5yɮAjh!-DNOT Ignoring new targets: 84.40 m.Rh569Zh569M ProNav: ac range: 84.395027 m, nav range: 82.438438 m, bearing: 263.644676 deg, approach rate: -0.514496 m/s, LOS rate: 0.014449 deg/s, cmd heading: 274.517788 deg, new cmd heading: 274.535977 deg. BhM:]HeadingCmd: 4.791557 target range: 84.395027 and range: 84.90 m.h]oT@hY*ha"ha hagafififmpBdqdqdyjdyZd}?M'BɢM;)Q Uq>iQ)UgڼQQiU_i]];] 3;I]oT@IaI%9@! @!@%I0@!qEm EmEiEi"Em:*Em:VEiZEiau@au@au@au@^AII IY O >B >B эCB IB BB ' =B B B b;B %Eԡ p,Z?A6@:@65@65ٱ6c+ VAHRS rotation from veh to nav: [[0.075211,0.983710,0.163271],[-0.996429,0.067840,0.050266],[0.038371,-0.166469,0.985300]]6HA?z??@@]??c?Nſ?i6@:@I6 i^;6CYbBybIbDjVDjkyr=%rY=ٔrc2;Q-v>9tYt=vFyvpEz;Ez>|Q 55~ã?Q 95~)~}BYy @ܿQ I @~jDI~:i~:~Q5yɮTAjh9=DNOT Ignoring new targets: 84.40 m.RhEÀ9ZhEÀ9U ProNav: ac range: 84.395027 m, nav range: 82.245605 m, bearing: 263.649919 deg, approach rate: -0.516358 m/s, LOS rate: 0.014071 deg/s, cmd heading: 274.535984 deg, new cmd heading: 274.551749 deg. BhU:]HeadingCmd: 4.791832 target range: 84.395027 and range: 84.90 m.h]V@hY*ha"ha hagafafifidididijdqZduB?y颥&BɢS<) >i)|׼顩i4>bi便;X;IV@Iu9@q @q@u4@q@}=@}=ԩ^A"5;II)O5> Ee  Ea Ee (Ea "Ee :*Ea VEe c44ZEa BEe 9tYt=zFyzpEzr$<Ez>|Q 55~W?Q 95~)~BY y ۿQ I @~qDI~:i~:~R5yɮ A=B*** querying acoustic contact ***i9 i9jhIMDNOT Ignoring new targets: 84.40 m.RhUe9ZhUe9 ProNav: ac range: 84.395027 m, nav range: 82.038124 m, bearing: 263.655002 deg, approach rate: -0.511028 m/s, LOS rate: 0.012552 deg/s, cmd heading: 274.551748 deg, new cmd heading: 274.567037 deg. Bh :HeadingCmd: 4.792099 target range: 84.395027 and range: 84.90 m.hX@h*h"h hgff1f9d9d9d9jdAZdE ?颍%Bɢ?<) '?i)N$Լ项i1di۾X;?;IX@Iq@y @y@}W4@ 9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^Aϩ;A>A>IQ Ia Om >Y |,6?AFq@Fk@FtJٱF$b) NAHRS rotation from veh to nav: [[0.081877,0.983516,0.161221],[-0.996003,0.074951,0.048593],[0.035708,-0.164555,0.985721]]FH`?x??@/?!?OH?$ſ?iFq@IF];FCYV)ByVIimMb@Mb@Mb@iiii i9mS?rh| rh?Ym>ymmC =mtAm9@ i)iiYibDVD:2y7%@=ٔ3;Q->9Y=FypE;E>Q 55?Q 95])BY>Q E:yݿQ I@wDI;iB;T5yɮAjhDNOT Ignoring new targets: 84.40 m.Rh9Zh9  ProNav: ac range: 84.395027 m, nav range: 81.834152 m, bearing: 263.662328 deg, approach rate: -0.479761 m/s, LOS rate: 0.017273 deg/s, cmd heading: 274.567048 deg, new cmd heading: 274.589079 deg. Bh =: HeadingCmd: 4.792483 target range: 84.395027 and range: 84.90 m.h\@h*hE EE&E"E:*Ek:VE4ZEa%@a%@a-@a-@"h h)g)f)f11f=Bd9d9d9jdAZdE??u$Bɢu g&<)q ug?iy)}мyyi}O?giTϾ;nԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256150Vԃ,?Azꆒ@z@z ٱz( %AHRS rotation from veh to nav: [[0.084544,0.983357,0.160814],[-0.995825,0.077811,0.047730],[0.034423,-0.164178,0.985830]]zH೤?@w??@ h?@p?ٟ?ſ@?izꆒ@Iz];xY5-By5IbDMVDM!yU<%}N=ٔ}R;Q-}>9Y=FypE ;E>Q 55?Q 95X)BYytݿQ I@}DI;iq;~V5yɮ AԑjhDNOT Ignoring new targets: 84.40 m.Rh19Zh19 ProNav: ac range: 84.395027 m, nav range: 81.642700 m, bearing: 263.668876 deg, approach rate: -0.446878 m/s, LOS rate: 0.015321 deg/s, cmd heading: 274.589068 deg, new cmd heading: 274.608759 deg. Bh;(:HeadingCmd: 4.792827 target range: 84.395027 and range: 84.90 m.h^@h*h"h hgff f d ddjdZd@@E#BɢE#<)A E?iI)M}"ͼIIiM|iiUľU|;U/ ,*?A>@>Ϛ@>\Cٱ>) FAHRS rotation from veh to nav: [[0.087598,0.983087,0.160832],[-0.995609,0.081050,0.046845],[0.033017,-0.164230,0.985869]]>H`l?`ru?(?`?? ?zſ>?i>@I>u];>CYN5ByRIIVG>)V4y<"@ d@)@Yf@bDVDfy=%C=ٔ^;Q->9Y=FypEI;E>Q 559?Q 95$)BY>Q E:y߿Q I@DIO;iN;PX5y ɮ Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760215 EC'G(hAjh)1EDNOT Ignoring new targets: 84.40 m.e9e(hAYe؝ARh9Zh9 ProNav: ac range: 84.395027 m, nav range: 81.457718 m, bearing: 263.677776 deg, approach rate: -0.441881 m/s, LOS rate: 0.021308 deg/s, cmd heading: 274.608766 deg, new cmd heading: 274.635527 deg. Bhi:HeadingCmd: 4.793294 target range: 84.395027 and range: 84.90 m.hb@h*h"h hgfffBdddjdZd@AɢM;<)I MZ ?iI)MPɼQQiUJliU´]Z};]=RB ЍCB IB GBB & =B B B yb;B i%EBaBeЍCBaBaBaCe4^A x/<A eAzA fAE BDAT read: Rx Time:05:51:51.5870 M TRx dataTimestamp_ set to:1761544312.992844U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014126IY i Iq O} >,e6D?A6@6걙@6{ٱ6( >AHRS rotation from veh to nav: [[0.090410,0.982899,0.160423],[-0.995402,0.084069,0.045895],[0.031624,-0.163835,0.985981]]6H %?s?`? V?`?`0?Ŀ'?i6@I6\];6CYF3ByFIbDRVDRkyZb%ZZ=ٔZt;Q-Z>9\Y\=^Fy^pE^;Eb>dQ 5j5fƶ?Q 9j5fp)fBYhyj߿Q Ij@fDIfd:if:fY5ylɮr ArEjh  DNOT Ignoring new targets: 84.40 m.Rh&9Zh&9 ProNav: ac range: 84.395027 m, nav range: 81.292145 m, bearing: 263.685445 deg, approach rate: -0.483071 m/s, LOS rate: 0.022419 deg/s, cmd heading: 274.635513 deg, new cmd heading: 274.658566 deg. Bh-v:HeadingCmd: 4.793696 target range: 84.395027 and range: 84.90 m.he@h*h"h hgfffdddjdZd`-L @u"Bɢuj|<)y }T?i)9Ƽiyni;sBrE!  E% E% #E! "E! *E% V:VE% 3ZE! BE%  =R#Rx 1: Read range and direction messages.E^direction in FSK: [0.963229,-0.227697,0.142629]EFpublishing direction and range infoyprC$t?jEz0%Ϳx0A?Yr̦Bpppr p)rDIr=ir-r?r36@r5>rih6@ rC>)rB@IrCppr\??S? r C?)r?IrmirCppeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode. =AHRS rotation from veh to nav: [[0.093116,0.982734,0.159887],[-0.995197,0.086995,0.044883],[0.030199,-0.163298,0.986115]]fHpַ? r?*w?`FE??a?`Ŀ@?ifY͒@If ];fCYM-ByMIbDVDk1y&ּ%1=ٔnF;Q->9Y=FypEټ;E>Q 555?Q 955)BY1y5=߿Q I5@DIP&ie>BDAT read: Tx time:05:51:52.7216 $Ping request sent.,ʩz?A2Yݒ@2'ؙ@2)&ٱ2́&E> E>E>%E<"E>:*E>X:VE> 4ZEyx齙;A 7@)@Y@bDVD0y9<%B=ٔF;Q->9Y=FypE;B >BBIBLBB' =BBaDBzb;Bf%EE>Q 55O?Q 95)BY0>Q E:y-ܿQ I@DIX:ia:]5y ɮ  A -B*** querying acoustic contact ***i) i)jh1=DNOT Ignoring new targets: 82.90 m.Rh=q9Zh=q9M ProNav: ac range: 82.903931 m, nav range: 80.907974 m, bearing: 263.586494 deg, approach rate: -0.498532 m/s, LOS rate: 0.013203 deg/s, cmd heading: 274.692341 deg, new cmd heading: 274.707666 deg. BhU:UHeadingCmd: 4.794553 target range: 82.903931 and range: 83.40 m.hUl@hY*hY"hY hYgYfYfafetBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250336ԑdddjd Zd @c?qɢ}<)y }(?iy)}A顡i:siJP;xm ޤ,Lm?A:$@:@:Nٱ:o$ BAHRS rotation from veh to nav: [[0.096620,0.982859,0.157010],[-0.994931,0.090956,0.042882],[0.027866,-0.160357,0.986666]]:H?s??zH??䈜?ĿÒ?i:$@I:4^;:CYNByRIbDZVDZ:yv %vY=ٔv5<;Q-v>9xYx=zFyzpEz);E~>Q 5 5-?Q 9 5\)BY y ۿQ I @DI:iF:s_5yBɮAEjhAEDNOT Ignoring new targets: 82.90 m.RhMW9ZhMW9] ProNav: ac range: 82.903931 m, nav range: 80.736328 m, bearing: 263.590865 deg, approach rate: -0.462333 m/s, LOS rate: 0.011799 deg/s, cmd heading: 274.707668 deg, new cmd heading: 274.720809 deg. Bh]:eHeadingCmd: 4.794783 target range: 82.903931 and range: 83.40 m.hen@ha*ha"hi higifififqdqdqdqjdyZd}@`?颭 Bɢ[<) ]>i)軼顱iuip;f!Q  ,y A d@)@Y@ <bDVDy$<%==ٔ@8;Q->9Y=FypE];E>Q 55?Q 95)BY >Q E:yڿQ I@DI:i:Va5yɮAjh%DNOT Ignoring new targets: 82.90 m.Rh%6)9Zh-6)9= ProNav: ac range: 82.903931 m, nav range: 80.528000 m, bearing: 263.594854 deg, approach rate: -0.481705 m/s, LOS rate: 0.009246 deg/s, cmd heading: 274.720809 deg, new cmd heading: 274.732805 deg. Bh=9EHeadingCmd: 4.794992 target range: 82.903931 and range: 83.40 m.hEp@hA*hA"hA hAgAfIfIfMQBdQdQdQjdQZd]z?颁ɢZ&<) >i)w顉i_,wi};ZWBBIB=BB( =BBBb;B%E^AMu<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259321 A} ؟AI I O >,,?ALJ@J@JҼٱJ<' VAHRS rotation from veh to nav: [[0.098165,0.982283,0.159635],[-0.994840,0.092728,0.041177],[0.025645,-0.162853,0.986317]]JH ^!? n?@n? ?1? B?@`Ŀ?iJ@IJ_;JCYbBybIIf>)f>bDjVDjN2yrW%rY=ٔvl/;Q-v>9v"?Yv"?=zFyzpEzh9Ez>|Q 55~?Q 95~)~BY y ڿQ I @~DI~9:i~:~b5yɮAjh9EDNOT Ignoring new targets: 82.90 m.RhE(9ZhE(9U ProNav: ac range: 82.903931 m, nav range: 80.346962 m, bearing: 263.598313 deg, approach rate: -0.481925 m/s, LOS rate: 0.009230 deg/s, cmd heading: 274.732803 deg, new cmd heading: 274.743205 deg. Bh]9]HeadingCmd: 4.795174 target range: 82.903931 and range: 83.40 m.her@ha*ha"ha hagafafifidididqjdqZdu1?颡ɢa+<) G>i)顩i9xi5,wUқ;U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762300,?A|YByIbDVDNy%{*%% =1ٔEQ-M>9QYY=]Fy]pEmEu>Q 55?Q 95)BYyQ I@DII;i@;@e5yBɮzAEjhIUDNOT Ignoring new targets: 82.90 m.Rh]$9Zh]$9u ProNav: ac range: 82.903931 m, nav range: 80.096481 m, bearing: 263.603126 deg, approach rate: -0.467151 m/s, LOS rate: 0.009004 deg/s, cmd heading: 274.743212 deg, new cmd heading: 274.757695 deg. Bhu9}HeadingCmd: 4.795426 target range: 82.903931 and range: 83.40 m.h"t@h*h"h hgf f f dddjd9Zd=`@颉ɢr;) >i)S顑i){in;v'ԁ E  E E %E "E a:*E 1]:VE 4ZE a @a @a @a @^A5 <Ա B >B B IB BB ) =B B bDB b;B %Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267040AIIO?,6?A2@2@2#]ɼٱ2`, :AHRS rotation from veh to nav: [[0.096137,0.981624,0.164840],[-0.995065,0.090692,0.040268],[0.024578,-0.167898,0.985498]]2Hv?@vi?|?7??@*?}ſ3?i2@I2^;2C @)BkAB½@@DFkAiFjIF6`FDIHiJkA JJJF)HH NkALNTFLLNpAIP)PiP)RLCIRkAV 0T TTVkAV/]iXXiXX)X XIXY\YbBybIiMb@Mb@Mb@ 9|?5^?&19Y=FypE돻E>Q 55إ?Q 95)BY9?Q E:yԿQ I@DI;i;Dg5yɮAEB*** querying acoustic contact ***iA iAjhIUDNOT Ignoring new targets: 82.90 m.Rh}AZh}A ProNav: ac range: 82.903931 m, nav range: 79.836853 m, bearing: 263.598343 deg, approach rate: -0.572262 m/s, LOS rate: -0.010577 deg/s, cmd heading: 274.757692 deg, new cmd heading: 274.743296 deg. BhJHeadingCmd: 4.795175 target range: 82.903931 and range: 83.40 m.hr@h*h"h hgfff#BdddjdZd{l@1QɢU;)Y ]T>iY)]ǮYYi]|iewe$;m<ELJ,^?ARԒ@Rϙ@RRǼٱRe/X ^AHRS rotation from veh to nav: [[0.094045,0.981361,0.167591],[-0.995271,0.088561,0.039915],[0.024329,-0.170553,0.985048]]RHS?Ng?s?A`?o??@ſ?iRԒ@IR^;RCUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770215Y]րBy]wI aaimAbDuVDu0y%P=ٔ&:Q->9Y=FypEرE>Q 55:?Q 95)BYyUԿQ I@DI6:i-:h5yɮAjhDNOT Ignoring new targets: 82.90 m.Rh)Zh) ProNav: ac range: 82.903931 m, nav range: 79.618767 m, bearing: 263.594625 deg, approach rate: -0.542274 m/s, LOS rate: -0.009270 deg/s, cmd heading: 274.743294 deg, new cmd heading: 274.732109 deg. Bh˹HeadingCmd: 4.794980 target range: 82.903931 and range: 83.40 m.hzp@h*h"h hgfffdddjdZd@ɢ%$;)A E޶>iA)M:xIIiMW~iU}U!;Uk0͇, ]9?AHYmҀBymrIE EEE"E :*E5:VEZEa@a@a@a@iMb@Mb@Mb@ 9Zd;?Zd;Oy&1|Y?yj` A@ 7@)Y3@ p<bD%VD%ky5%59=ٔ5Q-5>99Y9==Fy=pE=EE>AQ 5U5E?Q 9U5E)EBYU?Q EU:yUmпQ IU@EDIE ;iE:Ej5yaɮeAajhDNOT Ignoring new targets: 82.90 m.RhZh ProNav: ac range: 82.903931 m, nav range: 79.350647 m, bearing: 263.584108 deg, approach rate: -0.638572 m/s, LOS rate: -0.025133 deg/s, cmd heading: 274.732120 deg, new cmd heading: 274.700462 deg. BhHeadingCmd: 4.794427 target range: 82.903931 and range: 83.40 m.hk@h*h"h hgfffBdddB>BBIBBB( =BBBb;B%EjdZdeU @颱ɢm);) >i)项ii];`‹  BDAT read: Tx time:05:51:56.3716  $Ping request sent. ԇ,PS?Aɰ;JR#Rx 1: Read range and direction messages.N^direction in FSK: [0.960930,-0.227154,0.158158]N:publishing transmit ping timeNFpublishing direction and range infoyLi?⣳{aͿ@\~>?Y3B )FIw=iw1 ?6@|> ">)I"X&w?swh?r M? B?)bIi"5:publishing transmit ping time5Fpublishing direction and range infoyLi?⣳{aͿ@\~>?Y )Ii )I&w?swh?r M? )IiY ƀBy cIbDVD:yuf%}B=ٔyQ-}>9yY=FypEE>Q 55?Q 95X )BYyQ I@DIa#;i%;l5yɮ+AiiQ?AJi:BRi:BjiP@b}|S@G 1l2 c)@RLi?⣳{aͿ@\~>?Zibi"jj 4!GSG1@Z KM% H0?2id:i "iR̠?*iC#Bi Bii&!iiDBi5@] addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.780335 s, deltaX: -1.800003 m, approachRate: -0.476149 m/s, rangeRepo size: 4  Added new target pos. range: 81.114296 m, bearing: 263.762232 deg, lat: 36.779441 deg, lon: -121.859769 deg, deltaT: 3.780335 s, deltaX: -1.789635 m, approachRate: -0.473406 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 81.11 m.RhZh ProNav: ac range: 81.114296 m, nav range: 79.133080 m, bearing: 263.577145 deg, approach rate: 0.000000 m/s, LOS rate: -0.025133 deg/s, cmd heading: 274.700455 deg, new cmd heading: 274.667503 deg. BhHeadingCmd: 4.793852 target range: 81.114296 and range: 81.60 m.h=g@h*h"h hgfffdddjd`ffT@Zd@?uBɢuޱ:)q u>iqE EE#E"E:*E:VE3ZEBEu,8ۇ,o?A0ZGnfAx@@( ɼٱ5 -AHRS rotation from veh to nav: [[0.086883,0.980963,0.173673],[-0.995916,0.081233,0.039396],[0.024539,-0.176386,0.984015]]H@=? d?:?˴?@+? ?ԓƿ }?i@I<^;CM۳9MfAYM8AYUBiYIYyUYIIm=)m9Y!=%Fy%pE%E%>)Q 555-Ѡ?Q 9=5-l)- BY=&?Q E=:y=ͿQ I=@-DI-\ ;i- ;-n5yAɮMoAMEjh -DNOT Ignoring new targets: 81.11 m.Rh5Zh5E ProNav: ac range: 81.114296 m, nav range: 78.864563 m, bearing: 263.562693 deg, approach rate: -0.643076 m/s, LOS rate: -0.034728 deg/s, cmd heading: 274.667506 deg, new cmd heading: 274.624004 deg. BhEmHeadingCmd: 4.793093 target range: 81.114296 and range: 81.60 m.hma@hi*hq"hq hqgqfqfyf}BdydydjdZdi^?ԉɢ :) >i)di^iV(;r=BэCBIBBB' =BBBb;B%EBЍCBBB( =B( =C;5 ^A '<A I I O >b,?A2@2}@2̼ٱ2I~7 >AHRS rotation from veh to nav: [[0.084060,0.980878,0.175536],[-0.996147,0.078302,0.039490],[0.024990,-0.178180,0.983681]]2H?Yc?w?`p ?@8?햙?ƿOz?i2@I2k^;2CYFˀByFjILLbDRVDRkyZz=%ZZ=ٔZQ-^>9\Y\=^Fy^pEbOEb>dQ 5j5f?Q 9j5f)fBYhyjMοQ In@fDIf;if;f.p5ypɮrApB*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 81.11 m.Rh$Zh$% ProNav: ac range: 81.114296 m, nav range: 78.620613 m, bearing: 263.549977 deg, approach rate: -0.685811 m/s, LOS rate: -0.035860 deg/s, cmd heading: 274.624011 deg, new cmd heading: 274.585744 deg. Bh%ĺ-HeadingCmd: 4.792425 target range: 81.114296 and range: 81.60 m.h-[@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE0}? ɢ;) >i)wi i9Ѿ%y;%g)E  E E E "E :*E :VE ZE BE )9\Y\=^Fy^pEbVEb>`Q 5f5b?Q 9j5b!)bBYhyjοQ Ij@bDIbl:ib:bq5ypɮrApjhqDNOT Ignoring new targets: 81.11 m.RhZh ProNav: ac range: 81.114296 m, nav range: 78.358955 m, bearing: 263.536697 deg, approach rate: -0.628864 m/s, LOS rate: -0.032023 deg/s, cmd heading: 274.585735 deg, new cmd heading: 274.545763 deg. BhѯHeadingCmd: 4.791728 target range: 81.114296 and range: 81.60 m.hU@h*h"h hgff!f!d)d1d1jdQZdU`?Bɢe;) >i)%ih䂼i 辿 ?; ,?AE$ E&E&#E$"E$*E&T:VE&3ZE$a*@a*@a*@a*@B%>B!B%IB%܀BB%& =B!B!B%c;B%%E9YuրByuwI y}AiMb@Mb@Mb@ 9!rh?MbX9)Y1=5Fy5pE=E=>AQ 5M5Ey?Q 9M5E))E&BYMd)?Q EM:yUпQ IU@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749575EDIEh;iEh;Es5yaɮmAijhDNOT Ignoring new targets: 81.11 m.Rh-Zh-= ProNav: ac range: 81.114296 m, nav range: 78.060860 m, bearing: 263.525441 deg, approach rate: -0.677307 m/s, LOS rate: -0.025672 deg/s, cmd heading: 274.545765 deg, new cmd heading: 274.511868 deg. Bh=EHeadingCmd: 4.791136 target range: 81.114296 and range: 81.60 m.hEP@hA*hI"hI hIgIfffBdddjdZd ?1ɢ=`;)9 E1>iAQ)%!!i%Ãi-{-p;59!",ϻ?A2V@2P@42ڼٱ2+6 >AHRS rotation from veh to nav: [[0.078617,0.981539,0.174355],[-0.996549,0.072707,0.040034],[0.026618,-0.176901,0.983869]]2H7 ?`h?EQ??d?A? ƿ {?i2V@I2_;2CYFހByFI N49\Y\=^Fy^pEbeEb>dQ 5j5f?Q 9j5fX0)f1BYhyjVѿQ In@fDIf:if:fu5yrBɮvtAvEjh DNOT Ignoring new targets: 81.11 m.RhعZhع- ProNav: ac range: 81.114296 m, nav range: 77.803329 m, bearing: 263.516264 deg, approach rate: -0.660510 m/s, LOS rate: -0.023616 deg/s, cmd heading: 274.511860 deg, new cmd heading: 274.484236 deg. Bh-5HeadingCmd: 4.790654 target range: 81.114296 and range: 81.60 m.h5 M@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdMX@uBɢ}a<)y }>iy)}Vii F v; ;I  M@IbEjE4rE'0EE EEEE(EA"EE:*EEk:VEEc44ZEABEE3 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505467A, f?Aɰp;2F@2A@2w*߼ٱ23 :AHRS rotation from veh to nav: [[0.076781,0.982048,0.172296],[-0.996676,0.070877,0.040171],[0.027239,-0.174808,0.984226]]2H꧳?l? ?$?[?l?`ƿ~?i2F@I2̎`;2CYFByFIliMb@Mb@Mb@ 9(\?X9v?Y'?y̽<^A @)Y@bDVDy1=%==ٔ,Q->9 ?Y ?=FyqEE>Q 55?Q 957)@BY)?Q E:yRѿQ I@DI;i;w5yɮAjh!-DNOT Ignoring new targets: 81.11 m.Rh-׹Zh-׹= ProNav: ac range: 81.114296 m, nav range: 77.518478 m, bearing: 263.506018 deg, approach rate: -0.652377 m/s, LOS rate: -0.023552 deg/s, cmd heading: 274.484238 deg, new cmd heading: 274.453387 deg. BhEOEHeadingCmd: 4.790115 target range: 81.114296 and range: 81.60 m.hEH@hI*hI"hI hIgIfIfQfUBdQdYdYjdYZd] @颉ɢU<) >i)]顑ii7j;Rz;IH@I @ @@S4@Em EmEm%Ei"Em2:*EmX:VEm 4ZEia}@a}@a}@a}@A9A9BABABEIBEBBABABABE>c;BE%E1}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757593^A;a A= ؟AIA IY Oe >(,p@ ?A:;@:6@:ٱ:22 FAHRS rotation from veh to nav: [[0.075423,0.982450,0.170600],[-0.996770,0.069547,0.040167],[0.027597,-0.173078,0.984521]]:HN? :p?4?ͱ?Đ?xB? k'ƿ 3?i:;@I:25a;8YNByNIIR)>)Rp;bDZVDZ:ybr=%bZ=ٔb{Q-b>9f"?Yf"?=fFyfqEj%nEj>hQ 5r5j%?Q 9r5jQ>)jLBYpyrѿQ Ir@j DIj ;ij&;j%y5yxɮzQAx B*** querying acoustic contact ***i  i jh%DNOT Ignoring new targets: 81.11 m.Rh%׹Zh%׹5 ProNav: ac range: 81.114296 m, nav range: 77.271568 m, bearing: 263.497349 deg, approach rate: -0.667254 m/s, LOS rate: -0.023502 deg/s, cmd heading: 274.453393 deg, new cmd heading: 274.427303 deg. Bh5AEHeadingCmd: 4.789660 target range: 81.114296 and range: 81.60 m.hED@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]@@颍Bɢj<)Tܼ >i)Š顑ii+xT;Д;ID@IBDAT read: Rx Time:05:51:58.8812 TRx dataTimestamp_ set to:1761544320.301491checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012245@ @@/@iԑ^A`;E} E}E}&Ey"E}:*E}i:VE}4ZEyBE} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261510 +T , ' ?AJ1@J,@JٱJ-0 VAHRS rotation from veh to nav: [[0.074225,0.982871,0.168684],[-0.996850,0.068390,0.040147],[0.027923,-0.171133,0.984852]]JHe?s?`q?3?1?@?@ſ?iJ1@IJ:b;JCY^By^If@AdbDjVDjkyr"=%rH=ٔrFQQ-v>9tYt=vFyvqEz@Ez>|Q 55~?Q 95~fE)~ZBYyѿQ I @~DI~-:i~$:~z5yɮAԡjhDNOT Ignoring new targets: 81.11 m.RhlǹZhlǹ ProNav: ac range: 81.114296 m, nav range: 77.002068 m, bearing: 263.488094 deg, approach rate: -0.632423 m/s, LOS rate: -0.021794 deg/s, cmd heading: 274.427302 deg, new cmd heading: 274.399440 deg. BhOo5HeadingCmd: 4.789174 target range: 81.114296 and range: 81.60 m.h5@@h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM H @Bɢ ^><) !>i)iiE;E);EqX;IE@@IIDAT read: 05:51:58.8812 LVL= 32752, 32753, 27378, 32755, AGC= 68, IDX= 404, 0.16, 0.323,-1.111, 0.952, 0.295, PHS= 0.130,-1.361, 0.613, RAW= 163.6, 7.0, CAL= 163.0, 6.8, ROT= 347.0, -6.8 -Ygot valid direction response: 05:51:58.8812 LVL= 32752, 32753, 27378, 32755, AGC= 68, IDX= 404, 0.16, 0.323,-1.111, 0.952, 0.295, PHS= 0.130,-1.361, 0.613, RAW= 163.6, 7.0, CAL= 163.0, 6.8, ROT= 347.0, -6.8 5PDAT read: Bearing 78.8, -12.7 (Local) =~Local bearing/azimuth received: Bearing 78.8, -12.7 (Local) UDAT read: Range 11 to 50 : 79.0 m (Round-trip 105.4 ms) speed 0.3 m/s ]*DAT read: user:573> eBDAT read: Tx time:05:51:59.9716 m$Ping request sent.mi?5?36@5=6@ =)&@@ @@/@I&S?.ת?cF{&? IB?)/IVhi5:publishing transmit ping timei5Fpublishing direction and range infoy?+W̿EO?Y )Ii )I&S?.ת?cF{&? )Ii^A ;A% >A% >9 E  E E 'E "E :*E c:VE '4ZE a @a @a @a @B] >BY B] IB] BBY BY BY B] kc;B] %EAi Iq I O >,-C ?A@J#(@J"@J!ٱJ*T VAHRS rotation from veh to nav: [[0.073033,0.983795,0.163751],[-0.996937,0.067409,0.039647],[0.027967,-0.166145,0.985705]]JHB??{??@A?L?J?@9QYY=]Fy] qE]Ee>aQ 5m5e?Q 9u5eMM)elBYu?Q Eu:yuEӿQ Iu@eDIe:ie:e}5yɮ4Aiil3 ?AJiBRiBjij@b[뙴R@Q1-˜"@R?+W̿EO?ZiVhbij^$/ +#SM{h,@Z3]5ʾ2ᅩT;'?2i:i""iH;?*i+BiBi~?iC#iBiBi}#@M addTargetRange:: Added new target pos. range: 79.000000 m, deltaT: 3.527684 s, deltaX: -2.599998 m, approachRate: -0.737027 m/s, rangeRepo size: 4 ] Added new target pos. range: 78.530777 m, bearing: 262.422031 deg, lat: 36.779440 deg, lon: -121.859770 deg, deltaT: 3.527684 s, deltaX: -2.583519 m, approachRate: -0.732356 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 78.53 m.RheZhi} ProNav: ac range: 78.530777 m, nav range: 76.765762 m, bearing: 263.450684 deg, approach rate: 0.000000 m/s, LOS rate: -0.021794 deg/s, cmd heading: 274.399435 deg, new cmd heading: 274.367055 deg. BhyHeadingCmd: 4.788609 target range: 78.530777 and range: 79.00 m.hH<@h*h"h hgfff!BdddjdS@Zd?Bɢz)<) ?i)Fi"=iJN;5;IH<@IM9@Q @Q@U/@Q@]@]@]@]9 A! I1 IA OM >,5_] ?AR&@R!@RٱR@* ZAHRS rotation from veh to nav: [[0.072869,0.983922,0.163057],[-0.996954,0.067301,0.039421],[0.027814,-0.165433,0.985829]]RH`?@J|? ?@ :?/?'{?,ſ?iR&@IRc;RCYf@ByfI hjAbDr VDr2yv>%ze=ٔzc9Q-z>9|Y|=~FE EE$E"E>:*E|:VE4ZEBE)Q 555-?Q 955-S)-zBY1y5MӿQ I5@-$DI- :i-[:-~5yEBɮEh AEɤEjhimDNOT Ignoring new targets: 78.53 m.RhuZhu ProNav: ac range: 78.530777 m, nav range: 76.545433 m, bearing: 263.445022 deg, approach rate: -0.647291 m/s, LOS rate: -0.016680 deg/s, cmd heading: 274.367060 deg, new cmd heading: 274.350027 deg. Bh(7HeadingCmd: 4.788311 target range: 78.530777 and range: 79.00 m.h9@h*h"h hgfffdddjdZd@?颕Bɢ<<) z?i)顡i~iXx;0ԡ;I9@IQ+wyy@y @@/@ԡ A .AI) I9 OE >[+,}Tb;FCYVQByZIimMb@Mb@Mb@iiii i9mn?Cl绿ˡE?YmV?yym;߽m'=m Am@ m@)iiYi bDVDkyԟ=%@=ٔeDQ->9 ?Y ?=FyqEѳE>Q 55?Q 95KY)BYl?Q E:yֿQ I@,DI ;i` ;5yɮ AjhDNOT Ignoring new targets: 78.53 m.RhmZhm  ProNav: ac range: 78.530777 m, nav range: 76.307869 m, bearing: 263.443655 deg, approach rate: -0.563083 m/s, LOS rate: -0.003251 deg/s, cmd heading: 274.350039 deg, new cmd heading: 274.345924 deg. Bh HeadingCmd: 4.788239 target range: 78.530777 and range: 79.00 m.hB9@h*h"h hgf!f!f%LBd!d)d)jd)Zd-?iɢmu1<)i mK?ii)uuqqiu苼i}dZ}b;yI}B9@IulyE EE)E"E[:*E:VEFA4ZEa%@a%@a-@a-@ԩB<A<BBBIB3BBBBB{c;B%EE9@A @A@E/@AAfAzAfAA؟AIIO> {$,- ?A6q*@6?%@6^ٱ6f`+ BAHRS rotation from veh to nav: [[0.073314,0.983709,0.164140],[-0.996929,0.067743,0.039291],[0.027532,-0.166517,0.985654]]6HIJ?z? ?@W??@B1?`jPſz?i6q*@I6a;6CYJ`ByJ!IbDjVDj02yr =%rV=ٔr|O:Q-v>9v"?Yv"?=vFyvqEzT:E~>|Q 55~ ?Q 9 5~^)~BY y ֿQ I @~3DI~:i~1:~,5yɮk A5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 78.53 m.RhM~ZhM~] ProNav: ac range: 78.530777 m, nav range: 76.092583 m, bearing: 263.442327 deg, approach rate: -0.562718 m/s, LOS rate: -0.003479 deg/s, cmd heading: 274.345913 deg, new cmd heading: 274.341920 deg. Bh]eHeadingCmd: 4.788170 target range: 78.530777 and range: 79.00 m.he8@ha*ha"ha hagifiiqIq}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.ffdddjdZd@=D?Bɢ<) #?i)𤃼iyZi\;@;I8@I5߼E EE$E"Ea:*Ez:VE4ZEBE(Q =*, ?A20@2+@2ۼٱ2z|* >AHRS rotation from veh to nav: [[0.074096,0.983789,0.163306],[-0.996890,0.068664,0.038667],[0.026827,-0.165663,0.985817]]2H@?`3{?1?`? (̣? x?o4ſ ы?i20@I21a;2CYFpByF4IJ=J=bDRVDR0yV=%VN=ٔZY:Q-Z>9XY\=^Fy^qE^;Eb>`Q 5f5b?Q 9j5bd)bBYhyjֿQ Ij@b:DIb;ib;b烋5yrBɮv Atjh DNOT Ignoring new targets: 78.53 m.9RhM ZhUЀG(hA9(hAYƣA- ProNav: ac range: 78.530777 m, nav range: 75.869774 m, bearing: 263.440826 deg, approach rate: -0.521878 m/s, LOS rate: -0.003527 deg/s, cmd heading: 274.341925 deg, new cmd heading: 274.337407 deg. Bh55HeadingCmd: 4.788091 target range: 78.530777 and range: 79.00 m.h5 8@h9*h9"h9 h9g9f9fAfAdAdadijdiZdm@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998985颹ɢr<) +?i)K|ii>_8|;Y;I 8@Iaԑ% 9@!  @! @) @) E5  E5 E1 E1 "E5 :*E5 c:VE1 ZE1 a= @a= @a= @a= @B >B B 'IB fBB B B B wc;B %EBэCBэCBB& =B& =CZ3Թ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250927^A[R; IIO?Њ3,s ?A2:;@26@2Ѽٱ2+ :AHRS rotation from veh to nav: [[0.075360,0.983520,0.164343],[-0.996828,0.070075,0.037731],[0.025593,-0.166665,0.985681]]2HJ?`x?3 ?`s?wQ?`4? KUſ?i2:;@I2`;2CYBByFGI~only read 2 of 4 data items for bottom velocity. Device response is::BS, -115, +509A a@a a@a a@a a@a AAAAbD VD ky%T=%%=ٔ% ;Q-->9)Y)=-Fy-"qE5%;E5>9Q 5E5=:?Q 9E5==m)=BQ AE+:YAQ EE:yMdֿQ IM@=DDI=]:i=?=5yɮ~ AjhDNOT Ignoring new targets: 78.53 m.RhZhM ProNav: ac range: 78.530777 m, nav range: 75.545387 m, bearing: 263.438280 deg, approach rate: -0.575347 m/s, LOS rate: -0.004534 deg/s, cmd heading: 274.337417 deg, new cmd heading: 274.329747 deg. BhM(GUHeadingCmd: 4.787957 target range: 78.530777 and range: 79.00 m.hU6@hY*hY"hY hYgYfYfafadadadajdZd@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503209Bɢ<) 3?i)ɵpi鐼icXz;;I6@II)eAA9@9 @9@=0@9iEm EmEiEi"Em,:*Em n:VEiZEiBEm9,פ ?A:F@:iA@:Pļٱ:+ FAHRS rotation from veh to nav: [[0.076748,0.983349,0.164727],[-0.996761,0.071692,0.036428],[0.024011,-0.166989,0.985666]]:H`? w?? x pZ?? o?_ſ@?i:F@I:8 `;:CY^BybcIbDjVDjβyr-=%rO=ٔrZ;Q-r>9tYt=vFyv&qEzf;Ez>xQ 55zO?Q 95z s)zBQ A :YQ Eu:y4ֿQ I @zKDIz2 ;izx?z5yBɮ AҤEjh9=DNOT Ignoring new targets: 78.53 m.RhEAĸZhEAĸU ProNav: ac range: 78.530777 m, nav range: 75.323196 m, bearing: 263.436278 deg, approach rate: -0.593135 m/s, LOS rate: -0.005362 deg/s, cmd heading: 274.329740 deg, new cmd heading: 274.323714 deg. BhUk]HeadingCmd: 4.787852 target range: 78.530777 and range: 79.00 m.h]6@hY*hY"hY hYgafafafadididijdiZdmP@y颡ɢD(=) f??i)g顩i?qig;  E  E E &E "E :*E L_:VE 4ZE a @a @a @a @A A B >B B `IB BB B B B c;B %E-@,a!?AJdU@J2P@JٱJ+, RAHRS rotation from veh to nav: [[0.078550,0.983143,0.165106],[-0.996663,0.073757,0.034974],[0.022206,-0.167303,0.985655]]JH@?u?4"?@?@?>?+jſ`}?iJdU@IJm_;JCYZByZ{I ```bA%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258989aMaM aMaU aUaU aUaU iUMb@Mb@Mb@QQQQ Q9UZd;O?V-?YUj>yUU9Y=Fy+qE@;E>Q 552?Q 95+y)BQ AT:Yi?Q E:y;ݿQ I@SDIu;iu;5yɮ6 Ajh 5DNOT Ignoring new targets: 78.53 m.Rh59Zh59E ProNav: ac range: 78.530777 m, nav range: 75.087997 m, bearing: 263.444002 deg, approach rate: -0.503006 m/s, LOS rate: 0.016572 deg/s, cmd heading: 274.323702 deg, new cmd heading: 274.346948 deg. BhE5:MHeadingCmd: 4.788258 target range: 78.530777 and range: 79.00 m.hmh9@hi*hi"hq hqgqfqfyf}BdydydyjdZd @颉ɢ=) I?i)ڑ[顑i LiY;_I F,[!?A2`@2[@2ٱ2 * :AHRS rotation from veh to nav: [[0.079947,0.983249,0.163801],[-0.996592,0.075492,0.033256],[0.020333,-0.165901,0.985933]]2H hw?v? l?@mS??8Ҕ??<ſŒ?i2`@I2w_;2CYBByB~I HJ<bDNVDN yvf<%vk=ٔvx;Q-v?9xYx=zFyz/qE~;E~?Q 5 5ꃣ?Q 9 5})BY y ݿQ I @YDI_:iV:5yɮ A5B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 78.53 m.RhM29ZhM29] ProNav: ac range: 78.530777 m, nav range: 74.914162 m, bearing: 263.449567 deg, approach rate: -0.508140 m/s, LOS rate: 0.016305 deg/s, cmd heading: 274.346952 deg, new cmd heading: 274.363685 deg. Bhe 3:eHeadingCmd: 4.788549 target range: 78.530777 and range: 79.00 m.he;@hi*hi"hi higififqfqdqdqdyjdyZd}@ @颩ɢ$E=) J?i) S顱iƕi:P;, eBDAT read: Tx time:05:52:03.5716 m$Ping request sent.m5@M>MuJ5@ MnF>)M<1@IMnFIIMW?bM?Y'k??=e? MK>?)MIIM[iMnFII:publishing transmit ping timeiFpublishing direction and range infoyIM3??µQ0fʿ8C ?YIIIIԡI I)IIIiIIIII I)IIIIIMW?bM?Y'k??=e? I)IIIiIII^AqIIO > L,"96!?A2Sl@2!g@2fٱ2=) :AHRS rotation from veh to nav: [[0.081346,0.983292,0.162851],[-0.996518,0.077238,0.031415],[0.018312,-0.164840,0.986150]]2HӴ?w?P?yų?? H?xſ ?i2Sl@I2,_;2CYRByRIieMb@Mb@Mb@aaaa a9eʡE?Zd;~jt?Ye>yee9Y=Fy3qEW;E>Q 55?Q 95)BY>Q E:yݿQ I@_DIv;i ;v5yɮ Aiyi}W%!?AJi}BRi}Bji}g@b}fn(yR@z\4*0{k'@R}3??µQ0fʿ8C ?Zi}[bi}nFj}&lRE$ U/@Z}dh(￞ߏ7?2i} :i}"i}@;堊?*i}O1+Bi}נBiyiyi}|Bi}kBi}i$@  addTargetRange:: Added new target pos. range: 77.000000 m, deltaT: 3.780017 s, deltaX: -2.000000 m, approachRate: -0.529098 m/s, rangeRepo size: 4 % Added new target pos. range: 76.542557 m, bearing: 263.929334 deg, lat: 36.779440 deg, lon: -121.859770 deg, deltaT: 3.780017 s, deltaX: -1.988220 m, approachRate: -0.525982 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 76.54 m.Rh-Zh)= ProNav: ac range: 76.542557 m, nav range: 74.709793 m, bearing: 263.457155 deg, approach rate: 0.000000 m/s, LOS rate: 0.016305 deg/s, cmd heading: 274.363672 deg, new cmd heading: 274.384651 deg. Bh9EHeadingCmd: 4.788916 target range: 76.542557 and range: 77.00 m.hE>@hA*hA"hA hIgIfIfIfU؀BdQdQdYjd]@S@Zd]-?颁ɢKP/=) Q?i)pG顑ii=Db);:@I 9@  @ @ /@@=@=B>BЍCBIBBB' =BBBrc;B%EE EE#E"E:*E҆:VE3ZEBE<2E<JE;:E;^A*:<IqIO>) 2S,=P!?A 2,v@2p@2@ٱ2d* :AHRS rotation from veh to nav: [[0.082548,0.983038,0.163774],[-0.996461,0.078796,0.029285],[0.015883,-0.165612,0.986063]]2H@!?@ u??@`+?? C?`2ſ ԍ?i2,v@I2`;0YvByvIIz=)zbDVD:2y?%S=ٔ;Q->9Y=Fy%7qE%J;E%>)Q 555-~?Q 955-ڇ)-BY1y=ݿQ I=@-eDI-D;i-;-(5yAɮE AAjhimDNOT Ignoring new targets: 76.54 m.Rhu9Zhu9 ProNav: ac range: 76.542557 m, nav range: 74.523094 m, bearing: 263.463931 deg, approach rate: -0.486308 m/s, LOS rate: 0.017695 deg/s, cmd heading: 274.384654 deg, new cmd heading: 274.405034 deg. BhMB:HeadingCmd: 4.789271 target range: 76.542557 and range: 77.00 m.hA@h*h"h hgfffdddjdZd?ɢv;=) hL?i)6~=i i8r;<E Y,i!?APY|y|  @AbDVDy% ;%%I=ٔ%Q-->9- ?Y- ?=-Fy-;qE5E5>9Q 5E5={?Q 9E5=)=BYAyAQ IM@=kDI=_:i=:=5yQɮU AQjh)-DNOT Ignoring new targets: 76.54 m.Rhu9Zhu9 ProNav: ac range: 76.542557 m, nav range: 74.327888 m, bearing: 263.471053 deg, approach rate: -0.455627 m/s, LOS rate: 0.016667 deg/s, cmd heading: 274.405036 deg, new cmd heading: 274.426457 deg. Bh7:HeadingCmd: 4.789645 target range: 76.542557 and range: 77.00 m.hD@h*h"h hgfffdddjdZd4?ɢ,.=) L?i) 2iiS,,;=! B} <Ay B >B B IB BB B B B Cc;B %EE  E E E "E :*E V:VE ZE BE )y<@ @)@Y@bD5VD51yEA;%E9=ٔM&9M"?YM"?=MFyU@qEU;EU>YQ 5e5]x?Q 9e5])] BYm>Q Em:ymݿQ Im@]rDI]:i]H:]ܑ5yuBɮ} A}ܤEjhDNOT Ignoring new targets: 76.54 m.Rh9Zh9 ProNav: ac range: 76.542557 m, nav range: 74.110733 m, bearing: 263.479177 deg, approach rate: -0.518348 m/s, LOS rate: 0.019449 deg/s, cmd heading: 274.426455 deg, new cmd heading: 274.450898 deg. BhU:HeadingCmd: 4.790072 target range: 76.542557 and range: 77.00 m.hEH@h*h"h hgfffŀBdddjdZd:?Bɢ8=) L?i )  K'  i ,DiV6);`^Qԁ g, !?A2ؐ@2@2F?,ٱ2k( :AHRS rotation from veh to nav: [[0.085798,0.982949,0.162632],[-0.996257,0.082920,0.024415],[0.010513,-0.164118,0.986385]]2H?Rt?`?V8:?@#?·?ſv?i2ؐ@I2a;2CYFByFI HHbDNVDNβyV%Vh=ٔZi;Q-Z>9XYX=ZFyZCqE^ ;E>Q 5%5v?Q 9%55)BY)y-ݿQ I-@xDIg:i:q5y1ɮ5 A1UB*** querying acoustic contact ***iQ iQYjhamDNOT Ignoring new targets: 76.54 m.RhmǦ9ZhmǦ9} ProNav: ac range: 76.542557 m, nav range: 73.932175 m, bearing: 263.485793 deg, approach rate: -0.490713 m/s, LOS rate: 0.018226 deg/s, cmd heading: 274.450907 deg, new cmd heading: 274.470803 deg. Bh"H:HeadingCmd: 4.790419 target range: 76.542557 and range: 77.00 m.hK@h*h"h hgfffdddjdZdq?ɢOF=) J?i)ipi];w`Ա i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232267;m,R!?A2▒@2@2 ٱ2( :AHRS rotation from veh to nav: [[0.086534,0.982862,0.162768],[-0.996212,0.083969,0.022585],[0.008531,-0.164106,0.986406]]2H`'?s??~? ? x?oſ࢐?i2▒@I2b;2CYnBynqIԹiMb@Mb@Mb@ 9?T㥛 Mbp?Y?y; A@ )Y@ ;;bDVDNy \% 6=ٔ ;Q- >9aYa=eFyeHqEmY:Em>qQ 5}5us?Q 9}5u4)uBY?Q E:yݿQ I@uDIu;iui:ug5yɮ AjhDNOT Ignoring new targets: 76.54 m.Rh19Zh19 ProNav: ac range: 76.542557 m, nav range: 73.701653 m, bearing: 263.493354 deg, approach rate: -0.515472 m/s, LOS rate: 0.016960 deg/s, cmd heading: 274.470797 deg, new cmd heading: 274.493550 deg. Bh;::HeadingCmd: 4.790816 target range: 76.542557 and range: 77.00 m.h^N@h*h"h hgfffBdddjdZd@2@ɢS+=) _D?i!)%!!i%_&i--;-dB)B-IB-BB)B)B)B-c;B-%EE EE$E"E>:*Ega:VE4ZEBE9 "t,Y!?AY~By~_IbDVDN2y5I%=Y=ٔ=Q-=>9AYA=EFyELqEMEM>QQ 5U5Uq?Q 9]5U)U!BYYyYQ I]@UDIU;iUe;U5yiɮm AijhDNOT Ignoring new targets: 76.54 m.Rhě9Zhě9 ProNav: ac range: 76.542557 m, nav range: 73.513138 m, bearing: 263.499573 deg, approach rate: -0.514724 m/s, LOS rate: 0.017023 deg/s, cmd heading: 274.493555 deg, new cmd heading: 274.512258 deg. Bh::HeadingCmd: 4.791143 target range: 76.542557 and range: 77.00 m.h Q@h*h"h hgfffdddjdZd {@Bɢ^:=) =?i) iri?e; f_U BDAT read: Rx Time:05:52:06.0763 ] TRx dataTimestamp_ set to:1761544327.609527m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991726ԙ Mz,4!?A2s@2A@2nٱ21( :AHRS rotation from veh to nav: [[0.087577,0.982705,0.163162],[-0.996146,0.085602,0.019110],[0.004813,-0.164207,0.986414]]2Hyk?Pr?~?m@ ??s?`ſ?i2s@I2b;2CYbBybZIIf,>)fp;bDpVDpyz»%~N=ٔ9Y = Fy PqE,;E>!Q 5-5%hn?Q 9-5%p)%'BY1y5ܿQ I5@%DI%H%;i%K;%5yEBɮM$ AMۤEjhDNOT Ignoring new targets: 76.54 m.Rh:9Zh:9= ProNav: ac range: 76.542557 m, nav range: 73.308228 m, bearing: 263.506192 deg, approach rate: -0.489935 m/s, LOS rate: 0.015871 deg/s, cmd heading: 274.512270 deg, new cmd heading: 274.532183 deg. BhMF.:UHeadingCmd: 4.791491 target range: 76.542557 and range: 77.00 m.qhS@h*h"h hgfffdddjdZdul @m߀Gu9YABɢ< =) b:?i)];YaiGϡi﾿};#kiU>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2436469@ @ @ 4@^A jZX<B5 >B1 B5 rIB5 BB1 B1 B1 B5 b;B5 %EBЍCBЍCBB' =B' =C4I I E  E E (E "E >:*E ?:VE c44ZE BE a 2E a JE ;a :E ;a O > 4,"?A^.@^@^Lٱ^.' rAHRS rotation from veh to nav: [[0.087667,0.982847,0.162257],[-0.996145,0.085985,0.017375],[0.003126,-0.163154,0.986596]]^HUq?zs?@?`k ? ʑ?@Ui?=Ŀ1?i^.@I^qb;^CEDAT read: 05:52:06.0763 LVL= 32752, 32753, 31282, 32755, AGC= 67, IDX= 418, 0.10, 0.740,-0.685, 1.340, 0.730, PHS= 0.112,-1.370, 0.567, RAW= 163.0, 7.9, CAL= 162.6, 8.1, ROT= 347.4, -8.1 MYgot valid direction response: 05:52:06.0763 LVL= 32752, 32753, 31282, 32755, AGC= 67, IDX= 418, 0.10, 0.740,-0.685, 1.340, 0.730, PHS= 0.112,-1.370, 0.567, RAW= 163.0, 7.9, CAL= 162.6, 8.1, ROT= 347.4, -8.1 UPDAT read: Bearing 79.9, -13.4 (Local) U~Local bearing/azimuth received: Bearing 79.9, -13.4 (Local) eDAT read: Range 11 to 50 : 75.3 m (Round-trip 100.5 ms) speed 0.4 m/s e*DAT read: user:575> mBDAT read: Tx time:05:52:07.1716 m$Ping request sent.m>5@ >)W@IhU/?{v?I? _ @?) It0ai:publishing transmit ping timeiFpublishing direction and range infoy?Bͤ˿:N ?Y )Ii )IhU/?{v?I? )IiYByWIiMb@Mb@Mb@ 9NbX9?Cl绿~jth?Y?y;߽D; A@ @)Y@AAbDVDk1y-%-!=ٔ-Y;Q-5>91Y1=5Fy5UqE=689E=>AQ 5m5Ek?Q 9m5E|)E-BYm?Q Em:yu׿Q Iu@EDIE;iE;E5yyɮ}4 Ayii)"?AJiBRiBjib@b޹R@%*_*0SԠ%@R?Bͤ˿:N ?Zit0abij<X0OORK骉*@ZAoͺ^P.@?2i:i"i6jנ?*i+5BiBiR̠?i+iנBiBiKP@- addTargetRange:: Added new target pos. range: 75.300003 m, deltaT: 3.528431 s, deltaX: -1.699997 m, approachRate: -0.481800 m/s, rangeRepo size: 4 = Added new target pos. range: 74.851852 m, bearing: 263.893146 deg, lat: 36.779443 deg, lon: -121.859773 deg, deltaT: 3.528431 s, deltaX: -1.690704 m, approachRate: -0.479166 m/s, posRepo size: 4 jh9DNOT Ignoring new targets: 74.85 m.RhZh ProNav: ac range: 74.851852 m, nav range: 73.299843 m, bearing: 263.764052 deg, approach rate: 0.000000 m/s, LOS rate: 0.015871 deg/s, cmd heading: 274.532186 deg, new cmd heading: 274.556121 deg. BhHeadingCmd: 4.791908 target range: 74.851852 and range: 75.30 m.hPW@h*h"h hgfffBdddjd@3R@Zd%?IɢM =)I M8?iQ)USQQiUQ#i}-⾿}jr;}d>,C "?A2@2m@2ۺٱ28' :AHRS rotation from veh to nav: [[0.087721,0.982853,0.162186],[-0.996144,0.086276,0.015943],[0.001677,-0.162959,0.986631]]2H t?s??h 1?`kS?z[?@Ŀ{?i2@I2b;0YBeByB'IbDNVDNܲyVz%V=ٔV;Q-V?9XYX=ZFyZXqE^59E^?`Q 5f5b8j?Q 9f5bϲ)b0BYdyf׿Q Ij@bDIb:ibp:bO5ynBɮn{ AnEuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 74.85 m.Rh&*8Zh&*8E EE%E"E:*E&p:VE 4ZEa@a@a@a@ ProNav: ac range: 74.851852 m, nav range: 73.134377 m, bearing: 263.764780 deg, approach rate: -0.527379 m/s, LOS rate: 0.002324 deg/s, cmd heading: 274.556119 deg, new cmd heading: 274.558307 deg. Bh.8HeadingCmd: 4.791946 target range: 74.851852 and range: 75.30 m.hW@h*h"h hgfffdddjdZd@?颅Bԩɢ :=) 7%?i)Dٻ项ii྿;e7׍,R :"?ABʜ@B@B)ٱB ' JAHRS rotation from veh to nav: [[0.087255,0.982852,0.162449],[-0.996186,0.086006,0.014716],[0.000492,-0.163113,0.986607]]BH@WV?s??@?#? E"@?Ŀ`I?iBʜ@IBοb;@YRgByR)I TTi-Mb@Mb@Mb@)))) )9-Q?&1Y-\?y-н-- A-@ ))))Y-@bDMVDM:yU<%U@=ٔ]6;Q-]>9e ?Ye ?=eFye\qEeGEm>iQ 5u5mah?Q 95m$)m4BY?Q E:yԿQ I@mDIm,S"?A2f@24@2:ٱ2% :AHRS rotation from veh to nav: [[0.087086,0.983154,0.160698],[-0.996200,0.086159,0.012741],[-0.001319,-0.161197,0.986921]]2H@K?u?`‘?@??U@Ŀܔ?i2f@I2b;2C@YFcByJ%I Rp9\Y`=bFyb`qEb0Eb>dQ 5j5ff?Q 9j5f۾)f7BYlynԿQ In@fDIf;ifH;fן5ypɮr Atjh DNOT Ignoring new targets: 74.85 m.RhZh% ProNav: ac range: 74.851852 m, nav range: 72.674568 m, bearing: 263.758149 deg, approach rate: -0.600538 m/s, LOS rate: -0.008661 deg/s, cmd heading: 274.547787 deg, new cmd heading: 274.538351 deg. Bh-6-HeadingCmd: 4.791598 target range: 74.851852 and range: 75.30 m.h-T@h1*h1"h1 h1g1f1ffdddjdZd`~?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250590=Bɢ=ŗ&=)9 =X#?iA)E)AAiEViMR쾿M;M}b tꚈ,m"?AJ%@J@J!;ٱJT% VAHRS rotation from veh to nav: [[0.086325,0.983235,0.160612],[-0.996264,0.085596,0.011468],[-0.002472,-0.161002,0.986951]]JHf? v?@?e?`|??d@Ŀ`?iJ%@IJc;JCYb\BybIlbDjVDjyv!%vG=ٔv7;Q-v>9xYx=zFyzdqE~E~>Q 5 5d?Q 9 5):BY y ԿQ I@DI:i:5yɮ AjhAEDNOT Ignoring new targets: 74.85 m.RhMZhM] ProNav: ac range: 74.851852 m, nav range: 72.440666 m, bearing: 263.754906 deg, approach rate: -0.568879 m/s, LOS rate: -0.007913 deg/s, cmd heading: 274.538361 deg, new cmd heading: 274.528601 deg. Bh]ŭeHeadingCmd: 4.791428 target range: 74.851852 and range: 75.30 m.heaS@ha*ha"ha higifififidqdqdqjdyZd}`k?颥Bɢ=) 4?i)H顩ii񾿉;CY1B- <A) B- >B) B- .IB- kBB) B) B- aDB- b;B- %Ea E  E E "E "E :*E g:VE (3ZE BE #)>ieMb@Mb@Mb@aaaa a9ex?zGếMb`?YeK?ye ׽e;e Ae@ e@)e@aYabD}VD}y' %'=ٔ &;Q->9Y=FyiqEIE>Q 55b?Q 95)>BY?Q E:y8ԿQ I@DIi ;i ;ǣ5yɮ AjhDNOT Ignoring new targets: 74.85 m.Rh?Zh? ProNav: ac range: 74.851852 m, nav range: 72.146797 m, bearing: 263.749813 deg, approach rate: -0.599844 m/s, LOS rate: -0.010437 deg/s, cmd heading: 274.528607 deg, new cmd heading: 274.513267 deg. Bh8HeadingCmd: 4.791161 target range: 74.851852 and range: 75.30 m.h0Q@h*h "h  h g f ffIBdddjdZdR!@aBɢ =)A EK?iA)EAIiMiMUw;U_VԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258392 F,z"?A6e@63@6ӟ;ٱ6s$ >AHRS rotation from veh to nav: [[0.085017,0.983465,0.159903],[-0.996368,0.084700,0.008812],[-0.004877,-0.160071,0.987093]]6H`õ?`x?w?@> ޮ? ?`^s4}ĿE?i6e@I6c;6C D)FkAFFLFDHJkAiJ+IHHILiNkA N㥽L)LP PR94PPTTIT)TiT)Z@CIZkAZ@X XXZkA^ 0i^HF\i\`)` `I`Y`YfMByf IllbDrVDr0yz,%z=ٔzMo;Q-~ ?9|Y|=~FylqEE ? Q 55 Wa?Q 95 ) ABYyQԿQ I@ DI ;i ; +5y%Bɮ%S A%EEB*** querying acoustic contact ***iA iAjhIUDNOT Ignoring new targets: 74.85 m.RhUI9ZhUI9e ProNav: ac range: 74.851852 m, nav range: 71.955444 m, bearing: 263.746589 deg, approach rate: -0.599305 m/s, LOS rate: -0.010124 deg/s, cmd heading: 274.513280 deg, new cmd heading: 274.503582 deg. BhmX޹mHeadingCmd: 4.790991 target range: 74.851852 and range: 75.30 m.hmO@hq*hq"hq hqgqfqfyfydyddjdZd@E EE$E"E:*E:VE4ZEa@a@a@a@Թ颕 Bɢe+=) e?i)顡i-ƨi7 ;.[N= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764833I %,V"?A2Z@2(~@2Œ;ٱ2;$ :AHRS rotation from veh to nav: [[0.084160,0.983471,0.160320],[-0.996434,0.084035,0.007569],[-0.006029,-0.160385,0.987036]]2H`}?x?^?@T? ?xĿ̕?i2Z@I2qc;0Y%OBy% IiMb@Mb@Mb@ 9^I +?J +9Y=FyqqEE> Q 55 _?Q 95 ) EBYf?Q E:yvҿQ I%@ DI 2;i g1; 5y)ɮ-E A)jhQUDNOT Ignoring new targets: 74.85 m.Rh]ОZh]Оm ProNav: ac range: 74.851852 m, nav range: 71.690620 m, bearing: 263.739032 deg, approach rate: -0.605929 m/s, LOS rate: -0.017356 deg/s, cmd heading: 274.503582 deg, new cmd heading: 274.480825 deg. Bhm>uHeadingCmd: 4.790594 target range: 74.851852 and range: 75.30 m.hL@h*h"h hgfff:BdddjdZdN@B>BύCBIBVBB( =BBB c;B%Em!Bɢmw=)q u?iy)mi@i: l;XHY ,0"?A2}@2x@2r;ٱ2"$ :AHRS rotation from veh to nav: [[0.083503,0.983550,0.160177],[-0.996481,0.083584,0.006245],[-0.007246,-0.160135,0.987069]]2H@q`?=y?ీ?,e? y?B} PĿ?i2}@I2ac;2CYKByIbD-VD-y=%EW=ٔEQ;Q-E>9AYI=MFyMtqEMEM>QQ 5]5UC^?Q 9e5U)UIBYayeҿQ Ie@UDIU ;iU;U5yiɮua Aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266949jhIMDNOT Ignoring new targets: 74.85 m.RhUQZhUQe ProNav: ac range: 74.851852 m, nav range: 71.459816 m, bearing: 263.732522 deg, approach rate: -0.576729 m/s, LOS rate: -0.016318 deg/s, cmd heading: 274.480823 deg, new cmd heading: 274.461232 deg. Bhe.3mHeadingCmd: 4.790252 target range: 74.851852 and range: 75.30 m.hmI@hi*hi"hi hiqgqfyfyfydddjdZdLi @颵#BɢvK=) .?i)kP项ifimL^;TE  BDAT read: Tx time:05:52:10.7716  $Ping request sent. ?Y B z ) DI X9=i G ~ ? |> ּ5@ ">) @I " #F"?h'>dK?Y@]c? Y@?) ˵I bi "  :publishing transmit ping time  Fpublishing direction and range infoy  ?SpB˿@\~>?Y ) I i ) I #F"?h'>dK?Y@]c? ) I i A ؟AI I  O >8,w"?AB(x@Br@BҲ <ٱBBl$ NAHRS rotation from veh to nav: [[0.082796,0.983635,0.160023],[-0.996531,0.083083,0.004910],[-0.008465,-0.159874,0.987101]]BH`%2?y?{?D?t?LVvĿU?iB(x@IBYd;@Y=OBy= IbDU VDU2y<%B=ٔ=;Q->9"?Y"?=FyyqE ܺE>Q 55\?Q 95l)NBYyҿQ I@DIB:i:5yɮ? Aii|+"?AJiBRiBjiNB@b]t-ϋQ@1/$9) '@R?SpB˿@\~>?Zibbi"jm1~sQt*@ZHĻoZE㞳a?2ie:i"iAo ?*ie!6BiBiiO1+iBikBiJ@ addTargetRange:: Added new target pos. range: 73.300003 m, deltaT: 3.531358 s, deltaX: -2.000000 m, approachRate: -0.566354 m/s, rangeRepo size: 4  Added new target pos. range: 72.861732 m, bearing: 263.666238 deg, lat: 36.779443 deg, lon: -121.859773 deg, deltaT: 3.531358 s, deltaX: -1.990120 m, approachRate: -0.563557 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 72.86 m.RhZh5 ProNav: ac range: 72.861732 m, nav range: 71.209312 m, bearing: 263.725874 deg, approach rate: 0.000000 m/s, LOS rate: -0.016318 deg/s, cmd heading: 274.461234 deg, new cmd heading: 274.440952 deg. Bh1=HeadingCmd: 4.789898 target range: 72.861732 and range: 73.30 m.h=F@h9*h9"h9 h9gAfAfAfAdididijdu@3SR@Zdu,?$Bɢv=) ?i),B/i4i$;@B ͍CB IB GBB - =B B _DB hc;B %E^Ae /C<E}  E} E} &Ey "E} ;*E} z:VE} 4ZEy BE} A8ˆ,Q #?AFm@Fph@Fa<ٱF~G% NAHRS rotation from veh to nav: [[0.081516,0.983594,0.160927],[-0.996628,0.081965,0.003855],[-0.009398,-0.160699,0.986959]]FH3޴?y?A?_?oo?Y?őĿ*?iFm@IF\d;FCYZBByZIi5Mb@Mb@Mb@1111 195K?~jt:v?Y5^?y5Ľ5T<5A5@ 1)5 @1Y5\@bDVD:yD%H=ٔ;Q->9Y=Fy}qENE>Q 55+[?Q 95)RBYX?Q E:y ҿQ I@DI:i:]5yɮ Ajh  DNOT Ignoring new targets: 72.86 m.RhZh% ProNav: ac range: 72.861732 m, nav range: 70.960823 m, bearing: 263.718104 deg, approach rate: -0.629058 m/s, LOS rate: -0.019737 deg/s, cmd heading: 274.440962 deg, new cmd heading: 274.417573 deg. Bh%X-HeadingCmd: 4.789490 target range: 72.861732 and range: 73.30 m.h-C@h)*h1"h1 h1g1f1f9f=Bd9d9dAjdAZdEEo?u%Bɢu_ =)q u=?iq)}yyi}>櫼ig1N;xb4Ae>Q I9 II OU >YȈ,G##?A 6d@6_@6ܒ(<ٱ6Y% >AHRS rotation from veh to nav: [[0.080438,0.983660,0.161070],[-0.996707,0.081045,0.002811],[-0.010289,-0.160765,0.986939]]6H ?#z?@? @U?g? CĿ@?i6d@I6#d;4YFHByJIIN%=)N;bDvVDv2y<%W=ٔ;Q-%>9!Y!=-Fy-qE-9E5>AQ 5M5EY?Q 9U5E)EWBYaymCҿQ Im@EDIE۽;iE;E 5y}Bɮ} AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 72.86 m.RhZh ProNav: ac range: 72.861732 m, nav range: 70.726578 m, bearing: 263.710934 deg, approach rate: -0.594184 m/s, LOS rate: -0.018248 deg/s, cmd heading: 274.417576 deg, new cmd heading: 274.395994 deg. Bh`HHeadingCmd: 4.789114 target range: 72.861732 and range: 73.30 m.hk@@h*h"h hgfffd d d jd Zd?E EE'E"E:*E|:VE'4ZEa%@a%@a%@a%@'Bɢ=5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.) Et?iIq)a顉iZi=;=R+i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251985sΈ,<#?A2^@2cY@24<ٱ2% :AHRS rotation from veh to nav: [[0.079683,0.983663,0.161423],[-0.996760,0.080412,0.002021],[-0.010992,-0.161061,0.986883]]2Hf? +z??`t@啴?`?  Ŀ?i2^@I2-c;2CYFNByF ILiMb@Mb@Mb@ 9 ףp= ?bX9ȶMb?YQ?yE< A @) @YG@bDVD1y<%@=ٔ:Q->9Y=FyqEE>Q 55iX?Q 95)\BY?Q E:yѿQ I@DI:i:䯋5yɮ] AjhDNOT Ignoring new targets: 72.86 m.RhhٹZh%hٹ- ProNav: ac range: 72.861732 m, nav range: 70.472511 m, bearing: 263.701159 deg, approach rate: -0.615280 m/s, LOS rate: -0.023759 deg/s, cmd heading: 274.395992 deg, new cmd heading: 274.366560 deg. Bh5q=HeadingCmd: 4.788600 target range: 72.861732 and range: 73.30 m.h=6<@h9*h9"h9 h9g9fAfAfEIBdAdIdIjdIZdM ?}(Bɢ}k!=)y ?i)顁iZiNLI;.)B]ˍCB]IB]BBB]0 =BYB]^DB]c;B]%EBύCB΍CBÕCB( =B* =C{6}9@y @y@}4@yE EE#E"E:*EL_:VE3ZEBE(! jՈ,=V#?A6W@6UR@6:9<ٱ6& BAHRS rotation from veh to nav: [[0.078824,0.983672,0.161791],[-0.996824,0.079615,0.001602],[-0.011305,-0.161404,0.986824]]6H@-?=z?@?@@a?>Z?8'Ŀ`?i6W@I6b;6CY^WBybIbDjVDj0yr3=%rZ=ٔrZ:Q-r>9tYt=vFyvqEz=Ez>|xQ 55z4W?Q 9 5z)z`BY y *ѿQ I @zDIz4;iz5;z5yɮ AjhAEDNOT Ignoring new targets: 72.86 m.RhM ѹZhM ѹ] ProNav: ac range: 72.861732 m, nav range: 70.246849 m, bearing: 263.692572 deg, approach rate: -0.598707 m/s, LOS rate: -0.022854 deg/s, cmd heading: 274.366568 deg, new cmd heading: 274.340726 deg. Bh]zeHeadingCmd: 4.788149 target range: 72.861732 and range: 73.30 m.he8@ha*hi"hi higififqfqdqdqdqjdyZd}y(?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752747颵)Bɢ)=) ?i)~lii\]Zq;Р#U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004666ԁ #ۈ,p#?AY~VBy~I bDVDy%%%F=ٔ%Q-->9)Y)=-Fy-qE5E5>9Q 5E5=U?Q 9E5=8)=eBYAyIQ IM@=DI= :i=:=U5yQɮU! AQYjhyDNOT Ignoring new targets: 72.86 m.RhӹZhӹ ProNav: ac range: 72.861732 m, nav range: 69.998917 m, bearing: 263.683074 deg, approach rate: -0.602307 m/s, LOS rate: -0.023155 deg/s, cmd heading: 274.340723 deg, new cmd heading: 274.312129 deg. Bh@~HeadingCmd: 4.787650 target range: 72.861732 and range: 73.30 m.hm4@h*h"h hgfffdddjdZd ^@+Bɢ#=) l?i)_.޹inޮim;+,BU ۾>BU ʍCBU IBU GBBQ BU FDBU \DBU c;BU %EE  E E E "E غ:*E V:VE ZE BE 9Y=FyqE9E>Q 55T?Q 95 )jBY?Q E:yοQ I@DI:i3:85y ɮ Ajhq}DNOT Ignoring new targets: 72.86 m.Rh}Zh ProNav: ac range: 72.861732 m, nav range: 69.743774 m, bearing: 263.669470 deg, approach rate: -0.580343 m/s, LOS rate: -0.031056 deg/s, cmd heading: 274.312118 deg, new cmd heading: 274.271157 deg. BhHeadingCmd: 4.786935 target range: 72.861732 and range: 73.30 m.h.@h*h"h hgfffqBdddjdZd@颽-Bɢ'#=) ?i)j9i:i" #; "7/,|}#?Ab1[@bU@b9<ٱbԂ) vAHRS rotation from veh to nav: [[0.079270,0.983078,0.165150],[-0.996789,0.080052,0.001929],[-0.011324,-0.164773,0.986267]]bH K?@_u?#?E~?_? @1Dſ~?ib1[@Ib`;`Y hBy +IbEeJ4jEe#4rEeI"0E- E-E-&E)"E-:*E-[:VE-4ZE)a=@a=@a=@a=@bD%VD%:yM<%MU=ٔU5{:Q-U>9QYQ=UFyUqE]TX:E]>aQ 5m5e T?Q 9m5e)enBYqyuοQ Iu@eDIe:ie:e涋5y}Bɮ} A}EB*** querying acoustic contact ***i ijhAEDNOT Ignoring new targets: 72.86 m.RhM ZhM } ProNav: ac range: 72.861732 m, nav range: 69.516838 m, bearing: 263.657222 deg, approach rate: -0.572251 m/s, LOS rate: -0.030986 deg/s, cmd heading: 274.271164 deg, new cmd heading: 274.234300 deg. Bh}HeadingCmd: 4.786292 target range: 72.861732 and range: 73.30 m.hM)@h*h"h hgfffdddjdZd@| @BDAT read: Rx Time:05:52:13.2705 TRx dataTimestamp_ set to:1761544334.668333 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013897/Bɢ_76=)! %?i!)%":!!i%Fi-5-G0;5^'EA > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266708Ա A I I) O= >,,#?AF^@FvY@F*E<ٱF) NAHRS rotation from veh to nav: [[0.079691,0.983036,0.165198],[-0.996747,0.080584,0.001300],[-0.012034,-0.164764,0.986260]]FHf? u?3%?Y(?NU?8ſ`p?iF^@IFl`;FCYVlByV0IIZN>)Zp;i=Mb@Mb@Mb@9999 99= rh?Q뱿9iYi=mFymqEmC:Em>yQ 5}5}IS?Q 95})}sBY ?Q E:y,οQ I@}DI}:i}]:}5yɮ AjhDNOT Ignoring new targets: 72.86 m.Rh`Zh` ProNav: ac range: 72.861732 m, nav range: 69.293953 m, bearing: 263.644157 deg, approach rate: -0.581188 m/s, LOS rate: -0.034179 deg/s, cmd heading: 274.234308 deg, new cmd heading: 274.194986 deg. BhHeadingCmd: 4.785605 target range: 72.861732 and range: 73.30 m.h#@h*h"h hgfff|BdddjdZd` ! @额0Bɢc8=) ?i)-:顡iEli;!Ti>ԑB˾>BȍCBIBQBB. =BB[DB}c;B%EEe EeEaEa"Ee:*Eex:VEaZEaBEe3 }BDAT read: Tx time:05:52:14.3716 }$Ping request sent.}i#۩?6@=5@ Ϣ=)r@IϢsm ?z)?On?  'B?)IfiϢ:publishing transmit ping timeyFpublishing direction and range infoy֚h?z$z^̿rjƹI?Y )Ii )Ism ?z)?On? )Ii^A0:D<A I! I1 O= > ,#?A2_@2vZ@2T<ٱ2t ) :AHRS rotation from veh to nav: [[0.079812,0.983074,0.164911],[-0.996725,0.080861,0.000351],[-0.012989,-0.164399,0.986308]]2H@n?Wu??,@Q?p7?@/ ſ֏?i2_@I2_;2CYNsByR8ITV@AbDZVDZ02ybH =%bU=ٔf#;Q-f>9dYd=jFyjqEj9Ej>|Q 5%5~R?Q 9%5~n)~wBY!y%(οQ I-@~DI~(:i~_:~\5y1ɮ5S A1iQiUa#?AJiU"BRiU"BjiUQ@bU[rrQ@vcG/wK9 @RU֚h?z$z^̿rjƹI?ZiUfbiUϢjU{i !8~TQ }$@ZU`﾿G-o 8?2iU:iUn"iU?*iU;<BiUBiUAo ?iU+5iUBiUBiU(4@ addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 3.528375 s, deltaX: -2.300003 m, approachRate: -0.651859 m/s, rangeRepo size: 4  Added new target pos. range: 70.567482 m, bearing: 262.987878 deg, lat: 36.779442 deg, lon: -121.859777 deg, deltaT: 3.528375 s, deltaX: -2.294250 m, approachRate: -0.650229 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 70.57 m.Rh Zh = ProNav: ac range: 70.567482 m, nav range: 69.467758 m, bearing: 263.567278 deg, approach rate: 0.000000 m/s, LOS rate: -0.034179 deg/s, cmd heading: 274.194994 deg, new cmd heading: 274.153832 deg. Bh9EHeadingCmd: 4.784887 target range: 70.567482 and range: 71.00 m.hE@hA*hA"hA hAgIfIfIfIdQdqdqjduQ@Zd} ,?2Bɢ7=) x ?i)o:imHiu?ȿu;uݫ^8;Q-f>9j ?Yj ?=jFyjqEj{:En>pQ 5v5rQ?Q 9v5r@#)r{BYtyvοQ Iv@r#DIr:ir:r5y|ɮ~A A|jh!%DNOT Ignoring new targets: 70.57 m.Rh-Zh-= ProNav: ac range: 70.567482 m, nav range: 69.246796 m, bearing: 263.553898 deg, approach rate: -0.570492 m/s, LOS rate: -0.034655 deg/s, cmd heading: 274.153821 deg, new cmd heading: 274.113553 deg. Bh=EEHeadingCmd: 4.784184 target range: 70.567482 and range: 71.00 m.hE @hA*hA"hA hIgIfIfIfIdQdQdQjdYZd]?颅4Bɢ9MF=)  ?i)M;顉ipiF߿2T;}qB ÍCB 'IB fBB 2 =B B VDB Vc;B %EA ԩ I I O >Ee  Ee Ee #Ea "Ee :*Ee H:VEe 3ZEa BEe 9Y=FyqE# ;E>Q 55 Q?Q 95V))BY?Q E:yFοQ I@+DI ;i? ;5yɮ Ajh  DNOT Ignoring new targets: 70.57 m.RhZh% ProNav: ac range: 70.567482 m, nav range: 69.015884 m, bearing: 263.540114 deg, approach rate: -0.533100 m/s, LOS rate: -0.031929 deg/s, cmd heading: 274.113550 deg, new cmd heading: 274.072060 deg. Bh%M-HeadingCmd: 4.783460 target range: 70.567482 and range: 71.00 m.h-@h)*h)"h) h)g)f1f1f5Bd9d9d9jd9ZdE *[?m6Bɢm;=)q |$?i)+;iDi%Q;%Tȃ,%$?AJu@Jo@J2<ٱJ& RAHRS rotation from veh to nav: [[0.082405,0.983152,0.163161],[-0.996456,0.084052,-0.003209],[-0.016869,-0.162319,0.986594]]JH`x? u?@x? s??Ij FĿ.?iJu@IJ $_;JCYZ}By^DI f;f;bDfVDfܲlyr(%rX=ٔvt;Q-v>9v"?Yv"?=vFyvqEz7;Ez>|Q 55~]P?Q 95~.)~BY y %οQ I @~1DI~N:i~:~5yɮ AE% E%E%&E!"E%:*E%&p:VE%4ZE!a-@a-@a-@a-@jhQ]DNOT Ignoring new targets: 70.57 m.Rh]Zh]m ProNav: ac range: 70.567482 m, nav range: 68.814232 m, bearing: 263.527832 deg, approach rate: -0.529351 m/s, LOS rate: -0.032337 deg/s, cmd heading: 274.072050 deg, new cmd heading: 274.035094 deg. BhmuHeadingCmd: 4.782815 target range: 70.567482 and range: 71.00 m.hu @h*h"h hgfffdddjdZd ?u8BɢuvB=)y }p"?iy)}#M;yyi}H´i( 8;dl",{?$?AN@N{@N<ٱNǥ$ VAHRS rotation from veh to nav: [[0.083824,0.983369,0.161116],[-0.996297,0.085809,-0.005390],[-0.019126,-0.160067,0.986921]]NHyu?w?q?`?v`}Ŀڔ?iN@IN_;NCYzBy~SI1iMb@Mb@Mb@ 9?㥛 y&1?Yf?y`e<G A@ @)Y(@bDVDfyM^=%>=ٔ;Q->9Y=FyqEY;E>Q 55pO?Q 954)BYM?Q EU:yU:ϿQ IU@8DIBCB4IBpBBB =BBSDBA > A I I O >8l,ZZ$?A>4@>@> 2<ٱ>4$ FAHRS rotation from veh to nav: [[0.085219,0.983292,0.160858],[-0.996141,0.087488,-0.007063],[-0.021018,-0.159636,0.986952]]>Hе?w?@? be?S|@م nĿ?i>4@I>W%`;<Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256018YRByVTIIZ>)Z>bD^VD^N2hyf;%jL=ٔn;Q-n>9lYl=nFynqErHe;Er>tQ 5z5vN?Q 9z5v9:)vBYxy~ ϿQ I~@v?DIvI;iv:vIË5yɮ Ajh)-DNOT Ignoring new targets: 70.57 m.Rh5pZh5pE ProNav: ac range: 70.567482 m, nav range: 68.374657 m, bearing: 263.503682 deg, approach rate: -0.596082 m/s, LOS rate: -0.033318 deg/s, cmd heading: 273.997984 deg, new cmd heading: 273.962399 deg. BhEMHeadingCmd: 4.781546 target range: 70.567482 and range: 71.00 m.hMm@hI*hI"hQ hQgQfQfQfYdYdYdYjdYZdeY@颍=BɢZ=) &?i)7;顑i,Oi5"; Q ] 6Gu (hA 9 (hAY \A,t$?A2;@2 @29XY\=^Fy^qE^^;Eb>`Q 5f5bM?Q 9j5b?)bBYhyjοQ Ij@bFDIb:ib:bŋ5ylɮr Apjh DNOT Ignoring new targets: 70.57 m.Rh  Zh % ProNav: ac range: 70.567482 m, nav range: 68.164474 m, bearing: 263.491660 deg, approach rate: -0.528561 m/s, LOS rate: -0.030326 deg/s, cmd heading: 273.962412 deg, new cmd heading: 273.926235 deg. Bh%-HeadingCmd: 4.780915 target range: 70.567482 and range: 71.00 m.h-A@h)*h)"h) h)g)f1f1f1d1d99dAjdAZdE@?BɢgK=)! %'?i!)%;!!i%i-iJ-#;-uBCB@IBzBB; =BBTDBb;BX%EBÍCBčCBǘCB2 =B6 =CǞ 7^A<D zD ?AE  E E "E "E :*E VL:VE (3ZE BE a e BDAT read: Rx Time:05:52:16.8679 m TRx dataTimestamp_ set to:1761544338.196121m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012972sw#,;$?A2a@2/@2x<ٱ2N# >AHRS rotation from veh to nav: [[0.087175,0.983188,0.160443],[-0.995852,0.090220,-0.011778],[-0.026056,-0.158751,0.986975]]2H!Q?`Fv?h?`?`ASQĿ L?i2a@I2mb;0YFByFUIiMb@Mb@Mb@ 9%C?x&y&1?YZ?y7 A )AYz@bDmVDm2y}v%>=ٔ5;Q->9Y=FyqE:E>ԙQ 55M?Q 95E)BY?Q E:yͿQ I@MDI+;i;Ƌ5yɮ AjhDNOT Ignoring new targets: 70.57 m.Rh ;Zh ; ProNav: ac range: 70.567482 m, nav range: 67.940567 m, bearing: 263.476902 deg, approach rate: -0.513056 m/s, LOS rate: -0.033929 deg/s, cmd heading: 273.926239 deg, new cmd heading: 273.881818 deg. BhG%HeadingCmd: 4.780139 target range: 70.567482 and range: 71.00 m.h%@h!*h!"h) h)g)f)f)f5Bd1d1d9jd9Zd= l @eBBɢm$I=)i m$?ii)m!;qqiui}c}2;} 8),c$?AE& E&E&'E$"E&:*E&g:VE&'4ZE$a*@a*@a*@a*@Fa@F/@Ft<ٱFri& NAHRS rotation from veh to nav: [[0.087534,0.982629,0.163640],[-0.995753,0.091012,-0.013864],[-0.028516,-0.161731,0.986423]]FHh?@q?'?5L?dK3Ŀ`Ɛ?iFa@IF]c;FCYVByVII XXbDbVDb02yjP%jV=ٔj_;Q-j>9lYl=nFynqErk{:Er>tQ 5z5vL?Q 9z5vJ)vBYxyzͿQ Iz@vSDIv :ivF:vȋ5yɮ Ajh)-DNOT Ignoring new targets: 70.57 m.Rh5!Zh5!E ProNav: ac range: 70.567482 m, nav range: 67.742081 m, bearing: 263.463650 deg, approach rate: -0.527742 m/s, LOS rate: -0.035337 deg/s, cmd heading: 273.881816 deg, new cmd heading: 273.841944 deg. BhEºMHeadingCmd: 4.779444 target range: 70.567482 and range: 71.00 m.hM4@hI*hI"hI hIgQfQfQfQdYdYdYjdaZde  @=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519054颍DBɢXN=) ?i);iW3izU; i]>9@ @ @ @ 1Q^Am ] e BDAT read: Tx time:05:52:17.9716 m $Ping request sent.m  ^direction in FSK: [0.965159,-0.201632,0.166769] :publishing transmit ping timei % Fpublishing direction and range infoy  1??ɿ8_X?Y B  80,?$?A)@Ij=i1>D5@">{4@ +>)x@I+3av?B +?ܽ+? ;?) "I4Ri+::publishing transmit ping time:Fpublishing direction and range infoy1??ɿ8_X?Y )IiE@Eh@EW<ٱE%) )I3av?B +?ܽ+?BBCB:IBuBB? =BBBb;B\%E AHRS rotation from veh to nav: [[0.087556,0.982085,0.166865],[-0.995687,0.091436,-0.015700],[-0.030677,-0.164771,0.985855]]EH j?9Y=FyqEa8E>Q 55SK?Q 95Q)BY?Q E-:y-пQ I5@\DI;i;ʋ5y=Bɮ=+ A=Eii$?AJi#BRi#Bji@b2~P@R)ʦ+&@R1??ɿ8_X?Zi4Rbi+j7{_تPsp '@Zgaﵿ֨^zltLׁ?2i:i"i$B6\?*ir<BiBi6jנ?ie!6iBiBiA@  addTargetRange:: Added new target pos. range: 69.000000 m, deltaT: 3.781471 s, deltaX: -2.000000 m, approachRate: -0.528895 m/s, rangeRepo size: 4  Added new target pos. range: 68.569260 m, bearing: 265.013418 deg, lat: 36.779444 deg, lon: -121.859778 deg, deltaT: 3.781471 s, deltaX: -1.998222 m, approachRate: -0.528425 m/s, posRepo size: 4 jhEDNOT Ignoring new targets: 68.57 m.RhEZhAU ProNav: ac range: 68.569260 m, nav range: 67.493736 m, bearing: 263.661836 deg, approach rate: 0.000000 m/s, LOS rate: -0.035337 deg/s, cmd heading: 273.841955 deg, new cmd heading: 273.786191 deg. BhQ]HeadingCmd: 4.778471 target range: 68.569260 and range: 69.00 m.h];@ԁh*h"h hgfffBdddjd@Q@ZdA?%HBɢ%0=)) - ?i))-;))i-zi5~5;=}6,M$?A6@6Ř@6/}=ٱ6ɏ+ BAHRS rotation from veh to nav: [[0.087352,0.981750,0.168928],[-0.995645,0.091587,-0.017431],[-0.032584,-0.166669,0.985474]]6H\? j? m?Q@@r?bّ@䮠`lUſ`?i6@I6'b;6CYJqByJ6IbDRVDRyZPн%Z=ٔ^;Q-^?9\Y`=bFybqEb(Eb?dQ 5j5fJ?Q 9j5fU)fBYlyn"пQ In@faDIf:if:f!̋5ypɮr At-B*** querying acoustic contact ***i) i)jh9=DNOT Ignoring new targets: 68.57 m.RhEZhEU ProNav: ac range: 68.569260 m, nav range: 67.334305 m, bearing: 263.654314 deg, approach rate: -0.542123 m/s, LOS rate: -0.025638 deg/s, cmd heading: 273.786193 deg, new cmd heading: 273.763574 deg. BhUŒ]HeadingCmd: 4.778076 target range: 68.569260 and range: 69.00 m.h]@hY*hY"hY hYgafafafadddjdZd?]JBɢ]T\=)Y ]?aia)2;顁iiqO<+vAm>ԹIIO > <,x$?A2@2@2 Y =ٱ2+ :AHRS rotation from veh to nav: [[0.087466,0.981793,0.168619],[-0.995570,0.092014,-0.019339],[-0.034502,-0.166181,0.985491]]2H $d?j?R?@>?`͓;`kEſ`%?i2@I2gc;2CY^uByb;IIf4=)fR=bDj VDj2yr<%rH=ٔv2;Q-v>9tYx=~FyeqEm9Em>qQ 5}5uI?Q 9}5u[)uBYyпQ I@uhDIu;iu;u͋5yɮ AjhDNOT Ignoring new targets: 68.57 m.RhDZhD ProNav: ac range: 68.569260 m, nav range: 67.116859 m, bearing: 263.643980 deg, approach rate: -0.520887 m/s, LOS rate: -0.024837 deg/s, cmd heading: 273.763572 deg, new cmd heading: 273.732467 deg. Bh\HeadingCmd: 4.777533 target range: 68.569260 and range: 69.00 m.h@h*h"h hgfffdddjdZd?LBɢ"E=) g?i)% ;!!i%hi-8-t<-K~BMÍCBM4IBMpBBM8 =BIBMWDBMb;BMi%E^AIyIO>) E5  E5 E5 "E1 "E5 :*E5 H:VE5 (3ZE1 BE5 aC, _%?A6@6ޕ@6}=ٱ6, BAHRS rotation from veh to nav: [[0.086989,0.981572,0.170147],[-0.995559,0.091827,-0.020760],[-0.036001,-0.167585,0.985200]]6HD?@ i?^??An`nsſ@†?i6@I6hc;6CYJoByN3IiEMb@Mb@Mb@AAAA A9E}?5^I?Dl~jt?YAyEOED9Y=FyqEME>Q 55H?Q 95Ka)BY?Q E:yeοQ I@oDI;i;ϋ5yɮ A!jhamDNOT Ignoring new targets: 68.57 m.Rh Zh  ProNav: ac range: 68.569260 m, nav range: 66.901955 m, bearing: 263.631212 deg, approach rate: -0.502684 m/s, LOS rate: -0.029961 deg/s, cmd heading: 273.732480 deg, new cmd heading: 273.694055 deg. Bh~HeadingCmd: 4.776863 target range: 68.569260 and range: 69.00 m.hܘ@h*h"h hgfffBdddjdZdU?)mOBɢm9=)q u?iq)u8;qqiu-i}/}<E=  E= E= $E9 "E= g:*E= .:VE= 4ZE9 aE @aE @aE @aE @J,/*%?A02Ö@2@2=ٱ2x- >AHRS rotation from veh to nav: [[0.086462,0.981445,0.171145],[-0.995557,0.091549,-0.022044],[-0.037303,-0.168479,0.984999]]2Hc"?g??`o?`X@ſ?i2Ö@I2&c;2CYFgByF)IbDRVDRNyV,%VX=ٔZh;Q-Z>9hYp=rFyrqEr为Ev>tQ 5z5v"H?Q 9~5vPf)vBYyy}uοQ I}@vuDIvzP,D%?A`Bv>BvCBv!IBv`BBv6 =BtBvVDBvb;BvK%E $@ @ DU=ٱ 1 AHRS rotation from veh to nav: [[0.084680,0.980985,0.174634],[-0.995649,0.090146,-0.023596],[-0.038890,-0.171876,0.984351]] H`?`;d?eZ?@[?)`_飿`ƿ?i $@I b; CY-[By5I 99iMb@Mb@Mb@ 9 r?#~jMb?Y?y㥽<A )Y\@bD-VD-Jy=N%=3=ٔ=d;Q-=>9AYA=EFyEqEMEM>QQ 5]5UF?Q 9]5Uwl)UBY]E?Q Ee:ye7ѿQ Ie@U|DIU:iU:UfӋ5yiɮm` AqjhDNOT Ignoring new targets: 68.57 m.Rh ϹZh Ϲ ProNav: ac range: 68.569260 m, nav range: 66.477303 m, bearing: 263.610280 deg, approach rate: -0.548575 m/s, LOS rate: -0.022626 deg/s, cmd heading: 273.660026 deg, new cmd heading: 273.631066 deg. BhqxHeadingCmd: 4.775763 target range: 68.569260 and range: 69.00 m.h Ә@h*h"h hgfffBdddjdZd=@E EE#E"E:*EA:VE3ZEBE7 <顙ifi9|<r W,G]%?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.467346f~@fx@fp"=ٱf3 nAHRS rotation from veh to nav: [[0.083456,0.980723,0.176684],[-0.995722,0.089123,-0.024370],[-0.039647,-0.173895,0.983966]]fH g]?@b??@ж?`L-Bƿ|?if~@IfVb;dYvUByvI |~bDVDky%`=ٔ;Q->!9!Y!=%Fy%qE-[E->1Q 5=55E?Q 9=55xq)5BYAyE[ѿQ IE@5DI5{;i5U;5Ջ5yM BɮM AMEmB*** querying acoustic contact ***ii iijhq}DNOT Ignoring new targets: 68.57 m.Rh}Zh ProNav: ac range: 68.569260 m, nav range: 66.286789 m, bearing: 263.602582 deg, approach rate: -0.519535 m/s, LOS rate: -0.021051 deg/s, cmd heading: 273.631066 deg, new cmd heading: 273.607908 deg. Bh'gHeadingCmd: 4.775359 target range: 68.569260 and range: 69.00 m.hϘ@h*h"h hgfffdddjdZd@}XBɢ}<=)y }>iy)n<顁i*ix9<Q],@w%?AF|r@FKm@F/$=ٱF7 NAHRS rotation from veh to nav: [[0.082043,0.980057,0.180988],[-0.995816,0.087948,-0.024829],[-0.040252,-0.178193,0.983172]]FH ? \?`*??@l؛` ƿ$v?iF|r@IF]b;FCYZJByZIbDbVDb:2yjs^%jM=ٔjI:Q-n>9lYl=nFynqErEjEr>tQ 5z5vD?Q 9z5vv)vBYxyzѿQ I~@vDIv;iv;v֋5y"BɮAjh)5DNOT Ignoring new targets: 68.57 m.Rh5bZh5bE ProNav: ac range: 68.569260 m, nav range: 66.080673 m, bearing: 263.594413 deg, approach rate: -0.520528 m/s, LOS rate: -0.020697 deg/s, cmd heading: 273.607898 deg, new cmd heading: 273.583312 deg. BhECcMHeadingCmd: 4.774930 target range: 68.569260 and range: 69.00 m.hU9̘@hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde@i[Bɢځ)=) >i)?+<iz2iem4BÍCBIBGBB4 =BBWDBpb;B&%E^A%m<A>A>E  E E &E "E y:*E rN:VE 4ZE BE 2d,9%?Ajcj@j2e@jb(=ٱj: -AHRS rotation from veh to nav: [[0.081056,0.979606,0.183853],[-0.995862,0.087203,-0.025587],[-0.041098,-0.181018,0.982621]]jH?X?{?R?3 +ǿq?ijcj@Ijfb;hYIBy5IiMb@Mb@Mb@ 9!rh?/$ rh?Yl?yC<tA )|AYAbDVDyѻ%-=ٔ:Q->9Y=FyqE E >Q 55>C?Q 95})BY0 ?Q E:yѿQ I%@DI:iH:؋5y)ɮ-A)jhQUDNOT Ignoring new targets: 68.57 m.Rh]Zh]m ProNav: ac range: 68.569260 m, nav range: 65.827560 m, bearing: 263.584704 deg, approach rate: -0.535138 m/s, LOS rate: -0.020604 deg/s, cmd heading: 273.583309 deg, new cmd heading: 273.554072 deg. Bhm@buHeadingCmd: 4.774419 target range: 68.569260 and range: 69.00 m.hu Ș@hq*hq"hq hqgyfyfyf}BdddjdZd^ @颽_Bɢ%"=) f>i)]<i&i>M< zi>9@ @@/0@uDAT read: 05:52:20.4656 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 420, 0.07,-1.859, 3.022,-1.282,-1.863, PHS= 0.106,-1.353, 0.537, RAW= 162.6, 8.3, CAL= 162.2, 8.6, ROT= 347.8, -8.6 Ygot valid direction response: 05:52:20.4656 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 420, 0.07,-1.859, 3.022,-1.282,-1.863, PHS= 0.106,-1.353, 0.537, RAW= 162.6, 8.3, CAL= 162.2, 8.6, ROT= 347.8, -8.6 PDAT read: Bearing 80.6, -16.2 (Local) ~Local bearing/azimuth received: Bearing 80.6, -16.2 (Local) DAT read: Range 11 to 50 : 67.3 m (Round-trip 89.8 ms) speed 0.7 m/s *DAT read: user:579> BDAT read: Tx time:05:52:21.5716 $Ping request sent.IE=iE/Ex ?E>5@EV>E-5@ E`>)E?@IE`AAE:мQ?QJ#k?L0 ? E/>?)E+IEt ZiE`AA:publishing transmit ping timeFpublishing direction and range infoyAE?^~?i׾ʿS&r#?YAAAAA A)AIAiAAAAA A)AIAAAE:мQ?QJ#k?L0 ? A)AIAiAAA1^A E%  E% E! E! "E% :*E% ]t:VE! ZE! a- @a- @a- @a- @O]j,x%?Avc@v]@v#l,=ٱv.v< -AHRS rotation from veh to nav: [[0.080163,0.979324,0.185737],[-0.995893,0.086556,-0.026555],[-0.042083,-0.182845,0.982241]]vH@?V?9?[(?@U1@㋥xgǿn?ivc@Ivb;vCYe9BymIbDVD2y%]=ٔ.;Q->9Y=FyqEE>!Q 5-5%B?Q 9-5%ɂ)%BY)y-ѿQ I-@%D1I%p:i%D$<%nڋ5yyɮ}GAyiqiu%?AJiuąBRiuąBjiu@bu(P@>`+-$@Ru?^~?i׾ʿS&r#?Ziut Zbiu`ju^SHvP'oQ#@Zu,jh,q%"֯1|?2iu:iu"iu<?*iuFBiuBiqiu;<iuBiuăBiu$9@ addTargetRange:: Added new target pos. range: 67.300003 m, deltaT: 3.527095 s, deltaX: -1.699997 m, approachRate: -0.481982 m/s, rangeRepo size: 4 99GA9YןA= Added new target pos. range: 66.883972 m, bearing: 264.235724 deg, lat: 36.779444 deg, lon: -121.859781 deg, deltaT: 3.527095 s, deltaX: -1.685287 m, approachRate: -0.477812 m/s, posRepo size: 4 yM?MAjh9mDNOT Ignoring new targets: 66.88 m.RhmZhi} ProNav: ac range: 66.883972 m, nav range: 65.883186 m, bearing: 263.602139 deg, approach rate: 0.000000 m/s, LOS rate: -0.020604 deg/s, cmd heading: 273.554076 deg, new cmd heading: 273.529984 deg. BhyHeadingCmd: 4.773999 target range: 66.883972 and range: 67.30 m.hĘ@h*h"h hgfffdddjd@3P@Zd@?%cBɢ-=)) -)>i))-%<11i5i5 -=<=atB ōCB IB 3BB 3 =B B XDB *b;B %EBBÍCB̕CB6 =B7 =C~6Iq I O >q,$%?AYz'By~IQiMb@Mb@Mb@ 9K7?~jty&1?YI ?y`e<E EE)E"E:*EV:VEFA4ZEBE#9Y=FyqEE>Q 55A?Q 95")BY ?Q E:yϿQ I@DI<;ib:;V܋5yɮAjh!-DNOT Ignoring new targets: 66.88 m.Rh5 Zh5 E ProNav: ac range: 66.883972 m, nav range: 65.642090 m, bearing: 263.589236 deg, approach rate: -0.572785 m/s, LOS rate: -0.030766 deg/s, cmd heading: 273.529979 deg, new cmd heading: 273.491129 deg. BhE꨺EHeadingCmd: 4.773321 target range: 66.883972 and range: 67.30 m.hM @hI*h"h hgfffBdddjdZd`?MfBɢM=)I M>iI)U:) x,%?A2O@2J@2Xb2=ٱ2]A :AHRS rotation from veh to nav: [[0.077815,0.978649,0.190242],[-0.996017,0.084645,-0.028033],[-0.043537,-0.187302,0.981337]]2H`?Q?Y?^L? }Jǿg?i2O@I2b;2CY^BybIbDjVDj:2yr4%r[=ٔv;Q-v>9xY|=FyqE ̻E >!Q 555%#@?Q 955%)%BY1y5ϿQ I=@%DI%W;i%_;%݋5yIɮMAQB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 66.88 m.Rh|Zh|Թ ProNav: ac range: 66.883972 m, nav range: 65.433022 m, bearing: 263.578360 deg, approach rate: -0.542278 m/s, LOS rate: -0.028301 deg/s, cmd heading: 273.491129 deg, new cmd heading: 273.458395 deg. BhbHeadingCmd: 4.772749 target range: 66.883972 and range: 67.30 m.h]@h*h"h hgfffdddjdZd`>? jBɢ =)  M>iQ)Uv.:*E|:VE(3ZEa@a@a@a@%9@! @!@%64@!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A- <I I O >9 5~,%?A2dF@23A@2q5=ٱ2[B :AHRS rotation from veh to nav: [[0.076669,0.978504,0.191446],[-0.996073,0.083696,-0.028880],[-0.044283,-0.188480,0.981078]]2H?O?@M?`m?ђ= ȿ d?i2dF@I2Tb;2CYFByFI LN;bDNVDNyV>%VN=ٔZ~:Q-Z>9XYX=^Fy^qEb>Eb>dQ 5j5f'??Q 9j5fX)fBYhyjϿQ Ij@fDIf-:ifF:fߋ5yr'Bɮr_Ar%EjhDNOT Ignoring new targets: 66.88 m.RheZhe ProNav: ac range: 66.883972 m, nav range: 65.215981 m, bearing: 263.567202 deg, approach rate: -0.541137 m/s, LOS rate: -0.027910 deg/s, cmd heading: 273.458399 deg, new cmd heading: 273.424815 deg. Bh<HeadingCmd: 4.772163 target range: 66.883972 and range: 67.30 m.h@h*h"h hgfffchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499307dddjdZd??mmBɢm=)i m>ii)u߸2BuƍCBuIBuBBu2 =BqBuYDBub;Bu %EE EE#E"E:*EAr:VE3ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751090ԙ ,q&?A6;@66@6x7=ٱ6"B BAHRS rotation from veh to nav: [[0.075379,0.978486,0.192049],[-0.996146,0.082553,-0.029621],[-0.044838,-0.189076,0.980938]]6HL?@O??`n,"?T`3ȿc?i6;@I6,b;6CqYByIi%Mb@Mb@Mb@!!!! !9%kt?Q뱿Mb?Y% ?y%\%<%A%9@ !)%A!Y%AbD= VD=f2yM&U%M'=ٔU:Q-U>9QYY=]Fy]qE]9-E]>aQ 55e$>?Q 95e)eBY@?Q E:yοQ I@eDIeFhiq)uJm7Am >bEM4jEMJ4rEMʶC0E  E E &E "E :*E ~:VE 4ZE a @a @a @a @I I O% > OG,@N/&?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2550366/@6*@69=ٱ6MB >AHRS rotation from veh to nav: [[0.073934,0.978766,0.191184],[-0.996229,0.081214,-0.030515],[-0.045394,-0.188207,0.981080]]6H^?` R?x?sʴ? 7?`=`.ȿ`e?i6/@I6Nb;6C D)FkAFνDDHJkAiJ9IHHILiNkA Nxi|)| ,9AEpAII)IiI)IIIM,Q QQUkAUtiQyiՙՙ)ՙ ՙIՙYYByIbDVDNyx% a=ٔ Q:Q- >9Y=FyqE҂E>!Q 5-5%^=?Q 9-5% )%BY)y-οQ I-@%DI%:i%:%m5yqɮ}"AyjhDNOT Ignoring new targets: 66.88 m.RhZh ProNav: ac range: 66.883972 m, nav range: 64.733719 m, bearing: 263.537951 deg, approach rate: -0.572474 m/s, LOS rate: -0.034550 deg/s, cmd heading: 273.373896 deg, new cmd heading: 273.336729 deg. BhHeadingCmd: 4.770626 target range: 66.883972 and range: 67.30 m.h@h*h"h hgf ffdddjdZd @mtBɢuQ=)q u9>iq)u:Be ɍCBe IBe BBe 3 =Ba Be \DBe b;Be %EI I1 O= >#,H&?A YmBymIE EE*E"Es:*E]t:VE(N4ZEBEe09AYA=EFyErEMEM>QQ 5]5Ui)s><顙iXOiõd<O{I,"b&?A@:@:[@:p@=ٱ::A jAHRS rotation from veh to nav: [[0.071693,0.979083,0.190409],[-0.996320,0.079285,-0.032549],[-0.046965,-0.187375,0.981165]]:H@zZ?T?@S_?` L?<` ǿ`e?i:@I:0\b;:CY}By}IbDVDyE~%U=ٔ;Q->9Y=FyrEEE>Q 55;?Q 95)BYyeοQ I@DI:i|:5yɮlAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 66.88 m.Rh'Zh' ProNav: ac range: 66.883972 m, nav range: 64.281868 m, bearing: 263.508786 deg, approach rate: -0.571028 m/s, LOS rate: -0.036516 deg/s, cmd heading: 273.290895 deg, new cmd heading: 273.248931 deg. Bh|ȺHeadingCmd: 4.769094 target range: 66.883972 and range: 67.30 m.hj@h*h"h! h!g!f!f!f)d)d)d)jd)Zd5 @zBɢI<)5 ~}>i)HA<i෼i~<h vw,q|&?A2@2 @2BB=ٱ27@ :AHRS rotation from veh to nav: [[0.070168,0.979276,0.189984],[-0.996403,0.077876,-0.033404],[-0.047507,-0.186957,0.981219]]2H?;V?@iQ?@?OR@7ǿ$f?i2@I2mb;2CYBByBIbDNVDN:yR*%V[=ٔV:Q-V>9XYX=ZFyZ rE^ E^>`Q 5f5b ;?Q 9f5b)bBYdyfοQ If@bDIbB:ib:hb5yn,BɮrAr/Ejh DNOT Ignoring new targets: 66.88 m.Rh $Zh $% ProNav: ac range: 66.883972 m, nav range: 64.068306 m, bearing: 263.495380 deg, approach rate: -0.571495 m/s, LOS rate: -0.035993 deg/s, cmd heading: 273.248930 deg, new cmd heading: 273.208580 deg. Bh%ź%HeadingCmd: 4.768389 target range: 66.883972 and range: 67.30 m.h-@h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=@ @m}Bɢm<)i m$h>iq)ul;D 5BDAT read: Tx time:05:52:25.1716 5$Ping request sent.5e4@ >)@I4i>֗?Lq?,5? ˴:?)QIMi]:publishing transmit ping time1]Fpublishing direction and range infoy?/C<6ɿj?Y )Ii )I4i>֗?Lq?,5? )Iit>i> ]9@Y @a@e4@aB->B-ˍCB-IB-BB-- =B-EDB-^DB-a;B-%E1E EEE"E:*EAr:VEZEBE&Y [,hy&?A2@2@2C=ٱ2JA :AHRS rotation from veh to nav: [[0.068343,0.979322,0.190413],[-0.996518,0.076148,-0.033973],[-0.047770,-0.187428,0.981116]]2H@~?V?r_?x q~?dQuǿMe?i2@I2,b;2CYRByRIi%Mb@Mb@Mb@!!!! !9%zG?MbMb?Y% ?y%%<%VA%f@ % @)%5A!Y%A9 AEbDM VDM2y]6%]@=ٔ]5":Q-e>9aYa=eFye rEmEm>qQ 55uK:?Q 95u7)uBY?Q E:yͿQ I@uDIu-iQ)UVG,;S&?A6@6P@6C=ٱ6*@ >AHRS rotation from veh to nav: [[0.066211,0.979564,0.189920],[-0.996658,0.074050,-0.034474],[-0.047833,-0.187003,0.981194]]6H@6?X?LO?@@? }ǿ`e?i6@I6,b;4YJ܀ByJIbDRVDRyZq%ZV=ٔZQ-9Q-^>9\Y\=^FybrEb%Eb>dQ 5j5f9?Q 9j5f/)fBYhyjͿQ In@fDIf:ifT;f 5ypɮryApjh  DNOT Ignoring new targets: 65.01 m.RhR.ZhR. ProNav: ac range: 65.005173 m, nav range: 63.515068 m, bearing: 264.084512 deg, approach rate: -0.639114 m/s, LOS rate: -0.038101 deg/s, cmd heading: 273.159646 deg, new cmd heading: 273.119119 deg. Bh/ѺHeadingCmd: 4.766828 target range: 65.005173 and range: 65.40 m.hۉ@h*h"h hgfԹffdddjdZd?5Bɢ]<)Y ]2>iY)]BIB- ̍CB- rIB- ҀBB) B) B) i B- b;B- %E^A 5%<A A >E  E E "E "E 2:*E :VE (3ZE BE !*P,&?AYvByvIiuMb@Mb@Mb@qqqq q9uQ?)\(I +?Yu(?yuGau949Y=FyrEE>Q 559?Q 95)BY?Q E:yq˿Q I@DI:iQ:O5yɮ3AjhDNOT Ignoring new targets: 65.01 m.RhWZhW  ProNav: ac range: 65.005173 m, nav range: 63.198330 m, bearing: 264.060148 deg, approach rate: -0.610375 m/s, LOS rate: -0.047186 deg/s, cmd heading: 273.119130 deg, new cmd heading: 273.045671 deg. Bh HeadingCmd: 4.765546 target range: 65.005173 and range: 65.40 m.hZ@h*h"h hgff!f%Bd!d!d!jd)Zd-`?]Bɢ]:p<)Y e@=>ia)e@L&N,j&?A(:'ӑ@:͘@:F=ٱ:U> BAHRS rotation from veh to nav: [[0.062638,0.980175,0.187974],[-0.996858,0.070593,-0.035921],[-0.048478,-0.185133,0.981517]]:H` ? ]??@C@\?2d` Ҩ@sǿ@h?i:'ӑ@I:!a;8YjByjIbDrVDr:2y1%*=ٔ:Q->9Y=Fy%rE%E%>IQ 5U5M8?Q 9U5MU)MBYYy]˿Q I]@MDIM:iM=:Ml5yaɮeHAa'GE9AYEAmB*** querying acoustic contact ***ii iijhy}DNOT Ignoring new targets: 65.01 m.RhRDZhRD ProNav: ac range: 65.005173 m, nav range: 62.903198 m, bearing: 264.038211 deg, approach rate: -0.574613 m/s, LOS rate: -0.042910 deg/s, cmd heading: 273.045664 deg, new cmd heading: 272.979547 deg. BhHeadingCmd: 4.764392 target range: 65.005173 and range: 65.40 m.hu@h*h"h hgfffdddjdZd >E?ԁ额Bɢ6ּ<) />i)AO<顡i3ig¿ <i2B B fIB ȀBB B B B ,b;B /%EB}ˍCB}ʍCByB}- =B}/ =C}K6 ^Ae D-<E EE-E"E&;*EAr:VEt4ZEBE >AHRS rotation from veh to nav: [[0.060911,0.980436,0.187178],[-0.996951,0.068921,-0.036579],[-0.048763,-0.184380,0.981645]]2H/?_?u?`ʤ? o`ǿ i?i2đ@I2ya;2CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256044YLyL PPiMb@Mb@Mb@ 99v?V-~jt?Y?yh<lA@  @)x AYQAbDVD1ٔ :Q->9Y=Fy!rEQE>Q 55/7?Q 95)BY8?Q E:yϿQ I@DI? ;i ;5y 1Bɮ vA 8Ejh15DNOT Ignoring new targets: 65.01 m.Rh= Zh= M ProNav: ac range: 65.005173 m, nav range: 62.587814 m, bearing: 264.022758 deg, approach rate: -0.620616 m/s, LOS rate: -0.030564 deg/s, cmd heading: 272.979548 deg, new cmd heading: 272.932953 deg. BhMͧUHeadingCmd: 4.763579 target range: 65.005173 and range: 65.40 m.hU=o@hQ*hQ"hQ hQgYfYfafeӀBdadadajdiZdm;@颕Bɢ#<) (>i)FQ<顡i𳳼ix¿S <݄=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507912 {ʉ,'.*'?A2蹑@2@2I=ٱ2= :AHRS rotation from veh to nav: [[0.059563,0.980710,0.186170],[-0.997009,0.067647,-0.037371],[-0.049244,-0.183388,0.981806]]2H?a?`n?TQ?L" 6>yǿ`j?i2蹑@I2a;2CYfBydlbDrVDry~չ%<ٔ1:Q->9!Y!=%Fy%%rE-DkE->1Q 5=5576?Q 9=55mQ =EtI)5BYAyEϿQ IE@5EI5A;i5B;5k5yQɮU{AYjhDNOT Ignoring new targets: 65.01 m.RhZh ProNav: ac range: 65.005173 m, nav range: 62.367313 m, bearing: 264.012147 deg, approach rate: -0.579359 m/s, LOS rate: -0.027977 deg/s, cmd heading: 272.932966 deg, new cmd heading: 272.901022 deg. BhHeadingCmd: 4.763021 target range: 65.005173 and range: 65.40 m.hj@h*h"h hgfE EE$E"EO:*E:VE4ZEa@a@a@a@ffdddjd Zd @@Bɢg<)  >i)S<ii¿W <~A>a A .AI I O >e BDAT read: Rx Time:05:52:27.6600 m TRx dataTimestamp_ set to:1761544349.032265m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013121Љ,0D'?AXɰZ;9uß@u@uJ=ٱuy; AHRS rotation from veh to nav: [[0.056380,0.981141,0.184886],[-0.997183,0.064514,-0.038273],[-0.049479,-0.182207,0.982014]]uHݬ?e?Y?`?`\U`Rǿ`l?iuß@IuPa;uCYBB>BB_IBÀBB, =BB_DBab;BK%EyIbDqVDqyi<%2=ٔt:Q->9 ?Y ?=Fy)rEEm>Q 554?Q 95)BYy"пQ I@EI:i:5yɮOAjh%DNOT Ignoring new targets: 65.01 m.Rh-Zh-= ProNav: ac range: 65.005173 m, nav range: 62.085552 m, bearing: 263.999331 deg, approach rate: -0.581084 m/s, LOS rate: -0.026552 deg/s, cmd heading: 272.901028 deg, new cmd heading: 272.862403 deg. Bh=ǑEHeadingCmd: 4.762347 target range: 65.005173 and range: 65.40 m.hE&e@hA*hA"hI hIgIfIfIfQdQdQdQjdQZd] @a颭BɢKֿ<) F#>i)fV<顱i9iҪ¿> <[<E EEE"E&:*Ek:VEZEBE^;׉,`'?A i`I`DAT read: 05:52:27.6600 LVL= 32752, 32753, 31986, 32755, AGC= 66, IDX= 412,-0.17, 1.047,-0.388, 1.594, 1.042, PHS= 0.107,-1.385, 0.508, RAW= 161.6, 9.0, CAL= 161.4, 9.4, ROT= 348.6, -9.4  Ygot valid direction response: 05:52:27.6600 LVL= 32752, 32753, 31986, 32755, AGC= 66, IDX= 412,-0.17, 1.047,-0.388, 1.594, 1.042, PHS= 0.107,-1.385, 0.508, RAW= 161.6, 9.0, CAL= 161.4, 9.4, ROT= 348.6, -9.4 PDAT read: Bearing 79.4, -15.9 (Local) ~Local bearing/azimuth received: Bearing 79.4, -15.9 (Local) %X#Rx 1: Read direction message, but no range.5^direction in FSK: [0.967108,-0.195003,0.163326]ydf?_5͙ȿ$vz?dddf| d)fBIf"=ifGfJ ?fJ4@f| >fI4@ f'>)f@If'df?f?|M?1? f9?)f  IfKif'eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse3@@WJ=ٱ9 AHRS rotation from veh to nav: [[0.055095,0.981624,0.182699],[-0.997259,0.063147,-0.038551],[-0.049379,-0.180074,0.982413]]H`5?vi?b?``l*?@@H ǿo?i3@I-a;CY By IIt>)p;==iiUMb@Mb@Mb@QQQQ Q9Ugfffff?#~jV-?YU3?yU㥽U9"?Y"?=Fy.rEw%E>Q 55$3?Q 95S)BY?Q E:yoҿQ I@ EIW;i;5y ɮ FAjhQ]DNOT Ignoring new targets: 65.01 m.Rh}Zh} ProNav: ac range: 65.005173 m, nav range: 61.800194 m, bearing: 263.990996 deg, approach rate: -0.581231 m/s, LOS rate: -0.017054 deg/s, cmd heading: 272.862396 deg, new cmd heading: 272.837278 deg. BhD;HeadingCmd: 4.761909 target range: 65.005173 and range: 65.40 m.ha@h*h"h hgfffπBdddjdZd @}Bɢ}N <) N>i)X<顉iYbE-J4jE-4rE-ƹ0E EE%E"E :*E n:VE 4ZEa@a@a@a@Թi-¿ <TS BDAT read: Tx time:05:52:28.7731 $Ping request sent.,'?A>@>̉@>uK=ٱ>9 FAHRS rotation from veh to nav: [[0.054338,0.981613,0.182984],[-0.997287,0.062464,-0.038938],[-0.049652,-0.180372,0.982344]]>H-ҫ?_i?l? L? llǿ]o?i>@I>L`;>CYNByNIbDZVDZ0y^%bb=ٔb8H:Q-b>9f ?Yf ?=fFyf2rEf Ef>lQ 5n5n1?Q 9r5n)nBYpyrҿQ Ir@nEIn:in[:n:5yz8BɮzAzBE B*** querying acoustic contact ***i  i % addTargetRange:: Added new target pos. range: 63.200001 m, deltaT: 3.780090 s, deltaX: -2.200001 m, approachRate: -0.581997 m/s, rangeRepo size: 4 jh!-DNOT Ignoring new targets: 65.01 m.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.Rh-͜ZhE͜Q] ProNav: ac range: 65.005173 m, nav range: 61.592171 m, bearing: 263.985014 deg, approach rate: -0.593885 m/s, LOS rate: -0.017136 deg/s, cmd heading: 272.837289 deg, new cmd heading: 272.819282 deg. Bhe*<mHeadingCmd: 4.761595 target range: 65.005173 and range: 63.20 m.hu^@hq*hq"hq hygyfffdddjdO@Zd ?颍Bɢ<)  >i)̢Z<顑ii|¿ <VN $',Ι'?A2@2@2`PL=ٱ2S: :AHRS rotation from veh to nav: [[0.053449,0.981599,0.183322],[-0.997325,0.061642,-0.039283],[-0.049861,-0.180732,0.982268]]2H]?Ai?`w??@V`9"ǿn?i2@I24_;2CY^By^Ii=Mb@Mb@Mb@9999 99=/$?~jtQ?Y= ?y=Ľ=\==A=@ =M@)=A9Y=pAbDUVDU1yeܦ;%eA=ٔm:Q-m>9iYq=uFyu6rEu E}>yQ 55}/?Q 95})}BYt?Q E:yֿQ I@}EI}:i}:}5y9BɮAAEԹjhDNOT Ignoring new targets: 65.01 m.Rh6Zh6 ProNav: ac range: 65.005173 m, nav range: 61.356434 m, bearing: 263.985142 deg, approach rate: -0.555475 m/s, LOS rate: 0.000303 deg/s, cmd heading: 272.819284 deg, new cmd heading: 272.819670 deg. BhU7HeadingCmd: 4.761601 target range: 65.005173 and range: 63.20 m.h _@h*h"h hgfffBdddjdZd ?颭Bɢv<) >i)\<i@iC¿ <A9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004687Q,6'?A2@2h~@2ȠM=ٱ2Q: :AHRS rotation from veh to nav: [[0.052950,0.981628,0.183312],[-0.997336,0.061209,-0.039690],[-0.050181,-0.180722,0.982253]]2H:?~i?v?@, V?=RU !ǿ@n?i2@I2;_;2CYBByBI DDHJAbDNVDN:yVP:%VW=ٔZ]:Q-Z>9XYX=^Fy^:rE^BE^>`Q 5f5b-?Q 9f5b{)bBYhyjֿQ Ij@bEIb:ib:b5ylɮnApjh DNOT Ignoring new targets: 65.01 m.Rh &7Zh &7% ProNav: ac range: 65.005173 m, nav range: 61.144974 m, bearing: 263.985357 deg, approach rate: -0.557088 m/s, LOS rate: 0.000567 deg/s, cmd heading: 272.819667 deg, new cmd heading: 272.820313 deg. Bh%X7%HeadingCmd: 4.761613 target range: 65.005173 and range: 63.20 m.h-"_@h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd= c?Bɢo<) >i)"^<ihXi¿ <k;A>iB >B B fIB ȀBB , =B B ^DB b;B m%EA! I) II Om >ԡ 8,؃'?A2@2k}@2N=ٱ28: :AHRS rotation from veh to nav: [[0.052829,0.981650,0.183227],[-0.997327,0.061142,-0.040018],[-0.050487,-0.180623,0.982256]]2H`Z ?`i?s?` M?E}@f٩@ǿn?i2@I2{^;2CEr ErEr%Ep"Er:*Er&p:VEr 4ZEpBErm%9Y=Fy>rEE>Q 55d+?Q 95)BY?Q E:yJٿQ I@EI;i;5yɮAjhDNOT Ignoring new targets: 65.01 m.Rh H9Zh H9qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508842 ProNav: ac range: 65.005173 m, nav range: 60.912785 m, bearing: 263.990119 deg, approach rate: -0.532357 m/s, LOS rate: 0.010960 deg/s, cmd heading: 272.820322 deg, new cmd heading: 272.834663 deg. Bh9HeadingCmd: 4.761863 target range: 65.005173 and range: 63.20 m.h/a@h*h"h hgfffBdddjdZd`X?颍Bɢ <) n>i)`<顙i*i¿m* <t7 b,p]'?A4<ɰ49hYh=jFyjBrEjF9Ej>lQ 5r5nC)?Q 9v5n)nBYtyvGٿQ Iv@nEIn :inz:nI5yxɮ~A|jh!%DNOT Ignoring new targets: 65.01 m.Rh-_I9Zh-_I95 ProNav: ac range: 65.005173 m, nav range: 60.712933 m, bearing: 263.994232 deg, approach rate: -0.532873 m/s, LOS rate: 0.011003 deg/s, cmd heading: 272.834666 deg, new cmd heading: 272.847046 deg. Bh=9EHeadingCmd: 4.762079 target range: 65.005173 and range: 63.20 m.hEb@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU`g?Bɢ=<) ,=i)7=a<ii ¿ ? < 86&K,2;(?A:7@:@::Q=ٱ:x9 JAHRS rotation from veh to nav: [[0.053388,0.981733,0.182618],[-0.997268,0.061770,-0.040519],[-0.051059,-0.179956,0.982349]]:H`U?\j? `?G?@群k$ǿ@fo?i:7@I:Ѻ];8YVByVIbDbVDbyr<%rH=ٔvY9Q-z>9z"?Y~"?=FyFrEۜ:E >-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265569Q 5=5&?Q 9=5x)BYAyE:ٿQ IM@!EI&;i;5yQɮ]AaB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 65.01 m.Rh B9ZhU B9e ProNav: ac range: 65.005173 m, nav range: 60.494099 m, bearing: 263.998681 deg, approach rate: -0.519683 m/s, LOS rate: 0.010602 deg/s, cmd heading: 272.847042 deg, new cmd heading: 272.860436 deg. Bhe9mHeadingCmd: 4.762313 target range: 65.005173 and range: 63.20 m.hmd@hi*hi"hi higifffdddjdZd@15Bɢ5<)9 =h=i9)=jb<99i=miE¿ESX BBBB- =BBBb;Ba%E9@ @@1@aE EE!E"ED:*Eg:VEc3ZEBE1t,M(?A0:@:舘@:S=ٱ:8 FAHRS rotation from veh to nav: [[0.054224,0.981852,0.181732],[-0.997193,0.062659,-0.040995],[-0.051638,-0.178999,0.982493]]:H?ë?Tk?C?m ?U[pqƿp?i:@I:݀];:CYN؀ByNzIi%Mb@Mb@Mb@!!!! !9%NbX9?&1X9v?Y!y%н%<%$A%@ %A)% A!Y%AbD=VD=yM`%%MD=ٔUt:Q-U>9QYQ=UFyUJrE];E]>aQ 5m5e$?Q 9m5e9)eBYuc?Q Eu:yuٿQ Iu@e$EIe:ie:e5y}@Bɮ}:AJEjhDNOT Ignoring new targets: 65.01 m.Rh(>9Zh(>9= ProNav: ac range: 65.005173 m, nav range: 60.273632 m, bearing: 264.002862 deg, approach rate: -0.545790 m/s, LOS rate: 0.010391 deg/s, cmd heading: 272.860429 deg, new cmd heading: 272.873021 deg. Bh=09EHeadingCmd: 4.762533 target range: 65.005173 and range: 63.20 m.hEf@hA*hA"hA hAgIfIfIfMBdqdqdqjdyZd}@Bɢ<) <=i)c<ԑii¿3v <<{C ,y5(?AF@F@FDT=ٱF8 NAHRS rotation from veh to nav: [[0.054423,0.981931,0.181246],[-0.997170,0.062876,-0.041219],[-0.051870,-0.178489,0.982574]]FHVݫ? k? 3?? ƿ`>q?iF@IF ];DYVրByVwIXbDbVDb0yj%#%jR=ٔn:Q-n>9lYl=nFyrNrEr:Er>tQ 5z5vu"?Q 9z5v)vBY|y~ٿQ I~@v(EIv;iv;v5yɮJAjh)-DNOT Ignoring new targets: 65.01 m.RhuT99ZhuT99 ProNav: ac range: 65.005173 m, nav range: 60.066204 m, bearing: 264.006794 deg, approach rate: -0.532394 m/s, LOS rate: 0.010127 deg/s, cmd heading: 272.873024 deg, new cmd heading: 272.884861 deg. Bhe9HeadingCmd: 4.762739 target range: 65.005173 and range: 63.20 m.h\h@h*h"h hgfffdddjdZd@-Bɢ-1<)1 5=i1)5*\d<11i5l>i=¿= <=0BB B _IB ÀBB . =B B B Xb;B E%EBM̍CBM̍CBMɓCBM, =BM- =CMɀ5O >9 щ,EN(?AFs@FB@FXU=ٱF+m6 RAHRS rotation from veh to nav: [[0.055118,0.982164,0.179768],[-0.997122,0.063531,-0.041380],[-0.052063,-0.176970,0.982838]]FH`a8?m??kC?`/@ƿ`is?iFs@IF^];FCYZ̀ByZlIEb EbEb"E`"Eb:*EbL_:VEb(3ZE`BEb9Y=FySrE_:E> Q 55 t ?Q 95 ) BY?Q E:yRֿQ I@ +EI :i : 5y!ɮ-A)jhQUDNOT Ignoring new targets: 65.01 m.RhUZh]e ProNav: ac range: 65.005173 m, nav range: 59.836258 m, bearing: 264.006571 deg, approach rate: -0.521436 m/s, LOS rate: -0.000508 deg/s, cmd heading: 272.884854 deg, new cmd heading: 272.884182 deg. BhmDAT read: 05:52:31.2588 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417,-0.45,-0.128,-1.570, 0.421,-0.101, PHS= 0.075,-1.424, 0.479, RAW= 161.6, 10.0, CAL= 161.6, 10.9, ROT= 348.4, -10.9 Ygot valid direction response: 05:52:31.2588 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417,-0.45,-0.128,-1.570, 0.421,-0.101, PHS= 0.075,-1.424, 0.479, RAW= 161.6, 10.0, CAL= 161.6, 10.9, ROT= 348.4, -10.9 PDAT read: Bearing 80.6, -16.2 (Local) ~Local bearing/azimuth received: Bearing 80.6, -16.2 (Local) DAT read: Range 11 to 50 : 61.2 m (Round-trip 81.6 ms) speed 0.2 m/s *DAT read: user:582> BDAT read: Tx time:05:52:32.3715 $Ping request sent.¸2>J4@ B>)Q@IBm5? ?ctR? 9?)ς3I4QOiB:publishing transmit ping timeFpublishing direction and range infoy[?Na FɿoG4?Y )Ii )Im5? ?ctR? )IiHeadingCmd: 4.762727 target range: 65.005173 and range: 63.20 m.hCh@h*h"h hgfffBdddjdN@Zd|?-Bɢ54-<)1 5=i1)5d<99i='Ai`¿ <\M, h(?A6@6r@6V=ٱ6[5 >AHRS rotation from veh to nav: [[0.055626,0.982233,0.179230],[-0.997073,0.064076,-0.041704],[-0.052447,-0.176386,0.982923]]6H@ {?tn?@?@Og?0Z[ڪ͓ƿt?i6@I6Z];6CYF̀ByJkIbDRVDRkyZi%Zb=ٔZj:Q-^>9\Y\=bFybWrEb :Eb>dQ 5j5f?Q 9j5f$)fBYhynCֿQ In@f.EIf:if;f 5ypɮrApii@0T(?AJiSsBRiSsBjilT@bAM@ra(+By'@R[?Na FɿoG4?Zi4QObiBjk & MY,Z$@Z0qF'.Y/ѧ?2i]n:ie"i6?*i%DBiBii%DiBioBiv@5 addTargetRange:: Added new target pos. range: 61.200001 m, deltaT: 3.527821 s, deltaX: -2.000000 m, approachRate: -0.566922 m/s, rangeRepo size: 4 E Added new target pos. range: 60.831066 m, bearing: 263.792931 deg, lat: 36.779450 deg, lon: -121.859784 deg, deltaT: 7.307911 s, deltaX: -4.174107 m, approachRate: -0.571176 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 60.83 m.RhMZhQe ProNav: ac range: 60.831066 m, nav range: 59.916279 m, bearing: 264.033309 deg, approach rate: 0.000000 m/s, LOS rate: -0.000508 deg/s, cmd heading: 272.884171 deg, new cmd heading: 272.883613 deg. BhamHeadingCmd: 4.762718 target range: 60.831066 and range: 61.20 m.hm/h@hi*hi"hi higifqfqfqydqddjdZd@?颵Bɢ#Z<) 5 e<99i=[_iE¿E  s ,(?A(ɰ(ZX@Z'@ZAW=ٱZ5 jAHRS rotation from veh to nav: [[0.055590,0.982248,0.179163],[-0.997071,0.064053,-0.041795],[-0.052529,-0.176315,0.982931]]ZHUv?n?@?`e? $f 媿 zƿ`,t?iZX@IZb];ZCYzByzMIbDVD1y-U%-C=ٔ-iL9Q-->91Y1=5Fy5[rE5E=>AQ 5M5E?Q 9M5ER*)EBYIyMDֿQ IM@E2EIE :iE:E 5yYɮ]^AYB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 60.83 m.RhN ZhN - ProNav: ac range: 60.831066 m, nav range: 59.697521 m, bearing: 264.033104 deg, approach rate: -0.504421 m/s, LOS rate: -0.000476 deg/s, cmd heading: 272.883625 deg, new cmd heading: 272.883006 deg. Bh-+5HeadingCmd: 4.762707 target range: 60.831066 and range: 61.20 m.h5h@h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdM?}Bɢ},H<)y }@ռiy).d<顁iB=͍CB=SIB=BB=- =B9B=_DB=b;B=*%E)@) @)@-/@)E EE%E"Ea:*EAr:VE 4ZEBE(9QYQ=UFyU_rE]'ҹE]>aQ 5m5e?Q 9m5e/)aYm?Q Em:ymֿQ Iu@e5EIe:ie<:e 5yyɮ}AyjhDNOT Ignoring new targets: 60.83 m.Rh7Zh7 ProNav: ac range: 60.831066 m, nav range: 59.482986 m, bearing: 264.033728 deg, approach rate: -0.550857 m/s, LOS rate: 0.001609 deg/s, cmd heading: 272.882996 deg, new cmd heading: 272.884877 deg. Bh_8HeadingCmd: 4.762740 target range: 60.831066 and range: 61.20 m.h]h@h*h"h hgfffBdddjdZd?1颥ŀBɢ1<) 5i)Hd<顩ii¿ <СO checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500356 ,,6(?A2@2ɒ@29V=ٱ2d4 :AHRS rotation from veh to nav: [[0.055425,0.982497,0.177840],[-0.997096,0.063780,-0.041612],[-0.052226,-0.175017,0.983179]]2H`?`p?@r?6S?*Ni fƿ`4v?i2@I2I];2CYFByF7IbDNVDN1yV}%VU=ٔZ Q-Z>9XYX=ZFy^crE^E>!Q 5-5%?Q 9-5%`5)%BY)y1Q I5@%8EI%p:i%$:%q5y]GBɮ](A]TEjhDNOT Ignoring new targets: 60.83 m.RhY7ZhY7 ProNav: ac range: 60.831066 m, nav range: 59.274765 m, bearing: 264.034340 deg, approach rate: -0.515292 m/s, LOS rate: 0.001519 deg/s, cmd heading: 272.884881 deg, new cmd heading: 272.886722 deg. Bhh8HeadingCmd: 4.762772 target range: 60.831066 and range: 61.20 m.hh@h*h"h hgff f d d d jdZdd?=ɀBɢE& <)A EiA)EPc <ԑIh@II@I @I@M0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752392^AuNJN<B5 >B5 ύCB5 4IB5 BB5 ) =B1 B5 `DB5 a;B5 !%EA I I O >! 3,(?A88ER ERER%EP"ER:*ERL_:VER 4ZEPBER69IYI=MFyMhrEUEU>YQ 5e5]H?Q 9e5];)]BYe\ ?Q Ee:ye]ԿQ Ie@]<EI]:i]:uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004487]b5yyɮ}IAjhDNOT Ignoring new targets: 60.83 m.Rh-Zh-= ProNav: ac range: 60.831066 m, nav range: 59.029373 m, bearing: 264.030574 deg, approach rate: -0.560447 m/s, LOS rate: -0.008638 deg/s, cmd heading: 272.886712 deg, new cmd heading: 272.875366 deg. Bh=EHeadingCmd: 4.762574 target range: 60.831066 and range: 61.20 m.hEg@ha*hi"hi higififqfu#BdqdqdqjdyZd}4f@̀Bɢ;)O i)Ha<iKig¿g <2:,(?A>Ԏ@>@>5Q=ٱ>U5 FAHRS rotation from veh to nav: [[0.054314,0.982462,0.178375],[-0.997209,0.062536,-0.040795],[-0.051234,-0.175662,0.983117]]>H ϫ?Tp?@? "`Z?㤿U;|ƿu?i>Ԏ@I>];>CYRByR(I TTbDZVDZyb1-%b^=ٔf1Q-f>9dYd=fFyjkrEj GEj>lQ 5r5n?Q 9r5n A)nBYtyvԿQ Iv@n@EIn;in);n5y|ɮ~Ajh9EDNOT Ignoring new targets: 60.83 m.RhMZhMe ProNav: ac range: 60.831066 m, nav range: 58.826370 m, bearing: 264.027649 deg, approach rate: -0.548585 m/s, LOS rate: -0.007930 deg/s, cmd heading: 272.875374 deg, new cmd heading: 272.866570 deg. Bhe&mHeadingCmd: 4.762420 target range: 60.831066 and range: 61.20 m.hue@hq*hq"hq hygyfyffdddjdZd`/;@UЀBɢUz;)Q UtiQ)]Р`A,)?A2T@2#@2(?N=ٱ24 >AHRS rotation from veh to nav: [[0.053038,0.982634,0.177812],[-0.997323,0.061099,-0.040165],[-0.050332,-0.175206,0.983244]]2H`'? q?@?@eH? ũ`#mƿ v?i2T@Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760478I2S];2CYJByN!IbDVVDVy^%^K=ٔbGQ-b>9`Y`=fFyforEfQEf>hQ 5n5j?Q 9n5jF)jBYpyrԿQ Ir@jCEIj;ij;j5ytɮvAtjhDNOT Ignoring new targets: 60.83 m.RhZh- ProNav: ac range: 60.831066 m, nav range: 58.604607 m, bearing: 264.024714 deg, approach rate: -0.557493 m/s, LOS rate: -0.007408 deg/s, cmd heading: 272.866576 deg, new cmd heading: 272.857736 deg. Bh-5HeadingCmd: 4.762266 target range: 60.831066 and range: 61.20 m.h5{d@h1*h1"h hgfffdddjdZd~@AqAu?AB}>ByB}IB}BB}' =ByB}aDB}a;B}%E额ԀBɢ;) 0i)Q^<顡i\i¿՘ <o4?G,g)?Aɰ2/z@2t@2I=ٱ2?5 :AHRS rotation from veh to nav: [[0.051806,0.982549,0.178642],[-0.997442,0.059730,-0.039261],[-0.049247,-0.176151,0.983130]]2H`Q? q?? ?@6!ƿu?i2/z@I2J ];0@YFByFIiMb@Mb@Mb@ 9X9v?ly&1|?Y?y`;Al@ |A)Y AbD-VD-:y=k%=B=ٔE~)Q-E>9AYA=EFyEtrEM%AEM>QQ 55U?Q 95UYM)UBY?Q E:y7ҿQ I@UGEIUb  BDAT read: Tx time:05:52:35.9715  $Ping request sent. E 4@E +>E 4@ E X8>)E mj@IE X8A A E ;p?+=?!n? E g;?)E yD,IE TiE X8A A  :publishing transmit ping time  Fpublishing direction and range infoyA E ?Pњɿ?YA A A A A A )A IA iA A A A A A )A IA A A E ;p?+=?!n? A )A IA iA A A 1 ^Ae9<AizAmeAYAIIO?P,UC)?AYxByIԩ15AAbDVDky%=ٔQ->9Y=FyzrEE>Q 55w?Q 95V)BYyQ I@MEI:iv::5y OBɮ A]Eiia5)?AJi.lBRi.lBji@b25,lL@SMO'tb%@R?Pњɿ?ZiTbiX8jAٳ%73Lr1^Ia#@Zo9n_W￈ȝ՟?2iQg:i "i`ݷǠ?*iUGBiٓBiiFiBirhBiWt@] addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 3.528145 s, deltaX: -1.799999 m, approachRate: -0.510183 m/s, rangeRepo size: 4 u Added new target pos. range: 59.045094 m, bearing: 263.157619 deg, lat: 36.779450 deg, lon: -121.859785 deg, deltaT: 3.528145 s, deltaX: -1.785973 m, approachRate: -0.506207 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 59.05 m.bhu}Powering the camera and arming the capture device at range: 59.40 m.2h}Rh}Zhy ProNav: ac range: 59.045094 m, nav range: 58.112141 m, bearing: 264.016169 deg, approach rate: 0.000000 m/s, LOS rate: -0.017177 deg/s, cmd heading: 272.834037 deg, new cmd heading: 272.804645 deg. BhHeadingCmd: 4.761339 target range: 59.045094 and range: 59.40 m.h\@h*h"h h2hgfffdddjd@3M@Zd s?B>BBIBmBB( =BBBa;B%Eu݀Bɢ}U:)y }Iiy)}X9 ?Y ?=FyrEiE>Q 55?Q 95 _)YT?Q E:yпQ I@REI6;i@:5yɮA\Ejh!-DNOT Ignoring new targets: 59.05 m.bh)-Powering the camera and arming the capture device at range: 59.40 m.2h1Rh5Zh=U ProNav: ac range: 59.045094 m, nav range: 57.790745 m, bearing: 264.002067 deg, approach rate: -0.563889 m/s, LOS rate: -0.024881 deg/s, cmd heading: 272.804640 deg, new cmd heading: 272.762097 deg. BhUeHeadingCmd: 4.760597 target range: 59.045094 and range: 59.40 m.heV@ha*ha"hi hi2higifqfqf}BdydydjdZdc?!颅Bɢ.8) T^i)T<顉iRi.¿= <;IV@IE EE(E"E:*Ex:VEc44ZEa@a@a@a@E߀G]fAqd9fAYAI 7@  @ @% /@! y Ա ^Ae x/<Am >Am >AIIO?fb,)?ABA <B>B BIBXBB' =B B Ba;B%EBeύCBeύCBeCBe( =Be) =Ce&6F2O@FJ@FF7=ٱF?9 NAHRS rotation from veh to nav: [[0.046581,0.982168,0.182144],[-0.997908,0.053937,-0.035643],[-0.044832,-0.180103,0.982626]]FHq٧?@m?P?@??`0 ǿ q?iF2O@IFJ_;FCYZgByZIbDbVDbyj>%j&=ٔj0(Q-n>9lYl=nFynrErxEr>tQ 5z5vh ?Q 9z5vTf)tYxy~пQ I~@vVEIv(:ivA:v5yɮGAjh)-DNOT Ignoring new targets: 59.05 m.bh15Powering the camera and arming the capture device at range: 59.40 m.2h1Rh=Zh=M ProNav: ac range: 59.045094 m, nav range: 57.513351 m, bearing: 263.990003 deg, approach rate: -0.567147 m/s, LOS rate: -0.024784 deg/s, cmd heading: 272.762102 deg, new cmd heading: 272.725736 deg. BhMUHeadingCmd: 4.759962 target range: 59.045094 and range: 59.40 m.hUQ@hQ*hQ"hQ hQ2hYgYfYfYfYdadadajdZd`9?5Bɢ5Z4)9 =}i9)=RP<99iEie¿m h,Σ)?A,iyI}AYjByIieMb@Mb@Mb@aaaa a9e?ktS㥛?Ye ?ye e/9Y=FyrEE>Q 55+ ?Q 95m)BY?Q E:yyտQ I@[EI:i]: 5yɮ,AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 59.05 m.bhPowering the camera and arming the capture device at range: 59.40 m.2hRhZh ProNav: ac range: 59.045094 m, nav range: 57.238918 m, bearing: 263.987821 deg, approach rate: -0.556488 m/s, LOS rate: -0.004444 deg/s, cmd heading: 272.725738 deg, new cmd heading: 272.719163 deg. Bh4CHeadingCmd: 4.759847 target range: 59.045094 and range: 59.40 m.hP@h*h"h h2hg!f!f!f-Bd)d)d)jd)Zd5?EBɢED?M)I M~iI)M(Lp,cF)?Aɰ2 J@2D@2H/=ٱ295 NAHRS rotation from veh to nav: [[0.045958,0.982892,0.178356],[-0.998023,0.052840,-0.034027],[-0.042869,-0.176440,0.983378]]2H‡?@s?@^? @ ?kƿ w?i2 J@I2c6_;0 T)VkAVVLFTXZkAiZuIXXI\i^kA ^\)\` ````ddId)did)fLCIhj94jZF hlnkArj9m"?Ym"?=uFyurEuܺEu>Q 55s ?Q 95r)BYyտQ I@^EIax;iA;!5yXBɮAfEjhDNOT Ignoring new targets: 59.05 m.bhPowering the camera and arming the capture device at range: 59.40 m.2hRh$Zh$ ProNav: ac range: 59.045094 m, nav range: 57.030418 m, bearing: 263.986343 deg, approach rate: -0.549462 m/s, LOS rate: -0.003911 deg/s, cmd heading: 272.719154 deg, new cmd heading: 272.714702 deg. Bh+HeadingCmd: 4.759769 target range: 59.045094 and range: 59.40 m.hP@h*h"h h2hgfffԩdddjdZd@-Bɢ5vʻ)1 5i1)5%\I<19i='i=K¿ET <Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256237E&;IeP@IiB>BBIBNBBBBBa;B%E/@ @@4@ E=  E= E= &E9 "E= O;*E= i:VE= 4ZE9 BE= %Y1 q6v,)?A2F@2eA@2+=ٱ244 :AHRS rotation from veh to nav: [[0.045538,0.983102,0.177304],[-0.998080,0.052234,-0.033280],[-0.041979,-0.175448,0.983593]]2H`P?`u?`?E[? 6~@uƿy?i2F@I2^;0YyIiMb@Mb@Mb@ 9uV?{GzX9v?Yr?yף< A)AY AbDVDy@%B=ٔ Q->9 ?Y ?=FyrEE>Q 55?Q 9 5x)BY 4 ?Q E :y ԿQ I @bEI:i':|#5yɮAjh9EDNOT Ignoring new targets: 59.05 m.bhAEPowering the camera and arming the capture device at range: 59.40 m.2hIRhMZhM] ProNav: ac range: 59.045094 m, nav range: 56.804874 m, bearing: 263.983107 deg, approach rate: -0.546744 m/s, LOS rate: -0.007875 deg/s, cmd heading: 272.714700 deg, new cmd heading: 272.704955 deg. Bh]יּeHeadingCmd: 4.759599 target range: 59.045094 and range: 59.40 m.heN@ha*hi"hi hi2higififqfu/BdqdydyjdyZd}/(@颭Bɢjݻ) oi)F<顱iw뗼iÿ۟ <;IN@IM@-@I @I@M3@Q9echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760163^AmP;i A I I O >bE-4jE4rEI"0E=  E= E9 E9 "E= O:*E= xv:VE9 ZE9 aM @aM @aM @aM @`|,)?A NI@NC@NGL(=ٱNQ3 VAHRS rotation from veh to nav: [[0.045843,0.983341,0.175896],[-0.998104,0.052329,-0.032412],[-0.041077,-0.174076,0.983875]]NHx? w??`w@ʪ?X #Hƿ{?iNI@INф^;NCY]UBy]Iim@AbDmVDmky}d%Q=ٔRQ->9Y=FyrEL:E>Q 55?Q 95f~)BYyԿQ I@eEIF:i:1%5yɮABDAT read: Rx Time:05:52:38.4522 TRx dataTimestamp_ set to:1761544359.868188checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013284jhDNOT Ignoring new targets: 59.05 m.bhPowering the camera and arming the capture device at range: 59.40 m.2hRhZh ProNav: ac range: 59.045094 m, nav range: 56.594215 m, bearing: 263.980023 deg, approach rate: -0.535099 m/s, LOS rate: -0.007864 deg/s, cmd heading: 272.704947 deg, new cmd heading: 272.695659 deg. BhHeadingCmd: 4.759437 target range: 59.045094 and range: 59.40 m.hOM@h*h"h h2hg f f)f)d1d1d1jd1Zd=`@i颍Bɢv) i)A<ii-1 ÿ-& <5;I5OM@I1=`?i=?*@ @@/@ԙu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264210 ^A r;A A @AB >B B IB DBB B B `DB a;B %EA ؟AI! I1 O= >n=, *?A2P@2J@2%=ٱ2J1 :AHRS rotation from veh to nav: [[0.046688,0.983647,0.173948],[-0.998089,0.052995,-0.031786],[-0.040485,-0.172132,0.984242]]2H}? z? C?W"?AFckƿ@~?i2P@I2/}^;2CY@yFIbDNVDN1yV;%V[=ٔVϺQ-V>X9^"?Y^"?=^Fy^rE^;Eb>`Q 5f5b?Q 9f5b)bBYhyjԿQ Ij@bhEIb;ib;b&5ylɮrApjhiuDNOT Ignoring new targets: 59.05 m.bhquPowering the camera and arming the capture device at range: 59.40 m.2hqRh}&Zh}& ProNav: ac range: 59.045094 m, nav range: 56.392159 m, bearing: 263.976903 deg, approach rate: -0.525983 m/s, LOS rate: -0.008150 deg/s, cmd heading: 272.695658 deg, new cmd heading: 272.686265 deg. BhHeadingCmd: 4.759273 target range: 59.045094 and range: 59.40 m.hK@h*h"h h2hgfffdddjdZd`a @E- E-E-%E)"E-:*E-e:VE- 4ZE)BE-D- =BDAT read: Tx time:05:52:39.5715 =$Ping request sent.=Ih=imÿm 2@%/>b2@ f;>)@If;|+h>?zJ%+?Pwȶ? 1?)b.I4\-if;e:publishing transmit ping time9eFpublishing direction and range infoy#?wJcٜ4ſm~S?Y )Ii )I|+h>?zJ%+?Pwȶ? )Ii  '@  @ @ @ @eA@eA9 ^A- P;A5 >A5 ?i A].AIiIyO>_,<,*?A^%e@^_@^w =ٱ^- jAHRS rotation from veh to nav: [[0.049266,0.984074,0.170797],[-0.998016,0.055216,-0.030261],[-0.039210,-0.168968,0.984841]]^H@g9?@}??NE?@]ſ ҃?i^%e@I^b^;^CYtyvI ||Monly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 77.09, 83.88, 89.66 aM@aM aM@aM aM@aU aU@aU bD]VD]k2yu%u#=ٔ}L&Q-}>9} ?Y} ?=FyrE;E>Q 55?Q 95Њ)BQ A+:YQ E: yEEԿQ IM@mEII+,d:G*?A6>u@6 p@6c=ٱ6:, NAHRS rotation from veh to nav: [[0.051228,0.984260,0.169140],[-0.997934,0.057026,-0.029597],[-0.038777,-0.167274,0.985148]]6H`:?`?_? `|2?@N ڣ=iſ T?i6>u@I6?s^;6CYV>ByZIbDb VDbf2yj%jK=ٔjQ-n>9lYl=nFynrEr;Er>tQ 5~5v?Q 95v|)vBQ A :YQ E:y ԿQ I@vpEIvz;ivh?v)5yaBɮAoE5B*** querying acoustic contact ***i1 i1jh9EDNOT Ignoring new targets: 56.96 m.bhAEPowering the camera and arming the capture device at range: 57.30 m.2hARhMTZhMT] ProNav: ac range: 56.957211 m, nav range: 55.938118 m, bearing: 263.971400 deg, approach rate: -0.582136 m/s, LOS rate: -0.011615 deg/s, cmd heading: 272.673473 deg, new cmd heading: 272.660516 deg. Bh]eHeadingCmd: 4.758824 target range: 56.957211 and range: 57.30 m.heIH@ha*ha"ha hi2higififqfqdqdqdyjdyZd}`|C?颥BɢZ) i)'4<顱i=XiFÿ <PB΍CBIB:BB) =BBBa;B$Ei"@ @@/@}PExceeded connect timeout, disconnecting.Ee EeEe&Ea"Ee:*Ee]t:VEe4ZEaBEe)I !ܗ,{`*?A;ɰ68@6@6=ٱ6ab* JAHRS rotation from veh to nav: [[0.053175,0.984452,0.167415],[-0.997839,0.058861,-0.029188],[-0.038588,-0.165501,0.985454]]6H9??m?L #? e㝿!/ſ׈?i68@I6_^;6CYZ;ByZIaa aa aa aa iMb@Mb@Mb@ 9?&1X9v?Y?yн@ A)tAY AbDVDyQ%:=ٔQ->9Y=FyrE\;E > Q 55 |?Q 95 V) BQ AT:Y?Q E:ySڿQ I@ tEI ;i ; +5y)ɮ-/A)1jhQ]DNOT Ignoring new targets: 56.96 m.bhY]Powering the camera and arming the capture device at range: 57.30 m.2hYRhey9Zhey9u ProNav: ac range: 56.957211 m, nav range: 55.713802 m, bearing: 263.978240 deg, approach rate: -0.512121 m/s, LOS rate: 0.015679 deg/s, cmd heading: 272.660523 deg, new cmd heading: 272.681126 deg. Bhu+,:}HeadingCmd: 4.759183 target range: 56.957211 and range: 57.30 m.h};K@hy*hy"h h2hgfffBdddjdZd@2?Bɢ,t) þi)Ī.<iΐiÿ2 <ddEu  Eu Eu !Eq "Eu :*Eu xv:VEu c3ZEq a} @a} @a} @a} @E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500191 $,$z*?A2@2i@2=ٱ22) :AHRS rotation from veh to nav: [[0.055414,0.984513,0.166323],[-0.997728,0.060994,-0.028627],[-0.038328,-0.164359,0.985656]]2H@<_?!?J?@b:? UP` ſ}?i2@I2t^;2CYB4ByBIIFC=)F=HJ=bDNVDNNyV%Vb=ٔZ9XYX=ZFy^rE^^;E^>`Q 5f5bm?Q 9f5b&)bBYhyj ڿQ Ij@bwEIb :ib:bC-5ylɮnhApjhAMDNOT Ignoring new targets: 56.96 m.bhIMPowering the camera and arming the capture device at range: 57.30 m.2hIRhU9ZhU9 ProNav: ac range: 56.957211 m, nav range: 55.529167 m, bearing: 263.983505 deg, approach rate: -0.500303 m/s, LOS rate: 0.014313 deg/s, cmd heading: 272.681123 deg, new cmd heading: 272.696970 deg. Bh+:HeadingCmd: 4.759460 target range: 56.957211 and range: 57.30 m.hM@h*h"h h2hgfffdddjdZdػ? Bɢ i)  g;i)^)B9B=IB=+BB9B9B9B=a;B=$E^An<II O > nManaging dock network, ignoring radio surface power off t,*?ADzDE EE)E"E:*E:VEFA4ZEBE+checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0059995\@5+@5h=ٱ51|) EAHRS rotation from veh to nav: [[0.057578,0.984335,0.166640],[-0.997620,0.063071,-0.027859],[-0.037933,-0.164640,0.985624]]5Hz??`wT? k%?kſ;?i5\@I5^;5CY/ByIiEMb@Mb@Mb@AAAA A9EMb?~jt?YE?yE̽E9qYy=}Fy}rE}m;E}>Q 55?Q 95)BY?Q E:y ٿQ I@{EI:i3:m/5yɮAjhDNOT Ignoring new targets: 56.96 m.bhPowering the camera and arming the capture device at range: 57.30 m.2hRhH9ZhH9E ProNav: ac range: 56.957211 m, nav range: 55.270813 m, bearing: 263.988805 deg, approach rate: -0.530423 m/s, LOS rate: 0.010932 deg/s, cmd heading: 272.696969 deg, new cmd heading: 272.712944 deg. BhE9MHeadingCmd: 4.759739 target range: 56.957211 and range: 57.30 m.hMO@hI*hI"hI hQ2hQgQfQfYf] BdYdYdyjdZdE@Bɢ) վi) "<i;iKÿ7 <Ћ;,_*?A >1@>@>$=ٱ>w( FAHRS rotation from veh to nav: [[0.059507,0.984329,0.165998],[-0.997528,0.064864,-0.027036],[-0.037379,-0.163979,0.985755]]>H`w??i??횰?;@_#`?ĿO?i>1@I>)^;;Ej ?9Q 5E5=?Q 9E5=^)=BYAyEؿQ IE@=~EI=:i=:=05yQɮUSAQjhDNOT Ignoring new targets: 56.96 m.bhPowering the camera and arming the capture device at range: 57.30 m.2hRh19Zh19 ProNav: ac range: 56.957211 m, nav range: 55.099537 m, bearing: 263.992012 deg, approach rate: -0.515015 m/s, LOS rate: 0.009673 deg/s, cmd heading: 272.712952 deg, new cmd heading: 272.722602 deg. Bhl9HeadingCmd: 4.759907 target range: 56.957211 and range: 57.30 m.h)Q@h*h"h h2hgfffdddjdZde@ 99gA 9gAYABɢqҼ) Ui)~<i1i%¿E5 E5E5'E1"E5s:*E5:VE5'4ZE1a=@a=@a=@a=@Ie| A5 ? Au ؟AI I O >,c*?Ai0I2A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760318:@:@:=ٱ:}(\ jAHRS rotation from veh to nav: [[0.060063,0.984347,0.165690],[-0.997514,0.065317,-0.026443],[-0.036851,-0.163690,0.985823]]:H??`Q5??`&ޢ@Ŀ`݋?i:@I:a;:CYrByvI xxbD VD βyc%E=ٔQ-%>9%"?Y%"?=%Fy%rE-:E->1Q 5=55?Q 9=55ث)5BY9y=ؿQ IE@5EI5;i5];525yIɮMxAImB*** querying acoustic contact ***ii iijhq}DNOT Ignoring new targets: 56.96 m.bhy}Powering the camera and arming the capture device at range: 57.30 m.lFinal approach. Armed for intercept at range: 57.30 m.\Transitioning guidance mode to: FINAL_APPROACH:h@Rh19Zh19 ProNav: ac range: 56.957211 m, nav range: 54.889668 m, bearing: 263.995852 deg, approach rate: -0.526693 m/s, LOS rate: 0.009675 deg/s, cmd heading: 272.722596 deg, new cmd heading: 272.734162 deg. Bhz9HeadingCmd: 4.760109 target range: 56.957211 and range: 57.30 m.hR@h*h"h hgfffdddjdB>BύCBIBBBBBBa;B%EBBBCB) =B( =C5Zd4@  Bɢ Լ)  Hi )<i+i)¿<Ř,,F*?AVÑ@VY@V=ٱV( ^AHRS rotation from veh to nav: [[0.060769,0.984279,0.165835],[-0.997492,0.065926,-0.025766],[-0.036293,-0.163854,0.985817]]VH"?@7?`:?s`?Eb (Ŀϋ?iVÑ@IVb;VCYjByjoIiMb@Mb@Mb@ 9 r?RQ:v?Y?y½T<A @ KA)(AY AbDVDy0%?=ٔwQ->9Y=FyrE:E>Q 55?Q 95) BY?Q E:y׿Q I@EI:iX ;{45ykBɮ[AyEjh!%DNOT Ignoring new targets: 56.96 m.bh!Rh-8Zh-8= ProNav: ac range: 56.957211 m, nav range: 54.666485 m, bearing: 263.998296 deg, approach rate: -0.523288 m/s, LOS rate: 0.005754 deg/s, cmd heading: 272.734153 deg, new cmd heading: 272.741515 deg. Bh=|9EHeadingCmd: 4.760237 target range: 56.957211 and range: 57.30 m.hES@hA*hA"hI hIgIfIfQfUBdQdQdYjdYZd]@ @ BɢW׼)  [i )j1<i'∼i-¿5+r<5HW,%*?Aɰ;F$ʑ@FĘ@Fk=ٱF( NAHRS rotation from veh to nav: [[0.061574,0.984250,0.165715],[-0.997462,0.066626,-0.025093],[-0.035739,-0.163749,0.985854]]FH?~?&6?`6a?bLĿ?iF$ʑ@IFc;FCYZByZfIbDbVDb1yj%j[=ٔnºQ-n>9lYl=nFynrEr ;Er>tQ 5z5v?Q 9z5vŶ)v BYy׿Q I@vEIvr;ivs;v65yɮAjh9=DNOT Ignoring new targets: 56.96 m.bh9RhE8ZhE8U ProNav: ac range: 56.957211 m, nav range: 54.471611 m, bearing: 264.000283 deg, approach rate: -0.520068 m/s, LOS rate: 0.005322 deg/s, cmd heading: 272.741502 deg, new cmd heading: 272.747484 deg. BhUi9]HeadingCmd: 4.760342 target range: 56.957211 and range: 57.30 m.h]T@hY*hY"ha hagafafifidididijdqqZd} @颥Bɢ)9  i)w <顩iLi¿< BDAT read: Tx time:05:52:43.1715  $Ping request sent. V?;D̿:N ?Y}^Byyy}g y)}BI}"=i};߯}!?}K6@}0 >}o5@ }>)}@I}yy}y^?E7.9?mQ? }>=A?)}g I}tdi}yy=:publishing transmit ping time=Fpublishing direction and range infoyy}>V?;D̿:N ?Yyyyyy y)yIyiyyyyy y)yIyyy}y^?E7.9?mQ? yAAB>BBeIBBB( =BBaDBa;B%E^AAzAfA)yIyiyyyA% .AI) IA OM > ;Ŋ,Z+?AER ERER%EP"ER&:*ER~:VER 4ZEPBER^;9m ?Ym ?=mFymrEu:Eu>yQ 55}$?Q 95}̽)} BY ?Q E:y-ҿQ I@}EI}:i}:}=85yɮ3Aii +?AJi\BRi\Bji @b2:_J@Gfw3(x@R>V?;D̿:N ?Zitdbij ƐDB(Kˎ)@Zw)(dqE,s?2i~X:i&"i?*iaMBiyBi6?iIiBiAYBi$L@ addTargetRange:: Added new target pos. range: 55.500000 m, deltaT: 3.779816 s, deltaX: -1.799999 m, approachRate: -0.476213 m/s, rangeRepo size: 4  Added new target pos. range: 55.168388 m, bearing: 262.300531 deg, lat: 36.779448 deg, lon: -121.859786 deg, deltaT: 3.779816 s, deltaX: -1.788822 m, approachRate: -0.473256 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 55.17 m.bhRhZh  ProNav: ac range: 55.168388 m, nav range: 54.314304 m, bearing: 263.735025 deg, approach rate: 0.000000 m/s, LOS rate: 0.005322 deg/s, cmd heading: 272.747485 deg, new cmd heading: 272.755294 deg. BhHeadingCmd: 4.760478 target range: 55.168388 and range: 55.50 m.hU@h*h"h hgff!f%Bd!d!d)jd-K@Zd-?]Bɢ]H)] eFia)eWˊ,`0+?AF"ב@Fј@FD =ٱF^.) NAHRS rotation from veh to nav: [[0.063160,0.984060,0.166240],[-0.997433,0.067876,-0.022831],[-0.033750,-0.164372,0.985821]]FH@H+?@l}?^G?J`?`G@! ſ@؋?iF"ב@IF|a;FCYVByV9IbDbVDbNyj½%jr=ٔjYFQ-n?9n"?Yn"?=nFynrErP;Er?tQ 5z5v ?Q 9z5v)tY|y~ ҿQ I~@vEIv ;iv;v95yɮAxEjh)-DNOT Ignoring new targets: 55.17 m.bh)Rh5-ԹZh5-ԹE ProNav: ac range: 55.168388 m, nav range: 54.128838 m, bearing: 263.727321 deg, approach rate: -0.556329 m/s, LOS rate: -0.023187 deg/s, cmd heading: 272.755299 deg, new cmd heading: 272.732109 deg. BhE~MHeadingCmd: 4.760073 target range: 55.168388 and range: 55.50 m.hMR@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZde ?颕Bɢ9&) Zi)=;顙iiU¿4<a1 Ҋ,ձJ+?A6`ّ@6/Ԙ@6=ٱ6* >AHRS rotation from veh to nav: [[0.063437,0.983832,0.167485],[-0.997465,0.067924,-0.021194],[-0.032227,-0.165716,0.985647]]6Ha=?@{?&p?<@rc?@γ /6ſ k?i6`ّ@I6}a;6CY^By^AIbDfVDf1Br>BpBrFIBrBBpBpBpBra;Br%Ey~<%~H=ٔtQ->9 ?Y ?= Fy rE /:E >Q 55?Q 95)YyѿQ I@EI|A} ?A؟AIIO >ڊ,5Dj+?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498392Rߑ@Rjژ@R\<ٱR + ^AHRS rotation from veh to nav: [[0.064198,0.983705,0.167936],[-0.997468,0.068415,-0.019440],[-0.030613,-0.166262,0.985606]]RHPo?z?~?A?蓿X Hſ@?iRߑ@IRa;PYfByf(I hhlliuMb@Mb@Mb@qqqq q9uoʡ?L7A`尿y&1|?Yu ?yu+u`;uAu @ uA)uAqYqbDVDyΝ%=ٔLQ->9"?Y"?=FyrE:E>Q 55|좊?Q 95)Ym?Q Em:ymϿQ Im@EI%?Bɢ) (i)ы;i~i$ÿ֨<ѿBRЍCBR'IBRBBPBPBPBRa;BR)%Ebߑ@bژ@b6X<ٱbp* nAHRS rotation from veh to nav: [[0.064240,0.983793,0.167404],[-0.997507,0.068213,-0.018087],[-0.029213,-0.165824,0.985722]]bH r?<{? |m?`mv?O靿9ſ ?ibߑ@IbWb;bCYvByv)IbDVD2y );%#=ٔ7Q->9Y=FyrE8E%>!Q 5-5%L뢊?Q 955%^)% BY1y1Q I5@%EI%;i%;%?5y9ɮEqAAjhamDNOT Ignoring new targets: 55.17 m.bhiRhuO(ZhuO( ProNav: ac range: 55.168388 m, nav range: 53.341728 m, bearing: 263.682447 deg, approach rate: -0.578425 m/s, LOS rate: -0.036787 deg/s, cmd heading: 272.649349 deg, new cmd heading: 272.596790 deg. BhɺHeadingCmd: 4.757711 target range: 55.168388 and range: 55.50 m.h,?@h*h"h hgfffdddjdZd0@Bɢ) )i)ڶ;iziBÿ8<j,}+?A2ޑ@2j٘@27<ٱ2q=* :AHRS rotation from veh to nav: [[0.064083,0.983892,0.166883],[-0.997566,0.067763,-0.016445],[-0.027489,-0.165423,0.985840]]2Hg? |?j\?`X? א & ,ſ`?i2ޑ@I2Hc;2CYFByF(Inchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506313Qi]Mb@Mb@Mb@YYYY Y9]V-?~jt9 ?Y ?=FyrEE>Q 55ꢊ?Q 95q)Y?Q E:yo˿Q I@EIrY;i ?; B5yɮvAjhDNOT Ignoring new targets: 55.17 m.bhRhmZhm  ProNav: ac range: 55.168388 m, nav range: 53.073891 m, bearing: 263.655847 deg, approach rate: -0.520868 m/s, LOS rate: -0.051991 deg/s, cmd heading: 272.596784 deg, new cmd heading: 272.516580 deg. Bh HeadingCmd: 4.756311 target range: 55.168388 and range: 55.50 m.h3@h*h"h hgfffڀBd!d!dAjdAZdM #@颕Bɢ ) +i)ɟ;顙iuviMpÿM,+?A2U@2$ݘ@2<ٱ2+ :AHRS rotation from veh to nav: [[0.064540,0.983761,0.167477],[-0.997599,0.067830,-0.013992],[-0.025124,-0.166172,0.985777]]2H?z? o?@TP]?@1Eſ{?i2U@I2/d;2CYBByB)IIH)J=bDN VDN2yV\;%VT=ٔZɻQ-Z>9Z"?Y^"?=^Fy^rE^3:E^>`Q 5f5bꢊ?Q 9j5b )b BYhyj_˿Q Ij@bEIb;ib ;bC5ylɮnqApjh DNOT Ignoring new targets: 55.17 m.bh RhZh% ProNav: ac range: 55.168388 m, nav range: 52.861763 m, bearing: 263.634476 deg, approach rate: -0.599058 m/s, LOS rate: -0.060593 deg/s, cmd heading: 272.516570 deg, new cmd heading: 272.452202 deg. Bh%V&%HeadingCmd: 4.755188 target range: 55.168388 and range: 55.50 m.h-*@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=y@ԩBɢu=) +i)ǐ;i_silÿ&m<i >BDAT read: Rx Time:05:52:45.6470 TRx dataTimestamp_ set to:1761544367.180434checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011645@ @@1@B >BBIBlBBBBB b;B4%E^A< E  E E $E "E :*E :VE 4ZE BE &9 m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264590=,+?A@]@<ٱj( AHRS rotation from veh to nav: [[0.065305,0.984180,0.164698],[-0.997655,0.067781,-0.009453],[-0.020467,-0.163695,0.986299]]Hշ?f~?? Z?\`>@Ŀ@?i@Ibf;CY By ;IiMb@Mb@Mb@ 9B`"?Zd;O~jt?Y?yj<<AM@  A)AY AbD5VD5yEo=%E(=ٔMQ-M>9IYI=UFyUrEUC:EU>YQ 5e5]Qꢊ?Q 9e5]9)]BYmj?Q Em:ym]ʿQ Im@]EI]m ;i] ;]E5yqɮuAyB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 55.17 m.bhRh2Zh2 ProNav: ac range: 55.168388 m, nav range: 52.590191 m, bearing: 263.604514 deg, approach rate: -0.556558 m/s, LOS rate: -0.061722 deg/s, cmd heading: 272.452203 deg, new cmd heading: 272.361850 deg. Bhp)HeadingCmd: 4.753611 target range: 55.168388 and range: 55.50 m.h@h*h"h hgfffBdddjdZd`߀ @Bɢ )  ,%i )  Lx;izoiÿD,< BDAT read: Tx time:05:52:46.7715 $Ping request sent.7@ | >)@I| L} ~?]f@?G\H*#? MG?)[Ii| u:publishing transmit ping timeuFpublishing direction and range infoyo˖?4GpϿp ?Y )Ii )IL} ~?]f@?G\H*#? )Iii^A c< (hA U C˿9U (hAY] VAԙ I I O >z;,+?AER EREPEP"ERa:*ERg:VEPZEPaZ@aZ@aZ@aZ@YBy.IbD-VD-2yd%j=ٔQ->9Y=FyrEE?Q 55'ꢊ?Q 95])BYyQ I@EI%;i&;aG5yBɮAEii]+?AJiSTBRiSTBjiyɑ@bkscI@ *5k @Ro˖?4GpϿp ?Zibi| jͪeK 3=I1"@Zn(lÿ$Wc?2iN:i^"i%;?*i" 7>Bi]Bi`ݷǠ?iUGiiQBiIӒ@q addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 3.532255 s, deltaX: -2.099998 m, approachRate: -0.594521 m/s, rangeRepo size: 4  Added new target pos. range: 53.081509 m, bearing: 261.030618 deg, lat: 36.779443 deg, lon: -121.859785 deg, deltaT: 3.532255 s, deltaX: -2.086880 m, approachRate: -0.590807 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 53.08 m.bhRhZh ProNav: ac range: 53.081509 m, nav range: 52.386395 m, bearing: 262.889757 deg, approach rate: 0.000000 m/s, LOS rate: -0.061722 deg/s, cmd heading: 272.361853 deg, new cmd heading: 272.294122 deg. BhHeadingCmd: 4.752429 target range: 53.081509 and range: 53.40 m.h@h*h"h hgfffdddjd @3J@Zd ?U!Bɢ]Қ6)Y ]*iY)]SV;aaielqlieÿm%Am >A A B B B B B B B B b;B 9%EB-ЍCB-ЍCB)B-( =B)C-!4Ia Iq O > ",OY,?A2@2^@2(<ٱ2( :AHRS rotation from veh to nav: [[0.066283,0.984080,0.164906],[-0.997646,0.068273,-0.006420],[-0.017576,-0.164092,0.986288]]2H ?}?@?`Vz?@Kz@ ſ?i2@I2f;2CYnByn+I ppbDzVDz0yJ%U=ٔQ- >9 Y = Fy rE&;E>Q 5%5颊?Q 9%5)BY!y%=ʿQ I-@EI8;i?;I5yYɮ]AYjhDNOT Ignoring new targets: 53.08 m.bhRh/Zh/ ProNav: ac range: 53.081509 m, nav range: 52.172657 m, bearing: 262.862665 deg, approach rate: -0.574213 m/s, LOS rate: -0.073083 deg/s, cmd heading: 272.294125 deg, new cmd heading: 272.212515 deg. BhHHeadingCmd: 4.751005 target range: 53.081509 and range: 53.40 m.h;@h*h"h hgfffdddjdZd?"Bɢ1A) ,i)T7;ihii}Ŀt<M=I;@I E EE"E"E*Exv:VE(3ZEBE(Q /O ,=+,?A2+@2@2{<ٱ28( :AHRS rotation from veh to nav: [[0.067700,0.984103,0.164190],[-0.997588,0.069296,-0.004010],[-0.015324,-0.163522,0.986421]]2H T?@}?+?=i?@lp Ab`LĿ?i2+@I2D g;0YFByJ6IiMb@Mb@Mb@ 9ˡE?V-~jt?Y?ym< Ad@  A)YAbDVD:yg=%;=ٔ^Q->9Y=FyrEU;E> Q 55 Z颊?Q 95 %) BY?Q E:y.ͿQ I@ EI  ;i : J5y!ɮ-nA)jhIUDNOT Ignoring new targets: 53.08 m.bhQRh]|Zh]|m ProNav: ac range: 53.081509 m, nav range: 51.940868 m, bearing: 262.838975 deg, approach rate: -0.538325 m/s, LOS rate: -0.055266 deg/s, cmd heading: 272.212518 deg, new cmd heading: 272.141130 deg. BhmHeadingCmd: 4.749759 target range: 53.081509 and range: 53.40 m.h@h*h"h hgfffBdddjdZdq?)u$Bɢ}Ү()y }1)iy)};yi. fi%TGĿ=f\<=3& =I=@IA@ @@/@YE EE&E"E:*Ez:VE4ZEa@a@a@a@ԁ ^A V<I) I9 OE >4,E,?A06@6@6X<ٱ6C' >AHRS rotation from veh to nav: [[0.068999,0.984189,0.163130],[-0.997529,0.070231,-0.001787],[-0.013215,-0.162604,0.986603]]6H`?`y~?u?@@?)F]`6Ŀ@@?i6@I6Ebg;6CYFByFAIbDRVDRyVC=%Zb=ٔZ,Q-Z>9XY\=^Fy^rE^k;Eb>`Q 5f5b袊?Q 9j5b9)b BYhyjͿQ Ij@bEIb:ib :bL5ylɮr'Apjh15DNOT Ignoring new targets: 53.08 m.bh1Rh=a{Zh=a{M ProNav: ac range: 53.081509 m, nav range: 51.748528 m, bearing: 262.818890 deg, approach rate: -0.524205 m/s, LOS rate: -0.054943 deg/s, cmd heading: 272.141128 deg, new cmd heading: 272.080650 deg. BhMUHeadingCmd: 4.748703 target range: 53.081509 and range: 53.40 m.hU`@hQ*hQ"hQ hQg1f1f9f9d9dAdAjdAZdE2?颽%Bɢl7) _%i):i)ciiĿ-<A'=I`@I!ԡBU >BQBU!IBUBBU' =BQBQBUb;BU1%Ea@a @a@a@a@m=@m>Թ^A y=A eAzA dAE  E E "E "E ;*E n:VE (3ZE BE Ap_,}^,?A6@6 @6*<<ٱ6' BAHRS rotation from veh to nav: [[0.070332,0.984136,0.162882],[-0.997457,0.071271,0.000080],[-0.011530,-0.162473,0.986646]]6HI? ~?N?+`>??#@Ŀ?i6@I6h;6CYHyH\i}Mb@Mb@Mb@yyyy y9}rh|?x&Mb?Y}>y}7}=}A}M@ } A)}AyY}fAbDVDky>:%9=ٔzQ->9Y=FyrEE;E>qQ 5}5u碊?Q 9}5u5)u(BY>Q E:yϿQ I@uEIu:iui:uN5yɮ%AjhDNOT Ignoring new targets: 53.08 m.bhRh*:Zh*: ProNav: ac range: 53.081509 m, nav range: 51.521244 m, bearing: 262.800488 deg, approach rate: -0.500360 m/s, LOS rate: -0.040689 deg/s, cmd heading: 272.080640 deg, new cmd heading: 272.025192 deg. BheߺHeadingCmd: 4.747735 target range: 53.081509 and range: 53.40 m.hr@h*h"h hgfff BdddjdZd S?&Bɢ1)! %%i!)%ʘ:!!i-E*`i-Ŀ5!<5չ=I5r@I1IA)EdA@ @@/@^A- #=I I O >A A,Tx,?AbE 4jE c3rE /EB EBEB$E@"EBD:*EB:VEB4ZE@aJ@aJ@aJ@aJ@YEByEOIbDUVDUN2yef=%mQ=ٔmQ-m>9iYq=uFyurEuEu>Q 55碊?Q 95 )/BYyQ I@EI-:i:,P5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 53.08 m.bhRh9Zh9 ProNav: ac range: 53.081509 m, nav range: 51.336910 m, bearing: 262.785444 deg, approach rate: -0.493826 m/s, LOS rate: -0.040448 deg/s, cmd heading: 272.025179 deg, new cmd heading: 271.979885 deg. Bh޺HeadingCmd: 4.746944 target range: 53.081509 and range: 53.40 m.h@h*h"h hgfT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ffdddjdZd@-@M'BɢMZ6)I M iI)U5:id]iĿ<)=I@IIP@ @@0@y^A= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508280BA AE <BQ BQ BU 3IBU BBQ BQ BQ BU a;BU $%EԹ A= .AIA IY Oe >r$,,?A6B@6=@6l<ٱ6) >AHRS rotation from veh to nav: [[0.076325,0.983343,0.164960],[-0.997050,0.076626,0.004547],[-0.008169,-0.164820,0.986290]]6H? w?e?@?r?@ſ?i6B@I6^k;6CYFByFPIbDbVDbkyj;%jT=ٔnQ-n>9r ?Yr ?=rFyrrEr~<Ev>tQ 5z5vE梊?Q 9~5v)v7BY|y~ϿQ I~@vEIv&;ivv;vQ5y Bɮ A Ejh)5DNOT Ignoring new targets: 53.08 m.bh1Rh=KZh=KM ProNav: ac range: 53.081509 m, nav range: 51.146168 m, bearing: 262.768435 deg, approach rate: -0.495779 m/s, LOS rate: -0.044376 deg/s, cmd heading: 271.979881 deg, new cmd heading: 271.928663 deg. BhMUHeadingCmd: 4.746050 target range: 53.081509 and range: 53.40 m.hUߗ@hQ*hQ"hQ hYgYfYfYfYdadadajdaZdmK:@ԹM(BɢMs2)I M iI)uA9qqiuZiĿ'<75=Iߗ@IE EE%E"E:*Ek:VE 4ZEBE+9 8*,t|,?A6BDAT read: Rx Time:05:52:49.2444 :TRx dataTimestamp_ set to:1761544370.708422:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013501jo@jj@j;ٱj$3+ zAHRS rotation from veh to nav: [[0.081800,0.982674,0.166315],[-0.996632,0.081612,0.007973],[-0.005738,-0.166407,0.986041]]jH?r?I?`i?`3T?w Lſऍ?ijo@Ij l;jCY By HIi5Mb@Mb@Mb@1111 195!rh?MbX9Mb?Y5l>y5ʡ15I A5SA 5 A)5A1Y5AbDMVDMk1y],%e4=ٔeQ-e>9e"?Ym"?=mFymsEmTF<Em>qQ 5}5u䢊?Q 95u)uABY>Q E:yҿQ I@uEIuH:iu:uS5yɮOAjhDNOT Ignoring new targets: 53.08 m.bhRhZh5 ProNav: ac range: 53.081509 m, nav range: 50.938557 m, bearing: 262.756984 deg, approach rate: -0.457423 m/s, LOS rate: -0.025332 deg/s, cmd heading: 271.928655 deg, new cmd heading: 271.894162 deg. Bh5=HeadingCmd: 4.745448 target range: 53.081509 and range: 53.40 m.h=ڗ@h9*h9"h9 h9g9fAfAfEFBdAdIdIjdiZdm@)Bɢh.) $i)N5ҹiWi Ŀ 7< }kI=I ڗ@Ii>i>AQ@ @@4@E EEE"E:*E:VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263971q^A .=ԡ A I I) OU >È1,]o,?Ab;ɰb;@u@M(;ٱOC+ -AHRS rotation from veh to nav: [[0.084319,0.982469,0.166266],[-0.996428,0.083918,0.009444],[-0.004674,-0.166469,0.986036]]H@敵?cp? 5H?{?W?%sNſ?i@Im;CYEByEYIbDUVDUye5=%e[=ٔm:Q-m>9qYq=uFyusEu;Eu>yQ 55}㢊?Q 95})}IBYyҿQ I@}EI}/;i}n;}yU5yɮAjhDNOT Ignoring new targets: 53.08 m.bhRhZh ProNav: ac range: 53.081509 m, nav range: 50.767704 m, bearing: 262.747003 deg, approach rate: -0.456723 m/s, LOS rate: -0.026770 deg/s, cmd heading: 271.894149 deg, new cmd heading: 271.864106 deg. BhHeadingCmd: 4.744924 target range: 53.081509 and range: 53.40 m.hj֗@h*h"h hgfffdddjdZd @iDAT read: 05:52:49.2444 LVL= 32752, 32753, 28194, 32755, AGC= 63, IDX= 412, 0.03, 2.552, 1.136,-3.037, 2.568, PHS= 0.086,-1.387, 0.634, RAW= 165.2, 7.4, CAL= 164.7, 7.4, ROT= 345.3, -7.4 Ygot valid direction response: 05:52:49.2444 LVL= 32752, 32753, 28194, 32755, AGC= 63, IDX= 412, 0.03, 2.552, 1.136,-3.037, 2.568, PHS= 0.086,-1.387, 0.634, RAW= 165.2, 7.4, CAL= 164.7, 7.4, ROT= 345.3, -7.4 PDAT read: Bearing 79.0, -16.3 (Local) ~Local bearing/azimuth received: Bearing 79.0, -16.3 (Local) DAT read: Range 11 to 50 : 51.5 m (Round-trip 68.7 ms) speed 0.4 m/s *DAT read: user:587> BDAT read: Tx time:05:52:50.3715 $Ping request sent.BB@IBBBBBBa;B%E)e?Ie =ie7eM"?e8@e A>e7@ e A>)e@Ie AaaeԊ5\?jw?@e? eCI?)eIeJ\ie Aaa :publishing transmit ping timeFpublishing direction and range infoyae?Xܱ?C&пOZ_|?Yaaaaa a)aIaiaaaaa a)aIaaaeԊ5\?jw?@e? a)aIaiaaa=*Bɢ=UA)A EiA)E?N8,,?A2嚒@2@2r;ٱ2H+ >AHRS rotation from veh to nav: [[0.087025,0.982282,0.165976],[-0.996199,0.086426,0.010843],[-0.003694,-0.166289,0.986070]]2H DG?n?>?` ?@4? -Cn@Hſ@?i2嚒@I2o;2CYFByFQIiMb@Mb@Mb@ 9l?EԸS㥛?Y>yƽ/< AA G A)AYAԑbD-VD-J2yڼ%4=ٔ Q->9Y=Fy sEo;E>Q 55ᢊ?Q 95 )RBY>Q E:y1ٿQ I@EI2 ;iz ;tW5yɮAiaie,?AJieLBRieLBjie|)@beb_gH@`")(_@Re?Xܱ?C&пOZ_|?ZieJ\bie AjenU% 2Hwܹ @Zer7¿@HN:Ƹ~(?2ieG:ie*"ie{?*ie*4BBieԐBie?iaie]BieJBieD@5 addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 3.527850 s, deltaX: -1.900002 m, approachRate: -0.538572 m/s, rangeRepo size: 4 E Added new target pos. range: 51.192795 m, bearing: 261.702145 deg, lat: 36.779436 deg, lon: -121.859785 deg, deltaT: 3.527850 s, deltaX: -1.888714 m, approachRate: -0.535372 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 51.19 m.bhARhMZhI] ProNav: ac range: 51.192795 m, nav range: 50.674274 m, bearing: 261.892565 deg, approach rate: 0.000000 m/s, LOS rate: -0.026770 deg/s, cmd heading: 271.864096 deg, new cmd heading: 271.827425 deg. BhYeHeadingCmd: 4.744284 target range: 51.192795 and range: 51.50 m.he,ї@ha*ha"hi higififqfuHBdqdqdyjd}I@Zd} y?颭,Bɢsi/) k"i)K㹺顱i\RiĿo<]=I,ї@IMN@I @I@Uz3@Q^A% QO= AU .AE}  E} E} (Ey "E} :*E} |:VE} c44ZEy a @a @a @a @I I O >}s>,ǜ,?A2@2¥@2;ٱ2k, :AHRS rotation from veh to nav: [[0.088977,0.981886,0.167283],[-0.996031,0.088109,0.012617],[-0.002351,-0.167742,0.985828]]2H`2Ƕ?k?`i?@|T?@։? Bcxſ?i2@I2?Vo;0YvByv?IbD~VD~ky )% V=ٔsfQ->9 ?Y ?=FysE;E%>!Q 5-5%ࢊ?Q 955%l$)%[BY1y5ؿQ I5@%EI%:i%9:%Y5yAɮEAA]B*** querying acoustic contact ***iY iYjhimDNOT Ignoring new targets: 51.19 m.bhiRhuZhu ProNav: ac range: 51.192795 m, nav range: 50.509586 m, bearing: 261.889285 deg, approach rate: -0.434886 m/s, LOS rate: -0.008689 deg/s, cmd heading: 271.827431 deg, new cmd heading: 271.817560 deg. BhԾHeadingCmd: 4.744112 target range: 51.192795 and range: 51.50 m.hϗ@h*h"h hgfffdddjdZd`>?-BɢL) w*i)`iPi`ſ<d=Iϗ@I-P@) @)@-/@)!UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.^Am&V=iB>BύCBLIBBB) =BBBa;B%EA I I O >y _[E,w-?A2@2ӵ@2:ٱ2W2 :AHRS rotation from veh to nav: [[0.090930,0.980775,0.172663],[-0.995857,0.089741,0.014697],[-0.001081,-0.173284,0.984871]]2H@8G?b??K?@??Q,.ƿ?i2@I2Io;2CYFByF;IbDRVDRk1yZj%ZP=ٔZ)TQ-^>9\Y\=^FybsEbԣ;Eb>dQ 5j5fUޢ?Q 9j5f()fcBYhyjؿQ In@fEIf:idfZ5ypɮrApjhDNOT Ignoring new targets: 51.19 m.bhRh-Zh- ProNav: ac range: 51.192795 m, nav range: 50.340652 m, bearing: 261.885420 deg, approach rate: -0.412027 m/s, LOS rate: -0.009458 deg/s, cmd heading: 271.817569 deg, new cmd heading: 271.805935 deg. BhϹHeadingCmd: 4.743908 target range: 51.192795 and range: 51.50 m.hΗ@h*h"h hgfffdddjdZd.?/Bɢ!I) ,i)j!  i >OMiſr <Sl=IΗ@IEM EIEM$QEI"EM:*EIVEM4ZEIBEM.tK,R0-?A2ǒ@2™@27ٱ2S5 :AHRS rotation from veh to nav: [[0.092474,0.980058,0.175886],[-0.995715,0.091004,0.016422],[0.000088,-0.176651,0.984274]]2H[?\?`p?` L?А??ƿ@+?i2ǒ@I2Y(o;2CYFByF0IiUMb@Mb@Mb@QQQQ Q9U%C?zGếy&1?YUZ>yU ׽U`e=ٔ2Q->9"?Y"?=FysELl;E> ECQ 550ܢ?Q 95-)jBY>Q E:yٿGQ I @EIHA >A I I O >9 {mR,.J-?A2=͒@2 ș@2gFκٱ2jK8 :AHRS rotation from veh to nav: [[0.093146,0.979597,0.178083],[-0.995651,0.091361,0.018215],[0.001574,-0.179005,0.983847]]2Hhط?X?i?_oc?? Y?@ƿ{?i2=͒@I2So;2Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004071B]>BYB]@IB]BBYBYBYB]a;B]$EBBBB' =BC5Y%iBy-I IIIIbD]VD]0ye̽%m/=ٔmPQ-m>9qYq=uFyusE}:E}>Q 55٢?Q 953)rBYyٿQ I@EI ;i ;^5yBɮ AEjhDNOT Ignoring new targets: 51.19 m.bhRh>Zh> ProNav: ac range: 51.192795 m, nav range: 49.930664 m, bearing: 261.879668 deg, approach rate: -0.502580 m/s, LOS rate: -0.007335 deg/s, cmd heading: 271.797952 deg, new cmd heading: 271.788604 deg. BhHeadingCmd: 4.743606 target range: 51.192795 and range: 51.50 m.h˗@h*h"h hgfffdddjdZd@j@%2Bɢ-`)) ->i))5xt11i5OxGi=ſ=#<=9t=I=˗@I9Ia)aA@ @@/@EU EUEU!EQ"EU:*EU:VEUc3ZEQBEU<80HY,tf-?A l)nkAn7llprkAirIrD`FpItivxkA vƽvJF)tt vkAz}zTFxxzpAI|)|i|)~@CI~kA~j<| kAii  )  I Y YUZByU I iuMb@Mb@Mb@qqqq q9uS㥛?S㥻Q?Yu>yu/ݽuu9Y=Fy!sEE>Q 55ע?Q 958)zBY>Q E:yDڿQ I@EI1;i=;`5yɮCAjhDNOT Ignoring new targets: 51.19 m.bhRh%Zh%= ProNav: ac range: 51.192795 m, nav range: 49.736568 m, bearing: 261.878035 deg, approach rate: -0.454734 m/s, LOS rate: -0.003841 deg/s, cmd heading: 271.788609 deg, new cmd heading: 271.783691 deg. Bh=(MHeadingCmd: 4.743520 target range: 51.192795 and range: 51.50 m.hMʗ@hI*hI"hQ hQgQfQfYf]2Bdachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508505ddjdZd`9@54Bɢ56`)1 5PCi1)=99i=gTDieſe% 4`,ڀ-?AjGђ@j̙@j^ٱj< rAHRS rotation from veh to nav: [[0.093636,0.978808,0.182119],[-0.995596,0.091206,0.021694],[0.004624,-0.183348,0.983037]]jH? eR?O?>Y? 6?`Gr?wǿ` u?ijGђ@Ijn;jCYCByIbDVDNyu%Z=ٔQ->9Y=Fy%sEܬ:E>Q 55բ?Q 95=)BYy+ڿQ I@EI;i;BB-IBBBBBBa;B$E^A@p=AzAfAԹA I I O > gUf,-?A6ϒ@6ʙ@6)һٱ6? BAHRS rotation from veh to nav: [[0.093459,0.978294,0.184950],[-0.995602,0.090630,0.023714],[0.006438,-0.186353,0.982462]]6H?.N?r?`3?H?@9^z?@kǿSp?i6ϒ@I6nn;4Eb EbEb&E`"Eb:*Eb՚:VEb4ZE`BEbC-9IYQ=UFyU)sEUEU>YQ 5e5]Ӣ?Q 9m5]A)]BYiyiQ Im@]EI]9:i]:]c5yqɮ}AyjhDNOT Ignoring new targets: 51.19 m.bhRhZh ProNav: ac range: 51.192795 m, nav range: 49.386604 m, bearing: 261.874746 deg, approach rate: -0.463398 m/s, LOS rate: -0.004390 deg/s, cmd heading: 271.778855 deg, new cmd heading: 271.773782 deg. Bh@HeadingCmd: 4.743347 target range: 51.192795 and range: 51.50 m.hɗ@h*h"h hgfffdddjdZd @Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.26645156Bɢ=v`})A MPiI)uݸyyi>ijſ)<;yw=Iɗ@I@ @@4@ 1 % DAT read: 05:52:52.8423 LVL= 32752, 32753, 30498, 32755, AGC= 65, IDX= 424, 0.03,-1.231,-2.577,-0.549,-1.181, PHS= 0.051,-1.351, 0.587, RAW= 165.5, 8.3, CAL= 165.2, 8.5, ROT= 344.8, -8.5 - Ygot valid direction response: 05:52:52.8423 LVL= 32752, 32753, 30498, 32755, AGC= 65, IDX= 424, 0.03,-1.231,-2.577,-0.549,-1.181, PHS= 0.051,-1.351, 0.587, RAW= 165.5, 8.3, CAL= 165.2, 8.5, ROT= 344.8, -8.5 5 PDAT read: Bearing 79.9, -16.0 (Local) 5 ~Local bearing/azimuth received: Bearing 79.9, -16.0 (Local) E DAT read: Range 11 to 50 : 50.0 m (Round-trip 66.7 ms) speed 0.4 m/s ^AA e *DAT read: user:588> u BDAT read: Tx time:05:52:53.9714 } $Ping request sent.} 8@ >) @I  ;+ū.?ڨ Mu?0%k? LrK?) ^I ԇi   :publishing transmit ping timeq  Fpublishing direction and range infoy  Z?п%)k?Y ) I i ) I ;+ū.?ڨ Mu?0%k? ) I i Y Aq I I O >Ǣl,-?AbF̒@bǙ@bTٱb_A zAHRS rotation from veh to nav: [[0.093025,0.978109,0.186143],[-0.995629,0.089816,0.025620],[0.008341,-0.187712,0.982189]]bHз? L??0.?2yu"۽u#9Y=Fy.sEstE>Q 55Ѣ?Q 95G)BY->Q E-:y-׿Q I-@EI5;i;e5y1ɮ5 A1iiCY-?AJiFBRiFBjikK@b/OķG@) ٞb@bE1jE5ö4rE50E EE$E"ED:*EAr:VE4ZEa@a@a@a@RZ?п%)k?Ziԇbij4Q|M譟LH?riɉ$@Z|A)T[ݥ,"?2i@:ik"iEP?*i;BiBii*4BiiCBi9<@ addTargetRange:: Added new target pos. range: 50.000000 m, deltaT: 3.528357 s, deltaX: -1.500000 m, approachRate: -0.425127 m/s, rangeRepo size: 4  Added new target pos. range: 49.701229 m, bearing: 261.939472 deg, lat: 36.779436 deg, lon: -121.859783 deg, deltaT: 3.528357 s, deltaX: -1.491566 m, approachRate: -0.422737 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 49.70 m.bhRhZh- ProNav: ac range: 49.701229 m, nav range: 48.948841 m, bearing: 261.833187 deg, approach rate: 0.000000 m/s, LOS rate: -0.004390 deg/s, cmd heading: 271.773773 deg, new cmd heading: 271.767425 deg. Bh15HeadingCmd: 4.743237 target range: 49.701229 and range: 50.00 m.h5ȗ@h9*h9"h9 h9g9fYfafeBdadidijdmI@Zdm?颽7Bɢ@r) 7Ri)tһiv;i ſ*<8v=Iȗ@I@ @@4@A ^A np=y B >B B IB bBB B B B a;B %EI I O >Ws,f1-?AYMByMIbD]VD]02ymK%mV=ٔuQ-u>9qYq=}Fy}2sE}E}>Q 55Ϣ?Q 95L)BYyQ I@EI;iz;g5yɮ\ AjhDNOT Ignoring new targets: 49.70 m.bhRhĘZhĘ ProNav: ac range: 49.701229 m, nav range: 48.761021 m, bearing: 261.827194 deg, approach rate: -0.521165 m/s, LOS rate: -0.016695 deg/s, cmd heading: 271.767435 deg, new cmd heading: 271.749385 deg. BhR7HeadingCmd: 4.742921 target range: 49.701229 and range: 50.00 m.hƗ@h*h"h hgfffdddjdZdŁ?-8Bɢ5)1 5Wi1)5Z19i=8i=`'ſEbM,Uy,l-?A Y ByI !!)-Ai Mb@Mb@Mb@     9  rh?J +{Gzt?Y C ?y Ƚ ף; $A  A) A Y QA )-bD5 VD5f2yM6%M>=ٔQQ-U>9YYY=]Fy]6sEaEe>iQ 5}5m΢?Q 9}5mR)mBY ?Q E:yYӿQ I@mEIm7;im5;mi5yBɮ AEjhDNOT Ignoring new targets: 49.70 m.bhRh:Zh: ProNav: ac range: 49.701229 m, nav range: 48.522903 m, bearing: 261.809658 deg, approach rate: -0.549615 m/s, LOS rate: -0.040675 deg/s, cmd heading: 271.749376 deg, new cmd heading: 271.696510 deg. BhQߺHeadingCmd: 4.741999 target range: 49.701229 and range: 50.00 m.ht@h*h"h hgfffBdddjdZd@1?%9Bɢ%Vi)) -Zi))-)1i5p5i5Eſ=.<=k7|=I=t@I9q@ @@@ԙ^AE  E E $E "E *E z:VE 4ZE a @a @a @a @IQ Ia Ou > 怋,.?Aɰp;2@2ر@2arٱ26'F :AHRS rotation from veh to nav: [[0.090437,0.977571,0.190200],[-0.995792,0.085919,0.031881],[0.014824,-0.192282,0.981228]]2H&?@CH?uX? ?R?@C\?ȿ7f?i2@I22m;2CYF~ByFIPbDNVDNyZʌ%Zh=ٔZQ-Z>9\Y\=^Fy^:sEbQEb>dQ 5j5f̢?Q 9j5fX)fBYhyjӿQ Ij@fEIf:if$:f k5ypɮrF!ApB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 49.70 m.bhRh4Zh4 ProNav: ac range: 49.701229 m, nav range: 48.330002 m, bearing: 261.795889 deg, approach rate: -0.551860 m/s, LOS rate: -0.039546 deg/s, cmd heading: 271.696510 deg, new cmd heading: 271.655040 deg. BhٺHeadingCmd: 4.741275 target range: 49.701229 and range: 50.00 m.h@h*h"h hgfffdddjdZd@?-:Bɢ5ܓ)1 U0aiQ)]b YYi]2ieR]ſe/BBIB/BB* =BB`DT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ba;B%E^A|=I9IIOU>) E%  E! E% %E! "E% D:*E! VE% 4ZE! BE% 19tYt=vFyv>sEv%Ez>|xQ 55zˢ?Q 95z])zBY y ӿQ I @zEIz:,;iz6-;zl5yɮ!AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747165jhDNOT Ignoring new targets: 49.70 m.bhRh*Zh* ProNav: ac range: 49.701229 m, nav range: 48.104252 m, bearing: 261.779918 deg, approach rate: -0.524348 m/s, LOS rate: -0.037270 deg/s, cmd heading: 271.655037 deg, new cmd heading: 271.606899 deg. Bh̺HeadingCmd: 4.740435 target range: 49.701229 and range: 50.00 m.h@h *h "h1 h1g9fAffddd)jd1Zd5E?颅;Bɢ) 1fi)A顩i/ixſH1<u=I@I]Q@Y @Y@e/@a@m>@m>Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.998063^AE | u=AM fAzAI ԁ I I O >#;,~7.?A2@2_@2ٱ2E :AHRS rotation from veh to nav: [[0.088184,0.977874,0.189702],[-0.995913,0.082818,0.036046],[0.019538,-0.192105,0.981180]]2H7?J?&H? 3?t??ȿ`e?i2@I2m;2CYB~ByBIi Mb@Mb@Mb@     9 K7A`?Zd;OMb?Y  ?y j < #A d@ tA) tA Y zAbD%VD%y59%5E=ٔMQ-M>9IYI=UFyUBsEUj?EU>YaQ 5m5eɢ?Q 9m5ec)eBYm ?Q Em:ym+ҿQ Iu@eEIe~:ie:en5yɮ!AjhAEDNOT Ignoring new targets: 49.70 m.bhARhMZZhMZ} ProNav: ac range: 49.701229 m, nav range: 47.875484 m, bearing: 261.760083 deg, approach rate: -0.548937 m/s, LOS rate: -0.047822 deg/s, cmd heading: 271.606898 deg, new cmd heading: 271.547110 deg. Bh}GHeadingCmd: 4.739391 target range: 49.701229 and range: 50.00 m.h@h*h"h hgfffBdddjdZd@@E EE"E"E2:*EVE(3ZEa@a@a@a@B B IB BB ) =B B B a;B %EI I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502129O >",YQ.?AZ@Z@ZSٱZC fAHRS rotation from veh to nav: [[0.087131,0.978440,0.187250],[-0.995957,0.081433,0.037924],[0.021858,-0.189797,0.981580]]ZH0N?@bO??` ش?j?a?FKȿ`i?iZ@IZm;ZCYn~BynIbDzVDz02yU%N=ٔJQ- >9 Y = Fy FsE.E>Q 5%5lȢ?Q 9%5i)BY!y-SҿQ I-@EI$:i:_p5y1ɮ5!A1jhimDNOT Ignoring new targets: 49.70 m.bhiRhucZhuc ProNav: ac range: 49.701229 m, nav range: 47.659290 m, bearing: 261.741483 deg, approach rate: -0.574372 m/s, LOS rate: -0.049642 deg/s, cmd heading: 271.547120 deg, new cmd heading: 271.491065 deg. BhFHeadingCmd: 4.738413 target range: 49.701229 and range: 50.00 m.h@h*h"h hgfffdddjdZd`@ԹQɢU)Y ];hiY)] -YYie4*ieſe49 M,a4k.?AYr~ByrIiMb@Mb@Mb@ 9Q?/$~jt?Y\?y<$A A)AYAbDVDN2y C<%:=ٔQ->9Y=%Fy%JsE%E%>)Q 555-RǢ?Q 955-&p)-BY= ?Q E=:y=ϿQ I=@-EI-. ;i- ;-Jr5yEBɮE!AMEjhiuDNOT Ignoring new targets: 49.70 m.bhqRhuZh} ProNav: ac range: 49.701229 m, nav range: 47.412376 m, bearing: 261.714171 deg, approach rate: -0.564661 m/s, LOS rate: -0.062783 deg/s, cmd heading: 271.491058 deg, new cmd heading: 271.408697 deg. BhY,HeadingCmd: 4.736975 target range: 49.701229 and range: 50.00 m.hM@BDAT read: Rx Time:05:52:56.4398 TRx dataTimestamp_ set to:1761544377.764152checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007164h*h)"h) h1g1f1f1f=Bd9d9d9jd9ZdET@=Bɢ8B) fi)ؿ:iG'i6ſ]6<{=IM@IЀG 9YvAAy@y @y@}1@y@@fAqE EE%E"E;*E~:VE 4ZEa@a@a@a@u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259315^A ԙ A I I O >o,欆.?AB@Bk@BټٱBߺD NAHRS rotation from veh to nav: [[0.084285,0.978534,0.188061],[-0.996087,0.077709,0.042082],[0.026564,-0.190872,0.981255]]BH?&P?a??? 3?~nȿqf?iB@IB: m;BCYV~ByVIXZAbDbVDbkyf=<%fS=ٔjFQ-j>9lYl=nFynNsEnEr>pQ 5v5rKƢ?Q 9z5ru)rBYxyz1пQ Iz@rEIrL;irY;rs5y|ɮ!AB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 49.70 m.bh)Rh5Zh5E ProNav: ac range: 49.701229 m, nav range: 47.194477 m, bearing: 261.690587 deg, approach rate: -0.561622 m/s, LOS rate: -0.061067 deg/s, cmd heading: 271.408686 deg, new cmd heading: 271.337607 deg. BhE'MHeadingCmd: 4.735734 target range: 49.701229 and range: 50.00 m.hM#@hI*hI"hQ hQgQfQfYfYdYdYdYjdaZde9F @颉ɢ)) ci)BBIB~BBBBBa;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512350B%EBmύCBmύCBiBm) =Bm) =CmĬ4^A|= AY Ii Iy O >E=  E= E9 E9 "E= ;*E= :VE9 ZE9 BE= @ zBDAT read: Tx time:05:52:57.5714 ~$Ping request sent.~.X8@ .V>).@I.V,,.G>W?\u?y3? .I?). I. Ai.V,,M:publishing transmit ping time|uFpublishing direction and range infoy,. [B?Bb-п'ЌCz?Y,,,, AHRS rotation from veh to nav: [[0.082983,0.978609,0.188249],[-0.996139,0.076024,0.043901],[0.028651,-0.191165,0.981140]]H^>?P? ?_@Vv?6z?`V?@xȿ e?iy@Il;C, ,),I,i,,,,, ,),I,,,.G>W?\u?y3? ,),I,i,,,Y~ByI9bDMVDMkyo<% =ٔ mQ->99Y9==FyETsEEEE>QQ 55UĢ?Q 95U~)UBYy\пQ I@UEIUWi,i.:Bi.@ addTargetRange:: Added new target pos. range: 48.099998 m, deltaT: 3.779801 s, deltaX: -1.900002 m, approachRate: -0.502672 m/s, rangeRepo size: 4  Added new target pos. range: 47.812305 m, bearing: 261.706280 deg, lat: 36.779436 deg, lon: -121.859781 deg, deltaT: 3.779801 s, deltaX: -1.888924 m, approachRate: -0.499742 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 47.81 m.bhRhZh- ProNav: ac range: 47.812305 m, nav range: 46.717720 m, bearing: 261.628347 deg, approach rate: 0.000000 m/s, LOS rate: -0.061067 deg/s, cmd heading: 271.337598 deg, new cmd heading: 271.224360 deg. Bh)5HeadingCmd: 4.733758 target range: 47.812305 and range: 48.10 m.h5z@h1*h1"h1 h1g9f9f9f9dAdAdAijdE H@Zdm?颽>Bɢ~) bi)Wi3"iSƿc:<&y=Iz@I P@  @ @ O0@ @ =@ =ԑ EM EMEM#EI"EM:*EM|:VEM3ZEIaU@aU@aU@aU@^AHu=AeAzAdAAIIO? ,If.?A2 n@2h@2Qٱ23D :AHRS rotation from veh to nav: [[0.081532,0.978788,0.187951],[-0.996202,0.074251,0.045472],[0.030552,-0.190945,0.981125]]2H@Nߴ?h9Y = Fy XsE tE>Q 55â?Q 9%5G)BY!y%пQ I%@EId:i:9x5y1ɮ5!A1jhQ]DNOT Ignoring new targets: 47.81 m.bhYRheZheu ProNav: ac range: 47.812305 m, nav range: 46.498856 m, bearing: 261.604657 deg, approach rate: -0.621553 m/s, LOS rate: -0.067594 deg/s, cmd heading: 271.224353 deg, new cmd heading: 271.152949 deg. Bhu9}HeadingCmd: 4.732512 target range: 47.812305 and range: 48.10 m.h}p@hy*hy"hy hygfffdddjdZdI?ɢꃦ) bi)}aiWi{|ƿ;<tx=Ip@Ia@i @i@m4@iB>BBIBBB* =BBB b;B.%E)^AA .AI I O >Q /,#.?AE& E&E&%E$"E&;*E&:VE& 4ZE$BE&j_9r ?Yr ?=vFyv\sEzMEz> Q 55 ¢?Q 9%5 5) BY!y%пQ I%@  EI V;i a; y5y99ɮ=!AAjhDNOT Ignoring new targets: 47.81 m.bhRhZh- ProNav: ac range: 47.812305 m, nav range: 46.273808 m, bearing: 261.580405 deg, approach rate: -0.533299 m/s, LOS rate: -0.057750 deg/s, cmd heading: 271.152937 deg, new cmd heading: 271.079827 deg. Bh-5HeadingCmd: 4.731236 target range: 47.812305 and range: 48.10 m.h]Hf@hY*ha"ha hagifffdddjdZdn?颙ɢ) gZi)&ni i%Jƿ%T=,.?A2Z@2_U@2YZ ٱ2E :AHRS rotation from veh to nav: [[0.079154,0.978862,0.188584],[-0.996290,0.071271,0.048231],[0.033771,-0.191702,0.980872]]2H`pC?`R? #?>?ű?sJ?ȿMc?i2Z@I2el;2CYF,ByFIa@a a@a a@a a@a bDVDyY=%4=ٔNQ->9"?Y"?=FyasE}#E>Q 552?Q 95)BQ A+:YQ E:yпQ I@ EIv:i>{5yBɮ !A Ejh15DNOT Ignoring new targets: 47.81 m.bh1Rh=ϑZh=ϑM ProNav: ac range: 47.812305 m, nav range: 46.020515 m, bearing: 261.553192 deg, approach rate: -0.590016 m/s, LOS rate: -0.063738 deg/s, cmd heading: 271.079826 deg, new cmd heading: 270.997738 deg. BhM.UHeadingCmd: 4.729803 target range: 47.812305 and range: 48.10 m.hUZ@hQ*hQ"hQ hQgYfYfYfYdadadajdaZde 6?频ɢ) ATi)x顙i{i=ƿ&?<z=IZ@IbEU» 4jEU» 4rEUJ/E EE(E"E:*E:VEc44ZEa-@a-@a-@a-@II@I @Q@U/@Qi^A|=AA>ԙ A I I O >AQ AQ B] >BY B] IB] %BBY BY BY B] b;B] 0%Eċ,/?A2P@2\K@2ٱ2ME :AHRS rotation from veh to nav: [[0.077933,0.979031,0.188216],[-0.996339,0.069827,0.049331],[0.035154,-0.191371,0.980888]]2He?`8T?t? (?`A?@? ~ȿ@oc?i2P@I2l;2CYB;ByBIbDJVDJyRb =%Va=ٔV$yQ-V>9XYX=ZFyZesEZ\EZ>`Q 5b5b?Q 9f5bF)b BQ An :YiQ Emu:ymѿQ Im@bEIbV Pʋ,û,/?AJJ@JE@JaٱJ9Y=FyisEh˺E > Q 55 $?Q 95 ) BQ AT:Y/ ?Q E:y%:ϿQ I%@ EI ;i ; ~5y)ɮ-; A)jhQUDNOT Ignoring new targets: 47.81 m.bhYRh]Zh]m ProNav: ac range: 47.812305 m, nav range: 45.575729 m, bearing: 261.501130 deg, approach rate: -0.564457 m/s, LOS rate: -0.071306 deg/s, cmd heading: 270.931830 deg, new cmd heading: 270.840770 deg. BhmCuHeadingCmd: 4.727063 target range: 47.812305 and range: 48.10 m.huD@hy*hy"hy hygyfyff"BdddjdZd@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248470ɢ\) HFi)7iiU/ǿUBY ы,F/?A ɰ"4<>A@><@>,Yٱ>FE FAHRS rotation from veh to nav: [[0.076149,0.979189,0.188125],[-0.996403,0.067693,0.050982],[0.037186,-0.191331,0.980821]]>Hz~? U?}? MT?@? ? }ȿb?i>A@I>_l;>CYfByf"IbDnVDnyv#=%v]=ٔz+Q-z>9xYx=zFyzmsE~gAE~>Q 5 5P?Q 9 5ߡ)$BYy]ϿQ I@EI:i :.5yɮA!jhAMDNOT Ignoring new targets: 47.81 m.bhIRhMFZhUFe ProNav: ac range: 47.812305 m, nav range: 45.376682 m, bearing: 261.476142 deg, approach rate: -0.538326 m/s, LOS rate: -0.067876 deg/s, cmd heading: 270.840770 deg, new cmd heading: 270.765477 deg. BheT:mHeadingCmd: 4.725749 target range: 47.812305 and range: 48.10 m.hmV9@hi*hi"hi higifqfqfqdqdydyjdyZd}B@颩ɢZ䑽) >i)顱i 1i=ZǿE6DB ΍CB IB bBB B B B a;B %%Eachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.752345^A|=AdAzAfAԑAA II IY Om >Թ ;׋,F~`/?AEn EnEn'El"En:*En:VEn'4ZElBEn69IYQ=UFyUqsEUE]>YQ 5e5]X?Q 9e5]ǧ)]1BYiymϿQ Im@]EI]:i]9:]5yqɮ}AyjhDNOT Ignoring new targets: 47.81 m.bhRhZh ProNav: ac range: 47.812305 m, nav range: 45.152988 m, bearing: 261.448336 deg, approach rate: -0.537689 m/s, LOS rate: -0.067170 deg/s, cmd heading: 270.765474 deg, new cmd heading: 270.681640 deg. Bhd8HeadingCmd: 4.724286 target range: 47.812305 and range: 48.10 m.hZ-@h*h"h hgfffdddjdZd`Eb@ɢ2) Ai ) 쥐  i XiǿRE<}=IZ-@I)ԑN@ @@0@Թ^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256457A I) I9 OE > .݋,HPz/?AF(@F#@FP ٱFzF jAHRS rotation from veh to nav: [[0.073107,0.979195,0.189296],[-0.996559,0.064288,0.052325],[0.039067,-0.192470,0.980525]]FH?U?:?@&u?\ʪ?`? آȿu`?iF(@IFk;FCYvByvKIIz)>)zp;iuMb@Mb@Mb@qqqq q9u r?L7A`尿S㥛?Yu?yu+u/%E=ٔQ->9Y=FyusE&'E>Q 55?Q 95b)>BY?Q E:yοQ I@EI` ;i ;΃5yɮAjhDNOT Ignoring new targets: 47.81 m.bhRhӠZhӠ  ProNav: ac range: 47.812305 m, nav range: 44.940834 m, bearing: 261.419368 deg, approach rate: -0.512464 m/s, LOS rate: -0.070303 deg/s, cmd heading: 270.681654 deg, new cmd heading: 270.594340 deg. Bh @HeadingCmd: 4.722762 target range: 47.812305 and range: 48.10 m.h @h*h"h hgff!f%XBd!d!d!jd)Zd- @yɢ) -i)(顩i iǿ)G<=I @IE EE#E"E:*Ex:VE3ZEa@a@a@a@eDAT read: 05:53:00.0370 LVL= 32752, 32753, 30706, 32755, AGC= 65, IDX= 418,-0.24, 2.864, 1.541,-2.760, 2.907, PHS= 0.059,-1.321, 0.572, RAW= 165.2, 8.2, CAL= 164.9, 8.4, ROT= 345.1, -8.4 mYgot valid direction response: 05:53:00.0370 LVL= 32752, 32753, 30706, 32755, AGC= 65, IDX= 418,-0.24, 2.864, 1.541,-2.760, 2.907, PHS= 0.059,-1.321, 0.572, RAW= 165.2, 8.2, CAL= 164.9, 8.4, ROT= 345.1, -8.4 uPDAT read: Bearing 79.5, -14.1 (Local) u~Local bearing/azimuth received: Bearing 79.5, -14.1 (Local) DAT read: Range 11 to 50 : 46.0 m (Round-trip 61.4 ms) speed 0.4 m/s *DAT read: user:590> BDAT read: Tx time:05:53:01.1714 $Ping request sent.518@ 5Q >)5~@I5Q 115kb(R?B%Hix? :? 5VI?)5OI5%i5Q 11Q@ @@0@:publishing transmit ping timeFpublishing direction and range infoy15W'Z?/^Gп/8ٲ?Y11111 1)1I1i11111 1)1I1115kb(R?B%Hix? :? 1)1I1i111I ^A |=B >B B 3IB BB + =B B B b;B '%EA .AI I O >q ,Xu/?A00R"@R@RS"ٱRCE ZAHRS rotation from veh to nav: [[0.072269,0.979481,0.188135],[-0.996598,0.063423,0.052632],[0.039620,-0.191299,0.980732]]RH :?W??@!`y9~ ?Y~ ?=~Fy~ysE E> Q 5 5 ٻ?Q 95 ) IBYyοQ I@ !EI ;i ; 5y%ƓBɮ%A%¥Ei9i=/?AJi=6BRi=6Bji=@‘@b=;E@t*2C'[ˢַ@R=W'Z?/^Gп/8ٲ?Zi=%bi=Q j=ƯJҞE3~%@Z=?ɇÿF4)TAQLj?2i=/:i=@"i=o?*i=Ʊ6Bi=Bi={?i=1=i=Bi=2Bi=@m addTargetRange:: Added new target pos. range: 46.000000 m, deltaT: 3.528348 s, deltaX: -2.099998 m, approachRate: -0.595179 m/s, rangeRepo size: 4  Added new target pos. range: 45.724201 m, bearing: 260.980111 deg, lat: 36.779434 deg, lon: -121.859781 deg, deltaT: 3.528348 s, deltaX: -2.088104 m, approachRate: -0.591808 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 45.72 m.bhRh Zh = ProNav: ac range: 45.724201 m, nav range: 44.725239 m, bearing: 261.207837 deg, approach rate: 0.000000 m/s, LOS rate: -0.070303 deg/s, cmd heading: 270.594336 deg, new cmd heading: 270.511915 deg. Bh9EHeadingCmd: 4.721323 target range: 45.724201 and range: 46.00 m.hE@hA*hA"hI hIgIfIfqfqdqdqdqjd}G@Zd}?ɢۆ) 7*i)ܙiiǿ/I<E=I@I!)P@ @@4@E] E]EYEY"E]a:*E]~:VEYZEYBE](A>ԉ A I I! OM > ,[/?A,N4@N@N I%ٱN#fD VAHRS rotation from veh to nav: [[0.071186,0.979717,0.187316],[-0.996647,0.062267,0.053082],[0.040342,-0.190467,0.980864]]NH<9?@Y?`? t?-??8aȿ=c?iN4@INlk;LY^By^VIi}Mb@Mb@Mb@yyyy y9}^I +?y}ty}$A}\@ }A)}C AyY}AbDVD1y\6<%?=ٔݺQ->9Y=Fy}sEX&E>Q 55?Q 95)WBYn>Q E:y ѿQ I@%EI:i:]5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 45.72 m.bhRhσZhσ ProNav: ac range: 45.724201 m, nav range: 44.516933 m, bearing: 261.183520 deg, approach rate: -0.491289 m/s, LOS rate: -0.057619 deg/s, cmd heading: 270.511910 deg, new cmd heading: 270.438619 deg. Bh,HeadingCmd: 4.720044 target range: 45.724201 and range: 46.00 m.h% @h!*h!"h! h!g!f!f)f-lBd1d1d1jd1Zd5?aɢe")auT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode. })i)F顉iEiȿJ<=I @I @C='G]gAiԉ9gAYA%O@! @!@%/@!Ա^AAE]  E] E] 'EY "E] s:*E] :VE] '4ZEY am @am @am @am @ % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994375A I I O >T,6/?A2@2 @2)(ٱ2E >AHRS rotation from veh to nav: [[0.070292,0.979558,0.188479],[-0.996682,0.061193,0.053675],[0.041044,-0.191626,0.980609]]2H?X? ? T?@;{??6ȿ&a?i2@I2 k;2CYFByFjI HHbDRVDRNXyZ=%^[=ٔbQ-b>9`Y`=bFybsEfEf>hQ 5n5j?Q 9n5j)jbBYlyr;ѿQ Ir@j'EIj :ijg:j5ytɮvRAtjhDNOT Ignoring new targets: 45.72 m.bhRhقZhق- ProNav: ac range: 45.724201 m, nav range: 44.334389 m, bearing: 261.162215 deg, approach rate: -0.488080 m/s, LOS rate: -0.057199 deg/s, cmd heading: 270.438608 deg, new cmd heading: 270.374430 deg. Bh-5HeadingCmd: 4.718924 target range: 45.724201 and range: 46.00 m.h5m@h9*h9"h9 h9g9f9fAfAdAdAdAjdIZdM?ɢl)  i)ii9ȿjL< aA=I m@I)N@ @@@B>BB_IBBB, =BB_DBa;B!%EBE΍CBE΍CBABE* =BE* =CEf5}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246241^AX=A ؟AI! I1 9 OE >,;/?AE EE$E"E:*E:VE4ZEBE6@>@>_*ٱ>E FAHRS rotation from veh to nav: [[0.069183,0.979578,0.188787],[-0.996737,0.059986,0.054011],[0.041583,-0.191907,0.980532]]>H@?@X?@**?E@q?`F?`J?kȿ`?i>@I>j;>Crchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498180Y~By~rIbDVD:yEI<%EB=ٔE{Q-E>9M"?YM"?=MFyMsEUf-EU>YQ 5e5]?Q 9e5]R)]oBYaye^ѿQ Ie@]+EI]:i]:]֊5yqɮu!AqjhDNOT Ignoring new targets: 45.72 m.bhRhZh ProNav: ac range: 45.724201 m, nav range: 44.129738 m, bearing: 261.138413 deg, approach rate: -0.482553 m/s, LOS rate: -0.056384 deg/s, cmd heading: 270.374432 deg, new cmd heading: 270.302694 deg. BhHeadingCmd: 4.717672 target range: 45.724201 and range: 46.00 m.h+@h*h"h hgfff d d d jd Zd@/?颁ɢ\|) i)`顉i ibȿ3N<\=I+@IYP@ @@@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750454^A0=ԡ A I! I9 OE >D,/?A2T@2$@2+ٱ2E :AHRS rotation from veh to nav: [[0.068642,0.979664,0.188540],[-0.996760,0.059405,0.054220],[0.041917,-0.191651,0.980568]]2H}?gY? "?v`Ej?«?@4v?ȿ``?i2T@I2 j;2CYFByFIiEMb@Mb@Mb@AAAA A9Ekt?kt:v?YE >yE Ey9qYy=FysE E>Q 55?Q 95h)|BY~>Q E:yտQ I@.EI` ;i ;5yɮAjhDNOT Ignoring new targets: 45.72 m.bhRh Zh - ProNav: ac range: 45.724201 m, nav range: 43.935661 m, bearing: 261.124499 deg, approach rate: -0.470736 m/s, LOS rate: -0.033898 deg/s, cmd heading: 270.302687 deg, new cmd heading: 270.260761 deg. Bh-=HeadingCmd: 4.716940 target range: 45.724201 and range: 46.00 m.h=,@h9*h9"hA hAgAfIfIfMBE EE(E"E:*E$:VEc44ZEa@a@a@a@dQddjdZd`?9ɢ=x)A EiA)EAAiE imzȿuOB B IB BB + =B B B b;B /%E Ay I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254374O >~,,S0?A2B@2@2,ٱ2E >AHRS rotation from veh to nav: [[0.068511,0.979639,0.188718],[-0.996766,0.059253,0.054275],[0.041987,-0.191826,0.980530]]2H@?3Y?`'? vV?ɫ?a?čȿ `?i2B@I20j;2CYrByrIIv?>)v<bDzVDz:2y Nk<% Q=ٔ ;Q- >9Y=FysEE>!Q 5-5%r?Q 9-5%@)%BY1y5տQ I5@%1EI%V:i%o:%U5y9ɮ=AAjhamDNOT Ignoring new targets: 45.72 m.bhiRhmZhm ProNav: ac range: 45.724201 m, nav range: 43.750957 m, bearing: 261.111171 deg, approach rate: -0.479942 m/s, LOS rate: -0.034779 deg/s, cmd heading: 270.260750 deg, new cmd heading: 270.220596 deg. BhHeadingCmd: 4.716239 target range: 45.724201 and range: 46.00 m.hn@h*h"h hgfffdddjdZd@ɢ ) li)魼i iȿQ<M{=In@II)uP@q @q@u0@q E EE'E"E&:*E:VE'4ZEBE^;a V ,/0?A2@2m@2˽-ٱ2PF :AHRS rotation from veh to nav: [[0.067823,0.979595,0.189190],[-0.996796,0.058473,0.054581],[0.042405,-0.192286,0.980422]]2H@\?X?d7?`"???Ԝȿ_?i2@I2uj;2CYFByFIiUMb@Mb@Mb@QQQQ Q9UK7A`?~jtI +?YU>yUĽU99Y=FysE׺E>Q 55`?Q 95S)BY[>Q E:y@ٿQ I@4EI ;i ;)5yӓBɮḀEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 45.72 m.bhRhZh ProNav: ac range: 45.724201 m, nav range: 43.556473 m, bearing: 261.103840 deg, approach rate: -0.464987 m/s, LOS rate: -0.017605 deg/s, cmd heading: 270.220588 deg, new cmd heading: 270.198498 deg. BhQAHeadingCmd: 4.715853 target range: 45.724201 and range: 46.00 m.hE@h*h"h hgfffBd d d jd Zd  @1E?BɢEY{)A E5iA)M౼IIiM ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758372iUUȿeDS>,iI0?A2@2@2.ٱ2G :AHRS rotation from veh to nav: [[0.067475,0.979327,0.190700],[-0.996807,0.057993,0.054880],[0.042686,-0.193795,0.980113]]2H`F?V?h?E?E?ڥ?Bȿ]?i2@I2j;2CYFByFIbDNVDNk1yVs<%VX=ٔVCQ-Z>9XYX=ZFyZsE^qE^>`Q 5f5b?Q 9f5b)bBYdyfHٿQ Ij@b7EIb:ib:bϑ5ynBɮnQAljhDNOT Ignoring new targets: 45.72 m.bh Rh Zh  ProNav: ac range: 45.724201 m, nav range: 43.380665 m, bearing: 261.097209 deg, approach rate: -0.466063 m/s, LOS rate: -0.017649 deg/s, cmd heading: 270.198486 deg, new cmd heading: 270.178513 deg. Bh%A%HeadingCmd: 4.715505 target range: 45.724201 and range: 46.00 m.h%j@h)*h)"h) h)g)f)f1f1d1d1d9jdZd= @ɢp)  i ) {  i i5ĩȿ=hT<=>=I=j@I9ԑP@ @@4@B1B5͍CB5IB5+BB5, =B1B1B5ab;B5R%Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262307^A2g=AA Iq I O >E  E E &E "E :*E :VE 4ZE BE 6 =BDAT read: Tx time:05:53:04.7714 =$Ping request sent.=b7@ bl$>)b@Ibl$``b$a?&/1X?RUn? bH?)b}IbJ\ibl$``m:publishing transmit ping time9mFpublishing direction and range infoy`b~E?wxпČsv?Y````` `)`I`i````` `)`I```b$a?&/1X?RUn? `)`I`i```bDNVDNky]v%]2=ٔeQ-e>9aYa=eFyesEmTEm>Q 558?Q 95~)BYyRٿQ I@:EIa:iX:ѓ5yɮiA˥Ei`ibd0?AJib/BRib/Bjib͑@bbYD@^ѽ&oB@Rb~E?wxпČsv?ZibJ\bibl$jbJ:vA?E @H%@Zb4qh-uFÿfdE6N0?2ib?(:ib"ibS?*ib.3-BibBibS?ib;ibABib^,Bib3ݑ@E addTargetRange:: Added new target pos. range: 44.200001 m, deltaT: 3.527256 s, deltaX: -1.799999 m, approachRate: -0.510311 m/s, rangeRepo size: 4 } Added new target pos. range: 43.934647 m, bearing: 261.061153 deg, lat: 36.779435 deg, lon: -121.859780 deg, deltaT: 3.527256 s, deltaX: -1.789555 m, approachRate: -0.507350 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 43.93 m.bhRhZh ProNav: ac range: 43.934647 m, nav range: 43.092628 m, bearing: 261.168584 deg, approach rate: 0.000000 m/s, LOS rate: -0.017649 deg/s, cmd heading: 270.178515 deg, new cmd heading: 270.149868 deg. !BhEHeadingCmd: 4.715004 target range: 43.934647 and range: 44.20 m.hMQ@hI*hI"hI hIgIfIfQfQdQdQdYjdF@Zd+?@Bɢ*j) ;i)Iii%'ȿ%.ZW<%KĄ=I%Q@I)Q @  @ @ 0@ y ^A p=E EE%E"El;*E:VE 4ZEa@a@a@a@ԡA.AI IO5?0>!,60?A;ɰ2@2@2,2ٱ2;I :AHRS rotation from veh to nav: [[0.066510,0.979142,0.191982],[-0.996838,0.056820,0.055553],[0.043486,-0.195070,0.979825]]2H?!U?`ޒ??pq? C? ȿZ?i2@I2i;0YFByFIi]Mb@Mb@Mb@YYYY Y9]333333?zGếZd;O?Y]>y] ׽]j<]%A]M@ ]A)]G AYY]AbDuVDuk1y8 =%"=ٔXQ->9 ?Y ?=FysEnE>Q 55??Q 95()BYs>Q E:yݿQ I@>EI ;i ;5yɮ$AjhDNOT Ignoring new targets: 43.93 m.bhRhS8ZhS8 ProNav: ac range: 43.934647 m, nav range: 42.874302 m, bearing: 261.170957 deg, approach rate: -0.518357 m/s, LOS rate: 0.005664 deg/s, cmd heading: 270.149855 deg, new cmd heading: 270.157012 deg. Bhx9HeadingCmd: 4.715129 target range: 43.934647 and range: 44.20 m.hW@h*h"h hgf f f BdddjdZd ^?EABɢED^)I M?iI)MgIIiMiUȿUEX! ,_',_0?A^@^o@^2ٱ^*J nAHRS rotation from veh to nav: [[0.066604,0.978963,0.192862],[-0.996826,0.056838,0.055740],[0.043606,-0.195963,0.979641]]^H@ ?S?@? ??`S?`Oɿ8Y?i^@I^ii;^CYBy IbD%VD%ky5%5Q=ٔ=꠹Q-=>9AYA=EFyEsEEp{9EM>IQ 5U5M謁?Q 9U5M)MBYYy]ݿQ I]@M@EIM;iMH;M5yeBɮmGAijhDNOT Ignoring new targets: 43.93 m.bhD?AzD@AE EE'E"E:*EM:VE'4ZEBE5=-,CƸ0?A YByII%=)%i?iMb@Mb@Mb@ 9jt?`"Q?Y>yu<1"A@ A)1 AYAbDVDN2y%A=ٔQ->9Y=FysEE>Q 55ۦ?Q 95)BYF>Q E:yQ I@CEIcB] >BY BY BY B] + =BY BY B] 6b;B] <%E4,0?A2@2s@27ٱ24I :AHRS rotation from veh to nav: [[0.066115,0.979100,0.192331],[-0.996806,0.056157,0.056784],[0.044796,-0.195471,0.979686]]2H?T?P?@???4ɿY?i2@I2h;2C@YFByFIbDRVDRܲyZ%Z\=ٔZ RQ-Z>9\Y\=^Fy^sEbZEf>dQ 5j5f$?Q 9n5f)fBYlynQ In@fFEIf;if3;f35ypɮvAtjh DNOT Ignoring new targets: 43.93 m.bhRh9Zh9- ProNav: ac range: 43.934647 m, nav range: 42.345058 m, bearing: 261.191441 deg, approach rate: -0.482319 m/s, LOS rate: 0.025461 deg/s, cmd heading: 270.192120 deg, new cmd heading: 270.218730 deg. Bh-ɋ:5HeadingCmd: 4.716207 target range: 43.934647 and range: 44.20 m.h5*@h1*h1"h1 h1g1f9echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748704ffdddjdZd`q?UDBɢ]V)Y ]iY)]3ʼYaieSieÒȿm] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000742! q:,*0?A]@-@}9ٱI AHRS rotation from veh to nav: [[0.065959,0.979086,0.192458],[-0.996791,0.055884,0.057319],[0.045365,-0.195621,0.979630]]H`?T?z?@?X?:? ɿ@ Y?i]@Ih;CY By|IIUGm(hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2535339(hAYAi%Mb@Mb@Mb@!!!! !9%/$?X9v{Gz?Y%&>y%%#<%$A%7@ %A)!!Y%AbD=VD=NyMs%M=ٔU Q-U>9QYQ=]Fy]sE]E]>aQ 5m5eC?Q 9m5e)eBYu>Q Eu:yuP߿Q Iu@eJEIeX:ieL:e5yBɮ_ AԥEjhYeDNOT Ignoring new targets: 43.93 m.bhaRhmTi9ZhmTi9} ProNav: ac range: 43.934647 m, nav range: 42.078796 m, bearing: 261.198731 deg, approach rate: -0.462703 m/s, LOS rate: 0.012750 deg/s, cmd heading: 270.218731 deg, new cmd heading: 270.240741 deg. Bh} :HeadingCmd: 4.716591 target range: 43.934647 and range: 44.20 m.hP@h*h"h hgfffqBdddjdZd`P@EBɢ~) \i)ϼi: i*ȿ5,`<-K=IP@IqMO@I @I@I@Iԙ E  E E $E "E a:*E :VE 4ZE a @a @a @a @5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504749^AM p=I I O >A,n1?A23@2@2;ٱ2BJ >AHRS rotation from veh to nav: [[0.065694,0.979026,0.192855],[-0.996784,0.055500,0.057798],[0.045882,-0.196032,0.979523]]2HPѰ?-T?z?`@j?@?}?ɿAX?i23@I2Ih;2C @)BkAB½@DDFkAiF/]IDDIHiJkA Jh)hl nkAn94llprpAIp)pip)tIvkAvt ttzkAzxizHFi7A) IYYByiIbDVD!yɽ%=ٔ ZٺQ- ?9 Y =FysE]E?Q 5%5?Q 9%5)BY)y-X߿Q I-@MEIBBIB5BB- =BBBa;B%EBE͍CBE͍CBABE, =BE, =CE4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756737I^AS=y A ؟AI I O >G,9!1?Aɰ;6@6S@6 ?ٱ6J FAHRS rotation from veh to nav: [[0.064878,0.979118,0.192664],[-0.996802,0.054563,0.058376],[0.046645,-0.195835,0.979527]]6H՛?T?7?@?@?@?"ɿHX?i6@I6Qh;6CD5@AzD5?AE= E=E=#E9"E=;*E=:VE=3ZE9BE=D9"?Y"?=FysE E>Q 55K?Q 95)BYyt߿Q I@PEI:i:5yɮ!AjhDNOT Ignoring new targets: 43.93 m.bhRh9Zh9 ProNav: ac range: 43.934647 m, nav range: 41.739410 m, bearing: 261.208496 deg, approach rate: -0.492140 m/s, LOS rate: 0.014530 deg/s, cmd heading: 270.253455 deg, new cmd heading: 270.270158 deg. Bh:HeadingCmd: 4.717104 target range: 43.934647 and range: 44.20 m.h@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5i @eGBɢe})a eM)ia)m ׼iiimՃ}BDAT read: Rx Time:05:53:07.2326 }TRx dataTimestamp_ set to:1761544388.600193checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009813i\uȿ_b<Ψ}=I@Iԉ@ @@@ Թ^A- X=- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260687 AY Ia Iy O >N,M;1?A>a@>1ܘ@>N@ٱ>eI FAHRS rotation from veh to nav: [[0.064374,0.979275,0.192030],[-0.996814,0.054021,0.058674],[0.047085,-0.195195,0.979634]]>H@z?9V?o?`?` ?`? (ȿ`(Y?i>a@I>%h;>CY=By=SIԹiMb@Mb@Mb@ 9 r?V-{Gzt?Y?yף;/%A @ A) AYAbD}VD}N2y[%<=ٔuQ->9Y=FysEҕE>Q 55U?Q 95)BY?Q E:yܿQ I@TEIO;i6;5yɮn!AmB*** querying acoustic contact ***ii iijhDNOT Ignoring new targets: 43.93 m.bhRh pZh pEM EMEM%EI"EMY<*EMk:VEM 4ZEIau@au@au@au@ ProNav: ac range: 43.934647 m, nav range: 41.508030 m, bearing: 261.208123 deg, approach rate: -0.506705 m/s, LOS rate: -0.000820 deg/s, cmd heading: 270.270148 deg, new cmd heading: 270.269025 deg. Bh-HeadingCmd: 4.717084 target range: 43.934647 and range: 44.20 m.h-[@h1*h1"h9 h9DAT read: 05:53:07.2326 LVL= 32752, 32753, 31842, 32755, AGC= 63, IDX= 420, 0.02,-2.395, 2.542,-1.735,-2.369, PHS= 0.076,-1.327, 0.590, RAW= 165.0, 7.7, CAL= 164.6, 7.8, ROT= 345.4, -7.8 gafffJBdd d jd Zd ]] @%Ygot valid direction response: 05:53:07.2326 LVL= 32752, 32753, 31842, 32755, AGC= 63, IDX= 420, 0.02,-2.395, 2.542,-1.735,-2.369, PHS= 0.076,-1.327, 0.590, RAW= 165.0, 7.7, CAL= 164.6, 7.8, ROT= 345.4, -7.8 -PDAT read: Bearing 77.9, -12.8 (Local) -~Local bearing/azimuth received: Bearing 77.9, -12.8 (Local) 5DAT read: Range 11 to 50 : 42.7 m (Round-trip 57.0 ms) speed 0.4 m/s }*DAT read: user:592> BDAT read: Tx time:05:53:08.3214 $Ping request sent.'7@ 'g >)b@I'g ISj? l?պ?? nI?)d Iwi'g =:publishing transmit ping timeEFpublishing direction and range infoyb { ?pidϿ M _?Y )Ii )IISj? l?պ?? i=uȿe<|=I[@I)Ii O@  @ @ /@ @ @ fAA B >B B IB BB , =B B B a;B $E^A |=A>A>qI)I9OE?V,1]1?A2ܑ@2ט@2\?Cٱ2H :AHRS rotation from veh to nav: [[0.063805,0.979472,0.191216],[-0.996824,0.053403,0.059074],[0.047650,-0.194378,0.979769]]2HU?W?y?@W?`>?e?aȿCZ?i2ܑ@I2Xh;2CYBByFFIbDNVDNkyV0%V.=ٔV흺Q-Z>9XYX=ZFy^sE^E^>`Q 5j5b6?Q 9n5b )bBYlyrܿQ Ir@bWEIbS;ib;b5Yyɮ!AiiF1?AJi)BRi)BjiF@b<¯XD@ 3%>=z @Rb { ?pidϿ M _?Ziwbi'g j[F)O. eDGE>I#@Z, (ĿN^]?2i(#:i"ia?*i\;Bi'Biiii%Bi@ addTargetRange:: Added new target pos. range: 42.700001 m, deltaT: 3.530245 s, deltaX: -1.500000 m, approachRate: -0.424900 m/s, rangeRepo size: 4  Added new target pos. range: 42.443413 m, bearing: 260.693515 deg, lat: 36.779435 deg, lon: -121.859780 deg, deltaT: 3.530245 s, deltaX: -1.491234 m, approachRate: -0.422417 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 42.44 m.bhRhZh ProNav: ac range: 42.443413 m, nav range: 41.264740 m, bearing: 261.207937 deg, approach rate: 0.000000 m/s, LOS rate: -0.000820 deg/s, cmd heading: 270.269028 deg, new cmd heading: 270.267842 deg. BhHeadingCmd: 4.717064 target range: 42.443413 and range: 42.70 m.h0@h*h"h hgEM EMEM)EI"EM:*EM$:VEMFA4ZEIBEM<8m],v1?A>Vё@>&̘@> Hٱ>*H FAHRS rotation from veh to nav: [[0.062416,0.979631,0.190858],[-0.996856,0.051837,0.059933],[0.048819,-0.193999,0.979786]]>H@?#Y? n?=a???ȿhZ?i>Vё@I>dh;>CYRByRIIi%Mb@Mb@Mb@!!!! !9%/$?|?5^Y% ?y%ҽ%%!A%@ %A)!!Y%fAbD=VD=fyM'<%MB=ٔ]5Q-]>9YYY=]Fy]sEeXEe>iQ 5u5mג?Q 9u5m)m(BY}~?Q E}:y}ؿQ I}@m[EIm ;imT ;my5y'Bɮ9"AޥEjhDNOT Ignoring new targets: 42.44 m.bhRhZh ProNav: ac range: 42.443413 m, nav range: 41.031151 m, bearing: 261.197235 deg, approach rate: -0.602206 m/s, LOS rate: -0.027747 deg/s, cmd heading: 270.267853 deg, new cmd heading: 270.235565 deg. BhWHeadingCmd: 4.716500 target range: 42.443413 and range: 42.70 m.h@h*h"h hgfffBdddjdZdW?颹ɢä) 5i)Zii%ȿh<ty=I@I@ @@0@bEƻ 4jE-4rEƇ 0E} E}E}(Ey"E}:*E}z:VE}c44ZEya@a@a@a@)^A|=I I O- >Q c,ݔ1?A2Ñ@2@2yKٱ2G :AHRS rotation from veh to nav: [[0.060770,0.979830,0.190367],[-0.996912,0.050076,0.060494],[0.049741,-0.193455,0.979847]]2H1? Z?]?`?? w?@&ȿZ?i2Ñ@I2P>h;2CYZByZ7I`bAbDfVDf:yj%nS=ٔn3Q-n>9pYp=rFyrsEvEv>xQ 5z5z?Q 9~5z)z1BY|y~ؿQ I~@z_EIz;iz;z*5y ɮ "A jh15DNOT Ignoring new targets: 42.44 m.bh1Rh=1Zh=1M ProNav: ac range: 42.443413 m, nav range: 40.816467 m, bearing: 261.187799 deg, approach rate: -0.554457 m/s, LOS rate: -0.024500 deg/s, cmd heading: 270.235560 deg, new cmd heading: 270.207101 deg. BhMUHeadingCmd: 4.716003 target range: 42.443413 and range: 42.70 m.hU@hQ*hQ"hQ hQBe>BaBe~IBe BBe- =BaBaBeWa;Be$EgqfyffdddjdZdmB?颽KBɢ苨) ԉE  E E $E "E :*E ҆:VE 4ZE BE <9XYX=ZFyZsE^E^>`Q 5f5bS?Q 9f5b])b;BYhyjؿQ Ij@bbEIb :ib:b詌5ylɮn"AnݥEjh DNOT Ignoring new targets: 42.44 m.bh Rh KչZh Kչ% ProNav: ac range: 42.443413 m, nav range: 40.595619 m, bearing: 261.178563 deg, approach rate: -0.554357 m/s, LOS rate: -0.023310 deg/s, cmd heading: 270.207092 deg, new cmd heading: 270.179233 deg. Bh%5HeadingCmd: 4.715517 target range: 42.443413 and range: 42.70 m.h5@h1*h1"h1 h1g9f9fAfAdIdIdIjdQZdU?ԙ颥LBɢ) I=i)"ii%[ȿ-$k q,K1?AE& E&E$E$"E&:*E&:VE$ZE$a*@a*@a*@a*@>ͥ@>@>"Sٱ>NE FAHRS rotation from veh to nav: [[0.057110,0.980452,0.188288],[-0.997038,0.046278,0.061434],[0.051520,-0.191238,0.980191]]>H=?_?@?`ñ? Jt?`?zȿ]?i>ͥ@I>g;>CYNByN2Ii%Mb@Mb@Mb@!!!! !9%B`"?ʡE~jtx?Y%?y%%;%I A%@ %A)%x A!Y% AbDVD:y%9=ٔQ->9Y=FysEE>Q 55?Q 95")FBY%5?Q E%:y%ҿQ I%@fEI;i;׫5y)ɮ5"A1MB*** querying acoustic contact ***iI iIjhY]DNOT Ignoring new targets: 42.44 m.bhaRhekZheku ProNav: ac range: 42.443413 m, nav range: 40.348190 m, bearing: 261.151043 deg, approach rate: -0.552432 m/s, LOS rate: -0.061819 deg/s, cmd heading: 270.179225 deg, new cmd heading: 270.096160 deg. Bh})}HeadingCmd: 4.714067 target range: 42.443413 and range: 42.70 m.h}ٖ@h*h"h hgfffBdddjdZd ]@MBɢ) ?i):iGiuȿu lB]̍CB]lIB]BBYBYB]^DB],a;B]$E^A ( n=M T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.a I I O >/0w,J&1?AV@V@VRgVٱVD fAHRS rotation from veh to nav: [[0.054932,0.980785,0.187197],[-0.997118,0.044060,0.061755],[0.052321,-0.190050,0.980379]]VH` ?b? ?d?c?@ɪ?@SȿD_?iV@IV)cg;VCYvByz<I==  bD VD2y5+=%5V=ٔEQ-E>9AYA=MFyMsEM&EM>QQ 5]5UT?Q 9]5U()UPBYaye ӿQ Ie@UjEIUv;iU;U5yiɮm"AijhDNOT Ignoring new targets: 42.44 m.bhRhZh ProNav: ac range: 42.443413 m, nav range: 40.133339 m, bearing: 261.127560 deg, approach rate: -0.567714 m/s, LOS rate: -0.062383 deg/s, cmd heading: 270.096170 deg, new cmd heading: 270.025343 deg. Bh@+HeadingCmd: 4.712831 target range: 42.443413 and range: 42.70 m.hϖ@h*h"h hgfffdddjdZdd@颙ɢ) ;i)项i/i]ɿ)n<m=Iϖ@IE] E]E]#EY"E]a:*E]i:VE]3ZEYBE](] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739372qj},E1?A2Ȁ@2{@2Yٱ2KC :AHRS rotation from veh to nav: [[0.052599,0.981036,0.186553],[-0.997201,0.041660,0.062085],[0.053136,-0.189296,0.980481]]2H@K? d?`?rT?ɯ?4?:ȿ `?i2Ȁ@I2[g;09Y=FysEE>Q 5 5 ?Q 95X/)\BY?Q E:yпQ I@nEI ;i~ ;f5y!ɮ%["A!jhIMDNOT Ignoring new targets: 42.44 m.bhIRhUZh]e ProNav: ac range: 42.443413 m, nav range: 39.874653 m, bearing: 261.091834 deg, approach rate: -0.599824 m/s, LOS rate: -0.083378 deg/s, cmd heading: 270.025354 deg, new cmd heading: 269.917480 deg. BhmdmHeadingCmd: 4.710949 target range: 42.443413 and range: 42.70 m.hm@hq*hq"hq hqgqfyfyf}BdyddjdZd@颵NBɢ$) T9i)项i-i ?ɿwo<m=I@IԱ-P@) @1@5/@1EE EAEE&EA"EE:*EAVEE4ZEAa]@a]@a]@a]@BDAT read: Rx Time:05:53:10.7799 TRx dataTimestamp_ set to:1761544392.128247checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992678^A .o=! A I I O >Q,2?A2Ak@2f@26^ٱ2 B :AHRS rotation from veh to nav: [[0.049976,0.981379,0.185465],[-0.997279,0.038958,0.062584],[0.054193,-0.188088,0.980656]]2Hl?`ug?R?R?{?+? Fȿa?i2Ak@I2Hg;2CYBByBMIbDJVDJ1yRzC=%Vb=ٔV?Q-V>9XYX=ZFyZsEZ E^>`Q 5b5b戢?Q 9f5b5)beBYdyfпQ If@bqEIb:ibg:b5yj8Bɮn"AnEBr>BpBreIBrBBpBpBpBra;Br$EjhDNOT Ignoring new targets: 42.44 m.bhRhZh ProNav: ac range: 42.443413 m, nav range: 39.657436 m, bearing: 261.062321 deg, approach rate: -0.565443 m/s, LOS rate: -0.077245 deg/s, cmd heading: 269.917492 deg, new cmd heading: 269.828470 deg. Bh THeadingCmd: 4.709395 target range: 42.443413 and range: 42.70 m.h^@h*h"h hgfff!d!d!d!jd!Zd- @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243715PExceeded connect timeout, disconnecting.1ɢ5ϥ)1 55i9)=99i=WiEqɿE*p{,+2?A:T@:O@:bٱ:0? JAHRS rotation from veh to nav: [[0.047252,0.981947,0.183161],[-0.997349,0.036221,0.063111],[0.055338,-0.185658,0.981055]]:Hl1?@l?q?`H?(?;U?ǿ@d?i:T@I:g;8YVByZYI \\`` f;dbDjVDj:yvr8=%vF=ٔz5Q-z>9~ ?Y~ ?=FysE׻E >Q 5%5?Q 9%5;)qBY)y-RѿQ I-@uEIT;i2d;˲5y9ɮ=U"AAԙjhDNOT Ignoring new targets: 42.44 m.bhRhٽZhٽ ProNav: ac range: 42.443413 m, nav range: 39.408707 m, bearing: 261.029156 deg, approach rate: -0.618491 m/s, LOS rate: -0.082989 deg/s, cmd heading: 269.828481 deg, new cmd heading: 269.728358 deg. BhcHeadingCmd: 4.707648 target range: 42.443413 and range: 42.70 m.h @h*h"h hgfffdddjdZd`" @颅OBɢ*) 0i) 顉ii6ɿh:r<Bf=I @I iq@ @@0@߀GAu09qYuiA5DAT read: 05:53:10.7799 LVL= 32752, 32753, 31410, 32755, AGC= 65, IDX= 410,-0.39, 2.744, 1.397,-2.884, 2.776, PHS= 0.070,-1.334, 0.579, RAW= 164.9, 8.0, CAL= 164.5, 8.2, ROT= 345.5, -8.2 =Ygot valid direction response: 05:53:10.7799 LVL= 32752, 32753, 31410, 32755, AGC= 65, IDX= 410,-0.39, 2.744, 1.397,-2.884, 2.776, PHS= 0.070,-1.334, 0.579, RAW= 164.9, 8.0, CAL= 164.5, 8.2, ROT= 345.5, -8.2 EPDAT read: Bearing 77.8, -12.4 (Local) E~Local bearing/azimuth received: Bearing 77.8, -12.4 (Local) UDAT read: Range 11 to 50 : 40.7 m (Round-trip 54.3 ms) speed 0.6 m/s ]*DAT read: user:593> ]BDAT read: Tx time:05:53:11.8714 e$Ping request sent.e7@ C>)@IC.}Ys?0\? ? H?)IiC:publishing transmit ping timeaFpublishing direction and range infoy?㐸Ͽx0A?Y )Ii )I.}Ys?0\? ? )Ii^AU h=! A I I O >EY  E] E] %EY "EY *E] ~:VE] 4ZEY ae @am @am @am @n,F2?Aɰ;2=@28@2fٱ2a*> :AHRS rotation from veh to nav: [[0.044446,0.982294,0.181996],[-0.997424,0.033365,0.063504],[0.056307,-0.184350,0.981246]]2H? n?K?@>?A?MԬ?ǘǿ_f?i2=@I2g;2CYVByVtIonly read 0 of 1 data item for altitude. Device response is::BD, -33.89, +8.80, 0.00 a@a a@a a@a a@a bD VD:2y=%;=ٔQ->9Y=FysEӻE>Q 55?Q 95B)}BQ A+:YQ E:yѿQ I@yEIz:i>U5yɮ !A iiT82?AJi!BRi!Bji*@b0aC@DH $Yu@R?㐸Ͽx0A?ZibiCj NLf5QCb#@ZBsbƿ Kv?2i:id"i]V1?*i~:BifBio?i~:iiBiɗ@U addTargetRange:: Added new target pos. range: 40.700001 m, deltaT: 3.778031 s, deltaX: -2.000000 m, approachRate: -0.529376 m/s, rangeRepo size: 4 m Added new target pos. range: 40.454487 m, bearing: 259.622660 deg, lat: 36.779433 deg, lon: -121.859780 deg, deltaT: 3.778031 s, deltaX: -1.988926 m, approachRate: -0.526445 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 40.45 m.bhiRhuZhq ProNav: ac range: 40.454487 m, nav range: 39.150204 m, bearing: 260.683099 deg, approach rate: 0.000000 m/s, LOS rate: -0.082989 deg/s, cmd heading: 269.728350 deg, new cmd heading: 269.621530 deg. BhHeadingCmd: 4.705783 target range: 40.454487 and range: 40.70 m.hǕ@h*h"h hgfffddYdYjd]YD@Zd]@}?颩ɢz.) %i)d顱i]qiQɿǻs<d=IǕ@IO@ @@@0@B޾>BʍCBxIBBB0 =BB\DBa;B$EB̍CB̍CBƔCB- =B- =Cm59iIA nManaging dock network, ignoring radio surface power off^A Xf=i A% ؟AI1 II O] >,{_2?AN%@Nd @NkٱNt> VAHRS rotation from veh to nav: [[0.041484,0.982346,0.182414],[-0.997482,0.030209,0.064161],[0.057517,-0.184616,0.981126]]NHh=?ao?TY?_*?l?r?ǿbe?iN%@INf;NCY^By^wIbDfVDfܲynAP<%rZ=ٔrTQ-r>9r"?Yv"?=vFyvsEvEv>xQ 5~5z?Q 95zjH)zBQ A :YQ Ef:yҿQ I@z}EIz;izO?zg5y!ɮ-!A)UB*** querying acoustic contact ***iQ iQjhaeDNOT Ignoring new targets: 40.45 m.bhaRhm8Zhm8} ProNav: ac range: 40.454487 m, nav range: 38.926014 m, bearing: 260.652574 deg, approach rate: -0.597639 m/s, LOS rate: -0.081841 deg/s, cmd heading: 269.621526 deg, new cmd heading: 269.529424 deg. Bh}`HeadingCmd: 4.704176 target range: 40.454487 and range: 40.70 m.h@h*h"h hgfffdddjdZd^?ɢ{) {$i)3iB޻1iʿt<_=I@IE EE"E"EO:*Ec:VE(3ZEBE Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996124ǝ,Oy2?A2@2p @2oٱ2O> :AHRS rotation from veh to nav: [[0.038687,0.982372,0.182887],[-0.997537,0.027253,0.064625],[0.058501,-0.184936,0.981008]]2HΣ?`o?h?;?%==ٔjQ->9Y=FysEjԻE>Q 55?Q 95O)BQ AT:Y?Q E:yxͿQ I@EIF;iM;J5yɮ AjhDNOT Ignoring new targets: 40.45 m.bhRh%Zh%= ProNav: ac range: 40.454487 m, nav range: 38.676716 m, bearing: 260.604775 deg, approach rate: -0.583832 m/s, LOS rate: -0.112663 deg/s, cmd heading: 269.529428 deg, new cmd heading: 269.385106 deg. Bh=MHeadingCmd: 4.701657 target range: 40.454487 and range: 40.70 m.hMs@hQ*hQ"hQ hYgYfafifmBdqdydyjdyZd} ڜ?ԑaɢe)i m`ii)uf qqiuÝܻioʿ.Uv<_=Is@IA@A @A@E4@AE  E E $E "E *E ;J:VE 4ZE a@a@a@a@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248110^Am 8:]=Ii Iy O > ,72?A@B2<A2<B6Ծ>B6ɍCB6IB6 BB4B4B6[DB6 a;B6$EB@B@BjsٱBec> JAHRS rotation from veh to nav: [[0.036176,0.982518,0.182620],[-0.997579,0.024644,0.065030],[0.059393,-0.184530,0.981031]]BH? p?`?*@1%UQ=ٔUQ-m>9qYq=uFyusEuѻE}>Q 55G?Q 95 U)BYyͿQ I@EIK:i:5yNBɮo AEjhDNOT Ignoring new targets: 40.45 m.bhRhZh ProNav: ac range: 40.454487 m, nav range: 38.449856 m, bearing: 260.561609 deg, approach rate: -0.577471 m/s, LOS rate: -0.110526 deg/s, cmd heading: 269.385092 deg, new cmd heading: 269.254832 deg. BhHeadingCmd: 4.699383 target range: 40.454487 and range: 40.70 m.hYa@h*h"h hgfffdddjdZd`?!ɢ%W)) -ti))-k ))i-Qۻiʿ4~w<A_=IYa@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.585732!P@ @@w4@I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762978^A= ^=I! I9 OM >֪,u2?A(uِ@uԗ@uxٱu;? AHRS rotation from veh to nav: [[0.032249,0.982390,0.184036],[-0.997637,0.020462,0.065591],[0.060670,-0.185717,0.980729]]uH䂠?o?`? ?`ʰ?.?ǿ b?iuِ@Iuaf;uCYOByIbD VD2y%։=%%>=ٔ-BQ-->9)Y)=5Fy5sE5E5>9Q 5E5=l?Q 9E5=[)=BYIyMJοQ IM@=EI==:i=:=ຌ5yaɮeAijhDNOT Ignoring new targets: 40.45 m.bhRhZh ProNav: ac range: 40.454487 m, nav range: 38.203171 m, bearing: 260.515542 deg, approach rate: -0.571275 m/s, LOS rate: -0.107372 deg/s, cmd heading: 269.254827 deg, new cmd heading: 269.115733 deg. Bh`HeadingCmd: 4.696956 target range: 40.454487 and range: 40.70 m.hvM@h*h"h hgfffdddjdZd ?y颙ɢ) i) iڻi ˿ y< _Y=I vM@I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013080ԡ@ @@/@ ^A |^=I) I9 OM >E%  E% E% 'E! "E% [:*E% g:VE% '4ZE! (,2?AYkByI !!)-Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264196iMb@Mb@Mb@ 9 rh?i|?5V-?YC ?yq<@ )YQ AbDVD0yf>%Q=ٔQ->9Y=FysEE>Q 55D?Q 95'a)BYF ?Q E:yUѿQ I@EI:ij:5y ɮ Ajh1=DNOT Ignoring new targets: 40.45 m.bh9RhE߿ZhE߿M ProNav: ac range: 40.454487 m, nav range: 37.991497 m, bearing: 260.483219 deg, approach rate: -0.546212 m/s, LOS rate: -0.083873 deg/s, cmd heading: 269.115737 deg, new cmd heading: 269.018227 deg. BhU?fHeadingCmd: 4.695254 target range: 40.454487 and range: 40.70 m.h?@h*h"h hgfff\BdddjdZd@@Yɢ]vB)Y ]iY)]Caaie2ٻimXA˿m+z<a=I?@I)%O@! @!@-/@)B˾>BȍCBIBNBB2 =BFDBZDB`;B$EQ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516582^Am Y=I I O >ԁ ܷ,2?A6_ΐ@60ɗ@6?zٱ6? >AHRS rotation from veh to nav: [[0.030857,0.982396,0.184245],[-0.997657,0.019012,0.065717],[0.061057,-0.185842,0.980681]]6H?@o?@Z?@w?@Ұ?@B? ǿa?i6_ΐ@I6lf;6CYbxByfIbDrVDr1yz=%z[=ٔzQ-z>9|Y|=~Fy~sEGtE> Q 55 #?Q 95 {f) BYyѿQ I@ EI ;i ; 85y!ɮ%A!EB*** querying acoustic contact ***iA iAjhIUDNOT Ignoring new targets: 40.45 m.bhQRhU YZh] m ProNav: ac range: 40.454487 m, nav range: 37.789539 m, bearing: 260.452469 deg, approach rate: -0.539844 m/s, LOS rate: -0.082633 deg/s, cmd heading: 269.018229 deg, new cmd heading: 268.925489 deg. BhmbuHeadingCmd: 4.693635 target range: 40.454487 and range: 40.70 m.huB2@hq*hy"hy hygyfyffdddjdZd 4t@颹ɢ ) ׾i):yi+eٻicv˿wP{<2a=IB2@IbE4jE4rE0E EE!E"E:*EL_:VEc3ZEBE = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020059K,2?A>;Ő@> @>j{ٱ>~? ZAHRS rotation from veh to nav: [[0.029744,0.982392,0.184448],[-0.997674,0.017853,0.065794],[0.061343,-0.185976,0.980638]]>Hu?o?`?H?װ?Mh? ǿ@ba?i>;Ő@I>Mf;yM\M=MAM@ M A)MAIYIbDeVDeyu=%uB=Թٔ-2Q->9Y=Fy%tE-%E->YQ 5m5]Y~?Q 9m5]/l)]BY>Q E:yտQ I@]EI]@B ǍCB IB BB B B B a;B $EA I I O >YHŌ,((3?A6@6ж@6}{ٱ6A >AHRS rotation from veh to nav: [[0.028619,0.982211,0.185586],[-0.997703,0.016665,0.065656],[0.061396,-0.187039,0.980432]]6H@GN?@Fn?G? /@?@ΰ?@?o?ǿ@_?i6@I6e;6CYJByJ9IbDRVDR02yZ=%ZK=ٔZF Q-^>9\Y\=^Fy^tEbAEb>dQ 5j5f|?Q 9j5fp)fBYhynտQ In@fEIf:if:f5yraBɮrArEjh  DNOT Ignoring new targets: 40.45 m.bhRh)qZh)qi ProNav: ac range: 40.454487 m, nav range: 37.389641 m, bearing: 260.410382 deg, approach rate: -0.499529 m/s, LOS rate: -0.052710 deg/s, cmd heading: 268.856326 deg, new cmd heading: 268.798523 deg. BhHeadingCmd: 4.691419 target range: 40.454487 and range: 40.70 m.h @h*h"h hgfffdddjdZd* @PBɢv) iuDAT read: 05:53:14.3270 LVL= 32752, 32753, 29410, 32755, AGC= 63, IDX= 412,-0.14, 0.326,-1.001, 1.009, 0.351, PHS= 0.078,-1.307, 0.615, RAW= 165.7, 7.2, CAL= 165.2, 7.1, ROT= 344.8, -7.1 }Ygot valid direction response: 05:53:14.3270 LVL= 32752, 32753, 29410, 32755, AGC= 63, IDX= 412,-0.14, 0.326,-1.001, 1.009, 0.351, PHS= 0.078,-1.307, 0.615, RAW= 165.7, 7.2, CAL= 165.2, 7.1, ROT= 344.8, -7.1 PDAT read: Bearing 76.2, -12.8 (Local) ~Local bearing/azimuth received: Bearing 76.2, -12.8 (Local) DAT read: Range 11 to 50 : 38.5 m (Round-trip 51.4 ms) speed 0.6 m/s *DAT read: user:594> BDAT read: Tx time:05:53:15.4214 $Ping request sent.E8@ E=)E@IEAAE֚\+?/?9 ? E:L?)EIEԇiEAA:publishing transmit ping timeFpublishing direction and range infoyAE1ˤ?7{ĦпA7X?YAAAAA A)AIAiAAAAA A)AIAAAE֚\+?/?9 ? A)AIAiAAAԑO@ @@U1@ԹE] E]E]!EY"E]:*E]R:VE]c3ZEYBE]eˌ,/3?A:L@:@:Myٱ:A FAHRS rotation from veh to nav: [[0.028900,0.982046,0.186414],[-0.997730,0.016992,0.065165],[0.060828,-0.187874,0.980308]]:H?l? j?g`Tf?@?`$?@B ȿ@^?i:L@I:e;8YNByNHIbDZVDZybq=%bK=ٔb9:Q-b>9f ?Yf ?=fFyf tEj6:Ej>lQ 5r5n6{?Q 9r5nv)nBYpyrտQ Iv@nEIn;in;nÌ5yxɮzAxii{3?AJiBRiBji@bc ;RB@ɕ;#L@R1ˤ?7{ĦпA7X?Ziԇbijs=X+i5Btx!@Z86ʿ8c8uV;8?2i:i"i0柊?*i 4Bi)Bia?iƱ6ifBiHBiC@E addTargetRange:: Added new target pos. range: 38.500000 m, deltaT: 3.535959 s, deltaX: -2.200001 m, approachRate: -0.622179 m/s, rangeRepo size: 4 U Added new target pos. range: 38.264206 m, bearing: 257.857360 deg, lat: 36.779432 deg, lon: -121.859778 deg, deltaT: 3.535959 s, deltaX: -2.190281 m, approachRate: -0.619431 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 38.26 m.bhQRh]ZhYm ProNav: ac range: 38.264206 m, nav range: 37.070724 m, bearing: 260.096733 deg, approach rate: 0.000000 m/s, LOS rate: -0.052710 deg/s, cmd heading: 268.798516 deg, new cmd heading: 268.734273 deg. BhiuHeadingCmd: 4.690298 target range: 38.264206 and range: 38.50 m.hu@hq*hq"hq hygyfyffdddjd@C@Zd@(?颱ɢUn)Y ]៾iY)]QYYi]ٻie˿emY E  E E "E "E :*E VL:VE (3ZE a @a @a @a @4NҌ,~I3?A2T@2%@2;wٱ2?iC :AHRS rotation from veh to nav: [[0.029270,0.981760,0.187857],[-0.997750,0.017355,0.064764],[0.060322,-0.189330,0.980059]]2H@?`j?` ?fő?\?? ;ȿ\?i2T@I2e;0YrĀByr`IieMb@Mb@Mb@aaaa a9eq= ףp?bX9ȶMb?Ye>yeEe=eE Ae@ eA)eAaYabD} VD}2y=%>=ٔ0:Q->9"?Y"?=FytEPa:E>Q 55x?Q 95K{)BYr>Q E:yۿQ I@EI ;i ;tŌ5yɮAqIAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLIEntering USBL mode with 120.000000 count pings at 38.500000 m (mode 2.000000 count ).IIjhDNOT Ignoring new targets: 38.26 m.bhRhZh ProNav: ac range: 38.264206 m, nav range: 36.871265 m, bearing: 260.088734 deg, approach rate: -0.464897 m/s, LOS rate: -0.018746 deg/s, cmd heading: 268.734285 deg, new cmd heading: 268.710156 deg. 1BhMHeadingCmd: 4.689877 target range: 38.264206 and range: 38.50 m.hy@h*h"h hgfffBdddjdZd`4?ɢ?_) %i!)%s!!i%mڻi-˿MXqBōCBSIBBBBBXDBQa;B$Eԉ^A Qf=A eAzA eAA] .AIi Iy O > y،,ec3?A2)Đ@2@2$uٱ2^6D :AHRS rotation from veh to nav: [[0.029616,0.981605,0.188612],[-0.997760,0.017707,0.064513],[0.059986,-0.190100,0.979930]]2H@S?Ni? r$?!?냰?`?4Uȿ[?i2)Đ@I2^e;2CYBɀByBgIbDNVDNyR^<%VZ=ٔVIk:Q-V>9Z ?YZ ?=ZFyZtEZq:EZ>`Q 5f5bv?Q 9f5b)b!BYdyfۿQ If@bEIbg:ib_:bnj5ylɮnAliz^@Iz1JzuB*** querying acoustic contact ***iq iuxjhDNOT Ignoring new targets: 38.26 m.bhRhZh ProNav: ac range: 38.264206 m, nav range: 36.697495 m, bearing: 260.081576 deg, approach rate: -0.446450 m/s, LOS rate: -0.018478 deg/s, cmd heading: 268.710160 deg, new cmd heading: 268.688584 deg. BhJHeadingCmd: 4.689500 target range: 38.264206 and range: 38.50 m.hc@h*h"h hgfffdddjdZd`=5?E= E=E=$E9"E=:*E=C:VE=4ZE9BE9aE2E9aEJE=<;aM:E==;aMeQBɢmUpc)i m^iiԑ)顑iuۻi˿<-m=Ic@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.EO@A @I@M/@IԹ^Amh= 1 9 Q ۸9 Y AA] ؟AIq  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500331I O > [ތ,[a}3?AJAϐ@Jʗ@JqٱJpE jAHRS rotation from veh to nav: [[0.030969,0.981348,0.189731],[-0.997775,0.019140,0.063862],[0.059039,-0.191287,0.979757]]JH??2g?I?@@}?@=Y?`\:?|ȿ +Z?iJAϐ@IJ:e;JCYUހByUIonly read 0 of 1 data item for BIT error. Device response is::TS,00050309413649,35.0, +10.4, 0.0, 0 a@a a@a a@a a@a bDVD:2y3=%<=ٔ;Q->9"?Y"?=FytEL;E>Q 55't?Q 95)2BQ A+:YQ E:yۿQ I@EI;i>Ȍ5yɮAi1JqJjhDNOT Ignoring new targets: 38.26 m.bhRh¹Zh¹ ProNav: ac range: 38.264206 m, nav range: 36.496124 m, bearing: 260.072720 deg, approach rate: -0.480905 m/s, LOS rate: -0.021266 deg/s, cmd heading: 268.688577 deg, new cmd heading: 268.661863 deg. BhiHeadingCmd: 4.689034 target range: 38.264206 and range: 38.50 m.h @h*h"h! h!g!f!f!f)d)d)d)jd)Zd5:?Yɢ]RV)a eLfia)eaaimfۻim) ̿mЁB} <A} <B >B ÍCB IB BB 4 =B B WDB Na;B $EBEǍCBEƍCBE˕CBE2 =BE2 =CE 5,=3?A RӐ@RΗ@RnٱRE ZAHRS rotation from veh to nav: [[0.031531,0.981281,0.189981],[-0.997803,0.019823,0.063214],[0.058265,-0.191557,0.979751]]RH$?@f?JQ?rL? .?@ԭ?ȿZ?iRӐ@IRd;RCYvByvIbDUVDU1yX=%L=ٔ:Q->9Y=FytE޷:E>Q 55q?Q 95)ABQ A :YQ E:yۿQ I@EI:iQV?Ɍ5yɮAjqJCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLjh%DNOT Ignoring new targets: 38.26 m.bh!Rh%Zh-=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004464E ProNav: ac range: 38.264206 m, nav range: 36.310490 m, bearing: 260.064290 deg, approach rate: -0.454175 m/s, LOS rate: -0.020730 deg/s, cmd heading: 268.661857 deg, new cmd heading: 268.636438 deg. BhEcMHeadingCmd: 4.688591 target range: 38.264206 and range: 38.50 m.hM@hI*hI"hI hQgQfQfYfYdYdYdajdaZde+@颍RBɢFQ) Qi):顙iܻi̿<Hw=I@Iq@ @@ /@ @@fAԙEU EUEQEQ"EU:*EUE7:VEQZEQBEQae2EQaeJEUQ;ae:EUQ;ae^AE @p=AE >AE ?  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256482Ay I I O >,@3?A2ې@2m֗@2iٱ2E :AHRS rotation from veh to nav: [[0.032477,0.981274,0.189862],[-0.997841,0.020985,0.062229],[0.057080,-0.191473,0.979837]]2H@ڠ?f?`eM?P}?ܯ?9?0ȿZ?i2ې@I2e;2CYBByFIPbDNVDNyV=%ZY=ٔZ@N;Q-Z>9\Y\=^Fy^ tEb]$;Eb>`Q 5f5bo?Q 9j5br)bOBQ Aj9YhQ Ejp:yjnۿQ Ij@bEIb~:ibq?bʌ5yr_BɮrNApjh  DNOT Ignoring new targets: 38.26 m.bh RhιZhι% ProNav: ac range: 38.264206 m, nav range: 36.135681 m, bearing: 260.056003 deg, approach rate: -0.474267 m/s, LOS rate: -0.022591 deg/s, cmd heading: 268.636449 deg, new cmd heading: 268.611469 deg. Bh%x-HeadingCmd: 4.688155 target range: 38.264206 and range: 38.50 m.h-]@h)*h)"h) h1g1f1f1f9d9d9d9jdAZdE`o@mSBɢm+N)q u:iq)uqi0ݻi)̿F<h|=I]@II ) fAP@ @@0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508448^A5np=! I1 II OU >E  E E E "E :*E ?:VE ZE a @a @a @a @E,3?A@2@2ܗ@2fYfٱ2AE :AHRS rotation from veh to nav: [[0.033243,0.981361,0.189275],[-0.997866,0.021939,0.061507],[0.056208,-0.190916,0.979996]]2H9?Og?):?=w?}?@JǬ?oȿ@ \?i2@I2gd;2CVBDAT read: Rx Time:05:53:17.8747 VTRx dataTimestamp_ set to:1761544399.192379Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761591YbBybI|aa aa aa aa iMb@Mb@Mb@ 9V-?Mb:v?Yh>y<3A@ tA)AY( AbDVD0y-+%-4=ٔ5:Q-5>99Y9==Fy=$tE=:EE>AQ 5M5Ek?Q 9M5ES)E`BQ AUT:YU>Q EU:yUQ IU@EEIE;iE;Ě5yerBɮe2AeEjhDNOT Ignoring new targets: 38.26 m.bhRh~x:Zh~x:% ProNav: ac range: 38.264206 m, nav range: 35.944691 m, bearing: 260.081128 deg, approach rate: -0.410683 m/s, LOS rate: 0.054312 deg/s, cmd heading: 268.611478 deg, new cmd heading: 268.687252 deg. Bh%;-HeadingCmd: 4.689477 target range: 38.264206 and range: 38.50 m.h-3@h)*h)"h) h)gIfQfQfUׁBdQdYdYjdYZd]`I@TBɢM) Oi)Ԑiݻi˿!<`z=I3@I)B5>B5CB5IB5BB56 =B1B5VDB57a;B5$EQ@Q @Q@Q@QQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012205^Am Pz=ԁ I I O >d, 3?A2@2ޗ@2|cٱ2fD :AHRS rotation from veh to nav: [[0.033491,0.981465,0.188690],[-0.997896,0.022352,0.060856],[0.055510,-0.190331,0.980149]]2H%?@*h?&?@?{(?@k?@\ȿ b]?i2@I2Id;2CYFByFIbDNVDNܲyr<%rb=ٔrp:Q-r>9tYt=vFyv(tEz3:Ez>xQ 55zrh?Q 95z6)znBYyQ I@zEIz;iz ;z6Ό5yɮA-B*** querying acoustic contact ***i1 i1jh9EDNOT Ignoring new targets: 38.26 m.bhARhE:ZhE:U ProNav: ac range: 38.264206 m, nav range: 35.792377 m, bearing: 260.101304 deg, approach rate: -0.435715 m/s, LOS rate: 0.057962 deg/s, cmd heading: 268.687266 deg, new cmd heading: 268.748051 deg. YBhU;eHeadingCmd: 4.690538 target range: 38.264206 and range: 38.50 m.he@ha*ha"hi higififqfqdqdqdqjdyZd}' @颡ɢV) Ji)D顱i6޻i˿<dw=I@IE EEE"E:*EVL:VEZEBE7 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268081ԙ^A yz=ԹAzAgAI9IYO}>  DAT read: 05:53:17.8747 LVL= 32752, 32753, 27250, 32755, AGC= 62, IDX= 419, 0.02, 1.295,-0.079, 1.966, 1.312, PHS= 0.086,-1.345, 0.610, RAW= 165.0, 7.5, CAL= 164.6, 7.4, ROT= 345.4, -7.4  Ygot valid direction response: 05:53:17.8747 LVL= 32752, 32753, 27250, 32755, AGC= 62, IDX= 419, 0.02, 1.295,-0.079, 1.966, 1.312, PHS= 0.086,-1.345, 0.610, RAW= 165.0, 7.5, CAL= 164.6, 7.4, ROT= 345.4, -7.4  PDAT read: Bearing 76.6, -12.1 (Local)  ~Local bearing/azimuth received: Bearing 76.6, -12.1 (Local)  DAT read: Range 11 to 50 : 36.8 m (Round-trip 49.1 ms) speed 0.3 m/s  *DAT read: user:595>  BDAT read: Tx time:05:53:18.9714  $Ping request sent. Ie =ie (e (?e N8@e >e '7@ e A>)e b@Ie Aa a e qzo?_԰p? 4vf? e I?)e KIe wie Aa a  :publishing transmit ping time  Fpublishing direction and range infoya e Lr?-,ϿOZ_|?Ya a a a a a )a Ia ia a a a a a )a Ia a a ', 3?Aqzo?_԰p? 4vf? )Ii6checking for new query: numPingsReceived=1, elapsed TxPingTime=0.033281E@E@E!_ٱExD UAHRS rotation from veh to nav: [[0.033722,0.981511,0.188409],[-0.997940,0.022772,0.059982],[0.054582,-0.190044,0.980257]]EHC?h??@Q? ?5? [Sȿ@D^?iE@IE>d;ECYByIԱieMb@Mb@Mb@aaaa a9e'1Z?S㥛y&1?Ye>ye$e`e9Y=Fy-tE%79E%>Q 55c?Q 95N)BY>Q E:ygQ I@EIL:iv:}Ќ5yɮAE- E-E-$E)"E-:*E-a9:VE-4ZE)a5@a5@a5@a5@ii3?AJiIBRiIBji@bPPA@MNH"X{Y@RLr?-,ϿOZ_|?Ziwbi AjyAT ~d @Zx$(ȿ?,c$n?2i :i"iu?*i@A4BiyBi]V1?i@A4i'BiQBiĐ@ addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 3.527859 s, deltaX: -1.700001 m, approachRate: -0.481879 m/s, rangeRepo size: 4  Added new target pos. range: 36.571918 m, bearing: 258.828882 deg, lat: 36.779427 deg, lon: -121.859777 deg, deltaT: 3.527859 s, deltaX: -1.692287 m, approachRate: -0.479692 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 36.57 m.bhRhZh ProNav: ac range: 36.571918 m, nav range: 35.579517 m, bearing: 259.202371 deg, approach rate: 0.000000 m/s, LOS rate: 0.057962 deg/s, cmd heading: 268.748054 deg, new cmd heading: 268.842830 deg. BhHeadingCmd: 4.692193 target range: 36.571918 and range: 36.80 m.hq&@h*h"h  h g f ffŁBdddjd=`ffB@Zd=3?颍VBɢCJ)  Oi) 顑i4޻i˿=<9s=Iq&@Ichecking for new query: numPingsReceived=1, elapsed TxPingTime=0.243172@ @@^0@B5 >B1 B5 IB5 BB1 B1 B1 B5 (a;B5 $EI ^Au | u=I I O >*,4?A4<ɰ6J@6@6u\ٱ6E RAHRS rotation from veh to nav: [[0.033662,0.981197,0.190048],[-0.997982,0.022757,0.059277],[0.053838,-0.191660,0.979984]]6H/- checking for new query: numPingsReceived=1, elapsed TxPingTime=0.744779 P ,;34?A6y@6Jݗ@6|nZٱ6=uF BAHRS rotation from veh to nav: [[0.033320,0.981074,0.190743],[-0.998022,0.022483,0.058702],[0.053303,-0.192322,0.979883]]6HV? d?Ej??5?J?`ȿ 4[?i6y@I6U4d;6CY^܀BybIbDjVDjJ2yr9%rL=ٔr:Q-r>9tYt=vFyv4tEvwaEz>xQ 55z\?Q 95z)zBYymQ I@zEIz ;iz;zӌ5yɮAjh1=DNOT Ignoring new targets: 36.57 m.bh9RhEiB:ZhEiB:U ProNav: ac range: 36.571918 m, nav range: 35.254688 m, bearing: 259.232209 deg, approach rate: -0.457394 m/s, LOS rate: 0.042492 deg/s, cmd heading: 268.881844 deg, new cmd heading: 268.932775 deg. BhUK:]HeadingCmd: 4.693762 target range: 36.571918 and range: 36.80 m.h]M3@hY*hY"hY hYgafafafadididijdiZdm%?额XBɢ2`) wi)R顡i ޻i6r˿<x3m=IM3@IQ@Y @Y@Y@a@y@}eAchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.000070 ^Am=II O>1E  E E "E "E :*E 0:VE (3ZE a @a @a @a @Y i9 I= AE checking for new query: numPingsReceived=1, elapsed TxPingTime=1.248778I,M4?A:Gߐ@:ڗ@::Xٱ:VBF FAHRS rotation from veh to nav: [[0.032932,0.981117,0.190593],[-0.998064,0.022215,0.058096],[0.052765,-0.192137,0.979949]]:H`pܠ?Ne?Xe?#@z?@̾?` ?@ȿ [?i:Gߐ@I:d;:CYNҀByNqIIR?>)Rg?i%Mb@Mb@Mb@!!!! !9%ʡE?K7AMb?Y%>y% %<%A%d@ % A)%A!Y% AbD=VD=k1yM%I%MA=ٔU:Q-U>9YYY=]Fy]9tEeqEe>aQ 5m5eY?Q 9u5eԪ)eBYuP>Q E:yQ I@eEIeBBBBBBBZa;B$E9y@ @@@}checking for new query: numPingsReceived=1, elapsed TxPingTime=1.500499ԑ^A fm=ԙ I I O >3r,g4?A2א@2ї@2n_Wٱ2F :AHRS rotation from veh to nav: [[0.031936,0.981063,0.191040],[-0.998107,0.021253,0.057710],[0.052557,-0.192521,0.979884]]2HY?`d?@s?~DÕ?*??ȿ`6[?i2א@I2xc;2CYFɀByFgIbDRVDR0yV 4%ZU=ٔZ:Q-Z>9\Y\=^Fy^=tEb*Eb>dQ 5f5fU?Q 9j5f)fBYhyj Q Ij@fEIf9:if1:f׌5EM EMEM!EI"EM:*EMR:VEMc3ZEIBEM! 8Z ,hz4?A2͐@2zȗ@2z4Vٱ22#G :AHRS rotation from veh to nav: [[0.030786,0.980995,0.191574],[-0.998158,0.020151,0.057220],[0.052272,-0.192983,0.979809]]2Hh?@Pd?}?X?@K?oê?ȿZ?i2͐@I2c;2CYĀByaIi%Mb@Mb@Mb@!!!! !9%Mb?X9v{Gz?Y%?y%%#<%A! % A)%A!Y% AbD=VD=yE%M'=ٔM:Q-U>9QYQ=UFyUBtE]LE]>aQ 5m5eKQ?Q 9m5e)eBYmf?Q Eu:yu9Q Iu@eEIeq ;ie ;e@ٌ5y}Bɮ}A} EjhDNOT Ignoring new targets: 36.57 m.bhRhg9Zhg9 ProNav: ac range: 36.571918 m, nav range: 34.615498 m, bearing: 259.263448 deg, approach rate: -0.540913 m/s, LOS rate: 0.015234 deg/s, cmd heading: 269.005826 deg, new cmd heading: 269.027058 deg. BhH':HeadingCmd: 4.695408 target range: 36.571918 and range: 36.80 m.h@@h*h"h hgfffmBdddjdZd @ \Bɢ "n)  i )yNiܻiK<˿<`=I@@I!E] E]E]"EY"E]:*E]0:VE](3ZEYae@ae@ae@ae@@ @@/@@=@=checking for new query: numPingsReceived=1, elapsed TxPingTime=2.256680!I ^A 0f=A dAzA fAB >B B IB BB 7 =B B UDB a;B $EI) I9 OM >y&,V4?A2Ő@2^@2? Uٱ2!G >AHRS rotation from veh to nav: [[0.029799,0.980879,0.192323],[-0.998203,0.019195,0.056765],[0.051988,-0.193669,0.979688]]2H?\c? ?`GƧ?@V? 5?`&ȿY?i2Ő@I2|c;0 T)VkAZXXXZkAiZI\\I\i^kA b`)`` bkAbQ8`dddId)did)hIjkAjYjYF hlnkAnqillipr9A)p pIpYpYzByzWIbD VD ky%>%-u=ٔ-^:Q-5?Uchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.5099689QYQ=UFyUEtEeY?Ee?iQ 5}5mKN?Q 95m)mBYyXQ I@mEIml;imm;mڌ5yBɮ<AjhDNOT Ignoring new targets: 36.57 m.bhRh;9Zh;9 ProNav: ac range: 36.571918 m, nav range: 34.440857 m, bearing: 259.268665 deg, approach rate: -0.503173 m/s, LOS rate: 0.015106 deg/s, cmd heading: 269.027054 deg, new cmd heading: 269.042783 deg. Bh%:HeadingCmd: 4.695683 target range: 36.571918 and range: 36.80 m.hC@h*h"h hgfffdddjdZdG@]Bɢ|) i!)%D!!i%s ܻi-J3˿Q-xԭ,,-4?A J GHP\~9YAyU?UA}=@}@}ʛUٱ}Z6H AHRS rotation from veh to nav: [[0.028054,0.980844,0.192763],[-0.998246,0.017434,0.056571],[0.052127,-0.194012,0.979613]]}HB?`c?@x?`Cڑ?? `?eȿX?i}=@I}Jc;}CY5By=GIbDUVDU:yd%3=ٔԟQ->9Y=FyJtE6|E> Q 5%5 ;J?Q 9-5 ) BY9y=Q IE@ EI ;i ; ܌5yaɮmAqԱmBDAT read: Rx Time:05:53:21.4228 }TRx dataTimestamp_ set to:1761544402.976380checking for new query: numPingsReceived=1, elapsed TxPingTime=3.019778jhDNOT Ignoring new targets: 36.57 m.bhRhC9ZhC9- ProNav: ac range: 36.571918 m, nav range: 34.206512 m, bearing: 259.276428 deg, approach rate: -0.466137 m/s, LOS rate: 0.015547 deg/s, cmd heading: 269.042791 deg, new cmd heading: 269.066239 deg. Bh-*:5HeadingCmd: 4.696092 target range: 36.571918 and range: 36.80 m.h5bF@h1*h1"h1 h1g9f9f9f9dAdadajdaZdm{@颵_Bɢy) i) 项i^ڻi %˿ E< AU=I bF@IuO@q @q@u/@q Em  Em Em $Ei "Em ,:*Em V:VEm 4ZEi au @au @au @au @ checking for new query: numPingsReceived=1, elapsed TxPingTime=3.267210^A 5[=A ?A >9 IA Ii O >74,)4?AT@%@ UٱG -AHRS rotation from veh to nav: [[0.026237,0.981084,0.191795],[-0.998297,0.015716,0.056176],[0.052100,-0.192942,0.979826]]Hݚ? e?? ?@$ì?ɬ?Sȿ Z?iT@Ic;CYByBIi]Mb@Mb@Mb@YYYY Y9] rh?Mb~jth?Y] ?y]]D;Bu>BuCBuIBuBBu6 =BqBqBua;Bu$EB=CB=CB=“CB=6 =B=6 =C=|4]~A]?@ ] A)]AYY] AbDVD02yϟ%8=ٔ8Q->9Y=FyNtEE>Q 55dG?Q 95)BY?Q E:yڿQ I@EI5;i$5;ތ5yɮAjh  DNOT Ignoring new targets: 36.57 m.bh RhhZhh% ProNav: ac range: 36.571918 m, nav range: 33.964741 m, bearing: 259.257048 deg, approach rate: -0.630193 m/s, LOS rate: -0.050874 deg/s, cmd heading: 269.066232 deg, new cmd heading: 269.007679 deg. Bh% -HeadingCmd: 4.695070 target range: 36.571918 and range: 36.80 m.h->@h)*h)"h) h1g1f1f1f=5Bd9d9d9jd9ZdEz @mDAT read: 05:53:21.4228 LVL= 32752, 32753, 30914, 32755, AGC= 62, IDX= 416,-0.02, 2.879, 1.541,-2.765, 2.893, PHS= 0.088,-1.307, 0.582, RAW= 164.6, 7.6, CAL= 164.1, 7.6, ROT= 345.9, -7.6 }Ygot valid direction response: 05:53:21.4228 LVL= 32752, 32753, 30914, 32755, AGC= 62, IDX= 416,-0.02, 2.879, 1.541,-2.765, 2.893, PHS= 0.088,-1.307, 0.582, RAW= 164.6, 7.6, CAL= 164.1, 7.6, ROT= 345.9, -7.6 PDAT read: Bearing 76.5, -11.7 (Local) ~Local bearing/azimuth received: Bearing 76.5, -11.7 (Local) DAT read: Range 11 to 50 : 35.4 m (Round-trip 47.2 ms) speed 0.4 m/s *DAT read: user:596> BDAT read: Tx time:05:53:22.5214 $Ping request sent.-M7@ >)/@I%aBɢ%#)! %+i)Zە?cF?>c? YJG?)fIt{iu:publishing transmit ping timeuFpublishing direction and range infoye?̣ο) ?Y )Ii )IZە?cF?>c? )Iichecking for new query: numPingsReceived=2, elapsed TxPingTime=0.029224)-c!顑i/ٻi`G˿< S=I>@I! i @i  @q @q @q E5  E5 E5 "E1 "E5 :*E5 *5:VE5 (3ZE1 BE5 ;aE 2E5 ;aE JE5 ;aE :E5 ;aE I ^A lT= checking for new query: numPingsReceived=2, elapsed TxPingTime=0.234309yA.AIIO?&<,4?A2&@2@2,Wٱ2zE >AHRS rotation from veh to nav: [[0.023778,0.981351,0.190750],[-0.998337,0.013287,0.056089],[0.052508,-0.191766,0.980035]]2H)Y?9g?}j?@a56?@?`X?̋ȿ`r\?i2&@I2{c;2CYFByF:IbDNVDNyV%V4=ٔZkQ-Z>9Z ?Y^ ?=^Fy^StE^iE^>`Q 5f5baD?Q 9f5bp)bBYhyjCۿQ Ij@bEIbe;ib;b5ylɮnApiil4?AJi BRi Bji*@b6]@@>y E:Ygm@Re?̣ο) ?Zit{bijol@|@Z|d-ȿlѓހ,?2iv:i"il?*ilABiBiu?i~:i)BiBi@- addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 3.528070 s, deltaX: -1.399998 m, approachRate: -0.396817 m/s, rangeRepo size: 4  Added new target pos. range: 35.179859 m, bearing: 258.818323 deg, lat: 36.779424 deg, lon: -121.859780 deg, deltaT: 3.528070 s, deltaX: -1.392059 m, approachRate: -0.394567 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 35.18 m.bhRhZh ProNav: ac range: 35.179859 m, nav range: 33.985317 m, bearing: 258.919287 deg, approach rate: 0.000000 m/s, LOS rate: -0.050874 deg/s, cmd heading: 269.007683 deg, new cmd heading: 268.937761 deg. BhHeadingCmd: 4.693850 target range: 35.179859 and range: 35.40 m.h4@h*h"h hgff)f)d)d1d1jd5@3A@Zd5#?颅cBɢ )  i) 4#  i !:ػi[o˿y<P=I4@I P@  @@0@checking for new query: numPingsReceived=2, elapsed TxPingTime=0.489111! ^Ay A ؟AE  E E $E "E :*E ;J:VE 4ZE a @a @a @a @I I O > C,, 5?A6@6{@6Wٱ6pC >AHRS rotation from veh to nav: [[0.021453,0.981734,0.189043],[-0.998385,0.011089,0.055713],[0.052599,-0.189933,0.980387]]6H`?`^j?2??`h?@D?OȿT_?i6@I6Mc;4YJByJ+IiI checking for new query: numPingsReceived=2, elapsed TxPingTime=0.737745iMb@Mb@Mb@ 9/$?Q뱿{Gz?Y&?y\#< A(@  A)|AYAbDVDy\%9=ٔXQ->9"?Y"?=FyWtE'E>Q 55YB?Q 95)BYF?Q E:yaտQ I@EI,;it;5y Bɮ A E-B*** querying acoustic contact ***i) i)jh1=DNOT Ignoring new targets: 35.18 m.bh9Rh=ٺZhEٺM ProNav: ac range: 35.179859 m, nav range: 33.735832 m, bearing: 258.877985 deg, approach rate: -0.570640 m/s, LOS rate: -0.095167 deg/s, cmd heading: 268.937770 deg, new cmd heading: 268.812949 deg. BhM]HeadingCmd: 4.691671 target range: 35.179859 and range: 35.40 m.h]+"@hY*hY"hY hYgYfYfafeBdadidijdiZdm?Q]dBɢ]nЉ)a e˾ia)e$aaieֻim˿!<QP=I+"@IAA@AB>BCBxIB׀BB7 =BBTDBa;B$E!@! @)@-4@)ychecking for new query: numPingsReceived=2, elapsed TxPingTime=0.992448^AM 0M=AU fAzAQ Ա A I I O >3I,W&5?A>bn@@>3i@>ИWٱ>3D JAHRS rotation from veh to nav: [[0.019175,0.981711,0.189407],[-0.998431,0.008833,0.055296],[0.052612,-0.190170,0.980340]]>H@? .j?}>?`%?O??~Wȿ^?i>bn@I>ab;>CYRByR9IbDZVDZ1yb.y=%b]=ٔf5Q-f>9dYd=jFyj[tEjʻEj>lQ 5r5n@?Q 9r5n)nBYtyvտQ Iv@nEIn:in:n)5yxɮzA|jh%DNOT Ignoring new targets: 35.18 m.bh!Rh- ֺZh- ֺ5 ProNav: ac range: 35.179859 m, nav range: 33.526680 m, bearing: 258.843705 deg, approach rate: -0.567339 m/s, LOS rate: -0.093567 deg/s, cmd heading: 268.812941 deg, new cmd heading: 268.709459 deg. Bh=mEHeadingCmd: 4.689865 target range: 35.179859 and range: 35.40 m.hE_@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdUػ?颅eBɢ`x) 7i)%顉i!ջi˿c<N=I_@IE EE%E"EU:*Eg:VE 4ZEBE;a2E;aJE-;a:E-;auN@q @q@u/@yԱchecking for new query: numPingsReceived=2, elapsed TxPingTime=1.242270^A`T=A I I  O > checking for new query: numPingsReceived=2, elapsed TxPingTime=1.496203P,@5?AVV@VQ@V9Y=Fy_tE?׻E>1Q 5=55>?Q 9=55Z)5BY=?Q EE:yEӿQ IE@5EI5:i5:55yIɮmAijhDNOT Ignoring new targets: 35.18 m.bhRhZh ProNav: ac range: 35.179859 m, nav range: 33.266865 m, bearing: 258.794419 deg, approach rate: -0.568220 m/s, LOS rate: -0.108632 deg/s, cmd heading: 268.709450 deg, new cmd heading: 268.560436 deg. BhHeadingCmd: 4.687264 target range: 35.179859 and range: 35.40 m.h@h*h"h hgfffBd)d)d)jd1Zd5c/?}fBɢ}؊) <ži)  ''  i ӻi(G̿3<5N=I@IE EE'E"E:*ET:VE'4ZEa@a@a@a@UO@Q @Q@]/@Ychecking for new query: numPingsReceived=2, elapsed TxPingTime=1.7458261a ^A ;O=B >B CB lIB ̀BB 9 =B B SDB b;B $EI I O >xV,[%[5?A;ɰ4<6;@66@6V5Yٱ6CD BAHRS rotation from veh to nav: [[0.013020,0.981737,0.189798],[-0.998509,0.002704,0.054513],[0.053005,-0.190225,0.980309]]6Hl?`cj? MK?U&f?*?h#?JYȿ@^?i6;@I6e$c;4YZByZ@IbDfVDf:2hyn(=%rS=ٔr"RQ-r>9tYt=vFyvctEv9 Ev>yQ 55} =?Q 95}X)}BYy_ԿQ I@}EI},R;i}S;}5yɮoAchecking for new query: numPingsReceived=2, elapsed TxPingTime=1.997521jhQUDNOT Ignoring new targets: 35.18 m.bhQRh]Zh] ProNav: ac range: 35.179859 m, nav range: 33.039436 m, bearing: 258.751967 deg, approach rate: -0.564179 m/s, LOS rate: -0.106034 deg/s, cmd heading: 268.560443 deg, new cmd heading: 268.432211 deg. BhHeadingCmd: 4.685026 target range: 35.179859 and range: 35.40 m.h@h*h"h hgfffdddjdZd@P@gBɢ:) "i)`(iһi̿s<ıJ=I@I P@ @@/@)bEjEǨ3rE+/E5 E5E5#E1"E5>:*E5E7:VE53ZE1BE5a I I O ><\,]t5?A9j!@;@;Zٱ)C AHRS rotation from veh to nav: [[0.009793,0.981945,0.188915],[-0.998528,-0.000477,0.054243],[0.053354,-0.189168,0.980494]]H@R?@l?@Z.?@I?ū?4Q? 6ȿ5`?ij!@Ib;CYByFIbDVD:y!<%:=ٔPQ->9Y=FyhtEE> Q 55 ";?Q 95 ) &BYyԿQ I@ EI :i : 5y!ɮ-GA)jhQ]DNOT Ignoring new targets: 35.18 m.bhYRh]HZh]Hu ProNav: ac range: 35.179859 m, nav range: 32.794319 m, bearing: 258.706972 deg, approach rate: -0.606449 m/s, LOS rate: -0.112154 deg/s, cmd heading: 268.432199 deg, new cmd heading: 268.296207 deg. BhuuHeadingCmd: 4.682652 target range: 35.179859 and range: 35.40 m.h}Iؕ@hy*hy"hy hygyfyffdddjdZd{|@颽hBɢXa) i))i-лiF̿8<kH=IIؕ@IiO@ @@@UDDAT read: Rx Time:05:53:24.6954 ]TRx dataTimestamp_ set to:1761544406.002204PDAT read: Bearing 76.2, -11.7 (Local) ~Local bearing/azimuth received: Bearing 76.2, -11.7 (Local) DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.7 -DAT read: 05:53:24.6954 LVL= 32752, 32753, 30418, 32755, AGC= 63, IDX= 167,-0.13, 2.788, 1.423,-2.863, 2.798, PHS= 0.092,-1.329, 0.578, RAW= 164.2, 7.7, CAL= 163.8, 7.8, ROT= 346.2, -7.8 5Ygot valid direction response: 05:53:24.6954 LVL= 32752, 32753, 30418, 32755, AGC= 63, IDX= 167,-0.13, 2.788, 1.423,-2.863, 2.798, PHS= 0.092,-1.329, 0.578, RAW= 164.2, 7.7, CAL= 163.8, 7.8, ROT= 346.2, -7.8 R#Rx 3: Read range and direction messages.^direction in FSK: [0.962149,-0.236326,0.135716]Fpublishing direction and range infoyQUYwK?>@?ο M _?YUfBQQQUv Q)U?IUj=iUU?Ui7@U >Uc6@ U'g >)UZ@IU'g QQUP?=e?`cv|7? UvE?)UP( IUviU'g QQ=checking for new query: numPingsReceived=3, elapsed TxPingTime=2.570378ԉ^A% \J=I I O >Թ E=  E= E= $E9 "E= غ:*E= rN:VE= 4ZE9 aE @aM @aM @aM @c,ʎ5?ABchecking for new query: numPingsReceived=3, elapsed TxPingTime=2.753283FB@F@F \ٱFxUB RAHRS rotation from veh to nav: [[0.006483,0.982091,0.188296],[-0.998536,-0.003753,0.053954],[0.053695,-0.188370,0.980629]]FHz?Im??Wnޟ?}? ȿPa?iFB@IF c;FCY~By~TII=)4<ԙiMb@Mb@Mb@ 9Zd;?:v~jt?Y?yT<dA @  A)AYbDVDk1yY=%M=ٔ9`Q->9Y=FyltE-E>Q 559?Q 9U5)2BY]?Q E]:y]\ҿQ I]@EIj@?ο M _?Zivbi'g j3Dz?6@Zp)-}ɿڟ#{4!X?2ip:i"i1?*i17Bi Bil?i17iyBiBiT@ addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 2.526812 s, deltaX: -1.800003 m, approachRate: -0.712361 m/s, rangeRepo size: 4  Added new target pos. range: 33.389973 m, bearing: 258.124660 deg, lat: 36.779423 deg, lon: -121.859778 deg, deltaT: 2.526812 s, deltaX: -1.789886 m, approachRate: -0.708358 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.39 m.bhRhZh= ProNav: ac range: 33.389973 m, nav range: 32.466011 m, bearing: 258.418672 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 268.296196 deg, new cmd heading: 268.156788 deg. BhAeHeadingCmd: 4.680219 target range: 33.389973 and range: 33.60 m.heZĕ@hi*hq"hq hqgyfBM>BIBMfIBMȀBBM: =BIBIBMb;BM$Eff/Bdddjd@@Zd¼?%jBɢEl)A EDiA)Mo*IIiMdϻiU.ͿU&֎E07@ EnF>)E,>@IEnFAAE0?aо?T^? EE?)EEIE5ziEnFAAchecking for new query: numPingsReceived=4, elapsed TxPingTime=3.021998^A <H=! Ia Iq O} >\i,5?A2@2]@2^ٱ2IC :AHRS rotation from veh to nav: [[0.002861,0.981895,0.189403],[-0.998517,-0.007491,0.053916],[0.054358,-0.189277,0.980418]]2Hpg?k?\>?@~@ܚ? ԫ?7:ȿ_?i2@I2b;2CYB΀ByFmIbDnVDn:yv-=%vZ=ٔvQ-z>9xYx=zFyzptEE>!Q 5-5%68?Q 9-5% )%>BY)y-ҿQ I5@%EI% :i%[:%5yYɮ}Ayiiim 5?AJim,BRim,Bjim @bmsq?@d=\Y@Rm?ο8C ?Zim5zbimnFjm 5t]?uv-P9 @ZmMhaLɿ( 5Ql7ؙ?2im:im "imZ)?*imҪ<*BimBimZ)?im@A4imBimBim@ addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.498775 s, deltaX: -0.599998 m, approachRate: -1.202944 m/s, rangeRepo size: 4 DzDAAE  E E #E "E [:*E 0:VE 3ZE BE |p,2V5?A>Ygot valid direction response: 05:53:25.6947 LVL= 32752, 32753, 28290, 32755, AGC= 61, IDX= 497,-0.36,-0.239,-1.579, 0.401,-0.207, PHS= 0.069,-1.327, 0.564, RAW= 164.6, 8.2, CAL= 164.3, 8.5, ROT= 345.7, -8.5 BR#Rx 5: Read range and direction messages.B^direction in FSK: [0.958372,-0.244286,0.147809]FFpublishing direction and range infoy15m?2pDϿ%)k?Y5fB1115n 1)1I5O=i5#۩5Nb?5'7@5C>5^7@ 5>)5H@I5115hO?Z>?+ CM? 5\G?)5I5Ti511Echecking for new query: numPingsReceived=5, elapsed TxPingTime=3.598634IYҀByqIiMb@Mb@Mb@ 9v?V-Q?Y?ym<A@ t A)YAbDVDy Y<% =ٔQ->9Y=FyutEE>aQ 5m5e6?Q 9m5e8)eRBYu?Q Eu:yuӿQ Iu@eEIe:ie:e]5E EEE"E7:*EVL:VEZEa@a@a@a@yyɮAi1i55?AJi5BRi5Bji5׏@b5)V% ?@Gϧ=['@R5m?2pDϿ%)k?Zi5Tbi5j58lBϣ>ef@Z5ʿ҉VO="?2i5x:i5"i5~ ?*i5EJ(Bi5Bi1i1i5Bi5Ai5~@m addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.507804 s, deltaX: -0.400002 m, approachRate: -0.787709 m/s, rangeRepo size: 4 y Added new target pos. range: 32.396019 m, bearing: 257.549208 deg, lat: 36.779422 deg, lon: -121.859777 deg, deltaT: 0.507804 s, deltaX: -0.397499 m, approachRate: -0.782781 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 32.40 m.bhRhZh ProNav: ac range: 32.396019 m, nav range: 31.849037 m, bearing: 257.981328 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 268.029655 deg, new cmd heading: 267.850463 deg. BhHeadingCmd: 4.674872 target range: 32.396019 and range: 32.60 m.h@h *h "h  h g f ff8BdddjdL@@Zd!?=checking for new query: numPingsReceived=5, elapsed TxPingTime=3.761526颍kBɢ^y) i) -顱iͻi3ͿP<M=I@IO@ @@/@ԩB >B B xIB ׀BB B B B a;B $E ^A- &t@= DDAT read: Rx Time:05:53:26.1946  TRx dataTimestamp_ set to:1761544407.508715 PDAT read: Bearing 78.4, -12.0 (Local) ~Local bearing/azimuth received: Bearing 78.4, -12.0 (Local) DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.5 5DAT read: 05:53:26.1946 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511, 0.49, 2.609, 1.234,-3.059, 2.665, PHS= 0.046,-1.386, 0.515, RAW= 163.7, 9.7, CAL= 163.6, 10.4, ROT= 346.4, -10.4 =Ygot valid direction response: 05:53:26.1946 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511, 0.49, 2.609, 1.234,-3.059, 2.665, PHS= 0.046,-1.386, 0.515, RAW= 163.7, 9.7, CAL= 163.6, 10.4, ROT= 346.4, -10.4 MR#Rx 6: Read range and direction messages.U^direction in FSK: [0.955993,-0.231279,0.180519]UFpublishing direction and range infoy  Ϲ~?2U׏ͿlE@?Y B  ) @I j<=i sh ? 6@ -\-> 36@ 9>) \w@I 9 $#?=gV?}Lu? =C?) z,I si 9 mchecking for new query: numPingsReceived=6, elapsed TxPingTime=4.030201A.AIIO?Lx,5?A5@5|@5|fٱ5JF MAHRS rotation from veh to nav: [[-0.006387,0.981174,0.193020],[-0.998395,-0.017120,0.053987],[0.056275,-0.192365,0.979708]]5H^)ze? ?Ї "? Ь?mȿY?i5@I5^b;5CY}By}I AbDVDy=%4=ٔQ-->9- ?Y- ?=-Fy-ztE5E5>9Q 5E5=3?Q 9E5==I)=cBYaymԿQ Im@=EI=K;i=;=T5yqɮuAqiiɎ5?AJiBRiBji&@b>@`D|97?@RϹ~?2U׏ͿlE@?Zisbi9j1;a]#[&J>9-!@Zn)a5^ɿ]Ni?2iQ:i1"i69?*i/$BiBiiҪ<*iiAi@% addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.499932 s, deltaX: -0.199997 m, approachRate: -0.400048 m/s, rangeRepo size: 4 5 Added new target pos. range: 32.197216 m, bearing: 258.103520 deg, lat: 36.779422 deg, lon: -121.859773 deg, deltaT: 0.499932 s, deltaX: -0.198803 m, approachRate: -0.397660 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 32.20 m.bh9RhaZh ProNav: ac range: 32.197216 m, nav range: 31.198788 m, bearing: 257.773391 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 267.850458 deg, new cmd heading: 267.702030 deg. BhHeadingCmd: 4.672282 target range: 32.197216 and range: 32.40 m.hU@h*h"h hgfffdddjd@33@@ZdR? lBɢ t) iE- E-E)E)"E-:*E- H:VE)ZE)BE- ,,5?AZDDAT read: Rx Time:05:53:26.6943 ^TRx dataTimestamp_ set to:1761544408.017311rPDAT read: Bearing 75.2, -11.4 (Local) v~Local bearing/azimuth received: Bearing 75.2, -11.4 (Local) ]DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.5 DAT read: 05:53:26.6943 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.47,-0.897,-2.275,-0.272,-0.901, PHS= 0.105,-1.329, 0.584, RAW= 163.9, 7.5, CAL= 163.4, 7.4, ROT= 346.6, -7.4 Ygot valid direction response: 05:53:26.6943 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.47,-0.897,-2.275,-0.272,-0.901, PHS= 0.105,-1.329, 0.584, RAW= 163.9, 7.5, CAL= 163.4, 7.4, ROT= 346.6, -7.4 R#Rx 7: Read range and direction messages.^direction in FSK: [0.964674,-0.229818,0.128796]Fpublishing direction and range infoyXZ?cOjͿOZ_|?YZBXXXX X)Z;IZ= =iZZ?%݅@%@%iٱ%]HZ7@Z >Z6@ Z A>)Z@IZ AXXZ,l?ѕ]H?1ڧ? Z>D?)ZןIZ|oiZ AXXEchecking for new query: numPingsReceived=7, elapsed TxPingTime=4.606524 MAHRS rotation from veh to nav: [[-0.009166,0.980775,0.194927],[-0.998332,-0.020087,0.054122],[0.056997,-0.194105,0.979323]]%H@ł@b?Z?V ⵫? .?@rȿ V?i%݅@I%wb;%CY}ByIi-Mb@Mb@Mb@)))) )9-gfffff? rhL7A`?Y-3?y-C-+=-MA-@ ))-|A)Y-AbD=VD=:Iym =%u=ٔuQ-u>9yYy=}Fy}tE}AE}>Q 551?Q 952)xBYw?Q E:y׿Q I@EIP:iz:5yBɮiA'EiXiZ6?AJiZeARiZeAjiZwߏ@bZ*%>@벋;^da@RZ?cOjͿOZ_|?ZiZ|obiZ AjZP8A9A>HHB@ZZt} ʿXrÍ?2iZ :iZ"iZK?*iZ ,BiZMBiZ1?iXiXiZ0AiZu@U addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.508596 s, deltaX: -0.400002 m, approachRate: -0.786482 m/s, rangeRepo size: 4  Added new target pos. range: 31.799719 m, bearing: 257.603446 deg, lat: 36.779422 deg, lon: -121.859773 deg, deltaT: 0.508596 s, deltaX: -0.397497 m, approachRate: -0.781558 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.80 m.bhRhZh ProNav: ac range: 31.799719 m, nav range: 30.898596 m, bearing: 257.694311 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 267.702025 deg, new cmd heading: 267.523733 deg. BhE EE!E"E:*EA:VEc3ZEa@a@a@a@HeadingCmd: 4.669170 target range: 31.799719 and range: 32.00 m.hi@h*h"h hgfffNBdddjd@@Zd?%mBɢ- k)) -Zui))- /)1i5B"ͻi5ο=<=48=I]i@IYEchecking for new query: numPingsReceived=7, elapsed TxPingTime=4.770298y O@  @ @ /@ A A AAB B B IB BB B B B b;B $EB˿CB˿CBB: =B9 =C5 ^A 2=A ?A > A5؟AIAIQO]?,6?A2o@2Wj@2+Imٱ2JJ :AHRS rotation from veh to nav: [[-0.011888,0.980345,0.196930],[-0.998252,-0.023039,0.054431],[0.057899,-0.195939,0.978905]]2HX`^?5?@pޫ?@椭?ɿ`1S?i2o@I2Pb;2CYBBJDDAT read: Rx Time:05:53:27.1942 NTRx dataTimestamp_ set to:1761544408.516788RPDAT read: Bearing 76.3, -11.9 (Local) V~Local bearing/azimuth received: Bearing 76.3, -11.9 (Local) ^DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.5 nDAT read: 05:53:27.1942 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.16, 3.105, 1.759,-2.559, 3.132, PHS= 0.075,-1.329, 0.548, RAW= 164.0, 8.4, CAL= 163.7, 8.7, ROT= 346.3, -8.7 rYgot valid direction response: 05:53:27.1942 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.16, 3.105, 1.759,-2.559, 3.132, PHS= 0.075,-1.329, 0.548, RAW= 164.0, 8.4, CAL= 163.7, 8.7, ROT= 346.3, -8.7 vR#Rx 8: Read range and direction messages.z^direction in FSK: [0.960370,-0.234113,0.151261]zFpublishing direction and range infoyLNl<8Z?.Y2lͿni\?YNfALLLL L)N>IN=iLNI ?N07@NQ >N6@ N|>)Ni@IN|LLN?Q?kg?yFIbDVD0 ND?)NINTtiN|LL-checking for new query: numPingsReceived=8, elapsed TxPingTime=5.041483y5=%5`=ٔ=<"Q-=>9="?Y="?=EFyEtEEEE>IQ 5U5M.?Q 9U5M)MBYYy]ؿQ I]@MEIM:iM[:M<5y%Bɮ%A%&EiLiN!6?AJiNARiNAjiN@Ï@bN=Y>@؃*`@RNl<8Z?.Y2lͿni\?ZiNTtbiN|jNq1apHj=( &@ZN:K˿@=>E ?2iN:iN"iN?*iNu2'BiN͐BiNK?iNEJ(iN͐BiN AiNя@ addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.499477 s, deltaX: -0.200001 m, approachRate: -0.400420 m/s, rangeRepo size: 4  Added new target pos. range: 31.600937 m, bearing: 257.406127 deg, lat: 36.779421 deg, lon: -121.859772 deg, deltaT: 0.499477 s, deltaX: -0.198782 m, approachRate: -0.397980 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 31.60 m.bh RhZhE ProNav: ac range: 31.600937 m, nav range: 30.631695 m, bearing: 257.507554 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 267.523729 deg, new cmd heading: 267.392758 deg. BhAUHeadingCmd: 4.666884 target range: 31.600937 and range: 31.80 m.hW@h*h"h hgfffdddjd?@ZdĹ?9ɢ=g)9 =rJi9)E/AAiEFͻiMοM}u܍,#:6?A2`@2[@2oٱ2;GL jAHRS rotation from veh to nav: [[-0.013679,0.979917,0.198937],[-0.998193,-0.025024,0.054630],[0.058511,-0.197830,0.978488]]2H}`z[?v?2`?`5?RɿO?i2`@I2 gb;2CYrByvIIz=)z%=z=xbDVD:y =%UI=ٔ]ºQ-]>9aYi=mFymtEE>Q 55,?Q 95)BY)y-;ؿQ I-@EI2a'7@ ;0>)C0iͻi32Ͽ<P9=I%NC@I!)b@I;0yn .f?pD?~;? PH?)0%Iwi;0=checking for new query: numPingsReceived=9, elapsed TxPingTime=5.618117qA@I @I@I@IE  E E #E "E :*E |;:VE 3ZE a @a @a @a @ԙ  checking for new query: numPingsReceived=9, elapsed TxPingTime=5.777458^AI B>BBIBBBBBBb;B$EAIIO>,hY6?A2S@2N@2qٱ2>L :AHRS rotation from veh to nav: [[-0.015251,0.979806,0.199367],[-0.998139,-0.026693,0.054832],[0.059046,-0.198160,0.978390]]2H;`Z? ߄?@iU ?S;?O]ɿN?i2S@I2b;0YB.ByBI iMb@Mb@Mb@ 9v/?KQ?Yx ?y^\=zA@  A)fAYA %p9AYA=EFyMtEMXEM>QQ 5]5U(?Q 9]5U")UBYe ?Q Ee:ye޿Q Ie@UEIU:iUj:U+5yɮ{Ai)i-VA6?AJi-lARi-lAji-,J@b-eV=@ Ad@R-)~m?|Ͽ!?Zi-wbi-;0j-\((sHuH=Ci^"!@Z--̿|-]V6r?2i-C:i-"i-.۟?*i-n.$Bi-QBi-?i-u2'i)i-Ai-@ addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.508379 s, deltaX: -0.299999 m, approachRate: -0.590109 m/s, rangeRepo size: 4 - Added new target pos. range: 31.303043 m, bearing: 256.559278 deg, lat: 36.779421 deg, lon: -121.859771 deg, deltaT: 0.508379 s, deltaX: -0.297894 m, approachRate: -0.585967 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 31.30 m.bh1Rh5Zh1e ProNav: ac range: 31.303043 m, nav range: 30.102232 m, bearing: 257.334118 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 267.254210 deg, new cmd heading: 267.091078 deg. BhamHeadingCmd: 4.661619 target range: 31.303043 and range: 31.50 m.hm+@hi*hq"hq hqgqfqfyf}Bdddjd?@Zd`g?DDAT read: Rx Time:05:53:28.1939 TRx dataTimestamp_ set to:1761544409.524805PDAT read: Bearing 77.5, -12.3 (Local) ~Local bearing/azimuth received: Bearing 77.5, -12.3 (Local)  DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.5 -DAT read: 05:53:28.1939 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.09,-1.071,-2.412,-0.452,-1.011, PHS= 0.042,-1.356, 0.515, RAW= 164.1, 9.5, CAL= 163.9, 10.3, ROT= 346.1, -10.3 5Ygot valid direction response: 05:53:28.1939 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.09,-1.071,-2.412,-0.452,-1.011, PHS= 0.042,-1.356, 0.515, RAW= 164.1, 9.5, CAL= 163.9, 10.3, ROT= 346.1, -10.3 9=T#Rx 10: Read range and direction messages.E^direction in FSK: [0.955073,-0.236357,0.178802]MFpublishing direction and range infoy %? )@ο?Y3A )@I1,=ih ?-M7@)>7@ X8>)xL@IX89u^?LE[?zy)? iD?)*ITlxiX8mchecking for new query: numPingsReceived=10, elapsed TxPingTime=6.046916 nBɢ Q)  |i ) )0iVλi~ϿQ<>=I+@IMO@I @I@I@I@U=@U=qE  E E $E "E I:*E ;J:VE 4ZE BE ),2w6?AzJ@zE@zsٱzSK AHRS rotation from veh to nav: [[-0.016371,0.979953,0.198554],[-0.998097,-0.027826,0.055037],[0.059459,-0.197275,0.978543]]zH`Ð[?5j? hM~`-?Yq?@L@ɿ`:P?izJ@Iza;zCYBByIbD-VD-y= =%=0=ٔ=hQ-E>9AYA=EFyEtEMOEM>QQ 5]5UW%?Q 9]5U2))UBYYy]޿Q Ie@UEIU;iU;U35yiɮmAii9i=ha6?AJi=ARi=Aji=ݮ@b=B۰^B=@aŎ3G 0Q@R= %? )@ο?Zi=Tlxbi=X8j=g[nS;=@z_!@Z=릢q˿Fz(3=?2i=:i=p"i=.?*i=,S*Bi=Bi9i9i=QBi=Ai=k@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.499638 s, deltaX: -0.100000 m, approachRate: -0.200146 m/s, rangeRepo size: 4  Added new target pos. range: 31.203669 m, bearing: 257.263524 deg, lat: 36.779421 deg, lon: -121.859771 deg, deltaT: 0.499638 s, deltaX: -0.099375 m, approachRate: -0.198894 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.20 m.bhRhZh ProNav: ac range: 31.203669 m, nav range: 29.851913 m, bearing: 257.309367 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 267.091078 deg, new cmd heading: 266.949415 deg. BhHeadingCmd: 4.659146 target range: 31.203669 and range: 31.40 m.h@h*h"h hgfyfyfdddjd`ff?@Zd?IɢMyI)U u=i7@ =C>)=!@I=C99=& ֍?LA?K's? =ZG?)='I=}i=C99checking for new query: numPingsReceived=11, elapsed TxPingTime=6.6149621 ^AM ==E-  E- E- #E) "E- :*E- A:VE- 3ZE) a5 @a5 @a5 @a5 @Y A} .AI I O >q7,6?Achecking for new query: numPingsReceived=11, elapsed TxPingTime=6.7854966%E@6?@6tٱ6K BAHRS rotation from veh to nav: [[-0.017050,0.979906,0.198731],[-0.998068,-0.028557,0.055182],[0.059748,-0.197407,0.978499]]6Hu c[?p?, >`@?U? DɿO?i6%E@I6a;6CYJ^ByJI LLPPiMb@Mb@Mb@ 9X9v?"~j+?Y>yS㽙=A  A)|AYAbDVDBQBQBUIBUGBBU9 =BQBQBUb;BU$Ey=%'=ٔQ->9 ?Y ?=FytENE>Q 55 ?Q 95/)BY?Q E:y6Q I@ EI ;i;V5yɮAi!i%'6?AJi%>ARi%>Aji%8E@b%Bq=@sjtYҡ@R% ׀?xiDϿx0A?Zi%}bi%Cj%U[^C:>y#=,L}C@Z%w̿r2Y ,n\V?2i%:i%r"i%iԟ?*i%?-Bi%Bi%.?i%,S*i%͐Bi%Ai%@ addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.508883 s, deltaX: -0.299999 m, approachRate: -0.589525 m/s, rangeRepo size: 4  Added new target pos. range: 30.905588 m, bearing: 256.524629 deg, lat: 36.779420 deg, lon: -121.859773 deg, deltaT: 0.508883 s, deltaX: -0.298080 m, approachRate: -0.585754 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.91 m.bhRhZh ProNav: ac range: 30.905588 m, nav range: 29.724731 m, bearing: 257.262509 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.949420 deg, new cmd heading: 266.782118 deg. BhHeadingCmd: 4.656226 target range: 30.905588 and range: 31.10 m.h@h*h"h hgfffBdd d jd ?@Zd ?!颅oBɢ 9) i)+1i|ѻi4@п;<J=I@IDDAT read: Rx Time:05:53:29.1934 TRx dataTimestamp_ set to:1761544410.533594PDAT read: Bearing 75.7, -11.8 (Local) ~Local bearing/azimuth received: Bearing 75.7, -11.8 (Local) DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.4 MDAT read: 05:53:29.1934 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.31, 1.419, 0.049, 2.049, 1.445, PHS= 0.076,-1.351, 0.559, RAW= 164.1, 8.4, CAL= 163.8, 8.7, ROT= 346.2, -8.7 ]Ygot valid direction response: 05:53:29.1934 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.31, 1.419, 0.049, 2.049, 1.445, PHS= 0.076,-1.351, 0.559, RAW= 164.1, 8.4, CAL= 163.8, 8.7, ROT= 346.2, -8.7 ]T#Rx 12: Read range and direction messages.m^direction in FSK: [0.959960,-0.235788,0.151261]uFpublishing direction and range infoy.?e/.Q.οni\?YfA )?Ii?-M7@Q >c6@ |>)Z@I|Lbž?3,?P? D?)Ivi|checking for new query: numPingsReceived=12, elapsed TxPingTime=7.063723 P@  @ @ /@ A q ^AM B=AU >AU ?bEqjEqrEuͮ1/E  E E $E "E I:*E V:VE 4ZE BE a2E a JE ;a :E ;a checking for new query: numPingsReceived=12, elapsed TxPingTime=7.289343ԙA؟AIIO?(&,6?A6F@6kA@64Zvٱ6ML >AHRS rotation from veh to nav: [[-0.016872,0.979821,0.199162],[-0.998049,-0.028479,0.055558],[0.060108,-0.197836,0.978390]]6HF@Z?`&~?) r?Ʈ?Rɿ`N?i6F@I6[a;6CYFfByJ(IPPbDPVDPyZ=%Z?=ٔ^']Q-^>9^"?Y^"?=bFybtEb!9Eb>dQ 5]5f?Q 9e5f5)fBYy/Q I@fEIf =if, =f45y-ҔBɮ5[A50Eiig&6?AJiARiAji"@bCa=@V҄@R.?e/.Q.οni\?Zivbi|j%hO¤<'T@Z0p˿D*n,4\&?2i:i"i|2쟊?*i%,BiِBi|2쟊?iiِBiSAiK@ addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.499906 s, deltaX: -0.300001 m, approachRate: -0.600115 m/s, rangeRepo size: 4 U Added new target pos. range: 30.607462 m, bearing: 257.034611 deg, lat: 36.779419 deg, lon: -121.859773 deg, deltaT: 0.499906 s, deltaX: -0.298126 m, approachRate: -0.596365 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 30.61 m.bhQRhYZhY ProNav: ac range: 30.607462 m, nav range: 29.540922 m, bearing: 257.000755 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.782107 deg, new cmd heading: 266.622540 deg. BhHeadingCmd: 4.653441 target range: 30.607462 and range: 30.80 m.h@h*h"h hgfffdddjd>@ZdN?-pBɢ-{6)) 5i1)5=111i5ػӻi=wп=PHe6@ e%/>)ei@Ie%/aaeS7?8-?RFh? e4D?)e##IeTtie%/aa checking for new query: numPingsReceived=13, elapsed TxPingTime=7.619302^A BJ=q AA IQ Ia Em  Em Em #Ei "Em :*Em 0:VEm 3ZEi a} @a} @a} @a} @O >4,#J6?ABE@B@@BwٱBJ JAHRS rotation from veh to nav: [[-0.016950,0.980132,0.197622],[-0.998026,-0.028540,0.055949],[0.060477,-0.196283,0.978680]]BH f[`=]?@K?`9Q??ɿYQ?iBE@IB{a;@YjzByjAIchecking for new query: numPingsReceived=13, elapsed TxPingTime=7.793590iMb@Mb@Mb@ 9i|?5?q= ףpQ?Y>y뽙\=QA@  A)AYAbD!VD!y5=%=&=ٔ=EQ-=>99YA=EFyEtEE'EE>IQ 5U5M+?Q 9]5M;)MBY]`>Q E]:y]Q I]@MEIM ;iMi ;MZ5yaɮmAiiaiem6?AJieyARieyAjieﶏ@behn=@MWnK h@Ree`ʢ?o yͿrl?ZieTtbie%/je!/Z=1xBB:IBuBB8 =BBB(b;B$E ProNav: ac range: 30.309338 m, nav range: 29.305037 m, bearing: 257.006621 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.622527 deg, new cmd heading: 266.475626 deg. BhHeadingCmd: 4.650877 target range: 30.309338 and range: 30.50 m.hӔ@h*h"h hgfffׁBdddjd>@Zd`Z?AUqBɢUk,)Y ]IE )iE A A  checking for new query: numPingsReceived=14, elapsed TxPingTime=8.073671A @A  @A @E /@A ԙ ^A-&V=Em EmEm&Ei"Em:*EmF:VEm4ZEiBEm;a}2Em;a}JEm;a:Em;achecking for new query: numPingsReceived=14, elapsed TxPingTime=8.301611I!I1OE?F,z6?A\YMByMUIIe<)e9Y=FytEE>Q 5%5?Q 9-5A)BY9y9Q I=@EI;i;5yaɮm;Aiii.6?AJiARiAji@baʥc>@g zA?RrK s?t/B3?Zi)bij.[aPo=q @ZG6s2Mp?2i:iw!"iT8>?*iͦwRBiBi.?i%,iِBiAiܵ@ addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503812 s, deltaX: -0.200001 m, approachRate: -0.396975 m/s, rangeRepo size: 4 m Added new target pos. range: 30.110598 m, bearing: 265.165548 deg, lat: 36.779420 deg, lon: -121.859773 deg, deltaT: 0.503812 s, deltaX: -0.198740 m, approachRate: -0.394473 m/s, posRepo size: 4 jhiuDNOT Ignoring new targets: 30.11 m.bhqRhqZhq% ProNav: ac range: 30.110598 m, nav range: 29.083109 m, bearing: 257.312447 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.475623 deg, new cmd heading: 266.290213 deg. Bh!-HeadingCmd: 4.647641 target range: 30.110598 and range: 30.30 m.h-z@h)*h)"h1 h1g1f1f9f9d9ddjdL>@ZdA?颭rBɢ%) >=i)00顱iٻiYѿ<ih=Iz@I DDAT read: Rx Time:05:53:30.6929 TRx dataTimestamp_ set to:1761544412.053188PDAT read: Bearing 74.7, -11.4 (Local) ~Local bearing/azimuth received: Bearing 74.7, -11.4 (Local) DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4  DAT read: 05:53:30.6929 LVL= 32752, 32753, 32690, 32755, AGC= 61, IDX= 510,-0.11, 1.926, 0.561, 2.560, 1.934, PHS= 0.094,-1.328, 0.582, RAW= 164.2, 7.6, CAL= 163.8, 7.7, ROT= 346.2, -7.7  Ygot valid direction response: 05:53:30.6929 LVL= 32752, 32753, 32690, 32755, AGC= 61, IDX= 510,-0.11, 1.926, 0.561, 2.560, 1.934, PHS= 0.094,-1.328, 0.582, RAW= 164.2, 7.6, CAL= 163.8, 7.7, ROT= 346.2, -7.7  T#Rx 15: Read range and direction messages. ^direction in FSK: [0.962378,-0.236382,0.133986] Fpublishing direction and range infoy A -? 1AοL`u&?YA )=I=i?i7@>c6@  >)Z@I xSo?/?_? E?)Ivi  checking for new query: numPingsReceived=15, elapsed TxPingTime=8.655334 @  @ @ 4@ Em  Em Em "Ei "Em y:*Em V:VEm (3ZEi au @au @au @a} @y %checking for new query: numPingsReceived=15, elapsed TxPingTime=8.805637^Au \=ԙIIO?ō,7?AB>BBfIBBB: =BBBIb;B$EFS@FN@F<:yٱFppF RAHRS rotation from veh to nav: [[-0.015240,0.980989,0.193466],[-0.998033,-0.026692,0.056723],[0.060809,-0.192221,0.979466]]FH%6 Bd??U ?["?ȿW?iFS@IF`;FCYZByZpIiMb@Mb@Mb@ 9'1Z?1ZdV-?Y>y"۽<A  A)fAY3AbDVDJy=% =ٔQ->9Y=FytE?;E>Q 55 ?Q 95H)/BY>Q E%:y%Q I%@EIP;i;V5y5ДBɮ=~A=/EiIiMog7?AJiMARiMAjiMw@bMǰ<@p510"A@RM-? 1AοL`u&?ZiMvbiM jMQѕhOPgU-8< t @ZMW۴=̿fUXJx?2iM:iM{"iM;V㟊?*iM~.BiMBiM|2쟊?iM?-iMBiMXAiMI@= addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.511429 s, deltaX: -0.299999 m, approachRate: -0.586590 m/s, rangeRepo size: 4 m Added new target pos. range: 29.812145 m, bearing: 256.879436 deg, lat: 36.779419 deg, lon: -121.859774 deg, deltaT: 0.511429 s, deltaX: -0.298452 m, approachRate: -0.583566 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 29.81 m.bhqRhyZhy ProNav: ac range: 29.812145 m, nav range: 28.918419 m, bearing: 257.084633 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.290224 deg, new cmd heading: 266.089901 deg. BhHeadingCmd: 4.644145 target range: 29.812145 and range: 30.00 m.h֜@h*h"h hgfffBdddjd>@Zdd?=tBɢ= ")y }l=iy)0顁iPܻiѿԖ<$z=I֜@IDDAT read: Rx Time:05:53:31.1928  TRx dataTimestamp_ set to:1761544412.552922PDAT read: Bearing 76.2, -11.8 (Local) %~Local bearing/azimuth received: Bearing 76.2, -11.8 (Local) 5DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.3 UDAT read: 05:53:31.1928 LVL= 32752, 32753, 31570, 32755, AGC= 60, IDX= 509, 0.44,-1.753,-3.105,-1.121,-1.711, PHS= 0.060,-1.348, 0.546, RAW= 164.3, 8.8, CAL= 164.0, 9.2, ROT= 346.0, -9.2 ]Ygot valid direction response: 05:53:31.1928 LVL= 32752, 32753, 31570, 32755, AGC= 60, IDX= 509, 0.44,-1.753,-3.105,-1.121,-1.711, PHS= 0.060,-1.348, 0.546, RAW= 164.3, 8.8, CAL= 164.0, 9.2, ROT= 346.0, -9.2 eT#Rx 16: Read range and direction messages.m^direction in FSK: [0.957814,-0.238810,0.159881]mFpublishing direction and range infoy  i 07@ l$>) ,>@I l$   ե;? X\?>Ez? /E?) pI 5zi l$  checking for new query: numPingsReceived=16, elapsed TxPingTime=9.074746AImfA)i P@  @ @ 4@ E  E E $E "E :*E a9:VE 4ZE BE H;a 2E I;a JE #;a :E #;a q  checking for new query: numPingsReceived=16, elapsed TxPingTime=9.309419^A c=  ԩI߀G-,9)Y-mAIQO} ?g*΍,9Y=FytE ;E>!Q 5-5%?Q 9-5%N)%DBY1y5`Q I5@%EI%;i%;%5y9ɮ=A9iic#7?AJiARiAji‰@bHܛu<@Ӯa0$@RiI =i  ? 07@ = 6@ 5=) @I 5   wo??v ?? tD?) lI |oi 5  checking for new query: numPingsReceived=17, elapsed TxPingTime=9.651807ԩE  E E &E "E :*E VE 4ZE a @a @a @a @^A w= I I) O= >iߑ Iߑ  checking for new query: numPingsReceived=17, elapsed TxPingTime=9.813733Ս,BU7?Ame@mx`@m5'xٱmC AHRS rotation from veh to nav: [[-0.013089,0.981516,0.190932],[-0.998080,-0.024387,0.056944],[0.060547,-0.189820,0.979950]]mH`6Ίh?qp?D'?@ ?Lȿ[?ime@Imt_;iԱYByxIB}>BCBIBBBBBB;b;B$EBBBBBC e5iuMb@Mb@Mb@qqqq q9u'1Z?X9vX9v?Yqyuu9Y=FytE;E%>)Q 555-H?Q 955-S)-WBY=>Q E=:y=Q I=@-"EI-:i-:- 5ymBɮmAu8Ei9i= C7?AJi=QARi=QAji=@b=;0}f<@9-U쇭 @R=y?OqͿUM7P2?Zi=|obi=5j=( P\y;#@Z=a˿薒o[q[?2i=:i="i=?*i=޻3Bi=Bi=?i=~.i=Bi=Ai=@u addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.507505 s, deltaX: -0.299999 m, approachRate: -0.591126 m/s, rangeRepo size: 4  Added new target pos. range: 29.414551 m, bearing: 257.254545 deg, lat: 36.779419 deg, lon: -121.859775 deg, deltaT: 0.507505 s, deltaX: -0.298222 m, approachRate: -0.587623 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.41 m.bhRhZh ProNav: ac range: 29.414551 m, nav range: 28.501345 m, bearing: 257.171758 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.917241 deg, new cmd heading: 265.761713 deg. BhHeadingCmd: 4.638417 target range: 29.414551 and range: 29.60 m.hm@h*h"h hgfffBddd!jd%=@Zd%`_$?uwBɢu)q u(=i)T/i4+iƇҿ <=Im@IDDAT read: Rx Time:05:53:32.1926 TRx dataTimestamp_ set to:1761544413.561034PDAT read: Bearing 73.5, -10.5 (Local) ~Local bearing/azimuth received: Bearing 73.5, -10.5 (Local) -DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 eDAT read: 05:53:32.1926 LVL= 32240, 32753, 30546, 32755, AGC= 62, IDX= 507,-0.11, 2.878, 1.514,-2.785, 2.852, PHS= 0.128,-1.293, 0.602, RAW= 163.9, 6.6, CAL= 163.3, 6.3, ROT= 346.7, -6.3 uYgot valid direction response: 05:53:32.1926 LVL= 32240, 32753, 30546, 32755, AGC= 62, IDX= 507,-0.11, 2.878, 1.514,-2.785, 2.852, PHS= 0.128,-1.293, 0.602, RAW= 163.9, 6.6, CAL= 163.3, 6.3, ROT= 346.7, -6.3 uT#Rx 18: Read range and direction messages.}^direction in FSK: [0.967302,-0.228660,0.109734]Fpublishing direction and range infoy>#?jW"DͿ,=?Y}Rw )Io>i?7@=ih6@ z0=)B@Iz0Ὡ)q}? ?]Z? t,D?)Imiz0Ὡchecking for new query: numPingsReceived=18, elapsed TxPingTime=10.090584@ @@4@1 ^AU S=I I O >-yۍ,hp7?AE EE)E"Eغ:*E1]:VEFA4ZEBE9QYQ=]Fy]tEuo;Eu>yQ 55}?Q 95}X)}fBYyQ I@}%EI}:i}$:}7 5ԑyBɮAchecking for new query: numPingsReceived=18, elapsed TxPingTime=10.317426iic7?AJiRiji3@bNcs<@e[]2f# @R>#?jW"DͿ,=?Zimbiz0jDY`\>J<.B&@Z$ ˿f^sOX?2ir:i"iHꟊ?*i9:BiBiHꟊ?i޻3iBi?Ai @ addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.500607 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 29.414551 m, bearing: 257.265874 deg, lat: 36.779419 deg, lon: -121.859777 deg, deltaT: 0.500607 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 29.41 m.bhRhZh ProNav: ac range: 29.414551 m, nav range: 28.530807 m, bearing: 257.160434 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.761704 deg, new cmd heading: 265.643933 deg. BhEHeadingCmd: 4.636361 target range: 29.414551 and range: 29.60 m.hE]@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdUI?xBɢ#) =i ) ]/  i 8i!ҿE<f{=I]@I5P@1 @1@5/@1@==@=> DDAT read: Rx Time:05:53:32.6923  TRx dataTimestamp_ set to:1761544414.064645 PDAT read: Bearing 74.1, -10.9 (Local)  ~Local bearing/azimuth received: Bearing 74.1, -10.9 (Local)  DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4  DAT read: 05:53:32.6923 LVL= 32752, 32753, 30898, 32755, AGC= 60, IDX= 505,-0.48, 2.234, 0.852, 2.869, 2.225, PHS= 0.112,-1.328, 0.600, RAW= 164.1, 7.1, CAL= 163.6, 7.0, ROT= 346.4, -7.0 5 Ygot valid direction response: 05:53:32.6923 LVL= 32752, 32753, 30898, 32755, AGC= 60, IDX= 505,-0.48, 2.234, 0.852, 2.869, 2.225, PHS= 0.112,-1.328, 0.600, RAW= 164.1, 7.1, CAL= 163.6, 7.0, ROT= 346.4, -7.0 E T#Rx 19: Read range and direction messages. ^direction in FSK: [0.964716,-0.233390,0.121869] Fpublishing direction and range infoy  3B? uEͿUM7P2?Y A   x ) <I B`=i ? -M7@ = 36@ 5=) \w@I 5 ^A z= ՎQ?`?;ܿ? D?) (I si 5 } checking for new query: numPingsReceived=19, elapsed TxPingTime=10.665913AII!O->4L,ԍ7?A Fj@Fe@FewxٱFOB ^AHRS rotation from veh to nav: [[-0.012469,0.981772,0.189651],[-0.998083,-0.023719,0.057167],[0.060624,-0.188575,0.980186]]FHNj?~F?`K@IE? ?9#ȿ]?iFj@IF_;FCYjByjsIIn=)n=E] E]E]%EY"E][:*E]=:VE] 4ZEYae@ae@ae@ae@iMb@Mb@Mb@ 9ʡE?!rhyl罙t< A@ t A)AYfAbD%VD%1y]qd%]$=ٔ]pQ-]>9aYa=eFyetEe Em>Q 55?Q 95&^)wBY>Q E:yQ I@(EI:i:f5yɮAchecking for new query: numPingsReceived=19, elapsed TxPingTime=10.821553ii%#7?AJiWARiWAjiK@bjc;@V>Ä1 @R3B? uEͿUM7P2?IZisbi5jD8x =y{;\xU@ZWM˿Xaiи>.h?2i:i"in蟊?*iu1BiyBir韊?iu1iiAi@ addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503611 s, deltaX: -0.500000 m, approachRate: -0.992830 m/s, rangeRepo size: 4 % Added new target pos. range: 28.917683 m, bearing: 257.077692 deg, lat: 36.779419 deg, lon: -121.859775 deg, deltaT: 0.503611 s, deltaX: -0.496868 m, approachRate: -0.986611 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 28.92 m.bh)Rh1Zh1e ProNav: ac range: 28.917683 m, nav range: 28.194639 m, bearing: 257.093626 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.643925 deg, new cmd heading: 265.468775 deg. BhimHeadingCmd: 4.633304 target range: 28.917683 and range: 29.10 m.hmD@hq*hq"hq hqgqBBBIBƁBBBBBb;B$Efqf9f=ցBd9d9d9jdE=@ZdE@y?q颽zBɢ) =i)H/iiP/ӿǚ<GT=ID@Iԡ O@  @ @ 4@  DDAT read: Rx Time:05:53:33.1922  TRx dataTimestamp_ set to:1761544414.569091 PDAT read: Bearing 74.3, -10.9 (Local)  ~Local bearing/azimuth received: Bearing 74.3, -10.9 (Local)  DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.4  DAT read: 05:53:33.1922 LVL= 32752, 32753, 27762, 32755, AGC= 61, IDX= 503, 0.13,-2.733, 2.165,-2.103,-2.741, PHS= 0.109,-1.333, 0.594, RAW= 164.0, 7.3, CAL= 163.5, 7.2, ROT= 346.5, -7.2  Ygot valid direction response: 05:53:33.1922 LVL= 32752, 32753, 27762, 32755, AGC= 61, IDX= 503, 0.13,-2.733, 2.165,-2.103,-2.741, PHS= 0.109,-1.333, 0.594, RAW= 164.0, 7.3, CAL= 163.5, 7.2, ROT= 346.5, -7.2  T#Rx 20: Read range and direction messages.% ^direction in FSK: [0.964703,-0.231605,0.125333]% Fpublishing direction and range infoy  }]?z_7ͿcK ?Y A rl ) =I d;=i b? 07@ w> 6@ >) @I +G?,6x ?I? D?) ZI 4Fqi E checking for new query: numPingsReceived=20, elapsed TxPingTime=11.089856 ^A =AIIO%?7^,S7?ADHzDJ@AEN ENEN!EL"ENغ:*EN;J:VENc3ZELBELaR2ELaRJEN;aV:EN;aVbb@b\@b:wٱb0B nAHRS rotation from veh to nav: [[-0.013531,0.981704,0.189932],[-0.998087,-0.024720,0.056664],[0.060322,-0.188802,0.980161]]bH`j? O?TP ?@?*ȿy]?ibb@Ib+}^;bCYvByvuIbDVDy ;%(=ٔ":Q->9Y=FytE%'E%>!Q 555%(?Q 955%d)%BY1y5Q I5@%,EI%;i%;%5yAɮEAAi)i-k7?AJi-ARi-Aji-o@b-1w;@7M,v$ @R-}]?z_7ͿcK ?Zi-4Fqbi-j-NMf!`;`@Z-AD˿>!jǥfޮ*?2i-:i-"i-韊?*i--&4Bi-Bi-韊?i-޻3i-Bi-Ai-k@ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.504446 s, deltaX: -0.100000 m, approachRate: -0.198238 m/s, rangeRepo size: 4  Added new target pos. range: 28.818264 m, bearing: 257.155620 deg, lat: 36.779419 deg, lon: -121.859777 deg, deltaT: 0.504446 s, deltaX: -0.099419 m, approachRate: -0.197085 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.82 m.bhRhZh ProNav: ac range: 28.818264 m, nav range: 28.065392 m, bearing: 257.148503 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.468771 deg, new cmd heading: 265.321511 deg. BhHeadingCmd: 4.630734 target range: 28.818264 and range: 29.00 m.h.@h*h"h hgfffdddjd=@ZdOV?Mchecking for new query: numPingsReceived=20, elapsed TxPingTime=11.325305{B ɢ%)) 5=i1)=( /aaieiӿ <q=I.@IP@ @@/@1a ^A =- DDAT read: Rx Time:05:53:33.6920 - TRx dataTimestamp_ set to:1761544415.077635= PDAT read: Bearing 74.4, -10.6 (Local) E ~Local bearing/azimuth received: Bearing 74.4, -10.6 (Local) ] DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4  DAT read: 05:53:33.6920 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.11, 0.836,-0.551, 1.452, 0.825, PHS= 0.113,-1.331, 0.583, RAW= 163.6, 7.4, CAL= 163.1, 7.3, ROT= 346.9, -7.3  Ygot valid direction response: 05:53:33.6920 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.11, 0.836,-0.551, 1.452, 0.825, PHS= 0.113,-1.331, 0.583, RAW= 163.6, 7.4, CAL= 163.1, 7.3, ROT= 346.9, -7.3  T#Rx 21: Read range and direction messages. ^direction in FSK: [0.966081,-0.224815,0.127065] Fpublishing direction and range infoy) - TE#?<4̿yO,Ѱ7?AYMAIIIM I)M<IMl=iM5^M}??M36@M A>M8/6@ Mw>)Mپ@IMwIIMV9Y=FytEE>!Q 5-5%?Q 9-5%j)%BY5+?Q E5:y5Q I5@%0EI%:i%:%5y9ɮ=AAiIiM7?AJiM)ARiM)AjiMSۏ@bM/Ԃ;@`uI @RMTE#?<4̿S";&#ʲ@ZMxʿn}r#ea~?2iM:iMS"iMA?*iM`e4BiMBiMHꟊ?iM-&4iMBiMAiM*@]checking for new query: numPingsReceived=21, elapsed TxPingTime=11.831909 addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.508544 s, deltaX: -0.299999 m, approachRate: -0.589918 m/s, rangeRepo size: 4 = Added new target pos. range: 28.520145 m, bearing: 257.574497 deg, lat: 36.779419 deg, lon: -121.859777 deg, deltaT: 0.508544 s, deltaX: -0.298119 m, approachRate: -0.586220 m/s, posRepo size: 4 jhAUDNOT Ignoring new targets: 28.52 m.ԁbhQRhZh5 ProNav: ac range: 28.520145 m, nav range: 27.821125 m, bearing: 257.174712 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.321512 deg, new cmd heading: 265.145781 deg. Bh9=HeadingCmd: 4.627667 target range: 28.520145 and range: 28.70 m.hE@hA*hA"hA hAgAfAfIfMɁBdIdIdqjdu@3<@ZduU?BBBIBЁBBBBBa;B$E~Bɢ\) t=i)8.  i jiӿ <d=I@IԱ O@  @ @ 4@ @ @ gA  DDAT read: Rx Time:05:53:34.1919  TRx dataTimestamp_ set to:1761544415.576717 PDAT read: Bearing 74.3, -10.6 (Local)  ~Local bearing/azimuth received: Bearing 74.3, -10.6 (Local)  DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4  DAT read: 05:53:34.1919 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.49, 2.433, 1.043, 3.048, 2.420, PHS= 0.114,-1.333, 0.584, RAW= 163.6, 7.4, CAL= 163.1, 7.3, ROT= 346.9, -7.3 Ygot valid direction response: 05:53:34.1919 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.49, 2.433, 1.043, 3.048, 2.420, PHS= 0.114,-1.333, 0.584, RAW= 163.6, 7.4, CAL= 163.1, 7.3, ROT= 346.9, -7.3 T#Rx 22: Read range and direction messages.^direction in FSK: [0.966081,-0.224815,0.127065]Fpublishing direction and range infoy  TE#?<4̿9Y=FytEE>Q 55?Q 95p)BYyQ I@4EI:i:5yBɮ^AAEbE3jEm4rE$Z0EU EUEQEQ"EU:*EU*5:VEQZEQBEU |: @Zxʿn}r#ea~?2i:i"i94?*i5BijBii`e4iyBiAi@ԉ addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.499082 s, deltaX: -0.200001 m, approachRate: -0.400737 m/s, rangeRepo size: 4  Added new target pos. range: 28.321484 m, bearing: 257.574497 deg, lat: 36.779419 deg, lon: -121.859777 deg, deltaT: 0.499082 s, deltaX: -0.198662 m, approachRate: -0.398054 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.32 m.bhRhZh ProNav: ac range: 28.321484 m, nav range: 27.589930 m, bearing: 257.170826 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.145785 deg, new cmd heading: 264.991815 deg. Bh-HeadingCmd: 4.624979 target range: 28.321484 and range: 28.50 m.h-@h)*h)"h) h)g)f1f1f1d1d9d9jd=<@Zd=`?颭Bɢ) 4=i)aj.顱ii@Կ<I)=I@I%checking for new query: numPingsReceived=22, elapsed TxPingTime=12.335777Թ@ @@/0@^A ˚= DDAT read: Rx Time:05:53:34.6917  TRx dataTimestamp_ set to:1761544416.081007 PDAT read: Bearing 76.0, -11.3 (Local)  ~Local bearing/azimuth received: Bearing 76.0, -11.3 (Local)  DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 % DAT read: 05:53:34.6917 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.07, 2.578, 1.193,-3.085, 2.610, PHS= 0.070,-1.372, 0.545, RAW= 163.8, 8.8, CAL= 163.5, 9.3, ROT= 346.5, -9.3 5 Ygot valid direction response: 05:53:34.6917 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.07, 2.578, 1.193,-3.085, 2.610, PHS= 0.070,-1.372, 0.545, RAW= 163.8, 8.8, CAL= 163.5, 9.3, ROT= 346.5, -9.3 5 T#Rx 23: Read range and direction messages.= ^direction in FSK: [0.959589,-0.230377,0.161604]= Fpublishing direction and range infoy  0口?Q|Ϳo?Y A ) I )\=i  ? c6@AI IQ Iy O >.2,5 8?AnF>6@ 6&>)@I6&74C?[}<?n'4? zC?)?I4Fqi6&jchecking for new query: numPingsReceived=23, elapsed TxPingTime=12.675535ԑ9@3@xٱ3$F AHRS rotation from veh to nav: [[-0.018516,0.980952,0.193364],[-0.997985,-0.029872,0.055977],[0.060687,-0.191938,0.979529]]H@c?&?`~?Q?@kȿ MX?i9@IX^;CYmBym`IiMb@Mb@Mb@ 9MbX9?ʡE{Gz?Y?y-#< A)9AYAbDVDܲE  E E 'E "E :*E F:VE '4ZE a@a@a@a@y%=ٔq7Q->9AYA=EFyEtEMEM>QQ 5]5Ujꡊ?Q 9]5Uw)UBY]?Q E]:ykQ I@U8EIU;iU;U5yɮAii8/8?AJi/ARi/Aji@bBBIBˁBBBBBa;B$Ei-i5LԿ5N<5C=I5@I9IA)A @  @ @ 3@   DAT read: 05:53:35.1916 LVL= 32752, 32753, 29266, 32755, AGC= 59, IDX= 498,-0.30, 2.443, 1.055, 3.051, 2.433, PHS= 0.112,-1.332, 0.574, RAW= 163.4, 7.6, CAL= 163.0, 7.6, ROT= 347.0, -7.6  Ygot valid direction response: 05:53:35.1916 LVL= 32752, 32753, 29266, 32755, AGC= 59, IDX= 498,-0.30, 2.443, 1.055, 3.051, 2.433, PHS= 0.112,-1.332, 0.574, RAW= 163.4, 7.6, CAL= 163.0, 7.6, ROT= 347.0, -7.6  Z#Rx 25: Read direction message, but no range. ^direction in FSK: [0.965811,-0.222975,0.132256]yi m j^? xq̿) ?i i i m Rr i )m ;Im B`=im ~m ?m 6@m >m 6@ m >)m &@Im i m W ?vM?? m B?)m Im Vhim  checking for new query: numPingsReceived=25, elapsed TxPingTime=13.099360I^A =AI!I1OM? ,:u-8?AJ*@J%@J xٱJ˨H nAHRS rotation from veh to nav: [[-0.020266,0.980420,0.195874],[-0.997949,-0.031735,0.055592],[0.060719,-0.194345,0.979052]]JH _?d?2?v??OȿeT?iJ*@IJN^;JCE% E%E%%E!"E%غ:*E%E7:VE% 4ZE!BE%9aYa=eFyetE>E>Q 55塊?Q 95)BYyQ I@=EI9:i:5yɮAii58?AJiARiAji@bl&q:@JO: @Rj^? xq̿) ?ZiVhbijo_us0d::ۓ@Z2+˿iha*T?2i:i"i*s?*iZ1Bi_Bi*s?iiiAi#ȏ@] addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.759432 s, deltaX: -0.400002 m, approachRate: -0.526711 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 27.625923 m, bearing: 257.396520 deg, lat: 36.779420 deg, lon: -121.859777 deg, deltaT: 0.759432 s, deltaX: -0.397440 m, approachRate: -0.523338 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.63 m.bhRh!Zh! ProNav: ac range: 27.625923 m, nav range: 26.967684 m, bearing: 257.440300 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 264.814849 deg, new cmd heading: 264.613616 deg. BhHeadingCmd: 4.618379 target range: 27.625923 and range: 27.80 m.hɓ@h*h"h hgfffdddjd;@Zd?EBɢE&)I M@=iI)Mm.IIiU+iucտ}<} C=I}ɓ@IyԱ - Q@)  @) @5 /@1  DAT read: 05:53:35.6915 LVL= 32752, 32753, 27890, 32755, AGC= 61, IDX= 511, 0.12,-2.868, 2.014,-2.242,-2.871, PHS= 0.104,-1.354, 0.584, RAW= 163.8, 7.7, CAL= 163.3, 7.7, ROT= 346.7, -7.7  Ygot valid direction response: 05:53:35.6915 LVL= 32752, 32753, 27890, 32755, AGC= 61, IDX= 511, 0.12,-2.868, 2.014,-2.242,-2.871, PHS= 0.104,-1.354, 0.584, RAW= 163.8, 7.7, CAL= 163.3, 7.7, ROT= 346.7, -7.7  Z#Rx 27: Read direction message, but no range. ^direction in FSK: [0.964404,-0.227975,0.133986]y  oe? I.ͿL`u&? l ) =I =i O ? c6@ > ih6@ >) B@I " ?Q?641? 'C?) O I mi  checking for new query: numPingsReceived=27, elapsed TxPingTime=13.602993 ^A= I)IAOM?/,O8?A6@6@6}ٱ6x K ^AHRS rotation from veh to nav: [[-0.025627,0.979770,0.198479],[-0.997762,-0.037334,0.055469],[0.061757,-0.196613,0.978534]]6H=FZ?g?z ~f??*ɿ 'P?i6@I6>Y^;6C d)fkAfDfKFdhjlAijDIxxI|i~kA ~L~JF)| kA94  pAI ) i ) I kA94 %kA%94i!!i%C))) )I)Y)E= E=E="E9"E=:*E=a9:VE=(3ZE9aE@aE@aE@aE@YMByM_I DDAT read: Rx Time:05:53:36.1914 TRx dataTimestamp_ set to:1761544417.3441645PDAT read: Bearing 73.4, -10.2 (Local) =~Local bearing/azimuth received: Bearing 73.4, -10.2 (Local) eDAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 }Z#Rx 28: Read range message, but no direction.yԉYAchecking for new query: numPingsReceived=28, elapsed TxPingTime=13.868191i-Mb@Mb@Mb@)))) )9-NbX9?333333I +?Y-?y--94<)) ))-\@)Y-pAbDU VDU2y$%=ٔ$Q->9Y=FytE*E>Q 55ᡊ?Q 95Ԇ)BY?Q E:yݿQ I@BEB%}>B!B%IB%ƁBB!B!B!B%a;B%$EIy;i;5yaɮeAaiiV8?AJijARijAjipp@bM^Efs:@8>f @Roe? I.ͿL`u&?Zimbi j"uLjؐjM9v@ZY̿јHY$?2i:ic"i ⟊?*i~1Bi~BiiZ1i~BiAi@] addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.503725 s, deltaX: -0.199999 m, approachRate: -0.397040 m/s, rangeRepo size: 4 Թ Added new target pos. range: 27.427074 m, bearing: 256.826910 deg, lat: 36.779420 deg, lon: -121.859776 deg, deltaT: 0.503725 s, deltaX: -0.198849 m, approachRate: -0.394757 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.43 m.bhRhZhU ProNav: ac range: 27.427074 m, nav range: 26.605568 m, bearing: 257.362972 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 264.613604 deg, new cmd heading: 264.437126 deg. BhY]HeadingCmd: 4.615299 target range: 27.427074 and range: 27.60 m.h]@ha*ha"ha hagafafifmBdddjd;@Zd?Bɢ()  o5@ =) @I oI?A ?IIO?,T7q8?A2@2ޕ@2ٱ2L >AHRS rotation from veh to nav: [[-0.028908,0.979348,0.200104],[-0.997628,-0.040778,0.055451],[0.062466,-0.198027,0.978204]]2HV??` ि"d??XɿrM?i2@I2+;^;2CEJ EJEHEH"EJ:*EJk:VEHZEHBEJa9QYY=]Fy]tE]8E]>aQ 55eޡ?Q 95eZ)eBY1y5=޿Q I=@eEE-DDAT read: Rx Time:05:53:36.6912 5TRx dataTimestamp_ set to:1761544417.872896QIe-8/6@ -'g >)-پ@I-'g ))-!?R??=? -zB?)-T I-4 ji-'g ))checking for new query: numPingsReceived=30, elapsed TxPingTime=14.435634dddjdL;@Zd`!?颅BɢN*) [' #,2Ȍ8?AVʎ@Vŕ@V耽ٱV!M bAHRS rotation from veh to nav: [[-0.031926,0.979101,0.200854],[-0.997509,-0.043859,0.055248],[0.062903,-0.198590,0.978062]]VHX@T??@t`tI? c?`fkɿHL?iVʎ@IVf^;VCYuByu^IiMb@Mb@Mb@ 9HzG?Dl:v?Y= ?yOT<A@ GA)YQAiibDuVDuy};%.=ٔtQ->9Y=FytEһE>Q 55ۡ?Q 95)BYg ?Q E:yܿQ I@IEI:i:5yBɮAJEE EE%E"E*EF:VE 4ZEa@a@a@a@iiw8?AJiARiAji^@b-:@V?S#^A^t @Rr*@?^i 4̿ M _?Zi4 jbi'g jFkT>uJ9L\Յ@Z&M̿s].1?}J(w?2i$:i"icܟ?*io5Bi}Bii֕?ii}Bi,Ai@% addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.528732 s, deltaX: -0.300001 m, approachRate: -0.567397 m/s, rangeRepo size: 4 5 Added new target pos. range: 27.128952 m, bearing: 256.701692 deg, lat: 36.779420 deg, lon: -121.859776 deg, deltaT: 0.528732 s, deltaX: -0.298122 m, approachRate: -0.563844 m/s, posRepo size: 4 jh1=DNOT Ignoring new targets: 27.13 m.bh9Rh=Zh9M ProNav: ac range: 27.128952 m, nav range: 26.146782 m, bearing: 257.226613 deg, approach rate: 0.000000 m/s, LOS rate: -0.055455 deg/s, cmd heading: 264.360150 deg, new cmd heading: 264.294882 deg. BhQUHeadingCmd: 4.612816 target range: 27.128952 and range: 27.30 m.hU0@hY*hY"hY hYgYfYfafeBdadidijdiZdmY?mBɢmq*)y }@<DDAT read: Rx Time:05:53:37.1910 TRx dataTimestamp_ set to:1761544418.352204PDAT read: Bearing 73.0, -10.3 (Local) ~Local bearing/azimuth received: Bearing 73.0, -10.3 (Local) DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 EZ#Rx 31: Read range message, but no direction.yYA]checking for new query: numPingsReceived=31, elapsed TxPingTime=14.880117ii)m-iqiuSiuտ}Eޣ<Q=I0@IB<A<Bv>BBIBBB9 =BBRDBa;B$EBeƾCBeƾCBaBaBe: =Ce25EO@A @I@M/@II ^A} =I I O >3),8?ADAT read: 05:53:37.1910 LVL= 32752, 32753, 31074, 32755, AGC= 61, IDX= 506, 0.20,-2.233, 2.641,-1.618,-2.254, PHS= 0.123,-1.344, 0.592, RAW= 163.4, 7.2, CAL= 162.9, 7.1, ROT= 347.1, -7.1 Ygot valid direction response: 05:53:37.1910 LVL= 32752, 32753, 31074, 32755, AGC= 61, IDX= 506, 0.20,-2.233, 2.641,-1.618,-2.254, PHS= 0.123,-1.344, 0.592, RAW= 163.4, 7.2, CAL= 162.9, 7.1, ROT= 347.1, -7.1 Z#Rx 32: Read direction message, but no range."^direction in FSK: [0.967287,-0.221538,0.123601]yim ?D][̿A7X?iiimby i)m=Imm=im1mP?m6@m>m5@ m=)mr@Imim㵿?PkX?GXt$? mQB?)m{Imfim.checking for new query: numPingsReceived=32, elapsed TxPingTime=15.119530^?@^@^/ԁٱ^L fAHRS rotation from veh to nav: [[-0.034814,0.979011,0.200812],[-0.997384,-0.046772,0.055115],[0.063351,-0.198367,0.978078]]^H$ӡT?1?`8?7? dɿjL?i^?@I^(U^;^CYBySIbD5VD5βyD%X=ٔQ->9Y=FytEE>Q 55١?Q 95G)BYyܿQ I@LEIO;i;t!5y ɮ A ii8?AJiARiAjiP@b$9@ut':Ç @R ?D][̿A7X?ZifbijF):VMl9樃iD@Zp:%̿R#^?2id:i"iCڟ?*iVU5BiBi ⟊?iiiAia@ addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.479308 s, deltaX: -0.299999 m, approachRate: -0.625901 m/s, rangeRepo size: 4 Q Added new target pos. range: 26.830519 m, bearing: 256.600167 deg, lat: 36.779418 deg, lon: -121.859776 deg, deltaT: 0.479308 s, deltaX: -0.298433 m, approachRate: -0.622634 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.83 m.bhRhZh5 ProNav: ac range: 26.830519 m, nav range: 25.992331 m, bearing: 256.723186 deg, approach rate: 0.000000 m/s, LOS rate: -0.055455 deg/s, cmd heading: 264.294880 deg, new cmd heading: 264.230686 deg. Bh1=HeadingCmd: 4.611695 target range: 26.830519 and range: 27.00 m.h=@h9*h9"h9 h9gAfAfIfIdIdIdQjdU;@ZdU?额Bɢ0) .i)^-顱iwicտ<=I@I E EE#E"E:*E?:VE3ZEBE;a2E;aJE;a:E;ayP@ @@0@DDAT read: Rx Time:05:53:37.6907 TRx dataTimestamp_ set to:1761544418.856693PDAT read: Bearing 71.4, -9.9 (Local) ~Local bearing/azimuth received: Bearing 71.4, -9.9 (Local) %DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.5 DAT read: 05:53:37.6907 LVL= 32752, 32753, 30194, 32755, AGC= 60, IDX= 504,-0.45, 1.900, 0.481, 2.518, 1.849, PHS= 0.153,-1.323, 0.625, RAW= 163.4, 6.3, CAL= 162.8, 5.8, ROT= 347.2, -5.8 Ygot valid direction response: 05:53:37.6907 LVL= 32752, 32753, 30194, 32755, AGC= 60, IDX= 504,-0.45, 1.900, 0.481, 2.518, 1.849, PHS= 0.153,-1.323, 0.625, RAW= 163.4, 6.3, CAL= 162.8, 5.8, ROT= 347.2, -5.8 T#Rx 33: Read range and direction messages.^direction in FSK: [0.970157,-0.220414,0.101056]U Fpublishing direction and range infoy4j ?'6̿+hg޹?YAu )<I>iX ?z0=o5@ 4Q=)@I4QϽ#q.?*o)?ۻ?  B?)O߽Itdi4QϽu checking for new query: numPingsReceived=33, elapsed TxPingTime=15.417705ԩ ^A <=A zA IA IY Oe >p0,Gw8?A2@2@2\ٱ2M >AHRS rotation from veh to nav: [[-0.038286,0.978681,0.201785],[-0.997218,-0.050344,0.054969],[0.063956,-0.199120,0.977886]]2H* [Q??5Ʃ$?n_?|ɿJ?i2@@I2Ic^;2CYfByfTIIjC=)j=j=j=bD%VD%y5;%5S=ٔ5ͺQ-5>9YYY=]Fy]tEeEe>iQ 5u5m?֡?Q 9u5mŝ)m BYqy}dݿQ I}@mPEIm] ;im!;m)#5yɮAiiԶ8?AJivARivAji@b%9@ڎ4 N̪^@R4j ?'6̿+hg޹?Zitdbi4QϽj D{!9,3ZD@Z DDAT read: Rx Time:05:53:38.1906  TRx dataTimestamp_ set to:1761544419.361116= PDAT read: Bearing 71.5, -10.0 (Local) M ~Local bearing/azimuth received: Bearing 71.5, -10.0 (Local) ] DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.5 e Z#Rx 34: Read range message, but no direction.y Y 3A m checking for new query: numPingsReceived=34, elapsed TxPingTime=15.886241#F6,P8?AB&p>B&CB&IB&BB&; =B$B&QDB&aa;B&$EVox@V@s@VoٱVHNp AHRS rotation from veh to nav: [[-0.041970,0.978280,0.202995],[-0.997027,-0.054150,0.054820],[0.064621,-0.200091,0.977644]]VH`}`N?@?`]??ɿH?iVox@IVч^;VCYByLIiMb@Mb@Mb@ 9i|?5?L7A`尿{Gz?Y?y+#<A|@ A)7@YA 4<bDVDyz%4=ٔQ->9Y=FytEE>Q 55ҡ?Q 95j)BY?Q E:yܿQ I@TEI;;i:;%5yɮA addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504423 s, deltaX: -0.200001 m, approachRate: -0.396494 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 26.43 m.bhRh%aZh%a5 ProNav: ac range: 26.433029 m, nav range: 25.583378 m, bearing: 256.535337 deg, approach rate: -0.586901 m/s, LOS rate: -0.109012 deg/s, cmd heading: 264.165762 deg, new cmd heading: 264.023880 deg. Bh5=HeadingCmd: 4.608086 target range: 26.433029 and range: 26.40 m.h=qu@h9*h9"h9 h9gAfAfAfEeBdIdIdIjdU`ff:@ZdUC?颅Bɢ%=6) i)[.顉iiiֿE<vM=Iqu@I )@) @)@-/@)%DAT read: 05:53:38.1906 LVL= 32752, 32753, 28146, 32755, AGC= 60, IDX= 503,-0.18, 2.059, 0.655, 2.672, 2.016, PHS= 0.144,-1.317, 0.611, RAW= 163.4, 6.5, CAL= 162.8, 6.1, ROT= 347.2, -6.1 -Ygot valid direction response: 05:53:38.1906 LVL= 32752, 32753, 28146, 32755, AGC= 60, IDX= 503,-0.18, 2.059, 0.655, 2.672, 2.016, PHS= 0.144,-1.317, 0.611, RAW= 163.4, 6.5, CAL= 162.8, 6.1, ROT= 347.2, -6.1 -Z#Rx 35: Read direction message, but no range.5^direction in FSK: [0.969628,-0.220294,0.106264]y=q1?A2̿O4?m )It>iuj?V= ^ =)I^ ڽnl?"e?? B?)Ii^ ڽUchecking for new query: numPingsReceived=35, elapsed TxPingTime=16.1233239^AM ~4=i A} .AI I O >E  E E E "E %:*E =:VE ZE BE ;a 2E ;a JE Ɣ;a :E ǔ;a o<,s*8?AADDAT read: Rx Time:05:53:38.6904 TRx dataTimestamp_ set to:1761544419.865320PDAT read: Bearing 71.8, -9.8 (Local) ~Local bearing/azimuth received: Bearing 71.8, -9.8 (Local) DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.5 EDAT read: 05:53:38.6904 LVL= 32752, 32753, 30658, 32755, AGC= 60, IDX= 500,-0.08, 2.210, 0.795, 2.813, 2.170, PHS= 0.142,-1.331, 0.599, RAW= 163.1, 6.8, CAL= 162.5, 6.5, ROT= 347.5, -6.5 MYgot valid direction response: 05:53:38.6904 LVL= 32752, 32753, 30658, 32755, AGC= 60, IDX= 500,-0.08, 2.210, 0.795, 2.813, 2.170, PHS= 0.142,-1.331, 0.599, RAW= 163.1, 6.8, CAL= 162.5, 6.5, ROT= 347.5, -6.5 MT#Rx 36: Read range and direction messages.eU@eP@eٱeN }AHRS rotation from veh to nav: [[-0.046185,0.977987,0.203493],[-0.996792,-0.058448,0.054667],[0.065357,-0.200315,0.977549]]eH`K?  ?` 쭿O?C? ɿH?ieU@Ieg^;eCYByRIbDVD1y<^direction in FSK: [0.970020,-0.215048,0.113203]Fpublishing direction and range infoyHg ?) ˿5?YAw )Ish>i5^X?8/6@=5@ V=)@IV轩95 ?Y= ?==Fy=tE=$E=>Achecking for new query: numPingsReceived=36, elapsed TxPingTime=16.437841Q 55Eϡ?Q 95E)E#BYyݿQ I@EXEIEpD,9?AɰDDAT read: Rx Time:05:53:39.1903 TRx dataTimestamp_ set to:1761544420.369592 PDAT read: Bearing 70.5, -9.7 (Local)  ~Local bearing/azimuth received: Bearing 70.5, -9.7 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.5 %Z#Rx 37: Read range message, but no direction.yYA-checking for new query: numPingsReceived=37, elapsed TxPingTime=16.886999=@=@=cÇٱ=NO MAHRS rotation from veh to nav: [[-0.053347,0.977390,0.204603],[-0.996377,-0.065692,0.054023],[0.066242,-0.200980,0.977353]]=H`EPF?`n0?Q0Ѱߨ?>?ɿzF?i=@I=1^;=CYBy_I AqAuAAB}o>ByB}IB}BByByByB}]a;B}$EiMb@Mb@Mb@ 9V-?V- rh?Yh?yhC<Af@ )Y!bD  VD 2y =% =ٔʺQ->9"?Y"?=FytELME>Q 55'ˡ?Q 95')8BY?Q E:y޿Q I@]EI:i:{)5yBɮ-ASEEB*** querying acoustic contact ***iA iAU addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504272 s, deltaX: -0.100000 m, approachRate: -0.198306 m/s, rangeRepo size: 4 jhY}DNOT Ignoring new targets: 25.94 m.bhyRh,ۺZh,ۺ ProNav: ac range: 25.935776 m, nav range: 25.023294 m, bearing: 256.382066 deg, approach rate: -0.617761 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.868239 deg, new cmd heading: 263.715697 deg. BhHeadingCmd: 4.602707 target range: 25.935776 and range: 26.00 m.haI@h*h"h hgffftBdddjd:@Zd?=Bɢ=0)A EiA)E9.AAiM6iM׿Mb:iM '1M ?M ih6@M ^ =M >5@ M +=)M W@IM +ȽI M yzA'?XX?*5R5? M ɁA?)M ڽIM t0aiM +Ƚ checking for new query: numPingsReceived=38, elapsed TxPingTime=17.131227 Q@  @ @ 4@ y ^A p,=ԱbEjE3rE/EM EMEM"EI"EMg:*EM*5:VEM(3ZEIBEM};am2EM~;auJEM;a}:EM;a}AI I1O ?#M,> 79?A2DDAT read: Rx Time:05:53:39.6900 :TRx dataTimestamp_ set to:1761544420.873150JPDAT read: Bearing 72.4, -9.7 (Local) J~Local bearing/azimuth received: Bearing 72.4, -9.7 (Local) RDAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.5 RZ#Rx 39: Read range message, but no direction.y4Y6A4Vchecking for new query: numPingsReceived=39, elapsed TxPingTime=17.387308}@}@}"׈ٱ}vWP AHRS rotation from veh to nav: [[-0.057489,0.976969,0.205490],[-0.996111,-0.069898,0.053639],[0.066767,-0.201607,0.977188]]}H8oUC?}M? $䱿@v?`?Aɿ E?i}@I}It^;}CYByaIbDVDܲy%w<%-;=ٔQ->9Y=FyuEE>Q 5-5[ǡ?Q 9-5)HBY)y5[߿Q I5@aEI;i;z+5y9ɮ=A9i4i679?AJi6ARi6Aji6Ú@b6][y8@pI苩?@R6%9?sW˿A_1?Zi6t0abi6+Ƚj6w1u 癴/7~@Z6TMϿikN ?2i6:i6"i6Œ ?*i61Bi6Bi6"]ԟ?i4i6̌Bi6?Ai6K@ addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503558 s, deltaX: -0.500000 m, approachRate: -0.992934 m/s, rangeRepo size: 4  Added new target pos. range: 25.339506 m, bearing: 255.332453 deg, lat: 36.779417 deg, lon: -121.859776 deg, deltaT: 1.007830 s, deltaX: -0.596270 m, approachRate: -0.591637 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.34 m.bhRhZh- ProNav: ac range: 25.339506 m, nav range: 24.781054 m, bearing: 256.182457 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.715708 deg, new cmd heading: 263.581987 deg. Bh15HeadingCmd: 4.600374 target range: 25.339506 and range: 25.50 m.h5C6@h9*h9"h9 h9g9f9Afafadadidijdm9@Zdm?颽Bɢ3=0) i)A.iki^f׿<=IC6@IO@ @@4@qDAT read: 05:53:39.6900 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496,-0.01,-2.706, 2.160,-2.120,-2.729, PHS= 0.125,-1.349, 0.565, RAW= 162.7, 7.6, CAL= 162.2, 7.7, ROT= 347.8, -7.7 Ygot valid direction response: 05:53:39.6900 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496,-0.01,-2.706, 2.160,-2.120,-2.729, PHS= 0.125,-1.349, 0.565, RAW= 162.7, 7.6, CAL= 162.2, 7.7, ROT= 347.8, -7.7 Z#Rx 40: Read direction message, but no range.%^direction in FSK: [0.968603,-0.209420,0.133986]y#Y?kUCʿL`u&? )I>iף?ּ5@>-5@  >)?@I 0N!Q?u/@?f[? >?)JIt Zi Echecking for new query: numPingsReceived=40, elapsed TxPingTime=17.635416^A [= A I I O >VT,1R9?A2׍@2є@2~ىٱ2lR :AHRS rotation from veh to nav: [[-0.061596,0.976246,0.207726],[-0.995832,-0.074135,0.053121],[0.067259,-0.203588,0.976744]]2Hxg=?Ė?{`2?@7?@/ʿ{A?i2׍@I2Έ^;2CYBByBmIxE  E ~E #E "E :*E (:VE 3ZE a-@aU@aU@aU@i-Mb@Mb@Mb@)))) )DDAT read: Rx Time:05:53:40.1899 TRx dataTimestamp_ set to:1761544421.377084PDAT read: Bearing 73.3, -10.0 (Local) ~Local bearing/azimuth received: Bearing 73.3, -10.0 (Local) DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.5 %DAT read: 05:53:40.1899 LVL= 32752, 32753, 31522, 32755, AGC= 58, IDX= 511, 0.02,-1.242,-2.666,-0.658,-1.242, PHS= 0.102,-1.379, 0.540, RAW= 162.6, 8.5, CAL= 162.3, 8.8, ROT= 347.7, -8.8 MYgot valid direction response: 05:53:40.1899 LVL= 32752, 32753, 31522, 32755, AGC= 58, IDX= 511, 0.02,-1.242,-2.666,-0.658,-1.242, PHS= 0.102,-1.379, 0.540, RAW= 162.6, 8.5, CAL= 162.3, 8.8, ROT= 347.7, -8.8 UT#Rx 41: Read range and direction messages.U^direction in FSK: [0.965544,-0.210522,0.152986]]Fpublishing direction and range infoy3??µQ0fʿ8C ?Y3A"{9-M?l~jt?Y-n?y--<-~A-^@ -1A)-@)Y-AbDuVDu02y)=%.=ٔQ->9Y=FyuEE> ):I`=iq= ?>5@>uJ5@ nF>)<1@InF2M?ymi?) ? =>?)LI[inFchecking for new query: numPingsReceived=41, elapsed TxPingTime=17.914934Q 55yá?Q 95z!Bmm>BiBmIBmBBm: =BiBiBmDa;Bms$E)XBY?Q E:yUQ I@eEI;=i;=l-5y ɮ Aii%"X9?AJiARiAji&@bˤ5^8@<ٚ! A@@R3??µQ0fʿ8C ?Zi[binFjΧ1@w7WK@ZlZͿXpv?2i[:i]"i:qӟ?*i/BiBi:qӟ?iq1iiAi~@% addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503934 s, deltaX: -0.100000 m, approachRate: -0.198439 m/s, rangeRepo size: 4 U Added new target pos. range: 25.240061 m, bearing: 256.034551 deg, lat: 36.779416 deg, lon: -121.859776 deg, deltaT: 0.503934 s, deltaX: -0.099445 m, approachRate: -0.197338 m/s, posRepo size: 4 jhQ]DNOT Ignoring new targets: 25.24 m.bhYRhYZhYm ProNav: ac range: 25.240061 m, nav range: 24.478865 m, bearing: 256.085920 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.582000 deg, new cmd heading: 263.437950 deg. BhiHeadingCmd: 4.597859 target range: 25.240061 and range: 25.40 m.h!@h*h"h hgfffuBd d Id)jdU`ff9@ZdU?}BɢW,) M-5@ MC>)M?@IMCIIM߉SU?j"p?ݕ? M3;>?)MvIMt ZiMCIIchecking for new query: numPingsReceived=42, elapsed TxPingTime=18.403423YEByEzIIM=)M4<bD]VD]1y#=%=ٔjQ->9Y=Fy uEE>Q 55!?Q 9E5S)lBYIyMQ IM@jEI.Hyd,’9?A2܋@2@2K7ٱ2{S :AHRS rotation from veh to nav: [[-0.070724,0.975292,0.209292],[-0.995147,-0.083376,0.052252],[0.068411,-0.204581,0.976456]]2H5?`??'X?@h?/ʿ ??i2܋@I2^;2CYBByBIE EwE"E"E1:*E:VE(3ZEa-@a-@a-@a5@DDAT read: Rx Time:05:53:41.1895 TRx dataTimestamp_ set to:1761544422.380823PDAT read: Bearing 71.7, -9.6 (Local) ~Local bearing/azimuth received: Bearing 71.7, -9.6 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5 DAT read: 05:53:41.1895 LVL= 32752, 32753, 29938, 32755, AGC= 56, IDX= 507, 0.10,-2.202, 2.630,-1.613,-2.228, PHS= 0.128,-1.380, 0.571, RAW= 162.5, 7.7, CAL= 162.1, 7.8, ROT= 347.9, -7.8 Ygot valid direction response: 05:53:41.1895 LVL= 32752, 32753, 29938, 32755, AGC= 56, IDX= 507, 0.10,-2.202, 2.630,-1.613,-2.228, PHS= 0.128,-1.380, 0.571, RAW= 162.5, 7.7, CAL= 162.1, 7.8, ROT= 347.9, -7.8  T#Rx 43: Read range and direction messages.^direction in FSK: [0.968737,-0.207679,0.135716]Fpublishing direction and range infoyq?{I^:ʿ M _?Yt )8Io>iף-?5@ >D5@ 'g >)M@I'g ҧ`?1Sl? BUCBUIBUƁBBQBQBUPDBUAa;BUk$EyYybDVDy%˂=%%=ٔ-Q-->9)YQ=]Fy]uE] E]>aQ 5m5e?Q 9u5e0)eBYu?Q Eu:yuQ Iu@eoEIe\ ;ie ;e25y+BɮA\Eiig_9?AJiARiAji@b:b7@1HH܍kZ @Rq?{I^:ʿ M _?Zi@Xbi'g ju a??7-1@Z\ZϿo@п;D?2i:i "i}?*im3BiBi͟?iiBiAiS@ addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.501946 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.742670 m, bearing: 255.519914 deg, lat: 36.779416 deg, lon: -121.859776 deg, deltaT: 0.501946 s, deltaX: -0.000540 m, approachRate: -0.001075 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 24.74 m.bh RhZh% ProNav: ac range: 24.742670 m, nav range: 23.874376 m, bearing: 255.853930 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.294777 deg, new cmd heading: 263.147382 deg. Bh!MHeadingCmd: 4.592788 target range: 24.742670 and range: 24.90 m.hM@hI*hI"hI hIgQfQfQfUBdYdYdYjdYZd]۟?颭Bɢ[) j=i)-顱i i^ؿ<لt=I@IAy @y  @y @} 0@y e checking for new query: numPingsReceived=43, elapsed TxPingTime=19.138132i ^A yz=A ?A ?ԡAIIEm EmEm$Ei"EmC:*Em.:VEm4ZEiBEia2EiaJEm ;a:Em ;aO? )1Tm *DDAT read: Rx Time:05:53:41.6892 .TRx dataTimestamp_ set to:1761544422.8845592PDAT read: Bearing 75.1, -10.9 (Local) 2~Local bearing/azimuth received: Bearing 75.1, -10.9 (Local) >DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.5 NDAT read: 05:53:41.6892 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 504, 0.05, 3.064, 1.660,-2.640, 3.126, PHS= 0.040,-1.421, 0.473, RAW= 162.6, 10.6, CAL= 162.6, 11.7, ROT= 347.4, -11.7 RYgot valid direction response: 05:53:41.6892 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 504, 0.05, 3.064, 1.660,-2.640, 3.126, PHS= 0.040,-1.421, 0.473, RAW= 162.6, 10.6, CAL= 162.6, 11.7, ROT= 347.4, -11.7 RT#Rx 44: Read range and direction messages.^^direction in FSK: [0.955640,-0.213611,0.202787]^Fpublishing direction and range infoy,.cH?!W˿ ?Y.A,,,. ,).7I. #=i.T㵿.->.>5@d,9?Az%9xYzcgA.q=>.>5@ .Q>).W@I.Q,,.'?f1J?u? .W>?).=I.t0ai.Q,,Uchecking for new query: numPingsReceived=44, elapsed TxPingTime=19.422342=B@=<@=:ʍٱ=FT AHRS rotation from veh to nav: [[-0.079678,0.974247,0.210935],[-0.994417,-0.092371,0.051007],[0.069178,-0.205693,0.976168]]=He-?@? D@??@)Tʿ`9Y=F9yuEuEu>yQ 55}[?Q 95})}BYy$Q I@}tEI}:i}:}Y45yɮ.Ai,i.9?AJi.ARi.Aji.@b.LC7@ 4a@R.cH?!W˿ ?Zi.t0abi.Qj.\N'z6g6U@Z.O9aοdrvJN?2i.9:i."i.ğ?*i.]%%Bi.ŐBi.ğ?i./i.Bi.@Ai.`@] addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503736 s, deltaX: -0.400000 m, approachRate: -0.794066 m/s, rangeRepo size: 4 m Added new target pos. range: 24.345198 m, bearing: 255.296469 deg, lat: 36.779415 deg, lon: -121.859775 deg, deltaT: 0.503736 s, deltaX: -0.397472 m, approachRate: -0.789049 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 24.35 m.bhiRh1Zh1E ProNav: ac range: 24.345198 m, nav range: 23.531269 m, bearing: 255.532569 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.147381 deg, new cmd heading: 262.997950 deg. BhAMHeadingCmd: 4.590180 target range: 24.345198 and range: 24.50 m.hM@hI*hI"hI hIgIfQfQfQdQdYdYjd]8@Zd]Z ?颍Bɢ5) =i)--顑iifؿO<p^=I@IieP@a @a@e/@a checking for new query: numPingsReceived=44, elapsed TxPingTime=19.641903ԑ ^A- r= Ay I I O >wt,w9?AE} EE E"E݉:*E3:VE3ZEa>@a>@a>@a>@DDAT read: Rx Time:05:53:42.1890 TRx dataTimestamp_ set to:1761544423.388812PDAT read: Bearing 75.4, -10.8 (Local)  ~Local bearing/azimuth received: Bearing 75.4, -10.8 (Local) %DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.5 EDAT read: 05:53:42.1890 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.03, 2.409, 1.007, 2.976, 2.478, PHS= 0.033,-1.426, 0.454, RAW= 162.3, 11.0, CAL= 162.4, 12.2, ROT= 347.6, -12.2 Ygot valid direction response: 05:53:42.1890 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.03, 2.409, 1.007, 2.976, 2.478, PHS= 0.033,-1.426, 0.454, RAW= 162.3, 11.0, CAL= 162.4, 12.2, ROT= 347.6, -12.2 T#Rx 45: Read range and direction messages.^direction in FSK: [0.954615,-0.209886,0.211325]Fpublishing direction and range infoy4? ʿ\ ?YA )I+=i+r>uJ5@ D> g5@.@@>ٱ U ^ Z>)"@I^ Zݭq :?2 &??+i? =?)w}DIt]i^ ZB]Z>B]CB]IB]߁BB]; =BYB]ODB]>a;B]e$EBýCBüCBÔCB; =B; =Cã5 AHRS rotation from veh to nav: [[-0.084760,0.973672,0.211610],[-0.993948,-0.097518,0.050581],[0.069885,-0.206042,0.976044]]HҲQ(?` ? k`??`_ʿ;?i.@IK^;checking for new query: numPingsReceived=45, elapsed TxPingTime=19.940332Ye݁ByeIAiMb@Mb@Mb@ 9Q?kt{Gz?Y?y ף<hAPExceeded connect timeout, disconnecting.1@ A)@YfAbDVDy=%=ٔQ->9Y= Fy uE uE >Q 5%5~?Q 9%5)BY%t?Q E-:y-xQ I-@yEI,3;i2;65y=)Bɮ=cA9iiL9?AJi_ARi_Aji@bE;6@YH/0" S@R4? ʿ\ ?Zit]bi^ Zj\#GG~^16İj@ZT6}ο`J]|LAEA>A EȭT>)AIEȭTAAE%>]=?|+?*? E'=?)Eb@IAiEȭTAAchecking for new query: numPingsReceived=46, elapsed TxPingTime=20.413855IIO?},J}9?A>@>@>яٱ>UU RAHRS rotation from veh to nav: [[-0.089030,0.973087,0.212547],[-0.993554,-0.101796,0.049872],[0.070166,-0.206737,0.975877]]>Hʶ#? 4?2M؈?@l?`Yvʿ c:?i>@I>^;>CYByII<)p;bDVDy>%*=ٔ;Q->9 ?Y ?=Fy uEE>Q 5 5?Q 9 5*)BYyQ I@}EI:i:859yYɮ]]AYii(9?AJifARifAjim@b&9J6@pޞl@R+[?L;ʿFa5d?ZibiȭTjU@S/%m}5>J]@Z0_FsϿʀ_QDS?2i:i,"i!Qy?*i޳BiBiğ?i]%%iBi|Ai@- addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504302 s, deltaX: -0.500000 m, approachRate: -0.991469 m/s, rangeRepo size: 4 ] Added new target pos. range: 23.549837 m, bearing: 255.012530 deg, lat: 36.779415 deg, lon: -121.859770 deg, deltaT: 0.504302 s, deltaX: -0.496832 m, approachRate: -0.985187 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 23.55 m.bhaRhaZha ProNav: ac range: 23.549837 m, nav range: 22.560890 m, bearing: 255.246686 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.844394 deg, new cmd heading: 262.700612 deg. BhHeadingCmd: 4.584991 target range: 23.549837 and range: 23.70 m.h>@h*h"h hgfffdddjd@37@Zd?%Bɢ%r)% %9>i))-BK,99i= iMt^ٿU@IQi checking for new query: numPingsReceived=46, elapsed TxPingTime=20.649635 @ @@@ԙ ^AM &V= E  E E $E "E ҝ:*E E7:VE 4ZE aE @aM @aM @aM @A I I O>,~:?ANDDAT read: Rx Time:05:53:43.1886 RTRx dataTimestamp_ set to:1761544424.396776VPDAT read: Bearing 74.3, -10.5 (Local) V~Local bearing/azimuth received: Bearing 74.3, -10.5 (Local) ^DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.5 rDAT read: 05:53:43.1886 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.04, 1.297,-0.106, 1.857, 1.350, PHS= 0.049,-1.411, 0.462, RAW= 162.1, 10.6, CAL= 162.2, 11.7, ROT= 347.8, -11.7 vYgot valid direction response: 05:53:43.1886 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.04, 1.297,-0.106, 1.857, 1.350, PHS= 0.049,-1.411, 0.462, RAW= 162.1, 10.6, CAL= 162.2, 11.7, ROT= 347.8, -11.7 vT#Rx 47: Read range and direction messages.z^direction in FSK: [0.957108,-0.206934,0.202787]~Fpublishing direction and range infoyLN\ى?#k|ʿ ?YN̼ALLLL L)LIN9H=iNND>ND5@Nq=>N-5@ NQ>)N?@INQLLNU?<?+t}? N)BCBIBBB= =BGDBB?a;Ba$E AHRS rotation from veh to nav: [[-0.098280,0.972820,0.209672],[-0.992639,-0.110816,0.048872],[0.070778,-0.203325,0.976550]]H(W!?? h^?`?ʿ ??i@I^;CYBy I}nManaging dock network, ignoring radio surface power offi5Mb@Mb@Mb@1111 195ʡE?kty&1?Y5-?y15`<5A5@ 5A)11Y1 <bDVDky=%=ٔQ->9Y=Fy%uE<E> Q 55 "?Q 955 ) BY=?Q E=:y=QQ I=@ EI ;i ; #;5yAɮEkAAiLiNd:?AJiNARiNAjiNI0@bN fq6@wib@RN\ى?#k|ʿ ?ZiNt ZbiNQjN4˷F5iHrZ@ZN.п6pFYC\ ͳ?2iN:iN"iNt{x?*iN-$BiNBiN!Qy?iN-$iLiN AiN|@ addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503662 s, deltaX: -0.100000 m, approachRate: -0.198547 m/s, rangeRepo size: 4  Added new target pos. range: 23.450090 m, bearing: 254.587740 deg, lat: 36.779415 deg, lon: -121.859770 deg, deltaT: 0.503662 s, deltaX: -0.099747 m, approachRate: -0.198043 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 23.45 m.bh Rh1Zh1E ProNav: ac range: 23.450090 m, nav range: 22.255423 m, bearing: 255.118062 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.700605 deg, new cmd heading: 262.551922 deg. BhAmHeadingCmd: 4.582396 target range: 23.450090 and range: 23.60 m.hu@hq*hq"hq hqgqfqfyf}ρBdydydjd7@Zdf?颍Bɢ=) r>i)A+顩i i{ٿ-< ;=I@I)Mchecking for new query: numPingsReceived=47, elapsed TxPingTime=21.153551} O@y  @y @ @ Q ^A XR=A A >E] E]lE]%EY"E]O:*E]:VE] 4ԁZEYBE];a2E];aJE]C;a:E]C;aA؟AIIDDAT read: Rx Time:05:53:43.6883 TRx dataTimestamp_ set to:1761544424.900821 PDAT read: Bearing 75.3, -10.9 (Local) ~Local bearing/azimuth received: Bearing 75.3, -10.9 (Local) %DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 EDAT read: 05:53:43.6883 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 495, 0.06, 0.071,-1.313, 0.624, 0.152, PHS= 0.020,-1.421, 0.428, RAW= 162.1, 11.6, CAL= 162.3, 13.0, ROT= 347.7, -13.0 MYgot valid direction response: 05:53:43.6883 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 495, 0.06, 0.071,-1.313, 0.624, 0.152, PHS= 0.020,-1.421, 0.428, RAW= 162.1, 11.6, CAL= 162.3, 13.0, ROT= 347.7, -13.0 UT#Rx 48: Read range and direction messages.]^direction in FSK: [0.952004,-0.207570,0.224951]]Fpublishing direction and range infoyhwv?)jʿ:/2?Y̸A )I ף4QO>uJ5@ Vh>)<1@IVh]hH@?>W,?? 49-"?Y5"?=5Fy5*uE5uE]>YQ 5e5]?Q 9m5])]BYiymQ Im@]EI]:i]t:]C=5yiA)Eh1*AAiM0imnڿuGՕ,BwX:?AF8i@F d@FfٱF\MP NAHRS rotation from veh to nav: [[-0.105963,0.972328,0.208206],[-0.991871,-0.118188,0.047147],[0.070450,-0.201518,0.976948]]FHc O??hA #??Xɿ`(C?iF8i@IFg^;FCZDDAT read: Rx Time:05:53:44.1881 ZTRx dataTimestamp_ set to:1761544425.404788^PDAT read: Bearing 75.4, -10.3 (Local) b~Local bearing/azimuth received: Bearing 75.4, -10.3 (Local) jDAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.5 DAT read: 05:53:44.1881 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.09, 1.230,-0.161, 1.759, 1.304, PHS= 0.028,-1.419, 0.411, RAW= 161.4, 11.7, CAL= 161.7, 13.2, ROT= 348.3, -13.2 Ygot valid direction response: 05:53:44.1881 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.09, 1.230,-0.161, 1.759, 1.304, PHS= 0.028,-1.419, 0.411, RAW= 161.4, 11.7, CAL= 161.7, 13.2, ROT= 348.3, -13.2 %T#Rx 49: Read range and direction messages.-^direction in FSK: [0.953351,-0.197430,0.228351]-Fpublishing direction and range infoyXZ$uLف?m3aEɿ :?YZfAXXXX X)Z8IZB`ZI4@ZQ>Z4@ Zk>)Z@IZkXXZ|?(W?u"? Za,9?)Z7EQIZQiZkXXchecking for new query: numPingsReceived=49, elapsed TxPingTime=21.938540YQByI IBR>BB! IB1BB> =BBNDB8a;B\$EiuMb@Mb@Mb@qqqq q9u/$?+η~jt?Yu1?yuvu=uQAu@ uA)u@qYuGAbDVDy>%%=ٔ%9Q-%>9!Y!=%Fy-/uE-E->yQ 55}?Q 95})}BY ?Q E:yQ I@}EI};i};}s?5yɮ[AiXiZ Y:?AJiZ=ARiZ=AjiZa@bZ-G(5@C+$y@RZ$uLف?m3aEɿ :?ZiZQbiZkjZQ== cq4&Zr@ZZ2K 2jϿ<+͇N?2iZ3:iZ"iZß?*iZBiZEBiXiZ޳iZBiZ:AiZh@m addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503967 s, deltaX: -0.300001 m, approachRate: -0.595279 m/s, rangeRepo size: 4 } Added new target pos. range: 22.655119 m, bearing: 254.929277 deg, lat: 36.779415 deg, lon: -121.859768 deg, deltaT: 0.503967 s, deltaX: -0.298147 m, approachRate: -0.591601 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.66 m.bhRhZh ProNav: ac range: 22.655119 m, nav range: 21.528797 m, bearing: 254.977913 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.412125 deg, new cmd heading: 262.266689 deg. BhHeadingCmd: 4.577417 target range: 22.655119 and range: 22.80 m.h4z@h*h"h hgff!f%Bd)d)d)jd-6@Zd5 2?}Bɢ}@r) >i)3(顡iEiVڿ<4=I4z@I]checking for new query: numPingsReceived=49, elapsed TxPingTime=22.1616131 0:Ļ Y y @y  @y @ 0@ bEjE<3rET0E}~ E}uE}'Ey"E}:*E}:VE}'4ZEyBE}e;a2E}g;aJE}dd;a%:E}ed;aMԉDDAT read: Rx Time:05:53:44.6878 TRx dataTimestamp_ set to:1761544425.908707%PDAT read: Bearing 74.7, -10.2 (Local) %~Local bearing/azimuth received: Bearing 74.7, -10.2 (Local) 5DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 ^Aп8=DAT read: 05:53:44.6878 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.23, 0.140,-1.256, 0.672, 0.204, PHS= 0.037,-1.415, 0.424, RAW= 161.5, 11.4, CAL= 161.7, 12.7, ROT= 348.3, -12.7 Ygot valid direction response: 05:53:44.6878 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.23, 0.140,-1.256, 0.672, 0.204, PHS= 0.037,-1.415, 0.424, RAW= 161.5, 11.4, CAL= 161.7, 12.7, ROT= 348.3, -12.7 T#Rx 50: Read range and direction messages.=^direction in FSK: [0.955266,-0.197826,0.219846]EFpublishing direction and range infoyd*?u_RɿF#?Y3A )IP=i>e4@%K> b>)IbҎJ(~?2?GP4? z9?)JIibchecking for new query: numPingsReceived=50, elapsed TxPingTime=22.495129A.AIIO?s,:?A :3@:.@:ۅٱ:L RAHRS rotation from veh to nav: [[-0.112431,0.972242,0.205193],[-0.991189,-0.124287,0.045790],[0.070022,-0.198237,0.977650]]:HLȼ?C?`ҷ`>ѿq?@?_ɿH?i:3@I:?^;:CYndByn` ItvAAbDvVDvk1y#=%=ٔYN:Q->9 ?Y ?=Fy4uEM?EM>QQ 5]5U ?Q 9]5U1)UBYYyeQ Ie@UEIUN:iUg:UA5yɮAiiA(z:?AJiARiAji@bxC5@Ӝ*SU@Rd*?u_RɿF#?ZibibjD;eLM4jT@ZϢKпsc0.?2im:i["iR?*i_/9BiBi絟?iiBiAi?'@ addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503919 s, deltaX: -0.400000 m, approachRate: -0.793778 m/s, rangeRepo size: 4 AU Added new target pos. range: 22.257660 m, bearing: 254.403696 deg, lat: 36.779413 deg, lon: -121.859766 deg, deltaT: 0.503919 s, deltaX: -0.397459 m, approachRate: -0.788736 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 22.26 m.bhQRhYZhY ProNav: ac range: 22.257660 m, nav range: 21.135021 m, bearing: 254.524501 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.266697 deg, new cmd heading: 262.110909 deg. BhHeadingCmd: 4.574698 target range: 22.257660 and range: 22.40 m.hc@h*h"h hgfffdddjd`ff6@Zd@W? Bɢ )  >i)I.'iiڿ,B:?A^direction in FSK: [0.956907,-0.187738,0.221548]Fpublishing direction and range infoy15$J6?̚<ȿ@|[?Y11111 1)57I5X94=i5A5O>53@15P3@ 5d>)5@I5d115Nb?qb@0g?^0}*G`? 56?)5\LI5aFi5d11Jchecking for new query: numPingsReceived=51, elapsed TxPingTime=22.981277YBy IiMb@Mb@Mb@ 9e;O?/$?Y>y̽,=@ A)YAbDVDy >%&=ٔQ->9Y=Fy9uE E >Q 55Z?Q 95 )5BY=>Q EE:yEQ IE@EI ;iK;C5yM:BɮMAMdEi1i5|:?AJi1Ri1ji5o@b5lL5@4rj]@R5$J6?̚<ȿ@|[?Zi5aFbi5dj5T o]4mL @Z5t(PϿ- 7GOH?2i5:i5@"i5G{?*i5!Bi5ϐBi1i1i5ϐBi5:Ai5)@ addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.505157 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 22.257677 m, bearing: 255.030402 deg, lat: 36.779413 deg, lon: -121.859766 deg, deltaT: 0.505157 s, deltaX: 0.000017 m, approachRate: 0.000034 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 22.26 m.bhRh9Zh9M ProNav: ac range: 22.257677 m, nav range: 20.903673 m, bearing: 254.543754 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.110914 deg, new cmd heading: 261.972547 deg. BhIMHeadingCmd: 4.572283 target range: 22.257677 and range: 22.40 m.hU%P@hQ*hQ"hQ hQgqfyfyf}%BdyddjdZd`ur?BɢpbS) >i)t%iʌ#i%ڿ%n<% 1=I%%P@I)11199Uchecking for new query: numPingsReceived=51, elapsed TxPingTime=23.169453aIeA)U Q@Q  @Q @U 0@Y ԙ Ee  Ee tEe "Ea "Ee U:*Ee v:VEe (3ZEa BEe ;a 2Ee ;a JEe `;a :Ee `;a  DDAT read: Rx Time:05:53:45.6875  TRx dataTimestamp_ set to:1761544426.916925PDAT read: Bearing 74.9, -10.1 (Local) ~Local bearing/azimuth received: Bearing 74.9, -10.1 (Local) EDAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 ^A]#'=ԹDAT read: 05:53:45.6875 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 504,-0.06,-2.409, 2.474,-1.885,-2.337, PHS= 0.031,-1.427, 0.408, RAW= 161.2, 11.8, CAL= 161.5, 13.2, ROT= 348.5, -13.2  Ygot valid direction response: 05:53:45.6875 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 504,-0.06,-2.409, 2.474,-1.885,-2.337, PHS= 0.031,-1.427, 0.408, RAW= 161.2, 11.8, CAL= 161.5, 13.2, ROT= 348.5, -13.2 T#Rx 52: Read range and direction messages.^direction in FSK: [0.954034,-0.194101,0.228351]Fpublishing direction and range infoy  / Nr?P7>Iȿ :?Y 3A     ) I  4@ BR> e4@ k>) @I k   W/^?(|?LY ? '8?) RI Mi k  checking for new query: numPingsReceived=52, elapsed TxPingTime=23.490067A؟AIIO ?Z!,:?Af@f @)f,.ٱf I eAHRS rotation from veh to nav: [[-0.116773,0.972486,0.201579],[-0.990801,-0.128048,0.043787],[0.068394,-0.194612,0.978493]]fH使?W?c95"?Y5"?=5Fy=?uE=^E=>AQ 5M5E?Q 9M5EWQ =MtI)ENBYQyU!Q IU@EEIEw;iE;E=F5yMBɮuAnEii殺:?AJiARiAji@bS4@b*,T^@R/ Nr?P7>Iȿ :?ZiMbikj -0`~3Wj@ZVܽCпH "?2i}:i"i2񲟊?*iCmBiԐBiitiԐBiAi+@ addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503061 s, deltaX: -0.500000 m, approachRate: -0.993915 m/s, rangeRepo size: 4  Added new target pos. range: 21.760855 m, bearing: 254.403208 deg, lat: 36.779413 deg, lon: -121.859766 deg, deltaT: 0.503061 s, deltaX: -0.496822 m, approachRate: -0.987599 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.76 m.bhRhZh ProNav: ac range: 21.760855 m, nav range: 20.633427 m, bearing: 254.554876 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.972534 deg, new cmd heading: 261.822721 deg. BhHeadingCmd: 4.569669 target range: 21.760855 and range: 21.90 m.h:@h*h"h hgfffdddjd`f5@Zd ?Bɢ9/) >i)+m#  i B}'iETۿEi],:?A&DDAT read: Rx Time:05:53:46.1874 *TRx dataTimestamp_ set to:1761544427.4265812PDAT read: Bearing 73.1, -9.8 (Local) 2~Local bearing/azimuth received: Bearing 73.1, -9.8 (Local) BDAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 ^DAT read: 05:53:46.1874 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.30,-1.296,-2.740,-0.757,-1.258, PHS= 0.064,-1.436, 0.457, RAW= 161.3, 10.6, CAL= 161.4, 11.6, ROT= 348.6, -11.6 fYgot valid direction response: 05:53:46.1874 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.30,-1.296,-2.740,-0.757,-1.258, PHS= 0.064,-1.436, 0.457, RAW= 161.3, 10.6, CAL= 161.4, 11.6, ROT= 348.6, -11.6 BBB IBBB= =BBBa;B$E]T#Rx 53: Read range and direction messages.e^direction in FSK: [0.960249,-0.193620,0.201078]eFpublishing direction and range infoy$&i]?%>ȿo?iY&̬A$$$$ $)&5I&o=i&η&>&,4@&q=>&I4@ &4QO>)&@I&4QO$$&?t?3_H?6p? &8?)&C=I&Ki&4QO$$checking for new query: numPingsReceived=53, elapsed TxPingTime=23.977173@w@{ٱ0 J %AHRS rotation from veh to nav: [[-0.118402,0.972112,0.202434],[-0.990709,-0.129388,0.041876],[0.066901,-0.195595,0.978400]]HO ? \?`ȏ`p?`h ?B ɿ O?i@I ^;CY5By5 Iԡi%Mb@Mb@Mb@!!!! !9%uV?i|?5+?Y%r>y%%=!%@ %A)%@!Y%AbD]VD]ye=%m=ٔm>;Q-m>9Y=FyDuE9NE>Q 55}?Q 95@)fBY>Q E:yQ I@EI[;i;H5yɮAi$i&M:?AJi&ARi&Aji&@b&>}P4@Hq:>^_6GC@R&i]?%>ȿo?Zi&Kbi&4QOj&w19ln$3 @Z&2~}пoZb_{J P ?2i&:i&g"i&VY?*i&hBi&Bi&R?i&i&ϐBi&\Ai&*@ addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.509656 s, deltaX: -0.299999 m, approachRate: -0.588631 m/s, rangeRepo size: 4  Added new target pos. range: 21.462830 m, bearing: 254.114266 deg, lat: 36.779413 deg, lon: -121.859766 deg, deltaT: 0.509656 s, deltaX: -0.298025 m, approachRate: -0.584757 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.46 m.bhRhZh ProNav: ac range: 21.462830 m, nav range: 20.420080 m, bearing: 254.550568 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.822734 deg, new cmd heading: 261.672594 deg. BhHeadingCmd: 4.567049 target range: 21.462830 and range: 21.60 m.hC%@h*h"h hgff f ,Bd d d jd5@Zd%?UBɢU)Q Uc?iY)]?D!YYi]|+checking for new query: numPingsReceived=53, elapsed TxPingTime=24.181580i]ۿڰ<P/=IC%@I  P@  @ @ 0@ E  E qE $E "E :*E $ :VE 4ZE BE ;a2E ;aJE U;a:E U;a!YqƄ9YpA^A+,=DDAT read: Rx Time:05:53:46.6872 TRx dataTimestamp_ set to:1761544427.931238PDAT read: Bearing 74.0, -10.0 (Local) ~Local bearing/azimuth received: Bearing 74.0, -10.0 (Local) %DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 A II!O5?,:?A 2DAT read: 05:53:46.6872 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 500,-0.16, 2.902, 1.474,-2.856, 2.959, PHS= 0.045,-1.440, 0.424, RAW= 161.1, 11.4, CAL= 161.3, 12.7, ROT= 348.7, -12.7 6Ygot valid direction response: 05:53:46.6872 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 500,-0.16, 2.902, 1.474,-2.856, 2.959, PHS= 0.045,-1.440, 0.424, RAW= 161.1, 11.4, CAL= 161.3, 12.7, ROT= 348.7, -12.7 :T#Rx 54: Read range and direction messages.n^direction in FSK: [0.956624,-0.191152,0.219846]nFpublishing direction and range infoy  "䨜?U/wȿF#?Y fA ) 7I Q8=i Q > P3@ %K> ,4@ b>) 6@I b 5֤?gb?k?? 7?) yMKj(@j@j͞ٱjLSG %AHRS rotation from veh to nav: [[-0.120667,0.972438,0.199511],[-0.990676,-0.130770,0.038212],[0.063249,-0.193039,0.979150]]jH 便`5?? @?1?ȿ2U?ij(@Ijo^;hI Ii b 5checking for new query: numPingsReceived=54, elapsed TxPingTime=24.525267YU‚ByU IbDmVDmyV=%:=ٔ9Y=FyHuEqE>Q 55w?Q 95=)zBYyQ I@EI|:iR:kJ5yɮ\A i i g:?AJi QARi QAji ^@b Iri&?4@q.`cq@R "䨜?U/wȿF#?Zi Ibi bj mHH?(Y39Yx@Z v$zп0AZM?2i Κ:i ]"i ʬ?*i @C9Bi Bi 2񲟊?i _/9i Bi AAi N(@ addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504657 s, deltaX: -0.300001 m, approachRate: -0.594465 m/s, rangeRepo size: 4  Added new target pos. range: 21.164734 m, bearing: 254.273577 deg, lat: 36.779413 deg, lon: -121.859766 deg, deltaT: 0.504657 s, deltaX: -0.298096 m, approachRate: -0.590690 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.16 m.bhRhZh% ProNav: ac range: 21.164734 m, nav range: 20.157196 m, bearing: 254.531906 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.672607 deg, new cmd heading: 261.545472 deg. ABhamHeadingCmd: 4.564830 target range: 21.164734 and range: 21.30 m.hm@hi*hi"hi higqfqfqfqdydydyjd}L5@Zd} ?BɢIi) _ ?i)OGi/i%ۿ%><%.=I%@I)N@ @@0@checking for new query: numPingsReceived=54, elapsed TxPingTime=24.685513qԡ ^A 4/=E  E rE #E "E a:*E ?:VE 3ZE a5 @a5 @a5 @a5 @A I I O >hƎ,f;?A$$%DDAT read: Rx Time:05:53:47.1871 %TRx dataTimestamp_ set to:1761544428.433967=PDAT read: Bearing 73.2, -9.6 (Local) =~Local bearing/azimuth received: Bearing 73.2, -9.6 (Local) ]DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.3 DAT read: 05:53:47.1871 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.33, 0.316,-1.143, 0.839, 0.353, PHS= 0.065,-1.451, 0.442, RAW= 160.9, 10.9, CAL= 161.0, 12.0, ROT= 349.0, -12.0 Ygot valid direction response: 05:53:47.1871 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.33, 0.316,-1.143, 0.839, 0.353, PHS= 0.065,-1.451, 0.442, RAW= 160.9, 10.9, CAL= 161.0, 12.0, ROT= 349.0, -12.0 AAAABT>BCB IB΂BB< =BBBa;B$EBCBCBCB= =B= =C5 T#Rx 55: Read range and direction messages.^direction in FSK: [0.960176,-0.186640,0.207912]Fpublishing direction and range infoy!%ù?˝Qǿhٜ?Y%A!!!! !)%9I%=i%^%M>%3@ŶBy II4=)=%B>%3@ %PwV>)%@I%PwV!!%i?˝?#uE,? %}6?)%HBI%Di%PwV!!checking for new query: numPingsReceived=55, elapsed TxPingTime=24.994490Ai-Mb@Mb@Mb@)))) )9-"~j?x&Q?Y-S>y-7 -<-A) -|A)-@)Y-GAbDmVDmk2y}=&=%} =ٔ}Q->9Y=FyNuEE>Q 55^p?Q 95 )BY>Q E:y7Q I@EI;i;L5yɮAi!i%;?AJi%ARi%Aji% @b%V9:4@r9t@R%ù?˝Qǿhٜ?Zi%Dbi%PwVj%=Bdl6}B[3HyN@Z%L^G`п۲fg։:8?2i%ښ:i%|"i%g&?*i%#Bi%sBi%ʬ?i%hi%Bi%7Ai% @ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502729 s, deltaX: -0.099998 m, approachRate: -0.198911 m/s, rangeRepo size: 4  Added new target pos. range: 21.065485 m, bearing: 254.439179 deg, lat: 36.779412 deg, lon: -121.859767 deg, deltaT: 0.502729 s, deltaX: -0.099249 m, approachRate: -0.197420 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.07 m.bhRhZh ProNav: ac range: 21.065485 m, nav range: 20.026899 m, bearing: 254.479716 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.545483 deg, new cmd heading: 261.398537 deg. BhHeadingCmd: 4.562265 target range: 21.065485 and range: 21.20 m.h@h*h"h hgff f \BdIdIdQjdU@335@ZdU ?i颅BɢPv)  ?i)Ci-2iGܿ\<q8=I@IP@ @@/@checking for new query: numPingsReceived=55, elapsed TxPingTime=25.191204ԡ ^A .= E EiE&E"E:*E9VE4ZEBE;a2E;aJE8;a:E8;aIIO>͎,8;?A2.@2@2 qٱ2F :AHRS rotation from veh to nav: [[-0.121907,0.972618,0.197871],[-0.990797,-0.131063,0.033807],[0.058815,-0.191929,0.979645]]2H`G5?@S?@1O??!ȿ@@Y?i2.@I2F^;2CYׂBy% IDDAT read: Rx Time:05:53:47.6869 TRx dataTimestamp_ set to:1761544428.938414PDAT read: Bearing 72.9, -9.5 (Local) ~Local bearing/azimuth received: Bearing 72.9, -9.5 (Local) DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.3 DAT read: 05:53:47.6869 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497, 0.11,-0.856,-2.312,-0.337,-0.824, PHS= 0.070,-1.443, 0.443, RAW= 160.8, 10.7, CAL= 160.8, 11.8, ROT= 349.2, -11.8  Ygot valid direction response: 05:53:47.6869 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497, 0.11,-0.856,-2.312,-0.337,-0.824, PHS= 0.070,-1.443, 0.443, RAW= 160.8, 10.7, CAL= 160.8, 11.8, ROT= 349.2, -11.8  T#Rx 56: Read range and direction messages.bDuVDufy]I=%eB=ٔe,9iYi=mFymRuEm=Em>u^direction in FSK: [0.961529,-0.183421,0.204496]uFpublishing direction and range infoy-}kh? YzǿrG,?Y3A )8I)\=i9>3@t;?>3@ BR>)@IBROQ?R"D? ? K 6?)V@IAiBRQ 55i?Q 95%)BYy\Q I@EI:i:N5checking for new query: numPingsReceived=56, elapsed TxPingTime=25.476311yKBɮAmEii<;?AJi#ARi#Aji'@bC3@~4y)@R-}kh? YzǿrG,?ZiAbiBRjػ2NQ$3>p(C@Z@hTп~[@?2i":i"i=`?*iBiBi=`?iiBiAi$@ addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504447 s, deltaX: -0.300001 m, approachRate: -0.594713 m/s, rangeRepo size: 4  Added new target pos. range: 20.767387 m, bearing: 254.526884 deg, lat: 36.779412 deg, lon: -121.859767 deg, deltaT: 0.504447 s, deltaX: -0.298098 m, approachRate: -0.590939 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.77 m.bhRhZh)U ProNav: ac range: 20.767387 m, nav range: 19.836332 m, bearing: 254.506631 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.398525 deg, new cmd heading: 261.276229 deg. BhQ]HeadingCmd: 4.560131 target range: 20.767387 and range: 20.90 m.h]@hY*hY"hY hYgYfafafadididqjdu`f4@Zdu?Bɢ9) ?i)GiM6iܿ _&< 4D;=I @I N@ @@0@Q5 checking for new query: numPingsReceived=56, elapsed TxPingTime=25.693466ԁ ^A 8=I I O >Ԏ,S;?A@ݒ@ܳgٱF %AHRS rotation from veh to nav: [[-0.122293,0.972535,0.198043],[-0.990882,-0.131006,0.031457],[0.056538,-0.192390,0.979689]]HN?uY?O%?`?<ȿY?i@Iι^;CEM EMvEIEI"EM:*EM:VEIZEIaU@aU@aU@aU@YقBy Ii=Mb@Mb@Mb@9999 99=$C?K7?Y=>y=I =<=$A=@ =A)99Y=AbDUVDUym+<%m4=ٔu;Q-}>9Y=FyWuEVE>Q 55c?Q 95b*)BYx>Q E:yQ I@EIKb;ib;yP5yɮA-DDAT read: Rx Time:05:53:48.1869 5TRx dataTimestamp_ set to:1761544429.442345EPDAT read: Bearing 71.2, -22.1 (Local) M~Local bearing/azimuth received: Bearing 71.2, -22.1 (Local) eDAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.3 DAT read: 05:53:48.1869 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 513, 0.00,-1.693,-2.740,-0.797,-1.422, PHS=-0.169,-1.273, 0.581, RAW= 173.7, 10.7, CAL= 173.7, 12.3, ROT= 336.3, -12.3 Ygot valid direction response: 05:53:48.1869 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 513, 0.00,-1.693,-2.740,-0.797,-1.422, PHS=-0.169,-1.273, 0.581, RAW= 173.7, 10.7, CAL= 173.7, 12.3, ROT= 336.3, -12.3 T#Rx 57: Read range and direction messages.^direction in FSK: [0.894644,-0.392721,0.213030]Fpublishing direction and range infoy)- ?GVY"ٿAzUmD?Y))))) ))-7I-V-i-BS>BCB!IBBBBBBa;B$E-j?-WB@)-WB@ -[>)-Jӻ@I-[))-tל?[$X?r{3lL? -o?)-?>I- Ӿi-[))]checking for new query: numPingsReceived=57, elapsed TxPingTime=25.986361i)i-aO\;?AJi)Ri)ji-@b-R2@O }7/A@R- ?GVY"ٿAzUmD?Zi- Ӿbi-[j-~Χ"g31@Z-ܿ=z +n?2i-:i->"i- k Q?*i-wBi-Bi-g&?i)i)i-&Ai-6+@  addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503931 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.767351 m, bearing: 241.531831 deg, lat: 36.779412 deg, lon: -121.859767 deg, deltaT: 0.503931 s, deltaX: -0.000036 m, approachRate: -0.000072 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 20.77 m.bh!RhAZhAU ProNav: ac range: 20.767351 m, nav range: 19.643923 m, bearing: 254.552241 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.276237 deg, new cmd heading: 261.134474 deg. BhQ]HeadingCmd: 4.557656 target range: 20.767351 and range: 20.90 m.h]Rؑ@hY*ha"ha hagfffTBdddjdZd69?A颅Bɢ) ?i)顉i9i!ܿଲ<:B=IRؑ@Iu P@q  @q @u /@y i  checking for new query: numPingsReceived=57, elapsed TxPingTime=26.197582^A l;=ԡ I IO%>ҽێ,S?q;?A2@2ܒ@2a^ٱ2F :AHRS rotation from veh to nav: [[-0.122467,0.972659,0.197325],[-0.990988,-0.130714,0.029272],[0.054265,-0.191962,0.979901]]2HZ ?A?`,;`?@ȫ?5ȿ@Y[?i2@I2)^;2CYFւByF IbDN VDN2yV%V[=ٔZ;Q-Z>9XYX=^Fy^ZuE^ME^>`Q 5f5bv]?Q 9f5bL.)bBYhyjQ Ij@bEIb;ib;bR5ylɮnAl~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 20.77 m.bh Rh&;Zh&;% ProNav: ac range: 20.767351 m, nav range: 19.482809 m, bearing: 254.624334 deg, approach rate: -0.527660 m/s, LOS rate: 0.238061 deg/s, cmd heading: 261.134470 deg, new cmd heading: 261.352535 deg. Bh%a#<-HeadingCmd: 4.561462 target range: 20.767351 and range: 20.90 m.h-@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdE@;?UBɢey<)i ue?iq)g顁i:<ԩilaܿ_<q2=I@E EqE#E"E1:*E$ :VE3ZEBEy;a2Ez;aJEU;a:EU;aImDDAT read: Rx Time:05:53:48.6867 uTRx dataTimestamp_ set to:1761544429.947183}PDAT read: Bearing 73.8, -9.5 (Local) ~Local bearing/azimuth received: Bearing 73.8, -9.5 (Local) DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.3 DAT read: 05:53:48.6867 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 511,-0.16,-3.043, 1.802,-2.549,-2.993, PHS= 0.053,-1.443, 0.400, RAW= 160.2, 11.7, CAL= 160.5, 13.0, ROT= 349.5, -13.0 Ygot valid direction response: 05:53:48.6867 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 511,-0.16,-3.043, 1.802,-2.549,-2.993, PHS= 0.053,-1.443, 0.400, RAW= 160.2, 11.7, CAL= 160.5, 13.0, ROT= 349.5, -13.0 T#Rx 58: Read range and direction messages.^direction in FSK: [0.958054,-0.177565,0.224951]Fpublishing direction and range infoyqua?7sƿ:/2?YṳAqqqq q)u8IuY=iu9u>u2@uQ>uG3@ uVh>)u2@IuVhqqu/?޽3:?z3G? u3?)u]PIut;iuVhqqchecking for new query: numPingsReceived=58, elapsed TxPingTime=26.469065@ @@3@^A -B=Iy I O >! ڜ,^;?A2@2aܒ@2TTٱ2D :AHRS rotation from veh to nav: [[-0.122513,0.973015,0.195533],[-0.991113,-0.130234,0.027081],[0.051815,-0.190478,0.980323]]2H \"?9?3`'??@aȿ^?i2@I22^;2Cbchecking for new query: numPingsReceived=58, elapsed TxPingTime=26.701418YfӂByf IbDrVDry=8J%=B=ٔEA;Q-E>9AYA=MFyM_uEMEM>QQ 5]5UW?Q 9]5U2)UBYayeQ Ie@UEIU;iU;US5ym^BɮmUAuvEii|;?AJiARiAjin@bS3@ 'k@Ra?7sƿ:/2?Zit;biVhj;'!2@Z~Z;ϿTJs_*t?2i:i="i*}b2@}ȭT>}¸2@ }|o>)}z@BABO>BB"!IBBB= =BBBa;B$EI}|oyy}(%?G5O?}Mi? }|}1?)}TI}2i}|oyym checking for new query: numPingsReceived=59, elapsed TxPingTime=26.985378^A ·3= I) I9 OE >J,Ѥ;?ALYr‚Byr IimMb@Mb@Mb@iiii i9msh|?? rhymC mt9Y=FycuEE>Q 55P?Q 957)BY+>Q E:yQ I@EI ;i ;U5yɮAii˽;?AJiARiAji@bcQ3@x F CU@Rq%?W0ſ] A?Zi2bi|oj;V[T72]N>L@ZyxBοzVbz?2iٖ:iښ"i#?*i{'BiiBii#iiBiDAiY@ addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.501901 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 20.469109 m, bearing: 255.606509 deg, lat: 36.779412 deg, lon: -121.859767 deg, deltaT: 0.501901 s, deltaX: -0.000147 m, approachRate: -0.000293 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 20.47 m.bh)Rh1Zh1E ProNav: ac range: 20.469109 m, nav range: 19.158461 m, bearing: 254.878331 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 261.654958 deg, new cmd heading: 261.951650 deg. BhAMHeadingCmd: 4.571919 target range: 20.469109 and range: 20.60 m.hM)M@hI*hI"hQ hQgQfQfYf]BdYdYdajdaZde`?mBɢmuǺ)q u.?iq)uqqiuEBi} ۿ}<:=I)M@Ichecking for new query: numPingsReceived=59, elapsed TxPingTime=27.206686EO@A @A@E/@A@I@MfA^A ȿ=bEEɻ 4jEEO4rEEp0E  E rE )E "E :*E ?:VE FA4ZE BE ;a 2E ;a JE yY;a :E zY;a !  DDAT read: Rx Time:05:53:49.6864  TRx dataTimestamp_ set to:1761544430.952686 PDAT read: Bearing 73.7, -9.4 (Local)  ~Local bearing/azimuth received: Bearing 73.7, -9.4 (Local)  DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.3  DAT read: 05:53:49.6864 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508, 0.36,-0.721,-2.185,-0.239,-0.675, PHS= 0.056,-1.464, 0.393, RAW= 159.8, 11.8, CAL= 160.1, 13.3, ROT= 349.9, -13.3  Ygot valid direction response: 05:53:49.6864 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508, 0.36,-0.721,-2.185,-0.239,-0.675, PHS= 0.056,-1.464, 0.393, RAW= 159.8, 11.8, CAL= 160.1, 13.3, ROT= 349.9, -13.3  T#Rx 60: Read range and direction messages. ^direction in FSK: [0.958098,-0.170663,0.230050] Fpublishing direction and range infoy  ho?#0Kſgz}"Er?Y ̠A ) 8I B`e=i Zd L7> 2@ BR> [2@ ,m>) k@I ,m ?>8! ?<(,A;?ARqՋ@RCВ@R%CٱR:3EX AHRS rotation from veh to nav: [[-0.124003,0.972786,0.195733],[-0.991130,-0.130926,0.022785],[0.047792,-0.191171,0.980392]]RH@ !? ?V2`T?!x?Mxȿ`_?iRqՋ@IR^;RCYBy II<)p;=bD VD:2y5W%5==ٔ5g99Y9==Fy=guE=_EE>AQ 5u5EI?Q 9u5Ew<)EBYqyuQ Iu@EEIE:iE:EW5y[BɮAiqiu;?AJiuǟARiuǟAjiu}@buMB"3@ D ef`@Ruho?#0Kſgz}"Er?ZiuT4biu,mju& A(p*j2YH@ZuY8ο~{h"}3s?2iuQ:iuB"iu\?*iu] BiuBiu*i)$顡ioDiMڿ< t,Q;?Ajϋ@jʒ@j;ٱjD vAHRS rotation from veh to nav: [[-0.124701,0.972862,0.194909],[-0.991137,-0.131207,0.020784],[0.045794,-0.190590,0.980601]]jHe쿿@!??egsH?Cr?>eȿa?ijϋ@IjX^;hiI DDAT read: Rx Time:05:53:50.1863  TRx dataTimestamp_ set to:1761544431.457013PDAT read: Bearing 69.3, -7.9 (Local) ~Local bearing/azimuth received: Bearing 69.3, -7.9 (Local) -DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 UDAT read: 05:53:50.1863 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.16,-1.219,-2.738,-0.735,-1.279, PHS= 0.162,-1.414, 0.500, RAW= 159.5, 8.6, CAL= 159.2, 8.9, ROT= 350.8, -8.9 BeL>BaBe!IBeBBe> =BaBeNDBea;Be$EuYgot valid direction response: 05:53:50.1863 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.16,-1.219,-2.738,-0.735,-1.279, PHS= 0.162,-1.414, 0.500, RAW= 159.5, 8.6, CAL= 159.2, 8.9, ROT= 350.8, -8.9 T#Rx 61: Read range and direction messages.^direction in FSK: [0.975251,-0.157956,0.154710]Fpublishing direction and range infoy  pϏA5?p7Ŀj?Y A     ) :I T%>i  ? )2@ `> 1@ >) v@I    HXh?[#? ~2&? 0?) I l$i   checking for new query: numPingsReceived=61, elapsed TxPingTime=28.015585QyYBy Ii%Mb@Mb@Mb@!!!! !9%+?Zd;MbpY%v>y%%%A%@ %A)%@!Y%p@bDE VDE2y]R%]=ٔ]#Y;Q-]>9iYi=mFymmuEuEu>yQ 55}u@?Q 95} D)}BY?Q E:yQ I@}EI}:i}:}DZ5yɮAi i ?;?AJi ARi Aji ϧ@b X宄a3@2 =A@R pϏA5?p7Ŀj?Zi l$bi j ѤR|;2Kۙ@Z 5j`ϿCpS*k ?2i ݕ:i "i 8?*i 0Bi Bi i [oB"i i _Ai ѕ@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504327 s, deltaX: -0.100000 m, approachRate: -0.198285 m/s, rangeRepo size: 4  Added new target pos. range: 19.872763 m, bearing: 255.423701 deg, lat: 36.779413 deg, lon: -121.859769 deg, deltaT: 0.504327 s, deltaX: -0.099522 m, approachRate: -0.197336 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.87 m.bhRhZh  ProNav: ac range: 19.872763 m, nav range: 18.796438 m, bearing: 255.297852 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 262.282406 deg, new cmd heading: 262.692868 deg. BhHeadingCmd: 4.584856 target range: 19.872763 and range: 20.00 m.h#@h*h"h hgff!f%Bd!d)d)jd-4@Zd-`?checking for new query: numPingsReceived=61, elapsed TxPingTime=28.213736E BɢE t)i m >ii )u q q iu Gi} bٿ L< ѽm/ 2@m;0>m1@ mt;?>)m+@Imt;?iimei[?1?8!? m0?)mn1Im5&imt;?ii%checking for new query: numPingsReceived=62, elapsed TxPingTime=28.489761AIIO?, FiqukAIuQ8)uPFiq)}YCI}kA}94}WF yمCمlAفiففiڭCڭ A)ک کIکYYBy IbDVDβy%X%-9=ٔ-;Q-->91Y1=5Fy5ruE5E=>9Q 5m5=9?Q 9m5=I)=BYiymQ Im@=EI=!;i=;=/\5yyɮ}AyiQiU|;?AJiUARiUAjiU@bUtzC2@Z /^N, @RU&}B?bYSĿ &K{?ZiU5&biUt;?jUkQ"xU2C˙@ZU F~οy9o4kW6?2iU:iUh"iU?*iU+BiUBiQiU{'iUBiU!AiU{@E addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503687 s, deltaX: -0.299999 m, approachRate: -0.595606 m/s, rangeRepo size: 4 U Added new target pos. range: 19.574671 m, bearing: 255.530535 deg, lat: 36.779413 deg, lon: -121.859771 deg, deltaT: 0.503687 s, deltaX: -0.298092 m, approachRate: -0.591820 m/s, posRepo size: 4 jhY}DNOT Ignoring new targets: 19.57 m.bhyRhZh ProNav: ac range: 19.574671 m, nav range: 18.766146 m, bearing: 255.526323 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 262.692873 deg, new cmd heading: 263.020688 deg. BhHeadingCmd: 4.590577 target range: 19.574671 and range: 19.70 m.Թh@h*h"h hgfffdddjd@33@ZdA?=ŁBɢEл)A E>iA)E AIiMIiMcؿU Em  Em Em $Ei "Em :*Em 3:VEm 4ZEi a} @a @a @a @?, BCB IBBB? =BBBa;BMDAT read: 05:53:51.1860 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.33,-0.279,-1.804, 0.190,-0.339, PHS= 0.163,-1.420, 0.486, RAW= 159.1, 8.8, CAL= 158.8, 9.2, ROT= 351.2, -9.2 UYgot valid direction response: 05:53:51.1860 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.33,-0.279,-1.804, 0.190,-0.339, PHS= 0.163,-1.420, 0.486, RAW= 159.1, 8.8, CAL= 158.8, 9.2, ROT= 351.2, -9.2 ]T#Rx 63: Read range and direction messages.e^direction in FSK: [0.975516,-0.151017,0.159881]eFpublishing direction and range infoypr.lm7? °TÿČsv?YrApppp p)r;Iry&>irµr>rg1@rnF>ra1@ rl$>)r%@Irl$ppr-*?99YY=]FyewuEeEe>iQ 5u5m3?Q 9u5m0P)mBYu?Q E}:y}Q I}@mEIm;im;mB^5ynBɮAEipiriq)u qqiuqKi}N׿}p<}KF ;C ԡ iw9Y_`AEm EmqEiEi"Ems:*Em$ :VEiZEiBEm;au2Em;auJEmU;a}:EmU;aAII O>7,; rAHRS rotation from veh to nav: [[-0.129309,0.973472,0.188764],[-0.990822,-0.134402,0.014380],[0.039369,-0.185172,0.981917]]fH1`&?j)?`Ѵ4@js? /(?ǿk?if@Ifp^;fC%DDAT read: Rx Time:05:53:51.6858 %TRx dataTimestamp_ set to:1761544432.968676-PDAT read: Bearing 70.4, -8.0 (Local) 5~Local bearing/azimuth received: Bearing 70.4, -8.0 (Local) EDAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4 DAT read: 05:53:51.6858 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.13,-2.806, 1.978,-2.349,-2.844, PHS= 0.140,-1.416, 0.451, RAW= 158.9, 9.6, CAL= 158.8, 10.2, ROT= 351.2, -10.2 Ygot valid direction response: 05:53:51.6858 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.13,-2.806, 1.978,-2.349,-2.844, PHS= 0.140,-1.416, 0.451, RAW= 158.9, 9.6, CAL= 158.8, 10.2, ROT= 351.2, -10.2 ԱUT#Rx 64: Read range and direction messages.U^direction in FSK: [0.972610,-0.150568,0.177085]]Fpublishing direction and range infoy!%j2?@Eÿki?Y%A!!!! !)%:I%)\>i%}?%y>%5~1@%+>! %K6>)!I%K6!!YmBym I%ր?9? ^@? %-?)%*I!i%K6!!checking for new query: numPingsReceived=64, elapsed TxPingTime=29.533627bDVD1y=%2=ٔh;Q->9Y!=%Fy%{uE%CE>Q 55],?Q 95V)BYyiQ I@EIR:i:L`5ykBɮGA~Ei!i%=1NQ@Z%/׵ο?2i%:i%ڑ"i%G?*i%3.Bi%Bi!i%3.i%Bi%.Ai%,Ҏ@u addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503738 s, deltaX: -0.299999 m, approachRate: -0.595546 m/s, rangeRepo size: 4  Added new target pos. range: 19.077648 m, bearing: 255.752579 deg, lat: 36.779412 deg, lon: -121.859775 deg, deltaT: 0.503738 s, deltaX: -0.298086 m, approachRate: -0.591748 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.08 m.bhRhZh ProNav: ac range: 19.077648 m, nav range: 18.522495 m, bearing: 255.719975 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 263.356549 deg, new cmd heading: 263.690267 deg. BhHeadingCmd: 4.602263 target range: 19.077648 and range: 19.20 m.hE@h*h"h  h g f ffdddjd@333@Zd?额ˁBɢ.0) ȷ>i) 顡iMiq(׿"<Ҝ;IE@IO@ @@4@@@gA^AmVoQ<checking for new query: numPingsReceived=64, elapsed TxPingTime=29.726929A I I O >9 !,kUٱm< AHRS rotation from veh to nav: [[-0.130346,0.973878,0.185934],[-0.990744,-0.135107,0.013114],[0.037892,-0.182504,0.982475]]mH/@*?? -2KQۊ?f?H\ǿnp?imt@Im^;mCY%rBy%r IE EE"E"E:*E&p:VE(3ZEa@a@a@a@iMb@Mb@Mb@ 9Zd;?lBMCBM IBMĂBBMB =BIBMMDBMa;BM$EB B ĸCB ĔCB > =B ? =C :6=~Local bearing/azimuth received: Bearing 73.8, -9.0 (Local) uDAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.5 DAT read: 05:53:52.1857 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.02, 0.259,-1.204, 0.704, 0.300, PHS= 0.062,-1.459, 0.360, RAW= 158.8, 12.2, CAL= 159.1, 13.8, ROT= 350.9, -13.8 Ygot valid direction response: 05:53:52.1857 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.02, 0.259,-1.204, 0.704, 0.300, PHS= 0.062,-1.459, 0.360, RAW= 158.8, 12.2, CAL= 159.1, 13.8, ROT= 350.9, -13.8 T#Rx 65: Read range and direction messages.^direction in FSK: [0.958911,-0.153593,0.238533]Fpublishing direction and range infoy)-Sf?k8ÿiC?Y-̘A)))) )y%2=ٔ S;Q->9Y=FyuEzE>))I-}=i--Q>-a1@-^ Z>-g1@ -Ϣv>)-@I-Ϣv))-+`?!!>Ė?,#? -J-?)-ZZI-"i-Ϣv))checking for new query: numPingsReceived=65, elapsed TxPingTime=30.002813Q 55&?Q 95])BY ?Q E:yQ I@EIF;i;?b5y ɮ A 9i)i-xA^i)k iZOiTlֿu<GIt@Ii P@  @ @ 5@ ԙ  checking for new query: numPingsReceived=65, elapsed TxPingTime=30.230324^A -B<AIAIaOm ?zX,w9XYX=^Fy^uE^]E^>QԁQ 55U ?Q 95Ud)UBYyBQ I@UEIU=E1@= j>=1@ =%>)=v@I=%99=Z]:O?s?hbc? =-?)=jI=l$i=%99checking for new query: numPingsReceived=66, elapsed TxPingTime=30.513103ЁBɢ,o0) ܨ>i)%!!!i%D|Pi-oֿ-PX<- I-u@I1ԩ@ @@4@^AqZ;AIIO> checking for new query: numPingsReceived=66, elapsed TxPingTime=30.733372 (2$,VAHRS rotation from veh to nav: [[-0.133112,0.974868,0.178645],[-0.990480,-0.137229,0.010836],[0.035079,-0.175502,0.983854]]6H 2?? Y1??vƿ{?i6@I6k^;6CYLyPbDZVDZk2ٔbSf;Q-b>9dYd=fFyfuEjeEj>lQ 5r5n?Q 9r5nj)n!BYpyrqQ Ir@nEIn;in;ne5yxɮxxii|~i)项iQiTeֿ<4Iv@IMDDAT read: Rx Time:05:53:53.1853 UTRx dataTimestamp_ set to:1761544434.481213ePDAT read: Bearing 75.5, -9.5 (Local) e~Local bearing/azimuth received: Bearing 75.5, -9.5 (Local) }DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.5 DAT read: 05:53:53.1853 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.03, 1.624, 0.149, 2.064, 1.696, PHS= 0.030,-1.503, 0.323, RAW= 158.6, 13.5, CAL= 159.2, 15.4, ROT= 350.8, -15.4 Ygot valid direction response: 05:53:53.1853 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.03, 1.624, 0.149, 2.064, 1.696, PHS= 0.030,-1.503, 0.323, RAW= 158.6, 13.5, CAL= 159.2, 15.4, ROT= 350.8, -15.4 T#Rx 67: Read range and direction messages.^direction in FSK: [0.951694,-0.154141,0.265556]Fpublishing direction and range infoyIM4Et?4eMÿ<?BA<B>>BCB IBBBE =BBLDBa;B$EYM̔AIIII I)M9IMMm(1@M:Fq>I M>)IIMIIMB S?@c{i?t9]7? Mm,?)MҖpIIiMII-checking for new query: numPingsReceived=67, elapsed TxPingTime=31.0151949@9 @9@=4@9Q^A] ?BɹAe ?Ae ?ԁ A I I O >+,{9IYI=MFyMuEUEU>YQ 5e5]v?Q 9e5]r)]*BYeC$?Q Em:ymQ Im@]EI]:i]H:]g5yu~BɮuAuEi i 2̞i1)=_99i=?SiE{aֿE| 1@g1@ c>)@Ic$T?Gc?)? ?,?)RrI"icechecking for new query: numPingsReceived=68, elapsed TxPingTime=31.506126i ^Ae A .AI I O >42,:9E ?YE ?=EFyEuEEݻEE>QQ 5U5U?Q 9]5Uy)U0BYYy]qQ I]@UEIUp:iUg:Ui5yaɮmAiii i)Wi^Ti^ֿ9<­IVx@IAP@ @@/@qE  E E !E "E :*E *5:VE c3ZE a-@a-@a-@a5@^Aeu DDAT read: Rx Time:05:53:54.1847 u TRx dataTimestamp_ set to:1761544435.490209 PDAT read: Bearing 75.4, -10.2 (Local)  ~Local bearing/azimuth received: Bearing 75.4, -10.2 (Local) ԙ  DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.7  DAT read: 05:53:54.1847 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.29,-2.667, 2.132,-2.204,-2.591, PHS= 0.026,-1.515, 0.343, RAW= 159.2, 13.2, CAL= 159.7, 15.1, ROT= 350.3, -15.1  Ygot valid direction response: 05:53:54.1847 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.29,-2.667, 2.132,-2.204,-2.591, PHS= 0.026,-1.515, 0.343, RAW= 159.2, 13.2, CAL= 159.7, 15.1, ROT= 350.3, -15.1 B <>B B IB BB G =B B B a;B $E T#Rx 69: Read range and direction messages.U ^direction in FSK: [0.951670,-0.162672,0.260505]] Fpublishing direction and range infoyq u M't?ɂoĿQfJ0?Yu Aq q q q q )u 9Iu u 1@u k>u b2@ u V>)u @Iu Vq q u V%?fK?S? u P /?)u [lIu 4\-iu Vq q  checking for new query: numPingsReceived=69, elapsed TxPingTime=32.034676A) I9 II OU >8,T9AYI=MFyMuEM6dEM>qQ 5}5u ?Q 95u)u9BY-?Q E:yQ I@uEIu:iua:uk5y{BɮkAEii_i)iKUiEZֿ {< ⮔I Jy@I @ @@/@ ^A 3A zA gAbE= 3jE=Y3rE=ַ/E  E E "E "E :*E H:VE (3ZE BE Z;a5 2E [;a5 JE ;a= :E ;a= iy Iy  DDAT read: Rx Time:05:53:54.6844  TRx dataTimestamp_ set to:1761544435.993758 PDAT read: Bearing 75.4, -9.7 (Local)  ~Local bearing/azimuth received: Bearing 75.4, -9.7 (Local)  DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.6  DAT read: 05:53:54.6844 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.04, 1.138,-0.341, 1.578, 1.199, PHS= 0.040,-1.495, 0.335, RAW= 158.6, 13.1, CAL= 159.1, 14.9, ROT= 350.9, -14.9  Ygot valid direction response: 05:53:54.6844 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.04, 1.138,-0.341, 1.578, 1.199, PHS= 0.040,-1.495, 0.335, RAW= 158.6, 13.1, CAL= 159.1, 14.9, ROT= 350.9, -14.9  T#Rx 70: Read range and direction messages. ^direction in FSK: [0.954213,-0.152840,0.257133] Fpublishing direction and range infoy  0_?bFÿFht?Y fA 1 A5 ؟AI9 IQ O] >_R@,}Y=?A)I #=i)\>m(1@ j>g1@ %>)@I%ZvX?pu? N!;? `,?)jI"i%Bchecking for new query: numPingsReceived=70, elapsed TxPingTime=32.542957nu@njp@n#ٱn_ -AHRS rotation from veh to nav: [[-0.135693,0.978417,0.155842],[-0.990353,-0.138406,0.006641],[0.028067,-0.153438,0.987760]]nH@a^2O?@?`H3{??٣ÿ?inu@In^[^;nCYEByE IQU@AbDUVDU:ye=%eG=ٔn;Q->9"?Y"?=FyuEx:E>Q 55?Q 95)BBYyQ I@EI;i;m5yɮAiii)#iViVֿE*<P:I#z@I@ @@/@1checking for new query: numPingsReceived=70, elapsed TxPingTime=32.749744a ^A A .AI1 IY ԑ O >F,q=?AE EE$E "E:*E.:VE4ZE a@a@a"@a"@Z4<ɰZ4< y@ s@ ټٱ kx %AHRS rotation from veh to nav: [[-0.135280,0.979010,0.152440],[-0.990453,-0.137735,0.005612],[0.026490,-0.150226,0.988297]] H@P T?)?˱ Jmv?H ?@:ÿ ?i y@I f^; CY5By5 I====}DDAT read: Rx Time:05:53:55.1842 TRx dataTimestamp_ set to:1761544436.496709PDAT read: Bearing 76.7, -10.6 (Local) ~Local bearing/azimuth received: Bearing 76.7, -10.6 (Local) DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.6 DAT read: 05:53:55.1842 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.40, 2.067, 0.605, 2.521, 2.163, PHS= 0.006,-1.513, 0.314, RAW= 159.1, 14.0, CAL= 159.7, 16.1, ROT= 350.3, -16.1 Ygot valid direction response: 05:53:55.1842 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.40, 2.067, 0.605, 2.521, 2.163, PHS= 0.006,-1.513, 0.314, RAW= 159.1, 14.0, CAL= 159.7, 16.1, ROT= 350.3, -16.1 AA@AB=>BB IBBBE =BBBa;B$ET#Rx 71: Read range and direction messages.^direction in FSK: [0.947043,-0.161881,0.277315]Fpublishing direction and range infoyy}-N?`ʅĿ/?Y}Ayyyy y)}:I};i}}Ġ>}g1@}5z>}b2@ }ޏ>)}@I}ޏyy}q?ZAm??|? }".?)}yI}4\-i}ޏyychecking for new query: numPingsReceived=71, elapsed TxPingTime=33.021671ԩiUMb@Mb@Mb@QQQQ Q9US㥛?y&1:v?YU$&?yU`eU9 ?Y ?=FyuE?\:E>Q 55?Q 95")OBY&?Q EE:yEQ IE@EI'@Z}@ FϿR@77ҳ?2i}w:i}"i}%?*i}I{E'Bi}Bi}ǭ?i}+*i}Bi}Ai}@ addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.502951 s, deltaX: -0.299999 m, approachRate: -0.596478 m/s, rangeRepo size: 4   Added new target pos. range: 16.891081 m, bearing: 255.036285 deg, lat: 36.779412 deg, lon: -121.859773 deg, deltaT: 0.502951 s, deltaX: -0.297981 m, approachRate: -0.592466 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.89 m.bhRhZh- ProNav: ac range: 16.891081 m, nav range: 16.066689 m, bearing: 255.445772 deg, approach rate: 0.000000 m/s, LOS rate: 0.004881 deg/s, cmd heading: 264.056725 deg, new cmd heading: 264.064161 deg. Bh)5HeadingCmd: 4.608789 target range: 16.891081 and range: 17.00 m.h53{@h1*h1"h1 hgfff|Bdddjd1@Zd?܁Bɢ%0H)! %>i!)%))i-8EXi-Rֿ5 <]"I]3{@IY@ @@/@ - checking for new query: numPingsReceived=71, elapsed TxPingTime=33.253723^A 1 A!I1IIOe>V N,:=?AER ERER&EP"ER:*ER;J:VER4ZEPBER%mL=ٔuߒ;Q-u>9qYq=}Fy}uE}%;E}>Q 55X?Q 95)YBYyyQ I@EI&;iT;mq5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 16.89 m.bhRhZh ProNav: ac range: 16.891081 m, nav range: 15.812036 m, bearing: 255.408959 deg, approach rate: -0.684255 m/s, LOS rate: -0.100511 deg/s, cmd heading: 264.064156 deg, new cmd heading: 263.951938 deg. BhHeadingCmd: 4.606831 target range: 16.891081 and range: 17.00 m.h(k@h*h"h hgfffdddjdZd`D?5݁Bɢ5L;)1 5>i1)=!99i=sYiEʒֿEN2@d>Ud3@ >)K$@Ir! ?y:%?D$JCL? ٢3?)IdIq=ichecking for new query: numPingsReceived=72, elapsed TxPingTime=33.526157@ @@/@Ay^A A>A?% checking for new query: numPingsReceived=72, elapsed TxPingTime=33.757412A= ؟AIA IY Oe >ԙ $T,T=?Aq@k@_ٱ AHRS rotation from veh to nav: [[-0.133170,0.980299,0.145876],[-0.990827,-0.135094,0.003313],[0.022955,-0.144096,0.989297]]H ^? ?`۴ J#k?d? q¿S?i@Im^;CYBy I p<<bDVD1yK=%D=ٔ x;Q->9"?Y"?=FyuEW1;E>!Q 5-5%l?Q 9-5%Ȟ)%cBY)y5XQ I5@%EI% ;i%7;%Hs5y9ɮ=lA9ii@=?AJi'ARi'Ajitύ@b"3/@L[Pk@Rwus?mƿ=9?Ziq=bij' 0]Ch.1[@Zh|Hп4&T`BCB IBBBG =BBKDBa;B$EDAT read: 05:53:56.1838 LVL= 32752, 32753, 30818, 32755, AGC= 58, IDX= 498,-0.03, 1.257,-0.216, 1.761, 1.313, PHS= 0.047,-1.483, 0.404, RAW= 160.3, 11.9, CAL= 160.5, 13.3, ROT= 349.5, -13.3 Ygot valid direction response: 05:53:56.1838 LVL= 32752, 32753, 30818, 32755, AGC= 58, IDX= 498,-0.03, 1.257,-0.216, 1.761, 1.313, PHS= 0.047,-1.483, 0.404, RAW= 160.3, 11.9, CAL= 160.5, 13.3, ROT= 349.5, -13.3 ߁Bɢ) `?i)%  i 6[T#Rx 73: Read range and direction messages.^direction in FSK: [0.956883,-0.177348,0.230050]Fpublishing direction and range infoy,vȞ?o4Vƿgz}"Er?Y3Abx )I@=iҽ>3@ȭT>G3@ ,m>)2@I,miUֿUۮ \,~r=?A2@2k@2rɪٱ26 %AHRS rotation from veh to nav: [[-0.131604,0.980679,0.144735],[-0.991083,-0.133235,0.001593],[0.020846,-0.143235,0.989469]]2H`fa?? :Z?X?U¿ ?i2@I2^;2CYBy%!I ))G!5i{91Y5dAi5Mb@Mb@Mb@1111 195A`"?Q뱿Q?Y5?y5\5\=5^A5@ 5z@)5z@1Y5p@bDeVDeNy}>%=ٔ};Q->9Y=FyuE>;E>Q 55?Q 95$)sBYd?Q E:yQ I@EIv:i:u5yɮNAE EE#E"EI:*E|;:VE3ZEBE$+3@t;?> Q>)IQ=Bɢ=+;)9 =p?i9)EYAAiEd\iM>׿MفIiQchecking for new query: numPingsReceived=74, elapsed TxPingTime=34.553692@ @@ /@ y ԩ ^A% ?B:uchecking for new query: numPingsReceived=74, elapsed TxPingTime=34.767712IIO>Ud,/=?AJ@JQ@J$jٱJn RAHRS rotation from veh to nav: [[-0.129807,0.981111,0.143425],[-0.991360,-0.131168,0.000036],[0.018848,-0.142181,0.989661]]JHCe?`[?9 @?L? 3¿M?iJ@IJQ|^;HXY^By^?!IbDjVDjFyv=%zX=ٔ:;Q- >9Y=%Fy%uE5;E=>YQ 5u5]B?Q 95])]~BYyvQ I@]EI]"BB IB݂BBJ =BBBa;B$EBƶCBƵCBƓCBG =BG =CƢ59=~Local bearing/azimuth received: Bearing 75.8, -11.8 (Local) UDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.6 uDAT read: 05:53:57.1833 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.24,-1.533,-2.951,-1.048,-1.450, PHS= 0.018,-1.457, 0.357, RAW= 160.1, 12.9, CAL= 160.6, 14.7, ROT= 349.4, -14.7 }Ygot valid direction response: 05:53:57.1833 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.24,-1.533,-2.951,-1.048,-1.450, PHS= 0.018,-1.457, 0.357, RAW= 160.1, 12.9, CAL= 160.6, 14.7, ROT= 349.4, -14.7 T#Rx 75: Read range and direction messages.^direction in FSK: [0.950762,-0.177930,0.253758]Fpublishing direction and range infoysǰl?zkƿN=?YyA )It[2@f>Ud3@ G\>)K$@IG\Ӷ9O%?o?L#,? XD3?)zfIq=iG\checking for new query: numPingsReceived=75, elapsed TxPingTime=35.039974ɢ <) ?i)ti²^iׇ׿Y7<=k,'0=?AV͋@Vǒ@VljٱVwy AHRS rotation from veh to nav: [[-0.125148,0.981610,0.144155],[-0.992035,-0.125902,-0.003914],[0.014308,-0.143497,0.989547]]VH `Xi?s? p]M?^¿@_?iV͋@IVN^;VCY}9Byf!II<)=iMb@Mb@Mb@ 9sh|??J + ףp= ?Y ?yȽQ8=A@ M@)Y@bDVD:y=%=ٔ;Q->9 Y = Fy uE<E>ԙQ 555堊?Q 95x)BY ?Q E:yuQ I@EI:ij:z5yBɮ#AEiAiEՠ=?AJiEwARiEwAjiE@bE4vy-@lpaG#%w@REsǰl?zkƿN=?ZiEq=biEG\jE K,rE @ZEt͹sпs09PO?2iEd:iE"iEEs?*iEC-BiE8BiAiEC-iE8BEE EEEE$EA"EEs:*EE.:VEE4ZEABEE;aM2EE;aMJEE ;aU:EE ;aUiEmAiEӍ@ addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504251 s, deltaX: -0.299999 m, approachRate: -0.594940 m/s, rangeRepo size: 4  Added new target pos. range: 15.499722 m, bearing: 254.417432 deg, lat: 36.779409 deg, lon: -121.859774 deg, deltaT: 0.504251 s, deltaX: -0.298207 m, approachRate: -0.591387 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.50 m.bhRhZh ProNav: ac range: 15.499722 m, nav range: 14.867571 m, bearing: 253.940227 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 263.523479 deg, new cmd heading: 263.353140 deg. BhHeadingCmd: 4.596379 target range: 15.499722 and range: 15.60 m.h@h*h"h hgf f f Bd dd1jd5@33/@Zd5_[?颅Bɢ'N<) )*?i)顉iz`iB׿2< k%3@%l$>%3@ %%/>)%@I%%/!!%ԯ4"?WĹ?mBPs? %R87?)%A$I%Ai%%/!!checking for new query: numPingsReceived=76, elapsed TxPingTime=35.546692I@I @I@I@I ^A 8<I I O >ٱ2 JAHRS rotation from veh to nav: [[-0.121962,0.981750,0.145917],[-0.992466,-0.122353,-0.006321],[0.011647,-0.145589,0.989277]]2H8j?i?IRyڇ?¿'?i2f@I2s^;0YRRByV!IbDnVDn0yv>%vy=ٔz DDAT read: Rx Time:05:53:58.1830  TRx dataTimestamp_ set to:1761544439.526338 PDAT read: Bearing 74.4, -12.5 (Local)  ~Local bearing/azimuth received: Bearing 74.4, -12.5 (Local)  DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4  DAT read: 05:53:58.1830 LVL= 32752, 32753, 31042, 32755, AGC= 54, IDX= 505, 0.01,-3.125, 1.728,-2.610,-3.062, PHS= 0.039,-1.448, 0.408, RAW= 160.8, 11.8, CAL= 161.1, 13.2, ROT= 348.9, -13.2  Ygot valid direction response: 05:53:58.1830 LVL= 32752, 32753, 31042, 32755, AGC= 54, IDX= 505, 0.01,-3.125, 1.728,-2.610,-3.062, PHS= 0.039,-1.448, 0.408, RAW= 160.8, 11.8, CAL= 161.1, 13.2, ROT= 348.9, -13.2  T#Rx 77: Read range and direction messages. ^direction in FSK: [0.955366,-0.187435,0.228351] Fpublishing direction and range infoy  MkY[?*ǿ :?Y pA By ) 6I w=i X `> 3@ BR> P3@ k>) @I k B?c{,{?{.? f6?) EQI aFi k  checking for new query: numPingsReceived=77, elapsed TxPingTime=36.048317B- 6>B) B- ;!IB- BB- I =B) B) B- a;B- o$Eԙ cy,Va=?A2@2{@2ٱ2q :AHRS rotation from veh to nav: [[-0.118904,0.981833,0.147870],[-0.992863,-0.118952,-0.008551],[0.009194,-0.147832,0.988970]]2H yp@-k?@k? s dԂ?@'¿?i2@I2^;2CY~_By~!Iyi%Mb@Mb@Mb@!!!! !9%Gz?rh|~jt?Y%>y%%D=%^A%@ %z@)%@!Y%\@bDeVDeymb=%4=ٔ¯;Q->9Y=FyuE;E>Q 55ڠ?Q 95>)BY>Q E:yQ I@EI;i&;d}5y!ɮ%A!ii=?AJiunARiunAji@bEz,@+ Y.c1Z9 @RMkY[?*ǿ :?ZiaFbikjx?u?c:Ѫ+.VF@Zm.п2ٳ ?2iV]:i{"iP*?*i3+Bi1Biii1BihAi@  addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.508942 s, deltaX: -0.200000 m, approachRate: -0.392972 m/s, rangeRepo size: 4  Added new target pos. range: 14.903644 m, bearing: 254.131151 deg, lat: 36.779408 deg, lon: -121.859775 deg, deltaT: 0.508942 s, deltaX: -0.198649 m, approachRate: -0.390318 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 14.90 m.bh!RhAZhIU ProNav: ac range: 14.903644 m, nav range: 14.553317 m, bearing: 253.806014 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 263.257757 deg, new cmd heading: 263.118536 deg. BhY]HeadingCmd: 4.592285 target range: 14.903644 and range: 15.00 m.h]@ha*ha"ha hagfff;Bdddjd.@Zd7?ԡchecking for new query: numPingsReceived=77, elapsed TxPingTime=36.277569 Bɢ ss<)  4@ |o>) @I |o a}?r0g?֔l? 6?) TI 4+Hi |o = checking for new query: numPingsReceived=78, elapsed TxPingTime=36.554260A .AI I O >,>?Aÿ`?iR@IRYw^;RCYdBy!I AAbDVD1yMQ<%M8=ٔU;Q-U>9U ?YU ?=]Fy]uE] <E]>aQ 55ejԠ?Q 95ek)eBYyjQ I@e EIe;ie;eJ5yɮAiqiu>?AJiuhARiuhAjiu @bur6b+@φ._ijE @Ru)6?Qi/ȿ] A?Ziu4+Hbiu|ojuF4>n*I+@Zu6`пhR'5?2iuW:iuq"iugԕ?*iuq&Biu BiuP*?iuC-iu BiudAiu:@M addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.502581 s, deltaX: -0.400000 m, approachRate: -0.795891 m/s, rangeRepo size: 4 ] Added new target pos. range: 14.506214 m, bearing: 254.325296 deg, lat: 36.779409 deg, lon: -121.859774 deg, deltaT: 0.502581 s, deltaX: -0.397429 m, approachRate: -0.790777 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 14.51 m.bhaRhZh ProNav: ac range: 14.506214 m, nav range: 14.251608 m, bearing: 254.286588 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 263.118530 deg, new cmd heading: 262.990506 deg. BhԡHeadingCmd: 4.590050 target range: 14.506214 and range: 14.60 m.h@h*h"h hgfffdddjd@33-@Zd@n?-Bɢ5<)1 5=?i1)5ݼ19i=eieؿe! 4$, >?AE EEE"Ey:*E*:VEـ3ZEa*@a.@a.@a.@\\pDDAT read: Rx Time:05:53:59.1827 TRx dataTimestamp_ set to:1761544440.529630PDAT read: Bearing 74.4, -12.5 (Local) ~Local bearing/azimuth received: Bearing 74.4, -12.5 (Local) DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 -DAT read: 05:53:59.1827 LVL= 32752, 32753, 31618, 32755, AGC= 53, IDX= 502,-0.17, 0.033,-1.388, 0.534, 0.091, PHS= 0.044,-1.434, 0.399, RAW= 160.5, 11.7, CAL= 160.8, 13.2, ROT= 349.2, -13.2 5Ygot valid direction response: 05:53:59.1827 LVL= 32752, 32753, 31618, 32755, AGC= 53, IDX= 502,-0.17, 0.033,-1.388, 0.534, 0.091, PHS= 0.044,-1.434, 0.399, RAW= 160.5, 11.7, CAL= 160.8, 13.2, ROT= 349.2, -13.2 5T#Rx 79: Read range and direction messages.=^direction in FSK: [0.956334,-0.182430,0.228351]=Fpublishing direction and range infoyDJ?2KYǿ :?Y{ )IX94=iPI>G3@Q>3@ k>)@IkƸ7?2Z?z?  5?)ORIAikmchecking for new query: numPingsReceived=79, elapsed TxPingTime=37.052044AiAmAABu5>BqBuy!IBuHBBqBqBqBu'a;Bu=$EU?@U:@UtٱUw AHRS rotation from veh to nav: [[-0.111231,0.981823,0.153788],[-0.993788,-0.110472,-0.013500],[0.003735,-0.154334,0.988012]]UHyk?`T?G ٥ 2n?`:ÿʝ?iU?@IU^;UCY-wBy-!IiMb@Mb@Mb@ 9$C?~jtÿkt?Y>y 0=t A d@)@YbDVDy=%(=ٔJ;Q->9"?Y"?=FyuE <E>Q 55̠?Q 95)BY>Q E:yyQ I@EI;i;j5y%Bɮ-A-Eiiu!>?AJiRijih@bżY۾+@I+؃ @RDJ?2KYǿ :?ZiAbikji- K+}6< @Z-п^}Bx?2iX:iqh"i?*iL4-BiBiEs?iiiA`AiC@ addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.500711 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.506192 m, bearing: 254.983533 deg, lat: 36.779410 deg, lon: -121.859774 deg, deltaT: 0.500711 s, deltaX: -0.000022 m, approachRate: -0.000044 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.51 m.bhRhZhE ProNav: ac range: 14.506192 m, nav range: 14.015959 m, bearing: 254.724603 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 262.990505 deg, new cmd heading: 262.843631 deg. BhAMHeadingCmd: 4.587487 target range: 14.506192 and range: 14.60 m.hM̒@hI*hI"hI hIgQfqfqf}SBdydydyjdZdU?BɢH<) E?i)V׼i@gi ٿX<%=I̒@I1N@ @@/@ checking for new query: numPingsReceived=79, elapsed TxPingTime=37.289486Y ^A <A gAzA fAԉ A.AIIO>D,u=>?A2]@2X@2ٱ2!bEe3jEe3rEe- 0EN ENEN%EL"ENg:*ENh:VEN 4ZELBEN|;aZ2EN};aZJEN;aZ:EN;aZ ^AHRS rotation from veh to nav: [[-0.107626,0.981806,0.156440],[-0.994191,-0.106489,-0.015661],[0.001283,-0.157217,0.987563]]2Hgj?8?hB@ U?Ŀ`?i2]@I2?^;2CYfvByf!IbDrVDryv»%v`=ٔz0;Q-z>9~ ?Y~ ?=~Fy~uE~"<E>Q 5 5Ơ?Q 95)BYy5Q I@EID;i;5y!ɮ%!A!=B*** querying acoustic contact ***i9 i9jhIUDNOT Ignoring new targets: 14.51 m.bhQRhU;ZhU;e ProNav: ac range: 14.506192 m, nav range: 13.854366 m, bearing: 254.836508 deg, approach rate: -0.463548 m/s, LOS rate: 0.324757 deg/s, cmd heading: 262.843629 deg, new cmd heading: 263.183255 deg. Bhe^<mHeadingCmd: 4.593414 target range: 14.506192 and range: 14.60 m.hu@@hq*hq"hq hqgqfyfyfydyddjdZd ?Ա颽Bɢl =) D?i)k?ӼiThiiJؿ=4@=t;?>=4@ =BR>)= \@I=BR99= !-g?iB?.B? =+;?)=м?I=TwVi=BR99=checking for new query: numPingsReceived=80, elapsed TxPingTime=37.571075mP@i @i@m4@i@u=@u>^AE<Au؟AIyIO\>  checking for new query: numPingsReceived=80, elapsed TxPingTime=37.7894069 ,7OW>?AJz@Juu@J+ڒ:ٱJw$ RAHRS rotation from veh to nav: [[-0.104112,0.981744,0.159185],[-0.994565,-0.102589,-0.017776],[-0.001120,-0.160171,0.987089]]JHqj?.`?y LC@3 E[RyĿ:?iJz@IJ^;JCYnlByn!IIr=)r=bDvVDv0y6% I=ٔc;Q-u>9}"?Y}"?=FyuE} <E>Q 55/?Q 95)BYyQ I@EIC ?AJim&`ARim&`Ajim@bmG*@> r0|3?@Rm2S?\: ʿrG,?ZimTwVbimBRjmui0r k2*fd' @ZmAtѿS#П1j?2imQ:imUo"ime?*imO*BimBimP*?im3+imBimYAim=.@ addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503113 s, deltaX: -0.500000 m, approachRate: -0.993813 m/s, rangeRepo size: 4  Added new target pos. range: 14.009405 m, bearing: 254.066876 deg, lat: 36.779409 deg, lon: -121.859773 deg, deltaT: 0.503113 s, deltaX: -0.496787 m, approachRate: -0.987426 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.01 m.bhRhZh  ProNav: ac range: 14.009405 m, nav range: 13.607469 m, bearing: 254.573417 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 263.183253 deg, new cmd heading: 263.617956 deg. Bh HeadingCmd: 4.601001 target range: 14.009405 and range: 14.10 m.hg;@h*h"h hgfffd!d!dIjdM@33,@ZdM`?E EEE"EƱ:*EP:VEZEa@a@a@a@额Bɢ<) >?imDDAT read: Rx Time:05:54:00.1824 uTRx dataTimestamp_ set to:1761544441.541635PDAT read: Bearing 72.9, -13.2 (Local) ~Local bearing/azimuth received: Bearing 72.9, -13.2 (Local) B7>BB!IBlBBG =BBB`;B+$EDAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 -DAT read: 05:54:00.1824 LVL= 32752, 32753, 26290, 32755, AGC= 55, IDX= 499,-0.24, 1.843, 0.408, 2.380, 1.883, PHS= 0.062,-1.430, 0.453, RAW= 161.4, 10.7, CAL= 161.4, 11.7, ROT= 348.6, -11.7 =Ygot valid direction response: 05:54:00.1824 LVL= 32752, 32753, 26290, 32755, AGC= 55, IDX= 499,-0.24, 1.843, 0.408, 2.380, 1.883, PHS= 0.062,-1.430, 0.453, RAW= 161.4, 10.7, CAL= 161.4, 11.7, ROT= 348.6, -11.7 =T#Rx 81: Read range and direction messages.E^direction in FSK: [0.959904,-0.193550,0.202787]EFpublishing direction and range infoyimZz?\Aȿ ?Yiiiimf i)m7Im}=im= m>mI4@imI4@ mQ>)m@ImQiimq;$?S@J?J? m8?)m?>ImKimQiiechecking for new query: numPingsReceived=81, elapsed TxPingTime=38.078274)&AͼaaimjimQ׿my<?AɰF&@F@FX;ٱF}' NAHRS rotation from veh to nav: [[-0.100528,0.981642,0.162092],[-0.994929,-0.098643,-0.019658],[-0.003308,-0.163246,0.986580]]FH1i?@j?t@@ !Yk;Ŀ?iF&@IF^;DYboByb!IiMb@Mb@Mb@ 9 rh?~jtÿl?YC>y= A @)@Y@bDVDy<%=ٔ~;Q->9Y=FyuE;E>Q 55?Q 95)BYy>Q E:y9Q I@EI;ih;@5yɮAiYi]&b>?AJiYRiYji]\@b]4B*@*>= m4@A>4@ ȭT>)mj@IȭT=i?k?Kw? ;?)-@ITiȭTchecking for new query: numPingsReceived=82, elapsed TxPingTime=38.561703颥Bɢ@<) >?i) Ƽ  i GPki +ֿݴr,Uږ>?Aό@ɓ@;ٱo/ AHRS rotation from veh to nav: [[-0.093862,0.981195,0.168662],[-0.995558,-0.091254,-0.023167],[-0.007340,-0.170087,0.985402]]HT`e?ූ?e\` `~@lſ i?iό@I[^;C1Y-aBy-!I 11bDEVDEkym.g%u,=ٔu6 9yYy=}Fy}uE}Bg<E>Q 55r?Q 95f)BYyQ I@EI:i:X5yɮTAii#>?AJiYARiYAji`@b@" *@-`]Mut@RFᬣ?S9ɿFa5d?ZiTbiȭTj/FD QTn^)},X @ZoTgyL2п#G"?2iL:iw\"itl)?*i,BiBitl)?i,iBiSAi`@ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.499633 s, deltaX: -0.400001 m, approachRate: -0.800589 m/s, rangeRepo size: 4 Y Added new target pos. range: 13.612067 m, bearing: 254.925653 deg, lat: 36.779409 deg, lon: -121.859774 deg, deltaT: 0.499633 s, deltaX: -0.397433 m, approachRate: -0.795450 m/s, posRepo size: 4 jhE EE!E"E:*Ec:VEc3ZE=DNOT Ignoring new targets: 13.61 m.bh9RhIZhDDAT read: Rx Time:05:54:01.1820 TRx dataTimestamp_ set to:1761544442.549152 PDAT read: Bearing 75.9, -13.4 (Local) B!A!B55>B1B5!IB5vBB5H =B1B1B5`;B5$EE~Local bearing/azimuth received: Bearing 75.9, -13.4 (Local) UDAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4 DAT read: 05:54:01.1820 LVL= 32752, 32753, 29682, 32755, AGC= 56, IDX= 511, 0.10, 2.884, 1.444,-2.893, 2.976, PHS= 0.010,-1.487, 0.371, RAW= 160.5, 12.9, CAL= 161.0, 14.8, ROT= 349.0, -14.8 Ygot valid direction response: 05:54:01.1820 LVL= 32752, 32753, 29682, 32755, AGC= 56, IDX= 511, 0.10, 2.884, 1.444,-2.893, 2.976, PHS= 0.010,-1.487, 0.371, RAW= 160.5, 12.9, CAL= 161.0, 14.8, ROT= 349.0, -14.8  ProNav: ac range: 13.612067 m, nav range: 13.245576 m, bearing: 254.925699 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 264.133360 deg, new cmd heading: 264.624022 deg. BhHeadingCmd: 4.618560 target range: 13.612067 and range: 13.70 m.h?˓@h*h"h hgfff T#Rx 83: Read range and direction messages.^direction in FSK: [0.949060,-0.184479,0.255446]Fpublishing direction and range infoy/B^?3ǿl39Y?YXAs )I #G3@f>3@  A>)@d!d)d)jd-+@Zd-sإ?ԁI Ay?7ՒG?yL? 55?)fIDi Achecking for new query: numPingsReceived=83, elapsed TxPingTime=39.114021BɢYo<) r6?i)5iB(linտx<?A2i@2;@2C1<ٱ20 :AHRS rotation from veh to nav: [[-0.090772,0.981221,0.170192],[-0.995830,-0.087860,-0.024582],[-0.009167,-0.171714,0.985104]]2H`<)f??}+ Ƃſ ?i2i@I2%^;0YBKByF|!Ii Mb@Mb@Mb@     9 A`"?ˡEĿ:v?Y >y ' <  A @ M@)  Y @ !%bD-VD-1y=e%==ٔ=`;Q-=>9E ?YE ?=EFyEuEM;EM>QQ 5]5U§?Q 9]5U)UBY]$>Q E]:y]Q I]@UEIU*:iU:U5ymBɮuAuEiiN%>?AJiVARiVAjiH@bIu)@5p43i @R/B^?3ǿl39Y?ZiDbi Ajy=rf)8jw @ZYˡ̿ pX?2iH:i@"i`쪟?*iVZ,BiBiiii*PAi{@] addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.507884 s, deltaX: -0.200000 m, approachRate: -0.393790 m/s, rangeRepo size: 4  Added new target pos. range: 13.413290 m, bearing: 256.547950 deg, lat: 36.779409 deg, lon: -121.859774 deg, deltaT: 0.507884 s, deltaX: -0.198777 m, approachRate: -0.391383 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.41 m.bhRhZhDzDE EEE"E:*EVL:VEZEBE6 ,4@d>4@ w>)@Iwt?EE\?W C?  h8?)dIQiw%checking for new query: numPingsReceived=84, elapsed TxPingTime=39.570171Bɢ<) )?i)溼i liIӿEMɵ,E>?A2@2@2*<ٱ2r2 JAHRS rotation from veh to nav: [[-0.088389,0.981159,0.171799],[-0.996032,-0.085255,-0.025549],[-0.010421,-0.173375,0.984801]]2H @e?~?}@Mӵ@) W@'1ƿ|?i2@I2ko^;2CY^0By^\!IbDpVDpy~%~9=ٔ9;Q->9 "?Y "?= FyuEϰ;E>!Q 555%?Q 9=5%)%!BYAyEQ IE@%!EI%ֈ;i% ;%5yUBɮ]AYԱiqiu >?AJiuQARiuQAjiuF@buk$(@^/Z>Fr @Ru3#R?h'`ɿ!?ZiuQbiuwjuBzBCB!IBbBBI =BBB)`;B#EB]ŵCBYBYB]I =B]I =C]95TRx dataTimestamp_ set to:1761544443.575310%PDAT read: Bearing 75.0, -13.2 (Local) -~Local bearing/azimuth received: Bearing 75.0, -13.2 (Local) eJNG3@^ Z>3@ Ϣv>)@IϢvpL?1԰M?Ђ!? Q4?)xZIAiϢvchecking for new query: numPingsReceived=85, elapsed TxPingTime=40.1680649 ^Au v< checking for new query: numPingsReceived=85, elapsed TxPingTime=40.310246qAIIO->^,>?AYu!ByuI!II<)y7 t< A @)IbDVDy%c%-=ٔ-Q-5>91Y1=5Fy5uE=E=>AQ 5M5E̘?Q 9M5EC)E)BYME>Q EM:yUQ IU@E%EIEq ;iE ;E쏍5y]Bɮ]AYiiYi]>?AJiYRiYji]db@b]w)@m&v @R]R1)?#~JǿiC?Zi]Abi]Ϣvj]GY((" @Z]Jf̿Kupj?2i]gE:i]=:"i]L?*i]1Bi]ۉBi]?i],i]ۉBi]HAi]J#@ addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.526430 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.115157 m, bearing: 256.728674 deg, lat: 36.779411 deg, lon: -121.859774 deg, deltaT: 0.526430 s, deltaX: -0.000060 m, approachRate: -0.000114 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.12 m.bhIRhYZha ProNav: ac range: 13.115157 m, nav range: 12.504953 m, bearing: 256.287320 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 265.567836 deg, new cmd heading: 266.067349 deg. BhHeadingCmd: 4.643751 target range: 13.115157 and range: 13.20 m.h@h*h"h hgfffdddjdZd@;?E E~E$E"Eغ:*E(:VE4ZEBE?i)[imiѿ?;I@IDDAT read: Rx Time:05:54:02.6816 TRx dataTimestamp_ set to:1761544444.056919PDAT read: Bearing 75.1, -13.3 (Local) ~Local bearing/azimuth received: Bearing 75.1, -13.3 (Local) DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 ԱDAT read: 05:54:02.6816 LVL= 32752, 32753, 28802, 32755, AGC= 55, IDX= 507,-0.28,-0.915,-2.344,-0.412,-0.841, PHS= 0.028,-1.457, 0.385, RAW= 160.5, 12.3, CAL= 160.9, 13.9, ROT= 349.1, -13.9 Ygot valid direction response: 05:54:02.6816 LVL= 32752, 32753, 28802, 32755, AGC= 55, IDX= 507,-0.28,-0.915,-2.344,-0.412,-0.841, PHS= 0.028,-1.457, 0.385, RAW= 160.5, 12.3, CAL= 160.9, 13.9, ROT= 349.1, -13.9 T#Rx 86: Read range and direction messages.^direction in FSK: [0.953204,-0.183558,0.240228]Fpublishing direction and range infoy?vP~ǿؼʿ?YfNAp )7IB`[>3@ Ulx>)g@IUlx:9?Pi)eQ?D=#H? h5?)[ItBiUlx checking for new query: numPingsReceived=86, elapsed TxPingTime=40.579010P@ @@@@=@=^A *:<A ?A > 5 checking for new query: numPingsReceived=86, elapsed TxPingTime=40.814262AAIqIO>ŏ,??Ar+@r&@rS<ٱr_<,  AHRS rotation from veh to nav: [[-0.082557,0.982700,0.165787],[-0.996503,-0.079250,-0.026480],[-0.012883,-0.167393,0.985806]]rH@{"Fr?8?`ZI`| gb#mſ@?ir+@IrՑ^;pY-By-!IbDMVDMye4%m/=ٔu#;Q-u>9yYy=}Fy}uEL<E5>9Q 55=ɑ?Q 95=2)=/BYyOQ I@=)EI=M;i=;=5yBɮAEii??AJiMARiMAjiy@by@o(@q9H ]֡@R?vP~ǿؼʿ?ZitBbiUlxjP[+{/#($k, @Z,L_̿踃G"d@V?2iA:i3"iit?*iܨ0BiBiL?iiiDAiX@ addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.481609 s, deltaX: -0.300000 m, approachRate: -0.622912 m/s, rangeRepo size: 4  Added new target pos. range: 12.817085 m, bearing: 256.893490 deg, lat: 36.779411 deg, lon: -121.859774 deg, deltaT: 0.481609 s, deltaX: -0.298072 m, approachRate: -0.618908 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.82 m.bhRhZh ProNav: ac range: 12.817085 m, nav range: 12.253552 m, bearing: 256.662173 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 266.067342 deg, new cmd heading: 266.554471 deg. BhHeadingCmd: 4.652253 target range: 12.817085 and range: 12.90 m.hBߔ@h*h"h! h!g!f!f!f)d)d)d)jd-)@Zd5?aeBɢm>_#<)i mR>ii)mkLiqiuXmiubпy}F?;IBߔ@IE EE%E"Ea:*EVL:VE 4ZEa=@aE@aE@aE@@ @@/@AA?AB8>BCBm!IB>BBH =BBB_;B#EuDDAT read: Rx Time:05:54:03.1815 TRx dataTimestamp_ set to:1761544444.580815PDAT read: Bearing 75.3, -13.7 (Local) ~Local bearing/azimuth received: Bearing 75.3, -13.7 (Local) DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 DAT read: 05:54:03.1815 LVL= 32752, 32753, 26930, 32755, AGC= 55, IDX= 506, 0.35, 2.620, 1.169,-3.141, 2.702, PHS= 0.020,-1.488, 0.397, RAW= 160.9, 12.4, CAL= 161.2, 14.0, ROT= 348.8, -14.0 Ygot valid direction response: 05:54:03.1815 LVL= 32752, 32753, 26930, 32755, AGC= 55, IDX= 506, 0.35, 2.620, 1.169,-3.141, 2.702, PHS= 0.020,-1.488, 0.397, RAW= 160.9, 12.4, CAL= 161.2, 14.0, ROT= 348.8, -14.0 T#Rx 87: Read range and direction messages.^direction in FSK: [0.951817,-0.188465,0.241922]Fpublishing direction and range infoyy}3(Gu?`Wxȿ79K?Y}LAyyy}2i y)yI} ף}3@}k]>}4@ }5z>)}@I}5zyy}mS?ƈv?ܫbpg? }6?)}[\^A~;I}4+Hi}5zyyuchecking for new query: numPingsReceived=87, elapsed TxPingTime=41.151211 A1 IA IY O} >ˏ,[1??AlYrByr IEchecking for new query: numPingsReceived=87, elapsed TxPingTime=41.317520a}a} iuMb@Mb@Mb@qqqq q9uˡE?X9vMbp?Yu?yuu;u Au@ uz@)u/@qYu=@bDVDNy%,=ٔQ->9Y=FyuEE> Q 5%5Z?Q 9M5)3BYU ?Q EU:yUpQ I]@-EI i)⧪i)liϿɭ<JI"@I9E E|E#E"E:*EP$:VE3ZEBE;a52E;a5JE};a5:E};a=@ @@/@DDAT read: Rx Time:05:54:03.6813 TRx dataTimestamp_ set to:1761544445.064805 PDAT read: Bearing 74.7, -13.6 (Local)  ~Local bearing/azimuth received: Bearing 74.7, -13.6 (Local)  DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 U DAT read: 05:54:03.6813 LVL= 32752, 32753, 29426, 32755, AGC= 54, IDX= 504, 0.08, 1.013,-0.438, 1.543, 1.083, PHS= 0.032,-1.477, 0.416, RAW= 161.1, 11.9, CAL= 161.3, 13.4, ROT= 348.7, -13.4 ] Ygot valid direction response: 05:54:03.6813 LVL= 32752, 32753, 29426, 32755, AGC= 54, IDX= 504, 0.08, 1.013,-0.438, 1.543, 1.083, PHS= 0.032,-1.477, 0.416, RAW= 161.1, 11.9, CAL= 161.3, 13.4, ROT= 348.7, -13.4 e T#Rx 88: Read range and direction messages.} ^direction in FSK: [0.953918,-0.190612,0.231748]} Fpublishing direction and range infoy6?eȿ] A?YHAr )6Io=iV>P3@ȭT>,4@ |o>)6@I|o?뿠]?1uqK? w7?)SIIi|o checking for new query: numPingsReceived=88, elapsed TxPingTime=41.605927a ^A vт;ԑ AI I!O->%ԏ,=,Q??A6UD@6'?@6ʶW<ٱ6*( >AHRS rotation from veh to nav: [[-0.079589,0.983475,0.162609],[-0.996741,-0.076361,-0.026013],[-0.013166,-0.164149,0.986348]]6H_x?^? M`k@@ſ)?i6UD@I6Z^;6CYĴByJ I LLbDRVDR:yZFĽ%^L=ٔ^';:Q-^>9`Y`=bFybuEb;Eb>dQ 5n5f?Q 9n5f)f7BYlynQ Ir@f1EIf ;if";f˕5ytɮvAtiQiU%D??AJiUFARiUFAjiUE@bU~}'@CVS@RU6?eȿ] A?ZiUIbiU|ojU^@xlxsg'm'@ZUJ̿&i-'\ ?2iU?;:iUf3"iUř?*iU|2BiUBiU?iU1iUBiU?AiUi@= addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.483990 s, deltaX: -0.300000 m, approachRate: -0.619848 m/s, rangeRepo size: 4 M Added new target pos. range: 12.419770 m, bearing: 256.530087 deg, lat: 36.779411 deg, lon: -121.859776 deg, deltaT: 0.483990 s, deltaX: -0.298075 m, approachRate: -0.615870 m/s, posRepo size: 4 checking for new query: numPingsReceived=88, elapsed TxPingTime=41.824123ԙjhIDNOT Ignoring new targets: 12.42 m.bhRh1Zh1 ProNav: ac range: 12.419770 m, nav range: 11.987062 m, bearing: 256.781296 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 267.027420 deg, new cmd heading: 267.377396 deg. BhHeadingCmd: 4.666616 target range: 12.419770 and range: 12.50 m.hT@h!*h)"h) h1g9fAfafdddjd)@Zd@To?Bɢ;) >i) Z  i 7liοV<XϻI%T@I)Թ@ @@0@^A[RSEe EeyEe!Ea"Ee:*Ee:VEec3ZEaau@au@au@au@U DDAT read: Rx Time:05:54:04.1813 e TRx dataTimestamp_ set to:1761544445.573833 PDAT read: Bearing 75.9, -13.1 (Local)  ~Local bearing/azimuth received: Bearing 75.9, -13.1 (Local)  DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 B :>B B .!IB BB G =B B LDB _;B ~#EA  DAT read: 05:54:04.1813 LVL= 32752, 32753, 29650, 32755, AGC= 55, IDX= 504,-0.31, 1.317,-0.123, 1.809, 1.395, PHS= 0.024,-1.472, 0.371, RAW= 160.2, 12.7, CAL= 160.6, 14.4, ROT= 349.4, -14.4  Ygot valid direction response: 05:54:04.1813 LVL= 32752, 32753, 29650, 32755, AGC= 55, IDX= 504,-0.31, 1.317,-0.123, 1.809, 1.395, PHS= 0.024,-1.472, 0.371, RAW= 160.2, 12.7, CAL= 160.6, 14.4, ROT= 349.4, -14.4  T#Rx 89: Read range and direction messages.I I O > ^direction in FSK: [0.952055,-0.178172,0.248690] Fpublishing direction and range infoyQ U 83;;w? |Yƿl?YQ Q Q Q U s Q )U 7IU U 2@U b>U Ud3@ U >)U K$@IU Q Q U ̼?`{9G'?by^? U 3?)U ?bIU q= iU Q Q m checking for new query: numPingsReceived=89, elapsed TxPingTime=42.147594 >ڏ,j??A2N@2I@2T<ٱ2 % :AHRS rotation from veh to nav: [[-0.078312,0.984171,0.158979],[-0.996844,-0.075228,-0.025333],[-0.012973,-0.160461,0.986957]]2H ? T~?iY?`&`%B qĿ&?i2N@I2p^;2CY-By5 IiMb@Mb@Mb@ 9Q?Zd;OMbP?Y?yj: M@)@Y@bD VD2y%%%)=ٔ%ѹQ-->9)YQ=UFyUuEUn,;E]>YQ 5e5]d?Q 9m5]9)]9BY?Q E:yQ I@]5EI];i];]엍5yɮAiid??AJiRijiÏ@b '@?yNߠ@R83;;w? |Yƿl?Ziq=bij9Ge'f, @Z.ʿum$ s?2i.;:i8'"i8?*i/9Bi9BiL?i|2inBi;Ai@M addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.509028 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DDAT read: Rx Time:05:54:04.6810 TRx dataTimestamp_ set to:1761544445.823898checking for new query: numPingsReceived=89, elapsed TxPingTime=42.332050 Added new target pos. range: 12.419829 m, bearing: 257.410270 deg, lat: 36.779411 deg, lon: -121.859776 deg, deltaT: 0.509028 s, deltaX: 0.000059 m, approachRate: 0.000116 m/s, posRepo size: 4 jh)eDNOT Ignoring new targets: 12.42 m.bhaRhqZhy ProNav: ac range: 12.419829 m, nav range: 11.718995 m, bearing: 257.079287 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 267.377399 deg, new cmd heading: 267.867372 deg. Bh!=HeadingCmd: 4.675168 target range: 12.419829 and range: 12.50 m.h]@hY*hY"hY hYgafafafeBdididijdiZdmW?Bɢ཯:)! %u>i!)-;))i-ki]Ϳ]1<]NI]@IaQM N@I  @I @M /@I Ee  Ee Ee &Ea "Ee s:*Ee 0:VEe 4ZEa BEe ;am 2Ee ;au JEe ۉ;au :Ee ۉ;au y E PDAT read: Bearing 76.0, -13.6 (Local) E ~Local bearing/azimuth received: Bearing 76.0, -13.6 (Local) U DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.5 } DAT read: 05:54:04.6810 LVL= 32752, 32753, 28226, 32755, AGC= 55, IDX= 501, 0.03, 2.831, 1.385,-2.934, 2.920, PHS= 0.013,-1.490, 0.385, RAW= 160.8, 12.7, CAL= 161.2, 14.4, ROT= 348.8, -14.4  Ygot valid direction response: 05:54:04.6810 LVL= 32752, 32753, 28226, 32755, AGC= 55, IDX= 501, 0.03, 2.831, 1.385,-2.934, 2.920, PHS= 0.013,-1.490, 0.385, RAW= 160.8, 12.7, CAL= 161.2, 14.4, ROT= 348.8, -14.4  T#Rx 90: Read range and direction messages. ^direction in FSK: [0.950137,-0.188133,0.248690] Fpublishing direction and range infoy9 = l̈́g?fȿl?Y= 3CA9 9 9 = Bn 9 )9 I= T= 3@9 = 4@ 9 )= @I9 9 9 = ?xf? ; ? = J6?)= ,bI= 4+Hi9 9 9  checking for new query: numPingsReceived=90, elapsed TxPingTime=42.591770^A ԱA.AIIO?Z,fO??AYBy IbDVDy"% =ٔQ->9 ?Y ?=FyvEE>Q 55z?Q 95 );BYyQ I@:EI:i:"5yɮAiiO??AJiAARiAAjin@bInL'@ZDgt>{/@Rl̈́g?fȿl?Zi4+HbijZ3V|8.&~1 @Zt<)̿%ޠt ?2i,6:i*"i]֙?*i0^9BiBi ?i3i9Bi7Ai6\@%DDAT read: Rx Time:05:54:05.1808 -TRx dataTimestamp_ set to:1761544446.327695Echecking for new query: numPingsReceived=90, elapsed TxPingTime=42.835911 addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.497597 s, deltaX: -0.300000 m, approachRate: -0.602898 m/s, rangeRepo size: 4 != Added new target pos. range: 12.121753 m, bearing: 256.816321 deg, lat: 36.779410 deg, lon: -121.859777 deg, deltaT: 0.497597 s, deltaX: -0.298077 m, approachRate: -0.599032 m/s, posRepo size: 4 jhAUDNOT Ignoring new targets: 12.12 m.bhyRhZh ProNav: ac range: 12.121753 m, nav range: 11.488423 m, bearing: 256.685449 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 267.867370 deg, new cmd heading: 268.361199 deg. BhHeadingCmd: 4.683786 target range: 12.121753 and range: 12.20 m.h@h*h"h hgffQfYdYdYdajde`ff(@Zde?5 Bɢ5b)1 5Q>i1)5y99i=zjiE̿EͫBu CBu IBu ӂBBu C =Bq Bu MDBu _;Bu #E DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.5 I) O5 >׈,??ADAT read: 05:54:05.1808 LVL= 32752, 32753, 26930, 32755, AGC= 55, IDX= 499, 0.32,-2.949, 1.902,-2.389,-2.862, PHS= 0.015,-1.474, 0.429, RAW= 161.9, 11.9, CAL= 162.2, 13.4, ROT= 347.8, -13.4 "Ygot valid direction response: 05:54:05.1808 LVL= 32752, 32753, 26930, 32755, AGC= 55, IDX= 499, 0.32,-2.949, 1.902,-2.389,-2.862, PHS= 0.015,-1.474, 0.429, RAW= 161.9, 11.9, CAL= 162.2, 13.4, ROT= 347.8, -13.4 "T#Rx 91: Read range and direction messages.&^direction in FSK: [0.950807,-0.205572,0.231748]&Fpublishing direction and range infoy*m?5.Pʿ] A?Yf>A2i )Iu4@ȭT>-5@ |o>)?@I|oK?-Z?aP? _;?)bTIt Zi|oVchecking for new query: numPingsReceived=91, elapsed TxPingTime=43.151676 \@V@E><ٱn EAHRS rotation from veh to nav: [[-0.076705,0.985215,0.153192],[-0.996986,-0.073999,-0.023294],[-0.011613,-0.154517,0.987922]]H袳?̛?O Aڗ`ȇ@7ÿ`?i \@I f^;i I)IUj9Y=FyvE-C;UDDAT read: Rx Time:05:54:05.6806 eTRx dataTimestamp_ set to:1761544446.832604PDAT read: Bearing 75.1, -14.0 (Local) ~Local bearing/azimuth received: Bearing 75.1, -14.0 (Local) Ee>iQ 5u5mt?Q 9}5m)m]J4@]Q>]{4@ ]k>)]x@I]kYY]|Qp?d>?? ? ]H9?)]PI]4Ri]kYYii9??AJi/=ARi/=AjiuȎ@b#1|&@Nhr{s@R*m?5.Pʿ] A?Zit Zbi|ojŲvY̲,qN/&j@Zcοi#w;?2iz1checking for new query: numPingsReceived=92, elapsed TxPingTime=43.412731:i5"i?*iqU;BiBi]֙?i0^9iBi5Ai2c@  addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.761174 s, deltaX: -0.599999 m, approachRate: -0.788255 m/s, rangeRepo size: 4 ]  Added new target pos. range: 11.823979 m, bearing: 255.652053 deg, lat: 36.779410 deg, lon: -121.859779 deg, deltaT: 0.505793 s, deltaX: -0.297773 m, approachRate: -0.588726 m/s, posRepo size: 4 jha e DNOT Ignoring new targets: 11.82 m.bha Rhi Zhi }  ProNav: ac range: 11.823979 m, nav range: 11.319666 m, bearing: 256.734292 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 268.361192 deg, new cmd heading: 268.948197 deg. Bh  HeadingCmd: 4.694032 target range: 11.823979 and range: 11.60 m.h 5@h *h "h  h g f f f Bd d d jd @33'@Zd 0E?% Bɢ% )) - N>i) )- W) ) i- iiU ei˿Q ] ټI] 5@IY @  @ @ @ E  E xE $E "E :*E :VE 4ZE BE ̽;a 2E ͽ;a JE Po;a :E Po;a  checking for new query: numPingsReceived=92, elapsed TxPingTime=43.585541^ALMQAE؟AIIIaOm?},??A4<ɰ49"?Y"?=Fy vEE>Q 55p?Q 95|)>BYyQ I@DEI ;i:{5yɮAiqiubI??AJiuj8ARiuj8Ajiu@bu@m%@[C:@Ru_?n4{ɿ :?Ziu4Rbiukju`g m%jo @ZuUOzͿ,@^:=^e?2iu{-:iu,"iu0?*iu4&;BiuEBiuř?iu/9iuBiu.1Aium]@ jhDNOT Ignoring new targets: 11.82 m.bhRhAZhA ProNav: ac range: 11.823979 m, nav range: 11.052539 m, bearing: 256.672324 deg, approach rate: -0.710244 m/s, LOS rate: -0.168742 deg/s, cmd heading: 268.948206 deg, new cmd heading: 268.757812 deg. BhHeadingCmd: 4.690709 target range: 11.823979 and range: 11.60 m.hI@hMDDAT read: Rx Time:05:54:06.1805 UTRx dataTimestamp_ set to:1761544447.336418}PDAT read: Bearing 85.3, -14.2 (Local) ~Local bearing/azimuth received: Bearing 85.3, -14.2 (Local) *h"h hgfDAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 ff d-Z#Rx 93: Read range message, but no direction.yIYMf6AIddYjd]&@Zde?}checking for new query: numPingsReceived=93, elapsed TxPingTime=43.872303颭BɢΟ) >i) 顱i :iiH˿O<EﺼII@IA@ @@@^AaA .AI I E  E ~E %E "E غ:*E (:VE 4ZE a @a @a @a @O >Bu H>Bu CBu IBu BBu > =Bq Bu NDBu _;Bu #EԹ  DAT read: 05:54:06.1805 LVL= 32752, 32753, 28770, 32755, AGC= 53, IDX= 512,-0.42,-2.235, 2.511,-1.739,-1.992, PHS=-0.142,-1.735, 0.209, RAW= 159.7, 18.2, CAL= 161.2, 22.8, ROT= 348.8, -22.8  Ygot valid direction response: 05:54:06.1805 LVL= 32752, 32753, 28770, 32755, AGC= 53, IDX= 512,-0.42,-2.235, 2.511,-1.739,-1.992, PHS=-0.142,-1.735, 0.209, RAW= 159.7, 18.2, CAL= 161.2, 22.8, ROT= 348.8, -22.8 ,@i??A"Z#Rx 94: Read direction message, but no range.Z^direction in FSK: [0.904306,-0.179058,0.387516]y(A?>bg^ƿh%?bp )5Ishi{޿V>b2@>4@ %>)@I%˾MB_?p?tQ? 1?)YI4+Hi%˾ checking for new query: numPingsReceived=94, elapsed TxPingTime=44.170750UPp@U"k@U <ٱU@ -AHRS rotation from veh to nav: [[-0.074240,0.987451,0.139387],[-0.997203,-0.072304,-0.018914],[-0.008598,-0.140401,0.990057]]UHg 3?m?{.^`?iUPp@IU^;UCԑYBy IiMb@Mb@Mb@ 9sh|??y&1|?Y)?yL`; A d@)@YQ@ <bDVDy/%,=ٔ лQ->9 ?Y ?=FyvE;E>Q 55l?Q 95&)@BYy*?Q E:yۿQ I@IEI ;i ;5yBɮAEii߇??AJi<5ARi<5Aji@bP"~|$@|-kH9q@R(A?>bg^ƿh%?Zi4+Hbi%˾jea!6aM$|+@ZOȿAXul?2ik":i "i`nU?*iI1BiBi]֙?iiBi",AiI@M addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503814 s, deltaX: -0.200001 m, approachRate: -0.396973 m/s, rangeRepo size: 4 ] Added new target pos. range: 11.327366 m, bearing: 258.033802 deg, lat: 36.779410 deg, lon: -121.859779 deg, deltaT: 0.759195 s, deltaX: -0.496614 m, approachRate: -0.654132 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 11.33 m.bhYRheZhau ProNav: ac range: 11.327366 m, nav range: 10.758498 m, bearing: 256.555246 deg, approach rate: 0.000000 m/s, LOS rate: -0.168742 deg/s, cmd heading: 268.757808 deg, new cmd heading: 268.517742 deg. Bhq}HeadingCmd: 4.686519 target range: 11.327366 and range: 11.40 m.h}@hy*hy"hy hgfffBdddjdZdp?颽Bɢ=Y)A EA>iA)E(EAAiM7hiM_̿U^eK6@eA>eih6@ e@X>)eB@Ie@Xaae3b?~j?V? e "A?)eAIemie@Xaa checking for new query: numPingsReceived=95, elapsed TxPingTime=44.463573^A ڼA A ? E  E E !E "E y:*E .:VE c3ZE BE =y,A.@?AY5By5 IbDEVDEyuٻ%uR=ٔ}Q-}>9}"?Y}"?=FyvEE>Q 55li?Q 95w-)ABYyQ I@NEI:i1:B5yɮAii??AJi+ARi+Aji@bv5l$@9=Om@R9W)s?v̿9h?Zimbi@Xj ]:q$R Y@Zz=п\Vqp??2i :i4"io{?*i5BiBi0?i0^9iBiA(Ai@ addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504085 s, deltaX: -0.599999 m, approachRate: -1.190274 m/s, rangeRepo size: 4  Added new target pos. range: 10.731189 m, bearing: 254.284367 deg, lat: 36.779409 deg, lon: -121.859779 deg, deltaT: 0.504085 s, deltaX: -0.596177 m, approachRate: -1.182692 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.73 m.bhRhZh% ProNav: ac range: 10.731189 m, nav range: 10.515898 m, bearing: 255.597322 deg, approach rate: 0.000000 m/s, LOS rate: -0.168742 deg/s, cmd heading: 268.517740 deg, new cmd heading: 268.310336 deg. Bh!-HeadingCmd: 4.682899 target range: 10.731189 and range: 10.80 m.h-Oڕ@h)*h)"h) h1g1f1f1f9d9d9d9jd=%@Zdes?颭Bɢ) >i)l顱i%2hi.̿^©<pIOڕ@I9uP@y @y@}/@y^AUA뜼DDAT read: Rx Time:05:54:07.1800 TRx dataTimestamp_ set to:1761544448.345771PDAT read: Bearing 74.2, -15.6 (Local) ~Local bearing/azimuth received: Bearing 74.2, -15.6 (Local) 5DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.5 IMZ#Rx 96: Read range message, but no direction.yY3+A]checking for new query: numPingsReceived=96, elapsed TxPingTime=44.874790AY Ii I O >q ֝,4@?A21@2@2;ٱ2W :AHRS rotation from veh to nav: [[-0.070603,0.988385,0.134577],[-0.997480,-0.069020,-0.016402],[-0.006923,-0.135396,0.990767]]2H٠? 9? \`Jː@[|@T^?i21@I2T^;2CYNByR IIVC=)V=V=V=bDZVDZy%G<%%P=ٔ-ًQ-->9)Y1=5Fy5vE5C<E5>9Q 5E5=Df?Q 9M5=D4)=CBYIyMtۿQ IM@=REI=:i==:=5yUBɮUA]EuB*** querying acoustic contact ***iq iq addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.505268 s, deltaX: -0.100000 m, approachRate: -0.197916 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 10.73 m.bhRhZh ProNav: ac range: 10.731189 m, nav range: 10.256154 m, bearing: 255.440458 deg, approach rate: -0.704671 m/s, LOS rate: -0.436342 deg/s, cmd heading: 268.310348 deg, new cmd heading: 267.827849 deg. BhHeadingCmd: 4.674478 target range: 10.731189 and range: 10.70 m.hR@h*h"h hgfffdddjd`ff%@Zd@?BE EE&E"E:*E3:VE4ZEa @a @a @a @ɢ:)) 5,>i1)5W嘼99i=gi=!ͿAE$zIER@IAQBML>BMCBM IBMBBM= =BIBIBM`_;BMp#EB÷CB÷CBÔCBC =BB =C!6DAT read: 05:54:07.1800 LVL= 32752, 32753, 26082, 32755, AGC= 51, IDX= 507, 0.11,-0.115,-1.537, 0.517,-0.031, PHS= 0.018,-1.460, 0.504, RAW= 163.7, 10.6, CAL= 163.8, 11.8, ROT= 346.2, -11.8 %O@) @)@50@1Ygot valid direction response: 05:54:07.1800 LVL= 32752, 32753, 26082, 32755, AGC= 51, IDX= 507, 0.11,-0.115,-1.537, 0.517,-0.031, PHS= 0.018,-1.460, 0.504, RAW= 163.7, 10.6, CAL= 163.8, 11.8, ROT= 346.2, -11.8 Z#Rx 97: Read direction message, but no range.^direction in FSK: [0.950612,-0.233492,0.204496]yR{^ik? ͿrG,?e )3Itc6@ BR>)Z@IBR0FO?H6i?Ȏی? qC?)4{=IviBRchecking for new query: numPingsReceived=97, elapsed TxPingTime=45.163368ԁԱ^A  DDAT read: Rx Time:05:54:07.6797  TRx dataTimestamp_ set to:1761544448.848538 PDAT read: Bearing 73.1, -16.3 (Local)  ~Local bearing/azimuth received: Bearing 73.1, -16.3 (Local) AA II IY Om >} DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.6 ,9@?ABDAT read: 05:54:07.6797 LVL= 32752, 32753, 22578, 32755, AGC= 53, IDX= 504,-0.08,-2.715, 2.166,-2.047,-2.638, PHS= 0.025,-1.434, 0.548, RAW= 164.7, 9.7, CAL= 164.6, 10.6, ROT= 345.4, -10.6 FYgot valid direction response: 05:54:07.6797 LVL= 32752, 32753, 22578, 32755, AGC= 53, IDX= 504,-0.08,-2.715, 2.166,-2.047,-2.638, PHS= 0.025,-1.434, 0.548, RAW= 164.7, 9.7, CAL= 164.6, 10.6, ROT= 345.4, -10.6 FT#Rx 98: Read range and direction messages.J^direction in FSK: [0.951196,-0.247768,0.183951]JFpublishing direction and range infoy1p?) 0ݶϿ =η?Y3#A @ ➔@ ;ٱ  2X )5I'7@ q=>)b@Iq=&!jf?L綎4?W`UU? G?)-Iwiq=5checking for new query: numPingsReceived=98, elapsed TxPingTime=45.447372 EAHRS rotation from veh to nav: [[-0.067940,0.988816,0.132765],[-0.997669,-0.066490,-0.015332],[-0.006333,-0.133497,0.991029]] H db?@r?@~ yfyp`?i @I r^; CYUByU IiMb@Mb@Mb@ 9S㥛?Mb?Y$&?y<^A@ M@)Y@ԱAAbDVDy<%2=ٔVQ->9Y=FyvE2;E>Q 5 5b?Q 9-5<)HBY5&?Q E5:y5ۿQ I5@WEI;ih;5y9ɮ=AAiirN6@?AJi)"ARi)"AjiYS@bTG#@+1h55`o?R1p?) 0ݶϿ =η?Ziwbiq=jʵQ.ˤ"G z@Z@ҿ?Z.8h?2i:i8"i~!o?*irp5BiBi?i5iEBiAi_+@ addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.502767 s, deltaX: -0.500000 m, approachRate: -0.994496 m/s, rangeRepo size: 4 - Added new target pos. range: 10.135093 m, bearing: 253.042479 deg, lat: 36.779408 deg, lon: -121.859778 deg, deltaT: 1.008035 s, deltaX: -0.596096 m, approachRate: -0.591345 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 10.14 m.bh)Rh5Zh1E ProNav: ac range: 10.135093 m, nav range: 9.850183 m, bearing: 254.553371 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 267.827837 deg, new cmd heading: 267.195131 deg. BhAmHeadingCmd: 4.663435 target range: 10.135093 and range: 10.20 m.hm:@hi*hi"hi higqfqfqfydydydyjd}`ff$@Zd ?BɢO) 2>i)ixgDzDAAE  E E %E "E :*E ą:VE  4ZE BE  1 ,S@?A]DDAT read: Rx Time:05:54:08.1796 mTRx dataTimestamp_ set to:1761544449.352908PDAT read: Bearing 71.9, -17.2 (Local) ~Local bearing/azimuth received: Bearing 71.9, -17.2 (Local) DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.5 O@!@b;ٱO AHRS rotation from veh to nav: [[-0.065231,0.989255,0.130840],[-0.997851,-0.063863,-0.014628],[-0.006115,-0.131514,0.991296]]H@?a? fTYq@M yo`?iO@Id^;C YUByU IuDAT read: 05:54:08.1796 LVL= 32752, 32753, 22514, 32755, AGC= 52, IDX= 503,-0.32,-1.680,-3.065,-0.965,-1.610, PHS= 0.032,-1.410, 0.601, RAW= 165.9, 8.7, CAL= 165.7, 9.2, ROT= 344.3, -9.2 }Ygot valid direction response: 05:54:08.1796 LVL= 32752, 32753, 22514, 32755, AGC= 52, IDX= 503,-0.32,-1.680,-3.065,-0.965,-1.610, PHS= 0.032,-1.410, 0.601, RAW= 165.9, 8.7, CAL= 165.7, 9.2, ROT= 344.3, -9.2 T#Rx 99: Read range and direction messages.bDVDk1y=%>=ٔQ->9 ?Y ? ^direction in FSK: [0.950308,-0.267120,0.159881] Fpublishing direction and range infoyae1h?5e#g|ѿČsv?Ye!AaaaeW a)e4Ieo=ieze#?eO9@e|>e9@ el$>)eK@Iel$aaeY9V?x-?[? e7M?=%Fy%!vE%;E%>)Q 555-\_?Q 955-C)-LBY9y=ڿQ I=@-[EI- :)exIeKiel$aaEchecking for new query: numPingsReceived=99, elapsed TxPingTime=45.953304i-:-5yaɮeeAiiaie V@?AJie ARie Ajie~@be #@X'rGҲ!?Re1h?5e#g|ѿČsv?ZieKbiel$je#@2K&ռ"ʭ(?Ze1A\ӿ|> o ?2ie:ieD"ie']?*ie:BieyBieo{?iaieBieAiea@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504370 s, deltaX: -0.099999 m, approachRate: -0.198266 m/s, rangeRepo size: 4 E Added new target pos. range: 10.035729 m, bearing: 251.889459 deg, lat: 36.779407 deg, lon: -121.859778 deg, deltaT: 0.504370 s, deltaX: -0.099363 m, approachRate: -0.197005 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 10.04 m.bhIRhQZhQ ProNav: ac range: 10.035729 m, nav range: 9.598991 m, bearing: 253.609208 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 267.195143 deg, new cmd heading: 266.617338 deg. BhHeadingCmd: 4.653350 target range: 10.035729 and range: 10.10 m.h?@h*h"h hgfffdddjd@33$@Zdu?1Bɢ:) >i)?Si 7gioпmMB- CB- IB- BB) B) B- MDB- (_;B- P#Ei @i  @i @q @q Ա Ա ^A yb]AII9O ?DDAT read: Rx Time:05:54:08.6792 TRx dataTimestamp_ set to:1761544449.857084PDAT read: Bearing 74.7, -18.5 (Local) ~Local bearing/azimuth received: Bearing 74.7, -18.5 (Local) ]DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.6 $i,?x@?ARDAT read: 05:54:08.6792 LVL= 32752, 32753, 26338, 32755, AGC= 52, IDX= 499, 0.32,-1.165,-2.534,-0.419,-1.025, PHS=-0.038,-1.465, 0.561, RAW= 166.7, 10.5, CAL= 166.7, 11.7, ROT= 343.3, -11.7 ZYgot valid direction response: 05:54:08.6792 LVL= 32752, 32753, 26338, 32755, AGC= 52, IDX= 499, 0.32,-1.165,-2.534,-0.419,-1.025, PHS=-0.038,-1.465, 0.561, RAW= 166.7, 10.5, CAL= 166.7, 11.7, ROT= 343.3, -11.7 ZV#Rx 100: Read range and direction messages.^direction in FSK: [0.937922,-0.281390,0.202787]Fpublishing direction and range infoyVt?9Lҿ ?YAf )Ii?4:@f;>4:@ Q>)!@IQG>~=%<ٔ`8Q->9Y=Fy(vEJ;E>checking for new query: numPingsReceived=100, elapsed TxPingTime=46.609505Q 55aZ?Q 958N)VBY8?Q E:yۿQ I@bEIK ;i ;Ъ5yɮAiiwv@?AJiARiAji_@bɖ!@ő?´?RVt?9Lҿ ?Zi;biQjyS̄f!'z@Z+I@ӿ+#~nQuf?2i4 :i<"iNb?*im3Bi(Bi~!o?irp5i(BiAi@U addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.504176 s, deltaX: -0.600000 m, approachRate: -1.190061 m/s, rangeRepo size: 4 e Added new target pos. range: 9.439375 m, bearing: 251.338056 deg, lat: 36.779406 deg, lon: -121.859777 deg, deltaT: 0.504176 s, deltaX: -0.596354 m, approachRate: -1.182830 m/s, posRepo size: 4 jhamBNOT Ignoring new targets: 9.44 m.bhim6Short final. Range: 9.50 m.mVTransitioning guidance mode to: SHORT_FINAL:hm@@RhqZhq ProNav: ac range: 9.439375 m, nav range: 9.223321 m, bearing: 252.381458 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 266.617336 deg, new cmd heading: 265.773845 deg. Bh|HeadingCmd: 4.638628 target range: 9.439375 and range: 9.50 m.ho@h*h"h hgfffBdddjd#@Zda?Bɢ:) n>i)㐼ifiրҿt$,@?A-M`BPC1A got IPBS message with 6 sticks (min is 7).]Cɽ]tkAie`;IeFFmÝsC ĝKkAåף;áéԹYCpkAI<)DDAT read: Rx Time:05:54:09.1791 %TRx dataTimestamp_ set to:1761544450.360922MPDAT read: Bearing 74.3, -19.5 (Local) M~Local bearing/azimuth received: Bearing 74.3, -19.5 (Local) ]DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.5 e\#Rx 101: Read range message, but no direction.yY3Achecking for new query: numPingsReceived=101, elapsed TxPingTime=46.876247i)őIŕiAĕ/ݽĕVF őŝ CŝjAřiřřiƥCơ)ơ ơIơYY݂By IbDUVDUܲy=%=ٔQ- ?9"?Y"?=Fy+vEE ?Q 5 5X?Q 9 5BS)[BY y Q I @eEI;i:.5yBɮAŦE addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.503838 s, deltaX: -0.300000 m, approachRate: -0.595430 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.44 m. 9.44 m.Rh1Zh1 ProNav: ac range: 9.439375 m, nav range: 9.032357 m, bearing: 252.183344 deg, approach rate: -0.586086 m/s, LOS rate: -0.620884 deg/s, cmd heading: 265.773835 deg, new cmd heading: 265.166951 deg. Bh ռ|HeadingCmd: 4.628036 target range: 9.439375 and range: 9.20 m.h@h*h"h hgfff!d!d!d!jd%`ff"@Zd-?颕Bɢ$9<)  >i)Dǎigiӿ!d"=I@IP@ @@/@E EE&E"Eغ:*EVL:VE4ZEa@a@a@a@B <A <B <>B CB IB BB D =B B LDB 7_;B M DAT read: 05:54:09.1791 LVL= 32752, 32753, 25314, 32755, AGC= 52, IDX= 497, 0.21,-1.670,-3.027,-0.878,-1.521, PHS=-0.047,-1.462, 0.599, RAW= 167.9, 10.0, CAL= 167.8, 11.1, ROT= 342.2, -11.1 m Ygot valid direction response: 05:54:09.1791 LVL= 32752, 32753, 25314, 32755, AGC= 52, IDX= 497, 0.21,-1.670,-3.027,-0.878,-1.521, PHS=-0.047,-1.462, 0.599, RAW= 167.9, 10.0, CAL= 167.8, 11.1, ROT= 342.2, -11.1 u \#Rx 102: Read direction message, but no range. ^direction in FSK: [0.934318,-0.299976,0.192522]y  W62?r2ӿM? b ) I @i " X? ͋;@ ¸2> 5o;@ aF>) @I aF F&?*+ީ\?!^e=6? U?) 2I i aF checking for new query: numPingsReceived=102, elapsed TxPingTime=47.1552359 ^A e<A >A >A.AI I!O->K+,fk@?AYuByu!IUDDAT read: Rx Time:05:54:09.6788 aTRx dataTimestamp_ set to:1761544450.865580PDAT read: Bearing 73.4, -20.7 (Local) ~Local bearing/azimuth received: Bearing 73.4, -20.7 (Local) DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.5 \#Rx 103: Read range message, but no direction.yQYU3 AQchecking for new query: numPingsReceived=103, elapsed TxPingTime=47.385323i5Mb@Mb@Mb@1111 195V-?T㥛 Q?Y5h?y55<5A5@ 1)5/@1Y5@bDVD2y7P=%#=ٔQ->9 ?Y ?=Fy0vE9E=>AQ 5M5ES?Q 9M5EZ)EdBYM?Q EM:yM<޿Q IU@EiEIE;:iE:Eh5yɮAiQiUe@?AJiUN ARiUN AjiU`@bUh׃)' @vX1?RUW62?r2ӿM?ZiUbiUaFjUӎ& se1-?ZU,ýu+տe22V w?2iU:iU6"iU?3c?*iUCD+BiUȆBiU?3c?iQiUBiU AiU1@M addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504658 s, deltaX: -0.500000 m, approachRate: -0.990770 m/s, rangeRepo size: 4 } Added new target pos. range: 8.644259 m, bearing: 250.161081 deg, lat: 36.779404 deg, lon: -121.859777 deg, deltaT: 1.008496 s, deltaX: -0.795115 m, approachRate: -0.788417 m/s, posRepo size: 4 jhybhyzIgnoring new targets. Set target to previous: 8.64 m. 9.44 m.RhZhԑ ProNav: ac range: 9.439375 m, nav range: 8.744341 m, bearing: 251.906611 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 265.166959 deg, new cmd heading: 264.489386 deg. Bh|HeadingCmd: 4.616210 target range: 9.439375 and range: 8.70 m.h@h*h"h hgfffBdddjd`ff!@Zd@_?EBɢE(;)A E>ii)mP\iiim0giup_տquG=Iu@IyI)eA! @!  @! @% /@! Թ ^A r=E-  E- E- "E) "E- g:*E- F:VE- (3ZE) BE- |;a= 2E- ~;a= JE- ;aE :E- ;aE i I % DAT read: 05:54:09.6788 LVL= 32752, 32753, 24274, 32755, AGC= 51, IDX= 510, 0.18,-3.126, 1.817,-2.278,-2.967, PHS=-0.057,-1.454, 0.645, RAW= 169.2, 9.4, CAL= 169.0, 10.2, ROT= 341.0, -10.2 = Ygot valid direction response: 05:54:09.6788 LVL= 32752, 32753, 24274, 32755, AGC= 51, IDX= 510, 0.18,-3.126, 1.817,-2.278,-2.967, PHS=-0.057,-1.454, 0.645, RAW= 169.2, 9.4, CAL= 169.0, 10.2, ROT= 341.0, -10.2 = \#Rx 104: Read direction message, but no range.M ^direction in FSK: [0.930575,-0.320423,0.177085]y  E?~`́Կki? ^ ) 3I xii  %? <@ '> Z<@ K6>) Is@I K6 do?Cql?-a? 4[?) X'I ɩi K6m checking for new query: numPingsReceived=104, elapsed TxPingTime=47.635895I I O >m2,U/@?A2@2 @20 <ٱ2/ :AHRS rotation from veh to nav: [[-0.054415,0.990017,0.130018],[-0.998483,-0.052851,-0.015455],[-0.008429,-0.130662,0.991391]]2H@Jܫ8?`o?@?C y?i2@I2z^;2CLYBy%!II-R=)-<bD5VD5fyeK>%e=ٔmyi!)-l))i-TgiUωֿQU7=IUgm@IYO@ @@3@eDDAT read: Rx Time:05:54:10.1786 eTRx dataTimestamp_ set to:1761544451.368138uPDAT read: Bearing 73.2, -22.1 (Local) u~Local bearing/azimuth received: Bearing 73.2, -22.1 (Local) DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.5 \#Rx 105: Read range message, but no direction.yaYefAachecking for new query: numPingsReceived=105, elapsed TxPingTime=47.879166^Am =) IA IQ Oe >8, @?A2'@2!@2!<ٱ2 :AHRS rotation from veh to nav: [[-0.051974,0.989979,0.131305],[-0.998600,-0.050226,-0.016592],[-0.009831,-0.131983,0.991203]]2H[?`?;@\"?i2'@I2F]^;2CYBByF)!IbDN VDN2yV=%ZW=ٔZq;Q-Z>9XY\=^Fy^7vEbEM4jEIrEM- 0Eb EbEb$E`"Eb7:*Eb,:VEb4ZE`av@av@av@az@g;E > Q 55 N?Q 95 d) oBYyܿQ I@ pEI ] ;i  ; T5y-Bɮ-A-ĦE] addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.502558 s, deltaX: -0.300000 m, approachRate: -0.596946 m/s, rangeRepo size: 4 jhYbhYezIgnoring new targets. Set target to previous: 9.44 m. 9.44 m.Rhe?Zhm?DAT read: 05:54:10.1786 LVL= 32752, 32753, 25698, 32755, AGC= 50, IDX= 509, 0.22,-2.511, 2.453,-1.607,-2.330, PHS=-0.079,-1.456, 0.679, RAW= 170.5, 9.2, CAL= 170.3, 9.9, ROT= 339.7, -9.9 Ygot valid direction response: 05:54:10.1786 LVL= 32752, 32753, 25698, 32755, AGC= 50, IDX= 509, 0.22,-2.511, 2.453,-1.607,-2.330, PHS=-0.079,-1.456, 0.679, RAW= 170.5, 9.2, CAL= 170.3, 9.9, ROT= 339.7, -9.9 \#Rx 106: Read direction message, but no range.^direction in FSK: [0.923923,-0.341769,0.171929]y&Pǐ?& տ!?bd )2Iʡi5^-?Is>@l$>:>@ ;0>)j@I;0r?PP`?.Of? Ɵa?)g#I gi;0 checking for new query: numPingsReceived=106, elapsed TxPingTime=48.134064B7>BCB IBBBE =BBKDBx_;Bm#Eu ProNav: ac range: 9.439375 m, nav range: 8.367217 m, bearing: 251.489179 deg, approach rate: -0.576024 m/s, LOS rate: -0.670855 deg/s, cmd heading: 263.967660 deg, new cmd heading: 263.208387 deg. Bh3|HeadingCmd: 4.593853 target range: 9.439375 and range: 8.40 m.h@h*h"h hgff9f9dAdIdqjd} @Zdy?1BɢJf]<) >i)8 i]gi <ؿ  #=I @I@ @@2@Y^AO=AzAfAI1IYO>] DDAT read: Rx Time:05:54:10.6783 ] TRx dataTimestamp_ set to:1761544451.869280m PDAT read: Bearing 72.1, -23.4 (Local) m ~Local bearing/azimuth received: Bearing 72.1, -23.4 (Local) } DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 } \#Rx 107: Read range message, but no direction.yY Y] AY  checking for new query: numPingsReceived=107, elapsed TxPingTime=48.380234ԉ >,@?A26@2m1@2.8<ٱ2 :AHRS rotation from veh to nav: [[-0.050081,0.989521,0.135427],[-0.998682,-0.048090,-0.017942],[-0.011241,-0.136147,0.990625]]2HH'?U?32f_ `Bm3?i26@I2Ԋ^;2CYV ByV.!IYiMb@Mb@Mb@ 9v/?{GzL7A`?Yx ?yף+=1@ )Y=@ =4<=bDEVDE:yU(<%2=ٔbF;Q->9Y=FyQ 55K?Q 95%k)xBY> ?Q E:y*Q I@tEI;iW;S5yɮAiiI@?AJi[@Ri[@ji@bX~3`@!Sa$D?R&Pǐ?& տ!?Zi gbi;0js-ŖtoA?Z/r׿enJ(Wm?2iL:i7"i'Y?*iC)BiSBiNb?im3iȆBi\Aiu@u addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.501142 s, deltaX: -0.400000 m, approachRate: -0.798176 m/s, rangeRepo size: 4  Added new target pos. range: 7.948655 m, bearing: 248.338110 deg, lat: 36.779404 deg, lon: -121.859776 deg, deltaT: 2.012196 s, deltaX: -1.490720 m, approachRate: -0.740842 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.95 m. 9.44 m.RhZh ProNav: ac range: 9.439375 m, nav range: 8.121830 m, bearing: 251.254419 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 263.208388 deg, new cmd heading: 262.594828 deg. Bh|HeadingCmd: 4.583144 target range: 9.439375 and range: 8.00 m.h@h*h"h hgfffBdddjd @Zd=?E EEE"EC:*EE7:VEZEBE$;a2E%;aJEP;a:EQ;a=BɢEP<)A E>iI)MIIiM himٿimX=Im@IqԉDAT read: 05:54:10.6783 LVL= 32752, 32753, 25490, 32755, AGC= 50, IDX= 506, 0.48, 1.037,-0.273, 2.006, 1.231, PHS=-0.092,-1.459, 0.731, RAW= 171.8, 8.6, CAL= 171.6, 9.1, ROT= 338.4, -9.1 Ygot valid direction response: 05:54:10.6783 LVL= 32752, 32753, 25490, 32755, AGC= 50, IDX= 506, 0.48, 1.037,-0.273, 2.006, 1.231, PHS=-0.092,-1.459, 0.731, RAW= 171.8, 8.6, CAL= 171.6, 9.1, ROT= 338.4, -9.1 \#Rx 108: Read direction message, but no range.^direction in FSK: [0.918074,-0.363491,0.158158]y%*^`?ڪpC׿@\~>?c )Iji";??@`>֭?@ ">)@I" ꂲ?gx?"b&? g?)Ii"checking for new query: numPingsReceived=108, elapsed TxPingTime=48.636112Q@ @@4@!@)@)Ա^AE t0= I I O= >e DDAT read: Rx Time:05:54:11.1783 e TRx dataTimestamp_ set to:1761544452.372644m PDAT read: Bearing 69.7, -24.7 (Local) u ~Local bearing/azimuth received: Bearing 69.7, -24.7 (Local)  DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4  \#Rx 109: Read range message, but no direction.ya Ya a  checking for new query: numPingsReceived=109, elapsed TxPingTime=48.884502UE,bA?Azl:@z>5@ztV<ٱz,I AHRS rotation from veh to nav: [[-0.049615,0.987696,0.148309],[-0.998683,-0.047115,-0.020327],[-0.013089,-0.149122,0.988732]]zH&g4??`5oДbΊmÿ?izl:@Ize^;zCYBy;!I ibDVDkyX`=%K=ٔ;Q->9Y=Fy@vE->:E->1Q 5=55G?Q 9=55p)5BY9y=Q I=@5wEI5p:i5:55yBɮAΦEiAiEfA?AJiARiAjiE@bE0@A17eMB?RE%*^`?ڪpC׿@\~>?ZiEbiE"jEFW<;>i@?ZE%'dؿ>9uj?2iE:iEA"iEjH?*iE#-BiE>BiE']?iE#-iEyBiEV@iEh@5 addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503364 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 7.948655 m, bearing: 247.116680 deg, lat: 36.779404 deg, lon: -121.859774 deg, deltaT: 2.515560 s, deltaX: -1.490720 m, approachRate: -0.592600 m/s, posRepo size: 4 jhibhiuzIgnoring new targets. Set target to previous: 7.95 m. 9.44 m.RhqZhq ProNav: ac range: 9.439375 m, nav range: 7.907752 m, bearing: 251.035153 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 262.594819 deg, new cmd heading: 262.057563 deg. Bh|HeadingCmd: 4.573767 target range: 9.439375 and range: 8.00 m.hM\@h*h"h hgfffdddjdZd`ۆ?] Bɢ]_<)a e/>ia)eaaim]him8ڿquZ=IuM\@ԙI5O@1 @1@5/@1E E~EE"EU:*E(:VEـ3ZEa@a@a@a@^A  =iiIiB2>BCB!IBBBI =BBB_;B#EDAT read: 05:54:11.1783 LVL= 32752, 32753, 20978, 32755, AGC= 47, IDX= 506,-0.24,-0.128,-1.414, 0.912, 0.060, PHS=-0.086,-1.428, 0.808, RAW= 173.4, 7.3, CAL= 173.0, 7.2, ROT= 337.0, -7.2 Ygot valid direction response: 05:54:11.1783 LVL= 32752, 32753, 20978, 32755, AGC= 47, IDX= 506,-0.24,-0.128,-1.414, 0.912, 0.060, PHS=-0.086,-1.428, 0.808, RAW= 173.4, 7.3, CAL= 173.0, 7.2, ROT= 337.0, -7.2 \#Rx 110: Read direction message, but no range.^direction in FSK: [0.913246,-0.387650,0.125333]yim6XP9?[hBؿcK ?iiimQ i)m/Im imȶmN?mA@mw>m,>A@ m>)m`7@Imimي?w{?PA? mn?)m2iIm;imIachecking for new query: numPingsReceived=110, elapsed TxPingTime=49.165356I O- > K, 2A?AJ0@Jt+@Jb<ٱJ# VAHRS rotation from veh to nav: [[-0.050808,0.986067,0.158399],[-0.998613,-0.047963,-0.021734],[-0.013834,-0.159283,0.987136]]JH܍?iF?``hA@TecĿ ?iJ0@IJM^;JCYfByf:!IDDAT read: Rx Time:05:54:11.6780 TRx dataTimestamp_ set to:1761544452.877294PDAT read: Bearing 73.2, -24.7 (Local) ~Local bearing/azimuth received: Bearing 73.2, -24.7 (Local) %DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 ej>e1C-DAT read: 05:54:11.6780 LVL= 32752, 32753, 25970, 32755, AGC= 46, IDX= 503, 0.24,-2.188, 2.807,-1.182,-1.942, PHS=-0.145,-1.490, 0.715, RAW= 172.8, 9.6, CAL= 172.6, 10.6, ROT= 337.4, -10.6 5߀GQiq9YjAYgot valid direction response: 05:54:11.6780 LVL= 32752, 32753, 25970, 32755, AGC= 46, IDX= 503, 0.24,-2.188, 2.807,-1.182,-1.942, PHS=-0.145,-1.490, 0.715, RAW= 172.8, 9.6, CAL= 172.6, 10.6, ROT= 337.4, -10.6 V#Rx 111: Read range and direction messages.^direction in FSK: [0.907456,-0.377737,0.183951]Fpublishing direction and range infoypF+ ?D,ؿ =η?Y@re ).IziR= 7?iMb@Mb@Mb@ 9Cl?RQMb?Yd>y½=C AG@ @)9AY@@A@AA@+>@@ q=>)p@Iq=?pZ?ΪS? k?)i+Iɾiq=5checking for new query: numPingsReceived=111, elapsed TxPingTime=49.458569bDVDy[%=ٔ:Q->9Y=FyEvEE>Q 55B?Q 95nw)BYI?Q E:yjQ I@{EI;i:Z5yɮA!ii%8A?AJit@Rit@ji韉@b o @O#V?RpF+ ?D,ؿ =η?Ziɾbiq=j*hI]7u<񮓲S?Zؿ>~IbV?2i:i9"i#N?*izG&BiBi'Y?iCD+iBi@i@y@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504650 s, deltaX: -0.500000 m, approachRate: -0.990786 m/s, rangeRepo size: 4  Added new target pos. range: 7.451760 m, bearing: 246.415990 deg, lat: 36.779403 deg, lon: -121.859773 deg, deltaT: 3.020210 s, deltaX: -1.987615 m, approachRate: -0.658105 m/s, posRepo size: 4 jh!bh!%zIgnoring new targets. Set target to previous: 7.45 m. 9.44 m.Rh)Zh)] ProNav: ac range: 9.439375 m, nav range: 7.647720 m, bearing: 250.836355 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 262.057556 deg, new cmd heading: 261.372116 deg. BhYe|HeadingCmd: 4.561804 target range: 9.439375 and range: 7.50 m.heL@ha*ha"ha higifififuXBdddjd@Zd`?!Bɢ f<)  >i)؄wiEbhi;Vܿz=IL@I!1 @  @ @ 4@ D zD ?AE  E {E #E "E Ʊ:*E 5":VE 3ZE BE 7;a 2E 8;a JE ;z;a :E ԉA؟AIIO? T,χSA?A!!eDDAT read: Rx Time:05:54:12.1780 mTRx dataTimestamp_ set to:1761544453.383184}PDAT read: Bearing 70.0, -25.7 (Local) }~Local bearing/azimuth received: Bearing 70.0, -25.7 (Local) DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 @}@m<ٱ0 MAHRS rotation from veh to nav: [[-0.053119,0.984004,0.170045],[-0.998483,-0.049871,-0.023320],[-0.014467,-0.171026,0.985160]]H@o2|? ?`)ᗿ-ſn?i@Iz^;CYe%BymN!IbD}VD}!y=%3=ٔ:Q->9"?Y"?=FyIvEDAT read: 05:54:12.1780 LVL= 32752, 32753, 26802, 32755, AGC= 46, IDX= 503,-0.18, 2.290, 1.017,-2.927, 2.530, PHS=-0.138,-1.468, 0.782, RAW= 174.0, 8.5, CAL= 173.7, 8.9, ROT= 336.3, -8.9 Ygot valid direction response: 05:54:12.1780 LVL= 32752, 32753, 26802, 32755, AGC= 46, IDX= 503,-0.18, 2.290, 1.017,-2.927, 2.530, PHS=-0.138,-1.468, 0.782, RAW= 174.0, 8.5, CAL= 173.7, 8.9, ROT= 336.3, -8.9 V#Rx 112: Read range and direction messages.^direction in FSK: [0.904638,-0.397108,0.154710]Fpublishing direction and range infoyaep ?ƒd9jٿj?Yaa*E>Q 55D>?Q 95O})BY y Q I @EI:iV:\5yɮ%A!aaeh a)aIeO iem绿e'1H?e \B@e>eWB@ e>)eJӻ@Ieaaeo?ض|B?PB? e?q?)eo&Ie Ӿieaachecking for new query: numPingsReceived=112, elapsed TxPingTime=49.963326iaieXA?AJiaRiajie&ވ@beh2ׄ@?TZ0"r?Rep ?ƒd9jٿj?Zie Ӿbiejew]FQupW?Ze2نnfڿkbS?2ie:ieD"ie<;?*ieb,+BieB) B- "!IB- BB- J =B) B) B- `;B- #EBɵCBɶCBBE =BE =C6^AM ==Y A .AI I O >n[,oA?Ar@rm@r&t<ٱr=q=t 5AHRS rotation from veh to nav: [[-0.056173,0.981538,0.182834],[-0.998309,-0.052479,-0.024988],[-0.014932,-0.183928,0.982826]]rH`¬h?@g?&wުw@ ǿ Ps?ir@Ir/^;pY!ByI!I-DDAT read: Rx Time:05:54:12.6777 5TRx dataTimestamp_ set to:1761544453.886086EPDAT read: Bearing 72.4, -24.9 (Local) M~Local bearing/azimuth received: Bearing 72.4, -24.9 (Local) eDAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 ԑDAT read: 05:54:12.6777 LVL= 32752, 32753, 28290, 32755, AGC= 47, IDX= 500, 0.25,-2.976, 2.020,-1.983,-2.710, PHS=-0.164,-1.508, 0.682, RAW= 172.5, 10.4, CAL= 172.5, 11.8, ROT= 337.5, -11.8 Ygot valid direction response: 05:54:12.6777 LVL= 32752, 32753, 28290, 32755, AGC= 47, IDX= 500, 0.25,-2.976, 2.020,-1.983,-2.710, PHS=-0.164,-1.508, 0.682, RAW= 172.5, 10.4, CAL= 172.5, 11.8, ROT= 337.5, -11.8 V#Rx 113: Read range and direction messages.^direction in FSK: [0.904356,-0.374596,0.204496]Fpublishing direction and range infoy15Kٵ {?b׿rG,?Y53@1115n 1)5/I5'i5%5.?52@@59>52@@ 5BR>)5~@I5BR115!)<'??w ? 5j?)5^R9I5ɾi5BRiMb@Mb@Mb@ 9!rh?A`"V-?Yl>yٽ<A1@ )Yf@11checking for new query: numPingsReceived=113, elapsed TxPingTime=50.421143bD VD ky[%=ٔl:Q->9 ?Y ?=FyOvE»E>Q 559?Q 958)BY*>Q E:yQ I@EI:i:5yɮAi1i5xA?AJi5@Ri5@ji5Ӊ@b5 TX„@_"'#/?R5Kٵ {?b׿rG,?Zi5ɾbi5BRj52םÁ#g-m?Z53cؿ-{vl쿿 oh?2i5:i5,"i5RuV?*i5 (Bi5Bi1i5C)i1i5@i5~@ addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.502902 s, deltaX: -0.400000 m, approachRate: -0.795384 m/s, rangeRepo size: 4 % Added new target pos. range: 7.054358 m, bearing: 246.779531 deg, lat: 36.779402 deg, lon: -121.859772 deg, deltaT: 4.029002 s, deltaX: -2.385017 m, approachRate: -0.591962 m/s, posRepo size: 4 jh)bh)-zIgnoring new targets. Set target to previous: 7.05 m. 9.44 m.Rh1Zh1E ProNav: ac range: 9.439375 m, nav range: 7.186776 m, bearing: 250.528951 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 260.763044 deg, new cmd heading: 260.116742 deg. Bham|HeadingCmd: 4.539894 target range: 9.439375 and range: 7.10 m.hmF@hi*hq"hy hygfffnBdddjd`ff@Zdg?$Bɢ<֎<) >i)Ӏginhi1$߿<=IF@I N@  @ @ 4@ E  E E !E "E s:*E ?:VE c3ZE BE ;a 2E ;a JE ;a :E ;a   checking for new query: numPingsReceived=113, elapsed TxPingTime=50.641678A^Ah{=AII O5?d, A?AF;ɰFp;u@G@|<ٱH AHRS rotation from veh to nav: [[-0.059603,0.979406,0.192901],[-0.998103,-0.055488,-0.026670],[-0.015418,-0.194125,0.980856]]H@AKW??vh`O>ȿ`+c?iu@I^;CYBy=!I bD%VD%0MDDAT read: Rx Time:05:54:13.1776 ]TRx dataTimestamp_ set to:1761544454.390100}PDAT read: Bearing 68.7, -26.1 (Local) ~Local bearing/azimuth received: Bearing 68.7, -26.1 (Local) DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 DAT read: 05:54:13.1776 LVL= 32752, 32753, 27378, 32755, AGC= 45, IDX= 499,-0.08, 1.156,-0.119, 2.231, 1.418, PHS=-0.160,-1.492, 0.770, RAW= 174.1, 9.0, CAL= 173.9, 9.8, ROT= 336.1, -9.8  Ygot valid direction response: 05:54:13.1776 LVL= 32752, 32753, 27378, 32755, AGC= 45, IDX= 499,-0.08, 1.156,-0.119, 2.231, 1.418, PHS=-0.160,-1.492, 0.770, RAW= 174.1, 9.0, CAL= 173.9, 9.8, ROT= 336.1, -9.8  V#Rx 114: Read range and direction messages.^direction in FSK: [0.900913,-0.399230,0.170209]Fpublishing direction and range infoyQUG?e2ٿrl?YU@QQQUj Q)U-IU #iUUE?UxB@U| >U?B@ U%/>)U@IU%/QQU:?/l?IM8 ? U3q?)Uo IUվiU%/QQ=checking for new query: numPingsReceived=114, elapsed TxPingTime=50.924995Qy]"#%]'=ٔ]s:Q-]>9aYa=eFyeSvEmEm>Q 553?Q 95)BYyQ I@EI1:i:5yɮAiQiUfA?AJiUa@RiUa@jiUψ@bU(?@SO)ǚ?RUG?e2ٿrl?ZiUվbiU%/jUpAҖG,TJ?ZU;\ڿyY=5쿑 ?2iUg:iU4"iUE?*iUn 'BiUABiUjH?iU (iUABiU"@iU@= addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504014 s, deltaX: -0.200000 m, approachRate: -0.396814 m/s, rangeRepo size: 4  Added new target pos. range: 6.855644 m, bearing: 244.958454 deg, lat: 36.779402 deg, lon: -121.859772 deg, deltaT: 4.533016 s, deltaX: -2.583731 m, approachRate: -0.569981 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.86 m. 9.44 m.RhZh ProNav: ac range: 9.439375 m, nav range: 6.959046 m, bearing: 250.404530 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 260.116744 deg, new cmd heading: 259.482525 deg. Bh|HeadingCmd: 4.528824 target range: 9.439375 and range: 6.90 m.h!@h*h"h hgfffd!d)d)jd-@Zd-@?额%Bɢއ<) >i)].`aaie-him࿉im;=Im!@IiԁO@ @@1@@!@%gA^A=E%  E% vE% $E! "E% :*E% :VE% 4ZE! a5 @a5 @a5 @a5 @Ա  checking for new query: numPingsReceived=114, elapsed TxPingTime=51.145603B A < PExceeded connect timeout, disconnecting.B 9>B CB 4!IB BB F =B B LDB _`;B #EA ؟AI) IQ O >\j,ԭA?ALuDƍ@u@u%<ٱuP AHRS rotation from veh to nav: [[-0.063768,0.977473,0.201198],[-0.997843,-0.059298,-0.028174],[-0.015609,-0.202561,0.979145]]uHStG??S A\ٜoɿ`(U?iuDƍ@Iul^;uCYBy6!IiMb@Mb@Mb@ 9MbX9?V-Q?Y>y\=A@ @)AYAuDDAT read: Rx Time:05:54:13.6773 }TRx dataTimestamp_ set to:1761544454.894316PDAT read: Bearing 68.2, -25.9 (Local) ~Local bearing/azimuth received: Bearing 68.2, -25.9 (Local) DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 bDVD:2yS%(=ٔo9Q->9"?Y"?=FDAT read: 05:54:13.6773 LVL= 32752, 32753, 25458, 32755, AGC= 45, IDX= 496, 0.46, 1.362, 0.079, 2.430, 1.627, PHS=-0.163,-1.503, 0.759, RAW= 173.9, 9.2, CAL= 173.7, 10.1, ROT= 336.3, -10.1  Ygot valid direction response: 05:54:13.6773 LVL= 32752, 32753, 25458, 32755, AGC= 45, IDX= 496, 0.46, 1.362, 0.079, 2.430, 1.627, PHS=-0.163,-1.503, 0.759, RAW= 173.9, 9.2, CAL= 173.7, 10.1, ROT= 336.3, -10.1  V#Rx 115: Read range and direction messages.y5XvE5 E=>9Q 5E5=C.?Q 9M5=)=BYM(>Q EM:yMQ IM@=EI=;i=;=ٿ5yBɮAͦE^direction in FSK: [0.901473,-0.395719,0.175367]Fpublishing direction and range infoyqu4 *8?g'uSٿ:ujr?Yu@qqqurc q)qIuy&iuNbuMB?u?B@ul$>uWB@ uJ4>)uJӻ@IuJ4qqunr֚?X?vr? uwp?)u:%Iu ӾiuJ4qqiqiuyiY)]XYYi]hie⿉a!>I@I ! @!  @! @% 1@) E5  E1 E5 "E1 "E5 :*E1 VE5 (3ZE1 BE5 ;aE 2E5 ;aE JE5 h;aE :E5 h;aE  checking for new query: numPingsReceived=115, elapsed TxPingTime=51.649628I ^AEp{=qAIIO ? t,A?A6$r@6l@6So<ٱ6] >AHRS rotation from veh to nav: [[-0.074012,0.974209,0.213162],[-0.997150,-0.069161,-0.030139],[-0.014619,-0.214786,0.976552]]6H {@,?H?ܞ~˿??i6$r@I6Fl^;6CYBy#!IbDVDfy%%-P=ٔ-$Q-5>91Y1=5Fy5\vE=@ڼE=>AQ 5M5E)?Q 9U5E)EBYYyeQ Ie@EEIEi)CSDDAT read: Rx Time:05:54:14.1773  TRx dataTimestamp_ set to:1761544455.397101DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 -\#Rx 116: Read range message, but no direction.y Y  =checking for new query: numPingsReceived=116, elapsed TxPingTime=51.908119i]fhi]Jc⿉esE  E E $E "E :*E rN:VE 4ZE a @a @a @a @B :>B CB ;!IB BB D =B B B G`;B #E checking for new query: numPingsReceived=116, elapsed TxPingTime=52.153427 nManaging dock network, ignoring radio surface power offh-z,ޯA?AnD@n>@nii<ٱnd vAHRS rotation from veh to nav: [[-0.079627,0.972455,0.219068],[-0.996723,-0.074529,-0.031451],[-0.014257,-0.220854,0.975203]]nHpbZ?j ? 'XI@2@D̿ 4?inD@In#^;l~C~It@iI C GkA `廉 -fC-hkAI5t)1i1)IIMiAUGQ YmCm~jAiiqqiC) I 5َC)YYYaYaYBy!IQiMb@Mb@Mb@ 9K7A`?!rhS㥛?Y>yl罙/<~A /@)YAbDVD:y-Kͼ%-#=ٔ5=Q-5>91Y1=5Fy5avE=o8E=>AQ 5U5E#?Q 9]5E)EBYek>Q Em:ymQ Iu@EEIE;iE;EÍ5yɮA- addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.502785 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jh1bh15zIgnoring new targets. Set target to previous: 9.44 m. 9.44 m.RheKZheKԁ ProNav: ac range: 9.439375 m, nav range: 6.326385 m, bearing: 250.184608 deg, approach rate: -0.454385 m/s, LOS rate: -0.177555 deg/s, cmd heading: 258.663526 deg, new cmd heading: 258.387346 deg. Bh|HeadingCmd: 4.509710 target range: 9.439375 and range: 6.50 m.hO@h*h"h hgfffBddd5DDAT read: Rx Time:05:54:14.6770 =TRx dataTimestamp_ set to:1761544455.903307MPDAT read: Bearing 64.7, -26.3 (Local) M~Local bearing/azimuth received: Bearing 64.7, -26.3 (Local) eDAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 DAT read: 05:54:14.6770 LVL= 32752, 32753, 22386, 32755, AGC= 45, IDX= 510,-0.27, 2.106, 0.838,-3.071, 2.359, PHS=-0.151,-1.476, 0.809, RAW= 174.7, 8.3, CAL= 174.5, 8.7, ROT= 335.5, -8.7 Ygot valid direction response: 05:54:14.6770 LVL= 32752, 32753, 22386, 32755, AGC= 45, IDX= 510,-0.27, 2.106, 0.838,-3.071, 2.359, PHS=-0.151,-1.476, 0.809, RAW= 174.7, 8.3, CAL= 174.5, 8.7, ROT= 335.5, -8.7 V#Rx 117: Read range and direction messages.^direction in FSK: [0.899491,-0.409922,0.151261]Fpublishing direction and range infoy9=FEۡ?b'<ڿni\?Y=f@999=rW 9)9I=i==O?=K$C@=V>=B@ =|>)=`@I=|99=H?5?h o? =+t?)=I=ھi=|99checking for new query: numPingsReceived=117, elapsed TxPingTime=52.427170jd@Zd!7?额+Bɢ<<) >i)yK顡iNhi=㿉<=IO@Iԩ O@  @ @ g0@ @ !>@ 0> E  E tE %E "E ҝ:*E v:VE 4ZE BE ;a 2E ;a JE `;a :E `;a checking for new query: numPingsReceived=117, elapsed TxPingTime=52.657455^A=IIO?l,\B?Aɰ2@2Y @2{]<ٱ2Ai :AHRS rotation from veh to nav: [[-0.086133,0.970652,0.224534],[-0.996192,-0.080851,-0.032632],[-0.013521,-0.226490,0.973920]]2H@ ??) @̿Y*?i2@I2w^;2CYBy!IbD%VD%1y5H%51=ٔ=ѺQ-=>99Y9==FyEfvEEchEE>IQ 55ML?Q 95MS)MBYyQ I@MEIMEni)MGiehi}>俉X+=I$@IaDDAT read: Rx Time:05:54:15.1770 TRx dataTimestamp_ set to:1761544456.405519PDAT read: Bearing 64.5, -26.0 (Local) ~Local bearing/azimuth received: Bearing 64.5, -26.0 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 DAT read: 05:54:15.1770 LVL= 32752, 32753, 23698, 32755, AGC= 47, IDX= 509, 0.31,-1.103,-2.372,-0.028,-0.849, PHS=-0.152,-1.478, 0.776, RAW= 174.2, 8.8, CAL= 174.0, 9.4, ROT= 336.0, -9.4 Ygot valid direction response: 05:54:15.1770 LVL= 32752, 32753, 23698, 32755, AGC= 47, IDX= 509, 0.31,-1.103,-2.372,-0.028,-0.849, PHS=-0.152,-1.478, 0.776, RAW= 174.2, 8.8, CAL= 174.0, 9.4, ROT= 336.0, -9.4 V#Rx 118: Read range and direction messages.^direction in FSK: [0.901279,-0.401275,0.163326]Fpublishing direction and range infoym.F??|ٿ$vz?Y\ )/Ii/F?QB@nF> \B@ '>)f@I'#b?gL5?vC%w?  r?)XIJw־i'checking for new query: numPingsReceived=118, elapsed TxPingTime=52.926216@  @ @ 4@ ^A=ԁIIO>Ա O,%!(B?A2Ќ@2l˓@2$0L<ٱ2Vn :AHRS rotation from veh to nav: [[-0.093662,0.969088,0.228247],[-0.995526,-0.088291,-0.033655],[-0.012462,-0.230378,0.973021]]2HC?/7?`Y?4;@م }Ϳ"?i2Ќ@I2h[^;2CbE 3jEw3rEJ0EB EBEB"E@"EBa:*EB*:VEB(3ZE@aJ@aJ@aN@aN@APARAABV=>BTBV.!IBV BBVC =BTBTBV_;BV#Erchecking for new query: numPingsReceived=118, elapsed TxPingTime=53.161457Y]ԂBy] IbDmVDm0yQŽ%D=ٔO&Q->9Y=FyjvEwE>Q 55?Q 95Q)BY!y%{Q I%@EI;i:Ǎ5y)ɮ->A1ԙiiB?AJi!@Ri!@ji@boSXj5@uX*F&?Rm.F??|ٿ$vz?ZiJw־bi'j~#|--9)_Hd.?Z/ۿkJ> 3S⾨?2i:i+"i 6?*ib/BiʅBiii$BiI@i @] addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.502212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.160319 m, bearing: 243.310841 deg, lat: 36.779401 deg, lon: -121.859772 deg, deltaT: 6.548435 s, deltaX: -3.279056 m, approachRate: -0.500739 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.16 m. 9.44 m.RhZh ProNav: ac range: 9.439375 m, nav range: 5.910032 m, bearing: 250.048237 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 257.831991 deg, new cmd heading: 257.216525 deg. Bh|HeadingCmd: 4.489275 target range: 9.439375 and range: 6.20 m.h%@h*h"h hgfffdddjdZd `?m.Bɢm<)i m?>ii)m$Bqqiuhi}מ忉y}7=I}%@IDDAT read: Rx Time:05:54:15.6768 TRx dataTimestamp_ set to:1761544456.909803PDAT read: Bearing 64.3, -26.3 (Local) ~Local bearing/azimuth received: Bearing 64.3, -26.3 (Local) DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 DAT read: 05:54:15.6768 LVL= 32752, 32753, 24626, 32755, AGC= 48, IDX= 507, 0.06,-2.546, 2.473,-1.461,-2.275, PHS=-0.169,-1.490, 0.770, RAW= 174.4, 9.1, CAL= 174.2, 9.9, ROT= 335.8, -9.9  Ygot valid direction response: 05:54:15.6768 LVL= 32752, 32753, 24626, 32755, AGC= 48, IDX= 507, 0.06,-2.546, 2.473,-1.461,-2.275, PHS=-0.169,-1.490, 0.770, RAW= 174.4, 9.1, CAL= 174.2, 9.9, ROT= 335.8, -9.9  V#Rx 119: Read range and direction messages. ^direction in FSK: [0.898538,-0.403819,0.171929] Fpublishing direction and range infoyQB@ ;0>)͋@I;0a?9PL?c3? -s?)0K"I@ؾi;05 checking for new query: numPingsReceived=119, elapsed TxPingTime=53.4332015 N@9  @9 @= 0@9  ^A =Iy I O >,|DB?A2S@2%@2ل=<ٱ2Hq :AHRS rotation from veh to nav: [[-0.101229,0.967555,0.231495],[-0.994796,-0.095738,-0.034861],[-0.011567,-0.233819,0.972211]]2H$깿5??@^M@O١x@ͿZ?i2S@I2`{^;0YPyR IieMb@Mb@Mb@aaaa a9e-?i|?5y&1?Ye?>yee`9Y=FyovEE>Q 55Y?Q 95)BY>Q E:ԱypQ I@EI6;i5;zɍ5yɮ@Aii6::B?AJi@Ri@jiR@b1@2*2='P ?Ri ) >  i 5hi濉>Ia@IO@ @@p4@^AY=IAIyO>m DDAT read: Rx Time:05:54:16.1768 m TRx dataTimestamp_ set to:1761544457.412809u PDAT read: Bearing 64.8, -26.7 (Local) } ~Local bearing/azimuth received: Bearing 64.8, -26.7 (Local)  DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4  DAT read: 05:54:16.1768 LVL= 32752, 32753, 30706, 32755, AGC= 47, IDX= 507,-0.22,-2.033, 3.000,-0.947,-1.732, PHS=-0.199,-1.506, 0.742, RAW= 174.6, 9.9, CAL= 174.5, 11.2, ROT= 335.5, -11.2  Ygot valid direction response: 05:54:16.1768 LVL= 32752, 32753, 30706, 32755, AGC= 47, IDX= 507,-0.22,-2.033, 3.000,-0.947,-1.732, PHS=-0.199,-1.506, 0.742, RAW= 174.6, 9.9, CAL= 174.5, 11.2, ROT= 335.5, -11.2  V#Rx 120: Read range and direction messages. ^direction in FSK: [0.892631,-0.406795,0.194234] Fpublishing direction and range infoyi m |o?ڿmVѫ?Yi i i i m w i )m /Im Kim m =?m C@m ;0>m B@ m +H>)m `@Im +Hi i m a>??N?de? m t?)m 0Im ھim +Hi i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.9 o@,rj^B?A2+P@2J@2P(<ٱ2u :AHRS rotation from veh to nav: [[-0.109261,0.965770,0.235268],[-0.993960,-0.103697,-0.035930],[-0.010304,-0.237773,0.971266]]2H?B?`勺we1Uoο?i2+P@I2g^;2CYNByR IbDZVDZy %H=ٔJQ->9Y=FysvE#E>Q 55 ?Q 95)BYykQ I@EI;i;Bˍ5yBɮA֦EiivkZB?AJiRiji;g@bVg@T|0{37?R|o?ڿmVѫ?Ziھbi+Hjb '(ZSʅ?ZwɿvܿCX?2i՟:i&"ir-2?*i/_1BiBi9?i/p-ii:@iu@ addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 5.862239 m, bearing: 242.438568 deg, lat: 36.779400 deg, lon: -121.859774 deg, deltaT: 7.555725 s, deltaX: -3.577136 m, approachRate: -0.473434 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 5.86 m. 9.44 m.RhZh ProNav: ac range: 9.439375 m, nav range: 5.495830 m, bearing: 249.956433 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 256.723752 deg, new cmd heading: 256.169195 deg. Bh%|HeadingCmd: 4.470996 target range: 9.439375 and range: 5.90 m.h%f@h!*h!"h! h!g)f)fIfQdQdQdQjdQZd] U?颥2Bɢx;)  >i)ƃ:iYhi翉>If@IEM EM{EM$EI"EM1:*EM5":VEM4ZEIa]@a]@a]@a]@Bu@>BuCBu!IBuBBuB =BqBuMDBuR_;Bua#EԑP@ @@/@2Acoustic response timeoutԱ^A =A zA Ia I O > l,OxB?Av'G-DDAT read: Rx Time:05:54:16.6765 -TRx dataTimestamp_ set to:1761544457.917809=PDAT read: Bearing 63.4, -26.7 (Local) =~Local bearing/azimuth received: Bearing 63.4, -26.7 (Local) MDAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 uDAT read: 05:54:16.6765 LVL= 32752, 32753, 29218, 32755, AGC= 46, IDX= 504, 0.34,-1.562,-2.815,-0.463,-1.268, PHS=-0.192,-1.503, 0.761, RAW= 174.8, 9.5, CAL= 174.6, 10.6, ROT= 335.4, -10.6 }Ygot valid direction response: 05:54:16.6765 LVL= 32752, 32753, 29218, 32755, AGC= 46, IDX= 504, 0.34,-1.562,-2.815,-0.463,-1.268, PHS=-0.192,-1.503, 0.761, RAW= 174.8, 9.5, CAL= 174.6, 10.6, ROT= 335.4, -10.6 }R#Rx 1: Read range and direction messages.^direction in FSK: [0.893720,-0.409177,0.183951]Fpublishing direction and range infoy)-3[?8/ڿ =η?Y-̬@)))-"r ))-.I-Di-Nb-B?-@C@-)>-C@ -q=>)-R@I-q=))-`2?]?'Y<,? -t?)-**I-۾i-q=))2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9Y@@r$<ٱ߶x UAHRS rotation from veh to nav: [[-0.117277,0.964204,0.237815],[-0.993058,-0.111679,-0.036922],[-0.009042,-0.240494,0.970608]]H@@?p?!`碿}ο`9?i@IkN^;CYeBye IԩiMb@Mb@Mb@ 9X9v?i|?5Zd;O?Y>yj<7A@ 9A)|AY3AbDVDyhQ% *=ٔ +Q- >9Y=FyxvECE>Q 5E5?Q 9M5)BYM?Q EM:yMQ IM@EI;i;]͍5y]ĕBɮ]A]ߦEi)i-bzB?AJi-@Ri-@ji-@b-oR.@G>adQf?R-3[?8/ڿ =η?Zi-۾bi-q=j-\RN|6L?Z-MLK~(ݿ&q?'뿫EL$5?2i-:i-r"i-;9?*i-uj{+Bi-Bi)i)i-ƅBi-{@i-=@  addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.505000 s, deltaX: -0.500000 m, approachRate: -0.990099 m/s, rangeRepo size: 4  Added new target pos. range: 5.365480 m, bearing: 241.769853 deg, lat: 36.779400 deg, lon: -121.859774 deg, deltaT: 8.060725 s, deltaX: -4.073895 m, approachRate: -0.505401 m/s, posRepo size: 4 jh9bh9EzIgnoring new targets. Set target to previous: 5.37 m. 9.44 m.RhAZhIU ProNav: ac range: 9.439375 m, nav range: 5.251176 m, bearing: 249.913369 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 256.169195 deg, new cmd heading: 255.538520 deg. BhY|HeadingCmd: 4.459989 target range: 9.439375 and range: 5.40 m.h:@h*h"h hgfffxBdddjd@Zd? 4Bɢ ~o;)  n>i ) *6ihi^鿉>I:@I!I))-fA@ @@@@>@=EU EUEU%EQ"EUҝ:*EU:VEU 4ZEQ2Acoustic response timeoutBEU;a2EU;aJEU 롥,؟B?A8^.ȋ@^Ò@^';ٱ^y zAHRS rotation from veh to nav: [[-0.125748,0.962974,0.238473],[-0.992032,-0.120173,-0.037835],[-0.007776,-0.241330,0.970412]]^H@`?`D?þ_@ο ?i^.ȋ@I^]^;^CYUByU IbDeVDek1yuV%uJ=ٔ}LQ-}>9yYy=Fy|vEE>DDAT read: Rx Time:05:54:17.1764 TRx dataTimestamp_ set to:1761544458.420793PDAT read: Bearing 63.4, -27.1 (Local) ~Local bearing/azimuth received: Bearing 63.4, -27.1 (Local) DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4 DAT read: 05:54:17.1764 LVL= 32752, 32753, 29554, 32755, AGC= 46, IDX= 503,-0.04,-2.487, 2.555,-1.377,-2.172, PHS=-0.213,-1.511, 0.751, RAW= 175.1, 9.9, CAL= 175.0, 11.2, ROT= 335.0, -11.2 Ygot valid direction response: 05:54:17.1764 LVL= 32752, 32753, 29554, 32755, AGC= 46, IDX= 503,-0.04,-2.487, 2.555,-1.377,-2.172, PHS=-0.213,-1.511, 0.751, RAW= 175.1, 9.9, CAL= 175.0, 11.2, ROT= 335.0, -11.2 R#Rx 1: Read range and direction messages.^direction in FSK: [0.889047,-0.414570,0.194234]Fpublishing direction and range infoy$4 s?OڿmVѫ?Y@rs )IZishA@?C@;0>zC@ +H>)k@I+H!U??V?YN? Ov?)`1If߾i+H 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.1Q 5=55?Q 9E55)5 BYAyEQ IM@5EI5;i5;5:ύ5yQɮUAQiiFB?AJi@Ri@jiW@bO>1@%E#wq]?R$4 s?OڿmVѫ?Zif߾bi+Hja4fxJ6?ZݓݿF0hrL?2iw:i"i g2?*in^-BiBi 6?iii @i@ԙ addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.502984 s, deltaX: -0.100000 m, approachRate: -0.198813 m/s, rangeRepo size: 4  Added new target pos. range: 5.266119 m, bearing: 241.033533 deg, lat: 36.779400 deg, lon: -121.859774 deg, deltaT: 8.563709 s, deltaX: -4.173256 m, approachRate: -0.487319 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 5.27 m. 9.44 m.Rh!Zh!5 ProNav: ac range: 9.439375 m, nav range: 5.034512 m, bearing: 249.892635 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 255.538523 deg, new cmd heading: 255.000830 deg. Bh1=|HeadingCmd: 4.450604 target range: 9.439375 and range: 5.30 m.h=Yk@h9*h9"hA hAgAfAfIfIdIdIdIjdU@33@ZdU޶?7Bɢ:) 2>i)@4igi꿉Z>IYk@I@ @@@B<A4=BF>BCB IBӂBBA =BBB^;B4#EBȶCBBBC =BC =CL 6E E{E$E"Es:*E5":VE4ZEBE;2E;JE;z;:EA ) IA IQ O] >P,B?A8ɰ8?@]:@,;ٱEx %AHRS rotation from veh to nav: [[-0.142278,0.961065,0.236879],[-0.989811,-0.136805,-0.039472],[-0.005529,-0.240082,0.970737]]H *6¿ ?R?т 5zv οF?i?@I$k^;CY=ByE Ii=Mb@Mb@Mb@9999 99=Pn?|?5^I +?Y=?y=ҽ=9<=A=@ =\@)=A9Y9bDUVDUye%e#=ٔm钻Q-m>9iYi=uFyuvEu;Eu>yQ 55}6?Q 95}_)}BY?Q E:DDAT read: Rx Time:05:54:17.6761 TRx dataTimestamp_ set to:1761544458.924877PDAT read: Bearing 65.1, -26.8 (Local) ~Local bearing/azimuth received: Bearing 65.1, -26.8 (Local) DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4 DAT read: 05:54:17.6761 LVL= 32752, 32753, 29842, 32755, AGC= 47, IDX= 500, 0.47,-2.149, 2.903,-1.088,-1.812, PHS=-0.235,-1.523, 0.681, RAW= 174.4, 11.2, CAL= 174.4, 13.2, ROT= 335.6, -13.2 Ygot valid direction response: 05:54:17.6761 LVL= 32752, 32753, 29842, 32755, AGC= 47, IDX= 500, 0.47,-2.149, 2.903,-1.088,-1.812, PHS=-0.235,-1.523, 0.681, RAW= 174.4, 11.2, CAL= 174.4, 13.2, ROT= 335.6, -13.2 R#Rx 1: Read range and direction messages.^direction in FSK: [0.886622,-0.402190,0.228351]Fpublishing direction and range infoy6_?Bz9yٿ :?Y@t )/Iףpi¿V.?B@+H>B@ k>)5o@IkA?0N-?0CԚ? 6s?)2HIZ ھik2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.yQ I5@}EI}i)1i"giz#쿉  >I @I I @  @ @ r4@ @ @ fAE  E E 'E "E :*E ga:VE '4ZE a @a @a @a @E 2Acoustic response timeoutq ^A A >A >ԩAIIAOm ?EH,'B?A@@];ٱx AHRS rotation from veh to nav: [[-0.150072,0.959874,0.236897],[-0.988664,-0.144557,-0.040584],[-0.004711,-0.240302,0.970687]]H@5ÿJ?`R?`"`؀¿ {ǤKs@4ο?i@I_Q^;CYrByr IbDVDy%&=ٔٺQ->9Y=FyvE'E> Q 55 ?Q 95 ) !BYyQ I@ EI ;i ; yӍ5y!ɮ%A)EB*** querying acoustic contact ***iA iAjhQbhQUzIgnoring new targets. Set target to previous: 9.44 m. 9.44 m.YRhe:Zhe:u ProNav: ac range: 9.439375 m, nav range: 4.524394 m, bearing: 249.745580 deg, approach rate: -0.598896 m/s, LOS rate: -0.162618 deg/s, cmd heading: 254.298871 deg, new cmd heading: 254.088549 deg. Bhu4߻DDAT read: Rx Time:05:54:18.1761 TRx dataTimestamp_ set to:1761544459.428957PDAT read: Bearing 63.7, -27.5 (Local) ~Local bearing/azimuth received: Bearing 63.7, -27.5 (Local) DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4 u|HeadingCmd: 4.434682 target range: 9.439375 and range: 4.80 m.hu@hq*hq"hy hygyfyffdddjdZd,?DAT read: 05:54:18.1761 LVL= 32752, 32753, 30450, 32755, AGC= 47, IDX= 500,-0.03,-1.511,-2.730,-0.400,-1.163, PHS=-0.247,-1.522, 0.719, RAW= 175.4, 10.8, CAL= 175.4, 12.6, ROT= 334.6, -12.6 Ygot valid direction response: 05:54:18.1761 LVL= 32752, 32753, 30450, 32755, AGC= 47, IDX= 500,-0.03,-1.511,-2.730,-0.400,-1.163, PHS=-0.247,-1.522, 0.719, RAW= 175.4, 10.8, CAL= 175.4, 12.6, ROT= 334.6, -12.6 R#Rx 1: Read range and direction messages.^direction in FSK: [0.881580,-0.418605,0.218143]Fpublishing direction and range infoyn5?R}kڿ'$?Yv )I|i¿b8?vC@A>vC@ z0a>);@Iz0a!?1^?ʌ? w?)@Iiz0a 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.5B B IB BB > =B B NDB ^;B +#EE  E }E &E "E :*E k&:VE 4ZE BE ;a 2E ;a JE ;a :E €;a 5 2Acoustic response timeout^Am N9> A I I O >l,B?AdY%jBy%h IiMb@Mb@Mb@ 9 rh?!rh/$?YC ?yl罙<MA@ )YAAAAbDVDβy %"=ٔQ->9Y=FyvEE%>!Q 5-5%@럊?Q 955%)%-BY5V?Q E5:y5Q I5@%EI%;i% ;%Ս5yEBɮEAEަEiitB?AJi@Ri@jiDž@b*@E3Y7 ?Rn5?R}kڿ'$?Zibiz0aj6eHh4?*H ?Zʞ&޿NC@ 5z>)@I5zH5?Y=W9?\ʀ? v?)PI:i5z2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode. addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504080 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 4.769427 m, bearing: 239.528177 deg, lat: 36.779399 deg, lon: -121.859774 deg, deltaT: 9.571873 s, deltaX: -4.669948 m, approachRate: -0.487882 m/s, posRepo size: 4 jhIbhIzIgnoring new targets. Set target to previous: 4.77 m. 9.44 m.RhZh ProNav: ac range: 9.439375 m, nav range: 4.244986 m, bearing: 249.696920 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 254.088556 deg, new cmd heading: 253.423692 deg. Bh-|HeadingCmd: 4.423078 target range: 9.439375 and range: 4.80 m.h-ۉ@h)*h)"h) h)g1f1f1f57Bd9d9d9jd=@Zd=R ?颕>Bɢ)  =i).iei>Iۉ@I!O@ @@4@I E  E E #E "E ~:*E P:VE 3ZE a @a @a @a @M 2Acoustic response timeout^A ɯ=A eAzA gAy A1I9IIO]>$XĐ,8C?AY-QBy-I IbD=VD=y}%}C=ٔyQ-}>9Y=FyvEE>Q 55䟊?Q 95x)6BYyQ I@EI4:i:׍5y˕BɮAEiixB?AJi@Ri@ji@@bl@Ü:[e;K!>?R Z??犖p؉ڿ79K?Zi:bi5zj{No7ǘ- P?ZY1I-;@I1DDAT read: Rx Time:05:54:19.1757 TRx dataTimestamp_ set to:1761544460.437575DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 X#Rx 1: Read range message, but no direction.yYf@2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.@ @@/@y^A>IIO>ԡA A @AB L>B CB IB BB ; =B B B ^;B *#E E  E E "E "E s:*E C:VE (3ZE BE ;a 2E ;a% JE <;a% :E <;a% U 2Acoustic response timeoutʐ,,C?A:%@:t @:z:ٱ:)w FAHRS rotation from veh to nav: [[-0.176252,0.955740,0.235575],[-0.984344,-0.170841,-0.043351],[-0.001186,-0.239527,0.970889]]:H`kƿm?O'?@"ſ2`[oSԨο?i:%@I:J^;:CYzPByzH II<)< = =bDVD1y5ֻ%5O=ٔ=4Q-=>9AYA=EFyEvEMPEM>Q 55ݟ?Q 95)@BYyQ I@EI1:i:Dٍ5yɮA] addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504746 s, deltaX: -0.200000 m, approachRate: -0.396239 m/s, rangeRepo size: 4 jhYbhazIgnoring new targets. Set target to previous: 9.44 m. 9.44 m.ԱRh:Zh:% ProNav: ac range: 9.439375 m, nav range: 3.789283 m, bearing: 249.692399 deg, approach rate: -0.545673 m/s, LOS rate: 0.105840 deg/s, cmd heading: 252.876225 deg, new cmd heading: 253.006487 deg. BhMF;|HeadingCmd: 4.415796 target range: 9.439375 and range: 4.20 m.h4N@h*h"h hgfifyfd!d)djd@Zd Q?颅BBɢ)  F@ d>)@Idsz?ZSǣ?m,0? )s?)9AIJlid]2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.@ @@2@ 1 ^A G>IIO>ܿҐ,3KC?AD zD E EE!E"E:*EA:VEc3ZEa@a@a@a@.2Acoustic response timeout0N4<ɰN4<~@~V@~eaٱ~v  AHRS rotation from veh to nav: [[-0.194020,0.952558,0.234500],[-0.980997,-0.188605,-0.045527],[0.000861,-0.238877,0.971049]]~Hȿ`Z{?@?`Td2$ȿEO`6L?ο`?i~@I~YK^;~CY%DBy%9 Iԁi Mb@Mb@Mb@     9 Gz?J +~jt?Y ?y Ƚ < 7A  A) fA Y  A ];YbDuVDuky%=ٔe]Q->9Y=FyvEE>Q 55ӟ?Q 95)MBY?Q E:yiQ I@EIC/BiEȄBԱiE g2?iE>C/iE[BiEb@iEN@ addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504108 s, deltaX: -0.300000 m, approachRate: -0.595110 m/s, rangeRepo size: 4  Added new target pos. range: 3.875195 m, bearing: 234.548147 deg, lat: 36.779399 deg, lon: -121.859775 deg, deltaT: 11.084599 s, deltaX: -5.564180 m, approachRate: -0.501974 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 3.88 m. 9.44 m.Rh%Zh%U ProNav: ac range: 9.439375 m, nav range: 3.434206 m, bearing: 249.691662 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 253.006490 deg, new cmd heading: 252.160048 deg. BhU]|HeadingCmd: 4.401023 target range: 9.439375 and range: 3.90 m.h].Ռ@hY*hY"hY hYgafafafe Bdddjd@33@Zd@X?DDAT read: Rx Time:05:54:20.1758 TRx dataTimestamp_ set to:1761544461.444806%PDAT read: Bearing 67.0, -33.0 (Local) %~Local bearing/azimuth received: Bearing 67.0, -33.0 (Local) 5DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 ]DAT read: 05:54:20.1758 LVL= 32752, 32753, 24562, 32755, AGC= 47, IDX= 514,-0.36,-2.683, 2.578,-1.417,-2.110, PHS=-0.471,-1.550, 0.650, RAW= 180.6, 14.3, CAL= 180.6, 18.5, ROT= 329.4, -18.5 eYgot valid direction response: 05:54:20.1758 LVL= 32752, 32753, 24562, 32755, AGC= 47, IDX= 514,-0.36,-2.683, 2.578,-1.417,-2.110, PHS=-0.471,-1.550, 0.650, RAW= 180.6, 14.3, CAL= 180.6, 18.5, ROT= 329.4, -18.5 mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.816262,-0.482736,0.317305]uFpublishing direction and range infoyu? %޿Hs%N?Y̌@_ )/I&iffƿff&?nI@r>nI@ MQ>)@IMQ?w4k??bŎ? s?)IݸiMQ2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. EBɢ v|/)  ݺi ) - Y i] cie 𿉧a e 1=Ie .Ռ@Ii P@  @ @ q3@ ^A =I I) O5 >ؐ,]ReC?A` d)fkAdddhhihIj[LFhIlinkA n@l)lp rkArHr>FpptIv@)tit)tItzDzWF xxxxi||iae A)a aIaYiYqyqbDVDβyj%=ٔ5Q-5 ?99Y9==Fy=vEEEE ?IQ 5U5MΟ?BO>BBf IBiBB: =BBODB^;B9#EQ 9 5M)MTBYyQ I@MEIM 28BiMBiM\)?iMcp0iIiM^@iM5@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503123 s, deltaX: 0.500000 m, approachRate: 0.993793 m/s, rangeRepo size: 4  Added new target pos. range: 4.372046 m, bearing: 233.095470 deg, lat: 36.779398 deg, lon: -121.859775 deg, deltaT: 11.587722 s, deltaX: -5.067329 m, approachRate: -0.437302 m/s, posRepo size: 4 jh TStarting intercept timer at range: 4.40 m.bh zIgnoring new targets. Set target to previous: 4.37 m. 9.44 m.RhZh% ProNav: ac range: 9.439375 m, nav range: 3.264110 m, bearing: 249.691252 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 252.160038 deg, new cmd heading: 251.721219 deg. Bh!%|HeadingCmd: 4.393364 target range: 9.439375 and range: 4.40 m.h-p@h)*h)"h) h)g)f)f1f1d1d1d9jd@Zd*O?eFBɢm3)i i)-顑i]ci񿉧9=Ip@IA @  @ @ 4@ - DDAT read: Rx Time:05:54:20.6755 5 TRx dataTimestamp_ set to:1761544461.949684E DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 M X#Rx 1: Read range message, but no direction.y1 Y5 y@1 U 2Acoustic response timeoutU Querying Benthos address 50 with 120 pings in terminal homing one-way mode.q ^Aw=I I)O5>x>,7C?A6@6@6f5!ٱ6w >AHRS rotation from veh to nav: [[-0.212249,0.948584,0.234815],[-0.977212,-0.206635,-0.048558],[0.002460,-0.239770,0.970827]]6H*˿Z?h?SEsʿ`ܨ`&d? ʰο?i6@I6[^;6CY-7By-) I11iiMb@Mb@Mb@ 9|?5^?Mb?Y?y̽<A@ 9A)YAbDVDyM%%!=ٔ%SQ-%>9)Y)=-Fy-vE-E5>1Q 5=55ş?Q 9E55)5^BYE6?Q EE:yEQ IE@5EI5 ;i5G ;5rߍ5yQɮUoAQuB*** querying acoustic contact ***iq iq addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504878 s, deltaX: -0.500000 m, approachRate: -0.990338 m/s, rangeRepo size: 4 jhRStopped intercept timer at range: 3.90 m.bhzIgnoring new targets. Set target to previous: 9.44 m. 9.44 m.Rh;Zh; ProNav: ac range: 9.439375 m, nav range: 2.975663 m, bearing: 249.805088 deg, approach rate: -0.682685 m/s, LOS rate: 0.295540 deg/s, cmd heading: 251.721212 deg, new cmd heading: 252.095819 deg. BhJ<|HeadingCmd: 4.399902 target range: 9.439375 and range: 3.90 m.hˌ@h*h"h hgfffBdddjd@33@Zd3h?HBɢ5X) (i)$J.i,bio񿉧M=Iˌ@I Ee EexEe&Ea"EeO:*Ee:VEe4ZEaam@am@am@am@2Acoustic response timeoutuO@y @y@}/@y@>@=ԙ^AU=IIOB> U DDAT read: Rx Time:05:54:21.1753 ] TRx dataTimestamp_ set to:1761544462.452683e PDAT read: Bearing 61.2, -32.9 (Local) e ~Local bearing/azimuth received: Bearing 61.2, -32.9 (Local) u DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.4  DAT read: 05:54:21.1753 LVL= 27120, 22289, 22226, 32755, AGC= 45, IDX= 505, 0.31,-2.925, 2.193,-1.475,-2.356, PHS=-0.467,-1.689, 0.837, RAW= 181.1, 12.0, CAL= 181.0, 14.8, ROT= 329.0, -14.8  Ygot valid direction response: 05:54:21.1753 LVL= 27120, 22289, 22226, 32755, AGC= 45, IDX= 505, 0.31,-2.925, 2.193,-1.475,-2.356, PHS=-0.467,-1.689, 0.837, RAW= 181.1, 12.0, CAL= 181.0, 14.8, ROT= 329.0, -14.8  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.828729,-0.497951,0.255446] Fpublishing direction and range infoyQ U PJf?tSm߿l39Y?YU ff@Q U iU WU V Q )U -IU iU '1ؿU EV?U hJJ@U PwV>U -J@ U A>)U @IU AQ Q U (ޯ&F? ո`zd?f? U p?)U WIU e iU AQ Q - 2Acoustic response timeout- Querying Benthos address 50 with 120 pings in terminal homing one-way mode.`,C?A2礈@2@2LvXٱ2 w >AHRS rotation from veh to nav: [[-0.222268,0.946385,0.234418],[-0.974980,-0.216562,-0.050152],[0.003303,-0.239700,0.970841]]2HIs̿H?g? 3 J˿@k?{ο"?i2礈@I2fD^;2CY~2By~# IbDVD:y:%V=ٔQ->9Y=FyvEFܼE>Q 55?Q 95)gBYy^Q I@EI:i:'5yUҕBɮ]A]EiiC?AJid@Rid@ji䆀@b?<@cY8M=?RPJf?tSm߿l39Y?Zie bi AjaN$ <e-gqb.?Z4p*>B㛯?2i9#:iY"iY ?*i=4Bi؄Bij ?i3i5BiH@i[D@% addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.502999 s, deltaX: -0.300000 m, approachRate: -0.596423 m/s, rangeRepo size: 4 ] Added new target pos. range: 3.577128 m, bearing: 230.126567 deg, lat: 36.779397 deg, lon: -121.859777 deg, deltaT: 12.595599 s, deltaX: -5.862247 m, approachRate: -0.465420 m/s, posRepo size: 4 jhYbhY]zIgnoring new targets. Set target to previous: 3.58 m. 9.44 m.RheZhe ProNav: ac range: 9.439375 m, nav range: 2.748646 m, bearing: 249.960173 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 252.095807 deg, new cmd heading: 251.542669 deg. Bh|HeadingCmd: 4.390248 target range: 9.439375 and range: 3.60 m.h|@h*h"h hgfffdddjd @Zd`M?mIBɢC_) x7i).顉iZMbiK򿉧\=I|@IBP>BCBG IBOBBBBBG_;Bh#EY@Y @Y@]/@YE EE$E"E:*E*5:VE4ZEBE a ],C?A>93iAy~?~\rADDAT read: Rx Time:05:54:21.6750 TRx dataTimestamp_ set to:1761544462.956720%PDAT read: Bearing 70.6, -33.6 (Local) %~Local bearing/azimuth received: Bearing 70.6, -33.6 (Local) 5DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.4 IeDAT read: 05:54:21.6750 LVL= 25696, 17905, 19218, 28659, AGC= 44, IDX= 503,-0.16,-0.168,-1.281, 1.226, 0.567, PHS=-0.633,-1.803, 0.615, RAW= 181.1, 17.1, CAL= 181.0, 23.2, ROT= 329.0, -23.2 mYgot valid direction response: 05:54:21.6750 LVL= 25696, 17905, 19218, 28659, AGC= 44, IDX= 503,-0.16,-0.168,-1.281, 1.226, 0.567, PHS=-0.633,-1.803, 0.615, RAW= 181.1, 17.1, CAL= 181.0, 23.2, ROT= 329.0, -23.2 mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.787853,-0.473390,0.393942]uFpublishing direction and range infoy 6?byL޿3X6?YL@`dEK o),IJ "i濉p?Θ> 4Q>)I4QϾ+mz?]6e ?A? l?)Ii4QϾ2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Y/By I-only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 97.46, 60.82 a-@a- a-@a- a-@a- a-@a- bD5VD5:2yEt%E1=ٔMQ-M>9IYI=UFyUvEUEU>YQ 55]%?Q 95])]pBQ A+:YQ E:yQ I @]EI]V]5yɮAii:C?AJiK@RiK@ji@b$T{ @}ihB ?R 6?byL޿3X6?Zibi4QϾjUw-o:\?Z ࿞ˠ忰]?2iy :iؿ"i'?*iIE1BiZBiiIE1ii3@iY@ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504037 s, deltaX: -0.400000 m, approachRate: -0.793592 m/s, rangeRepo size: 4  Added new target pos. range: 3.179678 m, bearing: 232.244807 deg, lat: 36.779397 deg, lon: -121.859776 deg, deltaT: 13.099636 s, deltaX: -6.259697 m, approachRate: -0.477853 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 3.18 m. 9.44 m.RhZh  ProNav: ac range: 9.439375 m, nav range: 2.484985 m, bearing: 250.175881 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 251.542671 deg, new cmd heading: 250.948311 deg. Bh =|HeadingCmd: 4.379874 target range: 9.439375 and range: 3.20 m.h='@h9*h9"h9 h9g9fAfAfAdAdIdIjdM @ZdM@?q颽KBɢj) `i)/iݥai󿉧lP=I'@I@ @@/@^Ae=ԡE EEE"E:*E|;:VEZEa@a@a@a@2Acoustic response timeoutA I I O > ,C?A] @]@]ٱ]v }AHRS rotation from veh to nav: [[-0.242078,0.941899,0.232863],[-0.970245,-0.236162,-0.053398],[0.004698,-0.238861,0.971042]]]Hiο$?u?@@ :οW=s?ο?i] @I]h^;]CY9By+ I=Աa=bDVDfy=F=%=L=ٔ=cQ-=>9AYA=EFyEvEE PEM>QQ 5]5Uc?Q 9]5U)UyBQ A] :YYQ E]o:y]Q Ie@UEIU3:iUl[?U5ym̕BɮmAmEjhbhzIgnoring new targets. Set target to previous: 9.44 m. 9.44 m.Rh<Zh< ProNav: ac range: 9.439375 m, nav range: 2.252085 m, bearing: 250.529944 deg, approach rate: -0.628382 m/s, LOS rate: 1.054073 deg/s, cmd heading: 250.948308 deg, new cmd heading: 252.120171 deg. Bh4=|HeadingCmd: 4.400327 target range: 9.439375 and range: 3.20 m.h{ό@h*h"h hgfffdddjdZd`hu?LBɢ T^)  Xi ) G.0 i>ai0򿉧=I{ό@I]DDAT read: Rx Time:05:54:22.1748 ]TRx dataTimestamp_ set to:1761544463.466132mPDAT read: Bearing 87.7, -33.3 (Local) u~Local bearing/azimuth received: Bearing 87.7, -33.3 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 DAT read: 05:54:22.1748 LVL= 27232, 23489, 19234, 29683, AGC= 44, IDX= 502, 0.26, 1.056, 0.185, 2.251, 1.972, PHS=-0.814,-1.742, 0.235, RAW= 182.0, 25.6, CAL= 181.5, 38.0, ROT= 328.5, -38.0 Ygot valid direction response: 05:54:22.1748 LVL= 27232, 23489, 19234, 29683, AGC= 44, IDX= 502, 0.26, 1.056, 0.185, 2.251, 1.972, PHS=-0.814,-1.742, 0.235, RAW= 182.0, 25.6, CAL= 181.5, 38.0, ROT= 328.5, -38.0 R#Rx 1: Read range and direction messages.Q@ @@0@^direction in FSK: [0.671890,-0.411735,0.615661]Fpublishing direction and range infoyY]ȝ?$¿Yڿj$?Y],@Y]`j][]"K ]s)YI]NbPi]޿]ףp>]KK@]>]ɼJ@ ])?)]x@I])YY]m?M|?PR`? ]?)]*I]M i])YY 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode. ^A$=B Q>B B 4 IB @BB B B B _;B #EBʹCBʹCBʓCB: =B; =C%5A I! I1 1 OE >E  E E "E "E :*E =:VE (3ZE BE ;a 2E ;a JE Ɣ;a :E ǔ;a  2Acoustic response timeout|,ۉC?A:;ɰ:;V~@VQ@VͧٱVu nAHRS rotation from veh to nav: [[-0.250542,0.940051,0.231373],[-0.968092,-0.244543,-0.054741],[0.005121,-0.237705,0.971324]]VH`п??@ -MϿ t?mο?iV~@IV^;VCYGBy%< IbD5VD5k1yE=%E\=ٔM4Q-M>9IYI=MFyMvEUkEU>YQ 5e5] ?Q 9e5])]BQ Am9YiQ EmA:ymQ Im@]EI] :i]J?]5yqɮu(AyiiC?AJi+@Ri+@jip@bzu8_?bI,&{m?Rȝ?$¿Yڿj$?ZiM bi)j˹&\ U`?Z^{}mڿ `?2i]ȿ:i΍"iZI?*iL+BiBiiiZBiw@i~@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.509412 s, deltaX: -0.500000 m, approachRate: -0.981524 m/s, rangeRepo size: 4 5 Added new target pos. range: 2.682853 m, bearing: 234.711540 deg, lat: 36.779397 deg, lon: -121.859776 deg, deltaT: 13.609048 s, deltaX: -6.756522 m, approachRate: -0.496473 m/s, posRepo size: 4 jh1bh9=BIntercept lockout. Range: 2.70 m.=bTransitioning guidance mode to: INTERCEPT_LOCKOUT:h=@h9h9*h9"hA hAgIfQfifddd)jdU@Zd]୺?MBɢc9>)  Ri ) R_0  i `i񿉧=IIAP@ @@0@eDDAT read: Rx Time:05:54:22.6746 eTRx dataTimestamp_ set to:1761544463.968841uPDAT read: Bearing 102.3, -36.6 (Local) }~Local bearing/azimuth received: Bearing 102.3, -36.6 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.4 DAT read: 05:54:22.6746 LVL= 32752, 31217, 26514, 32755, AGC= 45, IDX= 500,-0.01, 2.595, 2.215,-2.573,-2.478, PHS=-1.108,-1.545,-0.139, RAW= 192.3, 38.4, CAL= 190.3, 49.2, ROT= 319.7, -49.2 ^A|=5Ygot valid direction response: 05:54:22.6746 LVL= 32752, 31217, 26514, 32755, AGC= 45, IDX= 500,-0.01, 2.595, 2.215,-2.573,-2.478, PHS=-1.108,-1.545,-0.139, RAW= 192.3, 38.4, CAL= 190.3, 49.2, ROT= 319.7, -49.2 5R#Rx 1: Read range and direction messages.E^direction in FSK: [0.498343,-0.422626,0.756995]EFpublishing direction and range infoyae\?OL ۿM9?Ye@aeyeyeg e)e-IeҍieſeVeV@e+?e0T@ e[?)eލ@Ie[aaem:`w?m$?4\@(? e>?)eS{+Ie4ie[aa2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.A% .AI) IA OM >ԙ a,eD?A2Hl@2g@2Ekٱ2Qau :AHRS rotation from veh to nav: [[-0.259302,0.937862,0.230603],[-0.965781,-0.253151,-0.056407],[0.005475,-0.237339,0.971412]]2H`eп?h?3пdᬿ@amv?aο?i2Hl@I2^;2CYNJByRA Ia-a- a-a- a-a- a-a- i-Mb@Mb@Mb@)))) )9- ףp= ?~jtZd;O?Y-Q?y-Ľ-j<-MA-@ -A)-A)Y-AbDE VDEf2yUH<%UI=ٔUdQ-]>9] ?Y] ?=eFyevEeEe>iQ 5u5m?Q 9u5m)mBQ AT:Yf?Q E:yeQ I@mEIm~*,>A"D?A Y@ ,@ E»ٱ ^t =AHRS rotation from veh to nav: [[-0.268594,0.935578,0.229241],[-0.963235,-0.262336,-0.057949],[0.005923,-0.236377,0.971643]] H`0ѿ@? W?@пm`_Bx?Aο?i Y@I ^; CYMQByUI IYYbDeVDeyuH<%H=ٔ Q->9Y=FyvEYE>Q 55b?Q 95)BYyQ I@EIS;i;Y5yɮAiiED?AJiW%@RiW%@jim@b М?5+8 _?RE'6U?WytUn1 Q V,K!9"?Y"?=FyvEE>Q 55O?Q 9%5c)BY-?Q E-:y-rQ I-@EIW;i;q5y5ӕBɮ5A=Ei)i->D?AJi-@Ri-@ji-ԁ@b-Q?Q=nƼ\?R-?igJڿ/;^c?Zi- bi-aFj-pl:Wpv>͍(R?Z-zaؿ9{߿k,EYD?A2┆@2@2ûٱ24p :AHRS rotation from veh to nav: [[-0.284603,0.931994,0.224474],[-0.958627,-0.278146,-0.060575],[0.005981,-0.232427,0.972596]]2H6ҿ ??`#ѿgx?`'Ϳ?i2┆@I2[g^;2CYFhByFe IbDRVDRyV =%Vd=ٔZ/Q-Z?9XY\=^Fy^vE^DEb?`Q 5f5bÄ?Q 9f5b9)bBYhyjQ Ij@bEIb:ib:b5yqɮuWAqB*** querying acoustic contact ***i ijhbhhh*h"h hgfffdddjdZd?QBɢ) 5=i)W/i`i񿉧x<@=IIDDAT read: Rx Time:05:54:24.1743 TRx dataTimestamp_ set to:1761544465.481017DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.3 X#Rx 1: Read range message, but no direction.yY@2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.O@ @@/@^Ae0f=9AIIOc>iBP>BCBG IBOBBBBB`;B$EE  E E $E "E :*E .:VE 4ZE BE ;a% 2E ;a% JE ;a% :E ;a- e 2Acoustic response timeoutԙ !,rD?A6W@6R@6aٱ6m BAHRS rotation from veh to nav: [[-0.291734,0.930580,0.221160],[-0.956481,-0.285253,-0.061437],[0.005915,-0.229459,0.973300]]6HƫҿO?N?`~Aҿt:x?@^ͿG%?i6W@I6 Q^;6CYRByR IIT)Vp;Z=Z= Zp9hYh=jFyjvEnEn>pQ 5v5r{?Q 9v5r)rBYxyzQ Iz@rEIr:ir:r5y|ɮ~A addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503935 s, deltaX: -0.100000 m, approachRate: -0.198438 m/s, rangeRepo size: 4 jhbhhh*h"h hg f9fAfIydddjd@Zd ?RBɢ@꡻)  =i)>.i`i񿉧 *DAT read: user:597> BDAT read: Tx time:05:54:25.0712 $Ping request sent.@#,ۣD?Aɰp;E. E.E.(E,"E.a:*E.0:VE.c44ZE,a2@a2@a2@a2@>"@>g@>wٱ>h JAHRS rotation from veh to nav: [[-0.297951,0.929693,0.216554],[-0.954566,-0.291458,-0.062097],[0.005385,-0.225217,0.974294]]>Hӿ@ ? ?΋@?ҿ&˯v?̿@j-?i>"@I>+g^;9 ?Y ?=FyvEhE>!Q 5-5%q?Q 9-5%%)%BY5?Q E5:y5=Q I5@%EI%.:i%X:%5y9ɮ=OAAajhbhhh*h"h hgfffoBdddjdZdn?-SBɢ-lsN)1 5=i1)5,11i5=`i]񿉧]'׳echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501667Թ b),y]D?A6@6@6ǘٱ6Ԩd FAHRS rotation from veh to nav: [[-0.303131,0.928975,0.212408],[-0.952937,-0.296592,-0.062796],[0.004662,-0.221447,0.975161]]6H fӿ)?@-0?v~@]ҿh`s? ^X̿4?i6@I6R^;6CYNByN IbDVVDV0y^<%fd=ٔf[;Q-j>9hYh=jFyjvEnvEn>pQ 5v5rh?Q 9v5r*)rBYtyzQ Iz@rEIr:ir|:rR5y~̕Bɮ~A|jh!bh!h!h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd= 1?eTBɢmX)i m=ii)m+iqiu]`iu~񿉧}<}wBABEf IBEiBBE; =BABENDBEa;BEH$E5P@1 @1@5+0@1bEjE¶4rE“/E} E}tE}$Ey"E}:*E}v:VE}4ZEyBE};a2E};aJE}`;a:E}`;achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754380^A} =1 Iq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005632Q L0,1BD?A2 ԅ@2Ό@2fcٱ2w` :AHRS rotation from veh to nav: [[-0.307082,0.928660,0.208064],[-0.951677,-0.300450,-0.063572],[0.003476,-0.217531,0.976047]]2H:ӿ?֡?"t :ӿ9Fizl?˿@;?i2 ԅ@I2w^;0YFByF I HHHJAiMb@Mb@Mb@ 9!rh?l¿S㥫?Yl?y/]= A@ A)AY\AbDVDy=%<=ٔ3;Q->9Y=FyvEE>Q 55]?Q 95/)BYM ?Q E:y?Q I@EI6;i ;75yɮzAjh bh h h *h "h  h gfffdddjdZd%?UBɢj) ,>i))i`i񿉧<yYE} E}xEyEy"E}O:*E}:VEyZEya@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257636ԁ t6,D?A06Ͽ@6@6 Ѻٱ6)\ BAHRS rotation from veh to nav: [[-0.309443,0.928918,0.203363],[-0.950917,-0.302643,-0.064532],[0.001602,-0.213350,0.976975]]6H ӿ??m^ӿ#>Z? O˿ `C?i6Ͽ@I6Y^;4YJByJ IbDRVDR1yZ=%Z\=ٔ^k;Q-^>9xYx=zFyzvE~ֻEU>YQ 5e5]pT?Q 9e5]4)]BYayeqQ Im@]EI]:i]:]5yuڕBɮu7AuEB*** querying acoustic contact ***i ijhbhhh*h"h hgfffdddjdZd1?VBɢ@;) 9>i)K'is`i񿉧ڳ<|E  E E "E "E :*E R:VE (3ZE BE ;a 2E ;a JE ;a :E ;a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761605 ۞<,1D?A2쳅@2@2)9ٱ2wW :AHRS rotation from veh to nav: [[-0.310822,0.929525,0.198427],[-0.950468,-0.303905,-0.065207],[-0.000308,-0.208866,0.977944]]2Hӿા? f?9AYa=mFymvEm7Em>qQ 5}5uH?Q 9}5u:)uBYyyQ I@uEIud:ԡiu|:u 5yӕBɮAEjhbhhh*h"h hgff f dddjdZd@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013770UWBɢU:)Q U\>>iQ)]'$YYi]*`i񿉧xɳ<sC,/E?AE" E"E")E "E"a:*E".:VE"FA4ZE a&@a&@a&@a&@>W@>*@>C;ٱ>۴R FAHRS rotation from veh to nav: [[-0.311817,0.930249,0.193409],[-0.950139,-0.304780,-0.065914],[-0.002369,-0.204318,0.978902]]>Hӿ??g@ӿ߰@shc'ʿ)S?i>W@I>f^;<Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265693YVÂByV I==only read 2 of 4 data items for water velocity. Device response is::WS,-32768,3 a@a a@a a@a a@a bD%VD%f?y]܍=%]n=ٔ];Q-]?9aYa=eFyevEeJEm?Q 55??Q 95>)%BQ A+:YQ E:yQ I@EI:i>W5yɮAjhbhhh*h"h hgfffd!d!dIjdQZdU &@YBɢ:Ġ;)! %:T>i!)%!!!i% `i-~񿉧-<-#g#J,*E?Aɰ;2n@2h@2y;ٱ2uW >AHRS rotation from veh to nav: [[-0.318912,0.927140,0.196738],[-0.947774,-0.311019,-0.070643],[-0.004306,-0.208992,0.977908]]2H iԿ "?`.? +Tӿq Bʿ@K?i2n@I2T^;2CAxAz?AB~I>B~CB~ IB~BB~= =B|B|B~b;B~$EBBBB; =BC5QEu EuuEu#Eq"Eu:*Eu:VEu3ZEqBEuͽ;a}2Euν;a}JEued;a:Eued;achecking for new query: numPingsReceived=1, elapsed TxPingTime=2.769725YEȂByE IbDUVDUkyeo<%m/=ٔm;Q-m>9m"?Yu"?=uFyuvEuCEu>yQ 55}4?Q 95}jD)}8BQ A :YQ E|:y Q I@}EI} ;i}N?}5yɮWAii?z+]?,(@"iPF?*i"BiBii"iBi?ig?ԉ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 3.023697 s, deltaX: 0.100000 m, approachRate: 0.033072 m/s, rangeRepo size: 4  Added new target pos. range: 2.086624 m, bearing: 80.505441 deg, lat: 36.779402 deg, lon: -121.859769 deg, deltaT: 3.527632 s, deltaX: -0.000039 m, approachRate: -0.000011 m/s, posRepo size: 4 jhTStarting intercept timer at range: 2.10 m.bhhh*h"h hgfffdddjd@ZdW?ZBɢHM;)  \>i)wK  i5`iu񿉧}o<55rR,BJE?A2@2\@2l;ٱ2j :AHRS rotation from veh to nav: [[-0.332702,0.918854,0.212170],[-0.943005,-0.322461,-0.082223],[-0.007135,-0.227433,0.973768]]2HJտ`Ag?`b(?-1Կ @=9}`Ϳ)?i2@I2VO^;2C@Bs@i@I@@FC FCkADDDFsCHIJ)HiH)LINiAN;߽L LLRjAPiPPiPP)P TIT T)V{ATTXYXYuƂBy} I a%a% a%a% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%Q?Zd;OǿA`"?Y%>y%j<%Y=% A%@ %9A)!!Y%AbD=VD=0y(%%.=E EoE"E"E*E:VE(3ZEa@a@a@a@ٔ;Q->9Y=FyvE6E>Q 55c'?Q 95`I)NBQ AT:YK?Q E:yQ I@EI+;ib;5y͕Bɮ6A checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273756ii@E?AJi?Ri?ji?bҧNI=^⿟ p+5p?RE%DloP,޿_X9?ZibiV)j" !ÿׄ}?+?ZD_`[a7?i?2iS?:i"iJ?*iș3BixBiPF?iii?iyݩ?M addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503999 s, deltaX: -0.900000 m, approachRate: -1.785717 m/s, rangeRepo size: 4 ] Added new target pos. range: 1.192357 m, bearing: 98.523621 deg, lat: 36.779401 deg, lon: -121.859769 deg, deltaT: 0.503999 s, deltaX: -0.894268 m, approachRate: -1.774344 m/s, posRepo size: 4 jh]]RStopped intercept timer at range: 1.20 m.bhYhYha*ha"ha hagafafifmBdidqdqjdu@33?ZduR?颥\Bɢl;) T>i)Z顩i`i񿉧)<JII9]P@a @a@m3@i@=@=^A}9 DDAT read: Rx Time:05:54:28.2028  TRx dataTimestamp_ set to:1761544469.512720 PDAT read: Bearing 191.6, -25.3 (Local)  ~Local bearing/azimuth received: Bearing 191.6, -25.3 (Local)  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed -0.4  DAT read: 05:54:28.2028 LVL= 26352, 22337, 19122, 32755, AGC= 51, IDX= 501, 0.24, 0.909, 2.823, 1.783, 2.775, PHS=-1.764, 0.093,-1.036, RAW= 307.1, 30.6, CAL= 308.0, 35.9, ROT= 202.0, -35.9  Ygot valid direction response: 05:54:28.2028 LVL= 26352, 22337, 19122, 32755, AGC= 51, IDX= 501, 0.24, 0.909, 2.823, 1.783, 2.775, PHS=-1.764, 0.093,-1.036, RAW= 307.1, 30.6, CAL= 308.0, 35.9, ROT= 202.0, -35.9  R#Rx 3: Read range and direction messages. `direction in FSK: [-0.751058,-0.303447,0.586372] Fpublishing direction and range infoy  ©K~kӿzw?Y ? f AW J ) 3I i v= Z@ ܸ? @ g ?) ܢa@I g ަW뿾3TEE? A) PI |0i g = checking for new query: numPingsReceived=3, elapsed TxPingTime=3.541745 X, dE?ABE@B?@B/<ٱBt JAHRS rotation from veh to nav: [[-0.353047,0.909895,0.217829],[-0.935545,-0.340665,-0.093294],[-0.010681,-0.236726,0.971518]]BH Sֿ? ?@`tտⷿ`Mο?iBE@IBi^;BCYy I AbD VD:2y=%EQ=ٔE9IYI=MFyMvEM-eEU>qQ 5}5u?Q 95ugM)u`BYyQ I@u EIu:iu:ur5Աyɮ8Aiih`E?AJiƾ?Riƾ?jiR?b40X˗ܿLVs?R©K~kӿzw?Zi|0big j͊G??!/\{?Z_x?\ ??2iU?:i<2>"iR+?*i-/BiBiB5;?i-/iBi?i ?m addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504007 s, deltaX: 0.300000 m, approachRate: 0.595230 m/s, rangeRepo size: 4 } Added new target pos. range: 1.490446 m, bearing: 81.164795 deg, lat: 36.779400 deg, lon: -121.859775 deg, deltaT: 0.504007 s, deltaX: 0.298089 m, approachRate: 0.591439 m/s, posRepo size: 4 jhybhhh*h"h hgfffdddjd?Zd%?=]Bɢ=;)9 EnP>ii)miqiuu`i}񿉧}wz<})IIBe:>BeCBe IBeɂBBeF =BaBeLDBeob;Be$EE EvE#E"E*E:VE3ZEBE̽;a2Eͽ;aJEh;a:E h;a-checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778658Y@Y @Y@]/@a ^AE *:^,8~E?A2Lv@2q@2*V<ٱ2 >AHRS rotation from veh to nav: [[-0.376528,0.892017,0.250065],[-0.926313,-0.358709,-0.115206],[-0.013065,-0.275016,0.961351]]2H ؿf? ?[ ֿ~`ޙѿb?i2Lv@I2g^;2CDDAT read: Rx Time:05:54:28.7028 %TRx dataTimestamp_ set to:1761544470.016536-PDAT read: Bearing 189.8, -25.3 (Local) -~Local bearing/azimuth received: Bearing 189.8, -25.3 (Local) =DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed -0.1 eDAT read: 05:54:28.7028 LVL= 19024, 17537, 12242, 20787, AGC= 46, IDX= 501, 0.24, 1.811,-2.483, 2.664,-2.502, PHS=-1.868, 0.064,-1.161, RAW= 308.8, 31.8, CAL= 309.7, 37.0, ROT= 200.3, -37.0 mYgot valid direction response: 05:54:28.7028 LVL= 19024, 17537, 12242, 20787, AGC= 46, IDX= 501, 0.24, 1.811,-2.483, 2.664,-2.502, PHS=-1.868, 0.064,-1.161, RAW= 308.8, 31.8, CAL= 309.7, 37.0, ROT= 200.3, -37.0 mR#Rx 4: Read range and direction messages.u`direction in FSK: [-0.749031,-0.277075,0.601815]uFpublishing direction and range infoykz)ѿ؛B?YPJD/ 3Q).Iio=iw@q?@ MQ%?)_@IMQ%#z~ \V7q? ;?): Ib2iMQ%checking for new query: numPingsReceived=4, elapsed TxPingTime=4.049229ԩYBy IiMb@Mb@Mb@ 9oʡ?RQȿ)\(?Y>yBGa=dA A)AYA 15<bD=VD=0ymI%m'=ٔm;Q-m>9qYq=uFyuvE}SE}>Q 55?Q 95R)yBY?Q E:ygQ I@EI:iH:5yӕBɮAEiiE?AJiľ?Riľ?jii?begXfmڿ?Rkz)ѿ؛B?Zib2biMQ%jɻJi?C??Z7w*?2g$*?|b}dC?2i?:is>"iL]&?*iZ35BiBiR+?ib0iBi?i5%? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.490382 m, bearing: 75.636811 deg, lat: 36.779399 deg, lon: -121.859775 deg, deltaT: 0.503816 s, deltaX: -0.000064 m, approachRate: -0.000127 m/s, posRepo size: 4 jhbhhh*h"h hgfffBdddjdZd?E_BɢEiI)McIIiM__iu~񿉧uIO1 e,E?AVb@V]@Vn5<ٱVa bAHRS rotation from veh to nav: [[-0.407471,0.874001,0.264745],[-0.913151,-0.386429,-0.129724],[-0.011074,-0.294611,0.955553]]VH`ڿ ?`? 8?ؿʚ@ҿ?iVb@IV^;VCY%By- IbD=VD=fyMu%M=ٔMػQ-M?9QYQ=UFyUvE]E]?aQ 5m5e?Q 9m5eT)eBYiymKQ Im@eEIe:ieF:e5yyɮ}AyB*** querying acoustic contact ***i ijhbhhh*h"h hgfffdddjdZd`C?`Bɢ;) 2>i)+iΙ_i񿉧g<II P@ @@/@=DDAT read: Rx Time:05:54:29.2029 =TRx dataTimestamp_ set to:1761544470.521591MPDAT read: Bearing 194.9, -36.9 (Local) U~Local bearing/azimuth received: Bearing 194.9, -36.9 (Local) mDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 05:54:29.2029 LVL= 18832, 16673, 13858, 19795, AGC= 46, IDX= 502, 0.24,-0.413, 1.864, 0.986, 1.698, PHS=-2.008, 0.211,-0.756, RAW= 295.7, 25.1, CAL= 296.4, 31.4, ROT= 213.6, -31.4 Ygot valid direction response: 05:54:29.2029 LVL= 18832, 16673, 13858, 19795, AGC= 46, IDX= 502, 0.24,-0.413, 1.864, 0.986, 1.698, PHS=-2.008, 0.211,-0.756, RAW= 295.7, 25.1, CAL= 296.4, 31.4, ROT= 213.6, -31.4 R#Rx 5: Read range and direction messages.`direction in FSK: [-0.710941,-0.472348,0.521010]Fpublishing direction and range infoy9=~tQ:޿]*W?Y=?9=I=!A="6 =SM)9I=i=bX>=7A=i&@=K>=~@ =K ?)=n@I=K 99=Lq,W$?TY0%? =(SD@)=9II=Ƈ#i=K 99checking for new query: numPingsReceived=5, elapsed TxPingTime=4.552935^AeIIOI>9a B A <BE ?>BA BE IBE ĂBBE C =BA BA BE >b;BE $EE}  E} rE} !Ey "E} C:*E} ?:VE} c3ZEy BE} $;a 2E} &;a JE} yY;a :E} yY;a  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785653l,_E?A02@2U߇@2ѐ;ٱ2~ >AHRS rotation from veh to nav: [[-0.449649,0.852372,0.266980],[-0.893196,-0.427683,-0.138884],[-0.004198,-0.300915,0.953642]]2H` ܿF?4?`)_ۿ 2q`0Bӿ;?i2@I2q^;2CYnByn IIr=)rp<bDzVDz0y˝%B=ٔ=Q->9Y=FyvE E]>qQ 55uo?Q 95uX)uBYy9Q I@uEIubiQ)UQQiUW@_Թi񿉧<AܽIIEDDAT read: Rx Time:05:54:29.7028 MTRx dataTimestamp_ set to:1761544471.024904UPDAT read: Bearing 191.9, -39.9 (Local) U~Local bearing/azimuth received: Bearing 191.9, -39.9 (Local) mDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 05:54:29.7028 LVL= 27120, 15569, 14690, 24803, AGC= 47, IDX= 501, 0.27,-2.408,-0.060,-0.856,-0.219, PHS=-2.087, 0.204,-0.681, RAW= 292.5, 24.4, CAL= 293.2, 30.9, ROT= 216.8, -30.9 Ygot valid direction response: 05:54:29.7028 LVL= 27120, 15569, 14690, 24803, AGC= 47, IDX= 501, 0.27,-2.408,-0.060,-0.856,-0.219, PHS=-2.087, 0.204,-0.681, RAW= 292.5, 24.4, CAL= 293.2, 30.9, ROT= 216.8, -30.9 R#Rx 6: Read range and direction messages.`direction in FSK: [-0.687079,-0.514001,0.513541]Fpublishing direction and range infoyAE<~ Zrrt^n?YE?AEiE<Eb9 E`)E/IEhiE`P>EV.E\@E^ >E@ E ?)E*r@IE AAE.8r2[?YϹh? E@@)EپIEiE AAchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.059376Q@Q @Q@U/@Q ^A } I I) O5 >.[s,E?A6{@6@6V?ٱ6& BAHRS rotation from veh to nav: [[-0.528764,0.821052,0.215135],[-0.848752,-0.513083,-0.127926],[0.005348,-0.250239,0.968169]]6H F??`(-k_u?п@>?i6{@I6Dl^;6CYJByJ IE] E]E]&EY"E]:*E]E7:VE]4ZEYae@ae@ae@ae@imMb@Mb@Mb@iiii i9m|?5^?}?5^I̿Zd;?Ym>ymMbmy=m%Am@ mA)m^AiYmzAbDVDk1yO<%@=ٔvQ->9Y=FyvEh]E>checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289886Q 55c?Q 95NZ)BY>Q E;y/Q I@EI ;i ;5y͕Bɮ AiiE?AJiž?Riž?jiϗ?bz6gb| d~?R<~ Zrrt^n?Zibi jz,hֿ?1+i?]L?ZP$?_ݭ?&k?2i?:i="i?*iD;BiBiJ?iZ35iBi}?i~?- addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503313 s, deltaX: -0.200000 m, approachRate: -0.397367 m/s, rangeRepo size: 4  Added new target pos. range: 1.490401 m, bearing: 86.209108 deg, lat: 36.779397 deg, lon: -121.859778 deg, deltaT: 0.503313 s, deltaX: -0.198720 m, approachRate: -0.394824 m/s, posRepo size: 4 jhRStopped intercept timer at range: 1.50 m.bhhh*h"h hgfff!Bdddjd?Zd? =dBɢE:)A En >iA)m3iiim)_iu񿉧uIqIy O@  @@0@^A¼9IIOc>m DDAT read: Rx Time:05:54:30.2029 u TRx dataTimestamp_ set to:1761544471.528763} PDAT read: Bearing 184.9, -36.4 (Local) } ~Local bearing/azimuth received: Bearing 184.9, -36.4 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 05:54:30.2029 LVL= 23440, 19985, 17794, 22179, AGC= 46, IDX= 502, 0.38,-1.036, 1.267, 0.392, 1.155, PHS=-2.089, 0.157,-0.807, RAW= 295.3, 26.4, CAL= 296.4, 32.6, ROT= 213.6, -32.6  Ygot valid direction response: 05:54:30.2029 LVL= 23440, 19985, 17794, 22179, AGC= 46, IDX= 502, 0.38,-1.036, 1.267, 0.392, 1.155, PHS=-2.089, 0.157,-0.807, RAW= 295.3, 26.4, CAL= 296.4, 32.6, ROT= 213.6, -32.6  R#Rx 7: Read range and direction messages. `direction in FSK: [-0.701697,-0.466206,0.538771] Fpublishing direction and range infoyq u r=Lt濮Qݿ(=?Yu ?q u [u Nu E u V)u .Iu -iu >u Nu 7@u >u ~@ u ?)u n@Iu q q u I}H*ܑu&=쮲?r? u C@)u Iu Ƈ#iu q q  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.558341y,E?AYnByn I|bDzVDz:y=%EQ=ٔEQ-E>9IYI=MFyMwEMEU>QQ 5}5U㞊?Q 95U[)UBYyQ I@UEIUV:iU:UH5yɮAiiAE?AJi5?Ri5?jiW·?b,w a3g$?Rr=Lt濮Qݿ(=?ZiƇ#bij Y5?,x?-`&?ZeG?ρ?1 N?2i?:i)4>"i?*iٲ9BiBi;m?i:l6iBi?i?e addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503859 s, deltaX: 0.200000 m, approachRate: 0.396937 m/s, rangeRepo size: 4  Added new target pos. range: 1.689122 m, bearing: 82.254871 deg, lat: 36.779394 deg, lon: -121.859778 deg, deltaT: 0.503859 s, deltaX: 0.198720 m, approachRate: 0.394396 m/s, posRepo size: 4 jhTStarting intercept timer at range: 1.70 m.bhhh*h"h hgfffdd djd@33?Zd?额gBɢ$1) $=i)顡i̴_B8>BCB IBBBF =BBBb;B$E)bE3jEm4rEÈt0Em EmEiEi"Em>:*Emx:VEiZEiBEm^A=*YIIO->ԁ 6k,F?ADDAT read: Rx Time:05:54:30.7028 TRx dataTimestamp_ set to:1761544472.032752PDAT read: Bearing 174.0, -19.4 (Local) ~Local bearing/azimuth received: Bearing 174.0, -19.4 (Local) &DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 :DAT read: 05:54:30.7028 LVL= 18512, 18769, 12594, 21219, AGC= 46, IDX= 502,-0.31, 2.589,-1.827,-3.033,-1.809, PHS=-1.783, 0.027,-1.267, RAW= 314.0, 33.5, CAL= 314.6, 38.8, ROT= 195.4, -38.8 >Ygot valid direction response: 05:54:30.7028 LVL= 18512, 18769, 12594, 21219, AGC= 46, IDX= 502,-0.31, 2.589,-1.827,-3.033,-1.809, PHS=-1.783, 0.027,-1.267, RAW= 314.0, 33.5, CAL= 314.6, 38.8, ROT= 195.4, -38.8 >R#Rx 8: Read range and direction messages.B`direction in FSK: [-0.751356,-0.206958,0.626604]BFpublishing direction and range infoyU  Q}ʿk# ?Y?PHQI21 R)IX9i/<-^@?@ -\-?)CZ@I-\-9bbp鿜6ĵɿ"y? o~9)I'7i-\-bchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.065728vv@vKb@va ٱv AHRS rotation from veh to nav: [[-0.595500,0.794079,0.121732],[-0.803352,-0.589082,-0.087230],[0.002443,-0.149739,0.988723]]vH@Vi?@)?@Td?@*ÿ?ivv@Iv^;vCYBy I Yi%Mb@Mb@Mb@!!!! !9%sh|??mͿy&1?Y%)>y%n%`<%A%@ %A)%A!Y%pAbD}VD}y꽻%7=ٔY;Q->9Y=FywED4E>Q 55ٞ?Q 9 5[)BY-,>Q E-8;y-H@Q I5@EI;i[;I5y9ɮ=A9iiF?AJiľ?Riľ?ji?b OxPӿ8RM?RU  Q}ʿk# ?Zi'7bi-\-jnR?#?眠?"l?Zӊ?66w?w?2i?:i ?"iF*?*ixhABiBiiٲ9ii?iK?E addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503989 s, deltaX: -0.200000 m, approachRate: -0.396834 m/s, rangeRepo size: 4 U Added new target pos. range: 1.490375 m, bearing: 61.822701 deg, lat: 36.779394 deg, lon: -121.859779 deg, deltaT: 0.503989 s, deltaX: -0.198747 m, approachRate: -0.394347 m/s, posRepo size: 4 jhYbhYhYhY*hY"hY hYgafafifmBdididijdu?Zdu?ԁiBɢY) =i) i_iE񿉧Eh ,1F?A2]s@2΀@2fٱ2Fֽ :AHRS rotation from veh to nav: [[-0.634399,0.768419,0.084087],[-0.772988,-0.631368,-0.062164],[0.005322,-0.104435,0.994517]]2H`L@??P*4`ӯu?D ?i2]s@I2\^;2CY^Byb I f49vc?Yvc?=zFyz wEzEz?|Q 55~ў?Q 95~[)~BY y 2E@Q I @~EI~$:i~:~ 5yɮA5B*** querying acoustic contact ***i1 i1jhAbhAhAhA*hA"hA hIgIfIfIfIdQdQdQjdQԹZdG?ekBɢeh|)a e(z=ia)m1 iiimt_iu񿉧qu IqI=DDAT read: Rx Time:05:54:31.2030 ETRx dataTimestamp_ set to:1761544472.537037UDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 ]X#Rx 9: Read range message, but no direction.y9Y=f?9echecking for new query: numPingsReceived=9, elapsed TxPingTime=6.555358-P@) @)@-/@)AA^AlؽB 4>B CB IB BB J =B B KDB b;B $EE  E E E "E V:*E :VE ZE BE 9+,5F?A&p@O~@&>ٱ4ג AHRS rotation from veh to nav: [[-0.675652,0.734723,0.060632],[-0.737129,-0.674575,-0.039872],[0.011606,-0.071633,0.997364]]H@ق?@" ?`$jć? Vf?i&p@I^;CYBy IbDVDyGѼ%:=ٔjQ->9 ?Y ?=FywEE >Q 55ƞ?Q 95*[)BY!y%pA@Q I%@EI:iR: 5y-ƕBɮ5A5E =wj>99YFrA- addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504285 s, deltaX: 0.300000 m, approachRate: 0.594902 m/s, rangeRepo size: 4 jh)bh)h)h)*h)"h1 h1g1f9fAfdddjd?Zd @?AUmBɢU)Q ]5=iy)}w yyi}+`i񿉧IIDDAT read: Rx Time:05:54:31.7028 TRx dataTimestamp_ set to:1761544473.050202PDAT read: Bearing 90.5, -36.2 (Local) ~Local bearing/azimuth received: Bearing 90.5, -36.2 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 05:54:31.7028 LVL= 26784, 17169, 20850, 27763, AGC= 51, IDX= 505,-0.01, 2.448, 2.512,-2.652,-2.505, PHS=-1.228,-1.221,-0.191, RAW= 210.4, 42.1, CAL= 207.8, 52.1, ROT= 302.2, -52.1 Ygot valid direction response: 05:54:31.7028 LVL= 26784, 17169, 20850, 27763, AGC= 51, IDX= 505,-0.01, 2.448, 2.512,-2.652,-2.505, PHS=-1.228,-1.221,-0.191, RAW= 210.4, 42.1, CAL= 207.8, 52.1, ROT= 302.2, -52.1 T#Rx 10: Read range and direction messages.^direction in FSK: [0.327338,-0.519804,0.789084]Fpublishing direction and range infoy?@;D-@?Y?hCrQ sl)3I/iICk@ԡ c,OOF?A2Wml@2bz@2Hٱ2o :AHRS rotation from veh to nav: [[-0.717279,0.694601,0.055150],[-0.696496,-0.717017,-0.027946],[0.020132,-0.058457,0.998087]]2H +:?y%R%% A%^@ %E@)%\@!Y%AEE EEEE&EA"EE;*EEga:VEE4ZEAaM@aM@aM@aM@bDUVDU02checking for new query: numPingsReceived=10, elapsed TxPingTime=7.313768y%J=ٔQ->9Y=FywE E >Q 5=5?Q 9=5Z)BY=)>Q EEG;yEA@Q IE@EI;i:r 5yIɮMAIqii6CF?AJiþ?Riþ?jiD;@b?+8?lIMDe?R?@;D-@?Zi_ bihjdcW~Nf?LLt?ZS>2>g?߷b?2i4;>:iR"ia7x?*im1VBiBi?iD;iBiR?i!J?  addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.513165 s, deltaX: -0.300000 m, approachRate: -0.584607 m/s, rangeRepo size: 4  Added new target pos. range: 1.490352 m, bearing: 167.478476 deg, lat: 36.779393 deg, lon: -121.859780 deg, deltaT: 1.017450 s, deltaX: -0.000023 m, approachRate: -0.000022 m/s, posRepo size: 4 jhbhhh*h"h hgfff؁Bdddjd?Zd`,?oBԡɢG) ;i)g i}`i~񿉧IIN@ @@/@^A. DDAT read: Rx Time:05:54:32.2029  TRx dataTimestamp_ set to:1761544473.552720 PDAT read: Bearing 96.2, -12.1 (Local)  ~Local bearing/azimuth received: Bearing 96.2, -12.1 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 05:54:32.2029 LVL= 25936, 15537, 24146, 29683, AGC= 52, IDX= 505, 0.13, 1.330, 1.138, 1.763, 2.593, PHS=-1.160,-1.410,-0.874, RAW= 182.3, 69.1, CAL= 182.0, 73.5, ROT= 328.0, -73.5  Ygot valid direction response: 05:54:32.2029 LVL= 25936, 15537, 24146, 29683, AGC= 52, IDX= 505, 0.13, 1.330, 1.138, 1.763, 2.593, PHS=-1.160,-1.410,-0.874, RAW= 182.3, 69.1, CAL= 182.0, 73.5, ROT= 328.0, -73.5 % T#Rx 11: Read range and direction messages.5 ^direction in FSK: [0.240859,-0.150505,0.958820]5 Fpublishing direction and range infoy  ;/t?Cÿf?Y ? Pe < R^ s) 4I zi z w_ K@ ^? KK@ Y3?) 0@I Y3  &C?CG.?Ny? ?) iI 5i Y3  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.598947I I O > љ,Z,iF?A2&h@2ˢv@2-ٱ2Mv :AHRS rotation from veh to nav: [[-0.756643,0.650850,0.062341],[-0.653115,-0.756826,-0.025576],[0.030535,-0.060068,0.997727]]2Hj6 ?@?R 70D?5a?i2&h@I2Հ^;2CY~mBy~l I  @AbDVDNy%"%%Y=ٔ%~Q-->9)Y)=-Fy-wE5rE5>YQ 5e5]0?Q 9e5]_Z)]BYaye=@Q Im@]!EI]:i]:]5yuȕBɮuAqii_cF?AJi3?Ri3?ji\1\@b]Sp ?gEп)"??R;/t?Cÿf?Zi5biY3j+㭕׿ޞ^/K?Z2޶\6̿Pc) |#?2i:i"iޱЕ?*i:c]BiBi?ixhAiiB?i^Kj?m addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.502518 s, deltaX: 0.200000 m, approachRate: 0.397996 m/s, rangeRepo size: 4  Added new target pos. range: 1.689066 m, bearing: 197.126857 deg, lat: 36.779392 deg, lon: -121.859782 deg, deltaT: 0.502518 s, deltaX: 0.198714 m, approachRate: 0.395436 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddB>>BCBy IBxBBE =BBLDBa;B$EB öCB öCB B F =B F =C 6jd@33?Zd-`?}qBɢ})y }iy)| 顁i(ai񿉧IIEU EUEU%EQ"EU:*EUV:VEU 4ZEQBEU+) ,F?A&DDAT read: Rx Time:05:54:32.7027 &TRx dataTimestamp_ set to:1761544474.056226*DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 .Z#Rx 12: Read range message, but no direction.y$Y&3?$2checking for new query: numPingsReceived=12, elapsed TxPingTime=8.073069F( e@Fs@FO'ٱF NAHRS rotation from veh to nav: [[-0.792148,0.605257,0.078527],[-0.608962,-0.792412,-0.035340],[0.040836,-0.075814,0.996285]]FHEY`C^?@[?|o[ `z?`h?PiF( e@IF^^;FCY}bBy}^ IiUMb@Mb@Mb@QQQQ Q9U`"?SſS㥛YU=yU/U/ݼUAU@ U@)U@QYU@bDmVDm1yfJ%4=ٔQ->9Y=FywEYE>Q 55?Q 95Y)BYHX>Q E{;y5@Q I@"EI ;iG ;5yBɮAE addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503506 s, deltaX: -0.300000 m, approachRate: -0.595822 m/s, rangeRepo size: 4 jhbhhh*h"h hgff!f%qBd!d!d)jd-`ff?Zd- }!?]sBɢ]˝3)Y ] ia)e aaieDcim񿉧iiIiIq%O@! @!@-0@)@5,>@54>^AuAfAzAfAIaIqOY>E] E]E]#EY"E]a:*E]:VE]3ZEYae@ae@am@am@checking for new query: numPingsReceived=12, elapsed TxPingTime=8.321648! ᦑ,YޜF?A2Fa@2o@2Lٱ2Gƽ :AHRS rotation from veh to nav: [[-0.823387,0.559343,0.095756],[-0.565279,-0.823280,-0.051672],[0.049932,-0.096675,0.994063]]2H 0Y"? u?OX t`?\?i2Fa@I22^;2CY^SBybK IbDjVDjNyrt%rm=ٔreؼQ-r?9tYt=vFyvwEzEz?||Q 55~˧?Q 9 5~X)~BY y 82@Q I @~#EI~,7;i~{8;~5yɮrA5B*** querying acoustic contact ***i1 i1jhbhhh*h"h hgfffdddjdZd`?euBɢeQ\)a e\ia)m iiim eiu񿉧qqIqIy]DDAT read: Rx Time:05:54:33.2029 eTRx dataTimestamp_ set to:1761544474.561229uDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 }Z#Rx 13: Read range message, but no direction.yaYe?achecking for new query: numPingsReceived=13, elapsed TxPingTime=8.579634 P@  @ @ 0@ 1Q^A=}BJ>BCB` IBdBB> =BBNDBb;B$EI I O% >Em  Em Em !Ei "Em :*Em k:VEm c3ZEi BEm 3 rg?}?֮/6 @P?@d#?i=D^@I=u^;9Y]MBy]E I mp9Y=Fy#wEE>Q 55?Q 95W)Yy.@Q I@%EI:i:5y1ɮ5A1u addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.505003 s, deltaX: 0.300000 m, approachRate: 0.594056 m/s, rangeRepo size: 4 jhqbhqhqhq*hy"hy hygyfyffdddjd@33?Zdn?颵wBɢi) ,i)iugi~񿉧IIiy@ @@4@EDDAT read: Rx Time:05:54:33.7028 ETRx dataTimestamp_ set to:1761544475.064754MPDAT read: Bearing 149.9, -2.6 (Local) U~Local bearing/azimuth received: Bearing 149.9, -2.6 (Local) eDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 %DAT read: 05:54:33.7028 LVL= 25360, 18705, 14082, 32467, AGC= 50, IDX= 501,-0.12,-2.176,-0.408,-2.213,-0.463, PHS=-1.611, 0.100,-1.795, RAW= 335.0, 32.8, CAL= 334.1, 38.2, ROT= 175.9, -38.2 ԑYgot valid direction response: 05:54:33.7028 LVL= 25360, 18705, 14082, 32467, AGC= 50, IDX= 501,-0.12,-2.176,-0.408,-2.213,-0.463, PHS=-1.611, 0.100,-1.795, RAW= 335.0, 32.8, CAL= 334.1, 38.2, ROT= 175.9, -38.2 T#Rx 14: Read range and direction messages.^direction in FSK: [-0.783846,0.056187,0.618408]Fpublishing direction and range infoyAE()C;Ĭ? ybr?YE?AEcEIE7 E~)E2IE?5οiE=E忩Ek@EC?E@ E*?)Ep{D@IE*AAENƘx޿\? E!)EIEp{D@iE*AAchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.153365^AII IY Oe >Թ ,F?A2[@2h@2W ٱ2G :AHRS rotation from veh to nav: [[-0.876236,0.466114,0.122267],[-0.477491,-0.874015,-0.089999],[0.064914,-0.137241,0.988408]]2H@ ?L?5޿@& ,? ?i2[@I2^;2CYfNByfF IE% E%E!E!"E%[:*E%a9:VE!ZE!a-@a-@a-@a-@imMb@Mb@Mb@iiii i9my&1?nMbYm`e9Y=Fy'wEE>Q 55?Q 95Vchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.329693)BY>Q E;y @Q I@&EI;im;65yɮAii$F?AJiƾ?Riƾ?ji>bvE{;'5p?s::~?R()C;Ĭ? ybr?Zip{D@bi*j?h?[[?Z} }:it?"i ?*i8LBiBii8Lii?i;>  addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503525 s, deltaX: -0.200000 m, approachRate: -0.397200 m/s, rangeRepo size: 4  Added new target pos. range: 1.490445 m, bearing: 18.867824 deg, lat: 36.779392 deg, lon: -121.859787 deg, deltaT: 1.512034 s, deltaX: -0.198621 m, approachRate: -0.131360 m/s, posRepo size: 4 jhbh h h *h"h hgfffYBdddjd%?Zd%?颕yBɢvi)" i)顙i|ji񿉧IIY@Y @a@a@a@i@mgAu DDAT read: Rx Time:05:54:34.2029 } TRx dataTimestamp_ set to:1761544475.568685 PDAT read: Bearing 148.2, -25.6 (Local)  ~Local bearing/azimuth received: Bearing 148.2, -25.6 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 05:54:34.2029 LVL= 24240, 22561, 18114, 32147, AGC= 48, IDX= 502,-0.01,-0.433, 1.602, 0.510, 1.534, PHS=-1.865, 0.113,-1.068, RAW= 306.4, 30.1, CAL= 307.3, 35.5, ROT= 202.7, -35.5  Ygot valid direction response: 05:54:34.2029 LVL= 24240, 22561, 18114, 32147, AGC= 48, IDX= 502,-0.01,-0.433, 1.602, 0.510, 1.534, PHS=-1.865, 0.113,-1.068, RAW= 306.4, 30.1, CAL= 307.3, 35.5, ROT= 202.7, -35.5  T#Rx 15: Read range and direction messages. `direction in FSK: [-0.751053,-0.314172,0.580703] Fpublishing direction and range infoyq u _`A.eeԿd`?Yu ?q u ^u !Xu F u })u 0Iu Riu l=u 9u D @u |?u @ u ?)u kb@Iu q q u Q 3>񮸿9G>? u A)u >Iu /iu q q  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.597327^A! A% '?A% 0?I AU AIY Iq O} >,&F?AtW@:e@#ٱQB-N>B-CB-f IB-iBB-9 =B)B-ODB-?b;B-$E UAHRS rotation from veh to nav: [[-0.898383,0.420432,0.127060],[-0.433467,-0.895359,-0.102169],[0.070809,-0.146863,0.986619]]H[?@C?ۿȦ@' ?i¿@b?iW@I:^;E EE&E"E:*E|;:VE4ZEBE9 c?Y c?=Fy,wEE>Q 55x?Q 95T)BYy@Q I@'EI[:iR:5y ɮ gA iyi}VeF?AJi}7?Ri}7?ji}9?b}lRLpI}<c?R}_`A.eeԿd`?Zi}/bi}j}D  ?;o? –?Z}ʹ?MO?tɱJ?2i}l?:i}H?"i}Z7?*i}q<Bi}>Bi}Z7?iyi}Bi}?i}#>} addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503931 s, deltaX: 0.200000 m, approachRate: 0.396880 m/s, rangeRepo size: 4  Added new target pos. range: 1.689199 m, bearing: 41.612039 deg, lat: 36.779392 deg, lon: -121.859787 deg, deltaT: 0.503931 s, deltaX: 0.198754 m, approachRate: 0.394408 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@33?Zd _?-{Bɢ-\)1 5Pi1)5k11i5)|ni=񿉧9AIAAIIO@ @ @ L0@ y ] DDAT read: Rx Time:05:54:34.7028 ] TRx dataTimestamp_ set to:1761544476.072927m PDAT read: Bearing 143.5, -35.5 (Local) m ~Local bearing/azimuth received: Bearing 143.5, -35.5 (Local) } DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 05:54:34.7028 LVL= 29456, 24401, 21938, 32755, AGC= 47, IDX= 501, 0.13,-1.395, 0.902, 0.051, 0.876, PHS=-2.169, 0.071,-0.870, RAW= 294.7, 28.3, CAL= 296.3, 34.5, ROT= 213.7, -34.5  Ygot valid direction response: 05:54:34.7028 LVL= 29456, 24401, 21938, 32755, AGC= 47, IDX= 501, 0.13,-1.395, 0.902, 0.051, 0.876, PHS=-2.169, 0.071,-0.870, RAW= 294.7, 28.3, CAL= 296.3, 34.5, ROT= 213.7, -34.5  T#Rx 16: Read range and direction messages. `direction in FSK: [-0.685635,-0.457262,0.566406] Fpublishing direction and range infoyY ] YK忽>Cݿ?5?Y] ?Y ] s] Q_] U ] )] /I] i] sh=] R^] o@] '>] 2|@ ] %?)] n@I] %Y Y ]  @ xEw?cڧY? ] S,C@)] I] .k#i] %Y Y  checking for new query: numPingsReceived=16, elapsed TxPingTime=10.102107^A! ԡ AU.AIYIiO}?-Ñ,U G?A \)^kA^@\\``ib@I``IdifkA fHfjF)dd djYhhhhInP)lil)lInkAnYp ppppippitt)t tItYtYQByI IQi5Mb@Mb@Mb@1111 1959e ?Ye ?=eFye0wEmEm>qQ 5}5u/?Q 9}5uS)uBY}c>Q E};y}?Q I@u(EIu:iu:ux5yɮAiaie֪G?AJieǾ?RieǾ?jie8k?beQxY4q"uf?ReYK忽>Cݿ?5?Zie.k#bie%je\C?@?i?Ze:?G?hc? _3Tz?2iew?:ie"=?"ieCBqמ?*ie3;:Bie BieCBqמ?iaE EE$E"E:*EX:VE4ZEa@a@a@a@ie>BieJ?ieP>= addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504242 s, deltaX: -0.200000 m, approachRate: -0.396635 m/s, rangeRepo size: 4 M Added new target pos. range: 1.490470 m, bearing: 52.617783 deg, lat: 36.779390 deg, lon: -121.859787 deg, deltaT: 0.504242 s, deltaX: -0.198729 m, approachRate: -0.394115 m/s, posRepo size: 4 jhIbhIhIhQ*hQ"hQ hQgQfQfYf]uBdYdYdachecking for new query: numPingsReceived=16, elapsed TxPingTime=10.337791jd?Zd?y颍}Bɢas) ܯi)!顩ieqi񿉧IIy@y @y@}2@yԩ^A = DDAT read: Rx Time:05:54:35.2030 E TRx dataTimestamp_ set to:1761544476.576319M DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.1 M Z#Rx 17: Read range message, but no direction.y9 Y= f?9 U checking for new query: numPingsReceived=17, elapsed TxPingTime=10.593184A ؟AI I O >ɑ,'(G?AB8R@B^.`@BٱB rAHRS rotation from veh to nav: [[-0.932643,0.341692,0.115861],[-0.352368,-0.931626,-0.088937],[0.077550,-0.123772,0.989276]]BH 6G??@1ֿĶXڳ?%?iB8R@IB^;@xAA@AYWByQ IBEJ>BABEs IBEsBBE= =BABENDBE3b;BE$EbDVDy<%+=ٔQhQ->9"?Y"?=Fy5wE=E>Q 55?Q 95R)BYyc?Q I@)EI9Y=Fy;wE E >Q 55?Q 95CP)BY>Q E;y%?Q I%@*E!I:i0;5y1ɮ5A1e addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.284960 s, deltaX: -0.100000 m, approachRate: -0.350926 m/s, rangeRepo size: 4 jhabhahahi*hi"hi higififqfuBdqdqdyjd}@33?Zd}@L4?E EE'E"E:*EǙ:VE'4ZEa@a@a@a@-Bɢ-bJmDDAT read: Rx Time:05:54:36.2030 uTRx dataTimestamp_ set to:1761544477.366057DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.2 Z#Rx 19: Read range message, but no direction.yiYmf?ichecking for new query: numPingsReceived=19, elapsed TxPingTime=11.384864)1 _i)k顡iyi񿉧IIQԁjQ @Q  @Q @U /@Q ԩ - checking for new query: numPingsReceived=19, elapsed TxPingTime=11.632524^A=#B L>B B  IB BB < =B B B 'b;B $EAIIO ?ۑ,A-qG?A21K@2a'Y@2pŨٱ2? :AHRS rotation from veh to nav: [[-0.965269,0.242186,0.097985],[-0.247951,-0.967402,-0.051514],[0.082315,-0.074020,0.993854]]2H`|?`?ؼϿ@_??i21K@I2^;0YByByBz IbDNVDNfyV=%V"=ٔVQQ-V>9XYX=ZFyZ@wE^_E^>`Q 5f5b ?Q 9f5bqN)b BYdyf?Q Ij@b+EIb;ib<;b !5ynBɮnAnE  addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504778 s, deltaX: 0.100000 m, approachRate: 0.198107 m/s, rangeRepo size: 4 jh bh QEu EuEu!Eq"Eu:*Eu1:VEuc3ZEqBEuC-9Y=FyEwEE>MDDAT read: Rx Time:05:54:37.2032 eTRx dataTimestamp_ set to:1761544478.377536PDAT read: Bearing 160.2, -64.7 (Local) ~Local bearing/azimuth received: Bearing 160.2, -64.7 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.2 Z#Rx 21: Read range message, but no direction.yQYUf@Qchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.406135AQ 5M5E?Q 9M5EL)EBYU1,>Q EU;yU@Q IU@E-EIE;iEU;E#5y}BɮTAEE addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 1.011479 s, deltaX: 0.300000 m, approachRate: 0.296595 m/s, rangeRepo size: 4 jhAbhAhAhI*hI"hI hIgIfIffBdddjd@Zd@$?BɢZ) i) i\Ni 񿉧  I I%P@! @!@!@!@)@-fAI DAT read: 05:54:37.2032 LVL= 32368, 16257, 15218, 28563, AGC= 46, IDX= 505, 0.16, 1.270,-2.898,-2.880, 3.010, PHS=-1.638, 0.420, 0.349, RAW= 271.7, 8.6, CAL= 270.4, 7.5, ROT= 239.6, -7.5  Ygot valid direction response: 05:54:37.2032 LVL= 32368, 16257, 15218, 28563, AGC= 46, IDX= 505, 0.16, 1.270,-2.898,-2.880, 3.010, PHS=-1.638, 0.420, 0.349, RAW= 271.7, 8.6, CAL= 270.4, 7.5, ROT= 239.6, -7.5  Z#Rx 22: Read direction message, but no range. `direction in FSK: [-0.501705,-0.855135,0.130526]y  Ȥ dC]뿛 /? p~ ? r; o) .I ѿi = > !> @ `> @ >) aх@I  UZC4$?f7? *)@) )NI |i u checking for new query: numPingsReceived=22, elapsed TxPingTime=12.657228y ^AM #BIAM<BUC>BUCBU IBUBBU; =BQBUMDBUb;BU$EB}ιCB}ιCByB}< =B}< =C}U5AyIIԙO>m,_G?A:sG@:U@:nٱ:4˽ BAHRS rotation from veh to nav: [[-0.977143,0.188496,0.098295],[-0.196676,-0.977080,-0.081444],[0.080690,-0.098915,0.991819]]:H`D ?)? ,ɿ@=Dٴ@?xR@?i:sG@I:^;:CYJByJ IbDVVDVy^>%^?=ٔ^L{;Q-^>9`Y`=bFybJwEfkEf>hQ 5n5j?Q 9n5jSK)jBYlyne@Q Ir@j.EIj6:ij-:jV%5ytɮvqAtjhbhhh*h"h hgff!f!d!d!d!jd)Zd-@-?Bɢf) T=i)lii~񿉧)1I1IAEM EMEM(EI"EMs!;*EM|;:VEMc44ZEIBEM|x V l@ iw> ;@ >) vRz@I 뾩   %XOCF?ڍz&? G9@) tI ?i 뾩  mchecking for new query: numPingsReceived=23, elapsed TxPingTime=12.939968I^Aaԙ AQ Iy I O > checking for new query: numPingsReceived=23, elapsed TxPingTime=13.141654JN,ګG?A4RsF@RiT@RȠٱR}׽ ZAHRS rotation from veh to nav: [[-0.981283,0.167314,0.095339],[-0.175877,-0.980303,-0.089851],[0.078427,-0.104937,0.991382]]RHfj? h?"ƿ^s?"ݺe?iRsF@IR*^;RCYfByf IiMMb@Mb@Mb@IIII I9Ml?333333ÿ~jt?YM>yMM9Y=FyNwEWLE>Q 55?Q 95I)'BY,Y>Q Ez;y!@Q I@/EI;iK;3'5yɮAiIiMcG?AJiM@RiM@jiMx`?bMV}qyxP1F8\?RM _j=a㿑϶t?ZiM?biMjM8[^?q r?< `n?ZM\f7?"?H?ҨI+?2iM?:iM ?"iM/螊?*iMfp$BiMBiM/螊?iMq<iIiM\?iM> addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503540 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.086606 m, bearing: 50.239270 deg, lat: 36.779391 deg, lon: -121.859780 deg, deltaT: 2.808149 s, deltaX: 0.596136 m, approachRate: 0.212288 m/s, posRepo size: 4 jhbhhh*h"h hgfffBdddjdZdX?BɢH)! %Л=i!)%S!!i%.i-񿉧IQIQIQԉ@ @@/@Em EmEm$Ei"Em:*Em H:VEm4ZEia@a@a@a@%DDAT read: Rx Time:05:54:38.2034 -TRx dataTimestamp_ set to:1761544479.384834]PDAT read: Bearing 130.9, -27.0 (Local) ]~Local bearing/azimuth received: Bearing 130.9, -27.0 (Local) mDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.2 DAT read: 05:54:38.2034 LVL= 29808, 14513, 12274, 23011, AGC= 44, IDX= 507, 0.13,-1.122, 0.622,-0.290, 0.456, PHS=-1.476, 0.210,-0.790, RAW= 306.1, 26.3, CAL= 306.5, 31.8, ROT= 203.5, -31.8 Ygot valid direction response: 05:54:38.2034 LVL= 29808, 14513, 12274, 23011, AGC= 44, IDX= 507, 0.13,-1.122, 0.622,-0.290, 0.456, PHS=-1.476, 0.210,-0.790, RAW= 306.1, 26.3, CAL= 306.5, 31.8, ROT= 203.5, -31.8 T#Rx 24: Read range and direction messages.`direction in FSK: [-0.779403,-0.338894,0.526956]Fpublishing direction and range infoy!%Z返oտGW?Y%@!%pt%8%/ %Y)!I%i%= W>%q=J%`@%>%.@ %q?)%Oc@I%q!!%a/]XBㅥ@3d? %4B)%TI%.i%q!!checking for new query: numPingsReceived=24, elapsed TxPingTime=13.427247^A ?΅ A9 II IY Oe >Dx,]G?A:b>E@:4S@:wHٱ:;ͽ BAHRS rotation from veh to nav: [[-0.984707,0.149617,0.089255],[-0.157354,-0.983698,-0.087051],[0.074775,-0.099764,0.992198]]:Hข&?eٶ?+$Ŀtz@Hz$?`$?i:b>E@I:b^;:CYJByN IPP TV4<bDVVDV\yb=%bV=ٔf9dYd=fFyfRwEj+KEj>lQ 5r5n`?Q 9r5nH)n1BYpyvv @Q Iv@n0EIn8:in(:n(5yxɮzAxiQiUG?AJiU@RiU@jiUM>bUfHdm9d%?RUZ返oտGW?ZiU.biUqjUA;$?KB addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503758 s, deltaX: 0.300000 m, approachRate: 0.595524 m/s, rangeRepo size: 4  Added new target pos. range: 2.384692 m, bearing: 28.234170 deg, lat: 36.779392 deg, lon: -121.859779 deg, deltaT: 0.503758 s, deltaX: 0.298087 m, approachRate: 0.591726 m/s, posRepo size: 4 jhRStopped intercept timer at range: 2.40 m.bhhh *h "h h1g1f9f9f9dAdAdAjdE@33@ZdED?]checking for new query: numPingsReceived=24, elapsed TxPingTime=13.645763颵Bɢ0) h=i)项in i񿉧IIi@i @i@u0@qB+>BCB IB΂BBT =BHDBIDB.c;B3%E^AE  E E %E "E :*E i:VE 4= DDAT read: Rx Time:05:54:38.7034 E TRx dataTimestamp_ set to:1761544479.890263M PDAT read: Bearing 131.4, -20.0 (Local) U ~Local bearing/azimuth received: Bearing 131.4, -20.0 (Local) a u DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.3  DAT read: 05:54:38.7034 LVL= 30192, 14401, 9762, 22579, AGC= 43, IDX= 507, 0.19,-2.949,-1.154,-2.312,-1.395, PHS=-1.453, 0.286,-0.961, RAW= 314.1, 25.9, CAL= 314.0, 31.0, ROT= 196.0, -31.0 ZE BE I"u Ygot valid direction response: 05:54:38.7034 LVL= 30192, 14401, 9762, 22579, AGC= 43, IDX= 507, 0.19,-2.949,-1.154,-2.312,-1.395, PHS=-1.453, 0.286,-0.961, RAW= 314.1, 25.9, CAL= 314.0, 31.0, ROT= 196.0, -31.0 u T#Rx 25: Read range and direction messages. `direction in FSK: [-0.823962,-0.236267,0.515038] Fpublishing direction and range infoy9 = C4]淵>οU1{?Y9 9 = u= A8= "& = 3X)= +I= i= n>= v= 2m@= q>= ^@ = c ?)= !Z@I= c 9 9 = দ?뿭HH̿]R 3? = W9)= :I= 07i= c 9 9  checking for new query: numPingsReceived=25, elapsed TxPingTime=13.961513,cG?Ab-D@b"R@bٱb+ nAHRS rotation from veh to nav: [[-0.987497,0.134691,0.081900],[-0.140945,-0.987090,-0.076078],[0.070595,-0.086671,0.993733]]bH=?a? ¿=y?@ 0@?ib-D@Ib^;bCY ĂBy  I9bDEVDEyU=%}A=ٔ} 9Y=FyVwEE>Q 55uy?Q 95[G);BYy\@Q I@2EId;i;*5yɮFAiiimG?AJim@Rim@jimR>bm)Aցow\+) }K?RmC4]淵>οU1{?Zim07bimc jmԥp?W?俦?Zm| 8\^?3?u*W?2imU=?:im?"im@?*imd3BimBiiimd3imBimj?im2> addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.505429 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.384483 m, bearing: 20.626758 deg, lat: 36.779392 deg, lon: -121.859777 deg, deltaT: 0.505429 s, deltaX: -0.000210 m, approachRate: -0.000415 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjdZd`?UBɢU@n)Y e=qi)w?顑i7i񿉧 I Iuchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.151426O@ @@N0@ԑ ^A #E  E E $E "E I:*E H:VE 4ZE = DDAT read: Rx Time:05:54:39.2036 = TRx dataTimestamp_ set to:1761544480.392303E PDAT read: Bearing 132.6, -20.6 (Local) M ~Local bearing/azimuth received: Bearing 132.6, -20.6 (Local) ] DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3  DAT read: 05:54:39.2036 LVL= 28224, 14833, 9714, 21715, AGC= 44, IDX= 509, 0.18,-1.816, 0.164,-1.095,-0.179, PHS=-1.535, 0.388,-0.960, RAW= 313.1, 23.5, CAL= 312.8, 28.7, ROT= 197.2, -28.7  Ygot valid direction response: 05:54:39.2036 LVL= 28224, 14833, 9714, 21715, AGC= 44, IDX= 509, 0.18,-1.816, 0.164,-1.095,-0.179, PHS=-1.535, 0.388,-0.960, RAW= 313.1, 23.5, CAL= 312.8, 28.7, ROT= 197.2, -28.7 a @a @a @a @ T#Rx 26: Read range and direction messages. `direction in FSK: [-0.837919,-0.259379,0.480224] Fpublishing direction and range infoy9 =  ; 󠨪пKTa?Y= ,@9 = @n= 9= % = T)= ,I= zĿi= >= u= 7ޮ@= ~>= R@ = ;?)= FF\@I= ;9 9 A I I!O5>O|,3H?A/E?ʿx鲐? w:)dҾIo5i;>checking for new query: numPingsReceived=26, elapsed TxPingTime=14.453950^B@^DvP@^yxٱ^ ~AHRS rotation from veh to nav: [[-0.991493,0.111124,0.067768],[-0.115156,-0.991606,-0.058797],[0.060666,-0.066100,0.995967]]^HP`r? @Y?z <?밿`?i^B@I^^;\YׂBy IieMb@Mb@Mb@aaaa a9ey&1?(\ſy&1?Ye`e>ye.e`9Y=Fy\wEPE>!Q 5-5%o?Q 955%oE)%IBY5>Q E5;;y5&@Q I5@%4EI%A;i%:%,5yeBɮexAeEii~H?AJi+@Ri+@jic>b f(CTʌ?R ; 󠨪пKTa?Zio5bi;jr@T?L]?ZP?lUK?Ot?2i_?:iE@"i+?*i y.Bi:Bi$?i /iBi @i> addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502040 s, deltaX: 0.300000 m, approachRate: 0.597562 m/s, rangeRepo size: 4 % Added new target pos. range: 2.682543 m, bearing: 21.305670 deg, lat: 36.779397 deg, lon: -121.859775 deg, deltaT: 0.502040 s, deltaX: 0.298060 m, approachRate: 0.593699 m/s, posRepo size: 4 jh!bh!h)h)*h)"h) h)g)f)f1f5́Bd1dYdYjd]@Zd]v?颭Bɢ:) >i) ii~񿉧IIchecking for new query: numPingsReceived=26, elapsed TxPingTime=14.653823@ @@o0@9 A AAA AAB 3>B CB !IB BB U =B GDB JDB rc;B X%E^AU FӅA] "?A] ?Am Ay I I O > ,6H?AE: E:}E:&E8"E::*E:k&:VE:4ZE8BE:9U%?YU%?=}Fy}`wE}E>Q 55-f?Q 95C)UBYyf&@Q I@6EI:i8:.5yɮAB*** querying acoustic contact ***i i5 addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501101 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhQbhQhYhY*hY"hY hYgYfYfafadadadijdiZdm`?Bɢ;) ^<>i) ) iFi񿉧IIԱP@ @@1@DAT read: 05:54:39.7036 LVL= 23792, 14177, 14546, 23219, AGC= 45, IDX= 509, 0.08,-1.237, 0.728,-0.669, 0.237, PHS=-1.372, 0.536,-0.951, RAW= 317.9, 20.0, CAL= 317.3, 24.9, ROT= 192.7, -24.9  Ygot valid direction response: 05:54:39.7036 LVL= 23792, 14177, 14546, 23219, AGC= 45, IDX= 509, 0.08,-1.237, 0.728,-0.669, 0.237, PHS=-1.372, 0.536,-0.951, RAW= 317.9, 20.0, CAL= 317.3, 24.9, ROT= 192.7, -24.9  Z#Rx 28: Read direction message, but no range. `direction in FSK: [-0.884853,-0.199410,0.421036]y_jնPvdDɿ˽&@?\a78 Z)-IiL7 ?ts@¸>6@ />)z?W@I/޾k3lYҁvҿkH߫? 5)I;:i/޾- checking for new query: numPingsReceived=28, elapsed TxPingTime=15.1672521 ^A I AY Ia Iy O >_,^RH?AYzByz!IEM EMwEM$EI"EMU:*EM:VEM4ZEIau@au@au@au@i I DDAT read: Rx Time:05:54:40.2036 TRx dataTimestamp_ set to:1761544481.397054%PDAT read: Bearing 143.1, -5.6 (Local) %~Local bearing/azimuth received: Bearing 143.1, -5.6 (Local) 5DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 ]DAT read: 05:54:40.2036 LVL= 28304, 14257, 15506, 28307, AGC= 48, IDX= 510,-0.02, 0.457, 2.411, 0.645, 1.650, PHS=-1.091, 0.806,-1.049, RAW= 328.9, 14.1, CAL= 328.6, 17.7, ROT= 181.4, -17.7 eYgot valid direction response: 05:54:40.2036 LVL= 28304, 14257, 15506, 28307, AGC= 48, IDX= 510,-0.02, 0.457, 2.411, 0.645, 1.650, PHS=-1.091, 0.806,-1.049, RAW= 328.9, 14.1, CAL= 328.6, 17.7, ROT= 181.4, -17.7 mT#Rx 29: Read range and direction messages.u`direction in FSK: [-0.952377,-0.023275,0.304033]uFpublishing direction and range infoyLuyS՗z0Gu?Yn7< n)0I㥋iVN?EB@d{>^@ 2+>)0J@I2+d),Mݿsd4? ()(+|IGi2+checking for new query: numPingsReceived=29, elapsed TxPingTime=15.426210iMb@Mb@Mb@ 9S㥛?ʡEƿQ?Y$>y-2<A@ OA)Y@bDVD:y=%1=ٔQ->9Y=FyewEE>Q 55[?Q 9 5 B)bBY á>Q E (;y x*@Q I @8EI;i :05yɮZAiiUiYH?AJi+@Ri+@ji=b KpdY?RLuyS՗z0Gu?ZiGbi2+j7@òhGI?N ?ZK?@D?[:"?2iJ>:i!%@"iP4?*i:BiVBi@?iii@iϜ> addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503650 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.682584 m, bearing: 6.319032 deg, lat: 36.779397 deg, lon: -121.859775 deg, deltaT: 1.004751 s, deltaX: 0.000041 m, approachRate: 0.000041 m/s, posRepo size: 4 jhbhhh*h!"h! h!g!f!f)f-݁Bd)d)d)jd1Zd5?ɢU;) Td>i)9iרi񿉧IIO@ @@ 1@I checking for new query: numPingsReceived=29, elapsed TxPingTime=15.661874q ^A ?΅B 7>B CB .!IB BB H =B B KDB c;B %EAI IO%>%,MpH?A2qA@2fO@24ٱ2 :AHRS rotation from veh to nav: [[-0.994128,0.095231,0.051381],[-0.098789,-0.992512,-0.071841],[0.044155,-0.076495,0.996092]]2H a?N?9YYY=]Fy]iwEe寮Ee>iQ 5u5mR?Q 9u5m@)mlBYqyu*@Q I}@m:EImz;im;m25yɮAjhTStarting intercept timer at range: 2.70 m.bhhh*h"h hgfffdddjdZd?ɢ -<) z>i)<iܐi񿉧II bEjE4rEL0E5 E5E1y@y @@2@ԩE1"E5:*E5:VE1ZE1BE5]ǽ@ ]l>)]>@I]lYY]bcX pkQGzӫ!? ])]uI]>@i]lYYchecking for new query: numPingsReceived=30, elapsed TxPingTime=15.932219^AAzAfA A I I! OM >% checking for new query: numPingsReceived=30, elapsed TxPingTime=16.167894}",7pH?A2lA@2aO@2y!ٱ2ի :AHRS rotation from veh to nav: [[-0.994355,0.095070,0.047125],[-0.098510,-0.992151,-0.077022],[0.039432,-0.081229,0.995915]]2HV? ?7`x0?@s˴@?i2lA@I2j^;2ClYBy4!Ii Mb@Mb@Mb@     9 }?5^I?K7A`ſ~jt?Y M>y + < fA  E@)  @ Y \@bD%VD%1y52=%50=ٔ5&99Y9==Fy=nwEE)EE>IQ 5U5ME?Q 9U5M>)MxBYUܷ>Q E];y]0@Q I]@M=EIM;iM;M45yeBɮeAeEiiyH?AJih8@Rih8@jik@bMDSS&-?Jwt?RwizoQI? \ 3?Zi>@biljw @Nxz ѿ7A`?Z,R)?;QBp?2i`:i1@"i^.?*iEBiBi+?id3ii0@i> addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504649 s, deltaX: 0.200000 m, approachRate: 0.396315 m/s, rangeRepo size: 4  Added new target pos. range: 2.881378 m, bearing: 354.499587 deg, lat: 36.779399 deg, lon: -121.859777 deg, deltaT: 0.504649 s, deltaX: 0.198794 m, approachRate: 0.393925 m/s, posRepo size: 4 jhRStopped intercept timer at range: 2.90 m.bhhh*h"h hgfffBdddjd@33@ZdI? BɢUd <) Ņ>i)iii~񿉧IIE% E%E%%E!"E% ;*E%v:VE% 4ZE!a5@a5@a5@a5@1]DDAT read: Rx Time:05:54:41.2039 eTRx dataTimestamp_ set to:1761544482.404307mDAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3 uZ#Rx 31: Read range message, but no direction.yaYeL@a}checking for new query: numPingsReceived=31, elapsed TxPingTime=16.421276}Q@y @@4@@=@=a ^A #ԑ A I I O >w),%H?A>A@>-yO@>ٱ>$ FAHRS rotation from veh to nav: [[-0.994371,0.096804,0.043080],[-0.099949,-0.991923,-0.078091],[0.035172,-0.081957,0.996015]]>H@'ȸ??B ֽ`?@%Z?i>A@I>~^;>CLNs@iLILLP PPPPTTIT)TiT)TITZSZVF XX\\i\\i\\)` `I` `)```dYdYjByj7!IbDvVDvNyz<%~U=ٔ~59Y=FyrwE=t;E >checking for new query: numPingsReceived=31, elapsed TxPingTime=16.669748 Q 5%5 ;?Q 9%5 =) BY!y-0@Q I-@ ?EI g;i M: H65y1ɮ5jA1e addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.502604 s, deltaX: 0.300000 m, approachRate: 0.596891 m/s, rangeRepo size: 4 jhibhihihi*hi"hi higqfqfqfqdydydyjd} @Zd`?)ɢ-ePE<)) ->i1)5611i5hi=񿉧99I9IAB<AB )>B CB G!IB  BB O =B B IDB Id;B %E%P@) @)@-/@)E EE"E"E;*E:VE(3ZEBE@ ,C1 q `9 Y uA DAT read: 05:54:41.7038 LVL= 13888, 10129, 13858, 18227, AGC= 51, IDX= 512,-0.01, 0.827, 2.969, 0.955, 2.124, PHS=-1.195, 0.890,-1.213, RAW= 330.4, 14.4, CAL= 330.3, 18.1, ROT= 179.7, -18.1  Ygot valid direction response: 05:54:41.7038 LVL= 13888, 10129, 13858, 18227, AGC= 51, IDX= 512,-0.01, 0.827, 2.969, 0.955, 2.124, PHS=-1.195, 0.890,-1.213, RAW= 330.4, 14.4, CAL= 330.3, 18.1, ROT= 179.7, -18.1  T#Rx 32: Read range and direction messages.A I I O > ^direction in FSK: [-0.950503,0.004977,0.310676] Fpublishing direction and range infoyjbt?\?Y@@@6'"6 3G)Ii c?C@>my@ ?>)H@I?3"ҡfKe߿/rXK? ?')uIH@i? checking for new query: numPingsReceived=32, elapsed TxPingTime=16.996119gZ0,-{H?A2A@2ZO@2ٱ2w >AHRS rotation from veh to nav: [[-0.994184,0.100271,0.039298],[-0.103068,-0.991677,-0.077155],[0.031234,-0.080756,0.996244]]2HZ`\?@?b@һi?`r;?i2A@I2]k^;2CY}By}>!IbDVD0y|<%==ٔ9Y=FyvwEb;E>Q 55/?Q 95)<)BYy 0@Q I @BEI_:i:,85yBɮA!Qii7H?AJi>@Ri>@jiNn=b*5{za?3cPݡ?Rjbt?\?ZiH@bi?jhT!@5xY?D즦?ZRhiU???2iR>:i6@"i?*i+6BiÄBii+6iÄBiT@@i{d=5checking for new query: numPingsReceived=32, elapsed TxPingTime=17.173937U addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.505300 s, deltaX: -0.200000 m, approachRate: -0.395805 m/s, rangeRepo size: 4 e Added new target pos. range: 2.980622 m, bearing: 4.124593 deg, lat: 36.779399 deg, lon: -121.859778 deg, deltaT: 1.007904 s, deltaX: 0.099244 m, approachRate: 0.098465 m/s, posRepo size: 4 jh}TStarting intercept timer at range: 3.00 m.bhhh*h"h hgfffdddjd@ZdIb?aɢezz<)a m6>ii)miiimT锼iu񿉧qqIqIyIeA)eAԁq@q @y@}/@yԱ E  E E (E "E a;*E VE c44ZE a @a @a @a @^A #A ?A ? DDAT read: Rx Time:05:54:42.2041  TRx dataTimestamp_ set to:1761544483.414813 PDAT read: Bearing 156.6, -6.5 (Local)  ~Local bearing/azimuth received: Bearing 156.6, -6.5 (Local) E DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.3 - DAT read: 05:54:42.2041 LVL= 12880, 7153, 6386, 13459, AGC= 55, IDX= 2, 0.21,-2.454,-0.465,-2.186,-1.490, PHS=-0.863, 1.069,-0.741, RAW= 326.8, 5.8, CAL= 325.6, 4.6, ROT= 184.4, -4.6  Ygot valid direction response: 05:54:42.2041 LVL= 12880, 7153, 6386, 13459, AGC= 55, IDX= 2, 0.21,-2.454,-0.465,-2.186,-1.490, PHS=-0.863, 1.069,-0.741, RAW= 326.8, 5.8, CAL= 325.6, 4.6, ROT= 184.4, -4.6  T#Rx 33: Read range and direction messages. `direction in FSK: [-0.993841,-0.076472,0.080199] Fpublishing direction and range infoy   O4xzꇴ?Y `@ P2   4) 7A ؟AI I O >T7,H?AI\iԈ?-=@4Q=oٵ@ l=)M@Il;'m~v"ܿ iMb@Mb@Mb@ 9/$?Qſ~jt?Y1>y(<AG@ @)@Yf@bDMVDMy]=%]"=ٔe;Q->9"?Y"?=Fy{wE <E>Q 55?Q 95:)BY>Q E:y6@Q I@EEIK;i;f:5yɮpAiiLH?AJi^@Ri^@ji>6>btj;֥ TSѿu.u8?R O4xzꇴ?Zi%DbiljT @&͵? o ?Z{O5p?ID?T?2i?:iZ@"i}=?*i zZ*BiBi^.?iiBiO@iv6= addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.505206 s, deltaX: 0.500000 m, approachRate: 0.989695 m/s, rangeRepo size: 4  Added new target pos. range: 3.477392 m, bearing: 10.220202 deg, lat: 36.779399 deg, lon: -121.859778 deg, deltaT: 0.505206 s, deltaX: 0.496770 m, approachRate: 0.983303 m/s, posRepo size: 4 jhRStopped intercept timer at range: 3.50 m.bhhh*h"h hgff!f%Bd!d!d)jd- @Zd- ?9checking for new query: numPingsReceived=33, elapsed TxPingTime=17.677752颹ɢ:;X<) />i)i,i񿉧IIO@ @@/@Bm&>BmCBmT!IBm*BBmS =BmHDBiBmc;Bm~%EB-ȳCB-ȳCB-ȔCB-S =B-Q =C-N6ԑԱ ^A FӅE  E E &E "E ;*E :VE 4ZE BE m,H?AB~B@B]tP@BˮżٱB4(x UAHRS rotation from veh to nav: [[-0.993047,0.113108,0.032623],[-0.115219,-0.990697,-0.072411],[0.024129,-0.075666,0.996841]]BH @?糠?˳~@9Y=FywE~<E>Q 55?Q 95T9)BYy7@Q I@HEI;iX;"<5yɮA=B*** querying acoustic contact ***i9 i9u addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.501551 s, deltaX: 0.300000 m, approachRate: 0.598144 m/s, rangeRepo size: 4 jhqbhqhqhy*hy"hy hygyfyffdddjd`ff@Zd?!ɢ%fx<)) ->>i))-))i5!i5~񿉧19I9I9uQ@q @q@}/@y-checking for new query: numPingsReceived=34, elapsed TxPingTime=18.184013Q^A] ԁ I9 II OU >.E,I?AE~ E~E~!E|"E~;*E~:VE~c3YZE|a@a@a@a@C@;Q@Lٱ AHRS rotation from veh to nav: [[-0.992071,0.122328,0.028815],[-0.124006,-0.990066,-0.066276],[0.020421,-0.069324,0.997385]]H @P??Ծ }@1?8@?iC@Io^;CY"ByJ!I}DDAT read: Rx Time:05:54:43.2043 }TRx dataTimestamp_ set to:1761544484.420772PDAT read: Bearing 153.0, -19.2 (Local) ~Local bearing/azimuth received: Bearing 153.0, -19.2 (Local) DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 DAT read: 05:54:43.2043 LVL= 26320, 22401, 32754, 32755, AGC= 58, IDX= 501,-0.07, 2.969,-1.056,-2.549,-1.989, PHS=-1.223, 0.978,-0.604, RAW= 314.2, 8.7, CAL= 312.4, 9.6, ROT= 197.6, -9.6 Ygot valid direction response: 05:54:43.2043 LVL= 26320, 22401, 32754, 32755, AGC= 58, IDX= 501,-0.07, 2.969,-1.056,-2.549,-1.989, PHS=-1.223, 0.978,-0.604, RAW= 314.2, 8.7, CAL= 312.4, 9.6, ROT= 197.6, -9.6 T#Rx 35: Read range and direction messages.`direction in FSK: [-0.939842,-0.298136,0.166769]ԁiMb@Mb@Mb@ 9K7?K7A`ſI +?Fpublishing direction and range infoyy}/8⚧ӿ8_X?Y}y@y}f}W} })}:I}Di}5^z?}}~{@}|>}!z@ }+>)}\@I}+yy}goԫ|gοo(Q? }99)}8%I} g5i}+yychecking for new query: numPingsReceived=35, elapsed TxPingTime=18.508093YI>y+9<At@ @)M@Y@ <<bDVD1yMvW%M=ٔMQ;Q-M>9QYQ=UFyUwEU<E]>Q 55?Q 957)BY>Q E:y7@Q I@KEI:i":n>5yBɮAEiyi}I?AJi}w@Ri}w@ji}RK>b}!" |f{Iʓ?R}/8⚧ӿ8_X?Zi} g5bi}+j}FǸ @֩V?\?Z}v?\텤?b;z?2i}?:i}]_@"i}G#?*i}Bi}oBiyiyi}oBi}g@i}l,<M addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504408 s, deltaX: 0.100000 m, approachRate: 0.198252 m/s, rangeRepo size: 4 } Added new target pos. range: 3.874763 m, bearing: 23.980770 deg, lat: 36.779399 deg, lon: -121.859778 deg, deltaT: 1.005959 s, deltaX: 0.397372 m, approachRate: 0.395018 m/s, posRepo size: 4 jhybhyhyhy*hy"h hgfffBdddjd@33@Zd!?ɢlz;<) >i)Oֻ i ?i 񿉧11I1I1ԱP@ @@@@=@=- checking for new query: numPingsReceived=35, elapsed TxPingTime=18.685827 A @AA ?AB (>B B B B P =B GDB B b;B $E^A #A zA gAI I O >"L,r2I?A,2߶C@2Q@2Jٱ2:{ >AHRS rotation from veh to nav: [[-0.990815,0.132864,0.025161],[-0.134137,-0.989238,-0.058449],[0.017125,-0.061287,0.997973]]2H` ?Ù?b+է? ae?i2߶C@I2^;2CYFByF>!I LLbDRVDRyZW%Z=ٔ^4i)лii񿉧IIEDDAT read: Rx Time:05:54:43.7043 ETRx dataTimestamp_ set to:1761544484.927208MPDAT read: Bearing 150.7, -6.8 (Local) U~Local bearing/azimuth received: Bearing 150.7, -6.8 (Local) eDAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 DAT read: 05:54:43.7043 LVL= 32752, 24561, 31522, 32755, AGC= 58, IDX= 501, 0.16,-1.562, 0.425,-1.251,-0.435, PHS=-1.024, 0.905,-0.859, RAW= 325.6, 10.6, CAL= 324.7, 12.2, ROT= 185.3, -12.2 Ygot valid direction response: 05:54:43.7043 LVL= 32752, 24561, 31522, 32755, AGC= 58, IDX= 501, 0.16,-1.562, 0.425,-1.251,-0.435, PHS=-1.024, 0.905,-0.859, RAW= 325.6, 10.6, CAL= 324.7, 12.2, ROT= 185.3, -12.2 T#Rx 36: Read range and direction messages.`direction in FSK: [-0.973237,-0.090284,0.211325]Fpublishing direction and range infoyAE4GB:$│NJ\ ?YAAEE_E"{ A)AIEoiEg?Em[Eoٵ@Eq=>EX@ E^ Z>)EjN@IE^ ZAAE:_PV;(ۿǗ}? E~,)E=IEK$CiE^ ZAAechecking for new query: numPingsReceived=36, elapsed TxPingTime=18.968277O@ @@/@Ա^A FӅ IY I O > checking for new query: numPingsReceived=36, elapsed TxPingTime=19.191612R,;LI?AF{D@FrqR@F{gٱF` NAHRS rotation from veh to nav: [[-0.989177,0.145072,0.021957],[-0.146043,-0.987904,-0.052135],[0.014128,-0.054778,0.998399]]FHW?{?¿`x3? ?iF{D@IF\{^;FCYZByZC!I`iMb@Mb@Mb@ 95^I ?jtĿMb?Y>y <A@ @) @Yp@bDVDy<%9=ٔ;Q->9Y=FywEx<E>Q 5u5❊?Q 9}55)BY}>Q E}:y};@Q I}@QEI b}V@U1+EdcֿQ3?R}4GB:$│NJ\ ?Zi}K$Cbi}^ Zj}u~ @Q?/i&շ?Z}+0?R3?;?2i}Z?:i}l@"i}?*i}a^Bi}Bi}G#?i} zZ*i}Bi}7u@i} = addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.506436 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.874791 m, bearing: 13.000219 deg, lat: 36.779398 deg, lon: -121.859773 deg, deltaT: 0.506436 s, deltaX: 0.000027 m, approachRate: 0.000054 m/s, posRepo size: 4 jhbhhh*h"h hgfffځBdddjdZd-?1ɢ5>k<)1 5>i1)=Ȼ99i=iE񿉧AAIAII @  @@/@DzD@AE EE#E"E%:*EE7:VE3ZEa@a@a@a@EDDAT read: Rx Time:05:54:44.2043 ETRx dataTimestamp_ set to:1761544485.428843UPDAT read: Bearing 152.8, 3.7 (Local) U~Local bearing/azimuth received: Bearing 152.8, 3.7 (Local) eDAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 DAT read: 05:54:44.2043 LVL= 32752, 31473, 32738, 30483, AGC= 57, IDX= 503,-0.16, 2.439,-1.990, 2.377,-2.911, PHS=-0.832, 0.966,-1.039, RAW= 335.4, 9.5, CAL= 335.1, 10.5, ROT= 174.9, -10.5 Ygot valid direction response: 05:54:44.2043 LVL= 32752, 31473, 32738, 30483, AGC= 57, IDX= 503,-0.16, 2.439,-1.990, 2.377,-2.911, PHS=-0.832, 0.966,-1.039, RAW= 335.4, 9.5, CAL= 335.1, 10.5, ROT= 174.9, -10.5 T#Rx 37: Read range and direction messages.^direction in FSK: [-0.979362,0.087406,0.182236]Fpublishing direction and range infoyAEəVX9`?m~S?YAAAEzE Ew)E9IETiEKw?EER@E)>E'@ Ef;>)E|]C@IEf;AAE:鿏86FjU&? E"!)E<)IE|]C@iEf;AAchecking for new query: numPingsReceived=37, elapsed TxPingTime=19.462044^A#IQ Ia Om >A Y,rfI?A2gE@2\S@2(j8ٱ2NE :AHRS rotation from veh to nav: [[-0.987014,0.159524,0.018837],[-0.160237,-0.986012,-0.045871],[0.011256,-0.048293,0.998770]]2H Fk?I?`Ŀ@ia| % ?침?i2gE@I2^;2CYzByz@!IbDVDf?y7f%L=ٔ;Q->9Y=FywE,=E>Q 55ԝ?Q 954)BYy<@Q I@SEI&;i;cC5y ɮ A checking for new query: numPingsReceived=37, elapsed TxPingTime=19.693588iqiu*r[I?AJiqRiqjiu=bu5ϻ[{@A?4?RuəVX9`?m~S?Ziu|]C@biuf;ju@*Ā@xIU?N?Zu]}?A7L?rWX?2iuw>:iut@"iuqf?*iub.BiudBiu?iqiuoBiu}@iuU=% addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.501635 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 3.874791 m, bearing: 3.627752 deg, lat: 36.779397 deg, lon: -121.859773 deg, deltaT: 0.501635 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh]eTStarting intercept timer at range: 3.90 m.bhahaha*ha"ha higfffdddjdZd@A?IBɢ7L<) ,>i)oWB->>B-CB-G!IB- BB-G =B)B-LDB-a;B-u$EEPExceeded connect timeout, disconnecting.ie eie~񿉧iiIiIi@ @@0@yE EE%E"E:*Exv:VE 4ZEBE:8b`,&I?AɰVwrG@VhU@VλٱV} bAHRS rotation from veh to nav: [[-0.981435,0.191400,0.012263],[-0.191689,-0.981000,-0.029907],[0.006305,-0.031702,0.999477]]VH@g?"?DȿZd`韞y?@H; ?iVwrG@IV6o^;VCYzByz3!II~<)~;bD  VD 2y=5%=;=ٔ=W99AYA=EFyEwEm=Em>qQ 5}5uÝ?Q 9}5u4)uBYyy}>@Q I@uWEIu:iu:uQE5yBɮAEiiO{I?AJi@Ri@jiϿ@b>Rj3@f[tR?R%Zvb?y&?Zi;*@bij@vl 7oCyZ$ ?V|M>ҿgr2i:i@"i$?*iTBiBiG#?iidBiB@iY= addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503854 s, deltaX: 0.500000 m, approachRate: 0.992351 m/s, rangeRepo size: 4 M Added new target pos. range: 4.371814 m, bearing: 343.437826 deg, lat: 36.779398 deg, lon: -121.859773 deg, deltaT: 0.503854 s, deltaX: 0.497023 m, approachRate: 0.986443 m/s, posRepo size: 4 jhUURStopped intercept timer at range: 4.40 m.bhQhQhQ*hQ"hQ hYgYfYfYfadddjd@Zdi)   i t⚼i񿉧I)I9=checking for new query: numPingsReceived=38, elapsed TxPingTime=20.200493@ @!@%n0@!I^A= FӅԁ EM  EM EM $EI "EM 3;*EM :VEM 4ZEI a @a @a @a @A I I  DDAT read: Rx Time:05:54:45.2049  TRx dataTimestamp_ set to:1761544486.436683 PDAT read: Bearing 164.9, 19.7 (Local)  ~Local bearing/azimuth received: Bearing 164.9, 19.7 (Local)  DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4  DAT read: 05:54:45.2049 LVL= 17488, 20545, 28338, 31107, AGC= 54, IDX= 507, 0.12,-2.278,-1.126,-2.735,-1.934, PHS=-0.242, 0.853,-0.845, RAW= 350.5, 3.2, CAL= 350.1, 0.2, ROT= 159.9, -0.2 % Ygot valid direction response: 05:54:45.2049 LVL= 17488, 20545, 28338, 31107, AGC= 54, IDX= 507, 0.12,-2.278,-1.126,-2.735,-1.934, PHS=-0.242, 0.853,-0.845, RAW= 350.5, 3.2, CAL= 350.1, 0.2, ROT= 159.9, -0.2 - T#Rx 39: Read range and direction messages.5 ^direction in FSK: [-0.939088,0.343658,0.003491]5 Fpublishing direction and range infoy   m< PgK}?QC1ml?Y @ PD AP n y) 6I wi 5^Z? QX @ d= a@ d;) )2@I d l1)kRZ=z!?7]? H)  cI )2@i d U checking for new query: numPingsReceived=39, elapsed TxPingTime=20.466055Ա O >g,ܝI?A~H@~(V@~ٱ~c uAHRS rotation from veh to nav: [[-0.977900,0.208893,0.008709],[-0.209035,-0.977676,-0.021322],[0.004061,-0.022672,0.999735]]~H`J ?2ց?ʿIՕp?=7?i~H@I~^;|YBy)!IiMb@Mb@Mb@ 9!rh?ʡEÿ~jtx?Yl>y;\@@ @)M@Yz@bD-VD-y] %](=ٔ];Q-e>9aYa=eFyewEm.=Em>Q 55?Q 95Z3)BY>Q E:yA@Q I@ZEIL:iv:rG5yɮAiiI?AJi@Ri@ji)@bR?=$}.N9?e ?R m< PgK}?QC1ml?Zi)2@bidj@$,MT_DУZ-T?فh!2i*:i@"iX >?*iDBiBiib.ii>@iJ)=] addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503986 s, deltaX: 0.400000 m, approachRate: 0.793673 m/s, rangeRepo size: 4  Added new target pos. range: 4.769252 m, bearing: 351.965893 deg, lat: 36.779398 deg, lon: -121.859774 deg, deltaT: 0.503986 s, deltaX: 0.397438 m, approachRate: 0.788589 m/s, posRepo size: 4 jhbhhh*h"h hgfffBdddjd@33@Zd:?Bɢh'<) r}>i) ñiWi%񿉧!!I!IIAchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.701792P@ @@?0@B5 <A5 <B= 2>B= CB= 4!IB= BB= F =B9 B= KDB= `;B= ($EM nManaging dock network, ignoring radio surface power offi ^A% ԡ bEqjEu#4rEuI"0E  E E #E "E :*E [:VE 3ZE BE &m,I?A2I@2uW@2$ٱ2? :AHRS rotation from veh to nav: [[-0.973910,0.226860,0.005855],[-0.226924,-0.973799,-0.014835],[0.002336,-0.015777,0.999873]]2HD*` ? w? Ϳ])a`c"c?'@?i2I@I2|^;0YBByB!I JpbDDAT read: Rx Time:05:54:45.7050 bTRx dataTimestamp_ set to:1761544486.940831fPDAT read: Bearing 158.5, 7.0 (Local) j~Local bearing/azimuth received: Bearing 158.5, 7.0 (Local) rDAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed -0.4 DAT read: 05:54:45.7050 LVL= 23248, 19313, 29394, 32755, AGC= 54, IDX= 508, 0.02, 0.911, 2.516, 0.793, 1.669, PHS=-0.656, 0.892,-0.919, RAW= 337.7, 8.1, CAL= 337.5, 8.3, ROT= 172.5, -8.3  Ygot valid direction response: 05:54:45.7050 LVL= 23248, 19313, 29394, 32755, AGC= 54, IDX= 508, 0.02, 0.911, 2.516, 0.793, 1.669, PHS=-0.656, 0.892,-0.919, RAW= 337.7, 8.1, CAL= 337.5, 8.3, ROT= 172.5, -8.3 5T#Rx 40: Read range and direction messages.=^direction in FSK: [-0.981060,0.129159,0.144356]=Fpublishing direction and range infoy`bd$JG?'ЌCz?Yb@`bZbqKbr b)`Ib'ibZd?bCkbv@b>b~@ bV>)b2@@IbV``b o鿦b㿪J ? b)bBIb2@@ibV``]checking for new query: numPingsReceived=40, elapsed TxPingTime=20.9738969YYa=eFyewEeC=Ee>iQ 5u5m堝?Q 9}5m2)mBYyy}B@Q I}@m]EIm:imw:mI5yBɮAi`ib6I?AJib@Rib@jib1=bbW~~RY?M?Rbd$JG?'ЌCz?Zib2@@bibVjbS=@xcy?ZZFA?Zbӻ?>?E?2ib>:ib@"ibѯ=?*ibT&BibbBib$?i`ibbBibX@ibH=  addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.504148 s, deltaX: 0.200000 m, approachRate: 0.396709 m/s, rangeRepo size: 4  Added new target pos. range: 4.967867 m, bearing: 5.488834 deg, lat: 36.779398 deg, lon: -121.859774 deg, deltaT: 0.504148 s, deltaX: 0.198616 m, approachRate: 0.393963 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd%@Zd-`?}Bɢ}e3<)y }$l>iy)ixi񿉧II9O@ @@1@checking for new query: numPingsReceived=40, elapsed TxPingTime=21.208372ԙ^A 6ɅA zA fAԱ A) I1 II O] >t,[I?AE5 E5E5$E1"E5:*E5rN:VE54ZE1a=@a=@a=@a=@YEByE!I IIyiMb@Mb@Mb@ 9Cl?K7AMbYd>y @@ z@)7@Y@bDVDk1y C%*=ٔQ->9Y=FywE E >Q 55I?Q 952)BY?Q E:y%G@Q I%@aEIu ;i ;K5y-yBɮ-9A-EMB*** querying acoustic contact ***iI iIjhQDDAT read: Rx Time:05:54:46.2052 TRx dataTimestamp_ set to:1761544487.444748PDAT read: Bearing 159.8, 10.7 (Local) ~Local bearing/azimuth received: Bearing 159.8, 10.7 (Local) DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.7  DAT read: 05:54:46.2052 LVL= 28336, 22113, 29746, 32755, AGC= 51, IDX= 510,-0.01,-0.456, 1.135,-0.702, 0.265, PHS=-0.619, 0.915,-1.011, RAW= 341.1, 8.2, CAL= 341.0, 8.3, ROT= 169.0, -8.3 Ygot valid direction response: 05:54:46.2052 LVL= 28336, 22113, 29746, 32755, AGC= 51, IDX= 510,-0.01,-0.456, 1.135,-0.702, 0.265, PHS=-0.619, 0.915,-1.011, RAW= 341.1, 8.2, CAL= 341.0, 8.3, ROT= 169.0, -8.3 T#Rx 41: Read range and direction messages.^direction in FSK: [-0.971345,0.188810,0.144356]Fpublishing direction and range infoy]pBo*?'ЌCz?Y@naV2t )3Iviq=j?sh@C>Is@ )Z<@I|bI3+*? {&)IZ<@i]checking for new query: numPingsReceived=41, elapsed TxPingTime=21.478195bhqhqhq*hq"hq hqgyfyfyf}wBdddjd@33@Zd@t?ɢJ<) ZV>i)i:i ~񿉧  I Iԩ@ @@4@^A #u checking for new query: numPingsReceived=41, elapsed TxPingTime=21.709770 A I I O% >z{,&I?A>,L@>!Z@>N8ٱ>^ FAHRS rotation from veh to nav: [[-0.964642,0.263553,0.002430],[-0.263564,-0.964598,-0.009167],[-0.000072,-0.009483,0.999955]]>HX ?Gc?;пł@k?i>,L@I>?^;>CBN->BNCBN!IBNBBNL =BLBNJDBN`;BN$EYbByb!IbDnVDnyrC%ra=ٔv;Q-v>9tYt=zFyzwEzw=E~>|Q 55~}?Q 95~2)~BY y 3HQ I @~dEI~g:i~:~L5yɮAi!i%vI?AJi%@Ri%@ji%F=b%C)uR\z?%Z/S?R%]pBo*?'ЌCz?Zi%Z<@bi!j%z@ 9Qt?!K?Z%)}m?=gn?KA?2i%>:i%U@"i%3?*i%\(Bi%iBi%3?i!i!i%j@i%F<e addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.503917 s, deltaX: 0.300000 m, approachRate: 0.595336 m/s, rangeRepo size: 4 } Added new target pos. range: 5.265824 m, bearing: 4.204222 deg, lat: 36.779399 deg, lon: -121.859774 deg, deltaT: 0.503917 s, deltaX: 0.297956 m, approachRate: 0.591281 m/s, posRepo size: 4 jhybh}-}XTarget missed at range: 5.30 m. Rolling out.2h}NTransitioning guidance mode to: ROLLOUT:h@hh*h"h h2hgfffdddjdZd?颥BN8) E>i)! 28i i%񿉧IQIQI &Changing to mode: 1Em EmEiEi"EmD:*Em:VEiZEiBEm1@ |=)I4@I|ゥN, J?ALMi_M@MU[@M :ٱM_& ]AHRS rotation from veh to nav: [[-0.959528,0.281603,0.002347],[-0.281612,-0.959477,-0.009894],[-0.000534,-0.010154,0.999948]]MHt?@:c?`ҿ @yٽ#@@ d@)d@Y=@ @A bDVD0y%1 %%"=ٔ-o:Q-->9)Y)=-Fy-wE50=E5>9Q 5E5=+i?Q 9E5=73)=BY>Q E:yDQ I@=hEI=9uY}=}Fyy}*g=E}>Q 55O?Q 954)BYyBQ I@mEI:i:Q5ylBɮZAEBjN@qLLj?1KqKiiJ?AJi@Ri@jiu>@bD"X3(\ @-o=?R]RU :?.?Zi,@binFjbzD@&sP|L?Z`J?tĮ܁?2i2:i#@"iE9?*i+^FBiHBiE9?iii;@i @m addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504056 s, deltaX: 0.500000 m, approachRate: 0.991953 m/s, rangeRepo size: 4  Added new target pos. range: 5.861951 m, bearing: 353.163963 deg, lat: 36.779400 deg, lon: -121.859779 deg, deltaT: 0.504056 s, deltaX: 0.496773 m, approachRate: 0.985551 m/s, posRepo size: 4 BNOT Ignoring new targets: 5.86 m.hh*h"h h2hgfffddDDAT read: Rx Time:05:54:47.7057 TRx dataTimestamp_ set to:1761544488.960863PDAT read: Bearing 173.2, 21.2 (Local) ~Local bearing/azimuth received: Bearing 173.2, 21.2 (Local)  DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.5 5DAT read: 05:54:47.7057 LVL= 24464, 25201, 32754, 32755, AGC= 55, IDX= 483, 0.16, 2.098,-2.719, 1.404, 2.462, PHS=-0.261, 1.147,-1.101, RAW= 351.7, 2.2, CAL= 351.3, -0.8, ROT= 158.7, 0.8 =Ygot valid direction response: 05:54:47.7057 LVL= 24464, 25201, 32754, 32755, AGC= 55, IDX= 483, 0.16, 2.098,-2.719, 1.404, 2.462, PHS=-0.261, 1.147,-1.101, RAW= 351.7, 2.2, CAL= 351.3, -0.8, ROT= 158.7, 0.8 =T#Rx 44: Read range and direction messages.E`direction in FSK: [-0.931600,0.363216,-0.013962]EFpublishing direction and range infoyrˍ@">?4Y@_qb )7IˡiВ?팿%m@nF=3@ d)E1@Id<^h*D鿺bBWģ? O),IE1@id<echecking for new query: numPingsReceived=44, elapsed TxPingTime=22.990599jdm@Zdm?Z>Z>Z@ZO@,) R;?i9)4l9ii񿉧I1I1@ @@0@!Y ^A II  checking for new query: numPingsReceived=44, elapsed TxPingTime=23.227858I O- >А,NJ?AIYBy IiMb@Mb@Mb@ 9p= ף?l~jtY?y@ 7@)7@Y@bD5VD52yEK;%EO=ٔEQ-E>9IYI=MFyIUEU>QQ 55U>?Q 95U4)UBY ?Q E :y=Q I@UpEIU?4Zi5E1@bi5d<j5qhp@^E_ӿ1ֺZ5()?p[!2i5:i5|@"i5o34?*i5U<Bi5Bi5o34?i1i1i5@i5E@ addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.508006 s, deltaX: 0.100000 m, approachRate: 0.196848 m/s, rangeRepo size: 4 DIzDIE] E]E]$EY"E][:*E]V:VE]4ZEYae@ae@ae@ae@e Added new target pos. range: 5.961306 m, bearing: 357.088788 deg, lat: 36.779399 deg, lon: -121.859779 deg, deltaT: 0.508006 s, deltaX: 0.099355 m, approachRate: 0.195578 m/s, posRepo size: 4 BNOT Ignoring new targets: 5.96 m.hh*h"h h2hgfffbBddjdZdB;?Z?Z?Z؉@ZT@) @?i9)%$58ii%~񿉧!aIaIiDDAT read: Rx Time:05:54:48.2060 TRx dataTimestamp_ set to:1761544489.465673-PDAT read: Bearing 171.0, 14.7 (Local) -~Local bearing/azimuth received: Bearing 171.0, 14.7 (Local) =DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.5 eDAT read: 05:54:48.2060 LVL= 22192, 23345, 32754, 32755, AGC= 53, IDX= 502, 0.19, 2.638,-2.050, 2.219,-3.072, PHS=-0.471, 1.067,-1.036, RAW= 345.0, 4.7, CAL= 344.7, 2.8, ROT= 165.3, -2.8 mYgot valid direction response: 05:54:48.2060 LVL= 22192, 23345, 32754, 32755, AGC= 53, IDX= 502, 0.19, 2.638,-2.050, 2.219,-3.072, PHS=-0.471, 1.067,-1.036, RAW= 345.0, 4.7, CAL= 344.7, 2.8, ROT= 165.3, -2.8 uT#Rx 45: Read range and direction messages.}^direction in FSK: [-0.966113,0.253455,0.048850]}Fpublishing direction and range infoyԡe* 8?s!D?Y@V1[ )5I&iu?2@=M@ +H=)R8@I+Hd`~LBB IBɂBBM =BBB7`;B#EXY-߂By- I =4<=p<bDEVDEk1yU^%] =ٔaQ-e>9qYq=uFyqyE>Q 55(?Q 95@6)BYyQ I@tEIp;iu;U5yfBɮ9ARjLtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseK%Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse*j9K=ECompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJM MAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRi!i%]J?AJi%L@Ri%L@ji%޶=b%CBl^0N#&b?q?R%e* 8?s!D?Zi%R8@bi%+Hj% !r@%, ?HKτ?Z%(\?cb;ɌO?,?2i%0>:i%@"i%Fe5?*i%+Bi%sBi!i!i%sBi%@i%@ addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504810 s, deltaX: 0.300000 m, approachRate: 0.594283 m/s, rangeRepo size: 4 - Added new target pos. range: 6.259347 m, bearing: 3.656923 deg, lat: 36.779399 deg, lon: -121.859779 deg, deltaT: 0.504810 s, deltaX: 0.298041 m, approachRate: 0.590403 m/s, posRepo size: 4 -BNOT Ignoring new targets: 6.26 m.h)h)*h)"h) h12h1g1f1EE EEEE#EA"EEy:*EEF:VEE3ZEABEE?i9)Y5\ii%񿉧!!I!I)DDAT read: Rx Time:05:54:48.7061  TRx dataTimestamp_ set to:1761544489.970200PDAT read: Bearing 172.6, 13.0 (Local) ~Local bearing/azimuth received: Bearing 172.6, 13.0 (Local) -DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.5 MDAT read: 05:54:48.7061 LVL= 26544, 22993, 32754, 32755, AGC= 53, IDX= 503, 0.19, 1.844,-2.789, 1.492, 2.461, PHS=-0.515, 1.078,-1.013, RAW= 343.2, 4.8, CAL= 342.8, 3.0, ROT= 167.2, -3.0 UYgot valid direction response: 05:54:48.7061 LVL= 26544, 22993, 32754, 32755, AGC= 53, IDX= 503, 0.19, 1.844,-2.789, 1.492, 2.461, PHS=-0.515, 1.078,-1.013, RAW= 343.2, 4.8, CAL= 342.8, 3.0, ROT= 167.2, -3.0 ]T#Rx 46: Read range and direction messages.e^direction in FSK: [-0.973813,0.221245,0.052336]eFpublishing direction and range infoy  sy)Q?yoU˪?Y @  g Ym@  ) I  i ?  ֭@ = t@ PwV=) :@I PwV   N@@O1ycht? ) ^ԫI :@i PwV  }checking for new query: numPingsReceived=46, elapsed TxPingTime=24.031689eu%@a @a@e/@a1 ^AM #IQ Ia Ou >E¢,OJ?A2R@2h`@2˺ٱ2*= ^AHRS rotation from veh to nav: [[-0.931452,0.363605,-0.013705],[-0.363860,-0.930622,0.039353],[0.001555,0.041642,0.999131]]2Hu OE?4 |I׿ &?zY?@R?`?i2R@I2%`;0YfByf IbDr VDr2xy 1<%M=ٔXPQ-%>Uchecking for new query: numPingsReceived=46, elapsed TxPingTime=24.2362589YYa=eFyi}>E}>Q 55?Q 957)BYy+:Q I@xEI;i;cW5yɮ'Aii~J?AJi@Ri@ji>b@'. j?⚡?Rsy)Q?yoU˪?Zi:@biPwVjN#}@L?Gc?Zz3Ɠ?sC?BI趮?2ix?:i@"i/?*iBBiBiiii@iM@ addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504527 s, deltaX: 0.200000 m, approachRate: 0.396411 m/s, rangeRepo size: 4  Added new target pos. range: 6.458057 m, bearing: 8.671406 deg, lat: 36.779399 deg, lon: -121.859779 deg, deltaT: 0.504527 s, deltaX: 0.198709 m, approachRate: 0.393853 m/s, posRepo size: 4 BNOT Ignoring new targets: 6.46 m.hh*h"h h2hgfffddjd@ZdE~?ZZ!ZZW@˺) V??i9)顕5dii񿉧I!I)E5 E5E5&E1"E5 ;*E5e:VE54ZE1a=@a=@a=@a=@IDDAT read: Rx Time:05:54:49.2063 TRx dataTimestamp_ set to:1761544490.472628PDAT read: Bearing 175.6, 13.9 (Local) ~Local bearing/azimuth received: Bearing 175.6, 13.9 (Local)  DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.5 - DAT read: 05:54:49.2063 LVL= 24800, 25169, 32754, 32755, AGC= 52, IDX= 506, 0.14, 2.218,-2.404, 1.820, 2.799, PHS=-0.478, 1.126,-1.022, RAW= 344.1, 3.9, CAL= 343.7, 1.6, ROT= 166.3, -1.6 5 Ygot valid direction response: 05:54:49.2063 LVL= 24800, 25169, 32754, 32755, AGC= 52, IDX= 506, 0.14, 2.218,-2.404, 1.820, 2.799, PHS=-0.478, 1.126,-1.022, RAW= 344.1, 3.9, CAL= 343.7, 1.6, ROT= 166.3, -1.6 = T#Rx 47: Read range and direction messages.E ^direction in FSK: [-0.971170,0.236746,0.027922]E Fpublishing direction and range infoyd5M?|p}?Y@`Qb )4Iji ?Ђ.@'g=S@ <)F9@I伩D,ezhwX7濌20u? )ɋIF9@i伩e checking for new query: numPingsReceived=47, elapsed TxPingTime=24.501308y  )9 = =ԡ 95)@1 @1@5/@9checking for new query: numPingsReceived=47, elapsed TxPingTime=24.738468Bm8>BmCBm IBmBBmE =BiBmLDBm_;Bm|#E^A}IIO0?Z,mJ?AzU@z6b@zٱzi,<  AHRS rotation from veh to nav: [[-0.919130,0.393813,-0.010540],[-0.393954,-0.918780,0.025384],[0.000313,0.027484,0.999622]]zHi:4?@ԕ6ٿfP?Ђ4?$??izU@Iz_;zCEe EeEe(Ea"Eea:*Ee:VEec44ZEaBEe(@%k]=%@ %;)%7@I%!!%;/Nڂ? %֥)%_I%7@i%!!checking for new query: numPingsReceived=48, elapsed TxPingTime=25.010736YBy!IiMb@Mb@Mb@ 9Pn?V-I +Y?ym9M@ @ )YG@bDVDJ!y Z<% <ٔ :Q-P>9Y=Fyb=E}S>Q 55?Q 95:)BY ?Q E:y;6Q I@EI":i:[5y_BɮAEi!i%pJ?AJi%b@Ri%b@ji%>b%2Ri%@u?)3a?R%ѝ95?sNru?Zi%7@bi%j%׌-@xg'?4>Uՠ?Z%/U&?@R?4yu+uuu@ud@ u@)u @qYu@bDVDkyA<%=ٔQ->9Y=FyE>Q 55ڜ?Q 95=)BY>Q E:yb3Q I@EI ?;i<;]5yYBɮTAEiiJ?AJi@Ri@checking for new query: numPingsReceived=49, elapsed TxPingTime=25.746138jiM=bqRC1'@dݢE?R`&ŀMl[?NGY;?Zi36@bi޹jmB f@otA?E/p?Zab?Ծz?wsܞ?2i Z?:i0@"i>1?*i)'Bi\Bi>1?i)'i\Bi@i@=  addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503251 s, deltaX: 0.300000 m, approachRate: 0.596123 m/s, rangeRepo size: 4 E Added new target pos. range: 7.153807 m, bearing: 6.841041 deg, lat: 36.779399 deg, lon: -121.859771 deg, deltaT: 0.503251 s, deltaX: 0.298075 m, approachRate: 0.592298 m/s, posRepo size: 4 EBNOT Ignoring new targets: 7.15 m.hAhA*hA"hA hI2hIgIfIffTBddjd@Zd ?Z>Z>Z@ZҼ^@ )  L?i9)5ii~񿉧II!Bu3>BqBqBqBuH =BqBuKDBu"_;Bu@#E eAdA!bE9jE9rE=ɲ0E  E E %E "E y:*E :VE 4ZE BE ?Yu @q u Zu gq q )u 5Iu m绾iu 7?q u M@u PwV=u @ u )u 5@Iu q q u DJkAU^翵\ ? u ׋)u ֱUIu 5@iu q q  checking for new query: numPingsReceived=50, elapsed TxPingTime=26.018799q^A#II O?’,K?A6CX@6'9f@6Q;ٱ6߫ >AHRS rotation from veh to nav: [[-0.897972,0.440006,0.006358],[-0.440040,-0.897750,-0.020247],[-0.003201,-0.020979,0.999775]]6H0 )? z?`)ܿ^ 8j {'?i6CX@I6T_;6CY-By-!I15AbDEVDE yU=%U)=ٔU;Q-U>9YYY=]FyY]=Ee>aQ 5m5e=Ȝ?Q 9u5e?)eBYqyu<0Q Iu@eEIe:ie:e_5y}RBɮAEԉiiJ?AJiG@RiG@ji/>b k 6|@R ZلZC>?Zi5@bij8Y@ s߽?w7FZ<,?2jr)?\j2i?:i@"iO.,?*i}"BiBi/?i #iiH@i> addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503730 s, deltaX: 0.200000 m, approachRate: 0.397039 m/s, rangeRepo size: 4  Added new target pos. range: 7.352422 m, bearing: 8.610450 deg, lat: 36.779399 deg, lon: -121.859770 deg, deltaT: 0.503730 s, deltaX: 0.198616 m, approachRate: 0.394290 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.35 m.hh*h"h h2hgfffddjd@Zd{?Z!Z!Z!Z%Ra@5Q;)1 =T?i=9)9=5=H9i9iE񿉧AAIIII checking for new query: numPingsReceived=50, elapsed TxPingTime=26.250303A]3@  @ @ g4@E%  E% E% $E! "E% :*E% :VE% 4ZE! a- @a- @a- @a- @^A] ?΅Ia Iy O > DDAT read: Rx Time:05:54:51.2070  TRx dataTimestamp_ set to:1761544492.488250 DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4  Z#Rx 51: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=51, elapsed TxPingTime=26.505081 9Ȓ,"K?AJ4[Y@JPg@J ;ٱJļ VAHRS rotation from veh to nav: [[-0.890321,0.455295,0.005960],[-0.455300,-0.890017,-0.023919],[-0.005586,-0.024009,0.999696]]JH}@#?#ix?#ݿ{%~8v?iJ4[Y@IJi_;HY]By]>!IiMb@Mb@Mb@ 9kt?+Y >yz@@  @)@Y@ ;4<bDVDky=%@=ٔ;Q->9Y=Fy%#=E%>)Q 555-?Q 955-A)-BY>Q E:y0Q I@-EI-Ze>Ze5h@Zeb@} ;)y }\O?i}h9)顅_;ii񿉧IIi!%checking for new query: numPingsReceived=51, elapsed TxPingTime=26.753716=6@9 @9@=4@AAAAA@AB6>BB IB؂BBG =BBB^;B"EQ^AE IQ Ia Om >y E%  E% E% %E! "E% :*E% :VE% 4ZE! BE% #[9Y=Fy-6=E>Q 55\?Q 95C)Yy/Q I@EI:i:zc5yLBɮ!A  addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.504114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  BNOT Ignoring new targets: 7.35 m.h h *h"h h2hgfffdd!jd!Zd%ᰔ?ZAZAZAZEc@Q]<)Y ]V?ie~9)ae)O4e;iaim񿉧iiIiIqI}t>)}(?QY8@ @@/@@@ԁԱ^A I M checking for new query: numPingsReceived=52, elapsed TxPingTime=27.260212Ii O > )OՒ,DVK?AmΜ[@mri@m$/<ٱm  AHRS rotation from veh to nav: [[-0.873683,0.486492,-0.001614],[-0.486377,-0.873541,-0.019075],[-0.010690,-0.015880,0.999817]]mH6 "?qZ ߿` c䅿B?imΜ[@ImQ^;mCYAByp!II=)=iUMb@Mb@Mb@QQQQ Q9US?333333yUUt9Y=Fy)=E>Q 55J?Q 95E)BY>Q E:y3Q I@EIX:i:]e5ԩyɮVAE EE"E"E:*E҆:VE(3ZEa@a@a@a@BNOT Ignoring new targets: 7.35 m.hh*h"h h2hgfffBdd jd Zd `?Z->Z->Z-@Z-^@=$/<)A E@?iE~9)AMMRB 1>B CB !IB BB I =B B B ^;B "EBu͵CBqBqBuH =BuI =Cu>6E7ܒ,9Y=Fy9=E>Q 5U5%?Q 9]5CG)BYyD2Q I@EIvbE$a$ @sGB ?REӮu?zBP?ZiE3@biEBҽjE p?C @F ?p?ZEc/sD?aC?%ټ?2iE|?:iEA"iEC)3?*iE BiE(BiAiE}"iAiEAiEs.>M addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504812 s, deltaX: 0.500000 m, approachRate: 0.990468 m/s, rangeRepo size: 4 ] Added new target pos. range: 8.246592 m, bearing: 10.463863 deg, lat: 36.779399 deg, lon: -121.859770 deg, deltaT: 1.512385 s, deltaX: 0.894169 m, approachRate: 0.591231 m/s, posRepo size: 4 ]BNOT Ignoring new targets: 8.25 m.hYh*h"h hgfffddjd @Zd ?ZZZZ_@YZ<) E?ih9)X4=%"@ %5=)% g5@I%5!!%òdL^%%dt翶辕? %)% I% g5@i%5!!checking for new query: numPingsReceived=54, elapsed TxPingTime=28.030787%;9 @  @ @ 4@   checking for new query: numPingsReceived=54, elapsed TxPingTime=28.265593^A I I O>,LK?AVw$^@Vl@V^ـ<ٱV9 AHRS rotation from veh to nav: [[-0.853723,0.520551,-0.013589],[-0.520491,-0.853831,-0.007925],[-0.015728,0.000307,0.999876]]VHQ Z?@vԋۧR;@`4??iVw$^@IV^a;VCY]By!IaiMMb@Mb@Mb@IIII I9MNbX9?ʡEX9v?YM>yMyM9yYy=}FyyD=E>Q 55Vz?Q 95H)BY>Q E;y8Q I@EIN;i;i5yɮ?AiiK?AJiRiji}u>bZA:58@*?R,4pUF'5?UM7P2?Zi g5@bi5jڒvٽ@{+ ?8 ?Z?t{,?ƼL?2iH?:i@"i! ?*i7BiBi.H/?iiiAi~0> addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503679 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.246592 m, bearing: 13.735942 deg, lat: 36.779399 deg, lon: -121.859770 deg, deltaT: 0.503679 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4  BNOT Ignoring new targets: 8.25 m.h h *h "h  h gfffBddjdZde?Ze>Ze>Ze夿@ZeHY@}^ـ<)y }q=?i}9)顅S4m&@ m|>)m6@Im|iim+*}]ɕ 4$Qf? m)m=7Im6@im|iichecking for new query: numPingsReceived=55, elapsed TxPingTime=28.534376Ա  \9I dA) i @i  @i @m 4@i @u =@u = checking for new query: numPingsReceived=55, elapsed TxPingTime=28.769676^A#IIO?Q,ضK?A(6=n_@6cm@6<ٱ6}; >AHRS rotation from veh to nav: [[-0.843039,0.537546,-0.018129],[-0.537545,-0.843218,-0.005332],[-0.018153,0.005250,0.999821]]6H-@3?S3@`u u??i6=n_@I6A2a;6CYFuByJ!IbDRVDRNB^*>B^CB^T!IB^*BB^L =B\B^JDB^];B^"EyU=%]F=ٔ]G;Q-]>9aYa=eFya@C=E>Q 55ol?Q 9-5I)BY1y=7Q I=@EI3BɮHAEԉi9i=YQK?AJi=ARi=Aji=>b=Zn' Nd@l0?R=i|?uO^?ni\?Zi=6@bi=|j=d : @8+y@ދ\:?Z=^ݟb?x?h?2i=+@:i=A"i=+!?*i=4:Bi=]Bi=O.,?i= i=(Bi=#Ai=a@>% addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504110 s, deltaX: 0.300000 m, approachRate: 0.595109 m/s, rangeRepo size: 4 5 Added new target pos. range: 8.544514 m, bearing: 15.517319 deg, lat: 36.779399 deg, lon: -121.859768 deg, deltaT: 0.504110 s, deltaX: 0.297922 m, approachRate: 0.590986 m/s, posRepo size: 4 ]BNOT Ignoring new targets: 8.54 m.hYhY*hY"hY hagafafafididijdm@33!@Zdm`?ZZZZsZ@-<)) -I?i-)9))51i1E] E]E]'EY"E];*E]:VE]'4ZEYBE]h_ =)IJg CyWB:翸/5? |)/Iichecking for new query: numPingsReceived=56, elapsed TxPingTime=29.038683  9@  @ @ 0@  checking for new query: numPingsReceived=56, elapsed TxPingTime=29.274982^A=FӅIiIOT,iK?A4ba@o@]F<ٱ-:< AHRS rotation from veh to nav: [[-0.820885,0.570612,-0.023444],[-0.570674,-0.821163,-0.004611],[-0.021882,0.009594,0.999714]]H`DtB?BF@r`Vh?@?iba@I2_;CY By !I==ԉiMb@Mb@Mb@ 9m?I +ƿV-?Y>y94<@@ )@Y@ 4<bDVDky =%=ٔ;Q->9Y= Fy  =E >Q 55YY?Q 95J)BY% >Q E% ;y%@Q I%@EI:i:n5y)ɮ5 A1iiK?AJiM ARiM AjiC>bebӳg i@C:%?Rr8]^|?A7X?ZibijDlG @)L@]E X?ZC"?X;`?ѭ?2iz'@:i;A"i??*iBi Bi+!?i7iBiG Air> addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503862 s, deltaX: 0.099999 m, approachRate: 0.198466 m/s, rangeRepo size: 4  Added new target pos. range: 8.643868 m, bearing: 17.822567 deg, lat: 36.779396 deg, lon: -121.859764 deg, deltaT: 0.503862 s, deltaX: 0.099355 m, approachRate: 0.197186 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.64 m.hh*h"h hgfffBddjd`ff!@Zd?Z >Z >Zй@ZorQ@]F<)Em EmEm$Ei"Em ;*EmB:VEm4ZEiau@au@au@au@ R8?i9)FQ4ii~񿉧IIDDAT read: Rx Time:05:54:54.2077 TRx dataTimestamp_ set to:1761544495.512865PDAT read: Bearing 181.5, 19.3 (Local) ~Local bearing/azimuth received: Bearing 181.5, 19.3 (Local) DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 DAT read: 05:54:54.2077 LVL= 23232, 19121, 32754, 32755, AGC= 52, IDX= 504,-0.06, 2.017,-2.817, 1.516, 2.605, PHS=-0.486, 0.907,-1.133, RAW= 348.1, 7.9, CAL= 348.1, 7.8, ROT= 161.9, -7.8 Ygot valid direction response: 05:54:54.2077 LVL= 23232, 19121, 32754, 32755, AGC= 52, IDX= 504,-0.06, 2.017,-2.817, 1.516, 2.605, PHS=-0.486, 0.907,-1.133, RAW= 348.1, 7.9, CAL= 348.1, 7.8, ROT= 161.9, -7.8 T#Rx 57: Read range and direction messages.^direction in FSK: [-0.941721,0.307802,0.135716]Fpublishing direction and range infoyzҔ"`? M _?YfAZJ )4Ii'1h?%mj@0 >mj@ 'g >)4@I'g }f,k|l? [)Q I4@i'g -checking for new query: numPingsReceived=57, elapsed TxPingTime=29.542995 m |9] 9@Y  @Y @] 0@Y 1 Uchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.777645B#>BCB!IBRBBS =BHDBIDB];Bx"Ea^AIIO]?3,^K?Aj4<ɰh!Y-By-!IbD=VD=P)yM=%M=ٔUQ-U>9QYQ=]FyYEe EeEe#Ea"EeI;*Ee:VEe3ZEaBEeajQ 55G?Q 95nK)BYyQ I@EI:i:~p5y8Bɮ AEiiK?AJiz ARiz Ajij>b%/kp $@TOb3?RzҔ"`? M _?Zi4@bi'g jcDÊ @A@I?ZƆ~A?fX-?Za?2i @:iA"i%*?*i_ BiiBi! ?i4:i Bi AiO> addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504038 s, deltaX: 0.200000 m, approachRate: 0.396795 m/s, rangeRepo size: 4  Added new target pos. range: 8.842353 m, bearing: 16.720642 deg, lat: 36.779396 deg, lon: -121.859761 deg, deltaT: 0.504038 s, deltaX: 0.198484 m, approachRate: 0.393789 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.84 m.hh*h"h hgf f f d djd!@Zd4?Z1Z1Z1Z1I)I M'D?iM~9)IM{4IiQiU񿉧YYIYIYDDAT read: Rx Time:05:54:54.7077 TRx dataTimestamp_ set to:1761544496.016871PDAT read: Bearing 182.9, 22.0 (Local) ~Local bearing/azimuth received: Bearing 182.9, 22.0 (Local) DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 DAT read: 05:54:54.7077 LVL= 24160, 19697, 32754, 32755, AGC= 53, IDX= 504, 0.22, 2.914,-1.993, 2.327,-2.839, PHS=-0.428, 0.891,-1.161, RAW= 350.6, 7.8, CAL= 350.6, 7.6, ROT= 159.4, -7.6 Ygot valid direction response: 05:54:54.7077 LVL= 24160, 19697, 32754, 32755, AGC= 53, IDX= 504, 0.22, 2.914,-1.993, 2.327,-2.839, PHS=-0.428, 0.891,-1.161, RAW= 350.6, 7.8, CAL= 350.6, 7.6, ROT= 159.4, -7.6  T#Rx 58: Read range and direction messages.E^direction in FSK: [-0.927837,0.348751,0.132256]MFpublishing direction and range infoQyuXְSQ?) ?Y`^L )5I"۾id?@'g >@ >)/ 2@Ib0yfې B+@`? )8p I/ 2@ichecking for new query: numPingsReceived=58, elapsed TxPingTime=30.063959ԁ 9@  @ @ /@ ԩ M checking for new query: numPingsReceived=58, elapsed TxPingTime=30.281622^AYIIO>,&L?A5qd@56gr@5"%<ٱ5W; EAHRS rotation from veh to nav: [[-0.798274,0.601789,-0.024666],[-0.601774,-0.798617,-0.008874],[-0.025040,0.007759,0.999656]]5H`uA?@"BA`E,@A?`/?i5qd@I59_;5CIUds@iQIQQQ UGkA]ĻYYY]dkAIY)aia)aIeiAm%i iiiiiiqiqq)q qIq y)}|{AyyyYyYBy!IiMb@Mb@Mb@ 9#~j?x&1̿~jt?Y>yA`D<@ @ @)@Y@bDVD02y%Ј%-&=ٔ-;Q-->9)Y1=5Fy15w=E5>AQ 5M5E7?Q 9M5EK)AYMR>Q EM;yUEQ IU@EEIE:iEv:Er5yYɮ] AYE EE"E"E;*E:VE(3ZEa@a@a@a@iijL?AJiRijiz>b0饔h ]:@5?RuXְSQ?) ?Zi/ 2@bij#ZD @7@o _?ZQaP?sO?w>>?2i@:iA"i5,j?*i Bi`Bi%*?i i]BibAi:>% addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 8.842353 m, bearing: 16.391992 deg, lat: 36.779395 deg, lon: -121.859759 deg, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UBNOT Ignoring new targets: 8.84 m.hQhQ*hY"hY hYgYfYfafe3BdadajdaZdmH?ZR>ZR>Z @Zw]L@DDAT read: Rx Time:05:54:55.2080 TRx dataTimestamp_ set to:1761544496.520764PDAT read: Bearing 181.4, 23.0 (Local) ~Local bearing/azimuth received: Bearing 181.4, 23.0 (Local) DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 %DAT read: 05:54:55.2080 LVL= 24688, 20593, 32754, 32755, AGC= 54, IDX= 507,-0.30, 2.725,-2.229, 2.118,-3.008, PHS=-0.449, 0.823,-1.201, RAW= 351.6, 9.4, CAL= 351.7, 10.0, ROT= 158.3, -10.0 -Ygot valid direction response: 05:54:55.2080 LVL= 24688, 20593, 32754, 32755, AGC= 54, IDX= 507,-0.30, 2.725,-2.229, 2.118,-3.008, PHS=-0.449, 0.823,-1.201, RAW= 351.6, 9.4, CAL= 351.7, 10.0, ROT= 158.3, -10.0 -T#Rx 59: Read range and direction messages.5^direction in FSK: [-0.915017,0.364129,0.173648]=Fpublishing direction and range infoy[GM?ٖNs:?YAp`qP )6ITi!R?^^@'>%m@ ¸2>)0@I¸2]"%<)Y ]0?i]9)ae|!5aiaimk㿫](/\? B B !IB gBB U =B B HDB ];B z"E^A5FӅIaԙIO?N ,.8L?A'f@˨t@9Y=Fy=E>Q 55&?Q 95&L)BYyxCQ I@EbE J4jE ¶4rE /E EE&E"E);*E:VE4ZEBEKbm8zH qK] @gի?Rm[GM?ٖNs:?Zim0@bim¸2jmF۴dO!@\!b@P[#?ZmQܮ? ?~):?2im+@:im{ A"imE?*im%Bim>Bim??im_ im`BimAim󞾐> addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503893 s, deltaX: 0.400001 m, approachRate: 0.793820 m/s, rangeRepo size: 4 - Added new target pos. range: 9.239670 m, bearing: 17.162090 deg, lat: 36.779395 deg, lon: -121.859759 deg, deltaT: 0.503893 s, deltaX: 0.397317 m, approachRate: 0.788495 m/s, posRepo size: 4 -BNOT Ignoring new targets: 9.24 m.h)h)*h1"h1 h1g1E4DAT read: Rx Time:05:54 ETRx dataTimestamp_ set to:1761544497.024483MPDAT read: Bearing 180.1, 24.0 (Local) U~Local bearing/azimuth received: Bearing 180.1, 24.0 (Local) eDAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 DAT read: 05:54:55.7080 LVL= 25792, 22081, 32754, 32755, AGC= 55, IDX= 507, 0.05,-2.865,-1.588, 2.787,-2.307, PHS=-0.456, 0.764,-1.233, RAW= 352.7, 10.6, CAL= 352.9, 12.0, ROT= 157.1, -12.0 Ygot valid direction response: 05:54:55.7080 LVL= 25792, 22081, 32754, 32755, AGC= 55, IDX= 507, 0.05,-2.865,-1.588, 2.787,-2.307, PHS=-0.456, 0.764,-1.233, RAW= 352.7, 10.6, CAL= 352.9, 12.0, ROT= 157.1, -12.0 T#Rx 60: Read range and direction messages.^direction in FSK: [-0.901055,0.380621,0.207912]Fpublishing direction and range infoyAEq쿂T\?hٜ?YAAEdEAVA A)E7IExiEC?EҝE@Eq=>E@ EPwV>)E~{/@IEPwVAAE\x鿢՘? E1fffddjd"@ZdLn?)E=IE~{/@iEPwVAAchecking for new query: numPingsReceived=60, elapsed TxPingTime=31.061575Z!Z!Z!Z%ͦN@ym@@  @)YbDVD0y3I%&=ٔ)^;Q->9Y=Fy=E>Q 55?Q 95hL)BY>Q E ;yEQ I@EIP ;i ;w5yɮ Aii!AL?AJiRiji->bzidߡ _l" @o+?Rq쿂T\?hٜ?Zi~{/@biPwVjzAUi8!@UDJ@T@Z U?V U?-~L?2io&@:i A"i$C[잊?*iqpBiȇBiE?iqpiiBiAik>ԁDzDE EE$E"E%;*E:VE4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503719 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 9.239670 m, bearing: 16.805911 deg, lat: 36.779394 deg, lon: -121.859758 deg, deltaT: 0.503719 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.24 m.hh*h"h hgfff,Bdd jd Zd  "5?ZM>ZM>ZM}Z@ZMTL@DDAT read: Rx Time:05:54:56.2083 TRx dataTimestamp_ set to:1761544497.528819PDAT read: Bearing 179.8, 23.0 (Local) ~Local bearing/azimuth received: Bearing 179.8, 23.0 (Local) DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 DAT read: 05:54:56.2083 LVL= 24304, 22081, 32754, 32755, AGC= 54, IDX= 509, 0.50,-2.493,-1.206,-3.088,-1.903, PHS=-0.488, 0.742,-1.229, RAW= 351.8, 11.3, CAL= 352.1, 13.1, ROT= 157.9, -13.1 Ygot valid direction response: 05:54:56.2083 LVL= 24304, 22081, 32754, 32755, AGC= 54, IDX= 509, 0.50,-2.493,-1.206,-3.088,-1.903, PHS=-0.488, 0.742,-1.229, RAW= 351.8, 11.3, CAL= 352.1, 13.1, ROT= 157.9, -13.1 T#Rx 61: Read range and direction messages.^direction in FSK: [-0.902417,0.366433,0.226651]Fpublishing direction and range infoyk ͘+ns?+#?YA^ )6I#i=?Op{@I>U@  j>)A`0@I j<) 0?i9)z5ii ~񿉧  I I׾^b;4E5? %) JIA`0@i jEchecking for new query: numPingsReceived=61, elapsed TxPingTime=31.5658239Թ@ @@/@^AU N؅Ia Iq O} >= checking for new query: numPingsReceived=61, elapsed TxPingTime=31.793636 q,b1tL?ABu>BuCBu!IBulBBuV =BqBqBu];Bur"E h@v@Z<ٱ< UAHRS rotation from veh to nav: [[-0.754958,0.655664,-0.011954],[-0.655038,-0.754849,-0.033585],[-0.031044,-0.017525,0.999364]]H (2?n{'2ʟ ?i h@I+^;CY}By}!IbDVDy~%>=ٔf@;Q->9Y=Fy=E>Q 55?Q 95L)BYyDQ I@EI:i:x5y+BɮX AEii,aL?AJiARiAji >b3n!F @]o@Rk ͘+ns?+#?ZiA`0@bi jj!Dhf!@ @!S@Zsg?K?L"g?2i=?@:i#A"if?*i`BiUBif?ii>BiAim>% addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504336 s, deltaX: 0.500000 m, approachRate: 0.991403 m/s, rangeRepo size: 4 5 Added new target pos. range: 9.736349 m, bearing: 18.469988 deg, lat: 36.779393 deg, lon: -121.859758 deg, deltaT: 0.504336 s, deltaX: 0.496679 m, approachRate: 0.984818 m/s, posRepo size: 4 5BNOT Ignoring new targets: 9.74 m.h1h9*h9"h9 h9g9f9fAfAdAdAjdM#@ZdM9?ZyZy GZyZ} ]M@%(hA9UZ<)Q U)?iU9)Y]5YiY?9(hAYYAie񿉧IIIG?):?E EE(E"E;*E:VEc44ZEBEp?:/2?YSN )3Ii%A?+@@ Vh>)g1@IVh7}vPE(? y)IIg1@iVh}checking for new query: numPingsReceived=62, elapsed TxPingTime=32.073799@ @@/@@@I ^A I I O >AX#,dL?AY]xBy]!IIe<)ep<bDmVDmN2yn+%\=ٔQ->9Y=FyE>Q 55?Q 95L)BYyQ I@EI[:i:z5yɮ Achecking for new query: numPingsReceived=62, elapsed TxPingTime=32.297779iiL?AJiRijiuگ>bFm!]Y6  @I2@Rv7  >?:/2?Zig1@biVhjɳpr!@j @yD0<@ZM;2?Tרf?ޜ?2iVK@:i#A"ir鞊?*iqbBiGBi5,j?i%iȇBizAiB> addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504128 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 9.736349 m, bearing: 19.679013 deg, lat: 36.779393 deg, lon: -121.859757 deg, deltaT: 0.504128 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EBNOT Ignoring new targets: 9.74 m.hAhA*hIQ"hI hqgyfffddjdZdE?ZZZZ) %?i>9)顝5ii񿉧IIԁU9@Q @Q@U/@QE EEE"E:*E:VEZEa@a@a@a@ DDAT read: Rx Time:05:54:57.2084  TRx dataTimestamp_ set to:1761544498.536610 PDAT read: Bearing 183.7, 17.4 (Local)  ~Local bearing/azimuth received: Bearing 183.7, 17.4 (Local)  DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.3  DAT read: 05:54:57.2084 LVL= 22512, 19889, 32754, 32755, AGC= 50, IDX= 512, 0.12, 0.590, 2.215, 0.116, 1.349, PHS=-0.658, 0.911,-1.277, RAW= 345.9, 10.5, CAL= 346.1, 11.9, ROT= 163.9, -11.9  Ygot valid direction response: 05:54:57.2084 LVL= 22512, 19889, 32754, 32755, AGC= 50, IDX= 512, 0.12, 0.590, 2.215, 0.116, 1.349, PHS=-0.658, 0.911,-1.277, RAW= 345.9, 10.5, CAL= 346.1, 11.9, ROT= 163.9, -11.9  T#Rx 63: Read range and direction messages. ^direction in FSK: [-0.940131,0.271355,0.206204] Fpublishing direction and range infoy  [LMb]?Fa5d?Y !A W M ) 2I r(i L7i? t /@ f;> xL@ ȭT>) 7@I ȭT V LGٴ-S? ) ե;I 7@i ȭT - checking for new query: numPingsReceived=63, elapsed TxPingTime=32.565487) ^Aq I I O >),{L?ABj@BUx@B)=ٱB-X ^AHRS rotation from veh to nav: [[-0.735781,0.676999,-0.017290],[-0.676404,-0.735908,-0.030300],[-0.033237,-0.010599,0.999391]]BH?`gc?iBj@IBv^;BCYffByf!IiMb@Mb@Mb@ 9|?5^?-˿y&1Y>y5^`e@  @)YbD=VD=ky젽%7=ٔ>;Q->9Y=Fy=E>Q 5 5A?Q 9 5ZM)BY[>Q E;yBQ I@EI;i;}|5yE$BɮE AEEiiWL?AJi ARi Ajis>bRZ":gw@Z_ϖ@R[LMb]?Fa5d?Zi7@biȭTj]W!@rB@E @Z&`?wC? Ho?2i@:i A"iB}О?*iBiBi$C[잊?i`iBiAi> addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503663 s, deltaX: 0.300000 m, approachRate: 0.595637 m/s, rangeRepo size: 4  Added new target pos. range: 10.034401 m, bearing: 26.250416 deg, lat: 36.779392 deg, lon: -121.859754 deg, deltaT: 0.503663 s, deltaX: 0.298052 m, approachRate: 0.591768 m/s, posRepo size: 4 =DNOT Ignoring new targets: 10.03 m.h9hA*hA"hA hAgAfAfIfMBdIdIjdU@33$@ZdUV?Z[>Z[>ZkX@Zu O@)=) 0?i9)顭{5iichecking for new query: numPingsReceived=63, elapsed TxPingTime=32.801735IIB<Ap<B$>BCB!IBWBBU =BBIDB];Bx"EBuűCBuűCBqBuU =BuS =CuӀ699@ @@0@9 E  E E &E "E :*E ga:VE 4ZE BE .g0,yYL?ADDAT read: Rx Time:05:54:57.7085 TRx dataTimestamp_ set to:1761544499.040814PDAT read: Bearing 189.5, 18.7 (Local) ~Local bearing/azimuth received: Bearing 189.5, 18.7 (Local) "DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.3 6DAT read: 05:54:57.7085 LVL= 23136, 20977, 32754, 32755, AGC= 49, IDX= 512, 0.36,-0.697, 0.948,-1.238,-0.041, PHS=-0.553, 1.034,-1.241, RAW= 347.1, 7.6, CAL= 347.0, 7.3, ROT= 163.0, -7.3 :Ygot valid direction response: 05:54:57.7085 LVL= 23136, 20977, 32754, 32755, AGC= 49, IDX= 512, 0.36,-0.697, 0.948,-1.238,-0.041, PHS=-0.553, 1.034,-1.241, RAW= 347.1, 7.6, CAL= 347.0, 7.3, ROT= 163.0, -7.3 :T#Rx 64: Read range and direction messages.>^direction in FSK: [-0.948553,0.290002,0.127065]>Fpublishing direction and range infoybmZ|ɚc?&@ w>)6@IwmӒKDA? e)\I6@iwchecking for new query: numPingsReceived=64, elapsed TxPingTime=33.086384=2k@=ty@=Z =ٱ= uAHRS rotation from veh to nav: [[-0.727060,0.686338,-0.017989],[-0.685746,-0.727220,-0.030057],[-0.033711,-0.009517,0.999386]]=HD{?`kcE"ǞB}?i=2k@I=^;=CYSBy!IbD VD2yǽ%W=ٔ :Q- >9 Y=Fy =E>Q 5%5㛊?Q 9-5M)BY)y--BQ I-@EIm ;iy;&~5yIɮMAIiiL?AJi$"ARi$"Aji>bPRۣ9#!Ȃ@ F?RbmZ|ɚc?= addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504204 s, deltaX: 0.099999 m, approachRate: 0.198331 m/s, rangeRepo size: 4  Added new target pos. range: 10.133935 m, bearing: 26.178382 deg, lat: 36.779391 deg, lon: -121.859752 deg, deltaT: 0.504204 s, deltaX: 0.099534 m, approachRate: 0.197408 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.13 m.hh*h"h hgfffddjd`ff$@Zdxy?Z Z Z Z O@9}Z =)y }!'?i}V9)顅#5ii~񿉧II eAu99@ @@4@@@=ichecking for new query: numPingsReceived=64, elapsed TxPingTime=33.306149ԡ ^A #I1 IA O >&6,L?A2Cl@29z@2 =ٱ2> :AHRS rotation from veh to nav: [[-0.718768,0.695059,-0.016316],[-0.694421,-0.718859,-0.031958],[-0.033942,-0.011641,0.999356]]2H % =?' 8\`` և?i2Cl@I2tk^;0Y^DBybt!I ``yiMb@Mb@Mb@ 9On?gfffffƿQY>y33@ @)Y@bDVD0y%O=ٔ=:Q->9Y=Fy<E>Q 55؛?Q 95N)BY>Q E;y :Q I@EI:i:5yɮA DNOT Ignoring new targets: 10.13 m.h h *h "h hgfff؁Bddjd!Zd%`R?E= E=E=#E9"E=:*E=T:VE=3ZE9aM@aM@aM@aM@Z]>Z]>Z]@Z] X@u =)q u5?iu29)y}x5yiyi񿉧II=DDAT read: Rx Time:05:54:58.2086 ETRx dataTimestamp_ set to:1761544499.544853MPDAT read: Bearing 181.9, 24.1 (Local) M~Local bearing/azimuth received: Bearing 181.9, 24.1 (Local) ]DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.3 DAT read: 05:54:58.2086 LVL= 16544, 12769, 22178, 23187, AGC= 51, IDX= 2,-0.35, 0.054, 1.309,-0.572, 0.652, PHS=-0.496, 0.702,-1.268, RAW= 352.9, 12.3, CAL= 353.2, 14.7, ROT= 156.8, -14.7 Ygot valid direction response: 05:54:58.2086 LVL= 16544, 12769, 22178, 23187, AGC= 51, IDX= 2,-0.35, 0.054, 1.309,-0.572, 0.652, PHS=-0.496, 0.702,-1.268, RAW= 352.9, 12.3, CAL= 353.2, 14.7, ROT= 156.8, -14.7 T#Rx 65: Read range and direction messages.9^direction in FSK: [-0.889050,0.381047,0.253758] Fpublishing direction and range infoy9=s )nc?N=?Y=f&A9=@=1=V =Z)=3I=i=F3?=M=@=[>=C@ =G\>)=%/@I=G\99=XgHC_'*IO? = )=+\I=%/@i=G\99%checking for new query: numPingsReceived=65, elapsed TxPingTime=33.588306ԩE9@A @A@M/@I^A- I1 II OU > checking for new query: numPingsReceived=65, elapsed TxPingTime=33.809582) B 5>B CB Z!IB /BB G =B GDB KDB U];B ^"E<,7L?AYM)ByUS!IbDeVDe:yu%u>=ٔuQ-}>9yYy=}FyyE>Q 55̛?Q 95xO)BYyQ I@EI;i;5yBɮAEiiimL?AJimT%ARimT%Ajimr>bm W9_"H@5 D!@Rms )nc?N=?Zim%/@bimG\jm'"@g>ڼ @5g@Zmo?Pv?M}?2im]@:imA"imܞ?*imSBimBimܞ?imSimGBimAime> addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504039 s, deltaX: 0.200000 m, approachRate: 0.396794 m/s, rangeRepo size: 4  Added new target pos. range: 10.333209 m, bearing: 20.441366 deg, lat: 36.779390 deg, lon: -121.859750 deg, deltaT: 0.504039 s, deltaX: 0.199274 m, approachRate: 0.395354 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.33 m.h h *h "h  h g fffddjd$@Zd?Z9Z9Z9Z9Q)Q U}(?iU9)Q]YiYi]񿉧aaIaIEE EEEE"EA"EEa:*EEL_:VEE(3ZEABEE(E6@ Eޏ>)E?-@IEޏAAE!]NARJFZG?,V? EL2 )E9lIE?-@iEޏAAchecking for new query: numPingsReceived=66, elapsed TxPingTime=34.077969 99 9@  @ @ 4@ @ @ Y ^A I I O >PD,M?Achecking for new query: numPingsReceived=66, elapsed TxPingTime=34.314884XbEm@b{@b߿=ٱbg rAHRS rotation from veh to nav: [[-0.703943,0.710217,-0.007516],[-0.709472,-0.703623,-0.039554],[-0.033380,-0.022512,0.999189]]bHಆ?~@e@+B [?ibEm@Ib^;bCYBy5!IbDVDkyӽ%4=ٔQ-E>9IYQ=UFyQm3=Em>Q 55þ?Q 95P)BYy8Q I@EI]@bWb"XkxU@¤@RG<*G̱?/?Zi?-@biޏjMf"@:BH @ ǎ@Z\@?]զ? H>?2ieU@:iA"iK͞?*i{Bi5Bi3؞?iii AiY{> addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 10.333209 m, bearing: 19.751364 deg, lat: 36.779390 deg, lon: -121.859750 deg, deltaT: 0.503928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.33 m.hh*h"h hgff!f!d!d!jd!Zd-??ZiZiZiZmheY@߿=) o?i9)顡ii񿉧II1I=\?)=?E EE'E"E:*ET:VE'4ZEa@a@a@a@ DDAT read: Rx Time:05:54:59.2088 TRx dataTimestamp_ set to:1761544500.552715PDAT read: Bearing 180.7, 26.5 (Local) ~Local bearing/azimuth received: Bearing 180.7, 26.5 (Local) DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 DAT read: 05:54:59.2088 LVL= 22848, 21105, 32754, 32755, AGC= 49, IDX= 500,-0.11, 1.088, 2.235, 0.389, 1.650, PHS=-0.460, 0.629,-1.306, RAW= 355.8, 13.5, CAL= 356.3, 16.4, ROT= 153.7, -16.4 Ygot valid direction response: 05:54:59.2088 LVL= 22848, 21105, 32754, 32755, AGC= 49, IDX= 500,-0.11, 1.088, 2.235, 0.389, 1.650, PHS=-0.460, 0.629,-1.306, RAW= 355.8, 13.5, CAL= 356.3, 16.4, ROT= 153.7, -16.4 %T#Rx 67: Read range and direction messages.-^direction in FSK: [-0.860012,0.425044,0.282341]-Fpublishing direction and range infoyk7뿂z3?Ix?Y3+A@YqR )1Ii%!?+Y@:Fq>@ C>)>+@ICrx῅2՛鿹~j"? h )zpI>+@iCMchecking for new query: numPingsReceived=67, elapsed TxPingTime=34.5813609 u 9 @  @ @ 5@ a checking for new query: numPingsReceived=67, elapsed TxPingTime=34.820923B%6>B!B%!IB%BB%E =B!B!B%\;B%#"E^AMFӅԙII!O?YM,;7M?Ajhn@j |@j=ٱj. vAHRS rotation from veh to nav: [[-0.691039,0.722806,0.004018],[-0.722115,-0.690112,-0.047918],[-0.031863,-0.036015,0.998843]]jH :!?up?eň`KP p ?ijhn@Ij ^;jCY~By~*!II=)4< = =iMb@Mb@Mb@ 9"~j?K7AQ롿YS>y \@@  @)@Y=@ p<<bDVDNy%=ٔ3Q->9Y=Fy  =E > Q 55 ?Q 95 R) BY%>Q E%;y%-Q I%@ EI R6;i 5; +5y)ɮ- A1ii_#M?AJi*ARi*Aji|>b2@I"& =@g~9i@Rk7뿂z3?Ix?Zi>+@biCj4g1#@œh @Q+ @Z?[?8U?2iU@:iA"i<ٞ?*iXBiIBiiiBi#Ai> addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503934 s, deltaX: 0.300000 m, approachRate: 0.595316 m/s, rangeRepo size: 4  Added new target pos. range: 10.631333 m, bearing: 19.190369 deg, lat: 36.779390 deg, lon: -121.859750 deg, deltaT: 0.503934 s, deltaX: 0.298124 m, approachRate: 0.591594 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.63 m.hh*h"h hgfffBddjd`ff%@Zd+?Z>Z>Z @Z4d@=) :?ix9)P4ii~񿉧IIE EE#E"E:*EL_:VE3ZEBE8q@ >){*@IQ %Fc?  )dI{*@i%checking for new query: numPingsReceived=68, elapsed TxPingTime=35.089233q^AM IY Ii Ou >ԙ 2T,QM?A2 Fo@2;}@2<ٱ21! :AHRS rotation from veh to nav: [[-0.685411,0.728118,0.007408],[-0.727497,-0.684322,-0.049512],[-0.030982,-0.039325,0.998746]]2HL?^W~? G`Y p"@?i2 Fo@I2~^;0YbByb!Ichecking for new query: numPingsReceived=68, elapsed TxPingTime=35.321617bDzVDzy#%Q=ٔoQ->9Y=Fy<E>Q 55?Q 95T)BYy o-Q I @EIbBީ?".J8@@R v!?<?Zi{*@bij|]Y#@,?hl @$=#Y@ZˡS?g*?WY?2icS@:iA"i]'՞?*igI$BiBii{ii$Ai~>% addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.505197 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 10.631333 m, bearing: 18.850137 deg, lat: 36.779390 deg, lon: -121.859752 deg, deltaT: 0.505197 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 =DNOT Ignoring new targets: 10.63 m.h9h9*h9"h9 h9g9fffddjdZdE?ԹZZZZ(d@E<)A E*?iE89)IMIiIiU񿉧QQIQIYI)E EE$E"E:*E:VE4ZEa@a@a@a@E9@A @A@E4@A@M=@M=DDAT read: Rx Time:05:55:00.2090 TRx dataTimestamp_ set to:1761544501.561727PDAT read: Bearing 182.2, 27.5 (Local) ~Local bearing/azimuth received: Bearing 182.2, 27.5 (Local) DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.3  DAT read: 05:55:00.2090 LVL= 21040, 20129, 32754, 32755, AGC= 48, IDX= 502, 0.15, 2.902,-2.280, 2.170,-2.860, PHS=-0.419, 0.626,-1.296, RAW= 357.1, 13.0, CAL= 357.5, 15.7, ROT= 152.5, -15.7 % Ygot valid direction response: 05:55:00.2090 LVL= 21040, 20129, 32754, 32755, AGC= 48, IDX= 502, 0.15, 2.902,-2.280, 2.170,-2.860, PHS=-0.419, 0.626,-1.296, RAW= 357.1, 13.0, CAL= 357.5, 15.7, ROT= 152.5, -15.7 - T#Rx 69: Read range and direction messages.5 ^direction in FSK: [-0.853918,0.444522,0.270600]= Fpublishing direction and range infoy1wKSS s?RlyQ?Y0A0RN )0I+־iA ?T㥿8q@Vh>i@ K>)X*@IKpK6࿍N}.v.? D ){hIX*@iKU checking for new query: numPingsReceived=69, elapsed TxPingTime=35.594143 ^Au I I O >Z,blM?AF~o@F"}@F<ٱF{) VAHRS rotation from veh to nav: [[-0.679842,0.733291,0.009964],[-0.732745,-0.678654,-0.050127],[-0.029995,-0.041379,0.998693]]FHCw?@"h?r5@/@K?iF~o@IF{^;FCY By !Ii-Mb@Mb@Mb@)))) )9-m?333333V-Y->y---@-@ -@)-@)Y-G@bDEVDEyUr#<%U<=ٔUAQ-]>9YYY=]FyYe<Ee>iQ 5u5m;?Q 9u5mEV)m{BYua>Q E};y}"Q I}@mEIm:im;:mƉ5yɮAiiVcM?AJi.ARi.AjiLz>bN3g".n@4b2,@R1wKSS s?RlyQ?ZiX*@biKj~p#@ m;% @N%ΤB@Z?j?_?2i)Y@:iA"inដ?*i<BiBi<ٞ?iXiBi 'Ai> addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503815 s, deltaX: 0.300000 m, approachRate: 0.595457 m/s, rangeRepo size: 4 M Added new target pos. range: 10.929409 m, bearing: 18.853638 deg, lat: 36.779390 deg, lon: -121.859752 deg, deltaT: 0.503815 s, deltaX: 0.298076 m, approachRate: 0.591637 m/s, posRepo size: 4 UDNOT Ignoring new targets: 10.93 m.hQhQ*hY"hY hYgfffeBddjd&@Zd@LP?checking for new query: numPingsReceived=69, elapsed TxPingTime=35.826740BU:>BUCBU IBU΂BBUC =BQBULDBUN\;BU!EZa>Za>ZU"@Zo@<) B?ix9)A4ii 񿉧19I9II @  @ @ /@A bE4jEr 4rEʭ<0E}  E} Ey Ey "E} :*E} F:VEy ZEy BE} } M@ } 5>)} P*@I} 5y y } چ4ֲ&?1H*? } ()} ekI} P*@i} 5y y  checking for new query: numPingsReceived=70, elapsed TxPingTime=36.097500i ^A I I O >8a,SuM?AVJ7p@V,~@Vq<ٱV-( AHRS rotation from veh to nav: [[-0.674670,0.738039,0.010884],[-0.737558,-0.673509,-0.048917],[-0.028772,-0.041031,0.998744]]VH@?qJ?c@ v ?iVJ7p@IVy^;TYu؂Byu I yybDVDky%F=ٔBQ->9Y=Fy{<E>)Q 555-?Q 9=5-yX)-sBY9y= "Q I=@-EI-8:i-:-5yAɮmXAiԉiiJ$M?AJi.ARi.AjiVe>b (I"\Ʉ@qiy@RuS5<ЪD? ?ZiP*@bi5j1)#@j}dA @#Ⱥ@Z  ?V3CM?~K?2i Z@:iA"i՞?*iJBiBi՞?i<iBi,(Aii> addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.502988 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 10.929526 m, bearing: 18.956381 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.502988 s, deltaX: 0.000117 m, approachRate: 0.000233 m/s, posRepo size: 4 mDNOT Ignoring new targets: 10.93 m.hqhq*hq"hq hqgqfqfyfydydjdZd?ZZZZ0p@q<) =}9?i=9)AEͼ4AiAiM񿉧IIIIIQԹ@ @@@5checking for new query: numPingsReceived=70, elapsed TxPingTime=36.332439^A o셾II Ii O} > $g,r6M?AEF EFEF%ED"EF7:*EFE7:VEF 4ZEDaJ@aJ@aJ@aJ@Y%ނBy% IDDAT read: Rx Time:05:55:01.2092 TRx dataTimestamp_ set to:1761544502.568759PDAT read: Bearing 182.2, 27.1 (Local) ~Local bearing/azimuth received: Bearing 182.2, 27.1 (Local) DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.3 EDAT read: 05:55:01.2092 LVL= 21728, 21073, 32754, 32755, AGC= 48, IDX= 504,-0.47, 0.989, 2.083, 0.267, 1.528, PHS=-0.437, 0.600,-1.305, RAW= 357.1, 13.7, CAL= 357.5, 16.9, ROT= 152.5, -16.9 MYgot valid direction response: 05:55:01.2092 LVL= 21728, 21073, 32754, 32755, AGC= 48, IDX= 504,-0.47, 0.989, 2.083, 0.267, 1.528, PHS=-0.437, 0.600,-1.305, RAW= 357.1, 13.7, CAL= 357.5, 16.9, ROT= 152.5, -16.9 MT#Rx 71: Read range and direction messages.AU^direction in FSK: [-0.848704,0.441807,0.290702]UFpublishing direction and range infoyD(F?Tcݚ?Y4ATQR )0Iw߾i?= 8q@Gt>i@ >)X*@I&y,94@ )Y@bDVD2y)<%.=ٔQ->checking for new query: numPingsReceived=71, elapsed TxPingTime=36.6608019 Y = Fy E>Q 5%5?Q 9%5[)oBY%n>Q E%;y%Q I-@EI;i ;5y5Bɮ5A5EiifM?AJi3ARi3AjiJ>b/#-}@|Uq @RD(F?Tcݚ?ZiX*@bijD3@$@as8 @\ʶ @Z7E?M?A?2ia@:i"A"i!\ݞ?*iUBiBi<ٞ?igI$ii#+Aisa>E addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504044 s, deltaX: 0.300000 m, approachRate: 0.595187 m/s, rangeRepo size: 4 u Added new target pos. range: 11.227604 m, bearing: 19.207711 deg, lat: 36.779390 deg, lon: -121.859753 deg, deltaT: 0.504044 s, deltaX: 0.298078 m, approachRate: 0.591372 m/s, posRepo size: 4 uDNOT Ignoring new targets: 11.23 m.hqhy*hy"hy hygyfffTBddjd&@Zdt?Z%n>Z%n>Z%@Z%}v@Ya)i mE?im9)iuK5qiqi~񿉧II I)@ @@@@@E checking for new query: numPingsReceived=71, elapsed TxPingTime=36.835251B <A <B >>B CB IB BB A =B B B [;B !E % ЀG^A5 #IA IQ O] >In,?M?A:hADZ9ZhAYZAfUq@f~@f'B<ٱfԎ rAHRS rotation from veh to nav: [[-0.665342,0.746509,0.006671],[-0.746076,-0.664589,-0.041135],[-0.026274,-0.032346,0.999131]]fH`{Jf?sS{? OD z皿 @?ifUq@If y^;fCYzقByz IbDVDfy%l=ٔXQ-?9Y!=%Fy!%H=E%?)Q 555-Հ?Q 955-])-kBY9y=CQ I=@-EI-[:i-:-#5yAɮE"AAuDNOT Ignoring new targets: 11.23 m.hqhq*hq"hq hqgyfyfyfyddjdZd?ZZZZv@'B<) B?i9)>5ii񿉧IIE EyE"E"E:*E:VE(3ZEBE`@ >)t*@I闾T畳 꿦W7:?  l )wIt*@i闾checking for new query: numPingsReceived=72, elapsed TxPingTime=37.101845 9@  @ @ i0@ ^A%_ⅾI)IIOU>= checking for new query: numPingsReceived=72, elapsed TxPingTime=37.3381461 ~u,5 M?A jq@_@<ٱ AHRS rotation from veh to nav: [[-0.660809,0.750538,0.004907],[-0.750133,-0.660205,-0.037801],[-0.025131,-0.028660,0.999273]]HX%@h?ut?`@g Z@ @Y ?i jq@Iwi^;CYނBy II9)=; iMb@Mb@Mb@ 9ʡE?~jt{GztY->yDףV@ @)z@Y@bDVDky <%&=ٔrQ->9Y=FyJ<E>Q 555u?Q 9=5 `)hBY=>Q E=;y=Q IE@EISb #b@b}iSB @R'k0+Y0t*?兗7?Zit*@bi闾j6; $@pL{@ѝ @ZG6 ?DE.u?GA?2ip@:ia A"iž?*i\ BiBi՞?iii.Aik> addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.227715 m, bearing: 20.583282 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.503990 s, deltaX: 0.000111 m, approachRate: 0.000220 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.23 m.hh*h"h hgfffEBddjdZd]?Z>Z>Z@Zv@<) L?i9)4x5ii 񿉧  I IE E}E$E"E:*Ek&:VE4ZEa@a@a@a@1DDAT read: Rx Time:05:55:02.2094 TRx dataTimestamp_ set to:1761544503.576983PDAT read: Bearing 183.4, 27.2 (Local) ~Local bearing/azimuth received: Bearing 183.4, 27.2 (Local) DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.4 DAT read: 05:55:02.2094 LVL= 23104, 18161, 32754, 32755, AGC= 48, IDX= 506,-0.06, 0.936, 2.030, 0.215, 1.480, PHS=-0.442, 0.594,-1.309, RAW= 357.1, 13.9, CAL= 357.5, 17.1, ROT= 152.5, -17.1 Ygot valid direction response: 05:55:02.2094 LVL= 23104, 18161, 32754, 32755, AGC= 48, IDX= 506,-0.06, 0.936, 2.030, 0.215, 1.480, PHS=-0.442, 0.594,-1.309, RAW= 357.1, 13.9, CAL= 357.5, 17.1, ROT= 152.5, -17.1 T#Rx 73: Read range and direction messages.^direction in FSK: [-0.847799,0.441336,0.294040]Fpublishing direction and range infoy<*!뿺d>??Y9A@ZF )IMib?P8q@Ulx>i@@ @@0@ Θ>)X*@IΘ_\ߐu꿽aV? Q )hxIX*@iΘEchecking for new query: numPingsReceived=73, elapsed TxPingTime=37.611832a ^A= II IY Om >^{,M?A 2q@2E@2<ٱ2?Y >AHRS rotation from veh to nav: [[-0.656396,0.754398,0.005300],[-0.754040,-0.655831,-0.036175],[-0.023814,-0.027741,0.999331]]2H2$?!u?@!{`b(h?i2q@I2^;2CYjByj IbDtVDty <% =ٔQ-?9Y!=%Fy!-<E- ?9Q 5M5=n?Q 9M5=a)=fBYQyU+Q IU@=EI=D;i=E;=5yeBɮmAiiiJM?AJii8ARii8Aji=>bQ; #X@Q1 @R<*!뿺d>??ZiX*@biΘj-t$@+٧F@5 @ZC[?Ϳa?rP?2i5z@:iO$A"i6#О?*i%Bi׉Bii\ iBir0Aik>checking for new query: numPingsReceived=73, elapsed TxPingTime=37.841785 addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504234 s, deltaX: 0.300000 m, approachRate: 0.594962 m/s, rangeRepo size: 4  Added new target pos. range: 11.525796 m, bearing: 20.841524 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.504234 s, deltaX: 0.298081 m, approachRate: 0.591157 m/s, posRepo size: 4 BU=>BQBQBQBU= =BQBUMDBU\;BU!EB ¶CB ¶CB B C =B C =C k6]DNOT Ignoring new targets: 11.53 m.hYhY*ha"ha haqgfffddjd@33'@ZdS?ZIZIZIZMv@]<)a eN?ie9)顅5ii񿉧II=9@9 @A@El1@AԙE EE%E"EƱ:*E=:VE 4ZEBE8;a2E9;aJEƔ;a:Eǔ;a DDAT read: Rx Time:05:55:02.7094  TRx dataTimestamp_ set to:1761544504.080747 PDAT read: Bearing 184.8, 28.1 (Local)  ~Local bearing/azimuth received: Bearing 184.8, 28.1 (Local)  DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.3  DAT read: 05:55:02.7094 LVL= 25488, 20257, 32754, 32755, AGC= 48, IDX= 506, 0.12, 1.682, 2.765, 0.927, 2.199, PHS=-0.415, 0.611,-1.316, RAW= 357.9, 13.3, CAL= 358.3, 16.2, ROT= 151.7, -16.2  Ygot valid direction response: 05:55:02.7094 LVL= 25488, 20257, 32754, 32755, AGC= 48, IDX= 506, 0.12, 1.682, 2.765, 0.927, 2.199, PHS=-0.415, 0.611,-1.316, RAW= 357.9, 13.3, CAL= 358.3, 16.2, ROT= 151.7, -16.2  T#Rx 74: Read range and direction messages.% ^direction in FSK: [-0.845517,0.455264,0.278991]- Fpublishing direction and range infoy  =q*y뿱 #??Y c !O ) I zԾi j? r @ ,m> @ Ð>) Us)@I Ð _ v]꿜-F? o) fnI Us)@i Ð E checking for new query: numPingsReceived=74, elapsed TxPingTime=38.112846^Ae Ii I O >I, N?A2q,r@2 @2U<ٱ2d :AHRS rotation from veh to nav: [[-0.651903,0.758271,0.006932],[-0.757969,-0.651317,-0.035627],[-0.022500,-0.028479,0.999341]]2HcC?Hd|?@GA@=> @)`?i2q,r@I2 s^;2CLYrByr!IbDzVDz1y=%K=ٔ UQ- >9 Y = Fy t<E>9Q 5E5=e?Q 9E5=rd)=dBYAyEQ IM@=EI=F:i=:=o5yQɮUAQii*N?AJiRijiMu>bg}#Sx<@_a} @R=q*y뿱 #??ZiUs)@biÐj9S$@"( @fa=D @Z;I8?Ta g?N>;?2iv@:i%A"i4RΞ?*i BiBi6#О?iUiBi@1AiO> addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503764 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.525842 m, bearing: 20.418135 deg, lat: 36.779389 deg, lon: -121.859754 deg, deltaT: 0.503764 s, deltaX: 0.000046 m, approachRate: 0.000091 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.53 m.hh*h"h hgf!f!f!d!d)jd)Zd-`?ZiZiZiZmUw@U<) Y?i 9)顥ii~񿉧IIm9@i @i@m3@qchecking for new query: numPingsReceived=74, elapsed TxPingTime=38.346607^AIIO% >! E  E E $E "E :*E C:VE 4ZE a @a @a @a @H,z$N?A6DDAT read: Rx Time:05:55:03.2097 :TRx dataTimestamp_ set to:1761544504.584750>PDAT read: Bearing 184.1, 27.6 (Local) >~Local bearing/azimuth received: Bearing 184.1, 27.6 (Local) FDAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.3 ZDAT read: 05:55:03.2097 LVL= 24656, 21665, 32754, 32755, AGC= 49, IDX= 508, 0.33, 2.697,-2.509, 1.960,-3.049, PHS=-0.435, 0.585,-1.319, RAW= 357.6, 14.1, CAL= 358.1, 17.3, ROT= 151.9, -17.3 ^Ygot valid direction response: 05:55:03.2097 LVL= 24656, 21665, 32754, 32755, AGC= 49, IDX= 508, 0.33, 2.697,-2.509, 1.960,-3.049, PHS=-0.435, 0.585,-1.319, RAW= 357.6, 14.1, CAL= 358.1, 17.3, ROT= 151.9, -17.3 ^T#Rx 75: Read range and direction messages.b^direction in FSK: [-0.842220,0.449704,0.297375]fFpublishing direction and range infoy46tw,eo?+0?Y6@A46P`6T4 4)61I6R޾i6?6Ԩ6@6d{>63@ 6#>)6)@I6#446~z{nb8̈\? 6ڭ)6!H{I6)@i6#44 checking for new query: numPingsReceived=75, elapsed TxPingTime=38.618523%r@%F@%<ٱ%u 5AHRS rotation from veh to nav: [[-0.646996,0.762431,0.009695],[-0.762199,-0.646341,-0.036004],[-0.021184,-0.030684,0.999305]]%H2e?ۃ?cӮ!oYkM?i%r@I%c^;%CYEByM!Ii Mb@Mb@Mb@     9 MbX9?Q뱿Mb?Y ʡ>y \ < @ @ @) @ Y @bDeVDeNy<%&=ٔc/Q->9Y=FyW<E>Q 556[?Q 95fQ = tI))gBY5>Q E5#;y5iQ I=@EI%ARi6>Aji6>b6{$kKr@d@+] @R6tw,eo?+0?Zi6)@bi6#j6SB=%@C,>@A> @Z6\xS??Ʉ&s G?2i6@:i6)A"i6ڞ?*i6'Bi6.Bi4i6\ i6Bi63Ai6"|>5 addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504003 s, deltaX: 0.400000 m, approachRate: 0.793645 m/s, rangeRepo size: 4 e Added new target pos. range: 11.923285 m, bearing: 20.925733 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.504003 s, deltaX: 0.397443 m, approachRate: 0.788572 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.92 m.hh*h"h hgfffBddjd(@Zd ?Z>Z>Z@Zݵr@<) @?i9)Z4ii񿉧!!I!I!I5fA)5fAY@ @@4@AE@AAEAABm:>BmCBm IBmɂBBmC =BiBmLDBm\;Bm"Echecking for new query: numPingsReceived=75, elapsed TxPingTime=38.852306ԁ ^A I I O >᎓,Dl>N?A2?s@2}@2)<ٱ2 :AHRS rotation from veh to nav: [[-0.641805,0.766757,0.013044],[-0.766610,-0.641054,-0.036879],[-0.019916,-0.033669,0.999235]]2H੉F?`?`ᢿd=?i2?s@I2yz^;2CYBByFC!IbDN VDN2yV:>%V=ٔVFQ-Z?9XYX=ZFyX^<E^?`Q 5f5bT?Q 9f5bh)biBYdyjQ Ij@bEIbF:ib:b嗎5YyYɮ]AaDNOT Ignoring new targets: 11.92 m.hh*h"h hgfffddjdZd?ZZZZ(s@)<) DN?i19)ii񿉧IIE EE#E"Eҝ:*E?:VE3ZEBE;a2E;aJE;a:E;a}DDAT read: Rx Time:05:55:03.7097 }TRx dataTimestamp_ set to:1761544505.088751PDAT read: Bearing 183.6, 26.8 (Local) ~Local bearing/azimuth received: Bearing 183.6, 26.8 (Local) DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.3 DAT read: 05:55:03.7097 LVL= 23696, 19633, 32754, 32755, AGC= 49, IDX= 509,-0.37,-0.324, 0.759,-1.040, 0.237, PHS=-0.459, 0.567,-1.321, RAW= 357.1, 14.7, CAL= 357.7, 18.3, ROT= 152.3, -18.3 Ygot valid direction response: 05:55:03.7097 LVL= 23696, 19633, 32754, 32755, AGC= 49, IDX= 509,-0.37,-0.324, 0.759,-1.040, 0.237, PHS=-0.459, 0.567,-1.321, RAW= 357.1, 14.7, CAL= 357.7, 18.3, ROT= 152.3, -18.3 T#Rx 76: Read range and direction messages.^direction in FSK: [-0.840615,0.441333,0.313992]Fpublishing direction and range infoyy}`"R=>?v9s?Yyy}\}Ly y)yI} i}&?}}8q@}G\>}@ }Ƈ>)}*@I}Ƈyy}-࿳r6NN7? }? )}@-I}*@i}Ƈyychecking for new query: numPingsReceived=76, elapsed TxPingTime=39.117977ԁ=M9Ա@ @@d2@ E checking for new query: numPingsReceived=76, elapsed TxPingTime=39.357189^A I I O} >,XN?Av91Y9==Fy9m<Eu>Q 55fJ?Q 9 5 k)lBY!y%{Q I-@EIDb} $X @L; @R}`"R=>?v9s?Zi}*@bi}Ƈj}}8$@@ @Z}8~*? %#?7+?2i}@:i}'A"i}S?*i}NBi}Bi}4RΞ?i}'i}׉Bi}7Ai}Z> addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.923108 m, bearing: 22.039881 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.504001 s, deltaX: -0.000176 m, approachRate: -0.000350 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.92 m.hh*h"h hgfffdd jd Zd n?ZIZIZIZM*s@e?<)a e[S?ie9)amk4iiiim񿉧qqIqIE E~E%E"E:*E(:VE 4ZEa@a@a@a@]DDAT read: Rx Time:05:55:04.2099 ]TRx dataTimestamp_ set to:1761544505.592824ePDAT read: Bearing 184.6, 27.0 (Local) m~Local bearing/azimuth received: Bearing 184.6, 27.0 (Local) }DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.3 DAT read: 05:55:04.2099 LVL= 22368, 18929, 32754, 32755, AGC= 49, IDX= 511,-0.15, 0.696, 1.775,-0.030, 1.244, PHS=-0.446, 0.576,-1.318, RAW= 357.4, 14.4, CAL= 357.9, 17.8, ROT= 152.1, -17.8 Ygot valid direction response: 05:55:04.2099 LVL= 22368, 18929, 32754, 32755, AGC= 49, IDX= 511,-0.15, 0.696, 1.775,-0.030, 1.244, PHS=-0.446, 0.576,-1.318, RAW= 357.4, 14.4, CAL= 357.9, 17.8, ROT= 152.1, -17.8 T#Rx 77: Read range and direction messages.^direction in FSK: [-0.841459,0.445530,0.305695]Fpublishing direction and range infoyY] < ?ќ?Y]DAY]`W]IY Y)YI]Zi]t?]9]@]>]@ ]>)])@I]YY]jc ܼ꿠l? ]3)]8I])@i]YYchecking for new query: numPingsReceived=77, elapsed TxPingTime=39.622837_9Q @Q  @Y @] 4@Y  checking for new query: numPingsReceived=77, elapsed TxPingTime=39.859837I^A}IBe4>BeCBe!IBeBBeE =BaBeKDBej];Bei"EIO?,yN?A.;ɰ.;Rds@R@R<ٱR ZAHRS rotation from veh to nav: [[-0.630101,0.776307,0.017916],[-0.776314,-0.629249,-0.037182],[-0.017591,-0.037337,0.999148]]RH)@?X?"w F?iRds@IRV^;RCԹYEByu!II)C=iEMb@Mb@Mb@AAAA A9E\(\?1ZdL7A`?YEz>yE"۽E+=E&@El@ E @)AAYE@bD]VD]kymn=%m=ٔuUQ-u>9yYy=}Fyy}g<E>Q 55??Q 95l)uBY>Q EE;y,*Q I@EIZ;io;S5yɮWAi1i5eN?AJi5CARi5CAji5B>b5I%$d"@`9# @R5 < ?ќ?Zi5)@bi5j5K%@%Z2@V @Z59xj5?SU+#?X6n?2i5a@:i5_,A"i5p˞?*i5NBi5Bi1i5Ni5.Bi5.:Ai5> addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504073 s, deltaX: 0.300000 m, approachRate: 0.595152 m/s, rangeRepo size: 4  Added new target pos. range: 12.221016 m, bearing: 22.298456 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.504073 s, deltaX: 0.297908 m, approachRate: 0.591001 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.22 m.hh*h"h hgfffفBddjd(@ZdF?Z>Z>Z@Z g@<) 5?i9)ii~񿉧!!I!I) -fA-fADDAT read: Rx Time:05:55:04.7099 TRx dataTimestamp_ set to:1761544506.096874PDAT read: Bearing 185.1, 27.1 (Local) %~Local bearing/azimuth received: Bearing 185.1, 27.1 (Local) 5DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.3 UDAT read: 05:55:04.7099 LVL= 22576, 19569, 32754, 32755, AGC= 50, IDX= 511,-0.01,-0.410, 0.661,-1.145, 0.132, PHS=-0.440, 0.574,-1.322, RAW= 357.7, 14.3, CAL= 358.2, 17.8, ROT= 151.8, -17.8 eYgot valid direction response: 05:55:04.7099 LVL= 22576, 19569, 32754, 32755, AGC= 50, IDX= 511,-0.01,-0.410, 0.661,-1.145, 0.132, PHS=-0.440, 0.574,-1.322, RAW= 357.7, 14.3, CAL= 358.2, 17.8, ROT= 151.8, -17.8 eT#Rx 78: Read range and direction messages.m^direction in FSK: [-0.839115,0.449930,0.305695]mFpublishing direction and range infoyka?ќ?Y0XqL )2IGi?L7@r>@ ))@ITH4꿷q|w? Ɯ)I)@ichecking for new query: numPingsReceived=78, elapsed TxPingTime=40.125866E EE!E"E%:*E=:VEc3ZEBE;a2E;aJEƔ;a:EƔ;a q9 @  @ @ 4@ @ =@ =A  DDAT read: Rx Time:05:55:05.2100  TRx dataTimestamp_ set to:1761544506.351421 PDAT read: Bearing 182.9, 24.9 (Local)  ~Local bearing/azimuth received: Bearing 182.9, 24.9 (Local) checking for new query: numPingsReceived=78, elapsed TxPingTime=40.370918y^AI9IIO]?) ,WN?Abt@b;@bȕ<ٱba ~AHRS rotation from veh to nav: [[-0.623921,0.781249,0.019316],[-0.781312,-0.623067,-0.036589],[-0.016550,-0.037921,0.999144]]bH@)?@Ǔ? `*ٻ@`^j@?ibt@Ib+v^;bC )kA5T5dF19=kAi=TI99IAiEkA E@A)A kAI)Ii؁)ىIٕkAؕؑ ٙii!- A)) )I1Y1YTBy!IiMb@Mb@Mb@ 9Mb?ˡEĿˡE?Y@>y''=@ )Y@bDVD:yS=%=ٔhQ->9Y=Fy8j<E>!Q 5-5%44?Q 9M5%|m)%BYUr>Q EUQ;yU=Q IU@%EI%;i%O;%5yYɮ] Aaqi9i=/3N?AJi9Ri9ji=>b=y$(@`9# @R=ka?ќ?Zi=)@bi9j=B/C%@6S@y# @Z=o0?2hDAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.3 EDAT read: 05:55:05.2100 LVL= 21328, 19409, 32754, 32755, AGC= 51, IDX= 512, 0.13,-2.991,-1.833, 2.569,-2.337, PHS=-0.552, 0.550,-1.421, RAW= 356.1, 16.4, CAL= 356.6, 20.7, ROT= 153.4, -20.7 MYgot valid direction response: 05:55:05.2100 LVL= 21328, 19409, 32754, 32755, AGC= 51, IDX= 512, 0.13,-2.991,-1.833, 2.569,-2.337, PHS=-0.552, 0.550,-1.421, RAW= 356.1, 16.4, CAL= 356.6, 20.7, ROT= 153.4, -20.7 UT#Rx 79: Read range and direction messages.U^direction in FSK: [-0.836431,0.418854,0.353475]]Fpublishing direction and range infoy  i d LTV?iU?Y HA  PS K  ) 3I O i  ? T㵿 >@ C> )@ >) uY+@I    ._X7z7['? g ) .nI uY+@i   uchecking for new query: numPingsReceived=79, elapsed TxPingTime=40.626450 addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 1.006623 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E EE%E"EU:*E,:VE 4ZEa@a@a@a@ Added new target pos. range: 12.221016 m, bearing: 22.454819 deg, lat: 36.779388 deg, lon: -121.859753 deg, deltaT: 0.504050 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.22 m.hh*h"h hgfffBddjd)@Zd@`?Zr>Zr>Z@ZOU@-ȕ<)) -0?i59)15S41i1i=񿉧99I9IAԙ 9@  @ @ 4@  DDAT read: Rx Time:05:55:05.7100  TRx dataTimestamp_ set to:1761544506.857919 PDAT read: Bearing 178.6, 24.3 (Local) ~Local bearing/azimuth received: Bearing 178.6, 24.3 (Local) Echecking for new query: numPingsReceived=79, elapsed TxPingTime=40.881466^AUFӅBm<Am<BBBM!IB%BBF =BBB^;B"EII9OE>, N?AMyu@MӁ@MQn<ٱM ]AHRS rotation from veh to nav: [[-0.609392,0.792588,0.021108],[-0.792735,-0.608585,-0.034559],[-0.014545,-0.037793,0.999180]]MH$\?\?^@yɍYG?iMyu@IMA^;MCYbBy!IbDVD:yC=%K=ٔEQ->9Y=Fyi>=E>)Q 555-+?Q 955-n)-BY1y5;Q I5@-EI-t:i-:-5ye Bɮe6 AeEiQiUW]N?AJiUFARiUFAjiUd>bU00i$%@Qj@RUi d LTV?iU?ZiUuY+@biUjUۥ%@fK@g"]@ZUql{E,?Α'W?Ϥ^?2iU\@:iU(A"iU/?*iUWBiUBiUvr?iUNiUBiU;AiU >DNOT Ignoring new targets: 12.22 m.hh*h"h hgfffddjdZd i?Z Z Z Z -V@%Qn<)! % 8?i%-9)!%44!i)i-񿉧)5iI1I19@ @@/@ =DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.3 eDAT read: 05:55:05.7100 LVL= 25648, 21905, 32754, 32755, AGC= 53, IDX= 512, 0.16, 2.714,-2.508, 2.006,-2.848, PHS=-0.619, 0.385,-1.473, RAW= 357.3, 20.5, CAL= 357.3, 25.1, ROT= 152.7, -25.1 mYgot valid direction response: 05:55:05.7100 LVL= 25648, 21905, 32754, 32755, AGC= 53, IDX= 512, 0.16, 2.714,-2.508, 2.006,-2.848, PHS=-0.619, 0.385,-1.473, RAW= 357.3, 20.5, CAL= 357.3, 25.1, ROT= 152.7, -25.1 mT#Rx 80: Read range and direction messages.u^direction in FSK: [-0.804704,0.415339,0.424199]uFpublishing direction and range infoy)-L"?qe&?Y))-0d-U) ))-5I-vi->-D-Ѝ@-0>-Ѝ@ -K>)-J*@I-Kྩ))-M,࿷]O9鿧oTFt? - )-I-J*@i-Kྩ))checking for new query: numPingsReceived=80, elapsed TxPingTime=41.130566bE J4jE 3rE ?/E EEE"E:*E H:VEZEBE;a2E;aJE;a:E;a^AIIO>1 V,oN?A@JSv@Ja$@Ji\<ٱJ= VAHRS rotation from veh to nav: [[-0.601502,0.798637,0.019366],[-0.798758,-0.600830,-0.031452],[-0.013483,-0.034387,0.999318]]JH?n?@ԓ?@l`:}@ ;i?iJSv@IJ^;JCY=xBy=!I YYiiDDAT read: Rx Time:05:55:06.2102 TRx dataTimestamp_ set to:1761544507.360631PDAT read: Bearing 186.1, 27.6 (Local) ~Local bearing/azimuth received: Bearing 186.1, 27.6 (Local) checking for new query: numPingsReceived=80, elapsed TxPingTime=41.380386bDVDk1yE=%MF=ٔU'Q-]>9aYi=Fy<E>Q 55(#?Q 95n)BYyZ;Q I@EI:i;b5y1ɮ5 A1iiimN?AJiiRiijim.>bm|y#lm0@cG@RmL"?qe&?ZimJ*@bimKjm iw$@Z%@o@Zm %)]?HO?|Y?2im@:im#A"imL}?*imBimBimS?im=simBim=Aim>,> addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503951 s, deltaX: 0.200000 m, approachRate: 0.396864 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 12.419709 m, bearing: 24.751544 deg, lat: 36.779387 deg, lon: -121.859751 deg, deltaT: 1.006524 s, deltaX: 0.198693 m, approachRate: 0.197405 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.42 m.hh*h"h hgf!f)f)d1d1jd1Zd5 o?ZqZqZqZuZV@Ei\<)I MB?iU9)iuii񿉧M|IIi@i @i@mq4@i] DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.3 } DAT read: 05:55:06.2102 LVL= 23536, 21281, 30562, 31395, AGC= 56, IDX= 2, 0.08, 1.229, 2.280, 0.459, 1.769, PHS=-0.438, 0.557,-1.353, RAW= 358.6, 14.8, CAL= 359.1, 18.4, ROT= 150.9, -18.4  Ygot valid direction response: 05:55:06.2102 LVL= 23536, 21281, 30562, 31395, AGC= 56, IDX= 2, 0.08, 1.229, 2.280, 0.459, 1.769, PHS=-0.438, 0.557,-1.353, RAW= 358.6, 14.8, CAL= 359.1, 18.4, ROT= 150.9, -18.4  T#Rx 81: Read range and direction messages. ^direction in FSK: [-0.829101,0.461472,0.315649] Fpublishing direction and range infoyI M r^꿝{? \ 3?YM IAI M [M !SM bw M z)M 8IM AiM ?M /M G@M A>M -@ M l>)M (@IM lI I M O-0@j)_Q? M )M IM (@iM lI I  checking for new query: numPingsReceived=81, elapsed TxPingTime=41.634949 E%  E% E% "E! "E% U:*E% 0:VE% (3ZE! a5 @a5 @a5 @a5 @^A5 IA IY Om >Lں,N?AR%v@Rq@RI<ٱRG` fAHRS rotation from veh to nav: [[-0.593926,0.804348,0.016583],[-0.804425,-0.593415,-0.027530],[-0.012303,-0.029691,0.999483]]RHq9?.?@ڽ`B0S2?g?iR%v@IR^;RCYn}Byr!IieMb@Mb@Mb@aaaa a9eS㥛?ɿMb?Ye$>yeLe=eS@a eM@)aaYe@bD}VD} 3y<%U=ٔ"JQ->9Y=Fy<E>Q 55M?Q 95n)BYy>Q EM;y"FQ I@EI>;i ;5yɮd AiaieN?AJieNHARieNHAjieF>beW$z@؜@Rer^꿝{? \ 3?Zie(@bieljegLW%@~3@@`z>@ZeaՑ?iD?7?2ie@:ie.A"ieK寞?*ie %BieLBieK寞?ieieLBie=Aie1> addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504391 s, deltaX: 0.100000 m, approachRate: 0.198260 m/s, rangeRepo size: 4  Added new target pos. range: 12.519068 m, bearing: 23.866763 deg, lat: 36.779385 deg, lon: -121.859749 deg, deltaT: 0.504391 s, deltaX: 0.099359 m, approachRate: 0.196987 m/s, posRepo size: 4  DNOT Ignoring new targets: 12.52 m.hh*h"h hgff!f%0Bd)dQjdU@33)@ZdU^)?Zy>Zy>ZH|@ZK@I<) f&?i9)4ii~񿉧%tI!IQDDAT read: Rx Time:05:55:06.7102 TRx dataTimestamp_ set to:1761544507.863943PDAT read: Bearing 185.6, 26.8 (Local) ~Local bearing/azimuth received: Bearing 185.6, 26.8 (Local) B0>BCBy!IBHBBG =BBB^;B#EeDAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.3 uZ#Rx 82: Read range message, but no direction.yYchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.911308!}߀GgA9@ @@/@k9gAY#UA^A)|IIO>I ,]O?AɰE2 E2E2#E0"E2:*E2a9:VE23ZE0BE2㘿 ?iBKw@IBA^;@bDAT read: 05:55:06.7102 LVL= 21392, 18465, 32754, 32755, AGC= 52, IDX= 498, 0.03, 1.510, 2.559, 0.780, 2.076, PHS=-0.465, 0.527,-1.340, RAW= 357.9, 15.6, CAL= 358.5, 19.7, ROT= 151.5, -19.7 fYgot valid direction response: 05:55:06.7102 LVL= 21392, 18465, 32754, 32755, AGC= 52, IDX= 498, 0.03, 1.510, 2.559, 0.780, 2.076, PHS=-0.465, 0.527,-1.340, RAW= 357.9, 15.6, CAL= 358.5, 19.7, ROT= 151.5, -19.7 fZ#Rx 83: Read direction message, but no range.j^direction in FSK: [-0.827380,0.449231,0.337095]yim&y꿾%2?M?Y-xBy5!IimSm!Hm m)m4Im{imy?mm@m'g>mc9@ mx >)m%:)@Imx im-,]''6? m[)mAoIm%:)@imx Uchecking for new query: numPingsReceived=83, elapsed TxPingTime=42.171379bD]VD]y"ʼ%K=ٔ)Q->9Y=Fy<E>Q 55?Q 95n)BYyEQ I@EI:i:5yɮ AiiJN?AJiMHARiMHAjiͣ>b;E$aO~@^@R&y꿾%2?M?Zi%:)@bix j=% a%@- addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.256154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.518975 m, bearing: 25.026600 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 0.256154 s, deltaX: -0.000093 m, approachRate: -0.000361 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.52 m.hh*h"h hgfffddjdZd x?ZQZQZQZUL@eE8<)a e#?imD9)im4ii񿉧lII I)I9@ @@/@yDDAT read: Rx Time:05:55:07.2103 TRx dataTimestamp_ set to:1761544508.368303PDAT read: Bearing 185.4, 26.2 (Local) ~Local bearing/azimuth received: Bearing 185.4, 26.2 (Local) DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3 %Z#Rx 84: Read range message, but no direction.yYLAchecking for new query: numPingsReceived=84, elapsed TxPingTime=42.399944^A r|I I O >ԡ wǓ,L!O?A~)x@~@~%<ٱ~Ӽ AHRS rotation from veh to nav: [[-0.578331,0.815660,0.015245],[-0.815740,-0.577955,-0.023158],[-0.010078,-0.025829,0.999616]]~H ?8?`~ǣ@r?i~)x@I~¦^;~CY%vBy%!II-4=)-=11qiMb@Mb@Mb@ 9?mͿ~jt?Y>yn</@@ )@Yz@bD= VD=:2yE%M>=ٔM4Q-M>9QYQ=UFyQU#<E]>YQ 5e5] ?Q 9m5]n)]BYm>Q EmH;ym9A@Q Im@]EI] ;i]? ;]5y}Bɮ}f A}E addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504360 s, deltaX: 0.200000 m, approachRate: 0.396542 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.52 m.hh*h"h hgfff$Bddjd)@ZdY? DAT read: 05:55:07.2103 LVL= 26064, 22913, 32754, 32755, AGC= 52, IDX= 500, 0.02,-3.006,-1.968, 2.571,-2.419, PHS=-0.485, 0.495,-1.337, RAW= 357.7, 16.5, CAL= 358.2, 20.7, ROT= 151.8, -20.7 Ygot valid direction response: 05:55:07.2103 LVL= 26064, 22913, 32754, 32755, AGC= 52, IDX= 500, 0.02,-3.006,-1.968, 2.571,-2.419, PHS=-0.485, 0.495,-1.337, RAW= 357.7, 16.5, CAL= 358.2, 20.7, ROT= 151.8, -20.7 Z#Rx 85: Read direction message, but no range.%^direction in FSK: [-0.824410,0.442045,0.353475]y]R$a꿑;VvJ?iU?eY )IQip>"@r>@ >))@IBU7'gIą"?  )I)@i=checking for new query: numPingsReceived=85, elapsed TxPingTime=42.639534ZE>ZE>ZE@ZE<9A@U%<)Y ](?i]9)Y]`4YiaEi EmEm"Ei"Ei*EmrN:VEm(3ZEiau@au@au@au@i񿉧kdI I ԡ@ @@/@^Au6sIIO_> DDAT read: Rx Time:05:55:07.7103  TRx dataTimestamp_ set to:1761544508.873190B -> B B !IB WBB J =B B JDB _;B y#EBʵCBʵCBʝ PDAT read: Bearing 187.7, 28.2 (Local)  ~Local bearing/azimuth received: Bearing 187.7, 28.2 (Local)  DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3  Z#Rx 86: Read range message, but no direction.y Y  checking for new query: numPingsReceived=86, elapsed TxPingTime=42.915367BF =BF =C,6nΓ,v;O?AYnmByn!IbDzVDzkyTH% b=ٔ Q- >9Y=FyE>9Q 5E5= ?Q 9M5=4n)=BYIyIQ IM@=EI=:i=:=65yQɮ} AyiiX7O?AJi{KARi{KAji;C>b3I $H彣|@,R7@R]R$a꿑;VvJ?iU?Zi)@bijhiRo%@ U.@e^@Z.E?".b*?S+)j?2ia@:iz+A"i,?*ihsBiUBiO?iWiBiT?AiaQ>% addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504887 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 12.717530 m, bearing: 25.879633 deg, lat: 36.779383 deg, lon: -121.859746 deg, deltaT: 1.009247 s, deltaX: 0.198555 m, approachRate: 0.196736 m/s, posRepo size: 4 }DNOT Ignoring new targets: 12.72 m.hyhy*hy"h hgfffddjdZdm?Z1Z1Z1Z1A)A Em$?iEe9)IM#5Iiiiu񿉧quVeIqIy))@) @)@-0@)%DAT read: 05:55:07.7103 LVL= 21936, 19345, 32754, 32755, AGC= 51, IDX= 500, 0.08, 1.674, 2.690, 0.890, 2.200, PHS=-0.425, 0.535,-1.354, RAW= 359.5, 15.0, CAL= 360.0, 18.8, ROT= 150.0, -18.8 -Ygot valid direction response: 05:55:07.7103 LVL= 21936, 19345, 32754, 32755, AGC= 51, IDX= 500, 0.08, 1.674, 2.690, 0.890, 2.200, PHS=-0.425, 0.535,-1.354, RAW= 359.5, 15.0, CAL= 360.0, 18.8, ROT= 150.0, -18.8 -Z#Rx 87: Read direction message, but no range.5^direction in FSK: [-0.819822,0.473325,0.322266]y;9J?ɜL?UK )3Iپi?O^@ >@ >)6'@I.h߿$nl? ͥ)qwI6'@iUchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.143539E EE#E"E:*EF:VE3ZEBE`y ԓ, TO?Ary@r@rL<ٱrc %AHRS rotation from veh to nav: [[-0.561103,0.827404,0.023781],[-0.827709,-0.560575,-0.025556],[-0.007814,-0.034023,0.999390]]rH z?Z?`|<>+|k?iry@Iru^;pDDAT read: Rx Time:05:55:08.2105 TRx dataTimestamp_ set to:1761544509.376397PDAT read: Bearing 185.5, 27.4 (Local) ~Local bearing/azimuth received: Bearing 185.5, 27.4 (Local) DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 iZ#Rx 88: Read range message, but no direction.yYQAchecking for new query: numPingsReceived=88, elapsed TxPingTime=43.433693ԉY`By!IAieMb@Mb@Mb@aaaa a9e!rh?tVοMb?Yel=yere9Y=Fy =E>Q 55?Q 95m)BY~>Q EJ;yz?@Q I@EI ;i ;䫎5yɮ AiiXO?AJi?PARi?PAjis>bHW%;u@9r%@R;9J?ɜL?Zi6'@bijX\^&@@ȤEC@Zeha?I-?0PQ?2i@:i2A"iN??*iZBiBiiiًBiAAiy/> addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503207 s, deltaX: 0.300000 m, approachRate: 0.596177 m/s, rangeRepo size: 4 % Added new target pos. range: 13.015597 m, bearing: 25.235396 deg, lat: 36.779383 deg, lon: -121.859746 deg, deltaT: 0.503207 s, deltaX: 0.298067 m, approachRate: 0.592335 m/s, posRepo size: 4 %DNOT Ignoring new targets: 13.02 m.h!h!*h!"h) h)g)f)f1f5Bd1d1jd=@33*@Zd="?Z]~>Z]~>Z]@Z]z?@uL<)q uH!?iu]9)quS5qiyi}~񿉧yjRIIԱ= DAT read: 05:55:08.2105 LVL= 26832, 19953, 32754, 32755, AGC= 51, IDX= 502, 0.03, 2.661,-2.632, 1.895,-3.051, PHS=-0.469, 0.464,-1.381, RAW= 359.6, 17.1, CAL= 0.0, 21.3, ROT= 150.0, -21.3 M Ygot valid direction response: 05:55:08.2105 LVL= 26832, 19953, 32754, 32755, AGC= 51, IDX= 502, 0.03, 2.661,-2.632, 1.895,-3.051, PHS=-0.469, 0.464,-1.381, RAW= 359.6, 17.1, CAL= 0.0, 21.3, ROT= 150.0, -21.3 M Z#Rx 89: Read direction message, but no range.] ^direction in FSK: [-0.806868,0.465846,0.363251]y  w^鿉-Hj?+=?? h M ) I i h> İ @ Θ> V>) I V ޿(Idr^? 4ܓ,8/sO?ALf(z@f6@fq;ٱf/ AHRS rotation from veh to nav: [[-0.552631,0.832921,0.028997],[-0.833401,-0.552010,-0.026987],[-0.006471,-0.039080,0.999215]]fH(`J?`L?7jz<?if(z@If^^;fC  Cs@i I9 9AAAQuhkAIy)yiā)ʼnIŕiAĵҽĵVF Ź&C~jAii)  I1 A)AAABBB!IBRBBBBB:`;B#EDDAT read: Rx Time:05:55:08.7105 TRx dataTimestamp_ set to:1761544509.895953PDAT read: Bearing 185.6, 28.6 (Local)  ~Local bearing/azimuth received: Bearing 185.6, 28.6 (Local) DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 =DAT read: 05:55:08.7105 LVL= 27616, 20353, 32754, 32755, AGC= 51, IDX= 502,-0.01,-0.352, 0.593,-1.170, 0.190, PHS=-0.440, 0.449,-1.404, RAW= 1.4, 17.1, CAL= 1.7, 21.3, ROT= 148.3, -21.3 IYiYuNByu!IYgot valid direction response: 05:55:08.7105 LVL= 27616, 20353, 32754, 32755, AGC= 51, IDX= 502,-0.01,-0.352, 0.593,-1.170, 0.190, PHS=-0.440, 0.449,-1.404, RAW= 1.4, 17.1, CAL= 1.7, 21.3, ROT= 148.3, -21.3 T#Rx 90: Read range and direction messages.^direction in FSK: [-0.792693,0.489577,0.363251]bDVDβyU̽%f=ٔwQ->9Y=Fyv<E> Q 55 뚊?Q 95 F+<< )%@IMWݿN 3TY? Ƌ)I%@i=checking for new query: numPingsReceived=90, elapsed TxPingTime=43.952065yeBɮeq AaiiKWyO?AJiRiji>b8$F}@Sg@R%O]صS;U?+=??Zi%@biVj$J&@aQ@ƣ*@ZbXvg?9l][?jU?2i@:iW2A"ij$?*i BicBii ii0CAi > addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.519556 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 13.015607 m, bearing: 23.960448 deg, lat: 36.779383 deg, lon: -121.859746 deg, deltaT: 0.519556 s, deltaX: 0.000010 m, approachRate: 0.000018 m/s, posRepo size: 4 eDNOT Ignoring new targets: 13.02 m.hihi*hi"hi higififqfqdqdyjdZdr?ZZZZZ#@@q;) 6?i9)%`y5!i!i%񿉧)-JI)I)@ @@.0@^A]IIO> checking for new query: numPingsReceived=90, elapsed TxPingTime=44.141792! E  E E E "E I:*E =:VE ZE BE ԁ vC,ڦO?Aɰ:t{@:%@:3^;ٱ:{9 FAHRS rotation from veh to nav: [[-0.535646,0.843655,0.036466],[-0.844436,-0.534969,-0.027142],[-0.003391,-0.045332,0.998966]]:H$@8?? w/˛uk 5 ?i:t{@I:zg^;:CrDAT read: 05:55:09.2106 LVL= 26864, 21041, 32754, 32755, AGC= 52, IDX= 503,-0.11,-1.710,-0.798,-2.559,-1.190, PHS=-0.418, 0.437,-1.412, RAW= 2.5, 17.1, CAL= 2.7, 21.3, ROT= 147.3, -21.3 vYgot valid direction response: 05:55:09.2106 LVL= 26864, 21041, 32754, 32755, AGC= 52, IDX= 503,-0.11,-1.710,-0.798,-2.559,-1.190, PHS=-0.418, 0.437,-1.412, RAW= 2.5, 17.1, CAL= 2.7, 21.3, ROT= 147.3, -21.3 vZ#Rx 92: Read direction message, but no range.z^direction in FSK: [-0.784028,0.503337,0.363251]y`b(E鿰zV?+=??`bhb1R` `)b4Ib־ibw>bjb¸2=`bA= `)b"$@I``bZ+Cܿj Μ[? bC)bIb"$@i`checking for new query: numPingsReceived=92, elapsed TxPingTime=44.655895Y.By%Y!IEE EEEE"EA"EEy:*EErN:VEE(3ZEAaM@aM@aM@aM@YiMb@Mb@Mb@ 9@5^I ?MbXɿ{GztYb>yJףS@@ 7@)@Y(@bD VD2y"?%D=ٔ}Q->9Y=Fy<E>Q 55ۚ?Q 95m)Yx>Q EZ;yEQ I@EI;i5;Ͱ5y)ɮ-oA)ii_O?AJiQARiQAji>bl6pޣ$­g@6\@R(E鿰zV?+=??Zi"$@bij }Y&@y @dE@Zvs?J?LkCY?2i@:i4Aԁ"i!?*iyBi+Bij$?iyi+BijFAi4{> addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.488469 s, deltaX: 0.099999 m, approachRate: 0.204720 m/s, rangeRepo size: 4  Added new target pos. range: 13.114963 m, bearing: 24.055287 deg, lat: 36.779383 deg, lon: -121.859745 deg, deltaT: 0.488469 s, deltaX: 0.099356 m, approachRate: 0.203402 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.11 m.hh*h"h hgfffׁBd d jd `ff*@Zd `(?ZMx>ZMx>ZM9@ZM|L@3^;) +?iH9)B4ii񿉧k:II)9@Թ @@4@DDAT read: Rx Time:05:55:09.7106 TRx dataTimestamp_ set to:1761544510.889935PDAT read: Bearing 186.0, 29.7 (Local) ~Local bearing/azimuth received: Bearing 186.0, 29.7 (Local) DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.2 Z#Rx 93: Read range message, but no direction.yY checking for new query: numPingsReceived=93, elapsed TxPingTime=44.915268B 0>B B `!IB 4BB H =B B KDB f`;B #E^A% DI1 IA OM > @+,gO?A6|@6U@6eV:ٱ6s; >AHRS rotation from veh to nav: [[-0.527565,0.848662,0.038063],[-0.849513,-0.526954,-0.025426],[-0.001521,-0.045749,0.998952]]6H<(?|?6/H X^li?i6|@I6 ^;6CYJByJ;!IbDVVDVy^%^`=ٔ^Q-b>9`Y`=bFy`f;<Ef?hQ 5n5jԚ?Q 9n5j?im9)imqiqiu~񿉧y}2IyIy9@ @@/@DAT read: 05:55:09.7106 LVL= 26608, 18929, 32754, 32755, AGC= 51, IDX= 503,-0.22, 2.819,-2.576, 1.951,-2.952, PHS=-0.410, 0.422,-1.424, RAW= 3.3, 17.3, CAL= 3.4, 21.5, ROT= 146.6, -21.5 Ygot valid direction response: 05:55:09.7106 LVL= 26608, 18929, 32754, 32755, AGC= 51, IDX= 503,-0.22, 2.819,-2.576, 1.951,-2.952, PHS=-0.410, 0.422,-1.424, RAW= 3.3, 17.3, CAL= 3.4, 21.5, ROT= 146.6, -21.5 Z#Rx 94: Read direction message, but no range. ^direction in FSK: [-0.776757,0.512177,0.366501]y31c?ѨCt?gI )3IѾib>Ek=#>s= 7 >)#@I7 xfI~ۿdžTQ DDAT read: Rx Time:05:55:10.2108  TRx dataTimestamp_ set to:1761544511.393895 PDAT read: Bearing 186.9, 31.2 (Local)  ~Local bearing/azimuth received: Bearing 186.9, 31.2 (Local)  DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.2  Z#Rx 95: Read range message, but no direction.y Y XA  checking for new query: numPingsReceived=95, elapsed TxPingTime=45.415184 jU,O?AY By !IbDVDy-l%-C=ٔ-Q-5>91Y1=5Fy1]E]>aQ 5m5e&̚?Q 9m5ehm)eBYiyiQ Iu@eEIe:ie=:e5yBɮAEii5O?AJiVARiVAji׳>b+h$_}z@2y_@R31c?ѨCt?Zi#@bi7 jS'@0Ml@b s@Z) x?)[\??2ib@:i88A"i@g?*i`Bi5Bi@g?i`Աi5BiIAiƳ> addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503960 s, deltaX: 0.300000 m, approachRate: 0.595286 m/s, rangeRepo size: 4 = Added new target pos. range: 13.413153 m, bearing: 23.914554 deg, lat: 36.779383 deg, lon: -121.859744 deg, deltaT: 1.009473 s, deltaX: 0.298190 m, approachRate: 0.295392 m/s, posRepo size: 4 MDNOT Ignoring new targets: 13.41 m.hQhQ*hY"hY hYgafiffddjd-+@Zd5??ZZZZ))1 51?i5j9)111i9i=񿉧9e3IaIaDAT read: 05:55:10.2108 LVL= 26960, 18561, 32754, 32755, AGC= 50, IDX= 505,-0.45,-1.491,-0.637,-2.417,-1.019, PHS=-0.370, 0.427,-1.442, RAW= 4.9, 16.8, CAL= 5.0, 20.9, ROT= 145.0, -20.9  Ygot valid direction response: 05:55:10.2108 LVL= 26960, 18561, 32754, 32755, AGC= 50, IDX= 505,-0.45,-1.491,-0.637,-2.417,-1.019, PHS=-0.370, 0.427,-1.442, RAW= 4.9, 16.8, CAL= 5.0, 20.9, ROT= 145.0, -20.9  Z#Rx 96: Read direction message, but no range.^direction in FSK: [-0.765255,0.535838,0.356738]y_|%?O?PiH )2Ipi>u%=Q >¸=A@A @I@I@QE] E]E]$EY"E]:*E];J:VE]4ZEYae@ae@ae@ae@@mgA@mgA ú>)p!@IúST ڿT 'Nj)x? )!畾Ip!@iú}checking for new query: numPingsReceived=96, elapsed TxPingTime=45.674023^AU2IYIqO}> 9 ,mO?A2#}@2R@2,1ٱ2/. :AHRS rotation from veh to nav: [[-0.513285,0.857384,0.037834],[-0.858214,-0.512922,-0.019482],[0.002703,-0.042470,0.999094]]2H lo?_?}v`i #f?@?i2#}@I2W^;0YbByb !I]DDAT read: Rx Time:05:55:10.7107 mTRx dataTimestamp_ set to:1761544511.896920}PDAT read: Bearing 188.5, 32.5 (Local) }~Local bearing/azimuth received: Bearing 188.5, 32.5 (Local) DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.2 B/>BB(!IBBBBBJDBo`;B#EDAT read: 05:55:10.7107 LVL= 24672, 16449, 32754, 32755, AGC= 48, IDX= 504, 0.33,-1.807,-0.984,-2.777,-1.383, PHS=-0.322, 0.444,-1.439, RAW= 6.1, 15.8, CAL= 6.2, 19.8, ROT= 143.8, -19.8 iMb@Mb@Mb@ 9Zd;O?/$ſy&1Yj<>y,`e=@@ d@)Y Ygot valid direction response: 05:55:10.7107 LVL= 24672, 16449, 32754, 32755, AGC= 48, IDX= 504, 0.33,-1.807,-0.984,-2.777,-1.383, PHS=-0.322, 0.444,-1.439, RAW= 6.1, 15.8, CAL= 6.2, 19.8, ROT= 143.8, -19.8  T#Rx 97: Read range and direction messages.^direction in FSK: [-0.759253,0.555689,0.338738]Fpublishing direction and range infoyaezKmMP5?<?YefVAae``eA@a a)e0Ie/ݤieS>e'1e^ =e0>ek= e;>bDVD0yU?%U!=ٔ]@Q-]>9YYY=eFya)eK @Ie;ﰾaae2iؿx^8' 8`z? e$\)eؠIeK @ie;ﰾaachecking for new query: numPingsReceived=97, elapsed TxPingTime=45.991192e=E>Q 55?Q 95bn)BY>Q ET;yw6Q I@EI":i:c5y!ɮ%0A!iaie#gO?AJieUARieUAjie>be%;7$ ܗ@]br @RezKmMP5?<?ZieK @bie;ﰾjeǚg'@},+@Oa3@Ze=1i ?] ??2ie]@:ie<;A"ieЛ?*ieyVSBieCBiej$?ieyie+Bie?KAie>> addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503025 s, deltaX: -0.100000 m, approachRate: -0.198798 m/s, rangeRepo size: 4  Added new target pos. range: 13.313735 m, bearing: 22.271329 deg, lat: 36.779383 deg, lon: -121.859745 deg, deltaT: 0.503025 s, deltaX: -0.099418 m, approachRate: -0.197640 m/s, posRepo size: 4  DNOT Ignoring new targets: 13.31 m.h h *h "h  h g fffBd9djdE*@ZdENA?Z>Z>Za@Z3[@,1) +?i9)848,WxP?A2.}@2iȅ@2Cٱ2* :AHRS rotation from veh to nav: [[-0.506971,0.861112,0.038292],[-0.861949,-0.506718,-0.016782],[0.004952,-0.041513,0.999126]]2H@9:??@`7P/ [Ht??A`?i2.}@I22m^;0YFЂByF IbDLVDLyVL%V=ٔZdQ-Z?9XY\=^Fy\^q<E^?`Q 5f5b컚?Q 9f5bn)bBYhyj5Q Ij@bEIb;ibv;b5ylɮn(Al DNOT Ignoring new targets: 13.31 m.h h *h "h  h g fffddjdZdx]?ZYZYZYZ]Y!\@C)  ?i9)!%%MDAT read: 05:55:11.2109 LVL= 22512, 16145, 29474, 32755, AGC= 48, IDX= 506, 0.16,-0.066, 0.726,-1.070, 0.344, PHS=-0.308, 0.427,-1.458, RAW= 7.2, 16.0, CAL= 7.3, 20.0, ROT= 142.7, -20.0 UYgot valid direction response: 05:55:11.2109 LVL= 22512, 16145, 29474, 32755, AGC= 48, IDX= 506, 0.16,-0.066, 0.726,-1.070, 0.344, PHS=-0.308, 0.427,-1.458, RAW= 7.2, 16.0, CAL= 7.3, 20.0, ROT= 142.7, -20.0 ]T#Rx 98: Read range and direction messages.e^direction in FSK: [-0.747501,0.569443,0.342020]eFpublishing direction and range infoyT4O翋p(8?Kj?Y3[AW?"s )I-i>>5>w> ¸>)e@I¸^r׿_$[y4PS? @)kIe@i¸checking for new query: numPingsReceived=98, elapsed TxPingTime=46.443459 A W ,))P?Achecking for new query: numPingsReceived=98, elapsed TxPingTime=46.6615946q ~@6@6sٱ6(@ FAHRS rotation from veh to nav: [[-0.500941,0.864598,0.039080],[-0.865452,-0.500787,-0.014350],[0.007163,-0.041010,0.999133]]6H``ʪ?D?DZrc]W}?N?i6q ~@I6[^;4ER ERER"EP"ER:*ERAr:VER(3ZEPaV@aV@aV@aV@YẐByZ IiMb@Mb@Mb@ 9x&1?i|?5y&1YA`>y5A@ M@)M@Y@bD VD2y!%9=ٔ裻Q->9Y=Fy<E> Q 55 ?Q 95 tp) BY%#>Q E%U;y%%Q I%@ EI }K;i pJ; 5y5Bɮ5A=EiiP?AJiYARiYAji6>buTuY$9+@6YD>@RT4O翋p(8?Kj?Zie@bi¸j"Y '@uFBm@kZ @Zyȳ9D*?2JUO?Cs?2io@:i?A"irN?*iBiQBii iiMAi> addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.502489 s, deltaX: 0.300000 m, approachRate: 0.597028 m/s, rangeRepo size: 4  Added new target pos. range: 13.611804 m, bearing: 22.069377 deg, lat: 36.779383 deg, lon: -121.859746 deg, deltaT: 0.502489 s, deltaX: 0.298069 m, approachRate: 0.593185 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.61 m.hh*hI"hI hIgQfQfQfUpBdYdYjd]`ff+@Zd]H?Z#>Z#>ZA?@Z@Hl@ԩs) .?i9);4 0@@=@=DDAT read: Rx Time:05:55:11.7109 TRx dataTimestamp_ set to:1761544512.900793PDAT read: Bearing 189.1, 33.4 (Local) ~Local bearing/azimuth received: Bearing 189.1, 33.4 (Local) DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.2 AAB.>BB IBӂBBI =BBB6`;B#EMDAT read: 05:55:11.7109 LVL= 24400, 16353, 31602, 32755, AGC= 47, IDX= 506, 0.06,-0.925,-0.144,-1.936,-0.520, PHS=-0.303, 0.421,-1.460, RAW= 7.6, 16.1, CAL= 7.6, 20.1, ROT= 142.4, -20.1 UYgot valid direction response: 05:55:11.7109 LVL= 24400, 16353, 31602, 32755, AGC= 47, IDX= 506, 0.06,-0.925,-0.144,-1.936,-0.520, PHS=-0.303, 0.421,-1.460, RAW= 7.6, 16.1, CAL= 7.6, 20.1, ROT= 142.4, -20.1 UT#Rx 99: Read range and direction messages.]^direction in FSK: [-0.744035,0.572984,0.343660]eFpublishing direction and range infoyh!翹dU?"??YP_?r{ )/I"iP>Hế>ޏ>> >)@Izu׿k쿜t? +)鏾I@ichecking for new query: numPingsReceived=99, elapsed TxPingTime=46.934940 9 9 ^A d#I I O > hA E @9E hAYE C/AŸ,CP?A2hv~@26@2b4ٱ2& :AHRS rotation from veh to nav: [[-0.495377,0.867752,0.040108],[-0.868626,-0.495325,-0.011908],[0.009534,-0.040738,0.999124]]2H@@߿??h߿ cx?ۤ?i2hv~@I2*z^;0YNByR IIR%=)R=bDZ VDZ:2lyl%%X=ٔ%xͻQ-%>9)Y)=-Fy)-*<E5>1Q 5=55G?Q 9E55q)5BYAyEm%Q IE@5EI5:i5:595yBɮAi i 9P?AJi Ri ji >b qVA$NA2@8S@R h!翹dU?"??Zi @bi j Fn'@ I@~ @Z Ĭm%?-Ի? ?2i @:i ?A"i {,?*i a;sBi ABi Л?i yVSi QBi NAi > addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.501384 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 13.611756 m, bearing: 22.168543 deg, lat: 36.779383 deg, lon: -121.859748 deg, deltaT: 0.501384 s, deltaX: -0.000048 m, approachRate: -0.000095 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 13.61 m.hYhY*hY"ha hagafafafididijdiZdu?ZZZZl@b4) &?i9)顭64 1 5> C> 5> K>) @I K Aֿ|Bv쿷,? 0) I @i K  checking for new query: numPingsReceived=100, elapsed TxPingTime=47.438545ԑ ^A7IIO>c-,MLbP?A ~@ d@ Eٱ -% EAHRS rotation from veh to nav: [[-0.490395,0.870526,0.041192],[-0.871417,-0.490452,-0.009391],[0.012028,-0.040501,0.999107]] Hb߿@Z?*?c߿;`?``?i ~@I -f^; Y]By] IiMb@Mb@Mb@ 9E?Zd;O~jthY>yjD@@ d@)d@Y@bD=VD=k2yM'%M=ٔMQ-M>9QYQ=UFyQUK'<E]>YQ 5e5]k?Q 9m5]wt)]BYm>Q Em>;ymQ Im@]EI] ;i]T ;]5yyɮ}LAychecking for new query: numPingsReceived=100, elapsed TxPingTime=47.670609iiYP?AJi^ARi^Aji=>b addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504465 s, deltaX: 0.300000 m, approachRate: 0.594690 m/s, rangeRepo size: 4   Added new target pos. range: 13.909823 m, bearing: 22.125108 deg, lat: 36.779383 deg, lon: -121.859748 deg, deltaT: 0.504465 s, deltaX: 0.298067 m, approachRate: 0.590858 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.91 m.hh*h"h hgfffEBD!zD%?AE- E-E-&E)"E-g:*E-C:VE-4ZE)a5@a5@a5@a5@d9d9jd=,@Zd=:?Ze>Ze>Ze4K@Ze8=w@uE)q }5?i}9)y} 5} %e DDAT read: Rx Time:05:55:12.7111 e TRx dataTimestamp_ set to:1761544513.908647u PDAT read: Bearing 189.2, 33.9 (Local) u ~Local bearing/azimuth received: Bearing 189.2, 33.9 (Local) B} ->By B} IB} BB} H =By By B} _;B} #EBE˴CBE˴CBE˓CBEH =BEI =CEuD5 DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.3  DAT read: 05:55:12.7111 LVL= 24032, 16481, 32754, 32755, AGC= 47, IDX= 508,-0.04,-2.138,-1.397, 3.114,-1.740, PHS=-0.296, 0.388,-1.473, RAW= 8.7, 16.7, CAL= 8.6, 20.6, ROT= 141.4, -20.6  Ygot valid direction response: 05:55:12.7111 LVL= 24032, 16481, 32754, 32755, AGC= 47, IDX= 508,-0.04,-2.138,-1.397, 3.114,-1.740, PHS=-0.296, 0.388,-1.473, RAW= 8.7, 16.7, CAL= 8.6, 20.6, ROT= 141.4, -20.6  V#Rx 101: Read range and direction messages. ^direction in FSK: [-0.731550,0.583988,0.351842] Fpublishing direction and range infoya e Egh,?\]㒄?Ya a e ]e a@e  a )a Ie Pie >e De |>e ;>e `> e X>)e @Ie Xa a e Wo-jFֿ(dc쿖n?\? e )e Ie @ie Xa a % checking for new query: numPingsReceived=101, elapsed TxPingTime=47.946442! 7U,|P?A2)@2@2nkٱ2D& :AHRS rotation from veh to nav: [[-0.485810,0.873027,0.042569],[-0.873946,-0.485969,-0.007221],[0.014383,-0.040711,0.999067]]2H߿@?˥?^߿} t?!ؤ@\?i2)@I2Z^;2CYNByN IbDZVDZβyfߜ%f~=ٔfQ-f ?9hYh=jFyhjq<En ?Q 5 5?Q 9 5 v)BY y Q I @EI:i:5y9ɮ=A9iiF'zP?AJiRijiF>b tY$[!? @^@REgh,?\]㒄?Zi@biXj熿|(@;?@YM@P@Z+w*?su?FM?2i@:iCA"ip?*iBiwBip?ia;siiSAi> addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503389 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.909799 m, bearing: 21.852491 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 0.503389 s, deltaX: -0.000025 m, approachRate: -0.000049 m/s, posRepo size: 4 %DNOT Ignoring new targets: 13.91 m.h!h!*h!"h! h!g!f)f)f)d)dQjdQZdUPS?ZZZZԒw@nk) t/?i19)55};ii񿉧 II@ @@4@@@checking for new query: numPingsReceived=101, elapsed TxPingTime=48.173740E= E=E=$E9"E=I:*E=P:VE=4ZE9BE=I =?%,P?A0x@޶@ىٱy*DDAT read: Rx Time:05:55:13.2112 %TRx dataTimestamp_ set to:1761544514.412781-PDAT read: Bearing 188.9, 34.0 (Local) 5~Local bearing/azimuth received: Bearing 188.9, 34.0 (Local) EDAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.3 eDAT read: 05:55:13.2112 LVL= 25632, 18721, 32754, 32755, AGC= 49, IDX= 509,-0.06,-2.218,-1.496, 3.024,-1.817, PHS=-0.299, 0.366,-1.487, RAW= 9.3, 17.2, CAL= 9.1, 21.2, ROT= 140.9, -21.2 uYgot valid direction response: 05:55:13.2112 LVL= 25632, 18721, 32754, 32755, AGC= 49, IDX= 509,-0.06,-2.218,-1.496, 3.024,-1.817, PHS=-0.299, 0.366,-1.487, RAW= 9.3, 17.2, CAL= 9.1, 21.2, ROT= 140.9, -21.2 uV#Rx 102: Read range and direction messages.}^direction in FSK: [-0.723527,0.587994,0.361625]}Fpublishing direction and range infoyMxw!'N{?t>i$?YaA d!I )1IiZd>V6&>`>"> q>)c@IqTIտo"1y? g)VIc@iqchecking for new query: numPingsReceived=102, elapsed TxPingTime=48.442257 AHRS rotation from veh to nav: [[-0.481608,0.875253,0.044561],[-0.876225,-0.481872,-0.005309],[0.016826,-0.041602,0.998993]]H޿?Ц? ޿~u:?L@?ix@Io^;CYBy I bDVD:y%-=ٔ#Q->9 Y = Fy #<E>Q 5%5o?Q 9%5^x)BY!y%>Q IM@EI;i.;(5qyɮAiikP?AJi%`ARi%`AjinS>b 'E$8^y @M<գC@RMxw!'N{?t>i$?Zic@biqjhS(@7)p@0@ZȞ"?q VQ?AZ0?2iS@:iEA"i]?*i݀BiBii,iwBiUAiL> addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504134 s, deltaX: 0.100000 m, approachRate: 0.198361 m/s, rangeRepo size: 4 % Added new target pos. range: 14.009154 m, bearing: 21.634292 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 0.504134 s, deltaX: 0.099356 m, approachRate: 0.197082 m/s, posRepo size: 4 %DNOT Ignoring new targets: 14.01 m.h!h!*h!"h) h)g)f)f1f1d1dyjd@33,@Zdv?ԙZ9Z9Z9Z=w@ى) -y+?i59)9=i5=iAi}~񿉧ƩII checking for new query: numPingsReceived=102, elapsed TxPingTime=48.678345 EM  EM EM "EI "EM Ʊ:*EM T:VEM (3ZEI a] @a] @a] @a] @e 9@a  @a @m /0@i ^A IIO>,,޴P?A>f@>܆@>ٱ>/ ^AHRS rotation from veh to nav: [[-0.477609,0.877327,0.046765],[-0.878364,-0.477977,-0.003693],[0.019113,-0.042840,0.998899]]>H@'޿??.޿?nQ? #勵@?i>f@I>]^;>CY y  IԡiMb@Mb@Mb@ 9~jt?ʡE{Gz?Y>y#<@DDAT read: Rx Time:05:55:13.7112 TRx dataTimestamp_ set to:1761544514.916835PDAT read: Bearing 189.1, 34.3 (Local) ~Local bearing/azimuth received: Bearing 189.1, 34.3 (Local) DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.3 -DAT read: 05:55:13.7112 LVL= 25728, 18065, 32754, 32755, AGC= 49, IDX= 509,-0.05, 2.983,-2.591, 1.924,-2.905, PHS=-0.293, 0.359,-1.498, RAW= 9.7, 17.2, CAL= 9.5, 21.2, ROT= 140.5, -21.2 5Ygot valid direction response: 05:55:13.7112 LVL= 25728, 18065, 32754, 32755, AGC= 49, IDX= 509,-0.05, 2.983,-2.591, 1.924,-2.905, PHS=-0.293, 0.359,-1.498, RAW= 9.7, 17.2, CAL= 9.5, 21.2, ROT= 140.5, -21.2 5V#Rx 103: Read range and direction messages.=^direction in FSK: [-0.719404,0.593031,0.361625]EFpublishing direction and range infoya[ rg?t>i$?YdF )Iiη>w-\->)> )@IKެ&տAMt$?BYA]<Be,>BaBe IBeBBeI =BaBaBe<_;BeI#E I)hI@ichecking for new query: numPingsReceived=103, elapsed TxPingTime=48.954216@ )7@Y@bDVDy:%!=ٔ哻Q->9Y=Fy<E>Q 558?Q 95z)BYp>Q ED;yQ I@EI:i.:cÎ5y5Bɮ5A5EiimP?AJiRijie4>bj ($B @YHгC@Ra[ rg?t>i$?Zi@bijE(@`s@gE3\7 @Zh/?Hv7?%!М?2i@:ilEA"i?*iBiBi]?ii{BiVAij> addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504054 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 14.009111 m, bearing: 21.508820 deg, lat: 36.779384 deg, lon: -121.859750 deg, deltaT: 0.504054 s, deltaX: -0.000043 m, approachRate: -0.000085 m/s, posRepo size: 4 =DNOT Ignoring new targets: 14.01 m.h9h9*h9"h9 hAgAfAfAfM!BdIdIjdQZdU`[??Zp>Zp>Zп@ZPQ{@)) -q=?i-#9))-݌5-i1i5񿉧1=I9I9@ @@4@u checking for new query: numPingsReceived=103, elapsed TxPingTime=49.181587E  E E $E "E I:*E E7:VE 4ZE BE a 2E a JE P;a :E Q;a ! ^A% I) IA OM >!~3,@P?A2@2@2Atٱ2K 3 >AHRS rotation from veh to nav: [[-0.473876,0.879251,0.048579],[-0.880334,-0.474350,-0.001989],[0.021294,-0.043708,0.998817]]2HS޿"?Jߨ?+ [޿ L` Ε? `O?i2@I2^;2CYFByF IbDNVDNJyV؊<%V=ٔZQ-Z?9XY\=bFy`=V<E= ?AQ 5M5E2?Q 9M5E|)EBYIyUQ IU@EEIE+;iE;EĎ5yYɮ]AYDNOT Ignoring new targets: 14.01 m.hh*h"h hgfffddjdZd*? ZZZZr{@5At)9 =>?i=9)AEE5EҼiIiU񿉧QUIQIY I)I!)! @  @ @/@@-=1@-=DDAT read: Rx Time:05:55:14.2114 TRx dataTimestamp_ set to:1761544515.421627PDAT read: Bearing 189.5, 34.6 (Local) ~Local bearing/azimuth received: Bearing 189.5, 34.6 (Local) DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.3 -DAT read: 05:55:14.2114 LVL= 25776, 17793, 32754, 32755, AGC= 49, IDX= 511,-0.03,-1.819,-1.119,-2.890,-1.432, PHS=-0.285, 0.358,-1.502, RAW= 10.1, 17.2, CAL= 9.9, 21.2, ROT= 140.1, -21.2 ^A-\AI9IQO]U>mYgot valid direction response: 05:55:14.2114 LVL= 25776, 17793, 32754, 32755, AGC= 49, IDX= 511,-0.03,-1.819,-1.119,-2.890,-1.432, PHS=-0.285, 0.358,-1.502, RAW= 10.1, 17.2, CAL= 9.9, 21.2, ROT= 140.1, -21.2 mV#Rx 104: Read range and direction messages.u^direction in FSK: [-0.715246,0.598039,0.361625]uFpublishing direction and range infoyiܗkL!#?t>i$?YffAdE )I둾iK>AJ4>;0> )C~@IF2Կ.@zr? q)WIC~@ichecking for new query: numPingsReceived=104, elapsed TxPingTime=49.457584aԑ ޥ9,`wP?AB'@B"@BٱB5 JAHRS rotation from veh to nav: [[-0.469984,0.881253,0.050087],[-0.882370,-0.470556,-0.000429],[0.023190,-0.044397,0.998745]]BH`8޿83??``<޿"<,?'?iB'@IB;e^;BCYbByf IIj<)jp;uchecking for new query: numPingsReceived=104, elapsed TxPingTime=49.692554iMb@Mb@Mb@ 9S?ʡEQ?Y/]>y-<@ M@)Y@E EE%E"E7:*Eg:VE 4ZEa@a@a@a@bDVD0y,=%9=ٔQ->9Y=Fy))<E>Q 55܁?Q 950~)BYlp>Q Eb;yQ I@EIe:iL:Ǝ5y ɮ A iiP?AJidARidAjiT>b"K`w$#!@@RiܗkL!#?t>i$?ZiC~@bijn7)@V. @[3@Z}_Q3?\^?8wVDZ?2i@:iIA"i)_`?*i:Bi͋Bip?i݀iBi#YAiׂ>q addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504792 s, deltaX: 0.299999 m, approachRate: 0.594303 m/s, rangeRepo size: 4  Added new target pos. range: 14.307177 m, bearing: 21.634777 deg, lat: 36.779384 deg, lon: -121.859751 deg, deltaT: 0.504792 s, deltaX: 0.298065 m, approachRate: 0.590471 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.31 m.hh*h"h hgfff3Bddjd,@Zd`?Zlp>Zlp>Z&ϼ@Z v@) @?i9)!5ii񿉧  I I ԙ@ @@@- DDAT read: Rx Time:05:55:14.7114 5 TRx dataTimestamp_ set to:1761544515.932626= PDAT read: Bearing 189.8, 34.7 (Local) = ~Local bearing/azimuth received: Bearing 189.8, 34.7 (Local) M DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.3 Be +>Ba Be IBe BBa Ba Ba Be '_;Be >#E DAT read: 05:55:14.7114 LVL= 25584, 18065, 32754, 32755, AGC= 48, IDX= 511,-0.02,-2.715,-2.024, 2.486,-2.333, PHS=-0.280, 0.354,-1.508, RAW= 10.4, 17.2, CAL= 10.1, 21.2, ROT= 139.9, -21.2  Ygot valid direction response: 05:55:14.7114 LVL= 25584, 18065, 32754, 32755, AGC= 48, IDX= 511,-0.02,-2.715,-2.024, 2.486,-2.333, PHS=-0.280, 0.354,-1.508, RAW= 10.4, 17.2, CAL= 10.1, 21.2, ROT= 139.9, -21.2  V#Rx 105: Read range and direction messages. ^direction in FSK: [-0.713154,0.600532,0.361625] Fpublishing direction and range infoy) - q\ )F7?t>i$?Y) ) - c- F) ) )- 0I- )\i- }?>- %- 9>) - J4> ) )- E@I) ) ) - IyԿ|!֏u? - )- -I- E@i) ) ) u checking for new query: numPingsReceived=105, elapsed TxPingTime=49.987553^A I I O] > S@,?Q?Affn@f8i@fּٱfR6 ]AHRS rotation from veh to nav: [[-0.462325,0.885202,0.051689],[-0.886323,-0.463060,0.002547],[0.026190,-0.044635,0.998660]]fH@ݿ S?v?\Ģݿd?xњ? vڦ?iffn@Iflq^;fCYBy IbDVD:2yu<%J=ٔQ->9Y=Fy<E>1Q 5=55{?Q 9=55)5BYAyEQ IE@5EI5:i54:5kȎ5yIɮMAIiaie%P?AJiaRiajie"I>beAD h$(1 /!@;-@Req\ )F7?t>i$?ZieE@biaje۽W_..)@)i O@:U@ZeǸj(?g ?l addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.510999 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.307146 m, bearing: 21.965509 deg, lat: 36.779384 deg, lon: -121.859752 deg, deltaT: 0.510999 s, deltaX: -0.000031 m, approachRate: -0.000060 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.31 m.hh*h"h hgf!f!f!d!d)jd)Zd-`[?ZZZZFv@ּ) A?i9)顥Y5ii~񿉧IIi߉I߉checking for new query: numPingsReceived=105, elapsed TxPingTime=50.198696E EE"E"E:*E[:VE(3ZEBE) E DDAT read: Rx Time:05:55:15.2116 E TRx dataTimestamp_ set to:1761544516.436711U PDAT read: Bearing 188.1, 37.7 (Local) U ~Local bearing/azimuth received: Bearing 188.1, 37.7 (Local) aF,Q?A06DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.3 Y~By~ IbDVDDAT read: 05:55:15.2116 LVL= 26688, 19377, 32754, 32755, AGC= 49, IDX= 513,-0.04, 2.524, 3.086, 1.334, 2.849, PHS=-0.223, 0.282,-1.559, RAW= 14.6, 17.8, CAL= 13.8, 21.7, ROT= 136.2, -21.7 -Ygot valid direction response: 05:55:15.2116 LVL= 26688, 19377, 32754, 32755, AGC= 49, IDX= 513,-0.04, 2.524, 3.086, 1.334, 2.849, PHS=-0.223, 0.282,-1.559, RAW= 14.6, 17.8, CAL= 13.8, 21.7, ROT= 136.2, -21.7 -V#Rx 106: Read range and direction messages.y}M<%}A=ٔ}Q-}>9Y=FyE>5^direction in FSK: [-0.670611,0.643093,0.369747]Fpublishing direction and range infoyquR"u忤-]7?3`?Yu3kAqu@huKq q)u1IuZdiuNb>uPǿuw>u>uϢv> u>)u #@Iuqqu4+пMNA^b( ? u^s)upIu #@iuqqQ 55u?Q 95y)BYyQ I@EIfbumr#m@"@ՙ@RuR"u忤-]7?3`?Ziu #@biujunC>*@.^a@KȜt@Zu4gڿ?t, ?L)«?2iu@:iuQA"iu^Ǟ?*iu-Biu,Biqiu:iuBiu [Aiu~>ԉ addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504085 s, deltaX: 0.300000 m, approachRate: 0.595138 m/s, rangeRepo size: 4  Added new target pos. range: 14.605212 m, bearing: 18.323323 deg, lat: 36.779384 deg, lon: -121.859752 deg, deltaT: 0.504085 s, deltaX: 0.298066 m, approachRate: 0.591301 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.61 m.hh*h"h hgfffddjd`ff-@Zd?ZaZaZaZa) D?i9)顭5ii񿉧\II@ @@/@@fA@checking for new query: numPingsReceived=106, elapsed TxPingTime=50.701679E EE$E"Ey:*E=:VE4ZEa@a@a@a@ ^A I! I9 OE >L,S 6Q?A\@l@ٱ[V5 AHRS rotation from veh to nav: [[-0.453390,0.889795,0.051985],[-0.890882,-0.454211,0.004570],[0.027679,-0.044240,0.998637]]H`Xݿ3y?ʝ?`ݿr?W? `?i@II^;CYςBy I iMb@Mb@Mb@ 9MbX?v/~jt?YJ>yx齙==@ z@)d@Y@bDVDk1yD=%F=ٔlQ->9Y=Fy?<E>Q 55o?Q 95ӂ)BY+m>Q Ee;y#Q I@EI:i : ̎5yBDDAT read: Rx Time:05:55:15.7116 TRx dataTimestamp_ set to:1761544516.940787PDAT read: Bearing 191.0, 36.7 (Local) B*>BCB IBBBJ =BBB1_;BB#E%PExceeded connect timeout, disconnecting.-~Local bearing/azimuth received: Bearing 191.0, 36.7 (Local) =DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.2 ]DAT read: 05:55:15.7116 LVL= 27056, 18465, 32754, 32755, AGC= 50, IDX= 513,-0.04, 1.107, 1.709, 0.027, 1.420, PHS=-0.211, 0.334,-1.437, RAW= 12.5, 16.5, CAL= 12.1, 20.3, ROT= 137.9, -20.3 mYgot valid direction response: 05:55:15.7116 LVL= 27056, 18465, 32754, 32755, AGC= 50, IDX= 513,-0.04, 1.107, 1.709, 0.027, 1.420, PHS=-0.211, 0.334,-1.437, RAW= 12.5, 16.5, CAL= 12.1, 20.3, ROT= 137.9, -20.3 mV#Rx 107: Read range and direction messages.u^direction in FSK: [-0.695891,0.628786,0.346936]uFpublishing direction and range infoy"ԼD/|?Fv>{14?Yi!H )2IbXi >﷿f_>ɮAEr>@X>  g>)( @I gd pҿDm%? )\4I( @i gchecking for new query: numPingsReceived=107, elapsed TxPingTime=50.978691ii5b4S$s ]"@#cD@R"ԼD/|?Fv>{14?Zi( @bi gjp *@|;@ h?~}@Z3e'? ?{)?2i@:iPA"i(?*i[BiBi)_`?iiiN]Ai<> addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.605184 m, bearing: 20.615213 deg, lat: 36.779385 deg, lon: -121.859752 deg, deltaT: 0.504076 s, deltaX: -0.000029 m, approachRate: -0.000057 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.61 m.hh*hy"hy hygyfffnBddjdZd@J?Z+m>Z+m>ZSX@ZJn@) 0?iI9)I6ii񿉧gٽII9@ @@/@^AIIO>9  checking for new query: numPingsReceived=107, elapsed TxPingTime=51.205685bEe3jEe3rEe"/E  E E #E "E :*E VE 3ZE BE ;a 2E ;a JE Ɣ;a :E Ɣ;a S,OQ?AF@F}@FٱF 4 RAHRS rotation from veh to nav: [[-0.448805,0.892116,0.051989],[-0.893190,-0.449650,0.005233],[0.028045,-0.044087,0.998634]]FH`8ܿ@7? ??`@ܿnu? ? ?iF@IFf^;FCYZBy^ IbDvVDv:2y =% k=ٔ Q-?9!Y!=%Fy!-o<E->9Q 5E5=wi?Q 9M5=)=BYIyM#Q IU@=EI=,3;i=D;=͎5yaɮecAiDNOT Ignoring new targets: 14.61 m.hh*h"h hgfffddjdZd1^?ZZZZn@) D9?i9)額R 6ii񿉧VѽIIQ DDAT read: Rx Time:05:55:16.2118  TRx dataTimestamp_ set to:1761544517.444658PDAT read: Bearing 190.9, 34.5 (Local) ~Local bearing/azimuth received: Bearing 190.9, 34.5 (Local) -DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 MDAT read: 05:55:16.2118 LVL= 24432, 16113, 26722, 31523, AGC= 53, IDX= 3,-0.06,-2.387,-1.696, 2.822,-2.000, PHS=-0.285, 0.349,-1.505, RAW= 10.3, 17.3, CAL= 10.0, 21.3, ROT= 140.0, -21.3 UYgot valid direction response: 05:55:16.2118 LVL= 24432, 16113, 26722, 31523, AGC= 53, IDX= 3,-0.06,-2.387,-1.696, 2.822,-2.000, PHS=-0.285, 0.349,-1.505, RAW= 10.3, 17.3, CAL= 10.0, 21.3, ROT= 140.0, -21.3 ]V#Rx 108: Read range and direction messages.e^direction in FSK: [-0.713717,0.598880,0.363251]eFpublishing direction and range infoy  W*?+=??Y pA  p_ > bh #{) 5I 둾i !> ף X8> #> ¸2> V>) a@I V   l܌UԿGVA3H? ) ꚾI a@i V  checking for new query: numPingsReceived=108, elapsed TxPingTime=51.478081UM9ԉ@ @@@ԡ ^A I I1 O= >dZ, kQ?A>checking for new query: numPingsReceived=108, elapsed TxPingTime=51.709747BW@B)@BHٱBGW3 VAHRS rotation from veh to nav: [[-0.443709,0.894681,0.051665],[-0.895732,-0.444559,0.005691],[0.028059,-0.043753,0.998648]]E^ E^E^!E\"E^:*E^|;:VE^c3ZE\ab@ab@ab@ab@BHeܿ 9? s?`թ`sܿNw?`?@f ?iBW@IBX^;BCYrByr!IiMb@Mb@Mb@ 9T㥛 ?yt@=5A@ @)M@Y@bDVDyʥ=%2=ٔ~Q->9Y=FyML<E>Q 5m5xb?Q 9m5)BYmI>Q Em;yme8Q Iu@EI:i :ώ5yyɮ}AyiQiUGu\Q?AJiUsnARiUsnAjiU *>bUVE%慺!@ggՌ@RUW*?+=??ZiUa@biUVjUPx|)@P\@l@ZU^HS??Ou B?2iU@:iUOA"iUN+?*iUBiUcBiUN+?iU:iU͋BiU `AiUw>% addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503871 s, deltaX: 0.300000 m, approachRate: 0.595391 m/s, rangeRepo size: 4 m Added new target pos. range: 14.903248 m, bearing: 23.294825 deg, lat: 36.779385 deg, lon: -121.859752 deg, deltaT: 0.503871 s, deltaX: 0.298064 m, approachRate: 0.591549 m/s, posRepo size: 4 uDNOT Ignoring new targets: 14.90 m.hqhq*hq"hq hqgqfyffBddjd.@ZdZ?ZI>ZI>Z̭@ZUY@-)) -f&?i-G9))-61i1iU~񿉧Y]ȽIYIY-DDAT read: Rx Time:05:55:16.7118 5TRx dataTimestamp_ set to:1761544517.948796=PDAT read: Bearing 191.5, 35.0 (Local) =~Local bearing/azimuth received: Bearing 191.5, 35.0 (Local) MDAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 uDAT read: 05:55:16.7118 LVL= 23792, 16881, 32754, 32755, AGC= 51, IDX= 499,-0.08, 2.345, 3.026, 1.247, 2.717, PHS=-0.270, 0.354,-1.514, RAW= 10.8, 17.1, CAL= 10.5, 21.0, ROT= 139.5, -21.0 }Ygot valid direction response: 05:55:16.7118 LVL= 23792, 16881, 32754, 32755, AGC= 51, IDX= 499,-0.08, 2.345, 3.026, 1.247, 2.717, PHS=-0.270, 0.354,-1.514, RAW= 10.8, 17.1, CAL= 10.5, 21.0, ROT= 139.5, -21.0 V#Rx 109: Read range and direction messages.^direction in FSK: [-0.709900,0.606312,0.358368]Fpublishing direction and range infoy)-/‚b7Uf?.*?Y))-\-A- -)-3I-q=i-}?>--A>-Θ>-f;> -f>)-@I-f))-䘎Կ.'Fq? -&)-zI-@i-f))checking for new query: numPingsReceived=109, elapsed TxPingTime=51.977890BBB IBӂBBK =BBBZ_;BU#E_9nManaging dock network, ignoring radio surface power offM ~Ga y eE9 Y 3A 9@  @ @ @ @ =@ =^A} a5սI I O >1Ea,SQ?A2 I@2C@2pٱ2 3 >AHRS rotation from veh to nav: [[-0.438488,0.897263,0.051446],[-0.898308,-0.439329,0.005774],[0.027782,-0.043683,0.998659]]2H/ܿa?$W? ܿMw? r?]?i2 I@I2s^;2CYDyDIJ=)J=bDbVDb!yj):%j]=ٔjsD:Q-j>|9|Y=Fy~<E > Q 55 \?Q 95 ) BY9y=8Q I=@  EI  ;i ; 3ю5yAɮMAIiiim|Q?AJiiRiijimv>bm nqO(%n"@E]@Rm/‚b7Uf?.*?Zim@bimfjmhJ *@7ɇB@T@Zm_6??0*?ݦ?2im@:imXPA"im;?*imBim>BiiimkCim,BimCaAimb> addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504138 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 14.903220 m, bearing: 23.140227 deg, lat: 36.779385 deg, lon: -121.859752 deg, deltaT: 0.504138 s, deltaX: -0.000028 m, approachRate: -0.000055 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.90 m.h1h1*h1"h1 h1g9f9f9f9dAdAjdAZdE ?ZZZZZ@p) &?i99)!6ii񿉧ھIIchecking for new query: numPingsReceived=109, elapsed TxPingTime=52.214180E EE$E"E:*ER:VE4ZEBEԁ M DDAT read: Rx Time:05:55:17.2119 M TRx dataTimestamp_ set to:1761544518.452678U PDAT read: Bearing 191.9, 35.2 (Local) ] ~Local bearing/azimuth received: Bearing 191.9, 35.2 (Local)  DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2  DAT read: 05:55:17.2119 LVL= 26096, 17489, 32754, 32755, AGC= 51, IDX= 500,-0.14, 1.738, 2.413, 0.632, 2.107, PHS=-0.266, 0.351,-1.519, RAW= 11.1, 17.1, CAL= 10.7, 21.0, ROT= 139.3, -21.0  Ygot valid direction response: 05:55:17.2119 LVL= 26096, 17489, 32754, 32755, AGC= 51, IDX= 500,-0.14, 1.738, 2.413, 0.632, 2.107, PHS=-0.266, 0.351,-1.519, RAW= 11.1, 17.1, CAL= 10.7, 21.0, ROT= 139.3, -21.0  V#Rx 110: Read range and direction messages. ^direction in FSK: [-0.707779,0.608786,0.358368] Fpublishing direction and range infoyI M Fa u 4f-{?.*?YM 3sAI M eM QDI I )I IM '1iM F>M n¿M aF>I M t;?> I )M @II I I M #ӿ@R WiP6? M C)M IM @iI I I  checking for new query: numPingsReceived=110, elapsed TxPingTime=52.486504ng,,Q?AB{@Bv@B߼ٱB6 NAHRS rotation from veh to nav: [[-0.432913,0.899943,0.051850],[-0.901023,-0.433739,0.005332],[0.027288,-0.044410,0.998641]]BHشۿU??@-bۿu?@]?ۼ ?iB{@IB`^;@YMByM!IYbDeVDe1yu =%u@=ٔV:Q-%>9!Y!=%Fy!-Hf<E->QQ 5]5UU?Q 9]5U)UBYaye7Q Ie@U EIU#:iU:U ӎ5yiɮmAiiyi}Q?AJi}qARi}qAji} >b}`%@c"@T@R}Fa u 4f-{?.*?Zi}@biyj}+ ]*@!@@Z}dz?@Ȇ ?7?2i}@:i}RA"i}Ŭ?*i}vBi}dBi}Ŭ?i}i}>Bi}eAi}VD> addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503882 s, deltaX: 0.200000 m, approachRate: 0.396918 m/s, rangeRepo size: 4 5 Added new target pos. range: 15.101930 m, bearing: 23.281612 deg, lat: 36.779385 deg, lon: -121.859749 deg, deltaT: 0.503882 s, deltaX: 0.198709 m, approachRate: 0.394357 m/s, posRepo size: 4 5DNOT Ignoring new targets: 15.10 m.h1h1*h1"h9 h9g9f9fAfAdAdAjdE`ff.@ZdM ?ZZZZZ@5߼)1 5E*?i509)1=-69i9iE񿉧AEIAIIԉ@ @@/@checking for new query: numPingsReceived=110, elapsed TxPingTime=52.718880E EE#E"E7:*EF:VE3ZEa@a@a@a@^Al½II)OEs>Ա 2m,Q?AF@F@FټٱFA< ZAHRS rotation from veh to nav: [[-0.427098,0.902652,0.052987],[-0.903815,-0.427901,0.004301],[0.026556,-0.046053,0.998586]]FHUۿ?!?`@bۿ/q?_1?Cj?iF@IF^;DYbByf6!IiMMb@Mb@Mb@IIII I9MI +?I +ƿl?YM9=yM94M=IM@ M@)Md@IYM@bDeVDekyu =%uJ=ٔ} :Q-}>9yYy=Fyĉ<E>Q 55O?Q 95)BYM>Q E;yGQ I@ EIN;ic;Ԏ5yBɮAEԱDNOT Ignoring new targets: 15.10 m.hh*h"h hgfffفBddjdDDAT read: Rx Time:05:55:17.7119 TRx dataTimestamp_ set to:1761544518.956798 PDAT read: Bearing 191.8, 35.1 (Local)  ~Local bearing/azimuth received: Bearing 191.8, 35.1 (Local) DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2 BU+>BUCBU!IBUBBUI =BQBQBUy_;BUf#EBBCBBI =BJ =CA5DAT read: 05:55:17.7119 LVL= 24672, 19073, 32754, 32755, AGC= 52, IDX= 500,-0.31, 1.245, 1.916, 0.137, 1.621, PHS=-0.274, 0.339,-1.528, RAW= 11.2, 17.4, CAL= 10.8, 21.4, ROT= 139.2, -21.4 Ygot valid direction response: 05:55:17.7119 LVL= 24672, 19073, 32754, 32755, AGC= 52, IDX= 500,-0.31, 1.245, 1.916, 0.137, 1.621, PHS=-0.274, 0.339,-1.528, RAW= 11.2, 17.4, CAL= 10.8, 21.4, ROT= 139.2, -21.4 V#Rx 111: Read range and direction messages.^direction in FSK: [-0.704805,0.608371,0.364877]Fpublishing direction and range infoyPQ濁9w?>8^.$Z?Y``J )4IIih>ÿ+H>|>A>Zdq?ZMM>ZMM>ZM@ZMUfJ@]ټ)Y ])?i]9)aea t;>)|@It;ӿkP쿵F*y)? )!I|@it;uchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.018440ii񿉧III)@ @@@!@-gA@) ^AE $ӿII Ia Om > checking for new query: numPingsReceived=111, elapsed TxPingTime=53.221603E  E E E "E O:*E ҆:VE ZE BE 9dYd=jFyhj*<Ej>lQ 5r5noI?Q 9r5n)n"BYtyvDGQ Iv@n EIn:in:nw֎5yxɮzuAxi1i5.b5p<µI%ݭ`"@r @R5PQ濁9w?>8^.$Z?Zi5|@bi5t;j5^io4*@PsC*@,!@Z5u4?E;?OD?2i5R@:i5QA"i5}?*i5RnkBi5Bi5N+?i5i5cBi5fAi5s>5 addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504120 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 15.102009 m, bearing: 23.846565 deg, lat: 36.779385 deg, lon: -121.859748 deg, deltaT: 0.504120 s, deltaX: 0.000079 m, approachRate: 0.000157 m/s, posRepo size: 4 EDNOT Ignoring new targets: 15.10 m.hAhI*hi"hi higifqfqfqdqdyjdyZd} ,?ZZZZXJ@]_Ҽ) ^?i9)$4ii~񿉧ڞIIDDAT read: Rx Time:05:55:18.2120 TRx dataTimestamp_ set to:1761544519.462121-PDAT read: Bearing 192.1, 35.6 (Local) 5~Local bearing/azimuth received: Bearing 192.1, 35.6 (Local) AMDAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 }DAT read: 05:55:18.2120 LVL= 25584, 19809, 32754, 32755, AGC= 53, IDX= 501, 0.33,-0.827,-0.172,-1.955,-0.465, PHS=-0.260, 0.338,-1.535, RAW= 11.8, 17.3, CAL= 11.3, 21.2, ROT= 138.7, -21.2 Ygot valid direction response: 05:55:18.2120 LVL= 25584, 19809, 32754, 32755, AGC= 53, IDX= 501, 0.33,-0.827,-0.172,-1.955,-0.465, PHS=-0.260, 0.338,-1.535, RAW= 11.8, 17.3, CAL= 11.3, 21.2, ROT= 138.7, -21.2 V#Rx 112: Read range and direction messages.^direction in FSK: [-0.700421,0.615335,0.361625]Fpublishing direction and range infoyiGӰ?t>i$?YtAcaM )5IiV>zĿBR>#>I> q>)@Iq"slӿQ mQ? )QI@iqchecking for new query: numPingsReceived=112, elapsed TxPingTime=53.494961@ @@/@^A}xIIO^>iԙ ٪z,Q?A6checking for new query: numPingsReceived=112, elapsed TxPingTime=53.726295DPzDRAAEZ EZEXEX"EZy:*EZP:VEXZEXab@ab@ab@ab@Y9y=>!IiMb@Mb@Mb@ 9J +?Eȿ9Y=FyE>Q 555A?Q 955F)-BY5/P>Q E5;y=<@Q I=@EIG;iv;؎5yAɮEoAAiIiMdQ?AJiM8sARiM8sAjiM>bMrK%x&7"@W8@RMiGӰ?t>i$?ZiM@biMqjME*@ ̌@ )e @ZM?u?9 ' ?2iM,@:iM TA"iMTy?*iM3BiMBiM;?iMviMdBiMgAiMW> addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.505323 s, deltaX: 0.100000 m, approachRate: 0.197894 m/s, rangeRepo size: 4  Added new target pos. range: 15.201365 m, bearing: 23.360226 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 0.505323 s, deltaX: 0.099356 m, approachRate: 0.196618 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.20 m.hh *h "h  h g fffBddjd.@ZdY?Z=/P>Z=/P>Z=@Z=`<@) ?i9)ҝ4ii5񿉧9=°IaIqԡ I)@ @@/@DDAT read: Rx Time:05:55:18.7120 %TRx dataTimestamp_ set to:1761544519.9652325PDAT read: Bearing 191.5, 35.0 (Local) 5~Local bearing/azimuth received: Bearing 191.5, 35.0 (Local) B]'>B]CB].!IB] BB]K =BYBYB]_;B]h#EDAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 DAT read: 05:55:18.7120 LVL= 25440, 21937, 32754, 32755, AGC= 53, IDX= 501, 0.13,-1.033,-0.377,-2.145,-0.647, PHS=-0.284, 0.315,-1.542, RAW= 11.6, 18.0, CAL= 11.1, 22.0, ROT= 138.9, -22.0 Ygot valid direction response: 05:55:18.7120 LVL= 25440, 21937, 32754, 32755, AGC= 53, IDX= 501, 0.13,-1.033,-0.377,-2.145,-0.647, PHS=-0.284, 0.315,-1.542, RAW= 11.6, 18.0, CAL= 11.1, 22.0, ROT= 138.9, -22.0 V#Rx 113: Read range and direction messages.^direction in FSK: [-0.698692,0.609508,0.374607]Fpublishing direction and range infoy!%ޮ[Hc??Y!!%`c%U! !)!I%shi%G>%B`ſ%4QO>%|٠>%aF> % >)%'@I% ľ!!%n3;ӿ=쿅<? %7)%I%'@i% ľ!!= checking for new query: numPingsReceived=113, elapsed TxPingTime=54.015083^A} 벫I I O > ,0R?A2uW@2GR@2B4ٱ2YS >AHRS rotation from veh to nav: [[-0.408648,0.910932,0.056648],[-0.912390,-0.409321,0.000300],[0.023460,-0.051562,0.998394]]2HI'ڿ[&??M2`O2ڿ`3??`_f@?i2uW@I2Xt^;2CYVByV6!IbDrVDrNyv%zj=ٔz;Q-z>9xY=Fy/"=E%?!Q 5-5% bU4=%o>χ"@&#@RUޮ[Hc??ZiU'@biU ľjU84*@^8IM@%k@ZUl,?e0?}:?2iUʼ@:iUQA"iU/?*iUSBiUBiUTy?iU3iUBiUgAiU)m> addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503111 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 15.201206 m, bearing: 24.240235 deg, lat: 36.779383 deg, lon: -121.859747 deg, deltaT: 0.503111 s, deltaX: -0.000158 m, approachRate: -0.000315 m/s, posRepo size: 4 %DNOT Ignoring new targets: 15.20 m.h!h!*h)"h) h)g)f)ffddjdZd?ZZZZM=@5B4)1 5?i5W9)1=49i9i=񿉧AE3IAIAuchecking for new query: numPingsReceived=113, elapsed TxPingTime=54.229877E EE%E"E[:*E|:VE 4ZEBE{^A}IIO^>) - DDAT read: Rx Time:05:55:19.2122 - TRx dataTimestamp_ set to:1761544520.4687095 PDAT read: Bearing 191.8, 35.3 (Local) = ~Local bearing/azimuth received: Bearing 191.8, 35.3 (Local) M DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 m DAT read: 05:55:19.2122 LVL= 24304, 21665, 32754, 32755, AGC= 53, IDX= 503,-0.01,-0.340, 0.307,-1.461, 0.040, PHS=-0.278, 0.313,-1.545, RAW= 11.9, 18.0, CAL= 11.4, 22.0, ROT= 138.6, -22.0 u Ygot valid direction response: 05:55:19.2122 LVL= 24304, 21665, 32754, 32755, AGC= 53, IDX= 503,-0.01,-0.340, 0.307,-1.461, 0.040, PHS=-0.278, 0.313,-1.545, RAW= 11.9, 18.0, CAL= 11.4, 22.0, ROT= 138.6, -22.0 } V#Rx 114: Read range and direction messages. ^direction in FSK: [-0.695491,0.613158,0.374607] Fpublishing direction and range infoy) - }vAYR??Y- yA) - ^- T) ) )) I- Vi- A>- ſ- ȭT>) - %K> ) )- T@I) ) ) - Dҿ*p? - )- /I- T@i) ) )  checking for new query: numPingsReceived=114, elapsed TxPingTime=54.497688 ,u R?A 6@6t@6cٱ6{U >AHRS rotation from veh to nav: [[-0.402502,0.913659,0.056737],[-0.915142,-0.403131,-0.000400],[0.022507,-0.052083,0.998389]]6Hٿ9Y=FyU<E>Q 553?Q 95)BBYy7>@Q I@EI%g;i͌;M܎5yɮAiYi]TR?AJi]wARi]wAji]>>b]7'%3#@ty9@R]}vAYR??Zi]T@biYj]{;ϳ*@^G}% @<@Z]SL?o?ȓ?2i]@:i]UA"i]:?*i]RBi]3Bi]}?i]Rnki]Bi]hAi]>ԡchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.735966E EE$E"EI:*E:VE4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503477 s, deltaX: 0.300000 m, approachRate: 0.595857 m/s, rangeRepo size: 4 = Added new target pos. range: 15.499269 m, bearing: 24.311050 deg, lat: 36.779383 deg, lon: -121.859747 deg, deltaT: 0.503477 s, deltaX: 0.298063 m, approachRate: 0.592010 m/s, posRepo size: 4 =DNOT Ignoring new targets: 15.50 m.hAhA*hA"hA hAgAfAfIfIdIdQjdU@33/@Zdu?ZZZZ7>@c) _?i[9)5ii񿉧^|II1 9@  @ @ /@ ^A ˡI I O >s,=R?A"DDAT read: Rx Time:05:55:19.7122 "TRx dataTimestamp_ set to:1761544520.972832&PDAT read: Bearing 192.6, 35.8 (Local) A(A*@AB.(>B,B.;!IB.BB.L =B,B,B._;B.#E>~Local bearing/azimuth received: Bearing 192.6, 35.8 (Local) FDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 EDAT read: 05:55:19.7122 LVL= 23664, 20241, 32754, 32755, AGC= 53, IDX= 503,-0.18, 3.027,-2.620, 1.888,-2.896, PHS=-0.258, 0.321,-1.543, RAW= 12.3, 17.6, CAL= 11.8, 21.5, ROT= 138.2, -21.5 MYgot valid direction response: 05:55:19.7122 LVL= 23664, 20241, 32754, 32755, AGC= 53, IDX= 503,-0.18, 3.027,-2.620, 1.888,-2.896, PHS=-0.258, 0.321,-1.543, RAW= 12.3, 17.6, CAL= 11.8, 21.5, ROT= 138.2, -21.5 MV#Rx 115: Read range and direction messages.U^direction in FSK: [-0.693604,0.620154,0.366501]]Fpublishing direction and range infoy "Wl2 O"ſ"[>"nF>"BR> "7 >)"^@I"7 ‚@ @ Iٱ iT AHRS rotation from veh to nav: [[-0.396681,0.916234,0.056202],[-0.917705,-0.397262,-0.000906],[0.021497,-0.051936,0.998419]] H:cٿQ?Ƭ? ] lٿ0MZ?`i` ?i ‚@I DŽ^; C "DɃҿ&#R? ")":I"^@i"7 checking for new query: numPingsReceived=115, elapsed TxPingTime=55.042133)kA    kAiC IIikA \) kA\v>F!!%kA)I%C )aii)iImkAm+i iqulAqiqqiyy)y yIyYyY By0!IiMb@Mb@Mb@ 9~jt?Clɿ~jt?Y=yO<@ )@Y @bD-VD-y]%]5=ٔe;Q-e>9aYi=mFyimf<Em>qQ 55u+?Q 95u)uJBYT>Q E;y:@Q I@uEIu;iuy;uFގ5yBɮAi i"B>R?AJi"wARi"wAji" >b"sT .%w`t(N9#@lzԸ@R"Wl2 OQe addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.499266 m, bearing: 24.285804 deg, lat: 36.779383 deg, lon: -121.859745 deg, deltaT: 0.504123 s, deltaX: -0.000004 m, approachRate: -0.000008 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.50 m.hh*h"h hgfffBddjdZdU?ZT>ZT>Zӷ@Zr:@%I)) -{?i-B9))-WA5IiIiU~񿉧Q]fIYIYchecking for new query: numPingsReceived=115, elapsed TxPingTime=55.237827@ @ @ /@ E5 E5E5&E1"E5:*E5rN:VE54ZE1BE5'Ա ,WR?A@g@)ٱaT -AHRS rotation from veh to nav: [[-0.390873,0.918751,0.055812],[-0.920210,-0.391422,-0.001171],[0.020770,-0.051817,0.998441]]H@ٿhf?k?@]r ٿ.SD? 9?i@Ig^;CYBy'!IbDVDkyW4%|=ٔ;Q- ?9Y=Fy<E ?Q 5 5x&?Q 95)PBYy;@Q I@EI/;i;ߎ5yɮ%A!MDNOT Ignoring new targets: 15.50 m.hIhI*hI"hQ hQgQfQfQfYdYdYjdYZd]|@?ԉZ9Z9Z9Z=;@UDDAT read: Rx Time:05:55:20.2124 UTRx dataTimestamp_ set to:1761544521.476823ePDAT read: Bearing 193.3, 36.8 (Local) e~Local bearing/azimuth received: Bearing 193.3, 36.8 (Local) uDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 DAT read: 05:55:20.2124 LVL= 25040, 19425, 32754, 32755, AGC= 53, IDX= 504, 0.50,-1.085,-0.471,-2.265,-0.756, PHS=-0.227, 0.330,-1.553, RAW= 13.3, 17.0, CAL= 12.7, 20.8, ROT= 137.3, -20.8 Ygot valid direction response: 05:55:20.2124 LVL= 25040, 19425, 32754, 32755, AGC= 53, IDX= 504, 0.50,-1.085,-0.471,-2.265,-0.756, PHS=-0.227, 0.330,-1.553, RAW= 13.3, 17.0, CAL= 12.7, 20.8, ROT= 137.3, -20.8 V#Rx 116: Read range and direction messages.^direction in FSK: [-0.687017,0.633961,0.355107]Fpublishing direction and range infoyQU^Ma 1hI?_S{?YUf~AQUaUKQ Q)QIUrhiU>UƿU,m>U>Ub> U޹>)U]@IU޹QQU^>ѿM_˹? Uq)UIU]@iU޹QQchecking for new query: numPingsReceived=116, elapsed TxPingTime=55.510052)) ?i9)b5ii 񿉧 =PIIԹ9@ @@5@@fA@fA^A PڀII Iq O > checking for new query: numPingsReceived=116, elapsed TxPingTime=55.743034E=  E= E= %E9 "E= [:*E= ;J:VE= 4ZE9 aM @aM @aM @aM @ Bƛ,bqR?AV&@V!@V9qYq=}FyyXU<E>Q 55?Q 95W)VBYGQ>Q E%;y%B@Q I%@EI-;i;5y)ɮ5UA1iiE^R?AJi|ARi|Ajir>b%zPП$@+_p@R^Ma 1hI?_S{?Zi]@bi޹jx?&p+@Tk @H8s@ZD?Ͳ?E@j{?2ix@:i[A"i혢?*iBiBiiRiimAiP> addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503991 s, deltaX: 0.299999 m, approachRate: 0.595247 m/s, rangeRepo size: 4  Added new target pos. range: 15.797328 m, bearing: 24.109960 deg, lat: 36.779383 deg, lon: -121.859743 deg, deltaT: 0.503991 s, deltaX: 0.298062 m, approachRate: 0.591404 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.80 m.hh*h"h hgff!f%́Bd!d!jd-/@Zd-`ު?ZmGQ>ZmGQ>Zm2Y@ZmB@IImDDAT read: Rx Time:05:55:20.7123 mTRx dataTimestamp_ set to:1761544521.981676}PDAT read: Bearing 193.9, 37.3 (Local) ~Local bearing/azimuth received: Bearing 193.9, 37.3 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 DAT read: 05:55:20.7123 LVL= 22352, 15745, 29778, 32755, AGC= 51, IDX= 504, 0.16,-2.720,-2.118, 2.373,-2.404, PHS=-0.214, 0.331,-1.551, RAW= 13.7, 16.8, CAL= 13.0, 20.6, ROT= 137.0, -20.6 Ygot valid direction response: 05:55:20.7123 LVL= 22352, 15745, 29778, 32755, AGC= 51, IDX= 504, 0.16,-2.720,-2.118, 2.373,-2.404, PHS=-0.214, 0.331,-1.551, RAW= 13.7, 16.8, CAL= 13.0, 20.6, ROT= 137.0, -20.6 V#Rx 117: Read range and direction messages.^direction in FSK: [-0.684591,0.638391,0.351842]Fpublishing direction and range infoB%>BCB(!IBBBM =BBIDB_;B#EyimD*:"m?\]㒄?Ym|AimPWm=mRt i)m3Im"[imx>m+ƿmGt>mQ >mVh> mX>)m@ImXiim:=ѿidƢd? m)mJIm@imXiiEchecking for new query: numPingsReceived=117, elapsed TxPingTime=56.023193M9@ @@4@^AgWIIO>I ,=R?A 2S@2xN@2aٱ2SS >AHRS rotation from veh to nav: [[-0.380400,0.923163,0.055374],[-0.924607,-0.380920,-0.001246],[0.019943,-0.051673,0.998465]]2H@xXؿ?Y?a`ؿ:jTk?tl?i2S@I2w^;0YNByN!IbDZVDZyr%r{=ٔvO:Q-v ?9tYx=zFyxz<E~ ?|Q 55~K?Q 95~0)~YBY y !C@Q I @~EI~[:i~R:~5yɮAii~R?AJi*{ARi*{Aji >b :C~%vD $@fq@RD*:"m?\]㒄?Zi@biXj>YJ+@r@m.O!@ZP&J?*ƨR?#?2i@:iRZA"iv&?*i"lBiyBiv&?iz iinAi%>m addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504853 s, deltaX: -0.099999 m, approachRate: -0.198076 m/s, rangeRepo size: 4 } Added new target pos. range: 15.697865 m, bearing: 24.129276 deg, lat: 36.779383 deg, lon: -121.859743 deg, deltaT: 0.504853 s, deltaX: -0.099463 m, approachRate: -0.197013 m/s, posRepo size: 4 }DNOT Ignoring new targets: 15.70 m.hyhy*h"h hgfffddjd/@Zd.S?checking for new query: numPingsReceived=117, elapsed TxPingTime=56.245708bE}4jE}3rE}Ϛ/E EE$E"E:*Ega:VE4ZEBE6 u DDAT read: Rx Time:05:55:21.2124 u TRx dataTimestamp_ set to:1761544522.484682} PDAT read: Bearing 194.0, 36.9 (Local)  ~Local bearing/azimuth received: Bearing 194.0, 36.9 (Local)  DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 ԡ  DAT read: 05:55:21.2124 LVL= 22720, 17489, 32658, 32755, AGC= 51, IDX= 505,-0.10, 1.671, 2.283, 0.490, 2.002, PHS=-0.229, 0.326,-1.556, RAW= 13.3, 17.1, CAL= 12.7, 20.9, ROT= 137.3, -20.9  Ygot valid direction response: 05:55:21.2124 LVL= 22720, 17489, 32658, 32755, AGC= 51, IDX= 505,-0.10, 1.671, 2.283, 0.490, 2.002, PHS=-0.229, 0.326,-1.556, RAW= 13.3, 17.1, CAL= 12.7, 20.9, ROT= 137.3, -20.9  V#Rx 118: Read range and direction messages. ^direction in FSK: [-0.686560,0.633540,0.356738] Fpublishing direction and range infoyq u 〱Mu{LE?O?Yu f~Aq u Xu QDu  q )q Iu ~jiu y>u +ǿu ,m>u Θ>u b> u ú>)u ]@Iu úq q u =*Oѿ#K*J? u Q)u 9Iu ]@iu úq q  checking for new query: numPingsReceived=118, elapsed TxPingTime=56.514198֨,R?A@Y؂By IbDVD0y%0=ٔQ->9Y=FyE>Q 55`?Q 95)_BYyQ I@EI:i0;5yɮ ;AqԱiiR?AJi|ARi|Aji.>bUWɨ%tՂ.$@/@R〱Mu{LE?O?Zi]@biújd˘Z+@墨@Β@ZiW|?EW'?Ҥ) ?2i@:iZA"i 葞?*iBiBii"liBipAi >checking for new query: numPingsReceived=118, elapsed TxPingTime=56.751923E EE#E"EI:*EX:VE3ZEa5@a5@a5@a=@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503006 s, deltaX: 0.099999 m, approachRate: 0.198804 m/s, rangeRepo size: 4  Added new target pos. range: 15.797219 m, bearing: 24.415916 deg, lat: 36.779383 deg, lon: -121.859742 deg, deltaT: 0.503006 s, deltaX: 0.099354 m, approachRate: 0.197520 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjd/@Zd%?ZQZQZQZQ) ?iH9)c5ii~񿉧S/III)9@ @@/@@ >@ >  wj> &Cm ЀG DDAT read: Rx Time:05:55:21.7123  TRx dataTimestamp_ set to:1761544522.988766 PDAT read: Bearing 193.9, 37.8 (Local)  ~Local bearing/azimuth received: Bearing 193.9, 37.8 (Local)  DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1  DAT read: 05:55:21.7123 LVL= 23312, 19937, 32754, 32755, AGC= 51, IDX= 504, 0.43, 2.599,-3.106, 1.384, 2.912, PHS=-0.210, 0.311,-1.571, RAW= 14.4, 17.2, CAL= 13.7, 20.9, ROT= 136.3, -20.9 B A <B B B !IB BB B B B _;B #E Ygot valid direction response: 05:55:21.7123 LVL= 23312, 19937, 32754, 32755, AGC= 51, IDX= 504, 0.43, 2.599,-3.106, 1.384, 2.912, PHS=-0.210, 0.311,-1.571, RAW= 14.4, 17.2, CAL= 13.7, 20.9, ROT= 136.3, -20.9  V#Rx 119: Read range and direction messages.% ^direction in FSK: [-0.675399,0.645425,0.356738]% Fpublishing direction and range infoy  +ޜ0(S?O?Y |A [ M  ) I = Wi d;> ɿ1 q > `> Gt> ) ?@I -dп[t? ) XI ?@i  checking for new query: numPingsReceived=119, elapsed TxPingTime=57.035870 29 Y "A^A %)II)yE?MyAOU>,R?Abj@b<@bnٱbnpV AHRS rotation from veh to nav: [[-0.370929,0.926982,0.055830],[-0.928456,-0.371440,-0.001304],[0.019529,-0.052319,0.998439]]bHK׿`թ??`׿.]U`Z?ɪ@7?ibj@IbU^;bC%"s@i!I!!! !))))-dkAI))QiQ)QIUiA]EY YYYYiaaieCejA)a aIi i)iiƉƑY Ym҂Bym IIu%=)u=iuMb@Mb@Mb@qqqq q9u+η?Sſ~jth?Yuv=yu/uD;uKAq u@)ud@qYu@bDVDk2yl˼%"=ٔEW:Q-E>9AYA=MFyIM<EM>QQ 5]5U?Q 9]5UE)UbBYeYG>Q Ee;yeAQ Ie@UEIU;iU ;U[5ymٔBɮm:AmEiiGR?AJi*{ARi*{Aji~>b3y&c4%ܭzC$@ lf@R+ޜ0(S?O?Zi?@bij({QF+@q}J@>Fj@Z0]?Ƥ(?gP?2iW@:i2ZA"i:*?*i BiBiNR?iiBiqAi)> addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504084 s, deltaX: -0.099999 m, approachRate: -0.198379 m/s, rangeRepo size: 4 - Added new target pos. range: 15.697856 m, bearing: 24.004888 deg, lat: 36.779382 deg, lon: -121.859742 deg, deltaT: 0.504084 s, deltaX: -0.099363 m, approachRate: -0.197117 m/s, posRepo size: 4 -DNOT Ignoring new targets: 15.70 m.h)h)*h1"h1 h1g1f19f9fEBdAdAjdE/@ZdM ȳ?ZmYG>ZmYG>Zmv@ZmۚP@n) )?i9) 5ii񿉧5 checking for new query: numPingsReceived=119, elapsed TxPingTime=57.253769IIE- E-E)E)"E-:*E- H:VE)ZE)BE-&ⶔ,R?A2˃@2iƊ@25]ٱ25U :AHRS rotation from veh to nav: [[-0.366825,0.928620,0.055727],[-0.930084,-0.367345,-0.000966],[0.019574,-0.052185,0.998446]]2H`z׿@@?=??׿4OR ? D?i2˃@I2Wj^;2CYBy IbD5VD5NEDDAT read: Rx Time:05:55:22.2125 MTRx dataTimestamp_ set to:1761544523.492764UPDAT read: Bearing 194.6, 39.0 (Local) ]~Local bearing/azimuth received: Bearing 194.6, 39.0 (Local) mDAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.1 DAT read: 05:55:22.2125 LVL= 22832, 16785, 31826, 32755, AGC= 51, IDX= 506, 0.07, 3.123,-2.622, 1.872,-2.888, PHS=-0.170, 0.311,-1.567, RAW= 15.7, 16.6, CAL= 14.9, 20.2, ROT= 135.1, -20.2 Ygot valid direction response: 05:55:22.2125 LVL= 22832, 16785, 31826, 32755, AGC= 51, IDX= 506, 0.07, 3.123,-2.622, 1.872,-2.888, PHS=-0.170, 0.311,-1.567, RAW= 15.7, 16.6, CAL= 14.9, 20.2, ROT= 135.1, -20.2 V#Rx 120: Read range and direction messages.^direction in FSK: [-0.664772,0.662455,0.345298]Fpublishing direction and range infoyIME)2?P]?YM̀AIM0YMAMR| I)IIM{.iIMuȿMK>MV>M%> MJ>)M}@IMJIIqy%]=ٔQ->9Y=FyJ<E>Q 55-?Q 95~)eBYybMiSIlD%q0s1%@`F @RME)2?P]?ZiM}@biMJjMؒ,@e*,@@ZM\n?0? ?2iM@:iM`A"iMc?*iMX)BiM8BiMv&?iIiMBiM#sAiM)\> addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503998 s, deltaX: 0.300000 m, approachRate: 0.595241 m/s, rangeRepo size: 4  Added new target pos. range: 15.995916 m, bearing: 23.099911 deg, lat: 36.779383 deg, lon: -121.859742 deg, deltaT: 0.503998 s, deltaX: 0.298060 m, approachRate: 0.591392 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.00 m.hh*h"h hgfffddjd0@Zd@zQ?ZAZAZAZE!P@U5])Y ]V?i]9)Y]ԡii񿉧IIY@a @a@e/@a^A}I 2Acoustic response timeoutD1 zD5 ?AEU  EU EU $EQ "EU O:*EU P:VEU 4ZEQ ae @ae @ae @ae @I O > v,~R?AE@E@EuٱES mAHRS rotation from veh to nav: [[-0.363373,0.929995,0.055404],[-0.931431,-0.363917,-0.000283],[0.019899,-0.051708,0.998464]]EH~A׿?]? IjJ׿2v`?zyj?iE@IEZ^;ECY5By5 IiMb@Mb@Mb@ 9ʡE?l¿Mb`?Y=y;5A @)z@YbDVDy%I=ٔQQ->9Y=Fy<E>Q 5 5?Q 9 5)gBY 3A>Q E;y 6Q I@EIu ;i ;5yɮGAMDNOT Ignoring new targets: 16.00 m.hIhI*hI"hI hIgIfQfQfUxBdQdYjdYZd]@A?Z}3A>Z}3A>Z}3@Z}7\@u) )?id9)顝T4ii񿉧⼝MDDAT read: Rx Time:05:55:22.7125 UTRx dataTimestamp_ set to:1761544523.996792]PDAT read: Bearing 194.6, 39.0 (Local) ]~Local bearing/azimuth received: Bearing 194.6, 39.0 (Local) uDAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.1 DAT read: 05:55:22.7125 LVL= 23648, 17585, 32754, 32755, AGC= 50, IDX= 506,-0.22, 0.927, 1.463,-0.321, 1.204, PHS=-0.176, 0.303,-1.569, RAW= 15.7, 16.8, CAL= 14.9, 20.5, ROT= 135.1, -20.5 B'>BCB IBɂBBK =BBBe_;BY#EBmijCBiBiBmL =BmL =CmĬm5Ygot valid direction response: 05:55:22.7125 LVL= 23648, 17585, 32754, 32755, AGC= 50, IDX= 506,-0.22, 0.927, 1.463,-0.321, 1.204, PHS=-0.176, 0.303,-1.569, RAW= 15.7, 16.8, CAL= 14.9, 20.5, ROT= 135.1, -20.5 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.663482,0.661170,0.350207]Fpublishing direction and range infoyQUoE?;r[N(?Z8i?YQQU`\UDU Q)U2IUX94iU">UȿQUQ >Q U0>)QIU0QQU E+ο95i? U)U{IQiU0QQ2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.II9@ @@/@@gA@gA! ^A C I! I1 OE > 2Acoustic response timeoutE=  E= E9 E9 "E= [:*E= n:VE9 ZE9 BE= {9Y=Fy!$<E>Q 55?Q 95)jBYy5Q I@EI:i:F5yɮ AiiqR?AJiRijiJ>b29%&%@d addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504028 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 15.996016 m, bearing: 23.532895 deg, lat: 36.779382 deg, lon: -121.859742 deg, deltaT: 0.504028 s, deltaX: 0.000099 m, approachRate: 0.000197 m/s, posRepo size: 4 5DNOT Ignoring new targets: 16.00 m.h1h1*h1"h1 h1g1f9f9f9d9dAjdAZdEO?ZaZaZaZeM\@1m))q u?i}9)顅ii~񿉧ʼII@ @@0@q^AGIIOn>]DDAT read: Rx Time:05:55:23.2125 eTRx dataTimestamp_ set to:1761544524.500853mPDAT read: Bearing 195.1, 40.1 (Local) m~Local bearing/azimuth received: Bearing 195.1, 40.1 (Local) }DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 DAT read: 05:55:23.2125 LVL= 23984, 18001, 32754, 32755, AGC= 50, IDX= 507, 0.34,-2.241,-1.745, 2.763,-1.999, PHS=-0.140, 0.298,-1.566, RAW= 17.0, 16.4, CAL= 16.0, 19.9, ROT= 134.0, -19.9 Ygot valid direction response: 05:55:23.2125 LVL= 23984, 18001, 32754, 32755, AGC= 50, IDX= 507, 0.34,-2.241,-1.745, 2.763,-1.999, PHS=-0.140, 0.298,-1.566, RAW= 17.0, 16.4, CAL= 16.0, 19.9, ROT= 134.0, -19.9 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.653179,0.676387,0.340380]Fpublishing direction and range infoyY]^xɄ?"T?Y]AY]]]QFY Y)YI])\i]u>]rȿ]>]C>]5> ]ӱ>)]@I]ӱYY]kW˿M.{j? ])]ђI]@i]ӱYY2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԡ {ʔ,Cq*S?A2!@2l@2髼ٱ2Q :AHRS rotation from veh to nav: [[-0.357029,0.932453,0.055331],[-0.933858,-0.357643,0.001282],[0.020984,-0.051214,0.998467]]2Hֿ?^T?@)ֿdT?|?@8q?i2!@I2e^;2C@YNByR IbDZVDZ0yv%vW=ٔvǺQ-v>9xYx=zFyxz<E~>Q 55?Q 9 5-)lBY y 5Q I @EIp:iF:5yɮ'A!ii S?AJiÀARiÀAjiz>bvԼ%-4%@@R^xɄ?"T?Zi@biӱjzj,@z9@3@Z㩠"`??(䠕?Ӳ?2i̽@:iScA"iq ?*iV+2Acoustic response timeoutBiBiiyiBBi*uAih>D<D<E EE"E"E>:*EV:VE(3ZEaE@aE@aE@aE@Ա addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504061 s, deltaX: 0.100000 m, approachRate: 0.198389 m/s, rangeRepo size: 4  Added new target pos. range: 16.095371 m, bearing: 22.658613 deg, lat: 36.779382 deg, lon: -121.859743 deg, deltaT: 0.504061 s, deltaX: 0.099356 m, approachRate: 0.197110 m/s, posRepo size: 4 -DNOT Ignoring new targets: 16.10 m.h1h1*h1"h1 h1g1f1f9f9d9dAjdE@330@ZdE J?ZZZZx\@髼) ?i9)顽X4ii񿉧.II@ @@ c0@  m DDAT read: Rx Time:05:55:23.7125 u TRx dataTimestamp_ set to:1761544525.004721} PDAT read: Bearing 195.1, 40.3 (Local) } ~Local bearing/azimuth received: Bearing 195.1, 40.3 (Local) B %>B CB IB BB M =B B B 3_;B ?#E DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 ^AA IQ Ia  DAT read: 05:55:23.7125 LVL= 21712, 17313, 30754, 32755, AGC= 50, IDX= 507, 0.07, 2.390, 2.874, 1.098, 2.630, PHS=-0.137, 0.290,-1.576, RAW= 17.4, 16.6, CAL= 16.3, 20.0, ROT= 133.7, -20.0  Ygot valid direction response: 05:55:23.7125 LVL= 21712, 17313, 30754, 32755, AGC= 50, IDX= 507, 0.07, 2.390, 2.874, 1.098, 2.630, PHS=-0.137, 0.290,-1.576, RAW= 17.4, 16.6, CAL= 16.3, 20.0, ROT= 133.7, -20.0  R#Rx 1: Read range and direction messages.O >= ^direction in FSK: [-0.649217,0.679367,0.342020]= Fpublishing direction and range infoyq u 8bW_?Kj?Yq q u Tu Cu "x q )q Iu I iu z>u ^ɿu |>u V>u > u ¸>)u &X@Iu ¸q q u *3nʿ0Z7(:? u =)u CݓIu &X@iu ¸q Cє,LDS?AR2Acoustic response timeoutRQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.l~6@~i1@~8ٱ~|Q AHRS rotation from veh to nav: [[-0.354629,0.933350,0.055637],[-0.934752,-0.355294,0.002227],[0.021846,-0.051217,0.998449]]~H<ֿ?@t|?|#ֿX=b?`^?$9`J?i~6@I~\[^;~CY%By% Ii-Mb@Mb@Mb@)))) )9-On?ʡE~jth?Y->y-y-D;)) -@)-@)Y-@bDeVDekyuѕ%u4=ٔ}qQ-}>9yYy=Fy;E>Q 55뙊?Q 95X)oBYB>Q E;yN&Q I@EI%;i;5yҔBɮ{AEiiYM@S?AJiRiji <>bÕ $~ ݁%@⭟@R8bW_?Kj?Zi&X@bi¸j˕Nvo,@5A@$ @ZaD?Jp?肸?2i@:i{cA"iN?*iLBiBiN?iX)i8BiwAiK> addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503868 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.095255 m, bearing: 22.519317 deg, lat: 36.779383 deg, lon: -121.859743 deg, deltaT: 0.503868 s, deltaX: -0.000116 m, approachRate: -0.000231 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.10 m.hh*h"h hgfffFBddjdZd[? Z%B>Z%B>Z%³@Z%k@U8)Q ]?i]9)Y]4YiYie񿉧9צII2Acoustic response timeout@ @@4@@=@=9EU EUEU%EQ"EUy:*EU|;:VEU 4ZEQBEUa 0ה,'^S?Aɰ2YJ@2+E@2fຼٱ2S :AHRS rotation from veh to nav: [[-0.352366,0.934162,0.056384],[-0.935584,-0.353090,0.003106],[0.022810,-0.051658,0.998404]]2H(ֿ@?iެ?Nֿsqi?[?r?i2YJ@I2q^;2CY^Byb IbDjVDjk1yZ%e=ٔO1Q- >9 Y = Fy ;E>-DDAT read: Rx Time:05:55:24.2127 -TRx dataTimestamp_ set to:1761544525.5088485PDAT read: Bearing 194.9, 40.0 (Local) =~Local bearing/azimuth received: Bearing 194.9, 40.0 (Local) MDAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 YuDAT read: 05:55:24.2127 LVL= 21552, 17857, 31666, 32755, AGC= 49, IDX= 509,-0.13, 2.663,-3.135, 1.384, 2.914, PHS=-0.149, 0.280,-1.574, RAW= 17.2, 16.9, CAL= 16.2, 20.4, ROT= 133.8, -20.4 }Ygot valid direction response: 05:55:24.2127 LVL= 21552, 17857, 31666, 32755, AGC= 49, IDX= 509,-0.13, 2.663,-3.135, 1.384, 2.914, PHS=-0.149, 0.280,-1.574, RAW= 17.2, 16.9, CAL= 16.2, 20.4, ROT= 133.8, -20.4 }R#Rx 1: Read range and direction messages.^direction in FSK: [-0.648733,0.676493,0.348572]Fpublishing direction and range infoy)-̈́l)Cԥ?<O?Y-A)-0T-E-{ ))-1I-ui-)\>-xɿ-`>Q 55晊?Q 95D)qBYy'&Q I@ EI:i:z5yɮAi)i-`S?AJi-%ARi-%Aji-4T>b-TWmE%u=.&@ld@R-̈́l)Cԥ?<O?Zi-t@bi-Kj-8e,@,5@@Z-S*?p:e?L$?2i-@:i-fA"i-?*i-fsBi-HBi-q ?i-fsi)i-yAi-y>->-Ð> -K>)-t@I-K))-j˿(w~4>? - )-bܖI-t@i-K))2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.- addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504127 s, deltaX: 0.299999 m, approachRate: 0.595087 m/s, rangeRepo size: 4  Added new target pos. range: 16.393314 m, bearing: 22.753690 deg, lat: 36.779384 deg, lon: -121.859744 deg, deltaT: 0.504127 s, deltaX: 0.298059 m, approachRate: 0.591239 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.39 m.hh*h"h hgff f d dIjdU0@ZdU?ZZZZk@%fຼ)! %?iM9)IM4QiQiU񿉧Y]IYIYԑ@ @@`4@Թ2Acoustic response timeoutD zD E  E E #E "E :*E ?:VE 3ZE a @a @a @a @^A I! I1 O= > ^ݔ,xS?Av]@vtX@vn¼ٱvSV AHRS rotation from veh to nav: [[-0.350155,0.934938,0.057290],[-0.936391,-0.350937,0.003879],[0.023732,-0.052287,0.998350]]vH hֿ?`U?uֿo?DM?kŪ{?iv]@Iv^a^;vCY|By~ IiMb@Mb@Mb@ 9w/?EԸy&1?Y&>yƽ`e<A@ @)@Yf@ԱbDVDky%>=ٔ Q->9Y=Fy?;E>Q 55`ᙊ?Q 95)vBYB>Q E;yQ I@"EI ;i ;\5yɮADNOT Ignoring new targets: 16.39 m.hh*h"h hgfffIBddjdZd`em?ZB>ZB>Z]@ZSt@Mn¼)I M?iM9)QU5QiQi]~񿉧Y]vIYIa5DDAT read: Rx Time:05:55:24.7127 5TRx dataTimestamp_ set to:1761544526.013492BM'>BMCBM IBMBBMK =BIBIBM^;BM%#EmPDAT read: Bearing 194.8, 40.2 (Local) u~Local bearing/azimuth received: Bearing 194.8, 40.2 (Local) DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 DAT read: 05:55:24.7127 LVL= 21568, 18657, 30130, 32755, AGC= 49, IDX= 509,-0.40, 1.602, 2.077, 0.311, 1.851, PHS=-0.146, 0.271,-1.583, RAW= 17.6, 17.0, CAL= 16.5, 20.6, ROT= 133.5, -20.6 Ygot valid direction response: 05:55:24.7127 LVL= 21568, 18657, 30130, 32755, AGC= 49, IDX= 509,-0.40, 1.602, 2.077, 0.311, 1.851, PHS=-0.146, 0.271,-1.583, RAW= 17.6, 17.0, CAL= 16.5, 20.6, ROT= 133.5, -20.6 R#Rx 1: Read range and direction messages.@ @@/@^direction in FSK: [-0.644341,0.678994,0.351842]Fpublishing direction and range infoy15UpP?\]㒄?Y115@T5H5u 1)1I5i5>5ʿ5nF>5>5r> 5X>)5@I5X115S<ʿ'Ld}h۹? 5)5JI5@i5X11-2Acoustic response timeout-Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^AFΞIIO J> 1  2Acoustic response timeoutD,OS?AE> E>E>%E<"E>y:*E>0:VE> 4ZE<BEۉ;aF:E>ۉ;aFJk@Jf@JkL˼ٱJ?W RAHRS rotation from veh to nav: [[-0.348514,0.935512,0.057929],[-0.936975,-0.349362,0.004891],[0.024814,-0.052573,0.998309]]JH Nֿ? ֨?[ֿ t?`h? ꪿ %?iJk@IJ^;JCY5wBy=x IbDMVDM02y]뵼%]R=ٔ] 6Q-]>9aYa=eFyae;Em>iQ 5}5mܙ?Q 9}5mӉ)m{BYyy}Q I}@m#EIm;im ;m5yɮAiaie݀S?AJiaRiajieP>bed: %^`C&@ Q@ReUpP?\]㒄?Zie@bieXjeCz,@ %@]6J@ZeqϹ0*?:3?O.,?2ie,@:iefA"ieo?*ieAp BieJBieo?ieV+ieBBiezAie> addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504644 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 16.393417 m, bearing: 22.703467 deg, lat: 36.779383 deg, lon: -121.859745 deg, deltaT: 0.504644 s, deltaX: 0.000103 m, approachRate: 0.000204 m/s, posRepo size: 4 EDNOT Ignoring new targets: 16.39 m.hAhI*hI"hQ hQgYfaf f ddjd!ZdM?ZZZZ#t@ kL˼)  c?i *9) B5ii񿉧FyIIII)IA@ @@@@@=DDAT read: Rx Time:05:55:25.2127 ETRx dataTimestamp_ set to:1761544526.516669MPDAT read: Bearing 195.1, 40.9 (Local) M~Local bearing/azimuth received: Bearing 195.1, 40.9 (Local) ]DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 DAT read: 05:55:25.2127 LVL= 21664, 18577, 31986, 32755, AGC= 48, IDX= 509, 0.29,-2.761,-2.314, 2.204,-2.538, PHS=-0.122, 0.268,-1.586, RAW= 18.5, 16.7, CAL= 17.3, 20.2, ROT= 132.7, -20.2 Ygot valid direction response: 05:55:25.2127 LVL= 21664, 18577, 31986, 32755, AGC= 48, IDX= 509, 0.29,-2.761,-2.314, 2.204,-2.538, PHS=-0.122, 0.268,-1.586, RAW= 18.5, 16.7, CAL= 17.3, 20.2, ROT= 132.7, -20.2 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.636448,0.689712,0.345298]Fpublishing direction and range infoy9=mZ]俄܆K?P]?Y99=T=H=| 9)=0I=#i=L7>= ˿=MQ>=;>=#> =J>)=2:@I=J99=ُtȿxvG-3,n? = )=I=2:@i=J99]2Acoustic response timeout]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.q^A I I O >ԑ Wl,ԷS?A6d{@66v@6EgԼٱ6FX BAHRS rotation from veh to nav: [[-0.346732,0.936139,0.058480],[-0.937606,-0.347649,0.005976],[0.025925,-0.052759,0.998271]]6H`0ֿ?#? ?ֿzx?%?F`?i6d{@I6e^;4Y^{Byb| I ddbDr VDr2yz}<%~Q=ٔ~":Q->9Y = Fy  ;E>Q 5%5י?Q 9-5 )BY)y-eQ I5@$EI!;iv";5yAɮEAAiqiuS?AJiqRiqjiu>bum$=d &@Ox@RumZ]俄܆K?P]?Ziu2:@biuJju!D-@`@e"@Zu^?|e>?K7 ?2iuW@:iuhA"iuUj?*iu>Biu Biuq ?iuAp iu Biu{Aiu+> addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503177 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.393417 m, bearing: 22.046631 deg, lat: 36.779384 deg, lon: -121.859746 deg, deltaT: 0.503177 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.39 m.hh*h"h hgfffddyjdZdd?iߩI߭A2Acoustic response timeoutEU EUEQEQ"EUg:*EU?:VEQZEQau@au@au@au@Z)Z)Z)Z-:t@=EgԼ)A E?iE9)AEGi5Aiaim񿉧iuQ`IqIqԱ9@ @@/@e DDAT read: Rx Time:05:55:25.7127 m TRx dataTimestamp_ set to:1761544527.023624u PDAT read: Bearing 195.1, 41.1 (Local) u ~Local bearing/azimuth received: Bearing 195.1, 41.1 (Local)  DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2  DAT read: 05:55:25.7127 LVL= 18544, 16417, 27682, 30355, AGC= 48, IDX= 509, 0.12, 2.566, 3.003, 1.238, 2.786, PHS=-0.117, 0.263,-1.592, RAW= 18.8, 16.8, CAL= 17.6, 20.2, ROT= 132.4, -20.2  Ygot valid direction response: 05:55:25.7127 LVL= 18544, 16417, 27682, 30355, AGC= 48, IDX= 509, 0.12, 2.566, 3.003, 1.238, 2.786, PHS=-0.117, 0.263,-1.592, RAW= 18.8, 16.8, CAL= 17.6, 20.2, ROT= 132.4, -20.2  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.632828,0.693035,0.345298] Fpublishing direction and range infoyi m \Z @}EX-?P]?Yi i m pH^A zlB &>B B s IB sBB B B B ^;B "EI) IA m !@m "l m v)i Im im >m ˿m >m Q >m nF> i )m h@Ii i i m ptǿRx> u? m  )m ̕Im h@ii i i ] 2Acoustic response timeout] Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Ou > T,S?ARU@R'@RݼٱRW ZAHRS rotation from veh to nav: [[-0.345355,0.936642,0.058584],[-0.938082,-0.346337,0.007217],[0.027050,-0.052464,0.998256]]RH Jֿ?@?@ c*ֿ}?@ⲛ?@ܪ`?iRU@IRW^;RCYrByr IiMb@Mb@Mb@ 9S㥛?ˡE{Gz?Y$>y什ף<KA@ )@Y@bD-VD-JyOM=%/=ٔ|Q->9Y=FyM;E>Q 55ҙ?Q 95)BY%:>Q E;yQ I@%EI:i]:5yɮ ^A iiS?AJiRijiJ>bu$k^&@[>t@R\Z @}EX-?P]?Zih@bijv+-@*Y@Ϳ@Zwi??T?2iϺ@:ihA"ik*?*iABiBik*?iLiBi|Ai> addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.506955 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.393366 m, bearing: 21.854294 deg, lat: 36.779383 deg, lon: -121.859746 deg, deltaT: 0.506955 s, deltaX: -0.000051 m, approachRate: -0.000102 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.39 m.hh*h"h hgfffXBddjdZdV?Z%%:>Z%%:>Z%@Z%(y@=ݼ)9 = ?i=9)9=5AiAiM񿉧IM,NNIIIQ2Acoustic response timeout!@! @!@-0@)bEjE4rEJv/Ee EeEe&Ea"Ee:*EeF:VEe4ZEaBEe`Q ,wS?A2蔄@2@2ٱ2W :AHRS rotation from veh to nav: [[-0.343789,0.937194,0.058962],[-0.938624,-0.344840,0.008362],[0.028170,-0.052468,0.998225]]2Hֿ@~?`70?5 ֿY ?|؜?ݪv?i2蔄@I2Vq^;2CYBByB IbDJVDJ:yRyj%Rv=ٔV\Q-V?9TYX=ZFyXZ?;EZ?\Q 5b5^Ι?Q 9b5^)^BYdyfQ If@^&EI^ :i^:^A5yj̔Bɮj=AnEDDAT read: Rx Time:05:55:26.2129  TRx dataTimestamp_ set to:1761544527.524794PDAT read: Bearing 195.0, 40.5 (Local) ~Local bearing/azimuth received: Bearing 195.0, 40.5 (Local) %DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.2 DAT read: 05:55:26.2129 LVL= 20464, 17649, 28706, 32755, AGC= 48, IDX= 511,-0.02, 2.507, 2.958, 1.198, 2.744, PHS=-0.135, 0.259,-1.591, RAW= 18.3, 17.1, CAL= 17.1, 20.6, ROT= 132.9, -20.6 Ygot valid direction response: 05:55:26.2129 LVL= 20464, 17649, 28706, 32755, AGC= 48, IDX= 511,-0.02, 2.507, 2.958, 1.198, 2.744, PHS=-0.135, 0.259,-1.591, RAW= 18.3, 17.1, CAL= 17.1, 20.6, ROT= 132.9, -20.6 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.637195,0.685704,0.351842]Fpublishing direction and range infoy c=I?\]㒄?YfAOD"p )Iq= i>˿Ƈ>Θ>Θ> X>)bs@IX addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.501170 s, deltaX: 0.299999 m, approachRate: 0.598598 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 16.39 m.hh*h"h hgfffddjd0@Zd ?\ȿ1Fj8? ,)Ibs@iXu2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ZZZZ8y@) ?i69)5ii~񿉧6II!)9@A @A@Ed0@A@m>@m>Y2Acoustic response timeout^Ae NJNԉ E  E E E "E :*E C:VE I I O >ZE a @a @a @a @,WS?A,BZ@B,@B5lٱBKW JAHRS rotation from veh to nav: [[-0.342352,0.937689,0.059451],[-0.939117,-0.343469,0.009388],[0.029222,-0.052617,0.998187]]BHտ@?Rp?@? `eտ9?`o?@ &?iBZ@IB]^;BCYRByR IIV=)Va=Z=Z=imMb@Mb@Mb@iiii i9m rh?ktX9v?YmC >ym m9Y=Fyd;E>Q 55Qʙ?Q 95)BY'>Q E;yQ I@'EIK ;i ;'5yɮ4Ai1i5:S?AJi5ARi5Aji5~y>b5TyE%@0&@@}@R5 c=I?\]㒄?Zi5bs@bi5Xj5l"q-@r@3@Z5z&ª9?垖o?0%?2i5@:i5kA"i5󢞊?*i5sBi5kBi5Uj?i5si5HBi5~Ai5>DNOT Ignoring new targets: 16.39 m.hh*h"h hgfffCBd!d!jd!Zd%@:?ZE'>ZE'>ZE@߀G 5"91Y5AZE~s@U5l)Q ]H!?i]D9)Y]e5YiYieԁV$II DDAT read: Rx Time:05:55:26.7129 TRx dataTimestamp_ set to:1761544528.029072-PDAT read: Bearing 195.1, 40.6 (Local) 5~Local bearing/azimuth received: Bearing 195.1, 40.6 (Local) MDAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.2 B#>BCBy IBxBBL =BBBI^;B"EDAT read: 05:55:26.7129 LVL= 18352, 16673, 28706, 31395, AGC= 48, IDX= 511,-0.15, 0.912, 1.358,-0.406, 1.148, PHS=-0.133, 0.255,-1.598, RAW= 18.5, 17.1, CAL= 17.3, 20.7, ROT= 132.7, -20.7 Ygot valid direction response: 05:55:26.7129 LVL= 18352, 16673, 28706, 31395, AGC= 48, IDX= 511,-0.15, 0.912, 1.358,-0.406, 1.148, PHS=-0.133, 0.255,-1.598, RAW= 18.5, 17.1, CAL= 17.3, 20.7, ROT= 132.7, -20.7 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.634380,0.687471,0.353475]Fpublishing direction and range infoy$&4L#P?iU?YG!A z)I'1i\>D̿MQ>#> >)2:@I8CHȿŞ;v? .)I2:@i9@ @!@%4@!]2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Ա^A *:I I! O- > i߹ I߽ A 2Acoustic response timeoutEU  EU EU %EQ "EU I:*EU F:VEU 4ZEQ BEU 9Y=Fy3};E>Q 55ƙ?Q 95Ǐ)BYyQ I@(EI|:i:5yɮAi1i5QT?AJi5ARi5Aji5>b5^Vtb-%&@XR@R5$&4L#P?iU?Zi52:@bi5j5F):!u-@mf[W@ N4@Z5&}] addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504278 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 16.691313 m, bearing: 22.448361 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 1.005448 s, deltaX: 0.297947 m, approachRate: 0.296333 m/s, posRepo size: 4 uDNOT Ignoring new targets: 16.69 m.hqhq*hy"h hgfffddjdZdO?ZiZiZiZms@) '?i9)額5ii񿉧̢IIM9@I @I@U4@Q *DAT read: user:598> *DAT read: user:598> BDAT read: Tx time:05:55:27.6210 $Ping request sent.) ,-T?AJ@Jʶ@JٱJ5Y VAHRS rotation from veh to nav: [[-0.339280,0.938748,0.060349],[-0.940172,-0.340516,0.011220],[0.031082,-0.052932,0.998114]]JH Ķտ@8 ?`?@տ@^?ԟ?@?iJ@IJi^;JCYfByf IbDr VDr2y~=%~K=ٔ Q->9 Y = Fy  ;E>Q 5%5™?Q 9%5Ɛ)BY)y-oQ I-@)EId.;iO/;5y5֔Bɮ5A5EeDNOT Ignoring new targets: 16.69 m.haha*ha"ha hagafififididqjdqZdu?ZZZZ- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501637A AAA AAB >B B IB BB N =B B HDB O^;B BuʲCԡ BuʲCBqBqBqCu5Q,FT?A2:̄@2 Nj@2ٱ2v}Y :AHRS rotation from veh to nav: [[-0.337405,0.939399,0.060718],[-0.940818,-0.338696,0.012088],[0.031921,-0.053046,0.998082]]2H տ?t?/0տ? W? ( I?i2:̄@I2^^;2CYBByB I DDiEMb@Mb@Mb@AAAA A9Ei|?5?B`"۹9qyYq=}FyK;E>Q 55U?Q 95)BYD#>Q E;y'Q I@*EIq ;i ;m5yɮADNOT Ignoring new targets: 16.69 m.hh*h"h hgfffiBddjdZdj:?ZD#>ZD#>Zh@Zpj@) ?i 9)5ii%~񿉧!%[!I!I)@ @@/@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754637E EEE"EI:*ErN:VEـ3ZEBEa2EaJEU;a:EV;a^AIIO> ,x`T?A2@2ۋ@2Pٱ2Z >AHRS rotation from veh to nav: [[-0.335048,0.940212,0.061199],[-0.941639,-0.336384,0.012716],[0.032542,-0.053367,0.998045]]2H kqտ6?zU?@!`Pտ ?`R? R@?i2@I2{^;2CYFByF IbDNVDN1yVA>%VW=ٔZֺQ-Z>9XYX=^Fy\^?;E^>`Q 5f5b?Q 9f5ba)bBYhyjq'Q Ij@b+EIb9:ib1:b5rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005761ytɮvAtDNOT Ignoring new targets: 16.69 m.hh*h"h hgfffddjdZd౑?ZZZZmj@%P)! %'?i%A9)!%)i)i-񿉧15pI1I1@ @@/@ ^AcջII O%>9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259953E EE(E"Eg:*Ee:VEc44ZEa @a @a @a @Y ,*zT?AY~By~ IiMb@Mb@Mb@ 9ʡE?V-l?Y-=y=KA@ @)@YQ@bDVDk1y<%:=ٔQ->9Y=FyE>Q 55?Q 95ޒ)BY<>Q E;y5Q I@,EI;iX;5yɮADNOT Ignoring new targets: 16.69 m.hh*h"h hgf!f!f%Bd!d)jd)Zd-N?1ZU<>ZU<>ZUtc@ZUl\@a)i m= ?im9)im$4iiiiu񿉧y}PIyIyI)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509987)@) @)@-0@)BU">BQBU IBUBBUL =BQBUIDBU`^;BU"Ea^AII1O=>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761796Թ E  E E E "E y:*E 0:VE 3ZE BE 9)Y)=-Fy)5{<E5>1Q 5E55?Q 9E55N)5BYAyEW5Q IE@5-EI5+;i5:55yUДBɮUAUE}DNOT Ignoring new targets: 16.69 m.hyhy*h"h hgfffddjdZdι@ZZZZb\@ & ) m?i'9)84ii񿉧UFj:IQIYԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0137479@ @@/@! ^A 3I I O >g+,5ӯT?AN2*@N%@N ٱNY ^AHRS rotation from veh to nav: [[-0.326569,0.943187,0.061245],[-0.944565,-0.327998,0.014663],[0.033918,-0.053061,0.998015]]NH Կ`.?~[?`9 Կ?@]?*`?iN2*@IN[j^;LYjЂByn IbD~ VD~:2ywW<%?=ٔ]Q-%>9!Y!=%Fy!-;E->1Q 5=55Ѫ?Q 9=55˓)5BY9y=&5Q IE@5.EI5;i5;55yIɮMAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266589E EE"E"EC:*E*5:VE(3ZEa@a@a@a@DNOT Ignoring new targets: 16.69 m.h!h!*h!"h) h)9gQfYfafiddjdZdo@ZZZZ\@  ) ?i9)<4ii~񿉧g;I!I!a9@ @@%0@!^A5q9IAIQO]v>ԉU DDAT read: Rx Time:05:55:29.7741 ] TRx dataTimestamp_ set to:1761544531.052669e PDAT read: Bearing 195.8, 40.2 (Local) e ~Local bearing/azimuth received: Bearing 195.8, 40.2 (Local) Bm <Am <Bu >Bu CBu IBu ĂBBu N =Bq Bu HDBu ^;Bu "E DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2  DAT read: 05:55:29.7741 LVL= 21648, 17841, 29010, 32755, AGC= 53, IDX= 337,-0.45,-2.170,-1.725, 2.795,-1.933, PHS=-0.135, 0.253,-1.599, RAW= 18.5, 17.2, CAL= 17.3, 20.7, ROT= 132.7, -20.7  Ygot valid direction response: 05:55:29.7741 LVL= 21648, 17841, 29010, 32755, AGC= 53, IDX= 337,-0.45,-2.170,-1.725, 2.795,-1.933, PHS=-0.135, 0.253,-1.599, RAW= 18.5, 17.2, CAL= 17.3, 20.7, ROT= 132.7, -20.7  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.634380,0.687471,0.353475] Fpublishing direction and range infoyQ U $&4L#P?iU?YU AQ U TU EU Rq U )U 5IU q= iU 7>U ̿Q U `>Q Q )Q IQ Q Q U g[Iȿuݯzc? U )U CIQ iQ Q Q  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.537879Թ N2,T?A2F@2A@2) ٱ2m[ :AHRS rotation from veh to nav: [[-0.323246,0.944303,0.061673],[-0.945701,-0.324697,0.014881],[0.034077,-0.053515,0.997985]]2H`Կ 7?? /CԿ@y?r?Df ?i2F@I2k]^;2CYV߂ByV IiMMb@Mb@Mb@IIII I9MX9v?M¿ rh?YM}=yMnMC =MAM@ I)M@IYIbDeVDek1yur=%uE=ٔ}1ȹQ-}>9yY=Fy~ <E>Q 55u?Q 95)BY[#>Q E;y-DQ I@/EIK ;iq ;[ 5yɮAii^T?AJiARiAji>b^"&)(@I@R$&4L#P?iU?Zibij4C BU/@VR@ص`@Zp ?UEr??2i@:izA"ig͞?*i@BifBiUj?iikBiAi]> addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 3.023597 s, deltaX: 1.200001 m, approachRate: 0.396879 m/s, rangeRepo size: 4   Added new target pos. range: 17.883289 m, bearing: 23.558308 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 3.023597 s, deltaX: 1.191977 m, approachRate: 0.394225 m/s, posRepo size: 4  DNOT Ignoring new targets: 17.88 m.h h *h "h hgfffʁBddjd%2@Zd%8?ZE[#>ZE[#>ZEE@ZE M@U) )Y ]= ?i]!9)Y]5Yiaie񿉧am;IiIi-9@) @)@-4@)@5fA@1checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770152E EE(E"E:*E H:VEc44ZEBE6 i e DDAT read: Rx Time:05:55:30.2741 e TRx dataTimestamp_ set to:1761544531.556681u PDAT read: Bearing 203.1, 42.2 (Local) u ~Local bearing/azimuth received: Bearing 203.1, 42.2 (Local)  DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2  DAT read: 05:55:30.2741 LVL= 18848, 16881, 28322, 32755, AGC= 52, IDX= 513, 0.08,-1.565,-1.086,-2.937,-1.445, PHS=-0.019, 0.404,-1.536, RAW= 18.0, 13.0, CAL= 17.3, 15.0, ROT= 132.7, -15.0  Ygot valid direction response: 05:55:30.2741 LVL= 18848, 16881, 28322, 32755, AGC= 52, IDX= 513, 0.08,-1.565,-1.086,-2.937,-1.445, PHS=-0.019, 0.404,-1.536, RAW= 18.0, 13.0, CAL= 17.3, 15.0, ROT= 132.7, -15.0 Ա  R#Rx 2: Read range and direction messages. ^direction in FSK: [-0.655052,0.709873,0.258819] Fpublishing direction and range infoya e /Ӱ~G?V!}?Ya a e Ie Ae n a )e 4Ie 㥛ie >e Ŀe |٠>e Vh>a e >)a Ie a a e  rɿ*v ad? e C)e gIa ie a a  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037947%8,DT?Ae@`@ r ٱK] AHRS rotation from veh to nav: [[-0.319673,0.945490,0.062113],[-0.946908,-0.321149,0.015161],[0.034282,-0.053969,0.997954]]HuԿsA? Tͯ?MԿ@x ?_?`ۡ =?ie@Iu^;Yy iiuAuAbD}VD}yr:%1=ٔ Q->9Y=Fy<E> Q 5%5?Q 9-5)BY)y-CQ I-@0EIb 8\m' xc)@a㞃@R /Ӱ~G?V!}?Zi bi j X o 0@sJW@e;B @Z ζh?1[?HeH?2i @:i HA"i /枊?*i Bi Bi 󢞊?i si i Ai a=> addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 17.883289 m, bearing: 23.840120 deg, lat: 36.779384 deg, lon: -121.859747 deg, deltaT: 0.504012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 17.88 m.h)h)*h1"h1 h1g1f9fYfadadajdiZdm ?ZZZZ/N@5 r )9 =Y ?i=v9)9=859i9iE񿉧AE(>,gT?A,Bȇ@B@Bp ٱBR^ JAHRS rotation from veh to nav: [[-0.315753,0.946788,0.062397],[-0.948220,-0.317243,0.015357],[0.034335,-0.054317,0.997933]]BHL5Կ`L?~?WMԿ@Vs?K?tϫ?iBȇ@IBx]^;@YR݂ByR Ii-Mb@Mb@Mb@)))) )9-Mb?MbX9ĿL7A`?Y-9aYa=eFyae<<Em>iQ 5u5m暙?Q 9u5m)mBY}&>Q E};y}r:@Q I}@m1EIm ;im ;m 5yɮADNOT Ignoring new targets: 17.88 m.hh*h"h hgfff݁BddjdZdz?Z&>Z&>Z@Zr:@DDAT read: Rx Time:05:55:30.7741 TRx dataTimestamp_ set to:1761544532.060701PDAT read: Bearing 206.4, 32.3 (Local) ~Local bearing/azimuth received: Bearing 206.4, 32.3 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2  DAT read: 05:55:30.7741 LVL= 19072, 17601, 28850, 32755, AGC= 51, IDX= 513,-0.19, 2.963,-2.330, 1.697,-2.934, PHS=-0.284, 0.649,-1.696, RAW= 6.7, 13.0, CAL= 6.8, 15.5, ROT= 143.2, -15.5 Ygot valid direction response: 05:55:30.7741 LVL= 19072, 17601, 28850, 32755, AGC= 51, IDX= 513,-0.19, 2.963,-2.330, 1.697,-2.934, PHS=-0.284, 0.649,-1.696, RAW= 6.7, 13.0, CAL= 6.8, 15.5, ROT= 143.2, -15.5 R#Rx 3: Read range and direction messages.^direction in FSK: [-0.771609,0.577237,0.267238]%Fpublishing direction and range infoy]ؚ発x?֚n?YJDp )3Ishi$&?ٿ|== c>)@IcZ⤇ؿ8%/J? )"gI@ic=checking for new query: numPingsReceived=3, elapsed TxPingTime=3.546588BM">BMCBM IBM؂BBMO =BIBMIDBM^;BM #Ei}p )y }?i}9)y顅 V5ii񿉧WSM checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777777bE (3jE ʨ3rE 0E  E E "E "E [:*E 0:VE (3ZE BE {AHRS rotation from veh to nav: [[-0.311662,0.948132,0.062554],[-0.949576,-0.313157,0.015453],[0.034241,-0.054583,0.997922]]6H`Fӿ@W? ?b Կ??U ?i6@I6^;6CLYTyZ IbDzVDz:y;%A=ٔg9Q->9 Y=5Fy9E`#<EM>Q 55>?Q 95U)BYy:@Q I@2EI6;i;5yɮAiiU?AJiARiAji?bnvs+X`$@V[@R]ؚ発x?֚n?Zi@bicjiU:,@H4#@f q @Z l?]rI?VO|?2iA:i1fA"iQ?*i3ōBiUBii@iiZAi̸>} addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504020 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.883467 m, bearing: 34.652142 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.504020 s, deltaX: 0.000177 m, approachRate: 0.000352 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.88 m.hh*h"h hgfffddjdZd`H?ZiZiZiZmŹ:@G ) q?iN9)顭x5ii~񿉧?(̿>#>nF> ޹>)h@I޹rmlǿw[ q? )5Ih@i޹checking for new query: numPingsReceived=4, elapsed TxPingTime=4.058719@ @@/@@@! ^A 4|E<I I O- >9K,O2U?A2Bυ@2ʌ@2. ٱ2_ :AHRS rotation from veh to nav: [[-0.307469,0.949516,0.062314],[-0.950943,-0.308965,0.015760],[0.034217,-0.054411,0.997932]]2H ӿnb??`nӿ`x#??۫?i2Bυ@I2f^;0YFByF!IIJp=)Jchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.281622 EE EEEE$EA"EE:*EEC:VEE4ZEAaU@aU@a]@a]@9aYi=mFyi}0?<E}>Q 55v?Q 95)BYy;@Q I@3EI:iF:{5yɮ.Aii37$U?AJiARiAjiN>b5sx&(@Q6@Ry+(?_S{?Zih@bi޹jܨ/@.a~U@0UZ@Z K ?2H?J͞??2i@:i|A"ifH?*iiBiBifH?iiBiAi1D>m addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.505168 s, deltaX: 0.200001 m, approachRate: 0.395909 m/s, rangeRepo size: 4  Added new target pos. range: 18.082172 m, bearing: 24.206006 deg, lat: 36.779387 deg, lon: -121.859738 deg, deltaT: 0.505168 s, deltaX: 0.198706 m, approachRate: 0.393346 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.08 m.h1h9*h9"hA hAgifqfyfyddjd@332@Zd@?ZZZZ3;@. ) ?i9)U5i qi}񿉧q41̿㭪>a>> )>)7@I)A- @AA- @AB5 ->B5 CB5 IB5 BB5 H =B1 B5 JDB5 ^;B5 #EI @I  @I @M /@I  ǿdN'WygA? p)wI7@i)] checking for new query: numPingsReceived=5, elapsed TxPingTime=4.555018ԁ ^A u<I ԩ I O >S, NU?AY ܂By IiMb@Mb@Mb@ 9MbP?'1ZĿ?Y:y"<@ @)@Y@bDVDy\%&=ٔQ->9Y=FyE>Q 5 5?Q 95g) BY$>Q E;y4@Q I@4EI:i:5yɔBɮ%dAchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.785567EE EE%E"E:*Eg:VE 4ZEBEb addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.502978 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.082762 m, bearing: 24.006644 deg, lat: 36.779387 deg, lon: -121.859738 deg, deltaT: 0.502978 s, deltaX: 0.000589 m, approachRate: 0.001172 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.08 m.hh*h"h hgfffҁBdQdYjdYZd]n?Z$>Z$>Zi@Z4@ )y }?i$9)5ii-񿉧15l] e ] z)] 4I] )\i] V>] ο] %>] ?>] Ƈ> ] >)] =@I] Y Y ] ]7wſB_zD? ] ;)] bWI] =@i] Y Y  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.058793ԡ ^A D-<I I O >HY,=iU?A-C@->@-ٱ-o[ =AHRS rotation from veh to nav: [[-0.293908,0.953886,0.060996],[-0.955249,-0.295361,0.016156],[0.033427,-0.053518,0.998007]]-Haҿ@;?:?f1ҿ+?K?f?i-C@I-x^;-CYuтBy} IbDVDy T% A=ٔZ:Q->9Y=FyAE=EM>QQ 5]5U?Q 95U)UBYy5@Q I@U6EIUo;iU;Uf5yɮAiirdU?AJitARitAjie>b\y&L,:)@mB @R^3?3`?Zi=@bijQS}/@E)y@~@Z}ݩ ڵ?[?P?2i@:i{A"iϑ泞?*izBi"BipY?iiiBiAi a> addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503873 s, deltaX: 0.099998 m, approachRate: 0.198460 m/s, rangeRepo size: 4  Added new target pos. range: 18.182116 m, bearing: 24.328053 deg, lat: 36.779386 deg, lon: -121.859738 deg, deltaT: 0.503873 s, deltaX: 0.099354 m, approachRate: 0.197180 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.18 m.hh*h"h hgfff d d jd L2@Zd`S?ZQZQZQZU 5@) >i 9)顭կ5ii񿉧=III)5checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289888E} E}E}#Ey"E}:*E}R:VE}3ZEya@a@a@a@19@ @@@a ^A Ԙ<I I O >`,MU?A ZDDAT read: Rx Time:05:55:32.7742 ^TRx dataTimestamp_ set to:1761544534.077734bPDAT read: Bearing 195.9, 41.0 (Local) b~Local bearing/azimuth received: Bearing 195.9, 41.0 (Local) jDAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1 ~DAT read: 05:55:32.7742 LVL= 19312, 15937, 26642, 31907, AGC= 52, IDX= 498, 0.22,-2.908,-2.517, 2.024,-2.681, PHS=-0.125, 0.208,-1.622, RAW= 20.2, 17.9, CAL= 18.7, 21.4, ROT= 131.3, -21.4 B)>BBBBF =BBB^;B$#EBBCBCBBK =Ct6Ygot valid direction response: 05:55:32.7742 LVL= 19312, 15937, 26642, 31907, AGC= 52, IDX= 498, 0.22,-2.908,-2.517, 2.024,-2.681, PHS=-0.125, 0.208,-1.622, RAW= 20.2, 17.9, CAL= 18.7, 21.4, ROT= 131.3, -21.4 R#Rx 7: Read range and direction messages.^direction in FSK: [-0.614498,0.699469,0.364877]Fpublishing direction and range infoyXZ<'㿾*A] b?>8^.$Z?YZAXZpKZA>Zh Z|)XIZiZT>ZϿZJ>Z>Z> Zt;>)Zܩ@IZt;XXZ;;p`Ŀ_zHá? Z߿)Z򠟾IZܩ@iZt;XXchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.579081YʂBy IAqiMb@Mb@Mb@ 9 rh?ʡEÿ9Y=FyE>Q 5 5]?Q 9 5)BY>Q E;y<@Q I@7EIW;i[;`5yɮA!iXiZU?AJiZARiZAjiZ>bZ9j;9&AvK)@KxMd@RZ<'㿾*A] b?>8^.$Z?ZiZܩ@biZt;jZqw/@ va@}mW%@ZZ8s?G?_#_?2iZ@:iZ{A"iZ-?*iZCGBiZ܍BiZϑ泞?iXiZBiZoAiZ>  addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.505014 s, deltaX: -0.099998 m, approachRate: -0.198011 m/s, rangeRepo size: 4  Added new target pos. range: 18.082684 m, bearing: 23.940402 deg, lat: 36.779386 deg, lon: -121.859738 deg, deltaT: 0.505014 s, deltaX: -0.099432 m, approachRate: -0.196890 m/s, posRepo size: 4 EDNOT Ignoring new targets: 18.08 m.hAhI*hI"hI hIgIfIfQfUفBdQdQjd]@332@Zd]w?Z>Z>ZP@ZȮ<@) >iD9)  5 ii~񿉧E EEE"E:*ErN:VEZEBE`i9)ii񿉧^=III@I @I@M5@IDDAT read: Rx Time:05:55:33.2744 TRx dataTimestamp_ set to:1761544534.580803PDAT read: Bearing 195.2, 40.4 (Local) ~Local bearing/azimuth received: Bearing 195.2, 40.4 (Local) DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1 DAT read: 05:55:33.2744 LVL= 18016, 14513, 23378, 28131, AGC= 51, IDX= 500,-0.15, 2.250, 2.646, 0.917, 2.502, PHS=-0.151, 0.189,-1.629, RAW= 19.9, 18.6, CAL= 18.5, 22.2, ROT= 131.5, -22.2 %Ygot valid direction response: 05:55:33.2744 LVL= 18016, 14513, 23378, 28131, AGC= 51, IDX= 500,-0.15, 2.250, 2.646, 0.917, 2.502, PHS=-0.151, 0.189,-1.629, RAW= 19.9, 18.6, CAL= 18.5, 22.2, ROT= 131.5, -22.2 -R#Rx 8: Read range and direction messages.5^direction in FSK: [-0.613500,0.693436,0.377841]5Fpublishing direction and range infoyˡ&伲0?g|.?YA`F8R[ m)3Ii7A>пӱ>6>MQ> a>) @IaƾIGl(?Wſ"6P%cb? d߿)EI @iaƾUchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.067026^Am=IyIO> ] checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297671E  E E E "E O:*E =:VE ZE a @a @a @a @9Y=Fy;E>Q 55t?Q 958)BY>Q E;yF@Q I@9EI ;i ;/5yɮAii+U?AJi ARi AjiU>b f`&#})@5:pD@Rˡ&伲0?g|.?Zi @biaƾj}//@5c @j7x@Z';? JDZ?5% addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503069 s, deltaX: 0.299999 m, approachRate: 0.596338 m/s, rangeRepo size: 4 5 Added new target pos. range: 18.380749 m, bearing: 24.709911 deg, lat: 36.779386 deg, lon: -121.859738 deg, deltaT: 0.503069 s, deltaX: 0.298065 m, approachRate: 0.592494 m/s, posRepo size: 4 5DNOT Ignoring new targets: 18.38 m.h9h9*h9"h9 h9g9f9fAfEBdAdAjdM2@ZdM`?DDAT read: Rx Time:05:55:33.7743 TRx dataTimestamp_ set to:1761544535.084619PDAT read: Bearing 195.8, 40.8 (Local) ~Local bearing/azimuth received: Bearing 195.8, 40.8 (Local) DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.1 BA<B&>BCB IB΂BBL =BBIDB]_;BT#EDAT read: 05:55:33.7743 LVL= 18352, 14609, 24226, 28483, AGC= 51, IDX= 499, 0.24, 2.751, 3.136, 1.410, 2.986, PHS=-0.134, 0.195,-1.621, RAW= 20.2, 18.2, CAL= 18.8, 21.8, ROT= 131.2, -21.8  Ygot valid direction response: 05:55:33.7743 LVL= 18352, 14609, 24226, 28483, AGC= 51, IDX= 499, 0.24, 2.751, 3.136, 1.410, 2.986, PHS=-0.134, 0.195,-1.621, RAW= 20.2, 18.2, CAL= 18.8, 21.8, ROT= 131.2, -21.8 R#Rx 9: Read range and direction messages.^direction in FSK: [-0.611584,0.698607,0.371368]Fpublishing direction and range infoy4B1㿣BZ?% ~}?YfAG9^ Co)IL7 iG>|ϿJ>>> >)C@I¾SDĿ s&]? ޿1)ȢIC@i¾=checking for new query: numPingsReceived=9, elapsed TxPingTime=6.570025Z>Z>Z*@Z F@) >ii9)顽B4ii񿉧 =II 9@  @ @ /@ @ >@ >a ^AM =IY Ii Ou >Ft,zU?Aɰ;B嬆@B@BٱB] ^AHRS rotation from veh to nav: [[-0.281639,0.957561,0.061286],[-0.958939,-0.283118,0.016772],[0.033411,-0.054046,0.997979]]BH`ҿ`W? `?ҿ,? I?@`r?iB嬆@IB^;BC d)fkAnchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.801806ftxxzkAizIzLLF|I|i| ~|)| kA'  E5 E5E1E1"E5:*E53:VE1ZE1BE5;aE2E5;aEJE5;aE:E5;aEI ')Iii)qIukAuq qqyyiyyiyy)y ځIځYYBy IbDVDܲy%}=ٔ-Q- ?9)Y)=-Fy)-p;E5?1Q 5=55p?Q 9E55.)5"BYAyE G@Q IE@1I5\;i5;55yqɮunAqiifjU?AJitARitAji\>bWE=&_g)@+@R4B1㿣BZ?% ~}?ZiC@bi¾j#׉gj/@H@7t˸@Zt? 6NI addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503816 s, deltaX: -0.200001 m, approachRate: -0.396972 m/s, rangeRepo size: 4 m Added new target pos. range: 18.181759 m, bearing: 24.564796 deg, lat: 36.779385 deg, lon: -121.859737 deg, deltaT: 0.503816 s, deltaX: -0.198990 m, approachRate: -0.394965 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.18 m.hh*h"h hgfffddjdL2@Zd ?ZZZZ G@-)) 5>i59)QUQiQi]񿉧Y])=IaIaqI@I @I@M0@IDDAT read: Rx Time:05:55:34.2744 TRx dataTimestamp_ set to:1761544535.588760PDAT read: Bearing 195.0, 40.2 (Local) ~Local bearing/azimuth received: Bearing 195.0, 40.2 (Local) DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1 M DAT read: 05:55:34.2744 LVL= 18672, 14881, 25378, 29875, AGC= 51, IDX= 501,-0.15, 1.716, 2.108, 0.396, 1.979, PHS=-0.161, 0.174,-1.627, RAW= 19.9, 19.0, CAL= 18.5, 22.7, ROT= 131.5, -22.7 U Ygot valid direction response: 05:55:34.2744 LVL= 18672, 14881, 25378, 29875, AGC= 51, IDX= 501,-0.15, 1.716, 2.108, 0.396, 1.979, PHS=-0.161, 0.174,-1.627, RAW= 19.9, 19.0, CAL= 18.5, 22.7, ROT= 131.5, -22.7 U T#Rx 10: Read range and direction messages.] ^direction in FSK: [-0.611292,0.690940,0.385906]] Fpublishing direction and range infoyw㴏㿎m.?J?YAH!:"c t)I/$i-2>Aпӱ>ɩ>MQ> b>) @Ibʾ՟C*ſb9Nɇ? ߿)圩I @ibʾԙ  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.098159^Am =Iy I O >z,zU?A9qYq=uFyy};E}>Q 55k?Q 95")&BYy&G@Q I@:EI;i;j5y”BɮQAii>U?AJi ARi Aji >b* ݿx&LLf)@'|^_@Rw㴏㿎m.?J?Zi @bibʾjlU0]/@~^IN@"h @Z#\k?f?p7?2iv@:i{A"iQ-?*idjBiBi~?iSi"BiʋAix>m addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504141 s, deltaX: 0.200001 m, approachRate: 0.396716 m/s, rangeRepo size: 4 } Added new target pos. range: 18.380468 m, bearing: 24.949768 deg, lat: 36.779385 deg, lon: -121.859736 deg, deltaT: 0.504141 s, deltaX: 0.198709 m, approachRate: 0.394155 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.38 m.hh*hԩ"h hgfffddjd2@ZdS?checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305843Z)Z)Z)Z-%&G@=C )9 E>iE{9EM EMEM"EI"EMg:*EM H:VEM(3ZEIaU@aU@aU@aU@)i額3ii~񿉧s.=II%9@) @)@54@9 ^A $=I I O > DDAT read: Rx Time:05:55:34.7743  TRx dataTimestamp_ set to:1761544536.092730 PDAT read: Bearing 195.8, 40.8 (Local) B ->B CB IB BB I =B B JDB _;B v#E ~Local bearing/azimuth received: Bearing 195.8, 40.8 (Local)  DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.1  DAT read: 05:55:34.7743 LVL= 18384, 15633, 25698, 31635, AGC= 50, IDX= 500, 0.29, 2.110, 2.487, 0.777, 2.349, PHS=-0.137, 0.183,-1.616, RAW= 20.4, 18.5, CAL= 19.0, 22.1, ROT= 131.0, -22.1  Ygot valid direction response: 05:55:34.7743 LVL= 18384, 15633, 25698, 31635, AGC= 50, IDX= 500, 0.29, 2.110, 2.487, 0.777, 2.349, PHS=-0.137, 0.183,-1.616, RAW= 20.4, 18.5, CAL= 19.0, 22.1, ROT= 131.0, -22.1  T#Rx 11: Read range and direction messages. ^direction in FSK: [-0.607857,0.699260,0.376224] Fpublishing direction and range infoy  ;fsGV`?*?Y fA G = bd {) 2I I i Zd;> ο K> MQ> ɩ> |>) T@I |ž g=ĿzGviE? z޿) I T@i |ž = checking for new query: numPingsReceived=11, elapsed TxPingTime=7.577711,eV?A0Fdž@F\@F$ ٱF] NAHRS rotation from veh to nav: [[-0.278511,0.958460,0.061528],[-0.959824,-0.280045,0.017714],[0.034208,-0.054123,0.997948]]FH ѿ??߶ @ѿ}#?࿃? 1?iFdž@IF^;FCԑYeBye IimAiMb@Mb@Mb@ 9V-?Zd;~jtx?Yh=y;A )@Y=@99bDEVDEyMuU%U=ٔU,Q-U>9QYY=]FyY]":;Ee>aQ 5m5eQ Eu;yuy9Q Iu@e<Echecking for new query: numPingsReceived=11, elapsed TxPingTime=7.809920Ie:ieu;e 5yɮAԹiYi]JV?AJi]tARi]tAji]~>b]xۯ&_m)@ U<\@R];fsGV`?*?Zi]T@bi]|žj] }^/@;Ѭ@e&i @Z]b?|;?_yF?2i]f@:i]zA"i]o?*i]¶Bi]Bi]F?iYi]Bi]4Ai]0Q>E EE/E"EI;*Eą:VEJ4ZEBEZM>ZM@ZMX@e$ )a e>ie9)amw4iiiim񿉧qus\3=IqIy@ @@4@@ gA@ ^A Vw$=I  I O% >Ӑ,_#V?A2ӆ@2΍@2}ٱ2#^ >AHRS rotation from veh to nav: [[-0.277066,0.958867,0.061709],[-0.960221,-0.278638,0.018340],[0.034781,-0.054173,0.997926]]2H`sѿ` ? b?!3ѿǒ?Ρ??i2ӆ@I2^;2C@Bs@i@I@@D FCkADDDHJhkAIJt)HiH)LILNL LPRjAPiPPiTVjA)T \I^ \)\```YbYf{Byf| IbDrVDrܲyz%z=ٔzzQ-~/?9|Y|=~Fy|O;E/?DDAT read: Rx Time:05:55:35.2745 TRx dataTimestamp_ set to:1761544536.596733%PDAT read: Bearing 195.0, 40.8 (Local) %~Local bearing/azimuth received: Bearing 195.0, 40.8 (Local) 5DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 ]DAT read: 05:55:35.2745 LVL= 16464, 16705, 26098, 30163, AGC= 49, IDX= 502,-0.07, 1.809, 2.171, 0.476, 2.057, PHS=-0.146, 0.159,-1.625, RAW= 20.8, 19.0, CAL= 19.3, 22.7, ROT= 130.7, -22.7 eYgot valid direction response: 05:55:35.2745 LVL= 16464, 16705, 26098, 30163, AGC= 49, IDX= 502,-0.07, 1.809, 2.171, 0.476, 2.057, PHS=-0.146, 0.159,-1.625, RAW= 20.8, 19.0, CAL= 19.3, 22.7, ROT= 130.7, -22.7 eT#Rx 12: Read range and direction messages.m^direction in FSK: [-0.601586,0.699408,0.385906]uFpublishing direction and range infoyƪy0@ņva?J?Y̔AP@AAe u)1Ii">п޹>ɩ>iw> b>)I@IbʾVÿs+? Qݿ)II@ibʾchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.077650Q 5 5a?Q 9 5),BY yb9Q I@I$:it:"5yɮ=Aii0&V?AJiדARiדAjiv>b><&=,)@27Ć@Rƪy0@ņva?J?ZiI@bibʾjc/@:J?n@^@Zu=e?ĭT?X\?2i@:i~A"ih?*i!aBiBiiijBiAi> addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.504003 s, deltaX: 0.300001 m, approachRate: 0.595237 m/s, rangeRepo size: 4  Added new target pos. range: 18.480165 m, bearing: 24.357202 deg, lat: 36.779383 deg, lon: -121.859736 deg, deltaT: 0.504003 s, deltaX: 0.298067 m, approachRate: 0.591399 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.48 m.hh*h"h hgfffddjd2@Zd?ZZZZX@!m})i ma>im9)quqiqi}񿉧y$8=II1@1 @1@=/@9Qchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.318070D =D %=E-  E- E- !E) "E- C:*E- =:VE- c3ZE) a5 @a5 @a5 @a= @^A] .=Ia y Iy O >,1=V?A,:߆@:ڍ@:ٱ:N^ BAHRS rotation from veh to nav: [[-0.275662,0.959259,0.061911],[-0.960606,-0.277269,0.018898],[0.035294,-0.054263,0.997903]]:H@tѿ@??ڲ?IȾѿZ??@Zȫ?i:߆@I:^;:CY5lBy5k IiMb@Mb@Mb@ 9RQ?S㥻Mb?Y=y/ݽ< =@)Y@bD VD2y%==ٔQ->9Y=Fy&\;E>Q 55]?Q 95)0BY>Q E;y,Q I@=EI:i:#5yɮA=DNOT Ignoring new targets: 18.48 m.h9h9*h9"hA hAgAfAfAfM|Bd d jd Zd ?ZM>ZM>ZM@ZM+We@])Y ]>ie9)ae3aiaim񿉧im;==IqIqԉA%AAA%AAUDDAT read: Rx Time:05:55:35.7745 ]TRx dataTimestamp_ set to:1761544537.105815ePDAT read: Bearing 195.3, 41.5 (Local) m~Local bearing/azimuth received: Bearing 195.3, 41.5 (Local) DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 DAT read: 05:55:35.7745 LVL= 15728, 15473, 24114, 28259, AGC= 49, IDX= 501, 0.50, 1.725, 2.064, 0.373, 1.951, PHS=-0.124, 0.158,-1.622, RAW= 21.5, 18.7, CAL= 19.9, 22.3, ROT= 130.1, -22.3 B54>B5CB5 IB5BB5D =B1B5KDB5_;B5z#EYgot valid direction response: 05:55:35.7745 LVL= 15728, 15473, 24114, 28259, AGC= 49, IDX= 501, 0.50, 1.725, 2.064, 0.373, 1.951, PHS=-0.124, 0.158,-1.622, RAW= 21.5, 18.7, CAL= 19.9, 22.3, ROT= 130.1, -22.3 T#Rx 13: Read range and direction messages.^direction in FSK: [-0.595950,0.707713,0.379456]Fpublishing direction and range infoyQU‹3@?NkI?YQQUp=Uq<U2^ Ucn)QIUiU!>UϿU7 >U>Uӱ> USF>)UR@IUSFǾQQ9@ @@@Uץ-H`)n 넉? Uۿ)UAIUR@iUSFǾQQEchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.601854Ա^A% ;6=I9 II Oe >  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.821728bE3jE˶4rE1E5  E5 vE5 $E1 "E5 %:*E5 :VE5 4ZE1 BE5 ;aM 2E5 ;aM ",0WV?AJEmh;a:Em h;a2 @2@2ٱ2$s] >AHRS rotation from veh to nav: [[-0.274567,0.959580,0.061807],[-0.960898,-0.276208,0.019619],[0.035898,-0.054004,0.997895]]2H ѿ ?4?`bѿ ?0a?@` ?i2 @I2^;2C`Y~bBy~^ IbD  VD 2yE`H%EE=ٔU彺Q-}>9Y=Fy+;E>Q 55X?Q 959)4BYy,Q I@>EIO;iV:%5y!ɮ%A!iiFV?AJiؓARiؓAjim>bj&"[e(*@ @R‹3@?NkI?ZiR@biSFǾjpK<0@x?}n@>@Z˅Ϸ?'iЊ?W addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.509082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 18.480526 m, bearing: 23.942786 deg, lat: 36.779383 deg, lon: -121.859736 deg, deltaT: 0.509082 s, deltaX: 0.000360 m, approachRate: 0.000708 m/s, posRepo size: 4  DNOT Ignoring new targets: 18.48 m.h h *h"h hgfffddjdZd%Y?ZaZaZaZehe@) >>iA9)顝8s4ii~񿉧@=III)9@ @@@@>@8>eDDAT read: Rx Time:05:55:36.2745 mTRx dataTimestamp_ set to:1761544537.609165uPDAT read: Bearing 195.1, 41.7 (Local) u~Local bearing/azimuth received: Bearing 195.1, 41.7 (Local) DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 DAT read: 05:55:36.2745 LVL= 15904, 14289, 22562, 25011, AGC= 49, IDX= 502, 0.08, 1.440, 1.763, 0.075, 1.661, PHS=-0.119, 0.147,-1.629, RAW= 22.0, 18.8, CAL= 20.4, 22.4, ROT= 129.6, -22.4 Ygot valid direction response: 05:55:36.2745 LVL= 15904, 14289, 22562, 25011, AGC= 49, IDX= 502, 0.08, 1.440, 1.763, 0.075, 1.661, PHS=-0.119, 0.147,-1.629, RAW= 22.0, 18.8, CAL= 20.4, 22.4, ROT= 129.6, -22.4 T#Rx 14: Read range and direction messages.^direction in FSK: [-0.589328,0.712375,0.381070]Fpublishing direction and range infoyaeY%TS?tc?Yaae >e7e"X ea)aIeFie+>eпe >e>eK> e+>)e@Ie+Ⱦaaeu\ ~lOΛ>m? etڿ)eWIe@ie+Ⱦaachecking for new query: numPingsReceived=14, elapsed TxPingTime=9.090592I ^A 8=I I O >ś,_qV?AYv^ByvY IbD~VD~N2y-䬼%-^=ٔ-Q-->91Y1=5Fy1=E=>AQ 5M5E U?Q 9M5Eɓ)E7BYIyIQ IM@E?EIE :iE:E<'5yYɮ]#AYiifV?AJiRiji >bO=%qT*@3e+@RY%TS?tc?Zi@bi+ȾjdQ0@O@Aس@Z$jʬa? ; ?ڣe?2i@:iwA"iA?*iu(Bi8BiƝ?i¶i8BiAi9> addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503350 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.480526 m, bearing: 23.453940 deg, lat: 36.779383 deg, lon: -121.859736 deg, deltaT: 0.503350 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.48 m.hh*h"h hgfffddjdZdV?ZZZZ)  B>i 9)  4 i i񿉧@=IIchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.328449DzD@AE EE&E"E:*EC:VE4ZEa@a@a@a@Ia@ @@0@E19AYE!Aq^A% C;=I1 Ii O} >B= 5>B= CB= s IB= sBB= A =B9 B9 B= s_;B= l#Em DDAT read: Rx Time:05:55:36.7745 m TRx dataTimestamp_ set to:1761544538.112676} PDAT read: Bearing 194.5, 41.6 (Local) } ~Local bearing/azimuth received: Bearing 194.5, 41.6 (Local)  DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 ԙ  DAT read: 05:55:36.7745 LVL= 16368, 15793, 25250, 29267, AGC= 48, IDX= 502,-0.19,-1.667,-1.355,-3.006,-1.438, PHS=-0.127, 0.127,-1.613, RAW= 22.2, 19.3, CAL= 20.6, 23.0, ROT= 129.4, -23.0  Ygot valid direction response: 05:55:36.7745 LVL= 16368, 15793, 25250, 29267, AGC= 48, IDX= 502,-0.19,-1.667,-1.355,-3.006,-1.438, PHS=-0.127, 0.127,-1.613, RAW= 22.2, 19.3, CAL= 20.6, 23.0, ROT= 129.4, -23.0  T#Rx 15: Read range and direction messages. ^direction in FSK: [-0.584272,0.711305,0.390731] Fpublishing direction and range infoyi m @s1\5?dK?Yi i m ?m =m b m Sr)m 0Im J im J >m vοm a>m iw>m X> m >)m @Im ;i i m 4RR@np(? m %iڿ)m 񄬾Im @im ;i i  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.594154,e7V?A@d@}ٱ~\ AHRS rotation from veh to nav: [[-0.272731,0.960095,0.061935],[-0.961366,-0.274458,0.021170],[0.037323,-0.053769,0.997856]]H mtѿ?ﵯ?ැѿ}? ?o?i@I\W^;yYQByI Ii]Mb@Mb@Mb@YYYY Y9]Mb?|?5^:v?Y]>y]ҽ]T9Y=Fy};E>Q 55O?Q 95)Q E ;y !Q I @@EI;i;_)5yBɮTAEii6V?AJiRijic>b=o%;nJ*@<4C@R@s1\5?dK?Zi@bi;jLN0@}P̳@1,a@Z?©T?rN?2i@:iA"i%?*iBiBii+Dii$Ai`s>ԡ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503511 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.480640 m, bearing: 23.388485 deg, lat: 36.779383 deg, lon: -121.859738 deg, deltaT: 0.503511 s, deltaX: 0.000114 m, approachRate: 0.000227 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.48 m.hh*h"h hgfff[BddjdZd?Z(>Z(>Za@Z\p@M})I M>iM[9)IU.4QiQi]񿉧Y]|9G=IYIachecking for new query: numPingsReceived=15, elapsed TxPingTime=9.829960E  E E 'E "E C:*E |;:VE '4ZE BE $;a2E &;aJE ;a:E ;a9@ @ @ /@  ^A9 II Ii Ou >֨,V?AY ^By Y I-DDAT read: Rx Time:05:55:37.2746 -TRx dataTimestamp_ set to:1761544538.6168165PDAT read: Bearing 195.3, 42.5 (Local) =~Local bearing/azimuth received: Bearing 195.3, 42.5 (Local) MDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 mDAT read: 05:55:37.2746 LVL= 17008, 16161, 25922, 29139, AGC= 48, IDX= 503, 0.43, 1.508, 1.800, 0.135, 1.704, PHS=-0.095, 0.141,-1.614, RAW= 22.9, 18.6, CAL= 21.2, 22.1, ROT= 128.8, -22.1 uYgot valid direction response: 05:55:37.2746 LVL= 17008, 16161, 25922, 29139, AGC= 48, IDX= 503, 0.43, 1.508, 1.800, 0.135, 1.704, PHS=-0.095, 0.141,-1.614, RAW= 22.9, 18.6, CAL= 21.2, 22.1, ROT= 128.8, -22.1 }T#Rx 16: Read range and direction messages.^direction in FSK: [-0.580566,0.722079,0.376224]Fpublishing direction and range infoy)-1K*E?*?Y-fA)-pB-!?-Be -q))I-\½i-Nb>-ο->-6>-q> -|>)-@I-|ž))-yNN1tDb? -ؿ)-I-@i-|ž))checking for new query: numPingsReceived=16, elapsed TxPingTime=10.097834bDVD1y=%l=ٔQ-?9Y=FyE?Q 55K?Q 9 5ە)ABY y Q I @AEI:iN:*5yɮAi)i-yV?AJi-oARi-oAji->b-JKIp%-*@N9J@R-1K*E?*?Zi-@bi-|žj-bW0@Zȸhx}@@Z-6??}N'?2i-@:i-A"i-߬?*i-tBi-"Bi-A?i-u(i)i-Ai-f>% addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504140 s, deltaX: 0.199999 m, approachRate: 0.396713 m/s, rangeRepo size: 4 U Added new target pos. range: 18.679356 m, bearing: 22.808087 deg, lat: 36.779383 deg, lon: -121.859739 deg, deltaT: 0.504140 s, deltaX: 0.198715 m, approachRate: 0.394167 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 18.68 m.hYhY*hY"hY hYgafafafadidijd2@Zd`?ZZZZQ)Q U?iUU9)Y](5YiYi AE(\F=IIIQ9@ @@?0@1checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333838E=  E= uE= "E9 "E= :*E= :VE= (3ZE9 aE @aE @aE @aE @^Ae B=y I I O >,vV?AZ@Z@ZÌٱZ ] bAHRS rotation from veh to nav: [[-0.271714,0.960348,0.062476],[-0.961590,-0.273546,0.022755],[0.038943,-0.053894,0.997787]]ZHcѿ+?? X@ŁѿM?M? ?iZ@IZ.]^;ZCYUByN I)iMb@Mb@Mb@ 9Dl?+η{Gz?YO >yvף<A &@)@Y@bDVDky&%<=ٔ(tQ->9Y=Fy;E>Q 55G?Q 95)GBY+>Q E;yQ I@BEI:i:,5y ɮ 2A DNOT Ignoring new targets: 18.68 m.hh*h"h hgfffeBdBA<BBCB` IBdBBD =BBBo_;Bi#EBõCBõCBBD =BF =C6djdZd`?-DDAT read: Rx Time:05:55:37.7746 5TRx dataTimestamp_ set to:1761544539.120877=PDAT read: Bearing 195.2, 42.4 (Local) E~Local bearing/azimuth received: Bearing 195.2, 42.4 (Local) UDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 uDAT read: 05:55:37.7746 LVL= 16000, 14161, 22754, 26403, AGC= 48, IDX= 503, 0.13,-0.079, 0.210,-1.447, 0.120, PHS=-0.097, 0.135,-1.611, RAW= 23.0, 18.7, CAL= 21.2, 22.2, ROT= 128.8, -22.2 }Ygot valid direction response: 05:55:37.7746 LVL= 16000, 14161, 22754, 26403, AGC= 48, IDX= 503, 0.13,-0.079, 0.210,-1.447, 0.120, PHS=-0.097, 0.135,-1.611, RAW= 23.0, 18.7, CAL= 21.2, 22.2, ROT= 128.8, -22.2 T#Rx 17: Read range and direction messages.^direction in FSK: [-0.580154,0.721566,0.377841]Fpublishing direction and range infoy15WD݌?g|.?Y115>5Q75X 5#g)1I5ƽi5q= >5?5ο5>5>1 5a>)1I5aƾ115T᩽Ht? 5ؿ)5+I1i5aƾ11checking for new query: numPingsReceived=17, elapsed TxPingTime=10.606036Z+>Z+>Z@ZG,v@Ì) >i9)75ii~񿉧KJ=IIY@ @@4@ԉ^A B=I I O >Ա  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.837633E  E E #E "E a:*E F:VE 3ZE BE V;a% 2E W;a% JE ;a% :E ;a- !赕,TV?AY`By\ IbD]VD]:2ymb=%mQ=ԑٔQ->9Y=FyE>Q 55B?Q 952)NBYyQ I@CEI#bmky%z<*@TT.;@RmWD݌?g|.?ZiibimaƾjmIAQT0@O@\5@ZmoRj? "|?E4^1?2im@:imA"im8𢞊?*imQBim*Biiimim-BimߍAimt:> addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.679279 m, bearing: 22.889532 deg, lat: 36.779383 deg, lon: -121.859740 deg, deltaT: 0.504061 s, deltaX: -0.000076 m, approachRate: -0.000151 m/s, posRepo size: 4  DNOT Ignoring new targets: 18.68 m.h h *h "h  h gfffddjdZd?ZYZYZYZY) >i9)顽SW5ii񿉧EhͿEb>E[>Ef> E+>)E)@IE+ȾAAEa!_&#ߴ? E/Uٿ)EIE)@iE+ȾAA checking for new query: numPingsReceived=18, elapsed TxPingTime=11.116228 ^A G=I I O  7,MV?A6 @6n@6k$ٱ6t] BAHRS rotation from veh to nav: [[-0.270232,0.960741,0.062864],[-0.961959,-0.272142,0.023963],[0.040130,-0.053996,0.997734]]6H zKѿc?@?`]`jѿى??lp?i6 @I6d^;6CY^fBybc IIb4=)`f=f=bDjVDjk2y~)=%~f=ٔ~_Q-?9Y=Fy ُ;E ?Q 558??Q 95-)SBYyQ I@DEI ;i&;05y)ɮ-A)iqiuV?AJiu:ARiu:Ajiu5>bucg.'%XR4*@2f@RuK eK5?tc?Ziu)@biu+Ⱦju]0@V@Zu0M4?խ;?b[?2iuR@:iuA"iuMQJ?*iuBiuXBiuMQJ?iuiu8BiumAiu4>} addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504188 s, deltaX: 0.100000 m, approachRate: 0.198339 m/s, rangeRepo size: 4  Added new target pos. range: 18.778639 m, bearing: 23.187682 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.504188 s, deltaX: 0.099360 m, approachRate: 0.197068 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.78 m.hh*h"h hgfffddjd`f2@Zd"?ZZZZCv@Uk$)Y ]?i]?9)Y]s5Yiaie񿉧am^O=IiIichecking for new query: numPingsReceived=18, elapsed TxPingTime=11.342878E EwEE"E:*E:VEZEa@a@a@a@9@ @@/@!^AG=II1O=>I B 3>B B Z IB ^BB B =B B B j_;B g#EU DDAT read: Rx Time:05:55:38.7748 U TRx dataTimestamp_ set to:1761544540.128705] PDAT read: Bearing 195.0, 41.9 (Local) e ~Local bearing/azimuth received: Bearing 195.0, 41.9 (Local) u DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.2  DAT read: 05:55:38.7748 LVL= 18704, 13617, 24562, 29571, AGC= 49, IDX= 505,-0.29,-1.416,-1.115,-2.758,-1.199, PHS=-0.114, 0.130,-1.603, RAW= 22.5, 19.1, CAL= 20.8, 22.7, ROT= 129.2, -22.7  Ygot valid direction response: 05:55:38.7748 LVL= 18704, 13617, 24562, 29571, AGC= 49, IDX= 505,-0.29,-1.416,-1.115,-2.758,-1.199, PHS=-0.114, 0.130,-1.603, RAW= 22.5, 19.1, CAL= 20.8, 22.7, ROT= 129.2, -22.7  T#Rx 19: Read range and direction messages. ^direction in FSK: [-0.583071,0.714916,0.385906] Fpublishing direction and range infoyQ U  Α 8?J?YQ Q U IU 15U _ U s)U 1IU xiU >U /ͿU >U 㭪>U ޹> U b>)U ZQ@IU bʾQ Q U 1|IU ZQ@iU bʾQ Q  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.609793•,~ W?Aɰp;b4@b@b&ٱb\ AHRS rotation from veh to nav: [[-0.269569,0.960926,0.062875],[-0.962122,-0.271511,0.024559],[0.040670,-0.053873,0.997719]]bH @ѿ??p`ѿ%?`Ҥ?@;P?ib4@Ib.Y^;bCY-uBy-u IiMb@Mb@Mb@ 9)\(?B`"۹ rh?YG=yνC =xA @ =@)@Y@IbDVDy]u=%])=ٔeŒQ-e>9aYa=mFyi:E>Q 55:?Q 95+)^BY>Q E;yj%Q I@EEI:i:(25yɮ3Aii<W?AJiRiji>a>b1> %*@@R Α 8?J?ZiZQ@bibʾjN0@cE@'/?@Zp?W8Y3?D'?2i(@:ivA"i)U?*iK@GBiBiiiXBiAic>e addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503640 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.778652 m, bearing: 23.430824 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.503640 s, deltaX: 0.000013 m, approachRate: 0.000027 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.78 m.hh*h"h hgfffBddjdZd?Z >Z >Z K@Z |l@E&)A E>iEM9)AE5IiIiM񿉧QUfQ=IQIQchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.846642E E{E$E"Ea:*E5":VE4ZEBEa2EaJE;z;a:E&$ɕ,KW&W?A:@:@:[(ٱ:U3\@ JAHRS rotation from veh to nav: [[-0.268800,0.961147,0.062792],[-0.962319,-0.270765,0.025063],[0.041091,-0.053689,0.997712]]:H4ѿ?@?Q 7Tѿ;? ?}A?i:@I:u^;8YRvByRv IbDZVDZ1yb-;%b=ٔbQ-f ?9dYd=fFydj%;Ej?l DDAT read: Rx Time:05:55:39.2749  TRx dataTimestamp_ set to:1761544540.632845PDAT read: Bearing 195.9, 42.5 (Local) ~Local bearing/azimuth received: Bearing 195.9, 42.5 (Local) -DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.2 UDAT read: 05:55:39.2749 LVL= 18864, 13985, 25010, 30179, AGC= 48, IDX= 506, 0.36, 1.990, 2.284, 0.622, 2.182, PHS=-0.090, 0.147,-1.604, RAW= 22.8, 18.4, CAL= 21.1, 21.9, ROT= 128.9, -21.9 ]Ygot valid direction response: 05:55:39.2749 LVL= 18864, 13985, 25010, 30179, AGC= 48, IDX= 506, 0.36, 1.990, 2.284, 0.622, 2.182, PHS=-0.090, 0.147,-1.604, RAW= 22.8, 18.4, CAL= 21.1, 21.9, ROT= 128.9, -21.9 ]T#Rx 20: Read range and direction messages.e^direction in FSK: [-0.582647,0.722082,0.372988]eFpublishing direction and range infoy  , ⿒*L?0?Y ̘A  I 6 a u) 0I Qi +> OͿ %> l> )> E>) @I Eþ  Q 5}5n6?Q 9}5nϚ)neBYyy}_%Q I@nFEInb 9Z1<&' h+@b4P@R , ⿒*L?0?Zi @bi Eþj ?a0@n@d,}@Z 7.kS?;?LG3?2i p@:i A"i /?*i Bi 4Bi 8𢞊?i i 4Bi iAi \> addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504140 s, deltaX: 0.200001 m, approachRate: 0.396717 m/s, rangeRepo size: 4 } Added new target pos. range: 18.977369 m, bearing: 23.194570 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.504140 s, deltaX: 0.198717 m, approachRate: 0.394170 m/s, posRepo size: 4 }DNOT Ignoring new targets: 18.98 m.hyh*h"h hgfffddjd3@Zd?ZYZYZYZ]l@[() i>i9)顥5iԱi~񿉧$T=II9@ @@/@checking for new query: numPingsReceived=20, elapsed TxPingTime=12.349763E EE"E"E:*E.:VE(3ZEa@a@a@a@^A dO=I1 I Ia O >BЕ,?@W?AYBy IAi=Mb@Mb@Mb@9999 99=Zd;O?X9vˡE?Y=j=y=='==A= @ 9)=@9Y=(@bDUVDUyeP=%e2=ٔeQ-e>9iYi=mFyiuEu>yQ 55}1?Q 95}z)}qBY>Q E;yp0Q I@}GEI}@;i}?;}55yɮADNOT Ignoring new targets: 18.98 m.hh*h"h hgfffBddjdZd ٱ?Z>Z>ZF۫@Zza@Bu->BuCBus IBusBBuI =BqBuJDBuS_;BuU#E)  >i9)页5ii񿉧ʩS=IIDDAT read: Rx Time:05:55:39.7749 TRx dataTimestamp_ set to:1761544541.136818PDAT read: Bearing 195.5, 42.4 (Local) %~Local bearing/azimuth received: Bearing 195.5, 42.4 (Local) 5DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.2 ]DAT read: 05:55:39.7749 LVL= 15920, 15169, 24354, 28147, AGC= 48, IDX= 506, 0.11, 0.739, 1.030,-0.639, 0.938, PHS=-0.097, 0.137,-1.621, RAW= 23.0, 18.7, CAL= 21.2, 22.2, ROT= 128.8, -22.2 aeYgot valid direction response: 05:55:39.7749 LVL= 15920, 15169, 24354, 28147, AGC= 48, IDX= 506, 0.11, 0.739, 1.030,-0.639, 0.938, PHS=-0.097, 0.137,-1.621, RAW= 23.0, 18.7, CAL= 21.2, 22.2, ROT= 128.8, -22.2 mT#Rx 21: Read range and direction messages.u^direction in FSK: [-0.580154,0.721566,0.377841]uFpublishing direction and range infoyWD݌?g|.?Y0>A;"_ m)IƽiI >|Ͽ>>q> a>)@IaƾAKF? &ė?  ؿ)馾I@iaƾchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.618865Q@Q @Y@]/@Yԑ^Ay I I O >Թ  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.853722E  E E %E "E 7:*E F:VE 4ZE BE ;a 2E ;a JE ;a :E ;a =;֕,"ZW?A8:@ԑ_.@1)@][)ٱ[ -AHRS rotation from veh to nav: [[-0.266369,0.961827,0.062736],[-0.962984,-0.268351,0.025472],[0.041335,-0.053629,0.997705]]H`2 ѿI??` ,ѿ@W?`)?Lu 3?i_.@I;^;CY=By= IbDU VDU2ye|V=%eJ=ٔeQ-e>9iYi=mFyiue;Eu>yQ 55},?Q 95})}{BYyH0Q I@}HEI} ;i}: ;}L75yBɮ&AEi9i=HW?AJi=ЗARi=ЗAji=>b=A,%&b+@^T@R=WD݌?g|.?Zi=@bi=aƾj=M)/0@.p@ ր@Z=_u?\?tNl?2i=@:i=lA"i=dğ?*i=\XBi=~Bi=MQJ?i9i=XBi=_Ai=F> addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503973 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.976892 m, bearing: 23.245415 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.503973 s, deltaX: -0.000477 m, approachRate: -0.000946 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.98 m.hh*h"h hgfffd d jd Zd ?Z)Z)Z)Z-a@E][))A E>iE9)IMe5IiIiU񿉧QU5]=IQIYԹ@ @@0@DDAT read: Rx Time:05:55:40.2750 TRx dataTimestamp_ set to:1761544541.640673%PDAT read: Bearing 195.5, 41.8 (Local) -~Local bearing/azimuth received: Bearing 195.5, 41.8 (Local) =DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.2 ]DAT read: 05:55:40.2750 LVL= 18240, 14001, 24050, 30195, AGC= 48, IDX= 507,-0.07,-0.856,-0.545,-2.194,-0.639, PHS=-0.115, 0.139,-1.599, RAW= 22.2, 18.9, CAL= 20.6, 22.5, ROT= 129.4, -22.5 eYgot valid direction response: 05:55:40.2750 LVL= 18240, 14001, 24050, 30195, AGC= 48, IDX= 507,-0.07,-0.856,-0.545,-2.194,-0.639, PHS=-0.115, 0.139,-1.599, RAW= 22.2, 18.9, CAL= 20.6, 22.5, ROT= 129.4, -22.5 mT#Rx 22: Read range and direction messages.u^direction in FSK: [-0.586414,0.713913,0.382683]uFpublishing direction and range infoy N_?AՅ}?YA@G6] u)IiV>̿a>[>X> >)@Iɾ4a&m? nڿ)慨I@iɾchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.121887^AE QO=IQ Ii O} > Caܕ,sW?A2?@2:@2<(ٱ2/b] :AHRS rotation from veh to nav: [[-0.264306,0.962383,0.062944],[-0.963564,-0.266282,0.025251],[0.041062,-0.053977,0.997698]]2H`cп?? ѿdۙ?? ڢ#?i2?@I2!g^;2CYNByN IbDVVDV:yz=%ze=ٔ~I:Q-~>9|Y=FyJ;E> Q 55 (?Q 95 ) BYy"0Q I@ IEI m ;i ; 85y!ɮ%A)iQiUiW?AJiUARiUAjiUf>bUB6_&q<+@M`^3@RU N_?AՅ}?ZiU@biUɾjUn/ͅ0@4X@0iT [@ZUf?o?Kxm?2iU@:iU.A"iUx"?*iU[?BiUÎBiUdğ?iUK@GiU~BiUAiUw> addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503855 s, deltaX: 0.100000 m, approachRate: 0.198471 m/s, rangeRepo size: 4 - Added new target pos. range: 19.076250 m, bearing: 23.943648 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.503855 s, deltaX: 0.099358 m, approachRate: 0.197195 m/s, posRepo size: 4 -DNOT Ignoring new targets: 19.08 m.h)h)*h)"h1 h1g1f1f9f9d9d9jd=@333@ZdEi9)額5ii񿉧P3d=IIE EE&E"E%:*E,:VE4ZEaE@aE@aE@aM@Q@Y @Y@e4@a1Q^A&V=IIO>Bm (>Bm CBm IBm BBm J =Bi Bi Bm _;Bm k#E- DDAT read: Rx Time:05:55:40.7750 5 TRx dataTimestamp_ set to:1761544542.144724= PDAT read: Bearing 195.1, 41.7 (Local) = ~Local bearing/azimuth received: Bearing 195.1, 41.7 (Local) U DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.2 u DAT read: 05:55:40.7750 LVL= 16368, 14785, 22418, 26771, AGC= 48, IDX= 507,-0.30,-3.094,-2.786, 1.851,-2.868, PHS=-0.124, 0.128,-1.607, RAW= 22.3, 19.2, CAL= 20.6, 22.9, ROT= 129.4, -22.9 } Ygot valid direction response: 05:55:40.7750 LVL= 16368, 14785, 22418, 26771, AGC= 48, IDX= 507,-0.30,-3.094,-2.786, 1.851,-2.868, PHS=-0.124, 0.128,-1.607, RAW= 22.3, 19.2, CAL= 20.6, 22.9, ROT= 129.4, -22.9  T#Rx 23: Read range and direction messages. ^direction in FSK: [-0.584704,0.711831,0.389124] Fpublishing direction and range infoy1 5 p:⿤ Q?i+h?Y1 1 5 ?5 95 W 5 h)1 I5 i5 o>5 -Ϳ5 SF>5 >1 5 >)1 I5 ̾1 1 5 .>'Q9F,7? 5 kQڿ)5 dI1 i5 ̾1 1  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.625727y H,TƍW?A2vQ@2HL@2&ٱ2s] :AHRS rotation from veh to nav: [[-0.262249,0.962954,0.062806],[-0.964143,-0.264204,0.025010],[0.040677,-0.053995,0.997712]]2Hп`??`Aп@=?`Ӥ?`.`B?i2vQ@I2X^;2CY]Bye Iu=ua=QiMb@Mb@Mb@ 9kt?p= ףMb?Y 0=y@=A7@ 5A)@Y@ bDVD:2yf;=%1=ٔGZ:Q->9Y=Fym;E>Q 55#?Q 95)BY>>Q E;y7FQ I@JEI:i/::5y1ɮ5A1iaie(CW?AJieARieAjie>be9N&bh(+@@Rep:⿤ Q?i+h?Ziabie̾jeNW쫘w0@sPwdh@,T@ZenԗN??Yl?%l?2ieC@:ieA"ie˴@?*ienJBieBiex"?ieieBieAie##> addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.076052 m, bearing: 24.058884 deg, lat: 36.779383 deg, lon: -121.859741 deg, deltaT: 0.504051 s, deltaX: -0.000198 m, approachRate: -0.000394 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.08 m.hh*h"h hgfffԁBd)d)jd)Zd-`y?Zm>>Zm>>Zm@ZmK@&) >i9)顭5ii~񿉧Xk=IIchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.862513ԑbEMJ4jEIrEM+/E EE%E"E:*E=:VE 4ZEBE:8 r,W?A ɰ";>e@>|`@>#ٱ>\ FAHRS rotation from veh to nav: [[-0.259878,0.963634,0.062229],[-0.964813,-0.261784,0.024586],[0.039982,-0.053650,0.997759]]>Hסп?@sܯ?`п-? x?`w`?i>e@I>q^;>CYNByR IbDZVDZ:yb=%bq=ٔbx;Q-f?9dYd=fFydj;Ej?vDDAT read: Rx Time:05:55:41.2750 vTRx dataTimestamp_ set to:1761544542.648816zPDAT read: Bearing 196.3, 42.3 (Local) ~~Local bearing/azimuth received: Bearing 196.3, 42.3 (Local)  DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 -DAT read: 05:55:41.2750 LVL= 18864, 14305, 26482, 31283, AGC= 50, IDX= 508, 0.29, 0.432, 0.738,-0.934, 0.631, PHS=-0.097, 0.152,-1.609, RAW= 22.5, 18.4, CAL= 20.8, 21.9, ROT= 129.2, -21.9 5Ygot valid direction response: 05:55:41.2750 LVL= 18864, 14305, 26482, 31283, AGC= 50, IDX= 508, 0.29, 0.432, 0.738,-0.934, 0.631, PHS=-0.097, 0.152,-1.609, RAW= 22.5, 18.4, CAL= 20.8, 21.9, ROT= 129.2, -21.9 =T#Rx 24: Read range and direction messages.E^direction in FSK: [-0.586420,0.719022,0.372988]EFpublishing direction and range infoytvr X9?0?Yv3AtvIv7vrg v3z)v2Ivƽiv>vͿv>vl>v޹> vE>)vZQ@IvEþttvou}GY6? vٿ)vǃIvZQ@ivEþttchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.140086lQ 55n?Q 95n)nBYy% FQ I%@nKEIn4:in:n[<5y1ɮ=IA9itiv4W?AJiv2ARiv2Ajiv/~>bvvc/&:ʷ+@Ta{@Rvr X9?0?ԱZivZQ@bivEþjvRcb0@?+@8&@Zv͚?xo%?%hD,?2iv@:ivA"ivFj?*ivBivBivdğ?iv[?ivBivAiv>  addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504092 s, deltaX: 0.199999 m, approachRate: 0.396751 m/s, rangeRepo size: 4 e Added new target pos. range: 19.274759 m, bearing: 24.003004 deg, lat: 36.779384 deg, lon: -121.859739 deg, deltaT: 0.504092 s, deltaX: 0.198708 m, approachRate: 0.394189 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.27 m.hh*h"h hgfffIdIdIjdM`ff3@ZdU 9?ZZZZGL@#) >i%9))-5)i)iM񿉧IMts=IIIQ9@ @@4@checking for new query: numPingsReceived=24, elapsed TxPingTime=14.365934DD<E EE!E"E%:*E1]:VEc3 ZEa @a @a @a% @^A c=I I! O) M j>M ,C  I ja,W?A>b#99Y=FyQ;E>Q 55B $>B CB  IB BB L =B B IDB _;B #Eq?Q 9E5Μ)BQ AE+:YAQ EE;yEEQ IE@LEI& >5yIɮUDAQDDAT read: Rx Time:05:55:41.7750 TRx dataTimestamp_ set to:1761544543.152638PDAT read: Bearing 195.3, 42.2 (Local) ~Local bearing/azimuth received: Bearing 195.3, 42.2 (Local)  DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 -DAT read: 05:55:41.7750 LVL= 16496, 14385, 21874, 25395, AGC= 51, IDX= 508,-0.05,-1.362,-1.068,-2.732,-1.147, PHS=-0.113, 0.124,-1.628, RAW= 22.8, 19.1, CAL= 21.1, 22.7, ROT= 128.9, -22.7 5Ygot valid direction response: 05:55:41.7750 LVL= 16496, 14385, 21874, 25395, AGC= 51, IDX= 508,-0.05,-1.362,-1.068,-2.732,-1.147, PHS=-0.113, 0.124,-1.628, RAW= 22.8, 19.1, CAL= 21.1, 22.7, ROT= 128.9, -22.7 =T#Rx 25: Read range and direction messages.E^direction in FSK: [-0.579320,0.717959,0.385906]EFpublishing direction and range infoy*ɉHS ?J?Yp@18rU 3c)3Ili=Nbп%>㭪>)> b>)@Ibʾ`3&jWR ? ٿ)uI@ibʾ]checking for new query: numPingsReceived=25, elapsed TxPingTime=14.633539iiW?AJiRiji:>bcrr U&b8+@ē۬@R*ɉHS ?J?Zi@bibʾj5,J0@Y'L@+=sL@Z*cߟ?/E~?MaX?2i @:ihA"iy ?*iBi*Bix"?inJiÎBiAi> addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503822 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 19.274534 m, bearing: 23.861699 deg, lat: 36.779383 deg, lon: -121.859739 deg, deltaT: 0.503822 s, deltaX: -0.000225 m, approachRate: -0.000447 m/s, posRepo size: 4 -DNOT Ignoring new targets: 19.27 m.h)h)*h1"h1 hQgQfQfYfYdYdYjdaZde@4?0 ) >i9)5ii񿉧|=II1a@a @a@e 4@aY  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.872135E  E E %E "E 1:*E E7:VE 4ZE BE w;aE 2E y;aE JE P;aU :E Q;aU ԙ ^A @p=I I O% >,>W?Ar1@r@rXٱrY AHRS rotation from veh to nav: [[-0.254059,0.965258,0.061075],[-0.966440,-0.255841,0.023240],[0.038058,-0.053121,0.997863]]rHBпe?1E?@_п9̗?V|?2}?ir1@Ir4P^;rCY%By% I ))bD=VD=1yE*;%MU=ٔM3;Q-M>9QYQ=UFyQ]<E]>YQ 5e5]+?Q 9m5])]BQ Am :YiQ Emp;yuEQ Iu@]MEI]>;i]%Q?] ?5yyɮ}@AyDNOT Ignoring new targets: 19.27 m.hh*h"h hgfffddjdZd@?X) >i9)5ii񿉧Ƀ=II ԡ@ @@/@^A]| u=IaIyO>DDAT read: Rx Time:05:55:42.2752 TRx dataTimestamp_ set to:1761544543.656725-PDAT read: Bearing 195.9, 42.2 (Local) -~Local bearing/azimuth received: Bearing 195.9, 42.2 (Local) =DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.2 eDAT read: 05:55:42.2752 LVL= 17264, 14369, 28098, 31123, AGC= 50, IDX= 510,-0.43, 0.699, 0.999,-0.652, 0.909, PHS=-0.108, 0.134,-1.605, RAW= 22.6, 18.9, CAL= 20.9, 22.5, ROT= 129.1, -22.5 mYgot valid direction response: 05:55:42.2752 LVL= 17264, 14369, 28098, 31123, AGC= 50, IDX= 510,-0.43, 0.699, 0.999,-0.652, 0.909, PHS=-0.108, 0.134,-1.605, RAW= 22.6, 18.9, CAL= 20.9, 22.5, ROT= 129.1, -22.5 mT#Rx 26: Read range and direction messages.u^direction in FSK: [-0.582668,0.716973,0.382683]uFpublishing direction and range infoy1^8n'r?AՅ}?YApC!8m y)2I/ݽiL7 >pͿ>[>ú> >)4@Iɾ9AYA=EFyAEL<EM>aDDAT read: Rx Time:05:55:42.7751 TRx dataTimestamp_ set to:1761544543.911393checking for new query: numPingsReceived=26, elapsed TxPingTime=15.379477DzDE EE E"E7:*E?:VE3ZEa@a@a@a@Q 55e?Q 95e)eBQ A9YQ EB;ycEQ I@aIeB=ie?e@5yɮ-A iQiUW?AJiUARiUAjiU >bU<0&F,@y@RU1^8n'r?AՅ}?ZiU4@biUɾjUTSc0@Gf@4P=@ZU{?ZW?N9Ko?2iU@:iUA"iU4=s?*iUhBiUNBiQiUiUBiUɒAiU> addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504087 s, deltaX: 0.300001 m, approachRate: 0.595138 m/s, rangeRepo size: 4 u Added new target pos. range: 19.572596 m, bearing: 24.399881 deg, lat: 36.779383 deg, lon: -121.859739 deg, deltaT: 0.504087 s, deltaX: 0.298061 m, approachRate: 0.591290 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.57 m.hh*h"h hgfffddjd@33@Zdk?1mx)i mg>im9)iu[6qii~񿉧 =IIB5.>B5CB5 IB5BB5K =B1B5JDB5:`;B5#EBǴCBǴCBBJ =BI =Cǎ6Q@Q @Q@U/@Q5 PDAT read: Bearing 196.2, 43.3 (Local) 5 ~Local bearing/azimuth received: Bearing 196.2, 43.3 (Local) E DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 a u DAT read: 05:55:42.7751 LVL= 16432, 14225, 24898, 28211, AGC= 50, IDX= 509, 0.14, 1.736, 2.003, 0.356, 1.914, PHS=-0.076, 0.134,-1.603, RAW= 23.6, 18.4, CAL= 21.8, 21.8, ROT= 128.2, -21.8 } Ygot valid direction response: 05:55:42.7751 LVL= 16432, 14225, 24898, 28211, AGC= 50, IDX= 509, 0.14, 1.736, 2.003, 0.356, 1.914, PHS=-0.076, 0.134,-1.603, RAW= 23.6, 18.4, CAL= 21.8, 21.8, ROT= 128.2, -21.8 } T#Rx 27: Read range and direction messages. ^direction in FSK: [-0.574183,0.729657,0.371368] Fpublishing direction and range infoy) - ]Pd_⿮U0YY?% ~}?Y- A) - 0@- 7- Ba - 3n)) I- 㥛i) - /Ϳ- B>- l>- > - >)- f3@I- ¾) ) - Q)线ad-dx3? - lD׿)- |kI- f3@i- ¾) )  checking for new query: numPingsReceived=27, elapsed TxPingTime=15.641320ԑ ^A= w=IA IQ Oe >,X?AVeЇ@V7ˎ@VٱVX ^AHRS rotation from veh to nav: [[-0.247325,0.967065,0.060127],[-0.968268,-0.248976,0.021615],[0.035873,-0.052873,0.997957]]VH`UϿ3?@Ȯ? sϿC"?@]?@ B?iVeЇ@IV,V^;VCYBy Iaa aa aa aa iMb@Mb@Mb@ 9QSſ rh?Yuy/C =Ad@ KA)@Y\@bDVDky u<%1=ٔs-;Q->9Y=FyT<E> Q 55 q ?Q 95 B) BQ AT:Y03>Q E;y2@Q I@ OEI ;i ; B5y%Bɮ%A%EiIiM7 X?AJiMARiMAjiM>bM/ʹ?&hE,@,@RM]Pd_⿮U0YY?% ~}?ZiMf3@biM¾YjM0@l @@"@ZM ^L?OFw?9T?2iM@:iM׆A"iMS/Ǘ?*iM mBiMĎBiMS/Ǘ?iM miIiMIAiM>} addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.502937 s, deltaX: -0.200001 m, approachRate: -0.397666 m/s, rangeRepo size: 4  Added new target pos. range: 19.374342 m, bearing: 23.724057 deg, lat: 36.779383 deg, lon: -121.859738 deg, deltaT: 0.502937 s, deltaX: -0.198254 m, approachRate: -0.394192 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.37 m.hh*h"h hgfffBddjd3@Zd ?Z03>Z03>Z!@Zk2@) ף>i9)6ii񿉧X>=IIDDAT read: Rx Time:05:55:43.2753 TRx dataTimestamp_ set to:1761544544.416907PDAT read: Bearing 195.9, 43.5 (Local) ~Local bearing/azimuth received: Bearing 195.9, 43.5 (Local) E EE#E"E:*EA:VE3ZEBE Ա5 DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.1 ] DAT read: 05:55:43.2753 LVL= 17488, 13041, 28066, 31395, AGC= 49, IDX= 511,-0.08, 1.344, 1.596,-0.032, 1.521, PHS=-0.075, 0.120,-1.597, RAW= 24.1, 18.6, CAL= 22.2, 22.1, ROT= 127.8, -22.1 e Ygot valid direction response: 05:55:43.2753 LVL= 17488, 13041, 28066, 31395, AGC= 49, IDX= 511,-0.08, 1.344, 1.596,-0.032, 1.521, PHS=-0.075, 0.120,-1.597, RAW= 24.1, 18.6, CAL= 22.2, 22.1, ROT= 127.8, -22.1 e T#Rx 28: Read range and direction messages.m ^direction in FSK: [-0.567876,0.732101,0.376224]u Fpublishing direction and range infoy! % V ,ˠ_m?*?Y% fA! % PD% 2% m % z)% 1I% i% =% j̿% \>% 6>% a> % |>)% @I% |ž! ! % ~,)t0)K$%p? % w\ֿ)% hkI% @i% |ž! !  checking for new query: numPingsReceived=28, elapsed TxPingTime=16.142239 ,+,X?AJ@J@JyVٱJ-Z VAHRS rotation from veh to nav: [[-0.243594,0.968014,0.060092],[-0.969255,-0.245189,0.020671],[0.034743,-0.053209,0.997979]]JH.Ͽ?_Į?"[bϿ*?ɡ?;> q?iJ@IJr^;HY]By] I qu4<bDVDyT%L=ٔB9;Q->91Y1==Fy9=<E=>AQ 5M5E?Q 9M5E)EBYIyU3@Q IU@EPEIE#bu m W&(/t,@ݚ@RuV ,ˠ_m?*?Ziu@biu|žju坊1@Ed_@ ?Y`@Zu:4?j9Bum addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503661 s, deltaX: 0.299999 m, approachRate: 0.595637 m/s, rangeRepo size: 4  Added new target pos. range: 19.672407 m, bearing: 23.531416 deg, lat: 36.779384 deg, lon: -121.859738 deg, deltaT: 0.503661 s, deltaX: 0.298065 m, approachRate: 0.591797 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.67 m.hh*h"h hgfffddjd3@Zd8?ZZZZ3@yV) >i9)!6ii%񿉧!%ĕ=IaIi9@ @@0@DDAT read: Rx Time:05:55:43.7753 TRx dataTimestamp_ set to:1761544544.920579PDAT read: Bearing 195.8, 45.0 (Local) ~Local bearing/azimuth received: Bearing 195.8, 45.0 (Local) D%=DE EE"E"E:*E0:VE(3ZEa=@a=@a=@a=@]checking for new query: numPingsReceived=28, elapsed TxPingTime=16.392517) ^AM L=Iq I O >,UFX?A 6@6d @6 ٱ6[ >AHRS rotation from veh to nav: [[-0.239515,0.969032,0.060085],[-0.970316,-0.241047,0.019595],[0.033471,-0.053608,0.998001]]6H lοN?vî?@ @ο`?'#?r?i6@I6]^;4YVByV IAn@AAn@AB~0>B~CB~ IB~BB~E =B|B~KDB~k`;B~#EiMb@Mb@Mb@ 9ˡEK7A`ſV-?Y'y+<z@ A)@Y @DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.1 -DAT read: 05:55:43.7753 LVL= 17568, 13473, 27762, 30899, AGC= 50, IDX= 511,-0.46, 0.369, 0.568,-1.056, 0.507, PHS=-0.036, 0.106,-1.607, RAW= 25.7, 18.3, CAL= 23.6, 21.5, ROT= 126.4, -21.5 5Ygot valid direction response: 05:55:43.7753 LVL= 17568, 13473, 27762, 30899, AGC= 50, IDX= 511,-0.46, 0.369, 0.568,-1.056, 0.507, PHS=-0.036, 0.106,-1.607, RAW= 25.7, 18.3, CAL= 23.6, 21.5, ROT= 126.4, -21.5 5T#Rx 29: Read range and direction messages.=^direction in FSK: [-0.552127,0.748887,0.366501]EFpublishing direction and range infoyw?ѨCt?YD4rl x)2Iti=-ͿL>Ƈ>B> 7 >)0 @I7 \\'XMπ$? gҿ)R5I0 @i7 ]checking for new query: numPingsReceived=29, elapsed TxPingTime=16.646708bDeVDe0y۝%@=ٔC;Q->9Y=Fy`%<E>Q 55?Q 95š)BY2>Q E;y)@Q I@QEI;i:E5yɮAIiiRJX?AJiRiji>bI]?%tw-@xJi@Rw?ѨCt?Zi0 @bi7 j&O1@>г@;~|N+@ZV(?=1?\5?2i$@:i}A"in?*i=BiBii miiAi">E addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504116 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.672655 m, bearing: 22.383801 deg, lat: 36.779384 deg, lon: -121.859738 deg, deltaT: 0.504116 s, deltaX: 0.000248 m, approachRate: 0.000492 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.67 m.hh*h"h hgfffBddjdZdʸ?Zm2>Zm2>Zm@Zm)@ ) >i9)页6ii񿉧^Ĝ=IIyu9@q @q@u0@q DDAT read: Rx Time:05:55:44.2753  TRx dataTimestamp_ set to:1761544545.423642 PDAT read: Bearing 195.9, 46.3 (Local)  ~Local bearing/azimuth received: Bearing 195.9, 46.3 (Local) E%  E% E% E! "E% I:*E% a9:VE% 3ZE! BE% ,J`X?AYmByu IbDVD1ԉyɂ%\=ٔQ->9Y=FyE>Q 55?Q 95)BYyQ I@REI:i:RG5yɮAu addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.256203 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 19.67 m.hyhy*hy"hy hygfffddjdZd ?ZZZZ)A E˜>iE9)AM,6IiIiM~񿉧QUӧ=IQIQԹ9@ @@4@EDAT read: 05:55:44.2753 LVL= 18240, 14209, 25778, 29731, AGC= 50, IDX= 511, 0.14, 0.503, 0.655,-0.958, 0.605, PHS= 0.000, 0.096,-1.607, RAW= 27.1, 17.9, CAL= 24.9, 21.0, ROT= 125.1, -21.0 MYgot valid direction response: 05:55:44.2753 LVL= 18240, 14209, 25778, 29731, AGC= 50, IDX= 511, 0.14, 0.503, 0.655,-0.958, 0.605, PHS= 0.000, 0.096,-1.607, RAW= 27.1, 17.9, CAL= 24.9, 21.0, ROT= 125.1, -21.0 UZ#Rx 31: Read direction message, but no range.]^direction in FSK: [-0.536814,0.763809,0.358368]yhx-{Mq?.*?@G7d #t)^AԘ=IIIi=*>>/> f>) @If ,6!zX?AJDDAT read: Rx Time:05:55:44.7753 NTRx dataTimestamp_ set to:1761544545.927117VPDAT read: Bearing 194.5, 47.4 (Local) ^~Local bearing/azimuth received: Bearing 194.5, 47.4 (Local) bchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.398531Ev EvEv"Et"Ev[:*Ev*5:VEv(3ZEta@a@a @a @MW@MQ@MgٱMw%[ eAHRS rotation from veh to nav: [[-0.231407,0.971051,0.059248],[-0.972355,-0.232815,0.017975],[0.031248,-0.053451,0.998081]]MH`Ϳ?U?@Ϳ@g?`?@]H?iMW@IM[f^;MCYuByu I yyAbD VD2yW4%9=ٔ;Q->9Y= Fy <E>!Q 5M5%??Q 9M5% )%BYQyU*@Q IU@%SEI%:i%:%BI5yYɮ]RAY=DNOT Ignoring new targets: 19.67 m.h9ha*ha"ha higifqffddjdZd@?!ZZZZ*@g) ג>iC9)M6ii񿉧3g=IIB)>BCB IBBBH =BBJDB`;B#E9@ @@4@EDAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.1 I}DAT read: 05:55:44.7753 LVL= 15536, 13857, 22642, 28051, AGC= 51, IDX= 511,-0.23,-2.580,-2.489, 2.216,-2.498, PHS= 0.020, 0.054,-1.614, RAW= 29.0, 18.3, CAL= 26.5, 21.3, ROT= 123.5, -21.3 Ygot valid direction response: 05:55:44.7753 LVL= 15536, 13857, 22642, 28051, AGC= 51, IDX= 511,-0.23,-2.580,-2.489, 2.216,-2.498, PHS= 0.020, 0.054,-1.614, RAW= 29.0, 18.3, CAL= 26.5, 21.3, ROT= 123.5, -21.3 T#Rx 32: Read range and direction messages.^direction in FSK: [-0.514235,0.776924,0.363251]Fpublishing direction and range infoy)-3tN?+=??Y))-<-!6-rX -m)-3I- ף-h> -V>)-i @I-V))-x;`W\ibz ? -2X˿)-I-i @i-V))checking for new query: numPingsReceived=32, elapsed TxPingTime=17.657850q ^A *=I I O >j$,X?A@2v@2wq@2ٱ2 Y :AHRS rotation from veh to nav: [[-0.227667,0.971982,0.058461],[-0.973270,-0.229011,0.017320],[0.030223,-0.052955,0.998139]]2H4$Ϳz?@?%8PͿ@n?`? ?i2v@I2R^;0Y~qBy~q IiMb@Mb@Mb@ 9~jt+ÿI +?YDy94<d@ 5A)Yf@bDVDyǽ%^=ٔ6;Q->9Y=Fy].<E>Q 55?Q 95)BY >Q E;y.5@Q I@TEIQ;i2:J5yɮAiaiebeuV}z;$4-W.@7{@Re3tN?+=??Ziei @bieVje◓1@>phS@D@ZeiaɐH?1F ?LѸ?2ie@:ieA"ie'U޺?*ieB{lQBiezBiezd?iaieĎBiewAie> addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.751932 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 19.672279 m, bearing: 20.207060 deg, lat: 36.779384 deg, lon: -121.859738 deg, deltaT: 1.008135 s, deltaX: -0.000376 m, approachRate: -0.000373 m/s, posRepo size: 4 uDNOT Ignoring new targets: 19.67 m.hqhq*hy"hy hygDDAT read: Rx Time:05:55:45.2754 TRx dataTimestamp_ set to:1761544546.432334PDAT read: Bearing 185.1, 44.2 (Local) ~Local bearing/azimuth received: Bearing 185.1, 44.2 (Local) E EE#E"EU:*EP:VE3ZEBE;a-2E;a5JE';a=:E(;a=eDAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.1 fffBddjdZd`?%DAT read: 05:55:45.2754 LVL= 17248, 12433, 25458, 29555, AGC= 49, IDX= 512, 0.16,-1.216,-1.165,-2.827,-0.949, PHS=-0.165,-0.171,-1.922, RAW= 30.2, 24.5, CAL= 27.7, 28.7, ROT= 122.3, -28.7 5Ygot valid direction response: 05:55:45.2754 LVL= 17248, 12433, 25458, 29555, AGC= 49, IDX= 512, 0.16,-1.216,-1.165,-2.827,-0.949, PHS=-0.165,-0.171,-1.922, RAW= 30.2, 24.5, CAL= 27.7, 28.7, ROT= 122.3, -28.7 5T#Rx 33: Read range and direction messages.=^direction in FSK: [-0.468705,0.741418,0.480224]ԁFpublishing direction and range infoyZ@Cݿ`?KTa?YA`C0rc ss)1I(i/V?!>> ;?)D@I;`f?B ;vD ? Ȯȿ)įھID@i;Z >Z >ZV@Z=.5@) 4>i9)"6ii񿉧ذ=IIchecking for new query: numPingsReceived=33, elapsed TxPingTime=17.9643699@ @@4@^Am=IyIO>ԩE checking for new query: numPingsReceived=33, elapsed TxPingTime=18.145742 *,ϭX?AR@RՏ@RkٱRaW bAHRS rotation from veh to nav: [[-0.224064,0.972863,0.057728],[-0.974132,-0.225353,0.016807],[0.029360,-0.052469,0.998191]]RH̿@!?`~? ,`̿ 5?@?*ݪ.?iR@IR(w^;RCYM_ByMZ IbD]VD]N2ymi%mP=ٔu;Q-u>9qYq=}Fyy}<E}>Q 55옊?Q 95)BYyl5@Q I@UEI ;i%;L5yBɮFAii\X?AJiARiAjiᨫ>bn"w&w-@#@RZ@Cݿ`?KTa?ZiD@bi;jWP{0@Wz@#% @Z 2LT?m~f ?#DN?2i7@:iÇA"i傞?*i,BiTBii=ii+Ai|> addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.256760 s, deltaX: 0.200001 m, approachRate: 0.778940 m/s, rangeRepo size: 4  Added new target pos. range: 19.870989 m, bearing: 19.209718 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.256760 s, deltaX: 0.198709 m, approachRate: 0.773911 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.87 m.hh *h "h  h g f ffddjd4@Zd@?Z9Z9Z9Z=l5@Uk)Q Uh>iU[9)Y]F'6YiYie񿉧aeֺ=IaIaԩa@a @a@e/@iDDAT read: Rx Time:05:55:45.7754 TRx dataTimestamp_ set to:1761544546.935952PDAT read: Bearing 180.0, 45.4 (Local) ~Local bearing/azimuth received: Bearing 180.0, 45.4 (Local) E  E zE E "E :*E  :VE ZE a5@a5@a5@a5@uDAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.1 Z#Rx 34: Read range message, but no direction.yYchecking for new query: numPingsReceived=34, elapsed TxPingTime=18.435143^AM=IYIiOu> 9 R1,X?ABPAR<BV+>BTBV IBVBBVK =BTBTBVs`;BV#EYMByD II%<)%4<-=-=iMb@Mb@Mb@ 9~jt?HzG{Gzt?YD9Y=FyE>Q 55!蘊?Q 95)BY >Q E;y@@Q I@DAT read: 05:55:45.7754 LVL= 15792, 13057, 23330, 28019, AGC= 49, IDX= 512,-0.31, 1.981, 1.893, 0.410, 2.227, PHS=-0.144,-0.289,-1.861, RAW= 34.4, 26.2, CAL= 31.6, 30.8, ROT= 118.4, -30.8 %Ygot valid direction response: 05:55:45.7754 LVL= 15792, 13057, 23330, 28019, AGC= 49, IDX= 512,-0.31, 1.981, 1.893, 0.410, 2.227, PHS=-0.144,-0.289,-1.861, RAW= 34.4, 26.2, CAL= 31.6, 30.8, ROT= 118.4, -30.8 %Z#Rx 35: Read direction message, but no range.-^direction in FSK: [-0.408542,0.755583,0.512043]y5%ڿI-?ab?=3"[ sm)Iti?5`? >0 ?  ?) A@I ̧}?K ~݃ >? N)7I A@i checking for new query: numPingsReceived=35, elapsed TxPingTime=18.667532VEICbE{< @.@( }Y$@R5%ڿI-?ab?Zi A@bi j$X1@jtW@zk1B"@Z@e?M??`xh?2iB@:iA"i Ɂ?*i bBiBiiB{li!BiAi>e addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503618 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.870966 m, bearing: 15.429626 deg, lat: 36.779384 deg, lon: -121.859747 deg, deltaT: 0.503618 s, deltaX: -0.000023 m, approachRate: -0.000045 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.87 m.hh*h"h  h gfffBdd!jd!Zdm?Z >Z >Z)@Z@@) >i9),6ii~񿉧=IIA}9@y @y@@q  DDAT read: Rx Time:05:55:46.2755  TRx dataTimestamp_ set to:1761544547.440230 PDAT read: Bearing 179.0, 49.2 (Local)  ~Local bearing/azimuth received: Bearing 179.0, 49.2 (Local) bE 3jE3rE/E  E E $E "E Ʊ:*E R:VE 4ZE BE 7;au 2E 8;au JE ;a} :E ;a  DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1  Z#Rx 36: Read range message, but no direction.y Y ̠A  checking for new query: numPingsReceived=36, elapsed TxPingTime=18.936079^A =I I O >7,|X?A ɰ rň@r@r@ٱrX zAHRS rotation from veh to nav: [[-0.218255,0.974177,0.057833],[-0.975480,-0.219501,0.016068],[0.028347,-0.052908,0.998197]]rH˿t,? 9Y=Fys<E>Q 55㘊?Q 95)BYy@@Q I@WEI:iV:%P5y ɮ AMB*** querying acoustic contact ***iI iM addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504278 s, deltaX: 0.100000 m, approachRate: 0.198304 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 19.87 m.hh*h"h hgfffddjd4@Zd ?ZZZZ@@i@) (>iI9)顽ii񿉧 !=IIEDAT read: 05:55:46.2755 LVL= 16160, 13233, 25154, 28771, AGC= 51, IDX= 513, 0.06,-0.966,-1.208,-2.700,-0.844, PHS=-0.020,-0.320,-1.901, RAW= 38.5, 24.3, CAL= 35.3, 28.7, ROT= 114.7, -28.7 UYgot valid direction response: 05:55:46.2755 LVL= 16160, 13233, 25154, 28771, AGC= 51, IDX= 513, 0.06,-0.966,-1.208,-2.700,-0.844, PHS=-0.020,-0.320,-1.901, RAW= 38.5, 24.3, CAL= 35.3, 28.7, ROT= 114.7, -28.7 UZ#Rx 37: Read direction message, but no range.e^direction in FSK: [-0.366530,0.796894,0.480224]yz ϸ? ;?)@I;.cIN?9`=0Jd? )ڠپI@i;checking for new query: numPingsReceived=37, elapsed TxPingTime=19.1711419@ @@/@ԙ ^A I I) O= >(>,-`X?Ai4I4BDDAT read: Rx Time:05:55:46.7755 JTRx dataTimestamp_ set to:1761544547.945172PEj EjEhEh"Ej:*EjF:VEhZEhaz@az@az@az@=PDAT read: Bearing 181.2, 47.9 (Local) E~Local bearing/azimuth received: Bearing 181.2, 47.9 (Local) UDAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 EDAT read: 05:55:46.7755 LVL= 16096, 12497, 26386, 28979, AGC= 50, IDX= 513,-0.44, 2.848, 2.683, 1.118, 3.008, PHS=-0.058,-0.280,-1.934, RAW= 36.2, 24.3, CAL= 33.2, 28.6, ROT= 116.8, -28.6 e'Gq$9YAYgot valid direction response: 05:55:46.7755 LVL= 16096, 12497, 26386, 28979, AGC= 50, IDX= 513,-0.44, 2.848, 2.683, 1.118, 3.008, PHS=-0.058,-0.280,-1.934, RAW= 36.2, 24.3, CAL= 33.2, 28.6, ROT= 116.8, -28.6 T#Rx 38: Read range and direction messages. ^direction in FSK: [-0.395863,0.783675,0.478692]Fpublishing direction and range infoyDFfF0Fg F3q)F2IFhmiF)\FPF?!?DFV? Fr>)Fw@IFrDDF>VA?r"_a? F,)FپIFw@-6؈@-ӏ@-1ٱ-Z =AHRS rotation from veh to nav: [[-0.216072,0.974638,0.058249],[-0.975966,-0.217328,0.016089],[0.028340,-0.053373,0.998172]]-H=˿<0?ҭ? ; e˿y?#?`S@?i-6؈@I-m^;)iFrDDchecking for new query: numPingsReceived=38, elapsed TxPingTime=19.523209Y!By IA  bD-PExceeded connect timeout, disconnecting.VD-1yA%=ٔ|h7Q->9Y=Fy;E>Q 55ݘ?Q 95s)BYy%@@Q I%@XEIq;i;|R5y)ɮ-8A)B,>BCBM IBTBBH =BBB>`;B#EiDiF}X?AJiFßARiFßAjiF>bFHLp=L/@g#@RFf= addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504942 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 19.970322 m, bearing: 14.308334 deg, lat: 36.779384 deg, lon: -121.859753 deg, deltaT: 1.009220 s, deltaX: 0.099356 m, approachRate: 0.098448 m/s, posRepo size: 4 MDNOT Ignoring new targets: 19.97 m.hqhq*hq"hq hqgqfqfyfydydyjdZdi2?ZZZZ=@@1) Z>i9)_3ii񿉧:=checking for new query: numPingsReceived=38, elapsed TxPingTime=19.657755II 9@  @ @ /@ ! Q ^A =I IO>E,Y?AR3@R@RѥٱR@˿zc?Ӝ? X?iR3@IRSY^;RCY% By-IDDAT read: Rx Time:05:55:47.2756 TRx dataTimestamp_ set to:1761544548.448412E EE#E"EƱ:*EVL:VE3ZEBEaE2EaEJE;aM:E;aUauPDAT read: Bearing 194.8, 50.3 (Local) u~Local bearing/azimuth received: Bearing 194.8, 50.3 (Local) DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 EDAT read: 05:55:47.2756 LVL= 12512, 12593, 19906, 19027, AGC= 54, IDX= 2, 0.03,-0.370,-0.384,-1.902,-0.361, PHS= 0.094, 0.022,-1.584, RAW= 32.2, 17.5, CAL= 29.2, 20.2, ROT= 120.8, -20.2 MYgot valid direction response: 05:55:47.2756 LVL= 12512, 12593, 19906, 19027, AGC= 54, IDX= 2, 0.03,-0.370,-0.384,-1.902,-0.361, PHS= 0.094, 0.022,-1.584, RAW= 32.2, 17.5, CAL= 29.2, 20.2, ROT= 120.8, -20.2 UT#Rx 39: Read range and direction messages.U^direction in FSK: [-0.480549,0.806128,0.345298]]Fpublishing direction and range infoyRS+O޿#~?P]?YfA011M SJ)6I=iX9<ʿ?a>w? J>)V@IJ ц?0eH}gF? 4Ŀ)IV@iJchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.975842iMb@Mb@Mb@ 99AYA=EFyAM;EM>QQ 5}5U٘?Q 9}5U)UBY}>Q E};y},0Q I@UYEIU;iUl;UCT5yɮAiiȲY?AJiZARiZAjiX>bxpb#[LzHB0@@RRS+O޿#~?P]?ZiV@biJj`>8U2@7 G@vx=@ZX|!+?1[C?p?2i?@:iA"iC➊?*iMBiBiiiiCAij>ԑ addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503240 s, deltaX: 0.199999 m, approachRate: 0.397422 m/s, rangeRepo size: 4  Added new target pos. range: 20.169157 m, bearing: 18.318171 deg, lat: 36.779384 deg, lon: -121.859753 deg, deltaT: 0.503240 s, deltaX: 0.198835 m, approachRate: 0.395110 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.17 m.hh*h"h hgfffGBddjdL4@Zd҈?ZE>ZE>ZE,@ZEa@}ѥ)y }>i}!9)y}ii񿉧=IIE9@A @A@E/@Ie checking for new query: numPingsReceived=39, elapsed TxPingTime=20.161875 ^Am C=Iq I O >G8L,@3Y?A2 @2@2Uٱ24Z >AHRS rotation from veh to nav: [[-0.213231,0.975269,0.058171],[-0.976591,-0.214490,0.016255],[0.028331,-0.053343,0.998174]]2H%K˿`f5?ȭ?;@`dt˿G?@?O@ ?i2 @I2&z^;2CYFByFIbDRVDRyZн%Z=ٔZbQ-Z?9\Y\=^Fy\bo;Eb?`Q 5j5b֘?Q 9j5bV)bBYhyj0Q Ij@`Ib;ib;bU5ypɮroApDNOT Ignoring new targets: 20.17 m.hh*h"h hgfffddjdZd?ZZZZ:b@U)) -۲>i- 9))))i)i5~񿉧15Z=I9I9ԁ%9@! @!@-4@)DDAT read: Rx Time:05:55:47.7756 TRx dataTimestamp_ set to:1761544548.951855PDAT read: Bearing 194.6, 50.4 (Local) ~Local bearing/azimuth received: Bearing 194.6, 50.4 (Local) E EE$E"E:*EC:VE4ZEa@a@a@a@ DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 Z#Rx 40: Read range message, but no direction.yYchecking for new query: numPingsReceived=40, elapsed TxPingTime=20.433577Ա^AE 2=Ii I  nManaging dock network, ignoring radio surface power offO >A A B #>B CB  IB !BB K =B B IDB b`;B #EB]ʳCBYB]ʓCB]H =BYC]ʙ+6 S,LY?ADAT read: 05:55:47.7756 LVL= 16416, 13761, 23122, 28147, AGC= 50, IDX= 497, 0.50,-1.025,-1.048,-2.554,-1.017, PHS= 0.094, 0.014,-1.581, RAW= 32.4, 17.6, CAL= 29.5, 20.4, ROT= 120.5, -20.4 Ygot valid direction response: 05:55:47.7756 LVL= 16416, 13761, 23122, 28147, AGC= 50, IDX= 497, 0.50,-1.025,-1.048,-2.554,-1.017, PHS= 0.094, 0.014,-1.581, RAW= 32.4, 17.6, CAL= 29.5, 20.4, ROT= 120.5, -20.4 Z#Rx 41: Read direction message, but no range.^direction in FSK: [-0.475707,0.807589,0.348572]yimq޿?<O?im @m5mRZ mm)m2IiimB`em? mK>)m@ImKimͧ?.>wwh? m*ÿ)mIm@imK*checking for new query: numPingsReceived=41, elapsed TxPingTime=20.679337m@m@mdٱmǭZ AHRS rotation from veh to nav: [[-0.212796,0.975358,0.058261],[-0.976672,-0.214082,0.016735],[0.028795,-0.053341,0.998161]]mH<˿`"6? gԭ?@@ g˿@"?`|?O?im@Im^^;mCYByI==imMb@Mb@Mb@iiii i9m?~jtMb`?Ym>ymm;imM@ m&@)iiYm@ }p<}bDVD0y#%=ٔXQ->9Y=FyON:E>Q 55ј?Q 95)BY>Q E;y1Q I@[EI:i:X5yɮAii1b&Q0#$1ȺI0@@Rq޿?<O?Zi@biKjM~V2@@}C@,&}@Z@`?„ ?;<;J?2i @:iA"i\۞?*imCBiBiiii$Ai6<> addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503443 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 !e Added new target pos. range: 20.168671 m, bearing: 18.121153 deg, lat: 36.779384 deg, lon: -121.859753 deg, deltaT: 0.503443 s, deltaX: -0.000486 m, approachRate: -0.000966 m/s, posRepo size: 4 mDNOT Ignoring new targets: 20.17 m.hqhq*hq"h hgfff*BddjdZd@+?DDAT read: Rx Time:05:55:48.2756 TRx dataTimestamp_ set to:1761544549.456728PDAT read: Bearing 193.5, 50.6 (Local) E EEE"E:*EVEZEBE Ze>Ze@Ze(|@uDAT read: 05:55:48.2756 LVL= 16464, 13169, 23186, 27875, AGC= 49, IDX= 498, 0.02,-1.573,-1.615,-3.103,-1.562, PHS= 0.090,-0.008,-1.585, RAW= 33.0, 18.1, CAL= 30.0, 20.8, ROT= 120.0, -20.8 }Ygot valid direction response: 05:55:48.2756 LVL= 16464, 13169, 23186, 27875, AGC= 49, IDX= 498, 0.02,-1.573,-1.615,-3.103,-1.562, PHS= 0.090,-0.008,-1.585, RAW= 33.0, 18.1, CAL= 30.0, 20.8, ROT= 120.0, -20.8 }T#Rx 42: Read range and direction messages.^direction in FSK: [-0.467413,0.809583,0.355107]Fpublishing direction and range infoy|ݿS?_S{?d) >iK9)顽3ii񿉧=IIYP@q3Z l)1IQ=ioHʿr??> ? ޹>) @I޹%~f^?'a0H?  c¿)I @i޹checking for new query: numPingsReceived=42, elapsed TxPingTime=20.959736I 9@  @ @ /@ @ >@ >y ^A =IIO>Z,0LlY?A2checking for new query: numPingsReceived=42, elapsed TxPingTime=21.170218\f@fq@f{zٱf'[ ]AHRS rotation from veh to nav: [[-0.213509,0.975177,0.058688],[-0.976474,-0.214879,0.018042],[0.030205,-0.053455,0.998113]]fH@T˿4?U ?F?$˿y??s^`?if@Ifsj^;fC ֡)֥kAե+աա֭֩kAi֭+I֩֩Iױi׵lA ׵C ֱ)ױ׹ ؽkA׽\׹׹عؽkAI)i)IkAWF ii) IYYByIbDVDP)y u% :=ٔ^RQ->9Y=FyܺE>Q 55͘?Q 95+)BYy>Q I@\EI;iU;Z5yBɮAEiYi];]Y?AJiYRiYji]Z>b]Kd"hnT0@&G}@R]|ݿS?_S{?Zi] @bi]޹j]g![2@VM@ Z@Z]@?!|?i\?2i]n@:i]ْA"i]>L؞?*i]ژBi]Bi]>L؞?i]ژi]Bi]Ai]jZ>e addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.504873 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 20.168671 m, bearing: 17.608772 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 0.504873 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 20.17 m.hh*h"h hgfffddjdZd@s?ZZZZM|@ {z)1 5O>i=9)AEc4A5DDAT read: Rx Time:05:55:48.7756 =TRx dataTimestamp_ set to:1761544549.960488]PDAT read: Bearing 192.9, 50.5 (Local) ]~Local bearing/azimuth received: Bearing 192.9, 50.5 (Local) DizDm?AEu EuEqEq"Eu:*EuA:VEqZEqa}@a}@a}@a}@DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 iIi񿉧~=II DAT read: 05:55:48.7756 LVL= 16608, 13633, 23858, 28371, AGC= 49, IDX= 498,-0.40, 2.654, 2.604, 1.126, 2.670, PHS= 0.086,-0.021,-1.589, RAW= 33.3, 18.4, CAL= 30.2, 21.2, ROT= 119.8, -21.2  Ygot valid direction response: 05:55:48.7756 LVL= 16608, 13633, 23858, 28371, AGC= 49, IDX= 498,-0.40, 2.654, 2.604, 1.126, 2.670, PHS= 0.086,-0.021,-1.589, RAW= 33.3, 18.4, CAL= 30.2, 21.2, ROT= 119.8, -21.2  T#Rx 43: Read range and direction messages. ^direction in FSK: [-0.463341,0.809038,0.361625]e Fpublishing direction and range infoy15_ݿ4o?t>i$?Y115@5A552] 5n)1I5 =i515Zd˿5,?5l>5V? 5q>)5a@I5q115mֹ?TR GX&? 5G)5I5a@i5q11 checking for new query: numPingsReceived=43, elapsed TxPingTime=21.4745049 @9  @9 @9 @A a i B,>BCBIBBBJ =BBJDB`;B#E^AAIQIaOm>Ճb,mY?AɰF@F@F1ٱFk[ ^AHRS rotation from veh to nav: [[-0.214317,0.974991,0.058824],[-0.976274,-0.215728,0.018718],[0.030940,-0.053417,0.998093]]FHn˿!3?<? =`˿*?ڮ? |Y``?iF@IF*Q^;FC`fr@idIddx zGkAxxxx|I~)~;BFi|)|I~iA-VF i i ))) )I5 1)5{A111Uchecking for new query: numPingsReceived=43, elapsed TxPingTime=21.673830Y9YہBy I1i=Mb@Mb@Mb@9999 99=7A`?T㥛 y&1?Y=>y==`e<=A=d@ =5A)=@9Y=f@bDeVDey7v%/=ٔ\κQ->9Y=FyE>Q 5%5sʘ?Q 9%5)BY%e$>Q E%;y- Q I-@]EIi:i":[5y1ɮ50A1iIiMx}Y?AJiMZARiMZAjiMH>bM"tGQ0@@,@RM_ݿ4o?t>i$?ZiMa@biMqjM|~v^W2@wʼn@YRy@ZM ?KG6?:j?2iM@:iMA"iM;Ԟ?*iMaBiMBiIiIiIiMAiMa> addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503760 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.169012 m, bearing: 17.377164 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 0.503760 s, deltaX: 0.000341 m, approachRate: 0.000678 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.17 m.hh*h"h hgf!f!f%(Bd!d)jd)Zd-@.?QZe$>Ze$>Z@Z@51)1 54>i59)15r49i9i=񿉧AEJ =IAIA9@ @@ 0@ԉ- DDAT read: Rx Time:05:55:49.2758 - TRx dataTimestamp_ set to:1761544550.465046= PDAT read: Bearing 194.3, 50.4 (Local) = ~Local bearing/azimuth received: Bearing 194.3, 50.4 (Local) M DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.1 U Z#Rx 44: Read range message, but no direction.y) Y- ̤A) Ee  Ee Ee "Ea "Ee Ʊ:*Ee 3:VEe (3ZEa BEe 7;am 2Ee 8;am JEe ;au :Ee ;au ] checking for new query: numPingsReceived=44, elapsed TxPingTime=21.936373Ա ^A 7=I I) O5 >lh,*Y?A2׈@2ҏ@2"ٱ2hY NAHRS rotation from veh to nav: [[-0.216104,0.974595,0.058850],[-0.975845,-0.217571,0.019706],[0.032009,-0.053170,0.998072]]2H`M˿ /?@!?@ :`˿`-?c?`9`5?i2׈@I2'^;0Y݁ByI A@AbDVDyi<%v=ٔRQ-?9Y=FyCE?Q 55ǘ?Q 95ם) BYy. Q I@^EI:i:m]5yɮAԡ addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504558 s, deltaX: 0.300001 m, approachRate: 0.594582 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 20.17 m.hh*h"h hgfffddjd4@Zd?ZZZZc@")  >i 9)  U4 i i~񿉧=IIDAT read: 05:55:49.2758 LVL= 16272, 13793, 25458, 29235, AGC= 50, IDX= 500, 0.13,-0.360,-0.384,-1.881,-0.349, PHS= 0.091, 0.010,-1.576, RAW= 32.5, 17.8, CAL= 29.5, 20.5, ROT= 120.5, -20.5 Ygot valid direction response: 05:55:49.2758 LVL= 16272, 13793, 25458, 29235, AGC= 50, IDX= 500, 0.13,-0.360,-0.384,-1.881,-0.349, PHS= 0.091, 0.010,-1.576, RAW= 32.5, 17.8, CAL= 29.5, 20.5, ROT= 120.5, -20.5 Z#Rx 45: Read direction message, but no range.^direction in FSK: [-0.475397,0.807064,0.350207]yy}6Cl޿`Z!x?Z8i?y}?}5}rc }3r)}2I}5^=i} #<}^ɿ}6?}>}? }0>)}@I}0y};6lt?j"#vGrA? }ÿ)}淞9@ @!@%Q4@!I}@i}0checking for new query: numPingsReceived=45, elapsed TxPingTime=22.217104^A=  =IA IY Oe >= DDAT read: Rx Time:05:55:49.7758 E TRx dataTimestamp_ set to:1761544550.966134gn,Y?APDAT read: Bearing 192.9, 50.5 (Local) ~Local bearing/azimuth received: Bearing 192.9, 50.5 (Local) DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.1 E& E&E&%E$"E&g:*E&=:VE& 4ZE$a*@a*@a*@a*@,.Z#Rx 46: Read range message, but no direction.yY2checking for new query: numPingsReceived=46, elapsed TxPingTime=22.445389Z̈@ZƏ@ZٱZY bAHRS rotation from veh to nav: [[-0.217494,0.974273,0.059061],[-0.975507,-0.219011,0.020493],[0.032901,-0.053157,0.998044]]ZH˿?-?>=?Z7̿ ?`Xؠ?@r7?iZ̈@IZ];XYByIbDVDβy4=%G=ٔ% Q-%>9!Y!=-Fy)-cE->QQ 5]5UĘ?Q 9]5UA)UBYayeG Q Ie@U_EIUt:iU(:U>_5yiɮmAiii$սY?AJiARiAji>bu#,0@낕<@R6Cl޿`Z!x?Z8i?Zi@bi0j%%2@N`@T)q@ZI!?G ?9k?2i@:iA"i枊?*iBiЍBi\۞?iiЍBiAi'$> addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.501088 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 20.467077 m, bearing: 17.907345 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 1.005646 s, deltaX: 0.298065 m, approachRate: 0.296392 m/s, posRepo size: 4 UDNOT Ignoring new targets: 20.47 m.hQhQ*hY"hY hYgYfYfafadadajdaZdm`?qZZZZC@) >i$9)4ii񿉧$=IIB(>BBIBBBI =BBBB#E-9@1 @1@5/@1ԙDAT read: 05:55:49.7758 LVL= 16512, 13345, 23650, 28035, AGC= 49, IDX= 500,-0.19,-2.427,-2.472, 2.329,-2.411, PHS= 0.086,-0.017,-1.587, RAW= 33.1, 18.3, CAL= 30.1, 21.1, ROT= 119.9, -21.1 Ygot valid direction response: 05:55:49.7758 LVL= 16512, 13345, 23650, 28035, AGC= 49, IDX= 500,-0.19,-2.427,-2.472, 2.329,-2.411, PHS= 0.086,-0.017,-1.587, RAW= 33.1, 18.3, CAL= 30.1, 21.1, ROT= 119.9, -21.1 Z#Rx 47: Read direction message, but no range.^direction in FSK: [-0.465066,0.808774,0.359997]y^ݿ]z?z0 ?@!4b\ m)1I =iC"˿h?Ƈ>|? )>)@I)7峪?.4}V'B3? ¿)_lI@i)-checking for new query: numPingsReceived=47, elapsed TxPingTime=22.699297 ^Ae =Iq I O >u,MY?A2@2@2 ٱ2`Z :AHRS rotation from veh to nav: [[-0.218956,0.973925,0.059399],[-0.975148,-0.220530,0.021302],[0.033846,-0.053258,0.998007]]2H@̿e*?i?h4S:̿@-Е?9T?D?i2@I2];0YPyRI\i5Mb@Mb@Mb@1111 195Mb?X9vMb?Y5>y5}5=5A5M@ 5S@)11DDAT read: Rx Time:05:55:50.2758 TRx dataTimestamp_ set to:1761544551.468800 PDAT read: Bearing 194.4, 50.3 (Local)  ~Local bearing/azimuth received: Bearing 194.4, 50.3 (Local) DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.2 EDAT read: 05:55:50.2758 LVL= 15984, 14881, 25970, 28627, AGC= 50, IDX= 500, 0.35,-0.700,-0.720,-2.235,-0.691, PHS= 0.093, 0.016,-1.588, RAW= 32.3, 17.6, CAL= 29.4, 20.4, ROT= 120.6, -20.4 EU EUEU#EQ"EU[:*EUC:VEU3ZEQBEU{!:re o)2Iv=io<C˿ZQ?nF>G\? K>)$@IKY5p@bDVDNy:%4=ٔQ->9Y=Fy_YE>Q 55W?Q 95)BYG>Q E;zHʣ?c!x~f? <ÿ) I$@iKchecking for new query: numPingsReceived=48, elapsed TxPingTime=22.961893y Q I-@`EIBib'#epW 0@o@R addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.502666 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 20.466969 m, bearing: 17.931782 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 0.502666 s, deltaX: -0.000109 m, approachRate: -0.000216 m/s, posRepo size: 4 5DNOT Ignoring new targets: 20.47 m.h1h1*h1"h1 h1g1f9f9f=$Bd9djdZd`P?ZG>ZG>Z@ZU@- )) ->i-9))-\5)i1i5񿉧9=k=IiIq59@1 @1@53@1I  checking for new query: numPingsReceived=48, elapsed TxPingTime=23.187918^A =I I O% >{,cY?A2@2Z@2#Kٱ2Z :AHRS rotation from veh to nav: [[-0.220395,0.973582,0.059698],[-0.974792,-0.222022,0.022061],[0.034733,-0.053331,0.997973]]2H5̿'?? 1 5k̿:?yȡ?'N`d?i2@I2];2CYBByFIIJ=)J<bDbVDbܲyf=%j=ٔj:Q-j?9lYl=nFyp~*E~ ?Q 5 5 ?Q 9 5y)BYy&Q I@aEIK:i:b5y9ɮ=8AADNOT Ignoring new targets: 20.47 m.hh*h"h hgfffddjdZd;?ZZZZo|@#K)1 5^>i59)9=9i9iE񿉧AEb=IAIAIq)qU9@Q @Q@]/@Yi DDAT read: Rx Time:05:55:50.7758  TRx dataTimestamp_ set to:1761544551.972747PDAT read: Bearing 194.6, 50.3 (Local) ~Local bearing/azimuth received: Bearing 194.6, 50.3 (Local) -DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.2 UDAT read: 05:55:50.7758 LVL= 17136, 13217, 25266, 29731, AGC= 49, IDX= 500, 0.05,-1.962,-1.979, 2.790,-1.953, PHS= 0.093, 0.019,-1.584, RAW= 32.2, 17.6, CAL= 29.3, 20.3, ROT= 120.7, -20.3 Ee EeEe"Ea"EeU:*EeA:VEe(3ZEaam@am@am@am@mYgot valid direction response: 05:55:50.7758 LVL= 17136, 13217, 25266, 29731, AGC= 49, IDX= 500, 0.05,-1.962,-1.979, 2.790,-1.953, PHS= 0.093, 0.019,-1.584, RAW= 32.2, 17.6, CAL= 29.3, 20.3, ROT= 120.7, -20.3 uT#Rx 49: Read range and direction messages.}^direction in FSK: [-0.478833,0.806446,0.346936]}Fpublishing direction and range infoy  t^p1޿ng?Fv>{14?Y   B 3 b #t) 1I i 㥛< ʿ ?  ?  g>) @I  g   pݑ?2-zܤ)HAX?  Ŀ) 7I @i  g  checking for new query: numPingsReceived=49, elapsed TxPingTime=23.456537q^A}=IIO>Թ B />B CB B B G =B B B w`;B #E",`t Z?A2@2祏@2ٱ2[ :AHRS rotation from veh to nav: [[-0.221395,0.973340,0.059944],[-0.974542,-0.223061,0.022615],[0.035383,-0.053411,0.997945]]2H@V̿%?`?r/ G̿@X(?@?@X`+?i2@I2];0YRByRIechecking for new query: numPingsReceived=49, elapsed TxPingTime=23.689924yiMb@Mb@Mb@ 9`"?MbX9ˡE?Y=yʡ'=Az@ A)@Y\@bD-VD-y=,<%E5=ٔE5Q-E>9IYI=MFyIM>EM>QQ 5]5U9?Q 9e5U)U)BYe>Q Ee;yecQ Ie@UbEIU:iU:Ud5yiɮu%Aqi9i=}AY?AJi=ARi=Aji=g>b=iϙ#ϓV8z0@ ~Ag@R=t^p1޿ng?Fv>{14?Zi=@bi= gj=3#x@2@Qh@p6xn@Z=(-?{ addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.467300 m, bearing: 17.906418 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 0.503947 s, deltaX: 0.000332 m, approachRate: 0.000659 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.47 m.hh*h"h hgfffXBddjdZdH?Z >Z >Z @Z [z@) ף>i9)顥ʯ3ii~񿉧==IIԩE9@A @A@M/@I DDAT read: Rx Time:05:55:51.2760  TRx dataTimestamp_ set to:1761544552.476740% PDAT read: Bearing 193.4, 50.2 (Local) - ~Local bearing/azimuth received: Bearing 193.4, 50.2 (Local) = DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.2 bE3jE<3rE/E}  E} E} #Ey "E} :*E} 3:VE} 3ZEy BE} / A?  ú>) |@I ú   (m?{rb=?  Aÿ) kI |@i ú   checking for new query: numPingsReceived=50, elapsed TxPingTime=23.975885I1 O= > /或,eS%Z?Aɰ2|@2N@2 ٱ2[ :AHRS rotation from veh to nav: [[-0.222058,0.973173,0.060202],[-0.974377,-0.223751,0.022930],[0.035785,-0.053568,0.997923]]2H`el̿<$?@Ү?.ߣ̿@z? aR?>m?i2|@I2տ];2CY^By^IbDjVDj1yrS=%rc=ٔrQ-r>9tYt=vFytv;Ez>xQ 55z(?Q 9%5z)z2BY!y%oQ I%@xIz;iz;zf5y)ɮ5A1iIiMZ?AJiMARiMAjiMn>bMӉ#c0@(@RMc~[A޿XTk?O?ZiM|@biMújMNUM2@7o@M@ZMC#? EԚw?L=N?2iM@:iMEA"iMk?*iM+BiMPBiMz]䞊?iM!c iIiMAiM*> addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503993 s, deltaX: 0.299999 m, approachRate: 0.595245 m/s, rangeRepo size: 4  Added new target pos. range: 20.765368 m, bearing: 17.580329 deg, lat: 36.779391 deg, lon: -121.859756 deg, deltaT: 0.503993 s, deltaX: 0.298067 m, approachRate: 0.591411 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.77 m.hh*h"h hg!f!f!f!d)d)jd-`f4@Zd-?ZiZiZiZmz@ ) Z>i9)顭 ,4ii񿉧u=II}checking for new query: numPingsReceived=50, elapsed TxPingTime=24.1955559@ @@00@ 1^AIIO>a % DDAT read: Rx Time:05:55:51.7760 % TRx dataTimestamp_ set to:1761544552.9807035 PDAT read: Bearing 194.4, 50.0 (Local) 5 ~Local bearing/azimuth received: Bearing 194.4, 50.0 (Local) E DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.1 ~,+?Z?AE EE$E"E%:*ErN:VE4ZEa@a@a@a@ $*&CRDAT read: 05:55:51.7760 LVL= 15632, 12833, 24162, 27811, AGC= 49, IDX= 502,-0.43, 2.106, 2.097, 0.580, 2.123, PHS= 0.085, 0.019,-1.587, RAW= 32.0, 17.7, CAL= 29.1, 20.5, ROT= 120.9, -20.5 ZG`l%s9!Y%AYgot valid direction response: 05:55:51.7760 LVL= 15632, 12833, 24162, 27811, AGC= 49, IDX= 502,-0.43, 2.106, 2.097, 0.580, 2.123, PHS= 0.085, 0.019,-1.587, RAW= 32.0, 17.7, CAL= 29.1, 20.5, ROT= 120.9, -20.5 T#Rx 51: Read range and direction messages.^direction in FSK: [-0.481020,0.803726,0.350207]Fpublishing direction and range infoyQU^޿?Z8i?YQQU=U!2Ub^ Ul)U1IU{=iU㥛9U"? U0>)U @IU0QQU/2?]C$-v2O}? UĿ)UnIU @iU0QQMchecking for new query: numPingsReceived=51, elapsed TxPingTime=24.527237@曏@b=ٱ%Z\ AHRS rotation from veh to nav: [[-0.222579,0.973038,0.060468],[-0.974243,-0.224299,0.023247],[0.036183,-0.053736,0.997899]]Hv}̿ #??, ֵ̿,Η? ?@?i@Ifm];CYUByU IbDe VDe2y6=% =ٔ;MQ-%>9!Y!=%Fy!U EU>aQ 55e?Q 95e)e?BYyxQ I@edEIe ;ier;e\h5yɮAqAiAiB-5>B-CB-IB-BB-D =B)B-KDB-c`;B-#EiQiU>Z?AJiQRiQjiU7>bU##9'A0@?@RU^޿?Z8i?ZiU @biU0jU=1/2@鎠@'@ZUh%!?(4?@|?2iU@:iU8A"iU 잊?*iUBiUBiU枊?iUiQiUAiU\ơ>- addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503963 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 20.765368 m, bearing: 18.041180 deg, lat: 36.779391 deg, lon: -121.859756 deg, deltaT: 0.503963 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 20.77 m.checking for new query: numPingsReceived=51, elapsed TxPingTime=24.698410hqh*h"h hgfffddjdZd?ZZZZ@z@Ub=)Q UY>iUO9)Y]q4YiYie񿉧aeI=IaIiԑ! @)  @) @- /@) @1 @1 Թ ^Am`=IIO>x*,R^Z?A>DDAT read: Rx Time:05:55:52.2761 >TRx dataTimestamp_ set to:1761544553.484789BPDAT read: Bearing 195.5, 50.0 (Local) F~Local bearing/azimuth received: Bearing 195.5, 50.0 (Local) NDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.2 ^DAT read: 05:55:52.2761 LVL= 16016, 14401, 23634, 28259, AGC= 51, IDX= 503, 0.25,-1.265,-1.259,-2.805,-1.257, PHS= 0.094, 0.043,-1.592, RAW= 31.5, 17.2, CAL= 28.7, 19.9, ROT= 121.3, -19.9 Ej EjEj%Eh"Eja:*Ej3:VEj 4ZEhBEjV;an2EjW;anJEhar:EharrYgot valid direction response: 05:55:52.2761 LVL= 16016, 14401, 23634, 28259, AGC= 51, IDX= 503, 0.25,-1.265,-1.259,-2.805,-1.257, PHS= 0.094, 0.043,-1.592, RAW= 31.5, 17.2, CAL= 28.7, 19.9, ROT= 121.3, -19.9 rT#Rx 52: Read range and direction messages.v^direction in FSK: [-0.488498,0.803437,0.340380]zFpublishing direction and range infoy<>?muC߿kµ?"T?Y>A<>>>A8>R\ >cn)>3I>=i> 0=>˿>L ?>`>>;? >ӱ>)>P~@I>ӱ<<> E?G#d? >xſV@(@Cqٱ\ -AHRS rotation from veh to nav: [[-0.222548,0.973040,0.060541],[-0.974248,-0.224273,0.023283],[0.036233,-0.053800,0.997894]]Hr|̿@%#?+? -̿ ח?@??iV@I0];CYE1ByE" I)>ÙI>P~@i>ӱ<<mchecking for new query: numPingsReceived=52, elapsed TxPingTime=24.981564iMb@Mb@Mb@ 9Q?S㥻A`"?Y\=y/ݽY=A A)&@YQAԙbDVDy%=%%)=ٔ%ָQ-%>9)Y)=-Fy)-8E5>9Q 5E5=?Q 9E5=w)=NBYE>Q EE;yE2Q IE@=eEI=:i=:=rj5yU BɮvAEi<i>_Z?AJi>ARi>Aji>>b><b$U0@dh@R>?muC߿kµ?"T?Zi>P~@bi>ӱj>rv3@SW@fz'|C@Z>9o*'?ڙo?]?2i>@:i>A"i>1?*i>rBi>ӍBi> 잊?i<i>ӍBi>Ai>D> addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504086 s, deltaX: 0.100000 m, approachRate: 0.198380 m/s, rangeRepo size: 4  Added new target pos. range: 20.865110 m, bearing: 18.432393 deg, lat: 36.779392 deg, lon: -121.859756 deg, deltaT: 0.504086 s, deltaX: 0.099743 m, approachRate: 0.197869 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.87 m.hh*h"h hgfffBddjd5@Zd-?Zm>Zm>Zm2@Zme_@}Cq)y \>ir9)顥4ii񿉧?V=II-checking for new query: numPingsReceived=52, elapsed TxPingTime=25.202435@ @@/@ ^A 2=I I O >},#yZ?AF̤@F@F"ٱF*\ jAHRS rotation from veh to nav: [[-0.222138,0.973132,0.060576],[-0.974348,-0.223854,0.023119],[0.036058,-0.053886,0.997896]]FHo̿@#??-B̿@?=v?@?iF̤@IF2];FCY CBy7 IbDVDܲy}ٿ=%}^=ٔ}-9Q-}>9DDAT read: Rx Time:05:55:52.7761 TRx dataTimestamp_ set to:1761544553.989314PDAT read: Bearing 194.7, 49.8 (Local) ~Local bearing/azimuth received: Bearing 194.7, 49.8 (Local) DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 =DAT read: 05:55:52.7761 LVL= 17200, 15265, 24658, 29459, AGC= 52, IDX= 503,-0.01, 2.663, 2.665, 1.120, 2.684, PHS= 0.081, 0.027,-1.607, RAW= 31.6, 17.7, CAL= 28.8, 20.5, ROT= 121.2, -20.5 UYgot valid direction response: 05:55:52.7761 LVL= 17200, 15265, 24658, 29459, AGC= 52, IDX= 503,-0.01, 2.663, 2.665, 1.120, 2.684, PHS= 0.081, 0.027,-1.607, RAW= 31.6, 17.7, CAL= 28.8, 20.5, ROT= 121.2, -20.5 UT#Rx 53: Read range and direction messages.]^direction in FSK: [-0.485221,0.801196,0.350207]]Fpublishing direction and range infoY=FyaEM EMEM EI"EM:*EMa9:VEM3ZEIa@a@a@a@yvg ߿le?Z8i?Y0C;R` s)4IT=i/<-Ϳ0 ?2+>? 0>)a@I0bt?y1r? uſ)Ia@i0checking for new query: numPingsReceived=53, elapsed TxPingTime=25.482239e:E>Q 5%5쪘?Q 9%5)[BY!y%2Q I%@I;iZ:Bl5y1ɮ5A1iiPZ?AJiRiji >b@?$ 0@PV{|:@Rvg ߿le?Z8i?Zia@bi0jg2@`=*@QVz@ZQ@? L?/{?2iQ@:iA"i螊?*itBiPBiiiBiAiP>% addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504525 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 20.865110 m, bearing: 18.357186 deg, lat: 36.779392 deg, lon: -121.859756 deg, deltaT: 0.504525 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }DNOT Ignoring new targets: 20.87 m.hyhy*hy"hy hygfffddjdZd?ZZZZ:n_@5")9 =>i=;9)9=49i9iE~񿉧AE=IIIiԡ @ @@ 0@B1>BB IBBBF =BBBm`;B#EBEȴCBABEȔCBEG =BEG =CEȻ!6  checking for new query: numPingsReceived=53, elapsed TxPingTime=25.706724^AM G=IQ Ii Ou >,;Z?A8Fp@FB@F~ٱF%\ ^AHRS rotation from veh to nav: [[-0.221351,0.973324,0.060362],[-0.974544,-0.223040,0.022758],[0.035615,-0.053788,0.997917]]FH`91Y9==Fy9=;E=>AQ 5M5EϦ?Q 9M5E)EgBYU~ >Q EU;yU9@Q IU@EfEIE ;iE ;Em5yYɮ]AaDNOT Ignoring new targets: 20.87 m.hh*h"h hgfffǁBddjdZdZU~ >ZU˖@ԩZUǻ9@~)  >i9)EG4AiAiU񿉧Ç=IIDDAT read: Rx Time:05:55:53.2763 TRx dataTimestamp_ set to:1761544554.496634PDAT read: Bearing 194.9, 49.6 (Local) ~Local bearing/azimuth received: Bearing 194.9, 49.6 (Local) -DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.2 E= E=E=%E9"E=Ʊ:*E=.:VE= 4ZE9BE=7;aM2E=9;aMJE= ;aU:E= ;aUuDAT read: 05:55:53.2763 LVL= 16576, 13169, 25522, 29267, AGC= 52, IDX= 505,-0.47,-1.020,-1.004,-2.549,-0.993, PHS= 0.076, 0.034,-1.599, RAW= 31.2, 17.7, CAL= 28.4, 20.5, ROT= 121.6, -20.5 }Ygot valid direction response: 05:55:53.2763 LVL= 16576, 13169, 25522, 29267, AGC= 52, IDX= 505,-0.47,-1.020,-1.004,-2.549,-0.993, PHS= 0.076, 0.034,-1.599, RAW= 31.2, 17.7, CAL= 28.4, 20.5, ROT= 121.6, -20.5 T#Rx 54: Read range and direction messages.^direction in FSK: [-0.490803,0.797789,0.350207]Fpublishing direction and range infoy9@ @@5@] )@IM~t?jl|9T h? _?ƿ) I@i@=@=checking for new query: numPingsReceived=54, elapsed TxPingTime=25.992569 ^A1 IA IY Oe >,uZ?Aj@jᮏ@jٱjf\p AHRS rotation from veh to nav: [[-0.220329,0.973567,0.060188],[-0.974794,-0.221988,0.022334],[0.035105,-0.053750,0.997937]]jH`3̿`u'?Ю?@1j̿ޖ?@G?@?ij@Ij ];jCY%RBy-K IEchecking for new query: numPingsReceived=54, elapsed TxPingTime=26.209997bDUVDUye=%eY=ٔe:Q-m>9iYi=mFyiu(7;Eu>yQ 55}h?Q 95}H)}sBYy9@Q I@}gEI}:i}:}qo5yɮjAi9i=ȟZ?AJi=MARi=MAji=ca>b=$x~30@.2O@R=],3@ +@2Z@Z=SahF?O-?o?2i=]@:i=`A"i=@?*i=2Bi=Bi=1?i=ti=PBi=EAi= ء> addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.507320 s, deltaX: 0.299999 m, approachRate: 0.591341 m/s, rangeRepo size: 4  Added new target pos. range: 21.162994 m, bearing: 18.842749 deg, lat: 36.779392 deg, lon: -121.859755 deg, deltaT: 0.507320 s, deltaX: 0.297884 m, approachRate: 0.587172 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.16 m.hh*h"h hgfffd d jd L5@Zd `R|?ZZZZ9@) P>i9)5ii 񿉧)- R=I1I1 9@ @@/@9^A=IIO>DDAT read: Rx Time:05:55:53.7762 TRx dataTimestamp_ set to:1761544554.996772 PDAT read: Bearing 195.9, 49.5 (Local)  ~Local bearing/azimuth received: Bearing 195.9, 49.5 (Local)  DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.1 EU  EU EQ EQ "EU :*EU =:VEQ ZEQ a] @a] @a] @a] @u DAT read: 05:55:53.7762 LVL= 14768, 12881, 27762, 28067, AGC= 51, IDX= 504, 0.08,-0.221,-0.188,-1.741,-0.198, PHS= 0.079, 0.054,-1.588, RAW= 30.7, 17.3, CAL= 28.0, 20.0, ROT= 122.0, -20.0 } Ygot valid direction response: 05:55:53.7762 LVL= 14768, 12881, 27762, 28067, AGC= 51, IDX= 504, 0.08,-0.221,-0.188,-1.741,-0.198, PHS= 0.079, 0.054,-1.588, RAW= 30.7, 17.3, CAL= 28.0, 20.0, ROT= 122.0, -20.0  T#Rx 55: Read range and direction messages.E ^direction in FSK: [-0.497961,0.796904,0.342020]M Fpublishing direction and range infoy5߿9=?Kj?YA9Q2rl m)3Iʡ=i/]=C˿>+ ?#>5> ¸>){F@I¸]*薉? &? cǿ)TI{F@i¸a  checking for new query: numPingsReceived=55, elapsed TxPingTime=26.517376, Z?Aɰ2^ˆ@20@2F ٱ2?] :AHRS rotation from veh to nav: [[-0.218632,0.973944,0.060274],[-0.975200,-0.220257,0.021702],[0.034413,-0.054034,0.997946]]2H ˿*?5ܮ?4@`1̿@9??```,?i2^ˆ@I29pYp=rFytvғ;Ev>xQ 55z❘?Q 95z)zBYy9@Q I@zhEIz +;iz,;z"q5y ɮ,A9i!i%˿Z?AJi%ARi%Aji%>b%F$N$מ:$0@pD@R%5߿9=?Kj?Zi%{F@bi%¸j%Le3@Br@ɍ@Z%m addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.500138 s, deltaX: -0.099998 m, approachRate: -0.199942 m/s, rangeRepo size: 4 BA<B9>BCB4 IB@BBA =BBLDBO`;B#E Added new target pos. range: 21.063639 m, bearing: 19.320597 deg, lat: 36.779392 deg, lon: -121.859754 deg, deltaT: 0.500138 s, deltaX: -0.099356 m, approachRate: -0.198657 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.06 m.h h*h"h hg!f)fYfaddjd@335@Zd@S?Mchecking for new query: numPingsReceived=55, elapsed TxPingTime=26.713757ZQZQZQZUh9@aF ) >i9)額H$5ii񿉧n=II}9@y @y@}/@yԑ^A I I O > DDAT read: Rx Time:05:55:54.2763  TRx dataTimestamp_ set to:1761544555.500714 PDAT read: Bearing 195.1, 49.4 (Local)  ~Local bearing/azimuth received: Bearing 195.1, 49.4 (Local) % DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.2 E DAT read: 05:55:54.2763 LVL= 15344, 11937, 26898, 28963, AGC= 51, IDX= 505,-0.14,-1.789,-1.764, 2.996,-1.755, PHS= 0.068, 0.036,-1.577, RAW= 31.0, 17.7, CAL= 28.2, 20.6, ROT= 121.8, -20.6 M Ygot valid direction response: 05:55:54.2763 LVL= 15344, 11937, 26898, 28963, AGC= 51, IDX= 505,-0.14,-1.789,-1.764, 2.996,-1.755, PHS= 0.068, 0.036,-1.577, RAW= 31.0, 17.7, CAL= 28.2, 20.6, ROT= 121.8, -20.6 ̷,xZ?AE E~E$E"E:*E(:VE4ZEBE;a2E;aJE;a":E;a""T#Rx 56: Read range and direction messages.&^direction in FSK: [-0.493262,0.795550,0.351842]&Fpublishing direction and range infoy15߿R%u?\]㒄?Y5fA15;5.5i 5#q)1I5C=i5t=5#ɿ5c ?52+>5d> 5X>)5J @I5X115D|nH?wly:{|? 5tƿ)5gI5J @i5X11Vchecking for new query: numPingsReceived=56, elapsed TxPingTime=26.998343Nd҈@N6͏@N6 ٱN] ^AHRS rotation from veh to nav: [[-0.216730,0.974383,0.060056],[-0.975654,-0.218307,0.021001],[0.033574,-0.054042,0.997974]]NH`Ͻ˿`$.?`?8}˿R?0?c`g?iNd҈@IN[];NCYfdByja Iԙi]Mb@Mb@Mb@YYYY Y9]Sſ&1?Y]Ly]/]P=]ZA]@ ]A)]5AYY]AbDVD:y6/=%0=ٔ:Q->9Y=Fy;E>Q 55旘?Q 95)BY=>Q E;y'@Q I@iEI:i:*s5yɮ Ai1i5 Z?AJi5NARi5NAji5i˫>b5$h3-0@,/,@R5߿R%u?\]㒄?Zi5J @bi5Xj5dao3@fjͩ@ `ٮ@Z5l?o(?j*?2i5N@:i5A"i5➊?*i5Bi5Bi5螊?i52i5PBi5Ai5> addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503942 s, deltaX: 0.099998 m, approachRate: 0.198433 m/s, rangeRepo size: 4  Added new target pos. range: 21.163504 m, bearing: 19.224812 deg, lat: 36.779391 deg, lon: -121.859752 deg, deltaT: 0.503942 s, deltaX: 0.099865 m, approachRate: 0.198168 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.16 m.hh*h"h hgfffBddjdL5@Zd_?Z%=>Z%=>Z%@Z%'@]6 )Y ]L>i]M9)Y]215Yiai~񿉧=III)@ @@/@@@echecking for new query: numPingsReceived=56, elapsed TxPingTime=27.218410^A ;=I I O > ,kZ?AY^ByY IbD  VD 2y& %U=ٔQ->9!Y!=%Fy!-E->1Q 5=55?Q 9=55)5BY9y9Q I=@5jEI5:i5w:5t5yIɮMAIDDAT read: Rx Time:05:55:54.7763 TRx dataTimestamp_ set to:1761544556.004564PDAT read: Bearing 196.2, 49.7 (Local) ~Local bearing/azimuth received: Bearing 196.2, 49.7 (Local) DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.1 DAT read: 05:55:54.7763 LVL= 15328, 12529, 26610, 28403, AGC= 51, IDX= 504, 0.47,-1.745,-1.717, 3.024,-1.727, PHS= 0.084, 0.054,-1.577, RAW= 30.9, 17.2, CAL= 28.1, 19.9, ROT= 121.9, -19.9 Ygot valid direction response: 05:55:54.7763 LVL= 15328, 12529, 26610, 28403, AGC= 51, IDX= 504, 0.47,-1.745,-1.717, 3.024,-1.727, PHS= 0.084, 0.054,-1.577, RAW= 30.9, 17.2, CAL= 28.1, 19.9, ROT= 121.9, -19.9 T#Rx 57: Read range and direction messages.E EwE%E"E:*E:VE 4ZEa@a@a@a@%^direction in FSK: [-0.496884,0.798278,0.340380]%Fpublishing direction and range infoy7ǜ߿U~?"T?Y;0g n)I1=i/]= ?`>> ӱ>))@Iӱd~?ۮđ[uƾ?  ǿ)wI)@iӱEchecking for new query: numPingsReceived=57, elapsed TxPingTime=27.487995 addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503850 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 21.16 m.hh*h"h hgff!f!d!d)jd)Zd-fI?ZiZiZiZi) ?>i 9)顕i=5ii񿉧&=II!=9@9 @9@=/@9B8>BBS IBYBBB =BIBBz`;B#Em checking for new query: numPingsReceived=57, elapsed TxPingTime=27.722219^A} +W=I I O >q dĖ,k[?A2@2@2)\ٱ2 ] :AHRS rotation from veh to nav: [[-0.212129,0.975435,0.059403],[-0.976731,-0.213590,0.019365],[0.031577,-0.053913,0.998046]]2H'˿6?@j?`bAV˿Jԓ?*??i2@I2];2CY^YBybS IiMMb@Mb@Mb@IIII I9MˡEClǿ+?YM什yMd;M=Mp AM@ MA)MAIYM AbD VD2y%O=ٔ;;Q->9Y=FyD<E>Q 55?Q 95)BY1Q>Q E;y@Q I@lEIP ;i ;v5yBɮAEiiJ[?AJiRijiGٮ>bTFv%eq0@z@R7ǜ߿U~?"T?Zi)@biӱj.(UL#3@_5@sZ@ZX?(i?+d?2i@:iA"i}dڞ?*iBi>Bi[垊?i ii٢Ai+>UDNOT Ignoring new targets: 21.16 m.QhYhY*hY"hY hYgYfafafe!BdadijdiZdm,?Z1Q>Z1Q>ZP@Zt@)\) H=i9)C5ii񿉧"=IIqm9@q @q@u/@qԁDDAT read: Rx Time:05:55:55.2764 TRx dataTimestamp_ set to:1761544556.508835PDAT read: Bearing 195.8, 49.9 (Local) ~Local bearing/azimuth received: Bearing 195.8, 49.9 (Local) DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.1 E- E-pE)E)"E-:*E- :VE)ZE)BE-;a=2E-;a=JE-1R;aE:E-2R;aEMDAT read: 05:55:55.2764 LVL= 14944, 12177, 26226, 27235, AGC= 51, IDX= 506, 0.09,-0.316,-0.300,-1.829,-0.298, PHS= 0.085, 0.043,-1.575, RAW= 31.3, 17.3, CAL= 28.4, 20.1, ROT= 121.6, -20.1 UYgot valid direction response: 05:55:55.2764 LVL= 14944, 12177, 26226, 27235, AGC= 51, IDX= 506, 0.09,-0.316,-0.300,-1.829,-0.298, PHS= 0.085, 0.043,-1.575, RAW= 31.3, 17.3, CAL= 28.4, 20.1, ROT= 121.6, -20.1 ]T#Rx 58: Read range and direction messages.e^direction in FSK: [-0.492072,0.799852,0.343660]mFpublishing direction and range infoyV~߿b?"??YA`:/rf cj)I{=i 0=ɿ ?#>> >)@Ij ? sY'Ʃ? 8ƿ)$ߚI@ichecking for new query: numPingsReceived=58, elapsed TxPingTime=28.002262ԩ^A C=I I O > ˖,K.[?AN @N@N'ٱNq\ VAHRS rotation from veh to nav: [[-0.209782,0.975966,0.059013],[-0.977269,-0.211187,0.018605],[0.030620,-0.053768,0.998084]]NH!ʿ;?6?E+˿ ?Z?M?iN @INF^;LYnSBynL IIr%=)pv=t v;v<bDzVDz0%checking for new query: numPingsReceived=58, elapsed TxPingTime=28.225559y%M=ٔV;Q->9Y=Fy=۽;E=>AQ 5U5E?Q 9U5Er)EBYYy]@Q I]@EmEIE[;iE\;Eax5yiɮm9AiԱii [?AJiARiAjiW>b%oa'1@~~]@RV~߿b?"??Zi@bij:otP3@v4@YiX@Ztî?~ű `?jr?5 addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504271 s, deltaX: 0.200001 m, approachRate: 0.396614 m/s, rangeRepo size: 4 E Added new target pos. range: 21.362129 m, bearing: 19.398060 deg, lat: 36.779391 deg, lon: -121.859750 deg, deltaT: 1.008121 s, deltaX: 0.198626 m, approachRate: 0.197026 m/s, posRepo size: 4 EDNOT Ignoring new targets: 21.36 m.hIhi*hi"hi higifqfqfqdqdyjd}5@Zd}?ZZZZ@M')Q U=iU`9)QUJ5QiQi]񿉧Y]~=IaIE9@A @I@M0@IDDAT read: Rx Time:05:55:55.7764 TRx dataTimestamp_ set to:1761544557.012684PDAT read: Bearing 194.5, 50.2 (Local) ~Local bearing/azimuth received: Bearing 194.5, 50.2 (Local) DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.1 % DAT read: 05:55:55.7764 LVL= 14960, 12113, 26386, 27923, AGC= 52, IDX= 506,-0.37,-1.929,-1.941, 2.840,-1.906, PHS= 0.080, 0.011,-1.581, RAW= 32.1, 17.9, CAL= 29.2, 20.7, ROT= 120.8, -20.7 E-  E- ~E- &E) "E- C:*E- (:VE- 4ZE) a= @a= @a= @a= @E Ygot valid direction response: 05:55:55.7764 LVL= 14960, 12113, 26386, 27923, AGC= 52, IDX= 506,-0.37,-1.929,-1.941, 2.840,-1.906, PHS= 0.080, 0.011,-1.581, RAW= 32.1, 17.9, CAL= 29.2, 20.7, ROT= 120.8, -20.7 E T#Rx 59: Read range and direction messages.M ^direction in FSK: [-0.478988,0.803509,0.353475]M Fpublishing direction and range infoyB~޿c& X?iU?Yp:Q/g m)4I ף=iX94<5^ʿl?>w? >)V@IZftY?Ro l9? \Ŀ)DIV@im checking for new query: numPingsReceived=59, elapsed TxPingTime=28.497452^A !=I I O >9 !і,%H[?AYLByC IbD VD2y%%-S=ٔ-Q-->91Y1=5Fy15E]>YQ 5e5]?Q 9m5]E)]BYiyiQ Im@]nEI]R:i]:]z5AAAAAAB>>BCB` IBdBBA =BBB`;B#EyɮrAi i @[?AJi ARi Aji T>b v$6*1@ 5 addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503849 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Echecking for new query: numPingsReceived=59, elapsed TxPingTime=28.731714m Added new target pos. range: 21.362427 m, bearing: 18.613502 deg, lat: 36.779391 deg, lon: -121.859749 deg, deltaT: 0.503849 s, deltaX: 0.000298 m, approachRate: 0.000591 m/s, posRepo size: 4 mDNOT Ignoring new targets: 21.36 m.hihi*hq"hq hqgqfqfyfydydyjdyZd?ZZZZ) 4=i09)JP5ii-~񿉧1==I9IA99@ @@d0@y ^A (S=I) I9 OE > DDAT read: Rx Time:05:55:56.2764  TRx dataTimestamp_ set to:1761544557.516669 PDAT read: Bearing 195.9, 50.3 (Local)  ~Local bearing/azimuth received: Bearing 195.9, 50.3 (Local)  DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.1 - DAT read: 05:55:56.2764 LVL= 16096, 12481, 26258, 28339, AGC= 51, IDX= 507, 0.11, 0.385, 0.387,-1.135, 0.394, PHS= 0.092, 0.037,-1.574, RAW= 31.7, 17.3, CAL= 28.8, 20.0, ROT= 121.2, -20.0 5 Ygot valid direction response: 05:55:56.2764 LVL= 16096, 12481, 26258, 28339, AGC= 51, IDX= 507, 0.11, 0.385, 0.387,-1.135, 0.394, PHS= 0.092, 0.037,-1.574, RAW= 31.7, 17.3, CAL= 28.8, 20.0, ROT= 121.2, -20.0 bE˻ 4jE#4rE5/E=  E9 E= "E9 "E= :*E9 VE= (3ZE9 BE= ;aU 2E= ;aU JE= ;aU :E= ;aU ؖ,b[?AT#Rx 60: Read range and direction messages.^direction in FSK: [-0.486786,0.803779,0.342020]Fpublishing direction and range infoy0 ɰ"4<f n)3Ij=iP=xɿ ?#>? ¸>)a@I¸]Qh?x;s ? Wſ)kIa@i¸fchecking for new query: numPingsReceived=60, elapsed TxPingTime=29.023376Z!=@Z7@Z4ٱZN[ AHRS rotation from veh to nav: [[-0.204034,0.977228,0.058265],[-0.978556,-0.205306,0.016685],[0.028267,-0.053612,0.998162]]ZHʿtE?ԭ?TPsGʿ? ?r?iZ!=@IZ*^;ZCY=By1 IiMb@Mb@Mb@ 91Zd ףp= ǿ~jt?Y"۽yQ8< xA)AYAbDVD0y|% 1=ٔn;Q->9Y=FyO<E>!Q 5M5%#}?Q 9M5%)%BYMW>Q EU{;yU@Q IU@%pEI%K;i%;% |5yYɮ]AYiiia[?AJiRiji>b@R@$T +1@⭻9@R addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503985 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.362427 m, bearing: 19.311473 deg, lat: 36.779391 deg, lon: -121.859747 deg, deltaT: 0.503985 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.36 m.hh*h"h h!g!f!f)f-Bd)d1jd1Zd5|?ZW>ԑZW>ZR@Zt@4) =i9)页X5ii񿉧=II=checking for new query: numPingsReceived=60, elapsed TxPingTime=29.233644I@I @I@U0@Q ^A I I O >ޖ,}[?AJP@JK@J@ٱJÅZ RAHRS rotation from veh to nav: [[-0.201667,0.977750,0.057755],[-0.979070,-0.202889,0.016071],[0.027432,-0.053305,0.998201]]JH <ɿI??@TCɿt??J D?iJP@IJ`0_;JCYZ%ByZ I \\bDfVDfyn%na=ٔn;Q-r>9pYp=vFytv;Ev>xQ 5~5zx?Q 9~5z4)zBYyC@Q I@zqEIz;izv;z}5y ɮ A ߀GDDAT read: Rx Time:05:55:56.7764 TRx dataTimestamp_ set to:1761544558.020859PDAT read: Bearing 193.1, 50.6 (Local) ~Local bearing/azimuth received: Bearing 193.1, 50.6 (Local) DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.0 E% E%rE%!E!"E%s:*E%?:VE%c3ZE!a-@a-@a-@a-@eDAT read: 05:55:56.7764 LVL= 15120, 15249, 26818, 27923, AGC= 52, IDX= 507,-0.30, 2.210, 2.162, 0.676, 2.229, PHS= 0.082,-0.023,-1.597, RAW= 33.2, 18.5, CAL= 30.2, 21.3, ROT= 119.8, -21.3 mYgot valid direction response: 05:55:56.7764 LVL= 15120, 15249, 26818, 27923, AGC= 52, IDX= 507,-0.30, 2.210, 2.162, 0.676, 2.229, PHS= 0.082,-0.023,-1.597, RAW= 33.2, 18.5, CAL= 30.2, 21.3, ROT= 119.8, -21.3 uT#Rx 61: Read range and direction messages.y^direction in FSK: [-0.463026,0.808489,0.363251]Fpublishing direction and range info!9YAy=9ݿC%?+=??Y;;h m)4I=ijj̿V?MQ>V? V>)a@IV addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504190 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 21.36 m.h h *h "h  h g?skNŇC? )Ia@iVchecking for new query: numPingsReceived=61, elapsed TxPingTime=29.529842ff!f!d!d)jd)Zd-?ZZZZcC@@) p=i9)ii5񿉧15#=I1I9)9@ @@4@B@>BBM IBTBB= =BBMDB`;B$E^Ae[R=IIO>Q u checking for new query: numPingsReceived=61, elapsed TxPingTime=29.737820,=[?A 6e@6`@6ڼٱ6Y >AHRS rotation from veh to nav: [[-0.199166,0.978282,0.057414],[-0.979604,-0.200341,0.015442],[0.026609,-0.053167,0.998231]]6H E~ɿN?Se?Xɤɿ 㟏?M??8@?i6e@I6*_;6CYfByjIiMb@Mb@Mb@ 9ˡEjtĿMb?Y什y <A@ )YAbDVD2y )%:=ٔ:Q-%>9)Y1=Fy;E>iQ 55r?Q 95ƚ)BY5>Q E;y.@Q I@rEIz:i@:5yɮ>AiiU[?AJiRiji~>b >m#_~E1@ > @R=9ݿC%?+=??Zia@biVjÙO3@#e@A%[B@ZЁb?ҵ?0bڪ?2i-@:i~A"i`9GΞ?*iBi4Bi}dڞ?iii2Ai >DNOT Ignoring new targets: 21.36 m.hh*h"h hgfffЁBddjdZd͎?Z5>Z5>DDAT read: Rx Time:05:55:57.2765 TRx dataTimestamp_ set to:1761544558.524806PDAT read: Bearing 193.3, 51.0 (Local) ~Local bearing/azimuth received: Bearing 193.3, 51.0 (Local) DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.0 =DAT read: 05:55:57.2765 LVL= 16080, 14321, 23394, 28403, AGC= 51, IDX= 508, 0.07,-2.185,-2.242, 2.569,-2.174, PHS= 0.092,-0.023,-1.584, RAW= 33.5, 18.3, CAL= 30.4, 21.1, ROT= 119.6, -21.1 EM EMtEM$EI"EMҝ:*EMv:VEM4ZEIBEM;aU2EM;aUJEM`;a]:EM`;a]eYgot valid direction response: 05:55:57.2765 LVL= 16080, 14321, 23394, 28403, AGC= 51, IDX= 508, 0.07,-2.185,-2.242, 2.569,-2.174, PHS= 0.092,-0.023,-1.584, RAW= 33.5, 18.3, CAL= 30.4, 21.1, ROT= 119.6, -21.1 eT#Rx 62: Read range and direction messages.m^direction in FSK: [-0.460825,0.811198,0.359997]mFpublishing direction and range infoy2['~ݿGV?z0 ?Y̬A>7b[ n)3Ij=iʿ?Ƈ>? )>)0@I)ci9)3ii񿉧rV=IIԙ9@ @@4@ ^A a5=I I O >{,&[?A&checking for new query: numPingsReceived=62, elapsed TxPingTime=30.241768:w@:|r@:lrռٱ:vY FAHRS rotation from veh to nav: [[-0.197048,0.978727,0.057153],[-0.980048,-0.198192,0.015045],[0.026053,-0.053048,0.998252]]:H8ɿQ?@.C?\ ]^ɿ@Ў??!)@?i:w@I:^;:CYNByNIPbDZVDZNyb%bb=ٔb4:Q-f>9dYd=fFydje;Ej?lQ 5r5nCo?Q 9r5nٙ)nBYpyrR@Q Iv@nsEIn;in;n5yzBɮzAxi!i%l[?AJi%ARi%Aji%~>b%qA/#h1@Gl@R%2['~ݿGV?z0 ?Zi%0@bi%)j%)X:n3@ 39o@VE @Z%htc?V+}u$?7n!z?2i%y@:i%pA"i%Ԟ?*i%Bi%Bi%ٞ?i%i%Bi%Ai%s>E addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503947 s, deltaX: 0.100000 m, approachRate: 0.198434 m/s, rangeRepo size: 4 U Added new target pos. range: 21.462000 m, bearing: 18.121089 deg, lat: 36.779390 deg, lon: -121.859749 deg, deltaT: 1.008137 s, deltaX: 0.099573 m, approachRate: 0.098769 m/s, posRepo size: 4 UDNOT Ignoring new targets: 21.46 m.hQhY*hY"hY hYgYfafafadadijdm5@Zdms?Z)Z)Z)Z-R@]lrռ)Y ]0=ie9)aeaiaim~񿉧imP=IiIU9@Q @Q@]/@Y^AML=IqIOA>DDAT read: Rx Time:05:55:57.7765 TRx dataTimestamp_ set to:1761544559.028639 PDAT read: Bearing 192.7, 51.2 (Local)  ~Local bearing/azimuth received: Bearing 192.7, 51.2 (Local) DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.1 EQ EUEU"EQ"EQ*EUR:VEU(3ZEQae@ae@ae@ae@DAT read: 05:55:57.7765 LVL= 16528, 13969, 23538, 28755, AGC= 49, IDX= 508,-0.45, 1.913, 1.843, 0.396, 1.923, PHS= 0.092,-0.035,-1.571, RAW= 33.9, 18.5, CAL= 30.8, 21.3, ROT= 119.2, -21.3 Ygot valid direction response: 05:55:57.7765 LVL= 16528, 13969, 23538, 28755, AGC= 49, IDX= 508,-0.45, 1.913, 1.843, 0.396, 1.923, PHS= 0.092,-0.035,-1.571, RAW= 33.9, 18.5, CAL= 30.8, 21.3, ROT= 119.2, -21.3 T#Rx 63: Read range and direction messages.^direction in FSK: [-0.454535,0.813294,0.363251]Fpublishing direction and range infoyv jݿ?܀?+=??Y@6[ Sp)1Ii)\ɿww?MQ> ? V>)%@IVmSae?kH 4ކD? 2F)TI%@iVchecking for new query: numPingsReceived=63, elapsed TxPingTime=30.526737) ,b[?A6~@6P@6{мٱ6XB@A@BDBDBF IBF,BBF? =BDBDBF`;BF $EBMCBMCBMCBMA =BM@ =CMh6 RAHRS rotation from veh to nav: [[-0.194917,0.979170,0.056870],[-0.980489,-0.196028,0.014603],[0.025447,-0.052914,0.998275]]6H ȿ`[U??+``tɿ:??@?i6~@I6^;6C|Y܁By%II5<)5;bDVDyc%<=ٔ@:Q->9Y= Fy 5(;E=>QQ 55Uj?Q 95U)UBYyw@Q I@UtEIU%b-#?kqt1@`3-/@R-v jݿ?܀?+=??Zi-%@bi-Vj-`hբo3@JG:@3pq@Z-?L?Ð?2i-9@:i-}A"i-ȗϞ?*i-Bi-Bi-Ԟ?i-i-Bi-ʣAi-Y2> addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503833 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 21.461929 m, bearing: 17.844935 deg, lat: 36.779389 deg, lon: -121.859749 deg, deltaT: 0.503833 s, deltaX: -0.000071 m, approachRate: -0.000140 m/s, posRepo size: 4 -DNOT Ignoring new targets: 21.46 m.h)h)*h)"h) h1g1f1f1f1d9d9jd9Zd=Y?ZZZZ1w@{м) P 'g ?  >) m@I    g?h^X6*{?  QU) I m@i    checking for new query: numPingsReceived=64, elapsed TxPingTime=31.020046 ^AO)=IIyO?C_,[?Aɰp;2@2䏐@2Uϼٱ2|X >AHRS rotation from veh to nav: [[-0.193532,0.979449,0.056796],[-0.980768,-0.194637,0.014551],[0.025307,-0.052888,0.998280]]2H ȿW?`c?rbȿ`̍???i2@I2t^;2CY^ÁBy^IԱiMb@Mb@Mb@ 9 rhPn~jtxYCyĻA@ )AYfAbDVDy-%-=ٔ-9Q-5>91Y1=5Fy1=[4;E=>AQ 5M5Ed?Q 9M5E)AYMa>Q EU;yU54@Q IU@EuEIEG;iE ;EK5yYɮ]AYii-&[?AJiRiji>bRH6#bqry1@UB@RRɌܿ~ ?3`?Zim@bij+l3@bv@欤@Zfk?4\L?vcf$?2i[@:ifA"iɞ?*iHBiEBiȗϞ?iiBiɣAi夞>5checking for new query: numPingsReceived=64, elapsed TxPingTime=31.249977= addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 21.461929 m, bearing: 17.530731 deg, lat: 36.779389 deg, lon: -121.859749 deg, deltaT: 0.504941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 21.46 m.hihi*hq"hq hqgqfqfyf}vBdydyjdZd?Za>Za>Z@Zd54@Uϼ) >i9)"3ii񿉧~=II@ @@/@^Ae=I!IIOuy>I DDAT read: Rx Time:05:55:58.7765  TRx dataTimestamp_ set to:1761544560.036683 PDAT read: Bearing 192.4, 51.4 (Local)  ~Local bearing/azimuth received: Bearing 192.4, 51.4 (Local)  DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.1 - DAT read: 05:55:58.7765 LVL= 14944, 13265, 22866, 27315, AGC= 50, IDX= 507, 0.42, 1.691, 1.604, 0.156, 1.693, PHS= 0.100,-0.044,-1.581, RAW= 34.4, 18.5, CAL= 31.3, 21.4, ROT= 118.7, -21.4 5 Ygot valid direction response: 05:55:58.7765 LVL= 14944, 13265, 22866, 27315, AGC= 50, IDX= 507, 0.42, 1.691, 1.604, 0.156, 1.693, PHS= 0.100,-0.044,-1.581, RAW= 34.4, 18.5, CAL= 31.3, 21.4, ROT= 118.7, -21.4 EE  EE EE $EA "EE :*EE ,:VEE 4ZEA aM @aM @aM @aM @M T#Rx 65: Read range and direction messages.U ^direction in FSK: [-0.447115,0.816672,0.364877]] Fpublishing direction and range infoy  7EYܿ1e-"?>8^.$Z?Y `: 3 RY j) I =i X94 5^ʿ MQ> ? t;>) Ԗ@I t; VĉIò?G5@B\G? 2)) )I Ԗ@i t; Թ D,aR\?ABchecking for new query: numPingsReceived=65, elapsed TxPingTime=31.520533E[@E,@EҼٱEW UAHRS rotation from veh to nav: [[-0.192419,0.979675,0.056666],[-0.980975,-0.193547,0.015092],[0.025753,-0.052684,0.998279]]EH,ȿ`Y?K?%d@$ȿ ?^?[ ?iE[@IE4];ECYBymIbDVDβy 8% M=ٔ fQ->91Y1=5Fy9=7;E=>AQ 5M5E`?Q 9M5E)AYIyUH4@Q IU@EvEIEr;iE;E5yɮAԑiiY\?AJiRijit>bz 1#h1@8)R@R7EYܿ1e-"?>8^.$Z?ZiԖ@bit;j?Wv3@y @o)r{@ZSf]?,ըN?ҡY3F?2it@:iA"iUȞ?*iE BiBi`9GΞ?iiiAi؝>5 addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503103 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 21.461929 m, bearing: 17.508245 deg, lat: 36.779389 deg, lon: -121.859749 deg, deltaT: 0.503103 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 21.46 m.hIB]B>BYB]IB]BB]> =BYBYB]`;B]#$EhI*h"h hgfffddjdZd3?ZZZZH4@EҼ)I Mp=iU9)Q]YiYi񿉧V=IIechecking for new query: numPingsReceived=65, elapsed TxPingTime=31.7573289@ @@/@^A = IY Ii O} >,,y\?AR坉@R@Rt ׼ٱRW ZAHRS rotation from veh to nav: [[-0.192471,0.979664,0.056687],[-0.980951,-0.193626,0.015588],[0.026248,-0.052607,0.998270]]RHȿhY??`c`ȿ@? ?N謹?iR坉@IR)];RCYfByfYIiMMb@Mb@Mb@IIII I9MZd;O?A`"MbpYMjӇ? >)A@Iܕ?[ /V? )yFIA@iUchecking for new query: numPingsReceived=66, elapsed TxPingTime=32.033833y)%?=ٔ{Q->9Y=Fy-\E->QQ 5]5U\?Q 9e5U)QYeJ=Q Ee;yeGQ I@UwEIU;iUJ;U5yɮ9Aii"\?AJiIARiIAjiO@>bNuy"1@Zmٙ @R:&Y+ܿVD:?3`?ZiA@bij݋|3@6s@)?@Z(t?q\?c9n ?2i@:i^A"iD!֞?*iBi.BiȗϞ?iE iiIAiZv> addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504071 s, deltaX: 0.199999 m, approachRate: 0.396767 m/s, rangeRepo size: 4 M Added new target pos. range: 21.660734 m, bearing: 16.925890 deg, lat: 36.779389 deg, lon: -121.859750 deg, deltaT: 0.504071 s, deltaX: 0.198805 m, approachRate: 0.394399 m/s, posRepo size: 4 UDNOT Ignoring new targets: 21.66 m.hQhQ*hQ"hQ hQgYfYfYf]i 49) '3ii~񿉧_=I!I9@ @@/@- checking for new query: numPingsReceived=66, elapsed TxPingTime=32.2578201 ^A p{=I I O >Q 5 ,9\?ADF@U@Ux@U0ݼٱUf@X AHRS rotation from veh to nav: [[-0.192975,0.979548,0.056983],[-0.980832,-0.194175,0.016266],[0.026998,-0.052752,0.998243]]UH`kȿ tX?,?bȿ꧐?@??P?iU@IU];UCYsBy8IbD%VD%1y5^%5N=ٔ=Q-=>99YA=EFyAMyEM>QQ 5U5UY?Q 9]5U)UBYYy]GQ I]@UxEIUA:iU:U5yiɮmAiDNOT Ignoring new targets: 21.66 m.hh*h"h hgfffddjdZd@A?ZZZZ DJ@0ݼ) =io9)ii񿉧=IIADDAT read: Rx Time:05:55:59.7766 TRx dataTimestamp_ set to:1761544561.049375PDAT read: Bearing 193.2, 51.9 (Local) ~Local bearing/azimuth received: Bearing 193.2, 51.9 (Local) E EyE$E"E:*E:VE4ZEa@a@a@a@MDAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.1 @ @@0@UDAT read: 05:55:59.7766 LVL= 15712, 11569, 24194, 27939, AGC= 48, IDX= 508, 0.45, 1.036, 0.946,-0.484, 1.021, PHS= 0.118,-0.030,-1.549, RAW= 34.6, 17.9, CAL= 31.4, 20.7, ROT= 118.6, -20.7 ]Ygot valid direction response: 05:55:59.7766 LVL= 15712, 11569, 24194, 27939, AGC= 48, IDX= 508, 0.45, 1.036, 0.946,-0.484, 1.021, PHS= 0.118,-0.030,-1.549, RAW= 34.6, 17.9, CAL= 31.4, 20.7, ROT= 118.6, -20.7 eT#Rx 67: Read range and direction messages.q^direction in FSK: [-0.447789,0.821304,0.353475]Fpublishing direction and range infoyIܿ!LH?iU?Y`=1-^ #m)0I=iEƿ#?>K ? >);z@IeA?OцYeۮ? ɾ)I;z@ichecking for new query: numPingsReceived=67, elapsed TxPingTime=32.591316A @AA @AB G>B CB IB BB < =B B NDB a;B =$Eԡ ^A1 IA IQ O] >5 checking for new query: numPingsReceived=67, elapsed TxPingTime=32.764572,sS\?A@@f@ ٱ X -AHRS rotation from veh to nav: [[-0.193817,0.979363,0.057297],[-0.980640,-0.195070,0.017097],[0.027921,-0.052874,0.998211]]Hȿ@V?V?ga ȿ?n?`SW?i@I];CY=^By=IiMb@Mb@Mb@ 9/$?+Mb`Y=y@ )5AYAbD% VD%2y5ν%5K=ٔ5Q-5>99Y9==Fy9= EE>AQ 5U5EU?Q 9U5EH)EBYU=Q EU;yU Q IU@AIE ;iE ;Ed5yaɮeAaii(C\?AJiRiji&>by/f#2Q1@]d@RIܿ!LH?iU?Zi;z@bij]P3@i~@й@Z0@**? addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.508621 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.661041 m, bearing: 17.362062 deg, lat: 36.779389 deg, lon: -121.859750 deg, deltaT: 0.508621 s, deltaX: 0.000307 m, approachRate: 0.000604 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.66 m.hh*h"h hgfffBddjdZdjI?Z=Z=Z$@Z,q@ ) B>i%9)))1i1iM񿉧IUr=IQԩIa@ @@2@}DDAT read: Rx Time:05:56:00.2767 }TRx dataTimestamp_ set to:1761544561.548783PDAT read: Bearing 191.0, 51.9 (Local) ~Local bearing/azimuth received: Bearing 191.0, 51.9 (Local) DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.1 DAT read: 05:56:00.2767 LVL= 14752, 12449, 22658, 27587, AGC= 49, IDX= 510, 0.00, 1.894, 1.771, 0.357, 1.887, PHS= 0.109,-0.072,-1.574, RAW= 35.6, 18.8, CAL= 32.3, 21.7, ROT= 117.7, -21.7 E ErE!E"E:*E?:VEc3ZEBEj;a2Ek;aJEyY;a:EzY;aYgot valid direction response: 05:56:00.2767 LVL= 14752, 12449, 22658, 27587, AGC= 49, IDX= 510, 0.00, 1.894, 1.771, 0.357, 1.887, PHS= 0.109,-0.072,-1.574, RAW= 35.6, 18.8, CAL= 32.3, 21.7, ROT= 117.7, -21.7 T#Rx 68: Read range and direction messages.^direction in FSK: [-0.431900,0.822648,0.369747]Fpublishing direction and range infoyy}Ku>ۿ8F""S?3`?Y}3Ay}9}0}X }k)}1I}d;=i}t}xɿ}?}>}ZQ? }>)}x@I}yy}#ž?`ᵧ'ق\? }׀)}=I}x@i}yy5checking for new query: numPingsReceived=68, elapsed TxPingTime=33.037743^A I I O > b,Nm\?AN @Nڀ@NٱN:X ^AHRS rotation from veh to nav: [[-0.195312,0.979059,0.057417],[-0.980311,-0.196626,0.018138],[0.029048,-0.052744,0.998186]]NH`ȿ`sT?@e?^ +ɿܒ?`ξ?<"?iN @IN];NClYrLByrIIv=)v49Y=Fy'E>Q 55R?Q 95)BYy !Q I@yEI-:i;5yɮIAiiCc\?AJiARiAji >b4" )1@]Gx @RKu>ۿ8F""S?3`?Zix@bij~3@Q.[@JA@Z 4B&?:͟,?P} ?2iܺ@:iA"iϠsٞ?*iX"^BiBiW՞?iHiBiAit>  addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.499408 s, deltaX: 0.100000 m, approachRate: 0.200238 m/s, rangeRepo size: 4  Added new target pos. range: 21.760405 m, bearing: 16.413020 deg, lat: 36.779389 deg, lon: -121.859751 deg, deltaT: 0.499408 s, deltaX: 0.099363 m, approachRate: 0.198962 m/s, posRepo size: 4 %DNOT Ignoring new targets: 21.76 m.h!h!*h!"h! h!g!f)f)f)d1d1jd5`f5@Zd5?ZQZQZQZU*q@m)i mH>im79)qu3qiqi}񿉧y}=IyII=)=checking for new query: numPingsReceived=68, elapsed TxPingTime=33.2656825M9A@ @@<0@Y  DDAT read: Rx Time:05:56:00.7767  TRx dataTimestamp_ set to:1761544562.052632 PDAT read: Bearing 190.2, 52.0 (Local)  ~Local bearing/azimuth received: Bearing 190.2, 52.0 (Local)  DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.1  DAT read: 05:56:00.7767 LVL= 14096, 12385, 22386, 26355, AGC= 49, IDX= 510,-0.42,-0.036,-0.170,-1.566,-0.040, PHS= 0.107,-0.085,-1.570, RAW= 36.0, 19.0, CAL= 32.7, 22.0, ROT= 117.3, -22.0  Ygot valid direction response: 05:56:00.7767 LVL= 14096, 12385, 22386, 26355, AGC= 49, IDX= 510,-0.42,-0.036,-0.170,-1.566,-0.040, PHS= 0.107,-0.085,-1.570, RAW= 36.0, 19.0, CAL= 32.7, 22.0, ROT= 117.3, -22.0 E  E E %E "E ҝ:*E X:VE 4ZE a @a @a @a @ T#Rx 69: Read range and direction messages. ^direction in FSK: [-0.425252,0.823912,0.374607] Fpublishing direction and range infoy  (u ? >) ~@I ľ ydQ?SR$`? 4) ©I ~@i ľ  checking for new query: numPingsReceived=69, elapsed TxPingTime=33.536289^A I I O >", Ĉ\?Aɰ;8Fw@Fr@F_ٱFW rAHRS rotation from veh to nav: [[-0.196996,0.978716,0.057513],[-0.979939,-0.198370,0.019192],[0.030192,-0.052578,0.998160]]FH (7ɿ@Q?Sr?[`.dɿ`??몿?iFw@IFg];FCY6ByIbDMVDMy]ʽ%]@=ٔe1Q-e>9aYi=FyE>Q 55O?Q 95)BYy)!Q I@zEI9:i:5yBɮAEBI>BCB4IBpBB; =BBB?a;B^$EiiS^\?AJiRiji{>bH"t&1@}5M @R(u  addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503849 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.760483 m, bearing: 15.944713 deg, lat: 36.779389 deg, lon: -121.859752 deg, deltaT: 0.503849 s, deltaX: 0.000078 m, approachRate: 0.000155 m/s, posRepo size: 4 =DNOT Ignoring new targets: 21.76 m.hAhA*hA"hA hAgAfIfQfYdydjdZdz?ԙZZZZgp@}_) =i49)顕3ii~񿉧=II 5checking for new query: numPingsReceived=69, elapsed TxPingTime=33.771984-9@) @)@-4@) ^Am =Iy I O >9(,Ѐ\?A2;g@2 b@2 ٱ2ѯW :AHRS rotation from veh to nav: [[-0.198982,0.978294,0.057846],[-0.979496,-0.200431,0.020368],[0.031520,-0.052607,0.998118]]2HAxɿ/N?@ ? XວɿY۔?g#? \謹?i2;g@I2X];0FDDAT read: Rx Time:05:56:01.2768 JTRx dataTimestamp_ set to:1761544562.556816NPDAT read: Bearing 191.5, 52.0 (Local) R~Local bearing/azimuth received: Bearing 191.5, 52.0 (Local) ZDAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 jDAT read: 05:56:01.2768 LVL= 14144, 12113, 22050, 26419, AGC= 49, IDX= 511, 0.11, 2.639, 2.519, 1.095, 2.626, PHS= 0.115,-0.062,-1.575, RAW= 35.5, 18.5, CAL= 32.2, 21.4, ROT= 117.8, -21.4 bEm4jEm<3rEm/Er Er{Er$Ep"Er:*Er5":VEr4ZEpBEr7 8^.$Z?YF̰ADF@7FQ/F"V F3g)DIF=iF}FɿF?FMQ>F? Ft;>)Fx@IFt;DDFyEE949QYQ=UFyQ]'E]>aQ 55eK?Q 95e7)eBY>Q E;yzQ I@e{EIe[;ie;e5yɮ AiDiFࢣ\?AJiFARiFAjiF >bF#~K2@]Z @RFtۿ@[Z?>8^.$Z?ZiFx@biFt;jF 4@A@9@ZFx+9?"!?\aĨ?2iF@:iFnA"iFb垊?*iF)BiFBiFW]מ?iFX"^iDiFAiF J> addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504184 s, deltaX: 0.200001 m, approachRate: 0.396682 m/s, rangeRepo size: 4   Added new target pos. range: 21.959209 m, bearing: 16.336955 deg, lat: 36.779390 deg, lon: -121.859754 deg, deltaT: 0.504184 s, deltaX: 0.198727 m, approachRate: 0.394155 m/s, posRepo size: 4  DNOT Ignoring new targets: 21.96 m.h h *h "h hgfffBd9d9jdE6@ZdE@?Z>Z>Ztk@Zdҁ@ ) >i9)顥3ii񿉧I=IIY=checking for new query: numPingsReceived=70, elapsed TxPingTime=34.273857u9@q @q@u4@yԁ ^A] e=I I O >m.,׽\?A6lU@6=P@6ٱ6:X >AHRS rotation from veh to nav: [[-0.201102,0.977826,0.058430],[-0.979017,-0.202635,0.021551],[0.032913,-0.052870,0.998059]]6H ɿYJ? ?Tɿf?٠?@?i6lU@I6^;6CYJ-ByJILNAPbDTVDTy^P%^=ٔb璻Q-b?9dYd=fFydfEf?hQ 5n5jI?Q 9n5j*)jBYpyrQ Ir@j|EIj;ij;jr5ytɮzAxDNOT Ignoring new targets: 21.96 m.hh*h"h hg!f! 15CfIfI(hAdY19(hAY!AdjdZd!?ZyZyZyZ}@) >i9)顕4ii񿉧)=IIDDAT read: Rx Time:05:56:01.7768 TRx dataTimestamp_ set to:1761544563.063531 PDAT read: Bearing 191.8, 51.7 (Local)  ~Local bearing/azimuth received: Bearing 191.8, 51.7 (Local) DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 E= E=E="E9"E=:*E=.:VE=(3ZE9aM@aM@aM@aM@eDAT read: 05:56:01.7768 LVL= 15952, 11761, 24466, 28147, AGC= 48, IDX= 511,-0.22,-0.552,-0.657,-2.058,-0.559, PHS= 0.108,-0.054,-1.544, RAW= 35.1, 18.5, CAL= 31.9, 21.3, ROT= 118.1, -21.3 uYgot valid direction response: 05:56:01.7768 LVL= 15952, 11761, 24466, 28147, AGC= 48, IDX= 511,-0.22,-0.552,-0.657,-2.058,-0.559, PHS= 0.108,-0.054,-1.544, RAW= 35.1, 18.5, CAL= 31.9, 21.3, ROT= 118.1, -21.3 T#Rx 71: Read range and direction messages.^direction in FSK: [-0.438838,0.821870,0.363251]Fpublishing direction and range infoy)ܿdL?+=??YP>-_ m)0I/=i/]ˡſ ?Ӈ? V>)A@IVՅ)?G1E;]TF? K) IA@iVQ@Q @Q@U/@Qchecking for new query: numPingsReceived=71, elapsed TxPingTime=34.581047BAAEp<BUJ>BQBUIBUBBBU: =BUFDBQBUHa;BUd$E^A9IAIYOe>1  checking for new query: numPingsReceived=71, elapsed TxPingTime=34.780045M5,\?A@2@@2;@2L ٱ2Y :AHRS rotation from veh to nav: [[-0.203556,0.977284,0.059003],[-0.978460,-0.205176,0.022782],[0.034371,-0.053094,0.997998]]2HʿE?@5?O8Cʿ5T?@?,/ ?i2@@I26X^;2CY$ByIi5Mb@Mb@Mb@1111 195+? rh~jt?Y5>y5C5<5p A5@ 5xA)5S@I1Y5AbDUVDUyer %e=ٔm7Q-m>9iYi=uFyquEu>yQ 55}HE?Q 95})}BY/>Q E;y Q I@}}EI}y;i};}5yɮ]AiAiE\?AJiARiAjiEe>bE;AE#d?2 2@ *@RE)ܿdL?+=??ZiEA@biEVjE1l4@v@Chl@ZE#+??_7?F 9q?2iE @:iEA"iEC?*iEBiE|BiEϠsٞ?iE)iEBiEAiE> addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.506715 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.959253 m, bearing: 16.402244 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 0.506715 s, deltaX: 0.000044 m, approachRate: 0.000087 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.96 m.hh*h"h hgff f ̀Bd d jdZd _ ?Z5/>Z5/>Z5j@Z5=@ML )I M.>iM59)IMuB4QiQiU񿉧Y]=IYIY DDAT read: Rx Time:05:56:02.2768 TRx dataTimestamp_ set to:1761544563.565430%PDAT read: Bearing 191.7, 51.5 (Local) %~Local bearing/azimuth received: Bearing 191.7, 51.5 (Local) =DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 Ee Ee|Ee Ea"Ee:*EeP$:VEe3ZEaBEe4;au2Ee5;a}JEe};a}:Ee};a}DAT read: 05:56:02.2768 LVL= 14304, 12257, 22674, 26179, AGC= 49, IDX= 511, 0.19, 1.455, 1.353,-0.082, 1.452, PHS= 0.106,-0.054,-1.577, RAW= 34.9, 18.5, CAL= 31.7, 21.4, ROT= 118.3, -21.4 Ygot valid direction response: 05:56:02.2768 LVL= 14304, 12257, 22674, 26179, AGC= 49, IDX= 511, 0.19, 1.455, 1.353,-0.082, 1.452, PHS= 0.106,-0.054,-1.577, RAW= 34.9, 18.5, CAL= 31.7, 21.4, ROT= 118.3, -21.4 T#Rx 72: Read range and direction messages.^direction in FSK: [-0.441403,0.819774,0.364877]Fpublishing direction and range infoy%j?̫ܿ;Е;?>8^.$Z?Y7/X Cf)1I=i#ɿI? ? t;>)r$@It;Qq?Zl:v7U? e)ҌIr$@it;checking for new query: numPingsReceived=72, elapsed TxPingTime=35.056400]9@Y @Y@Y@Yyԡ ^A =I I O > ;,]\?A2+@2&@2]ٱ2zZ >AHRS rotation from veh to nav: [[-0.206063,0.976732,0.059428],[-0.977886,-0.207763,0.023936],[0.035726,-0.053181,0.997946]]2HG`ʿdA?Nm?@Jʿ@?J?:+?i2+@I2 ^;2CTVr@iTITTX XZ`廉XXX^`kAI\)\i\)`IbiAb^` ``ddiddidd)h hIh h)hhllechecking for new query: numPingsReceived=72, elapsed TxPingTime=35.281769yYYU%ByQbDԩVD!y;%C=ٔQSQ->9Y= Fy ƻE>1Q 555A?Q 955)5BYy Q I@5~EI5b=Rۿb#i2@&\ @R=%j?̫ܿ;Е;?>8^.$Z?Zi=r$@bi=t;j=sg4@ϝʑ@|@Z=O:?MH?jm4?2i=Ľ@:i=sA"i=۞?*i=D-Bi=Bi=۞?i=i9i=fAi= >} addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.501899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.959253 m, bearing: 16.471913 deg, lat: 36.779390 deg, lon: -121.859756 deg, deltaT: 0.501899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.96 m.hh*h"h hgfffddjdZd ?ZZZZ3'@]) .>iY9)%uq4!i!i-~񿉧)-z=I)I) QQI])] DDAT read: Rx Time:05:56:02.7768 % TRx dataTimestamp_ set to:1761544564.069746- PDAT read: Bearing 191.8, 51.1 (Local) - ~Local bearing/azimuth received: Bearing 191.8, 51.1 (Local) = DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 Em  Em zEm #Ei "Em :*Em  :VEm 3ZEi au @a} @a} @a} @y @y  @y @ /@ e DAT read: 05:56:02.7768 LVL= 15344, 13041, 23970, 26915, AGC= 48, IDX= 511,-0.18,-1.203,-1.288,-2.705,-1.194, PHS= 0.093,-0.049,-1.555, RAW= 34.4, 18.7, CAL= 31.3, 21.6, ROT= 118.7, -21.6  Ygot valid direction response: 05:56:02.7768 LVL= 15344, 13041, 23970, 26915, AGC= 48, IDX= 511,-0.18,-1.203,-1.288,-2.705,-1.194, PHS= 0.093,-0.049,-1.555, RAW= 34.4, 18.7, CAL= 31.3, 21.6, ROT= 118.7, -21.6  T#Rx 73: Read range and direction messages. ^direction in FSK: [-0.446501,0.815550,0.368125] Fpublishing direction and range infoy  5 vܿo-?{.MZ?Y   ; 2 ]  #i) 0I v=i 9H = ǿ `? > ?  >) Ԗ@I    ~۸%5۲?dN9يyz?  ) ¦I Ԗ@i    checking for new query: numPingsReceived=73, elapsed TxPingTime=35.555084 Ba Ba Be IBe )BBa Ba Ba Be ea;Be r$EB%͹CB%͸CB!B%; =B%; =C%Y5^A I=I I O>sC,]?AF@F@FٱFZ ^AHRS rotation from veh to nav: [[-0.208550,0.976184,0.059764],[-0.977309,-0.210326,0.025087],[0.037059,-0.053176,0.997897]]FH±ʿ 9Y=FyE>Q 5%5>?Q 9-5)BY1y5 Q I=@EI;checking for new query: numPingsReceived=73, elapsed TxPingTime=35.787956i;&5yɮ*A Aiiv]?AJiRiji>b<;#4P1@o+Q* @R5 vܿo-?{.MZ?ZiԖ@bijB.M4@d@Y?@Z(?\qh?E'?2i@:iA"i՞?*iXXBiBiiiBiǧAi>E addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504316 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 21.959238 m, bearing: 16.739581 deg, lat: 36.779390 deg, lon: -121.859756 deg, deltaT: 0.504316 s, deltaX: -0.000015 m, approachRate: -0.000030 m/s, posRepo size: 4 UDNOT Ignoring new targets: 21.96 m.hQhq*hq"hy hygyfyffddjdZdN?ZZZZl@) :>i9)$4ii 񿉧  =I I1q9@ @@/@ԙ ] DDAT read: Rx Time:05:56:03.2769 e TRx dataTimestamp_ set to:1761544564.572676m PDAT read: Bearing 181.4, 53.9 (Local) m ~Local bearing/azimuth received: Bearing 181.4, 53.9 (Local)  DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.1  DAT read: 05:56:03.2769 LVL= 16080, 13393, 24898, 27971, AGC= 49, IDX= 512, 0.19, 0.997, 0.605,-0.912, 0.936, PHS= 0.163,-0.286,-1.892, RAW= 42.0, 20.8, CAL= 38.2, 24.4, ROT= 111.8, -24.4  Ygot valid direction response: 05:56:03.2769 LVL= 16080, 13393, 24898, 27971, AGC= 49, IDX= 512, 0.19, 0.997, 0.605,-0.912, 0.936, PHS= 0.163,-0.286,-1.892, RAW= 42.0, 20.8, CAL= 38.2, 24.4, ROT= 111.8, -24.4 E { E E %E "E =:*E 0:VE 4ZE BE ;a 2E ;a JE ۉ;a :E ۉ;a  T#Rx 74: Read range and direction messages. ^direction in FSK: [-0.338199,0.845557,0.413104] Fpublishing direction and range info^A 8=I I O >ya e |1 տ)4?IMp?Ye Aa e >e Q4e Ba e Cm)e 1Ie y&>ie ne -e f;?e ޹>e *? e ^ >)e |?Ie ^ ھa a e mR? @R[,? e E)e =Ie |?ie ^ ھa a 5 checking for new query: numPingsReceived=74, elapsed TxPingTime=36.098297 I,@(]?A@HɰJ4<+@@3ٱX UAHRS rotation from veh to nav: [[-0.211120,0.975631,0.059776],[-0.976712,-0.212957,0.026154],[0.038247,-0.052863,0.997869]]H`˿]8??8A+B˿&Ț?@ ?@?i+@I];YBByIiMb@Mb@Mb@ 9Q?333333 rh?Y(>yC = A A)KAYAԩbD VD2y=%.=ٔH&Q->9Y=Fy,E>Q 55:?Q 95)BY<>Q E;y Q I@EI ;i ;+5yɮjAii$]?AJixARixAjiRE1>b>{@<h.|ܦ2@r9"@R|1 տ)4?IMp?Zi|?bi^ ھju%Q4@+p l @<рI@Z!4y?$V?AC1?2i`c@:iA"i:꞊?*i 5EBiBiC?iiiAi~ȕ>E addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.502930 s, deltaX: 0.100000 m, approachRate: 0.198836 m/s, rangeRepo size: 4 U Added new target pos. range: 22.058601 m, bearing: 9.918816 deg, lat: 36.779391 deg, lon: -121.859756 deg, deltaT: 0.502930 s, deltaX: 0.099363 m, approachRate: 0.197569 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 22.06 m.hYhY*hY"hY hYgafafafmBdidijdm@336@Zdu?Z<>Z<>Zh@Z@3)  >i9)顭ɠ4ii񿉧=IIchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.290340]9@a @a@e/@a ^A L=I I O >P,B]?A2D@2@2^'!ٱ2aX :AHRS rotation from veh to nav: [[-0.213365,0.975126,0.060047],[-0.976180,-0.215263,0.027082],[0.039334,-0.052839,0.997828]]2H@O˿:4?`?< ˿L? #? 5?i2D@I2];2CYFDByFIbDNVDNk2yV;%V=ٔVkQ-V?9XYX=ZFyX^E^?`Q 5f5b8?Q 9f5ḅ)bBYdyf: Q Ij@`Ibk:ib:b}5ylɮnbAlp DNOT Ignoring new targets: 22.06 m.h h *h "h  hgfff-DDAT read: Rx Time:05:56:03.7769 -TRx dataTimestamp_ set to:1761544565.0768255PDAT read: Bearing 191.9, 54.2 (Local) =~Local bearing/azimuth received: Bearing 191.9, 54.2 (Local) MDAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.1 mDAT read: 05:56:03.7769 LVL= 14976, 13249, 21954, 27091, AGC= 48, IDX= 512,-0.21,-1.376,-1.588, 3.122,-1.485, PHS= 0.211,-0.058,-1.720, RAW= 37.4, 17.0, CAL= 33.9, 19.5, ROT= 116.1, -19.5 E EpEE"E:*E :VEZEa@a@a@a@Ygot valid direction response: 05:56:03.7769 LVL= 14976, 13249, 21954, 27091, AGC= 48, IDX= 512,-0.21,-1.376,-1.588, 3.122,-1.485, PHS= 0.211,-0.058,-1.720, RAW= 37.4, 17.0, CAL= 33.9, 19.5, ROT= 116.1, -19.5 T#Rx 75: Read range and direction messages.^direction in FSK: [-0.414705,0.846518,0.333807]Fpublishing direction and range infoy)-\ڿ-:"?{{]?Y))-:-3-U -i)-0I-bX>i-hm-(ܿ-'?->-ww? -@>)-X@I-@))-'U{?$X2|e˜? -@)-aI-X@i-@))checking for new query: numPingsReceived=75, elapsed TxPingTime=36.560577d1d1jd9Zd=z?ZZZZr@^'!) V>i9)4ii񿉧F=II@ @@5@AIAIB]K>BYB]IB].BB]; =BYBYB]a;B]$E9^A$=checking for new query: numPingsReceived=75, elapsed TxPingTime=36.796173I1 IY O} >q V,4i\]?Av@vYۏ@vS$ٱv[Y ~AHRS rotation from veh to nav: [[-0.214994,0.974745,0.060416],[-0.975791,-0.216942,0.027701],[0.040108,-0.052998,0.997789]]vH@˿1??9˿]? ?"?iv@Iv];vC1YVByI AiEMb@Mb@Mb@AAAA A9E)\(?&1?YEG=yE̽EP=E AE@ ExA)EAAYE\AbDVDy=%-=ֺٔQ->9Y=Fy#hE>Q 55M3?Q 95٤) BY >Q E;ye!Q I@EI:i:5yɮAiQiUD]?AJiQRiQjiUfw>bUY]K"PJ2@J t@RU\ڿ-:"?{{]?ZiUX@biU@jUWf4@<_DQ@`hD@ZU8U$?rz!ay? jna?2iU@:iUA"iUnQ?*iUg?BiUQBiQiUD-iUBiUAiUA>E addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504149 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 22.058611 m, bearing: 13.842780 deg, lat: 36.779391 deg, lon: -121.859756 deg, deltaT: 0.504149 s, deltaX: 0.000010 m, approachRate: 0.000019 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 22.06 m.hYhY*hY"hY hYgYfafafe(BdidijdiZdm L?Z >Z >Zs@Zp@S$) T=i9)顭4ii~񿉧=II-DDAT read: Rx Time:05:56:04.2770 5TRx dataTimestamp_ set to:1761544565.580679=PDAT read: Bearing 181.3, 52.3 (Local) E~Local bearing/azimuth received: Bearing 181.3, 52.3 (Local) ]DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.1 E EuEE"Ea:*E:VEZEBEW;a2EX;aJEed;a:Eed;aԡDAT read: 05:56:04.2770 LVL= 15728, 13233, 24770, 28291, AGC= 49, IDX= 513, 0.24, 1.880, 1.541, 0.000, 1.875, PHS= 0.107,-0.290,-1.919, RAW= 40.6, 21.8, CAL= 37.0, 25.5, ROT= 113.0, -25.5 Ygot valid direction response: 05:56:04.2770 LVL= 15728, 13233, 24770, 28291, AGC= 49, IDX= 513, 0.24, 1.880, 1.541, 0.000, 1.875, PHS= 0.107,-0.290,-1.919, RAW= 40.6, 21.8, CAL= 37.0, 25.5, ROT= 113.0, -25.5 T#Rx 76: Read range and direction messages.^direction in FSK: [-0.352668,0.830834,0.430511]Fpublishing direction and range infoy15Cֿun1? Wv~?Y53A15p=535` 5n)51I5"=i5z5ˡ5 g5?5>5MQ%? 5>)5q?I5㾩115y?b'3p)?? 5[B)5¾I5q?i5㾩11checking for new query: numPingsReceived=76, elapsed TxPingTime=37.073620E9@A @A@E4@A^A% :_=I1 IA OM >  checking for new query: numPingsReceived=76, elapsed TxPingTime=37.297714Z\,m8v]?A2҈@2͏@2XQ'ٱ2Z :AHRS rotation from veh to nav: [[-0.216610,0.974357,0.060898],[-0.975404,-0.218609,0.028249],[0.040838,-0.053282,0.997744]]2H@˿-? .?6`_˿Y??G ?i2҈@I2c];2CYNfByR(IbDZVDZ0yv==%vn=ٔv Q-v?9xYx=zFyxzE~?Q 55/?Q 9 5)BY y !Q I @I:i:5y Bɮ"AEiaie)e]?AJieARieAjiekA>be5}mec}2@)#@ReCֿun1? Wv~?Zieq?biejel$Z@M4@J@n W @ZePd<0?V?hT?2iex@:iejA"ieޞ?*ieIn?BieBieޞ?ieg?ieBieyAie5i|>] addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503854 s, deltaX: 0.199999 m, approachRate: 0.396938 m/s, rangeRepo size: 4  Added new target pos. range: 22.257336 m, bearing: 10.832006 deg, lat: 36.779390 deg, lon: -121.859768 deg, deltaT: 0.503854 s, deltaX: 0.198725 m, approachRate: 0.394409 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.26 m.hh*h"h hgfffdQdYjde`ff6@Zde$?ZZ >ZZŜp@XQ') =i9)4!i!ie񿉧im=IiIi 9@ @@4@i9I=AEDDAT read: Rx Time:05:56:04.7770 MTRx dataTimestamp_ set to:1761544566.085054UPDAT read: Bearing 185.3, 55.2 (Local) U~Local bearing/azimuth received: Bearing 185.3, 55.2 (Local) eDAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.1 DAT read: 05:56:04.7770 LVL= 15696, 15025, 25746, 28323, AGC= 50, IDX= 513,-0.06,-1.928,-2.297, 2.441,-2.051, PHS= 0.225,-0.201,-1.836, RAW= 41.3, 18.8, CAL= 37.4, 21.8, ROT= 112.6, -21.8 E EhE&E"E:*E]9VE4ZEa@a@a@a@Ygot valid direction response: 05:56:04.7770 LVL= 15696, 15025, 25746, 28323, AGC= 50, IDX= 513,-0.06,-1.928,-2.297, 2.441,-2.051, PHS= 0.225,-0.201,-1.836, RAW= 41.3, 18.8, CAL= 37.4, 21.8, ROT= 112.6, -21.8 T#Rx 77: Read range and direction messages.^direction in FSK: [-0.356813,0.857188,0.371368]Fpublishing direction and range infoyAE6!ֿbn?% ~}?YAAEP=E:Ed En)E2IEfff>iEME 뿩E8?E>E'? E>)E?IE¾1AAE?w? Eׯ)EaȧIE?iE¾AAchecking for new query: numPingsReceived=77, elapsed TxPingTime=37.594727^A 2=I I) O5 >a BU L>BQ BU IBU GBBQ BQ BQ BU a;BU $Ec,]?A6iȈ@6;Ï@6t9)ٱ61^[ BAHRS rotation from veh to nav: [[-0.217855,0.974058,0.061236],[-0.975107,-0.219887,0.028579],[0.041303,-0.053485,0.997714]]6H˿|+?@NZ?4>%̿C? %?`nb@F?i6iȈ@I6];6CYR{ByRBIbDZVDZkyb=%bM=ٔbݘQ-f>9dYd=fFydjOREj>lQ 5r5n+?Q 9r5n|)n%BYpyr!Q Ir@nEInL;inH;n̡5yxɮzxAxiqiuq]?AJiqRiqjiu&8>bucS*3@/u @Ru6!ֿbn?% ~}?Ziu?biu¾ju\4@>G@r@Zu]BF?faR?:5z?2iu>r@:iuA"iu a?*iuqnBBiuGBiu:꞊?iuIn?iuGBiuAiuqA>E addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504375 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 22.257408 m, bearing: 10.303811 deg, lat: 36.779392 deg, lon: -121.859782 deg, deltaT: 0.504375 s, deltaX: 0.000072 m, approachRate: 0.000144 m/s, posRepo size: 4 UDNOT Ignoring new targets: 22.26 m.hQhY*hY"hY hYgYfYfafadadijdiZdm9$?ZZZZp@t9)) &>i9)页ii񿉧=II9checking for new query: numPingsReceived=77, elapsed TxPingTime=37.803825y599@ @@4@ԑM DDAT read: Rx Time:05:56:05.2772 U TRx dataTimestamp_ set to:1761544566.588675] PDAT read: Bearing 194.4, 50.0 (Local) ] ~Local bearing/azimuth received: Bearing 194.4, 50.0 (Local) u DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.1  DAT read: 05:56:05.2772 LVL= 10848, 11425, 18066, 17267, AGC= 53, IDX= 3,-0.38, 0.816, 0.797,-0.712, 0.832, PHS= 0.086, 0.009,-1.588, RAW= 32.3, 17.9, CAL= 29.4, 20.7, ROT= 120.6, -20.7  Ygot valid direction response: 05:56:05.2772 LVL= 10848, 11425, 18066, 17267, AGC= 53, IDX= 3,-0.38, 0.816, 0.797,-0.712, 0.832, PHS= 0.086, 0.009,-1.588, RAW= 32.3, 17.9, CAL= 29.4, 20.7, ROT= 120.6, -20.7 E ~ E xE $E "E :*E :VE 4ZE BE f;a 2E g;a JE Po;a :E Qo;a % T#Rx 78: Read range and direction messages.M ^direction in FSK: [-0.476180,0.805176,0.353475]U Fpublishing direction and range infoԹ ^A (=I I O >yQ U Ly޿G҄?iU?YU AQ U `*U ,U F U sC)U 5IU =iU tU G\? U >)U $@IU Q Q U q;ڣ?x&nc 4? U ÿ)U IU $@iU Q Q E checking for new query: numPingsReceived=78, elapsed TxPingTime=38.118553i,]?AJ@J~@J*ٱJ\ AHRS rotation from veh to nav: [[-0.218775,0.973838,0.061462],[-0.974893,-0.220821,0.028673],[0.041495,-0.053646,0.997698]]JH̿)?w?@R2C̿e\?@>?mw`#?iJ@IJ ];HYeByePI==ԑiMMb@Mb@Mb@IIII I9Mv/?Mb)\(?YMxi=yMMGa=M AM@ MA)MAIYMA 4<bDVDy-=% =ٔŹQ->9Y=FyIE>Q 55%?Q 95צ)6BY#>Q E;yb}u,{%r@)2@\6&@R}Ly޿G҄?iU?Zi}$@bi}j}R_?4@N*@I%V#@Z} ?G1?Ld?2i} @:i}4A"i}5t瞊?*i} Bi}Biyiyiyi}|Ai}rA>checking for new query: numPingsReceived=78, elapsed TxPingTime=38.305828 addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503621 s, deltaX: 0.300001 m, approachRate: 0.595688 m/s, rangeRepo size: 4 Թ Added new target pos. range: 22.555498 m, bearing: 18.050009 deg, lat: 36.779392 deg, lon: -121.859782 deg, deltaT: 0.503621 s, deltaX: 0.298090 m, approachRate: 0.591893 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.56 m.hh*h"h hgfffcBddjd@36@Zd%?Ze#>Ze#>Ze3@Ze}9U@u*)q u`=ic9)顝%2ii񿉧]=IIE9@A @A@M/@I  ^A }=I I O >Qq,]?A4<ɰ;6ӷ@6@6R^*ٱ6Az[NDDAT read: Rx Time:05:56:05.7771 RTRx dataTimestamp_ set to:1761544567.092847VPDAT read: Bearing 195.0, 50.2 (Local) Z~Local bearing/azimuth received: Bearing 195.0, 50.2 (Local) bDAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1 rDAT read: 05:56:05.7771 LVL= 15312, 13361, 22994, 27395, AGC= 51, IDX= 498, 0.25, 0.581, 0.564,-0.969, 0.588, PHS= 0.095, 0.021,-1.601, RAW= 32.2, 17.6, CAL= 29.3, 20.3, ROT= 120.7, -20.3 E~ E|E~%E|"E~O:*E|VE~ 4ZE|a@a@a@a@Ygot valid direction response: 05:56:05.7771 LVL= 15312, 13361, 22994, 27395, AGC= 51, IDX= 498, 0.25, 0.581, 0.564,-0.969, 0.588, PHS= 0.095, 0.021,-1.601, RAW= 32.2, 17.6, CAL= 29.3, 20.3, ROT= 120.7, -20.3  T#Rx 79: Read range and direction messages.^direction in FSK: [-0.478833,0.806446,0.346936]Fpublishing direction and range infoyPRt^p1޿ng?Fv>{14?YRAPR;R14RY Rk)R3IR\=iR1R? R g>)R@IR gPPRԫע?K |ՊL? RĿ)R^ќIR@iR gPP 5AHRS rotation from veh to nav: [[-0.219827,0.973606,0.061381],[-0.974652,-0.221874,0.028721],[0.041582,-0.053511,0.997701]]6HG#̿'?@Sm? Z0Zf̿i?7J?e*?i6ӷ@I6,];6CYEByEnIbD] VD]2mchecking for new query: numPingsReceived=79, elapsed TxPingTime=38.585087yu>%uu=ٔ}Q-}?9yYy=}Fyy|^E ?Q 55d"?Q 95)@BYybR%# i%fA2@X@RRt^p1޿ng?Fv>{14?ZiR@biR gjRP\ b4@// @s}P@ZR,?Lm?H,T3?2iR@:iRA"iR&؞?*iR@LBiRGBiR5t瞊?iRg?iRBiRAiR{> addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504172 s, deltaX: -0.200001 m, approachRate: -0.396692 m/s, rangeRepo size: 4  Added new target pos. range: 22.356771 m, bearing: 18.085003 deg, lat: 36.779391 deg, lon: -121.859768 deg, deltaT: 0.504172 s, deltaX: -0.198727 m, approachRate: -0.394164 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.36 m.hh*h"h hgyfffddjd6@Zd`?ZiZiZiZm&U@ByA}<BN>BB4IBpBB: =BBBa;B$E%R^*)! %=i-9))-)i)iu~񿉧qur=IyIyԱ9@ @!@%/@)Mchecking for new query: numPingsReceived=79, elapsed TxPingTime=38.809807^A O=II  I O% >cw,]?AR@R@R)ٱRQ[ jAHRS rotation from veh to nav: [[-0.220438,0.973471,0.061328],[-0.974521,-0.222474,0.028545],[0.041432,-0.053473,0.997709]]RHM7̿&?nf?F/ z̿:?`6?@`@9AYA=EFyAMλEM>QQ 5]5U?Q 9]5U{)UOBYeo*>Q Ee;ye3@Q Ie@UEIU;:iUe:Ue5yɮAԩDNOT Ignoring new targets: 22.36 m.hh*h"h hgfffBddjdZd)?ZUo*>ZUo*>ZU@ZU3@uDDAT read: Rx Time:05:56:06.2772 uTRx dataTimestamp_ set to:1761544567.596791PDAT read: Bearing 195.5, 49.9 (Local) ~Local bearing/azimuth received: Bearing 195.5, 49.9 (Local) DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.2 DAT read: 05:56:06.2772 LVL= 16368, 14913, 26354, 29811, AGC= 52, IDX= 499, 0.02,-0.929,-0.930,-2.461,-0.917, PHS= 0.089, 0.031,-1.589, RAW= 31.7, 17.5, CAL= 28.9, 20.2, ROT= 121.1, -20.2 bEUJ4jEU3rEU- 0E EuE"E"E:*E:VE(3ZEBE;a2E;aJEed;a:Eed;aYgot valid direction response: 05:56:06.2772 LVL= 16368, 14913, 26354, 29811, AGC= 52, IDX= 499, 0.02,-0.929,-0.930,-2.461,-0.917, PHS= 0.089, 0.031,-1.589, RAW= 31.7, 17.5, CAL= 28.9, 20.2, ROT= 121.1, -20.2 T#Rx 80: Read range and direction messages.^direction in FSK: [-0.484763,0.803601,0.345298]Fpublishing direction and range infoyqu>Z߿b?P]?YuAqu?uA:uf ust)u4IuE=iuu^ ? uJ>)uE@IuJqquw ?JĨO[_07? u*ſ)u'IuE@iuJqqchecking for new query: numPingsReceived=80, elapsed TxPingTime=39.082573e))! =;i]d9)ae)0aiaim񿉧im#=IiIq9@ @@/@ ^A 5ߺ=I I O > checking for new query: numPingsReceived=80, elapsed TxPingTime=39.313683i}, C]?A2@2u@2N(ٱ2[ >AHRS rotation from veh to nav: [[-0.220567,0.973449,0.061206],[-0.974506,-0.222580,0.028205],[0.041079,-0.053424,0.997727]]2H;̿&?]V?'/}̿? T? pZ@`?i2@I2'k];0YFByFI HHLLbDzVDz:y-L>%-c=ٔ=:Q-E>9IYI=UFyQeEm>Q 55?Q 95)\BYyQ I@EIv;i.;5yɮcAii1]?AJiqARiqAjif>b,zF%]/ 2@@W'@R>Z߿b?P]?ZiE@biJjg Kk4@Ҙ\@ i@Z28[!?:ׁh?sD?2i@:iCA"i";ڞ?*iBisBiޞ?i@LiiAiE>  addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503944 s, deltaX: 0.200001 m, approachRate: 0.396871 m/s, rangeRepo size: 4 Qe Added new target pos. range: 22.555635 m, bearing: 18.425729 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.503944 s, deltaX: 0.198864 m, approachRate: 0.394615 m/s, posRepo size: 4 eDNOT Ignoring new targets: 22.56 m.haha*ha"ha higifffddjd@36@Zd@?QmhAc/9hAY~AZZZZw3@N()! %d=i%C9)!-)i)i5񿉧15`=I1I1yDDAT read: Rx Time:05:56:06.7772 TRx dataTimestamp_ set to:1761544568.101649PDAT read: Bearing 193.8, 49.9 (Local)  ~Local bearing/azimuth received: Bearing 193.8, 49.9 (Local) E%~ E%zE%!E!"E%:*E% :VE%c3ZE!a-@a-@a-@a-@=DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.2 ]9@Y @Y@]/@YDAT read: 05:56:06.7772 LVL= 15536, 16577, 24050, 27939, AGC= 53, IDX= 499,-0.24, 3.052, 3.029, 1.505, 3.075, PHS= 0.079,-0.001,-1.614, RAW= 32.4, 18.2, CAL= 29.5, 21.0, ROT= 120.5, -21.0 Ygot valid direction response: 05:56:06.7772 LVL= 15536, 16577, 24050, 27939, AGC= 53, IDX= 499,-0.24, 3.052, 3.029, 1.505, 3.075, PHS= 0.079,-0.001,-1.614, RAW= 32.4, 18.2, CAL= 29.5, 21.0, ROT= 120.5, -21.0 T#Rx 81: Read range and direction messages.^direction in FSK: [-0.473828,0.804400,0.358368]Fpublishing direction and range infoy>32S޿5M?.*?Y<@] #m)5Iʡ=ioο?>? f>)@Ifľ _?` v? Aÿ)bI@if checking for new query: numPingsReceived=81, elapsed TxPingTime=39.607666Ա B O>B B fIB BB 9 =B B B b;B $E^A=  =II IY Oe >gR, ^?A2{@2M@2|%ٱ2[ :AHRS rotation from veh to nav: [[-0.220234,0.973527,0.061165],[-0.974606,-0.222215,0.027635],[0.040495,-0.053526,0.997745]]2H@0̿#'? Q?/q̿9|Y|=~Fyh:E> Q 55 ?Q 95 }) iBYy3@Q I=@ EI ;i p; 5yAɮE:AAiik^?AJirARirAji>b6 O`%V $2@.Nğ* @R>32S޿5M?.*?Zi@bifj۳04@aEn@v7=@ZM+߫?> v?,]u?2ir@:iA"i?\Ԟ?*iYTBiBi";ڞ?iYTiiAi2> addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5checking for new query: numPingsReceived=81, elapsed TxPingTime=39.819954e Added new target pos. range: 22.555727 m, bearing: 17.855957 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.504858 s, deltaX: 0.000092 m, approachRate: 0.000181 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.56 m.hh*h"h hgfffddqjdqZd}?ԱZZZZ*3@-|%)9 e=ie9)im2qiqi񿉧?=II I)9@ @@0@ DDAT read: Rx Time:05:56:07.2773  TRx dataTimestamp_ set to:1761544568.604810 PDAT read: Bearing 195.3, 50.0 (Local)  ~Local bearing/azimuth received: Bearing 195.3, 50.0 (Local)  DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2   DAT read: 05:56:07.2773 LVL= 16352, 16081, 26530, 28883, AGC= 53, IDX= 500, 0.38,-0.031,-0.033,-1.578,-0.018, PHS= 0.089, 0.030,-1.605, RAW= 31.8, 17.5, CAL= 28.9, 20.3, ROT= 121.1, -20.3 E-  E) E- "E) "E- O:*E) VE- (3ZE) BE- ;a5 2E- ;a5 JE- v;a= :E- v;a= E Ygot valid direction response: 05:56:07.2773 LVL= 16352, 16081, 26530, 28883, AGC= 53, IDX= 500, 0.38,-0.031,-0.033,-1.578,-0.018, PHS= 0.089, 0.030,-1.605, RAW= 31.8, 17.5, CAL= 28.9, 20.3, ROT= 121.1, -20.3 M T#Rx 82: Read range and direction messages.M ^direction in FSK: [-0.484451,0.803084,0.346936]U Fpublishing direction and range infoy  淥=߿z,ܲ?Fv>{14?Y fA ? > g p) I E=i < pͿ q? a> ^ ? g>) E@I g EI?+zA? I"ſ) sxI E@i g  checking for new query: numPingsReceived=82, elapsed TxPingTime=40.094440^A =I I O >,,^?Al)@@S"ٱN[ UAHRS rotation from veh to nav: [[-0.219566,0.973695,0.060902],[-0.974793,-0.221492,0.026837],[0.039620,-0.053474,0.997783]]H@̿ (?@.?1Y̿-{?"I?@a?i)@I}];CY΁ByIiMb@Mb@Mb@ 9T㥛 I +ƿ&1?Yy94P= A=@ )xAYAbDVDNyM3+=%M(=ٔU:Q-U>9QYQ=]FyY]:E]>Q 55 ?Q 953)wBYkF>Q E;y#@Q I@EI:i:Ϭ5yBɮAEii5&^?AJi=ARi=Aji>boW%%`12@VA~p@R淥=߿z,ܲ?Fv>{14?ZiE@bi gj+Փ4@+ڄ@!a@ZdD? N|`o?:-?2i&@:iԤA"ij՞?*ip?BiBi&؞?i ii?AiG>U addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503161 s, deltaX: 0.099998 m, approachRate: 0.198741 m/s, rangeRepo size: 4  Added new target pos. range: 22.655090 m, bearing: 18.464474 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.503161 s, deltaX: 0.099363 m, approachRate: 0.197478 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.66 m.hh*h"h hgfffӁBddjd6@Zd?ZkF>ZkF>Zˋ@Z#@ S") i9)i%checking for new query: numPingsReceived=82, elapsed TxPingTime=40.321762i-~񿉧)-im=I)I19@ @@ \1@ 1a ^A  =I I O >c,E^?A2H@2@2?eٱ2[[ :AHRS rotation from veh to nav: [[-0.218727,0.973897,0.060681],[-0.975020,-0.220596,0.025953],[0.038661,-0.053489,0.997820]]2H@?˿+*??\3~<̿P?dˣ?b#?i2H@I2 ];0FDDAT read: Rx Time:05:56:07.7773 JTRx dataTimestamp_ set to:1761544569.108860NPDAT read: Bearing 195.3, 50.0 (Local) N~Local bearing/azimuth received: Bearing 195.3, 50.0 (Local) VDAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2 jDAT read: 05:56:07.7773 LVL= 16208, 13521, 23538, 29011, AGC= 52, IDX= 500, 0.13,-0.929,-0.930,-2.469,-0.913, PHS= 0.087, 0.028,-1.600, RAW= 31.7, 17.6, CAL= 28.9, 20.3, ROT= 121.1, -20.3 Er Er{EpEp"Er1:*Er5":VEpZEpav@av@az@az@zYgot valid direction response: 05:56:07.7773 LVL= 16208, 13521, 23538, 29011, AGC= 52, IDX= 500, 0.13,-0.929,-0.930,-2.469,-0.913, PHS= 0.087, 0.028,-1.600, RAW= 31.7, 17.6, CAL= 28.9, 20.3, ROT= 121.1, -20.3 zT#Rx 83: Read range and direction messages.~^direction in FSK: [-0.484451,0.803084,0.346936]Fpublishing direction and range infoyDF淥=߿z,ܲ?Fv>{14?YDDFP?F4F[ FSq)F4IF-=iFB`D D)DIDDDF1R!?"4~y[Q? F ſ)FIDiDDDYchecking for new query: numPingsReceived=83, elapsed TxPingTime=40.612926YׁByI=p=bD]VD]:ye'B=%m[=ٔmo(;Q-m>9qY=Fy};E>Q 55?Q 950)BYy#@Q I@EIe;i;v5yɮuAiDiFF^?AJiDRiDjiFQ>bFoW%%`12@VA~p@RF淥=߿z,ܲ?Fv>{14?ZiDbiDjFޣط4@@HIF/@ZFc?nw?:&5?2iF@:iFŤA"iFɘPО?*iF"BiFBiFj՞?iFiFBiFڭAiFRM>  addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504050 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.655090 m, bearing: 18.500187 deg, lat: 36.779389 deg, lon: -121.859749 deg, deltaT: 0.504050 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 22.66 m.h!h!*h!"h! h!A)A)B5P>B5CB5IB5BB1B1B5ODB5tb;B5$EBBùCBB: =B: =Cb@5ԉg!fffddjdZdx]?ZZZZ#@%?e)) )i)))))i)i5񿉧15=I9I99@ @@4@Ա=checking for new query: numPingsReceived=83, elapsed TxPingTime=40.825932 ^A% $ӿ=IQ Iy O >⍗,K_^?A;ɰ4<2Ȉ@2@2kٱ2}[ :AHRS rotation from veh to nav: [[-0.217924,0.974089,0.060498],[-0.975235,-0.219741,0.025132],[0.037775,-0.053523,0.997852]]2H˿+?? 5v ̿K??W?Zg g?i2Ȉ@I2];2CYF߁ByFIiMb@Mb@Mb@ 9EԸRQȿkt?YƽyB 0=( A CA)AYAbDqVDqy43=%Z=ٔ;Q->9Y=Fy2;E>Q 55?Q 95ڡ)BY^>Q Es;y@Q I@EI":i:5Թyɮ1ADNOT Ignoring new targets: 22.66 m.hh*h"h hgfffBddjdZd ?Z%^>Z%^>Z%@Z%-@5k)1 5ui5 9)9=?Z9i9iE񿉧AE<=IAIIDDAT read: Rx Time:05:56:08.2775 TRx dataTimestamp_ set to:1761544569.613852PDAT read: Bearing 194.4, 50.0 (Local) ~Local bearing/azimuth received: Bearing 194.4, 50.0 (Local) DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.2 9@ @@/@E EyE%E"E:*E:VE 4ZEBE4;a 2E6;a JEr;a :Er;a 5DAT read: 05:56:08.2775 LVL= 15664, 13745, 23458, 28787, AGC= 52, IDX= 502,-0.04,-1.195,-1.206,-2.728,-1.173, PHS= 0.081, 0.012,-1.598, RAW= 32.1, 17.9, CAL= 29.2, 20.7, ROT= 120.8, -20.7 =Ygot valid direction response: 05:56:08.2775 LVL= 15664, 13745, 23458, 28787, AGC= 52, IDX= 502,-0.04,-1.195,-1.206,-2.728,-1.173, PHS= 0.081, 0.012,-1.598, RAW= 32.1, 17.9, CAL= 29.2, 20.7, ROT= 120.8, -20.7 ET#Rx 84: Read range and direction messages.m^direction in FSK: [-0.478988,0.803509,0.353475]uFpublishing direction and range infoyB~޿c& X?iU?Y̸A0=5[ sp)IT=iD<D̿l?>w? >)V@IX?Sm7[ư? iĿ)%IV@ichecking for new query: numPingsReceived=84, elapsed TxPingTime=41.114975^AK=IIO>E checking for new query: numPingsReceived=84, elapsed TxPingTime=41.329647I ],y^?A^͈@^ȏ@^ٱ^ [ AHRS rotation from veh to nav: [[-0.217249,0.974259,0.060184],[-0.975420,-0.219009,0.024297],[0.036853,-0.053426,0.997891]]^H`˿!-?@lЮ?6`y̿n?_ޢ?Z ?i^͈@I^];^CY؁ByIbD=VD=kyMi%M>=ٔM ;Q-U>9qYq=Fy:E>Q 55?Q 95H)BYy@Q I@EI:i:5yɮfAiiZIg^?AJiARiAjitD>b% ~pq2@}r: @RB~޿c& X?iU?ZiV@bij=0]4@[-@6@Z?۟W_0?-E֒?2i9@:i¦A"i!Pڞ?*i.pDBiBBiip?iBi֮AiI> addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504992 s, deltaX: 0.300001 m, approachRate: 0.594071 m/s, rangeRepo size: 4   Added new target pos. range: 22.953234 m, bearing: 18.270572 deg, lat: 36.779389 deg, lon: -121.859747 deg, deltaT: 0.504992 s, deltaX: 0.298143 m, approachRate: 0.590392 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.95 m.hh*h"h hgfffdd!jd%7@Zd%Z?ZIZIZIZM@])Y ]lie9)aeaiaim񿉧imOl=IqIq!@! @!@!@)IDDAT read: Rx Time:05:56:08.7775 TRx dataTimestamp_ set to:1761544570.116807PDAT read: Bearing 194.0, 50.1 (Local) ~Local bearing/azimuth received: Bearing 194.0, 50.1 (Local) DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 DAT read: 05:56:08.7775 LVL= 16480, 14033, 23650, 29379, AGC= 52, IDX= 502,-0.33,-2.458,-2.479, 2.289,-2.439, PHS= 0.083, 0.005,-1.599, RAW= 32.3, 18.0, CAL= 29.4, 20.8, ROT= 120.6, -20.8 E| E{E!E"E :*E5":VEc3ZEa @a @a @a @ Ygot valid direction response: 05:56:08.7775 LVL= 16480, 14033, 23650, 29379, AGC= 52, IDX= 502,-0.33,-2.458,-2.479, 2.289,-2.439, PHS= 0.083, 0.005,-1.599, RAW= 32.3, 18.0, CAL= 29.4, 20.8, ROT= 120.6, -20.8 T#Rx 85: Read range and direction messages.^direction in FSK: [-0.475865,0.804644,0.355107]Fpublishing direction and range infoy.St޿E$Z?_S{?Y`@6b\ r)I=i ף;̿ZQ?|٠>G\? ޹>)$@I޹ձSm?0,hJ? eÿ)ԠI$@i޹=checking for new query: numPingsReceived=85, elapsed TxPingTime=41.601410q^A D=I! I1 OU >B- Q>B) B- IB- ځBB- : =B) B) B- b;B- %Eԙ :,g^?A6/Ո@6Џ@6Dٱ6Z >AHRS rotation from veh to nav: [[-0.216380,0.974469,0.059920],[-0.975649,-0.218083,0.023438],[0.035907,-0.053389,0.997928]]6HU˿ .?@ԭ?8%˿?eb?U?i6/Ո@I6$];6CYRفByRITTXXbD^VD^ybo;%fg=ٔf/;Q-f>9hYh=jFyhj(;En?lQ 5r5n?Q 9v5n)nBYtyv @Q Iv@nEIn:in_:n5yxɮ~aA|iiy^?AJiRijiۡ>bm g%rVx2@>M @R.St޿E$Z?_S{?Zi$@bi޹jTy4@L"G@@ZZ;+?I?Y7?2i<@:i˦A"ib՞?*iĤBi\Bii"iBiEAiM>M addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.502955 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 22.953281 m, bearing: 18.112971 deg, lat: 36.779389 deg, lon: -121.859747 deg, deltaT: 0.502955 s, deltaX: 0.000048 m, approachRate: 0.000095 m/s, posRepo size: 4 eDNOT Ignoring new targets: 22.95 m.haha*ha"ha hagafififididqjdqZduX?ZZZZ @D) Ēi9)顭Jii~񿉧=II checking for new query: numPingsReceived=85, elapsed TxPingTime=41.835602y9@A @A@M0@aԡ^A=IIO> DDAT read: Rx Time:05:56:09.2775  TRx dataTimestamp_ set to:1761544570.620700 PDAT read: Bearing 194.8, 50.3 (Local)  ~Local bearing/azimuth received: Bearing 194.8, 50.3 (Local)  DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1  DAT read: 05:56:09.2775 LVL= 16048, 15953, 25842, 28275, AGC= 52, IDX= 502, 0.17,-0.643,-0.656,-2.181,-0.633, PHS= 0.092, 0.022,-1.592, RAW= 32.1, 17.6, CAL= 29.2, 20.3, ROT= 120.8, -20.3  Ygot valid direction response: 05:56:09.2775 LVL= 16048, 15953, 25842, 28275, AGC= 52, IDX= 502, 0.17,-0.643,-0.656,-2.181,-0.633, PHS= 0.092, 0.022,-1.592, RAW= 32.1, 17.6, CAL= 29.2, 20.3, ROT= 120.8, -20.3 E  E jE $E "E :*E 9VE 4ZE BE ͽ;a 2E ν;a JE [<;a :E [<;a % T#Rx 86: Read range and direction messages.- ^direction in FSK: [-0.480239,0.805609,0.346936]- Fpublishing direction and range infoy  Ϫ]>޿BU?Fv>{14?Y > Q> d sn) I j=i X9< ˿ l? nF> w? g>) V@I g =vK?8J`||sTR? [Ŀ) I V@i g M checking for new query: numPingsReceived=86, elapsed TxPingTime=42.105408 P̪,^J^?A ÝByIiMb@Mb@Mb@ 9Zd;~jtȿMb?YyD=A )AYAbDuVDuy*O%1=ٔQ->9Y=FyE>Q 55?Q 95 )BYQ Eg;y9@Q I@EI-;iK;5yɮAii^?AJiRiji>b찣 &G}2@[/n@RϪ]>޿BU?Fv>{14?ZiV@bi gjQ4@`q@M5KA@Zfޮѝ?Q^C?3M?2i@:i A"irgҞ?*iTBiBiiĤiBiܯAi > addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.953281 m, bearing: 18.306701 deg, lat: 36.779389 deg, lon: -121.859746 deg, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.95 m.hh*h"h hgfffBddjdZd ?Z5Z5Z5Ů@Z559@) ԣi9)꒳ii񿉧w=II checking for new query: numPingsReceived=86, elapsed TxPingTime=42.337982@ @@/@ ! ^A= +W=IA IY Om >T,^?A6DDAT read: Rx Time:05:56:09.7775 :TRx dataTimestamp_ set to:1761544571.124751>PDAT read: Bearing 193.0, 50.5 (Local) >~Local bearing/azimuth received: Bearing 193.0, 50.5 (Local) FDAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 Eb EbgE`E`"EbO:*Eb&9VE`ZE`aj@aj@aj@aj@zDAT read: 05:56:09.7775 LVL= 15776, 13553, 22626, 26387, AGC= 51, IDX= 502,-0.21, 2.825, 2.783, 1.289, 2.843, PHS= 0.084,-0.016,-1.598, RAW= 33.0, 18.3, CAL= 30.0, 21.1, ROT= 120.0, -21.1 Ygot valid direction response: 05:56:09.7775 LVL= 15776, 13553, 22626, 26387, AGC= 51, IDX= 502,-0.21, 2.825, 2.783, 1.289, 2.843, PHS= 0.084,-0.016,-1.598, RAW= 33.0, 18.3, CAL= 30.0, 21.1, ROT= 120.0, -21.1 T#Rx 87: Read range and direction messages. ^direction in FSK: [-0.466477,0.807961,0.359997] Fpublishing direction and range infoy46ݿl(?z0 ?Y446=646bX 6g)63I61=i6o6D̿6r?6Ƈ>6 ?%@%@%v ٱ%DZ AHRS rotation from veh to nav: [[-0.214068,0.975022,0.059224],[-0.976239,-0.215635,0.021412],[0.033648,-0.053233,0.998015]]%H@f˿ a3?`R?Y=`˿ ?Y:?XA@?i%@I%];%C 6)>)6 @I6)446n?FJ@"V^D? 6F¿)6𧣾I6 @i6)44checking for new query: numPingsReceived=87, elapsed TxPingTime=42.642448Y=āBy=IbDVDky7%E=ٔ;Q->9Y=Fy;E>Q Q 5u5 6헊?Q 9u5 J) BYyy}e@Q I}@ EI gb6 j%gV睋2@QfǶ @R6ݿl(?z0 ?Zi6 @bi6)j624@˅@&qɘ@Z6 addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.953297 m, bearing: 17.630789 deg, lat: 36.779389 deg, lon: -121.859746 deg, deltaT: 0.504051 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.95 m.hh*h"h hgfffddjdZd j?ZZZZe@-v )1 5ɽi59)15dz1i1i=񿉧9E9=IaIaychecking for new query: numPingsReceived=87, elapsed TxPingTime=42.841873Ա - 9 9@  @ @ /@ DDAT read: Rx Time:05:56:10.2776 TRx dataTimestamp_ set to:1761544571.629182PDAT read: Bearing 194.1, 50.6 (Local) ~Local bearing/azimuth received: Bearing 194.1, 50.6 (Local) DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 E% E%wE%E!"E%1:*E%:VE%ـ3ZE!BE%y;a52E%z;a5JE%k;a5:E%k;a5^AAAIQIamDAT read: 05:56:10.2776 LVL= 16240, 14657, 23634, 27891, AGC= 52, IDX= 503, 0.16,-0.474,-0.502,-2.008,-0.465, PHS= 0.093, 0.008,-1.587, RAW= 32.6, 17.8, CAL= 29.6, 20.5, ROT= 120.4, -20.5 uYgot valid direction response: 05:56:10.2776 LVL= 16240, 14657, 23634, 27891, AGC= 52, IDX= 503, 0.16,-0.474,-0.502,-2.008,-0.465, PHS= 0.093, 0.008,-1.587, RAW= 32.6, 17.8, CAL= 29.6, 20.5, ROT= 120.4, -20.5 }T#Rx 88: Read range and direction messages.^direction in FSK: [-0.473988,0.807893,0.350207]Fpublishing direction and range infoyU)U޿\yfA?Z8i?YfAp?A9R\ l)4Iv=io<"˿?> A? 0>)|@I0:/ `?Et6qs?ˈ? Oÿ)ϞI|@i0O ?,G^?A2checking for new query: numPingsReceived=88, elapsed TxPingTime=43.135014^q@^B@^^ٱ^Z AHRS rotation from veh to nav: [[-0.212800,0.975320,0.058879],[-0.976557,-0.214297,0.020320],[0.032436,-0.053175,0.998058]]^H =˿5?m%??n˿`Δ?l?9?i^q@I^];^CY}ByII4=)4===iMb@Mb@Mb@ 9Cl绿V-ǿ~jt?Y;߽y|?< A5A )AY=A 4<bDVD:yC%=ٔ;Q->9Y=FyE;E>Q 55&嗊?Q 95)BY~^>Q Et;y#@Q I@EIe:in:5yɮ5;A9iiD^?AJi7ARi7Aji؋>b@wq%fXP2@M7 @RU)U޿\yfA?Z8i?Zi|@bi0j%9+5@h~=}@e@Z?"?$R?2i@:iqA"ippӞ?*i@M-Bi4BippӞ?i.pDiiAi> addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504431 s, deltaX: 0.199999 m, approachRate: 0.396484 m/s, rangeRepo size: 4 } Added new target pos. range: 23.152025 m, bearing: 18.077967 deg, lat: 36.779389 deg, lon: -121.859746 deg, deltaT: 0.504431 s, deltaX: 0.198729 m, approachRate: 0.393966 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.15 m.hh*h"h hgfffBddjdL7@Zd@?checking for new query: numPingsReceived=88, elapsed TxPingTime=43.345623ZU~^>ZU~^>ZU@ZU#@e^)a mPim9)imiiiiu񿉧qu)=IqIyI! 9@  @ @ /@ I ^A=K=IIIYOm>,=_?ADDAT read: Rx Time:05:56:10.7776 TRx dataTimestamp_ set to:1761544572.132771PDAT read: Bearing 192.6, 50.8 (Local) ~Local bearing/azimuth received: Bearing 192.6, 50.8 (Local) "DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2DAT read: 05:56:10.7776 LVL= 15824, 15665, 25794, 28643, AGC= 51, IDX= 503,-0.28, 2.599, 2.548, 1.078, 2.615, PHS= 0.086,-0.023,-1.582, RAW= 33.3, 18.4, CAL= 30.3, 21.2, ROT= 119.7, -21.2 E>| E<E>&E<"E> :*E<VE>4ZEi$?Y=1=d o)3I =ij~ʿ,?l>a? q>)ȴ@IqFE`?ovPN.? )?Iȴ@iqnchecking for new query: numPingsReceived=89, elapsed TxPingTime=43.622246@@ٱ:X AHRS rotation from veh to nav: [[-0.211184,0.975723,0.058026],[-0.976968,-0.212565,0.018696],[0.030576,-0.052741,0.998140]]H ˿9??RC@U5˿$?@_O?`?i@I^;CYBylIBmR>BiBmIBmЁBBiBiBiBmxc;Bm{%EbDVDk19y}%}-=ٔj;Q->9Y=Fy h;E>Q 55ޗ?Q 95+)BYyB@Q I@EI;iT;5yɮAiiR_?AJiRiji >boeǢc%N*-2@&H @RJF9ݿS RA?t>i$?Ziȴ@biqjH 5@Э(z@ۅi)@ZM[\<?3BL?/~v?2i@:iOA"iCw˞?*i4BiBirgҞ?i4i\Bi Ai(>} addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503589 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.152105 m, bearing: 17.464794 deg, lat: 36.779389 deg, lon: -121.859745 deg, deltaT: 0.503589 s, deltaX: 0.000080 m, approachRate: 0.000159 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.15 m.hh*h"h hgfffddjdZdf?ZZZZB@=)9 =vi=9)9=AiAiE~񿉧IMj=IIIiM9ychecking for new query: numPingsReceived=89, elapsed TxPingTime=43.8501099@ @@/@ԡ ^A =I I O >~ȗ,#_?A>E@>@>vXٱ>X FAHRS rotation from veh to nav: [[-0.210334,0.975908,0.057988],[-0.977175,-0.211675,0.017981],[0.029823,-0.052882,0.998155]]>H`9ʿ :?`?E-˿ i?扞?f`?i>E@I>];u? uf>)u0@Iufqquo~?9f)Wyn{? uzK)uIu0@iufqqUchecking for new query: numPingsReceived=90, elapsed TxPingTime=44.130981y%L%-D=ٔ-:Q-5>9AYA=EFyAM;EM>aQ 55eٗ?Q 95e)eBY O>Q E;y@Q I@eEIerbuǥq%uo2@--H @Ru:ݿtb?.*?Ziu0@biufjuAom(5@&i<@Ի_Q@ZuRie?C'A?2F1 D?2iu8@:iuCA"iuО?*iuP;BiuBiuО?iuTiuBiu_AiuJp> addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503756 s, deltaX: 0.100000 m, approachRate: 0.198510 m/s, rangeRepo size: 4  Added new target pos. range: 23.251471 m, bearing: 17.403578 deg, lat: 36.779389 deg, lon: -121.859744 deg, deltaT: 0.503756 s, deltaX: 0.099365 m, approachRate: 0.197249 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.25 m.hh*h"h hgfffBddjd`ff7@ Zde`6?Z O>Z O>Z /@Z@vX) Pi9)˲ii񿉧8=III=)>% checking for new query: numPingsReceived=90, elapsed TxPingTime=44.3538599  \9) a &C9@ @AMG@E4ay@Y19Y!A@@ԑDDAT read: Rx Time:05:56:11.7777 TRx dataTimestamp_ set to:1761544573.140677PDAT read: Bearing 191.8, 51.1 (Local) ~Local bearing/azimuth received: Bearing 191.8, 51.1 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.1 DAT read: 05:56:11.7777 LVL= 16080, 13937, 24482, 28739, AGC= 51, IDX= 504,-0.46,-2.914,-2.989, 1.838,-2.903, PHS= 0.091,-0.041,-1.586, RAW= 34.1, 18.6, CAL= 30.9, 21.5, ROT= 119.1, -21.5 %Ygot valid direction response: 05:56:11.7777 LVL= 16080, 13937, 24482, 28739, AGC= 51, IDX= 504,-0.46,-2.914,-2.989, 1.838,-2.903, PHS= 0.091,-0.041,-1.586, RAW= 34.1, 18.6, CAL= 30.9, 21.5, ROT= 119.1, -21.5 E-y E-uE-"E)"E-:*E-:VE-(3ZE)a5@a5@a5@a=@=T#Rx 91: Read range and direction messages.E^direction in FSK: [-0.452495,0.812973,0.366501]EFpublishing direction and range infoyfIܿyN?ѨCt?Y>_ Cp)I5^=i' ˿:\?6> ? 7 >)6 @I7 .TV,?hPRA1]ze? ) I6 @i7 echecking for new query: numPingsReceived=91, elapsed TxPingTime=44.624348^AGg=IIO%?c$ӗ,-M_?AB-S>B)B-IB-BB)B)B)B-d;B-%EM@M@MDٱM%`Y ]AHRS rotation from veh to nav: [[-0.209641,0.976059,0.057956],[-0.977346,-0.210942,0.017269],[0.029081,-0.053023,0.998170]]MH@ʿ;?l?kF(˿@?pǝ?%?iM@IM)];MCYmkBym.I qqyyy}BAbDVDNyC۽%=ٔԩ:Q->9Y=Fy:E> Q 5 5 җ?Q 95 ) BYy@Q I@ EI :i |: Y5yaɮeAaiiI_?AJiRijiCd>b4-b %v}B2@?%@j !@RfIܿyN?ѨCt?Zi6 @bi7 jQZ&5@ 5@ w@ZͰ?J9?քŐ?2i)@:i2A"iaȞ?*i"/BiЏBiCw˞?i4iBiAAiI> addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504150 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 23.251474 m, bearing: 16.941607 deg, lat: 36.779388 deg, lon: -121.859745 deg, deltaT: 0.504150 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 23.25 m.haha*ha"ha hagafafifididijdqZdu?ZZZZ@D) i9)ii񿉧 W=IIchecking for new query: numPingsReceived=91, elapsed TxPingTime=44.8588839@ @@/@Iy ^A I I O >9Cٗ,f_?A0Y~MBy~ I-DDAT read: Rx Time:05:56:12.2778 -TRx dataTimestamp_ set to:1761544573.6447525PDAT read: Bearing 191.8, 51.3 (Local) =~Local bearing/azimuth received: Bearing 191.8, 51.3 (Local) MDAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 mDAT read: 05:56:12.2778 LVL= 16112, 14497, 24130, 28659, AGC= 50, IDX= 505, 0.02,-1.434,-1.513,-2.959,-1.430, PHS= 0.097,-0.039,-1.573, RAW= 34.2, 18.4, CAL= 31.1, 21.3, ROT= 118.9, -21.3 E EaE$E"E1:*E9VE4ZEBEy;a2Ez;aJE;a:E;aYgot valid direction response: 05:56:12.2778 LVL= 16112, 14497, 24130, 28659, AGC= 50, IDX= 505, 0.02,-1.434,-1.513,-2.959,-1.430, PHS= 0.097,-0.039,-1.573, RAW= 34.2, 18.4, CAL= 31.1, 21.3, ROT= 118.9, -21.3 T#Rx 92: Read range and direction messages.^direction in FSK: [-0.450270,0.815663,0.363251]Fpublishing direction and range infoy)-A+9ܿTz?+=??Y-̼A)->-8-B^ -o)-2I-=i-w-Xɿ-?-l>- ? -V>)-@I-V))-WCα?t jF >? -)-ʤI-@i-V))checking for new query: numPingsReceived=92, elapsed TxPingTime=45.133732ԑiMb@Mb@Mb@ 9V-l¿~jt?YmyD< A CA)AYfAbDVDβyc%'=ٔQ->9Y=FyE>Q 55͗?Q 95)BY<#>Q E;yM#@Q I@EIT:i:~5yޓBɮAEi)i-Ci_?AJi-ARi-Aji->b-5+%# 3@t ` !@R-A+9ܿTz?+=??Zi-@bi-Vj-u`5@Eg@nҹ@Z-(0+?W?YL}?2i-@:i-A"i-Uq֞?*i-;RBi-Bi-О?i)i-Bi-Ai-LQ> addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504075 s, deltaX: 0.200001 m, approachRate: 0.396768 m/s, rangeRepo size: 4  Added new target pos. range: 23.450205 m, bearing: 16.745945 deg, lat: 36.779389 deg, lon: -121.859745 deg, deltaT: 0.504075 s, deltaX: 0.198730 m, approachRate: 0.394248 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.45 m.hh*h"h hgfffBddjd7@Zd Z<#>Z4؊@Z|M#@) ̽i9)顑iԹi񿉧-=IIu9@q @q@u/@qchecking for new query: numPingsReceived=92, elapsed TxPingTime=45.361973 ^A] =Ia Iq O >A, _?A>@>@> ٱ>h6X FAHRS rotation from veh to nav: [[-0.208954,0.976240,0.057399],[-0.977530,-0.210178,0.016120],[0.027801,-0.052741,0.998221]]>HʿZ=?@wc?Gʿс?@w?@`m?Hi>@I>];>CYR*ByRIbDZVDZybq%b=ٔf;Q-f?9dYh=jFyhj";Ej?lQ 5r5nɗ?Q 9r5nّ)nBYtyv[#@Q Iv@nEIn$:inH;nÏ5yxɮzA|%DNOT Ignoring new targets: 23.45 m.h!h!*h!"h! h!g)f)f)f1d1d1jd1Zd5@T?ZYZYZYZ][#@m )i mh+iuW9)qqqiqi}~񿉧y}lf=IyII)9@ @ @ /@ ^A/=I DDAT read: Rx Time:05:56:12.7778  TRx dataTimestamp_ set to:1761544574.148795PDAT read: Bearing 192.2, 51.5 (Local) ~Local bearing/azimuth received: Bearing 192.2, 51.5 (Local) -DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 UDAT read: 05:56:12.7778 LVL= 16240, 12225, 24354, 28531, AGC= 50, IDX= 504, 0.49,-2.179,-2.256, 2.584,-2.180, PHS= 0.103,-0.031,-1.563, RAW= 34.2, 18.2, CAL= 31.0, 21.0, ROT= 119.0, -21.0 Ee{ EepEe#Ea"Ee=:*Ee :VEe3ZEaam@am@am@am@uYgot valid direction response: 05:56:12.7778 LVL= 16240, 12225, 24354, 28531, AGC= 50, IDX= 504, 0.49,-2.179,-2.256, 2.584,-2.180, PHS= 0.103,-0.031,-1.563, RAW= 34.2, 18.2, CAL= 31.0, 21.0, ROT= 119.0, -21.0 uT#Rx 93: Read range and direction messages.}^direction in FSK: [-0.452609,0.816528,0.358368]}Fpublishing direction and range infoy  eHܿ( ?.*?Y   p? / "_ so) I =i  bȿ  > c ? f>) @I f    p?^Qm? ɿ) I @i f  IO>checking for new query: numPingsReceived=93, elapsed TxPingTime=45.635197BBB:IBuBB8 =BBBQd;B%EBƺCBƺCBB9 =B9 =C5  checking for new query: numPingsReceived=93, elapsed TxPingTime=45.865772i,_?A@ɰB;|@ @v ٱ!W AHRS rotation from veh to nav: [[-0.209062,0.976230,0.057172],[-0.977520,-0.210258,0.015708],[0.027356,-0.052603,0.998241]]Hʿ@F=? E?G`ʿ`?)?`?i@I];YByI = =iMb@Mb@Mb@ 9MbPZd;y&1|?Yy`;( AS@ A)Y=A p<bDVDy)%#=ٔi:Q->9Y=FybE>Q 55ė?Q 95)BYF=Q E;y:@Q I@EI:!ia<ŏ5yɮAi9i=ۅ_?AJi9Ri9ji=!>b=8?:%3M%3@X @R=eHܿ( ?.*?Zi=@bi=fj=DYd5@Om@=9]@Z=r0?V=?v Z?2i=f@:i="A"i=8˛Ϟ?*i=Bi=NBi=8˛Ϟ?i9i9i=Ai=> addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 23.450209 m, bearing: 16.855433 deg, lat: 36.779389 deg, lon: -121.859745 deg, deltaT: 0.504043 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 MDNOT Ignoring new targets: 23.45 m.hIhI*hI"hI hIgQfQffNBddjdZd7k?ZeF=ZeF=Ze@Ze:@DDAT read: Rx Time:05:56:13.2778 TRx dataTimestamp_ set to:1761544574.652797-PDAT read: Bearing 190.9, 51.7 (Local) -~Local bearing/azimuth received: Bearing 190.9, 51.7 (Local) =DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 IeDAT read: 05:56:13.2778 LVL= 15120, 12897, 23026, 27635, AGC= 50, IDX= 505, 0.01,-2.845,-2.945, 1.911,-2.846, PHS= 0.103,-0.054,-1.570, RAW= 34.9, 18.6, CAL= 31.7, 21.5, ROT= 118.3, -21.5 Eu EukEu&Eq"Eua:*Eu:VEu4ZEqBEuW;a}2EuX;a}JEu?;a:Eu?;aYgot valid direction response: 05:56:13.2778 LVL= 15120, 12897, 23026, 27635, AGC= 50, IDX= 505, 0.01,-2.845,-2.945, 1.911,-2.846, PHS= 0.103,-0.054,-1.570, RAW= 34.9, 18.6, CAL= 31.7, 21.5, ROT= 118.3, -21.5 T#Rx 94: Read range and direction messages.^direction in FSK: [-0.441100,0.819212,0.366501]Fpublishing direction and range infoy{nJ:ܿzM6?ѨCt?Y;a2Y k)Ii/]ȿI?6> ? 7 >)r$@I7 v ) Pi9)页0ݲii񿉧a@=II{?8"?3@69b? i,)Ir$@i7 Mchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.152576 9@  @ @ /@ y ԡ ^A L=I I O > a,_?A2M@2 @2@ܼٱ2SW :AHRS rotation from veh to nav: [[-0.209274,0.976194,0.057010],[-0.977486,-0.210444,0.015289],[0.026922,-0.052527,0.998257]]2H |ʿ91Y1==Fy9E2EM>aQ 55e-?Q 95e;)eBYy:@Q I@aIeB;ie;eǏ5yɮAiimǩ_?AJiRijiR>b1$"b53@>|Cf0!@R{nJ:ܿzM6?ѨCt?Zir$@bi7 juvth5@m@+@ZZ6?<?VeuK?2ic@:iCA"i|0͞?*i*BiBii;RiBiAi0>] addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504002 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.450209 m, bearing: 16.150702 deg, lat: 36.779389 deg, lon: -121.859745 deg, deltaT: 0.504002 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.45 m.hh*h"h hgfffddjdZd`?ZZZZ:@@ܼ) zi9)顭ii񿉧I=II I)9@ @@/@i߁I߅ADDAT read: Rx Time:05:56:13.7778 TRx dataTimestamp_ set to:1761544575.156898PDAT read: Bearing 190.4, 51.9 (Local) ~Local bearing/azimuth received: Bearing 190.4, 51.9 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 DAT read: 05:56:13.7778 LVL= 14944, 11889, 23778, 26915, AGC= 50, IDX= 505,-0.42, 1.260, 1.151,-0.264, 1.256, PHS= 0.106,-0.060,-1.564, RAW= 35.2, 18.6, CAL= 31.9, 21.5, ROT= 118.1, -21.5 E E}E#E"E:*Ek&:VE3ZEa@a@a@a@Ygot valid direction response: 05:56:13.7778 LVL= 14944, 11889, 23778, 26915, AGC= 50, IDX= 505,-0.42, 1.260, 1.151,-0.264, 1.256, PHS= 0.106,-0.060,-1.564, RAW= 35.2, 18.6, CAL= 31.9, 21.5, ROT= 118.1, -21.5 T#Rx 95: Read range and direction messages.A  ^direction in FSK: [-0.438238,0.820746,0.366501] Fpublishing direction and range infoy ܿSC?ѨCt?Y`:q.\ #i)I=iu'1ȿnF?Ӈ? )A@I -?.s3flm? )LUIA@i checking for new query: numPingsReceived=95, elapsed TxPingTime=46.667866^A S-=I I O >Bq Au <By By B} IB} =BBy By By B} d;B} &EB,_?A2 @2\@2ߜټٱ2 W >AHRS rotation from veh to nav: [[-0.209724,0.976105,0.056875],[-0.977400,-0.210872,0.014924],[0.026561,-0.052460,0.998270]]2H`>ʿ@9AYA=EFyAMVEM>IQ 5U5M0?Q 9}5M)MBYyy}:@Q I}@MEIM;iMW;MMɏ5yɮAii _?AJiARiAjiJ>btx$%?3@3ZLWe0!@R ܿSC?ѨCt?ZiA@bijGLn5@Yht@@#0@Zn]F>?ϯ? W8?2i@:irA"i˞?*i"BiBi|0͞?i"/iiAi>= addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504101 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 23.450190 m, bearing: 15.923345 deg, lat: 36.779388 deg, lon: -121.859745 deg, deltaT: 0.504101 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 MDNOT Ignoring new targets: 23.45 m.hIhI*hQ"hq hqgqfqfyfydydyjdZd?ZZZZ:@ߜټ) ZBi9)ii񿉧 =I I Ychecking for new query: numPingsReceived=95, elapsed TxPingTime=46.874287@ @@i0@@@ԉ^AM +=IY Ii Ou >ԡ  DDAT read: Rx Time:05:56:14.2779  TRx dataTimestamp_ set to:1761544575.660680 PDAT read: Bearing 190.1, 52.0 (Local)  ~Local bearing/azimuth received: Bearing 190.1, 52.0 (Local)  DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1  DAT read: 05:56:14.2779 LVL= 15136, 13777, 24210, 28211, AGC= 51, IDX= 506, 0.08,-2.453,-2.572, 2.289,-2.461, PHS= 0.110,-0.066,-1.577, RAW= 35.4, 18.6, CAL= 32.2, 21.6, ROT= 117.8, -21.6  Ygot valid direction response: 05:56:14.2779 LVL= 15136, 13777, 24210, 28211, AGC= 51, IDX= 506, 0.08,-2.453,-2.572, 2.289,-2.461, PHS= 0.110,-0.066,-1.577, RAW= 35.4, 18.6, CAL= 32.2, 21.6, ROT= 117.8, -21.6 E t E tE !E "E s:*E v:VE c3ZE BE ;a 2E ;a JE `;a :E `;a  T#Rx 96: Read range and direction messages.- ^direction in FSK: [-0.433635,0.822463,0.368125]5 Fpublishing direction and range infoy  2]ۿQ?{.MZ?Y A ; 5 ^ 3n) 3I G=i + #ɿ 2+? ? >) x@I !m,#_?Atq?}.q mIv? 弿)9Y=FyE>Q 55,?Q 95N)BY=Q Eb娀l$5&p^^3@@hV!@R2]ۿQ?{.MZ?Zix@bija5@Is@W;ax@ZB I?Д@?B A?2i]@:ilA"iagў?*ix'BiBi8˛Ϟ?i*iiBAiJ>% addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503782 s, deltaX: 0.100000 m, approachRate: 0.198499 m/s, rangeRepo size: 4 5 Added new target pos. range: 23.549555 m, bearing: 15.507450 deg, lat: 36.779389 deg, lon: -121.859747 deg, deltaT: 0.503782 s, deltaX: 0.099365 m, approachRate: 0.197239 m/s, posRepo size: 4 5DNOT Ignoring new targets: 23.55 m.h9h9*h9"h9 h9g9fAfAfE BdAdIjdM@37@ZdM ?Zm=Zm=Zmy@ZmEZ@ּ) Pi9)顕Ͳii~񿉧zj=II%checking for new query: numPingsReceived=96, elapsed TxPingTime=47.380482y@ @@0@ ^A L=I I O >-T,͒`?AtỲBykIbD5VD5 3yE%E=ٔEQ-E ?9IYI=MFyIMEU ?QQ 5]5U?Q 9e5U)UBYayaQ Ie@QIU;iU;Ȕ5yiɮuAqDNOT Ignoring new targets: 23.55 m.hh*h"h hgfffddjdZd`?ZZZZ) i9)ii񿉧=IIeDDAT read: Rx Time:05:56:14.7779 eTRx dataTimestamp_ set to:1761544576.164687mPDAT read: Bearing 189.0, 52.1 (Local) u~Local bearing/azimuth received: Bearing 189.0, 52.1 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 E EE$E"EO:*E*5:VE4ZEa@a@a@a@DAT read: 05:56:14.7779 LVL= 13936, 13025, 22898, 26355, AGC= 51, IDX= 506,-0.26, 1.415, 1.280,-0.125, 1.411, PHS= 0.107,-0.085,-1.579, RAW= 36.0, 19.0, CAL= 32.7, 22.0, ROT= 117.3, -22.0 Ygot valid direction response: 05:56:14.7779 LVL= 13936, 13025, 22898, 26355, AGC= 51, IDX= 506,-0.26, 1.415, 1.280,-0.125, 1.411, PHS= 0.107,-0.085,-1.579, RAW= 36.0, 19.0, CAL= 32.7, 22.0, ROT= 117.3, -22.0 T#Rx 97: Read range and direction messages. ^direction in FSK: [-0.425252,0.823912,0.374607] Fpublishing direction and range infoyae(ue? e >)e~@Ie ľaae1,?Tj ?? e)eNʩIe~@ie ľaaEchecking for new query: numPingsReceived=97, elapsed TxPingTime=47.6594319@ @@1@ ^AIIO>B)B)B-IB-BB)B)B)B-d;B-&E9% DDAT read: Rx Time:05:56:15.2780 - TRx dataTimestamp_ set to:1761544576.419393= checking for new query: numPingsReceived=97, elapsed TxPingTime=47.887386i ,`?A9e@e܏@eM!ռٱezHW AHRS rotation from veh to nav: [[-0.214954,0.974966,0.056892],[-0.976278,-0.216065,0.014074],[0.026014,-0.052517,0.998281]]eH@˿2? ?`=˿Ҍ?d?㪿@?ie@IeW<_;eCYƀBycIi5Mb@Mb@Mb@1111 195:v?㥛 ~jt?Y5=y55D<5? A55A 1)5A1Y5AbDMVDM0y]x%]9=ٔ]W9Q-]>9aYa=eFyaeEm>qQ 5}5u?Q 9}5u)uBY}>Q E};y}eQ I@uEIu;iua;uΏ5yɮAii; `?AJiRijiZv>bOVk$3hg3@Nä!@R(u addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.549517 m, bearing: 14.823303 deg, lat: 36.779388 deg, lon: -121.859748 deg, deltaT: 0.504007 s, deltaX: -0.000038 m, approachRate: -0.000076 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.55 m.hh*h"h hgfffBddjdZdQ?Z>Z>Z9z@Z$x@M!ռ) Dij9)\ii 񿉧  w{=I I amPDAT read: Bearing 190.0, 52.2 (Local) u~Local bearing/azimuth received: Bearing 190.0, 52.2 (Local) DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 DAT read: 05:56:15.2780 LVL= 13648, 12049, 21858, 25235, AGC= 50, IDX= 507, 0.27,-2.549,-2.673, 2.197,-2.564, PHS= 0.118,-0.063,-1.566, RAW= 35.6, 18.5, CAL= 32.3, 21.3, ROT= 117.7, -21.3 9@ @@3@@ =@ ==Ygot valid direction response: 05:56:15.2780 LVL= 13648, 12049, 21858, 25235, AGC= 50, IDX= 507, 0.27,-2.549,-2.673, 2.197,-2.564, PHS= 0.118,-0.063,-1.566, RAW= 35.6, 18.5, CAL= 32.3, 21.3, ROT= 117.7, -21.3 =T#Rx 98: Read range and direction messages.M^direction in FSK: [-0.433089,0.824914,0.363251]Ew EtE&E"E}:*Ev:VE4ZEBEu;a2Ev;aJEa:EaFpublishing direction and range infoyaeV.ۿe?+=??Ye3AaeP5e/ebU eb)e2Ie=ie%erȿe?eMQ>eZQ? eV>)ex@IeVaaeŷ?̄75vXA? e؂)eाIex@ieVaa%checking for new query: numPingsReceived=98, elapsed TxPingTime=48.191772ԉ^A ==I) I9 OE >Թ < ,EH9`?AnDDAT read: Rx Time:05:56:15.7780 rTRx dataTimestamp_ set to:1761544576.923324zchecking for new query: numPingsReceived=98, elapsed TxPingTime=48.391457ԙY By JII=)4<bDVD1y5׭%50=ٔ5Q-5>99Y9==Fy9=EE>IQ 5M5My?Q 9U5M)MBYQyQQ IU@MEIM:iM4:MЏ5y]ٓBɮe9AeEii*`?AJiARiAji,>b$Kl3@'@!@RV.ۿe?+=??Zix@biVj',V*5@ɲΟ@ƺ]B@Z|q`?/ϟ??2i@:iiA"i4ܞ?*iR}BiSBiix'iiAi> addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503436 s, deltaX: 0.199999 m, approachRate: 0.397268 m/s, rangeRepo size: 4  Added new target pos. range: 23.748245 m, bearing: 15.215770 deg, lat: 36.779388 deg, lon: -121.859749 deg, deltaT: 0.503436 s, deltaX: 0.198729 m, approachRate: 0.394744 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.75 m.hh*h"h hgfffddjd`f7@Zd`b?ZZZZ) i9)顥ii񿉧*A=II]9@Y @Y@]3@YPDAT read: Bearing 189.7, 52.2 (Local) ~Local bearing/azimuth received: Bearing 189.7, 52.2 (Local) DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 DAT read: 05:56:15.7780 LVL= 14384, 12945, 22098, 26995, AGC= 49, IDX= 507,-0.02, 1.185, 1.063,-0.341, 1.174, PHS= 0.113,-0.065,-1.559, RAW= 35.6, 18.6, CAL= 32.3, 21.5, ROT= 117.7, -21.5 Ygot valid direction response: 05:56:15.7780 LVL= 14384, 12945, 22098, 26995, AGC= 49, IDX= 507,-0.02, 1.185, 1.063,-0.341, 1.174, PHS= 0.113,-0.065,-1.559, RAW= 35.6, 18.6, CAL= 32.3, 21.5, ROT= 117.7, -21.5  T#Rx 99: Read range and direction messages. ^direction in FSK: [-0.432497,0.823786,0.366501] Fpublishing direction and range infoyqueJEۿ $t\?ѨCt?Yqqu08u2uRV usi)u1Iul=iuuPǿqu6>q u7 >)qIu7 qqu5,+E?5->1?`? u𢼿)u 饾Iqiu7 qqU checking for new query: numPingsReceived=99, elapsed TxPingTime=48.665802E  E oE #E "E :*E :VE 3ZE a @a @a @a @! A) A) B- P>B) B- rIB- ҀBB- 6 =B) B) B- d;B- 8&E^A} =I I O >,%S`?A2Έ@2ɏ@2ռٱ2V VAHRS rotation from veh to nav: [[-0.217192,0.974471,0.056868],[-0.975780,-0.218302,0.014035],[0.026091,-0.052442,0.998283]]2H˿.??9V˿8?? ٪`?i2Έ@I2S_;2CX^r@i\I\\l prĻppppIvt)tit)tItvQx xxz~jAxixxi) I !)%|{A!!!Y!Y5By5KIbDm VDmf2yɱ;%=ٔ|Q- ?9Y=FyBE ?Q 55?Q 95J)BYyQ I@EI;i@;.ҏ5yɮ2Aii^J`?AJiRijiφ>bŠ$;3@ Ph!@ReJEۿ $t\?ѨCt?Zibi7 jP+5@Yf ~@iV@Z$l\?e?Ss?2i@:iQA"i %ٞ?*iƬBi}Biagў?iR}iBiAi/> addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.748178 m, bearing: 15.086151 deg, lat: 36.779389 deg, lon: -121.859751 deg, deltaT: 0.503225 s, deltaX: -0.000067 m, approachRate: -0.000133 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.75 m.hh*h"h hgfffddjdZd ?Z1Z1Z1Z5[x@Eռ)A E iEQ9)IMԳIiIi}~񿉧=IIDDAT read: Rx Time:05:56:16.2782 TRx dataTimestamp_ set to:1761544577.427594PDAT read: Bearing 189.9, 52.0 (Local) ~Local bearing/azimuth received: Bearing 189.9, 52.0 (Local) %checking for new query: numPingsReceived=99, elapsed TxPingTime=48.899559)9@ @@/@Q^A =I I O > DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1  DAT read: 05:56:16.2782 LVL= 15264, 12193, 23234, 26483, AGC= 49, IDX= 509,-0.47, 2.906, 2.798, 1.385, 2.899, PHS= 0.109,-0.056,-1.558, RAW= 35.2, 18.5, CAL= 31.9, 21.4, ROT= 118.1, -21.4  Ygot valid direction response: 05:56:16.2782 LVL= 15264, 12193, 23234, 26483, AGC= 49, IDX= 509,-0.47, 2.906, 2.798, 1.385, 2.899, PHS= 0.109,-0.056,-1.558, RAW= 35.2, 18.5, CAL= 31.9, 21.4, ROT= 118.1, -21.4  V#Rx 100: Read range and direction messages.% ^direction in FSK: [-0.438538,0.821309,0.364877]% Fpublishing direction and range infoy  ܿ躞*H?>8^.$Z?Y A ; / Z sg) I d;=A i B`e lǿ nF? MQ> Ӈ? t;>1,$m`?A)A@It;\ε? 9e L? )AIA@it;>checking for new query: numPingsReceived=100, elapsed TxPingTime=49.1854978@ @bּٱU =AHRS rotation from veh to nav: [[-0.222513,0.973280,0.056695],[-0.974578,-0.223617,0.013859],[0.026167,-0.052170,0.998295]]HO{̿%?` ? /̿@Ub?˚? ?i8@IR b;CYByMI i5Mb@Mb@Mb@1111 195@5^I ?y&1y5`e5t<5( A1 5CA)5-A1Y5fAbDmVDmN2y};%}/=ٔ}+Q->9Y=Fy?E>Q 55?Q 95ҕ)BYq>Q E;y Q I@EI};iS;8ԏ5yɮ(AiiDk`?AJi^ARi^Aji>bsy%%]ڿ3@b(@!@Rܿ躞*H?>8^.$Z?ZiA@bit;jD6@ڢ@b@Z;]?DͥG?9*=?2io@:iA"i8힊?*i$xBiBi %ٞ?i$xiBiAi>] addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504729 s, deltaX: 0.300001 m, approachRate: 0.594381 m/s, rangeRepo size: 4  Added new target pos. range: 24.046274 m, bearing: 15.169352 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.504729 s, deltaX: 0.298096 m, approachRate: 0.590605 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.05 m.hh*h"h hgfffBddjd@338@Zd u?Z q>Z q>Z @Z T@Ebּ)A E̽iE9)AE@IiIiM񿉧QUDV=IQIQI)9DDAT read: Rx Time:05:56:16.7781 TRx dataTimestamp_ set to:1761544577.932310PDAT read: Bearing 190.7, 51.7 (Local) ~Local bearing/azimuth received: Bearing 190.7, 51.7 (Local) =DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 U\#Rx 101: Read range message, but no direction.yYAmchecking for new query: numPingsReceived=101, elapsed TxPingTime=49.411617y@y @@/@@@a ЀG ) U 9Q YU eA^A BF=I I O >R!,چ`?A$F߉@F@F`׼ٱFQV RAHRS rotation from veh to nav: [[-0.225408,0.972603,0.056873],[-0.973910,-0.226517,0.013783],[0.026288,-0.052282,0.998286]]FH+̿?g?D*̿s:?T?@Ī ?iF߉@IFc;Di9I9uDAT read: 05:56:16.7781 LVL= 16432, 12273, 25586, 28275, AGC= 49, IDX= 508, 0.04,-2.802,-2.888, 1.958,-2.806, PHS= 0.107,-0.036,-1.563, RAW= 34.4, 18.2, CAL= 31.2, 21.0, ROT= 118.8, -21.0 Ygot valid direction response: 05:56:16.7781 LVL= 16432, 12273, 25586, 28275, AGC= 49, IDX= 508, 0.04,-2.802,-2.888, 1.958,-2.806, PHS= 0.107,-0.036,-1.563, RAW= 34.4, 18.2, CAL= 31.2, 21.0, ROT= 118.8, -21.0 \#Rx 102: Read direction message, but no range.^direction in FSK: [-0.449756,0.818103,0.358368]y9=>ܿ&-?.*?9=0@=/=c =sn)9I="=i=t=bȿ=`?=>='g ? =f>)=m@I=f9=Ȳ?>$dN? =B*)=I=m@i=fchecking for new query: numPingsReceived=102, elapsed TxPingTime=49.666306bEAjEE3rEE/E EnEE"E:*E:VEZEqBR>BBLIBBB8 =BBBOe;Bd&EY5By5KI 99bDMVDMy]%]0=ٔ]Q-]>9aYa=eFyamѻEm>qQ 5}5uM?Q 9}5uW)uBYyy} Q I@uEIu/;iu<;u?֏5yɮ6Ai1i5{`?AJi5ǾARi5ǾAji5,>b57~s%~3@*)!@R5>ܿ&-?.*?Zi5m@bi5fj5Q5@Ӹ B@O@Z56I[? aJ}?B f?2i5@:i5A"i5qٞ?*i5?CBi5(Bi5qٞ?i1i5}Bi5Ai5> addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.256233 s, deltaX: -0.200001 m, approachRate: -0.780543 m/s, rangeRepo size: 4  Added new target pos. range: 23.847540 m, bearing: 15.686329 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.256233 s, deltaX: -0.198734 m, approachRate: -0.775600 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.85 m.hh*h"h hgfffddjd8@Zd \?ԙZZZZ @`׼) ӽip9)"ii񿉧=II@ @@/@^A =I  DDAT read: Rx Time:05:56:17.2782  TRx dataTimestamp_ set to:1761544578.435054 checking for new query: numPingsReceived=102, elapsed TxPingTime=49.903118I9 Oe >',Ġ`?A\e"t@en@egQ׼ٱeW AHRS rotation from veh to nav: [[-0.227992,0.971981,0.057207],[-0.973308,-0.229101,0.013555],[0.026281,-0.052590,0.998270]]eH.Ϳx?>J?W%,SͿw‹?a? ?ie"t@Iehc;eC ۹)۽kAڽڽ,KFڹkAiIQFICit@ )PJ kA7FkAI)aFi)I&IF vAiYYByZIiMb@Mb@Mb@ 9On?i|?5X9v?Y>yq< A A)YAbD5VD50yEH=%Es=ٔMJ7Q-M?9IYI=MFyIUEEU?YQ 5e5]ã?Q 9e5])]BYe$'>Q Em;ym Q Im@]EI] ;i] ;]׏5yqɮuAqDNOT Ignoring new targets: 23.85 m.hh*h"h hgfffBddjdZdj?Z5$'>Z5$'>Z59@Z5@ugQ׼)q uiu9)y}>yiyi񿉧g=IIUPDAT read: Bearing 190.9, 51.5 (Local) U~Local bearing/azimuth received: Bearing 190.9, 51.5 (Local) mDAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 DzDAADAT read: 05:56:17.2782 LVL= 15936, 12961, 25538, 28835, AGC= 49, IDX= 508, 0.49,-1.617,-1.689,-3.141,-1.617, PHS= 0.102,-0.028,-1.568, RAW= 34.0, 18.2, CAL= 30.9, 21.0, ROT= 119.1, -21.0 Ygot valid direction response: 05:56:17.2782 LVL= 15936, 12961, 25538, 28835, AGC= 49, IDX= 508, 0.49,-1.617,-1.689,-3.141,-1.617, PHS= 0.102,-0.028,-1.568, RAW= 34.0, 18.2, CAL= 30.9, 21.0, ROT= 119.1, -21.0 V#Rx 103: Read range and direction messages. ^direction in FSK: [-0.454033,0.815737,0.358368] Fpublishing direction and range infoyAEKa#gݿ]?.*?YEAAE EE%E"E*EE7:VE 4ZEBE;a-2E;a-JEQ;a-:EQ;a5E@>E2Ec Ep)AIE`=iEB`弉E9ȿE?AE ? A)E6 @IAAAE3?8T1Ep? E)EJiIE6 @iAAA@ @@ 0@checking for new query: numPingsReceived=103, elapsed TxPingTime=50.201385! ^A I I O >-,M`?A^DDAT read: Rx Time:05:56:17.7781 bTRx dataTimestamp_ set to:1761544578.940017rPDAT read: Bearing 189.9, 51.2 (Local) v~Local bearing/azimuth received: Bearing 189.9, 51.2 (Local) |%DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 5\#Rx 104: Read range message, but no direction.y`YbA`checking for new query: numPingsReceived=104, elapsed TxPingTime=50.450069[@iV@3׼ٱbW AHRS rotation from veh to nav: [[-0.230906,0.971294,0.057192],[-0.972622,-0.232009,0.013357],[0.026243,-0.052542,0.998274]]H@WͿ`?`CH? vͿZ? \ߚ? 檿?i[@I/d;CY-πBy-nIbD9VD9yG=%F=ٔ"8Q->9Y=FyE>Q 55?Q 95)BYy Q I@EIG;i:ُ5yɮRA!i`ib=)`?AJi`Ri`jib>bbP%%6. t3@*)!@RbKa#gݿ]?.*?Zib6 @bi`jbs(A5@eP@Գ7h@Zb nm]?1t?[c?2ib8@:ibA"ib!cԞ?*ibբBibBBi`i`ibSBibNAib> addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 1.007707 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.847540 m, bearing: 15.653139 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 1.007707 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.85 m.hh*h"h hgfffddjdZd`?ZZZZ酃@-3׼)) 5(i59)15MV1i1i=~񿉧9==IAIA9@ @@y0@@=@=Q^A =IIO>DAT read: 05:56:17.7781 LVL= 15584, 13521, 25378, 28003, AGC= 49, IDX= 508,-0.05, 2.755, 2.682, 1.235, 2.770, PHS= 0.087,-0.042,-1.579, RAW= 34.0, 18.7, CAL= 30.9, 21.6, ROT= 119.1, -21.6 Ygot valid direction response: 05:56:17.7781 LVL= 15584, 13521, 25378, 28003, AGC= 49, IDX= 508,-0.05, 2.755, 2.682, 1.235, 2.770, PHS= 0.087,-0.042,-1.579, RAW= 34.0, 18.7, CAL= 30.9, 21.6, ROT= 119.1, -21.6 \#Rx 105: Read direction message, but no range.^direction in FSK: [-0.452183,0.812413,0.368125]yQU"Ubܿs7I?{.MZ?QU<U4U"c Ucm)QIU-=iU1,UʿQU>Q U>)QIUQU'{&?C>ϊ {? U%)URΦIQiUchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.671291E% z E% E% 'E! "E% l:*E% ՚:VE% '4ZE! a- @a- @a- @a- @ PExceeded connect timeout, disconnecting.y B <A B S>B B FIB BB B B B se;B w&EBBBB8 =B8 =Cʉ5 4,v`?A.^D@./?@.?Լٱ.W :AHRS rotation from veh to nav: [[-0.233665,0.970632,0.057223],[-0.971971,-0.234747,0.012892],[0.025947,-0.052606,0.998278]].HͿj?DL?b3 ο_g?đ?/謹@?i.^D@I.e;.CYrԀByruIIv=)v<bDz VDz2y =%=ٔ q:Q-  ?9 Y =FyE ?Q 5%50?Q 9%5) BY)y-A Q I-@EI:ip:ڏ5y1ɮ5%A9QeDNOT Ignoring new targets: 23.85 m.hahi*hi"hi higififqfqddjdZd?ZZZZn@?Լ) i59)15g9i9i=񿉧AEn=IAIADDAT read: Rx Time:05:56:18.2782 TRx dataTimestamp_ set to:1761544579.445569PDAT read: Bearing 191.0, 51.1 (Local) ~Local bearing/azimuth received: Bearing 191.0, 51.1 (Local) 5DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 M\#Rx 106: Read range message, but no direction.yYAԉ9@ @@y3@checking for new query: numPingsReceived=106, elapsed TxPingTime=50.928192Ա^AE "=IQ Iq O} > iY I] A DAT read: 05:56:18.2782 LVL= 15696, 13489, 24114, 28147, AGC= 49, IDX= 509, 0.28,-0.169,-0.222,-1.705,-0.161, PHS= 0.094,-0.016,-1.588, RAW= 33.3, 18.1, CAL= 30.3, 20.9, ROT= 119.7, -20.9  Ygot valid direction response: 05:56:18.2782 LVL= 15696, 13489, 24114, 28147, AGC= 49, IDX= 509, 0.28,-0.169,-0.222,-1.705,-0.161, PHS= 0.094,-0.016,-1.588, RAW= 33.3, 18.1, CAL= 30.3, 20.9, ROT= 119.7, -20.9  \#Rx 107: Read direction message, but no range.E ~ E kE E "E :*E :VE ZE BE f;a 2E g;a JE ?;a :E ?;a  ^direction in FSK: [-0.462860,0.811479,0.356738]yY ] e}ݿY٣?O?Y ] P=] 4] 2^ ] m)Y I] =i] o] C˿] ,?] ?>] a? ] ú>)] ȴ@I] úY ] p?J[6? ] p)] 1I] ȴ@i] ú checking for new query: numPingsReceived=107, elapsed TxPingTime=51.179035 ;,8M`?AEY+@E*&@EѼٱEW mAHRS rotation from veh to nav: [[-0.236635,0.969917,0.057145],[-0.971262,-0.237692,0.012387],[0.025597,-0.052572,0.998289]]EH Jο ?"B? lο 1^?6?@꪿?iEY+@IEg;ECԱYByIiMb@Mb@Mb@ 9Mb?㥛 Zd;O?Y>yj<=KA ZA)AYAbDVDyU=%0=ٔE:Q->9Y=Fy׻E>Q 55W?Q 95R)BY>Q E;yQQ I@EIe:i:܏5y ɮ A i i 4`?AJi ^ARi ^Aji 8>b `B&$\X3@Ի (!@R e}ݿY٣?O?Zi ȴ@bi új YW 6@N@!@Z W?võ?f*M?2i @:i fA"i L]sܞ?*i ŷ/Bi bBi i i bBi Ai 7'>] addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.505552 s, deltaX: 0.200001 m, approachRate: 0.395609 m/s, rangeRepo size: 4  Added new target pos. range: 24.046289 m, bearing: 15.893345 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.505552 s, deltaX: 0.198750 m, approachRate: 0.393134 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.05 m.hh*h"h hgfff8Bddjd@338@Zd /2?ZM>ZM>ZMy@ZM(}@]Ѽ)Y ].i]Q9)ae؋aiyi񿉧 =IIe9@a @a@m4@iDDAT read: Rx Time:05:56:18.7782 TRx dataTimestamp_ set to:1761544579.948472 PDAT read: Bearing 190.5, 50.9 (Local) ~Local bearing/azimuth received: Bearing 190.5, 50.9 (Local) DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 \#Rx 108: Read range message, but no direction.yYchecking for new query: numPingsReceived=108, elapsed TxPingTime=51.441910^A &=I I O >9 hA,"a?A2@2@2̼ٱ2W :AHRS rotation from veh to nav: [[-0.239203,0.969290,0.057093],[-0.970648,-0.240224,0.011635],[0.024993,-0.052634,0.998301]]2H5οk?X;?ο 0ԇ?Ǘ??i2@I2\(h;2CYBByBIbDJVDJkyn=%rq=ٔr:Q-r?9tYt=vFytv^Ev?xQ 5~5z?Q 95zD)z#BYyzQ I@zEIz/;iz+;znޏ5y ɮ HAM addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502903 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 24.05 m.hQhQ*hY"hY hagafafifidqdyjdZd`?ZZZZ}@̼) iD9)ii񿉧{=II MDAT read: 05:56:18.7782 LVL= 14736, 15105, 26450, 26995, AGC= 50, IDX= 509,-0.19,-2.896,-2.941, 1.854,-2.876, PHS= 0.083,-0.020,-1.597, RAW= 33.1, 18.4, CAL= 30.1, 21.2, ROT= 119.9, -21.2 E} E}oE}!Ey"E}:*E}:VE}c3ZEya@a@a@a@Ygot valid direction response: 05:56:18.7782 LVL= 14736, 15105, 26450, 26995, AGC= 50, IDX= 509,-0.19,-2.896,-2.941, 1.854,-2.876, PHS= 0.083,-0.020,-1.597, RAW= 33.1, 18.4, CAL= 30.1, 21.2, ROT= 119.9, -21.2 \#Rx 109: Read direction message, but no range.^direction in FSK: [-0.464752,0.808229,0.361625]y~ݿF?t>i$?9;Rg si)2I=i ףj̿h?l>|? q>)@Iq_n?&pQBV1? ¿)^I@iq%checking for new query: numPingsReceived=109, elapsed TxPingTime=51.680443nManaging dock network, ignoring radio surface power offBBB_IBÀBBBBBhe;Bq&E9@ @ @ /@ @@^A =IIOI>!Q  DDAT read: Rx Time:05:56:19.2783  TRx dataTimestamp_ set to:1761544580.452326 PDAT read: Bearing 192.4, 50.8 (Local)  ~Local bearing/azimuth received: Bearing 192.4, 50.8 (Local) E DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1 U \#Rx 110: Read range message, but no direction.y Y fA u checking for new query: numPingsReceived=110, elapsed TxPingTime=51.934074!H,Y"a?A-+@-@-Ǽٱ-X AHRS rotation from veh to nav: [[-0.241758,0.968659,0.057037],[-0.970032,-0.242737,0.010798],[0.024304,-0.052718,0.998314]]-H ο@?4? Ͽ?@?/?i-+@I-i;-CY ByI  AiMb@Mb@Mb@ 9V-?zGếi|?5?Yh=y ׽q=VAA A)AYAbDVDy=%/=ٔ:Q->9Y=FyθE>Q 55?Q 95ʝ)3BY*>Q E;y`2Q I@EI:i:w5ayɮrAiia?AJi*ARi*Aji݌>b_ъq&yѹ)3@Ev!@R~ݿF?t>i$?Zi@biqjV6@?|@HKAlc@Z N?ʖ?3 !?2i@:iA"i`ڞ?*iX4BiߏBi`ڞ?iiiAiNȍ> addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503854 s, deltaX: 0.099998 m, approachRate: 0.198467 m/s, rangeRepo size: 4  Added new target pos. range: 24.145704 m, bearing: 15.763715 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 1.006757 s, deltaX: 0.099415 m, approachRate: 0.098748 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.15 m.hh*h"h hgfffgBd d jd L8@Zd 9?ZM*>ZM*>ZMҩ@ZM5_@Ǽ) P8iR9MDAT read: 05:56:19.2783 LVL= 15200, 13793, 26258, 28243, AGC= 49, IDX= 510, 0.14,-0.373,-0.387,-1.907,-0.364, PHS= 0.093, 0.022,-1.586, RAW= 32.1, 17.5, CAL= 29.2, 20.3, ROT= 120.8, -20.3 ]Ygot valid direction response: 05:56:19.2783 LVL= 15200, 13793, 26258, 28243, AGC= 49, IDX= 510, 0.14,-0.373,-0.387,-1.907,-0.364, PHS= 0.093, 0.022,-1.586, RAW= 32.1, 17.5, CAL= 29.2, 20.3, ROT= 120.8, -20.3 ]\#Rx 111: Read direction message, but no range.m^direction in FSK: [-0.480239,0.805609,0.346936]yϪ]>޿BU?Fv>{14?`;E EtE#E"EO:*Ev:VE3ZEBE;a2E;aJE`;a:E`;a5f Sn)1Iv=iX9< ˿l?a>w?  g>)V@I gc I@?X%sP}K? |FĿ)ϜIV@i gchecking for new query: numPingsReceived=111, elapsed TxPingTime=52.185856)ii~񿉧=II!ԑ9@ @@/@Թ ^A- `=IY I O >wzN, *? *޹>)*@I*޹((*\AP?+glR? *iÿ)*)I*@i*޹((checking for new query: numPingsReceived=112, elapsed TxPingTime=52.470734 @@uٱ6W -AHRS rotation from veh to nav: [[-0.244146,0.968076,0.056758],[-0.969457,-0.245067,0.009772],[0.023370,-0.052639,0.998340]]H/@Ͽz?@a?@@^^ϿN?,?rg?i @IDj;Y=By=IbDVD0y=%F=ٔF;Q->9Y=Fy龻E>Q 5%5?Q 9%5C)ABY)y-2Q I-@I;ik;O5y5ԓBɮ5A=Eai(i*^=a?AJi(Ri(ji*>b*4&'r3@Д &!@R*h~]޿lro?_S{?Zi*@bi*޹j*Ol6@2@ @Z*M?+kb?hD?2i*@:i*A"i**֞?*i*WMBi*Bi*qٞ?i*ŷ/i(i*eAi*n> addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.506587 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.145704 m, bearing: 16.199582 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.506587 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.15 m.hh*h9"h9 h9g9fAfAfAdAdIjdIZdMK?ZZZZb_@u) i9) ii񿉧`=IIm9@q @q@u/@qԑ^AM~=IYIyO}>checking for new query: numPingsReceived=112, elapsed TxPingTime=52.669823E- E-oE-!E)"E-:*E-:VE-c3ZE)a5@a5@a5@a5@Թ A A B B B IB BB B B B e;B B&E[U,yyVa?A2܇@2׎@2Xյٱ2ݣX :AHRS rotation from veh to nav: [[-0.245940,0.967626,0.056694],[-0.969031,-0.246794,0.008477],[0.022195,-0.052853,0.998356]]2H@zϿ?? M Ͽ`\?0?@?i2܇@I2pj;0PYf,ByfIbDrVDrβyv=%zl=ٔzc;Q-z?9xY|=~Fy|~E?Q 5 5?Q 9 5)LBYy2Q I@EI:i$:5yɮ%?A!MDNOT Ignoring new targets: 24.15 m.hIhQ*hQ"hQ hQgQfQfYfYdYdajdaZde@?ZZZZ_@Xյ) $i9)顭8ii񿉧AW=III)UDDAT read: Rx Time:05:56:20.2784 eTRx dataTimestamp_ set to:1761544581.460641}9@ @@`0@@=@=PDAT read: Bearing 192.4, 50.7 (Local) ~Local bearing/azimuth received: Bearing 192.4, 50.7 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 DAT read: 05:56:20.2784 LVL= 15664, 12785, 24610, 28275, AGC= 49, IDX= 511, 0.20,-1.136,-1.139,-2.675,-1.126, PHS= 0.092, 0.033,-1.593, RAW= 31.8, 17.4, CAL= 28.9, 20.1, ROT= 121.1, -20.1 5Ygot valid direction response: 05:56:20.2784 LVL= 15664, 12785, 24610, 28275, AGC= 49, IDX= 511, 0.20,-1.136,-1.139,-2.675,-1.126, PHS= 0.092, 0.033,-1.593, RAW= 31.8, 17.4, CAL= 28.9, 20.1, ROT= 121.1, -20.1 5V#Rx 113: Read range and direction messages.E^direction in FSK: [-0.485073,0.804116,0.343660]EFpublishing direction and range infoyY]B$q ߿JOґP?"??Y]AY]0=]1]"` ]sn)YI]j=i]+=]m˿]q?]|>]^ ? ]>)]E@I]YY] 8$?9yuz0*3#? ]ſ)]zI]E@i]YYchecking for new query: numPingsReceived=113, elapsed TxPingTime=52.964092^AIIAO>!  checking for new query: numPingsReceived=113, elapsed TxPingTime=53.174004[,Tpa?A2Ї@2tˎ@279ٱ2CY :AHRS rotation from veh to nav: [[-0.247402,0.967255,0.056654],[-0.968688,-0.248182,0.007071],[0.020900,-0.053131,0.998369]]2H۪Ͽ@??}@oϿ5|?f?3 ?i2Ї@I2/j;2CYNDByRIIV=)V|ieMb@Mb@Mb@aaaa a9e9Y=FyegE>Q 55ֆ?Q 95$)]BY">Q E;y14@Q I@EIj;i;5yɮ~Aii${]a?AJiARiAji>bZ: ' c3@۽~ @RB$q ߿JOґP?"??ZiE@bij.$T6@)<@лN@C@Z5a7Z?-qt?hUwA?2iy@:iA"i[3?*i~BifBi`ڞ?iifBi+Ai;> addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.501728 s, deltaX: 0.200001 m, approachRate: 0.398624 m/s, rangeRepo size: 4 % Added new target pos. range: 24.344440 m, bearing: 16.559800 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.501728 s, deltaX: 0.198736 m, approachRate: 0.396103 m/s, posRepo size: 4 %DNOT Ignoring new targets: 24.34 m.h)h)*h)"h) h)g)f)f1f5ʁBd1d9jd=8@Zd=?Z]">Z]">Z]Ȕ@Z]14@m791)9 =iE9)AEAiAiM񿉧IM+=IIIQ@ @@0@eDDAT read: Rx Time:05:56:20.7784 uTRx dataTimestamp_ set to:1761544581.964540PDAT read: Bearing 191.7, 50.6 (Local) ~Local bearing/azimuth received: Bearing 191.7, 50.6 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 DAT read: 05:56:20.7784 LVL= 15088, 12513, 23618, 27091, AGC= 49, IDX= 511,-0.02, 1.405, 1.404,-0.133, 1.426, PHS= 0.082, 0.023,-1.603, RAW= 31.8, 17.7, CAL= 28.9, 20.5, ROT= 121.1, -20.5 Ygot valid direction response: 05:56:20.7784 LVL= 15088, 12513, 23618, 27091, AGC= 49, IDX= 511,-0.02, 1.405, 1.404,-0.133, 1.426, PHS= 0.082, 0.023,-1.603, RAW= 31.8, 17.7, CAL= 28.9, 20.5, ROT= 121.1, -20.5 V#Rx 114: Read range and direction messages.%^direction in FSK: [-0.483822,0.802042,0.350207]%Fpublishing direction and range infoyae&޿J/8S?Z8i?Yaae:e0eB\ ei)aIe=iejQa e0>)aIe0aaeZ?ڵw4pF~? a)epuIaie0aachecking for new query: numPingsReceived=114, elapsed TxPingTime=53.466621^A% x=I1 IA OM >ԁ ^mb,4.a?AJLJ@JnŽ@JlٱJY ZAHRS rotation from veh to nav: [[-0.248476,0.966998,0.056344],[-0.968442,-0.249175,0.005635],[0.019488,-0.053165,0.998396]]JH Ͽ?٬?@z`Ͽ@w??8@?iJLJ@IJڬh;JCYjPByj IbDEVDE!yMq=%UO=ٔUXj;Q-U>Y9YYa=eFyaes6Ee>iQ 5u5mn?Q 9u5mQ =utI)mmBYy,4@Q I@mEIm;;im<;m`5yɮAchecking for new query: numPingsReceived=114, elapsed TxPingTime=53.677841ii}a?AJiRiji.>b54'w3@%2 !@R&޿J/8S?Z8i?Zibi0jUI6@w1)[@-@ZAK?NR?5+{ ?2i@:iMA"iqO؞?*i addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E EyE%E"EO:*E:VE 4ZE Added new target pos. range: 24.344440 m, bearing: 16.470556 deg, lat: 36.779390 deg, lon: -121.859750 deg, deltaT: 0.503899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.34 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5@?ZQZQZQZU,4@el)a mXrim9)imtiiii~񿉧]=IIBBBIBBBBBBd;B&Eԉ9@ @@4@Թ^A I9 m DDAT read: Rx Time:05:56:21.2785 u TRx dataTimestamp_ set to:1761544582.467567} PDAT read: Bearing 182.8, 54.5 (Local) } ~Local bearing/azimuth received: Bearing 182.8, 54.5 (Local)  DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.1  DAT read: 05:56:21.2785 LVL= 15776, 12257, 23938, 27603, AGC= 50, IDX= 512,-0.20,-1.942,-2.243, 2.428,-2.021, PHS= 0.182,-0.177,-1.878, RAW= 39.4, 19.2, CAL= 35.7, 22.3, ROT= 114.3, -22.3  Ygot valid direction response: 05:56:21.2785 LVL= 15776, 12257, 23938, 27603, AGC= 50, IDX= 512,-0.20,-1.942,-2.243, 2.428,-2.021, PHS= 0.182,-0.177,-1.878, RAW= 39.4, 19.2, CAL= 35.7, 22.3, ROT= 114.3, -22.3  V#Rx 115: Read range and direction messages.I O > ^direction in FSK: [-0.380737,0.843239,0.379456] Fpublishing direction and range infoyi m Rm]ؿO?NkI?Ym Ai m =m /m ] m k)m 2Im 5^:>im }?5m Nbm x 0?m >m W? m SF>)m BY?Im SFǾi i m F0B?ߢ7s? m )m 3Im BY?im SFǾi i U checking for new query: numPingsReceived=115, elapsed TxPingTime=53.962482 Λh,ma?AԱÇ@@?ٱY AHRS rotation from veh to nav: [[-0.248922,0.966908,0.055920],[-0.968357,-0.249535,0.004157],[0.017973,-0.053116,0.998427]]HϿ??`Ͽq?g? 2`?iÇ@Izf;CY-cBy-$IiMb@Mb@Mb@ 9Q(\ſp= ף?Yuy.=AxA p A)p AY AbDVD02y ɠ=%1=ٔzV;Q->9!Y)=-Fy)5E5>AQ 5U5E|?Q 9U5Eq)E~BYUQ E];y]Y"@Q I]@EEIE M;iErB;Eh5yiɮuAqiia?AJiARiAji .>bp2A"Q<]m4@l"@RRm]ؿO?NkI?ZiBY?biSFǾj546@>,F(0B@є@ZJbo?1Ku?ԬҪF?2iz@:iA"i?*ie5BibBiii͏BiAi>checking for new query: numPingsReceived=115, elapsed TxPingTime=54.182205 addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503027 s, deltaX: 0.100000 m, approachRate: 0.198797 m/s, rangeRepo size: 4 E EEE"E:*EE7:VEZEBE;a2E;aJEQ;a:EQ;a] Added new target pos. range: 24.443827 m, bearing: 9.739095 deg, lat: 36.779390 deg, lon: -121.859750 deg, deltaT: 0.503027 s, deltaX: 0.099386 m, approachRate: 0.197576 m/s, posRepo size: 4 eDNOT Ignoring new targets: 24.44 m.haha*ha"ha hagifififmBdqdqjdu8@Zdu?ZZZh@ZY"@=?)A EiEH9)AE>AiAiM񿉧IU.=IqIq  9@ @@/1@@@hA9 ^AM =e DDAT read: Rx Time:05:56:21.7785 e TRx dataTimestamp_ set to:1761544582.969514m PDAT read: Bearing 192.2, 50.7 (Local) u ~Local bearing/azimuth received: Bearing 192.2, 50.7 (Local)  DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.2  DAT read: 05:56:21.7785 LVL= 15040, 14641, 22258, 26451, AGC= 53, IDX= 511, 0.41, 0.483, 0.492,-1.074, 0.498, PHS= 0.087, 0.039,-1.616, RAW= 31.4, 17.4, CAL= 28.6, 20.2, ROT= 121.4, -20.2 I I  Ygot valid direction response: 05:56:21.7785 LVL= 15040, 14641, 22258, 26451, AGC= 53, IDX= 511, 0.41, 0.483, 0.492,-1.074, 0.498, PHS= 0.087, 0.039,-1.616, RAW= 31.4, 17.4, CAL= 28.6, 20.2, ROT= 121.4, -20.2  V#Rx 116: Read range and direction messages. ^direction in FSK: [-0.488964,0.801051,0.345298] Fpublishing direction and range infoya e !L/K߿=E6?P]?Ya a e :e 19e V e Sg)e 5Ie -=ie w=e οe K ?e |>e r> e J>)e @Ie Ja a e q.?jM'bp'? e ſ)e Ie @ie Ja a  checking for new query: numPingsReceived=116, elapsed TxPingTime=54.454853O >o,pa?A tvCM߀Gaaq 9YAYaBy"I ym 3?m"AbD-VD-0y%?=ٔQ->9Y=Fy%E%>)Q 55-w?Q 95-Q)-BYyQ I@-EI-[ib 'jd.ج3@7Z} @R!L/K߿=E6?P]?Zi@biJj9bCa6@ǚUJ@.Wc@ZqQL?ۼ1?_X[?2i"@:i A"i]l՞?*i9}BiBiqO؞?iU addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.501947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 24.443827 m, bearing: 16.720284 deg, lat: 36.779390 deg, lon: -121.859748 deg, deltaT: 0.501947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ԉeDNOT Ignoring new targets: 24.44 m.hh*h"h hgfffddjdZd@^?ZZZZ) DiY9)hii񿉧AAIAII9@ @@4@%checking for new query: numPingsReceived=116, elapsed TxPingTime=54.690506E] E]uE]$EY"E]~:*E]:VE]4ZEYam@am@am@am@ԹB<ABBBIBBBB9 =BBB$d;B%E ^A P=I) I9 OE >v,fLa?Ar#̇@rƎ@rOnٱrYX -AHRS rotation from veh to nav: [[-0.247962,0.967216,0.054846],[-0.968661,-0.248386,0.000953],[0.014545,-0.052891,0.998494]]rH5Ͽ o??DϿ9O?`ɍ?`?ir#̇@Irc;rCYemBye0IԹbDVD0yNv=%_=ٔ9 Y=Fy%1;E%>)Q 5-5-r?}DDAT read: Rx Time:05:56:22.2786 TRx dataTimestamp_ set to:1761544583.476603PDAT read: Bearing 163.7, 46.7 (Local) ~Local bearing/azimuth received: Bearing 163.7, 46.7 (Local) DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.2 DAT read: 05:56:22.2786 LVL= 16336, 12993, 25154, 28467, AGC= 51, IDX= 513, 0.14,-0.369,-0.758,-1.984,-0.143, PHS=-0.123,-0.570,-1.885, RAW= 44.1, 29.9, CAL= 41.0, 35.7, ROT= 109.0, -35.7 Ygot valid direction response: 05:56:22.2786 LVL= 16336, 12993, 25154, 28467, AGC= 51, IDX= 513, 0.14,-0.369,-0.758,-1.984,-0.143, PHS=-0.123,-0.570,-1.885, RAW= 44.1, 29.9, CAL= 41.0, 35.7, ROT= 109.0, -35.7 V#Rx 117: Read range and direction messages.^direction in FSK: [-0.264388,0.767840,0.583541]Fpublishing direction and range infoyy} п|:M%?^?Y}fAy}?}2}Bb }3o)}3I}mi}}G}j E?}0?}07? }W?)}"?I}Wyy}{?Fo꿣? })}I}"?i}Wyychecking for new query: numPingsReceived=117, elapsed TxPingTime=54.957340Q 95-V)-BYy"@Q I@-EI-<=i-<=-5yɮ<Aiyi}a?AJi}#ARi}#Aji}c=b}c@)2@ Gy,@R} п|:M%?^?Zi}"?bi}Wj}m4@Ã?~;n*@Z}a+?1P? e8?2i}?:i}A"i}`C?*i}oBi}Biyiyi}͏Bi}Ai}a`>m addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.507089 s, deltaX: 0.199999 m, approachRate: 0.394406 m/s, rangeRepo size: 4 } Added new target pos. range: 24.642563 m, bearing: 4.487152 deg, lat: 36.779390 deg, lon: -121.859748 deg, deltaT: 0.507089 s, deltaX: 0.198736 m, approachRate: 0.391916 m/s, posRepo size: 4 }DNOT Ignoring new targets: 24.64 m.hyh*h"h hgfffddjd8@Zd@䂳?ZZZZ"@EOn)I MiM9)IM,IiQiU񿉧Q]6ލ=IYIYE9@A @A@M4@I5 checking for new query: numPingsReceived=117, elapsed TxPingTime=55.194958bEJ4jEm4rE).0Em  Em sEi Ei "Em :*Em Z:VEi ZEi BEi a 2Ei a JEm ];a :Em ];a 9 ^A =I I O >1|,c%a?A2ԇ@2ώ@2#*Sٱ2X :AHRS rotation from veh to nav: [[-0.246924,0.967506,0.054404],[-0.968949,-0.247260,-0.000583],[0.012888,-0.052859,0.998519]]2H6Ͽ?ګ?`4Ͽ|Ce?I?i2ԇ@I2a;2CYBpByB4IieMb@Mb@Mb@aaaa a9eJ +Fxɿ?YeȽyeKeL=eAeA e A)e AaYe AbDVDyg<%M=ٔ;Q->9Y=Fy3;E>Q 55vm?Q 95٘)BYh>Q Ei;y:@Q I@EI;i;5yϓBɮADNOT Ignoring new targets: 24.64 m.hh*h!"h! h!g!f!f)f-3Bd)d)jd)Zd55?ZUh>ZUh>ZU='@ZUb:@e#*S)i m¾im:9)imŴiiiiu~񿉧q}G=IyIy9@ @@/@@==@==ADDAT read: Rx Time:05:56:22.7786 TRx dataTimestamp_ set to:1761544583.980726PDAT read: Bearing 191.2, 55.7 (Local) ~Local bearing/azimuth received: Bearing 191.2, 55.7 (Local) DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 DAT read: 05:56:22.7786 LVL= 15344, 12529, 27090, 28851, AGC= 52, IDX= 513,-0.04,-2.797,-2.968, 1.709,-2.931, PHS= 0.236, 0.008,-1.687, RAW= 36.2, 15.7, CAL= 33.2, 17.8, ROT= 116.8, -17.8 Ygot valid direction response: 05:56:22.7786 LVL= 15344, 12529, 27090, 28851, AGC= 52, IDX= 513,-0.04,-2.797,-2.968, 1.709,-2.931, PHS= 0.236, 0.008,-1.687, RAW= 36.2, 15.7, CAL= 33.2, 17.8, ROT= 116.8, -17.8 V#Rx 118: Read range and direction messages.^direction in FSK: [-0.429294,0.849857,0.305695]Fpublishing direction and range infoyXZsیyۿ4 פ2?ќ?Y;0i p)4Iq>io<׿?!?K>V? >)w@Ih[DZ?]L F? N%)'Iw@i checking for new query: numPingsReceived=118, elapsed TxPingTime=55.462147^AUĎ=IYqIqO}>ԡ , b?A2f@27܎@266ٱ23Y :AHRS rotation from veh to nav: [[-0.245457,0.967896,0.054116],[-0.969343,-0.245701,-0.002210],[0.011157,-0.053000,0.998532]]2H&kϿ?@?@!sϿbن?"?i2f@I2`;2CYbhByb+IIf<)f9AYA=EFyAE;EM>IQ 5U5M h?Q 9U5Mb)MBYYy]Y@Q I]@MEIM;iM;MI5yaɮm9Aiii7a?AJiRiji;\>bBe(%fMR4@l4!@RXZsیyۿ4 פ2?ќ?Ziw@bij!OF7@ L9^@n "-@Z$B9?\gfs?HX?2i@:i2A"iW[?*iqBiBiiqiiWAiZb> addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.642563 m, bearing: 12.341382 deg, lat: 36.779390 deg, lon: -121.859762 deg, deltaT: 0.504123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.64 m.hh*h"h hgfffddjdZd?5?Z Z Z Z Y@qBBBIB[BBBBB:d;B%EBaBaBaBaBaCe¶466) Lʾi9)ii񿉧=B=II9@ @@0@ԡDDAT read: Rx Time:05:56:23.2788 TRx dataTimestamp_ set to:1761544584.485267PDAT read: Bearing 191.5, 50.5 (Local) ~Local bearing/azimuth received: Bearing 191.5, 50.5 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 DAT read: 05:56:23.2788 LVL= 9872, 10833, 15090, 14803, AGC= 53, IDX= 3,-0.34,-0.089,-0.072,-1.596,-0.058, PHS= 0.071, 0.031,-1.582, RAW= 31.2, 17.8, CAL= 28.4, 20.6, ROT= 121.6, -20.6 Ygot valid direction response: 05:56:23.2788 LVL= 9872, 10833, 15090, 14803, AGC= 53, IDX= 3,-0.34,-0.089,-0.072,-1.596,-0.058, PHS= 0.071, 0.031,-1.582, RAW= 31.2, 17.8, CAL= 28.4, 20.6, ROT= 121.6, -20.6 V#Rx 119: Read range and direction messages. ^direction in FSK: [-0.490482,0.797267,0.351842] Fpublishing direction and range infoyKd߿"mG6?\]㒄?Y3A&Q*: 9^A- B=Ii Iy O >)5Ish=i<~ʿ'g ?>> X>)@IX¾?MDw {? Xƿ)I@iX checking for new query: numPingsReceived=119, elapsed TxPingTime=55.983852 L,'b?A=@@:ٱZ AHRS rotation from veh to nav: [[-0.243942,0.968289,0.053932],[-0.969743,-0.244100,-0.003729],[0.009554,-0.053210,0.998538]]H }9Ͽ@9??">Ͽnn?X> ?i=@I`;CYbBy$IiMb@Mb@Mb@ 9q= ףp5^I ˿X9v?YyX< A  A) AYbD VD y%<ļ%%.=ٔ%_;Q-->9)Y)=5Fy15Z;E=>QQ 5e5Ua?Q 9e5U[)UBYmx>Q Em[;ym@Q Im@UEIUJ;iUR2;UZ5yyɮgAiib?AJiARiAjiٖ>b~%r]E(?H-׹3@k i!@RKd߿"mG6?\]㒄?Zi@biXjp6@O,<Ѯ@;@Z{%t#?>f?MPx?2iv@:i=A"i;˞?*icSchecking for new query: numPingsReceived=119, elapsed TxPingTime=56.202385BipBi]l՞?iipBiAi,_> addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504541 s, deltaX: 0.100000 m, approachRate: 0.198201 m/s, rangeRepo size: 4  Added new target pos. range: 24.741943 m, bearing: 17.075625 deg, lat: 36.779389 deg, lon: -121.859762 deg, deltaT: 0.504541 s, deltaX: 0.099380 m, approachRate: 0.196972 m/s, posRepo size: 4 DzD@AE EtEE"Eҝ:*Ev:VEZEBE;a2E;aJE`;a:E`;aDNOT Ignoring new targets: 24.74 m.hh*h"h hgfff%Bdd!jd%`f8@Zd%`?Zx>Zx>Zӆ@Za@:) ¾i9)Qii񿉧`є=II=9@9 @9@=/@A@I@MgA  DDAT read: Rx Time:05:56:23.7787  TRx dataTimestamp_ set to:1761544584.992421 PDAT read: Bearing 191.7, 51.1 (Local)  ~Local bearing/azimuth received: Bearing 191.7, 51.1 (Local)  DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1  DAT read: 05:56:23.7787 LVL= 15328, 12113, 22946, 27795, AGC= 51, IDX= 498, 0.14, 0.597, 0.595,-0.950, 0.607, PHS= 0.091, 0.033,-1.602, RAW= 31.7, 17.4, CAL= 28.9, 20.1, ROT= 121.1, -20.1  Ygot valid direction response: 05:56:23.7787 LVL= 15328, 12113, 22946, 27795, AGC= 51, IDX= 498, 0.14, 0.597, 0.595,-0.950, 0.607, PHS= 0.091, 0.033,-1.602, RAW= 31.7, 17.4, CAL= 28.9, 20.1, ROT= 121.1, -20.1  V#Rx 120: Read range and direction messages. ^direction in FSK: [-0.485073,0.804116,0.343660] Fpublishing direction and range infoy  B$q ߿JOґP?"??^Am v=i Iy I O >V,lAb?AY;Q/Y l)3I5^=i+=VͿ ?|>^ ? >)E@I6C.pz?c:p*? 3ſ)IE@iT****** received valid address query ******R****** received valid ping request ******"Querying Benthos address 50 with one ping in standard two-way mode.=@=@=ٱ=bY AHRS rotation from veh to nav: [[-0.242806,0.968604,0.053410],[-0.970042,-0.242885,-0.005092],[0.008040,-0.053046,0.998560]]=H AϿ?`X? Ͽ@tKw?(3?i=@I=Z_;=CYXBy%IbD5VD50ye V%eR=ٔe;Q-m>9iYi=mFyiuF;Eu>yQ 55}m[?Q 95})}BYy@Q I@}EI}:i}g:}5yɮAiiӃ?b?AJiRiji>bp?()73@"p!@RB$q ߿JOґP?"??ZiE@bij6@}@{Z@Z?TG?_i,??2i@:iA"iA*Ϟ?*iּBiBiA*Ϟ?i9}iBiHAič>% addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.507154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 24.741943 m, bearing: 16.640787 deg, lat: 36.779389 deg, lon: -121.859745 deg, deltaT: 0.507154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 24.74 m.hYhY*hY"hY hYgYfafafadadijdiZdm@?ZZZZ@) ̾i9);0ii񿉧=II9@ @@0@!2Acoustic response timeoutEm EmsEm"Ei"Em:*EmZ:VEm(3ZEiau@au@au@au@A9A=AABET>BABE!IBE`BBABABABEd;BE&EY ^A =I I) O5 > x,![b?A m@mQ@miۻٱm&BX AHRS rotation from veh to nav: [[-0.241785,0.968891,0.052824],[-0.970307,-0.241797,-0.006272],[0.006696,-0.052772,0.998584]]mHο'? ? `0ο`ty2m{? f?im@Im_;mCYMBy I AbDVD0yql%V=ٔf;Q->9Y=Fy4;E>Q 55U?Q 95)BYy.@Q I@EI:i;5yɮADDAT read: Rx Time:05:56:24.2788 TRx dataTimestamp_ set to:1761544585.492769-PDAT read: Bearing 190.4, 51.3 (Local) -~Local bearing/azimuth received: Bearing 190.4, 51.3 (Local) }DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 DAT read: 05:56:24.2788 LVL= 15952, 13457, 23794, 28259, AGC= 51, IDX= 500,-0.24, 0.506, 0.484,-1.034, 0.523, PHS= 0.085, 0.006,-1.601, RAW= 32.4, 18.0, CAL= 29.4, 20.8, ROT= 120.6, -20.8 Ygot valid direction response: 05:56:24.2788 LVL= 15952, 13457, 23794, 28259, AGC= 51, IDX= 500,-0.24, 0.506, 0.484,-1.034, 0.523, PHS= 0.085, 0.006,-1.601, RAW= 32.4, 18.0, CAL= 29.4, 20.8, ROT= 120.6, -20.8 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.475865,0.804644,0.355107]Fpublishing direction and range infoy.St޿E$Z?_S{?YP>4\ cn)I{=i;̿?|٠>G\? ޹>)$@I޹9&I8?:jzNBsr?  ÿ) hI$@i޹iii_b?AJiRiji)>bn5'Kd3@u!@R.St޿E$Z?_S{?Zi$@bi޹j,je6@ U8@L@Z:? ?b?2i@:i̴A"ik5Aƞ?*ihHBiBi;˞?ihHipBiAi'> addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.500348 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. Added new target pos. range: 24.741993 m, bearing: 16.175269 deg, lat: 36.779388 deg, lon: -121.859743 deg, deltaT: 0.500348 s, deltaX: 0.000050 m, approachRate: 0.000099 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.74 m.hha*ha"ha hagafififididqjdqZdu@?ZZZZ.@iۻ) <ؾix9)Lii~񿉧!%^a=I!I!ԡ J9 2Acoustic response timeout E | E wE &E "E :*E :VE 4ZE BE !;a 2E ";a JE k;a :E k;a  @  @ @ /@ ^Ae~=IIIO ?#ܞ,S~b?AB@B@B}*ٱBFoV NAHRS rotation from veh to nav: [[-0.241388,0.969026,0.052150],[-0.970412,-0.241349,-0.007126],[0.005681,-0.052327,0.998614]]BHοC? t? @ο0}`GEw?ʪ?iB@IBL_;BCZDDAT read: Rx Time:05:56:24.7787 ^TRx dataTimestamp_ set to:1761544585.996800bPDAT read: Bearing 191.1, 51.5 (Local) b~Local bearing/azimuth received: Bearing 191.1, 51.5 (Local) jDAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 DAT read: 05:56:24.7787 LVL= 16272, 13457, 24258, 28627, AGC= 51, IDX= 499, 0.19, 1.329, 1.309,-0.218, 1.334, PHS= 0.097, 0.020,-1.596, RAW= 32.3, 17.5, CAL= 29.4, 20.2, ROT= 120.6, -20.2 %Ygot valid direction response: 05:56:24.7787 LVL= 16272, 13457, 24258, 28627, AGC= 51, IDX= 499, 0.19, 1.329, 1.309,-0.218, 1.334, PHS= 0.097, 0.020,-1.596, RAW= 32.3, 17.5, CAL= 29.4, 20.2, ROT= 120.6, -20.2 -R#Rx 1: Read range and direction messages.-^direction in FSK: [-0.477732,0.807800,0.345298]5Fpublishing direction and range infoyXZH!(޿/;H?P]?YXXZ?XZ^ Zo)XIZ=iZ ףX ZJ>)XIZJXY.ByIXZ7JE?{OVf}My(E? Zÿ)ZIXiZJXX2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԙiMb@Mb@Mb@ 9RQ rȿQ?Y½yCu<A )YbD%VD%02y5Ͻ% =ٔ:Q->9Y=Fy/:E>Q 55vM?Q 95ڏ)BYZ>Q Ex;y@Q I@EI;iB;a5yÓBɮA EiXiZb?AJiXRiXjiZoƐ>bZsOۣ'I\3@4!@RZH!(޿/;H?P]?ZiXbiZJjZ 6@wCxW@Th(@ZZ(P?#?K0?2iZ@:iZTA"iZmÞ?*iZЛBiZBiXiZЛiZBiZAiZ0> addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504031 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.741993 m, bearing: 16.201180 deg, lat: 36.779388 deg, lon: -121.859742 deg, deltaT: 0.504031 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.74 m.hh*h"h hgfffBd d jd)Zd-7?ZuZ>ZuZ>Zu@Zu@}*) ¾ir9)页ii=II fAfAe2Acoustic response timeouty@y @y@y@yE%  E% E% $E! "E% :*E% E7:VE% 4ZE! a- @a- @a5 @a5 @B B B IB GBB 8 =B B B e;B C&E! ^A =I I O >j,kb?AN@N@N៻ٱNjT rAHRS rotation from veh to nav: [[-0.241048,0.969141,0.051595],[-0.970501,-0.240972,-0.007794],[0.004879,-0.051952,0.998638]]NH`ο`3?j?W(ο 7s?`g?iN@INO_;LYByIbD]VD]kyq %]=ٔj;Q->9Y=FyMu:EM>YQ 5]5a]YH?Q 95]})]BYy@Q I@]EI];i];]5yɮ{ADNOT Ignoring new targets: 24.74 m.hh*h"h hgff f d d jd Zd?-DDAT read: Rx Time:05:56:25.2788 -TRx dataTimestamp_ set to:1761544586.500808=PDAT read: Bearing 189.8, 51.6 (Local) =~Local bearing/azimuth received: Bearing 189.8, 51.6 (Local) MDAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 uDAT read: 05:56:25.2788 LVL= 16048, 13985, 24322, 28243, AGC= 51, IDX= 500,-0.17,-0.388,-0.425,-1.920,-0.375, PHS= 0.089,-0.005,-1.589, RAW= 32.9, 18.0, CAL= 29.9, 20.8, ROT= 120.1, -20.8 }Ygot valid direction response: 05:56:25.2788 LVL= 16048, 13985, 24322, 28243, AGC= 51, IDX= 500,-0.17,-0.388,-0.425,-1.920,-0.375, PHS= 0.089,-0.005,-1.589, RAW= 32.9, 18.0, CAL= 29.9, 20.8, ROT= 120.1, -20.8 }R#Rx 1: Read range and direction messages.^direction in FSK: [-0.468825,0.808766,0.355107]Fpublishing direction and range infoy)-V:޿h?_S{?Y))->-6-_ -Sn))I-E=i- ף-Zd˿-?-|٠>-0? -޹>)-*'@I-޹))-B|uD?'FcE  E |E "E "E :*E P$:VE (3ZE BE ͽ;a 2E ν;a JE };a :E };a {2,(b?Aɰ2c @24@2&oٱ2{T :AHRS rotation from veh to nav: [[-0.240736,0.969228,0.051421],[-0.970581,-0.240629,-0.008344],[0.004286,-0.051917,0.998642]]2Hlο?S?`ο@q?ϔ?i2c @I2 ^;2CYfByfIIj=)jp;j=j=iMb@Mb@Mb@ 9DlˡEĿMb`?YOy';A p A) AY AbDVD1y J% C=ٔ:Q->9Y=Fy)U:E>!Q 5-5%C?Q 9-5%a)%BY546>Q E5;y5@Q I5@%EI%* ;i%? ;%5y9ɮE\AAiiim= b?AJiiRiijimn>bmPD23'v]4@.2\u!@RmV:޿h?_S{?Zim*'@bim޹jm76@sz@,@Zm}̯G?\d-z?P9JP?2im@:imA"imj9X?*imBimWBimk5Aƞ?iiimWBimŽAim> addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 24.741987 m, bearing: 15.715202 deg, lat: 36.779388 deg, lon: -121.859742 deg, deltaT: 0.504008 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 -DNOT Ignoring new targets: 24.74 m.h)hI*hI"hI hIgQfQfQfUBdYdYjdYZd]t"?ZM46>ZM46>ZMn @ZM'@&o) pi9)ii񿉧B=IyIMDDAT read: Rx Time:05:56:25.7787 UTRx dataTimestamp_ set to:1761544587.005737ePDAT read: Bearing 190.1, 51.8 (Local) e~Local bearing/azimuth received: Bearing 190.1, 51.8 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 1@1 @9@=J0@9}DAT read: 05:56:25.7787 LVL= 15568, 14513, 23762, 27715, AGC= 52, IDX= 499, 0.25, 0.128, 0.088,-1.419, 0.131, PHS= 0.099, 0.003,-1.594, RAW= 32.9, 17.8, CAL= 29.9, 20.5, ROT= 120.1, -20.5 Ygot valid direction response: 05:56:25.7787 LVL= 15568, 14513, 23762, 27715, AGC= 52, IDX= 499, 0.25, 0.128, 0.088,-1.419, 0.131, PHS= 0.099, 0.003,-1.594, RAW= 32.9, 17.8, CAL= 29.9, 20.5, ROT= 120.1, -20.5 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.469751,0.810363,0.350207]Fpublishing direction and range infoyQUg޿j?Z8i?YQQU<U8U\ UCl)U4IU=iUD;U1̿QU>Q U0>)QIU0QQU?joZ#? U*¿)UhIQiU0QQ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.) ^A] Ԙ=Ii I O >Q ,$ b?A2@2@2lǃٱ2HT :AHRS rotation from veh to nav: [[-0.241051,0.969154,0.051324],[-0.970504,-0.240930,-0.008610],[0.004022,-0.051886,0.998645]]2Hο@P?4G?^ ο졁xp?̐ ?i2@I2@^;2CY^By^IbDfVDf02yn%r_=ٔrH=:Q-r>9tYt=vFytvhEv>xQ 5~5z:??Q 95z[)zBYy@Q I@zEIzt:iz:zX5y ɮ Aiyi}]b?AJiyRiyji}L>b}V>' 4@xT)dT!@R}g޿j?Z8i?Ziybi}0j}[6@l~@]C@Z}tχT?f)}?e addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504929 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 24.741987 m, bearing: 15.700088 deg, lat: 36.779387 deg, lon: -121.859743 deg, deltaT: 0.504929 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 24.74 m.hqhy*hy"hy hygyfyffddjdZd@A?2Acoustic response timeoutZZZZ@lǃ) Ծi9)ii~񿉧 .=IIEU~ EUrEU&EQ"EU:*EU?:VEU4ZEQae@ae@ae@ae@B<Ap<BBBIBBBBBB5e;BX&E)@ @@/@Y^A=I I1OE>U DDAT read: Rx Time:05:56:26.2789 U TRx dataTimestamp_ set to:1761544587.508751] PDAT read: Bearing 189.1, 51.6 (Local) e ~Local bearing/azimuth received: Bearing 189.1, 51.6 (Local) u DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.1 ԁ  DAT read: 05:56:26.2789 LVL= 16192, 13873, 24626, 28019, AGC= 52, IDX= 501,-0.14,-0.118,-0.161,-1.645,-0.103, PHS= 0.087,-0.013,-1.586, RAW= 33.1, 18.2, CAL= 30.0, 21.0, ROT= 120.0, -21.0  Ygot valid direction response: 05:56:26.2789 LVL= 16192, 13873, 24626, 28019, AGC= 52, IDX= 501,-0.14,-0.118,-0.161,-1.645,-0.103, PHS= 0.087,-0.013,-1.586, RAW= 33.1, 18.2, CAL= 30.0, 21.0, ROT= 120.0, -21.0  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.466790,0.808504,0.358368] Fpublishing direction and range infoyQ U ?ݿZ {D?.*?YU AQ U @?U 16U 2` U sm)Q IU -=iU TU ˿U h?U >U ? U f>)U @IU fQ Q U G^?_Z:f? U =¿)U rIU @iU fQ Q  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.ID,b?A,B"@B@BٱByPU VAHRS rotation from veh to nav: [[-0.241595,0.969011,0.051464],[-0.970369,-0.241469,-0.008759],[0.003939,-0.052055,0.998636]]BH@ο`$?nY?C qο , "p?릪?iB"@IB^;BCY^ˀBybiIbDjVDjy vڽ% H=ٔ R9Q- >9Y=Fy=E=>AQ 5M5EF:?Q 9M5E3)EBYyy}@Q I@EEIEbƪH'm'*4@ ;!@R?ݿZ {D?.*?Zi @bifj:%|6@ (f@A#(R@Zj_d,D?F5:K?Q?2i0@:iA"iwp?*i0BitBiwp?iiWBieAi>ԙ addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503014 s, deltaX: 0.200001 m, approachRate: 0.397605 m/s, rangeRepo size: 4  Added new target pos. range: 24.940708 m, bearing: 15.554189 deg, lat: 36.779387 deg, lon: -121.859743 deg, deltaT: 0.503014 s, deltaX: 0.198721 m, approachRate: 0.395060 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.94 m.hh*h"h hg!f)f)f)d)d1jd59@Zd5 0?ZqZqZqZu@2Acoustic response timeout) Xi9)顱ii񿉧jR=IIEmu EmqEm$Ei"Emv:*Em$ :VEm4ZEiBEm0;au2Em1;auJEmU;au:EmU;a}9@ @@4@ ^A I! I9 OE >e DDAT read: Rx Time:05:56:26.7788 e TRx dataTimestamp_ set to:1761544588.012623m PDAT read: Bearing 190.0, 51.7 (Local) u ~Local bearing/azimuth received: Bearing 190.0, 51.7 (Local)  DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1  DAT read: 05:56:26.7788 LVL= 15792, 13361, 24146, 27491, AGC= 51, IDX= 500, 0.24, 0.598, 0.561,-0.945, 0.599, PHS= 0.100, 0.006,-1.588, RAW= 32.8, 17.7, CAL= 29.8, 20.4, ROT= 120.2, -20.4  Ygot valid direction response: 05:56:26.7788 LVL= 15792, 13361, 24146, 27491, AGC= 51, IDX= 500, 0.24, 0.598, 0.561,-0.945, 0.599, PHS= 0.100, 0.006,-1.588, RAW= 32.8, 17.7, CAL= 29.8, 20.4, ROT= 120.2, -20.4  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.471471,0.810069,0.348572] Fpublishing direction and range infoya e Vq,޿j?<O? ) 1 Ye 3Aa I 29 Y "Ae =e 14e R^ e ck)e 3Ie =ie ;e C˿e C?e 2+>e %? e K>)e C@Ie Ka a e  RB 4+?·&sq? e ¿)e Ie C@ie Ka a  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.3,)?c?A$$v@v@vtԊٱvU ~AHRS rotation from veh to nav: [[-0.242940,0.968668,0.051590],[-0.970032,-0.242826,-0.008559],[0.004237,-0.052124,0.998632]]vH ϿT?j? ϿZ Zq?@?iv@Iv];vCY-By5SI9=A9i}Mb@Mb@Mb@yyyy y9}MbHzG~jthY}y}= }D}A}A y)} AyY}= AbDVDky%=ٔ Q->9Y=Fy&E>Q 55p4?Q 95)BY= >Q E;y1@Q I@EI;i;5yɮTAiic?AJiARiAji=6>be+$T'@m 4@EL?!@RVq,޿j?<O?ZiC@biKjIv6@%A%@E@Z:Y?Bߞa}?iqr?2i@:iA"i Ȭ?*iZBiBij9X?i0iBinAih> addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503872 s, deltaX: -0.200001 m, approachRate: -0.396928 m/s, rangeRepo size: 4  Added new target pos. range: 24.741978 m, bearing: 15.690524 deg, lat: 36.779386 deg, lon: -121.859743 deg, deltaT: 0.503872 s, deltaX: -0.198730 m, approachRate: -0.394407 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.74 m.hh*h"h hgfffgBdd)jd-`f8@Zd= ?iZ= >Z= >Z@Z 1@ 2Acoustic response timeouttԊ) i9)ųii%񿉧)-=I)I) 55I1)1Ex EmE!E"Eˀ:*E:VEc3ZEa@a@a@a@BIBIBMIBMBBIBIBIBM*e;BMS&E59@9 @9@=4@9ԑ ^A} ~=I I O >*Vǘ,c?A2@2@2F똻ٱ2U :AHRS rotation from veh to nav: [[-0.244558,0.968262,0.051566],[-0.969623,-0.244465,-0.008200],[0.004667,-0.052005,0.998636]]2HMϿ`?f?'JϿ@ʀ@ds?@X@?i2@I2߰];0YFByF'IbDNVDN!yV6d%V=ٔ~Q- ?9Y=Fy ˩E  ?DDAT read: Rx Time:05:56:27.2790 TRx dataTimestamp_ set to:1761544588.516800-PDAT read: Bearing 188.3, 51.7 (Local) -~Local bearing/azimuth received: Bearing 188.3, 51.7 (Local) =DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.1 DAT read: 05:56:27.2790 LVL= 15984, 12865, 24514, 28579, AGC= 51, IDX= 502,-0.15,-0.566,-0.623,-2.092,-0.554, PHS= 0.089,-0.025,-1.582, RAW= 33.5, 18.3, CAL= 30.4, 21.2, ROT= 119.6, -21.2 Q 550?Q 95)BYy1@Q I@EI:i1:5Ygot valid direction response: 05:56:27.2790 LVL= 15984, 12865, 24514, 28579, AGC= 51, IDX= 502,-0.15,-0.566,-0.623,-2.092,-0.554, PHS= 0.089,-0.025,-1.582, RAW= 33.5, 18.3, CAL= 30.4, 21.2, ROT= 119.6, -21.2 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.460514,0.810651,0.361625]Fpublishing direction and range infoy1pyݿN?t>i$?YAp>A2_ o)IE=yi̼~ʿ?Ƈ>? q>)0@Iqj&.?F3oPr)? =)I0@iq2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ɮqAii@!c?AJiRARiRAji>b'r zL4@l6"@R1pyݿN?t>i$?Zi0@biqj6@I @{@ZH 3sQ?j>h?=gF?2i@:iA"i~ ?*iB?vBisBiipiWBiAij>= addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504177 s, deltaX: 0.300001 m, approachRate: 0.595031 m/s, rangeRepo size: 4 q Added new target pos. range: 25.040064 m, bearing: 14.993611 deg, lat: 36.779386 deg, lon: -121.859743 deg, deltaT: 0.504177 s, deltaX: 0.298086 m, approachRate: 0.591233 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.04 m.hh*h"h hgfffddajde@339@Zde?ZZZZ1@F똻) Ѿi-9)!i!i%񿉧)- Ւ=I)I)ԙ9@ @@/@iIA2Acoustic response timeoutbE4jE3rEa0E  E rE "E "E 7:*E ?:VE (3ZE BE ;a 2E ;a JE yY;a :E zY;a ^A =I I O% > y͘,8c?A2և@2ю@2,.ٱ2T :AHRS rotation from veh to nav: [[-0.246717,0.967721,0.051442],[-0.969074,-0.246650,-0.007745],[0.005193,-0.051762,0.998646]]2HnϿ@?V?`=Ͽ @Eu?@@?i2և@I2];2CYbBybIiMb@Mb@Mb@ 99Y=FyE>Q 55,?Q 95-)BY>=Q E;y 8DQ I @I:i:5yBɮAE=DNOT Ignoring new targets: 25.04 m.hAhA*hA"hA hAgAfAfIfM3BdQdQjdQZdU@g?Zu>=Zu>=Zu.@ZuM@,.) i#9)顕sii~񿉧;=II=DDAT read: Rx Time:05:56:27.7789 ETRx dataTimestamp_ set to:1761544589.021663MPDAT read: Bearing 189.1, 51.7 (Local) U~Local bearing/azimuth received: Bearing 189.1, 51.7 (Local) mDAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.1 DAT read: 05:56:27.7789 LVL= 17024, 15057, 26610, 30627, AGC= 52, IDX= 501, 0.28,-0.157,-0.202,-1.691,-0.150, PHS= 0.095,-0.007,-1.585, RAW= 33.1, 18.0, CAL= 30.1, 20.7, ROT= 119.9, -20.7 Ygot valid direction response: 05:56:27.7789 LVL= 17024, 15057, 26610, 30627, AGC= 52, IDX= 501, 0.28,-0.157,-0.202,-1.691,-0.150, PHS= 0.095,-0.007,-1.585, RAW= 33.1, 18.0, CAL= 30.1, 20.7, ROT= 119.9, -20.7 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.466307,0.810933,0.353475]Fpublishing direction and range infoy9=y4ݿNY*?iU?Y=A9=B=:=g =w)=4I=\=i=B`廉=Hʿ=h?=|٠>=|? =>)=@I=99=jl^?Pտd\;? = ¿)=*I=@i=992Acoustic response timeoutE9@A @A@I@IQuerying Benthos address 50 with one ping in standard two-way mode.1 ^A v=I I O > 2Acoustic response timeoutQ cԘ,iRc?AE" E"E E "E":*E"]t:VE ZE a&@a&@a&@a&@.4<ɰ.4<ALAN?ABPBPBR:IBRBBPBPBPBR2e;BRX&EBiBiBiBiBiCm L4JD@J@J »ٱJRS AHRS rotation from veh to nav: [[-0.249269,0.967068,0.051416],[-0.968416,-0.249237,-0.007125],[0.005924,-0.051569,0.998652]]JH Ͽ9?@S?DϿi/}Dx?3g?iJD@IJ2^;JCYuxByuIbDVDk1yƽ%_=ٔQ->9Y=FyE>Q 55)?Q 95A)BYydDQ I@EI;i_:5yɮ 4A iiimbAc?AJimARimAjimt>bmMB'k$q94@!@Rmy4ݿNY*?iU?Zim@bimjmJB}T6@)?Ϣ@Vu@Zm=tw|e?l?~L%?2im@:imJA"imPjγ?*imBBimڏBime??iiimBimNAim?> addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.504863 s, deltaX: -0.100000 m, approachRate: -0.198074 m/s, rangeRepo size: 4  Added new target pos. range: 24.940657 m, bearing: 15.046399 deg, lat: 36.779386 deg, lon: -121.859743 deg, deltaT: 0.504863 s, deltaX: -0.099407 m, approachRate: -0.196899 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.94 m.hh*h"h hgfffddjd9@Zd ?ZZZZںM@ ») i`9)0ii񿉧=II 9@ @@0@Y=DDAT read: Rx Time:05:56:28.2791 ETRx dataTimestamp_ set to:1761544589.524663MPDAT read: Bearing 188.2, 51.7 (Local) M~Local bearing/azimuth received: Bearing 188.2, 51.7 (Local) ]DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.1 DAT read: 05:56:28.2791 LVL= 16112, 15649, 26258, 28755, AGC= 51, IDX= 503,-0.06,-1.136,-1.191,-2.649,-1.124, PHS= 0.090,-0.022,-1.570, RAW= 33.5, 18.3, CAL= 30.4, 21.1, ROT= 119.6, -21.1 Ygot valid direction response: 05:56:28.2791 LVL= 16112, 15649, 26258, 28755, AGC= 51, IDX= 503,-0.06,-1.136,-1.191,-2.649,-1.124, PHS= 0.090,-0.022,-1.570, RAW= 33.5, 18.3, CAL= 30.4, 21.1, ROT= 119.6, -21.1 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.460825,0.811198,0.359997]Fpublishing direction and range infoy9=2['~ݿGV?z0 ?Y=3A9=>=!==f =Sp)=3I=Q=i=X9=ȿ=?=Ƈ>=? =)>)=0@I=)99=uW?1# T"\ ? =T)=jI=0@i=)992Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^A=II O >ԁ Bژ,{Nlc?A,Y-kBy5I2Acoustic response timeoutiMb@Mb@Mb@ 9 ףp= ?sh|?{Gz?YQ=y#<A )Yf AbDVDy7s%8=ٔQ->9Y=FyE>Q 5 5I%?Q 9 5)BY =Q E ;y$Q I@EIu;i ;5yɮAEM{ EMEM'EI"EM=:*EM*5:VEM'4ZEIBEM;a]2EM;a]JEM;a]:EM;a]iiimac?AJimARimAjimi>bmNB''Ȳ@y4@{+"@Rm2['~ݿGV?z0 ?Zim0@bim)jmLDl*7@G b@><@Zm8#_?l8B??U) (?2im@:imSA"imaiŞ?*imBimPBimwp?imBimPBimAim<;>ԁ addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503000 s, deltaX: 0.299999 m, approachRate: 0.596420 m/s, rangeRepo size: 4  Added new target pos. range: 25.238750 m, bearing: 14.742459 deg, lat: 36.779387 deg, lon: -121.859744 deg, deltaT: 0.503000 s, deltaX: 0.298094 m, approachRate: 0.592632 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.24 m.hh*h"h hgfffBddjd`ff9@Zd=?Z]=Z]=Z])9@Z]n@) 3i'9)顕ii񿉧@o=IIU9@Q @Y@]/@YԱ M DDAT read: Rx Time:05:56:28.7791 U TRx dataTimestamp_ set to:1761544590.029407e PDAT read: Bearing 188.5, 51.7 (Local) e ~Local bearing/azimuth received: Bearing 188.5, 51.7 (Local) } DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.1 ^A m=I I O > DAT read: 05:56:28.7791 LVL= 15840, 15889, 25410, 28339, AGC= 52, IDX= 503,-0.48,-2.086,-2.136, 2.671,-2.078, PHS= 0.094,-0.013,-1.578, RAW= 33.3, 18.1, CAL= 30.2, 20.8, ROT= 119.8, -20.8  Ygot valid direction response: 05:56:28.7791 LVL= 15840, 15889, 25410, 28339, AGC= 52, IDX= 503,-0.48,-2.086,-2.136, 2.671,-2.078, PHS= 0.094,-0.013,-1.578, RAW= 33.3, 18.1, CAL= 30.2, 20.8, ROT= 119.8, -20.8  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.464584,0.811209,0.355107] Fpublishing direction and range infoyI M Xݿ2tm?_S{?YI I M =M >M Bc M n)M 4IM =iM TM ɿM ,?M ?>M V? M ޹>)M a@IM ޹I I M Lҫ?.XԿ^? M ҽ)M IM a@iM ޹I I  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.s,c?A`Y]ByIbD VD:2y }% :=ٔ Q- >9Y=FyE>Q 5-5!?Q 9-5͋)BY)y)Q I-@EIa;i;n 5y9ɮ=A9iic?AJiRiji>bxws':NRy4@'C!@RXݿ2tm?_S{?Zia@bi޹jb/.7@@DL@Z$Ú\d?(r4֚b?+v?2i@:iwA"iÞ?*iwBiBi~ ?iB?viBiAiJU> addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.504744 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.238750 m, bearing: 14.945825 deg, lat: 36.779387 deg, lon: -121.859745 deg, deltaT: 0.504744 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.24 m.hh*h"h hgfffddjdZd?ZZZZ) #iP9)ii񿉧II2Acoustic response timeoutEe EexEe&Ea"Ee;*Ee:VEe4ZEaam@am@am@am@BBBIBrBBBBB!e;BP&E 9 I } 9@y  @y @} /@y @ =@ ] DDAT read: Rx Time:05:56:29.2791 e TRx dataTimestamp_ set to:1761544590.532743m PDAT read: Bearing 188.9, 51.6 (Local) q m ~Local bearing/azimuth received: Bearing 188.9, 51.6 (Local)  DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.1  DAT read: 05:56:29.2791 LVL= 15696, 13393, 24386, 27443, AGC= 51, IDX= 503, 0.09,-0.796,-0.837,-2.329,-0.792, PHS= 0.098,-0.000,-1.581, RAW= 33.0, 17.8, CAL= 30.0, 20.5, ROT= 120.0, -20.5  Ygot valid direction response: 05:56:29.2791 LVL= 15696, 13393, 24386, 27443, AGC= 51, IDX= 503, 0.09,-0.796,-0.837,-2.329,-0.792, PHS= 0.098,-0.000,-1.581, RAW= 33.0, 17.8, CAL= 30.0, 20.5, ROT= 120.0, -20.5  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.468336,0.811182,0.350207] Fpublishing direction and range infoyY ] ?'8ݿy%3?Z8i?YY Y ] P=] Q4] B_ ] 3k)] 3I] 9=i] ] 5^ʿ] r?] >] ? ] 0>)] @I] 0Y Y ] |0X?l? ] 9YA=UFyQeռEe>Q 556?Q 95)BYy$Q I@EIzbULCD')#y4@qu!@RU?'8ݿy%3?Z8i?ZiU @biU0jU:/J7@%&- addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503336 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.238731 m, bearing: 14.472172 deg, lat: 36.779387 deg, lon: -121.859745 deg, deltaT: 0.503336 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 %DNOT Ignoring new targets: 25.24 m.h!h!*h!"h! h!g!f)f)f)d)diu2Acoustic response timeoutjdiZdEE?ZZZZ9-m@d) ˾i9)i i~񿉧)g=IIEE EEEE%EA"EEa:*EES:VEE 4ZEABEEW;aU2EEX;aUJEE,?tc?A2<@27@2'ٱ2V :AHRS rotation from veh to nav: [[-0.264875,0.962815,0.053181],[-0.964228,-0.265042,-0.004013],[0.010231,-0.052342,0.998577]]2H пa? :? tп)pp`?̪`W?i2<@I2a;2Cr*DAT read: user:599> vDAT read: 0 v8unknown deviceResponse_: 0 vDAT read: Ok z:unknown deviceResponse_: Ok z*DAT read: user:600> ~BDAT read: Tx time:05:56:30.1708 ~$Ping request sent.~9YYY=]FyY] Ee>aQ 55e?Q 95eU)eBYX=Q E;yA#Q I@aIey;ie;eO5yɮIA DNOT Ignoring new targets: 25.24 m.h h *h "h hgfff#BddjdZd|?ZX=ZX=ZT@Zn@ԩ') ̾iK9)i i i 񿉧_=II9@ @@0@^AQ|=IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248809EU  EU tEU "EQ "EU O:*EU v:VEU (3ZEQ a] @a] @a] @a] @Bi Am <Bu U>Bq Bu IBu NBBq Bq Bq Bu e;Bu F&E E,rOc?A2 @2@2<1ٱ2V :AHRS rotation from veh to nav: [[-0.268185,0.961895,0.053234],[-0.963306,-0.268380,-0.003589],[0.010834,-0.052243,0.998576]]2H)ѿ?tA? h"-ѿbgmK0?@T?i2 @I2a;2CYUByIbDVDky%S=ٔx̺Q->9Y=FyE>Q 55?Q 95)BYy|#Q I@EIN:iB<5yAɮERAAuDNOT Ignoring new targets: 25.24 m.hqhq*hq"hq hqgqfyfyfydydjdZdK?ZZZZn@<1) ;iP9)k,ii񿉧aT=IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503020E9@A @I@M4@I@Q@Q1^A Xh=I I O >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752776E]  E] E] 'EY "E] :*E] *:VE] '4ZEY BE] H;am 2E] I;am JE] e;am :E] f;am },ccc?A !)%kA%))))i-tI)1I1i5s@ 11)5J9 9=C 99AAIA)AiA)IIIMI IMCQQiQQYQY}[ByII<)<iMb@Mb@Mb@ 9v/?(\µL7A`?Yx=y+= p A) AY AbDVDy1=%J=ٔQ->9Y=FyE>Q 55?Q 95)BY{>Q E;yZQ I@EI;i;5yɮA DNOT Ignoring new targets: 25.24 m.h h *h "h hgfffBddjdZd%Q4?ZE{>ZE{>ZEV@ZE!s@!)! %¾i%9)!-D)i)i5񿉧151}V=I1I1Y9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004848q^A lT=I! IA OU >ԡ W,Bd?A2@2@2 @ٱ2U :AHRS rotation from veh to nav: [[-0.274499,0.960103,0.053413],[-0.961516,-0.274734,-0.003034],[0.011761,-0.052191,0.998568]]2H@cѿ)? X?``=ѿh@]?@D?i2@I2>Eb;2CYbByIbD5VD51yEG=%Eg=ٔE.,Q-E>9IYI=MFyIMbEU>QQ 5]5U?Q 9e5U)U BYayeQ Ie@UEIUL;iU;UO5ymBɮuAuEDNOT Ignoring new targets: 25.24 m.hh*h"h hgfffddjdZd@X?ZZZZVs@ @) %i9)[ii~񿉧==II]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256833ԑB!B!B%IB%IBB!B!B!B%d;B%,&EEM EMEM#EI"EM:*EM[:VEM3ZEIBEMͽ;2EMν;JEMA;:EMA;m9@i @i@m/@i^AqIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508801 ,'d?A2Ԇ@2΍@2Cٱ2AV :AHRS rotation from veh to nav: [[-0.277181,0.959325,0.053545],[-0.960743,-0.277422,-0.003025],[0.011953,-0.052281,0.998561]]2HUѿ`ɲ? 5j?hHѿh`z?Ī6?i2Ԇ@I2eb;2CYMcByMIbDiVDiy;%E=ٔ+Q->9Y=FyۻE>Q 55 ?Q 95)BYyQ I@EIF:i:!5y“BɮAEDNOT Ignoring new targets: 25.24 m.hh *h "h  h g f ffddjdZd`CE@ZYZYZYZ])s@}C)y }AiI9)顅3sii15Af6=I9IA yyI)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7614279@ @@@!EM EMsEM%EI"EMC:*EMZ:VEM 4ZEIaU@aU@aU@aU@Q ^Am ==I I O >ik &C,Ad?A8@Lbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012815jWl9lYnVAtt%@%@%Cٱ%W =AHRS rotation from veh to nav: [[-0.279431,0.958661,0.053730],[-0.960091,-0.279668,-0.003206],[0.011953,-0.052481,0.998550]]%H2ѿ`Z? y?@ѿ Cj z?`ު?i%@I%2=b;%CYM|ByMIiEMb@Mb@Mb@AAAA A9EDl?|?5^Mb?YEO=yEҽE@=AA E A)AAYE AbDeVDekym>=%u==ٔumԵQ-u>9yYy=}Fyy}E>Q 55?Q 95) BY>Q E;y4Q I@EIz ;i ;5yɮ*ADNOT Ignoring new targets: 25.24 m.hh*h"h hgfffDBddjdZd O@Z>Z>Z"@Z73]@IC) Ǿi{9)顥ii񿉧[.=II 9@ @@/@yuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264786A A @AB B B IB NBB B B B d;B 9&EE} | E} kE} $Ey "E} :*E} :VE} 4ZEy BE} !;a 2E} ";a JE} ?;a :E} ?;a Ա ^A ·3=I I! O- >,Ȗ[d?ADY~By~IbDVD 8y%\=%%b=ٔ%Q-%>9)Y)=-Fy)-E5>1Q 5E55 ?Q 9E55t)5*BYAyAQ IE@1I52;i5;55yQɮUAQ}DNOT Ignoring new targets: 25.24 m.hyhy*h"h hgfffddjdZd@ZZZZ) i9)ii񿉧 0=II@ @@-0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516901^AiIqIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768880bE˻ 4jE˔4rE˳0E]  E] oE] %EY "E] :*E] :VE] 4ZEY am @am @am @am @,ud?A2ͤ@2@28!9ٱ2[ X :AHRS rotation from veh to nav: [[-0.282727,0.957693,0.053760],[-0.959134,-0.282923,-0.004083],[0.011299,-0.052717,0.998546]]2H 2ҿ@k?h?9@iҿԹp$??i2ͤ@I2a;2CYBByFI|iMb@Mb@Mb@ 99Y=FyE>Q 55y?Q 95r)7BY9>Q E;yH@Q I@EI ;i ;s5yɮADNOT Ignoring new targets: 25.24 m.hh*h"h hgff!f%`Bd!d!jd!Zd- @ZM9>ZM9>ZMş@ZM_H@8!9) (ܾi9)顭BLii~񿉧)+#=IIm9@i @i@mk0@i@fA@fABDAT read: Rx Time:05:56:32.6096 TRx dataTimestamp_ set to:1761544594.060087checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021813Y^AU-|,=IYIqO}>Q #,Md?A2z@2K@20ٱ2W :AHRS rotation from veh to nav: [[-0.284171,0.957276,0.053568],[-0.958713,-0.284338,-0.004634],[0.010795,-0.052674,0.998553]]2H/ҿ@? Mm?ƭ2ҿ@r?@@&?i2z@I2Ta;0YBByF$IIF?>)F=J=J=bDNVDN:yV١=%V_=ٔZu:Q-Z>9XYX=^Fy\^E^>`Q 5f5b?Q 9f5bp)bCBYdyjH@Q Ij@bEIb:ib-:b 5ylɮnuAlDNOT Ignoring new targets: 25.24 m.hh*h "h  h g f ffddjdZd@ @yZ Z Z Z pH@0)! %U;i%9)!%!i!i-񿉧)5=I1=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272873IABV>BBIE EE#E"E:*E H:VE3ZEBbBBBBB#e;BR&EBBBBBC¤ 49@ @@4@ԩ^A"=IIO> DAT read: 05:56:32.6096 LVL= 12720, 11745, 19186, 18547, AGC= 54, IDX= 16, 0.28, 0.337, 0.377,-1.204, 0.352, PHS= 0.087, 0.070,-1.600, RAW= 30.5, 16.9, CAL= 27.9, 19.6, ROT= 122.1, -19.6 % Ygot valid direction response: 05:56:32.6096 LVL= 12720, 11745, 19186, 18547, AGC= 54, IDX= 16, 0.28, 0.337, 0.377,-1.204, 0.352, PHS= 0.087, 0.070,-1.600, RAW= 30.5, 16.9, CAL= 27.9, 19.6, ROT= 122.1, -19.6 - PDAT read: Bearing 190.5, 50.5 (Local) - ~Local bearing/azimuth received: Bearing 190.5, 50.5 (Local) = DAT read: Range 11 to 50 : 26.0 m (Round-trip 34.7 ms) speed -0.1 m/s = *DAT read: user:601> E BDAT read: Tx time:05:56:33.7208 E $Ping request sent.E Q> %>) c@I % [L/?2՜~? rǿ) I c@i % u :publishing transmit ping timeA u Fpublishing direction and range infoy  E ?g* x?Y ) I i ) I [L/?2՜~? ) I i  7),5d?A%9@% @%%ٱ%W 5AHRS rotation from veh to nav: [[-0.285373,0.956933,0.053308],[-0.958363,-0.285502,-0.005332],[0.010117,-0.052610,0.998564]]%H`Cҿ1?#K?@`Eҿ=u'?謹@9Y=Fy8E>1Q 5E55?Q 9E55n)5QBYIyMH@Q IM@5EI5nZ;i5e\;55yqɮu2Aqii d?AJiARiAjiM>bWk(K)II4@ -1U!@RE ?g* x?Zic@bi%j?R 7@/*N@.&@Z!!Ŕ?*G"2?Jm?2i@:iA"i<6Ӟ?*if uBi|BiaiŞ?iiڏBiAiS>= addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 4.030589 s, deltaX: 0.600000 m, approachRate: 0.148862 m/s, rangeRepo size: 4  Added new target pos. range: 25.834999 m, bearing: 15.140952 deg, lat: 36.779388 deg, lon: -121.859745 deg, deltaT: 4.030589 s, deltaX: 0.596268 m, approachRate: 0.147936 m/s, posRepo size: 4 EDNOT Ignoring new targets: 25.83 m.hAhA*hA"hI hIgIfIfQfQdQdQjdU:@Zd] T?ZZZZH@%) ľi9)Ѵii񿉧N8=IIDzD?AE5 E5qE5$E1"E5:*E5$ :VE54ZE1BE5ͽ;a=2E5ν;aEJE5U;aE:E5U;aE9@ @@ 1@)Y ^Au =I I O >ȷ0,d?A2s@2D@2ٱ2BW :AHRS rotation from veh to nav: [[-0.286284,0.956679,0.052977],[-0.958100,-0.286367,-0.006185],[0.009254,-0.052527,0.998577]]2H |Rҿ`??` Sҿ$Uy? 䪿W?i2s@I2%ya;2CYfByfFIiUMb@Mb@Mb@QQQQ Q9Uy&1|?@5^I ¿ ףp= ?YU`;yUbUQ8=U AQ U( A)U( AQYU( AbDmVDm:y} =%}N=ٔ}j;Q->9Y=FyE>Q 55b?Q 95)[BY>Q E;y}9@Q I@EIC ;iz ;5yɮADNOT Ignoring new targets: 25.83 m.hh*h"h hgfffBddjdZdPz?Z >Z >Z Ab@Z }9@1) iX9)ii񿉧c=II!9@ @@/@qԑB<A4=BW>BBIBBBBBBUe;Bj&E^A I E5  E5 mE5 &E1 "E5 a:*E5 :VE5 4ZE1 BE5 W;2E5 X;JE5 FG;:E5 GG;IA OU >Թ 6,rd?A2~@2x@2^ٱ26V :AHRS rotation from veh to nav: [[-0.287272,0.956411,0.052461],[-0.957813,-0.287306,-0.007047],[0.008332,-0.052272,0.998598]]2Hbҿ@?ܪ?`g8cҿ|~?cê ?i2~@I2#a;2CY^By`bDjVDjܲy%;%%P=ٔ%;Q-%>9)Y)=-Fy)5+E5>1Q 5E55햊?Q 9E55)5eBYAyEq9@Q IE@5EI5H;i5:5i!5yUBɮUrAQ}DNOT Ignoring new targets: 25.83 m.hyhy*hy"h hgfffddjdZd?ZZZZq9@^) i-9)ii~񿉧0=IIԑi@q @q@u/@q^Al=IIO> E=  E= nE= %E9 "E= :*E= :VE= 4ZE9 aM @aM @aM @aM @z =,d?A2y@2t@2mٱ2U :AHRS rotation from veh to nav: [[-0.287747,0.956291,0.052058],[-0.957679,-0.287722,-0.008138],[0.007196,-0.052197,0.998611]]2Hqjҿ?`?`O`jҿ⪀y}??i2y@I2a;2CYBByFQIi Mb@Mb@Mb@     9 J +jtĿI +?Y Hy  94= A CA  A)  A Y p AbD-VD-N2y5D%=%I=ٔ0;Q->9Y=Fy٘E>Q 55*閊?Q 95)qBYV.>Q E;y"@Q I@EI`;i;B#5yBɮA EUDNOT Ignoring new targets: 25.83 m.hQhQ*hQ"hQ hQgYfYfYf]ˁBdadajdaZde(?ZV.>ZV.>Z@Z"@m)  = i 9) -C)i)i5񿉧1=j=I9I9@ @@/@@gA@gA^A=IIO>I eC,|e?A2u@2p@2ǻٱ2*U >AHRS rotation from veh to nav: [[-0.288243,0.956168,0.051567],[-0.957538,-0.288161,-0.009162],[0.006100,-0.052018,0.998627]]2Hrҿ?g?&9XYX=ZFyX^E^>`Q 5f5b䖊?Q 9f5bՎ)bzBYdyf"@Q Ij@bEIb:ib|:b$5ylɮnAl DNOT Ignoring new targets: 25.83 m.h h *h "h  h g fffddjdZd@?Z9Z9Z9Z=ے"@Uǻ)Q U iU09)Y]kdYiYie񿉧ae=IaIiBaBeCBe-IBeBBaBaBaBeZe;Bem&EE} EoE!E"E݉:*E:VEc3ZEBED;a2EE;aJEN;a:EN;a9@ @@0@Iԁ^AU]=IYIqO}z>ԡ "&J,\*e?A8Jt@JUo@J޺ٱJU RAHRS rotation from veh to nav: [[-0.288390,0.956133,0.051399],[-0.957500,-0.288247,-0.010333],[0.004936,-0.052195,0.998625]]JHtҿ@?`P?ףrҿ)`V7t? F?iJt@IJ]a;HYZBy^UIb=`bDfVDf:ynH<%nF=ٔn59;Q-r>9pYp=rFypvEv>xQ 5~5zZ?Q 9~5z׍)zBY|y"@Q I@zEIzA:iz:z&5y ɮAUDNOT Ignoring new targets: 25.83 m.hQhQ*hQ"hQ hQgYfYfafadadajdiZdm@/@ZZZZ"@޺) xi89)ǃii񿉧`=IIԡ%9@! @)@-#0@)E EwE"E"E:*E:VE(3ZEa@a@a@a@^A}=IIO> Q,JDe?A2r@2Vm@2`uٱ2U :AHRS rotation from veh to nav: [[-0.288625,0.956084,0.050986],[-0.957435,-0.288422,-0.011462],[0.003747,-0.052124,0.998634]]2H`xҿ=? ?Nuҿyy@'n?`?i2r@I2 a;2CYDyFTI iMMb@Mb@Mb@IIII I9M)\(ʡEÿX9v?YMGayMM9Y=FyTE>Q 55ۖ?Q 95Č)BYo*>Q E;y @Q I@EI. ;i ;(5yɮADNOT Ignoring new targets: 25.83 m.hh*h"h hgfffӁBddjdZd@Z o*>Z o*>Z ы@Z  @`u) % i%9)!%ѕ!i!i-~񿉧)-`=I)I9 9@  @ @ 3@ 1Y^A=II!AQAQB]X>BYB]@IB]BBYBYBYB]Ue;B]k&EOu>E  E sE #E "E a:*E Z:VE 3ZE BE W;a 2E X;a JE ];a% :E ];a% ԑ $0W,&^e?A2p@2jk@2E0ٱ2V :AHRS rotation from veh to nav: [[-0.288850,0.956026,0.050795],[-0.957370,-0.288592,-0.012520],[0.002690,-0.052246,0.998631]]2H|ҿ`×?@?`ǢHxҿ`@f?` ?i2p@I2`;2CYBByFVIbDNVDNyVz(<%VX=ٔV7;Q-V>9XYX=ZFyXZ"E^>`Q 5b5bז?Q 9f5b΋)bBYdydQ If@bEIb:ib:b+*5yhɮnAlDNOT Ignoring new targets: 25.83 m.hh*h"h h g f f fddjdZd#@yZ9Z9Z9Z= @E0)  i9)Cii񿉧I=IIm9@q @q@u4@qBDAT read: Rx Time:05:56:36.1604 TRx dataTimestamp_ set to:1761544597.589620ԩ^AQIiIyO|> iI II E%  E% vE% %E! "E% :*E% :VE% 4ZE! a- @a- @a- @a- @i],_Bxe?AYByLI !!)-AԹiMb@Mb@Mb@ 9x&+ÿ~jt?Y7y<MA  A)lAYAbDVDy%6=ٔQ->9Y=FyE>Q 5 5Җ?Q 9 5)BY />Q E ;y@Q I@EI:i:!,5yɮAEDNOT Ignoring new targets: 25.83 m.hIhI*hI"hI hIgIfIfQfU܁BdYdYjdYZd]$ @Z}/>Z}/>Z}Љ@Z}|@) ziW9)顝ii񿉧=II59@1 @9@=3@9eGy9YxADAT read: 05:56:36.1604 LVL= 17648, 13409, 29234, 31571, AGC= 53, IDX= 440,-0.15, 2.912, 3.003, 1.430, 2.983, PHS= 0.031, 0.065,-1.598, RAW= 29.0, 17.9, CAL= 26.5, 20.9, ROT= 123.5, -20.9 Ygot valid direction response: 05:56:36.1604 LVL= 17648, 13409, 29234, 31571, AGC= 53, IDX= 440,-0.15, 2.912, 3.003, 1.430, 2.983, PHS= 0.031, 0.065,-1.598, RAW= 29.0, 17.9, CAL= 26.5, 20.9, ROT= 123.5, -20.9 PDAT read: Bearing 189.0, 49.1 (Local) ~Local bearing/azimuth received: Bearing 189.0, 49.1 (Local) DAT read: Range 11 to 50 : 26.6 m (Round-trip 35.5 ms) speed -0.1 m/s R#Rx 2: Read range and direction messages.^direction in FSK: [-0.515622,0.779020,0.356738]Fpublishing direction and range infoyy}ҡf2 ?O?Y}Ay}D}a4}2r }S{)}5I}}h> }ú>)}i @I}úyy}5Cnr+s̥? }Y˿)}ŸI}i @i}úyy^A1IIIaO}>9 nBd,ݑe?AY~By~MIbDVDk1y5s;%5Y=ٔ9Q-=>9AYA=EFyAAEM>IQ 5U5MΖ?Q 9U5Mp)MBYYyYQ I]@MEIMr;iM;M-5yeBɮeAiiiIڅe?AJisARisAjiz>b5A+Yfp-4@"@Rҡf2 ?O?Zii @biúj8@@pǢ@N @Z-? 6?剨B9?2i@:iA"i?*iGBiPBiiiBiAi |> addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 3.528116 s, deltaX: 0.600000 m, approachRate: 0.170063 m/s, rangeRepo size: 4  Added new target pos. range: 26.431337 m, bearing: 16.167995 deg, lat: 36.779388 deg, lon: -121.859745 deg, deltaT: 3.528116 s, deltaX: 0.596338 m, approachRate: 0.169025 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.43 m.hh*h"h hgfffddjd:@Zd@?BBBBBBBBle;Bv&EZ)Z)Z)Z)1A)A MiM9)IM͵IiIiU񿉧QYIYIYIa)aE EE#E"E:*E3:VE3ZEBEj;a2Ek;aJE;a:E;a9@ @@/@y^A=II1O=>ԉԹ Glj,e?A60c@6^@6B/,9ٱ6U BAHRS rotation from veh to nav: [[-0.290418,0.955599,0.049872],[-0.956900,-0.290015,-0.015307],[-0.000164,-0.052168,0.998638]]6H6ҿE?Lj?@ҿ`zY@% `?i60c@I6#`;6CYNByR9IbD^VD^kyf%jQ=ٔjt;Q-j>9lYl=rFypr툻Ev>xQ 5~5zjʖ?Q 95zQ)zBYy@Q I @zEIzB;iz~C;z}/5yɮiA]DNOT Ignoring new targets: 26.43 m.hYhY*hY"ha hagafafifididqjdqZdu q?ZZZZ@5B/,9)9 =i=9)9=_൉=i9iE~񿉧AM =IIIIԙ@ @@@bEm3jEm3rEm0E EE'E"E1:*E=:VE'4ZEa@a@a@a@^A#=IIO> (Tq,e?A6[@6V@6f:ٱ6U JAHRS rotation from veh to nav: [[-0.291291,0.955343,0.049688],[-0.956634,-0.290850,-0.016049],[-0.000880,-0.052209,0.998636]]6Hҿ+?`p? Hҿ`o`L  ?i6[@I6g`;6CYVByV7IIZ4=)Z9aYa=eFyamEm>qQ 5}5uŖ?Q 9}5uf)uBY>Q E;y#@Q I@uEIuR;iuc;uS15yɮyADNOT Ignoring new targets: 26.43 m.hh*h"h hgfffˁBd d jdZd?Z>Z>Z8@Z#@f:) zi99)ii񿉧-=II9@ @@/@B<A<B1B1B54IB5BB1B1B1B5be;B5q&EBǻCBǻCBBBCs4^AG=IIO>E E}E!E"E:*Ek&:VEc3ZEBE4;a2E6;a JE;a :E€;a I :~w,me?A02Q@2L@2A:ٱ2lU >AHRS rotation from veh to nav: [[-0.292443,0.955007,0.049377],[-0.956282,-0.291973,-0.016632],[-0.001467,-0.052082,0.998642]]2Haҿk?G?ܙ ҿ:X ?i2Q@I26~`;2CYFByFIbDRVDRyVս%ZV=ٔZ^:Q-Z>9\Y\=^Fy\^NEb>`Q 5f5b?Q 9j5b)bBYhyj#@Q Ij@bEIb-:ib:b25yɮA!mDNOT Ignoring new targets: 26.43 m.hihi*hi"hi higifqfqfqddjdZdZ?Z Z Z Z #@%A:)! %i%9))--ni)i5񿉧15i=I1I9ԑ9@ @@0@@@=Թ^A9=IIO> E  E tE %E "E :*E v:VE 4ZE a= @a= @a= @a= @},We?A6rH@6CC@6k:ٱ6HU BAHRS rotation from veh to nav: [[-0.293540,0.954675,0.049289],[-0.955945,-0.293045,-0.017139],[-0.001918,-0.052148,0.998637]]6H[ҿ@?^9Y=Fyl)E>Q 55K?Q 95Յ)BY>Q E;ya+@Q I@EI:i:45y1ɮ5 A1}DNOT Ignoring new targets: 26.43 m.hyhy*hy"h hgfffҁBddjdZd6?Z>Z>Z@ZSa+@k:) %G!i%9))-'-i1i5񿉧9=9 ,*f?A2=@28@2;ٱ2]U :AHRS rotation from veh to nav: [[-0.294786,0.954303,0.049052],[-0.955560,-0.294269,-0.017621],[-0.002381,-0.052067,0.998641]]2Hҿ@?f? Lҿ@ Ёc`?i2=@I2F6`;0YBByFI HHHJAbDRVDR:yV涼%V^=ٔZ:Q-Z>9XY\=^Fy\^jEb>`Q 5f5bz?Q 9f5b<)bBYhyjM+@Q Ij@bEIb[:ibt:b65ylɮr,Ap DNOT Ignoring new targets: 26.43 m.h h *h "h  h gfffdd!jd!Zd%@ZIZIZIZMM+@];)a eb#ie9)aezeZڼiaim~񿉧iup@,-f?AV3@V[.@V8M4;ٱV۲U bAHRS rotation from veh to nav: [[-0.295978,0.953937,0.048999],[-0.955191,-0.295439,-0.018059],[-0.002751,-0.052149,0.998636]]VHMҿ@?`i?`zҿ#~ f:?iV3@IV2`;VCYr{ByrIbDVD:2y%D=ٔh:Q->9Y=Fy!%FDE%>)Q 555-?Q 955-)-BY1y59+@Q I=@-EI-n;i-;-Y85yAɮEAAmDNOT Ignoring new targets: 26.43 m.hihq*hq"hq hqygqfyffddjdZd@J@ZZZZ`9+@8M4;) +i9)μii񿉧 Ȣ,Ff?A6!#@6@66;ٱ6fT >AHRS rotation from veh to nav: [[-0.297891,0.953353,0.048772],[-0.954596,-0.297351,-0.018140],[-0.002792,-0.051962,0.998645]]6Hӿށ?`? ӿaf?i6!#@I6{`;6CYFpByJIiMb@Mb@Mb@ 9~jthp= ףQ?YDyu<7AZA ( A)AY AbDVD1y)I%>=ٔ8Q->9Y=FyHE>Q 55?Q 9 5)BY  >Q E ;y >4@Q I @EIi:iq:;:5yɮAEDNOT Ignoring new targets: 26.43 m.hAhA*hA"hA hIgIfIfIfUBddjdZd@Z >Z >Z@Z>4@-6;)I MiU9)QU#UiQi]񿉧Y]b,>&df?A;ɰ;2D@2@2E9;ٱ2T >AHRS rotation from veh to nav: [[-0.299622,0.952816,0.048673],[-0.954054,-0.299080,-0.018245],[-0.002827,-0.051904,0.998648]]2H-ӿw}??$ӿܮ(g!?i2D@I2_;2CYFmByFIHbDR VDR2yZ[%ZC=ٔZ-8Q-^>9\Y\=^Fy\b7Eb>dQ 5j5f^?Q 9j5f)fBYhyn!4@Q In@fEIf` ;if ;f<5yrBɮrArEDNOT Ignoring new targets: 26.43 m.hh*h"h hgfffddjdZd@S6 @ZZZZ7!4@E9;) [i9)IMIMiIiU񿉧Y] EM  EM EM #EI "EM a:*EM ]t:VEM 3ZEI am @am @am @am @LÞ,}f?A2n@2?@2(L8;ٱ2T :AHRS rotation from veh to nav: [[-0.301350,0.952269,0.048712],[-0.953510,-0.300804,-0.018340],[-0.002812,-0.051975,0.998644]]2HOIӿx?`?&`@ӿǒ gj@?i2n@I2?_;0YNiByNI|i-Mb@Mb@Mb@)))) )9-I +?T㥛 I +?Y-949YYY=]Fyae,Ee>iQ 5u5m?Q 9u5mT)mBY}u>Q E};y}$;@Q I}@iIm? ;im ;m=5yɮA-DNOT Ignoring new targets: 26.43 m.h)h)*h1"h1 h1g1f1f9f=Bd9d9jdAZdEʘ@Zu>Zu>ZB@Z$;@(L8;)  i9)顽ntii~񿉧Qԁ ,+f?ABY>BBIB]BBBBBe;BJ&Ei I Z^@Z/@Z<<4;ٱZ"V fAHRS rotation from veh to nav: [[-0.302986,0.951737,0.048953],[-0.952991,-0.302437,-0.018446],[-0.002750,-0.052240,0.998631]]ZHdӿt?X? ~[ӿb㒿f`??iZ^@IZ_;ZCYnYByrIbDzVDzE ExE$E"E~:*E:VE4ZEBE;a2E;aJEPo;a:EQo;aya%%N=ٔ%#Q-%>9)Y)=-Fy)-E->1Q 5=55죖?Q 9E55 )5BYAyE;@Q IE@5EI5;i5;5?5yIɮMAQYDNOT Ignoring new targets: 26.43 m.hh*h"h hgfffddjdZdR@ZZZZs;@<<4;) 4i9)KԞii񿉧̼ ӫ, f?A2&@2@2>9;ٱ2U :AHRS rotation from veh to nav: [[-0.304756,0.951179,0.048817],[-0.952426,-0.304202,-0.018584],[-0.002827,-0.052158,0.998635]]2Hӿ@p? ?Fz xӿ `'g q ?i2&@I2_;2CYFVByFIHJAN@AN@AbDRVDRβyV5%ZR=ٔZM9Q-Z>9\Y\=^Fy\E>!Q 5-5%ʟ?Q 9-5%)%BY)y-:@Q I5@%EI%;i%;%dA5y9ɮ=A9eDNOT Ignoring new targets: 26.43 m.hihi*hi"hi higififqfqdqdyjdyZd}d@ZZZZC:@>9;) Oi9Թ)顽9:ii񿉧z B59 Y $AA ,vf?A6ׅ@6ь@6+;ٱ6XU BAHRS rotation from veh to nav: [[-0.306736,0.950541,0.048822],[-0.951791,-0.306190,-0.018487],[-0.002624,-0.052139,0.998636]]6Hӿj?%? uӿ`N >e`뱪@?i6ׅ@I6խ_;6CY=XBy=IiMb@Mb@Mb@ 9:v??Y9Y=FyVE>Q 5 5ݚ?Q 9 5)BY 8>Q E;ymB@Q I@EI ;i2 ;mC5yɮAEDNOT Ignoring new targets: 26.43 m.hAhI*hI"hI hIgIfQfQfU|BdQdYjdYZd]@Z}8>Z}8>Z}[@Z}PmB@+;) i9)顕ii񿉧lԙ 帙,3Qf?A2Dž@2Œ@2 s);ٱ2U :AHRS rotation from veh to nav: [[-0.308517,0.949973,0.048668],[-0.951215,-0.307973,-0.018499],[-0.002586,-0.052001,0.998644]]2H ӿ-f?@?@[p`ҵӿb.e@矪?i2Dž@I2_;2CBC@i@I@@IDiFpUA DFE)DF3C Js@HHHHHIL)LiL)NfCIPPP PR3CRjATiTTiTVOiA)V Z@-FIXYXY=UBy=IbDMVDM:y]\%eg=ٔeQ-m>9qYq=uFytE>Q 55 ?Q 95w)BYyNB@Q I@EIbE3jE3rEϚ/E=  E= vE9 E9 "E= :*E= :VE9 ZE9 a @a @a @a @ ,=,f?A2@2[@24;ٱ2R:T :AHRS rotation from veh to nav: [[-0.310054,0.949487,0.048385],[-0.950715,-0.309503,-0.018675],[-0.002756,-0.051790,0.998654]]2H ӿ2b?Ũ?Alӿrf9?i2@I2f_;2CYTByII%%=)%=-=-=iMb@Mb@Mb@ 9{Gz?V-Q?Yף9!Y!=%Fy!%{E%>)Q 555-?Q 9=5-I)-BY==Q E=;y=@@Q I=@)I- ;i- ;-F5yEBɮEAIuDNOT Ignoring new targets: 26.43 m.hqhq*hq"hq hygyfyfyfBddjdZd@g@Z=Z=ZB@Z@@4;) )i 9)յbii񿉧>i B! B! B% IB% ?BB! B! B! B% @d;B% %EBBBBBC4 ƙ,Yg?AE^ E^zE^$E\"E^a:*E^ :VE^4ZE\BE^W;af2E^X;afJE^v;af:E^v;afYHByIbD VDf2ys%M=ٔQ->9Y=FyE>Q 55?Q 95)BYyQ I@EI;iH;H5yBɮAߦE%DNOT Ignoring new targets: 26.43 m.h!h)*h)"h) h)g)f)f1f1d1d9jd9Zd=;@ZYZYZYZYq)q u>"iu9)qu굉u:Liyi}񿉧yЍԡ !̙,2g?A6%@6@6'X;ٱ6PT >AHRS rotation from veh to nav: [[-0.312535,0.948683,0.048187],[-0.949901,-0.311955,-0.019322],[-0.003298,-0.051811,0.998651]]6HԿ[??e@ӿɓ`k?i6%@I6_;6CPYeKByeIbDVDyGh<%?=ٔ:Q->9Y=FyȻE>Q 55?Q 95)BYy?@Q I@EIp:ig:rJ5yɮAeDNOT Ignoring new targets: 26.43 m.haha*hi"hi hqgqfyffE EyE#E"E:*E:VE3ZEa%@a%@a%@a%@addjdZdt@Z1Z1Z1Z5?@e'X;)i m im9)imEm*iiiu񿉧quGt ә,Lg?A2@2@2Lj;ٱ27YU :AHRS rotation from veh to nav: [[-0.313631,0.948315,0.048314],[-0.949538,-0.313030,-0.019728],[-0.003584,-0.052063,0.998637]]2HԿX??b Կ{3`\m@?i2@I2_;2C @)@B@@DDiFIDDIHiJCs@ HH)HL NkANLLPRkAIR)PiP)TIVkAVC T TTTXiXXYXY=IBy=IAEAyiMb@Mb@Mb@ 9 rh?V-V-?YC91Y1=5Fy1=BE=>9Q 5E5=B?Q 9M5=)=BYMW=Q EM;yM)>@Q IM@=EI=:i=:=$L5yɮADNOT Ignoring new targets: 26.43 m.hh*h"h hgfffBddjdZdk@Z]W=Z]W=Z]s@Z])>@Lj;) #i9)顕 ii~񿉧gBBIB5BBBBBzd;B&EE EE"E"Ea:*EVE(3ZEBEa 2Ea JEr;a :Er;a ^A t<I I O > 3ٙ, fg?A2@2X@2xW;ٱ2x^U :AHRS rotation from veh to nav: [[-0.314692,0.947971,0.048163],[-0.949185,-0.314070,-0.020185],[-0.004008,-0.052068,0.998635]]2H@#Կ@U?ߨ?_Կg jp`?i2@I2{_;2CYeFByeIbDeVDe1y'k%5=ٔu:Q->9Y=Fy!E>Q 55炖?Q 95~)BYy>@Q I@EI;i;N5yɮADNOT Ignoring new targets: 26.43 m.hh*h"h hgfffddjdZdy@ZZZZ>@xW;) %i9)   ػi i񿉧nYa ,itg?A2@2S@2ԑ;ٱ2{'U :AHRS rotation from veh to nav: [[-0.315737,0.947634,0.047952],[-0.948836,-0.315093,-0.020641],[-0.004450,-0.052016,0.998636]]2H`5Կ`S?*? \z*Կ":r ʡ@?i2@I2}_;2CYGByIiMb@Mb@Mb@ 9I +?y&1I +?Y99 Y = Fy  )NE>Q 5%5?Q 9%5])BY%=Q E%;y% A@Q I-@I;i;O5y11ɮ= A9eDNOT Ignoring new targets: 26.43 m.haha*ha"ha hagifififmBdqdqjdqZd}@Z=Z=Z@Zb A@ԑ;) f&i9)页iii񿉧%}JԹ " tFailed to parse device response: ,10.3139,3.71783,2659.86 I,_g?ANW@N(|@N;ٱNT VAHRS rotation from veh to nav: [[-0.316682,0.947332,0.047701],[-0.948519,-0.316015,-0.021120],[-0.004934,-0.051934,0.998638]]NHDԿ`P?Gl?DZ9Կ85t@`?iNW@INb_;LE^ E^E^%E\"E^C:*E^:VE^ 4ZE\af@af@af@af@Yj8BynIIr=)rp;r=ra=bDvVDvk1y~9%~\=ٔT:Q->9Y= Fy  /E >Q 55|?Q 95:)BY!y%A@Q I%@EI3:i*:FQ5y)ɮ-A1]DNOT Ignoring new targets: 26.43 m.hYhY*hY"hY hYgafafafadidijdiZdmػ @ZZZZA@;) .i9)顭($ii񿉧= o,I*g?A2y@2t@2L;ٱ2T :AHRS rotation from veh to nav: [[-0.317556,0.947049,0.047503],[-0.948224,-0.316866,-0.021618],[-0.005421,-0.051908,0.998637]]2HRԿ9N?IR?W@GԿ"`b4v`?i2y@I2E_;2CYF?ByFIbDN VDN2yrD=%rM=ٔr:Q-r>9tYt=vFytzmEz>xQ 55zTx?Q 95z)zBYyA@Q I @zEIzG;iz;zS5yɮHA=DNOT Ignoring new targets: 26.43 m.h9h9*hA"hA hAgAfAfIfIdIdIjdQZdU`W!@ZqZqZqZuA@L;) a*i9)額3GU9ii~񿉧11I W,g?A2q@2Pl@23;ٱ2?-T >AHRS rotation from veh to nav: [[-0.318514,0.946743,0.047190],[-0.947900,-0.317801,-0.022120],[-0.005945,-0.051777,0.998641]]2H@bԿK?J)?`1U VԿYx?i2q@I2Z_;2CYDyFIiMMb@Mb@Mb@IIII I9My&1|?Cl绿/$?YM`;yM;߽M9yYy=}FyyE>Q 55t?Q 95ƀ)#BY=Q E;y8@Q I@I ;i\ ;T5yɮJADNOT Ignoring new targets: 26.43 m.hh*h"h hgfffBddjdZd@`"@Z=Z=ZC٘@Z]8@3;) 0iz9)?Z;ii%񿉧!%h$ԩ ,)g?A@Vi@Vc@VFA;ٱVS fAHRS rotation from veh to nav: [[-0.319493,0.946425,0.046952],[-0.947567,-0.318756,-0.022626],[-0.006447,-0.051719,0.998641]]VH`rԿ@I?`( ?@wR`fԿ$+hz@z?iVi@IVV__;VCYv7ByvI |||~AbD VD 0y*%P=ٔ@:Q->9!Y!=%Fy!%_,E->)Q 555-&q?Q 9=5-})-)BY9y=8@Q I=@-EI-#;i-;-V5yAɮMAIB*** querying acoustic contact ***i i DNOT Ignoring new targets: 26.43 m.h h *h"h hgfffddjd!Zd%4#@ZAZAZAZEk8@eFA;)a m4im9)iuJu;iqi}񿉧y}0@ 5 2Acoustic response timeout5 Querying Benthos address 50 with one ping in standard two-way mode.E  E E E "E :*E VE ZE a @a @a @a @ ^A I) ) 5 ߀GI IY a O >m,7h?A&t(9$Y&0A:`@:Z@:;ٱ:`T BAHRS rotation from veh to nav: [[-0.320526,0.946079,0.046886],[-0.947215,-0.319765,-0.023132],[-0.006892,-0.051826,0.998632]]:HԿFF?q?OwԿ;| ሪ?i:`@I:|_;:CYj6ByjIieMb@Mb@Mb@aaaa a9eA`"9Y=FyE>Q 55Rm?Q 95).BY2=Q E;yG4@Q I@EIG;iX;X5yBɮrAަEDNOT Ignoring new targets: 26.43 m.hh*h"h hgfffBddjdZd"$@Z%2=Z%2=Z%˖@Z%!G4@5;]*DAT read: user:602> eBDAT read: Tx time:05:56:47.2208 m$Ping request sent.mB1 B1 B5 IB5 BB1 B1 B1 B5 We;B5 n&E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250690E  E oE "E "E :*E :VE (3ZE BE ;a 2E ;a JE N;a :E N;a ,h?A2V@2P@2sy;ٱ22T :AHRS rotation from veh to nav: [[-0.321680,0.945697,0.046673],[-0.946820,-0.320898,-0.023597],[-0.007339,-0.051782,0.998631]]2H iԿ&C?? YL Կ)~?i2V@I2I_;2CYF2ByFIbDNVDNJyV%V[=ٔV:Q-Z>9XYX=ZFyX^VE^>`Q 5f5b3j?Q 9f5b)b3BYdyf44@Q Ij@`Ib:ibt:b4Z5ylɮnAlMDNOT Ignoring new targets: 26.43 m.hIhI*hI"hI hIgQfQfQfQdydyjdyZd}$@ZZZZ44@sy;) k7i9)a(eԩ J ,7h?A4<ɰ2tL@2FG@2 ;ٱ2T :AHRS rotation from veh to nav: [[-0.322792,0.945323,0.046585],[-0.946438,-0.321986,-0.024084],[-0.007767,-0.051864,0.998624]]2HԿ@@?ڧ? 8ImԿ z @?i2tL@I2b_;2C@YF*ByFIIH)Jp=bDRVDRyZ*&%ZJ=ٔZۊ:Q-Z>9\Y\=^Fy\b@>Eb>dQ 5j5ff?Q 9j5fe)f7BYhyj#4@Q Ij@fEIfB:if:f[5ypɮrAp DNOT Ignoring new targets: 26.43 m.h h *h"h hgfffddjd!Zd% %@ZAZAZAZE#4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754779 ;) ;i9)m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006684 2,Qh?A2B@2<@22<ٱ2mT :AHRS rotation from veh to nav: [[-0.323997,0.944920,0.046392],[-0.946023,-0.323170,-0.024535],[-0.008191,-0.051837,0.998622]]2H]Կ=ٔ:Q->9Y=FyAE>Q 55b?Q 95)a \,vkh?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5108536}6@6N1@6@ <ٱ6S BAHRS rotation from veh to nav: [[-0.325327,0.944477,0.046106],[-0.945563,-0.324484,-0.024935],[-0.008590,-0.051708,0.998625]]6H)Կ'9?'?` B XԿٗuy ?i6}6@I6_;4YHyHbDVVDV0ٔb8:Q-b>9dYd=fFydjrEj>pQ 5v5r_?Q 9z5r~)r@BYxyz9@Q I~@pAIr.;irq FF!,}Xh?A@2[*@2,%@2%<ٱ2W?S :AHRS rotation from veh to nav: [[-0.326726,0.944009,0.045795],[-0.945076,-0.325868,-0.025310],[-0.008970,-0.051549,0.998630]]2HԿ R5?`or?>Կꙿ^ d@?i2[*@I2+`;0YF ByFIiMb@Mb@Mb@ 9Mb`q= ףp/$?Yy뽙<zAA VA)AYbDUVDU0ym%m<ٔu+i:Q-u>9yYy=Fy4cE>Q 5=5[?Q 9=5k~)FBY=s=Q E=;y=2@Q I=@EI*B Y>B B IB BB B B B e;B &EBBBBBCɲ3 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266774ԁ E  E }E %E "E :*E k&:VE 4ZE BE j;a 2E k;a JE ;a :E €;a n',|,h?A2@2@2"<ٱ2&S :AHRS rotation from veh to nav: [[-0.328023,0.943568,0.045615],[-0.944623,-0.327147,-0.025721],[-0.009347,-0.051526,0.998628]]2H VԿ1?Z?Z: ԿVE$@a?i2@I2`;0Yz#ByzIbD VD y&<%P=ٔe{:Q->9!Y!=%Fy!-fE->1Q 5555:X?Q 9=55~)5KBYAyE2@Q IE@5EI5(;i5y);5c5yIɮMAI}DNOT Ignoring new targets: 26.43 m.hyhy*hy"hy hygfffddjdZdQ(@ZZZZ2@"<) 3iq9)ɍii񿉧:IIQ9@ @@4@ԁechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518776^A+;IIO>ԩ -,>h?A2y@2J@2ݵ<ٱ2uS :AHRS rotation from veh to nav: [[-0.329247,0.943145,0.045540],[-0.944194,-0.328352,-0.026125],[-0.009687,-0.051601,0.998621]]2H`cտ>.? Q?`6տ@փbk?i2y@I2_;0YB%ByBIbDHVDHyR;%VR=ٔV"e:Q-V>9TYX=ZFyXZ^ZEZ>\Q 5b5^T?Q 9f5^})^QBYdyf2@Q If@^EI^:i^1:^d5yhɮjAlDNOT Ignoring new targets: 26.43 m.hh*h"h hgfffddjdZd)@BDAT read: Rx Time:05:56:49.6625 TRx dataTimestamp_ set to:1761544610.951356checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775037ZZZZ/2@5ݵ<)9 =73i=_9)AEIiIi]񿉧ae2j:IiIiE} E}E}&Ey"E}a:*E}?<VE}4ZEya@a@a@a@Թ%9@! @!@-4@) ^AM ] ;IQ u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022865Iq O} >9 ̀4,.h?A2 @2@2#<ٱ2KFT :AHRS rotation from veh to nav: [[-0.330477,0.942712,0.045588],[-0.943761,-0.329560,-0.026552],[-0.010007,-0.051799,0.998607]]2H&տ@*? QW?@J3տt0`~h?i2 @I2\`;0YB$ByBIIFN>)F%=J=J=iUMb@Mb@Mb@QQQQ Q9U9Y=FyDE>Q 55PP?Q 95?})WBYK>Q E;yL8@Q I@I:i:f5yɮADNOT Ignoring new targets: 26.43 m.hh*h"h hgf f f Bd djdZd *@ZK>ZK>Z@ZL8@#<) R8i9)nManaging dock network, ignoring radio surface power offB<A<BBB~IB BBBBBe;B&Eԩi i 񿉧oII!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275617E ErE#E"E:*E?:VE3ZEBE;a2E;aJEyY;a:EzY;a9@ @@54@@=@=^A [RS: I I) O= >:,Ch?AiIA2DAT read: 05:56:49.6625 LVL= 19440, 14401, 28898, 31379, AGC= 54, IDX= 445, 0.22, 1.321, 1.468,-0.142, 1.414, PHS= 0.009, 0.099,-1.600, RAW= 27.3, 17.7, CAL= 25.0, 20.7, ROT= 125.0, -20.7 :Ygot valid direction response: 05:56:49.6625 LVL= 19440, 14401, 28898, 31379, AGC= 54, IDX= 445, 0.22, 1.321, 1.468,-0.142, 1.414, PHS= 0.009, 0.099,-1.600, RAW= 27.3, 17.7, CAL= 25.0, 20.7, ROT= 125.0, -20.7 >PDAT read: Bearing 186.9, 48.7 (Local) B~Local bearing/azimuth received: Bearing 186.9, 48.7 (Local) FDAT read: Range 11 to 50 : 28.1 m (Round-trip 37.5 ms) speed -0.1 m/s JR#Rx 1: Read range and direction messages.R^direction in FSK: [-0.536549,0.766271,0.353475]VFpublishing direction and range infoyp"h+"׉wJ?iU?YAKA8p z)6It2+>f> >)X @IyDtd5m? Ͽ)r睾IX @il=@=~@=)<ٱ=QT UAHRS rotation from veh to nav: [[-0.331871,0.942229,0.045457],[-0.943268,-0.330939,-0.026914],[-0.010316,-0.051810,0.998604]]=Ha=տ&? F?@/`.տ@g ӆ?i=@I=3`;=CYeByeIbDEVDE1y}%};=ٔY9:Q->9Y=Fy _E>Q 55K?Q 95|)]BYy58@Q I@EI:i:h5yBɮAii|h?AJi_ARi_Aji>b |-=Ke5@W=D#@Rp"h+"׉wJ?iU?ZiX @bij΅9@X $@Ee!@ZG2P?P?zg?2i @:iA"i??*iiBiBiÞ?if uiiA iƝ^>- addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 13.612622 s, deltaX: 1.500000 m, approachRate: 0.110192 m/s, rangeRepo size: 4 = Added new target pos. range: 27.921820 m, bearing: 14.855720 deg, lat: 36.779387 deg, lon: -121.859744 deg, deltaT: 13.612622 s, deltaX: 1.490482 m, approachRate: 0.109493 m/s, posRepo size: 4 EDNOT Ignoring new targets: 27.92 m.hAh*h"h hgfffddjd<@Zd[?ZZZZ58@)<) ;im9)ii~񿉧II!9@ @@/@9E E|E%E"EC:*EP$:VE 4ZEa@a@a@a@a ^A I I) OU >A,i?A6M@6@6N-<ٱ6PT JAHRS rotation from veh to nav: [[-0.333180,0.941768,0.045423],[-0.942804,-0.332232,-0.027256],[-0.010577,-0.051906,0.998596]]6H@Rտ"?@A? s+ICտ蛿`y`?i6M@I6t`;6CYZByZIAiMb@Mb@Mb@ 9~jthp= ףy&1?YDy`<A A  A)Y(AbDVDyۻ%S=ٔ0:Q- >9 Y = Fy jE>Q 5%5H?Q 9%5k|)dBY%5>Q E-;y-2@Q I-@EIa:iH:Hj5y1ɮ5#A1eDNOT Ignoring new targets: 27.92 m.haha*ha"ha hagafififmBdidqjdqZdu?Z5>Z5>Z@ZX2@N-<) 5iZ9)顭%iIiU񿉧QU? IYIYi@ @@@ ԑ^A- I9 II OU >B Z>B B rIB BB B B B e;B &E E  E rE $E "E :*E ?:VE 4ZE BE ;a 2E ;a JE a :E a \G,;r i?A@B@B@B|3<ٱB<4T JAHRS rotation from veh to nav: [[-0.334386,0.941354,0.045145],[-0.942372,-0.333423,-0.027627],[-0.010955,-0.051781,0.998598]]BH fտ?6? 'VտTJto?iB@IB_;BCYV ByVIbD^VD^k2yf<%fa=ٔf:Q-j>9hYh=jFyhnfEn>pQ 5v5rWD?Q 9v5r{)rkBYtyv1@Q Iz@rEIr:ir:rk5y|ɮ~A|%DNOT Ignoring new targets: 27.92 m.h!h)*h)"h) h)g)f)f1f1d1dQjdaZde"?ԙZZZZ1@|3<) S3iu9)ii%񿉧!-'dI)I)I}eA)y @ @@/@@!@!^A5 I9IQO]>! M,DO:i?A::݄@: ؋@:iT8<ٱ:@S BAHRS rotation from veh to nav: [[-0.335602,0.940933,0.044896],[-0.941937,-0.334627,-0.027923],[-0.011250,-0.051660,0.998601]]:H zտ ??X$jտ@@m 6s?i::݄@I:r_;:CY^BybIbDjVDjN2yrG%rI=ٔrU>:Q-v>9tYt=vFytzOEz>|Q 55~9@?Q 95~{)~rBYy1@Q I @~EI~* ;i~ ;~m5yɮ#AeDNOT Ignoring new targets: 27.92 m.hihi*hi"hi higififqfqdqdyjdyZd}?ZZZZ(1@iT8<) 5is9)Xii񿉧IIEY E]{E]#EY"EY*E]5":VE]3ZEYae@ae@ae@ae@ 5j>=&C@Q @!=899Y=`'A@e0@aQiQ IQ ^Am rgIq I O >y aT,0Ti?A2*ӄ@2͋@2[<<ٱ2AS :AHRS rotation from veh to nav: [[-0.336758,0.940531,0.044675],[-0.941521,-0.335774,-0.028172],[-0.011496,-0.051550,0.998604]]2Hpտ@?ߦ? `R}տ6ٜS`d?i2*ӄ@I2>J_;2CYBByFIimMb@Mb@Mb@iiii i9mMb?x&?Ym9Y=Fyy<E>Q 55;?Q 95{)yBY >Q E;y7@Q I@EI ;i ;o5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffBddjdZd`?Z% >Z% >Z%c@Z%7@=[<<)9 =p=i=39)9=tAiAiE~񿉧IM^nIIIIQA1A1B9B9B9B9B9B9B9B=e;B=&E9@ @@1@Ee EezEaEa"Ee:*Ee :VEaZEaBEe4;au2Ee6;auJEev;au:Eev;auy^AIIO>ԩ 3Z,ni?A;ɰ49Y=Fy DE >Q 55{7?Q 95z)BYy% 7@Q I%@I:i:3q5y)ɮ-'ADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd @Z)Z)Z)Z- 7@=@<)9 =>iE9)AEAiAiM񿉧IMѻIIIQԡ9@ @@4@^A%#2I1IAOM>Em EmlEm!Ei"Em:*Em:VEmc3ZEiau@au@au@au@) a,i?ARi@R:@R#D<ٱR6~S ^AHRS rotation from veh to nav: [[-0.338795,0.939807,0.044500],[-0.940784,-0.337786,-0.028757],[-0.011995,-0.051607,0.998595]]RHҮտ?Ȧ?@ Hտ`ur`Hl`~?iRi@IR _;RCYz"ByzIi}Mb@Mb@Mb@yyyy y9}~jt333333ÿS㥛?Y}Dy}}/9Y= Fy  E >Q 55|2?Q 95z)BY%>Q E%;y%-@Q I%@EIv:i<:s5y)ɮ5A1]DNOT Ignoring new targets: 27.92 m.hYhY*hY"hY hYgafafafeBdidijdiZdm@Z>Z>Z=@Z_-@#D<) @i9)顭¶ii񿉧MiIIԉE9@A @A@E`4@AԱ^Ae[RӻIqIO>B- [>B) B- lIB- BB- 7 =B) B) B- e;B- &E bE3jEʋ3rE./E}  E} }E} "Ey "E} :*E} k&:VE} (3ZEy BE} ͽ;a 2E} Ͻ;a JE} ;a :E} €;a h,i?A28@2 @2YH<ٱ2rS :AHRS rotation from veh to nav: [[-0.339735,0.939469,0.044477],[-0.940442,-0.338711,-0.029052],[-0.012228,-0.051698,0.998588]]2H7տ`!?@Ŧ?``rտ@ &xn?i28@I2P^;0dY ByIbD-VD-k2yE(%EW=ٔMj!:Q-M>9IYQ=UFyQU,EU>YQ 5e5]'.?Q 9e5]ey)]BYiym-@Q Im@]EI][:i]:]t5yuBɮuA}ݦEDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd@ZZZZ-@YH<) @i9)ȶii񿉧+II9@ @@/@^AIIO>A 4n,i?A2Ȳ@2@2pK<ٱ26T :AHRS rotation from veh to nav: [[-0.340473,0.939196,0.044596],[-0.940172,-0.339434,-0.029338],[-0.012417,-0.051917,0.998574]]2HOտ ?Fզ?  Iտ mДR?i2Ȳ@I2Z^;2CYF"ByFI \\bDbVDb0yjtl<%jR=ٔn9Q-5>91Y1=5Fy9EKEE>IQ 5M5M)?Q 9U5Mx)MBYQyU-@Q IU@MEIM:iM;Mv5yaɮeAaDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd@\@ @ZZZZ-@pK<) ?ib9)ζii~񿉧 IIE=~ E=nE=%E9"E=:*E=:VE= 4ZE9aE@aE@aE@aE@9@ @@/@Iq^AzIIO>ԡ Hu,wi?A2@@2@2k N<ٱ2S NAHRS rotation from veh to nav: [[-0.341566,0.938812,0.044328],[-0.939774,-0.340524,-0.029479],[-0.012581,-0.051727,0.998582]]2H7տ ?,?@%տ /É|@b?i2@@I2U|^;0YZByZIiEMb@Mb@Mb@AAAA A9E rhSÿ?YECyEEy9qYy=}Fyy8E>Q 55$?Q 95x)BY->Q E-;y-+@Q I-@EIZ>Z{5@Z+@k N<) Ei[9)顽նii񿉧^IIB<A<B\>BBrIBBB8 =BBBe;B&EBBBBBCe4ԡ9@ @@/@EM| EMwEM$EI"EM :*EM:VEM4ZEIBEM!;a]2EM";aeJEMk;ae:EMk;ae^AeII O- > G{,]Oi?ANT@N%@NT<ٱN,mS VAHRS rotation from veh to nav: [[-0.343390,0.938162,0.044001],[-0.939103,-0.342332,-0.029906],[-0.012994,-0.051591,0.998584]]NHտk???! տ `jf?iNT@INjp^;NCYbBybIbDjVDjyv$%vS=ٔv:Q-v>9xYx=zFyxz礻E~>Q 5 5~ ?Q 9 5Xw)BY y +@Q I @EI:i:z5yɮAMDNOT Ignoring new targets: 27.92 m.hIhI*hI"hI hIgIfQfQfQdYdYjdYZd]Q@ZZZZ+@T<) Fi 9)顝 ۶ii񿉧8IIu9@q @q@u0@q^AIIO>1Ee EepEe%Ea"Ee:*Ee :VEe 4ZEaau@au@au@au@a /,) j?AB@BT@BwW<ٱBvS NAHRS rotation from veh to nav: [[-0.344285,0.937837,0.043927],[-0.938773,-0.343219,-0.030098],[-0.013151,-0.051599,0.998581]]BH ֿ?`}?m Mտ@ Ҟ>k`?iB@IB>^;BC1YByIiMb@Mb@Mb@ 9Q~jtÿ:v?Yy<bA A lA)|AYpA <<bDVD0y<%$=ٔ9Q->9Y=FyE>Q 5M5?Q 9M5Mv)BYU >Q EU;yU'&@Q IU@EI9kZ >Z@Z'&@wW<) =Ji9)8ⶉii񿉧jBIIa9@ @@0@ԑB^>BBlIBBB7 =BBPDBe;B&E^A l;I I O >Ee  Ee wEe $Ea "Ee %:*Ee :VEe 4ZEa BEe ;am 2Ee ;au JEa au :Ea au Թ Y,m#j?AB͉@B@BX<ٱB,T NAHRS rotation from veh to nav: [[-0.345168,0.937507,0.044035],[-0.938448,-0.344093,-0.030270],[-0.013227,-0.051773,0.998571]]BH@=ֿ? ? ֿ0@򁪿K?iB͉@IB#^;@PTiVuITTITiVtUA XX)XX Zs@X\\\\I\)`i`)bsCI``` ddfjAdiddihj`iA)j+ hIhYhYrByrIbDzVDzβyŕ% =ٔ >~9Q- ?9Y=FyEE?Q 55Z?Q 95u)BYy&@Q I@EI:i:}5yɮ9AeDNOT Ignoring new targets: 27.92 m.haha*ha"hi higifiԙffddjdZd`@ZZZZ&@X<) Pi:9)顭趉ii~񿉧yOII@ @@/@^A 0:DI I O > ,9qYq=uFyq} E}>yQ 55}?Q 95}t)}BYy &@Q I@}EI}T;i};}`5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hE~ EEE"E:*EVEZEa@a@a@a@gfIfIfIdQdQjdQZdU 7L@ZZZZ &@V\<) rMi(9)ii񿉧YXZII%9@! @)@-5@1A ^A] QOIi Iy O >$o,Vj?A6?}@6x@6`<ٱ69T BAHRS rotation from veh to nav: [[-0.346604,0.936986,0.043845],[-0.937912,-0.345507,-0.030762],[-0.013675,-0.051785,0.998565]]6H .ֿ?@r?_ֿ =?i6?}@I6];6CY=By=I AAAEAiMb@Mb@Mb@ 9X9v/$ÿ:v?YyX A A)AYAbDVD:y%B=ٔ:Q->9Y=FyTúE>Q 5 5A?Q 95s)BY">Q E;y%@Q I@EI ;i ;75yBɮ%A%ܦEUDNOT Ignoring new targets: 27.92 m.hQhQ*hQ"hQ hQgYfYfYf]BdadajdaZde@@AiAm?ABua>BuCBqBqBu6 =BqBqBue;Bu&EYZ">Z">Z>f@Z%@`<) Ei9)Cii񿉧 cbII!E% E%yE%#E!"E%~:*E%:VE%3ZE!BE%;a52E%;a=JE%r;a=:E%r;a=9@ @@4@qԡ ^A jZXI) I9 OE >i I AR,tpj?A2x@2~s@2p*c<ٱ2lT :AHRS rotation from veh to nav: [[-0.347126,0.936793,0.043831],[-0.937716,-0.346018,-0.030990],[-0.013865,-0.051859,0.998558]]2HQ7ֿ@6?@q?)%ֿ@ͻ`e 9@0?i2x@I2H];2C@YMByMwIbDe VDe:2ymt%uC=ٔu\9Q-u>9yYy=}Fyy}VE>Q 55 ?Q 95r)BYy%@Q I@EIr;i; 5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZdO@ZZZZ1%@Թ p*c<) KiL9)vii񿉧%}iI!I!E= E=uE=$E9"E=:*E=:VE=4ZE9aE@aE@aE@aE@9A Y P9 Y T A 9@  @ @ 0@ 1 ^A cII)O5>i,1}j?A2r@2qm@2޺e<ٱ2sS :AHRS rotation from veh to nav: [[-0.347818,0.936552,0.043508],[-0.937457,-0.346711,-0.031078],[-0.014021,-0.051596,0.998570]]2H`Bֿ;?F? 0ֿ`ҟ `j@H?i2r@I2*];2C @)BkAB@@|~kAi~I||Ii"s@ )  kA   kAI)i)IkA i!!Y!)Y5By5mIiMb@Mb@Mb@ 9ljtĿ?Yy < )AYGAbDVDy%*=ٔ9Q->9Y=FyɺE>Q 55:?Q 95q)BY$'>Q E;y#@Q I@EIh;i~ ;%5y ɮA=DNOT Ignoring new targets: 27.92 m.h9h9*h9"h hgfffBddjdZd`I@Z$'>Z$'>Zc@ZT#@%޺e<)! %Gi%g9)!-:)i)i-~񿉧15ՊsI1I19QBf>BBeIBBBBBBe;B&E9@ @@s4@ԁEe{ Ee{EaEa"Ee=:*Ee5":VEaZEaBEe;am2Ee;auJEeԹ ,Q.j?Aɰ2ԙ9Y=FyE>Q 55?Q 95p)BYy#@Q I@EI@;ib;݆5yɮADNOT Ignoring new targets: 27.92 m.hh*h!"h! h!g!f!f)f)d1d1jd9Zd=`m@ZiZiZiZmx#@}i<)y Hi9)顅Pii񿉧 SxII9@ @@/@@=@=^A% vI1 IA OU > E  E yE #E "E U:*E :VE 3ZE a @a @a @a @^,W j?A:n@:Zi@: l<ٱ:FPS BAHRS rotation from veh to nav: [[-0.348284,0.936388,0.043309],[-0.937278,-0.347158,-0.031494],[-0.014456,-0.051562,0.998565]]:H@IJֿ? ,?-@7ֿ @Tf>?i:n@I:md];8YEByE^IbDMVDMy%V%;=ٔy9Q->9Y=FyNIE>!Q 5U5%?Q 9U5%o)%BYQy]#@Q I]@%EI%;i%;%ֈ5yeBɮeAeӦEDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd@ZZZZ#@ l<) Mi9)ii񿉧@xII)i@i @i@i@iQ^A I I O >y B A <B e>B B SIB BB B B B e;B &E ,j?AFJl@Fg@Fz9Y=FyQGE>Q 55?Q 95 o)BY%>Q E;y!@Q I@EIG:iq:a5yɮEADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffBdbE4jE3rEg.E= E=E9E9"E=:*E=E7:VE9ZE9BE=;aM2E=;aMJE=Q;aM:E=Q;aUQdjdZd wc@Z%>Z%>Z~@Z!@z =K,7j?A2Ok@2 f@2 n<ٱ2&T :AHRS rotation from veh to nav: [[-0.348653,0.936244,0.043463],[-0.937139,-0.347517,-0.031651],[-0.014529,-0.051766,0.998554]]2HSPֿ@?@? =ֿ4 p&?i2Ok@I2];2CYBByBGIHJAAbDNVDN2y$%S=ٔ9Q->9 Y = Fy E>Q 5%5?Q 9%5n)BY!y%!@Q I%@EI;i:5y1ɮ5A1]DNOT Ignoring new targets: 27.92 m.hYhY*ha"ha hagafafifididijdiZdupm @ZZZZ!@ n<) Pi$9)顭 ii~񿉧}IIԱm9@i @q@u?0@qEE EEEE"EA"EE%:*EE,:VEE(3ZEAaU@aU@aU@aU@^AyIIO> A 2Ě,k?A2Mj@2e@2o<ٱ2FS :AHRS rotation from veh to nav: [[-0.348768,0.936208,0.043314],[-0.937095,-0.347632,-0.031698],[-0.014619,-0.051645,0.998558]]2H5Rֿj? D-? ?ֿ:Z,q0?i2Mj@I2B];2CYTyTimMb@Mb@Mb@iiii i9mV-Onÿy&1?Ymymm`e9Y=FyE>Q 55?Q 95=m)BY>Q E;y&@Q I@EI ;i ;ꍐ5yBɮcAҦEDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffBddjdZdE!@Z%>Z%>Z%)@Z%&@=o<)9 =Qi=9)9=`AiAiE񿉧IMLIIII QQIQ)Q @ @@0@BMf>BIBM:IBMBBM5 =BIBIBMe;BM&EB żCB żCB B 6 =B 6 =C Ň59EU EUEU%EQ"EUU:*EU H:VEU 4ZEQBEU;ae2EU;aeJEU;ae:EU;ae^Au}IIO>i ]ʚ,w+k?A 2i@2c@2"o<ٱ2-R >AHRS rotation from veh to nav: [[-0.348903,0.936165,0.043153],[-0.937045,-0.347771,-0.031662],[-0.014633,-0.051484,0.998567]]2H mTֿ?3?EAֿ6 `\B?i2i@I2];2CYFByF.IbDZVDZβyf۽%fX=ٔf$8Q-j>9hYh=nFylrǹEr>tQ 5z5v镊?Q 9~5vtl)vBYy&@Q I@vEIvmC;iviD;v5yɮ AUDNOT Ignoring new targets: 27.92 m.hQhQ*hQ"hY hYgYfafafadidijdiZdu`% "@ZZZZ&@E"o<)A EQ\iM9)IMIiIiu񿉧quӀIyIyq 9@  @ @ 4@ ԙ^A-XI9IIO]> Ee  Ee Ee !Ea "Ee :*Ee 0:VEe c3ZEa am @am @am @am @Dњ,3QEk?A\Nh@Nc@NcZp<ٱNER rAHRS rotation from veh to nav: [[-0.348919,0.936167,0.042975],[-0.937038,-0.347791,-0.031635],[-0.014669,-0.051307,0.998575]]NHTֿ?@?`7`6Bֿ{2 `DS?iNh@IN%];NCYqByI%>%= 54<54<bD=VD=yU %UB=ٔe%8Q-e>9iYq=uFyyF)E>Q 55O啊?Q 95k)BYyQ IU@EIdAA AE @ABM g>BM CBM !IBM BBI BI BM QDBM e;BM &Ebnך,,+_k?A2h@2Sc@2q<ٱ21Q :AHRS rotation from veh to nav: [[-0.348972,0.936160,0.042697],[-0.937017,-0.347849,-0.031629],[-0.014758,-0.051045,0.998587]]2HUֿ?Wܥ? (Cֿ1 o9"@m?i2h@I2 ];2CYngBynI|imMb@Mb@Mb@iiii i9m/$ rh9Y=Fy E>Q 559ᕊ?Q 95j)BY7 >Q E;y(@Q I@I ;i ;65yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffCBddjdZd `#@E EE$E"EC:*E*:VE4ZEBE&;a-2E';a-JEe;a-:Ef;a-Z7 >Z7 >Z@Z(@5q<)9 =Gi=.9)9=ݴ9i9iE~񿉧AE*IIII19@ @@/@Y^A- oMI9 II OU >ԁ 8ݚ,yk?A2Rh@2#c@2pr<ٱ2WQ >AHRS rotation from veh to nav: [[-0.348993,0.936151,0.042716],[-0.937008,-0.347867,-0.031679],[-0.014797,-0.051081,0.998585]]2HUֿ?@ޥ? uCֿ@=8MM'@h?i2Rh@I2t\;2CYFZByF IbDNVDNy^\ %^Z=ٔ^A8Q-b>9`Y`=bFy`fEf>hQ 5n5jpݕ?Q 9n5j3j)jBYlyn(@Q Ir@jEIj;ij];jڔ5ytɮvAtYDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd{$@ZZZZ΀(@pr<) Ji9)Zii񿉧II@ @@@ԉE- E-xE-%E)"E-:*E-:VE- 4ZE)a5@a5@a5@a5@^AIIO> ,k?A2f@2a@2Rq<ٱ2[Q :AHRS rotation from veh to nav: [[-0.349161,0.936086,0.042770],[-0.936947,-0.348036,-0.031636],[-0.014729,-0.051119,0.998584]]2H Xֿ k?`?x :Fֿ2`* E,@f?i2f@I2];2CYV4ByVI XXi5Mb@Mb@Mb@1111 195Mb?`"Mb`?Y59Y=FyԹE>Q 55$ٕ?Q 95i)BYa=Q E;y6@Q I@ EI;ij;Ɩ5yɮA-DNOT Ignoring new targets: 27.92 m.h)h)*h)"h) h)g)f1f1f5.Bd9d9jd9Zd=`S%@Z]a=Z]a=Z]@Z]6@uRq<)q u=Jiu9)q}Syiyi}񿉧II)@) @)@-/@)@1@1Bc>BCBIBCBB6 =BBPDBe;B^A-E= E=E=#E9"E=:*E=*:VE=3ZE9BE=;8y ,k?ANb@N]@Nn<ٱNgxQ jAHRS rotation from veh to nav: [[-0.349605,0.935919,0.042805],[-0.936784,-0.348487,-0.031503],[-0.014567,-0.051113,0.998587]]NH@_ֿ ?? "Mֿ@"!@WՍk+l?iNb@INv];NCYv!ByvIbD VD 1y%.G%%V=ٔ-ݹQ-->9)Y)=-Fy)5vE5>9Q 5E5=hՕ?Q 9E5=ti)=BYAyM6@Q IM@= EI=:i=:=r5yQɮUAQ}DNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd`&@ZZZZ6@n<) Ni9)GiQiu񿉧quCIqIy 9@  @ @ /@ ԁ^A->IAIQOe>ԩ C- GEM  EM EM &EI "EM ҝ:*EM ;J:VEM 4ZEI aU @aU @aU @aU @Q y 1@9 Y .A ,k?Anr^@nCY@n'-l<ٱnǹQ vAHRS rotation from veh to nav: [[-0.350124,0.935720,0.042899],[-0.936592,-0.349011,-0.031406],[-0.014415,-0.051175,0.998586]]nHphֿk??@1Vֿ@da3i?inr^@In.];n~CY~By~IbD  VD 2y@%J=ٔ%ƹQ-%>9!Y)=-Fy)-E->1Q 5E55wѕ?Q 9M55i)5BYYy]v6@Q Ie@5 EI5;i5 ;555yiɮmAiDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZds&@ZZZZnv6@Ա5'-l<)1 =6Pi=9)Am"iiqi~񿉧މII]9@Y @Y@a@a ^A I I O >B <A B b>B B IB BB B B B e;B &E1 ,tk?Aɰ;2U@2P@2mg<ٱ2@Q :AHRS rotation from veh to nav: [[-0.351098,0.935358,0.042854],[-0.936232,-0.349999,-0.031155],[-0.014143,-0.051060,0.998595]]2H`cxֿ s?@?afֿ`.矿`{$~?i2U@I2l'];2CYFByFIieMb@Mb@Mb@aaaa a9e ףp= ?zGếMbpYeQ8=ye ׽eaeX A a)eAaYabD}VD}2yӼ%D=ٔ*Q->9Y=Fy"E>Q 55q͕?Q 95$i)Y=Q E;yFQ I@I:i ;5yBɮAѦEDNOT Ignoring new targets: 27.92 m.hh*h"h hgfE EzE"E"E:*E :VE(3ZEBEti ,7Ok?A 6L@6G@6c<ٱ6DP >AHRS rotation from veh to nav: [[-0.352143,0.934967,0.042810],[-0.935843,-0.351057,-0.030931],[-0.013891,-0.050956,0.998604]]6H`ֿ ??2? mwֿxr?i6L@I6 1];4YFByFIbDVVDV:yb%bX=ٔb.Q-b>9dYd=fFydjAEj>hQ 5r5jɕ?Q 9r5j2i)jBYpyr0FQ Ir@j EIj;ij;j5yxɮz0 AxDNOT Ignoring new targets: 27.92 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5}(@ZQZQZQZU*K@ec<)a mMim89)imеiiiiu񿉧quIIi9@ @@4@E  E E E "E :*E :VE ZE a@a@a@a@ԙ^AumIIO> ,V*l?A6B@6=@68S`<ٱ6IQ >AHRS rotation from veh to nav: [[-0.353290,0.934530,0.042899],[-0.935414,-0.352210,-0.030818],[-0.013691,-0.051016,0.998604]]6HNֿ? ?`ֿ׎- @?i6B@I6~];6CYFByJITi-Mb@Mb@Mb@)))) )9-/$? ףp= {Gzt?Y-,=y-Q-ף;-bA) - A)))Y-AbDEVDEܲyUI%UA=ٔ]Q-]>9YYa=eFyae=Ee>iQ 5u5mJƕ?Q 9u5mHi)mBY}=Q E}! \ , .l?AF7@F~2@F֭]<ٱFP bAHRS rotation from veh to nav: [[-0.354557,0.934051,0.042877],[-0.934936,-0.353484,-0.030712],[-0.013530,-0.050977,0.998608]]FHֿ ??zֿr` ?iF7@IF];DYj ByjIbDv VDv2|yzk<%P=ٔ ׹Q->9 Y = Fy aE>Q 5%5Õ?Q 9%5\i)BY!y%$DQ I%@I:i :@5y1ɮ5 A1]DNOT Ignoring new targets: 27.92 m.hYhY*ha"ha hagafafifididijdiZdu*@ZZZZM@֭]<) Bi9)顭Kii~񿉧ܨII)@1 @1@5/@1!^A]U֣qIIO>ԁ E%  E% tE% &E! "E% m:*E% v:VE% 4ZE! a- @a- @a- @a- @,Gl?AY~By~IbDVDy=U<%=F=ٔ=Q-E>9AYA=EFyAMEM>QYQ 5]5U?Q 9e5Uqi)UBYayaQ Ie@UEIUd.;iU/;U 5yiɮmAqDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd*@ZZZZ)  #Ai9) !i!i=񿉧9ESIAIQ-9@) @)@-/@)ԁ^Am፨IyIO>A A B a>B B IB ~BB 8 =B B B e;B &EBIBIBIBIBICMʆZ5 . ,al?A2y@2J@27U<ٱ2pQ :AHRS rotation from veh to nav: [[-0.357890,0.932770,0.043060],[-0.933672,-0.356830,-0.030463],[-0.013050,-0.051106,0.998608]]2HֿA? ?Nֿ@1 չ*?i2y@I2B^;2CԱE ExE'E"E%:*E:VE'4ZEBE;a2E;aJEPo;a:EQo;aYByIiMb@Mb@Mb@ 9Q?+η{Gz?Y9Y=FyE>Q 55?Q 95bi)BYF=Q E9 5,{l?A6' @6@6!.V<ٱ6 Q BAHRS rotation from veh to nav: [[-0.359408,0.932188,0.043028],[-0.933089,-0.358345,-0.030564],[-0.013072,-0.051134,0.998606]]6H ׿{? ?`ֿL ŊA.?i6' @I6^;4YJ&ByJI= !%p;bD-VD-1y=S=%]{=ٔe8Q-e?9aYi=mFyimEm?qQ 55u?Q 95uWi)uBYyE@Q I@qIu.;iu/;u5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd,@ZZZZE@!.V<) ]Ci#9)&ii񿉧 P̼II@ @@0@E EE&E"EC:*E=:VE4ZEa @a @a @a @Ay^A¼I I! OM >ԙ %,.rl?A2@2@2C`W<ٱ2XQ :AHRS rotation from veh to nav: [[-0.360932,0.931601,0.042975],[-0.932500,-0.359863,-0.030711],[-0.013145,-0.051159,0.998604]]2H ׿??@ `׿@r늿1`?i2@I2RX_;2CYF(ByFIieMb@Mb@Mb@aaaa a9eS㥛?S㥛?Ye/9Y=FyWE>Q 55u?Q 95E-  E- |E- $E) "E- :*E- P$:VE- 4ZE) BE- +9dYd=fFyhj~Ej>lQ 5r5n9?Q 9r5n"i)nBYpyvB@Q Iv@nEIn:in:n 5yxɮz,Ax}DNOT Ignoring new targets: 27.92 m.hyhy*h"h hgfffddjdZd+.@ZZZZB@ eQZ<)  @i 9) m?ii=񿉧9=VI9IAiߑIߑ9@ @@5@^A&ּII1O=>) E  E E "E "E U:*E :VE (3ZE a% @a% @a% @a% @.2,&l?A:@:@:\Q`<ٱ:FQ FAHRS rotation from veh to nav: [[-0.363427,0.930640,0.042769],[-0.931522,-0.362330,-0.031363],[-0.013691,-0.051239,0.998593]]:HdB׿ ??@`k0׿  @;x?i:@I:_;:CYNSByNIlnArAApbDvVDvN2yz=%~G=ٔ~i:Q->9Y=Fy AE >Q 55?Q 95i)&BYyB@Q I%@If;ir;ի5y-Bɮ-A-ЦEUDNOT Ignoring new targets: 27.92 m.hQhQ*hY"hY hYgYfYfafadadajdiZdm:.@Z9Z9Z9Z=ؤB@M\Q`<)I Mԩ B- <A- <B5 `>B1 B5 IB5 ~BB5 7 =B1 B1 B5 e;B5 &EX8,l?A6'߃@6ي@6{xf<ٱ6Q@ FAHRS rotation from veh to nav: [[-0.364637,0.930177,0.042551],[-0.931044,-0.363524,-0.031752],[-0.014066,-0.051194,0.998590]]6H5V׿?2ɥ?`C׿A Ό#6@r?i6'߃@I6'_;4YN~ByVIi=Mb@Mb@Mb@9999 99=9Y=FyHE>Q 55t?Q 95h).BY>Q E;y:@Q I@EI;i;5yE EEE"Eغ:*EE7:VEZEBEZe>Ze{@Ze:@}{xf<)y }Gi}9)y顅Xii񿉧ԩII9@ @@4@^Ai Iq I O > >,Yl?A2k׃@2<Ҋ@2!o<ٱ2'CR :AHRS rotation from veh to nav: [[-0.365513,0.929839,0.042432],[-0.930692,-0.364373,-0.032324],[-0.014595,-0.051306,0.998576]]2Hd׿=??@:Q׿ཌ㍿ D`V?i2k׃@I2_;2CYFByF)IbDNVDNyZI$=%^Y=|ٔ^:Q->9Y=Fy #!E >Q 55?Q 95uh)6BYy%:@Q I%@EI ;i7;]5y)ɮ-A)UDNOT Ignoring new targets: 27.92 m.hQhY*hY"hY hYgYfafafadadijdiZdmK0@ZZZZ:@!o<) Ci\9)顥dii~񿉧XII}9@y @y@/@G 9Y=AE EE%E"E*E|;:VE 4ZEa@a@a@a@9^AIIO>q kE,m?A2Pу@2!̊@2F[y<ٱ2LR :AHRS rotation from veh to nav: [[-0.366203,0.929575,0.042261],[-0.930411,-0.365034,-0.032967],[-0.015219,-0.051393,0.998563]]2H o׿?9Y=FyE>Q 55?Q 95g)ABY$>Q E;y{#@Q I@EI:i:=5yɮADNOT Ignoring new targets: 27.92 m.hh*h!"h! h!g!f!f)f-wBd)d)jd)Zd50@ZU$>ZU$>ZU@ZU{#@eF[y<)a m Wim9)im$riiiiu񿉧quIqIyBBBIBBBBBBMe;Bn&E 9@  @ @ /@ @=@=iԩ^A1I9EU EUEU&EQ"EU%:*EUF:VEU4ZEQBEU;a]2EU;a]JEU;ae:EU;aeIiOu> ĖK,0m?A2#΃@2Ȋ@2؂<ٱ25S :AHRS rotation from veh to nav: [[-0.366559,0.929441,0.042106],[-0.930258,-0.365353,-0.033735],[-0.015971,-0.051535,0.998543]]2Hu׿?ꎥ?a׿EZ@b`?i2#΃@I2[_;2CYFByF@IbDzVDzy==%W=ٔ;Q- >9 Y = Fy E>Q 5%5흕?Q 9%5f)KBY!y%y#@Q I-@EI:it:沐5y1ɮ5JA1]DNOT Ignoring new targets: 27.92 m.haha*ha"ha hagafafifididijdqZdu@/1@ZZZZ$y#@%؂<)! %Ni%f9))-)i)i}񿉧y}MIyI%9@) @)@-/@)1^AMIYIqO}>E=  E= yE= (E9 "E= :*E= :VE= c44ZE9 aE @aE @aE @aE @Y |R,oJm?AF̃@FNJ@F<ٱFS %AHRS rotation from veh to nav: [[-0.366687,0.929403,0.041848],[-0.930192,-0.365441,-0.034594],[-0.016859,-0.051612,0.998525]]FHw׿?"m? !ac׿@OiCl?iF̃@IF _;FC9aYuByu>IiMb@Mb@Mb@ 9y&1^I +ǿ~jt?Y`eyX9=A( A =A)AY AbD- VD-2yU@%U =ٔUi:Q-U>9YYY=]FyYeԁEe>iQ 5u5mі?Q 9u5md)mYBYuE>Q Eu;yu@Q Iu@mEIm ;imT ;ml5yɮ[ADNOT Ignoring new targets: 27.92 m.hh*h"h hgff9f=Bd9d9jd9ZdE`91@ZE>ZE>Z1@Z@<) ci9)顽0ii񿉧RIIԑ 9@  @ @ /@ A A B B B IB CBB 6 =B B B 5e;B b&EԹ ^A I bEMΞ4jEMΙ4rEMΐ'0E  E E 'E "E Ʊ:*E C:VE '4ZE BE 9;a2E :;aJE <;a :E =;a IO%> Y,hm?A2̓@2Ȋ@2nj<ٱ2S >AHRS rotation from veh to nav: [[-0.366582,0.929457,0.041564],[-0.930216,-0.365296,-0.035450],[-0.017766,-0.051659,0.998507]]2Hv׿?G?Ta׿@& Z1r?i2̓@I2_;2C`CiII i   ) @C Ss@I)i)I%pkA!! !!-jA)i))i)))5t 1I1Y1Y=ByEVIbDUVDUkye{>%e=ٔeE;Q-m?9iYi=mFyiu9Eu?yQ 55}?Q 95}c)}aBYy@Q I@yI}z;i}e;}5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd@?1@ZZZZR@nj<)  Yi 9)   ii~񿉧II=9@9 @A@E0@I^AuWgIIO>I i`,m?A2Ѓ@2ˊ@2i><ٱ2"S :AHRS rotation from veh to nav: [[-0.366230,0.929618,0.041055],[-0.930334,-0.364906,-0.036368],[-0.018827,-0.051514,0.998495]]2HQp׿n?-?`KZ׿អG`@?i2Ѓ@I2^;2CY-By-UI9bDEVDEk1yG%J=ٔ+;Q->9Y=Fy{o:E>Q 55?Q 95b)kBYy@Q I@EI:i:5y~BɮA DNOT Ignoring new targets: 27.92 m.h h *h "h hgfff!d!d)jd)Zd-d2@ZyZyZyZ}@E EE#E"E:*E*:VE3ZEa@a@a@a@5i><)9 =Zi=9)9=`9i9iE񿉧AE!hIIIIi9@ @ @ 0@ ԑ^A- I_IY Iy O > f, m?A2׃@2Ҋ@2<ٱ2S :AHRS rotation from veh to nav: [[-0.365434,0.929947,0.040699],[-0.930625,-0.364069,-0.037296],[-0.019866,-0.051504,0.998475]]2H`Gc׿ ?@q֤? L׿@m W^ ?i2׃@I2^;2CYBySII <) ;ԙBa>BBIBlBB7 =BBBe;BU&EBBBB7 =B7 =CC5iMb@Mb@Mb@ 9ktK7ɿL7A`?Y yI+=A A )YAbDVDy%m%%A=ٔ-i ;Q-->9)Y)=-Fy15;E5>9Q 5E5=?Q 9E5=a)=tBYM^>Q EMt;yM@Q IM@=EI=:i=<:=]5yQɮUAYDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffBddjdZd2@Z^>Z^>Z@Z@<) kim9)贉ii񿉧ZLIIIfA)9@ @@2@E E~E$E"E*E(:VE4ZEBEj;a2El;aJE;a:E;a^AIIO > l,Xrm?AɰFO݃@F ؊@Fͪ<ٱF*R VAHRS rotation from veh to nav: [[-0.364803,0.930218,0.040154],[-0.930851,-0.363407,-0.038099],[-0.020848,-0.051277,0.998467]]FHX׿`Y?!?`B׿ >Y@p?iFO݃@IFP^;FCYByKIbDVDܲyY%B=ٔ;Q->9Y=Fy/:E>Q 55b?Q 95[_)~BYy@Q I@EI;i;55yɮA DNOT Ignoring new targets: 27.92 m.h h *h"h hgfffddjdZd%;3@ZAZAZAZE@Uͪ<)Q ]ni]G9)Y]2YiYie񿉧aeL IaIi!9@ @@4@!aE  E E &E "E :*E ?:VE 4ZE a @a% @a% @a% @^AE :WIQ Ia Om >ԉ s,Lm?A2+@2@2t<ٱ2*Q :AHRS rotation from veh to nav: [[-0.363788,0.930632,0.039772],[-0.931225,-0.362355,-0.038974],[-0.021859,-0.051215,0.998448]]2H@OH׿?]?0׿]b8J?i2+@I2 ^;2C @)@B+@@DFkAiF+IDDIHiJs@ HH)HJYC LNLLLRkAIR)PiP)PIPVT TTTTiXXYXY^By~LIbD VD P)yGp;%%h=ٔ%;;Q-%>9)Y)=-Fy)-I;E->1Q 5m55~?Q 9m55])5BYqy@Q I@5EI5jz,|m?AF@F@F]<ٱF RP VAHRS rotation from veh to nav: [[-0.362897,0.930989,0.039560],[-0.931554,-0.361432,-0.039661],[-0.022626,-0.051245,0.998430]]FH9׿?3A?`K!׿@wN`;+`<#?iF@IF_^;FCY]By]II aaimAi Mb@Mb@Mb@     9 (\µClɿ~jt?Y y O < 3A ( A lA) A Y fAbD%VD%y5 %5!=ٔ=P:Q-=>99Y9==FyAE:EE>IQ 5U5M/x?Q 95M[)MBYb>Q Eo;y@Q I@MEIM Z5b>Z5r@Z5@E]<)I MYiM9)IMQiQiU񿉧Y]IYIY%9@! @!@%)4@)^A} I I O >! -,n?A:@:@:uҿ<ٱ:(3R FAHRS rotation from veh to nav: [[-0.361750,0.931444,0.039359],[-0.931981,-0.360253,-0.040360],[-0.023414,-0.051282,0.998410]]:H&׿c?&?`a׿`A?i:@I:^;:CEr ErEr'Ep"Er:*Er H:VEr'4ZEpav@av@av@av@Y%By%7IbD5VD5ܲy%V=ٔk;Q->9Y=FyP;E>Q 55s?Q 95gZ)BYy @Q I@ EI:i:5yɮfA%DNOT Ignoring new targets: 27.92 m.h!h!*h!"h! h)g)f)f)f1d1d1jd1Zd=z4@ZYZYZYZ] @muҿ<)i m:aiu9)quKqiqi}񿉧ywټII 9@  @ @ /@ Iԁ^A-7I9IIO]>ԡ B g>B B B B B B B Re;B t&E;ꇛ,2!n?A2@2@2A<ٱ2R :AHRS rotation from veh to nav: [[-0.360740,0.931846,0.039119],[-0.932356,-0.359220,-0.040917],[-0.024077,-0.051233,0.998396]]2H^׿?[?``uֿ" 8; ?i2@I2O^;2CYFByF"Ii Mb@Mb@Mb@     9 9AYA=EFyAMt4;EM>QQ 5]5Um?Q 9]5YUX)UBYe7X>Q Ee{;ye/@Q Ie@U!EIU4;iU3;UZÐ5ymzBɮuAuϦEDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffBddjdZd4@Z7X>Z7X>Z¢@Z&/@EA<)A EhiEy9)IMεIiIi񿉧z7ӼIIE EE"E"E:*EA:VE(3ZEBE;a2E;aJEj;a:Ek;aԉa@a @a@e/@i@u=@qԱ^A ڼI I O >i I u,x:n?A6 @6j@6[<ٱ6Q >AHRS rotation from veh to nav: [[-0.359505,0.932332,0.038909],[-0.932814,-0.357958,-0.041527],[-0.024789,-0.051223,0.998380]]6H@"׿??@ֿBAb9?i6 @I6Q^;6CYFnByJIIN=)NN=N=bDRVDR1yZCO%ZU=ٔ^:Q-^>9`Y`=bFy`b`;Ef>dQ 5j5fh?Q 9n5fW)fBYlynF@Q In@f#EIf&;ifv;fŐ5ypɮvAtDNOT Ignoring new targets: 27.92 m.hh*h"h hgff!f!d!d!jd!Zd-@5@ZIZIZIZMF@][<)Y ]mie9)aeb굉aiaim~񿉧imʼIiIq@ @@/@ QYG @9IYMAE EE$E"EƱ:*E3:VE4ZEa@a@a@a@^A5׿ѼIAIQOew>1Y 4,Tn?AYQByI1iuMb@Mb@Mb@qqqq q9u/$'1ZĿMb`Yu,yu"uu3Au( A q)qqYuAbDVDy"z%/=ٔQ->9Y=FyE>Q 55c?Q 95lV)BYi(>Q E;y !@Q I@$EIz:ij:ǐ5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffkBdd jd Zd $5@Z-i(>Z-i(>Z-J@Z- !@A)A EGaiEO9)AMIiIiU񿉧QU˼IQIQ YYIY)YYBmh>BiBmIBmbBBiBiBmQDBmxe;Bm&Ey@y @y@@ԑ^Ae ǼIq I O >E  E E "E "E s:*E A:VE (3ZE BE ;a 2E ;a JE a :E a Ա ,nn?AY:ByIbD-VD-02y} %}_=ٔQ->9Y=FyE>Q 55i_?Q 95U)BYyQ I@%EI;i;Ȑ5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd6@Z Z Z Z !)! %$gi%9)!%k!i)i-񿉧15ِ˼I1I1ԑ9@ @@1@@fA@^A5̼I9IQO]> ,逈n?A2D@2@2L<ٱ2 P >AHRS rotation from veh to nav: [[-0.357487,0.933127,0.038439],[-0.933572,-0.355931,-0.041908],[-0.025424,-0.050867,0.998382]]2Hֿ,?7?@ֿu`7 `?i2D@I2P];2CYFByFI HHbDRVDR3E^ E^E\E\"E^a:*E^*:VE\ZE\ab@ab@ab@ab@yb%bV=ٔf:Q-f>9hYh=jFyhj;Ej>lQ 5r5n[?Q 9v5nT)nBYtyv.!@Q Iv@n&EIn9;in;nWʐ5y|ɮ~qA|MDNOT Ignoring new targets: 27.92 m.hIhI*hI"hQ hQgQfQfQfYdYdYjdYZd])y6@ZZZZ.!@UL<)Q UpoiU9)QU@!QiYi]񿉧ae-IaI]9@Y @Y@]5@Yi߱I߱^AeF˼IqIO>I BU j>BU CBU IBU %BBU 6 =BQ BQ BU te;BQ ,*,>n?A6 @6i@60<ٱ6P BAHRS rotation from veh to nav: [[-0.357109,0.933268,0.038522],[-0.933721,-0.355560,-0.041729],[-0.025248,-0.050870,0.998386]]6H`ֿT?? ֿ`]ڙ `?i6 @I6];4YJByJIi=Mb@Mb@Mb@9999 99={Gzt?i|?5~jtY=ף;y==D9= A =lA)=A9Y=AbDVD:2y.%7=ٔ%UϹQ-->9)Y1=5FyQ]k:E]>YQ 5e5]V?Q 9m5]T)]BYm =Q Em;ymL4@Q Im@]'EI]@:i]H:]P̐5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfff@BddjdZd% 6@QZe =Ze =Ze&@ZeL4@0<) ^i*9)顥k0ii~bEU3jEU3rEUÓ/E EwE$E"E:*E:VE4ZEBE;a2E;aJEk;a:Ek;aaII@ @@4@y^A ԩ I I O >ET,n?A6@6u@6\<ٱ6P >AHRS rotation from veh to nav: [[-0.357336,0.933180,0.038549],[-0.933646,-0.355808,-0.041297],[-0.024822,-0.050748,0.998403]]@6H ֿ??m ֿ$j@?i6@I6n];6CYJ~ByJIbDVVDV:y^v%^d=ٔ^固Q-b>9`Y`=bFy`f1Ef>hQ 5n5j|S?Q 9n5jS)jBYlynI4@Q Ir@hIjn;ij;j͐5yɮ  A=DNOT Ignoring new targets: 27.92 m.h9hA*hA"hA hAgAfAfIfIdIdIjdIZdUG7@ZqZqZqZuaI4@\<) @di9)額=ii񿉧䆼IIM9@Q @Q@U/@Q@]=@]=ԩE E~E&E"EO:*E(:VE4ZEa@a@a@a@^AIIO>! A?,n?A|@@w<ٱ%O AHRS rotation from veh to nav: [[-0.357995,0.932924,0.038637],[-0.933419,-0.356514,-0.040339],[-0.023859,-0.050505,0.998439]]Hbֿ@?*ȣ?` ֿLfn ۩5?i@I\];CY~ByII <) <==iMb@Mb@Mb@ 9X9v?MbX9~jtY9Y=FyE>Q 5 5P?Q 95S)BY=Q EE  E uE %E "E :*E :VE 4ZE BE ;a 2E ;a JE ed;a :E fd;a y Nf,Bn?A4<ɰ4 1R›,8 o?A2 @2 @2F<ٱ2,O :AHRS rotation from veh to nav: [[-0.358777,0.932611,0.038925],[-0.933138,-0.357325,-0.039641],[-0.023061,-0.050545,0.998456]]2H2ֿ?@?@Eiֿ K?੿Y?i2 @I2Z];2CYB~ByBIEZ EZxEXEX"EZ%:*EZ:VEXZEXab@ab@ab@ab@bDjVDjJyr%rO=ٔvJQ-v>9tYt=vFyxz Ez>|Q 55~J?Q 95~S)~BY y HQ I @~)EI~y:i~:~-Ӑ5yɮ!AEDNOT Ignoring new targets: 27.92 m.hAhA*hA"hA hAgIfIfIfIԱddjdZd8@ZZZZ:I@%F<)) -uki-9)imiiiqiu~񿉧q}MǼIyIy9@ @@/@@ gA@ ^AiIIO>B g>B B IB ~BB B B PDB ee;B ~&E1 ׿``?E?F@׿ ΄Mɕ@?ib@Ib2^;`Y ~By I !%AiMb@Mb@Mb@ 9+?J +I +Y=yH94A( A lA)AYAbD=VD=0yEt=%M6=ٔMQ-M>9IYQ=UFyQUԴE]>YQ 5e5]G?Q 9m5]cT)]BYm=Q Emԙ hΛ,a=o?AF@Fi@Fz<ٱF#P NAHRS rotation from veh to nav: [[-0.362501,0.931122,0.040064],[-0.931762,-0.361143,-0.037363],[-0.020321,-0.050875,0.998498]]FH73׿?S?@׿I!Δ B ?iF@IF^;FCYV~ByZIbDbVDb02yjni%je=ٔj/Q-n>9lYl=rFyprEr>tQ 5z5vE?Q 9z5vT)vBYxyz Q I~@tIv:iv V՛,99Y9==Fy9E烻EE>IQ 5U5M)C?Q 9U5MU)IYU=Q EUQ I]@M+EIMm ;iM;Mؐ5yaɮe!AaDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffBddjdZd 9@Z=Z=Zd@Zvp@#<) ci9)ii񿉧2III)AABe>BCBxIBn~BB7 =BBBe;B&Ea@a @a@e2@a@m=@m=) ^A ?I I O >E  E E #E "E ,:*E A:VE 3ZE BE  ߀G - 9) Y5 Af,(Co?A;ɰp;E2 E2E2&E0"E2:*E2.:VE24ZE0a6@a6@a6@a6@LV7ƒ@V@V)Ž<ٱV'>Q bAHRS rotation from veh to nav: [[-0.367904,0.928956,0.041076],[-0.929701,-0.366652,-0.034971],[-0.017426,-0.051055,0.998544]]VH׿ ?`?`;w׿@硿 ؑ@# ?iV7ƒ@IV%_;V~CYr~ByrIbDVDk1y%<%%E=ٔ-]Q-->9)Y)=5Fy1U鞻EU>YQ 5e5]3??Q 9e5]MW)YYiym}Q Im@],EI]:i]:]ܐ5yɮ ADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd:@Z Z Z Z Q@u)Ž<)q u[i}9)y}Ayiyi񿉧BII%9@! @!@%/@!^AWgIIIO> B f>B B rIB d~BB 6 =B B B e;B &E^,o?AR߰@R@Rۇ<ٱRh0Q bAHRS rotation from veh to nav: [[-0.369877,0.928162,0.041301],[-0.928933,-0.368659,-0.034272],[-0.016584,-0.051042,0.998559]]RH`׿?`n%?`ѹ׿`L8"1?iR߰@IRX_;RCYn~BynI!iMb@Mb@Mb@ 9MbX9?/$y&1?Yʡ=y,`e<A =A)AYAbDVDNy=%B=ٔFQ->9Y=FyE>Q 55ԙ ,ުo?A2!@2@2 3<ٱ2tuQ :AHRS rotation from veh to nav: [[-0.371779,0.927389,0.041594],[-0.928187,-0.370591,-0.033627],[-0.015771,-0.051109,0.998569]]2H;׿`+?K?ķ׿75&`*F?i2!@I23_;2CYF~ByFI HHbDNVDNyVq-=%V^=ٔZQ-Z>9XYX=^Fy\^YE^>`Q 5f5b:?Q 9f5bX)bBYhyjQ Ij@`Ib:ibw:bߐ5ylɮnAp DNOT Ignoring new targets: 27.92 m.h h *h "h  h g fffddjdZdO;@ZAZAZAZEЁv@U 3<)Q UL]iU"9y)ii񿉧(II9@ @@/@ԡE EE%E"Eҝ:*E?:VE 4ZEa@a@a@a@^A#IIO > h,bo?A,,^̑@^@^?y<ٱ^Q AHRS rotation from veh to nav: [[-0.373406,0.926726,0.041799],[-0.927543,-0.372236,-0.033230],[-0.015236,-0.051178,0.998573]]^H@׿@?f?n׿@84 4 P?i^̑@I^'_;\Y5 By=IbDVDy=%:=ٔQ->9Y=Fy`vE>Q 558?Q 957Y)BYyQ I@.EI;i;5yɮA-DNOT Ignoring new targets: 27.92 m.h)h)*h)"h) h1g1f9f9f9d9dAjdAZdE`;@ZZZZdv@?y<) Yir9)BUd>BQBU~IBUx~BBQBQBQBUe;BU&EAYii~񿉧IIU9@Q @Y@]/@YԁbE5J4jE5#4rE5n/E  E yE #E "E s:*E :VE 3ZE BE ;a 2E ;a JE r;a :E r;a ^A SI) I9 OM >ԡ ,ao?A27@2@2r<ٱ2PpR :AHRS rotation from veh to nav: [[-0.374719,0.926184,0.042066],[-0.927020,-0.373560,-0.032964],[-0.014816,-0.051348,0.998571]]2He׿K?ಉ?%i׿࠿XVJJ?i27@I2W^;0YN2ByRIi]Mb@Mb@Mb@YYYY Y9]A`"?MbS㥛?Y]Y=y]]/9Y=FyrzE>Q 555?Q 95xY)BY=Q E ,; p?AE2 E2E0E0"E2:*E20:VE0ZE0a6@a:@a:@a:@:{@:v@:!n<ٱ:R FAHRS rotation from veh to nav: [[-0.375886,0.925704,0.042217],[-0.926552,-0.374735,-0.032790],[-0.014534,-0.051441,0.998570]]:H ؿ@]?n?O׿ɠÍVI?i:{@I:y^;:CYNUByNIIR<)Rp=bDZVDZk`yf=%fW=ٔfBQ-f>9hYh=jFyhjXEn>pQ 5v5r#3?Q 9v5rY)rBYtyvx4Q Iv@r/EIr;ir;r5y|ɮ~]A|%DNOT Ignoring new targets: 27.92 m.h!h)*h)"h) h)g)f)f1f1d1d1jd1Zd <@ZZZZ]@ !n<)  Xi 9)ii]񿉧Y][ IYIY 9@  @ @ l3@ ^A5IaIO>A BU a>BQ BU IBU ~BBQ BQ BQ BU e;BU &EB B B B 6 =B 6 =C /5z ,*&p?A4<ɰ;6s@6Rn@6[k<ٱ6uR BAHRS rotation from veh to nav: [[-0.376838,0.925314,0.042270],[-0.926168,-0.375692,-0.032687],[-0.014365,-0.051467,0.998571]]6Hؿ,?u?*@X ؿI6kYL?i6s@I6 ^;6CYNrByNIi%Mb@Mb@Mb@!!!! !9%~jt?S㥻l?Y%D9YYY=]FyY]3E]>aQ 5m5ez/?Q 9u5ejY)eBYu=Q Eu;yu7@Q Iu@aIe;ie6;e5y}qBɮA-DNOT Ignoring new targets: 27.92 m.h)h)*h)"h) h)g1f1f1f5Bd9d9jd9Zd=`<@Z}=Z}=Z}eV@Z}r7@[k<) piw9)顽¶ii񿉧K#II Em EmEm%Ei"Em:*EmE7:VEm 4ZEiBEmH;a}2EmI;aJEmQ;a:EmQ;aA9@ @@4@i^AȿIIO>ԡ >,c?p?A2om@2@h@2ok<ٱ2 R :AHRS rotation from veh to nav: [[-0.377524,0.925039,0.042160],[-0.925888,-0.376381,-0.032688],[-0.014369,-0.051376,0.998576]]2H[)ؿ`? ?`@ؿvmMU?i2om@I2];2CYZByZ$IbDf VDf2yjgM=%nS=ٔn]G7Q-n>9pYp=rFypvEv>tQ 5z5v,?Q 9~5v Y)vBY|y~7@Q I~@v0EIv;iv;vX5y ɮ vA 5DNOT Ignoring new targets: 27.92 m.h1h1*h1"h1 h9g9f9fAfAdAdAjdAZdM@/V=@ZiZiZiZm>7@yok<) ki9)額ɶii~񿉧%II59@1 @1@5/@1ԡE EtE&E"EI:*Ev:VE4ZEa@a@a@a@^AU$IaIqO{> ?',Yp?ABxl@BIg@Bo<ٱBLR JAHRS rotation from veh to nav: [[-0.377632,0.925003,0.042000],[-0.925840,-0.376479,-0.032915],[-0.014634,-0.051315,0.998575]]BH@+ؿ??{;ؿ,ڠ r E T?iBxl@IB];BCYVByV=I XXXXbDb VDb:2y%=%%F=ٔ5O':Q-5>9AYA=MFyI}E>Q 55d(?Q 95X)BYy 7@Q I @1EI+BBIB~BB7 =BBBme;B}&E) ai%+9))-Ѷ)i)i5񿉧15%I1I9 9@ @@/@1E  E E $E "E U:*E *:VE 4ZE BE ;a 2E ;a JE e;a :E f;a ^A $I I pJI O- >a P, sp?A2n@2i@2Jv<ٱ2N R :AHRS rotation from veh to nav: [[-0.377357,0.925123,0.041820],[-0.925946,-0.376189,-0.033254],[-0.015032,-0.051272,0.998572]]2H`&ؿ?yi?Y|ؿ@Ɏ`T@@L?i2n@I2)M];2CYFByFNIiMb@Mb@Mb@ 9y&1/$ÿ+?Y`y=A A)AYAbD-VD-0yz=%B=ٔx:Q->9Y=Fy]9:E>Q 55#?Q 95W)BY4$>Q E;y$@Q I@2EI :i3:5yɮgADNOT Ignoring new targets: 27.92 m.hh*h"h h g f f fBddjdZd+>@1ZE4$>ZE4$>ZE@ZE$@UJv<)Q Uni]9)Y]ضYiYie񿉧aei$IaIi@ @@/@@=@=a^A5%IAIYOm>ԑԹ ;#,p?AE" E"E E "E":*E"1]:VE ZE a&@a&@a&@a&@>zs@>Kn@>|<ٱ>ZCR FAHRS rotation from veh to nav: [[-0.376835,0.925340,0.041719],[-0.926152,-0.375650,-0.033614],[-0.015433,-0.051305,0.998564]]>Hؿc? -\? @ ؿ5@dD zs@I>J@];9dYd=fFydj:Ej>lQ 5r5n?Q 9r5nW)nBYpyv$@Q Iv@n3EInF:in:n5yxɮzwAxDNOT Ignoring new targets: 27.92 m.h!h!*h!"h! h!g!f!f)f)d)d)jd1Zd5>@ZQZQZQZU$@e|<)i moim9)imඉiiiiu񿉧y}r"IyIyԑ)@) @)@-/@)Թ^A$IAIQO]v> nManaging dock network, ignoring radio surface power offB ]>B CB IB CBB B B ODB oe;B  b), ^p?A2{@2xv@27<ٱ26R :AHRS rotation from veh to nav: [[-0.375907,0.925728,0.041487],[-0.926518,-0.374694,-0.034194],[-0.016110,-0.051292,0.998554]]2H@ؿ@? =? ׿ @B'?i2{@I2o];2CYUByUYII]=)]p;e>e=iMb@Mb@Mb@ 9X9vV-ǿL7A`?Y}y|?+=vA( A A)AYQA 9=bDEVDEE] E]xEYEY"E]s:*E]:VEYZEYBE];au2E];auJE]Po;a}:E]Qo;a}yM:=%%=ٔC:Q->9Y=Fy;E>)Q 555-{?Q 955-kU)-BY5L>Q E=;y=@Q I=@-4EI-":i- :-5yAɮEAaDNOT Ignoring new targets: 27.92 m.hh*h"h hgfff߁BddjdZd?@Z%L>Z%L>Z%B@Z%@=7<)9 =Qxi=)9)9=趉9iaie~񿉧im@IiIi!9@ @@/@ԙ ^A= l"II IY Oe >zJ0,a8p?A;ɰ06ڃ@6~@6g#<ٱ6ԻQ >AHRS rotation from veh to nav: [[-0.374975,0.926120,0.041177],[-0.926884,-0.373742,-0.034692],[-0.016740,-0.051175,0.998549]]6H׿`Ƣ?#? @c׿1á`8$ 3?i6ڃ@I6P];6CDDiDIDDIHiJpUA HH)HL N"s@LLLPRsAIP)PiP)TIVtkATT TTXXiXXiXZdiA)X \I\Y\YbByfeI bD]VD]N2!Au9qYu AysF=%Z=y:?)Aٔ:Q->9Y=Fy);E>!Q 5-5%?Q 9-5%1T)%BY)y-@Q I5@%6EI%q:i%G:%{5y9ɮ=A9DNOT Ignoring new targets: 27.92 m.hhԉ*h"h hgfffddjdZdo?@ZZZZy@%g#<)! %si%G9)!=O𶉢9i9i]񿉧aeIaI9@ @!@%/@!DYzDYEe EeEe"Ea"EeO:*Ee*5:VEe(3ZEaam@am@am@au@Թ ^A I I! O5 >(v6, p?A2@2s@2=<ٱ2( Q :AHRS rotation from veh to nav: [[-0.373637,0.926677,0.040811],[-0.927410,-0.372380,-0.035268],[-0.017485,-0.051026,0.998544]]2H ׿V?4? X׿@y瑿 ?i2@I2L];2C`YBy%`IbD}VD}Ny%,%-R=ٔ5K;Q-=>9AYI=MFyq}^u;E>Q 55?Q 95R)BYy@Q I @7EIeBB'IBBB8 =BBBye;B&EgfffddjdZd`0?@ZZZZ@]=<)Y ]uie9)imiiii}񿉧yII}9@y @y@}/0@yEu  Eu Eu &Eq "Eu :*Eu C:VEu 4ZEq BEu H;a 2Eu I;a JEu <;a :Eu <;a A ^A} I I O ><,p?A23@2@2<ٱ2 Q :AHRS rotation from veh to nav: [[-0.372209,0.927261,0.040583],[-0.927971,-0.370925,-0.035850],[-0.018189,-0.051004,0.998533]]2HF׿?WǤ?`;׿Z@41?i23@I20^;2~CY}By}ZI AiMb@Mb@Mb@ 9(\µClɿ?YyO<A A A)AY(AbDVDܲy-%-;=ٔ5:Q-5>91Y1==Fy9=j;E=>AQ 5M5El ?Q 9M5E2Q)EBYUb>Q EUo;yUF@Q IU@E8EIEe ;iEz ;E5yYɮ]AaDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffځBddjdZd @@QZb>Zb>Zr@Z F@<) ui(9)ii񿉧III)9@ @@g2@yԡ ^A I I O >@C,q?AE E|E#E"EC:*EP$:VE3ZEa@a@a@a@ ) kA   kAiIIis@ )! %kA!!!!%kAI))-aFi)))I)-1 115 vA1i19Y9yY}By}YIbDVDk1y%g=ٔQ->9Y=FyE>Q 55?Q 95O)BYyQ I@9EIW:i:5yhBɮAæEDNOT Ignoring new targets: 27.92 m.hh*h"h hgfff d d jd Zd  L@@Z1Z1Z1Z1A)A E4viE9)IMIiIiU~񿉧QU_IQIY 9@  @ @ /@ ԡ^AU+IIO>B B B 3IB BB 9 =B B B }e;B &E I,(q?A2Ķ@2@2><ٱ2sP :AHRS rotation from veh to nav: [[-0.369188,0.928487,0.040151],[-0.929149,-0.367853,-0.036974],[-0.019560,-0.050957,0.998509]]2H Ƞ׿ *? ? ׿;?i2Ķ@I2Qo^;2CYByKIiMb@Mb@Mb@ 9ktB`"ɿ{Gz?Y yN#< A)YAbDVDy\%D=ٔ mW;Q- >9Y=Fy6;E%>)Q 555-O?Q 9=5-N)- BY= a>Q E=q;yE@Q IE@-;EI--N;i-SM;-g5yIɮU/AQDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffÁBddjdZd _@@bE4jE¶4rE5/E5 E5uE5&E1"E5s:*E5:VE54ZE1BE5;aE2E5;aMJE5ed;aM:E5ed;aMZ a>Z a>Z@Z@><) pi9)ii񿉧4JII @ @@/@1^A I I O >ii Ii Y ӛP,Bq?A.Ã@.ս@.<ٱ.qP :AHRS rotation from veh to nav: [[-0.367794,0.929051,0.039896],[-0.929689,-0.366439,-0.037429],[-0.020154,-0.050857,0.998502]].H׿ɺ?Mm? s׿)$ ?i.Ã@I.U^;.CYByCII%C=)%=-=-=bD=VD=yU%]V=ٔex:Q-e>9iYi=mFyiu;E}>Q 55G?Q 95L)BYy7@Q I@<EI:V,<]q?A68σ@6 ʊ@6<ٱ6P ^AHRS rotation from veh to nav: [[-0.366405,0.929603,0.039812],[-0.930227,-0.365031,-0.037823],[-0.020628,-0.050893,0.998491]]6H`/s׿ O?@Mb?j\׿]q ?i68σ@I6j^;6CYfByj5IbDrVDryz)h%zJ=ٔz:Q-~>9|Y=Fy p;E>1Q 5E55?Q 9U55J)5BYYy]Q@Q Ie@5>EI5;i5 ;55yɮA1BBBBB8 =BBB_e;Bt&EB»CB»CBB8 =B8 =C_55DNOT Ignoring new targets: 27.92 m.h9h9*h9"ha hagafififidqdqjdyZd}@@ZZZZ Q@5<)1 5}yi5X9)Y]uYiYie񿉧aeIaIiU9i-9@) @)@-/@)ԁE EsE$E"EO:*EZ:VE4ZEBE;a2E;aJE];a:E];a^A I I1 O= >ԩ ],Hvq?A2փ@2ъ@2<ٱ2vP :AHRS rotation from veh to nav: [[-0.365521,0.929955,0.039729],[-0.930569,-0.364139,-0.038002],[-0.020873,-0.050861,0.998488]]2Hd׿0?kW?9 N׿t _ @?i2փ@I2^;2CYBuByFIiEMb@Mb@Mb@AAAA A9EʡEbX9ƿ~jthYEyEE6EDEAA A)EAAYE\AbDmVDm:yu%ӽ%}C=ٔ}6:Q-}>9Y=Fy+;E>Q 55$?Q 95gI)BYF>Q E;y@Q I@?EI ;i ;5yɮnADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffBddjdZd@A@Z F>Z F>Z I@Z @<) %hi%9)!%!i!i-~񿉧)-PI)ԑI19@ @@/@^AI9 I9 OM >E  E pE &E "E C:*E  :VE 4ZE a @a @a @a @Q d,ߐq?A2'@2ۊ@2<ٱ2P :AHRS rotation from veh to nav: [[-0.364364,0.930408,0.039754],[-0.931016,-0.362967,-0.038270],[-0.021178,-0.050956,0.998476]]2HQ׿?Z? :׿0 ?i2'@I2C];0YBVByBI DDIbDRVDRyZ%ZW=ٔ^zR:Q-^>9\Y`=bFy`b V;Eb>dQ 5j5f씊?Q 9j5f H)fBYlyn@Q In@f@EIf#;if;fR5yrdBɮrApDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd NA@Z)Z)Z)Z-~@]<)Y ]pi]/9)Ye vaiaie񿉧imVIiIqy)9@  @ @ ^0@ @=@=YiI^AU+OIIB[>BBIBvBBBBBFe;Bg&EO > -j,dq?A2@2@2f<ٱ2P :AHRS rotation from veh to nav: [[-0.363605,0.930706,0.039719],[-0.931310,-0.362205,-0.038330],[-0.021288,-0.050928,0.998475]]2H`LE׿`X?@V?J\.׿ j̕-?i2@I23];2CYf'ByjIli}Mb@Mb@Mb@yyyy y9}I +V-¿:vY}94y}h}Ty} A }=A)yyYybDVDkyٽ%;=ٔ9Q->9Y=Fy:E>Q 55n蔊?Q 95F)BY>Q E;y@Q I@AEI-;iO;<5yɮAE EwE"E"E:*E:VE(3ZEBEͽ;a2Eν;aJEk;a:Ek;aDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffeBddjdZdiA@Z->Z->Z-b.@Z-@Ef<)A EhiE>9)AEAiIiM񿉧QUIQIQ 9@ @@_1@1^A- GI1 II OU >a Tq,q?AJ@J@J<ٱJO VAHRS rotation from veh to nav: [[-0.363150,0.930893,0.039504],[-0.931486,-0.361756,-0.038302],[-0.021364,-0.050707,0.998485]]JH@=׿ ?9?'׿Dd@A?iJ@IJ];JCY^By^IbDfVDfyn )%nY=ٔrxT9Q-r>9pYp=vFytvH:Ev>x9Q 5]5z䔊?Q 9]5z F)zBYYy] @Q Ie@zBEIzhfԹ ?w,gq?A2@2@2fS<ٱ2rN :AHRS rotation from veh to nav: [[-0.362910,0.931000,0.039186],[-0.931579,-0.361527,-0.038203],[-0.021400,-0.050369,0.998501]]2H9׿?`9?}`B#׿`d 长ʩ ?i2@I2];2CYB~ByBIIF<)Fp;bDNVDN1yV臽%VN=ٔV8Q-Z>9XYX=ZFyX^):E^>`Q 5f5b?Q 9f5bE)bBYdyj@Q Ij@bCEIb:ib:b5yxɮ~1A5DNOT Ignoring new targets: 27.92 m.h1h1*h1"h1 h1g9f9f9fAdAdAjdAZdE A@ԙZIZIBZ>BBIB/BB9 =BBB,e;BZ&EZIZM@}fS<)y }si}9)顅󴉢ii~񿉧AII I)I)))9@ @@4@@ @ E EtE&E"E:*Ev:VE4ZEBE  i},Bq?Aɰ4<:g@:8@:\<ٱ:RM FAHRS rotation from veh to nav: [[-0.362628,0.931114,0.039074],[-0.931687,-0.361249,-0.038188],[-0.021441,-0.050253,0.998506]]:H@L5׿??a׿P@?i:g@I:J];:CYN~ByNIi%Mb@Mb@Mb@!!!! !9% rh1ZdMbY%Cy%"۽%%3A%( A %A)%MA!Y%AbD=VD=kyM!%MA=ٔM8Q-M>9QYQ=UFyQU::E]>aQ 5m5exݔ?Q 9m5exD)eBYmJ=Q Em;ym''@Q Im@eDEIe:ie':ev5yyɮ}AyDNOT Ignoring new targets: 27.92 m.hh*h"h hgfff)BddjdZdB@Z}J=Z}J=Z}%@Z}''@\<) ^i9)页+0ii񿉧IIiIm9@i @i@m/@i!ay69Y*&AQ^A?IIO>y E  E E #E "E ;*E e:VE 3ZE a @a @a @a @Q,r?AY~~By~IbD VD N2yG%%M=ٔ%Q-%>9)Y)=-Fy)-E->1Q 5=55Pڔ?Q 9=55C)5BYAyAQ IE@1I5;i5z;545yIɮM AQ}DNOT Ignoring new targets: 27.92 m.hyhy*hy"hy hygfffddjdZdPB@ZZZZ) ci9)gii񿉧`IIQU9@Q @Q@U/@Qԁ^A߼IIO>B\>BBIB~BB7 =BBB5e;B`&E {,+r?A2l@2=@2\<ٱ2XN >AHRS rotation from veh to nav: [[-0.363083,0.930930,0.039243],[-0.931517,-0.361711,-0.037979],[-0.021161,-0.050345,0.998508]]2H<׿-??@D&׿q1 Ʃ`?i2l@I2|A];2CYb~BybIonly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0 +0.00, 20.00,591.75 a@a a@a a@a a@a bDVDk2yI%A=ٔo-Q->9Y=Fy#E>Q 55֔?Q 95FC) BQ A+:YQ E;y '@Q I@EEI ;iQ> 5yɮ ADNOT Ignoring new targets: 27.92 m.hh*h"h hgf!f!f!d!d)jd)Zd-@ކB@e\<)a ekieJ9)amtiiiim񿉧qu"IqIyE EE"E"E1:*ErN:VE(3ZEBEy;a2E{;aJEV;a:EV;a%9@ @@@@=@^A?II1O=>9 Q f,Er?A2g@28@2x<ٱ2XO :AHRS rotation from veh to nav: [[-0.363541,0.930744,0.039419],[-0.931340,-0.362166,-0.037957],[-0.021052,-0.050511,0.998502]]2H@@D׿?`.?-׿o`ܩ?i2g@I2V];0YF~ByFIbDNVDNyV I%V]=ٔZaQ-Z>9XYX=ZFy\^ڭE^>`Q 5f5bԔ?Q 9f5bB)b BQ Af :YhQ Ej;yj'@Q Ij@bFEIb':ibK?b 5ylɮn Ap DNOT Ignoring new targets: 27.92 m.h h *h "h  h g fffddjdZd@=B@Mx<)I MjpiM9)QUQiQi]~񿉧Y]RIYIa 9@  @ @ ?0@ @@@@)E EE$E"E:*EA:VE4ZEa@a@a@a@qIIOf>ԉ ܍,2_r?A4:@:ۊ@:<ٱ:yO BAHRS rotation from veh to nav: [[-0.364411,0.930396,0.039593],[-0.931007,-0.363044,-0.037757],[-0.020755,-0.050621,0.998502]]:HR׿?@E?<׿T@ꩿ?i:@I:s];:~CYJ~ByJIbDVVDVyZڼ%ZJ=ٔ^@Q-^>9dYd=fFydfEj>hQ 5n5jД?Q 9r5j&B)j BQ Ar9YpQ Er;yr '@Q Ir@jGEIj ;ijڙ?j 5ytɮz !AxDNOT Ignoring new targets: 27.92 m.hh*h"h h!g!f!f!f)d)d)jd1Zd5@B@}<) .siD9)顅εii񿉧 IIA)A)BIBIBMIBM~BBIBIBIBM[e;BMs&E=9@9 @9@E2@AIyԑIO>ԹbE9jE=4rE=/E E}EE"E:*Ek&:VEZEBE;a2E;aJE;a:E€;a ,Lyr?A2ك@2Ԋ@2v<ٱ2gO :AHRS rotation from veh to nav: [[-0.365200,0.930088,0.039571],[-0.930699,-0.363835,-0.037719],[-0.020685,-0.050603,0.998505]]2H@o_׿`G? B?II׿ Oo.@詿?i2ك@I2];2C\Yb~BybIf=daa aa aa aa iMb@Mb@Mb@ 9?S㥫I +YL=y/]94bA A lA)|AYpA p<<bDVDy ;%;=ٔ'Q->9Y=FyE>Q 55FΔ?Q 95tB)BQ AT:Yd=Q E2A E  E |E "E "E :*E P$:VE (3ZE a @a @a @a @󟤜,er?Aɰ2Ѓ@2eˊ@2m<ٱ2O :AHRS rotation from veh to nav: [[-0.366251,0.929678,0.039479],[-0.930288,-0.364894,-0.037629],[-0.020577,-0.050509,0.998512]]2Hp׿@?6?@kZ׿D ,Bܩ?i2Ѓ@I2 ];2~CY^y~BybIbDjVDjkyr%rY=ٔrQ-r>9tYt=vFytzQDEz>xQ 55z̔?Q 95zB)zBYy1Q I @zHEIz;ixzA5yɮ!ADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZdDTC@ZIZIZIZM3v`@]m<)a eMie9)aeaiiim񿉧iu,IqIq)@) @)@-4@)I9IIQO]>qB)B)B-eIB-O~BB-8 =B)B)B-6e;B-a&EBBBBBCQ5ԡ 3ͪ,Nr?ABŃ@B@B3C<ٱBoN NAHRS rotation from veh to nav: [[-0.367472,0.929197,0.039453],[-0.929810,-0.366122,-0.037517],[-0.020416,-0.050470,0.998517]]BH੄׿?@+3?n׿u5 蔿<ש?iBŃ@IB];BCY^~By^IiMMb@Mb@Mb@IIII I9MQ?YMu=yMLMIMX A MA)IIYIbDeVDe:2qy}Y<%}A=ٔ}ƹQ-}>9Y=FyJE>Q 55ɔ?Q 95"C)Y=Q E)i I 鱱,r?A6@6n@6?<ٱ6͑N BAHRS rotation from veh to nav: [[-0.368974,0.928603,0.039418],[-0.929221,-0.367635,-0.037327],[-0.020170,-0.050400,0.998525]]6HF׿?.? -U׿{@Ω?i6@I6^;6CYJ~ByJI LLbDPVDPyZ=%ZX=ٔ^*Q-^>9`Y`=bFy`bEf>dQ 5j5fsǔ?Q 9n5fC)dYlyn )Q In@fIEIf;if;f5ytɮv AtDNOT Ignoring new targets: 27.92 m.hh*h"h hgff!f!d!d!jd!Zd-C@ZIZIZIZMh@]?<)Y e%Gie9)ae\aiaim񿉧imIiIqIy)y59@1 @1@5/@1^A rII)O5 >E EE!E"E:*EF:VEc3ZEa@a@a@a@1Y z۷,r?A2>@2@2<ٱ2ZO :AHRS rotation from veh to nav: [[-0.370036,0.928179,0.039463],[-0.928796,-0.368688,-0.037497],[-0.020255,-0.050528,0.998517]]2H ׿ࣳ?~4?@@׿@2ީ@?i2>@I2+D^;2CYF~ByFIbDNVDN1yZM/=%ZJ=ٔ^Z9Q-^>9Y= Fy ]5E>!Q 555% Ŕ?Q 9=5%C)%BYAyE2)Q IE@!I%;i%;%5yYɮ] AYBBBRIB1~BBBBBd;B=&EDNOT Ignoring new targets: 27.92 m.hh *h "h hgf!f)f19dIdQjdZd C@ZZZZ h@<)) -Bi-\9))-'1i1i5񿉧9=q I9I9a9@ @@@E EE#E"E:*E?:VE3ZEBE3Թ ,,Fr?A2@2@2K<ٱ2O :AHRS rotation from veh to nav: [[-0.371115,0.927746,0.039521],[-0.928363,-0.369755,-0.037731],[-0.020392,-0.050693,0.998506]]2HX׿?9Y=FyL3E>Q 55”?Q 950D) BY=Q E5E  E uE $E "E :*E :VE 4ZE a @a @a @a @ Ĝ,s?A:C@:@:q!<ٱ:P FAHRS rotation from veh to nav: [[-0.372299,0.927267,0.039621],[-0.927886,-0.370924,-0.037981],[-0.020522,-0.050904,0.998493]]:H׿+?$I? >`9׿?r`` ?i:C@I:^;:CYN~ByNIIRa=)R;bDVVDVy^N6=%bX=ٔb9Q-b>9dYd=fFydf\Ej>hQ 5n5j~?Q 9r5jpD)j BYpyra2Q Ir@hIj;ij;j5ytɮvAxDNOT Ignoring new targets: 27.92 m.hh*h"h h!g!f!f!f!d)d)jd)Zd-@TD@ZIZIZIZMU_@eq!<)a eIUie 9)imAiiiiu~񿉧quIqI9@ @@&0@iߙIߙ^AU IqIBBBYIB;~BBBBBe;BI&EO>1 w˜,Ɖ.s?A4<ɰ J@Jኊ@JB<ٱJP RAHRS rotation from veh to nav: [[-0.373565,0.926763,0.039488],[-0.927371,-0.372179,-0.038283],[-0.020782,-0.050921,0.998486]]JH@|׿@ ?@7?׿@řG@[?iJ@IJI_;HYZ~By^IiEMb@Mb@Mb@AAAA A9E rh?/$Zd;O?YEC =yEEj9qYq=uFyq}TE}>Q 55N?Q 95sD)BYy=Q E HQ I@KEI\:i:5yɮ ADNOT Ignoring new targets: 27.92 m.hh*h"h hgfff/BddjdZdઊD@EY E]EYEY"EY*E]:VEYZEYBE]H;ae2E]I;aeJE] 3 j> C G) A m 9i Ym Aќ,paHs?A2>@2@2`<ٱ2P >AHRS rotation from veh to nav: [[-0.374560,0.926368,0.039330],[-0.926961,-0.373157,-0.038688],[-0.021163,-0.050948,0.998477]]2H׿Τ?@#?` ׿ Σ @?i2>@I2~5_;0YFByFIPbDNVDNܲyZ=%ZW=ٔZ":Q-^>9\Y\= Fy  4E>Q 55[?Q 9%5vD)BY!y%MHQ I%@IU;i@;5y)ɮ5A1]DNOT Ignoring new targets: 27.92 m.hYhY*hY"ha hagafafafididijdiZdm D@ZZZZI@`<) Riy9)顭JLii񿉧bIIu9@q @q@u4@qEm Em}Em"Ei"EmC:*Emk&:VEm(3ZEiau@au@au@au@^AyIIO>! *؜,pAbs?A>̀@>{@>޲<ٱ>P VAHRS rotation from veh to nav: [[-0.375283,0.926095,0.038868],[-0.926653,-0.373862,-0.039266],[-0.021833,-0.050753,0.998473]]>Hؿ?t?$ Y׿i[C|?i>̀@I>_;>~CYj-ByjI ppbDzVDzy=%D=Be]>BaBexIBen~BBe7 =BaBaBeLe;Bel&Eٔ:Q->9Y=FyE>Q 55?Q 95yD)BYyXHQ I@LEI~C;i/;5yɮJA 5DNOT Ignoring new targets: 27.92 m.h1h1*h1"h1 h1g9f9f9fAdIdQjdYZd]@>D@ZqZqZqZu}I@޲<) 7Li9)մ)iim񿉧imIiIi9@ @@4@QEu EqEqEq"Eu:*EqVEqZEqBEu;a2Eu;aJEu;a:Eu€;a^A I I ԡ O >bTޜ,P|s?A:z@:u@:0<ٱ:FP FAHRS rotation from veh to nav: [[-0.375940,0.925836,0.038679],[-0.926373,-0.374493,-0.039855],[-0.022414,-0.050814,0.998457]]:H`fؿs?ͣ?ؤ`׿gQ [?i:z@I:[_;8Y^dBybIiEMb@Mb@Mb@AAAA A9EMbp!rhX9v?YEyEl罙E%mE=ٔu:Q-u>y9yYy=FyyE>Q 55?Q 95D)$BY=Q E;y.@Q I@I? ;iu ;85yɮnADNOT Ignoring new targets: 27.92 m.hh*h"h hgffftBddjdZd%E@Z=Z=Z@Z.@0<) Gaiq9)顽ii~񿉧 II9@ @@/@@gA@gAԱ^A IIO> E  E uE %E "E :*E :VE 4ZE a @a @a @a @E<,s?A2 w@2q@2<ٱ2P :AHRS rotation from veh to nav: [[-0.376375,0.925675,0.038315],[-0.926177,-0.374901,-0.040564],[-0.023185,-0.050754,0.998442]]2Hؿ` ? ? >_׿Ĥ@l91Y9==Fy9=TEE>AQ 5M5EW?Q 9M5EC)E+BYQyU.@Q IU@EMEIE:iE:E 5yYɮe AaDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd@XE@ZZZZi.@<) i\i9) Xii񿉧!II9@ @@@Be^>BaBeIBe~BBaBaBaBee;Be&E^AIIO>1a Lf,9Яs?A2v@2p@2q<ٱ2P :AHRS rotation from veh to nav: [[-0.376476,0.925643,0.038089],[-0.926112,-0.374960,-0.041479],[-0.024113,-0.050890,0.998413]]2H/ؿݞ?W?Y׿@<@1J?i2v@I2U_;0YFByF@IJ=J=iMb@Mb@Mb@ 9/$7A`¿ rh?Y,yC =3A A )YbDmVDm02y}>>%}E=ٔ ;Q->9Y=Fy:E>Q 551?Q 95B)4BY` >Q E;y@Q I@NEI;ip;"5y[BɮAEDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffBddjdZd@E@Z` >Z` >Z@Z@-q<)) -Gai5p9bE3jE3rE/E= E=yE9E9"E=:*E=:VE9ZE9BE=j;aM2E=k;aMJE=r;aU:E=r;aUY)1]YiYie񿉧ae!IaIi9@ @@/@ԁ^AR5#II1O=>ԩ N,}s?Aɰ;2Nw@2r@23<ٱ2P >AHRS rotation from veh to nav: [[-0.376328,0.925720,0.037689],[-0.926145,-0.374772,-0.042446],[-0.025168,-0.050879,0.998388]]2H ؿ~?K? E׿xř ?i2Nw@I2K_;2CYFByFOIbDRVDRβyZ-x=%ZX=ٔZ6;Q-Z>9\Y\=bFy`bJ9Eb>dQ 5j5fd?Q 9j5fA)f 9 x,as?Ai4I6A^h{@^9v@^޷<ٱ^P fAHRS rotation from veh to nav: [[-0.375853,0.925925,0.037372],[-0.926305,-0.374250,-0.043542],[-0.026330,-0.050984,0.998352]]^H ؿ.?z"?K`׿K/@?i^h{@I^+_;^CB|A|BBBIBBBBBPDBe;B&EBBBB7 =BC5YUBy]`IAi]Mb@Mb@Mb@YYYY Y9]l񲿶xƿX9v?Y]y]K7]<]A]( A ]=A)]AYY] AquBAbDVDyH=%=ٔ;Q->9Y=Fyh:E>Q 55桔?Q 95?)HBYH>Q E;yg@Q I@QEI3:i:&5yɮAADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffBddjdZd%F@Z%H>Z%H>Z%@@Z%g@9E޷<)A EciEL9)AE_󴉢AiIiM~񿉧IUsIQIQ9@ @@/@EU{ EUEQEQ"EU=:*EU0:VEQZEQBEU;ae2EU;aeJEUۉ;ae:EUۉ;aei ^A5 IA IQ Oe >?,A~s?A2@2z@2<ٱ2aQ >AHRS rotation from veh to nav: [[-0.375338,0.926149,0.037017],[-0.926483,-0.373694,-0.044529],[-0.027407,-0.051009,0.998322]]2H@ؿ`?`?@`׿̦ A?i2@I28_;2C@DiF`eIDDIDid hh)hh js@llllnsAIl)lip)pIrpkApp ptvjAtixxix~hiA)~+ ~1-FI|Y|YBy sIbD=VD=ym=%m=ٔu;Q-u%?9qYq=uFyy}Z;E}%?Q 55˞?Q 95>)NBYyt@Q I@REI?;i; (5yɮADNOT Ignoring new targets: 27.92 m.hh!*h)"h) h)g)f)f1f1d1d1jd1Zd=*F@ZZZZvt@%<)) -[i-09))-1i1i=i9uJIqI59@1 @1@=h0@9ԉ^A] I Ii Iy O >Թ EU  EU oEQ EQ "EU I:*EU :VEQ ZEQ a] @ae @ae @ae @M,<t?A2F@2@2i<ٱ2[P :AHRS rotation from veh to nav: [[-0.374601,0.926467,0.036513],[-0.926746,-0.372920,-0.045514],[-0.028551,-0.050888,0.998296]]2Hu׿?Ʊ? ׿M<@ ?i2F@I2m_;2CPYUByUyIbDeVDekyu<%uH=ٔ}9;Q-}>9Y=Fy :E>Q 55"?Q 95A=)WBYy@Q I@SEI;i;)5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZdH\F@Z Z Z Z 4@i<) %Yi%9)!%{R!i!i-񿉧)-I)I19@ @@4@BBBIBbBB8 =BBBe;B&E1^AdII1O=>I s ,1t?A6Ŏ@6@6}<ٱ6+P BAHRS rotation from veh to nav: [[-0.373627,0.926879,0.036024],[-0.927103,-0.371909,-0.046518],[-0.029718,-0.050779,0.998268]]6H@׿?q?Ӫ [׿&ѧ@~n ?i6Ŏ@I6@_;6CE EE"E"Es:*E[:VE(3ZEBE;a-2E;a-JEA;a-:EA;a-YBykII=)==iMb@Mb@Mb@ 91Zd|?5^ɿX9v?Y"۽yMvA A )AYzA 4<p;bDVDy}F%*=ٔ;Q->9Y=FyA ;E>Q 55>?Q 95;)bBYRk>Q Ef;yO@Q I@UEI:ij:+5yɮA-DNOT Ignoring new targets: 27.92 m.h)h1*h1"h1 h1g1f1f9f=Bd9d9jdAZdE`ܙF@IZmRk>ZmRk>Zm$@Zm[O@}}<)y }zi9)顅󴉢ii񿉧II=9@9 @9@E4@Aq^A I ԡ I O >G,Jt?A2@2쓊@2-<ٱ2!O :AHRS rotation from veh to nav: [[-0.372443,0.927380,0.035381],[-0.927540,-0.370697,-0.047463],[-0.030901,-0.050494,0.998246]]2H׿`?p?i׿@M`khک?i2@I2. _;2C @)BkA@BKF@DFkAiFIDDIHiJr@ HH)HH NkANLLLRkAIR)PiP)PIPVT TTVvATiXXYXY^By=uIybDMVDMܲyF=%x=ٔk;Q-?9Y=Fy{;E?Q 555?Q 959)iBYyg@Q I@VEI:i:Z-5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZdF@ZZZZg@--<)1 5vi5l9)15321i9i=~񿉧9E IAIA-9@) @)@-/@)ԩD!zD%?AE- E-|E)E)"E-:*E-P$:VE)ZE)a5@a5@a5@a5@^AIIO> ,hdt?Aɰ4<6I@6@6=ٱ6WN >AHRS rotation from veh to nav: [[-0.371392,0.927819,0.034918],[-0.927929,-0.369619,-0.048273],[-0.031882,-0.050330,0.998224]]6H`׿?? ק׿DR`ĩr?i6I@I6 ^;6~CAPARAABTBTBV3IBVBBV7 =BTBTBV>f;BV&EYmBymtIbDVD:2y{%J=ٔ;Q->9Y=FyI5;E>Q 55Y ,]~t?A6@6@6=ٱ6N BAHRS rotation from veh to nav: [[-0.369974,0.928395,0.034669],[-0.928461,-0.368165,-0.049151],[-0.032868,-0.050373,0.998190]]6H׿i?? ׿W*Ԡ@ʩ +?i6@I6^;6CYBylIiMb@Mb@Mb@ 9i|?5:vʿI +?YyT9<A A )1YAbDMVDMyۼ%<=ٔy;Q->9Y=Fyc;E>Q 55?Q 955){BYu>Q E];y@Q I@YEIL:ij:15yɮAЀG.9Y5 ADNOT Ignoring new targets: 27.92 m.hh)*h)"h) h)g)f)f1f5فBd1d1jd9Zd=4G@Zu>Zu>ZH@Z@=) ni29)顽jii񿉧n III)a9@ @@/@ԉ^A #I I O >EE  EE wEE &EA "EE :*EE :VEE 4ZEA aM @aM @aM @aM @Թ b%,It?A24@2@2` =ٱ2N >AHRS rotation from veh to nav: [[-0.368318,0.929059,0.034517],[-0.929086,-0.366473,-0.049972],[-0.033777,-0.050475,0.998154]]2H׿`ٺ?`E? It׿@镩 ;Kש?i24@I2^;2CYFByFfIbDNVDNβyV%Vn=ٔZ-;Q-Z?9XYX=^Fy\ ;E ?Q 55W?Q 953)BY!y%@Q I%@ZEI@;i;25y)ɮ-A1]DNOT Ignoring new targets: 27.92 m.hYhY*hY"hY hYgafafafadidijdiZdm`\G@ZZZZm@` =) pi9)顭Ƴii񿉧"IIԑU9@Q @Q@U0@QB]>BBFIBBB8 =BBODB6f;B&E^ANw IIO> ,,`t?A2ʃ@2]Ŋ@2 =ٱ2`O :AHRS rotation from veh to nav: [[-0.366795,0.929665,0.034415],[-0.929660,-0.364917,-0.050664],[-0.034542,-0.050578,0.998123]]2H y׿ѿ?۞? ǿZ׿y@Q婿?i2ʃ@I2;;^;2CYNByRbIieMb@Mb@Mb@aaaa a9e&1:vʿMbp?Yeнyae;aa elA)eAaYe\AbD}VD}2yT%==ٔ:Q->9Y=Fyv;E>Q 55{?Q 952)BYBm>Q Ee;y@Q I@\EI:ij:i45yɮADNOT Ignoring new targets: 27.92 m.E EnE!E"E:*E:VEc3ZEBE;a 2E;a JEJ;a :EJ;a hh*h"h hgfffǁBd!d!jd!Zd%@G@ZEBm>ZEBm>ZE4@ZE@] =)Y ]hi]S9)aeҵaiaim~񿉧imJIiIq9@ @@O0@^AI)IIO]>I 2,@t?A2׃@2ъ@2=ٱ24O >AHRS rotation from veh to nav: [[-0.365360,0.930237,0.034230],[-0.930202,-0.363463,-0.051164],[-0.035153,-0.050535,0.998103]]2H b׿ ?@?7 B׿52ߩv?i2׃@I2b^;2CYFByFYIIJC=)J=N=N=bDRVDR1yZ%ZY=ٔZ:Q-Z>9\Y\=^Fy\b;Eb>dQ 5j5fv?Q 9j5fT0)fBYhyj@Q Ij@f]EIf;if;f65ypɮrJAp DNOT Ignoring new targets: 27.92 m.h h *h"h hgfffddjd!Zd%G@ZAZAZAZE@U=)Y ]li]9)Y]Yiaie񿉧amIiIi9@ @@4@IE  E yE %E "E :*E :VE  4ZE a@a@a@a@y^AUIYIqO}z>ԡ 9,t?AB&\>B$B&@IB&BB&7 =B$B$B&f;B&&EDZ@Z|܊@Zv=ٱZN fAHRS rotation from veh to nav: [[-0.364157,0.930715,0.034058],[-0.930660,-0.362254,-0.051426],[-0.035526,-0.050423,0.998096]]ZHYN׿j?@o?)/׿Ts0ѩf?iZ@IZG^;ZCYnBynBIbDvVDvNy~赽%~F=ٔ[l:Q->9Y = Fy  =L;E >Q 55gq?Q 95{.)BY!y%@Q I%@_EI;i;75y-SBɮ-A-EUDNOT Ignoring new targets: 27.92 m.hYhY*hY"hY hYgYfafafadadijdiZdmG@ZZZZu@v=) vi9)顭ii񿉧II=9@9 @A@Ej4@AԱ^AmIIO>bE4jEc3rEp/E EE$E"E:*Ee:VE4ZEBEH;a-2EI;a-JE[;a-:E[;a- >?,t?Aɰ2&@2@2i\=ٱ2NvN :AHRS rotation from veh to nav: [[-0.362963,0.931183,0.033985],[-0.931118,-0.361057,-0.051543],[-0.035725,-0.050352,0.998092]]2H:׿ A?f?׿cJ`ǩ`_?i2&@I23Z^;2~CtYzByz7IiMb@Mb@Mb@ 9ʡE@5^I ¿~jthYybD3A A A)Y AbDVDy%%;=ٔ 9Q- >9Y=Fy%>;E%>)Q 555-m?Q 955--Q =5tI)-BY=$>Q E=;y=X@Q I=@-`EI-;i-;-95yEOBɮEAEEDNOT Ignoring new targets: 27.92 m.hh*h"h hgf f f BddjdZd`2H@Z=$>Z=$>Z=,͆@Z=X@Ui\=)Q UciU9)Y]yYiYie񿉧aeIaIa 9@ @@14@ @=@=1^AM GIQ Ii Ou >a E%  E% E% #E! "E% C:*E% =:VE% 3ZE! a- @a- @a- @a5 @&F,2u?A2>@2@2ƪ=ٱ2"N :AHRS rotation from veh to nav: [[-0.361815,0.931632,0.033948],[-0.931562,-0.359910,-0.051542],[-0.035800,-0.050273,0.998094]]2H'׿ ?a?[׿@cXTY@b?i2>@I21G^;2CYB|ByBI DDHJAbDNVDNNyV߽%Vc=ٔZY9Q-Z>9XYX=ZFy\^qa;E^>`Q 5f5bqj?Q 9f5b+)bBYhyjl@Q Ij@baEIb:ib:bY;5ylɮnAp DNOT Ignoring new targets: 27.92 m.h h *h "h  h g fffd9djdZd)`H@ZZZZl@ƪ=) miI9)ii~񿉧!%EۼI!I!19@ @@/@iBIBIBM'IBMBBM8 =BIBIBMe;BM&EBBBB8 =BCN4Ա^A7II1O=> PL,3u?A2@2@24=ٱ2+N :AHRS rotation from veh to nav: [[-0.361082,0.931911,0.034084],[-0.931856,-0.359185,-0.051291],[-0.035556,-0.050282,0.998102]]2H ׿6?`ws?`ֿBk4@`s?i2@I2^;2~CYBRByBIi Mb@Mb@Mb@     9 A`"Pn:vY Yy  T   A lA)  Y bD%VD%y5ɽ%5B=ٔ=Q-=>99YA=EFyAEo:EE>IQ 5U5Mf?Q 9U5M*)MBY]m>Q E];y]t@Q I]@MbEIMc;iM;M0=5yaɮm1AiԹE EuE E"E*E:VE3ZEBE%;a2E';aJEed;a:Eed;a-DNOT Ignoring new targets: 27.92 m.h)h1*h1"h1 hQgQfYfYf]pBdYdajdaZde@$H@Zm>Zm>ZnR@Zt@4=) cij9)mii񿉧iּII9@ @@@^AwܼIIO>9 8S,0Mu?A:@:@:U=ٱ:HN FAHRS rotation from veh to nav: [[-0.360631,0.932072,0.034468],[-0.932052,-0.358744,-0.050803],[-0.034987,-0.050447,0.998114]]:H ׿?¥?`_ֿ`顿,ԩ@?i:@I:*^;:CYN7ByNIbDVVDVk1y^%^R=ٔbQ-b>9`Y`=bFydf;:Ef>hQ 5n5jc?Q 9n5j))jBYpyr}@Q Ir@jcEIji ;ije ;j>5ytɮvAtDNOT Ignoring new targets: 27.92 m.hh*h"h hgf!f!f!d!d)jd)Zd-H@ZIZIZIZM%}@eU=)a ejieX9)im洉iiiiu񿉧quӼIqIy59@1 @1@50@1@9@9E EE$E"E:*E|;:VE4ZEa@a@a@a@A^AѼI!I1OEs>qԙ BA BA BE IBE CBBE 7 =BA BA BE e;BE &E iY,xgu?A2@2@2 =ٱ2|O :AHRS rotation from veh to nav: [[-0.360374,0.932157,0.034852],[-0.932175,-0.358501,-0.050271],[-0.034366,-0.050604,0.998127]]2H]׿@:?ء? `@ֿ@, z詿?i2@I2 ^;2CYB$ByBIJ=Jp=bDNVDNN2yV<%VJ=ٔ ɺQ->9Y=Fy2:E>!Q 5-5%_?Q 9-5%()%BY1y5@Q I5@%dEI%;i%;%@5y9ɮ=A9eDNOT Ignoring new targets: 27.92 m.hihi*hq"hq hqgqfqfyfydydyjdyZd H@ZZZZ9@ =) Woi29)1ii񿉧Q8ҼIIie9@a @a@m0@iԙ^AcռIIO>E E|E"E"E:*EP$:VE(3ZEBE5;a2E6;aJE};a:E};a J`,v8u?A2j@2;@2?| =ٱ2)O FAHRS rotation from veh to nav: [[-0.360572,0.932072,0.035059],[-0.932127,-0.358732,-0.049498],[-0.033559,-0.050527,0.998159]]2H׿?@2?vֿ@W`.ީ?i2j@I28^;2CYV ByVIiMb@Mb@Mb@ 9~jtS㥻~jtYDy/ݽbA  A)|AYAbDVDfyeL%9=ٔQ->9Y=FyE>Q 55q\?Q 959()BY=Q E;y&*@Q I@I7:i3:B5y ɮ CA=DNOT Ignoring new targets: 27.92 m.h9h9*h9"h9 h9gAfAfAfE BdIdIjdIZdM1I@Zm=Zm=ZmcA@Zm&*@?| =) Li9)額Ifii~񿉧ԼIII@I @I@Mo0@I^AmѼIyIO>9 E  E vE E "E :*E :VE ZE a @a @a @a @f,Vu?A;ɰp;>P@>!@>=ٱ>N JAHRS rotation from veh to nav: [[-0.360936,0.931921,0.035333],[-0.932020,-0.359132,-0.048611],[-0.032613,-0.050477,0.998193]]>H ׿K?@1?ֿ 㨿ة1?i>P@I>M^;>CYR~ByRIbDZVDZybPQ%b\=ٔf&Q-f>9dYd=fFydjiEj>lQ 5r5ngY?Q 9r5n')nBYpyv"*@Q Iv@neEInw:in:n3D5yxɮzAx%DNOT Ignoring new targets: 27.92 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5aI@ZQZQZQZUI"*@m=)i mQim(9)imqiqiu񿉧ּIIm9@i @i@m4@i@u=@u=B[>BBIB~BB8 =BBBf;B&E9^AU&ּIaIyO>i l,$u?A02B@2@2n}=ٱ2N >AHRS rotation from veh to nav: [[-0.361523,0.931683,0.035600],[-0.931827,-0.359757,-0.047673],[-0.031608,-0.050408,0.998228]]2H1#׿Y?`3:?`C׿@h .`ϩ|?i2B@I22n^;2CYF~ByFI HHLNAiUMb@Mb@Mb@QQQQ Q9US㥛?MbX9~jtYU/9Y=FyJE>Q 55dV?Q 95')BYZ=Q E^A1IAIQu߀GO9YUA s,u?A22@2@2<ٱ2'N :AHRS rotation from veh to nav: [[-0.362454,0.931306,0.035997],[-0.931507,-0.360734,-0.046538],[-0.030356,-0.050399,0.998268]]2Hr2׿B?,n? B׿ӧ`ͩ ?i22@I2^;0YB~ByBIbDLVDLyVJϼ%VZ=ٔVZQ-V>9XYX=ZFyX^+E^>``Q 5f5bS?Q 9f5b')bBYhyjE@Q Ij@bfEIbK:ib:bG5ylɮnAp DNOT Ignoring new targets: 27.92 m.h h *h "h  h gfffddjdZd% I@ZZZZE@<) ;Oiw9)ii񿉧!%I!I!9@ @@/@E EEE"E*E,:VEZEa@a@a@a@!^AtۼIIO>A B A <B Z>B B IB ~BB 9 =B B B Hf;B &Ey,u?A:X@:)@:L<ٱ:N BAHRS rotation from veh to nav: [[-0.363474,0.930893,0.036406],[-0.931149,-0.361796,-0.045446],[-0.029134,-0.050418,0.998303]]:H&C׿?ƣ?@'׿@DT՝ XЩ?i:X@I:ʯ^;:~CYJ~ByNIbDVVDV:2y^1B%^G=ٔb$CQ-b>9`Y`=bFydf|,Ef>hQ 5n5jP?Q 9n5j')j}BYpyrE@Q Ir@jgEIj;ij;j~I5ytɮvPAt|DNOT Ignoring new targets: 27.92 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5 I@ZQZQZQZU~E@eL<)a e5Tim9)imx۵iiiiu~񿉧quIqI9@ @@@@@1Y^AIE EE'E"Es:*EVE'4ZEBE;a2E;aJE7;a:E7;aIOԁ ,v?AR܃@R׊@R<ٱRN ZAHRS rotation from veh to nav: [[-0.364812,0.930354,0.036779],[-0.930665,-0.363183,-0.044281],[-0.027839,-0.050383,0.998342]]RHY׿v?`Ԣ?e>׿󫦿`停˩j?iR܃@IR4_;RCYb~BybIIf=)fp;hj=iMMb@Mb@Mb@IIQII I9M?T㥛 I +YML=yMM94MAMX A I)M|AIYMAbDmVDmy}=%}>=ٔEQ->9Y=FyVYE>Q 55N?Q 95'){BYA=Q E#E  E sE #E "E :*E Z:VE 3ZE a @a @a @a @ ]҆,ǜv?A2{Ѓ@2Lˊ@2<ٱ2N :AHRS rotation from veh to nav: [[-0.366210,0.929787,0.037227],[-0.930151,-0.364623,-0.043229],[-0.026620,-0.050457,0.998371]]2Ho׿ ?@g?U׿ "'B@թ?i2{Ѓ@I2HL_;2CYB~ByFIbDNVDNܲy~<%~S=ٔNQ->9Y= Fy  M|E >Q 55K?Q 95()yBY!y%6Q I%@hEI;i;M5y)ɮ-A)UDNOT Ignoring new targets: 27.92 m.hQhY*hY"hY hYgYfafafadadijdiZdm dJ@ZZZZ&[@<) Ci~9)顥ii񿉧0IԹIQ@Q @Y@]0@YBqBqBuIBu~BBu8 =BqBqBuPf;Bu&E^AIIO>A %,@6v?A ɰ"4<>3ă@>@>|<ٱ>O FAHRS rotation from veh to nav: [[-0.367617,0.929207,0.037849],[-0.929633,-0.366067,-0.042166],[-0.025325,-0.050686,0.998393]]>H׿ ?`?@m׿`?i>3ă@I>YP_;9Y=FyeE>Q 55zH?Q 95w()zBYt=Q Eԑ j䓝,CSPv?A2@2T@2Bx<ٱ2zNP :AHRS rotation from veh to nav: [[-0.368953,0.928658,0.038317],[-0.929132,-0.367439,-0.041247],[-0.024225,-0.050819,0.998414]]2H@׿ ? =?t׿@D@iΘ ?i2@I2XC_;2CY^ BybI ``bDjVDjfyrj=%rY=ٔvu?Q-v>9tYt=vFytz!xEz>|Q 55~E?Q 95~()|Yy 0Q I @~iEI~4:i~$:~P5yɮ&A=DNOT Ignoring new targets: 27.92 m.hAhA*hA"hA hAgAfAfIfIdIdIjdQZdU`J@ZZZZ5a@EBx<)A E?iEO9)AMIiIiM~񿉧QquIyIyI)-9@) @)@-0@1E E~E!E"E:*E(:VEc3ZEa@a@a@a@ԡ^AuyIIO>Ba Ba Be IBe ~BBa Ba Ba Be Sf;Be &EB)B)B)B)B)C-n4 ,s.jv?A>k@><@>h<ٱ>O FAHRS rotation from veh to nav: [[-0.370446,0.928055,0.038513],[-0.928563,-0.368974,-0.040355],[-0.023241,-0.050712,0.998443]]>Hb׿࠲? ?@ʶD׿h̗>?i>k@I>D^;9 Y = FyME>Q 5%5B?Q 9%5'))Y)y-1Q I-@I:i-:[R5y1ɮ5A1DNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd`K@ZAZAZAZEAa@}h<)y }L6i}9)顅+ii񿉧U- IIU9@Y @Y@e4@qE E{E#E"E:*E5":VE3ZEBEm%) ,V v?A6]@6.@6n<ٱ6O >AHRS rotation from veh to nav: [[-0.371819,0.927502,0.038600],[-0.928035,-0.370387,-0.039554],[-0.022390,-0.050530,0.998471]]6H@׿@?mã?vi׿y@`U햿`ߩz?i6]@I6>^;6CY^JBy^IiEMb@Mb@Mb@AAAA A9E{Gz?{Gz:v?YE#=yEףET9iYq=uFyquvgEu>yQ 55}??Q 95}=))}~BY=Q Eԁ E  E E E "E %:*E ;J:VE ZE a @a @a @a @9!,v?A06@6덊@6H<ٱ6N >AHRS rotation from veh to nav: [[-0.373215,0.926933,0.038816],[-0.927495,-0.371817,-0.038784],[-0.021517,-0.050476,0.998493]]6H׿n?ߣ? `׿oۣ ש?i6@I6a^;4YF^ByF IIJ<)J9`Y`=bFy`b{Ef>dQ 5j5fB B IB ~BB B B B Qf;B &EԹ^AmIyIO> ,N,ηv?AV@VЇ@Vo<ٱVO\ bAHRS rotation from veh to nav: [[-0.373910,0.926636,0.039204],[-0.927227,-0.372524,-0.038408],[-0.020986,-0.050712,0.998493]]VH`%׿`?~?ثo׿>f}@?iV@IV^;VCYnxBynIE] EYE]!EY"E]C:*EYVE]c3ZEYBE]%;ae2E]';amJE];am:E];amiMb@Mb@Mb@ 9ʡE:v?Yyy<bA lA)YAbDVDk1yl=%6=ٔٚQ->9Y=%Fy!%]ٺE%>)Q 555-8?Q 955-()-BY=v=Q E=;y=0@Q I=@)I-:i-:-W5yAɮEwAAuDNOT Ignoring new targets: 27.92 m.hqhq*hq"hq hqgyfyfyf}VBddjdZd`K@Zv=Zv=Z˖@Z0@o<) LiO9)Pii-~񿉧)-I)I19@ @@@^A 4I I) OE >9 4,Mv?Aɰ2݈@2@2Ԩ<ٱ2mP :AHRS rotation from veh to nav: [[-0.374381,0.926432,0.039537],[-0.927046,-0.373001,-0.038162],[-0.020608,-0.050940,0.998489]]2H׿ T?">?@\=׿ 2?i2݈@I2/];2CYFByF/IbDNVDN0yVܯ=%Ve=ٔZ䊺Q-Z>9XYX=ZFyX^E^>`Q 5f5b5?Q 9f5bj()bBYdyj0@Q Ij@blEIb :ib:b^Y5yn8BɮndAl DNOT Ignoring new targets: 27.92 m.h h *h "h  h g fffddjd!Zd%K@ZAZAZAZE0@UԨ<)Y ]Di]9)Y]\Yiaie񿉧amsIiIi9@ @@/@@=@=AEm Em{Em$Ei"Em:*Em5":VEm4ZEiau@au@au@au@^A53IAIQO]v>qԙ B Z>B B IB ~BB B B B $f;B &Ei I A],yv?A6q@6B@6Je<ٱ6FQ BAHRS rotation from veh to nav: [[-0.374656,0.926313,0.039702],[-0.926939,-0.373278,-0.038057],[-0.020433,-0.051060,0.998487]]6H^׿[?`S?{׿4|I씿 $?i6q@I6];4Y^By^JI ddbDnVDnyz=%zF=ٔ~U޹Q-~>9Y=Fy 7;E >Q 5%51?Q 9%5')BY)y-0@Q I-@mEIi@;i&%;-[5y9ɮ=A9mB*** querying acoustic contact ***ii iiyDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd@L@ZZZZ'0@Je<) :iO9)iiu񿉧quZIqIy 9@  @ @ 0@ ԩ=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.E EzE%E"E1:*E :VE 4ZEBEy;a2Ez;aJEv;a:Ev;a^AIIO> D,Qw?ADP\v9tYv- A5I@5@5u5<ٱ5RQ EAHRS rotation from veh to nav: [[-0.374560,0.926348,0.039800],[-0.926975,-0.373173,-0.038197],[-0.020532,-0.051200,0.998477]]5H׿?`?ȩ`׿M6?i5I@I5>F];1Y]By]`IiMb@Mb@Mb@ 9X9v/$ÿV-?Yy< A)YpAbDVD0y=%9=ٔYl9Q->9Y=Fy%u9E%>)Q 5-5-!-?Q 955-&)-BY5">Q E5;y5#@Q I=@-nEI- ;i- ;-]5yE5BɮEAEE*DAT read: user:603> BDAT read: Tx time:05:57:47.2206 $Ping request sent.Ze">Ze>f@Ze#@u5<) =Ji9)Yii񿉧II e9@a @a@e/@i1^A I I O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250988E  E E $E "E a:*E ,:VE 4ZE a @a @a @a @Y nǝ,,w?A2@2@2<ٱ2Q :AHRS rotation from veh to nav: [[-0.374400,0.926415,0.039746],[-0.927036,-0.373006,-0.038345],[-0.020698,-0.051203,0.998474]]2H@*׿1?Y?@H S׿1:7`?i2@I2/];2C1YByoIbD VD2yT=%==ٔ9Q->9Y=FyA9E>Q 5 5o(?Q 9 5&)BYIyM#@Q IM@oEIVB1B5IB59BB1B1B1B5e;B5&Ea9@ @@00@@@fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504976ԉ^A I I O > ͝,9w?Avi@v:@v<ٱvQ~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755064  AHRS rotation from veh to nav: [[-0.373863,0.926636,0.039643],[-0.927246,-0.372458,-0.038607],[-0.021009,-0.051193,0.998468]]vH `׿ ?@L? X׿Fģ@i@5r?ivi@Iv];vCiIIitUA !!)!! %r@!!))-sAI)))i)E= E=rE9E9"E=C:*E=?:VE9ZE9BE=%;aE2E=';aMJE=yY;aM:E=zY;aM)QIQQQ Q]@CYYiYYiaediA)e aIaYaYu Byu{IԉiMb@Mb@Mb@ 9sh|?~jtȿQ?YyD<AX A lA)Y=A p<p<bDVD:y E=%J=ٔ 9H:Q- >9 Y =Fy :E>Q 5%5l#?Q 9E5m$)BY}bX>Q E}{;yq@Q I@pEIC_ZbX>ZN@ZCq@<)  Wi19)^!i i 񿉧|%III!)%eAԹ9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006936^A I I O% > %ԝ,rRw?A2I@2@2(<ٱ2{P :AHRS rotation from veh to nav: [[-0.373422,0.926832,0.039220],[-0.927415,-0.372014,-0.038810],[-0.021380,-0.050866,0.998477]]2H#׿ ??b׿ޣ`䕿 @?i2I@I2J];2CY-By-IbDEVDE0yI=%d=ٔg:Q->9Y=Fy<:E>Q 55?Q 95#)BYyz@Q I@qEI:i[:Pb5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd@L@ZZZZqz@-(<)) -MNi-79)15kO1i1i=񿉧9=uI9IA9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259129DIzDIEU EUuEU*EQ"EU,:*EU:VEU(N4ZEQae@ae@ae@ae@^A3IIO>I A% AAA! B) B) B- -IB- BB- 9 =B) B) B- fe;B- u&E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511127mڝ,9Y=Fy%;E>Q 55O?Q 95>!)BYy@Q I@sEI:i:\d5yɮADNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZdM@ZZZZ@=<)A E5JiMc9)IM>IiIiU񿉧QU؃IQIY9@ @@2@@=@=ԁ%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763072bE3jE3rE)0E]~ E]E]"EY"E]:*E]R:VE](3ZEYBE]f;au2E]g;auJE];au:E];auԱ ^AE IY Iq O >,w?A6@6@6⋹<ٱ69O@ BAHRS rotation from veh to nav: [[-0.370959,0.927843,0.038691],[-0.928373,-0.369510,-0.039818],[-0.022648,-0.050690,0.998458]]6Hɽ׿?`Pϣ?;`׿@b@0`]?i6@I6];6~C H)JkAJ+HHLLiNILLIPiRr@ PP)PVfC TVV7FTTZkAIX)XiX)XIX^\\ \\\`i``Y`Yf$ByfIiUMb@Mb@Mb@QQQQ Q9U:vnʿ{Gz?YUԽyUVUףQ Eb;y3@Q I@tEI ;i ;e5yɮAUDNOT Ignoring new targets: 27.92 m.hQhQ*hY"hY hYgYfYfaféBdadajdiZdm =M@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015154Zo>Zo>Zb@Z3@⋹<) zTi9)ii~񿉧: II!ԩ@ @@/@^A I) IA OM > - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266991Em | Em qEm $Ei "Em :*Em $ :VEm 4ZEi au @au @au @au @J,qw?A>;@> @>:&<ٱ>'P RAHRS rotation from veh to nav: [[-0.369446,0.928451,0.038590],[-0.928959,-0.367968,-0.040424],[-0.023332,-0.050783,0.998437]]>H׿޵?@£?ʌ׿ o 9䗿B2?i>;@I>u];>CpY)y)bDUVDU2ye %eL=ٔm:Q-m>9iYi=uFyqu;Eu>yQ 55}?Q 95})}BYyO@Q I@}vEI}p:i}:}g5y1BɮhAEDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffddjdZd^nM@ZZZZO@ :&<)  Ti 9)  ii񿉧II!@ @@/@ BW>BBSIBBBBBBUe;Bl&EBBBBBCĄ4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522983A^A II1O=>a ,y[w?A@@zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773323AEM EMmEM(EI"EMO:*EM:VEMc44ZEIBEM;a]2EM;a]JEMFG;a]:EMGG;a]uƒ@uk@u+<ٱuO AHRS rotation from veh to nav: [[-0.367808,0.929114,0.038266],[-0.929587,-0.366302,-0.041120],[-0.024188,-0.050696,0.998421]]uH+׿ M?? -}q׿ Ę`?iuƒ@IuB];uCYByIi5Mb@Mb@Mb@1111 195y&1A`"˿~jt?Y5`y5Y5D<53A5( A 5A)11Y5=AbDVDk1y %*=ٔN:Q->9Y=Fy!l;E>!Q 555%; ?Q 9=5%)%BY=u>Q E=];y=@Q I=@%xEI%3;ai% 2;%i5yiɮmAiDNOT Ignoring new targets: 27.92 m.hh*h"h hgfffʁBdd jd Zd @M@Z-u>Z-u>Z-Q>@Z-@E+<)A E WiE9)IM;յIiIiU񿉧QU)sIQIQ9@ @@/@@fA@ԑBDAT read: Rx Time:05:57:49.6713 TRx dataTimestamp_ set to:1761544671.192116checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024054 ^A I I O% >{,Nw?A2Ѓ@2ˊ@2(<ٱ2TO >AHRS rotation from veh to nav: [[-0.366179,0.929766,0.038052],[-0.930209,-0.364643,-0.041788],[-0.024978,-0.050698,0.998402]]2Hzo׿?@{?E@QV׿ 9e`?i2Ѓ@I2];0YV ByVI^=^=bDbVDbܲyj<%j=ٔj&;Q-n?9lYl=nFylr;Er?tQ 5z5vN?Q 9z5v)vBYxyz@Q I~@vyEIv-:iv:v k5yɮA-DNOT Ignoring new targets: 27.92 m.h1h1*h1"h1 h1g1f1f9f9d9d9jdAZdE`M@ZaZaZaZe@u(<)y }Ti},9)y}뵉yiyԑi񿉧6II @ @@q0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275042EE EEqEE!EA"EEҝ:*EE$ :VEEc3ZEAaU@aU@aU@aU@^A;IIO>B B CB lIB BB B B B `e;B q&E)  DAT read: 05:57:49.6713 LVL= 11104, 10977, 15026, 16019, AGC= 54, IDX= 10, 0.24, 0.055,-0.135,-1.512,-0.003, PHS= 0.160,-0.086,-1.553, RAW= 37.6, 18.1, CAL= 34.1, 20.9, ROT= 115.9, -20.9  Ygot valid direction response: 05:57:49.6713 LVL= 11104, 10977, 15026, 16019, AGC= 54, IDX= 10, 0.24, 0.055,-0.135,-1.512,-0.003, PHS= 0.160,-0.086,-1.553, RAW= 37.6, 18.1, CAL= 34.1, 20.9, ROT= 115.9, -20.9  PDAT read: Bearing 170.6, 56.2 (Local)  ~Local bearing/azimuth received: Bearing 170.6, 56.2 (Local)  DAT read: Range 11 to 50 : 34.9 m (Round-trip 46.6 ms) speed -0.2 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.408062,0.840371,0.356738] Fpublishing direction and range infoy  tr%ڿ) I #>i ƿ '? ?> :\? ú>) (v@I ú m;h)?״' _I? N) TI (v@i ú t, w?A ރ@؊@Y<ٱYtO mAHRS rotation from veh to nav: [[-0.364679,0.930366,0.037783],[-0.930779,-0.363121,-0.042343],[-0.025675,-0.050610,0.998388]]HV׿?ZX?`a=׿ uJ驿@?i ރ@I];YByIbDVDk1y|%9=ٔ $:Q- >9 Y =Fy15 l;E5>9Q 5E5=s?Q 9E5=)=BYIyM@Q IM@=zEI=:i=:=l5yɮAiiw?AJi BRi Bji=btLM,=$=@4(@Rtr%ڿy ,x?Aɰp;2@2@2<ٱ21O :AHRS rotation from veh to nav: [[-0.363205,0.930948,0.037663],[-0.931339,-0.361625,-0.042834],[-0.026256,-0.050635,0.998372]]2H>׿R?H?$׿W⚿쩿?i2@I2];2CYF ByF}IiMMb@Mb@Mb@IIII I9MEԸnʿMbpYMƽyMVMMbAMX A M A)MMAIYMpAbDeVDeβyu %uT=ٔu::Q-}>9yYy=}Fyyȇ;E>Q 55V?Q 95U)BYk>Q Ef;y@Q I@|EIP ;i ;n5yɮ-ADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffBddjdZdP?Zk>Zk>Z9@Z@<) =Jik9)!%!i!i-񿉧)- I)I)I=eA)=fAi9@ @@4@@=@=ԁ^A+OIIO>ԩEm | Em Em $Ei "Em :*Em ?:VEm 4ZEi au @au @au @au @ / ,ؼ!x?AV`@V1@V!<ٱV#O ^AHRS rotation from veh to nav: [[-0.361787,0.931510,0.037411],[-0.931873,-0.360189,-0.043310],[-0.026868,-0.050532,0.998361]]VH'׿`?'? @W ׿,`eGߩ?iV`@IV];TYjByjwI llbDvVDv1y~%~R=ٔ$:Q->9Y = Fy  <;E >Q 55?Q 95)BY!y%@Q I%@}EIr;i];[p5y)ɮ-YA1]DNOT Ignoring new targets: 34.68 m.hYhY*hY"hY hYgafafafadidijdiZdm@|?ZZZZԘ@!<) Mi)9)顭ii񿉧8ڼIIԱm9@i @i@u/@q-PExceeded connect timeout, disconnecting.BuV>BqBqBqBqBqBqBube;Bur&E^A޼IIO>) 7,j;x?A0E5 E5qE5"E1"E5:*E5$ :VE5(3ZE1BE5;ae2E5;aeJE5U;ae:E5U;am5@5Q@5.<ٱ5dO AHRS rotation from veh to nav: [[-0.360289,0.932093,0.037343],[-0.932438,-0.358668,-0.043777],[-0.027410,-0.050592,0.998343]]5H ׿?@?`@kֿi`_A穿`m?i5@I5o];5~CYuBy}fIԉi=Mb@Mb@Mb@9999 99=x&Gzǿ:vY=7y=p==T=A= A 9)99Y=AbDUVDUyeM%e=ٔe:Q-m>9iYi=mFyiuK;Eu>yQ 55}?Q 95})yYI>Q E;y?@Q I@}EI};i}>;}r5y-BɮAEDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffxBddjdZd@N? CMGay%!K9)Y-8AZ]I>Z]I>Z]n@Z]?@m.<)i m@imU9)qu+qiqi񿉧ZмIIM9@I @I@M4@I@UgA@UgA ^A &ּI I O >PR,QVx?A(6 @6@6<ٱ6B*O >AHRS rotation from veh to nav: [[-0.359304,0.932479,0.037203],[-0.932807,-0.357672,-0.044066],[-0.027785,-0.050536,0.998336]]6Hֿ?`@ ? ֿᏦ@sߩ]?i6 @I6[];6CYFByFLIbDRVDR0yV %Z=ٔ^:Q-^?9\Y\=^Fy\bh;Eb?dQ 5E5f꓊?Q 9E5f)fBYAyEQ@Q IM@fEIf nManaging dock network, ignoring radio surface power off B B B SIB BB B B B Ae;B b&Ei I u,px?A2^@2/@2<ٱ2N :AHRS rotation from veh to nav: [[-0.358475,0.932803,0.037078],[-0.933117,-0.356836,-0.044288],[-0.028082,-0.050475,0.998330]]2H@Bֿ??dֿeשR?i2^@I2];2}CYBByB<IIF<)F4< J9XYX=ZFy\^;`Eb>dQ 5j5f哊?Q 9j5f)dYhyj_@Q Ij@fEIf:if:fu5ypɮrApDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffd!d!jd!Zd%7@ZZZZ}_@<) Qi5_9)1=T9i9iE񿉧AEüIAIA@ @@/@E EE!E"Es:*ErN:VEc3ZEBE;a2E;aJEV;a:EV;a^A5¼IAIYOu>A =_",x?A2@2@2<ٱ2HO :AHRS rotation from veh to nav: [[-0.357819,0.933052,0.037148],[-0.933365,-0.356171,-0.044414],[-0.028210,-0.050565,0.998322]]2H@ֿ`?? ֿl ✿㩿A?i2@I2J];2CYBByB/IiMb@Mb@Mb@ 9Q'1ZĿ9IYI=MFyIMM:EU>YQ 5e5]?Q 9e5])]BYe&>Q Ee;ye%@Q Ie@]EI]a:i]:]w5yu*BɮuAuE=DNOT Ignoring new targets: 34.68 m.h9h9*hA"hA hAgAfAfIfMQBdIdIjdiZdu5Q@Z&>Z&>Z1Ԑ@Z-%@<) Bi9)ϴi i񿉧]II!I9@ @@@@=@=q^AIIO>E  E E &E "E :*E VL:VE 4ZE a @a @a @a @ԙ (,ǣx?Aɰ4<2@2@2`<ٱ2qO :AHRS rotation from veh to nav: [[-0.357608,0.933133,0.037132],[-0.933449,-0.355965,-0.044299],[-0.028119,-0.050503,0.998328]]2H ֿ:??#ֿN@#˜}۩M?i2@I2G];2|CYZBy^'IbDfVDfkyn%nQ=ٔrtQ-r>9pYp=rFytv:Ev>xQ 5~5zbܓ?Q 9~5z)zBYy%@Q I@zEIzL;izj;z6y5y ɮ +A =DNOT Ignoring new targets: 34.68 m.h9h9*h9"h9 hAgAfAfAfIdIdIjdIZdM@?@ZqZqZqZu%@ԁ`<) Fi.9)页ii񿉧/II59@1 @1@50@1BBB3IBBBBBBe;BI&Eԩ^AU*IaIyO{> .,ıx?AbE53jE53rE5k0EZ EZzEZ#EX"EZO:*EZ :VEZ3ZEXBEZ;ar2EZ;avJEZv;av:EZv;az58@5 @5$<ٱ5>O UAHRS rotation from veh to nav: [[-0.358156,0.932914,0.037358],[-0.933255,-0.356532,-0.043813],[-0.027555,-0.050556,0.998341]]5Hֿn?@ ?:lֿn`Z7@⩿h?i58@I51];5CYuiByuIyyi-Mb@Mb@Mb@)))) )9-I +?T㥛 {GzY-949YYY=]FyYeߜEe>iQ 5u5maד?Q 9u5m9)mBYu>Q E};y}6@Q I}@mEIm:im:mV{5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfff*BddjdZd#" @Z>Z>ZB@Z6@$<) :i9)$Kii ~񿉧  ¼I I y@y @y@}_0@)^A I I O >Q 5,A~x?AY~TBy~IbDVDfy%E%%w=ٔ%Q--?9)Y)=-Fy)5E5?9Q 5U5=ӓ?Q 95= )=BYyQ I@=EI=sԡB A <B B B IB WBB B B B d;B !&EBuɺCBuɺCBqBu9 =Bu9 =Cuɐ3Թ ;,Yx?A6@6@68<ٱ6JO BAHRS rotation from veh to nav: [[-0.358546,0.932760,0.037461],[-0.933114,-0.356934,-0.043544],[-0.027245,-0.050568,0.998349]]6H lֿ+? .?``ֿnK@3替 䩿y?i6@I6 ];6~CYJHByJIbDRVDRyZ-%ZR=ٔ^/PQ-^>9\Y`=bFy`bEb>dQ 5j5fϓ?Q 9j5f )fBYlyn6@Q In@fEIf;if;f|~5yr&BɮrAvEDNOT Ignoring new targets: 34.68 m.hh*h"h hgfff!d)d1jdAZdMw@ZiZiZiZm6@8<) ICif9)額ii񿉧{qżIIԑM9@Q @Q@U/@Q@]@]@]@]E EtE#E"E:*Ev:VE3ZEBEͽ;a2Eν;aJE`;a:E`;aI1IAO]v> B,4 y?A2 @2~@2<ٱ2!O :AHRS rotation from veh to nav: [[-0.359250,0.932486,0.037536],[-0.932855,-0.357653,-0.043183],[-0.026843,-0.050529,0.998362]]2Hֿ?7?`ֿ@|@ީ?i2 @I2d];0YvDByvIIx)z<~=~=iMb@Mb@Mb@ 9{Gz?"~jMbY#=yS㽙A A ? A)Y(AbDVDk2y%:=ٔpQ->9Y=Fy`ߺE>Q 55˓?Q 95 )BY=Q E;yfG@Q I@EI3:i ;h5yɮ&A-DNOT Ignoring new targets: 34.68 m.h)h)*h)"h) h)g)f1f1f5 Bd9d9jd9Zd=6@Z==Z==Z=Lݡ@Z=fG@m<)i m5iu9)quqiqi}񿉧y} ʼIyI%9@! @!@%/@!I9IIOU2>I E  E lE "E "E s:*E :VE (3ZE a @a @a @a @H,^%y?A 2W@2(@2r<ٱ2KN :AHRS rotation from veh to nav: [[-0.360203,0.932114,0.037638],[-0.932502,-0.358627,-0.042739],[-0.026340,-0.050493,0.998377]]2H ׿@?VE? ֿ ᥿+ک`?i2W@I22-];2CYb&BybIbDjVDj:yr̠%rZ=ٔvFQ-z>9Y = Fy0Em>qQ 5}5uǓ?Q 9}5u{ )uBYyVG@Q I@qIuD;iu@;u5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd@ZZZZVG@r<) H=iA9)Bõ i i ~񿉧yѼIIBYBYqB]IB]BBYBYBYB]d;B]&E9@ @@/@I9IQOe>ԙ  O,8?y?AEB EB}EB E@"EBa:*EBk&:VEB3ZE@BEBW;aV2EBX;aZJEB;a^:EB€;a^lxɰzp;Y ByIi5Mb@Mb@Mb@1111 195S㥫?~jtxY5/]=y5̽5Ļ5A1 1)5 A1Y5AbDUVDUy]H.%e'=ٔeQ-e>9iYi=mFyimEm>qQ 5}5u-Ó?Q 95u )uBY=Q E;yAQ I@uEIu* ;iu2 ;u,5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffBddjdZd'@Z=Z=Z@Z"Q@ )  0i 9) m۵ii񿉧dмII!9@ @@/@IIOH>!Q U,Xy?AY8ByI !!))bD5VD5β9yE|=%Mu=ٔIQ-M?9QYQ=UFyQQEU?YQ 5e5]?Q 9e5] )YYiyiQ Im@]EI] :i]:]5yqɮuTAyDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd@&@ZZZZ) *i9)ii񿉧?мIIE EoE$E"Eҝ:*E:VE4ZEa@a@a@a@I@I @Q@U/@Qqԑ^A¼IIO>BQ BQ BU IBU ~BBQ BQ BQ BU d;BU &E &\,ry?A2k@2<@2<ٱ2dO :AHRS rotation from veh to nav: [[-0.363621,0.930765,0.038163],[-0.931217,-0.362097,-0.041482],[-0.024792,-0.050621,0.998410]]2HE׿@? ?@,׿%=@b@ 멿?i2k@I2=[];2|CYBGByBIbDZVDZy9=%O=ٔfQ- >9 Y = Fy oE>Q 5%5@?Q 9%5 )BY!y%CAQ I%@I];i$:Z5y1ɮ5A1]DNOT Ignoring new targets: 34.68 m.hYhY*ha"ha hagafafifididijdiZdu@Б@ZZZZP@ԙ<) &iA9)页ii񿉧&\IIm9@q @q@ur1@q^AcռIIO>E E}EE"EC:*Ek&:VEZEBE%;a2E&;aJEa:Ea ЀG  9 Y A b,R|y?A2Rރ@2#ي@2U<ٱ2hO :AHRS rotation from veh to nav: [[-0.364658,0.930357,0.038220],[-0.930820,-0.363148,-0.041201],[-0.024453,-0.050600,0.998420]]2H@V׿@{? ?G =׿@Z @J詿 ?i2Rރ@I2eM];2CYVWByZIi5Mb@Mb@Mb@1111 195Q?|?5^~jth?Y5u=y5ҽ5D;11 5( A)57A1Y1bDVD1y^=%A=ٔRQ->9Y=Fy+E>Q 55?Q 95")BY3=Q E;y ?Q I@EI* ;ia;35yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfff Bd d jd Zd D@Z53=Z53=Z5@Z5S@EU<)A E0iE9)IMa IiIiU~񿉧Y] IYIa9@ @@4@@p=@=^A+OIIO%>!Qi I E  E yE "E "E O:*E :VE (3ZE a @a @a @a @y 3i,y?AR|˃@RMƊ@R<ٱR9O ZAHRS rotation from veh to nav: [[-0.366802,0.929511,0.038274],[-0.929991,-0.365312,-0.040789],[-0.023932,-0.050556,0.998434]]RHy׿`??| Fa׿@Q⤿ v⩿,?iR|˃@IR p];RCYbmBybIIf<)fj=j=bDnVDnNyvLe=%vT=ٔzٰQ-z>9xYx=zFy|~)ûE~>Q 5 5:?Q 9 5R)BYy0?Q I@EI$:i:㊑5yɮAMDNOT Ignoring new targets: 34.68 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd] @ZZZZR@ <)  +i99)U)QiQi]񿉧Y]nIaIaBW>BBIB~BB8 =BBBd;B&E 9@  @ @ 4@a^A1I9IIO]>ԉ p,Fy?AEU| EU}EU%EQ"EU :*EUk&:VEU 4ZEQBEU!;a}2EU";a}JEQa:EQaYUByU IԩiMb@Mb@Mb@ 9I +?Cl绿I +?Y94=y;߽94<zAA  A) AY\AbDVD:y =% -=ٔQ->9Y=FyE>!Q 5-5%?Q 9-5%V)%BY5=Q E5;y56HQ I5@%EI%:i%:%5y=#Bɮ=A=EmDNOT Ignoring new targets: 34.68 m.hihi*hi"hi hqgqfqfqf}BdydyjdyZd}@Z%=Z%=Z%@Z%I@1)1 5(i59)9=#9i9ie񿉧aej)IaIi59@1 @1@54@1 ^A] rIa Iy O >1 i6v,y?A(ɰ*;F@F@F <ٱF/P NAHRS rotation from veh to nav: [[-0.368363,0.928887,0.038430],[-0.929374,-0.366863,-0.040922],[-0.023913,-0.050790,0.998423]]FH B׿r?@&?o@z׿@|/?iF@IF.];FCYVByZ/IbDbVDbk1yj>=%jx=ٔjarQ-j?9!Y)=-Fy)-꡻E-?1Q 5=55i B B B IB %BB B B B Qd;B %Eh`|,By?A Fͷ@F@F<ٱF#P NAHRS rotation from veh to nav: [[-0.369036,0.928616,0.038526],[-0.929107,-0.367530,-0.041004],[-0.023918,-0.050927,0.998416]]FH I׿9??`?`׿@}}`?iFͷ@IFэ];DYZByZBI \\bDbVDb0yj=%jJ=ٔn;7Q-n>9pYp=rFypr`Ev>tQ 5z5vW?Q 9z5v])vBY|y~]HQ I~@tIv;iv;v'5yɮ ?A 5DNOT Ignoring new targets: 34.68 m.h1h1*h1"h1 h9gfffddjdZdZ @Z!Z!Z!Z%I@]<)Y ]"i]9)Ye6aiaie~񿉧imIiIiq 9@  @ @ /@ ԡiIbEU4jEUc3rEUdz0E} EE%E"E݉:*E*5:VE 4ZEBED;a=2EE;a=JE;aE:E;aM^A5GI9IQO]> LS, z?A2_@20@2Q^<ٱ2D P :AHRS rotation from veh to nav: [[-0.369536,0.928429,0.038254],[-0.928901,-0.368024,-0.041243],[-0.024213,-0.050775,0.998416]]2Hx׿ ??׿`+˘@7 ?i2_@I2N];0DYFByFIIiMb@Mb@Mb@ 9 rh?X9vMb?YC9AYI=MFyIMӨEM>QQ 5]5U?Q 9]5U )UBYe4>Q Ee;ye9@Q Ie@UEIU ;iU` ;U5yiɮmAqDNOT Ignoring new targets: 34.68 m.hh*h"h hg9fAfAfELBdAdIjdIZdM@1!@Z4>Z4>Z(@Z9@Q^<) 5i9)页Bii񿉧Iu IIԹ9@ @@0@^A IIO >E  E sE &E "E ~:*E Z:VE 4ZE a @a @a @a @ r,'z?A:̰@:@:;<ٱ:)CP BAHRS rotation from veh to nav: [[-0.369824,0.928318,0.038143],[-0.928777,-0.368298,-0.041592],[-0.024562,-0.050808,0.998406]]:H4׿ȴ??`2׿{K`&?i:̰@I:g];:~CYNByN\IbDVVDVy^=%^T=ٔbn:Q-b>9`Y`=fFydfVEf>hQ 5n5j&?Q 9n5j )jBYpyr9@Q Ir@jEIj ;ij;j5ytɮvAt|DNOT Ignoring new targets: 34.68 m.hh!*h!"h! h!g!f!f)f)d)d)jd1Zd5!@ZQZQZQZU9@m;<)i m-im9)imMiiqiu񿉧y}fT IyIy9@ @@N0@@%=@%=)^A5C IAIQYOew>ԁ Z,{Az?AEr ErnEr%Ep"Er:*Er:VEr 4ZEpa @ܫ@<ٱ<P AHRS rotation from veh to nav: [[-0.369791,0.928342,0.037879],[-0.928775,-0.368246,-0.042098],[-0.025132,-0.050748,0.998395]]H׿?d? V׿Ӎ`G?i @Iw];}CYBykII5<)5p;i Mb@Mb@Mb@     9 ~jtxV-¿Mb?Y Ļy h  dA p A ) A Y A %p99YA=EFyAE8EE>IQ 5U5M?Q 9U5M )MBY]u>Q E];y]Z.@Q I]@MEIM:iM:Mʕ5yaɮe4AiDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffYBddjdZd"@Zu>Zu>Zq@ZZ.@<) .iC9)Yiԉi񿉧6 IIY@Y @Y@] 0@aԱ^A% M I1 IA OM > ,XV[z?A2w@2H@2!<ٱ2%O :AHRS rotation from veh to nav: [[-0.369967,0.928280,0.037683],[-0.928696,-0.368411,-0.042399],[-0.025476,-0.050682,0.998390]]2H׿y?'K?߷ ׿\ K@?i2w@I2];2CԹYUByUxIbDVDkyT=%U=ٔj:Q->9Y=FyE>Q 55?Q 95o )BYyX.@Q I@EI/t;i;y5yɮADIzDIDNOT Ignoring new targets: 34.68 m.hh*h"hE EqE$E"E:*E$ :VE4ZE hgfffddjdZd #@ZZZZX.@U!<)Q U(ie9)imciiiiu~񿉧qu IqIy9@ @@0@A@AA@AB V>B B :IB BB 9 =B B B e;B &EB9B9B9B9B9C= 4^A% l I1 IA OI 9 z,0uz?Aɰ:@:g@:n<ٱ:O FAHRS rotation from veh to nav: [[-0.369834,0.928344,0.037424],[-0.928732,-0.368260,-0.042907],[-0.026051,-0.050626,0.998378]]:H]׿?K)?-׿멿 ?i:@I:f];8HHiJuILLILiL PP)PP PPTTTTIT)TiX)XIXXX X\\\i\\i`bhiA)b `I`Y`YjByjIbDrVDryz=%zi=ٔ~i:Q-~>9|Y=Fy9E? Q 55 撓?Q 95  ) BYy\.@Q I@ EI ] ;i  ; 5y!ɮ%|A)UDNOT Ignoring new targets: 34.68 m.hQhQ*hQ"hQ hQgQfYfYfYdadajdaZde\$@ZZZZf\.@n<) "ih9)顥mii񿉧 IIi@q @q@u/@q@y@yAEu EuEu#Eq"EuU:*EuR:VEu3ZEqBEu;a2Eu;aJEu;a:Eu;a^A II1O=>qԙ Z, z?A2㴃@2@25+<ٱ2O :AHRS rotation from veh to nav: [[-0.369340,0.928548,0.037228],[-0.928909,-0.367737,-0.043553],[-0.026751,-0.050668,0.998357]]2HC׿ ??׿Ld`?i2㴃@I2`];2}CYByIiMb@Mb@Mb@ 9&1{GzĿ rh?YPy#C<zA  A)YAbDVDy<%==ٔ:Q->9Y=Fy:E>Q 554?Q 95 )BY,>Q E;y8@Q I@EI3:i:ᚑ5yBɮ,A-DNOT Ignoring new targets: 34.68 m.h)h1*h1"h1 h1g1f9f9f={Bd9dAjdAZdE :%@qZ,>Z,>Z@Z8@55+<)9 =0i=r9)9=x9i9iE񿉧AE@aIAIIIq)q9@ @@ /@ ԡ^AM  IQ Eu  Eu wEu $Eq "Eu a:*Eu :VEu 4ZEq a} @a} @a} @a} @Iy O > l,z?A2@2@2G<ٱ2hHO :AHRS rotation from veh to nav: [[-0.368783,0.928784,0.036870],[-0.929107,-0.367156,-0.044225],[-0.027538,-0.050565,0.998341]]2H$׿???{׿@@2㩿h?i2@I2Q];2~CY%$By%IbD=VD=1yE+=%M4=BIBIBMYIBMBBIBIBIBMe;BM&Eٔe:Q-e>9aYi=mFyimݩ:Eu>qQ 5}5u>?Q 95us )uBYyD@Q I@uEIu:iu:uޜ5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd`"&@ZZZZAD@G<) +is9)   i i񿉧9eII9@ @@/@1 ^A l I I! O- >Y ,z?AE EE"E "E:*E0:VE(3ZE BE4;a2E6;aJEۉ;a:Eۉ;a   }G9Y A )iIQFIir@ )YC I)i ) 3CI   IF iYY-7By-Ii-Mb@Mb@Mb@)))) )9-i|?5I +ƿ{Gz?Y-qy-94-#<)) ))-A)Y-(AbDEVDEyUİ=%U9=ٔUQ-]>9YYY=]FyYeEe>iQ 5u5m?Q 9u5m)mBYu[>>Q Eu;y}F@Q I}@mEIm~ ;im ;mȞ5yɮBADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffBddjdZd@/'@Z[>>Z[>>Z(r@ZF@9)9 =5i=9)AEAiAiM~񿉧IMڭIiIqI9@ @@/@ @=@=q ^A- I9 IY O} >]Ҷ,ǜz?A02ȃ@2Š@2 <ٱ2P >AHRS rotation from veh to nav: [[-0.367138,0.929438,0.036811],[-0.929720,-0.365449,-0.045472],[-0.028811,-0.050918,0.998287]]2H 1׿@?آ?`D@c׿ H`?i2ȃ@I2QH];2CY-ByI-=-=bD5VD502yE|%E=ٔE;Q-M?9IYI=MFyIU;EU?YQ 5e5]p?Q 9e5]$)]BYayee@Q Im@]EI]:i]:]5yqɮuAqDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd'@Z!Z!Z!Z%e@E <)I M:iM9)IM3Iii񿉧6,IIE1 E5E5%E1"E1*E5.:VE5 4ZE1aE@aE@aE@aE@ԙ9@ @@/@@@@@ԹIIIaO}>B) B) B- rIB- BB) B) B) B- e;B- &E ',vz?A.̓@.Ȋ@.8<ٱ.'P :AHRS rotation from veh to nav: [[-0.366477,0.929711,0.036499],[-0.929964,-0.364775,-0.045903],[-0.029363,-0.050765,0.998279]].H]t׿0??ByX׿K?i.̓@I.]5];,\YM4ByMIbD]VD]ym=%mH=ٔu:Q-u>9qYq=}Fyy}]:E}>Q 55{?Q 95)BYyr@Q I@EI:i:㡑5yɮYADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd n(@ZZZZ#r@8<) 27i9)ii%񿉧!%[I!I)9@ @@/0@IIO>EE EEuEE!EA"EEҝ:*EE:VEEc3ZEABEE;aU2EE;aUJEEed;aU:EEed;aUA Þ,T{?Aɰ2Ճ@2ϊ@2A<ٱ2,0O :AHRS rotation from veh to nav: [[-0.365650,0.930052,0.036100],[-0.930269,-0.363935,-0.046371],[-0.029990,-0.050539,0.998272]]2Hf׿?{? @J׿`6੿?i2Ճ@I23m];2CYN5ByRIi-Mb@Mb@Mb@)))) )9-#~jʡEƿ{Gzt?Y-㥽y--2-ף;-A-ZA - A)-A)Y-\AbDEVDEyU/;%UL=ٔU-:Q-U>9YYY=]FyYee;Ee>iQ 5u5mw?Q 9u5mh)m BYuD>Q Eu;yuG@Q I@mEIm\ZD>Zڈ@ZtG@A<) (iE9){ii񿉧pxII IE9@A @A@Ep0@AIYIiO}7>qEU  EU zEU %EQ "EU :*EU  :VEU 4ZEQ a] @a] @a] @a] @ԡ ʞ,<.*{?A6Fۃ@6֊@6.<ٱ6ŽN BAHRS rotation from veh to nav: [[-0.364946,0.930338,0.035851],[-0.930533,-0.363225,-0.046648],[-0.030377,-0.050384,0.998268]]6HE[׿T?` [?`@?׿C⧿ ˩`?i6Fۃ@I6ms];6CYJ0ByJI LLNANAbDVVDVkyZ[%^U=ٔ^:Q-^>9`Y`=bFy`f?;Ef>dQ 5j5fr?Q 9n5f)fBYlynT@Q In@fEIf;if;fP5ytɮv{AtDNOT Ignoring new targets: 34.68 m.hh*h"h hgff!f!d!d!jd!Zd-*@ZQZQZQZUGT@m.<)q u+iu9ԁ)q顅ii~񿉧bzIIBBBxIBBBBBBXe;Bl&E59@1 @1@54@1IAIQOe=ԡ bEjE3rEַ/EY  E] uE] $EY "EY *E] :VE] 4ZEY BE] ;am 2E] ;am JEY au :EY au ў,OD{?ABD@Bۊ@Bf<ٱBM NAHRS rotation from veh to nav: [[-0.364375,0.930573,0.035559],[-0.930747,-0.362654,-0.046830],[-0.030683,-0.050160,0.998270]]BH@Q׿`A?4? 5׿$~k`?iBD@IB!q];B~CY/ByIԹbDVDy&3%,=ٔ(:Q->9Y=Fy:E>Q 55m?Q 95F)BYy^@Q I@EI;i;e5yBɮdAEMDNOT Ignoring new targets: 34.68 m.hIhQ*hQ"hQ hQgQfQfYfYdYdYjdaZde*@ZZZZ^@f<) ,i9)ii%񿉧AEIAII@ @@4@^A ;I I O >9 0מ,%^{?A2R@2"@2<ٱ2XN :AHRS rotation from veh to nav: [[-0.363571,0.930882,0.035690],[-0.931055,-0.361835,-0.047039],[-0.030874,-0.050332,0.998255]]2HD׿?E?3N(׿`gũ?i2R@I2z];2CYB)ByFIiMb@Mb@Mb@ 9T㥛 Zd;Oǿ{GztYyj<ףdAp A )YbDVD:y%Z=ٔ:Q->9Y=Fyt;E>Q 55h?Q 95 )BY8G>Q E;y,@Q I@EI;ib;5y ɮ A =DNOT Ignoring new targets: 34.68 m.h9hA*hA"hA hAgAfAfIfM{BdIdIjdIZdU@³+@Zu8G>Zu8G>Zu=@Zu,@<) (i9)額ii񿉧IIE EE#E"EU:*E*5:VE3ZEa@a@a@a@M9@I @I@M/@IAAQAUAABaBaBerIBeBBaBaBaBee;Be&E^AGI I O% > ]ݞ,x{?A2@2@2o<ٱ2N :AHRS rotation from veh to nav: [[-0.363067,0.931075,0.035790],[-0.931249,-0.361324,-0.047111],[-0.030932,-0.050434,0.998248]]2H`~<׿^?@S?`׿@ `ҩ`?i2@I2P];2}CYB(ByBIJ=J=bDNVDN0yVx%V`=ٔVj'9Q-Z>9XYX=ZFy\^:E^>`Q 5f5bBd?Q 9f5b)bBYdyf5@Q Ij@bEIb1:ib:b5ylɮnAlDNOT Ignoring new targets: 34.68 m.hh *h "h  h g f ffddjdZd`n,@Z9Z9Z9Z=5@Mo<)Q U)iU9)QUYiYi]񿉧ae|IaIa9@ @@/@@gA@gA E E}E%E"E:*Ek&:VE 4ZEBE4;a2E6;aJE;a%:E€;a%1^AmIIO>A B,8ܑ{?A2#@2@2<ٱ2:O :AHRS rotation from veh to nav: [[-0.362568,0.931262,0.035977],[-0.931443,-0.360816,-0.047175],[-0.030951,-0.050614,0.998239]]2HQ4׿?k?a׿L' "ꩿ?i2#@I2xY];2CYjByjIi]Mb@Mb@Mb@YYYY Y9]ʡE+ǿY]y]v>]]A] A ]( A)] AYYYbDu VDu2y%A%>=ٔ<88Q->9Y=Fy:E>Q 55^?Q 95D)BY#N>Q E;y@@Q I@EIf;i;5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffoBddjdZdK-@Z#N>Z#N>Z<@Z@@-<)1 5(i9)页2ii~񿉧:IIQ9@ @@/@y^AIIO >E  E uE &E "E ҝ:*E :VE 4ZE a @a @a @a @ԩ Bl,|{?Aɰ2@2@2<ٱ2^O :AHRS rotation from veh to nav: [[-0.362164,0.931418,0.036019],[-0.931599,-0.360410,-0.047196],[-0.030978,-0.050648,0.998236]]2H-׿`-?q?׿* @?i2@I2&,];2}C@YbBybIbDnVDn1yzI%zT=ٔ~8Q-~>9Y=Fy Ԓ:E >Q 5-5=Z?Q 9-5)BY1y5G@Q I5@EI;i<25yɮ?ABBBeIBBBBBBee;Bs&EBBBBBC4MDNOT Ignoring new targets: 34.68 m.hIhI*hI"hI hIgIfQfqfqdydyjdyZd}@1#.@ZZZZG@<) -i_9)ܸii%񿉧!%^޼I!I!ԩ!@! @!@%/@!^A ߼I I O > E%  E% E% $E! "E% O:*E% *:VE% 4ZE! BE% 9AYI=MFyI]9Ee>Q 555T?Q 955A)BY9yEJ@Q IE@EI/9Y=Fy9E>Q 55QP?Q 95J)Yw*>Q E;y"@Q I@EI ;i ;ӱ5yɮHADNOT Ignoring new targets: 34.68 m.hh*h"h hgE EE!E"E:*Eg:VEc3ZEa@a@a@a@fff_Bdd jd Zd@/@i)I)ZUw*>ZUw*>ZUn@ZU5"@e+<)a ef&ie89)額öii񿉧 ݼIIaE9@A @A@E~0@AԑBBBYIBBBBBB-e;BX&E^Ae S޼Iq I O >Թ ,sI{?A20@2@2·<ٱ26M :AHRS rotation from veh to nav: [[-0.362117,0.931441,0.035910],[-0.931646,-0.360415,-0.046224],[-0.030112,-0.050194,0.998285]]2H,׿\?b? ׿՞`?i20@I2G];0YBByFrIbDNVDN yVo%V]=ٔV Q-V>9XYX=ZFyX^[ E^>Q 5%5K?Q 9%5Z)Y)y-"@Q I-@EI:i:~5y5Bɮ5A5EeDNOT Ignoring new targets: 34.68 m.haha*ha"ha hagifififidqdqjdqZdu@6?0@ԙZZZZ"@·<) .i9)页ȶii~񿉧޼IIu9@q @q@u4@qE ErE$E"EO:*E?:VE4ZEBE;a2E;aJEyY;a:EzY;aG1^AqڼIIO>Q a9 Y { A ,+|?A2(@2@2<ٱ22PM :AHRS rotation from veh to nav: [[-0.362239,0.931391,0.035974],[-0.931614,-0.360560,-0.045740],[-0.029631,-0.050082,0.998305]]2H@.׿? "k? h׿9k Wc@?i2(@I2gD];2CY^By^sIronly read 0 of 1 data item for BIT error. Device response is::TS,00050309462678,35.0, +100,1491.3, 0 ar@ar ar@ar ar@ar ar@ar bDvVDvk2y~;%~E=ٔQ->9Y= Fy  E >Q 551G?Q 95])BQ A%+:Y!Q E%;y%"@Q I%@EI1;i>촑5y)ɮ-A1DNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd`0@]<)Y ]\.i]9)Y]ζYiaie񿉧ame߼IiIi%9@) @)@-)0@)@1@1!^AMtۼQIYIO>E E~EE"Ea:*E(:VEZEa@a@a@a@y ,m-|?AN,@N@N!x<ٱN%M ^AHRS rotation from veh to nav: [[-0.362586,0.931249,0.036154],[-0.931500,-0.360931,-0.045136],[-0.028984,-0.050043,0.998326]]NH4׿? ?`@~׿@󭝿5`J?iN,@IN8Z];LYnBynhIbD~VD~ky !*%I=ٔѺQ->9Y=Fy%kE%>!Q 5-5%yB?Q 955%])!Q A5 :Y1Q E5Q;y5"@Q I5@%EI%:i%O?%5yAɮEAAmDNOT Ignoring new targets: 34.68 m.hihi*hi"hq hqgqfqfyfydydyjdZd`1@BBBFIBBBBBBd;B@&EM!x<)I M2iMD9)IM-ԶQQiQi}񿉧y}IyIM9@I @I@M/@Iԁ^Am߼IIԱO> E  E tE E "E :*E v:VE ZE BE ;a 2E ;a JE `;a :E `;a 4,F|?Aɰ4<6@6m@6s<ٱ6ȇM ^AHRS rotation from veh to nav: [[-0.362769,0.931166,0.036454],[-0.931447,-0.361133,-0.044607],[-0.028372,-0.050137,0.998339]]6H7׿ ??i׿֦~ @e?i6@I6V];6CYzBy~kIbD VD k1y=,<%=G=ٔENúQ-M>9qYy=}FyQE>Q 55=?Q 95R)Q A59Y1Q E=);y="@Q IE@EIK~1 O,`|?A>@>}@><ٱ>k!N FAHRS rotation from veh to nav: [[-0.362995,0.931065,0.036780],[-0.931376,-0.361372,-0.044154],[-0.027819,-0.050284,0.998347]]>H@P;׿H?@Ԣ?@ ׿@i|׾`v?i>@I>>];9Y=FyE>Q 55b9?Q 95)Q AT:Y >Q E;y.@Q I@EIW;i[;Ѹ5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfff&BddjdZd 1@Z% >Z% >Z%\@Z% .@=<)9 =zi=l9)9=޶AiAiE~񿉧IMYIIIIE1 E5rE5&E1"E1*E5?:VE54ZE1aE@aE@aE@aE@9@  @ @ /@ 9BBB:IBBBBBBd;B3&E^AIIO>a ,ސz|?A 2@2@2_<ٱ2M >AHRS rotation from veh to nav: [[-0.363222,0.930973,0.036853],[-0.931300,-0.361618,-0.043731],[-0.027386,-0.050205,0.998363]]2H?׿? cޢ?5@$׿c@ `~?i2@I2t];2CYFByFoIbDRVDRN2yZ0u<%ZZ=ٔZQ-^>9\Y\=bFy`b&Eb>dQ 5j5f}5?Q 9j5f;)dYhyn.@Q In@fEIf9:if;fu5ypɮrApDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffd!d!jd!Zd%@A2@ZAZAZAZE(.@]_<)Y ] i]9)Yeⶉaiaie񿉧im2IiIiq9@ @@0@bEIjEM4rEM/EE EEEE#EA"EEs:*EE,:VEE3ZEABEE;a]2EE;a]JEE7;a]:EE7;a]ԡ^A II!OM> `$,k|?A:@:@:<ٱ:M BAHRS rotation from veh to nav: [[-0.363799,0.930739,0.037089],[-0.931094,-0.362220,-0.043132],[-0.026710,-0.050225,0.998381]]:H|H׿?\?@.׿g`Y ?i:@I:b];:~CYJByNkIPi%Mb@Mb@Mb@!!!! !9%Mb``"MbpY%y%%%MA%A % A)%lA!Y%p AbD= VD=2yM%MA=ٔUѺQ-U>9QYQ=]FyY]Ee>aQ 5m5e}1?Q 9u5e)aYu=Q Eu;yu20@Q Iu@aIe;ie;eO5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffBddjdZd{2@Z=Z=ZD@Z 20@<) = iH9)綉ii񿉧/II9@ @@/0@^A I I1 O= >Em  Em {Em &Ei "Em :*Em 5":VEm 4ZEi a} @a} @a} @a} @! +, H|?ABz@BJ݊@B<ٱByM JAHRS rotation from veh to nav: [[-0.364170,0.930591,0.037164],[-0.930963,-0.362613,-0.042654],[-0.026217,-0.050132,0.998398]]BHN׿f?8?s 5׿ؚ֥ꪩ@?iBz@IBt];BCYjByhIr%=)r;bDvVDv|y~X;%P=ٔQ->9 Y = Fy  E>Q 5%5-?Q 9%5>)Y!y%+0@Q I%@EI ;i ;5y5Bɮ5A5EBABABE@IBEBBABABABEe;BEH&E}DNOT Ignoring new targets: 34.68 m.hyhy*hy"hy hgfffddjdZd3@ZZZZl+0@<)  il9)붉ii񿉧IIm9@q @q@u4@q)Q^AIIO>ԁ E]  E] zE] $EY "E] C:*E]  :VE] 4ZEY BE] %;am 2E] &;am JE] v;am :E] v;am =1,\|?A2ރ@2aي@2<ٱ2M :AHRS rotation from veh to nav: [[-0.364621,0.930403,0.037427],[-0.930806,-0.363088,-0.042034],[-0.025519,-0.050164,0.998415]]2H U׿?)?* <׿k! ?i2ރ@I2x];0YFByFvIbDNVDNk1yV-=%VM=ٔZQ-Z>9XY\=^Fy\^E^>dQ 5j5f*?Q 9j5f)fBYhyn#0@Q In@fEIf:ifq:fĿ5Ayɮ{ADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffdd!jd)Zd-3@ZZZZj#0@<) i9)Y𶉢ii~񿉧=^II i9@ @@4@ԙ^A GI I O > 8,|?Aɰ;YByIiMb@Mb@Mb@ 9MbPʡEYyyACA  A)YԹbDVD:2y=%;=ٔQ->9Y=FyE>Q 55&?Q 95D)BY=Q E;y0@Q I@EIiH:5yɮA%DNOT Ignoring new targets: 34.68 m.h)h)*h)"h) h)g)f)f1f5(Bd1d9jd9Zd=@3@Z]=Z]=Z]@Z]0@i)q u= iu9)q}wyiyi}񿉧IIE E}EE"E:*Ek&:VEZEa@a@a@a@9@ @@/@B9A=<BABABEFIBEBBABABABE1e;BEY&EBBBBBCE4^A58I9IQO]>9 KE>,|?A6]ك@6-Ԋ@6,<ٱ6jO BAHRS rotation from veh to nav: [[-0.365222,0.930140,0.038106],[-0.930598,-0.363712,-0.041237],[-0.024497,-0.050522,0.998422]]6H_׿??uG׿ݩ?i6]ك@I6];4YJByJIR@AR@AbDVVDVJy^Ey<%^]=ٔ^a5Q-b>9`Y`=bFy`fEf>hQ 5j5j"?Q 9n5j)jBYlyn0@Q Ir@hIj;ij];jIÑ5ytɮvAtDNOT Ignoring new targets: 34.68 m.hh*h"h hgff!f!d!d!jd)Zd-`G4@ZIZIZIZM0@e,<)a eie49)imiiii}񿉧@IIM9@I @Q@U/@Q@]=@]=AE{ EoEE"E=:*E:VEZEBE;a2E;aJEN;a:EN;a^A+OIIO >ԑԹ ,E,}?A2Ճ@2Њ@2B<ٱ2O :AHRS rotation from veh to nav: [[-0.365629,0.929975,0.038223],[-0.930449,-0.364136,-0.040857],[-0.024077,-0.050503,0.998434]]2Hwf׿[? 쑣?@=N׿'뤿`z۩ +?i2Ճ@I2];0Yf!ByfIiUMb@Mb@Mb@QQQQ Q9U~jtxy&1~jth?YUĻyU`彙UD;QQ U A)UAQYUG AbD}VD}yA=%>=ٔQ->9Y=FyE>Q 55?Q 95Q)!BY=Q E;y-@Q I@EI;i;+ő5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfff0BddjdZd 4@Z%=Z%=Z%t@Z%-@ԑB<) i9)ii񿉧EII 9@ @@/@^A:WII O% >E ~ E zE "E "E :*E  :VE (3ZE a @a @a @a @ FYK,/}?A2҃@2̊@2p<ٱ2]O :AHRS rotation from veh to nav: [[-0.366055,0.929798,0.038456],[-0.930294,-0.364576,-0.040473],[-0.023611,-0.050591,0.998440]]2Hrm׿@?? `7U׿Ѹ-穿 9?i2҃@I22];2CYF2ByFIbDN VDN2yV²=%VY=ٔZqQ-Z>9XYX=^Fy\^"E^>`Q 5f5b?Q 9f5b)b#BYhyj-@Q Ij@bEIb9:ib:bƑ5BrU>BpBr_IBrBBpBpBpBrJe;Bre&EyYɮ]AYDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd5@ZZZZ-@Mp<)Q UiU29)QUQiQi]~񿉧Ye/IaIae9@a @a@e0@a^AIIO>A ! - C ЀG "9 Y A>R,jI}?AE2 E2uE2'E0"E2:*E2:VE2'4ZE0BE24;a:2E26;a:JE2ed;a::E2ed;a:Bn̓@B>Ȋ@BH<ٱBN NAHRS rotation from veh to nav: [[-0.366588,0.929588,0.038469],[-0.930094,-0.365131,-0.040050],[-0.023184,-0.050462,0.998457]]BH/v׿.? ,? UM^׿@}֩[?iBn̓@IBk];BCYTyTIZ4=)Z=bDbVDbٔjJQ-j>9hYh=nFyln Er>pQ 5v5r;?Q 9v5r])r%BYxyz-@Q Iz@rEIr:ir:rȑ5y|ɮ-DNOT Ignoring new targets: 34.68 m.h)h)*h)"h) h)g1f1f1f1d9d9jd9Zd=@}5@ZZZZ-@]H<)a aie9)iuii񿉧III1)1Y9@ @@@@@y^AIIOԩ hX,cEc}?A6LɃ@6Ċ@6 ^<ٱ6M@ BAHRS rotation from veh to nav: [[-0.367060,0.929407,0.038332],[-0.929916,-0.365624,-0.039687],[-0.022870,-0.050212,0.998477]]6H@}׿೽?1? df׿Q >ks`?i6LɃ@I6+w];6CYJBByNIi%Mb@Mb@Mb@!!!! !9%MbQ{Gzt?Y%y%%ף;%7A%ZA % A)%A!Y% AbD=VD=kyM=%M<ٔMGDQ-M>9QYQ=UFyQUE]>aQ 5m5e?Q 9m5e)e'BYm%=Q Em;ym(@Q Im@aIe:iez:elʑ5y}Bɮ}A}EDNOT Ignoring new targets: 34.68 m.hh*h"h hgfff`BddjdZd 5@Z]%=Z]%=Z]@Z]֟(@u ^<) \i9)顝ii񿉧IIE} E}rE}$Ey"E}:*E}?:VE}4ZEya@a@a@a@ԩi@i @i@mo0@iAA@ABV>BBxIBBBBBB?e;B`&E^AWgIIO> ^, }}?Aɰ2Dƃ@2@2H¸<ٱ2];2}CYFPByFIpbD VD y%-=%-M=ٔ5PQ-5>91Y9==Fy9EqEM>QQ 5e5U?Q 9e5U)U*BYiym(@Q Im@UEIUc;iUd;U.̑5yyɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd`R6@ZZZZE(@H¸<) i99)ii%񿉧!%I!I) -9@) @)@-4@)E EpEE"E:*E :VEZEBEH;a2EI;aJE2R;a:E2R;a1^A5rII Om >a ze,}?A2ƃ@2S@2<ٱ2$yM :AHRS rotation from veh to nav: [[-0.367380,0.929278,0.038393],[-0.929800,-0.365963,-0.039286],[-0.022458,-0.050131,0.998490]]2H&׿ॼ?:?k׿ V`@?i2ƃ@I2"];2CQYeOBymIiMb@Mb@Mb@ 9 rh rhy&1|?YC yC `;MAA  A)lAYbDVDy%p%-.=ٔ-xRQ-->91Y1=5Fy1=8E=>AQ 5M5Et ?Q 9M5E)E-BYM>Q EM;yUb!@Q IU@EEIE!;iEy;E9Α5y]Bɮ]A]EDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffnBddjdZd`6@Z>Z>Z@Zkb!@<) \i|9)  a ii~񿉧אI!I!i9@ @@@@=@ԑE  E wE &E "E ҝ:*E :VE 4ZE a @a @a @a @^A I I O > k,i}?A2ƃ@2@2c<ٱ2ҲM :AHRS rotation from veh to nav: [[-0.367360,0.929283,0.038472],[-0.929809,-0.365944,-0.039238],[-0.022385,-0.050186,0.998489]]2H`Ղ׿?`?@`k׿`떿ﱩ@?i2ƃ@I2,];B@B@BBIBB BB@B@B@BB e;BBG&E0LLiR`eIPPIPiP PT)TT Vr@TTTXXIX)Xi\)\I^tkA\\ \`bjA`i``idd)fO f#-FIdYdYn`BynIbDvVDv:y~=%u=ٔ eQ-?9 Y = Fy  چ8E ?Q 55A ?Q 9%5c)0BY!y!Q I%@EIf:i:ϑ5y)ɮ-wA1]DNOT Ignoring new targets: 34.68 m.hYhY*hY"hY hYgafafafadidijdiZdmh7@ZZZZb!@=c<)A EiE9)AE] AiAiM񿉧QUA]IQIQ9@ @@/@^ArIIO>1Q ʌr,}?AbEIjEMJ4rEM/E&~ E&nE&$E$"E&:*E&:VE&4ZE$BE&f;a.2E&g;a.JE&J;a.:E&J;a.bƃ@b@b<ٱbEM jAHRS rotation from veh to nav: [[-0.367336,0.929289,0.038557],[-0.929820,-0.365919,-0.039216],[-0.022334,-0.050257,0.998487]]bHp׿?Ľ?@9k׿ ޖ< ?ibƃ@Ib ];`Y}cBy}IbDVD:2yUY<%A=ٔQ->9Y=Fy8E>Q 554?Q 95|)3BYyQ I@EI$;iξ;ё5yɮ`AAEDNOT Ignoring new targets: 34.68 m.hIhQ*hQ"hQ hQgYfafifqdydyjdZd 47@ZYZYZYZ]b!@<) i9)顝 ii񿉧IIa]9@Y @Y@]/@Yԑ^A I I O >Թ x,P}?A2~Ƀ@2NĊ@2"ѷ<ٱ2(N :AHRS rotation from veh to nav: [[-0.367042,0.929399,0.038699],[-0.929934,-0.365614,-0.039365],[-0.022437,-0.050436,0.998475]]2H@}׿@?fУ?7f׿'ҩ@?i2~Ƀ@I21];2}CYlByII<)p;ԑiMb@Mb@Mb@ 9I +㥛 ¿9IYI=MFEU EUvEU&EQ"EUO:*EU:VEU4ZEQae@ae@ae@ae@yae3:Em>qQ 5u5u?Q 9}5uX)u7BY}j>Q E};y}X@Q I}@uEIu:iu:uӑ5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffBddjdZd7@Zmj>Zmj>Zmm@ZmX@"ѷ<)  i9)ii񿉧.II}9@y @y@}/@BA4=BBBIB:BBBBBd;B:&E@@^A I I O > ~,p}?ARʃ@RfŊ@Ri)<ٱRIN fAHRS rotation from veh to nav: [[-0.366917,0.929446,0.038744],[-0.929982,-0.365485,-0.039420],[-0.022479,-0.050495,0.998471]]RH{׿`?H֣?id׿@.کz?iRʃ@IR ];RC p)pr+pptvkAivIxxI|i~r@ ||)fC   I ) i )@CI ޑޑޑiޑޑYYuByIbDVD02yF=%f=ٔ8Q->9Y=Fy9E>Q 55?Q 95y):BYyZ@Q I@EI:ig:Ց5yɮA%DNOT Ignoring new targets: 34.68 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd=@9Z8@ZYZYZYZ]CZ@mi)<)q u`iu9)q}yiyi}~񿉧VpIIE9@A @A@E/@AE] E]sEYEY"E]:*E]Z:VEYZEYBE]H;am2E]I;amJE]];am:E]];am^ArII I O >2ʅ,H~?Aɰ6+΃@6Ȋ@6<ٱ6O BAHRS rotation from veh to nav: [[-0.366509,0.929608,0.038722],[-0.930138,-0.365069,-0.039584],[-0.022662,-0.050525,0.998466]]6Ht׿ Z?`hӣ?J]׿gD4mީ@n?i6+΃@I6\;6~CY%wBy%IiMb@Mb@Mb@ 9V-jtĿ{Gz?Ymy #<AA  A)Y AbD VD2y |<% F=ٔ g9Q->9Y=Fyފ:E>!Q 5-5%?Q 9-5%E)%>BY-+>Q E5;y5r@Q I5@%EI%;i%;%֑5y9ɮEAAmDNOT Ignoring new targets: 34.68 m.hihi*hi"hi hqgqfqfqf}BdydyjdyZd}8@Z+>Z+>Zx@Zr@<) \i9)顽$ii񿉧1wIII9@ @@0@y^AIIO>Em  Em rEm $Ei "Em 1:*Em ?:VEm 4ZEi au @au @au @au @Ա ,2~?ABBBIBIBBBBBd;B>&EBqBqBqBqBqCu3@V$҃@V̊@Vu<ٱVJ N rAHRS rotation from veh to nav: [[-0.366055,0.929801,0.038397],[-0.930309,-0.364612,-0.039797],[-0.023003,-0.050289,0.998470]]VHqm׿`?̨? U׿J` 0v?iV$҃@IVG];VCY{ByI bDVD0yʳ<%O=ٔxc:Q->9Y=Fy:E>Q 55?Q 95)BBYy{@Q I@EI|:i[:ؑ5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd,9@ZZZZ{@u<) % i9)cii񿉧3III)gAԱi@i @i@m0@i^AIIO> ڒ,K~?AE E}E#E"E~:*Ek&:VE3ZEBE;a2E;aJE;a:E€;a>xԃ@>Hϊ@>w<ٱ>TjM JAHRS rotation from veh to nav: [[-0.365789,0.929914,0.038194],[-0.930410,-0.364347,-0.039858],[-0.023149,-0.050116,0.998475]]>Hi׿@?,?xQ׿ Eh Dƨ ?i>xԃ@I>];>CYRuByRIbDZVDZ1|y5w %5T=ٔ=;9Q-=>99YA=EFyAE@:EE>IQ 5U5M?Q 9U5M)MFBYQy]@Q I]@MEIM;iM;MLڑ5yaɮeAaDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd9@ZZZZ@w<) wi9)ii񿉧 vII9@ @@4@1Y^AII1O=>ԁ ,ce~?A2؃@2ӊ@2Ww<ٱ2L :AHRS rotation from veh to nav: [[-0.365281,0.930120,0.038023],[-0.930604,-0.363836,-0.040000],[-0.023370,-0.049996,0.998476]]2H`׿?w?@I׿`z \?i2؃@I2cM];2}CYF}ByF Ii Mb@Mb@Mb@     9 L7A`尿oʡſ{Gzt?Y +y - ף; 7A  ) A Y  AbD%VD%y5*=%5J=Yٔ :Q->9Y=FyV:E>Q 55뒊?Q 95)IBY9>Q E;yX@Q I@EIO;i;ܑ5y BɮpA-DNOT Ignoring new targets: 34.68 m.h1h1*h1"h9 h9g9f9fAfEBdAdAjdAZdML9@Z9>Z9>Z@ZPX@Ww<) iW9)ii~񿉧IIE5 E5qE1E1"E5C:*E5$ :VE1ZE1aE@aE@aE@aE@ԉ@ @@4@A!A!B!B!B%IB%SBB!B!B!B%d;B%0&EԱ^AIIO> a6,6~?A>ރ@>jي@>-<ٱ>AL FAHRS rotation from veh to nav: [[-0.364634,0.930384,0.037779],[-0.930849,-0.363183,-0.040222],[-0.023701,-0.049832,0.998476]]>H'V׿?W?b>׿@`&E ?i>ރ@I>/];>CYN|ByNI V49dYd=fFydj:Ej>lQ 5r5n璊?Q 9r5nn)nLBYpyrd@Q Iv@nEInt:ink:nݑ5yxɮzyAxDNOT Ignoring new targets: 34.68 m.hh!*h!"h! h!g!f!f)f)d)d1jd1Zd5@&W:@ZQZQZQZUd@e-<)i mimA9)imqiqiu񿉧y}(IyIyԩ߀G9@ @@/@ @!@%fA)]9YY]AE5 E5|E5$E1"E5:*E5P$:VE54ZE1BE5[;aE2E5\;aEJE5};aE:E5};aE^A+O II!O5>1 ,z~?A6J@6@6W<ٱ6lL BAHRS rotation from veh to nav: [[-0.363758,0.930728,0.037759],[-0.931185,-0.362295,-0.040447],[-0.023965,-0.049873,0.998468]]6HG׿@? U? E/׿w]` s?i6J@I6.];4Y^zBy^IiMMb@Mb@Mb@IIII I9Mx&SſYM7yM/MMAMA M A)MlAIYM AbDeVDe2yuG%u@=ٔ}":Q-}>9yY=Fy;E>Q 55⒊?Q 95 )NBY<>Q E;y_@Q I@EI ;i ;ߑ5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffBddjdZd` :@Z<>Z<>Z؊@Z_@W<) i9)!%!i!iU񿉧QU IQIQ9@ @@/@Ay^A) I9 EU ~ EU zEU !EQ "EU :*EU  :VEU c3ZEQ ae @ae @ae @ae @Iq O >ԙ B B B B B B B B d;B &E)A,4f~?Aɰ4<2@2@2<ٱ2M :AHRS rotation from veh to nav: [[-0.362867,0.931072,0.037835],[-0.931525,-0.361389,-0.040717],[-0.024237,-0.050019,0.998454]]2H 89׿@X?_? !׿ؤј V?i2@I2@J];0Y By IbDVDky-=%-O=ٔ54:Q-5>91Y1=5Fy1=Z;E=>AQ 5M5ENޒ?Q 9M5E)EPBYIyUo@Q IU@EEIEB:iE:EZ5yYɮ]VAYDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd);@ZZZZo@<)  i9) ii񿉧Z4IIq9@ @@/@ԡ^AIIO> E]  E] }E] $EY "E] I:*E] k&:VE] 4ZEY BE] 9yYy=}FyyE>Q 55ْ?Q 95d)RBYyQ I@EIW:i:+5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd;@ZZZZ) i9)"ii%~񿉧!%PI)I)!9@ @@@@=@=A^A I1IAO >i R,~?A06@6@6C<ٱ6M BAHRS rotation from veh to nav: [[-0.361386,0.931643,0.037960],[-0.932093,-0.359889,-0.041032],[-0.024566,-0.050211,0.998436]]6H ׿`?`o?j׿!`'71?i6@I6)];6}CYJjByJIiMb@Mb@Mb@ 9Q뱿'1ZĿ~jthY\y"DA-A )AYz AbD5VD5ܲyEKE%EO=ٔMIZ:Q-M>9IYI=MFyIUڃ;EU>YQ 5e5]|Ւ?Q 9e5])]TBYe1>Q Em;ym@Q Im@]EI]:i]s:]5yqɮuAqDNOT Ignoring new targets: 34.68 m.hh*h"h hgfff_BddjdZd ;@Z}1>Z}1>Z}@Z}@C<) i9)顽$ii񿉧P@׼IIE-} E-|E-!E)"E-݉:*E-P$:VE-c3ZE)a=@a=@a=@a=@ԑ9@ @@0@BBBIBNBBBBBd;B &E^Au~E߼II O > :,?A2@2@2<ٱ2M :AHRS rotation from veh to nav: [[-0.360704,0.931909,0.037919],[-0.932354,-0.359205,-0.041082],[-0.024664,-0.050173,0.998436]]2H׿2?)j? 6ֿA?/?i2@I2O];0\YbfBybIbDjVDjfyr%rP=ٔv9Q-v>9tYt=zFyxzC:Ez>|Q 55~kђ?Q 95~)~UBY y @Q I @~EI~y:i~:~5yɮ-AEDNOT Ignoring new targets: 34.68 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdU\<@ZqZqZqZu@<) i9)顕&ii񿉧<ӼIIM9@Q @Q@U4@QbEjE3rEI"0E% E%xE%'E!"E%:*E%:VE%'4ZE!BE%;a52E%;a5JE%Po;a=:E%Qo;a=^Au߼IIO>I eƟ,N?A2@2@2<ٱ2 M :AHRS rotation from veh to nav: [[-0.360054,0.932162,0.037897],[-0.932604,-0.358553,-0.041108],[-0.024731,-0.050144,0.998436]]2H ׿`D?`Dg?`ֿ S |/?i2@I2lE];0YBZByBIIF<)F=iUMb@Mb@Mb@QQQQ Q9UMb333333ÿ:vYU@yUUTU AQ UZA)UVAQYU AbDmVDm1yT%A=ٔ$9Q->9Y=Fy:E>Q 55̒?Q 95)TBY!>Q E;y@Q I@EIL;i8;z5yBɮmAE-DNOT Ignoring new targets: 34.68 m.h1h1*h1"h1 h9g9fAfAfE7BdIdIjdIZdU@<@Z-!>Z-!>Z-q@Z-@E<)A E(ܾiE9)IM(IiIiu񿉧quμIqIyI)fAI%9@! @!@%5@!@)@-gAqE5  E5 }E5 "E1 "E5 :*E5 k&:VE5 (3ZE1 aE @aE @aE @aE @^A cռI I O >ԡ B B B IB DBB B B B d;B &E$̟,G4?A2 @2@2j<ٱ25BM :AHRS rotation from veh to nav: [[-0.359466,0.932390,0.037847],[-0.932829,-0.357968,-0.041090],[-0.024764,-0.050076,0.998438]]2H ׿$?`?ֿ `[5?i2 @I2f];2{CYB_ByBIbDNVDNk2yVr<%VY=ٔVN8Q-V>9XYX=ZFyX^:E^>`Q 5f5bɒ?Q 9f5b)bSBYdyf@Q If@bEIb[:ib:b5ylɮnDAlDNOT Ignoring new targets: 34.68 m.hh*h "h  h g f ffddjdZd )=@yZZZZ@j<) ׾i9)O*ii~񿉧ʼII9@ @@/@Ա^AѼIIO> E= | E= yE= (E9 "E= :*E= :VE= c44ZE9 BE= !;aM 2E= ";aM JE= r;aM :E= r;aM ӟ,N?AɰBN@B @B#<ٱBT/M JAHRS rotation from veh to nav: [[-0.359084,0.932537,0.037855],[-0.932977,-0.357587,-0.041048],[-0.024742,-0.050058,0.998440]]BH@;ֿ`X?@a? ֿ7U@)8?iBN@IB9];B~CYVYByVIbD^VD^2yf%fF=ٔf[Q-f>9hYh=jFyhns:En>pQ 5v5rĒ?Q 9v5r)rRBYtyv@Q Iz@rEIrg:ir:r5y|ɮ~wA|%DNOT Ignoring new targets: 34.68 m.h!h)*h)"h) h)g)f)f1f1d1d1jd9Zd=`S=@ZYZYZYZ]@m#<)q uCݾiu9)qu ,qiqԹi񿉧DȼII9@ @@/@^A̼I)IAOM>9 ٟ,och?A6@6m @6ش<ٱ6M BAHRS rotation from veh to nav: [[-0.358708,0.932673,0.038060],[-0.933125,-0.357210,-0.040974],[-0.024620,-0.050213,0.998435]]6H@ֿv?|? )ֿ5y.?i6@I6\$];4YJNByJIiMb@Mb@Mb@ 9I +DlMbY9yO  A)? AYbD5VD5kyE:Y%EE=ٔE*Q-M>9IYI=MFyIU~:EU>YQ 5e5]?Q 9e5])]PBYe>Q Em;ymg'@Q Im@]EI]@:i]H:]5yqɮuAqDNOT Ignoring new targets: 34.68 m.hh*h"h hgfff*BddjdZd=@Z>Z>ZѼ@Zpg'@ش<) (ܾi9)-i1iu񿉧y}żIyIE EtE%E"E :*Ev:VE 4ZEa @a @a @a @M9@I @I@I@I@U=@U=aBiBiBmIBm5BBiBiBiBmwd;Bm%EB)B)B)B)B)C-S4^AUǼIYIԑO>Թ ,2=?A.@. @.z<ٱ.N :AHRS rotation from veh to nav: [[-0.358805,0.932621,0.038424],[-0.933098,-0.357311,-0.040716],[-0.024244,-0.050462,0.998432]].Hֿ?`C?`/ֿؤOӘ@.֩'?i.@I.,];.CYRIByRIbDZVDZ0y~ּ%O=ٔyQ->9 Y = Fy  qE>Q 55?Q 9%5:)OBY!y%f'@Q I%@EI;i;q5y)ɮ5A1]DNOT Ignoring new targets: 34.68 m.hYhY*hY"hY hagafafafadidijdiZdmb>@ZZZZLf'@z<) vi9)顭/ii񿉧uƼIIԑm9@q @q@u/@qE EkE&E"E:*E:VE4ZEBE;a2E;a%JE?;a-:E?;a-^AQIaIqO{> 3,?A29@2 @2{<ٱ2?O :AHRS rotation from veh to nav: [[-0.358986,0.932544,0.038602],[-0.933035,-0.357498,-0.040516],[-0.023983,-0.050562,0.998433]]2Hֿ g?ã?k@>ֿ@z9㩿)?i29@I2];2}CYBGByFIiMb@Mb@Mb@ 9y&1|T㥛 QY`yuA )Y\ AbD VD2y%<=ٔQ->9Y=FyE>Q 5 5I?Q 9 5)MBY !>Q E ;y -@Q I @EI:i:W5yɮ AEDNOT Ignoring new targets: 34.68 m.hAhA*hI"hI hIgIfIfQfUBdQdQjdYZd]>@Z}!>Z}!>Z}?@Z}-@{<) Ѿi9)顕I1ii~񿉧f+ȼII9@ @@@!^AIIO>E%  E% E! E! "E% Ʊ:*E% 3:VE! ZE! a5 @a5 @a5 @a5 @I Be U>Ba Be IBe %BBa Ba Ba Be d;Be &Ej,?A 20 @2@2T<ٱ2O >AHRS rotation from veh to nav: [[-0.359448,0.932365,0.038628],[-0.932864,-0.357972,-0.040271],[-0.023720,-0.050510,0.998442]]2H1׿?ǣ?ֿmJjܩ`9\Y\=^Fy\bhEb>`Q 5f5b?Q 9j5b!)bKBYhyj-@Q Ij@bEIb :ib:b5ylɮrAp DNOT Ignoring new targets: 34.68 m.h h *h "h  h gfffddjdZd%!/?@ZAZAZAZE-@UT<)Q UӾiU9)Y]2YiYie񿉧aeY˼IaIim9@q @q@u0@qqԩ^AQIaIqO}{> Y]CG% 9) Y- Ay o$? A E  E E #E "E m:*E V:VE 3ZE BE R9tYx=zFyxz1ȺEz>|Q 55~?Q 9 5~)~IBY y -@Q I @~EI~:i~:~5yɮ AEDNOT Ignoring new targets: 34.68 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdUM?@ZqZqZqZu-@<) $Ҿi99)顕4ii񿉧ϼIIM9@Q @Q@U4@Q^Au̼IIO>! I,P?Aɰ;2@2@2<ٱ2}O :AHRS rotation from veh to nav: [[-0.360613,0.931903,0.038936],[-0.932429,-0.359152,-0.039826],[-0.023130,-0.050666,0.998448]]2H G׿`%?\?uZֿ deH?i2@I2,];2}CYFMByFI|iMMb@Mb@Mb@IIII I9M9Y=Fy۾E>Q 55?Q 95,)YL=Q E;y,6@Q I@I;;i:;5yBɮAEDNOT Ignoring new targets: 34.68 m.hh*h"h hg f f fBddjdZd"@@ZL=ZL=Z%1@Z,6@E EjE$E"E:*E9VE4ZEa@a@a@a@<) Ѿiy9)J6ii񿉧 ԼI I )5PExceeded connect timeout, disconnecting.@ @@4@B<A<B B B IB  BB B B B d;B ?&EQ^AM ѼIQ Ii Ou >ԁ ,D?A2@2X@2i*<ٱ2tP :AHRS rotation from veh to nav: [[-0.361237,0.931649,0.039204],[-0.932194,-0.359780,-0.039661],[-0.022845,-0.050873,0.998444]]2H`׿`??׿@yNd  `@?i2@I2gc];2~CY^KBybIdfAbDjVDjkyr%rT=ٔrAQ-v>9tYt=vFytzEz>Y|Q 5e5~㨒?Q 9e5~)~HBYiym!6@Q Im@~EI~n n,0b?AR@R@R><ٱR'Q bAHRS rotation from veh to nav: [[-0.361971,0.931356,0.039408],[-0.931916,-0.360517,-0.039514],[-0.022595,-0.051028,0.998442]]RH*׿ ?R-?@׿@8;#^ ;?iR@IRDh];R|CYnSByrIԹiMb@Mb@Mb@ 9~jt?rh|MbPYD9Y=Fy6E>Q 55?Q 95o)IBY =Q E ;y 7@Q I @EI:i:*5yɮAEDNOT Ignoring new targets: 34.68 m.hAhA*hA"hA hAgIfIfIfMBdQdQjdQZd]k@@Z}=Z}=Z}@Z} 7@><) 3iE9)顕Y9ii񿉧ݼII 9@  @@/@^A5ewּIAIYOm>E} EzE"E"E݉:*E :VE(3ZEa@a@a@a@% nManaging dock network, ignoring radio surface power offB B B IB %BB B B B d;B 4&EA h+ ,<7?AF@F@F<ٱF4Q RAHRS rotation from veh to nav: [[-0.362770,0.931037,0.039599],[-0.931612,-0.361321,-0.039325],[-0.022305,-0.051156,0.998442]]FH7׿ ?BF?`׿m"`9ז@-1;?iF@IF];F}CYZXByZIbDfVDfyjj<%n]=ٔn^MQ-n>9pYp=rFyprEv>tQ 5z5v͠?Q 9z5v)vJBY|y~7@Q I~@vEIv<;ivH;v5yɮ fA 5DNOT Ignoring new targets: 34.68 m.h1h1*h1"h1 h1g9f9fAfAdAdAjdAZdM ǚ@@ZiZiZiZm7@}<)y i9)顅:ii񿉧h]II9@ @@/@A^A57IAIQOew>yԙ bE˻ 4jE˔4rE0E  E rE %E "E 1:*E ?:VE 4ZE BE y;a 2E z;a JE yY;a :E zY;a s,Q?A2@2t@2<ٱ2ugQ :AHRS rotation from veh to nav: [[-0.363505,0.930753,0.039537],[-0.931327,-0.362062,-0.039249],[-0.022216,-0.051089,0.998447]]2H C׿@?3>?n ,׿s߿@\(G?i2@I2]];2CYF_ByFIIJ=)Ja=bDRVDRyVk=%VM=ٔZ=jQ-Z>9XY\=^Fy\=E=>AQ 5M5E?Q 9M5E)EKBYIyU7@Q IU@EEIEp:iEF:E5yYɮ],AYDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd@@ZZZZ7@5<)1 UЦiU9)Q] >,j?A2a@21݊@2{<ٱ2#Q :AHRS rotation from veh to nav: [[-0.364217,0.930477,0.039470],[-0.931051,-0.362779,-0.039196],[-0.022152,-0.051025,0.998452]]2HUO׿@x?`q5?* 7׿{P?i2a@I27D];0YFmByFIi-Mb@Mb@Mb@)))) )9-9Y=Fy`E>Q 5 5r?Q 9 5!)NBY >Q E ;y ,@Q I @I:i :u5yɮAEDNOT Ignoring new targets: 34.68 m.hAhI*hI"hI hIgIfIfQfU%BdQdYjdYZd]@A@Z>Z>ZH@Z,@{<) Ri9)顝=ii~񿉧oIE E|E$E"EC:*EP$:VE4ZEa@a@a@a@IBBBIB5BB: =BBBd;B9&Ee9@a @a@e0@aI ^A I I O >&!, Մ?A4<ɰ4<6}ۃ@6M֊@6<ٱ6ЬP >AHRS rotation from veh to nav: [[-0.365001,0.930175,0.039359],[-0.930745,-0.363569,-0.039119],[-0.022078,-0.050912,0.998459]]6H`,\׿ ?&?D׿@l `?i6}ۃ@I6=`];6~CYFvByJIbDRVDRyZA=%Z_=ٔZ"TQ-Z>9\Y\=^Fy\bEb>dQ 5f5fߔ?Q 9j5f)fQBYhyj,@Q Ij@fEIfD;if;f 5ypɮrvAp DNOT Ignoring new targets: 34.68 m.h h *h "h hgfffddjd!Zd%`X5A@ZAZAZAZE,@U<)Y ]yi]9)Y]>Yiaie񿉧amUIiIi9@ @@|2@IE EE%E"E:*E]t:VE 4ZEBE4;a2E6;aJE;a:E;aԁ^A5IAIQO]v>Ա Q',?A9Y=FyE>Q 55?Q 95)UBY>Q E;y"+@Q I@EI ;ie ;5yɮADNOT Ignoring new targets: 34.68 m.hihi*hq"hq hqgqfqfyf}?BdydyjdyZdnA@Z>Z>Z@ZD"+@<) pi9)f@ii񿉧UII)ԩ9@ @@2@^A8IE EqE"E"Ea:*E$ :VE(3ZEa@a@a@a@IO> B B B IB IBB B B B d;B +&EBaBaBaBaBaCeא4y-,DŽ?A2b҃@22͊@2<ٱ22P :AHRS rotation from veh to nav: [[-0.366032,0.929782,0.039064],[-0.930331,-0.364589,-0.039484],[-0.022469,-0.050795,0.998456]]2H@m׿@?C?EmU׿/7`Z?i2b҃@I2];0YFByFIbDNVDNN2yV4==%VZ=ٔZ(:Q-Z>9XYX=^Fy\l~E~>Q 5 5틒?Q 9 51)YBYy+@Q I@EI;i;5y=Bɮ=AEEDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZdşA@ZZZZ+@-<)) -i-9))5A1i1i=񿉧9E@IAII )@) @)@-4@)9^AMI_IYIyO>a E  E pE E "E *E  :VE ZE BE W;a 2E X;a JE 2R;a :E 2R;a xa4,_Ҁ?A2;Ѓ@2 ˊ@2q<ٱ2P :AHRS rotation from veh to nav: [[-0.366274,0.929688,0.039026],[-0.930228,-0.364815,-0.039815],[-0.022778,-0.050886,0.998445]]2Hq׿?`*? n!Y׿b)S@ @B?i2;Ѓ@I2];2CIYMByM%IbD]VD]k1ym(=%m1=ٔm0:Q-m>9qYq=uFyq}YE}>Q 55?Q 95i)]BYy+@Q I@EI ;iy;5yɮnA%DNOT Ignoring new targets: 34.68 m.h!h!*h)"h) h)g)f1f1f1d9d9jd9Zd=GA@ZaZaZaZe'+@uq<)q u۪iue9)y}5Cyiyi~񿉧1IIqU9@Q @Y@e4@aԑ^A I I O > ŋ:,;?A:Ѓ@:ʊ@:ɫ<ٱ:P FAHRS rotation from veh to nav: [[-0.366296,0.929684,0.038926],[-0.930207,-0.364814,-0.040308],[-0.023273,-0.050974,0.998429]]:Hcq׿`?$?@BY׿L ԗ M ?i:Ѓ@I:~];:|CPPiPIPPITiVUA VDT)XX Zr@\\\``I`)`i`)dIddd hhjjAlilliprdiA)r pIpYtYzBy~'II4=)<ԹiMb@Mb@Mb@ 9I +'1ZĿy&1?Y94y"`e< A )Y AbD]VD]1ymQ <%mJ=E EoE#E"E:*E:VE3ZEa@a@a@a@ٔt:Q->9Y=FyE>Q 55^?Q 95U)bBY)>Q E;y@Q I@EI:i:h5yɮ`AeDNOT Ignoring new targets: 34.68 m.haha*ha"ha hagafiffXBddjdZd mB@Z)>Z)>ZE(@Z@ ɫ<)  ¾i U9)Dii񿉧II!I)))B]T>BYB]IB]bBB]9 =BYBYB]qd;B]%E9@ @@/@@@^A I I) O= >9 rA,?A6΃@6aɊ@6a2<ٱ6P BAHRS rotation from veh to nav: [[-0.366455,0.929628,0.038751],[-0.930134,-0.364957,-0.040711],[-0.023703,-0.050962,0.998419]]6H s׿@? ף?u[׿ ؤ E ?i6΃@I6r];6}CY~By :I5ЀGIaQ9Y&AbDVD:y=%X=ٔ :Q->9Y=FyE>Q 55N~?Q 95b)gBYy@Q I@EI/:i': 5yQɮUAYDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd\>B@ZZZZ@a2<) ii9)"Fii񿉧II@ @@@IE EE%E"EO:*EVE 4ZEBE;a2E;aJEN;a:EN;aq^A I_I I) O= >ԡ G,?A;ɰ6΃@6Ɋ@6t<ٱ6[P >AHRS rotation from veh to nav: [[-0.366421,0.929648,0.038600],[-0.930135,-0.364904,-0.041164],[-0.024183,-0.050987,0.998407]]6Hrs׿ ?iã?Z׿o@PØ@@?i6΃@I6 ];6CqYy9IiMb@Mb@Mb@ 9 rhʡEƿ~jt?YCy-2D<AA ZA)? AY AbD-VD-:2y=%=3=ٔ=Ӊ:Q-E>9AYA=EFyAMϐ8EM>QQ 5]5Uy?Q 9]5U)UlBY]?>Q E];y]C@Q Ie@UEIU:iU:U 5ymBɮmAmEDNOT Ignoring new targets: 34.68 m.hh*h"h hgfff\BddjdZd@7vB@ZM?>ZM?>ZMߊ@ZMC@t<) Qi9)顝Gii񿉧pIIԡY@Y @Y@e/@aE E{E#E"E~:*E5":VE3ZEa@a@a@a@BU S>BQ BU IBU wB^Au WgIy I BU : =BQ BU NDBU 4d;BU %EO > M,9?A2σ@2Ɋ@2L<ٱ2MP >AHRS rotation from veh to nav: [[-0.366385,0.929673,0.038339],[-0.930136,-0.364852,-0.041606],[-0.024692,-0.050904,0.998398]]2Hr׿?$?`Y׿ jMH?i2σ@I2];2}C @)BkAFDDDFkAiFIHHIHiJr@ HH)HNYC NkALLPPPIR)PiP)TITVT TXZ vAXiXXYXYbBybMI ddbDjVDj1yr=%rz=ٔv:Q-v?9tYt=zFyxz8Ez?|Q 55~Nu?Q 95~)~pBY y E@Q I @|I~:i~:~o 5yɮ\ADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjd Zd  B@ZZZZE@L<) i9)Hii~񿉧mII@ @@0@^AI_II O >9 E  E yE E "E a:*E :VE ZE BE W;a 2E X;a JE r;a :E r;a Q IT,jT?A2σ@2ʊ@25T<ٱ2P >AHRS rotation from veh to nav: [[-0.366315,0.929714,0.038028],[-0.930150,-0.364768,-0.042008],[-0.025184,-0.050760,0.998393]]2H`q׿6? rx?@]X׿ə@>?i2σ@I2=];2~CY%By%QIbD9VD9yM j<%MA=ٔM;:Q-M>9QYQ=UFyQU/9E]>YQ 55]pp?Q 95]`)]uBYyG@Q I@]EI]Z Z,nm?AVЃ@Vˊ@Ve_<ٱVYO bAHRS rotation from veh to nav: [[-0.366184,0.929777,0.037740],[-0.930188,-0.364624,-0.042417],[-0.025677,-0.050637,0.998387]]VHo׿?`R? U׿@/K # ?iVЃ@IVz];V}ClY}By}HIi-Mb@Mb@Mb@)))) )9- rh^I +ǿ~jth?Y)y-X9-D;-A-A ))-( A)Y- AbDMVDMy]%e==ٔee:Q-e>9iYi=mFyim9E} E}EyEy"E}:*E}*5:VEyZEya@a@a@a@E>Q 55,k?Q 95)xBYF>Q E;y@Q I@EIm ;iq:05yBɮbAEDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffnBddjdZd "C@ZF>ZF>ZK@Zj@%e_<)! %pi%X9)!%K)i)i5񿉧15I1I1AAAA)BBBIBBB; =BBBd;B%E9@ @@4@Y^AWgIIO>ԁ a,y]?A2у@2̊@2<ٱ2oO :AHRS rotation from veh to nav: [[-0.366069,0.929824,0.037700],[-0.930225,-0.364495,-0.042720],[-0.025981,-0.050707,0.998376]]2H@m׿?YM?`gS׿dߥT@?i2у@I2H];0YBByBSI HJ<bDNVDN1yV~K=%Vk=ٔVd:Q-Z?9XYX=ZFyX^ڵ9E^?Q 5%5f?Q 9%5)zBY)y- @Q I-@EI:i1:5y1ɮ5A1YeDNOT Ignoring new targets: 34.68 m.hahi*hi"hi higififqfqdqdqjdyZd}`;C@ZZZZ @<) i9)页Mii񿉧IIm9@q @q@u0@q@y@yԉbE 3jE 3rE L/Ez EmE"E"El:*E:VE(3ZEBEܧ;a2Eݧ;aJEFG;a:EGG;aԱ^AIIO> g,9?A2ԃ@2Oϊ@2"<ٱ2P :AHRS rotation from veh to nav: [[-0.365756,0.929951,0.037593],[-0.930334,-0.364161,-0.043188],[-0.026472,-0.050770,0.998359]]2H h׿)?g??@L`iN׿?i2ԃ@I2x];2CYBByBIIiMMb@Mb@Mb@IIII I9M㥛 bX9ƿMb`YMyME6MMAMA MCA)M AIYM AbDeVDeyue%u>=ٔ}Е:Q-}>9Y=FyI:E>Q 55a?Q 959)|BYE>Q E;y:@Q I@EI;i;5yɮ^AԹDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffiBddjdZd`uqC@Z E>Z E>Z W@Z :@%"<)! %Ri%b9))-N)i)i5~񿉧15φI1I99@ @@/@^AI_IIO>E{ EE#E"E=:*E|;:VE3ZEa@a@a@a@B B B IB BB B B B c;B %E9 n,?Aɰ;2Ӄ@2Ί@2^<ٱ2rO :AHRS rotation from veh to nav: [[-0.365821,0.929937,0.037311],[-0.930299,-0.364220,-0.043454],[-0.026820,-0.050607,0.998358]]2Hi׿@ ? q?`O׿?v $驿?i2Ӄ@I2`];2|CY^Byb=IbDj VDj2yz?%~S=ٔ j:Q- >9Y=Fy%DE%>)Q 5=5-c]?Q 9=5-)-~BYAyE9@Q IE@-EI-f;i-pi;-H5yQɮUAY DNOT Ignoring new targets: 34.68 m.h h*h"h hg1f1f9f9d9dAjdAZdE C@ZZZZ9@^<) i9)顽Pii񿉧 hIIm9@i @i@i@iAԁ^AIIO>ԙ E  E zE $E "E :*E  :VE 4ZE BE 9tYt=vFytz>8Ez>xQ 55zX?Q 95zw)zBYy:@Q I@zEIz];izj;z5yɮnAEDNOT Ignoring new targets: 34.68 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdU]C@ZqZqZqZu:@\<) Pi9)顕Qii񿉧III)qI@Q @Q@U/@Q@]=@Yԩ^AqIIO> ({,?AY~By~CIiMb@Mb@Mb@ 9{Gz/$ſ{GztYףy,ףAA )Y= AbDVDkyU%>=ٔQ->9Y=FyE>Q 55T?Q 95)BY>>Q E;y@Q I@EIK ;i ;5yɮA DNOT Ignoring new targets: 34.68 m.h h *h "h hiIgff!f%ZBd!d)jd)Zd- D@E]{ E]pE]#EY"E]=:*E] :VE]3ZEYae@ae@ae@ae@Z5>>Z5>>Z55@Z5/@Y)Y eie9)aeSaiaiBR>BBBBBBBc;B%EBaBaBaBe; =Be: =CeQ 5YIIa@a @a@a@a) ^A GI I O >,¢?A6҃@6x͊@6c<ٱ6yN >AHRS rotation from veh to nav: [[-0.365954,0.929902,0.036882],[-0.930225,-0.364332,-0.044095],[-0.027566,-0.050445,0.998346]]6H k׿@?:?@f`8Q׿b: өs?i6҃@I6S`];6~CYFByF<IbDRVDRNyV%V\=ٔZQ:Q-Z>9XY\=^Fy\^ Eb>`Q 5f5b&P?Q 9f5b)bBYhyj@Q Ij@bEIb:ib-:b5ylɮnAp DNOT Ignoring new targets: 34.68 m.h h *h "h  h gfffddjdZd`>D@ZZZZ&@ c<)  i9)XT1i1i=~񿉧9=jIAIAQ9@ @@/0@Em EmkEm%Ei"Emҝ:*Em:VEm 4ZEiBEm;au2Em;auJEm?;a}:Em?;a}y^AIIO>ԩ =,y"?A9Y=FyE>Q 5 59K?Q 9 5g)BYb*>Q E;y@Q I@EIm ;i ;x5yBɮA%EMDNOT Ignoring new targets: 34.68 m.hIhI*hI"hI hIgQfQfQfU;BdYdYjdYZd]uD@Z}b*>Z}b*>Z}g@Z} @&<) iB9)顝Uii񿉧DIIԡE9@A @A@E81@AEm EmmEm$Ei"Em:*Em:VEm4ZEiau@a}@a}@a}@^AIIO>B Q>B CB IB BB B B B c;B %E c,6[9YYY=]FyaeDEe>iQ 5u5mF?Q 9u5m_)mBYqyu@Q I}@mEIm;im;m$5yɮ ADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZdD@ZZZZ@} <)y }Si}9)y}Vii񿉧B=II -9@) @)@-4@) GEa9AYM{ A9^AQIaIO>a E { E uE #E "E =:*E :VE 3ZE BE ;a 2E ;a JE ed;a :E ed;a K,6V?A4<ɰ4<2Ń@2@2<ٱ2P :AHRS rotation from veh to nav: [[-0.367422,0.929308,0.037258],[-0.929650,-0.365786,-0.044174],[-0.027422,-0.050867,0.998329]]2Hփ׿?@?@ i׿띦M `O?i2Ń@I2 `];2~CYFByF IbDNVDNyV%VV=ٔVĹQ-V>9XYX=ZFyX^E^>9AQ 5M5EB?Q 9M5EL)EBYIyU@Q IU@EEIE:iE:E 5yaɮePAaDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd7D@ZAZAZAZE”@m<)q uKiu9)q};Xyiyi}񿉧,9II 9@  @ @3@iԙ^AWgIIO> u,p?AYnByr$I tti}Mb@Mb@Mb@yyyy y9}Q롿M¿I +Y}\y}n}94}A}tA }A)} AyY}AԙbDVD0yr<%;=ٔQ->9Y=FyE>Q 55Q>?Q 95Z)Y,>Q E;y!@Q I@EI:i:"5yɮ6ADNOT Ignoring new targets: 34.68 m.hh*h"h hgff!f%Bd!d!jd!Zd- E@E= E=xE9E9"E=a:*E=:VE9ZE9aE@aE@aM@aM@Ze,>Ze,>Ze@ZeÜ!@y)y }i}9)顅JYii~񿉧IIA1A5@AB=N>B9B=IB=rBB=< =B9B9B=c;B=%E)@) @)@-/@)@5=@1^AmyII O > ],퉂?A2@2쯊@21<ٱ2iO :AHRS rotation from veh to nav: [[-0.369314,0.928559,0.037219],[-0.928916,-0.367705,-0.043682],[-0.026876,-0.050706,0.998352]]2H֢׿?@n? z׿]W+?i2@I2f];2CYbBybIbDjVDj2yr%rX=ٔrLQ-v>9tYt=vFytz䯻Ez>|Q 55~{:?Q 95~)~~BYy {!@Q I @|I~:i~:~`$5yɮA=DNOT Ignoring new targets: 34.68 m.h9hA*hA"hA hAgAfAfIfIdIdIjdQZdUP@E@ZqZqZqZu{!@1<) Hi9)額eZii15 I1I9-9@) @)@-/@)!EM EIEM%EI"EMҝ:*EIVEM 4ZEIBEM;aU2EM;aUJEMPo;a]:EMQo;a]^AII1O=>Qԁ ,أ?AHJ@fǬ@f@f<ٱf?O rAHRS rotation from veh to nav: [[-0.370261,0.928185,0.037131],[-0.928546,-0.368668,-0.043429],[-0.026621,-0.050558,0.998366]]fH [׿౳?? @׿L<}B⩿?ifǬ@If@];f~CYzByzIi}Mb@Mb@Mb@yyyy y9}=ٔQ->9Y=Fy/E>Q 55 6?Q 95ּ)}BYI >Q E;yr,@Q I@EIL:i:@&5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgff f  BIddjdZdayE@ZI >ZI >Z@Z\r,@<) i9)[ii񿉧!%] I!I!9@ @@/@yE ErE#E"E:*E?:VE3ZEa@a@a@a@B- I>B- CB- IB- bBB- @ =B- GDB- MDB- d;B- %E9 ^AE @ II Ia Om >I ,?AFx@FH@F,<ٱF?+O NAHRS rotation from veh to nav: [[-0.371433,0.927714,0.037205],[-0.928089,-0.369855,-0.043104],[-0.026228,-0.050539,0.998378]]FH׿`կ? z ? ׿{ۚL੿?iFx@IFE];FCYVByVII^=)^=^=^= b9pYp=rFyprZEv>tQ 5z5v&2?Q 9~5v@)v{BY|y~^,@Q I~@vEIv;ivz;v'5yɮ A 5DNOT Ignoring new targets: 34.68 m.h1h1*h1"h1 h9g9f9f9f9dAdAjdAZdEಧE@ZaZaZaZe^,@,<) i9)z\ii񿉧II )9@ @@0@Q^A IIO>ԁ bEjE3rEʈ/E]  EY E] "EY "E] 1:*EY VE] (3ZEY BE] x;am 2E] z;am JE] yY;am :E] zY;am ,o~ׂ?A9|Y|=~Fy|WE> Q 55 -?Q 95 ) zBYyH,@Q I@ EI :i : )5y%Bɮ%|A!MDNOT Ignoring new targets: 34.68 m.hIhI*hI"hQ hQgQfQfQfYdYdYjdaZde@E@ZZZZQH,@L<) =i9)顝~]ii~񿉧;II59@1 @1@50@9ԉ^AuWIIO> Ļ,KY?A;ɰ`Y~By~IiMb@Mb@Mb@ 9p= ף{GzYy# AbA A) AYAbDVD:yƼ%?=ٔQ->9Y=FyE>Q 55)?Q 95)yBY>Q E;y0@Q I@EI:i:+5yɮA DNOT Ignoring new targets: 34.68 m.h h*h"hE! E%pE%#E!"E!*E% :VE%3ZE!a-@a-@a-@a-@ hg1fffBddjdZd.F@B<ABE>BCBIBXBBC =BBLDBCd;B%EZ%>Z%>Z%˖@Z%0@Q)Q ULi]9)Y][^YiYie񿉧ae;iIaIi9@ @@0@ ^A- I9 II OU >Q ޫ ,Y4 ?A2w@2Gz@2<ٱ2@O :AHRS rotation from veh to nav: [[-0.375407,0.926101,0.037506],[-0.926523,-0.373873,-0.042117],[-0.024982,-0.050562,0.998408]]2H`ؿ ?@4?@׿@c@5㩿`?i2w@I2];2|CYFByF I HJAbDN VDN2yV/+%V\=ٔZ)Q-Z>9XYX=^Fy\^E^>`Q 5f5b%?Q 9f5b)bxBYhyja0@Q Ij@bEIb:ib:b+-5ylɮnAp DNOT Ignoring new targets: 34.68 m.h h *h "h  h g fffddYjdZdDF@ZZZZa0@<) Pi^9)"_ii񿉧I!I!ԉ9@ @@4@iIE5 E5uE5"E1"E5U:*E5:VE5(3ZE1BE5;aE2E5;aEJE5dd;aM:E5ed;aMԱ^ASIIO> Ƞ,.%?Az5s@zn@zc<ٱzO AHRS rotation from veh to nav: [[-0.376797,0.925530,0.037662],[-0.925970,-0.375274,-0.041830],[-0.024581,-0.050635,0.998415]]zH qؿ?vH?@|ؿj+쩿`?iz5s@Iz];z{CYByIԱiMb@Mb@Mb@ 9~jt?S㥛MbpYD9Y = Fy  ZE>1Q 5E55!?Q 9E55$)5yBYM>Q EM;yM36@Q IM@5EI59;i5(;5$/5yQɮU^AYDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffBddjdZd@|F@Z>Z>Z7@Z36@c<) .iR9)_ii񿉧l#IIa@a @a@e3@iE5 E5}E5!E1"E5:*E5k&:VE5c3ZE1a=@a=@a=@a=@^AȿIBD>BBIB]BBB =BBBGd;B%EBȸCBȸCBȔCB@ =B? =Ca6IO>9 /Ϡ,>?A@:g@:a@:)<<ٱ:ԤO FAHRS rotation from veh to nav: [[-0.378179,0.924962,0.037766],[-0.925416,-0.376669,-0.041538],[-0.024196,-0.050658,0.998423]]:H4ؿ`I?V? `YؿDƘ@奔?i:g@I:];:~CYNByNIbDV VDV2y^Ui%bb=ٔbYQ-b>9dYd=fFydfކEf>hQ 5n5j:?Q 9r5jǹ)hYpyr6@Q Ir@hIj@;ijL;j05ytɮvcAxDNOT Ignoring new targets: 34.68 m.hh*h"h hg!f!f!f!d)d)jd)Zd-F@ZIZIZIZMu6@e)<<)a ef/ie9)im`iiiiu~񿉧quВ(IqIy9@ @@/@A^A5$IAIQOew>ԁEE  EE uEE #EA "EE :*EE :VEE 3ZEA BEE G;aU 2EE H;aU JEA aU :EA aU ԩ ՠ,&X?A6dZ@64U@6!<ٱ6O >AHRS rotation from veh to nav: [[-0.379607,0.924370,0.037918],[-0.924841,-0.378107,-0.041276],[-0.023818,-0.050737,0.998428]]6H|Kؿ q?i?@L2ؿ("@c`#`?i6dZ@I6C^;6CYFByFI N49\Y\=~Fy|uE> Q 55 ?Q 95 \) zBYy6@Q I@ EI [:i : 25yAɮEPAADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZdF@yZZZZ'6@!<) *i_9)6aii񿉧u-IIԱ9@ @@@@@^A t'I) I9 OM > ܠ,£r?A2M@2PH@281<ٱ2|O :AHRS rotation from veh to nav: [[-0.381065,0.923772,0.037882],[-0.924250,-0.379583,-0.040960],[-0.023459,-0.050621,0.998442]]2H `cؿ?@5e?u`Kؿ@@ꩿ=?i2M@I2[];2}CYBByF$Ii Mb@Mb@Mb@     9 I +?x&MbPY 949Y=FyqE>E EyE%E"E:*E:VE 4ZEa@a@a @a @Q 5 5:?Q 9 5){BY  >Q E;yW5@Q I@EI;i;b45yɮA!MDNOT Ignoring new targets: 34.68 m.hIhI*hI"hI hIgIfQfQfUBdYdYjdYZd]%G@AqAqB}B>ByB}IB}bBB}A =ByByB}#d;B}%EZ >Z >Zj@ZW5@81<)  Wic9)顽bii񿉧2II%9@! @)@-/@)^A -|,I 1 I9 OE > ЀG  c)9 Y Aa ,?Aɰ;2A@2^<@2e<ٱ2GO >AHRS rotation from veh to nav: [[-0.382416,0.923213,0.037900],[-0.923701,-0.380947,-0.040695],[-0.023132,-0.050571,0.998453]]2H`yؿ?g? paؿդ c䩿R?i2A@I2];2~CYFByF9IbDNVDNNyV=%VR=ٔZdQ-Z>9XYX=^Fy\^~E^>`Q 5f5b9?Q 9f5b)b|BYhyj?5@Q Ij@bEIb;ib;b65ylɮnAl DNOT Ignoring new targets: 34.68 m.h h *h "h  h g fffddjdZdDG@Z9Z9Z9Z=?5@-e<)) -4i-9)15b1i1i=񿉧9=O7I9IA9@ @@0@E EwEE"E~:*E:VEZEBE;a2E;aJEk;a:Ek;aa^A<1IIO >y ',#g?A@56@51@5i<ٱ5pO MAHRS rotation from veh to nav: [[-0.383622,0.922709,0.037974],[-0.923206,-0.382161,-0.040538],[-0.022893,-0.050610,0.998456]]5H`EؿԆ?@cq?Ruؿ@k&q驿@Z?i56@I5];5}CY]By]4Ii=Mb@Mb@Mb@9999 99={Gzt?nMbP?Y=ף;y=V=:= A=bA =-A)= A9Y9bDUVDU:yem%e2=ٔeK Q-e>9iYi=mFyiu:Eu>yQ 55}3 ?Q 95})}~BYn>Q E;y?2@Q I@}EI}e ;i}T ;}85yBɮAEDNOT Ignoring new targets: 34.68 m.hh*h"h hgfff BddjdZdG@Zn>Zn>Zq@Z ?2@i<)  Wiw9)cii%~񿉧)-9;I)I1IA)Aԉ9@ @@0@@=@=ԱE E~E$E"EO:*E(:VE4ZEa%@a%@a%@a%@BuD>BuCBuIBumBBu? =BqBuMDBud;Bu%E^A I6I I! O- >  ,2?A2_-@2/(@2p<ٱ2WO :AHRS rotation from veh to nav: [[-0.384694,0.922258,0.038083],[-0.922765,-0.383236,-0.040435],[-0.022697,-0.050696,0.998456]]2H Ԟؿ#??Jؿ۳@=``Z?i2_-@I2ծ];2CYFByF@IbDNVDNyVZ`=%Vl=ٔZQ-Z?9XYX=ZFy\t^[E?Q 5%5F?Q 9%5u)BY!y-+2@Q I-@EI:i:95y1ɮ5MA1]DNOT Ignoring new targets: 34.68 m.haha*ha"ha hagafafifididyjdZdͭG@ZZZZ+2@p<) Ciz9)^dii񿉧?II9@ @@1@^AM *:IQ Ii Ou >A E%  E% E% #E! "E% :*E% R:VE% 3ZE! BE% ;a5 2E% ;a5 JE% ;a5 :E% ;a5 ,6, ڃ?A2-#@2@2#<ٱ2B"P :AHRS rotation from veh to nav: [[-0.385844,0.921775,0.038165],[-0.922289,-0.384387,-0.040379],[-0.022550,-0.050779,0.998455]]2Hؿ@-?@d?c˙ؿ~ D@X?i2-#@I2];2~CYFByFGIbDNVDNܲyV<%VJ=ٔZžQ-Z>9XYX=ZFy\^IE^>`Q 5f5b?Q 9f5b)bBYhyj2@Q Ij@bEIb:ib_:bI;5ylɮr"ApaDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZdG@ZYZYZYZ]g2@m#<)i m8iu9)页eii񿉧=CII9@ @@4@ԑԹ^AcZ?IIO> r`,l?AY~ĀBy~`IԹiMb@Mb@Mb@E EEE"E:*E,:VEZEa@a@a@a@ 9Mbpl¿~jth?YyD;? AA )YAbDVD0y =%6=B<AB%?>B%CB%IB%BB!B!B%LDB%c;B%%Eٔ5Q-5>99Y9==Fy9=EE>AQ 5M5E?Q 9M5E<)EBYU>Q EU;yU.@Q IU@EEIE%;iE` ;EE=5yaɮe|AaDNOT Ignoring new targets: 34.68 m.hh*h"h hgfff%BddjdZd`H@Z>Z>Z@Z.@) Bi9)eii񿉧BII9- 9@)  @) @- 0@) @1 @1 9 ^AU oCIY Iy O >c,x?A6 @6@6L<ٱ6P >AHRS rotation from veh to nav: [[-0.388779,0.920538,0.038228],[-0.921059,-0.387322,-0.040390],[-0.022374,-0.050913,0.998452]]6Hؿ@ u??`Qyؿ 閿`P`R?i6 @I6];6|CdYuƀByucIbDVDNy<%0=ٔƹQ->9Y=FyE>Q 55?Q 95)BYy-@Q I@EI;i7 ;G?5yɮjADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjd Zd `TH@Z)Z)Z)Z-f-@EL<)A E >iE9)IMfIiIiU~񿉧QUNIQIYbE!jE%è3rE% x/E EqE$E"E:*E$ :VE4ZEBE;a2E;aJEU;a:EU;a#99@ @@4@!Y ^A m CI I9 O] > ,<*?A ɰ"4<>@>@>9<ٱ>V P JAHRS rotation from veh to nav: [[-0.389791,0.920118,0.038020],[-0.920630,-0.388338,-0.040419],[-0.022426,-0.050757,0.998459]]>HVؿq?]w?uؿұ`?i>@I>];>zCLLiNuIPPIPiRtUA RP)TT Vnr@TTTXXIX)XiX)\I\\\ \```i``idf`iA)f什 dIdYdYnрBynqI1i]Mb@Mb@Mb@YYYY Y9]MbOnÿMb`?Y]y]];]VA]KA ]A)]p AYY]AbDuVDuk1yoa=%L=ٔ9Q->9Y=Fy0E>Q 55?Q 95)BYw>Q E;y(@Q I@EI ;i ;A5yɮADNOT Ignoring new targets: 34.68 m.hh!*h!"h! h!g!f)f)f-(Bd)d1jd1Zd5`ԈH@ZUw>ZUw>ZU_@ZU(@m9<)i u.iu9)qudgqiqi}񿉧y}QIyII=)=aU9@Q @Q@]/@YE E|EE"E:*EP$:VEZEa@a@a@a@B<>BCB-IBBBD =BBBc;B%E^A50MIIIYOuz>ԉԹ , D?A2@2@2QY<ٱ2O :AHRS rotation from veh to nav: [[-0.390692,0.919743,0.037861],[-0.920247,-0.389239,-0.040488],[-0.022502,-0.050660,0.998462]]2H@ٿ`n? b?rJؿ׺ g?i2@I2];2~CY݀ByI !%A)-AbD1VD1yEb~=%Eb=ٔE[9Q-M>9IYI=MFyIU?5EU>YQ 5e5]5?Q 9e5] )]BYaye(@Q Im@]EI]:i]g:]B5yqɮuAqԹ=DNOT Ignoring new targets: 34.68 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdUH@ZqZqZqZu(@QY<) i?9)額gii񿉧FTII99@ @@@E  E iE "E "E 7:*E 9VE (3ZE BE ;a 2E ;a JE 8;a :E 8;a 9 ^Au ONI I O >N,U^?A2@2m@2ȹ<ٱ2O :AHRS rotation from veh to nav: [[-0.391191,0.919533,0.037789],[-0.920030,-0.389730,-0.040677],[-0.022677,-0.050679,0.998458]]2HD ٿl?Y?@p`Wؿ@Ӥ 8@]?i2@I2S];2|CYByIbD5VD5yEA<%EE=ٔE%9Q-E>9IYI=MFyIUEU>QQ 5e5U둊?Q 9e5U?)UBYaye(@Q Ie@UEIU;iU";UkD5yuBɮupAuEԹ%DNOT Ignoring new targets: 34.68 m.h)h)*h)"h) h)g)f)f1f1d1d9jd9Zd=H@ZYZYZYZ](@mȹ<)q ut iu9)q}hyiyi}񿉧1RVII9@ @@/@A E}  Ey E} $Ey "E} :*Ey VE} 4ZEy a @a @a @a @^A `TA A B B B LIB BB C =B B B Bc;B R%EBE̷CBE̷CBE̓CBEA =BEA =CE6I I O >,z?AB@B@B}<ٱBӷO ^AHRS rotation from veh to nav: [[-0.391823,0.919268,0.037695],[-0.919757,-0.390357,-0.040853],[-0.022840,-0.050677,0.998454]]BHٿj?L?nؿꤿ`jc`eU?iB@IB];B~CYrByrIQiMb@Mb@Mb@ 9Q롿㥛 ¿~jth?Y\yD; AA A) AY3AbD VD y=%3=ٔ}9Q->9!Y!=%Fy!%źE->1Q 5=55摊?Q 9=55-)5BY=>Q E=;y=L @Q I=@5EI5:i5:5jF5yIɮM+AIuDNOT Ignoring new targets: 34.68 m.hqhq*hy"hy hygyfyff7BddjdZd`%I@Z>Z>ZnD@ZFL @}<) eib9)額)iii~񿉧XII fAfAyU9@Q @Q@U/@Qԩ^Ay I I O > $,?A2@2@2^<ٱ2N :AHRS rotation from veh to nav: [[-0.392516,0.918985,0.037387],[-0.919455,-0.391046,-0.041061],[-0.023114,-0.050492,0.998457]]2Hٿ Sh?S$?@,lٿGک\?i2@I2P];0YFByFIIJ<)Jp;J=J=bDRVDRNyVH|=%Zd=ٔZH:Q-Z>9\Y\=^Fy\^Z Eb>`Q 5f5b_㑊?Q 9f5bW)bBYhyj@ @Q Ij@bEIb;ib;bG5ylɮrAp DNOT Ignoring new targets: 34.68 m.h h *h "h  h gfffddjdZd`SI@ZAZAZAZE3@ @U^<)Q Ui]9)Y]iYiYie񿉧ae)[IaIiԱIE EzE%E"E:*E :VE 4ZEBE;a2E;aJEv;a:Ev;a%9@! @!@%g0@! ^AEYIQIaOu>9 *,ɭ?AJ@JV߉@J\<ٱJ O ZAHRS rotation from veh to nav: [[-0.392879,0.918829,0.037425],[-0.919294,-0.391393,-0.041363],[-0.023357,-0.050655,0.998443]]JH $ٿ g?``)?j ٿ-`뗿@y奔>?iJ@IJ1];HYbBybIiMMb@Mb@Mb@IIII I9MQ롿M¿MbPYIyMnMM( AMA I)Mp AIYMAbDaVDayuk=%u?=ٔu:Q-}>9yYy=}FyyrE>Q 55 ߑ?Q 95X)BY>Q E;y@Q I@EI. ;iu ;I5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfff;BddjdZd lI@Z>Z>Z@ZJ@\<) i9))jii񿉧Y\II#9IBm:>BiBmfIBmȀBBmD =BiBmKDBm,c;BmE%E9@ @@0@E EE#E"E:*E=:VE3ZEBE<2E<JEƔ;:EƔ;i^A [I I! O- >ԙ 21,,DŽ?Aɰ; 44B(ނ@B؉@BW}9Y=Fy$E>Q 55ۑ?Q 95f)BYy@Q I@EI[:i:K5yBɮYAEDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZdI@Z!Z!Z!Z%@5W}<)1 54۽i=9)9=j9i9iE񿉧AE^IAIIIU>q)Ub?59e9@a @a@e4@aԡE EE$E"E:*Ea9:VE4ZEa@a@a@a@^A 5[I I O! S7,Sz?A2Kڂ@2Չ@2J<ٱ2ScO :AHRS rotation from veh to nav: [[-0.394021,0.918353,0.037083],[-0.918789,-0.392514,-0.041938],[-0.023959,-0.050596,0.998432]]2H7ٿ@&c?@}?f`ٿx` 穿@'?i2Kڂ@I2];2{CYBByFIbDNVDN0yVځ=%VZ=ٔVo:Q-V>9XYX=ZFyX^E^>`Q 5f5b`ב?Q 9f5b)bBYdyf@Q If@bEIb:ibt:bDM5ylɮnAlDNOT Ignoring new targets: 34.68 m.hh*h "h  h g f ffddjdZdxI@ZZZZG@ J<)  i l9)  jii=~񿉧9=q`I9I9mC9-9@) @)@53@1Qi ^A u \I I O >iY IY Bm 9>Bi Bm IBm ܀BBm E =Bi Bi Bm c;Bm 3%EE  E rE E "E 1:*E ?:VE ZE BE x;a 2E y;a JE yY;a :E yY;a $>,S?A$EԂ@EΉ@E<ٱEߩO UAHRS rotation from veh to nav: [[-0.394712,0.918058,0.037039],[-0.918488,-0.393195,-0.042164],[-0.024146,-0.050663,0.998424]]EHBٿ@`?? @d@*ٿ`s?iEԂ@IE];ECYe ByeIiMb@Mb@Mb@ 9/$ rhMbpY,yC  xA) AYAbD5VD5N2yEƪ%E3=ٔM9Q-M>9IYI=MFyIUغEU>YQ 5e5]4ӑ?Q 9e5]l)]BYm>Q Em;ym@Q Im@]EI]v:i]:]CO5yqɮuAyDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffNBddjdZd(J@Z>Z>Z 6@Zb@<) i9)  vk i qi񿉧 cIIԙ?9 9@  @ @ 4@ ^A A_`I I O >E,?AF̂@FTlj@F G<ٱFN RAHRS rotation from veh to nav: [[-0.395562,0.917704,0.036746],[-0.918117,-0.394047,-0.042283],[-0.024324,-0.050462,0.998430]]FHPٿ]?ZТ?@7a8ٿC蘿7֩"?iF̂@IF];F|CE^ E^E^#E\"E^:*E^E7:VE^3ZE\ab@ab@ab@ab@YzByzIbDVDyď=%C=ٔ9Q->9Y=Fy%-E%>!Q 555%cϑ?Q 955%h)%BY1y5@Q I5@!I%;i% ;%Q5yEBɮEAEEDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd ^_J@)ZZZZ6@ G<)  νi39)kii񿉧 >fI I  eAQev9ԁ 9@  @ @ 4@ ԩ ^AE (aIQ Ia Om >ەL,q4?A2{Ȃ@2KÉ@2 <ٱ2N :AHRS rotation from veh to nav: [[-0.396011,0.917517,0.036587],[-0.917914,-0.394483,-0.042620],[-0.024671,-0.050462,0.998421]]2H =XٿL\??_4?ٿ`@ҥkC@#֩ ?i2{Ȃ@I2];0YBByFIiUMb@Mb@Mb@QQQQ Q9UL7A`尿S㥛YU+yU$UQUKA Q)U AQYUAibDeVDe:2y}<%}4=ٔH:Q->9Y=FyE>Q 55ˑ?Q 95)BY5>Q E;y*@Q I@EI0;i/;S5yɮiADNOT Ignoring new targets: 34.68 m.hh*h"h hgfff\BddjdZd˜J@Z5>Z5>Z܇@Z4*@- <)) 5i59)15cl1i1i=񿉧9=gI9IABUB>BUCBUIBUBBUA =BQBULDBUc;BU=%EE E{E%E"E1:*E5":VE 4ZEBEa-2Ez;a-JE;z;a-:ES,ȲN?A2<ł@2 @2ߊ<ٱ2O :AHRS rotation from veh to nav: [[-0.396373,0.917355,0.036734],[-0.917754,-0.394828,-0.042892],[-0.024844,-0.050714,0.998404]]2H+^ٿZ?΢?<^Dٿ`p3`?i2<ł@I2*];2~CYBByFIbDNVDN1yVw6%VX=ٔZ}9Q-Z>9XYX=ZFyX^E^>`Q 5f5bȑ?Q 9f5b)bBYdyj#@Q Ij@`Ib;ib;bT5ylɮnAlDNOT Ignoring new targets: 34.68 m.h h *h "h  h g f ffddjdZdJ@Z9Z9Z9Z=#@Uߊ<)Q U iUM9)Y]lYiYie~񿉧ahIIIbE54jE5ŋ3rE5ų/EE EEEE$EA"EEs:*EE=:VEE4ZEAaU@aU@aU@aU@9@ @@/@Q ^A ՚gI I! O- >8Y,ch?A4<ɰ49hYh=jFyhjEn>pQ 5v5rő?Q 9z5r)rBYxyz@Q Iz@rEIr$:ir:rV5yɮrA-DNOT Ignoring new targets: 34.68 m.h)h)*h)"h1 h1g1f1f1f9d9d9jdAZdE J@ZZZZ@u<) (i9)顥lmii񿉧NjIIIh?){?A9i@i @i@m0@i^AEhIQaIiOu6>AQAUAAB]C>BYB]IB]BB]@ =BYB]MDB]]c;B]d%EԑEE  EE vEE #EA "EE غ:*EE :VEE 3ZEA BEE ?A2p@2@@2<ٱ2iQ :AHRS rotation from veh to nav: [[-0.397132,0.917019,0.036899],[-0.917420,-0.395568,-0.043197],[-0.025016,-0.051007,0.998385]]2Hjٿ8X?`n?[Pٿѝ ?i2p@I2Gi];2|CYB*ByBIi Mb@Mb@Mb@     9 )\(L7A`~jthY Gay + D ? A A A) p A Y AbD}VD}1y^=%?=ٔQ8Q->9Y=FymE>Q 55?Q 95)BYv>Q E;y@Q I@EIj:iQ:^X5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgffflBddjdZd3K@Z%v>Z%v>Z%)@Z%3@=<)9 =i=9)9=mAiAiE񿉧IMkIIIIԑ=9IEeA)EeA9@ @@/@@=@^A h! IQ Ii O} >f,}?AEf Ef~Ef%Ed"EfC:*Ef(:VEf 4ZEdaj@aj@aj@aj@Y-By-IbD=VD=ܲy|%G=ٔQ->9Y=FyE>Q 55?Q 95{)BYyQ I@EId:i:)Z5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd@YhK@Z!Z!Z!Z!9)9 =$i=9)9=n9iAiE񿉧IM\kIIII! ] 9@a  @a @i @i A ^A I I O >m,e?AB.>>B,B.IB.BB.A =B,B.LDB.c;B.{%EBBBBBB =C6V@Vj@VЍ<ٱV8^Q fAHRS rotation from veh to nav: [[-0.397786,0.916734,0.036952],[-0.917138,-0.396220,-0.043206],[-0.024967,-0.051077,0.998383]]VH`TuٿU?d?2Y [ٿ &?iV@IV1];V}CYtyvIԱi=Mb@Mb@Mb@9999 99=X9vHzGMb`Y=}y== == A=KA =xA)= A9Y9bD]VD]kEm Em|Em$Ei"Emҝ:*EmP$:VEm4ZEiBEm;au2Em;auJEm};au:Em};a}y}l%}*=ٔ>ԸQ->9Y=FyE>Q 55?Q 95)BY">Q E;y[@Q I@EI ;i ;D\5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hgfff\BddjdZd K@Z">Z">Z@Z[@%Ѝ<)) -i-9))-0o)i)i5~񿉧15MnI9I9 EfAA=9 9@ @@_0@^A5 `kIA IQ Oe >1 @t,#Ӆ?A6R@6"@6<ٱ66P BAHRS rotation from veh to nav: [[-0.398156,0.916575,0.036920],[-0.916983,-0.396601,-0.043001],[-0.024771,-0.050976,0.998393]]6H@a{ٿ`T?9?Waٿ 6@]` ?i6R@I6E];6~CYJ ByJILLbDRVDRyZ&=%Zn=ٔ^Q-^?9 Y = Fy  E>Q 55?Q 9%5)BY!y%U@Q I%@EI#;i;]5y)ɮ5^A1]DNOT Ignoring new targets: 34.68 m.hYhY*hY"hY hagafafafadidijdiZdm5K@ZZZZ=U@<) ti9)顭oii񿉧(oII9@ @@W4@EE EE{EE%EA"EE:*EE5":VEE 4ZEAaM@aM@aM@aM@Q^AumIIO>qԙ /z,?Av@vt@v<ٱvP AHRS rotation from veh to nav: [[-0.398346,0.916492,0.036917],[-0.916907,-0.396804,-0.042757],[-0.024537,-0.050882,0.998403]]vH~ٿ@S??MW 9Y=Fy%E%>)Q 555-?Q 955-)-BY1y5Q@Q I5@-EI-4:i-M:-_5yAɮEAAeB*** querying acoustic contact ***ia iauDNOT Ignoring new targets: 34.68 m.hqhq*hq"hq hqgqfyfyfyddjdZdL@ZZZZQ@<) i9)5pii񿉧oIIq@q @q@u4@yԙBU<AU<B]9>B]CBYBYB]D =BYB]KDB]c;B]o%E2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.DzDAAE EzE$E"EU:*E :VE4ZEBE;a 2E;aJEv;a:Ev;a^Ay I I O > d,?A;ɰ;6@6`@6`\<ٱ6VO >AHRS rotation from veh to nav: [[-0.398807,0.916296,0.036800],[-0.916719,-0.397294,-0.042246],[-0.024090,-0.050584,0.998429]]6H ٿLR?`ע?@U@BmٿO滛橿!?i6@I6(];6zCYFByFIM'Gaq9YAi Mb@Mb@Mb@     9 J +@5^I ¿MbY Hy b  ? A A ) A Y AbD%VD%0y-{м%5[==*DAT read: user:604> EBDAT read: Tx time:05:58:47.2205 E$Ping request sent.E9 Y=FyfE>Q 5%5?Q 9%5)YM>Q EM;yMl@Q IM@EIl;i;a5yUBɮ]A]E=DNOT Ignoring new targets: 34.68 m.h9h9*h9"h9 h9g9fAfIfMMBdIdIjdIZdUJL@Z>Z>Z@Zhl@`\<) Di9)pii񿉧BqII@ @@4@)  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251671E  E |E &E "E :*E P$:VE 4ZE a @a @a @a @^A ( nI I O >ˇ,J ?A6O@6@6<ٱ6O >AHRS rotation from veh to nav: [[-0.398840,0.916269,0.037118],[-0.916718,-0.397342,-0.041806],[-0.023557,-0.050700,0.998436]]6H`ٿ@R??U nٿg`>@c 0?i6O@I6h];6~CYbBybI ddbDnVDn0yv%vb=ٔvkQ-v?9xYx=zFyx~l׸E~?Q 5 5Ϭ?Q 9 5)Y y k@Q I @EI-:i:c5yɮAEDNOT Ignoring new targets: 34.68 m.hAhA*hI"hI hIgIfIfQfQdQdQjdQZd]mL@ZyZyZyZ}k@<) ti79)顕qii~񿉧5qIIQU9@Q @Y@]/@Y@a@e>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502778ԉ^A]qIIO>ԩ ,:?AB:>BBIBBBF =BBB?c;BM%E@Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755445U@UR@U+û<ٱU@PEe EeEe!Ea"Eeغ:*Ee,:VEec3ZEaBEe99Y9==Fy9ET8EE>IQ 5U5MX?Q 9U5M)MBYU>Q E];y]>@Q I]@MEIM;iM ;M/e5yaɮeAaDNOT Ignoring new targets: 34.68 m.hh*h"h hgfff&BddjdZdJL@ԩZ>Z>Z @Z>@+û<) Li9)Gqii񿉧rqII I)9@! @!@%/@!]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006762^A hp I I) O5 >]ޔ,kT?A@6@6@6Ե<ٱ6pP >AHRS rotation from veh to nav: [[-0.398918,0.916207,0.037798],[-0.916718,-0.397465,-0.040621],[-0.022194,-0.050855,0.998459]]6H`ٿQ?;Z?`U@pٿ@Q̤  a?i6@I6^];4YFByFIbDRVDR:yV%V~=ٔZQ-Z ?9XY\=^Fy\^Eb ?`Q 5f5bX?Q 9f5b)bBYhyj=@Q Ij@bEIb:ib:bf5lypɮrDApDNOT Ignoring new targets: 34.68 m.hh*h"h hgfff!d!d!jd!Zd-L@ZZZZ=@Ե<) hiL9)q!i!i%񿉧)-qI)I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259923 -9@) @)@-0@)E EE$E"EC:*E:VE4ZEa@a@a@a@9^Am@pIyIO>a e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5107641%,'n?AFV@F&@F&E<ٱFQ ^AHRS rotation from veh to nav: [[-0.399082,0.916108,0.038452],[-0.916671,-0.397658,-0.039777],[-0.021150,-0.051122,0.998468]]FH@ٿP?ﯣ?^U9sٿ]:, t?iFV@IF+^;D YByI Mp9Y=Fy.E>Q 55ݠ?Q 95ŝ)Yy;@Q I@EI1:i:h5y)ɮ56A1]DNOT Ignoring new targets: 34.68 m.hYhY*hY"ha hagafafafididijdiZdmM@ZZZZm;@&E<) Ti9)顭qii񿉧g_rII1)@) @)@- 0@1AA@AB9>BCBIBBBG =BBBb;B)%Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763501Ee EeEaEa"Ee:*Ee*:VEaZEaBEeZ;am2Ee[;amJEee;au:Eee;auy^A rI I1 O= >ԉ k,!"?A:}@:M@:_<ٱ:|Q BAHRS rotation from veh to nav: [[-0.399298,0.915997,0.038865],[-0.916602,-0.397916,-0.038787],[-0.020064,-0.051112,0.998491]]:Hٿ O? &?Tswٿ ۣM+ ?i:}@I:o^;:~CYJByNIiMb@Mb@Mb@ 9QX9vI +Yy A bA)YGAbD5VD50yM%Mh=ٔM[JQ-U>9QYQ=UFyQ]*E]?aQ 5m5e?Q 9m5e)eBYm>Q Eu;yu@Q Iu@eEIe:ie':e4j5yyɮ}lAyԙDNOT Ignoring new targets: 34.68 m.hh*h"h hgfff BddjdZd>M@Z>Z>ZR3@Z@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014861_<) i#9)顝qii~񿉧isII9@ @@4@^ArIIO > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267139bE jE #4rE ʧ/E  E E %E "E C:*E .:VE 4ZE a @a @a @a @ ,?A4<ɰp;6b@62@61<ٱ6kQ >AHRS rotation from veh to nav: [[-0.399543,0.915871,0.039310],[-0.916520,-0.398207,-0.037713],[-0.018886,-0.051096,0.998515]]6HٿN?@l ?!T@9|ٿOVD) ?i6b@I67<_;4YDyDbDRVDRٔZIQ-Z>9XYX=^Fy\^/E^>`Q 5f5b?Q 9f5bI)bBYhyj@Q Ij@b EIb:ibF:bk5y9ɮ99DNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZd@.rM@ZZZZ@%1<)! )i-/9))-r)i)iM񿉧QusIqIq@! @)@-4@)-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5190581^AI9IYqO>y B- 8>B- CB- IB- ܀BB- E =B) B) B- b;B- %E0G,⻆?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770851N@Ni@N<ٱN)Q ZAHRS rotation from veh to nav: [[-0.399639,0.915808,0.039798],[-0.916501,-0.398349,-0.036648],[-0.017709,-0.051121,0.998535]]NHٿMN?k`?S~ٿâZ",?iN@INv_;N{CYbBybI ddhjAE] E]tE]$EY"E]:*E]v:VE]4ZEYBE]i;am2E]j;amJE]`;am:E]`;ami Mb@Mb@Mb@     9 {Gztq= ףp{GzY ףy 뽙 ף  =@ KA) CA Y zAQbDuVDuf?y%<ٔ&Q->9Y=FyVE>Q 55w?Q 95)BYF=Q E;y+@Q I@I":i*:m5yɮADNOT Ignoring new targets: 34.68 m.hh*h"h hg!f!f!f%BdIdIjdIZdMM@ZF=ZF=Zg@Z<+@<)  ,,Ն?AYByIbD5VD5ܲyEp=%Eb=ٔEQ-E>9IYI=MFyIMEU>QQ 5]5US?Q 9e5U,)UBYayaQ Ie@U EIU ;iU" ;U~o5yiɮuTAqDNOT Ignoring new targets: 34.68 m.hh*h"h hgfffddjdZdM@ZZZZ) O=i9)qiԱi񿉧tIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275322Em EmuEm%Ei"Em:*Em:VEm 4ZEia}@a}@a}@a}@5-99@ @@4@  DAT read: 05:58:49.6816 LVL= 13232, 14641, 17522, 19699, AGC= 56, IDX= 20,-0.28, 2.159, 1.488, 0.402, 1.846, PHS= 0.415,-0.313,-1.488, RAW= 52.3, 16.4, CAL= 47.6, 20.0, ROT= 102.4, -20.0  Ygot valid direction response: 05:58:49.6816 LVL= 13232, 14641, 17522, 19699, AGC= 56, IDX= 20,-0.28, 2.159, 1.488, 0.402, 1.846, PHS= 0.415,-0.313,-1.488, RAW= 52.3, 16.4, CAL= 47.6, 20.0, ROT= 102.4, -20.0  PDAT read: Bearing 149.9, 64.1 (Local)  ~Local bearing/azimuth received: Bearing 149.9, 64.1 (Local)  DAT read: Range 11 to 50 : 42.7 m (Round-trip 57.0 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.201785,0.917772,0.342020] Fpublishing direction and range infoyA E Gɿb^?Kj?YE *BA E 3E 19E rD E L)E 8IE z>iE AE vE i?E C>E ȭT? E ¸>)E ?IE ¸A A E FYE?Ёgt͐? E vK)E RIE ?iE ¸A A 9 ^A rI I O >ӛ,?A@ԉuН@u@u70Y<ٱuR AHRS rotation from veh to nav: [[-0.400873,0.915181,0.041761],[-0.916038,-0.399755,-0.032726],[-0.013256,-0.051374,0.998592]]uH`ٿ`*I?a?`.P@ٿq%M@v?iuН@Iu`;u|CYByII=)===iMb@Mb@Mb@ 9~jt?J +~jtYD<B9A=p<BE6>BECBExIBE׀BBEF =BABABEb;BE$EB ŶCB ŶCB B F =B F =C Ż5yȽ A A)AYԹbD VD:2y%=ٔQ->9Y=FyBE>Q 55?Q 95)BY=Q ElC@jde TEw4)@Zl&Y?ȿ?2i+:iB"iԝ?*i^rBi+Bi?iiBi Bi @ addTargetRange:: Added new target pos. range: 42.700001 m, deltaT: 60.012224 s, deltaX: 7.799999 m, approachRate: 0.129974 m/s, rangeRepo size: 4  Added new target pos. range: 42.425491 m, bearing: 348.324466 deg, lat: 36.779387 deg, lon: -121.859742 deg, deltaT: 60.012224 s, deltaX: 7.747021 m, approachRate: 0.129091 m/s, posRepo size: 4 DNOT Ignoring new targets: 42.43 m.hE E|E&E"E:*EP$:VE4ZEBE;a2E;aJE};a:E};ah*h "h  h g f ffBddjdYE@ZdE?Z]=Z]=Z]@Z]KF6@70Y<) 9\Y\=^Fy\bEb>dQ 5j5fd?Q 9j5fl)fBYhyj@6@Q In@f EIf;if;fs5ypɮrAp DNOT Ignoring new targets: 42.43 m.h h*h"h hgfffddjdZd%B?ZAZAZAZE@6@U?<)Y ]6;i]9)Y]qYiYie񿉧aeJ}zIaI@ @@/@E ExE%E"E:*E:VE 4ZEa@a@a@a@^AwIIO> ^fˡ,/?A6ړ@6@6&<ٱ6bS FAHRS rotation from veh to nav: [[-0.402001,0.914622,0.043145],[-0.915583,-0.401006,-0.030047],[-0.010180,-0.051582,0.998617]]6HbٿD?)?sL`ٿ@Ğ=ل`h`?i6ړ@I6`;6|CYZByZIbDbVDbyj9lYl=rFyprԺEr>tQ 5z5v ?Q 9~5v)vBYy96@Q I%@tIvV;ivv;vu5y9ɮEAADNOT Ignoring new targets: 42.43 m.hqhy*hy"h hgfffddjdZd ,?ZAZAZAZEm96@u&<)y }0oBBBBG =BBBb;B%EQE EE"E"E:*ET:VE(3ZEBE;a2E;aJE˨;a:E˨;a^Am yzIq I O >ԁ  Wk> CPҡ,=I?AG(B9@YBAF;ɰDr=@r @r<ٱr4R ~AHRS rotation from veh to nav: [[-0.402857,0.914225,0.043563],[-0.915221,-0.401930,-0.028673],[-0.008704,-0.051421,0.998639]]rHjٿUA?M?@~I8ٿe\ӁS ?ir=@Irt`;pQYByI i]Mb@Mb@Mb@YYYY Y9]9Y=FyNE>Q 55?Q 95)BY=Q EBxء,Uc?A2@2@2a:;ٱ2Q :AHRS rotation from veh to nav: [[-0.403675,0.913848,0.043906],[-0.914873,-0.402812,-0.027375],[-0.007331,-0.051219,0.998661]]2Hٿ ?>?z? Fٿ`H:~`9?i2@I2o`;0@BjAiB`eI@@IDiD DD)DH J^r@HHHHLIL)LiL)LIPPP PPPTiTTiTVSiA)Vv V-FIXYXY^By^IbDjVDjyr=%r=ٔrꍻQ-r ?9tYt=vFytz7Ez ?xQ 55z;?Q 95z)zBYy;@Q I@xIz;izj;zy5yɮ AԹDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd?ZZZZ;@Ea:;)A M=iM9)IMpIiIiu~񿉧y}gIyIy-9@) @)@-/@)^AQIIO >A A A AAB 9>B CB IB BB > =B B LDB b;B (%Eޡ,_}?A6;~@6 y@6;ٱ6&HQ FAHRS rotation from veh to nav: [[-0.404430,0.913496,0.044280],[-0.914549,-0.403628,-0.026147],[-0.006012,-0.051071,0.998677]]6H-ٿ];?嫦?C ٿ@Dƚ`sx%@)?i6;~@I69`;4Y= By=IEe EeEaEa"EeU:*EeV:VEaZEaBEe;am2Ee;auJEe;au:Ee;auiEMb@Mb@Mb@AAAA A9EQ-m>9qYq=uFyq} E}>Q 55@?Q 95m)Y9=Q E"ԙ 6,h9IYI=UFyQU EU>YQ 5e5]|?Q 9e5]0)YYiymn5@Q Im@]EI]:i]:]|5yqɮ}AyDNOT Ignoring new targets: 42.43 m.hh*h"hQ hYgYfYfafadadijdiyZdu` @ZZZZGn5@=;) <=i~9)Spii񿉧IIEu EuEu$Eq"EuC:*EuZ:VEu4ZEqa}@a@a@a@9@ @@0@ԡ^A I I) O5 > e,?A2r@2am@2z;ٱ271R :AHRS rotation from veh to nav: [[-0.405736,0.912865,0.045332],[-0.913982,-0.405025,-0.024304],[-0.003826,-0.051294,0.998676]]2Hٿ16?5?W?ٿ6㘿Wo&C'?i2r@I2a_;2zCYF ByFIbDNVDNyN=%O=ٔF!Q->9 Y = Fy  mֺE>Q 5%5Az?Q 9%5)Y!y%c5@Q I%@Ij;iD;o~5y)ɮ51A1DNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd @ZZZZc5@mz;)q u=iu9)quoqiqi}񿉧ylIIPExceeded connect timeout, disconnecting.}9@y @y@}23@yB8>BCBIBBBB =BBKDBb;B%EE} E}E}#Ey"E}:*E}V:VE}3ZEyBE};a2E};aJEya:E};a9 ^A ƒI I1 O= >Q ,Dʇ?A2n@2i@2mN;ٱ2oR :AHRS rotation from veh to nav: [[-0.406146,0.912667,0.045646],[-0.913803,-0.405464,-0.023738],[-0.003157,-0.051353,0.998676]]2HMٿ4?@^?=@!ٿ`N*iJ`&?i2n@I2;_;2}CYB4ByBIieMb@Mb@Mb@aaaa a9e~jtxktMbp?YeĻye e;eAe=@ a)aaYabDVD1yI=%@=ٔκQ->9Y=Fy E>Q 55w?Q 95{)BY=Q Eԁ bE ʻ 4jE J4rE /E  E E &E "E :*E VL:VE 4ZE a @a @a @a @v,W?A02Mk@2f@2`);ٱ2R >AHRS rotation from veh to nav: [[-0.406548,0.912476,0.045895],[-0.913626,-0.405891,-0.023248],[-0.002585,-0.051382,0.998676]]2Hڿ3?@? l<@ٿ 7Η,e`N&?i2Mk@I2^;0YF:ByFIHHNAANAAbDRVDRyZ =%Z[=ٔZɺQ-Z>9\Y\=^Fy\b=Eb>dQ 5j5f'u?Q 9j5f)fBYhyj)@Q Ij@dIf:if:f끒5ypɮr^ Ap DNOT Ignoring new targets: 42.43 m.h h *h "h hgfffddjd!Zd%@w;@ZAZAZAZE)@U`);)Q U(=i]a9)Y]EoYiYie񿉧aemIiIim9@i @q@u/@qԑ^AQIaIqO}{>  nManaging dock network, ignoring radio surface power offBe <Ae <Be 9>Ba Be IBe BBe D =Ba Ba Be b;Be %E,?AJ=k@J f@J;ٱJ0!S RAHRS rotation from veh to nav: [[-0.406555,0.912460,0.046151],[-0.913623,-0.405910,-0.023016],[-0.002268,-0.051522,0.998669]]JHڿ2?@'? g<@lٿ `b#a@?iJ=k@IJXW^;JCYZLBy^I\EE EEEAEA"EEa:*EE=:VEAZEABEEV;aM2EEW;aMJEEƔ;aU:EEƔ;aUieMb@Mb@Mb@aaaa a9eX9v|?5^Mb?Yeyeҽe9Y=Fy@E>Q 554r?Q 95K)BY=Q E;yz@Q I@EI:i:΃5yɮ AeDNOT Ignoring new targets: 42.43 m.haha*ha"ha higifififm-BddjdZd`|l@Z=Z=Zp@Zz@;) u=i9)oii񿉧II!@ @@@^A ?΅I I) O5 >A g,^?A2k@2lf@2x ;ٱ2!S >AHRS rotation from veh to nav: [[-0.406514,0.912476,0.046204],[-0.913642,-0.405874,-0.022901],[-0.002143,-0.051523,0.998670]]2H@Sڿ2?@? <`ٿ`Esa@:a?i2k@I2^;2}CYFTByFIbDNVDN1yc=% S=ٔ Q- >9Y=F!y!- 8E->1Q 5E55o?Q 9E55)5BYIyM{@Q IM@5EI5Gc;i51;55y]Bɮe{ AeEDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd@ZZZZ{@x ;) =i@9)  n i i񿉧;IIIEU EUEU#EQ"EUC:*EU,:VEU3ZEQa]@a]@a]@a]@9I)qm9@q @q@q@q@y@yԡ ^A ȄI I O >8 ,@3?AYzYByzII|)~p; bDVD0y <%%B=ٔ%Q-%>91Y1==Fy9MEU>aQ 5}5el?Q 95e˕)eBYyQ I@aIeL;ie;e\5yɮT ADNOT Ignoring new targets: 42.43 m.hh*h"h hgf!f1f1d9d9jd9Zde ?@ZZZZ!)! %t=i)))-Yn)i1Ai]~񿉧Y]VYIaIaB7>BBIB.BBBBBb;B$EBBBBD =BC =CP659E EEE"E :*EV:VEZEBEJ"C,.L?A2s@2n@2>,;ٱ2oR :AHRS rotation from veh to nav: [[-0.405603,0.912894,0.045937],[-0.914045,-0.404945,-0.023253],[-0.002626,-0.051420,0.998674]]2H`gٿn6??@? ٿϗ eS"?i2s@I2rC];2{CYBsByF8IiMb@Mb@Mb@ 9V-rh|Mb?Yhy<@ A)AYbDuVDu:ԁy=%D=ٔ͗:Q->9Y=Fy;E>Q 55i?Q 95Q =tI)BYY>Q E;y @Q I@EI;i:;'5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffTBddjdZd=@Z%Y>Z%Y>Z%F @Z% @5>,;)1 =u=i={9)9=9i9iE񿉧AEVIAII 9ԩe9@a @a@e/@a^A I I O >E  E E E "E a:*E Ǚ:VE ZE a @a @a @a @ C,f?A2y@2Zt@2K;ٱ2ruR :AHRS rotation from veh to nav: [[-0.404959,0.913192,0.045702],[-0.914330,-0.404280,-0.023636],[-0.003108,-0.051359,0.998675]]2Hٿ`8?Lf?@0Bٿ4pui`K &?i2y@I2j:];2CYBzByBAIbDNVDN02yVB=%VZ=ٔV:Q-V>9XYX=ZFyXZ:E^>`Q 5f5b+g?Q 9f5bo)bBYdyf @Q If@bEIb-:ib$:bʊ5ylɮnI AlDNOT Ignoring new targets: 42.43 m.hh*h"h  h g f f fddjdZd'@Z9Z9Z9Z=n @MK;)I M8=iU9)QUH2QiQi]񿉧Y]CIaIa959@9 @9@9@9@E=@E>ԑA A @AB B CB IB LBB G =B B B !b;B $E^A I) I9 OM >ԙ + ,t?A6@6}@6w;ٱ6%S BAHRS rotation from veh to nav: [[-0.403909,0.913662,0.045611],[-0.914791,-0.403197,-0.024268],[-0.003782,-0.051527,0.998664]]6Hٿ 9iYi=mFyim/;Eu>qQ 55uc?Q 95u͑)uBY2>Q E;yd @Q I@uEIu]:iu#:u5yɮS ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffUBddjdZds@Zm2>Zm2>ZmHV@qZmhd @w;) \=i9)顥3ii񿉧\IIu߀GP9YK=AԡU99@ @@@ ^A I I O >&,0?A:L@:@:r ;ٱ:yPS BAHRS rotation from veh to nav: [[-0.402862,0.914136,0.045355],[-0.915249,-0.402114,-0.024960],[-0.004579,-0.051567,0.998659]]:H@}ٿ@?8?I@<ٿ1r@f?i:L@I:];8YJ~ByNFIbDVVDVy^<%^H=ٔ^:Q-b>9`Y`=bFy`fz7;Ef>hQ 5n5j`?Q 9n5j=)jBYlynx @Q Ir@jEIjW:ij:jq5ytɮv' AtDNOT Ignoring new targets: 42.43 m.hh*h"h hgff!f!d!d!jd!Zd-`@ZIZIZIZMWx @]r ;)a e|=ie9)aeg3aiaim~񿉧iuW~IqIq E  E E  E "E a:*E ,:VE 3ZE a@a@a@a@99-9@) @)@-1@1i^AU IY Iq O} >ԑ G,,?AN@N_@N=;ٱNG2S VAHRS rotation from veh to nav: [[-0.401713,0.914660,0.044991],[-0.915749,-0.400926,-0.025735],[-0.005500,-0.051538,0.998656]]NH`ٿ`D?` ?MĨٿ *Z`v@0c ?iN@IN>];N~CY^BybIIbDzVDzy%uL<%%E=ٔ5;Q-5>9AYI=MFyIU0C;E]>qQ 55u!]?Q 95u)uBYy @Q I@uEIu;iu;uJ5yɮ AuEԁ5DNOT Ignoring new targets: 42.43 m.h1h1*h1"h1 h1g9f9f9f9dAdAjdAZdE@@ZZZZY @B4>BB!IB`BBE =BBBa;B$E=;) =i9)顽3ii񿉧 zI IԡE% E%tE%$E!"E%:*E%v:VE%4ZE!BE%;a52E%;a5JE%`;a5:E%`;a5E 9@A  @A @E 80@I @U fA@U fA ^A |II)O5>74,;ӈ?A2ţ@2@2;ٱ2 S :AHRS rotation from veh to nav: [[-0.400233,0.915331,0.044531],[-0.916389,-0.399396,-0.026717],[-0.006670,-0.051501,0.998651]]2H kٿcJ?̦?@S@ٿ[Q{L^@?i2ţ@I2i];2|CYBByFUIIJ%=)J=J=J=xieMb@Mb@Mb@aaaa a9eQK7A`ſ~jt?Yeye+aep Aa eA)aaYabDVD:y%=%*=ٔ ;Q->9Y=Fyw^;E>Q 55X?Q 95n)BYR>Q E;y@Q I@EI ;iT ;Z5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffgBddjdZd@Z%R>Z%R>Z%ۂ@Z%@5;)1 5\=i=9)9=S39i9iE񿉧A]uII9EU EUEQEQ"EU:*EU;J:VEQZEQa]@a]@a]@a]@Y9@ @@2@q ^A yzI I O >(;,?A6t@6D@6,;ٱ6R RAHRS rotation from veh to nav: [[-0.398923,0.915925,0.044062],[-0.916952,-0.398045,-0.027551],[-0.007696,-0.051393,0.998649]]6H@ٿBO?D? W`yٿ`86@2P?i6t@I6];6}CYZByZGI`bDjVDjkyrf%rL=ٔr (;Q-r>9tYt=vFytvi;Ez>xQ 5~5ztU?Q 95z)zBYy@Q I@zEIz;iz;z5y ɮ AEDNOT Ignoring new targets: 42.43 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdUG" @ZyZyZyZ}@,;) B=i89)顕3ii񿉧pII fAfA9B%<A!B53>B5CB5'IB5fBB5I =B1B5JDB5a;B5y$EQ 9@ @@4@E  E E )E "E y:*E n:VE FA4ZE BE SB,4?A2@2R@2g<ٱ2mKR :AHRS rotation from veh to nav: [[-0.397457,0.916585,0.043578],[-0.917578,-0.396532,-0.028507],[-0.008849,-0.051317,0.998643]]2H`oٿT? O?\ `ٿ0`]5F?i2@I2^;2|CYB|ByFCIIiUMb@Mb@Mb@QQQQ Q9UEԸI +ƿMbpYUƽyU94UUZAU@ UbA)QQYU\AbDmVDmky}U%}B=ٔJ3;Q->9Y=Fyw;E>Q 55Q?Q 95ш)BYM>Q E;y@Q I@EI:i:5yɮ6 ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffNBddjdZd @Z M>Z M>Z u@Z @@%g<)! %T=i%9)!-4)i)i5~񿉧15`kI1I1E9y9@ @@/@@m=@m=ԡ^A @pI I O > O*H,d?"?A2ǂ@2{‰@2pD"<ٱ2Q :AHRS rotation from veh to nav: [[-0.396203,0.917154,0.043040],[-0.918110,-0.395239,-0.029346],[-0.009904,-0.051143,0.998642]]2H`c[ٿRY? ` ?@'a@Kٿ` @xHb/?i2ǂ@I2+^;0YByByB@I DFAbE-3jE-#4rE-h0ER ERER&EP"ERU:*ER n:VER4ZEPaZ@aZ@aZ@aZ@bDNVDNk2yb:%fX=ٔfk6;Q-f>9dYh=jFyhjk;Ej>lQ 5r5n'M?Q 9v5n;)nBYtyv@Q Iv@nEIn:in:n5yzBɮz2 A|%DNOT Ignoring new targets: 42.43 m.h!h)*h)"h) h)g)f)f1f1d1d1jd1Zd=!@ZYZYZYZ]@mpD"<)q ux=iu9)qu74qiqԹi񿉧fII99@ @@/@^A8kII O >A /WN,&BrCBr!IBr`BBrH =BpBrKDBr{a;Brl$Eӂ@XΉ@1<ٱQ -AHRS rotation from veh to nav: [[-0.394869,0.917741,0.042788],[-0.918673,-0.393863,-0.030186],[-0.010850,-0.051228,0.998628]]HEٿ!^?R?e` 5ٿ螿8:?iӂ@IM^;zCYEcByE%IiMb@Mb@Mb@ 9ˡEsh|?ſI +Y什y)94p A@ KA)AYAbD=VD=NyM½%M4=ٔUb;Q-U>9QYQ=]FyY]P;E]>aQ 5m5eH?Q 9m5e)eBYu=>Q Eu;yu@Q Iu@eEIe. ;iee ;e5yyɮ} AyDNOT Ignoring new targets: 42.43 m.hh*h"h hgfff!BddjdZd"@Z=>Z=>ZD@ZG@1<)  >i9)A4ii 񿉧LbIII>?)7?E EE!E"E:*ER:VEc3ZEBE;a2E;aJE;a:E;aAA9@ @@@i^A] 0fIi I O >ԑ *FF?i2݂@I2#^;2~CYB\ByBIbDHVDHyr%re=ٔr5;Q-v>9tYt=vFytzxj;Ez>|Q 55~D?Q 95~9)|Yy@Q I @~EI~a;i~ ;~$5yɮ A=DNOT Ignoring new targets: 42.43 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdU![#@ZqZqZqZu@?<) =i9)顕9^4ii񿉧]IIq&9-9@) @)@-0@)@1@1ԡE EE&E"Ey:*Ei:VE4ZEa@a@a@a@^AIbII1O=> f[,o?A2o@2?@2L<ٱ2R JAHRS rotation from veh to nav: [[-0.392628,0.918717,0.042444],[-0.919612,-0.391546,-0.031704],[-0.012508,-0.051480,0.998596]]2H ٿ!f? >?vm`ٿs;@[?i2o@I2-^;2|CYRUByRIIVC=)V;bD\VD\yf~%fL=ٔfI;Q-f>9hYh=jFyhj<;En>pQ 5v5r@?Q 9v5r)pYtyv@Q Iv@r!EIr :ir:r園5yxɮ~X A|DNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd'2$@ZZZZ@L<) =i:9)  x4 i i~񿉧ZZII89B9>BCBIBLBBE =BBB^a;B`$EBƵCBƵCBBG =BG =Cƺ559@1 @1@50@1) E  E E !E "E :*E ą:VE c3ZE BE fb,?A2@2@29Y<ٱ2S :AHRS rotation from veh to nav: [[-0.391670,0.919137,0.042206],[-0.920010,-0.390556,-0.032358],[-0.013258,-0.051503,0.998585]]2Hٿi? ?p ؿC'`^ h?i2@I2];2{CYB=ByFIi Mb@Mb@Mb@     9 J +MbX9Ŀ rhY Hy ! C A  A) A Y fAbD-VD-y5ڽ%=A=ٔ=:Q-=>99YA=EFyAEO ;E>Q 55!Q E;y@Q I@"EI:i:ў5yɮ AUDNOT Ignoring new targets: 42.43 m.hQhQ*hQ"hQ hQgQfYfYf]BdYdjdZdL%@ZI*>ZI*>Zb,@Za@9Y<) >i9)ii 񿉧  WII 9=eA)F9Y 9@  @ @ 0@ ԁ E  E E $E "E :*E |;:VE 4ZE a @a @a @a @^A} -tYI I O >h:i,?ARb@R2@R a<ٱRSS ^AHRS rotation from veh to nav: [[-0.391056,0.919407,0.042026],[-0.920265,-0.389923,-0.032763],[-0.013735,-0.051487,0.998579]]RHٿ`k?t?r`~ؿLƠW!\@\?iRb@IRd];PYdyfIbDnVDnfyv?C%v;=ٔz؎:Q-z>9xY|=~Fy|~:E~>Q 5 57?Q 9 5N)BYy!@Q I@#EI;i;5yɮ AEDNOT Ignoring new targets: 42.43 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]%@ZyZyZyZ}!@ a<) D>i9)顝F3ii񿉧UII 9@ @!@%h4@!@-=@)1^AE@WIQaIiO}>Bu 8>ԑ Bq Bu IBu 3BBq Bq Bq Bu Ma;Bu W$Ep,t?A2-@2@2NJg<ٱ2S >AHRS rotation from veh to nav: [[-0.390515,0.919642,0.041906],[-0.920488,-0.389365,-0.033109],[-0.014132,-0.051504,0.998573]]2H`2ؿm?t?t\ؿ`^O?i2-@I2q];2}CY^+BybI ddddiMb@Mb@Mb@ 9y&1K7y&1Y`yI `eZA@ S@)xAYAbD VD2yi%>=ٔq:Q->9Y=Fy[:E>Q 55m3?Q 95h)BY>Q E;y|"@Q I@$EI3:i:5yɮ AE5 E5E5%E1"E5:*E5T:VE5 4ZE1BE56 Z>Z\X@Z|"@MNJg<)Q UR8>iUn9)QU"3QiYi]񿉧Ye5SIaIa YYg9ٚ9YmAԡ9@ @@4@^A TI I O- > DGv,\Uډ?AN@N@N?i<ٱNxR VAHRS rotation from veh to nav: [[-0.390424,0.919689,0.041723],[-0.920525,-0.389274,-0.033168],[-0.014263,-0.051356,0.998578]]NHؿ`n?\?`t`ؿ@d5`\KZ?iN@IN];N~CY^BybIbDjVDjyr%rZ=ٔv9Q-v>9tYt=vFytz+9Ez>|Q 55~/?Q 95~~)~BYy ~"@Q I @~%EI~F:i~:~.5yܒBɮ AtE=DNOT Ignoring new targets: 42.43 m.hAhA*hA"hA hAgAfAfIfIdIdIjdQZdUC~'@ZZZZ,~"@U?i<)Q U>iUR9)Y]3YiYie~񿉧aeRIaIiE- E-E-&E)"E-g:*E-:VE-4ZE)a5@a5@a5@a5@y99@ @@4@) Q ^A QOI I O >|,?A2@2@2^g<ٱ2R :AHRS rotation from veh to nav: [[-0.390412,0.919687,0.041880],[-0.920532,-0.389262,-0.033112],[-0.014150,-0.051480,0.998574]]2H@ؿn?Zq?t@ؿ`[Q?i2@I2Un];2|CYB"ByFIbDNVDNfyV8K<%VC=ٔVQ-Z>9XYX=ZFyX^ 8E^>`Q 5f5b+?Q 9f5b})bBYdydQ Ij@b&EIb+;ibY;b5ylɮn AlDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd_(@ZZZZ~"@U^g<)Y ]$>i]>9)Y])4ԉii񿉧}SIIBu6>BuCBuIBuBBuH =BqBqBuLa;BuU$EԱ9I eA) E EE'E"E*EV:VE'4ZEBE|;a2E};aJE;a:E;a9@ @@2@@@gA ^A TI I O > ,?AJ@JY@JV^<ٱJ‚S RAHRS rotation from veh to nav: [[-0.390927,0.919453,0.042209],[-0.920322,-0.389797,-0.032653],[-0.013570,-0.051611,0.998575]]JHٿ)l?@f?`Fspؿ巠ʋlS?iJ@IJS ];J}CYzByzII~<)~=iMb@Mb@Mb@ 9:v?"~j~jtYT9Y=Fy{E>Q 55'?Q 95\})BY*=Q E;y6@Q I@Iu ;i ;5yɮOADNOT Ignoring new targets: 42.43 m.hh *h "h  h g f ffBddjdZd>@)@)ZE*=ZE*=ZE@ZE6@ V^<) R8>i~9)[4ii񿉧e+UIaIaQ9ԁ} 9@y  @y @} /@y E  E E &E "E =;*E C:VE 4ZE a @a @a @a @Ա ^Ae XRIy I O >ފ,|-?AB@B@BU<ٱBES RAHRS rotation from veh to nav: [[-0.391461,0.919213,0.042487],[-0.920102,-0.390350,-0.032226],[-0.013038,-0.051708,0.998577]]BH@ ٿ`2j?`?zq}ؿ`ony X?iB@IB ];BzCY^ BybIbDjVDjyr%rA=ٔraQ-v>9tYt=vFytzEz>|Q 55~#?Q 95~})~BYy6@Q I @~'EI~ :i~|:~ݩ5yɮA1EDNOT Ignoring new targets: 42.43 m.hAhA*hA"hA hIgIfIffddjdZd*@ZZZZ=6@-U<)) -f(>i-c9)1541i1i=񿉧9=LWI9IAY9ԙBe7>BaBeIBeBBeI =BaBaBe+a;BeE$E9@ @@@Թ E  E E #E "E :*E F:VE 3ZE BE ;a 2E ;a JE ;a :E ;a ^A OI I! O5 >5,EI?A2@2@2J<ٱ2jGT :AHRS rotation from veh to nav: [[-0.392139,0.918909,0.042810],[-0.919823,-0.391053,-0.031675],[-0.012365,-0.051799,0.998581]]2H ٿg?@8?0oٿ7R^ `?i2@I2];2CY@yDdimMb@Mb@Mb@iiii i9m/$?~jtQYm,=ymĽmumAm@ mS@)mAiYmAbDVD:2ٔQ->9Y=FyhӺE>Q 55?Q 95})BY=Q E;yHQ I@(EI3:is:٫5yɮDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffBddjdZd@:+@Z%=Z%=Z%[@Z%oI@5J<)9 =k>i=|9)9="49i9iE~񿉧AMYIIIIA9@ @@/@ ^A= YII IY Oe >9 Y,c?Aɰ;2@2܉@2o;<ٱ2S :AHRS rotation from veh to nav: [[-0.393255,0.918421,0.043045],[-0.919358,-0.392209,-0.030859],[-0.011459,-0.051709,0.998596]]2H@+ٿ`c? ?bk@ٿ@m@wy?i2@I2xY];2zCYFByFIbDNVDNyZ:<%Z<ٔZQ-^>9lYl=nFylrQEr>tQ 5v5vG?Q 9z5v})vBYxyzHQ Iz@v)EIvW:iv :v5yɮ,A5DNOT Ignoring new targets: 42.43 m.h1h1*h1"h1 h1g1bEJ4jErExE0E} E}E}"Ey"E}:*E};J:VE}(3ZEya@a@a@a@fffddjdZd +@ZZZZT]I@Uo;<)Q ]'>i])9)Y]4YiYie񿉧aeS]IaIi9IE9@A @A@E0@Aq^Ae u \Iq I O >ԡ ,|?A2؂@2UӉ@2R,<ٱ2S >AHRS rotation from veh to nav: [[-0.394311,0.917956,0.043313],[-0.918917,-0.393308,-0.030015],[-0.010518,-0.051636,0.998611]]2Hd<ٿ_? -?`g+ٿ_6`p ?i2؂@I2 X];0YFByFIbDRVDR3yvμ%~G=ٔ)Q->9Y=Fy &7E >AAAAB-6>B)B-IB-BB-E =B)B)B- a;B-7$EyQ 55?Q 95})BYyHQ I@It=iv=J5yQɮUVAQDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd,@kJTimed out from 2025-10-27T05:49:05.0Z5jfCompleted lineCaptureHoming:MicromodemComms:CheckInq5jAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInjVCompleted lineCaptureHoming:MicromodemCommsZZZZLI@mR,<)i my>im9)qu4qiqi}񿉧y}paIyE EE$E"E:*Ega:VE4ZEBEt,?A2@ς@2ʉ@2GO<ٱ2mS :AHRS rotation from veh to nav: [[-0.395354,0.917491,0.043641],[-0.918479,-0.394393,-0.029158],[-0.009540,-0.051611,0.998622]]2H`|Mٿ\?@X?@.d=ٿ۝Չl`?i2@ς@I2l];2~CYF!ByFIi Mb@Mb@Mb@     9 A`"?#~jMbY Y=y 㥽   @ =@)  Y bD% VD%2y_|=%"=ٔQ->9Y=FyIE>Q 55?Q 95=})BY=Q EQ I@*EI. ;i2 ;}5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h  h g f ffBddjdZd0-@15% j%nAggregate::initialize lineCaptureHoming:MicromodemCommsq5%j%~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn5%Z==Z==Z=dV@Z=S@UGO<)Q Uk>iU9)Y]5YiYie񿉧aeVeIaIiԡiaIaE= E=E="E9"E=7:*E=A:VE=(3ZE9aE@aE@aE@aE@E99@ @@/@ ) ^A (aI I! YB9B9B=IB=BB=F =B9B9B=`;B='$EBBBBF =BF =CF5ԉE EE#E"E:*EVL:VE3ZEBE9Y=Fy?E|>Q 55?Q 95b})BY5=Q E5<5y=ْBɮ= AEsEDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd /@Z=Z=Z?֦@Z=O@i;) u>i9)5ii~񿉧oII 1Y99@ @@4@ԁ ^A QfԹ I I O >娸,TR?A2@2@2u;ٱ2H S :AHRS rotation from veh to nav: [[-0.399010,0.915851,0.044811],[-0.916926,-0.398202,-0.026096],[-0.006056,-0.051501,0.998655]]2Hbٿ`N?l? vW$|ٿ`x`L^`?i2@I2'^;2{CYJCByJIbDRVDR:yZ>%ZN=ٔ^:Q-f>9dYd=fFydjBEj>lQ 5r5n ?Q 9r5nw})nBYpyr!CQ Iv@n,EInB:in:nQ5yxɮz AxDNOT Ignoring new targets: 42.43 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5`/@ZQZQE] E]~E]%EY"E]:*E](:VE] 4ZEYam@am@am@am@ZQZUN@u;) M>i9)ii񿉧  l>rI I 9M9@I @I@U3@QA ^A rI! I1 O= >YȾ,?ABhAj<Bn8>BlBnIBnBBlBlBlBn`;Bn+$EY5VBy5IbDEVDE!yUd=%UB=ٔ]Q-]>9YYY=eFyaeEe>iQ 5u5m ?Q 9u5m})mBYqyyQ I}@iIm:im:m'5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgff)f)d1d9ajdqZdu_0@ZZZZ) T>i=9)9=n39iAiE񿉧AMqIIIIE EE!E"Eg:*Ec:VEc3ZEBE|;a2E};aJE;a:E;aU 9!]9YY]8Aԉ-9@) @)@-/@)Թ ^A rI I1 O= >Ţ,߿?A2+@2@2m;ٱ2AT :AHRS rotation from veh to nav: [[-0.400978,0.914934,0.045961],[-0.916081,-0.400272,-0.024061],[-0.003617,-0.051752,0.998653]]2H`ٿ$G?`/?`P` ٿj@m4?i2+@I2^;2}CYFjByJ-ITiMb@Mb@Mb@ 9~jtx?ʡEQ?Y;y-u<CA@ 5A)AYAbDVD0yI=%A=ٔ[Q->9Y=FyߥE> Q 55 ?Q 95 :}) BY8=Q Eiu9)q}4yiyi񿉧yIIIU?)?E EE%E"E:*E&p:VE 4ZEa@a@a@a@9 9@  @ @ /@ ) Y ^A @pI I O >̢,$ 5?A2@2ɑ@2tX&;ٱ2T >AHRS rotation from veh to nav: [[-0.401672,0.914604,0.046479],[-0.915780,-0.401012,-0.023154],[-0.002538,-0.051865,0.998651]]2H`ٿnD?̧?`N-ٿ d ?i2@I23_;2{CYFByJOIbDR VDR:2yZ>%ZD=ٔ^)Q-^>9\Y\=bFy`bEb>dQ 5j5f4?Q 9j5f|)fBYlyn3@Q In@dIf+;if;fѻ5ypɮr ApmDNOT Ignoring new targets: 42.43 m.hihi*hq"hq hqgqfqfyfydydyjdyZd+1@ZZZZ3@-tX&;)) -Ձ>i-9)151i1iE~񿉧amq{IiIqԉB=;>B=CB=IB==BB=B =B9B=LDB=`;B=$EԱ-)99@ @@@E  E E $E "E :*E xv:VE 4ZE BE /dӢ,O?A2/@2@2_*:ٱ2T :AHRS rotation from veh to nav: [[-0.402320,0.914294,0.046966],[-0.915498,-0.401710,-0.022189],[-0.001420,-0.051925,0.998650]]2HٿA? ?K ٿ`KEW`ޕ?i2/@I2g_;2|CYBByBfIiMMb@Mb@Mb@IIII I9M|?5^{Gz?YM̼yMҽMף9yYy=}FyyкE>Q 55?Q 95*|)BY=Q E;y,@Q I@.EI;i;½5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfff-BddjdZd91@Z=Z=ZC-@Z,@_*:)  W>i9)^3ii%񿉧)-~}I)I)a}9@y @y@N0@ԑ^AezIqIO>ԹE  E E !E "E I:*E 3:VE c3ZE a @a @a @a @ z٢,i?A2(@2@29ٱ2 mU :AHRS rotation from veh to nav: [[-0.402547,0.914165,0.047517],[-0.915399,-0.401981,-0.021328],[-0.000396,-0.052082,0.998643]]2HRٿ@?@(T?J`ٿ֕ 9?i2(@I2h_;0YFByFwIbDNVDNkyVA=%VY=ٔV32Q-Z>9XYX=ZFyX^4,E^>`Q 5f5bs?Q 9f5b{)bBYdyf$@Q Ij@b/EIb9:ib1:bh5ylɮn AlDNOT Ignoring new targets: 42.43 m.hh *h "h  h g f ffddjdZd1@Z9Z9Z9Z=$@M9)Q Ur>iU9)QU3QiQi񿉧Wk~II eAJ99@ @@4@@@=^AmωIyIO>) A AAA B >>B CB 4IB pBB ? =B B B `;B #Ec,ɏ?A M:@M @M6*ٱMMU AHRS rotation from veh to nav: [[-0.402762,0.914045,0.047995],[-0.915304,-0.402245,-0.020411],[0.000649,-0.052150,0.998639]]MHٿ@??`?`,Jbٿ 政 FE? o?iM:@IMQ*`;M{CYByIEU EUEU$EQ"EU:*EU.:VEU4ZEQBEU 9Y=FynE>Q 55?Q 95z)BY>Q E;y" @Q I@0EI ;i ;y5yɮ ADNOT Ignoring new targets: 42.43 m.h!h!*h!"h! h!g!f!f1f5PBd1d1jd1Zd= s2@ԉZ>Z>Z C@Z" @M6*)I ML>iM9)IUG,4UsQ,a?A23@2@2ٱ2o V :AHRS rotation from veh to nav: [[-0.402430,0.914170,0.048402],[-0.915450,-0.401950,-0.019687],[0.001458,-0.052232,0.998634]]2H`hٿ@@?@!Ȩ?@]K`ٿ`(@W? .?i23@I2`;2|CYŹByZI`bDfVDfk2yjt>%np=ٔnjQ-n?9pYp=rFypv:Ev?tQ 5z5vU?Q 9~5vx)vBY|y~% @Q I~@v1EIv;iv;v’5y ɮ ]A 5DNOT Ignoring new targets: 42.43 m.h1h1*h1"h1 h1g9f9fAfAdAdAjdAZdM 2@ZiZiZiZmP% @})y }y>iV9)顅A +,=?Aɰ2撂@2@2ٱ2=V :AHRS rotation from veh to nav: [[-0.402127,0.914281,0.048829],[-0.915581,-0.401693,-0.018834],[0.002395,-0.052281,0.998630]]2HtٿA?(?oL Wٿ$I c?Ī?i2撂@I2 a;2{CYbہBybI!bDMVDM1ye%=%eB=ٔmQ-m>9qYq=uFyyK:E>Q 55%?Q 95w)BYy' @Q I@2EIY[;i\;Ē5yɮADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd73@ZZZZ' @%)! %>i-'9))->3-KIBu9>BuCBurIBuBBuD =BqBqBuD`;Bu#EyE} E}E}#Ey"E}I:*E} H:VE}3ZEyBE}9Y=Fy<;E>Q 55?Q 95u)BYRQ>Q E;y @Q I@3EI;i6;ƒ5yɮrA-DNOT Ignoring new targets: 42.43 m.h)h1*h1"h1 hQgQfYfYf]BdYdajdaZde`"3@ZRQ>ZRQ>Z@Z^ @mW) L>i9)73  E  E E &E "E :*E x:VE 4ZE a @a @a @a @c=,?A|@L@憻ٱeW %AHRS rotation from veh to nav: [[-0.400270,0.915042,0.049814],[-0.916388,-0.399919,-0.017272],[0.004117,-0.052563,0.998609]]Hٿ`H? >? S Eٿѯp?~骿 ?i|@Ivb;|CY=By=IbDU VDU2ye忻%e8=ٔmQ-m>9iYi=mFyqu#;E}>yQ 55}?Q 95}s)}BYy0@Q I@}4EI} :i}:}zȒ5y5ՒBɮ5aA5rEDNOT Ignoring new targets: 42.43 m.hh*h"h hg!f!f!f!d)d)jd1Zd=@4@ZqZqZqZu0@憻) &J>i9)額341Ba Ae 4=Bm :>Bi Bm IBm ˁBBm F =Bi Bm KDBm 1`;Bm #EB-ʶCB-ʶCB)B-D =B-C =C-wF6ԙ J%,%?Aȭ@@ٱӬW UAHRS rotation from veh to nav: [[-0.399117,0.915522,0.050259],[-0.916886,-0.398811,-0.016406],[0.005024,-0.052630,0.998601]]H ٿK?? "W`ٿ̐Γt?S?iȭ@Ic;YByII=)<==bDVDy%M=%-O=ٔ-Q-5>E= E=E=%E9"E=I:*E=X:VE= 4ZE9BE9aM2E9aMJE=o;aM:E=o;aM9QYQ=FyE;E>Q 55tꐊ?Q 95q)BYyB@Q I@6EI:i9:Kʒ5yɮADNOT Ignoring new targets: 42.43 m.h!h!*h!"h! h!g!f!f)f)d)d1jd1Zd5 x4@ZQZQZQZUxB@e)i m^>im9)imi4u1 O,?A2Ⱥ@2@2DĻٱ2$X :AHRS rotation from veh to nav: [[-0.397659,0.916119,0.050929],[-0.917514,-0.397400,-0.015542],[0.006001,-0.052908,0.998581]]2H>sٿ`P?W?E\`oٿ@Pԏx? `?i2Ⱥ@I2hd;0YBByFIi Mb@Mb@Mb@     9 PnZd;Oǿ rh?Y y j< C< CA @ KA) A Y =AbD%VD%k2y5"!=%5[=ٔ%Q->9Y=FyӍ;E>Q 55搊?Q 95o)BYf>Q Ek;y@Q I@7EI:if:˒5yגBɮAiEDNOT Ignoring new targets: 42.43 m.hh*h"h hgff f Bd d jdZd`4@Z5f>Z5f>Z5:@Z5@MDĻ)I M#>iM~9)IM4M i  ,8?AYUByUIbDeVDeyu%uF=ٔuQ-u>9yYy=}FyyE>Q 55␊?Q 95m)BYyQ I@8EI5@Z9Z9Z9Z9I)I Mt>iU$9)QU4U:~B B IB ߁BB B =B B LDB `;B #E!@! @!@%4@!ԑ QQE EE$EG"E:*ET:VE4hAZE^A`k >9 hAY ABE6 Թ ia,_R?Aɰ:cԂ@:3ω@:Uٱ:X BAHRS rotation from veh to nav: [[-0.394783,0.917315,0.051760],[-0.918739,-0.394637,-0.013463],[0.008077,-0.052869,0.998569]]:H!DٿZ?T?NfAٿP@?F?i:cԂ@I:~f;8LYRByRI TTi-Mb@Mb@Mb@)))) )9-p= ף|?5^ʿ~jtx?Y-y-R-;)-@ -A)-KA)Y-GAbDEVDE1yU%UM=ٔ]Q-]>9YYY=eFyaeV<Ee>iQ 5u5mRސ?Q 9u5mk)mBY}y>Q E}Y;y} @Q I}@m:EIm ;im ;mbϒ5yɮFADNOT Ignoring new targets: 42.43 m.hh*h"h hgfff}BddjdZd5@Zy>Zy>Z2Ȅ@Z @U) Ha>i9)顝ŷ4[=! Ee  Ee Ea Ea "Ee :*Ee :VEa ZEa am @am @am @au @,:l?A:@:މ@: ٱ:ôX JAHRS rotation from veh to nav: [[-0.393041,0.918035,0.052244],[-0.919475,-0.392956,-0.012321],[0.009219,-0.052880,0.998558]]:H 'ٿ`??Ul2&ٿ;+?0?i:@I:h;:~CYVByVI|bD-VD- yE1%EL=ٔE3:Q-M>9IYI=UFyQU;E]>aQ 5m5eِ?Q 9m5ei)eBYqyu @Q Iu@e<EIe:ie:e%ђ5yyɮ}cADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd@= 6@ZZZZ @ ) 2Z>ie9)T4;ii~񿉧CZ[II9@ @@/@)Y^A^IIO>A @AA B 6>B CB IB BB F =B B KDB `;B $Eԁ Hw!, &?AF+@F@F,ٱFqX fAHRS rotation from veh to nav: [[-0.391432,0.918695,0.052728],[-0.920147,-0.391420,-0.010979],[0.010553,-0.052815,0.998549]]FH 8 ٿe?`4?`q ٿ{? ?iF+@IFi;F|CY сBy IYbDVDk1E% E%E%&E!"E%2:*E%xv:VE%4ZE!BE% *9yYy=}Fyy;E>Q 55Ԑ?Q 95lg)BYy+ @Q I@=EI;i=;Ӓ5yɮ,A-DNOT Ignoring new targets: 42.43 m.h)h)*h)"h) h)g)f1f1f1d1d9jd9Zd=n~6@ZyZyZyZ}.+ @,) '>i9)顕_d:ii񿉧TUIIԁ]9@Y @Y@]/@Yԩ^A u \I I O > ',?A2~@2N@2Fٱ2W :AHRS rotation from veh to nav: [[-0.390040,0.919259,0.053209],[-0.920718,-0.390113,-0.009434],[0.012085,-0.052670,0.998539]]2Hkؿ j? />?vؿ`+R??i2~@I2j;2zCYFʁByFIJ=J=iMb@Mb@Mb@ 9V-J +ɿMbpYyH@ A)S@Y %49AYA=EFyIM;EM>QԹQ 55U\А?Q 95Ue)UBYAi>Q Ei;y0 @Q I@U?EIUVZmAi>Zm@Zm0 @}F)y }Ha>i}9)顅\Y3]ii񿉧2PIIM9@I @I@M/@I@]fA@]hAE- E-E-#E)"E-y:*E-z:VE-3ZE)a5@a=@a=@a=@^A5TI9IQO]>i -,ѹ?A:@: @:m0\ٱ:ڸW FAHRS rotation from veh to nav: [[-0.388201,0.920008,0.053723],[-0.921477,-0.388349,-0.008070],[0.013439,-0.052637,0.998523]]:H Hؿp??|ؿ`ׅ?J?i:@I:2l;8YRByVIbD^VD^yf`#%fR=ٔfcQ-j>9hYh=jFyh~w;E~>Q 5 5ː?Q 95c)BYyP @Q I@@EI[f;ig;c֒5y%ӒBɮ-A-hEUDNOT Ignoring new targets: 42.43 m.hQhQ*hq"hq hygyfyfyfyddjdZd>7@ZZZZP @m0\) \Q>i,9)3]6ii 񿉧  JI 1I9B5>BBIBՁBBI =BBB`;B#Ea9EM EMEM$EI"EM:*EMe:VEM4ZEIBEM 4, Ԍ?ABV@B&@BvٱBW jAHRS rotation from veh to nav: [[-0.386668,0.920617,0.054335],[-0.922096,-0.386906,-0.006489],[0.015049,-0.052611,0.998502]]BH+ؿu?ѫ?ρؿz%Ҏ?謹?iBV@IB l;B~CYrByr}Ii}Mb@Mb@Mb@yyyy y9}9Y=Fyu;E>Q 55Ɛ?Q 951b)BYG>Q E;yd@Q I@AEI.;i(;Qؒ5yɮD AYDNOT Ignoring new targets: 42.43 m.hh*h"h hgfff0Bddjd Zd @7@ZMG>ZMG>ZMȞ@ZM/d@]v)Y ]u>i_9)顅ii~񿉧, EIIU9@Y @Y@]/@Yyԡ^A} |(HI I O >bEajEeʶ4rEeT/E  E E #E "E 7:*E xv:VE 3ZE a @a @a @a @ ;,,H?A4<ɰB~)@BN$@BٱB vW JAHRS rotation from veh to nav: [[-0.385177,0.921206,0.054935],[-0.922692,-0.385506,-0.004889],[0.016674,-0.052571,0.998478]]BH ؿz?k ?ె #ؿt? ꪿ ?iB~)@IB 1m;B|CYRByVmIbD^VD^kyf=%fZ=ٔfQ-f>9hYh=jFyhj;En>pQ 5v5rS?Q 9v5r`)rBYtyv@Q Iv@rCEIrB:ir:rْ5yxɮ~ A|%DNOT Ignoring new targets: 42.43 m.h!h!*h)"h) h)g)f)f1f1d1d1jd1Zd8@ZZZZY@) \>i9)Q3߼ii=񿉧9=*?I9IAԱ9@ @@)2@@=@=^AI!I1O=> BM <AM <BQ BQ BU IBU BBU J =BQ BQ BU `;BU $E9 A,6=?AN5@NZ0@N'ٱN/W ~AHRS rotation from veh to nav: [[-0.383808,0.921734,0.055659],[-0.923229,-0.384237,-0.003203],[0.018434,-0.052615,0.998445]]NH`Mؿ~?U?Uؿ=j>?i@B?iN5@INm;N{CY5By5UIbD}VD}E EE%E"E:*E|:VE 4ZEBE;a 2E;aJE_;a:E`;ay];%]3=ٔeJ|Q-e>9aYi=mFyimR;Em>qQ 5}5u?Q 9}5u9_)uBYy@Q I@uDEIu&;iu*;uے5yɮD ADNOT Ignoring new targets: 42.43 m.hh*h"h hgff!f!d!d)jd)Zd-F8@ZiZiZiZm_@') 5>ia9)顕3ii񿉧M;II59@1 @9@=5@91^A_>I I O- >Y zH,!?A 2P@@2 ;@20ٱ2uW >AHRS rotation from veh to nav: [[-0.382580,0.922206,0.056282],[-0.923702,-0.383108,-0.001517],[0.020163,-0.052568,0.998414]]2H2|ؿ ?Ь?`؄ؿX?'꪿?i2P@@I2m;2~CYZsByZ8Ii=Mb@Mb@Mb@9999 99=:v+ÿ rhY=Լy==C=A=@ =A)==@9Y=(AbDQVDQye`%e\=ٔm昻Q-m>9iYi=uFyquh;Eu>yQ 55}?Q 95}h^)}BY">Q E;yz%@Q I@}EEI}:i}:}ݒ5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfff߀BddjdZd 8@Z">Z">Z@Zz%@ 0)  {>i 9)ii񿉧6IIqI@I @I@M4@IE EE'E"E:*E]t:VE'4ZEa@a @a @a @ԙ^AuX;IyIO> DN,{;?A2AJ@2E@2 ٱ2ܺW :AHRS rotation from veh to nav: [[-0.381444,0.922631,0.057035],[-0.924130,-0.382077,0.000199],[0.021976,-0.052631,0.998372]]2Hiؿ0?3? zsؿ@#*?ŀ?@?i2AJ@I2tl;2|CLYVgByZ)IIZ<)Z=bDb VDb2yj|%jT=ٔn#Q-n>9)Y)=5Fy15H;E5>AQ 5e5Ei39)3i i ~񿉧 2II I)B;>BCBYIBBB? =BBLDBa;B7$EBµCBµCB”CBF =BE =CG69@ @@/@@@fAE  E E &E "E :*E  :VE 4ZE BE ! z,U,BU?A29R@2 M@27]¼ٱ2jW :AHRS rotation from veh to nav: [[-0.380530,0.922971,0.057628],[-0.924464,-0.381264,0.001898],[0.023724,-0.052553,0.998336]]2HZؿ?t?5fؿ_?K? 5調_?i29R@I2k;0YBZByFI|i%Mb@Mb@Mb@!!!! !9%Q?S㥛MbY%u9Y=Fy;E>!Q 5-5%?Q 9-5% ])%BY5>Q E5;y=n7@Q I=@%GEI%R;i%Q;%05yEВBɮM AIuDNOT Ignoring new targets: 42.43 m.hqhq*hq"hq hygyfyfyfπBddjdZd@9@Z>Z>Zq@Zn7@7]¼) >>i&9) 4ii񿉧ΰ/II1)9@ @@@Q^AIIO>ԁ E  E E $E "E :*E :VE 4ZE a @a @a @a @f[,$o?A6W@6R@6Ѽٱ6&W BAHRS rotation from veh to nav: [[-0.379888,0.923197,0.058248],[-0.924680,-0.380727,0.003619],[0.025518,-0.052486,0.998296]]6HPؿӊ? ҭ?`]ؿm?\!?@qߪ ?i6W@I6jGj;6zCYJKByJIbDRVDR1yZ%Z`=ٔ^~Q-^>9`Y`=bFy`bg:Ef>dQ 5j5f?Q 9j5f\)fBYlyn{7@Q In@fHEIf;if;f5ypɮv) AtDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffd!d!jd!Zd%:@9ZIZIZIZM{7@eѼ)a ev>ie9)aeH4iiiim񿉧quw-IqIq9@ @@/@yԑ^A4/IIO>AAB4>BCB'IBfBBH =BBKDB0a;BF$E #Nb,6?AfGt e39aYeA#A鰁ɰp<E EE&E"E:*E*5:VE4ZEBE;a2E;aJE~;a:E;aW\@'W@W6߼ٱ)W AHRS rotation from veh to nav: [[-0.379354,0.923375,0.058903],[-0.924850,-0.380295,0.005246],[0.027244,-0.052486,0.998250]]H@VGؿ@I?(?_Vؿ|u??ߪ?iW\@Iph;yCY PBy IE only read 0 of 1 data item for BIT error. Device response is::TS,00050309473683,35.0, +10.4, 0.0,10 0.00, 86.40, 80.13, 78.77 aE@aE aE@aE aE@aE aE@aE bDUVDU:2ye(<%e&=ٔecfQ-e>9iYi=mFyiu:Eu>yQ 5}5}d?Q 95}Q\)}BQ A+:YQ E;y7@Q I@}IEI}:i}>}5yɮ A%DNOT Ignoring new targets: 42.43 m.h!h!*h!"h! h!gIfQfYfadadajdZd`m:@W6߼) >i~9)4ii񿉧  P+I I IfA)fA9@ @@/@@@=1^A %)I) I9 OE >Y wh,脣?A2^@2ZY@2mٱ2QW :AHRS rotation from veh to nav: [[-0.379087,0.923440,0.059594],[-0.924907,-0.380132,0.006850],[0.028979,-0.052522,0.998199]]2H@BؿҌ??֘`Tؿ|??,䪿??i2^@I2g;2zCYF@ByFIbDNVDNyV̽%V=ٔVcQ-Z ?9XYX=ZFyX^n_:E^ ?`Q 5f5b?Q 9f5b\)bBQ Af :YdQ Ej;yj7@Q Ij@`Ib:ibN?bl5ylɮ]~ AYDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd?:@m) a>i9)ii~񿉧*II19@ @@m0@i߱IߵAE ErE$E"E:*E?:VE4ZEa@a@a@a@a^AS,IIO>ԉ n,$d?A2b@2\@2ٱ2W :AHRS rotation from veh to nav: [[-0.378674,0.923569,0.060225],[-0.925029,-0.379808,0.008220],[0.030466,-0.052597,0.998151]]2H0<ؿ ?ծ?ՙNؿՀ?@b2?`?i2b@I2_f;2|CYF9XYX=ZFyX^;:E^>`Q 5f5b?Q 9f5b[)bBQ Af9YdQ EfT;yf7@Q If@bJEIb:ib.?b\5ylɮn AlDNOT Ignoring new targets: 42.43 m.hh*h "h  h g f ffddjdZdyI;@) X>i/9)e[3ii񿉧a)IIB}2>B}CB}IB}GBB}J =ByB}JDB}a;B},$Eԙ9@ @@4@E EoEE"E:*E:VEZEBEY;a2E[;aJEN;a ^A)IAIaOu>:EN;a} u,J׍?AJZd@J*_@JٱJÕW ZAHRS rotation from veh to nav: [[-0.378399,0.923650,0.060701],[-0.925098,-0.379612,0.009440],[0.031762,-0.052582,0.998111]]JH7ؿ?5? fKؿ@hU?'C?쪿@?iJZd@IJd;J~CYf6ByfIaa aa aa aa iMb@Mb@Mb@ 9I +?{Gz~jth?Y94=yףD;d@ KA)&@YAbDVDfyü%5=ٔ:9!Y!=%Fy!%":E->1Q 55557?Q 9=55[)5BQ A=T:Y==Q E=i9)4ii񿉧(IIe9@a @a@e4@a@i@i^AIIO>A E  E rE %E "E O:*E ?:VE 4ZE a @a @a @a @q{,?A:g@:a@:ٱ:6W BAHRS rotation from veh to nav: [[-0.378084,0.923747,0.061184],[-0.925187,-0.379367,0.010482],[0.032894,-0.052644,0.998071]]:H 2ؿV? S?!`Gؿw?נ? 3?i:g@I:c;:zCYN:ByNIbDVVDVk2y^<%^d=ٔbNQ-b>9`Y`=fFydfm:Ef>hQ 5n5j}?Q 9n5j[)jBYpyrAQ Ir@hIj;ij;j5ytɮv AtDNOT Ignoring new targets: 42.43 m.hh*h"h hgf!f!f!d!d)jd)Zd-@<@ZIZIZIZM|XP@e)a e%>ieY9)aepR4iiiim񿉧quv'IqIq9@ @@/@Qԁ^AQIaIqO}{>Bu<Au4=B}/>B}CB}IB}=BB}O =ByByB}`;B}#Eԩ @, ?A6@i@6d@H6} ٱ6`W RAHRS rotation from veh to nav: [[-0.377820,0.923832,0.061533],[-0.925262,-0.379160,0.011337],[0.033804,-0.052651,0.998041]]6H`5.ؿ?;?@(Dؿ7?N? ?i6@i@I64a;6yCYZDByZIbDEVDEk1E ExE$E"Eҝ:*E:VE4ZEBE;a2E;aJEOo;a:EPo;ay (.=%7=ٔEQ-E>9IYi=FyW:E>Q 5 5唐?Q 95[)BYyAQ I@LEI;iP;5yɮ%d A!mDNOT Ignoring new targets: 42.43 m.hihi*h"h hgfffddjdZd֔<@ԱZ Z Z Z [P@} )! %>i%9)!%4!i!iM~񿉧IM&IQIQ9@ @@ 1@  ^A% K'I1 IA OM >}ƈ,t$?A;ɰ4<2n@2si@2wX ٱ2 X :AHRS rotation from veh to nav: [[-0.377206,0.924070,0.061733],[-0.925496,-0.378575,0.011781],[0.034257,-0.052690,0.998023]]2H$$ؿ?@t?ਝ@:ؿ ?-?`?i2n@I2|s`;2|CYFKByFIliMb@Mb@Mb@ 9~jt?+~jt?Y9AYA=MFyIM7:EM>QQ 55U?Q 95U[)UBY=Q E i9)4ii񿉧L$II bEJ4jEr 4rE?/E E{EE"E:*E5":VEZEa@a@a@a@9@ @@/@1^AI I! O= >a ,Ω>?A6}r@6Mm@6 ٱ6W BAHRS rotation from veh to nav: [[-0.376767,0.924243,0.061820],[-0.925662,-0.378156,0.012125],[0.034584,-0.052656,0.998014]]6Hؿ f?ަ? 3ؿ@Ԉ? ?@`?i6}r@I6Q_;6~CYJPByJ IbDVVDVyZZ<%^S=ٔ^`]Q-^>9`Y`=bFy`f/:Ef>dQ 5j5f?Q 9n5f[)fBYlyn0?@Q In@dIf;if;f15ytɮv AtDNOT Ignoring new targets: 42.43 m.hh*h"h hgff!f!d!d!jd!Zd-O=@9ZIZIZIZM0?@e )i m>im9)im94iiiiu񿉧q}&"IyIyB%0>B%CB!B!B%K =B!B!B%`;B% $E@ @@0@i^A=$IiIE EE&E"EC:*EC:VE4ZEBE$;a2E%;aJE<;a:E<;aOm> ؕ,X?ARz@R|u@R_+ ٱR9Y=Fy;E>Q 55挐?Q 95[)BYS=Q Ei9)顭5ii񿉧{II@ @@@@gA@gA!Q^Al"IIO>E  E E $E "E :*E ,:VE 4ZE a @a @a @a @y ~,[_r?A2B@2~@2DA ٱ2X >AHRS rotation from veh to nav: [[-0.374875,0.925008,0.061876],[-0.926443,-0.376249,0.011843],[0.034235,-0.052885,0.998014]]2H׿?'?k wؿA?H? @?i2B@I2 ];2{CYF_ByFIIJ4<)J<bDRVDRkyV`<%ZX=ٔZ:Q-Z>9\Y\=^Fy\b5;Eb>`Q 5f5b"?Q 9j5bT[)bBYhyj:@Q Ij@`Ib:ib|:b5yɮ%r A!mDNOT Ignoring new targets: 42.43 m.hihi*hi"hi higifqfqfqddjdZd!>@ZZZZ:@DA ) >il9)5ii%~񿉧!-I)I)QIY)Y9@ @@`0@ԁ^AdB->BBIBLBBBBBa;B+$EBǴCBǴCBǓCBK =BK =C#'6IAIQOe>ԩ \ꢣ,u:?A6g@67@6 ٱ6AHRS rotation from veh to nav: [[-0.373736,0.925487,0.061603],[-0.926927,-0.375071,0.011312],[0.033574,-0.052874,0.998037]]6HK׿ ? c?@c(ؿ*?0?A?i6g@I6];4YJsByJ8IbDVVDVyjq=%jH=ٔn.:Q-n>9lYp=rFyprF;Er>tQ 5z5v%?Q 9z5v[)v BYxy~:@Q I~@vOEIvU;iv;v5yɮ AEu EuyEqEq"Eu:*Eu:VEqZEqBEu;a2Eu;aJEur;a:Eur;aDNOT Ignoring new targets: 42.43 m.h9h9*hA"hA hAgIfQfyfdԹdjdZd>@ZqZqZqZuO:@ ) C>i9)顭35ii񿉧IIe9@a @i@m0@i ^A5 [I9 IQ O] >9 ,$?A2u@2E@2ٱ2bW :AHRS rotation from veh to nav: [[-0.372946,0.925838,0.061111],[-0.927269,-0.374238,0.010844],[0.032910,-0.052622,0.998072]]2HY׿w?I?`0 ׿l5?`٠?>4?i2u@I2I];0YB~ByBFIiMb@Mb@Mb@ 9MbCl绿?Yy;߽< KA)&@YbD-VD-1y=W=%=C=ٔ=}:Q-=>9AYA=EFyAE*;EM>IQ 5]5M?Q 9]5MZ)MBY]=Q E];y]=+@Q I]@IIM ;iM ;MS5yiɮms Ai5DNOT Ignoring new targets: 42.43 m.h1h1*h1"h1 h1g1f9f9f=Bd9dAjdAZdEI>@Z=Z=Zs@Z=+@) >iW9)顽aF5ii񿉧oIIEm EmoEm#Ei"EmƱ:*Em:VEm3ZEia}@a}@a}@a}@9@ @@4@@=@=1^A! I9 II OQ a >,?A :L@:@:ӊٱ:BW BAHRS rotation from veh to nav: [[-0.371618,0.926406,0.060595],[-0.927839,-0.372848,0.010009],[0.031865,-0.052503,0.998112]]:H׿`?`[?ڰ׿?`P?ᪿ ?i:L@I:/:];:|CYbBybMI ddbDhVDhyvS<%vP=ٔvf.;Q-v>9xYx=zFyxz.q;E~>Q 5 5?Q 9 5Z)BYyZ+@Q I@PEI:iV: 5yɮC A!MDNOT Ignoring new targets: 42.43 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]U?@ZyZyZyZ}4Z+@ӊ) >i9)顝Y5ii񿉧lIIB,>BCB'IBfBBL =BBB`;B$E59@1 @1@5/@1i }fG 9YAy-d?-OAiߑԡIߕA^A=IaE ErE%E"E:*E?:VE 4ZEBE;a2E;aJExY;a:EyY;aIO> .',َ?A25@2@2iٱ2V :AHRS rotation from veh to nav: [[-0.370171,0.927024,0.060010],[-0.928461,-0.371323,0.008931],[0.030563,-0.052411,0.998158]]2H߰׿@-??@׿@J?K?ժ?i25@I2*];2yCLYRByRVIieMb@Mb@Mb@aaaa a9e ףp= /$S㥛?YeQ8ye1e/9Y=Fyr;E>Q 55|?Q 95Y)BYi>Q E;y9@Q I@QEI':i:5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffBddjdZd?@Z%i>Z%i>Z%6[@Z%,9@=i)9 =>i=9)AEm5AiAiM~񿉧IM IIII9@ @@@^AII O >! E  E zE 'E "E 1:*E  :VE '4ZE a @a @a @a @P,Y?A2澃@2@2ٱ2WUW :AHRS rotation from veh to nav: [[-0.368181,0.927846,0.059541],[-0.929300,-0.369247,0.007621],[0.029056,-0.052525,0.998197]]2HG׿?|?@Ӽ@׿6??䪿`:?i2澃@I2];2~CYBByBcIbDNVDNfyR]=%VZ=ٔVƃ;Q-V>9XYX=ZFyXZ;E^>\Q 5b5^yy?Q 9f5^+X)^#BYdyfa@Q If@^REI^:i^:^5yhɮn Al| DNOT Ignoring new targets: 42.43 m.h h *h "h  hgfffddjdZdv@@Z1Z1Z1Z5a@U)y }>i}9)y顅'5ii񿉧cII)9@ @@@@@fAQB2>BCBMIBBBI =BBB`;B$E^AMC IYIiO}>ԁ 9ã,ׇ ?A6΃@6xɊ@6kٱ6V >AHRS rotation from veh to nav: [[-0.366410,0.928590,0.058861],[-0.930049,-0.367383,0.006276],[0.027452,-0.052444,0.998246]]6H@s׿? #?``3׿y?e?٪?i6΃@I6k^;6{CYFByJpIIN=)LbDRVDRyZU=%ZI=ٔZ;Q-^>9\Y`=bFy`b.;Eb>dQ 5j5fu?Q 9j5f2W)f*BYlyn@Q In@fSEIf;if;fO5ypɮr` At5DNOT Ignoring new targets: 42.43 m.h1h1EEz EElEE"EA"EEl:*EE:VEE(3ZEABEEۧ;aM2EEܧ;aMJEEC;aU:EEC;aU*hQ"hQY hQgYfYfafadadajdiZdmZF@@ZZZZL@k)! %׮>i-9)Q]w5YiYi񿉧AIIԉE9@A @A@M/@IԱ^A I I! O5 > bɣ, ]'?AY~By~IiMb@Mb@Mb@ 9p= ףMbX9Ŀ:v?Yy!<A@ KA)YAbDVD0yP=%;=ԹٔQ->9Y=FyE>Q 55gq?Q 95U)1BY0>Q E;y@Q I@TEI. ;ii ;75yɮADNOT Ignoring new targets: 42.43 m.hh*h"h hgfff8BddjdZd@@Z-0>Z-0>Z-N@Z-@A)I ]u>i]09)Ye[5aiaim񿉧iu:}IqIqEU| EUvEU&EQ"EU :*EU:VEU4ZEQa]@a]@a]@a]@e9@a @a@e0@a^A- I1 II OU >9 JУ,8A?A2c@23@2cüٱ2V :AHRS rotation from veh to nav: [[-0.362496,0.930208,0.057529],[-0.931679,-0.363268,0.003210],[0.023884,-0.052435,0.998339]]2H@$3׿`C?@qt?P?׿(Kj?u?`تd?i2c@I2_;2zCYBByBIbDNVDNyVǫ<%V\=ٔZ9XYX=^Fy\~;<E~>Q 5 5m?Q 9 5T)7BY y@Q I@UEIW:i:5y=ʒBɮ=A=fEBe4>BeCBefIBeBBeG =BaBeKDBe`;Be#EDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd`$@@Z!Z!Z!Z%@mcü) }>i9)顝5ii~񿉧iۼII9@ @@b0@@=@=AEu~ EumEu#Eq"Eu:*Eu:VEu3ZEqBEue;a2Euf;aJEuFG;a:EuFG;aq^AI I9 Ou >ԙ t֣,[?Aɰ;Y~By~I iMb@Mb@Mb@ 9ˡEQſ/$?Y什y(<CA A)AYGAbDVDky%9=ٔQ->9Y=FyE>Q 55 i?Q 95S)>BY=>Q E;y`@Q I@VEI ;i;5yɮ A 5DNOT Ignoring new targets: 42.43 m.h9h9*hA"hI hIgYfafafe?BdadijdiZdm @@qZ=>Z=>Z @ZC`@) Ha>i9)顭F5ii񿉧fIII)%9@! @!@%1@)ԡ^AM ߼IY Iy O >bE4jEɶ4rE/Em z Em rEi Ei "Em l:*Em ?:VEi ZEi a} @a} @a} @a} @ ܣ,t?A2@2g@2Hٱ2WV :AHRS rotation from veh to nav: [[-0.358520,0.931841,0.056008],[-0.933307,-0.359080,-0.000063],[0.020053,-0.052295,0.998430]]2H@ֿ@?@? *ֿ`l@?`ƪ $?i2@I2`;0Y^By^IbDjVDjy/E=% Y=ٔ0&9Y!=%Fy!-X9<E->9Q 5M5=e?Q 9M5=Q)=CBYIyU@Q IU@=WEI=F1;i=R;=n5yaɮeAimDNOT Ignoring new targets: 42.43 m.hihi*hi"hq hgfffddjdZd`EA@ZZZZb@H) s>i;9)!%5!i!i-񿉧)-ſIIIQ9@ @@4@PExceeded connect timeout, disconnecting.AYA]?ABYBYB]yIB]BB]I =BYBYB]B`;B]#E^A 7I ) I) O= >Q ,[ӎ?A:|'@:L"@:ٱ:U FAHRS rotation from veh to nav: [[-0.356380,0.932709,0.055202],[-0.934166,-0.356833,-0.001741],[0.018074,-0.052189,0.998474]]:Hֿ?zC? [ֿ\ ?{ ?i:|'@I:fia;:{CYNByNIbDVVDVk1y^%^O=ٔbm;Q-b>9`Y`=fFydf;Ef>hQ 5n5ja?Q 9n5jYP)jIBYpyr@Q Ir@jYEIju;ij;j#5ytɮvAtE~ EEE"E:*E?:VEZEBEd;a-2Ea-JE;a-:E;a-5DNOT Ignoring new targets: 42.43 m.h1h1*h9"h9 h9g9f9fAfIdIdQjdYZdeHA@ZZZZ@) q>i9)顥J5ii񿉧"˲II1 9@  @ @/@@!@%gAY^A-żI9IIO]>ԁ ,ߤ?A02:@25@2ٱ2AHRS rotation from veh to nav: [[-0.354185,0.933588,0.054467],[-0.935037,-0.354532,-0.003480],[0.016062,-0.052162,0.998510]]2Hֿ`?@(?`ৰֿTl r?괪@?i2:@I2Ka;2|CYDyFIIJ=)JC=N=N=iUMb@Mb@Mb@QQQQ Q9U~jtI +ƿ/$?YUĽyU94QUAU@ UKA)U5AQYUA mp9Y=Fy;E>Q 55W\?Q 95N)OBYjN>Q E;y@Q I@ZEI3:i:5y˒BɮA]EDNOT Ignoring new targets: 42.43 m.hh*h"h h g f ff=BddjdZd% A@ZjN>ZjN>Z>ц@Z@ )  5u>i=-9)9=}59i9iE~񿉧AEIAIIԉE5 E5pE5%E1"E5O:*E5 :VE5 4ZE1aE@aE@aE@aE@%9@! @!@!@!Թ^AM IQ Ii Ou > ,9?A"nManaging dock network, ignoring radio surface power off6bL@61G@6{]iٱ6nU BAHRS rotation from veh to nav: [[-0.352190,0.934383,0.053756],[-0.935820,-0.352442,-0.005033],[0.014243,-0.052079,0.998541]]6HIֿw? 腫?<jֿtn+? ?i6bL@I6a;6yCYJByJ}IbDRVDRNyZ*%ZX=ٔ^;Q-^>`9`Y`=bFydfV;Ef>hQ 5n5j5X?Q 9n5jM)jUBYpyr@Q Ir@j[EIjQ;ij];j 5ytɮvAtB3>BCBIBBBBBJDB_;B#EBBBBI =BI =C5uDNOT Ignoring new targets: 42.43 m.hqhq*hq"h hgfffddjdZdQA@ZZZZ@5{]i)Q U\>iU!9)Y]<5YiYie񿉧aeXIaIi 9@  @ @ /@ EM EMlEIEI"EM1:*EM:VEIZEIBEMx;a]2EMy;a]JEMC;a]:EMC;a]^A5bިIaIO>I ,b܏?A2]@2X@2JJٱ2U :AHRS rotation from veh to nav: [[-0.350219,0.935166,0.053025],[-0.936586,-0.350375,-0.006626],[0.012383,-0.051983,0.998571]]2H`iֿ?`&?@lֿ_#{\?K?i2]@I29b;2{CYBByBIi Mb@Mb@Mb@     9  ףp= sh|?ſ9AYA=EFyAM٤;EM>IQ 5]5MS?Q 9]5MK)MZBY]Q E];y]@Q I]@M\EIMi ;iM] ;M 5yiɮmAiDNOT Ignoring new targets: 42.43 m.hh*h"h hgfff5Bd!d!jd!Zd%"A@ZeZeZe@Zer@JJ) u>ic9)顥#5ii񿉧ŇIIE9@I @I@M/@II@U=@U=q^AFΞIIO>iI II EE  EE yEA EA "EE :*EE :VEA ZEA aU @aU @aU @aU @ԙ ,e6?AJn@JXi@J/ٱJFU ZAHRS rotation from veh to nav: [[-0.348301,0.935911,0.052504],[-0.937322,-0.348371,-0.008125],[0.010687,-0.052043,0.998588]]JH@Jֿ??`Kֿ@?`_ n?iJn@IJQa;HYjByj}I pptvAbD~VD~yM%M=ٔ%;Q-%>9)Y)=-Fy)5;E5>AQ 5M5EO?Q 9M5E J)E_BYQyU9@Q IU@E^EIE:iE:EB 5y]ȒBɮeAe\EyDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd`IB@ZZZZU9@u/) zl>io9)顝l5ii񿉧+vtIIm9@i @i@m0@iԩB9>BCByIBBBG =BBKDB_;B}#E^AIIO>= ߀GQ i 9 Y A ,\!?A2}@2kx@2ٱ2T :AHRS rotation from veh to nav: [[-0.346582,0.936585,0.051859],[-0.937976,-0.346568,-0.009538],[0.009040,-0.051949,0.998609]]2He.ֿ`?T?-.ֿ`h?`?i2}@I2Ϩa;2zCYFByFuIbDNVDNyV)%VQ=ٔZ&;Q-Z>E~ E~xE~"E|"E~a:*E~:VE~(3ZE|BE~(9Q 5E5=}K?Q 9E5=H)=eBYIyMZ@Q IM@=_EI=:i= :=5yɮ AeDNOT Ignoring new targets: 42.43 m.hihq*hq"hy hygfffddjdZdQB@Z1Z1Z1Z5Z@) _>i9)顭5ii~񿉧\IIy9@ @@@)^A= mIQ Ia Om >Q ,)?A2y@2I@2ٱ2MU :AHRS rotation from veh to nav: [[-0.344769,0.937277,0.051443],[-0.938658,-0.344677,-0.010916],[0.007500,-0.052050,0.998616]]2Hֿ,? V?{ 1ֿ['~?Y@?i2y@I2 'a;2{CY\y`iMb@Mb@Mb@ 99Y=Fy;E>Q 5 5G?Q 9 5)G)iBY 4>Q E;yK@Q I@`EIL;iL;5y!ɮ!!1mDNOT Ignoring new targets: 42.43 m.hihi*hq"hq hqgyfyff4BddjdZd`ӃB@Z4>Z4>ZC@Z`K@})y }Ha>i}+9)y顅5ii񿉧/QCIIE E~E$E"E:*E(:VE4ZEa@a@a@a@a9@ @@2@@@ԉ^A I I O >Թ ,C?A2c@23@2ǻٱ2.U :AHRS rotation from veh to nav: [[-0.343292,0.937846,0.050951],[-0.939209,-0.343131,-0.012144],[0.006094,-0.052022,0.998627]]2H ~տ@?6?տ`ވ x?@?i2c@I2n`;0YFByFaIJ=HBV8>BVCBVlIBVBBVC =BTBTBV_;BV#EbD^ VD^2yf%%f<ٔfy;Q-j>9hYh=jFyhn.;En>pQ 5v5r"C?Q 9v5rE)rmBYtyvg@Q Iz@raEIr:ir :r5y|ɮ~ A|%DNOT Ignoring new targets: 42.43 m.h!h)*h)"h) h)g)f)f1f1d1dAjdIZdU`~B@ZZZZg@ ǻ) ?>i59)1559i9i=񿉧AE .IAIAԑ@ @@3@E5 E5vE1E1"E5I:*E5:VE1ZE1BE5 ,]?AY%By%cIiMb@Mb@Mb@ 9㥛 OnÿMb?Yy<@ )5AYzAbDVDN2y5O <%55=ٔ5Q-=>99Y9==Fy9EEE>IQ 5U5M>?Q 9U5MD)MrBYU*>Q EU;y]@@Q I]@MbEIMu ;iM ;Mw5yaɮe AaDNOT Ignoring new targets: 42.43 m.hh*h"h hgfff BddjdZdB@Z*>Z*>Z7@Z@@) >>i9)5ii񿉧h2II9@ @@/@^A:II O >I E-  E- E- %E) "E- :*E- 0:VE- 4ZE) a5 @a5 @a5 @a5 @=,w?AN@N}@NcKaٱNT VAHRS rotation from veh to nav: [[-0.340166,0.939035,0.050003],[-0.940359,-0.339876,-0.014437],[0.003438,-0.051932,0.998645]]NHEտ ??`lտ@[h)l?ږ?iN@IN_;NwCYzByz`IbD-VD-:2y=/d%=[=ٔ=;Q-=>9AYA=EFyAM<EM>IQ 5]5M;;?Q 9]5MeC)MwBYYy]|@Q I]@McEIM;iM;M5yiɮm AiDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd`^C@ZZZZ|@cKa) >iJ9)5ii~񿉧jIIi9@ @@/@@=@>B7>BCBYIBBBF =BBB_;B#EԱ^AIIO> !#$,OZ?A2U@2%@2-ٱ2uT :AHRS rotation from veh to nav: [[-0.338828,0.939541,0.049578],[-0.940845,-0.338489,-0.015350],[0.002360,-0.051847,0.998652]]2H\տ?Qb?g˩տ oTc??i2U@I2$_;2}CYBByFMI DDHJAPbDRVDR1yZ%%ZT=ٔZ7;Q-Z>9\Y\=^Fy\bfq;Eb>dQ 5j5f7?Q 9j5f0B)f{BYhyj@Q Ij@fdEIf-:if:E~ E~|E~"E|"E~:*E~P$:VE~(3ZE|BE~;a2E~;aJE~};a:E~};a]f5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffd d jd Zd PC@ZIZIZIZM|@-)! -p>i]v9)am5ii񿉧 II)9@ @@/@^A I I O >! 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?'fտё!S@?i2@I2];2yCYRtByV9IIz<)z=~=~=iMb@Mb@Mb@ 9A`"q= ףpQ?YYy뽙u<@ )AYAbDVDNy j%A=ٔ:Q->9Y=FyԹxB;E>Q 55q-?Q 95>)BY>Q E;y_@Q I@gEI:i]:65yŒBɮ[EDNOT Ignoring new targets: 42.43 m.h h *h "h  h g f ffBddjdZd`C@Z=>Z=>Z= @Z=_@U q7) >i9) 6ii~񿉧fhII9@ @@0@^AM 3IQ Ii Ou >E  E zE #E "E :*E  :VE 3ZE a @a @a @a @A 0=, ?A2'@2@2@ :ٱ2+U JAHRS rotation from veh to nav: [[-0.333562,0.941461,0.048865],[-0.942728,-0.333084,-0.017850],[-0.000529,-0.052020,0.998646]]2HYտr ?`? *AQտ7GSAe@?i2'@I2];2zCYVbByZ#IbDbVDb2yj%jY=ٔjw:Q-n>9lYl=nFylrn;Er>tQ 5z5v*?Q 9z5v>)vBYxyzv@Q Iz@vhEIv:ivy:v5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZdD@Z!Z!Z!Z%v@U@ :)Q U[>iUV9)Y] 6]iYie񿉧aeIaIi@ @@4@ABE<AE<BE:>BABE!IBE`BBEE =BABABEq_;BEn#EBƶCBƶCBBE =BE =C5^AII1O=>qԙ .qD,?AF@F@F٬:ٱFU RAHRS rotation from veh to nav: [[-0.330594,0.942512,0.048764],[-0.943772,-0.330080,-0.018477],[-0.001319,-0.052131,0.998639]]FHs(տ)? ?a3` տ뒿1U@۰?iF@IF];DYZXByZIEb EboEb%E`"Eb:*Eb:VEb 4ZE`BEb;aj2Eb;ajJEbN;aj:EbN;ajbDrVDrk1yzcG%zH=ٔz:Q-z>9|Y|=~Fy|;E> Q 55 ~'?Q 95 =) BYy@Q I@ iEI :i ;  5y!ɮ%k A!MDNOT Ignoring new targets: 42.43 m.hIhI*hQ"hQ hQgQfQfYfYdYdYjdaZde`oPD@Z Z Z Z @-٬:)) -`G>iE9)AM6MqiIi񿉧:A9IIq@q @y@}3@y@=@=ԡ^A_IIO> (J,1|,?AZ@Z @Z}:ٱZ,U fAHRS rotation from veh to nav: [[-0.329422,0.942929,0.048648],[-0.944182,-0.328906,-0.018482],[-0.001427,-0.052021,0.998645]]ZH@?տx,?h?6 տ 풿 `W`@?iZ@IZ];XYrJByvI xx|~AiMb@Mb@Mb@ 9Zd;OA`"y&1?Yj9Y=Fy=;E>Q 55t$?Q 95<<)BY`=Q E;y1@Q I@I ;i ;"5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffڀBddjdZd,D@Z5`=Z5`=Z5ȱ@Z51@]}:)Y ]Ha>i]J9)Ye6eiaie񿉧im:III)E EtE$E"E%:*Ev:VE4ZEa@a@a@a@-9@) @)@-/@)^A 9I I) ) O= >BE 9>BA BE IBE LBBA BA BA BE z_;BE r#EQ Q,aF?AF@F@F}:ٱF{bT NAHRS rotation from veh to nav: [[-0.328182,0.943369,0.048488],[-0.944614,-0.327671,-0.018362],[-0.001435,-0.051828,0.998655]]FHտ0?dӨ?@F:@Կ͒ πW B@?iF@IF^;F{CYVEByVIbDVDy%*ܼ%%T=ٔ%a7Q-%>9)Y)=-Fy)5G_;E5>9Q 5E5=!?Q 9E5=q;)=BYAyEG@Q IE@=jEI=:i=_:=3$5yQɮU AQ}DNOT Ignoring new targets: 42.43 m.hyhy*h"h hgfffddjdZdD@ZZZZG@}:) V>i9)6kii~񿉧 ;II 9=C !)Im9@i @i@m/@i!9Y>AQE EEE"EU:*EE7:VEZEBE;a2E;aJEP;a:EQ;a^AIIO>ԉ W,5E`?A<>*@>$@>ߧ:ٱ>T JAHRS rotation from veh to nav: [[-0.326770,0.943853,0.048612],[-0.945103,-0.326267,-0.018161],[-0.001281,-0.051878,0.998653]]>H`Կ 4??H>ԿϘT@?i>*@I>^;>}CYR3ByRIimMb@Mb@Mb@iiii i9ml񢿒|?5^9Y=Fyi;E>Q 55?Q 95:)BY=Q E;y@Q I@kEI ;i;&5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffBddjdZdND@Z%=Z%=Z%‹@Z%]@5ߧ:)9 =u>i=9)9=6=ܼi9iE񿉧AE [;IAIIԡ9@ @@/@@@^A ?B:II!O5>E  E E &E "E :*E VE 4ZE a @a @a @a @ ],!z?A25@2v0@2q:ٱ2AHRS rotation from veh to nav: [[-0.325436,0.944310,0.048674],[-0.945563,-0.324955,-0.017725],[-0.000921,-0.051793,0.998657]]2H@Կ`7??@BԿ`&/N@?i25@I2q_;2|CYF2ByFIIJ=)J<bDR VDRf2yV?%ZZ=ٔZ{Q-Z>9\Y\=^Fy\b#v;Eb>dQ 5f5f ?Q 9j5hf:)fBYlyn@Q In@dIfy-;ifS.;f'5ypɮr AtDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffd!d!jd!Zd%@kE@ZAZAZAZEΩ@]q:)Y ]s>i] 9)Ye6eaټiaie񿉧imD\;IiI9@ @@0@B8>BCBIB3BBF =BBB_;B}#E1^AmqZ;IyIO~>Y d,듑?A6@@6;@6,9ٱ6T >AHRS rotation from veh to nav: [[-0.324158,0.944730,0.049052],[-0.946003,-0.323705,-0.017143],[-0.000317,-0.051960,0.998649]]6H Կ;;?P?E@Կݍ4`?i6@@I6U`;6{CYJ(ByJIER ERER#EP"ERU:*ER|;:VER3ZEPBEPaZ2EPaZJER;aZ:ER;aZbDbVDb02yjC%jI=ٔjºQ-j>9lYl=nFylrY;Er>tQ 5z5v"?Q 9z5vI9)vBYxyz@Q Iz@vlEIv:ivB:vr)5yɮ A9eDNOT Ignoring new targets: 42.43 m.haha*hi"hi higififqfqdydjdZd SE@ZZZZ@],9)Y ]`>i]~9)YeJ#6eؼiaie񿉧im;IiIim9@q @q@u?0@yԑԱ^A;IIO> j,ɭ?ABJ@BE@BlȹٱBT RAHRS rotation from veh to nav: [[-0.323003,0.945115,0.049261],[-0.946398,-0.322587,-0.016409],[0.000383,-0.051920,0.998651]]BHԿa>?8?H@BԿn͐-9?@L@?iBJ@IB`;B~CYXyZIimMb@Mb@Mb@iiii i9mMbZd;O=ٔuպQ->9Y=FyM:;E>ԱQ 55a?Q 958)BYV=Q EiE9)AMk&6MټiIiM~񿉧QUU\;IQIYE EEE"EC:*E,:VEZEa@a@a@a@9@ @@4@@>@=^Aϩ;IIOM >9 B :>B CB IB BB B B B _;B mq,#Ǒ?A2U@2P@2ٱ2?zT :AHRS rotation from veh to nav: [[-0.321733,0.945538,0.049446],[-0.946830,-0.321354,-0.015646],[0.001095,-0.051851,0.998654]]2H`FԿA?`Q?nLԿ@Q?`:?i2U@I2a;2yCYFByFIHHbDNVDNyV^%V[=ٔZQ-Z>9XYX=ZFy\^jk;E^>`Q 5f5b?Q 9f5b8)bBYhyj@Q Ij@`Ib:ib|:b,5ylɮn> Ap DNOT Ignoring new targets: 42.43 m.h h *h "h  h g fffddjdZd`GE@Z9Z9Z9Z=@M)Q U->iU9)QU)6UݼiYie񿉧ae;IaIi@ @@3@AE EzE$E"EU:*E :VE4ZEBEa2EaJEv;a:Ev;a^A5#2;IIIaO}z>yԙ w,x?A6%_@6Y@6 ٱ6LT BAHRS rotation from veh to nav: [[-0.320642,0.945889,0.049830],[-0.947198,-0.320314,-0.014653],[0.002101,-0.051897,0.998650]]6HgԿ`D? E? rOԿ0`6a?7`?i6%_@I6b;4YJByJIiMb@Mb@Mb@ 9MbMbXMb?Yyʽ<A )AYpAbD5VD5yE7%EA=ٔMQ-M>9IYI=MFyQU42;EU>YQ 5e5]?Q 9e5]7)]BYm =Q Emi}b9)y},6}iyi񿉧5H bEQjEU4rEUɼ /E  E E E "E ;*E =:VE ZE a @a @a @a @ g%~,CU?A2Fg@2b@2{Xٱ2U :AHRS rotation from veh to nav: [[-0.319701,0.946181,0.050321],[-0.947513,-0.319433,-0.013497],[0.003303,-0.051995,0.998642]]2HuԿ G?é?@RqԿxk?@#?i2Fg@I2Ic;2zCYBByBIbDJVDJ0yR%RU=ٔV0MQ-V>9TYX=ZFyXZ);EZ>Q 55 ?Q 957)BY!y%)@Q I%@oEI;i;05y-’Bɮ-G A-ZEUDNOT Ignoring new targets: 42.43 m.hQhY*hY"hY hYgYfafafadadijdiZdm`!F@ZZZZ)@{X) S>i}9)顥/6Iii񿉧GEBBIB BBD =BBB_;B|#E^A<IIO>) ,>?A Fem@F4h@F{9ٱFMT ZAHRS rotation from veh to nav: [[-0.318992,0.946400,0.050709],[-0.947746,-0.318791,-0.012205],[0.004615,-0.051953,0.998639]]FH[jԿH?@?S`gԿ+r??iFem@IF4c;F|CYjByjIIr<)rp;v=va=bDVDy}ļ%}==ٔ}GQ-}>9Y=Fy:E>E EEE"E2:*ErN:VEZEBE *i=09)9=36EiAiE~񿉧IMU!ԡ |8,/?A:s@:Rn@:\-ٱ:vT< ]AHRS rotation from veh to nav: [[-0.318282,0.946622,0.051025],[-0.947978,-0.318149,-0.010921],[0.005895,-0.051847,0.998638]]:H ^Կ`J??U@\Կ]`%x?`?i:s@I:y#d;8YuByuIiIiMb@Mb@Mb@ 9K9aYa=eFyam,:Eu>ԩQ 5E5g?Q 9E5%6)BYMF=Q EMi9)76ii񿉧*B 9>B B IB BB B =B B LDB T_;B b#EBIBIBIBIBICM5H,H?A2x@2r@2gٱ24T :AHRS rotation from veh to nav: [[-0.317752,0.946773,0.051517],[-0.948145,-0.317695,-0.009506],[0.007367,-0.051866,0.998627]]2H@ VԿK?j`?4W UԿ`w,~?*?i2x@I2=Wd;0YBByFIbDNVDNk2yVт=%V=ٔVGQ-V ?9XYX=ZFyXZ[:E^ ?|9Q 5E5=?Q 9E5=5)=BYIyMK4@Q IM@=qEI=:i=:=55yQɮU0 AYDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd`SF@ZZZZK4@-g)) -e>i-X9))5k;61i1i]񿉧Y]2ԉ _I,b?Aɰ4<2Y|@2(w@2swٱ2T :AHRS rotation from veh to nav: [[-0.317252,0.946911,0.052057],[-0.948300,-0.317274,-0.008066],[0.008878,-0.051925,0.998612]]2HMԿ M?@B?xX`6NԿ .?蕪@?i2Y|@I2 d;0YFByFI HHiMb@Mb@Mb@Y 9Mb`MbX9Y=Fyԝ:E>Q 55?Q 955)BY=Q Ei=9)AE&?6AiAiM񿉧IM8E-  E- yE- %E) "E- :*E- :VE- 4ZE) a5 @a5 @a5 @a5 @ s,V|?A2 @2z@2ll*ٱ2/T :AHRS rotation from veh to nav: [[-0.316819,0.947028,0.052570],[-0.948429,-0.316920,-0.006609],[0.010402,-0.051953,0.998595]]2HFԿ N?}?YlHԿ{`tM?@ ~?i2 @I2d;2zCYFByFIbDNVDNyV ;%VZ=ٔVyQ-Z>9XYX=ZFyX^x:E^>`Q 5f5b?Q 9f5b45)bBYdyf2@Q Ij@brEIbB:ib:bO95ylɮn9 AlDNOT Ignoring new targets: 42.43 m.hh *h "h  h g f ffddjdZd3#G@Z9Z9Z9Z= 2@Mll*)Q Um>iU89)QUB6QiQi]~񿉧ae?>B)B)B)B-D =B)B-KDB-:_;B-S#Ei^A}*:<IIO>9Y]A9 C\,{?AV=@V ~@V[BٱVT bAHRS rotation from veh to nav: [[-0.316444,0.947130,0.052990],[-0.948537,-0.316624,-0.005190],[0.011862,-0.051905,0.998582]]VH@@Կ`N?@x!? jZ CԿAuWK?@Ja?iV=@IV*d;TYj!ByjIEr Er~Er"Ep"ErV:*Er(:VEr(3ZEpBEr99Y=Fy%Ft:E%>)Q 555-?Q 955-4)-BY1y1Q I5@)I-!;i-";-!;5yAɮE AIuDNOT Ignoring new targets: 42.43 m.hqhq*hq"hq hqgyfyfyfyddjdZdXG@ZZZZ2@[B)  z>i;9)F6ii񿉧Ciԙ ,S?AY/ByII =) %===iMb@Mb@Mb@ 9y&1y&1S㥛?Y`ey`彙/<A )AYpA <bDVD0y=%@=ٔQ->9Y=FyE>Q 55 ?Q 95L4)BY=Q E;y),@Q I@sEI ;i ;<5yɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgff!f%ÀBd!d!jd)Zd-G@ZM=ZM=ZM-ђ@ZM),@Y)a e W>ie9)aeFJ6aiaim񿉧imCBB% >>B! 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B% LDB% l_;B% m#E Pm,-ʒ?A2@2늌@2`%lٱ2U :AHRS rotation from veh to nav: [[-0.314943,0.947572,0.054021],[-0.949001,-0.315261,-0.002763],[0.014413,-0.052136,0.998536]]2H(Կ`R?@?7^@;-ԿUfi?ࡱ?i2@I2MLd;2|CYR:ByRIbDZVDZNybh=%f[=ٔf:Q-f>9hYh=jFyhj!;Ej>lQ 5r5n?Q 9v5n3)nBYtyv7,@Q Iv@ntEIn:in:n>5yxɮ~C A|%DNOT Ignoring new targets: 42.43 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd5ʾG@ZQZQZQZU77,@m`%l)i ml>imL9)quM6qiqi񿉧[) ,F ?A46@6ꒌ@6~ٱ6oU BAHRS rotation from veh to nav: [[-0.314011,0.947857,0.054441],[-0.949292,-0.314391,-0.001659],[0.015543,-0.052201,0.998516]]6H`Կ`T?߫?`Կ-[=Տ??i6@I6Id;6zCYJCByJIiMb@Mb@Mb@ 9X9vMb rh?YyC =A@ bA)bAYAbD5VD5k1yE0=%EC=ٔMp0Q-M>9IYI=MFyIUJ;EU>aQ 5m5e?Q 9m5e 3)eBYmH >Q Eu;yu$@Q Iu@euEIe:ie:eu@5yyɮ} AyDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffBddjdZdG@ZH >ZH >Z_1@Z$@~) R8>iu%9)quP6qiqi}~񿉧ybLf E  E E $E "E :*E *:VE 4ZE a @a @a @a @6,?A2@2p@25nٱ2}V >AHRS rotation from veh to nav: [[-0.312787,0.948237,0.054879],[-0.949679,-0.313223,-0.000694],[0.016531,-0.052335,0.998493]]2HԿ`W?#?@c Կ@F ?˪?i2@I20d;2{CtYvMByz IbDVD:yD=%N=ٔ"Q->9Y=Fy%S;E%>)Q 555-R폊?Q 955-S2)-BY1y5$@Q I5@-vEI-:i-U;-0B5yEBɮE AAmDNOT Ignoring new targets: 42.43 m.hihi*hq"hq hqgqfqfyfydydyjdZdu'H@ZZZZ$@5n) K>i9)顽T6ii񿉧pwBCBIB)BB= =BBMDB_;B#E9^AjZX<IIO>a Ť,Q?A2Ь@2@2!ٱ2a~V >AHRS rotation from veh to nav: [[-0.311601,0.948610,0.055172],[-0.950052,-0.312090,0.000261],[0.017466,-0.052335,0.998477]]2H@Eӿ@[?s??f@HӿP1??@˪?i2Ь@I2a$d;2|CYFNByF IbDRVDR02yZ;%ZP=ٔ^#Q-^>Eb Eb~E`E`"Eb:*Eb(:VE`ZE`BEb;aj2Eb;ajJE`aj:Eb;aj9lYl=nFylrM;Er>tQ 5z5v鏊?Q 9z5v1)vBYxyz%@Q Iz@tIvN:iv:vC5yɮ A9DNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZdM\H@Z!Z!Z!Z%%@]!)Y ]rN>i]9)Ye]W6aiaie񿉧imj ˤ,|1?A2仅@2@2œٱ2V :AHRS rotation from veh to nav: [[-0.309849,0.949172,0.055383],[-0.950615,-0.310372,0.000894],[0.018038,-0.052371,0.998465]]2Hӿ_?9[?ok`"ӿHM?@}x?nЪ`l?i2仅@I2c;2zCYFPByF IiMb@Mb@Mb@ 9X9v/$ÿ+?Y}y=A )Y=AbD-VD-ܲy57<%=B=ٔ=!Q-=>9AYA=EFyAM;EM>IQ 5U5MM及?Q 9]5Mo0)MBY]->Q E];y]@Q I]@MwEIMm ;iMq ;ME5yiɮmx AiԙeDNOT Ignoring new targets: 42.43 m.hihi*hi"hi higifffBddjdZdH@Z->Z->Zy@Z֞@%œ)) -#>i-9)IM Z6QiQiU񿉧Y]4B ?>B B IB =BB ? =B B LDB _;B #E Ҥ,vK?A6˅@6Ō@6~ٱ6eV BAHRS rotation from veh to nav: [[-0.308082,0.949740,0.055492],[-0.951180,-0.308633,0.001437],[0.018492,-0.052340,0.998458]]6HӿEd?}i?p@ӿ΋W?@|?]̪`^?i6˅@I66@c;6{CYJ]ByJIR=PbDVVDVy^=%^S=ٔbPQ-b>9`Y`=fFydf;Ef>hQ 5n5j?Ꮚ?Q 9n5jZ/)jBYpyr@Q Ir@jxEIj<;ij&;joG5yvBɮv AvPEDNOT Ignoring new targets: 42.43 m.hh*h"h hgf!f!f!d!d)jd)Zd-`0H@ZIZIZIZM]@e~)a e=>ie9)ae\6iiiim~񿉧quhiԁ dؤ,Pe?A2܅@2}׌@2ٱ2bPV :AHRS rotation from veh to nav: [[-0.306038,0.950401,0.055495],[-0.951836,-0.306602,0.001740],[0.018669,-0.052290,0.998457]]2H`ӿ`i?i?`qu\ӿ\??`Ū]?i2܅@I2 b;0YBZByFIiUMb@Mb@Mb@QQQQ Q9UB`"۹ktƿ{Gz?YUνyU 0U#=UAU@ UA)UAQYUAbDmVDmky}g%}?=ٔ}BٹQ-}>9Y=Fye;E>Q 55܏?Q 95-)BYPP>Q E;y@Q I@zEI ;i ;NI5yɮ9 ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffBddjdZdH@Z PP>Z PP>Z A΅@Z @@)! % >i%W9)!%^6!i!i-񿉧)-\;E  E E &E "E ҝ:*E V:VE 4ZE a @a @a @a @ ߤ,A,?A2@2@2ٱ2dU :AHRS rotation from veh to nav: [[-0.304015,0.951060,0.055308],[-0.952482,-0.304587,0.002020],[0.018767,-0.052066,0.998467]]2H tӿ`o?NQ?`z`Z~ӿތ`?7?Tq?i2@I2Jb;2zCYBcByB$IbDJVDJkyRD=%VY=ٔVوQ-V>9XYX=ZFyXZ;EZ>\Q 5b5^d؏?Q 9f5^3,)^BYdyf@Q If@^{EI^-:i^:^J5yhɮj AlEDNOT Ignoring new targets: 42.43 m.hAhA*hA"hI hIgIfIfIfQdQdQjdQZdU`T)I@ZZZZ=@) >i9)\a6ii񿉧m@>Am@AAm@ABqBqBuIBuQBBuA =BqBqBu+`;Bu#EB5ķCB5ķCB5ĔCB5A =B5B =C56^Aԅ<IIO> 9 ,^?A2_@2.@2 Wٱ2DT :AHRS rotation from veh to nav: [[-0.301655,0.951821,0.055148],[-0.953233,-0.302227,0.002154],[0.018717,-0.051919,0.998476]]2H PNӿ Qu?`Z9hYh=jFyhn];En>pQ 5v5rӏ?Q 9v5r*)rBYtyv@Q Iv@r|EIrW:ir :rL5y|ɮ~ A-DNOT Ignoring new targets: 42.43 m.h)h)*h)"h) h)g)f1f1f1d9d9jd9Zd=\I@ZZZZU@ W) L>i9)c6ii񿉧a !,ⲓ?A 2@2@2ٱ2ќT >AHRS rotation from veh to nav: [[-0.299053,0.952647,0.055049],[-0.954056,-0.299620,0.002155],[0.018547,-0.051875,0.998481]]2H#ӿ|?Z/? ,ӿa??` ?i2@I27b;2zCY^]BybIiuMb@Mb@Mb@qqqq q9up= ףxƿX9v?YuyuK7u9Y=Fyn;E>Q 55Ϗ?Q 95()#BYd>Q Em;y @Q I@~EIl;iRl;N5y Bɮ ADNOT Ignoring new targets: 42.43 m.hh*h"h hgfff9BddjdZd [I@Z d>Z d>Z =@Z [ @)! %\=i%M9)!%d6!i!i-~񿉧15 Bu @>Bq Bu IBu [BBq Bq Bq Bu `;Bu #E ! 9 Q B ,@̓?A.t&90Y2^AB2@B-@B@ٱB{/T JAHRS rotation from veh to nav: [[-0.296028,0.953605,0.054821],[-0.955007,-0.296576,0.001970],[0.018137,-0.051771,0.998494]]BHҿ@?`?kҿ"`?@? ȁ@?iB2@IBawb;@LYVZByVIbDbVDb0yfu%fZ=ٔjÏ:Q-j>9hYl=nFyAE<EE>IQ 5U5Mʏ?Q 9U5M&)M+BYYy]$ @Q I]@MEIM;iM;MTP5yaɮe AaDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd I@ZZZZu$ @@) ܃=iT9)e6ii񿉧}) 3,И?A2L@2aG@2୒ٱ29Y=Fy.;E>Q 55NƏ?Q 95$)1BY+h>Q Ej;yB @Q I@EI:i:,R5yɮv A%DNOT Ignoring new targets: 42.43 m.h!h!*h!"h! h!g!f)f)f-!Bd)d1jd1Zd5I@ZU+h>ZU+h>ZU@ZUB @m୒)i mT=im9)imMg6qiqi}񿉧y}=IyIyI) 9@  @@.0@1Y^A5r<I9IQO]>E  E ~E $E "E ~:*E (:VE 4ZE a @a @a @a @ԁ $,:z?A2gh@26c@20ٱ2IT :AHRS rotation from veh to nav: [[-0.289766,0.955531,0.054742],[-0.956938,-0.290288,0.001661],[0.017478,-0.051903,0.998499]]2Hҿ@?@"?`<ҿ8[??`?i2gh@I2.b;0YNKByNIbDZVDZ1ybi%b\=ٔbC:Q-b>9dYd=fFydj<Ej>hQ 5r5jG?Q 9r5j")j6BYpyrz @Q Ir@jEIj:ijp:jS5yxɮz AxDNOT Ignoring new targets: 42.43 m.hh*h"h h!g!f!f!f)d)d)jd)Zd-H+J@ZQZQZQZUz @Ym0)i mh=im9)imh6qiqi}񿉧y}s=IyI9@ @@4@B A p<B<>BCBIBQBBBBB`;B $Eԁ^A5Wg<I9IQO]v>Ա! E,3O?A6}@6L|@6ٱ6T BAHRS rotation from veh to nav: [[-0.286835,0.956421,0.054630],[-0.957825,-0.287347,0.001590],[0.017218,-0.051870,0.998505]]6H[ҿ@?`p?cҿ3 Z?@??i6}@I6Ic;6yCYJ:ByJIbDRVDRyZ%ZK=ٔ^):Q-^>Eb E`Eb%E`"EbU:*E`VEb 4ZE`BEb;aj2Eb;ajJEb;aj:Eb;aj9lYl=nFylrB;Er>tQ 5z5vܽ?Q 9z5v )v;BYxyz @Q Iz@vEIv:iv:vU5yɮ# A-DNOT Ignoring new targets: 42.43 m.h)h)*h)"h1 h1g1f1f1f9d9d9jdAZdE>_J@ZaZaZaZes @u)q u@C=i}9)y}Yi6yiyi~񿉧0=II99@ @@4@@@i^A =I!I9OMt>ԉԹ o ,*4?A2@2]@2'vٱ2OT FAHRS rotation from veh to nav: [[-0.283905,0.957304,0.054471],[-0.958704,-0.284404,0.001472],[0.016901,-0.051803,0.998514]]2H~+ҿ9Y=Fy^;E>Q 55d?Q 95*)>BY H>Q E ;y @Q I @EI:i:|W5yɮ AEDNOT Ignoring new targets: 42.43 m.hAhA*hA"hA hAgAfIfIfMBdIdQԙjdZdJ@ZH>ZH>Z@Z@'v)  =i 9)  k6ii5񿉧15#"=I1I9E EE#E"E:*E3:VE3ZEa@a@a@a@9@ @@4@ ^AU =Ia Iq O} >B @>B B IB 8BB D =B B B `;B $E W,SN?AY~By~IbDVD02y=# %=V=ٔ=Q-E>9AYA=EFyAMEM>QQ 5U5U?Q 9]5U)UABYYyYQ I]@UEIUw;iU;U'Y5yiɮm AiDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd_J@ZZZZ) C=i59)ii񿉧¬ =IIu9@q @y@}/@yE EEE"E:*E,:VEZEBE6 I م,g?A6†@6ý@6.ٱ6FS >AHRS rotation from veh to nav: [[-0.279175,0.958713,0.054143],[-0.960096,-0.279665,0.001545],[0.016623,-0.051551,0.998532]]6Hѿ ƭ?? ѿOY??d`?i6†@I61a;6}CYFByFIiMb@Mb@Mb@ 9L7A`尿n{GztY+yVףp A )xAYAbD5VD5βyEY%EI=ٔM3:Q-M>9IYI=UFyQUF<EU>YQ 5e5]?Q 9e5])YYm>Q Em;ym@Q Im@]EI]3:i]:]Z5yɮ AEDNOT Ignoring new targets: 42.43 m.hAhA*hA"hA hAgIfifqfu߀BddjdZd`K@Z>Z>Z]@ZF@.)) -\=i-9))521i1i=񿉧9=Sc3=IAiIi9@ @@/@ԑ^AE r =II Ii Ou >Թ bEmɻ 4jEmɔ4rEmA/E  E E %E "E U:*E ?:VE 4ZE a @a @a @a @i ,{?A:І@:ʍ@:Gٱ:S BAHRS rotation from veh to nav: [[-0.277635,0.959159,0.054152],[-0.960539,-0.278139,0.001851],[0.016837,-0.051501,0.998531]]:H@ѿn?Ź?ѿT^?=?@Q^`?i:І@I:`;:{CLYRByRIIV<)VC=bD^VD^kyfm%fS=ٔf2Q-f>9hYh=jFyhn;En>pQ 5v5rͭ?Q 9v5r|)pYtyv@Q Iv@rEIr:ir:r\5y~Bɮ~,A~OE%DNOT Ignoring new targets: 42.43 m.h!h!*h!"h) h)g)f)f1f1d1d1jd1Zd=-K@ZYZYZYZ]@mG)q u2=iu)9)qu2qiqi}~񿉧y6=II@ @@/@AAAABC>BCBIBBB7 =^A)=IIBFDBMDB`;B$EO>! &,ꖛ?A2܆@2d׍@2 ͊ٱ2R :AHRS rotation from veh to nav: [[-0.276168,0.959583,0.054140],[-0.960960,-0.276680,0.002046],[0.016943,-0.051461,0.998531]]2Hѿ?;? /ѿ`?jY? #Y?i2܆@I2b `;0YBހByBIER ERER$EP"ER:*ERR:VER4ZEPBERH;aZ2ERI;aZJER;aZ:ER;aZbDNVDN02|y%%%E=ٔ%脹Q-%>9)Y)=-Fy)5p;E5>1Q 5]55é?Q 9e55_)1Yaye@Q Ie@5EI5;i5:5o^5yiɮuAqDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffddjdZd`dK@Z)Z)Z)Z-@e ͊)a eie9)aeiiiim񿉧qu;=II-9@) @)@)@)1a^A1IAIYOm>ԁ 1,,{?AJd@J3@J6ٱJI?S ZAHRS rotation from veh to nav: [[-0.275134,0.959872,0.054280],[-0.961253,-0.275659,0.002302],[0.017173,-0.051544,0.998523]]JH@ʛѿ`F?ʫ?gѿb? ?c?iJd@IJE_;JyCY`ydYiMb@Mb@Mb@ 9V-Cl绿~jthYy;߽D@ )bAY3AbD VD2yi%A=ٔqQ->9Y=Fy&;E>Q 55P?Q 95)BBY=Q E;y&@Q I@EI` ;i ;H`5yɮA DNOT Ignoring new targets: 42.43 m.h h *h"h hgfffBddjd!Zd%`DK@ZE=ZE=ZEy@ZEŽ&@]6)Y ]=i]"9)ae2aiaim񿉧im4?=IiIqE EEE"E*E[:VEZEa@a@a@a@%9@) @)@-O0@)ԁԹ^Am8=IqIO>B F>B B IB BB 8 =B B NDB `;B $EBiBiBiBiBm> =Cm76 ,3,eRϔ?A2@2@2ٱ2;nS :AHRS rotation from veh to nav: [[-0.274607,0.960017,0.054399],[-0.961398,-0.275149,0.002588],[0.017452,-0.051588,0.998516]]2H)ѿt? "ګ? ѿ3e?ߑ?i?i2@I2|^;2|CYBɀByFgIHHbDNVDNJ2yV%V]=ٔZ'FQ-Z>9XYX=ZFyX^l:E^>`Q 5f5bJ?Q 9f5b*)`Ydyj&@Q Ij@bEIb6:ib:ba5ylɮnAl DNOT Ignoring new targets: 42.43 m.h h *h "h  h g fffddjdZdK@Z9Z9Z9Z=&@U)Q UHs=iUm9)Q]YiYi]񿉧ae~@=IaIaԱ9@ @@4@E EE'E"E:*EVL:VE'4ZEBE;a2E;aJE;a:E;a^AUl;=IaIqO}z>)a q9,6?AVm@V<@V ٱVS ^AHRS rotation from veh to nav: [[-0.274540,0.960026,0.054569],[-0.961411,-0.275102,0.002927],[0.017822,-0.051660,0.998506]]VHѿ? y?Eѿg?@?` s@?iVm@IV^;V{CYfByj^IieMb@Mb@Mb@aaaa a9e~jtx?(\µy&1|?Ye;yee`;eAa a)eAaYeAbD}VD}1y%==ٔ`Q->9Y=Fy!%9E>Q 55D?Q 95)EBY=Q EE  E E #E "E :*E V:VE 3ZE a @a @a @a @Ա @,K?A2&@2@2Ӣٱ2?S :AHRS rotation from veh to nav: [[-0.275039,0.959874,0.054721],[-0.961259,-0.275625,0.003316],[0.018265,-0.051689,0.998496]]2H?ѿJ? e? `أѿh)k?@?w@?i2&@I2];0Y^ƀBybcIbDjVDj:y<%R=ٔ%#Q-%>9!Y!=%Fy)-E->1Q 5=55?Q 9=55)5GBY9yE;@Q IE@5EI5f;i5;5}e5yIɮMAImB*** querying acoustic contact ***ii ii}DNOT Ignoring new targets: 42.43 m.Resuming propulsion at range: 42.70 m and bearing: 350.562569 deg. Not drifting fast enough.rh@h->@h*h"h hL?gfffddjdZd2L@ZZZZš;@ɢY6<)yּ >i9)i3ii󿉧}=I->@IAԙBQAU<B]A>B]CB]lIB]̀BB]; =B]GDB]MDB]`;B]$Eu9@q @q@u/@q@y@y2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.+9YA^AIIO> *DAT read: user:605>  BDAT read: Tx time:05:59:47.4703  $Ping request sent. 9Y9==Fy9EEE>IQ 5M5M?Q 9U5M)MJBYQyU;@Q IU@IIM;iM2;MEg5yɮADNOT Ignoring new targets: 42.43 m.hh*h"h hgfff1: tAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyq:t!-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252538I M,6?A2Ն@2Ѝ@2gٱ2T >AHRS rotation from veh to nav: [[-0.276962,0.959298,0.055123],[-0.960691,-0.277591,0.003950],[0.019091,-0.051862,0.998472]]2Hѿ?@9? ѿ.p??@{?i2Ն@I2Œ];0YFByFIIiMb@Mb@Mb@ 9S㥛?ʡE/$?Y/9AYA=EFyIM4EM>QQ 5]5U?Q 9]5U)UOBYe=Q EeIIqE EE&E"E:*E:VE4ZEa@a@a@a@9@ @@/@ԙ^A|=IIO>BM C>BM CBM SIBM BBM @ =BI BI BM a;BM G$E - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754884S,P?A6Ɇ@6č@6ٱ62T BAHRS rotation from veh to nav: [[-0.278344,0.958898,0.055136],[-0.960285,-0.278989,0.004213],[0.019422,-0.051773,0.998470]]6HdѿI?`:?ѿAq?@n?@w?i6Ɇ@I6{];4YJByJMIPbDTVDTy^w<%^S=ٔ^`Q-^>9`Y`=bFy`ftEf>hQ 5j5j[?Q 9n5j)jTBYlynEQ Ir@hIj;ij;jj5ytɮv:AtDNOT Ignoring new targets: 42.43 m.hh*h"h hgff!f!d!d!d!jd)Zd-`gL@ZIZIZIZM)L@]ӀBɢ]$)a exxia)eE aaimim$quX>IqIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007469!E EE#E"Eҝ:*E8:VE3ZEBE;a2E;aJE@e>^A5ߚ=IAIqO}>! ;!Z,|j?Anchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258932v @vܹ@v?ٱv}}T| AHRS rotation from veh to nav: [[-0.279617,0.958520,0.055261],[-0.959911,-0.280270,0.004295],[0.019605,-0.051844,0.998463]]vH>ѿ@2?K?@ѿߗq?S?Th?iv @Iv];vzCYBy[I !!))iMb@Mb@Mb@ 9/$?#~j91Y1=5Fy9=.@E=>AQ 5M5E??Q 95E)E]BY=Q EII!+wU9@Q @Y@]/@Y^A5=I9QIQO]w>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867E  E E %E "E 7:*E =:VE 4ZE a @a @a @a @y a,J?A2X@2'@2OUٱ2}T :AHRS rotation from veh to nav: [[-0.280989,0.958119,0.055263],[-0.959512,-0.281638,0.004182],[0.019571,-0.051850,0.998463]]2Hѿ?^K?Q\ҿ q?V ?`h?i2X@I2];2yCYFÀByF_IbDNVDNyVh<%Vf=ٔZ8Q-Z>9XYX=ZFyX^_E^>`Q 5f5bЏ?Q 9f5b)beBYdyjF@Q Ij@`Iby:ib:bAn5ynBɮnAnNEDNOT Ignoring new targets: 42.43 m.hh *h "h  h g f ffdddYjdZd 4M@ZZZZF@ ܀Bɢ `~)  Ii)T99i=iE5VAAIAIIAAB?>BCBFIBBBE =BBLDBBa;BW$EMcռchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763267ԉ9@ @@@0@^A*_>IIOI>Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0148380g,%?AE6 E6E6#E4"E6m:*E60:VE63ZE4BE6QYˀByiIbD-VD-0y==%=A=ٔEQ-E>9AYI=MFyIMEM>QQ 5]5U錏?Q 9]5U)UmBYayaQ Ie@UEIU;iU;Up5yiɮmmAiԹDNOT Ignoring new targets: 42.43 m.h!h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd= kM@ZYZYZYZYmBɢuRI)q uH)iq)} yyyi}H3i1II%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2708429@ @@0@@fA@!A ^A5 &>I I O > m,Y?A2&@2@2aٱ2 U :AHRS rotation from veh to nav: [[-0.282771,0.957594,0.055259],[-0.958998,-0.283392,0.003580],[0.019088,-0.051981,0.998466]]2Hҿ ?J?`#ҿ)F9AYA=EFyAEEM>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518737IQ 55M|?Q 95MK)MxBY;=Q E;y_7@Q I@IIMr;iM;Mq5yɮ]A]DNOT Ignoring new targets: 42.43 m.hYhY*hY"ha hagafafifBdddjdZddM@Z;=Z;=Zj@Zm_7@bE}4jE}m4rE}Ϛ/E EuE$E"E:*E:VE4ZEa@a@a@a@ Bɢ [) ;i)iiI!I!Թ9@ @@4@^AB>IIO`>BmC>BiBmSIBmBBmG =BiBiBmXa;Bmb$E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770849 t,ҕ?A2 @2ۛ@2>ٱ2U :AHRS rotation from veh to nav: [[-0.283136,0.957483,0.055324],[-0.958900,-0.283730,0.003015],[0.018584,-0.052197,0.998464]]2Hҿ?zS?@N(ҿh??`j?i2 @I2P_^;2xCY^ـByb{IbDvVDvy M~=% N=ٔ:Q->9Y=Fy!-xE->1Q 5E55;?Q 9E55)5BYIyM]7@Q IM@5EI5<;i5`F;5s5yaɮeAaDNOT Ignoring new targets: 42.43 m.hh*h"h hgfffdddjdZdM@ZZZZQ]7@Bɢ+) i) n  i  i IIM9@I @I@M/@IBDAT read: Rx Time:05:59:49.9410 TRx dataTimestamp_ set to:1761544791.456911checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025021^A%x?>)IIOG>E E|E%E"E:*EP$:VE 4ZEBE&9Y=FyExgEM>YQ 5m5]^?Q 9m5])]BYuM>Q Eu;yue"@Q Iu@]EI]rx;i]w;]u5yɮADNOT Ignoring new targets: 42.43 m.hh*h"h hgfffـBddd!jd!Zd%`N@yZM>ZM>Z@Ze"@颽BɢIź) i)>ii:'II9@ @@4@-DAT read: 05:59:49.9410 LVL= 13984, 19649, 30882, 29267, AGC= 59, IDX= 6,-0.20, 2.525, 1.548, 0.462, 1.767, PHS= 0.860,-0.175,-1.349, RAW= 57.9, 7.0, CAL= 56.4, 7.2, ROT= 93.6, -7.2 =Ygot valid direction response: 05:59:49.9410 LVL= 13984, 19649, 30882, 29267, AGC= 59, IDX= 6,-0.20, 2.525, 1.548, 0.462, 1.767, PHS= 0.860,-0.175,-1.349, RAW= 57.9, 7.0, CAL= 56.4, 7.2, ROT= 93.6, -7.2 EPDAT read: Bearing 156.6, 78.8 (Local) M~Local bearing/azimuth received: Bearing 156.6, 78.8 (Local) UDAT read: Range 11 to 50 : 49.9 m (Round-trip 66.6 ms) speed -0.1 m/s ]R#Rx 1: Read range and direction messages.e^direction in FSK: [-0.062295,0.990157,0.125333]^AmWx>AueAzAudAeFpublishing direction and range infoyx<-寿N@]?cK ?YGB6Lx Sr);I(\?i333Y?5=d{? >)?IKWk?B"G+)? })I?iԩIIO>E  E E E "E :*E E7:VE ZE a @a @a @a @ ,$?A2Ǟ@2@2zٱ2;V :AHRS rotation from veh to nav: [[-0.283410,0.957422,0.054976],[-0.958847,-0.283921,0.001559],[0.017101,-0.052272,0.998486]]2Ha#ҿ@3?@%?߮+ҿY?@?@_ê?i2Ǟ@I2^;2{CY^BybIbDjVDjβyrW=%r=ٔr;;Q-r?9tYt=vFytzT:Ez?|Q 55~~?Q 95~Z)~BYym"@Q I@~EI~;i~;~-w5yɮjAi!i%'f?AJi%RFBRi%RFBji%@b%"}S/΋H@@/0@R%x<-寿N@]?cK ?Zi%?bi%j%m[XH@ڻT(%%5} @Z%rX?E>@P̿%@O?2i%y/:i%@B"i%8]?*i%q6Bi%Bi!i!i!i%;Bi%"@e addTargetRange:: Added new target pos. range: 49.900002 m, deltaT: 60.251759 s, deltaX: 7.200001 m, approachRate: 0.119499 m/s, rangeRepo size: 4 BAB%J>B%CB%fIB%ȀBB%? =B!B%MDB%ca;B%o$EBBBB@ =BA =C6= Added new target pos. range: 49.580250 m, bearing: 347.186409 deg, lat: 36.779387 deg, lon: -121.859742 deg, deltaT: 60.251759 s, deltaX: 7.154758 m, approachRate: 0.118748 m/s, posRepo size: 4 EDNOT Ignoring new targets: 49.58 m.hAhA*hA"hA hAgAfIfIfIdIdQdqjdu@3H@Zdu?ԱZZZZm"@ Bɢ l) i)PQiiH,!I!I!9@ @ @ /@ ^A;>IAIQOeV> E  E E $E "E V:*E 3:VE 4ZE BE 99IYI=UFyQU :EU>YQ 5e5]z?Q 9e5]~)]BYiymw"@Q Im@]EI]:i]w:]y5yqɮ}aAyDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZdOT?ZZZZw"@Bɢ)  ^i)튯iNi{0II9@ @@/@A^Au;>i A ?@I I O >捥,N:?A 2L@2@2Kxuٱ2{T >AHRS rotation from veh to nav: [[-0.282539,0.957737,0.053967],[-0.959139,-0.282936,-0.000300],[0.014982,-0.051847,0.998543]]2Hҿ ǥ??Dҿt3 ??i2L@I2Ȝ^;2zCYDyDiEMb@Mb@Mb@AAAA A9Ex&#~jĿ/$?YE7yE%E,=E AA EA)EAAYEAbD]VD]:ٔm;;Q-m>9u`=Yu`==uFyuwEuD:E}>Q 55u?Q 95P)BY8>Q E;y @Q I@EI:i:z5yɮDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZdm5?Bɢ)  i)cii%:h6!!I!I)1E E{E#E"Ey:*E5":VE3ZEa@a@a@a@q9@ @@0@ԡ^AA<A<BBCBxIB׀BB8 =BFDBNDBoa;Bx$E yy G gA) } a9} gAY} A AE އAII IY Oe >&є,34T?APYeByeIm=mp=bD}VD}y %<ٔQ->9d ?Yd ?=FywEE>Q 55Xq?Q 95!)BYyQ I@EI :i:|5yɮ~ADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd@1?%Bɢ%̗5)! % i))-0ǹ))i-i5;11I9I99@ @@01@E EE%E"E%:*E=:VE 4ZEBE;a2E;aJEƔ;a:Eǔ;a^Am3>A 2AI I O >! ,n?Ax~Ȇ@~Í@~1ٱ~ AHRS rotation from veh to nav: [[-0.278507,0.957956,0.068949],[-0.960373,-0.278579,-0.008770],[0.010807,-0.068659,0.997582]]~Hѿ??a ;ѿ@!?@0?i~Ȇ@I~?a^;~xCY%By%IiMb@Mb@Mb@ 9-ƿ9=?Y=?=EFyEwEE!<EE>IQ 5U5MVl?Q 9U5M)MBY]iS>Q E];y]}@Q I]@MEIM:iM:Mn~5yeBɮeAmMEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZd`p?BɢC탻) Yi)޹i,iAII!9@ @@4@I^AE EE&E"E:*EE7:VE4ZEa @a @a @a @ԑ A ܏AI I O >ࡥ,v?A2@2ۍ@2ٱ2Į :AHRS rotation from veh to nav: [[-0.275698,0.957538,0.084325],[-0.961205,-0.275421,-0.015140],[0.008728,-0.085228,0.996323]]2H` ѿ'?Y?@0}ѿ@߁?`ѵ@?i2@I2];2yCYBByBIbDNVDNNynq<%nd=ٔrн;Q-r>9r?Yr?=vFyvwEv<Ev>xQ 55z$h?Q 95z#)zBYy@Q I @zEIz.;iz/;z5yɮwA=DNOT Ignoring new targets: 49.58 m.h9h9*h9"hA hAgAfAfIfIdIdIdIjdQZdU@@Y颅Bɢ튻) Qi)3顉iGigFIIAAAABBBIBBB; =BBBna;Bv$EU9@Y @Y@]/@Y@eN>@eG>ԉ^AqAyzA}fAԹA AI I O > E  E E E "E C:*E C:VE 3ZE BE %;a 2E &;a JE <;a :E <;a ,?AY5܀By5I 99bDEVDEyU B%UC=ٔ]Q-]>9]??Ye??=eFyewEeEe>iQ 5u5m;c?Q 9u5m)mBYyyyQ I}@mEIm:im:mՁ5yBɮADEDNOT Ignoring new targets: 49.58 m.hh*h"h hgԹfffdddjdZd`@Bɢs) i) i[i F@II 9@ @@/@^AI I O >9 5,?A2j@29@2ULлٱ2= :AHRS rotation from veh to nav: [[-0.272113,0.957875,0.091812],[-0.962244,-0.271496,-0.019387],[0.006357,-0.093621,0.995588]]2H Njѿ??`2`ѿړ  z? ?i2j@I2 ];2zCYB׀ByFxIi Mb@Mb@Mb@     9 &1gfffffƿS㥛?Y Py 33 /< lA @ ) -A Y =AbD%VD%2y5>ݼ%5L=ٔ=:;Q-=>9AYA=EFyEwEE<EM>IQ 5U5M!^?Q 9U5M )MBY<>Q E;y$@Q I@MEIMBBBB8 =BBBXa;Bm$Eq^A;>I I O >ԡ ,|Ֆ?AYȀByfIbD- VD-2y=1%=J=ٔ=Q-=>9AYA=EFyEwEMEM>IQ 5]5MX?Q 9]5M )MBYYyYQ I]@MEIM+;iM7;MY5yiɮmzAiDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd p @q} Bɢ}")y >i)9顁i?iAS?@IIE9@A @A@E/@AԙE ExE$E"Eҝ:*E:VE4ZEBE;a2E;aJEPo;a:EQo;a^AIIIO> J,]?ADD=@=@=!»ٱ=_ MAHRS rotation from veh to nav: [[-0.272995,0.958954,0.076684],[-0.961997,-0.272613,-0.015605],[0.005940,-0.078030,0.996933]]=Hxѿ?@?@~rѿTx??i=@I=~];=|CYeŀByeaIiMb@Mb@Mb@ 9Mbp?K7A`ſ~jt?Y;y+<@ )AY ;<bDVDyA%==ٔ|:Q->9Y=FywE- E->Q 55R?Q 95 )BY(,>Q E;y8@Q I@EI;iY<Q5y)ɮ-A)uDNOT Ignoring new targets: 49.58 m.hqhq*hq"hq hqgyfyfyf}BdddjdZdt3@Bɢ$) i)_\ii%y>@))I)I)9@ @@@bE]J4jE]3rE]5/E EE%E"E:*E*:VE 4ZEa@a@a@a@) ^A 3>I I OE >n.¥,9& ?A 2Y@2(@2"˻ٱ2fv >AHRS rotation from veh to nav: [[-0.274705,0.958481,0.076494],[-0.961509,-0.274343,-0.015408],[0.006218,-0.077782,0.996951]]2H`”ѿ?`? Ԏѿwy?鳿?i2Y@I26];2wCYRByRRIbD^VD^yfD%fc=ٔfIQ-f>9hYh=jFyjwEnȡEn>pQ 5v5rKN?Q 9v5r )rBYtyv8@Q Iv@rEIr:ir:rЈ5y~Bɮ~ABYA]<BeJ>BaBerIBeҀBBe: =BaBaBea;BeA$E~CEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd@-Bɢ-e)1 5h1i1)50{99i=i=->@AAIAIAq9@ @@<0@ԙ^A;>IqIO> E  E E !E "E :*E 3:VE c3ZE BE ;a 2E ;a JE ;a :E ;a hȥ,E#?A>Ԇ@@>tύ@>bڻٱ>Z JAHRS rotation from veh to nav: [[-0.277133,0.957268,0.082675],[-0.960808,-0.276696,-0.016925],[0.006674,-0.084126,0.996433]]>H@ѿ?7*?`cѿTU{?E?i>Ԇ@I>v];>{CYRByRBIbDZVDZ:yb s%fH=ٔfQ-f>9dYh=jFyjwEj ˻Ej>lQ 5r5nH?Q 9v5n2 )nBYtyv8@Q Iv@nEIn=:in4:n5yxɮzLA|%DNOT Ignoring new targets: 49.58 m.h!h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5@eBɢe-)i mOii)mPiiimWiu->@qII9@ @@5@@C>@?>Ա^A}3>II!O5> Υ,=?A6C@6@62ٱ6 BAHRS rotation from veh to nav: [[-0.280107,0.955601,0.091472],[-0.959940,-0.279561,-0.018994],[0.007422,-0.093128,0.995627]]6H Fѿ@H?j?@Է`Sѿ sIf~?9׷ ,?i6C@I6Č];4YJByJ=I LLTVAli]Mb@Mb@Mb@YYYY Y9]㥛 ?V-¿y&1?Y]=y]h]`e<] A]&@ Y)]-AYY]AbDuVDu0y%?=ٔQ->9Y=FywEE>Q 558C?Q 95 )BY$>Q E;yBECBESIBEBBE> =BEGDBEMDBE`;BE $EBǹCBǹCBǓCB: =B: =CǙ6^A1 ԁ A AI I O >zե, V?A2h@27@2X ٱ2tͽ :AHRS rotation from veh to nav: [[-0.284070,0.953742,0.098394],[-0.958767,-0.283456,-0.020454],[0.008383,-0.100147,0.994937]]2H2.ҿ ?Z0? 8 &$ҿ *?@A?i2h@I2c];2|CYnByn9IbDzVDz0y%S=ٔ "Q- >9 c?Y c?= FywE/E>Q 5%5+>?Q 9%5 ) BY)y- Eۥ,!p?AMqr@M@m@M<ٱMԽ uAHRS rotation from veh to nav: [[-0.288624,0.951987,0.102061],[-0.957396,-0.288017,-0.020958],[0.009443,-0.103762,0.994557]]MHxҿv? ?nҿvV? #i?iMqr@IMM];MyCYBy1IԱiuMb@Mb@Mb@qqqq q9uM?i|?5yuut9Y=FywEQ&E> Q 55 -8?Q 95  ) BY>>Q E;y"Q I@ EI :i a: 45y!ɮ%A)UDNOT Ignoring new targets: 49.58 m.hQhQ*hQ"hQ hQgQfYfYfYdYdadajdaZdeΩ@颕Bɢ^) <}i);顙iiII}9@y @y@y@y E EE#E"E:*EA:VE3ZEa@a@a@a@^A A ?A ?1 A I I1 O= >",⑊?AnManaging dock network, ignoring radio surface power off65D@6?@6.ٱ6?ٽ BAHRS rotation from veh to nav: [[-0.294019,0.950090,0.104314],[-0.955740,-0.293461,-0.021009],[0.010652,-0.105874,0.994322]]6H6ҿ`#g?T?`lҿV`Ѕ?`@}?i65D@I6rl];6{CYJByJ&IbDRVDRyZ]%Zz=ٔ^qQ-^?9\Y`=bFybwEb.Eb?hAz@AAxB|B|B~:IB~BB~= =B|B|B~`;B~>$EQ 5%5j3?Q 9=5j)jBYQ]Gy]+#u(hA鉿9(hAY"zA!Q I-@jEIj-4=ij/=j5y1ɮ5A1}DNOT Ignoring new targets: 49.58 m.hyhy*hy"hy hgfffdddjdZd`,@=Bɢ=)A E iA)E7AAiM-iIIQIQIQU9@Q @Q@Y@YYy^Au ;>E  E E $E "E a:*E a9:VE 4ZE BE V;a 2E X;a JE ";a :E #;a A I I O > ,J?AR@R|@R?ٱR ZAHRS rotation from veh to nav: [[-0.299673,0.947924,0.107872],[-0.953970,-0.299115,-0.021693],[0.011703,-0.109407,0.993928]]RH-ӿdU?}?$ӿ@6?@ @B?iR@IRq];RzCYfByf+IbDnVDnyv<%vH=ٔz^(Q-z>9xYx=~Fy~wE~0mE~>Q 5 5.?Q 9 5)BYy#Q I@EIN:ig:l5yBɮ%A%BEMDNOT Ignoring new targets: 49.58 m.hIhI*hI"hI hIgIfQfQfQdQdYdYjdYZde@颍 Bɢ鰲) i) 顑i}iIIԑ¼9@ @@@^A  A .AI IO>l,?A2@2cی@2aSٱ2H :AHRS rotation from veh to nav: [[-0.305613,0.945419,0.113068],[-0.952068,-0.305033,-0.022815],[0.012920,-0.114621,0.993325]]2H'ӿ@?` ?Xwӿ`\u?WR?i2@I2];2|CYBByBIEb EbEb#E`"Eb:*EbC:VEb3ZE`af@af@af@af@1iMb@Mb@Mb@ 9Fx?J +?YK>yȽ<@ )AYbDVDy.%(=ٔ5$Q->9 ?Y ?=FywEnRE>Q 55(?Q 95$)&BYd>Q Em;yQ I@EI ;i& ;5yBɮALE DNOT Ignoring new targets: 49.58 m.h h *h"h hgfffBdddjd!Zd%`*@M#BɢM)I UJiQ)UPvQQiU\BECBE'IBEBBEB =BABELDBEa;BE{$EMtԉ 9@  @ @ @ @ @ C>Թ ^A AI IO->,R?AJ(@Jy@J wٱJX RAHRS rotation from veh to nav: [[-0.316903,0.940043,0.126063],[-0.948338,-0.316165,-0.026355],[0.015082,-0.127902,0.991672]]JH%HԿ?@"?X<Կ4?_@ǻ?iJ(@IJv];JzCYZByZ"IbDbVDbkyj/b<%n.=ٔn喻Q-n>9pYp=rFyrwEr}ϼEr>Ez EzExEx"Ez:*Ez|;:VExZExBEz;a~2Ez;aJEz;a:Ez;a Q 55 {"?Q 95 ) 0BYy|Q I@ EI :i : 5y!ɮ%A!DNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd@U&BɢU )Q UiQ)]l/YYi] iIIi߱I߱%9@) @)@)@1Ii ^Ai IIԙO>k,@M?A2L@2^G@2 ٱ27 :AHRS rotation from veh to nav: [[-0.322748,0.937416,0.130713],[-0.946342,-0.322010,-0.027326],[0.016475,-0.132519,0.991044]]2H@Կ O?5?`nHћԿG@ސ?_?i2L@I2 ];0YFByF'Ii]Mb@Mb@Mb@YYYY Y9]Zd;?MbX{Gz?Y]y>y]ʽ]#=]MA]@ ]CA)YYY]AbDuVDuy~<%#=ٔ*6Q->9Y=FywEIE>Q 55?Q 95)?BE EEE"E%:*ER:VEZEa@a@a@a@Y]>Q EG;yQ I@EI;ie;ə5yɮADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdd d jd Zd  z9 @=(Bɢ=)9 =iA)E_AAAiEf㟼iIIIIQIQ!9@ @@%/@!B<A<BE>BCBBB= =BBMDBa;B$EQ^Am3>y IY Ii O} >b6,?A0YrByr*IbDxVDxy%LY<%-Q=ٔ-Q-->9)Y1=5Fy5wE5E5>9Q 5E5=?Q 9M5=)=JBYIyIQ IM@=EI=:i=:=~5yQɮ]AYDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd`J!@%*Bɢ-N)) -ri))-^P11i5Di999I9IAԩ@ @@/@@@fAE EE$E"Eغ:*Ea9:VE4ZEBEA?A?IQIiOu> c ,3?A\ @@ ٱ/ AHRS rotation from veh to nav: [[-0.333970,0.932649,0.136492],[-0.942380,-0.333391,-0.027765],[0.019610,-0.137900,0.990252]]H@_տC?x?'EVտn? %?i @I$];xCYBy)IIp<)p;iMb@Mb@Mb@ 9J +?q= ףp?Y>y뽙L=dA@ ZA)CAY(AbDVD0y%4=ٔQ->9Y=FywEּE>Q 55?Q 95Z)[BY>Q E3;yQ I@EI ;iz ;z5yBɮAKEDNOT Ignoring new targets: 49.58 m.hh*h "h  h g f ffBdddjdZd\!@M,BɢM軼)I M啾iI)URaQQiUiYYYIYIa9@ @@@bEU3jEUY3rEUǧ/E EEE"E:*EE7:VEZEa@a@a@a@^A! I I O >9 B A>B CB B B F =B B LDB b;B $EH,M?A2*@2@2uٱ2 :AHRS rotation from veh to nav: [[-0.339687,0.930333,0.138178],[-0.940288,-0.339305,-0.027044],[0.021724,-0.139113,0.990038]]2H pտI?ί?@-տ@>?wd?i2*@I2ۧ];2{CYBByF2IbDNVDNyVX<=%Vr=ٔV#ͻQ-Z?9XYX=ZFyZwE^E5?9Q 5E5= ?Q 9E5=V)=gBYIyM8Q IM@=EI=:i=:=5yQɮUxAYDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd~"@.Bɢȼ) i)QniiIIU9@Q @Q@U 2@QI^Au3>yIIO>ԡ E  E E E "E :*E ]t:VE ZE BE 9AYA=EFyEwEEEM>IQ 5U5M?Q 9]5M)MvBYayaQ Ie@MEIM8;iM9;M̠5yiɮm[AqyDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd o#@0Bɢo) ׍i)9-}iiIIu9@q @q@u4@qԡ^AQAmfAzAmdAIIO AZ ,z?A4<ɰ;2N@2I@2=>Ҽٱ2hX :AHRS rotation from veh to nav: [[-0.351826,0.925741,0.138641],[-0.935713,-0.351876,-0.024978],[0.025662,-0.138516,0.990028]]2H Sֿ??@]!ֿ G?``N?i2N@I2$];2zCYFByFBIiMb@Mb@Mb@ 9ybH=A@ A)AYQAbD5VD5yE.=%EI=ٔM(Q-M>9IYI=MFyUxEUEU>YQ 5e5]?Q 9e5] )]BYe>Q Em#;ym]Q Im@]EI]j:i]:]5yqɮuAqE EE"E"E:*EX:VE(3ZEa@a@a@a@]DNOT Ignoring new targets: 49.58 m.hYhY*hY"hY hYgafafafeBdididijdiZdm:I$@颽1Bɢd ) ̆i)iiII@ @@4@AA@ABJ>BCB:IBBB> =BBMDBb;B$EBŸCBŸCBŔCB> =B@ =C}61^AA I I O% >Y I&,LU?A2@2 @2Wٱ2 :AHRS rotation from veh to nav: [[-0.358970,0.923112,0.137858],[-0.932941,-0.359244,-0.023758],[0.027593,-0.137142,0.990167]]2H ]ֿ!?X?` ֿ#T_A? r?i2@I2];0YZByZ?IbDfVDfJ2yjG%nR=ٔrQ-r>9pYp=vFyvxEvEv>xQ 5~5zf?Q 9~5z:#)zBYyQ I@zEIz;izL;zF5y ɮ (A 5DNOT Ignoring new targets: 49.58 m.h1h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@%@}3Bɢ}6>Ƽ)y i)s顁i=iII19@ @@/@E EE$E"E:*EV:VE4ZEBEY ԑAi I I O >Թ ,,B?Amy΃@mHɊ@mٱmD AHRS rotation from veh to nav: [[-0.366413,0.920352,0.136724],[-0.929996,-0.366858,-0.022857],[0.029122,-0.135528,0.990345]]mHQs׿s? -? z׿ g@"ҝ?@X?imy΃@ImM];m|CYByGIԉiMb@Mb@Mb@ 9ףp= ?sh|?ſkt?Y>y) 0=A  A)YG AbDVDy<%.=ٔbUQ->9Y=Fy xEE>Q 55鎊?Q 95 &)BYb>Q E;yQ I@EI:i:T5y Bɮ A JE5DNOT Ignoring new targets: 49.58 m.h1h1*h1"h1 h1g9f9f9f=?BdAdAdAjdAZdM %@u5BɢuN뮼)y }aiy)}Nzyyi}iII=9@9 @9@=/@9@A@AԹE EE"E"E:*E|:VE(3ZEa@a@a@a@^Aa ! ! ЀG B F>B B FIB BB @ =B B B a;B $EA ؟A  I I) U ؋9Q YU }AO] >Ş3,'/Ϙ?A>@>k{@>ٱ>١ JAHRS rotation from veh to nav: [[-0.375226,0.917128,0.134469],[-0.926447,-0.375759,-0.022376],[0.030006,-0.132974,0.990665]]>Hؿ@Y?@F6?um ؿ閿乞?`N?i>@I>];>{CYRByREIV=V=bD^VD^f?ybR%br=ٔf+Q-f?9j"?Yj"?=jFyjxEjEn?lQ 5r5nᎊ?Q 9r5n()nBYxyzQ Iz@nEIn*;in+;nͧ5y|ɮ~A|%DNOT Ignoring new targets: 49.58 m.h!h!*h"h hgfffdddjdZd&@]6Bɢ]gƼ)Y ]ꈾi)뚻顉iiII]9@Y @Y@]/@Y ^A=3>9 Am .AIy I O >E  E E !E "E :*E 1]:VE c3ZE BE IbDnVDn:2yvټ%vI=ٔzGѹQ-z>9z ?Yz ?=~Fy~xEͼE> Q 55 ؎?Q 95 r*) BYyEQ I@ EI :i ; 5y!ɮ%A!MDNOT Ignoring new targets: 49.58 m.hIhI*hQ"hQ hQgQfQfYfYdYdYdajdaZde s'@颕7BɢEμ) i)Wۡ顙i4iIIU9@Q @Q@U0@Qqԩ^A> A ؟AI I O >:@,?A2Ђ@2ʉ@2ٱ2f >AHRS rotation from veh to nav: [[-0.395106,0.907703,0.141306],[-0.918151,-0.395196,-0.028632],[0.029854,-0.141052,0.989552]]2HhIٿ ?M?@}a@JٿQ -?¿h?i2Ђ@I2];2wCYJByJ4IPiUMb@Mb@Mb@QQQQ Q9Uv/?Kǿ rh?YUx>yU^:UC =UdAQ Q)U-AQYUQAbDmVDm0E EE"E"EI:*EL_:VE(3ZEa@a@a@a@y%@=ٔaA:Q->9"?Y"?=FyxEڼE>Q 55Ύ?Q 95 -)BY.>Q E ;yQ I@EI ;i ;p5yBɮAADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZdL(@9Bɢ м) Ҙi)+iTiII9@ @@0@@@?>B<A<B?>BCBSIBBBB =BBLDBMa;B]$E^A ;>A zA fA9 A9 IA IY Oe >bF,ܜ?AYBy(I bD%VD%y5F%5Q=ٔ=Q-=>9AYA=EFyExEEEE>IQ 5U5MyĎ?Q 9U5Ms/)MBYYyYQ I]@MEIM;iM;M&5yaɮeAiDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd@()@:Bɢ) i)`i_iII]9@Y @Y@]4@Y)E EE%E"E:*E n:VE 4ZEBEԑ L,:y6?Aru@rD@rٱr+ 5AHRS rotation from veh to nav: [[-0.417706,0.893874,0.162824],[-0.908134,-0.416372,-0.043906],[0.028549,-0.166206,0.985678]]rHڿ?n?@n`֥ڿz ;?`>Fſ?iru@Ir];ryCԡYBy1IiMb@Mb@Mb@ 9+?ktƿL7A`?Yv>y 0+=A@ p A)AYG AbDVDy-<%-.=ٔ56;Q-5>91Y1==Fy=!xE=UXE=>AQ 5M5E}?Q 9M5E2)EBYU>Q EU;yUQ IU@EEIE. ;iE ;E25y]Bɮ]CA]SEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfff-BdddjdZd*@;BɢbҼ) 읾i)=ٻi[viII@ @@C4@E EEE"E*EV:VEZEa@a@a@a@^A B>! B 7>B CB B B F =B B KDB =a;B O$EA I I O >RS,RP?AJ@J݌@J=KٱJx9 VAHRS rotation from veh to nav: [[-0.430460,0.885564,0.174588],[-0.902164,-0.428198,-0.052403],[0.028352,-0.180064,0.983246]]JH`ۿ@V? X?gۿԪh?`Y ǿv?iJ@IJ[];JxCY^By^(IbDfVDfk2yn1%ry=ٔr:Q-r?9pYt=vFyv$xEv/Ev?xQ 55z?Q 95z5)zBYy Q I @zEIz2*;iz>+;z5yɮ}AUDNOT Ignoring new targets: 49.58 m.hQhQ*hY"hY hagafififqdqdydyjdZdl*@EQA .AE  E E E "E s:*E :VE ZE BE d0y Z,8.j?A2@2u@2 ٱ2[C :AHRS rotation from veh to nav: [[-0.444326,0.877118,0.182315],[-0.895410,-0.441289,-0.059192],[0.028535,-0.189548,0.981457]]2H`oܿY?V?3 >ܿqN ]8?@Cȿh?i2@I2];2{CYZByZIIb%=)b< f49v ?Yv ?=vFyv(xEvjEv>xQ 55zq?Q 95z7)z BYy Q I @zEIzy);iz*;ze5yBɮAREEDNOT Ignoring new targets: 49.58 m.hAhA*hI"hI hIgIfQfQfQdYdYdajdaZdef}+@颥=Bɢ*) ۵i)M̻顱iXiIIYU9@Q @Q@U/@Qԁ^A;>ԩA ؟AI I! O5 > c`,l ?A6닀@6@6Wٱ6F K >AHRS rotation from veh to nav: [[-0.459096,0.868274,0.187965],[-0.887918,-0.455336,-0.065349],[0.028846,-0.196899,0.979999]]6H@aݿ?@<? i:$ݿ扝?@3ɿ'\?i6닀@I6];6|CYFByJIiUMb@Mb@Mb@bEjE3rE0Ee EeEe Ea"Ee:*EeA:VEe3ZEaau@au@au@au@QQQQ Q9U?jtĿ:v?YUf>yU UQ->9"?Y"?=Fy,xEE>Q 55@?Q 95};)BYb>Q E:yQ I@EIC ;i ;C5yɮADNOT Ignoring new targets: 49.58 m.hh*h"h hgfff1Bddd jd Zd  3W,@=>Bɢ=†)9 =XiA)EջAAiE%PiIIIIIIQԱ 9@  @ @ /@ A!A!B)B)B-@IB-BB-H =B)B)B-]a;B-_$E^AU3> A .AI I O >9 g,2坙?A2@2D@2=ٱ2HS :AHRS rotation from veh to nav: [[-0.474466,0.858575,0.194246],[-0.879798,-0.469773,-0.072584],[0.028933,-0.205336,0.978264]]2H]޿`qy??N' ޿ Ք?tHʿM?i2@I2];2xCYB}ByB IbDNVDNJyR%V[=ٔVtQ-V>9Z ?YZ ?=ZFyZ0xEZ>E^>`Q 5b5bt?Q 9f5b>)b*BYdyfQ If@bEIb-:ibF:b嵓5yjBɮnAlDNOT Ignoring new targets: 49.58 m.h h *h "h  h g f ffdddjdZd%-@?Bɢ ) yi)߻i1iII!9@ @@/@@?>@;>Eu Eu|Eu"Eq"EuC:*EuP$:VEu(3ZEqBEu$;a2Eu%;aJEu};a:Eu};aA^A;>y A% ؟AI1 II Oe >Jm,¿?A V~@Vc@VԗٱV] zAHRS rotation from veh to nav: [[-0.490330,0.848103,0.200741],[-0.871042,-0.484636,-0.080086],[0.029365,-0.214122,0.976365]]VH`a߿#?ݱ? H߿@ ?@Yh˿b>?iV~@IV ];V|CYEwByMI iiyybDVDNy$%]9=ٔe!vQ-m>9"?Y"?=Fy5xE_E>Q 55ƀ?Q 95B);BYyQ I@EI;i;5yɮKA%DNOT Ignoring new targets: 49.58 m.h!h!*h!"h) h)g)f)fQfQdQdQdYjdYZd]@ .@i颡ɢ) vȾi)oiQiII9@ @@0@ԱE ErE#E"E1:*E?:VE3ZEa@a@a@a@ ^A B- ?>B- CB- -IB- BB- I =B) B) B- Ha;B- X$EBʶCBʶCBBF =BE =Cʛz6A I I O >m2t,xљ?A2o}@2Ʌ@2Yٱ2d :AHRS rotation from veh to nav: [[-0.506684,0.837157,0.206010],[-0.861608,-0.500040,-0.087135],[0.030068,-0.221649,0.974663]]2H`6`?^?@J`SwN`ʞ?@_̿ p0?i2o}@I2#];2zCpYNqByrIiMb@Mb@Mb@ 9Zd;O?Pn{Gz?Yj>yף<A7@ ( A)Y AbD VD2y }߼%G=ٔQ->9Y=Fy9xEGGE%>!Q 5-5%5u?Q 955%CF)%HBY?Q E:y Q I@%EI%g\z,u?A2:\|@2(@2:ٱ2j :AHRS rotation from veh to nav: [[-0.523410,0.825970,0.209320],[-0.851517,-0.515971,-0.093235],[0.030993,-0.227039,0.973392]]2Hƿ`Yn??`?ՂB޷ ?Ϳ&?i2:\|@I2];2yCYBjByFIbDNVDNN2yZ"%Zd=ٔZ(Q-^>9b ?Yb ?=bFybhQ 5r5j>j?Q 9r5jI)jTBYtyvEQ Iv@jEIj\G;ij6H;j359y~BɮAQEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffddd jd Zd  /@yɢ})y }־i)顁ißiIIi9@ @@T3@@@ԙ^AiA ؟AI I O >D,Q?A6!{@6`@6ٱ65o >AHRS rotation from veh to nav: [[-0.540284,0.814464,0.211520],[-0.840867,-0.532167,-0.098697],[0.032179,-0.231185,0.972378]]6HJ@??a5Dy?uͿ?i6!{@I6];4YFpByJIIN<)N=N=LiMb@Mb@Mb@ 9Pn?S㥻?Y?y/ݽ<n"A @  A)Y\ AbD5VD5k2EE EEwEAEA"EEغ:*EE:VEAZEAaU@aU@aU@aU@ԙy<%9=ٔ/Q->9"?Y"?=FyAxEu9E>Q 55\?Q 95N)cBY?Q E:yJQ I@EI;i ; 5yɮpAeDNOT Ignoring new targets: 49.58 m.haha*ha"ha higifififmBBdddjdZdY50@ABɢj) Ѿi)ni-i119I9I9߀G!I}lj9YyA@ @@4@BQ>BCBIBBB: =BFDBNDB@a;Bd$E^A3>A I! I9 A OM >n,+?A:y@:@: ٱ:bsr FAHRS rotation from veh to nav: [[-0.556940,0.802754,0.213082],[-0.829864,-0.548297,-0.103420],[0.033812,-0.234428,0.971545]]:Ht`(?GF?> @yO?ο ?i:y@I:9];:zCYNoByNIbDZVDZyb>%b^=ٔbwQ-b>9dYd=fFyfExEjV^Ej>lQ 5r5ngQ?Q 9r5nQ)noBYpyrQ Ir@nEInn;in;n5yzBɮzbAzZEDNOT Ignoring new targets: 49.58 m.hh*h"h! h!g!f!f!f)d)d)d)jd)Zd50@aɢe)i mҾii)mt iiim iqqqIqIy9@ @@/@EU EUEQEQ"EU:*EU H:VEQZEQBEU;a]2EU;a]JEU;ae:EU;aeA^A;>qIIO>ԙ ,W9?A>~x@>C:@>>dٱ>.Cr RAHRS rotation from veh to nav: [[-0.573752,0.791156,0.211850],[-0.818250,-0.564983,-0.106122],[0.035733,-0.234234,0.971523]]>H,\`'Q??/W*K?`Ϳ ?i>~x@I>t];>yCYZlByZIbDbVDb:yn,?%rI=ٔv#Q-z>9|Y=Fy IxEJE%>IQ 5e5M4D?Q 9m5MU)M~BYqyuQ I}@MEIMS;iM;M5yBɮaAyDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd1@uBBɢum)q }Bվiy)}yyi}xiIII)A@A @A@E/@A@I@M?>ԡE] E]uE]&EY"E]ҝ:*E]:VE]4ZEYae@ae@ae@ae@^A B R>B B IB BB 7 =B B ODB B f$EIa Iq O > Ȃ,R?AR"w@R%@R`ٱR.n bAHRS rotation from veh to nav: [[-0.590956,0.779329,0.208367],[-0.805794,-0.582518,-0.106620],[0.038286,-0.230909,0.972222]]RH@C? ū?@mK2?@iͿ q?iR"w@IR];RzCYjxByjI llprAiMb@Mb@Mb@ 9/$?Mb~jt?Y ?y<"A @  A)CAY ABAbDVDyF_=%;=ٔ~Q->9Y=FyMxEJE>Q 556?Q 95Y)BY7?Q E:y Q I@EI ;iL ;j“5yɮA-DNOT Ignoring new targets: 49.58 m.h)h1*h1"h1 h1g1f1f9f=UBd9d9dAjdAZdEh1@qɢu$)y }jɾiy)}άyyi}iIIe9@a @i@m/@i ^Am3>IIO>! Ee  Ee Ee $Ea "Ee C:*Ee ,:VEe 4ZEa BEe %;au 2Ee ';au JEe 7;au :Ee 7;au W,l?AR?u@Ro@R%ٱR3i bAHRS rotation from veh to nav: [[-0.607565,0.767852,0.203143],[-0.793236,-0.599638,-0.105881],[0.040511,-0.225471,0.973407]]RH,q@??@?0b <0 ὤ?7̿ '&?iR?u@IR];R|CYnuBynIbDVD:y%X=ٔQ->9!Y!=-Fy-QxE-`E->1Q 5E55O)?Q 9E55])5BYAyEfQ IM@5EI5.;i5/;5ē5yUBɮUAUYE}DNOT Ignoring new targets: 49.58 m.hyhy*hy"h hgfffdddjdZdZ1@9ɢ=)A E];iA)EAAiEŜiIIIIIIqY 9@  @ @ /@ԁ^AI I! O5 >Ա ,?A6ut@6Z5@6.ٱ6 e >AHRS rotation from veh to nav: [[-0.624036,0.755476,0.199584],[-0.780229,-0.616387,-0.106350],[0.042676,-0.222088,0.974092]]6H@,??@p9٥?am̿`+?@i6ut@I68];6zCYZBy^Ia@a a@a a@a a@a E% E%pE%#E!"E%:*E% :VE%3ZE!a-@a-@a-@a-@bD5VD5yEu=%EG=ٔM Q-M>9IYQ=UFyUUxEU7REU>YQ 5e5]>?Q 9e5]a)]BQ Am+:YiQ Em:ymQ Im@]EI]:i]>]œ5yqɮuAyDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd@32@CBɢ) Fi)is˟iII9@ @@0@@@gABuF>BuCBuIBuBBu= =BuGDBuMDBu`;Bu1$E^AB>A?A?IQIiOu>) ,s?A2s@2@26ٱ2c :AHRS rotation from veh to nav: [[-0.640381,0.742299,0.197243],[-0.766759,-0.632786,-0.107996],[0.044647,-0.220396,0.974388]]2H}?>??I? ۦ?5̿0.?i2s@I2];0YBByBIIF=)F%=bDNVDN2yVhf=%VU=ٔVTQ-Z>9XYX=ZFyZYxE^bE^>`Q 5f5b ?Q 9f5boe)bBQ Af :YhQ Ejz:yj"Q Ij@bEIb:ibK?bƓ5ynBɮn7ArXE9DNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd 2@ɢo)  Ѷi ) r$  i6i199I9I99@ @@0@aE EsE$E"E:*EZ:VE4ZEBEͽ;a2Eν;aJE];a:E];aԑ^A;>I9IIOU> 武,aO?A2q@2{@28G=ٱ2@b :AHRS rotation from veh to nav: [[-0.655826,0.729261,0.195117],[-0.753498,-0.648170,-0.110077],[0.046194,-0.219211,0.974583]]2HV??`Ͻ-@?̿`/?i2q@I2];0YBByF(IbDNVDNkyZ;=%^J=ٔbyQ-f>9hYh=jFyj]xEniLEn>pQ 5v5rA?Q 9v5r;i)rBQ Az9YxQ EzK:yzrQ Iz@rEIr:ir?rǓ5y~BɮAMDNOT Ignoring new targets: 49.58 m.hQhQԙ*hQ"h hgfffd!d)dQjdaZde3@]DBɢ]M})a eia)e)aaiesiII%9@! @!@%%2@)bEjE<3rE6/E EuE#E"Ea:*E:VE3ZEa@a@a@a@^A Bu G>Bq Bu 4IBu BBq Bq Bq Bu E`;Bu #E AY Iq I O >BѴ,4Ԛ?ABmwp@B m~@BCٱBb JAHRS rotation from veh to nav: [[-0.671289,0.715406,0.193818],[-0.739653,-0.663446,-0.112930],[0.047797,-0.219166,0.974516]]BH@3{?@?<:輿x? ̿@9aYa=eFyeaxEm2IEm>qQ 5}5u?Q 9}5um)uBQ AT:Y?Q E:y8Q I@uEIu;iu;ulɓ5yBɮADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBddidqjdqZduo3@EBɢ{Y) Qi)l-iԠiII9@ @@4@@C>@G>Q^A% B>E  E |E E "E ҝ:*E P$:VE ZE BE ;a 2E ;a JE };a :E };a AY ԙ I I O >@,1?A>$o@>}@>qIٱ>wb FAHRS rotation from veh to nav: [[-0.686420,0.701332,0.192252],[-0.725548,-0.678328,-0.115978],[0.049071,-0.219097,0.974468]]>H@&Pq??7@ݴ?b ̿.?i>$o@I>]];>{CYNByNKIXZAAbDZVDZybz=%bK=ٔfOQ-f>9hYh=jFyjfxEjREj>lQ 5r5n?Q 9r5np)nBYtyvQ Iv@nEIn;inT;n.˓5yzBɮ~A~aE%DNOT Ignoring new targets: 49.58 m.h!h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5B3@eFBɢmqR)q uiq)}0yyi}nCiII9@ @@/@^A ;>IAi Iy I O >i Z¦,?A2m@2{@2?Mٱ2 ;h :AHRS rotation from veh to nav: [[-0.700995,0.686155,0.194416],[-0.711406,-0.691925,-0.123052],[0.050089,-0.224567,0.973171]]2H n ??`@$N5?̿6$?i2m@I2^;2yCY^ǀBy^eIE EsEE"E*EZ:VEZEa @a @a @a @i]Mb@Mb@Mb@YYYY Y9]MbX?rh|~jt?Y] ?y]]D=]&%A] @ ] A)YYY]z AbDuVDu0yn=%@=ٔQ->9Y=FyjxECE>Q 552Ѝ?Q 95t)BY?Q E:y"#Q I@EIC:i: ͓5yɮ ADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZdF>4@Q额GBɢ) ~i)4顩i꡼iIIBA<B?>BCBSIBBB@ =BBLDB`;B#EB]øCB]ùCBYB]= =B]< =C]]69@ @@@ԁԱ^AA I I O% > IȦ,r"?A2ӏl@2rz@2HQٱ2m :AHRS rotation from veh to nav: [[-0.715023,0.670955,0.196371],[-0.697233,-0.704922,-0.130193],[0.051072,-0.230007,0.971848]]2H`w@wx?@"?O) )&?pͿ`?i2ӏl@I2];2{CYFπByFnIbDNVDNk1yV =%VY=ٔZw+Q-Z>9XYX=ZFy^nxE^6YEb>dQ 5j5f?Q 9j5f w)fBYhyj]$Q Ij@fEIf:if:fΓ5yrBɮr Ar`E DNOT Ignoring new targets: 49.58 m.h h *h "h  hgfffdddjd!Zd% Ԟ4@MHBɢU@)Q UqiQ)U`7QQi]riaaaIaIaIq)ueA59@1 @1@5/@1@9@=fAE EE%E"Es:*E]t:VE 4ZEBE;a2E;aJE;a%:E;a%^AuB> A I I O >9 sΦ,9tYt=zFyzrxE?E>Q 555M?Q 9=51z))BYAyM%Q IM@EI;ij;Г5yiɮu) AqDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd%@5@颍IBɢ4ͼ)ڼ Xi)E:顑iFiII9@ @@/@9E EE E"E:*E*:VE3ZEa-@a-@a-@a-@ 7k>CIayO9Y yA^Am ;>y B <>B CB IB BB C =B B B _;B #EA .AI I O >@[զ,pwV?A 2 j@2@x@2Wٱ2gq >AHRS rotation from veh to nav: [[-0.741736,0.641905,0.194383],[-0.668625,-0.730448,-0.139236],[0.052611,-0.233246,0.970994]]2HM|?@? `e _{`?@Ϳ a?i2 j@I2^;0YFByFIimMb@Mb@Mb@iiii i9mS?7A`¿?Ym?ymmL=mn"Ai mVA)m-AiYm AbDVD0y`=%@=ٔ Q->9 ?Y ?=FyvxE?E>Q 55?Q 95;})ABY?Q E:y)Q I@ EI ;iK ;Xғ5yBɮ ADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffŁBdddjdZdu5@5JBɢ5"Ѽ) ۦ,Sp?A2 h@2v@2_Yٱ24p :AHRS rotation from veh to nav: [[-0.754978,0.627309,0.191028],[-0.653601,-0.743431,-0.141830],[0.053045,-0.231935,0.971284]]2H(?s?`L@0}'¿(? Ϳ?i2 h@I28^;2wCLYRByRIbDZVDZyn =%rW=ٔvXQ-v>9z"?Y~"?=}Fy}zxE}ME>Q 55w?Q 95)XBYyL*Q I@ EIe;ilf;ԓ5y~Bɮv A_E%DNOT Ignoring new targets: 49.58 m.h!h!*h)"h) h)g)f)f1f1dYdYdajdaZde5@颭KBɢļ) 8i)@k?iiII9@ @@0@@?>@8>^A3>! A I I O% >|m,.?A2Ag@2u@2iB[ٱ2#jn :AHRS rotation from veh to nav: [[-0.767260,0.613263,0.187672],[-0.639100,-0.755530,-0.143963],[0.053505,-0.230398,0.971624]]2H eٟ??@sM-bm¿`d?}Ϳ?i2Ag@I2M^;2xCYBByBI DDHHEr ErEr&Ep"Er7:*Er.:VEr4ZEpav@av@av@az@|i5Mb@Mb@Mb@1111 195"~?QſMb?Y5?y5(5@=15@ 1)11Y5\ AbDMVDMN2yF*=%;=ٔQ->9Y=FyxE:E>Q 55{?Q 95)qBYY?Q E:y,Q I@EI\ ;i ;Փ5y ɮ , A uDNOT Ignoring new targets: 49.58 m.hqhq*hq"hq hygyfyfyfʁBdddjdZd>H6@MBɢ~O) (i)_Aiʈi!!!I)I)B9B9B=IB=BB=B =B9B9B=_;B=#E)QmI @I  @I @M /@I ԁ ^Am ;>Ա AIIO?W,(b?AD6?AzD6@AE: E:E:#E8"E::*E:;J:VE:3ZE8BE:2E:JE:;aB:E:;aBf.Kf@f@t@f[]ٱfJzn vAHRS rotation from veh to nav: [[-0.779648,0.598169,0.185317],[-0.623874,-0.767519,-0.147292],[0.054128,-0.230451,0.971577]]fH3$?t?z¿@? gͿ)?if.Kf@IffF^;fzC YByIbD5VD50yM<%M#=ٔUuQ-U>9YYY=]Fy]xEen Ee>qQ 5}5ud?Q 9}5u)uBY y<.Q I@uEIuAHRS rotation from veh to nav: [[-0.802353,0.568059,0.183137],[-0.594283,-0.788791,-0.156960],[0.055295,-0.234772,0.970476]]6H@ -? q?] =@@ĿO?@ ο$?i6#c@I6Z\^;4YFByJIN=Np=hi%Mb@Mb@Mb@!!!! !9%9Y=FyxEBE>Q 55B7>BBIBBBD =BBKDB_;B#EK?Q 9 5Q =-tI)BY-5?Q E5:y5Z1Q I5@EI%199Y9==Fy=xE=+EE>AQ 5M5E4?Q 9M5E)EBYQyU2Q IU@E EIE;iE;Eܓ5yYɮe( AaDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd +7@eSBɢeZc)i mi)n^H顑iT iIIa@ @@/@ԉ^AB>IA Ia O > ,]?A2Qa@2`Go@2gٱ2#&v :AHRS rotation from veh to nav: [[-0.825625,0.534980,0.179275],[-0.561379,-0.810740,-0.165995],[0.056542,-0.237691,0.969694]]2Hk?}?`@P?ſ?@lο`?i2Qa@I2^;2{CYZByZIi=Mb@Mb@Mb@9999 99=On?㥛 ¿l?Y=?y====n"A=@ 9)=A9Y=f AbDUVDU0ym=%mF=ٔuQ-u>9qYq=}Fy}xE}9GE}>Q 55L!?Q 95)BY_?Q E:y1Q I@$EI:ԙin:fޓ5yyBɮ ADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffρBdddjdZd78@TBɢbE=3jE=3rE=‚L0E EEE"E:*EP:VEZEa@a@a@a@) i)Ii-iIIBA<B1>BCBIB3BBH =BBJDB_;B#E9@ @@0@@C>@C>^AM 3>AI zAM gAI I O >9 ,]6!?A2_@2Em@2iٱ2vt >AHRS rotation from veh to nav: [[-0.837277,0.517932,0.175254],[-0.543800,-0.822197,-0.168146],[0.057005,-0.236088,0.970058]]2H` ?n?fpO`хſ/?` 8ο ?i2_@I2A ^;2|CYFByFIbDNVDNN2yVD߻%ZW=ٔZQ-Z>9XY\=^Fy^xE^dEb>`Q 5f5b ?Q 9j5b)bBYhyj_2Q Ij@b'EIbg:ib_:b5y]tBɮ] A]eEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd`8@VBɢը) di))LKiz쪼iII9@ @@4@AE EEE"E:*EC:VEZEBEIYqIO>ԙ ,;?A2^@2#l@2Hlٱ2,t >AHRS rotation from veh to nav: [[-0.848316,0.500593,0.172527],[-0.526331,-0.832771,-0.171659],[0.057745,-0.236428,0.969932]]2Hh%?`?` ſ?CCο ?i2^@I2^;2{CYF%ByFIbDRVDRyVM=%ZJ=ٔZTQ-Z>9\Y\=^Fy^xEbQEb>dQ 5f5f?Q 9j5f5)f BYhyj3Q Ij@f+EIf:if:f5ypɮrx Ap DNOT Ignoring new targets: 49.58 m.h h *h "h  h gfffdddjd!Zd%9@XBɢ@) ̽i) LiiIIq@ @@4@ԩ^AIQIiOu>E EE"E"Ey:*E:VE(3ZEa@a@a@a@B B B IB BBB I =B B B _;B #EBʶCBʵCBBD =BE =CH6 * ,/U?A6tD]@6:k@6oٱ6)2t >AHRS rotation from veh to nav: [[-0.859401,0.482573,0.168978],[-0.507966,-0.843513,-0.174519],[0.058317,-0.235817,0.970046]]6H6@x?`?AAVƿۭ?=/ο@ ?i6tD]@I60^;6xCYVByVIi]Mb@Mb@Mb@YYYY Y9]S?PnMb?Y]?y]]=]#A]@ ]? A)]AYY] AbDuVDu:yC %9=ٔ)Q->9Y=FyxEKGE>Q 552挊?Q 95) BYR?Q E:yP3Q I@0EI\(;iK(;5yrBɮ ADNOT Ignoring new targets: 49.58 m.hh*h"h hgff!f%߁Bd!d)d)jd)Zd-@Dq9@]ZBɢ]Q)Y ]dia)eYPNaaieiiiiIiIqԹ@ @@2@@@^A AA II IY Ou >E  E E $E "E :*E 1]:VE 4ZE BE /9Y= Fy xE hjE >Q 55ӌ?Q 95v)3BY!y%4Q I%@3EI;ie;e5y)ɮ-w A)uDNOT Ignoring new targets: 49.58 m.hqhy*hy"hy hygfffdddjdZd 9@\Bɢt)q u,iq)u&OqqiuNiyyyII1E9@A @I@M/@IY^A)ԉ AY I I O >",?A06yZ@6oh@6tٱ6Wr >AHRS rotation from veh to nav: [[-0.880667,0.445374,0.161454],[-0.469979,-0.864213,-0.179596],[0.059544,-0.234045,0.970401]]6H`l.@? ?`#޿ƿ`|?+Ϳ ?i6yZ@I6 ^;6zCYF%ByFIiUMb@Mb@Mb@QQQQ Q9UQ?"~jy&1?YU(?yUS㽙U`9Y=FyxEWE>Q 55-?Q 95)FBY?Q E:yL4Q I@7EI:ie:;5yqBɮ\ AdEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZd =:@^Bɢ )! %i!)%9Q!!i-bi))1I1I9E EE#E"E:*EVE3ZEa@a@a@a@G1]q9YY]IyAԑAqAqB/>BBIBLBBH =BBB_;B9@  @ @ @ Թ^A) AY Ia Iq O >X:(,?A2Y@2f@2mbvٱ2s :AHRS rotation from veh to nav: [[-0.891008,0.425546,0.158164],[-0.449990,-0.873965,-0.183562],[0.060116,-0.234727,0.970201]]2H"#?`ܿ@~ǿǮ? ο ?i2Y@I23^;2yCYB'ByBIbDNVDNyV<%VY=ٔVǺQ-V>9XYX=ZFyZxEZ>uE^>`dQ 5f5f?Q 9j5fq)fWBYhyj5Q Ij@f;EIft:if:f5yroBɮrA ArcE DNOT Ignoring new targets: 49.58 m.h h *h "h  h gfffdddjdZd:@ aBɢ M)  i ) R1i5 i999I9IA9@ @@/@@?>@G>E EE$E"E>:*EAr:VE4ZEBEAzAeAA Aa Ii Iy O >d., \?A2W@2%e@2avٱ2r :AHRS rotation from veh to nav: [[-0.901020,0.405567,0.153878],[-0.429592,-0.883455,-0.186970],[0.060116,-0.234569,0.970239]]2H'`?@J?o~ۿCE@ǿ}Ǯ?Zο2 ?i2W@I2$"^;0YF,ByFI HHHHbDRVDRyV<%VJ=ٔZ 5Q-Z>9XY\=^Fy^xE^LfEb>`Q 5f5bm?Q 9j5b=)bjBYhyj17Q Ij@b?EIb8:ibQ:b5ypɮr Ap5DNOT Ignoring new targets: 49.58 m.h1h1*h1"h1 h1g9fAfQfQdQdYdYjdYZd]`7;@ cBɢ \Z)  ۽i ) "Tii999I9IA @ @@ 0@Qy^Am;>E EE'E"E:*EF:VE'4ZEa@a@a@a@Bu *>Bu CBu IBu QBBu J =Bq Bq Bu _;Bu #EA .Aԩ I I O >K5,6֜?A6V@6Jd@6Evٱ6s BAHRS rotation from veh to nav: [[-0.910580,0.385133,0.150055],[-0.408919,-0.892307,-0.191244],[0.060241,-0.235503,0.970005]]6Hy#@? 5? +ڿƍzȿ ׮?$οG ?i6V@I6P^;4YJ.ByJIiMb@Mb@Mb@ 9Gz?|?5^/$?Yp?yҽ<+A@ )bAYzAbD5VD5yE <%EA=ٔMQ-M>9M ?YM ?=UFyUxEU\EU>aQ 5m5e?Q 9m5e)e|BYm?Q Em:ym7Q Iu@eCEIe~:ieC:e5yymBɮ ADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZd q;@mfBɢm)i m޽iq)ӞU顑i-iIIm9@i @i@mC0@iԡ^A3>A ؟AI I O  E  E E #E "E 7:*E 3:VE 3ZE BE ;a 2E ;a JE ;a :E ;a u;, ?A2ԔT@2rb@2,vٱ2Rt :AHRS rotation from veh to nav: [[-0.920123,0.363536,0.145656],[-0.386971,-0.901157,-0.195372],[0.060234,-0.236131,0.969853]]2Hq .D?ڤ?@ ؿFɿ`֮?9ο` ?i2ԔT@I2;^;0YB*ByFIbD%VD%:2ym%uH=ٔ 7Q->9"?Y"?=FyxElE>Q 550n?Q 95)BYyv9Q I@GEI;iQ;N5ylBɮ AbEUDNOT Ignoring new targets: 49.58 m.hQhQ*hQ"hY hYgYfYfYfadadadajdaZdm`;@颕hBɢD)  i)>W顙i8iIII)fAM9@I @I@M5@I@Q@Q^A5;>1II Iq O >a ]B, ?A2 S@2a@2CGuٱ2mw :AHRS rotation from veh to nav: [[-0.929137,0.341567,0.141550],[-0.364860,-0.908999,-0.201489],[0.059847,-0.238857,0.969209]]2H}@J=i]Mb@Mb@Mb@YYYY Y9]rh|?Mb?Y]?y]]<]X!A]V@ ] A)YYY]QAbDuVDuy%I=ٔM}:Q->9Y=FyxEtE>Q 55Z?Q 95/)BY?Q E:y:Q I@KEI:i:5yɮ ADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZd@qB<@%kBɢ%)! %i))-X))i-,1i199I9IAE} E}{E}$Ey"E}C:*E}5":VE}4ZEya@a@a@a@9@ @@4@B)>BBIBVBBO =BBIDB_;B#Ea^AԑI I O >Թ H,#?A2Q@2_@2Hqٱ2x :AHRS rotation from veh to nav: [[-0.937460,0.320237,0.136444],[-0.343060,-0.916386,-0.206270],[0.058980,-0.240178,0.968935]]2H@@~?w?`տ@S` gʿ2?(ο?i2Q@I2K^;2xCYB/ByFIbDNVDN1yVx=%VY=ٔV";Q-Z>9XYX=ZFyZxE^q~E^>`Q 5f5bG?Q 9f5bs)bBYdyj;Q Ij@bOEIb:ib(:b5ynjBɮn AnaEDNOT Ignoring new targets: 49.58 m.hh *h "h  h g f ffdddjdZd`<@MmBɢM)I MiI)UdZQQiUiYYaIaIaԑ9@ @@/@E EEE"Ey:*E H:VEZEBE N,M=?A6VP@6]@6jmٱ6w BAHRS rotation from veh to nav: [[-0.945446,0.298587,0.130298],[-0.320578,-0.923877,-0.208999],[0.057975,-0.239368,0.969196]]6H@A ??[Կfzʿ鮭?ο@?i6VP@I6K7^;6yCYJ8ByJIbDVVDV1yZC*=%^J=ٔ^";Q-^>9`Y`=bFybxEbHqEf>dQ 5j5f2?Q 9n5f)fBYlyn=Q In@fSEIf;if ;fy5ytɮv AtDNOT Ignoring new targets: 49.58 m.hh*h"h hgfff!d!d!d!jd!Zd- =@UpBɢUG)Y ]4iY)][YaieXiaiiIiIi9@ @@/@@@;>!^A5B>IIO>bE4jE3rE/E E|EE"E[:*EP$:VEZEa@a@a@a@I B 4>B CB IB [BB H =B B KDB _;B v#EؙU,}W?A 2'{N@2p\@2,AHRS rotation from veh to nav: [[-0.952948,0.276359,0.124563],[-0.297697,-0.930672,-0.212666],[0.057155,-0.239741,0.969153]]2H~ޯ?\?y ӿ8˿oC?ׯοL?i2'{N@I2]^;0YF/ByFI HHHJAi]Mb@Mb@Mb@YYYY Y9]jt?MbX~jt?Y] ?y]ʽ]<] A]M@ ] A)]^AYYYbDuVDuJ2y(%>=ٔ:Q->9Y=FyxEeE>Q 55?Q 95ˤ)BY"?Q E:y>Q I@WEI:i:[5yiBɮ A`EDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZdx=@%sBɢ- g)) -Pi))-K]11i5 i999I9IAq9@ @@/@ԙ^A;>IYIiOu> E  E ~E #E "E I:*E (:VE 3ZE BE 9YYY=]Fy]xEeuEe>iQ 5u5m ?Q 9u5m)mBYqy}f@Q I}@m[EIm ;imi ;m5ygBɮO ADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd=@vBɢ) i)*_ibiII 9@ @@0@^AI1IAOU>! b,4?A2uK@2qkY@2L`ٱ2>} :AHRS rotation from veh to nav: [[-0.966059,0.232140,0.113318],[-0.252436,-0.941470,-0.223404],[0.054824,-0.244427,0.968117]]2H`?d?'п ̿? eIϿ?i2uK@I26^;2zCYB5ByBI|iMb@Mb@Mb@ 9Q?I +y&1?Y(?y9`<A l A)1AY3AbD5VD5:2yE4$%EH=ٔEcV;Q-E>9IYI=MFyMxEUmEU>YQ 5e5]?Q 9e5])]BYe?Q Ee:ye@Q Im@]_EI]:i]3:]5yqɮu AqE] E]E]"EY"E]:*E]0:VE](3ZEYae@ae@ae@ae@mDNOT Ignoring new targets: 49.58 m.hihq*hq"hq hqgqfyfyf}BdyddjdZd >L>@颵xBɢ޹) zi)na项i<۸iIIB3>BB!IB`BBF =BBB+_;BH#EB}ôCB}ôCByB}H =B}I =C}Z6)9@ @@@@@gAQ^A3>A?A>ԁ I I O >h,?A6I@6W@6!S\ٱ6 >AHRS rotation from veh to nav: [[-0.971639,0.210497,0.107748],[-0.230278,-0.945858,-0.228744],[0.053764,-0.247069,0.967505]]6H?`]?yͿxD~GͿ?@Ͽ?i6I@I6K^;6yCYJ@ByJIIN=)N<bDRVDRβyZr=%ZT=ٔ^04;Q-^>9`Y`=bFybxEbrEf>dQ 5j5fދ?Q 9j5f&)fBYlyncBQ In@fcEIfY;if;f5yrfBɮv) Av_EDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffd!d!d!jd!Zd-@>@U{BɢUY)Y ]Lia)e\baaieiiiiIiIq9@ @@4@ԉEu EuEu%Eq"Eu:*Eu.:VEu 4ZEqBEu;a}2Eu;a}JEu ;a:Eu ;a^A1ԱI I! O- > 2o,꾝?AY~?By~IbDVDky%%%D=ٔ%Q-%>9)Y)=-Fy-xE-E5>1Q 5E55Yɋ?Q 9E55٧)5BYAyAQ IE@5gEI5 ;i5` ;5[5yUdBɮU, AU^E}DNOT Ignoring new targets: 49.58 m.hyhy*hy"hy hygfffdddjdZd ?@Թ}Bɢ,Ƕ) i)M diuiIIi@q @q@u4@q C^A;>ЀG9YII)yUn?UXAO]>Eu EuEu$Eq"Eu:*Eu|;:VEu4ZEqa@a@a@a@B 4>B B B B B B B ^;B !#E9 u,؝?A2 G@2,U@2M Rٱ2~ >AHRS rotation from veh to nav: [[-0.981360,0.167415,0.094370],[-0.185219,-0.954894,-0.232102],[0.051256,-0.245254,0.968103]]2H`Lgm?(?Bǿ~`Ϳ7>?dϿ?i2 G@I2?^;2xCY^=BybIi}Mb@Mb@Mb@yyyy y9}V-?ʡE~jt?Y}|?y}-}<}= A} @ } A)}AyYybD VD2yA%B=ٔ;Q->9Y=FyxEE>Q 558?Q 95D)%BY'!?Q E:y-EQ I@kEI:i:25yɮ: ADNOT Ignoring new targets: 49.58 m.hh*h"h hgf f f Bd ddjdZd?@MBɢMﻼ)Q UiQ)UeQYi]>iYaaIaIaIi)i@ @@/4@@;>@?>A^AI9IIOQqE  E E #E "E Ʊ:*E .:VE 3ZE BE 7;a 2E 9;a JE a :E a |,פ?A:E@:S@:Nٱ:.{{ ^AHRS rotation from veh to nav: [[-0.985425,0.145764,0.087693],[-0.162505,-0.959058,-0.231948],[0.050293,-0.242818,0.968767]]:Hd?s?Ŀ` {Ϳ?`Ͽ@$?i:E@I:^;:zCYfDByfI hhllbDrVDrNyz=%zV=ٔz%;Q-z>9|Y|=~Fy~xEwE> Q 55 %?Q 95 ) 4BYyFQ I@ oEI ;i ; 5y%cBɮ%A%]EMDNOT Ignoring new targets: 49.58 m.hIhI*hQ"hQ hQgQfQfYfYdYdYdajdaZde?@ Bɢ ~) i1)5kg19i=i9AAIAIAqE9@A @I@M/@Iԡ^A-[>IIO> ,~ ?A6D@6(R@6 Jٱ6)z BAHRS rotation from veh to nav: [[-0.988998,0.123681,0.081149],[-0.139467,-0.962466,-0.232827],[0.049307,-0.241583,0.969127]]6H`?5ƴ? BͿ>?.ο?i6D@I6x^;6yCYJLByJIi%Mb@Mb@Mb@!!!! !9%RQ?{Gz~jt?Y%"?y%ף!%A! %VA)%1A!Y%AbD=VD=yMU=%ME=ٔU;Q-U>9QYQ=]Fy]xE]eEe>aQ 5m5e݈?Q 9u5e)eDBYu#?Q Eu:yuVGQ Iu@esEIe ;ie ;e5ybBɮADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffuBdddjdZd|%@@Bɢ) i)'h  i-i15y<5)ۅ>I9I9Be<Ae<Bm3>BiBm'IBmfBBiBiBiBm^;Bm"EE EE"E"E:*E1]:VE(3ZEBEl%<2Em%<JE;:E;9@ @@/@) ^AM ׄ>Ay I I O >Q N&,W`&?A2EB@2P@2DFٱ2Mz :AHRS rotation from veh to nav: [[-0.992030,0.101319,0.074913],[-0.116300,-0.965041,-0.234886],[0.048496,-0.241726,0.969132]]2H?@|-?ŽοjԨ?ο@!?i2EB@I2C^;2xCYBTByBIbDNVDN1yV!=%VU=ٔV ;Q-V>9XYX=ZFyZxEZ;zE>Q 5%5s?Q 9%5)RBY)y-HQ I-@wEIR:iI:g5y1ɮ=mA9eDNOT Ignoring new targets: 49.58 m.haha*ha"ha hagafififididqdqjdqZd} X@@颥Bɢj) ʽi)'j顩i8ci`<wx>II)m9@i @i@u/@q@y@}fAEU EUEU'EQ"EU:*EUX:VEU'4ZEQBEU <2EU <JEUo;:EUo;i^A;>ԁ A I I O > ,+1@?A0bJ#A@bO@bPBٱb5{ jAHRS rotation from veh to nav: [[-0.994434,0.079830,0.068767],[-0.094057,-0.966726,-0.237896],[0.047488,-0.243040,0.968853]]bHf o??@j csοRP?`Ͽ@?ibJ#A@Ibv^;bzCYUByII4=)=%=%p=bD-VD-!y=s;%=3=ٔEG;Q-E>9AYA=EFyMxEMIEM>QQ 5]5U[?Q 9]5U)UcBYayeG@Q Ie@U|EIU[:iU:UW5ym`BɮmZAm\EDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd@@ԉ额Bɢ^) Ͻi)Ik顡i3iX<ug>IIe9@i @i@q@q^AV}>AIIO>BU 1>BQ BU .IBU kBBQ BQ BQ BU @^;BU "EEm  Em Em #Ei "Em a:*Em 1]:VEm 3ZEi BEm (<2Em (<JEm ;:Em ; c6,Z?A2?@2M@26>ٱ2!z :AHRS rotation from veh to nav: [[-0.996338,0.058546,0.062311],[-0.071800,-0.968612,-0.237984],[0.046422,-0.241586,0.969268]]2H?B?a@@vοħ?@Lο>?i2?@I2o^;2xC\Yb\BybIiMMb@Mb@Mb@IIII I9MMbX?DlI +?YM*?yMOM99Y=FyxEiE>Q 55E?Q 95n)qBY+?Q E:yG@Q I@EI:i:5y _BɮA[E=DNOT Ignoring new targets: 49.58 m.h9h9*h9"h9 h9gAfAfAfEBdIdIdIjdIZdM@@颅Bɢ9ڬ) 躽i)7l顉i-оi/5< U>IIM9@I @I@M0@I^A-Ex>A Ae .AIi Iy O >E  E E &E "E :*E g:VE 4ZE BE #<2E #<JE ,;:E -;[`, s?AF<->@F"L@FR:ٱFNHw RAHRS rotation from veh to nav: [[-0.997809,0.035737,0.055681],[-0.047966,-0.970387,-0.236746],[0.045571,-0.238898,0.969975]]FH @'L?@,?h MοU? 6ο ?iF<->@IFW^;FzCYZ`ByZ!IbDbVDb0yj<%jU=ٔj;Q-n>9n ?Yn ?=rFyrxErVEr>tQ 5z5v1?Q 9z5v$)v~BYxy~5F@Q I~@vEIv ;iv;v5yɮA 5DNOT Ignoring new targets: 49.58 m.h1h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdMa@@uBɢ}H)y }Diy)m顁iiiȳ<rA>II9@ @@4@@0>@=^A3q>AeAzAdAIA؟AIIO%M>qԡ K,ύ?AJ9<@JקJ@JM7ٱJx ZAHRS rotation from veh to nav: [[-0.998689,0.013398,0.049402],[-0.024874,-0.970549,-0.239618],[0.044737,-0.240532,0.969610]]JHBp?FK?x@`ɫο?ο ?iJ9<@IJ0^;HYbjByb-I ddi]Mb@Mb@Mb@YYYY Y9]Zd;O?㥛 S㥛?Y]~*?y]]/9"?Y"?=FyxEYE>Q 55?Q 95)BY+?Q E:ywD@Q I@EI;i; 5y-^Bɮ-AbE3jEc3rE0E EE!E"E:*E:VEc3ZEa@a@a@a@B+>BCB@IBzBBK =BBJDB"^;B"E5DNOT Ignoring new targets: 49.58 m.h1h1*h9"h9 h9g9f9fAfEjBdAdAdIjdIZdM@.A@颽BɢJ) $i)tni7i  ζ< v/>I I ԡ@ @@2@^A{U>A I I! O- > @r,?A2s?;@25I@252ٱ2{ :AHRS rotation from veh to nav: [[-0.999051,-0.008376,0.042741],[-0.002269,-0.969993,-0.243122],[0.043494,-0.242988,0.969054]]2H:F'? Nb/ `ϿD?:Ͽ|?i2s?;@I2p_^;2yCYB{ByFBIbDNVDNFyVD=%V^=ٔV0];Q-Z>9XYX=ZFyZxE^||E^>`Q 5f5b)?Q 9f5b)bBYhyjC@Q Ij@bEIbt:ibk:b- 5yn]Bɮn ArZEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZdO[A@Bɢ) 'i)loisiz<>II9@ @@/@ D-@AzD-AAE EEE"Em:*E&p:VEZEBEQ1A! I) I9 OM >Y #Z,z?A29@2G@2.ٱ2+{ :AHRS rotation from veh to nav: [[-0.998891,-0.029720,0.036510],[0.019946,-0.969668,-0.243610],[0.042643,-0.242612,0.969186]]2Hn r?`l?.Ͽ`Cե? Ͽ?i29@I2Y7^;2zCYBByBMIbDJVDJ0yV*=%VJ=ٔVY ;Q-V>9XYX=ZFyZyEZaE^>`Q 5f5b튊?Q 9f5b*)bBYdyfA@Q If@bEIb:ib:b 5yn\BɮnAnYEDNOT Ignoring new targets: 49.58 m.hh*h"h  h g f f fdddjdZdௌA@EBɢE+ȇ)I M߼iI)MoIIiU3tiQUu< >II1m9@q @q@q@q@y@y^AMM>AM>AM?iIYIO_>E= E=E= E9"E=>:*E= n:VE=3ZE9aE@aE@aE@aE@ԉB(>BBSIBBBBBIDB^;B"EBȵCBBBF =BH =C26Թ F,?U۞?AY~By~FII<)p;iMb@Mb@Mb@ 9ʡE?Q뱿9Y=FyyEE>Q 55Ԋ?Q 95T)BY0?Q E:yAB@Q I@EIII@ @@/@^AKP&>IYIiO}z>EE  EE EE %EA "EE :*EE V:VEE 4ZEA BEE %rX=ٔr;Q-r>9tYt=vFyv yEzEz>|Q 55~?Q 95~N)~BYyg?@Q I @~EI~;i~ ;~5y[BɮAXE=DNOT Ignoring new targets: 49.58 m.h9h9*h9"hA hAgAfAfIfIdIdIdIjdQZdU A@}BɢiY) II)O5>I ç,?AG,4Lr9pYvkAPExceeded connect timeout, disconnecting.,5@ʝC@!ٱu AHRS rotation from veh to nav: [[-0.995603,-0.091915,0.018040],[0.084918,-0.966974,-0.240313],[0.039533,-0.237725,0.970528]]HŇ"y?.?`sο`=?mο`?i,5@I3^;YBylIE EEE"E:*Ex:VEZEa@a@a@a@Monly read 0 of 1 data item for water mass range. Device response is::WD, + 0 20.00,771.38 aU@aU aU@aU aU@aU aU@aU bD]VD]kym%m4=ٔmB;Q-u>9qYq=uFyuyE};E}>Q 55B#>BCBlIBBBO =BBB5^;B"EI?Q 95)BQ A+:YQ Ey:y>@Q I@EI)!=i>5yZBɮA DNOT Ignoring new targets: 49.58 m.h h *h "h  h g fffdddjdZd@4B@颭Bɢb) S^Ae( >AizAmfAIIO>ԡ [ɧ,y(?A2`4@2+VB@2-ٱ26w :AHRS rotation from veh to nav: [[-0.993744,-0.111019,0.012167],[0.104812,-0.964676,-0.241691],[0.038570,-0.238904,0.970277]]2Hk? Ժ?οd? dο` ?i2`4@I2W^;2{C@Y^Byb|I ddbDjVDj:yr=%rg=ٔv2;Q-v>9tYt=vFyvyEz hEz>|Q 55~?Q 95~)~BQ A :Y Q E I:y <@Q I @~EI~q:i~xO?~5yɮA=DNOT Ignoring new targets: 49.58 m.hAhA*hA"hA hAgAfAfIfIdIdIdQjdQZdU \B@5BɢuLB)y }=iy)/o顁iGļiǿ<׋=IIԹM9@I @I@M/0@IE  E E !E "E a:*E c:VE c3ZE BE ( ?Ч,B?A6g/3@6%A@6ٱ6z BAHRS rotation from veh to nav: [[-0.991659,-0.128743,0.006192],[0.123306,-0.961575,-0.245294],[0.037534,-0.242484,0.969429]]6H઻@z\y? ? 9eϿ7? Ͽ?i6g/3@I6R:^;6xCY^BybIbDjVDjJlyr*=%vJ=ٔv';Q-v>9tYx=zFyzyEz<Ez>|Q 55~z?Q 9 5~*)~BQ A 9Y Q E #:y ;@Q I @~EI~;i~?~5yYBɮ6AWEEDNOT Ignoring new targets: 49.58 m.hAhA*hA"hA hIgIfIfIfQdQdQdQjdQZd]PB@颅BɢWg4) xL=i)n顉iļiG<]=IIM9@Q @Q@U4@Q 9^Au:_=nManaging dock network, ignoring radio surface power offE EE%E"E :*E:VE 4ZEa%@a%@a%@a%@B!>BBIBBBBBHDB;^;B"EA I I O >a n֧,\?A22@2/@@2ٱ2A} :AHRS rotation from veh to nav: [[-0.989528,-0.144342,0.000449],[0.139749,-0.958808,-0.247299],[0.036126,-0.244647,0.968939]]2H@6@y¿pe=?@H?Ͽ? PϿ?i22@I2(^;2yCYfByfI9aUaU aUaU aUa] a]a] i]Mb@Mb@Mb@YYYY Y9]9Y=FyyE\ E>Q 55a?Q 955)BQ AT:Y@5?Q E:y8@Q I@EI;iI;5yɮAVEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZdB@%Bɢ%~ )! %p=i!)-m))i-!żi15<K(=III@I @I@M4@I@Q@Qq^A%?=AqIyIԙO> E%  E% E% &E! "E% >:*E% e:VE% 4ZE! BE% 9XYX=^Fy^yE^0,E^>`Q 5f5bAL?Q 9f5b])b BYhyj7@Q Ij@bEIbF:ib:b5ynXBɮppDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdԙddjdZdB@%Bɢ%!)) -d=i))-Lm))i5bUƼi1=ƻ<={ 7,fg?A@0@Q6>@9ٱ:{ %AHRS rotation from veh to nav: [[-0.985120,-0.171625,-0.009185],[0.168623,-0.954786,-0.244845],[0.033252,-0.242750,0.969519]]H`ſYςr?@WϿp?`qϿ L?i@0@I/^;xCY=ƁBy=IE EE!E"Ea:*EVEc3ZEa@a@a@a@iMb@Mb@Mb@ 9A`"?EԸQ?Y9?yƽ\=\A A)YbD-VD-1y=e=%=3=ٔEH;Q-E>9AYA=MFyM"yEM EU>QQ 5]5U|1?Q 9e5U)U3BYe:?Q Ee:ye6@Q Ie@UEIU:AiAmAABu>BuCBuIBuˁBBuR =BqBqBu)^;Bu"EiU:U5yɮADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZd`1C@BɢP) |=i)kiǼi  < 1,?A>b/@>|=@>Nٱ>*y FAHRS rotation from veh to nav: [[-0.983197,-0.182074,-0.013126],[0.179764,-0.953192,-0.243127],[0.031755,-0.241401,0.969906]]>HYv7Nǿ@ ⊿?Ͽ6B?>οw ?i>b/@I>?Z^;>zCYNˁByRIbDZVDZyb<%bi=ٔb;Q-b>9dYd=fFyf&yEfEj>lQ 5r5n?Q 9r5n)nBBYpyr5@Q Ir@nEInR:ink:n5yzWBɮzcAzUEDNOT Ignoring new targets: 49.58 m.hh*h"h! h!g!f!f)f)d)d)d)jd1Zd5-^C@mBɢmY)q u=iq)}jyyi}oǼi~<T=@U=^A=K=E EE$E"E=;*ER:VE4ZEBEwI ,ß?A2.@2<@2ٱ2]w :AHRS rotation from veh to nav: [[-0.981510,-0.190701,-0.016488],[0.189022,-0.952080,-0.240447],[0.030156,-0.239118,0.970522]]2Hhhȿ ␿ 1?owο>?iο?i2.@I2C^;0YDyFI HHbDNVDN0yV-S;%VL=ٔZ;Q-Z>9XYX=ZFy^*yE^E>Q 5%5?Q 9%5)RBY)y-M5@Q I-@EI:i:5y1ɮ5YA=TEeDNOT Ignoring new targets: 49.58 m.haha*ha"ha hagafififididqdqjdqZduΒC@颥Bɢb) =i)i顩i*ȼi&<$:IIU9@Q @Q@U/@Q^A- <AYIIOk>bE3jEǁ3rEǭ<0E EE#E"E:*E:VE3ZEa%@a%@a%@a%@B>BCBIBځBBU =BHDBGDB^;B"E) W,ݟ?A68o.@6d<@6=ٱ6Tt >AHRS rotation from veh to nav: [[-0.980073,-0.197702,-0.019240],[0.196568,-0.951367,-0.237195],[0.028590,-0.236250,0.971272]]6H\ONɿ#)?qf\οF? r=ο ?i68o.@I6T^;4YFҁByFIiMb@Mb@Mb@ 9x?1Zd rh?YK7?y"۽C =A@ )@Y AbDuVDu1y}<%>=ٔFn;Q->9Y=Fy.yEE>Q 55쉊?Q 95)cBY9?Q E:y3@Q I@EIX;i":5yVBɮASEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZd@C@Bɢ%*)! %h=i!)%eh!!i-ȼi)5<5!dI1I9Q9@ @@0@y^Am<A>A>ԩ AA II IY Om >E%  E% E% &E! "E% :*E% g:VE% 4ZE! BE% .9dYd=fFyf2yEj tEj>lQ 5r5n!׉?Q 9r5n)nrBYtyvu3@Q Iv@nEIn;in:n`!5yxɮz AxDNOT Ignoring new targets: 49.58 m.hh!*h!"h! h!g!f!f)f)d)d)d)jd1Zd5"C@aɢe!ػ)a ex=ia)mgiiimCɼiqu5 b),t?Alm-@m;@mмٱm:f AHRS rotation from veh to nav: [[-0.978177,-0.206629,-0.021759],[0.206213,-0.952697,-0.223258],[0.025402,-0.222873,0.974516]]mH`:M rʿG2e?~|̿@?̿ =/?im-@ImJ^;mzCYЁByII<)a===E  E E %E "E :*E i:VE  4ZE a@a@a@a@B5>B1B5IB5BB5W =B1B5FDB5];B5"EBCBCBBR =BR =Cx6iMb@Mb@Mb@ 9^I +?MbX~jt?YX9?yʽ</A@ A)@YAbDVDyң%,=ٔ;};Q->9Y=Fy7yEE>Q 55?Q 95)BY +;?Q E :y 3@Q I @EIJ;i;t#5yZBɮPAIE=DNOT Ignoring new targets: 49.58 m.hAhA*hA"hA hAgAfIfIfMBdIdQdQjdQZdU6D@%Bɢ= )9 =0=iA)EڗeAAiEɼiIMYIIIQ-9@1 @1@50@1)^AU yY A I I O >P ,N,?AN-@N;@N¼ٱN!]\ bAHRS rotation from veh to nav: [[-0.977657,-0.209044,-0.022079],[0.208860,-0.954156,-0.214393],[0.023751,-0.214214,0.976498]]NH`H@ʿ`˛?q9q˿ ,R?]k˿x??iN-@INo^;NvCYnсByrIbDVDJy;%c=ٔ;Q-%>9!Y!=-Fy-;yE-E5>9Q 5E5=?Q 9M5=H)=BYIyU3@Q IU@=EI=J;i=xL;= %5yaɮeDAeHEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd`dD@]Bɢew)a =i)ud顉iV8ʼiw<aII]9@Y @a@e4@aDzDE EE#E"E:*EV:VE3ZEBE 9 ls,F?A2-@2V};@27ٱ2T :AHRS rotation from veh to nav: [[-0.977366,-0.210351,-0.022559],[0.210432,-0.955642,-0.206076],[0.021790,-0.206158,0.978276]]2H@Fʿm? @`ʿ 3P?fcʿ` N?i2-@I2H^;2xCYBҁByBIbDJVDJynَ;%nO=ٔr;Q-r>9pYp=vFyv?yEvEv>xQ 5~5z?Q 9~5zLj)zBYye3@Q I@zEIz;iz;z&5y YBɮ :A =DNOT Ignoring new targets: 49.58 m.h9hA*hA"hA hAgAfAfIfIdIdIdIjdQZdUږD@颁ɢ+) =i)Ic顉iʼic<c7uII9@ @@/@@=@ CEBGIaq9YgA^A=2DyE EE"EB>BBBBBBB{];BY"E"Ey:*Ek:VE(3ZEBE<2E<JEм;:Eм;A) I1 IA OU >ԡ u,_?A2 {-@2p;@2'鞼ٱ2B}K :AHRS rotation from veh to nav: [[-0.977252,-0.210819,-0.023114],[0.211194,-0.957391,-0.196977],[0.019397,-0.197378,0.980136]]2HEʿGd?@`6ɿ@ܓ?CɿE]?i2 {-@I2x@^;0YBׁByFI DDHJAiMMb@Mb@Mb@IIII I9MX9v?~jt?YM3?yM̽IMIAM@ MA)IIYMQAbDeVDeyu<%uA=yٔ;Q->9Y=FyCyEE>Q 55w?Q 95)BY5?Q E:y2@Q I@EIK;i:K;(5yɮADNOT Ignoring new targets: 49.58 m.hh*h"h hgfff GBdddjdZd%`D@IɢU@ܻ)Q U=iQ)]aYYi]ʼiaeEE  E E #E "E I:*E C:VE 3ZE BE <2E <JE ;;:E <; ,hy?A2{-@2Lq;@2Ɖٱ2M4D :AHRS rotation from veh to nav: [[-0.977305,-0.210465,-0.024083],[0.211170,-0.958879,-0.189627],[0.016818,-0.190409,0.981561]]2H`F`ʿ?# Eȿ8?N_ȿ@h?i2{-@I26a^;2yCYB΁ByFIbDNVDNyVl6%VX=ٔV;Q-Z>9XYX=ZFyZGyE^8E^>`Q 5f5bb?Q 9f5b)bBYdyf2@Q Ij@bEIb:ib:bB*5ylɮnVAnGEDNOT Ignoring new targets: 49.58 m.hh*h "h  h g f ffdddjdZdbD@EBɢM)I M\=iI)Mq`QQiU+˼iQ5<5}I1I99@ @@/@^A>1I I O >i L$,퓠?A-3-@-u;@-aeٱ-<A9A=?ABE>BABEIBEBBABABABE\;BE"EEe EeEe$Ea"Ee:*Ee.:VEe4ZEaBEeX;2EeY;JEe;:Ee ; }AHRS rotation from veh to nav: [[-0.977405,-0.209861,-0.025248],[0.210910,-0.960365,-0.182253],[0.014000,-0.183460,0.982928]]-H`Fʿڙ@?O Tǿ?{ǿ$t?i-3-@I-OL^;)YԁByIiMb@Mb@Mb@ 9A`"?(\µy&1?Y9?y`e<~A@ )@Y@bDVDy<%*=ٔJ;Q->9Y=FyLyEt:E>Q 55F?Q 95΀)BYe:?Q E:yP4@Q I@EI:iU:[,5yɮ$AFE=DNOT Ignoring new targets: 49.58 m.h9h9*h9"hA hAgAfAfIfM5BdddjdZd W=E@IɢM)Q U|=iQ)U_QQiUc˼iY]~T<]s{IaIaIq)qA9@ @@/@@!@%fAi^AE oMI I O >ԙ *,Y?AF-@FP~;@F_9ٱF6 fAHRS rotation from veh to nav: [[-0.977548,-0.209046,-0.026459],[0.210410,-0.961669,-0.175841],[0.011314,-0.177461,0.984063]]FH@Hʿ@`?@`ƿ +?`ƿ`q}?iF-@IFC^;FxCYnāBynIIr%=)r=bDzVDz1y%q=ٔ 1,]Ǡ?A2b-@2;@2v ٱ2U,1 :AHRS rotation from veh to nav: [[-0.977648,-0.208380,-0.027970],[0.210077,-0.962778,-0.170078],[0.008512,-0.172152,0.985034]]2H H 5ʿ*?`ſ n? ƿe?i2b-@I2^^;2zCYBցByFIbDNVDN:yV=%VP=ٔV ;Q-Z>9XYX=ZFyZSyE^h:E^>`Q 5f5bc?Q 9f5bZ|)bBYdyfX4@Q Ij@bEIbF:ib:b/5ylɮnAlDNOT Ignoring new targets: 49.58 m.hh*h "h  h g f ffdddjdZdE@ɢ;ͻ) =i)]i˼i5< 3rI I 9@ @@1@9E EE$E"E:*E3:VE4ZEB!>^ABCBIBځBBQ =BGDBHDB\;B!EIqIO>I 7,m8?A : -@:;@:zٱ:- BAHRS rotation from veh to nav: [[-0.977692,-0.207813,-0.030541],[0.209983,-0.963464,-0.166266],[0.005127,-0.168970,0.985608]]:H@I`ʿAF@?@7Hſ@t?Ҡſ`?i: -@I:S^;:yCYNˁByNIi%Mb@Mb@Mb@!!!! !9%-?x&Mb?Y%?5?y%7%<%; A%@ %5@)%@!Y%z@bD5VD5NyEP%MA=ٔM9IYQ=UFyUXyEUy9EU>qQ 55u?Q 95uy)uBY6?Q E:y5@Q I@uEIu;iu~ ;uk15yXBɮhAEEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZd`E@ɢR) $=i)P[im˼i]<rIIi9@ @@4@@=@=ԙ^A+w E  E zE E "E s:*E  :VE ـ3ZE BE ;a 2E ;a JE v;a :E v;a A I I O% >>,?APY~ʁBy~I bDVDky% %%M=ٔ%Q-->9)Y)=-Fy-\yE5E5>9Q 5U5=O툊?Q 9e5=w)=BYiyiQ Im@=EI=;i=;=&35yyɮ}vA}DEDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd@F@ɢk) =i)Zi ]˼iF<@tIIu9@q @q@u2@qi߉I߉^AA I I O >)  E,"?ABz<Az<B+>BCbEjE3rE0E] E]uE]$EY"E]:*E]:VE]4ZEYam@au@au@au@BIBՁBBI =BBJDB[;B!EԡY΁ByIi5Mb@Mb@Mb@1111 195333333?Q뱿y&1?Y59?y5\5`e<5 A1 5@)5@1Y5@bDMVDMNy]!<%]*=ٔYQ-e>9aYa=eFye`yEiEm>qQ 5}5u7ш?Q 9}5u u)uBY}:?Q E}:y5@Q I@uEIu;iuL:u?55yɮTADNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZdN?F@Bɢ}) =i) YiH˼i  =< RuI I9@ @@4@^A ) A I) IA OU >X5K,/?AYEȁByEIbDUVDUܲyC%m=ٔQ-?9Y=FydyEE?Q 55?Q 95s)BYyQ I@ EI:i:65yɮ~ACEMDNOT Ignoring new targets: 49.58 m.hIhI*hI"hI hIgIfQfQfQdYdYdYjdYZde@ mF@颉ɢ) =i)X顑i+:˼i<vII59@1 @1@5/@1@=gA@9E] E]EYEY"E]U:*E]?:VEYZEYBE];am2E];amJE];am:E];amaԑ^AvA I I O >Թ R,LH?A2-@2V;@24;ٱ2z% :AHRS rotation from veh to nav: [[-0.978210,-0.203667,-0.040300],[0.207492,-0.965729,-0.155931],[-0.007161,-0.160895,0.986946]]2HM ʿ D?@ÿ VU}5Ŀ?i2-@I2Cl^;2{CYBρByFI HHbDNVDNyVA=%V\=ٔVS=Q-Z>9XYX=ZFyZhyE^";E^>AQ 5M5EF?Q 9M5Ep)EBYIyM5@Q IM@E EIE=:iE:Es85yYɮ}MAyDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZdF@ɢ)pܻ) =i) lW  i ʼi"<PIIԱ9@ @@/@@@@@B1>BCE EEE"E:*E,:VEZEa@a@a@a@BIBˁBBE =BBKDB)[;BN!EBƲCBƲCBƕCBQ =BO =CQ7 Iq I O >9 `;X,b?A2V-@2;@2<ٱ2Q# :AHRS rotation from veh to nav: [[-0.978386,-0.202429,-0.042221],[0.206555,-0.966335,-0.153403],[-0.009746,-0.158808,0.987261]]2HN 1ɿ@@gp?`6ÿSĿ ?i2V-@I2V^;2yCYFԁByFIiuMb@Mb@Mb@qqqq q9uQ?Mb/$?Yu(9Y=FylyE`;E>Q 55F?Q 95n)BYa E  E E E "E g:*E |;:VE ZE BE |;a 2E };a JE ;a :E ;a d^,]|?A2-@2/;@2IG<ٱ2I :AHRS rotation from veh to nav: [[-0.978540,-0.201344,-0.043827],[0.205700,-0.967038,-0.150085],[-0.012163,-0.155879,0.987701]]2H@2P@ɿnp^T?``5ÿ 鈿ÿ??i2-@I2{^;0pY~ЁBy~IbD VD yE}%EP=ٔM;Q-M>9IYI=UFyUpyEU ;EU>YQ 5e5]u?Q 9m5]bl)]BYiym6@Q Im@] EI]:i]:];5yyɮ}^AyDNOT Ignoring new targets: 49.58 m.hh*h"h hgff f d d d jdZdG@9ɢE Ի)A E=iA)ETIIiM%ɼiIU13G  e y9a Ye mbAa Ne,gC?ABb2>B`BbIBbƁBBbC =B`B`BbZ;Bb!EEU EUEU"EQ"EUI:*EUX:VEU(3ZEQBEU<2EU<JEUo;:EUo;ԩYсByIiUMb@Mb@Mb@QQQQ Q9U"~j? rh{Gz?YUSC?yUCUף9Y=FyuyEE>Q 55W?Q 95i)BY+D?Q E:yq6@Q I@ EI:ia:!>5yɮTA 8E5DNOT Ignoring new targets: 49.58 m.h1h1*h1"h1 h1g1f9f9f=Bd9dAdAjdAZdECG@uBɢu=ٻ)q }x=iy)}EqSyyi}^ɼiS<$BIIU9@Y @Y@]0@YIIOi> kxk,;?AYUԁByUIbDmVDmβy}z<%}r=ٔyQ-?9Y=FyyyEE?Q 55~C?Q 95g)BYyQ I@ EI:i{:?5yQBɮA7EDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd``mG@Bɢ7) %=i!)%i߁ I߁ y ]r,ɡ?AY~ӁBy~IbD VD :y%%Q=ٔ!Q-%>9!Y)=-Fy-|yE)E->1Q 5u55G+?Q 9u55ie)5BYyyyQ I}@5 EI5tBBBBE =BBB χx,?AYEׁByEIM=M=iMb@Mb@Mb@ 9p= ף?DlZd;O?YE?yOj< A@ )Y(@ ;4<bD VD ys<%;=ٔ!Q-%>9!Y!=%Fy%yE)E->1Q 5=55 ?Q 9=55b)5BY=E?Q EE:yEs6@Q IE@5" EI56;i5:5,C5yIɮMAIuDNOT Ignoring new targets: 49.58 m.hqhy*hy"hy hygyfyffBdddjdZd^G@Ա颽Bɢ4) =i)uYOiȼi<(\EII9@ @@@@@@@ Ae .AEm  Em wEm #Ei "Em :*Em :VEm 3ZEi au @a} @a} @a} @I I O >9 ~,ˡ?AB:4.@B)<@BH <ٱB*0 NAHRS rotation from veh to nav: [[-0.979510,-0.194644,-0.051718],[0.200127,-0.969491,-0.141553],[-0.022587,-0.149002,0.988579]]BH$X`ȿz ?`g¿ (!ÿ p?iB:4.@IBY^;BzCYnځBynIbDvVDvk1y~\<%^=ٔ[9  ?Y  ?= Fy yE  |<E >Q 55?Q 9%5`)BY!y%6@Q I%@' EI@;i<;D5y)ɮ5A1]DNOT Ignoring new targets: 49.58 m.hYhY*hY"hY hagafafafadididijdiZdunH@额Bɢwo)n =i) M顡ioǼi$F< ߻IIU9@Q @Q@U0@QA؟AIIOA>9i ,?AB"<A"4=B,B,B,B,B.F =B,B,B.BZ;B. EPEq EuEqEq"Eq*Eu':VEqZEqBEu;a2Eu;aJEu9}"?Y}"?=}Fy}yE 9E>Q 55,ڇ?Q 95])BYJ?Q E:yu5@Q I@- EI:i :F5yɮA5EDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZdDH@Bɢ5) %=i!)%NL!!i%ۀƼi)-N<-I1I159@1 @1@=/@9AIIO> ȋ,Dm1?A;ɰ6F.@6<<@6<ٱ6 BAHRS rotation from veh to nav: [[-0.979663,-0.193046,-0.054711],[0.198993,-0.969726,-0.141540],[-0.025731,-0.149549,0.988419]]6HfY@ȿ`x?¿@7Yj$ÿ!?i6F.@I6ak^;6{CYJ́ByJI LLbDVVDV1y^%^=ٔ^;Q-^ ?9`Y`=bFybyEfQ;Ef ?dQ 5n5f"Ƈ?Q 9n5f[)f BYlyn5@Q In@f1 EIf;if] ;fFH5ytɮv&Av4ExDNOT Ignoring new targets: 49.58 m.hh*h"h h!g!f!f!f)d)d)d)jd)Zd5 mH@]Bɢe r)a e(=ia)ehJiiimżi-R<ػII9@ @@0@!Ei Em{Em!Ei"Ei*Em5":VEmc3ZEiau@au@au@au@AII OL>Iy $,~5K?A6M.@6EC<@6ln<ٱ6; >AHRS rotation from veh to nav: [[-0.979705,-0.192478,-0.055954],[0.198583,-0.969991,-0.140295],[-0.027271,-0.148559,0.988527]]6HY@!ȿ@'k?`* 0웿ÿ@?i6M.@I68W^;4YJсByJIbDRVDRyZ4<%ZK=ٔ^ {;Q-^>9\Y\=bFybyEb:Eb>dQ 5j5f?Q 9j5f:Y)f BYlyn5@Q In@f6 EIf];if;fJ5ypɮrAt DNOT Ignoring new targets: 49.58 m.hh*h"h hgff!f!d!d!d!jd)Zd-@qH@UBYɢ])a eX=ia)eIaaie żiim۱BIBMIBMBBMD =BIBIBM_Z;BM E]9@a @a@e/@abE4jEc3rE١/E EmE$E"E:Թ*E:VE4ZEBE;a2E;aJEFG;a:EFG;a ^A5 *:A9 zA= gA AiIqIO>?,{i?AR`.@R~V<@R<ٱRE fAHRS rotation from veh to nav: [[-0.979896,-0.191036,-0.057529],[0.197425,-0.970050,-0.141513],[-0.028772,-0.150026,0.988263]]RH`N[@sȿ|t6E? ¿vv`4ÿ`ڟ?iR`.@IR^;RzCYnǁByrIimMb@Mb@Mb@iiii i9mS㥛?bX9ȶI +?Ym$F?ymEm99IYQ=UFyUyE];E]>iQ 5u5m=?Q 95mU)mBYG?Q E:y^5@Q I@m= EIm۠;imM;m[L5ԡyɮMA3E}DNOT Ignoring new targets: 49.58 m.hyh*h"h hgfffBdddjdZd`hH@Bɢջ) ,=i) G  i üiQUT9AHRS rotation from veh to nav: [[-0.980005,-0.190048,-0.058925],[0.196660,-0.970191,-0.141614],[-0.030255,-0.150371,0.988167]]2H`3\|Sȿk+#,? i ¿/X?ÿ?i2m.@I2c^;2yCYFŁByFIIJ<)J<bDNVDNyV%Z-=ٔZN;Q-Z>9\Y\=^Fy^yE^:E^>`Q 5f5bm?Q 9j5bS)bBYhyjk5@Q Ij@bC EIbn;ib:bhN5ylɮn^Ar2E DNOT Ignoring new targets: 49.58 m.h h *h "h  h gfffdddjdZd I@MBɢMӽ)Q Ut=iQ)U[FQQiU>¼iY]<]IaIaiiiiԡAiAm@ABu:>BuCBuIBuBBuB =BqBuLDBuZ;Bu!EB-ƵCB-ƵCB-ƓCB-D =B-D =C-ʼ59@ @@/@E EwE"E"E:*E:VE(3ZEBE;a2E;aJEk;a:Ek;a^AM S! I! I1 OE >W,@0?A6|.@6Hr<@6<ٱ60 >AHRS rotation from veh to nav: [[-0.980176,-0.189069,-0.059226],[0.195752,-0.970300,-0.142127],[-0.030595,-0.150903,0.988075]]6H@]@j3ȿ Rd? @71¿ CTPÿO?i6|.@I6F^;6zCYFāByJIiUMb@Mb@Mb@QQQQ Q9UK7A`?MbX~jt?YUK?yUʽUD9Y=FyyEZ;E>Q 55MP?Q 95O)YL?Q E:y4@Q I@H EI.:i:lP5ySBɮvA)EDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffBdddjdZd [I@ %Bɢ%&=)! %T=i!)- D))i-9i15B<5QI1I99@  @ @ 0@ @fA@fA9^AEuAM>AM?aIIO>E  E zE $E "E :*E  :VE 4ZE a @a @a @a @ԑ ;,?A2.@2z<@2=ٱ2i :AHRS rotation from veh to nav: [[-0.980250,-0.188393,-0.060148],[0.195255,-0.970247,-0.143163],[-0.031388,-0.152079,0.987870]]2H5^@Aȿˮ?`D 'S¿@Uwÿ ?i2.@I2î^;2yCYBByFIbDNVDNyV%VZ=ٔVZ ;Q-V>9XYX=ZFyZyEZ5:E^>`Q 5f5bD8?Q 9f5bM)bBYdyf4@Q If@bM EIb:ib:bR5ylɮnAn(EDNOT Ignoring new targets: 49.58 m.hh*h"h h g f f fdddjdZd I@EBɢEֻ)I M=iI)M)CIIiMҬiQUݯ<]IYIYy9@ @@4@ԡ G^A%39Yn9YWAIIO>Be ?>Be CBe IBe BBe ? =Ba Ba Be [;Be E!E he,ڢ?Aɰ4<EN~ ENuEN%EL"EN:*EN:VEN 4ZELBENe;af2ENg;afJENdd;aj:ENed;ajU.@<@3]=ٱ MAHRS rotation from veh to nav: [[-0.980401,-0.187287,-0.061140],[0.194387,-0.970078,-0.145472],[-0.032066,-0.154506,0.987471]]H@q_@ǿM?` Ԟ¿jÿ]?iU.@I^;{CY}ByI iUMb@Mb@Mb@QQQQ Q9UJ +?ˡE~jt?YUH?yU什QU AQ U@)U1AQYQbDmVDm0y}*%}$=ٔ :Q->9Y=FyyE:E>Q 551?Q 95xJ)YI?Q E:y6@Q I@T EI:ia:ET5yɮA'E=DNOT Ignoring new targets: 49.58 m.h9h9*h9"h9 h9g9fAfAfEBdadidijdiZdm`_I@Bɢ) =i)ݴB!!i%hQi)-T<-VZI)I1@ @@/0@) ^A _A% eAzA% fAI I O >,?A69.@6՘<@6Y=ٱ6 >AHRS rotation from veh to nav: [[-0.980573,-0.186207,-0.061667],[0.193433,-0.970119,-0.146468],[-0.032551,-0.155551,0.987291]]6H` ǿ@ǒ`i?6 y¿ yÿ ?i69.@I63_;6wCYFByF}IbDPVDPyZT%Z=ٔZ:Q-Z?9\Y\=^Fy^yEI;E ?!Q 5-5%(?Q 9-5%H)!Y)y-)6@Q I-@%X EI%V:i%:%U5y9ɮ=?A9eDNOT Ignoring new targets: 49.58 m.haha*ha"ha higifififqdqdqdqjdqZd}I@颥Bɢg) k=i)&B顩i㌾i <%IIQu9@q @q@u2@qE E|EE"E:*EP$:VEZEa@a@a@a@y^AII)O=>ԩ wè,f?A@V.@V<@VhG=ٱV jAHRS rotation from veh to nav: [[-0.980673,-0.185501,-0.062208],[0.192848,-0.970107,-0.147317],[-0.033021,-0.156466,0.987131]]VH@aǿٯ:? `G¿#蠿Ŀ ?iV.@IVE0_;V{CYvByzsI < bDVDkye%m?=ٔmO:Q-m>9qYq=uFyuyEu:Eu>yQ 55}醊?Q 95}F)}BYy36@Q I@}] EI}:i}:}wW5yɮA&EDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd)J@Bɢ@)  :=i ) A  i ii<II!ԩ@ @@/@B <A <B@>BBrIBBB= =BBMDBw[;B!EE EyE&E"E:*E:VE4ZEBE;a2E;aJEr;a:Er;a^A5NJκ Aa Ii Iy O >:ɨ,c(?A6`.@6<@6*=ٱ6K! BAHRS rotation from veh to nav: [[-0.980820,-0.184606,-0.062558],[0.192042,-0.970155,-0.148050],[-0.033360,-0.157224,0.986999]]6Hb@.ǿՔ? L¿Ŀ?i6`.@I6^;4YJByJtIliMb@Mb@Mb@ 9{Gz?/$y&1?YC?y`e< A7@ @)AY @bD5VD5NyEU;%ML=ٔMf^:Q-M>9IYQ=UFyUyEU?;EU>YQ 5e5]І?Q 9m5]C)]BYm E?Q Em:ym5@Q Im@]b EI]X:i]:]6Y5yɮ{AMDNOT Ignoring new targets: 49.58 m.hIhQ*hq"hy hygyfyffBdddjdZd EaJ@eBɢmN )i Q=i)A@顱i/i5<ʺII 9@ @@@1E  E uE #E "E Ʊ:*E :VE 3ZE a @a @a @a @^A eA >A >i AQ Ia Iq O} >lШ,FB?A6.@6<@62 =ٱ6`! BAHRS rotation from veh to nav: [[-0.980880,-0.184281,-0.062565],[0.191709,-0.970277,-0.147686],[-0.033489,-0.156856,0.987054]]6H_c ǿ`:@?` @]¿`~%Ŀ@?i6.@I6ʜ^;6zCYJByJuIbDVVDV0yz;%zM=ٔzة9Q-~>9|Y|=~Fy~yE^:E> Q 55 6?Q 95 PA) Yy5@Q I@ g EI *;i +; Z5y!ɮ-uA-%EUDNOT Ignoring new targets: 49.58 m.hQhQ*hQ"hQ hQgYfYfYfYdadadajdaZde*J@颕Bɢ) f=i)t!@顙i>i<pIIi)I)m9@i @i@m/@qA^AIqAy I I O >ԡ B B B `IB BB B B B [;B !E֨,"l\?AE" E"E"$E "E":*E"|;:VE"4ZE BE";a&2E";a&JE";a&:E";a*q.@y<@< =ٱ! %AHRS rotation from veh to nav: [[-0.981004,-0.183584,-0.062671],[0.191053,-0.970330,-0.148182],[-0.033608,-0.157341,0.986972]]Hbdǿ: nt? ¿ 5#ĿG?i.@I@];yCYBy_Ii-Mb@Mb@Mb@)))) )9-Zd;O?9aYa=eFyeyEmk:Em>qQ 5}5u/?Q 9}5u>)uBY}VK?Q E}:y}7@Q I}@um EIu:iu':u]5yTBɮA$EDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffڀBdddjdZd@J@uBɢu$)q } "0ݨ,Pw?Aɰp;2.@2i<@2=ٱ2 :AHRS rotation from veh to nav: [[-0.981010,-0.183673,-0.062318],[0.191058,-0.970453,-0.147368],[-0.033409,-0.156476,0.987117]]2Hod`ǿ+诿t? ¿@ eĿu?i2.@I2];0YFByFXIbDrVDrP)yv%vp=ٔzQ-z?9|Y|=~Fy~yE~;E?Q 5 5>?Q 95<)BYy7@Q I@q EII;iJ;^5y)ɮ-5A)QUDNOT Ignoring new targets: 49.58 m.hYhY*hY"hY hYgYfYfafadadadijdiZdm J@额Bɢ ')  N,?AYByTIbDVDky-q%-G=ٔ-Q-->91Y1=5Fy5yE5E=>AQ 5M5Eh?Q 9M5E+:)E BYIyIQ IM@Ev EIE:iE:EW`5yYɮ]PA]#EDNOT Ignoring new targets: 49.58 m.hh*h"h hgfffdddjdZd`.K@ԹBɢ+) >BBGIBBB> =BBLDB\;B"EbEyjE}#4rE}?/E EkE"E"Es:*E:VE(3ZEBE;a-2E;a5JE?;aE:E?;aE^ANJκA I I O >9 =,?A2 .@2<@2U=ٱ2p :AHRS rotation from veh to nav: [[-0.981057,-0.183644,-0.061664],[0.190866,-0.970766,-0.145543],[-0.033133,-0.154556,0.987428]]2H@dǿtIn?(¿ {ÿ@?i2 .@I2*h];0YBByFWIi%Mb@Mb@Mb@!!!! !9%(\?Dly&1|?Y%G?y%O%`;%; A! %@)%A!Y! Ep9YYY=eFyeyEe9Em>Q 55sL?Q 957) BYwH?Q E:yF7@Q I@| EI1;i̔;Lb5yɮ?A"EDNOT Ignoring new targets: 49.58 m.h!h!*h!"h! h)gQfQfQf]ԀBdYdYdYjdYZde4iK@~BɢJM!) i[_iY< hI I I@ @@0@qE ~ E xE $E "E :*E :VE 4ZE a @a @a @a @^A Β{A >A >ԙ A I I O >4%,ģ?A>.@><@>?=ٱ>rd FAHRS rotation from veh to nav: [[-0.981098,-0.183418,-0.061683],[0.190659,-0.970747,-0.145942],[-0.033111,-0.154944,0.987368]]>H@'e?zǿg?\9¿2ÿ`?i>.@I>];>zCYNByRYIbDZVDZkybJ;%bd=ٔbQ-b>9dYd=fFyfyEj+:Ej>lQ 5r5nr6?Q 9r5n5)n BYpyrI7@Q Ir@n EIn;in;nc5yxɮz6AxDNOT Ignoring new targets: 49.58 m.hh*h"h! h!g!f!f!f)d)d)d)jd)Zd5K@]|Bɢ]>)a eH =ia)ew>aaim}iimB B B :IB uBB ? =B B B \];B m"EBɷCBɷCBB> =B> =CɎl5E  E rE E "E :*E ?:VE ZE BE 4;a 2E 5;a JE yY;a :E zY;a  O,Lޣ?Av.@v:<@v =ٱvs uAHRS rotation from veh to nav: [[-0.981029,-0.183641,-0.062110],[0.190949,-0.970674,-0.146052],[-0.033467,-0.155142,0.987325]]vHd`ǿ@̯`q?ٱ¿"ÿ+?iv.@Ivy];vwCYBy5TIi5Mb@Mb@Mb@1111 195w/?ˡE rh?Y5F?y5什5C<5hA57@ 5@)5^A1Y5QAbDMVDM1y]%]'=ٔ]d?:Q-]>9aYa=eFyeyEeEm>qQ 5}5u?Q 9}5u2)u BY}H?Q E}:y}T6@Q I}@u EIu*:iu:ue5yUBɮZA5DNOT Ignoring new targets: 49.58 m.h1h1*h1"h1 h1g9f9f9f=BdAdAdAjdAZdMtK@颵yBɢ\) =i)=项i{ iN<}III)fA@ @@4@) ^A Β{Y A .AI I O >,}!?AB.@B}<@Bb =ٱBU JAHRS rotation from veh to nav: [[-0.981080,-0.183237,-0.062497],[0.190632,-0.970637,-0.146710],[-0.033779,-0.155849,0.987203]]BH`eMtǿ@f?t`g¿Kÿ@+?iB.@IB0];ByCYVByVJI\\bD^VD^:yfJ8%fm=ٔjl:Q-j?9j ?Yj ?=nFynyEnjs:En?pQ 5v5r?Q 9v5r0)pYxyzZ6@Q Iz@r EIr";ir;rug5y|ɮ~A!E%DNOT Ignoring new targets: 49.58 m.h)h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=K@mwBɢm+#)i uЩ $,?Aɰ2.@2j<@2۟ =ٱ2Ww! :AHRS rotation from veh to nav: [[-0.981151,-0.182711,-0.062930],[0.190215,-0.970560,-0.147753],[-0.034081,-0.156938,0.987020]]2He cǿ@/ X?¿s Ŀ`?i2.@I2 ^;0YhyhbDrVDrk1ٔziB:Q-z>9|Y|=~Fy~yE:E> Q 55 腊?Q 95 R.)  BYya6@Q I@  EI :i ; =i5y!ɮ%A%EEB*** querying acoustic contact ***iA iAUDNOT Ignoring new targets: 49.58 m.hQhQ*hQ"hQ hQgQfQfYfYdadadajdaZde`2L@颕tBɢ) BB.IBkBB= =BBMDB^;B"E%9@! @!@-/@)@5=@5=]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.E EpE!E"E:*E :VEc3ZEBE;a%2E;a%JE1R;a%:E2R;a-^Aq) AM ؟AIQ Ia O > *DAT read: user:606>  BDAT read: Tx time:06:00:47.7201  $Ping request sent. 9}"?Y}"?=}Fy}yE}:E>Q 55ʅ?Q 95+)BYhL?Q E:y&6@Q I@ EI ;i2 ;8k5yVBɮAEIUDNOT Ignoring new targets: 49.58 m.hQhQ*hQ"hQ hQgQfYfYf]BdYdadajdaZdenL@颵qBɢy!) {,G?A2p.@2 <@2=ٱ2 %8 >AHRS rotation from veh to nav: [[-0.981297,-0.181399,-0.064425],[0.189273,-0.970231,-0.151090],[-0.035099,-0.160458,0.986418]]2H f8ǿ ~`:? ! VÿĿ@?i2p.@I22^;0YF{ByFBI LN<bDPVDPyZ t%Zk=ٔZU:Q-Z?9^ ?Y^ ?=^Fy^yEb:Eb?dQ 5j5f?Q 9j5fl))fBYhyj,6@Q In@f EIf;if;fl5ypɮrAp DNOT Ignoring new targets: 49.58 m.h h *h"h hgfffdddjd!Zd%^L@MnBɢU ^)Q UBCBBBBBB^;B #Ee checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754853Ae ؟AI I O > E  E mE #E "E U:*E :VE 3ZE BE ;a- 2E ;a- JE FG;a- :E GG;a- ,7a?A``l @.@ <@ ]=ٱ % AHRS rotation from veh to nav: [[-0.981444,-0.180416,-0.064944],[0.188381,-0.970419,-0.150995],[-0.035781,-0.160427,0.986399]] H`g@ǿ/@?` Sÿ@QĿ?i @.@I O]; xCY-By5HII5=)5=a@a iMb@Mb@Mb@ 9/$?Cl绿:v?YL?y;߽<AM@ @)AIbDVDy<%,=ٔ:Q->9"?Y"?=FyyE:E>Q 55?Q 95F&)BY N?Q E:y 4@Q I @ EI;i ;n5yɮAE=DNOT Ignoring new targets: 49.58 m.h9h9*h9"hA hAgAfAfIfIdIdIdQjdQZdU'L@}kBɢqt) )=i) C <  i C8iߩ<ej:IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0075219@ @@0@@@1^Aa Y A .AI I O >N%,T{?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259008YvBy;I9bD5VD5fyMl%Mi=ٔUQ-U>9U ?YU ?=UFyUyE]E]>aQ 5m5eQ?Q 9m5e#)eBYiyqQ Iu@e EIeN:ie:eYp5y}WBɮ}AyDNOT Ignoring new targets: 49.58 m.hh*h"h hgE~ E|E&E"E:*EP$:VE4ZEa@a@a@a@fffdddjdZdM@%hBɢ-)) -` = %,<0?AY~uBy~:I AA @AbDVD0y%č%%M=ٔ!Q-%>9-"?Y-"?=-Fy-yE)E5>ԡ1Q 555e?Q 955N!)5BYyQ I@5 EI5a{BB'IBfBB; =BBB^;B5#E=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7631619@ @@t4@E| EnE$E"E :*E:VE4ZEBE!;a2E";aJEJ;a:EJ;a^A?B:A I I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014984 /X+,?A(ɰ*;F/@FZ=@F r=ٱF$ RAHRS rotation from veh to nav: [[-0.981836,-0.178177,-0.065193],[0.186189,-0.970916,-0.150519],[-0.036478,-0.159924,0.986455]]FH`4kƿy?8Dÿ1@axĿ` ?iF/@IF0];FyCYZwByZ=Iaa iMb@Mb@Mb@ 9V-?p= ףV-?YM?y<Ad@ 5@)^AYAbDVDk1Աy3<%==ٔ:Q->9Y=FyyE;E>Q 55I?Q 957)BY`P?Q E:yM3@Q I@ EI:i:s5yXBɮAEDNOT Ignoring new targets: 49.58 m.hh*h!"h! h!g!f!f)f-Bd)d)d)jd1Zd5mM@ebBɢeD )a e,=ia)mڼ:iiimiqu9pYp=rFyryEvW:;Ev>xQ 5~5z2?Q 9~5z)z#BY|y\3@Q I@z EIz];izz;zu5y ɮ BA EDNOT Ignoring new targets: 49.58 m.hAhI*hQ"hQ hYgafafafadididijdiZdu M@iߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519250颭_Bɢ ) 0=i)W:顱iěi<ɐ_;IIIeA)Q=9@9 @9@9@9ԁ^AU] ;BA>BCB!IB`BB> =BBBA_;B]#EI1 IA U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771028O] >bEjEʋ3rE@o/E  E |E E "E :*E P$:VE ZE BE ;a 2E ;a JE };a :E };a zI8,?AU_/@UZU=@U=K=ٱUVK" AHRS rotation from veh to nav: [[-0.982567,-0.174144,-0.065091],[0.182107,-0.972008,-0.148452],[-0.037417,-0.157717,0.986775]]UH/q WJƿũDO? xÿB(0Ŀ?iU_/@IU];UxCYZByIԱiMb@Mb@Mb@ 9n?QZd;O?YVN?y\j<Al@ @)xAYA 4<4<bDVDyල%,=ٔؖ:Q->9Y=Fy yE ;E >Q 55G?Q 95 )&BY%Q?Q E%:y%2@Q I%@ EI:i*:w5y)ɮ-A5E]DNOT Ignoring new targets: 49.58 m.hYhY*hY"ha hagafafafmBdididqjdqZdu$M@颥[Bɢ<) i)`:顩iif<=;IIBDAT read: Rx Time:06:00:50.2324 TRx dataTimestamp_ set to:1761544851.697208checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0254159@ @@/@ ^A yb];I) I9 OM >9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274859Oy>,1?AYnVBynIbD=VD=Ny%d=ٔQ->9Y=FyyEE>E} EnEE"E݉:*E:VEZEa@a@a@a@Q 55?Q 95}))BYyQ I@ EI/;i;8y5yYBɮADNOT Ignoring new targets: 49.58 m.hh*h"h h g f ffdddjdZd ]N@EXBɢMw>)I M\iI)M-j:QQiUiQ].<]f;IYIY9@  @ @/@@)@)1DAT read: 06:00:50.2324 LVL= 32752, 29441, 32754, 32755, AGC= 75, IDX= 336, 0.12, 1.753,-2.685, 2.128, 2.434, PHS=-0.580, 1.208,-0.350, RAW= 323.2, -3.3, CAL= 322.3, -6.5, ROT= 187.7, 6.5 Ygot valid direction response: 06:00:50.2324 LVL= 32752, 29441, 32754, 32755, AGC= 75, IDX= 336, 0.12, 1.753,-2.685, 2.128, 2.434, PHS=-0.580, 1.208,-0.350, RAW= 323.2, -3.3, CAL= 322.3, -6.5, ROT= 187.7, 6.5 PDAT read: Bearing 146.6, -4.2 (Local) ~Local bearing/azimuth received: Bearing 146.6, -4.2 (Local) DAT read: Range 11 to 50 : 81.1 m (Round-trip 108.2 ms) speed -0.6 m/s R#Rx 1: Read range and direction messages.-bdirection in FSK: [-0.984613,-0.133125,-0.113203]5Fpublishing direction and range infoyz3￰d; 5Y3Bs^Ae[R; )KIzi?33J@k@ V)Q@IV=zq1\@Ҹ.ٿaAr_mѭ "/)n=Iv@iV=II O- >a W[E,w?A YQByIbD-VD-yE<Ƽ%EP=ٔIQ-M>9IYI=UFyUzEQEU>YQ 5e5]ℊ?Q 9e5])],BYiyiQ Im@] EI]g:i]:]z5yqɮuCAuEii ?AJi)BRi)Bji?@b0$SJREmt%nTH>"Rz3￰d; 5Ziv@biV=j};T@RV ]Z?Kq1)2i*:iנB"i i[?*i9XBiEqBi)ƞ?iiiBi@ addTargetRange:: Added new target pos. range: 81.099998 m, deltaT: 60.242299 s, deltaX: 31.199997 m, approachRate: 0.517908 m/s, rangeRepo size: 4  Added new target pos. range: 80.581528 m, bearing: 358.100348 deg, lat: 36.779388 deg, lon: -121.859742 deg, deltaT: 60.242299 s, deltaX: 31.001278 m, approachRate: 0.514610 m/s, posRepo size: 4 DNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjd`fFT@Zd2?TBɢ%A)! %ϻi!)%G:!!i-fi)5'<56;I1B9A=<BED>BECBEIBEQBBE; =BABABEc_;BEq#EB¸CB¸CBB= =B< =C 5IYq 9@  @ @ 0@E ElE#E"E:*E:VE3ZEBE;a2E;aJEC;a:EC;aԡ^A;AeAzAIqIO> K,S0?A2,/@2ǃ=@2z=ٱ2# :AHRS rotation from veh to nav: [[-0.983041,-0.171150,-0.065869],[0.179315,-0.972345,-0.149639],[-0.038437,-0.158913,0.986544]]2Hu?ſܰ?ra'ÿ`AWĿő?i2,/@I2^9^;2yCPYR?ByRIiMMb@Mb@Mb@IIII I9M/$?L7A`:v?YM&Q?yM+MT9Y=FyzE;E>Q 55Ƅ?Q 9 5)-BY S?Q E :y 3@Q I @ EI:i:|5yDBɮ'AEEDNOT Ignoring new targets: 80.58 m.hAhA*hA"hA hAgIfIfIfMBdQdQdQjdYZd](?颅QBɢRsb)a i)r:顉i?:i<UmR,.J?A6/@6=@6m=ٱ6# BAHRS rotation from veh to nav: [[-0.983254,-0.169824,-0.066112],[0.178059,-0.972508,-0.150078],[-0.038808,-0.159336,0.986461]]6Hv˼ſ찿@? 5ÿޣ #eĿ@?i6/@I6^^;6wCYJ2ByJI LLPRAbDbVDbyr%rT=ٔr`:Q-r>9v ?Yv ?=vFyv zEva;Ez>x|Q 55z5?Q 95z )xY y 3@Q I @z EIz.;iz /;zh~5yCBɮAEEDNOT Ignoring new targets: 80.58 m.hAhA*hA"hA hAgAfIfIfIdIdQdQjdQZdU?颍MBɢFQ|) P^i);顑i@颼i'<ԁ E  E E E "E :*E *:VE ZE BE a 2E a JE e;a :E e;a @X,d?ArL/@r=@rsF"=ٱr:C% -AHRS rotation from veh to nav: [[-0.983615,-0.167464,-0.066767],[0.175878,-0.972715,-0.151300],[-0.039608,-0.160563,0.986230]]rHy@soſ@ ,? | ]ÿrGXĿ@3?irL/@Ir^;rxCYY}"ByIbD VD2y%:=ٔl:Q- >9"?Y"?=%Fy%zE5;E5>Q 55?Q 95 )Yy3@Q I@ EI;i;o5yɮ AE DNOT Ignoring new targets: 80.58 m.h h *h "h  h gfffdddjdZdl?MIBɢMG)Q U0iQ)UA> A1 I9 IQ O] >^,i}?AY~By~IiMb@Mb@Mb@E EE%E"E1:*E&p:VE 4ZEa@a@a@a@ 9B`"?X9v{Gzt?YN?yף;Թ Az@ 5@)tAYA ;bDVD1y˼%M=ٔQ->9Y=FyzEE>Q 55w?Q 95),BYQ?Q E:y4@Q I@ EI ;i ;5y ɮ 3 A 5DNOT Ignoring new targets: 80.58 m.h1h1*h1"h9 h9g9f9f9fEBdAdAdAjdAZdMp?uFBɢ}*)y }iy)}u=yiy͟i-7<Z6.B=CB=IB=BB=: =B=FDB=NDB=_;B=#EiAIIO>2f, ?A6l/@6=@6U(=ٱ6$ >AHRS rotation from veh to nav: [[-0.983582,-0.167136,-0.068060],[0.175741,-0.972823,-0.150769],[-0.041011,-0.160255,0.986223]]6Hydſ@^l`~?\! iLÿh`;Ŀ@$?i6l/@I6 w^;4YFByJIbDVVDVy=q%E1=ٔEpG;Q-E>9IYI=MFyMzEUS9EU>YQ 5e5]X?Q 9e5])]*BYaye4@Q Ie@] EI]:i]:]5yqɮu AqDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZdi@ABɢ?) ɽi)HG?iwiU</l,x?A2/@2=@2+=ٱ2y' >AHRS rotation from veh to nav: [[-0.983444,-0.167370,-0.069461],[0.176299,-0.972350,-0.153148],[-0.041908,-0.162859,0.985759]]2H`x`_lſ`7ȱ?} \ÿu@ĿV?i2/@I2y^;0YFByFIiMb@Mb@Mb@ 9/$?MbYL?yA@ @)AYfAbDmVDmy}%}G=ٔ}j;Q->9 ?Y ?=FyzE_E>Q 55[>?Q 95q)&BYrM?Q E:yK6@Q I@ EI ;iK ;⅔5yɮ} AEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd @=Bɢ[) i)%8A!!i%Mi)-ܦ<-݈&߄t,Eҥ?A> /@>=@>-=ٱ>7) FAHRS rotation from veh to nav: [[-0.983260,-0.168040,-0.070441],[0.177193,-0.971923,-0.154817],[-0.042447,-0.164707,0.985429]]>H@v Uſ fF? ÿ@"ſ?i> /@I>و^;>yCYNByNITTbDZVDZk1yb%bB=ٔb:Q-b>9dYd=fFyf zEf<Ej>lQ 5r5n#?Q 9r5n)n"BYpyr=6@Q Ir@n EIng:in:n5ytɮz AzEDNOT Ignoring new targets: 80.58 m.hh*h"h h!g!f!f!f!d)d)d)jd)Zd5/ @e9Bɢe)a eia)mGCiiimgiquBIBMIBMBBIBIBMMDBM_;BM#Eԙ^Ah%<E} E}E}$Ey"E}:*E}.:VE}4ZEyBE}ͽ;a2E}ν;aJE} ;a:E} ;aII O- >1 "z,4?A4<ɰfM/@f=@f/=ٱfb+ AHRS rotation from veh to nav: [[-0.983158,-0.168305,-0.071226],[0.177655,-0.971583,-0.156417],[-0.042876,-0.166436,0.985120]]fHvſ`;b?`4tĿ@Mſ?ifM/@If9[^;f{CY-By-IiMb@Mb@Mb@ 9oʡ?V-{GztYM?ymף A 5@)AYAbDVDk2y%8=ٔ~:Q->9Y=Fy%zEƋE > Q 55 ?Q 95 ) BYM?Q E:y8@Q I@  EI P ;i  ; 5y)ɮ- A)DNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd`t @u4BɢuE  E qE E "E O:*E $ :VE ZE a @a @a @a @,?A 2t/@2=@2r1=ٱ2+ >AHRS rotation from veh to nav: [[-0.982990,-0.169043,-0.071804],[0.178482,-0.971428,-0.156434],[-0.043309,-0.166589,0.985075]]2Ht`6ſ@a?@ Ŀ,Rſ?i2t/@I2S^;2xCYFڀByF|IbDRVDRyV%Zb=ٔZ˜:Q-Z>9\Y\=^Fy^(zEbEb>dQ 5f5f_?Q 9j5f)fBYhyj8@Q Ij@f EIf=:if:f>5ypɮrH ArEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZdS@ 1Bɢ ɼ)  j-i )Gi떼isH<!\A5>IIO> BA AA BI BI BM xIBM ׀BBI BI BI BM &`;BM #Eļ,s ?A2/@2=@2E2=ٱ2M- :AHRS rotation from veh to nav: [[-0.982851,-0.169571,-0.072461],[0.179197,-0.970988,-0.158335],[-0.043510,-0.168605,0.984723]]2Hs`~ſΌ@? VRDĿ F@Քſق?i2/@I2C+^;2yCYBӀByFsIbDNPVDNyV%VJ=ٔZ:Q-Z>9XYX=^Fy^,zE^E^>`Q 5f5bӃ?Q 9f5b)bBYhyj8@Q Ij@b EIb:ib:b5ylɮr Ap DNOT Ignoring new targets: 80.58 m.h h *h "h  h g fffdddjdZd]@bEjE3rE/EE~ EEsEE EA"EE:*EEZ:VEE3ZEABEEf;aU2EEg;aUJEE];aU:EE];a]-Bɢmɼ) 2i)%IiP'i<~;II9@ @@0@ ^A<I9IIOU>! G荩,T:?A2w/@20m=@2 3=ٱ2`, :AHRS rotation from veh to nav: [[-0.982580,-0.171047,-0.072663],[0.180631,-0.970941,-0.156993],[-0.043698,-0.167383,0.984923]]2H Kq ſ ?@@UĿ@_lſ`}?i2w/@I2$^;2uCYB̀ByFjI|iMb@Mb@Mb@ 9#~j?ˡEMbP?YE?y':A )AYfAbD-VD-N2y=@ %=A=ٔE69Q-E>9AYA=EFyM0zEM`bEM>QQ 5]5U&?Q 9]5U)U BYe*F?Q Ee:ye:@Q Ie@U EIUh;iU ;Uَ5yiɮm AmE5DNOT Ignoring new targets: 80.58 m.h1h1*h1"h1 h9g9f9f9fEBdAdAdAjdAZdM`"@(Bɢɼ) $8i)pLi9iե<۲;II)EU EUpEQEQ"EU~:*EU :VEQZEQa]@a]@a]@a]@@ @@2@Q^AΒ;ԁ A ؟AI I O >Δ,*T?A6Z/@6YP=@6Ծ3=ٱ6*+ >AHRS rotation from veh to nav: [[-0.982253,-0.172814,-0.072901],[0.182359,-0.970828,-0.155686],[-0.043869,-0.166217,0.985113]]6HnƿW?ÿvFſ@ ?i6Z/@I6L^;6yCYHyJkIbDRVDR:yZ:%ZT=ٔ^9Q-^>9^"?Y^"?=bFyb4zEb>Eb>dQ 5j5f?Q 9j5f)fBYlyn9@Q In@f EIfw;if;f5ypɮpvE DNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdd!d!jd!Zd%@U$BɢUμ)Q U/iQY)]7zNaaieiimBCBYIBBB; =BGDBB`;B#EBùCBBB: =B; =C>5ԉ^A5;A=fAzA9Em EmsEiEi"EmO:*EmZ:VEiZEiBEm;a2Em;aJEia:EiaԱA I I O > ),n?AVD/@V9=@Vp3=ٱV+ nAHRS rotation from veh to nav: [[-0.982000,-0.174171,-0.073072],[0.183721,-0.970599,-0.155510],[-0.043838,-0.166136,0.985128]]VH@l@9Y=Fy9zE,QE>ԱQ 55?Q 95)BYjF?Q E:y :@Q I@ EI:i:p5yɮ1 ADNOT Ignoring new targets: 80.58 m.hh*h"h hg f f fBdddjdZdbX@EBɢEѼ)I MCiI)M4QiiQ<"{;II@ @@0@@=@=^A;Em  Em tEm #Ei "Em ~:*Em v:VEm 3ZEi au @au @au @au @A .AI I O% >9 ࡩ,a?A2//@2$=@21=ٱ2K, :AHRS rotation from veh to nav: [[-0.981785,-0.175432,-0.072951],[0.184985,-0.970220,-0.156378],[-0.043345,-0.167024,0.985000]]2Hj tƿꬲ? `.Ŀ N1 aſ?i2//@I2_];2zCYBƀByFcI HHHHbDRVDR:2yV>=%V[=ٔZQ-Z>9Z ?Y^ ?=^Fy^=zE^aEb>`Q 5f5bem?Q 9j5b)bBYhyj9@Q Ij@b EIb:ib:b5ynDBɮr ArE DNOT Ignoring new targets: 80.58 m.h h *h "h  h gfffdddyjdyZd}:@Bɢɼ) ()i)NSiߍi< <4;II)9@ @@/@ ߀G!9zt9Y]AA^AUvт;yA A AAB G>B B @IB BB B FDB B `;B #EII IY Om >ԡ ,?A2/@2C=@2-.1=ٱ2O, :AHRS rotation from veh to nav: [[-0.981616,-0.176296,-0.073147],[0.185905,-0.969920,-0.157142],[-0.043243,-0.167851,0.984863]]2H@eiڐƿĹ? :Ŀ$'|ſ@?i2/@I2];2xCYFByFYIbDNVDNyV +%VJ=ٔVQ-Z>9XYX=ZFyZAzE^(E^>`Q 5f5bS?Q 9f5b)bBYdyj9@Q Ij@b EIb:ib:bԕ5ynABɮn AnEDNOT Ignoring new targets: 80.58 m.hh *h "h  h g f ffdddE% E%pE%!E!"E%ҝ:*E% :VE%c3ZE!BE%;a-2E%;a5JE%2R;a5:E%2R;a5jdZd=u@eBɢm3ϼ)m m^1ii)miUiqiuiqPĤ<3;IIq9@ @@/@ԩ^Au;A>A?I I O > 4,?A6\/@6=@6z1=ٱ6E#- BAHRS rotation from veh to nav: [[-0.981458,-0.177038,-0.073471],[0.186701,-0.969739,-0.157317],[-0.043397,-0.168117,0.984811]]6H@h,ƿϲ?"Ŀ%8ڄſ?i6\/@I6!];6wCYJByHiMb@Mb@Mb@ 9!rh?y&1~jt?YlG?y`e<@ )AYQAbD5VD5yEF:%EA=ٔE9Q-M>9IYI=MFyMEzEUWEU>YQ 5e5]8?Q 9e5])]BYmG?Q Em:ym8@Q Im@] EI]q:i]X:]5yqɮu AqDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd#@mBɢmcż)i m'iq)W顑i.i&n<Ɗ:IIE5 E5E5$E1"E5a:*E5rN:VE54ZE1aE@aE@aE@aE@m9@i @i@i@i@q@q^A ;1 II Ia Ou >Q ,{զ?A2; /@2=@2%.=ٱ2_;, :AHRS rotation from veh to nav: [[-0.981437,-0.177553,-0.072499],[0.187015,-0.969795,-0.156601],[-0.042504,-0.167252,0.984998]]2HgƿE ?} Ŀåhſ?i2; /@I2* ^;2xCYB€ByB^IIF<)F=J=J=bDrVDrܲyzz<%zO=ٔzQ-~>9|Y|=~Fy~IzEPE> Q 55 ?Q 95 ) BYy8@Q I@  EI K;i ; f5y!ɮ% A%EMDNOT Ignoring new targets: 80.58 m.hIhQ*hQ"hQ hQgQfYfYfYdYdadajdaZde@l@颕 BɢBü) i)ӪY顙iSil$<y:IIPExceeded connect timeout, disconnecting.)M9@I @I@M/0@IBI>BCB4IBBB: =BBNDB`;B#EYEEz EEpEE!EA"EEl:*EE :VEEc3ZEABEEܧ;aU2EEݧ;aUJEAa]:EAa]^Aurg:IIO>ԁ JG,+N?A0Y~By|iMb@Mb@Mb@ 9 rh?+V-?YCK?y<A@ A)AYAbDVD:yD%>=ٔQ->9Y=FyMzEE>Q 55?Q 953)BY`L?Q E:y:7@Q I@# EI:i:G5yBBɮ AEDNOT Ignoring new targets: 80.58 m.hh*h"h h!g!f!f!f-Bd)d)d)jd)Zd5@Mo@]Bɢ][)a e ia)eȝ[aaimiimsϣa©, ?A,2x.@2<@2E(=ٱ2-* >AHRS rotation from veh to nav: [[-0.981339,-0.178698,-0.071006],[0.187851,-0.969807,-0.155521],[-0.041071,-0.165957,0.985277]]2H g`ƿ@m-@| ?`ÿ2>ſ`d?i2x.@I25];2yCYFByFYIbDRVDRkyV%VV=ٔZ+vQ-Z>9\Y\=^Fy^QzE^Eb>`Q 5f5b1낊?Q 9j5b)bBYhyj+7@Q Ij@b( EIb;iba;b5ypɮr Ap DNOT Ignoring new targets: 80.58 m.h h *h "h  h gffyfydddjdZd @EBɢED)i u iq)}t]yyi}!iy<9IIiiIiNJκԙ]9@Y @Y@]o1@YԱ-nManaging dock network, ignoring radio surface power offB= N>B9 B9 B9 B9 B9 B9 B= 1`;B= #E^A rg: A ؟AI I O >>ȩ,#?A2I/@2<@24$=ٱ2) :AHRS rotation from veh to nav: [[-0.981382,-0.178912,-0.069855],[0.187808,-0.970063,-0.153969],[-0.040216,-0.164222,0.985603]]2H`{gƿ᱿ ? Cÿ:9ſ?i2I/@I2];0YFЀByFoIEN ENuEN$EL"ENO:*EN:VEN4ZELBEN;aR2EN;aRJENed;aR:ENed;aVX XX\^AbDbVDbJ2yj=%jH=ٔjQ-n>9n"?Yn"?=nFynUzErU8Er>tQ 5z5vЂ?Q 9z5v)vBYxy~*7@Q I~@v- EIvY;iv;v5yɮ A-DNOT Ignoring new targets: 80.58 m.h)h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdE @mBɢu-)q uHiq)uC^yyi}yiy-<9II 99@ @@0@1 ^A 9a A IIO->bЩ,ÝA?A2V/@2<@2$=ٱ2' JAHRS rotation from veh to nav: [[-0.981525,-0.178842,-0.067994],[0.187398,-0.970285,-0.153065],[-0.038599,-0.162979,0.985874]]2HhNƿh@?` @ÿOãĿH?i2V/@I2$];2wCYRрByVpIi-Mb@Mb@Mb@)))) )9-@5^I ?S㥻Q?Y-bP?y-/ݽ-\=-A-@ -GA)))Y-GAbDEVDEk2y]k;%]*=ٔ]<\Q-]>9aYa=eFyeZzEm.j:Em>qQ 5}5u?Q 9}5ul)uBY}fR?Q E}:y}5@Q I@u3 EIu :iuv:uנ5yɮ AEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBE  E oE E "E C:*E :VE ZE a@a@a@a@dAdAdAjdIZdM!@a额BɢN) i)f_i󔁼iǢ<H:IIԑ]9@a @a@e90@a@i@mgAԹ ^A A >A >BM P>BM CBM :IBM BBM 8 =BI BI BM X`;BM #EAIIO%>ש,6Va?A6"/@6=@6>=ٱ6(o' >AHRS rotation from veh to nav: [[-0.981686,-0.178711,-0.065996],[0.186944,-0.970361,-0.153140],[-0.036672,-0.162673,0.985998]]6H`i@ƿ`尿? 2 ÿƢvĿL?i6"/@I6];4YJĀByJaIbDRVDRyZ Q%Z,=ٔZIQ-Z>9\Y\=^Fy^_zEb:Eb>dQ 5n5f?Q 9r5fI)fBYpyr$5@Q Ir@f: EIf{;if|;f袔5ymCBɮm AuEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd"@Bɢࣼ) ƽi)zaiiZk<[ݐ:IIbE3jE 3rE#0EMv EMrEM%EI"EMVz:*EM?:VEM 4ZEIBEMS;a]2EMT;a]JEMyY;ae:EMzY;ae!@ @@4@Q^A9iIy A .AI I O >ީ,{?A0Y ǀBy dII%=)R===iMb@Mb@Mb@ 9(\?PnQ?YzT?yvA )YbDVDy0<%9=ٔQ->9 ?Y ?=FyczEE>Q 55,?A67/@6,=@6(=ٱ6VA& >AHRS rotation from veh to nav: [[-0.982289,-0.177133,-0.061093],[0.184583,-0.970836,-0.152995],[-0.032211,-0.161562,0.986337]]6H`n`GƿG@g?@Zÿ}`Ŀ?i67/@I6Qs];6yCYFĀByJaIbDRVDR0yZ{%Z`=ٔZ!HQ-^>`9^"?Yb"?=bFybgzEf;Ef>hQ 5n5j[?Q 9n5jw)jBYYy]3@Q I]@jD EIjB9B=FIB=BB9B9B=ODB=V`;B9BBĹCBBB9 =C5%9@! @!@-/@)Eu} EuzEqEq"Eu݉:*Eu :VEqZEqBEuD;a2EuE;aJEuv;a:Euv;a^AM 9AM fAzAM dAI II I O >~,,ݮ?AM/@[C=@<ٱ# AHRS rotation from veh to nav: [[-0.982625,-0.176337,-0.057905],[0.183234,-0.971340,-0.151404],[-0.029547,-0.159383,0.986775]]H`q 7ƿథ6t?80aÿ`AfĿ@?iM/@I,];Y=By=ZIiMb@Mb@Mb@ 9/$?7A`¿~jt?Y&Q?y=A@ A)AYfAbDVDk1y屼%+=ٔQ->9Y=FylzE>;E>Q 5 5hN) 8i) d顑iCvi<4;III9@ @@@y^A} qZ;ԡ IY Ii E} z E} nE} "Ey "E} l:*E} :VE} (3ZEy a @a @a @a @O >,¢ȧ?A2f/@2 \=@2A <ٱ2 " :AHRS rotation from veh to nav: [[-0.982979,-0.175365,-0.054769],[0.181763,-0.971678,-0.151011],[-0.026736,-0.158395,0.987014]]2H@tZrƿ@ C?`QTÿ@``LFĿ?i2f/@I2w];2xCYFByFRI HHbDNVDNNyV&%Vx=ٔZ Q-Z?9XYX=^Fy^ozE^i;E^?`Q 5f5b&?Q 9f5bd)b BYhyj2@Q Ij@bO EIb:ibI:b5y]EBɮ]f A]EyDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd%@Bɢ) $i) fitiIN<nv;II aaG =99Y=RiAԩ@ @@/@iIA^Avт;IQ Ia Ou >B- U>B- CB) B) B- 6 =B) B) B- X`;B- #E 9,ˀ?A6|/@6q=@6F<ٱ6" >AHRS rotation from veh to nav: [[-0.983288,-0.174534,-0.051798],[0.180486,-0.971819,-0.151634],[-0.023873,-0.158448,0.987079]]6HwWƿE)? $hÿ0rHĿ%?i6|/@I6];6yCYJByJJIbDRVDRβyZr%ZJ=ٔZQ-^>9\Y\=bFybszEb4T;Eb>dQ 5j5f' ?Q 9j5f\)f)BYlyn2@Q In@fT EIf ;ifm ;f5yrCBɮr AvE DNOT Ignoring new targets: 80.58 m.hh*h"h hgff1f1d9d9dAjdAZdE@&@mBɢu)q utǽiq)u9gix|ri<x;IIE= E=hE9E9"E=:*E=]9VE9ZE9BE=ͽ;aM2E=Ͻ;aMJE=5;aM:E=5;aM9@ @@ 0@ ^A}#2;A>A?IIO>1Y c,[[?A6;/@6Չ=@6/<ٱ6$ BAHRS rotation from veh to nav: [[-0.983619,-0.173473,-0.048998],[0.179045,-0.971712,-0.154010],[-0.020895,-0.160260,0.986854]]6Hy[4ƿ@@?`Cÿ e@hĿN?i6;/@I6z];4Y^Byb:IiMb@Mb@Mb@ 9\(\?M¿S㥛?YZ?yn/<A/@ tA)CAY=A bD VD2yjm%:=ٔݻQ->91Y=UFyUxzEUT;EU>YQ 5e5]쁊?Q 9m5])]0BYm^?Q Emt:ymd3@Q Im@][ EI] ;i]/;]5y}DBɮ} AyDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffҀBdddjdZd'@߀BɢԖ) i) hioi<;II9@ @@%0@EM EMtEM%EI"EM~:*EMv:VEM 4ZEIa]@a]@a]@a]@aԑ^AX;I1 IA OM >Թ K,6?A2/@2=@2<ٱ2D% :AHRS rotation from veh to nav: [[-0.983933,-0.172497,-0.046051],[0.177627,-0.971818,-0.154980],[-0.018019,-0.160670,0.986844]]2H`|bƿ񓧿x?!@dÿs@ՐĿ 9?i2/@I2+];2zCYBByF(IIF<)FbDNVDNJyrț%vZ=ٔvzQ-v>9tYx=zFyz|zEz;Ez>Q 5 5ԁ?Q 9 54)6BY y |3@Q I @` EI_:i4:I5yɮo A)UDNOT Ignoring new targets: 80.58 m.hQhQ*hQ"hQ hQgQfqffdddjdZdd(@颽܀BɢOǼ)  i)jimi#<EU EUlEU#EQ"EUO:*EU:VEU3ZEQBEU;ae2EU;aeJEUC;ae:EUC;ae) x ,y0?A|/@=@a N<ٱ% AHRS rotation from veh to nav: [[-0.984408,-0.171174,-0.040503],[0.175451,-0.971967,-0.156519],[-0.012575,-0.161185,0.986844]]H Eſ)u?Y@Ŀ@Ŀ :?i|/@I];xCYBy!Ii5Mb@Mb@Mb@1111 195bX9?p= ףMb?Y5EV?y55<5A5E@ 5A)5A1Y5AbDMVDM:y]ڳ%]4=ٔeEQ-e>9aYa=mFymzEm;Eu>qQ 5}5uj?Q 95u)u],xI?AYzByIbD VD2y:%S=ٔQ->9 ?Y ?=FyzEE >Q 5%5?Q 9%53)BBY)y)Q I-@k EIN;i1h;5yEEBɮEYAEEmDNOT Ignoring new targets: 80.58 m.hihi*hq"hq hqgqfqfyfydydydjdZd*@颵ՀBɢ) ,7i)n项iCiie<',\c?A:/@:t=@:b!<ٱ:o&@ FAHRS rotation from veh to nav: [[-0.984538,-0.171023,-0.037900],[0.174893,-0.971889,-0.157622],[-0.009877,-0.161813,0.986772]]:HU`ſgb?@@,Ŀ:MĿ?i:/@I:8];:yCYRByR I TTVAVAbDZVDZ:2yb<%f_=ٔf=Q-f>9j"?Yj"?=jFyjzEj6:Ej>lQ 5r5nZ?Q 9v5n)nGBYtyvF4@Q Iv@np EIn$:in_:n5yxɮ~/A~EDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd*@ҀBɢr ؼ) %i)pigiB<k0,}?A2t/@2 =@2e;ٱ2' :AHRS rotation from veh to nav: [[-0.984609,-0.171133,-0.035493],[0.174620,-0.971766,-0.158678],[-0.007336,-0.162433,0.986692]]2H ſ@/,Y?OĿ ~Ŀ?i2t/@I2)];2zCYFgByFIiMMb@Mb@Mb@IIII I9MGz?(\µy&1|?YMP?yMM`;M`AM@ MA)M-AIYM=AbDVD:yTν%/=ٔQ->9Y=FyzEY:E>Q 55Qc?Q 95ܼ)JBYQ?Q E:yZ7@Q I@v EI:i:5yFBɮA }DNOT Ignoring new targets: 80.58 m.hyhy*hy"hy hygfffBdddjdZd+@颽πBɢ@7) Ni)Xsiei<&2A >ԁ A I I O >֙%,}?A2k/@2=@2;ٱ2' >AHRS rotation from veh to nav: [[-0.984505,-0.172145,-0.033401],[0.175286,-0.971441,-0.159929],[-0.004916,-0.163305,0.986563]]2H ƿ`o?` xĿ"t@1Ŀ@?i2k/@I2];2yCYF[ByFIbDNVDNyV%Vs=ٔZFQ-Z?9XYX=^Fy^zE^Eb?dQ 5v5fL?Q 9~5fݺ)fMBY|yP7@Q I@f{ EIf;if;f5y ɮ \A EYDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd@Yr,@=̀Bɢ=y)9 =biA)EvAAiE"diIM +,f?AԱ/@|=@ x:ٱ(  AHRS rotation from veh to nav: [[-0.984167,-0.174665,-0.030138],[0.177243,-0.970838,-0.161426],[-0.001064,-0.164212,0.986425]]HK~`j[ƿܞ? `Ŀ@oQ ſ ʐ?i/@Id];Y%UBy-II5C=)5<5=5=iMb@Mb@Mb@ 9sh|??Zd;{Gzt?YI?yyף;A/@ )AY AbDVDk1y䪼%,=ٔQ->9Y=FyzEE>Q 55/.?Q 95b)QBYJ?Q E:y8@Q I@ EI:i3:(5y JBɮ A ߥE5DNOT Ignoring new targets: 80.58 m.h1h9*h9"h9 h9g9f9fAfEBdAddjdZdAc-@ȀBɢ") ei)?yi%2,˨?AY5IBy5IbD]VD]:y%g=ٔQ->9Y=FyzEE>Q 5%5O?Q 9%5u)SBY!y!Q I-@ EI;)i5;ƻ5y9ɮ=A9DNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd) .@ƀBɢ1) yi ) t|  i Ǘ`iŗ<B V>B B IB bBB 7 =B B B ma;B $EBUɻCBUɻCBQBU6 =BU6 =CUy4Ա j8,%?A6?/@6ٓ=@6$Kmٱ6+ BAHRS rotation from veh to nav: [[-0.983943,-0.176146,-0.028801],[0.178482,-0.970218,-0.163773],[0.000905,-0.166284,0.986077]]6H`u|ƿ}@? Ŀ@dM?@Hſ@?i6?/@I6];4YJBByNIbDhVDhyr%rT=ٔr&Q-r>9tYt=vFyvzEv`Ez>xQ 55z?Q 95z)zVBYy8@Q I@z EIz;iz/;zb5y ɮ?AE~ EEE"E:*E]t:VEZEBEa-2Ea-JE;a-:E;a-uDNOT Ignoring new targets: 80.58 m.hqhq*hq"hy hygyfyfyfdddjdZdy.@ԑ额ÀBɢ~) i)!i^ib< ;II 9@ @@?1@iIA^A z<I) I9 OM > H>,d?A2׃/@2qy=@2Dٱ2ޠ, BAHRS rotation from veh to nav: [[-0.983650,-0.178011,-0.027299],[0.180067,-0.969619,-0.165576],[0.003005,-0.167784,0.985819]]2Hz@ƿAp ?1ſ@th?`yſԋ?i2׃/@I2];0YZ:ByZI ``bAbAiEMb@Mb@Mb@AAAA A9Ex&? rh~jtx?YE7I?yEC E;EAE@ A)EAAYEAbD]VD]k1ym7%mB=ٔmQ-m>9qYq=uFyuzE5lE5>9Q 5E5=ည?Q 9M5=})=ZBYMhI?Q EM:yM:@Q IM@= EI=:i=:=U5yqɮ}A}ޥEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffwBdddjdZd@/@uBɢuvi )q uPiy)}⁼yyi}4]i,<Lh;IIE- E-E-#E)"E-:*E-V:VE-3ZE)a5@a5@a5@a5@E9@A @A@E4@A!Gs9Y:]AI ^Ae 0;I I O >E,?AV?/@V35=@V4kٱV>0 bAHRS rotation from veh to nav: [[-0.982873,-0.182595,-0.024909],[0.184159,-0.968157,-0.169579],[0.006849,-0.171262,0.985202]]VH@sG_ǿ`@?$Ĵſ X |?ſņ?iV?/@IV];TY5ByIbDVDky#%3=ٔ  Q- >9 Y=FyzEE>Q 5%5ŀ?Q 9%5{)]BY)y-:@Q I-@ EB5<A5<B=W>B9B=IB=IBB=6 =B9B9B=a;B=$EII|:i;85y]KBɮ]A]ݥEDNOT Ignoring new targets: 80.58 m.hh*h"h hg f f f dddjdZdP0@eBɢ{U ) i)Iʃ顉iX[ir<\$;IIy9@ @@4@E5 E5lE1E1"E5~:*E5:VE1ZE1BE5;aE2E5;aEJE5C;aE:E5C;aEԩ ^A ;A A >IA IQ Oe >L,#j2?A@5/@5=@5[D ٱ5 1 EAHRS rotation from veh to nav: [[-0.982451,-0.185008,-0.023711],[0.186322,-0.967563,-0.170607],[0.008622,-0.172031,0.985054]]5H9yYy=}Fy}zE}E}>Q 555?Q 95)bBYxE?Q E:y;@Q I@ EI7:i@: Ô5yɮAӥEԩDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZde0@颭Bɢu ) gi)顱i-JZi[<|r:IIu9@q @y@}/@y ^A ;EE  EE EE %EA "EE :*EE C:VEE 4ZEA aM @aM @aM @aM @A I I O >PS,M?AJ*.@J<@Jf*ٱJT1 RAHRS rotation from veh to nav: [[-0.982111,-0.186975,-0.022337],[0.188017,-0.967136,-0.171164],[0.010400,-0.172302,0.984989]]JH@smǿߖ?`ſL? ƿ`?iJ*.@IJ];JyCYM2ByMIIU<)U=U=U=bDeVDeyu%u`=ٔuQ-u>9yYy=}Fy}zE}E>Q 55?Q 95")fBYye;@Q I@ EI=:i:Ĕ5yɮADNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd1@Bɢb!) Ji)i/YihG<IrY,g?A2:.@2<@2ĴDٱ2L2 :AHRS rotation from veh to nav: [[-0.981887,-0.188275,-0.021248],[0.189089,-0.966626,-0.172856],[0.012006,-0.173743,0.984718]]2H`k cȿ•4?& ƿq?4=ƿς?i2:.@I2];2vCPYxyzIbD%VD%:y5W;%5P=ٔ5Q-5>EE~ EEjEE"EA"EE:*EE9VEE(3ZEABEEf;aM2EEg;aUJEE[<;aU:EE[<;aU9QYQ=]Fy]zE]{4E]>aQ 5m5ez?Q 9m5ek)ekBYqyuS;@Q Iu@e EIe:ie:e_Ɣ5yyɮAҥEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZdby1@Bɢ) ԁi)iWi <IIu9@q @q@u/@q)^AvAfAzAfAA I I! O- >Q Z`,z?A2=.@2<@2(pfٱ2;2 :AHRS rotation from veh to nav: [[-0.981768,-0.189109,-0.019230],[0.189563,-0.966568,-0.172662],[0.014064,-0.173159,0.984793]]2Hj4ȿ@C?@ ƿ͌?*ƿm?i2=.@I2];2xCYB7ByBIIieMb@Mb@Mb@aaaa a9eS㥛?~jt~jt?Ye$F?yee9Y=FyzE@E>Q 55`?Q 95)rBYCF?Q E:y;@Q I@ EI*:i:,Ȕ5yɮADNOT Ignoring new targets: 80.58 m.hh*h"h hgfffyBdddjdZd1@-Bɢ-()) -ti))5F@11i5Vi9=<=tֺI9IA9@ @@0@EU| EUtEU&EQ"EU :*EUv:VEU4ZEQae@ae@ae@ae@iԑ^A?BɺA I I) O1 hf,U?A2.@2L<@2rSٱ2/X0 :AHRS rotation from veh to nav: [[-0.981630,-0.190017,-0.017198],[0.190129,-0.966714,-0.171215],[0.015908,-0.171340,0.985084]]2HixRȿ@V&V?R`ſ@AJ? vſͅ?i2.@I2 ];2wCYB8ByFI DDHJAbDNVDN02yV<%VY=ٔZQ-Z>9XYX=^Fy^zEbʺEb>dQ 5j5fH?Q 9j5f)fxBYhyj;@Q Ij@f EIf:iff:fɔ5ypɮrArѥE-DNOT Ignoring new targets: 80.58 m.h1h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdEDD2@uBɢuw )u]ԩBV>BBIB5BB6 =BBBOa;Bq$E uki1)UlQQi]ViY]B pl,!=?A.@w<@(ٱf/ AHRS rotation from veh to nav: [[-0.981623,-0.190228,-0.015131],[0.189993,-0.966834,-0.170689],[0.017841,-0.170427,0.985209]]H`ui`dYȿ@Q?M"ſD?ſԆ?i.@Ih];yCYBByIiMb@Mb@Mb@ 9?A`"Q?YfF?yY\=@ A)AYAbDVDy)=%.=ٔÆQ->9Y=FyzEГ9E>Q 55*?Q 95)BYG?Q E:y9@Q I@ EI? ;i ;˔5yLBɮJAХEDNOT Ignoring new targets: 80.58 m.hh*h "h  h g f ffBdddjdZdF2@MBɢMT)I MPiQ)U&=QQiURBUiY]<]GIYIa@ @@0@@@fAI^A eA% >A% >Ee ~ Ea Ee #Ea "Ee :*Ea VEe 3ZEa au @au @au @au @y I I O >3s,5 ϩ?A2.@2<@2Rٱ2- >AHRS rotation from veh to nav: [[-0.981749,-0.189758,-0.012652],[0.189132,-0.967204,-0.169547],[0.019936,-0.168845,0.985441]]2H}jIȿt鉿w5?@U@ſi?ſ`?i2.@I2];2zCYF>ByFIbDn VDnf2yvP%vl=ٔvƻQ-v?9xYx=zFyzzE~$;E~?Q 55?Q 95)BYy%9@Q I%@ EI;i;c͔5y)ɮ-jA)UDNOT Ignoring new targets: 80.58 m.hQhQ*hQ"hY hYgYfYfafadadadajdiZdm`M3@颕Bɢ) Si)j顡iTi4<zIIYU9@Q @Q@U0@Qԁ^AII BW>BBIB:BBBBBka;B$EO5>Ա oy,?A2.@2q<@2'Pٱ2& * :AHRS rotation from veh to nav: [[-0.981857,-0.189388,-0.009459],[0.188299,-0.967897,-0.166487],[0.022375,-0.165247,0.985998]]2H^k`=ȿ?_2? nOſ?@&ſL?i2.@I2];2wCYBKByBIIF=)F9XYX=^Fy^zEb ;Eb>dQ 5j5f?Q 9j5f)fBYhyj9@Q In@f EIf:if:fϔ5y|bE 3jE3rET/E%y E%{E%"E!"E%:*E%5":VE%(3ZE!BE%;a52E%;a5JE%+p,5?A2/@26=@2μٱ2( :AHRS rotation from veh to nav: [[-0.982063,-0.188453,-0.006196],[0.186862,-0.968327,-0.165608],[0.025210,-0.163795,0.986172]]2Hm;ȿ`y@?@2ſЙ?=Ŀ?i2/@I2];0YFVByFIiMb@Mb@Mb@ 9p= ף?333333I +?YE?y94=@ )AY\AbD5VD5kyEp/=%E,=ٔEûQ-E>9IYI=MFyMzEUH;EU>YԁQ 55]F?Q 95]U)]BY_F?Q E:yz7@Q I@] EI] ,?AB&U>B$B&IB&DBB$B$B$B&a;B&$EB B B B B C +4b}2/@b(=@b[ٱbj% jAHRS rotation from veh to nav: [[-0.982362,-0.186970,-0.002575],[0.184877,-0.969120,-0.163176],[0.028014,-0.160774,0.986594]]bHo`ǿJe`? `Ŀ`?AĿ,?ib}2/@Ib^;bxCYrRByrIbDzVDz:2y☼% P=ٔ Q- >9Y=FyzE6;E>!Q 5%5%?Q 9-5%/)%BY)y-7@Q I-@% EI%:i%:%Ҕ5y5KBɮ=A=ΥEeDNOT Ignoring new targets: 80.58 m.haha*ha"ha hagifififidqdqdqjdqZdu@BW4@颥Bɢ) i)1顩ipTiC<W;II!E| EjE$E"E :*E9VE4ZEBE!;a 2E#;a JE[<;a :E[<;a9@ @@@!Q^AE "9ԡ A I I O >h,?p&ٱ2" :AHRS rotation from veh to nav: [[-0.982678,-0.185316,0.001277],[0.182685,-0.969840,-0.161358],[0.031141,-0.158329,0.986895]]2H`rpǿ(T? 9Y=FyzE;E>Q 55?Q 95P)BY L?Q E:y5@Q I@ EI ;i ;Ԕ5yɮAͥEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd@4@-Bɢ-Eܼ)) 5 i1)5Ē11i5 ZTi9=V<=̝;I9IA9@ @@/@!Q^AE] ;AM>AM>Eu{ EuoEu#Eq"Eu=:*Eu:VEu3ZEqa}@a}@a}@a}@ Wk> ֐C ! U v9Q YU _Ay A .AI I O >O,RFV?A2 y/@2n=@2 ٱ2 :AHRS rotation from veh to nav: [[-0.982964,-0.183734,0.004871],[0.180612,-0.970496,-0.159741],[0.034077,-0.156140,0.987147]]2Hpt`ǿ!s?I? M`hrĿr?hÿ ?i2 y/@I2R];0YFYByFIbDNVDN:2yV/u<%VZ=ٔZVQ-Z>9Z ?YZ ?=^Fy^zE^;E^>`Q 5f5b?Q 9f5b)bBYhyj6@Q Ij@b EIb:ib J;b֔5ypɮrAt DNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdd!d!jd!Zd%`.5@Y]Bɢ]t߼)a ehia)eIaaieTiim BCBIBSBB7 =BBBa;B$E^AMvт;ԱA} ؟AI I O > E  E sE $E "E ~:*E Z:VE 4ZE BE ;a 2E ;a JE ];a :E ];a u,p?A2/@2*=@2^ٱ2  :AHRS rotation from veh to nav: [[-0.983205,-0.182346,0.007582],[0.178825,-0.970854,-0.159578],[0.036459,-0.155542,0.987156]]2HjvWǿX??`; mĿϪ?ÿȖ?i2/@I2_^;2uCYz^ByzIbD VD k1y̺<%D=ٔIQ->9%"?Y%"?=%Fy%zE-;E->1Q 5=55Du?Q 9=55z)5BYAyE6@Q IE@5 EI5;i5h;5eؔ5yIɮMkAIuDNOT Ignoring new targets: 80.58 m.hqhq*hy"hy hygyfyffdddjdZd{5@Թ颽BɢuԼ) i)cViCUi<$Y;II9@ @@0@^AX;A I I O >9 ],쉪?A2#/@2=@2nٱ2 :AHRS rotation from veh to nav: [[-0.983485,-0.180702,0.010221],[0.176795,-0.971238,-0.159501],[0.038749,-0.155060,0.987145]]2HxA!ǿ?@4?ajĿ ֣?@ÿ?i2#/@I2];2yCYFgByFIiMb@Mb@Mb@ 9K7A`?K7AQ?YK?y \=A@ A)tAYAbDVD:E} ElE%E"E݉:*E:VE 4ZEa@a@a@a@y"=% <=ٔ ͬQ- >9Y=FyzE:;E>!Q 5-5%Y?Q 9-5%)%BY5M?Q E5:y54@Q I5@% EI%~ ;i% ;%Lڔ5y9ɮE"AE̥EmDNOT Ignoring new targets: 80.58 m.hihi*hi"hi higifqffBdddjdZd` 6@MBɢM[Ƽ) i)顑i6!Vi< B B IB bBB 8 =B B NDB a;B $Eԙ A I! I1 O= >Y},?A>F/@>=@>&ٱ> FAHRS rotation from veh to nav: [[-0.983645,-0.179694,0.012312],[0.175452,-0.971391,-0.160052],[0.040720,-0.155275,0.987032]]>H z`5ǿ7?4u?|Ŀ@E٤?@ ÿÕ?i>F/@I>^;9IYI=MFyMzEf;E>Q 55A?Q 95)BYy4@Q I@ EI;i; ;۔5yMBɮmA¥EDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd`=k6@%Bɢ% Ҽ)) -`нi))-)1i5gVi1={<=g f,a?A68/@6=@6+ٱ6DG BAHRS rotation from veh to nav: [[-0.983806,-0.178735,0.013415],[0.174307,-0.971492,-0.160688],[0.041753,-0.155748,0.986914]]6H@V{ƿDy?O? vmĿ``?ÿ̔?i68/@I6];4 JC)JkAJ 0JKFHLNlAiN94IN_FLIPiP RQ8R8JF)PT TV 0VfTFTTTIX)XiX)XIZkAZ 0\ \^C\^94i``i``)` `IdYdYhyjIi]Mb@Mb@Mb@YYYY Y9]q= ףp?K7 rh?Y]K?y]I ]C =]A]@ Y)]GAYY]AiibDuVDuyh %G=ٔ$Q->9Y=FyzEr<;E>Q 55X'?Q 95)(BYN?Q E:yl3@Q I@ EI:i:ݔ5yɮpAUEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd|6@%Bɢ%[S̼)! %ɽi!)-T))i-Wi15n<5+B,<ת?A;ɰ4<6/@63=@6.ٱ6 ! >AHRS rotation from veh to nav: [[-0.983952,-0.177859,0.014343],[0.173256,-0.971524,-0.161625],[0.042681,-0.156546,0.986748]]6H|ƿ_? B-?`!ĿNڥ? Ŀp?i6/@I6^;6xCYzgByzIbDVD3yl,=%R=ٔ)Q->9!Y!=%Fy%zE%12;E->)Q 555-u?Q 9=5-d)-:BY9y=~3@Q I=@- EI-&;i-e;-oߔ5yAɮM,AMEuDNOT Ignoring new targets: 80.58 m.hqhq*hq"hq hqgyfyfyfydddjdZd`67@颵BɢmEƼ)Q. Hi)Xɖ项iXiQ<LI9BBIBrBBBBODBa;B$Ey^AyA>A>ԩ A I I O >E  E tE 'E "E :*E v:VE '4ZE BE ͽ;a 2E ν;a JE `;a :E `;a ~,3?A27/@2=@22ٱ2 # :AHRS rotation from veh to nav: [[-0.983952,-0.177811,0.014916],[0.173033,-0.971233,-0.163602],[0.043577,-0.158395,0.986414]]2H |@ƿ?%?XĿO? JFĿ?i27/@I2a^;0@Y-eBy-IbDEVDEk1y%:%C=ٔk Q->9Y=FyzE( :E>Q 55~?Q 95y)MBYy3@Q I@ EIw:i:C5yɮ?ADNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd!7@%Bɢ%ü)! -i))-T))i--Yi151<=%:ª,' ?AR/@Rt=@R91Y9==Fy=zE=w9E=>AQ 5M5E~?Q 9M5E)E`BYUkT?Q EU:yUM4@Q IU@E EIEy;iE;E5yYɮ] AaDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd@8@Bɢ) i)^͗i]Zi<:B CB IB |BB 6 =B B PDB a;B $EA I I O >Ȫ,$?A:Q/@:=@:5ٱ:K' FAHRS rotation from veh to nav: [[-0.983918,-0.177990,0.014977],[0.173021,-0.970553,-0.167605],[0.044368,-0.162318,0.985741]]:HB|]ƿ[?%?@tſh?Ŀ/?i:Q/@I:^;8YNdByNIV=V=bDZVDZybڼ%be=ٔbQ-f>9dYd=fFyfzEjAEj>lQ 5r5n(~?Q 9r5n)noBYpytQ Iv@n EIn;in:n5yxɮzFAzEDNOT Ignoring new targets: 80.58 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5`i8@9eBɢeOż)i m Ϊ,*>?A2/@2=@2H4ٱ2K* :AHRS rotation from veh to nav: [[-0.983825,-0.178588,0.013960],[0.173645,-0.969926,-0.170561],[0.044000,-0.165378,0.985248]]2H ~{@ƿ?:? ſ:? +ſ '?i2/@I2^^;2xCYjjByjIi]Mb@Mb@Mb@YYYY Y9]V-?v/~jt?Y]hQ?y]x齙]<]A]@ ]A)]AYY]AbDuVDufyA<%?=ٔa:Q->9 ?Y ?=FyzEFE>ԙQ 55ȣ~?Q 95@)BYS?Q E:yj5@Q I@ EI :i:5yLBɮAEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd}8@%Bɢ-+)) -pi))-))i5]iΙ</ Yժ,#X?A6x/@6=@62ٱ6U., >AHRS rotation from veh to nav: [[-0.983632,-0.179711,0.013094],[0.174818,-0.969407,-0.172304],[0.043659,-0.167195,0.984957]]6Hyǿъ?q`?a ƿhZ?fſ Ą?i6x/@I6m^;4YbfBybIhj@AbDnVDn02yv %vU=ٔvki:Q-z>9z"?Yz"?=zFyz{E~JE~>YQ 5e5]~?Q 9e5]|)]BYiymY5@Q Im@] EI]k:i]:]I5yqɮu5AqDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd<9@Bɢ&) i)i`!^i'<OBUCBQBQBU5 =BQBUQDBUca;BU$EBĺCBBĔCB7 =B7 =C5!]m9@ @@@QI I) O= >Em  Em }Em #Ei "Em :*Em k&:VEm 3ZEi BEm ;a 2Em ;a JEm ;a :Em €;a y ܪ,_r?Aɰ;2/@2W=@2`0ٱ24, :AHRS rotation from veh to nav: [[-0.983413,-0.180964,0.012313],[0.176186,-0.969169,-0.172249],[0.043105,-0.167223,0.984976]]2Hx )ǿ7?@G?nC ƿ?gſ`?i2/@I2{^;0Y^iBybIbDjVDjyr><%rK=ٔrh:Q-r>9tYt=vFyv{EzaEz>xQ 55zo~?Q 95zz)zBYyB5@Q I@z EIz;iz;z5yɮAE=DNOT Ignoring new targets: 80.58 m.h9h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU Ġ9@Bɢ ) \i) Om  i '<_i%<-% Eu  Eu zEu &Eq "Eu :*Eu  :VEu 4ZEq a @a @a @a @I I O >%,^?Ap|9E{9AYEcAe֣/@en=@ez+ٱe - }AHRS rotation from veh to nav: [[-0.983140,-0.182541,0.010667],[0.177991,-0.968733,-0.172845],[0.041885,-0.168032,0.984891]]eHu]ǿ؅?`f? ƿq?ſ:?ie֣/@Ie>^;ewCYkByIiEMb@Mb@Mb@AAAA A9E(\?J +y&1?YEN?yEȽE`9qYq=uFyu {E}mE}>Q 55 O~?Q 95v)BYO?Q E:yM6@Q I@ EI. ;iu ;15yɮ AEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffVBdddjdZd@!:@ Bɢ ﷲ)  HDi)'ϙi*`i]E<^;II!a9@ @@4@iYIYԉBh>BBIBBB4 =BBB:a;Bp$E^AH<II IY Oe >Թ ,(?A2E/@2݄=@2%ٱ2lY. :AHRS rotation from veh to nav: [[-0.982981,-0.183502,0.008656],[0.179237,-0.968330,-0.173814],[0.040277,-0.169304,0.984740]]2Ht|ǿA? 9?@?ƿ2?`ſ?i2E/@I2m^;2yCYBeByBIbDNVDNyV%Vm=ٔVʘ;Q-V?9XYX=ZFyZ {EZ[nE^?Q 557~?Q 9=5t)BYAyE:6@Q IE@ EI*  շ, ë?AYnByII%=)%C=iMb@Mb@Mb@ 9/$?/$Q?Y&Q?y\=A@ A)YbDVDk1y=%5=ٔQ->9!Y!=%Fy%{E%E%>)Q 555-~?Q 9=5-;r)-BY=rR?Q E=:y=7@Q I=@- EI-X;i- ;-5yAɮMAMEuDNOT Ignoring new targets: 80.58 m.hqhq*hq"hq hygyfyfyfZBdddjdZd@:@颵Bɢ,) X i)c项inbiܘ<Y;IIi@i @i@m/@q@fA@fA!E ErE#E"EO:*E?:VE3ZEa@a@a@a@Q^A;II O >ԁ ,Lܫ?A2(P/@2E=@2Hٱ2i|/ :AHRS rotation from veh to nav: [[-0.982406,-0.186701,0.004667],[0.183045,-0.967523,-0.174340],[0.037065,-0.170418,0.984675]]2Hoǿs?n?@Pƿ,?Cſ t?i2(P/@I2Gn^;0YnoBynIbDzVDz1y ;%^=ٔ9 Y = Fy {ER+E>Q 5%57~?Q 9%5p)BY!y%A7@Q I%@! EI;i:H5y1ɮ5A1]DNOT Ignoring new targets: 80.58 m.hYhY*hY"hY hagafafafidididijdiZduK;@颥~BɢM)  i)萚顩i45ci< $;IIQBj>BBBBBBB+a;Bj$EU9@Q @Q@U/@Qԁ^AqIIO%>ԱE EwEE"E:*E:VEZEBE;a2E;aJEk;a:Ek;a  ,k?A25/@2+=@2Aٱ2ǹ/ :AHRS rotation from veh to nav: [[-0.982174,-0.187956,0.002648],[0.184628,-0.967237,-0.174255],[0.035313,-0.170660,0.984697]]2Hmȿe??`Mƿ?@,ſ`?i25/@I2^;2xCYBsByBIbDNVDNyVS<%VP=ٔVR;Q-V>9XYX=ZFyZ{EZE^>`Q 5b5b.}?Q 9f5bm)bBYdyf'7@Q If@b& EIb:ib:b5yjPBɮnAnEeDNOT Ignoring new targets: 80.58 m.haha*ha"ha hagifififidqdqdqjdqZdu k;@|Bɢ) i ) &  i  di=V<=ޥ:I9IAԱ@ @@/@^Am] ; A I I O >E  E uE 'E "E :*E :VE '4ZE a @a @a @a @9 ',F?AɰY~{By~I  AiMb@Mb@Mb@ 9?~jtkt?YL?yĽ 0=A@ CA)YbDVD02yS=%9=ٔQ->9Y=Fy{EE>Q 55}?Q 95k)BYN?Q E:y26@Q I@, EIL:i& ;5yɮAE%DNOT Ignoring new targets: 80.58 m.h)h)*h)"h) h)g)f)f1f5gBd1d9d9jd9Zd= e!<@mzBɢm%)i m2;iq)ueqqiuVdiy} <}:II 9@ @@0@9^AM0::Bh>BBBB3 =BBBba;B$Eq A I I O > ,)x*?A V/@V?=@V^ٱVH/ fAHRS rotation from veh to nav: [[-0.981957,-0.189100,-0.000961],[0.186405,-0.967086,-0.173201],[0.031823,-0.170255,0.984886]]VH2lk4ȿ,zO ?]@p+ƿ!K? ſ/?iV/@IV~^;VuCYvmByvIbD VD2y5%=T=ٔ=j9AYA=MFyM!{EMEU>YQ 5e5]}?Q 9m5]h)]BYiym6@Q Iu@]1 EI]a#;i]$;]5yɮA]DNOT Ignoring new targets: 80.58 m.hYhY*hY"hY hYgYfafafadadidijdiE EnE!E"E:*E:VEc3ZEBE;a2E;aJEJ;a:EJ;aZdv<@xBɢu) 0i)Қ!i%ei!-1c,VHD?A>/@>& =@>wٱ>l6/ FAHRS rotation from veh to nav: [[-0.981963,-0.189057,-0.002285],[0.186599,-0.967105,-0.172885],[0.030475,-0.170193,0.984939]]>H>l3ȿڷbw?!ƿ 4?`ſ?i>/@I>2^;>xCPYLyPi-Mb@Mb@Mb@)))) )9-Q?|?5^/$?Y-\O?y-ҽ-,=-IA-@ -A)))Y-AbDEVDE0ٔUvY;Q-U>9YYY=]Fy]&{EeAEe>iQ 5u5m}?Q 9u5mf)m)BYuNQ?Q Eu:yu5@Q Iu@m6 EIm:imz ;mb5yQBɮAEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffIBdddjdZd"<@vBɢ<) Pi)uqqiufiy}Sq<`6II-9@) @)@-5@)E{ EqE%E"E=:*E$ :VE 4ZEa@a@a@a@^A) AA II Ia Om >%0, &^?A2/@2>=@2ٱ2- >AHRS rotation from veh to nav: [[-0.981942,-0.189153,-0.003247],[0.186899,-0.967300,-0.171462],[0.029292,-0.168973,0.985185]]2H l@*6ȿfjQ?@vſ?ſ?i2/@I2o^;2vCYFvByFIIJ%=)J=bDRVDRyV<%Z<ٔZ@J;Q-Z>9\Y\=^Fy^){E|%EE->)Q 555-,~}?Q 9=5-}c)-:BY9y=5@Q I=@-; EI-;i-;-5yAɮMAIuDNOT Ignoring new targets: 80.58 m.hqhq*hq"hq hqgyfyfyfydddjdZdQ=@颵tBɢm) *;i)뚼项ixfi&<L7IIBc>BCBIBBB4 =BBBa;B$Em9@q @q@uA4@q@y@y)Y^A9bE=3jE=c3rE=(0Ez EoE"E"El:*E:VE(3ZEBEݧ;a2Eާ;aJEN;a:EN;aAy ԁ I I O >@Z,.x?A2/@2=@2eٱ2y, >AHRS rotation from veh to nav: [[-0.982060,-0.188530,-0.003853],[0.186433,-0.967666,-0.169901],[0.028303,-0.167571,0.985454]]2H m !ȿZo ?Mſo?rſ ֈ?i2/@I2^;2yCYFrByFIbDNVDNk1yV%VJ=ٔZ ;Q-Z>9XYX=^Fy^.{E^O:Eb>`Q 5f5bd}?Q 9j5b`)bJBYhyj5@Q Ij@b@ EIb:ib:b5ylɮrArE DNOT Ignoring new targets: 80.58 m.h h *h "h  h gfffdYddyjdyZd}ʸ=@rBɢ]) Ji)욼igi9=G֖<=,v(9I9IA9@ @@/@ԉԹ^AMA .AI I O > E  E wE E "E :*E :VE ZE a @a @a @a @V$,2?AYxyxiMb@Mb@Mb@ԑ 9Q?&1~jt?Yyн=Az@ A)1AY\AbDVD1ٔQ->9 ?Y ?=Fy2{EE>Q 55G}?Q 95&^)[BY9Q?Q E:y5@Q I@F EIP:i:5yɮAEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffDBd!d!d!jd!Zd%'>@UpBɢU蘼)Y ]k;iY)]i暼YYi]giaeBBIBBBBBPDBa;B$EBǽCBǽCBǓCB4 =B4 =C4^AE9AU ؟AIa Iq O} > #~*,y?A24<ɰ0b1/@b'=@bۼٱb^) rAHRS rotation from veh to nav: [[-0.982383,-0.186824,-0.004485],[0.184943,-0.968486,-0.166824],[0.026823,-0.164715,0.985977]]bHo`ǿ^r6? }Zſ|w? ^ſ?ib1/@IbX^;`Y~uBy~IbDVD:y-;%5<ٔ5a{;Q-=>9="?YE"?=EFyE6{EM;EM>QQ 5e5UE.}?Q 9e5U[)UkBYiym5@Q Im@UK EIU);iU8;Ut5yyɮ}A}EDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd>@E] E]E]&EY"E]:*E]F:VE]4ZEYBE][;ae2E]];aeJE];ae:E];am颅nBɢa) VA>AY ԁ I I O >c1,Ŭ?A2eG/@2<=@2ܼٱ25g' :AHRS rotation from veh to nav: [[-0.982626,-0.185557,-0.003766],[0.183629,-0.969071,-0.164866],[0.026942,-0.162693,0.986309]]2HqVǿyn@+? Uſ@–?"Ŀ`׏?i2eG/@I2i^;2wCYBlByBIiMMb@Mb@Mb@IIII I9Mn?MbXX9v?YMVN?yMʽM9yYy=Fy:{EU;E>Q 55}}?Q 95Y)yBY P?Q E:y5@Q I@Q EI6;i ;?5yɮ)ADNOT Ignoring new targets: 80.58 m.hh*h"h hgfff9BdddjdZd`>@lBɢ;) :i)DΚiphi!%<%kQ ;I)I)Y9@ @@/@ 57k>=ېCԁE| EuE$E"E :*E:VE4ZEa@a@a@a@BG5r91Y5\AyF?gA^A] ;ԱI I O > 7,B߬?A2V/@2L=@2Go߼ٱ2s$ :AHRS rotation from veh to nav: [[-0.982786,-0.184725,-0.002763],[0.182722,-0.969704,-0.162134],[0.027271,-0.159848,0.986765]]2H@rǿf@oc?Ŀ?uĿ?i2V/@I2L^;0YBiByFIbDNVDN:2yV+%ZX=ٔZcQ-Z>9\Y\=^Fy^>{EbA;Eb>dQ 5j5f|?Q 9j5fV)fBYhyn5@Q In@fV EIfg:ifY;f5yrRBɮrGApDNOT Ignoring new targets: 80.58 m.hh*h"h hgfBY>BCBIB|BB6 =BBODBa;B$EffdddjdZdY?@ iBɢ jS) li)5Ϛ19i=hi9ErQ =,ڒ?A2g/@2]=@2zٱ2" :AHRS rotation from veh to nav: [[-0.982964,-0.183790,-0.001853],[0.181699,-0.970160,-0.160545],[0.027709,-0.158146,0.987027]]2H@ptpǿ:]^A? Ŀ@_?`">Ŀ@?i2g/@I2|^;2vCY^pBy^IbDfVDfyr1=%rG=ٔrQ-r>9tYt=vFyvB{Ev%;Ez>|Q 5~5~|?Q 95~)T)~BYy6@Q I@~[ EI~:i~:~5y ɮAE=DNOT Ignoring new targets: 80.58 m.h9h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM?@%gBɢ%\)! %ԉ E}  E} mE} !Ey "E} ~:*E} :VE} c3ZEy a @a @a @a @D,e?A0Bw}/@Bs=@BӔٱBD JAHRS rotation from veh to nav: [[-0.983188,-0.182597,-0.000670],[0.180378,-0.970656,-0.159029],[0.028387,-0.156476,0.987274]]BHEvX_ǿE`? [Ŀ`?`hĿ?iBw}/@IBY^;BwCYnhBynIiMb@Mb@Mb@ 9|?5^?&1/$?YM?yн< A@ A)YAbDVDk2ya%>=ٔϺQ->9Y=FyG{EYH;E>Q 5 5}|?Q 95cQ)BYO?Q E:y5@Q I@` EI2;iy;5y%SBɮ%VA%EmDNOT Ignoring new targets: 80.58 m.hihi*hi"hi higqfff%BdddjdZd`@@ dBɢ )1 5;i1)5磚11i5ji9=?<=uk;IAIAԑiI9@ @@ 2@ ԹBS>BCBBB8 =BBBa;B$E^AM r;I I O > VJ,EF-?ANU/@Nv=@NohٱN` jAHRS rotation from veh to nav: [[-0.983210,-0.182477,0.000261],[0.180143,-0.970856,-0.158075],[0.029098,-0.155374,0.987427]]NHtv`k[ǿ1?? @;Ŀ@˝?Lÿ?iNU/@INK^;NyCYtytbD~VD~Nٔ NQ->9Y=FyJ{E$:E>!Q 5-5%|?Q 9-5%O)%BY1y55@Q I5@%e EI%F:i%I;%@5y=XBɮEAEEmDNOT Ignoring new targets: 80.58 m.hihi*hi"hi higifqfqfqdydydyjdyZd}F@@颭bBɢ) >I QQ,vG?A;ɰ4<2/@2~=@2Sٱ2U :AHRS rotation from veh to nav: [[-0.983292,-0.182034,0.000708],[0.179677,-0.971167,-0.156687],[0.029211,-0.153942,0.987648]]2H wLǿ7G?@?@UĿ[?`ÿϚ?i2/@I2)>^;2xCYFjByFI1iUMb@Mb@Mb@QQQQ Q9UJ +?MbX{Gz?YUH?yUʽUף9Y=FyO{E:E>Q 55|?Q 95pL)BY\J?Q E:y5@Q I@k EIj;i; 5yɮrA%DNOT Ignoring new targets: 80.58 m.h)h)*h)"h) h)g)f1f9f=BdAdAdAjdIZdM}@@]_Bɢ]<)a eаW,b`?A68/@6v=@6ٱ6] >AHRS rotation from veh to nav: [[-0.983201,-0.182525,0.000864],[0.180148,-0.971139,-0.156319],[0.029371,-0.153538,0.987706]]6Hav\ǿPL??DĿ?@ÿ J?i68/@I6];4YFgByJI R;R4<bDPVDPyZ;`%ZX=ٔ^޹Q-^>9\Y`=bFybS{EbEb>dQ 5j5fx|?Q 9j5fJ)fBYlyn5@Q In@fo EIf;ifm ;f 5yrYBɮvAvEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffd!d!d!jd!Zd%@@BABABEIBEwBBE: =BABENDBEa;BE$Eԙ\BɢҦ) ` )^,9z?A6/@6=@6E1ٱ6  BAHRS rotation from veh to nav: [[-0.983379,-0.181565,0.000627],[0.179203,-0.971133,-0.157436],[0.029194,-0.154707,0.987529]]6Hw=ǿ̎D?@#? `&Ŀ@? qÿ@֙?i6/@I6];6zCYJqByJIbDTVDTyZ E=%^J=ٔ^9Q-^>9`Y`=bFybW{Eb;Ef>dQ 5j5f^|?Q 9n5fG)fBYlyn5@Q In@ft EIf;if;f 5yvZBɮvBAtDNOT Ignoring new targets: 80.58 m.hh*h"h hgff!f!d!d!d!jd)Zd- @@UZBɢUB})Y ]==iY)]aaieliam~my E  E E E "E :*E Ar:VE ZE a @a @a @a @d,ѯ?A2 /@2=@2$ٱ2 :AHRS rotation from veh to nav: [[-0.983807,-0.179230,-0.000019],[0.176983,-0.971457,-0.157948],[0.028291,-0.155393,0.987448]]2H@Y{ƿ@c?-@7Ŀ G?ÿ+?i2 /@I2܌];2vCYnrByltv=ieMb@Mb@Mb@aaaa a9eZd;O?MbX9~jt?Ye~J?yeʡe9 ?Y ?=Fy[{E;E>Q 55C|?Q 956E)BYK?Q E:y7@Q I@z EI ;i ;a5yɮFAEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZdA@QVBɢ z)  Z=i)i]mi)-y:<5k;I1I19@ @@@ԁB=U>B9B9B9B=8 =B9B=ODB=a;B=$Eԩ^A ;A9 II Ia Om > k,?AB/@B=@BؼٱB JAHRS rotation from veh to nav: [[-0.984320,-0.176385,-0.001435],[0.174408,-0.972003,-0.157454],[0.026377,-0.155236,0.987525]]BH`̓ƿzWR?@ v'Ŀ?ÿΙ?iB/@IBp];ByCYVxByVIbD^VD^0yf=%fW=ٔj[;Q-j>9hYh=jFyj_{E-;E5>9Q 5E5=)|?Q 9E5= C)=BYAyE7@Q IE@= EI=F:i=:=5yU[BɮUAUE}DNOT Ignoring new targets: 80.58 m.hyhy*hy"hy hgfffdddjdZdIA@颽TBɢ4[) d=i)*imi<;"r,gȭ?A2x0@2>@2Küٱ2-j :AHRS rotation from veh to nav: [[-0.984967,-0.172716,-0.002996],[0.171089,-0.973004,-0.154893],[0.023838,-0.153077,0.987927]]2Hل ƿhA? "ÿh?ÿ?i2x0@I2T];2vCYFzByFIiMb@Mb@Mb@ 9sh|??(\µy&1?YI?y`<d@ tA)@YGAbDVDܲyY<%9=ٔ߼;Q->9"?Y"?=Fyc{E<E>Q 5 5V|?Q 9 5@)BYGK?Q E:y7@Q I@ EI;i;5y\Bɮ A!EDNOT Ignoring new targets: 80.58 m.hIhI*hI"hI hIgIfIfQfU BdYdYdYjdYZd]`܀A@颵PBɢ](V) =i)N项iniu<#O1x,^?Aɰ(6?0@6d5>@6yٱ6s/ >AHRS rotation from veh to nav: [[-0.985426,-0.170043,-0.004491],[0.168733,-0.973809,-0.152397],[0.021541,-0.150934,0.988309]]6H ſdr ?q)`ÿ?Qÿ:?i6?0@I6p];6xCYJByJIbDRVDR:yZ F=%Z_=ٔ^;Q-^>9\Y`=bFybg{Eb;Eb>BnN>BlBnIBn|BBlBlBnNDBna;Bn$EBCBCBB8 =B8 =C5xQ 5~5zx{?Q 9~5z>)zBYy7@Q I@z EIz=:iz:z5y ɮ A=DNOT Ignoring new targets: 80.58 m.h9h9*h9"h9 h9g9fAfAfAdAdAdIjdIZdM@WA@}MBɢ},1)y }=i)顁i~oi  < MkmDT~,?A6$^0@6S>@6aٱ6m BAHRS rotation from veh to nav: [[-0.985767,-0.168030,-0.005442],[0.166913,-0.974318,-0.151144],[0.020094,-0.149901,0.988497]]6H gſJv@f]?-Xÿ`?@/ÿġ?i6$^0@I6*];4YJByJIbDR VDR2yZL<%ZK=ٔ^k;Q-^>`9`Y`=bFyfk{Ef;Ef>hQ 5n5j{?Q 9n5j^<)j BYpyr7@Q Ir@j EIj;ij;jR5yv]BɮvAvEDNOT Ignoring new targets: 80.58 m.hh*h"h hgf!f!f!d!d)d)jd)Zd-AA@]JBɢ])Y ]0=ia)e aaie9oiim1I e Gy t9 Y ^AE  E E E "E /;*E :VE 3ZE a @a @a @a @G<,?A2q0@2g>@2nٱ2 :AHRS rotation from veh to nav: [[-0.985978,-0.166774,-0.005770],[0.165749,-0.974743,-0.149679],[0.019339,-0.148537,0.988718]]2H "XſСwG7?`1(ÿ͓?@ÿ`?i2q0@I2ʇ];2zCYFByF#IimMb@Mb@Mb@iiii i9m#~j?bX9ȶI +?YmE?ymEm94=ii mGA)m@iYmAbDVDyX=%==ٔ:Q->9Y=Fyp{El3;E>Q 55{?Q 95:)BYG?Q E:y7@Q I@ EI ;iq ;55y^Bɮ]AEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd@B@GBɢ ) >i)2iEpi!%ߓ<%cBCBIBBBE =BGDBJDBa;B$Ey^A <ԡ A= .AII Ia Ou >Uf,_/?A6s0@6Hi>@6Fsٱ6\ >AHRS rotation from veh to nav: [[-0.986003,-0.166629,-0.005812],[0.165619,-0.974816,-0.149343],[0.019219,-0.148215,0.988768]]6H UTſw3? 1 ÿ`?¿?i6s0@I69% ?Y% ?=%Fy-t{E-"9E->1Q 5=55{?Q 9=557)5-BYAyE7@Q IE@5 EI5V:i5:515yM_BɮM:AQuDNOT Ignoring new targets: 80.58 m.hyhy*hy"hy hygyfyffdddjdZdTB@颽CBɢ) X(>i)ܔi_piٓ<?ψd, J?AVc0@V?Y>@VٱV fAHRS rotation from veh to nav: [[-0.985851,-0.167511,-0.006133],[0.166586,-0.975032,-0.146839],[0.018617,-0.145783,0.989141]]VHpſy@R?@v3 ¿h?`¿ ?iVc0@IV`];VvC p)pv94tt||i~Q8I||Ii @)JF)   '  I)i)IkA'YF %C!%,i!!i!))) )I)Y)Y5By=3IԩiMb@Mb@Mb@ 9K7?q= ףp/$?YIL?y뽙,=hAz@ A)@YAbDVDk2y_=%N=ٔp:Q->9"?Y"?=Fyx{EJ!E>Q 55Y{?Q 955)iA)E*AAiEqiIMqϓB CB !IB BB Y =B HDB GDB a;B $EI O >̘,d?A2kL0@2B>@2+ٱ2] :AHRS rotation from veh to nav: [[-0.985622,-0.168827,-0.006914],[0.167985,-0.974661,-0.147708],[0.018199,-0.146746,0.989007]]2H 6@ſQ|`?k0@¿?¿?i2kL0@I2];0YBybD%VD% ԉy%S=ٔ:Q->9 ?Y ?=Fy|{EoE>Q 55Br{?Q 952)KBYy5@Q I@ EI;i;5yɮ A%DNOT Ignoring new targets: 80.58 m.h!h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd52B@e=BɢeV)i m B>ii)utqqiu$cri Ó<fn B,~?ANe;0@N0>@NٱNm VAHRS rotation from veh to nav: [[-0.985448,-0.169776,-0.008309],[0.169010,-0.973440,-0.154433],[0.018131,-0.153590,0.987968]]NHɈ`9ſ%?l&wÿ? רÿo?iNe;0@ING];NwCY]By]>I aabDuVDu:y<=%O=ٔ39Q->9"?Y"?=Fy{E,E>Q 55X{?Q 950)ZBYy5@Q I@ EI:i:X5yaBɮ AEeDNOT Ignoring new targets: 80.58 m.hihi*hi"hi higififqfqdqdydyjdyZd}B@颭;BɢԈC) lZ>i)H顱i`4si]<ay Pإ,?A2$%0@2>@2Cٱ2% ) >AHRS rotation from veh to nav: [[-0.985211,-0.171054,-0.010021],[0.170347,-0.971466,-0.165031],[0.018494,-0.164297,0.986238]]2H؆ ſꅄ?@ſ!?ſB?i2$%0@I2/];2yCY^By^CIimMb@Mb@Mb@iiii i9m9Y=Fy{E[E>Q 55={?Q 95,-)kBYV?Q E|:y3@Q I@ EI;i;!5ygBɮ AEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfff6BdddjdZd C@Q颭8BɢPh) xg>i)i?ti<HQOBCB4IBBBT =BGDBIDB|a;Bd$EԱ^A jb<AY Ia Iy O > |,R_?A20@2>@2lٱ2B4 :AHRS rotation from veh to nav: [[-0.985093,-0.171611,-0.011921],[0.171020,-0.969508,-0.175520],[0.018564,-0.174942,0.984404]]2H Yſi`?4 pwƿe?dƿ@9XYX=ZFyZ{EZE^>`Q 5f5b${?Q 9f5b*)b|BYdyf3@Q If@b EIbA:ib:b"5yniBɮn A}EDNOT Ignoring new targets: 80.58 m.hh*hE EE$E"Eg:*ErN:VE4ZEBE{;a2E|;aJEU;a:EU;a"h hgfffdddjdZdRC@5Bɢ) q>i)<iwui!%4<%rkG9 겫,;̮?A20@2a >@2ǔٱ2n; :AHRS rotation from veh to nav: [[-0.985046,-0.171753,-0.013598],[0.171331,-0.968184,-0.182387],[0.018161,-0.181990,0.983133]]2Hſً,?] wXǿ`?nKǿu?i20@I2 ];2vCY^By^KIIb=)b9Y=Fy{E:E>Q 55t{?Q 95c')BYV?Q E}:y$4@Q I@ EI ;i ;$5yjBɮ A-DNOT Ignoring new targets: 80.58 m.h)h)*h)"h) h)g1f1f1f=LBd9d9d9jd9ZdE` C@m3BɢmP)q }~>iy)}uVyiuij<DB >>B CB FIB BB D =B B LDB Da;B X$E,?A4F0@F>@F6ٱF7@ RAHRS rotation from veh to nav: [[-0.985115,-0.171228,-0.015116],[0.171015,-0.967402,-0.186779],[0.017359,-0.186584,0.982286]]FH ſ?\ǿƑ?ǿ`n?iF0@IF];FxCYbBydtvAAbDzVDz0y`;%X=ٔ ;Q->9  ?Y  ?= Fy {EG`:E>Q 5%5Mz?Q 9%5$)BY!y%04@Q I-@ EI;iV:U&5y5kBɮ5 A5E]DNOT Ignoring new targets: 80.58 m.hYhY*hY"ha hagafafafidididijdiZduVC@额0Bɢpk:) c>i)fÊ顡ivi\S<WYI">,?A2S0@2>@2Zٱ2B :AHRS rotation from veh to nav: [[-0.985159,-0.170900,-0.015956],[0.170822,-0.967122,-0.188399],[0.016766,-0.188329,0.981963]]2Hl ſ`V~? wȿ+?(ȿ=l?i2S0@I2];2wCYBByFUITbDVDN2y@!=%I=ٔp:Q->9Y=Fy%{E%c9E%>)Q 555-;z?Q 955-!)-BY1y=64@Q I=@- EI-D;i-;-(5yAɮE AAmDNOT Ignoring new targets: 80.58 m.hihi*hq"hq hqgqfqfyfydydydjdZdXC@颭.BɢE;) >i)项iSwi;<tK! E  E E E "E *E ;J:VE ZE a @a @a @a @&ƫ,6?Aɰ;2%,0@2!>@2̇ٱ2B :AHRS rotation from veh to nav: [[-0.985317,-0.169989,-0.015972],[0.169931,-0.967279,-0.188401],[0.016576,-0.188348,0.981962]]2H@4ſ[@O? ȿ _?ȿ@9Y=Fy{Eq ;E>Q 55Ƕz?Q 95)BYZ?Q Ex:y 3@Q I@ EI:i:)5ylBɮ AEDNOT Ignoring new targets: 80.58 m.hh*h"h hgff f ^Bd d d jdZdc"D@=+BɢE:)A Ei>iA)E#AIiM+xiIU&BCBYIBBB@ =BBB`;B,$EBMŵCBMŴCBMŕCBME =BMK =CM-7Q^A/C<I I O >ԁ R̫,C3?AF70@F->@FٱF}< RAHRS rotation from veh to nav: [[-0.985450,-0.169250,-0.015599],[0.169224,-0.968432,-0.183037],[0.015873,-0.183014,0.982982]]FH͈ ſJ#? emǿ@?lǿ t?iF70@IF];DYZByZ?IbDfVDfyj%nX=ٔnr:Q-r>9pYp=rFyr{Ev:Ev>xQ 5~5z@z?Q 9~5zQ =~tI)zBY|y 3@Q I@z EIzm ;iz;z+5y nBɮ ,A 5DNOT Ignoring new targets: 80.58 m.h1h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdMRD@Y})Bɢ}0:) ~>i)顁iyi<a@R~ٱRD8 ZAHRS rotation from veh to nav: [[-0.985382,-0.169672,-0.015279],[0.169647,-0.969116,-0.178983],[0.015561,-0.178959,0.983733]]RH@ ѷſJ`?ƿ}ޏ?"ƿz?iR00@IR];RwCYbByf@IiMMb@Mb@Mb@IIII I9M ףp= ?7A`¿9yY=Fy{EE>Q 55Vz?Q 95)BY[?Q Ew:y3@Q I@ EIG;iK ;v-5yoBɮ-AEԱ ]߀Gyiu9Y^ADNOT Ignoring new targets: 80.58 m.hh*h"h hgfff%MBd)d)d)jd)Zd5 D@}'Bɢ}$9)y ނ>i)#顡izi<vnY1 B 8>B CB _IB ÀBB E =B B KDB _;B #Eb٫,]g?A$$FX00@F%>@FtxٱF7 NAHRS rotation from veh to nav: [[-0.985382,-0.169648,-0.015558],[0.169683,-0.969225,-0.178354],[0.015178,-0.178386,0.983843]]FH?ſ܏`(?Jƿ@?`]ƿ@{?iFX00@IF$];FxCYVByZ?II^<)^p;bDVDym寻%uK=ٔ}~y:Q-}>9Y=Fy{EvE>Q 55dz?Q 95)BYy3@Q I@ EIsp;iq;;/5yqBɮBAEDNOT Ignoring new targets: 80.58 m.hh*h"h hg!f!f!f!d)d)d)jd)Zd-D@%Bɢ8@;) >i)+i{i[<II!Q9@ @@>1@@@AE EEE"E:*E0:VEZEBEa2EaJEۉ;a :Eۉ;a y^A /C<I I O >ԙ J,8?AB=0@BB3>@BJwٱB: NAHRS rotation from veh to nav: [[-0.985521,-0.168801,-0.015968],[0.168881,-0.968863,-0.181060],[0.015093,-0.181135,0.983342]]BHbDſ@Y? ,ǿ?`o/ǿw?iB=0@IBz];@YVByV:IbDbVDb:yf]%jU=ٔj3i9Q-j>9lYl=nFyr{Ev$ ;Ev>xQ 5z5zJz?Q 9~5z)zBY|y~3@Q I~@z EIz;iz;z05y rBɮ pA EDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd@D@5#BɢE8U;)A Mq>iI)M}oIIiM͈|iQUwے) E  E E #E "E :*E E7:VE 3ZE a @a @a @a @x,"?A JK0@JRA>@JӭyٱJA: RAHRS rotation from veh to nav: [[-0.985663,-0.167991,-0.015719],[0.168035,-0.968951,-0.181378],[0.015239,-0.181419,0.983288]]JHſ ,?@b7ǿ@k5?@8ǿ w?iJK0@IJw];JwCYbByb%IimMb@Mb@Mb@iiii i9mK?L7A`:v?Ym^Z?ym+m=ٔlQ->9Y=Fy{E;E>Q 55-z?Q 95)BY]?Q Eu:y4@Q I@ EI7:i:25yyBɮ-AEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBddd jd Zd `$E@=!Bɢ=>8)9 =e>i9)E~}AAiEY}iIMq͒B!B%SIB%BB%F =B!B!B%^;B%#Eq^A  c<IqIO>ԡ W,9?Aɰ4<:V0@:L>@:(|ٱ:3;@ FAHRS rotation from veh to nav: [[-0.985771,-0.167374,-0.015514],[0.167386,-0.968991,-0.181767],[0.015390,-0.181777,0.983219]]:H`plſŏl? Dǿ`̄?xDǿ`v?i:V0@I:];8YNByRIbDZVDZkyrN%vW=ٔvйQ-v>9xYx=zFyz{Ez:E~>Q 5 5z?Q 9 5F ) BY y 4@Q I @ EI:i:p45yɮ\AEDNOT Ignoring new targets: 80.58 m.hAhA*hA"hA hIgIfIfIfQdQdQdQjdYZd]`UE@颅BɢL39) ]>i)2{顉i ~iU’<HyA=>A I I O > <,7ί?ANV0@NL>@N9Y=Fy{Epu8E>Q 55y?Q 95 )+BYcV?Q E}:y6@Q I@ EIz:i :N65y{BɮADNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjd Zd @iE@=Bɢ=͂)9 =(V>i9)EDxAAiE~iI쵒<$xB D>B CB @IB BB C =B B LDB ];B "E,?A:yS0@:I>@:rٱ:: RAHRS rotation from veh to nav: [[-0.985749,-0.167461,-0.016011],[0.167571,-0.969072,-0.181159],[0.014821,-0.181260,0.983323]]:H@`]oſ@#er? 80ǿZ?3ǿbw?i:yS0@I:];:vCY^By^IbDrVDry~N޻%V=ٔ5:Q- >9 "?Y "?=Fy{E9}E}>Q 55y?Q 950)5BYy6@Q I@ EI:iw: 85y}BɮA~E DNOT Ignoring new targets: 80.58 m.h h *h "h hg1f9f9fAdAdAdIjdIZdM`E@ Bɢ V9) fW>i)>TuiͶi!%<% tG,?A2G0@2=>@2kٱ2m6 :AHRS rotation from veh to nav: [[-0.985636,-0.168143,-0.015785],[0.168267,-0.969778,-0.176680],[0.014400,-0.176798,0.984142]]2H Uഅſ)lj?l tƿ}?`Tƿ~?i2G0@I2];2yCYBByFIbDN VDN2yV;%VO=ٔVk:Q-V>9^ ?Y^ ?=^Fy^{EbEb>dQ 5j5f@y?Q 9j5f)f?BYlyn6@Q In@f EIf;if;f95yr~BɮrAr}E DNOT Ignoring new targets: 80.58 m.h h *h"h hgfffddd!jd!Zd%E@UBɢU0:)Q U]>iY)]rYYi]L8iae囒E  E xE #E "E :*E :VE 3ZE a @a @a @a @Թ ,[?A2&0@2>@2cٱ2. :AHRS rotation from veh to nav: [[-0.985303,-0.170122,-0.015380],[0.170249,-0.970719,-0.169467],[0.013901,-0.169595,0.985416]]2H ſ ?!`ſw?Kſ?i2&0@I2I];2vCYZvByZIi=Mb@Mb@Mb@9999 99=Fx?Dl~jt?Y=K?y=O=D<= A9 =A)=@9Y9IM@AbDUVDUβyeK%e@=ٔe^:Q-m>9m"?Ym"?=mFym{Eu㚻Eu>yQ 55}y?Q 95})}GBYL?Q E:y8@Q I@} EI}X:i}:};5yBɮHA|EDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd&F@Bɢ) ;>i ) Ep  i ċiԑ< zMBCB-IBBB: =BFDBNDB];B"E^Azl<Aa Ii Iy O > ,66?A20@2=@2[ٱ2T( :AHRS rotation from veh to nav: [[-0.984924,-0.172313,-0.015234],[0.172468,-0.971356,-0.163468],[0.013370,-0.163631,0.986431]]2H^ƿ @3o?YĿ`a?`Ŀא?i20@I2];2uCY\ybIbDjVDjJ2yЏ;%O=ٔ%>:Q-%>9!Y!=%Fy-{E-ͺE->1Q 5=55݋y?Q 9=55{)5MBYAyE8@Q IE@5 EI5;i5;5J=5yMBɮMIAIuDNOT Ignoring new targets: 80.58 m.hqhq*hy"hy hygyfyffdddjdZdYF@bE53jE1rE5XQ0E EnE'E"E:*E:VE'4ZEBE;a2E;aJEJ;a:EJ;aBɢ@!) A>i)(mi܀i1h<r.,5&P?A DɰF;r~/@r=@rJOٱrM& zAHRS rotation from veh to nav: [[-0.984374,-0.175354,-0.016074],[0.175631,-0.971139,-0.161379],[0.012689,-0.161680,0.986762]]rH`qƿu`{?Ŀ{?Ŀ ?ir~/@Ir];rxCY{ByI  iMb@Mb@Mb@ 9/$?:v{Gz?Y1H?yT#<hA@ 1A)@Y@bDVDβy<%<=ٔ:Q->9Y=Fy {E WE >Q 55py?Q 95Z)TBY%H?Q E%:y%9@Q I%@ EI:i@:/?5y1ɮ5$A9eDNOT Ignoring new targets: 80.58 m.haha*ha"ha hagafififmBdqdqdqjdqZduF@颥Bɢ%6) (O>i) j顩ix3i`=<$B CB IB BB 8 =B B ODB ];B "EBʷCBʸCBBC =B@ =C6I I) O5 >p,i?A@b7/@b͔=@bHCٱb!* jAHRS rotation from veh to nav: [[-0.983883,-0.177904,-0.017996],[0.178412,-0.969971,-0.165302],[0.011953,-0.165848,0.986079]]bH{ ƿ tm6?` (ſz?@:ſ@?ib7/@Ib_];`YrxByrI zp9Y=Fy{E"E>!Q 5-5%6Xy?Q 9-5%)%YBY)y-9@Q I5@% EI%F:i%_:%@5y=Bɮ=GA={EmDNOT Ignoring new targets: 80.58 m.hihi*hq"hq hqgqfyffdddjdZdF@Bɢ]ʉ9)Y ]L>iY)ef{haaiexiy} <d$;IIԱi@i @i@m/@i^AEΒ;A.AIIE| EsE&E"E :*EZ:VE4ZEBE!;a2E";aJE];a:E];aO> ,!ȃ?A2x/@2Bn=@2~2ٱ20 :AHRS rotation from veh to nav: [[-0.983473,-0.179897,-0.020461],[0.180729,-0.968594,-0.170771],[0.010903,-0.171646,0.985098]]2Hx ǿ@"? `ſrT?ſ?i2x/@I2ï];2wCYB{ByBIbDNVDN2lyv<%vL=ٔv+;Q-v>9z ?Yz ?=zFyz{E~E~>Q 5 5>y?Q 9 5)_BY y a9@Q I@ EI:i:B5yBɮ6AzEEDNOT Ignoring new targets: 80.58 m.hAhA*hA"hI hIgIfIfIfQdQdQdQjdQZd]_F@颅BɢY:) W>i)e顉i(΁i3ב<~;IIm9@q @q@u/@q EGQyho9^AYYAA! I1 IA O] >a E } E zE !E "E ݉:*E  :VE c3ZE a @a @a @a @',?A29X/@2M=@2ٱ25 :AHRS rotation from veh to nav: [[-0.983125,-0.181492,-0.022930],[0.182678,-0.967371,-0.175564],[0.009682,-0.176790,0.984201]]2Hu` ;ǿzb?`xƿ Ӄ?`ƿ~?i29X/@I2];2yCYFByFIJ=J=iMb@Mb@Mb@ 9x&1?Zd;O?YA@?9yLj< A A)YQAbDVD:yS<%@=ٔ<;Q->9Y=Fy{E_E>Q 55m$y?Q 95{)gBY@?Q E:yu9@Q I@ EI;i: ;jD5yBɮADNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd )G@5 Bɢ5M:)1 =f>i9)=[b99i=iAECBBIB|BBBBBu];B"Eԑ^Ajb;A ؟AI I! O- > *;-,~?A28/@2#.=@2 ٱ2I,7 :AHRS rotation from veh to nav: [[-0.982781,-0.183110,-0.024721],[0.184581,-0.966858,-0.176395],[0.008398,-0.177921,0.984009]]2H r(pǿ iPU?`@ ƿ"3?ƿ }?i28/@I2U];2xCYBByFIbDNVDNkyVV*<%VZ=ٔV`;Q-V>9Z"?YZ"?=ZFyZ{E^aE^>`Q 5f5bk y?Q 9f5b)bnBYdyfV9@Q Ij@b EIbR:ibk:b F5ynBɮnAnyEDNOT Ignoring new targets: 80.58 m.hh*h "h  h g f ffdddjdZd@YG@E BɢM8S;)I Mn>iI)Mx_IQiUfiQ]Q<]Ҍ?:IYIaԙE EqE%E"E~:*E$ :VE 4ZEBE;a2E;aJEU;a:EU;a9@ @@ 0@^A5] ;Ai Iy I O >! $4,_aѰ?A% /@%=@%Z"ٱ%:7 =AHRS rotation from veh to nav: [[-0.982490,-0.184492,-0.025991],[0.186167,-0.966585,-0.176223],[0.007389,-0.177976,0.984007]]%Hplǿ`Y`Q?Dyƿ@9D~?ƿ`|?i% /@I%];%wCYMByMIiMb@Mb@Mb@ 9?ktL7A`?Y@?y 0+=A 1A)@Y(AbD%VD%y5G<%=3=ٔ=F;Q-=>99YA=EFyE{EE5hEE>IQ 5U5Mqx?Q 9]5M)MyBY]@?Q E]:y]9@Q I]@M# EIM;iM:M H5yaɮmAiDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZd@G@ BɢF;) u>i)\i\ip<)II9@ @@0@E  E E $E "E ҝ:*E ,:VE 4ZE a@a@a@a@!I^Ayb]:Bm Z>Bm CBi Bi Bm 5 =Bi Bm PDBm n];Bi A I I O >ԙ OM:,5?Aɰ4<2/@22<@2лٱ2(6 >AHRS rotation from veh to nav: [[-0.982160,-0.186065,-0.027222],[0.187938,-0.966356,-0.175602],[0.006367,-0.177585,0.984085]]2H`mǿ5@Y?b zƿ z?ƿ`}?i2/@I24+^;0YnByn!IbD~VD~Ny=%_=ٔ6;Q->9!Y!=%Fy%{E-E->1Q 5E55x?Q 9M55)5BYIyM9@Q IM@5' EI58;i5#;5I5y]BɮeAexEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZdG@Bɢ`;) 4>i)ܵXii  < XI Iq@ @@3@@=@=ԡ^Ayb]E% E%uE% E!"E%:*E%:VE%3ZE!BE%;a52E%;a5JE%ed;a=:E%fd;a=AA II Ia Om > 4A,|?A2g.@2<@29ٱ2c3 >AHRS rotation from veh to nav: [[-0.981961,-0.186897,-0.028681],[0.189031,-0.966698,-0.172515],[0.004516,-0.174824,0.984589]]2H8l ?ǿ`^,2?1ƿr?`ƿ`?i2g.@I2^;2xCYJByJ.IbDRVDR0yZa=%ZP=ٔ^Ě;Q-^>9`Y`=bFyb{Eb;:Eb>dQ 5j5fx?Q 9j5f )fBYlyn9@Q In@f, EIf;if3;fZK5yrBɮvdAtDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd G@eBɢe;)i m@>ii)u Tyyi}~ViT<5=IIm9@i @i@m4@i^Ame) A .AI I O >E%  E% E% $E! "E% ҝ:*E% 0:VE% 4ZE! a- @a- @a- @a5 @^G,`?AB.@BO<@BlIٱBF1 JAHRS rotation from veh to nav: [[-0.981970,-0.186708,-0.029586],[0.189013,-0.967196,-0.169725],[0.003073,-0.172257,0.985047]]BHKl@ǿK1?Dſ-i? ƿ?iB.@IB^;BwCYTyTi5Mb@Mb@Mb@1111 195Zd;O?333333+?Y5~J?y55=5 A5@ 5A)5@1Y5zAbDMVDM1ٔ]^;Q-]>9] ?Ye ?=eFye{Ee;A8Ee>iQ 5u5mx?Q 9u5m)mBYK?Q E:yx7@Q I@m1 EIm”i)Pi{i?<5IIQBA4=BY>BBIBBB4 =BBB];B"E9@ @@^4@y^A 7ԩ A% ؟AI) II OU >M,8?A:.@:4<@:jB ٱ:fo-@ FAHRS rotation from veh to nav: [[-0.982006,-0.186490,-0.029774],[0.188840,-0.967889,-0.165924],[0.002125,-0.168561,0.985689]]:Hlǿ.}@+?=ſ`Lha?`jſÊ?i:.@I:^;:xCYRByR?IZ=Z=bD^VD^yf=%f<ٔf ;Q-f>9j"?Yj"?=jFyj{En9En>pQ 5v5rx?Q 9v5rt)rBYtyvw7@Q Iz@r6 EIr$:ir:rN5y~Bɮ~MA|%DNOT Ignoring new targets: 80.58 m.h!h!*h!"h) h)g)f)f1f1d1d1d1jd9Zd=\H@eBɢm<<)i m>ii)mLiqiuCiq}<}ݱ-IyIyE{ EiE%E"E=:*E9VE 4ZEBE;a2E;aJE8;a:E8;a59@1 @1@5/@1Ա^AqAyzA}gAA .AI I O > SuT,R?Al]7/@]<@]cúٱ]* mAHRS rotation from veh to nav: [[-0.982232,-0.185308,-0.029688],[0.187665,-0.968576,-0.163222],[0.001492,-0.165893,0.986143]]]Hqn.ǿofk?vĿpX?@;ſz?i]7/@I]Q^;]wCY}By}BIiMb@Mb@Mb@ 9/$?&1A`"?YL?yнY= A @ )@YA!%AAbD-VD-y=*[<%=5=ٔ=:Q-=>9E ?YE ?=EFyE{EMR-;E>Q 55qpx?Q 95)BY$N?Q E:y5@Q I@< EIe:i:P5yɮ4ADNOT Ignoring new targets: 80.58 m.hh*h"h hgff!f%&Bd!d!d)jd)Zd-՘H@]Bɢ]bx<)Y ]>iY)eGaaieKiimQB CB 'IB BB < =B GDB MDB E^;B "Eq Aq I I O >(Z,1|l?ABp/@B =@BسٱB-' NAHRS rotation from veh to nav: [[-0.982429,-0.184334,-0.029225],[0.186633,-0.969273,-0.160241],[0.001211,-0.162880,0.986645]]BHpEǿ@5흿?I ʂĿzS?AĿ?iBp/@IB"^;BvCYZBy^LIbDj VDj2yv0=%vc=ٔz L:Q-z>9Y=Fy{E  >;E >YQ 55Zx?Q 95R)BYy5@Q I@@ EI^i)qCigi%= <%TI!I!9@ @@/@ԉԱbEjEǁ3rEI"0E ErE#E"Eҝ:*E?:VE3ZEBE;a2E;aJEyY;a:EzY;a^ANJκAe ؟AIi Iy O > a,W?A60/@6&=@6ٱ6' >AHRS rotation from veh to nav: [[-0.982729,-0.182771,-0.028943],[0.185045,-0.969643,-0.159844],[0.001150,-0.162439,0.986718]]6Hr eǿ`O ?Q@uĿ`R?Ŀ`1?i60/@I6@^;4YJByJKIbDR VDR2yZ%ZN=ٔZ 9Q-^>9^"?Y^"?=^Fyb{Eb1;Eb>dQ 5j5f@x?Q 9j5f)fBYhyn5@Q In@fE EIfp:if;f-T5yrBɮrArkE DNOT Ignoring new targets: 80.58 m.h h*h"h hgf)f1f1d1d9dAjdAZdM@9H@Թ-Bɢ-J]U<)1 5/>iQ)U̯>QYi]n iYe>Ž9u ?Yu ?=uFyu{E},;E}>Q 55$x?Q 95)BYP?Q E:y4@Q I@K EI;i0; V5yBɮADNOT Ignoring new targets: 80.58 m.hh*h"h hgffQf]0BdYdYdYjdYZde@~0I@颭Bɢ`h<) m>i)9i!vi|<:IIiqIuABQ>BCB:IBBBBFDBNDB9_;Bd#EB}úCB}úCB}ÔCB}8 =B}8 =C}z6M9@I @Q@U.0@QA^A9qAE ؟AII IY Om >ԙ Dm, ?A2b/@2X=@2ٱ2$ :AHRS rotation from veh to nav: [[-0.983285,-0.179942,-0.027794],[0.182070,-0.970545,-0.157775],[0.001415,-0.160198,0.987084]]2H w SǿuN?`1Ŀ@/W?^Ŀ0?i2b/@I2d^;0YFByF]IbDNVDN0yrn =%rT=ٔr! Q-r>9v"?Yv"?=vFyv|EzRV;Ez>xQ 55z x?Q 95zo)zBYy4@Q I@zP EIz;iz;zW5yBɮAjE=DNOT Ignoring new targets: 80.58 m.h9h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU_I@颅BɢH<) N>i)4顉i酼i@E<d9;IIEz EvE&E"El:*E:VE4ZEBEܧ;a2Eݧ;aJEh;a:E h;aqM9@Q @Q@U4@Qԡ^Au] ;A I I O > M Wk>M ːC G  t9! Y% ]A1 ft,Uӱ?A/@Cw=@ٱ`# AHRS rotation from veh to nav: [[-0.983629,-0.178188,-0.026907],[0.180198,-0.971051,-0.156808],[0.001814,-0.159089,0.987262]]Hyƿf ?@IĿྲྀ]?@ ]Ŀ`?i/@ITp^;vCYByOI=a=iuMb@Mb@Mb@qqqq q9u@5^I ?DlZd;O?YubP?yuO uj<=u Au7@ uK@)u5@qYuAbDVD2y'%=ٔCFQ->9Y=Fy|El;E>Q 55w?Q 95E EsE%E"E:*EZ:VE 4ZEa@a@a@a@)BYS?Q E:yi3@Q I@W EIr;i};Z5yBɮ AiE DNOT Ignoring new targets: 80.58 m.h h*h"h hgfff1Bdd!d!jd!Zd%`I@UBɢU"C<)Y ]>iY)]m.YaieciamB B FIB BB 9 =B B B 4`;B #E^A qZ;A zA eAQ AI IQ Ia Ou >L{{,N(?A>/@>=@>g\ٱ>Yf" JAHRS rotation from veh to nav: [[-0.983965,-0.176486,-0.025804],[0.178346,-0.971551,-0.155826],[0.002432,-0.157929,0.987447]]>H| ƿ;l?ÿc?@7Ŀ`+?i>/@I>vE^;>wC L)LRQ8RKFPPPiPITTITiT Vji)*顡iՆiԍ<id;II e9@a @a@e0@i9E~ ErE'E"E:*E?:VE'4ZEBEf;a2Eg;aJEyY;a:EzY;a^Ar;aA I I O >ԑ _, ?AYuByuCIbD VD2y8̼%<ٔQ->9Y=Fy|EE>Q 55Lw?Q 95P)BYyQ I@a EI;iT;I]5yBɮyADNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZd J@qBɢRh<) |>i)Ț%iBKiמ<\;II9@ @@/@ԡ^A[R;E v E E #E "E Vz:*E A:VE 3ZE a @a @a @a @I I O > ,#?A2/@2=@2tCmٱ2/%# :AHRS rotation from veh to nav: [[-0.984469,-0.173865,-0.024327],[0.175521,-0.971906,-0.156813],[0.003620,-0.158647,0.987329]]2H ŀ3AƿC阿zw?@qĿ@jm?@NĿ@2?i2/@I2];2yCY-By-AI15AiMb@Mb@Mb@ 9:v?ףp= ÿ9Y=Fy|E;E>Q 55w?Q 95&)!BYX?Q Ez:y2@Q I@f EI:i:_5yBɮAhEB]Q>B]CB]SIB]BBYBYBYB]}`;B]$EDNOT Ignoring new targets: 80.58 m.hh*h!"h! h!g)f)fQfU:BdQdQdYjdYZd];J@颥Bɢ{^<) >i)1\ i͇i t<I I O >Y 7,C=?A2u/@2 =@2{ٱ2ح# :AHRS rotation from veh to nav: [[-0.984628,-0.173002,-0.024057],[0.174625,-0.971976,-0.157380],[0.003844,-0.159162,0.987245]]2H$ƿ`{`Z?m%Ŀk}o?j_Ŀ?i2u/@EB| EBcEB!E@"EB :*EBL9VEBc3ZE@BEB!;aF2EB";aJJEB";aJ:EB";aJI2z];2wCYRByR?IbD^VD^1yb%f^=ٔf Q-f>9hYh=jFyj|Ej!;En>pQ 5v5rw?Q 9v5rU)r-BYtyz2@Q Iz@rk EIr:ir:r`5y~Bɮ~A~gE%DNOT Ignoring new targets: 80.58 m.h!h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=@fJ@mBɢmDa<)i mش>ii)uOqqiuDiT<Rԁ $,΋W?A</@)=@,ĕٱ$$ %AHRS rotation from veh to nav: [[-0.984817,-0.172030,-0.023255],[0.173535,-0.972075,-0.157972],[0.004570,-0.159609,0.987170]]H@ ƿ Зd6?=k8Ŀ@r?@nĿ?i/@Ic];vCYuByu=IiMb@Mb@Mb@ 9tV?S㥛y&1?YR?y$`< 1A)5@YAbDmVDmNy}J׻%}2=ٔ}ϺQ-}>9Y=Fy|E;E>Q 55~ew?Q 95):BYuU?Q E~:yB4@Q I@q EI:in:b5yBɮA]EDNOT Ignoring new targets: 80.58 m.hh*h"h hgfff'BdddjdZdJ@Bɢea<) D>i!)%L9!!i%-҈i)-0<-#BABELIBEBBE7 =BABEODBE`;BE$E^A r; I I! O5 >ě,yYq?A20@2_=@28űٱ2% :AHRS rotation from veh to nav: [[-0.985026,-0.170945,-0.022388],[0.172319,-0.972116,-0.159052],[0.005425,-0.160528,0.987016]]2HUſ얿? [Ŀ8v?.Ŀ`?i20@I2K];2tCYBByB'IIF<)Fa=bDNVDNܲyV ӽ%Vn=ٔV"Q-Z?9XYX=ZFyZ|E^k;E^?``Q 5f5bNw?Q 9j5b)bCBYhyjW4@Q Ij@bv EIbR:ib:b6d5y]Bɮ]A]\EDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZdJ@Bɢk<) Ѣ>i)riJi<G.A ⫢,j4?A20@2W>@2ݍѻٱ2t% :AHRS rotation from veh to nav: [[-0.985136,-0.170440,-0.021398],[0.171659,-0.972147,-0.159571],[0.006395,-0.160872,0.986955]]2H`;@ſf长?lĿ1z?sĿ!?i20@I2 ];2xCYBByF!IbDNVDN:yV%VJ=ٔVZQ-Z>9XYX=ZFyZ#|E^7:E^>`Q 5f5b3w?Q 9f5b)bNBYdyjb4@Q Ij@b{ EIbb:ib:be5ylɮnAlDNOT Ignoring new targets: 80.58 m.hh*h "h  h g f ffdddjdZd%@DK@Bɢ6S<) ܞ>i)\ỉi;<65E } E hE #E "E ݉:*E ]9VE 3ZE a @a @a @a @ԡ xר,?A20@2W >@2ٱ2( :AHRS rotation from veh to nav: [[-0.985190,-0.170227,-0.020579],[0.171297,-0.971764,-0.162272],[0.007625,-0.163394,0.986531]]2H ſ@ ?VĿ];?Ŀ@?i20@I2];2yCYBByBIiMb@Mb@Mb@ 9"~?X9v~jt?YS?y<QA7@ )K@Y(AbD-VD-0y=5#%=A=ٔ=>Q-=>9AYA=EFyE(|EMc:EM>QQ 5]5Uww?Q 9]5U )UYBY]kV?Q E]}:ye4@Q Ie@U EIU ;iU` ;Ug5ymBɮmAiyBV>BCB@IBBB5 =BBB`;B$EDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffBdddjdZdi!)% !!i%Xi)5<5C8",꾲?A4<ɰ;bEu4jEu3rEu60E2z E2oE2 E0"E2l:*E2:VE23ZE0BE2ݧ;a:2E2ާ;a>JE2N;a>:E2N;a>B0@B>@B,ٱB_( JAHRS rotation from veh to nav: [[-0.985239,-0.170018,-0.019944],[0.170982,-0.971719,-0.162874],[0.008311,-0.163880,0.986445]]BH`$ſCl?Q`Ŀ`?Ŀ?iB0@IBj];@YBy I !%<bD-VD-y=%=J=ٔE޺Q-E>9AYA=EFyE,|EMN:EM>QQ 5]5Ugv?Q 9]5UN)UdBYaye4@Q Ie@U EIU;iU;Ui5ymBɮmlAm[EDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZdjK@BɢI<) g>i)i+֊i+ˌ<<ԁ P뵬,ز?AE50@E >@E(ٱE@) UAHRS rotation from veh to nav: [[-0.985205,-0.170281,-0.019401],[0.171147,-0.971594,-0.163443],[0.008982,-0.164345,0.986362]]EHˆ@ſ ݓ'?@L`Ŀ e?E ſF?iE50@IE[k^;EwCYmwBymIiMb@Mb@Mb@ 9> ףp=?RQ~jt?YQ?y½<A )@YAbD VD yR'%<=ٔ%ʺQ-%>9!Y!=%Fy-0|E-e̹E->1Q 5=55rv?Q 9=55)5mBYEaS?Q EE:yE7@Q IE@5 EI5C:i5:5{k5IyUBɮUAUZE}DNOT Ignoring new targets: 80.58 m.hyhy*h"h hgfffBd d d jd ZdK@]Bɢ]<)a e>iaDizDiEq EuaEu!Eq"Eq*Eu9VEuc3ZEqa}@a}@a}@a}@)e顁ilai&<$9BB'IBBBBBB`;B$EBBBǓCB7 =B7 =C55ԩ^A% *:<AQ Ia Iq O} > #,?A2d0@2 >@2ٱ26* :AHRS rotation from veh to nav: [[-0.985178,-0.170492,-0.018863],[0.171255,-0.971370,-0.164660],[0.009750,-0.165449,0.986170]]2H`ſP`?u@ſ?q-ſ?i2d0@I2E^;0YBcByBIbDJVDJyRݽ%Vf=ٔV Q-V>9TYX=ZFyZ4|EZEZ>\Q 5b5^v?Q 9f5^)^uBYdyf7@Q If@^ EI^:i^8:^m5yjBɮnpAlDNOT Ignoring new targets: 80.58 m.hh*h"h hg f f f dddjdZdK@EBɢEk<)I Mg>iI)MNIIiM͋iQU9 '¬,| ?A60@6>@6D%)ٱ6+ BAHRS rotation from veh to nav: [[-0.985086,-0.171045,-0.018673],[0.171752,-0.970993,-0.166357],[0.010324,-0.167083,0.985889]]6HӅſ@?_@3Kſ$?bſf?i60@I6B_;6xCYJ_ByJIR=R=PR@AbDVVDV0y^H%^I=ٔbQ-b>9`Y`=bFyb8|EfEf>hQ 5n5jv?Q 9n5j)j~BYpyr6@Q Ir@j EIjv;ijr;jn5yvBɮvAvYEDNOT Ignoring new targets: 80.58 m.hh*h"h hgff!f!d!d!d)jd)Zd-L@UBɢ];)Y ]`>iY)eaaieFiimi E w E mE 'E "E }:*E :VE '4ZE a @a @a @a @$ɬ,W&?A 2A0@2=@2=b1ٱ2, >AHRS rotation from veh to nav: [[-0.984998,-0.171584,-0.018364],[0.172224,-0.970799,-0.166998],[0.010826,-0.167655,0.985786]]2H`tſ͒`l ?  /`ſ@+,?`uſ?i2A0@I2l_;2wCYJWByJIBA<BY>BBIB|BB4 =BBB`;B$EiMb@Mb@Mb@ 9|?5^?9!Y!=%Fy-<|E-%E->1Q 5=55v?Q 9=55)5BYEN?Q EE:yE8@Q IE@5 EI5:i5:5p5yMBɮMAMXEB*** querying acoustic contact ***i iDNOT Ignoring new targets: 80.58 m.hh*h"h hgfff|Bdd d jd1Zd5@4@L@qBɢ͸;) T>i)/+))i-"͌i1=\<=:) Ь,2@?AE& E&rE&"E$"E&:*E&?:VE&(3ZE$BE&ν;a*2E&Ͻ;a*JE&yY;a.:E&zY;a.PYUByIbD-VD-y=d<%=Z=ٔEQ-E>9AYA=MFyM@|EMEM>QQ 55Uhvv?Q 95U)UBYyQ I@U EIUQ>iA)EtAIiM;iIUD BDAT read: Tx time:06:01:48.2200 $Ping request sent.! ;֬,h%Z?A:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253025b;ɰb4<|u/@u=@u<ٱuzG- AHRS rotation from veh to nav: [[-0.984666,-0.173504,-0.018146],[0.174070,-0.970329,-0.167815],[0.011509,-0.168400,0.985651]]uH@bb5ƿҔG? `zſ`!?$ſu?iu/@IuӞ_;qYRByIAi}Mb@Mb@Mb@yyyy y9}oʡ?V-I +?Y}M?y}myy} @ y)}@yYy 4<<bDVDfy_<%5=ٔ;ƺQ->9Y=FyE|E2E>Q 55Xv?Q 95])BYM?Q E:y9@Q I@ EI);i6);bt5yBɮ#ADNOT Ignoring new targets: 80.58 m.hh*h"h  h g f ffrBdddjdZdiL@DAzDE@AEMz EMEIEI"EMl:*EM;J:VEIZEIaU@aU@aU@aU@]Bɢ';) .N>i)i{iZ< [y <`ܬ,s?A2/@2=@2&@ٱ2- :AHRS rotation from veh to nav: [[-0.984551,-0.174158,-0.018102],[0.174703,-0.970153,-0.168176],[0.011728,-0.168740,0.985591]]2Hr Jƿ8\?} džſ?Dſ?i2/@I2PM_;2yCYBQByFIbDNVDNyn$%nn=ٔr|&Q-r?9pYp=vFyvH|EvEv?xQ 5~5z-Bv?Q 9~5z)zBYy9@Q I@z EIz<;izj;zu5y Bɮ ?A WE5DNOT Ignoring new targets: 80.58 m.h1h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM`fL@Y}Bɢh[<) L>i)C(顉i0i<Ó% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006809ԙ =H,7č?AYPBy IbDVDy%%-E=ٔ-Q-->91Y1=5Fy5M|E5E=>AQ 5E5E'v?Q 9M5E)EBYIyIQ IM@E EIE[:iE:Ew5yUBɮ]XA]VEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffdddjdZdaM@Bɢ~~;) L>i)iiً< r,Z?AZ/@Z3=@ZHٱZg. jAHRS rotation from veh to nav: [[-0.984241,-0.175917,-0.017955],[0.176406,-0.969755,-0.168690],[0.012263,-0.169199,0.985506]]ZH@~vƿbu?;`ſ?SſB?iZ/@IZ:^;ZwCYzMBy~II =)  = p=AAB!B!B%IB%]BB%4 =B!B%ODB%`;B%;$Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860iMb@Mb@Mb@ 9K7A`?~jty&1?YK?yD`< A)@Y)-AAbD-VD-N2y=1%E:=ٔEQ-E>9IYI=MFyMQ|EMEM>YQ 5]5]` v?Q 9e5]l)]BYeK?Q Ee:yeF:@Q Ie@] EI]:i]z:]y5yuĒBɮuAuLEDNOT Ignoring new targets: 80.58 m.hh*h"h hgfffgBdddjdZd`hAM@Bɢ t;)  J>i )YۻiZBi/<;II9@ @@/@)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860^A <A zA dAIi Iy O >Y,w?AEz EjE#E"El:*E9VE3ZEBEݧ;a2Eާ;aJE[<;a":E\<;a"(F/@F=@FJٱFgv. RAHRS rotation from veh to nav: [[-0.984120,-0.176590,-0.018009],[0.177073,-0.969574,-0.169033],[0.012388,-0.169537,0.985446]]FH}ƿp`U?@@ޢſ@_?gſň?iF/@IFq^;FxCYZSByZIbDbVDbyj =%je=ٔnjQ-n>9lYl=rFyrU|ErEr>tQ 5z5v u?Q 9z5v)vBY|y~<:@Q I~@v EIv8;iv;v-{5yɮA -DNOT Ignoring new targets: 80.58 m.h1h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE`dnM@uBɢu:"<)q uvY>iq)}׻yyi}hi<;II9@ @@/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014789ԡ^AU0;IIO=> ,Ve۳?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268792P/@=@wQٱ)G, AHRS rotation from veh to nav: [[-0.984056,-0.177013,-0.017303],[0.177397,-0.969862,-0.167028],[0.012785,-0.167434,0.985800]]Hc} `ƿ@ෑ? @(aſ@.?znſ@?i/@IW^;tCYZByIiMb@Mb@Mb@ 9@5^I ?Zd;:v?YbP?yy<A@ A)@Y(AbDVDfy<%.=ٔ\Q->9Y=FyZ|E7E>Q 55u?Q 95>)BYQ?Q E:yC9@Q I@ EI:i:;}5yƒBɮYA KED)zD)E5v E5fE5!E1"E5Vz:*E59VE5c3ZE1a=@a=@a=@a=@MDNOT Ignoring new targets: 80.58 m.hIhI*hI"hI hIgQfQfQfUBdYdYdYjdYZd] M@颕Bɢ <)  k>i))ϻ顙i eiEM<Eu;II]9@Y @Y@]/@YBX>BBIBXBB5 =BBB'a;B^$Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518910^A ;I I  O% >,]1?A2/@2=@2ȄUٱ2H, :AHRS rotation from veh to nav: [[-0.984010,-0.177292,-0.017105],[0.177637,-0.969810,-0.167072],[0.013032,-0.167438,0.985796]]2H}@}ƿ`Ҽ?`bſg?nſऋ?i2/@I2];2vCYBUByFIbDNVDN1yV%Vv=ٔV&CQ-V?9XYX=ZFyZ]|E^KAE^?`Q 5f5bu?Q 9f5b)bBYdyf?9@Q If@b EIb:ibb:b~5ynǒBɮnAl| DNOT Ignoring new targets: 80.58 m.h h *h "h  h gfffdddjdZd@GM@ Bɢ )<)  c>i )}ʻii9=#<=T;I9IAI]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7713009@ @@0@)bE3jEc3rEz:0EE EEhEE$EA"EE:*EE]9VEE4ZEABEEν;a}2EEϽ;a}JEE5;a}:EE5;a}Y^AT;A>A>IqIO>ԁ  BDAT read: Rx Time:06:01:50.8698  TRx dataTimestamp_ set to:1761544912.192212 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023987;,V ?A^Π/@^b=@^9Zٱ^* jAHRS rotation from veh to nav: [[-0.983883,-0.178037,-0.016645],[0.178314,-0.969926,-0.165673],[0.013352,-0.165971,0.986040]]^H@{ƿ^ ?@ 4ſX?>ſ`?i^Π/@I^];\Yr[ByrIbDzVDzk1y<% D=ٔ IQ- >9 Y=Fya|E ٺE>Q 5%5u?Q 9-5P)BY)y-39@Q I-@ EI:i:5y5ɒBɮ5wA=JEYeDNOT Ignoring new targets: 80.58 m.hahi*hi"hi higififqfqdqdqdjdZd` N@%Bɢ%)<)) -gq>i))-Ļ))i5ёi1=Q<=%;I9I99@ @@G1@ԉechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275156Թ^A5;EU } EU EU %EQ "EU ݉:*EU i:VEU 4ZEQ a] @a] @a] @a] @A I I O > ,(?AF-/@F“=@F^ٱF7* NAHRS rotation from veh to nav: [[-0.983851,-0.178231,-0.016458],[0.178471,-0.969860,-0.165892],[0.013605,-0.166150,0.986007]]FH@{DƿHڐ$?` ;ſ`݋?`fDſ]?iF-/@IF];DYVXByZIB\A^<B`B`BbIBbSBB`B`B`Bba;Bb$EBCBCBB5 =B4 =C4ieMb@Mb@Mb@aaaa a9e/$?MbMb?YeL?yee=e Ae7@ eA)aaYeAbDVD:2yH%A=ٔ+Q->9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529459Yq=}Fy}e|EE>Q 55u?Q 95)BY5L?Q E=:y=8@Q I=@ EIia)eBiiimyGiiuU':,%E?AFu/@F =@FeٱF+ NAHRS rotation from veh to nav: [[-0.983892,-0.178045,-0.016015],[0.178213,-0.969884,-0.166028],[0.014028,-0.166207,0.985991]]FH |1ƿ5f ?@J e@ſ?@HFſ =?iFu/@IF]];FxCYVjByZIbDbVDbfyj=%jE=ٔjRQ-n>9n ?Yn ?=nFynj|Er0:Er>tQ 5z5vNku?Q 9z5v)vBYxyz8@Q I~@v EIvQ;ivn;v)5y͒BɮAԑiyi}'i)z/!i%i =@4AAzGd9YA^A] ;Aa zAe fA A ؟AI I O% >b,^?A/@=@hٱLL+ -AHRS rotation from veh to nav: [[-0.983945,-0.177763,-0.015879],[0.177908,-0.969888,-0.166333],[0.014167,-0.166487,0.985942]]Hz|@ƿB?Q eJſ?uOſՌ?i/@I#^];wCYAyAiMb@Mb@Mb@ 9|?5^?(\µL7A`?YM?y+=hA @ GA)YQAbDVDN2E{ EwEE"E=:*E:VEZEa@a@a@a@ٔ椹Q->9"?Y"?=Fyn|E0:E>Q 55=Mu?Q 95E)BY$O?Q E:yd7@Q I@ EI>;i;+5yϒBɮ)AHE1M Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqMEntering Terminal tracking update period 2.000000 s sec at 184.199997 m (mode 1.000000 count ).qMMhQhQ*hQ"hQ hQgQfYfYf]BdYdadajdZd3?BɢW<) >i)0TiƓi::@  =IIBY>BBIB]BB4 =BBBa;B$E@ @@4@^AHuq %,x?AYhByIbD VDf2y-t%-<ٔ-Q-->91Y1=5Fy5r|E5E=>AQ 5E5E5u?Q 9M5E2)EBYIyIQ IM@E EIE[:iE_:E5yQɮ]=AYjjm@MmMmuB*** querying acoustic contact ***iq iqhh*h"h hgfffdddjdZd?Bɢ<) >i)@Tinij6@=IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Qu9@q @q@u/@qE z E rE #E "E l:*E ?:VE 3ZE BE ݧ;a2E ާ;aJE yY;a:E zY;aԁ^AUa5<ԱA  *DAT read: user:608>  BDAT read: Tx time:06:01:53.2700  $Ping request sent. q$,?Aɰ;2ݪ/@2r=@2kٱ2{z+ :AHRS rotation from veh to nav: [[-0.983978,-0.177600,-0.015658],[0.177707,-0.969888,-0.166546],[0.014392,-0.166661,0.985909]]2H|ƿ? R eQſ@y?@"Uſ?i2ݪ/@I2 ];2zCY^uBy^IfAfA f;fbDhVDhyr=%rO=ٔv7Q-v>9tYt=vFyzv|Ez:Ez>|Q 55~u?Q 95~)~BY y h7@Q I @~ EI~_:i~:~v5yҒBɮAGErj)M-1N-h9hA*hA"hA hAgAfAfIfIdIdIdIjdQZdU@k0?Bɢ<)! %>i!)%\=!!i-s?i-Ww1@)5t7>I1IQԱ9@ @@/@^A=5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251317II9Oev>E| EvE"E"E :*E:VE(3ZEa%@a%@a%@a%@ A A ?AB B B IB gBB 5 =B B B b;B $E9 :*,||?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503033nƨ/@n[=@n|IlٱnR{+ ~AHRS rotation from veh to nav: [[-0.983955,-0.177729,-0.015652],[0.177833,-0.969864,-0.166553],[0.014421,-0.166664,0.985908]]nH@|пƿ8? Qſ`숍?@9)Y)=-Fy-z|E5]E5>9Q 5E5=t?Q 9E5=3)=!BYM?Q?Q EM:yM6@Q IM@= EI=":i=n:=h5yUԒBɮUAYzji1NmmrCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1Mm uAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalhh*h"h hgfffBdddjdZdP?Bɢ^/\<) *>i)Hi,i+@H>IIi@i @i@m/@q^AeТ=9I9IQOY=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754417i E%  E% pE! E! "E% ~:*E%  :VE! ZE! BE% ;a5 2E% ;a5 JE% 2R;a5 :E% 2R;a5 $1,Wƴ?A 6B/@6׈=@6nٱ6, NAHRS rotation from veh to nav: [[-0.983718,-0.179011,-0.015920],[0.179124,-0.969429,-0.167697],[0.014587,-0.167818,0.985710]]6HzƿDM ?`wſߍ?@{ſ?i6B/@I6\;6xCY^rBy^IbD=VD=:yU=%]X=ٔeQ-e>9iYi=mFym~|EubEu>yQ 55}t?Q 95})}-BYy6@Q I@} EI}t:i}:}5y֒BɮAFEhh*h"h hgfffdddjdZdj@Bɢ̋<) >i)"Kiіi &@  >IIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0064369@ @@0@^Aew=I IO-,>ԙ E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2584537,=?A<9IYQ=UFyU|EU)EU>YQ 5e5]vt?Q 9e5] )]:BYm P?Q Em:ym5@Q Im@] EI]7 ;i]~ ;]5yuؒBɮ}RA}EEhh*h"h hgfffBdIdIdQjdYZd]T@]Bɢeo<) >i)4顑i(i.$ @IIBIBIBMIBMrBBM6 =BIBIBMcb;BM$E]9@Y @a@e0@a@i@maAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510975^A% I=! I I O >l=,0?A2.@2q<@2>ٱ2:j9 :AHRS rotation from veh to nav: [[-0.981854,-0.188706,-0.018798],[0.188982,-0.965385,-0.179769],[0.015776,-0.180059,0.983529]]2HXk'ȿ?0?oǿ'?- ǿ`y?i2.@I27];0YFtByFIbDR VDR2yV=%Vi=ٔZt Q-Z>9XY\=^Fy^|E^YEb>`Q 5f5bt?Q 9j5b)bEBYhyj4@Q Ij@b EIb:ib;b~5ypɮrAp|B*** querying acoustic contact ***i ihh*h"h hgfffdd!d!jd!Zd%@@UBɢU&<)UM U>iQ)]8YYi]zie'@aaIaIichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7624399@ @@4@1^A~=E EE#E"E:*E*5:VE3ZEBE5;a2E6;aJE;a:E;aI)I9OM0>Qiߩ I߭ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014664ԁ 1D,?A6Vu.@6j<@6wٱ6yG BAHRS rotation from veh to nav: [[-0.980407,-0.195780,-0.021735],[0.196256,-0.961360,-0.193058],[0.016902,-0.193541,0.980947]]6H`~_Qɿ A? u@ȿ@N?@ȿ c?i6Vu.@I6&];6wCYJwByJIbDRVDRyZt<%ZJ=ٔ^H6Q-^>9\Y\=bFyb|Eb$Eb>dQ 5j5fut?Q 9j5f)fRBYlynQ4@Q In@f EIf* ;if;fB5yrBɮrKAv;Eh h *h "h hgfffddd!jd!Zd%q4 @MBɢUԔ<)Q UĠ>iQ)UnGsYQYiegieO@aiIiIi59@1 @1@5/@1^Af>ԉIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266408ԹEz EnEE"El:*E:VEZEa@a@a@a@ BA AE <BM [>BI BM IBM |BBM 5 =BI BM PDBM b;BM &%EJ,-?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519129Ru-@R ;@R+ٱRzX zAHRS rotation from veh to nav: [[-0.978514,-0.204552,-0.025862],[0.205392,-0.956108,-0.208976],[0.018020,-0.209798,0.977579]]RH`O.ʿr{GJ?`p@ʿs?ʿ SH?iRu-@IR?];PY}By  IiMb@Mb@Mb@ 9v/?"~jQ?YxI?yS㽙\= A@ GA)@YbDVDԱy9<%:=ٔP'Q->9Y=Fy|EE>Q 55|t?Q 95)bBYK?Q E:y3@Q I@ EI:i:,5yBɮ*A:Ehh*h"h hgfff%Bd!d!d!jd!Zd-)@Bɢt<) >i)]z`isi@II9@ @@@^AH>AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770353bE3jE<3rEE  E fE %E "E :*E 9VE 4ZE BE ;a 2E ;a JE -;a :E -;a 9 Q,G?AZb-@Z ;@ZfٱZh fAHRS rotation from veh to nav: [[-0.975957,-0.215848,-0.030281],[0.217081,-0.950106,-0.223996],[0.019579,-0.225184,0.974120]]ZH ; ˿`M?Eg̿ ?@̿+?iZb-@IZ8];XYnwBynIbDzVDzy%W=ٔQ->9 Y = Fy |E E>Q 5u5et?Q 9u5F)qBYyy}2@Q I}@ EIUi)#@Pi`ri @IIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022449A=v9@ @@4@q^A[>I I O >% BDAT read: Rx Time:06:01:55.9240 - TRx dataTimestamp_ set to:1761544917.484101- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275433ԙ /W,a?AE EgE&E"EO:*E&9VE4ZEa@a@a@a@,@g :@ѱٱ%7{ mAHRS rotation from veh to nav: [[-0.972339,-0.230780,-0.036020],[0.232563,-0.942221,-0.241109],[0.021705,-0.242817,0.969829]]qHf2Ϳ&q?&ο9?Ͽ?i,@I O];xCY~By IiMb@Mb@Mb@ 9sh|??q= ףpl?YI?y뽙=vA ^A)@YAbDVD:y;<%"=ٔQ->9 Y = Fy |EE>Q 55Et?Q 9%5)BY-VL?Q E-:y-1@Q I-@ EI+;iO+;5y5Bɮ5IA59EhYhY*hY"hY hYgafafifm&BdididijdqZdu@额BɢbZ<) >i)T:顩iNi @IIB]>BCBIBBBBBBb;BB%EBBBBB5 =C4ԡqڼchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5271949@ @@/@^A > I I O >^,7~?ARDAT read: 06:01:55.9240 LVL= 32752, 31089, 32754, 32755, AGC= 72, IDX= 117,-0.48, 2.842,-1.644, 3.107,-2.818, PHS=-0.521, 1.219,-0.402, RAW= 326.5, -3.5, CAL= 325.6, -6.6, ROT= 184.4, 6.6 ZYgot valid direction response: 06:01:55.9240 LVL= 32752, 31089, 32754, 32755, AGC= 72, IDX= 117,-0.48, 2.842,-1.644, 3.107,-2.818, PHS=-0.521, 1.219,-0.402, RAW= 326.5, -3.5, CAL= 325.6, -6.6, ROT= 184.4, 6.6 ^PDAT read: Bearing 146.8, -3.8 (Local) ^~Local bearing/azimuth received: Bearing 146.8, -3.8 (Local) bDAT read: Range 11 to 50 : 187.4 m (Round-trip 249.9 ms) speed -0.6 m/s fR#Rx 1: Read range and direction messages.jbdirection in FSK: [-0.990445,-0.076211,-0.114937]~Fpublishing direction and range infoy<>?ѹZNZlY>f;C<<>qy< <)>HI>B`i>1?>;>Z@>5z>oٵ@ >)>M@I>=<<>:ŕ7 ~ܿɪ^hï >x+)> E~=I>%Di>=<<=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.q*@8@pcɼٱ: AHRS rotation from veh to nav: [[-0.967672,-0.248484,-0.043201],[0.251010,-0.932138,-0.260985],[0.024581,-0.263391,0.964376]]H+@OϿq?`п+?gп*?i*@I];wCEm EmfEm!Ei"Em~:*Em9VEmc3ZEiBEm;a2Em;aJEia:EiaԡYwByIbDVD1y%=ٔwQ->9Y=Fy|ETE>Q 55 $t?Q 95U)BYy0@Q I@ EI;i";c5yBɮA8Ei<i>/?AJi>6:CRi>6:Cji>LJ@b>5 gDhb,X)g5R>?ѹZNZlZi>%Dbi>=j>p.f@>{;wo5Z>s|:i>6C"i>ԚZ?*i>o6$TBi>0+Bi> i[?i>q6i>EqBi>Ci>Q@M addTargetRange:: Added new target pos. range: 187.399994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhUZhUe Added new target pos. range: 186.214630 m, bearing: 351.456284 deg, lat: 36.779404 deg, lon: -121.859778 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jhaeFNOT Ignoring new targets: 186.21 m.RhmZhm}  ProNav pure pursuit: ac range: 186.214630 m, nav range: 133.909302 m, bearing: 348.644792 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 350.562569 deg, new cmd heading: 348.644792 deg. HeadingCmd: 6.085000 target range: 186.214630 and range: 187.40 m.hQ@h*h"h hgfffdddjdlg@Zd`?5*DAT read: user:609> 5BDAT read: Tx time:06:01:57.3200 =$Ping request sent.=i)u"iDCil?IQ@IfAfA5 GA Y ÿ9 Y A e !9@ @@ 0@@ @ fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250639iE} EgE$E"E݉:*E&9VE4ZEa @a @a@a@^A1>II)OE)?hi,?A^0(@^%6@^ܠٱ^ jAHRS rotation from veh to nav: [[-0.956177,-0.287067,-0.057605],[0.291122,-0.911186,-0.291528],[0.031200,-0.295522,0.954826]]^H@M_ҿY~?n(dҿ?`ҿ?i^0(@I^];^uC l)nkAr94ppprkAirHIv_FtItit tx)xx x~T||||I|)i)IkA7   kA Di i) IYY%nBy%IBBBIBBB4 =BBBb;BI%Ei]Mb@Mb@Mb@YYYY Y9]v/?B`"۹I +?Y]xI?y]ν]94=]A]@ ]A)]K@YY](A 4<bDVDy %=ٔJQ->9 Y =Fy|E%E>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502796Q 5U5t?Q 9U5|)BYUoK?Q EU:yU\/@Q I]@ EIL;i;5ayBɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 186.21 m.RhZh ProNav pure pursuit: ac range: 186.214630 m, nav range: 134.327011 m, bearing: 348.608050 deg, approach rate: 0.758088 m/s, LOS rate: -0.066474 deg/s, cmd heading: 348.644793 deg, new cmd heading: 348.608050 deg.  HeadingCmd: 6.084358 target range: 186.214630 and range: 187.40 m.h @h *h "h hgfffYBdd9dAjdAZdE`;?频ɢ<) R>i)_ 顙i8쟼i1?I@Iԉ] 9@a  @a @e 0@a a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755516ԉ E x E nE &E "E ˀ:*E :VE 4ZE BE ;a 2E ;a JE J;a :E J;a^AaII Ou?/r,)ɵ?A2g&@24@2T ٱ2b :AHRS rotation from veh to nav: [[-0.949261,-0.307799,-0.064528],[0.312582,-0.900864,-0.301226],[0.034586,-0.306112,0.951367]]2H@X`ӿ愰Y?GGӿC?`Vӿ`q?i2g&@I2o];0YxByIbD-VD-k1Yy7=%0=ٔQ->9Y=Fy|EJE>Q 55?s?Q 95 y)BYy-@Q I@# EI:i:5yBɮA7EjhFNOT Ignoring new targets: 186.21 m.RhZh ProNav pure pursuit: ac range: 186.214630 m, nav range: 134.678680 m, bearing: 348.573916 deg, approach rate: 0.793546 m/s, LOS rate: -0.076822 deg/s, cmd heading: 348.608047 deg, new cmd heading: 348.573916 deg. HeadingCmd: 6.083763 target range: 186.214630 and range: 187.40 m.h/@h*h"h hgfff d d d jd Zd?=Bɢ=բ<)A E#>iA)EAAiMuiMH?IQIU/@IQMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009259 @  @ @ 4@ ԉԱ^A9>A>A>IqIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258670 N\x,?AUA%@U73@UٱUidE EoE$E"E:*E:VE4ZEa@a@Աa@a@ EAHRS rotation from veh to nav: [[-0.941623,-0.328946,-0.071703],[0.334523,-0.890135,-0.309441],[0.037964,-0.315363,0.948211]]UH!@u տ?{ ӿ p?.ԿW?iUA%@IUEs];QYjByIiMb@Mb@Mb@ 9v/?EԸZd;O?Yyƽj<=j"At@ CA)1AYAbDVDyu%)=ٔYQ->9Y=Fy|E)EE>Q 55Ds?Q 9 5t)BY VK?Q E :y ,@Q I @) EI;i ;۠5yBɮ*A6Ejh9EFNOT Ignoring new targets: 186.21 m.RhMZhMU ProNav pure pursuit: ac range: 186.214630 m, nav range: 135.047867 m, bearing: 348.535500 deg, approach rate: 0.764695 m/s, LOS rate: -0.079354 deg/s, cmd heading: 348.573923 deg, new cmd heading: 348.535500 deg. ]HeadingCmd: 6.083092 target range: 186.214630 and range: 187.40 m.BiBiBm!IBmBBm3 =BiBiBmb;BmE%Eh]@hy*h"h hgfffBdddjdZd[?ɢ87<) i>i)WѺi8i}x?I@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.51122159@1 @1@54@1 9 ^Au 1>A I I O >",?A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7626756#@621@6(ٱ6t BAHRS rotation from veh to nav: [[-0.933298,-0.350474,-0.078251],[0.356732,-0.879849,-0.314019],[0.041206,-0.320988,0.946186]]6H@`*nֿJ`?`'Կ ?Կ(G?i6#@I6];4DYJByN IPPbDVVDVβy^I=%^j=ٔbQ-b>9`Y`=fFyf|EfÊEf>hQ 5n5j{s?Q 9n5jq)jBYpyrk+@Q Ir@j. EIj:ij:jc5ytɮv{AtjhFNOT Ignoring new targets: 186.21 m.RhźZhź- ProNav pure pursuit: ac range: 186.214630 m, nav range: 135.314117 m, bearing: 348.505137 deg, approach rate: 0.760262 m/s, LOS rate: -0.086528 deg/s, cmd heading: 348.535510 deg, new cmd heading: 348.505137 deg. 5HeadingCmd: 6.082562 target range: 186.214630 and range: 187.40 m.h5Y@h1*h1"h1 h1g9f9f9f9dAdAdAjdIZdM8s@9ɢ=H<)EU< EQ>iA)MͰIIiMǤie?aaIeY@IiE } E kE E "E ݉:*E :VE ZE BE D;a%2E E;a%JE ?;a-:E ?;a-Թ59@1 @1@=/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018276^Ay A I I O >%',?A:eA"@:60@:6ٱ:玨 FAHRS rotation from veh to nav: [[-0.924664,-0.371520,-0.083481],[0.378184,-0.870434,-0.315152],[0.044421,-0.322981,0.945362]]:H@ٖ׿@_@*4? u+ԿI?@Կ`h@?i:eA"@I:];:wCYN}ByN IR=R=bDZVDZ1ybsS%bK=ٔb!Q-b>9dYd=fFyf|EfkEj>hQ 5r5js?Q 9r5jm)jBYpyr)@Q Ir@j3 EIj";ij/;j$5yzBɮzAz,E|jh%FNOT Ignoring new targets: 186.21 m.Rh%7պZh%7պ5 ProNav pure pursuit: ac range: 186.214630 m, nav range: 135.617355 m, bearing: 348.467532 deg, approach rate: 0.753248 m/s, LOS rate: -0.093204 deg/s, cmd heading: 348.505129 deg, new cmd heading: 348.467532 deg. =HeadingCmd: 6.081906 target range: 186.214630 and range: 187.40 m.h=@h9*h9"hA hAgAfAfAfIdQdYdajdiZd}@颡ɢ?<) >i)t顩iuiu}?qqI}@Iy5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266703)9@ @@@EUz EUhEU"EQ"EUl:*EU]9VEU(3ZEQa]@ae@ae@ae@aBU>BCB'IBBB4 =BBODBb;B^A) ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518688I! I1 OE >P,3?A2^ @2.@2Bٱ2 :AHRS rotation from veh to nav: [[-0.915560,-0.392534,-0.087562],[0.399358,-0.861574,-0.313374],[0.047568,-0.321881,0.945584]]2HDLEٿxj`?OԿZ?Կ@:B?i2^ @I2];2vCYFByF IaiuMb@Mb@Mb@qqqq q9ukt?333333I +?Yu P?yuu94=u&Aq uVA)uAqYuAbDVDye<%==ٔ-Q->9Y=Fy|EZE>Q 55ʃs?Q 95hi)*BYPQ?Q E:y@*@Q I@8 EIP ;i ;5yBɮA+EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 186.21 m.Rh׺Zh׺  ProNav pure pursuit: ac range: 186.214630 m, nav range: 135.953857 m, bearing: 348.426735 deg, approach rate: 0.780018 m/s, LOS rate: -0.094332 deg/s, cmd heading: 348.467536 deg, new cmd heading: 348.426735 deg. HeadingCmd: 6.081194 target range: 186.214630 and range: 187.40 m.h$@h*h"h hgff!f%܀Bd!d!d!jd)Zd-2@ɢKm<) >i)%*xO!!i%*i-d?))IM$@IQԉ9@ @@ /@ Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770697Ա^A 9>EE x EE gEE $EA "EE ˀ:*EE &9VEE 4ZEA BEE ;aM 2EE ;aU JEE o1;aU :EE p1;aU IA IQ Oe >8,M?A2T@2lJ-@2bOٱ23 :AHRS rotation from veh to nav: [[-0.906160,-0.413160,-0.090405],[0.419897,-0.853277,-0.309202],[0.050609,-0.318147,0.946690]]2HB8qڿ$? Nӿ|?\ԿGK?i2T@I2Y];2wCYBxByFIbDNVDNyV,!%V[=ٔVQ-V>9XYX=ZFyZ|E^2xE^>`Q 5j5btms?Q 9r5be)b?BYpyv(@Q Iv@b= EIbq;ibť;b5yzBɮzAxjhAEFNOT Ignoring new targets: 186.21 m.RhMZhM] ProNav pure pursuit: ac range: 186.214630 m, nav range: 136.242889 m, bearing: 348.388820 deg, approach rate: 0.758019 m/s, LOS rate: -0.099226 deg/s, cmd heading: 348.426746 deg, new cmd heading: 348.388820 deg. eHeadingCmd: 6.080532 target range: 186.214630 and range: 187.40 m.he@ha*ha"ha hagifififidqdqdqjdqBDAT read: Rx Time:06:01:59.9424 TRx dataTimestamp_ set to:1761544921.264241checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023855ԹZd+ @Bɢ<) >i)D iciuè?11I5@I1U̼9@ @@/@U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274678A E  E E "E "E s:*E VE (3ZE a @a @a @a @^A1 I I O >,@j?A.PExceeded connect timeout, disconnecting.XV@u*@gٱ9 AHRS rotation from veh to nav: [[-0.886437,-0.453919,-0.090482],[0.459402,-0.839044,-0.291472],[0.056386,-0.299939,0.952290]]H@]@ ݿ)f?ryҿެ?32ӿ)y?iV@I^;vCY)y) IIQUAiMb@Mb@Mb@ 99Y=Fy|EE>BBCB@IBBB7 =BBBc;BQ 55Ns?Q 95_)]BYT?Q E:yZ%@Q I@D EI ;iq ;쩕5yBɮ-A*Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528762jhiuFNOT Ignoring new targets: 186.21 m.Rh Zh  ProNav pure pursuit: ac range: 186.214630 m, nav range: 136.643250 m, bearing: 348.326545 deg, approach rate: 0.778325 m/s, LOS rate: -0.120713 deg/s, cmd heading: 348.388825 deg, new cmd heading: 348.326545 deg. HeadingCmd: 6.079445 target range: 186.214630 and range: 187.40 m.hЊ@h*h"h hgfffBdddjdZd% @额Bɢ|<) B>i)\aJ顡i iN?IЊ@I 9@  @ @ @ 9 % DAT read: 06:01:59.9424 LVL= 32752, 26609, 32754, 32755, AGC= 69, IDX= 105,-0.45,-1.151, 1.091,-0.280,-0.162, PHS=-0.887, 1.298,-0.162, RAW= 311.0, -2.6, CAL= 309.7, -6.0, ROT= 200.3, 6.0 5 Ygot valid direction response: 06:01:59.9424 LVL= 32752, 26609, 32754, 32755, AGC= 69, IDX= 105,-0.45,-1.151, 1.091,-0.280,-0.162, PHS=-0.887, 1.298,-0.162, RAW= 311.0, -2.6, CAL= 309.7, -6.0, ROT= 200.3, 6.0 = PDAT read: Bearing 139.3, -20.2 (Local) = ~Local bearing/azimuth received: Bearing 139.3, -20.2 (Local) E DAT read: Range 11 to 50 : 163.7 m (Round-trip 218.3 ms) speed -1.1 m/s M R#Rx 1: Read range and direction messages.U bdirection in FSK: [-0.932751,-0.345035,-0.104528]U Fpublishing direction and range infoy  G^ ֿ4ޮ`ºY #C g ) EI oci $? T% @ 9 @ Pwֽ) _@I Pw= C^a■/B`ȿ,1[ <) b:=I b2i Pw= m T****** received valid address query ******m R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.^A 1>I1 IA OU >x,,?A <ɰ>p;bE-4jE-c3rE-/E EE#E"Ea:*EVE3ZEBEW;a2EX;aJEa:Ea @F)@ pٱp AHRS rotation from veh to nav: [[-0.875620,-0.474731,-0.088992],[0.479435,-0.831935,-0.279331],[0.058571,-0.287253,0.956062]]H @a޿+ȶ?6ѿ ?`\bҿ?i @I];Y-By-IbD9VD9ym=%m<ٔuQ-u>9qYy=}Fy}|E}sZE}>Q 55Q6s?Q 95Z)vBYy#@Q I@J EIM:i:ǫ5yɮAAi)i-iq)uL8qqi}=i}?I@I]*DAT read: user:610> eBDAT read: Tx time:06:02:01.3200 e$Ping request sent.m@ l>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250680^AAIIO>Bڨ,`!?AQE| EkE%E"E :*E:VE 4ZEa@a@a@a@@'@ivٱ@ AHRS rotation from veh to nav: [[-0.864687,-0.494491,-0.088294],[0.498701,-0.824065,-0.268728],[0.060123,-0.276398,0.959161]]H ༥߿s?@^ 2ѿ@}Ȯ?ѿq?i@Ig^;wCYByII<)<nManaging dock network, ignoring radio surface power offi]Mb@Mb@Mb@YYYY Y9](\?(\µMb?Y]zT?y]]@=]j"A]t@ ]CA)]@YY]AbD}VD}2ya%=ٔDQ->9Y=Fy|E.E>Q 55s?Q 95T)BYU?Q E~:yC"@Q I@Q EIJ;iyH; 5yBɮA)EajhFNOT Ignoring new targets: 186.21 m.RhuZhu ProNav pure pursuit: ac range: 186.214630 m, nav range: 137.364120 m, bearing: 348.202456 deg, approach rate: 0.769800 m/s, LOS rate: -0.135914 deg/s, cmd heading: 348.272548 deg, new cmd heading: 348.202456 deg. HeadingCmd: 6.077279 target range: 186.214630 and range: 187.40 m.hy@BBCBLIBBB6 =BBBc;BL%EBBBB4 =BCÉ5h*h"h hgfffBdd d jd Zd :?}Bɢ}֬<)y }M>i)[9顁ii&ā?Iy@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502855M9@Q @Q@U/@Qԉ ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754720A .AI IO >Н,¶?A2*)@2&@2yٱ20 NAHRS rotation from veh to nav: [[-0.853036,-0.514339,-0.088231],[0.518278,-0.815245,-0.258386],[0.060968,-0.266141,0.962004]]2HLwuO?|`gпA7?uѿ?i2*)@I2H^;2vCYVByVIbD VD βy}pS=%}P=ٔ Q->9 ?Y ?=Fy|EmE>Q 55_s?Q 95O)BYy @Q I@V EI:ik:ů5y BɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 186.21 m.Rh)Zh)- ProNav pure pursuit: ac range: 186.214630 m, nav range: 137.660934 m, bearing: 348.146702 deg, approach rate: 0.791812 m/s, LOS rate: -0.148413 deg/s, cmd heading: 348.202443 deg, new cmd heading: 348.146702 deg. 5HeadingCmd: 6.076306 target range: 186.214630 and range: 187.40 m.h5q@h9*h9"h9 h9gAfAfIfQdQdYdYjdaZde?Ez ExE!E"El:*E:VEc3ZEBEݧ;a2Eާ;aJEPo;a:EQo;aA]Bɢ]<)Y ]>iY)]1T;:ai,7ij"n?Iq@I9@ @@/@yUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006640 =BGUfAaſ9fAYAԙ ^A A ؟AI I O >¶,F[ܶ?A >R@>$@@>0{ٱ> JAHRS rotation from veh to nav: [[-0.841038,-0.533255,-0.091070],[0.537493,-0.804626,-0.252346],[0.061287,-0.261182,0.963342]]>H`m@_P$3?~`o&п`a?5п?i>R@I>U^;9f"?Yf"?=fFyf|EjZuEj>lQ 5r5nir?Q 9r5nJ)nBYtyvD@Q Iv@n[ EIn:in:nl5yz BɮzRAzEjh%FNOT Ignoring new targets: 186.21 m.Rh%+Zh%+5 ProNav pure pursuit: ac range: 186.214630 m, nav range: 137.943542 m, bearing: 348.090566 deg, approach rate: 0.754209 m/s, LOS rate: -0.149507 deg/s, cmd heading: 348.146708 deg, new cmd heading: 348.090566 deg. =HeadingCmd: 6.075326 target range: 186.214630 and range: 187.40 m.h=i@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMXu?}Bɢ}b<) >i)v:顁i,iG\?Ii@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.25908759@1 @1@50@1@=eA@=bAԩE%} E%lE%$E!"E%݉:*E%:VE%4ZE!aE@aE@aE@aM@^AB- V>B) B) B) B- 7 =B) B) B- b;B- B%EAM .AIQ Ii Ou > m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510600켭,6?A2=@2`3#@2]2yٱ2 :AHRS rotation from veh to nav: [[-0.828524,-0.551568,-0.096548],[0.556643,-0.792568,-0.248967],[0.060802,-0.260018,0.963688]]2H@D q@^ ?@\)Ͽ`!? #п`?i2=@I2^;2wCYB~ByF I HHHJAliMb@Mb@Mb@ 9"~?Zd;+?YS?yy=A@ -A)@Y3AbD-VD-y=}%EC=ٔE:Q-E>9E ?YM ?=MFyM|EM_EM>QQ 5]5U3r?Q 9e5UD)UBYeT?Q Ee:yej@Q Ie@U` EIU ;iU~ ;UA5ym#Bɮu)Aqjh%FNOT Ignoring new targets: 186.21 m.Rh- !Zh- !} ProNav pure pursuit: ac range: 186.214630 m, nav range: 138.256378 m, bearing: 348.029094 deg, approach rate: 0.718177 m/s, LOS rate: -0.140801 deg/s, cmd heading: 348.090564 deg, new cmd heading: 348.029094 deg. }HeadingCmd: 6.074254 target range: 186.214630 and range: 187.40 m.hI`@h*h"h hgfffKBdddjdZd?额BɢK<) F>i)ڣ:顡ii^B?II`@I 9@ @@r0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7627439Ew EjE"E"E}:*E9VE(3ZEBEu;a2Ev;aJE[<;a:E[<;a^AI a I I O >í,8?A2@2!@2wٱ2. :AHRS rotation from veh to nav: [[-0.815628,-0.569371,-0.102805],[0.575417,-0.779717,-0.246853],[0.060392,-0.260496,0.963584]]2HH8gQi?q Ͽ@?п?i2@I2 ^;2xCYzwByzIbDVDy%M=ٔɆ:%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014766Q-%>9)Y)=-Fy-|E5wiE5>99Q 5E5=tr?Q 9M5="?)=BYIyM@Q IM@=f EI=t:i=:=5yU%BɮUnAYjhyFNOT Ignoring new targets: 186.21 m.RhM5ZhM5 ProNav pure pursuit: ac range: 186.214630 m, nav range: 138.551636 m, bearing: 347.967922 deg, approach rate: 0.766694 m/s, LOS rate: -0.158508 deg/s, cmd heading: 348.029093 deg, new cmd heading: 347.967922 deg. HeadingCmd: 6.073186 target range: 186.214630 and range: 187.40 m.hW@h*h"h hgfffdddjdZdK@Bɢb<) >i):iiF0?IW@Iu9@q @q@u4@qi^A9>ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270533I I O > ʭ,*?AEu| EuoEu#Eq"Eu :*Eu:VEu3ZEqa*@a*@a*@a.@ɰ;BA<Թ L@ B @ \sٱ e mAHRS rotation from veh to nav: [[-0.802142,-0.586745,-0.110897],[0.594161,-0.765760,-0.246138],[0.059500,-0.263329,0.962870]] H`&` c@^?@`wϿv?`п?i L@I H1^; wCYyByIBBBBB6 =BBBb;B:%EiMb@Mb@Mb@ 9zG?Mb:v?Y W?y@<A1@ A)\@YAbDVD!3y;%%=ٔ~:Q->9Y=Fy|E?E>Q 55pr?Q 95D8)BYzW?Q E|:yQ@Q I@l EIn:i ;*5y'Bɮ tA E-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518807jh9EFNOT Ignoring new targets: 186.21 m.RhEN3ZhEN3U ProNav pure pursuit: ac range: 186.214630 m, nav range: 138.919739 m, bearing: 347.890162 deg, approach rate: 0.744051 m/s, LOS rate: -0.156760 deg/s, cmd heading: 347.967921 deg, new cmd heading: 347.890162 deg. ]HeadingCmd: 6.071829 target range: 186.214630 and range: 187.40 m.h]lL@hY*hY"hY hYgafafafeBdididijdiZduJA@Bɢ%rϮ<)! %?>i!)%}~:!)i-Pi-m?11I5lL@I1IeA))@) @1@54@1@=p>@9 ^Au 1>y I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775925Э,!C?A2@2@2Koٱ2# :AHRS rotation from veh to nav: [[-0.788392,-0.603796,-0.117763],[0.612396,-0.752149,-0.243400],[0.058388,-0.264013,0.962750]]2H:@LR%@? `'Ͽ?п?i2@I2^;2uCYB|ByFIIF>)F=bDNVDNyV<%V=ٔVt;Q-Z?9XYX=ZFyZ|E^̜E^?`Q 5f5bcr?Q 9f5b3)bBYdyf@Q Ij@bp EIbk:ib:bx5ylɮ=[AAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 186.21 m.Rh,Zh,= ProNav pure pursuit: ac range: 186.214630 m, nav range: 139.140106 m, bearing: 347.841187 deg, approach rate: 0.680827 m/s, LOS rate: -0.151069 deg/s, cmd heading: 347.890167 deg, new cmd heading: 347.841187 deg. EHeadingCmd: 6.070974 target range: 186.214630 and range: 187.40 m.hEkE@hA*hA"hA hAgIfIfIfIdQQE}~ E}iEyEy"E}:*E}9VEyZEyBE}f;a2E}g;aJE}8;a:E}8;adQdjdZdc @EBɢE<)A Ej>iA)EE;IIiMpGi?IkE@Iԁ9@ @@/@iYIY]BDAT read: Rx Time:06:02:03.9113 eTRx dataTimestamp_ set to:1761544925.300419echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028004ԩ^A 9>II IY Ou > ׭,]?A2>`@2U@2jiٱ2 :AHRS rotation from veh to nav: [[-0.774279,-0.620131,-0.126215],[0.630276,-0.737695,-0.241988],[0.056956,-0.266917,0.962035]]2H @'`9+? 2uοN)?`)ѿ?i2>`@I2p^;0YBzByBIbDNVDNܲyV%VJ=ٔVh;Q-V>9XYX=ZFyZ|EZugE^>`Q 5f5b#r?Q 9f5b.)b%BYdyfg@Q If@bv EIb:ib:b<5yn2BɮnAnEjhFNOT Ignoring new targets: 186.21 m.Rh OZh O ProNav pure pursuit: ac range: 186.214630 m, nav range: 139.434189 m, bearing: 347.772533 deg, approach rate: 0.779037 m/s, LOS rate: -0.181483 deg/s, cmd heading: 347.841180 deg, new cmd heading: 347.772533 deg. %HeadingCmd: 6.069776 target range: 186.214630 and range: 187.40 m.h%;@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5 @Bɢs<) ޞ>i)˝;  i 5i%>I=;@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2788749@ @@/@DzDAAE| EmE%E"E :*E:VE 4ZEa@a@a@a@^A1>IQIO>BU>BB@IBBBB BBb;B8%E DAT read: 06:02:03.9113 LVL= 32752, 29409, 32754, 30931, AGC= 69, IDX= 105, 0.42, 0.182, 2.352, 1.282, 1.320, PHS=-1.036, 1.077,-0.082, RAW= 303.2, 0.5, CAL= 301.5, -3.4, ROT= 208.5, 3.4  Ygot valid direction response: 06:02:03.9113 LVL= 32752, 29409, 32754, 30931, AGC= 69, IDX= 105, 0.42, 0.182, 2.352, 1.282, 1.320, PHS=-1.036, 1.077,-0.082, RAW= 303.2, 0.5, CAL= 301.5, -3.4, ROT= 208.5, 3.4  PDAT read: Bearing 125.8, -29.6 (Local)  ~Local bearing/azimuth received: Bearing 125.8, -29.6 (Local)  DAT read: Range 11 to 50 : 140.4 m (Round-trip 187.2 ms) speed -0.2 m/s  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.877270,-0.476319,-0.059306] Fpublishing direction and range infoya e j'`~|޿Cg]Ye f Ca a e ra e x)a Ie ie #ۉ?e 什e V@e 59Y=Fy|EE>Q 55fr?Q 95')0BY3S?Q E:yq@Q I@| EI;i;M5y4BɮA%Eiiis?AJi CRi Cji@bΥΘ^ݜP0 Rj'`~|޿Cg]Zi%:)bis=j?8x a@tւ:8^s@Z̀m? a]Sǿ? ?2i:i C"i󊀟?*iT}Bi Bi󊀟?iii Ci@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 140.399994 m, deltaT: 7.816059 s, deltaX: -47.000000 m, approachRate: -6.013261 m/s, rangeRepo size: 1jhFNOT Ignoring new targets: 186.21 m.Rh'Zh'  ProNav pure pursuit: ac range: 186.214630 m, nav range: 139.782593 m, bearing: 347.700351 deg, approach rate: 0.710047 m/s, LOS rate: -0.146741 deg/s, cmd heading: 347.772523 deg, new cmd heading: 347.700351 deg.  HeadingCmd: 6.068516 target range: 186.214630 and range: 187.40 m.hH1@h*h"h hgfffBddd!jd%̌a@Zd%}?颕Bɢ<) :>i)n6$;顙iBüi@>IH1@I*DAT read: user:611> BDAT read: Tx time:06:02:05.1200 $Ping request sent.A >ԑ A I I O >u,ݴ?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248898Bn @Bc@BE]ٱBDQ NAHRS rotation from veh to nav: [[-0.744577,-0.652899,-0.139024],[0.665349,-0.709018,-0.233674],[0.053995,-0.266488,0.962325]]BH`@@J? G Ϳ@? #ѿ]?iBn @IB^;@YVoByVI XXbDbVDbfyf»%j`=ٔj.9lYl=nFyn|ErEr>tQ 5v5vSr?Q 9z5vh")v7BYxyz@Q Iz@v EIv;iv;vཕ5yɮ(Ajh)-FNOT Ignoring new targets: 186.21 m.Rh5FZh5FE ProNav pure pursuit: ac range: 186.214630 m, nav range: 140.041382 m, bearing: 347.640739 deg, approach rate: 0.753224 m/s, LOS rate: -0.173185 deg/s, cmd heading: 347.700342 deg, new cmd heading: 347.640739 deg. MHeadingCmd: 6.067475 target range: 186.214630 and range: 187.40 m.hM(@hI*hI"hI hIgQfQfQfQdYdYdYjdYZd]`?颍BɢǓ<) Z>i)P0;顑ieżiΆ>I(@I)@) @)@-0@)^AM9>-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500765! A} ؟AI I O >E  E E E "E :*E |;:VE ZE a @a @a @a @!,?A Ux @U @UTWٱU ʈ eAHRS rotation from veh to nav: [[-0.728770,-0.669561,-0.143466],[0.682735,-0.694395,-0.227349],[0.052602,-0.263634,0.963188]]UHR m@]¿?|8Ϳ? aпn?iUx @IUN!^;QY}jBy}IBQ>BCB4IBBB5 =BBBb;B!%EiMb@Mb@Mb@ 9%C?y&1|?{GztYZD?y`;ףA@ ^A)Yf@bD-VD-0y=%=5=ٔE"K;Q-E>9E"?YM"?=MFyM|EMVEU>QQ 5]5U>r?Q 9e5U?)U?BYe]D?Q Ee:yeV@Q Ie@U EIU:iU:Uؿ5yu6Bɮu_AqjhFNOT Ignoring new targets: 186.21 m.Rh~4Zh~4 ProNav pure pursuit: ac range: 186.214630 m, nav range: 140.339325 m, bearing: 347.569496 deg, approach rate: 0.661345 m/s, LOS rate: -0.157801 deg/s, cmd heading: 347.640728 deg, new cmd heading: 347.569496 deg. HeadingCmd: 6.066232 target range: 186.214630 and range: 187.40 m.h@h*h"h hgfffnBddidAjdiZdmY?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752882Bɢdߧ<) }>i) 1A;iǼi}&>I@I@ @@0@ԙ ^A 1>E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005229A1 II Ia O} > ,ԷƷ?A ɰ 8Vw @V]m@V8RٱV ^AHRS rotation from veh to nav: [[-0.713097,-0.685577,-0.146550],[0.699178,-0.680136,-0.220375],[0.051410,-0.259613,0.964343]]VH ?&¿@_?@@5̿@nR?@п`?iVw @IV'^;VwCY hByIbD%VD%k1y5c%5Z=ٔ5P;Q-5>99Y9==Fy=|EExEE>IQ 5U5M&-r?Q 9U5M)MEBYQyU@Q I]@M EIMw:iM:M{5ye8Bɮe}AeE}B*** querying acoustic contact ***i ibEjE3rE/E EE$E"E:*E?:VE4ZEBE[;a2E];aJE;a:E;ajhFNOT Ignoring new targets: 186.21 m.Rh8Zh8 ProNav pure pursuit: ac range: 186.214630 m, nav range: 140.583893 m, bearing: 347.508205 deg, approach rate: 0.644772 m/s, LOS rate: -0.161306 deg/s, cmd heading: 347.569503 deg, new cmd heading: 347.508205 deg. HeadingCmd: 6.065162 target range: 186.214630 and range: 187.40 m.h@h*h"h hgfffdddjdZd`?Bɢ#v<) ?>i)ֺM;iggɼiv=!!I%@I)ԡ@ @@4@@l>@p>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256772^AA eAzA aA I I O% >,s?A6@6L@6Lٱ6 BAHRS rotation from veh to nav: [[-0.696256,-0.702110,-0.149225],[0.716049,-0.664903,-0.212553],[0.050015,-0.254843,0.965688]]6H@G`wÿ?`F4˿?@ZOп?i6@I6];6vCYJoByJIINR=)N4<bDPVDPyZ=%ZT=ٔ^m;Q-^>9`Y`=bFyb|Eb}Eb>dQ 5j5fr?Q 9j5ft)fLBYlpyn[@Q Ir@f EIf6;if7;f+Õ5ytɮvIAtjhFNOT Ignoring new targets: 186.21 m.RhyCZhyC- ProNav pure pursuit: ac range: 186.214630 m, nav range: 140.832642 m, bearing: 347.442761 deg, approach rate: 0.650720 m/s, LOS rate: -0.170895 deg/s, cmd heading: 347.508195 deg, new cmd heading: 347.442761 deg. 5HeadingCmd: 6.064020 target range: 186.214630 and range: 187.40 m.h5t @h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM?uBɢu,=<)y }>iy)}ϻ[;顁i[>˼i<It @Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5088421@1 @1@5"4@1 E EE#E"E:*E*5:VE3ZEa@a@a@a@B=>BCB'IBBB@ =BGDBLDBb;B%E9^A=9>ByB}ǺCB}ǔCB}6 =B}8 =C}ǖ6I I) O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760820a ,'O?A2^@2-T@2Gٱ2y :AHRS rotation from veh to nav: [[-0.678516,-0.718768,-0.151620],[0.732965,-0.648736,-0.204706],[0.048775,-0.250028,0.967009]]2Hf`&Fhÿrt?@q3ʿ?vп@?i2^@I2];2uCYB{ByBIi Mb@Mb@Mb@     9 ףp= ? rh?~jtY >?y C<  vA @ 1A)  Y z@bD%VD%ky5g=%5B=9ٔ=A;Q-E>9AYA=EFyE}EMnEM>QQ 5]5U\ r?Q 9]5U| )UOBYe>?Q Ee:yeU@Q Ie@U EIU ;iU2 ;Uŕ5ymCBɮm@AmEjh1MFNOT Ignoring new targets: 186.21 m.RhU7ZhU7e ProNav pure pursuit: ac range: 186.214630 m, nav range: 141.093613 m, bearing: 347.371974 deg, approach rate: 0.592635 m/s, LOS rate: -0.160452 deg/s, cmd heading: 347.442762 deg, new cmd heading: 347.371974 deg. mHeadingCmd: 6.062785 target range: 186.214630 and range: 187.40 m.hmU@hi*hi"hi higifqfqfuRBdydydyjdyZd}>@颭Bɢ<) >i)(Hm;顱iYͼiIU@Iq@y @y@/@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012848E E{E&E"EO:*E5":VE4ZEBE;a2E;aJE;z;a:EI I! O5 > % ̀G= (hAQ ,*?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264883F9F(hAYF׮AjC@jձ@jdK@ٱj rAHRS rotation from veh to nav: [[-0.659640,-0.735111,-0.156482],[0.750115,-0.630925,-0.198144],[0.046930,-0.248084,0.967601]]jH@Ŀ ?0\ɿ)?3Ͽ?ijC@Ij];jvCYz|ByzIbD VD :yx;%L=ٔF;Q->9!Y!=%Fy%}E%낽E->)Q 555-q?Q 955-)-QBY9y=@Q I=@- EI-;i-;-ƕ5yAɮM5AIjhiuFNOT Ignoring new targets: 186.21 m.Rhu!QZh}!Q ProNav pure pursuit: ac range: 186.214630 m, nav range: 141.337158 m, bearing: 347.302513 deg, approach rate: 0.642165 m/s, LOS rate: -0.182836 deg/s, cmd heading: 347.371974 deg, new cmd heading: 347.302513 deg. HeadingCmd: 6.061573 target range: 186.214630 and range: 187.40 m.hg@h*h"h hgfffdYdYdYjdYZdeA@颭Bɢ<) L>i)XW};i^Aϼi`Ig@I!@! @!@)@)@5eA@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516795^Ai Am >Am >I I O >E  E vE #E "E :*E :VE 3ZE a @a @a @a @9 ,.?AB^A>B^CB\B\B^F =B\B\B^b;B^%EmQ@m @mnx9ٱm AHRS rotation from veh to nav: [[-0.640201,-0.750949,-0.161923],[0.766873,-0.612311,-0.192307],[0.045265,-0.247289,0.967884]]mH|@Ŀ8?` @ȿ-?`,Ͽ`?imQ@Im];iY}By I  i%Mb@Mb@Mb@!!!! !9%B`"?S㥛?y&1Y%.?y%/<%`e%IA! %@)%@!Y%G@bD=VD=0yM;%M8=ٔU{u;Q-U>9QYQ=UFyU }E]lE]>aQ 5m5epq?Q 9m5e)eTBYu/?Q Eu:yu,@Q Iu@e EIeu ;ie ;eȕ5y}EBɮ}BA}Ejh%FNOT Ignoring new targets: 186.21 m.Rh-7Zh-7= ProNav pure pursuit: ac range: 186.214630 m, nav range: 141.584610 m, bearing: 347.231000 deg, approach rate: 0.556296 m/s, LOS rate: -0.160486 deg/s, cmd heading: 347.302524 deg, new cmd heading: 347.231000 deg. =HeadingCmd: 6.060324 target range: 186.214630 and range: 187.40 m.h=-@hA*hAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768873"hI hQgQfQfQf]~BdYdYdYjdYZd`7@BɢF/<) D>i){w;i&FѼiBI-@IA9@ @@@a^A IA IQ Om > BDAT read: Rx Time:06:02:07.7146  TRx dataTimestamp_ set to:1761544929.080165 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021879ԑ ,G?A>o@>_e@>Nj2ٱ>~ fAHRS rotation from veh to nav: [[-0.620214,-0.766461,-0.166951],[0.783223,-0.593255,-0.186035],[0.043545,-0.246141,0.968255]]>H@`ن^ſ*?ǿ{K?Ͽ?i>o@I>E];>sCY=By="IbDUVDU3yu.=%uZ=ٔu;E EE$E"Eغ:*E?:VE4ZEBE9Y=Fy }EE>Q 55Sq?Q 95)UBYy@Q I@ EI?$iA)M;IIiXӼiUI.@I9@  @ @ /@ ԡechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272816^A) A] .AIa Iq O > ,a?A0ɰ0=?= @=?P+ٱ=~%DAT read: 06:02:07.7146 LVL= 31728, 23329, 28290, 32755, AGC= 65, IDX= 459,-0.35,-1.609, 0.474,-0.419,-0.324, PHS=-1.183, 0.843,-0.138, RAW= 299.0, 5.5, CAL= 296.7, 3.0, ROT= 213.3, -3.0 -Ygot valid direction response: 06:02:07.7146 LVL= 31728, 23329, 28290, 32755, AGC= 65, IDX= 459,-0.35,-1.609, 0.474,-0.419,-0.324, PHS=-1.183, 0.843,-0.138, RAW= 299.0, 5.5, CAL= 296.7, 3.0, ROT= 213.3, -3.0 uPDAT read: Bearing 107.2, -35.4 (Local) }~Local bearing/azimuth received: Bearing 107.2, -35.4 (Local) DAT read: Range 11 to 50 : 142.8 m (Round-trip 190.5 ms) speed -0.5 m/s  AHRS rotation from veh to nav: [[-0.599428,-0.781611,-0.172543],[0.799336,-0.573276,-0.180047],[0.041812,-0.245845,0.968407]]=H`. ƿ(?@FX@ ǿnh?@wϿ`0?i=?I=];=xCYuBy}/IR#Rx 1: Read range and direction messages.bDVD1y,=%&=ٔ%1g;Q-%>u`direction in FSK: [-0.834662,-0.548270,0.052336]}Fpublishing direction and range infoyE EE&E"EU:*EA:VE4ZEa@a@a@a@rόBS„nyoU˪?YC9% ?Y ?= Fy }EUPE>{![n )AIliW?O <@ =c@ PwV=)&Bn@IPwV {q8↑V4?EnB? G@)`ĽI#iPwVQ 55q?Q 95BI>BCB@IBBB< =BFDBMDBb;B&%E5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.)XBYIyM@Q IM@ EIvF=irE=̕5yuGBɮ}[A}Eiije?AJi CRi Cji&@bX ~]NysrS"ʕ"@RrόBS„nyoU˪?Zi#biPwVj~kP`@:гI=H\]5@Z-\t1o?ky|/׿$E?2iM:iC"i1컜?*i v;BiVBiiT}ii Ci@  addTargetRange:: Added new target pos. range: 142.800003 m, deltaT: 11.597365 s, deltaX: -44.599991 m, approachRate: -3.845700 m/s, rangeRepo size: 2 = Added new target pos. range: 141.889328 m, bearing: 338.502160 deg, lat: 36.779408 deg, lon: -121.859737 deg, deltaT: 11.597365 s, deltaX: -44.325302 m, approachRate: -3.822015 m/s, posRepo size: 2 jh9EFNOT Ignoring new targets: 141.89 m.RhEZhAu ProNav: ac range: 141.889328 m, nav range: 141.738953 m, bearing: 348.558556 deg, approach rate: 0.000000 m/s, LOS rate: -0.160499 deg/s, cmd heading: 347.168079 deg, new cmd heading: 346.883482 deg. Bh}Lܻ}HeadingCmd: 6.054259 target range: 141.889328 and range: 142.80 m.h}}@h*h"h hgfffdddjda@Zd?) u *DAT read: user:612> u BDAT read: Tx time:06:02:09.0700 } $Ping request sent.} i ) ^;顱 i uռi kj I }@I 9@  @ @ /@ @ @ l>Y ԁ^A5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252484A؟AI!I1OE??!, ?A86?6 R @6ٱ6Q BAHRS rotation from veh to nav: [[-0.556357,-0.809152,-0.189049],[0.830105,-0.531001,-0.170187],[0.037322,-0.251615,0.967107]]6H`2ȿ`8?ſ?`vп`?i6?I6];6zCYJByJRIIN=)NR=R=imMb@Mb@Mb@iiii i9mB`"??~jtxYiym9"?Y"?=Fy}E߽E>E EE$E"EC:*E=:VE4ZEBE%;a2E&;aJEƔ;a:Eǔ;aQ 55)q?Q 95&)[BY.?Q E:yr @Q I@ EI.:i":Ε5yPBɮAEjh  FNOT Ignoring new targets: 141.89 m.RhwZhw% ProNav: ac range: 141.889328 m, nav range: 141.972946 m, bearing: 348.471094 deg, approach rate: 0.580710 m/s, LOS rate: -0.216700 deg/s, cmd heading: 346.883479 deg, new cmd heading: 346.621526 deg. Bh%-HeadingCmd: 6.049687 target range: 141.889328 and range: 142.80 m.h- @h)*h1"h1 h1g1f1f9f=Bd9d9d9jdAZdEc?qɢuf=)q u>iq)}&;yyi}ʈ׼i>oI @Iԙ=9@9 @9@=/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502739^AY A .AI I O > (,ػ?A2Y?2V@2F ٱ2q :AHRS rotation from veh to nav: [[-0.534345,-0.822449,-0.195073],[0.844558,-0.510036,-0.163050],[0.034606,-0.251875,0.967141]]2H@[Q $ȿ?8RĿ෡?п@?i2Y?I2];2wCYBȀByFeIbDNVDN0yV=%V\=ٔVf;Q-Z>9Z ?YZ ?=ZFyZ}E^E^>|!Q 5-5%שq?Q 9-5%)%]BY)y- @Q I5@% EI%(:i%:%iЕ5y=RBɮ=RA=EjhaeFNOT Ignoring new targets: 141.89 m.Rhm[Zhm[} ProNav: ac range: 141.889328 m, nav range: 142.159317 m, bearing: 348.397975 deg, approach rate: 0.490072 m/s, LOS rate: -0.192018 deg/s, cmd heading: 346.621527 deg, new cmd heading: 346.402459 deg. Bh}HeadingCmd: 6.045864 target range: 141.889328 and range: 142.80 m.hw@h*h"h hgfffdddjdZd:?ɢU=) >i)Ƴ;iUټirsIw@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756238I9@ @@/@)E EE!E"Eҝ:*E0:VEc3ZEa@a@a@a@AiAmAABA>BCBlIB̀BBA =BGDBLDBb;B)%EY^A9> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006945A! I9 II O] >ԁ 6.,?A2?2@2ٱ2a :AHRS rotation from veh to nav: [[-0.511776,-0.835299,-0.200901],[0.858551,-0.488755,-0.154950],[0.031238,-0.251784,0.967279]]2H`x` ĺ#ɿ`?y?@G߿iÿ?:п`?i2?I2];2uCYFByFIi Mb@Mb@Mb@     9 ?Mb?:v?Y ,?y < T< ~A |@ @) @ Y p@bD%VD%k1yy>%B=ٔk;Q->9Y=Fy}ExE>Q 55q?Q 95 )dBY,?Q E:y@Q I@ EI;ip;Dҕ5yɮJAjh FNOT Ignoring new targets: 141.89 m.Rh _Zh _% ProNav: ac range: 141.889328 m, nav range: 142.358704 m, bearing: 348.314918 deg, approach rate: 0.468769 m/s, LOS rate: -0.194997 deg/s, cmd heading: 346.402469 deg, new cmd heading: 346.153651 deg. Bh%-HeadingCmd: 6.041521 target range: 141.889328 and range: 142.80 m.h-$T@h)*h)"h) h)g1f1f1f=MBd9d9d9jd9ZdE?iɢu&=)q uF?iq)u;qyi}Wۼi}vwI$T@IE9@I @I@M0@I@UfA@UeAԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259515E E~E(E"Eg:*E(:VEc44ZEBE};a2E~;aJE;a:E;a ^A1>A>A>A ؟AI I O >5,zqո?Ai0I06checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511175Fژ?FA@FٱFO耾 NAHRS rotation from veh to nav: [[-0.489170,-0.847991,-0.204020],[0.871741,-0.467866,-0.145493],[0.027923,-0.249024,0.968095]]FHN߿"SʿN?ݿ¿ޗ?@Ͽ?iFژ?IF];DYZByZI \\bDbVDbyjC=%jQ=ٔn9n"?Yr"?=rFyr#}ErEr>tQ 5z5vq?Q 9z5vf)viBY|y~@Q I~@v EIv;iv&;vӕ5yɮA %B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 141.89 m.Rh=dZh=dM ProNav: ac range: 141.889328 m, nav range: 142.530487 m, bearing: 348.239813 deg, approach rate: 0.456650 m/s, LOS rate: -0.199410 deg/s, cmd heading: 346.153659 deg, new cmd heading: 345.928617 deg. BhMUHeadingCmd: 6.037593 target range: 141.889328 and range: 142.80 m.hU3@hQ*hQ"hQ hYgYfYfafadadadajdiZdm@?频ɢkk>=) a?i)O;顡i^-ݼiz|{I3@I@ @@0@^A%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7642199A I I O% >D ?AzD ?AE  E E &E "E :*E |;:VE 4ZE a @a @a @a @Y $V;,v?AB6K>B6CB6IB6BB6@ =B4B6MDB6b;B6%EQ?@,ɼٱ AHRS rotation from veh to nav: [[-0.466733,-0.859029,-0.210307],[0.884055,-0.446540,-0.138018],[0.024651,-0.250341,0.967844]]Hݿ*}Xʿ -J?ܿ>? п?iQ?I*^;vCYByIiUMb@Mb@Mb@QQQQ Q9U`"?~jth?y&1?YU7?yUD;U`9Y=Fy'}EbE>Q 55q?Q 95)sBY7?Q E:y@Q I@ EI:in:Օ5yTBɮAEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014871jhaeFNOT Ignoring new targets: 141.89 m.RhmxqZhmxq ProNav: ac range: 141.889328 m, nav range: 142.745605 m, bearing: 348.138404 deg, approach rate: 0.448498 m/s, LOS rate: -0.211109 deg/s, cmd heading: 345.928618 deg, new cmd heading: 345.624851 deg. BhHeadingCmd: 6.032291 target range: 141.889328 and range: 142.80 m.h@h*h"h hgfffBdddjdZdE@%Bɢ-+8=)) -9?i1)5Z4;11i5k߼i='u99I=@IAI9@ @@0@q^A!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267820ԡ AQ Ia Iq O >fdB, ?A ɰ"4<> ?>@>_ٱ> FAHRS rotation from veh to nav: [[-0.444010,-0.869346,-0.217009],[0.895760,-0.424813,-0.130948],[0.021650,-0.252531,0.967347]]>Hjܿ˿ ?`$0ۿ`+?`v)п?i> ?I>];>sCYR/ByRIbDZVDZkyb >%be=ٔf 9dYd=jFyj+}EjEj>lQ 5r5nzq?Q 9r5n)n{BYtyv@Q Iv@n EIn:in9:n}ו5yz]BɮzrA~Ejh%FNOT Ignoring new targets: 141.89 m.Rh%-Zh%-bEjEJ4rE 0E5 E5E5$E1"E5:*E5*5:VE54ZE1BE5i;aE2E5k;aEJE5;aM:E5;aM] ProNav: ac range: 141.889328 m, nav range: 142.907028 m, bearing: 348.058626 deg, approach rate: 0.475258 m/s, LOS rate: -0.234613 deg/s, cmd heading: 345.624839 deg, new cmd heading: 345.385779 deg. Bh]!eHeadingCmd: 6.028119 target range: 141.889328 and range: 142.80 m.heZ@ha*ha"ha hagafiffdddjdZd`@)YɢeWd=)e%> &?i)b;顉i9iIZ@I9@ @@4@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518864ԁ^A9>AdAzAfAA I I O >ԩ H,#?A2?2d@2ٱ2W :AHRS rotation from veh to nav: [[-0.421662,-0.878209,-0.225721],[0.906553,-0.403070,-0.125283],[0.019044,-0.257455,0.966103]]2HڿIk̿{?ٿI -?`%zпP?i2?I2];2wCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771799ԑY=EBy=IIEN>)E=bDUVDU0ye=%e'=ٔe;Q-e>9iYi=mFym0}Eu'PEu>yQ 55}mq?Q 95}r)}BYyK@Q I@} EI}. ;i} ;}ٕ5y_BɮAEjhFNOT Ignoring new targets: 141.89 m.RhʁZhʁ ProNav: ac range: 141.889328 m, nav range: 143.121567 m, bearing: 347.947619 deg, approach rate: 0.439264 m/s, LOS rate: -0.226945 deg/s, cmd heading: 345.385782 deg, new cmd heading: 345.053262 deg. BhHeadingCmd: 6.022316 target range: 141.889328 and range: 142.80 m.h϶@h*h"h hgfffdddjdZd@EM EMEIEI"EM:*EM?:VEIZEIa]@a]@a]@a]@5Bɢ5%T=)9 =1?i9)e5rBCBIB=BB= =BBNDBJb;B$EBŸCBŸCBB@ =B@ =CF6)@1 @1@52@1 i9 I9 M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0265271 ^AQ AIIO>vP,pB?A2?2ܪ?2*Wٱ2h >AHRS rotation from veh to nav: [[-0.399451,-0.887073,-0.231388],[0.916599,-0.381804,-0.118628],[0.016886,-0.259476,0.965602]]2H@ٿ`b !Ϳ T?@xoؿ`^`J?Aп5?i2?I2T^;2sC BC)BkABLFKFDDFkAiF@IDHIHiJkA JLL)LL NkANj9Y=Fy5}EkYE>Q 558aq?Q 95)BYL?Q E:y?Q I@ EI:i3:ە5y ɮ A jhQUFNOT Ignoring new targets: 141.89 m.Rh]ᐻZheᐻu ProNav: ac range: 141.889328 m, nav range: 143.338364 m, bearing: 347.829038 deg, approach rate: 0.463848 m/s, LOS rate: -0.253325 deg/s, cmd heading: 345.053261 deg, new cmd heading: 344.698062 deg. Bhu-}HeadingCmd: 6.016116 target range: 141.889328 and range: 142.80 m.h}@hy*hy"hy hygfff)BdddjdZd @Bɢ4q=) R@?i)*8<  i ϲiEI@IE  E E (E "E Ʊ:*E *5:VE c44ZE BE 8;a2E 9;aJE a%:E a%@ @@4@  eGqÿ9YA^A] 1> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5271799 Aq Iy I O >V,Z\?A2f?2?2!{ٱ2g :AHRS rotation from veh to nav: [[-0.377550,-0.896666,-0.231186],[0.925861,-0.361397,-0.110330],[0.015379,-0.255701,0.966634]]2H )ؿ{|Ϳ ?!!׿>2?@g]п?i2f?I2o];2wCYrByrGIbD~VD~0y ;&>% i=ٔ ;Q- >9Y=Fy8}EZE?!Q 5-5%-Xq?Q 9-5%)%BY1y5?Q I5@% EI%-:i%:%&ݕ5y9ɮEAA]B*** querying acoustic contact ***ia iajhFNOT Ignoring new targets: 141.89 m.RhZh ProNav: ac range: 141.889328 m, nav range: 143.497543 m, bearing: 347.737934 deg, approach rate: 0.463827 m/s, LOS rate: -0.265169 deg/s, cmd heading: 344.698064 deg, new cmd heading: 344.425058 deg. Bh5=HeadingCmd: 6.011351 target range: 141.889328 and range: 142.80 m.h=\@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdl@ɢVO=) O?i)<i[Qi]-aaI\@IuDAT read: 06:02:11.6671 LVL= 27888, 24273, 27314, 32371, AGC= 63, IDX= 453,-0.14,-2.093,-0.266,-0.671,-0.813, PHS=-1.178, 0.592, 0.098, RAW= 285.7, 6.2, CAL= 283.8, 2.8, ROT= 226.2, -2.8 Ygot valid direction response: 06:02:11.6671 LVL= 27888, 24273, 27314, 32371, AGC= 63, IDX= 453,-0.14,-2.093,-0.266,-0.671,-0.813, PHS=-1.178, 0.592, 0.098, RAW= 285.7, 6.2, CAL= 283.8, 2.8, ROT= 226.2, -2.8 PDAT read: Bearing 99.4, -46.3 (Local) ~Local bearing/azimuth received: Bearing 99.4, -46.3 (Local) DAT read: Range 11 to 50 : 144.7 m (Round-trip 193.0 ms) speed -0.8 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.691317,-0.720898,0.048850]Fpublishing direction and range infoyAE%0DTus!D?YECAElE^Ej Es~)E?IEȖiEP?E9=E@Ek=E@ E+H=)E|@IE+HAAE;f Qs?? E9@)E|޽IEtiE+HAAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.qE% E%E%%E!"E%g:*E%.:VE% 4ZE!a5@a5@a5@a5@ Bu J>Bu CBu :IBu uBBu > =Bq Bq Bu b;Bu $Eu 9@q  @q @u 0@y ԩ  *DAT read: user:613>  BDAT read: Tx time:06:02:12.9700  $Ping request sent. A!I)I9OM?'`,䣀?AG?jn?`Nٱ5 5AHRS rotation from veh to nav: [[-0.332351,-0.914319,-0.231437],[0.943071,-0.318878,-0.094516],[0.012617,-0.249674,0.968248]]H@=Eտ`B Ϳ -?hԿ@+2 ։?RϿ?iG?I(];uC]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250728YBy\I Ai]Mb@Mb@Mb@YYYY Y9]zG?~jth?:v?Y] W?y]D;]<]A]|@ ]@)]@YY]@ u;up;bD}VD}βy"M=%<ٔ؄;Q->9)Y)=5Fy5?}E50E5~>9Q 5E5=+Gq?Q 9E5=V)=BYE$W?Q EM|:yM?Q IM@= EI=e ;i= ;=65yUkBɮUA]Eiyi}cdg?AJi}CRi}Cji}u@b}-WX$@WwYS@R}%0DTus!D?Zi}tbi}+Hj}tX_@dɬNfl?@Z}J.? Oۿ@?2i}fu:i}ZB"i}ҟϚ?*i}PBi}jBiyi}o6$Ti} Bi}Ci}@ addTargetRange:: Added new target pos. range: 144.699997 m, deltaT: 4.030859 s, deltaX: 1.899994 m, approachRate: 0.471362 m/s, rangeRepo size: 3  Added new target pos. range: 143.777725 m, bearing: 334.070053 deg, lat: 36.779408 deg, lon: -121.859790 deg, deltaT: 4.030859 s, deltaX: 1.888397 m, approachRate: 0.468485 m/s, posRepo size: 3 jhFNOT Ignoring new targets: 143.78 m.RhZh ProNav: ac range: 143.777725 m, nav range: 144.918839 m, bearing: 345.695248 deg, approach rate: 0.000000 m/s, LOS rate: -0.265169 deg/s, cmd heading: 344.425048 deg, new cmd heading: 343.867116 deg. BhHeadingCmd: 6.001613 target range: 143.777725 and range: 144.70 m.h7 @h*h"h hgfffSBdddjd`fb@Zd? Em EmEm$Ei"Em:*EmE7:VEm4ZEiBEmj=) W?i)+<顩ii9*I7 @I_> 9@  @ @ 0@ a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502867ԉ ^A] 1>A.AIIԩO?h,?A>l?>W?>>ٱ>s; FAHRS rotation from veh to nav: [[-0.309505,-0.922116,-0.232182],[0.950827,-0.297126,-0.087435],[0.011638,-0.247827,0.968735]]>H ӿ&Ϳ@,m?`ӿ byՇ?`ȸϿ?i>l?I>^;>xCYLyN[IbDZVDZyb]%bQ=ٔb$;Q-b>9f ?Yf ?=fFyjC}EjEj>lQ 5r5n>q?Q 9r5n)nBYpyv?Q Iv@n EInp:in:n5yxɮzAxjhFNOT Ignoring new targets: 143.78 m.Rh%Zh%5 ProNav: ac range: 143.777725 m, nav range: 145.088852 m, bearing: 345.591902 deg, approach rate: 0.462648 m/s, LOS rate: -0.280899 deg/s, cmd heading: 343.867103 deg, new cmd heading: 343.557433 deg. Bh5@=HeadingCmd: 5.996208 target range: 143.777725 and range: 144.70 m.h=@h9*h9"hA hAgAfAfIfIdIdIdQjdQZdU&z?yɢP|=) W?i) 5<顉iiI@I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754913!E% E%+E%(E!"E%:*E%=;VE%c44ZE!a5@a5@a5@a5@Q9@ @@@0@AA@ABF>BBfIBBBBBMDBa;B$Eԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007358^A ԩ A! I1 IA OU >gn,?Aɰ2M?28?2t(ٱ27 >AHRS rotation from veh to nav: [[-0.286231,-0.928816,-0.235314],[0.958105,-0.274808,-0.080718],[0.010306,-0.248560,0.968562]]2HQҿ۸ο̨?`rѿ v?Ͽu?i2M?I23^;2vCYFByFjIiMb@Mb@Mb@ 9S㥛?~jt?{Gzt?Yd?yD<ף;A@ @)@Y@bD-VD-ܲy5O=%=5=ٔ=WA;Q-=>9AYA=EFyEG}EE]EM>QQ 5U5U4q?Q 9]5Uq)UBY]d?Q E]m:y]?Q I]@U EIU :iU:U5yɮzA jh)5FNOT Ignoring new targets: 143.78 m.Rh5Zh5e ProNav: ac range: 143.777725 m, nav range: 145.302185 m, bearing: 345.456829 deg, approach rate: 0.452650 m/s, LOS rate: -0.286178 deg/s, cmd heading: 343.557422 deg, new cmd heading: 343.152804 deg. ԁBhmfDHeadingCmd: 5.989146 target range: 143.777725 and range: 144.70 m.h@h*h"h hgfffOBdddjdZd?qɢuM=)y }^]?i):C<顩iJiMI@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990Ա9@ @@4@@@i>E- E-E-$E)"E-ҝ:*E-E7:VE-4ZE)BE-;a52E-;a5JE)a5:E)a=^A 9>A fAzA aA A% ؟AI1 IA OM >u,P׹?A2F9?2h$?2yٱ2|P>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865 BAHRS rotation from veh to nav: [[-0.263107,-0.933801,-0.242468],[0.964726,-0.252333,-0.075050],[0.008899,-0.253661,0.967252]]2H`п`- Ͽ ?`:&пw6`9?;п ?i2F9?I2U^;2uCYHyHIN=)N=bDVVDVٔ^n;Q-^>9^"?Yb"?=bFybK}Eb~Eb>dQ 5n5f,q?Q 9n5f)fBYlyn?Q Ir@f EIf$;ifC&;f~5yvwBɮvAvܤEjhquFNOT Ignoring new targets: 143.78 m.Rh}oZh}o ProNav: ac range: 143.777725 m, nav range: 145.478470 m, bearing: 345.339752 deg, approach rate: 0.465085 m/s, LOS rate: -0.308504 deg/s, cmd heading: 343.152802 deg, new cmd heading: 342.802002 deg. BhSHeadingCmd: 5.983024 target range: 143.777725 and range: 144.70 m.ht@h*h"h hgfffdddjdZdG?EBɢE=)A MH]?i)#N<顉i~PiǮIt@I9@ @@k3@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766282^AA A I I! EE  EE EE EA "EE :*EE VL:VEE ـ3ZEA aM @aM @aU @aU @OU >B A>B CB IB BB E =B B LDB a;B $Eδ{,?A'??Pٱx AHRS rotation from veh to nav: [[-0.239915,-0.938460,-0.248463],[0.970764,-0.229925,-0.068929],[0.007559,-0.257736,0.966186]]H`ο`Ͽ?`+nͿOV~?~п?i'?I> ^;wCYBybIiMb@Mb@Mb@ 9-?ˡE?MbY5^?y'=hA|@ \@)Y@bDVDyl%<ٔ6;Q->9Y=FyP}E%cLE%>)Q 555-"q?Q 955-,)-BY=~^?Q E=t:y=M?Q I=@- EI-* ;i-i:-5yAɮE AAIeB*** querying acoustic contact ***ia iajhq}FNOT Ignoring new targets: 143.78 m.Rh}Zh}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014852 ProNav: ac range: 143.777725 m, nav range: 145.693115 m, bearing: 345.198905 deg, approach rate: 0.457831 m/s, LOS rate: -0.299980 deg/s, cmd heading: 342.802003 deg, new cmd heading: 342.380092 deg. BhMHeadingCmd: 5.975660 target range: 143.777725 and range: 144.70 m.h8@h*h"h hgfff4BdddjdZd s0@ɢK=) Y?i)L[<iuitI8@Iy9@ @@`4@ԩ ^A M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267167 AM .AIY Ii Ou >-,U ?A2|?2?2$ẻٱ2 RAHRS rotation from veh to nav: [[-0.216373,-0.942919,-0.253155],[0.976294,-0.207455,-0.061746],[0.005703,-0.260513,0.965453]]2H`˿c,3п=?ߍʿ!@\w?`@п?i2|?I2D^;2vCYZByZYIbDbVDb:En EnEn"El"En:*En,:VEn(3ZElBEnZ;ar2En[;avJEn7;av:En7;avyzs%z\=ٔ~;Q-~>9~ ?Y~ ?=~Fy~T}EPE> Q 55 q?Q 95 x) BYy2?Q I@  EI Y;i ; 75y!ɮ%CA!jhIMFNOT Ignoring new targets: 143.78 m.RhUZhUe ProNav: ac range: 143.777725 m, nav range: 145.852982 m, bearing: 345.088690 deg, approach rate: 0.431932 m/s, LOS rate: -0.297454 deg/s, cmd heading: 342.380089 deg, new cmd heading: 342.049812 deg. Bhe#LmHeadingCmd: 5.969895 target range: 143.777725 and range: 144.70 m.hmb @hi*hi"hq hqgqfqfqfydydydyjdyZd !@颭Bɢф=) 4V?i)d<顱iBigIb @Iԉ@ @@/@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518760Թ^AM1>AU>AQII Ia Om > JS,'?A6?6?6xٱ6? BAHRS rotation from veh to nav: [[-0.192994,-0.947355,-0.255482],[0.981193,-0.185329,-0.053983],[0.003793,-0.261096,0.965305]]6H@ȿ@PYп e?`ڸǿ o? ʵп@?i6?I6];6uCYJwByJ=I LLbDVVDVyZ%^O=ٔ^W;Q-^>9`Y`=bFybX}EfqwEf>hQ 5j5jq?Q 9n5rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770824j-p)jBYtyv#?Q Iv@j EIje;ijf;j5yxɮzAxjh!%FNOT Ignoring new targets: 143.78 m.Rh-lZh-l= ProNav: ac range: 143.777725 m, nav range: 146.016571 m, bearing: 344.970075 deg, approach rate: 0.411436 m/s, LOS rate: -0.297989 deg/s, cmd heading: 342.049808 deg, new cmd heading: 341.694366 deg. Bh=LEHeadingCmd: 5.963692 target range: 143.777725 and range: 144.70 m.hE־@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdUO@颅Bɢ@=) J?i)Ao<顉i{iI־@IU9@Q @Q@U/@QE EE$E"EU:*E|;:VE4ZEa@a@a@a@B<A<BJ>BCBrIBBBA =BBMDBra;Bt$E!^A9>BDAT read: Rx Time:06:02:15.5702 TRx dataTimestamp_ set to:1761544936.892490checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024156I I I O >:,@?AY~nBy~2Ionly read 0 of 1 data item for altitude. Device response is::BD, -98. +337.54, +14.80, 7.61, 0.00 a@a a@a a@a a@a bDVDyp/%<=ٔQ->9Y=Fy\}EE>Q 55 q?Q 95f)BQ A+:YQ EE:yQ I@EI:i>z5yBɮAҤEjhFNOT Ignoring new targets: 143.78 m.RhןZhן- ProNav: ac range: 143.777725 m, nav range: 146.196777 m, bearing: 344.840235 deg, approach rate: 0.388389 m/s, LOS rate: -0.279491 deg/s, cmd heading: 341.694365 deg, new cmd heading: 341.305333 deg. Bh5?5HeadingCmd: 5.956902 target range: 143.777725 and range: 144.70 m.h5@h9*h9"h9 h9g9f9fAfAdAdAdIjdIQZdMP @5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282722MBɢM=)Q UyE?iQ)U|A zA dA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537447Ia I OM >7㖮,v\?Aɰ;>;޿?>]?>`9ٱ>ڣ FAHRS rotation from veh to nav: [[-0.145765,-0.957281,-0.249731],[0.989319,-0.141099,-0.036585],[-0.000214,-0.252397,0.967624]]>H`n¿ 0Ͽ? ¿ O,D'п@?i>;޿?I>)^;>vCYN[ByRIbDZVDZβyb%bI=ٔb!!9dYd=fFyf`}EfEj>hQ 5r5jq?Q 9r5je])jBQ Ar :YpQ Er :yr ?Q Ir@j EIj ;ijW?j5yxɮz4AxjhFNOT Ignoring new targets: 143.78 m.Rh%ǽZh%ǽ5 ProNav: ac range: 143.777725 m, nav range: 146.351608 m, bearing: 344.715643 deg, approach rate: 0.412813 m/s, LOS rate: -0.331838 deg/s, cmd heading: 341.305345 deg, new cmd heading: 340.931970 deg. Bh5c=HeadingCmd: 5.950386 target range: 143.777725 and range: 144.70 m.h=i@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM @颅Bɢ˗=) ;?i) <顉iGidIi@IԱQ@Q @Q@U0@QmDAT read: 06:02:15.5702 LVL= 30160, 24049, 28610, 31907, AGC= 62, IDX= 452,-0.18, 1.749,-3.087,-2.586, 2.862, PHS=-1.011, 0.379, 0.792, RAW= 257.4, -2.0, CAL= 254.4, -6.0, ROT= 255.6, 6.0 Ygot valid direction response: 06:02:15.5702 LVL= 30160, 24049, 28610, 31907, AGC= 62, IDX= 452,-0.18, 1.749,-3.087,-2.586, 2.862, PHS=-1.011, 0.379, 0.792, RAW= 257.4, -2.0, CAL= 254.4, -6.0, ROT= 255.6, 6.0 PDAT read: Bearing 127.5, -64.1 (Local) ~Local bearing/azimuth received: Bearing 127.5, -64.1 (Local) DAT read: Range 11 to 50 : 147.0 m (Round-trip 196.0 ms) speed -0.6 m/s R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.247328,-0.963277,-0.104528]Fpublishing direction and range infoy9=[X~nϿ&*4ޮ`ºY=C9=u=]=o =|)=>I=shi=J >=J?=`@=5=q@ =Pwֽ)=@I=Pw=99=/=Շ㏨?a5 =Hr@)= =I=[;i=Pw=99}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A9>I9IQO]>E  E E E "E :*E R:VE ـ3ZE a @a @a @a @! B M>B B GIB BB @ =B B NDB ga;B q$EBQBQBQBQBQCUɄ969 [,v?AbƼ?bӱ?bp9;ٱb jAHRS rotation from veh to nav: [[-0.121827,-0.961556,-0.246106],[0.992547,-0.118729,-0.027444],[-0.002831,-0.247616,0.968854]]bH0jϿ?`eG 1g@߱Ͽ?ibƼ?Ib];buCYvKByvIIz=)z=z=z=aua} a}a} a}a} a}a} i}Mb@Mb@Mb@yyyy y9}jt?MbX9?X9vY}@?y}ʡ=}}}~A}X@ }@)}@yY}@*DAT read: user:614> BDAT read: Tx time:06:02:17.0200 $Ping request sent.;Q->9Y=Fye}E^E>Q 5%5Kq?Q 9%5T)BQ A%T:Y%yB?Q E-:y-?Q I-@EI8;i;5yQɮUAYiiimi?AJimCRimCjim!@bmmB:(ca Nj.Rm[X~nϿ&*4ޮ`ºZim[;bimPw=jm^a@¶Gp2ɀA&4@ZmC<_m?!djKZW?2imە:imrC"ims:? *imvkABimBiiimT}imBimOCimry@m addTargetRange:: Added new target pos. range: 147.000000 m, deltaT: 4.039877 s, deltaX: 2.300003 m, approachRate: 0.569325 m/s, rangeRepo size: 4 } Added new target pos. range: 146.063477 m, bearing: 352.560176 deg, lat: 36.779408 deg, lon: -121.859737 deg, deltaT: 4.039877 s, deltaX: 2.285751 m, approachRate: 0.565797 m/s, posRepo size: 4 jhy}FNOT Ignoring new targets: 146.06 m.RhZh ProNav: ac range: 146.063477 m, nav range: 145.308609 m, bearing: 346.414577 deg, approach rate: 0.000000 m/s, LOS rate: -0.331838 deg/s, cmd heading: 340.931980 deg, new cmd heading: 340.459143 deg. BhHeadingCmd: 5.942133 target range: 146.063477 and range: 147.00 m.h%@h*h"h hgfffBdddjd`b@Zdf?EBɢe|x=)a er3?ii)mI I O >E-  E- E- &E) "E- :*E- rN:VE- 4ZE) BE- ;a5 2E- ;a= JE- V;a= :E- V;a= C,?A 2멹?2 ?2;ٱ2| >AHRS rotation from veh to nav: [[-0.097657,-0.964272,-0.246258],[0.995205,-0.095990,-0.018798],[-0.005512,-0.246913,0.969022]]2H@P_Ͽ?Ē@? Yv՚Ͽ:?i2멹?I2r!^;2vCYF5ByFIbDRVDR:2yZ%Z`=ٔZ;Q-Z>9\Y\=^Fy^h}Eb0Eb>dQ 5j5f6p?Q 9j5fM)fsBYhyj?Q Ij@fEIf:if:f*5yrBɮrArȤEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 146.06 m.RhZh% ProNav: ac range: 146.063477 m, nav range: 145.418793 m, bearing: 346.316545 deg, approach rate: 0.332494 m/s, LOS rate: -0.295602 deg/s, cmd heading: 340.459139 deg, new cmd heading: 340.165267 deg. Bh-J-HeadingCmd: 5.937004 target range: 146.063477 and range: 147.00 m.h-@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE ?%~G=gAQ19gAYA颽Bɢ<=) (?i)<iyi>IIM@IQqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503733@ @@2@ԙ^A A >A > A= ؟AIA IY Oe >] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754852#,H?A2N?2n?2<ٱ2 :AHRS rotation from veh to nav: [[-0.073831,-0.966332,-0.246478],[0.997236,-0.073595,-0.010183],[-0.008299,-0.246549,0.969095]]2H沿 1@Ͽ\?@ײۄϿ@?i2N?I2+^;2wCYFByFIHbDRVDRyZ5%ZI=ٔZ;Q-^>9^"?Y^"?=^Fy^m}EbqEb>dQ 55f:p?Q 95fE)faBYy%?Q I%@fEIfb8B-CB-IB-LBB-> =B)B)B-a;B-$Eiw9IC̽@I@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006954^A  A .AI I O >U ,iĺ?AtYMByMI QQiMb@Mb@Mb@ 9x&?/$?x&Y7)?y=77 A9@ @)@Y@bD VD y%5=ٔQ->9% ?Y% ?=-Fy-q}E-E->1Q 5=55p?Q 9=55=)5LBYEo+?Q EE:yE?Q IE@5EI5 ;i5 ;55yIɮMAQjhq}FNOT Ignoring new targets: 146.06 m.Rh}Zh} ProNav: ac range: 146.063477 m, nav range: 145.656754 m, bearing: 346.097514 deg, approach rate: 0.280162 m/s, LOS rate: -0.251001 deg/s, cmd heading: 339.831827 deg, new cmd heading: 339.508742 deg. BhB,HeadingCmd: 5.925545 target range: 146.063477 and range: 147.00 m.h@h*h"h hgfff~BdddjdZd`? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258846ɢi=) ?i)=ړ<99i=giEAAIE@IIIQ)UaAE EE&E"Es:*E?:VE4ZEBE;a2E;aJE;a:E;a@ @ @4@@)@-l>I^A1 q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511256Ae ؟AIq I O >3T,Z޺?A2 ?2?24g<ٱ2u :AHRS rotation from veh to nav: [[-0.022666,-0.968617,-0.247524],[0.999643,-0.025463,0.008106],[-0.014154,-0.247251,0.968848]]2H@5ڮϿ??Ͽ`?i2 ?I2];2zCYZByZIbDfVDfJyn%n]=ٔn9r"?Yr"?=rFyru}Er Ev>tQ 5z5vnp?Q 9~5v7)v:BY|y~?Q I~@v"EIvL;ivz;v5yɮ A jh9=FNOT Ignoring new targets: 146.06 m.RhEZhEU ProNav: ac range: 146.063477 m, nav range: 145.743988 m, bearing: 346.007482 deg, approach rate: 0.235178 m/s, LOS rate: -0.242575 deg/s, cmd heading: 339.508732 deg, new cmd heading: 339.238799 deg. BhUz&]HeadingCmd: 5.920834 target range: 146.063477 and range: 147.00 m.h]yw@hY*hY"hY hYgafafafadididijdqZdu?额Bɢu=) @ ?i)u͖<顡i,iIyw@I@ @@/@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762877i^A9>AeAzAE E}E%E"E:*Ek&:VE 4ZEa@a@a@a@B K>B CB IB BB B B B b;B $EA .AI I O >ԙ |,?ALɰN49M ?YM ?=UFyUy}EUsEU>YQ 5e5]p?Q 9e5]v0)]&BYm?Q Em:ym_?Q Im@]&EI] ;i]q ;]}5yqɮ}AyjhFNOT Ignoring new targets: 146.06 m.Rh{Zh{5 ProNav: ac range: 146.063477 m, nav range: 145.828796 m, bearing: 345.906171 deg, approach rate: 0.183821 m/s, LOS rate: -0.219461 deg/s, cmd heading: 339.238803 deg, new cmd heading: 338.935051 deg. Bh5=HeadingCmd: 5.915533 target range: 146.063477 and range: 147.00 m.h= L@h9*hA"hA hAgAfafifmt~BdididqjdqZduֺ@ɢT=)A E?iA)E՚jŮ,9 ?A2?2?2w<ٱ2} :AHRS rotation from veh to nav: [[0.031637,-0.969103,-0.244619],[0.999280,0.025543,0.028044],[-0.020930,-0.245330,0.969214]]2H2?`OϿ?(?? n@fϿ?i2?I2];2vCYBByFIHIJ>)J<bDRVDRyZ9%ZH=ٔZ9^"?Y^"?=^Fy^}}EbQEb>dQ 5j5fp?Q 9j5f>*)fBYhyj?Q In@f*EIf;ifY;f55yrBɮrArEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 146.06 m.Rh}Zh} ProNav: ac range: 146.063477 m, nav range: 145.896973 m, bearing: 345.817138 deg, approach rate: 0.169852 m/s, LOS rate: -0.221709 deg/s, cmd heading: 338.935051 deg, new cmd heading: 338.668080 deg. Bh(MHeadingCmd: 5.910873 target range: 146.063477 and range: 147.00 m.hM%@hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]@ɢ[=) @>i)2-<iY'iI checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519431i511I5%@IA@ @@/@^A!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771026A- .AI9 II O] >1(ˮ,.?A|YByIEE EEyEE%EA"EE1:*EE:VEE 4ZEAaM@aM@aM@aM@bDVDk2B}L>B}CB}IB}BB}= =ByByB}a;B}$Ey#<%>=ٔQ->9 ?Y ?=Fy}EE>Q 55p?Q 95l#)BYyQ I@.EI;i ;5yBɮEjhFNOT Ignoring new targets: 146.06 m.RhZh ProNav: ac range: 146.063477 m, nav range: 145.972137 m, bearing: 345.719594 deg, approach rate: 0.183007 m/s, LOS rate: -0.237373 deg/s, cmd heading: 338.668072 deg, new cmd heading: 338.375593 deg. Bh" HeadingCmd: 5.905768 target range: 146.063477 and range: 147.00 m.h @h *h "h  h gfffdddjd!Zd%@B) @IɢMc=)Q UB?iQ)U/VA>ԑ A ؟AI I O% >Ү,+H?AY|y|YBDAT read: Rx Time:06:02:19.6220 TRx dataTimestamp_ set to:1761544941.184115checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275982iMb@Mb@Mb@ 9q= ףp?ˡE?I +Y ?y'=94 A+@ d@)@Yp@bDVDy9%D=ٔQ->9"?Y"?=Fy}E E > Q 55 up?Q 95 s) BY] ?Q E:y?Q I%@ 2EI ;i  ; 5y)ɮ-A)jhQUFNOT Ignoring new targets: 146.06 m.Rh]VkZh]Vkm ProNav: ac range: 146.063477 m, nav range: 146.033035 m, bearing: 345.633766 deg, approach rate: 0.146046 m/s, LOS rate: -0.205749 deg/s, cmd heading: 338.375604 deg, new cmd heading: 338.118227 deg. Bhm4 uHeadingCmd: 5.901276 target range: 146.063477 and range: 147.00 m.huA׼@hq*hq"hq hqgyfyfyf}F~BdddjdZd7 @颱ɢ_=) :?i)O¤<项i iþIA׼@IEU EUxEU!EQ"EU:*EU:VEUc3ZEQBEU;a]2EU;a]JEUPo;ae:EUQo;aem9@i @i@m0@i@ui>@ut>ԑԱ^A= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527934 A I) IA OM >B;خ,{b?A> ?>-r?>t =ٱ>%w JAHRS rotation from veh to nav: [[0.113882,-0.965549,-0.233977],[0.992995,0.103157,0.057619],[-0.031498,-0.238900,0.970533]]>H`f'?Ϳ?}h?G? Eο?i> ?I> ];>uCYRByRI TTbDZVDZβyb;%f`=ٔf 9hYh=jFyj}EjfgEj>pQ 5v5rxp?Q 9z5r;)rBY|y~X?Q I~@r5EIrx;irM;r5yBɮuAEjhFNOT Ignoring new targets: 146.06 m.RhfZhfԹ ProNav: ac range: 146.063477 m, nav range: 146.070786 m, bearing: 345.557204 deg, approach rate: 0.099429 m/s, LOS rate: -0.201599 deg/s, cmd heading: 338.118215 deg, new cmd heading: 337.888592 deg. Bh[ UHeadingCmd: 5.897268 target range: 146.063477 and range: 147.00 m.hUl@hQ*hQ"hQ hQgYfYfYfYdadadajdaZdm@@Bɢc=) ?i)<i]ižIl@IDAT read: 06:02:19.6220 LVL= 29472, 25473, 22514, 26771, AGC= 63, IDX= 440,-0.10,-1.433,-0.234, 0.783,-0.455, PHS=-0.876, 0.266, 1.194, RAW= 243.4, -6.6, CAL= 241.4, -10.4, ROT= 268.6, 10.4 Ygot valid direction response: 06:02:19.6220 LVL= 29472, 25473, 22514, 26771, AGC= 63, IDX= 440,-0.10,-1.433,-0.234, 0.783,-0.455, PHS=-0.876, 0.266, 1.194, RAW= 243.4, -6.6, CAL= 241.4, -10.4, ROT= 268.6, 10.4 PDAT read: Bearing 140.4, -64.5 (Local) ~Local bearing/azimuth received: Bearing 140.4, -64.5 (Local) DAT read: Range 11 to 50 : 148.5 m (Round-trip 198.0 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.024031,-0.983278,-0.180519]Fpublishing direction and range info%9@! @!@%0@)y+Z!†%wlE@ǿYC scW h)?IA`i'1>Ԙ?@҆@ 9)@I9>j῎½?Y(= T @)Go=I0̿i9>uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.BYBYB]xIB]׀BB]; =B]FDBYB]_a;B]p$EE EqE%E"Ea:*E$ :VE 4ZEBEW;2EX;JEU;:EU;^A- 1>A AY Iy I O >= *DAT read: user:615> E BDAT read: Tx time:06:02:21.0199 E $Ping request sent.E AHRS rotation from veh to nav: [[0.141413,-0.962551,-0.231294],[0.989321,0.129082,0.067685],[-0.035295,-0.238396,0.970527]]6H?8` Ϳ ?? S? @ο?i6e?I6];6xCYFByFIiMb@Mb@Mb@ 9K7A`?Mb? rhY ?y=CVA@ M@)@Y@bD-VD-0y܁=%9=ٔ 9Y=Fy}E E > Q 5]5 Up?Q 9]5 ) BY]Q ?Q Ee:yeD?Q Ie@ 9EI -,j[nt*b@ɔo 8ԪP!@ZFҐ?lmĿ/9 ?2iO:iPC"i/ьǠ?*iz8BiBiiiiCi@ addTargetRange:: Added new target pos. range: 148.500000 m, deltaT: 4.032419 s, deltaX: 1.500000 m, approachRate: 0.371985 m/s, rangeRepo size: 4 - Added new target pos. range: 147.554230 m, bearing: 350.606705 deg, lat: 36.779408 deg, lon: -121.859737 deg, deltaT: 4.032419 s, deltaX: 1.490753 m, approachRate: 0.369692 m/s, posRepo size: 4 jh)UFNOT Ignoring new targets: 147.55 m.RhUZhQe ProNav: ac range: 147.554230 m, nav range: 146.109222 m, bearing: 345.464251 deg, approach rate: 0.000000 m/s, LOS rate: -0.201599 deg/s, cmd heading: 337.888584 deg, new cmd heading: 337.614509 deg. BhaHeadingCmd: 5.892485 target range: 147.554230 and range: 148.50 m.h<@h*h"h hgfff~Bdddjdb@Zd`g?eBɢjd=) b?i)<顑iˬi Ⱦ!!I%<@I)A9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251527ibEJ4jE3rEɿJ0E  E {E #E "E :*E 5":VE 3ZE a @a @a @a @^A ԙ AI IY Ii Ou >+,[?A4<ɰ:Yl?:zW?:=ٱ:hu FAHRS rotation from veh to nav: [[0.168749,-0.958911,-0.228064],[0.984895,0.154930,0.077326],[-0.038815,-0.237667,0.970571]]:H?f01ͿA??˳? ߣ kο?i:Yl?I:V^;:vCYjByjIbDvVDvN2y~=%~H=ٔ~] 9Y=Fy}EE > Q 55 p?Q 95 ) ) BYy?Q I@ =EI L;i : 95y%Bɮ-A-EEB*** querying acoustic contact ***iA iAQjhY]FNOT Ignoring new targets: 147.55 m.RheZheu ProNav: ac range: 147.554230 m, nav range: 146.138931 m, bearing: 345.378228 deg, approach rate: 0.077224 m/s, LOS rate: -0.223559 deg/s, cmd heading: 337.614502 deg, new cmd heading: 337.356488 deg. Bhum}HeadingCmd: 5.887981 target range: 147.554230 and range: 148.50 m.h}Xj@hy*hy"hy hygfffdddjdZd ?颹ɢO=) ?i)]<iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502929i1XʾIXj@II@Q @Q@UX3@Qԁ^A)ԩA] .AIi Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754932O > B5 H>B5 CB5 IB5 BB5 = =B5 GDB5 MDB5 a;B5 A$EB̹CB̹CB̓C,|`?AE| EsE$E"E :*EZ:VE4ZEBE!;a2E";aJE];a:E];aBM= =BM= =CM 5r?r?r ,=ٱrrts zAHRS rotation from veh to nav: [[0.194952,-0.955119,-0.223027],[0.979914,0.179938,0.085971],[-0.041982,-0.235308,0.971014]]rH3?U (̿@t[?@8?@9?@~ο?ir?Ir];ruCY]By]IIe4=)e;bDuVDuky=%B=ٔ;Q->9 ?Y ?=Fy}E E>Q 55]p?Q 95:)BYyS?Q I@@EI:i:5yɮAԹjhFNOT Ignoring new targets: 147.55 m.RhrZhr= ProNav: ac range: 147.554230 m, nav range: 146.163879 m, bearing: 345.289347 deg, approach rate: 0.059397 m/s, LOS rate: -0.211575 deg/s, cmd heading: 337.356485 deg, new cmd heading: 337.089889 deg. Bh=3EHeadingCmd: 5.883328 target range: 147.554230 and range: 148.50 m.hE:D@hA*hA"hA hAgAfIfIfIdIdQdQjdQZd]o?BɢC1=) ?i)S<iBi ̾I:D@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009688<11@ @@4@Y ^Au 9> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260000ԉA؟AIIO>>,ѻ?AEF EFnEF#ED"EF:*EF:VEF3ZEDaN@aN@aN@aN@BS?B>?B"D=ٱBu VAHRS rotation from veh to nav: [[0.245730,-0.944323,-0.218791],[0.968156,0.227951,0.103502],[-0.047866,-0.237258,0.970267]]BH`t?7Z̿!?`-?`?`݁@v^οl ?iBS?IBQ];@Y^1BybI QQiuMb@Mb@Mb@qqqq qG9uB`"?&1?~jth?Yu?yuP=u9qYuAuD;ul Au+@ u7@)u@qYuz@Թy&?hAbDVDy=%=ٔ39"?Y"?=Fy}EǽE>Q 5 5]p?Q 9 5l)BYr?Q E:yô?Q I@EEIl;i;i5yɮ%wA!jhAMFNOT Ignoring new targets: 147.55 m.RhMyZhMy ProNav: ac range: 147.554230 m, nav range: 146.193634 m, bearing: 345.172147 deg, approach rate: 0.055410 m/s, LOS rate: -0.218211 deg/s, cmd heading: 337.089889 deg, new cmd heading: 336.738364 deg. BhHeadingCmd: 5.877193 target range: 147.554230 and range: 148.50 m.h@h*h"h hgfff~BdddjdZdv?-Bɢ-}=)) 5&?i1)5{<11i=ŁiU5ϾQQIU@IYUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511132- m 9@i  @i @m 0@i @u p>@u x>9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763404^AU1>qBK>BCBIBBB< =BBNDBa;BH$EE EpE&E"EI:*E :VE4ZEBE%*=ٔ%W;Q-%>9!Y!=-Fy-}E-ZE->1Q 5=55~p?Q 9=55)5BYAyE{?Q IE@5IEI5|:i5R:5 5yIɮMcAIjhq}FNOT Ignoring new targets: 147.55 m.Rh}yZh}y ProNav: ac range: 147.554230 m, nav range: 146.213821 m, bearing: 345.067549 deg, approach rate: 0.042170 m/s, LOS rate: -0.218469 deg/s, cmd heading: 336.738353 deg, new cmd heading: 336.424606 deg. BhHeadingCmd: 5.871717 target range: 147.554230 and range: 148.50 m.h@h*h"h hgfffdddjdZd,v@)}Bɢ}=) 8?i).<项iMiҾI @I1199mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018370Yԙ9@ @@ 0@Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266815^A E EmE%E"E:*E:VE 4ZEa@a@a@a@IIO%>,?A2Ն?2?2V=ٱ2sly :AHRS rotation from veh to nav: [[0.294438,-0.931068,-0.215451],[0.954231,0.274056,0.119736],[-0.052437,-0.240845,0.969146]]2H ?N˿?#??ت`ο>?i2Ն?I2];2uCYFcByF$Ii Mb@Mb@Mb@     9 #~j?sh|??Y %?y =   X@ z@) @ Y @ !!bD-VD-y=}{=%=#=ٔ=†;Q-=>9AYA=EFyE}EMMEM>Q 55nq?Q 95)BY>'?Q E:y?Q I@OEIX:i: 5yBɮ 7A EjhQUFNOT Ignoring new targets: 147.55 m.Rh]Zh] ProNav: ac range: 147.554230 m, nav range: 146.242859 m, bearing: 344.936383 deg, approach rate: 0.055390 m/s, LOS rate: -0.250155 deg/s, cmd heading: 336.424601 deg, new cmd heading: 336.031187 deg. Bh+HeadingCmd: 5.864851 target range: 147.554230 and range: 148.50 m.h۬@h*h"h hgfffKBdddjdZd@_@=BɢEM=) A?i)<顩ii/־I۬@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520253]9@Y @Y@]\1@YA ^Ay I I O% >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771532 ,-?Ab9?bY?b-]=ٱb| jAHRS rotation from veh to nav: [[0.317801,-0.923500,-0.214828],[0.946620,0.296137,0.127332],[-0.053972,-0.243827,0.968316]]bH`V?N˿@J??iL?B`5Ͽ@q?ib9?Ib];bwCYrByr`IbD~VD~1yr>% N=ٔ };Q- >9Y=Fy}E}E>!Q 5%5%q?Q 9-5%j)%BY)y-x?Q I-@%SEI%:i%:%k 5y9ɮ=A9UB*** querying acoustic contact ***iY iYjhaeFNOT Ignoring new targets: 147.55 m.RhmZhm ProNav: ac range: 147.554230 m, nav range: 146.258652 m, bearing: 344.839548 deg, approach rate: 0.042376 m/s, LOS rate: -0.259801 deg/s, cmd heading: 336.031182 deg, new cmd heading: 335.740712 deg. BhL2HeadingCmd: 5.859781 target range: 147.554230 and range: 148.50 m.hS@h*h"h hgfffdddjdZd @Bɢ;=) Y?i)<iisؾIS@IBQAU<BYBYB]IB]=BB]; =B]FDBYB]Wa;B]k$EEz EkE#E"El:*E:VE3ZEBEܧ;a2Eݧ;aJE?;a:E?;aIA@I @I@M4@I@UeA@UfAyBDAT read: Rx Time:06:02:23.6225 TRx dataTimestamp_ set to:1761544944.968252checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029600^AIA IQ ԩ O >,G?A2ۻ?2?2R`=ٱ2E} :AHRS rotation from veh to nav: [[0.339522,-0.916258,-0.212595],[0.939004,0.317022,0.133299],[-0.054739,-0.244886,0.968006]]2H?QO6˿@R ?`J?@?hXϿ?i2ۻ?I2];2xC@YFByFlIIJ8>)JiMb@Mb@Mb@ 9(\?`"?~jtYz4?y=D A|@ )\@Y@bD-VD-N2y=J=%EG=ٔE&:Q-E>9IYI=MFyM}EMeEM>QQ 5]5U q?Q 9e5U)UBYe%7?Q Ee:yeU?Q Ie@UWEIUS;iU;U65yqɮubAqjh1]FNOT Ignoring new targets: 147.55 m.Rh]wZh]wm ProNav: ac range: 147.554230 m, nav range: 146.282028 m, bearing: 344.725663 deg, approach rate: 0.054371 m/s, LOS rate: -0.264842 deg/s, cmd heading: 335.740708 deg, new cmd heading: 335.399112 deg. Bhm5HeadingCmd: 5.853819 target range: 147.554230 and range: 148.50 m.h|R@h*h"h hgfffBdddjdZd@$ @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275022 Bɢ r=)  -_?i )\<顑iZi۾I|R@Iԩ9@ @@F4@E} EjE E"E݉:*E9VE3ZEa@a@a@a@^Ai I I Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529438h,za?A27{?2<ř?2[b=ٱ29w :AHRS rotation from veh to nav: [[0.360564,-0.908278,-0.212190],[0.931094,0.337007,0.139604],[-0.055290,-0.247905,0.967205]]2Hz?@ )˿?@??N ]ϿX?i27{?I2^;0Y^BybIdf@AbDj VDj2lyv̨=%vP=ٔv:Q-v>9xYx=zFyz}EzjE~>Q 55.q?Q 95`)zBYym?Q I@\EIu;i};5yBɮAEjhQ]FNOT Ignoring new targets: 147.55 m.Rh]\Zhe\m ProNav: ac range: 147.554230 m, nav range: 146.299362 m, bearing: 344.611751 deg, approach rate: 0.042407 m/s, LOS rate: -0.278645 deg/s, cmd heading: 335.399117 deg, new cmd heading: 335.057427 deg. Bhu;?}HeadingCmd: 5.847855 target range: 147.554230 and range: 148.50 m.h}!@hy*hy"hy hygyfffdddjdZdX@BɢB=) g?i)< i _i%޾!!I%!@I1 9@ @@/@EDAT read: 06:02:23.6225 LVL= 30432, 26609, 19154, 29603, AGC= 61, IDX= 429, 0.44,-0.254, 0.720, 1.751, 0.731, PHS=-0.883, 0.033, 0.976, RAW= 239.5, -1.6, CAL= 236.0, -2.2, ROT= 274.0, 2.2 UYgot valid direction response: 06:02:23.6225 LVL= 30432, 26609, 19154, 29603, AGC= 61, IDX= 429, 0.44,-0.254, 0.720, 1.751, 0.731, PHS=-0.883, 0.033, 0.976, RAW= 239.5, -1.6, CAL= 236.0, -2.2, ROT= 274.0, 2.2 ]PDAT read: Bearing 138.1, -72.8 (Local) e~Local bearing/azimuth received: Bearing 138.1, -72.8 (Local) uDAT read: Range 11 to 50 : 148.8 m (Round-trip 198.5 ms) speed 0.0 m/s }R#Rx 1: Read range and direction messages.`direction in FSK: [0.069705,-0.996829,-0.038388]Fpublishing direction and range infoy=x]2ر? k.YCvgJ s)=IJ bi+=#y?Å@΃@ nF)@InF=0T'˥߿ _M?ÉԙR 0@)5B]CB]:IB]uBB]9 =BYB]ODB]oa;B]|$E^AA>A>D@AzDAAEw EgE&E"E}:*E&9VE4ZEBEu;a 2Ev;a JEo1;a :Ep1;a I1 II O] >a ),{h{?A9m*DAT read: user:616> BDAT read: Tx time:06:02:25.0199 $Ping request sent.\$ A d@)@YG@bDVDy'=%"=ٔNi:Q->9Y=Fy}E 0E >Q 5-5gq?Q 9-5)[BY5>I?Q E5:y= ?Q I=@bEI;i;$5yUBɮUAiuEi)i-Qn?AJi-CRi-Cji-34@b-Bk՜$@٣,blbg7{R-=x]2ر? k.Zi-7 bi-nF=j-/;a@VɉpEz>@Z-"0s?94@ addTargetRange:: Added new target pos. range: 148.800003 m, deltaT: 4.032070 s, deltaX: 0.300003 m, approachRate: 0.074404 m/s, rangeRepo size: 4  Added new target pos. range: 147.855865 m, bearing: 342.349277 deg, lat: 36.779379 deg, lon: -121.859789 deg, deltaT: 4.032070 s, deltaX: 0.301636 m, approachRate: 0.074809 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 147.86 m.RhZh ProNav: ac range: 147.855865 m, nav range: 144.659714 m, bearing: 342.349559 deg, approach rate: 0.000000 m/s, LOS rate: -0.278645 deg/s, cmd heading: 335.057416 deg, new cmd heading: 334.646583 deg. BhHeadingCmd: 5.840685 target range: 147.855865 and range: 148.80 m.h@h*h"h hgfff4Bdddjd b@Zd `?Bɢ=) m?i)<ifiq⾉I@I I)eAԉ9@ @@/@@@a> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246204Թ E z E jE $E "E l:*E 9VE 4ZE a @a @a @a @^A 9> A.AIIO%>my&,'?AFǙp?F8?FQd=ٱF RAHRS rotation from veh to nav: [[0.400584,-0.892664,-0.206599],[0.914559,0.375809,0.149498],[-0.055810,-0.248834,0.966937]]FH+? qʿD?B ?"?Ͽ%?iFǙp?IF( ^;FvCYZÁByZI \\bDfVDfk1ynN=%nP=ٔnm<9Q-n>9r ?Yr ?=rFyr}Er7`Ev>tQ 5z5vq?Q 9~5v)vBBY|y~^?Q I~@vgEIvn;iv;v5yɮ {A jh)5FNOT Ignoring new targets: 147.86 m.Rh=Zh=M ProNav: ac range: 147.855865 m, nav range: 144.697357 m, bearing: 342.229956 deg, approach rate: 0.101247 m/s, LOS rate: -0.321605 deg/s, cmd heading: 334.646594 deg, new cmd heading: 334.287883 deg. BhM\UHeadingCmd: 5.834424 target range: 147.855865 and range: 148.80 m.hU@hQ*hQ"hQ hQgQfYfYfYdadadajdaZde`?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499122Bɢ=) r?i)Q<iXi 徉I@Iiԙ9@ @@/@e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753631^A 1>B} a>B} CB} lIB} BB} 6 =By B} PDB} _a;By I I O >E5 } E5 lE1 E1 "E5 ݉:*E5 :VE1 ZE1 BE5 D;aE 2E5 E;aE JE5 C;aE :E5 C;aE ,,J?A:5k?:?:d=ٱ:j FAHRS rotation from veh to nav: [[0.419757,-0.884476,-0.203730],[0.905929,0.394514,0.153790],[-0.055649,-0.249119,0.966873]]:HM?Mʿ@^?`??e?~#Ͽ?i:5k?I:"];8YŃByNI TVp<bDZVDZyb9=%bL=ٔbҹQ-b>9dYd=fFyf}EjWEj>hQ 5r5jz!q?Q 9r5j)j)BYpyr?Q Ir@jlEIjY;ij3;j5yxɮz0Ax B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 147.86 m.RhZh ProNav: ac range: 147.855865 m, nav range: 144.729904 m, bearing: 342.107711 deg, approach rate: 0.078114 m/s, LOS rate: -0.293327 deg/s, cmd heading: 334.287872 deg, new cmd heading: 333.921225 deg. BhNIHeadingCmd: 5.828025 target range: 147.855865 and range: 148.80 m.h.@h*h"h hgfffdddjdZdi?]Bɢ]k=)a ew?ia)eռ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2539193,Hμ?A Ne?N?Na=ٱNF VAHRS rotation from veh to nav: [[0.438188,-0.875951,-0.201745],[0.897193,0.412447,0.157903],[-0.055106,-0.250195,0.966626]]NH@F ?`@ɿ ͵?e?'6?`62п?iNe?INC];LbEu4jEuc3rEuJ0E EvE!E"E:*E:VEc3ZEa@a@a@a@Y ˁBy IAiMb@Mb@Mb@ 9y&1?A`"?MbY`E?yY>hA@ @)r@Y3@bDVDyb%"=ٔQ->9Y=Fy}E-&E>Q 55{(q?Q 95s)BY[M?Q E:y?Q I@rEI ;ii ;5yɮ;AjhFNOT Ignoring new targets: 147.86 m.Rh$Zh$ ProNav: ac range: 147.855865 m, nav range: 144.770325 m, bearing: 341.951759 deg, approach rate: 0.083023 m/s, LOS rate: -0.320233 deg/s, cmd heading: 333.921228 deg, new cmd heading: 333.453513 deg. Bh[HeadingCmd: 5.819862 target range: 147.855865 and range: 148.80 m.hO<@h*h"h hgfffeBdddjdZd ?]Bɢ]=)a eCw?ia)eͰ9,checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7586199 Y9==Fy=}EEfXEE>IQ 5u5MU.q?Q 9u5M)MBYqy}k?Q I}@MwEIM;iM:M{5yBɮAEԩjhFNOT Ignoring new targets: 147.86 m.RhZh- ProNav: ac range: 147.855865 m, nav range: 144.795853 m, bearing: 341.832426 deg, approach rate: 0.064212 m/s, LOS rate: -0.300110 deg/s, cmd heading: 333.453524 deg, new cmd heading: 333.095594 deg. Bh-M5HeadingCmd: 5.813615 target range: 147.855865 and range: 148.80 m.h5" @h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdex@颹ɢ=) +v?i)<i ik𾉧I" @IB-p>B-CB-IB-BB-2 =B)B-RDB-Sa;B-$EBĺCBĻCBĕCB9 =B8 =C%v6E  E sE "E "E O:*E Z:VE (3ZE BE ;a2E ;a%JE ];a%:E ];a%9@ @@0@ i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012890^A I I O >@,?ApmlFV?mT?mIV=ٱm| AHRS rotation from veh to nav: [[0.492445,-0.849858,-0.187724],[0.868771,0.467025,0.164692],[-0.052293,-0.244191,0.968316]]mH6?2Zȿ?@?? ƪAϿr?imlFV?Imv];mvCY]By]IiMb@Mb@Mb@ 9sh|??V-?KYI?ym>^~A@ )@Y@AAbDVD:y %I=ٔqQ->9Y=Fy}E^ҽE%>!Q 5-5%Y5q?Q 955%)%BY5S?Q E5:y5?Q I5@%|EI% ;i%C ;%:5yEBɮEAAjhamFNOT Ignoring new targets: 147.86 m.Rhu-Zhu- ProNav: ac range: 147.855865 m, nav range: 144.814087 m, bearing: 341.705229 deg, approach rate: 0.047174 m/s, LOS rate: -0.329032 deg/s, cmd heading: 333.095594 deg, new cmd heading: 332.714057 deg. BhaHeadingCmd: 5.806956 target range: 147.855865 and range: 148.80 m.hҹ@h*h"h hgffftBdddjdZd @ MBɢM.=)M; Mr?iQ)UF,6[?AYByI9bD=VD=yMOǽ%Ml=ٔUQ-U?9QYQ=]Fy]}E]Ee?aQ 5m5ep;q?Q 9m5el)eBYqyqQ Iu@eEIe6:iep:e5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514076yɮWAjhFNOT Ignoring new targets: 147.86 m.Rh_Zh_ ProNav: ac range: 147.855865 m, nav range: 144.830505 m, bearing: 341.594860 deg, approach rate: 0.047182 m/s, LOS rate: -0.317134 deg/s, cmd heading: 332.714060 deg, new cmd heading: 332.382992 deg. BhYHeadingCmd: 5.801178 target range: 147.855865 and range: 148.80 m.h?@h*h"h hgfffdddjdZd gH@ɢ|=) j?i)9=!i%b& i%))I-?@I)9@ @@b4@iԙ^A59>IIO>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765986 B% <A% <B- >B- CB- IB- BB- / =B) B- UDB- Ja;B- $EE  E mE %E "E O:*E :VE 4ZE BE ;a- 2E a- JE GG;a- :E GG;a- L,76?A> Q?>q?>R9Q=ٱ>_/{ FAHRS rotation from veh to nav: [[0.510116,-0.840308,-0.183478],[0.858589,0.484832,0.166622],[-0.051058,-0.242529,0.968800]]>HR?3|ǿ@y?}?S?A$- Ͽ@h?i> Q?I>];>uCY]By]pI aabDuVDu:2y%G=ٔDQ->9Y=Fy}Eԙ{KE>Q 559Cq?Q 95)sBYy?Q I@EI:i:5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 147.86 m.RhǶZhǶ ProNav: ac range: 147.855865 m, nav range: 144.844009 m, bearing: 341.463536 deg, approach rate: 0.032867 m/s, LOS rate: -0.319594 deg/s, cmd heading: 332.382987 deg, new cmd heading: 331.989059 deg. BhU[ HeadingCmd: 5.794302 target range: 147.855865 and range: 148.80 m.h j@h *h "h  h g fffdddjdZd@ @IɢMx=)I ULb?iQ)=i iNIj@IBDAT read: Rx Time:06:02:27.6235 TRx dataTimestamp_ set to:1761544949.000742checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029363M9@I @Q@Um3@Y^AM 1>! A} ؟AI I O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269963S,P?AN{K?N]ˁ?NaK=ٱNH:| VAHRS rotation from veh to nav: [[0.527799,-0.829749,-0.181508],[0.847911,0.502205,0.169815],[-0.049749,-0.243531,0.968616]]NH?`M ;ǿ"??@}?x,Ͽ?iN{K?IN];NsCYrByrbIiMb@Mb@Mb@ 9ףp= ?5^I ?MbXY>?yX>ʽ; A|@ )@Y@ 4<4<bDVDk1y\%D=ٔMQ->9"?Y"?=Fy}EJE> Q 55 Kq?Q 95 ) LBYG?Q E:y?Q I@ EI ;i G; \!5y%œBɮ%A%EjhIMFNOT Ignoring new targets: 147.86 m.RhUZhUe ProNav: ac range: 147.855865 m, nav range: 144.846558 m, bearing: 341.338429 deg, approach rate: 0.006115 m/s, LOS rate: -0.300199 deg/s, cmd heading: 331.989049 deg, new cmd heading: 331.613742 deg. BheNmHeadingCmd: 5.787752 target range: 147.855865 and range: 148.80 m.hmC5@hi*hi"hi hqgqfqfyf})BdydydyjdZdr @颩ɢ=) \?i)=项iM iIC5@IE EvE#E"E:*E:VE3ZEa%@a%@a%@a%@!u;DAT read: 06:02:27.6235 LVL= 28720, 29281, 19650, 26899, AGC= 62, IDX= 455,-0.11,-3.089,-2.470,-0.993,-2.231, PHS=-0.756,-0.194, 1.194, RAW= 226.3, -2.8, CAL= 223.9, -4.1, ROT= 286.1, 4.1 Ygot valid direction response: 06:02:27.6235 LVL= 28720, 29281, 19650, 26899, AGC= 62, IDX= 455,-0.11,-3.089,-2.470,-0.993,-2.231, PHS=-0.756,-0.194, 1.194, RAW= 226.3, -2.8, CAL= 223.9, -4.1, ROT= 286.1, 4.1 PDAT read: Bearing 154.6, -66.4 (Local) Q]~Local bearing/azimuth received: Bearing 154.6, -66.4 (Local) mDAT read: Range 11 to 50 : 149.6 m (Round-trip 199.5 ms) speed 0.0 m/s uR#Rx 1: Read range and direction messages.`direction in FSK: [0.276605,-0.958320,-0.071497]Fpublishing direction and range infoy,)?N9 MYC0par@ @@4@L i)>I7AiFԘ?|@+HDz@ C)ɟ@IC=tMR$ѿֶî?%_ a?)K=IiC= T****** received valid address query ****** R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.y ^A 9>ԩAIIO >[[,o?A*DAT read: user:617> "BDAT read: Tx time:06:02:28.8699 "$Ping request sent."ƿ a?@:?1^?YPpοP?iB3@?IB];BuCYVqByV5IbD^ VD^2yf%f3=ٔjeQ-j>9lYl=nFyn}En½En>pQ 5v5rUq?Q 9v5r)r!BYy?Q I@rEIrBCBMIBBB* =BBBa;B$Ei!i%!`?AJi%CRi%Cji%~.@b%[^D@\q*ae̻UB%R%,)?N9 MZi%bi%C=j%#Wa@CUFP{H[36@Z%ʈ%?W% :ӿ+g*?2i%2:i% C"i%yo?*i%ʌBi%׭Bi%yo?i%ʌi%׭Bi%Ci%.@ addTargetRange:: Added new target pos. range: 149.600006 m, deltaT: 3.782147 s, deltaX: 0.800003 m, approachRate: 0.211521 m/s, rangeRepo size: 4  Added new target pos. range: 148.670502 m, bearing: 342.309342 deg, lat: 36.779406 deg, lon: -121.859767 deg, deltaT: 3.782147 s, deltaX: 0.814636 m, approachRate: 0.215390 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 148.67 m.RhZh ProNav: ac range: 148.670502 m, nav range: 147.003464 m, bearing: 342.309630 deg, approach rate: 0.000000 m/s, LOS rate: -0.300199 deg/s, cmd heading: 331.613744 deg, new cmd heading: 331.164316 deg. BhHeadingCmd: 5.779908 target range: 148.670502 and range: 149.60 m.h@h*h"h hgf!f)f)d)d)d1jd5@3b@Zd5`Y0?Em EmsEm(Ei"EmO:*EmZ:VEmc44ZEiBEiau2Eia}JEm];a}:Em];a} Bɢ =)  EJ?i)= =i} i%!!I%@I1EfAEfA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253216ml;) 9@  @ @ $1@ I ^A 1>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502810A.AII1O=?w7d,?AYjVByjIIn=)n;iMb@Mb@Mb@ 9oʡ?Cl?Y-?yO>̽@ M@)Y=@bDVDk1y%=ٔQ->9 ?Y ?=Fy}EE>Q 55`q?Q 95 |)BY~6?Q E:y?Q I@EI` ;i ;%5yɮjAjh FNOT Ignoring new targets: 148.67 m.Rh Zh  ProNav: ac range: 148.670502 m, nav range: 146.989120 m, bearing: 342.158966 deg, approach rate: -0.027733 m/s, LOS rate: -0.291334 deg/s, cmd heading: 331.164317 deg, new cmd heading: 330.712294 deg. Bh%G%HeadingCmd: 5.772018 target range: 148.670502 and range: 149.60 m.h%`@h!*h)"h) h)g)f)f1f5Bd1d9d9jd9Zd=?iiɢu=)q uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007747AIIO?&l,?A65?6>l?6I ==ٱ6gv >AHRS rotation from veh to nav: [[0.601042,-0.782340,-0.163378],[0.797884,0.575561,0.179194],[-0.046157,-0.238060,0.970153]]6H;?ĿC?j?@?⡧xο~ ?i65?I6#];6wCYF3ByFIALALBR>BRCBRIBRQBBR- =BPBRTDBRa;BR$EbDbVDbܲyj%j&=ٔj1Q-j>9lYl=nFyn}ErxEr>tQ 5z5vkq?Q 9u5vs)vBYqy}?Q I}@vEIvLA I I1 O= > :s,̽?A2.?2.f?2/<=ٱ2.u :AHRS rotation from veh to nav: [[0.619960,-0.768480,-0.158392],[0.783277,0.594282,0.182500],[-0.046118,-0.237208,0.970364]]2H?c3FĿ@?Z?'\?`\ο 8 ?i2.?I2T];2vCYBByBIi Mb@Mb@Mb@     9 X9v?ףp= ?sh|?Y ?y >    z@) @ Y 3@bD%VD%N2y5%5D=ٔ=ĸQ-=>99Y9=EFyE}EEjEE>IQ 5U5Muq?Q 9U5Mm)MBY]=$?Q E]:y]^?Q I]@MEIM:iM:M)5ye̓BɮmAmEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510804%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 148.67 m.Rh=Zh= ProNav: ac range: 148.670502 m, nav range: 146.924713 m, bearing: 341.926212 deg, approach rate: -0.089540 m/s, LOS rate: -0.240859 deg/s, cmd heading: 330.316199 deg, new cmd heading: 330.013903 deg. Bh L% HeadingCmd: 5.759829 target range: 148.670502 and range: 149.60 m.hP@h*h"h hgfff=^BdAdAdAjdAZdE`?Bɢǚ=) ?iy)}8S=yyi}g iIP@IE EwE!E"E*E:VEc3ZEa@a@a@a@@ @@5@  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762830^A 1>I A] ؟AIi Iy O >y,:AHRS rotation from veh to nav: [[0.638973,-0.754199,-0.151318],[0.767835,0.613514,0.184472],[-0.046293,-0.234060,0.971119]]6H`wr?@f"e^ÿ?`?Ɯ?૳Ϳi?i6(?I6~];4YFByFIbDVVDV:ybֽ%b?=ٔf(9Q-f>9f"?Yf"?=fFyf}EjDjEj>lQ 5r5nq?Q 9r5nag)nBYtyvN?Q Iv@nEIn:in:n+5yxɮ~pAjhFNOT Ignoring new targets: 148.67 m.Rh Zh% ProNav: ac range: 148.670502 m, nav range: 146.880432 m, bearing: 341.823199 deg, approach rate: -0.101412 m/s, LOS rate: -0.235990 deg/s, cmd heading: 330.013895 deg, new cmd heading: 329.704767 deg. Bh-!5HeadingCmd: 5.754434 target range: 148.670502 and range: 149.60 m.h5R$@h9*h9"h9 h9g9fAfAfAdIdQdQjdQZd]ి@颙ɢ=) m?i)-(&=))i- i5B\11I5R$@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014997]9@Y @Y@]C4@YBBCBIBBB/ =BBBtb;B%EEu EunEu"Eq"Eu:*Eu:VEu(3ZEqBEu;a2Eu;aJEuJ;a:EuJ;aA^A 9>A eAzA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268919ԩ A .AI1 I Om >J,h?AQYUByUIiMb@Mb@Mb@ 9/$?zG?Zd;Y&?y =y M@)r@Y@bDVDy%*=ٔQ->9  ?Y  ?= Fy }EE>Q 5%5݋q?Q 9%53a)hBY%q?Q E%:y ?Q I@EIn,,?AnE?nL?nJ=ٱn#s vAHRS rotation from veh to nav: [[0.695731,-0.705431,-0.135371],[0.716607,0.668711,0.198240],[-0.049320,-0.234930,0.970760]]nHmC?Sr?f?_?}@,οw?inE?In];nwC%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770961YUπBy]oIbDmVDm:y}%}T=ٔ}9"?Y"?=Fy}EKE>Q 55q?Q 95\)RBYywt?Q I@EI;i+;n/5yBɮAԹjhFNOT Ignoring new targets: 148.67 m.Rh|Zh| ProNav: ac range: 148.670502 m, nav range: 146.756485 m, bearing: 341.637195 deg, approach rate: -0.172507 m/s, LOS rate: -0.220813 deg/s, cmd heading: 329.391965 deg, new cmd heading: 329.146513 deg. BhHeadingCmd: 5.744690 target range: 148.670502 and range: 149.60 m.hԷ@h*h"h hg!f!f)f)d9d9d9jdAZdE x@1ɢ5^=)1 5>i9)=H=99i=oiE AAIEԷ@IIIudA)ufA9@ @@ /@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022942^A1> PExceeded connect timeout, disconnecting.BI AI BU |>BQ BU rIBU ҀBBQ BQ BU SDBU 0c;BU t%EBCBCBʔCB/ =B- =C6I I O- >9 Ԙ,9?AE{ ElE"E"E=:*E:VE(3ZEBE;a2E;aJEC;a:EC;aa?8F?_4P=ٱs AHRS rotation from veh to nav: [[0.713992,-0.688087,-0.129430],[0.698308,0.686421,0.202958],[-0.050809,-0.235293,0.970596]]H?@,X?)??ο`?ia?II];sCYByYIIJ>)p<==bDVDyE%B=ٔ%h;Q->9 Y = Fy }E {E >1Q 5=55q?Q 9E55gW)59BYAyEm?Q IE@5EI5:i5:5J15yIɮMsAQjhFNOT Ignoring new targets: 148.67 m.RhkZhk ProNav: ac range: 148.670502 m, nav range: 146.680298 m, bearing: 341.547560 deg, approach rate: -0.174558 m/s, LOS rate: -0.205477 deg/s, cmd heading: 329.146516 deg, new cmd heading: 328.877472 deg. Bh 5HeadingCmd: 5.739995 target range: 148.670502 and range: 149.60 m.h5 @h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdM@ @Bɢ=) >i)/=i6i 5BDAT read: Rx Time:06:02:31.4737 5TRx dataTimestamp_ set to:1761544953.028351=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276126iIu @IqIE9@A @I@M/@Ii^A 9>A >A >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530123 a i G1]ɿ9YY]ҶAIaIyO>,W?A6ҥ?6|??66V=ٱ6s >AHRS rotation from veh to nav: [[0.732057,-0.670016,-0.123167],[0.679234,0.703997,0.207433],[-0.052275,-0.235512,0.970465]]6H`m?`pۇI?%?,?ê C%ο ?i6ҥ?I6/^;6rCYJByJIIEj| EjmEj(Eh"Ej :*Ej:VEjc44ZEhan@an@an@an@i5Mb@Mb@Mb@1111 195&1?{Gz?I +Y5?y5ף=5945 A1 5d@)11Y5@bDMVDM1y]Z%]1=ٔ]{P;Q-e>9aYa=eFym~Em|iEm>qQ 5}5uհq?Q 9}5u6R)u$BY}?Q E:y^?Q I@uEIu:iu:uI35y Bɮ A EMB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 148.67 m.Rh]fZh]f ProNav: ac range: 148.670502 m, nav range: 146.584137 m, bearing: 341.453661 deg, approach rate: -0.206392 m/s, LOS rate: -0.201668 deg/s, cmd heading: 328.877461 deg, new cmd heading: 328.595583 deg. Bhg HeadingCmd: 5.735075 target range: 148.670502 and range: 149.60 m.h@h*h"h hgfffC~BdddjdZd =@ɢV:=9)Y ]>iY)e=aaie5imP iiIm@Iq DAT read: 06:02:31.4737 LVL= 28128, 28065, 20594, 26867, AGC= 63, IDX= 441, 0.04,-1.210,-1.025, 0.841,-0.609, PHS=-0.500,-0.371, 1.406, RAW= 213.5, -5.9, CAL= 212.4, -8.7, ROT= 297.6, 8.7 Ygot valid direction response: 06:02:31.4737 LVL= 28128, 28065, 20594, 26867, AGC= 63, IDX= 441, 0.04,-1.210,-1.025, 0.841,-0.609, PHS=-0.500,-0.371, 1.406, RAW= 213.5, -5.9, CAL= 212.4, -8.7, ROT= 297.6, 8.7 PDAT read: Bearing 154.3, -56.0 (Local) %~Local bearing/azimuth received: Bearing 154.3, -56.0 (Local) -DAT read: Range 11 to 50 : 149.7 m (Round-trip 199.7 ms) speed 0.0 m/s 5R#Rx 1: Read range and direction messages.=`direction in FSK: [0.457965,-0.876007,-0.151261]=Fpublishing direction and range infoyMO?[i?ni\ÿYC9@A @A@E/@AmmrP h)?Ii󽾉?W{n@Bҽ@m@ |)6@I|>ٞİ׮Ou,S?+/ W?)>=I'gi|>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i^Ay ԑ I I O >ӛ,q?A&*DAT read: user:618> &BDAT read: Tx time:06:02:32.8699 *$Ping request sent.*BCB:IBBBBBBd;B%EbDuVDu02y_%C=ٔ{;Q->9Y=Fy~EKxE>Q 5%5Iq?Q 9%5M)BY)y-~W?Q I-@EI:i :"55yUBɮUwA]Eii b?AJiCRiCji ?@b4Q@|`&J`6RMO?[i?ni\ÿZi'gbi|>jG)Ta@[ Jԑ)vrc@Z2?3LND׿UL=g?2iV:i C"i\a?*i 3BiWBiiiBi}Ci֧@ addTargetRange:: Added new target pos. range: 149.699997 m, deltaT: 4.030016 s, deltaX: 0.099991 m, approachRate: 0.024812 m/s, rangeRepo size: 4  Added new target pos. range: 148.762817 m, bearing: 338.844142 deg, lat: 36.779406 deg, lon: -121.859767 deg, deltaT: 4.030016 s, deltaX: 0.092316 m, approachRate: 0.022907 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 148.76 m.RhZhM ProNav: ac range: 148.762817 m, nav range: 146.489822 m, bearing: 341.367544 deg, approach rate: 0.000000 m/s, LOS rate: -0.201668 deg/s, cmd heading: 328.595593 deg, new cmd heading: 328.342198 deg. BhIUHeadingCmd: 5.730652 target range: 148.762817 and range: 149.70 m.hUa@hY*hY"hY hYgYfYfafadadadijdm`fb@Zd?ԩɢȄ=) >i)=iWE EoE!E"E:*E:VEc3ZEBE;a2E;aJEN;a:EN;aimr iiIua@Iq9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251641^A 1> I I O >,u?A2*>2k2?2=Vb=ٱ2Xs :AHRS rotation from veh to nav: [[0.765629,-0.633816,-0.109949],[0.640907,0.736903,0.214970],[-0.055230,-0.235054,0.970412]]2H?`9H@%O?@? ? G>ο` ?i2*>I2_^;2xCYBByF9I HHli]Mb@Mb@Mb@YYYY Y9](\?Mb?Y]?y]@=]̼]$ AY Y)YYY]G@bDuVDuy%Q=ٔa;Q->9Y=Fy ~EE>Q 55q?Q 95I)BY\?Q E:yE?Q I@EIs:i#:65yɮAjhFNOT Ignoring new targets: 148.76 m.Rh[Zh[ ProNav: ac range: 148.762817 m, nav range: 146.396515 m, bearing: 341.296146 deg, approach rate: -0.251089 m/s, LOS rate: -0.192251 deg/s, cmd heading: 328.342192 deg, new cmd heading: 328.127865 deg. BhHeadingCmd: 5.726912 target range: 148.762817 and range: 149.70 m.hB@h*h"h hgff f >~Bd d djdZd 9?EBɢE=)A MG>iI)M8=IIiM'iUgQYI]B@IY]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5036079@ @@/0@@@ E EqE%E"E:*E$ :VE 4ZEa @a @a @a @A^A9>IIO>ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754771娯,R?A6 >6+?6\^h=ٱ6r BAHRS rotation from veh to nav: [[0.781728,-0.615141,-0.102484],[0.621037,0.752964,0.217619],[-0.056700,-0.233765,0.970638]]6H? =[<? H? ?Ϳ`x?i6 >I6?^;6uCYJByJ8IbDRVDRyZ%ZY=ٔZ;Q-^>9\Y\=bFyb ~EbEb>dQ 5j5fq?Q 9j5f/F)fBYhyn,??Q In@fEIf;if;fz85yrBɮr|Apjh  FNOT Ignoring new targets: 148.76 m.RhIPZhIP% ProNav: ac range: 148.762817 m, nav range: 146.301422 m, bearing: 341.227506 deg, approach rate: -0.252108 m/s, LOS rate: -0.182097 deg/s, cmd heading: 328.127861 deg, new cmd heading: 327.921807 deg. Bh%-HeadingCmd: 5.723315 target range: 148.762817 and range: 149.70 m.h-f%@h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE&y?Y}Bɢ}Tֈ=)y }T>iy)k=顁iFiSIf%@I59@1 @1@54@1ԉechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006787^Au1>AA@ABv>BBIBBB0 =BBԱBRd;B&EIIO>E  E oE E "E :*E :VE ZE BE ;a 2E ;a JE a :E a ,V,?A2 >2]%?2m=ٱ2Sr :AHRS rotation from veh to nav: [[0.797183,-0.595994,-0.096387],[0.600945,0.767982,0.221515],[-0.057998,-0.234512,0.970382]]2H`?`a`Ӭ:?`N?Z?챭 yο] ?i2 >I2];2vCY^Byb-IbDjVDjk1yr)$%rG=ٔrO;Q-r>9tYt=vFyv~Ev~Ez>xQ 5U5zq?Q 9U5zmB)zBYYy]8?Q I]@zEIzViq)}R =yyi}]iPI@I1!@! @!@-4@)u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510741^Aq A A .AI I O >,پ?A;ɰ2>2?2;$s=ٱ2St :AHRS rotation from veh to nav: [[0.812715,-0.575621,-0.090301],[0.579633,0.782943,0.225888],[-0.059326,-0.235924,0.969959]]2H?|kZ? ??_ 2ο ?i2>I2];0YDyDEb EbqEb$E`"Eb~:*Eb$ :VEb4ZE`af@af@af@af@i%Mb@Mb@Mb@!!!! !9%Dl?:v?/$Y%O ?y%T=%% A%@ %7@)%@!Y%@bD=VD=0yM9%MC=ٔUSP;Q-U>9 ?Y ?=Fy~ExE>Q 55q?Q 95[>)BY ?Q E:y3?Q I@EIT;i;*<5y%Bɮ%A%E]B*** querying acoustic contact ***iY iYjhiFNOT Ignoring new targets: 148.76 m.RhhUZhhU ProNav: ac range: 148.762817 m, nav range: 146.070770 m, bearing: 341.073380 deg, approach rate: -0.284259 m/s, LOS rate: -0.186575 deg/s, cmd heading: 327.701084 deg, new cmd heading: 327.459068 deg. Bh HeadingCmd: 5.715239 target range: 148.762817 and range: 149.70 m.h=@h*h"h hgfff5~BdddjdZd Q?-Bɢ-=)) -۾>i1)5)"=11i5pi=d99I==@IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764511A1@9 @9@=4@9i^A 9>ԙ A5 ؟AI9 II O] >&,?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014939RHs>R?Rx=ٱRr ZAHRS rotation from veh to nav: [[0.827185,-0.555817,-0.082659],[0.558642,0.797512,0.227800],[-0.060694,-0.234609,0.970193]]RHLx?`@ )e?8?@(?>ο ?iRHs>IRM];PYfByf?IbDrVDrܲyz=%zP=ٔzkd;Q-~>9~"?Y~"?=~Fy~~EɊE> Q 55 r?Q 95 :) BYyG-?Q I@ EI 8;i ; =5y!ɮ%?A!B=y>B9B=IB=|BB=1 =B9B9B=\d;B=&EjhamFNOT Ignoring new targets: 148.76 m.RhuATZhuAT ProNav: ac range: 148.762817 m, nav range: 145.959961 m, bearing: 341.004489 deg, approach rate: -0.298259 m/s, LOS rate: -0.185569 deg/s, cmd heading: 327.459076 deg, new cmd heading: 327.252249 deg. BhHeadingCmd: 5.711629 target range: 148.762817 and range: 149.70 m.hŶ@h*h"h hgfffdddjdZd@imBɢu8=)q u>iq)uN#=qqi}i}|QIŶ@IE EpEE"E:*E :VEZEBEν;a2EϽ;aJE2R;a:E3R;a]9@a @a@e/@aԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268115^A Aq Iy I O >) ï, ?A2>2D?2|=ٱ2G\t :AHRS rotation from veh to nav: [[0.840786,-0.535859,-0.077039],[0.537863,0.810675,0.231320],[-0.061501,-0.235927,0.969823]]2H?%Ը@-6? ??@}`2ο`?i2>I2];2uCYBByBOIiEMb@Mb@Mb@AAAA A9ECl?333333? rhYE?yE=ECEAE@ EM@)E@AYE(@bD]VD]yePq=%mC=ٔm:Q-m>9qYq=uFyu~EusE}>Q 55r?Q 956)BY6?Q E:y1?Q I@EI:i':?5yBɮAEjhFNOT Ignoring new targets: 148.76 m.Rh,ZZh,Z ProNav: ac range: 148.762817 m, nav range: 145.837555 m, bearing: 340.925533 deg, approach rate: -0.295456 m/s, LOS rate: -0.190741 deg/s, cmd heading: 327.252258 deg, new cmd heading: 327.015191 deg. BhHeadingCmd: 5.707492 target range: 148.762817 and range: 149.70 m.hƣ@h*h"h hgfff~BdddjdZd'@-Bɢ-a*=)) 5g>i1)5$=11i5i=`99IEƣ@IA5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188859]|1IeeA)eeAE EuE"E"Es:*E:VE(3ZEa@a@a@a@9@ @@2@i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771624^A 1>AE dAzAE fAԙ AIIO>Lʯ,,?Ahqq;>t ?=ٱt mAHRS rotation from veh to nav: [[0.853592,-0.516098,-0.070879],[0.517184,0.823238,0.234094],[-0.062465,-0.236478,0.969627]]HP?@@%@Ō?W??@lDο /?i;>I];BDAT read: Rx Time:06:02:35.4725 TRx dataTimestamp_ set to:1761544956.808245checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023985YMByUVIbDeVDekyu(<%u =ٔu:Q-}>9yYy=Fy$~EH)E>Q 55&r?Q 951B<Ap<B>BCBIBBB0 =BBBpd;B&E)BYy*?Q I@EIq;i!;6B5yɮAjhFNOT Ignoring new targets: 148.76 m.RhTZhT ProNav: ac range: 148.762817 m, nav range: 145.658600 m, bearing: 340.815683 deg, approach rate: -0.301600 m/s, LOS rate: -0.185362 deg/s, cmd heading: 327.015196 deg, new cmd heading: 326.685245 deg. Bhl HeadingCmd: 5.701733 target range: 148.762817 and range: 149.70 m.h t@h *h "h hgfffdddjdZd @%Bɢ%w=)) ->i))-&=)1i5FiuqqIut@Iya==1EU EUkEU&EQ"EU:*EU:VEU4ZEQBEU;a]2EU;a]JEU?;ae:EU@;aeY iQ IQ e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276211 9@  @ @ /0@ ԉ ^AqԱAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529008I1OU"?ԯ,6T?A@-(>-Q>-=ٱ-s EAHRS rotation from veh to nav: [[0.877366,-0.476318,-0.057883],[0.475573,0.847228,0.236715],[-0.063711,-0.235213,0.969853]]-Ha?{޿䢭o?~?@L?^Oxο ?i-(>I-];)YUʀByUhIiMb@Mb@Mb@ 9V-?zG?Y ?y =̼ A@ z@)YbDVD:yX=%=ٔy;Q- >9 Y = Fy *~EdE>!Q 5%5%f;r?Q 9-5%,)%BY-=?Q E-:y-+?Q I-@%EI%#:i%o:%D5yBɮ{AzEjhFNOT Ignoring new targets: 148.76 m.RhNZhNbE4jE4rE/0EU EUzEU#EQ"EU:*EU :VEU3ZEQae@ae@ae@ae@m ProNav: ac range: 148.762817 m, nav range: 145.493011 m, bearing: 340.712851 deg, approach rate: -0.289837 m/s, LOS rate: -0.180196 deg/s, cmd heading: 326.685243 deg, new cmd heading: 326.376399 deg. BhuUuHeadingCmd: 5.696343 target range: 148.762817 and range: 149.70 m.h}qH@hy*hy"hy hygyfyff~BdddjdZd1B@ԩ颽BɢTH=) >i)Z)=顁iiK;IqH@IDAT read: 06:02:35.4725 LVL= 28192, 26993, 20466, 26787, AGC= 60, IDX= 429,-0.08, 2.836, 2.238,-1.880,-2.922, PHS=-0.423,-1.078, 0.997, RAW= 192.0, 5.5, CAL= 192.2, 4.3, ROT= 317.8, -4.3 Ygot valid direction response: 06:02:35.4725 LVL= 28192, 26993, 20466, 26787, AGC= 60, IDX= 429,-0.08, 2.836, 2.238,-1.880,-2.922, PHS=-0.423,-1.078, 0.997, RAW= 192.0, 5.5, CAL= 192.2, 4.3, ROT= 317.8, -4.3 PDAT read: Bearing 174.4, -45.1 (Local) ~Local bearing/azimuth received: Bearing 174.4, -45.1 (Local) DAT read: Range 11 to 50 : 148.8 m (Round-trip 198.5 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.738719,-0.669830,0.074979]Fpublishing direction and range infoyaeLSe?e;?o忈]1?YeCae neqieO eh)e<Ieuؾieed;?ePwV@e =eV@ e`=)e5~@Ie`aaeSΨcު?nbK?G[py? e?)eƽIe-@ p>1 ^A)A->A-> *DAT read: user:619> BDAT read: Tx time:06:02:36.8699 $Ping request sent.BCB4IBBB/ =BBTDBd;BG&EBϿCBCBB0 =B0 =CB5A].AaIiIO ?Wݯ,w?AEs>E9>EV0=ٱEs UAHRS rotation from veh to nav: [[0.888307,-0.456346,-0.051559],[0.454698,0.858174,0.238300],[-0.064501,-0.235127,0.969822]]EH m? 4ݿ e@?*v?`?@ο@?iEs>IE];EwCY׀ByxIbD VD2y9=%=ٔ̾:Q->9 ?Y ?=Fy/~E2E>E EpE&E"E*E :VE4ZEBEν;a2EϽ;aJE2R;a:E3R;aQ 55Or?Q 95')zBY y %?Q I @EI:i:G5yɮAiiW!d?AJiCRiCji@bT%O[@?/X_k=,&@RLSe?e;?o忈]1?Zi-<bi`jIGa@p:YX@Rc :@Z?veL̿m>^?2i:i C"i߱?*iMBiնBiii׭BiSCi;@e addTargetRange:: Added new target pos. range: 148.800003 m, deltaT: 4.032504 s, deltaX: -0.899994 m, approachRate: -0.223185 m/s, rangeRepo size: 4 u Added new target pos. range: 147.873016 m, bearing: 347.006039 deg, lat: 36.779406 deg, lon: -121.859767 deg, deltaT: 4.032504 s, deltaX: -0.889801 m, approachRate: -0.220657 m/s, posRepo size: 4 jhq}FNOT Ignoring new targets: 147.87 m.Rh}Zh ProNav: ac range: 147.873016 m, nav range: 145.324448 m, bearing: 340.612946 deg, approach rate: 0.000000 m/s, LOS rate: -0.180196 deg/s, cmd heading: 326.376409 deg, new cmd heading: 326.089648 deg. BhHeadingCmd: 5.691338 target range: 147.873016 and range: 148.80 m.hq@h*h"h hgfffdddjdb@Zd7j?ԹBɢ%+=)! %?i!)%&J+=!)i-i-P1QIUq@IQ9@ @@ 0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253016^A 9 Aa Ii Iy O >3,9?A23m>2NF>2Ǒ=ٱ2yu >AHRS rotation from veh to nav: [[0.898668,-0.436144,-0.046636],[0.433835,0.868124,0.241139],[-0.064686,-0.236936,0.969369]]2H`?ۿ@৿?@? ?BSο?i23m>I2];2vCYFByFIiMMb@Mb@Mb@IIII I9M> ףp=?@5^I ?Mbechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502971YM?yMb>MM AM@ M@)MK@IYM @bDuVDuy{=%P=ٔ9Q->9Y=Fy3~EsE>Q 55^r?Q 95$)fBY?Q E:y,?Q I@EIq:i":H5yBɮA%G=AfAQǿ9AfAYAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 147.87 m.RhKZh%KIU ProNav: ac range: 147.873016 m, nav range: 145.205551 m, bearing: 340.537618 deg, approach rate: -0.279927 m/s, LOS rate: -0.177497 deg/s, cmd heading: 326.089651 deg, new cmd heading: 325.863481 deg. BhU]HeadingCmd: 5.687391 target range: 147.873016 and range: 148.80 m.h]@hY*hY"ha hagafafifmzBdddjdZd?=Bɢ=b՟=)A E?iA)E4-=aaim&imiqIu@IqE ErE!E"E*E?:VEc3ZEa%@a%@a%@a%@9@ @@o0@ԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756080Ա ^AA Au ؟AIy I O >ր, ?A:cU>:f^>:=ٱ:,!w FAHRS rotation from veh to nav: [[0.908502,-0.415810,-0.041543],[0.412817,0.877622,0.243641],[-0.064849,-0.238498,0.968975]]:H`s? ڿEk? {?/?@ο`?i:cU>I:g:^;:uCYRByVIbDbVDb1ynO=%rQ=ٔr9Q-r>9v"?Yv"?=vFyz7~E~qE~> Q 55 mr?Q 95 ^ ) QBYy&?Q I%@ EI WH;i dI; rJ5y)ɮ5?A1jhFNOT Ignoring new targets: 147.87 m.RhgZhg ProNav: ac range: 147.873016 m, nav range: 145.080597 m, bearing: 340.462145 deg, approach rate: -0.334948 m/s, LOS rate: -0.202483 deg/s, cmd heading: 325.863490 deg, new cmd heading: 325.636878 deg. Bh HeadingCmd: 5.683436 target range: 147.873016 and range: 148.80 m.h޵@h!*h!"h! h!g!f!fifididqdqjdqZdu`B?Bɢf=) h?i)  .=  i Q_i*I޵@Ia-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007645AAB>BÍCBSIBBB- =BBVDB6e;B&E9@ @@4@@@eAԑE EwE&E"E*E:VE4ZEBEa2Eн;aJEk;a:Ek;a^A= 9>Թ Aq I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259072c,ſ?A2 >>2>2aʄ=ٱ2wu :AHRS rotation from veh to nav: [[0.917494,-0.396163,-0.035501],[0.392437,0.887085,0.243048],[-0.064794,-0.236927,0.969364]]2H\?Zٿ=- ?c?@0? RSο?i2 >>I2^;2tCY@y@HJA HHPbDPVDPyZy%ZN=ٔZQ-Z>9\Y\=]Fy];~E] \Ee>qQ 55uk~r?Q 95u)u,V ?A,2'>2>2=ٱ2cv >AHRS rotation from veh to nav: [[0.925970,-0.376347,-0.030713],[0.372013,0.895314,0.244987],[-0.064703,-0.238276,0.969040]]2H?ؿ"s?i?@[?Zο_?i2'>I2^;2sCYFByFIiMb@Mb@Mb@ 9Gz?K?/$Y?y^:>,QA )Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763125bDVDy =% .=ٔKQ->9Y=Fy@~EJE>!Q 5-5%r?Q 9-5%\)% BY5V?Q E5:y5,?Q I5@%EI%L ;i%;%8N5y9ɮ=A9jhFNOT Ignoring new targets: 147.87 m.RhsZhs ProNav: ac range: 147.873016 m, nav range: 144.806885 m, bearing: 340.295817 deg, approach rate: -0.333149 m/s, LOS rate: -0.212455 deg/s, cmd heading: 325.400567 deg, new cmd heading: 325.137428 deg. BhHeadingCmd: 5.674719 target range: 147.873016 and range: 148.80 m.hL@h!*h!"h! h)g)f)f)f5Bd1d1d1jd1Zd=rt@ԁ Bɢ E=) V?i)2=ii]taaIeL@Ia9@ @@y1@Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862^A 1> BE >BE ōCBE lIBE ̀BBE ) =BA BE XDBE Oe;BE &EI I) O5 >L ,?A2>2p>2^=ٱ2v :AHRS rotation from veh to nav: [[0.933859,-0.356739,-0.025371],[0.351760,0.903378,0.245301],[-0.064589,-0.238001,0.969115]]2H@-?ֿ@;?y?f?vο`?i2>I2vU^;2uCYBByFIbDNVDNfyVyl<%Vd=ٔVQ-V>X9\Y\=^Fy^D~EbwEb>dQ 5j5fr?Q 9j5f)f BYhyn&?Q In@fEIf+;ifj;fO5yrBɮrAr|EDxzDz@AE~y E~hE~"E|"E~:*E~]9VE~(3ZE|BE~;a2E~;aJE~5;a :E~5;a jh)-FNOT Ignoring new targets: 147.87 m.Rh51eZh51eE ProNav: ac range: 147.873016 m, nav range: 144.692581 m, bearing: 340.226137 deg, approach rate: -0.328433 m/s, LOS rate: -0.200375 deg/s, cmd heading: 325.137440 deg, new cmd heading: 324.928234 deg. BhE MHeadingCmd: 5.671068 target range: 147.873016 and range: 148.80 m.hMcy@hI*hI"hI hQgQfQfQfYdYdYdYjdYZde4@ Bɢ .й=)  $?i)%4=i#iIcy@I!I-dA)-dA9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269106^A I I O >9 u,S?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188216U=6>6Ӟ=ٱ6.Fx BAHRS rotation from veh to nav: [[0.941401,-0.336672,-0.020380],[0.331023,0.910633,0.247331],[-0.064711,-0.239584,0.968717]]6H? տpޔ`y/?#?`?@㐰`ο`?i6U=I6!^;6vCYJByJIi%Mb@Mb@Mb@!!!! !9%oʡ?Cl?J +Y% ?y%;_>%H%A%@ %@)!!Y%@bD9VD9yMb;%MA=ٔM9Q-U>9QYQ=]Fy]H~E]cVE]>aQ 5m5er?Q 9m5e)eBYm6?Q Eu:yu0?Q Iu@eEIe:ie:eQ5yyɮ}A=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 147.87 m.RhMdYZhMdY} ProNav: ac range: 147.873016 m, nav range: 144.568008 m, bearing: 340.142745 deg, approach rate: -0.283674 m/s, LOS rate: -0.190060 deg/s, cmd heading: 324.928245 deg, new cmd heading: 324.677858 deg. BhoHeadingCmd: 5.666698 target range: 147.873016 and range: 148.80 m.hU@h*h"h hgfffBdddjdZd@ Bɢ-׬=)) -?i1)56=11i5mi=&99I=U@IAEw EeE&E"E}:*E9VE4ZEa%@a%@a%@a%@IA@A @A@E/@Aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770993^Aa I I O >ԙ  ,.?A>=>ԡ>>(=ٱ>Mz FAHRS rotation from veh to nav: [[0.948485,-0.316432,-0.015717],[0.310194,0.917405,0.249295],[-0.064466,-0.241328,0.968300]]>H Y?l@Կ+9?@a[??րο`P?i>=I>p^;>wCYNByRIbDXVDXybݒ%bT=ٔb}&Q-f>9dYd=fFyfL~EjiEj>lQ 5=5n]r?Q 9=5nF )nBY9yE+?Q IE@nEIn;in;nSS5yMBɮMAMsEjhqyuFNOT Ignoring new targets: 147.87 m.RhdZhd ProNav: ac range: 147.873016 m, nav range: 144.450165 m, bearing: 340.067445 deg, approach rate: -0.312742 m/s, LOS rate: -0.200000 deg/s, cmd heading: 324.677851 deg, new cmd heading: 324.451767 deg. BhB HeadingCmd: 5.662752 target range: 147.873016 and range: 148.80 m.hC5@h*h"h hgfffdddjdZd7 @Bɢ=) ?i)&8=iڹi   I C5@I}BDAT read: Rx Time:06:02:39.4711 TRx dataTimestamp_ set to:1761544960.841486checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025309@ @@0@BA<B>BƍCBIBBB' =BEDBYDBUe;B&EԡE={ E=jE=!E9"E==:*E=9VE=c3ZE9BE=;aM2E=;aMJE=\<;aM:E=\<;aM^A9>I1IIOU> % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274944t,beH?A2{|=2>2=ٱ2%W| :AHRS rotation from veh to nav: [[0.955123,-0.295991,-0.011338],[0.289222,0.923648,0.251445],[-0.063954,-0.243440,0.967805]]2H^?ҿ;8???B_@ )ϿB?i2{|=I27];2uCY@yDbDRVDRk1ٔfzQ-f>9dYd=jFyjP~EjY_Ej>lQ 5r5nr?Q 9r5n )nBYtyvS%?Q Iv@nEIn:in9:nU5yxɮxxjhQFNOT Ignoring new targets: 147.87 m.Rh-X_Zh-X_ ProNav: ac range: 147.873016 m, nav range: 144.322540 m, bearing: 339.989539 deg, approach rate: -0.319595 m/s, LOS rate: -0.195264 deg/s, cmd heading: 324.451771 deg, new cmd heading: 324.217847 deg. BhHeadingCmd: 5.658669 target range: 147.873016 and range: 148.80 m.h@h*h"h hgf!f!f!d!d)d)jdIZdMe @额BɢPu=) ?i)":=顡i iPI@I 9@ @@@@@fADAT read: 06:02:39.4711 LVL= 32752, 32753, 23314, 32755, AGC= 61, IDX= 431, 0.18,-2.399, 2.853,-1.165,-2.168, PHS=-0.129,-1.217, 0.959, RAW= 180.0, 4.1, CAL= 179.7, 2.1, ROT= 330.3, -2.1 Ygot valid direction response: 06:02:39.4711 LVL= 32752, 32753, 23314, 32755, AGC= 61, IDX= 431, 0.18,-2.399, 2.853,-1.165,-2.168, PHS=-0.129,-1.217, 0.959, RAW= 180.0, 4.1, CAL= 179.7, 2.1, ROT= 330.3, -2.1 PDAT read: Bearing 162.0, -32.9 (Local) ~Local bearing/azimuth received: Bearing 162.0, -32.9 (Local) DAT read: Range 11 to 50 : 147.8 m (Round-trip 197.1 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.868048,-0.495126,0.036644]Fpublishing direction and range infoy ?b?$߿(א¢?YC[ )=Iiƛu?I@C=H@ Q =)my@IQ  :}?:[*ڣ?4VWbۉ?  ?)pImiQ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.1^A! E1  E5 tE5 #E1 "E1 *E5 v:VE5 3ZE1 a= @a= @a= @a= @I I O >Y ,,Fb?AVkZ=V>VF=ٱVJ~ fAHRS rotation from veh to nav: [[0.961424,-0.274992,-0.006550],[0.267624,0.929630,0.253309],[-0.063569,-0.245291,0.967363]]VH?@yѿz@ ?`?`76?`F@eϿ?iVkZ=IV?^;VvCYvByxiMb@Mb@Mb@ 9 rh?m?QY ?yn>uA @)AY3@*DAT read: user:620> BDAT read: Tx time:06:02:40.6699 $Ping request sent.cQ- >9 Y = Fy T~EmOE>Q 5%5r?Q 9%5~)BY-r?Q E-:y-$?Q I-@EIw;i; W51y=Bɮ=A=tEiiUV?AJiCRiCji+@bϲ_@g.R/܇@R ?b?$߿(א¢?ZimbiQ j Bta@uH@(-@ZZ(?˿L> ?2i:iC"iohʡ?*ilRBiBiiii.Ciֽ@ addTargetRange:: Added new target pos. range: 147.800003 m, deltaT: 3.780639 s, deltaX: -1.000000 m, approachRate: -0.264506 m/s, rangeRepo size: 4  Added new target pos. range: 146.892303 m, bearing: 347.300880 deg, lat: 36.779406 deg, lon: -121.859767 deg, deltaT: 3.780639 s, deltaX: -0.980713 m, approachRate: -0.259404 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 146.89 m.RhZh ProNav: ac range: 146.892303 m, nav range: 144.181671 m, bearing: 339.903573 deg, approach rate: 0.000000 m/s, LOS rate: -0.195264 deg/s, cmd heading: 324.217851 deg, new cmd heading: 323.957866 deg. BhHeadingCmd: 5.654131 target range: 146.892303 and range: 147.80 m.h@h*h"h hgfffBdddjdyb@Zd?颽Bɢ=) ?i)<=i`i !I@Ia9@ @@\0@ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250861^A B >B B B B & =B B B Te;B &EԹ A .AI I) O= >jI,N{?A2E<2^~>2'=ٱ2#~ :AHRS rotation from veh to nav: [[0.967307,-0.253603,-0.001426],[0.245652,0.935552,0.253767],[-0.063022,-0.245821,0.967264]]2H.?`;п\W q? ?=?`5" wϿ?i2E9= ?Y= ?=EFyEY~EMSEM>QQ 5m5Ur?Q 9m5U)UrBYqyu?Q Iu@UEIUw;iU;UX5yɮAjhAMFNOT Ignoring new targets: 146.89 m.RhMRZh]Rm ProNav: ac range: 146.892303 m, nav range: 144.037445 m, bearing: 339.819476 deg, approach rate: -0.314598 m/s, LOS rate: -0.183625 deg/s, cmd heading: 323.957867 deg, new cmd heading: 323.705323 deg. Bhm uHeadingCmd: 5.649724 target range: 146.892303 and range: 147.80 m.huʴ@hq*hq"hy hygyfyffdddjdZd@?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502857eBɢe B=)a e?ia)m>=iiimiu*"qqIʴ@I@ @@0@) ^A 1>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754843A؟AI IO->&,f?A2;2g>23~=ٱ2S :AHRS rotation from veh to nav: [[0.972780,-0.231709,0.003077],[0.223275,0.940762,0.255177],[-0.062021,-0.247544,0.966889]]2H@!?@Ϳ4i?H??T?`B@Ͽ ?i2;I2^;2vC @)BkABTBKF@DFkAiFʡIDDIHiJkA J7H)HL NkANLLLPIP)PiP)PIRkAVTVYF TVCVkAVTiTXiXX)X \I\Y\YbBybIqiMb@Mb@Mb@ 9x&?Q?㥛 Y7 ?yu>AG@ )AY@bD VDf2y %?=ٔQ->9"?Y"?=Fy]~E1^E%>bE3jE3rE0E5 E5fE5$E1"E5:*E59VE54ZE1aE@aE@aE@aE@!Q 5M5%r?Q 9U5%)%NBYU?Q EU:yU?Q IU@%EI%;i%J;%Z5yeBɮeAa}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 146.89 m.RhZZhZ ProNav: ac range: 146.892303 m, nav range: 143.899734 m, bearing: 339.740364 deg, approach rate: -0.332605 m/s, LOS rate: -0.191256 deg/s, cmd heading: 323.705314 deg, new cmd heading: 323.467754 deg. BhA%HeadingCmd: 5.645577 target range: 146.892303 and range: 147.80 m.h%@h!*h)"h) h)g)f)f1f5Bd1d1d9jd9Zd=?颭Bɢ=) ?i)@=顱iriG:#I@Iԡy@y @y@}4@y@@i>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007473^A 9> A .AI I O >A,,e?A>@>@O>>{=ٱ>נ FAHRS rotation from veh to nav: [[0.977676,-0.209940,0.008608],[0.200925,0.946108,0.253985],[-0.061466,-0.246585,0.967170]]>HI?TʿK??F?HA?}xϿ`?i>@I>'^;>uCY=ڀBy={IE=E=IMBAbDUVDU:2ye%%eW=ٔeQ-m>9m ?Ym ?=mFyma~EuvEu>Q 55s?Q 95).BYy?Q I@ EI[:i:|\5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258881yɮAB>BōCBrIBҀBBBBXDBe;Bs&EBōCBōCBB' =B( =C/6jhFNOT Ignoring new targets: 146.89 m.RhcJZhcJ ProNav: ac range: 146.892303 m, nav range: 143.772369 m, bearing: 339.670388 deg, approach rate: -0.321765 m/s, LOS rate: -0.176940 deg/s, cmd heading: 323.467760 deg, new cmd heading: 323.257645 deg. BhHeadingCmd: 5.641910 target range: 146.892303 and range: 147.80 m.h@h *h"h hgfffddd!jd!Zd%`k?颕Bɢ=)  ?i)dB=顙iaOi*$I@I!EU| EUeEU%EQ"EU :*EU9VEU 4ZEQBEU#;ae2EU$;amJEU(*;am:EU)*;amy@y @y@4@QU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797^A y A ؟AI I OE >'3,N?Ar@r7>rsaw=ٱr~ zAHRS rotation from veh to nav: [[0.982157,-0.187571,0.013620],[0.178115,0.950999,0.252737],[-0.060359,-0.245802,0.967439]]rHm?Pȿ?@{?@n?,?^箿lvϿB?ir@Ir ^;pYYBy[Ii]Mb@Mb@Mb@YYYY Y9]sh|???MbX9Y] ?y]ff>]ʡ] A]^@ Y)YYY](@bD}VD}1yڽ%-=ٔQ->9"?Y"?=Fyf~EdEE> Q 55"s?Q 9 5)BY-?Q E-:y- ?Q I=@EI^9i )!D=ii!N%If@IA9@ @@4@Ee EejEe Ea"Ee:*Ee9VEe3ZEaam@am@au@au@Ա ^A= 1>m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015895Ai Iy I O >q:,?AfGTp=ٱf rAHRS rotation from veh to nav: [[0.989555,-0.142194,0.023707],[0.131691,0.958572,0.252583],[-0.058640,-0.246823,0.967285]]fHo?h3¿F?9AYA=MFyMj~EMIEU>YQ 5e5]O3s?Q 9m5]M)]BYiym>Q Iu@]EI]H;i]J;]P`5yBɮAvEjhFNOT Ignoring new targets: 146.89 m.RhLZhL ProNav: ac range: 146.892303 m, nav range: 143.453476 m, bearing: 339.518755 deg, approach rate: -0.396076 m/s, LOS rate: -0.179199 deg/s, cmd heading: 323.002788 deg, new cmd heading: 322.802225 deg. BhHeadingCmd: 5.633962 target range: 146.892303 and range: 147.80 m.hjI@h*h"h hgfffdddjdZd5@Bɢ=)  >i)%E=!i%{i%3&)IjI@IIeA)ԡ59@1 @1@5/@1@9@9}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266803B>BčCBLIBBB* =BFDBWDBd;BP&E^AEM ~ EM lEM #EI "EM :*EM :VEM 3ZEI BEM g;ae 2EM i;ae JEM C;ae :EM C;ae A9 IA IQ Oe >WA,4?AB^@B=BpIl=ٱB JAHRS rotation from veh to nav: [[0.992447,-0.119300,0.028583],[0.108284,0.961404,0.252936],[-0.057655,-0.247930,0.967061]]BH?`x D???`0?.Ͽ@)?iB^@IBT];BuCYRByV<I TTXZAbDb VDb2yf%jQ=ٔj%nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519044pQ-r>9tYt=vFyvn~EzvEz>|Q 55~Cs?Q 95~)~BYy>Q I@~EI~B:i~:~b5yɮAjh9=FNOT Ignoring new targets: 146.89 m.RhE?ZhE?U ProNav: ac range: 146.892303 m, nav range: 143.303040 m, bearing: 339.453745 deg, approach rate: -0.387354 m/s, LOS rate: -0.167568 deg/s, cmd heading: 322.802226 deg, new cmd heading: 322.606992 deg. BhU]HeadingCmd: 5.630554 target range: 146.892303 and range: 147.80 m.h]-@hY*ha"ha hagafafifidididijdqZdu@Q@9ɢ=*=)A E>iA)ERG=AAiE|)im'iqIu-@Iqu9@y @@/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770747^Aa Y A .AI I O >E= G,}?A EmgEiEi"Ema:*Em&9VEiZEia@a@a@a@>@>r=>_7h=ٱ> FAHRS rotation from veh to nav: [[0.994774,-0.096529,0.033280],[0.084940,0.963224,0.254920],[-0.056663,-0.250761,0.966389]]>H/?`% ?@??@P?v п@?i>@I>7^;>rCYNByN#I9iMb@Mb@Mb@ 9NbX9?NbX9?lY?yE>3A@ @)YbD VD k1y%౽%-6=ٔ5Q-5>95 ?Y5 ?==Fy=r~E=WE=>AQ 5M5EVs?Q 9M5E3)EBYU?Q EU:yUt>Q IU@EEIE ;iE. ;Ec5y]Bɮ]AemEB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 146.89 m.Rh$Zh$% ProNav: ac range: 146.892303 m, nav range: 143.128098 m, bearing: 339.387160 deg, approach rate: -0.377506 m/s, LOS rate: -0.143861 deg/s, cmd heading: 322.606992 deg, new cmd heading: 322.406991 deg. Bh%uŻMHeadingCmd: 5.627064 target range: 146.892303 and range: 147.80 m.hM@hI*hI"hQ hQgQfQfYf]wBdYdYdYjdaZde` @BDAT read: Rx Time:06:02:43.2698 TRx dataTimestamp_ set to:1761544964.620226checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023972Bɢ=) >i)H=ioiE'AIIM@IIi9@ @@/@ԉ^A Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275443B >B ÍCB IB BB , =B B VDB d;B D&EAM ؟AIY Ii Ou >M,9?A2x @22z=2[e=ٱ2v :AHRS rotation from veh to nav: [[0.996571,-0.073155,0.038671],[0.060950,0.965045,0.254899],[-0.055967,-0.251668,0.966194]]2H?`Ị? 4??CP?@`Sп?i2x @I2^;2tCYBByBIbDnVDnyro%v^=ٔvbQ-v>9"?Y"?=Fyv~EE>!Q 5-5%tfs?Q 9-5%B)%BY)y->Q I-@%EI%K;i%;%e5yYɮ]'AYqjhFNOT Ignoring new targets: 146.89 m.Rh+Zh+ ProNav: ac range: 146.892303 m, nav range: 142.979385 m, bearing: 339.333085 deg, approach rate: -0.410973 m/s, LOS rate: -0.149594 deg/s, cmd heading: 322.407004 deg, new cmd heading: 322.244611 deg. BhTͻHeadingCmd: 5.624229 target range: 146.892303 and range: 147.80 m.h@h*h"h hgff f dddjdZd`] @eBEz EhE"E"El:*E]9VE(3ZEBEݧ;a2Eߧ;aJE5;a:E5;aɢe !=)! -W>i))-I=))i-˫i5U(11I5@I9ԡ9@ @@/@@i>@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529733^A A I9 Ia O >T,fS?A2D@2v=23`=ٱ2) :AHRS rotation from veh to nav: [[0.997812,-0.049634,0.043671],[0.036914,0.966289,0.254800],[-0.054845,-0.252631,0.966007]]2H?i[? j??N?+п?i2D@I2t];2vCYBpByBIIF=)FR=J=J=iMb@Mb@Mb@ 9 r?ʡE?L7A`尿Y?y>+A^@ )AYf@bD-VD-0y=]%=F=ٔ= 2Q-E>9AYA=EFyEz~EMhqEM>QQ 5]5Uws?Q 9]5U)UjBY]e ?Q E]:y]x>Q Ie@U EIU0;iUT:Uag5ymBɮmAmnEeDAT read: 06:02:43.2698 LVL= 32752, 32753, 30562, 32755, AGC= 68, IDX= 434,-0.36, 1.812, 0.577, 2.741, 1.918, PHS=-0.004,-1.296, 0.779, RAW= 171.9, 5.8, CAL= 171.4, 4.9, ROT= 338.6, -4.9 mYgot valid direction response: 06:02:43.2698 LVL= 32752, 32753, 30562, 32755, AGC= 68, IDX= 434,-0.36, 1.812, 0.577, 2.741, 1.918, PHS=-0.004,-1.296, 0.779, RAW= 171.9, 5.8, CAL= 171.4, 4.9, ROT= 338.6, -4.9 uPDAT read: Bearing 152.8, -25.1 (Local) }~Local bearing/azimuth received: Bearing 152.8, -25.1 (Local) DAT read: Range 11 to 50 : 146.8 m (Round-trip 195.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.927653,-0.363543,0.085417]Fpublishing direction and range infoy9=BU?ID׿b$ݵ?Y=C999=bw 9)=DI=oi=T㥿=lG?=@@=4Q==t?@ =%=)=$@I=%99=)l?00?bٹ? =h?)=p%ϽI=j;i=%99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i9i=uX?AJi=CRi=Cji=d@b=:J`@mMքJ 5V(@R=BU?ID׿b$ݵ?Zi=j;bi=%j=zyFa@VE2@Z=V-Q?dҿ4xOD?2i=P,:i=7 C"i=B ?*i=W_XBi=xBi=߱?i=W_Xi=xBi=Ci=c@ addTargetRange:: Added new target pos. range: 146.800003 m, deltaT: 4.030159 s, deltaX: -1.000000 m, approachRate: -0.248129 m/s, rangeRepo size: 4 E Added new target pos. range: 145.891403 m, bearing: 342.689078 deg, lat: 36.779447 deg, lon: -121.859683 deg, deltaT: 4.030159 s, deltaX: -1.000900 m, approachRate: -0.248353 m/s, posRepo size: 4 jhAEFNOT Ignoring new targets: 145.89 m.RhMZhI] ProNav: ac range: 145.891403 m, nav range: 144.714233 m, bearing: 342.681876 deg, approach rate: 0.000000 m/s, LOS rate: -0.149594 deg/s, cmd heading: 322.244609 deg, new cmd heading: 322.043839 deg. BhYeHeadingCmd: 5.620725 target range: 145.891403 and range: 146.80 m.heܳ@ha*ha"ha hagifififm{BdqdqdqjduYb@Zdu sײ?eBɢmt =)i m>ii)m=K=qqiui)Iܳ@IEw ElE&E"E}:*E:VE4ZEa@a@a@a@Y@Y @Y@a@a1 *DAT read: user:621>  BDAT read: Tx time:06:02:44.6699  $Ping request sent. A I I O >[,{hp?A2@2U<2]=ٱ2Y :AHRS rotation from veh to nav: [[0.998459,-0.026210,0.048917],[0.013026,0.967507,0.252507],[-0.053946,-0.251481,0.966358]]2H`?@֚ ??? )?Ԟ@Dпf?i2@I2^;2uCYBXByBIbDNVDNk1yV߽%V<=ٔVQ-V>X9XY\=^Fy^~E^(aE^>`Q 5f5bTs?Q 9f5b )bMBYAyEM>Q IE@b$EIb)i)8L=ii?*Idz@IB>BčCBIBbBB- =BBWDBd;BW&Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2507909@ @@3@ DqzDqE}~ E}gE}%Ey"E}:*E}&9VE} 4ZEyBE}g;a2E}h;aJE}p1;a:E}p1;a^AA>A .AI! A IY Oe >} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502780mb,@0?A6ֽ@6@6Y=ٱ6[ BAHRS rotation from veh to nav: [[0.998529,-0.003083,0.054127],[-0.010634,0.967850,0.251304],[-0.053162,-0.251510,0.966394]]6H?PBi?`(Dž@?\?8п@?i6ֽ@I6b^;4YJ=ByJIbDRVDR:2yZy%ZJ=ٔ^Q-^>9^ ?Yb ?=bFyb~EbdpEb>dQ 5j5fs?Q 9j5f)f2BYlynIz>Q In@f'EIf;ifU;f k5yrBɮr4Atjh FNOT Ignoring new targets: 145.89 m.RhZh- ProNav: ac range: 145.891403 m, nav range: 144.341156 m, bearing: 342.589190 deg, approach rate: -0.464658 m/s, LOS rate: -0.112629 deg/s, cmd heading: 321.896925 deg, new cmd heading: 321.765419 deg. Bh-5HeadingCmd: 5.615866 target range: 145.891403 and range: 146.80 m.h5-@h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdMj?uBɢm=) %o>i!)-cL=)1ieJil*I-@II%9@) @)@-4@)@1@5gAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754832q^Ae 9>E  E lE E "E :*E :VE ZE a @a @a @a @Թ A ؟AI I O >֗h, ?AY~;By~I   AyiMb@Mb@Mb@ 9?1Zd?)\(Y?y"=Ga`A /@)tAY\@bDVD02y%;=ٔQ->9"?Y"?=Fy~EE>Q 55s?Q 95)BY?Q E:y,>Q I@*EI[;i;l5yBɮDAB*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 145.89 m.Rh1кZh1к- ProNav: ac range: 145.891403 m, nav range: 144.145401 m, bearing: 342.549415 deg, approach rate: -0.447294 m/s, LOS rate: -0.091008 deg/s, cmd heading: 321.765431 deg, new cmd heading: 321.645944 deg. Bh-ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.030810uHeadingCmd: 5.613781 target range: 145.891403 and range: 146.80 m.hu@hq*hq"hq hygyfyfyf/BdddjdZd?Bɢ=) m>i)9M=izi^+  I @I ԩ9@ @@4@^Ai B >B ōCB IB 5BB * =B B B d;B j&E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.286788 A I I O >n,??A2 1@2+@2qV=ٱ2~ >AHRS rotation from veh to nav: [[0.996885,0.044367,0.065199],[-0.058970,0.968301,0.242726],[-0.052364,-0.245815,0.967901]]2H@|?`B?鰰?`J1R?? jϪ`vϿ ?i2 1@I2 ^;2wCYF(ByFIbDN VDN2yVs˽%V]=ٔZ Q-Z>9XYX=^Fy^~E^1E>Q 5%5s?Q 9%5)BY)y-=Q I-@.EI:id:n5y5Bɮ5A5oEEEy EAEE&EA"EE:*EAVEE4ZEABEE;aM2EE;aUJEEC;aU:EEC;aUjhy}FNOT Ignoring new targets: 145.89 m.RhݻZhݻ ProNav: ac range: 145.891403 m, nav range: 143.970657 m, bearing: 342.517887 deg, approach rate: -0.454602 m/s, LOS rate: -0.082122 deg/s, cmd heading: 321.645957 deg, new cmd heading: 321.551257 deg. BhoaHeadingCmd: 5.612128 target range: 145.891403 and range: 146.80 m.h@h*h"h hgfffdddjdZd l\? BɢЅ=) I>i)}?N=i%i-f+11I5@I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5349571^AA .AI) I9 OM >Y u,?AY"ByIechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.786835iMb@Mb@Mb@ 9x&1?p= ף?~jtY?y=A \@)AY@bDVD1y߼%9=ٔQ->9 ?Y ?=Fy~EE>1Q 5}5Os?Q 9}5)BY}?Q E:yA=Q I@1EIi)O=顡iic1,I@IU9@Q @Y@Y@Y@el>@e]>ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.038746^AY Ae >Ae > A ؟AI I O >_|,?A2@2@2S=ٱ2w NAHRS rotation from veh to nav: [[0.992856,0.092276,0.075638],[-0.107572,0.966537,0.232882],[-0.051617,-0.239355,0.969559]]2Hz?n?]? Ӊ?`?m-ο?i2@I2v^;2vCYVByVIIZ=)Z;bDb VDb2yf%jE=ٔjQ-j>9n"?Yn"?=nFyn~ErEr>tQ 5v5vs?Q 9z5v)vBYxyzllQ Iz@v4EIv3;iv;vQr5yɮ_Ajh)-FNOT Ignoring new targets: 145.89 m.1RhZh ProNav: ac range: 145.891403 m, nav range: 143.565979 m, bearing: 342.462784 deg, approach rate: -0.534452 m/s, LOS rate: -0.067185 deg/s, cmd heading: 321.461214 deg, new cmd heading: 321.385722 deg. Bhn8HeadingCmd: 5.609239 target range: 145.891403 and range: 146.80 m.h~@h*h"h hgfffdddjdZd`@B>BBIBBBBEDBXDB,e;B&EBčCBčCBCB* =B+ =C5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.291001MBɢM.=)Q Uo'>iQ)U5}O=QQiUi,I~@Ia9@ @@/@E{ EjE#E"E=:*E9VE3ZEBE;a 2E;a JE[<;a :E\<;a ԉ^A9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.543237 A I I O >Mg,F?A2ֽ@2@2R=ٱ2=v >AHRS rotation from veh to nav: [[0.989895,0.116340,0.081068],[-0.132124,0.964311,0.229451],[-0.051481,-0.237843,0.969938]]2H@9?@pȽ??o?`^?[qο ?i2ֽ@I2 ^;2tCYFByFIbDbVDbyflA%fK=ٔjױQ-j>9hYl=nFyn~EԹiE>9Q 55=s?Q 95=)=BYyмQ I@=8EI=li)%P=ii,I't@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7958279@ @@/@E | E sE "E "E :*E Z:VE (3ZE a @a @a @a @^A A A I I O >,U)?A2 @2Q@2Q=ٱ2x :AHRS rotation from veh to nav: [[0.986303,0.140241,0.086829],[-0.156800,0.960547,0.229700],[-0.051190,-0.240169,0.969380]]2Hˏ?`g?`t:?Ŀͼ?f?`5 ܽο *?i2 @I23^;2uCYJByJI^BDAT read: Rx Time:06:02:47.3012 bTRx dataTimestamp_ set to:1761544968.676363bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.048110QiMb@Mb@Mb@ 9K7A?~jt?Y ?yD=̼A E@)AYAbDu VDu2yA<%&=ٔQ->9Y=Fy~E^E>Q 55t?Q 95v)BY?Q E:y՞Q I@<EI:iZ::v5yɮTA B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 145.89 m.RhaZha- ProNav: ac range: 145.891403 m, nav range: 143.127777 m, bearing: 342.417151 deg, approach rate: -0.527735 m/s, LOS rate: -0.049312 deg/s, cmd heading: 321.310649 deg, new cmd heading: 321.248623 deg. Bh5^5HeadingCmd: 5.606846 target range: 145.891403 and range: 146.80 m.h5Ik@h9*h9"h9 h9g9f9fAfE~BdAdIdIjdIZdM @}}Bɢ}=)y },>iy)LP=顁i7i$-IIk@Iy=9@9 @9@=/@9@A@EfAB1B5ƍCB5eIB5BB5( =B1B1B5'e;B5&Eԩmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.298766^A] 1> A I I O >ِ,GC?AE* E*qE*$E("E*:*E*$ :VE*4ZE(BE*;a.2E*;a.JE*U;a2:E*U;a2n7@nn2@nRhO=ٱn<~ vAHRS rotation from veh to nav: [[0.981991,0.164437,0.093027],[-0.182021,0.955369,0.232676],[-0.050615,-0.245418,0.968095]]nHxl?@F ?@з?yLǿ`b?Q?@4ꩿiϿ`?in7@In^;nsCY5By=I 99 AE<bDMVDM:y]ǝ%]d=ٔevҺQ-e>9aYa=mFym~EmOEm>qQ 5}5u[t?Q 9}5u)uBYyԽQ I@u?EIu:iu :uw5yBɮeAqEԱjhFNOT Ignoring new targets: 145.89 m.Rh;Zh;U ProNav: ac range: 145.891403 m, nav range: 142.949570 m, bearing: 342.402424 deg, approach rate: -0.496500 m/s, LOS rate: -0.041081 deg/s, cmd heading: 321.248631 deg, new cmd heading: 321.204396 deg. Bh]HeadingCmd: 5.606074 target range: 145.891403 and range: 146.80 m.hd@h*h"h hgff fdd!dIjdQZd]eQ@DAT read: 06:02:47.3012 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 260,-0.22,-0.912,-2.360,-0.401,-0.934, PHS= 0.123,-1.381, 0.489, RAW= 160.6, 9.0, CAL= 160.4, 9.5, ROT= 349.6, -9.5  Ygot valid direction response: 06:02:47.3012 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 260,-0.22,-0.912,-2.360,-0.401,-0.934, PHS= 0.123,-1.381, 0.489, RAW= 160.6, 9.0, CAL= 160.4, 9.5, ROT= 349.6, -9.5 PDAT read: Bearing 146.6, -15.4 (Local) ~Local bearing/azimuth received: Bearing 146.6, -15.4 (Local) %DAT read: Range 11 to 50 : 170.4 m (Round-trip 227.2 ms) speed 0.1 m/s -R#Rx 1: Read range and direction messages.-^direction in FSK: [0.970082,-0.178043,0.165048]5Fpublishing direction and range infoyȾB ?>' RƿG ?Yf*C )EIm=iİ5^>Ud3@| >$+3@ )>)@@I)5?M,R?ށQG? 5?)a I9i)MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.zBɢy~=) (>i)HQ=iAbi'W-Id@Iu9@y @y@y@y^Ay 9 } *DAT read: user:622>  BDAT read: Tx time:06:02:48.5199  $Ping request sent. Y,^?ABg@Bb@BM=ٱBK̀ jAHRS rotation from veh to nav: [[0.977079,0.188384,0.099133],[-0.206869,0.950108,0.233451],[-0.050209,-0.248607,0.967302]]BH y 0=94At@ )AY@EE{ EEsEAEA"EE=:*EEZ:VEAZEAaM@aM@aM@aM@bDVDy%.=ٔbcQ->9Y=Fy~E]E>Q 55x*t?Q 95)BY>Q E:yQ I@BEIC:i:y5yBɮAiYi]cK?AJi]Y)CRi]Y)Cji],@b]2d@ "&>'Ku;@R]ȾB ?>' RƿG ?Zi]9bi])j] c@#R Lȴ H:@Z]Ŏ ?W=v/4տFk?2i]n`:i]C"i] ?*i]x|Bi]Bi]B ?iYiYi]Ci]:@--addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 170.399994 m, deltaT: 3.805904 s, deltaX: 23.599991 m, approachRate: 6.200890 m/s, rangeRepo size: 4jh)5FNOT Ignoring new targets: 145.89 m.Rh5Zh5M ProNav: ac range: 145.891403 m, nav range: 142.724472 m, bearing: 342.386136 deg, approach rate: -0.476492 m/s, LOS rate: -0.034534 deg/s, cmd heading: 321.204399 deg, new cmd heading: 321.155456 deg. BhMMHeadingCmd: 5.605220 target range: 145.891403 and range: 146.80 m.hU]@hQ*hQ"hQ hQgQfYfYf]~BdadadajdeLe@ZdmW?颕wBɢR}=) >i)uQ=顙i"i-I]@Iԑ9@ @@0@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251538^A 9> A I I O >y,fx?AB&>B&ōCB&YIB&BB&* =B$B$B& e;B&y&EBe@B-@BK=ٱBO JAHRS rotation from veh to nav: [[0.971465,0.212600,0.105153],[-0.231910,0.944384,0.233145],[-0.049738,-0.250878,0.966740]]BH=?@z6?@M? 6Ϳ e8??Ewcп?iBe@IBu5^;@YRByRhIbDZVDZ1ybl%fq=ٔfQ-f?9hYh=jFyj~EjEj?pQ 5r5rC8t?Q 9v5rf)rBYtyvPQ Iv@rEEIr:ir|:rS{5yzBɮ~ A~rEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502820jhFNOT Ignoring new targets: 145.89 m.RhnZhn ProNav: ac range: 145.891403 m, nav range: 142.560760 m, bearing: 342.376003 deg, approach rate: -0.460033 m/s, LOS rate: -0.028508 deg/s, cmd heading: 321.155467 deg, new cmd heading: 321.125032 deg. BhHeadingCmd: 5.604689 target range: 145.891403 and range: 146.80 m.hY@h*h"h hgf f f d dd1jd1Zd=E?tBɢv=) >i)%R= ii-IY@I9@ @@4@@@i>EE| EEnEE'EA"EE :*EE:VEE'4ZEABEE";aU2EE$;aUJEEJ;aU:EEJ;aU1^A- 1>] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755852Y A .AI I O >ee,?p?AŹ@@K=ٱ]8 AHRS rotation from veh to nav: [[0.965258,0.236509,0.111086],[-0.256533,0.938571,0.230814],[-0.049672,-0.251293,0.966636]]He?E?@p?kп@?`R?n@-п ?iŹ@I#^;uCY By zI==)iMb@Mb@Mb@ 9Q? ףp= ?y&1|Y>yQ8=`vA@ \@)AYA@AbD VD2yLq=%+=ٔQ->9 ?Y ?=Fy~E UZE >Q 55EKt?Q 95oQ =tI)BY>Q E:y%0Q I%@IEI;i;h}5y1ɮ5A1jhY]FNOT Ignoring new targets: 145.89 m.RheZheu ProNav: ac range: 145.891403 m, nav range: 142.333832 m, bearing: 342.363599 deg, approach rate: -0.496322 m/s, LOS rate: -0.027171 deg/s, cmd heading: 321.125032 deg, new cmd heading: 321.087763 deg. Bhu-}HeadingCmd: 5.604039 target range: 145.891403 and range: 146.80 m.h}IT@hy*hy"hy hygfffBdddjdZd?颽qBɢ}=) O >i)R=i:i-IIT@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006975Y9@ @@4@Ea EepEe#Ea"Ea*Ee :VEe3ZEaau@au@au@au@ԉ^A 9>Ա U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258701Aq Iy I O >,?Ab@b@b?aI=ٱbÛ rAHRS rotation from veh to nav: [[0.958687,0.259769,0.115925],[-0.280184,0.932710,0.227043],[-0.049145,-0.250144,0.966961]]bH`? ?:?@ѿ??`)[п@W?ib@Ibx^;`Y~By~uIbDVDy-%-g=ٔ-úQ-->91Y1=5Fy5~E= E=>AQ 55EVYt?Q 95EP)EBYyIQ I@EKEIE#i ) /S=  i :i-IQ@I-9@) @)@5/@1iAAAAB>BƍCBBB) =BBBe;Bz&Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510748ԙ^Aq E  E eE E "E :*E 9VE ZE BE Ͻ;a 2E н;a JE (*;a :E )*;a% A ؟AI I O > ,?A2u4@2=/@2H=ٱ2[ :AHRS rotation from veh to nav: [[0.951593,0.282472,0.121159],[-0.303426,0.926214,0.223741],[-0.049019,-0.249673,0.967089]]2Hts??M?Rkӿ@?? JϿc?i2u4@I2z^;0YzByzIbD VD y=%M=ٔ٥Q->9%"?Y%"?=%Fy%~E-yE->1Q 5555it?Q 9=55k)5BY9y=bQ I=@5NEI5;i5<;55yIɮMCAIjhquFNOT Ignoring new targets: 145.89 m.Rh}Zh} ProNav: ac range: 145.891403 m, nav range: 141.973709 m, bearing: 342.349346 deg, approach rate: -0.499439 m/s, LOS rate: -0.017492 deg/s, cmd heading: 321.065008 deg, new cmd heading: 321.044942 deg. Bh@HeadingCmd: 5.603292 target range: 145.891403 and range: 146.80 m.h*N@h*h"h hgfffdddjdZd?jBɢV=) :>i)aS=i2i .I*N@II)Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763524u9@q @q@u/@q^AAzAdA A .AI I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0146969 ,s?A>s@>m@>ʍH=ٱ>% RAHRS rotation from veh to nav: [[0.944170,0.304571,0.125618],[-0.325804,0.919802,0.218667],[-0.048944,-0.247385,0.967680]]>H`6? ~?=?Կo?G?(SϿs@I>e^;>vCY^BybI hhEy EuEE"E:*E:VEZEa@a@a@a@iMb@Mb@Mb@ 9y&1?V-?{GztY`>yh=ףA@ @)AYpAbDVD0y C<% <=ٔ 5Q->9 ?Y ?=Fy~E]E>!Q 5-5%fyt?Q 9-5%[)%BY5@>Q E5:y5s:Q I5@%QEI%;i%;%5y=Bɮ=#A9jhamFNOT Ignoring new targets: 145.89 m.RhmѹZhmѹ} ProNav: ac range: 145.891403 m, nav range: 141.778549 m, bearing: 342.339357 deg, approach rate: -0.447556 m/s, LOS rate: -0.022938 deg/s, cmd heading: 321.044955 deg, new cmd heading: 321.014948 deg. Bh}{HeadingCmd: 5.602768 target range: 145.891403 and range: 146.80 m.hI@h*h"h hgfffSBdddjdZd`K@gBɢup=) C>i)2iT=iki/.II@I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2684529^Aa A ؟AI I O% >B >B B eIB BB B B B d;B m&E潰,rO?A 61@6@6 H=ٱ6. >AHRS rotation from veh to nav: [[0.935979,0.326783,0.130983],[-0.348626,0.912129,0.215591],[-0.049022,-0.247453,0.967659]]6H ??@?Oֿ*0?@?mϿ?i61@I6^;6tCYFByFIbDzVDzܲy;%]=ٔ^9Q->9 "?Y "?= Fy ~E E>Q 5%5$t?Q 9%5A)yBY!y%PSQ I%@TEI;i;75y1ɮ5A1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518781jhaeFNOT Ignoring new targets: 145.89 m.RhmZhm} ProNav: ac range: 145.891403 m, nav range: 141.612793 m, bearing: 342.332502 deg, approach rate: -0.447472 m/s, LOS rate: -0.018530 deg/s, cmd heading: 321.014957 deg, new cmd heading: 320.994365 deg. Bh}xKHeadingCmd: 5.602408 target range: 145.891403 and range: 146.80 m.hF@h*h"h hgfffdddjdZdA@dBɢ=) H>i)U=iibG.IF@IQ@Y @Y@Y@YqE EkE!E"E*E:VEc3ZEBE;a2E;aJE?;a:E@;aԡ^Au1>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771560A I I O >İ,g*?AP]޵@]ټ@]-G=ٱ]C AHRS rotation from veh to nav: [[0.926955,0.349495,0.136410],[-0.371995,0.903422,0.213188],[-0.048728,-0.248360,0.967441]]]H@?`!^?`u?`׿`?@I?@?ϿG?i]޵@I]aQ^;YY=By=IiMb@Mb@Mb@ 9V-?~jt?QY>y=uA@ r@)AYGAbDVDy<%/=ٔ?%Q->9Y=Fy~E[E>Q 5 5 t?Q 95)kBY>Q E:ymQ I@XEI ;i2 ;A5yBɮ%A%tEjhAMFNOT Ignoring new targets: 145.89 m.RhUZhUe ProNav: ac range: 145.891403 m, nav range: 141.395187 m, bearing: 342.325706 deg, approach rate: -0.467224 m/s, LOS rate: -0.014612 deg/s, cmd heading: 320.994357 deg, new cmd heading: 320.973940 deg. Bhet mHeadingCmd: 5.602052 target range: 145.891403 and range: 146.80 m.hmD@h *h "h  h g fffPBdddjdZd`-% @Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022901e`Bɢm=)i mQ>ii)ugU=qqiui^.8<T>ID@IbE3jE3rEǁ/EE~ EEmEE%EA"EE:*EE:VEE 4ZEAaU@aU@aU@aU@@ @@/@@@! = DAT read: 06:02:51.1498 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.44, 1.841, 0.125, 2.047, 1.772, PHS= 0.172,-1.601, 0.231, RAW= 151.6, 13.2, CAL= 151.8, 14.7, ROT= 358.2, -14.7 M Ygot valid direction response: 06:02:51.1498 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.44, 1.841, 0.125, 2.047, 1.772, PHS= 0.172,-1.601, 0.231, RAW= 151.6, 13.2, CAL= 151.8, 14.7, ROT= 358.2, -14.7 U BDAT read: Rx Time:06:02:51.1498 ] TRx dataTimestamp_ set to:1761544972.718818e @DAT read: $Low SNR acquisition e 2Received low SNR in chirp X#Rx 1: Read direction message, but no range. ^direction in FSK: [0.966790,-0.030382,0.253758]yQ U ?N 9N=?Q Q Q Q Q )U DIU 0>iU ̿U Dl>U V)@U k>U )@^AU 9>i U G\>)U @IU G\Q U h?5y~U?YVD? U K ?)U R>lIU ѭiU G\ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseAIIO?ṵ,5?A2@2@20IH=ٱ2@k :AHRS rotation from veh to nav: [[0.917797,0.371010,0.141423],[-0.394031,0.894928,0.209387],[-0.048878,-0.247900,0.967552]]2H ^??@%? 7ٿ@?4?@@0Ͽ /?i2@I21^;2vCYBByFIIF)>)Fp;bDNVDNyVQ<%V:=hٔZڳ9Q- >9 Y=Fy~EXE>Q 5%58t?Q 9%5)^BY)y-Q I-@[EI:i;:5y5Bɮ=|A=}EUB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 145.89 m.Rhmx8Zhmx8} ProNav: ac range: 145.891403 m, nav range: 141.184830 m, bearing: 342.321163 deg, approach rate: -0.466004 m/s, LOS rate: -0.010080 deg/s, cmd heading: 320.973948 deg, new cmd heading: 320.960298 deg. Bh}\ݹHeadingCmd: 5.601814 target range: 145.891403 and range: 146.80 m.hB@h*h"h hgfffdddjdZd @]Bɢ%]=) Y>i)V=iU$i\n.Fq<vq>IB@IB>BBlIBBB( =BBB e;Bz&EB5ƍCB5ƍCB1B5) =B5) =C5]m59@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^A}1>A.AIIOf>E| EkEE"E :*E:VEZEBE#;a2E$;aJEa:Ea)Y  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsePӰ,N?A>+X@>R@>TI=ٱ>z jAHRS rotation from veh to nav: [[0.908149,0.392295,0.146184],[-0.415738,0.886164,0.204634],[-0.049266,-0.246612,0.967861]]>H?[?)?rڿu[?@r1?m9Ͽ?i>+X@I>_<^;>xCYrByrIbDzVDz:yՙ<% E=ٔ u:Q- >9  ?Y ?=Fy~EqE>Q 5%5wt?Q 9-5U)SBY)y-؎Q I-@^EI:i$:5y5B9ɮ=QA=~EjhamFNOT Ignoring new targets: 145.89 m.Rhm͸Zhm͸} ProNav: ac range: 145.891403 m, nav range: 140.996719 m, bearing: 342.318903 deg, approach rate: -0.466674 m/s, LOS rate: -0.005616 deg/s, cmd heading: 320.960288 deg, new cmd heading: 320.953497 deg. BhvHeadingCmd: 5.601695 target range: 145.891403 and range: 146.80 m.hA@h*h"h hgfffdddjdZdi@ZBɢ=) ad>i)'NW=iUdi]!v.]<]p^>I]A@Ia k>ƐC@ @@_0@iu9YAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԑ^A|5>AfAzAgAE  E nE "E "E :*E :VE (3ZE a% @a% @a% @a% @ A ؟AI I O% >Sٰ,nh?A2{@2C@2<J=ٱ2V :AHRS rotation from veh to nav: [[0.897584,0.414024,0.151418],[-0.438077,0.876110,0.201295],[-0.049318,-0.247012,0.967757]]2H?@_?`a?r ܿ` ? ?(@Ͽ?i2{@I2)^;2wCYB!ByBIaj@aj aj@aj aj@aj aj@aj bDnVDn yv<%vL=ٔz9Q-z>9z"?Yz"?=~Fy~~E~|E>Q 5 5t?Q 9 5)GBQ A+:YQ E:yQ I@aEIQ:i'>g5yɮ%BA!jhAMFNOT Ignoring new targets: 145.89 m.RhMZhMԙ ProNav: ac range: 145.891403 m, nav range: 140.809540 m, bearing: 342.318534 deg, approach rate: -0.467790 m/s, LOS rate: -0.000922 deg/s, cmd heading: 320.953485 deg, new cmd heading: 320.952379 deg. Bh!HeadingCmd: 5.601676 target range: 145.891403 and range: 146.80 m.h@@h*h"h  h g1f9f9fAdAdAdIjdIZdM@}T****** received valid address query ******}R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse%XBɢ%0=)! %!k>i))-%X=))iMiUfw.U/(I]@@IY9@ @@/1@@@^A:y>AIIO%>B>BōCBxIBBB* =BFDBWDBse;B&E- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapse 0,犂?ABuŲ@B=@BڱJ=ٱB8 JAHRS rotation from veh to nav: [[0.886614,0.435387,0.156054],[-0.459857,0.865921,0.196755],[-0.049466,-0.246208,0.967954]]BH$_?@c?? Knݿ?E/?S ƒϿ@z?iBuŲ@IBE^;BtCYV"ByVI XXEb EbjEb%E`"Eba:*Eb9VEb 4ZE`BEbX;af2EbY;afJEb[<;aj:Eb\<;ajbDnVDnk2yvS;%vJ=ٔv9Q-z>9xYx=~Fy~~E~cwE~>Q 5 5t?Q 9 5h)i)X=顱ii;r.<6>IA@I9@ @ @ 4@ ^A,`>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA5.AI9IQO]v>Iy ,h\?A2*@2@2!M=ٱ2j :AHRS rotation from veh to nav: [[0.875022,0.456037,0.162377],[-0.481487,0.854595,0.194516],[-0.050060,-0.248389,0.967366]]2H.?/??޿X??`v2Ͽ?i2*@I2-^;2vCYFByFIrT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapseaa aa aa% a%a% i%Mb@Mb@Mb@!!!! !9%A`"?ˡE?Y%>y%=%̼%A%@ %@)%A!Y%AbDVDyE%;=ٔŲ:Q->9 ?Y ?=Fy~EdE>!YQ 5e5%t?Q 9e5%)%-BQ AmT:Ym{>Q Eu:yutQ I@%gEI%piq)uY=qqiu.i}Xl.}!b<}o#>IPB@Iԁ}9@y @y@}4@yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱ^A I^>A >A ? A ؟AI I O- >V,A?A2.@2P)@2O9O=ٱ2 :AHRS rotation from veh to nav: [[0.862640,0.477504,0.166861],[-0.503285,0.843251,0.188763],[-0.050570,-0.246813,0.967743]]2H`?n?[?@? e)?U䩿Ͽ?i2.@I2%^;2sCYBByDbDNVDN1yV/%VR=ٔV:Q-V>9Z"?YZ"?=ZFyZ~E^VE^>tQ 5z5vt?Q 9z5v)v BYxy~7Q I~@vjEIv:ivg:v25yBɮ]A%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 145.89 m.Rh5!9Zh=!9M ProNav: ac range: 145.891403 m, nav range: 140.265564 m, bearing: 342.324987 deg, approach rate: -0.456271 m/s, LOS rate: 0.008841 deg/s, cmd heading: 320.962064 deg, new cmd heading: 320.971773 deg. BhM*9UHeadingCmd: 5.602014 target range: 145.891403 and range: 146.80 m.hUC@hQ*hQ"hQ hQgQfYfYfYAe@AAaBm>BmčCBmrIBmBBm, =BiBiBme;Bm&EdYd9d9jdAZdE@颍QBɢn=) e>i%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse)hiZ=11i=-ji==a.ELWIEC@IAIQ)UfA@ @@/@@)>@=^AV>Ez EyE&E"El:*E:VE4ZEBEݧ;a-2Eߧ;a-JEr;a-:Er;a-AI!I19OU> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsea 2,J?A2g@2b@2Q=ٱ2} :AHRS rotation from veh to nav: [[0.850154,0.498134,0.170589],[-0.524046,0.831959,0.182262],[-0.051132,-0.244347,0.968339]]2Hu4?n??`i?_T? -FϿ?i2g@I2>^;2wCYFByFIIJ<)J<bDNVDNyV9XYX=ZFy^~EfvEj>tQ 5z5v1u?Q 9z5v8)vBYxyz¾Q Iz@vlEIv :iv:v5yyɮ}AjhFNOT Ignoring new targets: 145.89 m.Rh[9Zh[9 ProNav: ac range: 145.891403 m, nav range: 140.094696 m, bearing: 342.329984 deg, approach rate: -0.408817 m/s, LOS rate: 0.011970 deg/s, cmd heading: 320.971763 deg, new cmd heading: 320.986772 deg. Bhq:HeadingCmd: 5.602276 target range: 145.891403 and range: 146.80 m.hE@h*h"h hgfffdddjdZd u@OBɢ%[=)! %R>i!)%[=!)i-3i-P.5<5=I5E@I9Y9@ @@/@^Avh5>ԁET****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseAI!I1O]v>ԩE5  E5 gE5 #E1 "E5 :*E5 &9VE5 3ZE1 a= @a= @a= @a= @ \,u?A2@2ț@2U=ٱ2 :AHRS rotation from veh to nav: [[0.837140,0.517450,0.177320],[-0.544491,0.819259,0.179843],[-0.052211,-0.247103,0.967582]]2H ??h?`xl`_7?@?]Ͽm?i2@I2,^;2tCYbByfIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiMb@Mb@Mb@ 9333333?+?S㥛Y>y=/ݼ@ @)-AYAbDVDy<% 6=ٔ ;Q- >9Y=Fy~ET^E>!Q 5-5%u?Q 9-5%;)%BY->Q E-:y-hԾQ I5@%oEI%:i%;%ⓖ5y9ɮ=yA9jhaeFNOT Ignoring new targets: 145.89 m.Rhm9Zhm9} ProNav: ac range: 145.891403 m, nav range: 139.905945 m, bearing: 342.338245 deg, approach rate: -0.442739 m/s, LOS rate: 0.019402 deg/s, cmd heading: 320.986762 deg, new cmd heading: 321.011576 deg. Bh} U:HeadingCmd: 5.602709 target range: 145.891403 and range: 146.80 m.hdI@h*h"h hgfffBdddjdZdT@ԱMBɢ=)i u'b>iq)u[=qqiui}3.}f<}x=I}dI@I%9@! @)@-/@)B}>B}CB}lIB}BB}/ =ByB}UDB}8f;B}&E U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse^Am R5#>Ai zAm hAA I I O >9 EE { EE kEE 'EA "EE =:*EE :VEE '4ZEA BEE ;aM 2EE ;aU JEE ?;aU :EE @;aU D,&Q?A2ޮ@2ٵ@2 [=ٱ2+d :AHRS rotation from veh to nav: [[0.823930,0.536310,0.183059],[-0.564148,0.806829,0.175397],[-0.053630,-0.247787,0.967329]]2H`]?s)? xn?@ ?@js?au~Ͽ[?i2ޮ@I2P^;2vCYR ByV{IbDbVDbNyf%ja=ٔj;Q-j>9hYl=nFyn~ErEr>pQ 5v5ru?Q 9z5r)rBYxyzQ Iz@rrEIr:irF:ry5y}Bɮ}AEjhFNOT Ignoring new targets: 145.89 m.Rh9Zh9 ProNav: ac range: 145.891403 m, nav range: 139.751755 m, bearing: 342.346532 deg, approach rate: -0.401755 m/s, LOS rate: 0.021618 deg/s, cmd heading: 321.011569 deg, new cmd heading: 321.036459 deg. Bh_m:HeadingCmd: 5.603143 target range: 145.891403 and range: 146.80 m.hL@h *h "h  h g f ffdddjdZd@@ELBɢEn=)I MbG>iI)m܀\=iqiu] iu<.}at<}=I}L@IyT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse%9@! @!@%/@!@)@)^A;>ԩA)I9IIO>y ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapset,B?A-1o@-i@-h=ٱ-: MAHRS rotation from veh to nav: [[0.797662,0.571234,0.193460],[-0.600428,0.782346,0.165594],[-0.056760,-0.248246,0.967033]]-H`r?`G?K?6 ?+2? @Ͽ@?i-1o@I-m+^;-sCE EpE$E"Ey:*E :VE4ZEa@a@a@a@aYBysI iUMb@Mb@Mb@QQQQ Q9U"~?L7A`?YU>yU+=U̼UAU@ U@)QQYUA aabDmVDmy}м%}=ٔB;Q->9Y=Fy~EîE>Q 55+u?Q 95)BY>Q E:yyQ I@uEI. ;i ;ŗ5yɮAjhFNOT Ignoring new targets: 145.89 m.Rhm:Zhm: ProNav: ac range: 145.891403 m, nav range: 139.537811 m, bearing: 342.364124 deg, approach rate: -0.423125 m/s, LOS rate: 0.034845 deg/s, cmd heading: 321.036458 deg, new cmd heading: 321.089314 deg. BhP:HeadingCmd: 5.604066 target range: 145.891403 and range: 146.80 m.hT@h*h"h hgfffBddd jd Zd z@]JBɢ]o$=)Y ]@;>iY)es?]=aaie/im-m<ԙ-M#0=I-T@I1T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@@Թ ^A I=A I I) O5 > ,'8?AX ^C)^kAbL```bkAibLIf_FdIdifkA fPd)hh jkAjjB9B=YIB=BB=0 =B9B9B=;f;B=&Ey-~EUEU?YQ 5e5]4u?Q 9e5]N)]BYayaQ Im@]wEI]:i]:]5yuBɮu+AuEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 145.89 m.Rhs:Zhs: ProNav: ac range: 145.891403 m, nav range: 139.418045 m, bearing: 342.373996 deg, approach rate: -0.406555 m/s, LOS rate: 0.033539 deg/s, cmd heading: 321.089324 deg, new cmd heading: 321.118965 deg. Bh$:HeadingCmd: 5.604583 target range: 145.891403 and range: 146.80 m.hX@h*h"h hgfffdddjdZd#@ɢ)=) 4>i)  ]=  i ~Ki޸-#K<@=IX@I5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse9@ @@4@^A+=E% E%qE%'E!"E%~:*E%$ :VE%'4ZE!BE%;a52E%;a5JE%U;a=:E%U;a=AIIOi> 9  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseq,HR?AF1@F+@Fy=ٱF{ RAHRS rotation from veh to nav: [[0.773561,0.601474,0.199582],[-0.630786,0.761074,0.151245],[-0.060927,-0.242890,0.968139]]FH ?`E???f/ Z?[?1@Ͽ?iF1@IF6^;FvC!YmBymkIbD}VD}βy ]%D=ٔR$9Y=Fy~EE>Q 55Au?Q 95)BYyA Q I@zEI:i-:ۚ5yɮBAjhFNOT Ignoring new targets: 145.89 m.RhA7:ZhA7: ProNav: ac range: 145.891403 m, nav range: 139.251816 m, bearing: 342.390468 deg, approach rate: -0.403708 m/s, LOS rate: 0.040053 deg/s, cmd heading: 321.118967 deg, new cmd heading: 321.168443 deg. Bh:HeadingCmd: 5.605447 target range: 145.891403 and range: 146.80 m.h_@h*h"h  h g f f fdddjdZd@d[ @EIBɢM\=)I M/>iI)MZ6^=IQiU5]i]C-]95<]Qh*QET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsey^A5L=bEJ4jEJ4rEȰ/E5  E5 E5 #E1 "E5 s:*E5 *:VE5 3ZE1 a= @a= @a= @aE @A ԡ I I O >H,|l?AZ@ZY@Z=ٱZt jAHRS rotation from veh to nav: [[0.763067,0.614716,0.199632],[-0.643218,0.752495,0.141500],[-0.063240,-0.236381,0.969600]]ZH@ k? ??=p??@{0Aο?iZ@IZh^;XyY}ByaII<)a==p=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiMb@Mb@Mb@ 9A`"?:v?I +Y>yT=9A@ @)VAYAbDVDy %7=ٔ;Q->9Y=Fy~EKE>Q 55ZNu?Q 95k)BY>Q E:yQ I@}EI:is:Ϝ5yɮAjh9=FNOT Ignoring new targets: 145.89 m.RhEEa:ZhEEa: ProNav: ac range: 145.891403 m, nav range: 139.070053 m, bearing: 342.412476 deg, approach rate: -0.406112 m/s, LOS rate: 0.049237 deg/s, cmd heading: 321.168445 deg, new cmd heading: 321.234555 deg. Bh);HeadingCmd: 5.606601 target range: 145.891403 and range: 146.80 m.hFi@h*h"h hgfffBdddjdZd@H!@]HBɢe.=)a e8!>iaԩ)S^=i2bi4-ԥ<u@IFi@IY@Y @Y@]4@aB=>B9B=FIB=BB9B9B=TDB=f;B=&EBCBCBǔCB/ =B. =Cm(6^A]٦=U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseA .AI I O > D9 zD= ?AEE ~ EE uEE %EA "EE :*EE :VEE 4ZEA BEE g;aM 2EE h;aM JEE ed;aM :EE fd;aU !,_?AFO9@F4@F;ۅ=ٱFKo NAHRS rotation from veh to nav: [[0.753921,0.625876,0.199705],[-0.653710,0.744907,0.133330],[-0.065313,-0.231069,0.970743]]FH ? -?@?1F??Z@ͿR?iFO9@IF^;FuCYVByV_IbDbVDbyf<%js=ٔj ;Q-j?9M ?YM ?=MFyM~EUb"EU>YQ 5e5]Xu?Q 9e5] )]BYiymNQ Im@]EI] :i]:]Y5yuBɮuA}EjhFNOT Ignoring new targets: 145.89 m.Rhl:Zhl: ProNav: ac range: 145.891403 m, nav range: 138.927765 m, bearing: 342.430610 deg, approach rate: -0.404508 m/s, LOS rate: 0.051606 deg/s, cmd heading: 321.234561 deg, new cmd heading: 321.289019 deg. Bh ;HeadingCmd: 5.607551 target range: 145.891403 and range: 146.80 m.hq@h*h"h hgfffdddjdZd`!@GBɢ=)  >i ) /<_=  iei],)n<;SIq@I9@ @@/@^A8R=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAIIOi> !)U6x9YY]aAY u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapses',?AV|ͪ@VDȱ@V%=ٱVkl jAHRS rotation from veh to nav: [[0.745149,0.635721,0.201522],[-0.663485,0.737212,0.127698],[-0.067383,-0.228861,0.971124]]VH C?`W?v?D;y t= `e EA @ @) A Y QAbD%VD%ky5F%53=ٔ5;;Q-=>99Y9==Fy=EEzEE>IQ 5U5M:eu?Q 9U5M )MBYU>Q EU:y]'Q I]@MEIMs:iM:MF5yaɮeAajhFNOT Ignoring new targets: 145.89 m.Rh:Zh:E EtE'E"E:*Ev:VE'4ZEa@a@a@a@% ProNav: ac range: 145.891403 m, nav range: 138.751236 m, bearing: 342.456892 deg, approach rate: -0.400451 m/s, LOS rate: 0.059695 deg/s, cmd heading: 321.289011 deg, new cmd heading: 321.367957 deg. Bh%#;-HeadingCmd: 5.608929 target range: 145.891403 and range: 146.80 m.h-Y|@h)*h)"h) h)g1f1f1f=Bd9d9d9jdAZdE"@颉ɢ=) >i)0_=i Ui ,=<#żIY|@I19@ @@/@@@^AeNJN<Am>Am>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseYA؟AIIO>ԁ "-,P?A6}@6cx@6ˎ=ٱ6%h >AHRS rotation from veh to nav: [[0.738528,0.643359,0.201656],[-0.670614,0.731854,0.121106],[-0.069668,-0.224674,0.971940]]6H?f? ?uYk??ձ̿"?i6}@I6g^;6uCYFByFJI HHbDRVDRyZ%Zh=ٔZ;Q-^>A`Ab?ABf>BdBf-IBfBBdBdBdBfe;Bf&E9E"?YE"?=EFyMEMؼEM>QQ 5]5Uou?Q 9]5U1)UBYaye)Q Ie@UEIUj;iUf;U㡖5yiɮm AiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 145.89 m.RhS:ZhS: ProNav: ac range: 145.891403 m, nav range: 138.603760 m, bearing: 342.479560 deg, approach rate: -0.398661 m/s, LOS rate: 0.061341 deg/s, cmd heading: 321.367968 deg, new cmd heading: 321.436044 deg. Bhd(;HeadingCmd: 5.610117 target range: 145.891403 and range: 146.80 m.h@h*h"h hgfffdddjdZd@#@FBɢӂ=) =i)`=i Ci /N, E<sI@IԱT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@0@E~ EmE%E"E:*E:VE 4ZEBEa2EaJEGG;a:EGG;a^Ah%< A! I) I9 OM > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse9 4,+?AYByAIbD-VD-:2y=%EB=ٔEQ-E>9IYI=MFyMEMEM>QQ 5]5U{u?Q 9e5U)UBYayaQ Ie@UEIU@;iU;U5ymԓBɮmAuEjhFNOT Ignoring new targets: 145.89 m.Rh:Zh: ProNav: ac range: 145.891403 m, nav range: 138.442505 m, bearing: 342.504407 deg, approach rate: -0.399288 m/s, LOS rate: 0.061597 deg/s, cmd heading: 321.436052 deg, new cmd heading: 321.510681 deg. Bh);HeadingCmd: 5.611420 target range: 145.891403 and range: 146.80 m.h@h*h"h hgfffdddjdZdvb$@1ɢ5~=)9 = =iA)Ev`=Iiim(iu+u*E EiE$E"Ea:*E9VE4ZEa@a@a@a@i ,:,?A Y-By-8I}DAT read: 2Acoustic response timeoutiMb@Mb@Mb@ 9+?L7A`?~jthY>y+=DA @ @) AYbDVDy+%@=ٔQ->9Y=Fy EE>Q 55ou?Q 95)BY b>Q E :y @*Q I @EI;i;5yɮ Ajh9EFNOT Ignoring new targets: 145.89 m.RhE:ZhM:] ProNav: ac range: 145.891403 m, nav range: 138.268738 m, bearing: 342.531486 deg, approach rate: -0.408152 m/s, LOS rate: 0.063684 deg/s, cmd heading: 321.510692 deg, new cmd heading: 321.592030 deg. Bh].;eHeadingCmd: 5.612840 target range: 145.891403 and range: 146.80 m.heb@ha*ha"ha hagafififmBdidqdqjdqZdu<%@颡ɢ{=) =i)"`=顩i ii+< Ib@I9@ @@0@@>@=^A2gԩB>BBIBvBB3 =BBUDBe;Bl&EIIO >= 2Acoustic response timeout E  E xE "E "E U:*E :VE (3ZE BE ;a 2E ;a JE Po;a :E Qo;a A,?A>@>r@>x$=Pٱ>K bAHRS rotation from veh to nav: [[0.730110,0.656612,0.189210],[-0.679071,0.728055,0.093797],[-0.076168,-0.196969,0.977446]]>H]?? 8?`:L?`? J6ɿ=G?i>@I>"S^;>vCYjByj=IInR=)n=r=r=bDvVDv:3y~<%~[=ٔ~Î9Y=FyE E >Q 55%u?Q 95)BYy%#-Q I%@EID;i;%5y-ӓBɮ-A)jhQUFNOT Ignoring new targets: 145.89 m.Rh]x:Zh]x:m ProNav: ac range: 145.891403 m, nav range: 138.116852 m, bearing: 342.556028 deg, approach rate: -0.406621 m/s, LOS rate: 0.065775 deg/s, cmd heading: 321.592026 deg, new cmd heading: 321.665733 deg. Bhm4;uHeadingCmd: 5.614126 target range: 145.891403 and range: 146.80 m.hu즳@hq*hq"hq hqgyfyfyfdddjdZd%@颱ɢ5=)1 ==i9)=#a=99i=iEvG+E JAHRS rotation from veh to nav: [[0.730494,0.658191,0.182107],[-0.678401,0.730008,0.082829],[-0.078423,-0.184048,0.979784]]BH5`??KO?`v 9\?@F4?ǿcZ?iB!@IBJ^;BuCYzByz/I|iMb@Mb@Mb@ 9ˡE?yt=Ad@ @)Y(AbDVDk1yDO%?=ٔĭ;Q->9Y=FyE:E>Q 55u?Q 95)zBY>Q E:y+Q I@EI:i:5yɮ; AjhFNOT Ignoring new targets: 145.89 m.Rh :Zh : ProNav: ac range: 145.891403 m, nav range: 137.936539 m, bearing: 342.584711 deg, approach rate: -0.422424 m/s, LOS rate: 0.067285 deg/s, cmd heading: 321.665737 deg, new cmd heading: 321.751900 deg. Bh8;%HeadingCmd: 5.615630 target range: 145.891403 and range: 146.80 m.h%>@h!*h!"h! h)g)f)f)f5nBd1d1d9jd9Zd=V&@E EoE#E"Eҝ:*E:VE3ZEa@a@a@a@GBɢtv=) =i ) $_a=IIiMkiU*U@IY)@ @@4@^A]x/IIOf>Q2Acoustic response timeoutԁ B5N,ė;?AB2<A2p<B6>B6čCB6IB6MBB6- =B4B6WDB6Zd;B6&EB5@Bv0@B@R=ٱB/ JAHRS rotation from veh to nav: [[0.732005,0.658624,0.174308],[-0.676511,0.732949,0.071548],[-0.080636,-0.170295,0.982088]]BH@l?r?O?Pt?@Q?`=ſ@Dm?iB5@IB!q^;BwCYRByR+IbDZVDZyf%fZ=ٔf;Q-f>9hYh=jFyjEj;En>pQ 5v5r u?Q 9v5r)rrBYtyv*Q Iv@rEIr:ir:r5y|ɮ~V A|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 145.89 m.Rh-:Zh-:= ProNav: ac range: 145.891403 m, nav range: 137.777969 m, bearing: 342.609806 deg, approach rate: -0.422410 m/s, LOS rate: 0.066925 deg/s, cmd heading: 321.751907 deg, new cmd heading: 321.827276 deg. Bh=7;EHeadingCmd: 5.616946 target range: 145.891403 and range: 146.80 m.hE@hA*hI"hI hIgIfIfQfQdQdQadQjdZd'@!ɢ%v=)) -t=i))-ϗa=))i-\i=*EA1IIO> 2Acoustic response timeout U, rU?AYyByI !!bD5VD5yE_%EC=ٔEQ-E>9IYI=MFyMEMEU>QQ 5]5Uu?Q 9e5U )UiBYayaQ Ie@UEIU#:iU[:Uz5ymғBɮm AuEjhFNOT Ignoring new targets: 145.89 m.Rhڙ:Zhڙ: ProNav: ac range: 145.891403 m, nav range: 137.600800 m, bearing: 342.637913 deg, approach rate: -0.423377 m/s, LOS rate: 0.067254 deg/s, cmd heading: 321.827285 deg, new cmd heading: 321.911716 deg. Bh8;YHeadingCmd: 5.618419 target range: 145.891403 and range: 146.80 m.hʳ@h*h"h hgfffdddjdZd`~(@ HBɢ o=)  ,F=i )a=i i.*ѝ<k yM=MD;MAM@ M@)M AIYImBDAT read: Response Not Received m*response not receiveduTDAT read: user:624>Tx time:06:03:00.9699 u9 ?Y ?=Fy!EG<E>Q 55Yu?Q 95#)`BYI>Q E:y&Q I@EI2 ;i ;K5yɮ!AjhFNOT Ignoring new targets: 145.89 m.Rh:Zh: ProNav: ac range: 145.891403 m, nav range: 137.423019 m, bearing: 342.664863 deg, approach rate: -0.427930 m/s, LOS rate: 0.064954 deg/s, cmd heading: 321.911706 deg, new cmd heading: 321.992660 deg. BhO2;HeadingCmd: 5.619832 target range: 145.891403 and range: 146.80 m.hճ@h*h"h hgfff7BdddjdZdK)@yɢ}UFh=)y BmōCBmIBmBBm+ =BmEDBmXDBm d;Bm%E- DAT read: 5 2Acoustic response timeout9 ^A =E  E wE $E "E :*E :VE 4ZE BE ;a 2E ;a JE k;a :E k;a A I I O% >b,m?AVŪ@V˿@VD=ٱV ^AHRS rotation from veh to nav: [[0.743293,0.652165,0.148986],[-0.663211,0.747541,0.036517],[-0.087558,-0.125952,0.988165]]VH??? 9`? g?-j`3 ?iVŪ@IVl^;VsCYfPByfIbDrVDryv#%zX=ٔz;Q-z>9xY|=~Fy~%E~<E>Q 5 5u?Q 95l&)XBYy%Q I@EI:i:5yɮ%O!A!jhIMFNOT Ignoring new targets: 145.89 m.RhU:ZhU:e ProNav: ac range: 145.891403 m, nav range: 137.260574 m, bearing: 342.689027 deg, approach rate: -0.428873 m/s, LOS rate: 0.063870 deg/s, cmd heading: 321.992657 deg, new cmd heading: 322.065234 deg. BheU/;mHeadingCmd: 5.621099 target range: 145.891403 and range: 146.80 m.hm @hi*hi"hq hqgqfqfyfydydydjdZdz*@颭IBɢ#d=) ;i)5a=11i=Ki=~)ES ԩ = 2Acoustic response timeoutIh,¢?Aɰ;2@2@2U=ٱ2: :AHRS rotation from veh to nav: [[0.747494,0.648455,0.144083],[-0.658179,0.752311,0.028771],[-0.089739,-0.116339,0.989147]]2Hw?#?Qq?`?"v? `Ƚ ?i2@I2\h^;2uC@YF"ByJIieMb@Mb@Mb@aaaa a9euV?{Gz?Mbp?Yer>ye#=e;e Ae@ a)e AaYeAquAAbD}VD}Ny۽%A=ٔ4;Q->9Y=Fy)E ~<E>Q 55 u?Q 95k))OBY[>Q E:y"Q I@EI3:i:̱5yѓBɮ!AEjhFNOT Ignoring new targets: 145.89 m.Rhe:Zhe: ProNav: ac range: 145.891403 m, nav range: 137.078568 m, bearing: 342.715184 deg, approach rate: -0.429504 m/s, LOS rate: 0.061809 deg/s, cmd heading: 322.065221 deg, new cmd heading: 322.143798 deg. Bh);HeadingCmd: 5.622470 target range: 145.891403 and range: 146.80 m.hF@h*h"h  h g f ff~BdddjdZd`g*@IɢMW=)M MdiI)Ma=QQiUAi]$)];<]QI]F@IabE=4jE=3rE=²0E ErE!E"E:*E?:VEc3ZEa@a@a@a@ԩ 9@  @ @/0@2Acoustic response timeout^AMr  A ؟AI I O >sn,?AAAAAB>BƍCBIB~BBBBBc;B%EBučCBuÍCBuCBu- =BqCu`6pY]By]IbDm VDm:2y}R%K=ٔQ->9"?Y"?=Fy-EE>Q 55qu?Q 95C,)GBYyQ I@EI;i;5yɮU"AQB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 145.89 m.2Acoustic response timeoutRh>:Zh>:  ProNav: ac range: 145.891403 m, nav range: 136.905960 m, bearing: 342.740057 deg, approach rate: -0.394607 m/s, LOS rate: 0.056934 deg/s, cmd heading: 322.143796 deg, new cmd heading: 322.218508 deg. Bh K;HeadingCmd: 5.623774 target range: 145.891403 and range: 146.80 m.h@h*h"h hgff!f!d!d!d)jd)Zd- +@Yɢ]U=)Y ]1iY)ea=aaie;im)(mU<wZI@I E EwE%E"E:*E:VE 4ZEBEI;a2EJ;aJEa:Ea9@ @@!@!^AAAI IQ Ia Ou >a  2Acoustic response timeout\u C,~?A6GBgALnp9ngAYnQhA-b@-d]@-=ٱ-ڽ9 EAHRS rotation from veh to nav: [[0.755467,0.639990,0.140292],[-0.648407,0.761033,0.019937],[-0.094008,-0.106028,0.989909]]-H,?z??` aZ?Hj?$V?i-b@I-Kg^;)Y]By]IbDmVDm1y}`Ҽ%}J=ٔ}-9Y=Fy1Ee=E>Q 55u?Q 95/)>BYyQ I@EI;i;R5yГBɮ;"AjhFNOT Ignoring new targets: 145.89 m.Rh:Zh: ProNav: ac range: 145.891403 m, nav range: 136.731979 m, bearing: 342.764163 deg, approach rate: -0.471228 m/s, LOS rate: 0.065375 deg/s, cmd heading: 322.218518 deg, new cmd heading: 322.290929 deg. Bhw3;HeadingCmd: 5.625038 target range: 145.891403 and range: 146.80 m.hO@h*h"h hgfffddd jd Zd 4y,@颱ɢ7_Q=) [i)ia=项ii^|(C<BIO@Iam9@q @q@u4@y@@eA2Acoustic response timeoutԑ^AE ErE#E"E:*E?:VE3ZEa@a@a@a@A>A? A I) IA OU >{,S?A2@2f@2"=ٱ2ڽ :AHRS rotation from veh to nav: [[0.759032,0.635430,0.141771],[-0.643940,0.764826,0.019590],[-0.095983,-0.106161,0.989706]]2HI?rU?%? 'sy?F?`Qc- ?i2@I2&\^;2wCYB~ByBI DDi Mb@Mb@Mb@     9 m?~jt?~jtx?Y >y = ;  A r@ @)  A Y AbD%VD%0y5 %5O=ٔ=;Q-=>9AYA=EFyE5EEm<EM>IQ 5U5e2Acoustic response timeoutMv?Q 9e5M1)M5BYmg>Q Em:ymQ Im@MEIMh;iMhg;M 5yu“BɮuR"AԹuEjhY]FNOT Ignoring new targets: 145.89 m.Rhe\:Zhe\: ProNav: ac range: 145.891403 m, nav range: 136.557312 m, bearing: 342.788460 deg, approach rate: -0.415411 m/s, LOS rate: 0.057859 deg/s, cmd heading: 322.290918 deg, new cmd heading: 322.363902 deg. Bh;HeadingCmd: 5.626311 target range: 145.891403 and range: 146.80 m.h @h*h"h hgfff~BdddjdZdR-@HBɢ~I=)! %|i!)%a=!!i%o i((<s I @IPExceeded connect timeout, disconnecting.B%>B!B%IB%~BB%* =B!B%YDB%c;B%%ES! 2Acoustic response timeout 9@  @ @ 90@ 9 E  E xE E "E :*E :VE ZE BE ;a 2E ;a JE Qo;a :E Ro;a ^A bިiAI IO%?V,2?A>a@>)@>=ٱ>T~޽ FAHRS rotation from veh to nav: [[0.762005,0.631298,0.144259],[-0.640128,0.767997,0.020421],[-0.097899,-0.107905,0.989329]]>H@Yb?3?w?@{n?4? ?i>a@I>r^;>vCN2Acoustic response timeoutYR~ByRIbD^VD^yf]@%f=ٔfu;Q-f>9hYh=jFyj:En]<En>pQ 5v5rv?Q 9v5r5)r*BYtyvQ Iv@rEIr:ir ;rL5y~Bɮ~"A~Ejh!%FNOT Ignoring new targets: 145.89 m.Rh-:Zh-:= ProNav: ac range: 145.891403 m, nav range: 136.329361 m, bearing: 342.819749 deg, approach rate: -0.465778 m/s, LOS rate: 0.064040 deg/s, cmd heading: 322.363892 deg, new cmd heading: 322.457915 deg. Bh=/;EHeadingCmd: 5.627952 target range: 145.891403 and range: 146.80 m.hE/@hA*hA"hA hIgIfIfQfQdQdQdQjdYZd]0K.@q颉ɢD=) ߽i)r`=顑i=Ci`'_<kI/@Im9@ @@4@ԙ^Ae2Acoustic response timeoutI! I1 OE > E  E E $E "E :*E H:VE 4ZE a% @a% @a% @a% @|,+?AY~~ByIiMb@Mb@Mb@ 9e;O?/$?~jthY>y,=DA@ @); AYGAbDVDy|%9=ٔQ->9Y=Fy?EE> Q 55  v?Q 95 8) BY>Q E:yQ I@ EI  ;i 2 ; 95y!ɮ%#A!jhIMFNOT Ignoring new targets: 145.89 m.RhU :ZhU :e ProNav: ac range: 145.891403 m, nav range: 136.129364 m, bearing: 342.846884 deg, approach rate: -0.453760 m/s, LOS rate: 0.061656 deg/s, cmd heading: 322.457903 deg, new cmd heading: 322.539429 deg. BheA);mHeadingCmd: 5.629375 target range: 145.891403 and range: 146.80 m.hm#@hi*hi"hi hqgqfqfyf}~BdydydjdZd ,/@颭GBɢ2=) m*i)`=项i#zi`'<]I#@I2Acoustic response timeoutnManaging dock network, ignoring radio surface power off@ @@1@@=@=9BQAU<B]>BYB]eIB]O~BB]( =BYBYB]oc;B]%E} BDAT read: Rx Time:06:03:03.6270  TRx dataTimestamp_ set to:1761544985.063171 2Acoustic response timeoutԉ ^A I IO>G,~I?AE  E rEE"E :*E ?:VEZEBEa2EaJE zY;a:E {Y;a>@>@>N~=ٱ>,D JAHRS rotation from veh to nav: [[0.766621,0.624275,0.150246],[-0.634084,0.772891,0.023999],[-0.101142,-0.113666,0.988357]]>H(??@;?kJ??@o乿=?i>@I>E^;>uCYR}~ByVIIZ%>)Zp;bD^ VD^2yfܓ%f@=ٔjy;Q-j>9hYh=nFynCEnH<En>pQ 5v5r.v?Q 9v5r;)rBYxyzQ Iz@rEIro;ir;r5y|ɮ~$A|B*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 145.89 m.Rh-:Zh-:= ProNav: ac range: 145.891403 m, nav range: 135.936325 m, bearing: 342.872476 deg, approach rate: -0.454464 m/s, LOS rate: 0.060336 deg/s, cmd heading: 322.539428 deg, new cmd heading: 322.616313 deg. Bh=%;EHeadingCmd: 5.630717 target range: 145.891403 and range: 146.80 m.hE.@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd] 0@}FBɢ}G(=)y }Hi)5f_=顁i5i*'#%<,?I.@IԹu9@q @y@}3@y 2Acoustic response timeout^A II Iq O >Q 3l,Sc?A]DAT read: 06:03:03.6270 LVL= 31792, 32753, 32754, 31635, AGC= 71, IDX= 203, 0.01, 1.553, 0.235, 1.191, 0.439, PHS= 1.216,-0.159, 0.708, RAW= 128.6, -27.4, CAL= 128.7, -28.3, ROT= 21.3, 28.3 eYgot valid direction response: 06:03:03.6270 LVL= 31792, 32753, 32754, 31635, AGC= 71, IDX= 203, 0.01, 1.553, 0.235, 1.191, 0.439, PHS= 1.216,-0.159, 0.708, RAW= 128.6, -27.4, CAL= 128.7, -28.3, ROT= 21.3, 28.3 mPDAT read: Bearing 79.8, 16.4 (Local) m~Local bearing/azimuth received: Bearing 79.8, 16.4 (Local) DAT read: Range 11 to 50 : 189.7 m (Round-trip 253.0 ms) speed 0.9 m/s TDAT read: user:625>Tx time:06:03:04.7199 R#Rx 1: Read range and direction messages.^direction in FSK: [0.820333,0.319834,-0.474088]@ @2=ٱ2 AHRS rotation from veh to nav: [[0.768371,0.621338,0.153443],[-0.631758,0.774712,0.026499],[-0.102409,-0.117300,0.987802]]H~?? ?]7q?"?|7^ ?i@I$i^;Fpublishing direction and range infoy46ء+@?s+x?AvW޿Y6=C460|44 6{)6GI6㥛?i6"6}?5?6ȥ@6G6`@ 6')6V>I6'>446 ]6?Jw?9 rݿ 64>)6x>I6V>i6'>442Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Y]~BynIE5 E5qE5'E1"E5Ʊ:*E5$ :VE5'4ZE1a=@a=@a=@a=@i}Mb@Mb@Mb@yyyy y9}Zd;?Zd;O?Mb`Y}>y}j<}yy }@)}~AyY}=AbDVDy%$=ٔj$;Q- >9 Y = Fy HE;E>AQ 55?v?Q 95?)BY?>Q E:yz$Q I@EIvbi6'>j6LvJa@ɴ$VJ(N2 [Z693?$!)&@ҿZR2i6rU:i6C"i6J/?*i6p:Bi6r>i6ohʡ?i4i4i6( Ci6@ addTargetRange:: Added new target pos. range: 189.699997 m, deltaT: 20.189488 s, deltaX: 42.899994 m, approachRate: 2.124868 m/s, rangeRepo size: 4   Added new target pos. range: 188.534866 m, bearing: 339.482302 deg, lat: 36.779470 deg, lon: -121.859683 deg, deltaT: 20.189488 s, deltaX: 42.643463 m, approachRate: 2.112162 m/s, posRepo size: 4 jh  FNOT Ignoring new targets: 188.53 m.RhUZhQe ProNav: ac range: 188.534866 m, nav range: 138.159637 m, bearing: 343.221713 deg, approach rate: 0.000000 m/s, LOS rate: 0.060336 deg/s, cmd heading: 322.616308 deg, new cmd heading: 322.716850 deg. BhamHeadingCmd: 5.632472 target range: 188.534866 and range: 189.70 m.hm5=@hi*hi"hq hqgfff~Bdddjd`fg@Zdl?-DBɢ5X(=)1 5,gi1)5S^=99i=gyi=/&EwB ōCB 3IB }BB * =B B XDB c;B %E^AM :I I O >(, ?AZ#@Z@Z =ٱZg fAHRS rotation from veh to nav: [[0.769809,0.618558,0.157419],[-0.629811,0.776167,0.030043],[-0.103600,-0.122272,0.987075]]ZHE?9?Q&?h']?Þ?5M?iZ#@IZZ^;XYn.~BynQIbDvVDvky~%~_=ٔ~Z;Q->9Y= Fy LE ;E >Q 55Kv?Q 95{B)BYy%#Q I%@EI;i;5y)ɮ-J%A)jhQUFNOT Ignoring new targets: 188.53 m.Rh]:Zh]:} ProNav: ac range: 188.534866 m, nav range: 137.992386 m, bearing: 343.246849 deg, approach rate: -0.537192 m/s, LOS rate: 0.080832 deg/s, cmd heading: 322.716849 deg, new cmd heading: 322.792348 deg. Bh}];HeadingCmd: 5.633789 target range: 188.534866 and range: 189.70 m.hH@h*h"h hgfffdddjdZd?2Acoustic response timeoutɢ=) ϊi):]=ii>&!<-IH@I@ @@/@E ErE%E"E:*E?:VE 4ZEBEϽ;a2Eн;aJEa:Ea!^A*:IyIO>Q u 2Acoustic response timeoutE,O?A 6.@6(@6h=ٱ6t BAHRS rotation from veh to nav: [[0.770554,0.616848,0.160451],[-0.628808,0.776850,0.033229],[-0.104149,-0.126498,0.986484]]6Ha?8??1`?a?@1G?i6.@I6s^;4Y^}Byb-I ddbDjVDj0yr%rM=ٔrߵ:Q-v>9tYt=vFyvPEzN;Ez>|Q 55~Xv?Q 95~E)~BYy #Q I @~EI~:i~:~–5yBɮ'&AEjhFNOT Ignoring new targets: 188.53 m.RhH:ZhH: ProNav: ac range: 188.534866 m, nav range: 137.807236 m, bearing: 343.274643 deg, approach rate: -0.442834 m/s, LOS rate: 0.066568 deg/s, cmd heading: 322.792336 deg, new cmd heading: 322.875833 deg. Bh6;HeadingCmd: 5.635246 target range: 188.534866 and range: 189.70 m.hS@h*h"h hgfff d d d jdZdG;?=BBɢE=)A EئiA)E\=AIiMciMY%U΢ o,,*?A"2Acoustic response timeoutPY}ByIiMb@Mb@Mb@ 9~jt?9Y= Fy UE E >Q 55gv?Q 95CI)BY%?Q E%:y%*Q I%@EIL:i:Ė5y)ɮ-&A1jhQ]FNOT Ignoring new targets: 188.53 m.Rh] :Zhe :m ProNav: ac range: 188.534866 m, nav range: 137.596344 m, bearing: 343.309285 deg, approach rate: -0.502310 m/s, LOS rate: 0.082637 deg/s, cmd heading: 322.875828 deg, new cmd heading: 322.979912 deg. Bhub;}HeadingCmd: 5.637063 target range: 188.534866 and range: 189.70 m.h}b@hy*hy"hy hygyfffX~BdddjdZd@U?颽@Bɢ<) ֶi)qX[=i~iFh%<COIMb@IQAA@AB>BBIB}BB, =BBWDBqc;B%E9@ @@/@@=@=2Acoustic response timeout^A*:AeAzAgA) E  E {E &E "E :*E 5":VE 4ZE BE ;a 2E ;a JE W,%?A2B@2=@2,#=ٱ2ٗ :AHRS rotation from veh to nav: [[0.772008,0.613593,0.165854],[-0.626742,0.778304,0.037907],[-0.105826,-0.133212,0.985421]]2H I??@:?D?h?b ?i2B@I2t^;2sCYR}ByRIbDZVDZ1|y~>%\=ٔ;Q->9 Y = Fy XE k;E>Q 5%5tv?Q 9%5^L)BY!y%D*Q I%@EIL;i;&Ɩ5y5Bɮ5&A5EMB*** querying acoustic contact ***iI iIjhYeFNOT Ignoring new targets: 188.53 m.RheK:ZheK:u ProNav: ac range: 188.534866 m, nav range: 137.418320 m, bearing: 343.338402 deg, approach rate: -0.478577 m/s, LOS rate: 0.078376 deg/s, cmd heading: 322.979920 deg, new cmd heading: 323.067384 deg. Bhu'W;HeadingCmd: 5.638589 target range: 188.534866 and range: 189.70 m.hSo@h*h"h hgfffdddjdZd[Q??Bɢ9<) ιi)E4Z=i}i;%<L=ISo@IU2Acoustic response timeout)Qu9@q @y@y@yԉ % 2Acoustic response timeout^A ONA Ա I bEYjE]J4rE]/E  E E $E "E ҝ:*E 0:VE 4ZE a @a @a @a @I O>DZ,l?A2M@2H@2=ٱ2O >AHRS rotation from veh to nav: [[0.772783,0.612497,0.166294],[-0.625640,0.779216,0.037383],[-0.106682,-0.132929,0.985367]]2H`?? I?@>U?@#?O !?i2M@I2f^;2wCYF}ByFIIJ)>)J>J=J=iMb@Mb@Mb@ 9L7A`?y&1|~jtx?Y+?y`廙;A@ @)AYzA@AbD=VD=:2yMO%M"=ٔU:Q-U>9qYy=}Fy}]E}.;E}>Q 55v?Q 95P)BY0?Q E:y61Q I@EI;i;\Ȗ5yBɮ&AEjh FNOT Ignoring new targets: 188.53 m.Rh :Zh:E ProNav: ac range: 188.534866 m, nav range: 137.173309 m, bearing: 343.381848 deg, approach rate: -0.476747 m/s, LOS rate: 0.084690 deg/s, cmd heading: 323.067374 deg, new cmd heading: 323.197945 deg. BhE|h;EHeadingCmd: 5.640868 target range: 188.534866 and range: 189.70 m.hM@hI*hI"hI hIgIfIff~BdddjdZd@颥<Bɢ|<2Acoustic response timeout) ʾi)iX=项ia in$<ENI@I1B>BčCBIBG}BBBBBac;B%EBōCBōCBȔCB* =B* =C5Q m 9@i  @q @u /@q e 2Acoustic response timeouty ^A:A>A>D)zD-AAE5 E5xE5&E1"E5O:*E5:VE54ZE1BE5;a=2E5;aEJE5Qo;aE:E5Qo;aEAIIO ?{ñ,(?AB^@BY@B=ٱB: NAHRS rotation from veh to nav: [[0.773960,0.610478,0.168231],[-0.623925,0.780565,0.037894],[-0.108182,-0.134292,0.985019]]BH`H? ??1c?@f?Աy0F?iB^@IBl^;BsCYV}ByVIbD^VD^1yf`%f#=ٔjpE;Q-j>9lYl=nFyncEn;Er>pQ 5v5rv?Q 9v5r5U)rBYxyz0Q Iz@rEIr;ir ;rʖ5y~Bɮk'AEjh!-FNOT Ignoring new targets: 188.53 m.Rh5:Zh5:E ProNav: ac range: 188.534866 m, nav range: 136.932892 m, bearing: 343.424397 deg, approach rate: -0.492213 m/s, LOS rate: 0.087265 deg/s, cmd heading: 323.197940 deg, new cmd heading: 323.325811 deg. BhEo;MHeadingCmd: 5.643100 target range: 188.534866 and range: 189.70 m.hMF@hI*hI"hI hIgQfQfQfQdYdYdYjdYZd]@颍:Bɢ<) ۾i)V=顑i% i#"e<!QIF@I M2Acoustic response timeoutMЀGe(hAy19(hAYAY 9@  @@/@i 2Acoustic response timeout^A= jZXԑ AA IQ Ia Om >2ʱ,*?AE. E.wE.#E,"E.~:*E.:VE.3ZE,a2@a2@a2@a6@>j@>e@>=ٱ>l RAHRS rotation from veh to nav: [[0.774852,0.609527,0.167575],[-0.622775,0.781527,0.036972],[-0.108429,-0.133010,0.985166]]>H???s? `E??»v@z?i>j@I>V^;9IYI=MFyMhEUD;EU>YQ 5e5]v?Q 9e5]Y)]BYeP ?Q Ee:ye4Q Im@]EI];i];]̖5yqɮu(AqjhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 136.694611 m, bearing: 343.468585 deg, approach rate: -0.488391 m/s, LOS rate: 0.090727 deg/s, cmd heading: 323.325801 deg, new cmd heading: 323.458595 deg. Bhy;HeadingCmd: 5.645418 target range: 188.534866 and range: 189.70 m.hC@h*h"h hgff f |~Bd d djdZd` @e7Bɢכ<) i)T=顉i iD#3<9^IC@IԁiAIAMBDAT read: Rx Time:06:03:07.3753 MTRx dataTimestamp_ set to:1761544988.841493U2Acoustic response timeout}9@y @y@/@ԩBq Bq Bu IBu }BBu - =Bq Bq Bu kc;Bu %E^A ON A I I) O5 >ѱ,"D?A2u@2p@2=ٱ2ҕ :AHRS rotation from veh to nav: [[0.775673,0.608457,0.167667],[-0.621742,0.782334,0.037285],[-0.108485,-0.133166,0.985138]]2HO? zx?@v?N@?@?Ż A?i2u@I2uM^;2vCR2Acoustic response timeoutYjM}ByjI lllnA prp<bDvVDv02y~0%~c=ٔ,$9Q->9Y=FykE q;E >Q 55v?Q 95\)BYy%W4Q I%@EI;i;<Ζ5y-Bɮ-<(A-EjhQUFNOT Ignoring new targets: 188.53 m.Rh]:Zh]:m ProNav: ac range: 188.534866 m, nav range: 136.518219 m, bearing: 343.501285 deg, approach rate: -0.489332 m/s, LOS rate: 0.090831 deg/s, cmd heading: 323.458607 deg, new cmd heading: 323.556834 deg. BhmXy;uHeadingCmd: 5.647132 target range: 188.534866 and range: 189.70 m.huN@hq*hq"hy hygfffdddjdZd Jt @Թ5Bɢʂ<) i)LS=i ig"_L<_cIN@IEu EusEu!Eq"Euҝ:*EuZ:VEuc3ZEqBEu;a2Eu;aJEu];a:Eu];a9@ @@>0@^A cDAT read: 06:03:07.3753 LVL= 24960, 32753, 31218, 32755, AGC= 69, IDX= 61,-0.24, 0.867,-1.084, 0.316, 0.365, PHS= 0.604,-1.404,-0.093, RAW= 130.0, 10.1, CAL= 129.8, 11.4, ROT= 20.2, -11.4 Ygot valid direction response: 06:03:07.3753 LVL= 24960, 32753, 31218, 32755, AGC= 69, IDX= 61,-0.24, 0.867,-1.084, 0.316, 0.365, PHS= 0.604,-1.404,-0.093, RAW= 130.0, 10.1, CAL= 129.8, 11.4, ROT= 20.2, -11.4 8DAT read: $Error in header *Received a bad headerX#Rx 1: Read direction message, but no range.\direction in FSK: [0.919978,0.338486,0.197657]yQUEtp?t?g4L?QUaQUy U)UEIU?iUFUvU6@UJ4>U@ U%K>)UJ>IU%KQUR?H?n}2? U2>)U)+5IUJ>iU%K% 2Acoustic response timeoutIq I O >9 jCױ,v^?A2胬@2~@2s=ٱ2` FAHRS rotation from veh to nav: [[0.776746,0.606992,0.168010],[-0.620415,0.783341,0.038229],[-0.108404,-0.133930,0.985044]]2H?yl?Y?p!?ƒ?c`$`z?i2胬@I2?b^;2tCYZ8}ByZIbDjVDjyvV%zK=ٔ~rSQ-~>9Y=FyoE  ;E >Q 5%5v?Q 9-5`)BY1y53Q I5@EI7[;i&_;Ж5yIɮM(AI}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 188.53 m.Rh:Zh:% ProNav: ac range: 188.534866 m, nav range: 136.319519 m, bearing: 343.538062 deg, approach rate: -0.482907 m/s, LOS rate: 0.089511 deg/s, cmd heading: 323.556825 deg, new cmd heading: 323.667317 deg. Bh%u;mHeadingCmd: 5.649060 target range: 188.534866 and range: 189.70 m.hmŴ@hi*hq"hq hqgqfqfyfydydydyjdZdm@2Acoustic response timeout2BɢEZ<)I M$iQ)UQ=YYi`iV"%䦑<%/fI-Ŵ@I1AE EtE$E"EC:*Ev:VE4ZEa@a@a@a@9@ @@/@i] 2Acoustic response timeout^A] jbԑ IQ Ia Om >ݱ,z?A:@:Ċ@:>=ٱ: BAHRS rotation from veh to nav: [[0.777709,0.605964,0.167264],[-0.619309,0.784201,0.038531],[-0.107820,-0.133554,0.985159]]:H? d?h?a -?@e?`M@l?i:@I:VR^;8YN>}ByNIi%Mb@Mb@Mb@!!!! !9%uV?Mb9YYY=]Fy]tEeU;Ee>iQ 5u5mv?Q 9}5md)mBY}?Q E}:y}.Q I}@mEIm6;im5;mі5yBɮq(AjhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 136.098679 m, bearing: 343.576886 deg, approach rate: -0.495556 m/s, LOS rate: 0.087261 deg/s, cmd heading: 323.667311 deg, new cmd heading: 323.783971 deg. Bho;B>BōCBkIB|BB, =BBBbc;B%EuHeadingCmd: 5.651096 target range: 188.534866 and range: 189.70 m.h}մ@hy*hy"hy hygfff~BdddjdZd@e/BɢeV(<)i mmii)mO=iiim iu!u a,k?Aɰp;2+@2@2X=ٱ2u* :AHRS rotation from veh to nav: [[0.779356,0.604125,0.166246],[-0.617334,0.785749,0.038687],[-0.107256,-0.132780,0.985325]]2H{?@T?@G?3$?Σ?uȇ?i2+@I2o^;2uCYj}ByjIn=n=prAAbDvVDv:yzƽ%~P=2Acoustic response timeoutٔ Q- >9 Y =FyxE;E>Q 5%5Kv?Q 9%5h)BY)y-'.Q I-@EIp:i:Ӗ5y1ɮ5 )A1jhYeFNOT Ignoring new targets: 188.53 m.Rhex:Zhmx:} ProNav: ac range: 188.534866 m, nav range: 135.905472 m, bearing: 343.610719 deg, approach rate: -0.492242 m/s, LOS rate: 0.086321 deg/s, cmd heading: 323.783970 deg, new cmd heading: 323.885614 deg. Bh}l;HeadingCmd: 5.652870 target range: 188.534866 and range: 189.70 m.hP@h*h"h hgfffdddjdZd`8@Թ,Bɢh?<) Ii){N=iiV\!ϩ< jdIP@Iu9@q @q@u4@q^AUmIIO>2Acoustic response timeout9 E  E E &E "E ҝ:*E ,:VE 4ZE a @a @a @a @9 ,I?AB@Bܯ@B=ٱBp JAHRS rotation from veh to nav: [[0.780605,0.602618,0.165850],[-0.615860,0.786859,0.039601],[-0.106636,-0.133054,0.985355]]BH ?`H? :? -?F?@L ?iB@IBZ^;BsCY}ByIiMMb@Mb@Mb@IIII I9M}?5^I?~jthZd;O?YMM?yMDMj9yYy=}Fy}}E;E>Q 55v?Q 95l)BYp?Q E:y*Q I@EI:i:Ֆ5yɮg)AjhFNOT Ignoring new targets: 188.53 m.RhX:ZhX: ProNav: ac range: 188.534866 m, nav range: 135.677155 m, bearing: 343.649426 deg, approach rate: -0.471969 m/s, LOS rate: 0.080147 deg/s, cmd heading: 323.885603 deg, new cmd heading: 324.001918 deg. Bh\;HeadingCmd: 5.654900 target range: 188.534866 and range: 189.70 m.h@h*h"h hgfff~BdddjdZd (@ 2Acoustic response timeout=(Bɢ=<)A E iA)E/XL=AIiM<}iMK UYBBRIB|BBBBBxc;B%Ei^A% cI I O >ԙ  2Acoustic response timeoutj,"?A22ʬ@2ij@2==ٱ2EU :AHRS rotation from veh to nav: [[0.782219,0.600641,0.165418],[-0.613869,0.788386,0.040155],[-0.106294,-0.132955,0.985406]]2H`?`t8?i,?Фu:?@>?@6q?i22ʬ@I2M^;0 @)BkAB@@DFkAiFףIDDIDiJxkA JH)HH JkAJNXTFLLLIP)PiP)PIPRQ8T TTTVQ8iTXiXX)X XIXYXYb}BybIbDjVDjyr1<%r=ٔvQ-v ?9tYt=vFyvEz<Ez ?|Q 55~Yv?Q 95~n)~BYy I*Q I @~EI~|:i~:~4ז5yBɮQ)AEjhFNOT Ignoring new targets: 188.53 m.Rh:Zh:  ProNav: ac range: 188.534866 m, nav range: 135.526215 m, bearing: 343.674900 deg, approach rate: -0.444743 m/s, LOS rate: 0.075144 deg/s, cmd heading: 324.001908 deg, new cmd heading: 324.078417 deg. BhHN;E= E=E="E9"E=7:*E=*:VE=(3ZE9BE=;aM2E=;aMJE=f;aM:E=f;aMq}HeadingCmd: 5.656235 target range: 188.534866 and range: 189.70 m.h}@hy*hy"hy hygyfffdddjdZdŔ@颵%Bɢti)<)Tk Qi)J=项iXi ΋< ,?A2@2i۳@2y=ٱ2YK :AHRS rotation from veh to nav: [[0.783945,0.598547,0.164837],[-0.611762,0.789983,0.040927],[-0.105722,-0.132926,0.985471]]2H?K'?d?G?@j?@?i2@I27b^;0Y|ByIbD-VD-1yE<%ED=ٔEgQ-E>9IYI=MFyMEM;EU>QQ 5e5Ugw?Q 9e5U!r)UzBYiym)Q Im@UEIU:iU:Uٖ5yuBɮu~)AuE B*** querying acoustic contact ***i  i jhIMFNOT Ignoring new targets: 188.53 m.}2Acoustic response timeoutRh}e:Zhe: ProNav: ac range: 188.534866 m, nav range: 135.329620 m, bearing: 343.707910 deg, approach rate: -0.468964 m/s, LOS rate: 0.078858 deg/s, cmd heading: 324.078406 deg, new cmd heading: 324.177580 deg. BhzX;HeadingCmd: 5.657966 target range: 188.534866 and range: 189.70 m.h@h*h"h hgfIfYfYdaddjdZd9[@EU EU}EU%EQ"EU:*EUk&:VEU 4ZEQae@ae@ae@ae@!Bɢ]<) EiA)UpH=YYi]Wie] eJIe@Ii9@ @@3@@=@=) - 2Acoustic response timeoutY ^A NJNB>BB9IBh|BB- =BBXDB{c;B%EA!I)IAOM?>~,?A,Yu|ByuvIiMb@Mb@Mb@ 9I +?~jt?y&1?Y9>yD<`<A^A tA)AY=AbDVDβy%%%=ٔ%Q-%>9)Y)=-Fy-E5E5>9Q 5E5=w?Q 9E5= v)=tBYE>Q EE:yE@!Q IM@=EI= ;i= ;=Vۖ5yUBɮU)AUE2Acoustic response timeoutjhQ]FNOT Ignoring new targets: 188.53 m.Rh]:Zh]:ԁ ProNav: ac range: 188.534866 m, nav range: 135.091476 m, bearing: 343.744273 deg, approach rate: -0.444922 m/s, LOS rate: 0.068057 deg/s, cmd heading: 324.177580 deg, new cmd heading: 324.286863 deg. Bh:;HeadingCmd: 5.659873 target range: 188.534866 and range: 189.70 m.h@h*h"h hgfff&BdddjdZd]@Bɢll<) i)[F=i-siZs[<!ZjI @I Ee EeEe$Ea"Ee1:*EeV:VEe4ZEaBEez;am2Ee|;amJEe;au:Ee;auԱ9@ @@/@  2Acoustic response timeout^A AA IQ Ia Om >5,<?AVr@V; @Vs=ٱV jAHRS rotation from veh to nav: [[0.787637,0.593521,0.165410],[-0.607125,0.793377,0.044185],[-0.105007,-0.135226,0.985235]]VHR4??&,?mWc?r?ếO ?iVr@IVw^;TYz|ByzyIbDVDk1y5KO<%5G=ٔ=xQ-E>9AYA=MFyME]m<Ee>Q 55u'w?Q 95(y)nBYyQ I@EI:i:/ݖ5yAɮE)AAjhimFNOT Ignoring new targets: 188.53 m.Rhu:Zhu: ProNav: ac range: 188.534866 m, nav range: 134.901062 m, bearing: 343.772890 deg, approach rate: -0.464540 m/s, LOS rate: 0.069913 deg/s, cmd heading: 324.286863 deg, new cmd heading: 324.372835 deg. Bh?;HeadingCmd: 5.661374 target range: 188.534866 and range: 189.70 m.h)@h*h"h hgfffdddjdZd@BɢpK<) i)wD=iPUi/<c$I)@I2Acoustic response timeout IfA)eAbEjE4rE/E] E]EYEY"E]:*E]3:VEYZEYam@am@au@au@9@ @@4@! Q u 2Acoustic response timeout^A HuA9IAIQyO?B<A<B>BB IB?|BB+ =BBWDBZc;B%EBBBϓCB, =B, =C~T5!,u@?A;@6@=ٱ =AHRS rotation from veh to nav: [[0.790839,0.589151,0.165755],[-0.603104,0.796258,0.047311],[-0.104110,-0.137383,0.985031]]HN?`S?`u7?@L z? 9? @•`?i;@IDJ^;rCYM|ByMgIQI5<)5%====a=2Acoustic response timeoutiMb@Mb@Mb@ 9X9v? rh?{Gz?Y>yC =ף<\AtA A)EAYAbDVDNy4%<ٔ2Q->9Y=FyEh<E>Q 5 5!=w?Q 95})cBY>Q E:y0Q I@EIY;i;ߖ5yBɮ%*A%EjhIMFNOT Ignoring new targets: 188.53 m.RhUш:ZhUш:e ProNav: ac range: 188.534866 m, nav range: 134.607559 m, bearing: 343.810412 deg, approach rate: -0.466806 m/s, LOS rate: 0.059807 deg/s, cmd heading: 324.372842 deg, new cmd heading: 324.485652 deg. Bhe.$;mHeadingCmd: 5.663343 target range: 188.534866 and range: 189.70 m.hm:@hi*hi"hi higqfqfqfu`BdydydyԁjdZd}@颵Bɢ c<) i)dA=项iiG<I:@IEe Ee}Ee#Ea"Ees:*Eek&:VEe3ZEaBEe;au2Ee;a}JEe€;a}:Ee€;a}ԩ% e G 2Acoustic response timeout @  @ @ 0@  6x9 Y aA^AAII O?(,fkf?A2!Q@2K@2`=ٱ2 >AHRS rotation from veh to nav: [[0.792448,0.587023,0.165619],[-0.601071,0.797721,0.048527],[-0.103631,-0.138004,0.984995]]2H[? ?3?;?ب??i2!Q@I2 a^;2tCYFw|ByFCIbDRVDR0yV%V4=ٔzQ-~>9 Y 2Acoustic response timeout=5Fy5E5;E5>9Q 5E5=Lw?Q 9E5=)=[BYIyMQ IM@=EI=:i=:= 5yɮ+AB*** querying acoustic contact ***i ijh!5FNOT Ignoring new targets: 188.53 m.IRhep:Zhmp:E EE&E"Ey:*EV:VE4ZEa@a@a@a@ ProNav: ac range: 188.534866 m, nav range: 134.393356 m, bearing: 343.837642 deg, approach rate: -0.413223 m/s, LOS rate: 0.052614 deg/s, cmd heading: 324.485649 deg, new cmd heading: 324.567470 deg. Bho;UHeadingCmd: 5.664771 target range: 188.534866 and range: 189.70 m.h]E@hY*hY"hY hYgyfffdddjdZdI^ @Bɢ,<) &i)Na>=ii aP 1< I E@Iq2Acoustic response timeoutԡ ] 9@Y  @Y @] 0@Y B% >B% ƍCB% IB% |BB% / =B! B% XDB% c;B% %E ^Ae2Acoustic response timeoutAIIO ?P",_?AFx@Fr@F=ٱFH RAHRS rotation from veh to nav: [[0.795478,0.583778,0.162534],[-0.597442,0.800402,0.049191],[-0.101376,-0.136235,0.985476]]FH@t?O??>?/?%p?iFx@IFv^;FuCYZz|ByZDI \\i=Mb@Mb@Mb@9999 99= ףp= ?/$?~jt?Y=Q>y=,==D<=A=A 9)=A9Y=QAbDUVDU1ye;%e=ٔeOQ-m>9iYi=mFymEu% <Eu>yQ 55}e`w?Q 95}|)}NBYS>Q E:y Q I@}EI}:i}:}}5yBɮ*AjhFNOT Ignoring new targets: 188.53 m.RhV:ZhV:E= E=E=$E9"E=g:*E=|;:VE=4ZE9BE=~;aE2E=;aEJE=;aE:E=;aMQu ProNav: ac range: 188.534866 m, nav range: 134.132172 m, bearing: 343.868859 deg, approach rate: -0.512278 m/s, LOS rate: 0.061345 deg/s, cmd heading: 324.567475 deg, new cmd heading: 324.661306 deg. Bhug(;}HeadingCmd: 5.666409 target range: 188.534866 and range: 189.70 m.h}8S@hy*hy"hy hygfff[BdddjdZd`Y!@Bɢ;) %i) e;=))i-'i55aE<5ޕI58S@I99@ @@0@ԁu2Acoustic response timeoutԩ^A `ԻA9 Ia Iq O >w(,w?A ~%@~@~O4=ٱ~ AHRS rotation from veh to nav: [[0.796835,0.582074,0.162001],[-0.595859,0.801455,0.051208],[-0.100030,-0.137334,0.985461]]~H?@Y?@u?G?7?@+`?i~%@I~\^;|YEB|ByE"IbDUVDU1y%H=ٔ}YQ->9Y=FyE;E>Q 55nw?Q 95B)EBYy Q I@EI{;iw;L5yɮ+AjhFNOT Ignoring new targets: 188.53 m.Rh~:Zh~:- ProNav: ac range: 188.534866 m, nav range: 133.938492 m, bearing: 343.891901 deg, approach rate: -0.467516 m/s, LOS rate: 0.055701 deg/s, cmd heading: 324.661294 deg, new cmd heading: 324.730520 deg. Bh-;5HeadingCmd: 5.667617 target range: 188.534866 and range: 189.70 m.h]@h*h"h hgfffdddjdZd@|)"@2Acoustic response timeoutq} Bɢj) L2i)@9=ii  Hދ< bhI]@IE] E]E]%EY"E]7:*E]V:VE] 4ZEYae@ae@ae@am@ԙ@ @@@  2Acoustic response timeout^A uI I O- >m/,i7?AA0A2?AB6>B6ǍCB6IB6{BB6- =B4B6YDB6b;B6o%Ej[@j$@j=ٱj rAHRS rotation from veh to nav: [[0.798218,0.580700,0.160110],[-0.594283,0.802580,0.051897],[-0.098364,-0.136575,0.985734]]jH??x~?]?2?@g. L{ "?ij[@IjuP^;jtCY~*|By~IiMb@Mb@Mb@ 9X9v?I +?Mb?Y>y94=<&AA CA)AYAbDVDfy\%6=ٔtQ->9 Y = Fy Eb;E>Q 5%5~w?Q 9%5E);BY%>Q E%:y% Q I-@EI:i::5y5Bɮ5+,A5EjhYeFNOT Ignoring new targets: 188.53 m.Rhe:Zhm:} ProNav: ac range: 188.534866 m, nav range: 133.727219 m, bearing: 343.916817 deg, approach rate: -0.477364 m/s, LOS rate: 0.056387 deg/s, cmd heading: 324.730525 deg, new cmd heading: 324.805393 deg. Bh};HeadingCmd: 5.668923 target range: 188.534866 and range: 189.70 m.hg@h*h"h hgfffgBdddjdZd#@ Bɢٻ) 7iI)M6=IIiM]iUH@U5,(?A*2Acoustic response timeout:K@:@:=ٱ: BAHRS rotation from veh to nav: [[0.799592,0.579295,0.158334],[-0.592740,0.803643,0.053078],[-0.096496,-0.136291,0.985958]]:HB??ED?q?,?q?i:K@I:r^;8YJ{ByJIINC=)N=bDVVDVy^F %^a=ٔ^UQ-^>9`Y`=bFybEb;Ef>hQ 5n5jw?Q 9n5j)j2BYlyn5 Q In@jEIj6:ij:j5ytɮv,AtjhFNOT Ignoring new targets: 188.53 m.Rh:Zh:- ProNav: ac range: 188.534866 m, nav range: 133.553482 m, bearing: 343.937204 deg, approach rate: -0.478988 m/s, LOS rate: 0.056280 deg/s, cmd heading: 324.805384 deg, new cmd heading: 324.866625 deg. Bh-;5HeadingCmd: 5.669992 target range: 188.534866 and range: 189.70 m.h5p@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdEG#@uBɢuNI)y }XDiy)}4=yyi}i59E< J-Ip@I A9@ @@0@i^A32Acoustic response timeoutIYIiOu>ԡ E  E E $E "E >:*E E7:VE 4ZE a @a @a @a @!<,?A2@2[@2X=ٱ2~ :AHRS rotation from veh to nav: [[0.800993,0.577782,0.156776],[-0.591165,0.804690,0.054755],[-0.094519,-0.136539,0.986115]]2H?0}?@9???@h2zA?i2@I2+j^;0@YF{ByFIiEMb@Mb@Mb@AAAA A9EMbX9?:v?~jtx?YE?yET=E;E AErA EA)EAAYEfAbDeVDekymԕ%m@=ٔuQ-u>9qYy=}Fy}E}l;E>Q 55.w?Q 95)(BY{?Q E:yOQ I@EIL ;i ;5yBɮp-AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 188.53 m.Rhx:Zhx: ProNav: ac range: 188.534866 m, nav range: 133.344559 m, bearing: 343.960328 deg, approach rate: -0.490676 m/s, LOS rate: 0.054395 deg/s, cmd heading: 324.866637 deg, new cmd heading: 324.936119 deg. BhR;HeadingCmd: 5.671205 target range: 188.534866 and range: 189.70 m.hz@h*h"h hgfff=BdddjdZd@t$@5Bɢ5 -)1 5Ki9)=m1=99i=uiEE BuɍCBuIBu{BBu, =BqBuZDBub;BuZ%E^Au<IIO> % 2Acoustic response timeout C,w ?A2ȭ@2Jô@2}j=ٱ2 :AHRS rotation from veh to nav: [[0.802017,0.576699,0.155521],[-0.590118,0.805301,0.057022],[-0.092356,-0.137509,0.986185]]2H?Rt??`??@2?`Ԏ?i2ȭ@I2[^;2uClYr{ByrIbDzVDzyn%Q=ٔ LQ- >9 Y = FyEt;E>Q 5%5w?Q 9%5B)BY)y-Q I-@ EI :i:a5y5Bɮ5-A5ED9zD=@AEE EEEE'EA"EE:*EEVL:VEE'4ZEABEEZ a 3I,&?A2ӭ@2Xδ@2ٙ=ٱ2 :AHRS rotation from veh to nav: [[0.802985,0.575774,0.153946],[-0.589162,0.805849,0.059124],[-0.090015,-0.138174,0.986309]]2H ? l??j?`uE?@< ׏?i2ӭ@I2q^;0YB{ByBIbDNVDNyVF%VP=ٔVmĻQ-V>9XYX=ZFyZEZa;E^>`Q 5f5b w?Q 9f5b)bBYdyfQ If@bEIb:ib|:b5yjBɮn-AnEjhFNOT Ignoring new targets: 188.53 m.Rh z:Zh z: ProNav: ac range: 188.534866 m, nav range: 132.959824 m, bearing: 344.002739 deg, approach rate: -0.496627 m/s, LOS rate: 0.054756 deg/s, cmd heading: 324.999744 deg, new cmd heading: 325.063534 deg. BhP;%HeadingCmd: 5.673429 target range: 188.534866 and range: 189.70 m.h%@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5'&@y2Acoustic response timeoutUBɢ}")) E[i)V,=项i#iGN<]ںI@IEU EUEU%EQ"EU:*EUga:VEU 4ZEQa]@a]@a]@a]@ԩ9@ @@/@ 2Acoustic response timeout^A Ii Iy O > BY AY Bm Ҿ>Bi Bm IBm A{BBi Bi Bm [DBm nb;Bm I%E!1P,@?A2ح@2Ӵ@2c=ٱ2 VAHRS rotation from veh to nav: [[0.803558,0.575343,0.152562],[-0.588763,0.805951,0.061661],[-0.087481,-0.139371,0.986369]]2H ?5i?@$? %X??`&eT?i2ح@I2^;2tCY^c{By^IiEMb@Mb@Mb@AAAA A9Ep= ף?A`"?{Gzt?YE?yEY=Eף;EAECA A)EAAYEAbD]VD]0ymI%m<=ٔu⿻Q-u>9qYq=uFyuE}:E}>Q 55|w?Q 95) BY?Q E:yQ I@EI ;i ;5yɮ.AԩjhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 132.740875 m, bearing: 344.026951 deg, approach rate: -0.503334 m/s, LOS rate: 0.055752 deg/s, cmd heading: 325.063538 deg, new cmd heading: 325.136293 deg. Bh ;HeadingCmd: 5.674699 target range: 188.534866 and range: 189.70 m.h"@h*h"h hgfff~BdddjdZd'@Bɢ) lgi)l$)=i9i"<=tI"@I9@ @@/@@=@=2Acoustic response timeoutE5 E5E5$E1"E5:*E5C:VE54ZE1BE5 UV,Z?A2Acoustic response timeoutY~8{By~~IbD VD kyܽ%P=ٔ%Q-%>9!Y)=-Fy-E-E->1Q 5=55Xw?Q 9=55)5BYAyAQ IE@5EI5;i5L;55yMBɮMm/AMEjhqFNOT Ignoring new targets: 188.53 m.Rhc:Zhc:5 ProNav: ac range: 188.534866 m, nav range: 132.542923 m, bearing: 344.048912 deg, approach rate: -0.505143 m/s, LOS rate: 0.056123 deg/s, cmd heading: 325.136293 deg, new cmd heading: 325.202273 deg. Bh5;=HeadingCmd: 5.675850 target range: 188.534866 and range: 189.70 m.hE@hA*hA"hA hAgAfIfYfYdYdYdajdaZde`'@颽~Bɢ~Ѽ)0}: qi) &=is$ݼiNz<ZI@I9@ @@ 0@A2Acoustic response timeouty^A"5bEJ4jE 4rEɝ/E]  E] E] #EY "E] :*E] X:VE] 3ZEY a @a @a @a @II Ia Om >ԙ p\,jkt?A:)@:@:/=ٱ: FAHRS rotation from veh to nav: [[0.805595,0.573637,0.148180],[-0.586761,0.807108,0.065489],[-0.082030,-0.139704,0.986790]]:H`n?=[???ð?`@Ǔ?i:)@I:^;8YN{ByNoIIR<)R>i%Mb@Mb@Mb@!!!! !9%~jt?~jt?9QYQ=UFyUE];E]>aQ 5m5ew?Q 9m5e{)eBYu2?Q Eu:yu Q Iu@eEIes:ie:e5yyɮ}/AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 132.337204 m, bearing: 344.072312 deg, approach rate: -0.501025 m/s, LOS rate: 0.057080 deg/s, cmd heading: 325.202273 deg, new cmd heading: 325.272583 deg. Bh;HeadingCmd: 5.677078 target range: 188.534866 and range: 189.70 m.h@h*h"h hgfff~BdddjdZd`z(@q颍~Bɢ_) wi)Q"=顙iBڼi)Y<I@IEBDAT read: Response Not Received E*response not receivedMBʍCBRIBzBBBB\DBb;BX%EBɍCBȍCBŔCBB- =C5^AI I O > BDAT read: Tx time:06:03:17.1699  $Ping request sent. 9pYt=vFyvEvg;Ev>xE EEE"E:*EV:VEZEBE8 1 >i,%?A2? @2@2('=ٱ2- :AHRS rotation from veh to nav: [[0.807734,0.571523,0.144662],[-0.584542,0.808298,0.070461],[-0.076660,-0.141475,0.986969]]2H?@I?`F? ?@ ?@¿@?i2? @I2w^;0YFzByF9IbDNVDNyVuӽ%VN=ٔVQ-Z>9XYX=ZFyZE^Պ;E^>`Q 5f5bkx?Q 9f5b)bBYdyjCQ Ij@b EIbB:ib9:b5ylɮn&1AljhFNOT Ignoring new targets: 188.53 m.Rh G:Zh G: ProNav: ac range: 188.534866 m, nav range: 131.941818 m, bearing: 344.117094 deg, approach rate: -0.506831 m/s, LOS rate: 0.057387 deg/s, cmd heading: 325.339286 deg, new cmd heading: 325.407138 deg. Bh%;%HeadingCmd: 5.679426 target range: 188.534866 and range: 189.70 m.h%ܽ@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=`v4*@m~BɢmL()i mii)ud=qqiuԼchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503600i<%oI%ܽ@I!9E5 E5E5&E1"E5:*E5rN:VE54ZE1aU@a]@a]@a]@=a 9@ @@4@U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755634ԁ A A AAB ܾ>B ˍCB IB zBB ) =B B B b;B v%E^A1 A= fAzA= fAI I Ա O >p,9yYy=}FyE|;E>Q 55tx?Q 95)BY?Q E:yQ I@#EI@:i':5yɮ1AEjhIUFNOT Ignoring new targets: 188.53 m.RhU':ZhU':e ProNav: ac range: 188.534866 m, nav range: 131.714722 m, bearing: 344.142990 deg, approach rate: -0.494253 m/s, LOS rate: 0.056458 deg/s, cmd heading: 325.407151 deg, new cmd heading: 325.484974 deg. Bh;HeadingCmd: 5.680784 target range: 188.534866 and range: 189.70 m.hȵ@h*h"h hgfff~BdddjdZd@!+@ ~Bɢ) i)3=iAѼ!i%6 n<~Iȵ@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008488]9-9@1 @1@52@1QE EE(E"E:*Ei:VEc44ZEBEu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259450v,?A02'@2"@2=ٱ2 >AHRS rotation from veh to nav: [[0.810210,0.569114,0.140245],[-0.581743,0.810027,0.073704],[-0.071656,-0.141303,0.987370]]2H>?@.6??@?I޲? X5¿@?i2'@I2^;0YFmzByFIbDRVDR02yV%ZY=ٔZpԻQ-Z>9XY\=^Fy^E^q;Eb>dQ 5r5f#x?Q 9r5f)fBYpyv$Q Iv@f'EIf;ifŊ;f5yɮ 2A jhIUFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 131.521255 m, bearing: 344.164964 deg, approach rate: -0.523034 m/s, LOS rate: 0.059495 deg/s, cmd heading: 325.484960 deg, new cmd heading: 325.550981 deg. BhS#;HeadingCmd: 5.681937 target range: 188.534866 and range: 189.70 m.hmҵ@h*h"h hgfffdddjdZd  +@u~Bɢuم8)y }iy)}=yyi}-\μio()<Imҵ@IԉԹ0::echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5121629@ @@N4@@=@=E  E E #E "E s:*E rN:VE 3ZE a @a% @aM @aM @^A Β{1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763476AAIIIYOm?~,?A|YQzByIB߾>BBIB9zBB+ =BBBb;Bc%Ei=Mb@Mb@Mb@9999 99=sh|??y&1?MbP?Y= ?y=`<=:=#A9 = A)=A9Y=AbDUVDU2yeI%e=ٔeQ-e>9iYi=mFyuEuEu>yQ 55}[9x?Q 95} )}BY+ ?Q E:y'Q I@}+EI} ;i} ;}5yBɮ2AE-B*** querying acoustic contact ***i1 i1jh9=FNOT Ignoring new targets: 188.53 m.Rhe(:Zhe(:u ProNav: ac range: 188.534866 m, nav range: 131.232712 m, bearing: 344.203186 deg, approach rate: -0.507607 m/s, LOS rate: 0.067388 deg/s, cmd heading: 325.550995 deg, new cmd heading: 325.665912 deg. Bhu8;}HeadingCmd: 5.683942 target range: 188.534866 and range: 189.70 m.h}@hy*hy"h hgfff~BdddjdZd;-@!M~BɢMm )I MiI)U}P=QQiUvʼi]g]蹇<]ScI]@IiUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015406YI5eA)5dA @  @ @ 4@ E  E E "E "E I:*E Ar:VE (3ZE BE ¿?i:A@I:jV^;:tCYNzByNIbDVVDVyE߽%E =ٔE WQ-E>9IYI=MFyMEU;EU>YQ 5e5]Lx?Q 9e5])]BYayeZQ Im@]0EI]6:i];]45yuyBɮug3AuʤEjhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 130.968979 m, bearing: 344.237879 deg, approach rate: -0.532728 m/s, LOS rate: 0.070219 deg/s, cmd heading: 325.665906 deg, new cmd heading: 325.770194 deg. Bh@;HeadingCmd: 5.685762 target range: 188.534866 and range: 189.70 m.h@h*h"h hgfffdddjdZd@-@~Bɢ}3)  bi ) Q =  i Ǽia<劺I@IA9@ @@/@^A]"5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519990qAIIOd>E} E}E}(Ey"E}:*E}F:VE}c44ZEya@a@a@a@ԙ ȍ,9?A2$N@2H@26z=ٱ2L :AHRS rotation from veh to nav: [[0.813494,0.566244,0.132647],[-0.578348,0.811646,0.082118],[-0.061163,-0.143519,0.987756]]2H$???ԁ?@?P^¿౛?i2$N@I2j^;2sCPYZyBy^IiUMb@Mb@Mb@QQQQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771578 Q9U&1?MbI +YU?yUU94Uh%AUA U9A)U?AQYUAbDVDy%A=ٔ8Q->9Y=FyEZk;E>Q 55%]x?Q 9 5)BY?Q E:y"Q I@4EI'[;il;5y-xBɮ5<4A=ˤEjhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 130.745270 m, bearing: 344.274758 deg, approach rate: -0.517906 m/s, LOS rate: 0.085525 deg/s, cmd heading: 325.770189 deg, new cmd heading: 325.881016 deg. Bhj;HeadingCmd: 5.687696 target range: 188.534866 and range: 189.70 m.h@h*h"h hgffff~BdddjdZd{.@B<AB>BBIByBB* =BB]DBb;B&%E~BɢI[F) i)=iküi%qe Ӕ,y?T?AXnt_@n=Z@n߸Z=ٱn0 vAHRS rotation from veh to nav: [[0.815079,0.565099,0.127707],[-0.576886,0.811957,0.089045],[-0.053374,-0.146251,0.987807]]nH@ ?@K?X?u@?˶?S[¿?int_@Inh^;lYyByI  bD VD2y%B%%R=ٔ-dQ-->9)Y)=5Fy5E5;E5>9Q 5E5= lx?Q 9E5=)=BYIyM!Q IM@=7EI=W:i=:=5yQɮ]4AYjhyFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 130.539871 m, bearing: 344.308522 deg, approach rate: -0.540507 m/s, LOS rate: 0.088990 deg/s, cmd heading: 325.881002 deg, new cmd heading: 325.982454 deg. BhJt;HeadingCmd: 5.689467 target range: 188.534866 and range: 189.70 m.h@h*h"h hgfffdddjdZd/@~Bɢ6L) i)30=顱i iĆ<ϧI@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277001e9@a @a@e/@a ^A?BɺA A I I! OM >5 DAT read: 06:03:19.8176 LVL= 24752, 32753, 32754, 32755, AGC= 67, IDX= 9, 0.06, 1.228,-0.713, 0.715, 0.816, PHS= 0.514,-1.484,-0.146, RAW= 131.1, 12.6, CAL= 130.5, 13.8, ROT= 19.5, -13.8 = Ygot valid direction response: 06:03:19.8176 LVL= 24752, 32753, 32754, 32755, AGC= 67, IDX= 9, 0.06, 1.228,-0.713, 0.715, 0.816, PHS= 0.514,-1.484,-0.146, RAW= 131.1, 12.6, CAL= 130.5, 13.8, ROT= 19.5, -13.8 E 8DAT read: $Error in header M *Received a bad header,Wn?ARX#Rx 1: Read direction message, but no range.V\direction in FSK: [0.915431,0.324171,0.238533]y  |P6K?}w8?iC? `  ) CI ?i 󽿉  p@ z0a> @ Ϣv>) @>I Ϣv R#? g? ? BF>) naI @>i ϢvbT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapsefd@f^@fQH=ٱfI rAHRS rotation from veh to nav: [[0.815585,0.565199,0.123980],[-0.576561,0.811920,0.091447],[-0.048976,-0.146065,0.988062]]fHE?? ? 0s@?`i?X?¿ 4?ifd@Ifg^;dYzyBy~I!bD-VD-y=%EI=ٔE1Q-E>9AYI=MFyMEMo:EM>QE EE#E"E2:*EF:VE3ZEa5@a=@a=@a=@Q 55U{x?Q 95U)UBYy!Q I@U;EIU.=iUI0=U5ywBɮ:5A̤EjhFNOT Ignoring new targets: 188.53 m.RhJ:ZhJ:5 ProNav: ac range: 188.534866 m, nav range: 130.325317 m, bearing: 344.343853 deg, approach rate: -0.443365 m/s, LOS rate: 0.073128 deg/s, cmd heading: 325.982444 deg, new cmd heading: 326.088609 deg. Bh5H;=HeadingCmd: 5.691320 target range: 188.534866 and range: 189.70 m.h=K@h9*h9"h9 hAgAfAIfifidqdqdqjdqZdu`L0@颥~BɢFMV) i)5<iƽif<$IK@I9@ @@@ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseyBu >Bu ̍CBu qIBu yBBu ) =Bq Bq Bu a;Bu $Eԡ ^A AI IY Ii O >(x,u[?A$2Tg@2b@2J6=ٱ2 >AHRS rotation from veh to nav: [[0.815985,0.565230,0.121175],[-0.576351,0.811646,0.095133],[-0.044579,-0.147467,0.988062]]2H@?`\?@W?wq?Z?`Ӧ0¿4?i2Tg@I2V^;2tCYfyByfuIiMMb@Mb@Mb@IIII I9MS?MbMbpYM?yMMII I)MrAIYMAmT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapsebDuVDuky}L%5=ٔ%Q-%>9!Y)=-Fy-E-`:E->1Q 5]55_x?Q 9e55̿)5BYe*?Q Ee:ye$Q Ie@5?EI5h;i5-;55yiɮu5AqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 130.079865 m, bearing: 344.385927 deg, approach rate: -0.608094 m/s, LOS rate: 0.104433 deg/s, cmd heading: 326.088613 deg, new cmd heading: 326.215074 deg. BhW;HeadingCmd: 5.693527 target range: 188.534866 and range: 189.70 m.h`1@h*h"h hgfff~BdddjdZd%0@m~Bɢm ځ)i uZiq)u A] > A I I O >U, ?Aɰ;2l@2g@2\5$=ٱ2 :AHRS rotation from veh to nav: [[0.816525,0.565088,0.118160],[-0.575917,0.811521,0.098764],[-0.040079,-0.148694,0.988071]]2H ?@3???m ?H?@CdÿF?i2l@I2o^;2uCYFbyByF]IIJ<)Jp;bDRVDR1yZѽ%ZZ=ٔZPQ-Z>\9`Y`=bFybEb:Ef>dQ 5j5fÚx?Q 9n5f)fBYQy]$Q I]@fBEIf= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapseĮ,?A^q@^k@^$=ٱ^@ rAHRS rotation from veh to nav: [[0.816960,0.565100,0.115058],[-0.575578,0.811393,0.101738],[-0.035865,-0.149341,0.988135]]^H$?M?mt?#k? ?`\`ÿ͞?i^q@I^]^;^rCY`yBy\IAA@ABBBEIB;yBBBBBa;B$EBˍCBˍCBCB) =B* =Cu5imMb@Mb@Mb@iiii i9m㥛 ?+{Gzt?Ym?ymmף;m9&Am A mA)iiYmAbDVD0y%,=ٔQ->9Y=FyEё:E> Q 55 x?Q 95 ) BY?Q E:y-Q I@ GEI U:i : 9 5y!ɮ%76A!jhFNOT Ignoring new targets: 188.53 m.Rh.:Zh.: ProNav: ac range: 188.534866 m, nav range: 129.637909 m, bearing: 344.466576 deg, approach rate: -0.546138 m/s, LOS rate: 0.104118 deg/s, cmd heading: 326.310566 deg, new cmd heading: 326.457450 deg. Bh;HeadingCmd: 5.697757 target range: 188.534866 and range: 189.70 m.hT@h*h"h hgfff~BdddjdZd@c1@-~Bɢ-%w)) -i))5u<11i5Ji==T<=ػI=T@AI99@ @@0@qT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE  E E &E "E :*E P:VE 4ZE BE ,?Ay~?vAHNu@Np@N;=ٱN؍ VAHRS rotation from veh to nav: [[0.817415,0.565010,0.112229],[-0.575171,0.811282,0.104882],[-0.031790,-0.150283,0.988132]]NH`D(???g?@ٺ?F{<ÿ`ƞ?iNu@IN1^;NuCY^6yBy^BIbD5VD5N2y]"ؽ%]T=ٔe-Q-e>9aYa=mFymEm:Em>qQ 5}5ux?Q 9}5u9)uBYy-Q I@uJEIu:iu:u 5yɮ6AͤEjhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 129.433243 m, bearing: 344.505604 deg, approach rate: -0.549169 m/s, LOS rate: 0.104889 deg/s, cmd heading: 326.457443 deg, new cmd heading: 326.574713 deg. Bh;HeadingCmd: 5.699804 target range: 188.534866 and range: 189.70 m.hd@h*h"h hgfffdddjdZd1@T****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse]~Bɢ]B)a e1i)<ii|X+<8I%d@I!9@ @@1@@@gA^A軝 T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse! I I O >D,6r?AE} E}EyEy"E}:*E}i:VEyZEya.@a.@a.@a.@)11 w@ r@ q<ٱ  AHRS rotation from veh to nav: [[0.817645,0.565226,0.109434],[-0.575059,0.810938,0.108109],[-0.027639,-0.151326,0.988097]] H`&*?T??@f3??IM`^ÿ~?i w@I sg^; Y5DyBy5KIiMb@Mb@Mb@ 9"~?kt{Gz?Y?y 0#<'AS A IA)AYA ;p;bDVDyL<%4=ٔ:Q->9Y=FyE:E>Q 55x?Q 95)Yf?Q E:y /Q I @NEI ;i ;5yɮ6Ajh9EFNOT Ignoring new targets: 188.53 m.RhE:ZhE:U ProNav: ac range: 188.534866 m, nav range: 129.192810 m, bearing: 344.552372 deg, approach rate: -0.530561 m/s, LOS rate: 0.103395 deg/s, cmd heading: 326.574703 deg, new cmd heading: 326.715269 deg. Bh];]HeadingCmd: 5.702257 target range: 188.534866 and range: 189.70 m.h]x@ha*ha"ha hagafififm9~BdidqdqjdqZduZ2@~BAɢ%|)I M԰iI)MrBˍCB,IByBB* =BB\DB`a;B$Eq^A] ԙ I I O >(ò,@ ?A2~@2x@2<ٱ2 :AHRS rotation from veh to nav: [[0.818166,0.565192,0.105654],[-0.574500,0.811085,0.109959],[-0.023546,-0.150663,0.988305]]2Hi.?? ?`Nbg?M&?k`Hÿ@1?i2~@I2\^;2tCBT****** received valid address query ******BR****** received valid ping request ******Freceived new query, but waiting for acoustic response period to elapseYJ9QYQ=UFyUE]9 ;E]>aQ 5m5e2x?Q 9m5e)eBYiym.Q Iu@eREIe :ie$:ef5yygBɮH6AפEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 188.53 m.Rh.:Zh.: ProNav: ac range: 188.534866 m, nav range: 129.006500 m, bearing: 344.588673 deg, approach rate: -0.529119 m/s, LOS rate: 0.103242 deg/s, cmd heading: 326.715269 deg, new cmd heading: 326.824328 deg. Bh;HeadingCmd: 5.704161 target range: 188.534866 and range: 189.70 m.h|@h*h"h hgfffdddjdZd@-2@~Bɢ) Ii)N<iՊi%:%<%c-I%|@I)DzDAAE EE(E"Em:*ErN:VEc44ZEBERET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse %Sɲ,i'?A2A@2 }@2F<ٱ2'9 :AHRS rotation from veh to nav: [[0.818536,0.565462,0.101244],[-0.574130,0.811195,0.111075],[-0.019320,-0.149047,0.988641]]2H@s1?D?"?`E_ O?oo?ȓÿ`?i2A@I2z^;2sCY^DyBybKIbDjVDj:2yr<%rQ=ٔrF1Q-r>9tYt=vFyvEzU:Ez>|Q 555~x?Q 955~)~BY1y5.Q I5@~UEI~AU>IIO>M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseY :в,@?AR*@R@Rz<ٱRH ZAHRS rotation from veh to nav: [[0.819287,0.565157,0.096775],[-0.573179,0.811748,0.111945],[-0.015291,-0.147185,0.988991]]RH`7?`?DƸ?{W?`i?P`¿ Х?iR*@IR"j^;B`Ab<BdBdBdBdBdBdBdBf`;Bf$EP1YMfyByM`IiMb@Mb@Mb@ 9M?MbZd;O?Yn?yj<(A A xA)?AYAbDVD0yK}=%=ٔ{Q->9Y=FyE Q;E >Q 55x?Q 95)BY?Q E:y(Q I@ZEaIv:i<u5yfBɮ5AؤEjhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 128.514297 m, bearing: 344.681594 deg, approach rate: -0.519094 m/s, LOS rate: 0.095776 deg/s, cmd heading: 326.945883 deg, new cmd heading: 327.103637 deg. Bhu;HeadingCmd: 5.709035 target range: 188.534866 and range: 189.70 m.hk@h*h"h hgfffp~Bd d d jd Zd `3@=~Bɢ= v)E EiA)EO:*E L_:VE 3ZE BE ײ,`?A2陮@2@2͕:<ٱ26s :AHRS rotation from veh to nav: [[0.820291,0.564522,0.091858],[-0.571833,0.812680,0.112066],[-0.011388,-0.144454,0.989446]]2H??`?` ?`uLx?T?Rx}¿?i2陮@I2%^;2tC @)BkABL@@DFkAiFQ8IDDIDiJkA Jj9tYx=zFyz Ez;E~>|Q 55~f y?Q 9 5~ )~BY y (Q I @~^EI~:i~d:~ 5yɮd5AjhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 128.321945 m, bearing: 344.716993 deg, approach rate: -0.525471 m/s, LOS rate: 0.096849 deg/s, cmd heading: 327.103633 deg, new cmd heading: 327.209990 deg. Bh;HeadingCmd: 5.710892 target range: 188.534866 and range: 189.70 m.h@h*h!"h! h!g!f!f)f)d)d)d)jdQZdU4@额~Bɢ1) Ji)Ǧ<顡i WiՁ<KfYI@I9@ @@/@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^AlXEU  EU EU &EQ "EU :*EU i:VEU 4ZEQ a] @a] @a] @a] @i Ay I I O >xݲ,iz?A :@:ٜ@:_E;ٱ:  BAHRS rotation from veh to nav: [[0.820890,0.564229,0.088231],[-0.571038,0.812966,0.114023],[-0.007393,-0.143983,0.989552]]:HD?@*?`G?E?0?H~` n¿j?i:@I:v^;:rCYyBysIET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsei]Mb@Mb@Mb@YYYY Y9]MbX?Mb?:v?Y] ?y]<]<] 'A]$ A ]A)]AYY]pAbD}VD}:y=%2=ٔQ->9Y=Fy Ef;E>Q 55y?Q 95)BY ?Q E:yQ I@bEI ;i ; 5yɮ5A٤EjhFNOT Ignoring new targets: 188.53 m.Rh:Zh: ProNav: ac range: 188.534866 m, nav range: 128.086319 m, bearing: 344.751871 deg, approach rate: -0.538189 m/s, LOS rate: 0.079810 deg/s, cmd heading: 327.209993 deg, new cmd heading: 327.314818 deg. Bh[; HeadingCmd: 5.712721 target range: 188.534866 and range: 189.70 m.h ζ@h *h "h  h gfff~BdddjdZd%s4@qB>B̍CB?IB0yBBBB]DB`;Bx$EM~Bɢ-))) -ti))5Ý<11i5J9i= =<=üfI=ζ@IA9@ @@/@ԡ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A% mYAQ Ee  Ee Ee $Ea "Ee [:*Ee خ:VEe 4ZEa BEe |^,r?A,2@2@20i;ٱ2 >AHRS rotation from veh to nav: [[0.821876,0.563327,0.084753],[-0.569656,0.813642,0.116097],[-0.003558,-0.143698,0.989615]]2H@L?@?`b?:[ ?? %m d¿?i2@I26g^;2tCYyByI!%A %4<%bD-VD-ky=%T=ٔ#Q->9Y=Fy Ea;E>Q 55+y?Q 95)BYyQ I@eEI:i:5yɮ4A B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 188.53 m.Rh:Zh%:5 ProNav: ac range: 188.534866 m, nav range: 127.887848 m, bearing: 344.781188 deg, approach rate: -0.513793 m/s, LOS rate: 0.076013 deg/s, cmd heading: 327.314823 deg, new cmd heading: 327.402910 deg. Bh5P;=HeadingCmd: 5.714259 target range: 188.534866 and range: 189.70 m.h=5۶@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdU4@}~Bɢ}6)y %i)D˕<顁iSi/⑁<cI5۶@Iԁ T****** received valid address query ****** R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱm9@i @i@m/@i ^AU zl T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse AIIO>t,=?AE" E"E""E "E":*E"V:VE"(3ZE a&@a&@a&@a*@Q}@}׹@}x)ٱ}U -AHRS rotation from veh to nav: [[0.822929,0.562392,0.080647],[-0.568145,0.814555,0.117095],[0.000162,-0.142180,0.989841]]}H@nU?@?J? >. ?@?@/%?@2¿Ƭ?i}@I}.^;}uCYeyByeIi%Mb@Mb@Mb@!!!! !9%p= ף?/$?y&1?Y%?y%,=%`<%'A% A %A)!!Y%AbD=VD=yMD=%M=ٔUQ-U>9QYQ=]Fy]E]m_;E]>aQ 5m5e+@y?Q 9m5eZ)eBYu?Q Eu:yuQQ I}@eiEIe;ie';e5yeBɮ14AjhFNOT Ignoring new targets: 188.53 m.Rhz:Zhz: ProNav: ac range: 188.534866 m, nav range: 127.614731 m, bearing: 344.812663 deg, approach rate: -0.501436 m/s, LOS rate: 0.057911 deg/s, cmd heading: 327.402905 deg, new cmd heading: 327.497532 deg. Bh;HeadingCmd: 5.715910 target range: 188.534866 and range: 189.70 m.h@h*h"h hgffԁfBdddjdZdh5@}T****** received valid address query ******}R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse颍~Bɢ'W_)  i)'<i|Ci8؀<,lbI@IAAAAAAB>BBdIBmyBBBBB`;Bl$Eԩ 9@  @ @ 4@ @ =@ =- T****** received valid address query ******- R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse^AaE EEE"Em:*EX:VEZEBERAHRS rotation from veh to nav: [[0.825933,0.558942,0.073609],[-0.563729,0.817280,0.119425],[0.006592,-0.140133,0.990111]]6H n??@ز? ('?`? {{? ?i6@I6c^;6sCYJyByJIIN<)NbDPVDPyZ2 =%Z&=ٔ^VQ-^>9\Y\=^FybEb1<Eb>dQ 5j5f Sy?Q 9j5f)fBYlynQ In@fnEIfd:if:f=5yrdBɮr3ArڤEjh FNOT Ignoring new targets: 188.53 m.RhÄ:ZhÄ:- ProNav: ac range: 188.534866 m, nav range: 127.365623 m, bearing: 344.840862 deg, approach rate: -0.511673 m/s, LOS rate: 0.058035 deg/s, cmd heading: 327.497544 deg, new cmd heading: 327.582307 deg. Bh-P;5HeadingCmd: 5.717390 target range: 188.534866 and range: 189.70 m.h5@h1*h1"h1 h1g9f9f9f9dAdAdAjdIZdM`5@颥~Bɢ|) Ji)_ɀ<顱ikԹi T< +I @I ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse9@ @@/@ ^A5 jb T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseAa Iq I O >S!,?AY yBy IbEJ4jE4rEJ0E% E%E%%E!"E%:*E%1]:VE% 4ZE!a5@a5@a5@a5@@AbDEVDEܲyM=%UB=ٔUQ-U>9QYY=]Fy]E]Ee>qQ 55u@cy?Q 95u)uBYyQ I@uqEIu;;ius;u 5yɮl3AjhFNOT Ignoring new targets: 188.53 m.Rhق:Zhق: ProNav: ac range: 188.534866 m, nav range: 127.151772 m, bearing: 344.865162 deg, approach rate: -0.502522 m/s, LOS rate: 0.057198 deg/s, cmd heading: 327.582320 deg, new cmd heading: 327.655343 deg. Bh;HeadingCmd: 5.718665 target range: 188.534866 and range: 189.70 m.hM@h*h!"h! h!g)f1fAfAdIdYdajdaZdm O6@Q5~Bɢ5?Y{)1 5ٕi9)= o<99i=᜼iEnEcBBIByBB+ =BBB`;Bt$EB̍CB̍CBB* =BC4Ա ^AM ;A I I O >l=,ٖ ?A2@2@2WLٱ2 >AHRS rotation from veh to nav: [[0.828788,0.555395,0.068171],[-0.559424,0.819694,0.123068],[0.012472,-0.140134,0.990054]]2Hm? ?s?`:?h?Ҋ??i2@I2l^;2wCYFzByFIiMb@Mb@Mb@ 9I +?ˡE?~jt?Y9>y=< A /A)AYfAbD-VD-y=N=%EE=ٔEgQ-E>9AYI=MFyMEMK<UQ 55Csy?Q 95)BY>Q E:y־Q I@tEI<:i:!5yVBɮj2AEjh1=FNOT Ignoring new targets: 188.53 m.Rh=:Zh=:m ProNav: ac range: 188.534866 m, nav range: 126.946205 m, bearing: 344.879709 deg, approach rate: -0.476828 m/s, LOS rate: 0.033798 deg/s, cmd heading: 327.655349 deg, new cmd heading: 327.699061 deg. Bhu:uHeadingCmd: 5.719428 target range: 188.534866 and range: 189.70 m.h}@hy*hy"hy hygyfyffxBdddjdZd6@~BɢV) i)a<  i 瀛ikR*~<.I@IIE EEE"E:*Eg:VEZEBEZ b ,_]'?A2G.@2)@2 yٱ2^T :AHRS rotation from veh to nav: [[0.830471,0.553170,0.065737],[-0.556855,0.821141,0.125059],[0.015200,-0.140464,0.989969]]2H6?@?)԰? `F?? ?ӭ?i2G.@I2m^;2sC@YF zByFI HHHJAbDR VDR:2yZȀ%ZT=ٔZkQ-Z>9\Y\=^Fy^Eb<Eb>dQ 5j5fy?Q 9j5f)fBYhyjKվQ In@fwEIf:if:f#5ypɮv2AtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 188.53 m.Rh:Zh:- ProNav: ac range: 188.534866 m, nav range: 126.769829 m, bearing: 344.891977 deg, approach rate: -0.482673 m/s, LOS rate: 0.033618 deg/s, cmd heading: 327.699062 deg, new cmd heading: 327.735916 deg. Bh-:5HeadingCmd: 5.720071 target range: 188.534866 and range: 189.70 m.h5 @h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM 7@e~Bɢe)i mdii)mS 2Acoustic response timeoutJ,8A?ABF@BRA@BٱBX JAHRS rotation from veh to nav: [[0.832081,0.551002,0.063543],[-0.554371,0.822528,0.126968],[0.017694,-0.140874,0.989869]]BH@i?`Ρ?@VD?h`%R?@|@?@Y? (¿?iBF@IBw^;@YVzByVIlB%<A%4<B%>B%ˍCB%IB%yBB!B!B!B%`;B%h$Ei]Mb@Mb@Mb@YYYY Y9]ʡE?1Zd?~jth?Y]>y]"=]D;]x)AY Y)]AYY] A up9 ?Y ?=FyE;E>Q 55Ry?Q 95)Y>Q E:yQ I@{EI<:i:t%5yUBɮ]2AE jhaeFNOT Ignoring new targets: 188.53 m.Rh{9Zh{9 ProNav: ac range: 188.534866 m, nav range: 126.563782 m, bearing: 344.901395 deg, approach rate: -0.402172 m/s, LOS rate: 0.018412 deg/s, cmd heading: 327.735918 deg, new cmd heading: 327.764217 deg. Bh-J:HeadingCmd: 5.720565 target range: 188.534866 and range: 189.70 m.h@h*h!"h) h)g)f)f1f5Bd1d1d1jd9Zd=`7@~Bɢj) ʏi)@<i՘i8]}<*ZI@I92Acoustic response timeoute9@a @a@e0@a@m=@m=E  E E &E "E :*E g:VE 4ZE BE 0ѩ,t$`?A2kc@62Acoustic response timeout25^@2Dࢼٱ2? >AHRS rotation from veh to nav: [[0.833997,0.548360,0.061246],[-0.551411,0.824305,0.128322],[0.019881,-0.140792,0.989839]]2H?)?[?(`?l?[?z¿ì?i2kc@I2i^;2uCYJ zByJIbDRVDRkyZo%Z3=ٔZ9Q-^>9^"?Y^"?=^Fy^Ebo;Eb>dQ 5j5fy?Q 9j5f)fBYhyjQ In@f~EIf:if:fr'5ypɮr~2Apjh  FNOT Ignoring new targets: 188.53 m.RhI9ZhI9% ProNav: ac range: 188.534866 m, nav range: 126.345947 m, bearing: 344.911034 deg, approach rate: -0.582545 m/s, LOS rate: 0.025822 deg/s, cmd heading: 327.764222 deg, new cmd heading: 327.793189 deg. Bh%ō:-HeadingCmd: 5.721070 target range: 188.534866 and range: 189.70 m.h-@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdEu7@m~Bɢu))q u|iq)uȵ3E  E E %E "E :*E X:VE 4ZE a @a @a @a @ԁ V,My?Ae}@/x@ٱK AHRS rotation from veh to nav: [[0.835709,0.545877,0.060075],[-0.548743,0.825715,0.130676],[0.021728,-0.142173,0.989603]]H ?w?-®?LBl?`? ?? 2¿Ԫ?ie}@Iށ^;Y zByIqI)=i%Mb@Mb@Mb@!!!! !9%sh|??v/?MbY%>y%x=%!! %A)%/A!Y%AbD=VD=N2yM%M(=ٔUxQ-U>9U ?Y] ?=]Fy] E]V;E]>aQ 5m5ey?Q 9u5e)eBYuK>Q Eu:yuQ Iu@eEIe ;ie:e)5yyɮ2AE2Acoustic response timeoutjhFNOT Ignoring new targets: 188.53 m.RhN9ZhN9M ProNav: ac range: 188.534866 m, nav range: 126.117531 m, bearing: 344.919413 deg, approach rate: -0.467780 m/s, LOS rate: 0.017191 deg/s, cmd heading: 327.793182 deg, new cmd heading: 327.818365 deg. BhM<:UHeadingCmd: 5.721510 target range: 188.534866 and range: 189.70 m.hU@hQ*hY"hY hYgYfYfafeBdadadijdiZdm{8@颽~BɢVQvB>BBIBzBBBB\DB|`;B\$E) Vi) <iRiV8|<W9I@Iԡ9@ @@0@^A ?BɺA zA E 2Acoustic response timeout A ؟AI I O >%,?AF\@F&@FٱF=z NAHRS rotation from veh to nav: [[0.837210,0.543751,0.058428],[-0.546376,0.827057,0.132098],[0.023505,-0.142518,0.989513]]FH@m?`hf?H?{@w???@>¿`?iF\@IFos^;DYVyByVIE^ E^E\E\"E^:*E^:VE\ZE\BE^Tx time:06:03:29.6198  E>E>$E<"E>:*E>rN:VE>4ZE9 ?Y ?=Fy$Ep;E>!Q 5]5%=y?Q 9e5ԑ%T)%BYyQ I@%EI%BʍCBBB- =BBB`;Bq$E u 9@q  @q @u /@q  m 2Acoustic response timeoutA^A0::A>A>E EE!E"E:*Ea9:VEc3ZEBEZ y=\ )YbDVDJy셽%=ٔ ƻQ- >9"?Y"?=Fy'Eϱ;E>Q 5%5y?Q 9-5()BY-w>Q E-:y-ľQ I-@EI ;iG ;05y9ɮ=b2A9 2Acoustic response timeoutjh9=FNOT Ignoring new targets: 188.53 m.RhE9ZhE9U ProNav: ac range: 188.534866 m, nav range: 125.411888 m, bearing: 344.949867 deg, approach rate: -0.505019 m/s, LOS rate: 0.027863 deg/s, cmd heading: 327.862686 deg, new cmd heading: 327.909927 deg. BhU:]HeadingCmd: 5.723108 target range: 188.534866 and range: 189.70 m.h]#@hY*hY"hY hYgafafafmVBdididijdiZdu9@ԁ颥~Bɢm) i)NN;顩ii>a+z<;I#@IԱIUeA)Q9@ @@/@@=@=  2Acoustic response timeout^A qZ; E=  E= E= #E9 "E= [:*E= [:VE= 3ZE9 aM @aM @aM @aU @I9IO?>,W?A4YyByII>)>2Acoustic response timeoutiMb@Mb@Mb@ 9Mb?X9v?{GzY?y}=# )^AYAbDVD0y%=ٔQ->9Y=Fy*EE>Q 55z?Q 95w)BYm?Q E:y7Q I@EI ;i ;q25y6Bɮ3AEjh!%FNOT Ignoring new targets: 188.53 m.Rh-xe:Zh-xe:= ProNav: ac range: 188.534866 m, nav range: 125.137009 m, bearing: 344.975720 deg, approach rate: -0.532109 m/s, LOS rate: 0.050155 deg/s, cmd heading: 327.909923 deg, new cmd heading: 327.987651 deg. Bh= ;EHeadingCmd: 5.724464 target range: 188.534866 and range: 189.70 m.hE.@hA*hA"hA hIgIfIfQfUBdQdQdQjdYZd]:@ԉBؾ>BBIByBB, =BB[DB`;Bv$E颭~Bɢ;) 욿i),^;顱iyAiSIz<u;I.@I]9@a @a@e/@aԱ^A ; E 2Acoustic response timeoutIy I O >kE,?AD0zD2@AE6 E6E6$E4"E6g:*E6X:VE64ZE4BE6;a:2E6;a:JE6p;a>:E6p;a>Bȯ@Bö@B%ٱB JAHRS rotation from veh to nav: [[0.840515,0.538941,0.055466],[-0.540884,0.828794,0.143337],[0.031280,-0.150477,0.988119]]BH???@f?Nz?X?`?Bÿ?iBȯ@IBu^;BqCYRyByVtI\bD^VD^yȺ%l=ٔ4ͻQ-?9 Y = Fy ,E];E?Q 5%5Iz?Q 9%5)BY)y-Q I-@EI"";i_:35y1ɮ53A1jhYeFNOT Ignoring new targets: 188.53 m.RheY:ZheY:u ProNav: ac range: 188.534866 m, nav range: 124.962257 m, bearing: 344.992154 deg, approach rate: -0.505773 m/s, LOS rate: 0.047633 deg/s, cmd heading: 327.987651 deg, new cmd heading: 328.037025 deg. Bhu;HeadingCmd: 5.725326 target range: 188.534866 and range: 189.70 m.h5@h*h"h hgfff d d d jd Zd :@e}~BɢeD)a eia)m㦊;iiimfiKy<;I5@I-9@) @)@-/@)2Acoustic response timeout^AMqZ;AUdAzAUbAIIO>A -K,ٔ0?A6Uʯ@6Ŷ@6\ٱ6=4 >AHRS rotation from veh to nav: [[0.840603,0.538815,0.055369],[-0.540726,0.828797,0.143911],[0.031651,-0.150911,0.988040]]6H7?=?WY?`M? k? 4?Qÿ?i6Uʯ@I6^;6tCYFayByJ]IbDRVDR0yZ%ZP=ٔZ.wQ-Z>9\Y\=^Fy^.Eb>9Eb>dQ 5j5fz?Q 9j5f)fBYhyjQ Ij@fEIf:if[:f55yr5Bɮr$4ArE2Acoustic response timeoutjhFNOT Ignoring new targets: 188.53 m.Rh%)Z:Zh%)Z:5 ProNav: ac range: 188.534866 m, nav range: 124.763023 m, bearing: 345.010936 deg, approach rate: -0.505025 m/s, LOS rate: 0.047683 deg/s, cmd heading: 328.037020 deg, new cmd heading: 328.093453 deg. Bh5;=HeadingCmd: 5.726311 target range: 188.534866 and range: 189.70 m.h==@h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU<;@}{~Bɢ}$) 4i)V;顁iIiMy<Z;I=@IQ@Q @Q@U0@Q@]eA@YbE4jE‹3rE/E EE"E"E:*EC:VE(3ZEa@a@a@a@Iq^A_;II O>2Acoustic response timeoutB A <ԡ ~R,%tJ?A2į@2S@2ٱ2 :AHRS rotation from veh to nav: [[0.840191,0.539459,0.055353],[-0.541302,0.828116,0.145658],[0.032738,-0.152343,0.987785]]2H`? ?C?BW?XR?`? ?ÿ?i2į@I2z^;2sCYNLyByNPI PRAyiMb@Mb@Mb@ 9?{Gz?99Y9==Fy=0E=̺EE>AQ 5M5E0z?Q 9u5Ea )EBYu1 ?Q Eu:yu Q Iu@EEIE;iE;E75y4Bɮu4A=B*** querying acoustic contact ***i9 i9jhAmFNOT Ignoring new targets: 188.53 m.RhuO:ZhuO: ProNav: ac range: 188.534866 m, nav range: 124.523392 m, bearing: 345.043218 deg, approach rate: -0.502991 m/s, LOS rate: 0.067892 deg/s, cmd heading: 328.093464 deg, new cmd heading: 328.190498 deg. Bh_:;HeadingCmd: 5.728005 target range: 188.534866 and range: 189.70 m.hK@h*h"h hgfff~BdddjdZd`r;@ 2Acoustic response timeoutԡ%y~Bɢ%製)! -i))-b;))i-bi5J 5y<5J:I5K@I9E EEE"EƱ:*EP:VEZE k>ƐC9@ @@ 0@=GB9YA ^A] yb];I I O > BDAT read: Rx Time:06:03:32.1887  TRx dataTimestamp_ set to:1761545013.553432 2Acoustic response timeoutϧX,Md?AN㻯@N@Nd ٱN/ fAHRS rotation from veh to nav: [[0.839586,0.540437,0.054987],[-0.542168,0.827327,0.146916],[0.033907,-0.153161,0.987619]]NH@?BK?@A'? pY@vy?#?`2\?Ěÿ?iN㻯@IN3^;NtCY~?yBy~HIbDVD4dy%i %%[=ٔ%OQ-%>9)Y)=-Fy-2E5b;E5>Q 55?z?Q 95E)BYy+ Q I@EI:i;T95yɮ4Ajh!-FNOT Ignoring new targets: 188.53 m.Rh5:Zh5:e ProNav: ac range: 188.534866 m, nav range: 124.320854 m, bearing: 345.070719 deg, approach rate: -0.551728 m/s, LOS rate: 0.075035 deg/s, cmd heading: 328.190508 deg, new cmd heading: 328.273143 deg. BheM;mHeadingCmd: 5.729447 target range: 188.534866 and range: 189.70 m.hmW@hi*hi"hi higifqffdddjdZd n<@w~Bɢm.) iI)MP:QQiUUi] ]x1E  E E $E "E :*E F:VE 4ZE Y ^,9~?A !@ 뭶@ ٱ 1DAT read: 06:03:32.1887 LVL= 27168, 32753, 32754, 32755, AGC= 68, IDX= 148,-0.08, 2.627, 0.760, 2.178, 2.262, PHS= 0.467,-1.458,-0.128, RAW= 132.4, 13.0, CAL= 131.7, 14.2, ROT= 18.3, -14.2 Ygot valid direction response: 06:03:32.1887 LVL= 27168, 32753, 32754, 32755, AGC= 68, IDX= 148,-0.08, 2.627, 0.760, 2.178, 2.262, PHS= 0.467,-1.458,-0.128, RAW= 132.4, 13.0, CAL= 131.7, 14.2, ROT= 18.3, -14.2 -AHRS rotation from veh to nav: [[0.838971,0.541418,0.054720],[-0.543042,0.826493,0.148373],[0.035106,-0.154196,0.987416]] H?KS?@B?`r?`?p?`ÿ@?i !@I a_; uCY=*yBy=;IEPDAT read: Bearing 138.3, 17.1 (Local) E~Local bearing/azimuth received: Bearing 138.3, 17.1 (Local) MDAT read: Range 11 to 50 : 123.6 m (Round-trip 164.8 ms) speed 0.5 m/s UTDAT read: user:629>Tx time:06:03:33.2698 ]R#Rx 1: Read range and direction messages.\direction in FSK: [0.920416,0.304399,0.245307]Fpublishing direction and range infoy8 t?$C{?/;f?Y3B j )DI>ioh@Vh>=@ }>)Ƈ>I}(qaq?h:t?}j? .^>)2iIƇ>i}2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.YB;>BɍCBIByBB- =BBZDB`;B[$EBբʍCBբʍCBբCBբ, =Bբ, =Cբ55B}>B}ǍCB}qIB}yBB}. =ByB}YDB}Y`;B}9$EiMb@Mb@Mb@ 9X9v?/${GzY?yףx)A )AYAbDVD1y] %=ٔ%Q-%>9!Y!=%Fy-5EM)EM>QQ 5]5UHWz?Q 9]5Uu)UBYe?Q Ee:yeQ Ie@UEIU:iUs:U;5y(Bɮ4AEii?AJiBRiBjiH @be6=+D\@0DB@c0NF">@R8 t?$C{?/;f?ZiƇ>bi}jES'0]@MHe:}v\J;@ZQi?ȟֺ˿:!?2i/:iB"i!Š?*iBiBiiiiBi'@ addTargetRange:: Added new target pos. range: 123.599998 m, deltaT: 28.492061 s, deltaX: -66.099998 m, approachRate: -2.319944 m/s, rangeRepo size: 4 M Added new target pos. range: 122.841331 m, bearing: 347.434571 deg, lat: 36.779470 deg, lon: -121.859683 deg, deltaT: 28.492061 s, deltaX: -65.693535 m, approachRate: -2.305679 m/s, posRepo size: 4 jhQUFNOT Ignoring new targets: 122.84 m.RhUZhY} ProNav: ac range: 122.841331 m, nav range: 124.000603 m, bearing: 345.125609 deg, approach rate: 0.000000 m/s, LOS rate: 0.075035 deg/s, cmd heading: 328.273153 deg, new cmd heading: 328.407996 deg. BhԁHeadingCmd: 5.731801 target range: 122.841331 and range: 123.60 m.hj@h*h"h hgfffg~Bdddjd`f^@Zd`E?M u~BɢM ˚)I M ciI )U zQ Q iU Hi] ' ] w<] MnI] j@I E DAT read: M 2Acoustic response timeout 9@  @ @ /@ @% =@% =Ա E  E E "E "E y:*E ?:VE (3ZE BE 9z ?Yz ?=zFy~7E~E~>Q 5 5ez?Q 9 5)BY yQ I@EI;i;=5yɮ4AjhAEFNOT Ignoring new targets: 122.84 m.RhM:ZhM:] ProNav: ac range: 122.841331 m, nav range: 123.800919 m, bearing: 345.160187 deg, approach rate: -0.565846 m/s, LOS rate: 0.098142 deg/s, cmd heading: 328.408008 deg, new cmd heading: 328.511910 deg. Bh];eHeadingCmd: 5.733614 target range: 122.841331 and range: 123.60 m.hey@ha*ha"hi higififqfqdqdqdyjdyZd}@C?颥s~Bɢ=Gս) i)蠼顱ii w<Iy@IE9@I @I@M4@Iԡ^A%"5AU؟AIYIiO}X> 2Acoustic response timeout Ee  Ee Ee #Ea "Ee :*Ee VL:VEe 3ZEa au @au @au @au @Nn,?Ap@ۗ@ ٱ AHRS rotation from veh to nav: [[0.837390,0.544201,0.051219],[-0.545225,0.824942,0.148996],[0.038832,-0.152694,0.987510]]H ?j?T9?`{re?@P??xÿ`?i@I_;sCYxByIi}Mb@Mb@Mb@yyyy y9}Zd;?v/MbY}?y}xi}y} A y)yyY}AbDVDNy%1=ٔ2Q->9"?Y"?=Fy9EMߺE>Q 55=xz?Q 9E5B)BYE?Q EE:yE5,Q IM@EIaB=ƍCB=RIB=OyBB=1 =B9B=XDB=>`;B=)$EQ^A] _A] >A] >ԁ  2Acoustic response timeoutA I I O >Su,?A2ߗ@2@2%$ٱ2, :AHRS rotation from veh to nav: [[0.837000,0.544943,0.049680],[-0.545727,0.824629,0.148893],[0.040170,-0.151735,0.987605]]2H? -p?`o? v\c??9? lÿt?i2ߗ@I2_;2tCYFyByF%IbDNVDN:yV=%Vi=ٔVzQ-V>E^ E\E^(E\"E^[:*E\VE^c44ZE\BE^|pQ 5v5r^z?Q 9v5r)rBYtxyv_,Q Iz@rEIrl,;iry-;rA5yɮ#5AB*** querying acoustic contact ***i ijh)5FNOT Ignoring new targets: 122.84 m.Rh5;Zh5;E ProNav: ac range: 122.841331 m, nav range: 123.350418 m, bearing: 345.252156 deg, approach rate: -0.583401 m/s, LOS rate: 0.119678 deg/s, cmd heading: 328.667555 deg, new cmd heading: 328.788322 deg. BhED;MHeadingCmd: 5.738439 target range: 122.841331 and range: 123.60 m.hMJ@h*h"h hgfffdddjdZd c?-o~Bɢ-ڽ)5a[S9 5i1)5ٿr11i5%ji=t =>^u<=h>BIEJ@IA!!@! @!@-/@)^A=2Acoustic response timeoutA)I1IAIOUu>y {,Y?A6|@6F@6(ٱ6 BAHRS rotation from veh to nav: [[0.836672,0.545634,0.047581],[-0.546152,0.824610,0.147431],[0.041207,-0.149338,0.987927]]6H`?u?\?z 5c?@?`?ÿ?i6|@I6"`;4YJyByJ+I LNARARAbDTVDTyZ<%^J=ٔ^!(Q-^>9`Y`=bFyb=EfZEf>hQ 5j5jDz?Q 9n5j")jBYlyn,Q Ir@jEIjD;ij;jB5yv'Bɮv4AvEjhFNOT Ignoring new targets: 122.84 m.Rhm;Zhm;- ProNav: ac range: 122.841331 m, nav range: 123.129662 m, bearing: 345.297604 deg, approach rate: -0.552882 m/s, LOS rate: 0.114028 deg/s, cmd heading: 328.788313 deg, new cmd heading: 328.924901 deg. Bh-;5HeadingCmd: 5.740822 target range: 122.841331 and range: 123.60 m.h5Ѵ@h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdM`?Y2Acoustic response timeout颅l~Bɢͽ) i)顉ie샼iP Hxt<iIѴ@I59@1 @1@5/@1E EE'E"E:*E[:VE'4ZEa@a@a@a@ԉ^A}ԅ#Թ nManaging dock network, ignoring radio surface power off5 2Acoustic response timeoutA I I O > ꫂ,4 ?A2@2t@2 ,ٱ2 >AHRS rotation from veh to nav: [[0.836452,0.546121,0.045839],[-0.546419,0.824623,0.146367],[0.042134,-0.147476,0.988168]]2H 6?y?`%x?@C| Pc?`#??`z¿ ?i2@I2=`;2uCBFþ>BFǍCBFEIBF;yBBF0 =BDBFYDBF/`;BF%$EYn'yByn9IiMb@Mb@Mb@Թ 95^I ?L7A`尿~jt?Y?y+D<'A )AYAbDVDyeT=%9=ٔ Q->9Y=Fy?ELE>Q 55lz?Q 95')BY?Q E:yx/Q I@EIa:i:D5y ɮ 4Ajh1=FNOT Ignoring new targets: 122.84 m.Rh=S;ZhES;M ProNav: ac range: 122.841331 m, nav range: 122.890518 m, bearing: 345.348589 deg, approach rate: -0.541590 m/s, LOS rate: 0.115689 deg/s, cmd heading: 328.924890 deg, new cmd heading: 329.078140 deg. BhU˞;]HeadingCmd: 5.743497 target range: 122.841331 and range: 123.60 m.h]ʷ@hY*hY"hY hYgYfafafe~BdadidijdiZdm@@额i~Bɢ) =i)顡iZpi) Xs<WIʷ@Im9@i @q@u/@q@}=@}=2Acoustic response timeoutE EE#E"Ey:*EV:VE3ZEBEY ] 2Acoustic response timeoutڈ,#%?A2@2؊@2d/ٱ2v NAHRS rotation from veh to nav: [[0.836382,0.546337,0.044512],[-0.546462,0.824694,0.145806],[0.042950,-0.146273,0.988311]]2H?{?Fʦ?|`c?`??¿@??i2@I2j`;0YjVyByjVIbDrVDr0yz=%~Z=ٔ~zQ-~>9|Y=FyAEOE> Q 55 z?Q 95 *) BYy/Q I@ EI ;i &; gF5y!ɮ%3A-EjhIUFNOT Ignoring new targets: 122.84 m.RhU;Zh];e ProNav: ac range: 122.841331 m, nav range: 122.687050 m, bearing: 345.392155 deg, approach rate: -0.542069 m/s, LOS rate: 0.116260 deg/s, cmd heading: 329.078132 deg, new cmd heading: 329.209048 deg. Bhm;uHeadingCmd: 5.745782 target range: 122.841331 and range: 123.60 m.hurݷ@hq*hq"hq hqgqfyfyfydyddjdZdؔ@颵g~Bɢ[ɽ)  i)7项iiB Tr<JIrݷ@I)a5r绍2Acoustic response timeout9@ @@/@ԩE  E E &E "E :*E |;:VE 4ZE a @a @a @a @^A ] A!I)I9OM>_,HC?Aɰ49Y=FyDEE>Q 55{z?Q 95/)BY?Q E:y,Q I@EI;i` ;H5yɮ3Ajh!FNOT Ignoring new targets: 122.84 m.RhZ;ZhZ; ProNav: ac range: 122.841331 m, nav range: 122.417336 m, bearing: 345.448140 deg, approach rate: -0.543630 m/s, LOS rate: 0.113090 deg/s, cmd heading: 329.209053 deg, new cmd heading: 329.377376 deg. Bh9;HeadingCmd: 5.748720 target range: 122.841331 and range: 123.60 m.h@h*h"h hgff!f=5~Bd9d9dAjdaZde @c~BɢF6) i)!iBBRIBOyBBBBB`;B$E ?BI9BDAT read: Rx Time:06:03:35.8359 TRx dataTimestamp_ set to:1761545017.3361872Acoustic response timeout 9@  @ @ 3@ A E  E E "E "E غ:*E C:VE (3ZE BE AE>Aq}2Acoustic response timeoutIIԙO ?s,f?A2֐@2@25ٱ2D NAHRS rotation from veh to nav: [[0.836389,0.546531,0.041930],[-0.546353,0.825055,0.144164],[0.044196,-0.143485,0.988665]]2H?.}?`w?@{f?@s?֠? ]¿%?i2֐@I2 T`;0YZyByZuIbDbVDbyj=%j=ٔn;Q-n>9lYl=nFynFErB9Er>tQ 5z5vz?Q 9z5v4)vBYxy~,Q I~@vEIv:iv :vJ5yBɮ2AE%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 122.84 m.Rh=;Zh=;M ProNav: ac range: 122.841331 m, nav range: 122.138321 m, bearing: 345.506346 deg, approach rate: -0.542974 m/s, LOS rate: 0.113531 deg/s, cmd heading: 329.377376 deg, new cmd heading: 329.552394 deg. BhMԛ;UHeadingCmd: 5.751774 target range: 122.841331 and range: 123.60 m.hU@hQ*hQ"hQ hQgYfYfYfYdadadajdaZdm @颕_~Bɢ(8) i)顙i|i No<6oI@II9@ @@ /@ DAT read: 06:03:35.8359 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 408,-0.24,-0.115,-1.900,-0.558,-0.452, PHS= 0.439,-1.403,-0.150, RAW= 131.7, 13.6, CAL= 130.9, 14.7, ROT= 19.1, -14.7 Ygot valid direction response: 06:03:35.8359 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 408,-0.24,-0.115,-1.900,-0.558,-0.452, PHS= 0.439,-1.403,-0.150, RAW= 131.7, 13.6, CAL= 130.9, 14.7, ROT= 19.1, -14.7 PDAT read: Bearing 139.1, 18.2 (Local) ~Local bearing/azimuth received: Bearing 139.1, 18.2 (Local) DAT read: Range 11 to 50 : 121.5 m (Round-trip 162.0 ms) speed 0.5 m/s TDAT read: user:630>Tx time:06:03:36.9198 R#Rx 1: Read range and direction messages.\direction in FSK: [0.914019,0.316507,0.253758]Fpublishing direction and range infoy??vA?N=?YB )>I>i=@s>y7@ G\>)㭪>IG\s?#:Y?oi?  R>)rI㭪>iG\2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.q bEE3jEE3rEEDN0E  E E E "E :*E VE ZE a @a @a @a @^AM 𕭼ԡ A .AI I O >oנ,?Ab+@b@bL7ٱb nAHRS rotation from veh to nav: [[0.837057,0.545659,0.039903],[-0.545284,0.826069,0.142394],[0.044736,-0.140950,0.989005]]bH +? v?$n?r@'o?9? ? ¿?ib+@Ib`;btCYvyByvI%DAT read: %2Acoustic response timeoutԹiMb@Mb@Mb@ 995 ?Y5 ?=5Fy5IE=#;E=>AQ 5M5Esz?Q 9M5E%9)EBYM?Q EM:yMQ IM@EEIEa:iE ;EM5y]Bɮ]1A]Eiiu?AJiBRiBjia@b{Ǘ[@Q$C@fP4o>@R??vA?N=?Zi㭪>biG\j\@(0?8a =@Z/=TU?EɿY{Y?2i:iB"i~)?*iBiBiB ?iiBiBi@- addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 3.782749 s, deltaX: -2.099998 m, approachRate: -0.555151 m/s, rangeRepo size: 4 ] Added new target pos. range: 120.754158 m, bearing: 348.039118 deg, lat: 36.779448 deg, lon: -121.859683 deg, deltaT: 3.782749 s, deltaX: -2.087173 m, approachRate: -0.551761 m/s, posRepo size: 4 jhYeFNOT Ignoring new targets: 120.75 m.RheZha ProNav: ac range: 120.754158 m, nav range: 119.440788 m, bearing: 345.255719 deg, approach rate: 0.000000 m/s, LOS rate: 0.113531 deg/s, cmd heading: 329.552393 deg, new cmd heading: 329.731077 deg. BhHeadingCmd: 5.754893 target range: 120.754158 and range: 121.50 m.h(@h*h"h hgfff~Bdddjd`^@Zd ?%[~Bɢ%/$)! E[iI)MYU-IIiM%ziU1>UmBuƍCBuwIBuyBBu/ =BqBuXDBu`;Bu $EB5ǍCB5ǍCB5ēCB50 =B50 =C55}9@y @y@}/@2Acoustic response timeouta } AfA ʲ9 AfAY ϠA^A *E  E E #E "E :*E n:VE 3ZE BE 7 蒧,]ğ?A >ϥ@>@>F;ٱ> FAHRS rotation from veh to nav: [[0.837727,0.544779,0.037790],[-0.544172,0.826995,0.141264],[0.045706,-0.138905,0.989250]]>H?@n?.Y?`i@v??f??i>ϥ@I>`;>uCYRyByRI TTbDZVDZyb=%bN=ٔf Q-f>9f"?Yf"?=jFyjKEjW;Ej>lQ 5r5n{?Q 9r5n<)nBYtyvQ Iv@nEIn:in:nN5yxɮz0A|jh!%FNOT Ignoring new targets: 120.75 m.Rh-S:Zh-S:= ProNav: ac range: 120.754158 m, nav range: 119.228409 m, bearing: 345.294826 deg, approach rate: -0.564765 m/s, LOS rate: 0.104180 deg/s, cmd heading: 329.731070 deg, new cmd heading: 329.848601 deg. Bh=;EHeadingCmd: 5.756944 target range: 120.754158 and range: 121.50 m.hE8@hA*hA"hI hIgIfIfQfQdQdQdYjdYZdeHv?-X~Bɢ-B)1 5i1)5=:11i5_wi==Sl<=`ѼIE8@IAIQ)UeA2Acoustic response timeout9@ @@0@Aq^AF˼A9 IA IQ Oe >ԙ  2Acoustic response timeout*,?A2C@2 @2&?ٱ2 :AHRS rotation from veh to nav: [[0.838716,0.543430,0.035203],[-0.542567,0.828347,0.139505],[0.046651,-0.136106,0.989595]]2H?c?0?\с? P??kê?i2C@I2`;0ER ERER$EP"ER:*ER|;:VER4ZEPaV@aV@aV@aV@YZ8zByZIbDfVDf:yn>%nJ=ٔnQ-n>9pYp=rFyrMEv;Ev>xQ 5z5z{?Q 9~5ԁz3@)zBYyQ I@zEIz BU ōCBU IBU yBBU 2 =BQ BU WDBU `;BU $E^A cռ AI IY Ii Ou >[1,?A.2Acoustic response timeoutXV@V@V/:FٱVHH bAHRS rotation from veh to nav: [[0.841980,0.538649,0.030441],[-0.537336,0.832193,0.136840],[0.048376,-0.131573,0.990125]]VH?9yYy=}FyPE4<E>Q 55'{?Q 95hD)BY~?Q E:yt Q I@EIz ;iz ;R5yɮ6/AjhFNOT Ignoring new targets: 120.75 m.Rh:Zh: ProNav: ac range: 120.754158 m, nav range: 118.710754 m, bearing: 345.376635 deg, approach rate: -0.568869 m/s, LOS rate: 0.079449 deg/s, cmd heading: 329.968761 deg, new cmd heading: 330.094557 deg. BhZ;HeadingCmd: 5.761237 target range: 120.754158 and range: 121.50 m.h \@h*h"h hgffqf}BdydydyjdyZdb?R~Bɢ5)5` 5zi9)=TZ99i=tItiEpEAit,>?A4<ɰB.@B@BHIٱB" JAHRS rotation from veh to nav: [[0.843866,0.535801,0.028419],[-0.534294,0.834274,0.136073],[0.049199,-0.130011,0.990291]]BH`?I%??@@`?`j?@0?6w?iB.@IB`;BtC P)RkARR`dFPTVkAiVIVLFTIZCiZkA Z/]ZsjF)X^LC ^kA^H^ >F\bCbkAIbj<)b% `=ٔ $Q- >9Y=FyRE3!<E>!Q 5-5%Z6{?Q 9-5% G)%BY)y-Q I-@=2Acoustic response timeout%EI%U;i%#X;%T5yAɮE;.AEEeB*** querying acoustic contact ***ia iajhiuFNOT Ignoring new targets: 120.75 m.Rhu<:Zh}<: ProNav: ac range: 120.754158 m, nav range: 118.515137 m, bearing: 345.403642 deg, approach rate: -0.534969 m/s, LOS rate: 0.073979 deg/s, cmd heading: 330.094546 deg, new cmd heading: 330.175700 deg. BhK;HeadingCmd: 5.762653 target range: 120.754158 and range: 121.50 m.hg@h*h"h hgfffdddjdZd =@P~Bɢ0) ji)0diriALh<DOIg@)IEq EuEqEq"Eq*EuP:VEqZEqa@a@a@a@-9@) @)@-/@)^A A%>A%>YA-.AIQIO>ԉ2Acoustic response timeoutԱ B >B B IB azBB 3 =B B B _;B #EWó,?AY]zBy]:IiMb@Mb@Mb@ 9v/?Mb?9 ?Y ?=%Fy%TE%E%>)Q 555-OH{?Q 955-I)- BY=v ?Q E=:y=Q I=@-EI-`;i-2;-vV5yAɮE-AIjhiuFNOT Ignoring new targets: 120.75 m.Rhuc:Zhuc: ProNav: ac range: 120.754158 m, nav range: 118.283348 m, bearing: 345.425207 deg, approach rate: -0.532366 m/s, LOS rate: 0.049628 deg/s, cmd heading: 330.175688 deg, new cmd heading: 330.240512 deg. Bh<;HeadingCmd: 5.763784 target range: 120.754158 and range: 121.50 m.hp@hԑ*h"h hgfffBdddjdZd @N~Bɢ) Tai)_qi-Zqir?g<Ip@IU2Acoustic response timeout9@ @@0@E EE"E"E:*EVE(3ZEBEi I A 2Acoustic response timeout ɳ,'?AFI@FD@FNٱFV NAHRS rotation from veh to nav: [[0.848262,0.528987,0.024986],[-0.527164,0.838960,0.135070],[0.050488,-0.127747,0.990521]]FH$?u???I?٩? Z Y?iFI@IF`;FsCY=zBy=JI AAIMAbDUVDUye=%eV=ٔe^Q-m>9m"?Ym"?=mFymVEuH<Eu>yQ 55} X{?Q 95}L)}BYyK߾Q I@}EI} :i}:} X5yBɮC-AEjhFNOT Ignoring new targets: 120.75 m.Rh4Y:Zh4Y: ProNav: ac range: 120.754158 m, nav range: 118.080719 m, bearing: 345.443276 deg, approach rate: -0.531475 m/s, LOS rate: 0.047474 deg/s, cmd heading: 330.240521 deg, new cmd heading: 330.294820 deg. BhR;]HeadingCmd: 5.764732 target range: 120.754158 and range: 121.50 m.hex@ha*ha"ha hagififqfydydydjdZd`@]L~Bɢ])a ehZia)m}iiimpi_e<fvIx@ImBDAT read: Rx Time:06:03:39.4832 uTRx dataTimestamp_ set to:1761545020.866278u2Acoustic response timeoutMI E  E E %E "E [:*E g:VE 4ZE a @a @a @a @ 9@  @ @ /@ q ^A  2Acoustic response timeoutԡAI)I9OE?bҳ,J?A2p@2k@2$Pٱ2 >AHRS rotation from veh to nav: [[0.850732,0.525067,0.023675],[-0.523124,0.841497,0.134994],[0.050959,-0.127229,0.990564]]2H19?Y?<>?n?}G???@I@?i2p@I2`;0YF {ByFbIi]Mb@Mb@Mb@YYYY Y9]{Gz?"~j?{GztY]?y]S=]ף]h%AY ]A)]xAYY]AbDuVDu:y=%=ٔeQ->9Y=FBA<B¾>BǍCB?IBzBB1 =BBYDB_;B#EyXEh<E>Q 55n{?Q 95N)BY?Q E:yQ I@EI:i:Z5yɮ,Ajh%FNOT Ignoring new targets: 120.75 m.Rh%29Zh%29ԉ ProNav: ac range: 120.754158 m, nav range: 117.794624 m, bearing: 345.455545 deg, approach rate: -0.524178 m/s, LOS rate: 0.022534 deg/s, cmd heading: 330.294807 deg, new cmd heading: 330.331704 deg. Bhow:HeadingCmd: 5.765376 target range: 120.754158 and range: 121.50 m.h}@h*h"h hgff!f-Bd)d)d)jd)Zd5`] @额J~Bɢ]V)A EOiA)E-ƅAAiEoiM,MdTx time:06:03:40.5698 R#Rx 1: Read range and direction messages.\direction in FSK: [0.919140,0.286280,0.270600]Fpublishing direction and range infoyquLi?jR?RlyQ?YuBqqqq q)qIuI>iuuPu;@uw>u2:@ uK>)u#>IuKqqu7YBI?҂:?? us>)uMIu#>iuKqq2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.eE  E E E "E :*E :VE ZE BE 9 ?Y ?=Fy[EE>Q 55l{?Q 95 Q)BYyQ I@EIl:i:\5yBɮ+A EiQiUǃW?AJiUUBRiUUBjiU;@bUD[@+ 7jp@@Ue#E@@RULi?jR?RlyQ?ZiU#>biUKjURr[@C"8@@ZU6@ ?@vʿAŌ R?2iU:iUB"iU/?*iUBiUBiU!Š?iUiUBiUlBiUV@ addTargetRange:: Added new target pos. range: 119.400002 m, deltaT: 3.527787 s, deltaX: -2.099998 m, approachRate: -0.595274 m/s, rangeRepo size: 4  Added new target pos. range: 118.667526 m, bearing: 347.774086 deg, lat: 36.779442 deg, lon: -121.859623 deg, deltaT: 3.527787 s, deltaX: -2.086632 m, approachRate: -0.591485 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 118.67 m.RhZh ProNav: ac range: 118.667526 m, nav range: 115.712074 m, bearing: 347.960673 deg, approach rate: 0.000000 m/s, LOS rate: 0.022534 deg/s, cmd heading: 330.331690 deg, new cmd heading: 330.368468 deg. BhHeadingCmd: 5.766017 target range: 118.667526 and range: 119.40 m.h7@h*h"h hgfffdYdYdYjde]@Zdes?H~Bɢ-i) Gi)ьi&ni%!e%dc<%\I%7@I)55YY52Acoustic response timeout1E EEE"E:*E*5:VEZEa@a@a@a@ 9@  @ @ 1@ Q  2Acoustic response timeout^A ONqB>BBwIB-{BB/ =BBB_;B#EA II!O5?a,ݎ?Aɰ:߰@:oڷ@:XQٱ: BAHRS rotation from veh to nav: [[0.857728,0.513552,0.023816],[-0.511552,0.847946,0.138929],[0.051152,-0.131346,0.990016]]:H@r?o?Nc? ^@`"?k?0? 5?i:߰@I:`;8Yv#{ByvrIqi}Mb@Mb@Mb@yyyy y9}V-?x&?y}7 >}t}$Ay y)}IAyYybDVDy,%=ٔQ->9Y=Fy^EH<E>Q 55Z{?Q 95R)BYr>Q E:yWQ I@EI* ;im ;1_5y Bɮ+AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 118.67 m.Rh 8p9Zh 8p9 ProNav: ac range: 118.667526 m, nav range: 115.455170 m, bearing: 347.967591 deg, approach rate: -0.486334 m/s, LOS rate: 0.013126 deg/s, cmd heading: 330.368464 deg, new cmd heading: 330.389265 deg. Bh!:%HeadingCmd: 5.766380 target range: 118.667526 and range: 119.40 m.h%0@h!*h!"h! h!g)fffBdddjdZdV?F~BɢlD) Hi ) ?  i miVMb< ݺI0@Im2Acoustic response timeoutԡ9@ @@/@DzDE EE!E"E:*EL_:VEc3ZEBE\;a2E];aJE;a:E;a^A QO A1 I9 II O] > 2Acoustic response timeoutװ,e?AFH@F@F4KQٱF NAHRS rotation from veh to nav: [[0.859887,0.509915,0.024115],[-0.507923,0.849891,0.140357],[0.051075,-0.132940,0.989807]]FH`1?8Q?@? @M2?6?|&?)`?iFH@IF(`;FrCYbK{BybIbDjVDj:yrO=%rX=ٔrV9Q-v>9tYt=vFyv`Ez\7<Ez>|Q 55~7{?Q 95~!T)~BYy=Q I @~EI~e;i~,:~`5yɮC+Ajh9=FNOT Ignoring new targets: 118.67 m.RhEE]9ZhEE]9U ProNav: ac range: 118.667526 m, nav range: 115.272881 m, bearing: 347.972146 deg, approach rate: -0.483149 m/s, LOS rate: 0.012091 deg/s, cmd heading: 330.389255 deg, new cmd heading: 330.402940 deg. BhU:]HeadingCmd: 5.766619 target range: 118.667526 and range: 119.40 m.h]%@hY*hY"hY hagafafafadididijdiZduh?额E~Bɢ:) >i)顡ili==sb<˿H:I%@IYu9@q @q@u/@q^AMԉA}؟AIIO^>}2Acoustic response timeoutԩbE=3jE=c3rE=١/Ee  Ee Ee %Ea "Ee Ʊ:*Ee *5:VEe 4ZEa au @au @au @au @ ,?A:&@:c!@:wPٱ:1i JAHRS rotation from veh to nav: [[0.862139,0.506079,0.024504],[-0.504111,0.851922,0.141774],[0.050874,-0.134581,0.989596]]:H`?1?@y?@!B? %? ?9Ī?i:&@I:`;:sCYVS{ByVIbD^VD^Nyf<%fL=ٔj:Q-j>9r"?Yr"?=vFyvbEz3<E]>Q 55{?Q 95U) BYyQ I@EIJ1BƍCBIBj{BBBBXDB_;B#EBMƍCBMƍCBMŔCBM1 =BM1 =CMM5}9@y @y@@@=@=  2Acoustic response timeout ^A NJκ] ЀGu (hA 9 (hAY OA9 Aq I I O >",?AE EE$E "E:*E*:VE4ZE BE;a2E;aJEe;a:Ef;a>C@>>@>Pٱ> FAHRS rotation from veh to nav: [[0.863945,0.502955,0.025216],[-0.501020,0.853415,0.143739],[0.050775,-0.136816,0.989294]]>H`o? 5?@'ҙ? \-O?@f?@ ?.L?i>C@I>م`;>vCYNV{ByNIiMb@Mb@Mb@ 9Gz?K7?V-Y>yI >#A )xAY\A <<bDVDy;%2=ٔb9Q->9Y=FydE<E>Q 55S{?Q 95V)BY>Q E:yQ I@EI ;iC ;d5yɮ+Ajh FNOT Ignoring new targets: 118.67 m.RhV9ZhV9% ProNav: ac range: 118.667526 m, nav range: 114.855019 m, bearing: 347.981455 deg, approach rate: -0.541313 m/s, LOS rate: 0.011748 deg/s, cmd heading: 330.417040 deg, new cmd heading: 330.430908 deg. Bh-:5HeadingCmd: 5.767107 target range: 118.667526 and range: 119.40 m.h5%@h1*h1"h1 h1g1f9f9f=Bd9dAdAjdAZdEd@Q}C~Bɢ})y }W;iy)顁ijija<;I%@IA@A @A@M0@I%2Acoustic response timeout^A-"5;ԁAiIyIO>ԩ J,?A:DY@:T@:pOٱ:qB2Acoustic response timeout FAHRS rotation from veh to nav: [[0.865247,0.500661,0.026208],[-0.498773,0.854338,0.146053],[0.050732,-0.139444,0.988930]]:H?@j?@d֚?߿@V?ޱ??MO?i:DY@I:`;:wCYRC{ByRIbDZVDZ0ybfL%b\=ٔb8Q-f>9dYd=fFyffEj;Ej>lQ 5r5n6{?Q 9r5nX)nBYpyvvQ Iv@nEIn@;in:n9f5yxɮz`+AzEjhFNOT Ignoring new targets: 118.67 m.Rh%89Zh%895 ProNav: ac range: 118.667526 m, nav range: 114.672821 m, bearing: 347.985202 deg, approach rate: -0.489555 m/s, LOS rate: 0.010084 deg/s, cmd heading: 330.430919 deg, new cmd heading: 330.442177 deg. Bh5r9=HeadingCmd: 5.767304 target range: 118.667526 and range: 119.40 m.h=@h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU^@yɢ}g=) ?i) 顁ihia< B >B čCB IB {BB B B WDB &`;B $E9 x2,?A:n@:i@:> Pٱ: _ BAHRS rotation from veh to nav: [[0.866560,0.498330,0.027215],[-0.496484,0.855234,0.148586],[0.050770,-0.142271,0.988525]]:H ܺ??-ޛ?d߿^???5¿?i:n@I:\z`;:sCYJ0{ByJzIR>PiMb@Mb@Mb@ 9x?ʡE?/$YK>y=,$A A)AY3AbD5VD51yE0%EB=ٔM;Q-M>9IYI=UFyUhEU;EU>YQ 5e5]{?Q 9e5]Y)]BYmZ>Q Em:ymrQ Im@]EI]':i]s:]h5yqɮu+A5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 118.67 m.RhEe9ZhMe9} ProNav: ac range: 118.667526 m, nav range: 114.464157 m, bearing: 347.994422 deg, approach rate: -0.472514 m/s, LOS rate: 0.020916 deg/s, cmd heading: 330.442175 deg, new cmd heading: 330.469885 deg. Bh}e:HeadingCmd: 5.767787 target range: 118.667526 and range: 119.40 m.h@h*h"h hgfffBdddjdZd`@EB~BɢEs)A MyDiI)M^2Acoustic response timeoutIiIgi{a<,%q E BDAT read: Rx Time:06:03:43.1307 M TRx dataTimestamp_ set to:1761545024.644119M 2Acoustic response timeoutA I I O >J] ,x+?A 6[}@6%x@6Qٱ6 RAHRS rotation from veh to nav: [[0.867423,0.496790,0.027865],[-0.494949,0.855759,0.150669],[0.051005,-0.144486,0.988191]]6H?g??@߿ ab?I?M?~¿C?i6[}@I6ǂ`;6wCY^${BynrIxxbD%VD%k2yM%MJ=ٔUQ-U>9YYY=eFyejEe3;Em>qQ 55ue{?Q 95uC[)uBYyQ I@uEIuF;iuG;ui5yɮ+AEjhFNOT Ignoring new targets: 118.67 m.Rh9Zh9 ProNav: ac range: 118.667526 m, nav range: 114.262550 m, bearing: 348.003209 deg, approach rate: -0.517245 m/s, LOS rate: 0.022585 deg/s, cmd heading: 330.469878 deg, new cmd heading: 330.496288 deg. Bhx:HeadingCmd: 5.768249 target range: 118.667526 and range: 119.40 m.h~@h*h"h hgfffdddjdZd  @1ɢ5ȋ)9 =Gi9)=99i=1NfiEEBfa+H,p`E?ALr$@r@rQٱr -AHRS rotation from veh to nav: [[0.868005,0.495727,0.028651],[-0.493908,0.855991,0.152754],[0.051199,-0.146742,0.987849]]rH@??@V?0߿Gd? n?6?@p¿`u?ir$@Ir`;rrCYezBye[IbDVDy%A=ٔDAT read: 06:03:43.1307 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 418, 0.30, 1.396,-0.443, 1.054, 1.072, PHS= 0.426,-1.470,-0.062, RAW= 135.7, 12.9, CAL= 135.0, 14.0, ROT= 15.0, -14.0 Ygot valid direction response: 06:03:43.1307 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 418, 0.30, 1.396,-0.443, 1.054, 1.072, PHS= 0.426,-1.470,-0.062, RAW= 135.7, 12.9, CAL= 135.0, 14.0, ROT= 15.0, -14.0 PDAT read: Bearing 140.3, 15.2 (Local) ~Local bearing/azimuth received: Bearing 140.3, 15.2 (Local) DAT read: Range 11 to 50 : 117.6 m (Round-trip 156.8 ms) speed 0.4 m/s TDAT read: user:632>Tx time:06:03:44.2198 R#Rx 1: Read range and direction messages.\direction in FSK: [0.937234,0.251131,0.241922]Q->9Y=FymEH-;E>Q 55~ |?Q 95\)BY y 4Q I @EIi;i;k5yBɮ)AFpublishing direction and range infoy9=&?pׇ?79K?Y=3B9999 9)=CI=>i=(=}=@=f>=@ =5z>)= >I=5z99=(?զ?h? =ً>)=)fI= >i=5z99E2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.i9i= J?AJi=BRi=Bji=E@b=brfeb[@^XY=@p0F<@R=&?pׇ?79K?Zi= >bi=5zj= nE[@]n8--8];=@Z=j =?ã|˿.Z?2i=E:i=B"i=[g?*i=|Bi=Bi=~)?i9i=Bi=.Bi=W@- addTargetRange:: Added new target pos. range: 117.599998 m, deltaT: 3.789607 s, deltaX: -1.800003 m, approachRate: -0.474984 m/s, rangeRepo size: 4 = Added new target pos. range: 116.873131 m, bearing: 347.413510 deg, lat: 36.779438 deg, lon: -121.859623 deg, deltaT: 3.789607 s, deltaX: -1.794395 m, approachRate: -0.473504 m/s, posRepo size: 4 jh9BaAe<Bm>BmCBmIBmt{BBm3 =BmFDBmUDBm`;BmD$EFNOT Ignoring new targets: 116.87 m.RhZh ProNav: ac range: 116.873131 m, nav range: 113.590858 m, bearing: 347.964897 deg, approach rate: 0.000000 m/s, LOS rate: 0.022585 deg/s, cmd heading: 330.496298 deg, new cmd heading: 330.528899 deg. Bh}HeadingCmd: 5.768817 target range: 116.873131 and range: 117.60 m.h}'@hy*hy"hy hygfffdddjd`ff]@Zd̻?yɢ}n)y }Piy)MB顁idi DAT read:  2Acoustic response timeout! E  E ~E "E "E U:*E (:VE (3ZE BE ;a 2E ;a JE ;a :E ;a ^Au &,F_d?A2<@2@23Tٱ2r :AHRS rotation from veh to nav: [[0.868166,0.495394,0.029547],[-0.493565,0.855683,0.155566],[0.051783,-0.149640,0.987384]]2H?@?A?@߿`a??Y? h'ÿ?i2<@I2`;2uCYBzByFQI DDi]Mb@Mb@Mb@YYYY Y9] ףp= ?MbX9?{GzY]Q>y]ʡ=]#Y]A Y)YYY]AbDuVDuN2y}%-=ٔQ->9Y=FyoE_:E>Q 55|?Q 95 _)BYl>Q E:yhQ I@EI:i:m5ԱyBɮ*AjhFNOT Ignoring new targets: 116.87 m.Rh9D:Zh9D: ProNav: ac range: 116.873131 m, nav range: 113.375641 m, bearing: 347.982436 deg, approach rate: -0.525266 m/s, LOS rate: 0.042888 deg/s, cmd heading: 330.528891 deg, new cmd heading: 330.581609 deg. Bhw:HeadingCmd: 5.769738 target range: 116.873131 and range: 117.60 m.h@h*h"h hgff f _Bd ddjdZd?AɢE)A ETiA2Acoustic response timeout)siQciNq4a<2,~?AE EzE(E"EƱ:*E :VEc44ZEa@a@a@a@>M@>@>lVٱ> FAHRS rotation from veh to nav: [[0.868201,0.495339,0.029415],[-0.493436,0.855565,0.156615],[0.052411,-0.150488,0.987222]]>HN?`??@u߿`? ?`ժ?0CÿQ?i>M@I>.g`;>sCYNzByN=I Vp9f ?Yf ?=jFyjqEj9Ej>lQ 5r5n<-|?Q 9r5n`)nBYtyvdQ Iv@n EIn;in;neo5yxɮz*AxjhFNOT Ignoring new targets: 116.87 m.Rh%y6:Zh%y6:5 ProNav: ac range: 116.873131 m, nav range: 113.192001 m, bearing: 347.997452 deg, approach rate: -0.486945 m/s, LOS rate: 0.039883 deg/s, cmd heading: 330.581620 deg, new cmd heading: 330.626742 deg. Bh5:=HeadingCmd: 5.770525 target range: 116.873131 and range: 117.60 m.h=%@h9*hA"hA hAgAfAfIfIdIdIdQjdQZdUe?ɢ) ]i ) m¼  i 8ai=a<?)BBIBK{BB5 =BBB`;BZ$EqI I O >ԡ %,?AYye2Acoustic response timeoutiMb@Mb@Mb@ 9#~j?ˡE?{GzY?y'=h%AA ^A)AYAbD]VD] 3yv:%2=ԑٔQ->9Y=FysEE>!Q 5%5%/@|?Q 9-5%c)%BY-?Q E-:y-Q I5@%EI%;i% ;%yq5y=Bɮ=|*A=EEU EUEU#EQ"EUy:*EU1]:VEU3ZEQBEUA- >! I I) O= >E,,x?AY^zByb.IIf0>)f>bDjVDj:yrƂ%rX=ٔpQ-v>9tYt=vFyvuExEz>|Q 55~N|?Q 95~e)~BYy Q I @~EI~9:i~:~s5yɮ*Ajh9=FNOT Ignoring new targets: 116.87 m.RhE:ZhE:U ProNav: ac range: 116.873131 m, nav range: 112.764160 m, bearing: 348.051039 deg, approach rate: -0.534445 m/s, LOS rate: 0.067200 deg/s, cmd heading: 330.717951 deg, new cmd heading: 330.787838 deg. BhUy8;]HeadingCmd: 5.773337 target range: 116.873131 and range: 117.60 m.h]-@hY*hY"ha hagafafifidididqjdqZdu?颙ɢs) ^ci)aiμ顩i(^im/`<Tam 2Acoustic response timeoutԙ (3,h@?A:^z@:(u@:Wٱ:# FAHRS rotation from veh to nav: [[0.867167,0.496865,0.033871],[-0.495222,0.853105,0.164218],[0.052698,-0.159178,0.985842]]:HԿ?@?@W?ั߿L? ?D?`_Ŀ`?i:^z@I:O`;8YRzByR'IBr>BrÍCBreIBr{BBr3 =BpBrVDBr`;Brc$EiMMb@Mb@Mb@IIII I9M|?5^?{Gzt?~jtYM ?yMף;MļM$AMrA I)IIYMGA]@A]@AbDeVDeyu.Ҽ%uB=ٔu2Q-}>9yYy=}Fy}wEӠE>Q 55_|?Q 95h)BY ?Q E:yRQ I@EI ;i ;t5yBɮ+AEjhFNOT Ignoring new targets: 116.87 m.RhL:ZhL:q ProNav: ac range: 116.873131 m, nav range: 112.541687 m, bearing: 348.087114 deg, approach rate: -0.528137 m/s, LOS rate: 0.085809 deg/s, cmd heading: 330.787837 deg, new cmd heading: 330.896276 deg. Bhk;HeadingCmd: 5.775229 target range: 116.873131 and range: 117.60 m.hθ@h*h"h hgfff~BdddjdZd .@MD~BɢMv쭽) Zfi)'ռi:\ib To`<̓;Iθ@Iԡ@ @@/@2Acoustic response timeoutE EE$E"E:*E.:VE4ZEBE;a2E;aJE ;a:E ;a^A P;Ii I O > %S9,i?A2p@2k@2Yٱ2% :AHRS rotation from veh to nav: [[0.866575,0.497841,0.034677],[-0.496216,0.852183,0.165995],[0.053089,-0.161055,0.985517]]2H???@߿E? W??`p.?@oĿ@Z?i2p@I20#`;0YBzByFIbDNVDN:yV+|%VX=ٔZ8Q-Z>9XYX=^Fy^yE^EHE^>`Q 5f5b%o|?Q 9j5bk)`YhyjQ Ij@bEIbH:ib@:bv5ylɮr`+Apjh FNOT Ignoring new targets: 116.87 m.Rh :Zh:% ProNav: ac range: 116.873131 m, nav range: 112.341606 m, bearing: 348.119827 deg, approach rate: -0.527968 m/s, LOS rate: 0.086476 deg/s, cmd heading: 330.896273 deg, new cmd heading: 330.994587 deg. Bh%cm;-HeadingCmd: 5.776945 target range: 116.873131 and range: 117.60 m.h-ܸ@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=@@mE~BɢmCŽ)i uliq)uXڼqqiuoGZ2Acoustic response timeouti%%`<%G;I%ܸ@I)Q 9@  @ @ 0@ @=@=^Avт;AeAzAfAIIIYOe4>)  2Acoustic response timeoutbE!jE%ˋ3rE%/E  E }E #E "E :*E k&:VE 3ZE a @a @a @a @o:@,?A2+g@2a@2NZٱ2v( >AHRS rotation from veh to nav: [[0.865977,0.498802,0.035778],[-0.497238,0.851222,0.167856],[0.053272,-0.163150,0.985162]]2H?`?tQ?߿5=?`R|?F?Ŀr?i2+g@I2n"`;2uCYFzByFI HHbDRVDR1yZ@<%ZJ=ٔZxQ-^>9\Y1=5Fy5{E=49E=>AQ 5M5E-|?Q 9M5En)EBYIyMQ IU@EEIE:iE :Ecx5y]Bɮ]B+AYjhFNOT Ignoring new targets: 116.87 m.Rh{:Zh{: ProNav: ac range: 116.873131 m, nav range: 112.120071 m, bearing: 348.156351 deg, approach rate: -0.527866 m/s, LOS rate: 0.087200 deg/s, cmd heading: 330.994574 deg, new cmd heading: 331.104361 deg. Bh`o;HeadingCmd: 5.778861 target range: 116.873131 and range: 117.60 m.hn@h*h"h hgfffdddjdZd@6P@F~Bɢl) ki ) &  i Y=Xidͬ_<7In@IQ9@ @@4@i1I1MBDAT read: Rx Time:06:03:46.7784 UTRx dataTimestamp_ set to:1761545028.188249]2Acoustic response timeoutyB>BBLIBzBBBBB`;BZ$EBÍCBÍCBB3 =B3 =Ce5^A;I1 IA OU >ԩ QG % ʱ9! Y% ;AeF,?AB2Acoustic response timeoutH qY@ ;T@ xZٱ ( -AHRS rotation from veh to nav: [[0.865141,0.500205,0.036416],[-0.498687,0.850250,0.168481],[0.053312,-0.163920,0.985032]] H;? ??`~߿`?5?ː?K? WĿa?i qY@I @`; rCYEzByEIiMb@Mb@Mb@ 9S?I +MbY/?y9 /A)9AYA E49Y=Fy}EuE>Q 55|?Q 95r)BYL?Q E:yvQ I@!EI ;i:Vz5yBɮ*+AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 116.87 m.Rh?:Zh?: ProNav: ac range: 116.873131 m, nav range: 111.862946 m, bearing: 348.204984 deg, approach rate: -0.574727 m/s, LOS rate: 0.108954 deg/s, cmd heading: 331.104348 deg, new cmd heading: 331.250582 deg. Bh;HeadingCmd: 5.781413 target range: 116.873131 and range: 117.60 m.hV@h*h"h hgfff~Bddd jd Zd  @=G~Bɢ=#)9 =`ni9)E~AAiEMViM)tMu_DAT read: 06:03:46.7784 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.44, 1.877,-0.013, 1.537, 1.530, PHS= 0.449,-1.499,-0.037, RAW= 136.1, 12.4, CAL= 135.5, 13.4, ROT= 14.5, -13.4 Ygot valid direction response: 06:03:46.7784 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.44, 1.877,-0.013, 1.537, 1.530, PHS= 0.449,-1.499,-0.037, RAW= 136.1, 12.4, CAL= 135.5, 13.4, ROT= 14.5, -13.4 PDAT read: Bearing 139.6, 14.8 (Local) ~Local bearing/azimuth received: Bearing 139.6, 14.8 (Local) DAT read: Range 11 to 50 : 115.8 m (Round-trip 154.4 ms) speed 0.5 m/s TDAT read: user:633>Tx time:06:03:47.8698 R#Rx 1: Read range and direction messages.\direction in FSK: [0.941791,0.243564,0.231748]Fpublishing direction and range infoyY]]1&#?f(-?] A?Y]BYYYY Y)]FI]T>i];߿]P]q@]k]>]Z@ ]|o>)]>I]|oYY]f? u?&x_?}\? ]+>)]͛\I]>i]|oYY 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. vL,4?A2P@2J@2IOZٱ2ы( :AHRS rotation from veh to nav: [[0.864571,0.501184,0.036490],[-0.499679,0.849731,0.168162],[0.053273,-0.163621,0.985084]]2H ? ?ծ?߿`0?Q?F?@Ŀ΅?i2P@I2G`;2uCYRzByR)IlbDZVDZyv=%vg=ٔzO8Q-z>9z"?Yz"?=~Fy~E~!TE~>Q 5 5;|?Q 9 5u)BYyQ I@%EI:i:{5yɮ*A!iiV,?AJi)BRi)Bjid@b7M[@Ǚl<@O:@R]1&#?f(-?] A?Zi>bi|ojZ(t.[@c~9DVu;@ZT23ؑ;?̿IGlΊ?2i:isB"ibUm?*iĔBiBBibUm?iii)Biv@ addTargetRange:: Added new target pos. range: 115.800003 m, deltaT: 3.535770 s, deltaX: -1.799995 m, approachRate: -0.509082 m/s, rangeRepo size: 4 - Added new target pos. range: 115.081635 m, bearing: 346.624018 deg, lat: 36.779433 deg, lon: -121.859623 deg, deltaT: 3.535770 s, deltaX: -1.791496 m, approachRate: -0.506678 m/s, posRepo size: 4 jh)UFNOT Ignoring new targets: 115.08 m.Rh]ZhYm ProNav: ac range: 115.081635 m, nav range: 111.080605 m, bearing: 348.181638 deg, approach rate: 0.000000 m/s, LOS rate: 0.108954 deg/s, cmd heading: 331.250569 deg, new cmd heading: 331.373245 deg. BhimHeadingCmd: 5.783554 target range: 115.081635 and range: 115.80 m.hu@hq*hy"hy hygyfyffdddjd@3\@Zd E?DAT read: 2Acoustic response timeout5I~Bɢ5^)1 5fi1)=Y99i=]TiEE\^A >u 2Acoustic response timeoutB >B CB EIB zBB B B UDB `;B \$EA .AI I O >S,40P?A2D@2?@2[ٱ2(8 >AHRS rotation from veh to nav: [[0.863866,0.502389,0.036608],[-0.500859,0.848952,0.168587],[0.053618,-0.163972,0.985007]]2H@ˤ??@? `*?`C?@s? Ŀ,?i2D@I2@`;0YFzByF5Ii%Mb@Mb@Mb@!!!! !9%Zd;?L7A`堿~jt?Y%?y%+%D<%9&A%A %A)!!Y%AbD=VD=yEr,=%M9=ٔFQ->9 ?Y ?=FyEKEE>Q 55|?Q 95~y)BY ?Q E :y Q I @)EI;iO;}5yBɮV*AjhYeFNOT Ignoring new targets: 115.08 m.Rh;Zh; ProNav: ac range: 115.081635 m, nav range: 110.824883 m, bearing: 348.232947 deg, approach rate: -0.577084 m/s, LOS rate: 0.116056 deg/s, cmd heading: 331.373239 deg, new cmd heading: 331.527522 deg. BhK;HeadingCmd: 5.786247 target range: 115.081635 and range: 115.80 m.h(@h*h"h hgfff~BdԙddjdZd/?K~Bɢ.) bi)iRi%n%=]<-mtI-(@I)9@ @@/@2Acoustic response timeout^A`ԻE ExE'E"E:*E:VE'4ZEBE# Y,>i?A69@6c4@6;]ٱ6$' >AHRS rotation from veh to nav: [[0.863165,0.503638,0.035993],[-0.502028,0.848412,0.167823],[0.053986,-0.162928,0.985160]]6H` ?? m?1&?:{?`?@Ŀn?i69@I6h`;6rCYFzByJ7IRAARBAbDRVDRyZ8<%ZU=ٔ^gQ-^>9^"?Y^"?=bFybEbsEb>dQ 5j5f,|?Q 9j5f|)fBYlynQ In@lf-EIf.;if/;f|5ytɮvD*AtjhFNOT Ignoring new targets: 115.08 m.Rh-L;Zh-L;= ProNav: ac range: 115.081635 m, nav range: 110.619629 m, bearing: 348.274485 deg, approach rate: -0.570477 m/s, LOS rate: 0.115664 deg/s, cmd heading: 331.527520 deg, new cmd heading: 331.652365 deg. Bh=ž;EHeadingCmd: 5.788426 target range: 115.081635 and range: 115.80 m.hE:@hA*hA"hA hAgIfIfIfIdQdQdQiaIam2Acoustic response timeoutjdQZdm"?颽L~Bɢɽ) ai)iPi Q9\<KzOI:@I@ @@/@1^A 2Acoustic response timeoutA .AI I O >a E  E E "E "E :*E =:VE (3ZE a @a @a @a @`,uȃ?A2~3@2I.@2q#_ٱ2& :AHRS rotation from veh to nav: [[0.862769,0.504395,0.034870],[-0.502658,0.848281,0.166596],[0.054450,-0.161262,0.985409]]2H͛? $?ڡ? %?S? ?7Ŀw?i2~3@I2E_;0YFzByFHIbDNVDNyV:=%VK=ٔVgQ-Z>9Z ?YZ ?=ZFyZE^E^>`Q 5f5b8|?Q 9f5b#)bBYdyfQ Ij@b0EIb:ib$:b>5ynBɮn)AnEjhFNOT Ignoring new targets: 115.08 m.Rh ;Zh ;- ProNav: ac range: 115.081635 m, nav range: 110.394737 m, bearing: 348.320296 deg, approach rate: -0.559300 m/s, LOS rate: 0.114163 deg/s, cmd heading: 331.652375 deg, new cmd heading: 331.790088 deg. Bh-;5HeadingCmd: 5.790830 target range: 115.081635 and range: 115.80 m.h5zN@h1*h1"h1 h1g19fAfAfAdAdIdIjdIZdM ވ?UN~Bɢ])Y ]}[iY)]XYaie(Nie m][BBRIBzBBBBTDB`;B^$EԱ^AlXAfAzAgA A ؟AI9 IQ Oe >% 2Acoustic response timeoutg,?A21@2Z,@2`ٱ2\% :AHRS rotation from veh to nav: [[0.862631,0.504688,0.034033],[-0.502851,0.848304,0.165894],[0.054854,-0.160219,0.985556]]2H?g&?l?ZO%?9"?Y"?=FyE,E>ԹQ 55|?Q 95Ѓ)BY?Q E:yrQ I@5EI4;i':%5yɮ.)AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 115.08 m.Rh:Zh : ProNav: ac range: 115.081635 m, nav range: 110.152084 m, bearing: 348.368431 deg, approach rate: -0.556084 m/s, LOS rate: 0.110553 deg/s, cmd heading: 331.790099 deg, new cmd heading: 331.934822 deg. Bh;%HeadingCmd: 5.793355 target range: 115.081635 and range: 115.80 m.h%+c@h!*h!"h! h!g)f)f)f-~Bd1d1djdZd?5P~Bɢ=P)9 =7Ri9)=\D9AiE)ULiEMZ;m,~?A2+2@2,@2&aٱ2\# :AHRS rotation from veh to nav: [[0.862664,0.504691,0.033126],[-0.502784,0.848604,0.164560],[0.054941,-0.158615,0.985811]]2H?@n&?? '?L?=!?MĿ‹?i2+2@I2-`;2tCYB2{ByF{I Jp9XYX=ZFy^E^Q9E^>`Q 5f5b|?Q 9f5b)b!BYhyhQ Ij@b8EIb:ib:bƄ5ynBɮnz(ArEjhFNOT Ignoring new targets: 115.08 m.Rh:Zh: ProNav: ac range: 115.081635 m, nav range: 109.943863 m, bearing: 348.409919 deg, approach rate: -0.536476 m/s, LOS rate: 0.107095 deg/s, cmd heading: 331.934817 deg, new cmd heading: 332.059517 deg. Bh;HeadingCmd: 5.795532 target range: 115.081635 and range: 115.80 m.ht@h*h"h hgfffdddjd!Zd-@A@2Acoustic response timeout颕S~Bɢ֯) 2Hi)顙iqJiRY<읛It@IE EE&E"Eg:*E:VE4ZEa@a@a@a@A9@ @@0@i^A  2Acoustic response timeoutԡ A AAA AAB >B CB qIB "{BB 5 =B B B `;B Q$EA I I O >"t,Y?A27@2S2@2`ٱ2h` :AHRS rotation from veh to nav: [[0.862996,0.504222,0.031599],[-0.502221,0.849414,0.162079],[0.054883,-0.155743,0.986272]]2H?"?-?1f.???`dÿ?i27@I2H`;2sCYF^{ByFIiMb@Mb@Mb@ 9zG?Mb?Zd;O?Y ?y<j<"A A)hAYAbD5VD5yE=%MA=ٔM9Q-M>9QYQ=UFyUEUt:EU>Q 55 }?Q 951)-BY5?Q E:yQ I@<EI:i:5yɮ'Ajh%FNOT Ignoring new targets: 115.08 m.Rh%O:Zh%O:5 ProNav: ac range: 115.081635 m, nav range: 109.696198 m, bearing: 348.448777 deg, approach rate: -0.584634 m/s, LOS rate: 0.091933 deg/s, cmd heading: 332.059509 deg, new cmd heading: 332.176345 deg. Bh=_|;=HeadingCmd: 5.797571 target range: 115.081635 and range: 115.80 m.h=@hA*hA"hA hAgAfAfIfM!BdIdIdQjdQZdU;@q颭U~Bɢ+) =i)3项iIixX<弤I@II@I @I@U4@Qԡ2Acoustic response timeoutE EE$E"E:*EF:VE4ZEBE;a2E;aJE;a:E;a^AԅA>A>A I I O > Lz,3?A>;>@>9@e2Acoustic response timeout>}`ٱ>DS AHRS rotation from veh to nav: [[0.863411,0.503605,0.030054],[-0.501518,0.850313,0.159521],[0.054780,-0.152804,0.986737]]>H? ?nƞ?o 5? ,k? ' ?ÿY?i>;>@I>&`;9AYA=MFyMEM):EM>QQ 5]5U}?Q 9]5UD)U8BYayeQ Ie@U@EIUM;;iUo;U5yBɮ#'AjhFNOT Ignoring new targets: 115.08 m.Rh:Zh: ProNav: ac range: 115.081635 m, nav range: 109.459770 m, bearing: 348.485946 deg, approach rate: -0.556974 m/s, LOS rate: 0.087753 deg/s, cmd heading: 332.176333 deg, new cmd heading: 332.288082 deg. Bhp;HeadingCmd: 5.799521 target range: 115.081635 and range: 115.80 m.h@h*h"h hgfffdddjdZd@-X~Bɢ-)1 54i1)5u 11i5ۖGi===W<=@GIE@IA9@! @!@!@! BDAT read: Rx Time:06:03:50.4254  TRx dataTimestamp_ set to:1761545031.972142 2Acoustic response timeout1 ^AE U֣E  E E !E "E U:*E VE c3ZE a @a @a @a @IA IQ Y Oe >|;,=+?A2L@2pG@2_ٱ2Ө >AHRS rotation from veh to nav: [[0.864298,0.502195,0.028082],[-0.500001,0.851773,0.156463],[0.054656,-0.149272,0.987284]]2HT??? A??? Yÿ՗?i2L@I2%`;2rCYF{ByJIbDRVDRyZ=%Zf=ٔ^I9Q-^>9\Y\=^Fy^EbF;Eb>dQ 5j5f.}?Q 9j5f܏)fBBYhynQ In@fDEIf;if;f5ypɮr&Apjh FNOT Ignoring new targets: 115.08 m.Rh%:Zh%:u ProNav: ac range: 115.081635 m, nav range: 109.259674 m, bearing: 348.517349 deg, approach rate: -0.571715 m/s, LOS rate: 0.089888 deg/s, cmd heading: 332.288075 deg, new cmd heading: 332.382455 deg. Bh}v;}HeadingCmd: 5.801168 target range: 115.081635 and range: 115.80 m.h},@h*h"h hgfffdddjdZd! @Z~Bɢ) ,i )   i5Fi--(V<-·I-,@I1)@ @@/@u2Acoustic response timeoutBBCBIBt{BB4 =BBB`;BN$EY^A%𕭼ԁ I I O- >= DAT read: 06:03:50.4254 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 412,-0.01,-2.193, 2.268,-2.500,-2.477, PHS= 0.386,-1.493,-0.067, RAW= 136.6, 13.7, CAL= 135.9, 14.8, ROT= 14.1, -14.8 ^,?AYgot valid direction response: 06:03:50.4254 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 412,-0.01,-2.193, 2.268,-2.500,-2.477, PHS= 0.386,-1.493,-0.067, RAW= 136.6, 13.7, CAL= 135.9, 14.8, ROT= 14.1, -14.8 PDAT read: Bearing 142.1, 14.1 (Local) ~Local bearing/azimuth received: Bearing 142.1, 14.1 (Local) DAT read: Range 11 to 50 : 113.6 m (Round-trip 151.5 ms) speed 0.4 m/s TDAT read: user:634>Tx time:06:03:51.5198 "R#Rx 1: Read range and direction messages.&\direction in FSK: [0.937695,0.235533,0.255446]&Fpublishing direction and range infoyIM XԘ?uk%?l39Y?YM3BIIII I)MIIMˡ>iMML7Mk@MGt>M@@ M A>)Md{>0IM AIIM\?r.?2eG2c? M>)MpuIMd{>iM AII:2Acoustic response timeout:Querying Benthos address 50 with one ping in standard two-way mode.f^@fY@fX_ٱfJ nAHRS rotation from veh to nav: [[0.865423,0.500368,0.025962],[-0.498069,0.853496,0.153206],[0.054501,-0.145519,0.987853]]fH??@ە?[߿O?B??^¿ ~?if^@Ifz]`;dYv{ByvIDYzDYEe EeEe"Ea"Ee:*Ee1]:VEe(3ZEaBEaau2EaauJEe;au:Ee;auԉiMb@Mb@Mb@ 9@5^I ?kt?9Y=FyE;E>Q 55JD}?Q 95)LBY?Q E:y\Q I @HEI;i;J5y5Bɮ5%A5)EiIiMk?AJiMBRiMBjiMs@bMS͐vZ@96:@Q~<@RM XԘ?uk%?l39Y?ZiMd{>biM AjM@zjZ@wĜ9f?;c>@ZM 7?*u7 Ϳy#:?2iM:iMTB"iM< ?*iM?ڽ4BiMBiM[g?iM|iMBiMI\@IDAT read: 2Acoustic response timeout9@ @@b4@ ^A mA zA dAIY Iq O} >4,9?ABr@Bm@B)_ٱBL JAHRS rotation from veh to nav: [[0.866625,0.498375,0.024128],[-0.495979,0.855163,0.150669],[0.054456,-0.142540,0.988290]]BH@e?@b? ? ߿`]?I?`? >¿?iBr@IBL3`;BsCYV{ByVIbDbVDb:yn=%n=ٔr9Q-v ?9Y=FyE;E% ?)Q 5=5-Q}?Q 9E5-)-SBYAyM'Q IM@-KEI-p;i-a;-5y]Bɮ]"%AaB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 112.89 m.Rh:Zh:u ProNav: ac range: 112.892319 m, nav range: 108.942520 m, bearing: 348.067296 deg, approach rate: -0.566709 m/s, LOS rate: 0.070252 deg/s, cmd heading: 332.523662 deg, new cmd heading: 332.588648 deg. Bhu@;}HeadingCmd: 5.804767 target range: 112.892319 and range: 113.60 m.h}@hy*hy"hy hygfff2Acoustic response timeoutdddjdZdfF?a~BɢŨ)! %:i!)I 顡iCi@'$T<&vI@IbE3jEc3rEî10EM EMEIEI"EM:*EMVL:VEIZEIaU@aU@aU@aU@9@ @@/@^A q歼! u 2Acoustic response timeoutI I O >BA AA B] >B] CB] IB] {BB] 5 =BY BY B] `;B] Z$EB CB CB ˓CB 4 =B 4 =C ˹{5,R?A2@2Y@2_ٱ2/ >AHRS rotation from veh to nav: [[0.867882,0.496295,0.021748],[-0.493779,0.857031,0.147244],[0.054438,-0.138529,0.988861]]2H?J?D?߿`l?`?S߫? R?i2@I2X`;2rCYF|ByF I i-Mb@Mb@Mb@)))) )9-E?Dl?{Gz?Y-?y-O=-#<-S!A) -A)-A)Y-A =4<=4<bDEVDEk1yU=%UC=ٔU38Q-U>9Y=FyE;E> Q 55 c}?Q 95 X) ZBY?Q E:yEžQ I@ OEI  ;i  ; 5y!ɮ%$A!jhIMFNOT Ignoring new targets: 112.89 m.RhUOe:ZhUOe:e ProNav: ac range: 112.892319 m, nav range: 108.717796 m, bearing: 348.088484 deg, approach rate: -0.530489 m/s, LOS rate: 0.050120 deg/s, cmd heading: 332.588658 deg, new cmd heading: 332.652352 deg. Bhe ;mHeadingCmd: 5.805879 target range: 112.892319 and range: 113.60 m.hmɹ@hi*hq"hq hqgqfqfyf}BdydydjdZd?颵d~Bɢ|) fi)项i5Bia*S<&Iɹ@I k>ːCzG1UgAq@ @@/@R9gAYכA2Acoustic response timeoutQEe EeEe$Ea"Ee:*Eex:VEe4ZEaBEe;am2Ee;auJEe;au:Ee;au^AU֣IQ Ia Om >ԁ L,l?AJ@Jꙸ@J]ٱJ VAHRS rotation from veh to nav: [[0.869312,0.493850,0.020217],[-0.491288,0.858874,0.144817],[0.054154,-0.135824,0.989252]]JHg?9YYY=]Fy]Ee ;Ee>iQ 5u5mgv}?Q 9u5m)m`BYqyuþQ I}@mREIm;im;m5yBɮ@$A*EjhFNOT Ignoring new targets: 112.89 m.Rh^:Zh^: ProNav: ac range: 112.892319 m, nav range: 108.483528 m, bearing: 348.110299 deg, approach rate: -0.522082 m/s, LOS rate: 0.048723 deg/s, cmd heading: 332.652342 deg, new cmd heading: 332.717932 deg. Bh;HeadingCmd: 5.807024 target range: 112.892319 and range: 113.60 m.h#ӹ@h*h"h hgfffdddjdZd ? h~Bɢ 4ڕ) ~i)5ilvAit󾉧N R<%I%#ӹ@I!ԁ@ @@@Ա2Acoustic response timeout^A% 7ƙA- >A- >Em  Em xEm Ei "Em :*Em :VEm 3ZEi a} @a} @a} @a} @ Au .AIy I O >Ѹ,8?A2@2x@2X]ٱ2x :AHRS rotation from veh to nav: [[0.870907,0.491089,0.018791],[-0.488471,0.860795,0.142924],[0.054014,-0.133652,0.989555]]2Hw?n?@=?C߿?UK?@? o?i2@I2XH`;2sC @)BkAB^BQdF@DFkAiFQIDDIHiJkA JH)HNYC NkANxiN>FLPRkAIR`e)PiP)TITV94T TpptittivCx)x xIxYxY~R|By~,IbDVDβy=%%o=ٔ%9Q-%?9- ?Y- ?=-Fy-E5V<E5?9Q 5=5=}?Q 9E5=q)=fBYAyE$¾Q IE@=UEI=:i=p:=5qyɮ#AjhFNOT Ignoring new targets: 112.89 m.RhrQ:ZhrQ:5 ProNav: ac range: 112.892319 m, nav range: 108.305046 m, bearing: 348.126670 deg, approach rate: -0.498290 m/s, LOS rate: 0.045778 deg/s, cmd heading: 332.717940 deg, new cmd heading: 332.767131 deg. Bh5U:5HeadingCmd: 5.807882 target range: 112.892319 and range: 113.60 m.h=,ڹ@h9*h9"h9 h9g9f9fAfAdIdIdIjdQZdU i?颽k~Bɢ4ژ) Bi) i,v@iZ󾉧(Q<c~I,ڹ@IiI2Acoustic response timeoutB>BBIB5|BBBBB`;B\$E9@ @@z0@!^A] Q  2Acoustic response timeoutA ؟AI I O >ۧ,,?A2Ա@2ϸ@2\ٱ216 >AHRS rotation from veh to nav: [[0.872525,0.488245,0.017803],[-0.485586,0.862599,0.141875],[0.053913,-0.132434,0.989724]]2H?h??@:?`߿@j?@(??@ҫ?i2Ա@I2]j`;2uCEr ErEr%Ep"Erg:*Er=:VEr 4ZEpBEr~;az2Er;azJErƔ;az:Erǔ;azYv|ByBI1iMb@Mb@Mb@ 9x&1?ʡE?YA?y-=ACA A)hAY A)-AAbDUVDUky]=%],=ٔe3]9Q-e>9e"?Ym"?=mFymEm>;Eu>qQ 5}5uϗ}?Q 95u)uiBY,?Q E:yQ I@uYEIu:iuH:u5yBɮ#A+EjhFNOT Ignoring new targets: 112.89 m.Rh%:Zh%: ProNav: ac range: 112.892319 m, nav range: 108.065308 m, bearing: 348.143304 deg, approach rate: -0.520803 m/s, LOS rate: 0.036216 deg/s, cmd heading: 332.767144 deg, new cmd heading: 332.817158 deg. Bh:HeadingCmd: 5.808755 target range: 112.892319 and range: 113.60 m.hS@h*h"h hgfffBdddjdZdZ@%o~Bɢ%Dy)) -i))-^V))i5B?i5x򾉧5/P<=ȨaI=S@I9a9@ @@n1@2Acoustic response timeoutԑ^A Թ A9 IQ Ii O >",I?A}6@}@}[ٱ}  AHRS rotation from veh to nav: [[0.875393,0.483122,0.016725],[-0.480431,0.865640,0.140901],[0.053595,-0.131379,0.989882]]}H8? x?: ? b޿R?@ ? p??i}6@I}\`;}sC%2Acoustic response timeoutYYYyabDuVDuٔ=Z:Q->9Y=FyE|<E>Q 55N}?Q 956)lBYyQ I@\EI+;i ;Ė5y ɮ  -B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 112.89 m.Rh=!:Zh=!:M ProNav: ac range: 112.892319 m, nav range: 107.872375 m, bearing: 348.156127 deg, approach rate: -0.489533 m/s, LOS rate: 0.032595 deg/s, cmd heading: 332.817169 deg, new cmd heading: 332.855707 deg. BhM:]HeadingCmd: 5.809428 target range: 112.892319 and range: 113.60 m.h]@hY*hY"hY hYgYfafafadadidijdiZdm@额s~Bɢ I) oi)顡i(>iB򾉧uO<I@E EzE$E"E:*E :VE4ZEa@a@a@a@Ii@i @i@m4@iԑԱ^A lXA eAzA  2Acoustic response timeoutAu @AAu @AB >B CB ?IB r|BB B B B `;B T$EA .AI I O > ,?AYx|By%CI ))iMb@Mb@Mb@ 9w/?K?y^=tArA IA)Y=AbDVD02y-;%-<ٔ5Q-5>9= ?Y= ?==Fy=E=E=>AQ 5M5E}?Q 9M5E)EkBYU>Q EU:yUQ IU@E_EIE` ;iE ;Ey5y]Bɮe"AajhFNOT Ignoring new targets: 112.89 m.Rh9Zh9 ProNav: ac range: 112.892319 m, nav range: 107.693604 m, bearing: 348.165982 deg, approach rate: -0.472895 m/s, LOS rate: 0.026113 deg/s, cmd heading: 332.855718 deg, new cmd heading: 332.885333 deg. Bh]:HeadingCmd: 5.809945 target range: 112.892319 and range: 113.60 m.h@h*h"h hgfffBdddjdZd@=w~BɢE)A EiA)MaIiM=iL򾉧N< s*I@IMBDAT read: Rx Time:06:03:54.0727 UTRx dataTimestamp_ set to:1761545035.500427U2Acoustic response timeout9@ @@%2@!E EE%E"E:*E?:VE 4ZEBE;a2E;aJE;a:E;aI ^A ;A I I O5 >),?A:`@:+@:[ٱ:1 FAHRS rotation from veh to nav: [[0.876755,0.480656,0.016477],[-0.477957,0.867000,0.140952],[0.053464,-0.131455,0.989879]]:H_??@8ߐ? ږ޿w? ? _??i:`@I:F`;:rCiPIPR2Acoustic response timeoutY|ByLI bDVDNyZ=%>=ٔ9Q->9Y= Fy E ;E >Q 55}?Q 95;)jBY!y%BQ I%@bEI:i:[5y)ɮ-"A1IjhY]FNOT Ignoring new targets: 112.89 m.Rhe9Zhe9u ProNav: ac range: 112.892319 m, nav range: 107.496155 m, bearing: 348.176606 deg, approach rate: -0.457460 m/s, LOS rate: 0.024658 deg/s, cmd heading: 332.885334 deg, new cmd heading: 332.917262 deg. Bhua:}HeadingCmd: 5.810503 target range: 112.892319 and range: 113.60 m.h}@hy*hy"h hgfffdddjdZdp @颽|~Bɢn) i)8iTx time:06:03:55.1698 R#Rx 1: Read range and direction messages.\direction in FSK: [0.944137,0.216236,0.248690]Fpublishing direction and range infoyQUod_6?9?l?YU3BQQQQ Q)UCIU>iUNbU+U( @U,m>Uf$@ U>)Uf>IUQQU¢??=oy? U->)UbnIUf>iUQQ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԩ E  E xE $E "E s:*E :VE 4ZE a @a @a @a @^A% AU ؟AIY Ii O} >#´,?A,:s1@:>,@:;Zٱ: rAHRS rotation from veh to nav: [[0.877991,0.478389,0.016614],[-0.475706,0.868153,0.141471],[0.053255,-0.132113,0.989803]]:H??/?q޿??@1D?w?i:s1@I:&8`;:vCxzZt@ixIxx~C ~GkA|||~fCI)i)@CIiA   UF   C  i iuCujA)q qIq y)}|{AyyyYyY|ByMIbDVD0yϘ;%]=ٔ:Q->9"?Y"?=FyE|;E>Q 5-5}?Q 9-5)iBY1y5Q I5@eEIv;i;5y=Bɮ="A=,EiYi]v6?AJi]BRi]Bji]7z@b]QvVC-Z@! )-7@C;@R]od_6?9?l?Zi]f>bi]j]+73Y@e9L[=@Z]UU?C̿.`$?2i]:i]B"i]?*i]z7Bi]Bi]/?i]Ĕi]Bi]DBi]@ addTargetRange:: Added new target pos. range: 111.599998 m, deltaT: 3.528009 s, deltaX: -2.000000 m, approachRate: -0.566892 m/s, rangeRepo size: 4 5 Added new target pos. range: 110.902550 m, bearing: 346.419966 deg, lat: 36.779426 deg, lon: -121.859658 deg, deltaT: 3.528009 s, deltaX: -1.989769 m, approachRate: -0.563992 m/s, posRepo size: 4 jh1=FNOT Ignoring new targets: 110.90 m.Rh=Zh9DAT read: 2Acoustic response timeoutԑ ProNav: ac range: 110.902550 m, nav range: 107.133369 m, bearing: 346.997828 deg, approach rate: 0.000000 m/s, LOS rate: 0.024658 deg/s, cmd heading: 332.917272 deg, new cmd heading: 332.945790 deg. BhHeadingCmd: 5.811000 target range: 110.902550 and range: 111.60 m.h@h*h"h hgfffdddjd`f[@Zdi?B >B B _IB |BB B B SDB `;B 2$E]~Bɢe)a ehia)eiiim;iu@񾉧O5M<CڻI@IԹ-9@) @)@-/@) = 2Acoustic response timeout^AM pAU >AU >E  E wE 'E "E :*E :VE '4ZE BE ;a 2E ;a JE k;a :E k;a  AyIIO>;}ɴ,'?A6P@6JK@6]Yٱ6 >AHRS rotation from veh to nav: [[0.879798,0.475000,0.018195],[-0.472380,0.869391,0.144970],[0.053042,-0.136139,0.989269]]6H M'?gf?? y;޿@ ?`?\(? m?i6P@I6`;6sCY%_|By%4II-=)-<iMb@Mb@Mb@ 9Gz?+η?I +Yp>yv=9CA A)YAbD VD 02y]%&=ٔ9Q-%>9!Y!=%Fy%E-;E->1Q 5=552}?Q 9=55)5gBYE?Q EE:yEEQ IE@5iEI5};i5;55yIɮMM#AIjhFNOT Ignoring new targets: 110.90 m.RhL9ZhL9 ProNav: ac range: 110.902550 m, nav range: 106.888550 m, bearing: 347.009413 deg, approach rate: -0.512203 m/s, LOS rate: 0.024294 deg/s, cmd heading: 332.945795 deg, new cmd heading: 332.980630 deg. Bha:HeadingCmd: 5.811608 target range: 110.902550 and range: 111.60 m.h@h*h"h hgfffBdddjdZd?额~Bɢi)  i)Z顡iI:ir񾉧PL<<`I@I=2Acoustic response timeouti@i @i@u/@q^A `Ի) A .A 2Acoustic response timeoutI I O >Zд,yA?A2V@2RQ@2Yٱ2 :AHRS rotation from veh to nav: [[0.880141,0.474338,0.018849],[-0.471730,0.869476,0.146568],[0.053134,-0.137892,0.989021]]2H*?[?M? 0޿??j4?@s@?i2V@I2*a;0EE EEEE!EA"EE:*EE;J:VEEc3ZEAaM@aM@aM@aM@YUr|ByU?IaabDmVDmܲyuH=%}W=ٔ}}Q-}>9 ?Y ?=FyE:E>Q 55}?Q 95&)eBYyQ I@lEI;i@;ȟ5yBɮ"A-EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 110.90 m.Rh9Zh9 ProNav: ac range: 110.902550 m, nav range: 106.697601 m, bearing: 347.018423 deg, approach rate: -0.505299 m/s, LOS rate: 0.023884 deg/s, cmd heading: 332.980629 deg, new cmd heading: 333.007706 deg. Bh":HeadingCmd: 5.812081 target range: 110.902550 and range: 111.60 m.h@h*h"h hgfffddd jd Zd `a?=~Bɢ=ꆞ)A EiA)E$z!AAiM9iM4񾉧Mp-LBCBeIB|BB6 =BBRDBW`;B $Eq^A3A= ؟AII IY Om >ԙ ִ,XT[?AJ1Z@JT@J ZٱJ^ VAHRS rotation from veh to nav: [[0.880348,0.473930,0.019419],[-0.471334,0.869465,0.147898],[0.053210,-0.139354,0.988812]]JH+?T?@u?V*޿@?`S? L>?^Y?iJ1Z@IJeb;JtCY^c|By^6IiEMb@Mb@Mb@AAAA A9EV-?V-?{GzYE>yEh=EףES!AEA A)E AAYEfAbD]VD]fymz%mK=ٔmDQ-u>9u"?Yu"?=uFyuE::E>Q 55~?Q 9 5)dBY >Q E :y BQ I @oEIj:i:5yɮ3#AjhAEFNOT Ignoring new targets: 110.90 m.RhM:ZhM:] ProNav: ac range: 110.902550 m, nav range: 106.490410 m, bearing: 347.032929 deg, approach rate: -0.495652 m/s, LOS rate: 0.034769 deg/s, cmd heading: 333.007703 deg, new cmd heading: 333.051306 deg. Bh]:eHeadingCmd: 5.812842 target range: 110.902550 and range: 111.60 m.he@ha*ha"ha hagafififmBdiqdqdyjdyZd}\?颭~Bɢ۝)  i2Acoustic response timeout)OV#项i7i𾉧4K<3=I@IEU EUyEU'EQ"EUa:*EU:VEU'4ZEQBEUW;a]2EUX;a]JEUr;ae:EUr;aea@i @i@m0@iԡ^AAdAzAm 2Acoustic response timeoutA I I O > gܴ,f0u?A6]@6X@6Zٱ6s BAHRS rotation from veh to nav: [[0.880546,0.473542,0.019946],[-0.470946,0.869428,0.149350],[0.053382,-0.140903,0.988583]]6Hm-?`N?l?`#޿@Z?? T?  ¿ y?i6]@I6"c;6sCYJP|ByJ+I LLbDVVDVkyZC%ZW=ٔ^uQ-^>9`Y`=bFybEb:Ef>dQ 5j5fw~?Q 9n5f)dYlynQ In@frEIfa;if;f45yrBɮvs#Atjh FNOT Ignoring new targets: 110.90 m.Rh:Zh:- ProNav: ac range: 110.902550 m, nav range: 106.309563 m, bearing: 347.045603 deg, approach rate: -0.495388 m/s, LOS rate: 0.034778 deg/s, cmd heading: 333.051307 deg, new cmd heading: 333.089395 deg. Bh-:5HeadingCmd: 5.813507 target range: 110.902550 and range: 111.60 m.h5?@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdMM?u~Bɢu܃)y }iy)}%yyip6iy𾉧K<@I?@IU9@Q @Q@U4@Q2Acoustic response timeoutbEJ4jEƶ4rEƋS0Ee EeEe&Ea"Ee1:*Ee,:VEe4ZEaau@au@au@au@^Au3) Iq I O >Q ,?A6F`@6[@61"\ٱ66 BAHRS rotation from veh to nav: [[0.880674,0.473281,0.020459],[-0.470668,0.869280,0.151077],[0.053718,-0.142679,0.988310]]6Hz.? =J?$? k޿ $?V? ‫?OC¿9tYt=vFyvEzC:Ez>|Q 55~%~?Q 95~)~cBYy Q I @~vEI~B:i~:~5y2Acoustic response timeoutɮ>#A!jhAMFNOT Ignoring new targets: 110.90 m.RhM:ZhM:BYBYB]_IB]|BB]8 =BYB]QDB]=`;B]#EB%CB%CB%CB%5 =B%6 =C%5 ProNav: ac range: 110.902550 m, nav range: 106.106270 m, bearing: 347.059881 deg, approach rate: -0.493767 m/s, LOS rate: 0.034744 deg/s, cmd heading: 333.089393 deg, new cmd heading: 333.132307 deg. Bh¾:HeadingCmd: 5.814256 target range: 110.902550 and range: 111.60 m.hb@h*h"h hgfffdddjdZdI@1m~Bɢu)y i)'顱i5i𾉧*dJ<c[Ib@I)BG5(hAM9@I @I@Ma1@IQQ}ʮ9}(hAYA2Acoustic response timeoutԁ DY zD] AAEe  Ee {Ee "Ea "Ee [:*Ee 5":VEe (3ZEa BEe |, Y?AY J|By 'IiMb@Mb@Mb@ 9L7A`?~jt?S㥛Y+?yD=/ݼAA IA) AYGAbDVDyW#%/=ٔ%Q-%>9)Y)=-Fy-E5E5>AQ 5M5E8~?Q 9M5E5)EbBYU?Q EU:yU&ѾQ IU@EzEIE;iE;E 5yeBɮe[#Ae.EjhFNOT Ignoring new targets: 110.90 m.Rho:Zho: ProNav: ac range: 110.902550 m, nav range: 105.862061 m, bearing: 347.084295 deg, approach rate: -0.522862 m/s, LOS rate: 0.052392 deg/s, cmd heading: 333.132313 deg, new cmd heading: 333.205725 deg. Bh;HeadingCmd: 5.815537 target range: 110.902550 and range: 111.60 m.h@h*h"h hgfffiBdddjdZd@~Bɢɥ) Ei) #)iF3ioノI<aѻI@I }2Acoustic response timeout1@1 @1@54@1 9 ^AU "I I O >- 2Acoustic response timeouto, ?A2D_@2Z@2`ٱ2]S >AHRS rotation from veh to nav: [[0.880563,0.473459,0.021128],[-0.470747,0.868622,0.154571],[0.054831,-0.146056,0.987756]]2H-? &M?? ޿?? ?@¿?i2D_@I2e;EF EFxEF#ED"EFغ:*EF:VEF3ZEDaJ@aJ@aJ@aJ@2uCYrO|Byr*IIv>)v;bDxVDxy%R<%%]=ٔ-EQ-->9)Y)=5Fy5E5E5>YQ 5e5]!H~?Q 9e5]E)]aBYiymSѾQ Im@]}EI]N:i]F:]5yuBɮu#Au8EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 110.90 m.Rhp:Zhp: ProNav: ac range: 110.902550 m, nav range: 105.667976 m, bearing: 347.103816 deg, approach rate: -0.521716 m/s, LOS rate: 0.052571 deg/s, cmd heading: 333.205724 deg, new cmd heading: 333.264396 deg. BhQ;HeadingCmd: 5.816561 target range: 110.902550 and range: 111.60 m.hE!@h*h"h hgfffdddjdZd@~BɢQF)  Zi ) >*  i 2iV2I<l(IE!@IQ@ @@/@yBDAT read: Rx Time:06:03:57.7203 TRx dataTimestamp_ set to:1761545039.2801322Acoustic response timeoutAAAABs>BBRIB|BBBBBc`;B$E^A&tIIO>ԩ ,2?A@Yn&|BynIieMb@Mb@Mb@aaaa a9e/$?Mb?{GzYe ?ye=eףeAa a)aaYeAbDVD0y^%@=ٔQ->9Y=FyEE>Q 55Y~?Q 95ڳ)bBY] ?Q E:yQ I@2Acoustic response timeoutEIZ;iY;5yBɮ #A jhQeFNOT Ignoring new targets: 110.90 m.Rh}:Zh}: ProNav: ac range: 110.902550 m, nav range: 105.442123 m, bearing: 347.130416 deg, approach rate: -0.529668 m/s, LOS rate: 0.062515 deg/s, cmd heading: 333.264409 deg, new cmd heading: 333.344379 deg. Bh+;HeadingCmd: 5.817957 target range: 110.902550 and range: 111.60 m.h,@h*h"h hgfE EE$E"Em:*E;:VE4ZEBERTx time:06:03:58.8198 ] R#Rx 1: Read range and direction messages.] \direction in FSK: [0.955950,0.194490,0.219846]e Fpublishing direction and range infoy  fK%??F#?Y fB ) GI >i ;߿ 1,= O`@ Q> @ b>) M>I b N;͜?Ҩj?W? ˪>) QPI M>i b } 2Acoustic response timeoutԁ } Querying Benthos address 50 with one ping in standard two-way mode.^A ΒI I O% >WK,?AbX@bS@bhdٱbt jAHRS rotation from veh to nav: [[0.880151,0.474168,0.022321],[-0.471403,0.867557,0.158505],[0.055793,-0.150031,0.987106]]bH`3*?@X?gۖ?v+޿?`I?`?`34ÿ_?ibX@Ibe;bqCYY}:|By}IbDVDN2yF=%G=ٔQ->9 Y = Fy E.E>Q 5%5j~?Q 9-5a)cBY)y-Q I-@EIW:i-:N5yQɮ]b#AYiiO"?AJiBRiBji.@bIixB Z@~.35@7@RfK%??F#?ZiM>bibjL[Y@΄:J:@ZD?CbϿ2H?2it:iB"i{g?*izBiBi{g?i?ڽ4iBiJBi@ addTargetRange:: Added new target pos. range: 109.699997 m, deltaT: 3.780020 s, deltaX: -1.900002 m, approachRate: -0.502643 m/s, rangeRepo size: 4  Added new target pos. range: 109.009018 m, bearing: 345.251679 deg, lat: 36.779424 deg, lon: -121.859668 deg, deltaT: 3.780020 s, deltaX: -1.893532 m, approachRate: -0.500932 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 109.01 m.Rh%Zh!U ProNav: ac range: 109.009018 m, nav range: 105.145386 m, bearing: 346.654497 deg, approach rate: 0.000000 m/s, LOS rate: 0.062515 deg/s, cmd heading: 333.344377 deg, new cmd heading: 333.423576 deg. BhQ]HeadingCmd: 5.819339 target range: 109.009018 and range: 109.70 m.h]8@hY*hY"hY hYgafafafadiddjdl[@Zd@)?~Bɢ*) i)Z/i .i :}`G<*I8@Iԁ DAT read: 2Acoustic response timeout9@ @@/@E E~E&E"Es:*E(:VE4ZEa@a@a@a@Ա^A Ia Iq O > 5,ʧ?Ai,I,22Acoustic response timeoutB6q>B6CB6?IB6r|BB69 =B4B4B6`;B6$EFR@FaM@FfgٱFC NAHRS rotation from veh to nav: [[0.879753,0.474890,0.022698],[-0.472067,0.866860,0.160333],[0.056465,-0.151768,0.986802]]FH&?@d?>?W6޿`Q?ȅ?@?`"mÿ?iFR@IFe;FrCYV|ByVI \\bDbVDbyj@Ƚ%j_=ٔnXQ-n>9lYl=nFyrEr Er>tQ 5z5v;z~?Q 9z5v)veBY|y~rQ I~@vEIv ;iv;v歗5yBɮ#A9Ejh)-FNOT Ignoring new targets: 109.01 m.Rh5:Zh5:E ProNav: ac range: 109.009018 m, nav range: 104.949547 m, bearing: 346.676995 deg, approach rate: -0.561143 m/s, LOS rate: 0.064586 deg/s, cmd heading: 333.423580 deg, new cmd heading: 333.491202 deg. BhEL1;MHeadingCmd: 5.820519 target range: 109.009018 and range: 109.70 m.hMA@hI*hI"hQ hQgQfQfYfYdadidijdqZd}N?~Bɢ) S(i)%_T1))i5-iE쾉mLF\ ,v+?A2hN@23I@2iٱ2; :AHRS rotation from veh to nav: [[0.879483,0.475422,0.021973],[-0.472500,0.866683,0.160012],[0.057029,-0.151110,0.986871]]2H`$?Pm?6?@r=޿@޻?B{?2?Wÿq?i2hN@I2e;2qCYB(|ByFIiEMb@Mb@Mb@AAAA A9E/$?y&1?{GztYAyE`e9 Y = Fy E jE>Q 5%5c~?Q 9%5~)jBY% ?Q E%:y%)Q I%@EI:i]:ԯ5y1ɮ5#A19jhYeFNOT Ignoring new targets: 109.01 m.Rhe~:Zhm~:} ProNav: ac range: 109.009018 m, nav range: 104.714699 m, bearing: 346.707971 deg, approach rate: -0.530720 m/s, LOS rate: 0.070158 deg/s, cmd heading: 333.491199 deg, new cmd heading: 333.584335 deg. Bh}@;HeadingCmd: 5.822145 target range: 109.009018 and range: 109.70 m.hO@h*h"h hgfff(BdddjdZd ]?~Bɢ㽵) L%i)x3iuk+i~ 쾉LF<5$aIO@I}2Acoustic response timeoutm9@i @i@m0@ia^A2DԑI1 IA OU >% 2Acoustic response timeoutԹ ~D,QE?AE6 E6zE6&E4"E6:*E6 :VE64ZE4a:@a:@a:@a:@RN@RH@RTkٱR % ^AHRS rotation from veh to nav: [[0.879444,0.475540,0.020968],[-0.472526,0.866860,0.158974],[0.057422,-0.149717,0.987060]]RHg$? Ao?x?=޿@Q?@BY?of?@)ÿ?iRN@IRe;RtCY~'|ByIbDVDy%tb%%Z=ٔ%Q-%>9)Y)=-Fy-E-E5>1Q 5E55̛~?Q 9E55)5oBYAyE,Q IE@5EI5;i5;5w5yMBɮU#AU:EmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 109.01 m.Rhb:Zhb: ProNav: ac range: 109.009018 m, nav range: 104.515427 m, bearing: 346.734370 deg, approach rate: -0.531513 m/s, LOS rate: 0.070546 deg/s, cmd heading: 333.584335 deg, new cmd heading: 333.663682 deg. BhA;HeadingCmd: 5.823530 target range: 109.009018 and range: 109.70 m.h[Z@h*h"h hgfffdddjdZd??~Bɢ\) &i)#y5i)iW뾉qLE<WisI[Z@Iԙu9@q @q@u3@qBYAYBes>BeCBe9IBeh|BBaBaBaBe`;Be6$E2Acoustic response timeout^AzlIQIqO> #n,$*_?A6TO@6J@64mٱ6lF BAHRS rotation from veh to nav: [[0.879488,0.475499,0.020048],[-0.472375,0.867028,0.158505],[0.057986,-0.148873,0.987155]]6H$?n??e;޿? I?b? Iÿ`Ŗ?i6TO@I6+ f;6pCYJ2|ByJIINa>)Na>iMb@Mb@Mb@ 9i|?5?Mb?Mb`Y?y<AA A) AYbD5VD5k1yE<%EH=ٔErQ-M>9IYI=MFyMEU9EU>YQ 5e5]F~?Q 9e5])]uBYe?Q Ee:ym`Q Im@]EI]U:i]<:]@5yqɮur#AqjhFNOT Ignoring new targets: 109.01 m.Rh3:Zh3: ProNav: ac range: 109.009018 m, nav range: 104.289688 m, bearing: 346.763939 deg, approach rate: -0.553437 m/s, LOS rate: 0.072652 deg/s, cmd heading: 333.663675 deg, new cmd heading: 333.752575 deg. BhpG;2Acoustic response timeout=HeadingCmd: 5.825081 target range: 109.009018 and range: 109.70 m.h=g@h9*h9"h9 h9gAfAfAfE2BdIdIdIjdIZdM@u?颽~Bɢ ) %i)7i!(i꾉QPD<LIg@IEu EuEu Eq"Eu:*EuE7:VEu3ZEqBEu7 i߉ I߉  2Acoustic response timeout,Fy?A:eS@:0N@:oٱ:L RAHRS rotation from veh to nav: [[0.879694,0.475137,0.019598],[-0.471923,0.867187,0.158983],[0.058544,-0.149105,0.987087]]:H@s&?h?@u?3޿ ?`Y? v?ÿ6?i:eS@I:e;:sCYbB|Byb"IppbDv VDv2y $=% N=ٔQ->9Y=%Fy%E- :E->9Q 5E5=f~?Q 9M5=[)={BYIyMQ IU@=EI=vA;i=L?;=5yBɮ&#AjhFNOT Ignoring new targets: 109.01 m.Rh%S:Zh%S:5 ProNav: ac range: 109.009018 m, nav range: 104.068558 m, bearing: 346.792969 deg, approach rate: -0.526074 m/s, LOS rate: 0.069209 deg/s, cmd heading: 333.752577 deg, new cmd heading: 333.839851 deg. Bh5=;=HeadingCmd: 5.826604 target range: 109.009018 and range: 109.70 m.h=s@h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdUv@}~Bɢ}A) .#i)9顁ija&i龉SbC<Is@IQ)@) @)@-3@12Acoustic response timeoutE EvE$E"E:*E:VE4ZEa@a@a@a@ԑ^A5IIO>ԩ $,&?ABp>BC&2Acoustic response timeoutB?IBr|BB8 =BBB`;BO$E@Y=U|By=.IbDMVDMk2y];=%eE=ٔeQ-e>9iYi=mFymÀEmEm>qQ 5}5u~?Q 95u)uBYyQ I@uEIu;iu;u̶5yBɮ"A;EjhI}FNOT Ignoring new targets: 109.01 m.Rh:Zh:= ProNav: ac range: 109.009018 m, nav range: 103.840881 m, bearing: 346.822992 deg, approach rate: -0.555676 m/s, LOS rate: 0.073435 deg/s, cmd heading: 333.839839 deg, new cmd heading: 333.930104 deg. BhEI;HeadingCmd: 5.828180 target range: 109.009018 and range: 109.70 m.hs@Աh*h"h hgff)f1d9d9dAjdAZdm5@5~Bɢ5l鮽)9 = i9)=\<99i=$iEv辉M,B::+,a?A>X]@>#X@>Ftٱ> FAHRS rotation from veh to nav: [[0.880205,0.474270,0.017532],[-0.470822,0.867965,0.157999],[0.059717,-0.147326,0.987284]]>H*? pZ?@?!޿@^?S9???@¿ӗ?i>X]@I>f;>rCYNe|ByR8I TTi-Mb@Mb@Mb@)))) )9-q= ףp?~jt?y&1|?Y- ?y-<-`;-A-tA -3A)- A)Y-(AbDEVDEkyM& =%U:=ٔUt/Q-U>9YYY=]Fy]ƀEeG5;Ee>iQ 5m5m4~?Q 9u5m)mBYu ?Q Eu:yu-Q I}@mEIm\ ;im ;m5yɮ"AjhFNOT Ignoring new targets: 109.01 m.5BDAT read: Rx Time:06:04:01.3676 =TRx dataTimestamp_ set to:1761545042.808174=2Acoustic response timeoutRhE9:ZhE9:u ProNav: ac range: 109.009018 m, nav range: 103.607399 m, bearing: 346.851280 deg, approach rate: -0.555185 m/s, LOS rate: 0.067417 deg/s, cmd heading: 333.930107 deg, new cmd heading: 334.015164 deg. Bhu9;}HeadingCmd: 5.829664 target range: 109.009018 and range: 109.70 m.h}@hy*hy"hy hgfff<BdddjdZdR@~Bɢ4)I MiI)M58>IIiUH#iU3辉U>A<]I]@IY9@ @@/@^A% *_I  2Acoustic response timeoutAq bE3jE˨3rEa0E  E E "E "E :*E VE (3ZE a @a @a @a @I I O >H2,?AYz|By~LI 4<<bD VD ܲy%=%%N=ٔ%Q-->9)Y)=-Fy-ȀE5E5>9Q 5E5=~?Q 9E5=G)=BYAyAQ IM@=EI=y:i=:=s5yUBɮU"AUBBLIB|BB7 =BBB`;BX$EBĽCBĽCBēCB8 =B8 =CĖO5}DAT read: 06:04:01.3676 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.43, 1.148,-0.688, 0.904, 0.810, PHS= 0.439,-1.453, 0.050, RAW= 138.8, 11.1, CAL= 138.2, 12.1, ROT= 11.8, -12.1 Ygot valid direction response: 06:04:01.3676 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.43, 1.148,-0.688, 0.904, 0.810, PHS= 0.439,-1.453, 0.050, RAW= 138.8, 11.1, CAL= 138.2, 12.1, ROT= 11.8, -12.1 PDAT read: Bearing 141.7, 12.5 (Local) ~Local bearing/azimuth received: Bearing 141.7, 12.5 (Local) DAT read: Range 11 to 50 : 107.7 m (Round-trip 143.7 ms) speed 0.4 m/s TDAT read: user:637>Tx time:06:04:02.4698 R#Rx 1: Read range and direction messages.\direction in FSK: [0.957120,0.199953,0.209619]Fpublishing direction and range infoyIM\`?!m ?9h?YMfBIIII I)IIM>iMML=M @MaF>M^@ M@X>)MBR>IM@XIIMu?35?8{q9? MfƧ>)MKGIMBR>iM@XII2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@/@ԁ k>ƐCU ~Gq ԩ ^A 5%A >A > c9 Y ޠAA .AI I O% >I8,7?A2v@2mq@2uٱ26 :AHRS rotation from veh to nav: [[0.881651,0.471632,0.015981],[-0.468100,0.869754,0.156236],[0.059786,-0.145226,0.987590]]2H {6?8/?@d]?@[ݿ??E?Ė¿`W?i2v@I2ee;2sC@YF|ByFUIRDAT read: V2Acoustic response timeoutonly read 0 of 1 data item for altitude. Device response is::BD, 5.74+ 9.00, 0.00 a@a a@a a@a a@a bDVDJyU =%?=ٔ(Q->9 ?Y ?=FyʀE;E>Q 5%5?Q 9%5)BQ A%+:Y!Q E%:y%Q I-@EI:i>5E= E=rE=&E9"E=O:*E=?:VE=4ZE9BE=;aE2E=;aMJE=yY;aM:E=zY;aMyQɮU!AQiyi}8?AJi} BRi} Bji}@b}g;Y@o(f5@fn6@R}\`?!m ?9h?Zi}BR>bi}@Xj}5Ҡ0Y@–9Hp+9@Z} ?>R*ο2?2i}:i}B"i}Tk/?*i} \uBi}Biyi}z7i}BBi}aBi}z@ addTargetRange:: Added new target pos. range: 107.699997 m, deltaT: 3.528559 s, deltaX: -2.000000 m, approachRate: -0.566804 m/s, rangeRepo size: 4 E Added new target pos. range: 107.020561 m, bearing: 345.620980 deg, lat: 36.779424 deg, lon: -121.859669 deg, deltaT: 3.528559 s, deltaX: -1.988457 m, approachRate: -0.563532 m/s, posRepo size: 4 jhAMFNOT Ignoring new targets: 107.02 m.RhmZhi} ProNav: ac range: 107.020561 m, nav range: 103.189476 m, bearing: 346.848419 deg, approach rate: 0.000000 m/s, LOS rate: 0.064798 deg/s, cmd heading: 334.092474 deg, new cmd heading: 334.180504 deg. BhyHeadingCmd: 5.832550 target range: 107.020561 and range: 107.70 m.h@@h*h"hԩ hgfffdddjdZ@Zd@?-~Bɢ-?)1 5qi1)5?B11i5 i=澉=%?<=oIE@@IA9@ @@/@U2Acoustic response timeout^A  A ؟AI! I1 O= >h>,o?A:ֆ@:@:aStٱ:ߪ FAHRS rotation from veh to nav: [[0.882584,0.469917,0.014977],[-0.466360,0.870976,0.154622],[0.059614,-0.143452,0.987860]]:H@ >?@?u?ݿ ??`Ʌ?\¿?i:ֆ@I:je;:uCYN|ByNLIIRp=)R<bDV VDV2ybK%%ba=ٔb9Q-b>9f"?Yf"?=fFyf̀Ef;Ej>lQ 5n5n?Q 9r5n!)nBQ Ar :YpQ Er:yrQ Ir@nEIn:inlK?n5xyz|Bɮ~!A~FEjh%FNOT Ignoring new targets: 107.02 m.Rh-™:Zh-™:= ProNav: ac range: 107.020561 m, nav range: 102.997894 m, bearing: 346.871256 deg, approach rate: -0.562822 m/s, LOS rate: 0.067213 deg/s, cmd heading: 334.180502 deg, new cmd heading: 334.249138 deg. Bh=8;EHeadingCmd: 5.833748 target range: 107.020561 and range: 107.70 m.hE@hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]ȡ?颅~BɢB½) Ai)C顉ii澉d><{I@I-9@) @)@-?0@)2Acoustic response timeout!Ee EeuEe%Ea"Ee1:*Ee:VEe 4ZEaam@am@am@am@I^AmmA I I O >y B e>B CB eIB |BB B B PDB `;B S$E} 2Acoustic response timeoutKE,6?A2Ɨ@2@2#sٱ2 :AHRS rotation from veh to nav: [[0.883553,0.468109,0.014433],[-0.464538,0.872066,0.153963],[0.059485,-0.142739,0.987971]]2HF?~?0?ݿ`??`t?IE¿u?i2Ɨ@I2Ye;2qCYB|ByFbIHJ@AbDNVDN02yV=%VL=ٔZ*9Q-Z>9XYX=^Fy^΀E^?;E^>`Q 5f5b)$?Q 9f5b)bBQ Aj9YhQ EjN:yjQ Ij@bEIbf:ib?b5ylɮr>!ApjhAMFNOT Ignoring new targets: 107.02 m.RhM:ZhU:Ym ProNav: ac range: 107.020561 m, nav range: 102.784729 m, bearing: 346.896510 deg, approach rate: -0.522712 m/s, LOS rate: 0.062056 deg/s, cmd heading: 334.249131 deg, new cmd heading: 334.325052 deg. BhmZ*;uHeadingCmd: 5.835073 target range: 107.020561 and range: 107.70 m.hu븺@hq*hq"hq hqgfffdddjd!Zd-^?颍~BɢD) i)9E顑iin徉I=<qዼI븺@Iԑ-9@) @)@-/0@)2Acoustic response timeoutԱDqzDu@AE}~ E}}EyEy"E}:*E}k&:VEyZEyBE}f;a2E}g;aJE};a:E}€;a^Am e A I I O >uK,o0?A2p@2;@2Hrٱ2: :AHRS rotation from veh to nav: [[0.884685,0.465991,0.013613],[-0.462426,0.873466,0.152380],[0.059117,-0.141103,0.988228]]2HVO?`?7?cݿn?@1?@D?¿?i2p@I2Be;2pCYB|ByFxIaMaM aMaM aMaM aMaM iMMb@Mb@Mb@IIII I9Mv/?kt?YMx ?yM 0=MMAI MA)IIYMAbDeVDeyu =%u>=ٔ}`:Q-}>9yYy=FyЀE;E>Q 556?Q 95)BQ AT:Y ?Q E:yξQ I@EI;i;ҿ5y{Bɮ AGEԹjhFNOT Ignoring new targets: 107.02 m.Rhr:Zhr: ProNav: ac range: 107.020561 m, nav range: 102.557144 m, bearing: 346.918828 deg, approach rate: -0.539315 m/s, LOS rate: 0.053004 deg/s, cmd heading: 334.325056 deg, new cmd heading: 334.392157 deg. Bh;HeadingCmd: 5.836244 target range: 107.020561 and range: 107.70 m.hº@h*h"h hgfffBddd jd Zd @?=2Acoustic response timeoutE~BɢEϳ)A E iI)MGIIiM iU侉Uw<9 E  E xE &E "E 1:*E :VE 4ZE a @a @a @a @]R,I?AY=|By=I AAbDUVDUky]v=%eL=ٔeQ-e>9iYi=mFymҀEmEu>qQ 5}5uF?Q 95u+)uBYyQ I@uEIu;iu-:u5yɮ> AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 107.02 m.Rhvo:Zhvo: ProNav: ac range: 107.020561 m, nav range: 102.344543 m, bearing: 346.939767 deg, approach rate: -0.530314 m/s, LOS rate: 0.052339 deg/s, cmd heading: 334.392155 deg, new cmd heading: 334.455102 deg. Bh;=HeadingCmd: 5.837343 target range: 107.020561 and range: 107.70 m.h=˺@h9*h9"h9 h9gAfAfAfAdIdIdIjdZdIY?~BɢP) &i)IiN>i|E侉e;<鍼I˺@IBAB`>BCB~IB|BB9 =BBODBa;B^$EM2Acoustic response timeoutA]9@Y @Y@a@ay^A }UI I ԡ O >͇X,c?A2+ٲ@2ӹ@2oٱ2[ :AHRS rotation from veh to nav: [[0.887287,0.461075,0.011455],[-0.457498,0.876713,0.148562],[0.058455,-0.137057,0.988837]]2Hd?B?u?Gݿ`??? ?i2+ٲ@I2e;2sCYB|ByFIR2Acoustic response timeoutieMb@Mb@Mb@aaaa a9eK7A?A`"?~jthYe ?yeY=eDe\AeA e A)aaYe A qu4<bD}VD}02y %H=ٔ3:Q->9Y=FyԀE._<E>Q 559W?Q 95.)BY?Q E:yfQ I@EIU:i':\×5yzBɮ8 AjhFNOT Ignoring new targets: 107.02 m.Rh ?:Zh ?: ProNav: ac range: 107.020561 m, nav range: 102.137589 m, bearing: 346.956824 deg, approach rate: -0.505566 m/s, LOS rate: 0.041754 deg/s, cmd heading: 334.455103 deg, new cmd heading: 334.506379 deg. Bh>:HeadingCmd: 5.838238 target range: 107.020561 and range: 107.70 m.hҺ@h *h "h  h g f ffuBdddjdZdE@E=~ E=rE=#E9"E=:*E=?:VE=3ZE9BE9aM2E9aMJE=yY;aM:E=zY;aMqBɢ2) i)Kii&㾉:<SIҺ@I9@ @@/@ԡU2Acoustic response timeout^A] I I O- > ^,]}?A2@2@2oٱ2M :AHRS rotation from veh to nav: [[0.888614,0.458546,0.010073],[-0.454907,0.878334,0.146936],[0.058530,-0.135151,0.989095]]2Ho?X??0ݿN?@? ?L?i2@I2e;2rCYF|ByFIbDNVDNyV,u=%VZ=ٔVAPQ-Z>9XYX=ZFyZրE^;E^>`Q 5f5bEf?Q 9f5b)bBYhyj㽾Q Ij@bEIb:ibM:bŗ5ylɮrApjh FNOT Ignoring new targets: 107.02 m.Rh ;:Zh ;:% ProNav: ac range: 107.020561 m, nav range: 101.947945 m, bearing: 346.972196 deg, approach rate: -0.505026 m/s, LOS rate: 0.041010 deg/s, cmd heading: 334.506384 deg, new cmd heading: 334.552583 deg. Bh%):-HeadingCmd: 5.839044 target range: 107.020561 and range: 107.70 m.h-sٺ@h)*h)"h) h)g)f)f1f1d1d1djdZd@ߨ@Bɢ 6A)  Ei ) LiSmif㾉%9<-=Isٺ@I2Acoustic response timeout9@ @@/@EM EMsEIEI"EM~:*EMZ:VEIZEIaU@aU@aU@aU@PExceeded connect timeout, disconnecting.^AON) I1 II OU >B ^>B B IB }BB B B B a;B [$Eia Ia e BDAT read: Rx Time:06:04:05.0150 m TRx dataTimestamp_ set to:1761545046.336384m 2Acoustic response timeoutQ Je,9QYY=]Fye؀Emc;E}>Q 55w?Q 95)BYyNQ I@EIq;i1l;Ɨ5yyBɮAHEjhFNOT Ignoring new targets: 107.02 m.1RhmD):ZhmD): ProNav: ac range: 107.020561 m, nav range: 101.730972 m, bearing: 346.989467 deg, approach rate: -0.463776 m/s, LOS rate: 0.036996 deg/s, cmd heading: 334.552583 deg, new cmd heading: 334.604507 deg. Bh:HeadingCmd: 5.839951 target range: 107.020561 and range: 107.70 m.h@h*h"h hgfffdddjd!Zd%`ʇ @u Bɢuc)q uiy)}`Nyyi}9i⾉d9<y="I@IA@I @I@M/@Ia2Acoustic response timeoutEQ EUuEU'EQ"EQ*EU:VEU'4ZEQBEU;a]2EU;a]JEUed;ae:EUed;aeԉ ^AE 9I I O >k,X?A02#@2}@2&mٱ2ɐ >AHRS rotation from veh to nav: [[0.891433,0.453064,0.008926],[-0.449418,0.881393,0.145496],[0.058052,-0.133712,0.989318]]2H`??G?Cܿ`4? ??w@?i2#@I2Ёe;2tCYb}BybIieMb@Mb@Mb@aaaa a9eNbX9?Dl?{GzYe?yeO=e#eAa eA)e AaYe3Au@AqbD}VD}:y<%F=ٔra:Q->9Y=FyڀE;E>Q 55?Q 95)BY?Q E:yQ I@EIP:i:ȗ5yɮcA-2Acoustic response timeoutjhFNOT Ignoring new targets: 107.02 m.Rh:Zh : ProNav: ac range: 107.020561 m, nav range: 101.517937 m, bearing: 347.003016 deg, approach rate: -0.537193 m/s, LOS rate: 0.034237 deg/s, cmd heading: 334.604520 deg, new cmd heading: 334.645252 deg. ԑBh:HeadingCmd: 5.840662 target range: 107.020561 and range: 107.70 m.h@h*h"h hgff)f-Bd)d)d1jd1Zd=  @Bɢ`) [i)b[Pivit⾉e8<"I@IAԹ@ @@/@  DAT read: 06:04:05.0150 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417, 0.13, 2.502, 0.736, 2.310, 2.216, PHS= 0.388,-1.435, 0.050, RAW= 140.0, 11.9, CAL= 139.3, 12.8, ROT= 10.7, -12.8  Ygot valid direction response: 06:04:05.0150 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417, 0.13, 2.502, 0.736, 2.310, 2.216, PHS= 0.388,-1.435, 0.050, RAW= 140.0, 11.9, CAL= 139.3, 12.8, ROT= 10.7, -12.8  PDAT read: Bearing 143.3, 11.4 (Local)  ~Local bearing/azimuth received: Bearing 143.3, 11.4 (Local) % DAT read: Range 11 to 50 : 105.8 m (Round-trip 141.1 ms) speed 0.5 m/s - BDAT read: Tx time:06:04:06.0729 - $Ping request sent.- i  a@ ȭT> @ d>) t;?>I d bbo?&hPb?I? ff>) /SI t;?>i d  :publishing transmit ping time)  Fpublishing direction and range infoy  7?.,?@|[?Y ) I i ) I bbo?&hPb?I? ) I i ^A Ee  Ee vEe (Ea "Ee :*Ee :VEe c44ZEa au @au @au @au @I I O% >r,7?ABnManaging dock network, ignoring radio surface power offRl;@R76@RFnٱR[ ZAHRS rotation from veh to nav: [[0.892727,0.450521,0.008334],[-0.446832,0.882726,0.145380],[0.058140,-0.133508,0.989341]]RH7?`W?R?`ܿK??ϛ?ĭ? ?iRl;@\IR"e;RsCY-0}By-IbD=VD=ܲyM%h=%MN=ٔUiQ-U>9QYy=}Fy}܀E};E>Q 55P?Q 95)BYy:Q I@EI`;i;hʗ5ywBɮAIEii?AJiBBRiBBjiY-@bM?.Y@ka3@JٴJ7@R7?.,?@|[?Zit;?>bidjCɢX@i8 [:@ZO ?HF9ο%' ?2i:ieB"iW?*i6mBiOBiW?i6miOBiBi_-@u addTargetRange:: Added new target pos. range: 105.800003 m, deltaT: 3.779498 s, deltaX: -1.899994 m, approachRate: -0.502711 m/s, rangeRepo size: 4  Added new target pos. range: 105.129242 m, bearing: 345.882339 deg, lat: 36.779424 deg, lon: -121.859692 deg, deltaT: 3.779498 s, deltaX: -1.891319 m, approachRate: -0.500415 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 105.13 m.RhZh ProNav: ac range: 105.129242 m, nav range: 101.771210 m, bearing: 345.882501 deg, approach rate: 0.000000 m/s, LOS rate: 0.034237 deg/s, cmd heading: 334.645255 deg, new cmd heading: 334.685225 deg. BhHeadingCmd: 5.841359 target range: 105.129242 and range: 105.80 m.hj@h*h"h hgfffdddjd@3sZ@Zd`6?MBɢMz)Q UiQ)U'QQQi]]"iu7⾉u7ByB}IB}=}BByByByB}`;B}B$E9@ @@0@ !^AXI A= .AIA IQ Oe >*x,4?A2O@2dJ@2*nٱ2 :AHRS rotation from veh to nav: [[0.893818,0.448356,0.008135],[-0.444628,0.883737,0.145992],[0.058267,-0.134107,0.989252]]2H(?ޱ?(?tܿG?ޯ?@1խ? o*`?i2O@I2_Ze;2qCYJ}ByJI LLi%Mb@Mb@Mb@!!!! !9%T㥛 ?Q?y&1Y%?y%\=%`e%A%tA % A)%A!Y%=AbD5VD5y9*%D=ٔ9Q->9 ?Y ?=FyހE;E>Q 55?Q 95)BYO?Q E:yAQ I@EI:ia;4̗5yɮDAB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 105.13 m.Rh#9Zh#9E EnE$E"E:*E:VE4ZEBE;a-2E;a-JEJ;a-:EJ;a-= ProNav: ac range: 105.129242 m, nav range: 101.562355 m, bearing: 345.892211 deg, approach rate: -0.528119 m/s, LOS rate: 0.024604 deg/s, cmd heading: 334.685225 deg, new cmd heading: 334.714416 deg. BhE:EHeadingCmd: 5.841868 target range: 105.129242 and range: 105.80 m.hE@hI*hI"hI hIgIfIfQfUzBdQdYdYjdYZd]H?颍BɢZ) 0i)NS顑iiHᾉa7<|I@I59@1 @1@52@9Iq=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.^Au`Իԡ A ؟AI I O >~,h?A2X@2JS@2;{oٱ2*W >AHRS rotation from veh to nav: [[0.894292,0.447405,0.008424],[-0.443653,0.884019,0.147252],[0.058434,-0.135423,0.989063]]2H ?I?@?dܿI?#? ?Ug?i2X@I2e;2tCyY0}ByI bDVD0y9=%:=ٔ\ǹQ->9"?Y"?=FyE=";E>Q 55ۻ?Q 95tQ =tI)BYyQ I@EI:i.:Η5yvBɮAJEjhFNOT Ignoring new targets: 105.13 m.Rh%9Zh%95 ProNav: ac range: 105.129242 m, nav range: 101.339638 m, bearing: 345.902480 deg, approach rate: -0.507728 m/s, LOS rate: 0.023463 deg/s, cmd heading: 334.714404 deg, new cmd heading: 334.745280 deg. Bh5р:=HeadingCmd: 5.842407 target range: 105.129242 and range: 105.80 m.h=@h9*h9"h9 h9gAfAfAfAdIdIdIjdQZdU?}&Bɢ};뭽) i) U顁i+*DAT read: user:638> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996674iᾉ6<ΕI@IԩbEĻ 4jEJ4rE0E- E-wE-E)"E-:*E-:VE-(N3ZE)a=@a=@a=@a=@e9@a @a@e4@i^A 3Bq Bq Bu IBu Q}BBu : =Bq Bq Bu `;Bu '$EB-ʻCB-ʻCB)B-9 =B-9 =C-Ǖ5 M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248315AM .AIQ Ii Ou >,?AZb@Z]@ZvpٱZ nAHRS rotation from veh to nav: [[0.894853,0.446275,0.008771],[-0.442503,0.884368,0.148610],[0.058564,-0.136866,0.988857]]ZH ?Ə?{? Qܿ@L??)?τ@?iZb@IZˈf;ZrC Թ)kAЀG)9=kAiEIA9Y4AiIikA ^) LC kA㥽IMkAIUQ8)QiQ)فIف؍Q8؍SWF ىٙii) IY Y/}By]only read 0 of 1 data item for BIT error. Device response is::TS,002712,35.0, +10.3, 01, 0 a]@a} a}@a} a}@a} a}@a} bDVDyr%.=ٔQ->9 ?Y ?=FyE71;E>Q 55?Q 95})BQ A+:YQ E:yQ I@EI;i>ϗ5yɮA jhFNOT Ignoring new targets: 105.13 m.Rh9Zh9 ProNav: ac range: 105.129242 m, nav range: 101.099274 m, bearing: 345.913447 deg, approach rate: -0.488847 m/s, LOS rate: 0.022358 deg/s, cmd heading: 334.745276 deg, new cmd heading: 334.778256 deg. Bhu:HeadingCmd: 5.842983 target range: 105.129242 and range: 105.80 m.h@h*h"h hgfffdddjdZd?=-Bɢ=b)A EiA)EWAAiE"iMw`,?8?Afn@fi@f—qٱf8 zAHRS rotation from veh to nav: [[0.895470,0.445037,0.008651],[-0.441201,0.884842,0.149657],[0.058948,-0.137830,0.988700]]fH?`~{?q?<ܿ@P?`'?|.?in?ifn@If;g;fsCY,}ByII>)>=p=bDVD2y%O=ٔQ->9"?Y"?=FyEr;E>AQ 5M5Em?Q 9U5E5)EBQ AU :YQQ EU:yUeQ IU@EEIED;iE`?EЗ5yeuBɮeAajhFNOT Ignoring new targets: 105.13 m.Rh>9Zh>9 ProNav: ac range: 105.129242 m, nav range: 100.895523 m, bearing: 345.922622 deg, approach rate: -0.530999 m/s, LOS rate: 0.023959 deg/s, cmd heading: 334.778252 deg, new cmd heading: 334.805833 deg. Bh:HeadingCmd: 5.843464 target range: 105.129242 and range: 105.80 m.h@h*h"h hgfffdddjdZd?2Bɢ) i)%۫X!!i% i-#ᾉ-k5<-(TI-@I1@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003850E EkE"E"E:*E:VE(3ZEa@a@a@a@^Ayb]A A I I) O= >B,8Q?A;ɰp;6y@6t@6hrٱ6| >AHRS rotation from veh to nav: [[0.896060,0.443841,0.008985],[-0.439974,0.885193,0.151182],[0.059147,-0.139421,0.988465]]6H?`g?f? (ܿS?Y?H??i6y@I6jh;6qCB[>BBIBf}BB9 =BBB`;B$E}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255984Y54}By5I=AA9bDEVDE1Qy]<%]5=ٔ]Q-]>9aYi=mFy}E;D;E>Q 55?Q 95)BQ A9YQ E]:yQ I@EIZ;i?ї5ytBɮAKEjhFNOT Ignoring new targets: 105.13 m.Rh"9Zh"9 ProNav: ac range: 105.129242 m, nav range: 100.669327 m, bearing: 345.932685 deg, approach rate: -0.480744 m/s, LOS rate: 0.021434 deg/s, cmd heading: 334.805846 deg, new cmd heading: 334.836101 deg. Bh\k:HeadingCmd: 5.843992 target range: 105.129242 and range: 105.80 m.h@h*h"h hgfffddAdAjdAZdM`@8Bɢ@Ү) i)%~Z))i-X i}ྉ}!5<,I@I 9@  @ @ Z2@ - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507977E  E nE $E "E C:*E :VE 4ZE BE %;a 2E ';a JE a :E a  ^A1 A= eAzA= fAAIIO?,r?AB5@B@BvٱBTH NAHRS rotation from veh to nav: [[0.896817,0.442303,0.009379],[-0.438280,0.885372,0.155004],[0.060255,-0.143121,0.987869]]BH?N?B5? ܿT?*? ٮ?Q¿ ?iB5@IBi;BuCPRs@iPITTT TTTXZsCXIX)\i\)\I^iA^ҽ\ `bCbjA`i``idd)d dId h)hhhlYlYrF}ByrIamam amam auau auau iuMb@Mb@Mb@qqqq q9up= ף?kt?9Y=FyE;E>Q 55?Q 95c)BQ AT:Y?Q E:y~Q I@EIQ;iT:ӗ5yɮAB*** querying acoustic contact ***i i5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759805jhquFNOT Ignoring new targets: 105.13 m.Rh}7:Zh}7: ProNav: ac range: 105.129242 m, nav range: 100.436127 m, bearing: 345.950402 deg, approach rate: -0.527241 m/s, LOS rate: 0.040150 deg/s, cmd heading: 334.836090 deg, new cmd heading: 334.889366 deg. Bho:HeadingCmd: 5.844922 target range: 105.129242 and range: 105.80 m.h @h*h"h hgfffBdddjd Zd  Cg@%>Bɢ%[/)) -$i))-\\))i- i5 dྉ54<=`I= @IY9@ @@4@ BDAT read: Rx Time:06:04:08.6156  TRx dataTimestamp_ set to:1761545050.116832 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013689^A NJκ! E  E tE #E "E s:*E v:VE 3ZE a @a @a @a @A- .AI9 II O] >,g?A21@2@2yٱ2 >AHRS rotation from veh to nav: [[0.896994,0.441935,0.009730],[-0.437827,0.885193,0.157292],[0.060900,-0.145350,0.987504]]2H-?`H?F?ZܿS?@#"?`D.?@Ӛ¿`?i21@I2.i;2tCxYM=}ByMI QQY]AbDeVDefyu%uL=ٔuӺQ-u>9} ?Y} ?=}Fy}E}:E>Q 55S?Q 95i)BYyLQ I@EIN:ig:՗5ysBɮALEjhFNOT Ignoring new targets: 105.13 m.RhU<:ZhU<: ProNav: ac range: 105.129242 m, nav range: 100.229309 m, bearing: 345.966138 deg, approach rate: -0.539884 m/s, LOS rate: 0.041163 deg/s, cmd heading: 334.889366 deg, new cmd heading: 334.936672 deg. Bh:HeadingCmd: 5.845748 target range: 105.129242 and range: 105.80 m.h^@h*h"h hgfffdddjdZd`] @-CBɢ-)1 5]i1)5F]11i= bi=߾=S4B1B5IB5z}BB1B1B1B5`;B5$E=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264068Q^AA] ؟Ay I I O >(,wj?A2l@27@2|ٱ2 :AHRS rotation from veh to nav: [[0.897234,0.441450,0.009613],[-0.437235,0.885206,0.158859],[0.061618,-0.146737,0.987255]]2H$? @?9?ۿS?}U?t?@G¿?i2l@I2;i;2uCfDAT read: 06:04:08.6156 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 167, 0.18, 0.303,-1.453, 0.147, 0.075, PHS= 0.330,-1.483, 0.028, RAW= 141.0, 13.3, CAL= 140.3, 14.3, ROT= 9.7, -14.3 nYgot valid direction response: 06:04:08.6156 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 167, 0.18, 0.303,-1.453, 0.147, 0.075, PHS= 0.330,-1.483, 0.028, RAW= 141.0, 13.3, CAL= 140.3, 14.3, ROT= 9.7, -14.3 rPDAT read: Bearing 145.5, 10.4 (Local) r~Local bearing/azimuth received: Bearing 145.5, 10.4 (Local) vDAT read: Range 11 to 50 : 103.8 m (Round-trip 138.5 ms) speed 0.4 m/s zTDAT read: user:639>Tx time:06:04:09.7198 ~R#Rx 1: Read range and direction messages.\direction in FSK: [0.955162,0.163269,0.246999]Fpublishing direction and range infoyLN@?ժ8q?⩝?YNBLLLL L)NGIN>iNҽNB`Nt@ Nr>)N-\->INrLLN N?ω`?r? N*>)NmIN-\->iNrLLeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.D-?AzD-?AE5~ E5hE5$E1"E5:*E5]9VE54ZE1BE5f;aE2E5g;aEJE55;aE:E55;aEi=Mb@Mb@Mb@9999 99=E?V-?:vY=?y=<=T=EA9 =~A)=A9Y= A im<bDuVDuk1yyO=%!=ٔ͹Q->9"?Y"?=FyEŤ:E>Q 55)?Q 95+)BY?Q E:y!ξQ I@EI:i3:ח5ymBɮ)AUEiLiN죧?AJiNHBRiNHBjiN0@bN[0 X@p20@;Cy9@RN@?ժ8q?⩝?ZiN-\->biNrjNu\X@48$ij<@ZN #)x?$V'LͿE?2iN:iN$B"iNȟ?*iNzkBiN(BiLiLiLiNBiN<@ addTargetRange:: Added new target pos. range: 103.800003 m, deltaT: 3.527979 s, deltaX: -2.000000 m, approachRate: -0.566897 m/s, rangeRepo size: 4  Added new target pos. range: 103.141098 m, bearing: 345.905771 deg, lat: 36.779424 deg, lon: -121.859692 deg, deltaT: 3.527979 s, deltaX: -1.988144 m, approachRate: -0.563536 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 103.14 m.RhZh ProNav: ac range: 103.141098 m, nav range: 99.965118 m, bearing: 345.990212 deg, approach rate: 0.000000 m/s, LOS rate: 0.041163 deg/s, cmd heading: 334.936686 deg, new cmd heading: 335.001408 deg. BhHeadingCmd: 5.846878 target range: 103.141098 and range: 103.80 m.h@h*h"h hgfffQBddd jd @3Y@Zd @?}IBɢ}ݬ)y }?iy)#`顁iic߾3<l6I@Iԩ-9@) @)@-.4@)]DAT read: echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770207 ^AM 7AU >AU >AyIIO>9,#?A2w@2B@2ٱ2y JAHRS rotation from veh to nav: [[0.897244,0.441428,0.009696],[-0.437098,0.884910,0.160870],[0.062433,-0.148578,0.986928]]2H9?Z@?Zۃ?jۿ`/Q? c?,?ÿ ?i2w@I22i;2rCYVB}ByVIbD^VD^yf)%fg=ٔf Q-j>9Y=FyE29E>!Q 5-5%7?Q 9-5%")%BY1y5ξQ I5@%EI%7 ;i%T ;%ٗ5y=lBɮ=\A=VE]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020070jhq}FNOT Ignoring new targets: 103.14 m.Rh}b:Zh}b: ProNav: ac range: 103.141098 m, nav range: 99.776718 m, bearing: 346.007450 deg, approach rate: -0.540771 m/s, LOS rate: 0.049573 deg/s, cmd heading: 335.001408 deg, new cmd heading: 335.053221 deg. Bh;HeadingCmd: 5.847782 target range: 103.141098 and range: 103.80 m.h!@h*h"h hgfffdddjdZd`&|?MBɢ) i)aibi8޾S3<~eI!@IԉE EoE&E"E:*E:VE4ZEa@a@a@a@i@i @i@m/@iԱ^Ayb]BX>BBIB}BBBBB`;B$E5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276727A I I) OE > _,?A @Ռ@*ٱi =AHRS rotation from veh to nav: [[0.897135,0.441639,0.010231],[-0.437238,0.884414,0.163203],[0.063028,-0.150888,0.986539]]HS?C??ۿ`M? ?"?LPÿ@?i @Ii;YMb}ByUII]=)]=iMb@Mb@Mb@ 9n?Q?y&1YV?yu<`e\A1A )l AYp AbDVDk1y=%,=ٔ ]Q- >9Y=FyEIE>Q 55dL?Q 95)BYn?Q E:y{ܾQ I@EI:i:ۗ5yɮAjhFNOT Ignoring new targets: 103.14 m.Rh:Zh: ProNav: ac range: 103.141098 m, nav range: 99.513191 m, bearing: 346.036067 deg, approach rate: -0.549013 m/s, LOS rate: 0.059777 deg/s, cmd heading: 335.053209 deg, new cmd heading: 335.139288 deg. Bh$;HeadingCmd: 5.849284 target range: 103.141098 and range: 103.80 m.hV-@h*h"h hgfffBdddjdZd `?5SBɢ5B)9 =i9)=oc99iEiEB(޾M2Չ,?A0@܊@cٱ AHRS rotation from veh to nav: [[0.897007,0.441899,0.010159],[-0.437443,0.884195,0.163839],[0.063418,-0.151409,0.986435]]H@H? H?_΄?@ۿRK?@?!9U ?YU ?=UFyUE],E]>aQ 5m5e[?Q 9m5eO)eBYiymܾQ I@eEIe2;ie;e4ݗ5ykBɮAWEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 103.14 m.Rhȅ:Zh ȅ: ProNav: ac range: 103.141098 m, nav range: 99.313484 m, bearing: 346.057888 deg, approach rate: -0.534159 m/s, LOS rate: 0.058481 deg/s, cmd heading: 335.139296 deg, new cmd heading: 335.204889 deg. Bh ;%HeadingCmd: 5.850429 target range: 103.141098 and range: 103.80 m.h%6@h!*h)"h) h)gIfIfQfQdQdQdYjdYZd]g ?ԩ%WBɢ%L )Y ]iY)]dYYieim<ݾmX&2Fuĵ,ٲ?A2ގ@2@2邽ٱ2 :AHRS rotation from veh to nav: [[0.896917,0.442092,0.009722],[-0.437561,0.884119,0.163935],[0.063879,-0.151290,0.986423]]2H?>K?? ܿJ??`bZ?`v]ÿǐ?i2ގ@I2i;2sCYB}ByBIbDNVDNyV=%Vi=ٔV|Q-V>9XYX=ZFyZE^ٹE^>`Q 5f5bj?Q 9f5bu)bBYdyfܾQ If@bEIbH:ib@:hbޗ5ypɮrApjh  FNOT Ignoring new targets: 103.14 m.Rh^:Zh^:% ProNav: ac range: 103.141098 m, nav range: 99.121498 m, bearing: 346.078966 deg, approach rate: -0.557806 m/s, LOS rate: 0.061359 deg/s, cmd heading: 335.204893 deg, new cmd heading: 335.268249 deg. Bh%q(;-HeadingCmd: 5.851535 target range: 103.141098 and range: 103.80 m.h-?@h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE9j?B}T>B}CB}IB}}BByByB}NDB}`;B}$EZBɢ̸) i) :f!!i%ihi-Fݾ-1E  E |E #E "E :*E P$:VE 3ZE BE 4;a% 2E 6;a% JE };a% :E };a% Eʵ,|,?A9Y}}By}I i Mb@Mb@Mb@     9  rh?~jth?~jthY C ?y D; D A @ A) CA Y ( AbDMVDMy]<%]2=ٔ]Q-]>9aYa=eFyeEeEm>iQ 5}5m}?Q 9}5mL)mBY}D ?Q E}:y}Q I}@mEImG;im ;m5yjBɮAjhFNOT Ignoring new targets: 103.14 m.Rh-:Zh-: ProNav: ac range: 103.141098 m, nav range: 98.878067 m, bearing: 346.108486 deg, approach rate: -0.532834 m/s, LOS rate: 0.064774 deg/s, cmd heading: 335.268250 deg, new cmd heading: 335.357028 deg. Bh1;HeadingCmd: 5.853084 target range: 103.141098 and range: 103.80 m.hwL@h*h"h hgfffrBdddjdZd`\@_BɢR)  i)gi"i%@6ܾ% 0<-ۚ I-wL@I)i9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785262ԑ^A Iq I O > ѵ,XWF?A2t@2?@2Mٱ2s :AHRS rotation from veh to nav: [[0.896794,0.442345,0.009505],[-0.437694,0.883813,0.165222],[0.064685,-0.152331,0.986211]]2H@?cO?+w?+ܿ2H?&?`3?ÿ` ?i2t@I2bli;2qCYB}ByBI HJbDNVDNkyV=%Vj=ٔVQ-Z?9XYX=ZFyZE^E^?`Q 5f5b1?Q 9f5bw)bBYdyfQ Ij@bEIb:ib:bD5ylEchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.035888ԙɮn{AjhFNOT Ignoring new targets: 103.14 m.Rh:Zh := ProNav: ac range: 103.141098 m, nav range: 98.692451 m, bearing: 346.131114 deg, approach rate: -0.486634 m/s, LOS rate: 0.059437 deg/s, cmd heading: 335.357015 deg, new cmd heading: 335.425027 deg. Bh=)#;EHeadingCmd: 5.854271 target range: 103.141098 and range: 103.80 m.hE0V@hA*hA"hA hAgAfIfIfIdIdQdQjdqZdu@z@bEe4jEem4rEeg/E EtE$E"E:*Ev:VE4ZEa@a@a@a@EcBɢE)A E־iA)ET5iIIiMgiU۾U>P0BBIB}BB: =BBB`;B'$EBABEǺCBABABACE 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289728^AM AU >AU ?I I O >  k> G c9 Y UA ׵,!\`?AJ@J@JߣٱJO AHRS rotation from veh to nav: [[0.896807,0.442336,0.008770],[-0.437663,0.884085,0.163843],[0.064720,-0.150774,0.986447]]JH?`;O??ܿlJ??`?Lÿ ?iJ@IJƴh;JsCY}ByIiMb@Mb@Mb@ 9Fx?9Y=FyEu8E>Q 5 5?Q 9 5y)BY ?Q E:yv׾Q I@=BDAT read: Rx Time:06:04:12.2598 ETRx dataTimestamp_ set to:1761545053.644101Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.540969EIG޵,~?A4YE}ByM/IIM]>)M=bD]VD]ym9=%mT=ٔmQ-u>9qYq=uFyuE}E}>Q 55?Q 95)BYyQ I@EI;iw;-5ygBɮ`AYEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 103.14 m.Rh :Zh : ProNav: ac range: 103.141098 m, nav range: 98.212303 m, bearing: 346.181732 deg, approach rate: -0.576238 m/s, LOS rate: 0.061046 deg/s, cmd heading: 335.512143 deg, new cmd heading: 335.577247 deg. Bh';%HeadingCmd: 5.856928 target range: 103.141098 and range: 103.80 m.h%k@h!*h!"h) h)g)f)f)f1d1d1d1jd1Zd=a @ekBɢmy)i mii)mWkqqiuSiun>ھ}.<}Q@I}k@IԙM9@Q @Q@]$0@YDAT read: 06:04:12.2598 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 412, 0.42, 1.427,-0.376, 1.269, 1.148, PHS= 0.381,-1.479, 0.077, RAW= 141.3, 11.8, CAL= 140.7, 12.8, ROT= 9.3, -12.8 Ygot valid direction response: 06:04:12.2598 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 412, 0.42, 1.427,-0.376, 1.269, 1.148, PHS= 0.381,-1.479, 0.077, RAW= 141.3, 11.8, CAL= 140.7, 12.8, ROT= 9.3, -12.8 PDAT read: Bearing 145.3, 10.6 (Local) ~Local bearing/azimuth received: Bearing 145.3, 10.6 (Local) DAT read: Range 11 to 50 : 101.9 m (Round-trip 135.9 ms) speed 0.4 m/s BDAT read: Tx time:06:04:13.3198 $Ping request sent.iuOu-=uh@uBR>u)@ ud>)u6&>Iudqqu{wY2?)u&RIu6&>iudqq:publishing transmit ping timeFpublishing direction and range infoyqu \k?+?@|[?Yqqqqq q)qIqiqqqqq q)qIqqqu{wY2?B B 3IB }BB B B B `;B %$EA I I O >,/ė?A:`@:,@:4ٱ:- RAHRS rotation from veh to nav: [[0.897217,0.441535,0.007025],[-0.436825,0.885092,0.160613],[0.064698,-0.147173,0.986992]]:H?B?||? ۿR??? ¿@q?i:`@I:Dh;:rCYb%~ByfKIt||bD VD y%D=%%P=ٔ-m8Q-->91Y=FyE;E>Q 55€?Q 95)BYy־Q I@EIW:ip:5yɮAii~q?AJiBRiBji@bג)}\X@$cy/@bBn6@R \k?+?@|[?Zi6&>bidjiiW@eFw80+o:@Z5I/? !A=fϿ O~?2i:i@B"i6蟊?*i _BiCBii \uiCBi BiC@  addTargetRange:: Added new target pos. range: 101.900002 m, deltaT: 3.528172 s, deltaX: -1.900002 m, approachRate: -0.538523 m/s, rangeRepo size: 4  Added new target pos. range: 101.251503 m, bearing: 345.292478 deg, lat: 36.779424 deg, lon: -121.859695 deg, deltaT: 3.528172 s, deltaX: -1.889595 m, approachRate: -0.535573 m/s, posRepo size: 4 jh%FNOT Ignoring new targets: 101.25 m.Rh%Zh!5 ProNav: ac range: 101.251503 m, nav range: 98.064438 m, bearing: 346.039492 deg, approach rate: 0.000000 m/s, LOS rate: 0.061046 deg/s, cmd heading: 335.577248 deg, new cmd heading: 335.650782 deg. Bh1=HeadingCmd: 5.858212 target range: 101.251503 and range: 101.90 m.h=xv@hA*hA"hA hAgAfAfIfIdIdIdIjdUyY@ZdU`'.?颅oBɢ`) i)Vl顉iWRi(پ.<eCIxv@I M9@I @I@M/@IA^A/CD% @AzD% @AE5 ~ E5 qE5 %E1 "E5 :*E5 $ :VE5 4ZE1 BE5 f;aE 2E5 g;aE JE5 U;aE :E5 U;aM AI a Ia Iy O >C,s?AY~E~By~_I9iMb@Mb@Mb@ 9v/?I +?Mb?Yx ?y9<<AK@ QA)Y\ AbDVDy==%B=ٔQ->9Y=FyEE>Q 55Ӏ?Q 95a ) BY ?Q EE:yEҾQ IM@EI[,`v?A2Ħ@2@2-Ճٱ2=n :AHRS rotation from veh to nav: [[0.898163,0.439636,0.004806],[-0.434931,0.886846,0.156014],[0.064327,-0.142217,0.987743]]2H ? "?s?ۿ a?F?w?'4¿?i2Ħ@I2jh;0YBU~ByBiI DDbDNVDNܲyVG'=%V]=ٔV:Q-V>9Z"?YZ"?=ZFyZE^;E^>Erw ErEr"Ep"Er}:*ErrN:VEr(3ZEpaz@az@az@az@9Q 5E5=《?Q 9E5= )=BYIyMѾQ IM@=EI= :i=:=l5yQɮUAyԙjhFNOT Ignoring new targets: 101.25 m.Rhp:Zhp: ProNav: ac range: 101.251503 m, nav range: 97.644119 m, bearing: 346.080717 deg, approach rate: -0.537165 m/s, LOS rate: 0.052568 deg/s, cmd heading: 335.714753 deg, new cmd heading: 335.774731 deg. BhO;HeadingCmd: 5.860374 target range: 101.251503 and range: 101.90 m.h%0@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5?%wBɢ%o)) -!i))-nIIiUbiUzؾU,<]AI]0@IY9@ @@0@AAAABIBIBM_IBME~BBIBIBIBM`;BM$E^A lX A9 I I OE >,8?A {@ F@ lٱ :g AHRS rotation from veh to nav: [[0.898902,0.438129,0.004282],[-0.433432,0.887749,0.155046],[0.064128,-0.141227,0.987898]] H? O ?zq?Xۿoh??`j?¿@ܜ?i {@I Jh; sCY]~ByeIiMb@Mb@Mb@ 9x&1?~jt?YA?yD=A@ )-AY A 4<bDVD:y=%6=ٔ>9Q->9Y=%Fy%E%.t;E%>)Q 555-?Q 955- )-BY=?Q E=:y=Q I=@- EI-:i-Q:-P5yMeBɮMAMZEjhy}FNOT Ignoring new targets: 101.25 m.Rh:Zh: ProNav: ac range: 101.251503 m, nav range: 97.427780 m, bearing: 346.094985 deg, approach rate: -0.508313 m/s, LOS rate: 0.033597 deg/s, cmd heading: 335.774722 deg, new cmd heading: 335.817620 deg. Bhu:HeadingCmd: 5.861123 target range: 101.251503 and range: 101.90 m.hR@h*h"h hgfffBdddjdZd-X?额|Bɢ#) ui)ioi5iؾ +<97IR@IE EEE"E~:*EL_:VEZEBE;a%2E;a-JE;a-:E;a-1Q@i @i@m/@Y^A -Bԉ I I O >?,)?A2ó@2v@2肽ٱ2 :AHRS rotation from veh to nav: [[0.899718,0.436448,0.004440],[-0.431772,0.888496,0.155395],[0.063877,-0.141728,0.987843]]2H@~??/r?%ۿn? ?@8Z?($¿g?i2ó@I2$h;2qCYB~ByFIbDNVDNyVJ~=%Vf=ٔV\::Q-V>9XYX=ZFyZ E^E;E^>`Q 5f5b?Q 9f5b')bBYdyfQ If@b EIb):ib:b5ylɮnAljhFNOT Ignoring new targets: 101.25 m.Rh :Zh : ProNav: ac range: 101.251503 m, nav range: 97.250450 m, bearing: 346.106532 deg, approach rate: -0.501451 m/s, LOS rate: 0.032713 deg/s, cmd heading: 335.817616 deg, new cmd heading: 335.852321 deg. Bh:HeadingCmd: 5.861729 target range: 101.251503 and range: 101.90 m.hH@h*h"h hgfffdddjdZdR?EBɢE)A EbiI)MSpIIiM)qi0׾U)+<y&IH@II@I @I@M~0@IԡEy ElEE"E:*E:VEZEa%@a-@a-@a-@^Am:II IY Om >Be P>Ba Be IBe ~BBa Ba Ba Be `;Be $E ,F?Arֳ@rsѺ@r>ٱr) zAHRS rotation from veh to nav: [[0.900735,0.434357,0.003090],[-0.429694,0.889978,0.152648],[0.063554,-0.138824,0.988276]]rH??Pi? ۿ z?`?E?`?irֳ@Ir;g;rsCY~By II)>bDVDk1y- =%-B=ٔ5.I:Q-5>99Y9==Fy= E=;E=>AQ 5M5E?Q 9M5E)E"BYQyUiQ IU@EEIE;iE ;E5y]_BɮeAedE}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 101.25 m.Rhm:Zhm: ProNav: ac range: 101.251503 m, nav range: 97.039795 m, bearing: 346.120007 deg, approach rate: -0.499218 m/s, LOS rate: 0.032004 deg/s, cmd heading: 335.852313 deg, new cmd heading: 335.892828 deg. Bh:HeadingCmd: 5.862436 target range: 101.251503 and range: 101.90 m.h@h*h"h hgfffdddjdZd z`@mBɢm|) aCi)~p顑iFAizl׾*<uI@I!@) @)@-4@)^Am;T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IIO >! E- x E- rE- #E) "E- ˀ:*E- ?:VE- 3ZE) BE- ;a= 2E- ;a= JE- yY;aE :E- zY;aE Q  ,2?A2@2@2^ٱ2- :AHRS rotation from veh to nav: [[0.901611,0.432540,0.002627],[-0.427917,0.891055,0.151354],[0.063126,-0.137587,0.988476]]2H??e?bۿ ?_?`)? t?i2@I2ޜg;0YB~ByBIi Mb@Mb@Mb@     9 Zd;?Q?MbP?Y >y \= : A 5@ ) A Y  A!!bD%VD%f?y5.=%5J=ٔ=͊:Q-=>99YA=EFyE EE;EE>IQ 55M!$?Q 95M)M'BY?Q E:yۛQ I@MEIM  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764340y@y @@4@Yԁ ^A I I O% > BDAT read: Rx Time:06:04:15.8574  TRx dataTimestamp_ set to:1761545057.172236 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013962,J M?AF@F_@F;:ٱFI ER ERsER%EP"ER:*ERZ:VER 4ZEPaV@aV@aV@aV@ ZAHRS rotation from veh to nav: [[0.902615,0.430439,0.002928],[-0.425877,0.892019,0.151432],[0.062570,-0.137932,0.988463]]FH 9? N?g?Aۿk?`b?@?ྦྷ}?iF@IFzg;FtCYb~BybIbDnVDnkyv[=%vK=ٔvr:Q-v>9xYx=zFyzE~9;E~>Q 5 5k4?Q 95A),BYyQ I@EI ;i ;<5y^Bɮ%$A%eEjhAMFNOT Ignoring new targets: 101.25 m.RhM^9ZhM^9 ProNav: ac range: 101.251503 m, nav range: 96.634697 m, bearing: 346.134682 deg, approach rate: -0.527644 m/s, LOS rate: 0.018837 deg/s, cmd heading: 335.915288 deg, new cmd heading: 335.936934 deg. BhN:HeadingCmd: 5.863205 target range: 101.251503 and range: 101.90 m.ha@h*h"h hgfffdddjdZd+@EBɢMڏ)I MiI)u4rqqiui}׾}U)<}LȻI}a@IQBABBCBIB~BB; =BBB`;B$E!@! @!@%/@!qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264726^AE ԡ I I O >',ff?A`Y~ByI checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519388iuMb@Mb@Mb@qqqq q9uMb?kt?y&1Yu?yu =u`euAu@ u A)uAqYu AbDVDNE} EkE"E"E݉:*E:VE(3ZEBEC;a2ED;aJE?;a:E?;ay<%=ٔQ->9Y=FyEE> Q 5 5 5J?Q 95 /) -BYn?Q E:yQ I@ EI :i : 5y!ɮ%A!jhIMFNOT Ignoring new targets: 101.25 m.RhUA9ZhUA9e ProNav: ac range: 101.251503 m, nav range: 96.366043 m, bearing: 346.140233 deg, approach rate: -0.509207 m/s, LOS rate: 0.010550 deg/s, cmd heading: 335.936926 deg, new cmd heading: 335.953624 deg. Bhe9mHeadingCmd: 5.863497 target range: 101.251503 and range: 101.90 m.hmġ@hi*hi"hi higqfff(BdddjdZd0 @MBɢM߮)Q uoiq)uryyi}ih־(<ڎڻIġ@I9@ @@4@5 DAT read: 06:04:15.8574 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 163,-0.07, 1.052,-0.812, 0.926, 0.759, PHS= 0.395,-1.526, 0.123, RAW= 142.5, 11.2, CAL= 142.0, 12.2, ROT= 8.0, -12.2 9 E Ygot valid direction response: 06:04:15.8574 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 163,-0.07, 1.052,-0.812, 0.926, 0.759, PHS= 0.395,-1.526, 0.123, RAW= 142.5, 11.2, CAL= 142.0, 12.2, ROT= 8.0, -12.2 E PDAT read: Bearing 145.7, 9.6 (Local) M ~Local bearing/azimuth received: Bearing 145.7, 9.6 (Local) U DAT read: Range 11 to 50 : 100.0 m (Round-trip 133.4 ms) speed 0.4 m/s ] BDAT read: Tx time:06:04:16.9213 e $Ping request sent.e &Xni?\ ?Y B     ) II q=>i Sÿ m= ,@ +H> @  ^ Z>) 5>I ^ Z   @xR?k?V?  ~>) HI 5>i ^ Z  E :publishing transmit ping timea M Fpublishing direction and range infoy  3xH?>&Xni?\ ?Y      ) I i      ) I    @xR?k?V?  ) I i   ^A i A.AIIO>h!,-?A2@2@2}ٱ2- JAHRS rotation from veh to nav: [[0.904538,0.426384,0.002751],[-0.421879,0.894006,0.150903],[0.061883,-0.137658,0.988545]]2H?I?(f?ۿ`? P?-?@Ȟ(?i2@I2Rf;2qCYVByVI ^;^p<bD^VD^βyf<%fe=ٔj:Q-j>9j ?Yn ?=nFynEnL<En>pQ 5v5rX?Q 9v5rx)r.BYxyzgQ Iz@rEIr;ir;r5y~\Bɮ~AfEiiyZ{?AJiBRiBji@bj# X@ҁPc+@1dw4@R3xH?>&Xni?\ ?Zi5>bi^ Zj)94W@PեqHR9Z+8@Z1 ?-̧>?Oп,t<?2i:iB"i4柊?*i{Bi5Bi6蟊?iiiPBiG@M addTargetRange:: Added new target pos. range: 100.000000 m, deltaT: 3.779845 s, deltaX: -1.900002 m, approachRate: -0.502667 m/s, rangeRepo size: 4 ] Added new target pos. range: 99.363251 m, bearing: 344.739996 deg, lat: 36.779419 deg, lon: -121.859695 deg, deltaT: 3.779845 s, deltaX: -1.888252 m, approachRate: -0.499558 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 99.36 m.RheZhi} ProNav: ac range: 99.363251 m, nav range: 95.657761 m, bearing: 346.065701 deg, approach rate: 0.000000 m/s, LOS rate: 0.010550 deg/s, cmd heading: 335.953619 deg, new cmd heading: 335.965033 deg. BhyHeadingCmd: 5.863696 target range: 99.363251 and range: 100.00 m.hf@h*h"h hgffԑfdddjdY@Zd?Bɢ) Ti)xsiwiR־9(<U/If@I9@ @@/@bE3jEÁ3rEb/EMz EMqEM#EI"EMl:*EM$ :VEM3ZEIa]@a]@a]@a]@Թ^A`ԻBIBIBMIBMBBIBIBIBM`;BM $EBȺCBBB: =B; =C"4A I I O% > G fA ! - 9- fAY- EA',d?A2.@2)@2<>|ٱ2 :AHRS rotation from veh to nav: [[0.905427,0.424491,0.003160],[-0.420018,0.894757,0.151643],[0.061544,-0.138628,0.988430]]2H@A?`*?*i?`ڿء?i??@8?i2.@I2f;2sCYF~ByFIbDNVDNk1yV[C%VM=ٔV_:Q-Z>9XYX=ZFyZE^;E^>`Q 5f5bsi?Q 9f5b)b/BYdyf_Q Ij@b"EIb :ib:b5ylɮnAl~B*** querying acoustic contact ***i| i|jh DNOT Ignoring new targets: 99.36 m.Rh 9Zh 9% ProNav: ac range: 99.363251 m, nav range: 95.454788 m, bearing: 346.068998 deg, approach rate: -0.513768 m/s, LOS rate: 0.008365 deg/s, cmd heading: 335.965039 deg, new cmd heading: 335.974952 deg. Bh%9-HeadingCmd: 5.863869 target range: 99.363251 and range: 100.00 m.h-Ѥ@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=Jv?mBɢmW)i u-iq)usqqiuei־'< ɺIѤ@I@ @@/@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DYzD]?AEe EeEe%Ea"Eea:*Eez:VEe 4ZEaBEeW;am2EeX;amJEe;au:Ee;auI^Am A I I O >y -,O?AF*>@F8@FJ{ٱF RAHRS rotation from veh to nav: [[0.906220,0.422794,0.003159],[-0.418337,0.895533,0.151707],[0.061312,-0.138801,0.988420]]FH@? ?i?ڿ4?`"k?Ed?>$?iF*>@IF-f;DYZ ByZI*DAT read: user:641> %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996784iMMb@Mb@Mb@IIII I9MMb?kt?/$YIyIMMdAM@ M? A)MAIYMp AbDeVDe1yuxf=%u>=ٔ} :Q-}>9yYy=}Fy}E΍;E>Q 55@{?Q 95p)Y~?Q E:yuQ I@%EI ;i ;5y[BɮAjhDNOT Ignoring new targets: 99.36 m.QRh}9Zh}9 ProNav: ac range: 99.363251 m, nav range: 95.235649 m, bearing: 346.072596 deg, approach rate: -0.509990 m/s, LOS rate: 0.008393 deg/s, cmd heading: 335.974956 deg, new cmd heading: 335.985775 deg. BhQ9HeadingCmd: 5.864058 target range: 99.363251 and range: 100.00 m.h]@h*h"h hgfffBdddjdZd ?eBɢm7)i mii)u 4,e?A2*M@2G@2vzٱ2U :AHRS rotation from veh to nav: [[0.906992,0.421136,0.003269],[-0.416680,0.896215,0.152238],[0.061183,-0.139441,0.988338]]2H??&j? ڿʭ? |?kS?@1x?i2*M@I2d;2rCYFByFIbDN VDN2y<%R=AAAABO>BBIBCBB< =BBBx`;B$Eٔc9Q->9Y=Fy%E%i;E->Q 5%5 ?Q 9-5 ).BY)y5Q I5@)EIb;il;5yQɮUAYjhDNOT Ignoring new targets: 99.36 m.RhJ 9ZhJ 9 ProNav: ac range: 99.363251 m, nav range: 95.004448 m, bearing: 346.076161 deg, approach rate: -0.499561 m/s, LOS rate: 0.007720 deg/s, cmd heading: 335.985775 deg, new cmd heading: 335.996495 deg. Bh9HeadingCmd: 5.864245 target range: 99.363251 and range: 100.00 m.h姻@h*h"h hgf5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500329ffdddjdZd@u?BɢI) ;i!)%t!)i-@i-`־5'<51I:I5姻@I19@ @@@ ^A 9 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752051A I I O- >|5;,}?AE&{ E&wE&'E$"E&=:*E&:VE&'4ZE$BE&;a.2E&;a.JE&k;a.:E&k;a.rZ@rT@rzٱr@_ ~AHRS rotation from veh to nav: [[0.907651,0.419708,0.003838],[-0.415251,0.896605,0.153837],[0.061125,-0.141224,0.988089]]rHz ??po?@yڿ@??K?¿`l?irZ@Ird;rqCY By IiMb@Mb@Mb@ 9?l?Yf?y=̼zA@  A)AYG AbDVDy ]#%/=ٔ 9Q->9Y=FyE%o;E%>)Q 5-5-3?Q 955-))Y5?Q E5:y5<9Q I5@-,EI-4;i-3;-t5yEZBɮMAMgEjhiuDNOT Ignoring new targets: 99.36 m.Rh}'9Zh}'9 ProNav: ac range: 99.363251 m, nav range: 94.791786 m, bearing: 346.083150 deg, approach rate: -0.541292 m/s, LOS rate: 0.017830 deg/s, cmd heading: 335.996485 deg, new cmd heading: 336.017500 deg. BhC:HeadingCmd: 5.864612 target range: 99.363251 and range: 100.00 m.h檻@h*h"h hgfffBdddjdZdN?BɢV) 0i)NuiiJO־,&<:I檻@I9@ @@0@iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004101ԑ^A9I1 IA OU >Թ B,U?A2^@2Y@2zٱ2R :AHRS rotation from veh to nav: [[0.907882,0.419199,0.004693],[-0.414736,0.896471,0.155991],[0.061184,-0.143568,0.987747]]2H`_ ?'?.9s? ڿ? ?@}S?n`¿`?i2^@I2jd;2tCY^ BybI ``ddbDjVDj:2yr<%rb=ٔv=)Q-v>9tYt=zFyzEz:Ez>|Q 55~?Q 95~,)~-BY y Q I @~/EI~:i~:~ 5yɮAjhDNOT Ignoring new targets: 99.36 m.Rh˘9Zh˘9 ProNav: ac range: 99.363251 m, nav range: 94.599808 m, bearing: 346.089439 deg, approach rate: -0.508688 m/s, LOS rate: 0.016698 deg/s, cmd heading: 336.017495 deg, new cmd heading: 336.036400 deg. BhZ7:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256430HeadingCmd: 5.864942 target range: 99.363251 and range: 100.00 m.h@h*h"h hgfffd d d jd Zd2@]Bɢ]5S)a e+ia)e\uaaiehim$־m&BABEIBEMBBE; =BABABEr`;BE$E^AM] ;IIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5080929 9H,"?A26e@2`@2fr{ٱ2. :AHRS rotation from veh to nav: [[0.908202,0.418503,0.004984],[-0.414012,0.896582,0.157271],[0.061350,-0.144898,0.987543]]2H?@?8jt?,ڿͰ?w!?@?i?¿?i26e@I2X-e;2sCYFByFIbDNVDNyV%VN=ٔZ۹Q-Z>9XYX=^Fy^E^;E^>`Q 5f5b?Q 9f5b )`YhyjQ Ij@b3EIb6:ib-:b5ynYBɮnArhE~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 99.36 m.RhG9ZhG9 ProNav: ac range: 99.363251 m, nav range: 94.389412 m, bearing: 346.096271 deg, approach rate: -0.551650 m/s, LOS rate: 0.017953 deg/s, cmd heading: 336.036401 deg, new cmd heading: 336.056942 deg. Bh#E:HeadingCmd: 5.865300 target range: 99.363251 and range: 100.00 m.h@h*h"h hgfffdddjdZdra@-Bɢ-))1 5ji cN,6[ge@>3`@>@{ٱ> JAHRS rotation from veh to nav: [[0.908206,0.418487,0.005592],[-0.413988,0.896321,0.158818],[0.061452,-0.146555,0.987292]]>H@?|?-v?~ڿ`?(T?v?L¿`?i>ge@I>Ze;>uCYPyPiMb@Mb@Mb@ 9kt?:v?~jtY ?yT=ļvA@ $ A)AYAbDVDٔoQ->9Y=Fy"E[8E> Q 55 Ӂ?Q 95 #) Y?Q E:yQ I@ 7EI 7 ;i  ; 5y%XBɮ%A)jhIUDNOT Ignoring new targets: 99.36 m.RhU?:Zh]?:e ProNav: ac range: 99.363251 m, nav range: 94.138420 m, bearing: 346.111638 deg, approach rate: -0.563437 m/s, LOS rate: 0.034587 deg/s, cmd heading: 336.056946 deg, new cmd heading: 336.103168 deg. Bhm:mHeadingCmd: 5.866107 target range: 99.363251 and range: 100.00 m.hm&@hq*hq"h hgfffBdddjdZd@@5Bɢ5)1 5Bi1)=w99i=_giEHվE&KU,T7V?A6-]@6W@6{ٱ6 BAHRS rotation from veh to nav: [[0.907794,0.419359,0.007013],[-0.414902,0.895448,0.161338],[0.061379,-0.149371,0.986874]]6H ??f|?@ڿ?? m? ÿ`y?i6-]@I6e;6qCYJ~ByJIPbDVVDVܲyb|%f<ٔj~P9Q-j>BpAr<BzO>BxBxBxBxBxBxBz`;Bz$E9)Y1==FyE$EM&-EM>QQ 5m5U䁊?Q 9u5U$)U.BYyy},Q I@U:EIUw;iUa;Ua5yɮAjhDNOT Ignoring new targets: 99.36 m.RhU:ZhU:e ProNav: ac range: 99.363251 m, nav range: 93.924171 m, bearing: 346.124974 deg, approach rate: -0.552605 m/s, LOS rate: 0.034477 deg/s, cmd heading: 336.103173 deg, new cmd heading: 336.143273 deg. BheI:mHeadingCmd: 5.866807 target range: 99.363251 and range: 100.00 m.hm⼻@hi*hi"hi hqgyfyfyfydddjdZd @DAT read: 06:04:19.4564 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 153,-0.09,-1.497, 3.014,-1.589,-1.710, PHS= 0.315,-1.515, 0.077, RAW= 143.1, 13.0, CAL= 142.6, 14.1, ROT= 7.4, -14.1 Ygot valid direction response: 06:04:19.4564 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 153,-0.09,-1.497, 3.014,-1.589,-1.710, PHS= 0.315,-1.515, 0.077, RAW= 143.1, 13.0, CAL= 142.6, 14.1, ROT= 7.4, -14.1 PDAT read: Bearing 148.0, 8.6 (Local) ~Local bearing/azimuth received: Bearing 148.0, 8.6 (Local) DAT read: Range 11 to 50 : 98.1 m (Round-trip 130.9 ms) speed 0.4 m/s BDAT read: Tx time:06:04:20.5198 $Ping request sent.iUU-=U @UVh>Bɢ`) Ui)*wii/վ%<@38I⼻@U&I@ Ud{>)U A>IUd{QQU\;UX!?~ )?R{? Ud>)UgIU A>iUd{QQ:publishing transmit ping timeFpublishing direction and range infoyQUPo?pr? .?YQQQQQ Q)QIQiQQQQQ Q)QIQIIIQ)UfAQQU\;UX!?~ )?R{? Q)QIQiQQQ@ @@/@@=@=) ^A= yb]:A ؟AE  E tE E "E :*E v:VE ZE BE ;a 2E ;a JE `;a :E `;a I I O >[,hq?A0V@TQ@~ٱB AHRS rotation from veh to nav: [[0.907412,0.420173,0.007632],[-0.415617,0.894591,0.164222],[0.062174,-0.152189,0.986394]]H ??C? zڿ}?6?9կ? zÿ ?iV@I~c;Y-By-IiMb@Mb@Mb@ 97A`?V-?9"?Y"?=Fy&E=E>!Q 5-5%?Q 9-5%')%1BY5?Q E5:y5]žQ I5@%?EI% ;i% ;%Z5y=WBɮ=AEiEii']?AJiBRiBji@b檵pW@O .Z(@7@RPo?pr? .?Zi A>bid{j}0%V@L;,8@+f;@Z)>?~JϿ=X?2i`:iB"iŬ?*ib,4?AR]N@R)I@RrٱRd ZAHRS rotation from veh to nav: [[0.906968,0.421122,0.008018],[-0.416509,0.893875,0.165853],[0.062677,-0.153762,0.986118]]RH? ?k?ڿ? :?` ?|ÿ@G?iR]N@IRb;P\E ElE&E"E1:*E:VE4ZEa@a@a@a@Y~ByIbDVDy7|%<=ٔ .Q- >9Y=Fy(E8E>Q 5%5 ?Q 9%5*)4BY)y-žQ I-@CEI ;i ;@ 5y1ɮ=*A9jhYeDNOT Ignoring new targets: 97.48 m.RheY\:ZhmY\: ProNav: ac range: 97.475204 m, nav range: 93.668671 m, bearing: 345.466289 deg, approach rate: -0.589088 m/s, LOS rate: 0.048161 deg/s, cmd heading: 336.189643 deg, new cmd heading: 336.251909 deg. Bh5;HeadingCmd: 5.868703 target range: 97.475204 and range: 98.10 m.hj̻@h*h"h hg)f)f)f)d1d1d1jd1Zd=o?颭Bɢl() Ppi)\y顱ii7Ծ$<rDIj̻@IBUN>BQBUIBUCBBU< =BQBQBU`;BU1$E9@ @@/@A ^A #2A .AI I O >i,,?A2G@2A@2܀ٱ2)L NAHRS rotation from veh to nav: [[0.906582,0.421943,0.008548],[-0.417319,0.893262,0.167119],[0.062879,-0.155074,0.985900]]2H??? Yڿ`?)d??{ÿ`}?i2G@I2a;0 T)VkAV94TTXZkAiZ-IZKFXI\i\ ^什\)\` btkAb ׽``dfkAIfy)did)dIfkAjmh hhllilliln A)p pIpYpYv~ByvI|~AbDVDy?<%e=ٔFQ->9 ?Y ?=Fy*E%$E%>)Q 555-?Q 955-1,)-7BY1y=dƾQ I=@-FEI-;i-;- 5yEVBɮEAEjEeB*** querying acoustic contact ***ia iajhiuDNOT Ignoring new targets: 97.48 m.Rhu\:Zh}\: ProNav: ac range: 97.475204 m, nav range: 93.460190 m, bearing: 345.483496 deg, approach rate: -0.582987 m/s, LOS rate: 0.048224 deg/s, cmd heading: 336.251907 deg, new cmd heading: 336.303642 deg. Bha;HeadingCmd: 5.869606 target range: 97.475204 and range: 98.10 m.hӻ@h*h"h hgfffdddjdZd #?Bɢ0) mi)zixiӾbp$<Iӻ@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@/@@fA@EE EEmEE"EA"EEO:*EE:VEE(3ZEABEE;a]2EE;a]JEEFG;ae:EEGG;ae^A"5AA I I O% >] *DAT read: user:642> ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501269:>o, ?AV>@V9@V~ٱVH ^AHRS rotation from veh to nav: [[0.906151,0.422861,0.008824],[-0.418207,0.892670,0.168056],[0.063188,-0.155974,0.985738]]VH@1?@)?<?ڿ@?܂?-?ÿ@*?iV>@IVba;T|Y5By5IiMb@Mb@Mb@ 9S?~jt?MbY?y<IA  A)^AY3AbDVDJyN=%%=ٔ8#Q->9Y=Fy,EE>Q 5 5(5?Q 95I/)>BY?Q E:yξQ I@KEI` ;i ; 5yUBɮ%A%kE)jhIUDNOT Ignoring new targets: 97.48 m.RhUq~:ZhUq~:e ProNav: ac range: 97.475204 m, nav range: 93.164001 m, bearing: 345.511029 deg, approach rate: -0.596352 m/s, LOS rate: 0.055612 deg/s, cmd heading: 336.303652 deg, new cmd heading: 336.386515 deg. Bhe;mHeadingCmd: 5.871052 target range: 97.475204 and range: 98.10 m.hm߻@hq*hq"hq hqgqfqfyf}BdydydjdZd V ?颵BɢPݘ) wYi)|z项iF"iӾ#<KӻI߻@Iy@y @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752961YbE3jE3rE- 0E]w E]xE]$EY"E]}:*E]:VE]4ZEYae@ae@ae@ae@ԉ ^A A A B P>B B IB 9BB B B B a;B L$EB˹CB˹CBB< =BC˶4Iy I O >[Jv,Rb?A2&6@20@2ٱ2 :AHRS rotation from veh to nav: [[0.905692,0.423843,0.008920],[-0.419169,0.892160,0.168370],[0.063405,-0.156230,0.985684]]2H@m?> ?D?ڿ?@'?I;?@[ÿ ?i2&6@I2W`;2uC@Bs@i@I@@D DDDDHHIH)HiH)LINiAN ׽NUF LPPPiPPiPVjA)T TIT T)TXXX ``YXEЀG](hAqY} By}I 9(hAYAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004609y̫?AbDVDܲy%j<%-f=ٔMQ-m>9qYq=uFyu.E}@E}>Q 55(F?Q 951)CBYyϾQ I@NEI@;i;5yPBɮOAtEjhDNOT Ignoring new targets: 97.48 m.Rh x:Zh x: ProNav: ac range: 97.475204 m, nav range: 92.947090 m, bearing: 345.531452 deg, approach rate: -0.591665 m/s, LOS rate: 0.055837 deg/s, cmd heading: 336.386516 deg, new cmd heading: 336.447928 deg. BhH;%HeadingCmd: 5.872124 target range: 97.475204 and range: 98.10 m.h%q@h!*h!"hA hAgIfIfIfIdQdQdQjdQZdUS@Bɢ,) Vi)b{iS޻ivҾ8#<Iq@IA9@ @@-0@q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259903^A [RӻIA IQ Oe >Թ E z E sE E "E l:*E Z:VE ZE BE ܧ;a- 2E ݧ;a- JE ];a- :E ];a- o|,(?A>0@>+@>}ٱ>` FAHRS rotation from veh to nav: [[0.905396,0.424490,0.008112],[-0.419762,0.892119,0.167104],[0.063698,-0.154701,0.985906]]>H`?@*?ڜ?bڿ0@I>?`;>sCY=By=IԹi]Mb@Mb@Mb@YYYY Y9]rh|?Mb`?Y]?y];]Y]r@ ] A)]AYY]AbDVDNy$=%C=ٔ9Q->9Y=Fy0E[ԺE>Q 55?Y?Q 95K4)KBY?Q E:yܾQ I@REI:iU:\5yOBɮAuEjhDNOT Ignoring new targets: 97.48 m.RhW:ZhW: ProNav: ac range: 97.475204 m, nav range: 92.701714 m, bearing: 345.558792 deg, approach rate: -0.603939 m/s, LOS rate: 0.067468 deg/s, cmd heading: 336.447933 deg, new cmd heading: 336.530168 deg. Bh59;HeadingCmd: 5.873559 target range: 97.475204 and range: 98.10 m.h3@h*h"h hgfffBdddjdZd@Bɢݙ) gJi)/|iݻi%~Ѿ%n"<%d"I%3@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5093009@ @@1@@@=^A zIi Iy O >9 W,y?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760650NL,@N'@NٱN VAHRS rotation from veh to nav: [[0.905164,0.424980,0.008349],[-0.420247,0.891790,0.167638],[0.063798,-0.155248,0.985813]]NH?`2? ?Sڿ?)u?@ U?-ÿ@ȋ?iNL,@IN_;NqCY]+By]IimAAbDuVDu1yW=%^=ٔQ->9Y=Fy2EֿE>Q 55\j?Q 956)SBYyܾQ I@VEI6:i :5yɮAE% E%E%!E!"E%:*E%,:VE%c3ZE!a-@a-@a-@a-@jhy}DNOT Ignoring new targets: 97.48 m.Rh":Zh": ProNav: ac range: 97.475204 m, nav range: 92.481773 m, bearing: 345.583498 deg, approach rate: -0.567330 m/s, LOS rate: 0.063880 deg/s, cmd heading: 336.530169 deg, new cmd heading: 336.604463 deg. Bh\/;HeadingCmd: 5.874856 target range: 97.475204 and range: 98.10 m.h@h*h"h hgfffdddjdZd+@=BɢEA)A EMAiA)EL|AIiMuܻiuѾu!BECBEIBECBaBE: =BABABE`;BEA$EiIBDAT read: Rx Time:06:04:23.0521 TRx dataTimestamp_ set to:1761545064.480394checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013964ԑ^A- I I O >Թ ,'?A2-@2(@2*Uٱ2] :AHRS rotation from veh to nav: [[0.905227,0.424867,0.007193],[-0.420068,0.892193,0.165936],[0.064083,-0.153232,0.986110]]2H?1?lv}?dڿ،? g=?g?`ÿ7?i2-@I2O_;2sCY^:BybIbDjVDj2yr=%rU=ٔrCQ-r>9tYt=vFyv4Ez:Ez>xQ 55z)|?Q 95zO9)zZBYyܾQ I@zZEIz ;izL ;z5yNBɮA-B*** querying acoustic contact ***i) i)jh9EDNOT Ignoring new targets: 97.48 m.RhEߢ:ZhEߢ:U ProNav: ac range: 97.475204 m, nav range: 92.252968 m, bearing: 345.609299 deg, approach rate: -0.629820 m/s, LOS rate: 0.071197 deg/s, cmd heading: 336.604454 deg, new cmd heading: 336.682049 deg. BhUrC;]HeadingCmd: 5.876210 target range: 97.475204 and range: 98.10 m.h] @ha*ha"ha hagafafifidididqjdqZdul @uBɢ}H) /6iԙ)2M}项imۻi_о6!< II  @I9}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268545D!zD%@AE- E-xE-&E)"E-O:*E-:VE-4ZE)BE-;a=2E-;a=JE-Po;a=:E-Qo;a=A@A @A@E/@I^A 2DI I O >U DAT read: 06:04:23.0521 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 157,-0.39,-0.908,-2.720,-1.020,-1.158, PHS= 0.353,-1.517, 0.095, RAW= 142.7, 12.2, CAL= 142.2, 13.2, ROT= 7.8, -13.2 e Ygot valid direction response: 06:04:23.0521 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 157,-0.39,-0.908,-2.720,-1.020,-1.158, PHS= 0.353,-1.517, 0.095, RAW= 142.7, 12.2, CAL= 142.2, 13.2, ROT= 7.8, -13.2 e PDAT read: Bearing 147.4, 8.9 (Local) m ~Local bearing/azimuth received: Bearing 147.4, 8.9 (Local) u DAT read: Range 11 to 50 : 96.1 m (Round-trip 128.2 ms) speed 0.5 m/s } TDAT read: user:643>Tx time:06:04:24.1198  R#Rx 1: Read range and direction messages. \direction in FSK: [0.964571,0.132130,0.228351] Fpublishing direction and range infoy  9Lj?00A? :?Y 3B     ) HI j>i -¿ \= e@ ^ Z> @  k>) 'g >I k   ςd?$MP!?ة?  7>) L,YI 'g >i k   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. _j,'A?Ab.5@b/@bWٱb  nAHRS rotation from veh to nav: [[0.905602,0.424081,0.006288],[-0.419257,0.892865,0.164360],[0.064088,-0.151481,0.986380]]bH? $$?y?@ڿZ? ?h?cÿm?ib.5@Ib,`;`Y]YBy] IaeAiMb@Mb@Mb@ 9A`"?~jthY?yDA\@ l A)^AY=AbDVD1y F=% ,=ٔ5*Q-5>91Y1=5Fy=6E=:E=>AQ 5M5E?Q 9u5E<)EdBYu?Q Eu:yuQ I}@E^EIET;iEC;E5yMBɮAvEi1i5N>?AJi5BRi5Bji5ʳ@b5W@iuJ;)@禴 5@R59Lj?00A? :?Zi5'g >bi5kj5̭9V@C7P7_9@Z5t]? Ͽ4<?2i5":i5̱B"i5MG՟?*i5SBi5Bi5MG՟?i5BE CBE IBE bBBE ; =BA BA BE `;BE !$E^AU LMA] >A] >y A ؟AI I O >G,^?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0205756 ;@65@6Oٱ6_ BAHRS rotation from veh to nav: [[0.905903,0.423450,0.005494],[-0.418610,0.893436,0.162905],[0.064073,-0.149876,0.986626]]6H(? ?v?`ڿ`??g?#/ÿq?i6 ;@I6C`;6qCYJuByJIbDRVDR0yZ3=%Z[=ٔ^(8Q-^>9^"?Yb"?=bFyb8Eb:Eb>dQ 5j5fТ?Q 9n5f>)fkBYlyn+Q In@fbEIf:if:fX5ypɮrAtjh DNOT Ignoring new targets: 95.49 m.Rh:Zh:% ProNav: ac range: 95.488434 m, nav range: 91.703606 m, bearing: 345.292419 deg, approach rate: -0.614936 m/s, LOS rate: 0.070361 deg/s, cmd heading: 336.787885 deg, new cmd heading: 336.862342 deg. Bh-'A;5HeadingCmd: 5.879357 target range: 95.488434 and range: 96.10 m.h5#@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE?Bɢϒ) ii)J~i)ٻi%ξ%w<-j^I-#@I)9@ @@/@^AlX-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276730IE  E |E "E "E :*E P$:VE (3ZE BE ͽ;a 2E ν;a JE };a :E };a A .AI I O >i .j,Cx?AJ?@J:@JgٱJn  VAHRS rotation from veh to nav: [[0.906146,0.422942,0.004394],[-0.418076,0.894051,0.160891],[0.064119,-0.147628,0.986962]]JH&?@y?q?@ڿ??j?y¿ 2?iJ?@IJt`;HY^By^.IiuMb@Mb@Mb@qqqq q9uI +?Mb?9 ?Y ?=Fy:E:E>Q 55?Q 95A)uBYA?Q E:y վQ I@fEI ;i*::5yɮAwEjhDNOT Ignoring new targets: 95.49 m.Rh:Zh: ProNav: ac range: 95.488434 m, nav range: 91.457771 m, bearing: 345.317205 deg, approach rate: -0.568969 m/s, LOS rate: 0.057519 deg/s, cmd heading: 336.862334 deg, new cmd heading: 336.936892 deg. Bh;HeadingCmd: 5.880658 target range: 95.488434 and range: 96.10 m.hZ.@h*h"h h!g!f!f!f-Bd)d)d)jd)Zd5?QeBɢed)a m$ͽii)m~iiim;ٻiξ<|hIZ.@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.5248069@ @@@ԁԱ^A`A - checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777263I1 IA OU > f,v?A24I@2D@2ٱ2LE> E>rE>&E<"E>:*E>?:VE>4ZE9dYd=fFyflQ 5n5nƂ?Q 9r5nC)n~BYpyrԾQ Ir@niEIn:in:n5ytɮzAxjhDNOT Ignoring new targets: 95.49 m.Rh%߃:Zh%߃:5 ProNav: ac range: 95.488434 m, nav range: 91.240425 m, bearing: 345.339079 deg, approach rate: -0.571430 m/s, LOS rate: 0.057647 deg/s, cmd heading: 336.936893 deg, new cmd heading: 337.002671 deg. Bh5?;=HeadingCmd: 5.881806 target range: 95.488434 and range: 96.10 m.h=7@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM?Bɢ) 0i)~!!i%ػi%;-B<-gI-7@IQԉBUQ>BQBU3IBUBBU< =BQBQBU`;BU$E=9@A @A@E0@A@M=@M=ԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.028531^AEzlAq I I O > V,9?Az?@?o]?'ڿ??@hQ?#¿{?checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282699iz9Y=Fy?E _=;E >Q 55݂?Q 95F)BYl?Q E:y̾Q I%@nEI:i:5y-LBɮ-A-xEMB*** querying acoustic contact ***iI iIjhQ]DNOT Ignoring new targets: 95.49 m.Rh]Vh:Zh]Vh:u ProNav: ac range: 95.488434 m, nav range: 90.959267 m, bearing: 345.364837 deg, approach rate: -0.552580 m/s, LOS rate: 0.050781 deg/s, cmd heading: 337.002681 deg, new cmd heading: 337.080194 deg. Bhuf ;uHeadingCmd: 5.883159 target range: 95.488434 and range: 96.10 m.h}B@hy*hy"hy hygyfyffBdddjdZdh?颽Bɢs) @,iA)M/IIiM3ػi]4̾!]<-J,m?A2b@2\@2Fٱ24} :AHRS rotation from veh to nav: [[0.907919,0.419146,0.000716],[-0.414298,0.897156,0.153195],[0.063569,-0.139385,0.988196]]2H ?H?vG?`ڃڿ@?? F?aL?i2b@I2`;0YBByBhIbDNVDN0yV=%V]=ٔV9Q-V>9Z"?YZ"?=ZFyZAEZ;E^>\Q 5f5^킊?Q 9f5^H)^BYdyf(̾Q If@^qEI^ ;i^Y;^5ylɮnAljh| DNOT Ignoring new targets: 95.49 m.Rh {g:Zh {g: ProNav: ac range: 95.488434 m, nav range: 90.754379 m, bearing: 345.383503 deg, approach rate: -0.554084 m/s, LOS rate: 0.050594 deg/s, cmd heading: 337.080190 deg, new cmd heading: 337.136316 deg. Bh ;-HeadingCmd: 5.884139 target range: 95.488434 and range: 96.10 m.h-J@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=@mBɢms)i miq)uQqqiuػi}O̾}Kh<}_IJ@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.785222u9@q @y@}0@y1EQ EUvEU%EQ"EQ*EU:VEU 4ZEQae@ae@ae@ae@AA?AB U>B CB YIB BB 9 =B B ODB `;B  $EY^A} cAi Iy I O >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036665ԉ ,&?A2p@2Xk@2񐁽ٱ2 :AHRS rotation from veh to nav: [[0.908667,0.417521,0.000140],[-0.412706,0.898139,0.151725],[0.063223,-0.137925,0.988423]]2H`?? ["?@iڿ ?k?@Z/?(?i2p@I2`;2qCYFByFIbDNVDNk1yV=%VL=ٔVb:Q-Z>9XYX=ZFyZCE^;E^>`Q 5f5b?Q 9f5bAK)bBYdyfB˾Q Ij@buEIb:ibB:b|!5ynKBɮnAlyjhDNOT Ignoring new targets: 95.49 m.RhJ\:ZhJ\: ProNav: ac range: 95.488434 m, nav range: 90.532318 m, bearing: 345.403578 deg, approach rate: -0.531296 m/s, LOS rate: 0.048148 deg/s, cmd heading: 337.136307 deg, new cmd heading: 337.196679 deg. Bh,;HeadingCmd: 5.885192 target range: 95.488434 and range: 96.10 m.hS@h*h"h hgfffdddjdZd7@eBɢmAy)i m@ ྶ,g?A:rt@:>o@:`ٱ:0 BAHRS rotation from veh to nav: [[0.908880,0.417058,0.000814],[-0.412281,0.898173,0.152676],[0.062944,-0.139100,0.988276]]:H??hJ?bڿԽ???@ ?i:rt@I:ma;8YJ"ByJIBDAT read: Rx Time:06:04:26.6494  TRx dataTimestamp_ set to:1761545068.008151 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541709i5Mb@Mb@Mb@1111 195'1Z?L7A`?Mbp?Y5?y5+=15hA1 5A)5GA1Y5zA M49aYi=mFymEEm:Em>qQ 5}5u?Q 9}5uGM)uBY?Q E:yQ I@uxEIu ;iu" ;uY#5yɮJAjhDNOT Ignoring new targets: 95.49 m.Rh#:Zh#: ProNav: ac range: 95.488434 m, nav range: 90.315437 m, bearing: 345.418221 deg, approach rate: -0.528783 m/s, LOS rate: 0.035786 deg/s, cmd heading: 337.196686 deg, new cmd heading: 337.240719 deg. Bhz:HeadingCmd: 5.885961 target range: 95.488434 and range: 96.10 m.hY@h*h"h hgfffBdddjdZd ˰@颕Bɢp) Z=i)4~顙iiٻia˾<]IY@Ie9@a @a@e4@a1checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792635^A ONbE 3jE ʨ3rE 0E  E wE $E "E a:*E :VE 4ZE a @a @a @a @a A I I O >ZŶ,M?AJy@J^t@JٱJZ RAHRS rotation from veh to nav: [[0.909149,0.416470,0.000782],[-0.411718,0.898488,0.152339],[0.062742,-0.138820,0.988328]]JH? s?I?Yڿj? ?@? b?iJy@IJؐa;JrCYZ,ByZIBbT>B`BbIBbBB`B`B`Bb`;Bb $EBCBCBB: =B: =C}5bD-VD-2yEF=%EL=ٔE:Q-M>9IYI=MFyMGEUh:Eu>yQ 55} ?Q 95}3O)}BYyfQ I@}{EI} :i}:}%5yɮAyE9EQGYq9YAjhiDNOT Ignoring new targets: 95.49 m.Rh:Zh: ProNav: ac range: 95.488434 m, nav range: 90.109375 m, bearing: 345.432116 deg, approach rate: -0.481531 m/s, LOS rate: 0.032546 deg/s, cmd heading: 337.240727 deg, new cmd heading: 337.282509 deg. Bh:DAT read: 06:04:26.6494 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.19,-1.953, 2.529,-2.037,-2.204, PHS= 0.353,-1.505, 0.123, RAW= 143.5, 11.7, CAL= 143.0, 12.7, ROT= 7.0, -12.7 HeadingCmd: 5.886690 target range: 95.488434 and range: 96.10 m.h_@h*h"h hgfffdddjdZdv @%Ygot valid direction response: 06:04:26.6494 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.19,-1.953, 2.529,-2.037,-2.204, PHS= 0.353,-1.505, 0.123, RAW= 143.5, 11.7, CAL= 143.0, 12.7, ROT= 7.0, -12.7 -PDAT read: Bearing 147.5, 8.2 (Local) -~Local bearing/azimuth received: Bearing 147.5, 8.2 (Local) =DAT read: Range 11 to 50 : 94.0 m (Round-trip 125.4 ms) speed 0.9 m/s YTDAT read: user:644>Tx time:06:04:27.7198 R#Rx 1: Read range and direction messages.\direction in FSK: [0.968263,0.118888,0.219846]Fpublishing direction and range infoyi?Lmo?F#?YB 额 Bɢkwl) =i)~顡i$ڻil˾<@^I_@I)FIiףm=J @Q>@ b>)5=Ibv]8!?5'X ?Z/? >>)@bQI5=ibT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@@ԑ DAT read:  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300637^A jb E  E sE E "E *E Z:VE ZE BE W;a 2E X;a JE ];a :E ];a A%.AI1IAOM>M̶,/M6?AB@Bz@BٱBc VAHRS rotation from veh to nav: [[0.909483,0.415741,0.001126],[-0.411025,0.898752,0.152654],[0.062452,-0.139299,0.988279]]BH {?~?sR?@:Nڿ?.??`?iB@IB}a;BsCYb>BybIliMb@Mb@Mb@ 9MbX9?)\(?MbpY?yGa=A @ CA)S@YAbDVDy =% %=ٔ:Q->9 ?Y ?=FyJE>:E>!Q 5-5%4?Q 9-5%BQ)%BY5?Q E5:y5Q I5@%EI% ;i% ;%C'5y=EBɮ=7A=EiIiM ?AJiMκBRiMκBjiM,k@bM~)V@?q{5&@ﲔň4@RMi?Lmo?F#?ZiM5=biMbjM]:3U@TT84f e8@ZM?E!|пhm'?2iMv:iMȭB"iMFΟ?*iMEBiMBiIiMSiMBiMBiM@ addTargetRange:: Added new target pos. range: 94.000000 m, deltaT: 3.529681 s, deltaX: -2.099998 m, approachRate: -0.594954 m/s, rangeRepo size: 4  Added new target pos. range: 93.402870 m, bearing: 344.524256 deg, lat: 36.779417 deg, lon: -121.859719 deg, deltaT: 3.529681 s, deltaX: -2.085564 m, approachRate: -0.590865 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 93.40 m.RhEZhAU ProNav: ac range: 93.402870 m, nav range: 89.959106 m, bearing: 345.201391 deg, approach rate: 0.000000 m/s, LOS rate: 0.032546 deg/s, cmd heading: 337.282500 deg, new cmd heading: 337.328566 deg. BhQ]HeadingCmd: 5.887494 target range: 93.402870 and range: 94.00 m.h]Zf@hY*hY"hY hagfff%BdddjdW@Zd?} Bɢ7b) =i)46~顁iUڻiʾ <A`IZf@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549563Q@Q @Q@U4@Q1Y ^A cA zA fA checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800689A I I) O5 >JԶ,R?A9Y=FyLEE>Q 55E?Q 95S)BYyQ I@EI?;i)5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 93.40 m.Rh#9Zh#9 ProNav: ac range: 93.402870 m, nav range: 89.747589 m, bearing: 345.209530 deg, approach rate: -0.513258 m/s, LOS rate: 0.019796 deg/s, cmd heading: 337.328563 deg, new cmd heading: 337.353037 deg. Bh^Y:HeadingCmd: 5.887921 target range: 93.402870 and range: 94.00 m.hi@h*h"h h g f f f dddjdZd $?E BɢM\)I U(=iQ)U}YYi]ۻie`ʾm`BBIB?BB: =BBNDB`;B$E 9@  @ @ /@ Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.052598^AjZX AU ؟AIY Ii O} >Elڶ,k?AFږ@F@F}ٱF;` VAHRS rotation from veh to nav: [[0.910664,0.413145,0.001611],[-0.408488,0.899800,0.153293],[0.061883,-0.140256,0.988180]]FH@($?p?dZ?$ڿ(???*?iFږ@IFa;FnCYbSBybIpbDvVDv0y x=% T=ٔ %:Q- >9"?Y"?=FyNE%;E%>)Q 555-T?Q 9=5-T)-BYAyEQ IE@-EI-)K;i-L;-*5yQɮUAUEjhDNOT Ignoring new targets: 93.40 m.RhH9ZhH9 ProNav: ac range: 93.402870 m, nav range: 89.550568 m, bearing: 345.216793 deg, approach rate: -0.503635 m/s, LOS rate: 0.018609 deg/s, cmd heading: 337.353043 deg, new cmd heading: 337.374882 deg. BhVL:eHeadingCmd: 5.888302 target range: 93.402870 and range: 94.00 m.hel@hi*hi"hi hqgfchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.307086ffddd jd)Zd5e?uBɢu&Z)q uX>iq)}#Y}yyi}ܻi.ʾ9<BE EyE&E"E:*E:VE4ZEBEͽ;a2Eν;aJEr;a:Er;aIl@I}9@y @@/@9m checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557127y ^A kA I I O >=,1?AHY hBy I AiMb@Mb@Mb@ 9x&1?ʡE?~jtYA?y=DlAM@ ZA)Y(AbDVDy7=%6=ٔQ->9Y=FyPEE>Q 558g?Q 95:V)BY?Q E:yRQ I@EI:if:,5yɮAjhDNOT Ignoring new targets: 93.40 m.Rh`8Zh`85 ProNav: ac range: 93.402870 m, nav range: 89.323975 m, bearing: 345.219126 deg, approach rate: -0.511863 m/s, LOS rate: 0.005283 deg/s, cmd heading: 337.374872 deg, new cmd heading: 337.381888 deg. Bh5 h9=HeadingCmd: 5.888425 target range: 93.402870 and range: 94.00 m.h=m@h9*h9"h9 h9g9fAfAfETBdAdIdIjdIZdMi?}Bɢ}I)y />i)"| i ޻i ʾ<IIm@I9@ @@/@%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808697E EEE"EC:*ER:VEZEa@a@a@a@^A*:BU Q>BU CBU IBU ]BBU ; =BQ BQ BU `;BU $E! A I! I1 OE >w,ȵ?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.060684|Y=mBy=IbDMVDMy]@<%eQ=ٔaQ-e>9aYi=mFymREiEm>qQ 55uEw?Q 95uW)uBYyQ I@uEIu;iu;un.5yDBɮAEjhDNOT Ignoring new targets: 93.40 m.RhI8ZhI8 ProNav: ac range: 93.402870 m, nav range: 89.126122 m, bearing: 345.221173 deg, approach rate: -0.506735 m/s, LOS rate: 0.005253 deg/s, cmd heading: 337.381893 deg, new cmd heading: 337.388047 deg. Bhf9HeadingCmd: 5.888532 target range: 93.402870 and range: 94.00 m.hn@h*h"h hgfffdddjdZd|@Bɢ6J) 3>i)<<|ijt߻i%ʾ% +<%KI%n@I))9@ @@@Q=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312889^AlXD zD ?AE9  E= E= $E9 "E9 *E= X:VE= 4ZE9 BE= %;am 2E= &;am JE= o;au :E= p;au ԉ A I I O >,?AY~tBy~IYiMb@Mb@Mb@ 9Mb?#~j?9Y=FyTEE>Q 55ވ?Q 95*Y)BY?Q E:yQ I@EI3:i:A05yɮAjh!%DNOT Ignoring new targets: 93.40 m.Rh-x8Zh-x8= ProNav: ac range: 93.402870 m, nav range: 88.909386 m, bearing: 345.223046 deg, approach rate: -0.518780 m/s, LOS rate: 0.004493 deg/s, cmd heading: 337.388040 deg, new cmd heading: 337.393672 deg. Bh=]E9EHeadingCmd: 5.888630 target range: 93.402870 and range: 94.00 m.hEo@hA*hA"hA hAgIfIfIfMKBdQdadijdqZd} @颭BɢvF) <>i)j{顱iiʾAy<MIo@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.564862m9@i @i@m0@iԑԱ^A|^A I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816640z,l?A2Ѵ@2̻@2 yٱ2 >AHRS rotation from veh to nav: [[0.913639,0.406527,0.000081],[-0.401959,0.903341,0.149678],[0.060775,-0.136784,0.988735]]2H@9Y=FyVEԹ<E>Q 55ԙ?Q 95Z)Yy&Q I@EI~;ia];25yɮ;A-B*** querying acoustic contact ***i) i)jhIeDNOT Ignoring new targets: 93.40 m.RhmH8ZhmH8 ProNav: ac range: 93.402870 m, nav range: 88.700890 m, bearing: 345.223861 deg, approach rate: -0.509864 m/s, LOS rate: 0.001998 deg/s, cmd heading: 337.393668 deg, new cmd heading: 337.396120 deg. Bh8HeadingCmd: 5.888673 target range: 93.402870 and range: 94.00 m.hp@h*h"h hgfffAA@ABL>BBIBBB< =BBB`;B$Ed)d1d1jd1Zd5KI@颅Bɢ|D) I>i)z顉IiMaMiMɾU%,?A:gݴ@:3ػ@:Vwٱ:4* FAHRS rotation from veh to nav: [[0.914234,0.405187,0.000411],[-0.400667,0.903885,0.149858],[0.060349,-0.137170,0.988707]]:HgA??0:?ٿ?`.??Ǝ}?i:gݴ@I:^'`;:rCYN~ByN ITVBAbDZVDZ:y^f<%bU=ٔbݑ:Q-b>9f ?Yf ?=fFyfXEf5t;Ej>hQ 5n5jש?Q 9r5j[)jBYpyrnQ Ir@jEIj&;ijT;j35yxɮz-AxjhDNOT Ignoring new targets: 93.40 m.Rh%#7Zh%#75 ProNav: ac range: 93.402870 m, nav range: 88.504166 m, bearing: 345.224455 deg, approach rate: -0.528318 m/s, LOS rate: 0.001599 deg/s, cmd heading: 337.396127 deg, new cmd heading: 337.397914 deg. Bh5{8 @E EE%E"Eҝ:*E?:VE 4ZEBE;a2E;aJE;a:E;aEBɢMD) BH>i)+>z顙iWilɾ0]<C巻IDp@I)e9@a @a@e0@a^A=`Իaiq Iq u 2Acoustic response timeoutAu ؟AI I O >ԁ ,c?AYByIiMb@Mb@Mb@ 9x&1?+η? rhY?yv=C A )5@Y AbDVD1y?<%<=ٔQ->9"?Y"?=MFyUZEUEU>YQ 5e5]ռ?Q 9e5]`])YYm?Q Em:ymosQ Im@]EI]U:i]:]55qyyɮ}A}EjhDNOT Ignoring new targets: 93.40 m.RhZh ProNav: ac range: 93.402870 m, nav range: 88.272301 m, bearing: 345.221422 deg, approach rate: -0.513967 m/s, LOS rate: -0.006742 deg/s, cmd heading: 337.397903 deg, new cmd heading: 337.388779 deg. BhHeadingCmd: 5.888545 target range: 93.402870 and range: 94.00 m.hn@h*h"h hgfffdddjdZdc @Bɢ -<)  M>i )6yihiFʾ9<йIn@I@ @@4@DAT read: 06:04:30.2467 LVL= 29840, 32753, 32754, 32755, AGC= 70, IDX= 422,-0.02, 2.859, 0.999, 2.788, 2.548, PHS= 0.414,-1.503, 0.197, RAW= 144.1, 9.8, CAL= 143.6, 10.7, ROT= 6.4, -10.7 5Ygot valid direction response: 06:04:30.2467 LVL= 29840, 32753, 32754, 32755, AGC= 70, IDX= 422,-0.02, 2.859, 0.999, 2.788, 2.548, PHS= 0.414,-1.503, 0.197, RAW= 144.1, 9.8, CAL= 143.6, 10.7, ROT= 6.4, -10.7 EPDAT read: Bearing 146.1, 8.0 (Local) E~Local bearing/azimuth received: Bearing 146.1, 8.0 (Local) UDAT read: Range 11 to 50 : 92.1 m (Round-trip 122.8 ms) speed 0.4 m/s ]*DAT read: user:645> mBDAT read: Tx time:06:04:31.3198 m$Ping request sent.miNb^I> @%/>g @ t;?>)=It;?%Zw?CKN?sW? >)p/I=it;?:publishing transmit ping timeiFpublishing direction and range infoyAf??_95 ? &K{?Yԡ )Ii )I%Zw?CKN?sW? )IiE E|E"E"Es:*EP$:VE(3ZEa@a@a@a@BF>BCB'IBBBA =BGDBMDB`;B$E^AA I) I9 OE > -,M"?A6>@6 @6 oٱ6x BAHRS rotation from veh to nav: [[0.915351,0.402647,0.002814],[-0.398384,0.904600,0.151618],[0.058503,-0.139905,0.988435]]6HJ?`?. g? ٿ|?9h??fB?i6>@I6Ua;4Y^By^IbDfVDfJzynu%nZ=ٔr;Q-r>9pYt=vFyv\EvN;Ev>xQ 5~5z˃?Q 95z^)xYypQ I@zEIz]:iz3:z475y ɮ AiiT?AJiBRiBjiP[@b8WV@u0 $@0@RAf??_95 ? &K{?Zi=bit;?jdExU@.z7۟4@Z\w?0&9пg\ d?2i:i«B"i|,?*iFdBiBii{i5Bi@BiJ@e addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.778548 s, deltaX: -1.900002 m, approachRate: -0.502839 m/s, rangeRepo size: 4 u Added new target pos. range: 91.511330 m, bearing: 344.413340 deg, lat: 36.779417 deg, lon: -121.859721 deg, deltaT: 3.778548 s, deltaX: -1.891541 m, approachRate: -0.500600 m/s, posRepo size: 4 jhq}DNOT Ignoring new targets: 91.51 m.Rh}Zhy ProNav: ac range: 91.511330 m, nav range: 88.125046 m, bearing: 345.126567 deg, approach rate: 0.000000 m/s, LOS rate: -0.006742 deg/s, cmd heading: 337.388778 deg, new cmd heading: 337.381442 deg. BhHeadingCmd: 5.888417 target range: 91.511330 and range: 92.10 m.hm@h*h"h hgfffd!d!d!jd%`fW@Zd-["?颕Bɢ`A) PC>i) y顙i6i ʾJ<IKRIm@Ia@a @a@e/@a@i@i^A೻AA>I A .AI I O >E  E E !E "E :*E 3:VE c3ZE BE 7 AHRS rotation from veh to nav: [[0.915618,0.402034,0.003481],[-0.397825,0.904714,0.152409],[0.058124,-0.140933,0.988311]]6HL?`?l?`uٿj?#?j­? ¿ ??i6S@I6b;4YF~ByJ IiMb@Mb@Mb@ 9!rh?ʡE?/$Yl?y-=A A)@YAbDeVDeyuo'%}A=ٔ}{k:Q-}>9 ?Y ?=Fy^EL:E>Q 55xރ?Q 95`)BYY ?Q E:y,Q I@EI ;i* ; 95yɮ+AEjhDNOT Ignoring new targets: 91.51 m.Rh Zh  ProNav: ac range: 91.511330 m, nav range: 87.898323 m, bearing: 345.125776 deg, approach rate: -0.535429 m/s, LOS rate: -0.001872 deg/s, cmd heading: 337.381429 deg, new cmd heading: 337.379051 deg. BhpHeadingCmd: 5.888375 target range: 91.511330 and range: 92.10 m.hm@h*h"h hg!f!f!f%ia)eTsxaaimIim$ʾm"&A<,oU?APf@fw@f/iٱf9 zAHRS rotation from veh to nav: [[0.915835,0.401518,0.005390],[-0.397475,0.904543,0.154320],[0.057087,-0.143474,0.988006]]fH N?v?v?;pٿ??t:?\]¿ ?if@Ifb;fsCY|ByIbE 4jE 3rE 0E= E=E=$E9"E=:*E=X:VE=4ZE9aM@aM@aM@aM@bDUVDUyeU0%eL=ٔe);Q-e>9iYi=mFym`Emu:Eu>qQ 55u?Q 95una)qYy Q I@uEIul;iu2;u:5yɮ<AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 91.51 m.RhZhBqAu<B}A>B}CB}-IB}BB}B =ByB}LDB}`;B}$EBE¹CBE¹CBE”CBE< =BE> =CEW\6 ProNav: ac range: 91.511330 m, nav range: 87.683266 m, bearing: 345.124988 deg, approach rate: -0.535469 m/s, LOS rate: -0.001969 deg/s, cmd heading: 337.379052 deg, new cmd heading: 337.376680 deg. BhHeadingCmd: 5.888334 target range: 91.511330 and range: 92.10 m.h;m@h*h"h hgfffdddjdZdS? !!zGfAR9fAYA=$Bɢ=J)A E0>iA)EwAAie;im)ʾmj,2o?A2@2@2sfٱ2T >AHRS rotation from veh to nav: [[0.916040,0.401013,0.007690],[-0.397122,0.904128,0.157630],[0.056259,-0.147449,0.987468]]2H3P?3? ?`qjٿ?@8-? ά?@¿ W?i2@I2b;0YF~ByF IbDRVDR:yV9<%ZV=ٔZ ;Q-Z>9\Y\=^Fy^bEb:Eb>dQ 5f5f?Q 9j5fb)fBYhyjQ In@fEIf;if-;fy<5ypɮr+Apxjh DNOT Ignoring new targets: 91.51 m.Rh checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496959Zh  ProNav: ac range: 91.511330 m, nav range: 87.477890 m, bearing: 345.124210 deg, approach rate: -0.543736 m/s, LOS rate: -0.002063 deg/s, cmd heading: 337.376675 deg, new cmd heading: 337.374337 deg. BhAHeadingCmd: 5.888293 target range: 91.511330 and range: 92.10 m.hl@h*h"h hg fff!dIdQdYjdYZde ?!M'BɢM!F)I M/>iI)U:wQQiUi]^/ʾ]JS<]E] E]E]#EY"E]g:*E] :VE]3ZEYBE]};am2E]~;amJE]4C",[}?Aɰ;B%@B@B3dٱB $ JAHRS rotation from veh to nav: [[0.916215,0.400595,0.008558],[-0.396779,0.904098,0.158660],[0.055821,-0.148762,0.987296]]BH@Q?[??dٿ^?N?@? ÿ@?iB%@IBnb;BrCYRnByVIi5Mb@Mb@Mb@1111 195Q?T㥛 ?I +Y5?y5=595; A5@ 5A)11Y5AbDMVDMy]%]B=ٔ]l:Q-]>9aYa=eFyedEe!o:yEm>Q 55M?Q 95d)Y ?Q E:yQ I@EIU:i:V>5yɮAEjhDNOT Ignoring new targets: 91.51 m.Rh9Zh9u ProNav: ac range: 91.511330 m, nav range: 87.247841 m, bearing: 345.130159 deg, approach rate: -0.539540 m/s, LOS rate: 0.013989 deg/s, cmd heading: 337.374325 deg, new cmd heading: 337.392220 deg. Bhu:}HeadingCmd: 5.888605 target range: 91.511330 and range: 92.10 m.h}to@hy*hy"hy hgfffBdddjdZd ?)BɢM) % >i!)-v))i-i5hʾ5<5$I5to@I9ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0005709@ @@0@E} E}EyEy"E}:*E}P:VEyZEya@a@a@a@B9>BCBBBF =BBKDB`;B$E^A% NJκI I O > h(,$E?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251281:@:@:cٱ:R BAHRS rotation from veh to nav: [[0.916453,0.400044,0.008873],[-0.396266,0.904273,0.158947],[0.055562,-0.149184,0.987247]]:HS?`P? ,?j\ٿ?`X?r? sÿ?i:@I:^a;8YbkBybIbDhVDhyr%rS=ٔrw/:Q-v>9tYt=vFyvfEz:Ez>|Q 55~#?Q 95~*f)~BYyΘQ I @~EI~;i~:~@5yɮAjh9=DNOT Ignoring new targets: 91.51 m.RhEx}9ZhEx}9U ProNav: ac range: 91.511330 m, nav range: 87.042030 m, bearing: 345.135434 deg, approach rate: -0.539066 m/s, LOS rate: 0.013850 deg/s, cmd heading: 337.392220 deg, new cmd heading: 337.408084 deg. BhU:HeadingCmd: 5.888882 target range: 91.511330 and range: 92.10 m.hq@h*h"h hgfffdddjdZd @e+BɢePNQ)a e>ii)mEmviiimiɾ< Iq@I9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503662^A5"51IIO>D zD @AEM  EM EM %EI "EM :*EM VL:VEM 4ZEI BEM 9Y=FyhE'`:E>Q 556?Q 95Qh)BY ?Q E:yQ I@EIy;i%;A5yɮAEjh!-DNOT Ignoring new targets: 91.51 m.Rh-:Zh5:1E ProNav: ac range: 91.511330 m, nav range: 86.802040 m, bearing: 345.149359 deg, approach rate: -0.552136 m/s, LOS rate: 0.032124 deg/s, cmd heading: 337.408094 deg, new cmd heading: 337.449983 deg. BhE_:MHeadingCmd: 5.889613 target range: 91.511330 and range: 92.10 m.hMw@hI*hQ"hQ hQgQfQfYf]BdYdYdajdaZde@颕-Bɢ1W) =i)v顙i^iLɾ`D<U$Iw@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755862M9@I @I@M4@Ia^AmNJκԉIIO> BDAT read: Rx Time:06:04:33.8443  TRx dataTimestamp_ set to:1761545075.316159 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008243Թ {5,?A f @f@fʐdٱf nAHRS rotation from veh to nav: [[0.916782,0.399304,0.008178],[-0.395474,0.904749,0.158206],[0.055773,-0.148275,0.987372]]fHGV? 2??@sOٿ@? @?M?@¿?if @If`;fqCYz`ByzIE~ E~E~&E|"E~:*E~P:VE~4ZE|a @a @a @a @bD%VD%yM%US=ٔUQ-U>9YYY=]Fy]jEec:Ee>iQ 5m5m H?Q 9u5m>j)mBYqyutQ Iu@mEIm;im;mC5yɮ"AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 91.51 m.Rh:Zh: ProNav: ac range: 91.511330 m, nav range: 86.587601 m, bearing: 345.161793 deg, approach rate: -0.552084 m/s, LOS rate: 0.032090 deg/s, cmd heading: 337.449977 deg, new cmd heading: 337.487370 deg. Bh/:HeadingCmd: 5.890266 target range: 91.511330 and range: 92.10 m.h}@h*h"h hgfffdddjdZd @A1A1B=5>B=CB=!IB=BB=H =B9B9B=`;B=#Eԑ颍/BɢkZ) =i)ҿu顱ii,ɾL< >-I}@II@I @I@M/@IԹechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259140^A5 7IIO>! Ѥ;,s?A6j@66 @6dٱ6 >AHRS rotation from veh to nav: [[0.916914,0.398992,0.008612],[-0.395187,0.904738,0.158988],[0.055644,-0.149182,0.987243]]6H\W???Jٿ`?@Y?S}?aÿ~?i6j@I6Y{`;6rCYFRByJIbDnVDnNyvu%vQ=ٔv!9Q-v>9xYx=zFyzlEzT:E~>Q 5-58Y?Q 9-5-l)BY1y5PQ I5@EI ;i֩;OE5y9ɮEAEEjhamDNOT Ignoring new targets: 91.51 m.Rhm:Zhu: ProNav: ac range: 91.511330 m, nav range: 86.371719 m, bearing: 345.174333 deg, approach rate: -0.546679 m/s, LOS rate: 0.031834 deg/s, cmd heading: 337.487379 deg, new cmd heading: 337.525093 deg. BhȮ:HeadingCmd: 5.890924 target range: 91.511330 and range: 92.10 m.hs@h*h"h hgfffdddjdZd`1 @DAT read: 06:04:33.8443 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 413,-0.04,-1.106,-2.834,-1.152,-1.294, PHS= 0.291,-1.495, 0.098, RAW= 144.4, 13.0, CAL= 143.9, 14.1, ROT= 6.1, -14.1 Ygot valid direction response: 06:04:33.8443 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 413,-0.04,-1.106,-2.834,-1.152,-1.294, PHS= 0.291,-1.495, 0.098, RAW= 144.4, 13.0, CAL= 143.9, 14.1, ROT= 6.1, -14.1 PDAT read: Bearing 149.6, 6.8 (Local) ~Local bearing/azimuth received: Bearing 149.6, 6.8 (Local) %DAT read: Range 11 to 50 : 90.3 m (Round-trip 120.4 ms) speed 0.6 m/s 5*DAT read: user:646> BDAT read: Tx time:06:04:34.9198 $Ping request sent.i)\9=K!@Vh> @ d{>)^ =Id{th?J?,x? 1>)gI^ =id{=:publishing transmit ping time=Fpublishing direction and range infoyjD4?ϴNb? .?Y )Ii )Ith?J?,x? )!Ii9@ @@3@I ^A y A I I O >B,z ?AJ@J @J/dٱJ} RAHRS rotation from veh to nav: [[0.916880,0.399060,0.009093],[-0.395261,0.904502,0.160139],[0.055681,-0.150422,0.987053]]JHW?4??Kٿ`?p?6?Aÿ@?iJ@IJ`;HYuUBy}IԹiMb@Mb@Mb@ 9@5^I ?I +?9AYI=MFyMoEMH,EM>QQ 5]5U o?Q 9e5Uo)UBYe|?Q Ee:yeȾQ Ie@UEIU ;iU:U|G5yiɮmyAqiYi]ir?AJi]pBRi]pBji]ҫ@b]TPyU@q2H~"@ϯY5@R]jD4?ϴNb? .?Zi]^ =bi]d{j]=T@*HU6\A[)9@Z]0ߚ?/Ͽ3~?2i]:i]pB"i]Yfӟ?*i]{Bi]UBi]Yfӟ?i]{i]UBi]TBi]׫@ addTargetRange:: Added new target pos. range: 90.300003 m, deltaT: 3.527959 s, deltaX: -1.799995 m, approachRate: -0.510209 m/s, rangeRepo size: 4  Added new target pos. range: 89.718765 m, bearing: 344.976399 deg, lat: 36.779417 deg, lon: -121.859725 deg, deltaT: 3.527959 s, deltaX: -1.792564 m, approachRate: -0.508102 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 89.72 m.RhZh ProNav: ac range: 89.718765 m, nav range: 86.165070 m, bearing: 344.976544 deg, approach rate: 0.000000 m/s, LOS rate: 0.031834 deg/s, cmd heading: 337.525081 deg, new cmd heading: 337.572675 deg. BhHeadingCmd: 5.891755 target range: 89.718765 and range: 90.30 m.hA@h*h"h hgfffBdd d jd @3V@Zd @?E3BɢEmc)A M|=iI)MxEuIIiM(iUiȾU<]yxI]A@IYIa)eeA9@ @@/@@@=E EE#E"E:*EF:VE3ZEa-@a-@a-@a-@B.>BCBIBBBK =BBJDBe`;B#E ^A _i I AA Aa Ii Iy O >j!I,K&?Aj @jW@j~dٱjr %AHRS rotation from veh to nav: [[0.916718,0.399423,0.009507],[-0.395616,0.904142,0.161294],[0.055829,-0.151622,0.986861]]jH U?@$?0x?Qٿ? F?@?Whÿ\?ij @Ij$_;jqC15ds@i1I119 9999AAIA)AiA)IIMiAMI IQQQiQQiQY)Y YIY Y)e{AaaaYaYSByIbD=VD=yM%M7=ٔUQ-U>9QYQ=]Fy]qE]dE]>aQ 5m5eƂ?Q 9m5eq)eBYqyu5ɾQ Iu@eEIeL ;ie ;epI5y}@Bɮ}cA}EjhDNOT Ignoring new targets: 89.72 m.RhPc:ZhPc: ProNav: ac range: 89.718765 m, nav range: 85.914864 m, bearing: 344.998491 deg, approach rate: -0.564766 m/s, LOS rate: 0.049683 deg/s, cmd heading: 337.572674 deg, new cmd heading: 337.638707 deg. Bhc;HeadingCmd: 5.892907 target range: 89.718765 and range: 90.30 m.h@h*h"h hgfffdddjdZd[? 5Bɢ cd) u=i),uiPiǾ…<,קI%@I!@ @@/@E EE$E"E:*Ea9:VE4ZE1 BE;aM 2E;aU JE";a] :E";ae ^A a A ؟AI! I1 OE >5P,B?A2@2@2)dٱ2 :AHRS rotation from veh to nav: [[0.916492,0.399943,0.009412],[-0.396145,0.904005,0.160758],[0.055786,-0.151062,0.986949]]2H S??|F?qZٿ???Vÿ?i2@I2_;0 h)jkAllllnkAinOIppIpip rƽrdjF)pt vkAvv>FtxzkAIz)z.PFix)|I~kA~Q8| |ii C A)  I Y YUByIiMb@Mb@Mb@ 9|?5^?{GzMbY?y#$ A@ tA)@Y(AbDVDN2y <%h=ٔ9Q->9"?Y"?=FysEBֺE>Q 55I?Q 95s)BY?Q E:yھQ I@EI;i|;J5yɮXAEIjhDNOT Ignoring new targets: 89.72 m.Rh:Zh: ProNav: ac range: 89.718765 m, nav range: 85.715363 m, bearing: 345.020766 deg, approach rate: -0.534636 m/s, LOS rate: 0.059834 deg/s, cmd heading: 337.638708 deg, new cmd heading: 337.705690 deg. Bh@$; HeadingCmd: 5.894076 target range: 89.718765 and range: 90.30 m.h F@h *h "h  h g fffBdddjdZd?颍6Bɢ2c) w=i)ct顑iDiN9Ǿ <kuػIF@IY@Y @Y@]/@YyԡPExceeded connect timeout, disconnecting.^A} #2E  E E %E "E :*E .:VE 4ZE a @a @a @a @ A I I) O5 >ۣV,[?ABA<B,>BCBIBwBBP =BBIDB_;B#EVS@V@V eٱV ^AHRS rotation from veh to nav: [[0.916172,0.400670,0.009627],[-0.396870,0.903609,0.161202],[0.055889,-0.151510,0.986875]]VHGQ???Pfٿ\? E?? dÿy?iVS@IV8_;TYZByIbDVDky<%J=ٔvQ->9Y=FyuEE>Q 55 ?Q 95Iv)BYy4۾Q I@EI;io:L5y ɮ 3A -B*** querying acoustic contact ***i) i)jh1=DNOT Ignoring new targets: 89.72 m.Rh=ߙ:ZhEߙ:M ProNav: ac range: 89.718765 m, nav range: 85.486809 m, bearing: 345.046540 deg, approach rate: -0.594868 m/s, LOS rate: 0.067263 deg/s, cmd heading: 337.705699 deg, new cmd heading: 337.783228 deg. BhU8;]HeadingCmd: 5.895430 target range: 89.718765 and range: 90.30 m.h]\@hY*hY"hY hYgYfafafadadidijdiZdm?额8Bɢ`) =i)`t顡iiƾ<' ԱI\@Im9@i @i@m0@i@q@udAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^ArAA> I I O >9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975874a\,}u?At@@@dٱO eAHRS rotation from veh to nav: [[0.915607,0.401960,0.009569],[-0.398202,0.903239,0.159981],[0.055663,-0.150290,0.987074]]HL???$|ٿ@V?`@z??<ÿ?it@I^;sCE EE"E"E*EVL:VE(3ZEBE6 9Y= Fy wE GE >Q 55L?Q 95y)BY%?Q E%:y%Q I%@EI ;i ;N5y-ABɮ-JA1jhY]DNOT Ignoring new targets: 89.72 m.RheY:ZheY:u ProNav: ac range: 89.718765 m, nav range: 85.211151 m, bearing: 345.083676 deg, approach rate: -0.580084 m/s, LOS rate: 0.078400 deg/s, cmd heading: 337.783235 deg, new cmd heading: 337.895002 deg. Bhu8W;}HeadingCmd: 5.897380 target range: 89.718765 and range: 90.30 m.h}W@hy*hy"hy hgfff>BdddjdZd\@颽9Bɢje) p=i)ntii2ž <;8IW@I9u9@q @q@u0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.228113Y ^A  ԉ I I O >c,"o?A2q@2=@2"udٱ2 :AHRS rotation from veh to nav: [[0.915018,0.403301,0.009467],[-0.399542,0.902747,0.159416],[0.055747,-0.149651,0.987166]]2H@G??2c? ٿ@N?g?ڊ?@'ÿ`ݖ?i2q@I2h^;2pCYBjByBIbDN VDN2yV=%V=ٔV\Q-V?9XYX=ZFyZyE^XE^?`Q 5f5bDŽ?Q 9f5b{)bBYdyfQ IE@bEIbB9>BCBIBrBBH =BBKDBl_;Bl#EB}ŵCB}ŴCByB}H =B}J =C}J61(hA9(hAYͤAY ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731961j,/?A2ܴ@2׻@2bٱ2a :AHRS rotation from veh to nav: [[0.914463,0.404554,0.009633],[-0.400860,0.902342,0.158398],[0.055388,-0.148711,0.987328]]2HHC?7?o?ٿ ? dF?[?@ÿ1?i2ܴ@I2p^;2sCPYRrByRIV=V=bD^VD^0yf`=%fI=ٔf~g:Q-f>9hYh=jFyj{EjgEn>pQ 5v5r*ل?Q 9v5r~)rBYtyvZQ Iv@rEIr:ir:rQ5y|ɮ~yA~Ejh!%DNOT Ignoring new targets: 89.72 m.Rh-:Zh-:= ProNav: ac range: 89.718765 m, nav range: 84.797424 m, bearing: 345.140541 deg, approach rate: -0.602278 m/s, LOS rate: 0.083451 deg/s, cmd heading: 337.968115 deg, new cmd heading: 338.066034 deg. Bh=e;MHeadingCmd: 5.900365 target range: 89.718765 and range: 90.30 m.hMϼ@hI*hI"hI hIgQfQfYfYdadadajdiZdm@u! p,?A4<ɰ4<2uԴ@2Aϻ@2xcٱ2  :AHRS rotation from veh to nav: [[0.914053,0.405472,0.009959],[-0.401779,0.901820,0.159043],[0.055507,-0.149375,0.987221]]2H`?? B?2e?@ٿ? [? `k?@ÿ`Q?i2uԴ@I2^;2qCYB{ByFI|iMb@Mb@Mb@%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236102 9 +?V-y&1?Y?y`e< GA)@Y5@A5@AbD=VD=:yM$=%MB=ٔMQ-U>9QYQ=UFyU}EE>Q 55]섊?Q 95w)BY?Q E:y3Q I@EI':i:S5yɮ4Ajh!%DNOT Ignoring new targets: 89.72 m.Rh-ϳ:Zh-ϳ:] ProNav: ac range: 89.718765 m, nav range: 84.548309 m, bearing: 345.174770 deg, approach rate: -0.570377 m/s, LOS rate: 0.078601 deg/s, cmd heading: 338.066032 deg, new cmd heading: 338.169020 deg. Bh]W;eHeadingCmd: 5.902163 target range: 89.718765 and range: 90.30 m.he޼@ha*ha"ha higifififuBdddjdZdH @=BɢQ) =i))hsi5]i5`þ=o <= I=޼@I91@ @@/@^A}UII)O[>Y% DAT read: 06:04:37.4416 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.02,-0.692,-2.473,-0.754,-0.926, PHS= 0.336,-1.502, 0.128, RAW= 144.1, 11.9, CAL= 143.6, 12.9, ROT= 6.4, -12.9 5 Ygot valid direction response: 06:04:37.4416 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.02,-0.692,-2.473,-0.754,-0.926, PHS= 0.336,-1.502, 0.128, RAW= 144.1, 11.9, CAL= 143.6, 12.9, ROT= 6.4, -12.9 = PDAT read: Bearing 148.8, 7.1 (Local) E ~Local bearing/azimuth received: Bearing 148.8, 7.1 (Local) ] DAT read: Range 11 to 50 : 88.2 m (Round-trip 117.6 ms) speed 0.6 m/s e *DAT read: user:647>  BDAT read: Tx time:06:04:38.5198  $Ping request sent. iAo> @ȭT>g @ f>)=IfQ?0 ? ^? >)uTI=if :publishing transmit ping time  Fpublishing direction and range infoy0Sz?ӧGл?Nu?Y )Ii )IE  E E &E "E :*E VE 4ZE a @a @a @a @ԙ Q?0 ? ^? )IiA A AAB B CB IB wBB D =B B B _;B >#E`!w,-?A2ϴ@2ʻ@24!dٱ2 :AHRS rotation from veh to nav: [[0.913818,0.405996,0.010241],[-0.402292,0.901448,0.159851],[0.055667,-0.150195,0.987088]]2H@=??U?&ٿ?u?`?9ÿ9?i2ϴ@I25^;2pCYNByNIbDZVDZy{=%O=ٔչQ->9 Y = Fy E E>Q 5=5V?Q 9E5)BYAyEzQ IE@EI:i:U5yMBBɮU AUEYii?AJiDBRiDBjiwz@b#)%8U@40 #@?!l3@R0Sz?ӧGл?Nu?Zi=bifj8NhT@X p6O`6@ZKBɢ2J) >i).riiJ>¾ <`}I@I i)I)ԁ@ @@@Ա^AI1 IA OM > M},?AY~By~.I  A AEU EUEU%EQ"EU:*EU H:VEU 4ԹZEQBEUi;a2EUj;aJEU;a :EU;a bDVD02yM,=%u7=ٔ}Q->9Y=FyEE>Q 5%5:?Q 9%5R)BYIyIQ Im@EIDi)WCr顩ii4Cd <t I@I@ @@/@=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. ^A= bިI Am .AIq I O >ӄ,`>?A2U޴@2!ٻ@2gٱ2 RAHRS rotation from veh to nav: [[0.914485,0.404540,0.008055],[-0.400654,0.902561,0.157674],[0.056515,-0.147418,0.987458]]2HvC??:?`Oٿ?.??¿`B?i2U޴@I2_;2qCYfByfGIlechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.976322iMb@Mb@Mb@ 9Q?y&19 ?Y ?=FyEX;E>Q 55c%?Q 95) BY?Q E:y?ݾQ I@EIe:i:oY5yɮ AjhDNOT Ignoring new targets: 87.63 m.RhX:ZhX: ProNav: ac range: 87.633369 m, nav range: 83.978516 m, bearing: 344.885585 deg, approach rate: -0.585760 m/s, LOS rate: 0.067907 deg/s, cmd heading: 338.372790 deg, new cmd heading: 338.458657 deg. Bhj:;E  E pE "E "E :*E  :VE (3ZE a@a@a@a@%HeadingCmd: 5.907218 target range: 87.633369 and range: 88.20 m.h%@h!*h!"h! h!g)f)f)f-Bd1d1d1jd1Zd5@?m@Bɢm 4)i m]>ii)uqqqiuTi}~}j<}ѭI}@IyB-1>B-CB-!IB-BB-H =B)B-JDB-^;B-#E@ @@/@) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227116^A} q歼Y A ؟AI I O >,:.?AF@F@FjٱFQ RAHRS rotation from veh to nav: [[0.915195,0.402987,0.004501],[-0.398916,0.904247,0.152328],[0.057317,-0.141205,0.988320]]FHFI??1or?ևٿ@?y?X?`¿P?iF@IFB _;FsCYZπByZnIbDbVDb:yjY/>%j_=ٔnQ-n>9n"?Yn"?=rFyrEr8;Er>tQ 5z5v4?Q 9z5vK)vBY|y~dܾ9Q I}@vEIv3i)pi-i%H῾%<%HI%@I!@ @@ 0@@@@@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479809ԁE- E-~E-#E)"E-:*E-(:VE-3ZE)BE-;aM2E-;aUJE-;aU:E-;aUԙAzAdAIq I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730756,*G?A6F@6@6hoٱ6D BAHRS rotation from veh to nav: [[0.916327,0.400431,-0.000104],[-0.396147,0.906562,0.145647],[0.058416,-0.133419,0.989337]]6H R?ৠ?G xZٿ@? ?? ?i6F@I6*_;6qCYJByJIIN=)N>iMb@Mb@Mb@ 9"~?Q?y&1?Y?y<`e< Al@ KA)@YbD5VD50yEi=%EC=ٔM,Q-M>9IYI=UFyUEU;EU>YQ 5e5]G?Q 9e5]})]BYm5?Q Em:ymᴾQ Im@]EI]:i]:]\5yu8Bɮu Aԙjh!%DNOT Ignoring new targets: 87.63 m.Rh-":Zh-":] ProNav: ac range: 87.633369 m, nav range: 83.538986 m, bearing: 344.923348 deg, approach rate: -0.574031 m/s, LOS rate: 0.035587 deg/s, cmd heading: 338.527507 deg, new cmd heading: 338.572244 deg. Bh]b:eHeadingCmd: 5.909200 target range: 87.633369 and range: 88.20 m.he+@ha*ha"ha hagifififm/BdqddjdZd?BBɢI) !>i)oi{)izr<șI%+@I!E9@A @A@E0@IIAIYOmy>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983907E5  E5 {E5 $E1 "E5 O:*E5 5":VE5 4ZE1 a= @a= @a= @a= @B- 6>B) B- YIB- BB- M =B) B) B- .^;B- "E ,wa?A2& @2@2fsٱ2=+ :AHRS rotation from veh to nav: [[0.917517,0.397670,-0.004664],[-0.393226,0.908893,0.138873],[0.059465,-0.125585,0.990299]]2H@L\?`ks?s *ٿ??3r?@(?i2& @I2d_;0Y^BybIfAAdbDjVDj2y%5=%%M=ٔ%h,Q-%>9)Y)=-Fy-E5<E5>1Q 5E55-Z?Q 9E55)5&BYAyEUQ IE@5EI5;i5:5^5yU7BɮU AUEjhq}DNOT Ignoring new targets: 87.63 m.Rhq%:Zhq%: ProNav: ac range: 87.633369 m, nav range: 83.309433 m, bearing: 344.937136 deg, approach rate: -0.600334 m/s, LOS rate: 0.036160 deg/s, cmd heading: 338.572231 deg, new cmd heading: 338.613712 deg. Bh:HeadingCmd: 5.909924 target range: 87.633369 and range: 88.20 m.h@h*h"h hgfffdddjdZd@~@CBɢi) +>i) nii<^I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2349619@ @@4@IQIaOu>!Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486843y E=  E= xE= "E9 "E= :*E= :VE= (3ZE9 BE= ;aM 2E= ;aM JE= Oo;aM :E= Po;aM 5,{?A;@6@.bxٱf EAHRS rotation from veh to nav: [[0.918784,0.394690,-0.007481],[-0.390082,0.910638,0.136287],[0.060603,-0.122300,0.990641]]Hf?B?~ؿ#?q?f?OU?i;@Ig_;QYUBy]IiMb@Mb@Mb@ 9/$?X9v?:v?Y1?y}=T<A@ A)@Yp@bDVDy >%/=ٔh Q- >9 Y =FyE;E>Q 5%5Vn?Q 9%5g)/BY-' ?Q E-:y-Q I-@EI ;iX ;`5y1ɮ5A9UB*** querying acoustic contact ***iQ iQjhaeDNOT Ignoring new targets: 87.63 m.Rhm9Zhm9} ProNav: ac range: 87.633369 m, nav range: 83.060333 m, bearing: 344.940609 deg, approach rate: -0.533698 m/s, LOS rate: 0.007464 deg/s, cmd heading: 338.613704 deg, new cmd heading: 338.624155 deg. Bh}9HeadingCmd: 5.910107 target range: 87.633369 and range: 88.20 m.h@h*h"h hgfffWBdddjdZd!@EDBɢE)a e>ii)mliiimiu&uuIIOa>ԩ @&,$?AZ[@ZvV@ZW{ٱZN nAHRS rotation from veh to nav: [[0.920246,0.391247,-0.008598],[-0.386506,0.912100,0.136697],[0.061324,-0.122472,0.990576]]ZH r?/ ?ؿ/?M?e? VZ˲?iZ[@IZ_;ZpCYz0ByzI ||bD VD ky>%n=ٔ Q-%?9!Y!=%F5BDAT read: Rx Time:06:04:41.0383 5TRx dataTimestamp_ set to:1761545082.376236=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991953y=E= 7<EE?IQ 5U5MU}?Q 9U5M)M6BYQyUQ IU@MEIMR:iMI:Mb5ye6Bɮe3AeEjhDNOT Ignoring new targets: 87.63 m.Rh8Zh8ԡ ProNav: ac range: 87.633369 m, nav range: 82.875206 m, bearing: 344.942708 deg, approach rate: -0.489558 m/s, LOS rate: 0.005561 deg/s, cmd heading: 338.624168 deg, new cmd heading: 338.630477 deg. BhAt9HeadingCmd: 5.910217 target range: 87.633369 and range: 88.20 m.h @h*h"h hgfffdE E}E$E"E1:*Ek&:VE4ZEa@a@a@a@ddjdZdi@AɢM|Ƽ)I M9>iI)M+rkIIiU(iUBH>BCBIBBB? =BBMDBg];Bx"E]jS<56I5 @I99@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2428709 ^AU }I I O >A P,u?A2x@2s@2R}ٱ2 >AHRS rotation from veh to nav: [[0.921590,0.388078,-0.008171],[-0.383197,0.912953,0.140275],[0.061897,-0.126145,0.990079]]2H@}?`C?ڻKؿ@6???%๮?i2x@I2ts_;2sCYFAByFI N;Np<bDNVDNyVװ=%ZQ=ٔZQ-Z>9\Y\=^Fy^E^K<Eb>`Q 5f5b?Q 9j5b9)b>BYhyjQ Ij@bEIbP;ibZ:bc5ylɮrApjh  DNOT Ignoring new targets: 87.63 m.Rh8Zh8% ProNav: ac range: 87.633369 m, nav range: 82.668236 m, bearing: 344.944546 deg, approach rate: -0.582767 m/s, LOS rate: 0.005189 deg/s, cmd heading: 338.630479 deg, new cmd heading: 338.636007 deg. Bh%c9-HeadingCmd: 5.910313 target range: 87.633369 and range: 88.20 m.h-I!@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=o @mEBɢm~䣼)ur u>iq)uDjqqiuwi}龾}X<k II!@I!@ @@/@]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498059^A+wIqIO9>E EyE&E"E:*E:VE4ZEBEa /,(?A2BDAT read: Tx time:06:04:42.1197 2$Ping request sent.2@RB@R@RI~ٱRB  AHRS rotation from veh to nav: [[0.922810,0.385182,-0.007564],[-0.380236,0.913770,0.142983],[0.061987,-0.129070,0.989696]]RH`?Ц?~@Uؿ@=?CM?಼?[?iRB@IRfW_;RrCi-{->- "@-Q>-!@ -b>)-q=I-b))-H5{b?S?^? -z2>)-i PI-q=i-b))M:publishing transmit ping time0MFpublishing direction and range infoy)-Q9Mi?g~?F#?Y))))) )))I)i))))) )))I)))-H5{b?S?^? )))I)i)))Y]YBy}IiMb@Mb@Mb@ 9'1Z?y&1?~jth?Y?y`=D;VA@ GA)@Yz@bD5VD5k1yEX=%E(=ٔMBAQ-M>9iYq=uFyuEu?;Eu>yQ 55}f?Q 95}h)}CBԩY?Q E:y94Q I@}EI}q;i} ;}e5y5BɮAEi)i-g?AJi-BRi-Bji-y@b-LT@ȩAG@n۔2@R-Q9Mi?g~?F#?Zi-q=bi-bj-F@S@g;5h\:6@Z-6 ?O[п?2i-N:i-xB"i-Cv?*i-_=}Bi-Bi-Yfӟ?i-.Mi-Bi-Bi-{@ addTargetRange:: Added new target pos. range: 85.800003 m, deltaT: 3.779228 s, deltaX: -2.399994 m, approachRate: -0.635049 m/s, rangeRepo size: 4  Added new target pos. range: 85.252396 m, bearing: 344.624898 deg, lat: 36.779417 deg, lon: -121.859735 deg, deltaT: 3.779228 s, deltaX: -2.380974 m, approachRate: -0.630016 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 85.25 m.RhZh  ProNav: ac range: 85.252396 m, nav range: 82.479187 m, bearing: 344.715252 deg, approach rate: 0.000000 m/s, LOS rate: 0.005189 deg/s, cmd heading: 338.635998 deg, new cmd heading: 338.643903 deg. BhHeadingCmd: 5.910451 target range: 85.252396 and range: 85.80 m.h%j"@hA*hA"hA hAgAfIfIfMBdIdQdQjdU@3sU@ZdU x?GBɢZƼ) * ?i)gi#i׾4< ʻIj"@I @! @!@%/@!@-fA@-fAbE4jE3rE?/E  E E $E "E :*E VE 4ZE a% @a% @a% @a% @ y y A A @AB :>B CB IB 3BB B =B B LDB ];B A"EBɶCBɶCBBD =BE =CŰ6 ЀG! 9 m ʶ9i Ym ĥA^A 0A zA gA9 AIIYIiO}>j,o?A22@2@2~ٱ2  :AHRS rotation from veh to nav: [[0.923962,0.382415,-0.007266],[-0.377425,0.914657,0.144750],[0.062000,-0.131002,0.989442]]2H@?{y?} 'ؿD?-?@?@?i22@I2V_;0Y@yBIIN=)N<bDRVDRyZ;%ZQ=ٔ^Q-^>9\Y\=bFybEbH<Eb>dQ 5j5f%?Q 9j5fR)fGBYlyn'1Q In@fEIfy:if:fg5ypɮrApjh DNOT Ignoring new targets: 85.25 m.Rh#Zh#% ProNav: ac range: 85.252396 m, nav range: 82.278305 m, bearing: 344.702097 deg, approach rate: -0.544794 m/s, LOS rate: -0.035765 deg/s, cmd heading: 338.643894 deg, new cmd heading: 338.604331 deg. Bh%\ĺ-HeadingCmd: 5.909760 target range: 85.252396 and range: 85.80 m.h5@h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE ?HBɢhS|) ?i)g8fi1i%1%<-^EI-@I)@ @@/@^Ag׻A.AIIO%o>AE  E {E %E "E U:*E 5":VE 4ZE BE ;a 2E ;a JE ;z;a :E yO >ףz@ A)@Y(@@AbDVD:yL=%<=ٔ]9Q->9 ?Y ?=FyE[;E>Q 55mƅ?Q 95)HBY[?Q E:ybQ I@EI ;i ;}i5yɮ%AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 85.25 m.RhS{ZhS{- ProNav: ac range: 85.252396 m, nav range: 82.062775 m, bearing: 344.678207 deg, approach rate: -0.494270 m/s, LOS rate: -0.054931 deg/s, cmd heading: 338.604333 deg, new cmd heading: 338.532474 deg. Bh-5HeadingCmd: 5.908506 target range: 85.252396 and range: 85.80 m.h5|@h1*h1"h1 h1g9f9f9f=BdAdAdAjdAZdE@7?I}IBɢ}n) ?i)u'd顁iiMտM&:IM|@IQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y`ԻԩI @I  @I @M /@I e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236760 E  E E #E "E :*E |;:VE 3ZE a% @a% @a% @a% @^AM `ԻAM >AM >B 7>B CB .IB kBB F =B B KDB \;B ("EA؟AIIO?!2ȷ,1`"?AY {By BIbDVD!y5h-=%5#=ٔ5Q-5>9="?Y="?==Fy=E=EE>AQ 5M5Emۅ?Q 9U5E)EJBYQyQQ IU@EEIEf;iE;Ek5y]4BɮeAeEjhDNOT Ignoring new targets: 85.25 m.RhvZhv  ProNav: ac range: 85.252396 m, nav range: 81.815186 m, bearing: 344.650606 deg, approach rate: -0.482552 m/s, LOS rate: -0.053956 deg/s, cmd heading: 338.532480 deg, new cmd heading: 338.449427 deg. Bh -HeadingCmd: 5.907057 target range: 85.252396 and range: 85.80 m.h5@h1*h9"h9 h9gAfAfAfIdIdIdIjdIZdUIJ?a颅KBɢޘ) 0?i)a顉i" iTQ<:I@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.489037}9@ @@/@ԑ^AΒ{AI)I9OE>Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740308 PTη,>@>@>yٱ>A bAHRS rotation from veh to nav: [[0.927877,0.372850,-0.005274],[-0.367874,0.917622,0.150458],[0.060938,-0.137666,0.988602]]>H *? ?u`A׿`)]? 8B?O3?@?i>@I>_;>qCY~By~NIbDVDy%F=%%L=ٔ%-;Q-%>9)Y)=-Fy-E5<E5>9Q 5M5=>셊?Q 9U5=6)=KBYYyezҽQ Ie@= EI=;i=*;=lm5yqɮu{AqjhDNOT Ignoring new targets: 85.25 m.Rh͇Zh͇ ProNav: ac range: 85.252396 m, nav range: 81.617302 m, bearing: 344.627456 deg, approach rate: -0.506209 m/s, LOS rate: -0.059364 deg/s, cmd heading: 338.449424 deg, new cmd heading: 338.379806 deg. Bh"HeadingCmd: 5.905842 target range: 85.252396 and range: 85.80 m.h@h*h"h hgfffdddjdZd]?LBɢf) _?i)f_ i r i,3uP<lB,B.`IB.BB.G =B,B,B.\;B. "ErY!@r&@rqٱr  zAHRS rotation from veh to nav: [[0.929436,0.368977,-0.002265],[-0.364241,0.918451,0.154195],[0.058975,-0.142489,0.988038]]rH? R?ڎbO׿c?਼?1?=¿?irY!@Ir5z_;rpCYBy QIiMb@Mb@Mb@ 9 ףp= ?K7?YQ>yI >̼ Ad@ )r@Yz@ 4<bDVD2y#<%=ٔLn;Q->9Y=FyE;E>Q 55?Q 95)FBY-?Q E:y|޽Q I@EI+;i;o5yɮbAEjhDNOT Ignoring new targets: 85.25 m.Rh}Zh} ProNav: ac range: 85.252396 m, nav range: 81.347839 m, bearing: 344.596892 deg, approach rate: -0.487373 m/s, LOS rate: -0.055465 deg/s, cmd heading: 338.379811 deg, new cmd heading: 338.287814 deg. BhBHeadingCmd: 5.904236 target range: 85.252396 and range: 85.80 m.h@h*h"h hgfffBdddjdZd`,^@=NBɢ=8)9 e?ia)e/\aaieKim¾m=~+ݷ,;w?A:+@:l&@:kٱ: BAHRS rotation from veh to nav: [[0.929968,0.367641,-0.000705],[-0.363104,0.918789,0.154860],[0.057581,-0.143759,0.987936]]:H`K?@m?XG=׿f?t?@3{?@f¿@,?i:+@I:e_;:qCYJxByJ>IbDVVDVy^%b]=ٔb*w;Q-b>9dYd=fFyfEf];Ef>hQ 5n5j?Q 9r5j)jCBYpyr ܽQ Ir@jEIj* ;ijG ;jgq5ytɮzAzEjhDNOT Ignoring new targets: 85.25 m.Rh%Zh%5 ProNav: ac range: 85.252396 m, nav range: 81.163612 m, bearing: 344.575723 deg, approach rate: -0.520448 m/s, LOS rate: -0.059939 deg/s, cmd heading: 338.287822 deg, new cmd heading: 338.224171 deg. Bh5$5HeadingCmd: 5.903125 target range: 85.252396 and range: 85.80 m.h=g@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.748472h9*hI"hI hIgIfIfQfQdQdQdQjdYZd]4@颅PBɢ:$) ?i)>[顑iAui@¾<?nԩ P,?A6H3@6.@6dٱ6@ BAHRS rotation from veh to nav: [[0.930400,0.366544,0.001113],[-0.362271,0.919082,0.155072],[0.055818,-0.144682,0.987903]]6H@?`uu?l:R?r/׿i?@d?0? ¿?i6H3@I6b_;4YJnByJ2Ii%Mb@Mb@Mb@!!!! !9%Zd;?v/?y%x=%t%l A%7@ %GA)%E@!Y%3@bD=VD=0yM8%MB=ٔM ;Q-M>9QYQ=UFyUE]7;E]>aQ 5m5eb$?Q 9m5e`)e>BYm?Q Em:yuQ Iu@eEIea:ie:e?s5yyɮ},AyB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 85.25 m.Rh9Zh9 ProNav: ac range: 85.252396 m, nav range: 80.953171 m, bearing: 344.558676 deg, approach rate: -0.497950 m/s, LOS rate: -0.040441 deg/s, cmd heading: 338.224165 deg, new cmd heading: 338.172892 deg. Bh޺HeadingCmd: 5.902230 target range: 85.252396 and range: 85.80 m.h߼@h*h"h hgfffUBdYdadajdaZdeྵ @QBɢd-) E?i)g1Yi5i% þ%<-fE EE"E"E:*E1]:VE(3ZEaE@aE@aE@aE@B}8>ByB}rIB}BByByByB}x\;B}!E^Ak< I I O >= DAT read: 06:04:44.6359 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424, 0.17, 0.676,-1.099, 0.688, 0.437, PHS= 0.341,-1.491, 0.207, RAW= 146.3, 10.7, CAL= 145.9, 11.7, ROT= 4.1, -11.7 E Ygot valid direction response: 06:04:44.6359 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424, 0.17, 0.676,-1.099, 0.688, 0.437, PHS= 0.341,-1.491, 0.207, RAW= 146.3, 10.7, CAL= 145.9, 11.7, ROT= 4.1, -11.7 M PDAT read: Bearing 150.2, 5.3 (Local) M ~Local bearing/azimuth received: Bearing 150.2, 5.3 (Local) +=,?A&DAT read: Range 11 to 50 : 84.0 m (Round-trip 112.1 ms) speed 0.4 m/s &*DAT read: user:649> *BDAT read: Tx time:06:04:45.7197 *$Ping request sent.*i-پ-S>-.k#@-t;?>-"@ -Q>)-C=I-Q))-w4?½?\TC? -w>)-/>pI-C=i-Q))%:publishing transmit ping time(%Fpublishing direction and range infoy)-#CA?(8M? ?Y))))) )))I)i)))))m4@m.@m^ٱm )))I)))-w4?½?\TC? )))I)i))) AHRS rotation from veh to nav: [[0.930514,0.366242,0.003078],[-0.362206,0.918948,0.156017],[0.054311,-0.146291,0.987750]]mH@?p?>7i?`b.׿h?]?Ϋ?¿?im4@ImO_;mpCYmBy1IbDEVDEy}%6=ٔ\;Q->9Y=FyEo9E >Q 557?Q 9%5P)8BY!y%Q I%@EI:i:Au5yM3BɮU0AQi)i-Y3?AJi-BRi-Bji-.t@b-#ڪaT@2.u_@Ϯ0@R-#CA?(8M? ?Zi-C=bi-Qj-FEDS@dS@5/4J4@Z-@'vu?RпX$W(?2i- :i-B"i-b>H蟊?*i-;Bi-Bi-cܟ?i)i-Bi-Bi-Rp@ addTargetRange:: Added new target pos. range: 84.000000 m, deltaT: 3.528062 s, deltaX: -1.800003 m, approachRate: -0.510196 m/s, rangeRepo size: 4 5 Added new target pos. range: 83.460358 m, bearing: 344.587262 deg, lat: 36.779417 deg, lon: -121.859735 deg, deltaT: 3.528062 s, deltaX: -1.792038 m, approachRate: -0.507938 m/s, posRepo size: 4 jh1=DNOT Ignoring new targets: 83.46 m.Rh=Zh9m ProNav: ac range: 83.460358 m, nav range: 80.827248 m, bearing: 344.560266 deg, approach rate: 0.000000 m/s, LOS rate: -0.040441 deg/s, cmd heading: 338.172884 deg, new cmd heading: 338.115142 deg. BhquHeadingCmd: 5.901223 target range: 83.460358 and range: 84.00 m.huּ@hy*hy"hy hygyfyffdddjdU@Zd g ?mTBɢm䌼)q u ?iy)} WyyiiþL<,yx?AYXByIiMb@Mb@Mb@ 9Mb?Q?~jtY?y\= @ 1A)/@Y=@bDVDN2y˽%B=ٔQ->9Y=FyEE>Q 55H?Q 95)4BY?Q E:y}Q I @EI;ih; w5yɮAjh9=DNOT Ignoring new targets: 83.46 m.RhEZhEU ProNav: ac range: 83.460358 m, nav range: 80.615532 m, bearing: 344.557021 deg, approach rate: -0.539528 m/s, LOS rate: -0.008292 deg/s, cmd heading: 338.115155 deg, new cmd heading: 338.105393 deg. BhU]HeadingCmd: 5.901052 target range: 83.460358 and range: 84.00 m.h]lռ@hY*hY"hY hagafafifmbBdididijdqZduW/?额UBɢv) B?i)qU顩iiþW<y E  E |E #E "E :*E P$:VE 3ZE a @a @a @a @A A B 1>B CB lIB BB B B JDB \;B !E,9?A06$@6@6Pٱ6 >AHRS rotation from veh to nav: [[0.930007,0.367434,0.008896],[-0.364018,0.917480,0.160378],[0.050766,-0.152391,0.987016]]6H`??E8? L׿[?D?@?ÿ?i6$@I6)\_;6qCY^KBybIbDjVDjkyr%r]=ٔrJ9tYt=vFyvEvJEz>xQ 5]5zX?Q 9]5z)z0BYYye,Q Ie@z EIz~_i)oTiEi þ < Rx ,D?A2@2~@2Iٱ2S! :AHRS rotation from veh to nav: [[0.929370,0.368946,0.012259],[-0.365872,0.916196,0.163468],[0.049079,-0.156407,0.986472]]2H`f?Μ?$?@sj׿{Q??` ?`&Ŀ.?i2@I2nR_;2pCYF9XYX=^Fy^E`bEb>dQ 5j5fTi?Q 9j5fH)f+BYhyj^Q In@f$EIf-:if:fez5ypɮrApjh  DNOT Ignoring new targets: 83.46 m.RhMZhM% ProNav: ac range: 83.460358 m, nav range: 80.218140 m, bearing: 344.551916 deg, approach rate: -0.533219 m/s, LOS rate: -0.006456 deg/s, cmd heading: 338.097533 deg, new cmd heading: 338.090045 deg. Bh%ȍ-HeadingCmd: 5.900784 target range: 83.460358 and range: 84.00 m.h-:Ӽ@h)*h1"h1 h1g1f1f9f9d9dAdAjdAZdEW?uXBɢu))q u@>iqE ExE!E"E:*E:VEc3ZEBE;a2E;aJEPo;a:EPo;a)CRi iþ%C<%{`A ,?A^@^@^ Bٱ^p# rAHRS rotation from veh to nav: [[0.928598,0.370788,0.014918],[-0.368029,0.915048,0.165048],[0.047547,-0.158753,0.986173]]^H???`ʍ׿H?`I ?X?RĿ?i^@I^7_;^qCY2ByIiMb@Mb@Mb@ 9/$?:v?S㥛Y ?yT</ݼ A@ @)@Y@bDVDN2y_5%:=ٔe;Q->9Y=FyEE>Q 55B|?Q 95)*BY= ?Q E:y6Q I@'EI8;i ;P|5yɮAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 83.46 m.Rh:Zh: ProNav: ac range: 83.460358 m, nav range: 79.979004 m, bearing: 344.567742 deg, approach rate: -0.517377 m/s, LOS rate: 0.034342 deg/s, cmd heading: 338.090047 deg, new cmd heading: 338.137667 deg. Bh:T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. HeadingCmd: 5.901616 target range: 83.460358 and range: 84.00 m.h  ڼ@h *h"h hgfffBdddjd!Zd%R?UZBɢU3)Q U>iQ)];QYYi]Pie]þe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994088ԩ ) ,.?A:@:y@:&=ٱ:&& FAHRS rotation from veh to nav: [[0.927701,0.372897,0.017860],[-0.370460,0.913611,0.167554],[0.046163,-0.162056,0.985701]]:H? ?I?׿M9dYd=fFyfEfEj>hQ 5n5jG?Q 9r5jm)hYpyrQ Ir@j+EIjU;ij:j}5ytɮzZAxjhDNOT Ignoring new targets: 83.46 m.Rh%-7:Zh%-7:5 ProNav: ac range: 83.460358 m, nav range: 79.776451 m, bearing: 344.581627 deg, approach rate: -0.582544 m/s, LOS rate: 0.040036 deg/s, cmd heading: 338.137667 deg, new cmd heading: 338.179430 deg. Bh5:=HeadingCmd: 5.902345 target range: 83.460358 and range: 84.00 m.h=@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdU~@y颅[Bɢ#) W>i)#O顉iCi¾,<|E EE$E"E:*E H:VE4ZEBE/<2E/<JE;:E;) ,aH?A6ӵ@6ͼ@6y8ٱ6I?) BAHRS rotation from veh to nav: [[0.926586,0.375536,0.020283],[-0.373376,0.912117,0.169211],[0.045044,-0.164362,0.985371]]6H??Ŕ?f׿ 0? ??` ſ(?i6ӵ@I6{+_;4YJByJIRARAi%Mb@Mb@Mb@!!!! !9%ףp= ?{Gz/$Y%?y%#%%A%@ !)!!Y%@bD5VD5:yMV,%MB=ٔMR.;Q-M>9U ?YU ?=UFyUEUCechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498232Ee>iQ 5u5m1?Q 9u5mr)m-BY}$?Q E}:y}Q I}@m/EIm ;imP ;m5yPBɮ AjhDNOT Ignoring new targets: 83.46 m.Rh:Zh5:E ProNav: ac range: 83.460358 m, nav range: 79.518112 m, bearing: 344.616089 deg, approach rate: -0.611032 m/s, LOS rate: 0.081773 deg/s, cmd heading: 338.179441 deg, new cmd heading: 338.283160 deg. BhE{`;MHeadingCmd: 5.904155 target range: 83.460358 and range: 84.00 m.hM@hI*hI"hQ hQgqfqfyf}BdydydjdZd u@]Bɢϼ) >i)ĄNiiP¾< Lċ;I @I 9@ @@@!Y checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750166^AM 9<B A <B 2>B CB IB [BB H =B B B \;B &"EE  E E !E "E *E :VE c3ZE BE 2E JE <:E :,sb?A>붵@>@>G2ٱ> + FAHRS rotation from veh to nav: [[0.925354,0.378418,0.022793],[-0.376581,0.910609,0.170227],[0.043662,-0.166104,0.985141]]>H@?8?V?@ؿ #??Z?BſF?i>붵@I>J_;>sCQYmBymIbDVDy %7=ٔ3K;Q->9Y=FyEAE>Q 55?Q 95)0BYyHQ I@3EI;i;5y3BɮAEjhDNOT Ignoring new targets: 83.46 m.Rh:Zh: ProNav: ac range: 83.460358 m, nav range: 79.246605 m, bearing: 344.653258 deg, approach rate: -0.610170 m/s, LOS rate: 0.083819 deg/s, cmd heading: 338.283150 deg, new cmd heading: 338.395041 deg. Bh f; HeadingCmd: 5.906107 target range: 83.460358 and range: 84.00 m.h@h*h"h hgfffddd!jd!Zd%@U^BɢUм)Q Uθ>iY)]FMYYi] ieZe  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254125d,)\|?A2@2@2f.ٱ2- :AHRS rotation from veh to nav: [[0.923911,0.381755,0.025534],[-0.380233,0.908704,0.172279],[0.042565,-0.168879,0.984717]]2H ? n?%?Uؿ@?; ?$˥?՝ſ͂?i2@I2=_;0@BCs@i@I@@FC DDDDDHIH)HiH)HIJiANԽNUF LpppippitvjA)t tIt t)z|{AxxxYxYyy}IbDVDE EE%E"E[:*Ee:VE 4ZEa@a@a@a@y;%Z=ٔ?;Q->9"?Y"?=FyE)E>Q 55Ɔ?Q 95f)2BYySQ I@7EI9;i;b5yɮAjhaeDNOT Ignoring new targets: 83.46 m.Rhm:Zhm: ProNav: ac range: 83.460358 m, nav range: 79.015053 m, bearing: 344.685859 deg, approach rate: -0.599786 m/s, LOS rate: 0.084692 deg/s, cmd heading: 338.395029 deg, new cmd heading: 338.493117 deg. Bh~h;HeadingCmd: 5.907819 target range: 83.460358 and range: 84.00 m.h @h*h"h hgfffԱdddjdZd @-_Bɢ5Zɼ)A E>iY)L顱i+!i/IL< EI @IaI)iyI}ADAT read: 06:04:48.2336 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.29, 0.492,-1.283, 0.483, 0.323, PHS= 0.271,-1.561, 0.116, RAW= 145.6, 13.3, CAL= 145.3, 14.5, ROT= 4.7, -14.5 Ygot valid direction response: 06:04:48.2336 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.29, 0.492,-1.283, 0.483, 0.323, PHS= 0.271,-1.561, 0.116, RAW= 145.6, 13.3, CAL= 145.3, 14.5, ROT= 4.7, -14.5 PDAT read: Bearing 152.8, 4.4 (Local) ~Local bearing/azimuth received: Bearing 152.8, 4.4 (Local) DAT read: Range 11 to 50 : 82.3 m (Round-trip 109.8 ms) speed 0.6 m/s 9@ @@@*DAT read: user:650> BDAT read: Tx time:06:04:49.3197 $Ping request sent.i}ǿ}h=}"@},m>}:M"@ }>)}=I}yy}z\?!r?R, c? }>)}6mI}=i}yy :publishing transmit ping time Fpublishing direction and range infoyy}чxe?EN?=9?Yyyyyy y)yIyiyyyyy y)yIyyy}z\?!r?R, c? y)yIyiyyy9 ^A] ;AIIO>z&,,?A20w@2q@2tP*ٱ20/ >AHRS rotation from veh to nav: [[0.922479,0.385063,0.027550],[-0.383803,0.907093,0.172853],[0.041569,-0.170027,0.984562]]2H?ߤ?6? :ؿ?  ?|H?nſ?i20w@I2A2_;2pCXYeBymIIu=)uu=ua=iMb@Mb@Mb@ 9{Gz?Mb~jtx?Y#?y;l A@ @)/@Y\@B8>BBIB=BBG =BBKDB\;B"EbD- VD-:2y5F<%=$=ٔ=;Q-=>9AYA=EFyEEEU EUEU"EQ"EU:*EUk:VEU(3ZEQBEUiQ 5u5mކ?Q 9u5m])m=BY}$?Q E}:y}qQ I}@m<EIm:im:m5yɮAEiIiMh?AJiMBRiMBjiM?y@bM.rS@psy@i9Oy4@RMчxe?EN?=9?ZiM=biMjM&!R@drt4«U6@ZMbb?`sn#jSп={?2iMߦ:iMB"iMB ֟?*iMU3BiMŭBiMB ֟?iIiMŭBiM?BiMm@U addTargetRange:: Added new target pos. range: 82.300003 m, deltaT: 3.528324 s, deltaX: -1.699997 m, approachRate: -0.481814 m/s, rangeRepo size: 4  Added new target pos. range: 81.771172 m, bearing: 344.622687 deg, lat: 36.779417 deg, lon: -121.859735 deg, deltaT: 3.528324 s, deltaX: -1.689186 m, approachRate: -0.478750 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 81.77 m.RhZh ProNav: ac range: 81.771172 m, nav range: 78.624573 m, bearing: 344.721860 deg, approach rate: 0.000000 m/s, LOS rate: 0.084692 deg/s, cmd heading: 338.493110 deg, new cmd heading: 338.623026 deg. BhHeadingCmd: 5.910087 target range: 81.771172 and range: 82.30 m.hn@h*h"h hgfffBdddjd@3T@Zd{?M`BɢU7޼)Q U>iY)}Jyyi}"i<c,In@I9@ @@@^Am}UA .AI I O >9 ˠ,,Q?AZ_Y@Z,T@ZM&ٱZ)+. jAHRS rotation from veh to nav: [[0.921107,0.388259,0.028574],[-0.387171,0.905898,0.171602],[0.040740,-0.169127,0.984752]]ZHy?:?@B?iؿ?@? ۤ?ſ`?iZ_Y@IZX_;ZsCY-By-IbDEVDE1yU<%U:=ٔUb:Q-]>9] ?Y] ?=]Fy]EeEe>iQ 5u5mh?Q 9u5mڴ)mGBYqyuQQ I}@mAEIm1:im:mv5y4BɮAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 81.77 m.Rhh:Zhh:- ProNav: ac range: 81.771172 m, nav range: 78.352333 m, bearing: 344.768079 deg, approach rate: -0.634827 m/s, LOS rate: 0.108150 deg/s, cmd heading: 338.623021 deg, new cmd heading: 338.762158 deg. Bh-r;5HeadingCmd: 5.912515 target range: 81.771172 and range: 82.30 m.h5S3@h1*h1"h9 h9g9f9fAfAAdIdIdIjdIZdU`?}aBɢ}) x>i)SI顉i#ixȽ<|nIS3@IEm EmEm!Ei"Em:*EmV:VEmc3ZEia}@a}@a}@a}@]9@Y @Y@]?0@Yy^A] 3ԡ E T****** received valid address query ******E R****** received valid ping request ******E Querying Benthos address 50 with one ping in standard two-way mode.A ؟AI I O >[3,ۢ?A \)^kA^j<^CdF\`bkAibj9"?Y"?=FyEE>Q 55?Q 95˷)QBY%?Q E:yQ I@DEI ;i; 5yɮAjhDNOT Ignoring new targets: 81.77 m.Rh;Zh; ProNav: ac range: 81.771172 m, nav range: 78.124771 m, bearing: 344.807554 deg, approach rate: -0.651048 m/s, LOS rate: 0.113266 deg/s, cmd heading: 338.762165 deg, new cmd heading: 338.880935 deg. Bhw;HeadingCmd: 5.914588 target range: 81.771172 and range: 82.30 m.hND@h*h"h  h g f ffBddd!jd!Zd-`#?bBɢ) >i)+Hi$i¸*<IND@IA9@ @@4@@=@=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.239745^AONA>A>iAABD>BCBIB3BBC =BBMDBf\;B!EE EE$E"Ea:*Ea9:VE4ZEBEV;a%2EW;a%JE";a-:E#;a-A I I! O- >ԙ 9,i?A2/@2*@2ϱ!ٱ2, :AHRS rotation from veh to nav: [[0.919173,0.392724,0.029805],[-0.391871,0.904341,0.169125],[0.039466,-0.167135,0.985144]]2Hi? e"??kٿ]??4?dſ@L?i2/@I2bw_;2rCYAByI !!bD5VD5:yiߡIߡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.492278y2=%J=ٔN;Q->9Y=FyEvKE>Q 5 5A?Q 95&)^BYyQ I@IEIOJ;iJK;׊5y!ɮ-A-EjhamDNOT Ignoring new targets: 81.77 m.Rhu:Zhu: ProNav: ac range: 81.771172 m, nav range: 77.867661 m, bearing: 344.853477 deg, approach rate: -0.619447 m/s, LOS rate: 0.111005 deg/s, cmd heading: 338.880929 deg, new cmd heading: 339.019151 deg. Bh];HeadingCmd: 5.917000 target range: 81.771172 and range: 82.30 m.hX@h*h"h hgfffdddjdZd?McBɢU")Y ]m>iY)]FYYiel%i|:&<IX@Iԩ-9@) @)@-4@)U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743320^Ae zl E%  E% pE% 'E! "E% ҝ:*E%  :VE% '4ZE! a- @a5 @a5 @a5 @Ay I I O >@,?AB#@B@B!ٱBr) NAHRS rotation from veh to nav: [[0.918563,0.394208,0.029016],[-0.393296,0.904162,0.166762],[0.039504,-0.164593,0.985570]]BH@d?:?@S?`+ٿ ?vX?9?eſ`ʉ?iB#@IBd_;BnCԑY_ByIbD=VD=y>%:=ٔSQ->9Y=FyE[eE>Q 55x-?Q 9 5Ͼ)kBY y DQ I @MEI:i:ʌ5yɮAjhyDNOT Ignoring new targets: 81.77 m.Rh$;Zh$; ProNav: ac range: 81.771172 m, nav range: 77.588295 m, bearing: 344.904096 deg, approach rate: -0.620881 m/s, LOS rate: 0.112905 deg/s, cmd heading: 339.019144 deg, new cmd heading: 339.171549 deg. Bh;HeadingCmd: 5.919660 target range: 81.771172 and range: 82.30 m.hm@h*h"h hgfffdddjdZd@J?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.995526dBɢ.v) S>i)Di{W'i-;NѼIm@I9@ @@q4@^AA I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247299G,?A2@2{@2/z"ٱ2 $ :AHRS rotation from veh to nav: [[0.918350,0.394855,0.026892],[-0.393778,0.904808,0.162057],[0.039657,-0.159415,0.986415]]2H@c?LE?@?3ٿ.?K?M?`gĿ?i2@I2Zo_;2rCYB~ByBEIB%H>B%CB%IB%=BB%A =B!B!B% \;B%!EiMb@Mb@Mb@ 9jt?J +S㥛?Y ?yH/<A@ @)@Yz@E EsE E"EC:*EZ:VE3ZEBE$;a2E&;aJE];a:E];abDVDβy.#>%Y=ٔչQ->9Y=FyE~E>Q 55>?Q 95)vBYg!?Q E:y_Q I@QEI:iv:b5yɮAjh!%DNOT Ignoring new targets: 81.77 m.Rh-:Zh-:= ProNav: ac range: 81.771172 m, nav range: 77.364540 m, bearing: 344.939741 deg, approach rate: -0.626208 m/s, LOS rate: 0.100045 deg/s, cmd heading: 339.171539 deg, new cmd heading: 339.278783 deg. Bh=Q;EHeadingCmd: 5.921532 target range: 81.771172 and range: 82.30 m.hE0}@hA*hA"hA hIgIfIfIfU,BdddjdZd@!ɢ%(˻)! - ?i))-6C)IiM(iU*U2;]XI]0}@IY9@ @@/@@@fA!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500075Q^A- AY Iq ԁ I O >;M,~7?A2f'@23"@2F#ٱ2 :AHRS rotation from veh to nav: [[0.918764,0.394072,0.024089],[-0.392798,0.906236,0.156355],[0.039785,-0.153116,0.987407]]2H@f?y8?ު? #ٿ?s?`^? Mÿ֘?i2f'@I2[_;0YFByFcIJ=J= LN<bDR VDR:2yV>%V^=ٔZQ-Z>9XY\=^Fy^ÁEb*=;Eb>dQ 5f5fO?Q 9j5fX)fBYhyjQ Ij@fUEIf:if:f5y9ɮ=AAjhDNOT Ignoring new targets: 81.77 m.Rh:Zh: ProNav: ac range: 81.771172 m, nav range: 77.138374 m, bearing: 344.975858 deg, approach rate: -0.589217 m/s, LOS rate: 0.094369 deg/s, cmd heading: 339.278773 deg, new cmd heading: 339.387441 deg. Bh;HeadingCmd: 5.923428 target range: 81.771172 and range: 82.30 m.h@h*h"h hgfffdddjdZd@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751433eBɢ̮) ?i)EAia*i%2%;%j^I%@I)E ExE"E"E:*E:VE(3ZEa@a@a@a@@ @@/@ԁ^A߼IIOU>Ա BDAT read: Rx Time:06:04:51.8304  TRx dataTimestamp_ set to:1761545093.212131 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004375 &T,fQ?A2f4@23/@2"ٱ2^ :AHRS rotation from veh to nav: [[0.919390,0.392781,0.021084],[-0.391341,0.907982,0.149739],[0.039671,-0.145919,0.988501]]2Hk?`T#?? ٿ@/?*?O?z¿̡?i2f4@I2Wr_;2qCYBByBtIiMb@Mb@Mb@ 99v??Y?y<-A@ @)Y@bD-VD-ky=ۅ=%=A=ٔE9Q-E>9AYA=EFyEŁEMv;EM>QQ 5]5U c?Q 9]5U)UBYe!?Q Ee:ymʾQ Im@UYEIUBM;iU_N;Uב5y5BɮAEeB*** querying acoustic contact ***ia iajhDNOT Ignoring new targets: 81.77 m.RhE:ZhE: ProNav: ac range: 81.771172 m, nav range: 76.895149 m, bearing: 345.000274 deg, approach rate: -0.554046 m/s, LOS rate: 0.055793 deg/s, cmd heading: 339.387428 deg, new cmd heading: 339.460908 deg. ԩBh);HeadingCmd: 5.924711 target range: 81.771172 and range: 82.30 m.h;@h*h"h hgfffWBdddjdZdm @qɢ}d)y }h?iy)}?yiu,i􉷾?;I;@I=9@9 @A@A@A Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256629MЀGa9YAB<A<BQ>BCB.IBkBB< =BBNDB[;B!EBƷCBƷCBƕCBC =BC =Cƶ6DzDbE9jE=3rE=Ƿ80E E}E$E"Es:*Ek&:VE4ZEBE;a2E;aJE;a:E€;a ^AA IA IQ O] >9 PZ,Dk?ADAT read: 06:04:51.8304 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.39, 2.040, 0.260, 2.025, 1.856, PHS= 0.286,-1.550, 0.125, RAW= 145.5, 12.9, CAL= 145.1, 14.1, ROT= 4.9, -14.1 Ygot valid direction response: 06:04:51.8304 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.39, 2.040, 0.260, 2.025, 1.856, PHS= 0.286,-1.550, 0.125, RAW= 145.5, 12.9, CAL= 145.1, 14.1, ROT= 4.9, -14.1 PDAT read: Bearing 153.1, 4.4 (Local) ~Local bearing/azimuth received: Bearing 153.1, 4.4 (Local) DAT read: Range 11 to 50 : 79.9 m (Round-trip 106.6 ms) speed 0.7 m/s *DAT read: user:651> BDAT read: Tx time:06:04:52.9197 $Ping request sent.i=ffƿ=>=j"@=f>= "@ =d{>)=%=I=d{99=o&|d*?[8?y? =>)=3fI=%=i=d{99:publishing transmit ping timeFpublishing direction and range infoHs??u?@7ؿ? ,?@/!? ¿?i6G@IF_;rCYȁByIbDVD02y&>%2=y9=If{'?:5? .?Y99999 9)9I9i9 ٔqH:Q->9!Y!9999 9)9I999=o&|d*?[8?y? 9)9I9i999=UFy]ǁEm;Em>Q 55x?Q 95)BYyɾQ I@]EIr;i;듘5y6BɮiAEi9i=m?AJi=ȞBRi=ȞBji=!@b=W.S@s g1N@1SW3@R=If{'?:5? .?Zi=%=bi=d{j=t~bR@ØuP5j>85@Z=;Ö?r}пGm?2i=:i=B"i=?*i=5Bi=:Bi9i=_=}i=Bi=CBi=x@E addTargetRange:: Added new target pos. range: 79.900002 m, deltaT: 3.528093 s, deltaX: -2.400002 m, approachRate: -0.680255 m/s, rangeRepo size: 4 ] Added new target pos. range: 79.392151 m, bearing: 344.012189 deg, lat: 36.779417 deg, lon: -121.859736 deg, deltaT: 3.528093 s, deltaX: -2.379021 m, approachRate: -0.674308 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 79.39 m.RheZhi ProNav: ac range: 79.392151 m, nav range: 76.632668 m, bearing: 344.994923 deg, approach rate: 0.000000 m/s, LOS rate: 0.055793 deg/s, cmd heading: 339.460921 deg, new cmd heading: 339.540889 deg. BhHeadingCmd: 5.926106 target range: 79.392151 and range: 79.90 m.h@h*h"h hgfffdddjdS@1Zd=@?颅fBɢv4) q1?i)A<顉in/iӶ h;*ܼI@II)@ @@0@@=@=a E  E E E "E g:*E V:VE ZE a @a @a @a @ԑ ^A I I O >v b,?AB;ɰBp;=Wa@=$\@=Rٱ= }AHRS rotation from veh to nav: [[0.921562,0.387823,0.017784],[-0.386308,0.911485,0.141287],[0.038585,-0.137075,0.989809]]=H`p}?@?@5?`Eؿ*??h?@?i=Wa@I=v_;=pCYByI ԙiMb@Mb@Mb@ 9Zd;O?v/?I +?Y~ ?yxi=9<A@ )Y@bD5VD5JyE =%E9=ٔMy:Q-U>9aYi=}Fy}ʁE;E>Q 55y?Q 95_)BY` ?Q E:yQ I@aEI? ;ie ;͕5yɮAjhDNOT Ignoring new targets: 79.39 m.RhM9ZhM9 ProNav: ac range: 79.392151 m, nav range: 76.398735 m, bearing: 344.999372 deg, approach rate: -0.589022 m/s, LOS rate: 0.011237 deg/s, cmd heading: 339.540889 deg, new cmd heading: 339.554277 deg. Bh9HeadingCmd: 5.926340 target range: 79.392151 and range: 79.90 m.h@h*h"h hgfffBdddjdZd T?IɢM<)I MJ>?iQ)UI9QQiUZ1i]h]`;]dǼI]@Ia=9@9 @A@E/@A^A} 7I I O > BE U>BE CBE yIBE BBE : =BE FDBE ODBE [;BA h,?AE EE"E"E:*E?:VE(3ZEBE;a2E;aJE;a:E;a>}@>w@>{ٱ> JAHRS rotation from veh to nav: [[0.922895,0.384701,0.016417],[-0.383196,0.913435,0.137103],[0.037747,-0.132823,0.990421]]>H[??ϐ?Jؿ:? ?`S?U?i>}@I>v_;ԁԱ Dn,׻?AY~ By~IbD VD 1y>%%E=ٔ%Q-%>9)Y)=-Fy-́E-E->1Q 5M55?Q 9M55b)5BYIyIQ IM@5gEI5_;i5`;55yYɮ]XAYjhDNOT Ignoring new targets: 79.39 m.RhK&9ZhK&9 ProNav: ac range: 79.392151 m, nav range: 75.990143 m, bearing: 345.006200 deg, approach rate: -0.540836 m/s, LOS rate: 0.009087 deg/s, cmd heading: 339.563456 deg, new cmd heading: 339.574826 deg. Bh9HeadingCmd: 5.926699 target range: 79.392151 and range: 79.90 m.h@h*h"h h g f f fdddjdZd\?EgBɢMN<)I M&R?iI)M 5IQiUJ6i]l]I;]cI]@IaԱE= E=|E=%E9"E=:*E=P$:VE= 4ZE9aM@aM@aM@aM@9@ @@:4@@@bA^A&ּIyIO> 9 .u,'?AFȵ@Fü@F%g ٱF NAHRS rotation from veh to nav: [[0.926522,0.375835,0.017488],[-0.374699,0.917524,0.133230],[0.034027,-0.129993,0.990931]]FH? ?D?@׿[\? ? l?`?iFȵ@IF_;FqCYV ByV IIZ=)Z=i5Mb@Mb@Mb@1111 195 +?Q?~jt?Y5>y5=5D<5tA5@ 1)5/@1Y5(@bDMVDMky]=%]F=ٔe9aYa=eFymЁEm<Em>qQ 5}5u?Q 9}5u")uBYd>Q E:yQ I@ukEIu:iu:u㚘5y7BɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 79.39 m.RhZXZhZX ProNav: ac range: 79.392151 m, nav range: 75.786850 m, bearing: 344.987275 deg, approach rate: -0.506595 m/s, LOS rate: -0.047288 deg/s, cmd heading: 339.574821 deg, new cmd heading: 339.517892 deg. BhHeadingCmd: 5.925705 target range: 79.392151 and range: 79.90 m.h`@h*h"h hgfffɀBdddjdZdX?hB ɢpt<) 2\?i)2i9i%FT;%TI%`@I!MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.%9@! @!@%/@!BUN>BUCBUIBUBBU; =BUGDBUNDBU[;BU!EE= E=E=#E9"E=Ʊ:*E=0:VE=3ZE9BE=8;aM2E=:;aMJE=ۉ;aM:E=ۉ;aMQ^A Ui A9 II Ia Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995330V{,?A >@>@>ߣٱ>m9 JAHRS rotation from veh to nav: [[0.928374,0.371184,0.018557],[-0.370298,0.919597,0.131230],[0.031645,-0.128702,0.991178]]>H@I>t_;9!Y!=%Fy%ҁE-)F<E->1Q 5555·?Q 9=55)5BY9y= Q I=@5nEI5;i5;55yIɮMTAIjhquDNOT Ignoring new targets: 79.39 m.Rh}[]Zh}[] ProNav: ac range: 79.392151 m, nav range: 75.592262 m, bearing: 344.968348 deg, approach rate: -0.496142 m/s, LOS rate: -0.048381 deg/s, cmd heading: 339.517885 deg, new cmd heading: 339.460959 deg. BhHeadingCmd: 5.924711 target range: 79.392151 and range: 79.90 m.h<@h*h"h hgfffdddjdZd@ɢ=n<)I M b?iq)}jg/yyi;iD;I<@Iqm9@i @i@i@i^AE+wAM>AM>ԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246662AIIO>EU  EU EU &EQ "EU 7:*EU E7:VEU 4ZEQ a] @a] @a] @a] @ !C, } ?A\}5@}@}sٱ} AHRS rotation from veh to nav: [[0.930388,0.366028,0.020034],[-0.365419,0.921726,0.129962],[0.029104,-0.128236,0.991316]]}H? m?@?c׿~??`]͝? j`ݸ?i}5@I}}_;}sCY2By# Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498695iMb@Mb@Mb@ 9v?ףp= ?MbY>y>A @)E@Yp@bDEVDE1yU<%U+=ٔUf;Q-U>9YYY=]Fy]ԁE] 5<Ee>iQ 5u5m~⇊?Q 9u5mI)mBYu?Q Eu:yuQ Iu@mrEIm3:im:m5y9Bɮ9AåEjhDNOT Ignoring new targets: 79.39 m.RhZh ProNav: ac range: 79.392151 m, nav range: 75.352959 m, bearing: 344.933331 deg, approach rate: -0.500592 m/s, LOS rate: -0.073485 deg/s, cmd heading: 339.460948 deg, new cmd heading: 339.355562 deg. BhIHeadingCmd: 5.922872 target range: 79.392151 and range: 79.90 m.h+@h*h"h hgfffBdddjdZd hz@iBɢ~<) 5d?i)S+i"]>i%z%n;%c]RI-+@I)9@ @@/@@=@= ^A NJNA m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751207B= I>B= CB=  IB= BB= @ =B9 B= MDB= 3\;B= !EA) I9 II EU  EU EU $EQ "EU U:*EU F:VEU 4ZEQ BEU ;ae 2EU ;ae JEU ;ae :EU ;ae Ou >{,#?ARG@RB@RټٱR\Y ZAHRS rotation from veh to nav: [[0.932432,0.360704,0.021507],[-0.360364,0.923873,0.128828],[0.026600,-0.127874,0.991434]]RH@|???5׿]?r}?@Qy ',h=?A2t@2n@2KƼٱ2y :AHRS rotation from veh to nav: [[0.934417,0.355411,0.023425],[-0.355358,0.925770,0.129117],[0.024204,-0.128973,0.991353]]2H? ?? 1ֿ??Ș?@1@)?i2t@I2g_;2qCYN;ByN. IbDZVDZyr=%rK=ٔv;Q-v>9v ?Yv ?=zFyz؁Ez[<Ez>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254731 Q 55 ?Q 95 ) BYyq{Q I@ xEI /;i L; 衘5y!ɮ%@!jhIUDNOT Ignoring new targets: 79.39 m.YRh]EZh]Em ProNav: ac range: 79.392151 m, nav range: 74.986427 m, bearing: 344.876796 deg, approach rate: -0.499391 m/s, LOS rate: -0.078366 deg/s, cmd heading: 339.280385 deg, new cmd heading: 339.185547 deg. Bhm WuHeadingCmd: 5.919905 target range: 79.392151 and range: 79.90 m.huo@hq*hq"hy hygyfyffdddjdZd6Y @颕kBɢ@<) g?i)_&顙i'9Ci;m8,qy&1>tA@ @)@Y@bD}VD}yI̽%A=ٔ;Q->9"?Y"?=FyځEl=<E>Q 55?Q 95)BY>Q E:y cQ I@{EI;i];5y;BɮAťEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 79.39 m.RhպZhպ- ProNav: ac range: 79.392151 m, nav range: 74.783089 m, bearing: 344.836998 deg, approach rate: -0.474436 m/s, LOS rate: -0.093110 deg/s, cmd heading: 339.185555 deg, new cmd heading: 339.065837 deg. Bh-5HeadingCmd: 5.917815 target range: 79.392151 and range: 79.90 m.h5^@h1*h1"h1 h9g9f9f9f=ĀBdAdAdAjdAZdM @ulBɢ}W<)y }v\?iy)} #yiuEiy;]BCB. IB;BB> =BBNDB{\;B"E DAT read: Range 11 to 50 : 77.9 m (Round-trip 103.9 ms) speed 0.3 m/s *DAT read: user:652> BDAT read: Tx time:06:04:56.5197 $Ping request sent.iulǿu5^:>u%@uf_>u$@ uGt>)u+=IuGtqqukZ?jb?d/3 ? u>)u^Iu+=iuGtqq5:publishing transmit ping time=Fpublishing direction and range infoyqu\?M*Ԥ?4ӋHP?Yqqqqq q)qIqiqqqqq q)qIqqqukZ?jb?d/3 ? q)qIqiqqqAIIO>A ݴ,q?A2i@26@2?ٱ2e) :AHRS rotation from veh to nav: [[0.937593,0.346783,0.025698],[-0.347113,0.928942,0.128762],[0.020781,-0.129647,0.991342]]2H@?`1?@}P?7ֿ@?G{?G?A?i2i@I2=_;2rCYNByR IIV=)V<bDZVDZyr Y%rU=ٔv+l;Q-v>9xYx=zFyz܁Ez'<E~>Q 55$?Q 95 )BYy'"Q I@~EI; A >ԙ A1 IA IQ O] >_,S?A:@@ٱ AHRS rotation from veh to nav: [[0.939727,0.340766,0.028150],[-0.341419,0.930665,0.131512],[0.018617,-0.133196,0.990915]]H=??IӜ?տ?`c?K?@ ?i:@Iz_;pCYUByUIiiMb@Mb@Mb@ 9x?V-?+YK>yh>A@ r@)/@Y3@bD VDf2y%+=ٔ;Q->9Y=FyށE%JQ<E%>)Q 555-7?Q 955-})-BY5D?Q E5:y=Q I=@-EI-:i-:-5yEB M>B B B B B B B \;B B"EBʹCBʹCBʓCB> =B= =C"'6 bE4jEm4rEL/E  E xE $E "E s:*E :VE 4ZE BE ;a% 2E ;a% JE Po;a- :E Qo;a- ƨ,Τ?AY~By~IbD VD y=%%q=ٔ%Q-%?9% ?Y- ?=-Fy-E-E-?1Q 5=55F?Q 9=55)5}BYAyAQ IE@5EI5;i5<;55yIɮM'AQjhDNOT Ignoring new targets: 77.40 m.Rh+Zh+ ProNav: ac range: 77.404381 m, nav range: 74.222527 m, bearing: 344.668502 deg, approach rate: -0.486609 m/s, LOS rate: -0.073075 deg/s, cmd heading: 338.845493 deg, new cmd heading: 338.770244 deg. BhHHeadingCmd: 5.912656 target range: 77.404381 and range: 77.90 m.h{4@h*h"h hgfffdddjdZd ?pBɢr<) VC?i)xiEKi55 n;59,&?A2@2Z@2:uٱ2{ :AHRS rotation from veh to nav: [[0.939994,0.339880,0.029871],[-0.340695,0.930315,0.135797],[0.018365,-0.137825,0.990286]]2Hn??j?տ#?`a?bΒ?>l?i2@I2E_;2qCYFByFI HHNAANAAbDRVDR1yV%ZR=ٔZ):Q-Z>9XY\=^Fy^E^;Eb>`Q 5f5bV?Q 9j5b7)bsBYhyjQ Ij@bEIb:ibW:b5y=BɮAjhDNOT Ignoring new targets: 77.40 m.RhZh ProNav: ac range: 77.404381 m, nav range: 74.030113 m, bearing: 344.639489 deg, approach rate: -0.471349 m/s, LOS rate: -0.071257 deg/s, cmd heading: 338.770252 deg, new cmd heading: 338.682987 deg. BhCHeadingCmd: 5.911133 target range: 77.404381 and range: 77.90 m.h(@h*h"h hgfffdddjdZd@?%qBɢ%o<)! -b9?i))-8))i-#Li5}5X;5ԁ ]ص,4?A0YρByIiMb@Mb@Mb@ 9p= ף?#~j?/$Y?y=,A@ )E@YbD VD2y&%8=ٔQ->9Y=FyEE> Q 5 5 i?Q 95 y) jBY'?Q E:yRQ I@ EI  ;i T ; 5y!ɮ%mA!EB*** querying acoustic contact ***iA iAjhIMDNOT Ignoring new targets: 77.40 m.RhUZhUe ProNav: ac range: 77.404381 m, nav range: 73.796478 m, bearing: 344.628170 deg, approach rate: -0.553072 m/s, LOS rate: -0.026881 deg/s, cmd heading: 338.682990 deg, new cmd heading: 338.648924 deg. BhemHeadingCmd: 5.910539 target range: 77.404381 and range: 77.90 m.hm"#@hi*hq"hq hqgqfqfyf}hBdydydjdZdN?颵sBɢ<) .?i)p项itNi˾x;3BB IB!BBBBBa];Bx"E9@  @ @ /@ DzD?AE EE!E"E:*E0:VEc3ZEBE;a2E;aJEۉ;a:Eۉ;aԹ^A m<Iq I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246081,_?AFK@F@FٱF VAHRS rotation from veh to nav: [[0.939606,0.340637,0.033283],[-0.341756,0.928507,0.145180],[0.018551,-0.147786,0.988845]]FH??@?k ?UտT?B? ?¿?iFK@IF _;FrC`YrByrIbDVDy=%=W=ٔE Q-M>9IYI=MFyUEUAE]>aQ 5}5eyz?Q 9}5e)eaBYyTQ I@eEIed;ieth;eP5y>Bɮ#AǥEjhDNOT Ignoring new targets: 77.40 m.RhZh] ProNav: ac range: 77.404381 m, nav range: 73.595123 m, bearing: 344.618694 deg, approach rate: -0.520524 m/s, LOS rate: -0.024564 deg/s, cmd heading: 338.648921 deg, new cmd heading: 338.620415 deg. Bh]܆eHeadingCmd: 5.910041 target range: 77.404381 and range: 77.90 m.he@ha*ha"ha higifififqdddjdZd`@EtBɢE<;)I M"?iI)uqqiuOi} } [;}A ¸,I ?AB۶@Bս@B.ڛٱBV fAHRS rotation from veh to nav: [[0.938916,0.342385,0.034771],[-0.343620,0.927098,0.149714],[0.019024,-0.152517,0.988118]]BH ??~͡?տɪ?)?z?ÿ@?iB۶@IBk_;BpCYBy{IbD-VD-y7%6=ٔXQ->9Y=FyEwE>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750245Q 55荈?Q 95)WBYyqWQ I@EI;i<;E5yɮAjhDNOT Ignoring new targets: 77.40 m.RhܹZhܹ ProNav: ac range: 77.404381 m, nav range: 73.359703 m, bearing: 344.608005 deg, approach rate: -0.529737 m/s, LOS rate: -0.024128 deg/s, cmd heading: 338.620425 deg, new cmd heading: 338.588257 deg. BhwHeadingCmd: 5.909480 target range: 77.404381 and range: 77.90 m.hv@h*h"h hg!f!f)f)d)d)d)jd1Zd5M@]uBɢ]-;)a eC?ia)eNiiim4QiuNVu;uAe >I I O >e BDAT read: Rx Time:06:04:59.0255 e TRx dataTimestamp_ set to:1761545100.532049m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003101B} T>B} CB} IB} BB} ; =B} FDB} ODB} ];B} "Eԙ E  E }E #E "E U:*E k&:VE 3ZE BE ;a 2E ;a JE ;a :E €;a ɸ,&?AYBy\IyiMb@Mb@Mb@ 9m?{Gz?MbY?yף<At@ )@Y@bD VD2y %T=ٔQ->9Y = Fy E E >Q 55?Q 95)RBY%?Q E%:y%Q I%@EI:iU:5y-?Bɮ-sA5ȥEjhY]DNOT Ignoring new targets: 77.40 m.Rhe&9Zhe&9u ProNav: ac range: 77.404381 m, nav range: 73.146866 m, bearing: 344.617268 deg, approach rate: -0.556247 m/s, LOS rate: 0.024277 deg/s, cmd heading: 338.588269 deg, new cmd heading: 338.616136 deg. BhuJ:}HeadingCmd: 5.909966 target range: 77.404381 and range: 77.90 m.h}r@hy*hy"h hgfff%BdddjdZd@s] @颽vBɢ`V;)  ?i)i\Ri ;W>ϸ,??A2١@2@2Zٱ2ܘ* :AHRS rotation from veh to nav: [[0.936463,0.348601,0.038908],[-0.350151,0.922491,0.162494],[0.020753,-0.165793,0.985942]]2H?{O?? hֿ ??@g@?8ſ֌?i2١@I2!_;2rCYBByFOIbDNVDN:yV]k%Zc=ٔbQ-f>9j"?Yn"?=nFMDAT read: 06:04:59.0255 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414,-0.19,-2.346, 2.264,-2.264,-2.460, PHS= 0.216,-1.515, 0.152, RAW= 148.1, 13.4, CAL= 148.0, 14.8, ROT= 2.0, -14.8 ]Ygot valid direction response: 06:04:59.0255 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414,-0.19,-2.346, 2.264,-2.264,-2.460, PHS= 0.216,-1.515, 0.152, RAW= 148.1, 13.4, CAL= 148.0, 14.8, ROT= 2.0, -14.8 ePDAT read: Bearing 155.1, 0.7 (Local) e~Local bearing/azimuth received: Bearing 155.1, 0.7 (Local) mDAT read: Range 11 to 50 : 76.2 m (Round-trip 101.7 ms) speed 0.4 m/s u*DAT read: user:653> }BDAT read: Tx time:06:05:00.1197 }$Ping request sent.}i>m%@|o>MQ%@  A>)5=I A =xs? 'Z?e? b>)-oI5=i A:publishing transmit ping timeyFpublishing direction and range infoyo<2td? F?l39Y?Y )Ii )I =xs? 'Z?e? )IiynEMEM>yQ 55}z?Q 95})}MBYyQ I@}EI}:i}F:}ó5E EvE E"E:*E:VE3ZEa@a@a@a@y@BɮAɥEiiBB?AJinBRinBji @bsg:JR@qi9p@˙hW3@Ro<2td? F?l39Y?Zi5=bi Ajjq=Q@: 4\U!*4@Z+b @?-L)ѿG ?2i:iOB"i]MCɟ?*i§BiکBii§iBiABi$@ addTargetRange:: Added new target pos. range: 76.199997 m, deltaT: 3.526963 s, deltaX: -1.700005 m, approachRate: -0.482002 m/s, rangeRepo size: 4 % Added new target pos. range: 75.716423 m, bearing: 343.999361 deg, lat: 36.779417 deg, lon: -121.859746 deg, deltaT: 3.526963 s, deltaX: -1.687958 m, approachRate: -0.478587 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 75.72 m.RhMZhI] ProNav: ac range: 75.716423 m, nav range: 73.127869 m, bearing: 344.032258 deg, approach rate: 0.000000 m/s, LOS rate: 0.024277 deg/s, cmd heading: 338.616136 deg, new cmd heading: 338.648905 deg. BhYeHeadingCmd: 5.910538 target range: 75.716423 and range: 76.20 m.he!#@h*h"h hgfffdddjd S@Zd`0?ewBɢe )i m#?ii)myiiimvSiu˾uN;}69^A= }ָ,ao\?AxY~vBy~;IiMb@Mb@Mb@ 97A`?Qy&1Y?y`e@ /@)@Y@bD VD:2yY%+=ٔQ->9Y=FyEE>Q 55Ĉ?Q 95B)NBY?Q E:yҾQ I@EI;iK ;5yɮPAB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 75.72 m.Rh:Zh: ProNav: ac range: 75.716423 m, nav range: 72.881897 m, bearing: 344.058194 deg, approach rate: -0.632567 m/s, LOS rate: 0.066924 deg/s, cmd heading: 338.648893 deg, new cmd heading: 338.726962 deg. Bh7;BS>BBIBBB< =BGDBB];B"ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HeadingCmd: 5.911901 target range: 75.716423 and range: 76.20 m.hJ.@h*h"h hgff!f%BdddjdZd`'.?!UxBɢ])Y ]p>ia)e# aaieQTE EE%E"E:*E,:VE 4ZEBE;a2E;aJE7;a:E7;ai c;>ԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744569ܸ,v7v?A27<@27@2[ļٱ27 :AHRS rotation from veh to nav: [[0.931980,0.360029,0.042332],[-0.361716,0.915858,0.174255],[0.023967,-0.177714,0.983790]]2H? ?@?[&׿@N?M?Ɋ?Vƿ5{?i27<@I2κ_;2qCYFnByF2IbDNVDNβyV+%V]=ٔZOQ-Z>9Z ?YZ ?=^Fy^E^6 Eb>`Q 5f5bdՈ?Q 9j5b)bOBYhyjeپQ Ij@bEIb:ib:b85yrABɮrApjh  DNOT Ignoring new targets: 75.72 m.Rh:Zh:% ProNav: ac range: 75.716423 m, nav range: 72.666084 m, bearing: 344.083279 deg, approach rate: -0.583359 m/s, LOS rate: 0.068011 deg/s, cmd heading: 338.726949 deg, new cmd heading: 338.802430 deg. Bh%:;-HeadingCmd: 5.913218 target range: 75.716423 and range: 76.20 m.h-9@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdEF?ԹyBɢH;) >i)V iUiVlj`; ;I 9@I @ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996435E EyE&E"E:*E:VE4ZEa@a@a@a@^AI I O >9 k, ?AE@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251180Ei@EɼٱEc 9 AHRS rotation from veh to nav: [[0.930429,0.363915,0.043218],[-0.365644,0.913923,0.176206],[0.024626,-0.179750,0.983404]]EH?bJ? ?@f׿ >??`7?@ ǿ x?iE@IEd_;EsCYyi Mb@Mb@Mb@     9 }?5^I?Q~jtx?Y M"?y u ; A G@ r@) @ Y @bD VD2ٔ5Q-5>91Y1==Fy=E=CE=>AQ 5M5E숊?Q 9M5EF)EWBYU #?Q EU:yUlQ IU@EEIEv:iE/:EX5yYɮYajhDNOT Ignoring new targets: 75.72 m.Rh:Zh: ProNav: ac range: 75.716423 m, nav range: 72.362175 m, bearing: 344.129029 deg, approach rate: -0.624322 m/s, LOS rate: 0.094379 deg/s, cmd heading: 338.802436 deg, new cmd heading: 338.940262 deg. Bh;HeadingCmd: 5.915624 target range: 75.716423 and range: 76.20 m.hL@h*h"h hgfffBdddjdZdl?mzBɢuXc)q u>iq)uq yyi}3Wi1-;lȬ:IL@I9@ @@/@@!@%cA^A0;iBBB`IBBB; =BFDBB];B"EII checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500565O >E  E ~E E "E %:*E (:VE ZE BE ;a 2E ;a JE ;a :E ;a ԑ ,U?A2@2g@2_ɼٱ29 :AHRS rotation from veh to nav: [[0.929039,0.367336,0.044160],[-0.369164,0.912431,0.176603],[0.024579,-0.180374,0.983291]]2H? o?`3?``׿2??`R+?{ǿw?i2@I2_;2pCYFtByF9IIJ>)J>J=J=bDRVDRk1yZic<%Z<ٔZf9Q-^ ?9\Y\=^Fy^Eb>@Eb ?dQ 5j5f?Q 9j5f)f\BYhyjZQ In@fEIfL;if;f5yrBBɮrtArʥEjh  DNOT Ignoring new targets: 75.72 m.Rh:Zh:% ProNav: ac range: 75.716423 m, nav range: 72.160789 m, bearing: 344.160188 deg, approach rate: -0.625118 m/s, LOS rate: 0.096988 deg/s, cmd heading: 338.940269 deg, new cmd heading: 339.034005 deg. Bh%;-HeadingCmd: 5.917260 target range: 75.716423 and range: 76.20 m.h-1Z@h)*h)"h) h1g1f1f9f9d9d9d9jdAZdE ?yɢ;) 4>i)e顉iiXiZk;=_QI1Z@Iq9@ @@/@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753157ԙ^A;IQIaOm>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0044065,?A2޵@2ټ@2iƼٱ2F9 :AHRS rotation from veh to nav: [[0.927794,0.370392,0.044805],[-0.372303,0.911325,0.175721],[0.024254,-0.179714,0.983420]]2H}?`??׿`)?~?՘?ǿ -x?i2޵@I2_;0E EE$E"EƱ:*ErN:VE4ZEa@a@a@a@Y]hBy]*IbDmVDmy}G%}1=ٔ8:Q->9Y=FyEE>Q 55*?Q 95=)dBYyQ I@EI:i :Ƽ5yCBɮA˥EjhDNOT Ignoring new targets: 75.72 m.Rh:Zh:u ProNav: ac range: 75.716423 m, nav range: 71.872467 m, bearing: 344.205916 deg, approach rate: -0.622891 m/s, LOS rate: 0.099187 deg/s, cmd heading: 339.034007 deg, new cmd heading: 339.171741 deg. Bhu$;}HeadingCmd: 5.919663 target range: 75.716423 and range: 76.20 m.h}m@hy*hy"hy hygyfffdddjdZd)@E{BɢE x)A >i)C顉ipYiB;Im@I9@ @@/@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259698) ^A rI I OM >\,Ϡ?A RBG^(hAh~d9~(hAYA5Ƶ@5@57¼ٱ55 EAHRS rotation from veh to nav: [[0.926673,0.373243,0.044354],[-0.375118,0.910904,0.171873],[0.023748,-0.175908,0.984120]]5HM?7?@?ؿ &?@?QQ?'ƿ}?i5Ƶ@I5_;1IU3s@iQIQQQ QYYYYaIa)aia)aIeiAmٽi iim~jAiiiqiqujA)q qIq y)}{AyyƁYY~ByFIAyA}AABO>BCBGIBBBBGDBNDB];B"EB=ºCB9B9B=; =B=< =C=35checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508492iMb@Mb@Mb@ 9V-?V-~jt?Y|?yh<VA^@ E@)@Y3@bDVDJy6=%B=ٔ {:Q- >9 Y=FyE5E5>9Q 5E5=%?Q 9E5=)=oBYE ?Q EE:yEQ IM@=EI=:i=:=5Qyɮ&AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 75.72 m.RhQ:ZhQ:5 ProNav: ac range: 75.716423 m, nav range: 71.612907 m, bearing: 344.251088 deg, approach rate: -0.588926 m/s, LOS rate: 0.102866 deg/s, cmd heading: 339.171731 deg, new cmd heading: 339.307739 deg. Bh51;=HeadingCmd: 5.922037 target range: 75.716423 and range: 76.20 m.h=T@h9*hA"hA hAgAfAfifmBdididqjdqZdu x@DzD@AbE3jE<3rEz:0E EE!E"EU:*Ea9:VEc3ZEBE;a2E;aJE#;a:E#;aɢ:) o?i)   i  *[in踾;DIT@Iԁ@ @@/@ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763818^AE ΒI I O >:,}?Aɰ;2 @2װ@2ٱ21D0 :AHRS rotation from veh to nav: [[0.925951,0.375122,0.043566],[-0.376940,0.911022,0.167200],[0.023031,-0.171241,0.984960]]2Hd? ?CN? ؿ'? f?`l?8ſʄ?i2 @I2-_;2sC@YByTIbDVD0y%ڈ=%%o=ٔ- ;Q--?9)Y)=5Fy5E5qE5?9Q 5E5=5?Q 9E5=))=xBYIyMQ IM@=EI=:i=:=5yUDBɮUAQjhy}DNOT Ignoring new targets: 75.72 m.Rh;Zh; ProNav: ac range: 75.716423 m, nav range: 71.405861 m, bearing: 344.287750 deg, approach rate: -0.642620 m/s, LOS rate: 0.114118 deg/s, cmd heading: 339.307733 deg, new cmd heading: 339.418037 deg. Bh;HeadingCmd: 5.923962 target range: 75.716423 and range: 76.20 m.h@h*h"h hgfffdddjdZd@|Bɢ%<) %?i)i}\i췾g;ywI@I@ @@4@Թ^Amp*IIO$>BDAT read: Rx Time:06:05:02.6228 TRx dataTimestamp_ set to:1761545104.060190checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013582E EE%E"E7:*E=:VE 4ZEa@a@a@a@ 9&,Ig?ApUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267260@@jٱ, AHRS rotation from veh to nav: [[0.925396,0.376573,0.042832],[-0.378337,0.911174,0.163165],[0.022416,-0.167197,0.985669]]H؜??@?`6ؿ`V(? ?@O?fſ?i@I_;pCYBykIi5Mb@Mb@Mb@1111 195S?T㥛 y&1?Y5?y55`<5CA1 5\@)5@1Y1bDU VDU:2y]=%]+=ٔe:Q-e>9iYi=mFymEmANEu>qQ 5}5uCK?Q 95u)uBY?Q E:ySQ I@uEIu;iu;u3˜5yFBɮIAեEjhDNOT Ignoring new targets: 75.72 m.Rh:Zh: ProNav: ac range: 75.716423 m, nav range: 71.122780 m, bearing: 344.336081 deg, approach rate: -0.591262 m/s, LOS rate: 0.101349 deg/s, cmd heading: 339.418027 deg, new cmd heading: 339.563597 deg. Bh;HeadingCmd: 5.926503 target range: 75.716423 and range: 76.20 m.h饽@h*h"h hgfff6BdddjdZdL @)ɢ-_;)) -$?i))511i5,^i="=:;=cI=饽@I@ @@81@@@fA9BuG>BuCBqBqBuA =BqBuMDBu];Bu"E DAT read: 06:05:02.6228 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 418,-0.17, 0.459,-1.290, 0.496, 0.335, PHS= 0.226,-1.580, 0.117, RAW= 146.9, 14.0, CAL= 146.8, 15.4, ROT= 3.2, -15.4 % Ygot valid direction response: 06:05:02.6228 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 418,-0.17, 0.459,-1.290, 0.496, 0.335, PHS= 0.226,-1.580, 0.117, RAW= 146.9, 14.0, CAL= 146.8, 15.4, ROT= 3.2, -15.4 - PDAT read: Bearing 154.9, 1.4 (Local) - ~Local bearing/azimuth received: Bearing 154.9, 1.4 (Local) 5 DAT read: Range 11 to 50 : 74.2 m (Round-trip 99.0 ms) speed 0.5 m/s = *DAT read: user:654> E BDAT read: Tx time:06:05:03.7197 E $Ping request sent.E iq=ʿ=$@5z>(#@ >)d=I?:<5?%? ݃>)7zId=im :publishing transmit ping timeA m Fpublishing direction and range infoy?tt?<?Y )Ii )I?:<5?%? )IiY E  E E E "E غ:*E 0:VE ZE BE  ,-?AY}ByyIbDVDyc=%R=ٔQ->9Y=FyEE>Q 55\?Q 95)BYyQ I@EIT;i;Ø5yGBɮA֥Eii $?AJisBRisBjiH@b}鉙Q@U;E@ڵ3@R?tt?<?Zid=bijgkQ@2HmmH 4fa94@ZVu?J!yeѿ(g򵟎?2iR:iB"i?*i&NBiBi]MCɟ?i5iBiBi*@ addTargetRange:: Added new target pos. range: 74.199997 m, deltaT: 3.528020 s, deltaX: -2.000000 m, approachRate: -0.566890 m/s, rangeRepo size: 4 9E Added new target pos. range: 73.726303 m, bearing: 343.580817 deg, lat: 36.779415 deg, lon: -121.859749 deg, deltaT: 3.528020 s, deltaX: -1.990120 m, approachRate: -0.564090 m/s, posRepo size: 4 jhAUDNOT Ignoring new targets: 73.73 m.RhuZhy ProNav: ac range: 73.726303 m, nav range: 70.839905 m, bearing: 344.073746 deg, approach rate: 0.000000 m/s, LOS rate: 0.101349 deg/s, cmd heading: 339.563592 deg, new cmd heading: 339.688666 deg. BhHeadingCmd: 5.928686 target range: 73.726303 and range: 74.20 m.h˷@h*h"h hgfffdddjďR@Zd?颹ɢd;) ?i)i_iMM;M`IM˷@IQIY)]fAa@ @@1@^A*_ԡ A ؟AI I O >,]G?AE& E&E&$E$"E&7:*E&F:VE&4ZE$a*@a*@a*@a*@>9@@>@>Eٱ># JAHRS rotation from veh to nav: [[0.925421,0.376617,0.041908],[-0.378412,0.912621,0.154682],[0.020009,-0.159004,0.987075]]>H ?@|?u?7ؿ14? ?O}??ZĿ?i>9@I>_;9"?Y"?=FyEE >9Q 5E5= q?Q 9E5=)=BYIyMQ IM@=EI=-:i=;=Ř5yUHBɮUAQjhyDNOT Ignoring new targets: 73.73 m.Rh:Zh: ProNav: ac range: 73.726303 m, nav range: 70.575287 m, bearing: 344.118561 deg, approach rate: -0.624830 m/s, LOS rate: 0.106216 deg/s, cmd heading: 339.688667 deg, new cmd heading: 339.823615 deg. Bhʑ;HeadingCmd: 5.931041 target range: 73.726303 and range: 74.20 m.h˽@h*h"h hgfԩffdddjdZd ?}BɢtW<) ?i)0 iaiFL";ƳI˽@I@ @@J4@9 ^A} A >A >1 BU <AU 4<B] F>BY B] `IB] BBY BY BY B] ];B] "EA I I O >,ed?AR;@R @Rk6ٱR ZAHRS rotation from veh to nav: [[0.926002,0.375257,0.041260],[-0.377067,0.914011,0.149683],[0.018458,-0.154164,0.987873]]RH@ϡ? 5? ?!ؿ??(??`ÿ`?iR;@IRF_;RtC `)bkA```dfkAifIddIhijkA jmh)hl lnĽllprkAIrO)pip)pIvkAv7vDWF txxxixxi||)| |I|Y|ÝByIiMb@Mb@Mb@ 9> ףp=?Mbpy&1?Y?yA @)Y@bDVD1yS=%F=ٔv;Q->9Y=FyEh;E>E EE"E"E:*EVE(3ZEBE` ,9Y=FyEE>Q 55?Q 95r)BYyQ I@EI;ir;aɘ5yIBɮAץEjhDNOT Ignoring new targets: 73.73 m.Rh5n:Zh5n: ProNav: ac range: 73.726303 m, nav range: 70.117569 m, bearing: 344.159443 deg, approach rate: -0.579135 m/s, LOS rate: 0.052064 deg/s, cmd heading: 339.888299 deg, new cmd heading: 339.946650 deg. Bh;HeadingCmd: 5.933188 target range: 73.726303 and range: 74.20 m.hܽ@h*h"h hg!f!f!f)d)d)d)jd1Zd5Z?Yɢ]8<)a e4?ia)eaiim`eim2uK;uIuܽ@Iq-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5007909@ @@/@E EE#E"E:*E*:VE3ZEa@a@a@a@ ^A%A AQ I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754998O >/%,m?A4<ɰ4<6ݵ@6Mؼ@6ٱ6Y BAHRS rotation from veh to nav: [[0.927881,0.371026,0.037108],[-0.372525,0.918082,0.135462],[0.016191,-0.139516,0.990088]]6H3???t׿ `?@V?t? ̮?i6ݵ@I6c_;6oCYByI  iMb@Mb@Mb@ 9MbX?ˡE?9Y=FyEG<E>Q 55?Q 95+)BY9 ?Q E:yКQ I@EI] ;i;&˘5yɮwAjhDNOT Ignoring new targets: 73.73 m.RhS9Zh%S9- ProNav: ac range: 73.726303 m, nav range: 69.897743 m, bearing: 344.164111 deg, approach rate: -0.543077 m/s, LOS rate: 0.011568 deg/s, cmd heading: 339.946657 deg, new cmd heading: 339.960704 deg. Bh5 9HeadingCmd: 5.933434 target range: 73.726303 and range: 74.20 m.h޽@h*h"h hgfffzBdddjdZd`q?Q]|Bɢ]<)Y ]>?iY)eaaieZgim5y;I޽@I!@! @!@%/@)BD>BCBIBBBB =BBB];B"EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004500yE EE$E"E:*EE7:VE4ZEBE;a2E;a JEP;a :EQ;a ^A ԩ A9 IA IY Oe >&+,۱?A@Fi@F7@FsٱF2 ZAHRS rotation from veh to nav: [[0.929119,0.368062,0.035621],[-0.369482,0.920173,0.129480],[0.014879,-0.133463,0.990942]]FHV?T?9!Y)=-Fy- E5 <E5>AQ 5M5E?Q 9U5E)EBYYye4Q Ie@EEIEK};iEu;E̘5ymJBɮuAuإEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256668jhDNOT Ignoring new targets: 73.73 m.Rh89Zh89E ProNav: ac range: 73.726303 m, nav range: 69.688133 m, bearing: 344.168046 deg, approach rate: -0.535937 m/s, LOS rate: 0.010093 deg/s, cmd heading: 339.960699 deg, new cmd heading: 339.972542 deg. BhE9MHeadingCmd: 5.933640 target range: 73.726303 and range: 74.20 m.hMa@hI*hI"hI hIgQfQfqfqdydydyjdyZd`@AɢE<)A EE?iI)M¯IIiMiiUUx;U4IUa@IYԱ9@ @@0@ ^A- ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509701 E  E uE "E "E :*E :VE (3ZE a @a @a @a @AY Ia Iy O >42,ȷ?A2|@2J@2^Zٱ2mH :AHRS rotation from veh to nav: [[0.930534,0.364544,0.034849],[-0.365963,0.922234,0.124723],[0.013328,-0.128812,0.991579]]2H?T?ס?k׿@??K? |?i2|@I2S_;2pCYF'ByF IbDNVDNk1yV>%VQ=ٔVW;Q-Z>9XYX=ZFyZ E^<E^>`Q 5f5bȉ?Q 9f5bi)bBYhyjQQ Ij@bEIb:ib-:bΘ5lypɮrApjh  DNOT Ignoring new targets: 73.73 m.Rh 9Zh 9% ProNav: ac range: 73.726303 m, nav range: 69.477295 m, bearing: 344.171389 deg, approach rate: -0.549939 m/s, LOS rate: 0.008745 deg/s, cmd heading: 339.972529 deg, new cmd heading: 339.982587 deg. Bh% 9-HeadingCmd: 5.933815 target range: 73.726303 and range: 74.20 m.h-@h)*h)"h) h1g1f1f1f9d9d9d9jdAZdEH@ɢ$w =) aU?i)ikiಾԽ;%RI%@I!-9@1 @1@5/0@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7633749^Amt0a A I I O >A A @AB M>B CB IB BB B B NDB b^;B "E] BDAT read: Rx Time:06:05:06.2199 e TRx dataTimestamp_ set to:1761545107.588080e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013521.8,)];E EwE%E"E:*E:VE 4ZEBE;a2E;aJEk;a:Ek;ai=Mb@Mb@Mb@9999 99=(\?B`"۹?{Gzt?Y=?y===ף;=^A=@ =@)=E@9Y9bDUVDU0ye<%e1=ٔe;Q-e>9iYi=mFymEuz;Eu>yQ 55}9݉?Q 95})yY ?Q E:yQA} >Ա A I I O >?,n?A2>@28@2@;ٱ2 :AHRS rotation from veh to nav: [[0.932269,0.359981,0.035885],[-0.361584,0.924075,0.123865],[0.011429,-0.128451,0.991650]]2H`&? ?}_?3$׿ ?@?g?q?i2>@I2'`;2sCYB1ByB! IbDNVDN0yV<%Vm=ٔV;Q-V?9XYX=ZFyZE^ȯ;E^?`Q 5f5b쉊?Q 9f5b)`Yhyjm:Q Ij@bEIbW:ib :bҘ5ylɮrApjh DNOT Ignoring new targets: 73.73 m.Rh TCZh TC% ProNav: ac range: 73.726303 m, nav range: 69.043076 m, bearing: 344.137725 deg, approach rate: -0.541098 m/s, LOS rate: -0.042693 deg/s, cmd heading: 339.925264 deg, new cmd heading: 339.881277 deg. Bh%e%HeadingCmd: 5.932047 target range: 73.726303 and range: 74.20 m.h-Uӽ@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd= @ɢ6=)! -Z?i))]׼Yaiepi\ȳא;ADIUӽ@IDAT read: 06:05:06.2199 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404,-0.22, 2.091, 0.370, 2.149, 1.996, PHS= 0.196,-1.581, 0.109, RAW= 147.5, 14.6, CAL= 147.4, 16.1, ROT= 2.6, -16.1 Ygot valid direction response: 06:05:06.2199 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404,-0.22, 2.091, 0.370, 2.149, 1.996, PHS= 0.196,-1.581, 0.109, RAW= 147.5, 14.6, CAL= 147.4, 16.1, ROT= 2.6, -16.1 PDAT read: Bearing 156.8, 0.9 (Local) ~Local bearing/azimuth received: Bearing 156.8, 0.9 (Local) DAT read: Range 11 to 50 : 72.0 m (Round-trip 96.0 ms) speed 0.4 m/s *DAT read: user:655> BDAT read: Tx time:06:05:07.3197 $Ping request sent.iE5^ʿEd;=ES$@Ew>E$@ Eޏ>)E9=IEޏAAEOw?f᠜?J? E>)EoF,{O?ABL@BXG@Bg)ٱBs JAHRS rotation from veh to nav: [[0.932918,0.358160,0.037230],[-0.359942,0.924573,0.124928],[0.010322,-0.129949,0.991467]]BHu??@?`J ׿`?@M?@#?'?iBL@IB a;BoCYf4Byf% IPExceeded connect timeout, disconnecting.iMb@Mb@Mb@ 9?Q?Y?y=GA@ )r@YbD VD y=h<%E3=ٔE;Q-E>9IYI=MFyMEM};Eu>GA9Y"AQ 55O?Q 95i)BY?Q E:y Q I@EI@:i]:BԘ5yMBɮA ٥Eiiim:?AJimBRimBjim=@bmlQ.*Q@k\)@ѣ3@Rmw?UP?/?Zim9=bimޏjmBszzP@٣9Z3HC *E3@Zmc{? aTPѿuZG?2imԚ:imӃB"imt?*immwBim'Bim?imRiiim[Bim7+@ addTargetRange:: Added new target pos. range: 72.000000 m, deltaT: 3.533962 s, deltaX: -2.199997 m, approachRate: -0.622530 m/s, rangeRepo size: 4  Added new target pos. range: 71.541161 m, bearing: 343.636462 deg, lat: 36.779414 deg, lon: -121.859749 deg, deltaT: 3.533962 s, deltaX: -2.185143 m, approachRate: -0.618327 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 71.54 m.RhZh ProNav: ac range: 71.541161 m, nav range: 68.678467 m, bearing: 344.076927 deg, approach rate: 0.000000 m/s, LOS rate: -0.042693 deg/s, cmd heading: 339.881278 deg, new cmd heading: 339.814716 deg. BhHeadingCmd: 5.930886 target range: 71.541161 and range: 72.00 m.h ɽ@h *h "h  h g f ffBdddjdR@Zd ?B-T>B-CB-IB-BB-< =B)B-ODB-q^;B-#EBĸCABĸCBĔCBA =B@ =CV6颩ɢs<) -\?i)м顱isi`R;(Iɽ@II ) eA9@ @@4@bE]4jE]3rE]Ǻ/E EwE$E"Es:*E:VE4ZEBE;a2E;aJEa:Eaiԙ ^A A!I1IAOM>#0M,P7?A2Z@2mU@2ٱ2x < :AHRS rotation from veh to nav: [[0.933541,0.356326,0.039157],[-0.358340,0.924660,0.128823],[0.009696,-0.134293,0.990894]]2H?@ ?m ?` ֿі?D}?@\ۃ?0g?i2Z@I2a;2pCYF2ByF# I HJAbDRVDRyVr)%ZD=ٔZ:Q-Z>9\Y\=^Fy^E^ֆ;Eb>`Q 5f5b/?Q 9j5b)bBYyEQ I@bEIbZ7T,!Q?A22h@2c@2޺ٱ2 >AHRS rotation from veh to nav: [[0.934139,0.354564,0.040844],[-0.356795,0.924815,0.131965],[0.009017,-0.137847,0.990413]]2Hw?-??ֿ@?9 Y = Fy EK;E>!Q 555%f$?Q 955%)%BY9y=Q I=@%EI%D;i%CE;%ט5yɮAjh9EDNOT Ignoring new targets: 71.54 m.RhE2ZhE2U ProNav: ac range: 71.541161 m, nav range: 68.274689 m, bearing: 344.027215 deg, approach rate: -0.513463 m/s, LOS rate: -0.063908 deg/s, cmd heading: 339.745685 deg, new cmd heading: 339.665144 deg. BhUp/]HeadingCmd: 5.928275 target range: 71.541161 and range: 72.00 m.h]n@hY*ha"ha hagafaffdddjdZd@D?颁ɢpa=) %`?i)\Uļ顉i+wiʶ:;KIn@I}nManaging dock network, ignoring radio surface power off 9@  @ @4@@@B<A<BBB! IB1BB: =BFDBBP^;B"E! ^A5 yb]E  E xE %E "E %:*E :VE 4ZE BE ;a 2E ;a JE Po;a :E Qo;a A A I I O >&*[,n?A6o@6rj@6X ٱ6z BAHRS rotation from veh to nav: [[0.934467,0.353530,0.042273],[-0.355948,0.924766,0.134568],[0.008481,-0.140797,0.990002]]6H@(?̼A@ \@)E@Y@bD5VD502y<%+=ٔ:Q->9Y=FyE#:E>Q 559?Q 95)BY ?Q E:yQ I@EI;ig;٘5ySBɮAۥE=B*** querying acoustic contact ***i9 i9jhQUDNOT Ignoring new targets: 71.54 m.Rh]Zh]} ProNav: ac range: 71.541161 m, nav range: 68.020859 m, bearing: 343.992345 deg, approach rate: -0.554885 m/s, LOS rate: -0.076511 deg/s, cmd heading: 339.665144 deg, new cmd heading: 339.560144 deg. Bh} RԑHeadingCmd: 5.926443 target range: 71.541161 and range: 72.00 m.hk@h*h"h hgfffBdddjdZdi?ɢ=) Tb?i)uiFzi9;T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.`:Ik@I 9@ @@/@^A #2 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994496A I I1 OE >b,?A(2 @2y@2#*ٱ2i >AHRS rotation from veh to nav: [[0.935140,0.351673,0.042888],[-0.354192,0.925363,0.135096],[0.007822,-0.141525,0.989904]]2H?΁?@r?@ֿ?J?9?`z¿J?i2 @I2Gb;2pCYFCByF8 IIJ>)J>N=N=bDRVDR1Ez EzEz#Ex"Ez:*EzT:VEz3ZExa~@a~@a~@a~@ymE<%mP=ٔuM:Q-u>9qYq=uFy}E};E}>Q 55K?Q 95C)BYyQ I@EI;i;ۘ5yɮ{AjhDNOT Ignoring new targets: 71.54 m.Rh%ͫZh%ͫ5 ProNav: ac range: 71.541161 m, nav range: 67.811226 m, bearing: 343.963015 deg, approach rate: -0.535108 m/s, LOS rate: -0.075100 deg/s, cmd heading: 339.560150 deg, new cmd heading: 339.471886 deg. Bh5)N=HeadingCmd: 5.924902 target range: 71.541161 and range: 72.00 m.h=̘@h9*h9"h9 hAgAf ff9dAdAdAjdAZdMt$@y颱ɢ=) `c?i)Hi}ip:;;;I̘@I9@ @@/@ԩMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253348^A ] ; A I I O >)h,=?AB@Bǃ@BٱBi NAHRS rotation from veh to nav: [[0.935571,0.350420,0.043733],[-0.353059,0.925541,0.136833],[0.007473,-0.143457,0.989628]]BH 3?Fm?`d?ֿ@? ?~?\¿ ?iB@IBb;@`Yf1Byf" IB!B!B%4 IB%@BB%< =B%GDB!B%$^;B%"Ei Mb@Mb@Mb@     9 `"?T㥛 ?y > t A @ /@) \@ Y @bD%VD%ky5%=?=ٔ=NV:Q-=>9AYA=EFyEEE9;EE>IQ 5U5M]?Q 9]5M)MBY]?Q E]:y]Q I]@MEIM`;iM-;Mdݘ5ymTBɮmAijhchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502622DNOT Ignoring new targets: 71.54 m.RhZh ProNav: ac range: 71.541161 m, nav range: 67.600471 m, bearing: 343.933073 deg, approach rate: -0.501692 m/s, LOS rate: -0.071498 deg/s, cmd heading: 339.471876 deg, new cmd heading: 339.381771 deg. BhEDHeadingCmd: 5.923329 target range: 71.541161 and range: 72.00 m.hꋽ@h*h"h hgfffЀBdddIjdQZdU (^@额}Bɢ =) Y?i)顡iai?;Ҵ;Iꋽ@IE EE'E"Eغ:*EC:VE'4ZEBE3Tn,?A>G@>@>~tٱ>є FAHRS rotation from veh to nav: [[0.935798,0.349663,0.044910],[-0.352453,0.925194,0.140688],[0.007643,-0.147484,0.989035]]>H?`?@j?ֿ0??{N?¿`,?i>G@I>pb;9dYd=fFyfEf_:Ej>hQ 5r5j~l?Q 9r5jn)jBYpyrdQ Ir@jEIj;ij ;jޘ5yxɮzqAxjh!%DNOT Ignoring new targets: 71.54 m.Rh-͡Zh-͡= ProNav: ac range: 71.541161 m, nav range: 67.425140 m, bearing: 343.907964 deg, approach rate: -0.492611 m/s, LOS rate: -0.070729 deg/s, cmd heading: 339.381773 deg, new cmd heading: 339.306250 deg. Bh=)BEHeadingCmd: 5.922011 target range: 71.541161 and range: 72.00 m.hE@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU@@颁ɢ&,=)X ]T?i)顉i@ɀi븾;ԡ .AHRS rotation from veh to nav: [[0.936088,0.348689,0.046416],[-0.351680,0.924775,0.145304],[0.007742,-0.152341,0.988298]]2Ho?P?@ç?@ֿ?R?`?ÿ"?i2 @I2)c;0YFByF I HJAHJAbDRVDRkyZ%ZK=ٔZdQ-Z>9\Y\=^Fy^ Eb~;Eb>dQ 5j5fO}?Q 9r5f )fBYtyzlQ Iz@fEIf&;if;BDAT read: Rx Time:06:05:09.8173  TRx dataTimestamp_ set to:1761545111.376245 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259693f5yVBɮAܥEԉjhDNOT Ignoring new targets: 71.54 m.RhCZhC] ProNav: ac range: 71.541161 m, nav range: 67.227119 m, bearing: 343.879365 deg, approach rate: -0.435357 m/s, LOS rate: -0.063062 deg/s, cmd heading: 339.306258 deg, new cmd heading: 339.220208 deg. Bhe-eHeadingCmd: 5.920509 target range: 71.541161 and range: 72.00 m.het@hi*hi"hi higfffdddjdZd@ @-~Bɢ-k<)) - M?i))5Ǘ11i5fi==Z;=^k{,m?AYByIi-Mb@Mb@Mb@)))) )9-{Gz?1Zd?:vY-?y-"=-Լ)-@ -E@)))Y)bDEVDE:yU5%U2=ٔ]Q-]>9YYY=eFye#EeEe>iQ 5u5m\?Q 9u5m )mBY}?Q E}:y}L(Q I}@mEImv:im/:m5yWBɮAݥEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 71.54 m.Rh8Zh8 ProNav: ac range: 71.541161 m, nav range: 66.987595 m, bearing: 343.855283 deg, approach rate: -0.581511 m/s, LOS rate: -0.058673 deg/s, cmd heading: 339.220198 deg, new cmd heading: 339.147695 deg. Bh!HeadingCmd: 5.919244 target range: 71.541161 and range: 72.00 m.hrj@h*h"h hgfff Bd d d jd Zd@@=Bɢ=Μ=)A EJ?iA)EAIiM"iMVU ;U4. BDAT read: Tx time:06:05:10.9197 $Ping request sent.i1̿w>Bo&@5z>ۋ&@ c>)Q *N,T ?A2R@2 @2.ٱ2wY! :AHRS rotation from veh to nav: [[0.936826,0.346555,0.047498],[-0.349704,0.924813,0.149762],[0.007974,-0.156912,0.987580]]2H{? -?Q?aֿ?j+?`T?`Ŀ`B?i2R@I24c;2qCYbBybIEr ErzEr#Ep"Era:*Er :VEr3ZEpav@av@av@av@bDjVDjky % c=ٔ =)Q- >9Y=Fy%E;E>YQ 5e5]o?Q 9m5] )]yBYiym&Q Im@]EI]6:i]p:]Q5yqɮAi9i=|H?AJi=OBRi=OBji=A@b=RU2 GP@4,Wp?>T2@R=:so:??֚n?Zi=<bi=cj=NP@C{3K2@Z=c3hu?'^jҿ?;?2i=:i=?B"i=?*i=S;Bi=|Bi9i=mwi=کBi=Bi=̿@ addTargetRange:: Added new target pos. range: 70.099998 m, deltaT: 3.782132 s, deltaX: -1.900002 m, approachRate: -0.502363 m/s, rangeRepo size: 4  Added new target pos. range: 69.655327 m, bearing: 342.916187 deg, lat: 36.779414 deg, lon: -121.859755 deg, deltaT: 3.782132 s, deltaX: -1.885834 m, approachRate: -0.498617 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 69.66 m.Rh%Zh!5 ProNav: ac range: 69.655327 m, nav range: 66.940002 m, bearing: 343.414624 deg, approach rate: 0.000000 m/s, LOS rate: -0.058673 deg/s, cmd heading: 339.147688 deg, new cmd heading: 339.081712 deg. QBh1HeadingCmd: 5.918092 target range: 69.655327 and range: 70.10 m.ha@h*h"h hgfffdddjd`fQ@Zd@1?频ɢ=) L=?i)顙i(/iwy;rf]B CB  IB 'BB = =B B B ];B "E^Au 9<I I O >G,&?A2_@2-@2bٱ2A" :AHRS rotation from veh to nav: [[0.936906,0.346432,0.046822],[-0.349466,0.924710,0.150946],[0.008996,-0.157785,0.987432]]2H!?+??@]ֿ`9?`6R?`Bl?O2Ŀ ?i2_@I2Fb;2rCY~By~II=)=iMb@Mb@Mb@ 9n?~jt? rhYV?y=C  \@)Y@bDVD2y-%*=ٔ Q->9Y=Fy'E:E>Q 55?Q 95| )oBY?Q E:ynQ I@EI ;i:`5yYBɮ@AޥEEU EUvEU$EQ"EU:*EU:VEU4ZEQBEU;a]2EU;a]JEUh;ae:EU h;aejhDNOT Ignoring new targets: 69.66 m.RhZh ProNav: ac range: 69.655327 m, nav range: 66.676414 m, bearing: 343.401688 deg, approach rate: -0.574572 m/s, LOS rate: -0.028309 deg/s, cmd heading: 339.081709 deg, new cmd heading: 339.042748 deg. BhmHeadingCmd: 5.917412 target range: 69.655327 and range: 70.10 m.hq[@h*h"h hgfffBdddjdZd `x?颕BɢS!<) +8?i) I顡iOiF=;idJ+,@?A2@2w@2ק+ٱ2" :AHRS rotation from veh to nav: [[0.937033,0.346254,0.045586],[-0.349085,0.924682,0.151997],[0.010477,-0.158340,0.987329]]2H+?@)?W?`hWֿ? t? t?zDĿ@3?i2@I2|b;0YB؁ByFIbDN VDN2yj %j[=ٔjɁQ-n>9lYl=nFyr)Er:Er>tQ 5z5vMȊ?Q 9z5v )vgBYxyzmQ I~@vEIv`:ivمާ,[?A MWk>Ii~G춿9YAYҁByIa5@a5 i5Mb@Mb@Mb@1111 195Dl?+?~jtY5O ?y5=5ļ5VA1 5/@)11I5bDMVDM:y]%]!=ٔ]Q-]>9aYa=eFye+EmEm>qQ 5}5uފ?Q 9}5u)uaBY} ?Q E}:y}sQ I@u EIu;iu`;u:5yZBɮ@AjhDNOT Ignoring new targets: 69.66 m.Rh=8Zh=8 ProNav: ac range: 69.655327 m, nav range: 66.185799 m, bearing: 343.392235 deg, approach rate: -0.570292 m/s, LOS rate: 0.001970 deg/s, cmd heading: 339.011385 deg, new cmd heading: 339.014298 deg. Bh8HeadingCmd: 5.916916 target range: 69.655327 and range: 70.10 m.h`W@h*h"h hgfYfafadadidijdiZdm k8?B<A<BV>BCBIB BB; =BBB&^;B"EBMĺCBMĺCBMēCBM; =BM; =CMe5Bɢ<) '?i)ݎiBki  E; o9XYX=^Fy^.E^ȺE^>`Q 5f5bA?Q 9f5b)b[BYhyjQ Ij@bEIb ;ib ;bP5yn^BɮnArE~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 69.66 m.RhB8ZhB8% ProNav: ac range: 69.655327 m, nav range: 65.921837 m, bearing: 343.393250 deg, approach rate: -0.552971 m/s, LOS rate: 0.002135 deg/s, cmd heading: 339.014308 deg, new cmd heading: 339.017365 deg. Bh%8-HeadingCmd: 5.916969 target range: 69.655327 and range: 70.10 m.h-W@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdE`!L@ Bɢ L9<)  ?i)0iىiͦ;Կci1 I1 ),ٙ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504796V@V@VmJٱV!" AHRS rotation from veh to nav: [[0.936247,0.348559,0.044136],[-0.351125,0.923838,0.152427],[0.012355,-0.158207,0.987329]]VH?N??xֿ??@M?@Ŀ`2?iV@IVrb;VpCY%By%Ia a  i Mb@Mb@Mb@     9 > ףp=?MbP{GzY ?y  # A @ ) E@ Y @bD%VD%k1y5ᘽ%5(=ٔ=t:Q-=>99Y9=EFyE0EEYDEE>IQ 5U5M ?Q 9U5M)IY]?Q E]:y]Q I]@MEIM:iM:Mp5iyiɮmbAijhDNOT Ignoring new targets: 69.66 m.Rh':Zh': ProNav: ac range: 69.655327 m, nav range: 65.645439 m, bearing: 343.411004 deg, approach rate: -0.568303 m/s, LOS rate: 0.036659 deg/s, cmd heading: 339.017368 deg, new cmd heading: 339.070857 deg. BhE:HeadingCmd: 5.917903 target range: 69.655327 and range: 70.10 m.hv_@h*h"h hgfffABdddjdZd 0@Bɢİ<) 8?i)顡iiR;ABBIBBBBFDBBV^;B"E9@9 @9@=4@9@EeA@Aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754162E  E E $E "E :*E ?:VE 4ZE BE G;a 2E I;a% JE ;a% :E ;a% ^Ay I I O >-|,]?A$YBywI bDVDy-%-l=ٔ-Q--?91Y1=5Fy52E5E=?9Q 5E5=?Q 9M5=Y)=ZBYIyIQ IM@=EI=;i=F:=5yU_Bɮ]A]EjhDNOT Ignoring new targets: 69.66 m.RhM":ZhM":  ProNav: ac range: 69.655327 m, nav range: 65.448280 m, bearing: 343.423760 deg, approach rate: -0.546635 m/s, LOS rate: 0.035474 deg/s, cmd heading: 339.070862 deg, new cmd heading: 339.109246 deg. Bh :HeadingCmd: 5.918573 target range: 69.655327 and range: 70.10 m.hd@h*h"h hgfff!d!d!d!jd!Zd-@@UBɢU<)Y ]'?iY)]6YaieY{ie|mR;m#; U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258063E  E E #E "E C:*E ,:VE 3ZE a @a @a @a @W,?A`eHr@em@eٱe,  AHRS rotation from veh to nav: [[0.934573,0.352124,0.050817],[-0.355643,0.920811,0.160081],[0.009575,-0.167680,0.985795]]eH?1?@?ֿHw?}? ?vſࡋ?ieHr@IeEb;aYMByMvIbDuVDuy1}%7=ٔ;Q->9Y=Fy4E#0E>Q 55-?Q 95)YBYyQ I@EI m;i|;5yɮAjh DNOT Ignoring new targets: 69.66 m.Rh::Zh::% ProNav: ac range: 69.655327 m, nav range: 65.192871 m, bearing: 343.441526 deg, approach rate: -0.584029 m/s, LOS rate: 0.040783 deg/s, cmd heading: 339.109248 deg, new cmd heading: 339.162754 deg. Bh-:5HeadingCmd: 5.919507 target range: 69.655327 and range: 70.10 m.h5l@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdEA @BɢY<) >?i).g|ilci45S;=;I=l@I9DAT read: 06:05:13.4148 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 416, 0.25,-0.905,-2.612,-0.808,-1.001, PHS= 0.199,-1.566, 0.150, RAW= 148.6, 13.9, CAL= 148.6, 15.4, ROT= 1.4, -15.4 9@ @@@Ygot valid direction response: 06:05:13.4148 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 416, 0.25,-0.905,-2.612,-0.808,-1.001, PHS= 0.199,-1.566, 0.150, RAW= 148.6, 13.9, CAL= 148.6, 15.4, ROT= 1.4, -15.4 -PDAT read: Bearing 155.5, -0.5 (Local) -~Local bearing/azimuth received: Bearing 155.5, -0.5 (Local) =DAT read: Range 11 to 50 : 68.2 m (Round-trip 91.0 ms) speed 0.4 m/s *DAT read: user:657> BDAT read: Tx time:06:05:14.5197 $Ping request sent.irȿ>%@Ulx>%@ >)+)xI+i Aa Ae AABm V>Bi Bm IBm ˁBBm : =Bi Bi Bm x^;Bm #E,?A2[@2OV@2ٱ2) :AHRS rotation from veh to nav: [[0.933599,0.354451,0.052515],[-0.358247,0.920371,0.156767],[0.007233,-0.165171,0.986238]]2H ?R?4?ֿ@s??}?P$ſC?i2[@I2Lb;0YNByRoI9iMb@Mb@Mb@ 97A`?9!Y!=%Fy%6E%E->)Q 5]5-v??Q 9]5-)-ZBY]?Q Ee:ye{˾Q Ie@-EI-;i-m;-5E EEE"E:*Ea9:VEZEBE[;a2E\;aJE#;a:E#;ayaBɮ AEii8?AJiBRiBjiɐ@b$y%TP@('G?M1@R!??<?Zi+<bij" 0ƌ>O@Ϻ3z 1@Z? ҿh8cy?2iޘ:iyB"iz@џ?*imBiBii&NiiBiHɿ@ addTargetRange:: Added new target pos. range: 68.199997 m, deltaT: 3.528121 s, deltaX: -1.900002 m, approachRate: -0.538531 m/s, rangeRepo size: 4  Added new target pos. range: 67.767464 m, bearing: 342.996829 deg, lat: 36.779414 deg, lon: -121.859756 deg, deltaT: 3.528121 s, deltaX: -1.887863 m, approachRate: -0.535090 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 67.77 m.RhZh ProNav: ac range: 67.767464 m, nav range: 64.990982 m, bearing: 343.391956 deg, approach rate: 0.000000 m/s, LOS rate: 0.040783 deg/s, cmd heading: 339.162742 deg, new cmd heading: 339.214034 deg. BhHeadingCmd: 5.920402 target range: 67.767464 and range: 68.20 m.hs@h*h"h hg1f1f9f=9Bd9d9dAjdE Q@iZdm@0?Bɢ,<)) - ?i))->3t11i5b;ieоe;eFh;Ims@IqQ@Q @Y@]/@Y@e=@e=ԑ^A5#2;IIO> i,?A6E@6R@@6ބٱ6% BAHRS rotation from veh to nav: [[0.932651,0.356667,0.054324],[-0.360758,0.920267,0.151535],[0.004055,-0.160927,0.986958]]6H F?? `Ы?׿ r?`e?؛p?AĿ(?i6E@I66b;6rCYJByJqIPR@AbDVVDV02yZ<%^d=ٔ^79`Y`=bFyb8EbEf>dQ 5j5fO?Q 9n5f@)dYlyn̾Q In@f!EIfu ;if ;f+5ytɮvAtB*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 67.77 m.Rh}:Zh}:- ProNav: ac range: 67.767464 m, nav range: 64.781181 m, bearing: 343.412496 deg, approach rate: -0.647519 m/s, LOS rate: 0.063599 deg/s, cmd heading: 339.214023 deg, new cmd heading: 339.275843 deg. Bh-.;5HeadingCmd: 5.921481 target range: 67.767464 and range: 68.20 m.h5|@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdMO*?yɢ}V<)y } ?i)qo顁i㌼iZ1;G9I|@IԙQ@Q @Q@U0@Q5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.E EE$E"E:*EV:VE4ZEa@a@a@a@^AQA]fAzA]gAIIO>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974874>ƹ,Ϥ?A;ɰF.@F)@F}rٱF% jAHRS rotation from veh to nav: [[0.931649,0.358749,0.057698],[-0.363358,0.919421,0.150452],[0.000926,-0.161133,0.986932]]FH@?`?@?@A׿`k?B?`TN?Ŀ?iF.@IF36b;FpCYBysI iMb@Mb@Mb@ 9~jt?J +{Gz?Y?yH#<At@ /@)@YbDVDy;%=ٔ{;Q->9Y=Fy;EE>Q 55h?Q 95 )`BY,?Q E:yQ I@&EI:iU:5ycBBP>BCBIBBB= =BGDBNDBq^;B"Eɮ%EjhIMDNOT Ignoring new targets: 67.77 m.RhU:ZhU:e ProNav: ac range: 67.767464 m, nav range: 64.457115 m, bearing: 343.458720 deg, approach rate: -0.597084 m/s, LOS rate: 0.085595 deg/s, cmd heading: 339.275850 deg, new cmd heading: 339.415219 deg. Bhej;mHeadingCmd: 5.923913 target range: 67.767464 and range: 68.20 m.hm@hi*hi"hi higqfqfqfu=BdydydyjdZd`E?颭Bɢ<)  ?i)Ae项ii򷾉;7rI@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227642@ @@/@IE EE%E"E:*E*:VE 4ZEBE;a2E;aJEe;a:Ee;ay ^A AAIIIYOu>͹,9?A:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478912:@:@:Gm;ٱ:(( FAHRS rotation from veh to nav: [[0.930640,0.360676,0.061818],[-0.365929,0.918252,0.151357],[-0.002173,-0.163480,0.986544]]:H`?O??`_k׿Rb?_?aĿ@ő?i:@I:.b;8HJs@iHIHHL LLLLPPIP)PiP)TIViAVO VUF TXZjAXiXXi\^jA)\ \I\ `)````Y`YjByjlIbDrVDr1yzE%zk=ٔ~%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730930E  E E E "E :*E T:VE ZE a @a @a @a @Ա Թ,S?A:P@:@:&;ٱ:n' FAHRS rotation from veh to nav: [[0.929789,0.362321,0.064926],[-0.368054,0.917636,0.149935],[-0.005254,-0.163304,0.986562]]:H?B0??3׿E]?1?@ʄu'Ŀ?i:P@I:jb;8LY=By=zIbDMVDMy]f=%]E=ٔef;Q-e>9aYa=eFym?EmﴻEm>qQ 5}5u?Q 9}5uX&)ufBYyB CB lIB BB ? =B B MDB ^;B #E^A A A >! A .AI! I9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235082OU >gڹ,m?AE6 E6E6#E4"E6:*E6X:VE63ZE4BE6Z;a>2E6\;a>JE6o;a>:E6o;aB|~@~@~%;ٱ~'  AHRS rotation from veh to nav: [[0.929131,0.363577,0.067281],[-0.369670,0.917195,0.148649],[-0.007664,-0.162986,0.986599]]~Hq?D?Q9? ׿Y??dĿ 7?i~@I~5b;~qCYByIIp>)=iMb@Mb@Mb@ 9-?+Mb?Y5?y<A^@ @)YbDVDJyB=%4=ٔϭ;Q-E>9M ?YM ?=MFyMAEUuEU>YQ 5e5]?Q 9e5]))]jBYe?Q Ee:ye߾Q Im@]2EI] ;i] ;]5yufBɮuAuEjhDNOT Ignoring new targets: 67.77 m.Rh :Zh : ProNav: ac range: 67.767464 m, nav range: 63.712437 m, bearing: 343.565255 deg, approach rate: -0.612171 m/s, LOS rate: 0.083078 deg/s, cmd heading: 339.619736 deg, new cmd heading: 339.736080 deg. Bhd;HeadingCmd: 5.929513 target range: 67.767464 and range: 68.20 m.h@h*h"h hgfffMBdddjdZd q@!)ɢ5L_<)1 5?i1)5N19i=8?i=E;E_IE@II@ @@4@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487486^A0QA ؟AI I! O- >y ,]?A6@6@6%7<ٱ6H% BAHRS rotation from veh to nav: [[0.928795,0.364270,0.068170],[-0.370474,0.917324,0.145829],[-0.009412,-0.160701,0.986958]]6H@?3P?s?@ڵ׿Z??FؑĿ)?i6@I6|(b;4YJByJIbDVVDV:yZ%Zv=ٔ^{;Q-^?9b"?Yb"?=bFybCEbi2Ef ?dQ 5j5f9?Q 9n5f+)flBYlyn Q In@f5EIf;ifD;fJ5yvgBɮvAvEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 67.77 m.Rh@:Zh@:- ProNav: ac range: 67.767464 m, nav range: 63.516422 m, bearing: 343.592113 deg, approach rate: -0.611458 m/s, LOS rate: 0.084040 deg/s, cmd heading: 339.736068 deg, new cmd heading: 339.816890 deg. Bh-f;5HeadingCmd: 5.930923 target range: 67.767464 and range: 68.20 m.h5 ʽ@h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdM@@Y}Bɢ}J=) Z?i)H顁iZi[zb;s5}I ʽ@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.739232@ @@/@Eu EuzEu"Eq"Eu1:*Eu :VEu(3ZEqa}@a@a@a@ԉ^A1ԱAe .AIq I O > BDAT read: Rx Time:06:05:17.0121  TRx dataTimestamp_ set to:1761545118.432232 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992120 G  ,_?A 9YA-@-@-0<ٱ-n =AHRS rotation from veh to nav: [[0.928734,0.364512,0.067710],[-0.370591,0.918035,0.140978],[-0.010772,-0.156024,0.987695]]-H/?*T?@xU?÷׿`?` ?ÿ1?i-@I-5[b;-pCYMÁByUIonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 84.20, 74.69, 77.41 a@a a@a a@a a@a AAbDVDԡy=%;=ٔK;Q->9 ?Y ?=FyEE-E>Q 55ŋ?Q 95.)pBQ A+:YQ E:y1Q I@9EI/;i>5yɮAjhaeDNOT Ignoring new targets: 67.77 m.Rhm:Zhm:} ProNav: ac range: 67.767464 m, nav range: 63.248688 m, bearing: 343.629143 deg, approach rate: -0.612697 m/s, LOS rate: 0.085101 deg/s, cmd heading: 339.816883 deg, new cmd heading: 339.928444 deg. Bh}i;BM>BBBBB =BBNDB^;B#EBM¹CBM¹CBM”CBM= =BM= =CML6HeadingCmd: 5.932870 target range: 67.767464 and range: 68.20 m.hڽ@h*h"h hgfffdddjdZd` @iɢm<)i mR?ii)ut??qqiuRDiv\;Iڽ@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.243074-9@) @)@-/@1@=fA@9bE3jErEœ/Eu EuEu!Eq"Euҝ:*Eu=:VEuc3ZEqBEu;a2Eu;aJEuƔ;a:Euǔ;a^A pA dAzA dA1  DAT read: 06:05:17.0121 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420, 0.05, 2.422, 0.666, 2.506, 2.314, PHS= 0.210,-1.603, 0.148, RAW= 148.3, 13.9, CAL= 148.2, 15.3, ROT= 1.8, -15.3  Ygot valid direction response: 06:05:17.0121 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420, 0.05, 2.422, 0.666, 2.506, 2.314, PHS= 0.210,-1.603, 0.148, RAW= 148.3, 13.9, CAL= 148.2, 15.3, ROT= 1.8, -15.3  PDAT read: Bearing 155.5, -1.5 (Local)  ~Local bearing/azimuth received: Bearing 155.5, -1.5 (Local)  DAT read: Range 11 to 50 : 66.1 m (Round-trip 88.2 ms) speed 0.5 m/s  *DAT read: user:658>  BDAT read: Tx time:06:05:18.1197  $Ping request sent. ,9?A)EI= W>i/ͿP>%@~%@tɰv; ܸ>)=Iܸ J\?0R n?? >)wI=iܸ:publishing transmit ping timeA%Fpublishing direction and range infoyDb?OoaM?&K?Y )Ii )I J\?0R n?? )Ii;@ @Ra=<ٱ8[ AHRS rotation from veh to nav: [[0.929196,0.363563,0.066451],[-0.369406,0.919230,0.136221],[-0.011559,-0.151124,0.988447]]H?D??`W׿`Tj?`o?Xÿ \?i;@I%b;oCYmցBymI qqbDVDk1y=%.=ٔN:Q->9"?Y"?=FyGE e.;E >Q 55܋?Q 952)sBQ A :YQ E`:y߾Q I@>EI,*?A8 @k@+A<ٱy AHRS rotation from veh to nav: [[0.929976,0.362012,0.063975],[-0.367432,0.920896,0.130173],[-0.011790,-0.144564,0.989425]]H@\?3+?@`?׿w??@?%¿ _?i @IXb;nCԡYuBy}Iaa aa aa aa iMb@Mb@Mb@ 9333333? rh?I +?Y?yC<94<-A@ )@Yz@ p<<bDVD1y-w=%-=ٔ59Q-5>95 ?Y5 ?==Fy=JE=s;E=>AAABX>BCByIBBB; =BFDBODB^;B)#EQ 55EE?Q 95E4)EtBQ AT:Y?Q E :y Q I @ECEIEA>QA%؟AI1IAOM?*,u?AB2@B-@B?$S<ٱB NAHRS rotation from veh to nav: [[0.931760,0.357991,0.060544],[-0.362846,0.924054,0.120280],[-0.012887,-0.134040,0.990892]]BH?S?? 8׿ّ?`ʾ?Xd6(c?iB2@IBR;b;BqC P)PPPPTVkAiVLIVKFTIXiZkA Z9X)X\ ^kA^㥽\\`bkAIb^)b PFi`)dIfkAfQ8d dhhhihhill)l lIlYlYrByrIbD~VD~y U=% M=ٔ j4;Q- >9"?Y"?=FyLE8J<E>!Q 5-5%I ?Q 9-5%7)!Y)y-Q I-@%GEI% ;i%z ;%Q5y9ɮ=A9jhaeDNOT Ignoring new targets: 65.68 m.Rhm[:Zhm[:} ProNav: ac range: 65.678726 m, nav range: 62.539043 m, bearing: 343.247137 deg, approach rate: -0.636660 m/s, LOS rate: 0.028273 deg/s, cmd heading: 340.104953 deg, new cmd heading: 340.136809 deg. Bh}::HeadingCmd: 5.936507 target range: 65.678726 and range: 66.10 m.h@h*h"h hgfffdddjdZd9?ɢ,=) #5?i), i8ii;OI@I)9@ @@/@Y^A!ԑE EEE"Eg:*E,:VE(N3ZEa@a@a@a@A9 II Ii O >Ա k,I?A2K@2F@2me<ٱ2 :AHRS rotation from veh to nav: [[0.932852,0.355295,0.059604],[-0.359988,0.925725,0.115939],[-0.013984,-0.129610,0.991466]]2H?%?`[? ׿@?)??i2K@I2]b;2rCYByII)>)k?bD- VD-f2y=+=%=G=ٔEH/;Q-E>9AYA=MFyMNEM;EM>QQ 5]5U?Q 9]5U<9)QYayeQ Ie@UKEIU :iU:U5ymnBɮmTAiB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 65.68 m.Rh9Zh9m ProNav: ac range: 65.678726 m, nav range: 62.292984 m, bearing: 343.257428 deg, approach rate: -0.576983 m/s, LOS rate: 0.024226 deg/s, cmd heading: 340.136809 deg, new cmd heading: 340.167804 deg. Bhm:uHeadingCmd: 5.937048 target range: 65.678726 and range: 66.10 m.huL@hq*hy"hy hygyfyffdddjdiߑIߑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩZd,?Bɢ!=) !63I5L@I1@ @@/@B^>BCBIBƁBB9 =BBPDB^;B##E^AONM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753176I I O >E  E xE %E "E s:*E :VE 4ZE BE ;a 2E ;a JE Po;a :E Qo;a   ,<1?Ar_b@r-]@rBy<ٱr{  AHRS rotation from veh to nav: [[0.933815,0.352653,0.060210],[-0.357432,0.926819,0.115100],[-0.015213,-0.129003,0.991527]]rH@?@ݑ?@Ӯ?`+ֿ ?0w? (*?ir_b@Irb;rqCYBy IieMb@Mb@Mb@aaaa a9el?V-?Mb?Ye?yem=e9Y=FyQE;E>Q 55i2?Q 95;)rBYJ?Q E:yQ I@OEI ;i ; 5ypBɮAEjhDNOT Ignoring new targets: 65.68 m.RhEZhE ProNav: ac range: 65.678726 m, nav range: 62.028004 m, bearing: 343.251248 deg, approach rate: -0.617217 m/s, LOS rate: -0.014455 deg/s, cmd heading: 340.167791 deg, new cmd heading: 340.149173 deg. Bh HeadingCmd: 5.936723 target range: 65.678726 and range: 66.10 m.h @h *h "h  h gfffBdddjdZds/?ɢ 3=)  KF?i ) iVƓixc;2 I@I!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0041269@ @@/@!I ^A K'I! I9 OE >;,J?A4<ɰ4<6Zp@6(k@6룈<ٱ6& >AHRS rotation from veh to nav: [[0.934402,0.350914,0.061257],[-0.355830,0.927525,0.114384],[-0.016679,-0.128677,0.991546]]6H?@_u? ]?ֿG?`=H?I@x ?i6Zp@I6M&b;6oCYF ByF IbDRVDRk2yV)=%Zn=ٔZ;Q-Z?9XY\=^Fy^REchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255945EO;EE>IQ 5U5MC?Q 9U5M<)MpBYQyUЇQ IU@MSEIM<;iM;M 5yaɮeAajhDNOT Ignoring new targets: 65.68 m.RhZh ProNav: ac range: 65.678726 m, nav range: 61.813862 m, bearing: 343.245876 deg, approach rate: -0.594696 m/s, LOS rate: -0.014970 deg/s, cmd heading: 340.149185 deg, new cmd heading: 340.133014 deg. Bha$HeadingCmd: 5.936441 target range: 65.678726 and range: 66.10 m.hS@h*h"h hgfffdddjdZdW@Bɢ>T=) I?i)J)ii2G;IS@IE} E}E}&Ey"E}U:*E}rN:VE}4ZEya@a@a@a@Q}9@y @y@0@y^AII O>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508048ԩ /,d?A@z@z~@z<ٱzF  AHRS rotation from veh to nav: [[0.935211,0.348552,0.062377],[-0.353606,0.928532,0.113096],[-0.018500,-0.127826,0.991624]]zH@?@N??`{ֿ ??@\b?iz@Iz0b;zpCY.By I !!BiAmp<Bu[>BqBuIBuBBu8 =BqBqBu^;Bu$#EiMb@Mb@Mb@ 9K7?q= ףp?Mb`?Y ?y=;A@ )@Y@bDVDy%Un=%%4=ٔ-;Q-->91Y1=5Fy5UE5;E5>9Q 5E5=W?Q 9E5==)=kBYM ?Q EM:yMQ IM@=WEI= ;i=2 ;= 5yUrBɮ] A]EjhyDNOT Ignoring new targets: 65.68 m.RhYZhY ProNav: ac range: 65.678726 m, nav range: 61.576466 m, bearing: 343.214653 deg, approach rate: -0.544130 m/s, LOS rate: -0.071842 deg/s, cmd heading: 340.133011 deg, new cmd heading: 340.038981 deg. Bh7EHeadingCmd: 5.934800 target range: 65.678726 and range: 66.10 m.h@h*h"h hgfffBdddjdZd@aɢe-==) !P?i)R5顉ibi_D~;inI@Iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762022E E~E$E"Eҝ:*E(:VE4ZEBE;a2E;aJE;a:E;a9@ @@0@^A `Ի I) IA OM > BDAT read: Rx Time:06:05:20.6090  TRx dataTimestamp_ set to:1761545121.960068 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013024,ڪ~?A2/@2@2MΦ<ٱ2 :AHRS rotation from veh to nav: [[0.935886,0.346320,0.064658],[-0.351715,0.929058,0.114665],[-0.020361,-0.130055,0.991298]]2H@?*?s?ֿ`׺?`Z?@kٔ ?i2/@I2 a;2qCYB2ByB# I J49XYX=ZFyZVE^;E^>`Q 5f5b h?Q 9f5bE>)bgBYhyjQ Ij@bZEIb:ib:b5lypɮrApjh  DNOT Ignoring new targets: 65.68 m.Rh\Zh\ ProNav: ac range: 65.678726 m, nav range: 61.383472 m, bearing: 343.188727 deg, approach rate: -0.542889 m/s, LOS rate: -0.073158 deg/s, cmd heading: 340.038973 deg, new cmd heading: 339.960952 deg. BhHHeadingCmd: 5.933438 target range: 65.678726 and range: 66.10 m.h޽@h*h"h hgfffdddjdZd~@-Bɢ-[=)) 5%R?i1)U֨ػQQiU8-i]];eA >I I O >a b%,I?A:@:z@:O<ٱ: FAHRS rotation from veh to nav: [[0.936638,0.343895,0.066680],[-0.349587,0.929775,0.115356],[-0.022327,-0.131357,0.991084]]:H?_?@? _ֿ?`?`ܖQ?i:@I:Q+b;:pCYN9dYd=fFyfXEf;Ej>hQ 5n5jz?Q 9r5j#?)jbBYpyrTQ Ir@j]EIj8;ijU;j5yvsBɮzAzE B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 65.68 m.Rh%Zh%5 ProNav: ac range: 65.678726 m, nav range: 61.162590 m, bearing: 343.158378 deg, approach rate: -0.544432 m/s, LOS rate: -0.075076 deg/s, cmd heading: 339.960945 deg, new cmd heading: 339.869568 deg. Bh5N9EHeadingCmd: 5.931843 target range: 65.678726 and range: 66.10 m.hEѽ@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU @颵Bɢ\=) V?i)ûichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518648i0㳾ͺ;m ;Iѽ@Ii@ @@4@B]R>B]CB]IB]BB]; =B]GDB]ODB]^;B]#Eԑ^AvтIQ Ia Om >m DAT read: 06:05:20.6090 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.33,-1.874, 2.708,-1.734,-1.926, PHS= 0.154,-1.605, 0.148, RAW= 149.8, 14.7, CAL= 150.0, 16.4, ROT= 360.0, -16.4 } Ygot valid direction response: 06:05:20.6090 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.33,-1.874, 2.708,-1.734,-1.926, PHS= 0.154,-1.605, 0.148, RAW= 149.8, 14.7, CAL= 150.0, 16.4, ROT= 360.0, -16.4  PDAT read: Bearing 157.3, -3.5 (Local)  ~Local bearing/azimuth received: Bearing 157.3, -3.5 (Local)  DAT read: Range 11 to 50 : 63.9 m (Round-trip 85.2 ms) speed 0.4 m/s  *DAT read: user:659>  BDAT read: Tx time:06:05:21.7197  $Ping request sent. Ix?Y- B) ) ) ) ) )- FI- ->i- pͿ) - T'@- G\>- 6'@ - C>)- @I- C) ) - C?C5?T4=? - H?)- I\I- .;4i- C) )  :publishing transmit ping time  Fpublishing direction and range infoy) - rN9?<l8>Ix?Y) ) ) ) ) ) )) I) i) ) ) ) ) ) )) I) ) ) - C?C5?T4=? ) )) I) i) ) ) E  E uE 'E "E :*E :VE '4ZE BE 4;a 2E 5;a JE ed;a :E ed;a ,,c?A~i@~7@~yc<ٱ~;  AHRS rotation from veh to nav: [[0.937512,0.341009,0.069163],[-0.347082,0.930552,0.116650],[-0.024581,-0.133366,0.990762]]~H ? ??@6ֿ?ܽ?+"R?i~i@I~Ma;~qCYEFByE< IIM=)M<ԙimMb@Mb@Mb@iiii i9m?Q?mtim@ m/@)m@iYmf@bDVDkyUZ*=%U'=ٔUR;Q-U>9YYY=]Fy][E] ;Ee>aQ 55eې?Q 95e?)eXBY ?Q E:yȽQ I@ebEIe=;ie ;e5yuBɮuAiYi] ϭ?AJi]}BRi]}Bji]@b]`ǘtN@Be6U>xS1@R]rN9?<l8>Ix?Zi].;4bi]Cj]G,M@ 3ϡC0@Z]e}g?N3ӿad?2i]f:i]`iB"i]oş?*i]|4Bi]͢Bi]oş?i]mi]Bi]sBi]f@ addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 3.780073 s, deltaX: -2.199997 m, approachRate: -0.581999 m/s, rangeRepo size: 4  Added new target pos. range: 63.494240 m, bearing: 341.917796 deg, lat: 36.779415 deg, lon: -121.859762 deg, deltaT: 3.780073 s, deltaX: -2.184486 m, approachRate: -0.577895 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 63.49 m.RhZh ProNav: ac range: 63.494240 m, nav range: 60.973866 m, bearing: 343.113023 deg, approach rate: 0.000000 m/s, LOS rate: -0.075076 deg/s, cmd heading: 339.869557 deg, new cmd heading: 339.753185 deg. BhHeadingCmd: 5.929812 target range: 63.494240 and range: 63.90 m.h@h*h"h  h g f ffBdddjd@3O@Zd@}?颍Bɢ@=) *[?i)%ե顙iiZ;A3,n?A(2`ж@2.˽@2P<ٱ2S NAHRS rotation from veh to nav: [[0.938304,0.338242,0.071957],[-0.344778,0.931098,0.119100],[-0.026715,-0.136561,0.990271]]2H`??k?`ֿ@? Q}?[ zM?i2`ж@I2ưa;2oCYV>ByV2 Iv@AtbD~VD~y&%U=ٔ$;Q->9!Y!=%Fy-]E5J;E=>AQ 5U5Eu?Q 9]5EX@)EOBYYyeýQ Ie@EeEIEn;iEo;E5yqɮuAyjhDNOT Ignoring new targets: 63.49 m.RhZh ProNav: ac range: 63.494240 m, nav range: 60.768166 m, bearing: 343.073884 deg, approach rate: -0.562178 m/s, LOS rate: -0.107329 deg/s, cmd heading: 339.753198 deg, new cmd heading: 339.635384 deg. BhQHeadingCmd: 5.927756 target range: 63.494240 and range: 63.90 m.h-@h*h"h hgfE| E|E#E"E :*EP$:VE3ZEa@a@a@a@ffdddjdZd@B?Bɢg=) V?i)[iyi;eVnA A @AB T>B B  IB BB < =B B B ^;B #EB˺CB˺CB˓CB; =B: =C.59,jj?A;ɰ2@2߽@2)<ٱ2 :AHRS rotation from veh to nav: [[0.939107,0.335449,0.074510],[-0.342413,0.931722,0.121027],[-0.028825,-0.139171,0.989849]]2H`* ?w??տ??1X`׬?i2@I2a;2sCYB?ByF3 I\iMb@Mb@Mb@ 9`"?jt?:vY>y >TCA )@Y\@bD-VD-N2y ;%B=ٔ;Q->9Y=Fy_E;E>Q 55P?Q 95@)EBYM?Q E:y)Q I@hEIEP;iO;5yvBɮAEjhDNOT Ignoring new targets: 63.49 m.RhkZhk ProNav: ac range: 63.494240 m, nav range: 60.562931 m, bearing: 343.023490 deg, approach rate: -0.476983 m/s, LOS rate: -0.117518 deg/s, cmd heading: 339.635391 deg, new cmd heading: 339.483696 deg. BhMHeadingCmd: 5.925108 target range: 63.494240 and range: 63.90 m.h}@h*h"h hgfffBdddjdZdz?mBɢmZ=) V?i)Qt顑i'iUoF;@,P?A2|@2J@2w=ٱ2y :AHRS rotation from veh to nav: [[0.939767,0.332908,0.077524],[-0.340362,0.932280,0.122509],[-0.031489,-0.141516,0.989435]]2H?@]N?س?@|տ@9Y= Fy aE ݹ;E >Q 55|Č?Q 95@);BY!y%t!Q I%@kEI:iW:+5y)ɮ-A11jhY]DNOT Ignoring new targets: 63.49 m.Rhe@Zhe@u ProNav: ac range: 63.494240 m, nav range: 60.377197 m, bearing: 342.977186 deg, approach rate: -0.514820 m/s, LOS rate: -0.128739 deg/s, cmd heading: 339.483706 deg, new cmd heading: 339.344370 deg. Bhu}HeadingCmd: 5.922677 target range: 63.494240 and range: 63.90 m.h}@hy*h"h hgfffdddjdZd`#?Bɢds=) U?i)}Niʙi1;3ԉE EE&E"E:*Ea9:VE4ZEa@a@a@a@Թ F,?A24@2@29dYd=jFyjcEjՔ;Ej>pQ 5v5reՌ?Q 9v5r@)r1BYxyzQ Iz@roEIr:ir:r5y~xBɮ~CAEB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 63.49 m.Rh5Zh5E ProNav: ac range: 63.494240 m, nav range: 60.183128 m, bearing: 342.928119 deg, approach rate: -0.489551 m/s, LOS rate: -0.124175 deg/s, cmd heading: 339.344370 deg, new cmd heading: 339.196694 deg. BhEpMHeadingCmd: 5.920099 target range: 63.494240 and range: 63.90 m.hMtq@hI*hI"hI hIgQfQfQfQԙdddjdZd ?-Bɢ-W=)) -M?i1)5D"QQiUHi]b湾];]E  E wE $E "E ;*E :VE 4ZE BE 4CyVA@ E@)5@Y@bD5VD5ܲyE%EB=ٔMP;Q-M>9IYI=UFyUeEU;>;EU>YQ 5e5]Q猊?Q 9m5]1A)]$BYm?Q Em:ymQ Im@]rEI]+;i];]5yqɮ}AyjhDNOT Ignoring new targets: 63.49 m.RhZh ProNav: ac range: 63.494240 m, nav range: 59.977383 m, bearing: 342.876041 deg, approach rate: -0.490836 m/s, LOS rate: -0.124666 deg/s, cmd heading: 339.196702 deg, new cmd heading: 339.039932 deg. BhHeadingCmd: 5.917363 target range: 63.494240 and range: 63.90 m.h [@h*h"h hgfffBdddjdqZdu@BɢCwS=)  I?i)$i|i M;Qy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503139cS,BP?AZD@Z@Z#=ٱZ  rAHRS rotation from veh to nav: [[0.940760,0.328102,0.085555],[-0.336728,0.933648,0.122130],[-0.039807,-0.143703,0.988820]]ZH??`?տq?`C?a d¿i?iZD@IZˆa;XYBy II)>)p;bD-VD-1y=%%EK=ٔEg;Q-E>9IYI=MFyMgEM:EU>QQ 5e5U?Q 9e5UeA)UBYayeQ Ie@UuEIU ;iU:U~5yuyBɮuMAqE EE"E"EC:*E.:VE(3ZEa@a@a@a@jh DNOT Ignoring new targets: 63.49 m.Rh  Zh E ProNav: ac range: 63.494240 m, nav range: 59.779766 m, bearing: 342.825516 deg, approach rate: -0.473638 m/s, LOS rate: -0.121497 deg/s, cmd heading: 339.039935 deg, new cmd heading: 338.887859 deg. BhEæEHeadingCmd: 5.914709 target range: 63.494240 and range: 63.90 m.hMLE@hI*hI"hI hIgIfIQfqfqdqdydyjdyZd}@Bɢ`L=) NB CB  IB BB 9 =B GDB NDB ^;B %#E OE >Z,Xj?AB~@BL@B')=ٱB, NAHRS rotation from veh to nav: [[0.940623,0.327871,0.087916],[-0.336909,0.933372,0.123730],[-0.041491,-0.146003,0.988414]]BH?`??`տ/?Ȭ? U>;¿?iB~@IBAa;@YVByVIi}Mb@Mb@Mb@yyyy y9}tV?x&?{GzY}>y}7 >}ף}A} @ }/@)}1AyY}G@bDVD02y%C=ٔ;Q->9Y=FyiEE>Q 55 ?Q 95A) BYh>Q E:y`Q I@yEIO;i(O;V5yɮAjhIUDNOT Ignoring new targets: 63.49 m.RhUZhUmBDAT read: Rx Time:06:05:24.2065 mTRx dataTimestamp_ set to:1761545125.740315uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008320} ProNav: ac range: 63.494240 m, nav range: 59.578598 m, bearing: 342.781461 deg, approach rate: -0.488642 m/s, LOS rate: -0.107372 deg/s, cmd heading: 338.887868 deg, new cmd heading: 338.755257 deg. Bh}`HeadingCmd: 5.912395 target range: 63.494240 and range: 63.90 m.hV2@h*h"h hgfffBdddjdZd ?@]Bɢ]C=)a e|4?ia)e&iiim)iPؽ;Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259122`,"?APɰP~W@~% @~/2=ٱ~I  AHRS rotation from veh to nav: [[0.940495,0.327509,0.090589],[-0.337012,0.933123,0.125315],[-0.043489,-0.148387,0.987973]]~H??0?տ %?N ?@1D@[¿x?i~W@I~%Oa;~nCYByIbD5VD50yE%ET=ٔE;Q-E>9IYI=MFyMkEUEU>YQ 5e5]?Q 9e5]/BQ =etI)]BYaym蛽Q Im@]|EI];i]o;] 5yuzBɮuAuEjhDNOT Ignoring new targets: 63.49 m.RhZh ProNav: ac range: 63.494240 m, nav range: 59.395477 m, bearing: 342.741140 deg, approach rate: -0.482401 m/s, LOS rate: -0.106546 deg/s, cmd heading: 338.755253 deg, new cmd heading: 338.633918 deg. Bh>HeadingCmd: 5.910277 target range: 63.494240 and range: 63.90 m.h @h*h"h hgfffdddjdZd`C @}Bɢ}6E?=) &?i)L顁i2i7;8! BDAT read: Tx time:06:05:25.3197 $Ping request sent.i}ο}ˡE>}q(@}5z>}+(@ }'g>)}@I}'gyԑy}YŪ?(?_ü? } ?)}'yI}i}'gyy:publishing transmit ping timeFpublishing direction and range infoyy}(?f6]^|5?Yyyyyy y)yIyiyyyyy y)yIyyy}YŪ?(?_ü? y)yIyiyyyEu EuEqEq"Eu:*Eu0:VEqZEqa}@a}@a}@a}@^Am<IIO> g,K?A2@2V@2n8=ٱ2V :AHRS rotation from veh to nav: [[0.939945,0.328329,0.093292],[-0.338345,0.932302,0.127811],[-0.045012,-0.151701,0.987401]]2H?`W??pտk?\? `jÿʘ?i2@I2[a;2qCLYRށByRI TTXZAilInAbD^VD^yz8%zP=ٔzV~;Q-z>9|Y|=~Fy~mEQpE> Q 55 )?Q 95 B) BYyFQ I@ EI ;i  ; !5y!ɮ%A!ii?AJilvBRilvBji̾@bcwM@ǹ1S*0@R(?f6]^|5?Zibi'gjt5.|L@Vl2ߠ+@ZA?K'X ӿ?2i^:icB"iƐꟊ?*i?4BiBiz@џ?iI+i͢BinBiM@u addTargetRange:: Added new target pos. range: 62.000000 m, deltaT: 3.527706 s, deltaX: -1.900002 m, approachRate: -0.538594 m/s, rangeRepo size: 4  Added new target pos. range: 61.605949 m, bearing: 341.627428 deg, lat: 36.779416 deg, lon: -121.859773 deg, deltaT: 3.527706 s, deltaX: -1.888290 m, approachRate: -0.535274 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 61.61 m.Rh Zh = ProNav: ac range: 61.605949 m, nav range: 59.635914 m, bearing: 341.853406 deg, approach rate: 0.000000 m/s, LOS rate: -0.106546 deg/s, cmd heading: 338.633922 deg, new cmd heading: 338.507085 deg. Bh9EHeadingCmd: 5.908063 target range: 61.605949 and range: 62.00 m.hE@hI*hI"hI hIgIfIfqfqdqdqdyjd}O@Zd}?BɢA3=): !?i)29i*iM;Y%BeCBeIBeBBeD =BaBeMDBe^;Be#E^A]<IA Iq O >E  E sE %E "E ҝ:*E Z:VE 4ZE BE ;a 2E ;a JE ];a :E ];a ! Jm,+?A6 @6@6==ٱ6UV >AHRS rotation from veh to nav: [[0.939455,0.329130,0.095383],[-0.339529,0.931668,0.129288],[-0.046313,-0.153846,0.987009]]6H?w?k?@ֺտ9?`?`M5ÿ?i6 @I6Fa;4YFByJI|iMb@Mb@Mb@ 9Cl?y&1?I +Yd>y`=9 A \@)AY@ 5p<54<bD5VD5kyEfV%ME=ٔMM;Q-M>9IYQ=UFyUoEUJEU>YQ 5e5]$;?Q 9m5]IC)]BYm ?Q Em:ymQ Im@]EI]Q:i]:]#5yu{Bɮ}LA}EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 61.61 m.RhκZhκ= ProNav: ac range: 61.605949 m, nav range: 59.432014 m, bearing: 341.816411 deg, approach rate: -0.495834 m/s, LOS rate: -0.090271 deg/s, cmd heading: 338.507099 deg, new cmd heading: 338.395734 deg. Bh=wEHeadingCmd: 5.906120 target range: 61.605949 and range: 62.00 m.hE@hA*hA"hA hAgIfIfIfMрBdQdqdqjdyZd}ީ?Bɢ=) } ?i)gV:iik;"ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990991]5t,ʦ?A "@Eb E`Eb#E`"Eb:*E`VEb3ZE`af@af@af@af@rM@r@r=A=ٱrl" ~AHRS rotation from veh to nav: [[0.938839,0.330128,0.097960],[-0.341087,0.930610,0.132757],[-0.047335,-0.158050,0.986296]]rH ? ?@?^տ ? -?U<:Ŀ`?irM@Ir40a;roCY By |IbDVDy-%-L=ٔ5 ';Q-5>91Y9==Fy=qE=ˆE=>AQ 5M5EK?Q 9M5EC)EBQYQy]Q I]@EEIEx5;iE6;EK%5yaɮeAajhDNOT Ignoring new targets: 61.61 m.Rh˺Zh˺ ProNav: ac range: 61.605949 m, nav range: 59.234615 m, bearing: 341.780738 deg, approach rate: -0.491522 m/s, LOS rate: -0.089123 deg/s, cmd heading: 338.395739 deg, new cmd heading: 338.288362 deg. BhtHeadingCmd: 5.904246 target range: 61.605949 and range: 62.00 m.h@h*h"h hgfffdddjdZd`Uo?Bɢ=) ?i)Bڞ:iiX¾;0Be CBe IBe ՁBBe < =Ba Be ODBe ^;Be #EO >`z,9] ?Y] ?=eFyetEeEe>qQ 55u_?Q 95uUE)uBY?Q E:ybQ I@uEIuV;iu{;u;'5y}BɮAEjhDNOT Ignoring new targets: 61.61 m.RhaUZhaUE~ EtE&E"E:*Ev:VE4ZEBEf;a2Eg;aJE`;a:E`;a  ProNav: ac range: 61.605949 m, nav range: 59.002502 m, bearing: 341.758878 deg, approach rate: -0.493283 m/s, LOS rate: -0.046637 deg/s, cmd heading: 338.288369 deg, new cmd heading: 338.222533 deg. Bh  HeadingCmd: 5.903097 target range: 61.605949 and range: 62.00 m.h+@h*h"h hgfffBddAdAjdAZdE88?颕Bɢ<) n>i)=:顙ip3i¾;Z?@Pֿݢ?`k?@$ſ }?i~꫶@I~Ža;~rCYEnByE2I]AA]@AbDmVDmNyD%=ٔ\u:Q->9"?Y"?=FyvE,0E>Q 557v?Q 95G)BYyiQ I@EI:i:)5E EsE$E"E:*EZ:VE4ZEa@a@a@a@yU~BɮUAQjhDNOT Ignoring new targets: 61.61 m.RhXZhX ProNav: ac range: 61.605949 m, nav range: 58.721970 m, bearing: 341.733972 deg, approach rate: -0.530975 m/s, LOS rate: -0.047367 deg/s, cmd heading: 338.222526 deg, new cmd heading: 338.147448 deg. BhHeadingCmd: 5.901786 target range: 61.605949 and range: 62.00 m.hoۼ@h*h"h hgfffd d d jd Zd  @}Bɢ}-n<)y }>ԡi)9;iriFþM; _B CB lIB BB : =B FDB B ^;B #EBU̹CBU̹CBU̔CBU: =BU< =CU̽69 ^A=< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504688YAqIIO ?h,o2?AbEE4jEArEE@o/E^ E^E\E\"E^:*E^,:VE\ZE\BE^;af2E^;afJE^7;aj:E^7;ajYZByI  AiMb@Mb@Mb@ 9sh|?? rh? rhY ?yC =C; A7@ )Yf@bDVD:yC%=ٔQ->9Y=FyyEE>Q 55?Q 95NI)BYS ?Q E:ytQ I@EI;i+5yɮ AjhDNOT Ignoring new targets: 61.61 m.Rh:Zh: ProNav: ac range: 61.605949 m, nav range: 58.425747 m, bearing: 341.728427 deg, approach rate: -0.542772 m/s, LOS rate: -0.010212 deg/s, cmd heading: 338.147448 deg, new cmd heading: 338.130729 deg. BhBHeadingCmd: 5.901495 target range: 61.605949 and range: 62.00 m.h ټ@h*h"h hgfffBdddjdZdv#@mBɢm F<)q u>iq)uIQ!;qqi}ےi}lþK;Ut@>n@>pF=ٱ>P7 FAHRS rotation from veh to nav: [[0.933603,0.341675,0.107903],[-0.355035,0.922743,0.149984],[-0.048321,-0.178335,0.982783]]>H@?@?@?ֿ ?2?`ƿr?i>t@I> a;>nCYN9dYd=fFyf|Ej,bEj>lQ 5r5ng?Q 9r5njK)nBYpyrQ Iv@nEIn:in :n!.5yUBɮU AUEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 61.61 m.RhZh ProNav: ac range: 61.605949 m, nav range: 58.160187 m, bearing: 341.725271 deg, approach rate: -0.537450 m/s, LOS rate: -0.006416 deg/s, cmd heading: 338.130728 deg, new cmd heading: 338.121217 deg. Bh挹HeadingCmd: 5.901329 target range: 61.605949 and range: 62.00 m.h׼@h*h"h hgfff d d djdZd@ @eBɢe<)a e>ia) )4;顉iiþ~;_X1 |욺,Nm?AfNX@fS@fJE=ٱf: nAHRS rotation from veh to nav: [[0.932401,0.344540,0.109185],[-0.358205,0.921159,0.152168],[-0.048149,-0.180992,0.982305]]fH9? ?@?ֿ"z?@z?*ǿ@ o?ifNX@Ifa;fpCMDAT read: 06:05:27.8042 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421,-0.30, 2.873, 1.107, 3.051, 2.799, PHS= 0.176,-1.648, 0.207, RAW= 150.9, 13.7, CAL= 151.0, 15.2, ROT= 359.0, -15.2 UYgot valid direction response: 06:05:27.8042 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421,-0.30, 2.873, 1.107, 3.051, 2.799, PHS= 0.176,-1.648, 0.207, RAW= 150.9, 13.7, CAL= 151.0, 15.2, ROT= 359.0, -15.2 ]PDAT read: Bearing 155.1, -6.5 (Local) ]~Local bearing/azimuth received: Bearing 155.1, -6.5 (Local) mDAT read: Range 11 to 50 : 60.3 m (Round-trip 80.4 ms) speed 0.4 m/s *DAT read: user:661> BDAT read: Tx time:06:05:28.9197 $Ping request sent.iҿS>(@Gt> ԇ>)Iԇn߲?E?9yY=FyEE>Q 55?Q 95N)BYL?Q E:yQ I@EI:iX:05yBɮ AEiianq?AJioBRioBjiV@btպL@cgղc%0Uk/@R`6?? ?;f$?ZibiԇjnȢK@h?3dOT)@Z٫Pބ?&9|+Կ mh?2i:i]B"i?*i,,IBi̚BiŠ؟?i?4iBigBi@u addTargetRange:: Added new target pos. range: 60.299999 m, deltaT: 3.528889 s, deltaX: -1.700001 m, approachRate: -0.481738 m/s, rangeRepo size: 4  Added new target pos. range: 59.917168 m, bearing: 340.799967 deg, lat: 36.779417 deg, lon: -121.859777 deg, deltaT: 3.528889 s, deltaX: -1.688782 m, approachRate: -0.478559 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 59.92 m.RhZh ProNav: ac range: 59.917168 m, nav range: 57.987789 m, bearing: 341.445585 deg, approach rate: 0.000000 m/s, LOS rate: -0.006416 deg/s, cmd heading: 338.121220 deg, new cmd heading: 338.109155 deg. BhHeadingCmd: 5.901118 target range: 59.917168 and range: 60.30 m.hռ@h*h"h hgfffzBdddjd`f&N@ZdLn?i u Bɢ} <)y } r>iy )} kG;y i 8_i Zþ ; 7 RAHRS rotation from veh to nav: [[0.929973,0.350534,0.110795],[-0.364565,0.918164,0.155137],[-0.047347,-0.184665,0.981660]]JHW?@$o?]?U׿`a?`?@=ǿi?iJz @IJ`;JnCXZs@iXIXXX \\\\\\I\)`i`)`IbiAb#` ddhhhillill)l lIp p)r{ApppYtYzByzIbD VD yT%U=ٔQ->9% ?Y% ?=%Fy%E%7E->1Q 5=55Wэ?Q 9=55Q)5BY9y=¾Q I=@5EI5:i5:525yMBɮMO AM EjhDNOT Ignoring new targets: 59.92 m.Rh:Zh:- ProNav: ac range: 59.917168 m, nav range: 57.766827 m, bearing: 341.457920 deg, approach rate: -0.580997 m/s, LOS rate: 0.032558 deg/s, cmd heading: 338.109144 deg, new cmd heading: 338.146291 deg. Bh-:-HeadingCmd: 5.901766 target range: 59.917168 and range: 60.30 m.h5Eۼ@h1*h1"h1 h1g1f1f9f9d9d9dAjdaZdeZ?颵Bɢi<) >i)KO;项iҍiTIþ+$;<I!ު,?An@n@n,@=ٱn> vAHRS rotation from veh to nav: [[0.928626,0.353993,0.111097],[-0.368043,0.916751,0.155280],[-0.046880,-0.185085,0.981604]]nH@N?ѧ?p?׿ V? 7? ǿKi?in@In a;npC1YByIiMb@Mb@Mb@ 9bX9?/$~jthYE?yD7@ )AY(AbDVD1y%H<%2=ٔuQ->9Y=FyEE>Q 55(捊?Q 95S)BY^?Q E:yӾQ I@EI:i:45yɮ8 Ajh)-DNOT Ignoring new targets: 59.92 m.Rh5y:Zh5y:E ProNav: ac range: 59.917168 m, nav range: 57.498192 m, bearing: 341.482035 deg, approach rate: -0.605425 m/s, LOS rate: 0.054601 deg/s, cmd heading: 338.146301 deg, new cmd heading: 338.218982 deg. BhE;MHeadingCmd: 5.903035 target range: 59.917168 and range: 60.30 m.hM@hI*hI"hQ hQgQfQfYf]hBdYdYdYjdaZde?E| EkE"E"E :*E:VE(3ZEBE!;a2E";aJE?;a:E?;a Bɢ CH`<)  >i)WX;iyi¾=dN;EԹ ,5^?A:R@:!ݼ@:q ==ٱ:> BAHRS rotation from veh to nav: [[0.927233,0.357662,0.110977],[-0.371631,0.915346,0.155022],[-0.046137,-0.184984,0.981658]]:H@?@?i?׿J?@?`H ǿi?i:R@I:x`;:nCY=By=I AAbDMVDMye9%ef=ٔe Q-e>9m"?Ym"?=mFymEm1Eu>ԙqQ 55u8?Q 95u%V)u~BYyվQ I@uEIu:iu:u65yBɮ A EjhDNOT Ignoring new targets: 59.92 m.Rh%t:Zh%t:5 ProNav: ac range: 59.917168 m, nav range: 57.290604 m, bearing: 341.501631 deg, approach rate: -0.564065 m/s, LOS rate: 0.053442 deg/s, cmd heading: 338.218974 deg, new cmd heading: 338.277978 deg. Bh5;=HeadingCmd: 5.904065 target range: 59.917168 and range: 60.30 m.h=@h9*h9"hA hAgAfAfAfIdIdIdIjdIZdU॰?}Bɢ}P;S<) T>i)^^;顁i$Гi¾5;Z;I@Iq@q @y@}/@y@=@=E EE E"E:*EVE3ZEa@a@a@a@^ANJN<A I I O > 뷺,v8?A:Ƶ@:r@::=ٱ:> RAHRS rotation from veh to nav: [[0.925997,0.360931,0.110717],[-0.374772,0.914200,0.154223],[-0.045553,-0.184304,0.981813]]:Hġ?~?W?`E׿`A??RFǿ@k?i:Ƶ@I:/a;:pCY^By^IbDjVDjyvn;%vR=ٔv)źQ-v>9xYx=zFyzEzzE~>Q 55?Q 9 5X)yBY y e׾Q I @EI:i|:75yɮ A5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 59.92 m.RhM:ZhM:] ProNav: ac range: 59.917168 m, nav range: 57.063511 m, bearing: 341.524011 deg, approach rate: -0.603335 m/s, LOS rate: 0.059695 deg/s, cmd heading: 338.277987 deg, new cmd heading: 338.345393 deg. Bh]#;eHeadingCmd: 5.905241 target range: 59.917168 and range: 60.30 m.he@ha*hi"hi higififqfqdqdqdyjdyZd}y?颭BɢO<) x>i)d;顱iAi;H':I@I59@1 @1@5/@1^A X;AQAQB]Q>BYB]IB]BB]9 =BYB]NDB]^;B]8#E)A9IaIOn>5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.QE  E lE &E "E :*E :VE 4ZE BE ;a 2E ;a JE C;a :E C;a y 6,?A6o@6=@68=ٱ6< BAHRS rotation from veh to nav: [[0.924859,0.363933,0.110400],[-0.377628,0.913203,0.153155],[-0.045080,-0.183337,0.982016]]6Hr?J?@1C?+ؿ8? ?wǿl?i6o@I6`;6nCYNByRIi-Mb@Mb@Mb@)))) )9-Zd;O?y&1{Gzt?Y-j?y-`弙-ף;- A- @ -@)))Y-AbDEVDEJ2yU ;%UD=ٔUɔQ-U>9YYY=]Fy]EeWEe>iQ 5u5mQ?Q 9u5mg[)muBYu?Q Eu:yܾQ I@mEImhi)Ll;ii\0;ȴ#I@Iԉ9@ @@@Ա^A ;M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488422 AU .AIY Iq O} >Aź,FE?A:@E>{ E>nE>"E<"E>=:*E>:VE>(3ZE9r ?Yr ?=rFyrErjEr>tQ 5u5v-?Q 9u5v^)vrBYyy}ݾQ I}@vEIv&; HeadingCmd: 5.908136 target range: 59.917168 and range: 60.30 m.h s@h *h "h  hgfffdddjdZd%@@MBɢM]<)Q UH >iQ)U[s;QQi]Dԙ B% O>B! B% IB% ܀BB! B! B! B% _;B% S#EP;˺,/?A@`ɰ`%@%@%4=ٱ%q6 EAHRS rotation from veh to nav: [[0.923252,0.368756,0.107818],[-0.381655,0.912508,0.147203],[-0.044103,-0.177055,0.983212]]%HG??? mؿC3?? ๩ƿyv?i%@I%t`;%oCYByIBDAT read: Rx Time:06:05:31.4014 TRx dataTimestamp_ set to:1761545132.796226checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992639iEMb@Mb@Mb@AAAA A9EA`"?{Gz9u"?Yu"?=uFy}E}ēE}>Q 55B?Q 95`)qBY>?Q E:y־Q I@EI~ ;i ;S=5yBɮf AEjhDNOT Ignoring new targets: 59.92 m.RhW:ZhW: ProNav: ac range: 59.917168 m, nav range: 56.299374 m, bearing: 341.606221 deg, approach rate: -0.622983 m/s, LOS rate: 0.062659 deg/s, cmd heading: 338.511251 deg, new cmd heading: 338.593130 deg. Bh,;HeadingCmd: 5.909565 target range: 59.917168 and range: 60.30 m.Ez EoE!E"El:*E:VEc3ZEBEܧ;a2Eݧ;aJEN;a:EN;aԡh(@h*h"h hgfffBdddjdZdo@EBɢE|W<)I M>iI)Mʿ{;IIiMiKiU0KU[;UI](@IY9@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246525 ^A "5Aq I I O >]Һ,BI?A06@6z@63=ٱ61 >AHRS rotation from veh to nav: [[0.922799,0.370390,0.106077],[-0.382780,0.912696,0.143059],[-0.043828,-0.172619,0.984013]]6H?`x?'?uؿ 4?O?`p`^ƿ }?i6@I6`;6qCY^BybIbDjVDjkyr=%r^=ٔrCQ-r>9tYt=vFyvEvWEz>xQ 55zS?Q 95zZc)zpBYy׾Q I@zEIz;iz;z>5y Bɮ7 AEjh1DNOT Ignoring new targets: 59.92 m.Rh!:Zh!: ProNav: ac range: 59.917168 m, nav range: 56.079987 m, bearing: 341.628684 deg, approach rate: -0.595913 m/s, LOS rate: 0.061256 deg/s, cmd heading: 338.593132 deg, new cmd heading: 338.660786 deg. Bh((;HeadingCmd: 5.910746 target range: 59.917168 and range: 60.30 m.h=$@h9*h9"h9 hAgIfIffdddjdZd%O @ԑ=Bɢ=`.o<)A E>iA)E{0;ADAT read: 06:05:31.4014 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.12, 2.319, 0.517, 2.436, 2.218, PHS= 0.202,-1.656, 0.174, RAW= 149.2, 13.8, CAL= 149.3, 15.3, ROT= 0.7, -15.3 Ygot valid direction response: 06:05:31.4014 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.12, 2.319, 0.517, 2.436, 2.218, PHS= 0.202,-1.656, 0.174, RAW= 149.2, 13.8, CAL= 149.3, 15.3, ROT= 0.7, -15.3 PDAT read: Bearing 153.8, -4.8 (Local) ~Local bearing/azimuth received: Bearing 153.8, -4.8 (Local) DAT read: Range 11 to 50 : 58.2 m (Round-trip 77.7 ms) speed 0.5 m/s *DAT read: user:662> BDAT read: Tx time:06:05:32.5196 $Ping request sent.imӿm-2>mr&@mϢv>m &@ mܸ>)m+HBCBrIBҀBB: =BBBA_;Bg#EBuϺCBuϺCBuϓCBu9 =Bu9 =CuϏ4AA}.AIIO?4cۺ,@o?AM|@MRw@M3=ٱMP- ]AHRS rotation from veh to nav: [[0.922638,0.371180,0.104714],[-0.383165,0.913098,0.139419],[-0.043865,-0.168756,0.984681]]MH??g?κ?Ņؿ`8?y?@~u˙ſ`?aiM|@IM `;MmCbE3jE3rE0E}z E}vE}%Ey"E}l:*E}:VE} 4ZEyBEya2EyaJE} h;a:E} h;aY ByI ԉiMb@Mb@Mb@ 9-?Mb?I +?Y??y<9<hAz@ @)AYbDVD:yq<%<ٔW8Q-x>9 ?Y ?=FyEEx>Q 55t?Q 95`g)nBY^?Q E:yZQ I@EI:i ;B5yBɮ AEiiw,S?AJiQgBRiQgBjiN@bМRK@V?x2s6.@RF?D5"?&K?Zi+H<biܸj6MJ@mu:$2(@ZN5??֗ǛԿ[c[ ?2i:i?UB"i?*i',QBiBiƐꟊ?i|4iBi|_Bi׾@E addTargetRange:: Added new target pos. range: 58.200001 m, deltaT: 3.527227 s, deltaX: -2.099998 m, approachRate: -0.595368 m/s, rangeRepo size: 4 U Added new target pos. range: 57.829758 m, bearing: 340.745873 deg, lat: 36.779419 deg, lon: -121.859777 deg, deltaT: 3.527227 s, deltaX: -2.087410 m, approachRate: -0.591799 m/s, posRepo size: 4 jhQ]DNOT Ignoring new targets: 57.83 m.bh]]Powering the camera and arming the capture device at range: 58.20 m.2h]RheZhau ProNav: ac range: 57.829758 m, nav range: 55.871967 m, bearing: 341.697425 deg, approach rate: 0.000000 m/s, LOS rate: 0.061256 deg/s, cmd heading: 338.660778 deg, new cmd heading: 338.793541 deg. Bhq}HeadingCmd: 5.913063 target range: 57.829758 and range: 58.20 m.h}7@hy*hy"hy hy2hygfffBdddjdM@Zd?颍Bɢ*[<)  .>i)N;顑i-'i]]V-;]4GIe7@IaԹiq Iq P &Changing to mode: 29@ @@4@A^A &E EEE"Eҝ:*E?:VEـ3ZEa@a@a@a@qA!I1IAOM2?,]o?A6z@6u@6f5=ٱ6c% RAHRS rotation from veh to nav: [[0.922552,0.372089,0.102215],[-0.383333,0.914085,0.132305],[-0.044204,-0.161240,0.985925]]6H ?O?*?@ؿ.@?@[?@顦Ŀ ?i6z@I6m`;6qC T)TVQ8XXZC\i^j9Y=%Fy%E%`E%>)Q 555-?Q 955-j)-lBY9y=Q I=@-EI-;i-&;-D5yAɮE, AIeB*** querying acoustic contact ***ia iajhquDNOT Ignoring new targets: 57.83 m.bhq}Powering the camera and arming the capture device at range: 58.20 m.2hyRh}:Zh}: ProNav: ac range: 57.829758 m, nav range: 55.535450 m, bearing: 341.716452 deg, approach rate: -0.586014 m/s, LOS rate: 0.033334 deg/s, cmd heading: 338.793529 deg, new cmd heading: 338.850955 deg. Bh:HeadingCmd: 5.914065 target range: 57.829758 and range: 58.20 m.h@@h*h"h h2hgfffdddjdZd@0?Bɢ͐<) a>i)u{;i4i^j;VI@@IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yB O>B B IB ܀BB B B B l_;B }#E-_7@) @1@54@1ԩ^A GgLE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500949 E ~ E kE "E "E :*E :VE (3ZE BE f;a 2E g;a JE ?;a :E ?;a Ae ؟AIq I O >,?ABz@BI@Bj4=ٱB_ JAHRS rotation from veh to nav: [[0.923423,0.370555,0.099900],[-0.381250,0.915567,0.128005],[-0.044033,-0.156290,0.986729]]BH?*??`hfؿ SL?@xb? t`NĿ@I?iBz@IBybe;BrCiY}.By}IiMb@Mb@Mb@ 9> ףp=?Q?~jt?Y?yu=<~A@ @)AY=AbDVDy-B"=%-*=ٔ-YQ-5>95"?Y5"?=5Fy5E=H;E=>AQ 5M5E;?Q 9M5El)EhBYM?Q EU:yUǐQ IU@EEIE` ;iE ;EF5y]Bɮ] AYjhDNOT Ignoring new targets: 57.83 m.bhPowering the camera and arming the capture device at range: 58.20 m.2hRhƹZhƹ ProNav: ac range: 57.829758 m, nav range: 55.260509 m, bearing: 341.706088 deg, approach rate: -0.573532 m/s, LOS rate: -0.021726 deg/s, cmd heading: 338.850958 deg, new cmd heading: 338.819713 deg. BhnHeadingCmd: 5.913519 target range: 57.829758 and range: 58.20 m.h;@h*h"h h2hgfff܀BdddjdZd?qɢuԠ<)q us>iy)}:;yyi}iiD ;,I;@Iԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7520965@ @@z3@^A z^ A .AI I! O5 >q,9 ?Y ?=FyE <E>Q 55ᶎ?Q 958n)eBYy@Q I@EI;i;ZH5yBɮ[ AEjhDNOT Ignoring new targets: 57.83 m.bhPowering the camera and arming the capture device at range: 58.20 m.2hRhعZhع ProNav: ac range: 57.829758 m, nav range: 55.042801 m, bearing: 341.697132 deg, approach rate: -0.572975 m/s, LOS rate: -0.023665 deg/s, cmd heading: 338.819703 deg, new cmd heading: 338.792727 deg. BhHeadingCmd: 5.913049 target range: 57.829758 and range: 58.20 m.h7@h*h"h h2hg f f f ddE} E}xE} Ey"E}1:*E}:VE}3ZEya@a@a@a@djdZd/@Bɢ<) C>i) j1;  i 狼is;I7@I2@ @@/@ 1}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256142^A *:I I O% >Y A A @AB P>B CB IB BB 9 =B B B _;B #E<,|?Aj@jj@j3=ٱj(e zAHRS rotation from veh to nav: [[0.925514,0.366331,0.096047],[-0.376160,0.918618,0.121017],[-0.043899,-0.148132,0.987993]]jH Н?q?@?ؿ@Qe??y¿@?ij@Ije;jqCY LByIbDE VDEf2yUDY=%UM=ٔ]%vQ-]>9aYa=eFyeEe;Em>iQ 5u5mnɎ?Q 9}5mo)mbBYyy}Q I}@mEIm;imj;mJ5yɮ A9jhDNOT Ignoring new targets: 57.83 m.bh%Powering the camera and arming the capture device at range: 58.20 m.2h!RhUҹZh]ҹ ProNav: ac range: 57.829758 m, nav range: 54.814098 m, bearing: 341.687076 deg, approach rate: -0.521662 m/s, LOS rate: -0.023034 deg/s, cmd heading: 338.792737 deg, new cmd heading: 338.762442 deg. Bh|HeadingCmd: 5.912520 target range: 57.829758 and range: 58.20 m.h]3@h*h"h hchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5079772hgfffdddjdZd.@UBɢU=R<)Q ]>>iY)]˨;YYi]Vieǽ(;謻I]3@IaE EbEE"EC:*E9VEZEBE%;a2E&;aJE<;a:E=;a%/@! @!@%/@!ԉ^AE  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762884Թ I! I1 O= >w,J'?A2ҵ@2ͼ@2'2=ٱ2 :AHRS rotation from veh to nav: [[0.926636,0.364021,0.093993],[-0.373437,0.920103,0.118133],[-0.043481,-0.144567,0.988539]]2H@?@L??`e׿{q?=?C+¿?i2ҵ@I2/d;2oCYB_ByB IimMb@Mb@Mb@iiii i9mL7A`?MbX?/$?Ym+?ym=m9Y=FyE;E>Q 55ێ?Q 95p)_BY ?Q E:yFQ I@EIn:i3:K5yBɮ AEjhDNOT Ignoring new targets: 57.83 m.bhPowering the camera and arming the capture device at range: 58.20 m.2hRh+Zh+  ProNav: ac range: 57.829758 m, nav range: 54.596050 m, bearing: 341.658180 deg, approach rate: -0.588675 m/s, LOS rate: -0.078321 deg/s, cmd heading: 338.762438 deg, new cmd heading: 338.675406 deg. BhWHeadingCmd: 5.911001 target range: 57.829758 and range: 58.20 m.h&@h*h"h h2hgf!f!f%'Bd!d)d)jd)Zd-@ԩBɢ<$<) >i)f;ii=;tźI&@I-@ @@/@@=@=BDAT read: Rx Time:06:05:34.9985 TRx dataTimestamp_ set to:1761545136.324109checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012900E~ ExE%E"E:*E:VE 4ZEa@a@a@a@^A3 II IY Om >1 ,x?A6(@6@6X1=ٱ6 BAHRS rotation from veh to nav: [[0.927798,0.361448,0.092451],[-0.370565,0.921540,0.115959],[-0.043284,-0.141846,0.988942]]6H?!?ܪ?U׿@}??P)'¿i?i6(@I6zc;6mCY^ZBy^I ``dfAbDjVDjβyr%rW=ٔvQ-v>9tYt=zFyzEz<Ez>|Q 55~쎊?Q 95~r)~\BY y CQ I @~EI~6:i~:~M5yɮ A5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 57.83 m.bhAMPowering the camera and arming the capture device at range: 58.20 m.2hIRhMsZhMse ProNav: ac range: 57.829758 m, nav range: 54.393280 m, bearing: 341.630435 deg, approach rate: -0.532971 m/s, LOS rate: -0.073198 deg/s, cmd heading: 338.675394 deg, new cmd heading: 338.591849 deg. BheHeHeadingCmd: 5.909543 target range: 57.829758 and range: 58.20 m.hm@hi*hi"hi hi2higifqfqfqdqdydyjdyZd} @颩ɢM<) +>i);顱i/i NY; ;I@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264568U+@Q @Q@U1@Y^A-NJκIIO>BO>BBIBBB8 =BBB_;B#EAi % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518404E  E tE E "E :*E v:VE ZE BE 4;a 2E 6;a JE `;a :E `;a ,9?A 6@6W@61=ٱ6hU >AHRS rotation from veh to nav: [[0.928983,0.358698,0.091250],[-0.367575,0.922988,0.113937],[-0.043354,-0.139386,0.989289]]6H`:??&\?W׿?@*?t2 j@?i6@I6Gb;6qCYn^BynIiMb@Mb@Mb@ 9)\(?M?~jtx?YG?yn>;A@ )VAY(AbDVDyլ<%>=ٔ@*9Q->9Y=FyE9;E>Q 55f?Q 95r)TBY_?Q E:ytϽQ I@EI ;i& ;lO5yBɮ AEjh  DNOT Ignoring new targets: 57.83 m.bh Powering the camera and arming the capture device at range: 58.20 m.2hRhUx Zh]x m ProNav: ac range: 57.829758 m, nav range: 54.173527 m, bearing: 341.578624 deg, approach rate: -0.511401 m/s, LOS rate: -0.121061 deg/s, cmd heading: 338.591848 deg, new cmd heading: 338.435785 deg. Bhm*mHeadingCmd: 5.906819 target range: 57.829758 and range: 58.20 m.hu@h*h"h h2hgfffJBdddjdZd@ @UBɢU<)Y ]>iY)]Ym;YYi]L6ieeR;eB;Im@qIDAT read: 06:05:34.9985 LVL= 30960, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.02,-1.385, 3.112,-1.336,-1.540, PHS= 0.257,-1.586, 0.160, RAW= 147.3, 13.0, CAL= 147.1, 14.2, ROT= 2.9, -14.2 (@ @@b2@Ygot valid direction response: 06:05:34.9985 LVL= 30960, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.02,-1.385, 3.112,-1.336,-1.540, PHS= 0.257,-1.586, 0.160, RAW= 147.3, 13.0, CAL= 147.1, 14.2, ROT= 2.9, -14.2 PDAT read: Bearing 154.1, -2.1 (Local) ~Local bearing/azimuth received: Bearing 154.1, -2.1 (Local) DAT read: Range 11 to 50 : 56.1 m (Round-trip 74.8 ms) speed 0.4 m/s *DAT read: user:663> BDAT read: Tx time:06:05:36.1196 $Ping request sent.ie ˿e #>e"$@eVh>eO$@ e}>)e4QO=Ie}aae 4?nµ?f̀ز? e!>)egIe4QO=ie}aa:publishing transmit ping timeFpublishing direction and range infoyaԙe?BW?/;f?Yaaaaa a)aIaiaaaaa a)aIaaae 4?nµ?f̀ز? a)aIaiaaa ^A ?BɺII IY Ou >ϯ,]S?A6@6b@6lh1=ٱ6- >AHRS rotation from veh to nav: [[0.930104,0.356072,0.090102],[-0.364734,0.924316,0.112290],[-0.043299,-0.137305,0.989582]]6Hj?`??W׿?`? G+4৪?i6@I6b;6nCLYR_ByR IbDZVDZNyj;%jZ=ٔj Q-j>9lYl=nFynEr^<Er>tQ 5z5v?Q 9z5vs)vMBYxyzɽQ Iz@vEIvu:iv:vQ5yɮ AiiE?AJi^BRi^Bjilʿ@bGFJ@T@U7Y+@R?BW?/;f?Zi4QO=bi}j"3J@:}K>/h%@ZYG?%MѿڹW?2iy:iQB"i;O?*i:pBiBi?ii̚Bi?XBirþ@U addTargetRange:: Added new target pos. range: 56.099998 m, deltaT: 3.779876 s, deltaX: -2.100002 m, approachRate: -0.555574 m/s, rangeRepo size: 4 e Added new target pos. range: 55.743328 m, bearing: 343.399954 deg, lat: 36.779420 deg, lon: -121.859777 deg, deltaT: 3.779876 s, deltaX: -2.086430 m, approachRate: -0.551984 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 55.74 m.bhimPowering the camera and arming the capture device at range: 56.10 m.2hiRhuZhq ProNav: ac range: 55.743328 m, nav range: 54.061619 m, bearing: 341.560658 deg, approach rate: 0.000000 m/s, LOS rate: -0.121061 deg/s, cmd heading: 338.435791 deg, new cmd heading: 338.298024 deg. BhHeadingCmd: 5.904414 target range: 55.743328 and range: 56.10 m.h@h*h"h h2hgfffdddjd L@Zd ?Bɢ<) >i)U0;QQiU=㉼i]D];]V ;! By A} p<B N>B B IB )BB 9 =B B B _;B #E,Dm?AVn1@V=,@V~1=ٱVf bAHRS rotation from veh to nav: [[0.930896,0.354075,0.089793],[-0.362705,0.925117,0.112262],[-0.043320,-0.137073,0.989613]]VH@?)??6׿?4? .``?iVn1@IV(a;VpCY=VBy=IIMR=)M;bDVDy &%;=ٔKI8Q->9 Y =5Fy5EE;EM>Q 55"$?Q 95s)EBYyĽQ I@EIYwi)';iKizþ8;1|9",XV?A2F@2fA@2d/=4ٱ2 >AHRS rotation from veh to nav: [[0.931846,0.351660,0.089435],[-0.360306,0.925917,0.113389],[-0.042935,-0.137885,0.989517]]2H?@?6??׿@??7 ?i2F@I2a;0YFXByFIiMb@Mb@Mb@ 9V-?MbX9?Y>y!> A\@ K@)YAbD-VD-3y=Z<%=E=ٔ=NvQ-=>9AYA=EFyMEM";EM>QQ 5]5U:4?Q 9]5Us)UQ Ee:ye:/Q Ie@UEIU;iU/;UT5ymBɮm AijhDNOT Ignoring new targets: 55.74 m.bhPowering the camera and arming the capture device at range: 56.10 m.2hRh=1ZhE1M ProNav: ac range: 55.743328 m, nav range: 53.642765 m, bearing: 341.446706 deg, approach rate: -0.504466 m/s, LOS rate: -0.155522 deg/s, cmd heading: 338.124717 deg, new cmd heading: 337.954832 deg. BhUwջUHeadingCmd: 5.898425 target range: 55.743328 and range: 56.10 m.hU忼@hY*hY"hY hY2hygyfffSBdddjdZdd?=Bɢ=<)9 =>iA)M;IIiMiUXľ;$  GE gA 9 gAY ^BX(,X?A2LS@2N@2(.=ٱ2Nf :AHRS rotation from veh to nav: [[0.932421,0.350138,0.089418],[-0.358866,0.926259,0.115148],[-0.042506,-0.139455,0.989316]]2Hc?h? ?ֿ ?Tz?`få@y?i2LS@I2{a;2qCYBFByBIbDJVDJ yRȶ%VV=ٔVQ-V>9XYX=ZFyZEZ;EZ>|!Q 5-5%{D?Q 9-5%$t)%4BY1y5+)Q I5@%EI%:i%:%V5y9ɮE AAmB*** querying acoustic contact ***ii iijhq}DNOT Ignoring new targets: 55.74 m.bhyPowering the camera and arming the capture device at range: 56.10 m.2hRh-Zh- ProNav: ac range: 55.743328 m, nav range: 53.457401 m, bearing: 341.389028 deg, approach rate: -0.486251 m/s, LOS rate: -0.151829 deg/s, cmd heading: 337.954837 deg, new cmd heading: 337.781202 deg. BheлHeadingCmd: 5.895394 target range: 55.743328 and range: 56.10 m.h@h*h"h h2hgfffdddjdZd^?Bɢ<) >i)^;iXiƾD;~.,'޼?A2a@2c\@2^+=ٱ2}K :AHRS rotation from veh to nav: [[0.933069,0.348438,0.089291],[-0.357250,0.926622,0.117237],[-0.041889,-0.141290,0.989082]]2H?L?۶?-ֿ?F?`pr¿?i2a@I2b;2oCYb>BybI ddYiMb@Mb@Mb@ 9X9v?ʡE?{GzY>y>ף~A GA) AYGAbDVDyp%:=ٔθQ->9"?Y"?=FyEA;E>Q 55AV?Q 95yt)&BY-?Q E:ytQ I@EI& ;i~ ;_X5yBɮ AEjh DNOT Ignoring new targets: 55.74 m.bhPowering the camera and arming the capture device at range: 56.10 m.2hRh!Zh!- ProNav: ac range: 55.743328 m, nav range: 53.253513 m, bearing: 341.329481 deg, approach rate: -0.481688 m/s, LOS rate: -0.141218 deg/s, cmd heading: 337.781213 deg, new cmd heading: 337.601891 deg. Bh-5HeadingCmd: 5.892264 target range: 55.743328 and range: 56.10 m.h5n@h1*h1"h1 h92h9g9f9fAfENBdAdAdAjdIZdM#?uBɢ}F<)y }|~>iy)};顁iHi&Ⱦ^;RԱ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251423k5,?A2q@2l@2i\*=ٱ2P :AHRS rotation from veh to nav: [[0.933784,0.346615,0.088915],[-0.355414,0.927243,0.117900],[-0.041580,-0.141695,0.989037]]2H ?.?@$ö?ֿ@?@.?I #¿0?i2q@I2+b;2pCYB+ByFIbDN VDN2yVϽ%V]=ٔVZQ-Z>9XYX=ZFyZE^;E^>1Q 5=55Rf?Q 9=55t)5BY9yEmQ IE@5EI5;i5;5 Z5yIɮMu AIjhquDNOT Ignoring new targets: 55.74 m.bhqE EnE#E"EO:*E:VE3ZEa@a@a@a@Powering the camera and arming the capture device at range: 56.10 m.2hRh#Zh# ProNav: ac range: 55.743328 m, nav range: 53.069359 m, bearing: 341.274879 deg, approach rate: -0.479247 m/s, LOS rate: -0.142592 deg/s, cmd heading: 337.601880 deg, new cmd heading: 337.437504 deg. BhûHeadingCmd: 5.889395 target range: 55.743328 and range: 56.10 m.hu@h*h"h hԹ2hgfffdddjdZd(@Bɢaw<) U>i)M3;ii ֞ɾ ; r=I u@I@@ @@0@ePExceeded connect timeout, disconnecting.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507145^A5]<AA AE AABM O>BI BM IBM .BBI BI BI BM _;BM #EAa Ii Iy O >9 ;,?AFy@Ft@F%=ٱF4 RAHRS rotation from veh to nav: [[0.934179,0.345413,0.089438],[-0.354502,0.926949,0.122856],[-0.040468,-0.146476,0.988386]]FH@?@?l?*ֿ?s?H`¿۠?iFy@IFb;FoCYZByZIbDbVDbyjE%jH=ٔn2Q-n>9lYp=rFyrEr;Er>xQ 55zv?Q 95zu)zBYyjQ I@zEIzӠ;iz֊;z[5y%Bɮ- A-EjhIUDNOT Ignoring new targets: 55.74 m.bhQUPowering the camera and arming the capture device at range: 56.10 m.2hQRh]A#Zh]A# ProNav: ac range: 55.743328 m, nav range: 52.879501 m, bearing: 341.218042 deg, approach rate: -0.475069 m/s, LOS rate: -0.142730 deg/s, cmd heading: 337.437491 deg, new cmd heading: 337.266369 deg. Bh ûEHeadingCmd: 5.886409 target range: 55.743328 and range: 56.10 m.hMv]@hI*hI"ha ha2hagifffchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758256ddd!jdQZdUN@€Bɢ<) r2>i) u;  i ,醼iP&˾=; =Iv]@IE~ ErE"E"E:*E?:VE(3ZEBEf;a2Eg;aJEyY;a:EzY;aA?@ @@0@@@^A BDAT read: Rx Time:06:05:38.5960  TRx dataTimestamp_ set to:1761545140.104338 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008713ԙ _}B,Tq ?A2)r@2l@2"=ٱ2. :AHRS rotation from veh to nav: [[0.933872,0.345929,0.090646],[-0.355391,0.925952,0.127712],[-0.039755,-0.151481,0.987660]]2H G?`#? 4?ֿe?X?Zcÿ?i2)r@I2|&b;0YRByRIIV8>)V4=V=V=imMb@Mb@Mb@iiii i9mv/?T㥛 ?~jtYmx>ym>mļmAmr@ i)ml AiYmA }4<}p;bD VD2yֽ%?=ٔںQ->9Y=FyEE>Q 55?Q 95u)BY>Q E:yӽQ I@EIu ;i ;]5yɮ AjhDNOT Ignoring new targets: 55.74 m.bhPowering the camera and arming the capture device at range: 56.10 m.lFinal approach. Armed for intercept at range: 56.10 m.\Transitioning guidance mode to: FINAL_APPROACH:h@RhzZhz  ProNav: ac range: 55.743328 m, nav range: 52.683887 m, bearing: 341.169464 deg, approach rate: -0.461156 m/s, LOS rate: -0.114947 deg/s, cmd heading: 337.266381 deg, new cmd heading: 337.120106 deg. BhƝHeadingCmd: 5.883856 target range: 55.743328 and range: 56.10 m.hH@h*h"h hgf!f!f%Bd!d)d)jd)Zd-@< @y颅ĀBɢ<) l>i)t;i]i%t̾-;MC=IUH@IQ@ @@ 4@ ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260013Ez EnEE"El:*E:VEZEae@ae@ae@ae@^A V<A >A >A I I O >BH,wK$?A2Wb@2&]@2=ٱ2E :AHRS rotation from veh to nav: [[0.933219,0.347490,0.091390],[-0.357208,0.924709,0.131593],[-0.038782,-0.155450,0.987082]]2H?F=? Te?}ֿ6??9ۣÿ`-?i2Wb@I2`;2pCYBByFIbDNVDNNyV%VZ=ٔV*Q-Z>9XYX=ZFyZE^3E^>`Q 5f5bt?Q 9f5bv)bBYhyjXؽQ Ij@bEIb:ibj:bI_5ynBɮnqAr E~nManaging dock network, ignoring radio surface power offB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 55.74 m.bhRhZh- ProNav: ac range: 55.743328 m, nav range: 52.512386 m, bearing: 341.127023 deg, approach rate: -0.456211 m/s, LOS rate: -0.113267 deg/s, cmd heading: 337.120106 deg, new cmd heading: 336.992366 deg. Bh-w5HeadingCmd: 5.881626 target range: 55.743328 and range: 56.10 m.h5H6@h1*h1uDAT read: 06:05:38.5960 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.15, 1.116,-0.623, 1.205, 0.992, PHS= 0.226,-1.570, 0.170, RAW= 148.4, 13.2, CAL= 148.3, 14.6, ROT= 1.7, -14.6 Ygot valid direction response: 06:05:38.5960 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.15, 1.116,-0.623, 1.205, 0.992, PHS= 0.226,-1.570, 0.170, RAW= 148.4, 13.2, CAL= 148.3, 14.6, ROT= 1.7, -14.6 PDAT read: Bearing 154.5, -2.8 (Local) ~Local bearing/azimuth received: Bearing 154.5, -2.8 (Local) DAT read: Range 11 to 50 : 54.2 m (Round-trip 72.3 ms) speed 0.4 m/s *DAT read: user:664> BDAT read: Tx time:06:05:39.7196 $Ping request sent.i=ȿ={.>=%@=k>=%@ =w>)=? = >)= lI=? 9)9I9i999颵ƀBɢ!T<) =i);iPi$; ;-=IH6@I!BM>BBIBBBBBB_;B#E@ @@0@^A5 W=Q E } E sE $E "E ݉:*E Z:VE 4ZE BE C;a 2E E;a JE ];a :E ];a A= .AII IY Oe >N,-'>?A6U@6P@6=ٱ6G# >AHRS rotation from veh to nav: [[0.932702,0.348698,0.092066],[-0.358633,0.923707,0.134711],[-0.038069,-0.158664,0.986598]]6H@?@Q??ֿ?9>?`}OĿ7?i6U@I6H`;4YRԀByRtIi]Mb@Mb@Mb@YYYY Y9]X9v?I +?Zd;OY]>y]9=]j]`AY ]A)] AYY]3AbDqVDqy|%==ٔغQ->9 ?Y ?=FyE fE>Q 55?Q 95%w)BY>Q E:yEQ I@EI<:i:,a5yɮ=AiiimC&?AJimkWBRimkWBjim󱍿@bmAё J@ Fȼ?W&+@Rm[o^?3e?!?Zim<bimwjmb-0I@\.y+@kT&@Zm?R!LTҿ96+U,\X?A:zF@:IA@:=ٱ:y'@ JAHRS rotation from veh to nav: [[0.932054,0.350145,0.093132],[-0.360401,0.922383,0.138998],[-0.037234,-0.163118,0.985904]]:Hc?h?~׷?׿)?`?SĿ?i:zF@I::`;8YRByRTI TTXZA^@A\bDbVDbyfA %fW=ٔjQ-j>9j"?Yj"?=nFynEn<Er>pQ 5v5r˶?Q 9v5rx)rBYxyzHHQ Iz@rEIr:ir:rb5y~BɮAjh!-DNOT Ignoring new targets: 53.86 m.bh)Rh5Zh5E ProNav: ac range: 53.855160 m, nav range: 52.289497 m, bearing: 341.158634 deg, approach rate: -0.482417 m/s, LOS rate: -0.070858 deg/s, cmd heading: 336.844740 deg, new cmd heading: 336.764743 deg. BhEBMHeadingCmd: 5.877654 target range: 53.855160 and range: 54.20 m.hM@hI*hI"hI hIgIfQfQfQEa EeEe"Ea"Ea*Ee*:VEe(3ZEaam@am@am@am@dQdqdqjdqZdu`?颥ɀBɢҮ;) Pi);顩i!iءϾT;=I@IQ@Q @Q@U/@Qԩ^Au]=A}fAzA}gAA .AI I O >B A =B L>B B IB BB : =B B B _;B #E) Y[,q?A2|>@2K9@2zK=ٱ2!* :AHRS rotation from veh to nav: [[0.931729,0.350909,0.093506],[-0.361321,0.921607,0.141731],[-0.036441,-0.165840,0.985479]]2H? Lu?? ׿ }?`<$?``A:ſ ?i2|>@I2d`;2nCY^BybDIbDjVDjlyr1%vI=ٔvmQ-v>9z ?Yz ?=zFyzEzEz>yQ 55}Ǐ?Q 95}!y)}BYyIQ I@}EI}:i}:}d5yɮAjhDNOT Ignoring new targets: 53.86 m.bhRhZh- ProNav: ac range: 53.855160 m, nav range: 52.087677 m, bearing: 341.129144 deg, approach rate: -0.475635 m/s, LOS rate: -0.069769 deg/s, cmd heading: 336.764745 deg, new cmd heading: 336.675932 deg. Bh5?MHeadingCmd: 5.876103 target range: 53.855160 and range: 54.20 m.hM @hQ*hY"hY hYgafifyfddQdqjdyZd})? ̀Bɢ\o;) ui);ii%mо%;%3=IM @IIE EEE"EO:*E3:VEZEBE;a2E;aJE;a:E;a@ @@/@1^A =q AU ؟AIa Iq O} >b, ?A24@2g/@2==ٱ2- :AHRS rotation from veh to nav: [[0.931327,0.351966,0.093539],[-0.362459,0.920787,0.144136],[-0.035399,-0.168142,0.985127]]2Hn?? 3?`2׿w? s?``ſ )?i24@I2?`;2qCYBByB4Ii Mb@Mb@Mb@     9 +?y&1?y `e= t vA \@ A)  A Y  AbD-VD-y,w%;=ٔVQ->9"?Y"?=FyE2E>1Q 5u55(ُ?Q 9u55z)5BYu?Q Eu:yuWQ I}@5EI5\ ;iJ1AiEоE%;E=IM@II?@ @@/@@fA@EU EUqEU%EQ"EU:*EU$ :VEU 4ZEQa]@a]@a]@a]@i^A d=ԙ AI IQ Ii Ou >i,*?AY~By~II>)V> = p=QbDVDJyeڽ%eN=ٔeQ-e>9iYi=mFymEuEu>yQ 55}菊?Q 95}{)}BYyQ I@} EI}:i}:}@h5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 53.86 m.bhRh%'Zh%'U ProNav: ac range: 53.855160 m, nav range: 51.681129 m, bearing: 341.100679 deg, approach rate: -0.517683 m/s, LOS rate: -0.036532 deg/s, cmd heading: 336.630682 deg, new cmd heading: 336.590187 deg. BhUȺ]HeadingCmd: 5.874607 target range: 53.855160 and range: 54.20 m.h]@hY*hY"ha hagafaffdddjdZd@ЀBɢF%)  i) ;  i (Ai&1Ѿw|;\=I@IBN>BB!IBBBBBB_;B#Eԩ!@! @!@-_0@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A +=Ee  Ee {Ee "Ea "Ee :*Ee 5":VEe (3ZEa BEe ;au 2Ee ;au JEe >o,?A2"@2@2 $ =ٱ2*1 :AHRS rotation from veh to nav: [[0.930602,0.353891,0.093489],[-0.364498,0.919325,0.148269],[-0.033475,-0.172056,0.984518]]2H~? '?@?S׿`k?@{? #ƿ@,?i2"@I2a;2pCYfyByfIiUMb@Mb@Mb@QQQQ Q9UNbX9?:v?MbYU?yUT9Y=FyEiE>Q 55?Q 95})BY?Q E:y곾Q I@ EIe:i:j5yBɮ2A"EjhDNOT Ignoring new targets: 53.86 m.bhRhhe9Zhhe9% ProNav: ac range: 53.855160 m, nav range: 51.469067 m, bearing: 341.105764 deg, approach rate: -0.520581 m/s, LOS rate: 0.012535 deg/s, cmd heading: 336.590192 deg, new cmd heading: 336.605511 deg. Bh% :-HeadingCmd: 5.874875 target range: 53.855160 and range: 54.20 m.h-@h)*h)"h) h)g1f1ffˀBdddjdZd@-ҀBɢ-c) r1i)/;顑i8i Ѿi;a=I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504503 a@a @a@e2@a1^A =a A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756311I I O >&v,W?A2@2c@2W=ٱ21 :AHRS rotation from veh to nav: [[0.930215,0.355010,0.093103],[-0.365563,0.918772,0.149068],[-0.032620,-0.172700,0.984434]]2HR?|?շ?@be׿ f??`ƿ |?i2@I2 a;2qCE EzEE"E:*E :VEZEa @a @a @a @1YoByIbDVD! yU(% 5=ٔ-Q-->9AYI]G=]FyeÂEuliA}E>9liAYAQ 55 ?Q 95)BYyQ I@EIj;i;l5yɮ~AjhDNOT Ignoring new targets: 53.86 m.bhRh t9Zh t9 ProNav: ac range: 53.855160 m, nav range: 51.221653 m, bearing: 341.112068 deg, approach rate: -0.522416 m/s, LOS rate: 0.013375 deg/s, cmd heading: 336.605519 deg, new cmd heading: 336.624523 deg. Bh:%HeadingCmd: 5.875206 target range: 53.855160 and range: 54.20 m.h%@h!*h!"h! h!g)f)f)f1d1d1d1jd1Zd=w@a颥ԀBɢ) Hi);顩i,~iо}; =I@I%BDAT read: Rx Time:06:05:42.1939 -TRx dataTimestamp_ set to:1761545143.6370815checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010165A@ @@1@@>@>ԉAQ AQ B B CB IB gBB 9 =B B B "`;B #EBɹCBɹCBBBCɳ5Թ ^A V =A I9IaO>o},[?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2615890bEe(3jEe3rEeJ0E EqE)E"E:*E$ :VEFA4ZEBEa2EaJEU;a:EU;a @@<ٱ2 AHRS rotation from veh to nav: [[0.929699,0.356577,0.092267],[-0.367008,0.917981,0.150386],[-0.031075,-0.173677,0.984312]]H?'?ɞ?@ }׿`?`??`ҟ;ƿ|?i @I)`;pC  r@i I  CkA`eMjAIl)BFi)!I%iA%D%UF !)))i))i15jA)1 1I1 9)={A999Y9YE_ByMI QQQUAiuMb@Mb@Mb@qqqq q9uv/?{Gzt?Yux ?yuuף;uAuE@ u^Aԁ)u AqYuAbDVD0y酽%#=ٔKQ->9Y=FyƂELE>Q 55v!?Q 9E5)BYUz ?Q EU:yUQ I}@EI EBDAT read: Tx time:06:05:43.3196 M$Ping request sent.Mieоm;mnP=ImQ@IiiEƿV>p'@A>m7'@ ȭT>);IȭT!??4PS?OL ? r?)nAI;iȭT:publishing transmit ping timeIFpublishing direction and range infoyO?oPt?Fa5d?Y )Ii )I!??4PS?OL ? )Ii ?@  @ @ 0@ ^ANw =AzA1AQIYIqO} ?k,J?AE^ E^uE^&E\"E^~:*E^:VE^4ZE\ab@ab@ab@ab@YmaByuIbDVDyU<%.=ٔQ->9Y=FyȂEE>Q 55!5?Q 95)BYyQ I@EI:i:Ap5y’BɮAii?AJiQBRiQBji[@bI@BH#???%@RO?oPt?Fa5d?Zi;biȭTjFQhQH@f؈n0!@Z]#?p>ԿJKa?2i8:iBB"iJ{7?*i9ABiSBiJ{7?i9Ai(BiMBi[@ addTargetRange:: Added new target pos. range: 52.599998 m, deltaT: 3.532000 s, deltaX: -1.600002 m, approachRate: -0.453002 m/s, rangeRepo size: 4 5 Added new target pos. range: 52.265385 m, bearing: 340.835873 deg, lat: 36.779427 deg, lon: -121.859783 deg, deltaT: 3.532000 s, deltaX: -1.589775 m, approachRate: -0.450106 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 52.27 m.bh1Rh=Zh9M ProNav: ac range: 52.265385 m, nav range: 51.489437 m, bearing: 340.835981 deg, approach rate: 0.000000 m/s, LOS rate: 0.024188 deg/s, cmd heading: 336.663876 deg, new cmd heading: 336.693806 deg. BhIUHeadingCmd: 5.876415 target range: 52.265385 and range: 52.60 m.hU @hQ*hQ"hQ hYgYfYfYfadadadajdmLJ@Zdm?颕؀Bɢ:') mi);顙i\Byi%.Dо%;;-]=I- @I)@ @@1@^A=Q B B CB IB IBB B B B 3`;B #EI I O >,4?A: @:@:9L<ٱ:%1 FAHRS rotation from veh to nav: [[0.929201,0.358259,0.090757],[-0.368381,0.917566,0.149557],[-0.029695,-0.172401,0.984579]]:H?`?@;?׿@\?$? bh ?ƿ?i: @I:g_;:oCYUMByUIbDVD:ymf%u>=ٔOQ->9Y=FyʂEWE>Q)Q 5u5-H?Q 9u5-[)-BYyy}mQ I}@-EI-))9 =)i9)=;99i=_viE(ϾM;Mvv,QN?A@YMNByMIIU=)Ux>iMb@Mb@Mb@ 9|?5^?Mb`{Gz?Y ?y#<Ar@ A) AYzAbDVDyrX;%Q=ٔQ->9 Y = Fy ̂E E>Q 5%5X?Q 9%5W)BY% ?Q E%:y%zQ I%@ EIU:i:s5y5ÒBɮ5A5$EjhY]DNOT Ignoring new targets: 52.27 m.bhYRhe9Zhe9u ProNav: ac range: 52.265385 m, nav range: 51.043736 m, bearing: 340.857156 deg, approach rate: -0.567883 m/s, LOS rate: 0.027923 deg/s, cmd heading: 336.727452 deg, new cmd heading: 336.757604 deg. BhuM:}HeadingCmd: 5.877529 target range: 52.265385 and range: 52.60 m.h}@hy*hy"hy hgfffĀBdddjdZdൽ?=ۀBɢ=/c)9 EߌiA)Ef;AAiEtiM2ϾmWS;u٨ %,ch?A6@6@6<ٱ6A. >AHRS rotation from veh to nav: [[0.928909,0.359515,0.088753],[-0.369215,0.917575,0.147434],[-0.028433,-0.169722,0.985082]]6H`?J?`?7׿\??w`rſ ʅ?i6@I6b[_;4YHyJIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500295bDZVDZܲyb,%ba=ٔbcQ-b>9dYd=fFyf΂EjUEj>llQ 5r5ng?Q 9v5nL)nBYtyvQ Iv@n$EIn,;in-;nku5yxɮzA|jh%DNOT Ignoring new targets: 52.27 m.bh!Rh-9Zh-9= ProNav: ac range: 52.265385 m, nav range: 50.842834 m, bearing: 340.867285 deg, approach rate: -0.552316 m/s, LOS rate: 0.027957 deg/s, cmd heading: 336.757614 deg, new cmd heading: 336.788121 deg. BhM~:MHeadingCmd: 5.878062 target range: 52.265385 and range: 52.60 m.hU@hQ*hQ"hQ hQgQfQfYfYdYdadajdaZde?颕܀Bɢ<,t) Qi)+;顙i+ri\lϾ;BuCBuIBu:BBqBqBqBu`;Bu#E A^AU8<IIO>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.754519E  E oE $E "E O:*E :VE 4ZE BE ;a% 2E ;a% JE N;aE :E N;aE a L,??A24@2@2j<ٱ2z, :AHRS rotation from veh to nav: [[0.928936,0.359717,0.087641],[-0.369174,0.917881,0.145621],[-0.028062,-0.167627,0.985451]]2Hٹ?? o?@׿`G_??6`tſЈ?i24@I2_;0YNQByRIIimMb@Mb@Mb@iiii i9mkt?~jt?I +?Ym ?ymD=ٔaQ->9Y=FyЂEN8E>Q 55{?Q 95)BY0?Q E:y>Q I@'EI ;ie ;Mw5yĒBɮA%EjhDNOT Ignoring new targets: 52.27 m.bhRhk9Zhk9  ProNav: ac range: 52.265385 m, nav range: 50.600105 m, bearing: 340.872800 deg, approach rate: -0.563729 m/s, LOS rate: 0.012870 deg/s, cmd heading: 336.788131 deg, new cmd heading: 336.804755 deg. Bh Q :HeadingCmd: 5.878352 target range: 52.265385 and range: 52.60 m.hu@h*h"h hgfffրBd!d!d!jd!Zd-s?U݀BɢU e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256243,?AF@F@F<ٱFN-ER ERwER#EP"ER:*ER:VER3ZEPaV@aZ@aZ@aZ@ NAHRS rotation from veh to nav: [[0.928849,0.360026,0.087301],[-0.369449,0.917622,0.146550],[-0.027348,-0.168376,0.985343]]FH ?` ?aY? ׿`)]?$?`Wſ?iF@IF?A_;DYbUByfI hhbDlVDlyv(<%vV=ٔvQ-z>9xYx=zFyz҂E~EE~>Q 5 5 ?Q 9 5z)BY ybQ I@+EI_:i:x5yɮxAjhQUDNOT Ignoring new targets: 52.27 m.bhQRh]o9Zh]o9m ProNav: ac range: 52.265385 m, nav range: 50.384762 m, bearing: 340.877804 deg, approach rate: -0.561017 m/s, LOS rate: 0.013094 deg/s, cmd heading: 336.804742 deg, new cmd heading: 336.819821 deg. Bhm:uHeadingCmd: 5.878615 target range: 52.265385 and range: 52.60 m.hu@hq*hq"hy hygyfyffdddjdZd@ԙ颽߀BɢD\`) di)G/;iWOni#Ͼ[;.BM P>BI BM IBM ?BBM 8 =BI BI BM %`;BM #E Mݬ,?A2@2@2 p<ٱ2 , :AHRS rotation from veh to nav: [[0.928867,0.360112,0.086749],[-0.369426,0.917716,0.146019],[-0.027028,-0.167679,0.985471]]2HG? ?*5?׿]? ? 'vſ?i2@I2r%_;2qCY^^BybIbDjVDj2yr/=%rK=ٔriPQ-v>9tYt=vFyvԂEz8Ez>|Q 55~?Q 95~)~BYy`Q I @~/EI~f;i~$:~z5yʒBɮ]A/E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762421jhDNOT Ignoring new targets: 52.27 m.bhRh%zV9Zh-zV9 ProNav: ac range: 52.265385 m, nav range: 50.158051 m, bearing: 340.883116 deg, approach rate: -0.498017 m/s, LOS rate: 0.011720 deg/s, cmd heading: 336.819823 deg, new cmd heading: 336.835828 deg. Bh:E EyEE"E*E:VEZEBE;a2E;aJEr;a:Er;aHeadingCmd: 5.878894 target range: 52.265385 and range: 52.60 m.h@h*h"h hgfffdddjdZd@uBɢu1)q uiq)};yyi}jki:ξ;WT,-?A2@2@2lN<ٱ2 , :AHRS rotation from veh to nav: [[0.928976,0.360007,0.086011],[-0.369205,0.917765,0.146270],[-0.026279,-0.167637,0.985498]]2H,?[ ??׿T^??隿@%uſ3?i2@I2_;2pCYBbByBIi}Mb@Mb@Mb@yyyy y9}oʡ?V-?Ա9Y=FyׂEq:E>Q 55ٱ?Q 95)BYE ?Q E:yQ I@3EI)0;i/;|5y˒BɮHA0EB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 52.27 m.bhRhBZhB% ProNav: ac range: 52.265385 m, nav range: 49.909187 m, bearing: 340.880275 deg, approach rate: -0.625204 m/s, LOS rate: -0.007172 deg/s, cmd heading: 336.835833 deg, new cmd heading: 336.827268 deg. Bh%-HeadingCmd: 5.878745 target range: 52.265385 and range: 52.60 m.h-@h1*h1"h1 h1g1f1f9f=Bd9d9dAjdAZdE @uBɢuJV)q ub}iy)}_(;yyi}$jiϾw <VY i9 I9 R>,?A*DAT read: 06:05:45.7915 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.35,-2.008, 2.622,-1.864,-2.028, PHS= 0.122,-1.588, 0.119, RAW= 149.9, 15.6, CAL= 150.2, 17.4, ROT= 359.8, -17.4 }Ygot valid direction response: 06:05:45.7915 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.35,-2.008, 2.622,-1.864,-2.028, PHS= 0.122,-1.588, 0.119, RAW= 149.9, 15.6, CAL= 150.2, 17.4, ROT= 359.8, -17.4 PDAT read: Bearing 157.3, -4.6 (Local) ~Local bearing/azimuth received: Bearing 157.3, -4.6 (Local) -DAT read: Range 11 to 50 : 50.7 m (Round-trip 67.7 ms) speed 0.5 m/s -*DAT read: user:666> BUQ>BQBUIBUIBBQBQBQBU;`;BU#EBDAT read: Tx time:06:05:46.9196 $Ping request sent.g'@ |>)B@I|#~?Œh_?20C?/? ?)7/Idi| uAHRS rotation from veh to nav: [[0.929047,0.360011,0.085228],[-0.369065,0.917897,0.145795],[-0.025743,-0.166905,0.985637]]:publishing transmit ping timeFpublishing direction and range infoyBR?wIk-{#?Y )Ii )I#~?Œh_?20C?/? )IiH ?i ?ѵ?`׿i_?j?Z\`']ſ@V?i_@IG^;oCYgByII!>)p<bD VD y+<%)=ٔ%XQ-%>9QYQ=UFy]قE])9E]>Q 55iǐ?Q 95)BYyQ I@7EI:i1:~5yɮ$AAii?AJiIBRiIBjiD@bi< H@E>;zſ9 ?Y ?=Fy܂E  ;E >Q 55ސ?Q 95)BY%> ?Q E%:y%Q I%@;EI` ;i. ;5y-͒Bɮ-2A)jhQ]DNOT Ignoring new targets: 50.38 m.bhYRh]Zhem ProNav: ac range: 50.377716 m, nav range: 49.172100 m, bearing: 341.476752 deg, approach rate: -0.583040 m/s, LOS rate: -0.032571 deg/s, cmd heading: 336.816080 deg, new cmd heading: 336.768172 deg. BhuӲuHeadingCmd: 5.877713 target range: 50.377716 and range: 50.70 m.hu:@hy*hy"hy hygyfffBdddjdZd?颽Bɢ <) yi)&;i:eiϾ<<A$;ɻ,&?A2z@2I @2<ٱ2) :AHRS rotation from veh to nav: [[0.929923,0.358207,0.083246],[-0.366904,0.919067,0.143867],[-0.024974,-0.164329,0.986089]]2H??O?@[{׿h?;j?咙ſ` ?i2z@I2`^;0 @)BkABB4dF@F&CFkAiF+IFLFDIHiJkA JH)HL NkANYLLPRkAIR')PiP)PIVkAV'T TTZlAXiXXiXZA)\ \I\Y\YbsBybIbDnVDnyvާ=%v=ٔzغQ-z?9xYx=zFy~݂E~;E~?Q 5 5됊?Q 9 5)BYy^Q I@>EID;i@;n5yɮAjhAEDNOT Ignoring new targets: 50.38 m.bhARhM|ZhM|] ProNav: ac range: 50.377716 m, nav range: 49.007797 m, bearing: 341.467306 deg, approach rate: -0.547463 m/s, LOS rate: -0.031580 deg/s, cmd heading: 336.768160 deg, new cmd heading: 336.739727 deg. Bh]beHeadingCmd: 5.877217 target range: 50.377716 and range: 50.70 m.he)@ha*ha"hi hgf)f1f1d1d9d9jd9Zd=?颩ɢoO) bi)6Q;顱iciϾ<=I)@IB=P>B9B=IB=SBB9B9e@@a @a@e~1@i@u=@u=B9B=w`;B=$EB=ĺCB=ĺCB9B=8 =B9C=Đ4Qԁ^AV<I I O >bE3jE<3rEJ0E  E }Ա E &E "E C:*E k&:VE 4ZE BE %;a 2E ';a JE ;a :E €;a л,t@?A2@2@2a<ٱ2pB( :AHRS rotation from veh to nav: [[0.930316,0.357347,0.082554],[-0.365926,0.919544,0.143305],[-0.024702,-0.163528,0.986229]]2H@&? ?:"?Tk׿@l? W?wK yĿ 1?i2@I2=^;2oCYUvByUI YYiMb@Mb@Mb@ 9"~j?l?YS?y=EA@ CA); AY AAAAAbD%VD%1y-kO<%-8=ٔ5-!Q-5>99Y9==Fy=߂E=;EE>AQ 5M5E?Q 9U5E)EBYU?Q EU:yUnQ IU@EBEIE" ;iE ;E_5yeΒBɮeAe1EjhDNOT Ignoring new targets: 50.38 m.bhRh {Zh{% ProNav: ac range: 50.377716 m, nav range: 48.779083 m, bearing: 341.443010 deg, approach rate: -0.515442 m/s, LOS rate: -0.055011 deg/s, cmd heading: 336.739719 deg, new cmd heading: 336.666489 deg. Bh%-HeadingCmd: 5.875939 target range: 50.377716 and range: 50.70 m.h-@h)*h)"h) h)g1f1f9f=9Bd9d9d9jdAZdE@]?mBɢm))i ut_iq)u;qqiuai}о}d<}aq =I}@I@ @!@%n2@!I ^AE y=I I O >Y Kֻ,hZ?A2i @28@2G<ٱ288( :AHRS rotation from veh to nav: [[0.930735,0.356333,0.082217],[-0.364872,0.919944,0.143426],[-0.024528,-0.163490,0.986240]]2H@?(?`) ?Z׿`/p?[?`<Ŀ`G?i2i @I2)X^;2nCYzByIbD%VD%ky5*<%5[=ٔ=Q-=>99Y9==Fy=EELG;EE>IQ 5U5M?Q 9U5M)MBYYy]mQ I]@MEEIMm ;iM":M5yaɮeAaB*** querying acoustic contact ***i iE5 E5~E5'E1"E5:*E5(:VE5'4ZE1a=@a=@a=@a=@jhAEDNOT Ignoring new targets: 50.38 m.bhARhmqZhmq} ProNav: ac range: 50.377716 m, nav range: 48.586697 m, bearing: 341.422135 deg, approach rate: -0.485169 m/s, LOS rate: -0.052851 deg/s, cmd heading: 336.666499 deg, new cmd heading: 336.603627 deg. Bh}HeadingCmd: 5.874842 target range: 50.377716 and range: 50.70 m.h@h*h"h hgfffdddjdZdK?!EBɢE'V7)I M`ZiI)M;IIiM_iUfѾUi<]b$=I]@IY?@ @@4@aMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.^A  =ԩ B <A <B9 B9 B= IB= ]BB9 B9 B9 B= `;B= 4$EIy I O >oܻ,*t?A0:x)@:G$@:o,<ٱ:H( FAHRS rotation from veh to nav: [[0.931143,0.355343,0.081881],[-0.363844,0.920316,0.143652],[-0.024311,-0.163553,0.986235]]:H?@?@,?@8I׿:s?2c? 䘿LĿ9`Y`=bFybEf3;;Ef>hQ 5n5j?Q 9n5j)jBYpyrlQ Ir@jHEIj ;ij ;j5yvВBɮvAv2EjhDNOT Ignoring new targets: 50.38 m.bhRhZh- ProNav: ac range: 50.377716 m, nav range: 48.387146 m, bearing: 341.400044 deg, approach rate: -0.548597 m/s, LOS rate: -0.060982 deg/s, cmd heading: 336.603634 deg, new cmd heading: 336.537088 deg. Bh-g'5HeadingCmd: 5.873680 target range: 50.377716 and range: 50.70 m.h50@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM@*~@uBɢ}pA)y }pWiy);顁i^iѾ><`=I0@I@@ @@/@@!@%fAԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.180476E]| E]qE]#EY"E] :*E]$ :VE]3ZEYBE]!;a2E]";aJE]U;a:E]U;aԹ^A#=IYIiOuz> e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.431646X,?AV3@V-@Vw\<ٱVu(` nAHRS rotation from veh to nav: [[0.931573,0.354286,0.081570],[-0.362756,0.920694,0.143985],[-0.024090,-0.163723,0.986212]]VHq?@??`c7׿`Rv?n?򪘿@Ŀ ?iV3@IV^;VoCY~{By~II >) ;==iMb@Mb@Mb@ 9x&1?ʡE?MbPY?y=A@ A)QAY\ AbDVD:y%%%5=ٔ-Q-->9)Y)=-Fy5E=%*;E=>AQ 5M5E2?Q 9M5E7)EBYM?Q EM:yMcQ IM@ELEIE:iE:E5y]ҒBɮ]A]3EjhDNOT Ignoring new targets: 50.38 m.bhRhZh ProNav: ac range: 50.377716 m, nav range: 48.157837 m, bearing: 341.372085 deg, approach rate: -0.508506 m/s, LOS rate: -0.062296 deg/s, cmd heading: 336.537081 deg, new cmd heading: 336.452804 deg. Bh+HeadingCmd: 5.872209 target range: 50.377716 and range: 50.70 m.h#@h*h"h hgfffMBdddjdZd @Bɢ!,) X]i)Or;i[\izkҾk<S$=I#@I >@ @@ @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683610EU EUrEU!EQ"EU:*EU?:VEUc3ZEQa]@ae@ae@ae@^Am =Am >Am ?A A ؟AI I O >ˁ,?A2=@28@21<ٱ2a( :AHRS rotation from veh to nav: [[0.932054,0.353033,0.081506],[-0.361519,0.921103,0.144479],[-0.024069,-0.164128,0.986145]]2H c? ?`ݴ? #׿y?I~?` &ſ?i2=@I26_;2nCY^zBybIbDjVDj0y-%-\=ٔ5eQ-5>95"?Y5"?==Fy=E=i;E=>AQ 5M5EA?Q 9M5EO)EBYQyUbQ IU@EOEIE:iE:EI5yYɮeAajhDNOT Ignoring new targets: 50.38 m.bhRhZh ProNav: ac range: 50.377716 m, nav range: 47.968788 m, bearing: 341.348532 deg, approach rate: -0.502140 m/s, LOS rate: -0.062807 deg/s, cmd heading: 336.452796 deg, new cmd heading: 336.381858 deg. Bhj,HeadingCmd: 5.870971 target range: 50.377716 and range: 50.70 m.h޻@h*h"h hgfffdddjdZd$@BDAT read: Rx Time:06:05:49.3887 %TRx dataTimestamp_ set to:1761545150.692242%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936804EBɢEI)A MbiI)MBBIBgBBBBB?a;Be$EI?@ @@/@q^A *!= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.188745Ա A I! Eu { Eu tEu "Eq "Eu =:*Eu v:VEu (3ZEq BEu ;a 2Eu ;a JEu `;a :Eu `;a I) O= >k\,?ARNH@RC@R<ٱR) ^AHRS rotation from veh to nav: [[0.932510,0.351839,0.081458],[-0.360338,0.921520,0.144767],[-0.024130,-0.164348,0.986107]]RH`?@?@fڴ?@׿}??^ ſ0?iRNH@IRw^;RqCYfsByfIiUMb@Mb@Mb@QQQQ Q9UGz?sh|??MbPYU>yU=QUEAU@ UA)U AQYU AԑbDVDky%D=ٔ9Q->9Y=FyEPG;E>Q 55 R?Q 95T)zBY]>Q E:y(IQ I@REI8:i;5yӒBɮAjhDNOT Ignoring new targets: 50.38 m.bhRh 몺Zh 몺 ProNav: ac range: 50.377716 m, nav range: 47.772072 m, bearing: 341.317905 deg, approach rate: -0.477921 m/s, LOS rate: -0.074715 deg/s, cmd heading: 336.381872 deg, new cmd heading: 336.289612 deg. BhM%HeadingCmd: 5.869361 target range: 50.377716 and range: 50.70 m.h%ѻ@h!*h!"h! h)g)f)ffJBdddjdZd @BɢzQ) &si )-Z;))i-1Xi5Ӿ5־<=M7=I=ѻ@I9@@ @@/@@=@>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.440355^A K'= A= .AIA IY Oe >6,T?A>T@>O@>#<ٱ>0) FAHRS rotation from veh to nav: [[0.933055,0.350435,0.081269],[-0.358924,0.922041,0.144961],[-0.024134,-0.164426,0.986094]]>H ? m?δ?`ֿ \?? ` ſ`?i>T@I>^;<jDAT read: 06:05:49.3887 LVL= 32720, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.35, 2.479, 0.742, 2.673, 2.403, PHS= 0.177,-1.616, 0.226, RAW= 151.3, 13.3, CAL= 151.4, 14.8, ROT= 358.6, -14.8 nYgot valid direction response: 06:05:49.3887 LVL= 32720, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.35, 2.479, 0.742, 2.673, 2.403, PHS= 0.177,-1.616, 0.226, RAW= 151.3, 13.3, CAL= 151.4, 14.8, ROT= 358.6, -14.8 rPDAT read: Bearing 155.5, -5.2 (Local) r~Local bearing/azimuth received: Bearing 155.5, -5.2 (Local) vDAT read: Range 11 to 50 : 48.7 m (Round-trip 65.0 ms) speed 0.4 m/s z*DAT read: user:667> ~BDAT read: Tx time:06:05:50.5196 ~$Ping request sent.~iRοRlg>R)@R,m>R)@ R A>)RG@IR APPR~?LD2?6xcc? Ro ?)R8mIR*ȼiR APP%:publishing transmit ping time|%Fpublishing direction and range infoyPR][?@s40l39Y?YPPPPP P)PIPiPPPPP P)PIPPPR~?LD2?6xcc? P)PIPiPPPYEpByEI aaquAbDVDβyp%L=ٔ'7Q->9 ?Y ?=FyEx;E>Q 55a?Q 95M)tBYyGE= E=E9E9"E=:*E=0:VE9ZE9aE@aE@aE@aM@Q IU@UEIڴBiRq@U addTargetRange:: Added new target pos. range: 48.700001 m, deltaT: 3.776880 s, deltaX: -2.000000 m, approachRate: -0.529538 m/s, rangeRepo size: 4 e Added new target pos. range: 48.390423 m, bearing: 340.061942 deg, lat: 36.779427 deg, lon: -121.859776 deg, deltaT: 3.776880 s, deltaX: -1.987293 m, approachRate: -0.526173 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 48.39 m.bhaRhmZhi ProNav: ac range: 48.390423 m, nav range: 47.582920 m, bearing: 341.287864 deg, approach rate: 0.000000 m/s, LOS rate: -0.074715 deg/s, cmd heading: 336.289609 deg, new cmd heading: 336.192569 deg. BhHeadingCmd: 5.867667 target range: 48.390423 and range: 48.70 m.hû@h*h"h hgfffdddjdYH@Zd?Bɢ\) }i)>L;i%Vi5ȾԾ5 <5WB=I5û@IA)?@ @@0@aA A ?AB R>B B IB bBB 9 =B B B Aa;B f$E^A% ·3=y AU ؟AIa Iq O} >M,?AR;^@R Y@R~5<ٱRRD* zAHRS rotation from veh to nav: [[0.933461,0.349213,0.081860],[-0.357837,0.922319,0.145875],[-0.024559,-0.165461,0.985910]]RH?Y??ֿࣃ? ? & -ſ ?iR;^@IR^;RpCY fBy IbDeVDe0yD%F=ٔ:Q->9"?Y"?=FyE 8;E>Q 55r?Q 95M)oBYyrFQ I@XEI;ib:5yՒBɮ{A4E)EB*** querying acoustic contact ***iA iAjhquDNOT Ignoring new targets: 48.39 m.bhqRh}ԷZh}Է ProNav: ac range: 48.390423 m, nav range: 47.387615 m, bearing: 341.256320 deg, approach rate: -0.495488 m/s, LOS rate: -0.080357 deg/s, cmd heading: 336.192566 deg, new cmd heading: 336.097544 deg. Bh\HeadingCmd: 5.866009 target range: 48.390423 and range: 48.70 m.hX@h*h"h hgfffddd jd Zd D?]Bɢ]0)Y ]ڊiY)e9>;T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.99i=SiE2վE ,?A:Wc@:&^@:}I<ٱ:* rAHRS rotation from veh to nav: [[0.933692,0.348666,0.081553],[-0.357258,0.922469,0.146350],[-0.024203,-0.165781,0.985866]]:H@?P??Pֿ݄??Ș`O8ſ6?i:Wc@I:^;:oCYzaByzIi}Mb@Mb@Mb@yyyy y9}I +?sh|??MbY}9>yy}}\A}@ }VA)}QAyY} AbDVDk1y2%H=ٔdQ->9Y=FyE:E>Q 55t?Q 95R)hBY>Q E:yJQ I@[EI:if:r5IyQɮUAQjhy}DNOT Ignoring new targets: 48.39 m.bhyRhZh ProNav: ac range: 48.390423 m, nav range: 47.191483 m, bearing: 341.225389 deg, approach rate: -0.475096 m/s, LOS rate: -0.075236 deg/s, cmd heading: 336.097544 deg, new cmd heading: 336.004367 deg. BhNHeadingCmd: 5.864382 target range: 48.390423 and range: 48.70 m.h@h*h"h hgfff=BdddjdZdK?颅Bɢۊ) .i)Y/;顉iQi\m־h <q ,)?AY~WBy~II=)g? = =bDVDy%M%%S=ٔ-Q-->9)Y)=-Fy-E5E5>9Q 5E5=鑑?Q 9E5=J)=aBYAyIQ IM@=^EI=6:i=:=$5yUגBɮUAU5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.249466jhDNOT Ignoring new targets: 48.39 m.bhRhZhԹBS>BBIBSBB8 =BBODB`;B;$E  ProNav: ac range: 48.390423 m, nav range: 47.005966 m, bearing: 341.195893 deg, approach rate: -0.458906 m/s, LOS rate: -0.073251 deg/s, cmd heading: 336.004353 deg, new cmd heading: 335.915516 deg. Bh I5HeadingCmd: 5.862832 target range: 48.390423 and range: 48.70 m.h5Q@h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdM?颵Bɢm) *i);ihOi8׾mV,vC?A0Z9\@ZW@Z<ٱZ0 fAHRS rotation from veh to nav: [[0.933377,0.348960,0.083870],[-0.358067,0.921318,0.151531],[-0.024393,-0.171467,0.984888]]ZH9?`\U?@x?ֿo{?@^e?\`ſ3?iZ9\@IZO_;ZmCYnRBynIieMb@Mb@Mb@aaaa a9ekt?v/?I +Ye >yexi=e94eAe@ el A)eAaYe AbD}VD}fyl˼%D=ٔ9Q->9Y=FyEbE>Q 55?Q 95)ZBY>Q E:y}Q I@aEI:i8:5yɮ'AjhDNOT Ignoring new targets: 48.39 m.bhRh^Zh^ ProNav: ac range: 48.390423 m, nav range: 46.809822 m, bearing: 341.177312 deg, approach rate: -0.511343 m/s, LOS rate: -0.048643 deg/s, cmd heading: 335.915506 deg, new cmd heading: 335.859530 deg. BhHeadingCmd: 5.861855 target range: 48.390423 and range: 48.70 m.hP@h *h "h  h g f ffMBdddjdZd ?Bɢ*) [i)1;iU/Mi׾<IP@Iԉ?@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754147Թ^A&V=Iy I O > L,a]?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004775\^2R@^M@^.<ٱ^":3 jAHRS rotation from veh to nav: [[0.932932,0.349822,0.085217],[-0.359207,0.920500,0.153785],[-0.024645,-0.174081,0.984423]]^H?{c?е?Aֿt? 8?@~<KHƿ`d?i^2R@I^2_;^oCYAByIbD)VD)y=ꬽ%EO=ٔE':Q-E>9IYI=MFyMEMKEM>QQ 5]5U ?Q 9e5U˦)UTBYaye,Q Ie@UdEIUz;iUe;U5ymْBɮuAq wk>CE EE!E"E:*Ea9:VEc3ZEa@a@a@a@GliA۸9liAYAjh DNOT Ignoring new targets: 48.39 m.bhRh4Zh4- ProNav: ac range: 48.390423 m, nav range: 46.624626 m, bearing: 341.159930 deg, approach rate: -0.418952 m/s, LOS rate: -0.039478 deg/s, cmd heading: 335.859526 deg, new cmd heading: 335.807173 deg. Bh-غ5HeadingCmd: 5.860941 target range: 48.390423 and range: 48.70 m.h5Ԍ@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE@@uBɢu)}d }iy)}:yyiJij0ؾ~6<aW=IԌ@I @@  @ @ @ @>@>iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258790B<ABT>BBIB?BBBBB`;B$EBBBBB8 =CZ4^Am gW=I I O >A g+,91Y1=5Fy5E=Z)E=>AQ 5M5E?Q 9M5E )EMBYQyUāQ IU@EgEIEd:iE|:Ep5yYɮ]+AY}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 48.39 m.bhRhWdZhWd ProNav: ac range: 48.390423 m, nav range: 46.435753 m, bearing: 341.142332 deg, approach rate: -0.533476 m/s, LOS rate: -0.049908 deg/s, cmd heading: 335.807179 deg, new cmd heading: 335.754171 deg. Bh HeadingCmd: 5.860016 target range: 48.390423 and range: 48.70 m.h@@h*h"h hgfffdddjdZd`V@Bɢ-) HǾi):ioHiؾz<WW=I@@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510360u?@q @q@u/@qQbEe(3jEe23rEe- 0E EE"E"E:*E H:VE(3ZEBE;a%2E;a-JE;a-:E;a5^Au&V=yIIO>ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762096$,3?AV4@V/@V8<ٱVN9 bAHRS rotation from veh to nav: [[0.931628,0.352471,0.088505],[-0.362534,0.918319,0.158932],[-0.025256,-0.180152,0.983315]]VH??>?3׿ b?W?ܙ`7ǿPw?iV4@IV_;VnCYj2ByjIi]Mb@Mb@Mb@YYYY Y9]tV?X9v?I +Y]>y]9Y=FyEǻE>Q 55hБ?Q 95)GBYE>Q E:y6Q I@kEI:if:A5yڒBɮDA6EjhDNOT Ignoring new targets: 48.39 m.bhRh_DZh_D} ProNav: ac range: 48.390423 m, nav range: 46.238464 m, bearing: 341.137890 deg, approach rate: -0.474562 m/s, LOS rate: -0.010730 deg/s, cmd heading: 335.754177 deg, new cmd heading: 335.740795 deg. Bh}HeadingCmd: 5.859782 target range: 48.390423 and range: 48.70 m.hV@h*h"h hgfffN*,;?A:!@:c@:/<ٱ:BZ; BAHRS rotation from veh to nav: [[0.930769,0.354475,0.089534],[-0.364732,0.917205,0.160328],[-0.025289,-0.181884,0.982995]]:H`? ??`W׿Y?@?@B噿Gǿt?i:!@I:^;:oCYJ,ByJIbDVVDVkyZ%^V=ٔ^ư8Q-b>9`Y`=fFyfEfAʻEj>lQ 5v5nޑ?Q 9v5n)nABYxyzsQ Iz@nnEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265400In;;in  BDAT read: Tx time:06:05:54.0696  $Ping request sent. i5 Ͽ5 o>5 )@5 d>5 P*@ 5 r>)5 M@I5 r1 1 5  {o?E?%k? 5 tV?)5 =FeI5 Fi5 r1 1  :publishing transmit ping time  Fpublishing direction and range infoy1 5 )͂^S?%u ⩝?Y1 1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 E  E xE !E "E ҝ:*E :VE c3ZE BE ;a 2E ;a JE Po;a :E Qo;a I I1 1 1 5  {o?E?%k? 1 )1 I1 i1 1 1 ^AmdO=iIaIyO ?|Z3,?Ai I |YByII>)==iMb@Mb@Mb@ 9Cl?~jt?{GztYd>yD<ף l A)AY AbDuVDuy/%=ٔQ->9Y=FyEE>Q 55X?Q 95ǭ);BYz>Q E:yڳQ I@rEI;i ;5yܒBɮA7EiiJy?AJi:BRi:Bjib@biƆMF@A_׸j'@R)͂^S?%u ⩝?ZiFbirj1Q@E@Kc<0,%@ZKN ?X@ֿIRW?2i:i*B"i[?*iVXBi%Bi[?i9AiBi4Bir@ addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 3.528917 s, deltaX: -1.700001 m, approachRate: -0.481734 m/s, rangeRepo size: 4  Added new target pos. range: 46.701485 m, bearing: 339.093452 deg, lat: 36.779420 deg, lon: -121.859783 deg, deltaT: 3.528917 s, deltaX: -1.688938 m, approachRate: -0.478600 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 46.70 m.bhRh%Zh!5 ProNav: ac range: 46.701485 m, nav range: 45.195148 m, bearing: 340.140854 deg, approach rate: 0.000000 m/s, LOS rate: -0.008602 deg/s, cmd heading: 335.729998 deg, new cmd heading: 335.715257 deg. Bh1=HeadingCmd: 5.859336 target range: 46.701485 and range: 47.00 m.h=@h9*h9"hA hAgAfAfIfM>BdIdIdQjdUG@ZdUm?颅Bɢ2׼) i)E9顉iw>iپX.<JJ=I@I)Q9A @A  @A @E /@I E { E pE "E "E =:*E  :VE (3ZE a @a @a @a @y ^Am zG=ԩ IqIO?q7;, ?AJ@J@J<ٱJ>APARAABVU>BTBV~IBV BBTBTBTBVx`;BV$E fAHRS rotation from veh to nav: [[0.928991,0.358602,0.091539],[-0.369239,0.914905,0.163130],[-0.025251,-0.185346,0.982349]]JH L? W?@o?׿F? s?@Lۙ`mǿfo?iJ@IJ_;HYnBynIbDzVDzyg%/=ٔ9Q->9 Y = Fy E *E>Q 5%5a?Q 9%5߯)7BY)y-\Q I-@vEIW-;i1.;5y1ɮ5VA1jhy}DNOT Ignoring new targets: 46.70 m.bhyRh8Zh8 ProNav: ac range: 46.701485 m, nav range: 44.966843 m, bearing: 340.143638 deg, approach rate: -0.490738 m/s, LOS rate: 0.006013 deg/s, cmd heading: 335.715245 deg, new cmd heading: 335.723638 deg. Bh9HeadingCmd: 5.859483 target range: 46.701485 and range: 47.00 m.h※@h*h"h hgfffdddjdZd` ?eBɢe )a epia)eݷiiim2;iuؾr<׬8=I※@IQy@ @@@E5  E1 E5 )E1 "E5 Ʊ:*E1 VE5 FA4ZE1 BE5 9;a= 2E5 :;a= JE5 2R;aE :E5 2R;aE ԩ ^A \J=I! I1 O= >B,?A2@2@2a;<ٱ2l@ :AHRS rotation from veh to nav: [[0.928146,0.360633,0.092136],[-0.371381,0.913820,0.164344],[-0.024928,-0.186753,0.982091]]2H@_??@:?׿ >? 7 ?྆ǿ`Im?i2@I2C^;2rCYBByBqIiMMb@Mb@Mb@IIII I9MT㥛 ?Mb?Mb`YM?yM9Y=FyEE>Q 55 ?Q 95ݱ)3BY ?Q E:yEQ I@yEI:i:m5yBɮ AAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 46.70 m.bhRhe9Zhe9  ProNav: ac range: 46.701485 m, nav range: 44.755173 m, bearing: 340.148841 deg, approach rate: -0.507793 m/s, LOS rate: 0.012542 deg/s, cmd heading: 335.723633 deg, new cmd heading: 335.739317 deg. Bh  :HeadingCmd: 5.859756 target range: 46.701485 and range: 47.00 m.h @h*h"h hgff!f%0Bd!d!d!jd)Zd5?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.5 Bɢ5a)9 =i9)EʡAYie7imؾme checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499087 EU  EU EU $EQ "EU 1:*EU VL:VEU 4ZEQ a] @ae @ae @ae @DH,d"?AFSԵ@F"ϼ@F<ٱFBA RAHRS rotation from veh to nav: [[0.927311,0.362752,0.092219],[-0.373502,0.912816,0.165115],[-0.024283,-0.187557,0.981954]]FH?U7??`v׿5?}"?ݘ`ȿ)l?iFSԵ@IF=^;FlCYZByZxI \\``bDfVDf1yn<%nV=ٔnqݺQ-r>9pYp=vFyvEvûEv>xQ 5~5z,(?Q 9~5z)z0BY|ypQ I@z|EIz:iz:z5y ɮ A jh15DNOT Ignoring new targets: 46.70 m.bh9Rh=9Zh=9e ProNav: ac range: 46.701485 m, nav range: 44.562737 m, bearing: 340.154181 deg, approach rate: -0.504869 m/s, LOS rate: 0.014070 deg/s, cmd heading: 335.739315 deg, new cmd heading: 335.755403 deg. Bh~:HeadingCmd: 5.860037 target range: 46.701485 and range: 47.00 m.hm@h*h"h hgfffddAdAjdAZdM=?颵 Bɢ) i)_fi&4iؾJ<l9)=Im@I@@ @@0@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751789BV>BBlIBBBBBB`;B$E9^Aп8=I I) O= >i cN,6[9Y=FyEE>Q 55:?Q 95)-BYyQ I@EIO/;iJ0;5yBɮABEE EpEE"E~:*E :VEZEBE;a=2E;aEJEaE:EaMjhDNOT Ignoring new targets: 46.70 m.bhRh9Zh9 ProNav: ac range: 46.701485 m, nav range: 44.328888 m, bearing: 340.161391 deg, approach rate: -0.485187 m/s, LOS rate: 0.015039 deg/s, cmd heading: 335.755407 deg, new cmd heading: 335.777151 deg. Bh"%:HeadingCmd: 5.860417 target range: 46.701485 and range: 47.00 m.h@h*h"h hgf)f)f1d1d1d1jd9Zd=@@ԡ颭Bɢ+ ) pi)顱i0iuؾY<Qf!=I@I?@ @@0@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255245^A #'=A >A > A I I O>,V,?Y?A2@2h@2ʱ<ٱ2? :AHRS rotation from veh to nav: [[0.925683,0.367417,0.090093],[-0.377678,0.911230,0.164376],[-0.021701,-0.186186,0.982275]]2H1??\?+ؿ`(?`B ?8ǿn?i2@I2^;2oC@Br@i@I@@@ DDF$FDDFfjAIJ3)JBFiH)HINjANL LLN~jAPiPPiPRjA)P TIT T)V|{ATTTYXY^ By^}I1iMb@Mb@Mb@ 9%C?Mb`?y&1|?YZ?y;`;S!A@  A)AYfAbD VD ky<%9=ٔ[Q->9!Y!=%Fy% E-E5>QQ 5]5UL?Q 9e5U()U,BYe]?Q Ee:yeþQ Ie@UEIU;iU6;U5yqɮuAqjhDNOT Ignoring new targets: 46.70 m.bhRh9Zh9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507183 ProNav: ac range: 46.701485 m, nav range: 44.099518 m, bearing: 340.171769 deg, approach rate: -0.537940 m/s, LOS rate: 0.024466 deg/s, cmd heading: 335.777154 deg, new cmd heading: 335.808450 deg. BhS:HeadingCmd: 5.860963 target range: 46.701485 and range: 47.00 m.h@h*h"h hgf!f!f%>Bd)d)d)jd)Zd5`.B@}Bɢ}) i)顡i-it-ؾ< =I@IaEu EuEu#Eq"Eu:*Eu,:VEu3ZEqa@a@a@a@Y@Y @Y@]0@Y@a@egAԉ^A} "=} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759111Թ B <A <B B CB eIB BB B B B `;B $EA I I O% >P\,ҧs?AY= ByE~IIMl>)Ma=bDUVDU0y];%U=ٔQ->9Y=Fy EE>ԙQ 55[?Q 95)+BYyQ I@EI:id:5yBɮACEjhDNOT Ignoring new targets: 46.70 m.bhRh9Zh9 ProNav: ac range: 46.701485 m, nav range: 43.903461 m, bearing: 340.180726 deg, approach rate: -0.517048 m/s, LOS rate: 0.023727 deg/s, cmd heading: 335.808464 deg, new cmd heading: 335.835454 deg. BhD:HeadingCmd: 5.861434 target range: 46.701485 and range: 47.00 m.hߐ@h*h"h h g f f f dddjd)Zd577@mBɢm")q uiq)} yyi}:*i׾<=Iߐ@I@ @@4@^Al=BDAT read: Rx Time:06:05:56.5342 TRx dataTimestamp_ set to:1761545158.002804checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015206E EkEE"E:*E:VEZEBE;a2E;aJE?;a:E?;aAIIO5> K;c,덍?ARo@R>@Ra#<ٱRX@ bAHRS rotation from veh to nav: [[0.924162,0.371750,0.087904],[-0.381561,0.909365,0.165730],[-0.018326,-0.186702,0.982246]]RH?@?ڀ? kؿ`?`6?@'Ēǿ`n?iRo@IR^;Pi9I=A=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263318YUByUyIi]Mb@Mb@Mb@YYYY Y9]w/?9Y=FyE#E>Q 55 n?Q 95.)*BY?Q E:y}Q I@EI ;i7 ;5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 46.70 m.bhRh8Zh8 ProNav: ac range: 46.701485 m, nav range: 43.673122 m, bearing: 340.183313 deg, approach rate: -0.526448 m/s, LOS rate: 0.005945 deg/s, cmd heading: 335.835456 deg, new cmd heading: 335.843259 deg. Bh9HeadingCmd: 5.861571 target range: 46.701485 and range: 47.00 m.h@h*h"h hgfff;BdddjdZd @ Bɢ ]O)  Si),-i'i׾G<)=I@IA)@  @ @4@I DAT read: 06:05:56.5342 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 424, 0.17, 2.571, 0.814, 2.740, 2.502, PHS= 0.171,-1.643, 0.194, RAW= 150.6, 13.9, CAL= 150.8, 15.5, ROT= 359.2, -15.5 - Ygot valid direction response: 06:05:56.5342 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 424, 0.17, 2.571, 0.814, 2.740, 2.502, PHS= 0.171,-1.643, 0.194, RAW= 150.6, 13.9, CAL= 150.8, 15.5, ROT= 359.2, -15.5 ] PDAT read: Bearing 154.9, -4.7 (Local) u ~Local bearing/azimuth received: Bearing 154.9, -4.7 (Local) G hA ˾9 hAY A DAT read: Range 11 to 50 : 45.3 m (Round-trip 60.5 ms) speed 0.6 m/s  *DAT read: user:669>  BDAT read: Tx time:06:05:57.6196  $Ping request sent. iMҿF>8(@Ulx>q(@ c>)y@Ic^A 3=A zA fA?ewܥ? ՗? ?)rxIDdicU :publishing transmit ping time U Fpublishing direction and range infoyy eJ?p֚n?Y )Ii )I?ewܥ? ՗? )IiA) I1 II OU >%i,ǀ?A6@6]~@6M<ٱ6K? fAHRS rotation from veh to nav: [[0.923727,0.373211,0.086267],[-0.382686,0.908971,0.165297],[-0.016723,-0.185703,0.982464]]6H,???}ؿ J?v(?@ ǿWp?i6@I6^;6mCYByIbD%VD%y5ߘ=%5P=ٔ=vQ-=>99Y9==FyEEEHEE>QIQ 55Mq~?Q 95M)M)BYyQ I@MEIM0BBlIBBBBBB`;B$EBBBBBCc4ddjd`fF@Zdi?mBɢur)q u.iq)u9Kqyyi}o$i׾<K=I@II)Q@Q @Q@U4@Q@]=@]=ԩ^Au y= bE3jĘ3rE#e0E  E xE E "E :*E :VE 3ZE BE H;a 2E I;a JE Po;a :E Qo;a A I I O >9q,?AEQl@E!g@Elc<ٱE9!Y)=-Fy-E-E->1Q 5=55?Q 9E55)1YE?Q EE:yEQ IE@5EI5 ;i52 ;5z5yMBɮUAUDEjhq}DNOT Ignoring new targets: 45.01 m.bhyRh$-Zh$- ProNav: ac range: 45.012489 m, nav range: 43.269951 m, bearing: 339.887156 deg, approach rate: -0.580999 m/s, LOS rate: -0.037843 deg/s, cmd heading: 335.851139 deg, new cmd heading: 335.801343 deg. BhϺHeadingCmd: 5.860839 target range: 45.012489 and range: 45.30 m.h@h*h"h hgfffdBdddjdZd?9Bɢ> ) i)nyiii!i =ؾ hN <5w,?A0Y~By~IbDVDk1y%1=%%Y=ٔ%Q-%>9)Y)=-Fy-E5E5>9Q 5E5=Ӣ?Q 9E5=)9YAyAQ IE@=EI=;i=w:=5yQɮUAQE E{E%E"E~:*E5":VE 4ZEa@a@a@a@jhDNOT Ignoring new targets: 45.01 m.bhRh%AZh%A5 ProNav: ac range: 45.012489 m, nav range: 43.073132 m, bearing: 339.874278 deg, approach rate: -0.522892 m/s, LOS rate: -0.034371 deg/s, cmd heading: 335.801333 deg, new cmd heading: 335.762521 deg. Bh5=HeadingCmd: 5.860161 target range: 45.012489 and range: 45.30 m.h=q@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM`c?}Bɢ}{H,) i)G顁iַiؾi <M=Iq@Iԑ @  @@/@ԹAAAABX>BBxIBBBBBB`;B$E^A5u<A5>A1 Ae .AIi Iy O >2~,_?A6b@6]@6 ;<ٱ6> BAHRS rotation from veh to nav: [[0.922259,0.377798,0.081894],[-0.386403,0.907192,0.166421],[-0.011420,-0.185128,0.982648]]6H%?-?@?@Ժؿ?@KM?cEǿ`q?i6b@I6^;6qCYJByJIbDRVDRfyZb=%ZR=ٔ^\ѻQ-^>`9b ?Yb ?=bFybEfiBEf>hQ 5n5jH?Q 9n5j9)hYlyr*Q Ir@jEIjj;ijv;jԳ5yvBɮvxAvEEjhDNOT Ignoring new targets: 45.01 m.bhRhZh- ProNav: ac range: 45.012489 m, nav range: 42.868782 m, bearing: 339.861101 deg, approach rate: -0.522576 m/s, LOS rate: -0.033856 deg/s, cmd heading: 335.762510 deg, new cmd heading: 335.722792 deg. Bh-⹺5HeadingCmd: 5.859468 target range: 45.012489 and range: 45.30 m.h5À@h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdM`}Q?u Bɢ}()y }:iy)È顁i+iؾ!<=IÀ@I@@ @@0@@ gA@ fAE EuEE"Es:*E:VEZEBE;a2E;aJEed;a:Eed;a)^A]9=A ؟AI I O >Q 턼,?AY~$By~II=)>1iMb@Mb@Mb@ 9"~j?sh|??y&1|?YS?y=`;  A) AYAbDVD02yd<%:=ٔQ->9"?Y"?=FyEE>Q 55Œ?Q 95)&BY ?Q E:yArQ I@EI:i:5yɮJAB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 45.01 m.bh)Rh5Zh5E ProNav: ac range: 45.012489 m, nav range: 42.642345 m, bearing: 339.825983 deg, approach rate: -0.515072 m/s, LOS rate: -0.080308 deg/s, cmd heading: 335.722786 deg, new cmd heading: 335.616871 deg. BhEu\MHeadingCmd: 5.857619 target range: 45.012489 and range: 45.30 m.hMq@hI*hI"hI hIgQfQfYf]BdYdYdYjdaZde:[?颕#Bɢ) i)顙iPiپp"<)=Iq@IIE=@A @A@E/@AT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.qE EnE)E"E:*E:VEFA4ZEa@a@a@a@^A <ԩ A I I O >,&.?AJ'i@Jc@J<ٱJ= VAHRS rotation from veh to nav: [[0.922581,0.377599,0.079139],[-0.385700,0.907463,0.166574],[-0.008918,-0.184202,0.982848]]JH`Ʌ?`*?@uB?@Mؿ ?HR?C`ǿ}s?iJ'i@IJU_;JpCY^#By^IbDjVDjyr%rZ=ٔrڻQ-r>9tYt=vFyvEzn;Ez>xQ 55zՒ?Q 95z)z#BYyuqQ I@zEIz;iz:za5yBɮ_AFEjh1=DNOT Ignoring new targets: 45.01 m.bh9RhE~ZhE~U ProNav: ac range: 45.012489 m, nav range: 42.449234 m, bearing: 339.795529 deg, approach rate: -0.517362 m/s, LOS rate: -0.081960 deg/s, cmd heading: 335.616863 deg, new cmd heading: 335.525086 deg. BhU`echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.229781eHeadingCmd: 5.856018 target range: 45.012489 and range: 45.30 m.hmd@hi*hi"hi higififqfqdqyBY>BBIBBBBBB`;B$EddjdZd6@&Bɢ)) pi)UQQiUKi]ھ]?#E  E wE !E "E ~:*E :VE c3ZE BE ;a 2E ;a JE k;a :E k;a b,uH?AU s@Um@U';ٱUuy< mAHRS rotation from veh to nav: [[0.923055,0.376808,0.077359],[-0.384590,0.908032,0.166039],[-0.007679,-0.183014,0.983080]]UH?@?`ͳ?` ؿ`?@?ptmǿdu?iU s@IU~_;UoCY}$By}IiMb@Mb@Mb@ 9v?&1?{Gzt?Y>y=ף;= AA ; A)~AYAbD%VD%fy=p;%=6=ٔET4Q-M>9QYY=]Fy]Ee.;Ee>Q 55 钊?Q 95)BY D>Q E :y AQ I @EI;i;k5yɮVA!jhDNOT Ignoring new targets: 45.01 m.bhRhZh ProNav: ac range: 45.012489 m, nav range: 42.220909 m, bearing: 339.744508 deg, approach rate: -0.474753 m/s, LOS rate: -0.106661 deg/s, cmd heading: 335.525093 deg, new cmd heading: 335.371203 deg. BhfHeadingCmd: 5.853332 target range: 45.012489 and range: 45.30 m.h~N@h*h"h hgfffBdddjdZdm @M*BɢM[)Q UiQ)UUʸQQiUechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.733714i}ܾ|T$<=I~N@I?@ @@ 0@@!@%=)^A =Q  BDAT read: Rx Time:06:06:00.0817  TRx dataTimestamp_ set to:1761545161.528190% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986708A- .AI9 II OU >F/,7Tb?A2{{@2Kv@2BF;ٱ2h; :AHRS rotation from veh to nav: [[0.923460,0.376174,0.075595],[-0.383642,0.908499,0.165673],[-0.006356,-0.181994,0.983279]]2H?<?.Z? ؿm?4?z`Kǿw?i2{{@I2A+`;2mCYBByFI HHbDNVDNyVk%Vh=ٔZ7vQ-Z>9Z ?YZ ?=^Fy^E^@;E^>`Q 5f5b?Q 9f5b)bBYhyj@Q Ij@bEIb ;ib%;b㺙5ynBɮnApjh DNOT Ignoring new targets: 45.01 m.bh Rh_Zh_% ProNav: ac range: 45.012489 m, nav range: 42.056221 m, bearing: 339.707116 deg, approach rate: -0.511559 m/s, LOS rate: -0.116603 deg/s, cmd heading: 335.371195 deg, new cmd heading: 335.258579 deg. Bh% -HeadingCmd: 5.851366 target range: 45.012489 and range: 45.30 m.h-d>@h)*h)"h) h)E E~EE"E1:*E(:VEZEa@a@a@a@gfffdddjdZd[@)=,Bɢ=}@)9 =# iA)EĻAAiEċimhݾmD+%@Iq@@ @@4@^A=YA-؟AI1IAOUu>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.237519B}<A}<BZ>BBIBBB7 =BBB`;B$Eԁ d,_|?Ab]@b-@bg;ٱb : nAHRS rotation from veh to nav: [[0.924021,0.375141,0.073846],[-0.382305,0.909188,0.164986],[-0.005247,-0.180682,0.983527]]bH?P?`?`wؿ`?C?`}u@ ǿy?ib]@Ibq`;`qDAT read: 06:06:00.0817 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.43, 0.471,-1.282, 0.594, 0.262, PHS= 0.311,-1.499, 0.289, RAW= 149.4, 10.0, CAL= 149.1, 10.9, ROT= 0.9, -10.9 Ygot valid direction response: 06:06:00.0817 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.43, 0.471,-1.282, 0.594, 0.262, PHS= 0.311,-1.499, 0.289, RAW= 149.4, 10.0, CAL= 149.1, 10.9, ROT= 0.9, -10.9 PDAT read: Bearing 150.7, -1.5 (Local) ~Local bearing/azimuth received: Bearing 150.7, -1.5 (Local) DAT read: Range 11 to 50 : 43.5 m (Round-trip 58.0 ms) speed 0.4 m/s  *DAT read: user:670>  BDAT read: Tx time:06:06:01.1696 $Ping request sent.i;߿>&@¸2>ۋ&@ B>)9%"?Y%"?=-Fy-"E]";Ee>Q 55?Q 95@)BY y g?Q I @EI]vA>YA .AII!O5!?:,j?A2㑵@2@2#ow;ٱ29 :AHRS rotation from veh to nav: [[0.924518,0.374237,0.072203],[-0.381120,0.909609,0.165407],[-0.003776,-0.180440,0.983579]]2H??{? Ddؿ ?@ ,?n@ǿ@zy?i2㑵@I2va;2nC @)@Bt@@DFkAiFtIDDIDiJkA JYH)HL NkAN/]LLLRkAIR)PiP)PIRkART TTVlATiV,FXE^ E^E^$E\"E^:*E^3:VE^4ZE\ab@ab@ab@ab@YXYhyhiMb@Mb@Mb@ 9/$?!rh?MbY&>yl=j"AA ) AYAibDVDy%F:%-=ٔ-74Q-->9- ?Y5 ?=5Fy5$E5;E5>9Q 5E5=O$?Q 9M5=O)=BY]>Q Ee:ye&Q Im@=EI=;;i=;=Ŀ5y}BɮAGEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 43.22 m.bhRh&Zh& ProNav: ac range: 43.224270 m, nav range: 41.517235 m, bearing: 339.572869 deg, approach rate: -0.534234 m/s, LOS rate: -0.145138 deg/s, cmd heading: 335.025451 deg, new cmd heading: 334.826424 deg. Bh6ǻHeadingCmd: 5.843823 target range: 43.224270 and range: 43.50 m.h@h*h"h hgfffBdddjdZd s?5Bɢe8) i ) ~E  i  i ྉW(BBIBBB8 =BBB`;B$EiߡIߡT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@/@^A;6=A I I O > #⮼,l?AY=By=pIIE=)EVɵ,,E?A6@6w@696:ٱ69 >AHRS rotation from veh to nav: [[0.925024,0.373554,0.069193],[-0.379907,0.909885,0.166672],[-0.000696,-0.180463,0.983582]]6H̙? M??ePؿ?U?GFgǿ y?i6@I6\*c;6oCYBy\IiMb@Mb@Mb@ 9ʡE?RQ?y=t"A QA)3AYAbDVDyT%A=ٔQ->9 Y = Fy (E ;K;E>Q 5%5B?Q 9%5)BY%>Q E%:y%LQ I-@EIY;io;!Ù5y1ɮM+AQjhq}DNOT Ignoring new targets: 43.22 m.bhyRh}Zh ProNav: ac range: 43.224270 m, nav range: 41.153885 m, bearing: 339.483910 deg, approach rate: -0.466438 m/s, LOS rate: -0.103975 deg/s, cmd heading: 334.691728 deg, new cmd heading: 334.558362 deg. BhHeadingCmd: 5.839145 target range: 43.224270 and range: 43.50 m.hGں@h*h"h hgfffBdddjdZd?9B B rIB BB 7 =B B PDB `;B !$EBM̻CBM̻CBIBIBICM{4 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752380 A- ؟AI9 II OU >t,>?A@:"@:@:K6ٱ:; BAHRS rotation from veh to nav: [[0.925046,0.373683,0.068195],[-0.379853,0.909442,0.169198],[0.001207,-0.182421,0.983220]]:H?k? =u?Oؿ %?K?S?@Yǿv?i:"@I::3c;:pCYjByjSIbDrVDrym%mD=ٔu#Q-u>9u"?Yu"?=}Fy}*E}9E}>Q 55XS?Q 95)BYy3LQ I@EI;ip;ę5yBɮyAjh15DNOT Ignoring new targets: 43.22 m.bh9Rh=/Zh=/m ProNav: ac range: 43.224270 m, nav range: 40.957142 m, bearing: 339.439870 deg, approach rate: -0.459019 m/s, LOS rate: -0.103244 deg/s, cmd heading: 334.558375 deg, new cmd heading: 334.425619 deg. BhmuHeadingCmd: 5.836828 target range: 43.224270 and range: 43.50 m.huLǺ@hq*hy"hy hygyfyffddԉdjdZd@J??Bɢkb) 0+i)i i侉>,<voü,h?AF@Fŗ@F7ٱF < NAHRS rotation from veh to nav: [[0.925035,0.373906,0.067112],[-0.379871,0.909155,0.170690],[0.002807,-0.183389,0.983037]]FH@?@?D.?Oؿ?.?Pf? Gyǿ u?iF@IFc;FnCYVByZ9I \\\^AiMb@Mb@Mb@ 9X9v?T㥛 ?~jtY>y=ļA hA)9AYAbD VD2yq̽%C=ٔAxQ->9Y=Fy,EbTE>Q 55c?Q 95)BY$>Q E:y Q I @EIG ;i ;ƙ5yɮ%Ajh9=DNOT Ignoring new targets: 43.22 m.bh9iIIIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256739RhU?ZhU?e ProNav: ac range: 43.224270 m, nav range: 40.754745 m, bearing: 339.414352 deg, approach rate: -0.494203 m/s, LOS rate: -0.062618 deg/s, cmd heading: 334.425623 deg, new cmd heading: 334.348690 deg. Bhe+mHeadingCmd: 5.835485 target range: 43.224270 and range: 43.50 m.hmL@hi*hi"hi hqgqfqfqf}SBdydydyjdZd= e@颍CBɢ{m) 7i)+顑ii8徉T.<gj=IL@IQ@Q @Q@U43@Q 9 ^A} a= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508718A I I O >E  E yE !E "E :*E :VE c3ZE a @a @a @a @(ɼ,$(?AN@N@N𲅻ٱN= ZAHRS rotation from veh to nav: [[0.925036,0.374056,0.066261],[-0.379858,0.908929,0.171917],[0.004080,-0.184200,0.982880]]NH? ?{?Oؿ?c?[p?ٓǿs?iN@IN~c;LYbByb!IbDj VDj2yr\˽%vZ=ٔv`Q-v>9xYx=zFyz.Ez8Ez>|Q 55~Fr?Q 9 5~)~BY y Q I @~EI~:i~:~lș5yBɮA-IEjhIUDNOT Ignoring new targets: 43.22 m.bhQRh]芺Zh]芺m ProNav: ac range: 43.224270 m, nav range: 40.577904 m, bearing: 339.391861 deg, approach rate: -0.475377 m/s, LOS rate: -0.060721 deg/s, cmd heading: 334.348688 deg, new cmd heading: 334.280923 deg. Bhm&uHeadingCmd: 5.834303 target range: 43.224270 and range: 43.50 m.hu@hq*hq"hq hqgyfyfyfydddjdZd)@FBɢm9) Bi)q+"iji徉-/<^n=I@IQI@I @I@M/@I@UfA@UgAB_>BBFIBBBBBB`;B'$Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760370y^Amc=Au?Au?ԩ A I I O >zм,A?A<bBDAT read: Rx Time:06:06:03.6294 fTRx dataTimestamp_ set to:1761545165.056354fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013632Y~YBy~ IbD VD yR%:=ٔQ->9Y=Fy 1E E >Q 55f?Q 95@)BY!y!Q I%@EIW:i-:Xʙ5y-Bɮ-A-SEMB*** querying acoustic contact ***iI iIjhY]DNOT Ignoring new targets: 43.22 m.bhYRheoZheou ProNav: ac range: 43.224270 m, nav range: 40.367947 m, bearing: 339.364902 deg, approach rate: -0.479019 m/s, LOS rate: -0.061827 deg/s, cmd heading: 334.280933 deg, new cmd heading: 334.199636 deg. Bhu)}HeadingCmd: 5.832884 target range: 43.224270 and range: 43.50 m.h}@hy*hy"hy hgfffdddE E{E$E"E:*E5":VE4ZEBE;a2E;aJEa:EajdZd]@IBɢxÃ) Ni)-ioi澉i1@ @@@!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264377^Ae `k= A I I O >ּ,M[?A2掵@2@2 ٱ2#&Bp AHRS rotation from veh to nav: [[0.924352,0.376113,0.064134],[-0.381446,0.907206,0.177415],[0.008546,-0.188458,0.982044]]2HJ?;? k?iؿ ? ?P?bȿl?i2掵@I2fsc;2oCYEJByEI==i5Mb@Mb@Mb@1111 195Gz?Mb?S㥛Y5p>y5=5/ݼ5S!A1 5A)5A1Y5AbDMVDMky]%]6=ٔ] #Q-e>9aYa=eFye3Em|Em>qQ 5}5u?Q 9}5u1)uBYX>Q E:y.Q I@uEIu:iu:uN̙5yBɮAjhDNOT Ignoring new targets: 43.22 m.bhRh̎Zh̎ %DAT read: 06:06:03.6294 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 423,-0.12,-0.891,-2.596,-0.742,-0.962, PHS= 0.173,-1.589, 0.176, RAW= 150.1, 14.0, CAL= 150.2, 15.5, ROT= 359.8, -15.5 -Ygot valid direction response: 06:06:03.6294 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 423,-0.12,-0.891,-2.596,-0.742,-0.962, PHS= 0.173,-1.589, 0.176, RAW= 150.1, 14.0, CAL= 150.2, 15.5, ROT= 359.8, -15.5 5PDAT read: Bearing 155.2, -2.8 (Local) =~Local bearing/azimuth received: Bearing 155.2, -2.8 (Local) EDAT read: Range 11 to 50 : 41.7 m (Round-trip 55.7 ms) speed 0.4 m/s *DAT read: user:671> BDAT read: Tx time:06:06:04.7196 $Ping request sent.iZd˿X94>ϩ'@5z>g'@ c>)B@Ic+?j/%L"?,~? k?)yIdic:publishing transmit ping timeFpublishing direction and range infoy:? ى^k֚n?YddjdD@Zd? )Ii )I+?j/%L"?,~? )Ii颍MBɢĄ) 3Ti)8;顑iPE EzE'E"E:*E :VE'4ZEa@a@a@a@i澉wS3<k|n=I@I9]?@Y @Y@Y@Ya B <A <B a>B CB IB vBB 8 =B B B `;B ^A} @p=ԑ A .AI I O>ݼ,dy?AYEByEIbD}VD}y%K=ٔQ->9 ?Y ?=Fy5EE>Q 55?Q 95)BYyQ I@EIz;iC;Ι5yɮAi9i=Sc?AJi=%BRi=%Bji=l@b=O C@0DGf%&@R=:? ى^k֚n?Zi=dbi=cj=2PsuB@Uv*H{&@Z=8&?xԿC.]?2i=GV:i=CB"i= 6?*i=b55Bi=Bi=[?i9i=Bi=Bi=ވ@ addTargetRange:: Added new target pos. range: 41.700001 m, deltaT: 3.528085 s, deltaX: -1.799999 m, approachRate: -0.510192 m/s, rangeRepo size: 4 ԡ  Added new target pos. range: 41.436142 m, bearing: 340.378490 deg, lat: 36.779420 deg, lon: -121.859785 deg, deltaT: 3.528085 s, deltaX: -1.788128 m, approachRate: -0.506827 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 41.44 m.bhRh%Zh!5 ProNav: ac range: 41.436142 m, nav range: 39.960571 m, bearing: 339.360451 deg, approach rate: 0.000000 m/s, LOS rate: -0.015605 deg/s, cmd heading: 334.178644 deg, new cmd heading: 334.158963 deg. Bh15HeadingCmd: 5.832174 target range: 41.436142 and range: 41.70 m.h=,@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMঔ?EQBɢE})A EbiA)MWHIIiMiU澉Ue5@> ^AM np=) A ؟AI I O >B,Q?A2b@2\@2pٱ2F}G >AHRS rotation from veh to nav: [[0.922186,0.381815,0.061561],[-0.386468,0.903743,0.184097],[0.014655,-0.193563,0.980978]]2H?o?? ؿu? |??ȿ,d?i2b@I2c;2nCYF~ByFIi]Mb@Mb@Mb@YYYY Y9] r?I +9"?Y"?=Fy7E#JE>Q 55?Q 95l)BԩY?Q E:yeپQ I@EI3;i=3;Й5yBɮjATEjhDNOT Ignoring new targets: 41.44 m.bhRhb:Zhb: ProNav: ac range: 41.436142 m, nav range: 39.733025 m, bearing: 339.381603 deg, approach rate: -0.529926 m/s, LOS rate: 0.049542 deg/s, cmd heading: 334.158973 deg, new cmd heading: 334.222792 deg. Bh;HeadingCmd: 5.833288 target range: 41.436142 and range: 41.70 m.hL@h *h "h  h gfffBdddjdZdV?MSBɢM)U7< UniQ)U+ SQQiUݻi]X澉];P6X=IeL@Ia@ @@%/@!^A E EE'E"EC:*EE7:VE'4ZEa@a@a@a@A I I1 O= >1 e,ί?A:O@:J@:ٱ:BI eAHRS rotation from veh to nav: [[0.921304,0.384043,0.060915],[-0.388495,0.902470,0.186065],[0.016483,-0.195088,0.980647]]:HQ{?@*?G0?`ؿ ? ??ȿva?i:O@I:9c;:oCYu~BB^>BCBIB%BB7 =BBB`;B$EyI   AbDVD1y-!%-A=ٔ-gQ-->91YA=EFyE9EEpEM>IQ 5U5M_Ǔ?Q 9]5M)MBYYy]ھQ I]@MEIM;iM;Mљ5yaɮmAijhDNOT Ignoring new targets: 41.44 m.bhRh f:Zh f: ProNav: ac range: 41.436142 m, nav range: 39.514896 m, bearing: 339.402825 deg, approach rate: -0.514125 m/s, LOS rate: 0.050298 deg/s, cmd heading: 334.222794 deg, new cmd heading: 334.286813 deg. Bh ;HeadingCmd: 5.834405 target range: 41.436142 and range: 41.70 m.hs@h*h"h hgfffdddjdZdjs?VBɢd) Jsi)=`i ֻi徉 Ա7< %BO=I s@I @ @@0@Iq^A ewV=A9 II IY Ou >ԙ E  E E &E "E U:*E ,:VE 4ZE BE ;a 2E ;a JE 7;a :E 7;a 0N,m?A6v;@6F6@6ٱ6i4H >AHRS rotation from veh to nav: [[0.920293,0.386739,0.059112],[-0.390787,0.901502,0.185958],[0.018628,-0.194236,0.980778]]6H s?@V?C?ٿ ?u?+?ȿb?i6v;@I6b;4YF~ByFIbD-VD-Jy5*%=[=ٔ=`Q-=>9AYA=EFyE;EMܻEM>qQ 55u-֓?Q 95u)uBYy۾Q I@uEIu徉% 9<%C=I%뻺@I)]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ԡ@ @@0@^A dO=  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991881AQ IY Ii O >!,J?Aɰ2S'@2#"@2ٱ2I >AHRS rotation from veh to nav: [[0.919287,0.389276,0.058102],[-0.393030,0.900065,0.188177],[0.020957,-0.195824,0.980415]]2H@j???f'ٿ U?,?u? ɿ@_?i2S'@I2Pb;2nCY~~By~IE- E-E-"E)"E-s:*E-0:VE-(3ZE)a5@a5@a5@a5@ԁiMb@Mb@Mb@ 9K7?y&1~jtxY ?y`弙Ļ#A1A A)AYAbDVD:y%=%-+=ٔ-ğQ-->91Y1=5Fy5>E5E5>9Q 5E5=z铊?Q 9M5=)=BYM ?Q EM:yMQ IM@=EI=:i=:=ՙ5yYɮ]AYjhDNOT Ignoring new targets: 41.44 m.bhRh:Zh: ProNav: ac range: 41.436142 m, nav range: 39.068157 m, bearing: 339.459117 deg, approach rate: -0.609778 m/s, LOS rate: 0.088542 deg/s, cmd heading: 334.346038 deg, new cmd heading: 334.456685 deg. Bhs;HeadingCmd: 5.837370 target range: 41.436142 and range: 41.70 m.h˺@h*h"h hgfffBdddjdZd@颕\Bɢ) vi)1{顩iNɻiA侉8:<R{5=I˺@IԱAAAEAABM]>BIBMIBM~BBIBIBMODBMp`;BM$Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.243532=] @  @ @ 0@  ^A B=1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496009IIO? ,?A2I@2 @2ۼٱ2NI :AHRS rotation from veh to nav: [[0.918039,0.392409,0.056745],[-0.395820,0.898730,0.188708],[0.023052,-0.195702,0.980392]]2H `?8? ?Uٿf? '?ꚗ? ɿ__?i2I@I2b;0 BC)BkAB,BJF@FCFkAiF@IFPFDIJCiJy@ JD)r;bDzVDzܲy~B%*=ٔQ->9 Y = Fy @EϻE>Q 55?Q 9%5)BY!y%Q I%@EI;i;י5y5 Bɮ5A5VEjhY]DNOT Ignoring new targets: 41.44 m.bhYRhe :ԁZh : ProNav: ac range: 41.436142 m, nav range: 38.810093 m, bearing: 339.498018 deg, approach rate: -0.535961 m/s, LOS rate: 0.081329 deg/s, cmd heading: 334.456687 deg, new cmd heading: 334.574167 deg. BhC_;HeadingCmd: 5.839421 target range: 41.436142 and range: 41.70 m.hܺ@h*h"h hgf!f!f!d!d)d)jd)Zd-@_Bɢ>) zi)fʅiS»i%5㾉-m;<-$=I-ܺ@I1<Թ@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748216^A ·3= Ii I O >,L6!?Ar~G~hAE9EhAYEBABDAT read: Rx Time:06:06:07.1772 TRx dataTimestamp_ set to:1761545168.584064checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000466 Yu~ByuIiMb@Mb@Mb@ 9Q?+y&1|?Y\?y`;$A@ 9A) AYAbDVDP)y-%'=ٔQ->9Y=FyCEE>E EE%E"E:*ErN:VE 4ZEa@a@a@a@Q 55?Q 952)BY?Q E:yQ I@EI;i֧;ٙ5y BɮAjh%DNOT Ignoring new targets: 41.44 m.bh!Rh%:Zh%: ProNav: ac range: 41.436142 m, nav range: 38.537846 m, bearing: 339.544797 deg, approach rate: -0.553515 m/s, LOS rate: 0.095779 deg/s, cmd heading: 334.574166 deg, new cmd heading: 334.715494 deg. Bhw;HeadingCmd: 5.841887 target range: 41.436142 and range: 41.70 m.h@h*h"h hgfffBdddjdZd6@)]bBɢ8{) |i)顑iݺiUᾉ]F<<]29=I@IQB^>BBIB~BBBBBb`;B$EBBBB7 =B7 =Cȯ4 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251527ԁ @@  @ @ /@ Ա^A%$=IIO ? ,\D?A6@6޻@6uٱ6=GvDAT read: 06:06:07.1772 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 416,-0.38,-2.004, 2.598,-1.883,-2.087, PHS= 0.185,-1.553, 0.159, RAW= 149.3, 13.9, CAL= 149.3, 15.4, ROT= 0.7, -15.4 zYgot valid direction response: 06:06:07.1772 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 416,-0.38,-2.004, 2.598,-1.883,-2.087, PHS= 0.185,-1.553, 0.159, RAW= 149.3, 13.9, CAL= 149.3, 15.4, ROT= 0.7, -15.4 ~PDAT read: Bearing 155.1, -1.0 (Local) ~~Local bearing/azimuth received: Bearing 155.1, -1.0 (Local)  DAT read: Range 11 to 50 : 40.1 m (Round-trip 53.5 ms) speed 0.5 m/s  *DAT read: user:672> eBDAT read: Tx time:06:06:08.2696 e$Ping request sent.eiVƿV">V &@VUlx>V &@ V>)V+H9Y=FyEEN#E>)Q 555-'?Q 955-)-BY9y=Q I=@-EI-:i-o:-"ܙ5yAɮAiTiVE?AIJiVbBRiVbBjiV@bV;4C@1W ?X)%@RVZ#'G?sڥ??<?ZiV+H<biVjVrADA@Mg)a;&@ZVS?yk5Կ"9?2iVO:iVB"iV%?*iVS">BiV$BiV%?iVd@iTiVBiV*@ addTargetRange:: Added new target pos. range: 40.099998 m, deltaT: 3.530478 s, deltaX: -1.600002 m, approachRate: -0.453197 m/s, rangeRepo size: 4  Added new target pos. range: 39.845993 m, bearing: 340.137514 deg, lat: 36.779421 deg, lon: -121.859782 deg, deltaT: 3.530478 s, deltaX: -1.590149 m, approachRate: -0.450406 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 39.85 m.bhRhZh ProNav: ac range: 39.845993 m, nav range: 38.228035 m, bearing: 340.005990 deg, approach rate: 0.000000 m/s, LOS rate: 0.095779 deg/s, cmd heading: 334.715497 deg, new cmd heading: 334.880010 deg. Bh HeadingCmd: 5.844759 target range: 39.845993 and range: 40.10 m.h D@h *h)"h) h1g1f1f1f9d9d9d9jd= D@ZdE ޏ?i颵fBɢ) yi)أ项i`iryྉ=<=ID@I ?@  @ @ @ ԙ ^A = I IO->,b?ABj@B:@BYٱB?H NAHRS rotation from veh to nav: [[0.913739,0.403303,0.049273],[-0.404976,0.894247,0.190570],[0.032795,-0.194086,0.980436]]BHY=?@?@]:? ٿ૝?d?wʠ?ȿ_?iBj@IB/?d;BqCYV~ByVIi5Mb@Mb@Mb@1111 195 rh?{Gz9aYa=eFymGEmAEm>yQ 55}8?Q 95}U)}BY ?Q E:yQ I@}EI}:i}:}ݙ5y BɮAWEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 39.85 m.bhRh:Zh:T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 39.845993 m, nav range: 38.005268 m, bearing: 340.038887 deg, approach rate: -0.613943 m/s, LOS rate: 0.091196 deg/s, cmd heading: 334.880022 deg, new cmd heading: 334.979292 deg. BhXz;HeadingCmd: 5.846491 target range: 39.845993 and range: 40.10 m.hu@h*h"h hgfffBdddjdZd 9?=hBɢE½)A eyia)mɜiiimiu\߾u=BAB_>BCBIBBBBBPDB`;B$E!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738242"D,({?A0.鬴@.@.@ٱ.sTF :AHRS rotation from veh to nav: [[0.912914,0.405568,0.045862],[-0.406545,0.893598,0.190272],[0.036186,-0.192347,0.980660]].H6??9{? ڿ[?Z??Ҟȿ@a?i.鬴@I.e;.oCYb BybIbDjVDjN2yr=%rS=ٔrQ-r>9tYt=vFyvIEzᕻEz>|Q 55~H?Q 95~)~BYyQ I@~EI~;i~;~ߙ5yɮEAjhDNOT Ignoring new targets: 39.85 m.bhRh:Zh: ProNav: ac range: 39.845993 m, nav range: 37.794605 m, bearing: 340.070952 deg, approach rate: -0.521936 m/s, LOS rate: 0.079885 deg/s, cmd heading: 334.979279 deg, new cmd heading: 335.076008 deg. BhL[;HeadingCmd: 5.848180 target range: 39.845993 and range: 40.10 m.hJ$@h*h"h hgfffdddjdZd?-jBɢ-)) -ri))5v~11i5i=޾=B]><=@,%,?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.242214\Y;ByII=)l>iEMb@Mb@Mb@AAAA A9Ex&?Q?~jt?YE7 ?yEu9qYq=uFyuLEuE}>yQ 55}L]?Q 95}R)}BY[ ?Q E:yľQ I@}EI};i};}5yBɮAaEjhDNOT Ignoring new targets: 39.85 m.bhRh:Zh: ProNav: ac range: 39.845993 m, nav range: 37.534042 m, bearing: 340.085597 deg, approach rate: -0.555543 m/s, LOS rate: 0.031441 deg/s, cmd heading: 335.076021 deg, new cmd heading: 335.120261 deg. Bh:HeadingCmd: 5.848952 target range: 39.845993 and range: 40.10 m.h*@h*h"h hgfffBdddjdZd?%mBɢ-1)) -gi))-t)1i5.i5S޾=}><=E  E zE E "E :*E  :VE ZE a @a @a @a @A  PExceeded connect timeout, disconnecting.V+,ގ?A2@2ᙻ@2)0ٱ2&%B :AHRS rotation from veh to nav: [[0.911979,0.408434,0.038415],[-0.407977,0.893157,0.189274],[0.042995,-0.188287,0.981173]]2H.?#?+?`Mڿ@?#:? v?ȿe?i2@I2,Oe;2pC@Br@i@I@@@ DDDDDFjAIJ^)JAFiH)HIJ jAHH LLLLiPPiPRjA)P PIT T)TTTTYTY^}By^IbDfVDfkynN>%r=ٔrҭQ-r ?9tYt=vFyvMEvEv ?xQ 5}5zj?Q 9}5z)z BYyžQ I@zEIz+B9B=IB=MBB=8 =B9B9B=`;B=%$EBh%:]HeadingCmd: 5.849490 target range: 39.845993 and range: 40.10 m.h]/@hY*hY"hY hYgYfafafadadidijdiZdm?nBɢ)  Xi)ti㟻i Z ޾ y%?< ?M<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746363I /@IIE?@A @A@E^4@Aq^A m<Ա E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998174A I I O >>2,k?A2@2f@2+A=ٱ2> :AHRS rotation from veh to nav: [[0.912124,0.408496,0.034084],[-0.407305,0.893807,0.187646],[0.046188,-0.185039,0.981645]]2H0?$?@ns?Hڿ ?`??Zǿ@i?i2@I2 e;2nCEB EBEB"E@"EB:*EB*5:VEB(3ZE@BEBj;aJ2EBk;aJJEB;aJ:EB;aJYBy0IbD-VD-yM=%MD=ٔU]yQ->9Y=FyPE :E >9Q 5E5=P}?Q 9E5=b)=BYAyMžQ IM@=EI=:i=:=5yuBɮ\AbEjhDNOT Ignoring new targets: 39.85 m.bhRh):Zh): ProNav: ac range: 39.845993 m, nav range: 37.124195 m, bearing: 340.109969 deg, approach rate: -0.552992 m/s, LOS rate: 0.033039 deg/s, cmd heading: 335.151071 deg, new cmd heading: 335.193776 deg. Bhe:HeadingCmd: 5.850235 target range: 39.845993 and range: 40.10 m.h 5@h*h"h  h g f f1f1d1d1d1jd9Zd= L@ԩqBɢJ) %,Ri!)%՘!!i%Xi-ݾ-Ɠ?<-jԴ݆9,V?AE] E]E]$EY"E]:*E]A:VE]4ZEYae@ae@ae@ae@nManaging dock network, ignoring radio surface power offYMByMAIiMb@Mb@Mb@ 9MbX9?v/?9 Y = Fy SE E >Q 55?Q 9%5)BY%?Q E%:y%CQ I%@EI ;i:5y-Bɮ5A5cEMB*** querying acoustic contact ***iI iIjhY]DNOT Ignoring new targets: 39.85 m.bhYRhew"Zhew"u ProNav: ac range: 39.845993 m, nav range: 36.833664 m, bearing: 340.090118 deg, approach rate: -0.515648 m/s, LOS rate: -0.035510 deg/s, cmd heading: 335.193774 deg, new cmd heading: 335.133752 deg. Bhuº}HeadingCmd: 5.849187 target range: 39.845993 and range: 40.10 m.h},@hy*h"h hgfffKBdddjdZd`O@sBɢ@) kLi)SfiYטi4޾AABBB@IBBB7 =BBB`;B0$EuM@CA,Pq?ABDAT read: Rx Time:06:06:10.7244 TRx dataTimestamp_ set to:1761545172.120248checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007401<>j@>:@>aUٱ> ; JAHRS rotation from veh to nav: [[0.912840,0.407433,0.026855],[-0.404978,0.895021,0.186895],[0.052111,-0.181481,0.982013]]>H5?_??@'ٿ ?*?S?`:ǿ@l?i>j@I>e;>oCYRByRcIbD^VD^02yb>%fg=ٔf\Q-f>9dYh=jFyjTEj;En>lQ 5r5n7?Q 9v5n)n!BYtyvQ Iv@nEIn:in:n5y|ɮ~#A|jh%DNOT Ignoring new targets: 39.85 m.bh!Rh-+Zh-+DzDAAE EE#E"E:*E3:VE3ZEBE;a2E;aJE;a:E;a ProNav: ac range: 39.845993 m, nav range: 36.653545 m, bearing: 340.076972 deg, approach rate: -0.509842 m/s, LOS rate: -0.037394 deg/s, cmd heading: 335.133750 deg, new cmd heading: 335.094118 deg. BhNͺHeadingCmd: 5.848495 target range: 39.845993 and range: 40.10 m.h&@h*h"h hgff f d ddjdZd@uBɢB)A3+: Y?i),i[i ޾>s@<#G,*8!?A2ʴ@2Ż@2`ٱ29 :AHRS rotation from veh to nav: [[0.913623,0.405881,0.023522],[-0.402852,0.895971,0.186937],[0.054799,-0.180266,0.982090]]2Hf? Sٿ ̫???@ǿ`Hm?i2ʴ@I2d;2nCYBByBxIpiMb@Mb@Mb@ 9S㥛?"~j?I +?Y>yS=94<^A  A) AYAbDVDN2y̋=%,=ٔȹQ->9Y=FyWE \;E >Q 55]?Q 95 )%BY>Q E:y/Q I%@EI:i:25y-Bɮ-A)eDAT read: 06:06:10.7244 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 420,-0.21, 2.386, 0.638, 2.490, 2.256, PHS= 0.232,-1.573, 0.190, RAW= 148.8, 12.8, CAL= 148.8, 14.2, ROT= 1.2, -14.2 mYgot valid direction response: 06:06:10.7244 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 420,-0.21, 2.386, 0.638, 2.490, 2.256, PHS= 0.232,-1.573, 0.190, RAW= 148.8, 12.8, CAL= 148.8, 14.2, ROT= 1.2, -14.2 uPDAT read: Bearing 154.2, 1.2 (Local) u~Local bearing/azimuth received: Bearing 154.2, 1.2 (Local) DAT read: Range 11 to 50 : 38.0 m (Round-trip 50.7 ms) speed 0.4 m/s *DAT read: user:673> BDAT read: Tx time:06:06:11.8195 $Ping request sent.i5Xɿ5\B>56&@5d>56&@ 5}>)5i1i5Bi5p@ 1)1I1115kpT?G? lu? 1)1I1i111 addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 3.533519 s, deltaX: -2.099998 m, approachRate: -0.594308 m/s, rangeRepo size: 4  Added new target pos. range: 37.759563 m, bearing: 340.055727 deg, lat: 36.779421 deg, lon: -121.859781 deg, deltaT: 3.533519 s, deltaX: -2.086430 m, approachRate: -0.590468 m/s, posRepo size: 4 E E{E"E"EU:*E5":VE(3ZEa@a@a@a@jhDNOT Ignoring new targets: 37.76 m.bhRh Zh  ProNav: ac range: 37.759563 m, nav range: 36.406578 m, bearing: 340.154793 deg, approach rate: 0.000000 m/s, LOS rate: -0.037394 deg/s, cmd heading: 335.094108 deg, new cmd heading: 335.036339 deg. BhHeadingCmd: 5.847487 target range: 37.759563 and range: 38.00 m.h@h*h"h hgf!f)f-Bd)d)d1jd5C@Zd5F?wBɢ7a) /8i)KƼ!!i%i-߾-,A<-BQ BU ~IBU BBQ BQ BQ BU `;BU ,$Em @@i  @i @m 4@i @u fA@q a ^A <A >A >ԡ A.AIIO?lP,FB?A2@2ۻ@2kٱ2d6 :AHRS rotation from veh to nav: [[0.914568,0.403973,0.019289],[-0.400317,0.897441,0.185328],[0.057557,-0.177217,0.982487]]2H #D??_?ʞٿշ?׸?(x? ƿ`p?i2@I2N e;2oCYBByFIJ=J=bDNVDN0yV=%V7=ٔZ˻Q-Z>9Z ?Y^ ?=^Fy^YE^;E^>`Q 5f5bkƔ?Q 9f5b)b)BYhhyn,Q In@bEIb.;ib0;b$5ypɮrApqI~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLI Entering USBL mode with 120.000000 count pings at 38.000000 m (mode 2.000000 count ).I I iiJiRiji@b LB@"p?]n"@RH^?t'/ʔ?/;f?Zibijޏ@@m}(3x{f$&@ZF>?-cfԿ8?2iC:iB"i?*i<Bi@Bii;=iiBi@jhDNOT Ignoring new targets: 37.76 m.bhRhZh ProNav: ac range: 37.759563 m, nav range: 36.204521 m, bearing: 340.097359 deg, approach rate: -0.470507 m/s, LOS rate: -0.134485 deg/s, cmd heading: 335.036352 deg, new cmd heading: 334.863091 deg. BhHeadingCmd: 5.844463 target range: 37.759563 and range: 38.00 m.h@h*h"h hgf f)f)d1d1d1jd1Zd5H?颅yBɢ|$) .i)ʼ顱iai,ྉA<=I@I EM EMxEIEI"EM:*EM:VEIZEIBEMH;aU2EMI;a]JEMPo;a]:EMQo;ae?@ @@/@)^AV,1[\?A2@2@2twٱ25 :AHRS rotation from veh to nav: [[0.915381,0.402274,0.015923],[-0.398034,0.898383,0.185682],[0.060390,-0.176307,0.982481]]2HJ?۾?@M?byٿ?j?|?;ƿ{p?i2@I2d;2nCYF'ByFI9iMMb@Mb@Mb@IIII I9MQ?ʡE?y&1|YM(>yM>M`M AMGA I)M; AIYMQAbDeVDeN2yQ=%>=ٔ[׻Q->9"?Y"?=Fy[E(;E>Q 55 ה?Q 95Y)'BY>Q E:yQ I@EI ;iu ; 5y BɮAdEi^@I1JjhDNOT Ignoring new targets: 37.76 m.bhRhmZhm ProNav: ac range: 37.759563 m, nav range: 36.013973 m, bearing: 340.012585 deg, approach rate: -0.464580 m/s, LOS rate: -0.207784 deg/s, cmd heading: 334.863083 deg, new cmd heading: 334.607417 deg. BhHeadingCmd: 5.840001 target range: 37.759563 and range: 38.00 m.hJ@h*h"h hg!f!f!f%Bd)d)d)jd)Zd-`?ezBɢe%)a e)ia)eϼiiimeiu⾉uB=CG(hA 9 (hAY UAi} <ԙ@ @@4@ B <A <" bFailed to parse device response: 6.71824,2626.51 ^A G=A zA AIIO >I^,{?AB&@B!@B3IٱB-5 RAHRS rotation from veh to nav: [[0.917512,0.397573,0.010341],[-0.392354,0.900604,0.187006],[0.065035,-0.175638,0.982304]]BHB\?q?-?Sٿ??#?L{ƿ` o?iB&@IBd;@YZ-ByZIbDbVDbyj<%n-=ٔnP"Q-n>9pYp=rFyr^ErT<Er>tQ 5~5v锊?Q 9~5v)v&BY|y~Q I@v EIv#;iv7%;v5y ɮ A i!1J%qJ%-B*** querying acoustic contact ***i) i-xjh9=DNOT Ignoring new targets: 37.76 m.bh9RhEhZhEhU ProNav: ac range: 37.759563 m, nav range: 35.808620 m, bearing: 339.918006 deg, approach rate: -0.437984 m/s, LOS rate: -0.202878 deg/s, cmd heading: 334.607416 deg, new cmd heading: 334.322055 deg. BhU; ]HeadingCmd: 5.835021 target range: 37.759563 and range: 38.00 m.h]}@hY*hY"hY hagafafafadididijdqZdu?额|Bɢ) 'i)6$Լ顡i\iu徉D<)@F=I}@I E@@A @A@E/@A^A[=AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.AYIIO>qE EE$E"E:*E*:VE4ZEa@a@a@a@ԙ c0e,Õ?AeF;@e6@eѳٱeJ4}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752429 AHRS rotation from veh to nav: [[0.918364,0.395661,0.007814],[-0.389993,0.901502,0.187614],[0.067187,-0.175345,0.982212]]eH;c?R??ؿ??`(3?qƿ`Gn?ieF;@IeØd;emCY8ByI AAi-Mb@Mb@Mb@)))) )9-"~?I +?y&1Y->y-94>-`-= A-A -A)-$ A)Y-zAbDEVDEJyU;=%U5=ٔ]"Q-]>9YYY=eFye`Ee׵;Ee>iqQ 5}5u2?Q 9}5u)uBY}>Q E}:y}Q I@u EIu7:iu:u5y#BɮYAeEjqJCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLjhDNOT Ignoring new targets: 37.76 m.bhRhZh ProNav: ac range: 37.759563 m, nav range: 35.615963 m, bearing: 339.810911 deg, approach rate: -0.425518 m/s, LOS rate: -0.237818 deg/s, cmd heading: 334.322050 deg, new cmd heading: 333.999030 deg. Bh6#HeadingCmd: 5.829383 target range: 37.759563 and range: 38.00 m.hN@h*h"h hgfffBdddjdZd T?Bɢ) }#i) Q#ټ  i (ViX辉E<W`=IN@IAAAAԙ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005429 ?@  @ @ 4@ bEm3jEm3rEm@o/E  E xE #E "E :*E :VE 3ZE ^A ȿ=A A >B `>B B IB XBB B B B `;B 0$EBCBCBBBCM4AAI!I1O=?Om,,Է?ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256310Y-7By-IbD=VD=:yMc%M$=ٔUQ-U>9YYY=]Fy]bE]E]>aQ 5m5e ?Q 9m5e)eBYqyqQ Iu@eEIe{;ie;e<5yyɮ}`AjhDNOT Ignoring new targets: 37.76 m.bhRhZh ProNav: ac range: 37.759563 m, nav range: 35.404541 m, bearing: 339.691961 deg, approach rate: -0.425345 m/s, LOS rate: -0.240735 deg/s, cmd heading: 333.999037 deg, new cmd heading: 333.640062 deg. Bh6%HeadingCmd: 5.823118 target range: 37.759563 and range: 38.00 m.hV@h*h"h hgfffdddjdZd fz@ Bɢ ̗) %i)!޼if)i뾉wG<%@?t=I%V@I!)@ @@/@^AG5=YA.AIIOk>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508316ԁE  E E $E "E :*E VE 4ZE BE ;a 2E ;a JE a :E a Ա 5t,?A2[@2U@2ٱ29Z ?YZ ?=^Fy^dEf%<Ej>pQ 5v5r?Q 9v5r)rBYtyvcQ Iv@rEIr|:irt:r5y~&Bɮ~jA~fEjh!%DNOT Ignoring new targets: 37.76 m.bh)Rh5=Zh==u ProNav: ac range: 37.759563 m, nav range: 35.240627 m, bearing: 339.597503 deg, approach rate: -0.423548 m/s, LOS rate: -0.245212 deg/s, cmd heading: 333.640070 deg, new cmd heading: 333.355379 deg. BhuI(HeadingCmd: 5.818149 target range: 37.759563 and range: 38.00 m.h5G.@h1*h9"h9 h9gAfifyfyԑdddjdZd@颍Bɢ0D) y%i)n顑iP.i>wI<=IG.@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760465I>@ @@@^A 5[=A zA dAe BDAT read: Rx Time:06:06:14.2720 m TRx dataTimestamp_ set to:1761545175.648886m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014490 A- ؟AI9 IQ Om >oz,z?A ɰ"4<EU EUuEU%EQ"EU:*EU:VEU 4ZEQae@ae@ae@ae@vf@Fa@蔽ٱ5 AHRS rotation from veh to nav: [[0.920054,0.391785,0.002286],[-0.384998,0.903003,0.190690],[0.072645,-0.176325,0.981648]]Hq?@?|b?ϣؿf?h?☲?Αƿi?ivf@Ig;lCY$ByIiMb@Mb@Mb@ 9S?I +?MbY>y@S!A 3A) AY(AbD5VD502y=1%E&=ٔE݋Q-E>9M"?YM"?=MFyMgEM:9;EU>QQ 5]5U.?Q 9e5U/)UBYe>Q Ee:yeQ Ie@UEIU ;iU~ ;U5yqɮu Aqjh)-DNOT Ignoring new targets: 37.76 m.bh)Rh5Zh5E ProNav: ac range: 37.759563 m, nav range: 35.026794 m, bearing: 339.479661 deg, approach rate: -0.421604 m/s, LOS rate: -0.233762 deg/s, cmd heading: 333.355387 deg, new cmd heading: 332.999708 deg. BhEm MHeadingCmd: 5.811941 target range: 37.759563 and range: 38.00 m.hMl@hI*hI"hQ hQgQfQfYf]BdYdYdajdaZde@ @颕Bɢ) 0i)顙i3AA@ABa>BBIBbBBBBB`;BA$EiF񾉧K<q=Il@IU?@Y @Y@Y@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264470^A5t0=! Ay I I O >S,K?A=+k@=e@=$ٱ=$8 AHRS rotation from veh to nav: [[0.920134,0.391601,0.001125],[-0.384411,0.902683,0.193369],[0.074708,-0.178358,0.981126]]=Hq??oR? /ؿ?M? ?lƿ`ae?i=+k@I=eh;=pCCjAiuIIipUA )MDAT read: 06:06:14.2720 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 412,-0.12,-1.089,-2.797,-0.939,-1.267, PHS= 0.280,-1.485, 0.284, RAW= 150.1, 10.5, CAL= 149.8, 11.4, ROT= 0.2, -11.4 Ygot valid direction response: 06:06:14.2720 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 412,-0.12,-1.089,-2.797,-0.939,-1.267, PHS= 0.280,-1.485, 0.284, RAW= 150.1, 10.5, CAL= 149.8, 11.4, ROT= 0.2, -11.4 PDAT read: Bearing 151.4, 2.4 (Local) ~Local bearing/azimuth received: Bearing 151.4, 2.4 (Local) 3C t@!%sAI!)!i!))=DAT read: Range 11 to 50 : 36.3 m (Round-trip 48.4 ms) speed 0.3 m/s E*DAT read: user:674> MBDAT read: Tx time:06:06:15.3695 QI]iA]-]>F ae&CejAeDiaiu$Ping request sent.ui { sh> ϩ'@ f;> T'@ %K>) d;I %K   F&9?s;?"{2?  ?) כ:I d;i %K  :publishing transmit ping timeE EEE"E:*E|;:VEZEBEH;a2EI;aJE;a:E;aY#ByIbDVD󡲙qFpublishing direction and range infoy  b!U^?l?g4L?Y      ) I i      ) I    F&9?s;?"{2? ) I i   %checking for new query: numPingsReceived=1, elapsed TxPingTime=0.054691yMڴ%M.=ٔM)Q-U>9QYQ=UFyUiE]O:E]>aQ 5m5eA?Q 9m5e\)eBYiymQ Iu@eEIe>:ie:e5y}:Bɮ}Ayi i  ?AJi HBRi HBji *@b ?EA@Θ?/D@R b!U^?l?g4L?Zi d;bi %Kj iTK@@2yP4(2+:#@Z S?Yyտ0#'&?2i A:i ]B"i ͼf?*i ,9Bi ]Bi i <i i , Bi ޚ@ԁ addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 3.529534 s, deltaX: -1.700001 m, approachRate: -0.481650 m/s, rangeRepo size: 4  Added new target pos. range: 36.070473 m, bearing: 339.628303 deg, lat: 36.779421 deg, lon: -121.859780 deg, deltaT: 3.529534 s, deltaX: -1.689091 m, approachRate: -0.478559 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 36.07 m.bhRh Zh = ProNav: ac range: 36.070473 m, nav range: 34.793522 m, bearing: 339.486347 deg, approach rate: 0.000000 m/s, LOS rate: -0.233762 deg/s, cmd heading: 332.999698 deg, new cmd heading: 332.665201 deg. Bh9EHeadingCmd: 5.806103 target range: 36.070473 and range: 36.30 m.hE˹@hA*hA"hI hIgIfIfQfQdQdydjd`f&B@Zd@"?%Bɢ-)Y e2ia)miiG[iDyN<V=I˹@I  checking for new query: numPingsReceived=1, elapsed TxPingTime=0.206321 @  @ @ 3@ ^Az=A>A>)echecking for new query: numPingsReceived=1, elapsed TxPingTime=0.456735A.AIIO=?#t,+?A E- E-yE-#E)"E-s:*E-:VE-3ZE)a=@a=@a=@a=@Usb@UC]@UWٱUE@@ uAHRS rotation from veh to nav: [[0.919433,0.393245,0.000722],[-0.385268,0.900410,0.202065],[0.078811,-0.186064,0.979372]]UHk?*?@G?9ؿ@)? D?@,?ǿW?iUsb@IUh;UlCYMByUI Y]AiMb@Mb@Mb@ 9x&1?Q?y&1YA>y\>`e A1A IA)AYAbDVDk1yK%=ٔYQ->9 ?Y ?=FylEE>Q 55V?Q 95#)BY%,>Q E%:y%Q I%@EIT%BBIBSBBBBB`;B:$EBɢ0) :i)iԑi)Q<5=I@Ichecking for new query: numPingsReceived=1, elapsed TxPingTime=0.709126E@@I @I@M/@Ii^A%ߚ=AQ Ia Iq O >ԑ T,E?ABS@BtN@BڥٱB>C NAHRS rotation from veh to nav: [[0.918582,0.395231,0.000633],[-0.386864,0.898806,0.206117],[0.080895,-0.189580,0.978527]]BH e?vK?D?`bؿ?b?? &Dȿ`P?iBS@IB&i;@YeByeiIybD}VD}N2y %x=ٔmϻQ-?9Y=FynE4E?Q 55b?Q 95)BYyQ I@!EI:i;5yɮAjhDNOT Ignoring new targets: 36.07 m.bhRhnXZhnX ProNav: ac range: 36.070473 m, nav range: 34.400681 m, bearing: 339.326421 deg, approach rate: -0.462539 m/s, LOS rate: -0.189219 deg/s, cmd heading: 332.364163 deg, new cmd heading: 332.182544 deg. Bh HeadingCmd: 5.797679 target range: 36.070473 and range: 36.30 m.h @h *h "h  h gfffdddjdZd%e ?=checking for new query: numPingsReceived=1, elapsed TxPingTime=0.960226]Bɢ]뻽)Y ]eHiY)eaaieMimFmR@  @ @ /@ ԩ^Aeܝ= checking for new query: numPingsReceived=1, elapsed TxPingTime=1.213639I) I9 OM > R~,n_?AB>@B8@BϢٱBG NAHRS rotation from veh to nav: [[0.917381,0.398009,0.000636],[-0.389212,0.896767,0.210529],[0.083222,-0.193383,0.977587]]BH0[?x?D?ؿQ?? N?ȿ eH?iB>@IBi;BoCYVByV^IieMb@Mb@Mb@aaaa a9ebX9?Zd;O?V-YeE>yej=eme= AeK@ e`A)aaYabD}VD}k1y3%J=ٔ|Q->9Y=FypEֻE>Q 55!s?Q 95)BY}>Q E:yuQ I@$EI]:i:5y@BɮuAhEjhDNOT Ignoring new targets: 36.07 m.bhRh+Zh+ ProNav: ac range: 36.070473 m, nav range: 34.203484 m, bearing: 339.286302 deg, approach rate: -0.487442 m/s, LOS rate: -0.099741 deg/s, cmd heading: 332.182535 deg, new cmd heading: 332.061483 deg. Bh 爻 HeadingCmd: 5.795566 target range: 36.070473 and range: 36.30 m.h Gu@h *h"h hgfffIBd!d!d!jd!Zd-?Bɢ) Mi)$ii@XU<=IGu@I@@ @@/@ Uchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.464936E EE$E"EU:*EVL:VE4ZEa@a@a@a@9^Aܪ=AzAfAB A 4<B B B IB :BB B B B `;B H$EI I O >Y 1,y?A>checking for new query: numPingsReceived=1, elapsed TxPingTime=1.716198^!@^@^@Tٱ^L jAHRS rotation from veh to nav: [[0.915862,0.401493,0.000889],[-0.392283,0.894378,0.214948],[0.085505,-0.197211,0.976625]]^H@N??M?+ٿ?j?@?8>ɿ@@?i^!@I^Li;^pCYrByrPIIv>)v>bD~ VD~2y ]% P=ٔ eQ- >9Y=FyrE[E>!Q 5-5%낕?Q 9-5%)%BY)y-yQ I5@%'EI%;i%;%m5y9ɮ=A9jhaeDNOT Ignoring new targets: 36.07 m.bhiRhmߺZhmߺ ProNav: ac range: 36.070473 m, nav range: 34.011742 m, bearing: 339.248173 deg, approach rate: -0.489502 m/s, LOS rate: -0.097887 deg/s, cmd heading: 332.061476 deg, new cmd heading: 331.946447 deg. Bh[HeadingCmd: 5.793559 target range: 36.070473 and range: 36.30 m.hd@h*h"h hg fffdddjdZd?颭Bɢ) Si)d顱i?iZW<=Id@Ia@a @a@e0@a9i)I)5checking for new query: numPingsReceived=1, elapsed TxPingTime=1.968557i^AI I) OM >E  E ~E E "E :*E (:VE ZE BE ;a 2E ;a JE ;a :E ;a ԑ 5,f?A2@2@2F+ٱ2O :AHRS rotation from veh to nav: [[0.914080,0.405531,0.001077],[-0.395901,0.891792,0.219021],[0.087860,-0.200629,0.975720]]2H%@?`:?Q?@qVٿ`? ?}?6ɿ@9?i2@I2Pi;2lCY^By^DIbDjVDj1yrfL%rM=ٔvx»Q-v>9tYt=vFyvtEz&Ez>|Q 55~꒕?Q 95~Z)~BYy ~Q I @~*EI~:i~N:~*5yCBɮ6AiEjhDNOT Ignoring new targets: 36.07 m.bhRh{кZh{к ProNav: ac range: 36.070473 m, nav range: 33.817188 m, bearing: 339.210581 deg, approach rate: -0.468960 m/s, LOS rate: -0.091135 deg/s, cmd heading: 331.946456 deg, new cmd heading: 331.833031 deg. Bh.z=HeadingCmd: 5.791579 target range: 36.070473 and range: 36.30 m.h=T@h9*hA"hA hIgIyfffchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.222742dddjdZdMQ@Bɢ) Yi)i8ai%Գ-*Z<-@t=I-T@I)ԡ>@ @@0@@>@=ЀG-hAAu9uhAYuA^A =E checking for new query: numPingsReceived=1, elapsed TxPingTime=2.472373IQ Iq O > \Ϊ,R?AER ERER#EP"ERU:*ER0:VER3ZEPab@ab@af@af@u-ٴ@uӻ@ujٱuR AHRS rotation from veh to nav: [[0.911947,0.410307,0.001152],[-0.400224,0.888909,0.222848],[0.090412,-0.203686,0.974853]]uH.? zB?XR?Dٿq?@H?A%?eʿ1?iu-ٴ@Iui;unCYBy)Ii}Mb@Mb@Mb@yyyy y9})\(?I +?{GzY}G?y}94=}#}S!A}@ }A)}CAyY}AbDVDky%1=ٔصQ->9Y=FyvEk+E>Q 55?Q 95q)Y,?Q E:yQ I@.EI3;i2;.5yɮAjh DNOT Ignoring new targets: 36.07 m.bhRh Zh - ProNav: ac range: 36.070473 m, nav range: 33.582355 m, bearing: 339.203387 deg, approach rate: -0.524391 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.833020 deg, new cmd heading: 331.811286 deg. Bh-15HeadingCmd: 5.791199 target range: 36.070473 and range: 36.30 m.h5Q@h1*h1"h1 h1g9f9f9f= BdAdAdjdZd`%m@5Bɢ5ƽ)1 5ei9)=99BMa>BIBMIBMBBM8 =BIBIBMi-z>T'@J4><&@  D>)5I 2,%?AY~By~*I bD VD y;%%g=ٔ%Q-%>9)Y)=-Fy-xE-E->9Q 5=5=Գ?Q 9E5= )=BYAyAQ IE@=1EI=:i= :=5yMFBɮMAQii2=?AJiQ BRiQ Bjig@checking for new query: numPingsReceived=2, elapsed TxPingTime=2.978471bmּ@@c=?5Dd@R[^/i?t}(?P@ml?Zi5<bi Dje?@|kѳ'J"@ZA?6տ,8 y?2i=:iA"ii (^A = > <&@ D> &@ @X>) +H*~,?AB@Bz@B[ýٱBA3W ZAHRS rotation from veh to nav: [[0.907131,0.420847,0.001022],[-0.409929,0.883042,0.228463],[0.095245,-0.207665,0.973552]]BH7?'?P?@E<ڿA?C>?a?`ʿV'?iB@IB?i;BmCYfByf(IiEMb@Mb@Mb@IAAAA A9EB`"?~jtZd;OYE?yEEjE= AE@ A)E-AAYE AbD} VD}2y%&=ٔ!Q->9"?Y"?=FyzEE>Q 55uȕ?Q 95I)BY ?Q E:yQ I@6EI:i": 5yɮAii ?AJi BRi Bji;V@bhB@@\g~5?}'@R~1gI?u6ohv?9h?Zi+H<bi@Xjŧ>@1߶y'L4$@Zix'?yGcտs㸀?2i;:iA"ilٟ?*iՄ;BiBii} A I I O >L,?A>ۋ&@9>6&@ %K>)99Y9==Fy=|E=1lE=>Q 55ڕ?Q 95- )BYyQ I@9EI:i(: 5y%JBɮ%A-jEiiB?AJiBRiBjiW@b @@LCB?">5@R}}+ʞ\?˞?g4L?Zi<bi%KjIV>@%,E'Uc8#@ZX+u?7 8տf|)&?2i,::iA"iM!ן?*i~:<BiBiii]BiBihs@} addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.499952 s, deltaX: -0.400002 m, approachRate: -0.800080 m/s, rangeRepo size: 4  Added new target pos. range: 33.884247 m, bearing: 339.016457 deg, lat: 36.779419 deg, lon: -121.859780 deg, deltaT: 0.499952 s, deltaX: -0.397537 m, approachRate: -0.795151 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.88 m.bhRhZh ProNav: ac range: 33.884247 m, nav range: 32.756371 m, bearing: 339.210355 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.770155 deg, new cmd heading: 331.747718 deg. BhHeadingCmd: 5.790090 target range: 33.884247 and range: 34.10 m.hkH@h*h"h hgfff!d!d!d!jd% A@Zd-xA?颕BɢSĽ) gi)kI项iEivS5b<=IkH@I5DDAT read: Rx Time:06:06:19.0446 ETRx dataTimestamp_ set to:1761545180.188634]checking for new query: numPingsReceived=4, elapsed TxPingTime=3.992033E EEE"Es:*EVEZEBE;a2E;aJEe;a:Ef;aAI@I @I@M4@I^A 8=AI IY q Ii O} >Ž,?AJ @J@J-̽ٱJ!X jAHRS rotation from veh to nav: [[0.901905,0.431934,0.000045],[-0.420249,0.877484,0.231110],[0.099785,-0.208458,0.972928]]JHh?̤?i?^ڿZ?`?~? ʿ`9"?iJ @IJh;HY}ByII5=)5=U>U=PDAT read: Bearing 150.6, 5.4 (Local) ~Local bearing/azimuth received: Bearing 150.6, 5.4 (Local) DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 QbDuVDu1y %D=ٔvQ->9Y=Fy~EDAT read: 06:06:19.0446 LVL= 30064, 32753, 32754, 32755, AGC= 62, IDX= 499,-0.46, 0.904,-0.781, 0.985, 0.715, PHS= 0.291,-1.450, 0.226, RAW= 148.1, 10.9, CAL= 147.8, 11.9, ROT= 2.2, -11.9 Ygot valid direction response: 06:06:19.0446 LVL= 30064, 32753, 32754, 32755, AGC= 62, IDX= 499,-0.46, 0.904,-0.781, 0.985, 0.715, PHS= 0.291,-1.450, 0.226, RAW= 148.1, 10.9, CAL= 147.8, 11.9, ROT= 2.2, -11.9 R#Rx 5: Read range and direction messages.=XE>Q 55땊?Q 95 )BYyQ I @=EI:i: 5\direction in FSK: [0.977788,0.037563,0.206204]Fpublishing direction and range infoy-… J?-o;?Fa5d?Ypu )>I>ilg>m%@B>%@ ȭT>)nF=IȭT܄?9V{w?@? $8>)G3CInF=iȭTyqɮuYAqchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.303491ii ?AJiRijiȽ@b2[ؐ@@ xV]?9+h@R-… J?-o;?Fa5d?ZinF=biȭTjGn3n>@v,Ab&D`#@ZbHH?@6#տ.;vA?2i3:itA"iޫ ?*i!vO3BilBii4;iiBi|@M addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.504381 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 33.884247 m, bearing: 339.807889 deg, lat: 36.779419 deg, lon: -121.859780 deg, deltaT: 0.504381 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 33.88 m.bhYRhaZha ProNav: ac range: 33.884247 m, nav range: 32.527149 m, bearing: 339.270469 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.747725 deg, new cmd heading: 331.728111 deg. BhHeadingCmd: 5.789748 target range: 33.884247 and range: 34.10 m.hE@h*h"h hgfffdddjdZd@?ԁ额Bɢd Ͻ) li)(F顩iՃi֣c<vr=IE@Iq@q @y@}/@yԱU DDAT read: Rx Time:06:06:19.5443 ] TRx dataTimestamp_ set to:1761545180.693097} PDAT read: Bearing 148.9, 6.0 (Local)  ~Local bearing/azimuth received: Bearing 148.9, 6.0 (Local)  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.500858E  E {E &E "E I:*E 5":VE 4ZE a @a @a @a @^A} = A I I O >̽, 6?AB,B,B.rIB.BB,B,B,B.2a;B.h$Er@r@r`ѽٱraY 5AHRS rotation from veh to nav: [[0.899168,0.437604,0.000171],[-0.425536,0.874281,0.233562],[0.102058,-0.210084,0.972342]]rH ? ?w&?;ۿ?Y?r ? ʿm?ir@Irh;roCDAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.5 DAT read: 06:06:19.5443 LVL= 31856, 32753, 32754, 32755, AGC= 63, IDX= 496,-0.21,-0.503,-2.226,-0.426,-0.741, PHS= 0.340,-1.440, 0.271, RAW= 148.0, 9.5, CAL= 147.7, 10.4, ROT= 2.3, -10.4 %Ygot valid direction response: 06:06:19.5443 LVL= 31856, 32753, 32754, 32755, AGC= 63, IDX= 496,-0.21,-0.503,-2.226,-0.426,-0.741, PHS= 0.340,-1.440, 0.271, RAW= 148.0, 9.5, CAL= 147.7, 10.4, ROT= 2.3, -10.4 -R#Rx 6: Read range and direction messages.5\direction in FSK: [0.982779,0.039472,0.180519]5Fpublishing direction and range infoy)r?~5?lE@?YfBp| )?I{>iQ>MQ%@)>$@ 9>)l$=I9(@?Ynn?vUN//? >)B*Il$=i9Mchecking for new query: numPingsReceived=6, elapsed TxPingTime=4.752666YBy>IAi}Mb@Mb@Mb@yyyy y9}(\?S㥫{GztY}z?y}/]}ףy}@ }A)}tAyY}z AbDVDky5=%U=ٔUQ-U>9YYY=]Fy]Ee+Ee>iQ 5u5m?Q 9u5m[)mBYu ?Q Eu:y} Q I}@mBEIm`;im;m 5yTBɮAtEii!@?lW&jR!@ZNn?h̶տVVKF?2ir6:iA"irꟊ?*iH=BiBirꟊ?iՄ;iBiBif@5 addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.502203 s, deltaX: -0.500000 m, approachRate: -0.995613 m/s, rangeRepo size: 4 E Added new target pos. range: 33.387451 m, bearing: 339.239881 deg, lat: 36.779419 deg, lon: -121.859780 deg, deltaT: 0.502203 s, deltaX: -0.496796 m, approachRate: -0.989233 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 33.39 m.bhAiRhqZhq ProNav: ac range: 33.387451 m, nav range: 32.152954 m, bearing: 339.322220 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.728109 deg, new cmd heading: 331.701291 deg. BhHeadingCmd: 5.789279 target range: 33.387451 and range: 33.60 m.hA@h*h"h hgfff̀Bdddjd@@Zd x ?=Bɢ=٤)9 =`iA)E]@顡iii@e<dma=IA@II)fAiߩ Iߩ  DDAT read: Rx Time:06:06:20.0442  TRx dataTimestamp_ set to:1761545181.199034 PDAT read: Bearing 149.6, 6.6 (Local)  ~Local bearing/azimuth received: Bearing 149.6, 6.6 (Local) - DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.5 E X#Rx 7: Read range message, but no direction.y Y BY } checking for new query: numPingsReceived=7, elapsed TxPingTime=5.020114 @  @ @ 5@ E5  E5 E5 !E1 "E5 s:*E5 *5:VE5 c3ZE1 BE1 a= 2E1 aE JE5 ;aE :E5 ;aE @ =@ =ԁ^Ao=ԹDAT read: 06:06:20.0442 LVL= 32624, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.08, 0.774,-0.959, 0.826, 0.544, PHS= 0.332,-1.458, 0.238, RAW= 147.3, 10.2, CAL= 147.0, 11.1, ROT= 3.0, -11.1 IIIaOm"?U׽,&^?A.Ygot valid direction response: 06:06:20.0442 LVL= 32624, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.08, 0.774,-0.959, 0.826, 0.544, PHS= 0.332,-1.458, 0.238, RAW= 147.3, 10.2, CAL= 147.0, 11.1, ROT= 3.0, -11.1 .X#Rx 8: Read direction message, but no range.2\direction in FSK: [0.979948,0.051357,0.192522]yqu[?AQsK?M?qupqq q)u=Iu>iuuFs>u"$@uK6>uY3$@ uaF>)uPwV=IuaFqu?@8>?>宪? u/>)uK6IuPwV=iuaFjchecking for new query: numPingsReceived=8, elapsed TxPingTime=5.308079rA@r@rLDڽٱr4Yq AHRS rotation from veh to nav: [[0.893728,0.448608,-0.001244],[-0.435816,0.868894,0.234710],[0.106374,-0.209224,0.972065]]rHj??pcThۿ?` ?R;?ʿ`'?irA@IrByh;rmC )kAYkAiuIIis@ ) kAt Ij)i)IkA !i!!Y!YByPIAAi}Mb@Mb@Mb@yyyy y9}(\?Zd;Oy&1?Yyy}j<}`e9Y=FyEwE>Q 55?Q 95)BY?Q E:yQ I@GEI:i:p5yWBɮAuEiiL?AJi'BRi'Bji@b\ssoO@@AhZ?P@R[?AQsK?M?ZiPwV=biaFj^7=@2t& "@ZJyoa?R4ŕտ k?2i3:iMA"i;?*ix<BiBii~:<iiAi@ addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.259695 s, deltaX: -0.099998 m, approachRate: -0.385061 m/s, rangeRepo size: 4  Added new target pos. range: 33.288086 m, bearing: 339.427798 deg, lat: 36.779419 deg, lon: -121.859780 deg, deltaT: 0.259695 s, deltaX: -0.099365 m, approachRate: -0.382623 m/s, posRepo size: 4 jhԙDNOT Ignoring new targets: 33.29 m.bhRhZh ProNav: ac range: 33.288086 m, nav range: 31.844688 m, bearing: 339.400519 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.701280 deg, new cmd heading: 331.674450 deg. BhHeadingCmd: 5.788811 target range: 33.288086 and range: 33.50 m.h=@h*h"h hgfffҀBdddjd@@Zd?DDAT read: Rx Time:06:06:20.5439 TRx dataTimestamp_ set to:1761545181.701217PDAT read: Bearing 148.5, 7.4 (Local) ~Local bearing/azimuth received: Bearing 148.5, 7.4 (Local) DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.5 BɢE- E-E-#E)"E-:*E-A:VE-3ZE)a5@a5@a5@a5@=X#Rx 9: Read range message, but no direction.yYBEchecking for new query: numPingsReceived=9, elapsed TxPingTime=5.550804)EG& EYiA)MjIIiMӔiUU!AgB B IB BB B B B a;B P$E!^A=(a=DAT read: 06:06:20.5439 LVL= 32240, 32753, 32754, 32755, AGC= 60, IDX= 508,-0.03,-0.458,-2.216,-0.420,-0.727, PHS= 0.370,-1.444, 0.263, RAW= 147.0, 9.2, CAL= 146.6, 10.0, ROT= 3.4, -10.0 Ygot valid direction response: 06:06:20.5439 LVL= 32240, 32753, 32754, 32755, AGC= 60, IDX= 508,-0.03,-0.458,-2.216,-0.420,-0.727, PHS= 0.370,-1.444, 0.263, RAW= 147.0, 9.2, CAL= 146.6, 10.0, ROT= 3.4, -10.0 Z#Rx 10: Read direction message, but no range.\direction in FSK: [0.983074,0.058405,0.173648]yim(1HXu? BHO?ٖNs:?im}ii i)m<Imp>imԸm>mY3$@ml$>m#@ m¸2>)ms=Im¸2im|NJ%?ITo?-ih? mw(>)m&%Ims=im¸2checking for new query: numPingsReceived=10, elapsed TxPingTime=5.774636II)O=?>1,΀?A2a@2\@2޽ٱ2rQX jAHRS rotation from veh to nav: [[0.891073,0.453856,-0.001882],[-0.440768,0.866351,0.234861],[0.108223,-0.208449,0.972027]]2H? ?^ 5ܿ@%? ??tʿ?i2a@I2g;2kCAY] By]}IbDVDy>%/=ٔQ->9Y=FyEDE>Q 552.?Q 95&))BYyOQ I @LEI;i;~5yɮbAiil?AJi*BRi*Bjix@bK>@@Z$Ԝ?L\@R(1HXu? BHO?ٖNs:?Zis=bi¸2j܏RY=@8l&&?!@Z?EcտDC?2ie3:iA"i 럊?*i @BiJBi 럊?ix<iBiAiە@ addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.502183 s, deltaX: -0.500000 m, approachRate: -0.995653 m/s, rangeRepo size: 4  Added new target pos. range: 32.791306 m, bearing: 339.243175 deg, lat: 36.779419 deg, lon: -121.859781 deg, deltaT: 0.502183 s, deltaX: -0.496780 m, approachRate: -0.989242 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 32.79 m.bhRhZh5 ProNav: ac range: 32.791306 m, nav range: 31.593565 m, bearing: 339.451316 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.674451 deg, new cmd heading: 331.651615 deg. Bh1=HeadingCmd: 5.788413 target range: 32.791306 and range: 33.00 m.h=:@h9*h9"h9 h9g9fAfafadadidijdm@@Zdm;?颽BɢX޿) Gi)di[iR'h<e+=I:@IYDDAT read: Rx Time:06:06:21.0438 TRx dataTimestamp_ set to:1761545182.2097695PDAT read: Bearing 148.9, 8.2 (Local) =~Local bearing/azimuth received: Bearing 148.9, 8.2 (Local) }DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.5 Z#Rx 11: Read range message, but no direction.y Y B checking for new query: numPingsReceived=11, elapsed TxPingTime=6.030047?@ @@+0@DIzDM@AE] E]E]&EY"E]y:*E]*5:VE]4ZEYBE]Ա U,S?Aԙ-DAT read: 06:06:21.0438 LVL= 31632, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.02, 0.712,-1.056, 0.724, 0.443, PHS= 0.372,-1.454, 0.237, RAW= 146.2, 9.6, CAL= 145.8, 10.5, ROT= 4.2, -10.5 MYgot valid direction response: 06:06:21.0438 LVL= 31632, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.02, 0.712,-1.056, 0.724, 0.443, PHS= 0.372,-1.454, 0.237, RAW= 146.2, 9.6, CAL= 145.8, 10.5, ROT= 4.2, -10.5 Yu$By}IZ#Rx 12: Read direction message, but no range.\direction in FSK: [0.980614,0.072012,0.182236]yAE5Z1a?S]o?m~S?AE{AA A)AIEv>iEE!r>EN#@E+>E4"@ Ef;>)EQ =IEf;AEidD/O?F?ekd? E>)E=+IEQ =iEf;checking for new query: numPingsReceived=12, elapsed TxPingTime=6.316404ieMb@Mb@Mb@aaaa a9eGz?X9vZd;O?Ye?yeej9Y=FyEE>Q 55B?Q 95)?BY?Q E:yEQ I@PEIe;ij;5yZBɮAvEiAiEl?AJiEBRiEBjiEt@bEӠr@@ki@ߟ@RE5Z1a?S]o?m~S?ZiEQ =biEf;jE =@1\b%|!@ZEKd]?¦&)Կk# +?2iE+:iEA"iEl?*iEd5BiEBiEޫ ?iAiEBiEAiE@m addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.508552 s, deltaX: -0.099998 m, approachRate: -0.196634 m/s, rangeRepo size: 4 } Added new target pos. range: 32.691940 m, bearing: 340.154894 deg, lat: 36.779420 deg, lon: -121.859781 deg, deltaT: 0.508552 s, deltaX: -0.099365 m, approachRate: -0.195389 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 32.69 m.bhRhZh ProNav: ac range: 32.691940 m, nav range: 31.375380 m, bearing: 339.562111 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.651610 deg, new cmd heading: 331.627649 deg. BhHeadingCmd: 5.787994 target range: 32.691940 and range: 32.90 m.h@7@h*h"h hgfffBdddjd@3s@@Zd`?ɢ) :i)"i*8iUi<e/=I@7@I>@ @@ 0@ DDAT read: Rx Time:06:06:21.5435 % TRx dataTimestamp_ set to:1761545182.712791E PDAT read: Bearing 150.5, 8.7 (Local) M ~Local bearing/azimuth received: Bearing 150.5, 8.7 (Local)  DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.5 @ gA@  DAT read: 06:06:21.5435 LVL= 31648, 32753, 32754, GC= 59, IDX= 504,-0.01,-0.596,-2.343,-0.609,-0.831, PHS= 0.336,-1.467, 0.178, RAW= 145.5, 11.0, CAL= 145.1, 12.0, ROT= 4.9, -12.0  !unknown deviceResponse_: 06:06:21.5435 LVL= 31648, 32753, 32754, GC= 59, IDX= 504,-0.01,-0.596,-2.343,-0.609,-0.831, PHS= 0.336,-1.467, 0.178, RAW= 145.5, 11.0, CAL= 145.1, 12.0, ROT= 4.9, -12.0  Z#Rx 13: Read range message, but no direction.y Y B M checking for new query: numPingsReceived=13, elapsed TxPingTime=6.546776Em  Em Em %Ei "Em g:*Em ;J:VEm 4ZEi au @a} @a} @a} @! B B B IB NBB 9 =B B B `;B E$E^A l;=A zA dAIIQIiOu>p,ܸ?A>@>@>gٱ>OU FAHRS rotation from veh to nav: [[0.886526,0.462659,-0.004228],[-0.448973,0.862437,0.233723],[0.111780,-0.205303,0.972294]]>H`l^?@4? Qqܿ@???aGʿ?i>@I>stg;>nCYNNByNIbDVVDV1y^p>%bj=ٔb'Q-b>9dYd=fFyfEf9ݼEf>lQ 5r5nP?Q 9r5n0)nPBYpyvQ Iv@nSEIn :in:n-5yz^BɮzyAzwEB*** querying acoustic contact ***i i- addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503022 s, deltaX: -0.500000 m, approachRate: -0.993992 m/s, rangeRepo size: 4 jh)-DNOT Ignoring new targets: 32.69 m.bh)Rh5B;Zh5B;E ProNav: ac range: 32.691940 m, nav range: 31.182302 m, bearing: 339.618591 deg, approach rate: -0.578957 m/s, LOS rate: 0.170410 deg/s, cmd heading: 331.627650 deg, new cmd heading: 331.798141 deg. BhE;MHeadingCmd: 5.790970 target range: 32.691940 and range: 32.40 m.hMO@hI*hQ"hQ hQgQfQfYfYdYdYdYjde@33@@Zded8?5checking for new query: numPingsReceived=13, elapsed TxPingTime=6.760345MBɢM})Q U&iQ)U'#QQi]0i]]1i,ۅ?A>!@>@>wٱ> R FAHRS rotation from veh to nav: [[0.884620,0.466276,-0.005907],[-0.452305,0.861057,0.232381],[0.113440,-0.202897,0.972607]]>HN?@w?1xܿǍ?@? e ?ɿ?i>!@I>3g;>lCYNkByNIbDZVDZk1yb>%b==ٔb*}Q-b>9dYd=fFyfEj'Ej>lQ 5r5nb?Q 9r5nV")ndBYpyrQ Ir@nWEIn:in:n5yz]BɮzAx% addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.503492 s, deltaX: -0.300003 m, approachRate: -0.595845 m/s, rangeRepo size: 4 jh!%DNOT Ignoring new targets: 32.69 m.bh)Rh-A;Zh5A;= ProNav: ac range: 32.691940 m, nav range: 30.944208 m, bearing: 339.691033 deg, approach rate: -0.551768 m/s, LOS rate: 0.169170 deg/s, cmd heading: 331.798132 deg, new cmd heading: 332.017127 deg. BhE3;EHeadingCmd: 5.794792 target range: 32.691940 and range: 32.10 m.hEn@hI*hI"hI hIgQfQfQfQdYdYdYjd] @@Zde?颉ɢNh) i)%顙iti?j<aimyii i)m;ImC>imlmd;_>m!@m'>mvh!@ mK6>)m =ImK6imH⋡)?ߠP?3\? mݙ>)m'Im =imK6checking for new query: numPingsReceived=15, elapsed TxPingTime=7.336014 99Gǒ9YzAyU}?UA5 DDAT read: Rx Time:06:06:22.5430 E TRx dataTimestamp_ set to:1761545183.721130G ,DN?A2PDAT read: Bearing 149.1, 10.3 (Local) 6~Local bearing/azimuth received: Bearing 149.1, 10.3 (Local) :DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4 NZ#Rx 16: Read range message, but no direction.yqYuAqRchecking for new query: numPingsReceived=16, elapsed TxPingTime=7.544139Tbjز@b:ӹ@bA)ٱbPEE EEEAEA"EEy:*EE|;:VEAZEAaM@aM@aM@aM@ MAHRS rotation from veh to nav: [[0.882863,0.469568,-0.007648],[-0.455317,0.859833,0.231025],[0.115058,-0.200481,0.972918]]bHj@?e ?S#ݿ?@6?kt?Zɿ$"?ibjز@Ib f;bpCYBy1IiMb@Mb@Mb@ 9RQ?{Gz? rh?Y?y#<C<A\@  A)AYf AbD=VD=N2ymL>%m'=ٔuYQ-u>9qYq=uFy}E}PE}>Q 55Su?Q 95+%)wBY?Q E:yaQ I@[EI;i;45yaBɮAiqiu&?AJiuARiuAjiuZ@buKT&>@kb@doO@Ru{iY?v &?ki?Ziu =biuK6juj#ʘ<@0j$eń @Zu1 ?%tK Կ@?2iuP#:iuA"iu8Jߟ?*iu7ģ1BiuaBiu 럊?iqiuBiu%Aiu@AaAaBiBiBm-IBmBBm8 =BiBiBm`;Bm/$E addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504847 s, deltaX: -0.399998 m, approachRate: -0.792315 m/s, rangeRepo size: 4  Added new target pos. range: 31.499516 m, bearing: 340.357018 deg, lat: 36.779419 deg, lon: -121.859781 deg, deltaT: 1.511361 s, deltaX: -1.192425 m, approachRate: -0.788974 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.50 m.bhRhZh ProNav: ac range: 31.499516 m, nav range: 30.643103 m, bearing: 339.697336 deg, approach rate: 0.000000 m/s, LOS rate: 0.169170 deg/s, cmd heading: 332.017135 deg, new cmd heading: 332.274041 deg. BhHeadingCmd: 5.799276 target range: 31.499516 and range: 31.70 m.h@h*h"h hgff f PBd d djd@3?@Zdz?颕Bɢ) Xi)'iӤij<͡iu= uK>uK!@u-\->u| @ uq=>)uPw=Iuq=qu9+M? a?%O13? u0)>)u -IuPw=iuq=checking for new query: numPingsReceived=17, elapsed TxPingTime=7.778414! E ܪ&A @  @ @ 0@ @ =@ =I i1I1]DDAT read: Rx Time:06:06:23.0429 mTRx dataTimestamp_ set to:1761545184.227256PDAT read: Bearing 148.6, 11.0 (Local) ~Local bearing/azimuth received: Bearing 148.6, 11.0 (Local) DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4 Z#Rx 18: Read range message, but no direction.yaYeAachecking for new query: numPingsReceived=18, elapsed TxPingTime=8.037513yE EE"E"EC:*E3:VE(3ZEBE%;a2E';aJE;a:E;a^AV<AIIO?P,J?A6@6@6$4ٱ6H >AHRS rotation from veh to nav: [[0.880886,0.473194,-0.011302],[-0.458760,0.859407,0.225743],[0.116533,-0.193669,0.974121]]6H 70?@H?u%Q\ݿ B?'? ս?&ȿ`,?i6@I6Bf;6nCYFByJXIhllbDrVDryz=%~=ٔ~2Q-~>9Y=FyEhE> Q 55 #?Q 95 V() BYyQ I%@ _EI ;i ; 5y)ɮ- A)ii]?AJihARihAjiB@bbHv#>@rNS^ @X@RxuH?nzM? =η?ZiPw=biq=jW i<@sx#2x!@ZUd7w ?dԿV^TD|?2i:iHA"iF5䟊?*iv.BiבBiid5ii;Ai@} addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.506126 s, deltaX: -0.200001 m, approachRate: -0.395160 m/s, rangeRepo size: 4  Added new target pos. range: 31.300879 m, bearing: 340.656083 deg, lat: 36.779419 deg, lon: -121.859778 deg, deltaT: 0.506126 s, deltaX: -0.198637 m, approachRate: -0.392466 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.30 m.bhRhZh ProNav: ac range: 31.300879 m, nav range: 30.279081 m, bearing: 340.218770 deg, approach rate: 0.000000 m/s, LOS rate: 0.169170 deg/s, cmd heading: 332.274032 deg, new cmd heading: 332.544445 deg. BhHeadingCmd: 5.803996 target range: 31.300879 and range: 31.50 m.hU@h*h"h hgfffdddjd?@Zd'?ɢ%) 3߾i))iPiVX~j<c0PI>ijQ> @l$>J @ ¸2>)V=I¸2RG?@]r?2f? />)s#IV=i¸2checking for new query: numPingsReceived=19, elapsed TxPingTime=8.340404Im?@i @q@u/@q^AE<IY y I O > DDAT read: Rx Time:06:06:23.5427  TRx dataTimestamp_ set to:1761545184.728815 PDAT read: Bearing 149.3, 11.1 (Local)  ~Local bearing/azimuth received: Bearing 149.3, 11.1 (Local)  DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4  Z#Rx 20: Read range message, but no direction.y Y A  checking for new query: numPingsReceived=20, elapsed TxPingTime=8.537509u ,0?AbE)jE-3rE-+0ER EREPEP"ERƱ:*ERa9:VEPZEPaZ@aZ@aZ@aZ@YYByIiMb@Mb@Mb@ 9-?T㥛 ?y&1|?Y?>y=`;rA ~A)GAY AbDVDfyp>%.=ٔ Q- >9 Y=FyEE>Q 5%5?Q 9%5^*)BY-b>Q E-:y-XQ I-@cEIf:ij; 5y5dBɮ5UA=xEii.?AJiARiAjiyv@bFU>@®} @x9Ȉ@RxO? -?ٖNs:?ZiV=bi¸2ja%8K<@;$0Kv#)jN8 @Z4?`Կx`޽?2i:i_A"iR쟊?*iQ*Bi2Bii7ģ1iaBiAi-@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.501559 s, deltaX: -0.299999 m, approachRate: -0.598134 m/s, rangeRepo size: 4 B_>BCBIBBBBBB`;B$EByByByB}8 =B}8 =C}o45 Added new target pos. range: 31.002777 m, bearing: 341.022300 deg, lat: 36.779419 deg, lon: -121.859776 deg, deltaT: 0.501559 s, deltaX: -0.298101 m, approachRate: -0.594350 m/s, posRepo size: 4 jh1=DNOT Ignoring new targets: 31.00 m.bh9Rh9Zh9m ProNav: ac range: 31.002777 m, nav range: 29.999058 m, bearing: 340.509244 deg, approach rate: 0.000000 m/s, LOS rate: 0.169170 deg/s, cmd heading: 332.544453 deg, new cmd heading: 332.782760 deg. BhquHeadingCmd: 5.808155 target range: 31.002777 and range: 31.20 m.huhܹ@hy*hy"hy hygyfyffBԉdddjd@33?@Zdf?ɢq|)T âi)+aieim07󾉧mRjiK5^:>K @%/>Q @ t;?>)|=It;?Mq/?y'4d?_0? O4>)/I|=it;?Mchecking for new query: numPingsReceived=21, elapsed TxPingTime=8.789630Q@Q @Q@U 0@QԱ ^A] R5<Aa zAe gAIY I O >,5L?A$vDDAT read: Rx Time:06:06:24.0426 vTRx dataTimestamp_ set to:1761545185.231432zPDAT read: Bearing 149.4, 11.2 (Local) z~Local bearing/azimuth received: Bearing 149.4, 11.2 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4  Z#Rx 22: Read range message, but no direction.ytYttchecking for new query: numPingsReceived=22, elapsed TxPingTime=9.036766EE EEEE$EA"EE:*EE*:VEE4ZEABEEH;aU2EEI;aUJEEe;aU:EEf;aUH@@(ٱ1D AHRS rotation from veh to nav: [[0.880532,0.473827,-0.012281],[-0.459727,0.860063,0.221229],[0.115387,-0.189154,0.975145]]HQ-?/S?&*lݿ@?>Q?@?@/6ȿ@b4?iH@IT/g;YByIybD%VD%y=%/=ٔ!;Q->9Y=FyEE>Q 55?Q 95h,)BYyٲQ I@gEId:i[:"5yɮmAitivN?AJitRitjiv)@bv,jA>@ o @|F#OM@Rv`xY::?Y40Y? &K{?Ziv|=bivt;?jvjnA<@E DAT read: 06:06:24.0426 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.46,-2.975, 1.532,-3.053, 3.007, PHS= 0.403,-1.430, 0.179, RAW= 143.6, 9.8, CAL= 143.1, 10.7, ROT= 6.9, -10.7  Ygot valid direction response: 06:06:24.0426 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.46,-2.975, 1.532,-3.053, 3.007, PHS= 0.403,-1.430, 0.179, RAW= 143.6, 9.8, CAL= 143.1, 10.7, ROT= 6.9, -10.7  Z#Rx 23: Read direction message, but no range. \direction in FSK: [0.975496,0.118048,0.185667] yhLDC7?9 d8? &K{? );IV>i= K7>g @ @ )Ϣ=I,S?L"7?VWj? >)/IϢ=iE checking for new query: numPingsReceived=23, elapsed TxPingTime=9.3381174,ܛf?AlYrFByrIIv<)vp;iMb@Mb@Mb@ 9S?v/?~jtY/>yx=DA )YAbDVDN2y>%p=ٔQ-?9Y=FyEE?Q 55M?Q 95R-)BY>Q E:ynQ I@iEI˜;i;*$5ygBɮA yEB*** querying acoustic contact ***i ijhuDNOT Ignoring new targets: 31.00 m.bhqRhúZhúDDAT read: Rx Time:06:06:24.5424 TRx dataTimestamp_ set to:1761545185.733817 PDAT read: Bearing 149.9, 11.1 (Local) ~Local bearing/azimuth received: Bearing 149.9, 11.1 (Local) -DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 UDAT read: 06:06:24.5424 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.17, 1.396,-0.377, 1.318, 1.112, PHS= 0.386,-1.444, 0.162, RAW= 143.6, 10.4, CAL= 143.1, 11.3, ROT= 6.9, -11.3 ]Ygot valid direction response: 06:06:24.5424 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.17, 1.396,-0.377, 1.318, 1.112, PHS= 0.386,-1.444, 0.162, RAW= 143.6, 10.4, CAL= 143.1, 11.3, ROT= 6.9, -11.3 ]T#Rx 24: Read range and direction messages.m\direction in FSK: [0.973512,0.117808,0.195946]mFpublishing direction and range infoyn-{'?-_(?>x_?Y3A )Iˡ>iԸT%>9> I>)II&M?)?bo? ProNav: ac range: 31.002634 m, nav range: 29.601299 m, bearing: 340.699094 deg, approach rate: -0.424920 m/s, LOS rate: -0.085577 deg/s, cmd heading: 333.026801 deg, new cmd heading: 332.936532 deg. BhjHeadingCmd: 5.810839 target range: 31.002634 and range: 31.20 m.hd@h*h"h hgfffˁB p>)ؐ9IiIchecking for new query: numPingsReceived=24, elapsed TxPingTime=9.556163dddjd`f>@Zd?ɢ`%]) .i)&,AiEUɿiMd񾉧M{iBYB]IB]LBB]9 =BYBYB]J`;B]#Ei ^A ͢!<Ia Iq O} > checking for new query: numPingsReceived=24, elapsed TxPingTime=9.784219 ,.t?A23@2@2)ٱ2t< :AHRS rotation from veh to nav: [[0.881760,0.471498,-0.013737],[-0.458053,0.862844,0.213745],[0.112633,-0.182179,0.976793]]2H a7?-?#"Pݿk?[?ռ?QǿA?i23@I2 g;2lCY eBy 'IbD%VD%y-"#>%5S=ٔ58;Q-5>999YA=EFyEEE1;EE>IQ 5U5MȖ?Q 9U5M].)MBYYy]lQ I]@MlEIM;iMn;M%5yaɮeAii1i5n?AJi5ARi5Aji5Ͼ@b5 =@d @sk:@R5n-{'?-_(?>x_?Zi5Ϣ=bi5Ij5<;@ֺ"\E+!@Z5)??SZӿn?2i5:i5A"i5R?*i5K#"Bi5Bi1i5Q*i5בBi5Ai5n@ addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.502385 s, deltaX: -0.300001 m, approachRate: -0.597154 m/s, rangeRepo size: 4  Added new target pos. range: 30.704338 m, bearing: 341.642318 deg, lat: 36.779419 deg, lon: -121.859773 deg, deltaT: 0.502385 s, deltaX: -0.298296 m, approachRate: -0.593760 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.70 m.bhRhZh ProNav: ac range: 30.704338 m, nav range: 29.374403 m, bearing: 340.967680 deg, approach rate: 0.000000 m/s, LOS rate: -0.085577 deg/s, cmd heading: 332.936533 deg, new cmd heading: 332.843031 deg. BhHeadingCmd: 5.809207 target range: 30.704338 and range: 30.90 m.h@h*h"h hgfffdddjdZd}?-Bɢ-P)1 5i1)5',99i=Ļi=N򾉧EHix_?Y      ) <I >i ~  +>  @  Q @ ) |=I    ?$ O?? i>) "9I |=i   Echecking for new query: numPingsReceived=25, elapsed TxPingTime=10.077175E} E}{E}%Ey"E}:*E}5":VE} 4ZEyBE}4;a2E}6;aJE}&,o?A2Բ@2[Ϲ@2lٱ2iM8 :AHRS rotation from veh to nav: [[0.883103,0.468955,-0.014517],[-0.455969,0.865117,0.208962],[0.110553,-0.177915,0.977816]]2H@`B?]?W.ݿ` ?@D?`6M?ƿDJ?i2Բ@I2f;2pCYBnByB2IHbDNVDNyVh(=%VB=ٔZ;Q-Z>9XY\=^Fy^E^;E^>`Q 5f5bז?Q 9f5bz/)bBYh]checking for new query: numPingsReceived=25, elapsed TxPingTime=10.288056y]=iQ I]@boEIb%x_?Zi=|=bi9j=у5;@ÙЌ}"D6ز !@Z= v%?^BwӿFTj?2i=k:i=A"i=v ?*i=U%Bi=Bi=?i=S\(i=Bi=Ai=g@ addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.503962 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 30.704338 m, bearing: 341.535149 deg, lat: 36.779421 deg, lon: -121.859772 deg, deltaT: 0.503962 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.70 m.bhRhZh% ProNav: ac range: 30.704338 m, nav range: 29.325150 m, bearing: 341.175685 deg, approach rate: 0.000000 m/s, LOS rate: -0.085577 deg/s, cmd heading: 332.843041 deg, new cmd heading: 332.719102 deg. Bh!-HeadingCmd: 5.807044 target range: 30.704338 and range: 30.90 m.h-Nӹ@h)*h)"h) h1g1f1f1f9d9d9dAjdAZdE"?ɢD) i)T-i9eͻi%󾉧%i<%އkBU CBU fIBU BBU : =BQ BU ODBU `;BU #Ey A II)O=>g-,p@?AYByQI  iMb@Mb@Mb@ 9K7?ףp= ?QY>y>AE@ QA)5@YAbDVDk1y=%"=ٔQ->9Y=FyEE>Q 55閊?Q 95*0)BYR>Q E :y Q I @rEIl0;i.;)5yrBɮSAEE addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.503148 s, deltaX: -0.400000 m, approachRate: -0.794994 m/s, rangeRepo size: 4 jhAMDNOT Ignoring new targets: 30.70 m.bhIRhMbZhUbYe ProNav: ac range: 30.704338 m, nav range: 29.115559 m, bearing: 341.089452 deg, approach rate: -0.478141 m/s, LOS rate: -0.198140 deg/s, cmd heading: 332.719114 deg, new cmd heading: 332.458555 deg. BhemHeadingCmd: 5.802496 target range: 30.704338 and range: 30.50 m.hm @hi*hi"hq hqgqfqchecking for new query: numPingsReceived=26, elapsed TxPingTime=10.792249ffBdddjd>@Zd,?颽Bɢ`:) i9 = v>>= K!@= K6>= | @ = aF>)= Pw=I= aF9 9 =  L6?9i6?o/? = W>)= O6I= Pw=i= aF9 9  checking for new query: numPingsReceived=27, elapsed TxPingTime=11.060800E  E E #E "E :*E VE 3ZE BE a 2E 5;a JE k;a :E k;a ^A k<A II)O5><6,)&?A(6@6@6:ٽٱ6J/ >AHRS rotation from veh to nav: [[0.886025,0.463377,-0.015558],[-0.451406,0.869821,0.199110],[0.105795,-0.169393,0.979854]]6HPZ?`?܏ܿ@?l|?`g?ſ Z?i6@I6yof;6nCYJByJwIbDVVDVy^;>%b1=ٔb)9dYd=fFyfEjc@<Ej>lQ 5r5nA?Q 9r5n0)nBYpyrQ Iv@nuEInl:in:n+5y5vBɮ5}A5Eiiծ?AJiARiAjis@b9@;b=@oƴ@/@R]A_:?㭡9B?M?ZiPw=biaFjhP_;@2wδ"\ @ZpWW?Կ؝2?2i:iA"iD?*i!Z(Bi.BiD?ii.BiAiv@ addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504119 s, deltaX: -0.200001 m, approachRate: -0.396733 m/s, rangeRepo size: 4  Added new target pos. range: 30.108013 m, bearing: 341.004983 deg, lat: 36.779421 deg, lon: -121.859772 deg, deltaT: 1.007267 s, deltaX: -0.596325 m, approachRate: -0.592023 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.11 m.bhRhZhE ProNav: ac range: 30.108013 m, nav range: 28.948162 m, bearing: 341.023321 deg, approach rate: 0.000000 m/s, LOS rate: -0.198140 deg/s, cmd heading: 332.458556 deg, new cmd heading: 332.172017 deg. BhimHeadingCmd: 5.797495 target range: 30.108013 and range: 30.30 m.hm@hq*hq"hq hqgqfqfyfydydydjdL>@checking for new query: numPingsReceived=27, elapsed TxPingTime=11.299385Zdj?ԉ颽Bɢ*) 3im m 333>m !@m q=>m !@ m 4QO>)m 4Q=Im 4QOi i m j?9*.3?L #? m >)m =Im 4Q=im 4QOi i  checking for new query: numPingsReceived=28, elapsed TxPingTime=11.586284E  E qE (E "E :*E $ :VE c44ZE a @a @a @a @A I I O >ۢ<,?AB=@B @BqҽٱBx, ^AHRS rotation from veh to nav: [[0.887658,0.460272,-0.014584],[-0.448934,0.871977,0.195229],[0.102575,-0.166750,0.980649]]BHg?u?ݍTܿ`BBIBЁBB; =BBB_;B#EiMb@Mb@Mb@ 9x&?ʡE?I +Y7>y-2>94A/@ )Y3AbDVDJyU(=%U"=ٔU;Q-]>9YYY=]Fy]Ee;Ee>aQ 55 ?Q 9551)BY4>Q E:ylQ I@yEI:i:#.5yɮ(Ai!i%?AJi%zARi%zAji%7x@b%oC2 =@CՊ@ݷ^@R%u+/?^dW?o?Zi%4Q=bi%4QOj%.U;@_"t\f @Z%̄_ ?m-<5ӿr"2?2i%:i%xA"i% ?*i%h%Bi%lBi!i%h%i%lBi%Ai%R@U addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.504766 s, deltaX: -0.299999 m, approachRate: -0.594333 m/s, rangeRepo size: 4  Added new target pos. range: 29.809893 m, bearing: 341.034479 deg, lat: 36.779421 deg, lon: -121.859771 deg, deltaT: 0.504766 s, deltaX: -0.298120 m, approachRate: -0.590611 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.81 m.bhRhZh ProNav: ac range: 29.809893 m, nav range: 28.704657 m, bearing: 341.098173 deg, approach rate: 0.000000 m/s, LOS rate: -0.198140 deg/s, cmd heading: 332.172016 deg, new cmd heading: 331.872607 deg. BhHeadingCmd: 5.792270 target range: 29.809893 and range: 30.00 m.hFZ@h*h"h hgfffBdddjd>@Zd6q?Echecking for new query: numPingsReceived=28, elapsed TxPingTime=11.800237}Bɢ}?T%)y }C,?A20@2f+@2x)˽ٱ2) :AHRS rotation from veh to nav: [[0.889254,0.457213,-0.013522],[-0.446563,0.874181,0.190758],[0.099038,-0.163594,0.981544]]2H@t?B?M|ܿK?j?Z?Ŀh?i20@I2e;2oCYFByFIIJ=)JiV/V(>Vp!@V+H>V!@ V^ Z>)V=IV^ ZTTV2SPu?eAt?4? V~>)V1GIV=iV^ ZTT%checking for new query: numPingsReceived=29, elapsed TxPingTime=12.069128bD5VD5 yE<%Es=ٔM^-A > BG 5 99 Y= vAA I I O >I,~)?A^F@^A@^ýٱ^e(  AHRS rotation from veh to nav: [[0.890786,0.454288,-0.011043],[-0.444301,0.875790,0.188648],[0.095372,-0.163139,0.981983]]^HR? ?Ν noܿx?%?@Oj?`Ŀfl?i^F@I^e;\9YeByeIiMb@Mb@Mb@ 9:v?/$?)\(Y>y,>GaIA  A)@YGAbDVD1y-<%-+=ٔ-;Q-->91Y1=5Fy5E=(;E=>UDDAT read: Rx Time:06:06:27.5416 UTRx dataTimestamp_ set to:1761545188.756812]PDAT read: Bearing 150.0, 8.6 (Local) m~Local bearing/azimuth received: Bearing 150.0, 8.6 (Local) }DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.3 DAT read: 06:06:27.5416 LVL= 30528, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.28, 1.693,-0.078, 1.682, 1.431, PHS= 0.365,-1.464, 0.207, RAW= 145.5, 10.2, CAL= 145.1, 11.1, ROT= 4.9, -11.1 Ygot valid direction response: 06:06:27.5416 LVL= 30528, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.28, 1.693,-0.078, 1.682, 1.431, PHS= 0.365,-1.464, 0.207, RAW= 145.5, 10.2, CAL= 145.1, 11.1, ROT= 4.9, -11.1 T#Rx 30: Read range and direction messages.\direction in FSK: [0.977706,0.083819,0.192522]Fpublishing direction and range infoAQ 55E*?Q 95E2yQU`a)^I?݆^q)u?M?YUAQU@wQQ Q)QIUH>iUZdUS>Uj"@UK6>U "@ UaF>)U%=IUaFQQUq̰k?9~%?kj? Uw!>)Ub6IU%=iUaFQQchecking for new query: numPingsReceived=30, elapsed TxPingTime=12.582710)EBY%l>Q E%:y%*۽Q I%@EEIEl:@N?#YV@ZUd(?٫aԿL'1?2iU:iUcA"iUMm?*iUB-BiUBiU2?iU'iUlBiUAiUR@ addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.503951 s, deltaX: -0.400000 m, approachRate: -0.793727 m/s, rangeRepo size: 4  Added new target pos. range: 29.412428 m, bearing: 340.302274 deg, lat: 36.779420 deg, lon: -121.859771 deg, deltaT: 0.503951 s, deltaX: -0.397465 m, approachRate: -0.788697 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.41 m.bhRhZh ProNav: ac range: 29.412428 m, nav range: 28.330236 m, bearing: 340.767883 deg, approach rate: 0.000000 m/s, LOS rate: -0.198140 deg/s, cmd heading: 331.662156 deg, new cmd heading: 331.360490 deg. Bh HeadingCmd: 5.783331 target range: 29.412428 and range: 29.60 m.h  @h *h "h h1g1f1f9f=ǁBd9d9dAjdE=@ZdEi?BɢS#) =i)B-i*iPl< ^8=I  @IBUZ>BQBUIBUBBQBQBQBU_;BU#Eԉ@ @@/@@=@=^A r =Թ  checking for new query: numPingsReceived=30, elapsed TxPingTime=12.808741A I I O >P,(GC?A6][@6.V@69ٱ6& >AHRS rotation from veh to nav: [[0.892217,0.451520,-0.008849],[-0.442232,0.877499,0.185546],[0.091543,-0.161634,0.982596]]6H ?@?`Mܿ@x??]o?iĿlq?i6][@I6f;6qCԙYuByuIbDVDk1yU%B=ٔk9Y=FyEP;E>Q 555:?Q 9=52)BYIyM1սQ IU@EI;i;35yu}Bɮ}TAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 29.41 m.bhRhZh ProNav: ac range: 29.412428 m, nav range: 28.141851 m, bearing: 340.677429 deg, approach rate: -0.465559 m/s, LOS rate: -0.225038 deg/s, cmd heading: 331.360480 deg, new cmd heading: 331.087302 deg. BhqHeadingCmd: 5.778563 target range: 29.412428 and range: 29.60 m.h@h*h"h hgff f d d djdZd Ŏ?eDDAT read: Rx Time:06:06:28.0416 mTRx dataTimestamp_ set to:1761545189.260763uPDAT read: Bearing 149.6, 8.3 (Local) u~Local bearing/azimuth received: Bearing 149.6, 8.3 (Local) DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.3 DAT read: 06:06:28.0416 LVL= 29904, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.05, 2.937, 1.190, 2.931, 2.671, PHS= 0.367,-1.436, 0.216, RAW= 145.7, 9.9, CAL= 145.3, 10.8, ROT= 4.7, -10.8 Ygot valid direction response: 06:06:28.0416 LVL= 29904, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.05, 2.937, 1.190, 2.931, 2.671, PHS= 0.367,-1.436, 0.216, RAW= 145.7, 9.9, CAL= 145.3, 10.8, ROT= 4.7, -10.8 T#Rx 31: Read range and direction messages.\direction in FSK: [0.978984,0.080487,0.187381]Fpublishing direction and range infoyimUS?$FXΚ?0i?Yiimtii i)iImm>imηm/]>m"@m;0>m:M"@ mA>)m=ImAiim^8j?"arP?+i? mf>)m|0Im=imAii%checking for new query: numPingsReceived=31, elapsed TxPingTime=13.084522-Bɢ-`%)1 5F xxzjAxixxi~3C~hiA)| |I|YY By I AAiMb@Mb@Mb@ 91Zd? rh?QY">yC >u A@  A)@YQAbDVDy%.=ٔi9Y=FyEm;E>Q 55L?Q 953)zBY>Q E:y6Q I@EI:i:55yɮ]AiiWP?AJiRiji @bX<@>#G@a` @RUS?$FXΚ?0i?Zi=biAjqu:@֭f-# +@Z@q I#?ԿC?2io:i@A"i?*i/BiBii!Z(i.BiAiK0@ addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.503951 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԑ Added new target pos. range: 29.412449 m, bearing: 340.298907 deg, lat: 36.779420 deg, lon: -121.859772 deg, deltaT: 0.503951 s, deltaX: 0.000021 m, approachRate: 0.000042 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.41 m.bhRhZh ProNav: ac range: 29.412449 m, nav range: 27.951422 m, bearing: 340.531461 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 331.087300 deg, new cmd heading: 330.767156 deg. BhHeadingCmd: 5.772976 target range: 29.412449 and range: 29.60 m.h8@h*h"h hgfffBdd!d)jd)Zd-@j?}Bɢ} j')y }iC(\>N#@X8>4"@ +H>)Q =I+HC=*@??D;Mj? L>)8IQ =i+Hchecking for new query: numPingsReceived=32, elapsed TxPingTime=13.581045i%Hi%-o<-B=j=I-8@I)bEjE#4rE/E  E lE $E "E O:*E :VE 4ZE a@a@a%@a%@>@ @@/@^Au~H=Bu =Aq By By By By By By By B} _;B} #EB5ɺCB5ɺCB1B5; =B5; =C5`5A I I O > _,~?Achecking for new query: numPingsReceived=32, elapsed TxPingTime=13.816198Y=By=}IbDMVDM:y%L=ٔQ->9Y=FyEE>Q 551[?Q 95p4)qBYyQ I@EIy:i:T75yBɮ5A5EiiZp?AJiARiAjiѽ@bh{<@!2'@9JH@Re`gN?zSd?mVѫ?ZiQ =bi+Hjǩe0a:@?]=V#dq@Z@Ok?k@տS*?2i:i A"in& ?*iF2BiBiiB-iBiAi@ addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.504090 s, deltaX: -0.300001 m, approachRate: -0.595134 m/s, rangeRepo size: 4  Added new target pos. range: 29.114372 m, bearing: 339.871546 deg, lat: 36.779420 deg, lon: -121.859774 deg, deltaT: 0.504090 s, deltaX: -0.298077 m, approachRate: -0.591316 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.11 m.bhRhZh- ProNav: ac range: 29.114372 m, nav range: 27.830862 m, bearing: 340.128579 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 330.767156 deg, new cmd heading: 330.521969 deg. Bh)5HeadingCmd: 5.768697 target range: 29.114372 and range: 29.30 m.h5*@h1*h9"h9 h9g9f9fAfAdAdAdAjdML=@Zdm?颽BɢC*)  ipGa>_#@9>N#@ %K>)ԇ=I%K 5.*?E#?G? >)9Iԇ=i%Km checking for new query: numPingsReceived=33, elapsed TxPingTime=14.091451^A dO=E5  E5 oE5 E1 "E5 :*E5 :VE5 3ZE1 BE5 ;aE 2E5 ;aE JE5 N;aM :E5 N;aM Y A I I O >e,Ș?ABt_@BEZ@BٱBG,. NAHRS rotation from veh to nav: [[0.893412,0.449205,0.005469],[-0.442268,0.877348,0.186170],[0.078830,-0.168745,0.982502]]BH@Ԗ?@ȿ?fv?Nܿ@<? j?:.? pſp?iBt_@IB^e;BlCY}By}dIbDVD0y{н%M=ٔz9Y=FyEE>Q 55i?Q 95H5)gBYyq9Q I@EI;i:95yɮNA1ii3?AJiRijiі@b~h ,z<@;gC? @RL?T@@?g4L?Ziԇ=bi%Kj0B(rR:@kx?#Q@Z+?ˮտdx}n?2i:iA"i?*i,8BiBin& ?i/iBiAi@ addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.503885 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.114372 m, bearing: 339.458015 deg, lat: 36.779422 deg, lon: -121.859775 deg, deltaT: 0.503885 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.11 m.bhRhZh ProNav: ac range: 29.114372 m, nav range: 27.882248 m, bearing: 340.023958 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 330.521979 deg, new cmd heading: 330.255605 deg. BhHeadingCmd: 5.764048 target range: 29.114372 and range: 29.30 m.hs@h*h"h hgfffd!d!d!jd!Zd% P?颕Bɢ6)  i)\,顙i5i9checking for new query: numPingsReceived=33, elapsed TxPingTime=14.320278rr<=Is@Ii@Q @i@m 0@q^Anp=ԙA I I1 O] > DDAT read: Rx Time:06:06:29.5411  TRx dataTimestamp_ set to:1761545190.772615 PDAT read: Bearing 150.8, 6.4 (Local)  ~Local bearing/azimuth received: Bearing 150.8, 6.4 (Local)  DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.3  DAT read: 06:06:29.5411 LVL= 32320, 32753, 32754, 32755, AGC= 61, IDX= 495, 0.34, 1.362,-0.392, 1.382, 1.148, PHS= 0.316,-1.495, 0.191, RAW= 146.5, 11.3, CAL= 146.1, 12.3, ROT= 3.9, -12.3  Ygot valid direction response: 06:06:29.5411 LVL= 32320, 32753, 32754, 32755, AGC= 61, IDX= 495, 0.34, 1.362,-0.392, 1.382, 1.148, PHS= 0.316,-1.495, 0.191, RAW= 146.5, 11.3, CAL= 146.1, 12.3, ROT= 3.9, -12.3  T#Rx 34: Read range and direction messages. \direction in FSK: [0.974783,0.066454,0.213030] Fpublishing direction and range infoy  "l1?!?AzUmD?Y fA @~ ) =I ʡ>i )\ C> I> 1#@ [>) 'g=I [ {*q?(r?3d? l>) II 'g=i [ l,w?AEr ErwEr"Ep"Er1:*Er:VEr(3ZEpaz@az@az@az@zchecking for new query: numPingsReceived=34, elapsed TxPingTime=14.591035%R@%L@%wٱ%<3 5AHRS rotation from veh to nav: [[0.892896,0.450138,0.010640],[-0.443831,0.875913,0.189183],[0.075839,-0.173643,0.981884]]%H??Mʅ?gܿ {?'7?@/j?@9ƿ`k?i%R@I%Pe;%nCYmBymTIIu=)up<}=}p=iMb@Mb@Mb@ 9I +?{Gz?V-Y9>yף=mA@ A)@Y A  bDVDky%9)Y)=-Fy-EB9B9B=IB=ځBB=< =B9B9B=_;B=#EQUiEU>YQ 5e5]{?Q 9e5]7)]_BYmh>Q Em:ymQ I@]EI];i];];5yBɮAEiir?AJiARiAjiR@bч Y;@Twm?b@R"l1?!?AzUmD?Zi'g=bi[jekBj;9@=#V@Z.?ю^bտ.6a?2i:iA"i.P?*i2BiBii2iiAi1Ƚ@] addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.503877 s, deltaX: -0.500000 m, approachRate: -0.992306 m/s, rangeRepo size: 4 - Added new target pos. range: 28.617538 m, bearing: 339.685362 deg, lat: 36.779422 deg, lon: -121.859776 deg, deltaT: 0.503877 s, deltaX: -0.496834 m, approachRate: -0.986022 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 28.62 m.bh)Rh1Zh1 ProNav: ac range: 28.617538 m, nav range: 27.696211 m, bearing: 339.803371 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 330.255602 deg, new cmd heading: 329.945507 deg. BhHeadingCmd: 5.758636 target range: 28.617538 and range: 28.80 m.hF@h*h"h hgfffQBdddjd<@Zd`I?MBɢM=)I UX|iQ)U8-QQiUs%yiHt<=IF@I%checking for new query: numPingsReceived=34, elapsed TxPingTime=14.824201@ @@/@Ա ^AY IIO>'t,m?ADDAT read: Rx Time:06:06:30.0411 TRx dataTimestamp_ set to:1761545191.276818PDAT read: Bearing 149.7, 6.6 (Local) ~Local bearing/azimuth received: Bearing 149.7, 6.6 (Local) "DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4 6DAT read: 06:06:30.0411 LVL= 29632, 32753, 32754, 32755, AGC= 60, IDX= 511, 0.06, 3.009, 1.268, 3.024, 2.766, PHS= 0.345,-1.453, 0.214, RAW= 146.2, 10.3, CAL= 145.9, 11.3, ROT= 4.1, -11.3 :Ygot valid direction response: 06:06:30.0411 LVL= 29632, 32753, 32754, 32755, AGC= 60, IDX= 511, 0.06, 3.009, 1.268, 3.024, 2.766, PHS= 0.345,-1.453, 0.214, RAW= 146.2, 10.3, CAL= 145.9, 11.3, ROT= 4.1, -11.3 :T#Rx 35: Read range and direction messages.>\direction in FSK: [0.978105,0.070111,0.195946]BFpublishing direction and range infoyUXL?4?>x_?Ys )<Iף>i"[>N#@X8>"@ I>)C=IIݭS))Hf8IC=iIchecking for new query: numPingsReceived=35, elapsed TxPingTime=15.108346QE E}E#E"EC:*Ek&:VE3ZEBE%;a2E&;aJE;a:E€;a?8@3@`ٱ6 AHRS rotation from veh to nav: [[0.891670,0.452430,0.015237],[-0.446732,0.874001,0.191187],[0.073181,-0.177283,0.981435]]H ? ?4?Aܿ@?x??@5ƿg?i?8@I?Pe;Y%By%KIbDVD:2ym%-+=ٔ5;Q-5>91Y1=5Fy=E=ػE=>AQ 5M5EQ?Q 9M5E9)EVBYQyUsQ IU@EEIEB:iE:E%=5yYɮ]AYiic?AJiRiji@b;Wz;@0E$ @ +}n@RUXL?4?>x_?ZiC=biIj99@QƆ[#o@Z_?{v8?տ?2i:iA"i:?*i}97BiBi?iF2iBiAi ѽ@ addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.504203 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 28.617538 m, bearing: 339.546996 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.504203 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 28.62 m.bh)Rh)Zh)] ProNav: ac range: 28.617538 m, nav range: 27.576603 m, bearing: 339.865287 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 329.945511 deg, new cmd heading: 329.625463 deg. BhaeHeadingCmd: 5.753050 target range: 28.617538 and range: 28.80 m.he@hi*hi"hi higififqfqdqdqdyyjdyZd??-Bɢ-B)) -i))5ŀ-11i5i]]b~v<]5 =I]@Iai@ @@0@@>@>ԩchecking for new query: numPingsReceived=35, elapsed TxPingTime=15.329071 ^A [=I I1 OU >~z,?ADv@vq@vđٱv; -AHRS rotation from veh to nav: [[0.890182,0.455185,0.019561],[-0.450021,0.871758,0.193698],[0.071116,-0.181229,0.980866]]vH_|?`!?@?#ܿq??4?2ǿAc?iv@Ivhe;vlCYEtByE9IiMb@Mb@Mb@ 9V-?/$?{GzY|>y<#Az@ A)@YAbDVD0y%I=DDAT read: Rx Time:06:06:30.5409 TRx dataTimestamp_ set to:1761545191.780782PDAT read: Bearing 150.0, 6.4 (Local) ~Local bearing/azimuth received: Bearing 150.0, 6.4 (Local) %DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 MDAT read: 06:06:30.5409 LVL= 30528, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.20, 0.253,-1.478, 0.265, 0.023, PHS= 0.332,-1.456, 0.198, RAW= 146.1, 10.7, CAL= 145.8, 11.7, ROT= 4.2, -11.7 UYgot valid direction response: 06:06:30.5409 LVL= 30528, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.20, 0.253,-1.478, 0.265, 0.023, PHS= 0.332,-1.456, 0.198, RAW= 146.1, 10.7, CAL= 145.8, 11.7, ROT= 4.2, -11.7 UT#Rx 36: Read range and direction messages.]\direction in FSK: [0.976593,0.071717,0.202787]]Fpublishing direction and range infoy.7%@@??"e\? ?YA@w )>I>i5^J>1#@t;?>4"@ Q>)Q =IQ8?_9?_U? I>)|@IQ =iQ}checking for new query: numPingsReceived=36, elapsed TxPingTime=15.596273ٔ;Q->9Y=FyE E>Q 55[?Q 95m;)UBYD?Q E:yQ I@EI:i:>5yBɮAEu EuvEu$Eq"Eu:*Eu:VEu4ZEqa}@a@a@a@ԩiiU?AJiARiAji @b?|;@m?@I_ p@R.7%@@??"e\? ?ZiQ =biQj1-9@S #LB@Z Sl?XտM%ګW?2i:i?A"iY?*is36BiBiY?is36ii Ai @ addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503964 s, deltaX: -0.299999 m, approachRate: -0.595279 m/s, rangeRepo size: 4   Added new target pos. range: 28.319439 m, bearing: 339.557467 deg, lat: 36.779423 deg, lon: -121.859778 deg, deltaT: 0.503964 s, deltaX: -0.298100 m, approachRate: -0.591510 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 28.32 m.bh RhZh ProNav: ac range: 28.319439 m, nav range: 27.380520 m, bearing: 339.557527 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 329.625476 deg, new cmd heading: 329.309513 deg. BhHeadingCmd: 5.747535 target range: 28.319439 and range: 28.50 m.h@h*h"h hgfffBAAB[>BBIBBBBBB_;B#Edddjd<@ZdZ?EBɢE6J)I M(ݽiI)MR-IIiUiU` Ux<]=I}@Iy@@ @@0@ checking for new query: numPingsReceived=36, elapsed TxPingTime=15.832375 ^A5 i=A9 zA= dAI I O >`,u?A2@2@2ٱ2Ph?8 >AHRS rotation from veh to nav: [[0.888442,0.458361,0.024026],[-0.453753,0.869216,0.196398],[0.069137,-0.185390,0.980230]]2Hn?U?T?I ݿ?#??ܺǿ ^?i2@I2R!e;2pCYFrByF6I llprAbD~VD~y $%R=ٔ;Q->9!Y!=-Fy-E-5E5>IQ 55M?Q 95M=)MSBYyEQ I@MEIM~.11i5i=ͦ=Qz<==I=@IaDDAT read: Rx Time:06:06:31.0408 TRx dataTimestamp_ set to:1761545192.284835PDAT read: Bearing 149.4, 6.5 (Local) ~Local bearing/azimuth received: Bearing 149.4, 6.5 (Local) DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.4 DAT read: 06:06:31.0408 LVL= 29280, 32753, 32434, 32755, AGC= 61, IDX= 508, 0.23,-2.242, 2.272,-2.239,-2.495, PHS= 0.355,-1.472, 0.212, RAW= 146.0, 10.3, CAL= 145.6, 11.2, ROT= 4.4, -11.2 Ygot valid direction response: 06:06:31.0408 LVL= 29280, 32753, 32434, 32755, AGC= 61, IDX= 508, 0.23,-2.242, 2.272,-2.239,-2.495, PHS= 0.355,-1.472, 0.212, RAW= 146.0, 10.3, CAL= 145.6, 11.2, ROT= 4.4, -11.2  T#Rx 37: Read range and direction messages.\direction in FSK: [0.978064,0.075258,0.194234]Fpublishing direction and range infoyLL?H؈D?mVѫ?Y3A`r~ )=Iµ>ijY>e#@X8>"@ +H>)nF=I+HVUN? ?@$? >)/*8InF=i+Hchecking for new query: numPingsReceived=37, elapsed TxPingTime=16.122335?@ @@4@E- E-E)E)"E-:*E-P:VE)ZE)BE-;a=2E-;a=JE-(;a=:E-(;a= ^A Ď=I I O >U checking for new query: numPingsReceived=37, elapsed TxPingTime=16.3360770,W"?A2Ҳ@2̹@2Tٱ2OB >AHRS rotation from veh to nav: [[0.886398,0.462086,0.027852],[-0.458004,0.866638,0.197918],[0.067317,-0.188190,0.979823]]2H^]?@В???Oݿ`?\U?;? ȿZ?i2Ҳ@I2e;0YFlByF0IhbDUVDUN2ye̼%eE=ٔeQ;Q-e>9iYi=mFymEun;Eu>Q 55J?Q 95?)QBYyQ I@EIP;i0;kB5yBɮAEii:?AJiARiAjiDt@b_ޙ;@;;@2@RLL?H؈D?mVѫ?ZinF=bi+HjW|9@Ҙn#gP@ZH?(Oֿ?8?2it:iA"imǂ)?*i 'z?BiBi?i}97iBiOAij@ addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.504053 s, deltaX: -0.100000 m, approachRate: -0.198393 m/s, rangeRepo size: 4  Added new target pos. range: 28.220089 m, bearing: 339.216377 deg, lat: 36.779423 deg, lon: -121.859778 deg, deltaT: 0.504053 s, deltaX: -0.099350 m, approachRate: -0.197102 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.22 m.bhRhMZhI ProNav: ac range: 28.220089 m, nav range: 27.038910 m, bearing: 339.616063 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.415789 deg, new cmd heading: 329.535034 deg. BhHeadingCmd: 5.751472 target range: 28.220089 and range: 28.40 m.h5 @h9*hA"hA hAgIfyffdddjd`ff<@Zd B?MBɢM>TO)Q UiQ)]{.YYi]ib{<~Do=I @II))DDAT read: Rx Time:06:06:31.5406 TRx dataTimestamp_ set to:1761545192.789856PDAT read: Bearing 149.6, 6.5 (Local) ~Local bearing/azimuth received: Bearing 149.6, 6.5 (Local) DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 DAT read: 06:06:31.5406 LVL= 29136, 31329, 31538, 32755, AGC= 62, IDX= 506,-0.18, 1.090,-0.679, 1.084, 0.843, PHS= 0.349,-1.477, 0.197, RAW= 145.7, 10.6, CAL= 145.3, 11.6, ROT= 4.7, -11.6 MYgot valid direction response: 06:06:31.5406 LVL= 29136, 31329, 31538, 32755, AGC= 62, IDX= 506,-0.18, 1.090,-0.679, 1.084, 0.843, PHS= 0.349,-1.477, 0.197, RAW= 145.7, 10.6, CAL= 145.3, 11.6, ROT= 4.7, -11.6 MT#Rx 38: Read range and direction messages.U\direction in FSK: [0.976281,0.080265,0.201078]]Fpublishing direction and range infoyNO=?T'>?o?YAqaz2{ @ @@~1@@@)>I!>iV^I>"@q=>:M"@ 4QO>)=I4QOLy7W?rF?8bg? _>)/=I=i4QOchecking for new query: numPingsReceived=38, elapsed TxPingTime=16.629990E-  E- {E- %E) "E- %:*E- 5":VE- 4ZE) a= @a= @a= @a= @^A Pڀ=I I O >Y B9 B9 B= rIB= BB9 B9 B9 B= _;B= #ET,G91YQ=UFyUE].<E]>aQ 5m5eV̗?Q 9m5eC)eWBYm5?Q Em:ym Q Im@eEIe;ie;eMD5yɮAii2?AJi`ARi`Ajiڄ@bͪ{B;@Jp@z=u@RNO=?T'>?o?Zi=bi4QOj;R9@,#d7q@checking for new query: numPingsReceived=38, elapsed TxPingTime=16.840212Z\c?*^fտZ+ZAs?2i:iA"i#Y"?*iF>Bi'Bi:?iiBiAi4@U addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.505021 s, deltaX: -0.299999 m, approachRate: -0.594033 m/s, rangeRepo size: 4 e Added new target pos. range: 27.921972 m, bearing: 339.332381 deg, lat: 36.779424 deg, lon: -121.859778 deg, deltaT: 0.505021 s, deltaX: -0.298117 m, approachRate: -0.590306 m/s, posRepo size: 4 jhaDNOT Ignoring new targets: 27.92 m.bhRhZh ProNav: ac range: 27.921972 m, nav range: 26.876377 m, bearing: 339.754481 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.535044 deg, new cmd heading: 329.646826 deg. BhHeadingCmd: 5.753422 target range: 27.921972 and range: 28.10 m.h @h*h"h hgfffBdddjd<@Zd?iqɢuT)q uLiq)}/yyi}g| iF|<X=IE @IY]@@a @a@e4@iԙi I  DDAT read: Rx Time:06:06:32.0404  TRx dataTimestamp_ set to:1761545193.292890 PDAT read: Bearing 149.7, 6.8 (Local)  ~Local bearing/azimuth received: Bearing 149.7, 6.8 (Local)  DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.4  DAT read: 06:06:32.0404 LVL= 30848, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.13,-3.081, 1.431,-3.105, 2.952, PHS= 0.352,-1.476, 0.182, RAW= 145.2, 10.8, CAL= 144.8, 11.8, ROT= 5.2, -11.8  Ygot valid direction response: 06:06:32.0404 LVL= 30848, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.13,-3.081, 1.431,-3.105, 2.952, PHS= 0.352,-1.476, 0.182, RAW= 145.2, 10.8, CAL= 144.8, 11.8, ROT= 5.2, -11.8  T#Rx 39: Read range and direction messages.% \direction in FSK: [0.974839,0.088717,0.204496]- Fpublishing direction and range infoy   1?,?rG,?Y fA x   ) <I X9>i 5^:> 0"@ A> ?!@ BR>) ޹=I BR _q6s?ql{0?~? 9>) @I ޹=i BR E checking for new query: numPingsReceived=39, elapsed TxPingTime=17.108253I ^A5 {=E=  E= sE= "E9 "E= s:*E= Z:VE= (3ZE9 BE= ;aM 2E= ;aM JE= ];aM :E= ];aM iAIIO>Jy,-'[?AFT|@F%w@FkIٱFEF RAHRS rotation from veh to nav: [[0.881743,0.470462,0.034570],[-0.467361,0.861274,0.199453],[0.064061,-0.192023,0.979297]]FH<7? ?@!?`<ݿ ??Lf?2ȿgV?iFT|@IF0d;FkCYXyj1IIn<)na=r=pbDvVDvk1y~}%~7=ٔ~`;Q->9Y=FyE LE >1Q 5=55ܗ?Q 9=55>F)5]BY9yEQ IE@5EI5:i5:5@F5yMBɮMAMEiiR?AJiARiAjiy@b*0:@Neb9@vW@R 1?,?rG,?Zi޹=biBRj 9@B0"(e%@ZcR?_VTaiտ!Nr?2i:iA"iOi?*i9<BiBiOi?i9<i'Bi7Ai{@ addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.503034 s, deltaX: -0.300001 m, approachRate: -0.596383 m/s, rangeRepo size: 4   Added new target pos. range: 27.623871 m, bearing: 339.567518 deg, lat: 36.779425 deg, lon: -121.859780 deg, deltaT: 0.503034 s, deltaX: -0.298101 m, approachRate: -0.592607 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 27.62 m.bhRhZh% ProNav: ac range: 27.623871 m, nav range: 26.777250 m, bearing: 339.567579 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.646813 deg, new cmd heading: 329.773434 deg. Bh)UHeadingCmd: 5.755632 target range: 27.623871 and range: 27.80 m.hU$.@hQ*hQ"hQ hQgQfYfYfYdYdadajde;@Zde@y?Bɢ7Q)  Hi ) >/  i W< i }<?=I$.@Ichecking for new query: numPingsReceived=39, elapsed TxPingTime=17.344267 ]wk>]CzG?@ @liA@/@m9mliAYuxsA^A`=IIO>1 e DDAT read: Rx Time:06:06:32.5401 e TRx dataTimestamp_ set to:1761545193.796690m PDAT read: Bearing 152.1, 6.2 (Local) u ~Local bearing/azimuth received: Bearing 152.1, 6.2 (Local)  DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4  DAT read: 06:06:32.5401 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501, 0.36,-2.892, 1.605,-2.925,-3.076, PHS= 0.286,-1.557, 0.107, RAW= 144.9, 13.2, CAL= 144.6, 14.4, ROT= 5.4, -14.4  Ygot valid direction response: 06:06:32.5401 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501, 0.36,-2.892, 1.605,-2.925,-3.076, PHS= 0.286,-1.557, 0.107, RAW= 144.9, 13.2, CAL= 144.6, 14.4, ROT= 5.4, -14.4  T#Rx 40: Read range and direction messages. \direction in FSK: [0.964285,0.091152,0.248690] Fpublishing direction and range infoya e ՏJk?1i?U?l?Ye fAa e a a a )a Ie n>ie Kǿe "=e !@e k>e !@ e >)e =Ie a a e {3@?ޥ9I?ӽHr#? e >)e d+kIe =ie a a  checking for new query: numPingsReceived=40, elapsed TxPingTime=17.612171,Rt?AEB EBuEB!E@"EB:*EB:VEBc3ZE@aJ@aJ@aJ@aJ@PRqO@RBJ@R)ٱRbG ^AHRS rotation from veh to nav: [[0.879254,0.474876,0.037493],[-0.472231,0.858606,0.199485],[0.062539,-0.193103,0.979183]]RH"?@^d?=2?9޿y???ȿ`xU?iRqO@IRHd;RnCYwBy=I only read 0 of 1 data item for BIT error. Device response is::TS,00050309545225,0.3, 0.0,1491.1, 0 a @a  a @a  a @a  a @a  bD=VD=:2yM*=%M7=ٔM[`;Q-M>9QB}<AyByByB}`IB}BByByByB}_;B}#EY=FyÃE`BE>Q 55헊?Q 95I)cBQ A+:YQ E:yXQ I @EI%G5y9ɮ=A9iir?AJiARiAjiP@b.~(:@$y @lߩW @RՏJk?1i?U?l?Zi=bijfDm8@TM!w(@Z͒? _Կ`Q?2i$:ijA"i9@?*iA3BiBiiii[Ai@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503800 s, deltaX: -0.500000 m, approachRate: -0.992457 m/s, rangeRepo size: 4  Added new target pos. range: 27.127028 m, bearing: 340.014019 deg, lat: 36.779425 deg, lon: -121.859780 deg, deltaT: 0.503800 s, deltaX: -0.496843 m, approachRate: -0.986192 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.13 m.bhRhZh ProNav: ac range: 27.127028 m, nav range: 26.544571 m, bearing: 339.673195 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.773445 deg, new cmd heading: 329.904903 deg. BhHeadingCmd: 5.757927 target range: 27.127028 and range: 27.30 m.h-@@h)*h)"h) h)g)f1f1f1d1d9d9jd=L;@Zd=`E?颩ɢL) T׽i)/顱i iYw~<f&=I@@I>@ @@@@=@=checking for new query: numPingsReceived=40, elapsed TxPingTime=17.850224) ^AE &V=I9 II Q O] >$ ,?A: @:@:/yٱ:H FAHRS rotation from veh to nav: [[0.876639,0.479430,0.040626],[-0.477275,0.855786,0.199597],[0.060926,-0.194365,0.979035]]:Hm ??̤?ୋ޿b?@h?1?@ȿ@BT?i: @I:d;:mC=DDAT read: Rx Time:06:06:33.0401 =TRx dataTimestamp_ set to:1761545194.304728MPDAT read: Bearing 152.6, 6.7 (Local) M~Local bearing/azimuth received: Bearing 152.6, 6.7 (Local) ]DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.5 DAT read: 06:06:33.0401 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.33, 2.612, 0.825, 2.550, 2.432, PHS= 0.283,-1.562, 0.075, RAW= 144.1, 13.7, CAL= 143.7, 14.9, ROT= 6.3, -14.9 E E~E%E"Es:*E(:VE 4ZEBEa2EaJE;a:E;aYgot valid direction response: 06:06:33.0401 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.33, 2.612, 0.825, 2.550, 2.432, PHS= 0.283,-1.562, 0.075, RAW= 144.1, 13.7, CAL= 143.7, 14.9, ROT= 6.3, -14.9 T#Rx 41: Read range and direction messages.\direction in FSK: [0.960540,0.106045,0.257133]Fpublishing direction and range infoy9=+'?tBc%?Fht?Y99999 9)=;I=`>i=ǿ=== @=Gt>!= @ =%>)=z0=I=%99=)b?S"wb?>͕?? =K>)=BLtI=z0=i=%99mchecking for new query: numPingsReceived=41, elapsed TxPingTime=18.177053YMByUPI YYYYbDmVDm2y_=%=ٔA;Q->9Y=FyƃE0E>Q 55c?Q 95~M)jBQ A :YQ E:yQ I@EI);iL~?cI5yBɮfAEQi9i=?AJi9Ri9ji=1H@b=W@%7}:@Kn@ g@R=+'?tBc%?Fht?Zi=z0=bi=%j=88@j6 *!j>m@Z=т R?V]?ԿdΒ?2i=P :i= A"i=2Z?*i=C9/Bi==Bi9i9i9i=4Ai=ǽ@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.508038 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 27.127028 m, bearing: 340.698619 deg, lat: 36.779425 deg, lon: -121.859780 deg, deltaT: 0.508038 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.13 m.bhRhZh ProNav: ac range: 27.127028 m, nav range: 26.275700 m, bearing: 339.801122 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.904912 deg, new cmd heading: 330.059446 deg. Bh HeadingCmd: 5.760624 target range: 27.127028 and range: 27.30 m.h W@h*h"h hgfffddd!jd!Zd% L?颉ɢOC) i)u;0顙i< iS<W =IW@Ichecking for new query: numPingsReceived=41, elapsed TxPingTime=18.357025] ?@a  @a @e 4@a ԁ ^A $=I I O >|3,\ɪ?A,!!TDZ@%¸@~nٱHԁ AHRS rotation from veh to nav: [[0.871516,0.488276,0.045239],[-0.486902,0.850719,0.198000],[0.058193,-0.194587,0.979157]]H@u??? )?@g)߿`9?X?˭?<ȿBU?iTDZ@I|0d;nC ەC)۝kAڝjڝJFڙۙkAiIICiSs@ ) kAkAIף)i)I%kA%ף! !!%vA)i))Y)Y5By5bIMDDAT read: Rx Time:06:06:33.5398 MTRx dataTimestamp_ set to:1761545194.808796UPDAT read: Bearing 154.1, 6.3 (Local) ]~Local bearing/azimuth received: Bearing 154.1, 6.3 (Local) mDAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.5 DAT read: 06:06:33.5398 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.19, 1.345,-0.443, 1.279, 1.212, PHS= 0.235,-1.610, 0.023, RAW= 144.0, 15.3, CAL= 143.5, 16.6, ROT= 6.5, -16.6 Ygot valid direction response: 06:06:33.5398 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.19, 1.345,-0.443, 1.279, 1.212, PHS= 0.235,-1.610, 0.023, RAW= 144.0, 15.3, CAL= 143.5, 16.6, ROT= 6.5, -16.6 T#Rx 42: Read range and direction messages.\direction in FSK: [0.952162,0.108485,0.285688]Fpublishing direction and range infoyIMk(x?hŻ?WԷH?YM3AIIII I)IIMףp>iM{οMjMJ @ MV>)MV=IMVIIM~j4?6d?u!? M:>)MIMV=iMVIIchecking for new query: numPingsReceived=42, elapsed TxPingTime=18.628389bE% 3jE%3rE%./E EyE"E"E*E:VE(3ZEa@a@a@a@a%a% a%a% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%@5^I ?#~jI +?Y%b?y%㥽%9<% A%@ %A)!!Y%zAbD]VD]yma=%u==ٔu;Q-u>9yYy=}Fy}ȃE}cϼE>ԱQ 5 5?Q 9 5WQ)zBQ AT:Y?Q E:y$Q I@EIA ?AIIO?a|,?A>:@> @>shٱ>G JAHRS rotation from veh to nav: [[0.869376,0.491933,0.046775],[-0.490886,0.848886,0.196018],[0.056721,-0.193375,0.979484]]>H?{??`j߿*?? ?@ȿW?i>:@I>=d;>lCY5By5IbDEVDEy}=%}N=ٔ}9s;Q->9Y=FyʃE:E>Q 55 ?Q 95T)BYy%Q I@EI:i:M5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 26.73 m.bhRhZ<ZhZ< ProNav: ac range: 26.729561 m, nav range: 25.567661 m, bearing: 340.693206 deg, approach rate: -0.629761 m/s, LOS rate: 0.452356 deg/s, cmd heading: 330.193857 deg, new cmd heading: 330.655879 deg. Bh9<HeadingCmd: 5.771034 target range: 26.729561 and range: 26.90 m.hO@h*h"h hgfffdd d jd Zd%?9ɢ=R)0)9 EN:iA)E.j0AAiE=B IiU`QUIiOͿ #< @ԇ>&I@ r>) A>Ir0Me?D?"? >)߇I A>ir-checking for new query: numPingsReceived=43, elapsed TxPingTime=19.131653E E{E#E"E:*E5":VE3ZEBE;a2E;aJE;z;a:EԡE checking for new query: numPingsReceived=43, elapsed TxPingTime=19.364140 ,>v?A@w@ aٱE AHRS rotation from veh to nav: [[0.867679,0.494803,0.047991],[-0.494068,0.847626,0.193461],[0.055047,-0.191573,0.979934]]H?ڪ? =?@Ϟ߿`?S?/?sȿ[?i@Id;pCYŁByIԱI=)%=iMb@Mb@Mb@ 9K7A`?i|?5?Y ?yq<~A@ A)@Y\@bDVDy=%)=ٔ:c;Q->9Y=FỹEE>Q 5 5 3?Q 9 5X)BY  ?Q E :y Q I@EI:ij:O5yBɮAEiiy?AJi?ARi?Ajiwp@b.99@ (5 @$@ROEU+;m?iA'?HN-?Zi A>birj7@w*1u G5J @Z'&?# ӿ搖ߥ?2i:iA"i諞?*ilXU1BiBi諞?ilXU1i=BiAiyp@m addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504099 s, deltaX: -0.199999 m, approachRate: -0.396745 m/s, rangeRepo size: 4 } Added new target pos. range: 26.530828 m, bearing: 340.980294 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.504099 s, deltaX: -0.198732 m, approachRate: -0.394233 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 26.53 m.bhYRheZhau ProNav: ac range: 26.530828 m, nav range: 25.249647 m, bearing: 340.980346 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 330.655878 deg, new cmd heading: 331.316944 deg. BhqDDAT read: Rx Time:06:06:34.5394 TRx dataTimestamp_ set to:1761545195.816870PDAT read: Bearing 151.7, 7.9 (Local) ~Local bearing/azimuth received: Bearing 151.7, 7.9 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.5 DAT read: 06:06:34.5394 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510,-0.06, 0.553,-1.240, 0.444, 0.337, PHS= 0.318,-1.532, 0.063, RAW= 142.7, 13.2, CAL= 142.1, 14.3, ROT= 7.9, -14.3 Ygot valid direction response: 06:06:34.5394 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510,-0.06, 0.553,-1.240, 0.444, 0.337, PHS= 0.318,-1.532, 0.063, RAW= 142.7, 13.2, CAL= 142.1, 14.3, ROT= 7.9, -14.3 T#Rx 44: Read range and direction messages.\direction in FSK: [0.959819,0.133186,0.246999] Fpublishing direction and range infoyfUOֶ?$ӈ< ?⩝?YfA HeadingCmd: 5.782571 target range: 26.530828 and range: 26.70 m.h @)8IТ>iĿ%=e@k>,@ r>)0 >Ir4l?#l ?,b{4? >)kI0 >ir-checking for new query: numPingsReceived=44, elapsed TxPingTime=19.634296h*h)"h1 h1gqfqfyf}"BdydydyjdL:@Zd@?E EnE%E"E*E:VE 4ZEa@a@a@a@ɢ$)  C=i )m20iiim!Wiu=(q}L':I} @IyB\>BBIBƁBBBBB_;B#E@ @@51@ 1 ^A ٹ<U checking for new query: numPingsReceived=44, elapsed TxPingTime=19.868570A9IAIQYOe?¾,a?A4<ɰ;F.k@Fe@F].YٱFC ^AHRS rotation from veh to nav: [[0.866235,0.497197,0.049321],[-0.496818,0.846670,0.190581],[0.052998,-0.189591,0.980432]]FH 2??@?߿@?d? "?Dȿ_?iF.k@IFWd;FoCYjByjIbDzVDzy>%G=ٔ%;Q-%>9Y=FyσEJٻE> Q 55 D?Q 95 \) BYylQ I@ EI :i  : 0Q5!yaɮe AaiiG?AJiARiAji;U@bCr W9@_F @h.@RfUOֶ?$ӈ< ?⩝?Zi0 >birj17@Պȋ C @Z{G#U?3JԿ+~.\#?2i:i7A"iO?*i~6BiBiiiiAiH@% addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.503975 s, deltaX: -0.400002 m, approachRate: -0.793693 m/s, rangeRepo size: 4 5 Added new target pos. range: 26.133419 m, bearing: 340.789814 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.503975 s, deltaX: -0.397409 m, approachRate: -0.788550 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 26.13 m.bh1RhyZhy ProNav: ac range: 26.133419 m, nav range: 25.003445 m, bearing: 341.146860 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 331.316931 deg, new cmd heading: 331.983379 deg. BhHeadingCmd: 5.794203 target range: 26.133419 and range: 26.30 m.hj@h*h"h hgfffdddjdZd?DDAT read: Rx Time:06:06:35.0393 TRx dataTimestamp_ set to:1761545196.320687PDAT read: Bearing 152.9, 7.7 (Local) ~Local bearing/azimuth received: Bearing 152.9, 7.7 (Local) DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 DAT read: 06:06:35.0393 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509, 0.05, 3.099, 1.278, 2.978, 2.914, PHS= 0.288,-1.591, 0.021, RAW= 142.5, 14.4, CAL= 141.8, 15.6, ROT= 8.2, -15.6 Ygot valid direction response: 06:06:35.0393 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509, 0.05, 3.099, 1.278, 2.978, 2.914, PHS= 0.288,-1.591, 0.021, RAW= 142.5, 14.4, CAL= 141.8, 15.6, ROT= 8.2, -15.6 T#Rx 45: Read range and direction messages.\direction in FSK: [0.953315,0.137375,0.268920]Fpublishing direction and range infoyNST?K?]^|5?YA ):It>i˿1<,@>bd@ 'g>)C>I'g/?+r!?6I? ]>)IC>i'gchecking for new query: numPingsReceived=45, elapsed TxPingTime=20.136103ɢo) =i!)%!/!!i%Y_i-[Q!:Ij@IE EE$E"E:*E,:VE4ZEBEj;a2Ek;aJE7;a:E7;a!@! @!@%3@)^A3:Ⱦ,"?A06X@6S@6Qٱ6A >AHRS rotation from veh to nav: [[0.865213,0.498862,0.050434],[-0.498804,0.846128,0.187784],[0.051004,-0.187630,0.980915]]6Hү?[?@ҩ?g߿ z?@K ?;?`?ȿ@c?i6X@I6c;6mCYVByVIbDnVDnkyvR>%vM=ٔz;Q-z>9xYx=~Fchecking for new query: numPingsReceived=45, elapsed TxPingTime=20.372307yЃEcԻE?!Q 5-5%VQ?Q 9-5%_)%BY1y5Q I5@%EI%:i%:%R5y]Bɮ] AYii#?AJizARizAji@bMS8@ @!l@RNST?K?]^|5?ZiC>bi'gjצkB7@4. 3@ZOq?f|ӿlmk?:X?2i!:i*A"iB]?*ikG2BiBiB]?iiiAiɚ@- addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.503817 s, deltaX: -0.199999 m, approachRate: -0.396967 m/s, rangeRepo size: 4 ] Added new target pos. range: 25.934689 m, bearing: 341.197547 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.503817 s, deltaX: -0.198730 m, approachRate: -0.394450 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 25.93 m.bhaRhaZha ProNav: ac range: 25.934689 m, nav range: 24.834873 m, bearing: 341.276276 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 331.983366 deg, new cmd heading: 332.447707 deg. BhHeadingCmd: 5.802307 target range: 25.934689 and range: 26.10 m.h@h*h"h hgfffdddjd:@Zd ?ԑBɢ%4)A D>i)kD/顙i_i5 oI @IAIy)yԹ5A@1 @9@=/@9@E=@E=DDAT read: Rx Time:06:06:35.5390 TRx dataTimestamp_ set to:1761545196.824886PDAT read: Bearing 151.9, 8.2 (Local) ~Local bearing/azimuth received: Bearing 151.9, 8.2 (Local) DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4  DAT read: 06:06:35.5390 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.23, 2.025, 0.211, 1.894, 1.806, PHS= 0.320,-1.551, 0.044, RAW= 142.1, 13.5, CAL= 141.5, 14.6, ROT= 8.5, -14.6  Ygot valid direction response: 06:06:35.5390 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.23, 2.025, 0.211, 1.894, 1.806, PHS= 0.320,-1.551, 0.044, RAW= 142.1, 13.5, CAL= 141.5, 14.6, ROT= 8.5, -14.6  T#Rx 46: Read range and direction messages. \direction in FSK: [0.957080,0.143037,0.252069]% Fpublishing direction and range infoya}e?&šDO?!?YA )I ף>i+ƿX94=,@:Fq>@ w>)>IwwA?4v?nߊ? t>)qI>iw= checking for new query: numPingsReceived=46, elapsed TxPingTime=20.641811 E  E tE E "E :*E v:VE ZE a @a @a @a @^A= ?B9B B CB IB BB B GDB PDB >_;B j#E AU .AIY Ii Ou >Qξ,Q>?AY~"By~ I iMb@Mb@Mb@ 9x&1?9- ?Y- ?=5Fy5ӃE5E5>9Q 5E5=b?Q 9E5=b)=BYM?Q EM:yM Q IM@=EI=;i=;=T5yQɮ]( AYii4?AJiLARiLAjiٛ@bAFp8@78 @s \@Ra}e?&šDO?!?Zi>biwjve0K7@ƬGGH(@Z08L0?B 4ӿ-,(;?2i:iYA"iՄ ?*i-2BiBi諞?ikG2iBiAi6@ addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504199 s, deltaX: -0.400000 m, approachRate: -0.793337 m/s, rangeRepo size: 4  Added new target pos. range: 25.537264 m, bearing: 341.283702 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.504199 s, deltaX: -0.397425 m, approachRate: -0.788230 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.54 m.bhRhZh ProNav: ac range: 25.537264 m, nav range: 24.603642 m, bearing: 341.314234 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 332.447710 deg, new cmd heading: 333.067828 deg. Bhchecking for new query: numPingsReceived=46, elapsed TxPingTime=20.876293HeadingCmd: 5.813130 target range: 25.537264 and range: 25.70 m.h*@h*h"h hgfffyBdddjd@39@Zd G?1ɢ5xY߼)9 =nk>i9)=o.99i=[iE𾉧IMIM*@II?@ @@/@^A#2A%؟AI1IAOM>!  DDAT read: Rx Time:06:06:36.0388  TRx dataTimestamp_ set to:1761545197.328704 PDAT read: Bearing 152.6, 8.3 (Local)  ~Local bearing/azimuth received: Bearing 152.6, 8.3 (Local)  DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4  DAT read: 06:06:36.0388 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.38, 0.264,-1.544, 0.124, 0.062, PHS= 0.304,-1.561, 0.018, RAW= 141.8, 14.1, CAL= 141.1, 15.2, ROT= 8.9, -15.2  Ygot valid direction response: 06:06:36.0388 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.38, 0.264,-1.544, 0.124, 0.062, PHS= 0.304,-1.561, 0.018, RAW= 141.8, 14.1, CAL= 141.1, 15.2, ROT= 8.9, -15.2  T#Rx 47: Read range and direction messages. \direction in FSK: [0.953398,0.149298,0.262189] Fpublishing direction and range infoy  :;?52?;f$?Y 3A ) <I 㥛>i ǿ t< bd@ d{> 7@ ԇ>) >I ԇ m 1(?k0?/A? >) K|I >i ԇ  checking for new query: numPingsReceived=47, elapsed TxPingTime=21.144144E  E |E !E "E :*E P$:VE c3ZE BE ;a 2E ;a JE };a :E };a վ,ӆX?A06"O@6I@6=ٱ6D7 >AHRS rotation from veh to nav: [[0.864823,0.499567,0.050130],[-0.499951,0.847683,0.177432],[0.046145,-0.178510,0.982855]]6H??৪?3߿8 ?@?`P?`lƿ@s?i6"O@I6jc;6lCYHBy> IbD5VD5y,D>%O=ٔI9"?Y"?=FyՃEIE>Q 55p?Q 95e)BYyD Q I@EI:iV:wV5yBɮ AEii} U?AJiARiAji/Ⱦ@b7qv8@ 0%@@x@R:;?52?;f$?Zi>biԇj*>7@TSmץh P@Z/ #1?<'mӿAS56?2i.:i1A"i^?*i3/Bi*Biii*BiJAi@ addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503818 s, deltaX: -0.300001 m, approachRate: -0.595455 m/s, rangeRepo size: 4  Added new target pos. range: 25.239162 m, bearing: 341.593810 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.503818 s, deltaX: -0.298101 m, approachRate: -0.591685 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.24 m.bhRhZh u ProNav: ac range: 25.239162 m, nav range: 24.411379 m, bearing: 341.417868 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 333.067836 deg, new cmd heading: 333.620474 deg. Bhy}HeadingCmd: 5.822776 target range: 25.239162 and range: 25.40 m.h}.T@h*h"h hgfԉffdddjd`ff9@Zdw?-Bɢ5])1 5>i1)5[-19i= i=Һ뾉AE IE.T@IA@@ @@@checking for new query: numPingsReceived=47, elapsed TxPingTime=21.381748Թ ^A U֣A I I O% >iܾ,=t?A>4_@>Z@>V2ٱ>0JDDAT read: Rx Time:06:06:36.5386 NTRx dataTimestamp_ set to:1761545197.832612RPDAT read: Bearing 150.5, 8.6 (Local) R~Local bearing/azimuth received: Bearing 150.5, 8.6 (Local) ^DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 nDAT read: 06:06:36.5386 LVL= 30864, 32337, 31314, 32755, AGC= 62, IDX= 502,-0.03,-0.626,-2.446,-0.764,-0.890, PHS= 0.367,-1.510, 0.082, RAW= 141.9, 12.1, CAL= 141.3, 13.1, ROT= 8.7, -13.1 rYgot valid direction response: 06:06:36.5386 LVL= 30864, 32337, 31314, 32755, AGC= 62, IDX= 502,-0.03,-0.626,-2.446,-0.764,-0.890, PHS= 0.367,-1.510, 0.082, RAW= 141.9, 12.1, CAL= 141.3, 13.1, ROT= 8.7, -13.1 rT#Rx 48: Read range and direction messages.v\direction in FSK: [0.962769,0.147324,0.226651]zFpublishing direction and range infoyLN?&@?+#?YNALNxNQ~NRz L)N>INm>iNGN=N@N@X>Nh@ N j>)N|>IN jLLNx5O?5N W? y? N#>)NWIN|>iN jLL checking for new query: numPingsReceived=48, elapsed TxPingTime=21.647606 AHRS rotation from veh to nav: [[0.865904,0.497843,0.048603],[-0.498312,0.850083,0.170420],[0.043526,-0.171786,0.984172]]>H|??u?Z߿ 3?O?@I? ſV~?i>4_@I>ec;>nCY5aBy5\ IiMb@Mb@Mb@ 9`"?L7A`?y&1|?Y>y+=`;; A 1A)@Y@bDVDE5 E5vE5#E1"E5:*E5:VE53ZE1a=@a=@a=@a=@y.=%;=ٔ2;Q->9Y=Fy׃EΉ;E>Q 5%5?Q 955?hAB]<A]<Be]>BaBe4 IBe@BBaBaBaBe^;BeC#E)BY}h>Q E}:y}Q I}@EI biN jjN\le6@+rw1;@ZNtݟx`?-p77Կo5?2iN:iN,A"iNQU, ?*iNz7BiNUBiNՄ ?iN-2iNBiNpAiNM@] addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503908 s, deltaX: -0.299999 m, approachRate: -0.595345 m/s, rangeRepo size: 4 m Added new target pos. range: 24.941113 m, bearing: 341.011479 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.503908 s, deltaX: -0.298050 m, approachRate: -0.591477 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 24.94 m.bhiRhZh ProNav: ac range: 24.941113 m, nav range: 24.180042 m, bearing: 341.454732 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 333.620481 deg, new cmd heading: 334.267907 deg. BhHeadingCmd: 5.834075 target range: 24.941113 and range: 25.10 m.h@h*h"h hgfffBdddjd9@Zd?QɢUΛ)Q U>iY)]/+YYi]ޢie徉aeV3Ie@Ii%?@! @!@-0@)@1@1^AMchecking for new query: numPingsReceived=48, elapsed TxPingTime=21.884628ԑ A1 IA Ia Ou >K,Ӎ?A<^t@^o@^G&ٱ^* fAHRS rotation from veh to nav: [[0.867323,0.495496,0.047278],[-0.496081,0.852751,0.163460],[0.040678,-0.165226,0.985416]]^H?3?`4?˿߿`I?B? Ӥ?"&ſ ?i^t@I^c;^mCYzByz II~C=)~=bD VD y=>%UV=ٔ]9YYa=eFyeكEe;Ee>iQ 5u5mԎ?Q 9u5m8j)mBYyy}aQ I}@mEImD;im/;m Z5yɮW AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 24.94 m.bhRh5;Zh5;  ProNav: ac range: 24.941113 m, nav range: 24.008690 m, bearing: 341.506653 deg, approach rate: -0.520372 m/s, LOS rate: 0.158802 deg/s, cmd heading: 334.267901 deg, new cmd heading: 334.424775 deg. Bh ;HeadingCmd: 5.836813 target range: 24.941113 and range: 25.10 m.h-Ǻ@h*h"h h!g!f!f!f)d)didijdqZdu@¢?]Bɢ]t()Y ]>iY)e#*aDDAT read: Rx Time:06:06:37.0384 TRx dataTimestamp_ set to:1761545198.336829PDAT read: Bearing 153.4, 7.9 (Local) ~Local bearing/azimuth received: Bearing 153.4, 7.9 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 DAT read: 06:06:37.0384 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.49, 1.202,-0.625, 1.065, 1.018, PHS= 0.286,-1.598, 0.003, RAW= 142.0, 14.7, CAL= 141.3, 15.9, ROT= 8.7, -15.9 Ygot valid direction response: 06:06:37.0384 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.49, 1.202,-0.625, 1.065, 1.018, PHS= 0.286,-1.598, 0.003, RAW= 142.0, 14.7, CAL= 141.3, 15.9, ROT= 8.7, -15.9 T#Rx 49: Read range and direction messages. \direction in FSK: [0.950675,0.145474,0.273959] Fpublishing direction and range infoyok?t?ψ.?Y3A )=In>iD̿D;@G\> q>)Iq?j22.?hqcG? щ>)}Iiq-checking for new query: numPingsReceived=49, elapsed TxPingTime=22.1524141aieie֊侉mR~r,?A2@2e@2Rٱ2 :AHRS rotation from veh to nav: [[0.869576,0.491783,0.044573],[-0.492351,0.856580,0.154474],[0.037787,-0.156272,0.986991]]2H?_y?DҦ?߿i? ?`X?Ŀn?i2@I2c;0YrByv IbD VD Yye4=%e-=ٔu;Q-}>9Y=FyۃE<E>Q 55~?Q 95l)BYy+Q I@EI:i:"\5yBɮAEii?AJiARiAji׾@br㟅7@{ @@Rok?t?ψ.?ZibiqjkP6@1EY`[@ZueM"?ɫreEӿbJB&?2im:i6A"i ?*i0BiBiQU, ?ikG2i*BiAiž@- addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504217 s, deltaX: -0.200001 m, approachRate: -0.396656 m/s, rangeRepo size: 4 = Added new target pos. range: 24.742378 m, bearing: 341.697846 deg, lat: 36.779422 deg, lon: -121.859776 deg, deltaT: 0.504217 s, deltaX: -0.198734 m, approachRate: -0.394144 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 24.74 m.bh9RhEZhAU ProNav: ac range: 24.742378 m, nav range: 23.748821 m, bearing: 341.575521 deg, approach rate: 0.000000 m/s, LOS rate: 0.158802 deg/s, cmd heading: 334.424776 deg, new cmd heading: 334.650909 deg. BhQ]HeadingCmd: 5.840760 target range: 24.742378 and range: 24.90 m.h]@hY*hY"hY hagaԁfffdddjd`f8@Zd@?Bɢ5)  !>i ) `)  i Qi⾉J|<e/I@IDDAT read: Rx Time:06:06:37.5382 TRx dataTimestamp_ set to:1761545198.840875PDAT read: Bearing 152.6, 7.8 (Local) ~Local bearing/azimuth received: Bearing 152.6, 7.8 (Local) DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 @ @@61@=DAT read: 06:06:37.5382 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.18,-1.250,-3.046,-1.375,-1.454, PHS= 0.306,-1.547, 0.034, RAW= 142.2, 13.8, CAL= 141.6, 15.0, ROT= 8.4, -15.0 EYgot valid direction response: 06:06:37.5382 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.18,-1.250,-3.046,-1.375,-1.454, PHS= 0.306,-1.547, 0.034, RAW= 142.2, 13.8, CAL= 141.6, 15.0, ROT= 8.4, -15.0 ET#Rx 50: Read range and direction messages.M\direction in FSK: [0.955564,0.141105,0.258819]MFpublishing direction and range infoyP?8MN?V!}?YA )I>iƿC =@Ϣv>2+@  >)Q >I 7V\R_?Bw?dgU~?Թ F>)8wIQ >i checking for new query: numPingsReceived=50, elapsed TxPingTime=22.673449^A[1E] E]zE]#EY"E]g:*E] :VE]3ZEYae@am@am@am@Bq Bq Bu IBu BBq Bq Bq Bu ^;Bu +#EA I I! O- > Z,}?AYrByr IԹ%checking for new query: numPingsReceived=50, elapsed TxPingTime=22.892714iEMb@Mb@Mb@AAAA A9EA`"?Zd;O?Mbp?YE>yEj=E;E$ AE @ A)E@AYE@bD}VD}yD>%Y=ٔQ->9Y=Fy݃EE>Q 55|?Q 95n)BY&>Q E:yQ I@EIbi jˢV8J6@[G0F|OZ@Z$-?ӿ6J??2i1:iQA"i??*i15BiBi ?i-2iBiAi@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504046 s, deltaX: -0.299999 m, approachRate: -0.595182 m/s, rangeRepo size: 4 = Added new target pos. range: 24.444323 m, bearing: 341.245082 deg, lat: 36.779422 deg, lon: -121.859776 deg, deltaT: 0.504046 s, deltaX: -0.298056 m, approachRate: -0.591326 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 24.44 m.bhARhqZhq5 ProNav: ac range: 24.444323 m, nav range: 23.585442 m, bearing: 341.542560 deg, approach rate: 0.000000 m/s, LOS rate: 0.158802 deg/s, cmd heading: 334.650910 deg, new cmd heading: 334.837908 deg. Bh1uHeadingCmd: 5.844024 target range: 24.444323 and range: 24.60 m.hu?@hy*h"h hgfff Bdd9d9jd=8@ZdE*?颉ɢ{») ?i)'顑iiྉz<i ſ Ga= &I@ |o> @ >) 5>I lB?Z?8? >) `oI 5>i M checking for new query: numPingsReceived=51, elapsed TxPingTime=23.160580A Ee  Ee {Ee %Ea "Ee :*Ee 5":VEe 4ZEa BEe j;am 2Ee k;au JEe ;z;au :Ee <,?AvA@vw<@vTٱv AHRS rotation from veh to nav: [[0.879829,0.474000,0.034984],[-0.474450,0.871521,0.123890],[0.028235,-0.125600,0.991679]]vH'?V?@i?`d]޿ ?E??ջ?ivA@Iv$7c;tY-łBy5 I 9999bDEVDE2y]H=%]6=ٔ]9aYa=eFyeEe>=Em>iQ 5}5m?Q 9}5mo)mBYyy}Q I}@mEIm;:imL:m_5yBɮfAiiim ?AJiiRiijim@bmavo7@?[[Y @wA$B{@Rm5?1!p)??=9?Zim5>bimjmS(d6@g?d<E@Zmj(4Q?mM-_ӿR?2im:im'A"im=?*imE!4BimgBiiimE!4iiimVAim@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.444323 m, bearing: 341.506601 deg, lat: 36.779422 deg, lon: -121.859777 deg, deltaT: 0.503976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.44 m.bhRhZh ProNav: ac range: 24.444323 m, nav range: 23.417036 m, bearing: 341.345498 deg, approach rate: 0.000000 m/s, LOS rate: 0.158802 deg/s, cmd heading: 334.837921 deg, new cmd heading: 335.040192 deg. Bh HeadingCmd: 5.847555 target range: 24.444323 and range: 24.60 m.h +@h *h"h hgfffdddjd!Zd%J?checking for new query: numPingsReceived=51, elapsed TxPingTime=23.396278ԩBɢӞ9) l?i)0s%iVi ߾x<oI+@I)@@ @@4@^A_>A I I! O- >M DDAT read: Rx Time:06:06:38.5379 M TRx dataTimestamp_ set to:1761545199.848704U PDAT read: Bearing 153.2, 7.0 (Local) ] ~Local bearing/azimuth received: Bearing 153.2, 7.0 (Local) m DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4  DAT read: 06:06:38.5379 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.24, 1.582,-0.224, 1.480, 1.386, PHS= 0.298,-1.565, 0.050, RAW= 143.0, 13.8, CAL= 142.4, 15.0, ROT= 7.6, -15.0  Ygot valid direction response: 06:06:38.5379 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.24, 1.582,-0.224, 1.480, 1.386, PHS= 0.298,-1.565, 0.050, RAW= 143.0, 13.8, CAL= 142.4, 15.0, ROT= 7.6, -15.0  T#Rx 52: Read range and direction messages. \direction in FSK: [0.957441,0.127750,0.258819] Fpublishing direction and range infoyI M =Z?&Z?V!}?YM AI I I I I )I IM u>iM QȿM L=M @M Ϣv>M @ M >)M >IM I I M %Gj?4t>?hb`? M *>)M BvIM >iM I I  checking for new query: numPingsReceived=52, elapsed TxPingTime=23.664700bEe3jEeY3rEe˝/E  E yE !E "E :*E :VE c3ZE a @a @a @a @1 C,?A88B@B@BB IBBBB@B@B@BB^;BB #EBMCBMCBIBIBICM 4z@z{@z(мٱz/4 -AHRS rotation from veh to nav: [[0.883544,0.467224,0.032441],[-0.467659,0.876366,0.115228],[0.025407,-0.116981,0.992809]]zH`E? ?? ݿ0 ?@?_?o?iz@Iz;b;xY}͂By IiMb@Mb@Mb@ 9On?T㥛 ?MbY>y>l A7@ @)@Y@bD]VD]:y*=%,=ٔ;Q->9Y=FyE_<E>Q 55lΘ?Q 95p)BY >Q E:yPQ I@EI;im;a5yBɮbAEii+Q?AJi`ARi`Aji@b~7@Ym@=r)@R=Z?&Z?V!}?Zi>bi j^5@can{Y@Z)??v ӿ=O{ ?2is:iկA"i{ ?*iN-2BiBiiiBiAi@M addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503853 s, deltaX: -0.400000 m, approachRate: -0.793882 m/s, rangeRepo size: 4 ] Added new target pos. range: 24.046883 m, bearing: 341.491625 deg, lat: 36.779422 deg, lon: -121.859777 deg, deltaT: 0.503853 s, deltaX: -0.397440 m, approachRate: -0.788801 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 24.05 m.bhRhZh ProNav: ac range: 24.046883 m, nav range: 23.208763 m, bearing: 341.282499 deg, approach rate: 0.000000 m/s, LOS rate: 0.158802 deg/s, cmd heading: 335.040204 deg, new cmd heading: 335.270536 deg. BhHeadingCmd: 5.851575 target range: 24.046883 and range: 24.20 m.h@@h*h"h hgfff݁Bdddjd@338@Zd ?EBɢEIL)A M?iI)M1#IIiMEiUܾUv] W@] +>] \@ ] f;>)] >I] f;Y Y ] \.Lk?(gu?-&Jd?A I I OM>,q?AER ERER#EP"ER:*ER*:VER3ZEPBER;aV2ER;aVJERe;aZ:ERe;aZ >)+b@ò@b@bIٱb(g jAHRS rotation from veh to nav: [[0.887352,0.460073,0.030645],[-0.460538,0.881064,0.107845],[0.022616,-0.109810,0.993695]]I >if;~checking for new query: numPingsReceived=53, elapsed TxPingTime=24.215994bH/e?q?ua?tyݿ1?@?(? Z?ib@ò@Ibb;`qYBy IbDVD:2y=%B=ٔ%;Q-%>9!Y)=-Fy-E-<E>Q 55?ޘ?Q 95q)BYyGQ I@EI:iA:c5yBɮAEiih?AJiRiji_@blHWn7@r+jX @Gt^@R' 2.??m~S?Zi >bif;j:#$b6@ ^x5}%@ZJ?`/uԿ%?2i:iA"idr [ ,b2?AY~ۂBy~ II<)iMb@Mb@Mb@ 9y>A@ @)@YbDVD1yּ%N=ٔQ->9Y=FyEE>Q 5 5N옊?Q 9 5Br)BY >Q E:y%DDAT read: Rx Time:06:06:39.5377 %TRx dataTimestamp_ set to:1761545200.856800-PDAT read: Bearing 153.8, 5.2 (Local) =~Local bearing/azimuth received: Bearing 153.8, 5.2 (Local) MDAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.4 mDAT read: 06:06:39.5377 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.01,-2.740, 1.772,-2.782,-2.908, PHS= 0.270,-1.559, 0.082, RAW= 144.6, 13.8, CAL= 144.2, 15.0, ROT= 5.8, -15.0 uYgot valid direction response: 06:06:39.5377 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.01,-2.740, 1.772,-2.782,-2.908, PHS= 0.270,-1.559, 0.082, RAW= 144.6, 13.8, CAL= 144.2, 15.0, ROT= 5.8, -15.0 }T#Rx 54: Read range and direction messages.\direction in FSK: [0.960981,0.097613,0.258819]Fpublishing direction and range infoy!%([?I(?V!}?Y%3A!!!! !)!I%q=>i%Pǿ%=%!@%Ϣv>%!@ % >)%4Q=I% !!%o@?ow?O r? %:->)%uI%4Q=i% !!checking for new query: numPingsReceived=54, elapsed TxPingTime=24.673216Q I@EI2a,o,N?A*;ɰ*49Y=FyE(=E>!Q 555%'?Q 955%r)%BY1y5Q I5@%EI%;i%?;%!g5yE“BɮE0AAIeB*** querying acoustic contact ***ia iajhquDNOT Ignoring new targets: 23.75 m.bhqRh}Zh} ProNav: ac range: 23.748779 m, nav range: 22.685621 m, bearing: 340.992113 deg, approach rate: -0.452527 m/s, LOS rate: -0.237319 deg/s, cmd heading: 335.665740 deg, new cmd heading: 335.392112 deg. Bh"HeadingCmd: 5.853697 target range: 23.748779 and range: 23.90 m.h|Q@h*h"h hgfffdddjdZd ?ɢp;) ?i)e<i& i۾J8s<o I|Q@I@ @@/@eDDAT read: Rx Time:06:06:40.0375 mTRx dataTimestamp_ set to:1761545201.365345q}PDAT read: Bearing 153.7, 3.9 (Local) ~Local bearing/azimuth received: Bearing 153.7, 3.9 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 DAT read: 06:06:40.0375 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.47,-2.035, 2.480,-2.040,-2.199, PHS= 0.266,-1.560, 0.115, RAW= 145.7, 13.4, CAL= 145.4, 14.6, ROT= 4.6, -14.6 Ygot valid direction response: 06:06:40.0375 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.47,-2.035, 2.480,-2.040,-2.199, PHS= 0.266,-1.560, 0.115, RAW= 145.7, 13.4, CAL= 145.4, 14.6, ROT= 4.6, -14.6 T#Rx 55: Read range and direction messages.\direction in FSK: [0.964592,0.077609,0.252069]Fpublishing direction and range infoyimXI*?`2޳?!?Ym̼Aiiii i)m<Im'1>imǿm=m"@m|o>mi"@ mw>)ml=Imwiimu|< ?}{?&˳? m>)mнnIml=imwiichecking for new query: numPingsReceived=55, elapsed TxPingTime=25.181984E ExE$E"E:*E:VE4ZEBE;a2E;aJEPo;a:EQo;aԡ^AA I I O >  checking for new query: numPingsReceived=55, elapsed TxPingTime=25.416142,g?A6@6І@6uuٱ6ս ~AHRS rotation from veh to nav: [[0.898499,0.437788,0.032272],[-0.438720,0.893037,0.100050],[0.014981,-0.104053,0.994459]]6H?? 兠?ܿ“?@ޜ?@U?@5?i6@I6qb;4Y%ڂBy% IbD}VD}y%B=Թٔ;Q->9Y=FyE<E>Q 55 ?Q 95xs)BYy Q I5@EIAiiaW?AJiARiAji*@b"iΞ6@,?E~@RXI*?`2޳?!?Zil=biwj0O5@#p=Z@ZnS@?W3տ{Gxs?2i:i~A"i,?*i0>BiBi,?iۚ7igBiAiJ@ addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.508545 s, deltaX: -0.299999 m, approachRate: -0.589917 m/s, rangeRepo size: 4   Added new target pos. range: 23.450680 m, bearing: 340.117896 deg, lat: 36.779423 deg, lon: -121.859778 deg, deltaT: 0.508545 s, deltaX: -0.298100 m, approachRate: -0.586181 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 23.45 m.bhRhZhm ProNav: ac range: 23.450680 m, nav range: 22.578779 m, bearing: 340.715456 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 335.392123 deg, new cmd heading: 335.027421 deg. BhimHeadingCmd: 5.847332 target range: 23.450680 and range: 23.60 m.huW@hq*hq"hq hqgqfqfyfydyddjd7@Zd*P?Bɢ%ź) ?i)9i=f!iE6(߾E{r?YfA )I1,>iFӿ#y=Y3$@q>Y3$@ a>)PwV=Ias,\zl?rp?~F6? G>)鍾IPwV=ia1@1 @1@5/@1@==@==Echecking for new query: numPingsReceived=56, elapsed TxPingTime=25.686897E EtE%E"E:*Ev:VE 4ZEa- @a- @a- @a- @^A5 ONB B B IB BB B B B a^;B "EA9 II IY Y Om >[j ,?A1checking for new query: numPingsReceived=56, elapsed TxPingTime=25.920160Ym߂Byu I AiiMMb@Mb@Mb@IIII I9M+?V-?MbYM>yMh>MMAMz@ M@)M@IYM@]AA]@AbDeVDe02yu4<%u=ٔ}Q-}>9yYy=FyEE>Q 55 ?Q 95lt)BY>Q E:yQ I@EIq ;i ;lk5yƓBɮ6AEiiw?AJi8ARi8Aji@@b! 6@Ew}?jCg^6@R[$z?ʍtI?->?ZiPwV=biajb}4@ :0؈@Zd??տ_]c#?2iA:iXA"iI%㟊?*iiEBi$Bi{ ?i0>iBiAi4ܽ@ addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504624 s, deltaX: -0.300001 m, approachRate: -0.594504 m/s, rangeRepo size: 4  Added new target pos. range: 23.152601 m, bearing: 338.854917 deg, lat: 36.779422 deg, lon: -121.859781 deg, deltaT: 0.504624 s, deltaX: -0.298079 m, approachRate: -0.590694 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.15 m.bhRh!Zh!5 ProNav: ac range: 23.152601 m, nav range: 22.367779 m, bearing: 339.943323 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 335.027418 deg, new cmd heading: 334.689348 deg. Bh1=HeadingCmd: 5.841431 target range: 23.152601 and range: 23.30 m.h=@h9*h9"h9 h9gAfAfAfEՁBdIdIdIjdML7@ZdM[?ɢ !;) ?i)<i+"i -⾉ /r< {F;I @I1ԉ >@  @ @ /@  DDAT read: Rx Time:06:06:41.0374  TRx dataTimestamp_ set to:1761545202.373772 PDAT read: Bearing 152.9, 1.7 (Local)  ~Local bearing/azimuth received: Bearing 152.9, 1.7 (Local)  DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4  DAT read: 06:06:41.0374 LVL= 31296, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.34,-1.817, 2.715,-1.747,-1.988, PHS= 0.274,-1.534, 0.197, RAW= 147.9, 12.0, CAL= 147.6, 13.2, ROT= 2.4, -13.2  Ygot valid direction response: 06:06:41.0374 LVL= 31296, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.34,-1.817, 2.715,-1.747,-1.988, PHS= 0.274,-1.534, 0.197, RAW= 147.9, 12.0, CAL= 147.6, 13.2, ROT= 2.4, -13.2  T#Rx 57: Read range and direction messages. \direction in FSK: [0.972725,0.040769,0.228351] Fpublishing direction and range infoy  gF~ ?P=ߤ? :?Y @z ) =I I>i ZĿ ^I> 4%@ PwV> $@ k>) +=I k [ۭ?=?C -? >) 1(VI +=i k E checking for new query: numPingsReceived=57, elapsed TxPingTime=26.195656Թ D zD AAE  E wE E "E :*E :VE 3ZE BE ;a 2E ;a JE k;a :E k;a ^A XA9IIIaOm ?(,+?A2@2@2({7ٱ2~׽ :AHRS rotation from veh to nav: [[0.904974,0.424057,0.034594],[-0.425319,0.899525,0.099791],[0.011199,-0.105022,0.994407]]2H?#?W?@k8ۿ?㋹?E?⺿`.?i2@I2Hb;2oC@@i@I@@IDiD DD)DH J"s@HHHLLIL)LiL)LIR^jARARh>F PPRjAViTTiTZliA)X XIXYXY^ÂBy^ IbDjVDjܲyrj%rf=ٔru.9tYt=vFyvEz+=Ez>|Q 55~-?Q 95~t)~BYyO Q I@~EI~:i~:~l5yɮAii?AJiRiji @b Yg6@N؋4?Pr%@RgF~ ?P=ߤ? :?Zi+=bikjz(4@ jg D@Zʯ?=kA(ֿ d?2i;:iA"i9;?ԩchecking for new query: numPingsReceived=57, elapsed TxPingTime=26.424282*iȣLBiBi,?i)?iBiAAiĽ@U addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503803 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.152601 m, bearing: 338.632690 deg, lat: 36.779423 deg, lon: -121.859782 deg, deltaT: 0.503803 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.15 m.bhRhZhM ProNav: ac range: 23.152601 m, nav range: 22.282145 m, bearing: 339.780466 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 334.689351 deg, new cmd heading: 334.420463 deg. BhQHeadingCmd: 5.836738 target range: 23.152601 and range: 23.30 m.hƺ@h*h"h hgfff dd9dAjdIZdU`B?ɢ7) [?i)%/)qiu*"i侉ir<޼i uȿ &@ d> r&@ }>) d.,MJ?AYMByM IiuMb@Mb@Mb@qqqq q9u{Gz?X9v?+Yu>yu=uuAu@ u@)u@qYu@bDVD:2y+%,=ٔQ->9Y=FyEE>Q 5%5??Q 9%5v)BY-\>Q E-:y-)6Q I-@EI;i;o5y5ʓBɮ5A=EiiK ?AJi?ARi?AjiM@b<5@HN'L?$Z;@Rxt?勉?/;f?Zid<bi}jb24@1a1!# @Z9\4߆?PD"I ؿ gG37?2i):iA"i;埊?*ixUBi4Bih?iiEiiЯAiQ@ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503199 s, deltaX: -0.500000 m, approachRate: -0.993643 m/s, rangeRepo size: 4  Added new target pos. range: 22.655779 m, bearing: 337.151352 deg, lat: 36.779421 deg, lon: -121.859784 deg, deltaT: 0.503199 s, deltaX: -0.496822 m, approachRate: -0.987328 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.66 m.bhRh!Zh!5 ProNav: ac range: 22.655779 m, nav range: 21.977028 m, bearing: 338.975360 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 334.420460 deg, new cmd heading: 334.088447 deg. Bh1]HeadingCmd: 5.830944 target range: 22.655779 and range: 22.80 m.h]@hY*hY"hY hYgafafafeBdididijdm6@Zdm?checking for new query: numPingsReceived=58, elapsed TxPingTime=26.928293-Bɢ-`:)q u3 ?iq)}pyyi}}#i4羉-r<5Iu >iu &ѿu R>u '@u A>u 0(@ u r>)u ^@Iu rq q u /O?kH,?/LωW? u (?)u 3Iu Diu rq q  checking for new query: numPingsReceived=59, elapsed TxPingTime=27.196518E  E {E E "E :*E 5":VE ZE BE ;a 2E ;a JE W6,3?A(~b@~Y]@~M'ٱ~ 5AHRS rotation from veh to nav: [[0.909746,0.413421,0.038012],[-0.415073,0.903798,0.104233],[0.008737,-0.110603,0.993826]]~H ?}u?@?v?ڿ?`??yPl?i~b@I~QKb;~nCYBy II%=)a===bDVDN2y5 W%58=ٔ5t;Q-=>99Y9==Fy=EER<EE>qQ 55uQ?Q 9 5uvQ = tI)uBY y '+Q I @uEIu CmzGi;埊?iȣLiiAi@H9Y%hA] addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503728 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 22.655779 m, bearing: 336.858791 deg, lat: 36.779418 deg, lon: -121.859787 deg, deltaT: 0.503728 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhqDNOT Ignoring new targets: 22.66 m.checking for new query: numPingsReceived=59, elapsed TxPingTime=27.433308bhRh Zh= ProNav: ac range: 22.655779 m, nav range: 21.583273 m, bearing: 337.875458 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 334.088458 deg, new cmd heading: 333.721416 deg. Bh9EHeadingCmd: 5.824537 target range: 22.655779 and range: 22.80 m.hEb@hA*hI"hI hIgQfQfYfYdYdYdajdaZdmN??Աɢ@) ?i)>i#i꾉us<)=Ib@I  ?@  @ @ /@ ^A ԅ<AM .AIQ Ia Om ><,$G?ALjJ@j~@jٱj vAHRS rotation from veh to nav: [[0.911406,0.409553,0.040060],[-0.411435,0.905084,0.107447],[0.007747,-0.114411,0.993403]]jH@=*?6?`͂?Tڿq???J?ijJ@Ij$1b;jmC%DDAT read: Rx Time:06:06:42.5368 %TRx dataTimestamp_ set to:1761545203.884751-PDAT read: Bearing 153.2, -1.7 (Local) 5~Local bearing/azimuth received: Bearing 153.2, -1.7 (Local) EDAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 eDAT read: 06:06:42.5368 LVL= 31792, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.21,-0.402,-2.124,-0.223,-0.538, PHS= 0.238,-1.542, 0.270, RAW= 150.9, 11.5, CAL= 150.8, 12.7, ROT= 359.2, -12.7 mYgot valid direction response: 06:06:42.5368 LVL= 31792, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.21,-0.402,-2.124,-0.223,-0.538, PHS= 0.238,-1.542, 0.270, RAW= 150.9, 11.5, CAL= 150.8, 12.7, ROT= 359.2, -12.7 uT#Rx 60: Read range and direction messages.}^direction in FSK: [0.975439,-0.013621,0.219846]}Fpublishing direction and range infoy!%C'6?ԦeD勿F#?Y%3A!%0|!! !)%=I%Fs>i%B`ſ%q=>%(@%M>%q(@ %b>)%y@I%b!!%Zgo4?~?wWc ? % ?)%MI%Ddi%b!!checking for new query: numPingsReceived=60, elapsed TxPingTime=27.701336YBy IE ExE E"E:*E:VE3ZEa@a@a@a@iMb@Mb@Mb@A A B^>BB IBBBBBBM^;B"E 9m?l?MbY>y=d@ @)Y\@bD=VD=y*%/=ٔ  ;Q- >9  ?Y  ?=FyE@ <E>Q 5E5b?Q 9E5zx)BYM">Q EM:yMQ IM@EIh;i;s5yQɮU AYi!i%ß?AJi%ARi%Aji%߻@b%pOU,5@o;5!gӿFג@R%C'6?ԦeD勿F#?Zi%Ddbi%bj% &3@!w}\! zg(A@Z%P?9²Xؿa?2i% :i%A"i%5쟊?*i%!\Bi%Bi!i%xUi%4Bi%Ai%0@e addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504052 s, deltaX: -0.400000 m, approachRate: -0.793568 m/s, rangeRepo size: 4 u Added new target pos. range: 22.258289 m, bearing: 336.388072 deg, lat: 36.779418 deg, lon: -121.859791 deg, deltaT: 0.504052 s, deltaX: -0.397490 m, approachRate: -0.788588 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.26 m.bhRhZh ProNav: ac range: 22.258289 m, nav range: 21.500607 m, bearing: 336.954221 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 333.721404 deg, new cmd heading: 333.430758 deg. BhHeadingCmd: 5.819465 target range: 22.258289 and range: 22.40 m.h9@h*h"h hgfffyBdddjd`ff6@Zd5"?Yɢ]j)a e>ia)eܳaaie$imlmItD,?A>G@>@>cߥٱ>m2 VAHRS rotation from veh to nav: [[0.914064,0.403150,0.044238],[-0.405538,0.907178,0.112101],[0.005062,-0.120407,0.992712]]>H@@?5?O?Vٿ?@?t?@Ӿ`K?i>G@I>x;b;9v"?Yv"?=vFyvEz<Ez>xQ 55zp?Q 95zy)zBYy鉾Q I@zEIz;iz;zt5yӓBɮV A-B*** querying acoustic contact ***i1 i1jh9EDNOT Ignoring new targets: 22.26 m.bhARhESZhESU ProNav: ac range: 22.258289 m, nav range: 21.327047 m, bearing: 336.891897 deg, approach rate: -0.511737 m/s, LOS rate: -0.185258 deg/s, cmd heading: 333.430765 deg, new cmd heading: 333.242271 deg. BhUH]HeadingCmd: 5.816175 target range: 22.258289 and range: 22.40 m.he@ha*ha"ha hagafafifidididqjdqZdu1 ?颡ɢ_) >i)顩ivJ$iノXu<e=I@II)DDAT read: Rx Time:06:06:43.0368  TRx dataTimestamp_ set to:1761545204.388657PDAT read: Bearing 153.0, -2.6 (Local) ~Local bearing/azimuth received: Bearing 153.0, -2.6 (Local) -DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 DAT read: 06:06:43.0368 LVL= 30880, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.08,-0.894,-2.600,-0.686,-1.023, PHS= 0.232,-1.531, 0.293, RAW= 151.7, 11.2, CAL= 151.6, 12.3, ROT= 358.4, -12.3 Ygot valid direction response: 06:06:43.0368 LVL= 30880, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.08,-0.894,-2.600,-0.686,-1.023, PHS= 0.232,-1.531, 0.293, RAW= 151.7, 11.2, CAL= 151.6, 12.3, ROT= 358.4, -12.3 T#Rx 61: Read range and direction messages.^direction in FSK: [0.976665,-0.027281,0.213030]Fpublishing direction and range infoy  Wp2@? |AzUmD?Y   x   ) >I hm>i ÿ > Us)@ +H> V)@ [>) +@I [   ] õ?cr|?? ` ?) cHI i [  Echecking for new query: numPingsReceived=61, elapsed TxPingTime=28.229187Q@Q @Q@U_0@Y@]=@]!>E EE$E"Es:*E*5:VE4ZEBE;a2E;aJE;a:E;a^A-I  checking for new query: numPingsReceived=61, elapsed TxPingTime=28.440495RK,kc.?A8FǴ@F@F2ٱF NAHRS rotation from veh to nav: [[0.914796,0.401212,0.046656],[-0.403895,0.907485,0.115498],[0.004000,-0.124501,0.992211]]FH F?s?`G?`lٿ ?@J?`bp?S߿ 2?iFǴ@IFfb;DYZwByZx I hhbDvVDv0y~%~I=ٔ~+;Q->9Y=FyE M;E >Q 55k?Q 95 {)|BY!y%*Q I%@EI6:i:lv5y-=Bɮ-2A)iAiE?AJiARiAjiE?@bE!'5@3_n3#~@REWp2@? |AzUmD?ZiEbiE[jEO?3@3d7!35G x@ZE^N?qAٿ?2iE :iEA"iEW ?*iEXbBiE3BiE5쟊?iEViEBiEȩAiE@m addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503906 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 22.258289 m, bearing: 336.145826 deg, lat: 36.779419 deg, lon: -121.859792 deg, deltaT: 0.503906 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhyԡDNOT Ignoring new targets: 22.26 m.bhRhZh ProNav: ac range: 22.258289 m, nav range: 21.222799 m, bearing: 336.800362 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 333.242279 deg, new cmd heading: 332.979608 deg. BhHeadingCmd: 5.811591 target range: 22.258289 and range: 22.40 m.h@h*h"h hgfffdddjdZd@?颁ɢ) >i)> 顉i3#it񾉧w<ѝw=I@I5DDAT read: Rx Time:06:06:43.5365 =TRx dataTimestamp_ set to:1761545204.895499EPDAT read: Bearing 153.5, -3.3 (Local) E~Local bearing/azimuth received: Bearing 153.5, -3.3 (Local) ]DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 }DAT read: 06:06:43.5365 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.49,-0.863,-2.567,-0.638,-0.976, PHS= 0.215,-1.546, 0.294, RAW= 152.2, 11.5, CAL= 152.1, 12.7, ROT= 357.9, -12.7 Ygot valid direction response: 06:06:43.5365 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.49,-0.863,-2.567,-0.638,-0.976, PHS= 0.215,-1.546, 0.294, RAW= 152.2, 11.5, CAL= 152.1, 12.7, ROT= 357.9, -12.7 T#Rx 62: Read range and direction messages.^direction in FSK: [0.974879,-0.035747,0.219846]Fpublishing direction and range infoy9=f762?v~6uMF#?Y=3A9=99 9)==I=(\>i=Tſ=+>=P*@=M>=)@ =b>)=@I=b99=JOC?ԁӲ?A҅? =?)=NMI=Q i=b99 checking for new query: numPingsReceived=62, elapsed TxPingTime=28.722692bE4jEƨ3rE(90E EE'E"Ey:*E?:VE'4ZEa@a@a@a@@ @@ 0@B]>BB IBBBBBBr^;B#EBBBBBC\Z4 ^A5 K@= checking for new query: numPingsReceived=62, elapsed TxPingTime=28.945608) Aa Ii I O >R,*K?Ayy-ȴ@-û@-`ٱ- 5 ]AHRS rotation from veh to nav: [[0.914887,0.400694,0.049255],[-0.403696,0.906983,0.120052],[0.003431,-0.129718,0.991545]]-HF??7?@&ٿ`?@? l??i-ȴ@I-,b;-oCYumByuk IԙieMb@Mb@Mb@aaaa a9ex&1?+?S㥛YeA?ye=e/ݼaeM@ e@)e@aYe@bDVD:y%=ٔU:Q->9Y=FyEc9E>Q 55ߕ?Q 95r})sBY?Q E:y㰾Q I@EI ;i ;x5yCBɮAEiiO9?AJiARiAji_@b65@|ꮤb!_"@Rf762?v~6uMF#?ZiQ bibjwYxCU3@d!n@Zmm?~ǒٿ?2i :iA"i?*iW )bBiCBii!\iBiVAizĻ@5 addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.506842 s, deltaX: -0.500000 m, approachRate: -0.986501 m/s, rangeRepo size: 4 E Added new target pos. range: 21.761438 m, bearing: 335.783004 deg, lat: 36.779419 deg, lon: -121.859794 deg, deltaT: 0.506842 s, deltaX: -0.496851 m, approachRate: -0.980288 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 21.76 m.bhIRhQZhQe ProNav: ac range: 21.761438 m, nav range: 21.042059 m, bearing: 336.196386 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 332.979618 deg, new cmd heading: 332.715354 deg. BhamHeadingCmd: 5.806978 target range: 21.761438 and range: 21.90 m.hmҹ@hi*hi"hi higqfqfqfuNBdydydyjd}`f5@ZdB?颩ɢ) >i)r 顱i#if󾉧py<=Iҹ@Ie>@a @a@e0@aDDAT read: Rx Time:06:06:44.0364 TRx dataTimestamp_ set to:1761545205.396952PDAT read: Bearing 148.7, -4.6 (Local) ~Local bearing/azimuth received: Bearing 148.7, -4.6 (Local) DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.4 5DAT read: 06:06:44.0364 LVL= 28544, 32753, 32754, 32755, AGC= 63, IDX= 512,-0.01, 0.011,-2.022, 0.350,-0.241, PHS= 0.354,-1.736, 0.547, RAW= 154.4, 7.7, CAL= 153.9, 8.0, ROT= 356.1, -8.0 ^A]c=Ygot valid direction response: 06:06:44.0364 LVL= 28544, 32753, 32754, 32755, AGC= 63, IDX= 512,-0.01, 0.011,-2.022, 0.350,-0.241, PHS= 0.354,-1.736, 0.547, RAW= 154.4, 7.7, CAL= 153.9, 8.0, ROT= 356.1, -8.0 T#Rx 63: Read range and direction messages.^direction in FSK: [0.987975,-0.067353,0.139173]Fpublishing direction and range infoE= E=zE=#E9"E=:*E= :VE=3ZE9BE=;aM2E=;aMJE=v;aM:E=v;aMyR}? E=>H@l?YfAo )?I}?>i?5޿1 ?iw,@ >o+@ 5>)>@I5Ge;0-?Ru{?9I? ?)N I)gi5checking for new query: numPingsReceived=63, elapsed TxPingTime=29.252510A .AI I O > [X,d?A2(@2@2tHٱ2CB :AHRS rotation from veh to nav: [[0.914412,0.401418,0.052107],[-0.404774,0.905805,0.125200],[0.003059,-0.135576,0.990762]]2HB?Ӱ??ٿ`[??i?Z@S?i2(@I2ia;2lCYN\ByNW IbDZVDZNy%Խ%%=ٔ-ڙ:Q-- ?9- ?Y5 ?=5Fy5E5sE5 ?YQ 5}5]?Q 9}5]~)]nBYyQ I@]EI][;i];].z5yɮ4AiigY?AJiKARiKAji<-@b]f5@X(C@RR}? E=>H@l?Zi)gbi5jWL*$3@ a6#Udƿf @ZBSF?BX7(bܿq~ 4?2i:i!A"i/?*iד{Echecking for new query: numPingsReceived=63, elapsed TxPingTime=29.449158Bi܈Bi/?iXbiCBiAi{@ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.501453 s, deltaX: -0.100000 m, approachRate: -0.199421 m/s, rangeRepo size: 4  Added new target pos. range: 21.662071 m, bearing: 333.348097 deg, lat: 36.779419 deg, lon: -121.859796 deg, deltaT: 0.501453 s, deltaX: -0.099367 m, approachRate: -0.198158 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.66 m.bh Rh1Zh9 ProNav: ac range: 21.662071 m, nav range: 20.999699 m, bearing: 335.713831 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 332.715344 deg, new cmd heading: 332.521951 deg. Bh5HeadingCmd: 5.803603 target range: 21.662071 and range: 21.80 m.h5@h9*h9"hA higifqfyfdddjd5@Zd 9?)ɢ-r)) -+>i1)5@ 11i5iE#i=='{<=І=Ie@IiA?@! @!@%0@)@I@Ii  DDAT read: Rx Time:06:06:44.5361  TRx dataTimestamp_ set to:1761545205.900716 PDAT read: Bearing 153.2, -4.2 (Local)  ~Local bearing/azimuth received: Bearing 153.2, -4.2 (Local)  DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 5 DAT read: 06:06:44.5361 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.32,-2.856, 1.738,-2.605,-2.964, PHS= 0.210,-1.536, 0.315, RAW= 152.9, 11.2, CAL= 152.8, 12.4, ROT= 357.2, -12.4 = Ygot valid direction response: 06:06:44.5361 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.32,-2.856, 1.738,-2.605,-2.964, PHS= 0.210,-1.536, 0.315, RAW= 152.9, 11.2, CAL= 152.8, 12.4, ROT= 357.2, -12.4 E T#Rx 64: Read range and direction messages.M ^direction in FSK: [0.975506,-0.047710,0.214735]M Fpublishing direction and range infoy  hX7? 8`pmh`r|?Y fA  ) >I = W>i Ŀ G> {*@ +H> *@ k]>) @I k] zϷZ?Sq ?liײ? E?) HI *Hi k] m checking for new query: numPingsReceived=64, elapsed TxPingTime=29.716303Em  Em }Ei Ei "Em %:*Em k&:VEi ZEi a} @a} @a} @a} @^A} np=B B B l IB nBB B B B {^;B #Eԡ A I I O >m`,ˁ?ARЮ@R@R!;ٱRo AHRS rotation from veh to nav: [[0.913603,0.402860,0.055078],[-0.406598,0.904209,0.130708],[0.002855,-0.141810,0.989890]]RH <%#=ٔ9Q->9Y=FyErE>Q 55϶?Q 95Ɓ)jBY?Q E:y0ܾQ I@EI:i;^|5yHBɮAEchecking for new query: numPingsReceived=64, elapsed TxPingTime=29.953300iiUy?AJiRARiRAji@bԔ4@13V(𿪷Yd-@RhX7? 8`pmh`r|?Zi*Hbik]jTܴ2@QJm!L9@ZtZH?}wYڿDZ9Hn?2il :iA"i*ߟ?*iwfBiBiiW )bi3BiAi~@ addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503764 s, deltaX: -0.500000 m, approachRate: -0.992528 m/s, rangeRepo size: 4   Added new target pos. range: 21.165216 m, bearing: 335.022739 deg, lat: 36.779419 deg, lon: -121.859796 deg, deltaT: 0.503764 s, deltaX: -0.496855 m, approachRate: -0.986285 m/s, posRepo size: 4 jh!EDNOT Ignoring new targets: 21.17 m.bhARhQZhQ ProNav: ac range: 21.165216 m, nav range: 20.738209 m, bearing: 335.709459 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 332.521940 deg, new cmd heading: 332.238615 deg. Bh5HeadingCmd: 5.798658 target range: 21.165216 and range: 21.30 m.h5@h1*h9"h9 h9g9f9fAfE,BdAdAdAjdML5@ZdM*O?BɢUV) >i) i4"iX}<=I-@I1I DDAT read: Rx Time:06:06:45.0361  TRx dataTimestamp_ set to:1761545206.404747 PDAT read: Bearing 154.2, -4.7 (Local)  ~Local bearing/azimuth received: Bearing 154.2, -4.7 (Local)  DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4  DAT read: 06:06:45.0361 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.10, 0.481,-1.197, 0.731, 0.405, PHS= 0.178,-1.557, 0.282, RAW= 152.9, 12.2, CAL= 152.9, 13.6, ROT= 357.1, -13.6  Ygot valid direction response: 06:06:45.0361 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.10, 0.481,-1.197, 0.731, 0.405, PHS= 0.178,-1.557, 0.282, RAW= 152.9, 12.2, CAL= 152.9, 13.6, ROT= 357.1, -13.6  T#Rx 65: Read range and direction messages. ^direction in FSK: [0.970716,-0.049174,0.235142] Fpublishing direction and range infoy  &;?Tze-#?Y ) I E6>i Kǿ Nb> ^ Z> {*@ s>) 8q@I s sj+C?Hמ?"? ?) ZI QQOi s  checking for new query: numPingsReceived=65, elapsed TxPingTime=30.219933 W D zD @AE  E vE !E "E :*E :VE c3ZE BE ;a 2E ;a JE h;a :E h;a @  @ @ /@ !^A[=Q5checking for new query: numPingsReceived=65, elapsed TxPingTime=30.457069A؟AIIAO-1? k,U?A LɰLY]IBy]? IbDmVDm2y!%<ٔQ->9"?Y"?=FyEE>Q 55{љ?Q 95)cBYyQ I@ EI:i1:D5yMBɮ$AEii`?AJiRiji)(@b t4@l9U+G@R&;?Tze-#?ZiQQObisj=| 2@-HI!O'@Z3`(?yl#ڿܵWh ?2iO :iA"i:?*i}hBiBi:?iwfiiAiC@ addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504031 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 q} Added new target pos. range: 21.165216 m, bearing: 335.103092 deg, lat: 36.779420 deg, lon: -121.859799 deg, deltaT: 0.504031 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 21.17 m.bhRhZh= ProNav: ac range: 21.165216 m, nav range: 20.501726 m, bearing: 335.294607 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 332.238624 deg, new cmd heading: 331.886455 deg. Bh9eHeadingCmd: 5.792511 target range: 21.165216 and range: 21.30 m.heA\@ha*ha"ha higifififqdqdqdqjdqZd}i?ɢ~) >i)2:i!i9]*<])=I]A\@IamgAmfADDAT read: Rx Time:06:06:45.5359 TRx dataTimestamp_ set to:1761545206.908877PDAT read: Bearing 152.3, -4.5 (Local) ~Local bearing/azimuth received: Bearing 152.3, -4.5 (Local) DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 DAT read: 06:06:45.5359 LVL= 30752, 32401, 32754, 32755, AGC= 62, IDX= 507,-0.26,-2.469, 2.124,-2.212,-2.589, PHS= 0.221,-1.525, 0.332, RAW= 153.0, 10.8, CAL= 152.9, 11.8, ROT= 357.1, -11.8  Ygot valid direction response: 06:06:45.5359 LVL= 30752, 32401, 32754, 32755, AGC= 62, IDX= 507,-0.26,-2.469, 2.124,-2.212,-2.589, PHS= 0.221,-1.525, 0.332, RAW= 153.0, 10.8, CAL= 152.9, 11.8, ROT= 357.1, -11.8 T#Rx 66: Read range and direction messages.]^direction in FSK: [0.977614,-0.049524,0.204496]]Fpublishing direction and range infoyi33ÿ>*@A> BR>)IBRrXX?e6ZH%?/? I?)X@ԑIiBRchecking for new query: numPingsReceived=66, elapsed TxPingTime=30.744495E E~EE"E:*E(:VEZEa%@a%@a%@a%@B=^>B9B=G IB=OBB=; =B9B9B=k^;B=#E z @@  @ @ 4@ @ >@ U checking for new query: numPingsReceived=66, elapsed TxPingTime=30.960304^A%Nw=AiIyIO?t,m8?AYz@Byz5 I ||Ai}Mb@Mb@Mb@yyyy y9}?L7A`堿y&1|Yyy}+}`}A}@ y)}@yY}@bDVD0y% =ٔQ->Ա9Y=FyEE>Q 55虊?Q 95G)Y?Q E:y+Q I@EI ;i2 ;Ɓ5yɮgAii +?AJiARiAji@bwXff4@Σ!X*@R*?2i :iA"iR"I?*iP&[mBiBii}hiBiڡAi.@ addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504130 s, deltaX: -0.299999 m, approachRate: -0.595083 m/s, rangeRepo size: 4  Added new target pos. range: 20.867134 m, bearing: 334.834508 deg, lat: 36.779420 deg, lon: -121.859799 deg, deltaT: 0.504130 s, deltaX: -0.298082 m, approachRate: -0.591281 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.87 m.bhRh Zh  ProNav: ac range: 20.867134 m, nav range: 20.231783 m, bearing: 335.144368 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 331.886460 deg, new cmd heading: 331.561840 deg. Bh%HeadingCmd: 5.786846 target range: 20.867134 and range: 21.00 m.h%-@hA*hA"hA hIgIfIfIfM'BdQdQdQjdU5@Zd]@?uDDAT read: Rx Time:06:06:46.0358 uTRx dataTimestamp_ set to:1761545207.412818}PDAT read: Bearing 154.4, -5.4 (Local) ~Local bearing/azimuth received: Bearing 154.4, -5.4 (Local) DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 DAT read: 06:06:46.0358 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.16, 0.104,-1.584, 0.368, 0.047, PHS= 0.159,-1.586, 0.277, RAW= 153.2, 12.7, CAL= 153.4, 14.1, ROT= 356.6, -14.1 Ygot valid direction response: 06:06:46.0358 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.16, 0.104,-1.584, 0.368, 0.047, PHS= 0.159,-1.586, 0.277, RAW= 153.2, 12.7, CAL= 153.4, 14.1, ROT= 356.6, -14.1 T#Rx 67: Read range and direction messages.^direction in FSK: [0.968165,-0.057520,0.243615]Fpublishing direction and range infoyqu_]4?:7s .?Yu3Aquuq q)u<Iu">iu ˿uҍ>uD +@ub>uuY+@ ud{>)u)@Iud{qqu۪KU?9"?%? u?)u.bIusiud{qq checking for new query: numPingsReceived=67, elapsed TxPingTime=31.2324055Bɢ5t)1 5;>i9)=99i=ۧ i> X< =I-@IE E|E$E"Eҝ:*EP$:VE4ZEBE;a2E;aJE};a:E};a  ?@  @ @ 4@  checking for new query: numPingsReceived=67, elapsed TxPingTime=31.464161Y ^A =ԁA.AI9IaO ?9|,*?A<=+@=V>=Z,@ =`>)=@I=`99=?Y{;0?l-j ? =1 ?)=(I=)i=`99checking for new query: numPingsReceived=68, elapsed TxPingTime=31.744896E EoEE"E:*E:VEZEa@a@a@a@AABBB4 IB@BBBFDBBL^;B"EAY=By1 Ii Mb@Mb@Mb@     9 K7A?ktI +?Y  ?y  0 94<  A  ) @ Y @bD=VD=βyE8%M<ٔMNQ-Mu>q9} ?Y} ?=}Fy} E}ЮEt>Q 55e?Q 95)jBY?Q E:y|Q I@EI#i )  i %+i _< =I @I q @q  @q @u /@q @y @y DDAT read: Rx Time:06:06:47.0355 TRx dataTimestamp_ set to:1761545208.420628PDAT read: Bearing 155.5, -5.7 (Local) ~Local bearing/azimuth received: Bearing 155.5, -5.7 (Local) DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 DAT read: 06:06:47.0355 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.02,-0.362,-2.036,-0.111,-0.381, PHS= 0.121,-1.610, 0.226, RAW= 152.9, 14.0, CAL= 153.2, 15.8, ROT= 356.8, -15.8 Ygot valid direction response: 06:06:47.0355 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.02,-0.362,-2.036,-0.111,-0.381, PHS= 0.121,-1.610, 0.226, RAW= 152.9, 14.0, CAL= 153.2, 15.8, ROT= 356.8, -15.8 T#Rx 69: Read range and direction messages.^direction in FSK: [0.960718,-0.053713,0.272280]Fpublishing direction and range infoyu52?L/; ^ m?Y3A );I=i{οlg>{*@5z>D +@ 0>)SF@I0P1P?H16?@n< ? ?)CzIdi0=checking for new query: numPingsReceived=69, elapsed TxPingTime=32.240551^A=ܝ=AAAE>E EE&E"E*E,:VE4ZEBE;a2E;a%JE7;a%:E7;a%!AIIO.?K,!?AF @F@FٱF?E ^AHRS rotation from veh to nav: [[0.903464,0.421458,0.078276],[-0.428641,0.886300,0.175327],[0.004517,-0.191954,0.981394]]FH,? )?@ ?nۿ\?q?8r? ȿg?iF @IFa;FnC fC)fkAdddhxiz9IxxI|i~3s@ ||)| ļ  I 9) i ) IkA91 1999i99Y9YEHByE> IIM<)M4<bD}VD}fy(=%&=ٔZ.Q->9Y=FBGy E)]9YY]{Aԉ%:E>Q 55?Q 95)pBYyQ I@EI[:i:<5ycBɮAEiaie?AJie*ARie*Ajieߺ@beOky3@fk @Reu52?L/; ^ m?Ziedbie0jeq\1@ OW@Zeu?? wXڿ ?2ie:ieA"ieNߟ?*ieX mBieBie*ߟ?ieX mieBieAie*ߺ@} addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504012 s, deltaX: -0.200001 m, approachRate: -0.396817 m/s, rangeRepo size: 4  Added new target pos. range: 20.270985 m, bearing: 334.591610 deg, lat: 36.779418 deg, lon: -121.859801 deg, deltaT: 0.504012 s, deltaX: -0.198734 m, approachRate: -0.394305 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.27 m.bhRhZh- ProNav: ac range: 20.270985 m, nav range: 19.449728 m, bearing: 334.592565 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 331.157214 deg, new cmd heading: 330.867151 deg. Bh)5HeadingCmd: 5.774721 target range: 20.270985 and range: 20.40 m.h5ʸ@h1*h1"h1 h1g9f9f9f9didqdychecking for new query: numPingsReceived=69, elapsed TxPingTime=32.474754jd`ff4@Zd]?颅Bɢ4xF) >i)͎顉ii* y<#=Iʸ@II@I @I@M/@I E DDAT read: Rx Time:06:06:47.5352 M TRx dataTimestamp_ set to:1761545208.925760] PDAT read: Bearing 155.4, -4.4 (Local) ] ~Local bearing/azimuth received: Bearing 155.4, -4.4 (Local) ^Am x= DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4  DAT read: 06:06:47.5352 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500, 0.27,-0.415,-2.115,-0.215,-0.459, PHS= 0.146,-1.611, 0.200, RAW= 151.5, 14.1, CAL= 151.7, 15.7, ROT= 358.3, -15.7 5 Ygot valid direction response: 06:06:47.5352 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500, 0.27,-0.415,-2.115,-0.215,-0.459, PHS= 0.146,-1.611, 0.200, RAW= 151.5, 14.1, CAL= 151.7, 15.7, ROT= 358.3, -15.7 5 T#Rx 70: Read range and direction messages.= ^direction in FSK: [0.962268,-0.028560,0.270600]E Fpublishing direction and range infoyA E "M?C'D>RlyQ?YE AA A A B _>B B : IB EBB : =B B B -^;B "EE  E E !E "E :*E .:VE c3ZE BE 4;2E 5;JE ;:E ;A A )E 9IE >iE ?5οE L>E %:)@E d{>E Us)@ E K>)E @IE KA A E 4) /w?a8?d0R? E  ?)E r{IE iE KA A }checking for new query: numPingsReceived=70, elapsed TxPingTime=32.797916AIIO>!,@?A8ų@s@`ٱ}L AHRS rotation from veh to nav: [[0.901653,0.424756,0.081269],[-0.432431,0.883308,0.181029],[0.005108,-0.198369,0.980114]]HV?3/?δ?`ۿ D?+?`t?#dɿ`]?ių@Iia;YMKByMA IiuMb@Mb@Mb@qqqq q9uS㥛?V-9Y=FyEcE>Q 55 ,?Q 95/)uBY^?Q E:yQ I@EI;i`;5yɮA5DDAT read: Rx Time:06:06:48.0351 ETRx dataTimestamp_ set to:1761545209.179862]checking for new query: numPingsReceived=70, elapsed TxPingTime=32.982716ii?;?AJiARiAjie@b `7ʩ3@Šv):ۂ@R"M?C'D>RlyQ?ZibiKj׬Zp1@Y00ث@Z6$j?aVٿZm?2i:iA"i韊?*icGbBiABi韊?iiABi0Ai`@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.505132 s, deltaX: -0.400000 m, approachRate: -0.791871 m/s, rangeRepo size: 4 % Added new target pos. range: 19.873552 m, bearing: 335.909056 deg, lat: 36.779419 deg, lon: -121.859801 deg, deltaT: 0.505132 s, deltaX: -0.397432 m, approachRate: -0.786789 m/s, posRepo size: 4 jh!mDNOT Ignoring new targets: 19.87 m.bhiRhqZhq ProNav: ac range: 19.873552 m, nav range: 19.273670 m, bearing: 334.796854 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 330.867150 deg, new cmd heading: 330.534438 deg. BhHeadingCmd: 5.768914 target range: 19.873552 and range: 20.00 m.h@h*h"h hgfffsBdddjd4@Zd? Bɢ4A) >i)i1iF%E<%=IE@IA @  @ @ /@   PDAT read: Bearing 155.6, -4.3 (Local)  ~Local bearing/azimuth received: Bearing 155.6, -4.3 (Local)  DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4  DAT read: 06:06:48.0351 LVL= 32720, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.22,-2.974, 1.559,-2.782,-3.017, PHS= 0.144,-1.662, 0.191, RAW= 151.3, 14.4, CAL= 151.5, 16.1, ROT= 358.5, -16.1  Ygot valid direction response: 06:06:48.0351 LVL= 32720, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.22,-2.974, 1.559,-2.782,-3.017, PHS= 0.144,-1.662, 0.191, RAW= 151.3, 14.4, CAL= 151.5, 16.1, ROT= 358.5, -16.1  T#Rx 71: Read range and direction messages.! - ^direction in FSK: [0.960450,-0.025150,0.277315]- Fpublishing direction and range infoy  /t?d/?Y fA  ) :I t>i jԿ C> )@ > %:)@ ޏ>) c9@I ޏ 0C~?k?ˈ`? d ?) I wּi ޏ M checking for new query: numPingsReceived=71, elapsed TxPingTime=33.243771^AE=AAzAEgAEm EmEm%Ei"Emغ:*EmE7:VEm 4ZEia}@a}@a}@a}@QA؟AIIO ?,jc?A4<ɰV@V@VFϻٱVxU %AHRS rotation from veh to nav: [[0.898246,0.431150,0.085224],[-0.439447,0.878304,0.188333],[0.006347,-0.206621,0.978401]]VHn??@<ѵ?ܿ ?`J?@y?rʿO?iV@IVa%a;VlCY_ByZ I bD=VD=ky]9=%])=ٔeH(Q-e>9"?Y"?=FyEE>ԩQ 55>?Q 95s)zBYylQ I@#EI^;i_;ŋ5y Bɮ A DDAT read: Rx Time:06:06:48.5348 TRx dataTimestamp_ set to:1761545209.684107PDAT read: Bearing 154.2, -2.9 (Local) ~Local bearing/azimuth received: Bearing 154.2, -2.9 (Local) checking for new query: numPingsReceived=71, elapsed TxPingTime=33.491619iyi}\[?AJi}fARi}fAji}ϗ@b}S2@J߿z@R}/t?d/?Zi}wּbi}ޏj}-91@cq62nE=@Z}.?~\ٿCch?2i}:i}͉A"i}ꟊ?*i}:"FcBi}~Biyiyi}~Bi}$Ai}@5 addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.501779 s, deltaX: -0.200001 m, approachRate: -0.398583 m/s, rangeRepo size: 4 m Added new target pos. range: 19.674816 m, bearing: 335.883968 deg, lat: 36.779419 deg, lon: -121.859801 deg, deltaT: 0.501779 s, deltaX: -0.198736 m, approachRate: -0.396063 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 19.67 m.bhiRhZh ProNav: ac range: 19.674816 m, nav range: 19.017847 m, bearing: 334.847550 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 330.534437 deg, new cmd heading: 330.259938 deg. BhHeadingCmd: 5.764123 target range: 19.674816 and range: 19.80 m.hs@h*h"h hgfffdddjd3@Zd?uBɢu )q u¾>iq)}%yyi}:i;u<x=Is@I1@1 @9@=0@9 iY I] Am DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4  DAT read: 06:06:48.5348 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.03,-2.585, 1.977,-2.432,-2.677, PHS= 0.194,-1.584, 0.201, RAW= 150.2, 13.3, CAL= 150.2, 14.7, ROT= 359.8, -14.7  Ygot valid direction response: 06:06:48.5348 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.03,-2.585, 1.977,-2.432,-2.677, PHS= 0.194,-1.584, 0.201, RAW= 150.2, 13.3, CAL= 150.2, 14.7, ROT= 359.8, -14.7  T#Rx 72: Read range and direction messages. ^direction in FSK: [0.967262,-0.003376,0.253758] Fpublishing direction and range infoyY ] vmS%?kN=?Y] 3AY ] Y Y Y )Y I] F>i] ʿ] M>] g'@] ,m>] g'@ ] G\>)] B@I] G\Y Y ] -??7S?re? ] ?)] ImI] di] G\Y Y  checking for new query: numPingsReceived=72, elapsed TxPingTime=33.745808) B <A 4=B B B G IB OBB B B B 7^;B "EBiBiBiBm; =Bm; =Cmk5bEU3jEU3rEU/E  E rE $E "E 1:*E ?:VE 4ZE BE y;a 2E z;a JE yY;a :E zY;a ^A x=A9IAYIQOe?,+?A6e@6`@6.ٱ6xX NAHRS rotation from veh to nav: [[0.896517,0.434419,0.086813],[-0.442952,0.875874,0.191413],[0.007116,-0.210059,0.977663]]6HE? ? f9?QYܿ`(? ;?@%}?@:ʿ@I?i6e@I6a;4YfkByfi IiMb@Mb@Mb@ 9}?5^I?QQ?YM?yuu<A@ )Y@aeAAbDmVDmy2=%=ٔnúQ->9Y=FyEE>Q 55yR?Q 95)BYj?Q E:yQ I@'EI:!i:5yeBɮmAuEDDAT read: Rx Time:06:06:49.0347 TRx dataTimestamp_ set to:1761545210.188662PDAT read: Bearing 156.5, -3.9 (Local) ~Local bearing/azimuth received: Bearing 156.5, -3.9 (Local) ]DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4 uZ#Rx 73: Read range message, but no direction.yYAchecking for new query: numPingsReceived=73, elapsed TxPingTime=34.021519ii ?AJiARiAjis@b2;t2@rH͟}Xy]@RvmS%?kN=?ZidbiG\j9/0@NB7v"@Zca/Hh?Q^ؿm]?2i:i~A"iqF埊?*i[Bi,BiqF埊?i:"FciizAi@M addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.761123 s, deltaX: -0.599998 m, approachRate: -0.788307 m/s, rangeRepo size: 4 } Added new target pos. range: 19.078625 m, bearing: 336.671798 deg, lat: 36.779418 deg, lon: -121.859797 deg, deltaT: 0.761123 s, deltaX: -0.596191 m, approachRate: -0.783305 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.08 m.bhRhZh ProNav: ac range: 19.078625 m, nav range: 18.559593 m, bearing: 335.860976 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 330.259946 deg, new cmd heading: 329.977164 deg. BhHeadingCmd: 5.759188 target range: 19.078625 and range: 19.20 m.hEK@h*h"h hgfff Bd)d)d1jd5@333@Zd5P?IBɢ~׻) j>i)i i$ȇ<ˌ=IEK@I!@@ @@4@@@y u DAT read: 06:06:49.0347 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.28,-0.404,-2.148,-0.244,-0.425, PHS= 0.123,-1.678, 0.137, RAW= 150.4, 15.5, CAL= 150.7, 17.3, ROT= 359.3, -17.3 } Ygot valid direction response: 06:06:49.0347 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.28,-0.404,-2.148,-0.244,-0.425, PHS= 0.123,-1.678, 0.137, RAW= 150.4, 15.5, CAL= 150.7, 17.3, ROT= 359.3, -17.3 } Z#Rx 74: Read direction message, but no range. ^direction in FSK: [0.954690,-0.011664,0.297375]yQ U ь?& {ㇿ+0?Q Q Q Q Q )U ;IU m=iU ֿU I >U '@U c>U aU(@ U #>)U ū@IU #Q U C%X?(1?EA? U ?)U Q}IU D+HiU # checking for new query: numPingsReceived=74, elapsed TxPingTime=34.246132ԩ ^A z=E  E E E "E ҝ:*E :VE ZE a @a @a @a @AIIO>؋,{أ?ABI@BD@BBxٱB\ JAHRS rotation from veh to nav: [[0.894994,0.437275,0.088189],[-0.446009,0.873689,0.194276],[0.007902,-0.213209,0.976975]]\BHɣ?N?`?@iܿC?@ ?@.?@qJ˿@`C?iBI@IBa;@YfyByf{ IbD~VD~fy <=% 9=ٔQ->9Y=FyEE>!Q 5-5% c?Q 9-5%\)%BY1y5;Q I5@%+EI%D;i%;%쏚5y9ɮ=YAAi1i1Ji1Ri1ji5}@b5Їc62@gO/|̿I-媱@R5ь?& {ㇿ+0?Zi5D+Hbi5#j5G `0@8ip@Z5?1X24ؿ]/`Zi)Es!i%Ai%-q<5ԁ=I5i^@I9?@ @@/@DDAT read: Rx Time:06:06:49.5345 TRx dataTimestamp_ set to:1761545210.693475=PDAT read: Bearing 153.7, -1.6 (Local) E~Local bearing/azimuth received: Bearing 153.7, -1.6 (Local) mDAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.4 }Z#Rx 75: Read range message, but no direction.yY3Aԡchecking for new query: numPingsReceived=75, elapsed TxPingTime=34.509968^ATZ=A IA Iy O >  DAT read: 06:06:49.5345 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.26,-2.961, 1.577,-2.850,-3.083, PHS= 0.224,-1.579, 0.189, RAW= 149.0, 13.0, CAL= 149.0, 14.4, ROT= 1.0, -14.4  Ygot valid direction response: 06:06:49.5345 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.26,-2.961, 1.577,-2.850,-3.083, PHS= 0.224,-1.579, 0.189, RAW= 149.0, 13.0, CAL= 149.0, 14.4, ROT= 1.0, -14.4  Z#Rx 76: Read direction message, but no range. \direction in FSK: [0.968436,0.016904,0.248690]y  *l?CGiOO?l? ) <I B`e>i ʿ 7A> Bo&@ Vh> Bo&@ >) 5yt<94<hA @)5@Y@bDVDyE=%0=ٔ"Q->9Y=FyE(ܻE> Q 55 At?Q 95 ) BY>Q E:yQ I@ .EI ;i A; 5y%Bɮ%.A%EiIiMa?AJiM>ARiM>AjiMy@bMy02@XvfQ?蟮@RM*l?CGiOO?l?ZiM5<biMjM0@ x+@ZM5=`̜?uyp׿􄖤?2iM.:iMvA"iMuϢ?*iMQZXBiM΋BiM韊?iM(\iMABiM]AiM@u addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504813 s, deltaX: -0.300001 m, approachRate: -0.594282 m/s, rangeRepo size: 4  Added new target pos. range: 18.780548 m, bearing: 337.464213 deg, lat: 36.779419 deg, lon: -121.859794 deg, deltaT: 0.504813 s, deltaX: -0.298077 m, approachRate: -0.590469 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.78 m.bhRhZh ProNav: ac range: 18.780548 m, nav range: 18.045542 m, bearing: 336.764664 deg, approach rate: 0.000000 m/s, LOS rate: 0.119943 deg/s, cmd heading: 330.111048 deg, new cmd heading: 330.278379 deg. BhHeadingCmd: 5.764445 target range: 18.780548 and range: 18.90 m.hVv@h*h"h hgfff́Bdddjd`f2@Zd?Bɢ`π) H>i)ii"&@<p=IVv@I @@ @@@-DDAT read: Rx Time:06:06:50.0344 =TRx dataTimestamp_ set to:1761545211.198025UPDAT read: Bearing 155.9, -1.8 (Local) ]~Local bearing/azimuth received: Bearing 155.9, -1.8 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 1DAT read: 06:06:50.0344 LVL= 31168, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.10,-0.576,-2.352,-0.483,-0.642, PHS= 0.168,-1.665, 0.114, RAW= 148.5, 15.1, CAL= 148.6, 16.8, ROT= 1.4, -16.8 Ygot valid direction response: 06:06:50.0344 LVL= 31168, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.10,-0.576,-2.352,-0.483,-0.642, PHS= 0.168,-1.665, 0.114, RAW= 148.5, 15.1, CAL= 148.6, 16.8, ROT= 1.4, -16.8 T#Rx 77: Read range and direction messages.\direction in FSK: [0.957034,0.023389,0.289032]Fpublishing direction and range infoy)-3?*d?\.?Y-fA)-y)) )))I-1,>i-տ-x=-H%@-V>-%@ -Q >)-+)-UI-+,=?AY5By5 I E;EbDEVDEܲyH=%^=ٔQ->9 ?Y ?=FyEE>Q 5 5䁚?Q 9 5)BYyQ I@1EI;i:5yɮA!Mchecking for new query: numPingsReceived=77, elapsed TxPingTime=35.244301iQiUq?AJiUsARiUsAjiU@bU֓1@w?؛ @RU3?*d?\.?ZiU+<biUQ jU220@2_\[i)ii-<vj=I'@Iԡ?@ @@/@Թ^A fm=5 DDAT read: Rx Time:06:06:50.5342 = TRx dataTimestamp_ set to:1761545211.703430] PDAT read: Bearing 157.9, -2.6 (Local) m ~Local bearing/azimuth received: Bearing 157.9, -2.6 (Local)  DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4  Z#Rx 78: Read range message, but no direction.y9 Y= ̔A9 M checking for new query: numPingsReceived=78, elapsed TxPingTime=35.530785 A ؟AI I O >&,?A2@2@2ٱ29|^ :AHRS rotation from veh to nav: [[0.891265,0.444509,0.089771],[-0.453391,0.869452,0.196187],[0.009155,-0.215556,0.976449]]2H=?r? A?\ݿ`? ?@ᅡ?`Y˿??i2@I2 a;2mCYFByF IbDNVDNNyV&=%VQ=ٔV!Q-Z>9Z"?YZ"?=^Fy^E^WE^>`Q 5f5bO?Q 9f5b)bBYdyj/Q I@b4EIb %; HeadingCmd: 5.768280 target range: 18.681179 and range: 18.60 m.h@h*h)"h) h)g1f9fYfYdddjd2@Zd]?DAT read: 06:06:50.5342 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.31, 1.911, 0.166, 2.009, 1.914, PHS= 0.099,-1.703, 0.051, RAW= 148.7, 17.2, CAL= 149.0, 19.1, ROT= 1.0, -19.1 Ygot valid direction response: 06:06:50.5342 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.31, 1.911, 0.166, 2.009, 1.914, PHS= 0.099,-1.703, 0.051, RAW= 148.7, 17.2, CAL= 149.0, 19.1, ROT= 1.0, -19.1 Z#Rx 79: Read direction message, but no range.\direction in FSK: [0.944805,0.016492,0.327218]y Q;?<.?#e#? ):I=iٿ`P=x&@`>Bo&@ 㭪>)5i1)511i5Y 9AA?ABBB IBBBBBBv^;B #EE EE#E"E:*E3:VE3ZEBE;a%2E;a-JE;a-:E;a-i55$<5ES=I=@I9@ @@/@iԑ ^A5 h=AA u DDAT read: Rx Time:06:06:51.0341  TRx dataTimestamp_ set to:1761545212.205010 PDAT read: Bearing 157.4, -2.2 (Local)  ~Local bearing/azimuth received: Bearing 157.4, -2.2 (Local) zAE dA5 DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.4 = Z#Rx 80: Read range message, but no direction.yy Y} Ay M checking for new query: numPingsReceived=80, elapsed TxPingTime=36.031769AIIO%>vĿ,?A>-@>@>Qٱ>^ FAHRS rotation from veh to nav: [[0.890051,0.446890,0.089993],[-0.455760,0.868193,0.196272],[0.009581,-0.215707,0.976411]]>H@L{? ؙ? ?`-+ݿ=?r?6?`L˿`>?i>-@I>X`;>oCYRByR I TTTTiMb@Mb@Mb@ 9v?9Y=Fy EE>Q 55^?Q 95)Y>Q E:y;Q I@8EI@:i:5yɮAii ?AJiARiAjiڼ@bM0Q^1@5g?Bg@R Q;?<.?#e#?Zi5<bi㭪jRk"0@TFc@Zu?2ֿw?2i:iA"i?*iQBiBi?iQZXiiЋAi\q@U addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.501580 s, deltaX: -0.100000 m, approachRate: -0.199371 m/s, rangeRepo size: 4 e Added new target pos. range: 18.383087 m, bearing: 338.144240 deg, lat: 36.779420 deg, lon: -121.859792 deg, deltaT: 1.006985 s, deltaX: -0.298092 m, approachRate: -0.296024 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 18.38 m.bhiRhmZhi} ProNav: ac range: 18.383087 m, nav range: 17.477013 m, bearing: 337.405550 deg, approach rate: 0.000000 m/s, LOS rate: 0.069438 deg/s, cmd heading: 330.498073 deg, new cmd heading: 330.605990 deg. BhyHeadingCmd: 5.770163 target range: 18.383087 and range: 18.50 m.h-@h*h"h hgfffBdddjd2@Zd?颁ɢ;) o ?i)顉iP!iqU%0<&E=I-@IDAT read: 06:06:51.0341 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.12,-1.314,-3.065,-1.224,-1.324, PHS= 0.112,-1.697, 0.056, RAW= 148.4, 16.9, CAL= 148.7, 18.8, ROT= 1.3, -18.8 %Ygot valid direction response: 06:06:51.0341 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.12,-1.314,-3.065,-1.224,-1.324, PHS= 0.112,-1.697, 0.056, RAW= 148.4, 16.9, CAL= 148.7, 18.8, ROT= 1.3, -18.8 %Z#Rx 81: Read direction message, but no range.-\direction in FSK: [0.946406,0.021477,0.322266]yC*fH?O{ ?ɜL? )IB`=iL7ٿB`e=%@>x&@ >)޹)#ԖI޹! ʿ,,?A.DDAT read: Rx Time:06:06:51.5339 6TRx dataTimestamp_ set to:1761545212.707915BPDAT read: Bearing 158.0, -1.8 (Local) F~Local bearing/azimuth received: Bearing 158.0, -1.8 (Local) ZDAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 bZ#Rx 82: Read range message, but no direction.y0Y2A0jchecking for new query: numPingsReceived=82, elapsed TxPingTime=36.5224349ò@@ %ٱ^] AHRS rotation from veh to nav: [[0.887562,0.451771,0.090204],[-0.460578,0.865892,0.195188],[0.010074,-0.214788,0.976609]]Hf???zݿc?`?l?(~˿@a@?iò@I%`;YBy IbDMVDMy]3=%]3=ٔ]NQ-e>9aYa=eFy#E@E>Q 55õ?Q 95)BYyϾQ I@<EIl:i :5yBɮAi0i2{N-?AJi2ARi2Aji2˼@b2!1@(ۡ?* P@R2C*fH?O{ ?ɜL?Zi2޹<bi2!j2h4/@Үɬ ʯ@Z2 ?Cfֿu?2i2:i2G~A"i2C?*i2IRBi2IBi0i2IRi2Bi2\Ai2 Ҽ@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.502905 s, deltaX: -0.299999 m, approachRate: -0.596533 m/s, rangeRepo size: 4  Added new target pos. range: 18.084984 m, bearing: 338.036438 deg, lat: 36.779420 deg, lon: -121.859790 deg, deltaT: 0.502905 s, deltaX: -0.298103 m, approachRate: -0.592763 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.08 m.bhRhZh ProNav: ac range: 18.084984 m, nav range: 17.170258 m, bearing: 338.082333 deg, approach rate: 0.000000 m/s, LOS rate: 0.069438 deg/s, cmd heading: 330.605990 deg, new cmd heading: 330.704017 deg. BhHeadingCmd: 5.771874 target range: 18.084984 and range: 18.20 m.h1@h*h"h hgfffdd d jd @332@Zd  ?}Bɢ}<)y ?i)U顁if"iN$<-=I1@Ia}@@ @@/@@DAT read: 06:06:51.5339 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.24, 1.051,-0.708, 1.123, 1.053, PHS= 0.100,-1.717, 0.026, RAW= 147.9, 17.5, CAL= 148.1, 19.4, ROT= 1.9, -19.4 Ygot valid direction response: 06:06:51.5339 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.24, 1.051,-0.708, 1.123, 1.053, PHS= 0.100,-1.717, 0.026, RAW= 147.9, 17.5, CAL= 148.1, 19.4, ROT= 1.9, -19.4 Z#Rx 83: Read direction message, but no range.%\direction in FSK: [0.942704,0.031273,0.332161]y ġ*?i:?` B? );I=iۿ<4%@a>m%@ -\>)=I-\LI?JMԗ?BF? '>)nI=i-\Echecking for new query: numPingsReceived=83, elapsed TxPingTime=36.766178@BBB IBBB9 =BBB^;B-#EEm  Ei Em $Ei "Em ҝ:*Ei VEm 4ZEi BEm ;au 2Em ;a} JEm i"Xٿ"="%@">"4%@ "|٠>)"Q =I"|٠ "Dfژ*?!IM? 2? ">)"cI"Q =i"|٠ @Ȫ@V(ٱ!]  checking for new query: numPingsReceived=84, elapsed TxPingTime=37.071743 AHRS rotation from veh to nav: [[0.886445,0.453948,0.090257],[-0.462720,0.864883,0.194596],[0.010274,-0.214262,0.976722]]H`]?z ?`?@2ݿ??` ?l˿NA?i@Iԍ`;nCYBy IiMb@Mb@Mb@ 9 +?T㥛 ?~jtxY>y=ĻA @)YAbDEVDEN2yU<%U=yٔ}¹Q-}>9Y=Fy%E&E>Q 55ʚ?Q 95|)BY>Q E:yQ I@@EI;i;5yɮAi i"|M?AJi"KARi"KAji" @b"0@# ?r]@R" Xi?ס?;[@?Zi"Q =bi"|٠j"א/@{!>4@Z"F[?&2=^ֿ[v?2i":i"4|A"i"?*i"qOBi"Bi"?i"Qi"Bi"ƇAi"@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504822 s, deltaX: -0.300001 m, approachRate: -0.594271 m/s, rangeRepo size: 4  Added new target pos. range: 17.786892 m, bearing: 338.476677 deg, lat: 36.779421 deg, lon: -121.859790 deg, deltaT: 0.504822 s, deltaX: -0.298092 m, approachRate: -0.590489 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.79 m.bhRhZh ProNav: ac range: 17.786892 m, nav range: 16.971977 m, bearing: 338.241724 deg, approach rate: 0.000000 m/s, LOS rate: 0.069438 deg/s, cmd heading: 330.704017 deg, new cmd heading: 330.817505 deg. BhHeadingCmd: 5.773855 target range: 17.786892 and range: 17.90 m.hkø@h*h"h  hgfff(Bdddjd%`f1@Zd%j?颉ɢH;) ?i)ķ顑i#i{c1<4 =Ikø@Iԩchecking for new query: numPingsReceived=84, elapsed TxPingTime=37.260998I@I @I@M/@I^A S,=EM  EM |EM #EI "EM g:*EM P$:VEM 3ZEI a] @a] @a] @a] @ AI IY Ii } wk>} CO > zG  = 9A YE /sACٿ,f?AV`@V2@V})ٱV ] ~AHRS rotation from veh to nav: [[0.885279,0.456134,0.090679],[-0.464945,0.863733,0.194400],[0.010350,-0.214259,0.976722]]VH`4T? N1?6?ݿ ??v2?l˿NA?iV`@IVc`;VlCY]тBy] IIe<)e4=m=m=bDuVDuy =%=ٔ{Q- ?Թ9Y=Fy'EGE ? Q 5M5 ֚?Q 9U5 ) BYyyQ I@ CEI e$@ e>)el$=Ieaaeq?_oH?2w? eFw>)e+Iel$=ieaachecking for new query: numPingsReceived=85, elapsed TxPingTime=37.5735939ɢ=튌<)a e'?ia)eaiim$imuCB B IB ΂BB B B B ^;B :#EE}  E} Ey Ey "E} C:*E} X:VEy ZEy BE} %;a 2E} &;a JE} o;a :E} p;a Am .AIy I O >D,X?AhYnByn IieMb@Mb@Mb@aaaa a9eQ?#~j?{GzYe>ye=e#e Ae@ e@)e5@aYe@bD}VD}ky=%:=ٔQ->9 ?Y ?=Fy)EE>Q 55暊?Q 95)BY>Q E:yءQ I@FEIP ;iz ;?5yɮAiQiU>m?AJiUARiUAjiU:@bUFƁ0@ɠ5?ɂ I@RUF2?Ig?f& ?ZiUl$=biUjU 7.@,2;n@ZU4=?X[տʝ5˲?2iUn:iUvA"iUMH?*iULBiU,BiQiU}@) @)@5/@1@==@==Y ^AM 3=AU gAzAU gA DAT read: 06:06:53.0334 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.12,-2.419, 2.115,-2.363,-2.413, PHS= 0.096,-1.710, 0.006, RAW= 147.5, 17.9, CAL= 147.6, 19.8, ROT= 2.4, -19.8  Ygot valid direction response: 06:06:53.0334 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.12,-2.419, 2.115,-2.363,-2.413, PHS= 0.096,-1.710, 0.006, RAW= 147.5, 17.9, CAL= 147.6, 19.8, ROT= 2.4, -19.8  Z#Rx 87: Read direction message, but no range. \direction in FSK: [0.940055,0.039400,0.338738]y  s/? <,?<? ) :I =i Hڿ ; S$@ > $@ ;>) +=I ;ﰾ `[?ʆm?k? o>) ˼I +=i ;ﰾ checking for new query: numPingsReceived=87, elapsed TxPingTime=38.280441ԉ E- E-{E)E)"E-:*E-5":VE)ZE)a5@a5@a5@a5@A؟AIIO>.,'O?AB@Bv}@B$ٱB?Z ZAHRS rotation from veh to nav: [[0.883874,0.458887,0.090495],[-0.467618,0.862818,0.192039],[0.010044,-0.212056,0.977206]]BHH?i^?*?@rݿ@4?ྔ?ܑ?$˿EE?iB@IB*v`;BmCYf݂Byf IbD~VD~y r% /=ٔ +:Q->95"?Y5"?=5Fy5,E=ѻE=>AQ 5M5E-?Q 9M5EY)EzBYIyMRQ I]@EIEIEW;iE/Y;EO5yu͔BɮuA}Eii&?AJiRARiRAji=@bǒ@0@˴,?M[m@Rs/? <,?<?Zi+=bi;ﰾjql)j.@nEH@Z¼%?jտk/A?2ij:iWsA"iY?*i7LBiYBiY?iqOiIBiAi@  addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503704 s, deltaX: -0.200001 m, approachRate: -0.397060 m/s, rangeRepo size: 4 = Added new target pos. range: 17.290045 m, bearing: 338.836443 deg, lat: 36.779421 deg, lon: -121.859789 deg, deltaT: 0.503704 s, deltaX: -0.198736 m, approachRate: -0.394550 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 17.29 m.bhARhAZhA ProNav: ac range: 17.290045 m, nav range: 16.361151 m, bearing: 338.367079 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.749643 deg, new cmd heading: 330.705905 deg. BhHeadingCmd: 5.771907 target range: 17.290045 and range: 17.40 m.hv@h*h"h hgfffd d djd`ff1@Zd@?ɢ% <)) -H!?i1)=. ׼aaim>'1DDAT read: Rx Time:06:06:53.5333 TRx dataTimestamp_ set to:1761545214.723036PDAT read: Bearing 156.8, -0.9 (Local) ~Local bearing/azimuth received: Bearing 156.8, -0.9 (Local) DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 i"{C<%y=I%v@I!DAT read: 06:06:53.5333 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496,-0.22,-0.175,-1.952,-0.125,-0.205, PHS= 0.132,-1.702, 0.036, RAW= 147.4, 16.9, CAL= 147.4, 18.6, ROT= 2.6, -18.6 Ygot valid direction response: 06:06:53.5333 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496,-0.22,-0.175,-1.952,-0.125,-0.205, PHS= 0.132,-1.702, 0.036, RAW= 147.4, 16.9, CAL= 147.4, 18.6, ROT= 2.6, -18.6 T#Rx 88: Read range and direction messages.\direction in FSK: [0.946793,0.042994,0.318959]Fpublishing direction and range infoy(M L?JA?ˬQi?ŸA );I+>i#ٿt=$@>$@ 6>)9=I6s3?"fj?j? !D>)˖I9=i6}checking for new query: numPingsReceived=88, elapsed TxPingTime=38.580872?@ @@/@Qq ^A =u checking for new query: numPingsReceived=88, elapsed TxPingTime=38.775265B _>B B IB BB B B B ^;B 8#EBBBB9 =B9 =C4AAIIIYOm>p ,?AbEe3jEe3rEeַ/E. E.E,E,"E.:*E. H:VE,ZE,BE.7 yE=`e@ @)@YbD-VD-02y=O<%= =ٔE2:Q-E>9AYA=MFyM.EMۺEM>QQ 5]5U ?Q 9]5U&)UsBYe>Q Ee:yeDQ Ie@UMEIU]:iU:U5yɮdAii9F?AJiARiAji%@bV[Ԁ0@n`?aguԭ@R(M L?JA?ˬQi?Zi9=bi6jed~.@R}Ke'3@ZyQ?VPBֿ>?2i:ipA"i?*iMBi{Bi?iMi,BiAi@ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.501910 s, deltaX: -0.299999 m, approachRate: -0.597715 m/s, rangeRepo size: 4 i Added new target pos. range: 16.992001 m, bearing: 338.667612 deg, lat: 36.779421 deg, lon: -121.859788 deg, deltaT: 0.501910 s, deltaX: -0.298044 m, approachRate: -0.593820 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.99 m.bhRhZh% ProNav: ac range: 16.992001 m, nav range: 16.109764 m, bearing: 338.619834 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.705902 deg, new cmd heading: 330.659407 deg. Bh9EHeadingCmd: 5.771095 target range: 16.992001 and range: 17.10 m.hEЬ@hI*hI"hI hIgIfIfQfQdQdQdYjd]1@Zd][?qɢMb`<)Y ]"?ia)mѼiDDAT read: Rx Time:06:06:54.0332 TRx dataTimestamp_ set to:1761545215.224832PDAT read: Bearing 157.7, -1.5 (Local) ~Local bearing/azimuth received: Bearing 157.7, -1.5 (Local) DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 DAT read: 06:06:54.0332 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511, 0.09,-2.606, 1.915,-2.547,-2.601, PHS= 0.097,-1.722, 0.011, RAW= 147.6, 17.8, CAL= 147.7, 19.7, ROT= 2.3, -19.7 Ygot valid direction response: 06:06:54.0332 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511, 0.09,-2.606, 1.915,-2.547,-2.601, PHS= 0.097,-1.722, 0.011, RAW= 147.6, 17.8, CAL= 147.7, 19.7, ROT= 2.3, -19.7 T#Rx 89: Read range and direction messages.\direction in FSK: [0.940712,0.037783,0.337095]Fpublishing direction and range infoy!=P?8GX?M?YA ):I=ijܿX94<$@>$@ x >)l$=Ix ?0k?k ;?GgS? >) Il$=ix checking for new query: numPingsReceived=89, elapsed TxPingTime=39.040535!i%|)i%W-0<-z=I5Ь@I1@ @@@@@9 ^A =i Uchecking for new query: numPingsReceived=89, elapsed TxPingTime=39.276653AI!I1OE>,?A2zw@2Lr@2iٱ2VE> E>E>"E<"E>g:*E>=:VE>(3ZE9Y = Fy 1E uE >Q 55?Q 95)lBY!y%pQ I%@QEIA;i%-;ѥ5y=ԔBɮ=AE¦Eiic?AJi$ARi$Aji@b;ɴ>/@}Ґl?"ı@R!=P?8GX?M?Zil$=bix jl2-@GP5KU@Z~d?Wֿ5'?2i:iomA"iq;e?*iONBi BiMH?ii Bi~Ai/@ addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.501796 s, deltaX: -0.100000 m, approachRate: -0.199285 m/s, rangeRepo size: 4  Added new target pos. range: 16.892632 m, bearing: 338.557093 deg, lat: 36.779421 deg, lon: -121.859788 deg, deltaT: 0.501796 s, deltaX: -0.099369 m, approachRate: -0.198027 m/s, posRepo size: 4 jhԁDNOT Ignoring new targets: 16.89 m.bhRhZh5 ProNav: ac range: 16.892632 m, nav range: 15.877067 m, bearing: 338.565336 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.659402 deg, new cmd heading: 330.611585 deg. BhYHeadingCmd: 5.770261 target range: 16.892632 and range: 17.00 m.h@h*h"h hgfffd9d9dAjdM1@Zd}Ѫ?DDAT read: Rx Time:06:06:54.5329 TRx dataTimestamp_ set to:1761545215.730003PDAT read: Bearing 157.5, -1.8 (Local) ~Local bearing/azimuth received: Bearing 157.5, -1.8 (Local) DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 DAT read: 06:06:54.5329 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.36, 0.921,-0.838, 0.990, 0.928, PHS= 0.095,-1.720, 0.018, RAW= 147.8, 17.7, CAL= 148.0, 19.6, ROT= 2.0, -19.6 %Ygot valid direction response: 06:06:54.5329 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.36, 0.921,-0.838, 0.990, 0.928, PHS= 0.095,-1.720, 0.018, RAW= 147.8, 17.7, CAL= 148.0, 19.6, ROT= 2.0, -19.6 %T#Rx 90: Read range and direction messages.ԩ\direction in FSK: [0.941484,0.032877,0.335452]Fpublishing direction and range infoyZ+ ?ty)Lՠ?g* x?YA )I\=i(ܿt<%@2+>MQ%@ %>)5=I%`yW?;z?{-{? p>)9aI5=i%ɢPA<) !?i)˼i+iOj%<=I@IMchecking for new query: numPingsReceived=90, elapsed TxPingTime=39.579777 @  @ @ @ ^A 2=uchecking for new query: numPingsReceived=90, elapsed TxPingTime=39.782082AAAABg>BCB !IBBB: =BBQDB^;B>#EE EEE"E:*EV:VEZEBEF 3Cii!%piA)! !I!Y!1Y5By= IiEMb@Mb@Mb@AAAA A9E-? ףp= ?y&1YE5>yEQ=AEAA A)EK@AYE(AbDuVDu:yZ<%=ٔQ->9Y=Fy3EE>Q 55}0?Q 95Ŷ)dBY >Q E:yQ I@UEIu;iUs;5yڔBɮAæEi i _?AJi +ARi +Aji @b Z靂.@}I ??^%:@R Z+ ?ty)Lՠ?g* x?Zi 5=bi %j UO ,@?+Zӣ@Z 3|E?ԢCeֿa|?2i :i fA"i 럊?*i dCMBi Bi i i i ZzAi @a addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.505171 s, deltaX: -0.500000 m, approachRate: -0.989764 m/s, rangeRepo size: 4  Added new target pos. range: 16.396017 m, bearing: 338.241769 deg, lat: 36.779421 deg, lon: -121.859788 deg, deltaT: 0.505171 s, deltaX: -0.496614 m, approachRate: -0.983062 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.40 m.bhRhZh ProNav: ac range: 16.396017 m, nav range: 15.647210 m, bearing: 338.498142 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.611591 deg, new cmd heading: 330.559824 deg. BhHeadingCmd: 5.769357 target range: 16.396017 and range: 16.50 m.h@h*hDDAT read: Rx Time:06:06:55.0329 TRx dataTimestamp_ set to:1761545216.232861PDAT read: Bearing 159.1, -2.5 (Local) ~Local bearing/azimuth received: Bearing 159.1, -2.5 (Local) DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 %DAT read: 06:06:55.0329 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.01,-2.107, 2.468,-2.041,-2.070, PHS= 0.065,-1.700,-0.015, RAW= 147.7, 18.7, CAL= 148.4, 21.5, ROT= 1.6, -21.5 5Ygot valid direction response: 06:06:55.0329 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.01,-2.107, 2.468,-2.041,-2.070, PHS= 0.065,-1.700,-0.015, RAW= 147.7, 18.7, CAL= 148.4, 21.5, ROT= 1.6, -21.5 5T#Rx 91: Read range and direction messages.=\direction in FSK: [0.930055,0.025979,0.366501]=Fpublishing direction and range infoycQ?.?ѨCt?Y );I=iٿu$@>%@ 7 >))צI9Y=Fy6E{E>Q 55fA?Q 95a)]BYyQ I@XEI:i:*5yɮAii2?AJiRijiAؼ@b-m.@ ȽB?rIa @RcQ?.?ѨCt?Zi<bi7 j 1a,@Oy@:)@Zq1R?6)U=ֿxO6?2iR:icA"i6b@퟊?*i^=NBiBiY?idCMiivAi.@m addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.502858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.396017 m, bearing: 338.125216 deg, lat: 36.779421 deg, lon: -121.859788 deg, deltaT: 0.502858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.40 m.bhRhZh5 ProNav: ac range: 16.396017 m, nav range: 15.422407 m, bearing: 338.404466 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.559818 deg, new cmd heading: 330.520623 deg. Bh15HeadingCmd: 5.768673 target range: 16.396017 and range: 16.50 m.h=@h9*h9"h9 h9g9f9fAfadadidijdqZd}@m?!ɢ-p<)1 5|!?ia)mͼiiimB.iu}<}=I@IDDAT read: Rx Time:06:06:55.5326 TRx dataTimestamp_ set to:1761545216.739602PDAT read: Bearing 156.5, -1.5 (Local) ~Local bearing/azimuth received: Bearing 156.5, -1.5 (Local) DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.4 %DAT read: 06:06:55.5326 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506,-0.33, 1.005,-0.772, 1.069, 0.986, PHS= 0.121,-1.713, 0.039, RAW= 147.7, 17.0, CAL= 147.9, 18.8, ROT= 2.1, -18.8 -Ygot valid direction response: 06:06:55.5326 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506,-0.33, 1.005,-0.772, 1.069, 0.986, PHS= 0.121,-1.713, 0.039, RAW= 147.7, 17.0, CAL= 147.9, 18.8, ROT= 2.1, -18.8 -T#Rx 92: Read range and direction messages.5\direction in FSK: [0.946013,0.034689,0.322266]5Fpublishing direction and range infoyH E?&h¡?ɜL?ỲA )I=iCۿw=>4%@ >)Q =Ijƴ?nœcz?D@? >)IQ =iUchecking for new query: numPingsReceived=92, elapsed TxPingTime=40.555046 @  @ @ 4@ @=@= ^A5 d= checking for new query: numPingsReceived=92, elapsed TxPingTime=40.792759B q>B CB B B 9 =B B RDB ^;B F#EAAIIO>B~,B?AE EE(E"E :*Ei:VEc44ZEBEJ"y-=~A@ 5@)@Y @}@A}@AbDVD1ԩy\Ƽ%=ٔ+8Q->9Y=Fy9E9E>Q 55;T?Q 95?)TBY>Q E:yQ I@\EI];ih;q5y Bɮ 8AiiU/?AJiARiAjiü@b̐1E.@r+f?(OΠ@RH E?&h¡?ɜL?ZiQ =bijD7%,@FuIO6@Zf(h%?JE<ֿ)c6?2i:i)aA"ie?*iOBiBie?i^=NiBi~rAi@ addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.506741 s, deltaX: -0.400000 m, approachRate: -0.789357 m/s, rangeRepo size: 4 5 Added new target pos. range: 15.998870 m, bearing: 337.980753 deg, lat: 36.779420 deg, lon: -121.859788 deg, deltaT: 0.506741 s, deltaX: -0.397147 m, approachRate: -0.783728 m/s, posRepo size: 4 jh9mDNOT Ignoring new targets: 16.00 m.bhiRhZh- ProNav: ac range: 15.998870 m, nav range: 15.155774 m, bearing: 338.207809 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.520613 deg, new cmd heading: 330.472718 deg. Bh)mHeadingCmd: 5.767837 target range: 15.998870 and range: 16.10 m.hm@hq*h"h hgfff0Bdddjd0@ZdP?]DDAT read: Rx Time:06:06:56.0325 eTRx dataTimestamp_ set to:1761545217.240778mPDAT read: Bearing 156.8, -2.2 (Local) u~Local bearing/azimuth received: Bearing 156.8, -2.2 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 DAT read: 06:06:56.0325 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.06,-2.932, 1.590,-2.848,-2.929, PHS= 0.099,-1.719, 0.037, RAW= 148.3, 17.4, CAL= 148.5, 19.3, ROT= 1.5, -19.3 Ygot valid direction response: 06:06:56.0325 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.06,-2.932, 1.590,-2.848,-2.929, PHS= 0.099,-1.719, 0.037, RAW= 148.3, 17.4, CAL= 148.5, 19.3, ROT= 1.5, -19.3 T#Rx 93: Read range and direction messages.\direction in FSK: [0.943478,0.024706,0.330514]Fpublishing direction and range infoyae|0?p(|L? 3%'?Yef~Aaaaa a)aIe=ie1ܿeP=e%@e|>eH%@ eiw>)ePw)eUIePw,Ub?AE EE$E"E:*Ez:VE4ZEa&@a&@a&@a&@6;ɰ6;V&p@Vj@VlٱVO bAHRS rotation from veh to nav: [[0.882834,0.461435,0.087642],[-0.469621,0.864158,0.180797],[0.007690,-0.200772,0.979608]]VH.@?&?o?F޿-?W$? 9?`ɿX?iV&p@IV^;VnCYjɂByn IbDvVDvNy~%~8=ٔ~9Q->9Y=Fy;E :E >Q 55-d?Q 95ӻ)MBYyQ I%@_EIB:i9:_5y)ɮ-A)iihO?AJi|ARi|Aji|@bUj-@6_?h#@R|0?p(|L? 3%'?ZiPw<biiwjE+@ؿuPw@Z?s*׿ԯQ?2i:i\A"i?*iARBiBi?iONiinAi7ɼ@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.501176 s, deltaX: -0.200001 m, approachRate: -0.399063 m/s, rangeRepo size: 4 % Added new target pos. range: 15.800125 m, bearing: 337.486656 deg, lat: 36.779419 deg, lon: -121.859788 deg, deltaT: 0.501176 s, deltaX: -0.198745 m, approachRate: -0.396557 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 15.80 m.bhIRhQZhY ProNav: ac range: 15.800125 m, nav range: 14.879817 m, bearing: 338.020029 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.472720 deg, new cmd heading: 330.431408 deg. BhHeadingCmd: 5.767116 target range: 15.800125 and range: 15.90 m.h7@h*h"h hgff f d d djd/@ZdO?I颕BɢQ<) ?i)+=i31i5 5\ȏ<]!=Ie7@IiDDAT read: Rx Time:06:06:56.5322 TRx dataTimestamp_ set to:1761545217.746293PDAT read: Bearing 156.2, -1.5 (Local) ~Local bearing/azimuth received: Bearing 156.2, -1.5 (Local) DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 DAT read: 06:06:56.5322 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.30,-0.281,-2.053,-0.213,-0.302, PHS= 0.123,-1.706, 0.046, RAW= 147.8, 16.9, CAL= 148.0, 18.7, ROT= 2.0, -18.7 Ygot valid direction response: 06:06:56.5322 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.30,-0.281,-2.053,-0.213,-0.302, PHS= 0.123,-1.706, 0.046, RAW= 147.8, 16.9, CAL= 148.0, 18.7, ROT= 2.0, -18.7 T#Rx 94: Read range and direction messages.\direction in FSK: [0.946633,0.033057,0.320613]Fpublishing direction and range infoyw9J?/=G?C.j?YxA ):Im=i5^ڿj<=%@>MQ%@ >)5=IH?Ǜ?lc6*? >)ĖI5=i]checking for new query: numPingsReceived=94, elapsed TxPingTime=41.573101@@ @@4@ ^A =Q A I =checking for new query: numPingsReceived=94, elapsed TxPingTime=41.798016BiAiB~>BCB IB݂BBBBSDB^;BS#EIO>>Z ,z?ABp@BYk@BٱBtN JAHRS rotation from veh to nav: [[0.882858,0.461371,0.087743],[-0.469581,0.864242,0.180495],[0.007444,-0.200554,0.979654]]BH^@??Vv? ޿ߧ?t?@E}~?ɿ TY?iBp@IBC^;@ER EREPEP"ER:*ER:VEPZEPBER+yY=ףA @)1AY@bDVDyA%=ٔ9Q->9Y=Fy=Ep8E>Q 55v?Q 954)FBYL>Q E:y+žQ I @cEI:i:5yBɮ.AĦEiiDo?AJirvARirvAji4@bA;{)-@%H4K?R&@Rw9J?/=G?C.j?Zi5=bijG\+@+ž`@ZՁI!?ֿɱm ?2i:iXA"if쟊?*iCCGOBiqBi6b@퟊?iCCGOiBi&jAi,@e addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505515 s, deltaX: -0.400000 m, approachRate: -0.791272 m/s, rangeRepo size: 4  Added new target pos. range: 15.403031 m, bearing: 337.838090 deg, lat: 36.779419 deg, lon: -121.859788 deg, deltaT: 0.505515 s, deltaX: -0.397094 m, approachRate: -0.785523 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.40 m.bhRh1Zh1u ProNav: ac range: 15.403031 m, nav range: 14.634415 m, bearing: 337.858867 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.431411 deg, new cmd heading: 330.385551 deg. BhqHeadingCmd: 5.766315 target range: 15.403031 and range: 15.50 m.h@h*h"h hgfffBdddjd/@Zd@?)ɢ-c<)) -?i))5{11i=2iuQ}4<Z$=ԩI@IDDAT read: Rx Time:06:06:57.0322 TRx dataTimestamp_ set to:1761545218.250064PDAT read: Bearing 155.4, -1.7 (Local) ~Local bearing/azimuth received: Bearing 155.4, -1.7 (Local) %DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 MDAT read: 06:06:57.0322 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501, 0.16, 3.035, 1.244, 3.119, 3.000, PHS= 0.137,-1.711, 0.075, RAW= 148.3, 16.2, CAL= 148.5, 18.0, ROT= 1.5, -18.0 ]Ygot valid direction response: 06:06:57.0322 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501, 0.16, 3.035, 1.244, 3.119, 3.000, PHS= 0.137,-1.711, 0.075, RAW= 148.3, 16.2, CAL= 148.5, 18.0, ROT= 1.5, -18.0 ]T#Rx 95: Read range and direction messages.e\direction in FSK: [0.950731,0.024896,0.309017]eFpublishing direction and range infoy!̙bl?C}F~?;[@?Y )<II >i ۿ=%@Ð>}?@y @y@}4@y@@hAH%@ |٠>)Pw)L?IPwVT',콞?A(6j@6xe@6cٱ6PNNchecking for new query: numPingsReceived=95, elapsed TxPingTime=42.300270 fAHRS rotation from veh to nav: [[0.882520,0.462007,0.087799],[-0.470214,0.863891,0.180530],[0.007557,-0.200605,0.979643]]6H@=?@?y?޿`?? ~?pɿ@=ٔ Q- >9 Y=Fy@EںE>Q 5%5}?Q 9-5+)@BY)y-žQ I-@fEI6:i;5y9ɮ=A9ii ?AJiRijiM@b 2I-@Ɨ^Ɗ? @R!̙bl?C}F~?;[@?ZiPw<bi|٠j`K +@uNgh^@Z<3w?ڜ ׿#Ã?2i@:iMXA"i׸?*iUBiBi?iOiBikgAi@ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503771 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.403031 m, bearing: 337.154858 deg, lat: 36.779419 deg, lon: -121.859789 deg, deltaT: 0.503771 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.40 m.bhRhZh ProNav: ac range: 15.403031 m, nav range: 14.463755 m, bearing: 337.795337 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.385539 deg, new cmd heading: 330.346288 deg. BhHeadingCmd: 5.765630 target range: 15.403031 and range: 15.50 m.h @h*h"h hgfffdddjdZdq?Bɢ=<) ?i) SEDIzDIEU EUEQEQ"EUD:*EU:VEQZEQa]@a]@a]@a]@ i3iz~< $=I @IԉfG-~91Y5gAm@@i @i@u/@qԹUDDAT read: Rx Time:06:06:57.5320 UTRx dataTimestamp_ set to:1761545218.752852ePDAT read: Bearing 155.8, -1.8 (Local) e~Local bearing/azimuth received: Bearing 155.8, -1.8 (Local) uDAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.4 DAT read: 06:06:57.5320 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.16,-0.048,-1.826, 0.037,-0.069, PHS= 0.123,-1.712, 0.062, RAW= 148.3, 16.7, CAL= 148.5, 18.5, ROT= 1.5, -18.5 Ygot valid direction response: 06:06:57.5320 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.16,-0.048,-1.826, 0.037,-0.069, PHS= 0.123,-1.712, 0.062, RAW= 148.3, 16.7, CAL= 148.5, 18.5, ROT= 1.5, -18.5 T#Rx 96: Read range and direction messages.\direction in FSK: [0.947999,0.024824,0.317305]^A$= Fpublishing direction and range infoyQU>ZV?a5k?Hs%N?YU3sAQQQQ Q)QIUm=iU"ۿU}=QU;>Q UMQ>)QIUMQQQUX:?4L.c?ze2LV? U >)U*ȔIQiUMQQQ= checking for new query: numPingsReceived=96, elapsed TxPingTime=42.582386 A1 I9 IQ O] >~z-,j?A2ae@23`@2;ٱ2sO >AHRS rotation from veh to nav: [[0.882218,0.462488,0.088298],[-0.470782,0.863495,0.180945],[0.007440,-0.201202,0.979522]]2H@!;?f??L!޿@? 5)?y~? ɿ=X?i2ae@I2];2nCYNByN IbDZVDZβ\yrzL%rM=ٔr.9Q-r>9tYt=vFyvBEvӺEz>xQ 5=5zڔ?Q 9E5z)z:BYYy]žQ I]@ziEIzRZV?a5k?Hs%N?ZibiMQjs~u*@3 9@Z{?RcP׿B61?2i:iSA"i?*iSBiBi?iARiqBi$eAiU|@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.502788 s, deltaX: -0.300000 m, approachRate: -0.596673 m/s, rangeRepo size: 4   Added new target pos. range: 15.104908 m, bearing: 337.239940 deg, lat: 36.779419 deg, lon: -121.859790 deg, deltaT: 0.502788 s, deltaX: -0.298123 m, approachRate: -0.592941 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 15.10 m.bhRh1Zh1E ProNav: ac range: 15.104908 m, nav range: 14.321318 m, bearing: 337.482308 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.346279 deg, new cmd heading: 330.308433 deg. BhA}HeadingCmd: 5.764970 target range: 15.104908 and range: 15.20 m.h}z@hy*hy"hy hygyfffdddjd`ff.@Zd U?额BɢqS<) B>BCB IBɂBB8 =BBVDB^;B^#EEchecking for new query: numPingsReceived=96, elapsed TxPingTime=42.806808 _?ii)u=qqi}<4iǩ<J$=Iz@IEi EmEm"Ei"Ei*Em:VEm(3ZEiBEm1@Y @Y@eV1@a9^Aa q u DDAT read: Rx Time:06:06:58.0319 } TRx dataTimestamp_ set to:1761545219.258193 PDAT read: Bearing 155.0, -1.8 (Local)  ~Local bearing/azimuth received: Bearing 155.0, -1.8 (Local)  DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4  DAT read: 06:06:58.0319 LVL= 32576, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.33, 3.069, 1.272,-3.123, 3.028, PHS= 0.143,-1.711, 0.088, RAW= 148.5, 16.0, CAL= 148.7, 17.7, ROT= 1.3, -17.7 IY Iq O} >v4,˹?A2_@2Z@2rٱ2 O>Ygot valid direction response: 06:06:58.0319 LVL= 32576, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.33, 3.069, 1.272,-3.123, 3.028, PHS= 0.143,-1.711, 0.088, RAW= 148.5, 16.0, CAL= 148.7, 17.7, ROT= 1.3, -17.7 >T#Rx 97: Read range and direction messages.B\direction in FSK: [0.952416,0.021613,0.304033]BFpublishing direction and range infoyy}q1z?3!?z0Gu?Y}pAy}@yy y)yI}n>i} ۿ zAHRS rotation from veh to nav: [[0.881894,0.463065,0.088512],[-0.471388,0.863107,0.181218],[0.007521,-0.201539,0.979452]]2H y8?@ۢ?ನ?9+޿?*2? ?~? ɿW?i2_@I2֭];2lCY By  II)<==}X9=}H%@}5>}x&@ }2+>)}޹)}}ΎI}޹y= @)@Y@AAbDVDky%%+=ٔ%.Q-->9)Y)=-Fy-DE=MEE>Q 55l?Q 95s)4BY>Q E:y׾Q I@lEI:iv:n5yɮAiyi}<?AJi}nARi}nAji}@b}T3(e,@fUL?GY{ @R}q1z?3!?z0Gu?Zi}޹<bi}2+j}qf$*@_зg_ r@Z}%?Łcؿi)项i6i,k<$=It@Ichecking for new query: numPingsReceived=97, elapsed TxPingTime=43.308861qA@ @@/@EU EUEU%EQ"EUl;*EU:VEU 4ZEQa]@a]@a]@a]@ԑ ^A #= I I O>^z;,h$?A"DDAT read: Rx Time:06:06:58.5317 "TRx dataTimestamp_ set to:1761545219.760574*PDAT read: Bearing 154.2, -1.6 (Local) *~Local bearing/azimuth received: Bearing 154.2, -1.6 (Local) 2DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 BDAT read: 06:06:58.5317 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.02, 1.259,-0.543, 1.352, 1.197, PHS= 0.164,-1.696, 0.111, RAW= 148.6, 15.3, CAL= 148.7, 17.0, ROT= 1.3, -17.0 JYgot valid direction response: 06:06:58.5317 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.02, 1.259,-0.543, 1.352, 1.197, PHS= 0.164,-1.696, 0.111, RAW= 148.6, 15.3, CAL= 148.7, 17.0, ROT= 1.3, -17.0 JT#Rx 98: Read range and direction messages.N\direction in FSK: [0.956059,0.021696,0.292372]NFpublishing direction and range infoy "Z<?t=.z7?兗7?Y"3kA " )";I"'>i"ٿ"S="%@"ܸ> ">) I"闾 "i4"??F? "D>)"M䈾I i"闾 ^checking for new query: numPingsReceived=98, elapsed TxPingTime=43.575638e4<ɰe4<]TV@]&Q@]"ٱ]mO AHRS rotation from veh to nav: [[0.881347,0.464159,0.088230],[-0.472400,0.862503,0.181457],[0.008126,-0.201606,0.979433]]]H@3?`ƴ?B?@;޿ ?9?K?`=ɿW?i]TV@I]];]jCYBy IbDVDy-%-0=ٔ5 Q-5>91Y1==Fy=FE=#E=>AQ 5M5E5?Q 9M5E)E/BYQyU6ؾQ IU@EpEIE-:iE:Eb5y]Bɮ]^A]ƦEi i"??AJi"iARi"iAji"_@b"u+@)H?$H@R"Z<?t=.z7?兗7?Zi bi"闾j"/˪)@O2N@Z"?0OؿmxQ?2i":i"VMA"i"?*i"%XBi"Bi i"Ui"Bi"_Ai"6@  addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.502381 s, deltaX: -0.300000 m, approachRate: -0.597157 m/s, rangeRepo size: 4 = Added new target pos. range: 14.608760 m, bearing: 336.615291 deg, lat: 36.779419 deg, lon: -121.859791 deg, deltaT: 0.502381 s, deltaX: -0.298139 m, approachRate: -0.593451 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 14.61 m.bhARhIZhI] ProNav: ac range: 14.608760 m, nav range: 13.942315 m, bearing: 336.996966 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.262842 deg, new cmd heading: 330.222264 deg. BhYHeadingCmd: 5.763466 target range: 14.608760 and range: 14.70 m.hPn@h*h"h hgfffdddjd`ff-@Zd`-"?Bɢ<)  >i )   i R7iQ Б<)v#=I=Pn@I9?@ @@@ checking for new query: numPingsReceived=98, elapsed TxPingTime=43.815826A!A%?AB=>B=CB= IB=BB=5 =B9B9B=_;B=q#EBǾCBǿCBǕCBB8 =Cs5A bEjE<3rE(0E  E E "E "E :*E :VE (3ZE BE >q I I O >ǩB,+ ?AJ@E@5ٱ,O AHRS rotation from veh to nav: [[0.880684,0.465481,0.087883],[-0.473623,0.861813,0.181545],[0.008767,-0.201507,0.979448]]H.?p?`? O޿?y=9<=ף= A=@ =@)=5@9Y=@bDUDDAT read: Rx Time:06:06:59.0315 TRx dataTimestamp_ set to:1761545220.264678PDAT read: Bearing 156.4, -3.0 (Local) ~Local bearing/azimuth received: Bearing 156.4, -3.0 (Local) DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4  DAT read: 06:06:59.0315 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.36, 0.645,-1.101, 0.762, 0.665, PHS= 0.081,-1.722, 0.053, RAW= 149.2, 17.4, CAL= 149.6, 19.5, ROT= 0.4, -19.5 Ygot valid direction response: 06:06:59.0315 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.36, 0.645,-1.101, 0.762, 0.665, PHS= 0.081,-1.722, 0.053, RAW= 149.2, 17.4, CAL= 149.6, 19.5, ROT= 0.4, -19.5 T#Rx 99: Read range and direction messages.\direction in FSK: [0.942619,0.006581,0.333807]Fpublishing direction and range info!yAN)?I~z?{{]?YffA )IT=ijܿY=r&@|>'@ @>);I@KE^?GN]?"x)? T?)I;i@Echecking for new query: numPingsReceived=99, elapsed TxPingTime=44.081039VDUܲyU[%U?=ٔUĺQ-]>9YYY=]Fy]IEeUEe>iQ 5u5mś?Q 9u5m)m*BYu>Q Eu:y}Q I}@msEImL ;im;m?5yɮAii|?AJidARidAjiǻ@b/]*@rxd?Q(@RAN)?I~z?{{]?Zi;bi@jb3(@i.N+.@ZbId?)6iTؿFRL\^?2i:iEA"i7U֟?*i%*XBi Bii2Wi Bi(\Ai@ addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504104 s, deltaX: -0.300000 m, approachRate: -0.595116 m/s, rangeRepo size: 4  Added new target pos. range: 14.310850 m, bearing: 336.214204 deg, lat: 36.779419 deg, lon: -121.859792 deg, deltaT: 0.504104 s, deltaX: -0.297910 m, approachRate: -0.590969 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.31 m.bhRhQZhQe ProNav: ac range: 14.310850 m, nav range: 13.759994 m, bearing: 336.812469 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.222270 deg, new cmd heading: 330.184310 deg. BhamHeadingCmd: 5.762804 target range: 14.310850 and range: 14.40 m.hmh@h*h"h hgfff́Bdddjd,@Zd@?颽Bɢl<) >i)&qi]8i7g6<5!=Ih@IA@@ @@@q u checking for new query: numPingsReceived=99, elapsed TxPingTime=44.316292^A R5#=E%  E! E% %E! "E% :*E! VE% 4ZE! a- @a5 @a5 @a5 @I9 II OU >=H,%?A 2C@2>@2 ٱ2sN >AHRS rotation from veh to nav: [[0.880263,0.466462,0.086893],[-0.474393,0.861578,0.180652],[0.009402,-0.200242,0.979701]]2H +??>?t\޿ ??A?ɿY?i2C@I2]];2pCYFqByFp IbDRVDR3yZy%Z=ٔZQ-Z ?9\Y\=^FybJEf4Ef ?lQ 5v5nћ?Q 9z5n)n'BY|y~~Q I@nvEIn;in1;n5y Bɮ=AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 14.31 m.bhRh:Zh:  ProNav: ac range: 14.310850 m, nav range: 13.604904 m, bearing: 336.847313 deg, approach rate: -0.455846 m/s, LOS rate: 0.103581 deg/s, cmd heading: 330.184322 deg, new cmd heading: 330.290044 deg. Bh ,;5HeadingCmd: 5.764649 target range: 14.310850 and range: 14.40 m.h5x@h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdM?qmBɢ~><) >i)~Y))i5-8ie˾mu}m7'@ iw>);Iiw#3C֦??a/}? p?)SdI;iiwchecking for new query: numPingsReceived=100, elapsed TxPingTime=44.598446 ^Ae C"=I I O >=O, >?AB;@B6@B'$ٱBpN JAHRS rotation from veh to nav: [[0.879800,0.467403,0.086530],[-0.475239,0.861071,0.180845],[0.010019,-0.200230,0.979698]]BHQ'??@&?Qj޿ ?%?@݄?@"ɿY?iB;@IB0];BmCPYfmByfl IB=>B=ÍCB= IB=BB=4 =B9B=WDB=6_;B=#Echecking for new query: numPingsReceived=100, elapsed TxPingTime=44.834667bD-VD-k2ylr%/=E EE(E"E ;*E$:VEc44ZEBEL91Y1=5Fy5ME=E=>AQ 5E5E*㛊?Q 9M5E)E"BYiymQ Im@EyEIE;iE;E½5yyɮ}YAyiiNF1?AJi5`ARi5`Aji@bn/Ss*@t"Q5:?@RV/3?fj=t? 3%'?Zi;biiwjSl̳+#(@`}AMC՟@Z5~c?IؿtKC?2ij:iAA"i+ܟ?*ioM[BiBi?i%*XiBiVAi addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.505238 s, deltaX: -0.299999 m, approachRate: -0.593778 m/s, rangeRepo size: 4  Added new target pos. range: 14.012939 m, bearing: 335.942108 deg, lat: 36.779419 deg, lon: -121.859792 deg, deltaT: 0.505238 s, deltaX: -0.297911 m, approachRate: -0.589644 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.01 m.bhRhZh% ProNav: ac range: 14.012939 m, nav range: 13.380955 m, bearing: 336.812477 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 330.290053 deg, new cmd heading: 330.442308 deg. Bh!-HeadingCmd: 5.767306 target range: 14.012939 and range: 14.10 m.h-ƍ@h)*h)"h1 h1g1f1f9f9d9d9d9jde@33,@Zde ?UBɢU,c;)Y ]>iY)]N으YYi];9ieeAՒf*:?` B?YA A A A A A )E 8IA iE ۿE `P=E Bo&@E |>E &@ E -\>)E +9Y=FyOE64E>Q 55?Q 95)!BY_>Q E:ynQ I@}EIhc;iN;5y Bɮ*AѦE!i9i=OR?AJi9Ri9ji= »@b=rn*@pmb?LOC@R=^t.?>f*:?` B?Zi=+<bi=-\j=PG+(@0)WKY@Z=z?Z]ؿlZ?2i=:i=ZAA"i=CKN?*i=#!]Bi=Bi9i=%Xi9i='RAi=!@% addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.516156 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.012939 m, bearing: 336.179333 deg, lat: 36.779419 deg, lon: -121.859792 deg, deltaT: 0.516156 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 14.01 m.bhRhAZhA ProNav: ac range: 14.012939 m, nav range: 13.134715 m, bearing: 336.848566 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 330.442312 deg, new cmd heading: 330.607243 deg. BhHeadingCmd: 5.770185 target range: 14.012939 and range: 14.10 m.h[@h *h "h  h gfffBdd!d!jd!Zd-].?Q颽Bɢr;) @>i)uÙi:iS <di L7ٿ S= r&@ 'g>  |>) I |   '?6??܈@?  E?) I i |  - checking for new query: numPingsReceived=102, elapsed TxPingTime=45.625011A @A  @A @E /@A y ^AI =BE<AE<B]>B]CB]y IB]xBB]3 =BYB]VDchecking for new query: numPingsReceived=102, elapsed TxPingTime=45.841885B]%_;B]#EA.AIIO?u;a,+?AE EE#E "E:*EC:VE3ZE BE7 9 ?Y ?=FySEE>Q 55;?Q 959)Y ?Q E:y>Q I@EI ;i ;š5yɮ/Aii{r?AJiYARiYAjii@bc9)@*j?V1I@RK?w?-{#?Zibi|jS b'@},B!xr.綆@Z-ZV?74A:ٿ5>k?2i:ii9)=9AiE'& @  @ @ S2@  iw>)Iiw*ܽ?U/?jO? t?)rIiiwchecking for new query: numPingsReceived=103, elapsed TxPingTime=46.161751ԡ ^A- G<A5 >A5 ?%checking for new query: numPingsReceived=103, elapsed TxPingTime=46.344151A]؟AIaIyO>}h,E?A2@2@2`ٱ29L8 >AHRS rotation from veh to nav: [[0.877598,0.472134,0.083136],[-0.479201,0.858979,0.180336],[0.013731,-0.198101,0.980085]]2HG?@r7?``H?;޿ |?<??@][ɿ \?i2@I2^;0E~ E~E~%E|"E~:*E~=:VE~ 4ZE|a@a@a@a@YMbByU^ IbDVDβy"'%W=ٔQ->9"?Y"?=FyTE6E>Q 555q?Q 955)Y9y=OQ I=@EIL;i;tĚ5ymBɮmrAiiiLݒ?AJiRiji@b<Ҳ)@ˤT9?s\{@Rwm?13?`z=? 3%'?ZibiiwjmG͡m'@]q,=@Z^93?Dؿ&0o?2i^:im;A"i?*i/aBiBiCKN?i#!]iiJAiw@ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.505961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 13.615124 m, bearing: 335.939529 deg, lat: 36.779420 deg, lon: -121.859794 deg, deltaT: 0.505961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 13.62 m.bh1Rh9ZhAԩ ProNav: ac range: 13.615124 m, nav range: 12.670966 m, bearing: 336.455092 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 330.789722 deg, new cmd heading: 330.917142 deg. Bh5HeadingCmd: 5.775594 target range: 13.615124 and range: 13.70 m.h=Ѹ@h9*h9"h9 hAgAfAfIfIdIdQdQjdyZd}`6?Bɢw;) >i) Փ  i L=i%-6k<-sKe &@ e㭪>)e+H!Ie+HBmCBmf IBmiBBiBiBmTDBm_;Bmp#EIO p,6?AJchecking for new query: numPingsReceived=104, elapsed TxPingTime=46.850407E EE'E"E:*Ea9:VE'4ZEBE#?@!ش? "޿@~?`?[Ӎ? ɿA`?i@I ^;oCYE`ByM[ I iiimAiMb@Mb@Mb@ 9x&?I +Y7 ?y94 @)@Y@ %49Y=FyXErE>Q 555?Q 955)$BY> ?Q E:y"Q I@EI:i:ǚ5yBɮAҦEiYi]A?AJi]QARi]QAji]y@b]d!(@BAb?FeiY+@R]Z͘qiA)MᐼIIiM{>iUlUP~i=ڿ===%@=5>=%@ =>)=)=YQI=AHRS rotation from veh to nav: [[0.877414,0.473229,0.078727],[-0.479462,0.859516,0.177055],[0.016121,-0.193097,0.981047]]6H?cI?r'?`޿'?༩?遐?hȿ d?i6@I6P^;6nCYFhByJf IbDRVDRyZG==%Z`=ٔ^Q-^>9\Y\=^Fy^YEbEb>dQ 5j5fB?Q 9j5f)f&BYlyn/Q In@fEIf;if;fȚ5ypɮrqApiiR?AJiRijic@ !b.<(@ߤQ?؞8? @R6ڐt?u9?ќ?Zi<bijɸU%&@F hJE@~G!U_9QY]LkAZ J=?_L)bGؿ m?2i=:i6A"i?*iaBiBiH?i/aiBiCAi/@E E}E%E"EC:*Ek&:VE 4ZEa@a@a@a@ԙ addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.117660 m, bearing: 336.482513 deg, lat: 36.779420 deg, lon: -121.859796 deg, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.12 m.bhRhZh ProNav: ac range: 13.117660 m, nav range: 12.242193 m, bearing: 336.019479 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.102572 deg, new cmd heading: 331.220810 deg. BhHeadingCmd: 5.780894 target range: 13.117660 and range: 13.20 m.h@h*h"h hgf!f!f)d)d)d)jd)Zd5@Ȳ?5Bɢ=;)= =g>iA)EQAAiE?iM1Uiۿ-=%@>%@ ?>)+)UI+0,X?AB#@B@BAٱB!DALAN@ABRn>BRCBRl IBRnBBR6 =BPBRRDBR^;BRD#E rAHRS rotation from veh to nav: [[0.877579,0.473272,0.076605],[-0.479131,0.860107,0.175067],[0.016966,-0.190340,0.981572]]BH !?J? h? ޿?h?q_? ]ȿ i?iB#@IBe]^;@Y%qBy-p I9mchecking for new query: numPingsReceived=106, elapsed TxPingTime=47.858253bDeVDey<%=ٔкQ- >9Y=Fy\Es4:E>IQ 5m5M.X?Q 9u5M~)M)BYqy}Q I}@MEIM;iM;Mʚ5yBɮ`AӦEE E~E"E"E:*E(:VE(3ZEBEH;a2EI;aJE;a:E;ai1i5?AJi5KARi5KAji5ֻ@b5%vM,(@*J?n @R5Lh?:.Ǘ?\?Zi5+<bi5?j5OK&@c]ӞqaV@Z5W?^#q*aؿ+D?2i5 :i50A"i5^`J?*i5I{aBi5Bi5?i5ai5Bi5{@Ai5ջ@am addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.502938 s, deltaX: -0.400000 m, approachRate: -0.795326 m/s, rangeRepo size: 4  Added new target pos. range: 12.719556 m, bearing: 336.322566 deg, lat: 36.779420 deg, lon: -121.859796 deg, deltaT: 0.502938 s, deltaX: -0.398104 m, approachRate: -0.791556 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.72 m.bhRhZh ProNav: ac range: 12.719556 m, nav range: 12.030111 m, bearing: 336.318740 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.220817 deg, new cmd heading: 331.383088 deg. BhHeadingCmd: 5.783726 target range: 12.719556 and range: 12.80 m.hH@h*h"h hgf!fYfadiddjd)@Zd` ?Bɢ侼;) G>i)mi rAi,]<Wi  O= ~%@ C> %@  ) ) B9I =%-=ٔ$Q->9Y=Fy^E;E>Q 555j?Q 95)-BYo?Q E:ySQ I@EI:i]:͚5y ɮAi1i5@?AJi5UHARi5UHAji5@b5cX'@4?2[@R5!塛2g?5kXߜ?\?Zi5<bi1j5 ':%@SŹj_ʹ@Z50?H6pؿB?2i5Ֆ:i5l.A"i5l?*i5NaBi5uBi5^`J?i5/ai5Bi5=Ai5@- addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503915 s, deltaX: -0.200000 m, approachRate: -0.396892 m/s, rangeRepo size: 4 } Added new target pos. range: 12.520813 m, bearing: 336.617483 deg, lat: 36.779421 deg, lon: -121.859796 deg, deltaT: 0.503915 s, deltaX: -0.198743 m, approachRate: -0.394398 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 12.52 m.bhRhZh ProNav: ac range: 12.520813 m, nav range: 11.817354 m, bearing: 336.478377 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.383075 deg, new cmd heading: 331.525101 deg. BhHeadingCmd: 5.786204 target range: 12.520813 and range: 12.60 m.h(@hE E{E%E"Es:*E5":VE 4ZEa@a@a@a@*h"h hgfffρBdddjd@33)@Zd ?MBɢZ0'<) >i)Ç项i-CiFtg~<ci Cۿ xi= $@ > $@  |٠>) 9=I |٠   ߾MjD?>"G?TB?  >) NI 9=i |٠   checking for new query: numPingsReceived=108, elapsed TxPingTime=48.6379511 ^A ]?, A?A>*@>%@>$ٱ>? FAHRS rotation from veh to nav: [[0.878712,0.471742,0.072974],[-0.477015,0.862017,0.171418],[0.017961,-0.185437,0.982492]]>H@h?1?h?`h޿ ?`?@@d?dǿ@p?i>*@I>Ts^;<BRf>BRCBR IBR}BBR9 =BPBRQDBRq^;BR #EBeCBeCBeCBe4 =Be5 =Ce %6YbByb IbDnVDnβyr[=%v.=ٔvpQ-v>9z ?Yz ?=zFyzaE~7;E~>Q 5%5|?Q 9-5)0BY)y-Q I-@EI[0;i:;Ϛ5y=#Bɮ=A=ԦEiYi]4?AJi]CARi]CAji] @b]VЁV|9'@^X?LG/7@R]l~bg?ȢI?;[@?Zi]9=bi]|٠j] t%@]p@@Z]84?6L <׿Q?2i]:i]+Achecking for new query: numPingsReceived=108, elapsed TxPingTime=48.866642"i] ?*i] !S]Bi]5Bi]l?i]Nai]Bi]:Ai]T@Q addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.505170 s, deltaX: -0.300000 m, approachRate: -0.593860 m/s, rangeRepo size: 4  Added new target pos. range: 12.222452 m, bearing: 337.529796 deg, lat: 36.779421 deg, lon: -121.859796 deg, deltaT: 0.505170 s, deltaX: -0.298361 m, approachRate: -0.590615 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.22 m.bhRhZhbEu» 4jEuO4rEu’0E EE$E"E:*E0:VE4ZEBE;a2E;aJEۉ;a:Eۉ;a ProNav: ac range: 12.222452 m, nav range: 11.628453 m, bearing: 336.719916 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.525088 deg, new cmd heading: 331.675842 deg. Bh  HeadingCmd: 5.788836 target range: 12.222452 and range: 12.30 m.h $>@h*h"h hgfffddAdAjdE(@ZdEm?Bɢ=6D<)A E>iI)U&iiiuDyipr<X}@I!ԡ- DDAT read: Rx Time:06:07:04.0299 5 TRx dataTimestamp_ set to:1761545225.316891= PDAT read: Bearing 156.9, -1.1 (Local) E ~Local bearing/azimuth received: Bearing 156.9, -1.1 (Local) M DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 u DAT read: 06:07:04.0299 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510,-0.10,-0.351,-2.133,-0.270,-0.358, PHS= 0.110,-1.730, 0.045, RAW= 148.2, 17.1, CAL= 148.4, 19.0, ROT= 1.6, -19.0 } Ygot valid direction response: 06:07:04.0299 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510,-0.10,-0.351,-2.133,-0.270,-0.358, PHS= 0.110,-1.730, 0.045, RAW= 148.2, 17.1, CAL= 148.4, 19.0, ROT= 1.6, -19.0  V#Rx 109: Read range and direction messages. \direction in FSK: [0.945150,0.026400,0.325568] Fpublishing direction and range infoy1 5 P*>?P?`FI?Y5 3CA1 1 1 1 1 )5 9I5 G=i5 pݿ5 Q8=5 ~%@5 Θ>5 %@ 5 ɩ>)5 )5 I5 9"?Y"?=FydEw;E>Q 55 ?Q 95)3BY?Q E:y-ܾQ I@EI@:i:Қ5y)Bɮ]_AYiiGT?AJiAARiAAji%@b=!&@D({?y:@RP*>?P?`FI?Zi<biɩj1{\%@|wOF@Zŵ?li1)511i5?Gi=*8=xe<= Łiۿw=%@Ð>H%@ >)Pw)ʑIPwB B IB BB : =B B B ^;B "EԹ  checking for new query: numPingsReceived=110, elapsed TxPingTime=49.875744Eu EuEu#Eq"Euy:*EurN:VEu3ZEqBEuAHRS rotation from veh to nav: [[0.881829,0.466603,0.068258],[-0.471238,0.866505,0.164635],[0.017673,-0.177346,0.983990]]6H7?@?^y?(޿ h?`??Fƿ`|?i6`@I6Ed^;6kCYFByF IIJ<)J;tieMb@Mb@Mb@aaaa a9eMb?Zd;?Ye?yey=ee$ Ae@ e@)e@aYe@bD} VD}2y=%=ٔ):Q->9Y=FygE;E>Q 55?Q 95)Yu?Q E:yZQ I@EI:i:jԚ5yɮAiYi]It?AJi]:ARi]:Aji]Q@b]o3υ&@靘{?GI @R]0OYAp?B?uY?Zi]Pw<bi]j]4rC$@e"e};H @Z]?ؿ K,&?2i]:i]"A"i]ɘ?*i]3bBi]Bi]ɘ?i]I{ai]uBi]0Ai] @ addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.505270 s, deltaX: -0.500000 m, approachRate: -0.989570 m/s, rangeRepo size: 4 % Added new target pos. range: 11.626178 m, bearing: 336.656884 deg, lat: 36.779422 deg, lon: -121.859796 deg, deltaT: 0.505270 s, deltaX: -0.496904 m, approachRate: -0.983443 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 11.63 m.bh)Rh)Zh1 ProNav: ac range: 11.626178 m, nav range: 11.032773 m, bearing: 336.683289 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.887088 deg, new cmd heading: 332.045581 deg. BhHeadingCmd: 5.795289 target range: 11.626178 and range: 11.70 m.hs@h*h"h hgfffׁBdddjd`ff'@Zd`}?-DDAT read: Rx Time:06:07:05.0295 -TRx dataTimestamp_ set to:1761545226.3248155PDAT read: Bearing 156.2, -1.2 (Local) =~Local bearing/azimuth received: Bearing 156.2, -1.2 (Local) MDAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 mDAT read: 06:07:05.0295 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 506, 0.46,-0.367,-2.165,-0.269,-0.403, PHS= 0.139,-1.717, 0.090, RAW= 148.7, 16.0, CAL= 148.9, 17.8, ROT= 1.1, -17.8 uYgot valid direction response: 06:07:05.0295 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 506, 0.46,-0.367,-2.165,-0.269,-0.403, PHS= 0.139,-1.717, 0.090, RAW= 148.7, 16.0, CAL= 148.9, 17.8, ROT= 1.1, -17.8 }V#Rx 111: Read range and direction messages.\direction in FSK: [0.951954,0.018278,0.305695]Fpublishing direction and range infoy)-Fhv?hn?ќ?Y-9A)))) ))-7I-V>i)-Q=-x&@-5>-R&@ ->)-nFi)viIchecking for new query: numPingsReceived=111, elapsed TxPingTime=50.156128i%%W<-_k9pYp=vFyvjEv3<Ev>xQ 5~5z?Q 9~5zl)z2BYAyQ I@zEIzĔi1ܿv= 2+>)I2+L (З?7\?*1p? ??)xIi2+uchecking for new query: numPingsReceived=112, elapsed TxPingTime=50.650970qU>@Q @Q@]/@YԙBa Ba Be IBe BBa Ba Ba Be ];Be "E^A} u}< checking for new query: numPingsReceived=112, elapsed TxPingTime=50.884190 A E  E E &E "E C:*E 0:VE 4ZE BE %;a5 2E &;a= JE ۉ;aE :E ۉ;aM Iy I OU >&,NF?AP@@uٱ/ AHRS rotation from veh to nav: [[0.885814,0.459346,0.065841],[-0.463799,0.871825,0.157519],[0.014954,-0.170070,0.985319]]HX?e?`ڰ?ݿ?)?&?ſ?i@Ii^;YӂBy Ii}Mb@Mb@Mb@yyyy y9}V-?RQ?Y}>y}=yy}@ }@)}@yY}@AAbDVDy$=%%=ٔ;Q->9Y=FylE;E>Q 55Ӝ?Q 95')0BY>Q E:yQ I@EIi ;i ;ؚ5yABɮqAii ?AJi3ARi3Aji@bW# c%@v+I?*g2O @R z?C?z0Gu?Zibi2+j0A #@"h ygU @Zy?=H/ؿe޾?2iˇ:iA"i ?*iHQbBiΉBi ?iUbiBi*Ai|@% addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503988 s, deltaX: -0.300000 m, approachRate: -0.595253 m/s, rangeRepo size: 4 5 Added new target pos. range: 11.228702 m, bearing: 336.571445 deg, lat: 36.779423 deg, lon: -121.859797 deg, deltaT: 0.503988 s, deltaX: -0.298108 m, approachRate: -0.591498 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 11.23 m.bh9RhAZhAU ProNav: ac range: 11.228702 m, nav range: 10.671055 m, bearing: 336.595105 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.205156 deg, new cmd heading: 332.353123 deg. BhQ]HeadingCmd: 5.800656 target range: 11.228702 and range: 11.30 m.h]@hY*hY"hY hYgafffBdddjd&@ZdWs?uBɢu<)q u ?iy)}veyi[NiW<<&@ Ƈ>)5,FE?A4^@^g@^Iaٱ^dV. nAHRS rotation from veh to nav: [[0.887120,0.456778,0.066126],[-0.461334,0.873300,0.156583],[0.013776,-0.169414,0.985449]]^HHc? ;?@?@~ݿ?` ?n6?@\ſˈ?i^@I^M^;^jCYv݂Byz I xxE  E E "E "E %:*E a9:VE (3ZE a@a@a@a@bD VD2y?R=%S=ٔmG;Q->9Y=FynE;E>Q 55✊?Q 95|).BYyQ I@EId:i9:nښ5yɮ Aii_~?AJiz0ARiz0Ajiʻ@b$@C,e?M @Rd ea?n?v9s?Zi5<biƇj#@jFGhU @Z oِ?;pkؿbߌ?2i:iA"i{#?*iL1cBiBiiHQbiBi'Ai@u addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.507035 s, deltaX: -0.200000 m, approachRate: -0.394450 m/s, rangeRepo size: 4 M Added new target pos. range: 11.029964 m, bearing: 336.239129 deg, lat: 36.779423 deg, lon: -121.859797 deg, deltaT: 0.507035 s, deltaX: -0.198737 m, approachRate: -0.391959 m/s, posRepo size: 4 jhQDNOT Ignoring new targets: 11.03 m.bhԙRhZh  ProNav: ac range: 11.029964 m, nav range: 10.491142 m, bearing: 336.443258 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.353125 deg, new cmd heading: 332.476018 deg. Bh =HeadingCmd: 5.802801 target range: 11.029964 and range: 11.10 m.h=@h9*h9"h9 hAgAfAfAfIdIdIdIjdu@33&@Zd`P?颽Bɢ@<) ?i)7 ^i&PiZ<rIk?-{#?YU,AQQQQ Q)U9IUV>iUOݿU=U<&@U'g>UT'@ U|>)Ud;IU|QQU>ls?M_?\wk8? U ?)Uf{IUd;iU|QQchecking for new query: numPingsReceived=114, elapsed TxPingTime=51.662361 ^A A I I  O5 >y,?AA@A@BDBDBF IBF؂BBF9 =BDBDBF];BF"EY~By~ IbDVDy%<%%C=ٔ%Q-%>9)Y)=-Fy-pE-E5>1Q 5=55?Q 9E55)5,BYAyAQ IE@5EI5/;i5;5Aܚ5yMHBɮU.AUEchecking for new query: numPingsReceived=114, elapsed TxPingTime=51.888050ii?AJi+ARi+Aji@bR?{$@!j;9nM?Kœ @RZ7?`>rIk?-{#?Zid;bi|j =\g"@K-:; Isa @Z)_&?MiؿcP?2i:iA"iPyW?*iz'dEE EE}EAEA"EE1:*EEk&:VEAZEABEEy;au2EEz;auJEE;a}:EE€;aBizBi{#?iL1ciBi#Ail@M addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.501558 s, deltaX: -0.300000 m, approachRate: -0.598137 m/s, rangeRepo size: 4   Added new target pos. range: 10.731868 m, bearing: 335.773914 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.501558 s, deltaX: -0.298097 m, approachRate: -0.594341 m/s, posRepo size: 4 jhMDNOT Ignoring new targets: 10.73 m.bhIRhYZh% ProNav: ac range: 10.731868 m, nav range: 10.249736 m, bearing: 336.091105 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.476014 deg, new cmd heading: 332.626765 deg. Bh!-HeadingCmd: 5.805432 target range: 10.731868 and range: 10.80 m.h-ƹ@h)*h)"h) h)g)f1f1f1d1d99dYjd]%@Zd] ?颭BɢC<) ?i)T顱i~Ri iu "ۿu R>u m7'@u G\>u p'@ u C>)u :Iu Cq q u :U?t[??8YI? u ?)u Iu :iu Cq q  checking for new query: numPingsReceived=115, elapsed TxPingTime=52.161968^A 5%< AIIO>,S!?AF@F@F4ٱF\ / NAHRS rotation from veh to nav: [[0.889957,0.450965,0.067880],[-0.455911,0.876184,0.156355],[0.011036,-0.170096,0.985366]]FHz?? `?-ݿ` ?q??ſ?iF@IFj^;DYZByZ!IQiMb@Mb@Mb@ 9uV?!rh?yl=t A7@ )@Y <p<bDVDy<% =ٔn;Q->9Y=FysEE<E>Q 55?Q 95d)&BY>Q E:yqQ I@EI:i:{ޚ5=checking for new query: numPingsReceived=115, elapsed TxPingTime=52.393211Gyɮ AE9AYE]qAIi i x?AJi &ARi &Aji Ē@b M$@?*+@R (?h/"n[?Ix?Zi :bi Cj z4;"@v'Y*@Z =i ^ٿ #> '@ > m7'@ ޏ>) ;I ޏ |Zh)?\? ? B?) I ;i ޏ e checking for new query: numPingsReceived=116, elapsed TxPingTime=52.660744 ^AM <AyIIO>, @?A2@2V@29Y=FyuE;E>Q 55z?Q 95) BYyoQ I@EIG;checking for new query: numPingsReceived=116, elapsed TxPingTime=52.897614iH;5yuNBɮ}!AEE EE$E"E:*E:VE4ZEBEH;a2EI;aJE;a:E;aii6?AJi+"ARi+"Aji@bVy#@Zz .?v|@RsOL?7\t?/?Zi;biޏjQ$!@E;wh<@Z{2?!ؿ S ?2i{:iLA"i%?*ilK`BiBi%?Թi^bizBi>Aip@ addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504177 s, deltaX: -0.300000 m, approachRate: -0.595030 m/s, rangeRepo size: 4  Added new target pos. range: 10.135682 m, bearing: 336.142027 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.504177 s, deltaX: -0.298079 m, approachRate: -0.591218 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.14 m.bhRhZh ProNav: ac range: 10.135682 m, nav range: 9.765219 m, bearing: 335.609752 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.777909 deg, new cmd heading: 332.951223 deg. BhHeadingCmd: 5.811095 target range: 10.135682 and range: 10.20 m.h~@h*h"h hg)f)f)f)d1d1d1jd5`ff$@Zd5?颅ƁBɢp<)  ?i){2B顩iViе񾉧``<gi ( K> (@ %> )@ ;>) G@I ; 1[Ջ|?؀?^{?  ?) [I *ȼi ;  checking for new query: numPingsReceived=117, elapsed TxPingTime=53.164291 ^AE C<AI AM >9AqIyIO?<,`?Aɰ4<2L@2@2!ٱ2)0 >AHRS rotation from veh to nav: [[0.892334,0.445974,0.069627],[-0.451289,0.878456,0.157010],[0.008858,-0.171528,0.985140]]2H`?Պ?`ӱ? ܿP??$? ſ`C?i2L@I2l^;0BC@i@I@@IDiD DD)DH Jr@HHHLNsAIN)LiL)PIREjARݤRK>F PTTVDiTTiTVxiA)X XIXYXY^߂Byb IiMb@Mb@Mb@ 9?X9v?Zd;OYf>y=j; A@ @)@Yp@bD-VD-:y=0%=#=ٔE;Q-E>9AYI=mFymxE}7;E}>i߱IߵAchecking for new query: numPingsReceived=117, elapsed TxPingTime=53.401394Q 55R-?Q 9 5*)BY F>Q E :y XQ I @EI;i;5y!ɮ%yAIii;RV?AJi ARi Aji#@b c8#@e οg @R%#?o#юgd?Zi*ȼbi;j߲%W!@o\c"0@ZX?BڿSZT?2i:i A"i ?*ieBiΈBiiL1ciBiAi<@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503743 s, deltaX: -0.099999 m, approachRate: -0.198513 m/s, rangeRepo size: 4 E% E%E%#E!"E%:*E%*:VE%3ZE!a5@a5@a5@a5@U Added new target pos. range: 10.036313 m, bearing: 334.746233 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.503743 s, deltaX: -0.099369 m, approachRate: -0.197261 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 10.04 m.bhYRhZh5 ProNav: ac range: 10.036313 m, nav range: 9.534565 m, bearing: 335.242269 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.951231 deg, new cmd heading: 333.087613 deg. Bh1uHeadingCmd: 5.813476 target range: 10.036313 and range: 10.10 m.h@h*h"h hgfffBdddjd%@33$@Zd-V?ɁBɢ%a<)! % ?i!)%P9!)i-Yim}𾉧ufim ӿm fff>m q(@m  j>m q(@ m w>)m y@Im wi i m î?g<?2? m *^ ?)m jIm Ddim wi i  checking for new query: numPingsReceived=118, elapsed TxPingTime=53.669075Y ^A P<A9IAIYOe??, ?A JD@J?@J»ٱJ#y1 ^AHRS rotation from veh to nav: [[0.894748,0.440765,0.071785],[-0.446533,0.880903,0.156905],[0.005923,-0.172444,0.985001]]JHơ?|5?y`?ܿZ0? t?@Bx?ƿ!?iJD@IJ`^;JlCB=<A9BABABE !IBEBBABABABE4^;BE"EBCBCBCB9 =B9 =C4YقBy IbDVDy% $=ٔ r;Q- >9Y=FyzE1<E>Q 5%5??Q 9-5_) BY1y5+SQ I5@EIU;ih;5yMUBɮUAUEiiv?AJiARiAchecking for new query: numPingsReceived=118, elapsed TxPingTime=53.904709jix?@boO|"@ `vN:@Ree?HR˫!?ZiDdbiwj/9!@彁>-7@Z„?T|ٿCmh?2i |:iA"i-6?*iICbBi؇BiiICbiΈBiAAi@bE3jE3rEg/EM EMEIEI"EM7:*EMz:VEIZEIBEM;a2EM;a addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504438 s, deltaX: -0.300000 m, approachRate: -0.594722 m/s, rangeRepo size: 4 JEM;a:EM;a} Added new target pos. range: 9.738199 m, bearing: 335.266120 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.504438 s, deltaX: -0.298114 m, approachRate: -0.590982 m/s, posRepo size: 4 jhBNOT Ignoring new targets: 9.74 m.bh6Short final. Range: 9.80 m.VTransitioning guidance mode to: SHORT_FINAL:h@@RhZh = ProNav: ac range: 9.738199 m, nav range: 9.312848 m, bearing: 334.982574 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.087617 deg, new cmd heading: 333.240677 deg. BhAE|HeadingCmd: 5.816147 target range: 9.738199 and range: 9.80 m.hE@hI*hI"hI hIgIfIqfqfydydydyjd}#@Zd ?́Bɢ蛷<) ?i)0iZiノw<+Ӱie wϿe >e )@e f_>e )@ e Ϣv>)e G@Ie Ϣva a e ̵e?CI9,?ABGW@BR@BٱB2 JAHRS rotation from veh to nav: [[0.895747,0.438549,0.072879],[-0.444537,0.881798,0.157538],[0.004824,-0.173512,0.984820]]BH ? 1? .?`Msܿ7?`4*? +s?`5ƿ@?iBGW@IB ^;@1Y=тBy= IiMb@Mb@Mb@ 9MbX9?:v?V-Y>y=$ A @)5@YbDVDy%)=ٔ  ;Q- >9  ?Y ?=Fy}E@;E>Q 5%5Q?Q 9%5)BY-u>Q E-:y-ByQ I-@EI ;i ;+5y5[Bɮ=KA9i)i-Ֆ?AJi-ARi-Aji-U@b-yvFͅ"@g"̿ s$/4@R-?oA(?UKiC?Zi-*ȼbi-Ϣvj- @xT?;؋&^@Z-m#0 ?|ڿ2\1?2i-Q}:i-A"i-' U?*i-ldBi-xBi- ?i)i-Bi-Ai-E@ addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503590 s, deltaX: -0.200000 m, approachRate: -0.397148 m/s, rangeRepo size: 4  Added new target pos. range: 9.539460 m, bearing: 334.670665 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.503590 s, deltaX: -0.198739 m, approachRate: -0.394645 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.54 m. 9.74 m.RhZh ProNav: ac range: 9.738199 m, nav range: 9.098558 m, bearing: 334.718423 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.240668 deg, new cmd heading: 333.379818 deg. Bh]checking for new query: numPingsReceived=119, elapsed TxPingTime=54.409824|HeadingCmd: 5.818575 target range: 9.738199 and range: 9.60 m.h1@h*h"h hgfffBdddjd@33#@Zd`T?΁BɢB5<) ?i)EA=*AAiE m\iM^Mi ZĿ 7> *@ )> X*@  X8>) i@I X8   s!?Y?3+?  ׌?) !*I Ѹ2i X8  } T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A ؟AI I O >,0,?AR7g@R b@RTzٱR ;3 nAHRS rotation from veh to nav: [[0.896614,0.436630,0.073735],[-0.442796,0.882627,0.157801],[0.003820,-0.174136,0.984714]]RH??S?Vܿ`{>?`2?Jo?Jƿ@ǂ?iR7g@IR~^;RmCYvɂByv IxbDVDܲy*%P=ٔ*';Q->9"?Y"?=Fy%E% ;E%>)Q 5U5-1`?Q 9U5-)-BYYy]OwQ I]@-EI-;i-;-5yaɮeAaii?AJiARiAjiB@b ir*"@UbٿgL p?RPt?EU'?ZiѸ2biX8j~j/ @>r{?Z[xrQ? Kfyܿ?!Y?2i:i~A"i\3 ?*icjBi?Bi\3 ?ildi؇BiAiu@ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503959 s, deltaX: -0.300000 m, approachRate: -0.595287 m/s, rangeRepo size: 4  Added new target pos. range: 9.241352 m, bearing: 333.068498 deg, lat: 36.779422 deg, lon: -121.859798 deg, deltaT: 1.007549 s, deltaX: -0.496847 m, approachRate: -0.493125 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.24 m. 9.74 m.RhZh ProNav: ac range: 9.738199 m, nav range: 8.924417 m, bearing: 334.492012 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.379812 deg, new cmd heading: 333.506042 deg. Bh|HeadingCmd: 5.820778 target range: 9.738199 and range: 9.30 m.hC@h*h"h hgfffddd jd "@Zd ??UсBɢ]l\<)Y ]n>iY)]#Yi]i쾉< B1B5 IB5݂BB1B1B1B5~^;B5#E@! @!@%/@!2Acoustic response timeoutԉE EE'E"E:*EF:VE'4ZEBE7 ,[?A>Hu@>p@>3 FAHRS rotation from veh to nav: [[0.897375,0.434981,0.074222],[-0.441257,0.883357,0.158026],[0.003173,-0.174560,0.984641]]>HL??>?=ܿvD?@4:?Di?Wƿ.?i>Hu@I>k^;>oCYNByN IIR%=)PTV=-DDAT read: Rx Time:06:07:10.0281 -TRx dataTimestamp_ set to:1761545231.3647895PDAT read: Bearing 149.6, -5.0 (Local) =~Local bearing/azimuth received: Bearing 149.6, -5.0 (Local) MDAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4 mDAT read: 06:07:10.0281 LVL= 21488, 32753, 26226, 32755, AGC= 54, IDX= 507,-0.13,-2.676, 1.876,-2.389,-2.814, PHS= 0.240,-1.548, 0.382, RAW= 153.8, 10.0, CAL= 153.6, 10.8, ROT= 356.4, -10.8 uYgot valid direction response: 06:07:10.0281 LVL= 21488, 32753, 26226, 32755, AGC= 54, IDX= 507,-0.13,-2.676, 1.876,-2.389,-2.814, PHS= 0.240,-1.548, 0.382, RAW= 153.8, 10.0, CAL= 153.6, 10.8, ROT= 356.4, -10.8 yR#Rx 1: Read range and direction messages.^direction in FSK: [0.980349,-0.061679,0.187381]Fpublishing direction and range infoy)-W_?WW0i?Y))-S)-rf ))-6I-u>i-$ƿ->-+@-¸2>-+@ -A>)-" @I-A))-Ā1??zR'? -?)-3 2I-)i-A))2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.iMb@Mb@Mb@ 9X9v?Q?MbY>y\= A@ @)Y@bDVD:2y%Q%%.=ٔ%Y:Q-%>9- ?Y- ?=-Fy-EUlm;EU>YQ 5e5]ar?Q 9e5])]BYe>Q Ee:yeEQ Im@]EI]:i]:]5yaBɮdAEi)i-X?AJi)Ri)ji-ۅ@b-B?"@E f=2a?R-W_?WW0i?Zi-)bi-Aj-gIm @TU=?U?Z-KC?Gݿd?2i-H:i-+A"i-cj?*i-qnBi-_Bi--6?i-ei-xBi- Ai-@e addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504033 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 9.241365 m, bearing: 332.177436 deg, lat: 36.779423 deg, lon: -121.859798 deg, deltaT: 1.511582 s, deltaX: -0.496834 m, approachRate: -0.328685 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.24 m. 9.74 m.RhZh5 ProNav: ac range: 9.738199 m, nav range: 8.698395 m, bearing: 334.311781 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.506034 deg, new cmd heading: 333.655654 deg. Bh1=|HeadingCmd: 5.823390 target range: 9.738199 and range: 9.30 m.h=5Y@h9*h9"h9 h9g9fAfafeBdididijdiZdm ?ԁBɢ<)  >i)i~@_i bj뾉 r< 4@E addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504186 s, deltaX: -0.400001 m, approachRate: -0.793359 m/s, rangeRepo size: 4 u Added new target pos. range: 8.900000 m, bearing: 331.046132 deg, lat: 36.779423 deg, lon: -121.859800 deg, deltaT: 2.015768 s, deltaX: -0.838200 m, approachRate: -0.415821 m/s, posRepo size: 4 jhqbhq}zIgnoring new targets. Set target to previous: 8.90 m. 9.74 m.Rh}Zh}: ProNav: ac range: 9.738199 m, nav range: 8.294197 m, bearing: 334.031719 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.195179 deg, new cmd heading: 333.342394 deg. Bh,;|HeadingCmd: 5.817922 target range: 9.738199 and range: 8.90 m.hk,@h*h"h hgfffBdddjd!@Zd` ?=؁Bɢ=A}<)A e">ia)ehaaielaim6m?Ǔiƿw>@.@.@ 9>)@I9|P?U?1u1h? !?),I)QϽi952Acoustic response timeout=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.q@y @y@}/@y^AU<A I I  O} > ,@&?AZV@Z(@ZIٱZM5idIfAj2Acoustic response timeouth nAHRS rotation from veh to nav: [[0.898778,0.431670,0.076537],[-0.438402,0.884669,0.158633],[0.000767,-0.176130,0.984367]]ZH ?|??ܿ5O?N? I?oƿ`?iZV@IZ}^;XY-By- I 11bD=VD=cyUr<%UW=ٔUU;Q-U>9YYY=]Fy]E]a;Ee>iQ 5u5mz?Q 9u5m:)mBYqyu!Q Iu@mEImW:im:m;5yɮSA-Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s.ii1?AJi3 ARi3 Ajia@b!@N뿳'W ?RUW+P?Ro`]rlE@?Zi)QϽbi9j!@nz砨vF?Zlst6?3V0 @߿?2i:i@"ij[?*itBiBiiqni?BiAi)@ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504816 s, deltaX: -0.200000 m, approachRate: -0.396184 m/s, rangeRepo size: 4 ] Added new target pos. range: 8.700000 m, bearing: 330.136031 deg, lat: 36.779423 deg, lon: -121.859802 deg, deltaT: 2.520584 s, deltaX: -1.038199 m, approachRate: -0.411888 m/s, posRepo size: 4 jhabhiE EE'E"EU:*E?:VE'4ZEEzIgnoring new targets. Set target to previous: 8.70 m. 9.74 m.RhQZhQ ProNav: ac range: 9.738199 m, nav range: 8.105264 m, bearing: 333.916849 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.342383 deg, new cmd heading: 333.456580 deg. Bh|HeadingCmd: 5.819915 target range: 9.738199 and range: 8.70 m.h<@h*h"h hgf f f dd1d9jd=`ff!@Zd=`'.?颍ہBɢG<) >i)/- ikbi1<JiD̿+>~{/@B>/@ PwV>)j @IPwV ?;ɬ?*+_=1? /%?)BIiPwV 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Q ^A )< PExceeded connect timeout, disconnecting.A I I y "enGround Fault scan is active; will mark data as invalid.B]c>BYB] IB]BBYBYBYBYB]<#E"m@some bad data, not updating binsO?,`G?A J2Acoustic response timeoutN@N@NaٱNT5 VAHRS rotation from veh to nav: [[0.899066,0.430969,0.077109],[-0.437813,0.884962,0.158624],[0.000123,-0.176373,0.984323]]NH&?`?@p?!ܿ Q?M?0, ?`fƿ?iN@IN^;NlCY^Byb IbDjVDj=AyrG%r$=ٔvd:Q-v>9tYt=vFyvEz:Ez>|Q 55~ ?Q 95~ )~BY y ͻQ I @~EI~7;i~8;~h5ynBɮAE-mSound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s.iiim8?AJimARimAjim'̷@bm v @2?G=*w U?RmIm ?!Z^bhٜ?ZimbimPwVjm 4(@X;Q֜,?ZmRN?YMT+q~?2im:im@"imm}?*im'dtBimSBimj[?im^riiimAim@E E}E"E"E:*Ek&:VE(3ZEm addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503108 s, deltaX: -0.400000 m, approachRate: -0.795057 m/s, rangeRepo size: 4  Added new target pos. range: 8.300000 m, bearing: 329.088115 deg, lat: 36.779423 deg, lon: -121.859804 deg, deltaT: 3.023692 s, deltaX: -1.438199 m, approachRate: -0.475643 m/s, posRepo size: 4 jh!bh)9]zIgnoring new targets. Set target to previous: 8.30 m. 9.74 m.RhYZhYm ProNav: ac range: 9.738199 m, nav range: 7.857424 m, bearing: 333.756586 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.456584 deg, new cmd heading: 333.627737 deg. Bhi|HeadingCmd: 5.822903 target range: 9.738199 and range: 8.30 m.h8U@h*h"h hgfffdddjd @Zd`r?5݁Bɢ5W<)9 =>i9)="99i=VciE*뾉E<iMƿM>M|0@M'>MC0@ M¸2>)M@IM¸2IIMΙ(?|f6 q?.2? MC)?)M(IMg iM¸2II2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԑ ^A <A= .AIA IQ Թ aliA2Acoustic response timeoutO?D,h?AG}9liAYfA>P@>"@>R:ٱ>Mt5 FAHRS rotation from veh to nav: [[0.899152,0.430656,0.077856],[-0.437637,0.885134,0.158152],[-0.000804,-0.176275,0.984341]]>H`? ?e?=ܿ@S?S>?`YJ2ƿ?i>P@I>`^;9 ?Y ?=FyE9E>Q 55Y͝?Q 95 )BYE?Q E:y۾Q I@EI<:if:5yɮA-Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s.ii_X?AJiRijiD@bQ2 @>weʿ|-z{?R88?6j;ٖNs:?Zig bi¸2j,ZA @w71}R?Z?=#/,cL?2i:iP@"iG'?*ix|BiͅBiG'?i'dtiBiAi~5@ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503957 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.300000 m, bearing: 328.140629 deg, lat: 36.779423 deg, lon: -121.859804 deg, deltaT: 3.527649 s, deltaX: -1.438199 m, approachRate: -0.407693 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.30 m. 9.74 m.RhZh!5 ProNav: ac range: 9.738199 m, nav range: 7.540466 m, bearing: 333.686943 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.627748 deg, new cmd heading: 333.799432 deg. Bh1=|HeadingCmd: 5.825899 target range: 9.738199 and range: 8.30 m.h=m@h9*h9"h9 h9g9fAfAfEɁBdAdIdIjdZdA?颅BɢN^<)  >i)s顑i=did!꾉<=5~1@B>Κ1@ PwV>) @IPwV,ծu?zH?w.? ?-?)BIt iPwV=2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.i  nManaging dock network, ignoring radio surface power off^Ae ]<"e nGround Fault scan is active; will mark data as invalid.B] d>BY B] IB] BBY BY BY BY B] @#E"m @some bad data, not updating binsA ؟AI I M2Acoustic response timeoutO ?",??A4<ɰ0EZ EZEZ&EX"EZ:*EZ*:VEZ4ZEX S@ %@ ^:ٱ ;4 }AHRS rotation from veh to nav: [[0.899259,0.430454,0.077735],[-0.437416,0.885371,0.157434],[-0.001056,-0.175577,0.984465]] H@??@l?@ۿ`T?&?KQ`Lyƿ ?i S@I 6^; jCY{By} IԉiMb@Mb@Mb@ 9?~jtx?~jthYf?y;D A@ @)K@Y@bDVDy%%%=ٔE9Q-E>9M"?YM"?=MFyMEU9EU>YQ 5]5]䝊?Q 9u5]e)]BYui?Q Eu:yuQ Iu@]EI]};i]|;]5ytBɮA-%Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s.iiӠx?AJi@Ri@jiж@bIYy$@5#?RrU?(HCPÿhٜ?Zit biPwVj/D@ Ыces~?Z5?e9F?2i:ip@"i`?*i-,zBiBij[?itii@i@ addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503960 s, deltaX: -0.500000 m, approachRate: -0.992142 m/s, rangeRepo size: 4  Added new target pos. range: 7.800000 m, bearing: 327.324928 deg, lat: 36.779423 deg, lon: -121.859804 deg, deltaT: 4.031609 s, deltaX: -1.938199 m, approachRate: -0.480751 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.80 m. 9.74 m.RhZh ProNav: ac range: 9.738199 m, nav range: 7.242966 m, bearing: 333.647463 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.799432 deg, new cmd heading: 333.984801 deg. Bh%|HeadingCmd: 5.829134 target range: 9.738199 and range: 7.80 m.h%E@h!*h!"h! h!g)f)f)f-Bd1d1dQjd]@33@Zd]?DDAT read: Rx Time:06:07:13.0271 TRx dataTimestamp_ set to:1761545234.388445DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 X#Rx 1: Read range message, but no direction.yY2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԹEBɢE"<)A E>iI)M]IIiMdi}^y辉W"<eњ91Y1=5Fy5E5E=>9Q 5E5=?Q 9M5=)=BYIyMQ IM@=EI=v;i=;=|5y]Bɮ]9A]EuB*** querying acoustic contact ***iy iy addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503629 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.RhZh ProNav: ac range: 9.738199 m, nav range: 7.010026 m, bearing: 333.615800 deg, approach rate: -0.568283 m/s, LOS rate: -0.079812 deg/s, cmd heading: 333.984803 deg, new cmd heading: 333.886658 deg. Bh[|HeadingCmd: 5.827422 target range: 9.738199 and range: 7.80 m.h=z@h*h"h hgfffdddjdZd@&?Bɢl6s<) >i),i eiY龉)<\E$+3@ EA>)E@@IEAAAEH? q?IdiG? E4?)E$3IE9iEAAA2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^AmB B y IB xBB B B B B <#E" @some bad data, not updating binsI  2Acoustic response timeoutOM >$i2,z?AbE 3jE m4rE 0E} E}E}$Ey"E}g:*E}.:VE}4ZEy)E>@E@E3:ٱE(P3 -AHRS rotation from veh to nav: [[0.898879,0.431209,0.077943],[-0.438193,0.885273,0.155819],[-0.001810,-0.174217,0.984706]]EH?? ?@Y ܿ 'T?`?~]Lƿ?iE>@IE^;EmCIYu|By}~ I iMb@Mb@Mb@ 9HzG?~jthMbP?Y= ?yD:; A@ @)@Y(@))bD-VD-:y=Wj%==ٔEe:Q-E>9IYI=MFyMEMFEM>QQ 5]5U`?Q 9]5U)QYe> ?Q Ee:yeQ Ie@UEIU ;iU ;U5yiɮu]Aq-Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s.iqiu-$?AJiu@Riu@jiu^@buͳ@ē M/?Ru-ݲ?ךxƿ0i?Ziu9biuAju@" @rwQPpXL?Zu|/?!Eῷv0Y?2iu:iu@"iu>[?*iu7{BiuBiu>[?iu-,ziqiuX@iu@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504388 s, deltaX: -0.400000 m, approachRate: -0.793040 m/s, rangeRepo size: 4  Added new target pos. range: 7.400000 m, bearing: 325.655494 deg, lat: 36.779422 deg, lon: -121.859807 deg, deltaT: 5.039626 s, deltaX: -2.338199 m, approachRate: -0.463963 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.40 m. 9.74 m.RhZh: ProNav: ac range: 9.738199 m, nav range: 6.683990 m, bearing: 333.610893 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.886667 deg, new cmd heading: 334.075564 deg. Bh,;|HeadingCmd: 5.830719 target range: 9.738199 and range: 7.40 m.h?@h*h"h hgfffBd d d jd @Zd ?MDDAT read: Rx Time:06:07:14.0268 MTRx dataTimestamp_ set to:1761545235.396707]PDAT read: Bearing 147.3, -12.2 (Local) ]~Local bearing/azimuth received: Bearing 147.3, -12.2 (Local) mDAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 DAT read: 06:07:14.0268 LVL= 26720, 32753, 25650, 32755, AGC= 54, IDX= 510,-0.16, 2.989, 1.377,-2.719, 2.949, PHS= 0.141,-1.527, 0.571, RAW= 161.2, 8.5, CAL= 160.9, 8.9, ROT= 349.1, -8.9 Ygot valid direction response: 06:07:14.0268 LVL= 26720, 32753, 25650, 32755, AGC= 54, IDX= 510,-0.16, 2.989, 1.377,-2.719, 2.949, PHS= 0.141,-1.527, 0.571, RAW= 161.2, 8.5, CAL= 160.9, 8.9, ROT= 349.1, -8.9 R#Rx 1: Read range and direction messages.^direction in FSK: [0.970136,-0.186819,0.154710]Fpublishing direction and range infoyIMOZ ?pBǿj?YIIM`hMM2d I)M6IMNb>iMtÿM-?M4@M>M3@ M>)Mg@IMIIMy#,?b?.D? M*8?)MIMtBiMII2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.yUBɢ}Q<) >i)5顁i[1fi©羉"<~9- ?Y- ?=-Fy-E5ŢE5>9Q 5E5=m!?Q 9E5=)9YAyEQ IM@=EI=:i=:=)5yUBɮU{AUE-uSound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s.iqiuc?AJiqRiqjiu{g@buk)M@"; ^UQ?RuOZ ?pBǿj?ZiutBbiujuAmA@hP?ZuzNp?zL殀";u[?2iu2:iuB@"iu)s?*iuJBiu2Biqiux|iuͅBiu@iuL@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503874 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 7.400000 m, bearing: 324.803006 deg, lat: 36.779422 deg, lon: -121.859808 deg, deltaT: 5.543500 s, deltaX: -2.338199 m, approachRate: -0.421791 m/s, posRepo size: 4 jhYbhY]zIgnoring new targets. Set target to previous: 7.40 m. 9.74 m.RhaZha ProNav: ac range: 9.738199 m, nav range: 6.431836 m, bearing: 333.606848 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.075563 deg, new cmd heading: 334.220658 deg. Bh|HeadingCmd: 5.833251 target range: 9.738199 and range: 7.40 m.h@h*h"h hgfffdddjdZd`\?UDDAT read: Rx Time:06:07:14.5265 UTRx dataTimestamp_ set to:1761545235.900835ePDAT read: Bearing 152.1, -14.1 (Local) e~Local bearing/azimuth received: Bearing 152.1, -14.1 (Local) uDAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 DAT read: 06:07:14.5265 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.10,-2.406, 2.274,-1.802,-2.317, PHS= 0.013,-1.647, 0.471, RAW= 161.9, 12.0, CAL= 162.1, 13.6, ROT= 347.9, -13.6 Ygot valid direction response: 06:07:14.5265 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.10,-2.406, 2.274,-1.802,-2.317, PHS= 0.013,-1.647, 0.471, RAW= 161.9, 12.0, CAL= 162.1, 13.6, ROT= 347.9, -13.6 R#Rx 1: Read range and direction messages.^direction in FSK: [0.950367,-0.203741,0.235142]Fpublishing direction and range infoyQUM6nhi?~/ʿ#?YU@QUQU Q)U8IUTU4@UPwV>UD5@ Us>)UM@IUsQQUǖSzO?)z?!D? UV;?)U7VIU@XiUsQQ2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Bɢ\I<)! %>i!)%:<ٻ!!i%tfi-]澉-<5s$vD,|?A6}@6O@6!n9;ٱ6N1 BAHRS rotation from veh to nav: [[0.898890,0.431127,0.078268],[-0.438165,0.885569,0.154207],[-0.002829,-0.172909,0.984934]]6H??f ? ܿ@V? ? -g@!ƿ?i6}@I6^;6lCY5By5 II=<)=9M"?YM"?=MFyMEUq9EU>YQ 5e5]&7?Q 9e5])]BYe|?Q Ee:iymվQ Im@]EI]3;i]=3;]5y}Bɮ}`A}E-Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s.iiH?AJi@Ri@ji6@b_W:@c5~PB?RM6nhi?~/ʿ#?Zi@Xbisja}`@Q癷Lư4)?Z!ͦl?L&Χ?2iw:iK@"iP?*i%9Bi-Bii7{ii{@iw@ addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504128 s, deltaX: -0.500000 m, approachRate: -0.991812 m/s, rangeRepo size: 4  Added new target pos. range: 6.900000 m, bearing: 324.463185 deg, lat: 36.779422 deg, lon: -121.859809 deg, deltaT: 6.047628 s, deltaX: -2.838199 m, approachRate: -0.469308 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.90 m. 9.74 m.RhZh ProNav: ac range: 9.738199 m, nav range: 6.150063 m, bearing: 333.494370 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.220663 deg, new cmd heading: 334.387675 deg. Bh|HeadingCmd: 5.836166 target range: 9.738199 and range: 6.90 m.h@h*h "h  h g f ffBdddjd@Zd?uDDAT read: Rx Time:06:07:15.0264 uTRx dataTimestamp_ set to:1761545236.404709}PDAT read: Bearing 149.2, -14.3 (Local) ~Local bearing/azimuth received: Bearing 149.2, -14.3 (Local) DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 DAT read: 06:07:15.0264 LVL= 32240, 32625, 32322, 32755, AGC= 55, IDX= 506,-0.42, 1.445,-0.149, 2.082, 1.483, PHS= 0.063,-1.587, 0.555, RAW= 162.7, 10.0, CAL= 162.6, 10.9, ROT= 347.4, -10.9 Ygot valid direction response: 06:07:15.0264 LVL= 32240, 32625, 32322, 32755, AGC= 55, IDX= 506,-0.42, 1.445,-0.149, 2.082, 1.483, PHS= 0.063,-1.587, 0.555, RAW= 162.7, 10.0, CAL= 162.6, 10.9, ROT= 347.4, -10.9 R#Rx 1: Read range and direction messages.^direction in FSK: [0.958310,-0.214208,0.189095]Fpublishing direction and range infoyqu@y?Ra'k˿oG4?Yu@qu}uquB~ q)u7Iu%=iu"˿u{?uּ5@u¸2>u>5@ uB>)uW@IuBqqu.-̽F,?ur.[?˂4R 9? u>?)uҰ2Iut0aiuBqq2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.eBɢeT<)a m>ii)mb!ϻiiimjygiu侉u@1 @1@5/@9^A k<= 2Acoustic response timeout A) Ia I E  E E %E "E 7:*E .:VE 4ZE O%>_ L,5|2?A6S@6%@6;ٱ60 >AHRS rotation from veh to nav: [[0.899358,0.430061,0.078754],[-0.437193,0.886325,0.152613],[-0.004169,-0.171685,0.985143]]6H??`=)?`ۿ\?҈?qq@ſJ?i6S@I6p^;6mCY=By= IbDUVDUN2yn=%,=ٔ8;Q->9Y=FyE;E>Q 55_J?Q 95l)YyaվQ I@EIF:i:5yɮA-Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s.ii?AJi@Ri@jit@b@}GNϬO[֒?R@y?Ra'k˿oG4?Zit0abiBj6O蓏W@ PԌ?ZX|? ]7S⿤c ?2if|:i@"i ?*i(BiBii%9iBi@i=*@ addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.503874 s, deltaX: -0.100000 m, approachRate: -0.198462 m/s, rangeRepo size: 4 - Added new target pos. range: 6.800000 m, bearing: 323.529883 deg, lat: 36.779422 deg, lon: -121.859809 deg, deltaT: 6.551502 s, deltaX: -2.938199 m, approachRate: -0.448477 m/s, posRepo size: 4 jh)bh15zIgnoring new targets. Set target to previous: 6.80 m. 9.74 m.Rh9Zh9M ProNav: ac range: 9.738199 m, nav range: 5.900901 m, bearing: 333.383352 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.387675 deg, new cmd heading: 334.534967 deg. BhIU|HeadingCmd: 5.838737 target range: 9.738199 and range: 6.80 m.hUֺ@hQ*hQ"hQ hQgYfYfYfYdYdadajde@33@Zdm?颕Bɢ]|<) =>i)Ļ顙i+h!iEЎ㾉Eٓ07@ k>),>@Ik)!Rvş?pW?\×? C?)OI5zik?@ @@@U2Acoustic response timeout]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Q^A/C<AA>"% nGround Fault scan is active; will mark data as invalid.B B B  IB }BB B B B B S#E"5 @some bad data, not updating binsy A1 m 2Acoustic response timeoutI I :K 2BK k1JK *5RK ϴZK 5bK 4jK "5rK ~32K O6Ա =' -No ground fault detected mA: CHAN A0 (Batt): -0.002663 CHAN A1 (24V): -0.000661 CHAN A2 (12V): -0.000675 CHAN A3 (5V): -0.000387 CHAN B0 (3.3V): 0.000531 CHAN B1 (3.15aV): 0.000253 CHAN B2 (3.15bV): 0.000607 CHAN B3 (GND): 0.000116 OPEN: 0.005701 Full Scale: +/- 1 mA*K O >2QS,M?AE E{E"E "Es:*E5":VE(3ZE &;ɰ&;%@%@%[;ٱ%*0 5AHRS rotation from veh to nav: [[0.899761,0.429143,0.079158],[-0.436356,0.886785,0.152336],[-0.004823,-0.171607,0.985154]]%H ?w?`C?`Aۿ`?@?`s`;ſ`?i%@I%^;!YBy IiMb@Mb@Mb@ 9V-?+?y&1|?Y>y=`; A7@ @)C@Yp@bD-VD-y=<%==ٔ=f:Q-=>9AYA=EFyEEE}:EM>IQ 5]5Mc^?Q 9]5M)MBY]>Q E]:y]6Q Ie@MEIM ;iM? ;M5ymBɮmAmE-Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s.ii(:?AJi@Ri@ji6-@b N/@ͽGo?R7;:?ieJG%ο :?Zi5zbikj+ S@X> J?Z1@?xz@V?2icl:i@"i?*iBiBiiiik@i´@ addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504029 s, deltaX: -0.500000 m, approachRate: -0.992006 m/s, rangeRepo size: 4  Added new target pos. range: 6.300000 m, bearing: 322.604960 deg, lat: 36.779422 deg, lon: -121.859810 deg, deltaT: 7.055531 s, deltaX: -3.438199 m, approachRate: -0.487305 m/s, posRepo size: 4 jhbh15zIgnoring new targets. Set target to previous: 6.30 m. 9.74 m.Rh9Zh9M ProNav: ac range: 9.738199 m, nav range: 5.647128 m, bearing: 333.143064 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.534961 deg, new cmd heading: 334.694942 deg. BhIu|HeadingCmd: 5.841529 target range: 9.738199 and range: 6.30 m.hu@hq*hq"hq hqgyfyfyf}܁Bdddjd@33@Zd@O?DDAT read: Rx Time:06:07:16.0260 TRx dataTimestamp_ set to:1761545237.412734PDAT read: Bearing 149.5, -15.9 (Local)  ~Local bearing/azimuth received: Bearing 149.5, -15.9 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 =DAT read: 06:07:16.0260 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.17,-2.715, 2.031,-2.025,-2.640, PHS= 0.027,-1.567, 0.571, RAW= 164.2, 10.1, CAL= 164.1, 11.1, ROT= 345.9, -11.1 EYgot valid direction response: 06:07:16.0260 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.17,-2.715, 2.031,-2.025,-2.640, PHS= 0.027,-1.567, 0.571, RAW= 164.2, 10.1, CAL= 164.1, 11.1, ROT= 345.9, -11.1 MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.951728,-0.239058,0.192522]UFpublishing direction and range infoyaŎt?هrοM?Yf@ )7I/-M7@ aF>)/@IaF)?Md?J-n?i  ZE?)d4It{iaFu2Acoustic response timeoutuQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.颥Bɢ\x<) S>i!)%1!)i-hi- ⾉5Ϫ<5#9 ?Y ?=FyE;E>Q 55n?Q 95!)YyQ I@EI ;i;5yɮ>A-Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s.iiia)miiimϿiyiྉ<%99@ ȭT>)@IȭT`0u9??e?:? 2O?)=I:iȭT2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. ^A B B IB BB : =B FDB QDa% a% B _;B ]#EAE ؟AIQ Ia Om >b,?AB@B@B;ٱBe0H fAHRS rotation from veh to nav: [[0.900857,0.426740,0.079687],[-0.434073,0.888038,0.151554],[-0.006091,-0.171119,0.985232]]DDAT read: Rx Time:06:07:17.0257 %TRx dataTimestamp_ set to:1761545238.171869-2Acoustic response timeoutBH?O?^f?`ۿj?`f? x@6ſ?iB@IB^;BnCYBy IbDVDyo<%8=ٔG:Q->9"?Y"?=FyE f;E>Q 55?Q 95#)BYy뼾Q I@EI:i:5E EE%E"E:*E*5:VE 4ZEBEm%ia)e4aiimji߾Q< :@}>6;@ `>)t;@I`v<@B ?z( ķ?6ad? 5ZR?)}IjFi`= 2Acoustic response timeout= Querying Benthos address 50 with 120 pings in terminal homing one-way mode. ^AM <AQ zAQ I A}.AIIO>Ehi,u?A $$:hAD^9^hAY^chA*DAT read: user:675> DAT read: 50 :unknown deviceResponse_: 50 DAT read: Ok :unknown deviceResponse_: Ok *DAT read: user:676> 2Acoustic response timeoutY-̂By- IiuMb@Mb@Mb@qqqq qE EE&E"E7:*EVL:VE4ZEa@a@a@a@9uI +?ʡE?Mbp?Yu9>yu=u;u7 Au @ u@)uAqYu @ 4<p;bDVDky%b=%%=ٔ-Q-->9- ?Y- ?=5Fy=EeEe>iQ 5u5m ?Q 9u5m%)mBYud>Q Eu:yujQ I}@mEIml;im2;m 5yBɮAEiiwښ?AJi@Ri@jiu@bl+ZZ@'cD7$?RGS#?${)wy|ҿ-?ZijFbi`j7@\'w 6 r?Z I1?e l˺l2Ft?2ic:i0@"i ?*i?^{BiBi ?i?^{ii@iv@ addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504132 s, deltaX: -0.100000 m, approachRate: -0.198361 m/s, rangeRepo size: 4 % Added new target pos. range: 5.862800 m, bearing: 319.892974 deg, lat: 36.779420 deg, lon: -121.859811 deg, deltaT: 8.566377 s, deltaX: -3.875400 m, approachRate: -0.452397 m/s, posRepo size: 4 jh!bh15zIgnoring new targets. Set target to previous: 5.86 m. 9.74 m.Rh9Zh9M ProNav: ac range: 9.738199 m, nav range: 4.965823 m, bearing: 332.121586 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.982448 deg, new cmd heading: 335.141810 deg. BhIU|HeadingCmd: 5.849328 target range: 9.738199 and range: 5.90 m.hU-@hQ*hQ"hQ hQgYfYfYf]#Bdadadajde@Zdm?Bɢ^<) >i)mQiƭki"޾<s;I-@I )@ @@/@@@=m BDAT read: Tx time:06:07:17.9693 m $Ping request sent.u BB IBBB9 =BBB_;B[#EAIIO>/q,?A2pг@2B˺@2:.<ٱ21 :AHRS rotation from veh to nav: [[0.902205,0.423518,0.081595],[-0.431232,0.889273,0.152422],[-0.008007,-0.172703,0.984941]]2H?@?`i?Oۿ@t?@?eƿࣄ?i2pг@I2^;2lCYjЂByj IIn<)np;bDpVDpyz<%~S=ٔ~;Q-~>9Y=FyE<E> Q 55 룞?Q 95 A') BYyђQ I@  EI ;i j;  5y!ɮ%A)MB*** querying acoustic contact ***iI iIjhQbhY]zIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.Rhe彼Zhe彼 ProNav: ac range: 9.738199 m, nav range: 4.785498 m, bearing: 331.684000 deg, approach rate: -0.527448 m/s, LOS rate: -1.328146 deg/s, cmd heading: 335.141810 deg, new cmd heading: 333.779854 deg. Bhc|HeadingCmd: 5.825557 target range: 9.738199 and range: 5.90 m.hj@h*h"h hgfffdddjdZd?Bɢ<) a>i)މili2u侉Nw,?A2@2ۺ@2<ٱ21 >AHRS rotation from veh to nav: [[0.903055,0.421541,0.082435],[-0.429426,0.890204,0.152084],[-0.009275,-0.172740,0.984924]]2H??w?@{ۿ |?|w?Vƿ~?i2@I2^;0Y^ςBy^ IiEMb@Mb@Mb@AAAA A9EʡE?EԸ?~jthYE->yE=EDE AA E@)EGAAYE\@bDVDy%A=ٔD;Q->9"?Y"?=FyE;E>Q 55?Q 95()BY8>Q E:yn{Q I@EI ;i ;x5yBɮAEjh bh zIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.RhۼZhۼ ProNav: ac range: 9.738199 m, nav range: 4.587957 m, bearing: 331.056694 deg, approach rate: -0.463683 m/s, LOS rate: -1.535830 deg/s, cmd heading: 333.779843 deg, new cmd heading: 331.817704 deg. Bh|HeadingCmd: 5.791311 target range: 9.738199 and range: 5.90 m.hlR@h*h"h hgfff+BdddjdZd?Q颍Bɢ<) >i)Pz顙iH|mi!PS^x=IlR@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755446@ @@0@y^A<E EE$E"E:*Ee:VE4ZEa @a @a@a@AII O >ԩ },֐?A4<ɰ4<2+@2@2/<ٱ21 :AHRS rotation from veh to nav: [[0.903846,0.419648,0.083413],[-0.427724,0.891109,0.151581],[-0.010719,-0.172684,0.984919]]2H`N? ?`Z?@_ۿ@?`g?ƿt?i2+@I2,^;0Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006634DYNՂByN ITTbDVVDV0y^?=%bY=ٔbz;Q-b>9dYd=fFyfEf+;Ef>hQ 5e5jwÞ?Q 9e5j))jBYiym}yQ Im@jEIji))m-cqqiuWniuFy}=I}rB@IyԱ @@  @ @ ?1@ AAAABl>BCB IBĂBBBBB_;Ba#E=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258576^A- U֣<bEjE3rEɝ/E  E E #E "E *E [:VE 3ZE BE Y ,K?Atz@z@z +G<ٱz•2 AHRS rotation from veh to nav: [[0.904760,0.417412,0.084712],[-0.425747,0.892000,0.151905],[-0.012156,-0.173504,0.984758]]zH?߶??r?ۿ`C?q?`9刿_5ƿ#?iz@Iz^;ziCY=܂By= IiMb@Mb@Mb@ 9%C?X9v?y=tQA7@ )YAbDVD:yU<%U2=ٔ]M;Q-]>9YYY=eFyeEe;Ee>iQ 5u5m՞?Q 9u5m*)mBY}>Q E}:y}3Q I}@mEIm':imQ:m5yBɮAEjhbhzIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.Rh$Zh$ ProNav: ac range: 9.738199 m, nav range: 4.213727 m, bearing: 329.486261 deg, approach rate: -0.455242 m/s, LOS rate: -2.301383 deg/s, cmd heading: 329.915458 deg, new cmd heading: 326.901342 deg. BhmŽ|HeadingCmd: 5.705505 target range: 9.738199 and range: 5.90 m.h@h*h"h hgfffBBdddjdZd ?Bɢ<) >i):L!!i%q.oi- )-te=I-@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519612?@ @@4@^Aq u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770564 ,8L.?AB@B@B9#^<ٱB3 JAHRS rotation from veh to nav: [[0.905986,0.414470,0.086046],[-0.423090,0.893127,0.152706],[-0.013558,-0.174755,0.984519]]BH?@??ۿ ?`ދ?`/ċ[^ƿ`-?iB@IB7^;BkCYRڂByR IEb EbE`E`"Eb:*Eb]t:VE`ZE`af@af@af@af@bDfVDfYy}I%}Z=ٔ}u;Q->9Y=FyE:<E>Q 55Z㞊?Q 95w+)BYy0Q I@EI;i:5yBɮjhbhzIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.Rh*Zh* ProNav: ac range: 9.738199 m, nav range: 4.052638 m, bearing: 328.626967 deg, approach rate: -0.430157 m/s, LOS rate: -2.385696 deg/s, cmd heading: 326.901350 deg, new cmd heading: 324.223052 deg. Bh̽|HeadingCmd: 5.658760 target range: 9.738199 and range: 5.90 m.h@h*h"h hgfffd d d jd Zd`@=Bɢ=Kk<)A E>iA)Es6AAiEoiMIU~!>IU@IQ @  @ @ /@ ԉ^A|=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022607AII)O=r>Ա B s>B B IB ӂBB B B RDB #_;B h#EBIBIBIBIBICMg4 , H?AB(@B#@B{<ٱB6 JAHRS rotation from veh to nav: [[0.906728,0.412300,0.088622],[-0.421436,0.893553,0.154775],[-0.015375,-0.177687,0.983967]]BH?c?`?ڿ??|tƿ@|?iB(@IB$^;BlCYVނByV IbD^VD^kyf2<%fW=ٔfW;Q-f>9hYh=jFyjEn;En>pQ 5 5r?Q 95rA,)rBYy*/Q I@rEIrظ;ir;rk5y%Bɮ%A!EB*** querying acoustic contact ***iA iAjhIbhIUzIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.Rh]8Zh]8m ProNav: ac range: 9.738199 m, nav range: 3.889422 m, bearing: 327.673183 deg, approach rate: -0.422953 m/s, LOS rate: -2.575203 deg/s, cmd heading: 324.223042 deg, new cmd heading: 321.244439 deg. Bhmܽu|HeadingCmd: 5.606773 target range: 9.738199 and range: 5.90 m.huj@hq*hq"hq hqgq=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274796fAfAfAdIdIdIjdIZdMB@额Bɢz<) >i).顡ipi:#??>Ij@IE EE%E"El;*E:VE 4ZEBEVF WB@ G\>) Jӻ@I G\ 9,b?Ab,@b'@b<ٱb9 AHRS rotation from veh to nav: [[0.906906,0.411410,0.090901],[-0.421001,0.893416,0.156736],[-0.016730,-0.180414,0.983449]]bH_?@T?KE?@ڿݖ??`!@ǿix?ib,@Ib^;`Y=тBy= I1iMb@Mb@Mb@ 9!rh?!rh?MbYl>yl=z@ @)tAYAbDVD0yU%*=ٔ%8;Q-%>9!Y!=%Fy%E-p:EM>QQ 5]5U?Q 9]5Ul-)UBYe>Q Ee:yeKQ Ie@UEIU:iU/:U5yɮ?Ai!i%\?AJi%t@Ri%t@ji%@b%ΐ@ Uqz?R%(lQW?80ѺؿN=?Zi% Ӿbi%G\j%u4@#Ml ?Z%MR?q5K:7?2i%eK:i%.G@"i% ?*i%jABi%Bi!i%JAi%Bi%@i% @u addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 3.033085 s, deltaX: -1.200000 m, approachRate: -0.395637 m/s, rangeRepo size: 4  Added new target pos. range: 4.670495 m, bearing: 314.400046 deg, lat: 36.779420 deg, lon: -121.859811 deg, deltaT: 11.599462 s, deltaX: -5.067705 m, approachRate: -0.436891 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 4.67 m. 9.74 m.RhZh: ProNav: ac range: 9.738199 m, nav range: 3.680485 m, bearing: 326.424943 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 321.244451 deg, new cmd heading: 321.401869 deg. Bhe,;u|HeadingCmd: 5.609521 target range: 9.738199 and range: 4.70 m.hu2@hq*hq"hq hqgyiAIEAchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.787120afff[Bdddjd@Zd y?E EE"E"E ;*E?:VE(3ZEa@a@a@a@ԑBɢ5,<) f>i)Pi' qiGu,Y>I2@I  @@  @! @% 5@! Թ ^A a= DDAT read: Rx Time:06:07:20.6043  TRx dataTimestamp_ set to:1761545241.9589915 PDAT read: Bearing 149.4, -27.9 (Local) 5 ~Local bearing/azimuth received: Bearing 149.4, -27.9 (Local) E DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.3 MDAT read: 06:07:20.6043 LVL= 32752, 29665, 23090, 32755, AGC= 49, IDX= 503,-0.03, 1.454, 0.137, 2.652, 1.814, PHS=-0.257,-1.632, 0.794, RAW= 175.6, 10.4, CAL= 175.5, 12.0, ROT= 334.5, -12.0 UYgot valid direction response: 06:07:20.6043 LVL= 32752, 29665, 23090, 32755, AGC= 49, IDX= 503,-0.03, 1.454, 0.137, 2.652, 1.814, PHS=-0.257,-1.632, 0.794, RAW= 175.6, 10.4, CAL= 175.5, 12.0, ROT= 334.5, -12.0 UR#Rx 2: Read range and direction messages.]^direction in FSK: [0.882862,-0.421104,0.207912]]Fpublishing direction and range infoy  %f@?4-E\ڿhٜ?Y ̌@   s 2ZAm.AIqI}sJIO>#&,?A$ )1Ii`пCK?%D@9> D@ PwV>)Ѻ@IPwVu?TU?_!? ax?)b:IiPwVNchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.104231f$@f@fn<ٱf`B nAHRS rotation from veh to nav: [[0.905825,0.412586,0.096194],[-0.423263,0.891080,0.163784],[-0.018141,-0.189075,0.981795]]fH@?g?#?ۿ??3ȿj?if$@Ifݧ^;dY5ӂBy5 IbDuVDuky-;%-7=ٔ-N;Q-5>9= ?Y= ?=}FyEE>Q 55?Q 95.)BYy2OQ I@!EII;i;5B>BCBBB: =BBUDB^;B]#EyBɮfAEii`}?AJi@Ri@jiO@bm8@cvsv?R%f@?4-E\ڿhٜ?ZibiPwVj/Ř@'Ű ?Z֫?.i0濨π"?2i H:i4@"i?*iHBi*BiE&?iiBic@yi@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.506322 s, deltaX: -0.300000 m, approachRate: -0.592508 m/s, rangeRepo size: 4  Added new target pos. range: 4.372598 m, bearing: 312.101973 deg, lat: 36.779421 deg, lon: -121.859811 deg, deltaT: 12.105784 s, deltaX: -5.365601 m, approachRate: -0.443226 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 4.37 m. 9.74 m.RhZh ProNav: ac range: 9.738199 m, nav range: 3.485965 m, bearing: 325.128365 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 321.401873 deg, new cmd heading: 321.541430 deg. Bh|HeadingCmd: 5.611957 target range: 9.738199 and range: 4.40 m.h&@h*h "h  h g f ffd1d1d9jd=@Zd=@/?颥Bɢ <) _>i) պiqi`X-Hŕ<ɒW>I&@Ichecking for new query: numPingsReceived=2, elapsed TxPingTime=3.283509?@ @@/@Ա^Am >E EE E"E&:*E:VE3ZEBE];E,O?A;ɰp;DDAT read: Rx Time:06:07:21.1043 TRx dataTimestamp_ set to:1761545242.460687PDAT read: Bearing 148.8, -29.5 (Local) ~Local bearing/azimuth received: Bearing 148.8, -29.5 (Local) DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.3 DAT read: 06:07:21.1043 LVL= 32752, 28513, 22754, 32755, AGC= 49, IDX= 503,-0.20, 3.096, 1.791,-1.893,-2.782, PHS=-0.304,-1.665, 0.844, RAW= 177.2, 10.4, CAL= 177.1, 12.0, ROT= 332.9, -12.0 Ygot valid direction response: 06:07:21.1043 LVL= 32752, 28513, 22754, 32755, AGC= 49, IDX= 503,-0.20, 3.096, 1.791,-1.893,-2.782, PHS=-0.304,-1.665, 0.844, RAW= 177.2, 10.4, CAL= 177.1, 12.0, ROT= 332.9, -12.0 R#Rx 3: Read range and direction messages.^direction in FSK: [0.870760,-0.445590,0.207912]Fpublishing direction and range infoyc%C?PBܿhٜ?YaoX )I㥛iտbX?.E@E@ )+@I?Yrx-u?UGc? ?) -9I*i5checking for new query: numPingsReceived=3, elapsed TxPingTime=3.589858IYłBy IimMb@Mb@Mb@iiii i9mQ?A`"?~jtYm>ym=mļm~Ai i)m^AiYmpAbDVDyN%=ٔQ->9"?Y"?=FyEE>Q 55*?Q 95/)wBY>Q E:ybQ I@%EI;i ;5y!ɮ%A!ii{?AJiRijik@bđAu@|4,sv?Rc%C?PBܿhٜ?Zi*qbij !@(6 ͅ?Z̽? F?,i ) ឺ! ! i% q= checking for new query: numPingsReceived=3, elapsed TxPingTime=3.787397im +u yIu @Iy Ա E  E E $E "E ;*E :VE 4ZE a @a @a @a @ @  @ @ 4@ @ fA@ fA^A :> AI I!O->ܭ,!?A2d̳@26Ǻ@2<ٱ2BV :AHRS rotation from veh to nav: [[0.901882,0.418927,0.105400],[-0.431625,0.883830,0.180400],[-0.017581,-0.208193,0.977930]]2H 7? ?}?ۿ VH? Y? ʿ3K?i2d̳@I2^;0@BjAi@I@@IDiD DD)DD Jr@HHHNCLIL)LiL)LIRiARC R.>F PPPPiTTiTT)T TIXYXY^By^ IbDjVDjy6f%w=ٔ ޺Q-?9Y=FyE.E?DDAT read: Rx Time:06:07:21.6041 TRx dataTimestamp_ set to:1761545242.964362DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.3 X#Rx 4: Read range message, but no direction.yY3@checking for new query: numPingsReceived=4, elapsed TxPingTime=4.042863Q 55V7?Q 950)nBYymQ I@'EI ;i ;W5yԕBɮAE- addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503675 s, deltaX: -0.300000 m, approachRate: -0.595623 m/s, rangeRepo size: 4 jh1bh15zIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.Rh=YZh=YM ProNav: ac range: 9.738199 m, nav range: 3.112364 m, bearing: 322.327925 deg, approach rate: -0.446261 m/s, LOS rate: -3.702695 deg/s, cmd heading: 321.708166 deg, new cmd heading: 318.197369 deg. BhMU|HeadingCmd: 5.553592 target range: 9.738199 and range: 4.10 m.hU@hQ*hQ"hQ hQgYfYfYfYdadadajde`ff@Zdi–?uBɢu<)q u>iq)}逺yyi}7ri,mN>I@I}>@ @@/@B%>B%ÍCB% IB%ĂBB%8 =B!B%WDB%^;B%Y#E)ia Ia m checking for new query: numPingsReceived=4, elapsed TxPingTime=4.291232^A ;>E  E E &E "E ;*E v:VE 4ZE BE ,N,`?ABx@BK@B<ٱBDd JAHRS rotation from veh to nav: [[0.898077,0.425471,0.111504],[-0.439535,0.877561,0.191559],[-0.016349,-0.221045,0.975127]]BH ?`:? ?X!ܿ`??@ͽ`3K̿<4?iBx@IB^;@YBy IbDVD9yŽ%:=ٔf7Q->9Y=FyE:E>Q 55G?Q 9552)bBYyLxQ I@*EIy:i:=5yɮsAB*** querying acoustic contact ***i ijhbh%zIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.Rh-BZh-B= ProNav: ac range: 9.738199 m, nav range: 2.928631 m, bearing: 320.734134 deg, approach rate: -0.422671 m/s, LOS rate: -3.895987 deg/s, cmd heading: 318.197367 deg, new cmd heading: 313.129935 deg. Bh='E|HeadingCmd: 5.465148 target range: 9.738199 and range: 4.10 m.hE@hA*hA"hA hAgAfIfIfIdQdQdQjdQZdU =)?颅Bɢ<) >i)(?顉igxri4+d>I@IDDAT read: Rx Time:06:07:22.1038 TRx dataTimestamp_ set to:1761545243.469227DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.3 X#Rx 5: Read range message, but no direction.yY`@checking for new query: numPingsReceived=5, elapsed TxPingTime=4.548306?@ @@/@a^AD>I!I9OM>ԑ k>Y q ꔿ9 Y kAy ? ~AԹ ,G?Achecking for new query: numPingsReceived=5, elapsed TxPingTime=4.795152bF.@b)@bVr<ٱbs MAHRS rotation from veh to nav: [[0.893424,0.433229,0.118772],[-0.448971,0.869875,0.204311],[-0.014803,-0.235861,0.971674]]bH`?@?g?ܿ?@&? Q@0ο ?ibF.@Ib^;bjCE EE'E"E ;*E5:VE'4ZEa@a@a@a@YBy I==ieMb@Mb@Mb@aaaa a9etV?/$?QYe>ye=eeIAe @ e@)eAaYeA qu<bD}VD}y)%M=ٔCQ->9Y=FyEмE>Q 5%5W?Q 9-53)VBY->Q E5:y5jQ I=@-EIY;iX; !5yUڕBɮU@AUE addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.504865 s, deltaX: -0.600000 m, approachRate: -1.188436 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.RhZh ProNav: ac range: 9.738199 m, nav range: 2.745567 m, bearing: 319.218276 deg, approach rate: -0.435974 m/s, LOS rate: -3.850336 deg/s, cmd heading: 313.129941 deg, new cmd heading: 308.291255 deg. Bh'%|HeadingCmd: 5.380697 target range: 9.738199 and range: 3.50 m.h.@h*h"h  h g fff1Bdddjd @Zd Y?-Bɢ-ݎ<)) - >i))5:11i52ri=D9= >I=.@I}A@ @@/@DDAT read: Rx Time:06:07:22.6036 TRx dataTimestamp_ set to:1761545243.972344DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.3 X#Rx 6: Read range message, but no direction.yYL@checking for new query: numPingsReceived=6, elapsed TxPingTime=5.050094) ^A kK>B >B ōCB IB BB 5 =B B XDB ^;B Z#EI9 II Q O] >,?AFϲ@Fzʹ@FT<ٱFY RAHRS rotation from veh to nav: [[0.888201,0.442266,0.124497],[-0.459272,0.862268,0.213455],[-0.012946,-0.246769,0.968988]]FH %l?N?߿?dݿಗ? R?H#Ͽ?iFϲ@IF^;DYZBy^ IbDfVDf1ynх%ni=ٔrQ-r>9pYp=rFyr„Ev Ev?xQ 5~5zd?Q 9~5z 5)zLBYyQ I@z0EIz:iz:z"5y ɮ A = addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503117 s, deltaX: -0.300000 m, approachRate: -0.596283 m/s, rangeRepo size: 4 jh9bhAEzIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.RhMZhM] ProNav: ac range: 9.738199 m, nav range: 2.598118 m, bearing: 317.876453 deg, approach rate: -0.450923 m/s, LOS rate: -4.335997 deg/s, cmd heading: 308.291243 deg, new cmd heading: 304.045497 deg. Bh]9e|HeadingCmd: 5.306595 target range: 9.738199 and range: 3.20 m.heϩ@ha*ha"ha hagafififidqdqdqjdu @Zd}@<?颥 Bɢ+<) L{>i)t顩iTriQIϩ@I5checking for new query: numPingsReceived=6, elapsed TxPingTime=5.2994419?@ @@k2@^AM>E EE&E"E*E:VE4ZEBERQy  DDAT read: Rx Time:06:07:23.1036  TRx dataTimestamp_ set to:1761545244.476218 DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.3  X#Rx 7: Read range message, but no direction.y Y  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.553964,|!?A0Yr|Byr~ IiMb@Mb@Mb@ 9V-?~jt?~jtY>yD=ļA@ K@)AY3AbDVDyG%<=ٔQ->9Y=FyĄEE>Q 5 5_u?Q 95Q7)CBYj>Q E:yQʾQ I%@4EI;i;i$5y-Bɮ5(A=Em addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503874 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhibhizIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.RhZh ProNav: ac range: 9.738199 m, nav range: 2.395218 m, bearing: 316.149862 deg, approach rate: -0.459644 m/s, LOS rate: -4.242059 deg/s, cmd heading: 304.045488 deg, new cmd heading: 298.445683 deg. Bh5m|HeadingCmd: 5.208860 target range: 9.738199 and range: 3.20 m.hm@hi*hq"hq hqgqfqfyf}HBdydydyjdZdl?ԉ  Bɢc<) `>i)߱icri%k!!I%@I)@ @@1@Mchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.803810^ANu>IaIqO{>E EE#E"E ;*EǙ:VE3ZEa@a@a@a@ &,Z;?AlYrqByrp IbDzVDz0y%g%%V=ٔ)Q-->9)Y)=5Fy5ƄE1E5>9Q 5E5=?Q 9E5=79)=;BYIyIQ IM@=7EI=:i=9:=&5yQɮUAYjhbhzIgnoring new targets. Set target to previous: 9.74 m. 9.74 m.Rh"Zh"DDAT read: Rx Time:06:07:23.6034 TRx dataTimestamp_ set to:1761545244.980448DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 X#Rx 8: Read range message, but no direction.yY9@checking for new query: numPingsReceived=8, elapsed TxPingTime=6.058212= ProNav: ac range: 9.738199 m, nav range: 2.221163 m, bearing: 314.396827 deg, approach rate: -0.464079 m/s, LOS rate: -5.039570 deg/s, cmd heading: 298.445690 deg, new cmd heading: 292.793761 deg. Bh=)X=|HeadingCmd: 5.110215 target range: 9.738199 and range: 3.20 m.hE↣@hA*hA"hA hAgAfAfIfIdIdqdqjdu@33@Zdu Л?Bɢg<) E>i)ID7iriQI↣@II) ]@@a @a@e4@a@mgA@iB>BB IBBB4 =BBYDB^;BG#E9M checking for new query: numPingsReceived=8, elapsed TxPingTime=6.306550^AU >i bEm4jEm4rEm/0E  E E $E "E ;*E v:VE 4ZE BE ,N, ,/U?A2Tz@2'u@2w~;ٱ2ʊ :AHRS rotation from veh to nav: [[0.868365,0.476799,0.136401],[-0.495907,0.837237,0.230457],[-0.004318,-0.267763,0.963475]]2H ?`?u?@߿@?@?@˯q#ѿ ?i2Tz@I2<^;2mCYF[ByJU IbD~VD~y-aֽ%5J=AٔMQQ-U>9e ?Ye ?=eFymȄEu,ϽE}>Q 55?Q 95;)3BYyyQ I@:EI~;iH;'5yBɮaA E5B*** querying acoustic contact ***i1 i1E addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504230 s, deltaX: -0.300000 m, approachRate: -0.594966 m/s, rangeRepo size: 4 jhIbhIMBIntercept lockout. Range: 2.90 m.mbTransitioning guidance mode to: INTERCEPT_LOCKOUT:hm@hqhq*hq"hq hqgqfqfyfydydydjdZd?UBɢU]!<)Q U>iQ)]9YYi]PQsie3aaIaiDDAT read: Rx Time:06:07:24.1035 TRx dataTimestamp_ set to:1761545245.484833PDAT read: Bearing 178.5, -33.7 (Local) ~Local bearing/azimuth received: Bearing 178.5, -33.7 (Local) DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.2 DAT read: 06:07:24.1035 LVL= 32752, 27969, 22562, 32755, AGC= 43, IDX= 512,-0.05,-2.689, 2.820,-1.596,-1.677, PHS=-0.910,-1.741, 0.037, RAW= 182.2, 31.0, CAL= 181.5, 43.3, ROT= 328.5, -43.3 Ygot valid direction response: 06:07:24.1035 LVL= 32752, 27969, 22562, 32755, AGC= 43, IDX= 512,-0.05,-2.689, 2.820,-1.596,-1.677, PHS=-0.910,-1.741, 0.037, RAW= 182.2, 31.0, CAL= 181.5, 43.3, ROT= 328.5, -43.3 R#Rx 9: Read range and direction messages. ^direction in FSK: [0.620528,-0.380260,0.685818] Fpublishing direction and range infoym#^?Ff&/VؿyNF9?Y@@Am"X )+Ihi޿P=K@c ?ɼJ@ \wA?)x@I\wAI!xF?(T7C?ՙu? E܊?)8N IM i\wAchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.586663?@ @@4@ԙ ^A >} checking for new query: numPingsReceived=9, elapsed TxPingTime=6.813425Au ؟AI I E  E E #E "E T;*E h:VE 3ZE a%@a%@a-@a-@)O >"%,r?AY5WBy5Q IiMb@Mb@Mb@ 9V-?{Gz?~jtYyף<\A A)AYAbDVDyg%'=ٔQ->9"?Y"?=FyʄEE>Q 55F?Q 95r>),BYR>Q E:yQ I@>EI[;i;)5y!ɮ%~A!i i _?AJi >@Ri >@ji V@b U9?|}#\[@R m#^?Ff&/VؿyNF9?Zi M bi \wAj 0߄? MS 5 @Z >2?Maݿo,Q?2i :i &?"i ?*i 6 'cBi ߆Bi ?i jAi Bi c3@i @u addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504385 s, deltaX: 0.100000 m, approachRate: 0.198261 m/s, rangeRepo size: 4  Added new target pos. range: 2.981577 m, bearing: 313.943023 deg, lat: 36.779422 deg, lon: -121.859810 deg, deltaT: 15.631626 s, deltaX: -6.756622 m, approachRate: -0.432241 m/s, posRepo size: 4 jhbhhh*h"h hgfffRBdddjd@ZdZ?Bɢn<) >i)f9isiII)@@ @@/@DDAT read: Rx Time:06:07:24.6033 TRx dataTimestamp_ set to:1761545245.988827PDAT read: Bearing 170.3, -49.9 (Local) ~Local bearing/azimuth received: Bearing 170.3, -49.9 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.2 -DAT read: 06:07:24.6033 LVL= 32752, 28993, 22002, 32755, AGC= 43, IDX= 510, 0.12, 2.743, 2.550,-1.873,-2.323, PHS=-1.116,-1.366, 0.406, RAW= 202.5, 23.8, CAL= 200.1, 34.6, ROT= 309.9, -34.6 5Ygot valid direction response: 06:07:24.6033 LVL= 32752, 28993, 22002, 32755, AGC= 43, IDX= 510, 0.12, 2.743, 2.550,-1.873,-2.323, PHS=-1.116,-1.366, 0.406, RAW= 202.5, 23.8, CAL= 200.1, 34.6, ROT= 309.9, -34.6 5T#Rx 10: Read range and direction messages.=^direction in FSK: [0.528001,-0.631482,0.567844]EFpublishing direction and range infoy!Qa?N5+?Y,@AqU )Iَiٮ;>1b@ȭ>_@ #?)@I#QQㄾ?_>?fQi? T?)վIU_i#mchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.080051^Aԁ B <A B >B B s IB sBB B B B {^;B ;#EBōCBčCBɕCB5 =B6 =CT.6A I! I1 OE > ,콌?A02]@2X@2-=ٱ2(0 >AHRS rotation from veh to nav: [[0.850620,0.505749,0.143751],[-0.525774,0.816691,0.237860],[0.002898,-0.277909,0.960603]]2HF8?`/?jf?#V"?`1r?g?@ѿC?i2]@I2r^;2nCY^QBybI IIfR=)f4=f=f= j;j;bDvVDv0yzJ %z\=ٔ~RQ-~>9Y=FȳEE >]DDAT read: Rx Time:06:07:25.1033 mTRx dataTimestamp_ set to:1761545246.244043}checking for new query: numPingsReceived=10, elapsed TxPingTime=7.321421Q 55r?Q 95A)(BY yQ I=@AEI d@>ia@ ;*?)!@I;*PxGP?h d?0;? 6ý?)Iqgi;* checking for new query: numPingsReceived=11, elapsed TxPingTime=7.585116 ^Au >A} ?A} > AIIO>q,ϫ?A2ɯ@2Ķ@2@ջٱ2撾 ZAHRS rotation from veh to nav: [[0.840984,0.520465,0.147860],[-0.541021,0.805626,0.241377],[0.006508,-0.282990,0.959101]]2H W?@?? P?`o?z?@ҿ?i2ɯ@I2̘^;2lCYfHByj> IqDDAT read: Rx Time:06:07:25.6030 TRx dataTimestamp_ set to:1761545246.747865mchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.825193iMb@Mb@Mb@ 9'1Z?{Gzty&1Y?yף`e&A@ ^A)YADazDe?AEm EmEiEi"Eml;*Em:VEiZEiau@au@au@au@IbDVD1y9% =ٔ%ȻQ-%>9!Y!=-Fy-τE-E->1Q 5]55ǟ?Q 9]55=E)5%BYe?Q Ee:yeQ Ie@5EEI5W;i5;5+.5yiɮm-Aqԙii {?AJiRijiZ@bx-ǔ?w=)F ~?R^X;%?K=<j($?Ziqgbi;*j(|驭?Xz1L_oR@Zfr?slҔ?2igҿ:im>"i"?*i;zpBijBi?i;zpi2Bij?i@% addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 2.683431 m, bearing: 286.257542 deg, lat: 36.779422 deg, lon: -121.859803 deg, deltaT: 0.503063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh1bh1hQhQ*hY"hY hYgYfYfafelBdadadajdiZdm?Bɢ ;) L=i)9i}uiUIIE?@A @A@M4@I PDAT read: Bearing 161.9, -52.2 (Local)  ~Local bearing/azimuth received: Bearing 161.9, -52.2 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.2  DAT read: 06:07:25.6030 LVL= 32752, 32753, 21970, 32755, AGC= 40, IDX= 508, 0.06, 1.017, 0.825, 2.900, 2.321, PHS=-1.202,-1.451, 0.536, RAW= 203.4, 21.8, CAL= 201.8, 31.0, ROT= 308.2, -31.0  Ygot valid direction response: 06:07:25.6030 LVL= 32752, 32753, 21970, 32755, AGC= 40, IDX= 508, 0.06, 1.017, 0.825, 2.900, 2.321, PHS=-1.202,-1.451, 0.536, RAW= 203.4, 21.8, CAL= 201.8, 31.0, ROT= 308.2, -31.0  T#Rx 12: Read range and direction messages. ^direction in FSK: [0.530080,-0.673611,0.515038] Fpublishing direction and range infoy  _Ri??7U1{?Y 3@ U ) (I #ۙi ^ L7 ? 13c@ > c ?) I c k>X?z u?vV? N?) w¾I i c  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.084593 ^A) B >B B S IB YBB 3 =B B B O^;B $#E!A}.AIIO>c,?A:3@:@:Xٱ: BAHRS rotation from veh to nav: [[0.820923,0.550142,0.153065],[-0.570886,0.784480,0.242240],[0.013190,-0.286243,0.958066]]:HE?@Ú??@Du? ?/?@Qҿz?i:3@I:g^;:kCYN8ByN+ IbDVVDV y^\%^X=ٔ^Q-b>9b ?Yb ?=bFybфEfkŽEf>hQ 5n5jԟ?Q 9n5j.H)j$BYlynQ Ir@jHEIj:ij:j/5yvBɮvAvEi9i=>?AJi=K@Ri=K@ji=4@b=sc? _C?R=_Ri??7U1{?Zi9bi=c j=>`b?Jȸb1Z?Z=Twg.[?=MdtKd/?2i=ο:i=֧>"i=C%j?*i=rBi=dBi=C%j?i9i9i=?i=@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503425 s, deltaX: -0.400000 m, approachRate: -0.794557 m/s, rangeRepo size: 4  Added new target pos. range: 2.285870 m, bearing: 281.477565 deg, lat: 36.779420 deg, lon: -121.859803 deg, deltaT: 0.503425 s, deltaX: -0.397561 m, approachRate: -0.789713 m/s, posRepo size: 4 jh bhhh*h"h! h!gIfQDDAT read: Rx Time:06:07:26.1030 TRx dataTimestamp_ set to:1761545247.252117ԩPDAT read: Bearing 150.3, -53.2 (Local) ~Local bearing/azimuth received: Bearing 150.3, -53.2 (Local) checking for new query: numPingsReceived=12, elapsed TxPingTime=8.336533fafdddAjdM`ff@ZdU`?E EE'E"E:*E:VE'4ZEBE& ܢa@  k>) @I kݾ   "ilI ?c_[M?N 1 ?  ў?) 0I Vhi kݾ   checking for new query: numPingsReceived=13, elapsed TxPingTime=8.588389^A >1 A ؟AI I O >r ,?Abr@bE @b鄼ٱbO$ zAHRS rotation from veh to nav: [[0.810672,0.564775,0.154405],[-0.585276,0.774367,0.240433],[0.016224,-0.285282,0.958306]]bH? ?????@Bҿ@r?ibr@Ibv^;blCY6By ( IQUAi=Mb@Mb@Mb@9999 99=}?5^I?/${Gzt?Y=M?y=,=ף;=!A=@i =tA)=A9Y==A@A@AbDVD1y%%=ٔȻQ->9"?Y"?=FyԄEE>Q 5 5埊?Q 9 5yL)+BY?Q E:y3Q I@LEI :iU:15yɮAiiY?AJiRijin@b+lp?)abVP?R$-`?LR KsM?ZiVhbikݾj2?OXш+?Z`u$?;iG' X?2iF:i9>"i?*i?a{BiBiiii ?i@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504462 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.285870 m, bearing: 278.301089 deg, lat: 36.779420 deg, lon: -121.859803 deg, deltaT: 0.504462 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhbhhh*h"h hgfffdBdd!d!jd!Zd-VD?DDAT read: Rx Time:06:07:26.6028 TRx dataTimestamp_ set to:1761545247.752448DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2 Z#Rx 14: Read range message, but no direction.yY@checking for new query: numPingsReceived=14, elapsed TxPingTime=8.830223!Bɢ5hZ;)1 =0-=i9)= :99i=#9wiE#AAIAIIԙE} E}E}$Ey"E}2:*E}҆:VE}4ZEya@a@a@a@=@ @@/@^A >A zA  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.079233A! I) I9 OM >n,?A2؂@2}@2䜼ٱ2xe :AHRS rotation from veh to nav: [[0.800247,0.579157,0.155508],[-0.599365,0.764195,0.238259],[0.019151,-0.283871,0.958671]]2H?s??-It?A?P?*ҿo?i2؂@I2\^;2kCYF5ByF& IbD%VD%k2y=%EW=ٔMQ-M>9QYQ=UFyUքEe;Ee>iQ 5}5mx?Q 95mO)m0BYy8Q I@mPEImWH;im!E;m35yBɮMAEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.252671 s, deltaX: -0.300000 m, approachRate: -1.187315 m/s, rangeRepo size: 4 jhbhhh*h"h hg f ffdddjd@Zd ?A AAA @AB>BÍCBG IBOBBBBWDB^;B#Ee#BɢmC;)i m =ii)mT:iqiuiSxidII=?@9 @9@9@9DDAT read: Rx Time:06:07:27.1029 TRx dataTimestamp_ set to:1761545248.256296DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.1  Z#Rx 15: Read range message, but no direction.yYf@checking for new query: numPingsReceived=15, elapsed TxPingTime=9.334047!E EE#E"E:*Ei:VE3ZEBE#o,{?A>g@>:@>ٱ> FAHRS rotation from veh to nav: [[0.789509,0.593392,0.156722],[-0.613346,0.753703,0.236092],[0.021973,-0.282521,0.959009]]>H`C??s?U??8? -?@ҿ4?i>g@I>Zr^;>jC)Uchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.582643Y;By. Ii=Mb@Mb@Mb@9999 99=S㥛?y&1:v?Y=?y=`e=T<=A=@ 9)99Y=AbDVDβyB<%=ٔQ->9Y=Fy؄E) E>Q 55?Q 95T):BY?Q E:yAQ I@TEI ;i ;55y BɮAE% addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503848 s, deltaX: 0.100000 m, approachRate: 0.198472 m/s, rangeRepo size: 4 jh!bh)h)h)*h)"h) h)g)f1f1f5_Bd1d9d9jd=@Zd= 6?YBGU9QYUAu'Bɢ} G;)y }=iy)}P:顁i:yi#II-@@) @1@5/@1ԉ DDAT read: Rx Time:06:07:27.6028  TRx dataTimestamp_ set to:1761545248.760291 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  Z#Rx 16: Read range message, but no direction.y Y @ 5 checking for new query: numPingsReceived=16, elapsed TxPingTime=9.839375D zD E  E E "E "E :*E g:VE (3ZE a @a @a @a @Թ ^Au >A I I O >S ,Ƥ:?A 2:_@2 Z@2!+Ǽٱ2W >AHRS rotation from veh to nav: [[0.778321,0.607765,0.157601],[-0.627396,0.743119,0.232699],[0.024310,-0.279992,0.959694]]2H ?@r?@A,?@??`?dѿ ѵ?i2:_@I2x[^;2kC BC)@B/ݼDDDFkAiF/ݼIDHIHiJr@ HL)LL LNԼNn7FPPRkAIR̼)PiP)TITVļT TXXXiXXYXYbIByb? If=f=bDUVDUye=%eX=ٔm4˻Q-m>9iY=FyڄE?E>Q 55 ?Q 95_X)BBYy]FQ I@WEI:i9:75yɮ#A addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503995 s, deltaX: -0.100000 m, approachRate: -0.198414 m/s, rangeRepo size: 4 jh bh h h *h "h  hgfffdddjd@Zd%?M*BɢMi;)Q Uu=iQ)U ):QQi]T{i]#YaIaIachecking for new query: numPingsReceived=16, elapsed TxPingTime=10.086782A@ @@/@qB>BCBBB6 =BBVDB];B"E^Aԙ  DDAT read: Rx Time:06:07:28.1029  TRx dataTimestamp_ set to:1761545249.267985 PDAT read: Bearing 194.2, -62.1 (Local)  ~Local bearing/azimuth received: Bearing 194.2, -62.1 (Local)  checking for new query: numPingsReceived=16, elapsed TxPingTime=10.349372I I O >E5  E5 E5 %E1 "E5 :*E5 [:VE5 4ZE1 BE5 J"9Y=Fy܄E1E>Q 55V?Q 95O\)KBYyJQ I@ZEI:i:T95yBɮ9AEjhbhhh*h"h h g f f f dddjdZdn?M-BɢMF;)I M{=iI)U6:QQiUS|i]#YYIYIaԱ5?@1 @9@=0@ADAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 5DAT read: 06:07:28.1029 LVL= 28960, 15313, 25474, 28339, AGC= 35, IDX= 506,-0.14,-1.835,-1.236, 0.256, 0.055, PHS=-1.788,-1.246, 0.157, RAW= 225.7, 30.3, CAL= 227.7, 41.5, ROT= 282.3, -41.5 =Ygot valid direction response: 06:07:28.1029 LVL= 28960, 15313, 25474, 28339, AGC= 35, IDX= 506,-0.14,-1.835,-1.236, 0.256, 0.055, PHS=-1.788,-1.246, 0.157, RAW= 225.7, 30.3, CAL= 227.7, 41.5, ROT= 282.3, -41.5 ET#Rx 17: Read range and direction messages.M^direction in FSK: [0.159550,-0.731764,0.662620]MFpublishing direction and range infoyu$l?RjЃ.4?Yf@ q;c n)#I/i| >|@a?W~@ }l9?)@I}l9>ͿU*? /4(?  ?)I_i}l9mchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.636139^A Ii Iy O > ,^Kn?Ap=@8@x4ٱMw}DDAT read: Rx Time:06:07:28.6028 TRx dataTimestamp_ set to:1761545249.772546PDAT read: Bearing 209.5, -61.7 (Local) ~Local bearing/azimuth received: Bearing 209.5, -61.7 (Local) AHRS rotation from veh to nav: [[0.755597,0.636312,0.155502],[-0.654424,0.723038,0.221237],[0.028342,-0.268930,0.962743]]DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 H-?\?? #?~Q?@?(6ѿ`?i=@I c^;lC5Z#Rx 18: Read range message, but no direction.yY@=checking for new query: numPingsReceived=18, elapsed TxPingTime=10.870704E EEE"E,:*EV:VEZEa@a@a@a@YM\ByMV I iuMb@Mb@Mb@qqqq q9ujt?&1 rh?Yu?yuPuC9Y=Fy߄E E >Q 55x)?Q 952a)WBY?Q E:yEbMQ IE@_EI ;i;;5yIɮMAIiieqq?AJii?Rii?ji@bK?n*$eE<|?Ru$l?RjЃ.4?Zi_bi}l9jd*޿,BcFGp?ZοW-)߿T؏?2iw:iN"iC?*iEzBiBiiriBir?iܬz@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 1.012255 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 1.987584 m, bearing: 243.568795 deg, lat: 36.779420 deg, lon: -121.859804 deg, deltaT: 2.272769 s, deltaX: -0.298286 m, approachRate: -0.131243 m/s, posRepo size: 4 jh bh h h *h"h hgff9f=kBd9d9dAjdAZdE`?颍1Bɢ(;) 0=i)M:iki#II1@ @@/@@@gA= DAT read: 06:07:28.6028 LVL= 25712, 18257, 21426, 30579, AGC= 36, IDX= 505,-0.29, 3.131,-2.304,-1.083,-1.072, PHS=-1.978,-1.187,-0.055, RAW= 234.2, 34.2, CAL= 237.7, 43.9, ROT= 272.3, -43.9 E Ygot valid direction response: 06:07:28.6028 LVL= 25712, 18257, 21426, 30579, AGC= 36, IDX= 505,-0.29, 3.131,-2.304,-1.083,-1.072, PHS=-1.978,-1.187,-0.055, RAW= 234.2, 34.2, CAL= 237.7, 43.9, ROT= 272.3, -43.9 U Z#Rx 19: Read direction message, but no range.] ^direction in FSK: [0.028917,-0.719971,0.693402]y  Aj?e )+Y0? pd QG S sw) $I /i  Ga M͂@ ? @ %D?) @I %D ,اտ!$?F? ?) I wÿi %D checking for new query: numPingsReceived=19, elapsed TxPingTime=11.108821i B A B >B CB ` IB dBB 8 =B B TDB ];B "E^A A zA Iq I ԉ O >",ˊ?A2@2͢@2*ٱ2䇾 >AHRS rotation from veh to nav: [[0.743462,0.650858,0.153778],[-0.668103,0.712487,0.214476],[0.030029,-0.262195,0.964548]]2H q?`??a?@s?@ֿ?`п ?i2@I2Z^;2nCYFsByFs IbDNVDNNyV>%V=ٔZIQ-Z?9XY\=^Fy^E^vE^?`Q 5f5bG2?Q 9f5b&d)b^BYy-RQ I@baEIb$:*E1]:VEZEBEI! I1 9 OE > DAT read: 06:07:29.1028 LVL= 32752, 25233, 23458, 32755, AGC= 38, IDX= 506,-0.02, 3.027,-2.251,-1.171,-1.045, PHS=-2.109,-1.161,-0.170, RAW= 239.3, 35.9, CAL= 242.9, 45.0, ROT= 267.1, -45.0  Ygot valid direction response: 06:07:29.1028 LVL= 32752, 25233, 23458, 32755, AGC= 38, IDX= 506,-0.02, 3.027,-2.251,-1.171,-1.045, PHS=-2.109,-1.161,-0.170, RAW= 239.3, 35.9, CAL= 242.9, 45.0, ROT= 267.1, -45.0  Z#Rx 21: Read direction message, but no range. `direction in FSK: [-0.035774,-0.706201,0.707107]y  EQON3An?  b [ ) &I i {. |@ g ? 4@ I?) B-@I I (8& Wٿw7?· ? 8@) u I cϿi I% checking for new query: numPingsReceived=21, elapsed TxPingTime=11.608254 (,=?A%@%@%rٱ%g] ]AHRS rotation from veh to nav: [[0.731473,0.664704,0.152041],[-0.681149,0.702050,0.207754],[0.031354,-0.255529,0.966293]]%H9h?@E?@v? 1w?? ?`Zп?i%@I%tv^;%lCYm|Bym~ IiuMb@Mb@Mb@qqqq q9ui|?5?Zd;O/$?Yu>yuj9Y=FyEE>Q 55>?Q 95oh)iBY >Q E:y)UQ I@eEI:is:>5yɮAiip?AJig?Rig?ji_u@bЮ3H&u|?REQON3An?ZicϿbiIjΫak俗Enn?Z0ؿ(Կv?2i%:itE"i>x?*iflfyBiBi?iflfyii?iRt@} addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503848 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.987538 m, bearing: 219.903224 deg, lat: 36.779421 deg, lon: -121.859806 deg, deltaT: 0.503848 s, deltaX: -0.000046 m, approachRate: -0.000092 m/s, posRepo size: 4 jhbhhh*h"h hgfffqBdddjdZd@v?Am7BɢmY<)q u>iq)u/:qyi}ȁi#II]DDAT read: Rx Time:06:07:29.6028 mTRx dataTimestamp_ set to:1761545250.780987PDAT read: Bearing 223.5, -62.4 (Local) ~Local bearing/azimuth received: Bearing 223.5, -62.4 (Local) ?@ @@N0@DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.1 qDAT read: 06:07:29.6028 LVL= 32752, 32753, 30450, 32755, AGC= 43, IDX= 505, 0.20,-1.967,-0.816, 0.097, 0.146, PHS=-2.011,-0.917,-0.092, RAW= 244.6, 32.6, CAL= 248.2, 41.8, ROT= 261.8, -41.8 Ygot valid direction response: 06:07:29.6028 LVL= 32752, 32753, 30450, 32755, AGC= 43, IDX= 505, 0.20,-1.967,-0.816, 0.097, 0.146, PHS=-2.011,-0.917,-0.092, RAW= 244.6, 32.6, CAL= 248.2, 41.8, ROT= 261.8, -41.8 DzD@AE EEE"E:*Ee:VEZEa@a@a@a@ T#Rx 22: Read range and direction messages.`direction in FSK: [-0.106327,-0.737854,0.666532]Fpublishing direction and range infoyae:8̀S,;T?Yaaaeev a)e+Ie9iejejeD@e?e@ e:?)ey7@Ie:aae֠ ޿yƣ,?jPA? e5 @)e=Ieaۿie:aaUchecking for new query: numPingsReceived=22, elapsed TxPingTime=11.919133ԙ ^A >IY Iq O} >.,jl?A2@2ǀ@2=ٱ2: :AHRS rotation from veh to nav: [[0.719298,0.677820,0.152221],[-0.693952,0.690878,0.202777],[0.032280,-0.251491,0.967321]]2H|??{?4? ?@? nпK?i2@I2X^;0Y^By^ I)` f4i)v:i2₼i#IIԡB >B CB  IB }BB 9 =B B B {];B "EBCBCBB6 =BCd)6Y@Y @Y@]4@Y@e>@e>u DDAT read: Rx Time:06:07:30.1029  TRx dataTimestamp_ set to:1761545251.285379 PDAT read: Bearing 236.5, -66.7 (Local)  ~Local bearing/azimuth received: Bearing 236.5, -66.7 (Local)  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.2 ^A >A >A >E  E E #E "E m:*E L_:VE 3ZE BE R} Ĕ@ } 2+?)} A@I} 2+y y } y 6ho?Բ(*fl? } ,@)} I} 8i} 2+y y e checking for new query: numPingsReceived=23, elapsed TxPingTime=12.455792A I I O >~*6,?AR@R@R\ ٱRiy jAHRS rotation from veh to nav: [[0.706548,0.690314,0.155742],[-0.706896,0.678225,0.200769],[0.032966,-0.251946,0.967180]]RH` ? ?X? ?̲??п"?iR@IRV^;RkCYrByv I!bD]VD]1ym=%m7=ٔmɺQ->9Y=FyE E>1Q 5u55S?Q 9}55 p)5}BYyh^Q I@5kEI5~zBɢeAV<)i m?>ii)umN:qqiu[i#IIi@ @@1@ԩ  DDAT read: Rx Time:06:07:30.6028  TRx dataTimestamp_ set to:1761545251.789206 PDAT read: Bearing 254.0, -58.1 (Local)  ~Local bearing/azimuth received: Bearing 254.0, -58.1 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.3  Z#Rx 24: Read range message, but no direction.y Y @ ^A >% checking for new query: numPingsReceived=24, elapsed TxPingTime=12.875331E5  E5 E5 "E1 "E5 :*E5 :VE5 (3ZE1 a= @a= @a= @a= @ AaIiIyO>n=,iW?A2[@2V@290 ٱ2r :AHRS rotation from veh to nav: [[0.693550,0.702920,0.157772],[-0.719630,0.665802,0.197080],[0.033487,-0.250223,0.967609]]2H1?R~?1?6?N?9?5%?п`?i2[@I2y^;2lCYBByB IiMMb@Mb@Mb@IIII I9M?/$Mb?YMf>yMM9yYy=FyE!E>Q 55l_?Q 95 t)BY>Q E:yWQ I@nEI" ;i:|D5yɮA addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503827 s, deltaX: -0.100000 m, approachRate: -0.198481 m/s, rangeRepo size: 4 jhRStopped intercept timer at range: 2.00 m.bhhh*h"h hgfffBdddjd@Zd@u?ABɢ%o0<)! %Hh>i!)%͠:))i-ii5#11I1I9i@ @@2@DAT read: 06:07:30.6028 LVL= 32752, 32753, 28594, 32755, AGC= 43, IDX= 505, 0.46,-0.420, 1.550, 1.785, 1.968, PHS=-2.286,-0.373,-0.226, RAW= 266.3, 27.1, CAL= 268.5, 35.7, ROT= 241.5, -35.7 Ygot valid direction response: 06:07:30.6028 LVL= 32752, 32753, 28594, 32755, AGC= 43, IDX= 505, 0.46,-0.420, 1.550, 1.785, 1.968, PHS=-2.286,-0.373,-0.226, RAW= 266.3, 27.1, CAL= 268.5, 35.7, ROT= 241.5, -35.7 Z#Rx 25: Read direction message, but no range.`direction in FSK: [-0.387493,-0.713673,0.583541]y;0Cؿڔ|h^?o )+IMilgߺ@*>m@ W?) @IW:ųX=-@?/? t#@)rI]iW checking for new query: numPingsReceived=25, elapsed TxPingTime=13.120204ԡ^A>A@AAB>BCB IBBBBBB];B"EA .AI I O > QD, ?ADDAT read: Rx Time:06:07:31.1030 TRx dataTimestamp_ set to:1761545252.288341DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.2 Z#Rx 26: Read range message, but no direction.yY3@"checking for new query: numPingsReceived=26, elapsed TxPingTime=13.366154Fɧ@FĮ@F ٱF NAHRS rotation from veh to nav: [[0.680606,0.714638,0.161453],[-0.731878,0.653066,0.194573],[0.033610,-0.250592,0.967509]]FH?`Q??k??`M5? п?iFɧ@IFl^;FnCYVByV I XXAAbD] VD]2ym)0=%mK=ٔuRQ-u>9u ?E EE#E"E:*E n:VE3ZEBE/Q 5 5i?Q 9 5w)BY y [Q I@qEI :i[:PF5yIɮUAqii.t ?AJiH@RiH@jiMO@b~Wd z@6u,W?R;0Cؿڔ|h^?Zi]biWj9Gq&+Ŀ&?ZDr輾rCإ^l_?2iY!:iƿ"i柊?*iN|BiBiK?iif{iӅBi:?imO@  addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.499135 s, deltaX: 0.300000 m, approachRate: 0.601040 m/s, rangeRepo size: 4 = Added new target pos. range: 2.285670 m, bearing: 185.792684 deg, lat: 36.779420 deg, lon: -121.859807 deg, deltaT: 1.002962 s, deltaX: 0.198773 m, approachRate: 0.198186 m/s, posRepo size: 4 jh=ETStarting intercept timer at range: 2.30 m.bhAhAhA*hA"hA hAgIfIfifqdqdqdqjdu`ff@Zd} ?DBɢ<) r>i ) :  i#i#II checking for new query: numPingsReceived=26, elapsed TxPingTime=13.614719]1  @  @ @ 0@ @ @ fAQ ^A >AgAzADDAT read: Rx Time:06:07:31.6030 TRx dataTimestamp_ set to:1761545252.796187PDAT read: Bearing 277.0, -45.3 (Local) ~Local bearing/azimuth received: Bearing 277.0, -45.3 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.3 Z#Rx 27: Read range message, but no direction.yYchecking for new query: numPingsReceived=27, elapsed TxPingTime=13.876532A}؟AIIO?\L,>5 ?AE EE&E"E ;*E~:VE4ZEa@a@a@a@4ɰ6;Y҂By IieMb@Mb@Mb@aaaa a9eOn?~jtx?~jt?Ye>ye;eD9"?Y"?=FyEE>Q 55/x?Q 95|)BY>Q E:yMQ I@uEIK ;i ;H5y7Bɮ$AEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.507846 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhRStopped intercept timer at range: 2.30 m.bh!h!h!*h!"h! h!g!f)f)f-ȂBd1d1d1jd1Zd5?eIBɢeJ<)a m>ii)m;iiimSiu#qqIyIyfAfAm߼)@ @@4@mDAT read: 06:07:31.6030 LVL= 32752, 28401, 27842, 32755, AGC= 41, IDX= 508,-0.15, 0.902,-2.931, 2.631, 2.970, PHS=-1.966, 0.427,-0.383, RAW= 289.4, 17.9, CAL= 288.4, 24.9, ROT= 221.6, -24.9 Ygot valid direction response: 06:07:31.6030 LVL= 32752, 28401, 27842, 32755, AGC= 41, IDX= 508,-0.15, 0.902,-2.931, 2.631, 2.970, PHS=-1.966, 0.427,-0.383, RAW= 289.4, 17.9, CAL= 288.4, 24.9, ROT= 221.6, -24.9 Z#Rx 28: Read direction message, but no range.`direction in FSK: [-0.678286,-0.602210,0.421036]yAEq,%NE˽&@?AAEnEl A)E)IEiE>EľE@E>E@ E/>)Ew@IE/޾AEhqU?R\W? EB=@)EIE"iE/޾Mchecking for new query: numPingsReceived=28, elapsed TxPingTime=14.151992QB} >By B} IB} ΂BBy By B} UDB} ];B} "E^Ae >y AY Iy I O >S,ΊP ?A5DDAT read: Rx Time:06:07:32.1033 5TRx dataTimestamp_ set to:1761545253.297581EPDAT read: Bearing 276.1, -47.9 (Local) E~Local bearing/azimuth received: Bearing 276.1, -47.9 (Local) UDAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 ]Z#Rx 29: Read range message, but no direction.y1Y5,@1echecking for new query: numPingsReceived=29, elapsed TxPingTime=14.378117e#@e@e^ ٱe-E EE$E"E:*E$:VE4ZEBE&9Y=FyEE>Q 55?Q 95M)BYyG[Q I@xEI:it:J5yɮA i1i5 S ?AJi5+@Ri5+@ji5*7@b5+9~R?R5q,%NE˽&@?Zi5"bi5/޾j5,(yyftO?i?Z5▶7?I1?2i5?:i53 "i5|u˟?*i5}oBi5ąBi5 럊?i1i1i5M?i5jB@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501394 s, deltaX: 0.400000 m, approachRate: 0.797776 m/s, rangeRepo size: 4  Added new target pos. range: 2.683187 m, bearing: 163.978874 deg, lat: 36.779419 deg, lon: -121.859807 deg, deltaT: 1.009240 s, deltaX: 0.397517 m, approachRate: 0.393878 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@Zdml?LBɢ^@<)  \>i );i밊i#<>II--))9- DAT read: 06:07:32.1033 LVL= 32752, 18321, 21426, 30899, AGC= 42, IDX= 510, 0.12, 0.524, 2.781, 2.223, 2.450, PHS=-1.824, 0.375,-0.272, RAW= 286.6, 17.3, CAL= 285.6, 24.4, ROT= 224.4, -24.4 = Ygot valid direction response: 06:07:32.1033 LVL= 32752, 18321, 21426, 30899, AGC= 42, IDX= 510, 0.12, 0.524, 2.781, 2.223, 2.450, PHS=-1.824, 0.375,-0.272, RAW= 286.6, 17.3, CAL= 285.6, 24.4, ROT= 224.4, -24.4 E Z#Rx 30: Read direction message, but no range.U `direction in FSK: [-0.650659,-0.637172,0.413104]yG,2俱 CcIMp?GS x)*Ixi>CQ@#>W@ ^ >)>z@I^ ھ8w!ݺ\ޢA?W}q? !:@)NIwwi^ ھ checking for new query: numPingsReceived=30, elapsed TxPingTime=14.649342m @@i  @i @m 0@i k> Ci } zG ǐ9 Y A^A>ԡDDAT read: Rx Time:06:07:32.6033 TRx dataTimestamp_ set to:1761545253.800752PDAT read: Bearing 274.0, -48.2 (Local) ~Local bearing/azimuth received: Bearing 274.0, -48.2 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 DAT read: 06:07:32.6033 LVL= 30384, 16177, 12786, 24563, AGC= 39, IDX= 510, 0.33,-2.376,-0.291,-0.784,-0.573, PHS=-1.701, 0.327,-0.255, RAW= 286.2, 17.7, CAL= 285.3, 24.8, ROT= 224.7, -24.8 I IO%?߄\,4t ?AHLLE~ E~E~'E|"E~s:*E~:VE~'4ZE|a@a@a@a@uYgot valid direction response: 06:07:32.6033 LVL= 30384, 16177, 12786, 24563, AGC= 39, IDX= 510, 0.33,-2.376,-0.291,-0.784,-0.573, PHS=-1.701, 0.327,-0.255, RAW= 286.2, 17.7, CAL= 285.3, 24.8, ROT= 224.7, -24.8 uT#Rx 31: Read range and direction messages.}`direction in FSK: [-0.645248,-0.638526,0.419452]}Fpublishing direction and range infoy?Ҫޥ俜nKsM?Yv1?1 _)'I^ٿil>\ ؟@2+>e@_@ ٱT AHRS rotation from veh to nav: [[0.624009,0.760599,0.179169],[-0.780680,0.596856,0.185206],[0.033929,-0.255443,0.966228]]qW@ k>)z@Ikݾݛ3d!?Ik? M9@)OםI!ikݾchecking for new query: numPingsReceived=31, elapsed TxPingTime=14.951464H@?V??Tr?д?`(_?`/YпX?ie@I)^;lCYBy!IIa=)yu<;rA@ tA)AYA !%bD-VD-y=v<%==ٔ=X9Q-=>9Y=FyE E>Q 55t?Q 95)BY9>Q E ;yZQ I@{EI'@} addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.683187 m, bearing: 166.161482 deg, lat: 36.779419 deg, lon: -121.859807 deg, deltaT: 0.503171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhbhhh*h"h hgfffBdddjdZdG?颅QBɢϡ<) >i));顉ii#<=u>II%checking for new query: numPingsReceived=31, elapsed TxPingTime=15.127969i@q @q@q@q^AE> I) I9 BA AA BM >BM CBM !IBM BBI BI BI BM ];BM "EOe >gc,8H ?A6!Ф@6ʫ@6M ٱ6у ^AHRS rotation from veh to nav: [[0.609717,0.771447,0.181977],[-0.791911,0.583191,0.181014],[0.033515,-0.254477,0.966498]]6Ĥ??`K?TW?w+?(?`YIп ?i6!Ф@I6^;4YBy !IbDVD0y N<%a=ٔ=ђ:Q-=>9AYA=EFyEEMJPEM>DDAT read: Rx Time:06:07:33.1035 TRx dataTimestamp_ set to:1761545254.304773PDAT read: Bearing 267.1, -56.5 (Local) ~Local bearing/azimuth received: Bearing 267.1, -56.5 (Local) DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.3 DAT read: 06:07:33.1035 LVL= 30384, 20113, 15666, 28819, AGC= 42, IDX= 512, 0.43,-3.036,-1.267,-1.342,-1.304, PHS=-1.629, 0.082,-0.082, RAW= 275.0, 19.4, CAL= 275.5, 26.7, ROT= 234.5, -26.7 Ygot valid direction response: 06:07:33.1035 LVL= 30384, 20113, 15666, 28819, AGC= 42, IDX= 512, 0.43,-3.036,-1.267,-1.342,-1.304, PHS=-1.629, 0.082,-0.082, RAW= 275.0, 19.4, CAL= 275.5, 26.7, ROT= 234.5, -26.7 T#Rx 32: Read range and direction messages.`direction in FSK: [-0.518783,-0.727308,0.449319]Fpublishing direction and range infoy^wg`ߙвF翭"z?Y@@N2= p)*Iпi=什ǖ@-\>Dޙ@ >)2@IQQ 55U͕?Q 95U;)UBYyR_Q I@U~EIU:iU:UN5y=BɮzA EY뿔6i?z<ͥB? -@)]cIQ/ ichecking for new query: numPingsReceived=32, elapsed TxPingTime=15.398793iig ?AJi>@Ri>@jiߚC@bfe>9fX.pn?R^wg`ߙвF翭"z?ZiQ/ bijþxb[a?;g?ZVXuf3ۓh?:i"i͟?*iIBiBi֟?iN|iׅBi@iW*=@ addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504021 s, deltaX: 0.300000 m, approachRate: 0.595213 m/s, rangeRepo size: 4  Added new target pos. range: 2.981371 m, bearing: 175.114676 deg, lat: 36.779417 deg, lon: -121.859808 deg, deltaT: 0.504021 s, deltaX: 0.298184 m, approachRate: 0.591611 m/s, posRepo size: 4 )E EE"E"E&:*E:VE(3ZEBE^;i)N8;顩ilIIQ]?@Y @Y@]0@Y5 checking for new query: numPingsReceived=32, elapsed TxPingTime=15.631627ԉ ^A H~>I I O >ܑi,t# ?AY~By~ !IYiMb@Mb@Mb@ 9RQ?~jt?{GztY>y<ףA@ A)^AYGAbDVDky;%O=ٔQ->9Y=FyEE>Q 55ܝ?Q 956)BY>Q E ;y^Q I@EI;iA;P5yɮoAjh!bh!h!h!*h!"h! h!g)f)f)f-Bd1d1d9jd9Zd=P?颅XBɢ<) >i)D;顑ipi#ĩ<h>IIaԑ@@ @@3@@@gADDAT read: Rx Time:06:07:33.6036 TRx dataTimestamp_ set to:1761545254.809124PDAT read: Bearing 267.4, -54.8 (Local) ~Local bearing/azimuth received: Bearing 267.4, -54.8 (Local) DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3 DAT read: 06:07:33.6036 LVL= 28576, 17617, 14130, 26275, AGC= 41, IDX= 513,-0.34,-0.525, 1.748, 1.528, 1.613, PHS=-2.036, 0.180,-0.129, RAW= 277.4, 18.6, CAL= 277.5, 26.0, ROT= 232.5, -26.0 ^AIIOa>Ygot valid direction response: 06:07:33.6036 LVL= 28576, 17617, 14130, 26275, AGC= 41, IDX= 513,-0.34,-0.525, 1.748, 1.528, 1.613, PHS=-2.036, 0.180,-0.129, RAW= 277.4, 18.6, CAL= 277.5, 26.0, ROT= 232.5, -26.0 T#Rx 33: Read range and direction messages.`direction in FSK: [-0.547151,-0.713061,0.438371]Fpublishing direction and range infoy\EC῾e3E?YL@oD27 f))IMiQ8>E EE&E"E;*EVE4ZEa-@a-@a-@a-@@6>9@ V>)=ځ@IV辩f`h뿙؄wN?x? ./@)EI;kiV辩echecking for new query: numPingsReceived=33, elapsed TxPingTime=15.943279Ա yp, ?Avchecking for new query: numPingsReceived=33, elapsed TxPingTime=16.134743Yxy| bDVDٔ1Q-M>9IYI=UFyUEaEe>qQ 55u?Q 95u2)uBYyQ I@uEIu;iu:u=R5yɮԹiiȳ ?AJiK@RiK@jidA@b(`ᆩ$>#N?R\EC῾e3E?Zi;kbiVj(osX?Rϱ?Ze9*&HǸ?r[?2i>:i#"i~Ο?*iǪBiBi~Ο?iiBi(@i 9@ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504351 s, deltaX: 0.200000 m, approachRate: 0.396549 m/s, rangeRepo size: 4 u Added new target pos. range: 3.180129 m, bearing: 173.134421 deg, lat: 36.779416 deg, lon: -121.859808 deg, deltaT: 0.504351 s, deltaX: 0.198758 m, approachRate: 0.394087 m/s, posRepo size: 4 jhybhyhyhy*hy"hy hygyfffdddjd @Zd;?\Bɢݼ<) >i)ljT;ifi#E<!Di>IIB>BCB.!IB BB8 =BBVDB];B"E>@ @@/@^Ae?e>IIOE>DDAT read: Rx Time:06:07:34.1038 TRx dataTimestamp_ set to:1761545255.312743PDAT read: Bearing 270.8, -45.3 (Local) ~Local bearing/azimuth received: Bearing 270.8, -45.3 (Local) M DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.3  DAT read: 06:07:34.1038 LVL= 22688, 12353, 9250, 17907, AGC= 43, IDX= 3,-0.26,-1.822, 0.251,-0.352,-0.100, PHS=-1.621, 0.396,-0.296, RAW= 289.7, 16.9, CAL= 288.3, 23.9, ROT= 221.7, -23.9  Ygot valid direction response: 06:07:34.1038 LVL= 22688, 12353, 9250, 17907, AGC= 43, IDX= 3,-0.26,-1.822, 0.251,-0.352,-0.100, PHS=-1.621, 0.396,-0.296, RAW= 289.7, 16.9, CAL= 288.3, 23.9, ROT= 221.7, -23.9  T#Rx 34: Read range and direction messages. `direction in FSK: [-0.682617,-0.608189,0.405142] Fpublishing direction and range infoyd"yIv?Y`@XA0"$ E)+I|Ͽi>P̡@>`@ >)*w@Iվ½` "nש>?Q[#? =@)I{iվbE3jE#4rE5/E-  E- E- #E) "E- ;*E- :VE- 3ZE) BE- qTo^;0YNByR!IbDZVDZܲyv;%v<ٔv;Q-v>9xYx=zFyzEz"E~>Q 5 5q?Q 9 5N)Y y lQ I @EI :iF:S5yMBɮA%Eii ?AJi^@Ri^@jiM2@bf[s$?Rd"yIv?Zi{biվj {>}L9v?oHu?Z/5(ה鿼|+?M"9?2i[?:i1"icß?*iVtBiBi͟?iJW]viBi5@iIG2@ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503619 s, deltaX: 0.300000 m, approachRate: 0.595688 m/s, rangeRepo size: 4 % Added new target pos. range: 3.478327 m, bearing: 159.459852 deg, lat: 36.779416 deg, lon: -121.859805 deg, deltaT: 0.503619 s, deltaX: 0.298197 m, approachRate: 0.592109 m/s, posRepo size: 4 jh)bh)h)h)*h)"h) h)g)f1f1f9d9d9d9jd= @ZdE k ?}_Bɢ<) >i)c;顙i^i=#=IAIQchecking for new query: numPingsReceived=34, elapsed TxPingTime=16.642153@@ @@@Ay^A wf>A ?A ?I I! O- > DDAT read: Rx Time:06:07:34.6038  TRx dataTimestamp_ set to:1761545255.816533 PDAT read: Bearing 271.4, -41.4 (Local)  ~Local bearing/azimuth received: Bearing 271.4, -41.4 (Local)  DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.3  DAT read: 06:07:34.6038 LVL= 28912, 15137, 13650, 24819, AGC= 42, IDX= 499,-0.17,-2.749,-0.681,-1.433,-1.121, PHS=-1.526, 0.485,-0.356, RAW= 294.6, 15.8, CAL= 292.6, 22.6, ROT= 217.4, -22.6  Ygot valid direction response: 06:07:34.6038 LVL= 28912, 15137, 13650, 24819, AGC= 42, IDX= 499,-0.17,-2.749,-0.681,-1.433,-1.121, PHS=-1.526, 0.485,-0.356, RAW= 294.6, 15.8, CAL= 292.6, 22.6, ROT= 217.4, -22.6  T#Rx 35: Read range and direction messages. `direction in FSK: [-0.733412,-0.560735,0.384295] Fpublishing direction and range infoy  W$xrycK?Y p !; R5 `) *I Sÿi Q> E "@ 0> .k@ >) r@I ɾ m٨&(*?{Zc? C@) 䌾I &Ii ɾ  checking for new query: numPingsReceived=35, elapsed TxPingTime=16.906235! [|, ?AEb EbEb%E`"Eb:*Eb:VEb 4ZE`af@af@af@af@YBy!II<)=i=Mb@Mb@Mb@9999 99= r?~jtx?~jtY=>y=;==A=@ =A)=GA9Y=AbDUVDUye%e=ٔmQ-m>9iYi=mFyuEuEu>yQ 55}?Q 95})}BY>Q E ;ywQ I@}EI}L:i}:}]V5yTBɮ^A&EiiB ?AJiRijix-@b hAX477]j$c?RW$xrycK?Zi&Ibiɾj/rK;>?ހ78 ?Zǯf5CG?6b1?2i?:i0"iEΟ?*iơsBiLBi~Ο?iii@@i/@ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503790 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.478327 m, bearing: 155.382875 deg, lat: 36.779416 deg, lon: -121.859805 deg, deltaT: 0.503790 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhbhhh*h"h hgff f Bd d djdZd?颍eBɢ<) ~>i)Rau;顡i$checking for new query: numPingsReceived=35, elapsed TxPingTime=17.143366i#|<Uu<>III)! A @A  @I @I @I @U %>@U =B >B ÍCB 4!IB BB 7 =B B WDB ];B "EBBCBɔCB9 =B9 =CN\5^A] LR>Y Iq I O >,T ?A@@EgΡ@E:ɨ@E[ٱEJ} UAHRS rotation from veh to nav: [[0.532819,0.823943,0.192929],[-0.845766,0.510960,0.153619],[0.027994,-0.245024,0.969113]]EH ?`]?`?Y?ɩ??\Ͽ?iEgΡ@IEyk^;AaejAiaIaaIiii ii)iq qqqqyyIy)yiy)ʁIʅ(jAɅɅ >F ʁʉʉʍiʉʉiˉˍ|iA)ˑ ˑIˑYYBy!IbD VDf2DDAT read: Rx Time:06:07:35.1040 TRx dataTimestamp_ set to:1761545256.320814PDAT read: Bearing 271.4, -38.4 (Local) ~Local bearing/azimuth received: Bearing 271.4, -38.4 (Local) DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.3 DAT read: 06:07:35.1040 LVL= 30176, 17137, 14370, 29283, AGC= 40, IDX= 501,-0.09,-0.475, 1.582, 0.731, 1.080, PHS=-1.453, 0.546,-0.393, RAW= 298.0, 14.9, CAL= 295.7, 21.4, ROT= 214.3, -21.4 Ygot valid direction response: 06:07:35.1040 LVL= 30176, 17137, 14370, 29283, AGC= 40, IDX= 501,-0.09,-0.475, 1.582, 0.731, 1.080, PHS=-1.453, 0.546,-0.393, RAW= 298.0, 14.9, CAL= 295.7, 21.4, ROT= 214.3, -21.4 T#Rx 36: Read range and direction messages.%`direction in FSK: [-0.769144,-0.524674,0.364877]-Fpublishing direction and range infoy;Ӝ;!>8^.$Z?Y3s@uB"8 cr)(Ii ?L7ɾBo@%>i&@ t;>)`o@It;yE<%E=ٔE8^.$Z?Zi"bit;j'yPd^~?ߖo?Z ?Z΀w?~R{?2i?E} E}E}&Ey"E} ;*E}:VE}4ZEyBE}LiI)M췀;IIiM`UiU#U<]>IYIY}?@y @@@^A]6>I  checking for new query: numPingsReceived=36, elapsed TxPingTime=17.650131II O >#,* ?A>0@>b+@>0ۼٱ>>~ JAHRS rotation from veh to nav: [[0.516441,0.833359,0.196981],[-0.855903,0.495143,0.149210],[0.026811,-0.245655,0.968987]]>H? ?`6?@c`m?M?`nt?`qϿ ?i>0@I>^^;y]ף]9]\A]@ ]A)]AYY]AbDVDk1yv%@=ٔ5;Q- >9Y=%Fy%E57E5>iQQ 5%5Uà?Q 9%5U)UBY%>Q E%;y%wQ I-@UEIU{14?Y@k;= o)*I ׳i?ᾩc@Ulx><@  g>)sk@I gB,c". ʖ)b? 6XG)IxIBo&i gchecking for new query: numPingsReceived=37, elapsed TxPingTime=17.923042颭lBɢZA<) W>i)n;ii#< >IIE} E}E}%Ey"E};*E}^:VE} 4ZEya@a@a@a@ԑ@ @@/@Թ ^A vh5>A fAzA hAIy  checking for new query: numPingsReceived=37, elapsed TxPingTime=18.151711I O >7,vE ?A6ݖ@6@6*ϼٱ6ng~ BAHRS rotation from veh to nav: [[0.500312,0.842294,0.200571],[-0.865473,0.479704,0.144361],[0.025379,-0.245814,0.968985]]6H??P?x?iz?`? vϿ?i6ݖ@I6gj^;4YӂBy I !!bD-VD-:2yѼ%[=ٔ};Q->9Y=FyEQE>Q 55Xɠ?Q 95)BYyލQ I@EId:i[::[5yɮAii4 ?AJiRiji-"@b?+I>,0tI?R:ƹ8C޿Fv>{14?ZiBo&bi gjV W)%?)7aA?ZVd#s? ?2i?:i2"ioEޟ?*i-lBiBi~Ο?iơsigBiY@i+(@% addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503995 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 3.776560 m, bearing: 145.190755 deg, lat: 36.779416 deg, lon: -121.859804 deg, deltaT: 0.503995 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh1bh1h1h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM`??}oBɢ}<)y }H>iy);顁i剗i#ĸ<=IIB>BčCB(!IBBB5 =BBXDB+^;B #EiA@A @I@M2@I^A%1>IIOJ>ԙDDAT read: Rx Time:06:07:36.1041 TRx dataTimestamp_ set to:1761545257.328702PDAT read: Bearing 273.1, -33.7 (Local) ~Local bearing/azimuth received: Bearing 273.1, -33.7 (Local) DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 EDAT read: 06:07:36.1041 LVL= 27888, 15857, 15714, 28147, AGC= 42, IDX= 503, 0.23, 0.882, 3.015, 1.979, 2.370, PHS=-1.385, 0.691,-0.435, RAW= 302.8, 12.5, CAL= 300.3, 17.5, ROT= 209.7, -17.5 UYgot valid direction response: 06:07:36.1041 LVL= 27888, 15857, 15714, 28147, AGC= 42, IDX= 503, 0.23, 0.882, 3.015, 1.979, 2.370, PHS=-1.385, 0.691,-0.435, RAW= 302.8, 12.5, CAL= 300.3, 17.5, ROT= 209.7, -17.5 UT#Rx 38: Read range and direction messages.]`direction in FSK: [-0.828429,-0.472527,0.300706]]Fpublishing direction and range infoymG|m{=޿->?Y3@l=b= m)E-  E- E- 'E) "E- l;*E- :VE- '4ZE) BE- VF@ a>)?+? E?@?@Z?`Ͽ?i2w@I2O^;0LYjςByj IbDrVDrk2yz ü%zV=ٔ~Gi;Q-~>9Y=FyEaFE > Q 55 Π?Q 95 ) BYy8Q I@ EI ;i ; \5y!ɮ-*A)iit U ?AJid@Rid@jix @bdU }Eۈٚ?RmG|m{=޿->?Zi'biaj^7:Q@iw3?ZAQ2|?N?2i@:iA"iϟ?*iP*hBiBiEΟ?i|liLBik@iĢ"@ addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503893 s, deltaX: 0.300000 m, approachRate: 0.595364 m/s, rangeRepo size: 4  Added new target pos. range: 4.074765 m, bearing: 143.661338 deg, lat: 36.779416 deg, lon: -121.859801 deg, deltaT: 0.503893 s, deltaX: 0.298205 m, approachRate: 0.591802 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd`ff@Zdw)?checking for new query: numPingsReceived=38, elapsed TxPingTime=18.657515颕sBɢ<) 6>i)ڵ;ifi # ]< P=II@ @@5@^A>IAIYOex>!  DDAT read: Rx Time:06:07:36.6042  TRx dataTimestamp_ set to:1761545257.832733 PDAT read: Bearing 273.5, -32.8 (Local)  ~Local bearing/azimuth received: Bearing 273.5, -32.8 (Local)  DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4  DAT read: 06:07:36.6042 LVL= 27808, 15521, 15794, 28307, AGC= 42, IDX= 504,-0.48,-1.800, 0.361,-0.709,-0.325, PHS=-1.373, 0.731,-0.428, RAW= 303.4, 11.7, CAL= 300.9, 15.8, ROT= 209.1, -15.8  Ygot valid direction response: 06:07:36.6042 LVL= 27808, 15521, 15794, 28307, AGC= 42, IDX= 504,-0.48,-1.800, 0.361,-0.709,-0.325, PHS=-1.373, 0.731,-0.428, RAW= 303.4, 11.7, CAL= 300.9, 15.8, ROT= 209.1, -15.8  T#Rx 39: Read range and direction messages. `direction in FSK: [-0.840759,-0.467961,0.272280] Fpublishing direction and range infoy  @Mݿ ^ m?Y f@ l < = n) I wi ";? "۾ Us@ Q> @ 0>) $i@I 0 9[ZGi^9hc-|'? NE) `EQI (i 0 % checking for new query: numPingsReceived=39, elapsed TxPingTime=18.922642EE  EE EE #EA "EE :*EE :VEE 3ZEA aM @aM @aM @aM @,mx ?A|YEĂByE IiuMb@Mb@Mb@qqqq q9uS㥛?&1yuPutuAq uA)uAqYu AbDVDyy9%2=ٔQ->9Y=FyEE>Q 55ՠ?Q 95ԧ)BY%>Q E-:y-Q I-@EI/[i) ;izΙi#<)=II  checking for new query: numPingsReceived=39, elapsed TxPingTime=19.159706@ @@4@QBA<B>BB!IBBB6 =BBB^;B;#Eԉ ^A% 2 >A5 ?A5 >Am .AIy I O >(,D ?ADDAT read: Rx Time:06:07:37.1043 TRx dataTimestamp_ set to:1761545258.336786PDAT read: Bearing 276.3, -32.8 (Local) ~Local bearing/azimuth received: Bearing 276.3, -32.8 (Local) "DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 6DAT read: 06:07:37.1043 LVL= 30528, 18113, 16338, 31043, AGC= 44, IDX= 505,-0.19,-1.671, 0.545,-0.536,-0.209, PHS=-1.359, 0.799,-0.371, RAW= 302.8, 10.0, CAL= 300.3, 12.5, ROT= 209.7, -12.5 >Ygot valid direction response: 06:07:37.1043 LVL= 30528, 18113, 16338, 31043, AGC= 44, IDX= 505,-0.19,-1.671, 0.545,-0.536,-0.209, PHS=-1.359, 0.799,-0.371, RAW= 302.8, 10.0, CAL= 300.3, 12.5, ROT= 209.7, -12.5 >T#Rx 40: Read range and direction messages.B`direction in FSK: [-0.848041,-0.483714,0.216440]BFpublishing direction and range infoy7'#FY-޿K?Y̌@@wF? Cy),IiDL?󽾩@¸2>@H f_>)9E ?YE ?=EFyE Em Em>qQ 5}5u"۠?Q 9}5u)uBYy3Q I@uEIu(:iu:u`5yɮAii獕 ?AJi@Ri@jiX@bc`ڪ b I?R7'#FY-޿K?Zi'bif_j>ڵ ;SV@3LEY?Z#Tj[SO?Q.5?2i" @:iT"i-Ÿ?*iUjBirBiUu͟?ijiBi@i@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.504053 s, deltaX: 0.200000 m, approachRate: 0.396784 m/s, rangeRepo size: 4   Added new target pos. range: 4.372929 m, bearing: 143.034331 deg, lat: 36.779416 deg, lon: -121.859800 deg, deltaT: 0.504053 s, deltaX: 0.198780 m, approachRate: 0.394362 m/s, posRepo size: 4 jh bh hh*h"h hgfffd9dAdAjdE@ZdE II?颕{BɢFa<) Z >i);iΚi#0<K=IIU@@Q @Q@U4@Y@e=@e!>^A5>checking for new query: numPingsReceived=40, elapsed TxPingTime=19.6662245 ЀGQ i _9 I I O >Y LkA N9, ?AƝ@\@ɺٱt AHRS rotation from veh to nav: [[0.422442,0.882393,0.207187],[-0.906208,0.406596,0.116043],[0.018154,-0.236776,0.971395]]H@I ?@ytA A)1AIbDVD0y$%C=ٔ;Q->9Y=Fy ElE>=DDAT read: Rx Time:06:07:37.6043 =TRx dataTimestamp_ set to:1761545258.840760EPDAT read: Bearing 280.1, -34.4 (Local) M~Local bearing/azimuth received: Bearing 280.1, -34.4 (Local) ]DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 }DAT read: 06:07:37.6043 LVL= 28656, 18241, 16098, 29923, AGC= 44, IDX= 505, 0.02,-1.506, 0.752,-0.268,-0.051, PHS=-1.353, 0.848,-0.261, RAW= 300.2, 8.1, CAL= 297.8, 8.6, ROT= 212.2, -8.6 Ygot valid direction response: 06:07:37.6043 LVL= 28656, 18241, 16098, 29923, AGC= 44, IDX= 505, 0.02,-1.506, 0.752,-0.268,-0.051, PHS=-1.353, 0.848,-0.261, RAW= 300.2, 8.1, CAL= 297.8, 8.6, ROT= 212.2, -8.6 T#Rx 41: Read range and direction messages.`direction in FSK: [-0.836679,-0.526885,0.149535]Fpublishing direction and range infoy9=٣=S&r#?Y99=o=AG=> =t)9I=/i=Y?=ˡ=ϩ@=>=R@ =`>)=m@I=`99= O wᅵWdrW? =H)=qI=%i=`99checking for new query: numPingsReceived=41, elapsed TxPingTime=19.937309 Q 5 5 ࠊ?Q 95 A) BY >Q E:yQ I@ EI .:i : b5y%kBɮ%A!%0Ei9i=ϵ ?AJi9Ri9ji=l!@b=jE =>nG?R=٣=S&r#?Zi=%bi=`j= ң@??Z=kC2` f?|O?2i=@:i=]\"i=?*i=qBi=Bi9i9i=Bi=@i=7@DzDAAE EE#E"E:*E:VE3ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503974 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 4.372929 m, bearing: 144.514874 deg, lat: 36.779416 deg, lon: -121.859800 deg, deltaT: 0.503974 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhbhhh*h!"h! h!g!f)f)f)d)d1d1jd1Zd5ڦ?BɢJ`I<) (=i ) /[;  i ei#<K=IIY?@ @@4@ԁ  checking for new query: numPingsReceived=41, elapsed TxPingTime=20.166590^A =A zA B >B B IB ؂BB B B B ^;B Q#Eԩ I I O >,L ?A2wH@2JC@2 ٱ2>#v :AHRS rotation from veh to nav: [[0.408457,0.888126,0.210702],[-0.912626,0.393160,0.111973],[0.016606,-0.238028,0.971116]]2H)$?k?F?`<4)???@?wοb?i2wH@I2T^;2lCYfByf IbDnVDnk1yv=%vM=ٔz~;Q-z>9|Y|=~Fy~E~&E~>Q 5 5堊?Q 9 5)BYy磿Q I@EI&;ie;Zd5yɮ%^A!=B*** querying acoustic contact ***i9 i9jhIbhIhIhI*hI"hI hQgQfQfYfYdadqdqjdyZd`ӟ?=Bɢ=d^<)9 ==iA)E~2;Aaie^fim#mƽ6Tet?e z? QgE@)սIK!i Achecking for new query: numPingsReceived=42, elapsed TxPingTime=20.459965I!E= E=E=&E9"E=:*E=:VE=4ZE9BE=6a e checking for new query: numPingsReceived=42, elapsed TxPingTime=20.672184),Hn ?A mҜ@mͣ@muuٱmBx }AHRS rotation from veh to nav: [[0.395329,0.893082,0.214753],[-0.918417,0.380501,0.108301],[0.015008,-0.240047,0.970645]]mH M?!?}?c!Z??? ݹο?imҜ@Imr^;iYĂBy I aa iMb@Mb@Mb@ 9x&1?kt~jt?Y?y D<`A@ GA)K@YpAbDVDy<%0=ٔha;Q->9Y=FyEE>Q 55ꠊ?Q 95Ǽ)BYm?Q E:yFQ I@EI ;i7 ;bf5yɮ9Aii ?AJi@Ri@ji8z$@b{o޹W\Ak+?ɳ?RWL ϖP0?ZiK!bi AjS!]aE@gHq?Z?lsdXE??N?2i+"@:i|"i_?*iR!zBiBi-Ÿ?iirBi@i@= addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504995 s, deltaX: 0.400000 m, approachRate: 0.792087 m/s, rangeRepo size: 4 U Added new target pos. range: 4.770452 m, bearing: 147.247846 deg, lat: 36.779415 deg, lon: -121.859800 deg, deltaT: 0.504995 s, deltaX: 0.397523 m, approachRate: 0.787182 m/s, posRepo size: 4 jhYbhYhYhY*hYa"ha hqgqfqfyf}XBdddjd@33@Zd?颕BɢR<) 0=i)7ء;i=iM#U<}Թ ,4 ?A2An@2i@2Wٱ2 x :AHRS rotation from veh to nav: [[0.384025,0.897566,0.216564],[-0.923229,0.369931,0.103922],[0.013163,-0.239847,0.970721]]2H`ޓ? ܸ?b? `??=?Pο@&?i2An@I2Y^;2iCLYRByR IbDZVDZybas%fo=ٔf;Q-f?9hYh=jFyjEjaEn?pQ 5r5rx?Q 9v5r@)rBYtyvتQ Iv@rEIr:ir|:rg5yxɮ~A|iiZ ?AJiRiji2z#@bBiBm IBm΂BBm5 =BiBiBm^;BmM#E^AAI=IQ Ia O} >!  DDAT read: Rx Time:06:07:39.1048  TRx dataTimestamp_ set to:1761545260.352697 PDAT read: Bearing 279.0, -32.0 (Local)  ~Local bearing/azimuth received: Bearing 279.0, -32.0 (Local)  DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed -0.4  DAT read: 06:07:39.1048 LVL= 29376, 17057, 20066, 32755, AGC= 45, IDX= 510, 0.29,-0.709, 1.571, 0.488, 0.715, PHS=-1.322, 0.901,-0.271, RAW= 301.8, 7.2, CAL= 299.4, 6.9, ROT= 210.6, -6.9  Ygot valid direction response: 06:07:39.1048 LVL= 29376, 17057, 20066, 32755, AGC= 45, IDX= 510, 0.29,-0.709, 1.571, 0.488, 0.715, PHS=-1.322, 0.901,-0.271, RAW= 301.8, 7.2, CAL= 299.4, 6.9, ROT= 210.6, -6.9  T#Rx 44: Read range and direction messages. `direction in FSK: [-0.854508,-0.505355,0.120137] Fpublishing direction and range infoy  YM!X f+rjƹI?Y 3@ r B bN ) -I L7i f? @ > m7@ Ϣ=) >k@I Ϣ [O¦\^蟿X!? % G) `I &i Ϣ  checking for new query: numPingsReceived=44, elapsed TxPingTime=21.468149bE˻ 4jE˻ 4rE0E=  E= E= #E9 "E= D:*E= M:VE= 3ZE9 BE= 1AHRS rotation from veh to nav: [[0.374411,0.901611,0.216596],[-0.927195,0.361189,0.099261],[0.011262,-0.237991,0.971202]]2HW??k?@? #i??{vο?i2 @I2\R^;2lCYfByf I|bDVD2y<%F=ٔ;Q-=>99Y9==FyEEE˼EE>IQ 5U5M?Q 9U5M)MBYyy}0Q I}@MEIM;iM;Mi5yrBɮA1Eii ?AJi1@Ri1@ji+@b [}Sj}%uO|?RYM!X f+rjƹI?Zi&biϢj&,d,4t5 @_}4ro?Z-cNM?e;?2iI@:i%s"i9[?*iՄsBi Bi9[?iՄsii@i*@5 addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.503447 s, deltaX: 0.300000 m, approachRate: 0.595891 m/s, rangeRepo size: 4 E Added new target pos. range: 5.068592 m, bearing: 140.326988 deg, lat: 36.779413 deg, lon: -121.859804 deg, deltaT: 0.503447 s, deltaX: 0.298140 m, approachRate: 0.592197 m/s, posRepo size: 4 jhAbhAhIhI*hI"hI hIgIfIffdddjd`ff@Zd?Bɢ D<) =i);ipi#ӭ<%l.Qԁ `,3 ?A2՛@2^Т@2ٱ2q :AHRS rotation from veh to nav: [[0.366765,0.905321,0.214191],[-0.930267,0.354601,0.094132],[0.009267,-0.233779,0.972246]]2Hy?b?`j? DZ???`|Ϳ?i2՛@I2_^;0Y^By^ IIb%=)b4<eDDAT read: Rx Time:06:07:39.6049 mTRx dataTimestamp_ set to:1761545260.856795uPDAT read: Bearing 276.8, -27.7 (Local) u~Local bearing/azimuth received: Bearing 276.8, -27.7 (Local) DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 DAT read: 06:07:39.6049 LVL= 31936, 16641, 21362, 32755, AGC= 44, IDX= 511,-0.03, 2.082,-2.011, 3.098,-2.872, PHS=-1.227, 0.906,-0.357, RAW= 306.1, 7.4, CAL= 303.8, 7.3, ROT= 206.2, -7.3 Ygot valid direction response: 06:07:39.6049 LVL= 31936, 16641, 21362, 32755, AGC= 44, IDX= 511,-0.03, 2.082,-2.011, 3.098,-2.872, PHS=-1.227, 0.906,-0.357, RAW= 306.1, 7.4, CAL= 303.8, 7.3, ROT= 206.2, -7.3 T#Rx 45: Read range and direction messages.`direction in FSK: [-0.889986,-0.437927,0.127065]Fpublishing direction and range infoyimzvzܿm@ mw>)mSf@Imwiim]eLۺ|a? mGB)mhIm+imwiichecking for new query: numPingsReceived=45, elapsed TxPingTime=21.947302i Mb@Mb@Mb@     9 ˡE?ʡE~jt?Y ?y - < vA  ) A Y AbD-VD-y=Ѡ%=9=ٔ=;Q-=>9AYA=EFyEEErEM>IQ 5]5M?Q 9]5M)MBY] ?Q E]:y].Q I]@MEIMm ;iM` ;Mk5yiɮmAiE EE%E"E:*E՚:VE 4ZEa@a@a@a@iiim6 ?AJim@Rim@jimDO@bm̈Pb,)tej?Rmzvzܿ@>1 checking for new query: numPingsReceived=45, elapsed TxPingTime=22.182766^A Ԙ<Be >Be ÍCBe IBe ɂBBe 6 =Ba Be WDBe ^;Be 6#EBEčCBEčCBE˓CBE6 =BE6 =CEt4ԡ A ؟AII Iq O >,σP ?A)u*@u@uٱu i AHRS rotation from veh to nav: [[0.361500,0.908733,0.208622],[-0.932347,0.350673,0.088079],[0.006882,-0.226348,0.974022]]uH "?`V?@ ? lq? R? "0|?̿`0+?iu*@Iu9H^;qY˂By IbDVDyz=%>=ٔc;Q->9"?Y"?=FyE4WE>Q 55+?Q 95)BYyQ I@EI7 ;ie ;~m5yBɮA:E B*** querying acoustic contact ***i  i jhbhhh!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5fF?eBɢeH\<)a mx=ii)m2;iiim򍟼iu#uy-@ -=)-c@I-))-@Kvd￲S¿9bZ#? -?)-sI-.i-))checking for new query: numPingsReceived=46, elapsed TxPingTime=22.4573785?@1 @1@52@1YE EE$E"Ea:*E:VE4ZEBE(ԩ checking for new query: numPingsReceived=46, elapsed TxPingTime=22.688782 ,8j ?A5@5@5zٱ5.4a %AHRS rotation from veh to nav: [[0.357692,0.911698,0.202147],[-0.933829,0.348160,0.082150],[0.004517,-0.218155,0.975904]]5H n? ,? ?`AH?`? kr? ˿:?i5@I5Jg^;5oCYւBy IEDDAT read: Rx Time:06:07:40.6052 ETRx dataTimestamp_ set to:1761545261.864728UPDAT read: Bearing 278.4, -27.5 (Local) U~Local bearing/azimuth received: Bearing 278.4, -27.5 (Local) eDAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.4 DAT read: 06:07:40.6052 LVL= 32752, 16065, 20898, 32755, AGC= 47, IDX= 498, 0.18,-2.800,-0.615,-1.764,-1.505, PHS=-1.194, 0.934,-0.303, RAW= 305.4, 6.1, CAL= 303.0, 4.9, ROT= 207.0, -4.9 Ygot valid direction response: 06:07:40.6052 LVL= 32752, 16065, 20898, 32755, AGC= 47, IDX= 498, 0.18,-2.800,-0.615,-1.764,-1.505, PHS=-1.194, 0.934,-0.303, RAW= 305.4, 6.1, CAL= 303.0, 4.9, ROT= 207.0, -4.9 T#Rx 47: Read range and direction messages.`direction in FSK: [-0.887750,-0.452331,0.085417]Fpublishing direction and range infoyAErh쿃 !ܿb$ݵ?YAAEE>EQ E)AIEԘiEo?E"EJ@E^ =E%:@ E%=)E8g@IE%AAE U=cֆʷD3;_? ERC)EFd۽IE*iE%AAchecking for new query: numPingsReceived=47, elapsed TxPingTime=22.986830iMb@Mb@Mb@E EE%E"El;*E:VE 4ZEa@a@a@a@ 9E?Q?Y?y̽<A@ 1A)GAYbDVD:y=%=ٔo~;Q->9Y=FyEۻE%>)!Q 5U5%u?Q 9U5%)%BYUH ?Q EU:yU0Q IU@%EI%};i%;%'p5yaɮeeAaiAiEWw ?AJiEF@RiEF@jiE]@bE|z(P"?RErh쿃 !ܿb$ݵ?ZiE*biE%jERN!%6@v"?ZEqo%濚?G?2iEv@:iE/"iE_B?*iEx.uBiEڄBiE_B?iEx.uiEڄBiE`@iE]@ addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 1.007933 s, deltaX: 0.400000 m, approachRate: 0.396851 m/s, rangeRepo size: 4   Added new target pos. range: 5.664809 m, bearing: 136.405108 deg, lat: 36.779412 deg, lon: -121.859805 deg, deltaT: 1.007933 s, deltaX: 0.397449 m, approachRate: 0.394320 m/s, posRepo size: 4 jh! bh) h) h) *h) "h)  h) g) f1 f1 f5 zBd1 d9 d9 jd= @Zd= @? Bɢ jH<)  =i ) Ub; i Bi # R< BI I Y @@  @ @ /@  checking for new query: numPingsReceived=47, elapsed TxPingTime=23.190870ԁ^Avт;B->B-CB- IB-ӂBB)B)B-VDB-^;B-V#EԹA)IQIyO?",Y ?Ar;ɰr;l~@?y@Z̺ٱX 5AHRS rotation from veh to nav: [[0.356866,0.913460,0.195543],[-0.934154,0.348610,0.076333],[0.001559,-0.209909,0.977720]]H`?;??`O??@^Y?`Hʿ{I?il~@I$e^;kC 9)9=ļAAAEkAiEļIEvPFIIIiMr@ II)IQ QUļQQYYI]j)YiY)aIae9a aaiiiiiYiYuByu IbDVDyK=%L=ٔ;Q->9Y=FyEE>1Q 5=5?Q 9=5)BYAyEeQ IE@EIǘi);项iްi#T%0@nF=XӦ@ nF<)=l@InFD?W|8~C3߾Ƴ? G)#_Ix&inFchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.475689<eIIE EEE"E:*Eg:VEZEBE/ checking for new query: numPingsReceived=48, elapsed TxPingTime=23.696747 >,+ ?A2@2~@2:ٱ2dO :AHRS rotation from veh to nav: [[0.357515,0.914695,0.188456],[-0.933907,0.350409,0.070939],[-0.001149,-0.201362,0.979516]]2H?.E?@W? m? )?@R?ɿ 2X?i2@I2^;2lCYMByM !IiMb@Mb@Mb@ 9jt?RQMb?Y?y½=`A@ @)K@YAbD}VD}0ԱyV=%:=ٔ]w;Q-e>9qYq=}Fy} E?:E>Q 55?Q 95)BY L?Q E :y Q I @EI;iO;s5yɮAiIiMȚ ?AJiM,@RiM,@jiM@bM+p7]w aH?RM1oV|o࿂]~?ZiMx&biMnFjM{z% 7Pl@lI?ZM}qa迠b?B׿?2iMbs@:iM/"iM/js?*iM'bBiMxBiIiIiIiMd@iMٌ@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504094 s, deltaX: 0.500000 m, approachRate: 0.991879 m/s, rangeRepo size: 4  Added new target pos. range: 6.161624 m, bearing: 141.536266 deg, lat: 36.779412 deg, lon: -121.859805 deg, deltaT: 0.504094 s, deltaX: 0.496815 m, approachRate: 0.985561 m/s, posRepo size: 4 jhbh-XTarget missed at range: 6.20 m. Rolling out.2hNTransitioning guidance mode to: ROLLOUT:h@hh*h"h h2hgff f oBd ddjd@Zd"?颥B:) &>i);顩4:ii#*9IIiIA-DDAT read: Rx Time:06:07:41.6056 -TRx dataTimestamp_ set to:1761545262.8730435PDAT read: Bearing 282.4, -25.2 (Local) =~Local bearing/azimuth received: Bearing 282.4, -25.2 (Local) MDAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.5 mDAT read: 06:07:41.6056 LVL= 32752, 17761, 25058, 32755, AGC= 50, IDX= 502,-0.05, 0.132, 2.348, 1.150, 1.361, PHS=-1.127, 1.033,-0.254, RAW= 306.3, 3.7, CAL= 303.9, 0.5, ROT= 206.1, -0.5 uYgot valid direction response: 06:07:41.6056 LVL= 32752, 17761, 25058, 32755, AGC= 50, IDX= 502,-0.05, 0.132, 2.348, 1.150, 1.361, PHS=-1.127, 1.033,-0.254, RAW= 306.3, 3.7, CAL= 303.9, 0.5, ROT= 206.1, -0.5 }T#Rx 49: Read range and direction messages.`direction in FSK: [-0.897993,-0.439922,0.008727]Fpublishing direction and range infoy)-\*}'ܿB7߁?Y)))-aE-a )))I-Ai-X9?-J -@- A=-Ӻ@ -5<)-F7f@I-5))-d6Q2zG>? -+B)-@I-o+i-5))checking for new query: numPingsReceived=49, elapsed TxPingTime=23.962732 &Changing to mode: 1E EE$E"E:*Ex:VE4ZEa@a@a@a@ @  @ @ @ 1 ^A "5 checking for new query: numPingsReceived=49, elapsed TxPingTime=24.203327aB>BB IBBB7 =BBB^;B_#EA.AI IO%?,R ?AN˫@N@NF;ٱN)A VAHRS rotation from veh to nav: [[0.362026,0.915095,0.177589],[-0.932142,0.356806,0.061650],[-0.006949,-0.187857,0.982172]]NHo+?uH?;???v|` ȿm?iN˫@INH`;LYEByE!IIe=)e;u=ua= bD VD2y-=%$=iٔ"E9 ?Y ?=Fy#Et<E>Q 5-5 ?Q 9-5d)BY)y5Q I5@EI;i:%v5y9ɮ=AA9KuuAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse1Lu}Entering Midcourse tracking update period 60.000000 s sec at 6.200000 m (mode 5.000000 count ).1LqLJ Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJResuming normal ranging with 1.000000 count pings 6.200000 m (mode 5.000000 count ).J1Kii߷ ?AJi+@Ri+@ji@bi!8S ??R\*}'ܿB7߁?Zio+bi5jYe'œa@ \7?ZpQs\im9)mm3m;iqi#:IIE EE#E"E>:*E1]:VE3ZEBE C% checking for new query: numPingsReceived=50, elapsed TxPingTime=24.704714u ߀G (hA M9U(hAYU{A)AII!OM?,^+ ?Ax ˛@ Ţ@ ~#<ٱ 9 %AHRS rotation from veh to nav: [[0.365577,0.914834,0.171559],[-0.930728,0.361269,0.056837],[-0.009983,-0.180453,0.983533]] He?RF? ?@ ?`?q`ǿ@y?i ˛@I a; jCYeBym3!Ionly read 0 of 1 data item for BIT error. Device response is::TS,000503095.0, 0.0,1491.1, 0 a@a a@a a@a a@a bDVDJyٓ=%=ٔ;Q->9Y=Fy;E>Q 55?Q 95U) BQ A+:YQ E:y8Q I@EI ;ie?x5yBɮ#ADEBjN@qLLj?1KqKii ?AJi@Ri@ji@@bQG5J ?RXFqN{׿?Zir0bijh?(q܀@فk7?ZP @忳7̄d?AoQ?2i@:iE"il(?*i3g xBiBil(?i3g xii&@i>@5 addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.503777 s, deltaX: 0.300000 m, approachRate: 0.595502 m/s, rangeRepo size: 4 E Added new target pos. range: 6.459699 m, bearing: 132.252566 deg, lat: 36.779412 deg, lon: -121.859806 deg, deltaT: 0.503777 s, deltaX: 0.298140 m, approachRate: 0.591810 m/s, posRepo size: 4 EBNOT Ignoring new targets: 6.46 m.hAhA*hA"hA hI2hIgIfIfQfQdQdQjdYZd]{?~#<) >i9)顕1'4m5b3￲EPa ,ÿ?FuS? }ui?)}2E@A @A@E/@AI}.i}yymchecking for new query: numPingsReceived=51, elapsed TxPingTime=24.987597E EE"E"E:*EAr:VE(3ZEa @a@a@a@I^Am9IyIO>y  PExceeded connect timeout, disconnecting.5 checking for new query: numPingsReceived=51, elapsed TxPingTime=25.209642, ?A6؛@6WӢ@6Dz@<ٱ6b.1 >AHRS rotation from veh to nav: [[0.367093,0.915542,0.164393],[-0.930110,0.363518,0.052441],[-0.011748,-0.172155,0.985000]]6H@t~?@L? ?vC?٪?@$( ƿ?i6؛@I6%a;6kCBb>BbCBb!IBbBBb8 =B`BbUDBb^;Bb5#EYnByn>!IbDvVDvy~9=%~W=ٔ;Q->9Y= Fy  ;E >Q 55?Q 95W)BQ A% :Y!Q E%:y%Q I%@EI ;ig?y5y-Bɮ-A)JjALELE"jIqKMKMYiin ?AJiRijig@b_Iw0E*i?Rr&H ٿB3?Zi.bij` qPFC@ꋅD?Z_WpX Z?,S?Ѽ?2i@:iW"iL}Ԗ?*i<BiBiL}Ԗ?iiBiC@i7@ addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.459628 m, bearing: 134.649080 deg, lat: 36.779410 deg, lon: -121.859809 deg, deltaT: 0.504952 s, deltaX: -0.000071 m, approachRate: -0.000141 m/s, posRepo size: 4 BNOT Ignoring new targets: 6.46 m.hh*h"h h2hgfffddjdZd ?Dz@<) {>i9)y4,d% ?A26@2 @2:`<ٱ23# :AHRS rotation from veh to nav: [[0.369092,0.916796,0.152498],[-0.929291,0.366474,0.045984],[-0.013729,-0.158687,0.987233]]2H`4? eV??Mt?@*?`OĿj?i26@I23`;2jCYBByBD!I HHbDLVDLyV<%VI=ٔZO;Q-Z>9XYX=^Fy\^;E^>`Q 5f5b~?Q 9f5b)bBQ Aj9YhQ Ej\:yjQ Ij@bEIbe ;ib ?b z5ylɮnApRjLtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseKAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse*jKCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJ% %Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRiQiUN ?AJiUm@RiUm@jiU~@bU<|;l:">SͿRUې 쿈%o ݿB3ZiU*biU=jU^@?ZU9*S՘?+Ŏ]?2iUĐ@:iU"iUyEe?*iU`BiU҃BiU?iU<iUxBiUE@iU@checking for new query: numPingsReceived=52, elapsed TxPingTime=25.712769Ա5 addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504172 s, deltaX: 0.400000 m, approachRate: 0.793380 m/s, rangeRepo size: 4  Added new target pos. range: 6.857143 m, bearing: 138.653028 deg, lat: 36.779409 deg, lon: -121.859810 deg, deltaT: 0.504172 s, deltaX: 0.397516 m, approachRate: 0.788453 m/s, posRepo size: 4 BNOT Ignoring new targets: 6.86 m.hh*h"h h!2h)g)f1fafadidqjdu@Zdu 6?:`<) >i9)!% 4%Y  ,p? ?A2@2W@2g<ٱ2w :AHRS rotation from veh to nav: [[0.371719,0.917274,0.142947],[-0.928199,0.369962,0.039680],[-0.016488,-0.147433,0.988935]]2H`=?NZ?L?@γv?P?␿¿ Z?i2@I2%`;0Y^&BybO!I9a]a] a]a] a]a] aeae ieMb@Mb@Mb@aaaa a9e(\?/$/$?Ye>yee9Y=Fy;E>Q 55k?Q 95p)$BQ AT:Y,>Q E:yQ I@EIN;i;|5yɮAiaie"8 ?AJie@Rie@jieOZ@beA.zTB1U|UѿReB96d}nۿ.Zie,bienF=je"/<,m @gj&?Zeƍv~xy7?P?2ie@:ieť"ie}e?*ie秆BieBiaiaie.BieZ@iew@nManaging dock network, ignoring radio surface power off addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.502797 s, deltaX: 0.200000 m, approachRate: 0.397774 m/s, rangeRepo size: 4  Added new target pos. range: 7.055901 m, bearing: 137.288531 deg, lat: 36.779409 deg, lon: -121.859810 deg, deltaT: 0.502797 s, deltaX: 0.198758 m, approachRate: 0.395304 m/s, posRepo size: 4  BNOT Ignoring new targets: 7.06 m.h h *h "h  h2hgfffBddjd`ff@Zd%^?Ze,>checking for new query: numPingsReceived=53, elapsed TxPingTime=26.214762Ze,>ZeW@ZeM@g<) \>ix9)顽l4BaBe"!IBeBBe9 =BaBeVDBe,^;Be#Eԑ- 9 P'@  @ @% /@! Թ E DDAT read: Rx Time:06:07:44.1064 M TRx dataTimestamp_ set to:1761545265.393221U PDAT read: Bearing 283.3, -19.9 (Local) ] ~Local bearing/azimuth received: Bearing 283.3, -19.9 (Local) m DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4  DAT read: 06:07:44.1064 LVL= 26720, 20465, 24962, 32755, AGC= 55, IDX= 511,-0.10, 1.715,-2.431, 2.570, 2.793, PHS=-0.976, 1.104,-0.267, RAW= 310.4, 1.5, CAL= 308.3, -1.7, ROT= 201.7, 1.7  Ygot valid direction response: 06:07:44.1064 LVL= 26720, 20465, 24962, 32755, AGC= 55, IDX= 511,-0.10, 1.715,-2.431, 2.570, 2.793, PHS=-0.976, 1.104,-0.267, RAW= 310.4, 1.5, CAL= 308.3, -1.7, ROT= 201.7, 1.7  T#Rx 54: Read range and direction messages. bdirection in FSK: [-0.928724,-0.369584,-0.029666] Fpublishing direction and range infoyI M q"RC׿ `YM @I M `hM OM a I )I IM #yiM O?M 9M -\@M Pw7w,7P_ ?AB{"@BN@B<ٱBR ZAHRS rotation from veh to nav: [[0.375430,0.917319,0.132583],[-0.926643,0.374513,0.032741],[-0.019620,-0.135150,0.990631]]BH ?Z??@?|à? @L??iB{"@IB_;BlCYdydbD~VD~y % 8=ٔ;Q->9Y=Fy<E>!Q 5U5%%?Q 9U5% )%)BYYy]Q I]@%EI%iX9)顅4ii#!U,F| ?AF?@F9@Fд<ٱF AHRS rotation from veh to nav: [[0.378636,0.917174,0.124201],[-0.925282,0.378305,0.027165],[-0.022071,-0.125206,0.991885]]FH ;? ~Y?˿?@%6?-ћ? ?iF?@IFI:_;DYu)ByuR!IiMb@Mb@Mb@ 9S?K~jtx?Y>y^;$ Ad@ @)Y@ <bD-VD-02y5<%=ٔK;Q->9Y=Fy\;E>Q 55!?Q 95)+BY>Q E:yȱQ I@EI*:iU:o5yɮAiigby ?AJiRiji"@b5 ֱݯ5'IR")])ֆ8<\տ4ZiG3bid<j{!cY6@"'?ZS EH?&?2in@:io"iڅ?*i!BiBiiii@ic@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503410 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 7.354061 m, bearing: 131.723608 deg, lat: 36.779406 deg, lon: -121.859810 deg, deltaT: 0.503410 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.35 m.hh*h"h h2hgfff{BddjdZdQ?9ZE>ZE>ZEW@ZEŝ@Uд<)Q }>i}9)y}5yiyi#BCB(!IBBB8 =BBB];B"EBuCBuCBqBu8 =Bu8 =Cu^5i^A hW<ԙ I I O >k%,ù ?A2oY@2BT@28<ٱ2n :AHRS rotation from veh to nav: [[0.381600,0.916613,0.119176],[-0.924014,0.381644,0.023358],[-0.024073,-0.119034,0.992598]]2H`"l?T?@V?l?1?|y]?i2oY@I2*)_;0Y@yFS!IbDNVDN1yV;%V=ٔV<;Q-V?9XYX=ZFyX^+<E^?`Q 5j5b#?Q 9r5bm)b,BYtyzfQ Iz@bEIbw;ib;bÁ5y~BɮANEeDDAT read: Rx Time:06:07:45.1065 mTRx dataTimestamp_ set to:1761545266.400599uPDAT read: Bearing 243.7, -30.9 (Local) u~Local bearing/azimuth received: Bearing 243.7, -30.9 (Local) DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 DAT read: 06:07:45.1065 LVL= 28912, 21297, 25490, 32755, AGC= 57, IDX= 513,-0.42, 0.111, 2.093, 1.383, 2.045, PHS=-1.832, 0.093,-0.706, RAW= 294.4, 27.3, CAL= 295.7, 33.6, ROT= 214.3, -33.6 Ygot valid direction response: 06:07:45.1065 LVL= 28912, 21297, 25490, 32755, AGC= 57, IDX= 513,-0.42, 0.111, 2.093, 1.383, 2.045, PHS=-1.832, 0.093,-0.706, RAW= 294.4, 27.3, CAL= 295.7, 33.6, ROT= 214.3, -33.6 T#Rx 56: Read range and direction messages.`direction in FSK: [-0.688075,-0.469373,0.553392]Fpublishing direction and range infoyaeyI˒;D4 ޿f )b?Ye@aepe1Sec a)e9Ie~iev=ej4el@e>ei&@ eQ ?)e`o@IeQ aae! M`p4?AX`Y? eB@)eIe"ieQ aachecking for new query: numPingsReceived=56, elapsed TxPingTime=27.490198iaiej ?AJie@Rie@jie@bea &J@ReyI˒;D4 ޿f )b?Zie"bieQ jeOf ! @߹Q@Ze4<*( ?2e7?2ie`@:ie"ie]w"?*ie]BienBiaie秆iaie@ie3@] addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503968 s, deltaX: 0.100000 m, approachRate: 0.198425 m/s, rangeRepo size: 4 m Added new target pos. range: 7.453551 m, bearing: 143.162577 deg, lat: 36.779406 deg, lon: -121.859812 deg, deltaT: 0.503968 s, deltaX: 0.099490 m, approachRate: 0.197414 m/s, posRepo size: 4 mBNOT Ignoring new targets: 7.45 m.hihqq*h"h h2hgfffddjd@Zd?E EE$E"EO:*Ei:VE4ZEBE @]8<)Y ]>i]p9)ae)5aiaim#imj% checking for new query: numPingsReceived=56, elapsed TxPingTime=27.728422 +,і ?A2>n@2i@2<ٱ2 :AHRS rotation from veh to nav: [[0.383931,0.916495,0.112405],[-0.923004,0.384318,0.019071],[-0.025721,-0.111072,0.993479]]2HQ?S?Ƽ? ??k?V@>o`?i2>n@I2_;2nCYN(ByRR!I TTiMb@Mb@Mb@ 9B`"?yt;l A@ @)AY@bDVDyV%8=ٔs;Q->9Y=FyI;E>Q 556'?Q 95)Y >Q E ;y 嬿Q I @EI:i:5yɮAEBNOT Ignoring new targets: 7.45 m.hAhA*hA"hA hI2hIgIfIfIfUkBdQdQjdYZd]b?Z>Z>Zk@Zb֝@<) q>i9)JA5ii#!%T checking for new query: numPingsReceived=57, elapsed TxPingTime=28.230570Q 22,x ?Aɰ4<2@2}@2y<ٱ2ֽ :AHRS rotation from veh to nav: [[0.386257,0.916180,0.106867],[-0.922002,0.386859,0.015886],[-0.026788,-0.104668,0.994146]]2Hn?WQ?[? J?`rD?In@˺ ?i2@I2%_;2kCYDyJQ!I`bAAbDfVDfyn%n]=ٔn<;Q-n>9pYp=rFypv3;Ev>xQ 5~5z*?Q 9~5z)z-BY|y~Q I~@zEIz;iz;zR5y ɮ !A B]>B]ÍCB]"!IB]BB]7 =BYB]WDB]];B]"E addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504425 s, deltaX: 0.200000 m, approachRate: 0.396491 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.45 m.hh*h"h h2hgff f d d jd5@Zd5 ?ZZZZ@1y<) >ik9)  7Y5 iiE#AMm8,@R@R<ٱR*}ɽ ZAHRS rotation from veh to nav: [[0.388865,0.915730,0.101102],[-0.920887,0.389611,0.013074],[-0.027418,-0.098188,0.994790]]RH)?M??`w c?Ɗ?v@" R?iR>@IR^;RlCYb#ByfL!IbDlVDlyvʥ%vI=ٔv:Q-v>9xYx=zFyx~9;E~>Q 5 5*-?Q 9 5F )Y y AQ I @EI6:i:5y͖BɮJAii( ?AJik@Rik@ji@bEHbh- iU-9a/#PBj̿R֬C'BHZտ|p}ZiG3bi<jꌆu8s@)]?Z:d;Sp?cqЏ?2i@:i"i$i?*iMBiBiiMiBi#@i]\@m addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503700 s, deltaX: 0.300000 m, approachRate: 0.595593 m/s, rangeRepo size: 4 } Added new target pos. range: 7.950564 m, bearing: 132.463393 deg, lat: 36.779406 deg, lon: -121.859812 deg, deltaT: 1.008125 s, deltaX: 0.497013 m, approachRate: 0.493007 m/s, posRepo size: 4 }BNOT Ignoring new targets: 7.95 m.hh*h"h h2hgfffddjd @Zd s?ZZZZ_@<) [>i9)To5ii#  DDAT read: Rx Time:06:07:46.6068  TRx dataTimestamp_ set to:1761545267.912685 PDAT read: Bearing 282.2, -18.4 (Local)  ~Local bearing/azimuth received: Bearing 282.2, -18.4 (Local)  DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.3  DAT read: 06:07:46.6068 LVL= 32752, 27761, 29042, 32755, AGC= 62, IDX= 499, 0.18,-0.725, 1.417, 0.086, 0.363, PHS=-0.986, 1.099,-0.321, RAW= 311.8, 2.3, CAL= 309.5, -0.8, ROT= 200.5, 0.8  Ygot valid direction response: 06:07:46.6068 LVL= 32752, 27761, 29042, 32755, AGC= 62, IDX= 499, 0.18,-0.725, 1.417, 0.086, 0.363, PHS=-0.986, 1.099,-0.321, RAW= 311.8, 2.3, CAL= 309.5, -0.8, ROT= 200.5, 0.8  T#Rx 59: Read range and direction messages. bdirection in FSK: [-0.936581,-0.350173,-0.013962] Fpublishing direction and range infoy   xGDI j|i ? X$@ l$= ۬@ d) _@I d< ]dZELB?S,ʿ e? -;) e3#I )2i d<  checking for new query: numPingsReceived=59, elapsed TxPingTime=29.002598E  E E "E "E :*E x:VE (3ZE a- @a- @a- @a- @>,( ?AB,@B@B<ٱBȽ NAHRS rotation from veh to nav: [[0.388748,0.915863,0.100348],[-0.920946,0.389471,0.013089],[-0.027095,-0.097503,0.994866]]BH?? N?b?cx?`Ί??iB,@IB^;@\Y~By~E!II<)4yhA@ @)AY@bD%VD%kyuԼ%u(=ٔ}-Q-}>9yYy=}FyyE>Q 550?Q 95O%)Y{>Q E;yQ I@EI:i:=5yՖBɮAiini ?AJiRiji@bEjR xGDZ {>Z W@Z @<) >iM9)AE@5AiAiM#IMMKBaBe!IBeBBe6 =BaBaBei];Be"EI ^A m<I I O >HE, ?AF@F@F8<ٱFǽ RAHRS rotation from veh to nav: [[0.388481,0.916019,0.099956],[-0.921072,0.389163,0.013388],[-0.026635,-0.097267,0.994902]]FH?P?@?`ky@ ?Nk? =F渿`i9)顝5ii#gԱ K,1 ?Ar@rʂ@r3<ٱrŽ AHRS rotation from veh to nav: [[0.386826,0.916877,0.098499],[-0.921792,0.387448,0.013508],[-0.025779,-0.096021,0.995045]]rH ?W??7?R?ҩ?e`Ӕi?ir@IrA`;rjCY-By-?!IqiUMb@Mb@Mb@QQQQ Q9Up= ף?V-Mb?YU>yQU9Y=FyE>Q 55t6?Q 950-).BY|>Q E;y-Q I@EI:i:5yɮABNOT Ignoring new targets: 8.25 m.hh*h"h hg!f!f!f-LBd)d)jd1Zd5@W?Z|>Z|>Z9@Z^ĝ@3<) >i39)ޟ5ii#]  checking for new query: numPingsReceived=61, elapsed TxPingTime=30.246603(R,K ?A>_~@>3y@>P<ٱ>~MŽ FAHRS rotation from veh to nav: [[0.385752,0.917337,0.098431],[-0.922258,0.386324,0.013949],[-0.025231,-0.096160,0.995046]]>H(?Z?2?@"?@?@֙띸j?i>_~@I>b`;>iCB~>B|B~!IB~BB~7 =B|B|B~];B~"EYBy9!I bDVD2yϵ%7=ٔQ->9Y=Fy+E>Q 5 59?Q 9 51)/BY yTQ I@EI:ig:5yߖBɮYAXEii; ?AJiARiAjiak@bsV@^n&ۿR=߂ Qe{տ|rQ穿Zi¸2bi4QO=j! #x@pO7Lm?ZNl忝h s?(L9Sy?2i@:i"i[?*i ŐBi.Bie?iJ~iBiAi@m addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.505195 s, deltaX: 0.099999 m, approachRate: 0.197942 m/s, rangeRepo size: 4  Added new target pos. range: 8.348070 m, bearing: 132.871996 deg, lat: 36.779405 deg, lon: -121.859815 deg, deltaT: 0.505195 s, deltaX: 0.099325 m, approachRate: 0.196608 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.35 m.hh!*h!"h! h!g!f!f)f)d)d)jd5 @Zd5v?ZZZZϺ@P<)  >i }9)  5 i i#WׯE EE#E"E>:*Eą:VE3ZEBEF |||~Di|iiA) IY Yy!%@AbD-VD-ٔ=Q-= ?99YA=EFyAEEE ?IQ 5U5M;?Q 9U5M4)M0BYYyYQ I]@MEIM9:iM:M5yaɮaaii>[ ?AJiV ARiV Aji-@b@ pGg4NڿRP7#ԗտP7VZi2biA=j2/ o?n@Mw ?ZK忸N>k^?]3?2iw@:ix"iOA0N?*i|ҞBi>Bi[?iiBiAiP@ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503674 s, deltaX: 0.300000 m, approachRate: 0.595624 m/s, rangeRepo size: 4  Added new target pos. range: 8.646216 m, bearing: 132.656530 deg, lat: 36.779404 deg, lon: -121.859815 deg, deltaT: 0.503674 s, deltaX: 0.298146 m, approachRate: 0.591943 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.65 m.hh*h"h hgfffddjd`ff!@Zd`?ZZZZ) i9)5ii%#!%ԡe DDAT read: Rx Time:06:07:48.6073 e TRx dataTimestamp_ set to:1761545269.928709m PDAT read: Bearing 284.0, -17.1 (Local) u ~Local bearing/azimuth received: Bearing 284.0, -17.1 (Local)  DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.2  DAT read: 06:07:48.6073 LVL= 32752, 20401, 28082, 32755, AGC= 63, IDX= 504, 0.33, 2.395,-1.765,-3.113,-2.876, PHS=-0.911, 1.156,-0.282, RAW= 312.7, 0.4, CAL= 310.8, -2.7, ROT= 199.2, 2.7  Ygot valid direction response: 06:07:48.6073 LVL= 32752, 20401, 28082, 32755, AGC= 63, IDX= 504, 0.33, 2.395,-1.765,-3.113,-2.876, PHS=-0.911, 1.156,-0.282, RAW= 312.7, 0.4, CAL= 310.8, -2.7, ROT= 199.2, 2.7  T#Rx 63: Read range and direction messages. bdirection in FSK: [-0.943328,-0.328501,-0.047106] Fpublishing direction and range infoya e )8A/ +տP7VYa a e e Oe m e )a Ie L7iie ?e Nbe @a e ^@ a )e /^@Ia a a e mMT6s>6̿0oj9 2}? e :)e Ie 3ia a a  checking for new query: numPingsReceived=63, elapsed TxPingTime=31.018560E  E E &E "E m:*E i:VE 4ZE a @a @a @a @ _,s ?A2l@2cg@2 <ٱ2PrĽ :AHRS rotation from veh to nav: [[0.383759,0.918269,0.097528],[-0.923127,0.384207,0.014895],[-0.023793,-0.095747,0.995121]]2H?tb??@ږ?P?J]?i2l@I2V^;2jCY~ByC!IiMb@Mb@Mb@ 9ʡE?~jt rh?Y>yC<A@ @)^AY@bDVDNy<%<ٔYKQ->9Y=Fy™E%>!Q 555%X>?Q 955%9)%4BY5>Q E5;y=ͱQ I=@%EI%f;i%{;%5yIɮUAQiio{ ?AJiRiji'_@bn O }n4NڿR)8A/ +տP7VZi3bijm8!(B@8&?ZA]b١?/Ͻo|?2i@:i"itW?*iBi;BitW?i|Ҟi>Bi^ AiU@ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.646216 m, bearing: 131.933993 deg, lat: 36.779403 deg, lon: -121.859815 deg, deltaT: 0.503007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.65 m.hh*h"h hgff!f%_BdAdAjdIZdMM?Z>Z>Z@Z@ <) q>i99)顽95ii#ĴB CB !IB BB B B VDB ];B "E1 ^A} 8<I I O >Q O f,U ?A2e@2`@2<ٱ2Pý :AHRS rotation from veh to nav: [[0.382993,0.918635,0.097092],[-0.923460,0.383390,0.015282],[-0.023186,-0.095513,0.995158]]2H?te?`ڸ?`t? L?򽗿sU?i2e@I2K^;2iCiI%DDAT read: Rx Time:06:07:49.1074 %TRx dataTimestamp_ set to:1761545270.4328265PDAT read: Bearing 284.0, -16.5 (Local) 5~Local bearing/azimuth received: Bearing 284.0, -16.5 (Local) EDAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.2 eDAT read: 06:07:49.1074 LVL= 31136, 22385, 30066, 32755, AGC= 62, IDX= 506,-0.35, 0.731, 2.845, 1.483, 1.730, PHS=-0.897, 1.159,-0.291, RAW= 313.3, 0.3, CAL= 311.4, -2.8, ROT= 198.6, 2.8 uYgot valid direction response: 06:07:49.1074 LVL= 31136, 22385, 30066, 32755, AGC= 62, IDX= 506,-0.35, 0.731, 2.845, 1.483, 1.730, PHS=-0.897, 1.159,-0.291, RAW= 313.3, 0.3, CAL= 311.4, -2.8, ROT= 198.6, 2.8 uT#Rx 64: Read range and direction messages.}bdirection in FSK: [-0.946637,-0.318579,-0.048850]}Fpublishing direction and range infoy!%OoJ8bcԿs!DY%fA!%y%qW%ru !)%>I%ˡei%Z?%%@%;%'@ %+H)%]@I%+H=!!%G^#EOԽͿ;v? %+:)%I%I4i%+H=!!checking for new query: numPingsReceived=64, elapsed TxPingTime=31.522434YBy6!II%=)C=bDVDyfa%]=ٔ׺Q->9Y=Fy vE >Q 55O@?Q 95m<)7BYy%鱿Q I%@EI:i[:5y)ɮ-mA)i!i%l ?AJi% ARi% Aji%@b%+ D4֊> ۿR%OoJ8bcԿs!DZi%I4bi%+H=j%/SY*^2כ@h ?Z%]y1Z忛 ?k'n?2i%@:i%ʺ"i%}kT?*i%-Bi%#Bi%}kT?i%-i%;Bi% Ai%@bE53jE5‹3rE5./E EE#E"E:*E:VE3ZEBEi9)s5ii#g8y<A@ @)Y @ԁbD=VD=yw%=ٔQ->9Y=FyEEE>IQ 55MB?Q 95MuA)M=BY>Q E;y Q I@MEIM Z>Z@Z @) >iH9)5ii# B CB B B 9 =B B B ];B "E BÍCBBB7 =B7 =CT5^A <I I) O5 >,t,# ?A>[[@>/V@><ٱ>a½ JAHRS rotation from veh to nav: [[0.381833,0.919203,0.096280],[-0.923963,0.382156,0.015793],[-0.022277,-0.094989,0.995229]]>Ho?j?Υ?``?u?+? ϖ`8Q?i>[[@I>];>kCYRByR3!IbDZVDZybN&<%b=ٔf~HQ-f?h9hYh=jFyhnyEn?pQ 5v5rKD?Q 9v5rC)r@BYxyz6Q Iz@rEIrd;ir;rg5y|ɮ~A|BNOT Ignoring new targets: 8.94 m.hh*h"h hgfffddjdZd (?ZZZZ&@M<)I M>iM9)IM5QiQiU#Y]FBԿs!DY-A)-Pr-qN-j -3|)-?I-'1hi-z?-둾)-;-@ -+H)-H^@I-+H=))-/i ̿* :y? -֙:)-ɻI-3i-+H=))checking for new query: numPingsReceived=66, elapsed TxPingTime=32.561138E EEE"E:*E&p:VEZEBEm%Q  checking for new query: numPingsReceived=66, elapsed TxPingTime=32.766457z,(D ?AA5"W@5Q@5 )<ٱ5L½ AHRS rotation from veh to nav: [[0.381359,0.919410,0.096183],[-0.924165,0.381657,0.016008],[-0.021990,-0.094994,0.995235]]5H0h?k?k?@Òm?d?Q?i5"W@I5i];5mCYeBym5!I bD% VD%2y<%%=ٔ'Q->9Y=FyE>Q 55F?Q 958H)EBYyGQ I@EI:i:5yɮtAiaieT5 ?AJieARieAjiev@beot!9ˎ :wܿReYgp8 >BԿs!DZie3bie+H=je| @`xƜ?ZeN0E >~-?Psqth?2ie0@:ieS"ieA?*ieCjBieBiessN?iaie#BiekAie@ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504216 s, deltaX: 0.300000 m, approachRate: 0.594983 m/s, rangeRepo size: 4 - Added new target pos. range: 9.242280 m, bearing: 131.592361 deg, lat: 36.779402 deg, lon: -121.859816 deg, deltaT: 0.504216 s, deltaX: 0.298008 m, approachRate: 0.591032 m/s, posRepo size: 4 -BNOT Ignoring new targets: 9.24 m.h)h1*h1"h1 h1g1f1f9f9d9d9jd="@ZdE?iZaZaZaZe@} )<)y }>i}9)顅5ii#I D,q?A2+T@2N@2O<ٱ25½ :AHRS rotation from veh to nav: [[0.381027,0.919558,0.096085],[-0.924308,0.381305,0.016174],[-0.021765,-0.094975,0.995242]]2H`b?`m?? `Lg?提? I FP ?i2+T@I2ke];2lCYNByR)!IieMb@Mb@Mb@aaaa a9eL7A`?MbX9:v?Ye+>yeʡel%s=ٔ/Q-?9Y=FyԙaE?Q 55fG?Q 95J)JBY>Q E?;y⺿Q I@EIj:i ; 5yɮAiqiu(| ?AJiqRiqjiul@buf`/w!Z>Z@ZOW@O<) {>i9)5ii#˨BCBBBBBWDB];B"E9@ @@/@^AI IQ Ii Ou >M DDAT read: Rx Time:06:07:51.1079 U TRx dataTimestamp_ set to:1761545272.448669] PDAT read: Bearing 283.4, -17.3 (Local) ] ~Local bearing/azimuth received: Bearing 283.4, -17.3 (Local) u DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.1  DAT read: 06:07:51.1079 LVL= 31392, 21617, 29298, 32755, AGC= 64, IDX= 510, 0.12,-2.438,-0.323,-1.669,-1.425, PHS=-0.912, 1.146,-0.289, RAW= 312.8, 0.6, CAL= 310.9, -2.5, ROT= 199.1, 2.5  Ygot valid direction response: 06:07:51.1079 LVL= 31392, 21617, 29298, 32755, AGC= 64, IDX= 510, 0.12,-2.438,-0.323,-1.669,-1.425, PHS=-0.912, 1.146,-0.289, RAW= 312.8, 0.6, CAL= 310.9, -2.5, ROT= 199.1, 2.5  T#Rx 68: Read range and direction messages. bdirection in FSK: [-0.944050,-0.326906,-0.043619] Fpublishing direction and range infoyQ U A;JZ5  ԿGUYU AQ U zU qTU rr Q )U @IU xiiU !?U U R@U +9Y=FySE>1Q 5=55yH?Q 9=55M)5PBYAyEQ IE@5EI5:i5:5᜛5yIɮMAIii?AJiARiAji@b>=C݁"^RڿRA;JZ5  ԿGUZi3bi¸2=j曤JU@G@յ͒?Z%c> #p?`:Kx}?2iR@:i"i12?*i(Bi$BicЈC?i(iiAi@ addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503591 s, deltaX: 0.300000 m, approachRate: 0.595722 m/s, rangeRepo size: 4   Added new target pos. range: 9.540654 m, bearing: 131.593288 deg, lat: 36.779401 deg, lon: -121.859817 deg, deltaT: 0.503591 s, deltaX: 0.298374 m, approachRate: 0.592493 m/s, posRepo size: 4 =BNOT Ignoring new targets: 9.54 m.h9hA*hA"hA hAgAfAfIfIdQdQjdU@33#@ZdU@w?ZZZZN@ծ<) >i89)6ii#zH !,:?A DDAT read: Rx Time:06:07:51.6079  TRx dataTimestamp_ set to:1761545272.952570PDAT read: Bearing 283.4, -17.2 (Local) ~Local bearing/azimuth received: Bearing 283.4, -17.2 (Local) -DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.3 MDAT read: 06:07:51.6079 LVL= 31776, 22305, 30050, 32755, AGC= 65, IDX= 510, 0.21, 2.422,-1.763,-3.101,-2.857, PHS=-0.901, 1.140,-0.287, RAW= 312.9, 0.5, CAL= 311.0, -2.6, ROT= 199.0, 2.6 UYgot valid direction response: 06:07:51.6079 LVL= 31776, 22305, 30050, 32755, AGC= 65, IDX= 510, 0.21, 2.422,-1.763,-3.101,-2.857, PHS=-0.901, 1.140,-0.287, RAW= 312.9, 0.5, CAL= 311.0, -2.6, ROT= 199.0, 2.6 UT#Rx 69: Read range and direction messages.ebdirection in FSK: [-0.944545,-0.325233,-0.045363]eFpublishing direction and range infoy  7Kֶ9Կ99Y    | !W bu ) AI fi ? 񒾩 @ 5< @ 9) H^@I 9=   tC$>/o͐̿'{Q|)? I:) uLI 3i 9=  }checking for new query: numPingsReceived=69, elapsed TxPingTime=34.042221YBy!II)===E EEE"ED:*E:VEZEa@a@a@a@ԱiMb@Mb@Mb@ 9\(\?I +I +?Yz>y99<l A@ @)AYQAbDVD1y5%5*=ٔ=Q-=>99YA=EFyAEEe>iQ 5u5m I?Q 9u5mP)mVBY}…>Q E}K;y} ¿Q I}@mEIm:im:m5yBɮAaEi i <?AJi Ri ji @b c"xy{8߲ۿR 7Kֶ9Կ99Zi 3bi 9=j IE@f?Z ;]M4 J/?hHu?2i @:i M"i NN4?*i UBi Bi A?i Cji Bi 2Ai \@= addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503901 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 9.540654 m, bearing: 131.501834 deg, lat: 36.779401 deg, lon: -121.859817 deg, deltaT: 0.503901 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.54 m.hh*h"h hgfffhBddjdZd?Z…>Z…>Z@Z+@) \>i 9)9=69iAiE#IMl)B čCB !IB BB 7 =B B XDB ^;B "E^A <I! 9 I9 OE >Z,ST?A2G@2B@2<ٱ2 :AHRS rotation from veh to nav: [[0.379657,0.920380,0.093602],[-0.924892,0.379894,0.015970],[-0.020861,-0.092635,0.995482]]2H KL?s?`L?-P?@_Z?x\@鶷@?i2G@I2T];2kCYBByF !IbDNVDN3yVp%V=ٔZۺQ-Z?9XYX=ZFy\^E^?`Q 5f5baI?Q 9f5bR)bZBYdyj ¿Q Ij@bEIb^;ib;b25ylɮnAlBNOT Ignoring new targets: 9.54 m.hh *h "h  h g f ffddjdZdT?Z9Z9Z9Z=@<) >i9)5 6ii#y k> C G liA = R9= liAY= E@A checking for new query: numPingsReceived=70, elapsed TxPingTime=34.783310W ,VJn?A0 B@ =@ M<ٱ Ž %AHRS rotation from veh to nav: [[0.379075,0.920648,0.093318],[-0.925141,0.379273,0.016298],[-0.020388,-0.092511,0.995503]] HB?u??F?@v?ʮ)?i B@I GT]; Y5By5!IbDM VDM:2y]%]A=ٔ]Q-]>9iYi=uFyqE>Q 55I?Q 95U)_BYy6¿Q I@EI ;i ;5yɮ Au addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504255 s, deltaX: 0.299999 m, approachRate: 0.594936 m/s, rangeRepo size: 4 }BNOT Ignoring new targets: 9.54 m.hh*h"h hgfffddjd#@ZdyV?ԑZZZZE@%M<)9 =R>i=9)AE6AiAiM#IM!d,"?A\Y~By~ I iMb@Mb@Mb@ 9Pn?B`"۹Mb?Y>yν< @)^AYbDVDyӼ%C=ٔQ->9Y=FyE>Q 55J?Q 95X)bBY>Q E?;y}ƿQ I@EI:if:ࣛ5yɮ2 A- addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503414 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -BNOT Ignoring new targets: 9.54 m.h)h1*h1"h1 h1g1f1f9f=TBd9dAjdAZdE?Ze>Ze>Ze$@Zeup@y)y }\>i}9)y}6ii#L+BmōCBm IBm݂BBm6 =BiBmYDBm%^;Bm#Eu9@q @y@}/@y^A<IIO>U DDAT read: Rx Time:06:07:53.1082 U TRx dataTimestamp_ set to:1761545274.464700] PDAT read: Bearing 284.6, -17.0 (Local) e ~Local bearing/azimuth received: Bearing 284.6, -17.0 (Local) u DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.3  DAT read: 06:07:53.1082 LVL= 32752, 21985, 32754, 32755, AGC= 64, IDX= 513, 0.17, 1.293,-2.786, 2.083, 2.298, PHS=-0.904, 1.244,-0.259, RAW= 313.0, -0.9, CAL= 311.3, -4.1, ROT= 198.7, 4.1  Ygot valid direction response: 06:07:53.1082 LVL= 32752, 21985, 32754, 32755, AGC= 64, IDX= 513, 0.17, 1.293,-2.786, 2.083, 2.298, PHS=-0.904, 1.244,-0.259, RAW= 313.0, -0.9, CAL= 311.3, -4.1, ROT= 198.7, 4.1  T#Rx 72: Read range and direction messages. bdirection in FSK: [-0.944786,-0.319792,-0.071497] Fpublishing direction and range infoyQ U |Ο7;dzwԿ MYU !AQ U U UU  Q )U @IU lgiU d;?U U Ϯ@U U ܭ@ U C)U 5]@IU C=Q Q U p-""̿ς U W:)U mu9IYI=MFyIMEu>yQ 5}5}@J?Q 95}[)}eBYyƿQ I@}EI}:i}:}5yɮ Aiyi}?AJi} ARi} Aji}ow@b})"iL> SaUR}|Ο7;dzwԿ MZi},4bi}C=j}F;f?%<@ ϿZ}o 忶w?T]2i}@:i}1"i}?*i}\]Bi}UBi}NN4?i}iyi}Ai}@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504461 s, deltaX: 0.200001 m, approachRate: 0.396464 m/s, rangeRepo size: 4  Added new target pos. range: 10.038011 m, bearing: 131.123659 deg, lat: 36.779399 deg, lon: -121.859818 deg, deltaT: 1.512130 s, deltaX: 0.497356 m, approachRate: 0.328911 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.04 m.hh*h"h hgfffddjd@33$@Zd?ZZZZ(]@MO<)I U>iU9)QU;6QiQi]#Y]` D,ػ?A2\(@20#@2q<ٱ2 :AHRS rotation from veh to nav: [[0.376111,0.922374,0.088131],[-0.926412,0.376120,0.017135],[-0.017342,-0.088090,0.995962]]2H2?`??+Z??3‘?i2\(@I2iU];2jCDDAT read: Rx Time:06:07:53.6082  TRx dataTimestamp_ set to:1761545274.968271DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.1 Z#Rx 73: Read range message, but no direction.yYchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.046051Eu EuEu$Eq"Eu;*Eu:VEu4ZEqa}@a}@a}@a}@YǂBy IiMb@Mb@Mb@ 9S㥛?S㥻~jth?Y$>y/ݽD;A/@ @)YzAbD VD2yO%(=ٔQ->9Y=FyE>Q 558J?Q 95_)fBY>Q E;;ymɿQ I@EIa:i:է5yɮ!A!5 addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503571 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 10.04 m.h9h9*h9"h9 h9g9f9ff=BddjdZd {?Z>Z>Zی@Zq@q<) >>i9)6ii#"*VBa Be IBe ĂBBe 5 =Ba Ba Be )^;Be #Ey ^A jZX<I I O >a,?A2d@28@2Ɠ<ٱ2w NAHRS rotation from veh to nav: [[0.374878,0.923097,0.085781],[-0.926935,0.374817,0.017432],[-0.016061,-0.086048,0.996162]]2H`???s?ّ?`Jr9 ?i2d@I2w];2iC P)RkARPTTVkAiVCITXIXiZr@ XX)\\ ^kA^\\`bkAIb)`i`)dIdfd dhhhihhYhYnByr IIv<)v;v=v=bDzVDzy.%=ٔ ܎Q- ?9Y=Fy E?Q 5%50J?Q 9-5a)hBY)y5ɿQ I5@EIv";i#;5y9ɮ=D!A9eDNOT Ignoring new targets: 10.04 m.hihi*hi"hi higifqfqfqdqdyjdyZd}?ZZZZ@Ɠ<) ԃ>ip9)顽U6ii#BA] checking for new query: numPingsReceived=74, elapsed TxPingTime=36.799065q 4,f?A@ @4u<ٱ篽 AHRS rotation from veh to nav: [[0.373479,0.923723,0.085145],[-0.927518,0.373335,0.018211],[-0.014966,-0.085775,0.996202]]H?@#? ̵? :?@祒?IU`?i@Iy];lCY5By5 IQ p<<bDVD0y])%]*=ٔzQ->9Y=FyIE>Q 55J?Q 95^e)jBYyɿQ I@ EIj;iϺ;F5yɮ!Aii-B?AJia%ARia%Aji@b0޴#6 izGH)пRRN'|[+ҿ{JZi6bi+<jnۧ֟- @Ρe?Z.@㿳N>[& ?"Xh?2imA:i"i4 ,?*ixBiBi12?ii Bi"Ai@e addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504518 s, deltaX: 0.299999 m, approachRate: 0.594625 m/s, rangeRepo size: 4 u Added new target pos. range: 10.336237 m, bearing: 128.492302 deg, lat: 36.779399 deg, lon: -121.859818 deg, deltaT: 1.008089 s, deltaX: 0.298226 m, approachRate: 0.295833 m/s, posRepo size: 4 uDNOT Ignoring new targets: 10.34 m.hyhy*hy"hy hygyfffddjd$@Zd ?ZZZZ@4u<) Ns>iu9)#6ii#/ Dm,- ?AYEByM IiMb@Mb@Mb@ 9Q?S㥻Y\>yVA@ )AYQAbDVDβyD%e=ٔQ->9Y=FyE? Q 55checking for new query: numPingsReceived=75, elapsed TxPingTime=37.302689 BJ?Q 9%5 h) kBY%>Q E%0;y%ǿQ I%@  EI n;i l; Ƭ5y1ɮ5"A1ii?AJiRiji;<@bU#<4տRe3*mO#пB3Zi7bi=jq@&Nwټo @)E?ZDh㿡5+b`q?܅lvp?2i}A:i"i/>:?*iBiBii(iBi3%Ai@AAAAAAԹBBƍCB IBBBBBB6^;B#EBuōC addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.505947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BučCBu”CBu6 =BqCuW5m Added new target pos. range: 10.336237 m, bearing: 127.335643 deg, lat: 36.779399 deg, lon: -121.859817 deg, deltaT: 0.505947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 10.34 m.hihq*hq"h hgfffBddjdZd !?Z>Z>Z H@ZEO@) \>i9))(6ii#up2E  E E &E "E ;*E v:VE 4ZE BE R9qYq=uFyE>Q 55kJ?Q 959k)lBYyQ I@EI6:ip:5yɮ!Ai i ?AJi &*ARi &*Aji n @b 8a:$lo5ӿR ea`[1L п|p}Zi 8bi <j f?^Y:!@Dq`?Z хxɝ9?1?2i A:i "i 3?*i JBi ׂBi 3?i xi ׂBi I'Ai ?@ addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503019 s, deltaX: 0.300000 m, approachRate: 0.596399 m/s, rangeRepo size: 4  Added new target pos. range: 10.634415 m, bearing: 126.614454 deg, lat: 36.779399 deg, lon: -121.859816 deg, deltaT: 0.503019 s, deltaX: 0.298178 m, approachRate: 0.592776 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.63 m.hh*h"h hgfffdd!jd-`ff%@Zd5`?ZZZZ-checking for new query: numPingsReceived=76, elapsed TxPingTime=37.807297)1 5W>i=(9)9顅,6ii#!)I)AIY}9@y @y@ 0@q ԙ  DDAT read: Rx Time:06:07:55.6085  TRx dataTimestamp_ set to:1761545276.984651 PDAT read: Bearing 281.7, -11.9 (Local)  ~Local bearing/azimuth received: Bearing 281.7, -11.9 (Local)  DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 % DAT read: 06:07:55.6085 LVL= 32752, 23217, 32754, 32755, AGC= 64, IDX= 501,-0.03, 0.609, 2.544, 1.134, 1.484, PHS=-0.772, 1.106,-0.393, RAW= 319.0, 0.7, CAL= 317.3, -2.3, ROT= 192.7, 2.3 - Ygot valid direction response: 06:07:55.6085 LVL= 32752, 23217, 32754, 32755, AGC= 64, IDX= 501,-0.03, 0.609, 2.544, 1.134, 1.484, PHS=-0.772, 1.106,-0.393, RAW= 319.0, 0.7, CAL= 317.3, -2.3, ROT= 192.7, 2.3 - T#Rx 77: Read range and direction messages.5 bdirection in FSK: [-0.974749,-0.219669,-0.040132]= Fpublishing direction and range infoy  h'$11̿.='Y Z ) @I ˡEi h? L7ɾ )@ +H< 6@ l$) z?W@I l$= ٙC>#AZ".Կ_VHIՈ? 3) FI ;:i l$= U checking for new query: numPingsReceived=77, elapsed TxPingTime=38.074406^AY Iy I O >J!,@?ADlzDnAAEU EUEU"EQ"EU;*EU:VEU(3ZEQa]@a]@a]@a]@YBy I)iMb@Mb@Mb@ 9}?5^I?"~jYM>yS㽙 A/@ )^AYAAAbDVDβy ##% =ٔ Q->9Y=FyE>AQ 5M5EK?Q 9M5Eo)EmBYM>Q EM;yUÿQ IU@EEIE:iE:EͰ5yyɮ}P"Ayii??AJiRiji` @bT$e9;9,UPۿRh'$11̿.='Zi;:bil$=jB56C+"x!@[UԱZlj@-vH?z2i A:i"iLK?*iYBi|BiiiBi)Ai @  addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.502896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 10.634415 m, bearing: 124.777458 deg, lat: 36.779399 deg, lon: -121.859816 deg, deltaT: 0.502896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EDNOT Ignoring new targets: 10.63 m.hAhA*hA"hA hAgAfIfIfMBdIdQjdQYZdUT?Z>Z>ZH@ZN@) >i9)-16ii#II checking for new query: numPingsReceived=77, elapsed TxPingTime=38.311352B}>ByB} IB}BB}6 =ByByB}H^;B}##E 9@ @@0@ԉ ^AQ IY Iq O} >_,Z?A2ћ@2̢@2< <ٱ2aɤ :AHRS rotation from veh to nav: [[0.366362,0.927225,0.077663],[-0.930439,0.365777,0.022142],[-0.007877,-0.080373,0.996734]]2Hzr?ԫ?@?'h?`s?!@R@>?i2ћ@I2[^;2jCYBByF IbDNVDNk1yV%V=ٔV¼Q-Z?9XYX=ZFyX^ӼE^?`Q 5f5brK?Q 9f5bpr)bnBYdyfĿQ If@bEIb;ib;b5ynBɮn"AnkEDNOT Ignoring new targets: 10.63 m.hh *h "h  h g f ffddjdZd 3?Z9Z9Z9Z=Y@M< <)I Ux>iU:9)QUV46QiQi]#Y]*b;IY-DDAT read: Rx Time:06:07:56.1087 5TRx dataTimestamp_ set to:1761545277.488693=PDAT read: Bearing 281.2, -10.6 (Local) =~Local bearing/azimuth received: Bearing 281.2, -10.6 (Local) MDAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.2 uDAT read: 06:07:56.1087 LVL= 32752, 22833, 32754, 32755, AGC= 64, IDX= 503,-0.02, 1.744,-2.632, 2.217, 2.600, PHS=-0.754, 1.097,-0.426, RAW= 320.5, 1.0, CAL= 318.8, -2.0, ROT= 191.2, 2.0 }Ygot valid direction response: 06:07:56.1087 LVL= 32752, 22833, 32754, 32755, AGC= 64, IDX= 503,-0.02, 1.744,-2.632, 2.217, 2.600, PHS=-0.754, 1.097,-0.426, RAW= 320.5, 1.0, CAL= 318.8, -2.0, ROT= 191.2, 2.0 T#Rx 78: Read range and direction messages.bdirection in FSK: [-0.980358,-0.194116,-0.034899]Fpublishing direction and range infoy)-_ᅢ%ȿXޡY-0A))-1Y) )))I-%Ai-j?-ھ-?@-5<-/ @ -5)-U@I-5=))-E yYֿ? -N:2)-I-) checking for new query: numPingsReceived=78, elapsed TxPingTime=38.814651! ,jlt?AFY@F-@Fm;ٱFx RAHRS rotation from veh to nav: [[0.364253,0.928136,0.076699],[-0.931281,0.363534,0.023634],[-0.005947,-0.080038,0.996774]]FHO?J?? $D?3?@[x`Y}?iFY@IFf_;FiC-ZBattery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-^Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-bBattery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.-nBattery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-vBattery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.--Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-EBattery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-UBattery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.eCalculating totals. Valid battery stick count: 30. Valid reserve battery stick count: 1.VĽH)VkATTɶVA]%Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 32, 33, 34, 37, 39, 44, 47, 54, 58, 62.Y5By5 II==)=y½<VA\@ @)AYA <bDVDN2uDDAT read: Rx Time:06:07:56.6087 }TRx dataTimestamp_ set to:1761545277.997744PDAT read: Bearing 280.8, -9.7 (Local) ~Local bearing/azimuth received: Bearing 280.8, -9.7 (Local) DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.3 DAT read: 06:07:56.6087 LVL= 32752, 23329, 32754, 32755, AGC= 65, IDX= 503,-0.00, 0.847, 2.735, 1.285, 1.692, PHS=-0.743, 1.088,-0.450, RAW= 321.5, 1.2, CAL= 319.8, -1.7, ROT= 190.2, 1.7 y:<%=ٔp^Q->9Y=FylE>-Ygot valid direction response: 06:07:56.6087 LVL= 32752, 23329, 32754, 32755, AGC= 65, IDX= 503,-0.00, 0.847, 2.735, 1.285, 1.692, PHS=-0.743, 1.088,-0.450, RAW= 321.5, 1.2, CAL= 319.8, -1.7, ROT= 190.2, 1.7 5T#Rx 79: Read range and direction messages.AQ 5M5L?Q 9U5Lw)rBYU>Q EU#;yUQ IU@EILiuC?uff澩u:@u:?iuJiqiu/Aiub @ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 1.013093 s, deltaX: 0.300000 m, approachRate: 0.296123 m/s, rangeRepo size: 4  Added new target pos. range: 10.932581 m, bearing: 121.663133 deg, lat: 36.779400 deg, lon: -121.859814 deg, deltaT: 1.013093 s, deltaX: 0.298166 m, approachRate: 0.294313 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.93 m.hh*h"h hgfffBddjd&@Zd;?ZE>ZE>ZE׋@ZEM@um;)q u>iu9)y}96yiyi#6/;IIi e 9@a  @a @m 3@i ԙ  checking for new query: numPingsReceived=79, elapsed TxPingTime=39.321812BU >BQ BU IBU BBQ BQ BQ BU w^;BU ;#E^AM*:;IyIO>N,V?A@㧢@fu;ٱ AHRS rotation from veh to nav: [[0.362177,0.929047,0.075500],[-0.932101,0.361324,0.025144],[-0.003920,-0.079480,0.996829]]H-?@?S??`G?pX`?i@I _;kCY-By- IbD=VD=:yκ=%c=ٔyQ- >9 Y = Fy _̻E>Q 5E5hM?Q 9E5Tz)uBYAyESQ IM@EI;i:%5yQɮU"AQDNOT Ignoring new targets: 10.93 m.hh*h"h hgfffd d jd Zd ?ZIZIZIZM:@fu;) >i9)額=6ii#T:II1I@I @I@M/@IDDAT read: Rx Time:06:07:57.1088 TRx dataTimestamp_ set to:1761545278.497579 PDAT read: Bearing 281.5, -8.0 (Local)  ~Local bearing/azimuth received: Bearing 281.5, -8.0 (Local) DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 EDAT read: 06:07:57.1088 LVL= 32752, 20593, 32754, 32755, AGC= 64, IDX= 504, 0.05, 1.402,-3.006, 1.789, 2.200, PHS=-0.696, 1.122,-0.455, RAW= 323.0, 0.3, CAL= 321.5, -2.7, ROT= 188.5, 2.7 UYgot valid direction response: 06:07:57.1088 LVL= 32752, 20593, 32754, 32755, AGC= 64, IDX= 504, 0.05, 1.402,-3.006, 1.789, 2.200, PHS=-0.696, 1.122,-0.455, RAW= 323.0, 0.3, CAL= 321.5, -2.7, ROT= 188.5, 2.7 ]T#Rx 80: Read range and direction messages.mbdirection in FSK: [-0.987918,-0.147645,-0.047106]mFpublishing direction and range infoy%o ¿P7VY1AqP )@I-2i?辩e@;:@ A)xR@IA=5m+u֮[ ؿQvz x? a/)pĻI=?iA=checking for new query: numPingsReceived=80, elapsed TxPingTime=39.593494aE EE%E"E;*E:VE 4ZEBE,Nԑ ЀG S49 Y l$A,5 ?AF@F@FX@:ٱFΠ RAHRS rotation from veh to nav: [[0.360314,0.929904,0.073848],[-0.932829,0.359342,0.026508],[-0.001886,-0.078438,0.996917]]FH b???w?`$? ^@?iF@IF`;FlCYnByn Iuchecking for new query: numPingsReceived=80, elapsed TxPingTime=39.824478ybDzVDzNyX%P=ٔQ->9Y=Fy<E>Q 5=58N?Q 9E5})xBYIyMQ IU@EI;;iX;淛5yqɮ}$"Ayi9i=V؟?AJi=0ARi=0Aji=$@b= %#zä\%2R=%o ¿P7VZi==?bi=A=j=M}>pbœ"#@'o= ׿Z=l:߿7c?:)2i=A:i=["i=o?*i=XBi=Bi=LK?i=Yi=|Bi={1Ai= @ addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.499835 s, deltaX: 0.100000 m, approachRate: 0.200067 m/s, rangeRepo size: 4  Added new target pos. range: 11.031976 m, bearing: 119.802670 deg, lat: 36.779402 deg, lon: -121.859814 deg, deltaT: 0.499835 s, deltaX: 0.099395 m, approachRate: 0.198855 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.03 m.hh*h"h hgff f d d jd @33&@Zd`?ZZԩZZ)@eX@:)i mE>iu9)qB6ii#Y]=DIYIY9@ @@/@ DDAT read: Rx Time:06:07:57.6088  TRx dataTimestamp_ set to:1761545279.000748% PDAT read: Bearing 281.3, -7.1 (Local) % ~Local bearing/azimuth received: Bearing 281.3, -7.1 (Local) 5 DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 m DAT read: 06:07:57.6088 LVL= 32752, 20017, 32754, 32755, AGC= 64, IDX= 504, 0.10, 0.311, 2.174, 0.666, 1.098, PHS=-0.685, 1.121,-0.475, RAW= 323.9, 0.5, CAL= 322.5, -2.5, ROT= 187.5, 2.5 } Ygot valid direction response: 06:07:57.6088 LVL= 32752, 20017, 32754, 32755, AGC= 64, IDX= 504, 0.10, 0.311, 2.174, 0.666, 1.098, PHS=-0.685, 1.121,-0.475, RAW= 323.9, 0.5, CAL= 322.5, -2.5, ROT= 187.5, 2.5  T#Rx 81: Read range and direction messages. bdirection in FSK: [-0.990501,-0.130402,-0.043619] Fpublishing direction and range infoy  g* /¢#oGUY    1N  ) I )\/i |? 33 _@ 5< 4@  ¸2) pQ@I ¸2=   }X+{Aׅٿ@#۽?  N^.) MI 1@i ¸2=   checking for new query: numPingsReceived=81, elapsed TxPingTime=40.098873E  E E (E "E ;*E :VE c44ZE a @a @a @a @ ^A 9I I O >ۢ,?A2@2@2Q4ٱ2b >AHRS rotation from veh to nav: [[0.358839,0.930635,0.071788],[-0.933399,0.357776,0.027601],[0.000003,-0.076911,0.997038]]2H`8??``?h?|C? ʗ>p ?i2@I2a;2kCYnByn ItvAiMb@Mb@Mb@ 9> ףp=?bX9ȶ~jt?Y>yE<AE@ )YQA!%@AbD!VD!y5 <%=C=ٔ=Q-=>9AYA=EFyAE{EM>IQ 5e5MN?Q 9e5M)M~BYe\>Q Ee1;ymQ Im@MEIM}f;iMe;M5yqɮ}"AyiIiMA ?AJiIRiIjiM(@bM0%x]޿RMg* /¢#oGUZiM1@biM¸2=jMA W-PAW#@]ct׿ZMQdh޿) ?aԱ "2iMA:iMl"iM̐?*iMvBiMBiMri?iMviMjBiM'4AiM@= addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503169 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 11.031976 m, bearing: 118.697649 deg, lat: 36.779405 deg, lon: -121.859810 deg, deltaT: 0.503169 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 11.03 m.hqhq*hq"hq hqgqfqfyf}"BdydjdZd@K?Z\>Z\>ZB`@ZQ@Q4) ]>i19)+G6BB IBBBBBBa^;B1#E9@ @@/@1^A yb]I) I9 OE >Y % PDAT read: Bearing 280.8, -6.0 (Local) % ~Local bearing/azimuth received: Bearing 280.8, -6.0 (Local) E DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 ,?A:DAT read: 06:07:58.1090 LVL= 32752, 21921, 32754, 32755, AGC= 64, IDX= 506, 0.18, 1.780,-2.643, 2.095, 2.562, PHS=-0.680, 1.124,-0.510, RAW= 325.1, 0.8, CAL= 323.7, -2.2, ROT= 186.3, 2.2 BYgot valid direction response: 06:07:58.1090 LVL= 32752, 21921, 32754, 32755, AGC= 64, IDX= 506, 0.18, 1.780,-2.643, 2.095, 2.562, PHS=-0.680, 1.124,-0.510, RAW= 325.1, 0.8, CAL= 323.7, -2.2, ROT= 186.3, 2.2 BT#Rx 82: Read range and direction messages.Jbdirection in FSK: [-0.993228,-0.109654,-0.038388]JFpublishing direction and range infoyIM[ۻ %qA.YMf6AIIMUI I)IIM{.iM;ߏ?M\M@Md9Y=Fy.E>Q 55O?Q 957)BYy#Q I@EI3:i:5yɮ!AiIiM77?AJiMH5ARiMH5AjiMc&@bMwÁ&d.i59)9=PL6=Թ ,q?A=n{@=Bv@=zWٱ=▽ UAHRS rotation from veh to nav: [[0.356524,0.931837,0.067602],[-0.934280,0.355333,0.029307],[0.003288,-0.073607,0.997282]]=HI??WN?Ľ??Mj?ײ?i=n{@I= vb;9Y]By] IiMb@Mb@Mb@ 9Mb?yt<r@ )YAbDVDy %P=ٔrQ->9Y=Fy=gE>!Q 5-5%zP?Q 955%ن)%BY5>Q E5I;y5 Q I5@%EI%P ;i%P:%45y=BɮE!AElEԉDAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.3 -DAT read: 06:07:58.6090 LVL= 32752, 22001, 32754, 32755, AGC= 65, IDX= 506, 0.24, 0.928, 2.760, 1.215, 1.691, PHS=-0.661, 1.113,-0.520, RAW= 325.9, 0.8, CAL= 324.6, -2.1, ROT= 185.4, 2.1 =Ygot valid direction response: 06:07:58.6090 LVL= 32752, 22001, 32754, 32755, AGC= 65, IDX= 506, 0.24, 0.928, 2.760, 1.215, 1.691, PHS=-0.661, 1.113,-0.520, RAW= 325.9, 0.8, CAL= 324.6, -2.1, ROT= 185.4, 2.1 =T#Rx 83: Read range and direction messages.Mbdirection in FSK: [-0.994893,-0.094045,-0.036644]MFpublishing direction and range infoy8*7Z>Zh@Z}͙@zW) >i9)P6EB B IB BB B B ZDB L^;B '#E DDAT read: Rx Time:06:07:59.1092 % TRx dataTimestamp_ set to:1761545280.280462= PDAT read: Bearing 276.7, -5.2 (Local) E ~Local bearing/azimuth received: Bearing 276.7, -5.2 (Local) ^AU yb] DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.3 I! U DAT read: 06:07:59.1092 LVL= 32752, 23377, 32754, 32755, AGC= 66, IDX= 508, 0.30, 2.431,-2.061, 2.698,-3.020, PHS=-0.730, 1.004,-0.609, RAW= 326.4, 4.0, CAL= 325.0, 1.9, ROT= 185.0, -1.9 ] Ygot valid direction response: 06:07:59.1092 LVL= 32752, 23377, 32754, 32755, AGC= 66, IDX= 508, 0.30, 2.431,-2.061, 2.698,-3.020, PHS=-0.730, 1.004,-0.609, RAW= 326.4, 4.0, CAL= 325.0, 1.9, ROT= 185.0, -1.9 ] T#Rx 84: Read range and direction messages.e `direction in FSK: [-0.995647,-0.087108,0.033155]Iq O >,?AFpublishing direction and range infoy WbLB3?Y3;AQ[ )BIH:i?mK@5=@ =)N@IRj\Zxl$gܿ-M ? ɍ+) lIzCi>checking for new query: numPingsReceived=84, elapsed TxPingTime=41.417961s@n@ٱ< %AHRS rotation from veh to nav: [[0.355668,0.932302,0.065676],[-0.934601,0.354440,0.029881],[0.004580,-0.072008,0.997393]]HA?`k?@!а? A#?? ur?`$o?is@Ib;lCY҂By II<)4<==bDVD02yUδ=%]B=ٔ]1IQ-]>9aYa=eFyaehEm>ԩQ 55^Q?Q 95Չ)BYy/Q I@!EI1:i:5y)ɮ-R!A)ii?AJi :ARi :Aji8@bh'' (4ZZÙ@) %>ic9)顝pU6U1 ( ,).?ADDAT read: Rx Time:06:07:59.6093 -TRx dataTimestamp_ set to:1761545280.768140EPDAT read: Bearing 281.3, -2.4 (Local) M~Local bearing/azimuth received: Bearing 281.3, -2.4 (Local) mDAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.2 n@Z#Rx 85: Read range message, but no direction.y!Y%f>A!i@ٱchecking for new query: numPingsReceived=85, elapsed TxPingTime=41.861374 AHRS rotation from veh to nav: [[0.355079,0.932667,0.063653],[-0.934819,0.353835,0.030236],[0.005677,-0.070240,0.997514]]H ?g?@K? :??@w?B?in@I+bc;iCY܂By IbDVDy==%B=ٔ*Q->9Y=FyE%>!Q 5M5%1R?Q 9U5%Q =UtI)%BYQyUMQ IU@%#EI%O;i%;%5yaɮe!Aa addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.487678 s, deltaX: 0.200000 m, approachRate: 0.410106 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.63 m.hh*h"h hgff f d djd'@Zd?ZZZZ@m)q u>i}9)顥Z6jd,J?A2l@2og@2׻ٱ2ߚ :AHRS rotation from veh to nav: [[0.354827,0.932857,0.062260],[-0.934909,0.353561,0.030660],[0.006589,-0.069086,0.997589]]2H{?@??? ae?`z???i2l@I2& c;2kCYBByB!Ii}Mb@Mb@Mb@yyyy y9}NbX9?p= ף rh?Y}E>y}}C =}CA}@ }1A)}^AyY}GAbDVDy=%U=ٔQ->9Y=Fy9E>Q 55R?Q 95)BYlS>Q E;y¿Q I@$EI" ;i ;›5yɮS ADNOT Ignoring new targets: 11.63 m.hh*h"h hg f f f BddjdZd6?Z5lS>Z5lS>Z5@Z5^@M׻)I MHa>iM9)QUUsB1B5 IB5BB1B1B1B5^;B5#EBEƍCBEƍCBEÓCBABE6 =CEÛ&4}9@ @@T3@^AESIIIaOm> M DAT read: 06:08:00.1094 LVL= 32752, 24657, 32754, 32755, AGC= 66, IDX= 510, 0.25, 3.004,-1.499,-3.104,-2.536, PHS=-0.641, 1.082,-0.612, RAW= 329.1, 2.0, CAL= 327.9, -0.8, ROT= 182.1, 0.8 ] Ygot valid direction response: 06:08:00.1094 LVL= 32752, 24657, 32754, 32755, AGC= 66, IDX= 510, 0.25, 3.004,-1.499,-3.104,-2.536, PHS=-0.641, 1.082,-0.612, RAW= 329.1, 2.0, CAL= 327.9, -0.8, ROT= 182.1, 0.8 e Z#Rx 88: Read direction message, but no range.m bdirection in FSK: [-0.999231,-0.036640,-0.013962]y  &@○ "¢4   Q`  ) BI $i ~?  ͷ@ 5= H"@  d) \hK@I d<  [qG͑)߿8q"?  ~() I YFi d< checking for new query: numPingsReceived=88, elapsed TxPingTime=42.622765,c?AE2 E2E2$E0"E277;*E2:VE24ZE0BE2 9Y=FyB:E>Q 55R?Q 95)BYy¿Q I@%EI;i;xě5yBɮ AuEIii|Q?AJi>ARi>AjiuS?bŦ۾'}'4ۿ(UPſR&@○ "¢4ZiYFbid<jdQ5/Rj(%@,<3ͿZyn1ؿH$Qv?ܵ1ؓ2i/A:iŔ"i˟?*iC)%pBisBi0ȧ?i{i Bi;Ai8@ addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.505113 s, deltaX: 0.100000 m, approachRate: 0.197976 m/s, rangeRepo size: 4  Added new target pos. range: 11.926643 m, bearing: 112.946990 deg, lat: 36.779412 deg, lon: -121.859807 deg, deltaT: 0.992791 s, deltaX: 0.298267 m, approachRate: 0.300433 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.93 m.hh *h "h  h g f ffddjd(@Zd?ZZZZH^@) P>i9)顽f3 o,}?AY By !IDAT read: 06:08:00.6094 LVL= 32752, 21345, 32754, 32755, AGC= 66, IDX= 510, 0.09, 2.788,-1.720, 2.931,-2.793, PHS=-0.600, 1.118,-0.603, RAW= 330.1, 1.0, CAL= 329.0, -1.9, ROT= 181.0, 1.9 Ygot valid direction response: 06:08:00.6094 LVL= 32752, 21345, 32754, 32755, AGC= 66, IDX= 510, 0.09, 2.788,-1.720, 2.931,-2.793, PHS=-0.600, 1.118,-0.603, RAW= 330.1, 1.0, CAL= 329.0, -1.9, ROT= 181.0, 1.9  Z#Rx 90: Read direction message, but no range.bdirection in FSK: [-0.999298,-0.017443,-0.033155]y?7x}ܑB3aS )Ii?5^\@5<@ )-J@I=gP:k3뿹4p yT? ut')(IGi=Uchecking for new query: numPingsReceived=90, elapsed TxPingTime=43.113518i}Mb@Mb@Mb@yyyy y9}7A`?A`"X9v?Y}>y}Y}<}VA}@ y)}AyYybDVD1yY=%C=ٔQ->9Y=FyE>Q 55S?Q 95)BY!#>Q E;y?ſQ I@&EI:i:>ƛ5yɮ AEU EUEU&EQ"EU7;*EUB:VEU4ZEQa]@a]@a]@a]@iiXq?AJiRiji ?b։'')ܠʿ0UNٿR?7x}ܑB3ZiGbi=j՞lIQ&@]3g޿Z"bX׿%?Gd2i0A:ic"iܟ?*iFoBiBi8먟?iw]vii>Ai@)E addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.502891 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 11.926643 m, bearing: 111.924206 deg, lat: 36.779412 deg, lon: -121.859805 deg, deltaT: 0.502891 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 11.93 m.hqhq*hy"hy hygyfyffddjdZd`?Z!#>Z!#>Z@Z@) Ha>i J9)  D3 *B% ǍCB% IB% ΂BB! B! B% [DB% ];B% "EM Z#Rx 91: Read range message, but no direction.y Y 3CA M checking for new query: numPingsReceived=91, elapsed TxPingTime=43.379368ԁ ^A ǤI I O >%,?AF+s@Fm@F ٱF~+ bAHRS rotation from veh to nav: [[0.355571,0.932719,0.060041],[-0.934612,0.354247,0.031772],[0.008365,-0.067412,0.997690]]FH???W?^D?`q!?A?iF+s@IF`;FjCYfByf!IbD%VD%N2y5V<%5h=ٔ5@Q-5>9YYY=]FyYe:Ee>iQ 5u5m-S?Q 9u5m)mBYqyyu0ſQ I@m'EIm%;im;mǛ5yGBɮ*A addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504040 s, deltaX: 0.200000 m, approachRate: 0.396794 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.93 m.hh*h"h hgf!f!f!d!d)jd-`ff(@Zd-.?ZiZiZiZm×@ ) g>i9)顥'4;ii# -II9@ @@/@EDAT read: 06:08:01.1095 LVL= 32752, 23841, 32754, 32755, AGC= 68, IDX= 511,-0.12, 2.265,-2.241, 2.400, 3.006, PHS=-0.640, 1.081,-0.650, RAW= 330.3, 2.4, CAL= 329.1, -0.4, ROT= 180.9, 0.4 MYgot valid direction response: 06:08:01.1095 LVL= 32752, 23841, 32754, 32755, AGC= 68, IDX= 511,-0.12, 2.265,-2.241, 2.400, 3.006, PHS=-0.640, 1.081,-0.650, RAW= 330.3, 2.4, CAL= 329.1, -0.4, ROT= 180.9, 0.4 UZ#Rx 92: Read direction message, but no range.ebdirection in FSK: [-0.999852,-0.015707,-0.006981]y/o c+,sg?A.DDAT read: Rx Time:06:08:01.6095 6TRx dataTimestamp_ set to:1761545282.784079BPDAT read: Bearing 281.9, -0.2 (Local) F~Local bearing/azimuth received: Bearing 281.9, -0.2 (Local) ~DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.1 %DAT read: 06:08:01.6095 LVL= 30800, 17217, 32754, 32755, AGC= 66, IDX= 511,-0.31, 0.641, 2.428, 0.754, 1.293, PHS=-0.550, 1.180,-0.583, RAW= 330.9, -0.5, CAL= 330.0, -3.4, ROT= 180.0, 3.4 -Ygot valid direction response: 06:08:01.6095 LVL= 30800, 17217, 32754, 32755, AGC= 66, IDX= 511,-0.31, 0.641, 2.428, 0.754, 1.293, PHS=-0.550, 1.180,-0.583, RAW= 330.9, -0.5, CAL= 330.0, -3.4, ROT= 180.0, 3.4 -T#Rx 93: Read range and direction messages.bdirection in FSK: [-0.998240,-0.000000,-0.059306]Fpublishing direction and range infoy02yĦ2emwCg]Y002Px2AC0 0)2BI2 i2= ?2}?26ϸ@252N@ 2s)2I@I2s=002jW2rۍp Vs࿹ml{ 2#&)29Y=Fyq;E>aQ 55efS?Q 95eD)eBYyĿQ I@e(EIepi9)o4b":ii#checking for new query: numPingsReceived=93, elapsed TxPingTime=44.107670)Mn;IIIIE  E E )E "E ;*E ':VE FA4ZE a @a @a @a @ @  @ @ @ Y ^AEIQԉIO>3,`?AvDDAT read: Rx Time:06:08:02.1096 zTRx dataTimestamp_ set to:1761545283.289141BUо>BUȍCBU IBUBBU5 =BQBQBUu];BU"EPDAT read: Bearing 289.4, 5.9 (Local) ~Local bearing/azimuth received: Bearing 289.4, 5.9 (Local) DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.1 =DAT read: 06:08:02.1096 LVL= 32752, 20849, 32754, 32755, AGC= 68, IDX= 512, 0.32, 1.631,-2.567, 1.507, 2.024, PHS=-0.291, 1.737,-0.561, RAW= 336.2, -8.2, CAL= 335.8, -11.3, ROT= 174.2, 11.3 EYgot valid direction response: 06:08:02.1096 LVL= 32752, 20849, 32754, 32755, AGC= 68, IDX= 512, 0.32, 1.631,-2.567, 1.507, 2.024, PHS=-0.291, 1.737,-0.561, RAW= 336.2, -8.2, CAL= 335.8, -11.3, ROT= 174.2, 11.3 ET#Rx 94: Read range and direction messages.M`direction in FSK: [-0.975595,0.099097,-0.195946]MFpublishing direction and range infoytv.8Yp^?>x_ɿYvDAU/@U@Ue"ٱUi mAHRS rotation from veh to nav: [[0.358304,0.931677,0.059960],[-0.933552,0.356863,0.033605],[0.009912,-0.068017,0.997635]]UH u? M?? ?4?L?i ?iU/@IU_;UhCtvvqQt t)vDIvivV?vvĻ@vCv͋@ vI)vQB@IvI>ttvl3[ϑ鿶?i7r8¿ v )vD>IvQB@ivI>ttchecking for new query: numPingsReceived=94, elapsed TxPingTime=44.424622YyiMb@Mb@Mb@ 9~jt?X9vZd;O?Y=y}j<A@ GA)tAYAbDVD02yEۺ%e=ٔeMߺQ-e>9iYi=mFyiu?;Eu>qQ 55u}R?Q 95u)uBY=Q E;yQ I@u)EIu ;iu ;uH̛5yɮn*AitivI?AJivCARivCAjiv?bv0m_'|C‹6b?XRT))Rv.8Yp^?>x_ɿZivQB@bivI>jvy8N N &@̊,ZvQ7ѿT?h,AM˿2iv7A:ivtR"ivc=?*ivFiBiv{Bivܟ?ivFoivBivAAivF7?  addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.505062 s, deltaX: 0.100000 m, approachRate: 0.197996 m/s, rangeRepo size: 4  Added new target pos. range: 12.225135 m, bearing: 105.975823 deg, lat: 36.779417 deg, lon: -121.859802 deg, deltaT: 0.505062 s, deltaX: 0.099589 m, approachRate: 0.197182 m/s, posRepo size: 4 EDNOT Ignoring new targets: 12.23 m.hAhA*hA"hA hAgAfIfIfMBdIdQjdU(@ZdU`?Z=Z=Z;@Z@e") R8>i9)ߐ4ii# IIuchecking for new query: numPingsReceived=94, elapsed TxPingTime=44.6106769@ @@/@1 E  E E &E "E ;*E B:VE 4ZE BE G\ C ߀G 1 a } 9 Y A^A "5I I O >u:,?A2-@2@2~e)ٱ2É >AHRS rotation from veh to nav: [[0.359669,0.931161,0.059814],[-0.933023,0.358197,0.034113],[0.010339,-0.068078,0.997626]]2H???`R?4w?,?m@?i2-@I2_`;2iCYJByJ!IbDZVDZ0yb%b=ٔf˺Q-f"?9hYh=jFyln;En!?tQ 5z5vQ?Q 9z5v)vBY|y~Q I~@v*EIv1;iv2;v}͛5y ɮ +ADNOT Ignoring new targets: 12.23 m.h h *h "h hgf!fIfQdYԉdjdZdN?EDDAT read: Rx Time:06:08:02.6096 UTRx dataTimestamp_ set to:1761545283.792609mPDAT read: Bearing 299.7, 17.1 (Local) }~Local bearing/azimuth received: Bearing 299.7, 17.1 (Local) DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.1 ZZZZ'@%DAT read: 06:08:02.6096 LVL= 32752, 18417, 32754, 32755, AGC= 65, IDX= 512, 0.15,-0.977, 0.573,-1.498,-1.206, PHS= 0.330, 1.824,-0.336, RAW= 347.5, -18.5, CAL= 347.3, -21.5, ROT= 162.7, 21.5 -Ygot valid direction response: 06:08:02.6096 LVL= 32752, 18417, 32754, 32755, AGC= 65, IDX= 512, 0.15,-0.977, 0.573,-1.498,-1.206, PHS= 0.330, 1.824,-0.336, RAW= 347.5, -18.5, CAL= 347.3, -21.5, ROT= 162.7, 21.5 -T#Rx 95: Read range and direction messages.=~e))9 =&>i=29)AEEiAiM#IMܭEIIIQ}`direction in FSK: [-0.888326,0.276683,-0.366501]Fpublishing direction and range infoyIM+m)oD ,?ѨCt׿YIIIMGI I)MAIM>iMx?M1M@MMQM @ M7 )Mּ5@IM7 >IIM؏.|1`d :[Կ M)MԺ>IMּ5@iM7 >IIchecking for new query: numPingsReceived=95, elapsed TxPingTime=44.914967Ա9@ @@/@^A eI) IA OM > checking for new query: numPingsReceived=95, elapsed TxPingTime=45.114590 2TA,?AE EE(E"E ;*E˭:VEc44ZEa@a@a@a@Yy!I !!iMb@Mb@Mb@ 9#~j?l{Gz?Y=y#< A ^A)AYAbDVDky%<=ٔQ->9Y=FyE>Q 55P?Q 95)BY=Q E;yQ I@+EI:ii%;cϛ5yɮ+Aii?AJiRijiþ?b&QE%15T @?R+m)oD ,?ѨCt׿Ziּ5@bi7 >jcCi9)顝P 3kii#:III)9@ @@0@!mDDAT read: Rx Time:06:08:03.1098 uTRx dataTimestamp_ set to:1761545284.297300A@AA?ABBB!IBBB4 =BBBJ];B"EPDAT read: Bearing 281.9, 0.2 (Local) ~Local bearing/azimuth received: Bearing 281.9, 0.2 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 DAT read: 06:08:03.1098 LVL= 14000, 17057, 12482, 17075, AGC= 66, IDX= 2,-0.04,-0.647, 1.159,-0.565, 0.002, PHS=-0.547, 1.202,-0.611, RAW= 331.8, -0.5, CAL= 330.9, -3.4, ROT= 179.1, 3.4 Ygot valid direction response: 06:08:03.1098 LVL= 14000, 17057, 12482, 17075, AGC= 66, IDX= 2,-0.04,-0.647, 1.159,-0.565, 0.002, PHS=-0.547, 1.202,-0.611, RAW= 331.8, -0.5, CAL= 330.9, -3.4, ROT= 179.1, 3.4 T#Rx 96: Read range and direction messages. `direction in FSK: [-0.998117,0.015680,-0.059306] Fpublishing direction and range infoyimKcb>jeO?Cg]YmHAim6mBm0 mB)mBIm1 im#ۙ?mjmO@m5m6ϸ@ ms)mH@Ims=iim>@6_31҇—B;ၿ m%)m*G,u?A ɰ;JG@J@J7<ٱJF ZAHRS rotation from veh to nav: [[0.362408,0.930081,0.060088],[-0.931949,0.360832,0.035663],[0.011488,-0.068924,0.997556]]JH1?`8?î?@`?kB?؆? ?iJG@IJ-b;JkCY~؂By~ IbDVDy=O%=T=ٔ=$CQ-=>9AYA=EFyAM;EM>IQ 5]5MIO?Q 9]5M)MBYYy]Q I]@IIMH;iM";Mћ5ym>Bɮm.+AmtEichecking for new query: numPingsReceived=96, elapsed TxPingTime=45.618732i?AJiFARiFAji ?b(E?nRKcb>jeO?Cg]ZiH@bis=jmjrmO*fʊ3'@M9Z1!vqֿk*?0w[2i9A:im"ib?*i]iBiBii|miBiCAi DAT read: 06:08:03.6097 LVL= 31680, 19441, 32754, 32755, AGC= 64, IDX= 497, 0.34, 0.607, 2.401, 0.697, 1.266, PHS=-0.557, 1.180,-0.613, RAW= 331.6, -0.1, CAL= 330.7, -3.0, ROT= 179.3, 3.0  Ygot valid direction response: 06:08:03.6097 LVL= 31680, 19441, 32754, 32755, AGC= 64, IDX= 497, 0.34, 0.607, 2.401, 0.697, 1.266, PHS=-0.557, 1.180,-0.613, RAW= 331.6, -0.1, CAL= 330.7, -3.0, ROT= 179.3, 3.0  T#Rx 97: Read range and direction messages. `direction in FSK: [-0.998555,0.012200,-0.052336] Fpublishing direction and range infoy  W̡)NfJd?yoU˪Y { K  ) @I i = ?  L3@ @ PwV) GH@I PwV= yHC0ΫAO࿂4Ig` #%) O:;I GH@i PwV= % checking for new query: numPingsReceived=97, elapsed TxPingTime=45.897465M,K9?A2׸@2@2B0Jٱ2 :AHRS rotation from veh to nav: [[0.363492,0.929689,0.059597],[-0.931516,0.361868,0.036471],[0.012340,-0.068772,0.997556]]2H@sC?`?`u?(?@J?@E? ?i2׸@I2@mb;2lCLYn͂Byn IbDzVDzky$j%%L=ٔ% Q-->91Y1=]FyYm;;Em>Q 55M?Q 95ϛ)BYyQ I@,EIg} DDAT read: Rx Time:06:08:04.1098 } TRx dataTimestamp_ set to:1761545285.303576 PDAT read: Bearing 281.9, -0.0 (Local)  ~Local bearing/azimuth received: Bearing 281.9, -0.0 (Local) B B B IB ؂BB 5 =B B B ];B "E DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1  Z#Rx 98: Read range message, but no direction.yy Yy y  checking for new query: numPingsReceived=98, elapsed TxPingTime=46.387463T, T?A2i@2=@2yZٱ2M :AHRS rotation from veh to nav: [[0.364234,0.929443,0.058904],[-0.931212,0.362562,0.037324],[0.013334,-0.068447,0.997566]]2HO??(?}74?$?@O?ฅ?i2i@I2X}b;2kCYBByB IDiMb@Mb@Mb@ 9?/$Mb`Y=yl A@ )GAY=AbD5VD50yU%0=ٔv Q->9Y=Fy1:E>Q 55YL?Q 95E)BY>Q E;yQ I@-EI;i};ԛ5yɮ+AE addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.500994 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 12.42 m.hIhI*hI"hI hIgQfQfQfUnBdYdyjdyZd} X?ԹZ>Z>Zo@ZT_@yZ) #>iX9)4ii# MD;I I 9@ @@4@mDAT read: 06:08:04.1098 LVL= 18160, 14833, 17122, 22243, AGC= 67, IDX= 2,-0.14,-0.261, 1.547,-0.179, 0.393, PHS=-0.552, 1.199,-0.615, RAW= 331.8, -0.4, CAL= 330.9, -3.2, ROT= 179.1, 3.2 uYgot valid direction response: 06:08:04.1098 LVL= 18160, 14833, 17122, 22243, AGC= 67, IDX= 2,-0.14,-0.261, 1.547,-0.179, 0.393, PHS=-0.552, 1.199,-0.615, RAW= 331.8, -0.4, CAL= 330.9, -3.2, ROT= 179.1, 3.2 uZ#Rx 99: Read direction message, but no range.}`direction in FSK: [-0.998318,0.015683,-0.055822]yIM-7G3#?ᢔIMFM9MB MV)MCIMO iMx?MpMO@MM6ϸ@ Md)MH@IMd=IM:⏴5뿠:ǟ ࿴I5D+y M%)M;IMH@iMd=checking for new query: numPingsReceived=99, elapsed TxPingTime=46.636204bEeȞ4jEe4rEea0E EE$E"E;*EE:VE4ZEBEZu Z,m?AFUě@F)@F9lٱF⋽ RAHRS rotation from veh to nav: [[0.364788,0.929264,0.058298],[-0.930979,0.363059,0.038292],[0.014418,-0.068242,0.997565]]FH X?@?@/٭?@\lb;FjCYZByZ IbDfVDfβym*%u`=ٔ>Q->9Y=Fy:E>)Q 5e5-J?Q 9m5-)-BYyQ I@-.EI-q Ygot valid direction response: 06:08:04.6097 LVL= 32752, 22417, 32754, 32755, AGC= 64, IDX= 497, 0.18, 0.836, 2.622, 0.903, 1.480, PHS=-0.541, 1.187,-0.621, RAW= 332.2, -0.3, CAL= 331.4, -3.2, ROT= 178.6, 3.2  \#Rx 101: Read direction message, but no range. `direction in FSK: [-0.998143,0.024394,-0.055822]yi m :y̽`eA@ A)YAbD VD2y Ů%@=ٔQ->9Y=Fy%E%>)Q 5-5-I?Q 955-m)-BY=:>Q E=;y="Q I=@-/EI-,;i-*;-M؛5yAɮE1-AAuDNOT Ignoring new targets: 12.42 m.hqhq*hq"hq hqgyfyfyf}2BddjdZd Z?Z:>Z:>Zp@Z?@1)9 =L>i=-9)9= D39i9iE#AMF^;IIIiԑ 9@  @@/@DDAT read: Rx Time:06:08:05.1099 BA<BϾ>BB IBBBBBB\;Bw"EBȍCBȍCBB5 =B5 =CŨ95 TRx dataTimestamp_ set to:1761545286.310109PDAT read: Bearing 282.2, 0.6 (Local) ~Local bearing/azimuth received: Bearing 282.2, 0.6 (Local) %DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.0 MDAT read: 06:08:05.1099 LVL= 22240, 20913, 21650, 25987, AGC= 67, IDX= 3,-0.26,-0.002, 1.794, 0.056, 0.631, PHS=-0.530, 1.208,-0.619, RAW= 332.5, -0.7, CAL= 331.6, -3.6, ROT= 178.4, 3.6 UYgot valid direction response: 06:08:05.1099 LVL= 22240, 20913, 21650, 25987, AGC= 67, IDX= 3,-0.26,-0.002, 1.794, 0.056, 0.631, PHS=-0.530, 1.208,-0.619, RAW= 332.5, -0.7, CAL= 331.6, -3.6, ROT= 178.4, 3.6 ]V#Rx 102: Read range and direction messages.e`direction in FSK: [-0.997638,0.027867,-0.062791]eFpublishing direction and range infoym%?֏ YIAVQT e)CIi?v@+HL3@ )SFG@I=woۮM[.ῂ)Q 3$)? (g,4?A6ɛ@6Ģ@6ٱ6% BAHRS rotation from veh to nav: [[0.365392,0.929042,0.058051],[-0.930706,0.363511,0.040579],[0.016597,-0.068856,0.997488]]6H`b?? 中?@W`C?@Ƥ??m?i6ɛ@I6 a;6lCYNByN I PPPRAbDZVDZNyrD%r_=ٔr4ûQ-v>9tYt=vFytzB:Ez>|Q 55~H?Q 95~$)~BYy  Q I @~0EI~:i~R:~ٛ5ychecking for new query: numPingsReceived=102, elapsed TxPingTime=47.634747ɮ%-A!iiؓ?AJi_HARi_HAji?bik9)A3ii#r;IIY9@ @@@DDAT read: Rx Time:06:08:05.6098 TRx dataTimestamp_ set to:1761545286.812681PDAT read: Bearing 282.2, 1.0 (Local) ~Local bearing/azimuth received: Bearing 282.2, 1.0 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0  DAT read: 06:08:05.6098 LVL= 31088, 17313, 32754, 32755, AGC= 64, IDX= 498, 0.12, 0.397, 2.175, 0.436, 1.019, PHS=-0.520, 1.201,-0.627, RAW= 333.0, -0.6, CAL= 332.2, -3.5, ROT= 177.8, 3.5  Ygot valid direction response: 06:08:05.6098 LVL= 31088, 17313, 32754, 32755, AGC= 64, IDX= 498, 0.12, 0.397, 2.175, 0.436, 1.019, PHS=-0.520, 1.201,-0.627, RAW= 333.0, -0.6, CAL= 332.2, -3.5, ROT= 177.8, 3.5 % V#Rx 103: Read range and direction messages.- `direction in FSK: [-0.997399,0.038316,-0.061049]- Fpublishing direction and range infoy}A*-?.xAYHApyC )@Ii^? w@+@ 5z)F@I5z=I#l'2= j6$)x09 %n,!W?Aɰ2ț@2â@2ٱ2+ :AHRS rotation from veh to nav: [[0.365279,0.928953,0.060141],[-0.930730,0.363221,0.042579],[0.017710,-0.071528,0.997281]]2H@`??ʮ?@??̥?w"?O?i2ț@I2ea;2jCYb|Byb~ IbDr VDrf2yV%?=ٔ)Q->9Y=FyE>Q 555G?Q 951)YyQ I@1EI.i9)顝4ii #  z;I IAE EE$E"EC#;*EE:VE4ZEa@a@a@a@@ @@@q^A r;I I1 O] >ԙ  DDAT read: Rx Time:06:08:06.1100  TRx dataTimestamp_ set to:1761545287.316677 PDAT read: Bearing 282.7, 1.3 (Local)  ~Local bearing/azimuth received: Bearing 282.7, 1.3 (Local)  DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.0 - DAT read: 06:08:06.1100 LVL= 30288, 17377, 32754, 32755, AGC= 64, IDX= 500,-0.30,-0.656, 1.124,-0.626,-0.050, PHS=-0.504, 1.220,-0.620, RAW= 333.2, -1.1, CAL= 332.5, -4.0, ROT= 177.5, 4.0 5 Ygot valid direction response: 06:08:06.1100 LVL= 30288, 17377, 32754, 32755, AGC= 64, IDX= 500,-0.30,-0.656, 1.124,-0.626,-0.050, PHS=-0.504, 1.220,-0.620, RAW= 333.2, -1.1, CAL= 332.5, -4.0, ROT= 177.5, 4.0 5 V#Rx 104: Read range and direction messages.= `direction in FSK: [-0.996615,0.043513,-0.069756]= Fpublishing direction and range infoy  ~IJD]y=`彙=D=VA=@ 9)99Y9bDUVDU1y]4%e2=ٔelQ-e>9iYi=mFyiE>Q 55E?Q 95)YCi>Q Ei;yyۿQ I@3EIH:i:ݛ5yɮe.AiipD?AJiKARiKAji?b3[)Tf߶?ҼeR~IJD]ZUCi>ZU@ZU1@C) L>i9)顝x94ԡii#B;IIEchecking for new query: numPingsReceived=104, elapsed TxPingTime=48.643467q@y @y@}/@yE EE%E"E;*E:VE 4ZEBE] TC{,=?Av8@v @vBҨٱv琽 -AHRS rotation from veh to nav: [[0.363826,0.929636,0.058368],[-0.931239,0.361636,0.044872],[0.020607,-0.070681,0.997286]]vHH?`?w?` %?{?`? ?iv8@Iv`;vjCY]_By]Z II}<)}p;bD VD ܲy=)˽%E]=ٔES\Q-E>9AYI=MFyIMvպEM>QQ 5]5UD?Q 9]5U)QYayeۿQ Ie@U4EIU;iU;Ufߛ5yiɮm.AqDDAT read: Rx Time:06:08:06.6099 TRx dataTimestamp_ set to:1761545287.820778PDAT read: Bearing 282.5, 2.1 (Local) ~Local bearing/azimuth received: Bearing 282.5, 2.1 (Local) DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.1 ԹDAT read: 06:08:06.6099 LVL= 31504, 17505, 32754, 32755, AGC= 63, IDX= 499, 0.13,-0.385, 1.388,-0.387, 0.216, PHS=-0.499, 1.217,-0.647, RAW= 334.1, -0.8, CAL= 333.3, -3.7, ROT= 176.7, 3.7 Ygot valid direction response: 06:08:06.6099 LVL= 31504, 17505, 32754, 32755, AGC= 63, IDX= 499, 0.13,-0.385, 1.388,-0.387, 0.216, PHS=-0.499, 1.217,-0.647, RAW= 334.1, -0.8, CAL= 333.3, -3.7, ROT= 176.7, 3.7 V#Rx 105: Read range and direction messages.`direction in FSK: [-0.996261,0.057444,-0.064532]Fpublishing direction and range infoy4^r(INi?P0YIA{aD )?I|iƛ?ˡ%ii?A@d[&@  A)4`E@I A=:( G& h줌  ")P)eYP'@ Ze TjԿi/JB?뉼9Ŷ2iz=A:iz"iJ?*ixqBi$BiHb矊?i'miwBiJAiu?u addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504101 s, deltaX: -0.200000 m, approachRate: -0.396746 m/s, rangeRepo size: 4  Added new target pos. range: 12.523233 m, bearing: 108.305014 deg, lat: 36.779419 deg, lon: -121.859801 deg, deltaT: 0.504101 s, deltaX: -0.198781 m, approachRate: -0.394328 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.52 m.hh*h"h hgf f fddjd@33)@Zd rl?ZyZyZyZ},@BҨ) 4'>i\9)页%d4ii#$;III)i@i @q@u0@q 5 checking for new query: numPingsReceived=105, elapsed TxPingTime=49.146797^Ae qZ;Iq I O >E  E E E "E ;*E :VE ZE a @a @a @a @,~?AY=ZBy=T IiMb@Mb@Mb@ 9%C?MbMbp?YZd>y;r@ GA)AYAbDVD0y%%%N=ٔ-Q-->9)Y)=-Fy15E5>9Q 5E5=C?Q 9E5=)=BYM>Q EMN;yMۿQ IM@=6EI=T:i=z:=#5yQɮU /AYDNOT Ignoring new targets: 12.52 m.hh*h"h hgfffBddjdZd?Z>Z>Z4c@Z@) k>i79)74ii#*;IIY@ @@4@DDAT read: Rx Time:06:08:07.1101 TRx dataTimestamp_ set to:1761545288.324745PDAT read: Bearing 282.7, 2.6 (Local) ~Local bearing/azimuth received: Bearing 282.7, 2.6 (Local) DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.2 DAT read: 06:08:07.1101 LVL= 32112, 18753, 32754, 32755, AGC= 63, IDX= 501,-0.20,-0.735, 1.045,-0.758,-0.142, PHS=-0.491, 1.232,-0.660, RAW= 334.6, -0.9, CAL= 333.9, -3.8, ROT= 176.1, 3.8 Ygot valid direction response: 06:08:07.1101 LVL= 32112, 18753, 32754, 32755, AGC= 63, IDX= 501,-0.20,-0.735, 1.045,-0.758,-0.142, PHS=-0.491, 1.232,-0.660, RAW= 334.6, -0.9, CAL= 333.9, -3.8, ROT= 176.1, 3.8 V#Rx 106: Read range and direction messages.`direction in FSK: [-0.995491,0.067866,-0.066274] Fpublishing direction and range infoyF￝K#_?{SYfNAp}AI )IZdi-?(;@%|@ ԇ)D@Iԇ=BEѾ>BEȍCBEs IBEsBBE5 =BABABE\;BE}"EydFSQr.:N5pP+ qa")[ԩ I,;"?A2@2@2ٱ2 :AHRS rotation from veh to nav: [[0.361927,0.930556,0.055449],[-0.931909,0.359669,0.046732],[0.023544,-0.068587,0.997367]]2H)??`c?2?L?? 鎱n?i2@I28^`;0@YN`ByR\ Ichecking for new query: numPingsReceived=106, elapsed TxPingTime=49.650738bDZVDZ1yM<%UY=ٔUlQ-U>9YYY=]FyYe宻Ee>aQ 5m5e\B?Q 9u5e<)eBYqyu/ܿQ Iu@e7EIee ;ieK ;e5yɮ.Aii?AJi$MARi$MAjiGZ?b0)eJ*?MӶ0RF￝K#_?{SZiD@biԇ=j2fU(@WRZER @ӿ*`\^?;2iBA:iv"i]Y?*iv0nBiBi럊?iv0ni$BiNMAii? addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503967 s, deltaX: 0.299999 m, approachRate: 0.595276 m/s, rangeRepo size: 4  Added new target pos. range: 12.821479 m, bearing: 107.587439 deg, lat: 36.779419 deg, lon: -121.859802 deg, deltaT: 0.503967 s, deltaX: 0.298245 m, approachRate: 0.591796 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.82 m.hh*h"h hgfffddjd)@Zd 6?ZZZZ@5)1 5xw>i59)9=49i9iE#AEz<:IAIAE EE#E"E ;*E5:VE3ZEBELDDAT read: Rx Time:06:08:07.6101 TRx dataTimestamp_ set to:1761545288.828800PDAT read: Bearing 282.4, 3.5 (Local) ~Local bearing/azimuth received: Bearing 282.4, 3.5 (Local) DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.0 DAT read: 06:08:07.6101 LVL= 32128, 18161, 32754, 32755, AGC= 63, IDX= 500, 0.32,-0.675, 1.069,-0.728,-0.097, PHS=-0.476, 1.211,-0.675, RAW= 335.5, -0.7, CAL= 334.8, -3.6, ROT= 175.2, 3.6  Ygot valid direction response: 06:08:07.6101 LVL= 32128, 18161, 32754, 32755, AGC= 63, IDX= 500, 0.32,-0.675, 1.069,-0.728,-0.097, PHS=-0.476, 1.211,-0.675, RAW= 335.5, -0.7, CAL= 334.8, -3.6, ROT= 175.2, 3.6  V#Rx 107: Read range and direction messages. `direction in FSK: [-0.994526,0.083513,-0.062791] Fpublishing direction and range infoyWm<)a?֏ Y}F )IFi ?,`@+H@ )EC@I=j  WI4 e!)pAAHRS rotation from veh to nav: [[0.360559,0.931117,0.054937],[-0.932396,0.358211,0.048196],[0.025197,-0.068600,0.997326]]6Hf?@? ? 0@??>͙?ȏ@?i6ԟ@I6_;4Y^WBy^P IbDjVDj0pyv9%vQ=ٔvQ-z>9Y= Fy bqE>!Q 5%5%A?Q 9-5%ް)%BY)y-`ܿQ I-@%9EI%:i%:%5y5MBɮ=/A=~Eii 5?AJiRiji?bJf)!?0^RWm<)a?֏ ZiEC@bi=j( FQw(@+X)ZL䰎1ҿ=?i-I9)1541i1i=#9=¹I9IAE EE%E"E7;*E':VE 4ZEa@a@a@a@9@ @!@%22@!@-hA@)1^Am yb]:q I I O > DDAT read: Rx Time:06:08:08.1101  TRx dataTimestamp_ set to:1761545289.335043 PDAT read: Bearing 282.4, 4.7 (Local)  ~Local bearing/azimuth received: Bearing 282.4, 4.7 (Local)  DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.2  DAT read: 06:08:08.1101 LVL= 30704, 18145, 32754, 32755, AGC= 63, IDX= 501, 0.05,-0.895, 0.838,-0.995,-0.336, PHS=-0.458, 1.219,-0.704, RAW= 336.8, -0.6, CAL= 336.1, -3.5, ROT= 173.9, 3.5 % Ygot valid direction response: 06:08:08.1101 LVL= 30704, 18145, 32754, 32755, AGC= 63, IDX= 501, 0.05,-0.895, 0.838,-0.995,-0.336, PHS=-0.458, 1.219,-0.704, RAW= 336.8, -0.6, CAL= 336.1, -3.5, ROT= 173.9, 3.5 - V#Rx 108: Read range and direction messages.5 `direction in FSK: [-0.992483,0.106066,-0.061049]5 Fpublishing direction and range infoB= Ҿ>B9 B= S IB= YBB9 B9 B9 B= \;B= "Ey V[,wV?A mNlᅲY$'?.xAY w F ) I ~i 1? X94 @ + @ 5z) ?B@I 5z= q>jx;Io*%UĆ  ) k'6checking for new query: numPingsReceived=108, elapsed TxPingTime=50.440861B"@B@B{׼ٱBN JAHRS rotation from veh to nav: [[0.359787,0.931392,0.055334],[-0.932664,0.357339,0.049468],[0.026301,-0.069406,0.997242]]BH@?@?T?a?S?@?ı`g?iB"@IB8_;BhCYR^ByRZ IAi Mb@Mb@Mb@     9 y&1?`"{Gz?Y `e>y  ף<  @ 1A) 1A Y AbDEVDEy}5=%}3=ٔ}Q->9Y=Fy7E>Q 55??Q 95ٳ)BY>Q EO;yؿQ I@;EI:i:z5yɮw/Ai i XqU?AJi Ri ji ?b WAs)`??S% R mNlᅲY$'?.xAZi ?B@bi 5z=j  Qd(@i4ZZ yR8п? L'2i EA:i V"i e.%?*i oBi Bi ]Y?i i Bi NAi 7? addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.506243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.821485 m, bearing: 105.238855 deg, lat: 36.779421 deg, lon: -121.859802 deg, deltaT: 0.506243 s, deltaX: 0.000006 m, approachRate: 0.000011 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.82 m.hh*h"h hgfffށBddjdZd@]?ZM>ZM>ZM6@ZMݒ@i{׼) >i 9)顭4ii#bVsII]9@Y @Y@e/@aMchecking for new query: numPingsReceived=108, elapsed TxPingTime=50.664612ԑE EE'E"EO;*E:VE'4ZEBE%Y ,ap?A\@0@ٱ~ eAHRS rotation from veh to nav: [[0.358890,0.931748,0.055168],[-0.932976,0.356368,0.050577],[0.027465,-0.069622,0.997195]]H? ?@???4??@ұ?i\@I_;ԡYVByO IbDVDky5/%U=ٔFQ->9Y=Fy "E>Q 55>?Q 95b)BYyؿQ I@<EI ;i;'5yɮ/A5DNOT Ignoring new targets: 12.82 m.h1h1*h1"h1 h1g1f9f9f9d9dAjdAZdE ?ZaZaZaZeՒ@})y }0o>i}09)y}95yii#@IIDDAT read: Rx Time:06:08:08.6101 TRx dataTimestamp_ set to:1761545289.846511PDAT read: Bearing 282.9, 5.6 (Local) ~Local bearing/azimuth received: Bearing 282.9, 5.6 (Local) DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.1 DAT read: 06:08:08.6101 LVL= 32752, 19297, 32754, 32755, AGC= 63, IDX= 501,-0.13, 2.692,-1.859, 2.560,-3.054, PHS=-0.435, 1.240,-0.713, RAW= 337.6, -1.0, CAL= 337.0, -3.9, ROT= 173.0, 3.9 Ygot valid direction response: 06:08:08.6101 LVL= 32752, 19297, 32754, 32755, AGC= 63, IDX= 501,-0.13, 2.692,-1.859, 2.560,-3.054, PHS=-0.435, 1.240,-0.713, RAW= 337.6, -1.0, CAL= 337.0, -3.9, ROT= 173.0, 3.9 V#Rx 109: Read range and direction messages.`direction in FSK: [-0.990248,0.121587,-0.068015]Fpublishing direction and range infoyŵk3BsqT ?,::siYaK )IR޾iR?+6)@5`7@ 'g),>A@I'g=.\A@i'g=checking for new query: numPingsReceived=109, elapsed TxPingTime=50.960632!@! @!@%/@!^Am[RSIIO>e checking for new query: numPingsReceived=109, elapsed TxPingTime=51.170586 E  E E E "E ;*E :VE ZE a @a @a @a @em,Q.?ABk@B?@BWٱB JAHRS rotation from veh to nav: [[0.358547,0.931996,0.053172],[-0.933084,0.356079,0.050612],[0.028236,-0.067761,0.997302]]BHq?@?@^9?`?? ?X?iBk@IB_;BjCYbfBybc IieMb@Mb@Mb@aaaa a9euV?!rhy&1?Yerh>yel罙e`9Y=FyoE>Q 55%>?Q 95)BY>Q EP;y}ԿQ I@>EI8;iM;5yɮ:/Aii<-v?AJiRiji?b~)d)B]?XRŵk3BsqT ?,::siZi,>A@bi'g=j/v* 84(@GgWZxȗgϿ&Ϋb?+[С2iEA:iSI"iT5?*iusBiwBiE" ?ioiBiUPAi:?U addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.511468 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.821485 m, bearing: 104.281562 deg, lat: 36.779423 deg, lon: -121.859802 deg, deltaT: 0.511468 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.82 m.h h *h"h hgf!fQfUBdY!dajdaZde`H?Z>Z>ZH@Z~@W) Ha>DDAT read: Rx Time:06:08:09.1103 TRx dataTimestamp_ set to:1761545290.348857PDAT read: Bearing 282.9, 6.6 (Local) B<ABվ>BBM IBTBBBB\DB\;B"E~Local bearing/azimuth received: Bearing 282.9, 6.6 (Local)  DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.1 5DAT read: 06:08:09.1103 LVL= 30176, 19265, 32754, 32755, AGC= 64, IDX= 503,-0.30, 3.109,-1.459, 2.943,-2.653, PHS=-0.419, 1.239,-0.731, RAW= 338.5, -1.0, CAL= 337.9, -3.9, ROT= 172.1, 3.9 =Ygot valid direction response: 06:08:09.1103 LVL= 30176, 19265, 32754, 32755, AGC= 64, IDX= 503,-0.30, 3.109,-1.459, 2.943,-2.653, PHS=-0.419, 1.239,-0.731, RAW= 338.5, -1.0, CAL= 337.9, -3.9, ROT= 172.1, 3.9 =V#Rx 110: Read range and direction messages.E`direction in FSK: [-0.988216,0.137126,-0.068015]MFpublishing direction and range infoyҖvzY?,::siY3SAuAK )@I+־i?"; @@ )<@@Ii(9)y}95yiyi#nIIBV 鿵wgt8Y )iܨ,V+?AB@Bӆ@B%ٱBNchecking for new query: numPingsReceived=110, elapsed TxPingTime=51.674683 RAHRS rotation from veh to nav: [[0.358264,0.932267,0.050244],[-0.933171,0.355905,0.050228],[0.028944,-0.064881,0.997473]]BH? "?@?`$???L?iB@IB)`;BiCYZmByZk IbDbVDbN2yj =%jM=ٔn Q-n>9lYl=nFylrBEr>tQ 5z5vc=?Q 9z5v)vBYxy~ԿQ I~@v@EIv;iv<;v5yɮ/AiqiuS?AJiuQARiuQAjiu?buQ4 &)Ig?FRuҖvzY?,::siZiu<@@biqjuÒBic)@+8KZu5'=dͿ*)E?u32iuKA:iu@"iuL??*iu۶mBiuSBiue.%?iu@YoiuBiu'QAiu?U addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.502346 s, deltaX: 0.300000 m, approachRate: 0.597198 m/s, rangeRepo size: 4 e Added new target pos. range: 13.119740 m, bearing: 103.350436 deg, lat: 36.779425 deg, lon: -121.859802 deg, deltaT: 0.502346 s, deltaX: 0.298256 m, approachRate: 0.593726 m/s, posRepo size: 4 mDNOT Ignoring new targets: 13.12 m.hihi*hi"hi hqgqfqfqfydydyjd}`ff*@Zd}f?ZZZZ@%) n>i9)顽 5ii#L IIbEu 4jEu4rEup/Eu EuEu%Eq"EuO;*Eu:VEu 4ZEqBEqa2EqaJEqa:Eqa9@ @@O0@^A] IIO>!MDDAT read: Rx Time:06:08:09.6103 UTRx dataTimestamp_ set to:1761545290.852720]PDAT read: Bearing 283.0, 8.1 (Local) ]~Local bearing/azimuth received: Bearing 283.0, 8.1 (Local) mDAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.5 DAT read: 06:08:09.6103 LVL= 30704, 18577, 32754, 32755, AGC= 65, IDX= 502, 0.46,-2.352,-0.654,-2.574,-1.860, PHS=-0.390, 1.250,-0.758, RAW= 339.9, -1.1, CAL= 339.4, -4.0, ROT= 170.6, 4.0 Ygot valid direction response: 06:08:09.6103 LVL= 30704, 18577, 32754, 32755, AGC= 65, IDX= 502, 0.46,-2.352,-0.654,-2.574,-1.860, PHS=-0.390, 1.250,-0.758, RAW= 339.9, -1.1, CAL= 339.4, -4.0, ROT= 170.6, 4.0 V#Rx 111: Read range and direction messages.`direction in FSK: [-0.984169,0.162928,-0.069756]Fpublishing direction and range infoyQUpO~&U?&k۱YQQUwUHQ Q)UAIUǾiU?UJ BUֽ@UnFU@ U5)U>@IU5=QQUil+俓`c U#{)U@iU5=QQchecking for new query: numPingsReceived=111, elapsed TxPingTime=51.942600Q ,W?AV#@V@VkٱV  nAHRS rotation from veh to nav: [[0.358390,0.932326,0.048225],[-0.933110,0.356110,0.049907],[0.029356,-0.062885,0.997589]]VH`?`?`? @?\?`r?@??iV#@IV`;VkCY~|By~~ IbD%VD%0y5N=%5E=ٔ5/Q-=>9AYI=UFyQel9Ee>yQ 55}@bi5=j[nc_)@h@rZ(xⶄ"ʿIaF!?xhջ2i8LA:ip+"iZ?*iynBiDBiT5?iiwBiRAi?checking for new query: numPingsReceived=111, elapsed TxPingTime=52.178715 addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503863 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.119740 m, bearing: 101.852684 deg, lat: 36.779427 deg, lon: -121.859802 deg, deltaT: 0.503863 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.12 m.hh*h"h hgfffddjd!Zd-0 ?ZZZZ@k) Æ>i9)顥25ii#lIIaE EE#E"E;*Ey:VE3ZEa@a@a@a@Q@Q @Q@]/@YԱ^A= II m DDAT read: Rx Time:06:08:10.1105 m TRx dataTimestamp_ set to:1761545291.356716u PDAT read: Bearing 282.4, 9.8 (Local) } ~Local bearing/azimuth received: Bearing 282.4, 9.8 (Local)  DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.3  DAT read: 06:08:10.1105 LVL= 30176, 18977, 32754, 32755, AGC= 67, IDX= 504, 0.28, 0.130, 1.787,-0.155, 0.608, PHS=-0.376, 1.224,-0.807, RAW= 341.6, -0.5, CAL= 341.2, -3.4, ROT= 168.8, 3.4  Ygot valid direction response: 06:08:10.1105 LVL= 30176, 18977, 32754, 32755, AGC= 67, IDX= 504, 0.28, 0.130, 1.787,-0.155, 0.608, PHS=-0.376, 1.224,-0.807, RAW= 341.6, -0.5, CAL= 341.2, -3.4, ROT= 168.8, 3.4  V#Rx 112: Read range and direction messages. `direction in FSK: [-0.979228,0.193893,-0.059306] Fpublishing direction and range infoyi m  U꨾Ax?Cg]Ym XAi m um !Ji i )m CIm im ?m Nm ɾ@m 5m ⏾@ m s)m )<@Im s=i i m : PX#@4= m )m B"t,?A@V@,ٱ|. AHRS rotation from veh to nav: [[0.358886,0.932171,0.047517],[-0.932913,0.356628,0.049887],[0.029558,-0.062233,0.997624]]H?X?T?@m?Ҋ?@_D?ܯ?i@IN`;jCYeBye IqqiMb@Mb@Mb@ 9/$?&1+?Y&1>yн=@ A)YAbDVD0y&=%%/=ٔ-fQ-M>9YYY=]FyY] :E]>qQ 55uZ;?Q 95u)uBY~Q>Q E;y?ݿQ I@uCEIu];iu.;u5yɮ-Aiio?AJiVARiVAjiz?bEG*/*%@  /vR U꨾Ax?Cg]Zi)<@bis=js#]ۭJ*@}5Z֖05ƿ%tY?IP{2iURA:i"i/[+w?*igBiBiL??iynii,SAiZ%~Q>Z%@Z%@5,)9 =k>i=9)9=1B59iYie#amȺIiIichecking for new query: numPingsReceived=112, elapsed TxPingTime=52.685883u9@q @y@}O0@yE EE'E"E ;*E :VE'4ZEBERh ,?A HɰHn@nÔ@nٱn9u| vAHRS rotation from veh to nav: [[0.359846,0.931832,0.046894],[-0.932548,0.357628,0.049572],[0.029422,-0.061570,0.997669]]nH???m``? a? ? ?in@In`;lY~By~ IbD VD:2y%Χ%%s=ٔ%^9Q-%?9)Y)=-Fy)5K;E5?9Q 5=5=:?Q 9E5=})=!BYAyE!ݿQ IE@=DEI=;i=;=5yQɮU-AQ}DNOT Ignoring new targets: 13.42 m.hyhy*hy"h hgfffddjdZd ?ZZZZǑ@5DDAT read: Rx Time:06:08:10.6105 5TRx dataTimestamp_ set to:1761545291.860824=PDAT read: Bearing 282.3, 10.9 (Local) E~Local bearing/azimuth received: Bearing 282.3, 10.9 (Local) UDAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4 uDAT read: 06:08:10.6105 LVL= 30704, 20449, 32754, 32755, AGC= 66, IDX= 504, 0.25,-0.653, 0.980,-0.980,-0.193, PHS=-0.358, 1.217,-0.832, RAW= 342.8, -0.3, CAL= 342.3, -3.2, ROT= 167.7, 3.2 }Ygot valid direction response: 06:08:10.6105 LVL= 30704, 20449, 32754, 32755, AGC= 66, IDX= 504, 0.25,-0.653, 0.980,-0.980,-0.193, PHS=-0.358, 1.217,-0.832, RAW= 342.8, -0.3, CAL= 342.3, -3.2, ROT= 167.7, 3.2 V#Rx 113: Read range and direction messages.`direction in FSK: [-0.975522,0.212698,-0.055822]Fpublishing direction and range infoy15&z7￙9?ᢔY115w5O1 1)5BI5Ki5ƛ?5T5t@55'-@ 5d)5R;@I5d=115Q~i/w~ u 5$K)5(\;I5R;@i5d=11checking for new query: numPingsReceived=113, elapsed TxPingTime=52.954777) i>i9)N5ii#II9q@y @y@}d4@yi^A?BɺIIO >ԙ  checking for new query: numPingsReceived=113, elapsed TxPingTime=53.188618E  E E $E "E ;*E :VE 4ZE a @a @a @a @,O< ?A@Y~By~ IiMb@Mb@Mb@ 9M? ףp= yQt= A)YpAbDVD y/x=%?=ٔ}Q->9Y=FyE>Q 5=5M9?Q 9E5y)+BY]0>Q Ee;yeQ Ie@EEԩINZ0>Z@Zܐ@ )   W>i ,9)]5ii#|HIMDDAT read: Rx Time:06:08:11.1107 UTRx dataTimestamp_ set to:1761545292.364846]PDAT read: Bearing 282.6, 11.8 (Local) e~Local bearing/azimuth received: Bearing 282.6, 11.8 (Local) uDAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.3 DAT read: 06:08:11.1107 LVL= 27472, 17953, 32754, 32755, AGC= 67, IDX= 506, 0.26,-0.347, 1.272,-0.706, 0.094, PHS=-0.339, 1.223,-0.845, RAW= 343.6, -0.4, CAL= 343.1, -3.4, ROT= 166.9, 3.4 AABԾ>BBy IBxBBBBB\;Bh"EYgot valid direction response: 06:08:11.1107 LVL= 27472, 17953, 32754, 32755, AGC= 67, IDX= 506, 0.26,-0.347, 1.272,-0.706, 0.094, PHS=-0.339, 1.223,-0.845, RAW= 343.6, -0.4, CAL= 343.1, -3.4, ROT= 166.9, 3.4 V#Rx 114: Read range and direction messages.`direction in FSK: [-0.972262,0.226253,-0.059306]Fpublishing direction and range infoyQUtOEi ?Cg]YU\AQUPkU!FQ Q)UCIUhiUD?UQXU@UU@ Us)Um:@IUs=QQU.oyx1vV?~ Uc)UG;IUm:@iUs=QQchecking for new query: numPingsReceived=114, elapsed TxPingTime=53.458923I!@ @@4@@=@= ^A 0:ĺI I O >8,&?A2]@21@2mٱ2t{ :AHRS rotation from veh to nav: [[0.363205,0.930530,0.046865],[-0.931277,0.361045,0.048688],[0.028385,-0.061328,0.997714]]2H>?`??[? ? ?RfF?i2]@I2E`;0YBByB IIF=)F;J=J=Rchecking for new query: numPingsReceived=114, elapsed TxPingTime=53.690746bDNVDN02yf[2=%f_=ٔfB;Q-j>9hYh=jFyhln,<E~?Q 5 5q8?Q 9 5)3BY y SQ I@FEI$:i:m5y9ɮ=@-A9iiY?AJit[ARit[Aji?bBҫ*"r@Y5RtOEi ?Cg]Zim:@bis=jZV\Ok+<*@}XKZS¿a~?~;pù2iWA:i:"ij?*ibBiBi/[+w?i\iiBiWAi7? addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504022 s, deltaX: 0.300000 m, approachRate: 0.595213 m/s, rangeRepo size: 4  Added new target pos. range: 13.716055 m, bearing: 98.401966 deg, lat: 36.779434 deg, lon: -121.859800 deg, deltaT: 0.504022 s, deltaX: 0.298141 m, approachRate: 0.591523 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.72 m.hh*h"h hgf f f d djd5+@Zd5lX?E} E}EyEy"E}7;*E}5:VEyZEyBE}ZiD9)8k5ii#.;II@ @@/@1uDDAT read: Rx Time:06:08:11.6107 uTRx dataTimestamp_ set to:1761545292.871681}PDAT read: Bearing 282.6, 12.6 (Local) ~Local bearing/azimuth received: Bearing 282.6, 12.6 (Local) DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.2 DAT read: 06:08:11.6107 LVL= 27728, 16193, 32754, 32755, AGC= 66, IDX= 506, 0.28,-2.052,-0.480,-2.432,-1.632, PHS=-0.319, 1.197,-0.844, RAW= 344.4, -0.4, CAL= 343.9, -3.3, ROT= 166.1, 3.3 Ygot valid direction response: 06:08:11.6107 LVL= 27728, 16193, 32754, 32755, AGC= 66, IDX= 506, 0.28,-2.052,-0.480,-2.432,-1.632, PHS=-0.319, 1.197,-0.844, RAW= 344.4, -0.4, CAL= 343.9, -3.3, ROT= 166.1, 3.3 V#Rx 115: Read range and direction messages.`direction in FSK: [-0.969107,0.239830,-0.057564]Fpublishing direction and range infoyquwK?`8.yYqquPluA?q q)uBIuSiuL7?ubXuhY@qu@ uk)u9@Iuk=qquQ 濪zh]濅~Pz u)u;Iu9@iuk=qqchecking for new query: numPingsReceived=115, elapsed TxPingTime=53.963989^A 9I I) O5 >a A,??A V˛@VƢ@VٱVz ^AHRS rotation from veh to nav: [[0.365525,0.929618,0.046927],[-0.930394,0.363408,0.047977],[0.027547,-0.061197,0.997745]]VHd?m??@B?@?@T5?@@U?iV˛@IV/`;TYfByf IbDrVDr0yv=%zH=ٔz9;Q-z>9|Y|=~Fy|;E>Q 5 5n7?Q 95)=BYy߿Q I@GEI;i;25y!ɮ%,A!9ii7?AJiRijiGY?b#Yb*d9P @,"DRwK?`8.yZi9@bik=j3\g< +@q.Zd&Ӯ?koK2idXA:i:"ia?*ibcBiBinN?igiBi YAi$? addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.506835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.716055 m, bearing: 97.737979 deg, lat: 36.779436 deg, lon: -121.859799 deg, deltaT: 0.506835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.72 m.hh*h"h hgfffdd jdZd%?ZaZaZaZe,@checking for new query: numPingsReceived=115, elapsed TxPingTime=54.195908) >it9)|5ii#;IIa}9@y @y@y@E EEE"E);*E:VEZEa@a@a@a@ԙ^A *:;I I O >Թ e DDAT read: Rx Time:06:08:12.1108 e TRx dataTimestamp_ set to:1761545293.372706u PDAT read: Bearing 282.4, 13.9 (Local) u ~Local bearing/azimuth received: Bearing 282.4, 13.9 (Local)  DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.2 B վ>B B IB BB 6 =B B B \;B a"E DAT read: 06:08:12.1108 LVL= 28336, 16609, 32562, 32755, AGC= 65, IDX= 507, 0.15,-1.920,-0.385,-2.345,-1.518, PHS=-0.300, 1.178,-0.871, RAW= 345.7, -0.1, CAL= 345.2, -3.0, ROT= 164.8, 3.0  Ygot valid direction response: 06:08:12.1108 LVL= 28336, 16609, 32562, 32755, AGC= 65, IDX= 507, 0.15,-1.920,-0.385,-2.345,-1.518, PHS=-0.300, 1.178,-0.871, RAW= 345.7, -0.1, CAL= 345.2, -3.0, ROT= 164.8, 3.0  V#Rx 116: Read range and direction messages. `direction in FSK: [-0.963694,0.261830,-0.052336] Fpublishing direction and range infoya e ͔F?yoU˪Ye `Aa e ne @e 2 a )e AIe ie Ȗ?e ^e H@e e @ e PwV)e X8@Ie PwV=a a e &]濏$]@Y濖hП#V e )e :&,WY?AIX8@iPwV=Bchecking for new query: numPingsReceived=116, elapsed TxPingTime=54.494415F@Fܢ@FټٱFu bAHRS rotation from veh to nav: [[0.368059,0.928673,0.045815],[-0.929422,0.366053,0.046689],[0.026588,-0.059766,0.997858]]FH`H? ?u?ӽhm? ?9?`t?iF@IFH`;FiCYjByj IԙiMb@Mb@Mb@ 9sh|??ʡEQ?Y=y<VA@ GA)^AYAbDVDy5w<%=+=ٔ=|;Q-E>9AYI=MFyIu;Eu>yQ 55}5?Q 95})}FBY=Q E;yQ I@}HEI}!;i};}P5yɮg,AiijW?AJi^ARi^Aji?b뵾*$% @e޵3MR͔F?yoU˪ZiX8@biPwV=j@= ^}DI)+@. gZSm-+! ?r_K﷿2i4\A:iʿ"iC6?*i_Bi&Bij?ibciBiu[Ai q?m addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.501025 s, deltaX: 0.200000 m, approachRate: 0.399181 m/s, rangeRepo size: 4 } Added new target pos. range: 13.914873 m, bearing: 96.571405 deg, lat: 36.779437 deg, lon: -121.859797 deg, deltaT: 0.501025 s, deltaX: 0.198818 m, approachRate: 0.396823 m/s, posRepo size: 4 }DNOT Ignoring new targets: 13.91 m.hyh*h"h hgfffiBddjd,@Zd ?Z=Z=Z @Z&@ټ) .>i9)@5ii#4;II checking for new query: numPingsReceived=116, elapsed TxPingTime=54.6988269@ @@@@@ k>CG)]9YYeAE EE(E"E;*E:VEc44ZEBEb2P,Ds?A2+@2@2+Ҽٱ2o :AHRS rotation from veh to nav: [[0.370702,0.927667,0.044887],[-0.928398,0.368792,0.045498],[0.025653,-0.058539,0.997955]]2H?@r?@c?@o`J?{K?D?@@?i2+@I2(`;0YBByB IDFAbDJVDJk2yR) %V=ٔV?;Q-V ?9XYX=ZFyXZ<EZ?\Q 5b5^4?Q 9f5^)^LBYdyfIQ If@\I^:i^[:^5yhɮj,AlDNOT Ignoring new targets: 13.91 m.hh*h"h hg f f f ddjdZd@ ?Z1Z1Z1Z5e=@M+Ҽ)I M#>iME9)QU5QiQi#!Q checking for new query: numPingsReceived=117, elapsed TxPingTime=55.204552y E  E E 'E "E ;*E P:VE '4ZE a @a @a @a @8,탍?Aɰ4<2@2 @22˼ٱ2&o :AHRS rotation from veh to nav: [[0.373307,0.926615,0.045008],[-0.927375,0.371433,0.044877],[0.024866,-0.058493,0.997978]]2HB?`զ?Y ?` ?-?@v?o?i2@I2v/`;2hCYNByR IiMb@Mb@Mb@ 9v/?+Mb?Yxi=y<@ ^A)YAYbDVDJyHl<%*=ٔ:Q->9Y=Fyg;E> Q 555 2?Q 955 ) QBY5=Q E5i9)5ii#^5,?Achecking for new query: numPingsReceived=118, elapsed TxPingTime=55.706684:'@:"@:_ļٱ:r BAHRS rotation from veh to nav: [[0.376007,0.925480,0.045884],[-0.926307,0.374139,0.044448],[0.023969,-0.059215,0.997957]]:H`~?? ~?`N@?`?`b?pQ`D?i:'@I:#;`;:iCYZÂByZ IbDbVDbNyj<%jn=ٔj*;Q-n?9lYl=nFylrK <Er?tQ 5z5vK1?Q 9z5v)vUBYxy~Q I~@vJEIv;iv;vG5yɮU,Aii^?AJihcARihcAji78?b7߭+{' @R0pRd׻(￝+Q?ʾ7Zi:@bik]=jJ23+@D];ZPfĿâ@o??$2id_A:i"im?*i}b\Bi1BiiaaiBi ^Ai'? addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503963 s, deltaX: 0.300000 m, approachRate: 0.595282 m/s, rangeRepo size: 4  Added new target pos. range: 14.213079 m, bearing: 99.470660 deg, lat: 36.779437 deg, lon: -121.859796 deg, deltaT: 0.503963 s, deltaX: 0.298206 m, approachRate: 0.591723 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.21 m.hE EE#E"E*E8:VE3ZEBEdi9);5i!i-#)-%^DDAT read: Rx Time:06:08:13.6109 TRx dataTimestamp_ set to:1761545294.884712PDAT read: Bearing 282.1, 12.5 (Local) ~Local bearing/azimuth received: Bearing 282.1, 12.5 (Local) DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.1 5DAT read: 06:08:13.6109 LVL= 25584, 18001, 32754, 32755, AGC= 65, IDX= 508, 0.04,-1.016, 0.560,-1.393,-0.564, PHS=-0.350, 1.168,-0.873, RAW= 344.3, 0.6, CAL= 343.8, -2.3, ROT= 166.2, 2.3 =Ygot valid direction response: 06:08:13.6109 LVL= 25584, 18001, 32754, 32755, AGC= 65, IDX= 508, 0.04,-1.016, 0.560,-1.393,-0.564, PHS=-0.350, 1.168,-0.873, RAW= 344.3, 0.6, CAL= 343.8, -2.3, ROT= 166.2, 2.3 UV#Rx 119: Read range and direction messages.e`direction in FSK: [-0.970352,0.238341,-0.040132]eFpublishing direction and range infoy/g P1?.='YaAcQF )I33i?|_K@+<@ l$)9@Il$=MfpqXW]Tϯ? )M-I9@il$=}checking for new query: numPingsReceived=119, elapsed TxPingTime=55.977253 j,?A2B?@2:@2yCٱ2v :AHRS rotation from veh to nav: [[0.378655,0.924342,0.047039],[-0.925250,0.376779,0.044166],[0.023101,-0.060246,0.997916]]2H;?5?t?@%??@姗?خ?i2B?@I2G,`;0YNByR IIV%=)VV=Vp=bDZVDZy%8ּ%-F=ٔ- ;Q-->91Y1=5Fy157;E5>IQ 5e5M/?Q 9m5M)MZBYiymQ Im@IIM};iMv;M5y}EBɮ};,A}}Ei)i-?AJi-:`ARi-:`Aji-hC?b-}c2+F @%#ķUR-/g P1?.='Zi-9@bi-l$=j-nil š+@?e9Z-ߩÿ}?M?2i-]A:i-"i-?*i-.aBi-Bi)i-.ai-&Bi-^Ai-u? addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503917 s, deltaX: -0.200000 m, approachRate: -0.396890 m/s, rangeRepo size: 4 E Added new target pos. range: 14.014296 m, bearing: 98.594981 deg, lat: 36.779437 deg, lon: -121.859796 deg, deltaT: 0.503917 s, deltaX: -0.198784 m, approachRate: -0.394477 m/s, posRepo size: 4 MDNOT Ignoring new targets: 14.01 m.hIhQ*hY"hY hYgafiffd!d!mchecking for new query: numPingsReceived=119, elapsed TxPingTime=56.212601jdu@33,@Zd}^?ZZZZ=@-yC)) - >i-J9)15ޖ51i1i=#9=b$ DDAT read: Rx Time:06:08:14.1110  TRx dataTimestamp_ set to:1761545295.388639 PDAT read: Bearing 281.7, 13.2 (Local)  ~Local bearing/azimuth received: Bearing 281.7, 13.2 (Local) - DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 U DAT read: 06:08:14.1110 LVL= 28464, 19681, 32754, 32755, AGC= 67, IDX= 509, 0.27, 2.181,-2.564, 1.783, 2.628, PHS=-0.345, 1.136,-0.889, RAW= 345.1, 1.1, CAL= 344.6, -1.8, ROT= 165.4, 1.8 ] Ygot valid direction response: 06:08:14.1110 LVL= 28464, 19681, 32754, 32755, AGC= 67, IDX= 509, 0.27, 2.181,-2.564, 1.783, 2.628, PHS=-0.345, 1.136,-0.889, RAW= 345.1, 1.1, CAL= 344.6, -1.8, ROT= 165.4, 1.8 ] V#Rx 120: Read range and direction messages.e `direction in FSK: [-0.967232,0.251945,-0.031411]m Fpublishing direction and range infoy  =̏?IzY dA 0o L ) CI ףi sh? c ~@ nF< v@ ) 8@I = S=3I{׊? ) *YI 8@i =  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.B Ծ>B B IB BB B B B k\;B D"EY %,4?AfV@fxQ@fٱfG| rAHRS rotation from veh to nav: [[0.381303,0.923173,0.048584],[-0.924186,0.379412,0.043891],[0.022086,-0.061636,0.997854]]fH@Dg?@?? GH?x??ώ l?ifV@If,_;fjCYy1)iUMb@Mb@Mb@QQQQ Q9U{Gz?x&{Gzt?YU#=yU7Uף;UAU@ Q)QQYQbDVDN2yi:%'=ٔ;Q->9Y=Fyv;E>Q 55-?Q 95P)\BY#=Q E)iN9)顭5ii#.m@,r?A06i@6c@6]ٱ60 >AHRS rotation from veh to nav: [[0.383380,0.922240,0.049935],[-0.923337,0.381447,0.044128],[0.021649,-0.063025,0.997777]]6HM???i?@?`1+?@d"`?i6i@I6?`;4YFByF IbDN VDN:2yV ޼%V=ٔV:Q-Z?9XYX=ZFyX^v;E^?`Q 5f5bx,?Q 9f5b)b^BYdyfc Q Ij@`IbN:ib:b5ylɮnZ,AlDNOT Ignoring new targets: 14.21 m.h h *h "h  h g f ffddjdZd?Z9Z9Z9Z=Z^@U])Q U>iU9)QU5QiYi]#aeiE9)5ii#BBBBB6 =BB[DBc\;B?"EBiBiBiBiBiCm4DAT read: 06:08:15.1111 LVL= 26928, 17841, 29842, 31875, AGC= 65, IDX= 510, 0.11, 1.033, 2.627, 0.694, 1.529, PHS=-0.394, 1.143,-0.879, RAW= 343.3, 1.4, CAL= 342.8, -1.5, ROT= 167.2, 1.5 Ygot valid direction response: 06:08:15.1111 LVL= 26928, 17841, 29842, 31875, AGC= 65, IDX= 510, 0.11, 1.033, 2.627, 0.694, 1.529, PHS=-0.394, 1.143,-0.879, RAW= 343.3, 1.4, CAL= 342.8, -1.5, ROT= 167.2, 1.5 R#Rx 1: Read range and direction messages.%`direction in FSK: [-0.974815,0.221473,-0.026177]%Fpublishing direction and range infoym,1ܐ6Y?P!ΚYffA0iEt |)AI^ɾiM?%a!@+<t@ Pwּ):@IPw<y|I9qp%㥻? )ͼI:@iPw<e2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. ^A m<I I O >9 k ,))?A2Acoustic response timeoutɰ6@6@6ʰٱ6%L >AHRS rotation from veh to nav: [[0.386503,0.920939,0.049860],[-0.922036,0.384568,0.044253],[0.021579,-0.063077,0.997775]]6Hx?Ux?@M?P@?L?@?%?i6@I6r`;6lCYRByR IbDXVDXyv%vq=ٔv߹Q-v?9xYx=zFyxz;E~?iQ 5u5m(?Q 9u5m)m_BYqy}Q I}@mMEIm ;im ;m+5yɮ,Ai i x?AJi dARi dAji :?b oed+*[[ @W׿R m,1ܐ6Y?P!ΚZi :@bi Pw<j \Ѽ/7^",@ Z w@!KIƿ-Qs?K2i aA:i |"i V?*i 1q]Bi Bi m?i 1q]i Bi cAi -? addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.505198 s, deltaX: 0.099999 m, approachRate: 0.197941 m/s, rangeRepo size: 4 E EEE"E*E՚:VEZEBE,N)$? )#qI)<@iQ =2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^A- <I9 II OU >ԡ [,>C?A6@6剣@6仲ٱ6! >AHRS rotation from veh to nav: [[0.387662,0.920489,0.049181],[-0.921543,0.385738,0.044311],[0.021816,-0.062500,0.997806]]6H`s?t?>.?H}?`߯?`W?@?i6@I6#_;4Y^By^ IbDfVDf1ynR%rK=ٔr9Q-r>9tYt=vFytvL;Ev>xQ 5~5z1'?Q 95z)z`BYyxQ I@xIzr;iz<;z5y TBɮ j-AEii;9?AJiRijiCP?bVq,D;9@T^R}Fi^AJ&e?(א¢Zi)<@biQ =jdlb7BMZ+@Yq8qj ZѭʿuM(Ș@?p2i_A:i:"i +2?*iO`BiBin2i?i&n_iBicAiln?e addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.502766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 14.312390 m, bearing: 101.750824 deg, lat: 36.779432 deg, lon: -121.859795 deg, deltaT: 0.502766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 14.31 m.hqhqy*hq"hy hygfffddjdZdvi?ZZZZvS@仲) =i 9) 5ii#q}h DDAT read: Rx Time:06:08:16.1111  TRx dataTimestamp_ set to:1761545297.405208  PDAT read: Bearing 282.4, 10.1 (Local)  ~Local bearing/azimuth received: Bearing 282.4, 10.1 (Local)  DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.1 = DAT read: 06:08:16.1111 LVL= 27472, 18785, 29394, 32755, AGC= 65, IDX= 510,-0.24,-2.880,-1.254, 3.110,-2.371, PHS=-0.407, 1.162,-0.847, RAW= 342.0, 1.0, CAL= 341.5, -1.9, ROT= 168.5, 1.9 E Ygot valid direction response: 06:08:16.1111 LVL= 27472, 18785, 29394, 32755, AGC= 65, IDX= 510,-0.24,-2.880,-1.254, 3.110,-2.371, PHS=-0.407, 1.162,-0.847, RAW= 342.0, 1.0, CAL= 341.5, -1.9, ROT= 168.5, 1.9 E R#Rx 1: Read range and direction messages.M `direction in FSK: [-0.979386,0.199258,-0.033155]M Fpublishing direction and range infoy  ;!WG:K?B3Y Pk aI r ) AI Nbоi j? X C@ 5< ƺ@ ) `7<@I = tP6kʥ4? ) I `7<@i = m 2Acoustic response timeoutm Querying Benthos address 50 with 120 pings in terminal homing one-way mode.B B B IB BB 5 =B B \DB W\;B :"Ei,\?A:D@:@:+Qٱ:g| ^AHRS rotation from veh to nav: [[0.388807,0.920058,0.048192],[-0.921056,0.386915,0.044188],[0.022010,-0.061568,0.997860]]:H7?@q??Jy 5? ٟ? ?Ⅿx?i:D@I:%_;:iCYBy II<)9QYY=]FyY](;E]>aQ 55eF%?Q 95e)aY=Q E;yQ I@eNEIeW;ie;e 5yɮ-Ai!i%Y?AJi!Ri!ji%?b%/L,#3@^޿R%;!WG:K?B3Zi%`7<@bi%=j%X_j+@W AˤZ%4:7zɿRvORI?0/ 2i%_A:i%V6"i%05?*i%aBi%Bi%V?i!i%Bi%dAi%o?M addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504437 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 14.312412 m, bearing: 101.508190 deg, lat: 36.779430 deg, lon: -121.859795 deg, deltaT: 0.504437 s, deltaX: 0.000022 m, approachRate: 0.000043 m/s, posRepo size: 4 eDNOT Ignoring new targets: 14.31 m.haha*h"h hgfff[BddjdZd@?Z=Z=Zs@Z-@ M+Q)a e=ie9)im5iiiiu#qu ,Nv?A2)@2@2~䷼ٱ2y :AHRS rotation from veh to nav: [[0.389466,0.919828,0.047252],[-0.920767,0.387587,0.044313],[0.022446,-0.060766,0.997900]]2H?;o?`g1?v@;?,?@? ?i2)@I2k`;2kCYzByz IbDVD0yH%v=ٔQ-?9!Y!=%Fy!%U;E-?)Q 555-#?Q 955-))Y9y=Q I=@-OEI-Q;i-];-n 5yAɮE@.AIuDNOT Ignoring new targets: 14.31 m.hqhq*hq"hq hqgyfyfyfddjdZd?DDAT read: Rx Time:06:08:16.6110 TRx dataTimestamp_ set to:1761545297.908841PDAT read: Bearing 281.9, 10.8 (Local) ~Local bearing/azimuth received: Bearing 281.9, 10.8 (Local) DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 DAT read: 06:08:16.6110 LVL= 26144, 18689, 29490, 32755, AGC= 64, IDX= 509,-0.13,-2.517,-0.918,-2.834,-2.008, PHS=-0.408, 1.135,-0.871, RAW= 342.7, 1.6, CAL= 342.3, -1.3, ROT= 167.7, 1.3 Ygot valid direction response: 06:08:16.6110 LVL= 26144, 18689, 29490, 32755, AGC= 64, IDX= 509,-0.13,-2.517,-0.918,-2.834,-2.008, PHS=-0.408, 1.135,-0.871, RAW= 342.7, 1.6, CAL= 342.3, -1.3, ROT= 167.7, 1.3 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.976794,0.212976,-0.022687]Fpublishing direction and range infoyA B?NGY;YdA fI2s )@I`оiG?^Yf@<'-@ ޹)R;@I޹<Z!Z!Z!Z%@9R~翬z'´zF? 2T)1IR;@i޹<E2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.~䷼) <=i9)35ii#E%  E! E% $E! "E% ;*E! VE% 4ZE! a- @a- @a5 @a5 @ 8$, ?A-壜@-@-Rٱ-u MAHRS rotation from veh to nav: [[0.389993,0.919653,0.046291],[-0.920531,0.388124,0.044531],[0.022987,-0.059979,0.997935]]-H?m?@e?t?̦?ω?@?i-壜@I-_;-jCYBy Ii Mb@Mb@Mb@     9 &1?sh|?MbP?Y =y  : VA @ A) A Y AbD%VD%ky5%=7=ٔ=Q-=>9AYA=EFyAE :EE>IQ 5U5M"?Q 9]5M-)MbBY]>Q E];y]$Q I]@MPEIM:iM:M` 5yaɮmg.Aiqiis*z?AJihcARihcAji%?b2#2+X Z7@ϏԿRA B?NGY;ZiR;@bi޹<j.)0Om}+@նQZݦ8ǿbzb?muՠ2i _A:iO)"izȩC?*i%_eBiBizȩC?iO`iieAi? addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503633 s, deltaX: -0.099999 m, approachRate: -0.198556 m/s, rangeRepo size: 4  Added new target pos. range: 14.213021 m, bearing: 100.745217 deg, lat: 36.779428 deg, lon: -121.859796 deg, deltaT: 0.503633 s, deltaX: -0.099391 m, approachRate: -0.197348 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.21 m.hh*h"h hgfff?Bddjd,@Zd`?Z >Z >Z F4@Z ƍ@R) ^>ik9)顝5ii#ȇB)B- IB-BB)B)B)B-A\;B-/"EI@I @I@M4@IeDAT read: 06:08:17.1111 LVL= 24128, 16881, 29458, 32691, AGC= 63, IDX= 510, 0.06,-0.351, 1.246,-0.672, 0.167, PHS=-0.416, 1.125,-0.882, RAW= 342.8, 1.9, CAL= 342.3, -1.0, ROT= 167.7, 1.0 uYgot valid direction response: 06:08:17.1111 LVL= 24128, 16881, 29458, 32691, AGC= 63, IDX= 510, 0.06,-0.351, 1.246,-0.672, 0.167, PHS=-0.416, 1.125,-0.882, RAW= 342.8, 1.9, CAL= 342.3, -1.0, ROT= 167.7, 1.0 }R#Rx 1: Read range and direction messages.`direction in FSK: [-0.976897,0.212998,-0.017452]Fpublishing direction and range infoy=lBᅰ}C?W7) ߑYffA@^As )?IԾi?at@= 5ԙ)I5<$tu忚J64? b<)L Ii5<2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^A I I O > = 2Acoustic response timeout&*,>?A99Y9=EFyAEF:EM>QQ 5]5Ut!?Q 9e5Ug)UdBYayeQ Im@QIUD;iU?F;U5yqɮ}e.Ayii?AJidARidAji?blu+r>:\c@TϿR=lBᅰ}C?W7) ߑZibi5<jD"PzL nR,@n~(|VZFǿvR]e?3&+ 5E EEE"E;*E:VEZEBEbi|9)5ii#:&1,J?Aɰp;Y~By~ IbDVDy%k<%%L=ٔ%Q-%>9)Y)=-Fy)-E5>1Q 5=55; ?Q 9E55)5fBYAyAQ IE@5QEI5;i5;55yIɮUU.AQiiG?AJihcARihcAjia?b+4@{g̿RqgoL9￱gi9)   5ii%#1=5 DDAT read: Rx Time:06:08:18.1111  TRx dataTimestamp_ set to:1761545299.420767 PDAT read: Bearing 282.1, 10.2 (Local)  ~Local bearing/azimuth received: Bearing 282.1, 10.2 (Local)  DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.2  DAT read: 06:08:18.1111 LVL= 23936, 18081, 29170, 32275, AGC= 63, IDX= 511,-0.30,-2.972,-1.359, 3.016,-2.446, PHS=-0.424, 1.132,-0.866, RAW= 342.1, 1.8, CAL= 341.7, -1.1, ROT= 168.3, 1.1  Ygot valid direction response: 06:08:18.1111 LVL= 23936, 18081, 29170, 32275, AGC= 63, IDX= 511,-0.30,-2.972,-1.359, 3.016,-2.446, PHS=-0.424, 1.132,-0.866, RAW= 342.1, 1.8, CAL= 341.7, -1.1, ROT= 168.3, 1.1  R#Rx 1: Read range and direction messages.% `direction in FSK: [-0.979042,0.202750,-0.019197]- Fpublishing direction and range infoy  @PT¬?]~Y ffA ] F q ~) ?I پi `? -] @ = _׾@ nF) /;@I nF< m翈ֿBw,Qt?BA BA BE IBE BBE 6 =BA BA BE C\;BE 0"E ) I /;@i nF< e 2Acoustic response timeoute Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 07,%?A@M @Mݢ@M˼ٱMu }AHRS rotation from veh to nav: [[0.390441,0.919505,0.045466],[-0.920292,0.388487,0.046265],[0.024878,-0.059905,0.997894]]MH? l?FG?s?? y?@?iM @IM^;MiCYBy IiMb@Mb@Mb@ 9`"?I +9Y=Fy9E>ԩQ 55?Q 95)jBY{>Q E;yQ I@REI':i:5yɮ.Aii?AJidARidAjiq?b1;d_,G6@(DCѿR@PT¬?]~Zi/;@binF<j]|6E3,@}Z* -ɿ3S?C4i2i)`A:i-4"i; 1?*ihBiBii%_eiBieAi? addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504002 s, deltaX: 0.099999 m, approachRate: 0.198411 m/s, rangeRepo size: 4  Added new target pos. range: 14.312401 m, bearing: 101.361984 deg, lat: 36.779428 deg, lon: -121.859798 deg, deltaT: 0.504002 s, deltaX: 0.099379 m, approachRate: 0.197179 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.31 m.hh*h"h hgfffBddjd,@Zd`O?Z={>Z={>Z=@Z=@u˼)q uL>iuf9)y}&5yiyi#kOZ=,m?A:"@:@:KҼٱ:$w FAHRS rotation from veh to nav: [[0.390332,0.919549,0.045510],[-0.920316,0.388325,0.047133],[0.025668,-0.060281,0.997851]]:H1?l?M?`;sP?!?@H?@.ݮe?i:"@I:U^;:lCYJByN IIR=)RR=R=R=bDTVDTy^+=%b=ٔb$Q-b?9dYd=fFydfEf?hlQ 5r5j?Q 9r5j)jmBYpyvQ Iv@jSEIji);ij2*;j45yxɮzU.AxDNOT Ignoring new targets: 14.31 m.hh!*h!"h! h!g!f!f)f)d)d)jd1Zd5@?ZQZQZQZU@eKҼ)i ma>im9)im5iiiiu#qDDAT read: Rx Time:06:08:18.6111 TRx dataTimestamp_ set to:1761545299.924775PDAT read: Bearing 282.1, 10.1 (Local) ~Local bearing/azimuth received: Bearing 282.1, 10.1 (Local) DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 DAT read: 06:08:18.6111 LVL= 25072, 18065, 29074, 31859, AGC= 63, IDX= 510,-0.03, 2.764,-1.896, 2.470,-2.985, PHS=-0.433, 1.134,-0.873, RAW= 342.0, 1.9, CAL= 341.6, -1.0, ROT= 168.4, 1.0 Ygot valid direction response: 06:08:18.6111 LVL= 25072, 18065, 29074, 31859, AGC= 63, IDX= 510,-0.03, 2.764,-1.896, 2.470,-2.985, PHS=-0.433, 1.134,-0.873, RAW= 342.0, 1.9, CAL= 341.6, -1.0, ROT= 168.4, 1.0 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.979426,0.201047,-0.017452]Fpublishing direction and range infoyDuW ?W7) ߑYaFq s|)I-ݾi&?|_C@=ɾ@ 5)<@I5<l3M|nj忌? )VEI<@i5<-2Acoustic response timeout5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.uAo= 2Acoustic response timeouti E  E E &E "E ;*E Ǚ:VE 4ZE aE @aE @aE @aE @MD,c ?A@@f @fݡ@fؼٱfx nAHRS rotation from veh to nav: [[0.390313,0.919561,0.045431],[-0.920303,0.388260,0.047921],[0.026427,-0.060515,0.997817]]fH`?` m?B?sB?$?? ?if @Ifã^;fjCYvByv I!i}Mb@Mb@Mb@yyyy y9}v/?(\µ/$?Y}x=y}}<}CA}@ }tA)}GAyY}=AbDVD:y2%;=ٔPQ->9Y=FyYE>Q 55?Q 95T)sBY1>Q E;yQ I@TEI;i~ ;5yɮi.Aii/?AJiRiji?bP**/ ,Cu@[qϿRDuW ?W7) ߑZi<@bi5<j,@QLgZ^ɿ>P?_je2i`A:i5"iI-?*ijBiBiigiBieAi\m? addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.312401 m, bearing: 101.449602 deg, lat: 36.779428 deg, lon: -121.859799 deg, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.31 m.hh*h"h hgfff5BddjdZdH?ZM1>ZM1>ZMV@ZMJ@}ؼ) #>i9)顅5ii#IIQDDAT read: Rx Time:06:08:19.1112 TRx dataTimestamp_ set to:1761545300.430219PDAT read: Bearing 281.9, 9.8 (Local) ~Local bearing/azimuth received: Bearing 281.9, 9.8 (Local) DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.2 AABӾ>BB IBBB5 =BB[DB|\;BL"EDAT read: 06:08:19.1112 LVL= 24240, 17985, 29554, 30963, AGC= 63, IDX= 511, 0.25,-1.324, 0.311,-1.611,-0.775, PHS=-0.447, 1.131,-0.880, RAW= 341.8, 2.2, CAL= 341.3, -0.7, ROT= 168.7, 0.7 %Ygot valid direction response: 06:08:19.1112 LVL= 24240, 17985, 29554, 30963, AGC= 63, IDX= 511, 0.25,-1.324, 0.311,-1.611,-0.775, PHS=-0.447, 1.131,-0.880, RAW= 341.8, 2.2, CAL= 341.3, -0.7, ROT= 168.7, 0.7 %R#Rx 1: Read range and direction messages.-9@1 @1@1@1`direction in FSK: [-0.980541,0.195931,-0.012217]Fpublishing direction and range infoy9`Z:H?I:YiA^AFrs x)I/iĐ?Ga@nF=-@ +H)p<@I+H<8dK翀uP-rV? ^)Ip<@i+H<]2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.y^AU T<IY Iq O} >ԩ % 2Acoustic response timeoutlJ,8+?A2@2}@2qݼٱ2mx :AHRS rotation from veh to nav: [[0.390489,0.919493,0.045298],[-0.920210,0.388401,0.048572],[0.027067,-0.060651,0.997792]]2H ?{l? ]1?[r?`fި?@? `?i2@I2^;2kCYRByR IbD^VD^fyv`<%zX=ٔzݺQ-z>9|Y|=Fy :E >Q 55?Q 9%5)yBY!y%Q I%@UEIXD;iE;5y1ɮ5S.A9ԙbEM-4jEM4rEM x/E EEE"E;*E;:VEZEBEbiu 9)q}&5yiyi}# TQ,lE?A2@2@2!ٱ2ux :AHRS rotation from veh to nav: [[0.390870,0.919342,0.045073],[-0.920032,0.388757,0.049082],[0.027601,-0.060653,0.997777]]2H@?`?k?@? pd?9xYx=zFyxz:E~>Q 55?Q 9 5%)BY y Q I @VEI:i:5yɮI.Aii;?AJidARidAji?b&&,sj`u @;6ɿRZ%6e ?4Zi<@bid<j^v5+@?#!Z 3奄ʿ-@zB?1 {V2i_A:i="ij; ?*idnBi BiI-?ihi BigAi ? addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.502502 s, deltaX: -0.200001 m, approachRate: -0.398010 m/s, rangeRepo size: 4   Added new target pos. range: 14.312381 m, bearing: 101.973617 deg, lat: 36.779426 deg, lon: -121.859799 deg, deltaT: 0.502502 s, deltaX: -0.198784 m, approachRate: -0.395588 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.31 m.hh*h"h hgfff!d!d!jd%,@Zd%?ZiZiZiZmN@}!)y +>i9)顅"5ii# *DAT read: user:677>  DAT read: 0  8unknown deviceResponse_: 0  DAT read: Ok  :unknown deviceResponse_: Ok  *DAT read: user:678>  BDAT read: Tx time:06:08:20.5708  $Ping request sent. y=ף=ף<=VA9 9)99Y=AbDuVDuܲyd%'=ٔ%Q->9Y=Fy:E>Q 55?Q 95)BY>Q E;y_ܿQ I@WEI ;i ;5yɮK.A=DNOT Ignoring new targets: 14.31 m.h9h9*h9"h9 hAgAfAfIfMCBdIdIjdIZdURb?Z>Z>Z/@Z@) ^>i9)  5 i i#U ],4Ky?AY~By~ IbD VD 1y/.%{=ٔ%Q-% ?9!Y!=-Fy)-E-?1Q 5=55?Q 9=55P)5BYAyAQ IE@5XEI5L;i5H;55yIɮM.AIechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501217DNOT Ignoring new targets: 14.31 m.hh*h"h hgfffddjdZd;?ZZZZ) 6>i9)5ii#%i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895! E  E E !E "E ;*E 8:VE c3ZE a @a @a @a @9 rd,$?A2@2뻣@2Fٱ2v >AHRS rotation from veh to nav: [[0.393215,0.918383,0.044205],[-0.919004,0.391080,0.049889],[0.028529,-0.060241,0.997776]]2Hp*? ec? ?zh@s?@?6? ׮?i2@I2^;2jCYRByR IIV4=)V=V=V=imMb@Mb@Mb@iiii i9mEԸ?V-/$?Ym=ymhm9Y=Fy׀;E>Q 55.?Q 95)BY=Q E;yuQ I@YEI ;i" ;5yɮ-ADNOT Ignoring new targets: 14.31 m.hh*h"h hgfffNBddjdZd`?Z-=Z-=Z-״@Z-q@=F)9 =\>iE9)AE<5AiAiM#IMri  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257077j,?A J˜@Jƣ@JQٱJSu VAHRS rotation from veh to nav: [[0.394423,0.917881,0.043873],[-0.918484,0.392297,0.049909],[0.028600,-0.059982,0.997790]]JH:>?G_?v?8dc?@?0I?`?iJ˜@IJ;u^;HYbByf IbDrVDry~%~T=ٔ?Q->9 Y = Fy  _;E>Q 55V?Q 9%5)BY!y%LQ I%@I:i: 5y)ɮ5i.A1E EE&E"Ea;*E-:VE4ZEBEh Mq,{?A6 ٜ@6ӣ@60ٱ6t >AHRS rotation from veh to nav: [[0.395902,0.917260,0.043544],[-0.917852,0.393797,0.049723],[0.028462,-0.059652,0.997813]]6H`sV?1Z?`K? _@3?Uu?@%?࿊@?i6 ٜ@I6^;4YFByF IPbDR VDR:2yZ<%ZO=ٔZ]9Q-^>9\Y\=^Fy`bӅ;Eb>dQ 5j5f{?Q 9j5f)fBYhyjQ Ij@fZEIf:ify:fQ"5ypɮr@.AtDNOT Ignoring new targets: 14.31 m.hh*h"h hgfff!d!d!jd!Zd%@Z@ZIZIZIZMɏ@]0)Y ]=ie9)ae5aiaim#im}C!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013064B Ͼ>B B IB BB B B [DB ];B "Esw,?A2@2@2ٱ2h{s :AHRS rotation from veh to nav: [[0.397557,0.916554,0.043319],[-0.917144,0.395476,0.049441],[0.028184,-0.059385,0.997837]]2H@q?iT?-?`?Y |O?`ZP?@Bܜ?g@H?i2@I2Z^;2iCYfByf I hhhjAi]Mb@Mb@Mb@YYYY Y9]333333?Q뱿 rh?Y]=y]\]C<]CA]@ ]tA)]^AYYYbDuVDuy=%>=ٔ ):Q->9Y=Fy;E>Q 55B?Q 95 )BY=Q E;yQQ I@[EIU:i:3$5yɮ-ADNOT Ignoring new targets: 14.31 m.hh*h"h hgfffLBddjdZd b#@Z=Z=Z>@Z@-)) -\>i-9)15O51ii#=II)m9@i @i@mM0@i }k>}CBGM9IYMRtAyf?ARAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265925QE EEE"E ;*E^:VEZEBEqTԉ },?A;ɰ2q@2E@2ٱ2Cr :AHRS rotation from veh to nav: [[0.399424,0.915745,0.043250],[-0.916345,0.397367,0.049101],[0.027778,-0.059244,0.997857]]2H*?M?$?@Run?#?q?:Uq?i2q@I2^;2jCYBByB IbDNVDN1yV%VY=ٔV:Q-V>9XYX=ZFyX^';E^>`Q 5f5b3?Q 9f5b)bBYdyf Q If@`Ib:ib:b%5ylɮn7.AlMDDAT read: Rx Time:06:08:22.7191 MTRx dataTimestamp_ set to:1761545303.956829UPDAT read: Bearing 281.8, 9.4 (Local) ]~Local bearing/azimuth received: Bearing 281.8, 9.4 (Local) mDAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 DAT read: 06:08:22.7191 LVL= 20784, 16081, 20818, 27379, AGC= 65, IDX= 33, 0.16, 1.495,-3.123, 1.214, 2.084, PHS=-0.487, 1.121,-0.913, RAW= 341.5, 3.0, CAL= 341.0, 0.3, ROT= 169.0, -0.3 Ygot valid direction response: 06:08:22.7191 LVL= 20784, 16081, 20818, 27379, AGC= 65, IDX= 33, 0.16, 1.495,-3.123, 1.214, 2.084, PHS=-0.487, 1.121,-0.913, RAW= 341.5, 3.0, CAL= 341.0, 0.3, ROT= 169.0, -0.3 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.981614,0.190806,0.005236]Fpublishing direction and range infoԹyIM^/ai←6Xl?sNru?YIIM0QM>MRQ Mj)MAIMXiM|?M^iMƺ@MPwV=MIs@ M;)MZ<@IMII5 addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 3.024108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Mo ,F翛Α'忴-$?]DNOT Ignoring new targets: 14.31 m. M6)M@YIMZ<@iMIImchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.555107hYh*h"h hgfffddjdZd ?ZYZYZYZ] @m) 4>ix9)页5ii# =IIA@A @A@E0@I@U=@Qchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.769202^A 2g=I I O >E  E E )E "E O;*E :VE FA4ZE a @a @a @a @A yބ,l?A2@2v@2=ٱ2:r :AHRS rotation from veh to nav: [[0.401239,0.914957,0.043139],[-0.915564,0.399208,0.048736],[0.027370,-0.059051,0.997880]]2H?SG?@W?ML@??? ;`?i2@I2|I^;2hCYLyPiMb@Mb@Mb@ 9?333333I +?YL=y94< A@ )Y AbDVDٔ=T[:Q-=>9AYA=EFyAM;EM>qQ 5u5u5?Q 9}5u)uBY}=Q E}B5ǍCB1B1B57 =B1B5ZDB59];B5"EUDDAT read: Rx Time:06:08:23.2191 ]TRx dataTimestamp_ set to:1761545304.460777ePDAT read: Bearing 282.8, 9.5 (Local) e~Local bearing/azimuth received: Bearing 282.8, 9.5 (Local) uDAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 DAT read: 06:08:23.2191 LVL= 26944, 18977, 30530, 32755, AGC= 61, IDX= 498,-0.18,-0.233, 1.449,-0.516, 0.339, PHS=-0.469, 1.156,-0.898, RAW= 341.4, 2.3, CAL= 340.9, -0.6, ROT= 169.1, 0.6 DNOT Ignoring new targets: 14.31 m.hh*h"h hgYgot valid direction response: 06:08:23.2191 LVL= 26944, 18977, 30530, 32755, AGC= 61, IDX= 498,-0.18,-0.233, 1.449,-0.516, 0.339, PHS=-0.469, 1.156,-0.898, RAW= 341.4, 2.3, CAL= 340.9, -0.6, ROT= 169.1, 0.6  R#Rx 2: Read range and direction messages.`direction in FSK: [-0.981905,0.189085,-0.010472]Fpublishing direction and range infoyQUxIkᅭ83?/;rYQAfIfQfUUBdQdYjdYQU@iU!JUBw U)U=IU iU?UTeUy@Ul$=Ud@ U+)U<@IU+ ,bI.?AZ'@Z@Z&ܼٱZOq fAHRS rotation from veh to nav: [[0.403090,0.914147,0.043064],[-0.914766,0.401088,0.048289],[0.026871,-0.058858,0.997905]]ZH@:?@@? q ?E`n?`N??`"?iZ'@IZ^;ZiCYjByn IIr=)r=r=r=bDzVDz1y~,%<ٔ:Q-?9 Y = Fy  w;E?Q 55?Q 9%5)BY!y%Q I%@]EI;i<;k)5y)ɮ-@.A1ii_}?AJidARidAji ?bS,(,7F@wW//ÿRxIkᅭ83?/;rZi<@bi+<j k+@2nZ5 >:̿yL'?Bm祈2i^A:iL"iv?*iǶ!zBi,Bij; ?idniBijAi?E EE%E"E ;*Eخ:VE 4ZEBEOmNziKm'b3? ma)mRYImp<@imiichecking for new query: numPingsReceived=3, elapsed TxPingTime=3.567051 ,#H?A2*@2%@2D׼ٱ2ygp :AHRS rotation from veh to nav: [[0.405058,0.913279,0.042999],[-0.913913,0.403091,0.047748],[0.026275,-0.058638,0.997933]]2H`x?9??@>>?@ur??  ?i2*@I2^;0YNByR IbDZVDZ1yv%vL=ٔv:Q-v>9xYx=zFyxzW;E~>Q 55E?Q 9 5i)BY y Q I @IB:i:,+5yKBɮ+.Aii=?AJiRiji5?bl,ZMo@bb9k/?Ra^?sNru?Zip<@bijP-,Dw+@frVݿZ1}dY7˿!6?6f2i\_A:iG"iS?*i9zBiBiO ?iq5xi,BieAiv? addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504736 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.312025 m, bearing: 102.599581 deg, lat: 36.779422 deg, lon: -121.859806 deg, deltaT: 0.504736 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.31 m.hh1*h1"h1 h1g9f9f9f9dAdAjdAZdE^(?ZaZaZaZe@D׼) 4=i9)顥C6ii#k=Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=3.777245IQE EE$E"E*E':VE4ZEa@a@a@a@I@I @I@I@I@Q@UhA!I ^Am d=Iq I O >B- Ǿ>B- ƍCB) B) B) B) B) B- h];B- "E} DDAT read: Rx Time:06:08:24.2191  TRx dataTimestamp_ set to:1761545305.471049 PDAT read: Bearing 283.0, 9.8 (Local)  ~Local bearing/azimuth received: Bearing 283.0, 9.8 (Local)  DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.2  DAT read: 06:08:24.2191 LVL= 25456, 17857, 30514, 31683, AGC= 63, IDX= 498,-0.13,-0.280, 1.403,-0.574, 0.287, PHS=-0.466, 1.161,-0.905, RAW= 341.6, 2.3, CAL= 341.1, -0.6, ROT= 168.9, 0.6  Ygot valid direction response: 06:08:24.2191 LVL= 25456, 17857, 30514, 31683, AGC= 63, IDX= 498,-0.13,-0.280, 1.403,-0.574, 0.287, PHS=-0.466, 1.161,-0.905, RAW= 341.6, 2.3, CAL= 341.1, -0.6, ROT= 168.9, 0.6  R#Rx 4: Read range and direction messages. `direction in FSK: [-0.981239,0.192512,-0.010472] Fpublishing direction and range infoy  :Nf￰7?/;rY pc E 2w {) ?I i ? g ɾ@ l$= @ +) <@I +< ה翎'SV>6&? R) :!I <@i +< M checking for new query: numPingsReceived=4, elapsed TxPingTime=4.057460^,a?Af9@f4@fҼٱfnp  AHRS rotation from veh to nav: [[0.406766,0.912513,0.043134],[-0.913169,0.404821,0.047344],[0.025740,-0.058646,0.997947]]fH v?O3?? 8?`k=?[?`.?if9@If];flCY%By% Ii-Mb@Mb@Mb@)))) )9-:v?+~jth?Y-T=y--D;-l A-@ -A)-A)Y-3AbDVD02yй%2=ٔ͘:Q->9Y=Fy;E>Q 55R ?Q 95`)BY=Q E &D,9{?A6H@6B@6μٱ6CMr >AHRS rotation from veh to nav: [[0.408338,0.911786,0.043670],[-0.912481,0.406391,0.047153],[0.025247,-0.059102,0.997933]]@6H 6"?X-?@[?` 3Q?w$?>ڙ?B@?i6H@I6];6hCYJByJ I LLLLbDVVDVkyZ%^o=ٔ^ּ:Q-^?9`Y`=bFy`f;Ef?dQ 5j5f ?Q 9n5f)fBYlynQ In@dIfK ;if2;f.5yxɮz`.Ax5DDAT read: Rx Time:06:08:24.7191 =TRx dataTimestamp_ set to:1761545305.973956MPDAT read: Bearing 282.8, 9.9 (Local) M~Local bearing/azimuth received: Bearing 282.8, 9.9 (Local) mDAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 DAT read: 06:08:24.7191 LVL= 28000, 16929, 29426, 32755, AGC= 62, IDX= 497, 0.31,-0.349, 1.329,-0.646, 0.225, PHS=-0.472, 1.149,-0.915, RAW= 341.8, 2.6, CAL= 341.3, -0.3, ROT= 168.7, 0.3 }DNOT Ignoring new targets: 14.31 m.hyhy*hy"hy hygyfffddjdZd?Ygot valid direction response: 06:08:24.7191 LVL= 28000, 16929, 29426, 32755, AGC= 62, IDX= 497, 0.31,-0.349, 1.329,-0.646, 0.225, PHS=-0.472, 1.149,-0.915, RAW= 341.8, 2.6, CAL= 341.3, -0.3, ROT= 168.7, 0.3 R#Rx 5: Read range and direction messages.5`direction in FSK: [-0.980601,0.195943,-0.005236]=Fpublishing direction and range infoy15a^?sNruY115`m5!B5r 5)5>I5i5o?5q=j5@59=5-@ 5)5p<@I5;115{qɍJ%Nmަ? 5iԱZZZZτ@μ) =i9)l6i)57I5p<@i5;11checking for new query: numPingsReceived=5, elapsed TxPingTime=4.625126i-#15P*=I1I19@ @@@checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785199^A ȿ=I I! OM >E  E E $E "E ;*E :VE 4ZE a @a @a @a @,,?AɰpMV@!Q@xgʼٱt EAHRS rotation from veh to nav: [[0.409930,0.911039,0.044343],[-0.911782,0.407978,0.046975],[0.024705,-0.059687,0.997911]]HJ9Y=Fyo;E>Q 5 5 ?Q 95<)BY=Q EBB IB}BBBBB0];B"EBǍCBǍCBB7 =BCòV5i=<99-checking for new query: numPingsReceived=6, elapsed TxPingTime=5.069108mxgʼ)i m=im9)im\6iiqiu#y}/=IyIy99@9 @9@A@Aa ^A] C"=Iq I O > checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289769V,㎯?ANa@NW\@NǼٱNw VAHRS rotation from veh to nav: [[0.411180,0.910439,0.045076],[-0.911228,0.409207,0.047052],[0.024393,-0.060421,0.997875]]NHP?P"?/?(r0?A?z?﮿@?iNa@IN]a^;NjCY^hBy^f IbDfVDfyn-%ns=ٔrs:Q-r?9pYp=rFytv|;Ev?xQ 5~5z?Q 9~5z)xYylQ I@z`EIz;iz/;z925y ɮ /A iiimC?AJim,hARim,hAjimy?9bmO9|,%@v,ͿRmoh+k?y&ZimZ<@bim<jm׌ - N3,@DbZm oԃͿJ9?+u/2imaA:im$V"imc?*im.zBimBimwD?iiim,Bim%gAim5?Ee EeEe%Ea"Ee;*Ee^:VEe 4ZEaBEeG\ ~>,i?A2j@2\e@2żٱ2/,{ :AHRS rotation from veh to nav: [[0.412186,0.909943,0.045899],[-0.910780,0.410184,0.047214],[0.024135,-0.061265,0.997830]]2HAa?`@?? % s@?w,?㶘?%^8?i2j@I2M^;2hCYBfByBc IIF=)F9hYh=jFyhn3;En>pQ 5v5rP?Q 9v5r)rBYtyvZQ Iv@pIr:ir:r35y|ɮ~#/Ayԙiyi}Ծ?AJiyRiyji}s?b}g oj,K ى@ZɿR}jX$U→FI?4Zi}/;@bi}d<j} pF,@o5Z}֬̿,8-R-?3E2i}3bA:i} L"i}\3?*i}-zBi}Bi}gO?iyiyi}gAi}4I? addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.510756 m, bearing: 102.708542 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.51 m.hh*h"h hgfffddjdZd ?Z)Z)Z)Z-b@mż)i m=im59)im 6qiqi}#y}t7=IyIychecking for new query: numPingsReceived=7, elapsed TxPingTime=5.80120959@9 @9@=4@AE EE'E"E~ ;*Ev:VE'4ZEa@a@a@a@^A.=IIO> DDAT read: Rx Time:06:08:26.2193  TRx dataTimestamp_ set to:1761545307.493791 PDAT read: Bearing 283.7, 10.8 (Local)  ~Local bearing/azimuth received: Bearing 283.7, 10.8 (Local)  DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 B ž>B B l IB nBB B B B \;B t"E DAT read: 06:08:26.2193 LVL= 26464, 18225, 30194, 32755, AGC= 61, IDX= 499, 0.38, 0.397, 2.076, 0.064, 0.943, PHS=-0.444, 1.178,-0.923, RAW= 342.5, 2.0, CAL= 342.1, -0.9, ROT= 167.9, 0.9  Ygot valid direction response: 06:08:26.2193 LVL= 26464, 18225, 30194, 32755, AGC= 61, IDX= 499, 0.38, 0.397, 2.076, 0.064, 0.943, PHS=-0.444, 1.178,-0.923, RAW= 342.5, 2.0, CAL= 342.1, -0.9, ROT= 167.9, 0.9  R#Rx 8: Read range and direction messages. `direction in FSK: [-0.977663,0.209593,-0.015707] Fpublishing direction and range infoy  LIᅱ>r?y&Y 3kA `g 1G u ) I S i Ȗ? Il I@ 5= @ ) ͋;@I < ˣ,AiǬV9e? ф) &tI ͋;@i <  checking for new query: numPingsReceived=8, elapsed TxPingTime=6.102471i,|H?A6au@65p@6&Wüٱ6$} >AHRS rotation from veh to nav: [[0.413395,0.909369,0.046395],[-0.910240,0.411382,0.047208],[0.023843,-0.061746,0.997807]]6Hu??@? T? +? Mj? * ?i6au@I6^;4YN_ByN[ IiMb@Mb@Mb@ 9v/?ktMbp?Yxi=y ;A@ ^A)^AYAbDVD:y_%;=ٔ/:Q->9Y=FyD;E> Q 5=5 H?Q 9E5  ) BYMu=Q EMr?y&Zi͋;@bi<j,L ܗG,@jFZwkm˿5Wa6?j╪2idA:i_H"i#t?*iJ8xBiۀBii.ziBiShAi`?- addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.512042 s, deltaX: 0.099999 m, approachRate: 0.195295 m/s, rangeRepo size: 4 = Added new target pos. range: 14.610119 m, bearing: 102.390973 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.512042 s, deltaX: 0.099363 m, approachRate: 0.194053 m/s, posRepo size: 4 EDNOT Ignoring new targets: 14.61 m.hAhA*hA"hA hAgAfIffBddjd`ff-@ZdyT?Zu=Zu=ZɆ@Zo@ &Wü)  \>i 9)  6ii#]<=II!@ @@5@checking for new query: numPingsReceived=8, elapsed TxPingTime=6.305372E} E}E}#Ey"E};*E}:VE}3ZEyBE}by ,?AV}~@VQy@V`¼ٱVЯz fAHRS rotation from veh to nav: [[0.414408,0.908936,0.045846],[-0.909782,0.412428,0.046905],[0.023725,-0.061147,0.997847]]VH??y?@7e??|K?`N@\?iV}~@IVT^;TYreByrb IbDVD1y<%W=ٔ%9Q-->9)Y1=5Fy15,A;E5>EDDAT read: Rx Time:06:08:26.7192 MTRx dataTimestamp_ set to:1761545307.996706UPDAT read: Bearing 283.9, 11.1 (Local) U~Local bearing/azimuth received: Bearing 283.9, 11.1 (Local) mDAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0 DAT read: 06:08:26.7192 LVL= 28608, 19953, 32754, 32755, AGC= 62, IDX= 499,-0.28,-1.708,-0.039,-2.049,-1.169, PHS=-0.437, 1.175,-0.923, RAW= 342.8, 2.0, CAL= 342.3, -0.9, ROT= 167.7, 0.9 Ygot valid direction response: 06:08:26.7192 LVL= 28608, 19953, 32754, 32755, AGC= 62, IDX= 499,-0.28,-1.708,-0.039,-2.049,-1.169, PHS=-0.437, 1.175,-0.923, RAW= 342.8, 2.0, CAL= 342.3, -0.9, ROT= 167.7, 0.9 R#Rx 9: Read range and direction messages.`direction in FSK: [-0.976925,0.213004,-0.015707]Fpublishing direction and range infoyIM_mCBC?y&YMiAIMoMMM I)M>IMw߾iMff?IMt@IM'-@ I)MR;@IIIIMRxcvޑmb? ME)M, IMR;@iIIIchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.572725Q 55y?Q 95)BYy:Q I@bEI9:iF:Q75yɮ./AiIiM?AJiM+hARiM+hAjiMo?bM>AZ,) @[x,ͿRM_mCBC?y&ZiMR;@biIjM9\FsR,@MqZMޮ$r!˿GS:?ZNr2iMbA:iMD"iMxK?*iMz{BiMBiIiIiMBiMhAiMs?u addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.502915 s, deltaX: -0.099999 m, approachRate: -0.198840 m/s, rangeRepo size: 4  Added new target pos. range: 14.510731 m, bearing: 102.253887 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.502915 s, deltaX: -0.099388 m, approachRate: -0.197624 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.51 m.hh*h"h hgfffddjd@33-@Zd?ZZZZw@5`¼)1 5>i5)9)15{61i9i=#AE?=IAIAԁ@ @@4@ԩiIchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.809449^A% 6=I1 IA OM >E  E E &E "E O;*E :VE 4ZE a @a @a @a @ ,?Ae7@e @eV¼ٱeDy AHRS rotation from veh to nav: [[0.415377,0.908513,0.045449],[-0.909341,0.413416,0.046758],[0.023691,-0.060751,0.997872]]eH ??E?Riu??vB? ?ie7@Iee];ejCYy AiEMb@Mb@Mb@AAAA A9Ex&?+y&1|?YE7=yEE`;AE@ EtA)AAYEAbD]VD]kymy:%m6=ٔmJ8Q-u>9qYq=uFyq}7;E}>Q 55?Q 95)BY=Q EBB` IBdBBBBBx\;BC"EDAT read: 06:08:27.2193 LVL= 27824, 21313, 31634, 32755, AGC= 62, IDX= 500,-0.08, 0.296, 1.945,-0.078, 0.828, PHS=-0.430, 1.162,-0.950, RAW= 343.7, 2.3, CAL= 343.2, -0.6, ROT= 166.8, 0.6 Ygot valid direction response: 06:08:27.2193 LVL= 27824, 21313, 31634, 32755, AGC= 62, IDX= 500,-0.08, 0.296, 1.945,-0.078, 0.828, PHS=-0.430, 1.162,-0.950, RAW= 343.7, 2.3, CAL= 343.2, -0.6, ROT= 166.8, 0.6 V¼) =i9)o6ii#C=IIT#Rx 10: Read range and direction messages.`direction in FSK: [-0.973526,0.228338,-0.010472]%Fpublishing direction and range infoyIM'Uը/:?/;rYM3kAIMlMASM{ I)IIM(ܾiMj?M33sMS@Ml$=M֭@ M+)MAQ:@IM+ checking for new query: numPingsReceived=10, elapsed TxPingTime=7.313142) ,0?Aɰ2!@2@2=(üٱ27w :AHRS rotation from veh to nav: [[0.416032,0.908240,0.044919],[-0.909038,0.414088,0.046707],[0.023821,-0.060265,0.997898]]2HD?M?@?`i?@?`pd?ڮ ?i2!@I2C];2iCYBcByB_ IbDNVDN:2yVa%Vm=ٔVĹQ-V?9XYX=ZFyX^ ;E^?EE EEEE%EA"EE:*EE$:VEE 4ZEABEE>@>AeDDAT read: Rx Time:06:08:27.7192 eTRx dataTimestamp_ set to:1761545309.004787uPDAT read: Bearing 283.7, 13.0 (Local) u~Local bearing/azimuth received: Bearing 283.7, 13.0 (Local) DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0 DAT read: 06:08:27.7192 LVL= 28432, 19873, 32754, 32755, AGC= 61, IDX= 499, 0.09, 0.572, 2.194, 0.162, 1.086, PHS=-0.412, 1.154,-0.967, RAW= 344.6, 2.4, CAL= 344.1, -0.5, ROT= 165.9, 0.5 Ygot valid direction response: 06:08:27.7192 LVL= 28432, 19873, 32754, 32755, AGC= 61, IDX= 499, 0.09, 0.572, 2.194, 0.162, 1.086, PHS=-0.412, 1.154,-0.967, RAW= 344.6, 2.4, CAL= 344.1, -0.5, ROT= 165.9, 0.5 T#Rx 11: Read range and direction messages.`direction in FSK: [-0.969835,0.243606,-0.008727]Fpublishing direction and range infoyae4ʊf6y.?B7߁YeiAaeoeMe a)e=IeҾieF?ePwev@e+=e.@ e5)eO9@Ie5,ѲJ?A 2z@2N@2@¼ٱ2Wu >AHRS rotation from veh to nav: [[0.416959,0.907838,0.044450],[-0.908614,0.415038,0.046511],[0.023776,-0.059781,0.997928]]2Hs?@ ?`.¦?^ ?@GЧ?X?ज़@?i2z@I2N];0Yf^ByfY IbDn VDn2y%a%-C=ٔ-8Q-->9)Y1=5Fy15;E5>9Q 5E5=.?Q 9M5=)=BYIyMQ IM@=dEI= :i=:=<5yQɮU/AYiinN@?AJi,hARi,hAjip?bYc%,Z3zG @h ]5R4ʊf6y.?B7߁ZiO9@bi5<jppP_1,@ \Zobǿk?pK72icA:i*"i?*iN|BiBixK?iiBi2jAi7? addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503967 s, deltaX: -0.099999 m, approachRate: -0.198425 m/s, rangeRepo size: 4  Added new target pos. range: 14.510744 m, bearing: 100.591860 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.503967 s, deltaX: -0.099388 m, approachRate: -0.197212 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.51 m.hh*h"h hgfffddjd@33-@Zd?ZZZZ4 @-@¼)) -=i5{9checking for new query: numPingsReceived=11, elapsed TxPingTime=7.817296)16ii#rH=IIyEe EeEe'Ea"Ee;*Ee :VEe'4ZEaa@a@a@a@M9@I @Q@U/@Yԡ^A B=I I O >m DDAT read: Rx Time:06:08:28.2193 u TRx dataTimestamp_ set to:1761545309.508661} PDAT read: Bearing 283.7, 13.6 (Local) } ~Local bearing/azimuth received: Bearing 283.7, 13.6 (Local) B B B S IB YBB 6 =B B B 8\;B $"E DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0  DAT read: 06:08:28.2193 LVL= 26464, 17521, 29746, 32499, AGC= 60, IDX= 499, 0.35, 0.769, 2.380, 0.335, 1.276, PHS=-0.405, 1.149,-0.985, RAW= 345.2, 2.6, CAL= 344.8, -0.4, ROT= 165.2, 0.4  Ygot valid direction response: 06:08:28.2193 LVL= 26464, 17521, 29746, 32499, AGC= 60, IDX= 499, 0.35, 0.769, 2.380, 0.335, 1.276, PHS=-0.405, 1.149,-0.985, RAW= 345.2, 2.6, CAL= 344.8, -0.4, ROT= 165.2, 0.4  T#Rx 12: Read range and direction messages. `direction in FSK: [-0.966800,0.255440,-0.006981] Fpublishing direction and range infoyi m 'pWY?a|Ym 3kAi m `gm qDm 2t m ~)m <Im )\Ͼim o?m (|m @m 9=m @ m )m 8@Im ;i i m =ق˲p<ͦ? m )m }6Im 8@im ;i i  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.118135j,;d?A2*@2@2¼ٱ2s >AHRS rotation from veh to nav: [[0.417812,0.907459,0.044182],[-0.908225,0.415908,0.046348],[0.023683,-0.059492,0.997948]]2H`n? ??-`=?躧?`j@?u@0?i2*@I2];P2jCYViByVg IIX)Z4<^=\iMb@Mb@Mb@ 9l?~jt~jt?Y=yD< A)YAbD=VD=yML=%M9=ٔM9\9Q-M>9Y=Fy;E>Q 55?Q 95)BY=Q E;yQ I@I};i;>5yɮ/Aii`?AJiiARiiAjiD?byxq @, k' @|G}R'pWY?a|Zi8@bi;j1b'u#œ,@<ZɊjƿ9|? (2ifA:i?!"i١r)?*i`yBiBiU ?i`yiBijAi3? addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503874 s, deltaX: 0.099999 m, approachRate: 0.198461 m/s, rangeRepo size: 4  Added new target pos. range: 14.610142 m, bearing: 99.940386 deg, lat: 36.779423 deg, lon: -121.859807 deg, deltaT: 0.503874 s, deltaX: 0.099398 m, approachRate: 0.197267 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.61 m.hh*h"h hgfff'Bddjd`ff-@Zd@'?ZM=ZM=ZM@ZM@¼)  >i9)顕&6ii#K=IIchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.3218549@9 @A@E/@AE] E]E]$EY"E];*E]^:VE]4ZEYBE]] ,\t~?AFɣ@F@F?¼ٱFDs NAHRS rotation from veh to nav: [[0.418546,0.907130,0.043995],[-0.907886,0.416647,0.046344],[0.023710,-0.059340,0.997956]]FHs?4?@?`g X?m?eG?aB?iFɣ@IF];FhCY\y^f IbDfVDf02y%a=ٔQ- >9 Y = Fy f;E>%DDAT read: Rx Time:06:08:28.7192 %TRx dataTimestamp_ set to:1761545310.0127665PDAT read: Bearing 284.5, 13.6 (Local) 5~Local bearing/azimuth received: Bearing 284.5, 13.6 (Local) EDAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.1 eDAT read: 06:08:28.7192 LVL= 25792, 22129, 32706, 32755, AGC= 60, IDX= 499,-0.22,-2.777,-1.165, 3.076,-2.288, PHS=-0.386, 1.168,-0.962, RAW= 345.2, 1.9, CAL= 344.7, -1.0, ROT= 165.3, 1.0 Ygot valid direction response: 06:08:28.7192 LVL= 25792, 22129, 32706, 32755, AGC= 60, IDX= 499,-0.22,-2.777,-1.165, 3.076,-2.288, PHS=-0.386, 1.168,-0.962, RAW= 345.2, 1.9, CAL= 344.7, -1.0, ROT= 165.3, 1.0 ԙT#Rx 13: Read range and direction messages.`direction in FSK: [-0.967120,0.253719,-0.017452]Fpublishing direction and range infoy!%``~>i9)顭86ii#,N=IIu9@q @y@}0@y@hA@gAchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.825252Ee  Ee Ee &Ea "Ee ;*Ee h:VEe 4ZEa au @au @au @au @^A G=I ! I1 O >,W?AT@(@¼ٱ)q %AHRS rotation from veh to nav: [[0.419492,0.906716,0.043493],[-0.907450,0.417618,0.046148],[0.023680,-0.058827,0.997987]]H??D?` B??{?? ?iT@I];iCY5sBy5s IiMb@Mb@Mb@ 9S㥫?L7A`尿/$?Y/]=y+<@ tA)AY AbD-VD-ky=W3=%=8=ٔ=8Q-=>9AYA=EFyAE;EM>QQ 5e5UG?Q 9e5U)UBYmܳ=Q EmBBBB7 =BBBS\;B1"Ei#Q=IIQ@Q @Q@UR0@YI^Ay I I O >ԁ  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.329211s,?A2@2Ԯ@2=¼ٱ2}n :AHRS rotation from veh to nav: [[0.420342,0.906350,0.042929],[-0.907057,0.418494,0.045949],[0.023680,-0.058253,0.998021]]2H????ࠆ??? Wӭ?i2@I2];2hCYB~ByB I DDHJAbDNVDNNyV=%Vh=ٔVQ-Z>9XYX=ZFyX^t.;E^>bE-4jE4rE/E% E%E!E!"E%;*E%:VE!ZE!BE%sd;@ ӞNʿRmrJP?4Zim7@bimd<jm`5Sj,@/QuZmx(ĿŞ}?}[ɪY2imKfA:im"im0?*im|BimBimyN&?im|iiimiAim7?= addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503983 s, deltaX: 0.099999 m, approachRate: 0.198418 m/s, rangeRepo size: 4  Added new target pos. range: 14.610101 m, bearing: 99.418856 deg, lat: 36.779425 deg, lon: -121.859808 deg, deltaT: 0.503983 s, deltaX: 0.099347 m, approachRate: 0.197124 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.61 m.hh*h"h hgfffddjd`ff-@Zdjg?ZAZAZAZEm@=¼) >i9).6ii#l U=ԉIIMDDAT read: Rx Time:06:08:29.7193 MTRx dataTimestamp_ set to:1761545311.021279]PDAT read: Bearing 284.5, 15.0 (Local) e~Local bearing/azimuth received: Bearing 284.5, 15.0 (Local) uDAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 DAT read: 06:08:29.7193 LVL= 27120, 22241, 32754, 32755, AGC= 61, IDX= 499, 0.32,-1.228, 0.354,-1.708,-0.756, PHS=-0.370, 1.155,-0.995, RAW= 346.4, 2.2, CAL= 346.0, -0.7, ROT= 164.0, 0.7 Ygot valid direction response: 06:08:29.7193 LVL= 27120, 22241, 32754, 32755, AGC= 61, IDX= 499, 0.32,-1.228, 0.354,-1.708,-0.756, PHS=-0.370, 1.155,-0.995, RAW= 346.4, 2.2, CAL= 346.0, -0.7, ROT= 164.0, 0.7 T#Rx 15: Read range and direction messages.`direction in FSK: [-0.961190,0.275617,-0.012217]Fpublishing direction and range infoyIMp*?I:YIIMiMVM I)M=IMpiM ד?MR~M\w@MnF=M,>@ M+H)M07@IM+H},x?Aɰp;6@6h@6wٱ67ll JAHRS rotation from veh to nav: [[0.421515,0.905829,0.042421],[-0.906517,0.419700,0.045590],[0.023492,-0.057672,0.998059]]6H??>?@0`^?`W?_?`=?i6@I6^;4YRByR IbD^VD^kyb<%fD=ٔfB9Q-f>9pYp=vFyx~Q 5 5?Q 95d)BYyQ I@gEIL;iH;E5yɮ%.A!i)i-\?AJi)Ri)ji-#?b--0H,@n@@; 2ƿR-p*?I:Zi-07@bi-+H<j- <r(s" ,@tiZ-G^8ÿ$P ?YV2i-fA:i-"i-I8?*i-tP|Bi-Bi-١r)?i-N|i-Bi-jAi-?u addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504530 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.610101 m, bearing: 98.987167 deg, lat: 36.779426 deg, lon: -121.859808 deg, deltaT: 0.504530 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.61 m.hh*h"h hgfffddjdZd!?ZZZZ@Mchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.833070Uw)Y ] >i]Q9)Y](6YiYai#9aY=IIE EE!E"E7;*Eخ:VEc3ZE%9@) @)@-/@1a=@a=@a=@a=@@m>@m>ԙ^AIIO > DDAT read: Rx Time:06:08:30.2194  TRx dataTimestamp_ set to:1761545311.524713 PDAT read: Bearing 285.2, 14.9 (Local)  ~Local bearing/azimuth received: Bearing 285.2, 14.9 (Local) % DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 E DAT read: 06:08:30.2194 LVL= 27600, 18497, 31202, 32755, AGC= 59, IDX= 501,-0.24,-1.874,-0.276,-2.355,-1.415, PHS=-0.358, 1.184,-0.984, RAW= 346.3, 1.7, CAL= 345.9, -1.3, ROT= 164.1, 1.3 M Ygot valid direction response: 06:08:30.2194 LVL= 27600, 18497, 31202, 32755, AGC= 59, IDX= 501,-0.24,-1.874,-0.276,-2.355,-1.415, PHS=-0.358, 1.184,-0.984, RAW= 346.3, 1.7, CAL= 345.9, -1.3, ROT= 164.1, 1.3 BY BY B] ` IB] dBBY BY BY B] \;B] `"EBƍCBƍCBBB7 =C4} T#Rx 16: Read range and direction messages. `direction in FSK: [-0.961494,0.273889,-0.022687] Fpublishing direction and range infoy  /:Ѧac?NGY;Y fnA  k AH y  ) ;I Ki P? m{ i@ < /@  ޹) -M7@I ޹<   Ie@濈 Hl5c?  Z) I -M7@i ޹<   checking for new query: numPingsReceived=16, elapsed TxPingTime=10.105936 $,Y?Azԝ@zϤ@zuٱz9YYY=]Fyae&;Em>Q 55?Q 95)BYՁ=Q E Q~,D?A$@ޤ@ٱd AHRS rotation from veh to nav: [[0.425651,0.903966,0.040829],[-0.904600,0.423947,0.044356],[0.022787,-0.055814,0.998181]]H=?I??|!?͵?`qU?@?i@IH^;YBy II<)4===bDVDy =% 1=ٔ g:Q->9Y=Fy=;E]>aQ 5m5e?Q 9m5e)eBYqyuQ Iu@ehEIe:ie:eI5yyɮ}.Aiyi}?AJiyRiyji} ?b}!Y,M@B$BwʿR}. ?4Zi}K6@bi}d<j}e.cyA-@H'Z}6KQ2¿n?#?,?A6@6@6uٱ6{a BAHRS rotation from veh to nav: [[0.427309,0.903210,0.040231],[-0.903828,0.425653,0.043752],[0.022393,-0.055057,0.998232]]6HY???`) =?@f?6?x0@?i6@I6Uv^;6jCYJByJ I\ DDAT read: Rx Time:06:08:31.2194  TRx dataTimestamp_ set to:1761545312.532728PDAT read: Bearing 284.8, 16.4 (Local) ~Local bearing/azimuth received: Bearing 284.8, 16.4 (Local) -DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.1 A9A=AABEƾ>BABEs IBEsBBABABABEx];BE"EmDAT read: 06:08:31.2194 LVL= 28400, 21825, 32754, 32755, AGC= 60, IDX= 500, 0.33,-1.155, 0.397,-1.689,-0.712, PHS=-0.341, 1.154,-1.021, RAW= 347.8, 2.2, CAL= 347.3, -0.8, ROT= 162.7, 0.8 uYgot valid direction response: 06:08:31.2194 LVL= 28400, 21825, 32754, 32755, AGC= 60, IDX= 500, 0.33,-1.155, 0.397,-1.689,-0.712, PHS=-0.341, 1.154,-1.021, RAW= 347.8, 2.2, CAL= 347.3, -0.8, ROT= 162.7, 0.8 }T#Rx 18: Read range and direction messages.`direction in FSK: [-0.954668,0.297346,-0.013962]Fpublishing direction and range infoy  lNsJ?4Y   n AU  ) I i F? ! ?@   @ ) ּ5@I    {&snfxG텣? L) 9I ּ5@i   checking for new query: numPingsReceived=18, elapsed TxPingTime=11.117246iMb@Mb@Mb@ 9{Gzt?Zd;O:v?Yף;yj<<l A )tAYAbDVDy%<=ٔm:Q->9Y=Fy%;E%>)Q 5U5-3?Q 9U5-)-BYUeY=Q EUz ,0:?AB@B@BٱB^ ZAHRS rotation from veh to nav: [[0.429052,0.902408,0.039679],[-0.903014,0.427445,0.043096],[0.021929,-0.054321,0.998283]]BH`u??P?|@B[?@?t?`ϫ?iB@IB[^;@YbByb IbDzVDzyZ=%n=ٔ :Q- ?9Y=Fy;E?Q 5%5?Q 9-5))BYIyMg&Q IM@I ;i;/M5yYɮe-Aa DNOT Ignoring new targets: 14.81 m.hh*h"h hgff!fAdIdQjdQZdU?ZZZZk@) (=i{9)ii#--u=IIDDAT read: Rx Time:06:08:31.7193 TRx dataTimestamp_ set to:1761545313.037892PDAT read: Bearing 285.2, 16.5 (Local) ~Local bearing/azimuth received: Bearing 285.2, 16.5 (Local) DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 QDAT read: 06:08:31.7193 LVL= 26352, 21793, 32754, 32755, AGC= 60, IDX= 500,-0.26, 2.730,-1.994, 2.190,-3.115, PHS=-0.336, 1.166,-1.022, RAW= 347.8, 2.0, CAL= 347.4, -1.0, ROT= 162.6, 1.0 Ygot valid direction response: 06:08:31.7193 LVL= 26352, 21793, 32754, 32755, AGC= 60, IDX= 500,-0.26, 2.730,-1.994, 2.190,-3.115, PHS=-0.336, 1.166,-1.022, RAW= 347.8, 2.0, CAL= 347.4, -1.0, ROT= 162.6, 1.0 T#Rx 19: Read range and direction messages.9@ @@/@5`direction in FSK: [-0.954095,0.298995,-0.017452]5Fpublishing direction and range infoyg@Hɼ"?W7) ߑY3kAf!U )I1i}??Ђ5=W@ 5)>5@I5<#6vdyힵtV? N)cI>5@i5<checking for new query: numPingsReceived=19, elapsed TxPingTime=11.653005ԁ^A h=I) I9 OE >Ա  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.849139,2S?A6^@62 @6j9ٱ6ga BAHRS rotation from veh to nav: [[0.430451,0.901717,0.040228],[-0.902352,0.428824,0.043256],[0.021754,-0.054919,0.998254]]6H@??@?q?%? F?X?i6^@I6S@^;4YFByF I HHLLbDR VDR2yZ5<%ZQ=ٔ^9Q-^>9\Y\=bFy`b;Eb>dE~ E~E~%E|"E~ ;*E~Z:VE~ 4ZE|a@a@a@a @Q 5 5f?Q 9 5fT)fBYyL&Q I@dIf 5@bi55<j52Hah B!B% IB%BB!B!B!B%^;B%#EE~Local bearing/azimuth received: Bearing 285.3, 17.0 (Local) ]DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 DAT read: 06:08:32.2195 LVL= 27728, 21489, 32754, 32755, AGC= 60, IDX= 501, 0.01,-1.562,-0.021,-2.120,-1.139, PHS=-0.321, 1.162,-1.025, RAW= 348.4, 1.9, CAL= 347.9, -1.1, ROT= 162.1, 1.1 Ygot valid direction response: 06:08:32.2195 LVL= 27728, 21489, 32754, 32755, AGC= 60, IDX= 501, 0.01,-1.562,-0.021,-2.120,-1.139, PHS=-0.321, 1.162,-1.025, RAW= 348.4, 1.9, CAL= 347.9, -1.1, ROT= 162.1, 1.1 T#Rx 20: Read range and direction messages.`direction in FSK: [-0.951419,0.307300,-0.019197]Fpublishing direction and range infoyz!er%ͪ?]~YpAPlS )IZij?33Q@=M@ nF)D5@InF<w>忣_*$y37? )E ID5@inF<checking for new query: numPingsReceived=20, elapsed TxPingTime=12.129988 ^A np=I ! I1 i Ou > +9 Y A,zm?AY=By= IiMb@Mb@Mb@ 99Y=FyE> Q 55 A?Q 95 S) BYC=Q E@>Q DDAT read: Rx Time:06:08:32.7194  TRx dataTimestamp_ set to:1761545314.045487% PDAT read: Bearing 285.5, 17.4 (Local) % ~Local bearing/azimuth received: Bearing 285.5, 17.4 (Local) 5 DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 ] DAT read: 06:08:32.7194 LVL= 26192, 20465, 32754, 32755, AGC= 61, IDX= 500, 0.29,-2.137,-0.608,-2.704,-1.724, PHS=-0.310, 1.161,-1.024, RAW= 348.7, 1.8, CAL= 348.2, -1.2, ROT= 161.8, 1.2 ^Ae hp=Ii I O > Ygot valid direction response: 06:08:32.7194 LVL= 26192, 20465, 32754, 32755, AGC= 61, IDX= 500, 0.29,-2.137,-0.608,-2.704,-1.724, PHS=-0.310, 1.161,-1.024, RAW= 348.7, 1.8, CAL= 348.2, -1.2, ROT= 161.8, 1.2  T#Rx 21: Read range and direction messages. `direction in FSK: [-0.949764,0.312266,-0.020942] Fpublishing direction and range infoy  4vdA5+?_2qY fnA  Pf O  ) =I Ri ? o 6@ = x@  ) {4@I <   ܑ;忮eu3迖DU8?  ) 9I {4@i <   checking for new query: numPingsReceived=21, elapsed TxPingTime=12.640487y !,f?AR/@R*@R@ ٱRVh ZAHRS rotation from veh to nav: [[0.434033,0.899910,0.042166],[-0.900658,0.432364,0.043324],[0.020757,-0.056781,0.998171]]RH2?`?ǖ?@0٫?.?DA? n?iR/@IR/^;RgCYbByb IbDjVDj1y%Z=ٔ .;Q- >9 Y=Fy-<E>9Q 5E5=?Q 9E5=R)=BYIyMH@Q IM@9I=F:i=:=|R5yUQBɮUo-A}EiIiMB?AJiMlARiMlAjiM ?bMrb?!,QBL@d;ӿRM4vdA5+?_2qZiM{4@biM<jM e',3?AbDDAT read: Rx Time:06:08:33.2195 fTRx dataTimestamp_ set to:1761545314.548700jPDAT read: Bearing 285.9, 17.2 (Local) j~Local bearing/azimuth received: Bearing 285.9, 17.2 (Local) rDAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.1  DAT read: 06:08:33.2195 LVL= 25040, 20545, 32754, 32755, AGC= 62, IDX= 502,-0.33,-2.841,-1.304, 2.880,-2.433, PHS=-0.307, 1.174,-1.015, RAW= 348.5, 1.5, CAL= 348.0, -1.5, ROT= 162.0, 1.5 Ygot valid direction response: 06:08:33.2195 LVL= 25040, 20545, 32754, 32755, AGC= 62, IDX= 502,-0.33,-2.841,-1.304, 2.880,-2.433, PHS=-0.307, 1.174,-1.015, RAW= 348.5, 1.5, CAL= 348.0, -1.5, ROT= 162.0, 1.5 T#Rx 22: Read range and direction messages.`direction in FSK: [-0.950731,0.308911,-0.026177]Fpublishing direction and range infoy`bblr;3?P!ΚYbpA`babAP` `)b>Ib/ibE?b끿b@bPwBIBM IBMBBIBIBIBM3^;BM#EYBy II=)==iMb@Mb@Mb@ 9Mb~jt:v?YyT< A )tAY(AbDVD2y-ኻ%-!=ٔ-Q-5>91Y1=5Fy1=E=>aQ 5m5e?Q 9m5e&)eBYmVR=Q Em#X,&lk@ ؿRbblr;3?P!ΚZib4@bibPw<jbR 1FzMz-@b?Zb~`4 섣?Z36;2ibkA:ib"ibTC?*ibZsuBibBi`ibwibBiblAibL?- addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503213 s, deltaX: 0.100000 m, approachRate: 0.198724 m/s, rangeRepo size: 4 ] Added new target pos. range: 14.908278 m, bearing: 97.818407 deg, lat: 36.779429 deg, lon: -121.859806 deg, deltaT: 0.503213 s, deltaX: 0.099395 m, approachRate: 0.197520 m/s, posRepo size: 4 eDNOT Ignoring new targets: 14.91 m.haha*ha"hy hygfffBddjd.@Zd,?ZVR=ZVR=Z^f@Z8@!)) -#=i-9))-31i1i=#9E$=IAIA9@ @@0@uchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.361934! E  E E $E "E l;*E Z:VE 4ZE BE VFQ '.,l^?A2PR@2$M@2ßٱ2}f :AHRS rotation from veh to nav: [[0.437831,0.898074,0.042037],[-0.898846,0.436235,0.042133],[0.019501,-0.056232,0.998227]]2H m??҅? X@G???fʬ`z?i2PR@I2*];2hCYBByB IbD~VD~yE<%M=ٔU;Q-U?9YYY=eFyae]<Ee?yQ 55}젊?Q 95} )}BYyT8@Q I@}jEI}9j;i}[j;} V5yɮ]-ADNOT Ignoring new targets: 14.91 m.hh*h"h hgfffddjdZdxA?Z Z Z Z YT8@%ß)! %`>=i%[9)!-}3)i)i#+U=II)DDAT read: Rx Time:06:08:33.7194 TRx dataTimestamp_ set to:1761545315.053373PDAT read: Bearing 285.3, 17.0 (Local) ~Local bearing/azimuth received: Bearing 285.3, 17.0 (Local) DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 5DAT read: 06:08:33.7194 LVL= 25024, 24673, 32754, 32755, AGC= 63, IDX= 501,-0.13, 2.608,-2.142, 2.052, 3.036, PHS=-0.326, 1.150,-1.028, RAW= 348.4, 2.2, CAL= 347.9, -0.8, ROT= 162.1, 0.8 =Ygot valid direction response: 06:08:33.7194 LVL= 25024, 24673, 32754, 32755, AGC= 63, IDX= 501,-0.13, 2.608,-2.142, 2.052, 3.036, PHS=-0.326, 1.150,-1.028, RAW= 348.4, 2.2, CAL= 347.9, -0.8, ROT= 162.1, 0.8 =T#Rx 23: Read range and direction messages.E`direction in FSK: [-0.951502,0.307327,-0.013962]MFpublishing direction and range infoyƕ㣳rb=?4YfnAaa` )?Iy馾i33?Q@nF=M@ d)D5@Id<Lk/Z:G9,Lnǯ;*? !) [ID5@id<}checking for new query: numPingsReceived=23, elapsed TxPingTime=13.6350689@ @@'4@Y^At0=IIO>ԁ  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.8651935,p\?A$J a@J[@JdٱJdEb EbEb&E`"Eb ;*EbǙ:VEb4ZE`ar@ar@av@av@ =AHRS rotation from veh to nav: [[0.439450,0.897296,0.041766],[-0.898064,0.437886,0.041684],[0.019114,-0.055826,0.998258]]JH?@? Lb?R?@W?`?:?iJ a@IJ];JlCYuByu IbDVDk1y%3=ٔ [:Q- >99YA=EFyAU{;yE>Q 55ꠊ?Q 95) BYyt8@Q I@I;i;'X5yɮ -A iiwj?AJilARilAji(r?b m.,bd4@&EAwʿRƕ㣳rb=?4ZiD5@bid<jɄݵQF-@pMZZ&pL¿q*q͡?4~sr;2i7jA:i}"ikIQ8?*i AwBi(BiED?i AwiiWlAi:? addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504673 s, deltaX: -0.100000 m, approachRate: -0.198149 m/s, rangeRepo size: 4  Added new target pos. range: 14.808888 m, bearing: 98.229106 deg, lat: 36.779428 deg, lon: -121.859806 deg, deltaT: 0.504673 s, deltaX: -0.099389 m, approachRate: -0.196938 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.81 m.hh*h"h hg fffddjd-@Zd?ZYZYZYZ]t8@d) =i9)顕Q3ii#g=IIԩDDAT read: Rx Time:06:08:34.2196 TRx dataTimestamp_ set to:1761545315.558298PDAT read: Bearing 285.4, 17.3 (Local) ~Local bearing/azimuth received: Bearing 285.4, 17.3 (Local)  DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 B)B)B- IB-BB)B)B)B-7^;B-#EUDAT read: 06:08:34.2196 LVL= 25360, 26241, 32754, 32755, AGC= 63, IDX= 502, 0.01,-1.940,-0.416,-2.508,-1.521, PHS=-0.317, 1.150,-1.032, RAW= 348.7, 2.1, CAL= 348.3, -0.9, ROT= 161.7, 0.9 eYgot valid direction response: 06:08:34.2196 LVL= 25360, 26241, 32754, 32755, AGC= 63, IDX= 502, 0.01,-1.940,-0.416,-2.508,-1.521, PHS=-0.317, 1.150,-1.032, RAW= 348.7, 2.1, CAL= 348.3, -0.9, ROT= 161.7, 0.9 mT#Rx 24: Read range and direction messages.m`direction in FSK: [-0.949308,0.313954,-0.015707]uFpublishing direction and range infoy%`c1?y&Y3sAcf )IMi9@ @@4@6@Q =@ )4@I<%|} sU ? )I4@i<checking for new query: numPingsReceived=24, elapsed TxPingTime=14.151301 ^A ff=I I O >n9;, ?Aɰ;6m@6h@6oٱ6zMd NAHRS rotation from veh to nav: [[0.440864,0.896602,0.041755],[-0.897378,0.439320,0.041348],[0.018729,-0.055699,0.998272]]6H@7??`?S?+?-? ?i6m@I6E];6gCYVByV IZAX\imMb@Mb@Mb@iiii i9mˡEˡE{Gzt?Ym'ym'mף;ii mA)iiYmAbDVDNyȵ%c=ٔS:Q->9Y=Fy;E?Q 55.頊?Q 95) BY`n=Q Ed?R92ioA:i"i9?*iL:oBiBiTC?iZsuiimAiB?=checking for new query: numPingsReceived=24, elapsed TxPingTime=14.369167 addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504925 s, deltaX: 0.300000 m, approachRate: 0.594148 m/s, rangeRepo size: 4  Added new target pos. range: 15.107086 m, bearing: 97.923996 deg, lat: 36.779428 deg, lon: -121.859805 deg, deltaT: 0.504925 s, deltaX: 0.298198 m, approachRate: 0.590578 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.11 m.hh*h"h hgffftBddjd`ff.@Zd?Z`n=Z`n=ZS{@Z03@-o)) -L=i-[9)1531i1iM#QUE=IQIQbEUJ4jEUm4rEUÖ/E EE%E"ET;*E:VE 4ZEBEG DDAT read: Rx Time:06:08:34.7195  TRx dataTimestamp_ set to:1761545316.060718 PDAT read: Bearing 285.8, 17.7 (Local)  ~Local bearing/azimuth received: Bearing 285.8, 17.7 (Local)  DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 5 DAT read: 06:08:34.7195 LVL= 27248, 23441, 32754, 32755, AGC= 61, IDX= 501, 0.12,-2.203,-0.694,-2.783,-1.801, PHS=-0.300, 1.152,-1.026, RAW= 349.1, 1.8, CAL= 348.7, -1.2, ROT= 161.3, 1.2 = Ygot valid direction response: 06:08:34.7195 LVL= 27248, 23441, 32754, 32755, AGC= 61, IDX= 501, 0.12,-2.203,-0.694,-2.783,-1.801, PHS=-0.300, 1.152,-1.026, RAW= 349.1, 1.8, CAL= 348.7, -1.2, ROT= 161.3, 1.2 A ] T#Rx 25: Read range and direction messages.e `direction in FSK: [-0.947003,0.320543,-0.020942]m Fpublishing direction and range infoy  LlAMŃ?_2qY pA pj [ ) =I i t? S g@ = 6@ ) ,4@I < v06, nye-zc? 5) s#I ,4@i <  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.641225B,?A2w@2]r@2`ٱ2d :AHRS rotation from veh to nav: [[0.441919,0.896076,0.041895],[-0.896863,0.440377,0.041290],[0.018549,-0.055821,0.998269]]2HeH??As?!/?#??`?i2w@I2];2jCYRByR IbD^VD^:y]6%eN=ٔe}9Q-e>9iYi=mFyimA;Em>qQ 55uZ砊?Q 95u)uBYy3@Q I@ukEIu{:iu1:uW[5yɮc.Ai!i%?AJi%nARi%nAji% ?b%GS_<,AR(p@ƃ;YӿR%LlAMŃ?_2qZi%,4@bi%<j%b2=[D߁-@Z%{$ TSX?,ho۬2i%lA:i%*"i%JUWA?*i%QvtBi%րBi%JUWA?i!i%Bi%mAi%?E addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.502420 s, deltaX: -0.200000 m, approachRate: -0.398073 m/s, rangeRepo size: 4 ] Added new target pos. range: 14.908309 m, bearing: 97.605721 deg, lat: 36.779428 deg, lon: -121.859805 deg, deltaT: 0.502420 s, deltaX: -0.198777 m, approachRate: -0.395640 m/s, posRepo size: 4 eDNOT Ignoring new targets: 14.91 m.haha*ha"ha hagafififididqjdu.@ZdueO?ZZZZv3@`) @=i9)页3ii#g‘=III9@ @@@Mchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.873610E EE$E"E=;*E:VE4ZEa%@a%@a%@a%@y^A #=I9 IY O >ԡ ]IH,"?A2@2z@2ٱ2G,f :AHRS rotation from veh to nav: [[0.442847,0.895603,0.042205],[-0.896408,0.441295,0.041375],[0.018431,-0.056155,0.998252]]2HW?Ȩ?؛?_,>?#/?ߒ?h?i2@I2];2iCVDDAT read: Rx Time:06:08:35.2195 ZTRx dataTimestamp_ set to:1761545316.564816^PDAT read: Bearing 285.1, 17.6 (Local) ^~Local bearing/azimuth received: Bearing 285.1, 17.6 (Local) fDAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 ArAAAr?ABrƾ>BpBr IBrBBr6 =BpBpBrV^;Br/#EBBBBBC4DAT read: 06:08:35.2195 LVL= 26672, 25073, 32754, 32755, AGC= 63, IDX= 501, 0.15,-1.724,-0.223,-2.301,-1.304, PHS=-0.318, 1.126,-1.041, RAW= 349.1, 2.5, CAL= 348.7, -0.5, ROT= 161.3, 0.5 %Ygot valid direction response: 06:08:35.2195 LVL= 26672, 25073, 32754, 32755, AGC= 63, IDX= 501, 0.15,-1.724,-0.223,-2.301,-1.304, PHS=-0.318, 1.126,-1.041, RAW= 349.1, 2.5, CAL= 348.7, -0.5, ROT= 161.3, 0.5 %T#Rx 26: Read range and direction messages.-`direction in FSK: [-0.947174,0.320601,-0.008727]-Fpublishing direction and range infoyTVxo%G@ODs8?B7߁YTTV0hVaT T)V?IVТiV ?yV}?TV¸2=T V5)TIV59 Y = Fy / ;E>Q 5%5堊?Q 9%5)Y%c=Q E%n?*iVgtBiV3BiV7'j>?iVQvtiVBiVDnAiV? addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504098 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.908335 m, bearing: 97.632564 deg, lat: 36.779428 deg, lon: -121.859804 deg, deltaT: 0.504098 s, deltaX: 0.000026 m, approachRate: 0.000051 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.91 m.hh*h"h hgfffjBddjd9Zd=@%Y?Zec=Zec=Ze<@ZeDUW@u)q uL=iu'9)y顝3ii#yq=II@ @@/@@%hA@!]checking for new query: numPingsReceived=26, elapsed TxPingTime=15.377358E  E E E "E ;*E :VE ZE BE @uN,7<?A((Z@Z@ZjٱZj!h nAHRS rotation from veh to nav: [[0.443469,0.895278,0.042571],[-0.896099,0.441894,0.041682],[0.018505,-0.056632,0.998224]]ZHa? ?˥?֬ G?@YW?`?r?iZ@IZ)];ZjCY~kBy~i IIC=)4=bD VD :y%x=ٔ%ckQ-%?9!Y!=-Fy)-$;E-?1Q 5=55㠊?Q 9=55)1YAyE:Q IE@1I5;i54:5^5yIɮM//AI}DNOT Ignoring new targets: 14.91 m.hyhy*hy"hy hygyfffddjdZdE?ZZZZ`W@j) i9)ii#vt=IIDDAT read: Rx Time:06:08:35.7194 TRx dataTimestamp_ set to:1761545317.069518PDAT read: Bearing 285.3, 17.9 (Local) ~Local bearing/azimuth received: Bearing 285.3, 17.9 (Local) DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 DAT read: 06:08:35.7194 LVL= 26608, 24161, 32754, 32755, AGC= 63, IDX= 500, 0.21,-2.501,-1.000,-3.092,-2.089, PHS=-0.310, 1.135,-1.047, RAW= 349.4, 2.3, CAL= 348.9, -0.7, ROT= 161.1, 0.7 Ygot valid direction response: 06:08:35.7194 LVL= 26608, 24161, 32754, 32755, AGC= 63, IDX= 500, 0.21,-2.501,-1.000,-3.092,-2.089, PHS=-0.310, 1.135,-1.047, RAW= 349.4, 2.3, CAL= 348.9, -0.7, ROT= 161.1, 0.7 T#Rx 27: Read range and direction messages.-9@) @)@- 0@)M`direction in FSK: [-0.946015,0.323893,-0.012217]UFpublishing direction and range infoyb EY8?I:YfnAga^ )IRiG?K$@l$=@ +H)P3@I+H<;RR(E0a? ) 'IP3@i+H<}checking for new query: numPingsReceived=27, elapsed TxPingTime=15.6555659i^Av=IIO>e checking for new query: numPingsReceived=27, elapsed TxPingTime=15.881095ԙ ^U,8V?AEZ EXEXEX"EZ;*EXVEXZEXaj@aj@an@an@%@%ۂ@%7ٱ%Xiq }AHRS rotation from veh to nav: [[0.443721,0.895143,0.042787],[-0.895967,0.442116,0.042142],[0.018806,-0.057035,0.998195]]%H e??)?ī K? ?A?36?i%@I%[];%fCY[ByV IbDVDy6%$=ٔQ->9Y=Fy:E>!Q 5-5%h᠊?Q 955%)!Y1y5:Q I5@%lEI%:i%:%a5y9ɮm/AiiirD?AJilARilAji?btS ,Α/@rj(ǿRb EY8?I:ZiP3@bi+H<jo;@S"~T-@Z_b}c?0xϨ2ijA:i"il>?*iv7wBiBiiiiUnAiɺ? addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504702 s, deltaX: -0.100000 m, approachRate: -0.198137 m/s, rangeRepo size: 4  Added new target pos. range: 14.808946 m, bearing: 97.499205 deg, lat: 36.779428 deg, lon: -121.859804 deg, deltaT: 0.504702 s, deltaX: -0.099389 m, approachRate: -0.196926 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.81 m.hh*h"h hgfffddjd -@Zd ?Z)Z)Z)Z-eW@=7)A EiE9)AEoAiAiM#IUj=IQIQԙDDAT read: Rx Time:06:08:36.2195 TRx dataTimestamp_ set to:1761545317.574030BBB IBBB7 =BBB`^;B4#EPDAT read: Bearing 285.0, 18.1 (Local) ~Local bearing/azimuth received: Bearing 285.0, 18.1 (Local)  DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 -DAT read: 06:08:36.2195 LVL= 25936, 27121, 32754, 32755, AGC= 61, IDX= 501, 0.25,-0.321, 1.171,-0.921, 0.096, PHS=-0.315, 1.120,-1.061, RAW= 349.7, 2.7, CAL= 349.2, -0.3, ROT= 160.8, 0.3 5Ygot valid direction response: 06:08:36.2195 LVL= 25936, 27121, 32754, 32755, AGC= 61, IDX= 501, 0.25,-0.321, 1.171,-0.921, 0.096, PHS=-0.315, 1.120,-1.061, RAW= 349.7, 2.7, CAL= 349.2, -0.3, ROT= 160.8, 0.3 =T#Rx 28: Read range and direction messages.E`direction in FSK: [-0.944363,0.328862,-0.005236]EFpublishing direction and range infoy98+ԩ ?sNruYpAPei )=U9@Q @Q@U/@Q@]>@]>IGi)\?·0O@A=@ )3@I;1U%oHFw][? _)@I3@i;checking for new query: numPingsReceived=28, elapsed TxPingTime=16.178514^A} ̓=I I O > [,Tp?A6o@6C@6Mٱ6i >AHRS rotation from veh to nav: [[0.443872,0.895076,0.042615],[-0.895885,0.442249,0.042508],[0.019201,-0.057046,0.998187]]6H`eh?@w?@ѥ? M?å?i?@.5%?i6o@I6];6hCYFIByF? IiMb@Mb@Mb@ 9{Gzt?Dl{GztYף;yOף A@ )YbD-VD-Ny=s%==ٔEQ-E?9AYA=EFyAM:EM?QQ 5]5Uߠ?Q 9]5U;)QYe =Q Ee??iiiunAi? addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504512 s, deltaX: 0.100000 m, approachRate: 0.198212 m/s, rangeRepo size: 4  Added new target pos. range: 14.908325 m, bearing: 97.189638 deg, lat: 36.779428 deg, lon: -121.859804 deg, deltaT: 0.504512 s, deltaX: 0.099380 m, approachRate: 0.196982 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.91 m.hh*h"h hgfff/Bddjd.@ZdK?checking for new query: numPingsReceived=28, elapsed TxPingTime=16.385271Z =Z =Zz@Z`#k@M) L=iQ9)ii#=IIE EE&E"E=;*EB:VE4ZEBExI)  DDAT read: Rx Time:06:08:36.7194  TRx dataTimestamp_ set to:1761545318.076663 PDAT read: Bearing 285.5, 18.2 (Local)  ~Local bearing/azimuth received: Bearing 285.5, 18.2 (Local)  DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0  DAT read: 06:08:36.7194 LVL= 26352, 22513, 32754, 32755, AGC= 61, IDX= 500, 0.40,-2.408,-0.914,-3.014,-2.008, PHS=-0.298, 1.139,-1.049, RAW= 349.8, 2.2, CAL= 349.3, -0.8, ROT= 160.7, 0.8  Ygot valid direction response: 06:08:36.7194 LVL= 26352, 22513, 32754, 32755, AGC= 61, IDX= 500, 0.40,-2.408,-0.914,-3.014,-2.008, PHS=-0.298, 1.139,-1.049, RAW= 349.8, 2.2, CAL= 349.3, -0.8, ROT= 160.7, 0.8 % T#Rx 29: Read range and direction messages.- `direction in FSK: [-0.943709,0.330482,-0.013962]- Fpublishing direction and range infoy  ` 2&?4Y fnA f W ) I ui ʑ? E |]@ nF= @ d) 3@I d< 8QHnf迺P߉? ) XI 3@i d< M checking for new query: numPingsReceived=29, elapsed TxPingTime=16.653074mb,0?Aɰ6È@6@6Gٱ6fh >AHRS rotation from veh to nav: [[0.443794,0.895139,0.042107],[-0.895913,0.442167,0.042751],[0.019650,-0.056697,0.998198]]6H!g??? R`xL?y?? d=?i6È@I6 ];6iCYTyT XXbDnVDn1ٔznQ-z>9xYx=zFyxXE>!Q 5-5%ݠ?Q 9-5%)!Y1y5&Q I5@%mEI%[:i%:%d5yyɮyyii ?AJilARilAji?bd]+@bFwʿR` 2&?4Zi3@bid<jG߅sZ-@HEZ8{ ~`?>[$bA92ijA:i="iJKC?*i(>wBiŀBiJUWA?i/ tiBinAiw ? addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.502633 s, deltaX: -0.100000 m, approachRate: -0.198953 m/s, rangeRepo size: 4 E Added new target pos. range: 14.808936 m, bearing: 97.107746 deg, lat: 36.779428 deg, lon: -121.859804 deg, deltaT: 0.502633 s, deltaX: -0.099389 m, approachRate: -0.197737 m/s, posRepo size: 4 EDNOT Ignoring new targets: 14.81 m.hAhA*hA"hI hIgIfIfIfQdqdqjdu-@Zd}i?ZZZZ@"k@G) i49)ii#=III@ @@D4@5checking for new query: numPingsReceived=29, elapsed TxPingTime=16.889956ԁE EE#E"EO;*E:VE3ZEa@a@a @a @^A=I IA Ou >ԩ |h,N ?AFDDAT read: Rx Time:06:08:37.2195 FTRx dataTimestamp_ set to:1761545318.580660NPDAT read: Bearing 285.5, 17.5 (Local) N~Local bearing/azimuth received: Bearing 285.5, 17.5 (Local) VDAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 jDAT read: 06:08:37.2195 LVL= 25296, 22993, 32754, 32755, AGC= 61, IDX= 502,-0.37, 3.065,-1.707, 2.482,-2.802, PHS=-0.314, 1.140,-1.043, RAW= 349.1, 2.3, CAL= 348.7, -0.7, ROT= 161.3, 0.7 nYgot valid direction response: 06:08:37.2195 LVL= 25296, 22993, 32754, 32755, AGC= 61, IDX= 502,-0.37, 3.065,-1.707, 2.482,-2.802, PHS=-0.314, 1.140,-1.043, RAW= 349.1, 2.3, CAL= 348.7, -0.7, ROT= 161.3, 0.7 nT#Rx 30: Read range and direction messages.r`direction in FSK: [-0.947140,0.320589,-0.012217]vFpublishing direction and range infoyDF&>Nh?I:YFpADFbFYD D)DIFĠiF?FFg@Fl$=F6@ F+H)F,4@IF+H9Y=FyE>Q 5 5 ۠?Q 9 5)Y =Q E Nh?I:ZiF,4@biF+H<jF0@A56-@`O/^ZF.j"d4T?2=2iFlA:iFy"iF s2?*iFvBiFɀBiFl>?iFviDiFmAiF? addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503997 s, deltaX: 0.100000 m, approachRate: 0.198415 m/s, rangeRepo size: 4  Added new target pos. range: 14.908317 m, bearing: 97.703050 deg, lat: 36.779428 deg, lon: -121.859805 deg, deltaT: 0.503997 s, deltaX: 0.099380 m, approachRate: 0.197185 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.91 m.hh*h"h hgf f f  Bd djd.@Zd@J^?Zu=Zu=ZuTڤ@ZuH@) u=i<9)額<2ii#=III)echecking for new query: numPingsReceived=30, elapsed TxPingTime=17.398436Y @a  @a @m 4@i @ @ E  E E 'E "E ;*E :VE '4ZE BE LrAp,?A6W@6+z@6ٱ6i BAHRS rotation from veh to nav: [[0.442751,0.895670,0.041787],[-0.896397,0.441053,0.044091],[0.021061,-0.056980,0.998153]]6H`V?T?%e?@I7:?"??j,?i6W@I6x];4HYn&Byn IbDvVDvNy~h*%~=ٔAQ-?9Y=Fy ~E ?Q 55٠?Q 957)Yy%Q I%@nEId:i:g5y)ɮ-Z1A)UDNOT Ignoring new targets: 14.91 m.hYhY*hY"hY hYgYfYfafadadajdiZdm?ZZZZ(?@) B;il9)顥ii#=II5DDAT read: Rx Time:06:08:37.7194 =TRx dataTimestamp_ set to:1761545319.088810MPDAT read: Bearing 285.2, 17.4 (Local) M~Local bearing/azimuth received: Bearing 285.2, 17.4 (Local) eDAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 DAT read: 06:08:37.7194 LVL= 28496, 29073, 32754, 32755, AGC= 60, IDX= 501,-0.21, 2.202,-2.569, 1.624, 2.630, PHS=-0.326, 1.130,-1.049, RAW= 349.0, 2.6, CAL= 348.6, -0.4, ROT= 161.4, 0.4 Ygot valid direction response: 06:08:37.7194 LVL= 28496, 29073, 32754, 32755, AGC= 60, IDX= 501,-0.21, 2.202,-2.569, 1.624, 2.630, PHS=-0.326, 1.130,-1.049, RAW= 349.0, 2.6, CAL= 348.6, -0.4, ROT= 161.4, 0.4 T#Rx 31: Read range and direction messages.`direction in FSK: [-0.947745,0.318952,-0.006981]Fpublishing direction and range infoy15rS3i?a|Y5fnA15Po5q1 1)5<I5y馾i5ף?5E5@59=5@ 5)5I4@I5;115RZ=F)!$ ? 5|Q)5q8I5I4@i5;11Echecking for new query: numPingsReceived=31, elapsed TxPingTime=17.684452a@a @a@e/@aԹ^AIIO> checking for new query: numPingsReceived=31, elapsed TxPingTime=17.901091 Em  Em Em %Ei "Em I;*Em :VEm 4ZEi a @a @a @a @ev,x?AY#By II<)=bDVDk1y1%=;=ٔEQ-E>9QYy=}FyyE>Q 55נ?Q 95)BYyQ I@oEIUBǍCB: IBEBB6 =BBB];B"EDAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 DAT read: 06:08:38.2197 LVL= 26080, 21809, 32754, 32755, AGC= 60, IDX= 503,-0.01,-1.701,-0.184,-2.290,-1.293, PHS=-0.306, 1.154,-1.040, RAW= 349.2, 2.0, CAL= 348.8, -1.0, ROT= 161.2, 1.0 Ygot valid direction response: 06:08:38.2197 LVL= 26080, 21809, 32754, 32755, AGC= 60, IDX= 503,-0.01,-1.701,-0.184,-2.290,-1.293, PHS=-0.306, 1.154,-1.040, RAW= 349.2, 2.0, CAL= 348.8, -1.0, ROT= 161.2, 1.0 T#Rx 32: Read range and direction messages.`direction in FSK: [-0.946505,0.322217,-0.017452]q@q @q@u/@qFpublishing direction and range infoyQU*Iq3?W7) ߑYUtAQUeU1UQ Q)QIUiUF?UU@U5=U@ U5)U4@IU5ю|,?A2]n@21i@2ٱ24l :AHRS rotation from veh to nav: [[0.440875,0.896594,0.041819],[-0.897278,0.439069,0.045938],[0.022827,-0.057776,0.998069]]2H`M7? ?Ei??6?`_?@Ԕ-?i2]n@I2r];0Rchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.405077YrByr IaE- E-E-$E)"E-;*E-I:VE-4ZE)BE-b9qYq=uFyq}'E}>Q 55ՠ?Q 95!)BY=Q E;y3Q I@I ;i ;k5yɮ1Aii?AJiMsARiMsAji?bi :,;(b@ D&пR*Iq3?W7) ߑZi4@bi5<jD9݉j=~.@:R1a ZpR/gW?i;b2ipA:iT"i=0?*iJe-qBiWBi s2?iviɀBioAiu?ԉ addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504502 s, deltaX: 0.400001 m, approachRate: 0.792862 m/s, rangeRepo size: 4  Added new target pos. range: 15.206498 m, bearing: 97.431348 deg, lat: 36.779427 deg, lon: -121.859805 deg, deltaT: 0.504502 s, deltaX: 0.397571 m, approachRate: 0.788046 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.21 m.hh*h"h hgfff Bd d jd .@Zd G?ZU=ZU=ZUϜ@ZU@) u=iW9)額#2ii#&=II]9@Y @Y@]/@YԱ]DDAT read: Rx Time:06:08:38.7196 eTRx dataTimestamp_ set to:1761545320.096682mPDAT read: Bearing 284.8, 17.2 (Local) m~Local bearing/azimuth received: Bearing 284.8, 17.2 (Local) }DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 DAT read: 06:08:38.7196 LVL= 28144, 31905, 32754, 32755, AGC= 61, IDX= 502, 0.15,-1.847,-0.350,-2.412,-1.408, PHS=-0.337, 1.103,-1.048, RAW= 348.9, 3.0, CAL= 348.5, -0.0, ROT= 161.5, 0.0 Ygot valid direction response: 06:08:38.7196 LVL= 28144, 31905, 32754, 32755, AGC= 61, IDX= 502, 0.15,-1.847,-0.350,-2.412,-1.408, PHS=-0.337, 1.103,-1.048, RAW= 348.9, 3.0, CAL= 348.5, -0.0, ROT= 161.5, 0.0 T#Rx 33: Read range and direction messages.`direction in FSK: [-0.948324,0.317305,-0.000000]Fpublishing direction and range infoyY]](۪Xux'N?Y]3sAY]m]|Y Y)]=I]Di]/?]$]@]PwV=]@ ])]e4@I]YY]/<8d迈!l5۪? ]rh)]VI]e4@i]YYchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.673079 ^A} =I I O >Zw,҉?A2Ve@2*`@2¼ٱ2Ql :AHRS rotation from veh to nav: [[0.439877,0.897101,0.041458],[-0.897743,0.438031,0.046746],[0.023776,-0.057782,0.998046]]2H&? ?@ :?P??`X?`?i2Ve@I2];0Y^By^IbDjVDjyre%r=ٔrAQ-r ?9tYt=vFytvaEz ?xQ 55zԠ?Q 9%5z)zBY!y%FQ I%@zpEIz;iz`;z!m5y)ɮ51A1ii 0?AJiqARiqAji?bժ!,%0,@R](۪Xux'N?Zie4@bij Pz06 -@UjZEw"8߰?2s2iaoA:i"iPk+?*ietBi؀Bi=0?iiipAiS? addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503370 s, deltaX: -0.100000 m, approachRate: -0.198662 m/s, rangeRepo size: 4  Added new target pos. range: 15.107109 m, bearing: 97.619975 deg, lat: 36.779426 deg, lon: -121.859805 deg, deltaT: 0.503370 s, deltaX: -0.099389 m, approachRate: -0.197447 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.11 m.hh*h"h hg!f!f!f!d)d)jd-`ff.@Zd-@?ZiZiZiZmp@¼) W=if9)顭S2ii# l=IIchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.9097659@ @@/@EE EEEAEA"EEf;*EE:VEAZEAau@au@a}@a}@^A~4=IIO@>9m DDAT read: Rx Time:06:08:39.2196 m TRx dataTimestamp_ set to:1761545320.600668u PDAT read: Bearing 285.2, 16.9 (Local) } ~Local bearing/azimuth received: Bearing 285.2, 16.9 (Local) A} @AA} AAB Ⱦ>B B  IB 'BB 7 =B B B ];B "E DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0  DAT read: 06:08:39.2196 LVL= 25360, 27025, 32754, 32755, AGC= 61, IDX= 502, 0.47,-2.340,-0.830,-2.899,-1.903, PHS=-0.335, 1.118,-1.040, RAW= 348.7, 2.7, CAL= 348.2, -0.3, ROT= 161.8, 0.3  Ygot valid direction response: 06:08:39.2196 LVL= 25360, 27025, 32754, 32755, AGC= 61, IDX= 502, 0.47,-2.340,-0.830,-2.899,-1.903, PHS=-0.335, 1.118,-1.040, RAW= 348.7, 2.7, CAL= 348.2, -0.3, ROT= 161.8, 0.3  T#Rx 34: Read range and direction messages. `direction in FSK: [-0.949959,0.312330,-0.005236] - Fpublishing direction and range infoyi m  f8?sNruYi i m cm ii i )i Im im ?m m 6@m A=m x@ m )m {4@Im ;i i m ZQK?_t 迢m)a? m )m CIm {4@im ;i i M checking for new query: numPingsReceived=34, elapsed TxPingTime=19.190912q,d(?A2.\@2W@2%P˼ٱ2(j :AHRS rotation from veh to nav: [[0.438862,0.897638,0.040574],[-0.898212,0.437000,0.047399],[0.024816,-0.057246,0.998052]]2HO?`s?.Ƥ?&@?D?Yi?YO ?i2.\@I2ާ];2hCY~ By~I  A AiMb@Mb@Mb@ 9sh|??RQ9Y=FyMhEU>QQ 5]5UѠ?Q 9]5U{)UBYe>Q Ee;yeQ Ie@UqEIU&Z>Zpƭ@Z@%P˼) #=i%9)!%d 3!i!i=#QUЋ=IYIchecking for new query: numPingsReceived=34, elapsed TxPingTime=19.416061=9@9 @9@E/@AbE4jE4rES}/E EE#E"E ;*E':VE3ZEBERQ,UB?A2?R@2M@2Ӽٱ2Gi RAHRS rotation from veh to nav: [[0.437762,0.898205,0.039910],[-0.898722,0.435879,0.048051],[0.025764,-0.056903,0.998047]]2H J?? o? To? 3?a?]"?i2?R@I2ĵ];0YrByrIbDzVDzy=%b=ٔ ,Q- >9 Y=Fy쀻E?Q 5%5Р?Q 9%5j)BY)y- Q I-@I;i;p5y1ɮ52A9eDNOT Ignoring new targets: 15.11 m.haha*ha"ha hagafififidqdqjdqZduJv?ZZZZ @Ӽ) x\=i9)页(N3ii#M=IIDDAT read: Rx Time:06:08:39.7195 TRx dataTimestamp_ set to:1761545321.104739PDAT read: Bearing 283.2, 15.0 (Local) ~Local bearing/azimuth received: Bearing 283.2, 15.0 (Local) DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 DAT read: 06:08:39.7195 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.21, 2.132,-2.628, 1.656, 2.641, PHS=-0.407, 1.059,-1.030, RAW= 346.9, 4.1, CAL= 346.5, 1.8, ROT= 163.5, -1.8 -Ygot valid direction response: 06:08:39.7195 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.21, 2.132,-2.628, 1.656, 2.641, PHS=-0.407, 1.059,-1.030, RAW= 346.9, 4.1, CAL= 346.5, 1.8, ROT= 163.5, -1.8 -T#Rx 35: Read range and direction messages.5^direction in FSK: [-0.958347,0.283875,0.031411]5Fpublishing direction and range infoy2ƪN+?Iz?YpA )>INbоiP? ׃پ@C=@ =)6@I݌̝ʳL翫Ei^? )I6@iuchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.686256@ @@5@^A}=IIO>9  DDAT read: Rx Time:06:08:40.2197  TRx dataTimestamp_ set to:1761545321.359252 checking for new query: numPingsReceived=35, elapsed TxPingTime=19.922804E-  E- E) E) "E- ;*E- :VE) ZE) a5 @a5 @a= @a= @Ԗ,n\?A<^G@^dB@^~ۼٱ^'h vAHRS rotation from veh to nav: [[0.436578,0.898801,0.039440],[-0.899269,0.434663,0.048826],[0.026742,-0.056783,0.998028]]^H`?@?@p1?`@?@?Yb? ?i^G@I^];^jCY% By%IbDVDky %=;=ٔMQ-M>9yYy=Fyy=E>Q 55Π?Q 95)BYy:Q I@rEI:i:r5yHBɮ1AEiii F?AJinARinAjiJ?b-w!,޼@V?R2ƪN+?Iz?Zi6@bijlqRǶk-@OÿZäĿ@T?*%L2i^kA:i"iK?*i*~BiBiPk+?iìBirAiz? addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504071 s, deltaX: -0.200000 m, approachRate: -0.396769 m/s, rangeRepo size: 4  Added new target pos. range: 14.908344 m, bearing: 99.323914 deg, lat: 36.779426 deg, lon: -121.859805 deg, deltaT: 0.504071 s, deltaX: -0.198778 m, approachRate: -0.394346 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.91 m.hh*h"h hgfffddjd.@Zd@ ?ZZZZ)@~ۼ) `>=i9)`3ii%#!%==I)I)PDAT read: Bearing 285.7, 16.5 (Local) ~Local bearing/azimuth received: Bearing 285.7, 16.5 (Local)  DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 EDAT read: 06:08:40.2197 LVL= 26192, 24817, 32754, 32755, AGC= 63, IDX= 503, 0.16,-2.305,-0.776,-2.856,-1.870, PHS=-0.334, 1.139,-1.031, RAW= 348.3, 2.4, CAL= 347.9, -0.6, ROT= 162.1, 0.6 MYgot valid direction response: 06:08:40.2197 LVL= 26192, 24817, 32754, 32755, AGC= 63, IDX= 503, 0.16,-2.305,-0.776,-2.856,-1.870, PHS=-0.334, 1.139,-1.031, RAW= 348.3, 2.4, CAL= 347.9, -0.6, ROT= 162.1, 0.6 UT#Rx 36: Read range and direction messages.BiBiBmIBm BBm6 =BiBiBm];Bm"EBǍCBǍCBBBCĻ4`direction in FSK: [-0.951542,0.307340,-0.010472]Fpublishing direction and range infoy߯s6w t?/;rYtAPf` )?I iʑ?@+=M@ +)D5@I+<'.+ABp翽Z#M? b)Iu*ID5@i+<checking for new query: numPingsReceived=36, elapsed TxPingTime=20.203556@ @@4@ԙ ^A =I I! O- >4,v?A*checking for new query: numPingsReceived=36, elapsed TxPingTime=20.423138LTTDzD?AE EE(E"EC#;*Eخ:VEc44ZEBE{9Y=FyAE>Q 55T͠?Q 95)"BY>=Q E;yQ I@sEI:i:t5yɮ1Aiif?AJiMsARiMsAji;?b(vt,ߺ@GО?aĿR߯s6w t?/;rZiD5@bi+<jMRc O.@4uZW4~8?HxO׫2ipA:i"i#?*iBwBiiBix#?iiBisAiZ?M addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503044 s, deltaX: 0.300000 m, approachRate: 0.596370 m/s, rangeRepo size: 4 ] Added new target pos. range: 15.206511 m, bearing: 97.959958 deg, lat: 36.779425 deg, lon: -121.859805 deg, deltaT: 0.503044 s, deltaX: 0.298167 m, approachRate: 0.592726 m/s, posRepo size: 4 eDNOT Ignoring new targets: 15.21 m.haha*ha"ha hagifififmBdqdqjdu.@Zdu?Z>=Z>=Z@Zʋ@M0)I MiM9)IMIiQiU#y}If=IyIyI)gAi@i @q@u4@q@}=@}=DDAT read: Rx Time:06:08:40.7196 TRx dataTimestamp_ set to:1761545322.113775PDAT read: Bearing 283.1, 14.7 (Local) ~Local bearing/azimuth received: Bearing 283.1, 14.7 (Local) -DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.1 UDAT read: 06:08:40.7196 LVL= 30624, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.45, 2.750,-1.999, 2.280,-3.015, PHS=-0.416, 1.061,-1.032, RAW= 346.6, 4.2, CAL= 346.3, 1.9, ROT= 163.7, -1.9 ]Ygot valid direction response: 06:08:40.7196 LVL= 30624, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.45, 2.750,-1.999, 2.280,-3.015, PHS=-0.416, 1.061,-1.032, RAW= 346.6, 4.2, CAL= 346.3, 1.9, ROT= 163.7, -1.9 ]T#Rx 37: Read range and direction messages.e^direction in FSK: [-0.959278,0.280513,0.033155]mFpublishing direction and range infoyx f?B3?Y3sAw )AIԾi·?@Q =i@ =)6@Ih忓p%3kx:? )@$I6@ichecking for new query: numPingsReceived=37, elapsed TxPingTime=20.693792 ^A 8=I I O >J,R?A|YBy IbDVDyE9=%E=ٔEQ-E ?9IYI=MFyIUEU ?QQ 5e5U<̠?Q 9e5U)U&BYayaQ Ie@UtEIU] ;iU:U v5yqɮub1Aqi9i=H?AJi=qARi=qAji=K(?b=7,h,,:yq@I!4?R=x f?B3?Zi=6@bi=j=}|]:-@7?gi¿Z=rĿy~r?Ͷ2i=mnA:i="i=^*c?*i=h|Bi=ҁBi=#?i=Bwi=؀Bi=}sAi=±? addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.505992 s, deltaX: -0.100000 m, approachRate: -0.197632 m/s, rangeRepo size: 4  Added new target pos. range: 15.107122 m, bearing: 99.442818 deg, lat: 36.779424 deg, lon: -121.859806 deg, deltaT: 0.505992 s, deltaX: -0.099389 m, approachRate: -0.196424 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.11 m.hh*h"h hgfffddjd`ff.@Zd@ ?Z Z Z Z )! %Yԁ  DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 5 DAT read: 06:08:41.2198 LVL= 25840, 29681, 32754, 32755, AGC= 65, IDX= 504, 0.04,-1.913,-0.376,-2.409,-1.421, PHS=-0.390, 1.089,-1.033, RAW= 347.2, 3.6, CAL= 346.7, 1.0, ROT= 163.3, -1.0 E Ygot valid direction response: 06:08:41.2198 LVL= 25840, 29681, 32754, 32755, AGC= 65, IDX= 504, 0.04,-1.913,-0.376,-2.409,-1.421, PHS=-0.390, 1.089,-1.033, RAW= 347.2, 3.6, CAL= 346.7, 1.0, ROT= 163.3, -1.0 E T#Rx 38: Read range and direction messages.M ^direction in FSK: [-0.957677,0.287317,0.017452]M Fpublishing direction and range infoy  kpImћec?W7) ߑ?Y xA  d s  ) I Ǿi Zd? X9 @ =Ba Ae <Bm ƾ>Bm ƍCBm IBm BBi Bi Bi Bm ];Bm "E B@  5<) ih6@I 5   Ӟm翑Q'F?  Z) 'I ih6@i 5   checking for new query: numPingsReceived=38, elapsed TxPingTime=21.193991|,]2?AYnByn IYiMb@Mb@Mb@ 9i|?5?sh|?~jt?Yq=y< A )YzAbD=VD=1yU!%U:=ٔYQ-]>9aYa=eFyaaEm>iQ 55muʠ?Q 95m)m-BYD=Q E;yQ I@muEImg&2i5OsA:i5"i5[d?*i5uBi5PBi5K?i1i5PBi5tAi51? addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.501586 s, deltaX: 0.300000 m, approachRate: 0.598103 m/s, rangeRepo size: 4  Added new target pos. range: 15.405231 m, bearing: 99.085509 deg, lat: 36.779422 deg, lon: -121.859806 deg, deltaT: 0.501586 s, deltaX: 0.298109 m, approachRate: 0.594333 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.41 m.hh*h"h hgfffBddjd/@Zd ?Z5D=Z5D=Z5E@Z5ʆ@A)a ew, ?AY~/By~ I A   AAbDVDy%=%%`=ٔ!Q-->9)Y)=-Fy)1E5>9Q 5E5=Ƞ?Q 9E5=)=2BYAyAQ IM@9I=:i=:=y5yQɮU0AQuB*** querying acoustic contact ***iq iuDAT read: 06:08:41.7197 LVL= 32752, 28961, 32754, 32755, AGC= 67, IDX= 504,-0.41, 1.882,-2.823, 1.477, 2.449, PHS=-0.465, 1.056,-1.017, RAW= 344.9, 4.6, CAL= 344.5, 2.7, ROT= 165.5, -2.7 Ygot valid direction response: 06:08:41.7197 LVL= 32752, 28961, 32754, 32755, AGC= 67, IDX= 504,-0.41, 1.882,-2.823, 1.477, 2.449, PHS=-0.465, 1.056,-1.017, RAW= 344.9, 4.6, CAL= 344.5, 2.7, ROT= 165.5, -2.7 Z#Rx 40: Read direction message, but no range.^direction in FSK: [-0.967073,0.250102,0.047106]yθB޹?P7V?!q )CI{i+?-@l=g@ A=)8@IAo) ,S/!y㪴? T)9I8@iA checking for new query: numPingsReceived=40, elapsed TxPingTime=21.691139E addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.256940 s, deltaX: -0.200000 m, approachRate: -0.778391 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 15.41 m.hAhI*hI"hI hIgIfIffddjd.@ZdJ?ZZZZ) {=i}9)ii# E=I I 9@  @ @ /@ 1Q^A- _=IY  DDAT read: Rx Time:06:08:42.2199  TRx dataTimestamp_ set to:1761545323.376182 PDAT read: Bearing 285.1, 14.4 (Local)  ~Local bearing/azimuth received: Bearing 285.1, 14.4 (Local)  checking for new query: numPingsReceived=40, elapsed TxPingTime=21.945566I O= >E  E E #E "E f;*E VE 3ZE a @a @a @a @ԁ #,?A2s @2G@2ٱ2JEk :AHRS rotation from veh to nav: [[0.432232,0.900938,0.038553],[-0.901243,0.430137,0.052367],[0.030596,-0.057381,0.997883]]2H@?|?F?@^?`Ϫ?T?` ?i2s @I2a];2gCYN6ByN' IbDfVDfkyn =%nO=ٔrQ-r>9pYp=rFypvEv>xQ 5~5z_Ǡ?Q 9~5z)z8BY|yQ I@zvEIz<;iz;zH{5y ɮ 0A EDNOT Ignoring new targets: 15.41 m.hAhIQ*hi"hq hqgyfyffddjdZd C?ZiZiZiZm @) X=i9)顭m2ii#B~=IIDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 B B B IB  BB 7 =B B B ^];B "EUDAT read: 06:08:42.2199 LVL= 23488, 23889, 32754, 32755, AGC= 64, IDX= 505, 0.13,-2.937,-1.359, 2.873,-2.439, PHS=-0.396, 1.126,-1.014, RAW= 346.3, 3.0, CAL= 345.8, 0.1, ROT= 164.2, -0.1 mYgot valid direction response: 06:08:42.2199 LVL= 23488, 23889, 32754, 32755, AGC= 64, IDX= 505, 0.13,-2.937,-1.359, 2.873,-2.439, PHS=-0.396, 1.126,-1.014, RAW= 346.3, 3.0, CAL= 345.8, 0.1, ROT= 164.2, -0.1 mT#Rx 41: Read range and direction messages.y^direction in FSK: [-0.962217,0.272280,0.001745]Fpublishing direction and range infoyZUzFm?n p\?YyA[Q] )@Iʾi ?ʁi@PwV=!@ :)i7@I亩&濽5_wJ? Y)eWIi7@i亩checking for new query: numPingsReceived=41, elapsed TxPingTime=22.2134869@ @@/@ IIG 9YAԩ^A {=I) I9 OM >  DDAT read: Rx Time:06:08:42.7198  TRx dataTimestamp_ set to:1761545323.880081 PDAT read: Bearing 284.1, 12.6 (Local)  ~Local bearing/azimuth received: Bearing 284.1, 12.6 (Local)  DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 LX,?AbZ#Rx 42: Read range message, but no direction.yYxAnchecking for new query: numPingsReceived=42, elapsed TxPingTime=22.463284]:@]@]ٱ]$j mAHRS rotation from veh to nav: [[0.431761,0.901182,0.038124],[-0.901453,0.429662,0.052663],[0.031078,-0.057105,0.997884]]]H?{?? ??ӟ? < ?i]:@I]J];YY}@BE EE$E"E;*E:VE4ZEBE,N9Y=FyTE>Q 55#Š?Q 95)ABY<=Q E2@N?RZUzFm?n p\?Zii7@bijvkT.@hOZ0ſ(T̀?V7-Ja2irA:i'"ip蟊?*icOxBiBi[d?icOxiiuAi? addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 1.007780 s, deltaX: 0.200000 m, approachRate: 0.198456 m/s, rangeRepo size: 4  Added new target pos. range: 15.405210 m, bearing: 99.797688 deg, lat: 36.779421 deg, lon: -121.859806 deg, deltaT: 1.264720 s, deltaX: -0.000021 m, approachRate: -0.000017 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.41 m.hh*h"h h g f f f1Bddjd/@Zd?Z]<=Z]<=Z]@Z]6@) _,?A2G@2@2|rٱ2ѐi :AHRS rotation from veh to nav: [[0.431653,0.901244,0.037885],[-0.901495,0.429551,0.052846],[0.031354,-0.056964,0.997884]]2H2??e? }?? ? a*?i2G@I2W1];2jCYBMByBD IbDjVDjܲyr=%r=ٔvfpQ-v?9tYt=zFyxzɹEz?|Q 55~à?Q 95~<)~FBYy Q I @~wEI~B:i~:~~5yɮ/AEDNOT Ignoring new targets: 15.41 m.hAhA*hA"hA hAgAfIfIfIdQdQjdQZdUo?ZqZqZqZuI@|r) _=i9)顕3ii#m}=IIyDDAT read: Rx Time:06:08:43.2199 TRx dataTimestamp_ set to:1761545324.383880PDAT read: Bearing 285.0, 14.3 (Local) ~Local bearing/azimuth received: Bearing 285.0, 14.3 (Local) checking for new query: numPingsReceived=43, elapsed TxPingTime=22.9516629@ @@4@E5 E5E5"E1"E5~ ;*E5B:VE5(3ZE1aM@aM@aM@aM@ԑ^AE|=IIO>M DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 A] AAA] @ABe Ⱦ>Be ǍCBe  IBe !BBa Ba Ba Be L];Be "E DAT read: 06:08:43.2199 LVL= 21552, 19825, 32754, 32755, AGC= 62, IDX= 505, 0.23, 1.735,-2.953, 1.257, 2.242, PHS=-0.405, 1.134,-1.028, RAW= 346.3, 3.1, CAL= 345.8, 0.3, ROT= 164.2, -0.3  Ygot valid direction response: 06:08:43.2199 LVL= 21552, 19825, 32754, 32755, AGC= 62, IDX= 505, 0.23, 1.735,-2.953, 1.257, 2.242, PHS=-0.405, 1.134,-1.028, RAW= 346.3, 3.1, CAL= 345.8, 0.3, ROT= 164.2, -0.3  T#Rx 44: Read range and direction messages. ^direction in FSK: [-0.962205,0.272276,0.005236] Fpublishing direction and range infoy9 = 2ߖa}\l?sNru?Y= yA9 = 0T= qM9 9 )= >I= )\Ͼi= &?= = i@= k]== !@ = ;)= i7@I= 9 9 = \|a$.Z{, ? = e)= ni`I= i7@i= 9 9  checking for new query: numPingsReceived=44, elapsed TxPingTime=23.210085 ,,?AYVByO Ii5Mb@Mb@Mb@1111 195Q9aYa=eFyamEm>qQ 5}5u;?Q 9}5ul)uOBY}=Q E$ZuIpſ M?Ue2iuDtA:iuq("iuAq㟊?*iuvBiuBiu^*c?iuBwiuBiuvAiuӠ? addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.751260 s, deltaX: 0.100000 m, approachRate: 0.133110 m/s, rangeRepo size: 4 u Added new target pos. range: 15.504670 m, bearing: 99.781499 deg, lat: 36.779421 deg, lon: -121.859806 deg, deltaT: 0.751260 s, deltaX: 0.099460 m, approachRate: 0.132390 m/s, posRepo size: 4 DDAT read: Rx Time:06:08:43.7198 TRx dataTimestamp_ set to:1761545324.887960PDAT read: Bearing 284.5, 12.9 (Local) ~Local bearing/azimuth received: Bearing 284.5, 12.9 (Local) -DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 eZ#Rx 45: Read range message, but no direction.yYxA}DNOT Ignoring new targets: 15.50 m.hh*h"h hgfffVBddjdZd ?checking for new query: numPingsReceived=45, elapsed TxPingTime=23.471519Z=Z=ZK9@Zn W@) i9)%!i!i=#9= ~=I9IAEu EuEu$Eq"Eu;*Euy:VEu4ZEqBEud`,K?AB@B@B ٱB"j ^AHRS rotation from veh to nav: [[0.431724,0.901201,0.038106],[-0.901459,0.429606,0.053014],[0.031406,-0.057238,0.997866]]BH \??@? ~?$?t?TN?iB@IB4];BhCYbYByfS Ih||bD~VD~k1y r<%5:=ٔ5iQ-5>99Y9==Fy9=<9EE>AQ 5m5E?Q 9u5E)EWBYqyqQ Iu@ExEIE.;iE;EЂ5yyɮ}v/AiiV8?AJi|vARi|vAjin?ba -Oe@ !S?R;:v^D?4?Zi8@bidjeڜok6.@\Uf<I޿ZXGȿb ?a?3St2iqA:i>"i#]oß?*iA{BigBip蟊?icOxiPBivAi/E?= addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.256619 s, deltaX: -0.100000 m, approachRate: -0.389684 m/s, rangeRepo size: 4 m Added new target pos. range: 15.405281 m, bearing: 101.161862 deg, lat: 36.779419 deg, lon: -121.859806 deg, deltaT: 0.256619 s, deltaX: -0.099389 m, approachRate: -0.387302 m/s, posRepo size: 4 uDNOT Ignoring new targets: 15.41 m.hqhq*hq"hq hqgqfyfyfydydjdZd?ZZZZ W@ ) i)ii#  I I 9@ @@5@DDAT read: Rx Time:06:08:44.2200 TRx dataTimestamp_ set to:1761545325.396516PDAT read: Bearing 284.7, 13.8 (Local) ~Local bearing/azimuth received: Bearing 284.7, 13.8 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 Z#Rx 47: Read range message, but no direction.yY|Achecking for new query: numPingsReceived=47, elapsed TxPingTime=23.973787)E EE'E"E ;*E8:VE'4ZEa@a@a@a@^A~=II O >Y K,7qe?A4ɰ4@@ٱgk) 5AHRS rotation from veh to nav: [[0.431942,0.901083,0.038419],[-0.901360,0.429815,0.053003],[0.031247,-0.057523,0.997855]]H?`? ??`<#?O?@sm?i@I%?];YEiByEg IBɾ>BB. IB;BBBBB];B"EDAT read: 06:08:44.2200 LVL= 21440, 22257, 32754, 32755, AGC= 62, IDX= 506, 0.04, 1.958,-2.727, 1.504, 2.479, PHS=-0.419, 1.122,-1.019, RAW= 345.8, 3.3, CAL= 345.3, 0.6, ROT= 164.7, -0.6  Ygot valid direction response: 06:08:44.2200 LVL= 21440, 22257, 32754, 32755, AGC= 62, IDX= 506, 0.04, 1.958,-2.727, 1.504, 2.479, PHS=-0.419, 1.122,-1.019, RAW= 345.8, 3.3, CAL= 345.3, 0.6, ROT= 164.7, -0.6 Z#Rx 48: Read direction message, but no range.^direction in FSK: [-0.964505,0.263859,0.010472]y?80?/;r?SV )>I+־i?n!@k=@ +<)7@I+{eI?2="ڭ? ")nI7@i+uchecking for new query: numPingsReceived=48, elapsed TxPingTime=24.225859i5Mb@Mb@Mb@1111 195A`"x&V-?Y5Yy575<5 A51A 5-A)11Y5pAbDmVDmyL=%'=ٔ9Q->9Y=Fyr:E>Q 558?Q 95V)_BYø=Q E\,.?A-#@-@-iٱ-fTlԩ AHRS rotation from veh to nav: [[0.432616,0.900749,0.038658],[-0.901051,0.430498,0.052716],[0.030842,-0.057638,0.997861]]-H`??ʣ?h`I???@‚@z?i-#@I--];)Y5mBy5k IbDMVDM y<%^=ٔ:Q->9Y=Fy;E>Q 55?Q 95%)dBYyt9@Q I@I$! KDDAT read: Rx Time:06:08:45.2199 TRx dataTimestamp_ set to:1761545326.400785.PDAT read: Bearing 285.1, 12.2 (Local) 2~Local bearing/azimuth received: Bearing 285.1, 12.2 (Local) -PExceeded connect timeout, disconnecting.UDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 ,C8?AE] E]E]$EY"E];*E]^:VE]4ZEYae@ae@ae@ae@DAT read: 06:08:45.2199 LVL= 21232, 22881, 32754, 32755, AGC= 62, IDX= 507,-0.26,-0.159, 1.491,-0.559, 0.391, PHS=-0.448, 1.145,-0.995, RAW= 344.2, 3.1, CAL= 343.8, 0.3, ROT= 166.2, -0.3 Ygot valid direction response: 06:08:45.2199 LVL= 21232, 22881, 32754, 32755, AGC= 62, IDX= 507,-0.26,-0.159, 1.491,-0.559, 0.391, PHS=-0.448, 1.145,-0.995, RAW= 344.2, 3.1, CAL= 343.8, 0.3, ROT= 166.2, -0.3 T#Rx 50: Read range and direction messages.^direction in FSK: [-0.971121,0.238530,0.005236]Fpublishing direction and range infoy1l'>)?sNru?YRaY )>IB`i\?R~<@k]=@ ;)9@IQ"JJV M? )C_I9@ichecking for new query: numPingsReceived=50, elapsed TxPingTime=25.071344-@'@ٱn AHRS rotation from veh to nav: [[0.433630,0.900223,0.039550],[-0.900592,0.431512,0.052257],[0.029976,-0.058279,0.997850]]H? ?`??@?]? ?֭c?i-@I?l];iCYvByw IbDVDy =%*=ٔ:Q->9Y=F y;E>Q 5%5Y?Q 9%5)lBY!y%9@Q I@zEI).xN6 @̲Zȴ?R1l'>)?sNru?Zi9@bij N :R.@5}Z2icʿJ?X2irA:iL"i1?*i !yBiJBi#]oß?i !yiivAi,? addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503840 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=50, elapsed TxPingTime=25.209339 Added new target pos. range: 15.504721 m, bearing: 101.906583 deg, lat: 36.779415 deg, lon: -121.859806 deg, deltaT: 0.503840 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.50 m.hh*h"h hBA<BȾ>BBM IBTBBBBB];B"EBiBiBiBiBiCmǗ49gQfYfYfYdadajdaZde $?ZZZZ9@) "i 9)ii#ׂ=II 9@  @ @ 1@ a ԑ^APڀ=IAIaDDAT read: Rx Time:06:08:45.7198 TRx dataTimestamp_ set to:1761545326.903846PDAT read: Bearing 284.8, 11.7 (Local) ~Local bearing/azimuth received: Bearing 284.8, 11.7 (Local) DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 Z#Rx 51: Read range message, but no direction.yYxAchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.475555O?_,*?A23@2.@2ٱ29Y=Fy:E>Q 55Ⱡ?Q 95\)rBY=Q E%Q ,Ll?A2z<@2N7@2/ٱ26n :AHRS rotation from veh to nav: [[0.435339,0.899379,0.039970],[-0.899813,0.433280,0.051037],[0.028583,-0.058184,0.997897]]2H`??w?`Dݺ? !?@D? Xʭ?i2z<@I2a];2hCY^pBy^o IbDjVDjkyro%r=ٔrL%;Q-v?9tYt=vFytze;Ez?|Q 5 5~?Q 95~ )~vBY!y%_,@Q I-@~{EI~;i~7;~5yM>BɮIQIDDAT read: Rx Time:06:08:46.2199 TRx dataTimestamp_ set to:1761545327.408755PDAT read: Bearing 284.6, 11.7 (Local) ~Local bearing/azimuth received: Bearing 284.6, 11.7 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 Z#Rx 53: Read range message, but no direction.yYyA checking for new query: numPingsReceived=53, elapsed TxPingTime=25.979990ii )?AJiRiji2?b0.>plR @?>?R&2 x :?I:?ZiAQ:@bi+HjUW BW&@.@LRlܿZEL ˿7?vN;I2irA:iGX"ih'?*i]u3yBiBi1?i]u3yigBi!wAi-?] addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504909 s, deltaX: 0.100000 m, approachRate: 0.198056 m/s, rangeRepo size: 4 nManaging dock network, ignoring radio surface power off Added new target pos. range: 15.504703 m, bearing: 102.594480 deg, lat: 36.779412 deg, lon: -121.859806 deg, deltaT: 1.007970 s, deltaX: -0.000018 m, approachRate: -0.000018 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.50 m.hh*h"h hgfffddjd@33/@Zd%!?E EE#E"E ;*E#:VE3ZEa@a@a@a@ZZZZr_,@/) Ƚi q9)   i i#1=IIa@ @@@0@ԑ DAT read: 06:08:46.2199 LVL= 19744, 22161, 32754, 32755, AGC= 61, IDX= 507,-0.07, 0.660, 2.316, 0.282, 1.229, PHS=-0.467, 1.132,-0.991, RAW= 343.7, 3.4, CAL= 343.3, 0.8, ROT= 166.7, -0.8  Ygot valid direction response: 06:08:46.2199 LVL= 19744, 22161, 32754, 32755, AGC= 61, IDX= 507,-0.07, 0.660, 2.316, 0.282, 1.229, PHS=-0.467, 1.132,-0.991, RAW= 343.7, 3.4, CAL= 343.3, 0.8, ROT= 166.7, -0.8  Z#Rx 54: Read direction message, but no range. ^direction in FSK: [-0.973084,0.230027,0.013962]yi m #o|̈q?4?i m Mm Vi i )i Im im `?m -}i m s=m !@ m d<)m 4:@Im di m gW.x5wE>n? m >)m c)vIm 4:@im d checking for new query: numPingsReceived=54, elapsed TxPingTime=26.233921B Ѿ>B ȍCB f IB iBB B B [DB ];B #E^A ;=I I O >Թ M ,Z?AB&E@B?@BٱBSl AHRS rotation from veh to nav: [[0.436299,0.898924,0.039727],[-0.899369,0.434296,0.050225],[0.027895,-0.057643,0.997947]]BH@T??"W??@??W/?iB&E@IB@@];BiCY!y!i%Mb@Mb@Mb@!!!! !9%KV- rh?Y%^y%m%C<%; A! %-A)!!Y!ԉbD}VD}ٔF:Q->9Y=FyV;E>Q 55?Q 95S)zBY=Q E;y %@Q I@|EI:i:)5yɮ!iiJixARixAji?bb,.8\RT @U?R#o|̈q?4?Zi4:@bidj  7.R#B.@HzTDڿZ"˿Zr9?3r2irA:iW"i@JH?*ibcxBiBi ?i !yiBivAi?DNOT Ignoring new targets: 15.50 m.hh*h"h hgfffBddjdZd ?Z=Z=Z`m@Z %@e)a mԣim9DDAT read: Rx Time:06:08:46.7198 TRx dataTimestamp_ set to:1761545327.913937PDAT read: Bearing 285.0, 11.3 (Local) ~Local bearing/azimuth received: Bearing 285.0, 11.3 (Local) DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 Z#Rx 55: Read range message, but no direction.yYxAchecking for new query: numPingsReceived=55, elapsed TxPingTime=26.481718)qfii #  ˝=IIE EE'E"EO;*E:VE'4ZEBE%Y,}?A4<ɰ4<6M@6H@6;޼ٱ6fk >AHRS rotation from veh to nav: [[0.437278,0.898448,0.039743],[-0.898917,0.435319,0.049447],[0.027125,-0.057348,0.997986]]6H [?? +Y?@C?Q?ƛ?\?i6M@I6T0];4YFrByFr IbDNVDNNyzl;%z<ٔzD;Q-~?9|Y|=FyXL;E? Q 55 z?Q 95 ) }BYy%@Q I@ EDAT read: 06:08:46.7198 LVL= 20304, 22881, 32754, 32755, AGC= 62, IDX= 506,-0.06,-0.694, 0.982,-1.059,-0.120, PHS=-0.472, 1.146,-0.984, RAW= 343.3, 3.3, CAL= 342.8, 0.6, ROT= 167.2, -0.6 MYgot valid direction response: 06:08:46.7198 LVL= 20304, 22881, 32754, 32755, AGC= 62, IDX= 506,-0.06,-0.694, 0.982,-1.059,-0.120, PHS=-0.472, 1.146,-0.984, RAW= 343.3, 3.3, CAL= 342.8, 0.6, ROT= 167.2, -0.6 MZ#Rx 56: Read direction message, but no range.U^direction in FSK: [-0.975096,0.221536,0.010472]y!%i(F3 M[?/;r?!%PO%aY! !)%>I%i%!?%m{%!@%k=%t@ %+<)%:@I%+!%a}?翎caܠ? %)%BhI%:@i%+uchecking for new query: numPingsReceived=56, elapsed TxPingTime=26.735022I :i Y< 5yyɮ}].Ai i }?AJi }vARi }vAji z`?b b9 .M @/SC?R i(F3 M[?/;r?Zi :@bi +j ,~ .6-@.LܿZ f Ϳێ&?&Rd2i oA:i _"i ߂?*i X{Bi Bi h'?i ]u3yi Bi vAi 7? addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505182 s, deltaX: -0.100000 m, approachRate: -0.197949 m/s, rangeRepo size: 4  Added new target pos. range: 15.405582 m, bearing: 103.122044 deg, lat: 36.779410 deg, lon: -121.859806 deg, deltaT: 0.505182 s, deltaX: -0.099120 m, approachRate: -0.196207 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.41 m.hh*h"h hgfffddjd/@Zd +?ZZZZ+%@-;޼)1 5ܛi59)页Գii#Rh=IIQ9@ @@/@yDDAT read: Rx Time:06:08:47.2198 TRx dataTimestamp_ set to:1761545328.416737PDAT read: Bearing 284.1, 11.0 (Local) ~Local bearing/azimuth received: Bearing 284.1, 11.0 (Local) DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0  DAT read: 06:08:47.2198 LVL= 20832, 18849, 32754, 32755, AGC= 61, IDX= 506,-0.17, 0.672, 2.350, 0.315, 1.267, PHS=-0.493, 1.128,-0.996, RAW= 343.1, 3.8, CAL= 342.7, 1.4, ROT= 167.3, -1.4 - Ygot valid direction response: 06:08:47.2198 LVL= 20832, 18849, 32754, 32755, AGC= 61, IDX= 506,-0.17, 0.672, 2.350, 0.315, 1.267, PHS=-0.493, 1.128,-0.996, RAW= 343.1, 3.8, CAL= 342.7, 1.4, ROT= 167.3, -1.4 - T#Rx 57: Read range and direction messages.= ^direction in FSK: [-0.975243,0.219780,0.024432]E Fpublishing direction and range infoyl15ᅥ}E!?{J?^A} b$=Ա I I O >Y`QI )=IjEM  EM EM (EI "EM ;*EM :VEM c44ZEI aU @a] @a] @a] @iNb?~@ԇ=Yf@ +<);:@I+ȼB$P4l<tfN? P)ÇI;:@i+ȼ checking for new query: numPingsReceived=57, elapsed TxPingTime=27.051546,e!?A2U@2P@2׼ٱ2Qk :AHRS rotation from veh to nav: [[0.438131,0.898017,0.040086],[-0.898525,0.436200,0.048802],[0.026340,-0.057400,0.998004]]2HT ?`??@???`yc?i2U@I2I];2gC@Y^`By^[ IbDj VDj:2y%?%%G=ٔ%:Q-%>9)Y)=-Fy)5;E5>1Q 5]55S?Q 9e551)5BYaye/%@Q Im@5}EI53;i5@;5q5yɮ.Ai i ҫ?AJi Ri ji ?b b .S6 @a(?R l15ᅥ}E!?{J?Zi ;:@bi +ȼj a3#7 |Jb-@*r˿Z "MͿGK%?ʁ2i oA:i a"i JF}?*i zBi Bi @JH?i i i vAi x?u addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502800 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Ա Added new target pos. range: 15.405582 m, bearing: 103.235857 deg, lat: 36.779409 deg, lon: -121.859806 deg, deltaT: 0.502800 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.41 m.hh*h"h hgfffdd5checking for new query: numPingsReceived=57, elapsed TxPingTime=27.229277jd1Zd5`!?Am@AAiBuվ>BqBus IBusBBu6 =BqBu\DBuH^;Bu0#EG )] 9YYeAZZZZ/%@׼) 0ij9)顽s ii%#)-=I)I1@ @@/@@@hA  DDAT read: Rx Time:06:08:47.7197  TRx dataTimestamp_ set to:1761545328.921560 PDAT read: Bearing 283.5, 10.6 (Local)  ~Local bearing/azimuth received: Bearing 283.5, 10.6 (Local)  DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 M DAT read: 06:08:47.7197 LVL= 23920, 20881, 32754, 32755, AGC= 61, IDX= 505,-0.17,-0.787, 0.901,-1.128,-0.173, PHS=-0.513, 1.119,-0.999, RAW= 342.7, 4.1, CAL= 342.3, 2.0, ROT= 167.7, -2.0 ^A} z=I I O >˚,A=?AYgot valid direction response: 06:08:47.7197 LVL= 23920, 20881, 32754, 32755, AGC= 61, IDX= 505,-0.17,-0.787, 0.901,-1.128,-0.173, PHS=-0.513, 1.119,-0.999, RAW= 342.7, 4.1, CAL= 342.3, 2.0, ROT= 167.7, -2.0 T#Rx 58: Read range and direction messages.^direction in FSK: [-0.976450,0.212901,0.034899]Fpublishing direction and range infoyquu?BqT@?Xޡ?YutAqup]uQqE. E.E.#E,"E. ;*E.:VE.3ZE,BE.R9aYa=mFyim.:Em>qQ 55u?Q 95u)uBY<=Q EI~,c W?APm_@mZ@mTͼٱml AHRS rotation from veh to nav: [[0.439244,0.897436,0.040904],[-0.898019,0.437349,0.047824],[0.025030,-0.057739,0.998018]]mH ?`̷?`n? ?h|? [?@?im_@Im[;];mhCY?By3 II<)bDVDyk%d=ٔ:Q->9Y=Fy:E>iIDDAT read: Rx Time:06:08:48.2198 TRx dataTimestamp_ set to:1761545329.425226PDAT read: Bearing 283.9, 10.7 (Local) ~Local bearing/azimuth received: Bearing 283.9, 10.7 (Local) =DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 DAT read: 06:08:48.2198 LVL= 19872, 20113, 32754, 32755, AGC= 59, IDX= 506,-0.18, 0.026, 1.718,-0.318, 0.634, PHS=-0.506, 1.130,-0.996, RAW= 342.7, 3.9, CAL= 342.3, 1.6, ROT= 167.7, -1.6 Ygot valid direction response: 06:08:48.2198 LVL= 19872, 20113, 32754, 32755, AGC= 59, IDX= 506,-0.18, 0.026, 1.718,-0.318, 0.634, PHS=-0.506, 1.130,-0.996, RAW= 342.7, 3.9, CAL= 342.3, 1.6, ROT= 167.7, -1.6 T#Rx 59: Read range and direction messages.)Q 555-؟?Q 955-#)-BY1y5T*@Q I5@)I-t:i-:-W5yAɮE/AAEm EmEm$Ei"Em ;*Em:VEm4ZEiau@a}@a}@a}@^direction in FSK: [-0.976665,0.212947,0.027922]Fpublishing direction and range infoyg.h*@VyQA?|p}?YxAMN );I7iף?~'g= <)I伩Ab3u83ak? Y)xIi伩 addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503666 s, deltaX: 0.200000 m, approachRate: 0.397088 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.21 m.hh*h"h hgf checking for new query: numPingsReceived=59, elapsed TxPingTime=28.039980f f ddjd/@Zdk?Z1Z1Z1Z5sT*@mTͼ)i u6 iu9)quqiqi}#Ό=II1@9 @9@=/0@9 checking for new query: numPingsReceived=59, elapsed TxPingTime=28.237421B Ӿ>B B f IB iBB 4 =B B B ^;B g#E^A =I) 9 IA OM >,p?A2c@2[^@2ȼٱ2{l :AHRS rotation from veh to nav: [[0.439671,0.897216,0.041147],[-0.897825,0.437797,0.047374],[0.024491,-0.057772,0.998029]]2H#?@? C?@? qA??P@?i2c@I2N];2iCYv8Byv+ Ii}Mb@Mb@Mb@yyyy y9}J +X9v{GztY}Hy}}}ף} Ay }CA)}AyY}=AbD VD2y+%O=ٔ:Q->9Y=Fyh:E>Q 55?Q 95)Y*=Q E' @4y?R=g.h*@VyQA?|p}?Zi9bi=j=U; ݷJLU-@PyZ=!M\οd?x}2i=roA:i=i"i=i?*i=HZzBi=Bi=JF}?i9i=Bi=_uAi=?DNOT Ignoring new targets: 15.21 m.hh*h"h hg!f!f!f%fBd)d)jd)Zd-`*?ZM*=ZM*=ZMd@ZM;@mȼ)q uPi}9)顅ii#Ր=IIQ%DDAT read: Rx Time:06:08:48.7197 -TRx dataTimestamp_ set to:1761545329.931406=PDAT read: Bearing 284.0, 10.7 (Local) =~Local bearing/azimuth received: Bearing 284.0, 10.7 (Local) ]DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 DAT read: 06:08:48.7197 LVL= 19824, 20081, 32754, 32755, AGC= 59, IDX= 505,-0.23,-1.029, 0.655,-1.372,-0.426, PHS=-0.501, 1.126,-0.989, RAW= 342.7, 3.8, CAL= 342.3, 1.5, ROT= 167.7, -1.5 9@ @@4@@ =@ ==Ygot valid direction response: 06:08:48.7197 LVL= 19824, 20081, 32754, 32755, AGC= 59, IDX= 505,-0.23,-1.029, 0.655,-1.372,-0.426, PHS=-0.501, 1.126,-0.989, RAW= 342.7, 3.8, CAL= 342.3, 1.5, ROT= 167.7, -1.5 ET#Rx 60: Read range and direction messages.M^direction in FSK: [-0.976711,0.212957,0.026177]MFpublishing direction and range infoy!%\=6Aᅩ 0B?P!Κ?Y%tA!%pM%qN! !)!I%Ai% ?%/}!%ԇ=! %Pw<)!I%Pwּ!!%CDz,t翜-%##? %|U)%b3I!i%Pwּ!!mchecking for new query: numPingsReceived=60, elapsed TxPingTime=28.534050E EE(E"E;*En:VEc44ZEBE`ԡ ",)?A2checking for new query: numPingsReceived=60, elapsed TxPingTime=28.7410396c@6^@6żٱ6l BAHRS rotation from veh to nav: [[0.439713,0.897187,0.041335],[-0.897814,0.437853,0.047056],[0.024119,-0.057802,0.998037]]6H C$??)??`??B?i6c@I6{L];6gCYFByJ IbDR VDRf2yZ%Z[=ٔZt:Q-Z>9\Y\=^Fy\b8Eb>dQ 5f5f?Q 9j5f)fBYhyj;@Q Ij@dIf :if:f5ypɮr0ApiQiU({?AJiUOsARiUOsAjiU?bU* -OYN @Py?RU\=6Aᅩ 0B?P!Κ?ZiQbiUPwּjU# M tG-@k,¿ZUݓI`ο7ڌ?S2iUXlA:iUf"iU&j?*iU9IBiUӁBiU{LPt?iUX{iQiU7uAiU}?5 addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.506180 s, deltaX: -0.200000 m, approachRate: -0.395116 m/s, rangeRepo size: 4 y Added new target pos. range: 15.206939 m, bearing: 103.729561 deg, lat: 36.779406 deg, lon: -121.859807 deg, deltaT: 1.009846 s, deltaX: -0.000025 m, approachRate: -0.000025 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.21 m.hh*h"h hgfffddjd.@Zd?ZZZZJ;@-ż)) 5(i59)QUQiQi]#Y]=IaIa 9@  @ @ /@ԩ=DDAT read: Rx Time:06:08:49.2198 =TRx dataTimestamp_ set to:1761545330.436341MPDAT read: Bearing 283.9, 10.8 (Local) ]~Local bearing/azimuth received: Bearing 283.9, 10.8 (Local) ^Au@=IIO>DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0  DAT read: 06:08:49.2198 LVL= 21488, 21169, 32754, 32755, AGC= 60, IDX= 506,-0.28, 0.280, 1.962,-0.065, 0.884, PHS=-0.502, 1.123,-0.993, RAW= 342.8, 3.9, CAL= 342.4, 1.6, ROT= 167.6, -1.6 % Ygot valid direction response: 06:08:49.2198 LVL= 21488, 21169, 32754, 32755, AGC= 60, IDX= 506,-0.28, 0.280, 1.962,-0.065, 0.884, PHS=-0.502, 1.123,-0.993, RAW= 342.8, 3.9, CAL= 342.4, 1.6, ROT= 167.6, -1.6 % T#Rx 61: Read range and direction messages.- ^direction in FSK: [-0.976291,0.214652,0.027922]5 Fpublishing direction and range infoy9=]mȨ=y?|p}?Y=xA9=S=R9 9)=<I=i=w?=?5~=t@='g==t;@ =<)=6;@I=伩99=; Ck翼!J1h邱? =>)=T3I=6;@i=伩99M checking for new query: numPingsReceived=61, elapsed TxPingTime=29.032642E  E E $E "E f;*E :VE 4ZE a @a @a @a @ ](,?A2b@2S]@2üٱ2m :AHRS rotation from veh to nav: [[0.439564,0.897248,0.041580],[-0.897894,0.437708,0.046891],[0.023873,-0.057946,0.998034]]2H!?A?I?f?? r??i2b@I22j];2jCY^BybIbDjVDjNyvkN%vG=ٔvM:Q-v>9xYx=zFyxzH׹E~>)Q 5]5-_?Q 9]5-))Yaye;@Q Ie@-EI-q;i-;-Y5yiɮmJ1Aiiiim?AJim}vARim}vAjimLz?bm &6.Ybtt @4y?Rm]mȨ=y?|p}?Zim6;@bimjm -@U)Zm+^"!ο6'?l S"2imoA:imh"im f?*im˚yBimցBim&j?imziiimuAim%? addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504935 s, deltaX: 0.200000 m, approachRate: 0.396090 m/s, rangeRepo size: 4 = Added new target pos. range: 15.405723 m, bearing: 103.614820 deg, lat: 36.779405 deg, lon: -121.859807 deg, deltaT: 0.504935 s, deltaX: 0.198784 m, approachRate: 0.393682 m/s, posRepo size: 4 MDNOT Ignoring new targets: 15.41 m.hIhQ*hQ"hQ hYgYfachecking for new query: numPingsReceived=61, elapsed TxPingTime=29.247572BAp<BԾ>BBG IBOBB6 =BB[DB^;Bi#Effddjd/@Zdd? ZaZaZaZei;@}ü)y }b#i}9)顅:ii#A=II9@ @@4@@!@!1i! I! 5 DDAT read: Rx Time:06:08:49.7197 = TRx dataTimestamp_ set to:1761545330.938534M PDAT read: Bearing 284.0, 10.7 (Local) U ~Local bearing/azimuth received: Bearing 284.0, 10.7 (Local) m DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 y  DAT read: 06:08:49.7197 LVL= 21824, 19953, 32754, 32755, AGC= 60, IDX= 505,-0.28,-1.121, 0.558,-1.462,-0.521, PHS=-0.498, 1.124,-0.985, RAW= 342.7, 3.8, CAL= 342.3, 1.4, ROT= 167.7, -1.4 ^A I) I9 Oe >.,e?AYgot valid direction response: 06:08:49.7197 LVL= 21824, 19953, 32754, 32755, AGC= 60, IDX= 505,-0.28,-1.121, 0.558,-1.462,-0.521, PHS=-0.498, 1.124,-0.985, RAW= 342.7, 3.8, CAL= 342.3, 1.4, ROT= 167.7, -1.4 T#Rx 62: Read range and direction messages.bE=4jE=O4rE=]%0E EE'E"E ;*E:VE'4ZEBEqT9Y=FyE>Q 55?Q 95)BYē=Q E75,O?A5V@5Q@5Hżٱ5;o EAHRS rotation from veh to nav: [[0.438291,0.897855,0.041925],[-0.898510,0.436408,0.047197],[0.024080,-0.058356,0.998005]]5H@ ?9?&w? ?@8*?f?@୿?i5V@I5/8];1Y]ByeIbDVDfy_!%o=ٔFDDAT read: Rx Time:06:08:50.2198  TRx dataTimestamp_ set to:1761545331.445961PDAT read: Bearing 283.7, 10.6 (Local) %~Local bearing/azimuth received: Bearing 283.7, 10.6 (Local) EDAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 ԩDAT read: 06:08:50.2198 LVL= 22816, 19633, 32754, 32755, AGC= 60, IDX= 506,-0.28, 0.166, 1.856,-0.175, 0.777, PHS=-0.509, 1.125,-0.996, RAW= 342.7, 4.0, CAL= 342.2, 1.7, ROT= 167.8, -1.7 Ygot valid direction response: 06:08:50.2198 LVL= 22816, 19633, 32754, 32755, AGC= 60, IDX= 506,-0.28, 0.166, 1.856,-0.175, 0.777, PHS=-0.509, 1.125,-0.996, RAW= 342.7, 4.0, CAL= 342.2, 1.7, ROT= 167.8, -1.7 T#Rx 63: Read range and direction messages.^direction in FSK: [-0.976986,0.211232,0.029666]Fpublishing direction and range infoy  HwCdVh1 ? `?Y xAQ-?9Y=Fy%E%>)Q 555-;?Q 955- )-BY1y5X9Q I5@-EI-:i-:-*5yAɮEq2AAEU EUEU(EQ"EU;*EU՚:VEUc44ZEQa]@a]@a]@a]@   Y L  ) I Mi ? ~  5= @ <) 5o;@I    y翈"ڡLw`~Ա? h) I 5o;@i   }checking for new query: numPingsReceived=63, elapsed TxPingTime=30.055204i i ?AJi }vARi }vAji ?b /R-.B B  IB ,BB B B \D checking for new query: numPingsReceived=63, elapsed TxPingTime=30.257282B \^;B <#EB-ȍCB-ȍCB)B-6 =B-6 =C-\5^Aq I I O >1 ;,?A2,O@2J@2"uǼٱ2n :AHRS rotation from veh to nav: [[0.437440,0.898276,0.041786],[-0.898918,0.435549,0.047363],[0.024345,-0.058281,0.998003]]2H??d? ?@@??@֭?i2,O@I2Q];2gCYBByBIiMMb@Mb@Mb@IIII I9M~jt?Mb{GzYM%uN=ٔu/Q-u>9yYy=}Fyy0E>Q 55Ց?Q 95)~BYy=Q E@)i If;@iPwּchecking for new query: numPingsReceived=64, elapsed TxPingTime=30.5378279DYzD]@AEe EeEe&Ea"Eex;*Ee^:VEe4ZEaBEe?gi B, ?A2checking for new query: numPingsReceived=64, elapsed TxPingTime=30.7610154:.C@:>@:$N̼ٱ:3m BAHRS rotation from veh to nav: [[0.436117,0.898945,0.041219],[-0.899544,0.434223,0.047651],[0.024937,-0.057860,0.998013]]:HX?)??  O?e??ȟ?i:.C@I:[];:jCY^݁By^IbDjVDjk2yr%rT=ٔr!ɺQ-r>9tYt=vFytzxEz>xQ 55zK?Q 95z)z}BYy;Q I@zEIz;iz;z`5y ɮ3AiIiM?AJiMOsARiMOsAjiMW?bMr¹:-dH @, z?RMNK=JX?P!Κ?ZiMf;@biMPwּjMk cӈ-@hɹĿZM:ο?m2iMFlA:iM$h"iM%^?*iM䖀BiMBiM_f?iMBiMBiMsAiM ? addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504344 s, deltaX: -0.200000 m, approachRate: -0.396554 m/s, rangeRepo size: 4  Added new target pos. range: 15.206995 m, bearing: 103.800234 deg, lat: 36.779405 deg, lon: -121.859809 deg, deltaT: 0.504344 s, deltaX: -0.198685 m, approachRate: -0.393947 m/s, posRepo size: 4 5DNOT Ignoring new targets: 15.21 m.h1h1*h1"h9 h9g9f9fAfAdAdAjdE.@ZdM?ZZZZ|@$N̼) i9)顥Kֲii#h=IIԑI@I @I@MI0@IiI-DDAT read: Rx Time:06:08:51.2197 =TRx dataTimestamp_ set to:1761545332.454527EPDAT read: Bearing 283.7, 10.4 (Local) M~Local bearing/azimuth received: Bearing 283.7, 10.4 (Local) ]DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 }DAT read: 06:08:51.2197 LVL= 23744, 21889, 32754, 32755, AGC= 60, IDX= 505,-0.17,-1.437, 0.256,-1.763,-0.820, PHS=-0.515, 1.121,-0.987, RAW= 342.3, 4.0, CAL= 341.9, 1.8, ROT= 168.1, -1.8 Ygot valid direction response: 06:08:51.2197 LVL= 23744, 21889, 32754, 32755, AGC= 60, IDX= 505,-0.17,-1.437, 0.256,-1.763,-0.820, PHS=-0.515, 1.121,-0.987, RAW= 342.3, 4.0, CAL= 341.9, 1.8, ROT= 168.1, -1.8 T#Rx 65: Read range and direction messages.^AER=II  ^direction in FSK: [-0.978026,0.206102,0.031411] Fpublishing direction and range infoy)-2KCBȎa?Iz?Y))-\-U) )))I- i-|?-|-'-@-5=-@ -=)-;@I-))-lIs*>䒙}? -)-KI-;@i-))5 checking for new query: numPingsReceived=65, elapsed TxPingTime=31.048969Eq  Eu Eq Eq "Eq *Eu P:VEq ZEq a} @a} @a} @a} @O > )I,R%?A2a5@250@2HѼٱ2Ik :AHRS rotation from veh to nav: [[0.434594,0.899712,0.040581],[-0.900262,0.432694,0.047998],[0.025625,-0.057393,0.998023]]2H b?p?@Ƥ?@@D?4?=? b`?i2a5@I2é];0YŃByRI\bDZVDZyf%fL=ٔjQ-j>9hYh=nFylnhEr>pQ 5v5r?Q 9v5r)r|BYxyzVQ Iz@pIr:ir:r!5y~5Bɮ~?3AEiYi]?AJiYRiYji]?b]-  @W?R]2KCBȎa?Iz?Zi];@bi]j]p< Hc|-@t.Z]mtсο}U?xPv2i]KlA:i]g"i]C]?*i]zBi]Bi]%)_?iYi]Bi]LtAi]N? addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504222 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 15.206995 m, bearing: 103.788610 deg, lat: 36.779404 deg, lon: -121.859809 deg, deltaT: 0.504222 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 =DNOT Ignoring new targets: 15.21 m.h9hA*hA"hA hIgIfyffddjdZd ?A9A=AAchecking for new query: numPingsReceived=65, elapsed TxPingTime=31.267612BQBUɍCBUIBUBBU5 =BQBQBU'^;BU"#EZ1Z1Z1Z5|@mHѼ)i u(˽iu9)quXqiyi}#̓=II@! @!@%?0@!^A B=I I1 A OU >- DDAT read: Rx Time:06:08:51.7196 - TRx dataTimestamp_ set to:1761545332.9566535 PDAT read: Bearing 283.5, 10.3 (Local) = ~Local bearing/azimuth received: Bearing 283.5, 10.3 (Local) M DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 m DAT read: 06:08:51.7196 LVL= 22592, 21809, 32754, 32755, AGC= 59, IDX= 504,-0.08,-2.236,-0.555,-2.558,-1.618, PHS=-0.516, 1.108,-0.984, RAW= 342.3, 4.2, CAL= 341.9, 2.0, ROT= 168.1, -2.0 u Ygot valid direction response: 06:08:51.7196 LVL= 22592, 21809, 32754, 32755, AGC= 59, IDX= 504,-0.08,-2.236,-0.555,-2.558,-1.618, PHS=-0.516, 1.108,-0.984, RAW= 342.3, 4.2, CAL= 341.9, 2.0, ROT= 168.1, -2.0 } T#Rx 66: Read range and direction messages. ^direction in FSK: [-0.977913,0.206078,0.034899] Fpublishing direction and range infoy) - $RK><`?Xޡ?Y- 3sA) - @X- 1U) ) )- ;I- i- ҍ?- m{) - Q =) - 5=)) I- 5) ) - 5X<~翇-~S{[zY? - ^)- I) i- 5) )  checking for new query: numPingsReceived=66, elapsed TxPingTime=31.533194/O,??AE EEE"E ;*E:VEZEBEOQ9Y=Fy vvE >Q 55?Q 95)}BY =Q E%<`?Xޡ?ZiYbi]5j]~L vz[-@,ĤZ]`OdCοD ?08/e2i]jA:i]d"i]}`?*i]Bi]BiYi]䖀iYi]"tAi]-f? addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.502126 s, deltaX: -0.100000 m, approachRate: -0.199154 m/s, rangeRepo size: 4 - Added new target pos. range: 15.107638 m, bearing: 103.676080 deg, lat: 36.779404 deg, lon: -121.859809 deg, deltaT: 0.502126 s, deltaX: -0.099357 m, approachRate: -0.197872 m/s, posRepo size: 4 -DNOT Ignoring new targets: 15.11 m.h)h)*h1"h1 h1g1f1f9f=Bd9d9jd=`ff.@ZdE?IZ =Z =Z嵭@Z@I׼) Li]9)顽ii#=IIchecking for new query: numPingsReceived=66, elapsed TxPingTime=31.769293@ @@1@@@q^A xr=ԡ I I O >iV,Y?Aj@j@jd޼ٱj3k zAHRS rotation from veh to nav: [[0.431025,0.901444,0.040197],[-0.901932,0.429062,0.049245],[0.027144,-0.057481,0.997978]]jH`??ಔ?u?6? ˛?nn?ij@IjLt];jhCY By IbD-VD-02yM%Mj=ٔM"Q-U>9YYY=]FyYeɻEe>qyQ 55}ڋ?Q 95})yYyQ I@yI}d;i}e;}5yɮ3ADDAT read: Rx Time:06:08:52.2197 TRx dataTimestamp_ set to:1761545333.461002PDAT read: Bearing 283.5, 10.9 (Local) ~Local bearing/azimuth received: Bearing 283.5, 10.9 (Local) DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 ]DAT read: 06:08:52.2197 LVL= 21200, 21041, 32754, 32755, AGC= 59, IDX= 505, 0.05,-0.180, 1.496,-0.525, 0.428, PHS=-0.506, 1.113,-0.997, RAW= 342.9, 4.1, CAL= 342.5, 1.9, ROT= 167.5, -1.9 mYgot valid direction response: 06:08:52.2197 LVL= 21200, 21041, 32754, 32755, AGC= 59, IDX= 505, 0.05,-0.180, 1.496,-0.525, 0.428, PHS=-0.506, 1.113,-0.997, RAW= 342.9, 4.1, CAL= 342.5, 1.9, ROT= 167.5, -1.9 mT#Rx 67: Read range and direction messages.u^direction in FSK: [-0.975759,0.216321,0.033155]uFpublishing direction and range infoylk9ie?B3?YtAR1R )I7iv?d;@C=I@ =)k;@I<4Wf(JG i? 3)hIk;@ichecking for new query: numPingsReceived=67, elapsed TxPingTime=32.046211DNOT Ignoring new targets: 15.11 m.hh*h"h hgfffddjd.@Zd,?ZZZZ@E- E-E-$E)"E-;*E-':VE-4ZE)a5@a5@a5@a5@md޼)i m쀽im9)qu^qiqi}#y}/z=IyIԙ@ @@4@ B= Ҿ>B= ȍCB= IB= ځBB9 B9 B= [DB= A^;B= -#E checking for new query: numPingsReceived=67, elapsed TxPingTime=32.275444= BG^A} 0=I I O > /$9 Y A@\,bes?A2|@2P@2ٱ2Ãn :AHRS rotation from veh to nav: [[0.428965,0.902410,0.040566],[-0.902887,0.426933,0.050235],[0.028014,-0.058175,0.997913]]2H(t??Ť?rR? v??)ɭ?i2|@I2];2iCYNByRIi]Mb@Mb@Mb@YYYY Y9](\µ?ʡEI +?Y]=yY]94<] A]K@ ]A)]AYY]AbDuVDuNyƼ%G=ٔ6 Q->9Y=FyyE>Q 55?Q 95)BY =Q E;y6Q I@EIq*ԉ .)c,A?A&checking for new query: numPingsReceived=68, elapsed TxPingTime=32.777298:@:h@:ٱ:jq RAHRS rotation from veh to nav: [[0.426869,0.903383,0.041009],[-0.903851,0.424760,0.051310],[0.028934,-0.058969,0.997840]]:HQ??.?@XE/?@VE?`ɠ?21O?i:@I:n];:kCYtyvIbDVDyX;%R=ٔQ->9Y=Fy%ûE%>)Q 5-5-?Q 955- )-BY1y5Q I5@-EI-:i-:-:5yAɮE3AAi!i%}?AJi!Ri!ji%e?b%U>-\P0P @5,K?R%GHr8,ё?(א¢?Zi!bi%Q j%*; hӫ-@(ו!3Z% ̿'J7[8? r2i%^mA:i%U"i%Jp?*i%P(Bi%Bi%}`?i%3łi%Bi%tAi% ? addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503813 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.206850 m, bearing: 102.683954 deg, lat: 36.779404 deg, lon: -121.859810 deg, deltaT: 0.503813 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.21 m.hh*h"h hgfffddjdZd?ZZZZn@) i9)곉ii#3!k=III)fAQ-9@) @)@-/@)@5=@5=ԉDDAT read: Rx Time:06:08:53.2198 TRx dataTimestamp_ set to:1761545334.468650 PDAT read: Bearing 283.6, 10.1 (Local) ~Local bearing/azimuth received: Bearing 283.6, 10.1 (Local) %DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 UDAT read: 06:08:53.2198 LVL= 22608, 19281, 32754, 32755, AGC= 60, IDX= 506,-0.41,-1.846,-0.153,-2.164,-1.225, PHS=-0.518, 1.118,-0.983, RAW= 342.2, 4.1, CAL= 341.7, 1.9, ROT= 168.3, -1.9 ]Ygot valid direction response: 06:08:53.2198 LVL= 22608, 19281, 32754, 32755, AGC= 60, IDX= 506,-0.41,-1.846,-0.153,-2.164,-1.225, PHS=-0.518, 1.118,-0.983, RAW= 342.2, 4.1, CAL= 341.7, 1.9, ROT= 168.3, -1.9 ]T#Rx 69: Read range and direction messages.e^direction in FSK: [-0.978684,0.202676,0.033155]eFpublishing direction and range infoy[n bQ}TG?B3?YxAPXQK )<Ii?{@C=_׾@ =)/;@I m忚P{5? N)ؐI/;@ichecking for new query: numPingsReceived=69, elapsed TxPingTime=33.046986^AHu=IԩIO>EU  EU EU &EQ "EU ;*EU :VEU 4ZEQ a] @a] @a] @a] @ USi,2?A2ݝ@2ؤ@2ٱ2t :AHRS rotation from veh to nav: [[0.424916,0.904290,0.041295],[-0.904745,0.422747,0.052174],[0.029723,-0.059531,0.997784]]2H1??$?J?@?o?z@?i2ݝ@I2=];0YNByRIbDZVDZ0yv<%vM=ٔvQ-v>9xYx=zFyxzE~>QQ 5]5U?Q 9]5U )UBYayeQ Ie@UEIU;iU;U5yiɮm3Aqi)i-]?AJi-}vARi-}vAji-?b-'.G(_@"PAGX?R-[n bQ}TG?B3?Zi-/;@bi-j-.i~ )Ւ-@ԧֿZ-$ZͿ!?2i-oA:i-c"i-[\?*i-|ЀBi-Bi)i)i)i-)uAi-? addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503835 s, deltaX: 0.200000 m, approachRate: 0.396955 m/s, rangeRepo size: 4  Added new target pos. range: 15.405633 m, bearing: 103.368883 deg, lat: 36.779404 deg, lon: -121.859810 deg, deltaT: 0.503835 s, deltaX: 0.198783 m, approachRate: 0.394540 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.41 m.hh*h"h hgfffddjd/@Zdį?Z)Z)Z)Z-]@])a evim%9)i}2yiyB;>BǍCBIBBB6 =BBB|^;BG#E1mchecking for new query: numPingsReceived=69, elapsed TxPingTime=33.283646i#xKd=II9@ @@/@Yԉ ^A% h=I9 IQ O] > DDAT read: Rx Time:06:08:53.7197  TRx dataTimestamp_ set to:1761545334.972732 PDAT read: Bearing 283.3, 10.0 (Local)  ~Local bearing/azimuth received: Bearing 283.3, 10.0 (Local) - DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 M DAT read: 06:08:53.7197 LVL= 20848, 21025, 32754, 32755, AGC= 59, IDX= 505,-0.04, 2.838,-1.756, 2.525,-2.819, PHS=-0.524, 1.108,-0.983, RAW= 342.0, 4.2, CAL= 341.7, 2.1, ROT= 168.3, -2.1 ] Ygot valid direction response: 06:08:53.7197 LVL= 20848, 21025, 32754, 32755, AGC= 59, IDX= 505,-0.04, 2.838,-1.756, 2.525,-2.819, PHS=-0.524, 1.108,-0.983, RAW= 342.0, 4.2, CAL= 341.7, 2.1, ROT= 168.3, -2.1  T#Rx 70: Read range and direction messages. ^direction in FSK: [-0.978565,0.202651,0.036644] Fpublishing direction and range infoy  DgPᅤ0x?(א¢?Y tA pQ !R ) ;I $i ҍ? C@ Q = Q =) I Q  *e (v<`忿݆9AYI=MFyIMEM>QQ 5]5U8?Q 9e5UA )UBYe=Q Ee;yeQ Ie@QIU:iU:U5yiɮmk3Aqi!i%>A?AJi%NsARi%NsAji%?b%D-6@{!?R%DgPᅤ0x?(א¢?Zi!bi%Q j%Z p-@ Ż.Z%eHRͿA~<4 &?`eU)v2i%lA:i%^"i%a?*i%Bi%Bi%a?i%P(i!i%?uAi%ah? addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504082 s, deltaX: -0.200000 m, approachRate: -0.396760 m/s, rangeRepo size: 4 - Added new target pos. range: 15.206666 m, bearing: 103.242736 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.504082 s, deltaX: -0.198967 m, approachRate: -0.394712 m/s, posRepo size: 4 UDNOT Ignoring new targets: 15.21 m.hQhQ*hQ"hQ hYgYfYfYfeсBdadajde.@Zde.?qZ=Z=Z@Z@) ƣi9) ii#)-]=I)I1@ @@/@Mchecking for new query: numPingsReceived=70, elapsed TxPingTime=33.785992ԙ ^Am Jc=I I O >ev,4?A(ɰ(\Z@Zd@Z3ٱZu rAHRS rotation from veh to nav: [[0.421424,0.905928,0.041192],[-0.906327,0.419178,0.053497],[0.031198,-0.059878,0.997718]]ZH?[? ? ?c?R?Q`N?iZ@IZs];XYzׁByzIbD VD 1y=%a=ٔ{Q->9!Y!=%Fy!%E->)Q 555-&?Q 9=5-C )-BY9y=Q I=@-EI-D;i-Q;-5yAɮM2AIuDNOT Ignoring new targets: 15.21 m.hqhq*hq"hy hygyfyfyfddjdZd?ZZZZ@DDAT read: Rx Time:06:08:54.2198 TRx dataTimestamp_ set to:1761545335.476784PDAT read: Bearing 283.3, 10.9 (Local) ~Local bearing/azimuth received: Bearing 283.3, 10.9 (Local) DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 DAT read: 06:08:54.2198 LVL= 21632, 20161, 32754, 32755, AGC= 60, IDX= 505, 0.27,-1.737,-0.069,-2.078,-1.128, PHS=-0.507, 1.105,-0.994, RAW= 342.8, 4.2, CAL= 342.4, 2.1, ROT= 167.6, -2.1 Ygot valid direction response: 06:08:54.2198 LVL= 21632, 20161, 32754, 32755, AGC= 60, IDX= 505, 0.27,-1.737,-0.069,-2.078,-1.128, PHS=-0.507, 1.105,-0.994, RAW= 342.8, 4.2, CAL= 342.4, 2.1, ROT= 167.6, -2.1 T#Rx 71: Read range and direction messages.^direction in FSK: [-0.976016,0.214591,0.036644] Fpublishing direction and range infoyE EE&E"E;*E:VE4ZEa@a@a@a%@u3)q u;iu[9)y}9 yiyi#/W=IIQ%;■q|w?(א¢?YxATN )<Iip?v~t@t;@ )6;@IiaͰ@IX. ɲ? Z?)jI6;@i-checking for new query: numPingsReceived=71, elapsed TxPingTime=34.112068E9@A @A@E0@A@I@I checking for new query: numPingsReceived=71, elapsed TxPingTime=34.291443" pFailed to parse device response: 65.38,10.72651,2609.83 ^A u \=I) A Iq O} >|,?AYByI!a@a a@a  a @a  a @a bD-VD-y8=%1=ٔQ->9Y=FyE>1Q 5555„?Q 9=55)5BQ AE+:YAQ EE;yAQ IE@5EI5:K;i5M>505yQɮ]2AYii?AJi|vARi|vAji?b5Fj.jlr @OI|?RQ%;■q|w?(א¢?Zi6;@bij$XY d>.@,0ZInX˿Aǀ??蔡{2ipA:i`T"iB m?*i_BiBiB m?i_ii{vAi? addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504052 s, deltaX: 0.200000 m, approachRate: 0.396784 m/s, rangeRepo size: 4 IU Added new target pos. range: 15.405446 m, bearing: 102.439494 deg, lat: 36.779406 deg, lon: -121.859810 deg, deltaT: 0.504052 s, deltaX: 0.198780 m, approachRate: 0.394364 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 15.41 m.hYhY*hY"hY hYgYfafafddjd/@Zd?DDAT read: Rx Time:06:08:54.7197 TRx dataTimestamp_ set to:1761545335.980842PDAT read: Bearing 283.0, 10.0 (Local) ~Local bearing/azimuth received: Bearing 283.0, 10.0 (Local) DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 DAT read: 06:08:54.7197 LVL= 22384, 18865, 32546, 32755, AGC= 60, IDX= 505,-0.18, 1.529,-3.060, 1.218, 2.163, PHS=-0.531, 1.105,-0.989, RAW= 342.0, 4.4, CAL= 341.6, 2.4, ROT= 168.4, -2.4 %Ygot valid direction response: 06:08:54.7197 LVL= 22384, 18865, 32546, 32755, AGC= 60, IDX= 505,-0.18, 1.529,-3.060, 1.218, 2.163, PHS=-0.531, 1.105,-0.989, RAW= 342.0, 4.4, CAL= 341.6, 2.4, ROT= 168.4, -2.4 %T#Rx 72: Read range and direction messages.-^direction in FSK: [-0.978716,0.200902,0.041876]-Fpublishing direction and range infoy7*Qᅤ%? ۷p?YtApWI" )Ii/}C@nF=ɾ@ +=)<@I+*F翋aa ZM+=? #)II<@i+Mchecking for new query: numPingsReceived=72, elapsed TxPingTime=34.557495) 8=i9)顝Lii#X=IIbEŞ4jET4rEŧ/E% E%E%%E!"E%7;*E%:VE% 4ZE!q}9@y @y@}0@yԡ ^A `T=I I O >v,?Achecking for new query: numPingsReceived=72, elapsed TxPingTime=34.793346R@Rܤ@R<ٱRu ^AHRS rotation from veh to nav: [[0.419141,0.906999,0.040907],[-0.907358,0.416869,0.054051],[0.031971,-0.059772,0.997700]]RH5?"? ? ??^?@l`(?iR@IRa];PYfByfIbDnVDnyv_=%vp=ٔzQ-z?9xYx=zFy|~E~?Q 5 5ă?Q 9 5~)BQ A  :YQ E;ysQ I@EI/:iM?$5yɮ1A!ii?AJiNsARiNsAjiG?b5-vЫp@Y_`?R7*Qᅤ%? ۷p?Zi<@bi+j&:)e ן-@Z/G̿~}+?`P.iX2ilA:i;\"ia?*i<BiBia?iP(iBiwAiy?m addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504058 s, deltaX: -0.200000 m, approachRate: -0.396779 m/s, rangeRepo size: 4 y Added new target pos. range: 15.206666 m, bearing: 103.078740 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.504058 s, deltaX: -0.198780 m, approachRate: -0.394359 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.21 m.hh*h"h hgfffddjd.@Zd ?<) d=i9)ii#/N=II@ @@I4@Ա^AqZ=IDDAT read: Rx Time:06:08:55.2199 TRx dataTimestamp_ set to:1761545336.484849PDAT read: Bearing 282.9, 10.6 (Local) ~Local bearing/azimuth received: Bearing 282.9, 10.6 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 %DAT read: 06:08:55.2199 LVL= 22256, 22049, 32754, 32755, AGC= 61, IDX= 506, 0.21,-1.528, 0.146,-1.857,-0.905, PHS=-0.521, 1.097,-0.996, RAW= 342.5, 4.5, CAL= 342.1, 2.5, ROT= 167.9, -2.5 5Ygot valid direction response: 06:08:55.2199 LVL= 22256, 22049, 32754, 32755, AGC= 61, IDX= 506, 0.21,-1.528, 0.146,-1.857,-0.905, PHS=-0.521, 1.097,-0.996, RAW= 342.5, 4.5, CAL= 342.1, 2.5, ROT= 167.9, -2.5 =T#Rx 73: Read range and direction messages.E^direction in FSK: [-0.976853,0.209419,0.043619]EFpublishing direction and range infoy^`B￳)>?GU?YyAV!V )=IB`ij?~I@|٠=@ ¸2=)͋;@I¸2)eCIg 쟤1;? )3I͋;@i¸2]checking for new query: numPingsReceived=73, elapsed TxPingTime=35.061966aIiOu>E5  E5 E5 &E1 "E5 ;*E5 ':VE5 4ZE1 y ,|e(?A2&@2@2ٱ2Zv :AHRS rotation from veh to nav: [[0.418266,0.907389,0.041231],[-0.907756,0.415966,0.054327],[0.032145,-0.060151,0.997672]]2H@?S ?:?V `1? Ы?Gu?̮?i2&@I2y];2hCY^By^IbDj VDj2yr<%rK=ٔv}Q-v>9tYt=zFyxz{Ez>|Q 55~?Q 9 5~)~BQ A 9Y Q E s;y Q I @|I~L:i~?~5yDBɮ@2AEii?AYAyAyUchecking for new query: numPingsReceived=73, elapsed TxPingTime=35.300774JixARixABѾ>BBIBBB8 =BBB];B#Eji?bnJ.u @=?|W?R^`B￳)>?GU?Zi͋;@bi¸2j E=  E= E= #E9 "E= ;*E= :VE= 3ZE9 BE= G\9Y=FyE>Q 55?Q 95 )BQ AT:Yp=Q E 49 ,i\?AB)@B@BKٱB v JAHRS rotation from veh to nav: [[0.418609,0.907224,0.041370],[-0.907622,0.416346,0.053645],[0.031443,-0.060005,0.997703]]BH{?? .?= @j?Ww?[?@.?iB)@IB=];BiCYR#ByR IbDZVDZyb>%bq=ٔf;Q-f?9dYd=jFyhj*:Ej?lQ 5r5nb?Q 9r5n])nBYtyvQ Iv@lIn:in_:n5yxɮz1Ax%DNOT Ignoring new targets: 15.41 m.h!h!*h!"h) h)g)f)f)f1d1d1jd1Zd5@W"?ZYZYZYZ]r@mK)i m?iuN9)quqiqi}#y}GN=IyIDDAT read: Rx Time:06:08:56.2200 TRx dataTimestamp_ set to:1761545337.495380PDAT read: Bearing 282.7, 11.1 (Local) ~Local bearing/azimuth received: Bearing 282.7, 11.1 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 DAT read: 06:08:56.2200 LVL= 21168, 24913, 32754, 32755, AGC= 60, IDX= 507, 0.28,-1.585, 0.069,-1.927,-0.970, PHS=-0.513, 1.084,-1.002, RAW= 342.9, 4.6, CAL= 342.6, 2.7, ROT= 167.4, -2.7 Ygot valid direction response: 06:08:56.2200 LVL= 21168, 24913, 32754, 32755, AGC= 60, IDX= 507, 0.28,-1.585, 0.069,-1.927,-0.970, PHS=-0.513, 1.084,-1.002, RAW= 342.9, 4.6, CAL= 342.6, 2.7, ROT= 167.4, -2.7 T#Rx 75: Read range and direction messages.^direction in FSK: [-0.974833,0.217901,0.047106]Fpublishing direction and range infoy_1m..?P7V?Y|ARQa )<ISi?A@l= X@ A=):@IAwX>"|J? )/ͤI:@iAE EE'E"EO;*E:VE'4ZEa@a@a@a@@ @@/@I)I9OE=checking for new query: numPingsReceived=75, elapsed TxPingTime=36.1078769i BM Ծ>BM ȍCBM IBM BBM 6 =BI  checking for new query: numPingsReceived=75, elapsed TxPingTime=36.315617BI BM ];BM "EB)B)B)B)B)C-ڰ5ݜ,u?A;ɰ VV@V*@VW-ٱVHXt EAHRS rotation from veh to nav: [[0.419191,0.906961,0.041237],[-0.907376,0.416978,0.052895],[0.030778,-0.059591,0.997748]]VH@??`? : ¯??d? ?iVV@IV0w];VjCYm1Byu! IiMb@Mb@Mb@ 9Q롿l?Y\yL= AA )YAbDVDk2ye=%+=ٔ b:Q->9Y=Fy%:E%>)Q 555-}?Q 955-4)-BY5+=Q E=9 eţ,(я?A&checking for new query: numPingsReceived=76, elapsed TxPingTime=36.81722666@6 @6Ioٱ6xqP bAHRS rotation from veh to nav: [[0.420407,0.906412,0.040928],[-0.906845,0.418269,0.051801],[0.029834,-0.058892,0.997818]]6H?T? |?`???@&' ?i66@I6u];4Y~?By~3 IbDVDyK=%%o=ٔ%e5;Q-%?9)Y)=-Fy)-;E-?1Q 5=55W{?Q 9E55)5BYAyEW;@Q IE@5EI5;i5;5+5yIɮU&0AQi!i%N?AJi%xARi%xAji%\?b%̄W/N.M @':!~?2i%qA:i%~\"i%Y?*i%xBi%zBi%a?i%xi% Bi%wAi%? addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.509417 s, deltaX: -0.200000 m, approachRate: -0.392605 m/s, rangeRepo size: 4  Added new target pos. range: 15.505081 m, bearing: 102.838581 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.509417 s, deltaX: -0.198783 m, approachRate: -0.390216 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.51 m.hh*h"h hgfffddjd@33/@Zd`p??ZZZZW;@Io) DDAT read: Rx Time:06:08:57.2201 TRx dataTimestamp_ set to:1761545338.508715 PDAT read: Bearing 282.4, 10.9 (Local)  ~Local bearing/azimuth received: Bearing 282.4, 10.9 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 EDAT read: 06:08:57.2201 LVL= 20176, 21233, 32754, 32755, AGC= 58, IDX= 508, 0.19,-2.233,-0.580,-2.569,-1.610, PHS=-0.521, 1.075,-1.003, RAW= 342.8, 4.8, CAL= 342.5, 3.0, ROT= 167.5, -3.0 MYgot valid direction response: 06:08:57.2201 LVL= 20176, 21233, 32754, 32755, AGC= 58, IDX= 508, 0.19,-2.233,-0.580,-2.569,-1.610, PHS=-0.521, 1.075,-1.003, RAW= 342.8, 4.8, CAL= 342.5, 3.0, ROT= 167.5, -3.0 MT#Rx 77: Read range and direction messages.U^direction in FSK: [-0.974958,0.216143,0.052336]UFpublishing direction and range infoyީ 2￀?yoU˪?Yf~ANR ):IB`i?Nbt@=I@ PwV=)k;@IPwVcZrJeZnQj- ? j@)H,Ik;@iPwVchecking for new query: numPingsReceived=77, elapsed TxPingTime=37.094131E  E E %E "E %;*E ՚:VE 4ZE a @a @a @a @! ,?A2@2x@2(dٱ2o :AHRS rotation from veh to nav: [[0.421573,0.905869,0.040949],[-0.906335,0.419493,0.050813],[0.028852,-0.058535,0.997868]]2H??P??8?@x?`[?i2@I2or];2iCYNDByR9 I|bDZVDZyMD<%UH=ٔm7;Q-u>zG9Y=Fy9Y*AIA;E >BA<Q 5-56y?Q 9-5)BY1y5v;@Q I=@IGD;iD;5yAɮM/AIBBB IB,BBBBB];B"Emchecking for new query: numPingsReceived=77, elapsed TxPingTime=37.3232771i)i-Ɏ?AJi-|ARi-|Aji-T?b-&.3_}S @X\nw?R-ީ 2￀?yoU˪?Zi-k;@bi-PwVj-}6 ՝M.@Lyj%?Z-6F˿SC?/o?2i-wA:i-W"i-u]?*i-4zBi-Bi-u]?i-X~i-QBi-KxAi-? addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503918 s, deltaX: 0.299999 m, approachRate: 0.595333 m/s, rangeRepo size: 4 M Added new target pos. range: 15.803262 m, bearing: 102.303476 deg, lat: 36.779404 deg, lon: -121.859810 deg, deltaT: 0.503918 s, deltaX: 0.298181 m, approachRate: 0.591724 m/s, posRepo size: 4 UDNOT Ignoring new targets: 15.80 m.hQhQ*hQ"hQ hQgQfYfYfYdydjd/@Zd?ZZZZv;@(d) 䧽i%9))-1i9im#qY=IIi 9@  @ @ /@ ԁ  DDAT read: Rx Time:06:08:57.7200  TRx dataTimestamp_ set to:1761545339.012739 PDAT read: Bearing 282.6, 10.4 (Local)  ~Local bearing/azimuth received: Bearing 282.6, 10.4 (Local) - DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 U DAT read: 06:08:57.7200 LVL= 20448, 17505, 32754, 32755, AGC= 58, IDX= 508,-0.45, 2.396,-2.212, 2.078, 3.030, PHS=-0.532, 1.086,-0.996, RAW= 342.3, 4.7, CAL= 341.9, 2.9, ROT= 168.1, -2.9 ] Ygot valid direction response: 06:08:57.7200 LVL= 20448, 17505, 32754, 32755, AGC= 58, IDX= 508,-0.45, 2.396,-2.212, 2.078, 3.030, PHS=-0.532, 1.086,-0.996, RAW= 342.3, 4.7, CAL= 341.9, 2.9, ROT= 168.1, -2.9 ] T#Rx 78: Read range and direction messages.e ^direction in FSK: [-0.977256,0.205940,0.050593]e Fpublishing direction and range infoy  W=.EL!!=\?|rQ?Y |A O aD ) I '1i ? ~ '-@ = @ 4QO=) ;@I 4QO DښM#qzb? ) ૨I ;@i 4QO  checking for new query: numPingsReceived=78, elapsed TxPingTime=37.593422E%  E% E! E! "E% ;*E% Z:VE! ZE! BE% L,?AR3Ν@Rɤ@RٱRfIn jAHRS rotation from veh to nav: [[0.423198,0.905110,0.040990],[-0.905615,0.421187,0.049620],[0.027647,-0.058120,0.997927]]RH ???@?g? O? ?iR3Ν@IRv];RgCYrIByr@ IiMb@Mb@Mb@ 9bX9ȶJ +L7A`?YEyH+= AGA A)CAYAbD%VD%y5<%5'=ٔ=";Q-=>99Ya=eFyaew;Ee>iQ 5u5mv?Q 9u5m/)mBY}=Q E};y}R@Q I}@mEIm:im;m5yɮ/Aii?AJiC{ARiC{Aji4 ?b㶂.O{W @;v͕l?RW=.EL!!=\?|rQ?Zi;@bi4QOjG {.@\ ?Zvc̿Cu3-?S߃?2itA:i(̷,|?ADDAT read: Rx Time:06:08:58.2200 TRx dataTimestamp_ set to:1761545339.516675PDAT read: Bearing 282.8, 10.1 (Local) ~Local bearing/azimuth received: Bearing 282.8, 10.1 (Local) *DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 :DAT read: 06:08:58.2200 LVL= 21840, 21601, 32754, 32755, AGC= 59, IDX= 508,-0.16, 1.716,-2.880, 1.407, 2.356, PHS=-0.538, 1.092,-0.993, RAW= 342.0, 4.7, CAL= 341.6, 2.8, ROT= 168.4, -2.8 >Ygot valid direction response: 06:08:58.2200 LVL= 21840, 21601, 32754, 32755, AGC= 59, IDX= 508,-0.16, 1.716,-2.880, 1.407, 2.356, PHS=-0.538, 1.092,-0.993, RAW= 342.0, 4.7, CAL= 341.6, 2.8, ROT= 168.4, -2.8 BT#Rx 79: Read range and direction messages.F^direction in FSK: [-0.978406,0.200838,0.048850]FFpublishing direction and range infoy[ۓO;+?s!D?YPUaT );I^ iƋ??5~C@ɾ@ +H=)<@I+H~Hεϻ9 T忟OA۴? [,)I<@i+HVchecking for new query: numPingsReceived=79, elapsed TxPingTime=38.093769XEE EEEE&EA"EEI;*EE:VEE4ZEAaM@aM@aM@aM@uߝ@ucڤ@u׼ٱuCl AHRS rotation from veh to nav: [[0.425131,0.904197,0.041123],[-0.904749,0.423191,0.048354],[0.026319,-0.057763,0.997983]]uH Y5?.??@??D?@z?iuߝ@IuB];ujCYGBy= IbD-VD-02y]%eI=ٔeV;Q-e>9iYi=mFyimq;Eu>yQ 5}5}Fs?Q 95})}BYyz@Q I@}EI}:i}1:}޿5y5Bɮi/AEii4?AJiRiji?b~smz.LpiA; @]0.U?R[ۓO;+?s!D?Zi<@bi+HjrY 0 ·΋.@H?ZKyͿD?6׌X?2i^tA:ii"i??*i}BiBiY?iiBi5zAi?E addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 15.703871 m, bearing: 103.436048 deg, lat: 36.779403 deg, lon: -121.859808 deg, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 15.70 m.hqhy*hy"hy hygyfyffddjdZd@ ?ZZZZIz@׼) 2i9)(ii-#)5g=I1I19@ @@0@@hA@hAB־>BB4 IB@BB5 =BB\DB];B"Echecking for new query: numPingsReceived=79, elapsed TxPingTime=38.330776^A (a=I I O >! ,^?A1Y=IBy=@ IiMb@Mb@Mb@ 9X9v~jt{Gz?YyDף<^A A)YbDVDP)y#<%R=ٔQ->9Y=FyE>Q 55%p?Q 9 5)BY  >Q E ;y @Q I @I\ ;i ;5yɮY/AEDNOT Ignoring new targets: 15.70 m.hAhA*hA"hA hIgIfIfQfQdQdQjdQZd]t?Z} >Z} >Z}`@Z}t@ )  .i 9)HRii#e=II!5DDAT read: Rx Time:06:08:58.7199 5TRx dataTimestamp_ set to:1761545340.020785EPDAT read: Bearing 282.4, 10.8 (Local) E~Local bearing/azimuth received: Bearing 282.4, 10.8 (Local) UDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 }DAT read: 06:08:58.7199 LVL= 20016, 23281, 32754, 32755, AGC= 57, IDX= 507, 0.00, 0.971, 2.631, 0.642, 1.601, PHS=-0.528, 1.075,-1.003, RAW= 342.6, 4.9, CAL= 342.3, 3.2, ROT= 167.7, -3.2 Ygot valid direction response: 06:08:58.7199 LVL= 20016, 23281, 32754, 32755, AGC= 57, IDX= 507, 0.00, 0.971, 2.631, 0.642, 1.601, PHS=-0.528, 1.075,-1.003, RAW= 342.6, 4.9, CAL= 342.3, 3.2, ROT= 167.7, -3.2 T#Rx 80: Read range and direction messages.^direction in FSK: [-0.975522,0.212698,0.055822]Fpublishing direction and range infoy15&z7￙9?ᢔ?Y5yA150N5Z1 1)59I5+i5?5Nb5 X@5%=5'-@ 5d=)5R;@I5d115x1Mx翝Zb^eiRε? 5z)5I5R;@i5d11checking for new query: numPingsReceived=80, elapsed TxPingTime=38.605267EU EUEU$EQ"EU%;*EU:VEU4ZEQaBEU~AHRS rotation from veh to nav: [[0.428956,0.902346,0.042057],[-0.903016,0.427127,0.046090],[0.023626,-0.057749,0.998052]]6Ht?@?? V?'?X1?`C ?i6@I6,];6hCYDyDHHbDRVDRk1yZ%^^=ٔb;Q-f>9hYl=rFypzr8<Ez> Q 5%5 m?Q 9-5  ) BY1y=@Q IE@ EI ;i &; 7Ü5ye+Bɮe/AmEԹiIiMT?AJiMxARiMxAjiMZ?bMÙjS@.(%b @` [?RM&z7￙9?ᢔ?ZiMR;@biMdjMOn m6.@79?ZM$Q{̿jqC-?(Iߔ?2iMqA:iMv^"iMΠ3H?*iM5OBiMBiM~("L?iM}iMBiMXyAiMu?u addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504110 s, deltaX: -0.200000 m, approachRate: -0.396738 m/s, rangeRepo size: 4  Added new target pos. range: 15.505170 m, bearing: 102.957468 deg, lat: 36.779402 deg, lon: -121.859808 deg, deltaT: 0.504110 s, deltaX: -0.198701 m, approachRate: -0.394162 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.51 m.hh*h"h hgfffddjd@33/@Zd 6?Z9Z9Z9Z=@mb)i m.iuD9)qùqiqi}#y}&v=IyI-DDAT read: Rx Time:06:08:59.2200 -TRx dataTimestamp_ set to:1761545340.5248915PDAT read: Bearing 282.5, 11.1 (Local) =~Local bearing/azimuth received: Bearing 282.5, 11.1 (Local) MDAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 ]9@Y @Y@]4@YDAT read: 06:08:59.2200 LVL= 20592, 20689, 32754, 32755, AGC= 57, IDX= 508, 0.03, 2.872,-1.767, 2.532,-2.794, PHS=-0.515, 1.072,-1.001, RAW= 343.0, 4.8, CAL= 342.6, 3.0, ROT= 167.4, -3.0 Ygot valid direction response: 06:08:59.2200 LVL= 20592, 20689, 32754, 32755, AGC= 57, IDX= 508, 0.03, 2.872,-1.767, 2.532,-2.794, PHS=-0.515, 1.072,-1.001, RAW= 343.0, 4.8, CAL= 342.6, 3.0, ROT= 167.4, -3.0 T#Rx 81: Read range and direction messages.^direction in FSK: [-0.974579,0.217844,0.052336]E= E=E=!E9"E=x;*E=P:VE=c3ZE9aE@aM@aM@aM@Fpublishing direction and range infoy)-Z/nQR?yoU˪?Y-|A)-pP-P) )))I- i-L7?- -=@-=- X@ -PwV=)-:@I-PwV))-Ƒ W^Z]Ì忷jS? -h)-ϪI-:@i-PwV))checking for new query: numPingsReceived=81, elapsed TxPingTime=39.139671^AE f=IQ Ia Om >9 AY A] @A!,-.?AB$B$B$B$B&6 =B$B$B&];B&"EF@F @F(ٱF l NAHRS rotation from veh to nav: [[0.430736,0.901474,0.042566],[-0.902201,0.428956,0.045055],[0.022357,-0.057810,0.998077]]FH`-? ?;˥?@t? f??`A??iF@IF{ ];DYv@Byz4 Ichecking for new query: numPingsReceived=81, elapsed TxPingTime=39.339485bDVDy'%8=ٔ;;Q->9 Y=%Fy)5:;E=>QQ 55Ui?Q 95U )UBYy% @Q I%@UEIU8Kت ^:?ʾ7?Y- yA) - M- M) ) @  @ @ 4@ @ =@ =bE-4jEɻ 4rEɼ 0E=  E9 E= &E9 "E= ;*E9 VE= 4ZE9 BE= dp,ޒL?A9Y=Fy;E>Q 55f?Q 95 )Yf=Q E;y4 @Q I@EI ;i. ;ǜ5yɮ/AiqiuA?AJiuxARiuxAjiu?bu?~w A.:b @y?Ru>8Kت ^:?ʾ7?ZiuR;@biuk]juCJ 2oЎ/.@s?ZuCW2ͿWW1&?N.0?2iu|qA:iuWb"iuk9)quݳqiqi}#y}̀=IyԡIy 9@  @@e/@a i9 I9 E DDAT read: Rx Time:06:09:00.2200 M TRx dataTimestamp_ set to:1761545341.532921] PDAT read: Bearing 282.1, 11.2 (Local) ] ~Local bearing/azimuth received: Bearing 282.1, 11.2 (Local) u DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0  DAT read: 06:09:00.2200 LVL= 22256, 22257, 32754, 32755, AGC= 57, IDX= 508,-0.11,-3.103,-1.465, 2.839,-2.480, PHS=-0.521, 1.060,-1.009, RAW= 343.0, 5.1, CAL= 342.7, 3.4, ROT= 167.3, -3.4  Ygot valid direction response: 06:09:00.2200 LVL= 22256, 22257, 32754, 32755, AGC= 57, IDX= 508,-0.11,-3.103,-1.465, 2.839,-2.480, PHS=-0.521, 1.060,-1.009, RAW= 343.0, 5.1, CAL= 342.7, 3.4, ROT= 167.3, -3.4  T#Rx 83: Read range and direction messages. ^direction in FSK: [-0.973817,0.219459,0.059306] Fpublishing direction and range infoyI M մ:)D<?Cg]?YM |AI M VM VI I )M 9IM B`iM ?M &M =@M K=M Yf@ M s=)M ;:@IM sI I M iRL@}? M )M k1IM ;:@iM sI I  checking for new query: numPingsReceived=83, elapsed TxPingTime=40.111111^A I I O >Ee  Ee Ea Ea "Ee 7;*Ee ՚:VEa ZEa am @am @am @am @$,Yf?AB0@B+@B]ٱBm JAHRS rotation from veh to nav: [[0.434148,0.899787,0.043573],[-0.900620,0.432460,0.043152],[0.019984,-0.057977,0.998118]]BH??;O? k??`v?`4?iB0@IBQ%];BgCYRByR IIV=)V4=Z=Z=pbD}VD}yƯ%K=ٔ=;Q->9Y=Fy;E>Q 55b?Q 95 )BYyQ @Q I@EI:i:Ȝ5yɮv0Aiiab?AJiC{ARiC{Aji?bY2u.ڑo) @\ގ?Rմ:)D<?Cg]?Zi;:@bisjA[ l.@>:%?Zi̿T%'/?R3M?2itA:i_"iMBB IB,BBBBBu];B"Eq@q @y@y@ychecking for new query: numPingsReceived=83, elapsed TxPingTime=40.347534A^A 0=I I O >a W ,3?A2;?@2:@2ٱ2)m :AHRS rotation from veh to nav: [[0.435741,0.899003,0.043848],[-0.899873,0.434103,0.042229],[0.018929,-0.057858,0.998145]]2H.??8s?`W??3b??i2;?@I2F];2fCYNByRI DDAT read: Rx Time:06:09:00.7199  TRx dataTimestamp_ set to:1761545342.036751PDAT read: Bearing 282.4, 11.7 (Local) ~Local bearing/azimuth received: Bearing 282.4, 11.7 (Local) -DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 9UDAT read: 06:09:00.7199 LVL= 22048, 20177, 32754, 32755, AGC= 58, IDX= 507,-0.18, 1.838,-2.814, 1.475, 2.446, PHS=-0.506, 1.069,-1.015, RAW= 343.6, 4.9, CAL= 343.2, 3.1, ROT= 166.8, -3.1 }Ygot valid direction response: 06:09:00.7199 LVL= 22048, 20177, 32754, 32755, AGC= 58, IDX= 507,-0.18, 1.838,-2.814, 1.475, 2.446, PHS=-0.506, 1.069,-1.015, RAW= 343.6, 4.9, CAL= 343.2, 3.1, ROT= 166.8, -3.1 }T#Rx 84: Read range and direction messages.^direction in FSK: [-0.972154,0.228017,0.054079]Fpublishing direction and range infoy  E Fh/?ʾ7?Y yA   V N  ) :I 7i Ԉ? 끿 @ %= ֭@ k]=) AQ:@I k]   tv[@M\R? lk) I AQ:@i k]  checking for new query: numPingsReceived=84, elapsed TxPingTime=40.622540E EE%E"E ;*Ey:VE 4ZEBEL9Y=Fy;E>Q 55_?Q 95 )BY=Q E ?,?A6OI@6#D@6㔼ٱ6m >AHRS rotation from veh to nav: [[0.436854,0.898451,0.044092],[-0.899349,0.435249,0.041588],[0.018174,-0.057822,0.998161]]6H j??=?@w@ ? K?8?ߚ`?i6OI@I6p#];6hCYFByFIbDRVDR0hynڽ%n\=ٔn;Q-r>9pYp=rFypv];Ev>xQ 5~5z)]?Q 9~5z )zBY|y|)@Q I@zEIz :iz:zk̜5yɮW1ADNOT Ignoring new targets: 15.51 m.hh*h"h hgfffddjdZd ?ZAZAZAZE|)@U㔼)Y ]Dki]9)Y]Yiaie#im…=IiIiMDDAT read: Rx Time:06:09:01.2200 UTRx dataTimestamp_ set to:1761545342.541572ePDAT read: Bearing 282.6, 12.3 (Local) e~Local bearing/azimuth received: Bearing 282.6, 12.3 (Local) }DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 DAT read: 06:09:01.2200 LVL= 21984, 20849, 32754, 32755, AGC= 58, IDX= 508,-0.33,-2.558,-0.949,-2.940,-1.967, PHS=-0.490, 1.063,-1.017, RAW= 344.1, 4.8, CAL= 343.8, 2.9, ROT= 166.2, -2.9 Ygot valid direction response: 06:09:01.2200 LVL= 21984, 20849, 32754, 32755, AGC= 58, IDX= 508,-0.33,-2.558,-0.949,-2.940,-1.967, PHS=-0.490, 1.063,-1.017, RAW= 344.1, 4.8, CAL= 343.8, 2.9, ROT= 166.2, -2.9 T#Rx 85: Read range and direction messages.^direction in FSK: [-0.969891,0.238228,0.050593]Fpublishing direction and range infoyQU:W чB~?|rQ?YU|AQUUUqQQ Q)QIUHiUb?U-U.@U=U@ U4QO=)U9@IU4QOQQU%`'濵^1Q  checking for new query: numPingsReceived=85, elapsed TxPingTime=41.354301,^?A9Y By IiMb@Mb@Mb@ 9{Gz9Y=FyE=>AQ 5M5E`Y?Q 9M5E )EBYM=Q EMH,WA?ABQ@BK@B]ٱB*o jAHRS rotation from veh to nav: [[0.437711,0.897987,0.045036],[-0.898949,0.436117,0.041141],[0.017303,-0.058494,0.998138]]BH@v? O??0V?{???iBQ@IB"];BfCYr؁ByrIbD]VD]iy$%T=ٔ ;Q->9Y=%Fy!-;E->9Q 55=~V?Q 95= )=BYyE@Q I@9I=p2 C^A b$=  G! IA IQ Y 59 Y &%AO >,J,BZ?Achecking for new query: numPingsReceived=87, elapsed TxPingTime=42.3613179uL@uG@uğٱu_p 5AHRS rotation from veh to nav: [[0.437246,0.898211,0.045092],[-0.899171,0.435636,0.041388],[0.017531,-0.058642,0.998125]]uH@?$?O?` u?0?@?`Y ?iuL@IuK];ujCYeЁBymI=p=Yi Mb@Mb@Mb@     9 ?ʡEy&1|Y 9yYy=}FyynE>Q 55S?Q 95 )BYk=Q E#9Y=FyE>BCr4Q 5}5zQ?Q 9}5| )BYyQ I@EIEByB}IB}BB}3 =ByByB}];B}"Eiyi}a ?AJi}~vARi}~vAji}m?b}0u-WȌ&s@ks 9?R}[Liߒ?P7V?Zi}7@bi}Aj}dV9ӷP.@,O?Z}7ƿe* |?xn?2i}rA:i}/"i}_j?*i}k/|Bi}&Bi}aZ?i}&(zi}Bi}xAi}W?] addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503194 s, deltaX: -0.100000 m, approachRate: -0.198731 m/s, rangeRepo size: 4 m Added new target pos. range: 15.405802 m, bearing: 100.266612 deg, lat: 36.779404 deg, lon: -121.859807 deg, deltaT: 0.503194 s, deltaX: -0.099393 m, approachRate: -0.197524 m/s, posRepo size: 4 mDNOT Ignoring new targets: 15.41 m.hihi*hi"hq hqgqfffddjd/@Zd?ZZZZz@Ψ) v}i9)ii #  r=I I1]DDAT read: Rx Time:06:09:03.2199 eTRx dataTimestamp_ set to:1761545344.557801uPDAT read: Bearing 282.7, 14.3 (Local) u~Local bearing/azimuth received: Bearing 282.7, 14.3 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 DAT read: 06:09:03.2199 LVL= 21792, 21745, 32754, 32755, AGC= 58, IDX= 506, 0.20,-2.189,-0.637,-2.644,-1.642, PHS=-0.445, 1.051,-1.046, RAW= 346.2, 4.8, CAL= 345.8, 2.8, ROT= 164.2, -2.8 Ygot valid direction response: 06:09:03.2199 LVL= 21792, 21745, 32754, 32755, AGC= 58, IDX= 506, 0.20,-2.189,-0.637,-2.644,-1.642, PHS=-0.445, 1.051,-1.046, RAW= 346.2, 4.8, CAL= 345.8, 2.8, ROT= 164.2, -2.8 T#Rx 89: Read range and direction messages.^direction in FSK: [-0.961069,0.271955,0.048850]Fpublishing direction and range infoyaezwJg?s!D?YeyAae UeTa a)e:Ie ie+?eTㅿeZ@e=e!@ e+H=)ei7@Ie+Haae(L 翓ߕ8? e)eIei7@ie+Haachecking for new query: numPingsReceived=89, elapsed TxPingTime=43.1369329@ @@@Eu EuEu'Eq"Eua;*Eu5:VEu'4ZEqBEuh( ,. ?ALj>@j9@jјٱjσn -AHRS rotation from veh to nav: [[0.435712,0.898997,0.044266],[-0.899893,0.434072,0.042122],[0.018653,-0.058188,0.998131]]jH????@?@? ʭ ?ij>@Ij-];jhCY5By5IbDVDy %c=ٔRQ->9Y=Fyo)E>Q 55O?Q 95 )Yy%Q I@I;i>;֜5y%"Bɮ-o3A-E}checking for new query: numPingsReceived=89, elapsed TxPingTime=43.369335iYi]# ?AJi]xARi]xAji]4?b]h -2@ku9Y=FyE>Q 55M?Q 95-checking for new query: numPingsReceived=90, elapsed TxPingTime=43.873024= )BYmb=Q EmBǍCBIBBB7 =BBZDB];B"E%9 9@  @ @ @  DDAT read: Rx Time:06:09:04.2199  TRx dataTimestamp_ set to:1761545345.565738 PDAT read: Bearing 282.2, 15.2 (Local)  ~Local bearing/azimuth received: Bearing 282.2, 15.2 (Local)  DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 = DAT read: 06:09:04.2199 LVL= 22624, 21921, 32754, 32755, AGC= 57, IDX= 506, 0.26,-2.577,-1.052,-3.056,-2.037, PHS=-0.437, 1.030,-1.063, RAW= 346.9, 5.1, CAL= 346.6, 3.4, ROT= 163.4, -3.4 E Ygot valid direction response: 06:09:04.2199 LVL= 22624, 21921, 32754, 32755, AGC= 57, IDX= 506, 0.26,-2.577,-1.052,-3.056,-2.037, PHS=-0.437, 1.030,-1.063, RAW= 346.9, 5.1, CAL= 346.6, 3.4, ROT= 163.4, -3.4 M T#Rx 91: Read range and direction messages.] ^direction in FSK: [-0.956636,0.285186,0.059306]] Fpublishing direction and range infoy  գœag {@?Cg]?Y yA `X U ) 9I w߾i ׃? b پ@ K= @ s=) 6@I s <.D 忩kIوjŶ? g) iI 6@i s  checking for new query: numPingsReceived=91, elapsed TxPingTime=44.154945E  E E $E "E O;*E :VE 4ZE BE %YA,YLm ?AJ @J]@Jk̭ٱJh ZAHRS rotation from veh to nav: [[0.432346,0.900726,0.042072],[-0.901458,0.430658,0.043668],[0.021214,-0.056806,0.998160]]JH??x??[?"??iJ @IJ{t];JfCYbBybsIbDrVDryzҞ%z:=ٔ~Q-~>9|Y=Fy' E> Q 55 HL?Q 95 M) BYyQ I@ EI Y;i T; ڜ5y!ɮ%3A!i1i5 5d ?AJi5xARi5xAji52?b5:+-]#ׯ@̾l?R5գœag {@?Cg]?Zi56@bi5sj5^T!\.@(%5?Z5~yŽÿD;؛?>po??2i5 uA:i5 "i54'Ƃ?*i5x{Bi5WBi5 &n?i5x{i1i5xAi5-?5 addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504509 s, deltaX: 0.100000 m, approachRate: 0.198213 m/s, rangeRepo size: 4 E Added new target pos. range: 15.504716 m, bearing: 98.874382 deg, lat: 36.779406 deg, lon: -121.859807 deg, deltaT: 0.504509 s, deltaX: 0.098914 m, approachRate: 0.196060 m/s, posRepo size: 4 EDNOT Ignoring new targets: 15.50 m.hAhI*hI"hI hIgifqfqfqdqdyjd}@33/@Zd}?ZZZZ@k̭)  DDAT read: Rx Time:06:09:04.7198  TRx dataTimestamp_ set to:1761545346.068723 PDAT read: Bearing 282.2, 15.5 (Local)  ~Local bearing/azimuth received: Bearing 282.2, 15.5 (Local) % DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 M DAT read: 06:09:04.7198 LVL= 21968, 20961, 32754, 32755, AGC= 57, IDX= 505, 0.38, 2.252,-2.517, 1.760, 2.785, PHS=-0.431, 1.026,-1.069, RAW= 347.3, 5.1, CAL= 347.0, 3.4, ROT= 163.0, -3.4 U Ygot valid direction response: 06:09:04.7198 LVL= 21968, 20961, 32754, 32755, AGC= 57, IDX= 505, 0.38, 2.252,-2.517, 1.760, 2.785, PHS=-0.431, 1.026,-1.069, RAW= 347.3, 5.1, CAL= 347.0, 3.4, ROT= 163.0, -3.4 U T#Rx 92: Read range and direction messages.] ^direction in FSK: [-0.954622,0.291857,0.059306]e Fpublishing direction and range infoy  !pBȭ?Cg]?Y xA  U Q  ) I ܾi S? Ԉ @  &@  ) 6@I    3k(SZQj0?  ?) I 6@i   } checking for new query: numPingsReceived=92, elapsed TxPingTime=44.645264bEjE4rEˮ1/E  E E 'E "E ;*E :VE '4ZE a- @a- @a- @a- @!,7݆ ?A@R}@RQ@R`ٱR9:i ^AHRS rotation from veh to nav: [[0.431232,0.901272,0.041809],[-0.901969,0.429502,0.044489],[0.022139,-0.056896,0.998135]]RH`M?@8?h? |?4Ǧ?ࢫ?j! ?iR}@IRUh];RjCY%By%oIiuMb@Mb@Mb@qqqq q9uZd;O?ʡE rh?Yuj=yuuC9Y=Fy/E>Q 55'K?Q 95)BY'=Q E;yQ I@I:i:ܜ5y ɮ 4A1iYi]e ?AJi]|vARi]|vAji]?b]_i-ɇHH@]x} 1B B B rIB BB B B B ];B #Eh', ?A> @>w@>ٱ>1j RAHRS rotation from veh to nav: [[0.430138,0.901796,0.041780],[-0.902468,0.428354,0.045429],[0.023071,-0.057246,0.998093]]>H``?@?'d?&j?uB?? KOa?i> @I>7N];>hCYVByZtIIZ=)Zp;^=^=bDbVDb:yj<%jo=ٔn2Q-n?l9tYt=vFytveEz?xQ 55zQJ?Q 95z)zBYyQ I@zEIzD;iz;z<ޜ5y1Bɮh4AE=DNOT Ignoring new targets: 15.41 m.h9h9*h9"hA hAgAfAfIfIdIdIjdIZdU9?k]JTimed out from 2025-10-27T05:59:06.5Z5]jefCompleted lineCaptureHoming:MicromodemComms:CheckInq5ejeAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInjeVCompleted lineCaptureHoming:MicromodemCommsZyZyZyZ}ݎ@) &i9)顕lii#Jw=IIDDAT read: Rx Time:06:09:05.2199 TRx dataTimestamp_ set to:1761545346.576622PDAT read: Bearing 282.8, 15.6 (Local) ~Local bearing/azimuth received: Bearing 282.8, 15.6 (Local) %DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 UDAT read: 06:09:05.2199 LVL= 19920, 20417, 32754, 32755, AGC= 58, IDX= 507,-0.35, 1.840,-2.924, 1.340, 2.362, PHS=-0.420, 1.043,-1.066, RAW= 347.4, 4.8, CAL= 347.1, 2.8, ROT= 162.9, -2.8 eYgot valid direction response: 06:09:05.2199 LVL= 19920, 20417, 32754, 32755, AGC= 58, IDX= 507,-0.35, 1.840,-2.924, 1.340, 2.362, PHS=-0.420, 1.043,-1.066, RAW= 347.4, 4.8, CAL= 347.1, 2.8, ROT= 162.9, -2.8 eT#Rx 93: Read range and direction messages.m^direction in FSK: [-0.954652,0.293689,0.048850]uFpublishing direction and range infoy5.C?s!D?YyAMO ):I= ׾i?rW@=r@ +H=)5@I+HfhU-hxC"#UY? )I5@i+Hchecking for new query: numPingsReceived=93, elapsed TxPingTime=45.157539E EE$E"E+$;*E:VE4ZEBE0} checking for new query: numPingsReceived=93, elapsed TxPingTime=45.389297y -,4 ?AVS@V'@VbüٱVk bAHRS rotation from veh to nav: [[0.429324,0.902185,0.041748],[-0.902835,0.427495,0.046216],[0.023848,-0.057534,0.998059]]VH z?@? `?@@\?? k? u?iVS@IV#];VgCYnByn|I1iMb@Mb@Mb@ 99aYa=eFyae+Em>Q 55I?Q 95)BYe=Q E;yQ I@EI:i:;5yɮ64Ai)i-` ?AJi-xARi-xAji-%i?b-Ζh-6@&5@IdR8ir忳P+8? )I>5@idchecking for new query: numPingsReceived=94, elapsed TxPingTime=45.697231ԑ^A% | u=I) I9 Թ  checking for new query: numPingsReceived=94, elapsed TxPingTime=45.893246 B<A<Bɾ>BBfIBBBBBBf^;B:#EO$?|~8,s ?AXnDDAT read: Rx Time:06:09:06.2199 rTRx dataTimestamp_ set to:1761545347.584645vPDAT read: Bearing 281.7, 17.3 (Local) v~Local bearing/azimuth received: Bearing 281.7, 17.3 (Local) ~DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 %DAT read: 06:09:06.2199 LVL= 22224, 21553, 32754, 32755, AGC= 58, IDX= 506, 0.13, 2.691,-2.131, 2.139,-3.087, PHS=-0.403, 1.001,-1.101, RAW= 349.0, 5.5, CAL= 348.8, 3.9, ROT= 161.2, -3.9 -Ygot valid direction response: 06:09:06.2199 LVL= 22224, 21553, 32754, 32755, AGC= 58, IDX= 506, 0.13, 2.691,-2.131, 2.139,-3.087, PHS=-0.403, 1.001,-1.101, RAW= 349.0, 5.5, CAL= 348.8, 3.9, ROT= 161.2, -3.9 -T#Rx 95: Read range and direction messages.5^direction in FSK: [-0.944457,0.321520,0.068015]5Fpublishing direction and range infoylnTV8^Ɠ?,::si?YnyAlnVn1Tl l)n:InVξin ?n팿n@n =n@ n'g=)n4@In'glln 俧0 迲; p? nL)nýIn4@in'gllUchecking for new query: numPingsReceived=95, elapsed TxPingTime=46.160934E EE#E"E+$;*E:VE3ZEBEa2EaJE;a:E;aYMByMI QQbDeVDeym<%m<ٔuQ-u>9qYq=}Fyy}E}>Q 550G?Q 95) BYyQ I@EI:i:/5yɮ3Ailinj ?AJilRiljin?bnˑzI-v@u?RnTV8^Ɠ?,::si?Zin4@bin'gjnZeK.@?ZnJѼ@?LqZ>,C ?A>K@>@>ʼٱ>m FAHRS rotation from veh to nav: [[0.428981,0.902344,0.041836],[-0.902975,0.427093,0.047199],[0.024721,-0.058025,0.998009]]>Hlt??k?@,@|U?@o*?P?g?i>K@I>n];>iCYNÁByNIi%Mb@Mb@Mb@!!!! !9%Mb?Q뱿l?)Y%@=y%\%=!%^A !)!!Y%AbD=VD=fyM=%Ul=ٔU %Q-U?9YYY=]FyY]E]?aQ 5m5eE?Q 9u5e-)eBYu=Q Eu9c7q_9? @)lŽIJ4@i5aDyzD}AAE EEE"Ef;*E :VEZEa@a@a@a@checking for new query: numPingsReceived=96, elapsed TxPingTime=46.679871@ @@/@ԉ^A| u=I I O% >Ա 5 checking for new query: numPingsReceived=96, elapsed TxPingTime=46.901150E,!?A=@=@=˼ٱ=m ]AHRS rotation from veh to nav: [[0.429361,0.902169,0.041712],[-0.902790,0.427467,0.047350],[0.024887,-0.057987,0.998007]]=Hz??@=[?[?2>?{?w?i=@I=M];=gCYmʁByuIԑbDVD1y=%E=ٔ+ѹQ->9Y=Fy:E>Q 55D?Q 95)BYy~Q I@EI;i;~5yɮ43Aiiޭ!?AJi|vARi|vAjiUd?bL`g *-U S;=g@`4Σ1?RBAJQn&?&k۱?ZiJ4@bi5j@pdg.@ i?ZH~.a,?XKw?2itA:i"i?*iI΂BiBiwi?i0x~iWBiyAi?- addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504092 s, deltaX: -0.100000 m, approachRate: -0.198377 m/s, rangeRepo size: 4 = Added new target pos. range: 15.405296 m, bearing: 96.862064 deg, lat: 36.779409 deg, lon: -121.859809 deg, deltaT: 0.504092 s, deltaX: -0.099389 m, approachRate: -0.197165 m/s, posRepo size: 4 EDNOT Ignoring new targets: 15.41 m.hAhA*hA"hA hAgIfIffddjd/@ZdI?BȾ>BByIBBBBBBK^;B,#EBǍCBǍCB”CB7 =BCP5Z9Z9Z9Z=Ѕ@m˼)q u&*iu$9)qumдqiqi}#y!u=IIE9@A @A@E0@ADDAT read: Rx Time:06:09:07.2199 TRx dataTimestamp_ set to:1761545348.592798PDAT read: Bearing 280.7, 18.1 (Local) ~Local bearing/azimuth received: Bearing 280.7, 18.1 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 DAT read: 06:09:07.2199 LVL= 23584, 21825, 32754, 32755, AGC= 59, IDX= 507, 0.06,-3.098,-1.682, 2.618,-2.597, PHS=-0.399, 0.960,-1.112, RAW= 349.8, 6.1, CAL= 349.6, 4.9, ROT= 160.4, -4.9 Ygot valid direction response: 06:09:07.2199 LVL= 23584, 21825, 32754, 32755, AGC= 59, IDX= 507, 0.06,-3.098,-1.682, 2.618,-2.597, PHS=-0.399, 0.960,-1.112, RAW= 349.8, 6.1, CAL= 349.6, 4.9, ROT= 160.4, -4.9 T#Rx 97: Read range and direction messages.^direction in FSK: [-0.938615,0.334226,0.085417]Fpublishing direction and range infoym^}H! N.c?b$ݵ?YyA \ )II̾iu?V|]@^ =@@ %=)$+3@I%7a78M;2? p)ٽI$+3@i%checking for new query: numPingsReceived=97, elapsed TxPingTime=47.169682E EE'E"E;*E:VE'4ZEBEbM ۀGi 79 Y v'A uK,1!?A2 @2@2ʼٱ2l :AHRS rotation from veh to nav: [[0.430152,0.901800,0.041537],[-0.902417,0.428272,0.047191],[0.024768,-0.057783,0.998022]]2H?`?ZD?h?z)?\?ŕ?i2 @I2Vc];2iCYN؁ByNIbDVVDV1yr==%rX=ٔv9Q-v>9tYt=zFyxz;Ez>|Q 55~9C?Q 95~)~$BY y oQ I @|I~p:i~:~&5yɮ2Aiig%!?AJixARixAjig?b~-"Yg k@o0?Rm^}H! N.c?b$ݵ?Zi$+3@bi%jH*! +E.@f$E-?Z]˔J%пrk?u 'ۥ?2ivA:iĿ"i%Ÿ?*ij5Bi+Bi?iR~iBiyAi?e addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504061 s, deltaX: 0.100000 m, approachRate: 0.198389 m/s, rangeRepo size: 4 } Added new target pos. range: 15.504643 m, bearing: 95.674933 deg, lat: 36.779412 deg, lon: -121.859809 deg, deltaT: 0.504061 s, deltaX: 0.099347 m, approachRate: 0.197093 m/s, posRepo size: 4 }DNOT Ignoring new targets: 15.50 m.hyhy*hy"hy hgfffddjd@33/@Zdc?checking for new query: numPingsReceived=97, elapsed TxPingTime=47.405174ZIZIZIZMׅ@ʼ)  i9)ⴉAiIi#x=II)@ @@.0@@gA@gAI DDAT read: Rx Time:06:09:07.7199  TRx dataTimestamp_ set to:1761545349.096647 PDAT read: Bearing 281.4, 18.2 (Local)  ~Local bearing/azimuth received: Bearing 281.4, 18.2 (Local)  DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1  DAT read: 06:09:07.7199 LVL= 23088, 22369, 32754, 32755, AGC= 59, IDX= 507,-0.32, 0.127, 1.559,-0.452, 0.621, PHS=-0.392, 0.983,-1.117, RAW= 349.9, 5.8, CAL= 349.7, 4.3, ROT= 160.3, -4.3  Ygot valid direction response: 06:09:07.7199 LVL= 23088, 22369, 32754, 32755, AGC= 59, IDX= 507,-0.32, 0.127, 1.559,-0.452, 0.621, PHS=-0.392, 0.983,-1.117, RAW= 349.9, 5.8, CAL= 349.7, 4.3, ROT= 160.3, -4.3  T#Rx 98: Read range and direction messages. ^direction in FSK: [-0.938820,0.336146,0.074979] Fpublishing direction and range infoy  Ij73 1k?]1?Y 0Z aW ) I 9Ⱦi {? k@ 4Q= 0O@ `=) 3@I ` #ɀ俨x/W迦8̣? [) vͽI 3@i ` % checking for new query: numPingsReceived=98, elapsed TxPingTime=47.672951E  E E %E "E l;*E VE 4ZE a @a @a @a @^A Hu=ԁ I I O >IR, K!?A6@6@6)Ƽٱ6k >AHRS rotation from veh to nav: [[0.431698,0.901064,0.041478],[-0.901694,0.429853,0.046630],[0.024188,-0.057530,0.998051]]6H ?@? 9Y=Fy2s;E>Q 55@?Q 95).BY)=Q E)B B IB BB B B B ];B "E^A w=I I O > HX,e!?A6DDAT read: Rx Time:06:09:08.2201 :TRx dataTimestamp_ set to:1761545349.600759>PDAT read: Bearing 280.7, 18.8 (Local) >~Local bearing/azimuth received: Bearing 280.7, 18.8 (Local) JDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 ZDAT read: 06:09:08.2201 LVL= 22320, 21713, 32754, 32755, AGC= 58, IDX= 508, 0.13, 2.436,-2.444, 1.843, 2.927, PHS=-0.389, 0.957,-1.128, RAW= 350.5, 6.2, CAL= 350.3, 5.0, ROT= 159.7, -5.0 ^Ygot valid direction response: 06:09:08.2201 LVL= 22320, 21713, 32754, 32755, AGC= 58, IDX= 508, 0.13, 2.436,-2.444, 1.843, 2.927, PHS=-0.389, 0.957,-1.128, RAW= 350.5, 6.2, CAL= 350.3, 5.0, ROT= 159.7, -5.0 bT#Rx 99: Read range and direction messages.f^direction in FSK: [-0.934320,0.345615,0.087156]fFpublishing direction and range infoy46vTkN?O?Y6f~A460W6T4 4)6:I6+Ǿi6t?6Nb6@6k=6@ 6¸=)6b2@I6¸446A俶Ɉ&'؁? 6)63ܽI6b2@i6¸44rchecking for new query: numPingsReceived=99, elapsed TxPingTime=48.177395v )@v#@vٱvk AHRS rotation from veh to nav: [[0.433259,0.900306,0.041654],[-0.900962,0.431440,0.046122],[0.023553,-0.057511,0.998067]]vH?O?S??@?(?`r@*?iv )@Ivc];vjCEe EeEe#Ea"Ee ;*Ee:VEe3ZEaBEeO9Y=Fyы;ԱE>Q 55>?Q 95)8BYy=Q I@I|:i:5yIɮU'2AQi4i6rf!?AJi6|ARi6|Aji6c?b6!ߚ-U@)n ?R6vTkN?O?Zi6b2@bi6¸j6o 9R8q/@EВ!?Z6= L_?:W?2i6{A:i6"i6XƟ?*i6u]xBi6YBi6z?i4i6Bi6wAi6?= addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504112 s, deltaX: 0.299999 m, approachRate: 0.595104 m/s, rangeRepo size: 4 u Added new target pos. range: 15.802780 m, bearing: 95.169582 deg, lat: 36.779414 deg, lon: -121.859809 deg, deltaT: 0.504112 s, deltaX: 0.298137 m, approachRate: 0.591410 m/s, posRepo size: 4 }DNOT Ignoring new targets: 15.80 m.hyhy*hy"hy hygfffddjd/@Zd@P?ZZZZljT@M)I MteiM 9)IMQiQiU#Y]/=IYIY5checking for new query: numPingsReceived=99, elapsed TxPingTime=48.415840  ;9 Q @Q  @Y @] 0@Y 9 a^Au}=IDDAT read: Rx Time:06:09:08.7200 TRx dataTimestamp_ set to:1761545350.104826PDAT read: Bearing 280.8, 18.4 (Local) ~Local bearing/azimuth received: Bearing 280.8, 18.4 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 DAT read: 06:09:08.7200 LVL= 21904, 23329, 32754, 32755, AGC= 58, IDX= 508,-0.21,-0.520, 0.894,-1.099,-0.020, PHS=-0.397, 0.959,-1.123, RAW= 350.1, 6.2, CAL= 349.9, 5.0, ROT= 160.1, -5.0 Ygot valid direction response: 06:09:08.7200 LVL= 21904, 23329, 32754, 32755, AGC= 58, IDX= 508,-0.21,-0.520, 0.894,-1.099,-0.020, PHS=-0.397, 0.959,-1.123, RAW= 350.1, 6.2, CAL= 349.9, 5.0, ROT= 160.1, -5.0 %V#Rx 100: Read range and direction messages.-^direction in FSK: [-0.936710,0.339084,0.087156]-Fpublishing direction and range infoyqber?O?Y|AU![ )IC˾iu?wa@k@ )[2@II9OM?a,!?A O5;i'g迠[_L? L) 8ݽI [2@i checking for new query: numPingsReceived=100, elapsed TxPingTime=48.689304"4<ɰ";E> E>E>$E<"E>7;*E>Ǚ:VE>4ZE9 Y = Fy <E>Q 5%5:?Q 9%5)BBY%c=Q E%B ƍCB IB ՁBB 6 =B B B ];B "E ^Ae t0=Iq I O >h,,!?A>e@>`@>u̦ٱ>Ycl FAHRS rotation from veh to nav: [[0.439946,0.897001,0.042851],[-0.897793,0.438250,0.043634],[0.020360,-0.057668,0.998128]]>H(?e@I>~];>fCYNByNIbDZVDZfy^Q<%br=ٔb4_;Q-b?9dYd=fFydj&<Ej?hQ 5n5j8?Q 9r5j)jHBYpyr;@Q Ir@hIj:ijd:j5ytɮz1AxDNOT Ignoring new targets: 15.70 m.hh*h"h hg!f!f!f!d)d)jd)Zd5`x?]PDAT read: Bearing 280.1, 19.1 (Local) ]~Local bearing/azimuth received: Bearing 280.1, 19.1 (Local) iuDAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 DAT read: 06:09:09.2202 LVL= 20784, 20465, 32754, 32755, AGC= 57, IDX= 509, 0.27, 1.236, 2.630, 0.631, 1.733, PHS=-0.395, 0.941,-1.146, RAW= 350.8, 6.6, CAL= 350.7, 5.7, ROT= 159.3, -5.7 Ygot valid direction response: 06:09:09.2202 LVL= 20784, 20465, 32754, 32755, AGC= 57, IDX= 509, 0.27, 1.236, 2.630, 0.631, 1.733, PHS=-0.395, 0.941,-1.146, RAW= 350.8, 6.6, CAL= 350.7, 5.7, ROT= 159.3, -5.7 V#Rx 101: Read range and direction messages.^direction in FSK: [-0.930819,0.351727,0.099320]Fpublishing direction and range infoyIM AsD\c?hܸm?YM̀AIM0QMOI I)M9IMq=ʾiM`p?M!Mv@M=M+@ M%=)M1@IM%˽IIM4a[2KϢ.wv? MIO)M';IM1@iM%˽IIchecking for new query: numPingsReceived=101, elapsed TxPingTime=49.184540ZZZZj;@EM EMEM%EI"EM:*EM:VEM 4ZEIBEM6% DDAT read: Rx Time:06:09:09.7201 5 TRx dataTimestamp_ set to:1761545350.865031M PDAT read: Bearing 279.7, 18.9 (Local) U ~Local bearing/azimuth received: Bearing 279.7, 18.9 (Local) e checking for new query: numPingsReceived=101, elapsed TxPingTime=49.433449 n,!?A|@w@('ٱk -AHRS rotation from veh to nav: [[0.442482,0.895748,0.042957],[-0.896572,0.440848,0.042557],[0.019183,-0.057345,0.998170]]H Q??@?6?ʥ??@Q\?i|@I+];iCY=By=IiMb@Mb@Mb@ 9RQx&?Y½y7<AA A)AYAbDVDk1y%b|<%%6=ٔ-+;Q-->9)Y)=5Fy15;E5>9Q 5E5=4?Q 9E5=)=NBYE=Q EM;yMP(@Q IM@=EI= ;i= ;=5yQɮU1AYii!?AJiARiAjij?bx-9>@f^m?R AsD\c?hܸm?Zi1@bi%˽jȭkQ - DDAT read: Rx Time:06:09:10.2201 = TRx dataTimestamp_ set to:1761545351.367370E checking for new query: numPingsReceived=102, elapsed TxPingTime=49.930912]u,u!?A@@iٱri AHRS rotation from veh to nav: [[0.445117,0.894442,0.042954],[-0.895293,0.443556,0.041328],[0.017913,-0.056852,0.998222]]H |?D? ?=`9c?(?W?o?i@I\q];gCY%By%II)1)-===9bDAVDAyU`<%UH=ٔ]9YYY=]FyYe;Ee>iQ 5u5mJ1?Q 9u5m:)mSBYqy}(@Q I}@mEImY;imD;m5yɮ1Aii}"!?AJi|ARi|Aji'?bXIn-Y@۳ N?RIN#jVBBIBBB7 =BBB ^;B #Ei) >ig9)mPii# =IIaa@ @@/@}PDAT read: Bearing 279.2, 18.7 (Local) ~Local bearing/azimuth received: Bearing 279.2, 18.7 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 DAT read: 06:09:10.2201 LVL= 25024, 22833, 32754, 32755, AGC= 56, IDX= 509,-0.01,-0.002, 1.382,-0.583, 0.518, PHS=-0.418, 0.908,-1.145, RAW= 350.4, 7.3, CAL= 350.4, 6.8, ROT= 159.6, -6.8 Ygot valid direction response: 06:09:10.2201 LVL= 25024, 22833, 32754, 32755, AGC= 56, IDX= 509,-0.01,-0.002, 1.382,-0.583, 0.518, PHS=-0.418, 0.908,-1.145, RAW= 350.4, 7.3, CAL= 350.4, 6.8, ROT= 159.6, -6.8 V#Rx 103: Read range and direction messages.^direction in FSK: [-0.930689,0.346120,0.118404]Fpublishing direction and range infoyquX϶35E0&?EO?Yqquau1Yq q)qIu־iurh?u\uE@uw>uE@ u=)uaF2@IuqquOa7],x+oN? uӸ)uxIuaF2@iuqqchecking for new query: numPingsReceived=103, elapsed TxPingTime=50.191364ԉE EEE"E=;*E:VEZEBExIԹ {,Z!?A2ˬ@2@2@ٱ23f :AHRS rotation from veh to nav: [[0.447755,0.893125,0.042936],[-0.894001,0.446268,0.040076],[0.016632,-0.056329,0.998274]]2H`?@z??@?Մ?`?7׬?i2ˬ@I2u`];2hCYNByRIbDZVDZky%h%%`=ٔ%f;Q-%>9)Y)=-Fy)-'<E5>1Q 5=55..?Q 9E55)5YBYAyE(@Q IE@5EI5;i5;5D5yM(BɮUE1AUEiiAb!?AJi|ARi|Aji@?b9,,j-N{j@{ƕ?RX϶35E0&?EO?ZiaF2@bij`&%ݵ T/@s ?Zߜ>zF?bD)N?2izA:iYϿ"i PDAT read: Bearing 278.7, 18.3 (Local)  ~Local bearing/azimuth received: Bearing 278.7, 18.3 (Local)  DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0  DAT read: 06:09:10.7201 LVL= 23872, 23857, 32754, 32755, AGC= 56, IDX= 508, 0.19,-0.866, 0.514,-1.426,-0.331, PHS=-0.433, 0.890,-1.140, RAW= 350.1, 7.7, CAL= 350.0, 7.4, ROT= 160.0, -7.4  Ygot valid direction response: 06:09:10.7201 LVL= 23872, 23857, 32754, 32755, AGC= 56, IDX= 508, 0.19,-0.866, 0.514,-1.426,-0.331, PHS=-0.433, 0.890,-1.140, RAW= 350.1, 7.7, CAL= 350.0, 7.4, ROT= 160.0, -7.4  V#Rx 104: Read range and direction messages. ^direction in FSK: [-0.931866,0.339172,0.128796] Fpublishing direction and range infoy  F⫽j.?OZ_|?Y @] 1] ) I -ݾi c? 둿 a@ > z@ A>) ¸2@I A jPzX[&Pъ5.X)? $$) I ¸2@i A  checking for new query: numPingsReceived=104, elapsed TxPingTime=50.695568E  E E #E "E x;*E :VE 3ZE a @a @a @a @ ػ,\w "?AFÞ@F뽥@F{ٱFdf NAHRS rotation from veh to nav: [[0.450196,0.891877,0.043351],[-0.892797,0.448763,0.039046],[0.015369,-0.056282,0.998297]]FH?@A?*2?̑? ?`y?Ѭ ?iFÞ@IFh];FgCY}By}IiMb@Mb@Mb@ 9~jtV-~jtx?Yyh;AtA  A) AY AbDVD1y%2=ٔ4;Q->9Y=Fy;E>Q 55l*?Q 95@)[BY[=Q E;y?2@Q I@IASE@ 5>)aF2@I5k/jj? {)IaF2@i5checking for new query: numPingsReceived=105, elapsed TxPingTime=51.015995I B Ⱦ>B B IB BB 8 =B B B F^;B )#E^A =I I O >,Q%"?A;ɰ49)Y)=-Fy)-E5>echecking for new query: numPingsReceived=105, elapsed TxPingTime=51.1892281Q 555'?Q 955)5\BYyQ I@5EI5[y- DDAT read: Rx Time:06:09:11.7200 = TRx dataTimestamp_ set to:1761545352.884209] PDAT read: Bearing 277.5, 18.5 (Local) e ~Local bearing/azimuth received: Bearing 277.5, 18.5 (Local)  DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0  \#Rx 106: Read range message, but no direction.y1 Y5 |A1 M checking for new query: numPingsReceived=106, elapsed TxPingTime=51.480980M,K?"?ALYByIi5Mb@Mb@Mb@1111 195sh|?lMb`?Y5y55;5A5xA 5p A)5p A1Y5 AbDM VDM2y]%]7=ٔYQ-]>9aYa=eFyaiEm>qQ 5u5u#?Q 9}5up)u]BY}=Q E};y}0@Q I}@uEIun:iu:u5yɮ1AU addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.506157 s, deltaX: -0.300000 m, approachRate: -0.592702 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 16.00 m.hYhY*hY"ha hagafafifmBdidijdm/@Zdu ?Z=Z=Zw@Z 0@) iR9)顭Eii#=IԹIDAT read: 06:09:11.7200 LVL= 22880, 22849, 32754, 32755, AGC= 55, IDX= 508, 0.22, 0.836, 2.201, 0.272, 1.389, PHS=-0.450, 0.857,-1.160, RAW= 350.3, 8.5, CAL= 350.3, 8.7, ROT= 159.7, -8.7 Ygot valid direction response: 06:09:11.7200 LVL= 22880, 22849, 32754, 32755, AGC= 55, IDX= 508, 0.22, 0.836, 2.201, 0.272, 1.389, PHS=-0.450, 0.857,-1.160, RAW= 350.3, 8.5, CAL= 350.3, 8.7, ROT= 159.7, -8.7 \#Rx 107: Read direction message, but no range.^direction in FSK: [-0.927097,0.342944,0.151261]yY]gTȪ\0r?ni\?Y]`Y]AYY Y)]7I]ffi]Zd[?]z]@]>]@ ]|>)]b2@I]|Y]\n6俵 5Y7-? ])]$I]b2@i]|E= E=E9E9"E=T;*E=&:VE9ZE9aE@aE@aE@aE@uchecking for new query: numPingsReceived=107, elapsed TxPingTime=51.7080619@ @@0@^A I  I O% >5 DDAT read: Rx Time:06:09:12.2201 = TRx dataTimestamp_ set to:1761545353.388669} PDAT read: Bearing 276.7, 18.7 (Local) P,;Y"?AR~Local bearing/azimuth received: Bearing 276.7, 18.7 (Local) ZDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 \]DAT read: 06:09:12.2201 LVL= 24432, 23201, 32754, 32755, AGC= 55, IDX= 509, 0.13, 2.522,-2.404, 1.951, 3.083, PHS=-0.459, 0.841,-1.176, RAW= 350.5, 9.0, CAL= 350.6, 9.5, ROT= 159.4, -9.5 eYgot valid direction response: 06:09:12.2201 LVL= 24432, 23201, 32754, 32755, AGC= 55, IDX= 509, 0.13, 2.522,-2.404, 1.951, 3.083, PHS=-0.459, 0.841,-1.176, RAW= 350.5, 9.0, CAL= 350.6, 9.5, ROT= 159.4, -9.5 eV#Rx 108: Read range and direction messages.m^direction in FSK: [-0.923222,0.347017,0.165048]mFpublishing direction and range infoy15D[%5?G ?Y5f~A15p_5Z1 1)1I5 뾙W@+@Gٱj EAHRS rotation from veh to nav: [[0.456118,0.888757,0.045461],[-0.889836,0.454780,0.036981],[0.012192,-0.057321,0.998281]]H 1?p?F?y`?4?`U?+Y?iW@I];i5KW?5+5@5| >5@ 5)>)5/ 2@I5)115I1俄tgeu.6 ? 5)5? I5/ 2@i5)11echecking for new query: numPingsReceived=108, elapsed TxPingTime=52.038506Y}ׁBy}IBɾ>BǍCBIBBB7 =BBB8^;B##EBƍCBƍCB“CBB7 =Cº(5bD VD2y]%]8=ٔe;Q-e>9aYa=mFyimt<Em>qQ 5}5u?Q 9}5u)u_BYyQ1@Q I@uEIu:iu$:u5yɮ2Ai1i5X"?AJi5|ARi5|Aji53?b5--&sx@ѥ@R5D[%5?G ?Zi5/ 2@bi5)j5%uDh:%/@e@Z5-t!10Th?W?2i5)yA:i5Կ"i5?*i5]xBi5Bi5 _?i5wi5Bi5zAi5?E addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504460 s, deltaX: 0.099999 m, approachRate: 0.198231 m/s, rangeRepo size: 4  Added new target pos. range: 15.802874 m, bearing: 96.092475 deg, lat: 36.779410 deg, lon: -121.859806 deg, deltaT: 1.010617 s, deltaX: -0.198700 m, approachRate: -0.196613 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjd/@Zd}?Z1Z1Z1Z5cQ1@eG)a mim9)im^iiiiu#quC =IqIy@ @@!@!@)@-gAUchecking for new query: numPingsReceived=108, elapsed TxPingTime=52.199821E EE&E"Ea;*E:VE4ZEBE=aM2E=aMJE;aU:E;aU 9 9 G - >9) Y- &.AA ^A= =II IY Oe >!,qr"?A2^@22@29h;ٱ2_j :AHRS rotation from veh to nav: [[0.457537,0.888016,0.045697],[-0.889117,0.456233,0.036358],[0.011438,-0.057265,0.998293]]2HHH?j?e?s2?`?l? Q ?i2^@I2W];0YBʁByBIID)F=bDNVDNP)yV%V=ٔV ;Q-V?9XYX=ZFyX^;E^?`Q 5f5b?Q 9f5b)`Ydyfk1@Q If@`Ib9:ib:b5ylɮn2AlY=DNOT Ignoring new targets: 15.80 m.h9hA*hA"hI hIgQfyffddjdDDAT read: Rx Time:06:09:12.7200 TRx dataTimestamp_ set to:1761545353.919852PDAT read: Bearing 276.2, 18.5 (Local) ~Local bearing/azimuth received: Bearing 276.2, 18.5 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 DAT read: 06:09:12.7200 LVL= 24816, 23025, 32754, 32755, AGC= 55, IDX= 508, 0.09, 1.401, 2.764, 0.836, 1.978, PHS=-0.474, 0.832,-1.186, RAW= 350.3, 9.4, CAL= 350.5, 10.1, ROT= 159.5, -10.1 %Ygot valid direction response: 06:09:12.7200 LVL= 24816, 23025, 32754, 32755, AGC= 55, IDX= 508, 0.09, 1.401, 2.764, 0.836, 1.978, PHS=-0.474, 0.832,-1.186, RAW= 350.3, 9.4, CAL= 350.5, 10.1, ROT= 159.5, -10.1 %V#Rx 109: Read range and direction messages.5^direction in FSK: [-0.922157,0.344780,0.175367]5Fpublishing direction and range infoydN,n?:ujr?Y|A`Y )I!iT?Η@'>@ J4>))2@IJ4"+3$O迈$J? ) 'I)2@iJ4Uchecking for new query: numPingsReceived=109, elapsed TxPingTime=52.497231ZdE ?ԉZiZiZiZmk1@9h;) %vi%9))51i1iM#QU=IQIԹu9@q @q@uO0@q checking for new query: numPingsReceived=109, elapsed TxPingTime=52.705288 Ee  Ee Ee $Ea "Ee ~ ;*Ee 2;VEe 4ZEa am @am @am @am @^A .=I I O >N,ߍ"?A>@>o@>ɥ/ٱ>`h FAHRS rotation from veh to nav: [[0.458977,0.887280,0.045557],[-0.888384,0.457721,0.035584],[0.010720,-0.056805,0.998328]]>H@_?d?FS?mLK?8??{ M?i>@I>d];>eCYNāByNIi%Mb@Mb@Mb@!!!! !19%I +lMb`Y%94y!%%VA! %A)% A!Y% AbDE VDE2yUkǼ%U8=ٔ]!:Q-]>9YYY=]FyYen;Ee>iQ 5u5m?Q 9u5m)m`BYu]=Q E}BBIBځBBBBB<^;B%#E^A ʞ=I I O >Dr,"?A2@2@2|)ٱ2Ne :AHRS rotation from veh to nav: [[0.459987,0.886788,0.044930],[-0.887865,0.458777,0.034913],[0.010348,-0.055951,0.998380]]2Hnp?@`? ?@di \??61?@`?i2@I2e];2jCYLyPbDZVDZٔb~:Q-b>9`Yd=fFydf9B;Ef>hDAT read: 06:09:13.2201 LVL= 22448, 22257, 32754, 32755, AGC= 55, IDX= 509, 0.02, 2.180,-2.738, 1.630, 2.757, PHS=-0.476, 0.833,-1.171, RAW= 350.0, 9.3, CAL= 350.1, 9.9, ROT= 159.9, -9.9  Ygot valid direction response: 06:09:13.2201 LVL= 22448, 22257, 32754, 32755, AGC= 55, IDX= 509, 0.02, 2.180,-2.738, 1.630, 2.757, PHS=-0.476, 0.833,-1.171, RAW= 350.0, 9.3, CAL= 350.1, 9.9, ROT= 159.9, -9.9  \#Rx 111: Read direction message, but no range.^direction in FSK: [-0.925110,0.338543,0.171929]yprva2ZEs?!?prWrVp p)pIrFir}?U?rT㕿rz@r6&>ra@ r;0>)r)2@Ir;0prHPdD.  ? r?)r%Ir)2@ir;05checking for new query: numPingsReceived=111, elapsed TxPingTime=53.219093Q 5=5j"?Q 9=5j)hY9yENE@Q IE@hIjc)3@I¸2qT|rp+?? {)=&I3@i¸2 checking for new query: numPingsReceived=112, elapsed TxPingTime=53.495800^A% "=I1 IA OM >A ^,"?A=1#@=@=6%ٱ=>b MAHRS rotation from veh to nav: [[0.460669,0.886457,0.044466],[-0.887514,0.459490,0.034452],[0.010108,-0.055335,0.998417]]=H`{?]?@3Ħ?fIh???T?i=1#@I=ur];=gCY}By}I iMb@Mb@Mb@ 9Qsh|?Mb`?Yuy;AA A) AY AbDVDky-9%-<ٔ5:Q-5>91Y1=5Fy1=q:E=>AQ 5m5E?Q 9m5E)EbBYmɬ=Q Em,9"?AE(@E#@E!ٱEKa uAHRS rotation from veh to nav: [[0.461277,0.886153,0.044237],[-0.887202,0.460121,0.034094],[0.009858,-0.054973,0.998439]]EH`?@][? /?c`r? t?}0?{%6?iE(@IE2k];EhCYBy{IbDVDy%a=ٔq4:Q->9Y=FyU:E>Q 55d?Q 9 5)cBY y 5Q I @I;i?;W5yɮ3AB)A-<B5ľ>B5ƍCB5IB5BB56 =B1B1B5-^;B5#E- addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504547 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 15.70 m.h)h)*h1"h1 h1g1f1f9f9d9dYjdaZde $?ZZZZ9\@!) ̥i@9) ͵ii#&=IIDAT read: 06:09:14.2200 LVL= 32528, 31729, 32754, 32755, AGC= 54, IDX= 508,-0.30, 1.437, 2.795, 0.940, 2.047, PHS=-0.508, 0.794,-1.151, RAW= 348.9, 10.1, CAL= 349.1, 11.2, ROT= 160.9, -11.2 Ygot valid direction response: 06:09:14.2200 LVL= 32528, 31729, 32754, 32755, AGC= 54, IDX= 508,-0.30, 1.437, 2.795, 0.940, 2.047, PHS=-0.508, 0.794,-1.151, RAW= 348.9, 10.1, CAL= 349.1, 11.2, ROT= 160.9, -11.2 \#Rx 114: Read direction message, but no range.^direction in FSK: [-0.926952,0.320986,0.194234]yHAk ?mVѫ?{ )6IJ iCK?S@J4>g@ +H>)3@I+H&Wb&h習t+t? g)4I3@i+Hchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.226681E EE E"Ef;*E:VE3ZEBEW9qYy=}Fyy},9E}>Q 55 ?Q 95)gBY=Q E&@ d>)P3@IdE{v&(~? )EIP3@idMchecking for new query: numPingsReceived=116, elapsed TxPingTime=54.730984iU#qu&n=IyIybE=ƻ 4jE= 4rE=(90E EE&E"E;*E:VE4ZEa@a@a@a@-9@) @)@54@1 ^AU =I I O >V,#?AnDDAT read: Rx Time:06:09:15.2200 rTRx dataTimestamp_ set to:1761545356.413711zPDAT read: Bearing 274.7, 17.2 (Local) z~Local bearing/azimuth received: Bearing 274.7, 17.2 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 mDAT read: 06:09:15.2200 LVL= 31904, 30609, 32754, 32755, AGC= 56, IDX= 508,-0.40, 1.919,-3.007, 1.422, 2.544, PHS=-0.523, 0.777,-1.166, RAW= 349.0, 10.7, CAL= 349.2, 12.1, ROT= 160.8, -12.1 uYgot valid direction response: 06:09:15.2200 LVL= 31904, 30609, 32754, 32755, AGC= 56, IDX= 508,-0.40, 1.919,-3.007, 1.422, 2.544, PHS=-0.523, 0.777,-1.166, RAW= 349.0, 10.7, CAL= 349.2, 12.1, ROT= 160.8, -12.1 uV#Rx 117: Read range and direction messages.}^direction in FSK: [-0.923395,0.321560,0.209619]}Fpublishing direction and range infoyln_~tkq?9h? _)@ 3$@ "ٱ p$cYn|Aln|nwl l)n8InTinyF?n}?n@nt;?>n@ n@X>)n3@In@Xll UAHRS rotation from veh to nav: [[0.461339,0.886102,0.044592],[-0.887168,0.460164,0.034384],[0.009948,-0.055424,0.998413]] H?Z?@Ԧ?@c@Rs?@ʚ?_?x`?i _)@I Q]; fCn4ĦW÷}d=? naa)n\>In3@in@Xllachecking for new query: numPingsReceived=117, elapsed TxPingTime=55.033257YBynIbDVDy%߻%-W=ٔ-Q-->9)Y1=5Fy15E5>AQ 5M5E ?Q 9M5E2)EjBYIyM$Q IM@EEIE :iE|:E 5yɮ3AB>BBrIBBB7 =BBYDB ^;B #Eilin>z#?AJin@{ARin@{AjinB?bnU0"-s2@S]U @Rn_~tkq?9h?Zin3@bin@XjnJp˅.@$@ZnГ/VLW(.?-DT?2intA:in`"innM]?*inBinXBin Jn?in~|inWBin3yAin(v? addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.501704 s, deltaX: 0.200000 m, approachRate: 0.398641 m/s, rangeRepo size: 4  Added new target pos. range: 15.703198 m, bearing: 97.698488 deg, lat: 36.779406 deg, lon: -121.859808 deg, deltaT: 0.501704 s, deltaX: 0.198646 m, approachRate: 0.395942 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.70 m.hh*h"h hgfffddjd /@Zd?ZQZQZQZU"Wm@}")y } i9)顅w㵉iԉi#=IIA@A @A@E/@Achecking for new query: numPingsReceived=117, elapsed TxPingTime=55.225403ԹEE  EE EE "EA "EE :*EE :VEE (3ZEA BEE >l,_2#?A>)@>b$@> 9%ٱ>c FAHRS rotation from veh to nav: [[0.461358,0.886089,0.044661],[-0.887156,0.460172,0.034574],[0.010084,-0.055573,0.998404]]>H?`Z?@ݦ?css?? ? t`?i>)@I>;];>gCYNByNVIbDVVDV:y^%^~=ٔb_ݹQ-b ?9`Y`=fFydf8Ef ?hQ 5n5j ?Q 9n5j)jmBYpypQ Ir@hIj;ij;j 5ytɮv4AtDNOT Ignoring new targets: 15.70 m.hh*h"h hgf!f!f!d!d)jd)Zd-LR?ZIZIZIZMWm@e 9%)a eJiel9)amiiiim#qqIqIq59@9 @9@E0@ADDAT read: Rx Time:06:09:15.7199 TRx dataTimestamp_ set to:1761545356.918183PDAT read: Bearing 273.2, 16.8 (Local) ~Local bearing/azimuth received: Bearing 273.2, 16.8 (Local) 5DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 UDAT read: 06:09:15.7199 LVL= 25552, 25745, 32754, 32755, AGC= 58, IDX= 507,-0.36, 0.432, 1.798,-0.054, 1.093, PHS=-0.559, 0.750,-1.191, RAW= 348.6, 11.6, CAL= 348.9, 13.7, ROT= 161.1, -13.7 ]Ygot valid direction response: 06:09:15.7199 LVL= 25552, 25745, 32754, 32755, AGC= 58, IDX= 507,-0.36, 0.432, 1.798,-0.054, 1.093, PHS=-0.559, 0.750,-1.191, RAW= 348.6, 11.6, CAL= 348.9, 13.7, ROT= 161.1, -13.7 ]V#Rx 118: Read range and direction messages.m^direction in FSK: [-0.919168,0.314702,0.236838]mFpublishing direction and range infoyeiv $?4ӋHP?YyAcd ):Ii@?r@4QO>@ Gt>)P3@IGtCV餃}:? U)c8PIP3@iGtchecking for new query: numPingsReceived=118, elapsed TxPingTime=55.495995^AIIO>)  checking for new query: numPingsReceived=118, elapsed TxPingTime=55.729084E]  E] E] &EY "E] %;*E] :VE] 4ZEY ae @am @am @am @i ,qL#?Aɰ2*@2f%@2'ٱ2nc :AHRS rotation from veh to nav: [[0.461468,0.886039,0.044520],[-0.887098,0.460277,0.034673],[0.010230,-0.055494,0.998407]]2H@?nZ? \˦?@c-u?@? z?i`?i2*@I2&];2hCYRByRbIiMb@Mb@Mb@ 9Zd;O?{GzMb?Yj9Y=FyB9E>Q 55?Q 954)qBY=Q EpA:i"iW?*iCBiBi ]?iiΆBiwAi?5 addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504472 s, deltaX: -0.200000 m, approachRate: -0.396454 m/s, rangeRepo size: 4 M Added new target pos. range: 15.504424 m, bearing: 97.923248 deg, lat: 36.779404 deg, lon: -121.859810 deg, deltaT: 0.504472 s, deltaX: -0.198774 m, approachRate: -0.394025 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.50 m.hh*h"h hgfffBddjd@33/@Zd\?Z5=Z5=Z5=@Z5y@e')a eim9)imʑiiii#k=IIU9@Q @Y@]0@YQDDAT read: Rx Time:06:09:16.2200 TRx dataTimestamp_ set to:1761545357.420669PDAT read: Bearing 272.8, 16.5 (Local) ~Local bearing/azimuth received: Bearing 272.8, 16.5 (Local)  DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 -DAT read: 06:09:16.2200 LVL= 23120, 28417, 32754, 32755, AGC= 58, IDX= 508,-0.24, 1.168, 2.537, 0.694, 1.841, PHS=-0.571, 0.741,-1.191, RAW= 348.3, 11.9, CAL= 348.6, 14.1, ROT= 161.4, -14.1 5Ygot valid direction response: 06:09:16.2200 LVL= 23120, 28417, 32754, 32755, AGC= 58, IDX= 508,-0.24, 1.168, 2.537, 0.694, 1.841, PHS=-0.571, 0.741,-1.191, RAW= 348.3, 11.9, CAL= 348.6, 14.1, ROT= 161.4, -14.1 =V#Rx 119: Read range and direction messages.E^direction in FSK: [-0.919214,0.309350,0.243615]EFpublishing direction and range infoy΄3jIh2c? .?Y|APZo )I-i-=?@ȭT>@ d{>)I4@Id{ۄ*-9a2ǘu? )6UII4@id{echecking for new query: numPingsReceived=119, elapsed TxPingTime=55.996830q ^A =I A A B >B B `IB BB B B B ];B "EI O > PExceeded connect timeout, disconnecting., f#?A02i,@2='@2)ٱ2Xa >AHRS rotation from veh to nav: [[0.461666,0.885958,0.044065],[-0.886993,0.460484,0.034606],[0.010368,-0.055062,0.998429]]2H?Y??@?bx?뷡?;? 1!?i2i,@I2V];0YRByR[IbDZVDZ:yb%b]=ٔbùQ-f>9dYd=fFydj:Ej>lQ 5r5n?Q 9r5n)nuBYpyr_Q Iv@lIn;in:n5yxɮzu4Axi1i5>Z#?AJi5@{ARi5@{Aji5yl?b5*{,Xn@XL@R5΄3jIh2c? .?Zi5I4@bi5d{j5Wma3dX.@n02 8 @Z5٨(s< A?)蝓ǻ?2i5rA:i5C "i5MkFM?*i5Bi5]Bi5nM]?i52wi5XBi5uAi5 ? addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.502486 s, deltaX: 0.200000 m, approachRate: 0.398021 m/s, rangeRepo size: 4  Added new target pos. range: 15.703130 m, bearing: 98.219169 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.502486 s, deltaX: 0.198706 m, approachRate: 0.395445 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.70 m.hh*h"h hgfff!d!d!jd%/@Zd% J?uchecking for new query: numPingsReceived=119, elapsed TxPingTime=56.235840ZZZZy@)) i9)顽 ii#µ=II I)E EEE"E;*EVEZEBE@  DDAT read: Rx Time:06:09:16.7199  TRx dataTimestamp_ set to:1761545357.924709 PDAT read: Bearing 273.8, 17.0 (Local) % ~Local bearing/azimuth received: Bearing 273.8, 17.0 (Local) 5 DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 U DAT read: 06:09:16.7199 LVL= 23664, 23969, 32754, 32755, AGC= 59, IDX= 507,-0.06,-0.423, 0.953,-0.916, 0.233, PHS=-0.553, 0.766,-1.193, RAW= 348.7, 11.3, CAL= 348.9, 13.2, ROT= 161.1, -13.2 e Ygot valid direction response: 06:09:16.7199 LVL= 23664, 23969, 32754, 32755, AGC= 59, IDX= 507,-0.06,-0.423, 0.953,-0.916, 0.233, PHS=-0.553, 0.766,-1.193, RAW= 348.7, 11.3, CAL= 348.9, 13.2, ROT= 161.1, -13.2 } V#Rx 120: Read range and direction messages. ^direction in FSK: [-0.921089,0.315359,0.228351] Fpublishing direction and range infoy  `T;y3 w.? :?Y yA  p\ ]  ) ;I h i D? 9 6@ I> @  k>) P3@I k   ",'b tN"?  y) cJI P3@i k   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.B, #?A`-Y/@--*@-+ٱ-^ AHRS rotation from veh to nav: [[0.461984,0.885827,0.043370],[-0.886826,0.460820,0.034406],[0.010492,-0.054356,0.998466]]-H$?X?4?`~??@|?ԫp?i-Y/@I-p];-gCYBy^IiuMb@Mb@Mb@qqqq q9uy&1|?333333~jt?Yu`;yuu9Y=FyC9:E>Q 5%5L?Q 9%5J)|BY-=Q E-'-,W#?A00N1@N,@N`-ٱN^O]^DDAT read: Rx Time:06:09:17.2200 bTRx dataTimestamp_ set to:1761545358.428831fPDAT read: Bearing 274.6, 18.0 (Local) f~Local bearing/azimuth received: Bearing 274.6, 18.0 (Local) nDAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 DAT read: 06:09:17.2200 LVL= 21568, 21969, 32754, 32755, AGC= 58, IDX= 508, 0.14, 1.760, 3.116, 1.233, 2.383, PHS=-0.521, 0.778,-1.193, RAW= 349.6, 10.8, CAL= 349.8, 12.3, ROT= 160.2, -12.3 Ygot valid direction response: 06:09:17.2200 LVL= 21568, 21969, 32754, 32755, AGC= 58, IDX= 508, 0.14, 1.760, 3.116, 1.233, 2.383, PHS=-0.521, 0.778,-1.193, RAW= 349.6, 10.8, CAL= 349.8, 12.3, ROT= 160.2, -12.3 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.919283,0.330962,0.213030]Fpublishing direction and range infoy\^}(jG}.?AzUmD?Y^|A\^@T^U\ \)^:I^B`i^+G?\^@@^A>^|]@ ^[>)^2@I^[\\^P>?0`o|cvXրm? ^)^1@I^2@i^[\\=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode. MAHRS rotation from veh to nav: [[0.462250,0.885707,0.042993],[-0.886686,0.461094,0.034354],[0.010604,-0.054001,0.998485]]NH?`W?%?`_?薡?`??iN1@INz];NhCY]By]aIbDmVDmNy}L<%}w=ٔQ-?9Y=Fyq:E?Q 55?Q 95Q =tI)BYy~$Q I@I]:i:H5yɮN4Ai\i^q#?AJi^@{ARi^@{Aji^?b^j ,7*@g< @R^}(jG}.?AzUmD?Zi^2@bi^[j^By;'Q.@pxd@@Z^TL3eH&3?]?2i^tA:i^"i^cK_?*i^WBi^dBi\i\i\i^luAi^? addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504122 s, deltaX: 0.200000 m, approachRate: 0.396729 m/s, rangeRepo size: 4 M Added new target pos. range: 15.703130 m, bearing: 97.169269 deg, lat: 36.779403 deg, lon: -121.859812 deg, deltaT: 0.504122 s, deltaX: 0.198773 m, approachRate: 0.394296 m/s, posRepo size: 4 MDNOT Ignoring new targets: 15.70 m.hQhQ*hQ"hQ hQgQfQfYfYBm>BmōCBmMIBmBBm8 =BiBiBiBm"EB)B)B)B)B)C-cn5ddjd/@Zd 4I?9ZAZAZAZEim@}`-)y }i}u9)顅̕ii#ݶ=IIIfA)fAnManaging dock network, ignoring radio surface power offi@i @i@u4@q@y@}hAim2Acoustic response timeoutEU  EQ EU #EQ "EU ;*EQ VEU 3ZEQ BEU ]P,#?A23@2-@2p1ٱ2/] :AHRS rotation from veh to nav: [[0.462389,0.885636,0.042956],[-0.886611,0.461220,0.034599],[0.010830,-0.054083,0.998478]]2HǗ?!W?H?@_?춡?-?`Ű?i23@I2e\];2fCY@y@bDJ VDJ:2yR,:%RZ=ٔVQ-V>9TYX=ZFyXZi9EZ>Q 55?Q 95)BY!y%}$Q I%@EIn;i;5y)ɮ-L4A)uDNOT Ignoring new targets: 15.70 m.hqԁh*h"h hgfffddjdZd ?ZZZZm@Up1)Y ]i]q9)Y]𹴉YiYie#ae=IiIDDAT read: Rx Time:06:09:17.7199 TRx dataTimestamp_ set to:1761545358.932789PDAT read: Bearing 274.4, 18.0 (Local) ~Local bearing/azimuth received: Bearing 274.4, 18.0 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 -DAT read: 06:09:17.7199 LVL= 22192, 21681, 32754, 32755, AGC= 58, IDX= 507, 0.40, 0.857, 2.210, 0.329, 1.482, PHS=-0.523, 0.773,-1.197, RAW= 349.7, 10.9, CAL= 349.9, 12.5, ROT= 160.1, -12.5 =Ygot valid direction response: 06:09:17.7199 LVL= 22192, 21681, 32754, 32755, AGC= 58, IDX= 507, 0.40, 0.857, 2.210, 0.329, 1.482, PHS=-0.523, 0.773,-1.197, RAW= 349.7, 10.9, CAL= 349.9, 12.5, ROT= 160.1, -12.5 =R#Rx 1: Read range and direction messages.^direction in FSK: [-0.918000,0.332311,0.216440]Fpublishing direction and range infoyE@`:7D?K?YyAVT )ITiTE?L70O@B>k@ f_>)[2@If_ԩ&U^ѶC? ǔ)eLCI[2@if_2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9@  @ @ /@ ^A5 õ=IQ Ia O >  2Acoustic response timeoutE=  E= E= %E9 "E= ;*E= P:VE= 4ZE9 aM @aM @aM @aM @8,σ#?AJ55@J 0@J*2ٱJ_ VAHRS rotation from veh to nav: [[0.462616,0.885495,0.043419],[-0.886492,0.461423,0.034941],[0.010906,-0.054655,0.998446]]JH?U?:?#^?`?@U?`D?iJ55@IJ5];JgCYZByZdIi=Mb@Mb@Mb@9999 99=/$?~jt~jt?Y==ٔm3:Q-m>9qYq=uFyq}:E}>Q 55?Q 95)BY=Q E#ekO#0?!oH?2i qA:i -"i t_?*i Æ$Bi kBi i Æ$i i sAi ţ? addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503958 s, deltaX: -0.200000 m, approachRate: -0.396858 m/s, rangeRepo size: 4  Added new target pos. range: 15.504269 m, bearing: 97.077935 deg, lat: 36.779403 deg, lon: -121.859813 deg, deltaT: 0.503958 s, deltaX: -0.198861 m, approachRate: -0.394599 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.50 m.hh*h"h hgfff6Bd djd@33/@Zd`>?ZU=ZU=ZU]l@ZUI&y@m*2)i ix9)顕|ⴉii# =II  @  @@@DDAT read: Rx Time:06:09:18.2200 TRx dataTimestamp_ set to:1761545359.437318PDAT read: Bearing 275.6, 18.3 (Local) ~Local bearing/azimuth received: Bearing 275.6, 18.3 (Local)  DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 5DAT read: 06:09:18.2200 LVL= 19424, 19729, 32754, 32755, AGC= 57, IDX= 508,-0.16,-1.303, 0.055,-1.844,-0.699, PHS=-0.502, 0.799,-1.189, RAW= 349.9, 10.2, CAL= 350.1, 11.4, ROT= 159.9, -11.4 =Ygot valid direction response: 06:09:18.2200 LVL= 19424, 19729, 32754, 32755, AGC= 57, IDX= 508,-0.16,-1.303, 0.055,-1.844,-0.699, PHS=-0.502, 0.799,-1.189, RAW= 349.9, 10.2, CAL= 350.1, 11.4, ROT= 159.9, -11.4 =R#Rx 1: Read range and direction messages.E^direction in FSK: [-0.920567,0.336880,0.197657]EFpublishing direction and range infoy$HuR륫p?g4L?Y|AKM )9IiDL?'1k@K6>a@ %K>))2@I%KLJMI|Z[? U)6I)2@i%K2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.1Bi Ai Bu >Bq Bu GIBu BBu 7 =Bq Bq Bu ];Bu "E^Aq I I O >Y b,]#?A2:@25@2@30ٱ2Zb :AHRS rotation from veh to nav: [[0.463213,0.885155,0.043976],[-0.886182,0.462006,0.035103],[0.010754,-0.055230,0.998416]]2H@H? 1S??[?? L?'G?i2:@I2];2hCYfByfiI hhbDrVDryz<%zR=ٔz9Q-z>9|Y|=~Fy|:E> Q 55 ?Q 95 +) BYyQ I@ EI :i : }5y!ɮ%4A!ii#?AJi?{ARi?{Aji?ba>aQ,u(@G@R$HuR륫p?g4L?Zi)2@bi%KjFgS{cn .@&5@Zܲ oN?!>}?2iuA:iC"ib3]?*iɻBiBib3]?iikBivAi8?u addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504529 s, deltaX: 0.200000 m, approachRate: 0.396409 m/s, rangeRepo size: 4  Added new target pos. range: 15.703041 m, bearing: 96.965782 deg, lat: 36.779404 deg, lon: -121.859812 deg, deltaT: 0.504529 s, deltaX: 0.198772 m, approachRate: 0.393976 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.70 m.hh*h"h hgfffddjd/@Zd}?ZZZZ2y@@30) .i&9)ii #  J=I IiEAIEAE2Acoustic response timeoutԹE EE(E"ET;*E:VEc44ZEBEG  DDAT read: Rx Time:06:09:18.7199  TRx dataTimestamp_ set to:1761545359.940717 PDAT read: Bearing 273.4, 18.2 (Local)  ~Local bearing/azimuth received: Bearing 273.4, 18.2 (Local)  DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 5 DAT read: 06:09:18.7199 LVL= 23344, 24673, 32754, 32755, AGC= 57, IDX= 507, 0.09,-0.708, 0.616,-1.235,-0.078, PHS=-0.528, 0.739,-1.200, RAW= 350.0, 11.6, CAL= 350.3, 13.6, ROT= 159.7, -13.6 E Ygot valid direction response: 06:09:18.7199 LVL= 23344, 24673, 32754, 32755, AGC= 57, IDX= 507, 0.09,-0.708, 0.616,-1.235,-0.078, PHS=-0.528, 0.739,-1.200, RAW= 350.0, 11.6, CAL= 350.3, 13.6, ROT= 159.7, -13.6 E R#Rx 1: Read range and direction messages.M ^direction in FSK: [-0.911591,0.337208,0.235142]M Fpublishing direction and range infoy  0_+Д?#?Y yA 0[ a` ) I +i /=? z@ 4QO> @ s>) b2@I s Ede+/7yYQ0;? oC) kOI b2@i s u 2Acoustic response timeout} Querying Benthos address 50 with one ping in standard two-way mode.9 *K,C;$?ARA@R<@R,ٱRc ZAHRS rotation from veh to nav: [[0.463986,0.884733,0.044316],[-0.885780,0.462779,0.035050],[0.010501,-0.055517,0.998402]]RH@?O??@PX`,???`l?iRA@IR8];PYjByjgIbD5VD5k2yû%<=ٔ):Q- >9Y=Fy-;E5>aQ 55e?Q 95e)eBYyQ I@aIe^t,$?A 2H@2C@2W)ٱ29oc >AHRS rotation from veh to nav: [[0.464756,0.884328,0.044342],[-0.885379,0.463556,0.034931],[0.010336,-0.055494,0.998405]]2H?iL??`U??*?`i?i2H@I2s];2iCYFByFiIVDDAT read: Rx Time:06:09:19.2201 VTRx dataTimestamp_ set to:1761545360.444795^PDAT read: Bearing 273.3, 18.2 (Local) ^~Local bearing/azimuth received: Bearing 273.3, 18.2 (Local) fDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 zDAT read: 06:09:19.2201 LVL= 23856, 26049, 32754, 32755, AGC= 57, IDX= 509,-0.46,-0.964, 0.361,-1.490,-0.331, PHS=-0.531, 0.737,-1.203, RAW= 349.9, 11.7, CAL= 350.2, 13.7, ROT= 159.8, -13.7 ~Ygot valid direction response: 06:09:19.2201 LVL= 23856, 26049, 32754, 32755, AGC= 57, IDX= 509,-0.46,-0.964, 0.361,-1.490,-0.331, PHS=-0.531, 0.737,-1.203, RAW= 349.9, 11.7, CAL= 350.2, 13.7, ROT= 159.8, -13.7 ~R#Rx 1: Read range and direction messages.^direction in FSK: [-0.911792,0.335474,0.236838]Fpublishing direction and range infoyTVLf-NG hx?4ӋHP?YVf~ATV0]VeT T)TIViVV@ VGt>)V2@IVGtTTVTI1 +HȔqeI? VF)VPIV2@iVGtTTE2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9S㥛+~jt?Y/ݼy<AA l A) AY= AbDVDB>BƍCBMIBBB8 =BBBP^;B+#Eiy;%2=ٔѾ9Q->9Y=Fy2:E>Q 55?Q 95)BY =Q E ,4$?A>Q@>|L@>L%ٱ>gb JAHRS rotation from veh to nav: [[0.465696,0.883844,0.044127],[-0.884887,0.464516,0.034629],[0.010109,-0.055174,0.998426]]>H@?`sH?ȗ?Pࢺ?@ﺡ?`2??@?i>Q@I>}];>fCPYRByRmIIV%=)V;bDbVDb02yz<%~=ٔB9:Q-  ?9Y=%Fy!5dV;E5 ?QQ 5u5UV?Q 95U)UBYy?Q I@QIU"[@ k]>)5~1@Ik]Nz{^迹D? G)AI5~1@ik]}2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.%9@! @!@-0@)^AU =Iy I O >! e 2Acoustic response timeoutbEJ4jE( 4rE/E  E E E "E T;*E :VE ZE a- @a- @a- @a- @Ɇ,N$?A2[@2rV@2ٱ2%` :AHRS rotation from veh to nav: [[0.466773,0.883283,0.043977],[-0.884323,0.465619,0.034216],[0.009746,-0.054861,0.998446]]2H?C? ?`L`?? ?`E?i2[@I2V];2hC|YyiMb@Mb@Mb@ 9Zd;Osh|?/$?Yj9Y=Fy/:;E>Q 55?Q 95)BY =Q Ee@Z`PB?dju?2inuA:iӿ"ite?*i/*BixBit_?i/*ixBivAiai? addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.505163 s, deltaX: -0.099999 m, approachRate: -0.197955 m/s, rangeRepo size: 4  Added new target pos. range: 15.703163 m, bearing: 96.153307 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.505163 s, deltaX: -0.099387 m, approachRate: -0.196743 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.70 m.hh*h"h hgff f aBd djd/@Zd]i?Z5 =Z5 =Z5 @Z5/G@E)I M¾iM9)IMo\QiQiU#Y]@ Q>)r0@IQieD~㿞bW? pG)9Ir0@iQE2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.QA A AAB þ>B B SIB BB 6 =B B ZDB ^;B h#E^A5 =IA IQ O] >ԁ %,h$?A6f@6a@6yٱ6` >AHRS rotation from veh to nav: [[0.467999,0.882627,0.044116],[-0.883680,0.466864,0.033890],[0.009316,-0.054845,0.998451]]6H?z>?f?G ?Z?]?``P?i6f@I6z];4Y^By^fIbDjVDjfyr7%r\=ٔrq:Q-r>9tYt=vFytvs;Ez>xQ 55z ?Q 95z)zBYyHG@Q I@xIzj;izT;zM 5y Bɮ3AYii\$?AJiARiAjiH?bP2ㄖ-2-`@` @R2 T`? ?Zir0@biQjr!^ _/@`hE@Z& 4ZQ^?K D?2izA:iM"ioo?*i2Ff{Bi*Bi ]d?iNiivAi? addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503032 s, deltaX: 0.300000 m, approachRate: 0.596384 m/s, rangeRepo size: 4  Added new target pos. range: 16.001455 m, bearing: 95.471097 deg, lat: 36.779405 deg, lon: -121.859811 deg, deltaT: 0.503032 s, deltaX: 0.298292 m, approachRate: 0.592988 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.00 m.hh*h"h hgfffddjd0@Zd=?ZZZZ'HG@y) Ⱦi;9%2Acoustic response timeout)顕etii#=IIE EE"E"E;*Ev:VE(3ZEBE,N DDAT read: Rx Time:06:09:20.7201  TRx dataTimestamp_ set to:1761545361.956665 PDAT read: Bearing 274.0, 19.7 (Local)  ~Local bearing/azimuth received: Bearing 274.0, 19.7 (Local)  DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0  DAT read: 06:09:20.7201 LVL= 22160, 21873, 32754, 32755, AGC= 55, IDX= 509,-0.20, 2.075,-2.909, 1.490, 2.670, PHS=-0.493, 0.749,-1.223, RAW= 351.5, 11.2, CAL= 351.8, 12.9, ROT= 158.2, -12.9  Ygot valid direction response: 06:09:20.7201 LVL= 22160, 21873, 32754, 32755, AGC= 55, IDX= 509,-0.20, 2.075,-2.909, 1.490, 2.670, PHS=-0.493, 0.749,-1.223, RAW= 351.5, 11.2, CAL= 351.8, 12.9, ROT= 158.2, -12.9 % R#Rx 1: Read range and direction messages.- ^direction in FSK: [-0.905052,0.361995,0.223250]- Fpublishing direction and range infoy  q/>*?Nu?Y f~A V qU ) I ji w?? D P@ +H> p{@ f>) 0@I f wtNp.܎X? b) d$HI 0@i f M 2Acoustic response timeoutM Querying Benthos address 50 with one ping in standard two-way mode. C ,Ԃ$?A2q@2l@2ٱ2=b :AHRS rotation from veh to nav: [[0.469173,0.881980,0.044578],[-0.883061,0.468042,0.033760],[0.008911,-0.055204,0.998435]]2H ?/9?Ҧ? Be?H???C.?i2q@I2];2jCYnByndIbDzVDzy%@=Թٔt:Q->9Y= Fy =B;E=>QQ 5m5U}ꟊ?Q 95U)UBYy^G@Q I@UEIUl.*?Nu?Zi 0@bifjbLB.@8 -@ZWY8l2[@->^Ae $ӿ=I I I Om >e&,Y$?A6z@6u@6 ٱ6#cFDDAT read: Rx Time:06:09:21.2201 JTRx dataTimestamp_ set to:1761545362.460777NPDAT read: Bearing 273.5, 20.1 (Local) N~Local bearing/azimuth received: Bearing 273.5, 20.1 (Local) ZDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 jDAT read: 06:09:21.2201 LVL= 21200, 22385, 32754, 32755, AGC= 55, IDX= 509,-0.03, 2.839,-2.164, 2.247,-2.852, PHS=-0.490, 0.733,-1.228, RAW= 351.9, 11.5, CAL= 352.2, 13.4, ROT= 157.8, -13.4 nYgot valid direction response: 06:09:21.2201 LVL= 21200, 22385, 32754, 32755, AGC= 55, IDX= 509,-0.03, 2.839,-2.164, 2.247,-2.852, PHS=-0.490, 0.733,-1.228, RAW= 351.9, 11.5, CAL= 352.2, 13.4, ROT= 157.8, -13.4 rR#Rx 1: Read range and direction messages.v^direction in FSK: [-0.900665,0.367554,0.231748]vFpublishing direction and range infoyDF{>+b?] A?YDDFRFqWD D)DIFH AHRS rotation from veh to nav: [[0.470159,0.881437,0.044942],[-0.882539,0.469028,0.033721],[0.008644,-0.055517,0.998420]]iF;?F/F@FM>F@ F|o>)FC0@IF|oDDFÿڡ\6|l迭+rv? F])FGMIFC0@iF|oDD52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.6H ?4?? =?C? ?`l ?i6z@I6ѳ];6hCYMByMoIiMb@Mb@Mb@ 9A`"(\µQ?YYyu< p A) AYf AbDVDN2B>BBBBBBYDB^;Bg#Ey-%=%6=ٔm:Q->9Y=Fy);E >Q 55柊?Q 95)BYo=Q E+b?] A?ZiFC0@biF|ojF@MnM.@z @ZF$ft̶LV3?%,?2iFvA:iF'"iFfCOp?*iFʔBiF BiF<@rk?iFʔiDiFwAiFE2? addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504112 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 15.802597 m, bearing: 95.218960 deg, lat: 36.779405 deg, lon: -121.859810 deg, deltaT: 0.504112 s, deltaX: -0.000082 m, approachRate: -0.000163 m/s, posRepo size: 4 MDNOT Ignoring new targets: 15.80 m.hIhQ*hQ"hQ hQgQfQfYf]SBdYdYjdaZde@ ?Zo=Zo=Z@Z_ID@ ) 3i|9)͓ii #  =I IA@ @@/@i=AI=AE2Acoustic response timeoutqE EEE"E*E:VEZEBELԙ ,,r6$?AU@U㈦@U>FٱUf AHRS rotation from veh to nav: [[0.472216,0.880289,0.045855],[-0.881446,0.471081,0.033710],[0.008073,-0.056337,0.998379]]UH`8?`T+? Gz?4/&?qB??2ج?iU@IU];QYBymIbDVD:2y%Z=ٔL:Q->9Y=%Fy!%;E%>)Q 555-㟊?Q 955-)-BY9y=oD@Q I=@)I-;i-;-%5yAɮE3AAmDNOT Ignoring new targets: 15.80 m.hqqhy*hy"hy hygyfyffddjdZd)?ZZZZoD@=>F)Q UiU9)Y]cYiYie#ae=IaIiDDAT read: Rx Time:06:09:21.7200 TRx dataTimestamp_ set to:1761545362.964866PDAT read: Bearing 273.0, 20.6 (Local) ~Local bearing/azimuth received: Bearing 273.0, 20.6 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 DAT read: 06:09:21.7200 LVL= 23136, 24561, 32754, 32755, AGC= 54, IDX= 508, 0.11,-2.989,-1.734, 2.692,-2.404, PHS=-0.483, 0.715,-1.232, RAW= 352.4, 11.7, CAL= 352.7, 13.8, ROT= 157.3, -13.8 Ygot valid direction response: 06:09:21.7200 LVL= 23136, 24561, 32754, 32755, AGC= 54, IDX= 508, 0.11,-2.989,-1.734, 2.692,-2.404, PHS=-0.483, 0.715,-1.232, RAW= 352.4, 11.7, CAL= 352.7, 13.8, ROT= 157.3, -13.8 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.895908,0.374766,0.238533]Fpublishing direction and range infoyWH|y,?iC?Y|A`Z_ )6IKi= 7?-:@Q>@ Ϣv>)/@IϢv48's迁?4 ? =)QI/@iϢv=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.ԡ9@ @@/@^A =I I O >E 2Acoustic response timeoutE  E E E "E &;*E :VE ZE a @a @a @a @ 3,$?A YBy_IiMb@Mb@Mb@ 9Q뱿ˡE~jt?Y\y什D< AA l A) AY3 AbDVDyg%N=ٔQ->9Y=FyE>Q 55G?Q 95)BY*=Q E;y:@Q I@EI ;iU:'5y ɮ  4Aii]$?AJi@{ARi@{Aji?bB|$#,إF@$u G @RWH|y,?iC?Zi/@biϢvj^!7ݷB.@L%:[ @Z{ uO-??2itA:iD"idzs?*i!Bi*Bioo?iiiGwAi*?] addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504089 s, deltaX: -0.099999 m, approachRate: -0.198377 m/s, rangeRepo size: 4 m Added new target pos. range: 15.703210 m, bearing: 94.823886 deg, lat: 36.779406 deg, lon: -121.859810 deg, deltaT: 0.504089 s, deltaX: -0.099387 m, approachRate: -0.197162 m/s, posRepo size: 4 uDNOT Ignoring new targets: 15.70 m.hqhq*hq"hy hygyfyff`Bddjd/@Zdٖ?Z*=Z*=ZO/@Zo:@) ̾i+9)ii#D=II@ @@/@@hA@DDAT read: Rx Time:06:09:22.2200 TRx dataTimestamp_ set to:1761545363.468903PDAT read: Bearing 273.8, 21.5 (Local) ~Local bearing/azimuth received: Bearing 273.8, 21.5 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 DAT read: 06:09:22.2200 LVL= 23120, 21969, 32754, 32755, AGC= 55, IDX= 509, 0.24,-1.493,-0.249,-2.133,-0.934, PHS=-0.458, 0.730,-1.243, RAW= 353.3, 11.3, CAL= 353.6, 13.0, ROT= 156.4, -13.0 Ygot valid direction response: 06:09:22.2200 LVL= 23120, 21969, 32754, 32755, AGC= 55, IDX= 509, 0.24,-1.493,-0.249,-2.133,-0.934, PHS=-0.458, 0.730,-1.243, RAW= 353.3, 11.3, CAL= 353.6, 13.0, ROT= 156.4, -13.0 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.892876,0.390088,0.224951]Fpublishing direction and range infoyWwqD4?:/2?YPZU )7I~iH:?Q@I>|@ Vh>)R.@IVh/XpZX'鿟 ? ҍ )IIR.@iVh%2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.B<A<BBBBB7 =BBB^;BE#EBBBBBCZA5^AK=IIO >) Y :,$?A22@2@2a;ٱ2Df :AHRS rotation from veh to nav: [[0.473092,0.879818,0.045880],[-0.880977,0.471961,0.033646],[0.007949,-0.056336,0.998380]]2H#G? w'?}?04?:?`G?@#ج?i22@I2W];2fCY^By^RIbDfVDfJyrxm%r[=ٔrp9Q-r>9tYt=vFytv.;Ez>|Q 55~ܟ?Q 95~P)~BYy;@Q I@~EI~F:i~=:~")5y ɮe4Aii$?AJiRijii?bfl{ ,ZM@sPvB @RWwqD4?:/2?ZiR.@biVhj)ZNf.@Y2@Z X4{ F0N?AD?2iuA:iu"i{Ձ?*iX]@BiBifCOp?iiiwAi?m addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504037 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.703207 m, bearing: 94.027835 deg, lat: 36.779406 deg, lon: -121.859810 deg, deltaT: 0.504037 s, deltaX: -0.000003 m, approachRate: -0.000006 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.70 m.h k>C2Acoustic response timeoutmBGh*hq"hyE EEE"E;*E:VEZEBE@  *DAT read: user:679>  BDAT read: Tx time:06:09:23.1189  $Ping request sent. @,%?A0YByTIbDVDܲy%+<%-F=ٔ-Q-->9)Y1=5Fy15E5>9Q 5E5=Zٟ?Q 9E5=)=BYIyIQ IM@9I=:i=:=*5yYɮeS4AaDNOT Ignoring new targets: 15.70 m.hh*h"h hg fff!d)d1jdZd`?ZqZqZqZqԉ) վi9)页Ƶii#=II checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249566A@A @A@E0@AE EE!E"ED:*E:VEc3ZEa@a@a@a@Թ^A =I I O >G,Ϣ%?A4<ɰFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504817Nx@NL@NdٱNpa ZAHRS rotation from veh to nav: [[0.475701,0.878471,0.044685],[-0.879573,0.474618,0.033015],[0.007794,-0.055009,0.998455]]NHq?p? ?`u%#`?@J??&*X?iNx@INp];NjC\YbBybXIiMb@Mb@Mb@ 9:v(\µ9Y=Fy$;E>Q 55՟?Q 95)BY=Q E4A-DNOT Ignoring new targets: 15.70 m.h)h)*h)"h) h)g1f1f9f=OBd9d9jd9ZdE ?B]¾>BYB]MIB]BB]6 =BYB]ZDB]=^;B]##EZ=Z=ZG:@ZbE@d) ¾i>9)顝yҵii#{v=IIm9@i @i@m4@i@q@u=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754016^AIIO>E EE'E"E;*EZ:VE'4ZEBEA99YA=EFyAE ;EE>IQ 5U5Mҟ?Q 9U5M)MBYYy]pE@Q I]@MEIM ;iM ;Mx.5yaɮe4AiDNOT Ignoring new targets: 15.70 m.hh*h"h hgfffddjdZd;?ZAZAZAZEhpE@) ˾i9)顥?ߵii#.P=II}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005580Im9@i @i@m2@iy^AUL=IIOԡ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257215E  E E "E "E :*E :VE (3ZE a @a @a @a @Q"T,VQ%?AZ븟@Z@ZjٱZg_ bAHRS rotation from veh to nav: [[0.476821,0.877889,0.044181],[-0.878963,0.475739,0.033108],[0.008047,-0.054620,0.998475]]ZH >??ڞ?w r??z? ?iZ븟@IZo];ZgCYj|ByjCIi]Mb@Mb@Mb@YYYY Y9]I +/$Mb?Y]94y]]<]~A]-A ] A)] AYYYbDuVDu0yy2%E=ٔPQ->9Y=FyI:E>Q 55Mϟ?Q 95)BY=Q E BddjdZd@?Z=Z=Z$[@ZlI@j) ¾i9)页뵉ii#}=II9@ @@/@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509233AQAU@ABe>BaBe@IBezBBaBaBeYDBe&^;Be#E^A/=IIO> MZ,4k%?A((F-@F@F ٱF=a NAHRS rotation from veh to nav: [[0.477063,0.877750,0.044347],[-0.878830,0.475957,0.033513],[0.008308,-0.054961,0.998454]]FH2??? `v?(? ?`#U?iF-@IF];FhCYVzByVAIbD^VD^0yj8%jV=ٔn3Q-=>9AYA=EFyAM7:EM>QQ 55U)̟?Q 95U)UBYyZHQ I@UEIU';iU;U25yɮ4Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761993 DNOT Ignoring new targets: 15.70 m.hh*h"h h1g1f9f9f9d9dAjdAZdE]=@ZZZZI@E EE&E"El;*E҆:VE4ZEBEVFa,r%?A2ʽ@2@2 ٱ2#Yb :AHRS rotation from veh to nav: [[0.477342,0.877594,0.044429],[-0.878676,0.476213,0.033921],[0.008611,-0.055231,0.998437]]2HČ???m? Ez? ^??0G 1?i2ʽ@I2`];2gCYF{ByFBIbDzVDz y;%%<=ٔ-5Q-5>99YA=EFyAUC:E]>qԑQ 55uȟ?Q 95u)uBYyVHQ I@uEIu  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517138Ig,3%?A2@2\@2W7ٱ22c :AHRS rotation from veh to nav: [[0.477527,0.877493,0.044426],[-0.878571,0.476374,0.034357],[0.008985,-0.055438,0.998422]]2H͏?l?? A@|? L?f?Pb ?i2@I2>];2hCYB~ByBEIi Mb@Mb@Mb@     9 Mb#~jI +?Y @y 㥽 94< A  )  A Y  AbD%VD%0y5.<%5J=ٔ5rQ-5>Be>BeōCBe4IBepBBe7 =BaBaBe^;Be #E9Y=Fy:E>Q 55ş?Q 95)BY=Q E <yF@Q I@I;iP;55yɮj4AMDNOT Ignoring new targets: 15.70 m.hQhQ*hq"hq hqgqfyfyf}EBdydjdZd@Z=Z=Z@ZF@W7) Ǿi9)ii#X<=I!I!@ @@/@)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769185E EE$E"E;*E:VE4ZEBEDԙ Qm, %?A;ɰp;6@6r@6ٱ6̽c BAHRS rotation from veh to nav: [[0.477642,0.877435,0.044349],[-0.878505,0.476467,0.034772],[0.009379,-0.055570,0.998411]]6H஑???@n~?͡?5?`s ?i6@I6];6gCYJlByJ/IbDRVDRkyZŸ%ZS=ٔ^/Q-^>9\Y`=bFy`bغ9Eb>dQ 5j5fŸ?Q 9j5f)fBYlynF@Q In@fEIf';if@;fO75ypɮr4AtDNOT Ignoring new targets: 15.70 m.hh*h"h hgfffd!d!jd!Zd%G @ZAZAZAZEF@])Y ]پi]9)ae)aiaim#img=IiIiqBDAT read: Rx Time:06:09:25.5444 TRx dataTimestamp_ set to:1761545366.996964checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0234119@ @@0@@@>ԡ^A/=IIO%n>ia Ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273451E%  E% E% &E! "E% ;*E% Z:VE% 4ZE! a- @a- @a- @a5 @ )t,%?A2Ÿ@2_@2u!ٱ28|b :AHRS rotation from veh to nav: [[0.477846,0.877349,0.043845],[-0.878388,0.476661,0.035053],[0.009855,-0.055263,0.998423]]2H?=? r?`?`?.?{K ?i2Ÿ@I2[];2fCYnhByn+IieMb@Mb@Mb@aaaa a9eV-{GzI +?YeyeףaeAa e A)e AaYe AbD}VD}ܲys%<=ٔTQ->9Y=Fyb :E> Q 55 u?Q 95 ) BY=Q E =BDAT read: Tx time:06:09:26.6689 E$Ping request sent.E" @ r>)+@Ir?,kT鿰"w,? k )[qI+@irm:publishing transmit ping timeAmFpublishing direction and range infoyGG{8FH?HN-?Y )Ii}9@y @@0@ )I?,kT鿰"w,? )IiB]>B]ƍCB]'IB]fBBYBYBYB]6^;B]#E) ^A I I O >Q Wz,%?AY%nBy-1IbD=VD=y}<%}M=ٔQ->9Y=FyE>Q 55?Q 95.)BYyQ I@EI:i::5yɮ4AE EEE"E:*EM:VEZEBE>ԁ Ё,Ü&?A0:ş@:@:p,ٱ:Mna FAHRS rotation from veh to nav: [[0.478209,0.877179,0.043285],[-0.878183,0.477003,0.035536],[0.010525,-0.055006,0.998431]]:H`?@?t)?`6?1??@)$?i:ş@I:ؔ];:hCYNeByN'IIR=)R=bDVVDVky^1%bX=ٔbQ-b>9dYd=fFydfN:Ef>hQ 5r5j ?Q 9v5jM)jBYxyz?Q I~@hIjY;ij;j<5y ɮ .5A=DNOT Ignoring new targets: 15.80 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM`&&?ZZZZjR@p,) i9)E!ii# 52=I9IAԑE EE$E"E:*Eh:VE4ZEa@a@a@a@%9@! @!@%4@)@1@5gAԹ^AM /=IY Ii Ou > ,|!&?AlYrsByr8IBBB!IB`BBBBBS^;B,#EBBBBBCp 5iMb@Mb@Mb@ 9~jt+Mb?Yļy<A  A) AY AbDVDyi=%;=ٔQ->9Y=FyE>Q 55$?Q 95{)BYQ=Q E5yɮ4ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfff%;Bd!d!jd!Zd%`V}?ZQ=ZQ=Z>@ZSzU@) Ǿi9)'ii#  |=I I1 9@ @@/@G(hA.9(hAYA9E EE&E"E%;*E:VE4ZEBE Ka %,U;&?A2ş@2迦@29ٱ2&b :AHRS rotation from veh to nav: [[0.478110,0.877244,0.043059],[-0.878227,0.476864,0.036319],[0.011328,-0.055180,0.998412]]2H\? a?` ?n?t?@2?@@ ?i2ş@I2v];2gCYBoByB3IbDHVDHyR%V^=ٔVQ-V>9XYX=ZFyXZoEZ>\Q 5b5^?Q 9f5^)^BYdyf E  E E E "E ;*E ?:VE ZE a @a @a @a @i ,0U&?Aɰ;2ȟ@2¦@2s'<ٱ2b :AHRS rotation from veh to nav: [[0.478435,0.877063,0.043142],[-0.878048,0.477174,0.036565],[0.011484,-0.055374,0.998400]]2H???@??̄?Z?i2ȟ@I2n];2hCY^vByb<IԙiMb@Mb@Mb@ 9V-9)Y)=-Fy)5V:E5>9Q 5E5=౟?Q 9E5=)=BYE=Q EE+@8>B>BBBB6 =BBBE^;B&#E^AIIO> R7,1 o&?A:5ɟ@: Ħ@:v?ٱ: Ad BAHRS rotation from veh to nav: [[0.478551,0.876990,0.043321],[-0.877982,0.477269,0.036900],[0.011686,-0.055694,0.998380]]:H?@N? .?m?@?`?܃?i:5ɟ@I:w];:fCYJ}ByJEIbDVVDV 3y^3#=%^d=ٔbQ-b>9`Y`=fFydf\9Ef>hQ 5n5j?Q 9n5j)jBYpyrP?Q Ir@hIj;ijn;jC5yvBɮv!4AvEDNOT Ignoring new targets: 15.80 m.hh*h!"h! h!g)f)f)f)d)d1jd1Zd5@0@ZQZQZQZUR@mv?)i mʾim+9)iu:qiqiu#y}9#=IyIE EE"E"ET;*E:VE(3ZEBEGQy V,&?A2B̟@2Ǧ@2GBٱ2Zd :AHRS rotation from veh to nav: [[0.478877,0.876820,0.043173],[-0.877802,0.477590,0.037039],[0.011857,-0.055635,0.998381]]2H?`? ? Ԑ?@?H?`#|`?i2B̟@I2b];2gCYB|ByBCIbDJVDJk1yrlл%rH=ٔrEܹQ-v>9tYt=vFytzn:Ez>|Q 55~!?Q 95~)~BYyK?Q I @~EI~;i~;~tE5yɮ+4A]DNOT Ignoring new targets: 15.80 m.hYha*ha"ha hagafafifididijdiZdu{@ZZZZDR@GB) ˾i9)OAii#=IIY9@ @@0@E EE&E"E:*E҆:VE4ZEa@a@a@a@ԁ^AII1O=>ԩ BDAT read: Rx Time:06:09:29.0943  TRx dataTimestamp_ set to:1761545370.528127 iI,&?A29П@2 ˦@21VCٱ2c :AHRS rotation from veh to nav: [[0.479301,0.876591,0.043114],[-0.877569,0.478011,0.037111],[0.011922,-0.055623,0.998381]]2H? ? ?` ?;?@j?`z?i29П@I2x];2eCYBByBJIIF>)F4=BV>BTBTBTBV7 =BTBTBV=^;BV!#EiMb@Mb@Mb@ 9L7A`堿T㥛 rh?Y+yC< )( AY AbDVDNy<%:=ٔQ->9Y=Fy:E>Q 5 5?Q 95)BY=Q E59 -w,?&?Aj6ӟ@j Φ@j!Dٱjd vAHRS rotation from veh to nav: [[0.479621,0.876409,0.043252],[-0.877394,0.478319,0.037300],[0.012002,-0.055839,0.998368]]jH? ?%?ǜ??}?ޖ?ij6ӟ@Ij_];jhCY~zBy~AIbD VD y%X=ٔ%g]Q-%>9!Y)=-Fy)- }:E->1Q 5=55J?Q 9=55)5BYAyEHQ IE@5EI5:i5:5I5yIɮM94AIDNOT Ignoring new targets: 15.80 m.hh*h"h hg f f f ddjdZd( @Z9Z9Z9Z=I@M!D)I MiUv9)QUOQiQi]#Y]I8=IYIaDAT read: 06:09:29.0943 LVL= 25072, 28081, 32754, 32755, AGC= 59, IDX= 438,-0.34, 0.881, 1.983, 0.139, 1.405, PHS=-0.422, 0.622,-1.311, RAW= 357.3, 13.2, CAL= 357.7, 16.0, ROT= 152.3, -16.0 Ygot valid direction response: 06:09:29.0943 LVL= 25072, 28081, 32754, 32755, AGC= 59, IDX= 438,-0.34, 0.881, 1.983, 0.139, 1.405, PHS=-0.422, 0.622,-1.311, RAW= 357.3, 13.2, CAL= 357.7, 16.0, ROT= 152.3, -16.0 PDAT read: Bearing 269.7, 24.8 (Local) ~Local bearing/azimuth received: Bearing 269.7, 24.8 (Local) DAT read: Range 11 to 50 : 15.9 m (Round-trip 21.2 ms) speed 0.1 m/s MR#Rx 2: Read range and direction messages.]^direction in FSK: [-0.851095,0.446835,0.275637]]Fpublishing direction and range infoy+<6ғ? ?Yam );Ibؾid;?ΧЍ@k>@ 5>)*@I5 b? u;5?  )kI*@i5!@! @!@%4@!1^AMZ=IQIqO>y bEeʞ4jEeʙ4rEe/E  E E %E "E f;*E :VE 4ZE a @a @a @a @l[,)x&?A(N؟@NҦ@N[CٱNce bAHRS rotation from veh to nav: [[0.480135,0.876119,0.043423],[-0.877113,0.478828,0.037359],[0.011939,-0.056024,0.998358]]NH?+ ?y;?O? ?@s?`-?iN؟@INT];NfCYjByjJIa@a iMb@Mb@Mb@ 9&1S㥫~jt?YPy/]< AA  A) AIbDVD1y(=%B=ٔ9Q->9Y=Fy:E>Q 55ĥ?Q 95)BYU=Q EU-@5!Kl@R+<6ғ? ?Zi*@bi5j(GGnP.@V@ZF|yCu#wz?dEJ?2iruA:i"iڞ?*iKBiBi{Ձ?iKi*BiuAii? addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 3.532092 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 15.802496 m, bearing: 90.306395 deg, lat: 36.779408 deg, lon: -121.859811 deg, deltaT: 3.532092 s, deltaX: 0.000008 m, approachRate: 0.000002 m/s, posRepo size: 4 %DNOT Ignoring new targets: 15.80 m.h!h)*h)"h) h)gIfQfQfQdQdYjdYZd] fh?iZ=Z=Z'}@Z?7@ [C) ܾi.9)Wii#J=I!I!9@9 @9@=4@AB<ABBB.IBkBB6 =BBB^;BV#E^A  IQ Ia O >,]S&?Aɰ4<2ߟ@2pڦ@2t@ٱ2-f :AHRS rotation from veh to nav: [[0.480950,0.875663,0.043602],[-0.876669,0.479645,0.037297],[0.011746,-0.056162,0.998353]]2H@?n?`R? ??n?R ?i2ߟ@I2w~];0YBBy@bDNVDNyVjd;%V]=ٔV:Q-V>9XYX=ZFyXZ$;E^>`Q 5b5b?Q 9f5b)bBYdyf7@Q If@bEIb:ib:b{L5yhɮn3AllDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffd!d!jd!Zd%P?ZIZIZIZM7@E EE$E"E ;*E՚:VE4ZEBEOQ@> 1^AM:=IYIqO}>a km,j. '?A6@6@6<ٱ6'f BAHRS rotation from veh to nav: [[0.481744,0.875219,0.043745],[-0.876236,0.480445,0.037184],[0.011527,-0.056244,0.998351]]6H`??e? `? ?@?̬|?i6@I6g];4YFByFOIbDRVDRkyZ<%ZJ=ٔZ :Q-Z>9\Y\=^Fy\b[;Eb>dQ 5f5f!?Q 9j5fd)f BYhyj7@Q Ij@dIf:ifN:f@N5ypɮr3Ap DNOT Ignoring new targets: 15.80 m.h h *h "h hgfffddjdZd%?9ZAZAZAZE7@]<)Y ].ؾi]9)aedaiaim#imQ=IiIi59@9 @9@=/@AiE EE"E"E;*E:VE(3ZEa@a@a@a@^AUZ=IaIqO{>ԑ W, $'?AB&þ>B$B&4IB&pBB&8 =B$B$B&^;B&{#EB@Bi@B37ٱBe JAHRS rotation from veh to nav: [[0.482661,0.874715,0.043729],[-0.875735,0.481380,0.036887],[0.011215,-0.056099,0.998362]]BH ??`c??@??@`?iB@IBt];BhCYR|ByRCIa-a- i-Mb@Mb@Mb@)))) )9-V-Mb?Y-hy-L-<-A--A - Aԙ)-$ A)Y- AbDVDy/%8=ٔ8:Q->9Y=Fy;E>Q 55=?Q 95)BY ִ=Q E  , ='?A2O@2#@2:~2ٱ2$d >AHRS rotation from veh to nav: [[0.483702,0.874153,0.043461],[-0.875165,0.482450,0.036449],[0.010894,-0.055666,0.998390]]2H?@?@@?`Yv? t?`O?L?i2O@I2J];2gCY^zBy^AIb=b=bDfVDfyn4%n\=ٔrtb:Q-r>9pYp=vFytvQ;Ev>xQ 5~5zӛ?Q 9~5z)zBYyq+@Q I@xIz;iz:zQ5y ɮ 94A =DNOT Ignoring new targets: 15.80 m.h9h9*h9"h9 h9g9fAfAfAdAdIjdIZdM?ZiZiZiZm q+@:~2) ݾi!9)顅rii#-=I1I19Y@a @a@e/@ai@ugA@ugAE  E E (E "E ;*E :VE c44ZE a @a @a @a @q ^Aq I I O >,VX'?A2@2@2Tc-ٱ2bb >AHRS rotation from veh to nav: [[0.484606,0.873665,0.043200],[-0.874668,0.483382,0.036015],[0.010583,-0.055239,0.998417]]2H? ?T?H?p?P?@H`?i2@I2a0];2fCYFyByF@Ii Mb@Mb@Mb@     9 p= ףMbMb?Y y @ <  A CA  A)  Y Q AbD-VD-y=]%===ٔ==:Q-=>9AYA=EFyAMv;EM>IQ 5]5M2?Q 9]5M,)MBY]=Q E]$BB:IBuBB6 =BBZDB_;B#EBBBB6 =BCH5)^A l=I1 II OU > M k>M C G hA % 1@9% hAY% .AQ &,r'?AB3 @B@Bi $ٱBa JAHRS rotation from veh to nav: [[0.485724,0.873038,0.043323],[-0.874055,0.484527,0.035512],[0.010013,-0.055116,0.998430]]BH??`^.?@B~?.??8#?iB3 @IB <];BgCYRwByR=IbDZVDZ:ybi6%bS=ٔb:Q-f>9dYd=fFydj^W;Ej>lQ 5r5nՖ?Q 9r5n)nBYpyr,@Q Iv@lIn7;in;ncU5yxɮzR4AxE EE)E"E:*E?:VEFA4ZEBE<ԑԹ ,{'?Aɰ;2@2@2ٱ2.a :AHRS rotation from veh to nav: [[0.486542,0.872576,0.043463],[-0.873604,0.485360,0.035233],[0.009648,-0.055112,0.998434]]2H#?#?@?$?@ ?@cƒ? 7*?i2@I2&];0YBlByB0IbDNVDN0yrO%vH=ٔvi:Q-v>9xYx=zFyxz;Ez>Q 5 5W?Q 9 5t)BY y ,@Q I @EI:iV:-W5yɮ4AEDNOT Ignoring new targets: 15.80 m.hAhA*hI"hI hIgQfQfafadidqjdqZd}B @ZZZZ,@) xi<9)页DŽii#U=IIԙu9@y @y@}4@@4>@4>E EE%E"E*E:VE 4ZEa@a@a@a@^AZ=IIO>B B B 4IB pBB B B B _;B #E +$,`W'?A2@2@27ٱ2ja :AHRS rotation from veh to nav: [[0.487593,0.871977,0.043697],[-0.873023,0.486432,0.034843],[0.009127,-0.055137,0.998437]]2H4?;?i_?!?֡??@:@2?i2@I2W];2eCYBjByB-Ii Mb@Mb@Mb@     9 㥛 I +~jtx?Y y 94 ;   )  Y bD}VD}Jy7%@=ٔ:Q->9Y=Fy8;E>Q 55?Q 95)BY=Q EI  ,2'?A2&@2!@27 ٱ2)~b >AHRS rotation from veh to nav: [[0.488581,0.871406,0.044047],[-0.872477,0.487439,0.034459],[0.008558,-0.055266,0.998435]]2H`D??G?T 52? ?솁?K.?i2&@I2:@];2gCYF\ByFIbDNVDNyV&%VZ=ٔVr:Q-V>9XYX=ZFyX^E;E^>`Q 5f5b_?Q 9f5b)bBYdyf'@Q Ij@bEIb:ib:bZ5ynBɮn4AnEDNOT Ignoring new targets: 15.80 m.h h *h "h  h g f ffddjdZd@@Z9Z9Z9Z=5'@M7 )Q U\iU9)QUQiQi]#ae4=IaIa iiIi)iI9@ @@/@y^AU~E=IaIqO}{> E=  E= E= %E9 "E= x;*E= :VE= 4ZE9 a] @a] @a] @a] @6,,'?A6{/@6O*@6ٱ6qa< BAHRS rotation from veh to nav: [[0.489492,0.870891,0.044117],[-0.871970,0.488374,0.034047],[0.008106,-0.055134,0.998446]]6HS?W?q?-@A? n?ș?:@E?i6{/@I69];4YJPByJ IiMb@Mb@Mb@ 9I +~jt{Gzt?Y9yDף;AA ) AYz AbD5VD50yEe%EA=ٔE:Q-E>9IYI=MFyIMO!;EU>QQ 5e5UZ?Q 9e5U)UBYe=Q EeBiBm'IBmfBBm7 =BiBiBm_;Bm#E^Ame=IyIO> _,6'?A64@6\/@6Cٱ6:b >AHRS rotation from veh to nav: [[0.490031,0.870578,0.044315],[-0.871670,0.488924,0.033823],[0.007779,-0.055202,0.998445]]6H@\?@?o?@@J?1Q?`s?qCB?i64@I6}H];4YDyDbDjVDjf?Er ErEr&Ep"Er&:*Er:VEr4ZEpBEr^;9 Y = Fy A:E>Q 5%5?Q 9%5h)BY!y% %@Q I%@ID;i3;?^5y1ɮ11DNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd5U@ZZZZ %@C)  i9)hii%#!%=I)I1 I@I @I@M/@I9^AI!I9OE>a H, (?A2:@2T5@20ٱ23b :AHRS rotation from veh to nav: [[0.490667,0.870211,0.044489],[-0.871316,0.489579,0.033488],[0.007360,-0.055196,0.998448]]2H g??LǦ?AU?N%?%~?`B@J?i2:@I2)];2fCYB=ByBIbDJVDJyRE%R<ٔV:Q-V>9TYT=ZFyXZt:EZ>\Q 5b5^?Q 9b5^)^ BYdyf%@Q If@^EI^b:i^9:^_5yhɮj5Ah9}DNOT Ignoring new targets: 15.80 m.hyhy*h"h hgfffddjdZd`@ZZZZ%@U0)Y ]ies9)imiii# =IIbEu-4jEu4rEu0E  E E %E "E :*E :VE  4ZE a5@a5@a5@a5@i9@ @@/@ԑ^AM=IIO> Ba Ba Be IBe LBBa Ba Be YDBe `;Be $Enr ,'(?A4<ɰ2?@2:@2ٱ2a :AHRS rotation from veh to nav: [[0.491233,0.869885,0.044607],[-0.871000,0.490166,0.033102],[0.006930,-0.055114,0.998456]]2H@^p? ?֦?@<^??`mb|?@7 Z?i2?@I2];2hCYB*ByBIi Mb@Mb@Mb@     9 x&p= ףMbPY 7y   A -A $ A)  A Y ( AbD%VD%0y5 %5A=ٔ=:Q-E>9AYA=EFyAM:EM>QQ 5e5U?Q 9e5U)QYm0=Q Em@R>E EE!E"E*E:VEc3ZEBE> #Z,zA(?A2E@2?@2X׻ٱ26a :AHRS rotation from veh to nav: [[0.491799,0.869565,0.044621],[-0.870684,0.490752,0.032746],[0.006577,-0.054955,0.998467]]2H y?`y?@ئ?`yh? Ġ?@z? #q?i2E@I2"];2gCYV'ByZIbDbVDbN2yj%jQ=ٔj+l:Q-j>9lYl=nFylri:Er>tQ 5z5v?Q 9z5vJ)tYxyz6@Q I~@tIv9:iv:vc5yɮ6A-DNOT Ignoring new targets: 15.80 m.h)h1*h1"h1 h1g1f1f9f9d9dAjdAZdE`^ @ZaZaZaZen6@uX׻)y }i}9)y}ii#)=II59@1 @1@54@1!^AQIaIqO}{>QE]  E] E] 'EY "E] l;*E] h:VE] '4ZEY ae @ae @ae @ae @y Ԅ,W[(?A2]G@21B@2oλٱ2a :AHRS rotation from veh to nav: [[0.492038,0.869424,0.044719],[-0.870551,0.491004,0.032512],[0.006310,-0.054927,0.998470]]2H}?R?@d?l?k?"y?k@x?i2]G@I2];2fCY^By^Ii}Mb@Mb@Mb@yyyy y9}ˡE333333~jthY}'y}}D}Ay } A)} AyY}Q AbDVDyMn%>=ٔ":Q->9Y=Fy&:E>Q 55|}?Q 95N)!BY)=Q Eԩ ,0u(?A6F@6@@6λٱ6` BAHRS rotation from veh to nav: [[0.491897,0.869508,0.044647],[-0.870631,0.490866,0.032439],[0.006290,-0.054828,0.998476]]6H;{??`ۦ?`5Yj?`̛?hy?`?i6F@I62];4YRByRIbDjVDjkyvv%vW=ٔzY8Q-z>9|Y=Fy߹E>Q 5%5z?Q 9-5Q)Y1y5&HQ I5@Ij;i;g5yAɮMN7AIE EE$E"E*Ev:VE4ZEBEVF#,Kʏ(?A2WD@2+?@2ͻٱ2` :AHRS rotation from veh to nav: [[0.491717,0.869609,0.044666],[-0.870732,0.490687,0.032421],[0.006276,-0.054834,0.998476]]2HKx?`?ަ? lg?s?y?@?`?i2WD@I2Q];2gCYBByBIbDJVDJyR%VI=ٔV8Q-V>9TYX=ZFyXZ=EZ>\Q 5b5^w?Q 9b5^T)\Ydyf*HQ If@^EI^;i^;^h5yhɮj~7AhDNOT Ignoring new targets: 15.80 m.hh*h"h hg f f f d djdZd>@Z1Z1Z1Z5I@Mͻ)I M+iM9)IM櫶QiQiU#Y]=IYIYԹ9@ @@/@Eu EuEqEq"EuT;*Eu$:VEqZEqa}@a@a@a@^AIIO>9 B B B IB BB B B B _;B #EBiBiBiBm7 =BiCmʜ4),i(?A2B@2<@27ͻٱ2D` >AHRS rotation from veh to nav: [[0.491477,0.869743,0.044691],[-0.870868,0.490447,0.032412],[0.006271,-0.054850,0.998475]]2H]t? ??@&}c?K?y? H?i2B@I2O];2hCYBByFIiMMb@Mb@Mb@IIII I9MV-bX9ȶYMyMEMMAMA M A)M? AIYM AbDe VDe2ymׂ%u@=ٔu;7Q-u>9yYy=}Fyy})E>Q 55t?Q 95)"BY=Q E 0,D(?Aɰ4<2?@2:@28ʻٱ2 a :AHRS rotation from veh to nav: [[0.491236,0.869873,0.044817],[-0.871004,0.490208,0.032360],[0.006180,-0.054933,0.998471]]2H@jp? ?@D?D _??Oy?  `y?i2?@I23];2fC@Y^BybIbDjVDj1yr^%rT=ٔrx9Q-v>9tYt=vFytzC<Ez>|Q 5]5~q?Q 9]5~)~#BYayeg@x>^AIIO>iY IY ) 6,!(?A24<@27@2ʻٱ2Ba :AHRS rotation from veh to nav: [[0.490852,0.870087,0.044860],[-0.871221,0.489824,0.032360],[0.006182,-0.054967,0.998469]]2H@ j???` EY? r?Ry?`$@u?i24<@I2-];2gCYNByRI|i-Mb@Mb@Mb@)))) )9-:vEԸ{Gzt?Y-Ty-ƽ-ף;- A-A - A)- A)Y- AbDEVDEk2yU%UC=ٔUͶQ-]>9YYY=]FyYeEe>iQ 5u5mXn?Q 9u5m)m%BYu=Q Eԁ =,\(?AZ7@Ze2@ZnͻٱZca fAHRS rotation from veh to nav: [[0.490359,0.870362,0.044924],[-0.871498,0.489323,0.032471],[0.006279,-0.055074,0.998463]]ZH` b?`?@H?O@Q?`?by?`2g?iZ7@IZJ];XEn EnEn#El"Enl;*Env:VEn3ZElBEnVF<2EnWF<JEn;:En;YvByvIbDVDy  [%O=ٔQ->9Y=FyxE%>!Q 5-5%Sk?Q 955%~)%'BY1y50Q I5@!I%w;i%+;%o5y9ɮE(8AAYuDNOT Ignoring new targets: 15.80 m.hqhq*hq"hq hqgyfyfyfyddjdZd`!@ZZZZAa@nͻ) i9)ii#b=II QQIQ)Q@ @@;0@ԉԱ^AIIO> D,)?A20@2+@2Իٱ2b :AHRS rotation from veh to nav: [[0.489629,0.870768,0.045026],[-0.871907,0.488577,0.032724],[0.006496,-0.055281,0.998450]]2HV?T? ?@D?0?@z?ML?i20@I21];0YBByBIbDNVDNyrP%rM=ٔrQ-v>9tYt=vFytz Ez>|Q 55~Jh?Q 95~)~)BYy0Q I @~EI~+;i~M:~q5yɮ78A=DNOT Ignoring new targets: 15.80 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdU`"@ZqZqZqZu3a@Ի) i9)額Fii#T=III)]9@Y @a@e4@i@@E EE&E"E;*E1:VE4ZEa-@a5@a5@a5@^AIIO%>Bm ž>Bi Bm IBm BBm 8 =Bi Bm ZDBm -_;Bm #E9 -J,}*)?AY By IiMb@Mb@Mb@ 9I +?Yy̽94<A  A) AYbDVDk2y$=%9=ٔ Q- >9 Y=Fy%E%>)Q 555-e?Q 955-o)--BY= =Q E=ԙ Q,vD)?A2D$@2@2#ٱ2 c :AHRS rotation from veh to nav: [[0.488302,0.871503,0.045202],[-0.872648,0.487226,0.033120],[0.006840,-0.055618,0.998429]]2H Y@?@Z?$? .? ?`S|?y ?i2D$@I2oA];2dCYBByBIbDJVDJ1yRΓ%Rd=ٔV;{Q-V>9TYT=VFyTZ}EZ>\Q 5b5^sb?Q 9b5^)^0BY`yf|(Q If@\I^;i^;^,u5yhɮj 8Ah~DNOT Ignoring new targets: 15.80 m.h|h*h"h hgff f d d jdZd%$@Z1Z1Z1Z5i@E#)I MiMT9)IMcŶIiIiU#QU0=IQIym9@i @q@u/@qԡ^A5=IAIQOew>E  E E $E "E ;*E ҆:VE 4ZE a @a @a @a @ ?W,g^)?A6@6@6qٱ6-d BAHRS rotation from veh to nav: [[0.487618,0.871883,0.045270],[-0.873028,0.486523,0.033432],[0.007124,-0.055825,0.998415]]6H"5?@v?`-?@0#? ?.}?`?i6@I6"];6fCY^BybIiEMb@Mb@Mb@AAAA A9EMb rh?YAyEEC=ٔu>-Q-u>9qYq=}Fyy}E}>Q 55_?Q 95f)5BY=Q E BǍCBxIB׀BB7 =BBB^;B#E@ @@@@R>@>^Ap{=II O >) Y o],[x)?AbE54jE54rE5 0E EE&E"El;*E:VE4ZEBEVF9YYY=]FyYeFEe>iQ 5u5m\?Q 9u5m)m:BYqyu(Q I}@iIm;im;mx5yɮ7ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd@%@ZZZZ#i@) i9)̶ii# )=I I !@ @@/@Q^AIIO>y Qd,)?A02@2@2aQٱ2me >AHRS rotation from veh to nav: [[0.486649,0.872422,0.045313],[-0.873567,0.485537,0.033695],[0.007395,-0.055982,0.998404]]2H?%? ?`S3?A ?@x@?J~?@?i2@I2)];2hCYB ByFIbDNVDN 3yV=%VW=ٔVQ-V>9XYX=ZFyXZغE^>`Q 5f5b&Z?Q 9f5bT)b>BYdyf(Q If@bEIb:ib:byz5yhɮn7AlDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd@n&@Z)Z)Z)Z-Czi@maQ)q ؾie9)顝Tжii# =IIEu EuEu$Eqԑ"EuO;*Eu:VEu4ZEqa@a@a@a@E9@A @A@E/@AԹ^A =I I O > B B B B B 6 =B B B ^;B #E|j,)?A2@2 @2Qٱ2d BAHRS rotation from veh to nav: [[0.486453,0.872541,0.045120],[-0.873675,0.485345,0.033643],[0.007456,-0.055786,0.998415]]2H "???%?@9?@!~?󏬿?i2@I2];2gCYJByJIR=P`iMb@Mb@Mb@ 9S㥛#~jS㥛?Y/ݼy㥽/< AA ( A)? AY AbDVD02y=%9=ٔQ->9Y=FyE>Q 55W?Q 95)EBYe=Q E-q,Wy)?A(2@2 @2pٱ2zd >AHRS rotation from veh to nav: [[0.486357,0.872594,0.045128],[-0.873729,0.485254,0.033557],[0.007383,-0.055750,0.998417]]2Hy ?`J?? g?@h.?>~?E@ ?i2@I2+4];2fCYF"ByFIbDNVDNyV+=%VQ=ٔ^A9Q-^>9\Y\=bFy`bYEb>dQ 5j5fVT?Q 9j5f)fKBYlyn=Q In@dIfD;if;f~5ypɮr`6ApB*** querying acoustic contact ***i iDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZdF(@ZZZZjT@=p)9 =zi=s9)9==ضAiAim#im=IiIiԁ959@1 @9@=/@9ԩu2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.E EE'E"E9;*E?:VE'4ZEa@a@a@a@^A I I Oe >w,8)?A2$@2 @2ٱ2_d :AHRS rotation from veh to nav: [[0.486155,0.872706,0.045128],[-0.873841,0.485055,0.033507],[0.007352,-0.055725,0.998419]]2H+?5??``$ ?'?`~? ?i2$@I2"];0YN0ByRI`i5Mb@Mb@Mb@1111 195+V-V-?Y5y5h5<5A1 5 A)5 A1Y1bDMVDMkyU=%]A=ٔ]8Q-]>9aYa=eFyaeEm>iQ 5u5mQ?Q 95m)mRBY6=Q EBBIBBB8 =BBB^;Bs#EBǍCBǍCBBBC85 )! %i%9)!-Lܶ)i)iU#QUeR=IQIQ*DAT read: user:681> BDAT read: Tx time:06:09:42.6689 $Ping request sent.I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250351E  E E &E "E O;*E :VE 4ZE BE %Y9aYa=eFyamH8Em>qQ 5}5uN?Q 9}5u)uYBYyy}H@Q I@qIu;iu;u5yBɮg5AEDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd)@ZZZZ*H@N) i9)ඉii #  `=I IIm9@i @i@m4@i@}=@}=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502376q^AI I O >ԡ ,*?A>@> @>Gٱ>:Wd NAHRS rotation from veh to nav: [[0.486327,0.872603,0.045273],[-0.873749,0.485241,0.033229],[0.007028,-0.055717,0.998422]]>H@?]?-?1?b?|?`?i>@I>'];>hCYZ@ByZIbDjVDj:3yz+=%zQ=ٔ:Q->9Y=Fy 9E>Q 5-5&L?Q 955)`BY1y5H@Q I5@EIJ;im^;t5yIɮM$5AIԙ-DNOT Ignoring new targets: 15.80 m.h)h)*h)"h) h)g)f1=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754417fAfAdAdAjdIZdM@<*@E EE#E"E:*E:VE3ZEa@a@a@a@ZZZZH@%G)Q U,iU9)Y]䶉YiYie#a=II!@! @!@%4@!Bо>BȍCBIB BB6 =BB[DB^;BV#E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006363^A% =I1 IA OM >! ),.*?A:@:@:Kڻٱ:ad FAHRS rotation from veh to nav: [[0.486677,0.872395,0.045534],[-0.873557,0.485604,0.032972],[0.006653,-0.055823,0.998419]]:H@%??1P?-`"??@|@{?Ԕ ?i:@I:];:gCYNYByNIi%Mb@Mb@Mb@!!!! !9%9QYQ=UFyQ]|:E]>aQ 5e5e_I?Q 9m5e8)egBYm,=Q Em iԙ ,H*?A2C@2@20ƻٱ2dBd :AHRS rotation from veh to nav: [[0.487346,0.872013,0.045687],[-0.873188,0.486303,0.032429],[0.006061,-0.055698,0.998429]]2H@0?@?Bd?`( ?`?x?b"?i2C@I2:@];2fCYBcByB$IbDNVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510502VDNyZN=%ZT=ٔ^:Q-^>9Y=Fy!=M:E=>AQ 5M5EF?Q 9M5E)EnBYIyU,@Q IU@EEIE:iE-:E5yYɮ] 4AYDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZdO,@ZZZZ,@0ƻ) $i 9)ii#b=IIq9@ @@/@@@eAԡ^AIIO>iQIUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762567E EE$E"E;*E҆:VE4ZEa@a@a@a@ 9,Ib*?A2!@2u@2治ٱ2b :AHRS rotation from veh to nav: [[0.488026,0.871635,0.045637],[-0.872812,0.487022,0.031763],[0.005460,-0.055333,0.998453]]2H@;?o?]?\+?@;C?`\v?TS?i2!@I27];0Y^uByb:IiEMb@Mb@Mb@AAAA A9E:v+V-?YEԽyEE9Y=Fy:E>Q 55C?Q 95)uBY=Q E;y/@Q I@EI:is:ۈ5yɮ3A-DNOT Ignoring new targets: 15.80 m.h)h)*h)"h) h)g)f1f1f5Bd9d9jd9Zd=(-@Z]=Z]=Z]`@Z]/@u治)q u iu\9)y}yiyi#1=II I)B˾>BǍCBIB)BB5 =BBZDB^;BI#EQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014489!@! @)@-/@)y^A I I Թ O >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266298E  E E %E "E ~ ;*E Z:VE 4ZE BE VIbD-VD-1y=i<%ET=ٔE;Q-E>9IYI=MFyIMLJ;EU>QQ 5]5U@?Q 9e5UE)U{BYayeE@Q Ie@QIU;iU;U5yiɮud3AqDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd@B-@Z)Z)Z)Z-E@eQ֕)a e$ ie$9)amϴiiiim#qj =IIԩ@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518325^AIIO> fN,A*?A ɰ";V,5@V0@VpjٱVa bAHRS rotation from veh to nav: [[0.490111,0.870430,0.046285],[-0.871653,0.489197,0.030123],[0.003577,-0.055108,0.998474]]VH@]???O?@؞?`Nm?@+7?iV,5@IV~];VfCYfByjHIlrApbDvVDvy~=%~N=ٔ~$;Q-~>9Y=Fy 1E;E>)Q 555-,>?Q 955-)-BY9y=Z@Q I=@-EI-P;i- ;-J5yAɮE&3AIuDNOT Ignoring new targets: 15.80 m.hqhy*hy"hy hygyfyffddjdZd.@ZZZZZ@pj) Ei 9)2 ii#=IIEY E]E]"EY"EY*E]?:VE](3ZEYae@ae@ae@ae@BDAT read: Rx Time:06:09:45.0945 TRx dataTimestamp_ set to:1761545386.435897checking for new query: numPingsReceived=0, elapsed TxPingTime=2.792486Q@Q @Y@]0@Y@}=@}> 1^AM=IIO>Bž>BƍCBIBLBB6 =BBB^;BY#EE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038294Y v,E*?A2A?@2:@2y#ٱ2b :AHRS rotation from veh to nav: [[0.491185,0.869789,0.046959],[-0.871052,0.490314,0.029339],[0.002494,-0.055315,0.998466]]2Ho? O? ?@Na?@' ? 1od?9Rn?i2A?@I2];2cCYBByBNI9iMMb@Mb@Mb@IIII I9ML7A`?YM+yM̼M9yYy=}Fyy$A;E>Q 55/;?Q 95a)BY >Q E;y@Q I@EI ;i ;5yɮ2ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfff҂BddjdZd i/@Z >Z >Z U@Z@y#) f&i;9)3!i!i%#)-==I)I)9@ @@5@ibEĻ 4jEĻ 4rE0E} E}E}%Eychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.292233"E};*E}Ǚ:VE} 4ZEyBE}p ],*?A2L@2F@2mfٱ2d :AHRS rotation from veh to nav: [[0.492549,0.868967,0.047880],[-0.870284,0.491730,0.028415],[0.001147,-0.055665,0.998449]]2H?@??]x??`R? K?i2L@I2!^;2iCY@y@bDJVDJfyR:%VX=ٔVhi;Q-V>9XYX=ZFyXZ;EZ>\Q 5b5^u8?Q 9f5^Z)^BYdyf@Q If@^EI^|:i^:^5yhɮj2Al-DAT read: 06:09:45.0945 LVL= 27120, 22513, 32754, 32755, AGC= 55, IDX= 440,-0.13, 1.332, 2.361, 0.532, 1.936, PHS=-0.501, 0.470,-1.447, RAW= 359.6, 17.5, CAL= 359.9, 21.8, ROT= 150.1, -21.8 5Ygot valid direction response: 06:09:45.0945 LVL= 27120, 22513, 32754, 32755, AGC= 55, IDX= 440,-0.13, 1.332, 2.361, 0.532, 1.936, PHS=-0.501, 0.470,-1.447, RAW= 359.6, 17.5, CAL= 359.9, 21.8, ROT= 150.1, -21.8 EPDAT read: Bearing 263.8, 25.8 (Local) E~Local bearing/azimuth received: Bearing 263.8, 25.8 (Local) MDAT read: Range 11 to 50 : 16.0 m (Round-trip 21.4 ms) speed 0.0 m/s UR#Rx 1: Read range and direction messages.ԙ^direction in FSK: [-0.804901,0.462839,0.371368]Fpublishing direction and range infoyXK鿮]&?% ~}?YAiW )7IAiף>L7@a>@ >)ϩ'@I¾޿= hQˑ`6? ) Iϩ'@i¾ addTargetRange:: Added new target pos. range: 16.000000 m, deltaT: 16.155157 s, deltaX: 0.100000 m, approachRate: 0.006190 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjd%0@Zd%?ZaZaZaZeJ@}mf)y }J&i}.9)顅^ii#=III@I @I@M4@IEu EuEqEq"Eu;*EuS:VEqZEqa}@a}@a@a@^AS=IIO>! ,*?A2[@2U@29ٱ2•c >AHRS rotation from veh to nav: [[0.494141,0.868032,0.048421],[-0.869381,0.493393,0.027194],[-0.000285,-0.055534,0.998457]]2H? ?ʨ??؛?@2n[?i2[@I2\^;2fCYlylr=r=ieMb@Mb@Mb@aaaa a9e㥛 ¿S㥛Q?Yeye/ݼeu9Y=FyL;E>Q 554?Q 95 )BY>Q E;y@Q I@EI]:i?;5yɮ2Ai)i-*?AJi-n~ARi-n~Aji-o?b-*`e)9kp@{@@R-XK鿮]&?% ~}?Zi-ϩ'@bi-¾j-D[e?h" -@F|@Z-t9ީ?c?Їñ?2i-nA:i-*>"i-={R?*i-Bi-Bi)i-i-Bi-pAi-L? DNOT Ignoring new targets: 15.80 m.h h *h "h B5<A5<B=ƾ>B9B='IB=fBB=8 =B9B9B=^;B=`#E hgfffBddjdZdH?Z>Z>ZT@Z@59)1 5zi5q9)15=i9i=#AE=IAIA@ @@4@ )Q^Ae =Iq I O >y E  E E &E "E l;*E :VE 4ZE BE VF9xYx=zFyxz;E~>QQ 5]5U1?Q 9]5U)UBYYye @Q Ie@UEIU/;iU;U]5ym֗Bɮm12AmEDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd^?ZZZZ @`:) i9)Mii#H=IIQq@q @q@u/@qԁ^A=IIO>ԩ *,R+?A2t@2o@2CG;ٱ2&a :AHRS rotation from veh to nav: [[0.496870,0.866420,0.049358],[-0.867819,0.496263,0.024751],[-0.003050,-0.055132,0.998474]]2H ?`?E?@- ? lX?hQ:?i2t@I2F'^;2hCYBvByB;IbDJVDJ:2yR&%VO=ٔVd;Q-V>9XYX=ZFyXZ;EZ>`Q 5f5b.?Q 9f5b )bBYdyj&@Q Ij@`Ib:ib:b 5yn͗Bɮn2AlDNOT Ignoring new targets: 15.80 m.h h *h "h  h g f ffddjdZdr?Z9Z9Z9Z=<&@MCG;)Q UiU9)QUU@ii#3=IIE= E=E=E9"E=:*E=:VE=ـ3ZE9aE@aE@aE@aE@ԱY@Y @Y@e/@a^A=IIO>B=Ͼ>B=ǍCB=4IB=pBB=7 =B9B=[DB=^;B=Y#EBBBB6 =B6 =CՕ5 m PExceeded connect timeout, disconnecting. ЀG liA  `9 liAY ,~A9 ,l\1+?Aɰ49YYY=eFyaeEe>qQ 55uW*?Q 95uG )uBY")>Q E;yH@Q I@uEIu i;iuc;u5yɮ3ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffBddjdZd?Z")>Z")>ZX@ZLH@1)1 5 i5.9)1= $=Ӽi9iE#AE=IAIA@ @@@EM EMEM'EI"EM;*EMخ:VEM'4ZEIBEMDi , 5K+?A 6@6ɉ@6);ٱ629` >AHRS rotation from veh to nav: [[0.499629,0.864775,0.050343],[-0.866219,0.499169,0.022228],[-0.005907,-0.054714,0.998485]]6H?=?Ʃ?`c?–?;2xp?i6@I6A5^;4YFcByF$IbDNVDN1yv%vZ=ٔv9xYx=zFyx~<<E~>Q 5 5&?Q 9 5* )BY y }@Q I@EI:iL:5yɮO3AEDNOT Ignoring new targets: 15.80 m.hAhI*hI"hI hIgIfIfQfQdQdQjdYZd]`@@ZyZyZyZ}}@);) iK9)顕㚴ii#4=IIM9@Q @Q@U0@Qqԙ^AIIO>EU EUEQEQ"EU ;*EU:VEQZEQae@ae@ae@ae@ , e+?A2'@2@2k;ٱ2Da :AHRS rotation from veh to nav: [[0.500491,0.864223,0.051254],[-0.865712,0.500089,0.021310],[-0.007215,-0.055036,0.998458]]2H??`=??<ҕ?b}-^?i2'@I2`^;0YBTByBIPiEMb@Mb@Mb@AAAA A9E!rh&1y&1|YElyEPE`E`AECA E$ A)E~AAYAbD]VD]ym %mB=ٔuK;Q-u>9qYy=}Fyy};E>Q 55V#?Q 95] )YN=Q E;yY!@Q I@I:i ;t5yɮ3ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfBо>BȍCB'IBfBB5 =BBB^;B^#EffBddjdZdЦ@Z%N=Z%N=Z%1d@Z%Y!@5k;)1 5 i=9)9=>鴉=i9iE#AE=IAII9@ @@m0@nManaging dock network, ignoring radio surface power off^A-=IAIYO>! Ee  Ee Ee &Ea "Ee l;*Ee ^:VEe 4ZEa BEe VFAHRS rotation from veh to nav: [[0.501258,0.863730,0.052066],[-0.865257,0.500910,0.020473],[-0.008397,-0.055313,0.998434]]6HM ??r?@0t?@?r2@R`+?i6t@I6Tr^;6eCYFAByFIbDNVDNkyV Ľ%VX=ٔZUL;Q-Z>9XYX=ZFy\^*;E^>`Q 5f5b ?Q 9f5b )bBYhyjh!@Q Ij@bEIb:ibN:b5ylɮn^4Al| DNOT Ignoring new targets: 15.80 m.h h *h"h hgfffddjd!Zd%/@ZAZAZAZETh!@U <)Y ]T i!9)}ii# >II@ @@4@@hA@gA)Q^Aۻ=IIO>ԉ , Ƙ+?A:@:~@:Wh<ٱ:rc FAHRS rotation from veh to nav: [[0.501909,0.863308,0.052791],[-0.864869,0.501612,0.019686],[-0.009485,-0.055538,0.998411]]:H? 8?@k?4 ?(?lzo?i:@I:t^;:gCYJ2ByJIbDVVDV:2y^%^I=ٔ^/;Q-^>9`Y`=bFy`f:Ef>hQ 5j5j?Q 9n5j)jBYlynt!@Q In@jEIj+;ij;j❝5ytɮv4AtDNOT Ignoring new targets: 15.80 m.hh*h"h hgff!f!d!d!jd!Zd-@ @ZIZIZIZMt!@YeWh<)a e'ie9)im+Fm.iiiu#qu>IqIyE EE$E"E;*E:VE4ZEa-@a-@a-@a-@9@ @@4@ԑ^A+=I!I1OEs>ԱBǾ>BǍCBIBLBB6 =BBZDB^;Bh#E 6,I+?AY~#By~IԹiMb@Mb@Mb@ 9B`"۹9aYa=eFyimEm>qQ 5}5uG?Q 9}5uC)uBY}=Q E;y.@Q I@uEIu:iu:u⟝5yɮK5ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffGBddjdZd @Z=Z=Zp@Z.@) i9) vm i i#>II9@ @@3@E- E-E-#E)"E-f;*E-:VE-3ZE)BE-W9 ,[|+?Aɰp;27@2 @26<ٱ2b :AHRS rotation from veh to nav: [[0.502380,0.862993,0.053458],[-0.864575,0.502176,0.018174],[-0.011162,-0.055349,0.998405]]2H??^??/? ۆV`?i27@I2v^;2hCYFByFIHJAbDNVDNyVa%Vj=ٔZw;Q-Z?9XYX=^Fy\b:Eb?dQ 5j5f?Q 9j5f)fBYlyn .@Q In@fEIf^IIY@a @i@m/@iA^A+=IIO>E5 E5E5(E1"E5;*E5':VE5c44ZE1aE@aE@aE@aE@ԁԡ $$,CW+?A2@2Ξ@2v=<ٱ2a :AHRS rotation from veh to nav: [[0.501825,0.863316,0.053454],[-0.864892,0.501647,0.017666],[-0.011564,-0.055097,0.998414]]2H?H?P^?1~ ?`?@5?i2@I2;^;2gCYBByBIi Mb@Mb@Mb@     9 L7A`堿I + rhY +y 9 C A CA  A) hA Y p AbD-VD-Ny5!k%5B=Bƾ>BƍCBIB)BB8 =BBB^;B#Eٔs:Q->9Y=Fy7E>Q 55?Q 95)BY=Q E Q I@I;i;M5yɮQ6A5DNOT Ignoring new targets: 15.80 m.h1h1*hQ"hQ hQgYfYfYf]BdadajdaZdes@qZ=Z=ZP@ZS@v=<) = i9)L;ii#n>II!@! @!@!@!ԡ^A =I I) OE >bE-4jEr 4rE0EE  EE EE $EA "EE ;*EE y:VEE 4ZEA BEE NQ9hYh=jFyhntEn>pQ 5v5r?Q 9v5r")rBYtyvR>Q Iz@rEIr[:irg:r5y~×Bɮ~6A~E%DNOT Ignoring new targets: 15.80 m.h!h)*h)"h) h)g)f)f1f1d1d1jd9Zd=p@ZYZYZYZ]S@mA<)q u2iu 9)quu< 6,( ,?A@>@>h@>S@<ٱ>rVa FAHRS rotation from veh to nav: [[0.500092,0.864319,0.053486],[-0.865893,0.499929,0.017335],[-0.011757,-0.054983,0.998418]]>H@??b?`d?4?& ?i>@I>E^;>eCYNހByNIIR4=)R=bDZVDZ:yb%bM=ٔbBQ-f>9dYd=fFydjREj>lQ 5r5n` ?Q 9r5nM)nBYtyvf>Q Iv@lIn";in#;n5yxɮz&7Ax%DNOT Ignoring new targets: 15.80 m.h!h!*h!"h! h!g)f)f)f)d)d1jd1Zd5`@ZQZQZQZUS@mS@<)i maim9)iuh޴urԱ <` ,3,?A6ň@6@6Z><ٱ6a@ RAHRS rotation from veh to nav: [[0.498949,0.864977,0.053517],[-0.866553,0.498782,0.017395],[-0.011647,-0.055054,0.998415]]6H??f?ͺ ?@ϑ?ڇ0?i6ň@I6C^;6fCY^ԀBy^uIiMb@Mb@Mb@ 9y&1|?&1I +Y`;yн94IAA  A)AYG AbDVD02y~8%9=ٔQ->9Y=FyCE>Q 553?Q 9 5)BY =Q E <)a eie9)im)mX H,M,?AlYr΀ByrmIbDzVDzy=%EV=ٔEQ-E>9IYI=MFyIMEM>QQ 5]5Us?Q 9]5U )UBYayaQ Ie@UEIU ;iU;UO5yiɮm7AqDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZdS@ZZZZ)  ic9)5Eu EuEqEq"Eu ;*Eu:VEqZEqa}@a}@a@a@i u,Kg,?A2h@2Wc@27 0<ٱ2b :AHRS rotation from veh to nav: [[0.495538,0.866944,0.053386],[-0.868520,0.495324,0.018108],[-0.010745,-0.055340,0.998410]]2H`? ?ZU?b?݊? KwU?i2h@I2^;2hCYNByN[I PPAABǾ>BǍCBlIB̀BBBBB_;BBBBB7 =B7 =CYg5AiUMb@Mb@Mb@QQQQ Q9U:v?y&1Mb`YUT=yU`彙UUAQ U A)UAQYU AbDm VDm2y=%?=ٔ Q->9Y=FyE >)Q 555-?Q 9=5- )-BY==Q E=;y= Q I=@-EI-*:i-:-35yAɮM8AIDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffBdd)jd)Zd-%@Z}=Z}=Z}@Z}o @ G1IE7 0<)Y ]a}B;9Y*Aie9)顥W@]4>ԉ^A= +=II IY Oe >Թ E}  E} E} 'Ey "E} ;*E} k:VE} '4ZEy BE} m9pYp=rFytvmEv>xQ 5~5z?Q 9~5z )zBYy) Q I@xIz;iz;zɭ5y ɮ 7A 5DNOT Ignoring new targets: 15.80 m.h1h9*h9"h9 h9g9fAfAfAdAdIjdIZdM@ZqZqZqZu@U&<) `i9)額 tii#d=IԙI9@ @@/@^Am=II O> L&,XU,?A2EE@2@@2<<ٱ2ld :AHRS rotation from veh to nav: [[0.491803,0.869079,0.053204],[-0.870654,0.491523,0.019142],[-0.009515,-0.055736,0.998400]]2H@y?`?=?`f`u??@t|`r?i2EE@I2^;2fCYBĀByB`IbDJVDJ1yn%nJ=ٔrںQ-r>9pYp=rFytv౻Ev>xQ 5~5z5?Q 9~5z )zBYyM Q I@zEIz;iz;z5y ɮ 7A 5DNOT Ignoring new targets: 15.80 m.h1h9*h9"h9 h9g9fAfAfAdAdIjdIZdM`3 @ZiZiZiZm@<<) i9)額򉵉ii#q=IIE EEE"E7;*E:VEZEa@a@a@a@I@Q @Q@U/@Q)B%Ⱦ>B!B%LIB%BB!B!B!B% _;B%#E^AuQ=IIO>Qy ڰ,,:,?AJ3@J-@JO<ٱJc ZAHRS rotation from veh to nav: [[0.489874,0.870195,0.052768],[-0.871750,0.489558,0.019635],[-0.008747,-0.055619,0.998414]]JHZ?@?e?`_ T?*?避@z`?iJ3@IJ];HYb΀BybmIf=f=iMb@Mb@Mb@ 9S㥫?S㥻:v?Y/]=y/ݽT<-A )Y AbDVDy"@=%==ٔQ->9Y=FyE>Q 55?Q 95 )BY=Q E;yU Q I@EI? ;i ;p5yɮ7ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffɁBd!d!jd!Zd%D@YZu=Zu=Zu@ZuW@O<) i-9))-y)i)i5#1==I9I9@ @@/@yE EE%E"E%;*E':VE 4ZEBE K D3,| ,?A2h!@2<@2p<ٱ2Yc :AHRS rotation from veh to nav: [[0.487994,0.871270,0.052448],[-0.872810,0.487642,0.020169],[-0.008003,-0.055620,0.998420]]2HI;?q?rڪ?@@5?@K?c+z?i2h!@I2 ];2gCYF׀ByFxIbDRVDRܲyV?=%V]=ٔZQ-Z>9XY\=^Fy\^LEb>`Q 5f5b?Q 9f5b)bBYhyjz Q Ij@bEIb:ib:b5ylɮrb7Ap DNOT Ignoring new targets: 15.80 m.h h *h "h  h gfffddjdZd* @ZAZAZAZE҃@Up<)Q UiU9)ii#-=II Թ@ @@/@^A=IIO>E EE$E"E7;*E?:VE4ZEa@a@a@a@ 9 9,V,?AR@RV@R;ٱRJc ZAHRS rotation from veh to nav: [[0.486514,0.872124,0.052000],[-0.873641,0.486139,0.020488],[-0.007411,-0.055397,0.998437]]B\A\Bbо>B`Bb:IBbBBb8 =B`B`Bb_;Bb#ERH #? p?@?@??Z~\2?iR@IRc];RhCYr؀ByrzIimMb@Mb@Mb@iiii i9mS㥫?B`"۹I +?Yiymνm99Y=FyE>Q 55w?Q 95)BY=Q E;yQ I@EIL ;ia;5yɮX7ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffBddjdZd*!@ Z%=Z%=Z% @Z%9@];)Y ]= i]m9)Y]߻Yiai#(=II9@9 @9@9@A9^Ae p{=i Iq I O >E  E E #E "E O;*E h:VE 3ZE BE $YAHRS rotation from veh to nav: [[0.485106,0.872940,0.051449],[-0.874429,0.484706,0.020818],[-0.006764,-0.055087,0.998459]]6H ? ?}W?R`n?@lQ?{j4_?i6J@I6\];6eCYFByFIbD~VD~02y>%S=ٔۺQ->9Y!=%Fy!%E%>)Q 555-{?Q 955-)-BY9y=Q I=@)I-;i-;-5yEїBɮE6AMEuDNOT Ignoring new targets: 15.80 m.hqhq*hq"hq hqgqfyfyfyddjdZdW!@ZZZZ@{;)  i9)ii#=IIi9@ @@,1@ԡ^Al9=IIO> mF, -?A2@2@2x;ٱ2^a :AHRS rotation from veh to nav: [[0.483802,0.873685,0.051082],[-0.875155,0.483381,0.021120],[-0.006240,-0.054922,0.998471]]2H?:?e'?@E@? o? yy?i2@I2];2iCPYRByRIbDZVDZyb\=%fO=ٔf`Q-f>9hYh=jFyhjWxEj>pQ 5r5rt?Q 9v5r)rBYtyvQ Iv@rEIr:ir:r]5yxɮ~v6A|%DNOT Ignoring new targets: 15.80 m.h!h!*h!"h) h)g)f)f)f1d1d1jd1Zd5`"@Z Z Z Z I@=x;)9 EriE9)AE𳉢AiAiM#IM=IIIQE EE%E"E~ ;*E:VE 4ZEa@a@a@a@@ @@4@BҾ>BȍCBLIBBB7 =BB[DB_;B#E^A5~E=IAIYOm>! \+M,<7-?A2@2@2%L;ٱ2` :AHRS rotation from veh to nav: [[0.482596,0.874367,0.050827],[-0.875824,0.482155,0.021421],[-0.005777,-0.054854,0.998478]]2H????h?|w`?i2@I2̖];2hCYBByBIPi Mb@Mb@Mb@     9 =ٔQ->9Y=FyrJE>Q 55 ?Q 95)BYW=Q E! LT,Q-?A6@6@6S;ٱ6~` NAHRS rotation from veh to nav: [[0.481992,0.874709,0.050670],[-0.876158,0.481542,0.021546],[-0.005553,-0.054780,0.998483]]6H ? ?@s?`| ?'?"v$ ?i6@I6Q];6fCYn,BynIIr=)r;bDzVDz |y =% M=ٔ TQ- >9Y=FyE>!Q 5%5%?Q 9-5%)%BY)y-Q I-@!I%-:i%|:%5yEǗBɮE4AIDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd`QF$@ZZZZw@S;) i9)顽{ii#=X=II)m9@i @i@m2@i@q@qQiIE= E=E=%E9"E=;*E=&:VE= 4ZE9aM@aM@aM@aM@^AUSk=IYIqO>ԁ Bu Ѿ>Bq Bu lIBu ̀BBu 5 =Bq Bq Bu p_;Bu #EdZ,:k-?A2Q@2%ߦ@2#;ٱ2Ya :AHRS rotation from veh to nav: [[0.481480,0.874983,0.050821],[-0.876440,0.481021,0.021698],[-0.005461,-0.054989,0.998472]]2H??:? @?`8? ]v'{?i2Q@I2L];2gCYzABy~I iMb@Mb@Mb@ 9X9vT㥛 rh?YyC = AVA  A) AY AbDVDy =% 7=ٔYQ->9Y=FyE>!Q 5}5%j잊?Q 95%)%BYş=Q E*ԙ E  E E 'E "E %;*E |:VE '4ZE BE ~9TYT=VFyTZ)w7EZ>\Q 5j5^^꞊?Q 9n5^$)^BYtyvFQ Iv@\I^;;i^;^}5y|ɮ~3AyyDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd%@Z)Z)Z)Z-OK@Eğ;)A EiEb9)AEIiIiM#QUE=IQIQ9@ @@@ԩ1^A53W=IAIQO> ng,,-?Aɰ2]@21@2־;ٱ26` :AHRS rotation from veh to nav: [[0.481698,0.874867,0.050747],[-0.876318,0.481263,0.021259],[-0.005824,-0.054711,0.998485]]2H"???@ @? ĕ?@w@@?i2]@I2}E];2hCYbbByf#IbDrVDrkyzڈ=%zE=ٔzr :Q-z>9|Y|=~Fy|:E> Q 5 5 瞊?Q 95 +) BYyFQ I@ I :i : L5y!ɮ%,3A!MDNOT Ignoring new targets: 15.80 m.hIhI*hI"hQ hQgQfQE EE#E"E;*E:VE3ZEa@a@a@a@fQfddjdZd &@ZYZYZYZ]VK@u־;) i?9)顝Sii# =IIIgA)9@ @@/@@=@= B̾>BǍCBIBBB7 =BBZDBm_;B#EBBBBBC֡5YG^A=/"9YAII O% >y Иm,-?A6 @6@6;ٱ6s_ BAHRS rotation from veh to nav: [[0.482090,0.874650,0.050766],[-0.876100,0.481679,0.020846],[-0.006220,-0.054526,0.998493]]6H`?!?? ?@X?` zy꫿?i6 @I6Q-];6eCY^dByb&IiEMb@Mb@Mb@AAAA A9E ףp= :vMb?YEQyETE=EAEA E A)EAAYEAbD]VD]ym`J<%mC=ٔu6w:Q-u>9qYq=}Fyy}:E}>Q 55䞊?Q 95)BY=Q E;yW%@Q I@EI:i:"Ý5yɮ3ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffƂBddjdZdo'@QZ=Z=Zj@ZW%@;) 0i9)񚴉ii#@=IIiiIi@ @@/@E EE&E"E;*EP:VE4ZEBED9QYY=]FyaeS ;Em>qQ 55uដ?Q 95u)uBYyh%@Q I@uEIub;iuc;uĝ5yɮ[2ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZdU(@ZZZZh%@ k;)  $i59)ii#O=II!Ա@ @@o0@E EE$E"E;*EVE4ZEa@a@a@a@^AIIYIiO}> B о>B ȍCB IB .BB 6 =B B [DB ;_;B #EA z,-?ADD,@@<ٱ^ -AHRS rotation from veh to nav: [[0.484662,0.873193,0.051355],[-0.874664,0.484353,0.019130],[-0.008170,-0.054190,0.998497]]H ?@2?1K?> ?? w?i,@I#];dCY=By=NIiMb@Mb@Mb@ 9+ÿ+V-?Yy<IA A $ A)AY3AbD VD 02y'=%==ٔ%H;Q-%>9!Y!=-Fy)-;E->1Q 5=55ޞ?Q 9=55)5BYEQ'>Q EE;yE@Q IE@5EI53:i5:5Ɲ5yIɮU2AQ}DNOT Ignoring new targets: 15.80 m.hyhy*hy"hy hygfff҂BddjdZd1)@ZQ'>ZQ'>ZX@Z@<) f&i9)O-ii#=II y@y @y@}0@y@@hA1a ^A I I O >E  E E 'E "E ;*E ^:VE '4ZE BE O9Y=Fy:C;E>!Q 5-5%ڞ?Q 9-5%)%BY)y-@Q I5@%EI%:i%9:%_ȝ5y=Bɮ=j1A=EeDNOT Ignoring new targets: 15.80 m.hahi*hi"hi higififqfqdqdqjdyZd}@i)@ZZZZ@<) "i9)页21i1i=#9==I9IAi@ @@4@ԡ^Ae=I)I9OE> Ǽ,s .?AJ@J@J !<ٱJA `P VAHRS rotation from veh to nav: [[0.486639,0.872022,0.052538],[-0.873548,0.486404,0.018033],[-0.009830,-0.054670,0.998456]]JH%?@? J?``?!?`@w?!` Z?iJ@IJx];JiCYZByZaIbDfVDfyn-)=%nN=ٔn;Q-r>9pYp=rFypvhA;Ev>xQ 5z5zמ?Q 9~5zI)zBY|y~!@Q I~@zEIz;iz;zʝ5y ɮ '1A 5DNOT Ignoring new targets: 15.80 m.h1h1*h1"h9 hAgAfAfIfIdIdIjdQZdUy*@ZqZqZqZu!@ !<) i9)額ii#E EEE"E1;*E:VEZEa@a@a@a@E=II1@1 @1@5/@1BӾ>BBIB[BB7 =BBB^;B#E^AQIaIqO}{>) ,oc:.?A4<ɰ>@>@>/<ٱ>ua FAHRS rotation from veh to nav: [[0.487721,0.871372,0.053287],[-0.872934,0.487525,0.017492],[-0.010737,-0.055047,0.998426]]>H6?`G?kH?`3? W?=/ ?i>@I>{];>eCYNByNmIPRA ieMb@Mb@Mb@aaaa a9eʡEƿ rh:v?Ye-2yeC eT9Y=Fyk>;E>Q 55Ҟ?Q 95 )BY6>Q E;y:@Q I@EIT ;ii ;˝5yɮ0ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffBddjdZd`F+@Z%6>Z%6>Z%}iU@Z%:@5/<)1 5f&i=n9)9=%9i9iE#AE=IAII9@ @@@!Em EE%E"EO;*Ey:VE 4ZEBEay ]Ӕ,}=T.?AN(@N#@N ~<<ٱNˈa ^AHRS rotation from veh to nav: [[0.488751,0.870773,0.053627],[-0.872347,0.488595,0.016879],[-0.011504,-0.055031,0.998418]]NHG?@`?t?E$E?@H?,@ ?iN(@IND];LYjByj]IbDvVDvy~։%~T=ٔ~;Q-~>9Y=FyI;E > Q 55 ;Ϟ?Q 95 c ) BYyN@Q I@ EI ;i ; ͝5y%Bɮ-0A-EԑDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZdTa,@ZZZZUN@] ~<<)Y ] -i]9)aeQaiai#=II%9@! @!@%/@!ԹE EE&E"E;*E :VE4ZEa@a@a@a@^AaIqIO> Aa Ae @ABq Bq Bu 4IBu pBBu 6 =Bq Bq Bu ^;Bu c#Ed,n.?Ap2@D-@I<ٱ` AHRS rotation from veh to nav: [[0.489786,0.870178,0.053853],[-0.871756,0.489674,0.016160],[-0.012308,-0.054862,0.998418]]H`X???lV?U?4  ?ip2@Ib];Y%By%WIiMb@Mb@Mb@ 9+ǿ~jtYv>yD`AA  A) AY AbDVDy5_%58=ٔ5/:Q-=>99Y9==Fy9E/;EE>IQ 5u5MBʞ?Q 9u5M )MBYuD>Q Eu;yuo@Q I}@MEIMK;iM:Mϝ5yɮ1A-DNOT Ignoring new targets: 15.80 m.h)h1*h1"h1 h1g1f9f9f=ԂBdAdIjdIZdM@G-@ZD>ZD>Z9Y@Zo@ I<)  #i 9)}ii#;=IIA!@ @@/@I^A =I I O- >bEUʞ4jEU4rEU5/E  E E 'E "E :;*E :VE '4ZE BE /9|Y|=~Fy|;E> Q 55 3ƞ?Q 95 r) BYy{@Q I@ EI B:i ; /ѝ5y!ɮ%1A!MDNOT Ignoring new targets: 15.80 m.hIhQ*hQ"hQ hQgQfQfYfYdYdajdaZde-@ZZZZ>{@L)S<) #+i&9)顝Sii#v=III)gAq59@1 @1@50@1ԡ^Auw=IIO> ,ǻ.?A2=@2z8@2>\<ٱ2` :AHRS rotation from veh to nav: [[0.490971,0.869476,0.054402],[-0.871072,0.490918,0.015256],[-0.013442,-0.054879,0.998403]]2H l?`?ګ?3k?@>? ?i2=@I2B];2fCYBjByB-IbDJVDJNyR=ý%RO=ٔV=:Q-V>9TYX=ZFyXZ:EZ>\Q 5b5^?Q 9b5^)^BYdyf@Q If@^EI^:i^:^ҝ5yhɮj,2AhE EE&E"E;*E :VE4ZEa@a@a@a@DNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd.@Z Z Z Z @=>\<)9 E4iE9)AEAiAiM#IM=IIIq9@ @@_0@B)B)B-:IB-uBB)B)B)B-v^;B-H#E^A5zA=I9IIO]>) 5,.?A27B@2 =@2Vd<ٱ2` :AHRS rotation from veh to nav: [[0.491453,0.869190,0.054619],[-0.870792,0.491427,0.014831],[-0.013950,-0.054851,0.998397]]2H s?f??s?_?j`?i27B@I2|*];2eCYB]ByBIi Mb@Mb@Mb@     9 (\ſJ +MbY .y H   l A )  A Y \AbD%VD%02y5?w%5A=ٔ=̝:Q-=>99Y9=EFyAE:EE>IQ 5U5MG?Q 9U5M)IYZ5>Q E;y@Q I@MEIMZ]Z5>Z][@Z] @mVd<)q u(iu9)quPyiyi}#q=II1 9@  @ @ 4@ E EEE"E;*E˭:VEZEBEG\ԉ ,z.?A;ɰ4<,B"C@B=@B j<ٱBa JAHRS rotation from veh to nav: [[0.491548,0.869113,0.054978],[-0.870733,0.491537,0.014657],[-0.014285,-0.055075,0.998380]]BHu? ? &? Yu?q?~A 2?iB"C@IBG];@YROByR IbDZVDZyb\%fQ=ٔf`:Q-f>9dYh=jFyhj9Ej>lQ 5r5n?Q 9v5n])nBYtyv@Q Iv@nEIn:inp:nt֝5yxɮ~3A|%DNOT Ignoring new targets: 15.80 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd5/0@ZYZYZYZ]@m j<)i m&0iu[9)quԵqiqi}#y}ϑ=IyI9@ @@3@@=@>ԉԱ^A`=I!I1O=r>E EE#E"E&;*Eخ:VE3ZEa@a@a@a@ B A B B B 'IB fBB B B B O^;B 4#EBȍCBȍCBB6 =B6 =CK4J,d].?A *k>.Cd~ЀG)]/ 9qYuA>@9@ri<ٱb AHRS rotation from veh to nav: [[0.491107,0.869358,0.055045],[-0.870983,0.491093,0.014705],[-0.014248,-0.055166,0.998376]]HKn??.?`n??.>`?i>@I,];gCYBByIi Mb@Mb@Mb@     9 p= ףV- rhY y h C IA A $ A) ~A Y fAbD%VD%ky5^%5)=ٔ=.Q-=>99Y9=EFyAEXEM>IQ 5U5M򳞊?Q 9]5M^)MBY]>Q E];y]%@Q I]@MEIMn:iM:M؝5yiɮms3AiDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffuBddjdZd@0@Z>Z>Z i@Z%@ri<) i`9)鵉ii#A=II9@ @@4@^A L=I I O >9 E  E E E "E ;*E :VE ZE BE m4Ah~DNOT Ignoring new targets: 15.80 m.h|h*h"h hgff f d d jdZdz0@Z9Z9Z9Z=S%@Mf<)I MQ&iU9)QUQiQi#=IIIN9q@ @@4@ԡ ^A `=I I O >X,#/?A >l2@>@-@>Na<ٱ>a FAHRS rotation from veh to nav: [[0.489775,0.870130,0.054714],[-0.871740,0.489739,0.014991],[-0.013751,-0.055038,0.998390]]>HxX??`n?@L@W??)-?i>l2@I>J];>eCYNByNIIR=)Rp;bDVVDVyb%bH=ٔb VQ-b>9dYd=fFydfVEj>hQ 5n5j7?Q 9r5j)jBYpyr%@Q Ir@jEIj;ij ;j۝5yvBɮzt4Ax%DNOT Ignoring new targets: 15.80 m.h!h!*h)"h) h)g)f)f1f1d1d1jd1Zd=`&f1@Ee EeEe&Ea"Ee);*Ee:VEe4ZEaam@am@am@am@ZqZqZqZu%@yNa<) .i9)顕32ii#n=II @  @ @ /@ @gA@ԩBѾ>BBIBBBBBBBr^;BE#E^Au=IIO> $,nQ-M>9IYQ=UFyQUEU>YQ 5e5]?Q 9e5])]BYm=Q Em;ym*=@Q Im@]EI]` ;i] ;]ݝ5yqɮ}5AyDNOT Ignoring new targets: 15.80 m.hh*h"h hgff1f52Bd1d9jd9Zd=@1@Eu EuEu'Eq"Eu ;*EuS:VEu'4ZEqBEuLY k,V/?A26@2 @2#P<ٱ2H` :AHRS rotation from veh to nav: [[0.487523,0.871437,0.054020],[-0.873018,0.487438,0.015638],[-0.012704,-0.054785,0.998417]]2H 3???@-2??@L ?i26@I2!];2gCYBByBIbDJVDJyR %R=ٔVQ-V ?9TYT=VFyTZEZ ?\Q 5b5^Ҥ?Q 9b5^q)^BYdyf=@Q If@\I^;i^;^Bߝ5yhɮj5Ah}DNOT Ignoring new targets: 15.80 m.hyh*h"h hgfffddjdZd`72@ZZZZ=@#P<) R"i%9)!%!i!i-#)-_=I)I11@ @@0@aE EE#E"E1;*E^:VE3ZEa@a@a@a@^Aw=IIO>ԉA A B Ҿ>B B IB BB 7 =B B B ^;B {#E,p/?A8ɰ8:@ @NC<ٱ@` AHRS rotation from veh to nav: [[0.486036,0.872292,0.053623],[-0.873857,0.485914,0.016170],[-0.011951,-0.054718,0.998430]]H@8??nt?@8??y@$?i:@I];dCYByIi}Mb@Mb@Mb@yyyy y9}~jtMbX rhY}ļy}ʽ}C}7Aԑ}A } A)}AyY}p AbDVDyc%-=ٔкQ->9Y=FylE>Q 55᠞?Q 95)BY=Q E@=^A u=I) IA OM >E  E E 'E "E ;*E S:VE '4ZE BE mI f,L/?A2i@2<@2;(<ٱ2a >AHRS rotation from veh to nav: [[0.482434,0.874318,0.053152],[-0.875872,0.482222,0.017581],[-0.010259,-0.055036,0.998432]]2H@1?j?`6?%??@-&?i2i@I2Z];2hCYFπByFnIbDNVDN1yn׼%rG=ٔrq Q-r>9tYt=vFytvϨEv>xQ 55z?Q 9 5zP)zBY y 8Q I @xIzG;izyH;z5yɮ6AEE EEEE&EA"EEx;*EE:VEE4ZEAaM@aM@aM@aM@]DNOT Ignoring new targets: 15.80 m.hYhY*hY"hY hYgafafafadidijdiZdm`m3@ZZZZ;Z@;(<) i9)顭شii#A=III9@ @@4@Beվ>BaBeYIBeBBe6 =BaBaBe^;Beu#Eԑ^AuZ=IIO>ԩ 8,%/?A:Eٟ@:Ԧ@:<ٱ:a@ FAHRS rotation from veh to nav: [[0.480284,0.875530,0.052667],[-0.877066,0.480015,0.018482],[-0.009099,-0.055069,0.998441]]:H? X? )? `??2:?i:Eٟ@I:Hs];:dCYNĀByNaIV=V=i%Mb@Mb@Mb@!!!! !9%{Gz?B`"۹{GzY%ף9QYQ=]FyY]E]>aQ 5m5eٗ?Q 9m5e )eBYu=Q Eu ,./?AlYrByrVIbDzVDzy%f1%-M=ٔ-Q-->91Y1=5Fy15E5>9Q 5E5=.?Q 9M5=)=BYIyIQ IM@=EI=d:i=:=(5yQɮUV7AYDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZdH=4@ZZZZ) miq9)W.ii#V=II@ @@/@ AE] E]E]&EY"E] ;*E]:VE]4ZEYae@ae@am@am@^AI=IIQO]>BI AM 9yYy=}Fyy;E>Q 55Β?Q 95)BY=Q E=, 0?A4<ɰ;2@2̜@2O;ٱ2a :AHRS rotation from veh to nav: [[0.474364,0.878828,0.051383],[-0.880308,0.473942,0.020894],[-0.005991,-0.055144,0.998460]]2H [?[? N?|+ U?@%e?@ىx ;@c?i2@I2z];2dCY@y@bDNVDN02ٔV ZQ-V?9XYX=ZFyXZEZ?\Q 5b5^?Q 9f5^S)^BYdyfQ If@^EI^:i^[:^5yhɮhlDNOT Ignoring new targets: 15.80 m.hh*h"h hg f f f ddjdZd5@Z1Z1Z1Z5⛀@MO;)I IiMO9)QUaoQiQi]#Y]"y=IYIaiԹ@ @@/@^A-^=IAIQOm>9 :,}%0?A6@6Ċ@6 };ٱ6 a BAHRS rotation from veh to nav: [[0.472428,0.879895,0.050955],[-0.881355,0.471957,0.021661],[-0.004989,-0.055142,0.998466]]6H`B.?ot;o?i6@I6͑];6fCYJҀByJrIbDRVDR0yZb"=%Z<ٔ^!Q-^>9\Y\=bFy`bEb>dQ 5j5f̎?Q 9j5f#)fBYhyn Q In@fEIf:if?F;fc5yvBɮvT6AvEDNOT Ignoring new targets: 15.80 m.hE% E% E%&E!"E%U,;*E%:VE%4ZE!a-@a-@a-@a5@h1*h1"h1 h1g1f9f9f9dAdAjdAZdEp5@ZaZaZaZez@} };)y }i}9)顅Xii#=II1@1 @1@5/0@1AQGe*9iYmAB Ӿ>B B :IB BB 5 =B B B 3^;B (#EBB^A]=IyIO~>BBBC5qԙ ,"o?0?AYۀBy }IEonly read 3 of 4 data items for beam range. Device response is::RA, 0.99, 84.87, 86.23, 89.29 aE@aE aE@aE aE@aE aM@aM bDUVDUye*&=%e@=ٔeQ-e>9iYi=mFyimEu>qQ 5}5u?Q 9}5u)uBQ A+:YQ E;yQ I@qIu ;iu>u5yɮ 6ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd5@) il9)ii #  =I Iq9@ @@0@E5 E5E5#E1"E5a;*E5:VE53ZE1BE5h ,ILY0?AYnBynIbDzVDzky%"D=%-N=ٔ)Q-->91Y1=5Fy11E=>9Q 5E5=e?Q 9E5=)=BQ AM :YIQ EM;yIQ IM@=EI=:i='S?=5yQɮ5ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd E6@!)! -Gi-9))-)i)i5#11I9I9IA)A9@ @@4@@hA@gAE] E]E]%EY"E];*E]:VE] 4ZEYa}@a}@a}@a}@^A(S=IIO>) A A AAB Ѿ>B B SIB BB 6 =B B B ^;B #Ee4,0s0?A$}l@}g@}YV;ٱ}i` AHRS rotation from veh to nav: [[0.468642,0.881972,0.049997],[-0.883382,0.468097,0.022827],[-0.003271,-0.054864,0.998488]]}H;?9?@5?DM?`_?;j`&?i}l@I}Y];}cCYByIiQIQaa aa aa aa iMb@Mb@Mb@ 9~jt?Zd;Zd;O?YD9Y=FyE>Q 55?Q 95>)BQ AT:Y=Q EHEE  EE EE (EA "EE ;*EE ':VEE c44ZEA BEE ,N9a gC),bڦ0?A;ɰ2Z@2vU@2VZ/;ٱ2` >AHRS rotation from veh to nav: [[0.466687,0.883019,0.049804],[-0.884418,0.466115,0.023260],[-0.002676,-0.054903,0.998488]]2H3?@A??'M`?`ї?Ie0`?i2Z@I2Rt];2dCYFByFIbDNVDN1yV{=%VM=ٔVrQ-Z>9XYX=ZFyX^iݺE^>dQ 5j5f?Q 9j5f)fBYhyj5Q In@dIfg:E EE&E"Ex;*E:VE4ZEa @a @a @a @9if:fB5yɮT4ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd?z7@ZZZZnt@VZ/;) gi%9)!%!i!i-#)-Ѿ=I)I1 @  @ @@@=@=BMʾ>BMǍCBMxIBM׀BBM5 =BIBMZDBM_^;BM9#Eiԙ^A.=IIQO]> +0,0?A2X@2S@2π<;ٱ2~+a :AHRS rotation from veh to nav: [[0.466502,0.883109,0.049940],[-0.884516,0.465939,0.023092],[-0.002876,-0.054945,0.998485]]2H`*?nB? ?M?i?g@!`?i2X@I24X];0YNByRIi]Mb@Mb@Mb@YYYY Y9]Q롿I +V-?Y]\y]94]9Y=FyGE>ԙQ 55?Q 95)BY=Q EQ%vU=ٔv9Q-v>9xYx=zFyx~0E~>Q 5 5?Q 9 5)BY y ;@Q I @I:i:5yɮY3ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd K8@ZAZAZAZE;@Q],G;)Y ]0ie69)aeaiaim#im$=IiIq)@) @)@-/@)ԁE EE#E"Ea;*E՚:VE3ZEa%@a-@a-@a-@^Am}=IyIO>ԱB A <B ľ>B ƍCB IB BB 8 =B B B ^;B X#E /<,0?A885X@5R@5w_;ٱ5Ma }AHRS rotation from veh to nav: [[0.466409,0.883142,0.050220],[-0.884562,0.465873,0.022628],[-0.003412,-0.054977,0.998482]]5H ?`B?z?UN?+?`+k@%?i5X@I5/y];5gCY%BBy%IE=E=ԡiMb@Mb@Mb@ 9 ףp= 9Y=Fyw9E>!Q 5-5%~?Q 9-5%)%BY-=Q E-) ~gC,NG1?A2[@2U@2΂;ٱ25 a :AHRS rotation from veh to nav: [[0.466732,0.882959,0.050444],[-0.884390,0.466224,0.022115],[-0.003992,-0.054934,0.998482]]2H?3A? ө?@L?F? YpW ?i2[@I2];0YBTByBIbDJVDJyr==%v=ٔv|:Q-v?9xYx=zFyxz:Ez?|Q 55~ }?Q 9 5~h)~BY y @Q I @|I~ :i~p:~Y5yɮC2AEDNOT Ignoring new targets: 15.80 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU@09@ZyZyZyZ}@΂;) 0i9)顕ii#=IIi@i @q@u2@q9^A=IIO>i I,"(1?A 2`@2[@2;ٱ2ޓa >AHRS rotation from veh to nav: [[0.467358,0.882600,0.050922],[-0.884055,0.466891,0.021453],[-0.004841,-0.055044,0.998472]]2H@3?B>?z?-J`?@?s.{?i2`@I2}];0YF[ByFIbDNVDNyVe=%VN=ٔVj ;Q-Z>9XYX=ZFyX^-:E^>dQ 5j5fz?Q 9j5f)fBYhyj@Q In@fEIfH:Ev EvEv%Et"Ev;*Ev5:VEv 4ZEtaz@az@az@az@ifU:f5yyɮ} 2AyDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZd@9@ZYZYZYZ]@};)y  i9)顅<ii#o=IIqB>BBIB)BB9 =BBYDB^;Bo#Ei@i @i@m4@iԡ^A=IIO> eyP,*A1?Aɰ2yh@2Mc@2;ٱ2oa :AHRS rotation from veh to nav: [[0.468175,0.882139,0.051409],[-0.883617,0.467753,0.020697],[-0.005789,-0.055116,0.998463]]2H@?@|:?OR?`F?1?@nw@%8i?i2yh@I2];2eCPYRhByR+Ii-Mb@Mb@Mb@)))) )9-i|?5L7A`堿/$?Y-y-+-<)-p A - A)-A)Y-fAbDMVDM02yUu=%]@=ٔ, ;Q->9Y=Fy ;E>Q 55w?Q 95)BY=Q E;y@Q I@EI:i/:5yɮ1A%DNOT Ignoring new targets: 15.80 m.h!h!*h!"h! h!g)f)f)f-Bd1d1jd1Zd=u9@Z]=Z]=Z]Z@Z]S@m;)i miu-9)qu7qiqi}#y}=IyIE EE$E"Ef;*Ej:VE4ZEBEW! V,s[1?A6p@6k@6B;ٱ6pb BAHRS rotation from veh to nav: [[0.469068,0.881631,0.051976],[-0.883136,0.468693,0.019938],[-0.006783,-0.055254,0.998449]]6H5?S6?`?B`?j?G{`9\Y\=^Fy\bL4;Eb>dQ 5j5ft?Q 9j5f)f$BYhyj@Q Ij@dIfK:if:f5ypɮr/1Ap|DNOT Ignoring new targets: 15.80 m.hh*h"h hgff!f!d!d)jd)Zd-@ I:@ZIZIZIZM\@]B;)a eie&9)aeݴaiiim#iuJ=IqIq)@1 @1@5/@1)E EE(E"E;*E՚:VEc44ZEa @a @a @a @^A]=YIiIyO|>A1 A5 @AB þ>B B IB GBB 7 =B B B ^;B k#EBmƍCBmǍCBmɔCBm7 =Bm7 =Cm=5 U zGi ԁ 9 Y AT\,u1?AYEyByE?IYbDVDNy<%:=ٔQ->9Y=FyE>Q 55q?Q 95))BYyQ I@EI)E  E E #E "E *E :VE 3ZE BE `9Y=Fy ;E >Q 5%5wn?Q 9%5),BY->Q E-;y-@Q I5@EI ];i3\;T5yEBɮE0AMEDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffBdQdYjdYZd]P*;@Z}>Z}>Z}?W@Z}X@I<) #in9)顝@ii#v=II@ @@/@@@^A /=I I O >9 i,i1?A2@2傦@2*"<ٱ2/b :AHRS rotation from veh to nav: [[0.471563,0.880208,0.053495],[-0.881776,0.471349,0.017355],[-0.009939,-0.055355,0.998417]]2H`.?*?c?7 *?gő?@[ tW?i2@I2];2fCYByByB@IbDNVDNfyR<%Va=ٔV0I;Q-V>9XYX=ZFyXZEJ;E^>Eb EbEb"E`"Eb;*Eba:VEb(3ZE`af@aj@aj@aj@hQ 5r5jxk?Q 9v5j{)j/BYtyv@Q Iv@jEIjI;ijJ;j5yxɮz0A|%DNOT Ignoring new targets: 15.80 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd5;@ZQZQZQZU1@*"<) h!iz9)fii#  [=I I1Bľ>BBIBVBB8 =BBZDB^;B9@ @@/@I^A%7=IQIiqO>ԙ p,NG1?A2*@2@2k2<ٱ2va :AHRS rotation from veh to nav: [[0.472430,0.879734,0.053647],[-0.881301,0.472270,0.016421],[-0.010890,-0.055037,0.998425]]2HI9Y=FyN;E>Q 55g?Q 952)0BYv>Q E;y@Q I@EI:iH%;5yɮ1ADNOT Ignoring new targets: 15.80 m.hh*h"h hgfffBddjdZd;@Z%v>Z%v>Z% Y@Z%@5k2<)9 =)i=9)9=9i9iE#AE=IIIIyE EE'E"E ;*E^:VE'4ZEBEv9)Y)=-Fy)-E5>1Q 5=55Kd?Q 9E55)51BYAyAQ IE@5 EI5;i5j;5 5yIɮU0AQDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjdZdT<@ZZZZ))) -i-9)151i1i=#9==I9IA@ @@1@@@E EE%E"E;*E:VE 4ZEa@a@a@a@^A!=I1IqO>B<ABþ>BBBB7 =BBBh^;B9#E) },1?A@J@J@JN<ٱJpN` RAHRS rotation from veh to nav: [[0.473659,0.879041,0.054170],[-0.880618,0.473595,0.014837],[-0.012612,-0.054731,0.998422]]JHoP?!?`?`.aO?c?`6ԉ?iJ@IJ]];HYZlByZ/IbDzVDz:y4%%K=ٔ-O;Q-5>9AYA=MFyIUa;E]>iQ 55m`?Q 95m)m2BYy@Q I@m EIm3;im;mK 5yɮ81AiaIaDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffddjd!Zd%`<@ZaZaZaZe9@ԩN<) Bi9)ii# i=I I)@ @@0@^A I E  E E (E "E ;*E :VE c44ZE BE d,=2?A2?@2@2q[<ٱ2z_ :AHRS rotation from veh to nav: [[0.474144,0.878764,0.054418],[-0.880345,0.474125,0.014088],[-0.013421,-0.054586,0.998419]]2HaX?`?@ܫ?+`X?`7ڌ?X| ?i2?@I2[];0Y@yB0IpiMb@Mb@Mb@ 9M¿~jtxYnyLĻAp A )AY AbDVDy;%?=ٔ:Q->9Y=FyO:E>Q 55\?Q 95)Y?>Q E;y@Q I@ EIX;i ;!5y ɮ 41A DNOT Ignoring new targets: 15.80 m.hh*h"h hgfffBddjdZdp+=@Z%?>Z%?>Z%Ֆ^@Z%@]q[<)Y ]#i]9)Y]7ĵYiaie#im =IiIi 9@ @@4@ 1^A- (S=I1 II OU >a -,d*2?AER ERER%EP"ERT;*ERV:VER 4ZEPaV@aZ@aZ@aZ@9B}ž>ByB}IB}GBB}6 =ByByB}^;B}#Eyyiu@u@uKe<ٱuʢ_ AHRS rotation from veh to nav: [[0.474449,0.878583,0.054682],[-0.880171,0.474462,0.013567],[-0.014025,-0.054566,0.998412]]uH_]?@Z? @? ]*]?ȋ? ?iu@Iux];ugCԙYE_ByEIim=a @a a @a a @a a% @a% bD- VD- 0y= M'%= <ٔ= du:Q-= >9A YA =E FyA E ]:EM >Q Q 5U 5U V?Q 9] 5U )Q Q A] +:YY Q E] ;y] @Q I] @U EIU :iU %?U j5yi ɮm 1Ai  DNOT Ignoring new targets: 15.80 m.h h *h "h  h g f f f d d jd Zd `=@ Ke<) *i 9) ޵ i i # ==I I I gA) gA 9@  @ @ 0@ ^Aȷ=IIO?,HL2?AbE% 4jE%4rE%(0E EE'E "Ex;*E~:VE'4ZE BE?g@M|kn<)I Mm5iMr9)IUQiQiU#Y]=IYIY9@! @!@%4@!aԉ^A+=II!O->Ա ,e2?A2d@27@2 at<ٱ2` :AHRS rotation from veh to nav: [[0.474472,0.878526,0.055389],[-0.880144,0.474530,0.012941],[-0.014915,-0.054890,0.998381]]2H]??[?$*^??ً?i2d@I2jl];2gCYB2ByBIbDJVDJβyR%RN=ٔVHp:Q-V>9TYT=ZFyXZ\EZ>\Q 5b5^P?Q 9b5^8)\Q Af9YdQ Ef:;yf@Q If@^EI^:i^3?^ 5yhɮj3AhDNOT Ignoring new targets: 15.80 m.hh*h"h hg f f f ddjdZdBp>@E at<)A E@iE9)IIIiIiU#QU=IQIQԙE= E=E=!E9"E=U,;*E=:VE=c3ZE9aE@aE@aE@aE@u9@q @q@u/@qAAAAB¾>BBIB.BBBBYDB&^;B#E^AUL=IaIqO}{>! /,B2?Aɰ4<6@6@68bw<ٱ6ija BAHRS rotation from veh to nav: [[0.474186,0.878669,0.055576],[-0.880295,0.474253,0.012813],[-0.015099,-0.054999,0.998372]]6HY?@?st? a+)Z?=?뎿(`?i6@I6|];6fCYJ$ByJILNAaa aa aa aa% i%Mb@Mb@Mb@!!!! !9%&1L7A`尿{GzY%нy%+%#%MA%ZA %( A)%A!Y%=AbD5VD5N2yE<%M@=ٔM_9Q-M>9IYQ=UFyQUGEU>YQ 5e5]L?Q 9m5])]0BQ AmT:Ym=Q Em;ym)@Q Im@]EI];i];]5yuBɮ}'3A}~EDNOT Ignoring new targets: 15.80 m.hh*h"h hgfffRBddjd1Zd5@'>@Zu=Zu=ZuDm@ZuZ)@8bw<)  i9)額 ii#=IIm9@i @i@m/@i!EE EEEE&EA"EE ;*EE:VEE4ZEABEELy ,2?AY~By~IbD VD 0yf%%M=ٔ%Q-%>9!Y)=-Fy)-E->1Q 5=55!I?Q 9=55)5/BYAyAQ IE@5EI5;i53;55yIɮM3AI}DNOT Ignoring new targets: 15.80 m.hyhy*hy"hy hygfffddjdZdC?@ZZZZ) i9)*ii#IIQM9@Q @Q@U/@Qԁ^AqIIO>ԩEU  EU EU $EQ "EU ;*EU :VEU 4ZEQ ae @ae @ae @ae @B >B ōCB IB BB B B B ^;B \#EBBƍCBʓCB6 =BCʜ'5 G 9 Y BAC,]p2?AN@NX@Npt<ٱN` VAHRS rotation from veh to nav: [[0.473196,0.879216,0.055358],[-0.880831,0.473258,0.012817],[-0.014930,-0.054826,0.998384]]NHH?"?W?/@I???c`6?iN@IN7];NeCYb BybIbDj VDj2yq%K=ٔ۹Q->9Y=Fy%7E%>)Q 555-E?