*v 0008 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" *n code=0006 name="controlThread ThreadHandler" *n code=0007 name="CycleStarter" *n code=0008 name="CommandExec" *n code=0009 name="CommandExec ThreadHandler" *n code=000A name="CommandLine" *n code=000B name="CommandLine ThreadHandler" *n code=000C name="logger" *n code=000D name="logger ThreadHandler" *n code=000E name="LogSplitter" *n code=000F name="Config/Control" *n code=0010 name="Config/Sensor" *n code=0011 name="Config/Estimation" *n code=0012 name="Config/Simulator" *n code=0013 name="Config/secure" *n code=0014 name="Config/Guidance" *n code=0015 name="Config/Servo" *n code=0016 name="Config/Derivation" *n code=0017 name="Config/workSite" *n code=0018 name="Config/Dock" *n code=0019 name="Config/vehicle" *n code=001A name="Config/Science" *n code=001B name="Config/Sample" *n code=001C name="Config/logger" *n code=001D name="Config/BIT" *n code=001E name="Config/Navigation" *n code=001F name="Config/Battery" *n code=0020 name="DepthRateCalculator" *n code=0021 name="PitchRateCalculator" *n code=0022 name="SpeedCalculator" *n code=0023 name="YawRateCalculator" *n code=0024 name="ElevatorOffsetCalculator" *n code=0025 name="VerticalControl" *n code=0026 name="HorizontalControl" *n code=0027 name="SpeedControl" *n code=0028 name="LoopControl" *n code=0029 name="DeadReckonUsingMultipleVelocitySources" *n code=002A name="NavChart" *n code=002B name="UniversalFixResidualReporter" *n code=002C name="AHRS_M2" *n code=002D name="BackseatComponent" *n code=002E name="BackseatComponent ThreadHandler" *n code=002F name="LcmPublisher" *n code=0030 name="BPC1" *n code=0031 name="DAT" *n code=0032 name="DAT ThreadHandler" *n code=0033 name="DataOverHttps" *n code=0034 name="DataOverHttps ThreadHandler" *n code=0035 name="Depth_Keller" *n code=0036 name="DropWeight" *n code=0037 name="NAL9602" *n code=0038 name="Onboard" *n code=0039 name="Onboard ThreadHandler" *n code=003A name="Power24vConverter" *n code=003B name="Radio_Surface" *n code=003C name="Radio_Surface ThreadHandler" *n code=003D name="RDI_Pathfinder" *n code=003E name="Sonardyne_Nano" *n code=003F name="BuoyancyServo" *n code=0040 name="ElevatorServo" *n code=0041 name="DockingStepper" *n code=0042 name="MassServo" *n code=0043 name="RudderServo" *n code=0044 name="ThrusterHE" *n code=0045 name="CTD_Seabird" *n code=0046 name="CTD_Seabird ThreadHandler" *n code=0047 name="ESPComponent" *n code=0048 name="PAR_Licor" *n code=0049 name="WetLabsBB2FL" *n code=004A name="WetLabsBB2FL ThreadHandler" *n code=004B name="SBIT" *n code=004C name="IBIT" *n code=004D name="CBIT" *n code=004E name="GFScanner" *n code=004F name="MissionManager" *n code=0050 name="Reporter" *n code=0051 name="NavChartDb" *n code=0052 name="NavChartDb ThreadHandler" *n code=0053 name="DefaultWithUndock" *n code=0054 name="DefaultWithUndock:A.Wait" *n code=0055 name="DefaultWithUndock:LeaveDock" *n code=0056 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0057 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=0058 name="DefaultWithUndock:LeaveDock:A." *n code=0059 name="DefaultWithUndock:LeaveDock:B.Undock" *n code=005A name="DefaultWithUndock:SurfaceDefault" *n code=005B name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *n code=005C name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005D name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0065 name="DefaultWithUndock:D" *n code=0066 name="DefaultWithUndock:E.Execute" *n code=0067 name="lineCaptureHoming" *n code=0068 name="lineCaptureHoming:Science" *n code=0069 name="lineCaptureHoming:Science:A" *n code=006A name="lineCaptureHoming:Science:B" *n code=006B name="lineCaptureHoming:Science:C" *n code=006C name="lineCaptureHoming:Science:D" *n code=006D name="lineCaptureHoming:Science:E" *n code=006E name="lineCaptureHoming:Science:F" *n code=006F name="lineCaptureHoming:Science:Read_Oil" *n code=0070 name="lineCaptureHoming:Science:OceanCurrent" *n code=0071 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=0072 name="lineCaptureHoming:Science:PeakDetectChl" *n code=0073 name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=0074 name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0075 name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=0076 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=0077 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=0078 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=0079 name="lineCaptureHoming:Science:EdgeDetectChl" *n code=007A name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=007B name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=007C name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=007D name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=007E name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=007F name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=0080 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl" *n code=0081 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:A" *n code=0082 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=0083 name="lineCaptureHoming:Science:PeakDetectNO3" *n code=0084 name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=0085 name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0086 name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=0087 name="lineCaptureHoming:Science:PeakDetectOil" *n code=0088 name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=0089 name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=008A name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=008B name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=008C name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=008D name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=008E name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=008F name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=0090 name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=0091 name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=0092 name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=0093 name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=0094 name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=0095 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=0096 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0097 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=0098 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0099 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=009A name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=009B name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=009C name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=009D name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=009E name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=009F name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=00A0 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=00A1 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=00A2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=00A3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=00A4 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=00A5 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=00A6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00A7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00A8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00A9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00AA name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00AB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00AC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00AD name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=00AE name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00AF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=00B0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=00B1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=00B2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00B3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=00B4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=00B5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=00B6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=00B7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=00B8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=00B9 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=00BA name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=00BB name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00BC name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00BD name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=00BE name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=00BF name="lineCaptureHoming:StandardEnvelopes" *n code=00C0 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=00C1 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=00C2 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=00C3 name="lineCaptureHoming:C" *n code=00C4 name="lineCaptureHoming:D" *n code=00C5 name="lineCaptureHoming:E" *n code=00C6 name="lineCaptureHoming:NeedComms" *n code=00C7 name="lineCaptureHoming:NeedComms:A" *n code=00C8 name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=00C9 name="lineCaptureHoming:NeedComms:C" *n code=00CA name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=00CB name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=00CC name="lineCaptureHoming:NeedComms:D" *n code=00CD name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=00CE name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=00CF name="lineCaptureHoming:NeedComms:E" *n code=00D0 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=00D1 name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=00D2 name="lineCaptureHoming:G" *n code=00D3 name="lineCaptureHoming:H" *n code=00D4 name="lineCaptureHoming:MicromodemComms" *n code=00D5 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=00D6 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=00D7 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=00D8 name="lineCaptureHoming:J" *n code=00D9 name="lineCaptureHoming:LineCapture" *n code=00DA name="lineCaptureHoming:LineCapture:A" *n code=00DB name="lineCaptureHoming:LineCapture:B" *n code=00DC name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=00DD name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00DE name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00DF name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00E0 name="lineCaptureHoming:LineCapture:D" *n code=00E1 name="lineCaptureHoming:LineCapture:E" *n code=00E2 name="lineCaptureHoming:LineCapture:F" *n code=00E3 name="lineCaptureHoming:LineCapture:G" *n code=00E4 name="lineCaptureHoming:LineCapture:H" *n code=00E5 name="lineCaptureHoming:LineCapture:HoldMass" *n code=00E6 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=00E7 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=00E8 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=00E9 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=00EA name="lineCaptureHoming:LineCapture:HomingSequence" *n code=00EB name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=00EC name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00ED name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00EE name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00EF name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00F0 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00F1 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00F2 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=00F3 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=00F4 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=00F5 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=00F6 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=00F7 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=00F8 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=00F9 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=00FA name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=00FB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=00FC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=00FD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=00FE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=00FF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=0100 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=0101 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=0102 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=0103 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0104 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0105 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0106 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0107 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=0108 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=0109 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=010A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=010B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=010C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=010D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=010E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=010F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0110 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=0111 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=0112 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=0113 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0114 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0115 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0116 name="lineCaptureHoming:LineCapture:M" *n code=0117 name="lineCaptureHoming:L" *n code=0118 name="lineCaptureHoming:M" *n code=0119 name="lineCaptureHoming:N" *n code=011A name="lineCaptureHoming:O" *n code=011B name="lineCaptureHoming:P" *n code=011C name="lineCaptureHoming:Q" *n code=011D name="lineCaptureHoming:U" *n code=011E name="lineCaptureHoming:TrackAC." *n code=011F name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0120 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=0121 name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=0122 name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=0123 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=0124 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=0125 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=0126 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=0127 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=0128 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=0129 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=012A name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=012B name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=012C name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=012D name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=012E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=012F name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0130 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=0131 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=0132 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0133 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0134 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0135 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0136 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0137 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=0138 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=0139 name="lineCaptureHoming:restartDHCP" *n code=013A name="lineCaptureHoming:restartDHCP:A" *n code=013B name="lineCaptureHoming:restartDHCP:B.Execute" *n code=013C name="lineCaptureHoming:StartingMission" *n code=013D name="lineCaptureHoming:Z" *n code=013E name="lineCaptureHoming:BA.Execute" *n code=013F name="lineCaptureHoming:InitialDive" *n code=0140 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=0141 name="lineCaptureHoming:InitialDive:B.Mass" *n code=0142 name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0143 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0144 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0145 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0146 name="lineCaptureHoming:RepeatHack" *n code=0147 name="lineCaptureHoming:RepeatHack:A" *n code=0148 name="lineCaptureHoming:Lap" *n code=0149 name="lineCaptureHoming:Lap:A" *n code=014A name="lineCaptureHoming:Lap:B" *n code=014B name="lineCaptureHoming:Lap:C" *n code=014C name="lineCaptureHoming:Lap:D" *n code=014D name="lineCaptureHoming:Lap:E" *n code=014E name="lineCaptureHoming:Lap:Docked" *n code=014F name="lineCaptureHoming:Lap:Docked:A" *n code=0150 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=0151 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=0152 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=0153 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=0154 name="lineCaptureHoming:Lap:Docked:C" *n code=0155 name="lineCaptureHoming:Lap:Docked:D" *n code=0156 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=0157 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=0158 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=0159 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=015A name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=015B name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=015C name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=015D name="lineCaptureHoming:Lap:Docked:Detach" *n code=015E name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=015F name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=0160 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=0161 name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=0162 name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=0163 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=0164 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=0165 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=0166 name="lineCaptureHoming:Lap:Docked:Drift" *n code=0167 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=0168 name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n 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Ebp|Ebp6E?bp"Ebp:*EbpP$:VEbpd6ZE?bpBEbp;abp2Ebp;abpJEbp};abp:Ebp};abpi?bp)?bp?bp?bpi?bp?bpI?bp=bp0got command restart logsbp9@?bp @?bp@bp0@?bpI?bpbp2Acoustic response timeoutI?bpObp7>~O{,M/??A2[@2V@28<ٱ2P :AHRS rotation from veh to nav: [[0.016940,0.995994,0.087804],[-0.999390,0.019549,-0.028939],[-0.030540,-0.087260,0.995717]]2H X? .?@Wz?`? ?EV?i2[@I2_;0YNo>yRDb2Acoustic response timeoutr+r!r r!)r+Ir%ir r#rv%v v!z@Az@AbD~uVD~qX8yl%<=ٔ>Q->9I=OGyTAE>Q 5;4kQ?Q 9;41)%/?YyQ I%?`D?I&$ =`Gi=̒8)==9i=:AIEA5L91Y5 8ADD4=E EwE'E"E:*E:VEX6ZEa@a@a@a@@ @@-0@I IO%N>u2Acoustic response timeoutB >B яCB DB JK>B =B B B ;B EzU{,IY?AYn1>ynbDbDEoVDEM8y}C7=%}N=ٔ}Q-}>9I=OGyE>Q 5;4BmQ?Q 9;4t)U?YyQ I?w?I#} 2Acoustic response timeout'\{,r?AU1@Ut,@UBٱU5-- mAHRS rotation from veh to nav: [[0.042994,0.998249,0.040620],[-0.998375,0.041406,0.039158],[0.037408,-0.042237,0.998407]]UH@N?`?@̤?*3? ?`'?`@?iU1@IUs_;U CY*>yDy㥛 ¿Mb?(\?>.> 9x&1?"~j̿9v?YA>ySc4?іB B)BYBbDhmVDYI8yi%)=ٔQ->9I=OGy\=E>AQ 5M;4EeQ?Q 9M;4ED)E?YMM?Q EM:yMQ IM?E?IEX:iE:E;4yYɮ],BjjjjjZ-l?Z-l?Z-@Z-wu@ɢA)E.= EUGiA)IMҷIiM;QIQ52:2Acoustic response timeout9@ @@4@IIO>D zD AAbE+P6jȆU6rES3E  E uE E "E ҝ:*E :VE LE6ZE a @a @a @a @: c{,?A2̐@2Ǘ@21ٱ2@ԟ?S?f?`q?@,?i2̐@I2`;2CY^A>y^D dfp<bDjVDj%q8yv9=%v=ٔvo e>Gia)ae_iimD;iIB->B)B-@EB-tU>B-=B)B)B-;B-EΒ{ 9@  @ @ 4@ I I9 OE > 2Acoustic response timeoutr4i{,?A2@2林@2lǼٱ2 ; :AHRS rotation from veh to nav: [[0.025747,0.999665,-0.002779],[-0.999371,0.025807,0.024330],[0.024394,0.002151,0.999700]]2H{]?@?f:m?? ?za? ?i2@I2`;2CYb`a>yb EinbDUY{VDUc8y$=%:=ٔ9I=OGy 8E >Q 5];4LXQ?Q 9];4)?YYy]O Q I]?}?I$%Ń:M2Acoustic response timeoutONCp{,v?A2ܐ@2{ח@2<ٱ2J :AHRS rotation from veh to nav: [[0.032650,0.995827,0.085222],[-0.999199,0.034497,-0.020285],[-0.023141,-0.084492,0.996155]]2H ? ?"ѵ?o?Ŕ'@A@?i2ܐ@I2`;2CR2Acoustic response timeoutYn>ynDbDzsVDzT8y%:%-Y=ٔ-*>Q-->9)I1=5PGy15"<E5>yQ 5;4}iSQ?Q 9;4}s)}7?Yy-Q I?}?I}$:i}:}.;4yɮ;BjjjjjZIZIZIZMQx@ɢ)> dGi)iѱ%<I:Y=E EE:E"E:*E H:VEg6ZEa@a@a@a@]9@Y @Y@]/@aIIOi>U2Acoustic response timeoutB% >B% ҏCB% DB% A>B% =B! B% DB% ;B% ؚEBBBBʭ=BCʆz5mFv{,Q?A2[@2<@2ٱ2 :AHRS rotation from veh to nav: [[0.036655,0.987304,0.154556],[-0.999325,0.035850,0.007989],[0.002347,-0.154744,0.987952]]2HgĢ?@?z?x Z? \? ^9c?@ÿ M?i2[@I2o`;2 CYn=ynDtvAtvAAbDz/VDz8yE%EH=ٔMQ-M>9III=UPGyQU <EU>YQ 5e;4]PQ?Q 9e;4])]b@YiymQ Im?]|?I]N:i]:](;4yqɮuJBjjjjjZ)Z)Z)Z-Yz@ɢy)J> Gi)顅Gi@<I2Acoustic response timeout5:?=@ @@/@IIO l>E ExE1E"E1:*E:VE`6ZEBE;a2E;aJEco;a:Eco;au 2Acoustic response timeoutcu|{,BA?Afɐ@fė@fv5ƽٱf6 nAHRS rotation from veh to nav: [[0.030203,0.984172,0.174624],[-0.994862,0.012709,0.100440],[0.096631,-0.176760,0.979499]]fHj? V~?@Z?_?k? ɼ?ƿX?ifɐ@If-L`;fCYz\=yzDy}}Jy y9}пn?ףp= ?Y}y}>}>}7B}B }\B)}yY}3BbDVD8yo%2=ٔ%DSQ-%>9)I)=-PGy)-]E5>1Q 5=<45=]Q?Q 9=<45J)5,@Y$>Q E:y3?Q I?5?I5&A@A @I@I@IIIO> ! ! E  E tE E "E C:*E v:VE w@6ZE a @a @a @a @^X{,?AYn[>yn\DbDzRVDz82Acoustic response timeouty5 =%=V=ٔ=Q-=>9AIA=EPGyAEEE>IQ 5<4MgQ?Q 9<4M)M@YyQ I?ML@IMe#BBDB=BBBDB;BܚE> 2Acoustic response timeoutA @A  @A @I @I I I O >{,'?AV@V@VfҼٱV AHRS rotation from veh to nav: [[0.039771,0.997119,0.064595],[-0.998878,0.038011,0.028244],[0.025707,-0.065646,0.997512]]VH\?e?`O? 4v? ?S?@-ΰ?iV@IVN`;V CE] E]zE]EY"E]a:*E] :VE]!J6ZEYBE]|;ae2E]~;aeJE]v;am:E]v;am-2Acoustic response timeoutYy M p9 I = PGy  7o<E > Q 5 <4 >xQ?Q 9 <4 ) X*@Y y x:?Q I ? @I $ 2Acoustic response timeout i )  [ i Mǎ< I I- >)- ? :E EqEE"E:*E$ :VEO6ZEa@a@a@a@Y=m9@i @i@m/@iA}=A}4<2Acoustic response timeoutA,%AIIO7?0{,U?AB]Ϗ@B>ʖ@BwٱBp jAHRS rotation from veh to nav: [[-0.000200,0.999511,0.031257],[-0.995784,-0.003067,0.091675],[0.091726,-0.031107,0.995298]]BHD*@??w@i@x?X{?ڟ{?iB]Ϗ@IB1`;BC p)pprSWFptviAivIttIz&CixB]>B]яCB]DB]#>BYBYBYB];B]КE utq)qy }iA}yy؁؁I؅)؁i؁)ىIٍiA؍j<؉ ىlAiifC) IYYd>y EbD%VD%t8yY=%<ٔ'Q->9>>I>>=PGy.E>Q 5 <4τQ?Q 9 <4V)3@Y y =?Q I? @I;iy;M9<4yɮBjQjQjQjQjQZZZZ?ɢ)<= Gi)aik̚<I:2>]2Acoustic response timeout59@1 @1@1@1A 2AI I O >E=  E9 E= *E9 "E= :*E9 VE= [6ZE9 BE= Z;aM 2E= [;aM JE= U;aM :E= U;aM X{,o?AY}uh>yE2Acoustic response timeoutbD-gVD->8yZ<%M=ٔQ->9?I?=PGyFE>Q 5<4,Q?Q 9<4b)C:@YyQ I?+@I:i:G<4y1ɮ5B1jAjAjijijiZZZZɢ) Gi)顽i J<I:@L>u 2Acoustic response timeouta @a  @a @a @a Am cAzAm aA m ~G eA A 9 eAY xAy] $Q?e ʏ{,?Ab@b|@bQٱbo$ jAHRS rotation from veh to nav: [[0.037734,0.986667,0.158315],[-0.997984,0.029119,0.056388],[0.051026,-0.160124,0.985777]]bH@Q?`ǒ?C?|cѝ?@ެ? ?~Ŀ|?ib@Ib3_;b CE] E]E]9EY"E]:*E] H:VE]g6ZEYae@ae@ae@ae@Yw>yEy}?5^I?oʡ?ʡEƿMB?->-2 9Onÿ5BGB B)BYWBbDFjVDC8y=%==ٔ=Q->9 I = PGy F =E>Q 5<4vQ?Q 9%<4)q0@Y%T>Q E%:y% ?Q I%?3@I;iG;xV<4yMBɮUBUEjjjjjZl?Zl?Zȸ@@ZO?ɢ)D> Gi)i#< I  cA52Acoustic response timeoutg}: >BAB>BBEBi>B=BBB;B˚E59@1 @1@50@1I) I9 OE > 2Acoustic response timeoutG{,?AF(@F @FCٱF+ RAHRS rotation from veh to nav: [[0.007947,0.985990,0.166615],[-0.999296,0.001719,0.037489],[0.036678,-0.166796,0.985309]]FH`F?:?S?:)\?1?hǢ? Yſ?iF(@IFP_;FCY^@K>y^DbDj[VDj(8y% n=ٔ +=Q- ?9I=PGyFzE?Q 5%<4Q?Q 9-<4)(@Y)y- ?Q I-?8@I:iv:Pb<4y1ɮ]2BYjijijqjqjqZZZZY?ɢ))) -4Gi1)Y]Yi]D=2Acoustic response timeout{,n?AFO%@F0 @F֔ٱFZ RAHRS rotation from veh to nav: [[0.010263,0.977352,0.211371],[-0.997307,-0.005345,0.073138],[0.072612,-0.211553,0.974666]]FH ?wF?6?`@u0??@)˿u0?iFO%@IF_;F CYn=>ynsDvbSBD MO Status=0, MOMSN=3053, MT Status=0, MTMSN=0v.No messages in MT queuebDu^VD-8y-%-H=ٔ-TQ-->91I1=5PGyUF];E]>aQ 5m<4eQ?Q 9m<4e;)e@Yiym?Q Im?ej?@Ie):ie:ep<4yɮKBjjjjjZZZZ ߽?ɢ!)%?@> %fGi!))))i-,E 2Acoustic response timeoutIɵ{,D?AB&>B&ҏCB&/EB&M>B&=B$B&DB&;B&EVHH@V)C@VvٱV}N ~AHRS rotation from veh to nav: [[0.076369,0.978774,0.190183],[-0.989075,0.050243,0.138590],[0.126093,-0.198689,0.971917]]VH㌳?R?W?|?P?#? nɿ?iVHH@IV_;VCY =y D bD%[VD%(8y5ˋ%5J=ٔ]tQ-]>9YIa=ePGyeFe(>Ee>iQ 5u<4m¬Q?Q 9u<4m)m@Yy?Q I?mE@Im;imX;m~<4yɮYBjjjjjZZZZ?ɢ))5?0= UGiQ)QU*JYi]!e(>2Acoustic response timeout9@ @@/@IaIqOY>E  E pE !E "E :*E  :VE S6ZE BE ;a 2E ;a JE a :E a {,:?A2Acoustic response timeoutY-$=y-Dy5NbX9?X9v?Dl5e?5=5O1 195?ktƿZd;OY5>y5 05j5B5B 5B)5B1Y5BbDmWoVDmL8y};%}*=ٔQ->9I=PGyFE>Q 5<4Q?Q 9<4)@Y>Q E;y&Q I?ER@I;i;<4yɮXBj!j!j!j!j!Zer?Zer?Zei@Ze#@ɢq)q uGiq)顝 ӷi؞<Iuw:2Acoustic response timeout 4>U 9@Q  @Q @U /@Q D zD E  E |E 2E "E :*E P$:VE |a6ZE a @a @a @a @A 0AI I O >Y{,?A2p@2k@2ٱ2u} :AHRS rotation from veh to nav: [[0.081719,0.995063,0.056308],[-0.994524,0.077722,0.069860],[0.065139,-0.061709,0.995966]]2H?@?rԬ?%?T?`묰?O?i2p@I2>a;2CYRh >yRDbDnwVDn\8yr =%v_=ٔv*>Q-v>9v?Iz?=zPGyF[<E>Q 5%<4Q?Q 9%<4)+@Y)y-Q I-?[@I:i:}<4y1ɮ5QB9jIjIjIjqjqZZZZl @ɢ)v> sGi)Xi<I2Acoustic response timeoutv:>AA?AB>BB"EB#>BBBDBd;BEBҏCBBBĮ=BC5@ @@/@!MnManaging dock network, ignoring radio surface power offAmAIqIO}>E 2Acoustic response timeout{,}(?A "@F@Fْ@FU=ٱF] RAHRS rotation from veh to nav: [[0.055312,0.988592,0.140094],[-0.994925,0.066381,-0.075612],[-0.084049,-0.135201,0.987247]]FH`Q???m`Y?G[5`BN?iF@IF`;F CY^R >y^(DbDfi`VDfn18y~D=%I=ٔ">Q->9 ??I ??= PGy F E >Q 5=<4aQ?Q 9=<4)_@YAyEQ IE?f@I";i;<4yIɮMGBIjjjjjZZZZZB@ɢ)M> _Gi)Ki<I  cAdAE EtE E"E:*Ev:VER6ZEBE;a2E;aJE`;a:E`;aWu:cAdA2Acoustic response timeoute=J>iM9@Q @Q@U/@QA 0AI I O >{,B?A2@2@2>ٱ2s :AHRS rotation from veh to nav: [[0.100874,0.983520,0.150045],[-0.986419,0.118519,-0.113710],[-0.129619,-0.136537,0.982118]]2Hҹ?`x?4?AW?X zm?i2@I2Z`;2CYNs6>yN_DbDZcVDZr78yr\=%vL=ٔv*=Q-v>9z?Iz?=zPGyzFz=E~>2Acoustic response timeout Q 5<4 ϘQ?Q 9<4 ) $@YyQ I? &q@I :i &; <4yEBɮEDBEEjyjyjyjyjyZZZZl @ɢ) IGi)4~i[=Is:!>%9@! @!@%4@)E EE"E"E:*EVET6ZEa@a@a@a@AuڗAIyIO~>2Acoustic response timeoutB >B B @EB tU>B B B DB 1;B zE{,ß\?A2q@2k@22=ٱ2ӽ :AHRS rotation from veh to nav: [[0.143571,0.983116,0.113444],[-0.986433,0.151383,-0.063501],[-0.079603,-0.102788,0.991513]]2H`?u? ?ܐ `?A```HPy?i2q@I2_;2CYN@K>yRDbDZVDZ8yfO=%fL=ٔfQ-f>9j?Ij?=jPGyjFn&=E~>Q 5 <4ϔQ?Q 9 <4)=@Y y 9Q I ?{@I:i4:<4yɮ=:B9jQjQjQjyjyZZZZI#@ɢ)R7> 4Gi)Ii=Ir:oE-> 2Acoustic response timeout!@! @!@%3@!AuAIyIOE EEE"E:*EVEL6ZEBE;a 2E;a JEa :Ea  2Acoustic response timeout{,@v?A20 @2@2<ٱ2C :AHRS rotation from veh to nav: [[0.103187,0.987766,0.116918],[-0.994238,0.105861,-0.016874],[-0.029045,-0.114503,0.992998]]2Hyj?`ț?`]??GP ?i20 @I2f_;2CYN*_>yN8 Ey}Q˿+?L7A`尿}(\}>}+y y9}ˡE?ʡE?S?Y}>y}>}/?}B}B }\B)}ByY}B <p;bD{VD8y7=%==ٔkQ->9c?Ic?=PGyF}E>Q 5<4Q?Q 9<4)h#@Y`?Q Er:yL&Q I ?d@I;iK;<4yɮ0BjIjQjQjQjQZ~?Z~?ZB>ZN@ɢ)@0->  Gi)Wi=Iq:eXM>i9@ @@/@AzAbA2Acoustic response timeoutAM.AIaIO>I >) >E  E uE E "E a:*E :VE G6ZE a @a @a @a @){,eV?A2O@2J@2 w9ٱ24 :AHRS rotation from veh to nav: [[0.046713,0.983524,0.174638],[-0.998904,0.045498,0.010956],[0.002830,-0.174958,0.984572]]2H?y?Z?@K?`)p?@.g?eƿ?i2O@I2_;2CYNO>yRdDbDZszVDZZa8yfP%%fZ=ٔf2Q-f>9j ?Ij ?=jPGyjFnEn>Q 5<4@Q?Q 9 <4)0@Y y 'Q I ?Ə@I6:i:<4yBɮ=CB=EjIjIjQjQjQZZZZL@ɢ) 0Gi)ʸi,=I}2Acoustic response timeouto:BiAiBu>BqBuDBuJK>Bu=BqBuDBu/;BuxEM>m9@q @q@q@qE 2Acoustic response timeoutA ڗAI I O >#{,0?A2P@21 @2vBٱ2T :AHRS rotation from veh to nav: [[0.038923,0.978108,0.204425],[-0.998110,0.028321,0.054535],[0.047552,-0.206161,0.977362]]2H@?L?*???@ ?X? {cʿF?i2P@I2_;2CYN">yRlDbDZOVDZ*8ybݽ%bK=ٔb`Q-b>9f?If?=fPGyfFjEj>hQ 5<4jJQ?Q 9%<4j)j=@Y!y%EQ I%?j@Ij$ M]GiI)顕i{#=IE EvEE"E:*E:VEaQ6ZEBE7;a2E9;aJEh;a:Eh;a;n:[A>2Acoustic response timeout]9@Y @Y@]/@YA.AIIO>{, ?A2@2@2ٱ2#y- >AHRS rotation from veh to nav: [[0.070569,0.983649,0.165697],[-0.996870,0.063611,0.046939],[0.035631,-0.168491,0.985059]]2H@? z?@5?\`H?\?=>?ſ`?i2@I2_;2CYN >yRԴDTVAXZ@AbDZJVDZn 8r2Acoustic response timeoutyv%vH=ٔz9z ?Iz ?=zPGyzF~o=E~>Q 5 <4Q?Q 9 <4Q)L@YyiQ I?@IB:i9:-<4y]BɮmmBE=G EE9AYMAjjjjjZZZZQ^@ɢ!)%)> %lGi)))-Piim*=qIqMl:E EyEE"EC:*E:VEN6ZEa@a@a@a@2Acoustic response timeout},> % 9@!  @! @- /@) A5 ?A5 ?Bm >Bm яCBm DBm =Bm =Bi Bi Bm &;Bm qEAu ڗAIy I O >C{,x?A2 @2@2Ö;ٱ2 zAHRS rotation from veh to nav: [[0.069354,0.991021,0.114315],[-0.997590,0.069135,0.005887],[-0.002069,-0.114448,0.993427]]2H.?q?C?Aβ? x?`uL'?i2 @I2B7`;0Y>yDbDpVD(O8ye %m%=ٔm>=Q-m>9u?Iu?=uPGyuFu'E}>y2Acoustic response timeoutQ 5=4}Q?Q 9=4})}]@Yy*Q I?}V@I}$ E~GiI)IMjշIiM2=QIUj:E EpE"E"Eҝ:*E :VET6ZEBE;a2E;aJEDR;a:EER;a )>e 2Acoustic response timeoutQ @Q  @Q @U /@Q A؟AIIO>n{,qr?A2@2@2Lѽٱ23 :AHRS rotation from veh to nav: [[0.036397,0.995720,0.084949],[-0.994116,0.027398,0.104795],[0.102020,-0.088263,0.990859]]2H??@1? 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Ӻ??g?i2@I2+`;2CYr>yrSDyex&?V-?#~j俙e7 >eyet=e~jeƿBeB eǩB)eBaYeBbDVD8y ;% -=ٔbQ->9"?I"?=PGyFDE>!Q 5m=4%0Q?Q 9m=4%u)%W@Ym>Q Eu;yuQ Iu?%@I%;%Z5>Z5>Z5de@E2Acoustic response timeoutɢ)c> |Gi)額 i)9=I]i:504>@ @@/@bER6jEȁR6rE)2E-  E- qE- E) "E- :*E- $ :VE- R6ZE) aE @aE @aE @aE @A ֧AI I O% > 2Acoustic response timeout|,@?A2v@2q@2ٱ2.ƽ :AHRS rotation from veh to nav: [[0.050934,0.994704,0.089272],[-0.988705,0.037606,0.145083],[0.140958,-0.095653,0.985384]]2H??@ڶ?w@#A??@ ?@|C?i2v@I2G&`;2CYN4<>yNrD PPbDZpbVDZ)58yf*>%fy=ٔfJQ-f?9j*?Ij*?=jPGyjFj@9=En?Q 5%=4 Q?Q 9-=4+)eS@Y)y-Q I-?P@IF:i:,=4AYA]@ABe>BaBeDBew>BaBaBaBeC;Be}Ey1ɮ}kByjjjjjZZZZ^@ɢ9)A ECGiA)AEAiE`==IIImh:I=>)=>]2Acoustic response timeout6>i @i  @i @m 0@i A .AI I O >EA  EE uEE EA "EA *EE :VEE G6ZEA BEE ;aM 2EE ;aM JEE wd;aU :EE xd;aU |,e1?AY$>y%DbD5wVD5b\8yp[%?=ٔQ->9 ?I ?=PGyFE>Q 5=4fQ?Q 9=4)N@YyQ I?@I:i:;=4yɮwBjAjAjIjIjI2Acoustic response timeoutZZZZɢ) [Gi )  O i B=QIQ-f:^,>}9@y @y@}14@yAAIIO>m 2Acoustic response timeoutМ|,4J?A2N1@2/,@2FLٱ2H :AHRS rotation from veh to nav: [[0.042982,0.987053,0.154531],[-0.998862,0.039256,0.027082],[0.020665,-0.155519,0.987617]]2H?`??`k?P?&)? ÿ?i2N1@I2_;2CY^>y^IDddbDjvVDjZ8y}3%}K=ٔ<>Q->9c?Ic?=PGyF䫼E>Q 5=4Q?Q 9=4)?H@YyQ I?1@I# UmGiY)Y]ͷYi]qI=aIamwe:%B>2Acoustic response timeout9@ @@/@BaBeЏCBeDBe,>BaBaBeDBe;BeiEB%яCB!B!B!B!C%Ǒ4A .AI I! 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"X?i2d@I2Ć^;2(CYB?FByFHHHbDNVDNkyV >%VJ=ٔZҠ9Z ?IZ ?=^PGy^\F^<E^>`Q 5fS4bX?Q 9fS4b^)bIBYhyj⎿Q Ij?b @,?A2 ʜ@2ģ@2Fٱ2B :AHRS rotation from veh to nav: [[0.389628,0.919603,0.050201],[-0.907849,0.374337,0.188895],[0.154916,-0.119174,0.980713]]2H@? cm??` "?-?@I? +b?i2 ʜ@I26s^;2'CYBxFByBHZ2Acoustic response timeouty"~j?A`"?Zd;OSC?Y=j< 9(\?~jt?V-Y'?y<hBvA B)`AYGBbD5VD5y=W>%E@=ٔE9M"?IM"?=MPGyM]FU;EU>QQ 5eS4U#X?Q 9eS4U@e)UIBYe(?Q Ee:ye+Q Im?UBIU;iU;U&S4yuBɮuH5BuEB>BCBHBFBB` =BBDB ;BlOEjj j j j ZMx=ZMx=ZMٔ\@ZM+S@ɢ]ϼ)Y ]þi]9)a顁i?=IE EE-E"E ;*E҆:VEt4ZEBEYQ%CG9A9YAm2Acoustic response timeout9 kH,!?A:ۜ@:֣@:pٱ:+ BAHRS rotation from veh to nav: [[0.392069,0.918319,0.054507],[-0.908058,0.376837,0.182826],[0.147352,-0.121176,0.981633]]:H?b?`^? @?`f?q?gi?i:ۜ@I:Z^;8YNFByNZHPRAbDV XVDV2yb=%b-=ٔf9f ?If ?=fPGyf_Fj;Ej>lQ 5rS4nX?Q 9rS4nl)nIBYtyv꒿Q Iv?njBIn9:in1:n6S4=2Acoustic response timeoutyqɮu5BqjjjjjZZZZm@ɢV) 橾i9)i>= I I#?)?EM EMEM/EI"EMV:*EMx:VEMJ4ZEIaU@aU@aU@aU@" 9 2Acoustic response timeout9 ) @1  @1 @5 1@1 q AyIIO>s P,@?A2@2@2 ٱ2~ :AHRS rotation from veh to nav: [[0.393834,0.917290,0.058940],[-0.908437,0.378654,0.177097],[0.140132,-0.123290,0.982427]]2H4?`pZ?V-?;?@ ??  p?i2@I2q^;2)CYBFByFH hjp;bDvVDvy~s=%~(=ٔ~yu9I=PGy`F G;E >Q 5S4Y?Q 9S4bt)IBYyQ I%?BI:iF:GS4y-Bɮ-5B-EjAjAjAjAjAZaZaZaZe~@ɢun))y }i}R9)y}yi}D*<=I2Acoustic response timeout 9A A @ABu>B}CBHBKGBBd =BBDB;BNEE EE,E"E:*EAr:VEg4ZEBE>A 2Acoustic response timeoutq EV,'OZ?A2(@2@2Hٱ2a& :AHRS rotation from veh to nav: [[0.394877,0.916470,0.064449],[-0.909003,0.379550,0.172207],[0.133361,-0.126585,0.982950]]2HE?S?@? J? ? ?3St?i2(@I2^;0YBGByBHRPBattery below minimum, enabling chargingIbD\VD\y~7(>%eK=ٔmz9m"?Im"?=uPGyuaFu:Eu>yQ 5S4}Y?Q 9S4}z)}JBYyQ I?}BI}:i}$:}VS4yɮ4BjjjjjZZZZ=@ɢ{) eiC9)if:=IQ 2Acoustic response timeoutԁ 9E% E%E%.E!"E%:*E%x:VE%ـ4ZE!a-@a5@a5@a5@1@1 @1@1@1ԱA .AI I O > r\,5t?Ai4I4B2Acoustic response timeoutd@M@+ٱ$ AHRS rotation from veh to nav: [[0.395692,0.915939,0.066959],[-0.909591,0.380795,0.166251],[0.126778,-0.126690,0.983807]]H S?_O?>$?^^?G?E:?_7Y{?id@Iw^;Y-TGBy-(H 11yV-?kt:v?%9=ٔ%}9% ?I% ?=-PGy-bF-4:E->1Q 5=S45XY?Q 9=S45)5JBYE??Q EE:yE^Q IE?5?BI5a:i53:5eS4yMBɮU4BUEjajajajijiZ=Z=Z?ZZ7>ɢ9) +iR9)顡ik8=ԩIM 92Acoustic response timeout9@ @@@Bb>B{CBHBGBBe =B7DBDB0;B\NE E5  E1 E5 ,E1 "E5 &:*E1 VE5 g4ZE1 BE5 h;1 Wc,?A:@:@:oٱ: FAHRS rotation from veh to nav: [[0.395814,0.915852,0.067428],[-0.910357,0.381664,0.159946],[0.120752,-0.124692,0.984820]]:H U?N?@B?!-m?@y? ?뿿?i:@I:^^;8YNtGByNPHTV@AbDZVDZyb=%bd=ٔb9dId=fPGyfcFjhEj>lQ 5rS4nh#Y?Q 9rS4n+)nJBYpytQ Iv?nBIn;in :nqS4yxɮz|4Bxj j j j j Z)Z)Z)Z-*5>>ɢ=O$)A E_ iE9)AEAiE7=III5 9}2Acoustic response timeout 9@  @ @ 4@ AA>I!I19OER>i % 2Acoustic response timeouti,?A 2'@2@2(ٱ2 >AHRS rotation from veh to nav: [[0.395679,0.915814,0.068731],[-0.911153,0.382085,0.154308],[0.115056,-0.123681,0.985629]]2HR?@XN?`?+(t? ^?`St?`F?i2'@I2o^;0YZGBy^}HbDfVDfk2ynS=bEmA{4jEm44rEm<0Er ErEpEp"Ers:*Er:VEpZEpaz@az@az@az@%zI=ٔ~d9I=PGydFՍE> Q 5S4 -Y?Q 9S4 ) $JBYyjQ I? gBI 3;i r; S4y%Bɮ-n4B-Ej9jAjAjAjAZaZaZaZeC>ɢu)q u.νi}q9)y}nyi} )6=I 9i@ @@4@2Acoustic response timeoutԙIIOb> ip,V?A2@2ߣ@25ٱ2i :AHRS rotation from veh to nav: [[0.394977,0.915975,0.070584],[-0.912113,0.381812,0.149233],[0.109744,-0.123324,0.986280]]2HNG?O??0o?? 5?- ?i2@I2Y^;2+CYFGByFHIJ<)J9\I\=^PGy^eFb+Eb>dQ 5jS4f7Y?Q 9jS4f)f,JBYhyjQ In?fBIf:if:fōS4yeBɮec4BajyjyjyjyjyZZZZG>ɢ) i9)页Ti@4=I2Acoustic response timeoutBY>BzCB HB HBBg =BBDB;BMEB}CB~CB—CBd =Ba =C 69E EE.E"E;*E|:VEـ4ZEBEs 2Acoustic response timeout1 v,ݖ?A2{ٜ@2dԣ@2`ֽٱ2'r :AHRS rotation from veh to nav: [[0.393945,0.916259,0.072644],[-0.913155,0.381158,0.144451],[0.104665,-0.123241,0.986842]]2H c6?@Q?Ҙ?8d? [}?V˺?@@5?i2{ٜ@I2tt^;2)CYBGByFH Jp%VK=ٔZO9XIX=ZPGy^fF^^E^>`Q 5fS4bAY?Q 9fS4b)b3JBYhyjQ Ij?bBIb:ib:bݛS4ylɮn(4Bpjxjxjxjxj||ZZZZK>ɢ-C)1 5oi5:9)151i5h3=I9@AI @A@M/@IAQzAUdAII2Acoustic response timeoutO%>E EEE"E;*E:VEZEa @a @a @a @Qԉ |,}?A"2Acoustic response timeout6D͜@6-ȣ@6̽ٱ6 >AHRS rotation from veh to nav: [[0.392777,0.916583,0.074847],[-0.914194,0.380319,0.140023],[0.099877,-0.123422,0.987315]]6HA#?T?%)?A&W?G?`? @?i6D͜@I6\^;6(CYJHByJHyB`"? ףp= ? rh?n?Q8=C< 9 rh?:v?Mb`YL?yT<BA  B)AYBbD5VD51yE=%EA=ٔE:9III=MPGyMgFUfEU>QYQ 5eS4]MY?Q 9eS4]!)]TJBYmL?Q Em:ymQ Im?]FBI]:i]H:]S4yqɮ}4ByjjPjjNCompleted lineCaptureHoming:InitialDiveOjAggregate::uninitialize lineCaptureHoming:InitialDive1P Uninitialize.qPUninitialize.Q dAggregate::initialize lineCaptureHoming:RepeatHackQZ]h>Z]h>Z]X@Z]P@ɢmE:) ԩ2Acoustic response timeoutBBBoHB^HBBh =BBB-;BLMEE  E E *E "E :*E VE (N4ZE BE E89pIp=rPGyrhFv0ZEv>xQ 5~S4z(XY?Q 9~S4z)zqJBY|y@Q I?zBIz;iz;zLS4y Bɮ 3B EQ% %hAggregate::uninitialize lineCaptureHoming:RepeatHackQ%1R% %VAggregate::initialize lineCaptureHoming:LapqR%ZAZAZAZE>@iUp:)UUQiUYIeԹ}E9]2Acoustic response timeout@ @@0@IIO> 2Acoustic response timeout9 Љ,N()?A2@2䴣@2sٱ2 G >AHRS rotation from veh to nav: [[0.390959,0.917096,0.078010],[-0.915901,0.379267,0.131459],[0.090974,-0.122844,0.988247]]2Hw?X?r? OE?? J?r ?i2@I2\^;2*CYFfHByFzHLLbDRVDR1yZ-=%ZM=ٔZ(09\I\=^PGDb<Db<Ef EfEf.Ed"Ef:*Ef:VEfـ4ZEdaj@aj@aj@aj@yjiFn ,En>YQ 5eS4]cY?Q 9eS4])]JBYiymbQ Im?]BI]:i]:]S4yu(Bɮu3B}E kXqRR ZAggregate::initialize lineCaptureHoming:Lap:BZZZZ.@i)iIf9M9@I @I@MO1@IAUzAUAUAUIe2Acoustic response timeoutAII O>qԙ ,uC?A2@2߮@2cٱ2 :AHRS rotation from veh to nav: [[0.390425,0.917167,0.079832],[-0.916515,0.379020,0.127840],[0.086993,-0.123080,0.988577]]2H?nY?o? TA?]?+E?`$@k?i2@I2^;2'CYFHByFHbDNVDN2yV >%VJ=ٔZ:"9ZIZ=^PGy\^E^>`Q 5fS4bnY?Q 9fS4b)bJBYhyj{Q Ij?b,BIb:ib :bXS4ylɮn3Bpq6zl~fAggregate::initialize lineCaptureHoming:LineCapture17~ n~Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopesq7~n~JInitialize AltitudeEnvelopeComponent.7~ oDInitialize DepthEnvelopeComponent.7oJInitialize OffshoreEnvelopeComponent.819q9rxAggregate::initialize lineCaptureHoming:LineCapture:HoldMass99sInitialize.1: t Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyq: t B={CB=HB=HBB=f =B9B9B=;B=LEqE EE-E"EV:*Eą:VEt4ZEBE9m 2Acoustic response timeout 3▆,3\?A2@2@2&ٱ2 :AHRS rotation from veh to nav: [[0.387898,0.918346,0.078587],[-0.917826,0.377048,0.124220],[0.084446,-0.120314,0.989138]]2HQ?c?G? ^!?̿?8?̾ ?i2@I2`^;0YFHByFHIJ=)J<bDRVDR2yZ=%ZJ=ٔZ0;Q-Z>9\I\=^PGy\bEb>dQ 5jS4fyY?Q 9jS4f)fJBYhyjؓQ Ij?fBIf:ifF:fzS4yr4Bɮr3BrE1M~ ~Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqM~Entering Terminal tracking update period 2.000000 s sec at 1.800000 m (mode 0.000000 count ).qMM d ddjdZd d@b% Q@6%18%Z9Z9Z9Z=@@iI)IIIiIQIQIe8?)e?2Acoustic response timeout9E EEE"E:*E:VEZEa@a@a@a@9@ @@4@IIO>) ,_v?A2Acoustic response timeoutF@F@FUԧٱF  NAHRS rotation from veh to nav: [[0.385967,0.919708,0.071874],[-0.918874,0.376363,0.118415],[0.081856,-0.111748,0.990360]]FH?@n? [f?igU?oP?`?@?iF@IFE^;DYZHByZ)Hy=Gz?9iIi=mPGyiuEu>yQ 5S4}Y?Q 9S4})}JBYH?Q E:yQ I?}zBI}:i}:}cS4yɮs3Bjj@MMB*** querying acoustic contact ***i idddjdZd`d@Bd@18q8Z=Z=Z(Ƙ?Z=i)iyIyQU 9IY)Y@ @@/@II O*>y2Acoustic response timeoutB=Y>B9B=PHB=IBB=c =B9B9B=;B=9LEԩ E  E E .E "E a:*E :VE ـ4ZE BE (9)I)=-PGy15E=>IQ 5]S4MRY?Q 9]S4M)MKBYayeQ Ie?MBIM|;iMX~;MIS4yuKBɮ}t3B}ĵErj@M1NdddjdZd d@JdQ@q88ZZZZg=i )iI!52Acoustic response timeout=9ԩ9@ @@/@IIO&>  2Acoustic response timeoutC,Xp?A2@2@2Qٱ2M̽ :AHRS rotation from veh to nav: [[0.385864,0.920400,0.063035],[-0.919545,0.378190,0.106817],[0.074475,-0.099180,0.992279]]2H@?@s?#?`l`B4? TX?@?c?i2@I2J^;2,CYF?IByFHER ERER-EP"ERV:*ERz:VERt4ZEPaV@aV@aZ@aZ@bDNVDN02yb=%bP=ٔb'9dId=fPGydjb:Ej>plQ 5vT4nTY?Q 9vT4n)n6KBYtyvQ Iv?nBIndE;inF;n T4y|ɮ~W3B|zj1NrCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1M Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalddd!jd!Zd%e@Rd!8%:- u-Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:-u-Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock1;- v-Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq;-v-Initialize.v5dInitializing internal variables to default values.<5 y5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<5y5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1>5 |5Initialize.q>5|=Initialize.1=A Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceAAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqCInitialize.C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlCInitialize.1DqD1BZ9Z9Z9Z=i(=iq)qyyiyIm9 @ @@/@I IO%,>E2Acoustic response timeout1a S,T?AY~qIBy~HbD VD 3y=%%D=ٔ%Q-%>9)I)=-PGy)-E->99Q 5ET4=Y?Q 9ET4=)=\KBYAyIQ IM?=ZBI=B:i=[:=}T4yQɮU%3BQAu uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceAu}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1B}1C} }Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqC}}Uninitialize.C} }Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlC}1D}qD}<} y}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<yAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1=1> |Uninitialize.q>:vInitialize.vdInitializing internal variables to default values.vPDetached from dock at depth 50.361225 m.zebejeZe2Acoustic response timeoutBA<B\>BBHBfIBBe =BBB\;BvKEd1d1d1jd1Zd5e@ZqZqZqZqi))顉iIE EE.E"E;*Ex:VEـ4ZEBE@aE9@A @A@E0@AIQIaOm6>ԑM 2Acoustic response timeoutԹ B0,&?A2혜@2֓@2+ٱ2K :AHRS rotation from veh to nav: [[0.388039,0.919823,0.057899],[-0.919317,0.381835,0.095176],[0.065437,-0.090160,0.993775]]2H`?/o?`? k o?@m]?`t??i2혜@I2Y^;2(CYZIByZHbDbVDbyj=%jP=ٔj9lIl=rPGypr;Er>tQ 5zT4vFY?Q 9zT4v)v}KBYxy~ڏQ I~?vBIv;iv;v:)T4yWBɮ$3BŵERe-ze)be)je)Ze)d1d1d1jd1Zd55e@ZQZQZQZUi=ia)i)iiiiiqIqԙu9 &Changing to mode: 32Acoustic response timeout9@ @@4@IIOF>DzDbEMـ4jEMA{4rEMQ/E EE0E"EV:*E:VE4ZEa@a@a@a@! ] 2Acoustic response timeout _,@?A.@.@.b xٱ.Gذ :AHRS rotation from veh to nav: [[0.389260,0.919430,0.055902],[-0.919138,0.383716,0.089152],[0.060519,-0.086085,0.994448]].H?@k?"? i@Ύ?@Ҷ?R? ?i.@I.^;.)CYZIByZHy} rh?&1~jt},?}P}ļy y9}L7A`?Q?:v?Y}+'?y}u=}T<} B}A }B)}RByY}BbDVD3y=%==ٔ:9I=PGy5;E>Q 5T4Y?Q 9T4)KBY'?Q E:yډQ I?BI :iz ;Q8T4ycBɮ3BεEB*** querying acoustic contact ***i iRezebejeZeddd jd Zd `Qe@Z-t=Z-t=Z-?Z-?i9)9)AAAiAAIIIU!?)U"?M97@ @@X4@IIO )>2Acoustic response timeoutBT>BzCBHBIBBb =BBB;BJEB{CBzCBǓCBe =Be =Cc6AE  E E 1E "E :*E :VE -4ZE BE #5AHRS rotation from veh to nav: [[0.390482,0.918977,0.054815],[-0.918923,0.385472,0.083618],[0.055713,-0.083022,0.994989]]2H?Bh??@g? g?m?@@?i2@I2j`;2+CYRIByRBH ^4<\bDfVDfk2yr|=%rX=ٔv8P9xIx=zPGyx~Q;E> Q 5T4 Y?Q 9%T4 ]) KBY!y%Q I%? BI g;i  h; ET4y1ɮ=2BRezebejeZedddjdZd ke@Z!Z!Z!Z%?i9)9)999i9AIAY2Acoustic response timeoutU9ԁUhW 2Acoustic response timeout yoʆ,+?A2;@2$@2ZNٱ2! :AHRS rotation from veh to nav: [[0.392340,0.918134,0.055671],[-0.918438,0.387714,0.078421],[0.050417,-0.081898,0.995365]]2H?Za?݀?`cO?`i?=Щ?@ ?i2;@D>=D><EB EBE@E@"EB:*EBx:VE@ZE@aF@aF@aF@aF@I2+Za;2)CYNIByRlHbDZVDZk1ybB=%bL=ٔb-Y9dId=fPGydj";Ej>lQ 5rT4nY?Q 9rT4nf)nKBYpyrwQ Iv?nBIn:in:nST4yzoBɮz2BzϵERe!ze!be!je!Ze!d!d)d)jd)Zd5@e@ZYZYZYZ]?iy))顁iIIԱ!9er;2@ @@/@I 2Acoustic response timeoutI)O5O> 1 MTц,SE?A6Ȝ@6ã@6`8ٱ6襽 BAHRS rotation from veh to nav: [[0.393828,0.917432,0.056720],[-0.918086,0.389593,0.073042],[0.044913,-0.080840,0.995715]]6H@z4?`[?r ?``?ٲ?? ?i6Ȝ@I6a;4YJ JByJHbDRVDR02yZH=%ZL=ٔ^`9`I`=bPGy`bu;Eb>dQ 5jT4fY?Q 9jT4fy)fKBYlynGQ In?fBIf3;ifr;faT4ypɮv2BtRe ze be je Ze d ddjdZde@Z1Z1Z1Z53?iA)I)IIIiIQIQ}2Acoustic response timeoutAAAABV>BBcHBIBBd =BBB5;BEJEu"9E EEE"ED:*E҆:VEZEBE2- 2Acoustic response timeouti P~׆,m_?A 2ќ@2ˣ@2 !ٱ2 >AHRS rotation from veh to nav: [[0.394865,0.916936,0.057539],[-0.917897,0.391047,0.067429],[0.039328,-0.079440,0.996064]]2H`vE?W?u?i_? C?"?@1V?i2ќ@I2_S`;0YF*JByFHbDRVDRk1yV=%ZK=ٔZ%c9\I\=^PGy\ #;E >Q 5T4Y?Q 9%T4 )KBY!y%'Q I%?BI;i<;pT4y)ɮ52B1ReQzeQbeQjeQZeQdQdYdYjdYZd]@e@ZyZyZyZ}g*?i))顑iIP$9i2Acoustic response timeoutIA)EbADzDAAE EE0E"E*E:VE4ZEa@a@a@a@Աj-@ @@/@I)I9OA = 2Acoustic response timeout݆,Ky?A2I؜@22ӣ@2 ٱ2[ :AHRS rotation from veh to nav: [[0.395764,0.916304,0.061300],[-0.917742,0.392187,0.062755],[0.033462,-0.081094,0.996145]]2H4T?\R?b?%^??!?´j?i2I؜@I2_;2*CLYR6JByRHy-x&1?V- rh-!?--C ) )9--?y&1?9I=PGy;E>Q 5T4Y?Q 9T4)KBY7?Q E:ybQ I?BIG);i(;~T4yzBɮ2BB*** querying acoustic contact ***i iRezebejeZedddjdZde@Z==Z==Z=Xn@Z=Wk?iI)Q)QQQiYiIye+@a @a@e4@aIqIO:>B}Z>B}{CB}HB}'JBB}b =ByByB};B}JE2Acoustic response timeoutE  E E 2E "E :*E ~:VE 4ZE BE #5 {CE G] eAu A ݿ9 eAY Ay U? 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)?R^?08?Eÿ)ɿ@EU?i2A@I2G^;2+CYBJByFHlimMb@Mb@Mb@iiii i9m7A`?/$?~jtYm>ym9Y=PGy;E>Q 5V4,[?Q 9V4))EBY؛>Q E.;yFQ I?BI ;i? ;V4yɮu3BzebejeZedddjdZdj@Z؛>Z؛>Z =Z%>@i!)!))))i)1Im1@i @i@mo0@iIIO;>2Acoustic response timeoutA B <A 4=B L>B zCB WHB IBB ^ =B 7DB DB ;B IE$,c^?AJ0Q@JL@JK>ٱJQ RAHRS rotation from veh to nav: [[0.456483,0.879102,0.137123],[-0.867479,0.474001,-0.151005],[-0.197745,-0.050020,0.978976]]JH7?`!?`=?@d`V?` TÿOɿ =`S?iJ0Q@IJAb^;J)CYZJByZHIb<)b=bDfVDf2yno^;%nW=ٔrL;Q-r>9pYp=vPGytv;Ev>x2Acoustic response timeoutQ 5]V4zJ1[?Q 9]V4z)zEBYYye Q Ie?zBIzeq2Acoustic response timeoutԡ P,[A?AJ#b@J ]@J5L>ٱJ̾Q nAHRS rotation from veh to nav: [[0.458181,0.878074,0.138044],[-0.866353,0.475888,-0.151536],[-0.198753,-0.050164,0.978765]]JHR?.?k?)t?eÿpɿ  R?iJ#b@IJJ^;J+CYJByHԙ ;bDVDP)3ye%e4=ٔ.;Q->9Y=PGy!;E>Q 5V46[?Q 9V4V)vEBYyʂQ I?OBIu;i;eV4yɮ3BzeybeyjeyZeydddjdZdGj@ZZZZJ]@i))iI 2Acoustic response timeoutI)DzD?AbE-ـ4jE-ŋ|4rE-/E EE.E"E;*E:VEـ4ZEa@a@a@a@/@ @@4@IIOg>  2Acoustic response timeout4, ?A:Zr@:Dm@:M>ٱ:(O FAHRS rotation from veh to nav: [[0.459825,0.877177,0.138280],[-0.865312,0.477588,-0.152133],[-0.199488,-0.049701,0.978639]]:H`m??@*?̐?@yÿ ֈɿjrQ?i:Zr@I:bo^;:,CYNJByNHi%Mb@Mb@Mb@!!!! !9%|?5^?y&1? rhY%>y%`<%C% B! !)!!Y%zBbD= VD=f2yM/<%M^=ٔU;Q-U>9QYQ=UPGyQ][;Ee>aQ 5mV4eP;[?Q 9uV4ev)eHEBYu>Q Eu3;yu}Q Iu?eBIe:ie ;eV4yɮ3BB*** querying acoustic contact ***i izebejeZedddjdZd]j@ZM>ZM>ZM,=ZM4Z@iy)y)顁iIBc9B1B1B5JHB5IBB1B1B1B5;B5IEBzCBzCBB^ =BCÃP5!-0@) @)@5/@1IAIQOm5>2Acoustic response timeoutQE EE-E"E:*E҆:VEt4ZEBEE8ٱ2kuL :AHRS rotation from veh to nav: [[0.461512,0.876328,0.138043],[-0.864324,0.479227,-0.152596],[-0.199878,-0.048889,0.978600]]2Hh?` ?d??Cÿɿ@P?i2@I2W^;2)CY^JBybHbDj VDj2yM%O=ٔ!:Q->9 Y = PGy  ;E>Q 5%W45@[?Q 9%W4ɿ)EBY!y%}Q I%?BIr;in;W4y)ɮ53B1zeQbeQjeQZeQdQdYdYjdYZd]vj@ZZZZgl@i))顙iIQ}2Acoustic response timeoute9/@ @@/@IIO>ԁԱ- 2Acoustic response timeoutE  E E +E "E l;*E :VE [4ZE a @a @a @a @ ' ,8 ?A25@2@2KN>ٱ2H :AHRS rotation from veh to nav: [[0.463444,0.875368,0.137665],[-0.863238,0.481073,-0.152932],[-0.200098,-0.047962,0.978601]]2H??@?@`?EÿҜɿ `P?i25@I2e^;2+CYFJByF|HieMb@Mb@Mb@aaaa a9en?yet=eeR Ba eA)eBaYeBy}AAbD VD2yI%A=ٔ :Q->9Y=PGy!;E>Q 5W4E[?Q 9W4')DBY7>Q E8;ysQ I?BI ;i* ;W4yɮ3BzebejeZedddjdZdj@Z7>Z7>Z>Z䗪@i!)!))))i)1I1Թ4g9t>i)>0@ @@/@IIO2Acoustic response timeout A1 A1 B= K>B9 B= >HB= IBB9 B= 6DB9 B= ";B= +IE9 !q,wR ?A2@2@2N>ٱ2H :AHRS rotation from veh to nav: [[0.465101,0.874451,0.137900],[-0.862395,0.482732,-0.152461],[-0.199889,-0.048015,0.978642]]2H7??෦??؃ÿɿ eQ?i2@I2^;2*CYFJByFHbDN VDN2r2Acoustic response timeoutyv/=%vU=ٔzQ-z>9xYx=zPGyx~;E~>Q 5 W4J[?Q 9 W4K)DBYyEsQ I?"BI:i|:#W4yɮ3BzeAbeAjeAZeAdAdAdIjdIZdM@j@ZZZZ;@i))i!I!E} E}E}*Ey"E}V:*E}1:VE}(N4ZEyBE}992Acoustic response timeoutq ,{l ?A$J@Jر@JM>ٱJ|M RAHRS rotation from veh to nav: [[0.467038,0.873225,0.139118],[-0.861406,0.484834,-0.151380],[-0.199638,-0.049137,0.978637]]JH?@u?@?@?`k`ÿ།ɿ}(`P?iJ@IJ_^;J+CYhynHbD%VD%1yUj%]D=ٔmQ-m>9qYy=PGy;E>Q 5mW4O[?Q 9W4)~DBYyrQ I?\BI,=i <2W4yɮzebe!je!Ze!d!d!d!jd)Zd- j@ZiZiiZiZm@i))顙iII;?)7?2Acoustic response timeout)j9E EE,E"E ;*E:VEg4ZEa@a@a@a@9@9 @9@E1@AIQIaOmW>ԙ  2Acoustic response timeout !,\W ?A2ȟ@2¦@2;HM>ٱ2M :AHRS rotation from veh to nav: [[0.468882,0.872211,0.139273],[-0.860521,0.486645,-0.150599],[-0.199131,-0.049235,0.978735]]2H`*?'??`c2%?Fÿ}ɿ H5Q?i2ȟ@I2t^;2*CXYbJBybHiMMb@Mb@Mb@IIII I9MK7?/$?T㥛 YMI>yM,=MM BI M"A)MBIYMzB Y]<bDeVDe3yuE6=%uH=ٔu-Q-u>9yYy=}PGyyƩ;E>Q 5W4Q E:;ykQ I?BIe ;i ;@W4yKBɮ3BEB*** querying acoustic contact ***i izebejeZedddjdZd j@Z>Z>ZJ>Z@i ) )   i IiqBJ>BB1HBIBB] =BBBݐ;BHE@ @ @ 3@  5Gf>5qCIa/GI 9 Y }AOL>2Acoustic response timeoutE EE.E"E ;*E:VEـ4ZEBE{Tٱ2K :AHRS rotation from veh to nav: [[0.470723,0.871296,0.138790],[-0.859659,0.488337,-0.150045],[-0.198510,-0.048683,0.978889]]2HT ? 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S¿ȿ`䨿]?iB"@IBp^;B.CYVKByVHi-Mb@Mb@Mb@)))) )9-?p= ף?Zd;Y->y-=-y- B-}B -A)- B)Y-QBbDEVDE02yU7%U@=ٔ]YQ-]>9aYa=ePGyae{5;Em>iQ 5uW4m`|[?Q 9uW4m)mBBY>Q EH;yMQ I?mBIm Z>Z<>ZSl@i))顱iIQIu9M2Acoustic response timeout@ @@/@IIO>>yAi Am AABu A>Bq Bu cHBu IBBq Bq Bq Bu o;Bu mHEB5yCB5yCB1B1B1C5ɺ4ԩ H U,j0U!?A6*@6%@6GD>ٱ6QJ >AHRS rotation from veh to nav: [[0.480075,0.866594,0.136172],[-0.856291,0.496648,-0.141796],[-0.190509,-0.048530,0.980485]]@6H`?#?@n?f?^&¿@bȿب`"`?i6*@I6K^;4YJ#KByJHR2Acoustic response timeoutbDZ VDZ2ybJ<%bT=ٔbF~Q-f>9dYd=fPGydj,;Ej>lQ 5rW4nԁ[?Q 9rW4n)nBBYpyrLQ Iv?n*BInU;inI:nW4yxɮz3BxzebejeZedddjd!Zd%k@ZAZAZAZEks@iQ)Q)QQQiQYIa aedAE= E=E=*E9"E= ;*E=Z:VE=(N4ZE9BE=LiQIQ]2Acoustic response timeout 7[, o!?AJ2@J-@JB>ٱJoK fAHRS rotation from veh to nav: [[0.481011,0.866144,0.135728],[-0.856076,0.497419,-0.140384],[-0.189107,-0.048667,0.980750]]JH?@t? _?`d?4ȿ꨿`Mb?iJ2@pIJ^h^;HY ,KBy H!!bD5 VD52yUǧ<%UB=ٔe\Q-e>9qYq=}PGyy;E>Q 5W4[?Q 9W4)BBYyLQ I?`BI;iH;W4yɮ3BvEDetached at range: 1.80 m. 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E 2Acoustic response timeoutl,o, "?A2x@2s@2h8>ٱ2E >AHRS rotation from veh to nav: [[0.489259,0.862276,0.130789],[-0.853512,0.504223,-0.131443],[-0.179287,-0.047320,0.982658]]2HP?ė?@?O@"?`ƿb:q?i2x@I2R5`;2.CYFyKByFBHiMb@Mb@Mb@ 9A`"?v/?&1YY>yxi= A)3BYB%@A%@AbD-VD-y<%A=ٔQ->9Y=PGy;E>Q 5X4[?Q 9X4)ABYf>Q Ek;yrHQ I?wBI]:i#:X4yɮ]3BB*** querying acoustic contact ***i iRezebejeZeddd jd Zd `cl@Z-f>Z-f>Z-z>Z-@i9)9)AAAiAIIIB>>BBHBEJBB_ =BBBR;BLHEQ9?i?%$@! @!@!@)I9IIOU2>y2Acoustic response timeoutE EE,E"E;*E:VEg4ZEBE6Nٱ2c@ :AHRS rotation from veh to nav: [[0.490706,0.861714,0.129061],[-0.853073,0.505286,-0.130201],[-0.177409,-0.046208,0.983052]]2H g?(??`LM+?@mUƿ )u?i25@I2_;2+C9XY\=^PGy\^;Eb>`Q 5fX4bE[?Q 9jX4b)bABYhyj HQ Ij?bBIb2:ib:b!X4ylɮppRezebejeZedd d jd Zd @{l@Z)Z)Z)Z-I@i9)A)AAAiAIII2Acoustic response timeout5F9ԩ'@  @ @ 0@ II)O= > 2Acoustic response timeout D =D <E  E E +E "E =;*E Ǚ:VE [4ZE a @a @a @a @,="?AN@N@N|4>ٱN H VAHRS rotation from veh to nav: [[0.492360,0.860606,0.130153],[-0.852481,0.506985,-0.127443],[-0.175664,-0.048206,0.983269]]NHт??@ި?G 99?`P)|ƿ`ev?iN@INzG_;N-CYbKBybLHddliMMb@Mb@Mb@IIII I9ME?:v?i|?5YMF>yMT=MqM BMB I)MBIYMfBbDeVDe1yu(<%}>=ٔ}?Q-}>9Y=PGy ;E>Q 5X4[?Q 9X4)dABY[V>Q E};yHQ I?BI;iS;0X4yvBɮj3BRezebejeZedddjdZdl@Zu[V>Zu[V>Zu>Zu@i))顉iIg9 2Acoustic response timeout)@ @@4@IIOB>AAAB?>BBHBdJBB^ =BBB';B"HEy y,W"?A22Acoustic response timeout6@6@6a2>ٱ6'T >AHRS rotation from veh to nav: [[0.493695,0.859589,0.131801],[-0.852125,0.508427,-0.124037],[-0.173632,-0.051075,0.983485]]6H?`?`?DE?9ƿ w&@x?i6@I6^;4YJKByJdHbDVVDVN2y^ M=%^W=ٔ~jQ-~>9Y=PGy d;E >Q 5X49g[?Q 9EX4)?ABYAyEGQ IE?BI;i;S>X4yIɮMW3BQRezebejeZedddjdZd`l@ZZZZP@i))iIE EEE"E;*E:VEZEBEaԑ2Acoustic response timeout %ԛ,q"?A2@2@20>ٱ2X :AHRS rotation from veh to nav: [[0.494782,0.858946,0.131917],[-0.851867,0.509406,-0.121772],[-0.171795,-0.052125,0.983753]]2H?}|??~B M?v,@bſ)z?i2@I2^;2,CYNKByRlHbDZVDZ:2yb<%bJ=ٔb噻Q-b>9dYd=fPGydjF3;Ej>lQ 5rX4nٺ[?Q 9rX4nG)nABYpyrGQ Ir?nBIn3;ina;n2LX4yxɮzP3BxRezebejeZedddjdZd%l@Z9Z9Z9Z=@iI)Q)QQQiQYIaԙ=92Acoustic response timeout .@  @ @ @ II)O5 >bEg4jEg4rEă/E EE-E"E;*E:VEt4ZEa@a@a@a@% 2Acoustic response timeout! x,u"?A:,@:@:E.>ٱ:|'P FAHRS rotation from veh to nav: [[0.495942,0.858675,0.129298],[-0.851569,0.510069,-0.121079],[-0.169918,-0.050058,0.984186]]:H`?Ez?،? @|R?ſ?s~?i:,@I:^;:/CY^KBybsHiEMb@Mb@Mb@AAAA A9Ex&1?kt?㥛 YEA>yE 0=EE BA EXA)E3BAYEBbD] VD]2ymG<%m@=ٔuQ-u>9qYq=}PGyy}4;E}>Q 5X43[?Q 9X4)@BYT>Q E;y.RQ I?9BIo:i:[X4yɮK3BB*** querying acoustic contact ***i iRezebejeZedddjdZd`l@9Be;>BaBeHBexJBBaBaBaBe;BeHEB-xCB-xCB)B)B)C-S+5ZT>ZT>Ze>Zʮ@i))  i 1I1 =cA=cA 9aT1@ @@@IIO J>2Acoustic response timeoutԉE EE*E"E~ ;*EM:VE(N4ZEBE Vٱ2rC :AHRS rotation from veh to nav: [[0.496587,0.858845,0.125644],[-0.851609,0.510073,-0.120781],[-0.167820,-0.047022,0.984696]]2H`?{? ?`a@ R?z뾿`{ſ 8?i2@I2^;2*CY^KBybHbDjVDj0y=%O=ٔ%$Q-%>9!Y!=-PGy)-x:E->1Q 5=X45<[?Q 9=X45)5@BYAyEQQ IE?5]BI5;i53;5hX4yIɮM,3BIReizeqbeqjeqZeqdqdqdyjdyZd}`l@ZZZZ֮@i))顱iI2Acoustic response timeoutԑI)cAm3@i @i@m/@iIIO> 2Acoustic response timeoutE  E E -E "E *E v:VE t4ZE a @a @a @a @ ,k,"?A2@2x@2*>ٱ2̴? :AHRS rotation from veh to nav: [[0.497365,0.858636,0.123988],[-0.851528,0.510506,-0.119513],[-0.165915,-0.046138,0.985060]]2H@?y? ?@? V?`h<ſ]?i2@I2^;2+CY^KBybHiuMb@Mb@Mb@qqqq q9u(\?yut=u u BuB uQA)uXBqYu=BbDVD02yH=%B=ٔwQ->9Y=PGy:E>Q 5X4d[?Q 9X4)@BYT]>Q Eu;yI]Q I?BI:i<:wX4yɮ@3BRezebejeZedddjdZd@m@ZT]>ZT]>Z:>Zf@i))1)111i19I9ڄ92Acoustic response timeouteB6@a @a@e0@aIqIO:>BU<AQBe8>BaBe8HBeJBBe_ =BaBaBe);BeHEI \,"?A "2Acoustic response timeout: @:@:(>ٱ:A BAHRS rotation from veh to nav: [[0.497586,0.858589,0.123424],[-0.851790,0.510536,-0.117497],[-0.163894,-0.046667,0.985373]]:Hr?@y??APV? I@{Ŀ䧿.?i: @I:J^;:,CYNKByNHPPbDVVDV:2yr<%rW=ٔrgQ-r>9tYt=vPGytz:$9Ez>|Q 5X4~'[?Q 9X4~)~^@BYye]Q I?~BI~:i~9:~ڄX4yɮ63BRe1ze9be9je9Ze9d9d9dAjdAZdE0m@ZaZaZaZe:c@iq)q)qyyiyyIEU EUEU.EQ"EU;*EU:VEUـ4ZEQBEU6Nq2Acoustic response timeoutԡ !,"?A6~@6h@6v&>ٱ6hB@ BAHRS rotation from veh to nav: [[0.497491,0.858765,0.122575],[-0.852238,0.510215,-0.115637],[-0.161845,-0.046934,0.985700]]6H?`{? a?E@S?d`RĿي?i6~@I6p^;6-CYJKByJH PRp;bDV VDV2y^N6=%^M=ٔb઻Q-b>9`Y`=fPGydfLEf>hQ 5nX4j[?Q 9nX4jm)j.@BYpyr]Q Ir?jBIj;ij;jÒX4yvBɮv:3Bv$ERe zebejeZedddjdZd Jm@Z9Z9Z9Z=]@iI)I)IQQiQQIY9?i?e2Acoustic response timeoutԱ9@ @@/@IIO>DazDeAAEm EmEm,Ei"Em ;*EmǙ:VEmg4ZEiau@au@au@au@  2Acoustic response timeout È, #?A2@2@2r$>ٱ2m D :AHRS rotation from veh to nav: [[0.496981,0.859178,0.121751],[-0.852901,0.509493,-0.113914],[-0.159904,-0.047229,0.986002]]2H`?a~?+? JM?w)wĿ`W.`T?i2@I2r`;2.CYNKByRHxiMb@Mb@Mb@ 9Q?yvt B )BYBbDVDNyd%:=ٔXQ->9Y=PGy/E>BBBQHBJBBBBBg;B^HEQ 5%X4[?Q 9-X4=)?BY-r>Q E-_;y-zbQ I-?BI:i:_X4y=Bɮ=[3B9 f>kCvGAfA%B*** querying acoustic contact ***5Ae9eAfAYe&Ai! i!vu4Docking module at standby.zeqbeyjeyZeydydydyjdZdim@Zr>Zr>Zj)>Z@i))iI  9}2Acoustic response timeout@ @@@IIOg>1Eq EuEqEq"Eq*EuZ:VEqZEqBEuYQٱ2LH :AHRS rotation from veh to nav: [[0.495790,0.859892,0.121564],[-0.853981,0.508173,-0.111701],[-0.157827,-0.048433,0.986278]]2H?`9XYX=ZPGyX^>E^>`Q 5fX4b[?Q 9fX4b)b?BYdyjcQ Ij?bBIb:ib:bX4ylɮnH3Blv~8Undocking sequence complete.q;1<dddjd Zd }m@YZZZZ4@2Acoustic response timeouti)iI9@ @@@ԙIIO#>Ա} 2Acoustic response timeout E  E E /E "E %;*E ?:VE J4ZE a @a @a @a @?Ј,Gr@#?A:W@:A@:@r >ٱ:P BAHRS rotation from veh to nav: [[0.495027,0.860240,0.122210],[-0.854750,0.507398,-0.109314],[-0.156045,-0.050345,0.986466]]:H??"I?Zy,= BGA )BYB15AAbD5VD53yE =%MA=ٔMgQ-M>9QYQ=UPGyQU#EU>YQ 5eX4][?Q 9mX4])]?BYmR{>Q EmX;ymQ^Q Im?]MBI]':i]Q:]X4Թyqɮ93BxHTransitioning to midcourse guidance.1<q<dddjd!Zd%m@ZeR{>ZeR{>Ze'<>ZeE@iq)顑iI;92Acoustic response timeoute9@a @a@e/@aIqIO;>AA?AB:>BBvHBJBB^ =BBB;BHE9 Eֈ,OZ#?A"2Acoustic response timeoutB@B@B:U>ٱB7#Q JAHRS rotation from veh to nav: [[0.493624,0.861140,0.121541],[-0.855756,0.505861,-0.108563],[-0.154971,-0.050420,0.986631]]BH?v?V?[b0?@ʻÿЩ |?iB@IB`;B.CYnKBynHbDz VDz2y_=%O=ٔG4Q- >9 Y = PGy 4E>Q 5%X4([?Q 9%X45)_?BY!y%^Q I-?xBI:id:X4y1ɮ5#3B1eU@qA2Acoustic response timeoutqԙ o܈,(*t#?A2S@2=@2}>ٱ2VI :AHRS rotation from veh to nav: [[0.492847,0.861943,0.118980],[-0.856524,0.504666,-0.108069],[-0.153194,-0.048648,0.986998]]2H̊? ?@yu?h8&?@b@ݛÿd訿|?i2S@I2k_;0YBLByFHIJ<)J=bDNVDN02yrb<%vL=ٔv&Q-v>9xYx=zPGyxz/Ez>Q 5X4[?Q 9 X4)-?BY y ^Q I ?BI:i:X4yɮ3B<= y=Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<=y=Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1>= |=Initialize.q>=|EInitialize.1=EEeEeA1>MeIzUNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )1=U>U }U:Initialize WaypointComponent.=}]ZNavigating to waypoint: 36.779130,-121.859630dYdadajdaZdem@ZZZZ1@颕HBɢ{݊=)< \y?i)顥i69IAI7?)4?qI9m2Acoustic response timeout59@1 @9@=4@9IIO>EM EMEM.EI"EM ;*EM:VEMـ4ZEIaU@aU@aU@aU@ԡ 2Acoustic response timeout X,#?A>@>y@>>ٱ>ZaA NAHRS rotation from veh to nav: [[0.492216,0.862673,0.116272],[-0.857192,0.503606,-0.107711],[-0.151475,-0.046650,0.987360]]>H w? ?ý?n ? cÿ~⧿s?i>@I>^;>+CYy%HB7>BBHBJBBBBB;BHEiMb@Mb@Mb@ 9q= ףp?A`"?㥛 Yk>yY= )FBYB <<bDVD0y|:%:=ٔ~Q->9 Y = PGy E>Q 5%X4`[?Q 9%X4)>BY%|>Q E%V;y%RQ I-?BI':i:X4y1ɮB*** querying acoustic contact ***i i}ZNavigating to waypoint: 36.779130,-121.859630"ffb$?*fSW?2f2eeedd d jd Zd5m@Zu|>Zu|>Zug>Zu诮@颁ɢ(=) y?i)?n:i9:"B>ɧ<:i& >I? ?I%|9I1)5dAm2Acoustic response timeout9@ @@4@IIOg>EU EUEU,EQ"EUl;*EU:VEUg4ZEQBEU`F91Y1=5PGy9=E=>AQ 5MX4E&[?Q 9MX4Ek)E>BYQyQQ IU?EBIES:iE6:EX4y]Bɮ]3B]%E"ff*f2feeedddjdZd n@ZZZZ2Acoustic response timeoutHBɢb?=) ~?i)":i(lV:*&B>ɧ=~;i,)I? ?IQ@ @@/@IIO">y 2Acoustic response timeoutԱ D] =D] <bE^n4jEp4rE5/Em  Em Ei Ei "Em f;*Em :VEi ZEi au @au @au @au @i,#?A25s@2n@2>ٱ2"= :AHRS rotation from veh to nav: [[0.491198,0.863586,0.113772],[-0.858286,0.502132,-0.105869],[-0.148555,-0.045647,0.987850]]2H`o?`~?0 ?@w@v?2ÿ_w?i25s@I2S _;2.C@YF%LByFHiMb@Mb@Mb@ 9}?5^I? rh?)\(YMb>yC=Ga:B )YBbD-VD-02y=T.=%=I=ٔ=LQ-E>9AYA=EPGyAMiEM>QQ 5Y4U[?Q 9Y4U)U>BYas>Q E_;y?Q I?U.BIUѓZEas>ZEԘ>ZE@QɢU?r=)Q ]?iY)] ;YYi]}:e/B>ɧe1>ey6BBHBKBBBBB;BHEBaBaBaBaBaCe 5m 9@i  @i @i @i Iy I O > ,؟#?A2Acoustic response timeoutBo@Bj@B>ٱB8D JAHRS rotation from veh to nav: [[0.490959,0.863645,0.114355],[-0.858724,0.501870,-0.103535],[-0.146809,-0.047368,0.988030]]BHk?? \F?zR?E¿ @`?iBo@IBk_;@YR3LByR&HbD^VD^2yf#=%fR=ٔfbQ-f>9hYh=jPGyhlnEr>pQ 5vY4r[?Q 9vY4r)r>BYxyz@Q Iz?rZBIr:ir;rY4y|ɮ2B"f!f!*f!2f!e)e)e)d)d)d1jd1Zd5 3n@ZQZQZQZU,@eHBɢe語=)i mU?ii)m:S;iiim9:u ɧ}>}ϾMY ,q#?AY~GLBy~@HbDVDyH=%%E=ٔ%Q-%>9)Y)=-PGy)-E5>19Q 5EY45\?Q 9EY450)5b>BYIyIQ IM?5BI5>+;i5,;5d Y4yQɮU2BQ"fqfy*fy2fyeyeyedddjdZdMn@ZZZZ颽HBɢ7=) ?i) ;iy:%NB>ɧ>  2Acoustic response timeout,lZ$?ARn@Rji@R_>ٱRH ^AHRS rotation from veh to nav: [[0.491040,0.863654,0.113936],[-0.859155,0.501744,-0.100528],[-0.143988,-0.048525,0.988389]]RH3m? ?*?`2~`I?`:6n¿Mب?iRn@IR X`;PYfLLByfFHB=5>B=wCB=HB=CKBB=_ =B9B9B=i;B=]HEԑiMb@Mb@Mb@ 9zG?#~j?I +Y W>y=94 )BYBbDVD02y]6<%?=ٔڻQ->9Y=PGyܱE>Q 5Y4\?Q 9Y4)@>BYj>Q Eg;y-Q I?BIX ;i ;S/Y4yɮ2B"f!f!*f!2f!e)e)e)d)d1d1jd1Zd5hn@ZUj>ZUj>ZU{>ZUn]@eHBɢe#^=)i mӆ?i)w;iLU:{fB>ɧ> ,')$?A2Eo@2/j@2>ٱ2՛F >AHRS rotation from veh to nav: [[0.491216,0.863703,0.112796],[-0.859276,0.501712,-0.099649],[-0.142659,-0.047974,0.988609]]2H@p?`u? 5?@0@?@B¿?i2Eo@I2`;2-CYFfLByFeHbDRVDRyV=%Z_=ٔZopQ-Z>9\Y\=^PGy\^a9Eb>`Q 5fY4b \?Q 9jY4b)b#>BYhyj-Q Ij?bBIb:ib:b#ɧJ>QU 2Acoustic response timeoutE]  E] E] .EY "E] ;*E] :VE] ـ4ZEY au @ԁ a} @a @a @',C$?AFq@Fl@F>ٱFH RAHRS rotation from veh to nav: [[0.491514,0.863571,0.112517],[-0.859348,0.501893,-0.098102],[-0.141189,-0.048473,0.988795]]FHt?^?ͼ?``?/|¿yѨ6?iFq@IFRb;F.CYZcLByZaHi=Mb@Mb@Mb@9999 99=/$?ʡE?ktY=&1>y=-== 0=B=A =A)=B9Y=BbDUVDU3yeƻ%e?=ٔecQ-m>9iYi=mPGyiu :Eu>yQ 5Y4}g\?Q 9Y4}&)}>BYK>Q E;yXQ I?} BI}:i}:}KY4yBɮ2B&EQ"fYfY*fY2fYeYeaeadadadajdiZdmn@ZK>ZK>Z>Z@HBɢlW=) ?i);i ;B>ɧ?W^A":>A9A=AABE0>BABE>HBEvKBBABABEDBEa;BEQHEIGIM?9IYMAO]>ԩ ] 2Acoustic response timeout,\$?A>;q@>%l@>>ٱ>mN FAHRS rotation from veh to nav: [[0.491662,0.863451,0.112786],[-0.859578,0.501960,-0.095722],[-0.139265,-0.049886,0.988998]]>H cw?`d? 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L, .?A6:>6)?6=ٱ6nx= BAHRS rotation from veh to nav: [[0.821823,-0.561712,0.095326],[0.564901,0.825119,-0.008065],[-0.074125,0.060478,0.995413]]6H^L?Gg? ?`g?]@?@m?i6:>I6^;62CYJJByJ4H PPbDV VDV2yZ %^J=ٔ^ ;Q-^>9b ?Ib ?=bQGybFbzd=Ef>dQ 5j^4f8a?Q 9n^4f9)f3BYlyn>Q In?fZCIf;if";f^4yvaBɮv%8BvqE| B*** querying acoustic contact ***i  i "ff*f2feeed!d!d!jd!Zd%`x@ZAZAZAZE"@Qɢ] >)Y ]x'?iY)eʠ=aaieՇnm>ɧmnAmJz?iiiiIi qIq=2Acoustic response timeout9)-9@1 @1@50@1DzD@AE EEE"Es:*E n:VEZEa@a@a@a@A}؟AIIB$>BvCBHB'JBB^ =BBDB;BGEO k>Q 2Acoustic response timeoutԁ h,.?AFU>F6 ?F=ٱFd= VAHRS rotation from veh to nav: [[0.808665,-0.580122,0.097567],[0.583481,0.812093,-0.007460],[-0.074906,0.062961,0.995201]]FH?[*?߫??|~-;??iFU>IF_;F1CYfJByfNHbD-VD-2yU\L=%UA=Yٔe^:Q-e>9e"?Ie"?=eQGymFm\=Em>qQ 5}^4u2b?Q 9}^4u)u2BYy>Q I?uCIu ;iu* ;u^4yɮ8B"ff*f2feeedddjdZdy@ZZZZHܳ@ɢo >) ,?i) ͷ=i:q9>ɧA:|?i   I  I9ԉ@ @@0@M2Acoustic response timeoutAIIO%o>ԱE EEE"E:*EAr:VEZEBEM-2.%?2,;=ٱ2= :AHRS rotation from veh to nav: [[0.794821,-0.598665,0.099297],[0.602101,0.798398,-0.005938],[-0.075724,0.064506,0.995040]]2H,o? C(k?hD?y?Rx@b@{?`^?i2?>I28_;23CYFJByFMHR2Acoustic response timeoutbDNVDN3yZ/]%ZU=ٔZ ;Q-^>9\I\=bQGybFb!y=Eb>dQ 5j_4fb?Q 9j_4f)f2BYhyn?Q In?fCIft:if;f_4yrhBɮr8BrrE"f f *f 2f e e edddjdZdy@Z1ԹZ1Z1Z5蘴@ɢZ >) ,?i) =i!uG>ɧFAx~?iI I  5dA5dA<99@ @@4@A5.AIAIQO]v>U2Acoustic response timeoutE  E E ,E "E ;*E |:VE g4ZE a @a @a @a @9 Ѷ,.?AB&/>B&wCB$B$B&[ =B$B&DB&q;B&`GEbP6>b+?b*=ٱb'o= nAHRS rotation from veh to nav: [[0.780509,-0.616943,0.100925],[0.620485,0.784203,-0.004808],[-0.076180,0.066376,0.994882]]bH?@>ֹ??1?ıs ??ibP6>Ib ^;`YvJByvIHyux&? rhMbpu7)?uCuq q9uMbX?l񢿪Mb?Yu*?yuu@=uAu B q)qqYuQBAAbD VD2yû%<=ٔ:Q->9 ?I ?=QGyF\=E>Q 5%_43b?Q 9%_4)2BY%o+?Q E%:y%?Q I-?'CIp) +?i)R=!i%ܑx-`>ɧ-A-?i))IIQ QIQ2Acoustic response timeout-&9A9@ @@q4@A5؟AI9IIO]>qe 2Acoustic response timeoutԙ ~,w.?A2k>2T 2?2¶=ٱ2nj= :AHRS rotation from veh to nav: [[0.765477,-0.635237,0.102564],[0.638906,0.769275,-0.003863],[-0.076446,0.068486,0.994719]]2H~?S`A?q? ?o󑳿@E??i2k>I2^;0YbJBybQHbDhVDhyr|<%vW=ٔv7:Q-v>9z"?Iz"?=zQGyzFzO=Ez>Q 5_4JEb?Q 9 _4)2BY y "?Q I ?hCI:i:g"_4yɮ'8B"f9f9*fA2fAeAeAeAdAdIdIjdIZdM Ny@ZiZiZiZm0?yɢ>) -?i)`=顉i{$`>ɧA駕.?iE EE.E"Es:*EVEـ4ZEBEp0A>ԡAYIqIO\>2Acoustic response timeout hË,;S/?A2-:?28?2f=ٱ2>= :AHRS rotation from veh to nav: [[0.750232,-0.653029,0.103464],[0.656701,0.754148,-0.001908],[-0.076781,0.069376,0.994631]]2H@?|??!?B_駳±?@?i2-:?I2^;22CYBJByFPHIJ<)J%=HHbDN VDN:2yVu%VN=ٔZ$^:Q-Z>9XIX=^QGy^F^r=Eb>`Q 5f_4bVb?Q 9f_4bH)b2BYhyj(?Q Ij?bCIb:ib-:bD0_4y=uBɮ=48B=sEUB*** querying acoustic contact ***iY iY"fafa*fa2fieieieidididqjdqZdu`hy@ZZZZI ?ɢ >) U-?i)C=i~2Acoustic response timeout%j>ɧ%A%|?i!!!I) )I)IU3?)U>mF9bE5^n4jE57i4rE5ħ/E EE*E"E:*Ex:VE(N4ZEa@a@a@a@@ @@@ Bm1>BmxCBmHBm1JBBiBiBiBm&;BmGEBvCBvCBƕCB^ =B^ =C06AU.AIYIqO}z>)  2Acoustic response timeoutʋ,<*/?A?J0=ٱJ= RAHRS rotation from veh to nav: [[0.734312,-0.670837,0.103748],[0.674412,0.738354,0.000838],[-0.077165,0.069354,0.994603]]JH {?w@?? ɔ??qK?  1? ?iJW?IJ^;J1CY^JBy^^H b9v ?Iv ?=vQGyvFvm=Ev>|Q 5~_4~hb?Q 9_4~)~2BYy.?Q I?~CI~:i~9:~>_4y ɮ)8B"ff*f2feeedddjdZdy@Z)Z)Z)Z-'?AɢM>)i m0?ii)ulp=qqiu 1}>ɧRA駅cu?iI I)y9%2Acoustic response timeoutY@Y @Y@Y@YQA؟AE EE,E"E:*E]t:VEg4ZEBE#ԁ Ћ,RD/?A,2u ?2LD?2ʞ=ٱ2֋= >AHRS rotation from veh to nav: [[0.717972,-0.688411,0.102989],[0.691749,0.722124,0.004484],[-0.077457,0.068023,0.994672]]B2Acoustic response timeout2H?vv]?@"??]r?;Գi?@[?i2u ?I27^;22CY^JBy^MHbDf VDf:2ynX %rK=ٔr>:Q-r>9v"?Iv"?=vQGyvFvr=Ev>xQ 5~_4zJzb?Q 9_4z)z2BYy4?Q I?z8CIz~ ;iz:zL_4y ɮ98BjE"f1f1*f12f1e9e9e9d9d9dAjdAZdEy@ZaZaZaZeh"?颁ɢ>) ,?i)z=!i%?Ƃ]>ɧ]xAeQ`?iiiI Iԑ@ @@0@AzAԱAI52Acoustic response timeoutI9OE> Ee  Ee Ee +Ea "Ee s:*Ee i:VEe [4ZEa am @am @am @am @B= 0>B9 B9 B9 B= Z =B9 B9 B= ;B= FE ׋,\]/?A2y?2ԃJ?2e=ٱ21= :AHRS rotation from veh to nav: [[0.700962,-0.705645,0.103524],[0.708965,0.705214,0.006498],[-0.077592,0.068840,0.994606]]2HHn?`?@ׯ??Vz?ݳ ?`?i2y?I2^;0\YJBySH 9=Ay%C?zGế~jtxZD? ׽Ļ 99v?9I=QGyFrb=E> Q 5_4 Jb?Q 9u_4 )) 2BY}B5?Q E}:y})P?Q I}? CI nZ>Z@Z$3@ɢO >) -?i)G=i&>ɧAq??iI I  cAcAiߕAIߑTDAT read: user:829>Rx Time:14:59:08.0521 TRx dataTimestamp_ set to:1761577149.5855462Acoustic response timeout-9@ @@K2@A II1OAA E 2Acoustic response timeoutJ݋,w/?A2y?2ԭP?26=ٱ2·= >AHRS rotation from veh to nav: [[0.683686,-0.722456,0.103102],[0.725632,0.688020,0.009311],[-0.077663,0.068448,0.994627]]2H?\d?@`8?B?? ᳿`օ??i2y?I2q^;21CYFJByF:HLN@AbDRVDRkyZ)`%Za=ٔZIN9Q-^>9\I\=bQGybFbȇ=Eb>dQ 5j_4fʚb?Q 9j_4f#!)f2BYyyTV?Q I?fCIf) (?i)=i9 mR>ɧ jA?iI I1 9I9@ @@4@DAT read: 14:59:08.0521 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 463,-0.10, 0.734,-1.303,-0.213, 0.116, PHS= 0.720,-1.374,-0.373, RAW= 118.5, 11.3, CAL= 119.5, 12.5, ROT= 30.5, -12.5 Ygot valid direction response: 14:59:08.0521 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 463,-0.10, 0.734,-1.303,-0.213, 0.116, PHS= 0.720,-1.374,-0.373, RAW= 118.5, 11.3, CAL= 119.5, 12.5, ROT= 30.5, -12.5 6DAT read: bearing request Dreceived a bearing request messageBDAT read: Tx time:14:59:09.6549 $Ping request sent.{@ f_>){F?If_'>p^?7Sv7K? ϼ)JJI{F?if_:publishing transmit ping time:publishing range request flagyyT&?ӊ]e?K? )Ii )I'>p^?7Sv7K? )IiyAqIIO>ԡ 2,/?A2?2V?2ٞ=ٱ2֘= :AHRS rotation from veh to nav: [[0.665684,-0.738984,0.103764],[0.742200,0.670092,0.010765],[-0.077486,0.069848,0.994544]]2HHM?@¥E??`eq? ? %ֳ@?`M?i2?I2^;22CYLyR9HbDZVDZ0yv%vG=ٔvQ-v>9xIx=zQGyzFzt=E~>Q 5 _4b?Q 9 _4U|)2BY y \?Q I ?CI:i: w_4yɮV8B5B*** querying acoustic contact ***i1 i1"fAfA*fA2fAeAeAeIdIdIdIjdIZdU@y@y T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG)EAu9qYu^AZZZZ]C6@颩ɢ`>) (?i)=i݇w>ɧUA?iI IԩE- E-E-/E)"E-:*E-xv:VE-J4ZE)a=@a=@a=@a=@e9@a @a@e/@aAm>Am>B">BvCBBB[ =BBDB;BFEAIIO> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse \,v/?A6%?6Z^]?6ܝ=ٱ6$*= >AHRS rotation from veh to nav: [[0.646926,-0.755363,0.104466],[0.758655,0.651385,0.011858],[-0.077005,0.071583,0.994458]]6H?+@L?F?$?H?>S? ?i6%?I6^;4Y^JByb#HI`)bp9tIt=zQGyzFz~=Ez>|Q 5_4~b?Q 9_4~v)~2BY y b?Q I ?~]CI~:i~:~9_4yBɮt8BkE"fAfA*fA2fAeIeIeIdIdQdQjdQZd]@z@ZZZZ7@颡ɢW@>)  $?i)=顱int>ɧ.AX?iI I9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE9@A @A@A@IIAIIO>EE EEEE+EA"EE;*EE:VEE [4ZEABEE7N9I=QGyFE>Q 5_4^b?Q 9_4;p)2BY!y)Q I-?CyI;i<q_4yɮ8B"ff*f2feeedddjdZd!z@ZZZZɢ@ >) ?i)=iE%@>ɧ%A%q?i!!III III%9ԡ@ @@/@T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseA- .AI1 IA OU >EE  EE EE -EA "EE s:*EE :VEE t4ZEA aM @aM @aM @aM @B <A <B ,>B B HB JBB _ =B B DB $;B GE n,M,/?A2d2?2G9 ?I ?=QGyFt>E>Q 5_4b?Q 9_4i)2BY$>?Q E:yyr?Q I?CI7:i:K_4yBɮ8BbE"ff*f2feeedddjdZd`8z@Z%ȇ>Z%ȇ>Z%?Z%@9ɢ=k>)9 =?i9)EO=AAiEM>ɧMԪAM?iIIIII QIQM9QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!@! @!@-0@)A=bAzA=aAA}؟AIIO>) % T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse,W/?AZ8?ZFp?Z 6=ٱZ4= bAHRS rotation from veh to nav: [[0.588016,-0.802136,0.103997],[0.805298,0.592610,0.017558],[-0.075714,0.073424,0.994423]]ZH???@??`b@˲?`O?iZ8?IZ^;Z2CYjSJBynH prAbDvVDvy~/%~U=ٔKQ->9"?I"?= QGy F 7=E >Q 5_44b?Q 9_4c)r2BY!y%x?Q I%??CI;i;_4y)ɮ-8B)"fQfQ*fQ2fQeQeQeYdYdYdYjdaZdePz@E EE+E"E:*Ex:VE [4ZEBE+)Q U?iq)u9=qyi}Sam6>ɧ|A駅0?iI IQ)@) @)@-4@)A9IIIYOeV>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԁԩ ,0?A6A??6v?6=ٱ6$C=@ BAHRS rotation from veh to nav: [[0.568079,-0.816492,0.103088],[0.819512,0.572711,0.020044],[-0.075405,0.073096,0.994470]]6H@-?@ c?@r9?`S?L?Mg?`?i6A??I6^^;64CYJ6JByNHV@ATbDVVDV03y^ %^N=ٔb,MQ-b>9`Id=fQGyfFf~=Ef>hQ 5n_4jb?Q 9r_4j`])jR2BYpyr1?Q Ir?jCIj/;ijn;j_4yvBɮv8BzcE B*** querying acoustic contact ***i  i "ff*f2feeed!d!d!jd!Zd%@jz@ZAZAZAZEH@Qɢ]K| >)Y ] ?iY)et=aaie㏼m=>ɧmAmV?iiiiIq qIqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse59@1 @1@5/@1ԱDzD?AE EE,E"E:*E:VEg4ZEa=@a=@a=@a=@IiIyB4>BxCBpHBIBB[ =BBDBK;B=GEO<> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse b ,@,0?A2[gE?2>}?2y=ٱ2= :AHRS rotation from veh to nav: [[0.547779,-0.830306,0.102612],[0.833254,0.552450,0.022061],[-0.075006,0.073418,0.994477]]2H@h?ޑD?@? ?$?@3@˲??i2[gE?I2^;23CY^JBybHbD-VD-0yEt%MB=ٔM yQ-M>9QIQ=UQGyUF]iQ 5u_4mWc?Q 9}_4m]V)m02BYyy}?Q I?mCImiD;imE;mP_4yɮ8B"ff*f2feeedddjdZdz@ZZZZާ@ɢ2S>) ?i ) 3=  i [>ɧA,?iI I!@ @@@A>A>QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIIOE>qE EE.E"E*E]t:VEـ4ZEBE.)r;bDVDN2ԁy %5=ٔQ->9I=QGyFC[=E>Q 5_4c?Q 9 _4N) 2BY y-߅?Q I-?0CI;ih;>_4y=Bɮ=9B=YE"fyfy*fy2feeedddjdZd@z@ZZZZ8@ɢ>) ?i)֤=)i-<58>ɧ5NA5?i199I9 9I9ԡ@ @@@!IIOa>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse bE|a4jEg4rEʃ/E%  E% E% *E! "E% &:*E% xv:VE% (N4ZE! a5 @a5 @a5 @a5 @B >>B yCB 1HB IBB B 6DB B ;B zGEBExCBEwCBE˔CBE[ =BE[ =CEO 6,ö`0?A2 R?2 ?2 ۗ=ٱ2= :AHRS rotation from veh to nav: [[0.506028,-0.856237,0.103897],[0.859330,0.510833,0.024533],[-0.074080,0.076867,0.994285]]2H`1?Jf ??X?M??/?i2 R?I2V^;22CYnIByndHy%C?y&1y&1Z$?`` 9V-?V-{GzYh1?yףA1 B &B)Z BY B ;ԹbDVD2yD%Y=ٔQ->9I=QGyFc=E>Q 5_4c?Q 9_4 I)1BY2?Q E:y?Q I?qCI ;iC ;;_4yBɮ!9BZE"f!f!*f!2f!e!e)e)d)d)d)jd1Zd5@z@ZU.=ZU.=ZU?o@ZU ?aɢe: >)i m>ii)mb[=iiimu,>ɧ}խA}V?iyyyIy yI I)5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse9@ @@@I)I9OE0> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsea ,%z0?AY~IBy~6HbD VD N2yĽ%%V=ٔ%Q-%>9)I)=-QGy)-E->1Q 5=_45&c?Q 9E_45) >i)m=iDS>ɧ`A?iI IԱm9@q @q@u/0@qA}cAzA}cAIIO>ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse 9 $,m0?A2[^?2?2i=ٱ2= :AHRS rotation from veh to nav: [[0.464152,-0.879448,0.105521],[0.882746,0.469093,0.026675],[-0.072959,0.080767,0.994059]]2H?@o$k?s???P?l ?`U?i2[^?I26C^;24CYNIByRH TTbDZVDZy%c%%J=ٔ%O6Q-%>9)I)=-QGy-F5=E5>1Q 5E`45h2c?Q 9E`45<)5n1BYAyE?Q IE?5CI5:i5g:5`4yUBɮUf9BQmB*** querying acoustic contact ***ii ii"fyfy*fy2fyeyeyedddjdZdz@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZZZZӓ?ɢ>) W>i)=iF>ɧ׮Aߋ?iI IQ@Q @Q@U4@QIIO>E EE.E"E:*Ex:VEـ4ZEa@a@a@a@B N>B {CB HB IBB W =B B DB ;B GE9M T****** received valid address query ******M R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapsei 7 +,N0?A,FJd?F?FAg=ٱFޔ= RAHRS rotation from veh to nav: [[0.443590,-0.889763,0.107472],[0.893301,0.448637,0.027180],[-0.072399,0.083948,0.993837]]FH@c?x@??@w?@ԛ?`}?@?iFJd?IFl^;F5CY~IBy~H AA AAbD  VD 2y%%J=ٔ%Q-%>9)I)=-QGy-F-j=E->Q 5`4=c?Q 9`4K6)61BYy?Q I?DCI@;i;8`4yɮ9B"ff*f2feeedddjdZd {@ZZZZ@) s>i)7n=iR%g>ɧ%EA%7?i!!!I! )I)ԉ@ @@4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA IaIqOY>ԱE EE+E"ED:*E:VE [4ZEBE29!I!=%QGy%F-?=E->1Q 5=`45WJc?Q 9=`45/)50BY=L ?Q E=:y=߂?Q IE?5CI5 ;i5 ;5#`4yMBɮM9BMQE"fifi*fq2fqeqeqeqdqdydyԡjdyZd`&{@Z]*=Z]*=Z]wJ@Z]2@iɢmI=)q u=>iq)u~1=qqiuk'>ɧӯA駥?iI IMvGU9@Q @Q@U4@YefAyA>A?ſ9fAYAmT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseAIIO > E  E E -E "E 2:*E Ar:VE t4ZE a @a @a @a @B T>B |CB HB QIBB V =B B DB я;B GE98,0?A2ho?2ݓ?2Ē=ٱ2{= :AHRS rotation from veh to nav: [[0.402691,-0.909018,0.107360],[0.912531,0.407861,0.030597],[-0.071602,0.085648,0.993749]]2H?`{?@t3?`f?T?}T` ?@?i2ho?I2^;0lYzSIByzHI~=)~=bDVDy%s=ٔQ-?9!I!=%QGy%F%=E-?)Q 55`4-Sc?Q 95`4--+)-0BY9y=Ӆ?Q I=?-CI- ;i-Y;-J/`4yEBɮM9BI"fifi*fi2fieqeqeqdqdqdyjdyZd}:{@ZZZZ @颩ɢ;>) >i)!=顱iǛ k>ɧ0A=?iI IiAIAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseu9@q @q@u/@q A.AIIOG>A T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsey d>,]0?A6u?6-?6@-=ٱ63z= BAHRS rotation from veh to nav: [[0.382123,-0.917824,0.107614],[0.921356,0.387378,0.032280],[-0.071315,0.086815,0.993669]]6H`t? ^ ?{??` ?A`9? "?i6u?I6^;62CYJ:IByJH Rp9b ?Ib ?=fQGyfFf#j=Ef>hQ 5n`4j\c?Q 9n`4j%)j0BYpyr?Q Ir?jCIj3;ijr;j=`4ytɮv9Bt"ff*f2feeedddjd!Zd%S{@Ee EeEe+Ea"Ee:*Eexv:VEe [4ZEaBEeM-i)!=iE%>ɧ%A% A?i!!!I! )I) @  @ @ @ ԁT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI)IAOUT>Ա NE,C1?A2{?2w?2㢑=ٱ2,= :AHRS rotation from veh to nav: [[0.360793,-0.926533,0.106608],[0.929935,0.366095,0.034562],[-0.071052,0.086669,0.993700]]2H <? (J??@n? ? o0/?d?i2{?I2{b^;23CYF3IByFuHbDN VDN2yV%VK=ٔV+Q-Z>9XIX=ZQGy^F^j=E^>`Q 5f`4bnfc?Q 9f`4bQ =ftI)bf0BYdyj?Q Ij?b?CIbU:ib:bK`4ylɮn9Bl~B*** querying acoustic contact ***i| i|"ff*f2fe e e d d djdZdm{@=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseZ9Z9Z9Z=[@QɢU;=)Y ]>iY)]=YYiege>ɧmAm?iiiiIi iIqI}dA)}dAԱ @  @ @ 0@ AdAzAdAE} E}E}0Ey"E};*E}i:VE}4ZEya@a@a@a@BQ>B{CBDHB IBBBBDB ;BHEI!I9OE0> T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9 BwK,]01?A6 ?6?66ܑ=ٱ6O= >AHRS rotation from veh to nav: [[0.340150,-0.934541,0.104550],[0.937675,0.345485,0.037494],[-0.071161,0.085281,0.993813]]6H?ú?n? n?u2?7Ե? P?i6 ?I6"^;62CYfIByfRH hhbDnVDnyvt%vF=ٔz9Q-z>9xIx=~QGy~F~[=E~>Q 5 `4oc?Q 9 `4)00BYyy?Q I?CI:i:zY`4yɮ% :B!"fAfA*fA2fAeIeIeIdIdIdQjdQZdU{@ZqZqZqZu @颁ɢ=) _>i)=顉ió5@>ɧ8A駝Ǎ?iI II@I @I@M2@QIIO>MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseAE} E}E},Ey"E}:*E}:VE}g4ZEyBE}>? ?f?}<@??io|?I@%^;YHBy1Hy5d;O?Mb`~jth5?55D1 195S?+Q롿Y5?y55\11 1)5B1Y5BIM@AbDUVDUk2yer%e5=ٔe/.9Q-e>9iiIq=uQGyuFu/L=Eu>yQ 5`4}Myc?Q 9`4})} 0BY?Q E :y D?Q I ?}CI}i)T=i$>ɧA<?iIIII IIIԙ9@ @@#1@IYIiO}Y>UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseAy A} AAB b>B }CB HB HBB B B DB !;B ;HEE  E E /E "E s:*E :VE J4ZE BE p0<2E p0<JE ;:E ; X,ec1?A2n?2Y?2gё=ٱ2= :AHRS rotation from veh to nav: [[0.297087,-0.949342,0.102412],[0.952197,0.302543,0.042299],[-0.071140,0.084950,0.993842]]2Hz?@a7?dx? \?*?;6`L?`?i2n?I2k ^;24CY^HByb/HbDj VDjf2yrZo%rg=ٔrQ-r>9tIt=vQGyvFz]=Ez>xQ 5`4zXc?Q 9`4z9)z/BYy4?Q I?zCIz;izD;zu`4yBɮ,:BHE"f1f1*f12f1e9e9e9d9dAdAjdAZdE`{@ZaZaZaZeB@qɢ=) %y>i!)%=))i-\*]!>ɧ]A]1?iaaaIa aIiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei>iM9@I @I@M|3@IAU>AU>IIO%>) m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse^,}1?A:\?:G?:g=ٱ:,= BAHRS rotation from veh to nav: [[0.275220,-0.956039,0.101212],[0.958743,0.280733,0.044721],[-0.071169,0.084729,0.993859]]:H3?ޗ ??@??8ư??i:\?I:"^;:2CYbHBybHIf=)f%=bDjVDj3yrV%rJ=ٔvl8Q-v>9tIt=vQGyzFzg=Ez>|Q 5`4~c?Q 9`4~ )~/BY y "?Q I ?~-CI~:i~:~ă`4yɮF:B"f1f9EE EEEE-EA"EE:*EEą:VEEt4ZEAaM@aM@aU@aU@*f92fQeQeQeYdYdYdYjdaZde{@ZZZZ@频ɢ<=) q_>i)#==顙i^&>ɧA駥wZ?iI I=9@A @A@M/Y@YIIO>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseyԩ e,o~1?A2N?2U:?2=ٱ2 = :AHRS rotation from veh to nav: [[0.253071,-0.962207,0.100563],[0.964835,0.258655,0.046816],[-0.071057,0.085179,0.993829]]2HP2? f@??@͍?8?`0Kε?q?i2N?I2H^;23C@YjHByjH r49I=QGyFg=E > Q 5`4 Nc?Q 9`4 =%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse) /BY!y-?Q I-? gCI `;i qa; `4y1ɮ5M:B1MB*** querying acoustic contact ***iI iI"fYfY*fY2fYeaeaeadadadijdiZdm`{@ZZZZGl@颙ɢT=) \X>i)=顡i.7v>ɧA駵z?iI I=9@A @A@A@AԩB5x>B5CB5HB5HBB5R =B1B5DB5;B5?HEB|CDIzDM@AbEt4jEt4rET0EU EUEU/EQ"EUV:*EU]t:VEUJ4ZEQBEU9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse k,X1?A|YHByHbDVDy%q%%G=ٔ-Q-->9-"?I-"?=5QGy5F5E5>iQ 5u`4mƖc?Q 9u`4m)m/BYyyyQ I}?mCIm;imj;m`4yBɮg:BIE"ff*f2feeedddjdZd |@ZZZZɢ=) K>i)T=i¥i?ɧBA?iI I 9@ @@/@AzA5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseAIIOE>QEe EeEe-Ea"EeD:*Eex:VEet4ZEaam@am@am@am@ԉ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapser,1?A~MP?~;?~=ٱ~E= AHRS rotation from veh to nav: [[0.207532,-0.973182,0.099236],[0.975634,0.213297,0.051408],[-0.071196,0.086149,0.993735]]1~Hf? N$g?d8?NM?R?9 ??i~MP?I~(^;~0CYMHByMH qqyoʡ?S㥛Mbp ?$ 9"~?i|?5Mb`?Y?yq; B aB)Y3BbD VD y@%:=ٔ9Q->9!I!=%QGy%F-J=E->1Q 5=`45Dc?Q 9=`45G)5t/BY=?Q E=:y=/?Q IE?5CI5:i5@:5`4yIɮMl:BI"fqfq*fq2fqeqeqeqdydydyjdyZd}%|@Z=Z=Z#?Z#@ɢp=) 9F>i)aE=i?ɧFA?iI Ia9@ @@ 0@IIOa>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԉB >B CB oHB ^HBB T =B B DB $;B WHED9 D= <EA  EE EE /EA "EA *EE :VEE J4ZEA BEE 2?6v=ٱ6Ĉ= BAHRS rotation from veh to nav: [[0.184526,-0.978052,0.096772],[0.980246,0.190279,0.053962],[-0.071192,0.084903,0.993843]]6H`? 3L Ƹ?,^? [??9/? ?i6S?I6!^;64CY^HBybHdfAAbDjVDjk2yrB%ra=ٔvZDQ-v>9tIt=vQGyzFz=Ez>|Q 5`4~Nc?Q 9`4~)~c/BY y 2?Q I ?~CI~[:i~:~d`4yɮ~:B"fQfQ*fQ2fYeaeaeadididijdqZdu`=|@ԙZZZZW%@ɢh=) 4>i)~=iҸ?}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseɧ}?A}?i py;I I @  @ @ 4@ IIO>- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapse ,,1?A2-_?2J?2B=ٱ2x= :AHRS rotation from veh to nav: [[0.161145,-0.982358,0.094898],[0.984383,0.166888,0.056020],[-0.070869,0.084389,0.993909]]2H c?yo >K?? \??r$?@?i2-_?I20^;21CY^HBybHbDjVDj2E EE0E"E:*E:VE4ZEa @a @a @a @yU\%UC=ٔUJQ-U>9YIY=]QGy]Fei=Ee>iQ 5u`4mc?Q 9u`4m)mP/BYqyu>?Q I}?mWCIm/;im;m`4yBɮ{:B?E"ff*f2feeedddjdZdW|@ZZZZ&@ɢ=) .>i)u=i 4q?ɧ+A@?i^Kh;I I I)cA9@ @@?4@AA>I9IqO}>! G  AE 5n9A YM VAy ,s2?A2D`?2K?2&=ٱ2#= :AHRS rotation from veh to nav: [[0.138000,-0.986044,0.093130],[0.987904,0.143752,0.058151],[-0.070727,0.083979,0.993954]]2H ?@ f׷?`?wf?ŭ?@% ?@y?i2D`?I2^;24CYNHByRHIVR=)V=bDZVDZybۻ%bT=ٔf#Q-f>9dId=fQGyfFjy=Ej>rDAT read: rBDAT read: Tx time:14:59:19.4244 v$Ping request sent.vi)=ij#?ɧAq?i!%_V;%ϊwI! !I)B>BCBJHB?HBBL =B5DBDB&;BrHEE EE,E"E;*EVEg4ZEBEDchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250894 %,22?AY~HBy~H bD VD :2y`%E=ٔ%Q-%>9!I!=-QGy-F-E->1Q 5=`45c?Q 9=`45)5,/BYAyAQ IE?5CI5-:i5g:5 `4yMBɮM:BM@E"fqfq*fq2fqeqeqeydydydyjdZd|@ZZZZQɢ]/=)a m>ii)u^=qqiu|}:?ɧ}A}Y?iy}F;I Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503619!@! @!@%/@!IIO&>E EEE"Ea:*E&p:VEZEa%@a%@a%@a%@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757037) ,L2?AB?Bk?B Đ=ٱB = NAHRS rotation from veh to nav: [[0.090599,-0.991900,0.089025],[0.993380,0.096349,0.062557],[-0.070628,0.082768,0.994063]]BH1?ॽUʶ??Q?? G0? ]?iB?IB^;B2CYdydymOn?Q뱿MbPm8?m\mi i9m/$?y&1Zd;O?Ym?ym`emj9I=QGyF>=E>Q 5`4c?Q 9`4O)"/BYo?Q E:ya?Q I?CI ;iT ;`4yɮ"ff*f2feeedddjdqZdu|@Z^=Z^=Z@@ZR@ɢd=) i)գ=ik?ɧA'?i07;iaI I1i5!>Q9@ @@@ ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006985^A- A1 zA1 B >B CB 0HB +HBB J =B B DB 3;B HE E-  E- E- )E) "E- :*E- :VE- FA4ZE) BE- .3,f2?A2?2?2B>=ٱ2= BAHRS rotation from veh to nav: [[0.066621,-0.994276,0.083524],[0.995294,0.072126,0.064719],[-0.070373,0.078819,0.994402]]2H?a?q?v?p?y-?$?i2?I2?^;25CPYZHByZH !!bD5VD5 3ym;%u<ٔuk'Q-u>9} ?I} ?=}QGy}Fw=E>Q 5a4Ec?Q 9a4)/BYy{?Q I?OCI;i;a4yɮ:B"ff*f2feeedddjdZd`|@ZZZZ@ ɢ >=)  >i)=!)i-7E)?ɧEiAE?iAEe);AIA AIIiߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2672259@ @@/@^Ae+A؟AIIO>) M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518962,s2?A2?2??2=ٱ2P= :AHRS rotation from veh to nav: [[0.042443,-0.995841,0.080616],[0.996637,0.047861,0.066518],[-0.070100,0.077521,0.994523]]2H?`9f"?Ij"?=jQGyjFj.=Ej>Er ErEr.Ep"Er:*Erx:VErـ4ZEpav@av@az@az@x|Q 5a4zc?Q 9a4z)z/BYy?Q I ?zCIzq+;iz:,;za4yBɮ:B6E"ff*f2feeedddjdZd |@Z9Z9Z9Z=&Ց@Yɢe}=)a e)>ia)eK$=aiim殼u ?ɧuA駕?iO;2PI I1@1 @1@5-1@99^A%?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.771430QAyIIO>ԁ E,P2?A2ʿ?2w?2V8=ٱ2D= :AHRS rotation from veh to nav: [[0.018641,-0.997059,0.074335],[0.997347,0.023776,0.068797],[-0.070362,0.072855,0.994857]]2H??D? X??:?@?i2ʿ?I24];22CYBHByFHbDN VDN:2yV%VL=ٔV+:Q-Z>9XIX=ZQGyZF^!t=E^>`Q 5fa4bKc?Q 9fa4ba)b/BYdyf?Q Ij?bCIb:ibF:ba4ylɮn:BlzB*** querying acoustic contact ***ix ixchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.023029"f f *f2feeedddjdZd%|@Z9Z9Z9Z=Ώ@QɢU=)Q Uk>iQY)]^=Yaie򯼩e ?ɧmAm`?iimY.;mGIi iIq B]>B]CB]$HB]!HBBYBYBYB]H;B]HE@ @@4@@=@=E EEE"E:*E~:VEZEBE3A}>Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.278675A I I O > %p,E+2?A6?6S?6=ٱ6}= >AHRS rotation from veh to nav: [[-0.004367,-0.997868,0.065111],[0.997461,0.000281,0.071215],[-0.071082,0.065257,0.995334]]6H kq`? 3?4o2?&;? g2??i6?I65^;4YRHByRHIV=)V=VAVAbDZ VDZf2yv+<%vF=ٔv:Q-v>9xIx=zQGyzFzUe=E~>Q 5 a41c?Q 9 a4).BY y ?Q I ? CI:i^-a4yɮ:B"f9f9*fA2fAeAeAeAdAdIdIjdIZdM }@ZiZiZiZmA>@颁ɢ=) >i)a=顉i9 ?ɧJA駕9?ib;Yu>I I@ @@/@^AXchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.528136A9IAIQOeU>E EE/E"E:*E|:VEJ4ZEa @a @a @a @A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778922W,2?A2?2;v?2ے=ٱ2tn= :AHRS rotation from veh to nav: [[-0.026490,-0.998064,0.056264],[0.997078,-0.022346,0.073046],[-0.071647,0.058035,0.995740]]2HL $ά??@ᖿ ?vW??i2?I2Ih^;23CYFHByFHye~jt?y&1~jtx?e$?e`ee;a a9e rh?S㥫+?YeC+?ye/]e=eBe B eB)eBaYe\B qqbD} VD}2y&<%@=ٔ:Q->9I=QGyFU=E>Q 5a4c?Q 9a4/).BY,?Q E:y?Q I?TCI@;iR;Wi)&=iP" ?ɧAޔ?i$: I  I 9@ @@/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031052q^A GA zA BM <AM 4=B] >B] CBY BY B] H =BY B] DB] ;B] vHEBɇCBɆCBɖCBJ =BL =Cӕ6bEA{4jEcw4rE]%0E  E E ,E "E :*E x:VE g4ZE BE +-,2?ARF?R2?Rv=ٱRI= bAHRS rotation from veh to nav: [[-0.047792,-0.997812,0.045675],[0.996228,-0.044301,0.074616],[-0.072429,0.049069,0.996166]]RH>x`b?@?`? ? ?iRF?IR^;PYjHByjHbDvVDv:2yz|%zT=ٔ=w;Q-=>9AIA=EQGyEFE^=EM>IQ 5Ua4M[c?Q 9Ua4MM)M.BYYy]?Q I]?MCIM;iM;MIa4yaɮm:Bi"ff*f2feeedddjdZd@}@ZZZZP?ɢ2=)  >i)!=iLO,?ɧ+A "?i  a: -I  I}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282860y9@ @@/@@eA@fA^A[AԡAIIOj>- BDAT read: Rx Time:14:59:22.6180 - TRx dataTimestamp_ set to:1761577163.9561235 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535998 i,ǻ3?A2?2?2eH=ٱ2$= :AHRS rotation from veh to nav: [[-0.068233,-0.997052,0.035088],[0.994972,-0.065422,0.075834],[-0.073314,0.040086,0.996503]]2H`w ??`~ i? IJ%?Z?i2?I2^;25CYBHByFH HHbDN VDNf2yV>:%VO=ٔZ;Q-Z>9XIX=ZQGyZF^Y=Eb EbEb.E`"Eb:*Eb~:VEbـ4ZE`af@aj@aj@aj@E^>lQ 5ra4nc?Q 9ra4nm)n.BYpyr=?Q Iv?nCIn;in1:nWa4yzBɮz:Bz-E"ff*f2feeed!d!d!jd!Zd% Y}@ZAZAZAZE?QɢB=) _ >i)hX=iNJ?ɧA?iL:I I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786963^A>1 A I I O >Lƌ,3?A:'v?:a?:E=ٱ:3 = BAHRS rotation from veh to nav: [[-0.088080,-0.995753,0.026802],[0.993340,-0.085796,0.076909],[-0.074283,0.033398,0.996678]]:H@g4r?p?O?3??i:'v?I:ȩ^;:4CYJHByNHPPbDVVDVy^%^I=ٔb;Q-b>9`I`=fQGyfFf%I=Ef>hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.039005Q 5ra4jc?Q 9va4jJ)j.BYtyv?Q Iv?j CIje`;ija;jea4yxɮ~:B|B*** querying acoustic contact ***i i"f)f)*f12f1eAeAeIdYdadijdyZds}@ZB>BBBBG =BBB;BDHEZZZ@i?!ɢ%=)! ->)i))M=IIiM6pUA?ɧUA] ?iY]wާ:]IY YIaDzDE EE-E"EV:*EVEt4ZEBE9DAT read: 14:59:22.6180 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 136, 0.33, 1.552, 0.289, 2.273, 1.668, PHS=-0.014,-1.334, 0.561, RAW= 167.2, 9.4, CAL= 167.1, 10.2, ROT= 342.9, -10.2 Ygot valid direction response: 14:59:22.6180 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 136, 0.33, 1.552, 0.289, 2.273, 1.668, PHS=-0.014,-1.334, 0.561, RAW= 167.2, 9.4, CAL= 167.1, 10.2, ROT= 342.9, -10.2 PDAT read: Bearing 278.8, -20.7 (Local) ~Local bearing/azimuth received: Bearing 278.8, -20.7 (Local) DAT read: Range 11 to 50 : 592.1 m (Round-trip 789.5 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.940687,-0.289393,0.177085] Fpublishing direction and range infoy>B?z|ejҿki?YD )HIB`ei?:@'> :@ K6>)@IK6%7r?&ES+?}AetT? R?)'IΘiK6- T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.ԉ ̌,?t53?A02?2T?2(=ٱ2h< :AHRS rotation from veh to nav: [[-0.108016,-0.993936,0.020565],[0.991303,-0.106119,0.077823],[-0.075169,0.028792,0.996755]]2H`覻S ??*0?`>>{?k?i2?I2j^;25CYf`HByfrHbDrVDrN2yz%zG=ٔz ;Q-z>9|I|=~QGy~F~H=E> Q 5 a4 c?Q 9a4  ) .BYys?Q I? fCI l:i : sa4y!ɮ%:B!ii-3?AJiDRiDji?bĎ>Z@.A[ekx#Z@R>B?z|ejҿki?ZiΘbiK6jb D[@$We@&L@ZAB=%G?C??2i3D:iB"i?*iЎZBiFB"ff*f2feeedddjd̀@Zdmn?ZZZZ?ɢ=) =i)E=iC?ɧ1A?i:I Ii@i @i@u4@q@}=@}=ԑ*DAT read: user:830> BDAT read: Tx time:14:59:23.9744 $Ping request sent.  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249823ӌ,IMO3?A2p?2w?2=ٱ2K< :AHRS rotation from veh to nav: [[-0.127432,-0.991700,0.017085],[0.988935,-0.125719,0.078757],[-0.075955,0.026932,0.996747]]2HO ~?Z?d)? q@+?[?i2p?I2k)^;24C\YbZHBybkHIfp<)fa=y7A`?{Gz~jtx6?ףĻ 9Zd;O?A`"~jt?Yj9 ?I ?=QGyF9=E>Q 5a4kc?Q 9a4).BYBCB HB HBBH =BBDB;BqHEI I) O5 >E  E E ,E "E V:*E |:VE g4ZE BE a 2E a JE e;a :E f;a A hٌ,)i3?A2s ?2 ?27=ٱ2|0< :AHRS rotation from veh to nav: [[-0.146713,-0.989045,0.016268],[0.986202,-0.144977,0.079925],[-0.076691,0.027770,0.996668]]2H¿`B`??@¿u? o??i2s ?I2a^;0Y^=HBy^HH fp9tIt=vQGyvFzqV=Ez>! Q 5-a4 c?Q 95a4 d) .BY1y5?Q I5? CI E;i ; @a4yEBɮE:BE#E"ff*f2feeee@=zCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq=zAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangedddjdZd?echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754743ZiZiZiZm+H?ɢ=) w=i)=i ?ɧ yA I.?i  `:9I9 9IAI9@ @@/@q^A- A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005836 A I! I9 OE >޷,23?A:rw?:c?:=ٱ:"< FAHRS rotation from veh to nav: [[-0.165336,-0.986092,0.016914],[0.983194,-0.163456,0.081307],[-0.077412,0.030073,0.996546]]:H)ſ Q? Tv?Ŀ д?>ѳ g˞??i:rw?I:w^;8YN#HByN(HER ERER0EP"ER:*ER~:VER4ZEPaZ@aZ@aZ@aZ@bDbVDb2yj%jK=ٔn:Q-n>9tIx=zQGy~F >=E >Q 5a4Qc?Q 9a4).BY!y%?Q I%?K CI;i;da4y)ɮ-:B)1IE E~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal1IEAU UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceAUUAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1CU UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqCUUInitialize.CU ]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlC]]Initialize.1D]qD]1B]A]qDegeh71Defeh7Ce mAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlCm1CmqCmfifmfBm$Terminal guidance.1BuDu uInitialize. udInitializing internal variables to default values.uZTransitioning guidance mode to: UNINITIALIZED:hq}DRollout timeout set to 300.00 sec.}VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE:h?< yAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<yAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1> |Uninitialize.q>> }>Uninitialize WaypointComponent.dddjdZd.?ԙZZZZL?U#HBu=)} } iy)}=y [,ߜ3?A27?2?2A=ٱ2)< :AHRS rotation from veh to nav: [[-0.183563,-0.982883,0.015645],[0.979904,-0.181697,0.082309],[-0.078057,0.030440,0.996484]]2Hǿs>?@_[?`Aǿ3? +?2?i27?I2/^;25Cnchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512118YvHByzH ||bDVDyE%EC=ٔM:Q-M>9M"?IM"?=UQGyUFU7=EU>YQ 5ea4]nc?Q 9ea4]})].BYiymt?Q Im?] CI]:i]:]ڬa4yqɮu;ByB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 592.099976 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhZh Added new target pos. range: 590.379578 m, bearing: 79.013443 deg, lat: 36.779372 deg, lon: -121.859566 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jhFNOT Ignoring new targets: 590.38 m.RhZh ProNav pure pursuit: ac range: 590.379578 m, nav range: 584.518188 m, bearing: 72.298826 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 99.545684 deg, new cmd heading: 72.298826 deg. HeadingCmd: 1.261853 target range: 590.379578 and range: 592.10 m.hc?h*h"h hgfffdddjdZd?B>BCBHBGBBE =BBDBs;BHEZZZZQ?$HBɢ%=)  i).=顑i޷i.@)L? (kpHeading = 0.800000I; (kiHeading = 0.0040000WIc?IAE EE-E"E:*E:VEt4ZEBE3,3?ABV?BA?B#=ٱBM< JAHRS rotation from veh to nav: [[-0.217820,-0.975951,0.008600],[0.972821,-0.216395,0.082421],[-0.078578,0.026319,0.996560]]BH˿:ڜ?X!?@ײ˿ ?@o??iBV?IB3^;B4CYRHByVH\\bD^VD^yf-%f;=hٔj:Q-n>9nIn=nQGylrʣ=Er>tQ 5za4vmc?Q 9za4v4u)v.BYxy~?Q I~?v CIv;iv3;v.a4yBɮ ;Bjh)5FNOT Ignoring new targets: 590.38 m.Rh5Zh1E ProNav pure pursuit: ac range: 590.379578 m, nav range: 584.228149 m, bearing: 72.284854 deg, approach rate: -0.662049 m/s, LOS rate: nan deg/s, cmd heading: 72.298830 deg, new cmd heading: 72.284854 deg. MHeadingCmd: 1.261609 target range: 590.379578 and range: 592.10 m.hMe|?hI*hI"hI hQgQfQfQfYdYdYdYjdYZde,@ZZZZw[?颙ɢB=) i)J=顡iVi?Ie|?I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015269!@) @)@-0@)^A3 II)O5 >E= E9E=.E9"E=:*E9VE=ـ4ZE9aE@aE@aM@aM@1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265878Y ۯ,3?A2X?2?2 =ٱ2< :AHRS rotation from veh to nav: [[-0.236272,-0.971623,0.011099],[0.968585,-0.234591,0.082525],[-0.077580,0.030249,0.996527]]2H+>ο @??ο\ ?Aܳ@??i2X?I2];0YNGByRH9y]x&1?v/kt]!?]x] 0Y Y9]S?i|?5&1Y]/=?y]q]P] B]B ]B)YYY]BbDuVDuk2y%@=ٔIQ->9I=QGy6=E>Q 5a42c?Q 9a4m)].BY<>?Q E:y?Q I?Z5I@E%HBɢMF =)I MX+iI)M=IQiUi9k?hIqt?Iimchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517802B<A<B->B-CB-HB-GBB)B)B-DB-Ր;B-QIEU7IY)]dAԑE] EYE]-EY"E]D:*EYVE]t4ZEYBE]2 *,w3?A:4?: ?:;=ٱ:G = JAHRS rotation from veh to nav: [[-0.254707,-0.966926,0.013405],[0.963972,-0.252780,0.082827],[-0.076699,0.034018,0.996474]]:HMп @t??`-п!4?@j? ?i:4?I:^;:5Ci`I`fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770394YjGByjHIr)>)r%=bDzVDzNy oѽ%R=ٔQ->9!I!=%QGy!-G=E->1Q 5Ea45ګc?Q 9Ma45e)51.BYIyM&?Q IU?5!CI5H@;i5*;5a4y]Bɮ],;BeEԙjh!%FNOT Ignoring new targets: 590.38 m.Rh-0Zh)] ProNav pure pursuit: ac range: 590.379578 m, nav range: 583.695740 m, bearing: 72.257681 deg, approach rate: -0.614471 m/s, LOS rate: nan deg/s, cmd heading: 72.270949 deg, new cmd heading: 72.257681 deg. eHeadingCmd: 1.261135 target range: 590.379578 and range: 592.10 m.hel?ha*ha"ha hagafififididdjdZd`H@Z9Z9Z9Z=O@颉ɢGi=) i)ճ=顑ii?v6, 4?A(2?2H?2ě=ٱ2= >AHRS rotation from veh to nav: [[-0.273403,-0.961785,0.014866],[0.958894,-0.271295,0.083198],[-0.075985,0.037002,0.996422]]2H`pѿ1r?A?\ѿ`tL?@s@??i2?I2D2^;24CYFGByFH LNbDRVDRyzbu%z4=ٔ~κQ-~>9|I=QGy/=E>Q 5a4Hc?Q 9a4])-BYy?Q I?!CI:iR:a4y)ɮ-H;B)jhFNOT Ignoring new targets: 590.38 m.RhM&Zh ProNav pure pursuit: ac range: 590.379578 m, nav range: 583.405334 m, bearing: 72.241740 deg, approach rate: -0.661820 m/s, LOS rate: nan deg/s, cmd heading: 72.257685 deg, new cmd heading: 72.241740 deg. HeadingCmd: 1.260856 target range: 590.379578 and range: 592.10 m.hc?h*h"h hgfffdddjdZd A& @Z!Z!Z!Z%m@5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273943U&HBɢU&=)Y ]biY)]y=YYi]l"i)?==Ic?IԁԩA@A @A@E0@A^A NI) IQ O] > BDAT read: Rx Time:14:59:27.1636  TRx dataTimestamp_ set to:1761577168.492061 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526852 Bu >Bu CBu hHBu GBBu C =Bq Bu DBu ;Bu IEB=ˌCB=ˌCB=˔CB=E =B=F =C={5 ,$4?A2@?2Q,?2=ٱ2\\&= :AHRS rotation from veh to nav: [[-0.292535,-0.956107,0.016797],[0.953299,-0.290206,0.083671],[-0.075124,0.040490,0.996352]]2H ҿ`nS3?m?@ҿ@rk?K; ?`?i2@?I2+^;23CbE jE ـ4rE /EB EBEB-E@"EB&:*EBxv:VEBt4ZE@BEBi;9I=QGy>=E>Q 5 a4ic?Q 9a4T)-BYyB?Q I?-"CI4;i6;a4y=|Bɮ=h;B9uB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 590.38 m.Rh8'Zh ProNav pure pursuit: ac range: 590.379578 m, nav range: 583.130249 m, bearing: 72.225896 deg, approach rate: -0.634255 m/s, LOS rate: nan deg/s, cmd heading: 72.241743 deg, new cmd heading: 72.225896 deg. HeadingCmd: 1.260580 target range: 590.379578 and range: 592.10 m.hZ?h*h"h hgfffdddjdZd@ZYZYZYZ] @m(HBɢ=) i)>=顱isiT? I>IZ?I5]>i1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778648@ @@4@^A^,IIOb>A ,Tt>4?A2?2a?2 =ٱ2F6= :AHRS rotation from veh to nav: [[-0.311266,-0.950130,0.019136],[0.947424,-0.308682,0.084281],[-0.074171,0.044364,0.996258]]2Hӿwgr?`LQ?@pӿu?ඦ?Y?i2?I27^;24CYByGByFVH HHRchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029927bDVVDV1y^%^\=ٔ^y(Q-^>9`I`=bQGy`bY=Ef>dQ 5jb4fc?Q 9nb4f N)f-BYlyn?Q In?fq"CIf;if;fqb4yrxBɮvw;BvEjh)=FNOT Ignoring new targets: 590.38 m.RhMK/ZhI ProNav pure pursuit: ac range: 590.379578 m, nav range: 582.901733 m, bearing: 72.212110 deg, approach rate: -0.634833 m/s, LOS rate: nan deg/s, cmd heading: 72.225897 deg, new cmd heading: 72.212110 deg. UHeadingCmd: 1.260339 target range: 590.379578 and range: 592.10 m.h]R?hY*ha"ha higfffdddjdZd-@x@ZiZiZiZm N@})HBɢ}<=)y }/i)=顁E EE5E"E:*EAr:VE4ZEa@a@a@a@ixiu)? >IR?II9@ @@/@^AII)Oew>q}DAT read: 14:59:27.1636 LVL= 32752, 32753, 27762, 32755, AGC= 67, IDX= 404, 0.23,-1.791,-2.793,-0.419,-1.409, PHS=-0.279,-1.338, 0.946, RAW= 182.4, 6.8, CAL= 182.3, 6.4, ROT= 327.7, -6.4 Ygot valid direction response: 14:59:27.1636 LVL= 32752, 32753, 27762, 32755, AGC= 67, IDX= 404, 0.23,-1.791,-2.793,-0.419,-1.409, PHS=-0.279,-1.338, 0.946, RAW= 182.4, 6.8, CAL= 182.3, 6.4, ROT= 327.7, -6.4 PDAT read: Bearing 288.0, -36.8 (Local) ~Local bearing/azimuth received: Bearing 288.0, -36.8 (Local) DAT read: Range 11 to 50 : 588.8 m (Round-trip 785.1 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.839994,-0.531022,0.111469] Fpublishing direction and range infoyIM(;?oF! -V:?YM3DIIIMrl I)MCIMَiMCM-r?M%K@M=MK@ M=)M@IM佩IIMsEp?_e(?tu? Mh?)M?IMUQiM佩II T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԙ 3,DX4?AY vGBy SHyy#~j?Mb? ףp= ?=Q 9ףp= ?+ʡEY?yBB ) BYB@AbD VD:2yF»%;=ٔQ->9I=QGyE>Q 5b43c?Q 9b4?G)\-BY!?Q E:y?Q I?"CIX:i:b4yɮy;BiigO4?AJiDRiDjiWW?bߪ~@IZ{|sͷ\P@R(;?oF! -V:?ZiUQbij-a@+ ȁ@ev-@Z/Զc?i,6?ȑt˙?2i@D:iC"if?*ivBiOB= addTargetRange:: Added new target pos. range: 588.799988 m, deltaT: 4.535996 s, deltaX: -3.299988 m, approachRate: -0.727511 m/s, rangeRepo size: 2 jh9EFNOT Ignoring new targets: 590.38 m.RhEZhAU ProNav pure pursuit: ac range: 590.379578 m, nav range: 582.677124 m, bearing: 72.197876 deg, approach rate: -0.513393 m/s, LOS rate: nan deg/s, cmd heading: 72.212107 deg, new cmd heading: 72.197876 deg. ]HeadingCmd: 1.260091 target range: 590.379578 and range: 588.80 m.h]J?hY*ha"ha hagafafifidididijdu`ff@ZduO?ZQ=ZQ=Z״@ZR?%*HBɢ%r==)! %3i!)-u=))iMiUէ?QQIUJ?IY*DAT read: user:831> BDAT read: Tx time:14:59:28.5744 $Ping request sent.B1B5HB5AGBB1B1B1B5A;B5IE^AE/ EE-E"Eaf;*E]t:VEt4ZEBEҷ m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251096U,r4?A2C?2?2(œ=ٱ2= :AHRS rotation from veh to nav: [[-0.342843,-0.939327,0.011149],[0.936623,-0.340897,0.080794],[-0.072091,0.038142,0.996669]]2H!տeՆ??@տ⮴?t [?`?i2C?I2,4^;25CYz;GByz HbDEVDEf?3ym%mP=ٔmQ-m>9qIq=uQGyq}y=E}>Q 5b4Ic?Q 9b4)A)-BYy?Q I?"CI=:i:!b4yqBɮ;BEjhFNOT Ignoring new targets: 590.38 m.Rh<Zh ProNav pure pursuit: ac range: 590.379578 m, nav range: 582.478271 m, bearing: 72.184346 deg, approach rate: -0.504901 m/s, LOS rate: nan deg/s, cmd heading: 72.197879 deg, new cmd heading: 72.184346 deg. HeadingCmd: 1.259855 target range: 590.379578 and range: 588.80 m.hB?h*h"h hgf f f d ddIjdIZdUu?ZZZZY?颥,HBɢp=) dpi)F=顩i;뼼ig?IB?I9@ @@@@=@>^A]echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502972IIOj>1E  E E 0E "E :*E |:VE 4ZE a @a @a @a @Y ",4?AYrGByvHIz%=)z;bD VD2yEʬ%MM=ٔMQ-M>9IIQ=UQGyQUEU>YQ 5eb4]_c?Q 9mb4];)],BYiyiQ Im?]1#CI]:i]I:]k/b4yqɮu;ByjhFNOT Ignoring new targets: 590.38 m.RhZh ProNav pure pursuit: ac range: 590.379578 m, nav range: 582.279358 m, bearing: 72.170802 deg, approach rate: -0.503182 m/s, LOS rate: nan deg/s, cmd heading: 72.184349 deg, new cmd heading: 72.170802 deg. HeadingCmd: 1.259618 target range: 590.379578 and range: 588.80 m.h+;?h*h"h hgfffdddjdZd0?ZZZZ -HBɢ ]=)  6i ) =i9'checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755007i%?))I-+;?I)19@ @@_0@ ^A;G)IIaIaOu6>q19YAԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006695B% >B% CB% HB% FBB! B! B! B% ~;B% JEԹ H),ե4?AE: E:E:-E8"E::*E:xv:VE:t4ZE8BE:.9QIQ=UQGyQ;=E>Q 5b4c?Q 9b44),BYys?Q I?r#CI:i1:=b4yɮ;B=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 590.38 m.RhM ZhI} ProNav pure pursuit: ac range: 590.379578 m, nav range: 582.073792 m, bearing: 72.156391 deg, approach rate: -0.483216 m/s, LOS rate: nan deg/s, cmd heading: 72.170805 deg, new cmd heading: 72.156391 deg. HeadingCmd: 1.259367 target range: 590.379578 and range: 588.80 m.h2?h*h"h hgffԑfdddjdZdf?ZZZZlX? /HBɢ ©=)1 5⓾i1)5^=11i52i=?99IE2?IA@ @@2@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258840^A <A eAzA `AIq I O > //,u4?A6?6?6f=ٱ6:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882 FAHRS rotation from veh to nav: [[-0.363144,-0.931041,-0.035904],[0.929139,-0.364738,0.060557],[-0.069476,-0.011369,0.997519]]6H=׿a?W׿`N?2ɱkH?i6?I6\^;4YRFByRHbDZ VDZ2ybG)%bS=ٔbQ-f>9dId=fQGydj;Ej>lQ 5rb4n }c?Q 9rb4n.)nV,BYpyrN?Q Iv?n#CIn;in;nKb4yzlBɮz;BzEjh%FNOT Ignoring new targets: 590.38 m.Rh%$Zh!5 ProNav pure pursuit: ac range: 590.379578 m, nav range: 581.885376 m, bearing: 72.143200 deg, approach rate: -0.514643 m/s, LOS rate: nan deg/s, cmd heading: 72.156393 deg, new cmd heading: 72.143200 deg. =HeadingCmd: 1.259136 target range: 590.379578 and range: 588.80 m.h=a+?h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUܥ?ZqZqZqZuM?颅1HBɢ1=) i)L=顉iig?Ia+?IQ@Y @Y@]/@Y@eA@dAEU EUEU+EQ"EUD:*EU:VEU [4ZEQau@au@au@a}@^AGg<I)IYOA>5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762645i 6,.4?A$6O?6?6*=ٱ6( BAHRS rotation from veh to nav: [[-0.362607,-0.930259,-0.055981],[0.929414,-0.365392,0.051752],[-0.068598,-0.033264,0.997090]]6H 4׿`@|½?b׿<?@(?i6O?I6H=^;68CYJFByJH LLy%Fx?x& rh%>%7%C! !9%)\(?y&1Zd;OY%G>y%`e%j%nB%B %^B)%B!Y% BbD=VD= 3yML%MB=ٔMQ-U>9QIQ=UQGyQ] E]>aQ 5mb4exc?Q 9mb4eg*)e",BYmC>Q Eu:yu?Q Iu?e#CIeU:ie:eYb4yyɮ};ByjhFNOT Ignoring new targets: 590.38 m.RhZh ProNav pure pursuit: ac range: 590.379578 m, nav range: 581.739319 m, bearing: 72.132394 deg, approach rate: -0.346698 m/s, LOS rate: nan deg/s, cmd heading: 72.143197 deg, new cmd heading: 72.132394 deg. HeadingCmd: 1.258948 target range: 590.379578 and range: 588.80 m.h3%?h*h"h hgfffddQdQjdQZd]~@Z=Z=Zf?Z8@颭4HBɢ9=) i)d\=i]iJ?I3%?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0156579@ @@@B>BBoHBFBBB =BBB;BJE^Aei=ԡE] E]E].EY"E]V:*E]z:VE]ـ4ZEYBE]9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267169D<,u4?A>M?>`9?>\n=ٱ>%YW JAHRS rotation from veh to nav: [[-0.359352,-0.930318,-0.073317],[0.930755,-0.362988,0.043994],[-0.067542,-0.052431,0.996338]]>H`ֿ)IJ ?0;׿ h? lJ`=ت?i>M?I>\F^;L>5CYVFByVH\^BAbD^ VD^:2yfNȽ%fR=ٔja2Q-j>9n?In?=nQGynFnEr>pQ 5vb4r}sc?Q 9vb4r4&)r+BYxyz?Q I~?r$CIr6);irS*;rcgb4yɮ A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518742AIIO > E=  E= E= *E9 "E= :*E= k:VE= (N4ZE9 aE @aE @aE @aM @(C,@ 5?A6Np?6[?6m=ٱ6 BAHRS rotation from veh to nav: [[-0.353078,-0.931061,-0.091989],[0.933223,-0.357472,0.036177],[-0.066567,-0.073073,0.995103]]6HӘֿ?@?ֿх? @괲?i6Np?I6`;^;64CYJFByJHbDRVDRf?3yZ%ZL=ٔZ> Q-^>9\I\=bQGybFb|Eb>dQ 5jb4fnc?Q 9jb4f!)f+BYhyn>?Q In?f3$CIf:if;f[ub4yreBɮr;BrEjhFNOT Ignoring new targets: 590.38 m.RhZh- ProNav pure pursuit: ac range: 590.379578 m, nav range: 581.463501 m, bearing: 72.112526 deg, approach rate: -0.350750 m/s, LOS rate: nan deg/s, cmd heading: 72.122529 deg, new cmd heading: 72.112526 deg. 5HeadingCmd: 1.258601 target range: 590.379578 and range: 588.80 m.h5?h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdM@ZiZiZiZm 6@}9HBɢ} =) i)&?=顁i i?I?Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7844619@ @@/@@!>@;>^AD->1AAI!I9OEQ>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034729ԁ B >B B 0HB FBB C =B B DB c;B JE TI,) '5?AEN ELEN/EL"EN:*ELVENJ4ZELBEN3)=bD VD yh%%C=ٔ%%Q-%>9%??I-??=-QGy-F-(ϼE->1Q 5=b45jc?Q 9Eb45Q)5+BYAyE3?Q IE?5b$CI5+;i5:5b4yIɮMAԱIIO> = nManaging dock network, ignoring radio surface power off:P,b@5?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.538938YFByhH bDVD02y%.%-J=ٔ-Q-->91I1=5QGy5F5E5>Q 5b4fc?Q 9b4)[+BYyQ I?$CIg:i=:b4yԹɮHBɢeX=)a eþia)m=iiim1 iu'?qyI}'?IE EE,E"Es:*E:VEg4ZEa@a@a@a@-9@) @)@51@1^A5Wg~>AMdAzAMdAA0AIIO>uBDAT read: Rx Time:14:59:31.7609 }TRx dataTimestamp_ set to:1761577173.292206}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7918759 eV,Z5?A6j?6?6N0=ٱ6  BAHRS rotation from veh to nav: [[-0.313916,-0.934886,-0.165667],[0.947323,-0.320082,0.011230],[-0.063526,-0.153414,0.986118]]6H1Կ4ſxP?@9|Կ?;Cÿ G?i6j?I6^;67CYJFByJvHy%Mb?sh|?MbX9?%?%%ʡ=! !9%E?I +Mb?Y%>y%94%=% B%A !)!!Y%\BbD9VD9yM<%MH=ٔMQ-M>9U?IU?=UQGyUF]AE]>aQ 5mb4ebc?Q 9mb4e)e_+BYmh>Q Em;ym?Q Iu?e$CIe:ies:ecb4yyɮ}Z7>Z{%@Z@颥BHBɢ4=) qi)Q=iWi ?I ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.043677M9@I @I@M4@Q@Q@UfAAyA}AAB}>B}CB}$HB}FBB}B =ByB}DB};B}BKEB5ďCB5ďCB1B5C =B5C =C5a4AbEjE44rEƲ0E EE.E"E:*E?:VEـ4ZEBEG8qIi Iy O > DAT read: 14:59:31.7609 LVL= 32752, 32753, 24354, 32755, AGC= 65, IDX= 409,-0.27, 2.359, 1.312,-2.529, 2.658, PHS=-0.197,-1.300, 1.052, RAW= 182.0, 4.4, CAL= 181.8, 2.5, ROT= 328.2, -2.5  Ygot valid direction response: 14:59:31.7609 LVL= 32752, 32753, 24354, 32755, AGC= 65, IDX= 409,-0.27, 2.359, 1.312,-2.529, 2.658, PHS=-0.197,-1.300, 1.052, RAW= 182.0, 4.4, CAL= 181.8, 2.5, ROT= 328.2, -2.5  PDAT read: Bearing 280.7, -35.8 (Local)  ~Local bearing/azimuth received: Bearing 280.7, -35.8 (Local)  DAT read: Range 11 to 50 : 586.8 m (Round-trip 782.4 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.849084,-0.526454,0.043619] Fpublishing direction and range infoyy } - +?v.࿥GU?Y} Dy y y } "_ y )} AI} ^Ii} ff} ?} KK@} nF=} K@ } ¸2=)} -M@I} ¸2y y } TY?E*/?Xͳ? } p?)} `ƝI} mi} ¸2y y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. \,ٯt5?Afo?fk?f$=ٱf^7 AHRS rotation from veh to nav: [[-0.294622,-0.936886,-0.188262],[0.953584,-0.301068,0.005946],[-0.062251,-0.177772,0.982101]]fHҿ ȿƒ?@Dӿ[x? S߯`:ƿ^m?ifo?IfT^;f6CYFBylH bD VD2y_%>=ٔ5@Q-5>99I9==QGy=FE?EE>IQ 5Ub4M^c?Q 9ub4M)Mc+BYqyu?Q I}?M$CIM;iM;Mb4yɮ @6ӑ@sG9@R- +?v.࿥GU?Zimbi¸2jǏ-a@@gsH@ZQ[2?b_b?f%*d?2i D:im C"i?*i=}Bi+BM addTargetRange:: Added new target pos. range: 586.799988 m, deltaT: 4.548014 s, deltaX: -2.000000 m, approachRate: -0.439752 m/s, rangeRepo size: 3 jhImFNOT Ignoring new targets: 590.38 m.Rhu Zhq ProNav pure pursuit: ac range: 590.379578 m, nav range: 580.901489 m, bearing: 72.073876 deg, approach rate: -0.305038 m/s, LOS rate: nan deg/s, cmd heading: 72.083262 deg, new cmd heading: 72.073876 deg. HeadingCmd: 1.257926 target range: 590.379578 and range: 586.80 m.h?h*h"h hgfffdddjd`fV@Zd 6?ZZZZ@5EHBɢ5=)1 5Aži1)= =99i=iE?AAIE?Ii@ @@4@*DAT read: user:832> BDAT read: Tx time:14:59:33.0744 $Ping request sent.Q yc,֐5?A2?2E?2x=ٱ2֑Q :AHRS rotation from veh to nav: [[-0.273895,-0.938162,-0.211740],[0.959842,-0.280537,0.001386],[-0.060701,-0.202857,0.977325]]2H ѿl L˿?RѿV?7;ɿ@?F?i2?I2q^;23CYFFByFcHN@ANAAbDRVDR:yV%Vd=ٔZlQ-Z>9XIX=^QGy^F^\zEb>`Q 5fb4b[c?Q 9fb4b! )bf+BYhyj=?Q Ij?b%CIb|:ib:bb4yn`Bɮr A>I I! O- >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502280Be >Be CBe HBe vFBBe @ =Ba Be DBe ;Be KE?^q=ٱ^h fAHRS rotation from veh to nav: [[-0.252647,-0.939340,-0.231970],[0.965757,-0.259446,-0.001241],[-0.059018,-0.224340,0.972722]]^H _+п`@2Ϳz?@ÚпhTT7.̿ ?i^?I^C^;^4CYFBy?HbDVD:y%U%%C=ٔ-郻Q-->9)I)=5QGy5F59Q 5Eb4=Wc?Q 9Mb4=)=k+BYIyM?Q IM?=0%CI=_:i=:=b4yQɮU*@R>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754405Թ^AIQIiOu> p,?5?A2 ?2n?2^j=ٱ2Ѯw :AHRS rotation from veh to nav: [[-0.231159,-0.941328,-0.245902],[0.971226,-0.238155,-0.001325],[-0.057315,-0.239132,0.969294]]2H`Ϳ`[yϿI?{οHU@mX@οt?i2 ?I2];0YFFByFSHIJ=)Jp>Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006363bDV VDVf2y^D#=%^Q=`ٔbQ-b>9dId=fQGyf FfhEj>hQ 5nb4jTc?Q 9rb4j)jp+BYpyr?Q Ir?jW%CIj;ij;j MG AfA A E Q9M AfAYM A'v,5?AYFByWHy/$?l?Pn?&?=> 9S㥛?QQ?Y$?yu\>iBA B)- BY B ;4<bDVD0y<%;=ٔQ->9I=QGy FE>Q 5b4Oc?Q 9b42)+BY ?Q E:y?Q I?%CI;i: ;yb4yYBɮBBBBBBB@;BKEII@I @I@U0@QEE EEEAEA"EEs:*EE]t:VEAZEABEEq0A cAzA Iq I O >ԡ e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762262V|,A5?AFG?Ft?FFZ=ٱFı NAHRS rotation from veh to nav: [[-0.189164,-0.946516,-0.261390],[0.980500,-0.196510,0.002006],[-0.053265,-0.255913,0.965231]]FH6ȿ`I@пA`?@'ɿ,o`?E``п,?iFG?IFK^;F9CYZFByZuHbDbVDb2yj=%jZ=ٔj1Q-n>9lIl=nQGyr FrEr>tQ 5zb4vKc?Q 9zb4v)v+BYxyz?Q I~?v%CIv9:iv);vb4y ɮ ;B jh)5FNOT Ignoring new targets: 590.38 m.Rh5Zh9M ProNav pure pursuit: ac range: 590.379578 m, nav range: 580.153564 m, bearing: 72.027397 deg, approach rate: -0.474578 m/s, LOS rate: nan deg/s, cmd heading: 72.037568 deg, new cmd heading: 72.027397 deg. MHeadingCmd: 1.257115 target range: 590.379578 and range: 586.80 m.hM'?hQ*hQ"hQ hQgQfQfYfYdYdadajdaZde\@yZZZZ-v@额WHBɢ=) ʾi)W=顡iBi'?I'?Im9@q @q@u4@q@}dA@}cAԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014258^A6>E]  E] E] .EY "E] :*E] :VE] ـ4ZEY ae @ae @am @am @A AI I! O- > )Ń,-6?A2?2?2P=ٱ2Ɉ :AHRS rotation from veh to nav: [[-0.168847,-0.949020,-0.266180],[0.984325,-0.176312,0.004218],[-0.050933,-0.261295,0.963914]]2Hǜſ`_^ ѿ? `ƿFq?@пb?i2?I29^;26CYBFByF\H HHbDNVDN:2yVP%VM=ٔZQ-Z>9Zc?IZc?=ZQGyZ F^TE^>`Q 5fc4bHc?Q 9fc4b)b+BYhyj&?Q Ij?b%CIb:ib:bc4ylɮnB CB 0HB FBB > =B 4DB DB ';B KEA I I a O >DQ zDU ?AE]  E] E] /EY "E] V:*E] :VE] J4ZEY BE] 99|I|=~QGy~ FyBE> Q 5 c4 sDc?Q 9c4 ) ),BYy?Q I? 4&CI :i R: c4y%TBɮ%;B%EjhIMFNOT Ignoring new targets: 590.38 m.RhUZhQe ProNav pure pursuit: ac range: 590.379578 m, nav range: 579.777039 m, bearing: 72.006309 deg, approach rate: -0.464402 m/s, LOS rate: nan deg/s, cmd heading: 72.016907 deg, new cmd heading: 72.006309 deg. mHeadingCmd: 1.256747 target range: 590.379578 and range: 586.80 m.hmݠ?hi*hi"hi higifqfqfqdqdydyjdyZd D@ZZZZ@颵`HBɢe{=) Ծi) =项iI¼iݠ?Iݠ?I@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770373A^A5;>qAa Iq I O >ԙ ֐,oC6?A2߽?2M?2|8=ٱ2c :AHRS rotation from veh to nav: [[-0.130216,-0.953905,-0.270386],[0.990463,-0.137536,0.008216],[-0.045025,-0.266737,0.962717]]2H@dNѿޱ?`ĚӀ? 9ѿ?i2߽?I2^;28CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022412YJFByJvHbDRVDR:yZt<%ZP=ٔ^'Q-^>9`I`=bQGybFbJEb>dQ 5jc4fjAc?Q 9jc4f)fX,BYlynT?Q In?fi&CIf;if;fc4ypɮv;Btjh1=FNOT Ignoring new targets: 590.38 m.RhM޹ZhIe ProNav pure pursuit: ac range: 590.379578 m, nav range: 579.593201 m, bearing: 71.996661 deg, approach rate: -0.463485 m/s, LOS rate: nan deg/s, cmd heading: 72.006306 deg, new cmd heading: 71.996661 deg. mHeadingCmd: 1.256579 target range: 590.379578 and range: 586.80 m.hmנ?hi*hi"hq hqgqfffdd d jd Zd s @ԙZZZZ i@E- E-E--E)"E-:*E-&p:VE-t4ZE)aU@aU@aU@a]@颍eHBɢ=) оi)4=顡ioüiנ?Iנ?I@ @@/@@V>@]>=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274197 ^A% 6> AU .AIa Iq O} >,A]6?A2o?2u[?2^)=ٱ2s :AHRS rotation from veh to nav: [[-0.111354,-0.955893,-0.271788],[0.992915,-0.118427,0.009706],[-0.041465,-0.268781,0.962308]]2Hශ dѿ`? 8Q?:3ѿ:?i2o?I2f7^;24CYBFByFbHIJ=)Jy/$?kt?/$?L? =< 9(\?{GzCl?Yz4?yף;=D(BA  B) BYBbD-VD-y%9=ٔQ->9 ?I ?=QGyF1E>Q 5c4>c?Q 9c4h)|,BY6?Q E:y,?Q I?&CI ;i ;..c4yɮ;BB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 590.38 m.Rh  Zh ProNav pure pursuit: ac range: 590.379578 m, nav range: 579.310669 m, bearing: 71.983504 deg, approach rate: -0.646847 m/s, LOS rate: nan deg/s, cmd heading: 71.996662 deg, new cmd heading: 71.983504 deg. %HeadingCmd: 1.256349 target range: 590.379578 and range: 586.80 m.h% Р?h!*h!"h) h)g)f)f1f1d1d1d9jd9Zd=@ @Z])>Z])>Z][@Z]ͱ@mjHBɢm9=)q u۾iq)uօ=qqi}Süi} Р?yI Р?I)}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527670AA?AB>BCBIHBFBBBBB;BKE-9@) @1@5/@1E EE/E"E=;*E:VEJ4ZEBEI BDAT read: Rx Time:14:59:36.2582 % TRx dataTimestamp_ set to:1761577177.828184% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779423;,1~w6?A0B ?Bm?B#=ٱBь JAHRS rotation from veh to nav: [[-0.092805,-0.957307,-0.273771],[0.994973,-0.099554,0.010830],[-0.037623,-0.271390,0.961734]]BH ·Bxѿ ?W|:.?NCt^ѿ?iB ?IB ^;B2CY=FBy=fH m49I=QGyF@E>Q 5c4;c?Q 9c4),BYy?Q I?'CI:i|:",!Y6?A2?2??2z =ٱ2 :AHRS rotation from veh to nav: [[-0.074273,-0.958949,-0.273680],[0.996673,-0.080616,0.011987],[-0.033558,-0.271879,0.961746]]2H`ѿ ?;@?@}.@wfѿ?i2?I2VK^;26CYZFByZIH`bDf VDf2ynu%nV=ٔr\.Q-r>9pIt=vQGyvFvGEv>xQ 5~c4z9c?Q 9~c4z)z,BYyv?Q I?zG'CIzj;iz;zuIc4y ɮ  8=@ 5>):@I559@1 @1@54@1@=eA@=eA-)t?ܷ7?ށ5~? R^?)d I*\i5eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.^AY *DAT read: user:833>  BDAT read: Tx time:14:59:37.6744  $Ping request sent. B CB bHB FBB ? =B B B ;B XKEBUɓCBUɓCBUɓCBU? =BU? =CU!P5I I) I OE >bE4jE~4rE?/E%  E% E% ,E! "E% :*E% z:VE% g4ZE! BE% O-9I=QGyF+E%>!Q 5-c4%7c?Q 95c4%;)%,BY1y5C?Q I=?%'CI%<;i%5;%Wc4yMOBɮM;BMEiiUN6?AJiDRiDji.?bb@dCgނIT@R&xˮ?,k* տH@l?Zi*\bi5j }NZ`@VϹd@^"ę\@Z?m]?jA?2i% D:iC"iVII?*iڻÛBi$C= addTargetRange:: Added new target pos. range: 584.700012 m, deltaT: 4.537553 s, deltaX: -2.099976 m, approachRate: -0.462799 m/s, rangeRepo size: 4 jh9EFNOT Ignoring new targets: 590.38 m.RhExZhI} ProNav pure pursuit: ac range: 590.379578 m, nav range: 578.532349 m, bearing: 71.950575 deg, approach rate: -0.624306 m/s, LOS rate: nan deg/s, cmd heading: 71.961534 deg, new cmd heading: 71.950575 deg. HeadingCmd: 1.255774 target range: 590.379578 and range: 584.70 m.h7?h*h"h hgfffdddjdE@Zd?ZQZQZQZU@eyHBɢe@=)i m߾i)E=iRƼi7?I7?I)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2506069@ @@4@Q^A ԁ A5 AIA IQ Oe >O,|6?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503501%"?%J?%<ٱ% 5AHRS rotation from veh to nav: [[-0.038993,-0.960498,-0.275541],[0.998926,-0.044378,0.013333],[-0.025035,-0.274725,0.961197]]%H@fvѿ`3?N?ѿ?i%"?QI% 8^;%4CYFByBHbDVD:2y%;=ٔ Q->9%c?I-c?=5QGy5F=n&EE>E EE1E"E:*E]t:VE-4ZEa@a@a@a@YQ 5-c4]O6c?Q 95c4])]-BYYy]?Q I]?]'CI]; AM >A .AI I O >1,[6?A2jǯ?2?2A<ٱ2ڎ >AHRS rotation from veh to nav: [[-0.020600,-0.961007,-0.275755],[0.999577,-0.025463,0.014065],[-0.020538,-0.275349,0.961125]]2H=@ ѿ?@͌?Oѿ`?i2jǯ?I2^;23CYFFByFGHyMbX?I +ƿ9E ?IE ?=EQGyEFM3EM>QQ 5]c4Ue7c?Q 9]c4U)U-BY]wC?Q E]:y]?Q Ie?U4(CIU:iUj:Uvc4B<AB>BCBoHBFBB= =B5DBDB;BUKEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.013611y)ɮ5Z-<)>Z-$u?Z-!@=HBɢ=)~=a)a e|ia)m#=iiimȼiuޱ?qqIuޱ?IyEM EMEIEI"EM;*EM:VEIZEIBEM@@ER>ԑ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266659 A I I! O5 >XT,&6?A:P?:9dId=jQGyjFj{KEj>lQ 5rc4n8c?Q 9rc4nѲ)n,BYtyvj?Q Iv?n(CIn:in:nc4yxɮzI?I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519398^A Ee EeEe0Ea"Ee ;*Eex:VEe4ZEaau@au@au@au@A) I1 IA OU >! -<ō,7?A f>6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770056J>GVgA`vR9zgAYz9A|YFBy)H p<bDVD:3yC%<=ٔQ->9I=QGyFE>Q 5c4:c?Q 9c4),BYyQ I?(CI;i];גc4yJBɮIި?I @  @@/@9^Aq>A dAzA bAA1I9YIaO}z>B>BCBBBD =BBDB#;BKEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.022452Em  Em Ei Ei "Em :*Em ~:VEi ZEi BEm 3?>F?>^<ٱ> FAHRS rotation from veh to nav: [[0.039557,-0.961129,-0.273253],[0.999184,0.035799,0.018726],[-0.008216,-0.273770,0.961760]]>H`@?|ѿO?BT?,?`Ӏsѿ?i>?I>^;9I= QGy F 8ܽE >Q 5c4=c?Q 9c4),BY!y%/?Q I%?)CI;i;$c4y)ɮ-#IY?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.274306@ @@O0@@dA@dAԉԱ^A>I1 IQ Om > = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529116Uҍ,I7?AE- E-E-+E)"E-T;*E-:VE- [4ZE)aE@aE@aE@aE@e:D?e/?eϏ;ٱe큌 }AHRS rotation from veh to nav: [[0.061483,-0.960832,-0.270225],[0.998098,0.057996,0.020878],[-0.004389,-0.270994,0.962571]]eHz? #\Kѿ l?@?(a?`q@Wѿ`a?ie:D?Ie.^;e7CYUFByH ԩyQ?MbQ뱿\/?\ 9%C?MbX9B`"۹YZ$?yʡν  B) BYBbD5VD5y=u%=7=ٔEh Q-E>9III=MQGyMFM9IEU>QQ 5]c4UaBc?Q 9ec4U )U,BYe'?Q Ee:ye?Q Ie?Uj)CIUT ;iU ;U¯c4yuIBɮu=I5ˣ?I1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778188y@y @y@}0@y^AM5tr>IA IQ Oe >) hx؍,c7?A2_?23K?2VHL:ٱ2 :AHRS rotation from veh to nav: [[0.084027,-0.959666,-0.268291],[0.996463,0.080714,0.023377],[-0.000779,-0.269306,0.963054]]2H΂?``+ѿ??? I O<ѿ`W?i2_?I2^;22CYB4FByFHHHbDNVDN:2yVH%Vi=ٔZ(Q-Z>9XIX=ZQGy^F=E=>IAaAe@ABu>BuCBuVHBuFBBuG =BqBuDBu;Bu(LEQ 5c4M=Gc?Q 9c4M)M,BYyߩ?Q I?M)CIMCIѢ?IEM EMEM.EI"EM:*EM:VEMـ4ZEIBEM<A%>A%>IIO^>i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282002ԡ ލ,gd}7?A2a?25M?2"-ٱ20u :AHRS rotation from veh to nav: [[0.107295,-0.958536,-0.264001],[0.994224,0.104149,0.025929],[0.002642,-0.265258,0.964174]]2Hw?S cп ?? ?Oe?п@?i2a?I2e-^;27CYf6FByfHbDr VDr2yv;%zF=ٔzQ-z>9|I|=~QGy~FgE> Q 5 c4 Lc?Q 9c4 k) ,BYy?Q I? )CI :i : pc4y%FBɮ%UI?Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.533994ԡ7I)EE EEEE-EA"EE:*EE&p:VEEt4ZEAaM@aM@aM@aM@q@q @q@u4@y@%>@=^A] ^>I I O > M,<7?A&BDAT read: Rx Time:14:59:40.8542 &TRx dataTimestamp_ set to:1761577182.372273*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787229>"@?>+?>$ٱ>X FAHRS rotation from veh to nav: [[0.131575,-0.957187,-0.257838],[0.991291,0.128487,0.028867],[0.005498,-0.259391,0.965757]]>Hu?@Gkп?@Dr?`?v?ۙпz?i>"@?I> ^;>6CYNFByNHIR=)PbDZVDZN2ybk%bM=ٔbQ-f>9dId=fQGyfFj{Ej>lQ 5rc4n1Sc?Q 9rc4n)ni,BYtyv?Q Iv?n+*CIn]$;in%;nWc4yzNBɮz|I=?I9%@ @@/@^AX>IABm>BmCBm$HBmFBBmJ =BiBmDBm;BmgLEIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037975) EM  EM EM 0EI "EM :*EM z:VEM 4ZEI BEM F8AHRS rotation from veh to nav: [[0.156125,-0.955489,-0.250331],[0.987705,0.153084,0.031698],[0.008034,-0.252202,0.967641]]2H ?]lпF?`B?:?@Mt?$п?i2?I2%];25CYFFByFHP LLbDVVDV1yZx%^K=ٔ^λQ-^>9`I`=bQGybFfM|Ef>dQ 5jc4fZc?Q 9nc4fW)fK,BYyܠ?Q I?fn*CIf$I?IDAT read: 14:59:40.8542 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 404, 0.23,-1.784, 3.079,-1.349,-1.840, PHS= 0.159,-1.319, 0.447, RAW= 158.8, 8.7, CAL= 158.5, 9.2, ROT= 351.5, -9.2 Ygot valid direction response: 14:59:40.8542 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 404, 0.23,-1.784, 3.079,-1.349,-1.840, PHS= 0.159,-1.319, 0.447, RAW= 158.8, 8.7, CAL= 158.5, 9.2, ROT= 351.5, -9.2 PDAT read: Bearing 259.2, -10.4 (Local) ~Local bearing/azimuth received: Bearing 259.2, -10.4 (Local) DAT read: Range 11 to 50 : 581.7 m (Round-trip 775.7 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.976293,-0.145908,0.159881]-Fpublishing direction and range infoyQUN=?¿Čsv?YUlDQQQQ Q)UEIU">iUԨU/>Ua1@U|>U 1@ Ul$>)UP@IUl$QQU\Iv?sՍ:?!o? U-?)UIUiUl$QQmT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.U) @)  @) @- /@) ^A- h`0>) A1 zA5 dA% *DAT read: user:834> 5 BDAT read: Tx time:14:59:42.1744 E $Ping request sent.E ,.s7?AE& E&E&+E$"E&:*E&:VE& [4ZE$a*@a*@a*@a.@,YEByHyMʡE?MbXy&1?M-?MʽM`e9yIy=}QGy}FE>Q 5c4bc?Q 9c4{)B,BY?Q E:y[?Q I?*CI\ ;i ;Vc4yɮxI?I!!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244771ԡ I @I  @I @M /@I B <A <B >B CB HB lFBB L =B B DB ;B kLEBǔCBǔCBu̗CBuG =BuF =Cu36 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496695^Amzl+>bEMϻ4jEM4rEMb0E EE1E"E:*Eą:VE-4ZEBE$591I1=5QGy5F=~E=>AQ 5Md4E*mc?Q 9Md4Et)E8,BYIyU?Q IU?E*CIE:iEM:ER d4yYɮ]|ԁAIIOf>ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000629 h|,Hm 8?A2*?2?2j3ٱ2z :AHRS rotation from veh to nav: [[0.254778,-0.937434,-0.237290],[0.966937,0.249756,0.051517],[0.010971,-0.242570,0.970072]]2HFN?t_ο&??`r`?w? Ͽ ?i2*?I2];26CYFEByF|HbDRVDR2yVջ%ZN=ٔZ!9Q-Z>9\I\=^QGy^F^Eb>`Q 5fd4buc?Q 9jd4bo)b1,BYhyj?Q Ij?b,+CIb:ib-:b*d4yr>BɮrA>A>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.252684A؟AIIO%o> ,#8?AJ' ?J?J&ٱJ@c{ bAHRS rotation from veh to nav: [[0.278335,-0.930993,-0.236181],[0.960430,0.272380,0.058164],[0.010181,-0.243025,0.969967]]JH@>?/;ο׻?n? ǭ?ل?nϿ ?iJ' ?IJ3^;J5CYnEBy5oHbD]VD]2yuɼ%uB=ٔ}:Q-}>9"?I"?=QGy FsmE>Q 5d4B>BCBHBCFBBO =B6DBDB;B^LEAc?Q 9d4j)(,BYy_?Q I?e+CI.;i;%d4yɮi u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766418A I I O% >,=8?A >?>?>[ٱ>x){ JAHRS rotation from veh to nav: [[0.300256,-0.924666,-0.234177],[0.953818,0.293315,0.064785],[0.008783,-0.242814,0.970033]]>Hd7?ݖ@Ϳ୅??•?@?`Ͽ ?i>?I> ^;>6CYREByRhHIV>)V> Zp9hIh=nQGyn!FnmuEn>pQ 5vd4r;c?Q 9vd4rBf)r!,BYxyzq?Q Iz?r+CIr:ir:rB3d4y|ɮ~iQ)Uߕ=YYi]/ڼi]/?e;eS$ A ,DW8?A :B98Y:ALbD?bH0?b:ٱb{ nAHRS rotation from veh to nav: [[0.321323,-0.917924,-0.232739],[0.946942,0.313341,0.071546],[0.007253,-0.243380,0.969904]]bH`?@_gͿXM? ?P? }?'Ͽs ?ibD?Ib];`YvEByvtHchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268750y}V-?I +bX9ȶ?}|?}9}E=y y9}^I +?V-L7A`?Y}X>y}}+=} By y)}1ByY} BbDVD1y<%==ٔg;Q->9I=QGy"FQE>Q 5d4c?Q 9d4fa)=,BYp?Q E:y?Q I?+CI:i:_Bd4yUFBɮUZUP>ZUV@ZU@eHBɢeq=)a u>iy)}<=yyi}5ۼi毠?9;4I毠?I=9@9 @A@E4@A@MeA@MfA^AP=AzAAAAAB>BCBHB/FBBR =BBDB;B[LEAM.AIYIiOu>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520629) E  E E -E "E :*E ą:VE t4ZE BE N-9  ?I  ?= QGy #F$ZE>Q 5%d4c?Q 9%d4(])V,BY!y%?Q I%?,CI3;iI:Od4y1ɮ11MB*** querying acoustic contact ***iI iIjhYeFNOT Ignoring new targets: 590.38 m.Rhef9Zhau ProNav pure pursuit: ac range: 590.379578 m, nav range: 574.191956 m, bearing: 71.931860 deg, approach rate: -0.509113 m/s, LOS rate: nan deg/s, cmd heading: 71.927288 deg, new cmd heading: 71.931860 deg. }HeadingCmd: 1.255448 target range: 590.379578 and range: 581.70 m.h}?hy*hy"hy hgfffdddjdZd+@ZZZZ @HBɢz<) ?i))=iWܼi?Ô;WüI?Ii@q @q@u/@q5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7732819^AM+,=AyIIO^>aԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024696",H58?A:|?:[?:Xٱ:} BAHRS rotation from veh to nav: [[0.356832,-0.905324,-0.230344],[0.934162,0.346686,0.084552],[0.003310,-0.245349,0.969429]]:HW?j{Ϳ?@0?4?Yk?gϿ ?i:|?I:H];8YJEByJ~H PPbDV VDV:2y^8<%^O=ٔb~;Q-b>9`I`=fQGyf$Ff+4Ef>hQ 5nd4jc?Q 9nd4jX)jo,BYpyr~?Q Ir?j3,CIj;ij;j]d4ytɮvA I I O >9 (,8?AfPvy?fѦ?fٱfw nAHRS rotation from veh to nav: [[0.369253,-0.902230,-0.222783],[0.929329,0.358636,0.087911],[0.000582,-0.239500,0.970896]]fHء?`%̿@?`?Z?@C?ο?ifPvy?If];dYzFByzHbDVDy =%E=ٔH;Q->9I!=%QGy%%F%dE%>)Q 55d4-ìc?Q 95d4-KTBEz>BECBEHBE$FBBEW =BABEDBE;BE7LE)-,BYYy]{?Q I]?-h,CI-3;i-;-ld4yaɮeiY)]=YYi]F޼iu?uO;}^CI}?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528797)@) @)@-/@)@5>@5>E EE,E"ET;*E:VEg4ZEBEGiM BDAT read: Rx Time:14:59:45.3509 M TRx dataTimestamp_ set to:1761577186.916161U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781776ԙ /,o8?A:v?:lg?:l ;ٱ:`m NAHRS rotation from veh to nav: [[0.378293,-0.901025,-0.212248],[0.925683,0.367658,0.089098],[-0.002245,-0.230180,0.973146]]:H5?`1@*˿`2? ?#϶? dbvͿ $?i:v?I:J];:5CYV FByVHbDbVDbN2yj0!<%jO=ٔj4;Q-j>9n"?In"?=nQGyn&FrɼEr>tQ 5zd4v'c?Q 9zd4vP)v,BYxyzPx?Q Iz?v,CIv;iv;vyd4yNBɮE EE/E"E;*E:VEJ4ZEa@a@a@a@ `5,\8?A:/u?:3?:ܞ;ٱ:O` FAHRS rotation from veh to nav: [[0.384727,-0.901376,-0.198760],[0.923018,0.374566,0.087973],[-0.004848,-0.217304,0.976092]]:H_?@pɿ\??b?s˿ %wU?rZB8?z0Gu?YD )FI5^:>itÿ;!@Ð>E/!@ 2+>)%=I2+o4?1?S$so? >)pI%=i2+uT****** received valid address query ******uR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y&1?{Gz?ˡE??ף<'= 9|?5^?333333#~j?Y ?y=p!B  B)BYQ BbDVDk2y-q=%-6=ٔ-m;Q-->91I1=5QGy=(F=~E=>AQ 5Md4E%c?Q 9Md4E=J)E,BYM?Q EU:yU?Q I ?E,CIEwU?rZB8?z0Gu?Zi%=bi2+jȆD9_@@ʼQ#uc@ZfH?hB=CB=HB=/FBB9B9B=DB=ؓ;B=LE*DAT read: user:835> BDAT read: Tx time:14:59:46.7244 $Ping request sent.D<,t8?A2\:t?2?2 7;ٱ2!Q NAHRS rotation from veh to nav: [[0.388164,-0.903043,-0.183961],[0.921558,0.378659,0.085728],[-0.007758,-0.202808,0.979188]]2H ? ǿ@f}?`;?K?@ɿU?i2\:t?I2];0YV;FByVHbDbVDb0yjZ=%j[=ٔj;Q-n>9lIl=nQGyn)Fr3$Er>tQ 5zd4vc?Q 9zd4vrE)v,BYy?Q I?v-CIv;ivS;vd4y!ɮ%WA ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502686(C,A 9?A6;t?6?6`0<ٱ6F-B BAHRS rotation from veh to nav: [[0.388886,-0.905551,-0.169541],[0.921223,0.380068,0.083046],[-0.010765,-0.188481,0.982018]]6H?Fſ`z?@ S?@~B? @! ȿl?i6;t?I6];65CYJ>FByJHbDRVDR:2yZ߰;%ZM=ٔZ;Q-^>9\I=QGy*FE > Q 5d4 c?Q 9d4 4@) -BYy?Q I? J-CI ;i ; Ҥd4y-QBɮ-eychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754738ԩ SI,'9?A2mOt?2`?2D"e<ٱ23 :AHRS rotation from veh to nav: [[0.387842,-0.908488,-0.155653],[0.921620,0.379665,0.080442],[-0.013985,-0.174652,0.984531]]2H f?Uqÿ}? pL? ޗ?` ZƿF?i2mOt?I2];27CBBl>BB~CBBHBBCFBBBX =B@BBDBBȓ;BBKEBMCBMCBMCBMW =BMU =CMt6TYZTFByZH``bDfVDfk2yj\=%nH=ٔn9pIp=rQGyr+Fv6;Ev>xQ 5zd4zc?Q 9~d4z;)z4-BY|y~]?Q I?z-CIz;izX ;zͲd4y ɮ N checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258700! :P,@9?A2geu?2]?2<ٱ2F" :AHRS rotation from veh to nav: [[0.383911,-0.912734,-0.139745],[0.923213,0.376628,0.076355],[-0.017059,-0.158328,0.987239]]2H?`5. ??@? xDĿv?i2geu?I2];0YRhFByRHbDZVDZ02yvH=%vI=ٔvY;Q-v>9xIx=zQGyz,FzM+<E~>|Q 5 d4/c?Q 9 d45)V-BYy?Q I?-CIF:i_:d4yɮ:ԁ .eV,Z9?A2w?2t?2<ٱ2i :AHRS rotation from veh to nav: [[0.377845,-0.917831,-0.121736],[0.925645,0.371581,0.071479],[-0.020371,-0.139693,0.989985]]2H@.?^ *??`wL?!ܔr?i2w?I2*^;0Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762756YJFByJ#HyZd;?9I=QGy-Fv<E>Q 5d4c?Q 9d4&/)l-BY%?Q E:y`?Q I?.CI ;i" ;"d4yLBɮBBBHBWFBBW =BBDB;BKE5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014696Em  Em Em .Ei "Em :*Em :VEm ـ4ZEi BEm 3AHRS rotation from veh to nav: [[0.370594,-0.922917,-0.104329],[0.928496,0.365281,0.066821],[-0.023561,-0.121633,0.992296]]6H`Ϸ? N=?`?/?[ @P#?i6y?I6^;65CYF~FByJ!HIN=)N> R49`I`=bQGyb.FbU<Ef>dQ 5jd4fc?Q 9nd4fs))f~-BYlyn'?Q In?fB.CIf;if;fd4yrTBɮv+E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518587I vc,9?A>{?>ﲙ?>:6<ٱ>M׽ FAHRS rotation from veh to nav: [[0.361509,-0.928182,-0.088254],[0.931988,0.357035,0.062643],[-0.026634,-0.104898,0.994126]]>H"? ՗??Z ?Eں?i>{?I>x^;>6CYRFByR9HbDZVDZ1ybED=%bI=ٔf?;Q-f>9dId=fQGyj/Fj<Ej>lQ 5rd4nc?Q 9rd4n&#)n-BYtyv1?Q Iv?n.CIn:in:n,d4yxɮzԙ i,a9?ABg>BB HBlFBBBBDBC;BpKEt~?(&?p<ٱCq -AHRS rotation from veh to nav: [[0.350898,-0.933638,-0.072045],[0.935946,0.347252,0.058489],[-0.029590,-0.087954,0.995685]]H u?\qE?a9?S?@L@*?it~?Imr^;YeFByeZHbDu VDu2yu=%==ٔ;Q->9I=QGy0F<E>Q 5d4Ed?Q 9d4U)-BYyp?Q I?.CI:i$:od4yɮ;Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022850jh15FNOT Ignoring new targets: 577.52 m.Rh=8?9Zh=8?9M ProNav: ac range: 577.517151 m, nav range: 566.362122 m, bearing: 76.165448 deg, approach rate: -0.632399 m/s, LOS rate: 0.010449 deg/s, cmd heading: 76.959143 deg, new cmd heading: 76.972926 deg. BhMv9UHeadingCmd: 1.343431 target range: 577.517151 and range: 579.30 m.qh?h*h"h hgfffd d d jdQZdU @ZZZZẜ@bIBɢ=) v-i)%=!!i%>E5 E5E5,E1"E5D:*E5~:VE5g4ZE1BE52 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274617 p,<9?Ancπ?n ?n=ٱndG AHRS rotation from veh to nav: [[0.339277,-0.938782,-0.059825],[0.940128,0.336200,0.055934],[-0.032396,-0.075221,0.996641]]nHึ? @r ? K?@^? DAz?incπ?In^;lY5FBy5]H AAbDUVDUkyu;%}M=ٔ;Q->9I=QGy1F0<E>Q 5e4d?Q 9e4)-BYyޖ?Q I?/CI;ie;Pe4y\Bɮ @ =Y  BDAT read: Rx Time:14:59:49.9041  TRx dataTimestamp_ set to:1761577191.452188 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779846ԁ^AIQIiO ?kx,S9?ANu?NHa?N(=ٱN0{ VAHRS rotation from veh to nav: [[0.327105,-0.943839,-0.046585],[0.944333,0.324645,0.053304],[-0.035187,-0.061428,0.997491]]NH`H?@3@٧`7??`J?tsr?iNu?IN7c^;N5CYzFByziHy}-??}t}=y y9}㥛 ?{Gzt?Y}5?y}̼}ף;}:B}A }BB)}BByY}fBbDVD1ys<%=ٔ~;Q->9I=QGy2Fs<E>Q 5e4:d?Q 9e4 )-BY5?Q E:y?Q I?q/CI:it.;Ue4yXBɮ;BEBA<Bd>B}CB$HBFBBZ =BBB;BKEjh%FNOT Ignoring new targets: 577.52 m.Rh%&9Zh%&9)= ProNav: ac range: 577.517151 m, nav range: 565.725952 m, bearing: 76.174288 deg, approach rate: -0.701883 m/s, LOS rate: 0.009074 deg/s, cmd heading: 76.984613 deg, new cmd heading: 76.999462 deg. Bh=F9EHeadingCmd: 1.343894 target range: 577.517151 and range: 579.30 m.hE?hA*h"h hgfffdddjdZd`@Z=Z=Z @Z>?^@MzIBɢM=)I MQ0iI)UX=QQiU i]?]';]I]?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.036370YE5 E5E5,E1"E5;*E5x:VE5g4ZE1BE5A DAT read: 14:59:49.9041 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 467,-0.24, 3.011, 1.438, 3.033, 2.776, PHS= 0.336,-1.293, 0.213, RAW= 146.1, 9.5, CAL= 145.7, 10.3, ROT= 4.3, -10.3  Ygot valid direction response: 14:59:49.9041 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 467,-0.24, 3.011, 1.438, 3.033, 2.776, PHS= 0.336,-1.293, 0.213, RAW= 146.1, 9.5, CAL= 145.7, 10.3, ROT= 4.3, -10.3  PDAT read: Bearing 251.1, 1.7 (Local)  ~Local bearing/azimuth received: Bearing 251.1, 1.7 (Local)  DAT read: Range 11 to 50 : 581.7 m (Round-trip 775.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.981116,0.073770,0.178802] Fpublishing direction and range infoy  fLe?$$̞??Y lD ) EI 1>i  Z> 1#@ )> "@ X8>) `=I X8 C>pV?M &?݃"? W>) )I `=i X8 % T****** received valid address query ******% R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.e~,9?AF*?F?FBr=ٱFiB RAHRS rotation from veh to nav: [[0.314468,-0.948688,-0.033186],[0.948519,0.312640,0.050673],[-0.037698,-0.047413,0.998164]]FH? ?@[DZ?@J??M}F ?iF*?IFI^;DYZFByZXHbDfVDfyjY%nY=ٔs;Q->9I=QGy3F=E>Q 5e4$d?Q 9e4)-BYy?Q I?/CI<;i;[)e4yɮ %BDAT read: Tx time:14:59:51.2244 -$Ping request sent.-9I=QGy4F<E>!Q 5-e4%P.d?Q 9-e4%)%-BY)y5Z?Q I5?%0CI%L;i%;%a:e4y9ɮ=B~CB0HBFBBW =BBBu;BJE^A}(׵checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503086AIIO>E-  E- E- +E) "E- :*E- |:VE- [4ZE) BE- <9!I!=%QGy%6F%=E->)Q 55e4-6d?Q 95e4-)--BY9y=?Q I=?-\0CI-r;i-;-He4yE`BɮM!Y- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006524ԁ EE  EE EE -EA "EE a:*EE :VEE t4ZEA aM @aM @aM @aM @kq,R:?A2}??2%+?2W1=ٱ2H NAHRS rotation from veh to nav: [[0.276496,-0.960969,-0.009420],[0.960036,0.275759,0.047825],[-0.043361,-0.022267,0.998811]]2H@?AJ? ?|?b3`.͖ C?i2}??I2"^;27CYVFByVOHy5MbX?333333 rh?5*?55C<1 195&1?X9v~jtY50?y55ļ5R B5B 5kB)5B1Y5BbDMVDM02Yye <<%eE=ٔm;Q-m>9m ?Im ?=mQGyu7Fu<Eu>Q 5e4>d?Q 9e4)t-BY.1?Q E:y Q?Q I ?0CI;i;We4y[BɮUB }CB $HB FBB X =B B B ;B ;JEB~CB~CBʓCBBX =C/5 A5 ؟AIA IQ O] >ݟ,l:?AF ?Fm?FR>=ٱFͿ RAHRS rotation from veh to nav: [[0.255381,-0.966781,-0.010750],[0.965722,0.254535,0.050921],[-0.046493,-0.023386,0.998645]]FH(X?`@51?LJ?V?ͧ?iF ?IF ^;F8CY^FBy^7Hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511475bDvVDvy;%E=ٔ;Q->9"?I"?=QGy8FW=E>Q 5e4Ed?Q 9e4)]-BYy?Q I?0CI:i:ee4yɮ'@}IBɢ{<) HibEg4jEk4rET/E EE.E"E:*E:VEـ4ZEBE#5i-?5 K;58|I5?I1Ee>iE)>I@I @I@M/@I^A2gAAIIQIaOu>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762566y /,W:?ABJ0?B?BC1E=ٱB2tؼ NAHRS rotation from veh to nav: [[0.246760,-0.968980,-0.013716],[0.967881,0.245728,0.053143],[-0.048124,-0.026389,0.998493]]BH`ו?``?@t?5??iBJ0?IB];B4CYVFByV"HbD`VD`yfN8%jZ=ٔj ;Q-j>9lIl=nQGyn9Fr<Er>tQ 5ve4vdKd?Q 9ze4v)vG-BYxyz=?Q Iz?v01CIv-:ivg:vre4yɮ89I=QGy:F Ҝ<E >Q 5e4$Rd?Q 9e4)/-BYy7?Q I%?y1CI;i;ڀe4y-cBɮ-LBB HBlFBBW =BBB̑;BIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518945^Al"AzAgAE  E E .E "E :*E :VE ـ4ZE BE a% 2E a- JE ;a- :E ;a5 9 I I O >a 孎,J:?A6?6r۪?6O=ٱ6 # >AHRS rotation from veh to nav: [[0.233492,-0.971987,-0.026894],[0.971046,0.231651,0.058381],[-0.050516,-0.039747,0.997932]]6H?`? ??.ݩY@?i6?I6B^;68CY^qFBy^HbDfVDf1yn%nJ=ٔr[7;Q-r>9pIp=vQGyv;Fv6l<Ev>xQ 5~e4zXd?Q 9~e4z)z-BYy?Q I?z1CIz>;iz);ze4y ɮ UE  E E E "E D:*E z:VE ZE a @a @a @a @´,:?A,2T}?2h?2BU=ٱ2hH >AHRS rotation from veh to nav: [[0.229277,-0.972702,-0.035807],[0.971969,0.226828,0.061853],[-0.052042,-0.048985,0.997443]]2HX?` @GU`^??'?G ?i2T}?I2 ^;26CYFbFByFHymMbX?/${Gz?immף9QIY=]QGy]<F]<E]>aQ 5ue4e`d?Q 9ue4e)e,BYu)?Q Eu:yud?Q I}?e 2CIe);ie(;ee4y_Bɮ[B B HB MFBB B B DB ;B IE^A A >A >I I O >,:?A6BDAT read: Rx Time:14:59:54.3933 :TRx dataTimestamp_ set to:1761577195.740717:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528411@ZՏ?Z?ZZ=ٱZ+p jAHRS rotation from veh to nav: [[0.226658,-0.972936,-0.044970],[0.972509,0.223544,0.065230],[-0.053412,-0.058518,0.996856]]ZH ? J"E? ?@貰?@X??iZՏ?IZ#^;Z7CYvIFByvHbD|VD|y 憽% [=ٔ fp;Q->9I=QGy=F;E>!Q 5-e4%Afd?Q 9-e4%S)%,BY)y5?Q I5?%K2CI%g:i%:%e4yɮtnŽ,{i;?A2?2?2^=ٱ2 :AHRS rotation from veh to nav: [[0.224837,-0.972809,-0.055586],[0.972878,0.220938,0.068514],[-0.054370,-0.069483,0.996100]]2Hw?`A!u!?G??X֫ɱ ?i2?I2];28CYF3FByFH HHbDNVDN:2yV3]%VP=ٔZT ;Q-Z>9XIX=^QG\y^>Fb,;Eb>dQ 5je4fld?Q 9je4fξ)f,BYhyjܢ?Q In?f2CIfH;if;fre4ypɮrA M DAT read: 14:59:54.3933 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 325,-0.28, 0.570,-0.966, 0.833, 0.657, PHS= 0.016,-1.578, 0.133, RAW= 153.5, 17.0, CAL= 154.2, 19.4, ROT= 355.8, -19.4 U Ygot valid direction response: 14:59:54.3933 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 325,-0.28, 0.570,-0.966, 0.833, 0.657, PHS= 0.016,-1.578, 0.133, RAW= 153.5, 17.0, CAL= 154.2, 19.4, ROT= 355.8, -19.4 ] PDAT read: Bearing 266.7, -7.9 (Local) ] ~Local bearing/azimuth received: Bearing 266.7, -7.9 (Local) m DAT read: Range 11 to 50 : 573.6 m (Round-trip 764.8 ms) speed 0.6 m/s m R#Rx 1: Read range and direction messages.u ^direction in FSK: [0.940690,-0.069080,0.332161]} Fpublishing direction and range infoy  HL!? ;` B?Y fD     ) GI o v+@ > 9>,@  -\>) Y@I -\   1?V?p?  ?) I i i -\   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.*Ȏ,p>";?Ar'?rc?rRb=ٱr) mAHRS rotation from veh to nav: [[0.224181,-0.972174,-0.067975],[0.972981,0.219323,0.072143],[-0.055227,-0.082311,0.995075]]rH? f"??w?FU ?ir'?Ir^;pY#FByHbDVD 83y % 6=ٔ:Q-U>9YIY=]QGy]?FeI:Ee>iQ 5ue4m&td?Q 9ue4m9)m,BYyy}?Q I}?m2CImq ;im ;mie4ygBɮB|CBHB$FBBY =BBBr;BIEZZZZJ@ JBIɢ <) zi)5= i Tټi '0?:::I'0?I*DAT read: user:837> BDAT read: Tx time:14:59:55.7744 $Ping request sent.Ύ,=;?A>?>.?>>e=ٱ> FAHRS rotation from veh to nav: [[0.224623,-0.971196,-0.079522],[0.972832,0.218809,0.075630],[-0.056052,-0.094350,0.993960]]>Ho?[`q!?`?\?ͲS'?i>?I>];>6CHYR FByRHbDZVDZ1yb2Y%bQ=ٔfn ;Q-f>9f ?If ?=jQGyj@FnӞEn>pQ 5ve4rnzd?Q 9ve4rް)r,BYtyv?Q Iv?r3CIr :~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248945ir:re4yɮ E  E E ,E "E ~ ;*E :VE g4ZE a @a @a @a @ Վ,W;?A6?6j?6ch=ٱ6ս BAHRS rotation from veh to nav: [[0.224756,-0.970367,-0.088733],[0.972764,0.218143,0.078385],[-0.056706,-0.103934,0.992966]]6H? > 6 ??@?ga?i6?I6];67CYJEByJ=Hy%{Gz?Clɿ/$?%#?%O%,=! !9%"~j?p= ףy&1Y%S#?y%%`e% B%B %.B)%B!Y%BbDEVDE0yM,%MB=ٔUE:Q-U>9U"?I]"?=]QGy]AF]Ee>aQ 5me4eǁd?Q 9ue4e/)e,BYu6$?Q Eu:yu?Q Iu?e`3CIe:ie:ewe4ybBɮ=BEjhAMFNOT Ignoring new targets: 571.80 m.RhM[8ZhM[8} ProNav: ac range: 571.803162 m, nav range: 557.612488 m, bearing: 76.116493 deg, approach rate: -0.610857 m/s, LOS rate: 0.005556 deg/s, cmd heading: 77.079839 deg, new cmd heading: 77.087142 deg. Bh}t9HeadingCmd: 1.345424 target range: 571.803162 and range: 573.60 m.h6?h*h"h hgfffdd1d1jd1Zd5@x_?Z>Z>Z?ZZo=@颥%JBɢ) i)¤=i*ּi6?1:r:I6?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753153)Ut>iU>%9@! @!@%4@!@1@5eAYAABZ>BBuHBEBBX =BBBF;BbIE^Am 9ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006066A .AI I O >܎,Rr;?AN?N7?Nok=ٱN? VAHRS rotation from veh to nav: [[0.225346,-0.969334,-0.098037],[0.972584,0.217879,0.081301],[-0.057448,-0.113670,0.991856]]NH "?`g?r? )д?i}`I?iN?IN!^;LYbEBybSHhbDnVDn:2yvX-=%vH=ٔv:Q-v>Dz=Dz<E~ E~E~/E|"E~:*E~z:VE~J4ZE|BE~#5!Q 5%e4%d?Q 9-e4%)%m,BY)y-?Q I-?%3CI%:i%;%e4y9ɮ=i,;?A21?2۫?2كn=ٱ2da :AHRS rotation from veh to nav: [[0.225792,-0.968473,-0.105254],[0.972435,0.217615,0.083743],[-0.058198,-0.121261,0.990913]]2H?`1??3p? +̭ @?i21?I22^;26CYBEByB+HbDN VDN2yR%VO=ٔV:Q-V>9XIX=ZQGyZCFZcE^>`Q 5ff4bd?Q 9ff4be)b\,BYdyj?Q Ij?b3CIb$:ib=:bf4ylɮn=BljhFNOT Ignoring new targets: 571.80 m.Rh 8Zh 8 ProNav: ac range: 571.803162 m, nav range: 557.100281 m, bearing: 76.121208 deg, approach rate: -0.637318 m/s, LOS rate: 0.005892 deg/s, cmd heading: 77.094374 deg, new cmd heading: 77.101290 deg. Bhd9%HeadingCmd: 1.345671 target range: 571.803162 and range: 573.60 m.h%>?h!*h)"h) h)g)f)f1f1d1d19d9jd9ZdE?ZaZaZaZe}=@u>JBɢuV)q }iy)}L8=yyi}Ҽi>?T:!I>?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508997E EE+E"E*E:VE [4ZEa@a@a@a@a=q歼ԑ@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764501 ^A Β{ A ؟AII!O5>p,B;?AB"Y>B B"6HB"EBB B B B"*;B"EIEB|CB|CBBX =BC+5b؏?bjī?b#r=ٱb vAHRS rotation from veh to nav: [[0.226476,-0.967899,-0.108995],[0.972223,0.217851,0.085573],[-0.059081,-0.125348,0.990352]]bH'? 绿t??@? ?g ?ib؏?Ib^;b7CY~EBy~H  BAbDVDy%F%%*=ٔ%&:Q-->9-"?I-"?=-QGy-DF5ºE5>9Q 5Ef4=Wd?Q 9Ef4=)=F,BYAyM~?Q IM?=24CI=N:i=:=Uf4yujBɮu6=BqjhFNOT Ignoring new targets: 571.80 m.Rh8Zh8 ProNav: ac range: 571.803162 m, nav range: 556.794128 m, bearing: 76.124063 deg, approach rate: -0.632655 m/s, LOS rate: 0.005904 deg/s, cmd heading: 77.101293 deg, new cmd heading: 77.109863 deg. Bh9HeadingCmd: 1.345821 target range: 571.803162 and range: 573.60 m.hC?h*h"h hgfffdddjdZd`@ZZZZ=@OJBɢ0) i)dž=iijмiC?h:8jIC?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013703[1bEA{4jEt4rEĈ0EM EMEIEI"EM&:*EM:VEIZEIBEMh;q u,};?AFՏ?FE?Fls=ٱF& NAHRS rotation from veh to nav: [[0.226563,-0.967775,-0.109913],[0.972178,0.217802,0.086216],[-0.059498,-0.126389,0.990195]]FH?@G#??`A?v- ?iFՏ?IF0^;F5CYZEByZHbD`VD`yj%jK=ٔn:Q-n>9lIl=nQGynEFryEr>xQ 5~f4zrd?Q 9~f4zV)z4,BY|y~{?Q I~?zt4CIz :iz:zn f4yfBɮ%M=B%E-B*** querying acoustic contact ***i) i)jhyFNOT Ignoring new targets: 571.80 m.Rh 8Zh 8 U ProNav: ac range: 571.803162 m, nav range: 556.536987 m, bearing: 76.126467 deg, approach rate: -0.581808 m/s, LOS rate: 0.005440 deg/s, cmd heading: 77.109865 deg, new cmd heading: 77.117078 deg. BhUn9HeadingCmd: 1.345947 target range: 571.803162 and range: 573.60 m.hG?h*h"h hgfffdddjdZdα@ZZZZX=@颭_JBɢ@r_) i)h=iP#μiG? :WIG?I    checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516844)E EE1E"E:*E:VE-4ZEa@a@a@a@Y U 9@Q  @Q @U 4@Q ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768855^A0:ĺԱAIIO ?,w;?A2EЏ?2컫?2Kt=ٱ2A :AHRS rotation from veh to nav: [[0.226719,-0.967781,-0.109536],[0.972128,0.217961,0.086377],[-0.059719,-0.126066,0.990223]]2H !?  `?$??`"`?i2EЏ?I2/];27CYBwEByBHB1A5<B=]>B9B=HB=EBB=Y =B9B9B=.;B=KIEym(\?Mb?9I=QGyGFE>Q 5f4d?Q 9f4)!,BY#?Q E:y?Q I?4CI:i3:4f4yɮU=BjhFNOT Ignoring new targets: 571.80 m.Rh18Zh18  ProNav: ac range: 571.803162 m, nav range: 556.165955 m, bearing: 76.130227 deg, approach rate: -0.684788 m/s, LOS rate: 0.006945 deg/s, cmd heading: 77.117077 deg, new cmd heading: 77.128366 deg. Bh9HeadingCmd: 1.346144 target range: 571.803162 and range: 573.60 m.hrN?h*h"h hgff!f!d!d!d)jdZd@ @Z =Z =ZЇ@Zs@=qJBɢ=^)a e5ii)ḿ=iiiu{˼i}rN?}:}cI}rN?IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021692=9@9 @9@=/@9E] E]E]/EY"E]s:*E]~:VE]J4ZEYBE]p0 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272850,>9yIy=}QGy}HF_9E>Q 5f4d?Q 9f4),BYy?Q I?5CId;i;Bf4ynBɮ=Bjh FNOT Ignoring new targets: 571.80 m.Rh 8Zh89M ProNav: ac range: 571.803162 m, nav range: 555.912903 m, bearing: 76.132790 deg, approach rate: -0.624457 m/s, LOS rate: 0.006327 deg/s, cmd heading: 77.128368 deg, new cmd heading: 77.136059 deg. BhM9UHeadingCmd: 1.346278 target range: 571.803162 and range: 573.60 m.h}R?hy*h"h hgfffdddjdZd@ @ZZZZS@5~JBɢ5)9 =i9)=,X=99iEZɼiER?M:MaۺIMR?II9@ @@@a]BDAT read: Rx Time:14:59:58.9390 eTRx dataTimestamp_ set to:1761577200.276196echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525987ԑ^A[RӺEu  Eu Eu 1Eq "Eu :*Eu :VEu -4ZEq a} @a} @a} @a} @  'g>% \C >G  A- ƿ9) Y- AA9 IA IY Oe >Թ ,zS9TIX=ZQGyZIFZ:EZ>\Q 5bf4^d?Q 9ff4^y)^,BYdyf?Q If?^S5CI^P ;i^~ ;^ Pf4yhɮlljhFNOT Ignoring new targets: 571.80 m.Rh 8Zh 8 ProNav: ac range: 571.803162 m, nav range: 555.670227 m, bearing: 76.135232 deg, approach rate: -0.648625 m/s, LOS rate: 0.006529 deg/s, cmd heading: 77.136058 deg, new cmd heading: 77.143387 deg. Bhc9%HeadingCmd: 1.346406 target range: 571.803162 and range: 573.60 m.h% W?h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd=`b@ZYZYZYZ]@mJBɢmb)u^^ uiq)uʇ{=qqiuǼi W?;:[I W?I]p>i]%>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777101@ @@/@ԡB%f>B%}CB%HB%OEBB%X =B!B%DB%P;B%tIE^A A! I1 IA M checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028923O] >  ,69iIi=uQGyuJFu ;Eu>yQ 5f4}d?Q 9f4}r)}+BYy?Q I?}5CI};i}/;}^f4yɮ=BjhFNOT Ignoring new targets: 571.80 m.Rh8Zh8 ProNav: ac range: 571.803162 m, nav range: 555.398743 m, bearing: 76.137940 deg, approach rate: -0.636707 m/s, LOS rate: 0.006356 deg/s, cmd heading: 77.143387 deg, new cmd heading: 77.151517 deg. Bh9HeadingCmd: 1.346548 target range: 571.803162 and range: 573.60 m.h[?h*h"h hgfffdddjdZd_@Z1Z1Z1Z5@UJBɢU|)Q UbiQ)]v=YYi]یļie[?e :eIe[?Ii@ @@I0@DAT read: 14:59:58.9390 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 393,-0.28, 2.953, 1.385,-3.025, 2.922, PHS= 0.133,-1.492, 0.292, RAW= 154.6, 12.4, CAL= 154.8, 13.9, ROT= 355.2, -13.9 Ygot valid direction response: 14:59:58.9390 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 393,-0.28, 2.953, 1.385,-3.025, 2.922, PHS= 0.133,-1.492, 0.292, RAW= 154.6, 12.4, CAL= 154.8, 13.9, ROT= 355.2, -13.9  PDAT read: Bearing 260.7, -9.7 (Local) ~Local bearing/azimuth received: Bearing 260.7, -9.7 (Local) DAT read: Range 11 to 50 : 570.3 m (Round-trip 760.5 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.967312,-0.081227,0.240228]Fpublishing direction and range infoyXc8?"R˴ؼʿ?YD )HI'1>i>,@k]>,@ Ulx>)a@IUlxU?`*?~ c? l?)U^IiUlxT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A-#2I A I I O >,OAHRS rotation from veh to nav: [[0.223383,-0.968778,-0.107561],[0.972988,0.215027,0.084009],[-0.058257,-0.123422,0.990643]]2Hї?:!@"?? ?ӭ X?i2RA?I2\5];0YN EByRWH%*DAT read: user:838> -BDAT read: Tx time:15:00:00.3744 -$Ping request sent.-9qIq=QGyKFlr;E>Q 5f4d?Q 9f4k)+BY(?Q E:y?Q I?5CI;E5 E1E5,E1"E5;*E1VE5g4ZE1aE@aE@aE@aE@i;Tnf4yMjBIɮm=BmEiiBZP">Z3b@Zc@EJBɢE$)A MPiI)M q=IIiMmiU`?U :U@:IU`?IYy9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250809ԩ ^A q A .AI I O >Q,IkBCBbHBEBBV =BBDBK;BvIEBpg?BS?Bj=ٱBM JAHRS rotation from veh to nav: [[0.222264,-0.969007,-0.107813],[0.973303,0.214025,0.082907],[-0.057262,-0.123362,0.990708]]BH%s?``M%? -e?^9?Q ?iBpg?IB];B8CYVDByVDHbD^VD^3yf%fH=ٔfQ-j>9j ?Ij ?=jQGynLFnL;En>pQ 5vf4rd?Q 9vf4re)r+BYtyv??Q Iz?r"6CIr;ir&;rV{f4y|ɮ~=B|B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 568.52 m.Rhn8Zhn8  ProNav: ac range: 568.520935 m, nav range: 554.799683 m, bearing: 75.197121 deg, approach rate: -0.686168 m/s, LOS rate: 0.005968 deg/s, cmd heading: 77.160558 deg, new cmd heading: 77.166931 deg. Bh-95HeadingCmd: 1.346817 target range: 568.520935 and range: 570.30 m.h=d?h9*h9"h9 h9gAfAfifidididqjdqZdu@n1?ZZZZp@JBɢL H) ෿i)l=iq;id?:n:Id?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503362E} E}E}0Ey"E}:*E}:VE}4ZEyBE}3AI!I1OE>",|H9lIl=nQGynMFn;Er>pQ 5vf4rd?Q 9zf4r])r+BYxyz?Q Iz?rv6CIr;irT;rԌf4yrBɮ >Bjh!-FNOT Ignoring new targets: 568.52 m.Rh58Zh58E ProNav: ac range: 568.520935 m, nav range: 554.471069 m, bearing: 75.199864 deg, approach rate: -0.682126 m/s, LOS rate: 0.005697 deg/s, cmd heading: 77.166931 deg, new cmd heading: 77.175165 deg. BhEiA IA M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2609428(,o9XIX=ZQGy^NF\^q;Eb>dQ 5jf4f@d?Q 9jf4fW)f+BYhyj?Q In?f6CIf|:if=:fǚf4ypɮppjh  FNOT Ignoring new targets: 568.52 m.RhU8ZhU8 ProNav: ac range: 568.520935 m, nav range: 554.208984 m, bearing: 75.202004 deg, approach rate: -0.656677 m/s, LOS rate: 0.005364 deg/s, cmd heading: 77.175168 deg, new cmd heading: 77.181590 deg. Bhk9HeadingCmd: 1.347073 target range: 568.520935 and range: 570.30 m.hl?h*h"h hgfffdddjdZd?ZZZZB@JBɢX:)  i) a=i(il?:;Il?IB=y>B=CB=#HB=DBB=T =B9B=DB=";B=UIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.51088599@ @@0@DzDE EE/E"Es:*E~:VEJ4ZEBEp09j"?Ij"?=jQGynOFnIc;En>pQ 5vf4rd?x~PExceeded connect timeout, disconnecting.Q 9~f4rN)r+BY|y&?Q I ?r7CIrY;ir;rجf4y-nBɮ5=B5}EjhFNOT Ignoring new targets: 568.52 m.Rh 8Zh 8M ProNav: ac range: 568.520935 m, nav range: 553.869446 m, bearing: 75.204716 deg, approach rate: -0.591646 m/s, LOS rate: 0.004728 deg/s, cmd heading: 77.181588 deg, new cmd heading: 77.189728 deg. BhMO9UHeadingCmd: 1.347215 target range: 568.520935 and range: 570.30 m.hUq?hQ*hQ"hQ hQgYfYffdddjdZdr@ZZZZǫ@%JBɢ%)! %m¿i!)-Z=))i-Wi5q?5v:5;I5q?I1aaaaUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014803IEm EmEm.Ei"Em:*Em:VEmـ4ZEiau@au@au@au@ 9@  @ @ 0@ y ԡ ^A ϩ;%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270485AII1O=?9,*9AIA=EQGyEQFMI4;EM>QQ 5]f4Ud?Q 9]f4UfE)U+BYe9.?Q Ee:ye?Q Ie?Up7CIU:iU:Uf4BA<B>BCBHBDBBS =BBDB;B?IEBCBCBCBV =BV =C; 6yvBɮ=>B~EjhY]FNOT Ignoring new targets: 568.52 m.Rher9Zher9 ProNav: ac range: 568.520935 m, nav range: 553.499634 m, bearing: 75.208438 deg, approach rate: -0.718573 m/s, LOS rate: 0.007237 deg/s, cmd heading: 77.189730 deg, new cmd heading: 77.200904 deg. Bh9HeadingCmd: 1.347410 target range: 568.520935 and range: 570.30 m.hw?h*h"h hgfffdddjdZds@Z)=Z)=Zm@Zj?UKBɢ]Vy=) ʿi)RT=顉i1iw?s:+Nj@,=?AB?B]?B>z6=ٱBvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771696 zAHRS rotation from veh to nav: [[0.212879,-0.970868,-0.109995],[0.976063,0.206174,0.069231],[-0.044535,-0.122100,0.991518]]BH ??X`(;?@c? ?`YͦA@?iB?IB\;@YDByHbDE VDE2y]z%]I=ٔ]Q-e>9aIa=eQGyeRFmI;Em>qQ 5}f4ud?Q 9}f4u>)u+BYyy}ƛ?Q I?u7CIu;iu@;u!f4yɮM>BB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 568.52 m.Rh>9Zh>9 ProNav: ac range: 568.520935 m, nav range: 553.224792 m, bearing: 75.211170 deg, approach rate: -0.720994 m/s, LOS rate: 0.007171 deg/s, cmd heading: 77.200904 deg, new cmd heading: 77.209105 deg. Bh~9HeadingCmd: 1.347553 target range: 568.520935 and range: 570.30 m.h|?h*h"h hgfffdddjdZd@Lw@Z Z Z Z j?KBɢ )! %Xοi!)%وO=!!i-i-|?-K :5i>nManaging dock network, ignoring radio surface power off)9@ @@3@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023347^A8<ԁ E  E E -E "E *E Ar:VE t4ZE a @a @a @a @A I I O > F,_=?A6b?6?6)=ٱ6, >AHRS rotation from veh to nav: [[0.212501,-0.970662,-0.112509],[0.976289,0.206037,0.066397],[-0.041268,-0.123951,0.991430]]6H?3?_ͼ`=?m_?e?!8 ˹?i6b?I6\;4YJDByJHLLbDR VDR:2yZ<%ZV=ٔ^ Q-^>9\I`=bQGybSFb:Eb>dQ 5jf4f<e?Q 9jf4f)8)f+BYlynԛ?Q In?f7CIfr;if;ff4ypɮrD>Btjh FNOT Ignoring new targets: 568.52 m.Rh8Zh8% ProNav: ac range: 568.520935 m, nav range: 552.965454 m, bearing: 75.213739 deg, approach rate: -0.677727 m/s, LOS rate: 0.006717 deg/s, cmd heading: 77.209107 deg, new cmd heading: 77.216818 deg. Bh-9-HeadingCmd: 1.347688 target range: 568.520935 and range: 570.30 m.h5?h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE- @YZiZiZiZmk?}!KBɢ}.)  Ͽi)sJ=顁iRҭi?:BCBHBDBBQ =BBDBߐ;B IEA I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526794L,Xt5=?A:?:e?:/=ٱ:! BAHRS rotation from veh to nav: [[0.212877,-0.970302,-0.114879],[0.976345,0.206683,0.063508],[-0.037878,-0.125681,0.991347]]:H ??@ `h7>?@t?B?dO ?i:?I:.\;8Y^DBy^HbDjVDj1yr9%rG=ٔrQ-r>9tIt=vQGyvTFzGcEz>|Q 5f4~^ e?Q 9f4~I1)~~+BYy ʛ?Q I ?~A8CI~I;i~*^;~f4y)ɮ5W>B1jhQDYzD]AAEa EeEaEa"Ea*Ee҆:VEaZEaBEaam2EaauJEaau:EaauԱFNOT Ignoring new targets: 568.52 m.Rhp8Zhp8  ProNav: ac range: 568.520935 m, nav range: 552.688110 m, bearing: 75.216498 deg, approach rate: -0.670904 m/s, LOS rate: 0.006678 deg/s, cmd heading: 77.216819 deg, new cmd heading: 77.225101 deg. Bh 9HeadingCmd: 1.347832 target range: 568.520935 and range: 570.30 m.hŅ?h*h"h hgff!f!d!d!d!jd)Zd-@@ZZZZ7k?3KBɢ8|) ӿi)eD=iI誼iŅ?: ϥS,LO=?A2]?2?2G =ٱ2 :AHRS rotation from veh to nav: [[0.213482,-0.969895,-0.117174],[0.976347,0.207607,0.060385],[-0.034241,-0.127293,0.991274]]2HbS?` ;>?ߒ??@%K ?i2]?I2\;0YFDByFHy Gz?+? p]? L =  9 Dl?EԸ/$?Y O-?y ƽ < B  B) B Y QBbD%VD%:2y5%5E=ٔQ->9I=QGyUF^E>Q 5f4e?Q 9f4*)+BY*/?Q E:y?Q I?8CI:i<:f4yzBɮg>BuEjh FNOT Ignoring new targets: 568.52 m.Rh ;8Zh ;8% ProNav: ac range: 568.520935 m, nav range: 552.395325 m, bearing: 75.219375 deg, approach rate: -0.687034 m/s, LOS rate: 0.006755 deg/s, cmd heading: 77.225104 deg, new cmd heading: 77.233739 deg. Bh%W9-HeadingCmd: 1.347983 target range: 568.520935 and range: 570.30 m.h-?h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE@]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030868ZJG>ZJG>ZX@ZK @颥CKBɢY) ֿi)j>=顩i'i?mT: X$.@ d> !z.@ >) e@I 2E?k5K?9nWq? j ?) ueI iݽi ԡ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I I O >Y,B]CB]HB]zDBB]O =B]5DB]DB];B]HEYDByHbDVD2y%;=ٔQ->9I=QG1y VFUEU>YQ 5g4]e?Q 9g4]")]+BYyQ I?]8CI]$4BiiUd=?AJiDRiDji?bk:q.@W-Mvˡa@R-9?{Ǻl?Ziiݽbij.kIc@WḐ@ƛP1`@Z|?6G?{ ?2i>D:iC"iV?*iQa`Bi2Ciuj?iQa`i2Ci Di{C?} addTargetRange:: Added new target pos. range: 572.700012 m, deltaT: 4.536392 s, deltaX: 2.400024 m, approachRate: 0.529060 m/s, rangeRepo size: 4  Added new target pos. range: 570.978394 m, bearing: 73.421876 deg, lat: 36.779108 deg, lon: -121.859577 deg, deltaT: 4.536392 s, deltaX: 2.457458 m, approachRate: 0.541721 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 570.98 m.RhZh ProNav: ac range: 570.978394 m, nav range: 552.101318 m, bearing: 74.871082 deg, approach rate: 0.000000 m/s, LOS rate: 0.006755 deg/s, cmd heading: 77.233737 deg, new cmd heading: 77.243066 deg. BhHeadingCmd: 1.348146 target range: 570.978394 and range: 572.70 m.h ?h*h"h hgff!f!d!d!d)jd-@Zd-^E?ZiZiZiZi颽VKBɢB) ڿi)G8=ii ?1:H %BDAT read: Tx time:15:00:04.8744 -$Ping request sent.-@ a,=?A2B?2].?2 <ٱ21 :AHRS rotation from veh to nav: [[0.216022,-0.968926,-0.120487],[0.976015,0.210878,0.054077],[-0.026989,-0.129279,0.991241]]2H?q6ؾ;? ??墛3??i2B?I2\;2:CYBqDByFHbDNVDN2yV0%VW=ٔZQ-Z>9XIX=ZQGyZWF^lE^>`Q 5fg4b#e?Q 9fg4b~)b+BYdyj?Q Ij?b9CIb;ib/;bg4ylɮn>BlUB*** querying acoustic contact ***iQ iQjhFNOT Ignoring new targets: 570.98 m.Rh[8Zh[8 ProNav: ac range: 570.978394 m, nav range: 551.849915 m, bearing: 74.873460 deg, approach rate: -0.699484 m/s, LOS rate: 0.006621 deg/s, cmd heading: 77.243067 deg, new cmd heading: 77.250206 deg. Bhj9HeadingCmd: 1.348270 target range: 570.978394 and range: 572.70 m.h ?h*h"h hgfffdd d jd Zd T?ZiZiZiZm@颍eKBɢ|᭽) h޿i)13=顑ilti ?x:?;I ?Iq@q @q@u0@q)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502711Y^A0;II OM >E  E E +E "E &:*E VE [4ZE a @a @a @a @ԁ H?g,e=?A6?6T?6D<ٱ6I BAHRS rotation from veh to nav: [[0.217442,-0.968201,-0.123717],[0.975791,0.212578,0.051402],[-0.023468,-0.131899,0.990985]]6H`#?`򫿿@9?5?]Q? &?i6?I6N\;69CYJkDByJHbDRVDRF3yZ%ZK=ٔ^kQ-^>9\I`=bQGybXFbiEb>dQ 5jg4f,e?Q 9jg4f)f+BYlynw?Q In?f_9CIf:if@;f"g4ypɮr>Btjh FNOT Ignoring new targets: 570.98 m.Rh 8Zh 8% ProNav: ac range: 570.978394 m, nav range: 551.575745 m, bearing: 74.876096 deg, approach rate: -0.713187 m/s, LOS rate: 0.006858 deg/s, cmd heading: 77.250204 deg, new cmd heading: 77.258114 deg. Bh-9-HeadingCmd: 1.348408 target range: 570.978394 and range: 572.70 m.h-?h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdEY?ZZZZ@额tKBɢ) )i)-=顡iΟi?:;I?IIA)Ay%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756191@ @@4@@@ԡB>BCBHBpDBBM =BBB;BHE^A;IyIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006681 {jm,AE=?A2H?2Ь?2<ٱ2; :AHRS rotation from veh to nav: [[0.218840,-0.967584,-0.126059],[0.975558,0.214326,0.048495],[-0.019906,-0.133590,0.990837]]2H?q"7? o?@\Ԩ?bz@?i2H?I2\;0EB EBEB-E@"EB:*EB~:VEBt4ZE@BEB<9 I = QGy YF`E>Q 5g44e?Q 9g4t)+BYyK?Q I?9CII:i4:1g4y~Bɮ>BlEjhFNOT Ignoring new targets: 570.98 m.Rh'8Zh'8 ProNav: ac range: 570.978394 m, nav range: 551.282715 m, bearing: 74.878956 deg, approach rate: -0.674641 m/s, LOS rate: 0.006588 deg/s, cmd heading: 77.258114 deg, new cmd heading: 77.266699 deg. Bh9%HeadingCmd: 1.348558 target range: 570.978394 and range: 572.70 m.h%?h!*h!"h! h!g!f)f)f)d)d1dqjdqZdu@C?ZZZZ @-KBɢ-')1 55i1)52'=11i=iM?uY;uDE;I}?IyA@A @A@E#4@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2591561 ^Am }U;I I O- >Q Tt,9*=?A2u?2?2 <ٱ2s :AHRS rotation from veh to nav: [[0.220278,-0.967142,-0.126941],[0.975298,0.216174,0.045418],[-0.016484,-0.133810,0.990870]]2H 2??5??A?Cᐿ 4?i2u?I2\;25CYFnDByFHy d;O?Zd;?x&? 4? y= 7=  9 9v?V-V-?Y 4?y h m= B  xB) xB Y BbDMVDMy]<%eD=ٔeQ-e>9iIi=mQGymZFmeEm>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510879Q 5g4OBQjhFNOT Ignoring new targets: 570.98 m.Rhpv8Zhpv8 ProNav: ac range: 570.978394 m, nav range: 550.987061 m, bearing: 74.880385 deg, approach rate: -0.695911 m/s, LOS rate: 0.003366 deg/s, cmd heading: 77.266699 deg, new cmd heading: 77.270990 deg. Bh9HeadingCmd: 1.348633 target range: 570.978394 and range: 572.70 m.h?h*h"h hgfffdddjdZd?Z|>Z|>Z @Z(;@KBɢ&=) 8)E EE.E"E&:*E:VEـ4ZEa@a@a@a@i)V!=顙iAi?I;i:I?I9@9 @A@E/@AQ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763408^A "5;ԩ I I O) s|z,e=?A2?2Rn?2X<ٱ2 :AHRS rotation from veh to nav: [[0.221800,-0.966635,-0.128150],[0.975003,0.218074,0.042584],[-0.013217,-0.134392,0.990840]]2Hc?6g83?`?ͥ?3@?i2?I2\;27CB@A@BF>BFCBDBDBFN =BDBDBF̐;BFIELYVpDByVHbD^VD^:2yf;%fT=ٔj* Q-j>9hIh=nQGyn[FnEn>pQ 5vg4rCe?Q 9zg4r{)r+BYxyz%?Q I~?r9:CIr.F;irXc;rjMg4yɮ>BjhFNOT Ignoring new targets: 570.98 m.Rhy8Zhy8= ProNav: ac range: 570.978394 m, nav range: 550.725403 m, bearing: 74.881693 deg, approach rate: -0.682383 m/s, LOS rate: 0.003413 deg/s, cmd heading: 77.270989 deg, new cmd heading: 77.274915 deg. Bh=9EHeadingCmd: 1.348702 target range: 570.978394 and range: 572.70 m.hEB?hA*hA"hA hIgIfIfIfQdqdqdqjdyZd}@ZZZZ,@KBɢ<) -"i1)5j=11i5^i=B?=¹:=9I=B?IAV>i!>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015376@ @@ /@ @=@=E EE0E"ED:*EVE4ZEBE2= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266718c,>?ABU?BpA?BS$<ٱB NAHRS rotation from veh to nav: [[0.223143,-0.966262,-0.128626],[0.974734,0.219823,0.039642],[-0.010030,-0.134222,0.990901]]BH ?@v1?@&#?@K?c0.u?iBU?IB]];B8CYVkDByVH XXbD`VD`yf@%jJ=ٔjEQ-j>9hIl=nQGyn\Fn,^Er> xQ 5g4zJe?Q 9g4zF)z+BYy%?Q I%?z:CIz;iz ;z[g4y)ɮ->B)MB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 570.98 m.Rh]ލ8Zh]ލ8m ProNav: ac range: 570.978394 m, nav range: 550.437622 m, bearing: 74.883176 deg, approach rate: -0.752136 m/s, LOS rate: 0.003876 deg/s, cmd heading: 77.274916 deg, new cmd heading: 77.279365 deg. Bhm>*9uHeadingCmd: 1.348779 target range: 570.978394 and range: 572.70 m.huͤ?h*h"h hgff!f!d!d!d!jd)Zd-@@ZiZiZiZm@额KBɢ𖾽) i)8=顡iiͤ?:,Iͤ?I)9@ @@@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518698^AE  E E .E "E :*E ҆:VE ـ4ZE a @a @a @a @ԁ A9 IA IY Oe >,>?A24?2T ?2;ٱ2 :AHRS rotation from veh to nav: [[0.224134,-0.966105,-0.128084],[0.974534,0.221248,0.036520],[-0.006944,-0.133008,0.991091]]2H@k?Te a/?Q??`p|f?i24?I2H\;27CY%uDBy%HbDUVDUaym¿<%u@=ٔ}wQ->9I=QGy]FQE>Q 5g4tRe?Q 9g4)+BYyѠ?Q I?:CIn;io;|jg4yBɮ>BjhFNOT Ignoring new targets: 570.98 m.Rhx8Zhx8- ProNav: ac range: 570.978394 m, nav range: 550.135254 m, bearing: 74.884771 deg, approach rate: -0.706285 m/s, LOS rate: 0.003728 deg/s, cmd heading: 77.279363 deg, new cmd heading: 77.284151 deg. Bh-#95HeadingCmd: 1.348863 target range: 570.978394 and range: 572.70 m.h5?h1*h1"h1 h9g9f9f9fAdAdAdAjdAZdM@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770880ZZZZ@颵KBɢB) i)V=项i8i?):nJúI ?I ԉ9@ @@/@B>BBHBzDBBO =BBBܐ;B&IEBEƄCBEƄCBEƓCBEO =BEO =CEƳ5Ա^A ?BI checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026442 A .AI I O >f,9>?AD0zD2?AbEmA{4jEmy4rEm/E6 E6E6/E4"E6:*E6~:VE6J4ZE4BE662E66JE67;a>:E67;a>B+?B?B;ٱBH JAHRS rotation from veh to nav: [[0.224398,-0.966122,-0.127494],[0.974490,0.221939,0.033362],[-0.003936,-0.131728,0.991278]]BH?w`Q/? h?? <pv?iB+?IBD];B6CYVlDByVHbDrVDrN2yvȼ%zS=ٔzQ-z>9~ ?I~ ?=~QGy~^F5E> Q 5 g4 Ye?Q 9g4 ) ,BYyĠ?Q I? ;CI :i : wg4yBɮ>BcEԹjhFNOT Ignoring new targets: 570.98 m.Rh8Zh8 ProNav: ac range: 570.978394 m, nav range: 549.862610 m, bearing: 74.886223 deg, approach rate: -0.690191 m/s, LOS rate: 0.003677 deg/s, cmd heading: 77.284151 deg, new cmd heading: 77.288508 deg. Bh!9 HeadingCmd: 1.348939 target range: 570.978394 and range: 572.70 m.h ?h *h "h  h gf1f9f9d9d9d9jdAZdE`= @ZZZZ@颵KBɢѽ) ;i)yO =项ii?uJ:CݺI?I9@ @@4@@@fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274856^A A= ؟AA II IY Om > ,AfS>?A2y&?2 ?2,]h:ٱ2 :AHRS rotation from veh to nav: [[0.224562,-0.966021,-0.127970],[0.974459,0.222497,0.030392],[-0.000886,-0.131526,0.991312]]2H o? Ra.?z?`?@ MԸ?i2y&?I2\;27CYFZDByFHy5Pn?ʡE{Gzt5D?5-5ף1 195x&1?Qi|?5?Y5A@?y55q=5B1 5O B)5?B1Y1bDM VDM2echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526684ymq$%mC=ٔm Q-u>9u"?Iu"?=uQGyu_F-ĹE5>IQ 5Mg4M`e?Q 9Ug4M])M3,BYUA?Q EU:yUS?Q IU?Ml;CIM;iM;Myg4yaɮe>BajhFNOT Ignoring new targets: 570.98 m.Rh7>Zh7> ProNav: ac range: 570.978394 m, nav range: 549.528320 m, bearing: 74.885945 deg, approach rate: -0.780901 m/s, LOS rate: -0.000650 deg/s, cmd heading: 77.288508 deg, new cmd heading: 77.287674 deg. BhBHeadingCmd: 1.348924 target range: 570.978394 and range: 572.70 m.h?h*h"h hgfffdddjdZdÙ@Z0=Z0=Z?ZC I@KBɢ;ɽ) i)*=ii?K:1I?I E} E}E}+Ey"E}:*E}:VE} [4ZEya@a@a@a@%9@! @!@%4@)Ii BDAT read: Rx Time:15:00:08.0400  TRx dataTimestamp_ set to:1761577209.601001% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781000^AM NJκIA IQ Oi ԙ 3ʚ,Am>?AAAB>BBHBpDBBN =BBB ;BQIEY]DByHbD VD2y;%C=ٔQ->9I=QGy`FE>Q 5g4ge?Q 9g4)L,BYyQ I?;CI;iv;5g4y Bɮ >B qjh1FNOT Ignoring new targets: 570.98 m.Rh*7Zh*7 ProNav: ac range: 570.978394 m, nav range: 549.233032 m, bearing: 74.885699 deg, approach rate: -0.751107 m/s, LOS rate: -0.000626 deg/s, cmd heading: 77.287675 deg, new cmd heading: 77.286937 deg. Bh۷HeadingCmd: 1.348912 target range: 570.978394 and range: 572.70 m.h"?h*h"h hgfffdddjdZd ,@ZZZZLBɢ!ѽ)< i) <  i 6i"?O:I"?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031583@ @@/@ԡD=D=E EE(E"EV:*EVEc44ZEBE9 M DAT read: 15:00:08.0400 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.13,-3.115, 1.739,-2.957, 2.899, PHS= 0.371,-1.115, 0.383, RAW= 150.4, 4.9, CAL= 149.6, 5.0, ROT= 0.4, -5.0 U Ygot valid direction response: 15:00:08.0400 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.13,-3.115, 1.739,-2.957, 2.899, PHS= 0.371,-1.115, 0.383, RAW= 150.4, 4.9, CAL= 149.6, 5.0, ROT= 0.4, -5.0 ,>?A"PDAT read: Bearing 252.1, -0.3 (Local) &~Local bearing/azimuth received: Bearing 252.1, -0.3 (Local) *DAT read: Range 11 to 50 : 571.1 m (Round-trip 761.5 ms) speed 0.7 m/s .R#Rx 1: Read range and direction messages.F\direction in FSK: [0.996170,0.006955,0.087156]FFpublishing direction and range infoyIM&Bʠ?||?O?YMDIIII I)IIM>iMRM>M'@M%=M'@ M¸=)M;IM¸IIM'(.K?;"?k'ѵ? M ?)MĮIM;iM¸IIVT****** received valid address query ******VR****** received valid ping request ******VQuerying Benthos address 50 with one ping in standard two-way mode.jZ?joF?jٱj vAHRS rotation from veh to nav: [[0.222998,-0.965909,-0.131499],[0.974784,0.222099,0.021652],[0.008292,-0.133011,0.991080]]jH 4?`m1?m?+?h??ijZ?Ij=\;j9CYNDByqHbD VDf2y % G=ٔ sQ->9I=QGyaFku;E>Q 5g4me?Q 9g4)j,BYy?Q I? BiIiM#>?AJiMWDRiMWDjiM妮?bMm󍹁@6@yjH@RM&Bʠ?||?O?ZiM;biM¸jM]@|J!V@nk֭J@ZM?.?/+?2iM D:iMDB"iMB?*iMBiMBiIiMұoIiM7CiMp DiM6Y?m addTargetRange:: Added new target pos. range: 571.099976 m, deltaT: 4.535778 s, deltaX: -1.600037 m, approachRate: -0.352759 m/s, rangeRepo size: 4  Added new target pos. range: 569.374756 m, bearing: 78.178272 deg, lat: 36.779108 deg, lon: -121.859567 deg, deltaT: 4.535778 s, deltaX: -1.603638 m, approachRate: -0.353553 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 569.37 m.RhZh ProNav: ac range: 569.374756 m, nav range: 549.755127 m, bearing: 74.909076 deg, approach rate: 0.000000 m/s, LOS rate: -0.000626 deg/s, cmd heading: 77.286937 deg, new cmd heading: 77.286106 deg. BhHeadingCmd: 1.348897 target range: 569.374756 and range: 571.10 m.h?h*h"h hgff f dddjd؁@Zd` ?ZQZQZQZU-I@颍LBɢT̽) i)*<顑ii?=:؛I?II)eA}9@y @@/@@=@=}*DAT read: user:840> BDAT read: Tx time:15:00:09.3744 $Ping request sent.e/Gy9YA) E  E E .E "E D:*E n:VE ـ4ZE a @a @a @a @^A NJκI I O >Y ާ,>?AYUUDByUyHbDeVDe1y}<%}T=ٔ}Q-}>9I=QGybFE>Q 5g4se?Q 9g4),BYyQ I?PBZEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 569.37 m.Rh1^Zh1^ ProNav: ac range: 569.374756 m, nav range: 549.477661 m, bearing: 74.908807 deg, approach rate: -0.784334 m/s, LOS rate: -0.000759 deg/s, cmd heading: 77.286104 deg, new cmd heading: 77.285299 deg. BhPHeadingCmd: 1.348883 target range: 569.374756 and range: 571.10 m.h2?h*h"h hgfffdddjd Zd H?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250768)ZqZqZqZq颅(LBɢ) Si){<顩ic鄼i2?:RI2?I}9@y @y@y@B->B-CB)B)B-P =B-6DB-DB-J;B-IEYԡ ^A 9I! I9 OE > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502575X,Һ>?AD0zD2AAE6 E6E4E4"E6:*E6:VE4ZE4BE6F8:E6;a>@V ?V?VPsٱVG bAHRS rotation from veh to nav: [[0.220474,-0.966197,-0.133620],[0.975280,0.220458,0.015102],[0.014866,-0.133647,0.990918]]VH }8?@w}5?`7??r?@V?iV ?IVH\;V7CYjZDByjHbDUVDU2yeEB<%eL=ٔm[Q-m>9iIi=uQGyucFu8;Eu>yQ 5g4}ye?Q 9g4})},BYy?Q I?}BjhFNOT Ignoring new targets: 569.37 m.Rh[Zh[ ProNav: ac range: 569.374756 m, nav range: 549.176697 m, bearing: 74.908434 deg, approach rate: -0.750737 m/s, LOS rate: -0.000931 deg/s, cmd heading: 77.285298 deg, new cmd heading: 77.284178 deg. Bh#HeadingCmd: 1.348863 target range: 569.374756 and range: 571.10 m.h?h*h"h hgfffdddjdZd`~'?ZZZZ@J@-8LBɢ-)) -i))5<11i5ri=?=":=4:IE?IAԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757195"@ @@/@ ^A I I) 1 O= >a,>?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0066016Ґ?6?6󄓼ٱ6 BAHRS rotation from veh to nav: [[0.219420,-0.966392,-0.133948],[0.975464,0.219840,0.011838],[0.018007,-0.133259,0.990918]]6H?3%7?@#?>?]p?`?i6Ґ?I6.];69CYJADByJaHy}E?Zd;O:v?}F?}j<}T9I=QGydF;E>Q 5g4`e?Q 9g4Q),BYE?Q E:y?Q I?BjhFNOT Ignoring new targets: 569.37 m.RhSZhS ProNav: ac range: 569.374756 m, nav range: 548.836121 m, bearing: 74.908354 deg, approach rate: -0.771996 m/s, LOS rate: -0.000181 deg/s, cmd heading: 77.284178 deg, new cmd heading: 77.283939 deg. BhHeadingCmd: 1.348859 target range: 569.374756 and range: 571.10 m.hk?h!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5 "?E EE,E"E*Exv:VEg4ZEa@a@a@a@Z<Z<Z>?ZQ@MLBɢHܽ)  i ) <  i Fik??:(;Ik?I!EH<@ @@0@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258643y ^AU ;A] >A] >B9 A= <Bm >Bi Bi Bi Bm Q =Bi Bi Bm ;Bm IEA Ա I I O > ͻ,$>?A2?2?21ٱ2% :AHRS rotation from veh to nav: [[0.217946,-0.966617,-0.134722],[0.975726,0.218833,0.008377],[0.021384,-0.133277,0.990848]]2H?>&9?@?'?? :?i2?I2];28CYFFDByFfHIJ=)J<bDNVDN:yV5<%ZR=ٔZ Q-Z>9\I\=^QGy^eF^{;Eb>`Q 5fg4b߇e?Q 9jg4b)b,BYhyjէ?Q Ij?bB=CIb;ibH;bg4ylɮr>BpjhFNOT Ignoring new targets: 569.37 m.RhZh ProNav: ac range: 569.374756 m, nav range: 548.535889 m, bearing: 74.908237 deg, approach rate: -0.741700 m/s, LOS rate: -0.000290 deg/s, cmd heading: 77.283939 deg, new cmd heading: 77.283587 deg. BhxKHeadingCmd: 1.348853 target range: 569.374756 and range: 571.10 m.h8?h*h"h hgfffdddjdZdB?ZZZZP@M`LBɢU4)Q UiQ)UdɪÏ,a??A2.?2?2g>ͼٱ2M] >AHRS rotation from veh to nav: [[0.216650,-0.966605,-0.136889],[0.975928,0.218037,0.004961],[0.025052,-0.134668,0.990574]]2H -?l @:?@?Qt??<@Ȳ?i2.?I2\;26CYF@DByF`HbDR VDR2yZ5%Z/=ٔZQ-^>9^ ?I^ ?=^QGy^gFb7;Eb>dQ 5jg4fe?Q 9jg4f)f,BYhyn?Q In?f=CIf;if;fig4yrBɮr>BrPEjh  FNOT Ignoring new targets: 569.37 m.qRhZh ProNav: ac range: 569.374756 m, nav range: 548.175415 m, bearing: 74.908047 deg, approach rate: -0.797824 m/s, LOS rate: -0.000421 deg/s, cmd heading: 77.283590 deg, new cmd heading: 77.283019 deg. BhHeadingCmd: 1.348843 target range: 569.374756 and range: 571.10 m.h䦬?h*h"h hgfffdddjdZd ̔@Z!Z!Z!Z%P@5vLBɢ5ۍ)9 =`i9)=t<99iEuiE䦬?Mh:I;I䦬?I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015291}9@y @y@4@ԩE= E=E=1E9"E=;*E=$:VE=-4ZE9aE@aE@aE@aE@^AΒ{; A I! I1 OE > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266637 ɏ,()??ANS?N|??Nr5ٱNG VAHRS rotation from veh to nav: [[0.215499,-0.966382,-0.140239],[0.976068,0.217463,0.001346],[0.029196,-0.137173,0.990117]]NHt? [ ;??T V??` ?iNS?IN\];N7CYb*DBybDHbDjVDjN2yrRX%rH=ٔr-&Q-v>9tIt=vQGyvhFz9;Ez>|Q 5g4~be?Q 9g4~)~,BYy&?Q I ?~=CI|i~(:~g4yBɮ>BQE-B*** querying acoustic contact ***i) i)jh9EFNOT Ignoring new targets: 569.37 m.RhEZhEU ProNav: ac range: 569.374756 m, nav range: 547.860168 m, bearing: 74.907842 deg, approach rate: -0.770079 m/s, LOS rate: -0.000501 deg/s, cmd heading: 77.283017 deg, new cmd heading: 77.282402 deg. BhU]HeadingCmd: 1.348832 target range: 569.374756 and range: 571.10 m.h]?ha*ha"ha hagafafifidididqjdqZdu@p@ZZZZP@颥LBɢ) i)rڙ<顩ioi?nY:;I?I59@1 @1@=/@9%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519046^Am;1EU  EU EU -EQ "EU s:*EU z:VEU t4ZEQ A ؟AI I O >Y Џ, C??A>i?>|U?>z ٱ>M FAHRS rotation from veh to nav: [[0.214815,-0.965980,-0.144005],[0.976082,0.217391,-0.002215],[0.033445,-0.140085,0.989574]]>H ?Nn¿`i?I>];>6CYR+DByREHbDZVDZ0yb :%bL=ٔb-Q-f>9f"?If"?=fQGyfiFj:Ej>lQ 5rh4ne?Q 9rh4n)n,BYpyv>CInp:in:nh4yxɮz>BxjhFNOT Ignoring new targets: 569.37 m.Rh%f#Zh%f#5 ProNav: ac range: 569.374756 m, nav range: 547.551086 m, bearing: 74.907619 deg, approach rate: -0.772222 m/s, LOS rate: -0.000558 deg/s, cmd heading: 77.282402 deg, new cmd heading: 77.281732 deg. Bh5ķ=HeadingCmd: 1.348821 target range: 569.374756 and range: 571.10 m.h=(?h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU@K@ZZZZvP@-LBɢ-1)Q U'iQ)]kCԱ E]  EY EY EY "E] ;*EY VEY ZEY H֏,K]??A2k?23W?2bٱ2l VAHRS rotation from veh to nav: [[0.214730,-0.965658,-0.146272],[0.975942,0.217945,-0.006125],[0.037794,-0.141438,0.989225]]2H G|? ¿:??y Y?¿ ?i2k?I2]\];28CԁY(DByBHy r?Zd;Oǿ9I=QGyjFv8E>Q 5h4 e?Q 9h4),BY5?Q E:y3?Q I?>CI ;iP ;jh4y ɮ >B jh15FNOT Ignoring new targets: 569.37 m.Rh=Z8Zh=Z8M ProNav: ac range: 569.374756 m, nav range: 547.191833 m, bearing: 74.909133 deg, approach rate: -0.708851 m/s, LOS rate: 0.002990 deg/s, cmd heading: 77.281733 deg, new cmd heading: 77.286279 deg. BhMV9UHeadingCmd: 1.348900 target range: 569.374756 and range: 571.10 m.hU¨?hQ*hQ"hY hYgYfYfafadadadajdiZdm @ZK>ZK>Z?ZhV@额LBɢ`) i)t<顡iprei¨?i:,;I¨?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275116ԩ-9@1 @1@1@1@=dA@9AqAqBU >BQ BQ BQ BQ BQ BQ BU {;BU IE^A5 X; A I I O >?ݏ,w??A>BDAT read: Rx Time:15:00:12.5260 BTRx dataTimestamp_ set to:1761577213.884186Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527717Ftw?Fc?F`W-ٱF RAHRS rotation from veh to nav: [[0.214337,-0.965800,-0.145910],[0.975843,0.218203,-0.010840],[0.042307,-0.140062,0.989239]]FHco?+¿:??'3 D?ק?iFtw?IF1];F6C T)TZZ>FXZYC^jAi^CI^RF\I\i\ bb(HbDVDk2yG%k=ٔjTQ-?9I=QGykF:E?Q 5h4De?Q 9h4g),BYyB?Q I?>CI;i4:&h4y%Bɮ%>B%GEԉjhFNOT Ignoring new targets: 569.37 m.RhS8ZhS8 ProNav: ac range: 569.374756 m, nav range: 546.944763 m, bearing: 74.910165 deg, approach rate: -0.693357 m/s, LOS rate: 0.002895 deg/s, cmd heading: 77.286282 deg, new cmd heading: 77.289377 deg. bE5t4jE5 ",\Y??A2^?2u?2R>ٱ2fX :AHRS rotation from veh to nav: [[0.213763,-0.966032,-0.145214],[0.975776,0.218229,-0.015368],[0.046536,-0.138412,0.989281]]2H\?@ c¿9?@?Oy ӧ?y@0?i2^?I2g];29CYDBy2HI%=)%< )-<bD5VD5yEӼ%EU=ٔEs4Q-M>9III=MQGyMlFUq:EU>YQ 5eh4]e?Q 9eh4])],BYaymV?Q Im?]?CI]:i]:]4h4yuBɮu?BuHEjhFNOT Ignoring new targets: 569.37 m.Rh Z8Zh Z8 ProNav: ac range: 569.374756 m, nav range: 546.672119 m, bearing: 74.911286 deg, approach rate: -0.723870 m/s, LOS rate: 0.002978 deg/s, cmd heading: 77.289376 deg, new cmd heading: 77.292741 deg. Bh9HeadingCmd: 1.349013 target range: 569.374756 and range: 571.10 m.ht?h*h"h hgfffdddjdZdA@ZZZZ~V@LBɢs)   i ) `@<  i [it?N;;It?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.036298@ @@'0@E EE/E"E&:*E?:VEJ4ZEa@a@a@a@^AX;I I I O >m DAT read: 15:00:12.5260 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 291, 0.29,-0.824,-2.309,-0.537,-0.903, PHS= 0.181,-1.362, 0.322, RAW= 154.3, 10.6, CAL= 154.2, 11.6, ROT= 355.8, -11.6 u Ygot valid direction response: 15:00:12.5260 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 291, 0.29,-0.824,-2.309,-0.537,-0.903, PHS= 0.181,-1.362, 0.322, RAW= 154.3, 10.6, CAL= 154.2, 11.6, ROT= 355.8, -11.6 } PDAT read: Bearing 257.9, -3.8 (Local)  ~Local bearing/azimuth received: Bearing 257.9, -3.8 (Local)  DAT read: Range 11 to 50 : 560.6 m (Round-trip 747.5 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.976945,-0.071742,0.201078] Fpublishing direction and range infoyA E >!C? |Q]o?YE & DA A A A A )E EIE X9>iE VE /ݤ>E Z,@E q=>E 9>,@ E 4QO>)E Y@IE 4QOA A E 6 ?{yk?bZ? E `?)E =IE i iE 4QOA A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.M,6??AY#DByBuCBqBqBuP =BqBuDBqBuIEBCBCBBP =BP =CU5y!<%5=ٔQ->9I=QGymFE>Q 5h4*e?Q 9h4|),BYyQ I?q?CI:i=:Ch4yɮ ?B Iiqiu??AJiu DRiu Djiu5?bu02@F< D\@Ru>!C? |Q]o?Ziui biu4QOju4cWda@^zR@5ukya@ZuS TJ?)б?WF?2iuD:iu" C"iuև?*iu_fBiu,?CiqiuQa`iu2Ciu`DiuM? addTargetRange:: Added new target pos. range: 560.599976 m, deltaT: 4.535824 s, deltaX: -10.500000 m, approachRate: -2.314905 m/s, rangeRepo size: 4  Added new target pos. range: 558.910767 m, bearing: 75.083923 deg, lat: 36.779108 deg, lon: -121.859577 deg, deltaT: 4.535824 s, deltaX: -10.463989 m, approachRate: -2.306965 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 558.91 m.RhZh ProNav: ac range: 558.910767 m, nav range: 545.509766 m, bearing: 74.888762 deg, approach rate: 0.000000 m/s, LOS rate: 0.002978 deg/s, cmd heading: 77.292743 deg, new cmd heading: 77.296919 deg. BhHeadingCmd: 1.349086 target range: 558.910767 and range: 560.60 m.h׮?h *h "h  h g fffdddjd̄@Zd?ZyZyZyZy颍LBɢ)  i)9<顙irTVi׮?X;;I׮?IY>i%>y*DAT read: user:841> BDAT read: Tx time:15:00:13.9244 $Ping request sent.,qr??ABq?B\?B\^ٱB% JAHRS rotation from veh to nav: [[0.214401,-0.965377,-0.148594],[0.975230,0.220048,-0.022468],[0.054388,-0.140096,0.988643]]BHq?`]!ÿ5?*?@ث??iBq?IB %];B7CYRDByR7HbD^VD^2yn.%n`=ٔv#Q-z>9I= QGy nF9E>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252754Q 5h4Ce?Q 9h4mu),BY!y%;?Q IM??CI4E=  E= E= .E9 "E= :*E= :VE= ـ4ZE9 aE @aE @aE @aE @$,f2??A :]?:zI?:pٱ:i NAHRS rotation from veh to nav: [[0.214923,-0.965024,-0.150122],[0.974874,0.221204,-0.026272],[0.058561,-0.140703,0.988318]]:H ? z27ÿ *2?hP?*皿?¿M?i:]?I:C1];8Y^*DBybDHyZd;O?+η rh~ ?vC 9V-?Cl绿y&1Y|?y;߽`  B)BYpBbDVDy=<%;=ٔQ->9I=QGyoFVE>Q 5 h4e?Q 9 h47o),BY "?Q E :y?Q I??CI:i:_h4yBɮ>B>EjhAEFNOT Ignoring new targets: 558.91 m.RhM+9ZhM+9e ProNav: ac range: 558.910767 m, nav range: 544.974304 m, bearing: 74.893453 deg, approach rate: -0.676466 m/s, LOS rate: 0.009382 deg/s, cmd heading: 77.300447 deg, new cmd heading: 77.310999 deg. Bhe 9mHeadingCmd: 1.349331 target range: 558.910767 and range: 560.60 m.hm嶬?hi*hi"hi higifqfqfqdydydyjdyZd>?Z=Z=Z@@Z漣?-MBɢ5!)1 5i1)5|;99i=?Li=嶬?E:X;Exg;IE嶬?IAquchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7557379@ @@ !4@ ԙBA<B>BBHBzDBBB5DBB;BIE^A- T;I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006626,??AFX9pIp=rQGyrpFvf5Ev>xQ 5~h4z$e?Q 9~h4zi)z,BY|yf?Q I?z6@CIz;iz;zlh4y Bɮ  ?B ?Ejh15FNOT Ignoring new targets: 558.91 m.Rh= 9Zh= 9M ProNav: ac range: 558.910767 m, nav range: 544.742798 m, bearing: 74.896690 deg, approach rate: -0.627239 m/s, LOS rate: 0.008776 deg/s, cmd heading: 77.311000 deg, new cmd heading: 77.320718 deg. BhM9UHeadingCmd: 1.349501 target range: 558.910767 and range: 560.60 m.hUt?hQ*hQ"hQ hYgYfYfafadadadajdiZdm@?ZZZZ?额+MBɢW3#) i)T:;顡iHit?ڥ;J;It?IDD%=E EE-E"EV:*Exv:VEt4ZEBE9! ,@?A2?2:?2ٱ2wi :AHRS rotation from veh to nav: [[0.217095,-0.964050,-0.153225],[0.973938,0.224479,-0.032453],[0.065682,-0.142186,0.987658]]2H? ޜÿ*? ?а? '3¿?i2?I2O0];28CYB+DByFFHbDNVDN:3yVͱ%VM=ٔV Q-V>9XIX=ZQGyZqFZWE^>`Q 5fh4bXe?Q 9fh4bqc)b,BYdyf9?Q If?bw@CIbN:ib:bzh4ylɮn ?Bl|jh FNOT Ignoring new targets: 558.91 m.Rh "9Zh "9% ProNav: ac range: 558.910767 m, nav range: 544.493286 m, bearing: 74.900219 deg, approach rate: -0.625835 m/s, LOS rate: 0.008856 deg/s, cmd heading: 77.320719 deg, new cmd heading: 77.331311 deg. Bh%z9-HeadingCmd: 1.349686 target range: 558.910767 and range: 560.60 m.h-¬?h)*h)"h) h)g)f)f1f1d9d9d9jd9Zd=`e?ZYZYZYZ]mW?m?MBɢu & )q u=iq)}t1;yyi}DCi¬?;T;I¬?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5115989@ @@/@)E  E E /E "E %;*E x:VE J4ZE a@a@a@a@Q^A;A>A>I1IAOe> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762585ԉ L ,-@?AYTDBy%xHI-a>)->11B=>B=CB=HB=DBB=N =B9B=DB=c;B=IE QUYbDU VDU2ymӻ=%m?=ٔuQ-u>9qIq=uQGy}rF}E}>Q 5h4.e?Q 9h4\),BYyQ I?@CI6:i:h4yɮ>BjhFNOT Ignoring new targets: 558.91 m.Rh"9Zh"9 ProNav: ac range: 558.910767 m, nav range: 544.224670 m, bearing: 74.904023 deg, approach rate: -0.627117 m/s, LOS rate: 0.008883 deg/s, cmd heading: 77.331313 deg, new cmd heading: 77.342728 deg. Bh9HeadingCmd: 1.349885 target range: 558.910767 and range: 560.60 m.h ɬ?h*h"h hgfffdddjdZd# @ZZZZ-VMBɢ5`1)1 5i1)=iE ɬ?E;AIE ɬ?IIԉ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014670ԱDzDAAE5 E5E5.E1"E5&:*E5Ar:VE5ـ4ZE1BE5i;K,G@?Ant?n?nxޔٱnɜ AHRS rotation from veh to nav: [[0.219993,-0.962952,-0.155969],[0.972794,0.228464,-0.038416],[0.072626,-0.143275,0.987015]]nH(?`ÿ@!!?`M>?>`?@V¿?int?InA];n:C]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269089Y)y)yQ?~jtȿ/$?5?D,= 9A`"?i|?5L7A`?Y?y+=BA  B)BYbD%VD%y-t:%51=ٔ5vQ-5>99I9==QGy=sF=ۻE=>AQ 5Mh4Ee?Q 9Uh4E&V)E&-BYUD?Q EU:yU?Q IU?EACIES;iEG;E™h4yaɮaa}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 558.91 m.Rh(9Zh(9 ProNav: ac range: 558.910767 m, nav range: 543.949158 m, bearing: 74.908283 deg, approach rate: -0.596633 m/s, LOS rate: 0.009232 deg/s, cmd heading: 77.342726 deg, new cmd heading: 77.355515 deg. Bh9HeadingCmd: 1.350108 target range: 558.910767 and range: 560.60 m.hZЬ?h*h"h hgfffdddjdZd@@Z >Z >Z#@Z^z@nMBɢ ) i)ti9iZЬ? [;  9I ZЬ?I 9@ @@0@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518653^A qZ;E-  E- E- ,E) "E- :*E- x:VE- g4ZE) a= @a= @a= @a= @A A I1 IA O] >,a@?ARo?R[?RٱR ^AHRS rotation from veh to nav: [[0.221731,-0.962203,-0.158119],[0.972130,0.230792,-0.041220],[0.076155,-0.144572,0.986559]]RH a? ]<=Ŀ? ?@~?W¿?iRo?IR6/];R7CYfkDByfHbDVD0y-,=%-q=ٔ-+Q-5?91I1=5QGy5tF=mE=?AQ 5Mh4Ege?Q 9Mh4E8Q)EG-BYIyMs?Q IU?E8ACIE;iED;Eh4y]Bɮ]>B]@EjhFNOT Ignoring new targets: 558.91 m.Rhp+9Zhp+9 ProNav: ac range: 558.910767 m, nav range: 543.746887 m, bearing: 74.911455 deg, approach rate: -0.597306 m/s, LOS rate: 0.009368 deg/s, cmd heading: 77.355512 deg, new cmd heading: 77.365029 deg. Bh9HeadingCmd: 1.350274 target range: 558.910767 and range: 560.60 m.hլ?h*h"h hgfffdddjdZd9@ZZZZ^;z@MBɢf3) Ni);i8d5iլ?y;XIլ?I 9@ @@4@iAIAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771868^A}"IAAAAAIIOi>B=>B=CB=HB=DBB=L =B9B=DB=%;B=IEaԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022654%,V{@?AY~fDBy~H bDVDk2y%A%%K=ٔ%Q-%>9)I)=-QGy-uF5E5>iQ 5uh4me?Q 9}h4maK)mn-BYyyyQ I}?mvACIm;im ;mh4yBɮ>B6EjhFNOT Ignoring new targets: 558.91 m.Rhb(9Zhb(9 ProNav: ac range: 558.910767 m, nav range: 543.507385 m, bearing: 74.915212 deg, approach rate: -0.586183 m/s, LOS rate: 0.009201 deg/s, cmd heading: 77.365027 deg, new cmd heading: 77.376304 deg. Bh9HeadingCmd: 1.350471 target range: 558.910767 and range: 560.60 m.h>ܬ?h*hE EE.E"Ea:*E:VEـ4ZEBE(ܬ?E ;M(IM>ܬ?IIy)@) @)@-3@)ԡ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274644^Am9A I I O > %,C@?A2]?2ԫ?2 ٱ2 :AHRS rotation from veh to nav: [[0.225637,-0.960571,-0.162457],[0.970713,0.235798,-0.045994],[0.082488,-0.147321,0.985643]]2H?`dĿ?.? ?`k¿@c?i2]?I2;];26CYFDByFHbDN VDNf2yV=%VR=ٔZmQ-Z>9XI\=^QGy^vF^-E^>`Q 5fh4bf?Q 9fh4bE)b-BYhyj?Q Ij?bACIb;ib;bIh4ylɮn>Bpjh FNOT Ignoring new targets: 558.91 m.Rh >39Zh >39 ProNav: ac range: 558.910767 m, nav range: 543.274963 m, bearing: 74.918964 deg, approach rate: -0.606442 m/s, LOS rate: 0.009794 deg/s, cmd heading: 77.376303 deg, new cmd heading: 77.387565 deg. Bh%9%HeadingCmd: 1.350668 target range: 558.910767 and range: 560.60 m.h%?h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd= @ZYZYZYZ]y@mMBɢu.)q uiq)u (Իyyi}Y,i}?:;$I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5276329@ @@/@@@eAE EE0E"ED:*E:VE4ZEa@a@a@a@^Aq) A I I O >e BDAT read: Rx Time:15:00:17.0728 e TRx dataTimestamp_ set to:1761577218.672146m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779765Q };+,@?ABr>BrCBr0HBrDBBpBpBpBr ;BrbIEY5DBy5HbDEVDE:3yUN<%U@=ٔ]Q-]>9YIY=eQGyewFeEe>iQ 5uh4m@ f?Q 9uh4m?)m-BYyyyQ I}?mACIm;ime;m&h4yCBɮ;BjhFNOT Ignoring new targets: 558.91 m.Rh,09Zh,09 ProNav: ac range: 558.910767 m, nav range: 543.021790 m, bearing: 74.923056 deg, approach rate: -0.595394 m/s, LOS rate: 0.009626 deg/s, cmd heading: 77.387566 deg, new cmd heading: 77.399846 deg. Bhh9HeadingCmd: 1.350882 target range: 558.910767 and range: 560.60 m.h?h*h"h hgfffdddjdZdڡ@ZZZZMBɢ') fi) i'i%?%H;%מI-?I))@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033244Y^A#2bEـ4jEA{4rEǰ/E EE*E"E*Exv:VE(N4ZEBE2"2,@?A0n?1Z?[ٱDAT read: 15:00:17.0728 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.30,-1.218,-2.651,-0.935,-1.346, PHS= 0.230,-1.260, 0.366, RAW= 154.3, 8.6, CAL= 153.9, 9.1, ROT= 356.1, -9.1 Ygot valid direction response: 15:00:17.0728 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.30,-1.218,-2.651,-0.935,-1.346, PHS= 0.230,-1.260, 0.366, RAW= 154.3, 8.6, CAL= 153.9, 9.1, ROT= 356.1, -9.1 AHRS rotation from veh to nav: [[0.229127,-0.958852,-0.167640],[0.969371,0.240417,-0.050200],[0.088438,-0.151003,0.984569]]HT?@:uſ? ?@г ݣ?Tÿ?in?IJG];7CPDAT read: Bearing 255.8, -0.5 (Local) ~Local bearing/azimuth received: Bearing 255.8, -0.5 (Local) %DAT read: Range 11 to 50 : 558.2 m (Round-trip 744.3 ms) speed 0.3 m/s %R#Rx 1: Read range and direction messages.Y DBy-HI5=)5a=M^direction in FSK: [0.985127,-0.067159,0.158158]MFpublishing direction and range infoy!%C)?B 8Y1@\~>?Y% D!!!! !)%CI%k>i%G%Zd>!%`>%o+@ %">)%>@I%"!!%o"? ?Ļ? %v[?)%I%)gi%"!!mT****** received valid address query ******mR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yq= ףp?~jt?y&1?K?D<`e= 9~jt?ʡEˡE?Y$?y=TB  B)AYBbDVD1y S=% 2=ٔTQ->9I=QGyxFYE>!Q 5-h4%Kf?Q 9-h4%I8)%.BY5'?Q E5:y5?Q I5?%>BCI% ;i%':%;h4y=LBɮ=;BE7Eԉi!i%V@?AJi%" DRi%" Dji%m?b%"@b7B=fXV@R%C)?B 8Y1@\~>?Zi%)gbi%"j%NVb@㪂0@Vjga@Z%?Mui? )0?2i%D:i%C"i%[^?*i%p$Bi%=Ci%[^?i!i!i% Di%? addTargetRange:: Added new target pos. range: 558.200012 m, deltaT: 4.537813 s, deltaX: -2.399963 m, approachRate: -0.528881 m/s, rangeRepo size: 4 % Added new target pos. range: 556.538513 m, bearing: 74.189058 deg, lat: 36.779158 deg, lon: -121.859577 deg, deltaT: 4.537813 s, deltaX: -2.372253 m, approachRate: -0.522775 m/s, posRepo size: 4 jh)-FNOT Ignoring new targets: 556.54 m.Rh-Zh1E ProNav: ac range: 556.538513 m, nav range: 544.204163 m, bearing: 74.359228 deg, approach rate: 0.000000 m/s, LOS rate: 0.009626 deg/s, cmd heading: 77.399847 deg, new cmd heading: 77.414471 deg. BhAMHeadingCmd: 1.351137 target range: 556.538513 and range: 558.20 m.hM?hI*hI"hI hIgQfQfQfQd1d9d9jd=q@Zd=@[?ZR6>ZR6>Zj@ZF@额MBɢ") i)l3顡ib#i?P: I?ԱII@I @I@I@I*DAT read: user:842> BDAT read: Tx time:15:00:18.4744 $Ping request sent.9,w@?A2E?2Q1?2ٱ2^ :AHRS rotation from veh to nav: [[0.230277,-0.958366,-0.168841],[0.968839,0.242052,-0.052552],[0.091232,-0.151478,0.984241]]2Hy?ſ??調Z?`cÿ~?i2E?I24];29CYFDByF HbDrVDr02yv{=%zA=ٔz?ٻQ-z>9~ ?I~ ?=~QGy~yF)AE> Q 5 h4 f?Q 9h4 1) I.BYyX?Q I? BCI  ;i !; h4y!ɮ%;B!1EB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 556.54 m.Rh]j8Zh]j8m ProNav: ac range: 556.538513 m, nav range: 543.935852 m, bearing: 74.360948 deg, approach rate: -0.708815 m/s, LOS rate: 0.004547 deg/s, cmd heading: 77.414471 deg, new cmd heading: 77.419634 deg. BhmG9}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249856HeadingCmd: 1.351228 target range: 556.538513 and range: 558.20 m.h?h*h"h hgfffdddjdZd`C7?ZZZZ>:@MBɢ?) @i)xLiYXi?q:I?IB<A4=@ @@/@B%>B!B%HB%1EBB!B!B!B%;B%YIEBÆCBÆCBÔCBL =BM =C 5a^AAIIOi>ԉ- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501723Թ DU =DQ E]  E] E] +EY "E] :*E] x:VE] [4ZEY BE] F89 I = QGy zF AE >Q 5h4"f?Q 9%h47+).BY!y%8?Q I%?BCIF:i:1h4y-FBɮ5;B5-EjhY]FNOT Ignoring new targets: 556.54 m.Rheʗ8Zheʗ8u ProNav: ac range: 556.538513 m, nav range: 543.679077 m, bearing: 74.362622 deg, approach rate: -0.635597 m/s, LOS rate: 0.004147 deg/s, cmd heading: 77.419634 deg, new cmd heading: 77.424660 deg. Bhu&69}HeadingCmd: 1.351315 target range: 556.538513 and range: 558.20 m.h}?hy*hy"hy hygyfffdddjdZdz?ԑZZZZw0@NBɢ[@1) i)jig+i?j:Vj%I?II@I @Q@U0@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753934^Au] AqzAufAA I I O > f> /G AfA ! E R9M AfAYM ʜA= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005707rF,A?A2?2?2ƽٱ2 :AHRS rotation from veh to nav: [[0.231362,-0.958084,-0.168958],[0.968063,0.243959,-0.057770],[0.096567,-0.150196,0.983929]]2HD?@iſ_?`:??9ÿ@X|?i2?I2C];2:CYBEByFRHbDN VDN2yV=%VP=ٔVܻQ-V>9XIX=ZQGyZ{F^CE^>`Q 5fi4b)f?Q 9fi4b%)b.BYdyf%?Q Ij?bCCIb:ib:b i4ylɮn;BljhFNOT Ignoring new targets: 556.54 m.Rh 8Zh 8 ProNav: ac range: 556.538513 m, nav range: 543.430603 m, bearing: 74.364259 deg, approach rate: -0.632839 m/s, LOS rate: 0.004171 deg/s, cmd heading: 77.424661 deg, new cmd heading: 77.429574 deg. Bh/79HeadingCmd: 1.351401 target range: 556.538513 and range: 558.20 m.h?h*h"h hgfffdddjdZd&?ZqZqZqZuR/@% NBɢ%.)! %i))-GEU EUEU-EQ"EUV:*EU:VEUt4ZEQa@a@a@a@)il i?:҂)I?I!a@a @a@e0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257678Q^A ܪ&B >B CB HB xEBB M =B B DB ;B fIEy A ؟AI I O% >6L,5A?A2|?2 ?2]y˽ٱ2G :AHRS rotation from veh to nav: [[0.231436,-0.958126,-0.168617],[0.967780,0.244417,-0.060510],[0.099189,-0.149180,0.983823]]2H`? Aſ?I?*vd?Wÿ`y{?i2|?I2s];27CYB"EByFuHbDNVDN3yV*=%VJ=ٔVջQ-Z>9Z"?IZ"?=ZQGyZ|F^ E^>`Q 5fi4b0f?Q 9fi4b)b/BYdyj?Q Ij?bFCCIb-:ib:bi4ynNBɮn{;Br.Ejh FNOT Ignoring new targets: 556.54 m.Rh 8Zh 8 ProNav: ac range: 556.538513 m, nav range: 543.175049 m, bearing: 74.365954 deg, approach rate: -0.632482 m/s, LOS rate: 0.004197 deg/s, cmd heading: 77.429572 deg, new cmd heading: 77.434659 deg. Bh%S89%HeadingCmd: 1.351490 target range: 556.538513 and range: 558.20 m.h%?h)*h)"h) h)g)f)f1f1d1d1d9jdZd'?ZZZZ.@ 5NBɢ 7)  9i)4)i-i=?=,:=,I=?IAYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510663@ @@4@D)zD-@AԉE= E=E=/E9"E=D:*E=xv:VE=J4ZE9BE=2 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762789 S,OA?A2T?2?2нٱ2ʤ :AHRS rotation from veh to nav: [[0.231383,-0.957948,-0.169700],[0.967535,0.244818,-0.062771],[0.101677,-0.149666,0.983495]]2H@?`ſ ?1V?@ z?B(ÿx?i2T?I2+Z];28CYZFEByZHy=gfffff?~jthMb?=33?=D=@=9 99=Cl?L7A`堿333333?Y=d;?y=+===B=A =B)=MA9Y=pBbDUVDU2ye=%e?=ٔeQ-m>9iIi=mQGym}Fu!;Eu>yQ 5i4}7f?Q 9i4})}J/BYIA IQ Oe >Q vY,piA?A2_?2 ?2wսٱ2; :AHRS rotation from veh to nav: [[0.231118,-0.957986,-0.169846],[0.967347,0.244932,-0.065181],[0.104043,-0.149236,0.983313]]2HC?ҧſ ?Y?@ ? 'ÿLw?i2_?I2I];27CYBZEByBHbDNVDN1yVU=%VW=ٔV̻Q-V>9XIX=ZQGyZ~FZ:E^>`Q 5fi4b=f?Q 9fi4b)b/BYdyf>?Q Ij?bCCIb:ib:bH5i4ynHBɮn6;Bn$E]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265872eB*** querying acoustic contact ***ia iajhiuFNOT Ignoring new targets: 556.54 m.Rh9Zh9 ProNav: ac range: 556.538513 m, nav range: 542.592712 m, bearing: 74.365430 deg, approach rate: -0.695650 m/s, LOS rate: -0.000632 deg/s, cmd heading: 77.433834 deg, new cmd heading: 77.433086 deg. Bh$޷HeadingCmd: 1.351462 target range: 556.538513 and range: 558.20 m.h?h*h"h hgff!f!d!d!d)jd)Zdu`In@Z!Z!Z!Z%WV?)AM@AAM@ABU>BUCBUCHBUEBBUP =BU6DBUDBU,;BQufNBɢ}~2)y }iy)}T顁iV i%?-J:-W)I-?I)9@ @@/@@=@=Y checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517664ԉ ^A 0I I O >E  E E *E "E =;*E :VE (N4ZE BE I9)I)=-QGy-F-E5>1Q 5=i45KDf?Q 9Ei45=)5/BYAyAQ IE?5)DCI5;i5;5Ci4yIɮU%;BQjhFNOT Ignoring new targets: 556.54 m.Rh@Zh@ ProNav: ac range: 556.538513 m, nav range: 542.291443 m, bearing: 74.365157 deg, approach rate: -0.723345 m/s, LOS rate: -0.000658 deg/s, cmd heading: 77.433083 deg, new cmd heading: 77.432260 deg. BhAHeadingCmd: 1.351448 target range: 556.538513 and range: 558.20 m.h??h*h"h hgfffd d d jd Zdk@Z)Z)Z)Z)E{NBɢEnWB)A EiA)M^IIiMiU??U{:U)IU??IYԑ 9@  @ @ @ iiIiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770165Թ^A5ܪ&IIO> % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021792gg,bA?AF _?FJ?F߽ٱF NAHRS rotation from veh to nav: [[0.229122,-0.958908,-0.167330],[0.967306,0.243500,-0.070895],[0.108727,-0.145615,0.983349]]FH`S? _@kſ,?+?0&ջ?¿w?iF _?IFK];F9CYZEByZH\bDfVDfkyj8=%jO=ٔnCQ-n>9pIp=rQGyrFrK;Ev>tQ 5zi4vJf?Q 9~i4v)v0BY|y~p?Q I~?vqDCIvw;iv;vQi4yɮ ;B jh)5FNOT Ignoring new targets: 556.54 m.Rh5hZh5hM ProNav: ac range: 556.538513 m, nav range: 542.007446 m, bearing: 74.364852 deg, approach rate: -0.742034 m/s, LOS rate: -0.000795 deg/s, cmd heading: 77.432263 deg, new cmd heading: 77.431350 deg. BhM UHeadingCmd: 1.351432 target range: 556.538513 and range: 558.20 m.hU?hQ*hY"hY hagafifqfqdyddjdZd@ȧ @ZZZZߍ?E} E}E}+Ey"E}s:*E}]t:VE} [4ZEya@a@a@a@额NBɢV=) Ji)Fϼ顡i,i?<: I?Ii9@ @ @ /@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274599^A) A1 zA1 BU q>BU CBU HBU FBBU T =BQ BU DBU 9;BQ I I O >A c+m,??@G?¿`rv?i2!?I2r];28CYFEByF$H HJAbDNVDN02yV=%VM=ٔZߏQ-Z>9XIX=ZQGy^F^^;E^>`Q 5fi4bPf?Q 9fi4b)bI0BYhyj?Q Ij?bDCIb|:ib:b_i4ynQBɮn:Br%Ejh FNOT Ignoring new targets: 556.54 m.Rh ʅZh ʅ% ProNav: ac range: 556.538513 m, nav range: 541.720825 m, bearing: 74.364488 deg, approach rate: -0.718970 m/s, LOS rate: -0.000914 deg/s, cmd heading: 77.431348 deg, new cmd heading: 77.430255 deg. Bh% -HeadingCmd: 1.351413 target range: 556.538513 and range: 558.20 m.h-?h)*h)"h) h1g1f1f1f9d9d9dAjdAZdE@W @ZaZaZaZe?uNBɢu`>)q i)ϞݼiTmi?!:I?I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526606 9@  @ @ O0@ @@fAIE EE.E"E:*E:VEـ4ZEBEF8 BDAT read: Rx Time:15:00:21.6255  TRx dataTimestamp_ set to:1761577223.208187 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778878ԡ Tt, A?AYrEByv1HymK7A`?Q롿~jtm+?m\mDi i9mS㥛?Q?Ym$F?yymum9I=QGyFE>Q 5i4Wf?Q 9i4?){0BYHF?Q E:y?Q I?ECI ;i ;ni4yɮ:BjhFNOT Ignoring new targets: 556.54 m.Rh#Zh#  ProNav: ac range: 556.538513 m, nav range: 541.388123 m, bearing: 74.363517 deg, approach rate: -0.766065 m/s, LOS rate: -0.002238 deg/s, cmd heading: 77.430255 deg, new cmd heading: 77.427340 deg. Bh ĸHeadingCmd: 1.351362 target range: 556.538513 and range: 558.20 m.hn?h*h"h hgff1fAdIdIdQjdQZdU@Z5=Z5=Z5j>>Z5?]NBɢ]T3)a eia)eaaie~imn?uS:uIun?Iqԩ%9@! @!@%1@)checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030145E EE,E"E*EVEg4ZEa@a@a@a@^A  Aa Ii Iy O >M=z,A?A2*?25?28ٱ2F :AHRS rotation from veh to nav: [[0.222969,-0.960699,-0.165353],[0.968099,0.238113,-0.078010],[0.114317,-0.142684,0.983144]]2H>? G*ſ?~z?uC?@yC¿ u?i2*?I2];0YFEByFIHbDNVDN0yvKL=%vV=ٔv&Q-v>9xIx=zQGyzFz>8<E~>Q 5 i4l]f?Q 9 i4)0BY y 4?Q I ?[ECI:i4:"|i4yABɮ:BE5B*** querying acoustic contact ***i1 i1mDAT read: 15:00:21.6255 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 461,-0.10,-3.020, 1.744,-2.870, 2.968, PHS= 0.397,-1.179, 0.401, RAW= 150.1, 4.9, CAL= 149.4, 5.0, ROT= 0.6, -5.0 }Ygot valid direction response: 15:00:21.6255 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 461,-0.10,-3.020, 1.744,-2.870, 2.968, PHS= 0.397,-1.179, 0.401, RAW= 150.1, 4.9, CAL= 149.4, 5.0, ROT= 0.6, -5.0 PDAT read: Bearing 251.8, 6.3 (Local) ~Local bearing/azimuth received: Bearing 251.8, 6.3 (Local) DAT read: Range 11 to 50 : 560.2 m (Round-trip 747.0 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.996140,0.010432,0.087156]Fpublishing direction and range infoy9=~@'a?֫~V]?O?jhFNOT Ignoring new targets: 556.54 m.Rh4Y= D9999 9)=AI=C>i=y閿=O>=ϩ'@=%==&@ =¸=)=+B~CBHBWFBBX =BBDBE;BhIE9Zi9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZiZiZm$?NBɢ!?) i)Dii?u:̵TI?IM9@I @Q@U4@Q1*DAT read: user:843> BDAT read: Tx time:15:00:23.0744 $Ping request sent.A1 bE]^n4jE]p4rE]0E%  E% E% +E! "E% V:*E% ~:VE% [4ZE! BE% 9>I,dB?A2l?2>X?2ٱ2 >AHRS rotation from veh to nav: [[0.220964,-0.961208,-0.165087],[0.968313,0.236418,-0.080471],[0.116379,-0.142075,0.982991]]2HH?7!ſ@l?B?ʽ?/¿t?i2l?I2^;2:CYFEByFvHIJ%=)J0>bDRVDRyV=%ZI=ٔZQ-Z>9^ ?I^ ?=^QGy^F^;Eb>`Q 5fi4bcf?Q 9ji4b)b0BYhyju?Q Ij?bECIb;ib;bQi4ypɮr:Bpi!i%A?AJi% DRi% Dji%R?b%9Jdb@ݿFM@amVH@R%~@'a?֫~V]?O?Zi%+<bi%¸j% ubR[@f`@$9[@Z%yu ?,,?&Z?2i%D:i%B"i% ]?*i%LtBi%>!Ci%և?i!i!i%Di%|? addTargetRange:: Added new target pos. range: 560.200012 m, deltaT: 4.534309 s, deltaX: 2.000000 m, approachRate: 0.441082 m/s, rangeRepo size: 4  Added new target pos. range: 558.454773 m, bearing: 78.478465 deg, lat: 36.779081 deg, lon: -121.859577 deg, deltaT: 4.534309 s, deltaX: 1.916260 m, approachRate: 0.422613 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 558.45 m.Rh Zh  ProNav: ac range: 558.454773 m, nav range: 538.524841 m, bearing: 75.245267 deg, approach rate: 0.000000 m/s, LOS rate: -0.002468 deg/s, cmd heading: 77.424388 deg, new cmd heading: 77.421388 deg. Bh!%HeadingCmd: 1.351258 target range: 558.454773 and range: 560.20 m.h%?h)*h)"hI hIgIfIfQfQdQdQdYjdYZd] ?Z9Z9Z9Z=`g? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250823NBɢC) i)ii?=:7I?II)dA9@ @@`4@@=@A^A= _y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503716Ai Iq I O >,B?AVU?V?V6ٱV` fAHRS rotation from veh to nav: [[0.218878,-0.961734,-0.164806],[0.968533,0.234646,-0.082983],[0.118478,-0.141457,0.982829]]VH2?`^ſ8? ?X>T?@D¿Us?iVU?IVY^;V9CYvFBy=HEu EuEqEq"EuD:*Eu:VEqZEqa}@a}@a}@a}@bDVDy$=%9=ٔQ->9I=QGyF;E>Q 5i4Rjf?Q 9i41)1BYy?Q I?FCI:iM:ři4yɮ~:BjhFNOT Ignoring new targets: 558.45 m.RhZh  ProNav: ac range: 558.454773 m, nav range: 538.186462 m, bearing: 75.244530 deg, approach rate: -0.794787 m/s, LOS rate: -0.001732 deg/s, cmd heading: 77.421390 deg, new cmd heading: 77.419177 deg. Bh/HeadingCmd: 1.351220 target range: 558.454773 and range: 560.20 m.h?h*h"h h!g!f!f!fydyddjdZd$?Z!Z!Z!Z%z?5 OBɢ=/nC)9 =i9)=|Aaie,߻im?m/:m>gIm?Iq9@ @@/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755865aBuc>Bu}CBu=HBuFBBqBqBqBu!;Bu@IEB-CB-ȀCB-ȖCB-T =B-S =C-%6^A ?Bɺԑ A ؟AI I O >,ڌ9B?AYFByHbD- VD-2ye%=%eO=ٔeQ-e>9m"?Im"?=mQGymFuEu>yQ 5i4}Ppf?Q 9i4}r)}>1BYyQ I?}NFCI}=:i}:}i4yJBɮ:BEjhFNOT Ignoring new targets: 558.45 m.RhZh ProNav: ac range: 558.454773 m, nav range: 537.883606 m, bearing: 75.243870 deg, approach rate: -0.765566 m/s, LOS rate: -0.001670 deg/s, cmd heading: 77.419177 deg, new cmd heading: 77.417194 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018484ԙBhHeadingCmd: 1.351185 target range: 558.454773 and range: 560.20 m.h?h*h"h hgfffdddjdZd`?v?Em EmEm-Ei"Em&:*Emz:VEmt4ZEiBEmh;lF, VB?ABc?BO?BٱBS NAHRS rotation from veh to nav: [[0.213439,-0.962984,-0.164637],[0.968996,0.230141,-0.089901],[0.124463,-0.140345,0.982249]]BHQ?@@ſ?Bu? ܿ? n?iBc?IBz_;B:CYV(FByVH XZAԱ>GeAQ9eAYHAyB`"?:v?:vN?T<T 9Mb?/$~jtYC?y,}BfA DB)AYBbDVDy@=%'=ٔaIQ->9 ?I ?=QGyF6<E>Q 5i4xf?Q 9i4)h1BYmC?Q E:yץ?Q I?FCI;i;i4yKBɮm:BEjhFNOT Ignoring new targets: 558.45 m.Rh]i7Zh]i7m ProNav: ac range: 558.454773 m, nav range: 537.511536 m, bearing: 75.244571 deg, approach rate: -0.758443 m/s, LOS rate: 0.001430 deg/s, cmd heading: 77.417196 deg, new cmd heading: 77.419301 deg. BhmK{8uHeadingCmd: 1.351222 target range: 558.454773 and range: 560.20 m.hu?hq*hq"h hgfffdddjdZd?Z[=Z[=Z@Z@=BOBɢ=F,G)9 =iA)Eb]AAiEkϻiM?M*:Mx;IM?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522978It>i)>E5 E5E52E1"E5V:*E5:VE54ZE1aE@aE@aE@aE@@ @@/@^A q) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778982A ؟AI I O >},(-qB?AAAB"`>B B"{HB"FBB B B"DB";B"9IEV,?Vz?VٱV ^AHRS rotation from veh to nav: [[0.212112,-0.962828,-0.167247],[0.969060,0.229337,-0.091257],[0.126221,-0.142716,0.981683]]VH`|&?{Xhſ?`Z?\@(?D¿i?iV,?IVO_;V9CYj,FByjHbDrVDr1qy!&<%U=ٔQ->9"?I"?=QGyFa;E>Q 5i4wf?Q 9i4)1BYy?Q I?FCI;i;!i4yɮi:BB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 558.45 m.Rh7Zh7 ProNav: ac range: 558.454773 m, nav range: 537.220703 m, bearing: 75.245081 deg, approach rate: -0.758219 m/s, LOS rate: 0.001329 deg/s, cmd heading: 77.419299 deg, new cmd heading: 77.420829 deg. Bhi8HeadingCmd: 1.351248 target range: 558.454773 and range: 560.20 m.h?h*h"h hg f ffdddjdZd`@Z9Z9Z9Z=U@MXOBɢMT)I UiQ)UD%QQiUǻi]?]:]<;I]?Ia9@ @@0@ԡ^Ar;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026872AII!O=r>D=D<E EE/E"E;*E҆:VEJ4ZEBEA9lIl=nQGynFr:Er>tQ 5vi4vf?Q 9zi4v_)v1BYxyz ?Q Iz?vBGCIv:iv:vdi4yɮE:Bjh)5FNOT Ignoring new targets: 558.45 m.Rh57Zh57E ProNav: ac range: 558.454773 m, nav range: 536.932861 m, bearing: 75.245575 deg, approach rate: -0.758273 m/s, LOS rate: 0.001302 deg/s, cmd heading: 77.420829 deg, new cmd heading: 77.422312 deg. BhMd8MHeadingCmd: 1.351274 target range: 558.454773 and range: 560.20 m.hM?hQ*hQ"hQ hQgQfQfafadadadijdiZdm @ZZZZ@额pOBɢTR) i)_,顡ii?:­;I?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.279449Ym9@q @q@u4@qԁ^AA>A>ԩA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533140Ii I O >E  E E -E "E :*E :VE t4ZE a @a @a @a @ {ƨ,lΤB?ABu?B?B‹ٱB| JAHRS rotation from veh to nav: [[0.211138,-0.961976,-0.173274],[0.968896,0.229384,-0.092863],[0.129078,-0.148277,0.980486]]BH?-ƿ@2?q\?ŷ?`¿$`?iBu?IB_;B7CYRWFByVHbD^VD^3yfu<%fK=ٔfnQ-f>9hIh=jQGyjFn2:En>aQ 5mi4e@f?Q 9mi4eP)e1BYiym?Q Im?eGCIeF:ie:ei4yyɮ}>:ByjhFNOT Ignoring new targets: 558.45 m.Rh¹7Zh¹7 ProNav: ac range: 558.454773 m, nav range: 536.614685 m, bearing: 75.246106 deg, approach rate: -0.759416 m/s, LOS rate: 0.001269 deg/s, cmd heading: 77.422312 deg, new cmd heading: 77.423906 deg. Bh^8HeadingCmd: 1.351302 target range: 558.454773 and range: 560.20 m.hw?h*h"h hgfffdddjdZd@c@ZZZZk@ OBɢ KN)  .i){@4iiw?: ;I%w?I!)Ա9@ @@4@@=@=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.783642BE^>BABEHBEFBBABABABE0;BELIE^Aϩ; A I I O >9 ,㩾B?AF?F?FٱFZchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.036378 jAHRS rotation from veh to nav: [[0.210938,-0.961482,-0.176234],[0.968781,0.229656,-0.093386],[0.130262,-0.151034,0.979908]]FH@? u֎ƿA? ae?#跿m?@Uÿi[?iF?IF_;F9CYzkFByz HbDVD0y-?=%5D=ٔl;Q->9I=QGyF9E>Q 5i4qf?Q 9i4K)1BYy?Q I?GCI6;i^7;i4yLBɮ.:B EjhAEFNOT Ignoring new targets: 558.45 m.RhMF7ZhMF7DqzDu?AE} E}E},Ey"E};*E}h:VE}g4ZEyBE} oJص,B?A J+?JΞ?JٱJ VAHRS rotation from veh to nav: [[0.210906,-0.961115,-0.178257],[0.968644,0.229989,-0.093983],[0.131326,-0.152846,0.979485]]JH? u"ƿ"?Kp?@@F?xÿW?iJ+?IJ_;J7CY^wFBy^HyE(\?MbpEN?ELEA A9EB`"?I +I +YE.?yE9E9AEA E}B)E-AAYEfBbD]VD]:2ym<%mF=ٔu*Q-u>9qIq=uQGy}F6E>Q 5i41f?Q 9i4)2BYb0?Q E:y?Q I?*HCIc;i;wi4yɮ":BjhFNOT Ignoring new targets: 558.45 m.Rh98Zh98e ProNav: ac range: 558.454773 m, nav range: 536.028564 m, bearing: 75.249212 deg, approach rate: -0.693339 m/s, LOS rate: 0.006645 deg/s, cmd heading: 77.425481 deg, new cmd heading: 77.433229 deg. Bhe9mHeadingCmd: 1.351465 target range: 558.454773 and range: 560.20 m.hm?hi*hi"hi higifqffdddjdZdQ@Z#>Z#>Zc\@Z\@OBɢX) yi)Di$էi%?%%:%3R;I%?I)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5404099@ @@/@E EE+E"E:*E:VE [4ZEa@a@a@a@ԙ^A A zA dA A= .AII e BDAT read: Rx Time:15:00:26.2134 m TRx dataTimestamp_ set to:1761577227.756323m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792135Iq O >B= <A9 BA BA BE HBE -GBBA BA BA BE o;BE IE,`B?APઑ??ٱI, -AHRS rotation from veh to nav: [[0.211121,-0.960906,-0.179128],[0.968450,0.230457,-0.094838],[0.132411,-0.153454,0.979244]]H?྿ƿ?? IG ? aÿU?iઑ?I<_;5CY5FBy5)HbDE VDE2yU<%U/=ٔUQ-]>9] ?I] ?=]QGy]FesEe>iQ 5uj4mSf?Q 9uj4m)m<2BYqy}?Q I}?m{HCIm<;imR:mj4yɮ:BB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 558.45 m.Rh8Zh8- ProNav: ac range: 558.454773 m, nav range: 535.711304 m, bearing: 75.252265 deg, approach rate: -0.662906 m/s, LOS rate: 0.006382 deg/s, cmd heading: 77.433226 deg, new cmd heading: 77.442389 deg. Bh-&95HeadingCmd: 1.351625 target range: 558.454773 and range: 560.20 m.h5 ?h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdM @ZaZaZaZeZ@}OBɢ}>P)y }qiy)L顁i|mi ?.:ڭ;I ?II)eA@ @@/@@ @ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.044315E EE-E"E:*E:VEt4ZEBE6aÐ, C?A6j?6 ?6vٱ6 BAHRS rotation from veh to nav: [[0.211521,-0.960523,-0.180702],[0.968234,0.231156,-0.095340],[0.133347,-0.154796,0.978906]]6H "?@!ǿ ??3h?`Xÿ2S?i6j?I6`;68C D)DJCJ>FHLLiNtILLIPiRiA R`eP)PRC RiAV#VGFTTTIT)TiX)\I\^\ \`biAbi``idd)d dIdYdhYnFByn]HbDuVDuyy=%c=ٔd+Q->9"?I"?=QGyFQE>iIADAT read: 15:00:26.2134 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 322,-0.17, 2.171, 0.685, 2.448, 2.014, PHS= 0.260,-1.284, 0.391, RAW= 154.0, 7.9, CAL= 153.5, 8.3, ROT= 356.5, -8.3  Ygot valid direction response: 15:00:26.2134 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 322,-0.17, 2.171, 0.685, 2.448, 2.014, PHS= 0.260,-1.284, 0.391, RAW= 154.0, 7.9, CAL= 153.5, 8.3, ROT= 356.5, -8.3 PDAT read: Bearing 255.2, 2.4 (Local) ~Local bearing/azimuth received: Bearing 255.2, 2.4 (Local) %DAT read: Range 11 to 50 : 551.1 m (Round-trip 734.9 ms) speed 0.4 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.987680,-0.060409,0.144356]5Fpublishing direction and range infoyNZ?1I'ЌCz?Y D )EI>iZ'1>,@0 >v+@ V>)o@IV헅D?6$8?uȉ? f?)" I5ziVMT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.aQ 5j4eȬf?Q 9j4eL)e\2BYy?Q I?eHCIe;ieq;ej4yɮ9BiisC?AJiW DRiW Djiœ?bc"@U@n̼S@RNZ?1I'ЌCz?Zi5zbiVj{7`@4#4@B,cc@Z8`P?]??I?2iC:iQC"i ;?*i*BiLCi ;?i_fi=CiDiƨ?U addTargetRange:: Added new target pos. range: 551.099976 m, deltaT: 4.548262 s, deltaX: -9.100037 m, approachRate: -2.000772 m/s, rangeRepo size: 4  Added new target pos. range: 549.374756 m, bearing: 75.459089 deg, lat: 36.779045 deg, lon: -121.859626 deg, deltaT: 4.548262 s, deltaX: -9.080017 m, approachRate: -1.996371 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 549.37 m.RhZh ProNav: ac range: 549.374756 m, nav range: 530.262268 m, bearing: 75.548245 deg, approach rate: 0.000000 m/s, LOS rate: 0.006382 deg/s, cmd heading: 77.442392 deg, new cmd heading: 77.449815 deg. BhHeadingCmd: 1.351754 target range: 549.374756 and range: 551.10 m.hI?h*h"h hgfffdyddjd8@Zdސ?ZZZZX@OBɢU) i)TT!i%i%I?-8:-;I-I?I)9@ @@@) *DAT read: user:844>  BDAT read: Tx time:15:00:27.5244  $Ping request sent. ^ɐ,yy(C?A(YFByaHbDVD0y;%>=ٔQ->9 ?I ?=QGyFE>Q 5j4޴f?Q 9j4T)2BYyQ I?ICI;i";h*j4yNBɮEjh FNOT Ignoring new targets: 549.37 m.Rh9Zh9% ProNav: ac range: 549.374756 m, nav range: 529.981873 m, bearing: 75.551146 deg, approach rate: -0.717520 m/s, LOS rate: 0.007427 deg/s, cmd heading: 77.449817 deg, new cmd heading: 77.458523 deg. Bh%9-HeadingCmd: 1.351906 target range: 549.374756 and range: 551.10 m.h-D ?h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=&?ԁZZZZPBɢ_) checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248180 iY)eJ\aaie9,imD ?m:m1;ImD ?IqBBB7HB_GBBBBB;BIE@ @@@Ա ^A ԅ;A A > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500682A- ؟AI1 II OU >А,SBC?AXYFBy}HbD%VD%3bEt4jEt4rE80E= E=E=-E9"E=:*E=:VE=t4ZE9BE=F89"?I"?=QGyFE>Q 5j4ͼf?Q 9j4~)2BYyQ I?MICI;ij;8j4yɮ9Bjh  FNOT Ignoring new targets: 549.37 m.Rh9Zh9% ProNav: ac range: 549.374756 m, nav range: 529.706665 m, bearing: 75.553996 deg, approach rate: -0.680861 m/s, LOS rate: 0.007055 deg/s, cmd heading: 77.458525 deg, new cmd heading: 77.467081 deg. Bh%9-HeadingCmd: 1.352056 target range: 549.374756 and range: 551.10 m.h-)?h)*h)"h) h1g1f1f1f9d9d9d9jdAZdM@`:?ZZZZ颕'PBɢBi)K< i)1c顙i!=i)?:mX;I)?Ie9@i @i@m1@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752030^A;A A .AI I O% >֐,\C?A>m?>Y?> ٱ># FAHRS rotation from veh to nav: [[0.212811,-0.959657,-0.183765],[0.967547,0.233197,-0.097321],[0.136248,-0.157090,0.978141]]>Hd=?ǿ%?@d?긿@p?ĿL?i>m?I>`;>9CY%FBy%HyL7A`?QſI ++G?(94 9K7A?"~jMbP?Y "?yS㽙:B~A DB)AYzBbD] VD]2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005001y=%>=ٔy޻Q->9 ?I ?=QGyFWE>Q 5j4f?Q 9j4)2BY$?Q E:y%?Q I?ICI ;i] ;Gj4yɮ9BjhFNOT Ignoring new targets: 549.37 m.Rh,9Zh,9 ProNav: ac range: 549.374756 m, nav range: 529.435730 m, bearing: 75.558064 deg, approach rate: -0.627932 m/s, LOS rate: 0.009433 deg/s, cmd heading: 77.467083 deg, new cmd heading: 77.479294 deg. Bh+9 HeadingCmd: 1.352269 target range: 549.374756 and range: 551.10 m.h %?h *h "h hgfffdddjd!Zd%`߀?ZE>ZE>ZE>2@ZEj(@UCPBɢUn \)Y ]iY)]kYYie6xie%?e:mLP;Im%?IEU EUEU)EQ"EU:*EUą:VEUFA4ZEQa]@a]@a]@a]@a9@! @!@%4@!q5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256648^AE ;ԡ A A B B B HB GBB B B B c;B IEB}CB}CBʓCBX =BX =Cʸ4Au ؟AI I O >ݐ,mvC?A2Y?2E?2p ٱ2# JAHRS rotation from veh to nav: [[0.213379,-0.959385,-0.184528],[0.967315,0.233956,-0.097810],[0.137009,-0.157626,0.977948]]2HP?G ǿ >?A? ?-ĿZK?i2Y?I2``;2:CYR"GByRHbD^VD^ybg=%ff=ٔf Q-f>9j"?Ij"?=jQGynFn)En>pQ 5vj4rf?Q 9vj4r\z)r2BYtyz?Q Iz?rICIr&;irv;rTj4y|ɮ~z9B|jh!%FNOT Ignoring new targets: 549.37 m.Rh--9Zh--91E ProNav: ac range: 549.374756 m, nav range: 529.212646 m, bearing: 75.561433 deg, approach rate: -0.627900 m/s, LOS rate: 0.009486 deg/s, cmd heading: 77.479296 deg, new cmd heading: 77.489407 deg. BhEU9MHeadingCmd: 1.352445 target range: 549.374756 and range: 551.10 m.hM?hI*hI"hI hQgQfQfQfYdYdYdYjdYZde`t2?ZyZyZyZ}#@颕ZPBɢk) i)\r顙igi?>:T,;I?I9@ @@/@aEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508144E EE0E"EV:*E:VE4ZEBE9Ա x,~SC?A2RO?2:?2 ٱ2U# :AHRS rotation from veh to nav: [[0.213667,-0.959337,-0.184440],[0.967139,0.234358,-0.098581],[0.137797,-0.157315,0.977887]]2H@tY?`@ǿ?p?<`V?"ĿJ?i2RO?I2H`;0YF.GByFHRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760175bDNVDN1yZ<%ZL=ٔ^6Q-^>9`I`=bQGybFbiSEf>dQ 5jj4ff?Q 9jj4f2t)f!3BYlyn?Q In?f JCIfQ;if;fbj4yrVBɮv9BvEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 549.37 m.ԙRh.9Zh.9 ProNav: ac range: 549.374756 m, nav range: 528.961548 m, bearing: 75.565238 deg, approach rate: -0.627193 m/s, LOS rate: 0.009509 deg/s, cmd heading: 77.489405 deg, new cmd heading: 77.500825 deg. Bh9HeadingCmd: 1.352645 target range: 549.374756 and range: 551.10 m.hu#?h*h"h hgfffdddjdZdn@Z Z Z Z 3 @EvPBɢE _)A EiA)MpzIIiMnUiUu#?g:p;Iu#?I f>WC}GfA9fAYOAr;Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011980}9@y @y@}4@y@dA@dAE)  E- E- -E) "E) *E- :VE- t4ZE) a5 @a5 @a5 @a5 @! ^A };IIIO>O,qC?ABG?B2?BkٱB # NAHRS rotation from veh to nav: [[0.213885,-0.959131,-0.185260],[0.966971,0.234793,-0.099191],[0.138634,-0.157925,0.977671]]BH@`?3ǿm? ?d`ž?6Ŀ I?iBG?IB`;B9CYVWGByV-HbDbVDb:2yj=%j'=ٔjIQ-j>9lIl=nQGynFnEr>pQ 5zj4rf?Q 9zj4rl)rW3BYxyz?Q Iz?r]JCIr;ir;rsj4y~OBɮG9BE5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264211jh!5FNOT Ignoring new targets: 549.37 m.Rh=.9Zh=.9M ProNav: ac range: 549.374756 m, nav range: 528.654419 m, bearing: 75.569906 deg, approach rate: -0.628168 m/s, LOS rate: 0.009553 deg/s, cmd heading: 77.500825 deg, new cmd heading: 77.514836 deg. BhU9UHeadingCmd: 1.352889 target range: 549.374756 and range: 551.10 m.hUx+?hY*hY"hY hYgYfYfafadaB]>B|CBHBGBBBBB:;BTIEddjdZdY@Z)Z)Z)Z-@=PBɢ=QPW)9 =iA)e,сaiim+Cimx+?uev:u:Iux+?IqԡԘ<9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515965^A= ;I I O >D zD AAE  E E +E "E T;*E ?:VE [4ZE BE G9yIy=}QGy}F}PuE}>Q 5j4f?Q 9j4e)3BY?Q E:yU?Q I?JCI;i: j4yɮ9B jhamFNOT Ignoring new targets: 549.37 m.Rhm'9Zhm'9} ProNav: ac range: 549.374756 m, nav range: 528.380493 m, bearing: 75.574228 deg, approach rate: -0.580169 m/s, LOS rate: 0.009159 deg/s, cmd heading: 77.514833 deg, new cmd heading: 77.527807 deg. Bh}&9HeadingCmd: 1.353115 target range: 549.374756 and range: 551.10 m.h2?h*h"h hgfffdddjdZd` @Zd=Zd=Z`@Z@-PBɢ-d[)1 5Yi1)5811i5H1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768132i2?to:7:I2?I9a  @  @ @ 4@  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020073ԉ E  E E .E "E ;*E :VE ـ4ZE a @a @a @a @^A ] ;A >A >IiIyO>v,dC?A>DS?>>?>Ҡٱ>o" JAHRS rotation from veh to nav: [[0.213461,-0.959492,-0.183874],[0.966757,0.234578,-0.101759],[0.140769,-0.156040,0.977668]]>H@R?@(2ǿ?@?` ? ÿ I?i>DS?I>_;>;CYRGByR|HbD^VD^Nyfjb=%fB=ٔfLQ-j>9hIh=jQGynFnz:En>pQ 5vj4r;f?Q 9vj4r_)r3BYtyva?Q Iz?rJCIr;ir;rΑj4y~XBɮ~9B~Ejh!-FNOT Ignoring new targets: 549.37 m.Rh-49Zh-491E ProNav: ac range: 549.374756 m, nav range: 528.126892 m, bearing: 75.578225 deg, approach rate: -0.623871 m/s, LOS rate: 0.009836 deg/s, cmd heading: 77.527804 deg, new cmd heading: 77.539799 deg. BhE9MHeadingCmd: 1.353325 target range: 549.374756 and range: 551.10 m.hM9?hI*hI"hI hgfffdddjdZd^ @ZZZZ @PBɢ{)h) i)4ii9?x:%C;:I%9?I)a@ @@/@%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272070B}<A}<B[>BBJHB?HBBW =BBB#;BԹ ,Z,5zD?A6 W?6B?64ٱ6!FBDAT read: Rx Time:15:00:30.6602 FTRx dataTimestamp_ set to:1761577232.040239Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525217 JAHRS rotation from veh to nav: [[0.213310,-0.959501,-0.184001],[0.966602,0.234650,-0.103048],[0.142051,-0.155875,0.977509]]6H`M?;[ǿ@h?  ? aa .?ÿG?i6 W?I6"2`;69CYRGByRHbD^VD^kyf>%fK=ٔjcRQ-j>9hIl=nQGynFn9Er>pQ 5vj4r.f?Q 9zj4rY)r3BYxyzc?Q Iz?r$KCIr:ir9:rj4yɮ8Bjh!-FNOT Ignoring new targets: 549.37 m.Rh-F-9Zh5F-9E ProNav: ac range: 549.374756 m, nav range: 527.884766 m, bearing: 75.582041 deg, approach rate: -0.600439 m/s, LOS rate: 0.009468 deg/s, cmd heading: 77.539798 deg, new cmd heading: 77.551252 deg. BhE9MHeadingCmd: 1.353525 target range: 549.374756 and range: 551.10 m.hML@?hI*hI"hI hIgIfQfQfQdQdYdYjdYZdev@ZyZyZyZ}@颕PBɢm) ԙi) 顙i iL@?#|:yQ:IL@?ID]=D]=Ee EeEe/Ea"Ee&:*Eez:VEeJ4ZEaBEeh;=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776078 H,GUD?A2n?2?Z?2ٱ2R! :AHRS rotation from veh to nav: [[0.212561,-0.959650,-0.184094],[0.966512,0.234204,-0.104895],[0.143778,-0.155632,0.977295]]2H@45?sdǿ?@c?gں`Qg?ÿ F?i2n?I24`;0YB HByB HbDNVDN2yV>%VM=ٔV?Q-V>9XIX=ZQGyZFZV:E^>Q 5j4@g?Q 9%j4S)34BY!y%x?Q I%?cKCI;i];;j4y)ɮ58B1MB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 549.37 m.Rhee,9Zhee,9u ProNav: ac range: 549.374756 m, nav range: 527.638672 m, bearing: 75.585907 deg, approach rate: -0.599379 m/s, LOS rate: 0.009420 deg/s, cmd heading: 77.551252 deg, new cmd heading: 77.562855 deg. Bhu9}HeadingCmd: 1.353727 target range: 549.374756 and range: 551.10 m.h}F?hy*hy"h hgfffdddjdZdp@ZZZZϐ@QBɢЛg) i)sisiF?:;I F?I checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030497@ @@0@!Ei EmEm.Ei"Ei*Em:VEmـ4ZEiau@au@au@au@^A50::A5dAzA1YA I I O >m DAT read: 15:00:30.6602 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 401,-0.03, 1.485,-0.016, 1.749, 1.303, PHS= 0.284,-1.274, 0.403, RAW= 153.6, 7.3, CAL= 153.1, 7.6, ROT= 356.9, -7.6 u Ygot valid direction response: 15:00:30.6602 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 401,-0.03, 1.485,-0.016, 1.749, 1.303, PHS= 0.284,-1.274, 0.403, RAW= 153.6, 7.3, CAL= 153.1, 7.6, ROT= 356.9, -7.6 B V>B B HB HBB B B B ;B IEԙ  PDAT read: Bearing 252.7, 4.0 (Local)  ~Local bearing/azimuth received: Bearing 252.7, 4.0 (Local)  DAT read: Range 11 to 50 : 548.7 m (Round-trip 731.7 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.989765,-0.053604,0.132256] Fpublishing direction and range infoyA E 9@'?Ceq) ?YE , DA A A A A )E BIE sh>iE oE V>E +@E w>E +@ E >)E T@IE A A E Ȅosl?i?8fA? E {T?)E iIE Q]iE A A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. ,15D?AZ퉑?Zu?ZdٱZ8! AHRS rotation from veh to nav: [[0.211694,-0.959866,-0.183963],[0.966408,0.233654,-0.107056],[0.145744,-0.155120,0.977086]]ZH?9@ǿ?c? h`?ÿ`ID?iZ퉑?IZ`;Z8CY.HBy5HbD- VD-2y]=%]2=ٔ]Q-e>9aIa=eQGyeFm:Em>qQ 5j4" g?Q 9j4M)o4BYy?Q I?KCI:iR: j4yQBɮt8BEiqiu2D?AJiuDRiuDjiu)?bum}@g(Q=Y47R@Ru9@'?Ceq) ?ZiuQ]biuju)t6#.`@J@ t>LDc@Zu5n҅J?^߬1?f?2iuLC:iuqC"iu؉?*iu Biu.LCiqiup$iu,?CiupDiuĨ?} addTargetRange:: Added new target pos. range: 548.700012 m, deltaT: 4.535605 s, deltaX: -2.399963 m, approachRate: -0.529139 m/s, rangeRepo size: 4  Added new target pos. range: 546.977417 m, bearing: 75.720963 deg, lat: 36.779045 deg, lon: -121.859644 deg, deltaT: 4.535605 s, deltaX: -2.397339 m, approachRate: -0.528560 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 546.98 m.RhZh ProNav: ac range: 546.977417 m, nav range: 525.756653 m, bearing: 75.545067 deg, approach rate: 0.000000 m/s, LOS rate: 0.009420 deg/s, cmd heading: 77.562856 deg, new cmd heading: 77.576220 deg. BhHeadingCmd: 1.353961 target range: 546.977417 and range: 548.70 m.hN?h*h"h hgfffdddjd%@ZdAd?ZqZqZqZu @颅)QBɢ[) i)hi ӺiN?-/:-5;I5N?Iaԩ5*DAT read: user:845> =BDAT read: Tx time:15:00:32.0744 =$Ping request sent.==,GQD?A2@?2㜭?2tٱ2Uz :AHRS rotation from veh to nav: [[0.210462,-0.960204,-0.183613],[0.966332,0.232770,-0.109635],[0.148012,-0.154357,0.976866]]2H@m?@ǿ1?i?  ?@ÿ{B?i2@?I2W`;29CVchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.231655YZ`HByZrHa=@a9= a=@a= a=@a= a=@a= i=Mb@Mb@Mb@=©=== 99=Mb?~jt~jt?Y=#?y=Ľ=D=9= A 9)= A9Y=fBbDUVDUk1yei=%mE=ٔmQ-m>9u ?Yu ?=uQGyuFu5=;Eu>yQ 5Mj4}g?Q 9Uj4}F)}4BYU^%?Q EU:yU?Q IU?}KCI},0 lD?A>Kܑ?>ǭ?>ؖٱ>e FAHRS rotation from veh to nav: [[0.209117,-0.960445,-0.183891],[0.966257,0.231863,-0.112194],[0.150393,-0.154224,0.976523]]>HV?ǿ@?భ? @?ÿ??i>Kܑ?I>ur`;9dYd=fQGyfFf[];Ef>lQ 5nj4ng?Q 9rj4n@Q =rtI)n4BYpyv?Q Iv?n*LCIn,;in.;nj4y|ɮ~28B|jh9=FNOT Ignoring new targets: 546.98 m.RhEi9ZhEi9e ProNav: ac range: 546.977417 m, nav range: 525.257507 m, bearing: 75.550607 deg, approach rate: -0.675163 m/s, LOS rate: 0.007454 deg/s, cmd heading: 77.584815 deg, new cmd heading: 77.592849 deg. Bhe9mHeadingCmd: 1.354251 target range: 546.977417 and range: 548.70 m.huX?hq*hq"hq hqgyfyffdddjdZd4?^QBɢHw )  i)顑i㎺iX?:X';IX?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.737028AABL>B{CBPHBIBBX =BBDB;BHEA@A @A@E/@A@M=@M=Y^Aer;Am>Am>ԑA I I O >U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989965Թ d!,ՅD?A2?2[?2Cٱ2 :AHRS rotation from veh to nav: [[0.207937,-0.960686,-0.183971],[0.966142,0.231092,-0.114745],[0.152748,-0.153882,0.976211]]2H ?\ǿ?h?_bEU^n4jEU^n4rEUL0Eb EbEb,E`"Eb:*Ebx:VEbg4ZE`BE`aj2E`ajJEb;an:Eb;ani5Mb@Mb@Mb@1111 195Q?ʡEV-?Y5(?y55h=5 B1 5B)5A1Y5BbDMVDM:y[=%7=ٔQ->9!Y!=%QGy%F%';E%>)Q 55j4-<g?Q 9=j4-9)-C5BY=+?Q E=:y=?Q I=?-tLCI-;i-M;-j4yIɮM 8BIjhiuFNOT Ignoring new targets: 546.98 m.Rh}u8Zh}u8 ProNav: ac range: 546.977417 m, nav range: 524.970825 m, bearing: 75.552521 deg, approach rate: -0.647825 m/s, LOS rate: 0.004329 deg/s, cmd heading: 77.592848 deg, new cmd heading: 77.598595 deg. Bh&>9ԑHeadingCmd: 1.354351 target range: 546.977417 and range: 548.70 m.h_[?h*h"h hgfffdddjdZdA?}QBɢg) V i)iXZi_[?z:;I_[?IqPExceeded connect timeout, disconnecting.@ @@/@ iߙIߝAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.240179^A- ;I! I1 OE > *',ܸD?AVc+?V?VٱVd bAHRS rotation from veh to nav: [[0.206626,-0.960843,-0.184624],[0.966019,0.230290,-0.117364],[0.155286,-0.154100,0.975776]]VHr?`:ġǿ@?#z? g?ÿ`9?iVc+?IV{`;V9CYjHByjHbDvVDv2y~/>%~^=ٔ~Q->9Y=QGyF ub;E >Q 5j4Z%g?Q 9j43)5BYy?Q I?LCI;i;j4y)ɮ-7B)EB*** querying acoustic contact ***iA iAjhQ]FNOT Ignoring new targets: 546.98 m.Rh]ʙ8Zh]ʙ8m ProNav: ac range: 546.977417 m, nav range: 524.734863 m, bearing: 75.554068 deg, approach rate: -0.640919 m/s, LOS rate: 0.004202 deg/s, cmd heading: 77.598592 deg, new cmd heading: 77.603233 deg. Bhm89uHeadingCmd: 1.354432 target range: 546.977417 and range: 548.70 m.h}^?hy*hy"hy hygyfyffdddjdZd?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492018额QBɢ؊n)  i)ev顡iўi^?E5:#;I^?IE EE-E"El;*Exv:VEt4ZEa@a@a@a@I@I @I@M/@I^Am#2;A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747610B E>B zCB HB IBB Y =B B DB ;B HEBm|CBm{CBmɔCBiBiCm25Ia Iy O >-,D?A6 X?6C?6,"ٱ6 >AHRS rotation from veh to nav: [[0.205227,-0.961226,-0.184190],[0.965924,0.229252,-0.120145],[0.157713,-0.153257,0.975520]]6HD?]ǿ ?X?/?ÿu7?i6 X?I6`;4Yn IBynCHbDvVDvy~j=%J=ٔ<ǻQ->9 Y = QGy F d];E>Q 5k4 ,g?Q 9%k4-)5BY!y%F?Q I%?LCI;i;k4y-RBɮ57B5EjhQ]FNOT Ignoring new targets: 546.98 m.Rh]8Zhe8u ProNav: ac range: 546.977417 m, nav range: 524.475769 m, bearing: 75.555733 deg, approach rate: -0.641713 m/s, LOS rate: 0.004126 deg/s, cmd heading: 77.603230 deg, new cmd heading: 77.608227 deg. Bhu559}HeadingCmd: 1.354519 target range: 546.977417 and range: 548.70 m.h}`?hy*hy"hy hygyfffdddjdZd F@QBɢfNs)  i)/ԧij#i`?:N;I`?II)bAQ9@ @@/@@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998223yE EE1E"E2:*E:VE-4ZEBE+*ԩ  nManaging dock network, ignoring radio surface power off4,eD?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2478006K?6j?6U$ٱ6m@ BAHRS rotation from veh to nav: [[0.204003,-0.961458,-0.184340],[0.965841,0.228402,-0.122409],[0.159794,-0.153071,0.975210]]6H?Drǿ@+?G=ٔߠQ->9Y=QGyFc6;E>Q 5k42g?Q 9k4%),6BY4?Q E:yW?Q I?=MCI':i:k4y[Bɮ7Bjh!%FNOT Ignoring new targets: 546.98 m.Rh-8Zh-8= ProNav: ac range: 546.977417 m, nav range: 524.184631 m, bearing: 75.556593 deg, approach rate: -0.677301 m/s, LOS rate: 0.002002 deg/s, cmd heading: 77.608229 deg, new cmd heading: 77.610811 deg. Bh=گ8EHeadingCmd: 1.354564 target range: 546.977417 and range: 548.70 m.hE\b?hA*hA"hA hAgIfIfIfIdQ%G=gAUAdQS9gAYAdajdZd @ԩQBɢe) I i)ixhi \b? : F :,@D?A6q?6?6&ٱ6TI BAHRS rotation from veh to nav: [[0.202381,-0.961585,-0.185463],[0.965760,0.227361,-0.124960],[0.162327,-0.153824,0.974673]]6H?MDǿ ?'?@` ?~ÿ@0?i6q?I6`;68CYRuIByRHbDbVDblyn8>%r[=ٔv4Q-v>9xYx=zQGyzF~Ȋ;E> Q 5k4 8g?Q 9k4 G) y6BYy%?Q I%? ~MCI I;i J;  k4y1ɮ5A7B1jhFNOT Ignoring new targets: 546.98 m.Rh 8Zh 8 ProNav: ac range: 546.977417 m, nav range: 523.929382 m, bearing: 75.557301 deg, approach rate: -0.639826 m/s, LOS rate: 0.001778 deg/s, cmd heading: 77.610811 deg, new cmd heading: 77.612939 deg. Bh'8=HeadingCmd: 1.354601 target range: 546.977417 and range: 548.70 m.h=c?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM:@QBɢv) i)/ i88ic?q:dBxCBpHBIBB[ =B7DBDB֐;BHE9@ @@4@1^A- 8<I I O >i = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005677϶A,0E?A:?:yή?:N)ٱ:& FAHRS rotation from veh to nav: [[0.200907,-0.961866,-0.185607],[0.965685,0.226297,-0.127442],[0.164585,-0.153634,0.974325]]:H`T?`ǿ?L?P?Hÿ-?i:?I:O`;:9CEN ENEN-EL"EN:*ENz:VENt4ZELBEN#59 Y = QGyFV;E>Q 5%k4P?g?Q 9%k4I)6BY%>?Q E-:y-?Q IM?MCI;iO;00k4yQɮU7BQjhFNOT Ignoring new targets: 546.98 m.Rh5Zh5 ProNav: ac range: 546.977417 m, nav range: 523.615479 m, bearing: 75.557336 deg, approach rate: -0.736812 m/s, LOS rate: 0.000081 deg/s, cmd heading: 77.612935 deg, new cmd heading: 77.613039 deg. Bhd6HeadingCmd: 1.354603 target range: 546.977417 and range: 548.70 m.hc?h*h"h hgff f d d djdZdV @ RBɢ%X%k)! % i!)%ٲ))i-V9i-c?5 :5k1im>9@ @@4@@=@=}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255822ԉ^A] h%<Թ A I I O >H,!E?A2t?2?2H+ٱ23 :AHRS rotation from veh to nav: [[0.199734,-0.962055,-0.185892],[0.965602,0.225490,-0.129488],[0.166491,-0.153634,0.974001]]2H?`(Nǿ5?`? O?`Kÿ@+?i2t?I2fja;0YBIByB0HIF=)F=bDLVDLyV=%V\=ٔ^ĩQ-b>9hYl=nQGynFrG;Er>pQ 5vk4rDg?Q 9zk4rp)r+7BYxyzѨ?Q Iz?rNCIr':ir@:rZ=k4y~\Bɮ6BQuBDAT read: Rx Time:15:00:35.2133 }TRx dataTimestamp_ set to:1761577236.576125}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508916B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 546.98 m.Rh$Zh$ ProNav: ac range: 546.977417 m, nav range: 523.346741 m, bearing: 75.557333 deg, approach rate: -0.683368 m/s, LOS rate: -0.000009 deg/s, cmd heading: 77.613038 deg, new cmd heading: 77.613027 deg. BhsŴ HeadingCmd: 1.354603 target range: 546.977417 and range: 548.70 m.h c?h *h "h  h g fffdddjdZd`fj@*RBɢrQq) i)Fiv:i c? v: 0AB vCB HB xJBB ] =B B DB ;B HE A ؟AI I O >5N,;E?A>B?>4.?>-ٱ> FAHRS rotation from veh to nav: [[0.197939,-0.962294,-0.186573],[0.965555,0.224210,-0.132037],[0.168890,-0.154011,0.973528]]>HV?ǿ`??2? ÿ$'?i>B?I>b;>7CYRIByVbHbDjVDjyra=%vG=ٔv»Q-v>9v"?Yz"?=zQGyzFzV;Ez>|Q 5k4~Jg?Q 9 k4~ )~7BY y  ?Q I ?~^NCI~:i~|:~Kk4yTBɮ6BݴEjh9EFNOT Ignoring new targets: 546.98 m.RhE}:ZhE}:e ProNav: ac range: 546.977417 m, nav range: 523.057556 m, bearing: 75.557272 deg, approach rate: -0.759160 m/s, LOS rate: -0.000159 deg/s, cmd heading: 77.613024 deg, new cmd heading: 77.612842 deg. Bhe߶uHeadingCmd: 1.354600 target range: 546.977417 and range: 548.70 m.huc?hy*hy"h hgfffdddjdZd@额GRBɢ!s) 9i)<顡i|I:ic?DT:Yi-K-m>-9>,@-Q =-D +@ -'g=)-SF@I-'g))-Y)znh?p?An? -?)-amI-di-'g))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Γ? ,? a3ٱ  AHRS rotation from veh to nav: [[0.193638,-0.963113,-0.186864],[0.965522,0.220859,-0.137797],[0.173985,-0.153739,0.972673]] H@%?)ǿ ?E?W"E?ÿ $ ?i Γ?I \c; =CY!JByHiMb@Mb@Mb@ 9(\?ˡE㥛 ?YG?y'=A B)AYBbDVDk1y%=%-(=ٔ-n.Q-->9QYQ=UQGyUF]<E]>aQ 5ek4eJRg?Q 9mk4e)e7BYH?Q E:yʪ?Q I?eNCIe ;ie;e\k4y]Bɮ6Bi)i-4UE?AJi-T DRi-T Dji-ܩ?b-#S@҇Η>MUZB@R-&*I?ӝ~,::si?Zi-dbi-'gj-;˓`@oj`#@=a@Z-NB?-e?[r?2i-D:i-pC"i-Jങ?*i-Bi-:Ci-؉?i)i-=Ci-Di-7? addTargetRange:: Added new target pos. range: 551.099976 m, deltaT: 4.535963 s, deltaX: 2.399963 m, approachRate: 0.529097 m/s, rangeRepo size: 4 AU Added new target pos. range: 549.319763 m, bearing: 76.033220 deg, lat: 36.779029 deg, lon: -121.859644 deg, deltaT: 4.535963 s, deltaX: 2.342346 m, approachRate: 0.516394 m/s, posRepo size: 4 jhQ]FNOT Ignoring new targets: 549.32 m.Rh]ZhY} ProNav: ac range: 549.319763 m, nav range: 522.246338 m, bearing: 75.745920 deg, approach rate: 0.000000 m/s, LOS rate: -0.000159 deg/s, cmd heading: 77.612840 deg, new cmd heading: 77.612595 deg. BhyHeadingCmd: 1.354595 target range: 549.319763 and range: 551.10 m.hac?h*h"h hgfffdddjd8@Zd ?-nRBɢ-_)) -i))511i5gqz:i=ac?=c:]+ mBDAT read: Tx time:15:00:36.6259 u$Ping request sent.ue\,sE?A2(?2T?2i5ٱ2C :AHRS rotation from veh to nav: [[0.190887,-0.963757,-0.186371],[0.965572,0.218534,-0.141112],[0.176727,-0.153018,0.972293]]<BB>BBtCBBHBBJBBB_ =B@BBDBBr;BBTHE^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2495132Hn?ǿ??@¿?ÿ?i2(?I2#b;27CY=BJByEH IIbDUVDUye%=%eG=ٔeݻQ-m>9m ?Ym ?=uQGyuFuE;Eu>yQ 5k4}KXg?Q 9k4})}H8BYy!?Q I?} OCI}-:i}g:}jk4yɮx6BjhFNOT Ignoring new targets: 549.32 m.RhqZhq ProNav: ac range: 549.319763 m, nav range: 521.939026 m, bearing: 75.745418 deg, approach rate: -0.799257 m/s, LOS rate: -0.001308 deg/s, cmd heading: 77.612594 deg, new cmd heading: 77.611086 deg. BheHeadingCmd: 1.354569 target range: 549.319763 and range: 551.10 m.hb?h*h"h hgfffdddjdZd`m?RBɢ%)! %Ji!)%!)iq:ib?>:Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503586 D9 D= <EE  EE EE +EA "EE :*EE :VEE [4ZEA BEE +9QYQ=UQGyUF];Ee>aQ 5mk4e&^g?Q 9uk4e)e8BYu K?Q Eu:yu?Q Iu?eZOCIe:ie:exk4yVBɮK6BԴEjhFNOT Ignoring new targets: 549.32 m.RhHZhH ProNav: ac range: 549.319763 m, nav range: 521.631348 m, bearing: 75.744711 deg, approach rate: -0.767792 m/s, LOS rate: -0.001766 deg/s, cmd heading: 77.611084 deg, new cmd heading: 77.608961 deg. Bh#HeadingCmd: 1.354532 target range: 549.319763 and range: 551.10 m.hMa?h*h"h hgfQfYfYdYdYdYjdaZde?颭RBɢr)i mTiq)uĽqqiur:i}Ma?}];}=A5 >i A] ؟AIa Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005514O >\ri,VE?AE EE*E"E2:*Eg:VE(N4ZEa @a @a @a @9YEJByM1HbD]VD]N2ymW>%mH=ٔmQ-m>9u"?Yu"?=uQGyuF}E}>Q 5k4dg?Q 9k4)8BYyQ I?OCIp:it: k4yɮ6BB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 549.32 m.RhZh ProNav: ac range: 549.319763 m, nav range: 521.317505 m, bearing: 75.743988 deg, approach rate: -0.770112 m/s, LOS rate: -0.001774 deg/s, cmd heading: 77.608960 deg, new cmd heading: 77.606792 deg. BhЛHeadingCmd: 1.354494 target range: 549.319763 and range: 551.10 m.h`?h*h"h hgfffdddjdZd?-RBɢ-Mx)) -mi1)5ǽ11i5:i=`?=;=Ji^A[Z<B>BsCB%HBbKBBb =BBDB];B6HEAIIOj> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262906ԑ MZp,zE?A2a?2L?2cf>ٱ2E_ :AHRS rotation from veh to nav: [[0.181399,-0.965830,-0.185113],[0.965877,0.210366,-0.151089],[0.184868,-0.151389,0.971033]]2H 8?@ʱǿv?`D?`Vÿ`? `ÿ?i2a?I2f`;2;CY^JBybfHIb=)b>bDjVDjk2yr=%rS=ٔviQ-v>9tYt=vQGyvFz<Ez>|Q 5k4~ig?Q 9k4~3)~59BY y ?Q I ?~OCI~:i~:~k4yɮ5BjhYeFNOT Ignoring new targets: 549.32 m.Rhet'Zhet'u ProNav: ac range: 549.319763 m, nav range: 521.020630 m, bearing: 75.743096 deg, approach rate: -0.760742 m/s, LOS rate: -0.002287 deg/s, cmd heading: 77.606795 deg, new cmd heading: 77.604117 deg. Bhuȸԩ-HeadingCmd: 1.354447 target range: 549.319763 and range: 551.10 m.h-^?h)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.516176*h1"h hgfffdddjdZd?bE|a4jEm4rE0E EE+E"E:*Exv:VE [4ZEBEa%2Ea%JE;a%:E;a%=RBɢ=k)9 EiA)E˽AAiER:i^?y;*v,0E?A27˕?2ٶ?2Aٱ2 :AHRS rotation from veh to nav: [[0.178180,-0.966503,-0.184725],[0.965984,0.207565,-0.154247],[0.187423,-0.150958,0.970610]]2H?@ǿV?@z?]ÿ`w?Rÿ=?i27˕?I2_;29CYBJByFHԑiMb@Mb@Mb@ 9q= ףp? ףp= /$?YK?yQ8<B )pAYBbDVD2yy=%4=ٔĻQ->9 Y = QGy F;E>Q 5%k4pg?Q 9%k4/)9BY%K?Q E%:y%?Q I-?PPCIu;i;}k4y5^Bɮ55B1jhY]FNOT Ignoring new targets: 549.32 m.Rhe~Zhe~u ProNav: ac range: 549.319763 m, nav range: 520.668091 m, bearing: 75.742582 deg, approach rate: -0.783732 m/s, LOS rate: -0.001144 deg/s, cmd heading: 77.604118 deg, new cmd heading: 77.602574 deg. BhuH}HeadingCmd: 1.354420 target range: 549.319763 and range: 551.10 m.h}]?hy*hy"h hgff f d d d jdZd @]SBɢ]>2{)  i)Gν顁i+:i]? ;g B A <B >B rCB HB KBB B B DB (;B GEBtCBuCB˕CB_ =B_ =CLH6T|,8E?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269598Jl3?J?J͆CٱJ8 VAHRS rotation from veh to nav: [[0.175026,-0.966872,-0.185807],[0.966099,0.205035,-0.156886],[0.189786,-0.152049,0.969981]]JH>g? ǿH?>?Ŀ J?`Yvÿ ?iJl3?IJ_;J7CY^KBy^HbDfVDf0yn{=%r`=ٔr׻Q-r>9pYt=vQGyvFv<Ev>xQ 5~k4zvg?Q 9k4z)z9BYyS?Q I?zPCIz;iz;zAk4y WBɮ 5B˴Ejh1=FNOT Ignoring new targets: 549.32 m.Rh=*ηZhE*ηM ProNav: ac range: 549.319763 m, nav range: 520.384521 m, bearing: 75.742068 deg, approach rate: -0.776630 m/s, LOS rate: -0.001408 deg/s, cmd heading: 77.602574 deg, new cmd heading: 77.601031 deg. BhUewUHeadingCmd: 1.354393 target range: 549.319763 and range: 551.10 m.h]\?hY*hY"hY hYgYfafafadadidijdiZdm`v@SBɢ9q)! %i!)%ѽ!!i%;i-\?-q;-=I5\?IQei>ie%>9@ @@/@@dA@eA!^A<5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524299YE  E E E "E :*E Ar:VE ZE BE .y Ń,F?AYr6KByrH xximMb@Mb@Mb@iiii i9mL7A`?S㥫9Y=QGyFE>Q 5k4|g?Q 9k4) :BYG?Q E:y?Q I?PCIT ;i ;5k4yɮx5BjhFNOT Ignoring new targets: 549.32 m.RhuB6ZhuB6  ProNav: ac range: 549.319763 m, nav range: 520.056885 m, bearing: 75.742139 deg, approach rate: -0.765001 m/s, LOS rate: 0.000166 deg/s, cmd heading: 77.601030 deg, new cmd heading: 77.601244 deg. Bh Y6HeadingCmd: 1.354397 target range: 549.319763 and range: 551.10 m.h\?h*h"h hgff!f!d!d!d!jd)Zd-@@Q]>SBɢ]x)Y ]zia)eZMսaaie4;im\?mu;m=Im\?IIiyIychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775763 f>9@ @@@/G5fAԁA9fAYAԱ^A y=% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025525A9 IA IY Oe > k,ޫ)F?AEB EBE@E@"EB:*EBi:VE@ZE@aJ@aJ@aJ@aJ@Vі?Vp?VsHٱVQ# bAHRS rotation from veh to nav: [[0.170194,-0.966880,-0.190201],[0.966024,0.201807,-0.161469],[0.194505,-0.156258,0.968376]]VH@?`Xȿ`??Ŀ? CĿ?iVі?IV`;V;CYj`KByj"HbDtVDty~=%~U=ٔ~[MQ-~>9Y=QGy bN<E >Q 5k4g?Q 9k4)E:BYy?Q I%?8QCI;i;k4y)ɮ-O5B)EB*** querying acoustic contact ***iI iIjhQUFNOT Ignoring new targets: 549.32 m.Rh]牶Zh]牶m ProNav: ac range: 549.319763 m, nav range: 519.763306 m, bearing: 75.742049 deg, approach rate: -0.765222 m/s, LOS rate: -0.000235 deg/s, cmd heading: 77.601242 deg, new cmd heading: 77.600971 deg. Bhm|%uHeadingCmd: 1.354392 target range: 549.319763 and range: 551.10 m.hu\?hq*hy"hy hygyfyffdddjdZd @5[SBɢ=&H~)9 =liA)EpؽAAiE};iM\?U;u=Iu\?Iy 9@ @@/@B>BqCBHB-LBBc =BBDB;BGEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277451^A9=) Aa Iq I O >Q ~ِ,:CF?AF?F?F%JٱFu& NAHRS rotation from veh to nav: [[0.168695,-0.966620,-0.192842],[0.965825,0.201164,-0.163445],[0.196782,-0.158679,0.967521]]FHɗ?@ȿ ?? Ŀ)0? OĿ?iF?IFa`;F9CYZ~KByZGHbDbVDbyj}=%jL=ٔnJQ-n>9lYl=rQGyrFrq;Er>tQ 5zk4v+g?Q 9zk4vH)v:BY|y~©?Q I~?vQCIvY;iv;vk4yɮ15BjhIUFNOT Ignoring new targets: 549.32 m.RhUζZh]ζe ProNav: ac range: 549.319763 m, nav range: 519.457458 m, bearing: 75.741906 deg, approach rate: -0.757494 m/s, LOS rate: -0.000353 deg/s, cmd heading: 77.600969 deg, new cmd heading: 77.600541 deg. Bhm@xmHeadingCmd: 1.354385 target range: 549.319763 and range: 551.10 m.hu|\?hq*hq"hq hqgqfyfyfydyddjdZd$3@=BDAT read: Rx Time:15:00:39.7524 MTRx dataTimestamp_ set to:1761577241.129254]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5451661E EE.E"E:*Ek:VEـ4ZEBEw%@ >Y checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781983ԑ ^A =A I I O >Y,a]F?A0Jg?J ?JMٱJ5) ^AHRS rotation from veh to nav: [[0.168049,-0.966158,-0.195699],[0.965501,0.201375,-0.165095],[0.198917,-0.161203,0.966667]]JH?@ ɿa?@?!ſv?NĿ?iJg?IJT`;J:CYnKByn}HIv=)v=iMb@Mb@Mb@ 9K?㥛 ~jtY^:?yļiBXA PB)YB 4<bDVDy=%9=ٔsQ- >9 Y = QGy F:E>Q 5%k4g?Q 9%k4;):BY%g;?Q E%:y-x?Q I-?QCI:iv: k4y5`Bɮ55B1jhYeFNOT Ignoring new targets: 549.32 m.Rhe+8Zhm+8} ProNav: ac range: 549.319763 m, nav range: 519.139343 m, bearing: 75.742934 deg, approach rate: -0.725623 m/s, LOS rate: 0.002345 deg/s, cmd heading: 77.600539 deg, new cmd heading: 77.603623 deg. Bh}8HeadingCmd: 1.354439 target range: 549.319763 and range: 551.10 m.h@^?h*h"h hgfffdd)d1jd1Zd5@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.035929SBɢMu)Q UiY) ߽顉ij/;i@^?`";=I@^?I)E EE*E"E:*E~:VE(N4ZEa@a@a@a@Թ@ @@@ A A B >B B HB LBB d =B B B Ώ;B GE^A5 3= DAT read: 15:00:39.7524 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 321, 0.14,-2.107, 2.785,-1.852,-2.273, PHS= 0.268,-1.180, 0.378, RAW= 153.6, 7.2, CAL= 153.0, 7.5, ROT= 357.0, -7.5  Ygot valid direction response: 15:00:39.7524 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 321, 0.14,-2.107, 2.785,-1.852,-2.273, PHS= 0.268,-1.180, 0.378, RAW= 153.6, 7.2, CAL= 153.0, 7.5, ROT= 357.0, -7.5  PDAT read: Bearing 249.7, 6.9 (Local)  ~Local bearing/azimuth received: Bearing 249.7, 6.9 (Local)  DAT read: Range 11 to 50 : 541.7 m (Round-trip 722.3 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.990086,-0.051888,0.130526] Fpublishing direction and range infoy  #%ɮ?ڎ /?Y lD  ) GI L7>i = 7> +@ > *@ >) b@I  z k4p?#S?Xs׿? >?) hI QwVi  - T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.AIIO>Y,1|F?A=?=?=;Oٱ=S,ԑ AHRS rotation from veh to nav: [[0.168075,-0.965477,-0.199010],[0.965066,0.202319,-0.166479],[0.200995,-0.164077,0.965753]]=H y? 0)yɿ?@?.Oſ4?`xſs?i=?I=S`;=9CYKByHbD5 VD5f2y=0=%E'=ٔE Q-E>9IYI=MQGyMFUZEU>YQ 5]k4]g?Q 9ek4]T)];BYayer?Q Ie?]2RCI];i]u;]%k4yXBɮ4B´EiqiuwF?AJiuDRiuDjiuX?buBXa@xu<٤-&Q@Ru#%ɮ?ڎ /?ZiuQwVbiu ju#yY@|A꺓'@Ⱥ5f@ZuCc?vD@n?JI?Y?2iu BDAT read: Tx time:15:00:41.1744 $Ping request sent.,ژF?AHYLBy%HiMb@Mb@Mb@ 9(\?bX9ȶMbYz4?yEBA )AYfBbDVDy%=%% =ٔ-Q-->9- ?Y- ?=5QGy5F5E5>9Q 5El4=g?Q 9El4=i)=M;BYM5?Q EM:yMT?Q IM?=RCI=:i=:= l4yQɮU4BYjhyFNOT Ignoring new targets: 539.90 m.Rhߠ8Zhߠ8 ProNav: ac range: 539.899902 m, nav range: 517.892700 m, bearing: 75.746214 deg, approach rate: -0.736792 m/s, LOS rate: 0.004395 deg/s, cmd heading: 77.607266 deg, new cmd heading: 77.613612 deg. Bh A9HeadingCmd: 1.354613 target range: 539.899902 and range: 541.70 m.hc?h*h"h hgfffdddjdZdp?SBɢv) +i) hiw(B;ic?,;Ic?II ) eA@ @@0@@eA@}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504817E  E E E "E :*E VE ZE a @a @a @a @! ^A 3=AE ؟AI IQ Ia Ou >, F?A6*Ȗ?6˳?62Sٱ6IY1 >AHRS rotation from veh to nav: [[0.170114,-0.963915,-0.204764],[0.963910,0.205951,-0.168705],[0.204789,-0.168675,0.964163]]6HK? e 5ʿZ?\?!ſ`6?@'ſ l?i6*Ȗ?I6`;6:C D)FiAFDDBN>BNpCBNHBNLBBNe =BLBLBNя;BNGEXZiAiZIXXI\i^iA ^\)\\ biAb```boAId)did)tIviAzCx xxxzi||i|~1A)| |IYY-,LBy-H 15AbDEVDE0yuX=%uh=ٔuU4Q-u>9}"?Y}"?=}QGy}FѻE>Q 5l4ͧg?Q 9l4B);BYy?Q I?RCI9:i:El4yɮ4Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756235B*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 539.90 m.Rh8Zh8E ProNav: ac range: 539.899902 m, nav range: 517.647888 m, bearing: 75.747740 deg, approach rate: -0.679015 m/s, LOS rate: 0.004234 deg/s, cmd heading: 77.613612 deg, new cmd heading: 77.618191 deg. BhE99mHeadingCmd: 1.354693 target range: 539.899902 and range: 541.70 m.hmf?hi*hi"hi higqfqfqfqdydydyjdyZd@Ŝ?TBɢ) ki)q^iL;if?Z0;k=If?I9@ @@4@)^Ar =} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010672ԑ D zD ?AE  E E ,E "E :*E :VE g4ZE BE .,F?A02͑?2n}?2kTٱ2]4 :AHRS rotation from veh to nav: [[0.171652,-0.962840,-0.208508],[0.963285,0.208390,-0.169281],[0.206442,-0.171795,0.963259]]2H`?dʿ`:?@? ſl?bſ?i2͑?I2J`;0Y-ZLBy-VHiMb@Mb@Mb@ 9(\?~jt~jtx?Y'?yĽ;iBA B)AYBbDVD:y1=%D=ٔQ->9 ?Y ?=QGyFE>Q 5l4g?Q 9l4);BYz)?Q E:yҟ?Q I?SCI :i3:(l4y ɮ W4Bjh1=FNOT Ignoring new targets: 539.90 m.Rh=z8Zh=z8M ProNav: ac range: 539.899902 m, nav range: 517.381165 m, bearing: 75.749915 deg, approach rate: -0.654538 m/s, LOS rate: 0.005341 deg/s, cmd heading: 77.618188 deg, new cmd heading: 77.624717 deg. BhUj9]HeadingCmd: 1.354807 target range: 539.899902 and range: 541.70 m.h]Pj?hY*hY"hY hYgYfafafadadidijdiZdmS?'TBɢL) i)!i%sU;i%Pj?-5;-[ =I-Pj?I)ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2601799@ @@/@Թ^A ]= A= ؟AIA IY Ou >,¤F?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5122266\?67H?6Vٱ67 BAHRS rotation from veh to nav: [[0.173157,-0.961858,-0.211767],[0.962677,0.210705,-0.169874],[0.208015,-0.174448,0.962444]]6H@*? ,˿ ??_?qſ??@OTƿ`V?i6\?I6ǚ`;68C|YLByHbD%VD%k2y5 >%5V=ٔ=ʼnQ-=>9E"?YE"?=EQGyEFEEM>IQ 5Ul4Mg?Q 9Ul4Mu)Mi)@ @@@@=@=B<AB>BoCBHBhMBBBBߺDB;BtGEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764137^AMNw =Y A I I O >,,G?AYnLByrHIva>)v>bDzVDz1y-;=%-K=ٔ5Q-5>91Y1==QGy=F=E=>AQ 5Ml4Eyg?Q 9Ml4E)EDAHRS rotation from veh to nav: [[0.176796,-0.959632,-0.218743],[0.961500,0.215896,-0.170022],[0.210384,-0.180263,0.960856]]6HA?O ˿?y?Eſ? ǿT?i6ݕ?I6k`;6:CYNLByN HyiMb@Mb@Mb@ 9p= ף?#~jˡE?Y%?y㥽'=BpA B)AYBbD VD:2y=%<=ٔQ-%>9!Y!=%QGy%F-DE->1Q 5=l45)g?Q 9=l452~)5(̑,76G?AB&>B$B&9HB&MBB$B$B$B&;B&QGEB pCB pCB CB e =B d =C 5g5F ?F?FvZٱF> NAHRS rotation from veh to nav: [[0.178102,-0.959063,-0.220178],[0.960932,0.217692,-0.170936],[0.211869,-0.181132,0.960366]]FH@?``.̿? X?@<ſ?Q/ǿ@Q?iF ?IF `;F7CYVMByVCHbD%VD%3y-=%5[=ٔ5.Q-5>99Y9==QGy=FExEE>IQ 5Ml4Mg?Q 9Ul4MWx)Mӑ,wPG?AYnNMByrH tvAimMb@Mb@Mb@iiii i9m~jt?L7A`尿L7A`?Ym$?ym+m+=miBi mB)mAiYmzBbDVD0y=%D=ٔQ->9Y=QGyFE>Q 5l4g?Q 9l4q)<=BYU&?Q E:y?Q I?TTCIK ;i ;ol4yɮe3BjhFNOT Ignoring new targets: 539.90 m.Rh7Zh7 ProNav: ac range: 539.899902 m, nav range: 516.118835 m, bearing: 75.757480 deg, approach rate: -0.614591 m/s, LOS rate: 0.001400 deg/s, cmd heading: 77.645672 deg, new cmd heading: 77.647421 deg. Bh u8 HeadingCmd: 1.355203 target range: 539.899902 and range: 541.70 m.h Lw?h*h"h h1gfffdddjdZd`4 @ TBɢ]~) }i)h项id;iLw?G;GAYa9@ @@4@ 9YAԉ^A <Թ A .AI I O- >] BDAT read: Rx Time:15:00:44.2973 e TRx dataTimestamp_ set to:1761577245.656064e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529129ڑ,jG?A2!U?2@?2 +]ٱ29; :AHRS rotation from veh to nav: [[0.180640,-0.959058,-0.218124],[0.959917,0.220232,-0.173369],[0.214309,-0.178063,0.960398]]2H6?``y˿?0?0ƿ`{n?`ƿ?i2!U?I22`;29CYFMByFHbDNVDNNyV>%VY=ٔZ;ٻQ-Z>9Z ?YZ ?=ZQGy^F^E^>`Q 5fl4bg?Q 9fl4bk)b=BYhyj7?Q Ij?bTCIb;ib;b;|l4yn[Bɮn53BnEjh FNOT Ignoring new targets: 539.90 m.Rh 7Zh 7 ProNav: ac range: 539.899902 m, nav range: 515.887695 m, bearing: 75.758089 deg, approach rate: -0.613563 m/s, LOS rate: 0.001617 deg/s, cmd heading: 77.647421 deg, new cmd heading: 77.649248 deg. Bh8%HeadingCmd: 1.355235 target range: 539.899902 and range: 541.70 m.h-Wx?h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=@E EE*E"E*Ek:VE(N4ZEa@a@a@a@ TBɢz ) i)iEӄ;iMWx?M{J;MB5nCB5HB5\NBB5f =B1B5޺DB5p;B5%GEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780172^A=)<Am ؟AIy I O > ,ǃG?AY~MBy~HbDVDky% >%%D=ٔ%Q-%>9-"?Y-"?=-QGy-F-E5>1Q 5=l45g?Q 9El45e)5=BYAyAQ IE?5TCI5;i5;5Ȋl4yIɮU2BQjhq}FNOT Ignoring new targets: 539.90 m.Rh} 7Zh 7 ProNav: ac range: 539.899902 m, nav range: 515.632202 m, bearing: 75.758762 deg, approach rate: -0.614087 m/s, LOS rate: 0.001620 deg/s, cmd heading: 77.649245 deg, new cmd heading: 77.651266 deg. BhF8HeadingCmd: 1.355270 target range: 539.899902 and range: 541.70 m.hy?h*h"h hgfffdddjdZd`N@=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035880 UBɢ-q)9 =7iA)eE EE+E"Es:*E:VE [4ZEBEo0i  > *@ = Us)@ =) @I E?&3:#?'c\? EW?) 'wI i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.q A I I O >,$ѠG?A=?=5?==_ٱ=p9 AHRS rotation from veh to nav: [[0.182859,-0.958857,-0.217155],[0.959054,0.222565,-0.175159],[0.216284,-0.176234,0.960293]]=Hg?˿`?@}?@kƿ.?@Ԏƿฺ?i=?I=A`;=;CYMByRHI<);iMb@Mb@Mb@ 9K7?:vl?Y)?yT=B7A )Y(BbD VD2y%=%%=ٔ% Q-->9)Y)=-QGy-F5-E5>9Q 5El4=g?Q 9El4=)])=`>BYEL+?Q EM:yME?Q IM?=$UCI= ;i= ;=l4yQɮU2BQiqiuaG?AJiuRDRiuRDjiu ?buMBWx@Ry/O8P@Ru1p뚽?M%A7X?Ziubiuju2iX@HZ~@Chf@ZuΊ$d?k=܉?H.4?2iuC:iudB"iu0_3?*iuGdhBiuQiCiqiu*iuLCiuDiu,? addTargetRange:: Added new target pos. range: 539.099976 m, deltaT: 4.540181 s, deltaX: -2.600037 m, approachRate: -0.572672 m/s, rangeRepo size: 4  Added new target pos. range: 537.288696 m, bearing: 78.800611 deg, lat: 36.779028 deg, lon: -121.859663 deg, deltaT: 4.540181 s, deltaX: -2.611206 m, approachRate: -0.575133 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 537.29 m.RhZh ProNav: ac range: 537.288696 m, nav range: 514.172913 m, bearing: 75.726757 deg, approach rate: 0.000000 m/s, LOS rate: 0.001620 deg/s, cmd heading: 77.651266 deg, new cmd heading: 77.653813 deg. Bh]HeadingCmd: 1.355315 target range: 537.288696 and range: 539.10 m.h]z?hY*hY"hY hYgafafafadididijdm؀@Zdu@l?*DAT read: user:848> BDAT read: Tx time:15:00:45.7244 $Ping request sent.B B qHB NBB B B B 6;B FE^A T,CG?At?EӰ?"aٱ&: AHRS rotation from veh to nav: [[0.183660,-0.958394,-0.218518],[0.958337,0.224047,-0.177181],[0.218767,-0.176872,0.959613]]H-?)a˿@?`? ݭƿ?ƿ@&?i?I`;8CY5%UT=ٔ]nػQ-]>9] ?Y] ?=]QGyYe Ee>iQ 5ul4mg?Q 9ul4mV)m>BYyy}(?Q I}?mbUCImB:im:mil4yɮy2BB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 537.29 m.Rh4Zh4M ProNav: ac range: 537.288696 m, nav range: 513.929993 m, bearing: 75.726763 deg, approach rate: -0.636394 m/s, LOS rate: 0.000014 deg/s, cmd heading: 77.653814 deg, new cmd heading: 77.653830 deg. BhMR 5UHeadingCmd: 1.355315 target range: 537.288696 and range: 539.10 m.hUz?hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde?颵VUBɢK) ;i)0项ipV;iz?aT; z,G?AB?BX̰?BFcٱB$< JAHRS rotation from veh to nav: [[0.183805,-0.957864,-0.220708],[0.957997,0.224846,-0.178007],[0.220132,-0.178719,0.958959]]BH?Ҧ@+@̿??`ƿG-?Eƿɯ?iB?IB`;B;CYV_NByVHYi}Mb@Mb@Mb@yyyy y9}(\?~jt rh?Y}.?y}}C=}0By }B)}AyY}QB@AbDVDk1y=%F=ٔH^Q->9Y=QGyF_E>Q 5l4g?Q 9l4!P)?BY7/?Q E:y?Q I?UCI3:i]:Ҹl4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876yɮV2Bjh  FNOT Ignoring new targets: 537.29 m.RhݷZhݷ% ProNav: ac range: 537.288696 m, nav range: 513.663025 m, bearing: 75.726136 deg, approach rate: -0.645756 m/s, LOS rate: -0.001516 deg/s, cmd heading: 77.653828 deg, new cmd heading: 77.651947 deg. Bh%1-HeadingCmd: 1.355282 target range: 537.288696 and range: 539.10 m.h-y?h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdEgT?mvUBɢu4W) i)%jp!!i% ;i5y?=nV;9I=y?IAԉ9@ @ @ /@ Ա^A A >A > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007456 E-  E) E- +E) "E- :*E) VE- [4ZE) a= @a= @a= @a= @A9 IQ Ia O} >f,G?A>=?>Ѱ?>9dٱ>O< FAHRS rotation from veh to nav: [[0.183580,-0.957803,-0.221160],[0.957695,0.224992,-0.179438],[0.221625,-0.178863,0.958588]]>H?RN̿p??ƿ 9^?ƿ ?i>=?I>`;>9CYRNByR&HbDZVDZyb.5>%bY=ٔbqQ-f>9dYd=fQGydj9Ej>lQ 5rl4nDg?Q 9rl4nI)nl?BYpyr?Q Iv?nUCInd:in|:nl4yzSBɮz2BzEjhFNOT Ignoring new targets: 537.29 m.Rh%yZh%yԱ ProNav: ac range: 537.288696 m, nav range: 513.419678 m, bearing: 75.725560 deg, approach rate: -0.649971 m/s, LOS rate: -0.001540 deg/s, cmd heading: 77.651949 deg, new cmd heading: 77.650220 deg. BhHHeadingCmd: 1.355252 target range: 537.288696 and range: 539.10 m.hx?h*h"h hgfffdddjd Zd @o?5UBɢ5l)9 =޿i9)=-99i=(;iEx?E)vY;MB5mCB5 HB5nOBB1B1B1B5;B5FEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258714'< I@I @I@M/@I1 ^A5 *< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511470E= E=E=-E9"E=O:*E=k:VE=t4ZE9BE9ae2E9amJE=ռ;am:E=ּ;auԑA؟AI!IIO?#<,3H?AYNByuHiMb@Mb@Mb@ 9tV?V- ףp= ?Y2?yQ8= BA B)AY=B )-<bD5 VD52yE=%E=ٔEQ-E>9M"?YM"?=MQGyMFUEU>QQ 5el4U.g?Q 9el4U:@)U?BYe63?Q Ee:ye?Q Ie?UFVCIU ;iU;Ul4yu[Bɮu1BuEjhFNOT Ignoring new targets: 537.29 m.Rhb!Zhb! ProNav: ac range: 537.288696 m, nav range: 513.043335 m, bearing: 75.724322 deg, approach rate: -0.669632 m/s, LOS rate: -0.002205 deg/s, cmd heading: 77.650221 deg, new cmd heading: 77.646504 deg. BhHeadingCmd: 1.355187 target range: 537.288696 and range: 539.10 m.hv?h*h"h hgfffdddjdZdO?UBɢt) 5ܿi) i@;i v? )]; E4H?A>e?>԰?>hٱ>; FAHRS rotation from veh to nav: [[0.183387,-0.958003,-0.220451],[0.957030,0.225233,-0.182655],[0.224637,-0.177482,0.958143]]>H9y?7̿`?k?>aǿ ? ƿ?i>e?I>F`;>8CYR+OByRHbDZVDZ:2ybO>%b'=ٔfλQ-f>9dYd=jQGyjFj 9En>lQ 5rl4n5g?Q 9rl4n7)nH@BYtyv?Q Iv?nVCIn :in:nl4qyyɮ}1ByB>BBHBPBBB8DBB;BeFEjhFNOT Ignoring new targets: 537.29 m.RhZh ProNav: ac range: 537.288696 m, nav range: 512.715210 m, bearing: 75.723243 deg, approach rate: -0.638092 m/s, LOS rate: -0.002099 deg/s, cmd heading: 77.646506 deg, new cmd heading: 77.643267 deg. BhkHeadingCmd: 1.355131 target range: 537.288696 and range: 539.10 m.ht?h*h"h hgff f d ddjdZd`%@=UBɢEv)A EؿiA)E AIiM +;iUt?U̷`;Ua8j,{RH?AZUߔ?Zʰ?ZKiٱZS: bAHRS rotation from veh to nav: [[0.183598,-0.958163,-0.219579],[0.956702,0.225496,-0.184048],[0.225862,-0.176281,0.958077]]ZH`&?E,̿L? ?@ǿ?_ƿ?iZUߔ?IZŊ`;Z9CY~xOBy~,HiMb@Mb@Mb@ 9n?ˡEZd;O?Y6?y'j<0BA B)hAYBAAbDVDk2y>%"=ٔ#Q->9Y=QGyF9E>Q 5l41h?Q 9l4.)@BYi6?Q E:y ?Q I?VCI:i:Rl4ySBɮ/1BEB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 537.29 m.Rhb!Zhb!% ProNav: ac range: 537.288696 m, nav range: 512.369812 m, bearing: 75.722979 deg, approach rate: -0.720154 m/s, LOS rate: -0.000551 deg/s, cmd heading: 77.643268 deg, new cmd heading: 77.642475 deg. Bh%-HeadingCmd: 1.355117 target range: 537.288696 and range: 539.10 m.h-xt?h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE @VBɢw)  fԿi ) B;  i %;ixt?d;)3- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022779ߋ,%vY=ٔv :Q-z>9xY|=~QGy~FE>Q 5m4sh?Q 9%m4Y()@BY!y%?Q I-?4WCIH;iI; m4y1ɮ50B9jhqE EE)E"E:*E~:VEFA4ZEa@a@a@a@FNOT Ignoring new targets: 537.29 m.Rh:Zh: ProNav: ac range: 537.288696 m, nav range: 512.110046 m, bearing: 75.722788 deg, approach rate: -0.679492 m/s, LOS rate: -0.000499 deg/s, cmd heading: 77.642476 deg, new cmd heading: 77.641903 deg. BhyHeadingCmd: 1.355107 target range: 537.288696 and range: 539.10 m.h$t?h*h"h hgfffdddjdZd` @额=VBɢ) Ϳi)顡iF;i$t?f;&BBKIBPBBBBB;B\FEBmmCBmmCBmœCBmf =Bmf =CmB`4ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274854^Am<A>A>IQ Ia Om >ԡ s!,UH?A2Δ?2?2xkٱ2j8 :AHRS rotation from veh to nav: [[0.184013,-0.958282,-0.218711],[0.956132,0.226107,-0.186247],[0.227929,-0.174845,0.957850]]2Hໍ? ?˿@??ǿ,?Saƿ?i2Δ?I2`;0@Y^PBybHbDjVDjk2yr >%rK=ٔrP+Q-r>9tYt=vQGyvFz)JEz>|Q 5m4~h?Q 9m4~S!)~BABYy?Q I ?~{WCI~;i~;~m4yɮ0Bjh9=FNOT Ignoring new targets: 537.29 m.RhE ZhE U ProNav: ac range: 537.288696 m, nav range: 511.834930 m, bearing: 75.722596 deg, approach rate: -0.693884 m/s, LOS rate: -0.000484 deg/s, cmd heading: 77.641902 deg, new cmd heading: 77.641326 deg. BhU]HeadingCmd: 1.355097 target range: 537.288696 and range: 539.10 m.h]s?hY*hY"hY hagafafafidididijdiZdu@( @U^VBɢ})y }ʿi)顁i_;is?oi;p q y   - ¿9) Y- sA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778708y ر? \A',VH?A2?2?2~lٱ2v9 >AHRS rotation from veh to nav: [[0.184759,-0.957918,-0.219676],[0.955755,0.227194,-0.186859],[0.228904,-0.175432,0.957510]]2H1? CW̿??ǿ`L?@tƿ?i2?I2`;29CYF:PByF IliMb@Mb@Mb@ 95^I ? rh~jt?Y8?yC D< BOA )AYA -p<)bD5 VD52yE=%ED=ٔMQ-M>9IYI=MQGyMFUEU>YQ 5em4]h?Q 9em4])]ABYmK8?Q Em:ymު?Q Im?]WCI]:i]:]&m4yu\Bɮu~0Bqjhq}FNOT Ignoring new targets: 537.29 m.Rh}퍷Zh}퍷 ProNav: ac range: 537.288696 m, nav range: 511.544647 m, bearing: 75.722166 deg, approach rate: -0.652981 m/s, LOS rate: -0.000969 deg/s, cmd heading: 77.641328 deg, new cmd heading: 77.640036 deg. BhP*HeadingCmd: 1.355074 target range: 537.288696 and range: 539.10 m.hs?h*h"h hgfffdddjdZdx@VBɢ}) ɿi)&iɢ;is?#l;Ա B >B B IB .QBB B B ݺDB B XFE-,B̹H?AFǕ?Fh?F˜mٱF'; NAHRS rotation from veh to nav: [[0.185562,-0.957163,-0.222272],[0.955344,0.228671,-0.187157],[0.229967,-0.177617,0.956853]]FH`?@hs̿`-?E?@ǿ@o?&ƿ ?iFǕ?IFc`;F7CYbwPByb2IbDjVDjyr>%rQ=ٔr6Q-v>9tYt=vQGyvFzEz>|Q 5m4~ h?Q 9m4~)~ABYyª?Q I ?~ XCI~;i~:~3m4y]BɮC0Bjh9=FNOT Ignoring new targets: 537.29 m.RhEZhEU ProNav: ac range: 537.288696 m, nav range: 511.272217 m, bearing: 75.721787 deg, approach rate: -0.749708 m/s, LOS rate: -0.001043 deg/s, cmd heading: 77.640038 deg, new cmd heading: 77.638900 deg. BhUJ7ԙDAT read: 15:00:48.8505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 478, 0.07, 2.492, 1.050, 2.699, 2.273, PHS= 0.321,-1.178, 0.382, RAW= 152.0, 6.3, CAL= 151.3, 6.5, ROT= 358.7, -6.5 Ygot valid direction response: 15:00:48.8505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 478, 0.07, 2.492, 1.050, 2.699, 2.273, PHS= 0.321,-1.178, 0.382, RAW= 152.0, 6.3, CAL= 151.3, 6.5, ROT= 358.7, -6.5 PDAT read: Bearing 244.2, 10.8 (Local) =HeadingCmd: 1.355054 target range: 537.288696 and range: 539.10 m.h=lr?h9*hA"hQ hQgYfYfafidididqu~Local bearing/azimuth received: Bearing 244.2, 10.8 (Local) DAT read: Range 11 to 50 : 541.5 m (Round-trip 722.0 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.993316,-0.022541,0.113203]Fpublishing direction and range infoyYjdZd`L@]!z>?05?Y]`DYYYY Y)YI]Z>i]Ȗ]>])@]z0=])@ ]V=)]U@I]V轩YY]Cxf?o$?!? ]9?)]߽I]޹i]V轩YYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VBɢ) ƿi) q  i ;ilr?n;  BDAT read: Tx time:15:00:50.2744  $Ping request sent. E  E E E "E a:*E e:VE ZE BE (9Y=QGyFE>Q 5m4" h?Q 9m4 ):BBYd8?Q E:y?Q I?cXCI:i:'Em4yUBɮ0BEii󭣼H?AJiDRiDji5?b#@H\oT(}wӋN@R!z>?05?Zi޹biVjꃁlwX@ө@ g@Z&5?t>dq?^>W?2iC:iB"iGDV?*i(bBilCi1 u?i i gCiECiL?5 addTargetRange:: Added new target pos. range: 541.500000 m, deltaT: 4.535260 s, deltaX: 2.400024 m, approachRate: 0.529192 m/s, rangeRepo size: 4 E Added new target pos. range: 539.670166 m, bearing: 78.875382 deg, lat: 36.778805 deg, lon: -121.859650 deg, deltaT: 4.535260 s, deltaX: 2.381470 m, approachRate: 0.525101 m/s, posRepo size: 4 jhIUFNOT Ignoring new targets: 539.67 m.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251926Rh]Zhy ProNav: ac range: 539.670166 m, nav range: 506.540070 m, bearing: 78.466991 deg, approach rate: 0.000000 m/s, LOS rate: -0.001043 deg/s, cmd heading: 77.638897 deg, new cmd heading: 77.637327 deg. BhHeadingCmd: 1.355027 target range: 539.670166 and range: 541.50 m.hq?h*h"h hgfffdddjd@Zd_?颥VBɢ &x) Rſi))顩i[;iq?q;S;,H?A4:3?:n?::pٱ:? BAHRS rotation from veh to nav: [[0.188303,-0.955546,-0.226879],[0.954205,0.232682,-0.188020],[0.232453,-0.181084,0.955602]]:HT?ԓ` Ϳ`و?? ȿ`?-ǿI?i:3?I:`;8YJPByN~IPR@AbDVVDVk1y^oJ>%^]=ٔbЏQ-b>9`Y`=EQGyEFEEM>IQ 5Um4M%h?Q 9]m4MN)MBBYYy]?Q I]?MXCIM-:iMg:MRm4yaɮm/BiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 539.67 m.Rh8Zh8 ProNav: ac range: 539.670166 m, nav range: 506.273102 m, bearing: 78.468321 deg, approach rate: -0.701546 m/s, LOS rate: 0.003496 deg/s, cmd heading: 77.637326 deg, new cmd heading: 77.641317 deg. Bh9HeadingCmd: 1.355097 target range: 539.670166 and range: 541.50 m.hs?h*h"h hgfffdddjdZdJN?VBɢ) пi) i ;is? s; BmlCBmIBmQBBmg =BiBiBm;BmbFE9@ @@@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755613^AE<A5 .AI9 IQ O] > hB,j2 I?A6?6?6Tpٱ6LA >AHRS rotation from veh to nav: [[0.189256,-0.954980,-0.228461],[0.953852,0.234038,-0.188127],[0.233127,-0.182314,0.955203]]6H9? 39>Ϳ@??ȿ? Vǿ?i6?I6>`;69CYJ+QByJIbDRVDR02yZ>%ZL=ٔZ*Q-^>9^ ?Y^ ?=^QGybFb/Eb>dQ 5jm4f+h?Q 9jm4f)fBBYhyn?Q In?fXCIf:if$:pf `m4yvQBɮvx/Btchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006658jh%FNOT Ignoring new targets: 539.67 m.Rh%8Zh%85 ProNav: ac range: 539.670166 m, nav range: 506.006500 m, bearing: 78.469681 deg, approach rate: -0.690570 m/s, LOS rate: 0.003523 deg/s, cmd heading: 77.641315 deg, new cmd heading: 77.645395 deg. Bh59=HeadingCmd: 1.355168 target range: 539.670166 and range: 541.50 m.h=#v?hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU S?}WBɢC) _i)z8顉iٸ;i#v?u;RA>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259070AE ؟AII IY a Om > H,%I?A2O?2ޯ?2qٱ2@ :AHRS rotation from veh to nav: [[0.190117,-0.954791,-0.228538],[0.953512,0.235014,-0.188636],[0.233818,-0.182051,0.955085]]2HU?@Ϳ+?? <%ȿ ?@sMǿ ?i2O?I2 `;2;CYBrQByFI DDiMb@Mb@Mb@ 9333333?X9vy&1?Y9?y`< BA B)AY(AbD-VD-0y=**>9%=B=ٔEܺQ-E>9E"?YM"?=MQGyMFMEM>QQ 5m4U0h?Q 9m4U)U(CBY9?Q E:y>?Q I?U7YCIUBy B} eIB} iRBB} f =By By B} ю;B} rFEI) I9 OM >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763651QO,t>I?A2Ǔ?2Y?2 rٱ2[? :AHRS rotation from veh to nav: [[0.191370,-0.954803,-0.227438],[0.953183,0.236063,-0.188987],[0.234135,-0.180623,0.955278]]2H~?࿍Ϳ@z?O7?0ȿ? ǿ`?i2Ǔ?I2Ĺ`;0YrQByvI xz<bD|VD|y =% M=ٔVQ->9Y=QGyF[E>!Q 5-m4%<6h?Q 9-m4%)%zCBY1y5?Q I5?%~YCI%-:i%$:%|m4y=RBɮ=/BEEjhamFNOT Ignoring new targets: 539.67 m.Rhm"I8Zhm"I8} ProNav: ac range: 539.670166 m, nav range: 505.435089 m, bearing: 78.471783 deg, approach rate: -0.729591 m/s, LOS rate: 0.002748 deg/s, cmd heading: 77.648568 deg, new cmd heading: 77.651702 deg. Bh\8HeadingCmd: 1.355278 target range: 539.670166 and range: 541.50 m.hy?h*h"h hgfffdԙddjdZd @[WBɢ) mi)ڡiB;iy?iy; ! U,XI?A2%?2č?2Mrٱ2^< >AHRS rotation from veh to nav: [[0.192450,-0.955182,-0.224923],[0.952895,0.236658,-0.189694],[0.234422,-0.177822,0.955733]]2H`1?ِ@H̿@~?@J?Gȿ? ƿ]?i2%?I2ϫ`;29CY^QBybIiEMb@Mb@Mb@AAAA A9E333333?Mb?YAyE̼E@=AEA EyB)AAYAbD]VD]:ym*>%mD=ٔu0:Q-u>9qYq=QGyF ,E >AQ 5Mm4E;h?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267098Q 9m4E )ECBY:?Q E:y?Q I?EYCIEyy E  E E /E "E :*E :VE J4ZE a @a @a @a @0\,0rI?A2?2Ju?2)v<bDzVDzN2y5G>% Q=ٔ 4Q- >9Y=QGyFE>Q 5%m4@h?Q 9-m4)0DBY)y-{?Q I-?ZCI|:i:m4y5OBɮ=j.B9UB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 539.67 m.Rhm8Zhm8} ProNav: ac range: 539.670166 m, nav range: 504.875702 m, bearing: 78.473156 deg, approach rate: -0.728157 m/s, LOS rate: 0.001831 deg/s, cmd heading: 77.653910 deg, new cmd heading: 77.655826 deg. Bh}ߠ8HeadingCmd: 1.355350 target range: 539.670166 and range: 541.50 m.h|?h*h"h hgfffdddjdZd`*@WBɢ/) 歿i)ig;i|?|;%ŃB%kCB%IB%RBB%g =B!B%ܺDB%;B%UFEU9@Q @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771760ԙ^A}U<IIO> 8b,|I?A2s?2`_?2rٱ2?7 :AHRS rotation from veh to nav: [[0.193775,-0.955944,-0.220506],[0.952508,0.237143,-0.191029],[0.234904,-0.173017,0.956496]]2H?9̿z?Z?sȿ`W?n%ƿ?i2s?I2`;29CYFdRByFbILNBAbDRVDRyV=%VP=ٔZ+Q-Z>9XYX=^QGy^F^-ߺE^>`Q 5fm4bEh?Q 9fm4b)bDBYhyj_?Q Ij?bSZCIb:ib:bm4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022704yvQBɮv>.BtjhFNOT Ignoring new targets: 539.67 m.Rh28Zh28- ProNav: ac range: 539.670166 m, nav range: 504.603729 m, bearing: 78.473866 deg, approach rate: -0.690868 m/s, LOS rate: 0.001806 deg/s, cmd heading: 77.655829 deg, new cmd heading: 77.657962 deg. Bh-85HeadingCmd: 1.355387 target range: 539.670166 and range: 541.50 m.h5S}?h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdMP @uWBɢuL}) Pi)iv;iS}?Y~;'~) #i,*UI?A2{f?2R?2. sٱ2@&7 >AHRS rotation from veh to nav: [[0.194150,-0.955860,-0.220538],[0.952375,0.237552,-0.191182],[0.235133,-0.172917,0.956458]]2H? h:̿`y?@h?xȿ? $"ƿ`N?i2{f?I2`;28CYFRByF{IiMMb@Mb@Mb@IIII I9Mףp= ?MbL7A`?YM>?yMM+=M BI M@B)MAIYMAbDeVDekyu=%u?=ٔuQ-u>9yYy=}QGy}FwE>Q 5m4Jh?Q 9m4)DBYz??Q E:y?Q I?ZCI ;i ;m4yɮ.BjhFNOT Ignoring new targets: 539.67 m.RhYZhY ProNav: ac range: 539.670166 m, nav range: 504.299896 m, bearing: 78.473678 deg, approach rate: -0.710509 m/s, LOS rate: -0.000442 deg/s, cmd heading: 77.657960 deg, new cmd heading: 77.657393 deg. Bh7HeadingCmd: 1.355377 target range: 539.670166 and range: 541.50 m.h}?h*h"h hgfffdddjdZd@ż @5WBɢ5Vz)9 =i9)=6/9AiEXB;iE}?M5;MDzA>IyIO>B >B jCB IB SBB i =B B ۺDB u;B FEBlCBlCBȔCBg =Bg =CȲk5ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778695& p,2I?A@Je?JvQ?Jm=sٱJ5 RAHRS rotation from veh to nav: [[0.194160,-0.956142,-0.219303],[0.952329,0.237347,-0.191667],[0.235311,-0.171635,0.956645]]JH@=?!̿zy?`ba?ȿ? !ſ`֜?iJe?IJN`;J9CY^RBy^IbDfVDf02yn>>%rT=ٔrKQ-r>9tYt=vQGyvFvTEv>xQ 5~m4z3Oh?Q 9m4z)zPEBYy?Q I?zZCIz;iz;zm4y IBɮ -BEjh1UFNOT Ignoring new targets: 539.67 m.RhZh ProNav: ac range: 539.670166 m, nav range: 504.026978 m, bearing: 78.473512 deg, approach rate: -0.709121 m/s, LOS rate: -0.000430 deg/s, cmd heading: 77.657393 deg, new cmd heading: 77.656897 deg. BhHeadingCmd: 1.355368 target range: 539.670166 and range: 541.50 m.h|?h*h"h hgfffdddjdZd@s@XBɢЇ|) Yi)>i2;i}|?};}<{7v,'I?A.\G8DZ19XY^֨AlY SByIiaIamchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.285125iMb@Mb@Mb@ 9T㥛 ?y&1|?9Y=QGyFE>Q 5m4 Th?Q 9m4 )EBYA?Q E:yѲ?Q I?<[CI;i;Jm4yRBɮ-BEjh FNOT Ignoring new targets: 539.67 m.RhI#ZhI#% ProNav: ac range: 539.670166 m, nav range: 503.694305 m, bearing: 78.472477 deg, approach rate: -0.716299 m/s, LOS rate: -0.002231 deg/s, cmd heading: 77.656894 deg, new cmd heading: 77.653787 deg. Bh%ø-HeadingCmd: 1.355314 target range: 539.670166 and range: 541.50 m.h-z?h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdEC@m;XBɢuv)q uLiq)u_syyi};i}z?;}_|,I?A:?:Yl?:bsٱ:5 FAHRS rotation from veh to nav: [[0.193372,-0.956384,-0.218943],[0.952455,0.236540,-0.192037],[0.235450,-0.171399,0.956653]]:Hi?S̿z?@F?ȿ@;#?eſ?i:?I:`;8YNTSByNIbDZVDZyb+\>%bq=ٔb[ܹQ-b?9dYd=fQGyfFfT;Ej?hQ 5rm4jWh?Q 9rm4j)jFBYpyr?Q Ir?jz[CIj;ij;j)m4yxɮzP-Bx B*** querying acoustic contact ***i  i jh%FNOT Ignoring new targets: 539.67 m.Rh% (Zh% (5 ProNav: ac range: 539.670166 m, nav range: 503.450989 m, bearing: 78.471697 deg, approach rate: -0.715570 m/s, LOS rate: -0.002296 deg/s, cmd heading: 77.653787 deg, new cmd heading: 77.651445 deg. Bh5ɸ9EHeadingCmd: 1.355273 target range: 539.670166 and range: 541.50 m.hEy?hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]`ɠ@%]XBɢ%`)! %i!)-na ))i- ;i5y?5B;uYBiCBqIBTBBj =BBB;;BEE9@ @@4@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.790549ԙ^A5<A5dAzA1Aa Ii Iy O > &H, J?A2?25?2]Psٱ2m6 >AHRS rotation from veh to nav: [[0.192740,-0.956336,-0.219712],[0.952600,0.236073,-0.191892],[0.235382,-0.172312,0.956506]]2H?M̿{?7?ȿ ?Rƿಛ?i2?I2ށ`;0YFqSByFIbDRVDRk1yVU=%ZK=ٔZ79Q-Z>9XY\=^QGy^Fbt:Eb>`Q 5fm4b[h?Q 9jm4bD)b~FBYhyj?Q Ij?b[CIb:ib:b6m4%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050663y)ɮ-2-B)jhquFNOT Ignoring new targets: 539.67 m.ԙRh'Zh' ProNav: ac range: 539.670166 m, nav range: 503.162903 m, bearing: 78.470747 deg, approach rate: -0.693934 m/s, LOS rate: -0.002289 deg/s, cmd heading: 77.651444 deg, new cmd heading: 77.648593 deg. BhɸHeadingCmd: 1.355224 target range: 539.670166 and range: 541.50 m.hw?h*h"h hgfffdddjdZd+R@E] EYE]*EY"E]a:*EYVE](N4ZEYBE](%r,o'J?A2A?2➯?2Xsٱ2ȣ6 :AHRS rotation from veh to nav: [[0.191905,-0.956514,-0.219668],[0.952761,0.235265,-0.192085],[0.235412,-0.172429,0.956478]]2H@U?› ̿}?`)?<ȿ!?@&ƿw?i2A?I2q`;0YSBy*Ii5Mb@Mb@Mb@1111 195S㥛?:v?Zd;?Y5$F?y5T<5y=5B5hA 5B)5A1Y5AU@AU@AbD]VD]yu'=%u%=ٔ}Q-}>9Y=QGyF:E>Q 5m4`h?Q 9m45checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554447)FBY5F?Q E5:y5?Q I5?"\CIĤBhCBIBTBBk =BBںDB5;BEEy  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806643^AU ]<AԩIIO>,$FJ?A2 ͓?2?2sٱ26 :AHRS rotation from veh to nav: [[0.191147,-0.956807,-0.219052],[0.952872,0.234441,-0.192541],[0.235579,-0.171925,0.956527]]2Hw?@) ̿}?@*?@,ȿs'?@ƿߛ?i2 ͓?I2F`;28C @)BiABP@@FfCFjAiFQ8IDDIHiJiA JH)HL NiANļLLLPIP)PiP)PIPTT TT-iA-Ci))i11)1 1I1Y1YESByEJIbDUVDU1ye=%eC=ٔzչQ->9Y=QGyF:E>Q 5n44eh?Q 9n4)^GBYyγ?Q I?r\CIK;i;D n4yɮ,Bjh%FNOT Ignoring new targets: 539.67 m.RhE`ZhE`U ProNav: ac range: 539.670166 m, nav range: 502.485504 m, bearing: 78.468065 deg, approach rate: -0.765479 m/s, LOS rate: -0.003070 deg/s, cmd heading: 77.644286 deg, new cmd heading: 77.640545 deg. Bh]]HeadingCmd: 1.355083 target range: 539.670166 and range: 541.50 m.h]]s?ha*ha"ha hagifififidqdqdqjdqZd} @ XBɢ O2) +i)#i j;i]s?.;]d,s`J?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.310612 Y}=TBy}I iMb@Mb@Mb@ 9uV?I +?+?YrH?y94<=B/A B)AYAbDVDy-_>%-?=ٔ-Q-5>91Y1=5QGy=F=E=>AQ 5Mn4Eih?Q 9Mn4En)EGBYMH?Q EM:yU?Q IU?E\CIE ;iE& ;En4yYɮ]U,BYjhFNOT Ignoring new targets: 539.67 m.Rh+Zh+ ProNav: ac range: 539.670166 m, nav range: 502.167023 m, bearing: 78.467091 deg, approach rate: -0.767026 m/s, LOS rate: -0.002347 deg/s, cmd heading: 77.640543 deg, new cmd heading: 77.637619 deg. Bh/θ%HeadingCmd: 1.355032 target range: 539.670166 and range: 541.50 m.h%q?h!*h!"h! h!g)f)fQfQdYdYdYjdYZd]@i颭XBɢ Ow)  ;i )$i'Դ;iq?*2;1BE gCBE IBE :UBBE l =BA BE ٺDBE /;BE EEA I I O > ,){J?AV ?V߯?VsٱV/6 bAHRS rotation from veh to nav: [[0.190002,-0.956956,-0.219395],[0.953048,0.233447,-0.192879],[0.235794,-0.172447,0.956380]]VHQ?`b%̿@^??Fȿ`.?ƿચ?iV ?IV`;V:CYiTByI p;bDVD:yT=%I=ٔQ->9Y=QGyF?;E>Q 5n4Onh?Q 9n4)HBYy?Q I?]CI:i:H*n4y ɮ ),B %B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 539.67 m.Rh=:0Zh=:0M ProNav: ac range: 539.670166 m, nav range: 501.860962 m, bearing: 78.466112 deg, approach rate: -0.751663 m/s, LOS rate: -0.002407 deg/s, cmd heading: 77.637620 deg, new cmd heading: 77.634679 deg. BhMyӸUHeadingCmd: 1.354981 target range: 539.670166 and range: 541.50 m.hUp?hQ*hY"hY hYgYfYfafadadadijdiZdm,9@颕#YBɢch|) Ai)%顙i;ip?M;ğE  E E )E "E :*E X:VE FA4ZE BE v%%MU=ٔMN=Q-M>9M ?YU ?=UQGyUFU9EU>YQ 5en4]rh?Q 9mn4])]pHBYiym?Q Im?]\]CI]N:i]F:]7n4yqɮ}+BpEjhFNOT Ignoring new targets: 539.67 m.Rh#Zh#] ProNav: ac range: 539.670166 m, nav range: 501.572144 m, bearing: 78.465183 deg, approach rate: -0.694432 m/s, LOS rate: -0.002234 deg/s, cmd heading: 77.634676 deg, new cmd heading: 77.631888 deg. Bh]IĸHeadingCmd: 1.354932 target range: 539.670166 and range: 541.50 m.hjn?h*h"h hgfffdddjdZd@]OYBɢe%t)a eia)u&顉iǵ;ijn?NJ;G 3,nJ?AF?F4?FvtٱFH5 VAHRS rotation from veh to nav: [[0.189955,-0.957234,-0.218222],[0.952889,0.233286,-0.193856],[0.236473,-0.171118,0.956451]]FH`oP?˿`~?Q?Bȿ`D? 0ſ??iF?IF`;DY^TBy^IIb4=)b;-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570709iMb@Mb@Mb@ 9ˡE?Mbp?y&1|?YG?y;`;BA  B)AYAbDVD1y>%?=ٔpQ->9Y=QGyFE>Q 5n4wh?Q 9n4)HBYG?Q E:y ?Q I ?]CI[;i;Fn4yɮ+Bjh9=FNOT Ignoring new targets: 539.67 m.RhEKZhEKU ProNav: ac range: 539.670166 m, nav range: 501.249115 m, bearing: 78.464765 deg, approach rate: -0.818965 m/s, LOS rate: -0.001061 deg/s, cmd heading: 77.631889 deg, new cmd heading: 77.630634 deg. BhUZ:Ee EeEe*Ea"Ee :*Eeg:VEe(N4ZEaam@am@am@am@uHeadingCmd: 1.354910 target range: 539.670166 and range: 541.50 m.hum?hq*hq"hq hqgyfyfyfdddjdZd z@颵pYBɢ3) 5i9)=!'99i=ֿ;iEm?E3;EB}fCB}rIB}UBB}m =ByB}غDB};B}EEqchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.823022^A }<ԉ I I O >,J?A6ޓ?6ɯ?6Ztٱ6T3 >AHRS rotation from veh to nav: [[0.190590,-0.957367,-0.217081],[0.952651,0.233747,-0.194469],[0.236920,-0.169739,0.956586]]6H?e? S˿|?h?YȿdS? ſ [?i6ޓ?I6`;6;CYJUByJIRAARAAbDVVDV1yZ=%^a=ٔ^ Q-^>9`Y`=bQGybFbEf>dQ 5jn4f|h?Q 9nn4fz)f IBYlyn?Q In?f]CIfa;if ;fKSn4ytɮv+Btjh FNOT Ignoring new targets: 539.67 m.RhZh- ProNav: ac range: 539.670166 m, nav range: 500.974182 m, bearing: 78.464431 deg, approach rate: -0.757681 m/s, LOS rate: -0.000922 deg/s, cmd heading: 77.630632 deg, new cmd heading: 77.629629 deg. Bh-!5HeadingCmd: 1.354893 target range: 539.670166 and range: 541.50 m.h5m?h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdMFu @uYBɢuk~)q uyiy)(顁i;im?> ;8  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.3266539,J?A2@?2ߛ?2Huٱ2~3 :AHRS rotation from veh to nav: [[0.191904,-0.957189,-0.216709],[0.952306,0.234996,-0.194656],[0.237249,-0.169018,0.956633]]2HO?J˿Iy?U?`ȿ )^? `ſ ?i2@?I2`;29CYBCUByF&Ii Mb@Mb@Mb@     9 +?~jt:vY v>?y ļ T B A ) A Y AbD VD2y. >%==ٔKQ->9Y=QGyFQE>Q 5n4;h?Q 9n4xr)UIBY>?Q E:y ?Q I?F^CID;iD;bn4yɮO+BjhFNOT Ignoring new targets: 539.67 m.RhI8ZhI8- ProNav: ac range: 539.670166 m, nav range: 500.657837 m, bearing: 78.465636 deg, approach rate: -0.723487 m/s, LOS rate: 0.002759 deg/s, cmd heading: 77.629628 deg, new cmd heading: 77.633247 deg. Bh-Z8=HeadingCmd: 1.354956 target range: 539.670166 and range: 541.50 m.h=1o?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMDU!@}YBɢ}+v)y }*iy)()顁i;i1o?;;䷐Y B} <A} <B >B dCB IB LVBB o =B B ׺DB ;B hEEBMgCBMgCBM˕CBMl =BMl =CM`5mu,J?AY}{UBy}HI bDVDky>%G=ٔQ->9Y=QGyFE>Q 5n4h?Q 9n4j)IBYyQ I?^CIN:i:pn4yABɮ+BgEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 539.67 m.RhJ8ZhJ8 ProNav: ac range: 539.670166 m, nav range: 500.363647 m, bearing: 78.466759 deg, approach rate: -0.725600 m/s, LOS rate: 0.002770 deg/s, cmd heading: 77.633248 deg, new cmd heading: 77.636618 deg. Bh[8%HeadingCmd: 1.355015 target range: 539.670166 and range: 541.50 m.h%q?h!*h!"h! h!g)f)f)f)d1d1d1jd9Zd=@%"@eYBɢex)a m"ii)mn*iiimB;iuq?u;}iޑE checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082603E}  E} E} ,Ey "E} V:*E} |:VE} g4ZEy BE} 9AHRS rotation from veh to nav: [[0.195864,-0.956068,-0.218107],[0.951330,0.239216,-0.194287],[0.237926,-0.169438,0.956390]]6H@? @˿Kq? ?`eȿ_t?'ſ ?i6&?I6Ct`;6:CYUBydI %;%p<bD-VD-:2y==%=S=ٔEmQ-E>9AYA=MQGyMFM1EM>yQ 5n4}h?Q 9n4}c)}IBYy?Q I?}^CI}:i}:}j~n4yɮ*BjhFNOT Ignoring new targets: 539.67 m.Rhd8Zhd8 % ProNav: ac range: 539.670166 m, nav range: 500.079834 m, bearing: 78.467980 deg, approach rate: -0.725524 m/s, LOS rate: 0.003123 deg/s, cmd heading: 77.636616 deg, new cmd heading: 77.640281 deg. ԙ>G1~9Y*eABhU0 9HeadingCmd: 1.355079 target range: 539.670166 and range: 541.50 m.h7s?h*h"h hgfffd d d jdZd#@]ZBɢ]zt)Y eia)ez+aai~;i7s?;CkcS˒,w,1K?A2_ϒ?2?2Yvٱ2rM5 :AHRS rotation from veh to nav: [[0.198363,-0.955024,-0.220410],[0.950620,0.242228,-0.194028],[0.238691,-0.171039,0.955914]]2Hc? i6̿ {k?Q?@ȿm?ſٖ?i2_ϒ?I2]`;0YBUByBINchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.586693aE@aE aE@aE aE@aE aE@aE bDIVDIy]>%]@=ٔeQ-e>9e"?Ye"?=mQGymFmuͻEm>qQ 5}n4u͓h?Q 9}n4u[)u(JBQ A+:YQ Eg:y'?Q I?u(_CIu:iuW>uRn4yIBɮ*BjhFNOT Ignoring new targets: 539.67 m.Rht8Zht8E EE*E"E:*Ek:VE(N4ZEa@a@a@a@ ProNav: ac range: 539.670166 m, nav range: 499.775116 m, bearing: 78.469387 deg, approach rate: -0.724234 m/s, LOS rate: 0.003346 deg/s, cmd heading: 77.640283 deg, new cmd heading: 77.644507 deg. Bh9HeadingCmd: 1.355152 target range: 539.670166 and range: 541.50 m.hu?h*h"h hgfffdddjdZd@#@53ZBɢ5u~)1 5Ui1)=?,99i=-;iEu?E#;EgCBBIBVBBp =BBB;BEE^A]jb<ԙIQIiOuy>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.838602 MҒ,JK?A2[?2{G?26wٱ2^X6 :AHRS rotation from veh to nav: [[0.201693,-0.953925,-0.222144],[0.949822,0.245857,-0.193373],[0.239079,-0.171995,0.955646]]2H?5o̿`d?;x?tȿ$?ƿ?i2[?I204`;2;CYB"VByFIIF=)F=bDNVDN0yV>%VW=ٔVۉQ-Z>9XYX=ZQGyZF^E^>`Q 5fn4bnh?Q 9fn4bT)bjJBQ Af :YdQ Ej;:yj?Q Ij?bn_CIb':ibjM?bn4ylɮnq*BljhFNOT Ignoring new targets: 539.67 m.Rh g8Zh g8 ProNav: ac range: 539.670166 m, nav range: 499.500000 m, bearing: 78.470770 deg, approach rate: -0.724247 m/s, LOS rate: 0.003645 deg/s, cmd heading: 77.644504 deg, new cmd heading: 77.648658 deg. Bh 9%HeadingCmd: 1.355225 target range: 539.670166 and range: 541.50 m.h%x?h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd=$@YZBɢ By) ҆i)-iظ;ix?v;Qe 2Acoustic response timeoutY ؒ,dK?A2S?2ϭ?2ɰwٱ28 :AHRS rotation from veh to nav: [[0.205133,-0.952626,-0.224554],[0.948970,0.249740,-0.192576],[0.239533,-0.173592,0.955243]]2HA?{ 3̿]? z?@Xȿ?A8ƿ Z?i2S?I2,`;2=ٔ}Q-}>9yYy=}QGy}F E>Q 5n4ߟh?Q 9n4M)JBQ AT:YX*?Q E:y?Q I?_CI;i!;n4y@Bɮ.*B^EjhFNOT Ignoring new targets: 539.67 m.Rhi8Zhi8 ProNav: ac range: 539.670166 m, nav range: 499.221710 m, bearing: 78.473207 deg, approach rate: -0.646843 m/s, LOS rate: 0.005667 deg/s, cmd heading: 77.648657 deg, new cmd heading: 77.655971 deg. Bhx9HeadingCmd: 1.355352 target range: 539.670166 and range: 541.50 m.h0|?h*h"h hgfffdddjdZd`4c%@颭ZBɢw) υi)-顱iָ;i0|?};<;I0|?I)a@i @i@m91@iY2Acoustic response timeoutE EEE"E:*E$:VEZEa@a@a@a@^Am8<Am>AiIIO >ԁ A A B >B cCB lIB UWBB B B B ;B DEޒ,"~K?A0FJ?F6?FwٱFW8 NAHRS rotation from veh to nav: [[0.209567,-0.951383,-0.225725],[0.947970,0.254268,-0.191572],[0.239653,-0.173833,0.955169]]FH?q̿ U?`E?oȿ?+@ƿ ?iFJ?IFZ0`;F;CYZVByZIbDbVDbyjO>%jU=ٔjQ-n>9lYl=nQGynFrCHEr>tQ 5zn4vh?Q 9zn4vG)vJBYxyz?Q I~?v_CIv3;iv];vtn4yɮ)B%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 539.67 m.Rh5)8Zh=)8M ProNav: ac range: 539.670166 m, nav range: 498.973969 m, bearing: 78.475512 deg, approach rate: -0.646044 m/s, LOS rate: 0.006015 deg/s, cmd heading: 77.655972 deg, new cmd heading: 77.662892 deg. BhM9UHeadingCmd: 1.355473 target range: 539.670166 and range: 541.50 m.hU%?hQ*hQ"hQ hQgfffdddjdZd`/&@2Acoustic response timeout}ZBɢ}{v)y }Ԁiy)N.顁i ;i%?};C:I%?Iԉ@ @@4@Թ^A;I1 IA OM > 2Acoustic response timeout E  E E )E "E 2:*E i:VE FA4ZE BE **AHRS rotation from veh to nav: [[0.213816,-0.949992,-0.227590],[0.946988,0.258758,-0.190414],[0.239783,-0.174811,0.954958]]2H`V^?Vf!Ϳ`M?}?~_ȿ@2?4`ƿ?i2?I2I/`;28CYFVByFI HH`bDrVDrk1yvC=%zH=ٔzQ-z>9|Y|=~QGy~F4E> Q 5n4 h?Q 9n4 @) #KBYyc?Q I? 9`CI  :i : n4y1ɮ5)BAjhyFNOT Ignoring new targets: 539.67 m.Rh8Zh8 ProNav: ac range: 539.670166 m, nav range: 498.710388 m, bearing: 78.478106 deg, approach rate: -0.637900 m/s, LOS rate: 0.006279 deg/s, cmd heading: 77.662891 deg, new cmd heading: 77.670675 deg. Bh9HeadingCmd: 1.355609 target range: 539.670166 and range: 541.50 m.h?h*h"h h gff)f1dddjdZdl'@ZBɢ5Cs) 䀿i)/ip(;i ? ; I?I52Acoustic response timeout9@ @@i4@^A :I IY Iq O >,t_K?A2l/?2 ?2xٱ29 :AHRS rotation from veh to nav: [[0.217745,-0.948820,-0.228751],[0.946055,0.262800,-0.189514],[0.239930,-0.175145,0.954860]]2H?\`GͿF?@?Aȿ?&kƿ6?i2l/?I2:`;0B2Acoustic response timeoutYJWByJ:IiMb@Mb@Mb@ 9S㥛?~jtY$?yGBCA  B)AYA 154<bD=VD=yE=%ME=ٔMϿQ-M>9QYQ=UQGyUFU=$EU>aQ 5en4e*h?Q 9mn4eO:)egKBYm&%?Q Em:ymq?Q Im?e|`CIea:ie3:e6n4E EE.E"E:*E n:VEـ4ZEa@a@a@a@yIBɮ)Bjh9EFNOT Ignoring new targets: 539.67 m.RhE8ZhE8u ProNav: ac range: 539.670166 m, nav range: 498.452026 m, bearing: 78.480638 deg, approach rate: -0.601860 m/s, LOS rate: 0.005902 deg/s, cmd heading: 77.670678 deg, new cmd heading: 77.678278 deg. Bh}9}HeadingCmd: 1.355742 target range: 539.670166 and range: 541.50 m.h?h*h"h hgfffdddjdZd '@ZBɢDy) }i)M0 i S;i5?5;5 1I=?I9QBm>BiBmIBmWBBiBiBmֺDBmt;BmDE9@ @@/@q52Acoustic response timeout^A A zA ԡ A9 II IY Om >F,:K?A:?:?:xٱ: 9 FAHRS rotation from veh to nav: [[0.221650,-0.947879,-0.228904],[0.945150,0.266590,-0.188735],[0.239921,-0.174515,0.954978]]:H`_? ULͿ>??y(ȿ?@Vƿ -?i:?I:!`;::CYNYWByNoIbDVVDVy^\>%bS=ٔb7Q-b>9dYd=fQGyfFf /Ef>hQ 5nn4jh?Q 9rn4j:4)jKBYpyr?Q Ir?j`CIj ;ij;jn4ytɮz:)BxjhFNOT Ignoring new targets: 539.67 m.Rh%E8Zh%E85 ProNav: ac range: 539.670166 m, nav range: 498.211731 m, bearing: 78.483110 deg, approach rate: -0.656222 m/s, LOS rate: 0.006756 deg/s, cmd heading: 77.678280 deg, new cmd heading: 77.685701 deg. Bh5\9=HeadingCmd: 1.355871 target range: 539.670166 and range: 541.50 m.h=1?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM](@y}[Bɢy) gqi)T51顁ii;i1?uы;'T I1?I1@1 @1@5/@12Acoustic response timeout^A SԩE EE,E"E:*Eg:VEg4ZEBEL- E BDAT read: Response Not Received E *response not receivedM *DAT read: user:850> U BDAT read: Tx time:15:01:02.7244 U $Ping request sent.U ȿ ??ƿ#?ib<'?Ib0#`;b7CYWBy II <) <iMb@Mb@Mb@ 9p= ף?:vX9v?Y%?yԼ<B-A E B)AY(AbD-VD-y=E>%=4=ٔ=?Q-E>9AYA=EQGyEFMOEM>QQ 5]n4U3h?Q 9]n4U -)UKBY]q%?Q Ee:ye?Q Ie?UaCIU:iU:Un4ym@Bɮm(BmUEjhFNOT Ignoring new targets: 539.67 m.Rh8Zh8 ProNav: ac range: 539.670166 m, nav range: 497.932373 m, bearing: 78.485227 deg, approach rate: -0.616696 m/s, LOS rate: 0.004675 deg/s, cmd heading: 77.685704 deg, new cmd heading: 77.692057 deg. BhSM9HeadingCmd: 1.355982 target range: 539.670166 and range: 541.50 m.hӐ?h*h"h hgfffdddjdZd2z)@uL[Bɢuo)q }jiy)}2yyi};s;iӐ?;/AIӐ?I!@! @!@%/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250571E EE-E"E:*E:VEt4ZEa@a@a@a@I^Aa BI AM <BY BY B] -IB] XBBY B] 9DBY B] m;B] DEY A .AI I O >>,K?A2`?2?2xٱ2F>7 :AHRS rotation from veh to nav: [[0.228564,-0.946320,-0.228555],[0.943524,0.273165,-0.187463],[0.239834,-0.172800,0.955311]]2HA?@@H LAͿZ1?{?ǿ߲?`Oƿ@?i2`?I20`;2;CYBWByFIJ@AJ@AbDNVDNܲyzEF>%zb=ٔzް9Q-z>9~ ?Y~ ?=~QGy~F7E> Q 5n4 :h?Q 9n4 v') DLBYy{?Q I? :aCI :i : -n4y!ɮ%(B!=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 539.67 m.RhU8ZhU8e ProNav: ac range: 539.670166 m, nav range: 497.709412 m, bearing: 78.487006 deg, approach rate: -0.616125 m/s, LOS rate: 0.004920 deg/s, cmd heading: 77.692056 deg, new cmd heading: 77.697398 deg. BheX9mHeadingCmd: 1.356075 target range: 539.670166 and range: 541.50 m.hmᓭ?hi*hi"hq hqgqfqfyfydydydjdZd@3*@颭q[Bɢ1u) ai)n2顱i0;iᓭ?1;LoIᓭ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502262ԑQ@Q @Q@U1@Q^A- &A}؟AIIO^> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754090bEmg4jEmg4rEm/E  E E E "E *E i:VE ZE BE v%?BwٱB5 VAHRS rotation from veh to nav: [[0.231482,-0.945825,-0.227664],[0.942850,0.275775,-0.187037],[0.239688,-0.171357,0.955608]]BH7?3D$Ϳ +?K?ǿ?ſV?iBIS?IBo`;B:CYjXByjIbD~VD~1y=%F=ٔ%9Q-%>9%"?Y%"?=-QGy-F5E5>AQ 5Uo4Eh?Q 9eo4E )ELBYiyu?Q Iu?E|aCIEd? ,7L?AN?Nt?NwٱNkM3 VAHRS rotation from veh to nav: [[0.233946,-0.945636,-0.225926],[0.942264,0.277790,-0.187007],[0.239600,-0.169132,0.956026]]NH ?B"̿'? O?`ǿ7?` ſ@ė?iN?INa`;N9CY^~XBy^"I ``iEMb@Mb@Mb@AAAA A9EDl?~jtV-?YEO-?yEļEm=AEA E\ B)EtAAYAbD]VD]:2ymO>q%u-=ٔuTI9Q-}>9} ?Y} ?=}QGy}F=E>Q 5o4h?Q 9o4H)LBY.?Q E:y7?Q I?aCI;iS;"o4yɮ(BB>BbCBIB2YBBBBBW;BDEBcCBcCBCBp =Bp =C9y4jhFNOT Ignoring new targets: 539.67 m.RhM8ZhM8 ProNav: ac range: 539.670166 m, nav range: 497.151581 m, bearing: 78.491360 deg, approach rate: -0.682346 m/s, LOS rate: 0.005008 deg/s, cmd heading: 77.703818 deg, new cmd heading: 77.710463 deg. Bh[9 HeadingCmd: 1.356303 target range: 539.670166 and range: 541.50 m.h Z?h *h "h hgfffdddjd!Zd%@ ,@[BɢN&o)  @Ti ) Z4  i;iZ?0;IZ?I9ԙ@ @@.2@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510181^A A؟AII O > ",mYQL?A2?2B?2ŕwٱ2M0 :AHRS rotation from veh to nav: [[0.235801,-0.945683,-0.223788],[0.941844,0.279127,-0.187133],[0.239433,-0.166647,0.956504]]2H@.? C̿`#?7?ǿ ?@Tſ?i2?I2.c`;2:CYBXByFOI Jp%VX=ٔZ9Q-Z>9Z"?YZ"?=ZQGy^F^(E^>`Q 5fo4bh?Q 9fo4b )bUMBYhyj?Q Ij?bbCIb:ib:bS"o4ynIBɮn'BrVEjh FNOT Ignoring new targets: 539.67 m.Rh 8Zh 8 ProNav: ac range: 539.670166 m, nav range: 496.909454 m, bearing: 78.493200 deg, approach rate: -0.702812 m/s, LOS rate: 0.005344 deg/s, cmd heading: 77.710464 deg, new cmd heading: 77.715987 deg. Bhj9%HeadingCmd: 1.356400 target range: 539.670166 and range: 541.50 m.h%?h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=.,@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762055[Bɢq) Ji)#4i;i?v҄;qI?I!DzD@AE EE*E"E:*E]t:VE(N4ZEBEL-Y M,j4kL?A2Ҕ?2p?2]wٱ2- :AHRS rotation from veh to nav: [[0.236987,-0.946007,-0.221153],[0.941599,0.279713,-0.187490],[0.239226,-0.163805,0.957047]]2HU?E@N̿!? ?@ǿ?Ŀ ?i2Ҕ?I29`;0YBYByFwIi Mb@Mb@Mb@     9 On?S㥛{Gz?Y 8?y /ݼ ף= B  .B) ^A Y AbDVDy>%;=ٔ9Q->9Y=QGyF8:E>Q 5o4h?Q 9o4 )MBY9?Q E:y?Q I?TbCIeA;iH@;1o4y@Bɮx'BLE9jhAMFNOT Ignoring new targets: 539.67 m.RhM`8ZhU`8m ProNav: ac range: 539.670166 m, nav range: 496.611694 m, bearing: 78.495438 deg, approach rate: -0.669623 m/s, LOS rate: 0.005037 deg/s, cmd heading: 77.715989 deg, new cmd heading: 77.722709 deg. BhmA]9uHeadingCmd: 1.356517 target range: 539.670166 and range: 541.50 m.hu[?hy*hy"hy hygyfyffdddjdZd-@}\Bɢ j) Ei)=5顉i$;i[?;]!I[?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266893a@ @@/@E EE,E"E:*Eg:VEg4ZEa@a@a@a@AAB%{>B%aCB%IB%YBB%q =B!B%պDB%>;B%DEԉ^A q歼A >A >Թ A I I O >iY IY e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518340D!,]QL?AF3?Fj?FvٱFKJ+ RAHRS rotation from veh to nav: [[0.237633,-0.946332,-0.219059],[0.941541,0.279850,-0.187574],[0.238810,-0.161679,0.957512]]FHj?YH ̿!?@?hȿ@V?Ŀ?iF3?IF`;F;CYZ\YByZII^N>)^p<bDfVDf1yn\>%nW=ٔn:Q-r>9pYp=rQGyrFvEv>xQ 5~o4zrh?Q 9~o4z)z)NBY|y~?Q I?zbCIz;iz;z>o4y ɮ $'B %B*** querying acoustic contact ***i) i)jh15FNOT Ignoring new targets: 539.67 m.Rh=8ZhE8M ProNav: ac range: 539.670166 m, nav range: 496.354370 m, bearing: 78.497403 deg, approach rate: -0.689004 m/s, LOS rate: 0.005263 deg/s, cmd heading: 77.722710 deg, new cmd heading: 77.728606 deg. BhU%g9UHeadingCmd: 1.356620 target range: 539.670166 and range: 541.50 m.hU?hY*hY"hY hYgYfafafadadidijdiZdm].@E\BɢP4U);o- `:i)!i%;i%?-W;-I-?I)q)@) @)@)@1ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770137^A E EEE"E:*E|:VEZEBEnManaging dock network, ignoring radio surface power offa2EaJEd;a:Ee;a A I I O- > 'b',L?And?nl?nvٱn-& AHRS rotation from veh to nav: [[0.237618,-0.947436,-0.214247],[0.941627,0.278825,-0.188668],[0.238489,-0.156910,0.958385]]nH Dj? fQul˿!?E?F&ȿ ˆ? Ŀ?ind?In?<`;n8CYeYByeIAAAAbD VD2yue>%u4=ٔ}?:Q-}>9yYy=}QGy}F?8E>Q 5o4`h?Q 9o4)NBYyצ?Q I?bCI:i:No4yɮ&B5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0256649jhAEFNOT Ignoring new targets: 539.67 m.Rhmn8Zhmn8} ProNav: ac range: 539.670166 m, nav range: 496.043854 m, bearing: 78.499797 deg, approach rate: -0.663742 m/s, LOS rate: 0.005121 deg/s, cmd heading: 77.728605 deg, new cmd heading: 77.735791 deg. Bh}`9HeadingCmd: 1.356745 target range: 539.670166 and range: 541.50 m.h֩?h*h"h h!g!f!f)f)d)d1d1jd1Zd5X/@x\Bɢ{9) v6i)ij;i֩?\r~;nI֩?IQU9@Q @Q@Q@Qԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274178^A5 GE  E E E "E *E x:VE ZE a @a @a @a @Ա Ai I I O >Bw>B`CBlIBZBBs =BBԺDB8;BDEb.,zSL?AVc?V?VDvٱVE%! ^AHRS rotation from veh to nav: [[0.236688,-0.948769,-0.209324],[0.941938,0.276893,-0.189956],[0.238184,-0.152210,0.959219]]VHK?P\@ʿ[$??wPȿ|?{ÿ`?iVc?IV%D`;V;CYfYByfIiMb@Mb@Mb@ 9MbX9?%-=ٔK.:Q->9Y=QGyF ;E>Q 5o4mh?Q 9o4)OBYB?Q E:y?Q I?;cCI;id;5_o4y!ɮ%&B)jhFNOT Ignoring new targets: 539.67 m.Rhb8Zhb8 ProNav: ac range: 539.670166 m, nav range: 495.710205 m, bearing: 78.501820 deg, approach rate: -0.717754 m/s, LOS rate: 0.004355 deg/s, cmd heading: 77.735790 deg, new cmd heading: 77.741863 deg. BhB?9HeadingCmd: 1.356851 target range: 539.670166 and range: 541.50 m.hO?h*h"h hgfffdddjdZdU0@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526312 ]\Bɢ]W^1)a e.i)顉ioa[;iO?]z;.IO?I]9@Y @Y@Y@Y9a ^A} A cAzA eA% BDAT read: Rx Time:15:01:05.8350 - TRx dataTimestamp_ set to:1761577267.340136- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779219E]  E] E] +EY "E] D:*E] e:VE] [4ZEY BE] 2^>6, 0L?A(?/?suٱs AHRS rotation from veh to nav: [[0.233795,-0.951094,-0.201891],[0.942855,0.272479,-0.191779],[0.237410,-0.145517,0.960448]]H?]oɿ+? Lp?`3ȿ@wc?`K¿@?i?I(d`;Y1ZBy.I bDVDy>%<=ٔ;:Q->9Y=QGyF;E>Q 5o4h?Q 9o4)OBYy?Q I?cCI;i;ino4y Bɮ %BCEjhQ]FNOT Ignoring new targets: 539.67 m.Rh]h8Zheh8u ProNav: ac range: 539.670166 m, nav range: 495.399414 m, bearing: 78.503624 deg, approach rate: -0.721622 m/s, LOS rate: 0.004191 deg/s, cmd heading: 77.741862 deg, new cmd heading: 77.747277 deg. Bhu89}HeadingCmd: 1.356946 target range: 539.670166 and range: 541.50 m.h}h?hy*hy"hy hygyfffdd!d)jd1Zd50@ԁ额\Bɢ6) M)i)项io/;ih?Dv;ܸIh?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030345ԩ &< 1 @1  @1 @= /@9  u DAT read: 15:01:05.8350 LVL= 30704, 32161, 32498, 32755, AGC= 65, IDX= 170, 0.35, 2.669, 1.184, 2.769, 2.325, PHS= 0.446,-1.097, 0.400, RAW= 148.5, 3.3, CAL= 147.7, 3.4, ROT= 2.3, -3.4 } Ygot valid direction response: 15:01:05.8350 LVL= 30704, 32161, 32498, 32755, AGC= 65, IDX= 170, 0.35, 2.669, 1.184, 2.769, 2.325, PHS= 0.446,-1.097, 0.400, RAW= 148.5, 3.3, CAL= 147.7, 3.4, ROT= 2.3, -3.4  PDAT read: Bearing 229.4, 16.1 (Local)  ~Local bearing/azimuth received: Bearing 229.4, 16.1 (Local)  DAT read: Range 11 to 50 : 529.8 m (Round-trip 706.5 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.997436,0.040061,0.059306] Fpublishing direction and range infoyA E 5&?kDG傤?Cg]?YE sDA E wE }E ~ A )E AIE Z>iE jE >E H%@E k=E $@ E s=)E l$=IE sA A E ɭ" ?kkp)|? 2 xԭ? E >)E znIE l$=iE sA A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A]E EE(E"E2:*Ec:VEc44ZEa@a@a@a@1ByA}<Bq>BBIBC[BBBBB ;BSDEA.AIIO ?H>,L?ARM?R9?R=uٱRY zAHRS rotation from veh to nav: [[0.231780,-0.952198,-0.198991],[0.943403,0.269913,-0.192712],[0.237211,-0.143062,0.960867]]RH? gx@xɿ [0?@F?@ͪȿ \? O¿ k?iRM?IR{n`;PY ZBy nIiMb@Mb@Mb@ 9ˡE?Q333333?YG?y=A B)AY3A M4%e=ٔe9Q-e>i9 ?Y ?=QGyFit;E>Q 5o4bh?Q 9o4)+PBYI?Q E:y?Q I?cCI;i;o4yBɮh%BiiL?AJiDRiDji?b?kt@&&5@ N?@R5&?kDG傤?Cg]?Zil$=bisjRW@w)@b@Z$2?g}? ?>l?2i6C:iZB"i,}?*i"BiNCi,}?i(biiCi2?u addTargetRange:: Added new target pos. range: 529.799988 m, deltaT: 16.895879 s, deltaX: -11.700012 m, approachRate: -0.692477 m/s, rangeRepo size: 4  Added new target pos. range: 527.906128 m, bearing: 79.091053 deg, lat: 36.778779 deg, lon: -121.859635 deg, deltaT: 16.895879 s, deltaX: -11.764038 m, approachRate: -0.696267 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 527.91 m.RhZh *DAT read: user:851>  BDAT read: Tx time:15:01:07.1244 $Ping request sent.%;F,"M?AJĜ?Jb?JtٱJ ^AHRS rotation from veh to nav: [[0.229530,-0.953114,-0.197202],[0.944036,0.267322,-0.193221],[0.236878,-0.141816,0.961133]]JH@a?=ɿ5??tȿR?'¿`?iJĜ?IJ9`;J9CY]ZBy]IbDmVDmN2y}M>%}E=ٔ}X:Q->9"?Y"?=QGyF;E>ԑQ 5o4i?Q 9o4 )PBYyK?Q I?FdCI:i_:o4yɮ%BB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 527.91 m.Rh8Zh8 ProNav: ac range: 527.906128 m, nav range: 495.419281 m, bearing: 78.872621 deg, approach rate: -0.768915 m/s, LOS rate: 0.006205 deg/s, cmd heading: 77.754675 deg, new cmd heading: 77.762028 deg. BhC9HeadingCmd: 1.357203 target range: 527.906128 and range: 529.80 m.hظ?h*h"h hgff f d ddjdZd@n??E8]BɢE!*)A EiI)IIIiM:iUظ?Up;UAI]ظ?IY$a@a @a@m/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503074^A e I I O >=`L,3M?A2_?2ު?2rٱ2č >AHRS rotation from veh to nav: [[0.227138,-0.953967,-0.195844],[0.945071,0.264458,-0.192104],[0.235053,-0.141453,0.961635]]2H?`lɿ>??ٖȿ6?@¿ ?i2_?I2V(`;0YF[ByFIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755060]only read 0 of 1 data item for altitude. Device response is::BD, +41.22, +2140 -127.19, 28.70, 0.00 a]@a] a]@a] a]@a] a]@ae bDeVDe:yu=%uK=ٔ};Q-}>9Y=QGyFS;E>Q 5o4 i?Q 9o4)QBQ A+:YQ E[:y?Q I?dCIu ;i>Fo4yɮ$BjhFNOT Ignoring new targets: 527.91 m.Rh8Zh8 ProNav: ac range: 527.906128 m, nav range: 495.122589 m, bearing: 78.874927 deg, approach rate: -0.739924 m/s, LOS rate: 0.005752 deg/s, cmd heading: 77.762032 deg, new cmd heading: 77.768951 deg. Bh|9HeadingCmd: 1.357324 target range: 527.906128 and range: 529.80 m.hͼ?h*h"h hgfffddd jd Zd  ?5b]Bɢ=Y$)9 =i9)99AiEl:iEͼ?MMn;M:dIMͼ?IIEE EEEE+EA"EE:*EE:VEE [4ZEAa]@a]@ae@ae@BUo>BU_CBUAIBU[BBUt =BQBQBU܌;BUDE!=r.@ @@/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006894y ^A oMI IO>)'T,8kQM?A28?2R$?2nٱ2! :AHRS rotation from veh to nav: [[0.225370,-0.955123,-0.192222],[0.946522,0.261401,-0.189119],[0.230879,-0.139321,0.962956]]2H?`]ȿI?˺?@5ȿq?C?i28?I2R`;2;CYFv[ByFIHLLbDRVDR1yZY>%^;=ٔ^!9`Y`=bQGybFbϞ;Ef>dQ 5jo4fi?Q 9no4fU)fwQBQ An :YlQ En1:ynߧ?Q In?fdCIf ;ifW?fIo4ytɮv$Bv:Ejh FNOT Ignoring new targets: 527.91 m.Rh8Zh8 ProNav: ac range: 527.906128 m, nav range: 494.799347 m, bearing: 78.877370 deg, approach rate: -0.740410 m/s, LOS rate: 0.005600 deg/s, cmd heading: 77.768951 deg, new cmd heading: 77.776285 deg. Bhu9HeadingCmd: 1.357452 target range: 527.906128 and range: 529.80 m.h?h*h"h hgfffdddjdZd ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259027]BɢC ) i)iYi?k;LI?I))))bEMÙT4jEMrO4rEM0E EE'E"E:*EL_:VE'4ZEBEv%Z,bmM?A:p?:z\?:^hٱ:= JAHRS rotation from veh to nav: [[0.224065,-0.956298,-0.187857],[0.948250,0.258422,-0.184498],[0.224981,-0.136796,0.964713]]:H &?@` ȿX?@?ǿ`1? ?i:p?I:+,`;:9CYz[By~%Iaa aa aa aa iMb@Mb@Mb@ 9(\?&1/$?YN?yP,= AA ^B)AYpAbDVD:y!>%-=ٔR9Y=QGyFm;E>Q 5o4Zi?Q 9o4)QBQ AT:YN?Q E:y?Q I?CeCI;i+;̶o4yɮ=$Bjh!-FNOT Ignoring new targets: 527.91 m.Rh-9Zh59= ProNav: ac range: 527.906128 m, nav range: 494.434967 m, bearing: 78.881417 deg, approach rate: -0.770729 m/s, LOS rate: 0.008568 deg/s, cmd heading: 77.776286 deg, new cmd heading: 77.788438 deg. BhE(9HeadingCmd: 1.357664 target range: 527.906128 and range: 529.80 m.hǭ?h*h"h hgfffdddjdZdW?!-]Bɢ-i*)1 5di1)111i5ni]ǭ?]i;e:Ieǭ?Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7636639@ @@o0@QAAAABe>BBIB\BBq =BBӺDB;BCEBe`CBe`CBeǔCBes =Ber =CeҘ5E EE(E"E:*E[:VEc44ZEBE~<2E~<JEF;:EF;^A ONy I I O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014876-a, 2M?A(6?6T?6`ٱ6, >AHRS rotation from veh to nav: [[0.223050,-0.956915,-0.185908],[0.950154,0.256038,-0.177909],[0.217843,-0.136958,0.966327]]6H`? ǿg?`b?ƿ G?ه%?i6?I6N`;4YJ \ByJSIbDRVDRN2y  C>%X=ٔ*9Y=QGyF%f|;E%>!Q 55o4%f#i?Q 95o4%)% u wf>u RC  G! E Am B9i Ym AEu  Eu Eu 'Eq "Eu :*Eu n:VEu '4ZEq BEu #<2Eu #<JEu ;:Eu ;g,@M?A2Ï?2?2GXٱ2 V :AHRS rotation from veh to nav: [[0.222464,-0.957235,-0.184963],[0.952134,0.254109,-0.169910],[0.209645,-0.138310,0.967946]]2H`y? ۬ǿw?SC? ſ`?&i?i2Ï?I2.`;2:C`Yj9\ByjnIbDz VDzf2y=%L=ٔ Z9 Y =QGyF*;E>Q 5%o4*i?Q 9-o4ͱ)RBY)y-Y?Q I-?eCI9:iR:o4yAɮM#BIB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 527.91 m.Rh a 9i!I!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523621Zh a 9] ProNav: ac range: 527.906128 m, nav range: 493.830811 m, bearing: 78.887985 deg, approach rate: -0.694278 m/s, LOS rate: 0.007507 deg/s, cmd heading: 77.798061 deg, new cmd heading: 77.808152 deg. Bh]ڤ9eHeadingCmd: 1.358008 target range: 527.906128 and range: 529.80 m.he8ӭ?ha*ha"ha higifffdddjdZd@bP@^Bɢ\) i)iE i 8ӭ? e; * I8ӭ?I9@ @@4@^A G8A IQ Ia Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770968n,޺M?Af׏?faë?fOٱf{ rAHRS rotation from veh to nav: [[0.222280,-0.957652,-0.183013],[0.954075,0.252312,-0.161492],[0.200829,-0.138712,0.969756]]fH s?`lǿ`ȇ?%?@ëĿ@ƴ?@O=?if׏?If:4`;f;CE EE)E"E:*E&p:VEFA4ZEa@a@a%@a%@!B=B>B=ZCB=IB= ]BB=v =B9B=кDB=i;B=CEY\ByIi-Mb@Mb@Mb@)))) )9-x&?i|?5y&1?Y-7I?y-q-`<-A-A -B)))Y-AAbDMVDMy]>%]=ٔ]9aYa=eQGyeFm:Em>qQ 5}o4u4i?Q 9}o4u)uRBY}I?Q E:y?Q I?uCfCIu;iuy;u o4yBɮz#B1EjhFNOT Ignoring new targets: 527.91 m.Rh=9Zh=9 ProNav: ac range: 527.906128 m, nav range: 493.440216 m, bearing: 78.892822 deg, approach rate: -0.836119 m/s, LOS rate: 0.010364 deg/s, cmd heading: 77.808149 deg, new cmd heading: 77.822674 deg. Bh9HeadingCmd: 1.358262 target range: 527.906128 and range: 529.80 m.hۭ?h*h"h hgfffdddjdZd @M^Bɢ1) i)!!i%Ÿ3i%ۭ?-rc;-I-ۭ?I)%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.02302059@1 @1@53@1qԡ ^Au A} >A} >A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274986 O >su,M?A2u?2ѫ?2AEٱ2h RAHRS rotation from veh to nav: [[0.222293,-0.958238,-0.179904],[0.955938,0.250499,-0.153080],[0.191753,-0.137949,0.971700]]2Ht?@ǿ` ?@.?@#ÿ_? N*?i2u?I2<`;2:C X)ZiAZXX\^jAi^ףI\\I\ibiA bףd)dd fiAf`弉hhhhIh)hil)lIniAnl lpriArippitt)t tItYtY~\By~IbDVD:2y_ >%W=ٔ%9!Y!=-QGy-F-:E->1E9 E=E=-E9"E9*E=[:VE=t4ZE9BE=+{,M?A0VF?Vګ?VF2ٱV ^AHRS rotation from veh to nav: [[0.222771,-0.958836,-0.176087],[0.959295,0.247765,-0.135518],[0.173567,-0.138731,0.975002]]VH ?Ȯƿ?@ö?X`u7?63?iVF?IV`;V8CY=\By=IiMb@Mb@Mb@ 9Mb?)\( rh?YC?yGaC<AA A)YAbD5VD5kyE>%EI=ٔM:=Q-M>9IYI=MQGyUFUvA:EU>YQ 5eo4]iCi?Q 9eo4])]SBYmC?Q Em:ym?Q Im?]fCI] :i]v:]o4yɮ#BjhFNOT Ignoring new targets: 527.91 m.Rh(9Zh(9 ProNav: ac range: 527.906128 m, nav range: 492.847717 m, bearing: 78.900075 deg, approach rate: -0.759212 m/s, LOS rate: 0.009227 deg/s, cmd heading: 77.833441 deg, new cmd heading: 77.844451 deg. Bh9HeadingCmd: 1.358642 target range: 527.906128 and range: 529.80 m.h?h*h"h hgfffdddjdZd @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778940^Bɢv)! %پi!)!!!i%7si-?5V`;5]I5?I1ԉ@ @@@E EE+E"EO:*EL_:VE [4ZEa@a@a@a@BA<B,>BWCBGIB]BB} =B:DBͺDBW;BgCEԹ^AI IA IY Oe >u DAT read: 15:01:10.2310 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 406,-0.03,-2.000, 2.832,-1.815,-2.217, PHS= 0.320,-1.189, 0.359, RAW= 151.3, 6.7, CAL= 150.6, 7.1, ROT= 359.4, -7.1 } Ygot valid direction response: 15:01:10.2310 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 406,-0.03,-2.000, 2.832,-1.815,-2.217, PHS= 0.320,-1.189, 0.359, RAW= 151.3, 6.7, CAL= 150.6, 7.1, ROT= 359.4, -7.1  PDAT read: Bearing 232.8, 9.3 (Local)  ~Local bearing/azimuth received: Bearing 232.8, 9.3 (Local)  DAT read: Range 11 to 50 : 526.8 m (Round-trip 702.5 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.992278,-0.010392,0.123601] Fpublishing direction and range infoy  `n̼? گ<5HA7X?Y D    ) >I ף>i '1 η> )@ |= 8(@ =) @I u*?ӓv~?qUC? y ?) (mI D+i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.p,u N?A`??u)ٱ AHRS rotation from veh to nav: [[0.222439,-0.959446,-0.173160],[0.960906,0.245784,-0.127474],[0.164865,-0.138035,0.976609]]Hx? ȳ*ƿ ?u?`QG?`!`b@?i?I_;7CY ]ByIbDVD1y%=%%==ٔ-D9)YI=UQGyUFUI:EU>YQ 5ep4]{Ki?Q 9ep4])]SBYiym ?Q Im?]/gCI]:i];]p4yɮ"BiiON?AJi5DRi5Djia?b۶PF@9u7P@R`n̼? گ<5HA7X?ZiD+biju[@23~@Z;b@ZM`;??0#)I?2ihC:iB"is?*iX##Bi:MCiiiiBCiE?% addTargetRange:: Added new target pos. range: 526.799988 m, deltaT: 4.286460 s, deltaX: -3.000000 m, approachRate: -0.699878 m/s, rangeRepo size: 4 U Added new target pos. range: 524.842468 m, bearing: 77.385287 deg, lat: 36.778779 deg, lon: -121.859635 deg, deltaT: 4.286460 s, deltaX: -3.063660 m, approachRate: -0.714730 m/s, posRepo size: 4 jhQ]FNOT Ignoring new targets: 524.84 m.Rh]ZhY ProNav: ac range: 524.842468 m, nav range: 492.522278 m, bearing: 78.904002 deg, approach rate: 0.000000 m/s, LOS rate: 0.009227 deg/s, cmd heading: 77.844451 deg, new cmd heading: 77.856933 deg. BhHeadingCmd: 1.358860 target range: 524.842468 and range: 526.80 m.h?h*h"h hgfffdddjd`fv@Zda?u^Bɢuo)y }iy)yyyi튻i?ΐ^;,I?I%*DAT read: user:852> -BDAT read: Tx time:15:01:11.4244 -$Ping request sent.-),1'N?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252872~&?~ ?~j ٱ~f AHRS rotation from veh to nav: [[0.222058,-0.960021,-0.170439],[0.962470,0.243792,-0.119232],[0.156017,-0.137567,0.978128]]~Hal?~`ſ?`4?[?țL?i~&?I~ `;|Y}D]ByIiMb@Mb@Mb@ 9jt?v/%5F=ٔ599Y9==QGy=F=:E=>AQ 5Mp4ESi?Q 9Up4E)ETBYUUA?Q EU:yU?Q IU?E}gCIE& ;iE ;Ep4yYɮe"Be(E}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 524.84 m.Rh09Zh09 ProNav: ac range: 524.842468 m, nav range: 492.219940 m, bearing: 78.907799 deg, approach rate: -0.768226 m/s, LOS rate: 0.009653 deg/s, cmd heading: 77.856930 deg, new cmd heading: 77.868327 deg. Bh9 MHeadingCmd: 1.359059 target range: 524.842468 and range: 526.80 m.hM?hI*hI"hI hQgQfQfYfYdadadjdZd`?-_Bɢ-g)) -߾i1)111i5i=?=4];=kq I=?Ia9@ @@/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502680q E  E E ,E "E 2:*E 1]:VE g4ZE a @a @a @a @^A B ">B VCB IB ^BB ~ =B B ̺DB R;B YCEI I O >i,AN?A 2:?2%?2`ٱ2 >AHRS rotation from veh to nav: [[0.221538,-0.960530,-0.168236],[0.963964,0.241772,-0.110999],[0.147292,-0.137583,0.979477]]2H ^[?਼Ĉſ ?_?@ijy?SW?i2:?I2_;2;CYF~]ByF6I LNp<bDRVDR1yZM">%Zg=ٔZ9\Y\=^QGy^Fb?;Eb>dQ 5jp4fYi?Q 9jp4ft)f.TBYhyj?Q Ij?fgCIf6:ifp:f~)p4ypɮr"Bpjh  FNOT Ignoring new targets: 524.84 m.Rh )9Zh )9% ProNav: ac range: 524.842468 m, nav range: 491.957458 m, bearing: 78.911069 deg, approach rate: -0.741292 m/s, LOS rate: 0.009241 deg/s, cmd heading: 77.868330 deg, new cmd heading: 77.878146 deg. Bh%9-HeadingCmd: 1.359230 target range: 524.842468 and range: 526.80 m.h-@?h)*h)"h) h1g1f1f1f9dIdIdIjdIZdU`?5&_Bɢ=)=gz =Ծi9)9AAiE iM@?Mٹ[;M6\IM@?II]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755703q-9@) @)@-4@)ԙ^AM}UIIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006889,,[N?AFyh?FT?F8ٱF EP EREPEP"EP*ERga:VEPZEPBER)*9|Y=QGyF!a;E> Q 5p4 Gai?Q 9p4 z) aTBYy֢?Q I? hCI ;i ; 7p4y!ɮ%z"B)jhYeFNOT Ignoring new targets: 524.84 m.Rhe &9Zhe &9u ProNav: ac range: 524.842468 m, nav range: 491.651642 m, bearing: 78.914831 deg, approach rate: -0.737613 m/s, LOS rate: 0.009077 deg/s, cmd heading: 77.878145 deg, new cmd heading: 77.889435 deg. BhuY9}HeadingCmd: 1.359427 target range: 524.842468 and range: 526.80 m.h}?hy*h"h hgfffdddjdZdQ?颽S_Bɢ\) Li)ioi?cZ;I?Im9@i @q@u 3@q@}eA@y}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261659^AzII O>! ,quN?A6㠐?6?6:ٱ6 >AHRS rotation from veh to nav: [[0.219026,-0.962001,-0.163040],[0.966925,0.236384,-0.095809],[0.130708,-0.136663,0.981956]]6H ?`Ŀ ?`A?膸@ ?.~0l?i6㠐?I6_;4YJ]ByJRIIN=)Np;LNA|i%Mb@Mb@Mb@!!!! !9%Cl?{GzMbp?Y%d;?y%#%;%$A%1A %A)%A!Y%pAbD= VD=2yU{=%UD=ٔ]<9aYa=eQGyeFey;Em>iQ 5up4m;hi?Q 9}p4ms)mTBY};?Q E}:y}?Q I}?m\hCIm ;im* ;mwFp4yɮR"BjhFNOT Ignoring new targets: 524.84 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518891Rh]L9Zh]L9 ProNav: ac range: 524.842468 m, nav range: 491.350555 m, bearing: 78.917759 deg, approach rate: -0.726001 m/s, LOS rate: 0.007065 deg/s, cmd heading: 77.889435 deg, new cmd heading: 77.898225 deg. Bh(9HeadingCmd: 1.359581 target range: 524.842468 and range: 526.80 m.h?h*h"h hgfffdddjdZd%?颕_Bɢ) ]i)顙ii?X;ݻI?E EE*E"EO:*Ee:VE(N4ZEa@a@a@a@I)B5>B5TCB5IB5Q^BB5 =B1B5˺DB5E;B5ACEe9@i @i@m/@iQ^A [Rӻ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771911ԁ A I I O >Υ,LN?A2ݐ?2#ɬ?2 ٱ2 :AHRS rotation from veh to nav: [[0.217463,-0.962606,-0.161551],[0.968338,0.233554,-0.088166],[0.122600,-0.137263,0.982918]]2H? @Ŀ?? b?בt?i2ݐ?I2_;2:CYB]ByBoIHJBAbDNVDN0yV=%VV=ٔZJ9XYX=ZQGyZF^Ş;E^>`Q 5fp4bni?Q 9fp4b l)bTBYhyj?Q Ij?bhCIb:ib:bSp4YynBɮ}"B}EjhFNOT Ignoring new targets: 524.84 m.Rh8Zh8 ProNav: ac range: 524.842468 m, nav range: 491.073853 m, bearing: 78.920391 deg, approach rate: -0.688139 m/s, LOS rate: 0.006549 deg/s, cmd heading: 77.898226 deg, new cmd heading: 77.906126 deg. Bhӏ9HeadingCmd: 1.359718 target range: 524.842468 and range: 526.80 m.hA ?h*h"h hgfffdddjdZd@c[@_Bɢe< )  Gi )   iiA ?X;f[IA ?Iԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022951}l"bEAjEArEEI"0E EE+E"E:*Ek:VE [4ZEBE+, N?A2^?2 ?2ٱ2 BAHRS rotation from veh to nav: [[0.215720,-0.963303,-0.159724],[0.969684,0.230568,-0.080934],[0.114791,-0.137423,0.983838]]2H?a`qĿ? A?b?`{?i2^?I2_;2;CYR]ByRIiMb@Mb@Mb@ 9/$?~jtMb`Y9Y=QGyF;E>Q 5p4vi?Q 9p4b)TBYB]PCB]IB]^BB] =BYB]ȺDB]+;B]CEBVCBUCBȖCB~ =B~ =C6 @  @ @ 4@ ԩ ^A A zA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779198IIIYOe?-,\UN?A>o?>u[?>۽ٱ> FAHRS rotation from veh to nav: [[0.213519,-0.963991,-0.158530],[0.971041,0.227222,-0.073827],[0.107190,-0.138176,0.984590]]>H T?JĿ?@?R沿p?@Á?i>o?I>ʦ_;>:CHYR^ByRI TTbD^VD^1ybj=%f.=ٔf9hYh=jQGyjFn;En>lQ 5rp4n~i?Q 9vp4nY)n UBYtyv?Q Iv?nZiCIn :ing:nup4y|ɮ~!B|jh%FNOT Ignoring new targets: 524.84 m.Rh% 8Zh- 8= ProNav: ac range: 524.842468 m, nav range: 490.362823 m, bearing: 78.926728 deg, approach rate: -0.732148 m/s, LOS rate: 0.006424 deg/s, cmd heading: 77.916127 deg, new cmd heading: 77.925155 deg. Bh=9EHeadingCmd: 1.360051 target range: 524.842468 and range: 526.80 m.hE#?hA*hA"hA hAgAfIfIfIdQdQdQjdQZd]/@颅`BɢZp ) i)顉i ջi#?cXV;I#?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.032349@ @@/@ M/Gay쳿9YGAE EE.E"Ea:*E n:VEـ4ZEBE(+S,N?A]Է?]p?]̽ٱ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284762 AHRS rotation from veh to nav: [[0.211547,-0.964553,-0.157753],[0.972250,0.224177,-0.066897],[0.099890,-0.139223,0.985210]]]H?``>1Ŀ?ұ?`) f?  ׆?i]Է?I]_;YY=^ByIiMb@Mb@Mb@ 9On?Q{GztY8?yףAA A)lAY\A p<<bDVD1y-=%-*=ٔ5y91Y1==QGy=F=;E=>IQ 5Up4Mi?Q 9]p4M,Q)M-UBY]8?Q E]:y]7?Q Ie?MiCIM=N;iMM;Mp4yqɮu!BqjhFNOT Ignoring new targets: 524.84 m.Rh8Zh8)m ProNav: ac range: 524.842468 m, nav range: 490.017609 m, bearing: 78.929290 deg, approach rate: -0.709723 m/s, LOS rate: 0.005271 deg/s, cmd heading: 77.925157 deg, new cmd heading: 77.932848 deg. Bhug9uHeadingCmd: 1.360185 target range: 524.842468 and range: 526.80 m.hu?hy*hy"hy hygyfyffdddjdZd`` @R`Bɢs)a Ei)!iE5'߻iM?MU;M:IM?II9@ @@@QU BDAT read: Rx Time:15:01:14.5182 ] TRx dataTimestamp_ set to:1761577275.916636e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537257ԁ ^A ?BɺE  E E )E "E :*E &p:VE FA4ZE a @a @a @a @IA IQ B >B NCB IB ^BB =B B ƺDB ;B BEO A;,O?A23?2?2ܮٱ2B  :AHRS rotation from veh to nav: [[0.209392,-0.965389,-0.155493],[0.973402,0.220911,-0.060724],[0.092972,-0.138642,0.985969]]2H\?x@1ÿ`&?`F?; ͷ??i23?I20_;29CY^_^BybIbDjVDj:y~=%~v=ٔEA>II)O5>  DAT read: 15:01:14.5182 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 308,-0.11, 1.959, 0.564, 2.263, 1.950, PHS= 0.111,-1.341, 0.270, RAW= 155.1, 12.5, CAL= 155.3, 13.9, ROT= 354.7, -13.9 )Ɠ,O?A&Ygot valid direction response: 15:01:14.5182 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 308,-0.11, 1.959, 0.564, 2.263, 1.950, PHS= 0.111,-1.341, 0.270, RAW= 155.1, 12.5, CAL= 155.3, 13.9, ROT= 354.7, -13.9 *PDAT read: Bearing 240.5, -1.3 (Local) *~Local bearing/azimuth received: Bearing 240.5, -1.3 (Local) .DAT read: Range 11 to 50 : 517.2 m (Round-trip 689.7 ms) speed 0.6 m/s 2R#Rx 1: Read range and direction messages.6^direction in FSK: [0.966566,-0.089666,0.240228]6Fpublishing direction and range infoyV?HSؼʿ?YLD )BIS=i㥫q=>?-@f_>x-@EE EEEE(EA"EEO:*EEg:VEEc44ZEABEE )@IUlx}??nܖ? &?)u^IqiUlxT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y~^ByII =) =bD1VD1yE =%M1=ٔMu9qYq=uQGyu F};E}>Q 5p4i?Q 9p4B)aUBYy˨?Q I?EjCI;iJ;p4yBɮ{!BiiIO?AJiDRiDjiY?b6@ ; GKwH^@RV?HSؼʿ?ZiqbiUlxj2`@rF}@ZV\ke@ZِT?;fe?M=I?2i7C:iC"i9?*i)!BibCiiibCiCiV?m addTargetRange:: Added new target pos. range: 517.200012 m, deltaT: 4.291270 s, deltaX: -9.599976 m, approachRate: -2.237094 m/s, rangeRepo size: 4 } Added new target pos. range: 515.199158 m, bearing: 74.603324 deg, lat: 36.778779 deg, lon: -121.859635 deg, deltaT: 4.291270 s, deltaX: -9.643311 m, approachRate: -2.247193 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 515.20 m.RhZh ProNav: ac range: 515.199158 m, nav range: 489.444458 m, bearing: 78.933308 deg, approach rate: 0.000000 m/s, LOS rate: 0.005206 deg/s, cmd heading: 77.937957 deg, new cmd heading: 77.945513 deg. BhHeadingCmd: 1.360406 target range: 515.199158 and range: 517.20 m.h!?h*h"h hgfffdddjd)@Zd4b?im`BɢuE )q u iq)qqyi}i}!?wU;;I!?I9@9 @9@=/@AiAIA]*DAT read: user:853> }BDAT read: Tx time:15:01:15.7744 $Ping request sent.̓,55O?A23?2o?29ٱ2 :AHRS rotation from veh to nav: [[0.205857,-0.966779,-0.151532],[0.975338,0.215298,-0.048606],[0.079616,-0.137789,0.987257]]2HY? ceÿ 5??⨿ a?`@?i23?I2ы_;2;CY^^By^IieMb@Mb@Mb@aaaa a9e(\?Qԙ9Y=QGy F;E>Q 5p4i?Q 9p4;)tUBY4?Q E:yΨ?Q I?jCI? ;i ;p4yɮm!BB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 515.20 m.Rh-8Zh-8checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243450 ProNav: ac range: 515.199158 m, nav range: 489.179840 m, bearing: 78.935136 deg, approach rate: -0.723393 m/s, LOS rate: 0.005000 deg/s, cmd heading: 77.945511 deg, new cmd heading: 77.950998 deg. Bh[9HeadingCmd: 1.360502 target range: 515.199158 and range: 517.20 m.h$?h*h"h hgfffd!d!d!jd!Zd--?颕`Bɢ_)) i)顡ii$?7 V;CF;I$?IEU EUEQEQ"EU:*EU n:VEQZEQae@ae@ae@ae@B>BMCB IB^BB =BBźDB;BBE; @  @ @ /@ @ =@ =M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495176 ^Au vт;IA.AIIO?oՓ,VO?A2?2?2sٱ2Ҳ :AHRS rotation from veh to nav: [[0.204308,-0.967214,-0.150848],[0.976151,0.212853,-0.042687],[0.073396,-0.138529,0.987635]]2H&? k@Nÿ? ۥ@ʲ?O?i2?I2T^_;29CYB^ByBI DDbDN VDN2yVlo=%V'=ٔVQ9Z ?YZ ?=^QGy^ F^c;E^>`Q 5fp4bОi?Q 9fp4b3)bUBYdyj?Q Ij?bjCIbśۓ,pO?A2?21֮?2ٱ2T :AHRS rotation from veh to nav: [[0.202995,-0.967750,-0.149177],[0.976875,0.210600,-0.036918],[0.067144,-0.138233,0.988121]]2H?`;ÿ B??`梿a0??i2?I2*_;2;CYB^ByFIi5Mb@Mb@Mb@1111 195"~?{Gz{GzY53?y5#5#5A5A 55A)11Y5AbDMVDMy]Fz=%]==ٔ]n9aYa=eQGye F2R;E>Q 5p4i?Q 9p4+)UBYF4?Q E:y]?Q I%?2kCIh;i%;jp4y-Bɮ-!!B5 Ejhq}FNOT Ignoring new targets: 515.20 m.Rh}28Zh}28 ProNav: ac range: 515.199158 m, nav range: 488.523163 m, bearing: 78.940028 deg, approach rate: -0.745301 m/s, LOS rate: 0.006153 deg/s, cmd heading: 77.957901 deg, new cmd heading: 77.965680 deg. Bh9HeadingCmd: 1.360758 target range: 515.199158 and range: 517.20 m.hP-?h*h"h hgfffdddjdZd`?mAaBɢm$-)ujT uRiq)qqqi}4i}P-?W;c;IP-?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251464!E EE+E"E:*EVE [4ZEa@a@a@a@A A B>BLCB5 IB_BBBBĺDBQ;BBEA9@ @@0@@@i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503357^A X;ԙA؟AII1O=>g,6O?A6?6n?6dٱ6F RAHRS rotation from veh to nav: [[0.202683,-0.968031,-0.147771],[0.977654,0.208633,-0.025776],[0.055782,-0.139244,0.988686]]6H@?&¿H?@y?e t? P?i6?I68_;68CYZ^ByZ II^G>)^>bDfVDfyn=<%n)=ٔn$9r"?Yr"?=rQGyrFvʂ:Ev>xQ 5~p4zi?Q 9~p4z")zUBY|yn?Q I?zkCIz9:iz:zp4y ɮ !B jh15FNOT Ignoring new targets: 515.20 m.Rh=8Zh=8M ProNav: ac range: 515.199158 m, nav range: 488.196106 m, bearing: 78.942710 deg, approach rate: -0.714340 m/s, LOS rate: 0.005863 deg/s, cmd heading: 77.965680 deg, new cmd heading: 77.973734 deg. BhMÀ9UHeadingCmd: 1.360898 target range: 515.199158 and range: 517.20 m.hU1?hQ*hY"hY hYgYfYfafadadadajdiZdm9?颕taBɢH3) +(i)顙iْi1?JW;L;I1?IԉM9@I @I@M4@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.754961E EE*E"E*EX:VE(N4ZEBE| .,O?A^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008713v ?vݮ?vNٱv[ 5AHRS rotation from veh to nav: [[0.202972,-0.967976,-0.147734],[0.977882,0.208162,-0.020395],[0.050494,-0.140327,0.988817]]vH`?`¿J? ?g┿hک?; c?iv ?Iv!^;tY}^By IieMb@Mb@Mb@aaaa a9eʡE?y&1MbpYe-2?ye`eeeAeA eGA)eOAaYezAbD}VD}y:=%&=ٔ09 ?Y ?=QGyFE>Q 5p4i?Q 9p4)UBY2?Q E:y?Q I?kCI7 ;i ;p4yBɮ!BEjhFNOT Ignoring new targets: 515.20 m.Rh 9Zh 9 ProNav: ac range: 515.199158 m, nav range: 487.855438 m, bearing: 78.946408 deg, approach rate: -0.694038 m/s, LOS rate: 0.007538 deg/s, cmd heading: 77.973733 deg, new cmd heading: 77.984833 deg. Bh9HeadingCmd: 1.361092 target range: 515.199158 and range: 517.20 m.hD8?h*h"h  h g f ffdddjdZd`] @EaBɢM/)I M .iI)IIQiUiUD8?]fX;];I]D8?IY9@ @@4@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258739I B= >B= JCB= N IB= E_BB= =B= ;DB= úDB= ;B= AEEU  EU EU )EQ "EU a:*EU g:VEU FA4ZEQ BEU (<2EU (<JEU 1;:EU 1;^Ae  \,̳O?A2ђ?2v?2:ٱ2  >AHRS rotation from veh to nav: [[0.203982,-0.967961,-0.146436],[0.977920,0.208410,-0.015396],[0.045422,-0.140062,0.989100]]2H?` k¿`K?1?A??i2ђ?I2_;29CYF'_ByF; IbDLVDLyV>%Vy=ٔZ} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762829},lO?AbE]G4jE]G4rE]^0E& E&E&*E$"E&:*E&1]:VE&(N4ZE$BE&8<2E&8<JE&;:E&;Y0_By%A I !!bD5VD5N2yME<%M4=ٔMQ-M>9U"?YU"?=uQGyuF}E}>Q 5q4 i?Q 9q4@ )UBYyQ I?jlCI:i[:Y q4yBɮ BEjhIQmFNOT Ignoring new targets: 515.20 m.Rhu9Zhu9 ProNav: ac range: 515.199158 m, nav range: 487.309174 m, bearing: 78.952409 deg, approach rate: -0.669261 m/s, LOS rate: 0.007362 deg/s, cmd heading: 77.992339 deg, new cmd heading: 78.002849 deg. Bh9HeadingCmd: 1.361407 target range: 515.199158 and range: 517.20 m.hB?h*h"h hgfffdddjdZd` @ bBɢ>) 6i)i=i%B?%8Y;!I%B?I)iIIIechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.018531ԁ5Ǽԩ 9@  @ @ 4@ ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267112IIBA<B>BBm IBx_BBBBºDB;BsAEBmLCBmLCBmϔCBmϊ =Bmϋ =Cm=5E EEE"E:*EAr:VEZEBE<2E<JEJ;:EK;O ?A,P?ARR?Rk>?R ٱRf ZAHRS rotation from veh to nav: [[0.207846,-0.967063,-0.146934],[0.977471,0.210988,-0.005953],[0.036759,-0.142387,0.989128]]RH ?@- ¿@pG??bx Ң?9¿`?iRR?IR`;R9Y=QGyFE>Q 5q4i?Q 9q4A)UBY6?Q E:y?Q I?lCI:i:q4yɮ Bjh  FNOT Ignoring new targets: 515.20 m.Rh9Zh9% ProNav: ac range: 515.199158 m, nav range: 486.953888 m, bearing: 78.956463 deg, approach rate: -0.732679 m/s, LOS rate: 0.008365 deg/s, cmd heading: 78.002850 deg, new cmd heading: 78.015019 deg. Bh%9-HeadingCmd: 1.361619 target range: 515.199158 and range: 517.20 m.h-I?h)*h)"h1 h1g1f1f9f9d9d9d9jdAZdE sZ @mBbBɢmG)uGm uBiq)qqqi}i}I?}-Y;L,;II?I)eu \9@ @@/@BDAT read: Rx Time:15:01:18.8640 TRx dataTimestamp_ set to:1761577280.203990checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523754Q^A= X;y I9 II OU >g,P?A &Gf>$4V>Gdchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7715395ɩ91Y5#Aef?e?etٱe~ uAHRS rotation from veh to nav: [[0.210098,-0.966556,-0.147066],[0.977145,0.212573,-0.001139],[0.032363,-0.143465,0.989126]]eHz? ¿D?5?R?]¿?ief?Ie*`;e:CY\_By\ IbD VD:2y=%K=ٔE39Y=QGyFE>Q 5q4i?Q 9q4)VBYy?Q I?mCIn;i;,q4y*Bɮ BEjhFNOT Ignoring new targets: 515.20 m.Rh X9Zh X9 ProNav: ac range: 515.199158 m, nav range: 486.669678 m, bearing: 78.959785 deg, approach rate: -0.707075 m/s, LOS rate: 0.008270 deg/s, cmd heading: 78.015022 deg, new cmd heading: 78.024994 deg. Bh9%HeadingCmd: 1.361793 target range: 515.199158 and range: 517.20 m.h%AI1IAOe?,`;P?A6Б?6{?6)ٱ6^ BAHRS rotation from veh to nav: [[0.211776,-0.966033,-0.148092],[0.976893,0.213709,0.002923],[0.028824,-0.145290,0.988969]]6Hy?¿@B?Z?g?@)?ؘ¿?i6Б?I6%q_;4YJ_ByJt IIR=)R%=-DAT read: 15:01:18.8640 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 392, 0.14,-1.480,-2.976,-1.176,-1.554, PHS= 0.176,-1.377, 0.333, RAW= 154.8, 10.6, CAL= 154.7, 11.6, ROT= 355.3, -11.6 5Ygot valid direction response: 15:01:18.8640 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 392, 0.14,-1.480,-2.976,-1.176,-1.554, PHS= 0.176,-1.377, 0.333, RAW= 154.8, 10.6, CAL= 154.7, 11.6, ROT= 355.3, -11.6 =PDAT read: Bearing 239.4, -3.9 (Local) =~Local bearing/azimuth received: Bearing 239.4, -3.9 (Local) EDAT read: Range 11 to 50 : 514.1 m (Round-trip 685.5 ms) speed 0.5 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.976281,-0.080265,0.201078]UFpublishing direction and range infoy|~wJ=?,@o?Y~D|||| |)~DI~X94>i~A~~>~,@~q=>~3,@ ~4QO>)~o@I~4QO||~p?b?O3? ~S?)~=I~i~4QO||mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.1B>BICB IB_BBBBB\;BAEE EE'E"E:*EL_:VE'4ZEBE'9Y=QGyFAE>Q 5 q4zi?Q 9 q4N) VBY>>?Q E:y'?Q I?{mCI;i\:Aq4yɮ Bi|i~1#=P?AJi~DRi~Dji~L?b~RS>@$.DWؽY@R~wJ=?,@o?Zi~bi~4QOj~hJ`@J~C}@))(^@Z~DI?0?W|?2i~C:i~TC"i~^ ”?*i~e]'Bi~2Ci~s?i~e]'i~NCi~Ci~? addTargetRange:: Added new target pos. range: 514.099976 m, deltaT: 4.534174 s, deltaX: -3.100037 m, approachRate: -0.683705 m/s, rangeRepo size: 4  Added new target pos. range: 512.071716 m, bearing: 74.806059 deg, lat: 36.778914 deg, lon: -121.859606 deg, deltaT: 4.534174 s, deltaX: -3.127441 m, approachRate: -0.689749 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 512.07 m.RhZh ProNav: ac range: 512.071716 m, nav range: 491.920837 m, bearing: 77.299839 deg, approach rate: 0.000000 m/s, LOS rate: 0.008270 deg/s, cmd heading: 78.024994 deg, new cmd heading: 78.039637 deg. Bh%HeadingCmd: 1.362049 target range: 512.071716 and range: 514.10 m.h%W?h!*h!"h! h!g)f)f)f)d1d1d1jd5@Zd5 ?abBɢ.]:) vMi)iiW?O"X;,,IW?IԉiߩIߩ*DAT read: user:854> BDAT read: Tx time:15:01:20.2244 $Ping request sent.9yYy=}QGy}F}E>Q 5q4Ki?Q 9q4)6VBYyQ I?mCI;iv;Pq4y Bɮ BEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 512.07 m.Rh18Zh18 ProNav: ac range: 512.071716 m, nav range: 491.586365 m, bearing: 77.302138 deg, approach rate: -0.767312 m/s, LOS rate: 0.005278 deg/s, cmd heading: 78.039638 deg, new cmd heading: 78.046540 deg. D zD ?AE EE+E"E:*EVE [4ZEa@a@a@a@Bhg9mHeadingCmd: 1.362169 target range: 512.071716 and range: 514.10 m.hm[?hi*hi"hi hqgqfqfqfydydydyjdyZd?MbBɢMc)I MSiQ)QQQiUi][?]@W;]^Ie[?Iaiiiichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504988I9@ @@4@i ^Ae rgI I O >^^,sxP?A2T?2??2¿ٱ2F :AHRS rotation from veh to nav: [[0.215528,-0.964910,-0.149991],[0.976232,0.216498,0.010030],[0.022795,-0.148587,0.988637]]2Hj?@2ÿ@J=?1??sW?ÿ ?i2T?I2^;2;CYN_ByR IԱiMb@Mb@Mb@ 9}?5^I?I +9Y=QGyF E> Q 5q4 i?Q 9q4 [) QVBYB?Q E:yϦ?Q I? 'nCI :i : 3`q4y!ɮ- B)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754583jhFNOT Ignoring new targets: 512.07 m.Rh!8Zh!8 ProNav: ac range: 512.071716 m, nav range: 491.252258 m, bearing: 77.303934 deg, approach rate: -0.732352 m/s, LOS rate: 0.003938 deg/s, cmd heading: 78.046543 deg, new cmd heading: 78.051932 deg. Bh ,9HeadingCmd: 1.362263 target range: 512.071716 and range: 514.10 m.h^?h*h"h hgfff!d!d!djdZd`?$cBɢh) _i)i*oA!A!B->B)B- IB-_BB)B)B)B-;B-@EiE^?MÅV;MɈIM^?IIE EE(E"Ea:*Ei:VEc44ZEBE(f$,tP?A2??2+?2 ٱ2 :AHRS rotation from veh to nav: [[0.216132,-0.964739,-0.150218],[0.976110,0.217013,0.010698],[0.022278,-0.148941,0.988595]]2H3?$U:ÿ K9xYx=zQGyzF~պE~>Q 5 q4&i?Q 9 q4)gVBY y5?Q I5?pnCI%;i;hmq4y=)Bɮ= B=EjhFNOT Ignoring new targets: 512.07 m.Rh8Zh8 ProNav: ac range: 512.071716 m, nav range: 490.965820 m, bearing: 77.305495 deg, approach rate: -0.774289 m/s, LOS rate: 0.004222 deg/s, cmd heading: 78.051932 deg, new cmd heading: 78.056618 deg. Bhs99HeadingCmd: 1.362345 target range: 512.071716 and range: 514.10 m.hRa?h*h"h hgfffdddjdZd\?QcBɢeMN)i myeii)iqqium?i}Ra?ɐU; IRa?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2585689@ @@/@EU EUEQEQ"EU:*EUX:VEQZEQa]@a]@a]@a]@!^A Q A .AI I O >*,.;P?A2k6?2"?2Yٱ2 :AHRS rotation from veh to nav: [[0.216415,-0.964536,-0.151111],[0.976050,0.217262,0.011088],[0.022136,-0.149892,0.988455]]2H~?zWÿ;? :?i?@?/ÿ`k?i2k6?I2^;2:CYF_ByF IbDNVDNyVN+=%VK=ٔZ9Q-Z>9Z ?YZ ?=ZQGyZF^@E^>`Q 5fq4bi?Q 9jq4b|)bVBYhyj?Q Ij?bnCIbC&;iba';ixIx checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514517b3{q4yɮ B!jhauFNOT Ignoring new targets: 512.07 m.RhŖ8ZhŖ89 ProNav: ac range: 512.071716 m, nav range: 490.666626 m, bearing: 77.307135 deg, approach rate: -0.750732 m/s, LOS rate: 0.004119 deg/s, cmd heading: 78.056618 deg, new cmd heading: 78.061543 deg. Bh49HeadingCmd: 1.362431 target range: 512.071716 and range: 514.10 m.hm#d?hq*hq"hq hqgqfqfyfydydydjdZd?cBɢ0) ni)ii#d?{T;I#d?Ii9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762516ԙ^A eB >B B IB _BB B B B ׉;B @EE  E E .E "E :*E e:VE ـ4ZE BE |i1,P?AB,?Ba?BٱBb NAHRS rotation from veh to nav: [[0.216703,-0.964105,-0.153432],[0.975987,0.217513,0.011690],[0.022103,-0.152281,0.988090]]BH? ÿI;?@x?@?F?}ÿo?iB,?IB^;B8CYV_ByV Ii5Mb@Mb@Mb@1111 195w/?~jt ףp= ?Y5F?y55Q8=5A5A 1)11Y5AbDMVDM02yo=%<=ٔ|8Q->9"?Y"?=QGyF1E>Q 5q4i?Q 9q4)VBY{G?Q E:y?Q I?oCIn:i:mq4yBɮX BEjhFNOT Ignoring new targets: 512.07 m.Rhy8Zhy8- ProNav: ac range: 512.071716 m, nav range: 490.328613 m, bearing: 77.308580 deg, approach rate: -0.797666 m/s, LOS rate: 0.003413 deg/s, cmd heading: 78.061542 deg, new cmd heading: 78.065881 deg. Bh-95HeadingCmd: 1.362507 target range: 512.071716 and range: 514.10 m.h5f?h1*h1"h1 h9g9f9f9fAdAdAdAjdAZdM@ucBɢu:)y }Hriy)yyyi})ܻif?cS;If?IԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014665#2A@A @I@M/@I@UdA@UdA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266592^A- 1 A5 >A5 >E  E E *E "E :*E g:VE (N4ZE a @a @a @a @IIIYOe>כ8,P?A2,?2?2cٱ2B1 :AHRS rotation from veh to nav: [[0.216696,-0.964006,-0.154066],[0.975982,0.217543,0.011547],[0.022384,-0.152868,0.987993]]2H`? " mÿ?;?o?? ?`+ÿ?i2,?I2^;29CYB_ByF IbDNVDN0yVlJ=%V;=ٔV(Q-V>9XYX=ZQGy^F^V7E^>`Q 5fq4bjj?Q 9fq4bA)bVBYdyj ?Q Ij?bjoCIb:ib;bq4ylɮnB BlB*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 512.07 m.Rh-p8Zh5p8 ProNav: ac range: 512.071716 m, nav range: 489.989441 m, bearing: 77.310031 deg, approach rate: -0.767841 m/s, LOS rate: 0.003286 deg/s, cmd heading: 78.065879 deg, new cmd heading: 78.070234 deg. BhS9HeadingCmd: 1.362583 target range: 512.071716 and range: 514.10 m.hi?h*h"h hgfffdddjdZd[@EcBɢM )i mzii)qqqiu.#׻i}i?}DFR;}#XI}i?I! checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5194669Ya@i @i@m/@iy ^A S checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771697Ա B A <B >B B IB %`BB B B B ;B 5@EIiIyE EE(E"E:*EB:VEc44ZEBE@,Q?A:I?:5?:ٱ:M ^AHRS rotation from veh to nav: [[0.215829,-0.964301,-0.153430],[0.976154,0.216834,0.010356],[0.023282,-0.152007,0.988105]]:HE?ÿ9Y=QGyF:E>Q 5q4Ij?Q 9q4)VBYM?Q E:yI?Q I?oCI*:i:q4y ɮ 1 B jh1=FNOT Ignoring new targets: 512.07 m.Rh=d6Zh=d6U ProNav: ac range: 512.071716 m, nav range: 489.570404 m, bearing: 77.310197 deg, approach rate: -0.807947 m/s, LOS rate: 0.000320 deg/s, cmd heading: 78.070237 deg, new cmd heading: 78.070735 deg. BhU`7UHeadingCmd: 1.362591 target range: 512.071716 and range: 514.10 m.h]ei?hY*hY"hY hYgYfYfafadadidijdiZdm@e` @额#dBɢ欃) i)顡isѻiei?AQ;<Iei?I9iߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022842-9@) @)@-/@)iԑ ^A Iq I O >G,Q?A2o?2>[?2Ǽٱ23y :AHRS rotation from veh to nav: [[0.214699,-0.964489,-0.153838],[0.976376,0.215887,0.009144],[0.024393,-0.152167,0.988054]]2HD{?ÿw>?.?@?`_?3zÿ"?i2o?I2 ^;2;CYF"`ByF IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274691bDNVDNyZ\=%ZX=ٔ^@Q-^>9`Y`=bQGybFbbG;Ef>dQ 5jq4fj?Q 9nq4f)fVBYlyno?Q In?f#pCIf* ;if& ;f.q4yvBɮv BvEjh FNOT Ignoring new targets: 512.07 m.RhAu6ZhAu6- ProNav: ac range: 512.071716 m, nav range: 489.267303 m, bearing: 77.310276 deg, approach rate: -0.803022 m/s, LOS rate: 0.000209 deg/s, cmd heading: 78.070736 deg, new cmd heading: 78.070973 deg. Bh-'75HeadingCmd: 1.362596 target range: 512.071716 and range: 514.10 m.h5i?h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdMje @uQdBɢuO) Յi)i̻ii?G7P;OVIi?I 1bEjErE 0E} E}E})Ey"E}:*E}X:VE}FA4ZEya@a@a@a@9@ @@4@A^A3I9]BDAT read: Rx Time:15:01:23.3094 eTRx dataTimestamp_ set to:1761577284.736975echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528802IqyO>ԙ :M,}7Q?A2v?2{?2ϼٱ2 :AHRS rotation from veh to nav: [[0.213746,-0.964607,-0.154423],[0.976560,0.215095,0.008118],[0.025384,-0.152538,0.987972]]2H@\?`ÿ??7?@c?[?]ÿv?i2v?I2K^;29CYb,`Byb IiMb@Mb@Mb@ 9X9v?~jth? rh?YS?yD;C =A A)AY AbDVDys<%7=ٔQ->9 Y = QGy F;E>Q 5%q4Jj?Q 9%q4?) WBY%S?Q E%:y%?Q I-?pCI:i:q4y1ɮ5 B1jhY]FNOT Ignoring new targets: 512.07 m.Rhe8Zhe8q} ProNav: ac range: 512.071716 m, nav range: 488.898865 m, bearing: 77.309593 deg, approach rate: -0.825650 m/s, LOS rate: -0.001531 deg/s, cmd heading: 78.070975 deg, new cmd heading: 78.068924 deg. Bh}HeadingCmd: 1.362560 target range: 512.071716 and range: 514.10 m.h\h?h*h"h hgfffdddjdZd @dBɢ?) ^i)iNǻi\h?eO;$I\h?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7790439@ @@H2@B>BHCB IBW`BBBBDBX;B@EBICBICBēCBČ =BČ =Cİ4E EE,E"E:*Ek:VEg4ZEBE' DAT read: 15:01:23.3094 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 393, 0.09,-1.474,-3.000,-1.156,-1.535, PHS= 0.163,-1.420, 0.335, RAW= 155.1, 11.0, CAL= 155.1, 12.1, ROT= 354.9, -12.1  Ygot valid direction response: 15:01:23.3094 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 393, 0.09,-1.474,-3.000,-1.156,-1.535, PHS= 0.163,-1.420, 0.335, RAW= 155.1, 11.0, CAL= 155.1, 12.1, ROT= 354.9, -12.1  PDAT read: Bearing 240.0, -5.3 (Local)  ~Local bearing/azimuth received: Bearing 240.0, -5.3 (Local) #T,\QQ?A>DAT read: Range 11 to 50 : 510.6 m (Round-trip 680.9 ms) speed 0.8 m/s BR#Rx 1: Read range and direction messages.F^direction in FSK: [0.973912,-0.086920,0.209619]JFpublishing direction and range infoyLVJ*??[@9h?YLC )BIy&>iµ>b̫?bg?bټٱb nAHRS rotation from veh to nav: [[0.212894,-0.964791,-0.154450],[0.976713,0.214443,0.006761],[0.026598,-0.152293,0.987977]]?-@ D>?-@ @X>)6@I@X$?D?ZYq? !?)"DIKi@XmT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.bH@@?ÿ;A?r?{?9Y=QGy F:E>Q 5 q4!j?Q 9q4)*WBYyڮ?Q I?pCI:i:eq4y!ɮ% B!iiQOQ?AJiICRiICjiu?biQ݊~@\}REFzV؊ۦZ@RLVJ*??[@9h?ZiKbi@XjhJ8t`@i~B}@MN_@Z\?dm|j? SɄ?2iC:iC"ia,v?*iԚBiH5Ci9?ii:MCiCiu?u addTargetRange:: Added new target pos. range: 510.600006 m, deltaT: 4.284088 s, deltaX: -3.499969 m, approachRate: -0.816970 m/s, rangeRepo size: 4  Added new target pos. range: 508.576843 m, bearing: 74.511401 deg, lat: 36.779094 deg, lon: -121.859606 deg, deltaT: 4.284088 s, deltaX: -3.494873 m, approachRate: -0.815780 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 508.58 m.RhZh ProNav: ac range: 508.576843 m, nav range: 493.235992 m, bearing: 75.042394 deg, approach rate: 0.000000 m/s, LOS rate: -0.001531 deg/s, cmd heading: 78.068926 deg, new cmd heading: 78.066458 deg. BhHeadingCmd: 1.362517 target range: 508.576843 and range: 510.60 m.hf?h*h"h hgf*DAT read: user:855> BDAT read: Tx time:15:01:24.5744 $Ping request sent.9  ?Y  ?= QGy !F;E>Q 5%q4b'j?Q 9%q4*)>WBY%T?Q E%:y-?Q I-?IqCI;i;q4y1ɮ5B1IeB*** querying acoustic contact ***ia iajhFNOT Ignoring new targets: 508.58 m.Rh-+޸Zh-+޸e ProNav: ac range: 508.576843 m, nav range: 492.897644 m, bearing: 75.039819 deg, approach rate: -0.796926 m/s, LOS rate: -0.006070 deg/s, cmd heading: 78.066460 deg, new cmd heading: 78.058729 deg. BheMmHeadingCmd: 1.362382 target range: 508.576843 and range: 510.60 m.hmb?hi*hi"hq hqgqfqfyfydydydjdZd ?dBɢϢ) i)ihib?%$N;%/ :I%b?I!ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5030739@ @@4@AABBB IBv`BBBBB);B?EE EEE"E :*Ec:VEZEBER"/c,]Q?A2%?2F?2^ٱ2  >AHRS rotation from veh to nav: [[0.209236,-0.965601,-0.154387],[0.977384,0.211463,0.002037],[0.030680,-0.151322,0.988008]]2H@=?3 ÿ`F? ;?j`?j?^ÿÝ?i2%?I2^;05checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754591Y=4`By= IbDMVDMy]%]X=ٔ]KqQ-e>9aYa=eQGye"FmO;Em>qQ 5}q4u,j?Q 9}q4u )uQWBYyy,?Q I?uqCIuW:iu-:uq4yBɮBEjhFNOT Ignoring new targets: 508.58 m.RhZh ProNav: ac range: 508.576843 m, nav range: 492.583649 m, bearing: 75.037382 deg, approach rate: -0.875329 m/s, LOS rate: -0.006797 deg/s, cmd heading: 78.058728 deg, new cmd heading: 78.051413 deg. BhFHeadingCmd: 1.362254 target range: 508.576843 and range: 510.60 m.hX^?h*h"h hgfffdddjdZd@{?)eBɢ)%< i)!i%3嵻iX^?&M;xM:IX^?I]9@Y @Y@]/@Y^AE?B9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006834 Ay I I O >D %=D %=E  E E (E "E :*E ]t:VE c44ZE a @a @a @a @I Ri,Q?A67W?6B?6ٱ6= >AHRS rotation from veh to nav: [[0.207746,-0.966024,-0.153750],[0.977643,0.210271,-0.000169],[0.032492,-0.150278,0.988110]]6H j?@ÿH?,?&Ԣ?@L<ÿ`?i67W?I6^;69CYE6`ByE IbDUVDU1yeg;%eK=ٔmKQ-m>9iYi=mQGyu#Fuu;Eu>yQ 5r4}1j?Q 9r4}h)}fWBYy]?Q I?}qCI}:i}:}r4yBɮ BjhFNOT Ignoring new targets: 508.58 m.RhZh ProNav: ac range: 508.576843 m, nav range: 492.249725 m, bearing: 75.034729 deg, approach rate: -0.828049 m/s, LOS rate: -0.006583 deg/s, cmd heading: 78.051413 deg, new cmd heading: 78.043449 deg. BhHeadingCmd: 1.362115 target range: 508.576843 and range: 510.60 m.hY?h*h"h hgfffdddjdZd e?[eBɢ%)! %i!)!))i-Gگi-Y?5.M;5't6;I5Y?I919@ @@@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259981i^A] ;ԉ A! I) IA O] > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510776:p,+Q?A02?2>p?2} ٱ2: >AHRS rotation from veh to nav: [[0.206381,-0.966319,-0.153734],[0.977884,0.209141,-0.001825],[0.033915,-0.149957,0.988111]]2Hj?ÿJ? ?D]`U]?1ÿ ?i2?I2I^;BF>BDBF IBF`BBDBDBDBF;BF?E28C]VBattery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-ZBattery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-ZBattery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-^Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.-bBattery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-fBattery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-jBattery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-jBattery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-nBattery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.-rBattery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-vBattery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-vBattery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.zCalculating totals. Valid battery stick count: 17. Valid reserve battery stick count: 1.RwPH)RiAPPɶRAE EE*E"E,:*ET:VE(N4ZEBE9Y=QGy$FA?;E>Q 5r4B8j?Q 9r4au)xWBYQ?Q E:y?Q I?RrCIC(Ww,Q?A2B?2ݜ?2ٱ2' :AHRS rotation from veh to nav: [[0.205037,-0.966563,-0.153999],[0.978108,0.208067,-0.003648],[0.035568,-0.149880,0.988064]]2H>?`>ÿL??m`5?B/ÿ8?i2B?I2<_;2;CYBL`ByB I DDbDNVDN:2yR<%V\=ٔVᑻQ-Z>9Z"?YZ"?=ZQGyZ%F^`Q 5fr4b/=j?jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014955Q 9fr4bm)bWBYlynI?Q In?brCIbxk;ibl;b"r4yrBɮrBv׳Ejh FNOT Ignoring new targets: 508.58 m.RhZh% ProNav: ac range: 508.576843 m, nav range: 491.558899 m, bearing: 75.029341 deg, approach rate: -0.840164 m/s, LOS rate: -0.006637 deg/s, cmd heading: 78.034460 deg, new cmd heading: 78.027274 deg. Bh-‘5HeadingCmd: 1.361833 target range: 508.576843 and range: 510.60 m.h5P?h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdEC@E EE-E"E:*E H:VEt4ZEa@a@a@a@eBɢ˽) i)iiP?5#N;;IP?I1eqachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2675039@ @@/@ԑ ^A% ~;ԹAqIyIO?3$,Q?ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518819Y^=`By^ IiEMb@Mb@Mb@AAAA A9Eoʡ?Mb`?MbPYEM?yE;EBQAU<B]>BYB] IB]`BBYBYBYB];B]j?EAEA EA)E+AAYEAbDVDy׼%=ٔQ->9Y=QGy'FE>Q 5r4Dj?Q 9r4^b)WBYM?Q E:y?Q I?sCI;i:5r4yɮBB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 508.58 m.Rh¸Zh¸IEu EuEu*Eq"Eu:*EuC:VEu(N4ZEqBEu| ,yXR?AN ?N?Nd ٱNY ZAHRS rotation from veh to nav: [[0.202328,-0.966995,-0.154870],[0.978538,0.205931,-0.007415],[0.039062,-0.150046,0.987907]]NH@?ÿ/P? [?^~?4ÿ@?iN ?IN_;N:CY^<`By`bDjVDjk1y7%%S=ٔ%Q-%>9% ?Y- ?=-QGy-(F-;E->1Q 5=r45Ij?Q 9Er45\Z)5WBYAyEA?Q IE?5_sCI5:i5:5Cr4yIɮMBQjhFNOT Ignoring new targets: 508.58 m.Rhz˸Zhz˸ ProNav: ac range: 508.576843 m, nav range: 490.815765 m, bearing: 75.024302 deg, approach rate: -0.796596 m/s, LOS rate: -0.005559 deg/s, cmd heading: 78.018635 deg, new cmd heading: 78.012142 deg. Bh,tHeadingCmd: 1.361569 target range: 508.576843 and range: 510.60 m.hG?h*h"h hgfffdddjdZd @9fBɢa) i)iiiG?uN;)r;IG?I  ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022915E EE+E"E:*Ek:VE [4ZEa@a@a@a@59@1 @9@=/@9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274733^Ae ϩ;1 A ؟AI IOE>Z1,U7R?A=6?=}"?=/(ٱ= eAHRS rotation from veh to nav: [[0.201004,-0.967260,-0.154938],[0.978730,0.204928,-0.009613],[0.041050,-0.149710,0.987878]]=H?ÿ@Q? ;?# t?`)ÿ`?i=6?I=U`;=;CY};`By} IIp>)495"?Y5"?=5QGy5)F=.;E=>AQ 5Mr4E/Qj?Q 9Mr4EmP)EWBYMzE?Q EU:yU ?Q IU?EsCIE ;iEe ;ETr4y]Bɮ]BYjh%FNOT Ignoring new targets: 508.58 m.Rh-]Zh-]= ProNav: ac range: 508.576843 m, nav range: 490.428375 m, bearing: 75.022737 deg, approach rate: -0.749343 m/s, LOS rate: -0.003029 deg/s, cmd heading: 78.012139 deg, new cmd heading: 78.007442 deg. Bh= mHeadingCmd: 1.361487 target range: 508.576843 and range: 510.60 m.hm2E?hi*hi"hi higifqfqfqdqdydyjdyZd}@ @|fBɢ½) ȿi)iネi2E?O;BaBaBaBaBaBaBe;BeN?E@ @@0@E EE&E"E>:*EV:VE4ZEBE?,QR?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7788186b?6$N?64g3ٱ69 BAHRS rotation from veh to nav: [[0.199677,-0.967323,-0.156256],[0.978883,0.204051,-0.012304],[0.043786,-0.150499,0.987640]]6H@?N@.Ŀ`S?W?2k? Cÿ`?i6b?I6a;4YF`ByJ IbDRVDR1yZJ%Zg=ٔZ:Q-^>9\Y\=^QGyb*Fb.v;Eb>dQ 5jr4fVVj?Q 9jr4fjI)fWBYhyn4?Q In?ftCIf:if;f ar4yrBɮr BrγEjh  FNOT Ignoring new targets: 508.58 m.Rh@xZh@x% ProNav: ac range: 508.576843 m, nav range: 490.155029 m, bearing: 75.021590 deg, approach rate: -0.807381 m/s, LOS rate: -0.003391 deg/s, cmd heading: 78.007440 deg, new cmd heading: 78.003996 deg. Bh%-HeadingCmd: 1.361427 target range: 508.576843 and range: 510.60 m.h-:C?h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdENF@yfBɢR) Rѿi)iXi:C?SP;&" f=,jR?A2D?2ބ?2,8Aٱ27 :AHRS rotation from veh to nav: [[0.198012,-0.967293,-0.158545],[0.979065,0.202959,-0.015484],[0.047155,-0.152160,0.987230]]2HrX?@1KĿT??е$?@yÿ@d?i2D?I2 a;29CYB`By@bDJ VDJ2yRj:%RK=ٔVX Q-V>9TYT=ZQGyZ+FZ;EZ>\Q 5br4^$\j?Q 9br4^uA)^WBYdyfi?Q If?^XtCI^[:i^1:^or4yhɮj BhjhyFNOT Ignoring new targets: 508.58 m.RhgnZhgn ProNav: ac range: 508.576843 m, nav range: 489.845062 m, bearing: 75.020228 deg, approach rate: -0.740623 m/s, LOS rate: -0.003257 deg/s, cmd heading: 78.003998 deg, new cmd heading: 77.999909 deg. Bh HeadingCmd: 1.361355 target range: 508.576843 and range: 510.60 m.h@?h*h"h hgfffdddjdZd@fBɢ^) ؿi)io}i@?Q;v9="-@=Vh>=x-@ =w>)=@I=w99=O={h?P#J? _cI#? =2m?)=gI=qi=w99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@4@)Q^A<Ii Iy O > *DAT read: user:856>  BDAT read: Tx time:15:01:29.0744  $Ping request sent. Bm GCBm  IBm `BBi y Bi Bm DBm ;Bm :?EB-HCB-HCB)B)B)C-ׂ4$,̄R?AE6 E6E6)E4"E6,:*E6T:VE6FA4ZE4BE6:E6Ш;a>>ؓ?>&į?>Oٱ>I ZAHRS rotation from veh to nav: [[0.196086,-0.967469,-0.159859],[0.979274,0.201636,-0.019107],[0.050718,-0.152799,0.986955]]>H`[?@AvĿ6V?6??ÿ"?i>ؓ?I>m`;9Y=QGy,Fw;E>Q 5r4cj?Q 9r48)WBY;?Q E:y?Q I ?tCI;iv;r4yɮBiqiuܺqR?AJiuCRiuCjiu:?bu%jl~@ F}}e_@RuWdȔ?4⶿!?Ziuqbiuwjup8]@uZ_a}@f'c@ZuV? $v?u?2iuC:iuB"iu|?*iu:nBiuLUCiqiuԚiqiuCiuU~? addTargetRange:: Added new target pos. range: 507.200012 m, deltaT: 4.537669 s, deltaX: -3.399994 m, approachRate: -0.749282 m/s, rangeRepo size: 4  Added new target pos. range: 505.178589 m, bearing: 75.674957 deg, lat: 36.779094 deg, lon: -121.859623 deg, deltaT: 4.537669 s, deltaX: -3.398254 m, approachRate: -0.748899 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 505.18 m.RhZh ProNav: ac range: 505.178589 m, nav range: 488.034882 m, bearing: 74.973986 deg, approach rate: 0.000000 m/s, LOS rate: -0.003257 deg/s, cmd heading: 77.999907 deg, new cmd heading: 77.995278 deg. Bh!MHeadingCmd: 1.361274 target range: 505.178589 and range: 507.20 m.hU=>?hQ*hQ"hQ hQgQfQfYfYdYdYdajde@3@Zde_??gBɢ`) ߿i)i#hni=>?u?IAԁMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2516739@ @@4@Ա^A <<A >   GCA >u G fA I I u9 fAY AO >΀,pxR?A2?2N?2C^ٱ2wC >AHRS rotation from veh to nav: [[0.194163,-0.967754,-0.160477],[0.979469,0.200299,-0.022830],[0.054237,-0.152749,0.986776]]2HQ?ĿW?`c? `@ī?Kÿ@?i2?I2G_;0YB`ByF IbDNVDNN2yVP%Vk=ٔZ&Q-Z?9XYX=^QGy^-F^;E^?`Q 5fr4bhj?Q 9fr4b#2)bWBYhyjè?Q Ij?btCIb:ib:bЋr4ylɮn Bl~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 505.18 m.Rh KZhK% ProNav: ac range: 505.178589 m, nav range: 487.780304 m, bearing: 74.973690 deg, approach rate: -0.767017 m/s, LOS rate: -0.000890 deg/s, cmd heading: 77.995276 deg, new cmd heading: 77.994390 deg. Bh%Z-HeadingCmd: 1.361259 target range: 505.178589 and range: 507.20 m.h-=?h)*h)"h) h)g)f1=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502937fAfAdAdAdIjdIZdM6?5BgBɢ5)9 =i9)999i=_iE=?ETpT;Eochecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754695 ,ZR?AvE?v0?vlٱv0 AHRS rotation from veh to nav: [[0.192767,-0.967938,-0.161049],[0.979543,0.199486,-0.026491],[0.057769,-0.152648,0.986591]]vH?@YBĿiX?@? 蓭? ÿ&?ivE?Iv_;v9Y=QGy.FK;E>Q 5r47pj?Q 9r4P*)WBY2?Q E:y?Q I?AuCI%;i ;dr4y% Bɮ%B%ųEjhIMFNOT Ignoring new targets: 505.18 m.RhUn 8ZhUn 8e ProNav: ac range: 505.178589 m, nav range: 487.470398 m, bearing: 74.974544 deg, approach rate: -0.695738 m/s, LOS rate: 0.001918 deg/s, cmd heading: 77.994388 deg, new cmd heading: 77.996951 deg. Bhe8mHeadingCmd: 1.361304 target range: 505.178589 and range: 507.20 m.hm2??hi*hi"hq hqgqfqfyfydydydyjdZd`V6?ԩ颵ygBɢ ) i)项iPi2??V;~BBBBBBBS;B>EE EE0E"E:*EVL:VE4ZEBE  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2588191 m,$R?A2Z?2*F?2n{ٱ2^ :AHRS rotation from veh to nav: [[0.192084,-0.967776,-0.162828],[0.979459,0.199423,-0.029836],[0.061346,-0.153753,0.986203]]2H@9? ĿW?`?`Yh?*ÿ?i2Z?I2rN_;2:CYB `ByB IIF=)F-?HH J49xYx=zQGyz/FU:E>!Q 5-r4%`vj?Q 9-r4%#)%WBY)y5?Q I5?%uCI%:i%:%ur4yYɮ] BYjhFNOT Ignoring new targets: 505.18 m.Rh8Zh8 ProNav: ac range: 505.178589 m, nav range: 487.210480 m, bearing: 74.975243 deg, approach rate: -0.680762 m/s, LOS rate: 0.001831 deg/s, cmd heading: 77.996949 deg, new cmd heading: 77.999046 deg. BhԠ8HeadingCmd: 1.361340 target range: 505.178589 and range: 507.20 m.he@?h*h"h hgfffdddjdZd`r?}gBɢ:) !i)顱i'Aie@?W;<K,R?A Y%*`By% IbDEVDE1y]Y=%]C=ٔeQ-e>9iYi=mQGym0FuEu>Q 5r4;}j?Q 9r4r)WBYyQ I?uCII;i@;r4yɮBjhFNOT Ignoring new targets: 505.18 m.Rho 8Zho 8 ProNav: ac range: 505.178589 m, nav range: 486.921234 m, bearing: 74.976021 deg, approach rate: -0.707363 m/s, LOS rate: 0.001905 deg/s, cmd heading: 77.999046 deg, new cmd heading: 78.001383 deg. BhR8HeadingCmd: 1.361381 target range: 505.178589 and range: 507.20 m.hA?h*h"h hgfffdddjdZd?-gBɢ5Kw)1 5i1)999i=>s2iEA?EaY;Eim checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014798B A <B >B FCB  IB `BB =B B B ;B >EE=  E= E= *E9 "E= m:*E= c:VE= (N4ZE9 BE= ZI?>4?>R}ٱ> JAHRS rotation from veh to nav: [[0.192519,-0.967195,-0.165740],[0.978896,0.201087,-0.036411],[0.068545,-0.155233,0.985497]]>Hs?C@6ſS?`9?@r#? ÿ@1?i>I?I>.`;>;CYR!`ByR Ii%Mb@Mb@Mb@!!!! !9%ˡE?/$ rhY%'?y%%C !! !)%nA!Y%AbDAVDAyMT%MI=ٔUQ-U>9QYY=]QGy]1F]Ee>aQ 5mr4ej?Q 9ur4e)eWBYu)?Q Eu:yu?Q Iu?evCIeeǔ, S?A2f4?2 ?2俓ٱ2 :AHRS rotation from veh to nav: [[0.193086,-0.966845,-0.167118],[0.978531,0.202263,-0.039592],[0.072081,-0.155885,0.985142]]2H ?d@dſ`P??@[Es? ÿG?i2f4?I2d_;2:CYB3`ByB IbDJVDJNyR==%VV=ٔVQ-V>9TYX=ZQGyZ2FZ׺EZ>\Q 5br4^bj?Q 9fr4^{)^WBYdyf?Q If?^SvCI^-:i^:^r4yjBɮjBnEl~B*** querying acoustic contact ***i| i|checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518894jhFNOT Ignoring new targets: 505.18 m.RhE8ZhE8 ProNav: ac range: 505.178589 m, nav range: 486.401550 m, bearing: 74.980076 deg, approach rate: -0.658649 m/s, LOS rate: 0.005171 deg/s, cmd heading: 78.007604 deg, new cmd heading: 78.013551 deg. Bh c9HeadingCmd: 1.361593 target range: 505.178589 and range: 507.20 m.hH?h*h"h hgfffdddjdZdwk@EHhBɢE)I MTiI)IIIiM%iUH?]\;]9ra Δ,C:S?A?E? ٱ! AHRS rotation from veh to nav: [[0.194072,-0.966463,-0.168182],[0.978067,0.203847,-0.042783],[0.075631,-0.156190,0.984827]]HY?Dſ TL? ?祿\? ÿ ?i?I*_;;CY-9`By- I1iMb@Mb@Mb@ 9 r?B`"۹y&1|Y#?yν`AA rA)AYAbD VD y`K<%4=ٔQ->9!Y!=%QGy%3F-tE->1Q 5=r45j?Q 9=r45H)5XBY=%?Q E=:y=?Q IE?5vCI5:i5:5Rr4yM BɮMBMEjhquFNOT Ignoring new targets: 505.18 m.Rh}.9Zh}.9 ProNav: ac range: 505.178589 m, nav range: 486.111023 m, bearing: 74.983198 deg, approach rate: -0.666627 m/s, LOS rate: 0.007168 deg/s, cmd heading: 78.013553 deg, new cmd heading: 78.022925 deg. Bhk9HeadingCmd: 1.361757 target range: 505.178589 and range: 507.20 m.h N?h*h"h hgfffdddjdZd`y @hBɢ) mi)顁iTi N?^;aB)B-" IB-`BB)B)B-DB-ڇ;B-y>Ea9@9 @9@9@9E EE)E"E;*E:VEFA4ZEBE%dԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274806Ԕ,TS?A2Mܓ?2ǯ?2F)ٱ2ſ" :AHRS rotation from veh to nav: [[0.195612,-0.965744,-0.170515],[0.977486,0.206029,-0.045526],[0.079098,-0.157771,0.984303]]2H@ ?_nſ`G?&_?4O ?? 1Ŀh?i2Mܓ?I2_;2:CYBH`ByB IbDJVDJJyRW)=%Rf=ٔVN Q-V>9TYT=ZQGyZ4FZ4EZ>\Q 5br4^j?Q 9br4^)^XBYdyf?Q If?^vCI^:i^1:^r4yhɮjBhjhYeFNOT Ignoring new targets: 505.18 m.Rhe8Zhe8ԙ ProNav: ac range: 505.178589 m, nav range: 485.883118 m, bearing: 74.985695 deg, approach rate: -0.620345 m/s, LOS rate: 0.006799 deg/s, cmd heading: 78.022924 deg, new cmd heading: 78.030418 deg. BhR9HeadingCmd: 1.361888 target range: 505.178589 and range: 507.20 m.hVR?h*h"h hgfffd!d!d!jd)Zd- @额hBɢU) i)顡iĬiVR?)2_;.I ۔,unS?Af›?f\?f"ٱf$ AHRS rotation from veh to nav: [[0.197482,-0.965006,-0.172524],[0.976829,0.208520,-0.048204],[0.082492,-0.159007,0.983825]]fHG?S`Fƿ/B?Ȱ?73?ZZĿ~{?if›?If#_;f9CY a`By  I9=A =p<9bDEVDEky]l=%?=ٔQ->9Y=QGy5F꒻E>Q 5r4j?Q 9r4)2XBYyh?Q I?!wCI6;i;r4yɮBjh)5FNOT Ignoring new targets: 505.18 m.Rh59Zh59E ProNav: ac range: 505.178589 m, nav range: 485.601593 m, bearing: 74.988849 deg, approach rate: -0.653203 m/s, LOS rate: 0.007323 deg/s, cmd heading: 78.030417 deg, new cmd heading: 78.039886 deg. BhEӠ9MHeadingCmd: 1.362053 target range: 505.178589 and range: 507.20 m.hUW?hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde-@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778861颽hBɢV) mi)iԺiW?0`;|-i% q=% E>% c-@% -\->% ,@ % 9>)% (~@I% 9! ! % rR?yYS ?^Q? % *?)% ,I% li% 9! !  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A A ?AB >B B ; IB `BB B B B ;B P>EI) I9 OE >y E  E E )E "E ;*E rN:VE FA4ZE BE 9Y=QGy6FǻE>Q 5 s46j?Q 9s4)_XBY$?Q E:y?Q I?hwCI;i};r s4y!ɮ%B!iQiU˃S?AJiUCRiUCjiU?bU7iJ~@,J:jCh+}V@RU$v_?1lE@?ZiUlbiU9jUCz6^@{h"Q6}@L1a@ZU&U#?~Ԗ?Чx?2iUC:iUB"iU2ts?*iUġYBiUACiQiUġYiUACiUCiU}p? addTargetRange:: Added new target pos. range: 504.000000 m, deltaT: 4.282291 s, deltaX: -3.200012 m, approachRate: -0.747266 m/s, rangeRepo size: 4  Added new target pos. range: 501.980347 m, bearing: 75.502420 deg, lat: 36.779094 deg, lon: -121.859638 deg, deltaT: 4.282291 s, deltaX: -3.198242 m, approachRate: -0.746853 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 501.98 m.Rh Zh  ProNav: ac range: 501.980347 m, nav range: 483.989655 m, bearing: 74.949775 deg, approach rate: 0.000000 m/s, LOS rate: 0.007323 deg/s, cmd heading: 78.039884 deg, new cmd heading: 78.049815 deg. Bh%HeadingCmd: 1.362226 target range: 501.980347 and range: 504.00 m.h%n]?h!*hA"hI hIgIfIfQfQdQdQdQjd]@Zd]Mc?&iBɢcj)  i)inin]?`;( BDAT read: Tx time:15:01:33.3244 $Ping request sent. 2,_S?Ajchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249151Y `By " IbDVDβy-=%5e=ٔ5Q-5>91Y9==QGy=7F=E=>AQ 5Ms4Ej?Q 9Ms4EV)EXBYQyQQ IU?EwCIEn;iE;Es4y]Bɮ]pBeE}B*** querying acoustic contact ***iy iyjh!-FNOT Ignoring new targets: 501.98 m.Rh-9Zh-9= ProNav: ac range: 501.980347 m, nav range: 483.767700 m, bearing: 74.952406 deg, approach rate: -0.622472 m/s, LOS rate: 0.007382 deg/s, cmd heading: 78.049815 deg, new cmd heading: 78.057711 deg. Bh=9uHeadingCmd: 1.362364 target range: 501.980347 and range: 504.00 m.h}a?D=DbE-FA4jE-·G4rE-±o0E EE(E"E:*EV:VEc44ZEa@a@a@a@h*h"h hgfffdddjdZd `?颥ViBɢ#) j i)顩iia?a;\ W,%S?A }燒?}s?}/ٱ}' AHRS rotation from veh to nav: [[0.205531,-0.962312,-0.178080],[0.974339,0.218271,-0.054961],[0.091759,-0.162214,0.982480]]}HN?B@Qƿ-?@M?#}?`mĿyp?i}燒?I}w`;}:CY`By= I i5Mb@Mb@Mb@1111 195K7? ףp= 9Y=QGy8FRE>Q 5s4ȹj?Q 9s4)XBYF,?Q E:yf?Q I?wCI ;i ;`)s4yɮDBjhY]FNOT Ignoring new targets: 501.98 m.Rhe8Zhe8i ProNav: ac range: 501.980347 m, nav range: 483.474884 m, bearing: 74.954592 deg, approach rate: -0.661933 m/s, LOS rate: 0.004945 deg/s, cmd heading: 78.057710 deg, new cmd heading: 78.064273 deg. Bh1Y9HeadingCmd: 1.362479 target range: 501.980347 and range: 504.00 m.he?h*h"h hgfffdddjdZd?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753408iBɢ BM>BMECBMg IBMaBBIBIBIBM;BMC>EBFCBFCBBÍ =BÍ =CÍ4)i m; ii)iiiiuu˄iue?ua;},L;I}e?IyE EE+E"E2:*E|;:VE [4ZEBE(* checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005107K<,S?A2'?2?2/a½ٱ2( :AHRS rotation from veh to nav: [[0.208350,-0.961353,-0.179971],[0.973452,0.221658,-0.057083],[0.094769,-0.163300,0.982014]]2H6?`hM ǿ&?`M_?:@B?Ŀl?i2'?I28`;0PYV`ByVX IbDrVDryg=%\=ٔQ->9Y=QGy9FoE>Q 5s4j?Q 9s4)XBYy?Q I?+xCI;i;6s4yɮBjh%FNOT Ignoring new targets: 501.98 m.Rh%8Zh%8] ProNav: ac range: 501.980347 m, nav range: 483.228058 m, bearing: 74.956522 deg, approach rate: -0.680440 m/s, LOS rate: 0.005323 deg/s, cmd heading: 78.064274 deg, new cmd heading: 78.070067 deg. Bh]i9eHeadingCmd: 1.362580 target range: 501.980347 and range: 504.00 m.hei?ha*ha"hi higififqfqdqdqdyjdyZd} ?i}eA9eAYTAiBɢ)  i)iWi%i?%\a;%r:Iei?Ii9@ @@.4@^A ;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257210I9IQO]v>E EE)E"E:*EV:VEFA4ZEa@a@a@a@! g, S?A:Ñ?:?:rZȽٱ:5N) NAHRS rotation from veh to nav: [[0.211236,-0.960477,-0.181284],[0.972543,0.225066,-0.059212],[0.097673,-0.163798,0.981647]]:H ?9L4ǿ??Q?VĿ@i?i:Ñ?I:"`;:=CYV&aByVu IbD^VD^k2yf=%fW=ٔf\Q-j>9hYh=jQGyj:FnEn>pQ 5vs4r=j?Q 9vs4r)r8YBYtyv?Q Iz?rjxCIrB:ir:rCs4|y|ɮBjh!-FNOT Ignoring new targets: 501.98 m.Rh- 8Zh5 8E ProNav: ac range: 501.980347 m, nav range: 482.983124 m, bearing: 74.958527 deg, approach rate: -0.657255 m/s, LOS rate: 0.005384 deg/s, cmd heading: 78.070066 deg, new cmd heading: 78.076085 deg. BhEul9MHeadingCmd: 1.362685 target range: 501.980347 and range: 504.00 m.hMtl?hI*hI"hI hIgIfQfQfQdYdYdYjdYZde`?颍iBɢb-)  i)顑i,`&itl?@`;ҺItl?I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509739-9@) @1@5/@1)^AqZ;QAa Iq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761203BE <AA BM >BI BM IBM jaBBI BI BI BM ;BM 9>Eԁ E  E E *E "E *E A:VE (N4ZE BE )i>YiMb@Mb@Mb@ 9㥛 ? ףp= S㥻?Y5?yQ8/=A AA)AYAbDVDyp=%<=ٔQ->9Y=QGy;FԻE>Q 5s4j?Q 9Us4)YBYU7?Q E]:y]p?Q I]?xCIH,#T?AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265233YzaBy  IbDVDk1y-3>%-R=ٔ-Q-5>91Y1=5QGy5<F=E=>AQ 5Ms4E_j?Q 9Ms4E9)EYBYIyIQ IU?ExCIE;iE;E^`s4y]Bɮ]B]Eԡ B*** querying acoustic contact ***i  i jh=FNOT Ignoring new targets: 501.98 m.RhEX8ZhEX8U ProNav: ac range: 501.980347 m, nav range: 482.412048 m, bearing: 74.958010 deg, approach rate: -0.695251 m/s, LOS rate: -0.000630 deg/s, cmd heading: 78.075264 deg, new cmd heading: 78.074531 deg. BhU7ݷ]HeadingCmd: 1.362658 target range: 501.980347 and range: 504.00 m.D=DR=E EE,E"E:*EC:VEg4ZEa@a@a@a@h]k?h*h"h hgfffdddjdZd@ @ajBɢf )Y ]iiY)YYYieniek?m^;mwaImk?Ii9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520907^A5 y) A I I O >,mo=T?A]ܐ?]Ȭ?]l۽ٱ]> , AHRS rotation from veh to nav: [[0.217882,-0.958046,-0.186211],[0.970121,0.233463,-0.066035],[0.106738,-0.166260,0.980288]]]H?P@ǿ: ??簿3S?Gſ^?i]ܐ?I](P`;]9CYaBy Ii]Mb@Mb@Mb@YYYY Y9]E?I +T㥛 ?Y]F?y]94]>]A]A ](A)YYY]AbDuVDuy=%7=ٔ^Q->9Y=QGy=FuE>Q 5s4>j?Q 9s4)3ZBYGI?Q E:y?Q I?SyCIv;i" ;os4yɮdBjhY]FNOT Ignoring new targets: 501.98 m.RheﶸZheﶸ ProNav: ac range: 501.980347 m, nav range: 482.074249 m, bearing: 74.955799 deg, approach rate: -0.762783 m/s, LOS rate: -0.004998 deg/s, cmd heading: 78.074533 deg, new cmd heading: 78.067893 deg. Bh[HeadingCmd: 1.362542 target range: 501.980347 and range: 504.00 m.hg?h*h"h hgfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769530B>BDCB IBaBB =BBDB;B<>Ef!f!d!d)d)jd)Zd-K@颽jBɢK) i)iFi g? i]; rI g?I9E EE(E"E:*EP:VEc44ZEBEa2EaJE,;a:E,;a@ @@/@i^A _} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021281ԑ A I1 II O] >i,HoYT?A2h?2?2U)ٱ2\, :AHRS rotation from veh to nav: [[0.219217,-0.957537,-0.187261],[0.969487,0.235361,-0.068558],[0.109721,-0.166518,0.979915]]2HO?$ (ǿ ?`L ? ?@sPſv[?i2h?I2d`;29lYl=nQGyn>FnxEr>pQ 5zs4rKj?Q 9zs4r)rZBYxyzT?Q Iz?ryCIr;ir1:rN}s4yɮBBijhFNOT Ignoring new targets: 501.98 m.Rh,Zh, ProNav: ac range: 501.980347 m, nav range: 481.785400 m, bearing: 74.953953 deg, approach rate: -0.756991 m/s, LOS rate: -0.004840 deg/s, cmd heading: 78.067894 deg, new cmd heading: 78.062353 deg. BhTHeadingCmd: 1.362445 target range: 501.980347 and range: 504.00 m.hd?h*h"h hgfffdddjdZd@6 @jBɢ%g,)! %ji)))))i-p7i5d?59%\;5I5d?I9nManaging dock network, ignoring radio surface power off9@ @@4@ԑ^A軝checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273167AIIOg>E EE)E"E:*E;J:VEFA4ZEa@a@a@a@ +1,!#sT?A2?2?2&ٱ2m+ :AHRS rotation from veh to nav: [[0.219564,-0.957472,-0.187186],[0.969043,0.236241,-0.071729],[0.112899,-0.165642,0.979702]]2H@?@ǿg?@#=?\?3ſY?i2?I22`;29CYBaByB IbD^VD^fyf=%fL=ٔjQ-j>9hYh=jQGyj?FnEn>pQ 5vs4rj?Q 9vs4rB)rZBYtyzB?Q Iz?ryCIr:irF:rTs4y|ɮ~$B|jh!-FNOT Ignoring new targets: 501.98 m.Rh-Zh-EBDAT read: Rx Time:15:01:36.3964 MTRx dataTimestamp_ set to:1761577297.840268Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526459U ProNav: ac range: 501.980347 m, nav range: 481.482117 m, bearing: 74.952032 deg, approach rate: -0.787226 m/s, LOS rate: -0.004988 deg/s, cmd heading: 78.062355 deg, new cmd heading: 78.056590 deg. BhU[]HeadingCmd: 1.362345 target range: 501.980347 and range: 504.00 m.h]Na?hY*hY"hY hagafafafidididijdiZdu`rJ@颥kBɢ ) i)顱iQ)9iNa?-Z;WINa?Im9@i @i@u4@q1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777227A AAA @AB >B CCB ) IB IbBB =B B DB և;B b>E^A zE  E E (E "E :*E VL:VE c44ZE BE ? d#,ьT?A2߭?2w?2$ٱ2 T+ ^AHRS rotation from veh to nav: [[0.219046,-0.957498,-0.187662],[0.968792,0.236301,-0.074856],[0.116019,-0.165409,0.979377]]2H ?@ңNȿX?@??)k? ,ſW?i2߭?I2`;2;CYfbByf IiUMb@Mb@Mb@QQQQ Q9US?9Y=QGy@F:E>Q 5s4Q#j?Q 9s4)9[BY_?Q Es:y?Q I?IzCI=ip=s4y-Bɮ5B5EjhFNOT Ignoring new targets: 501.98 m.Rh Zh  ProNav: ac range: 501.980347 m, nav range: 481.115997 m, bearing: 74.948395 deg, approach rate: -0.763377 m/s, LOS rate: -0.007590 deg/s, cmd heading: 78.056590 deg, new cmd heading: 78.045670 deg. BhHeadingCmd: 1.362154 target range: 501.980347 and range: 504.00 m.h[?h*h"h hgfffdddjdZd`@MDkBɢU u)Q U)iQ)QYYi]V9DAT read: 15:01:36.3964 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 404, 0.29,-1.414,-2.969,-1.136,-1.660, PHS= 0.348,-1.264, 0.480, RAW= 153.9, 5.2, CAL= 153.1, 5.2, ROT= 356.9, -5.2 Ygot valid direction response: 15:01:36.3964 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 404, 0.29,-1.414,-2.969,-1.136,-1.660, PHS= 0.348,-1.264, 0.480, RAW= 153.9, 5.2, CAL= 153.1, 5.2, ROT= 356.9, -5.2 PDAT read: Bearing 231.5, 3.2 (Local) ~Local bearing/azimuth received: Bearing 231.5, 3.2 (Local) DAT read: Range 11 to 50 : 500.9 m (Round-trip 667.9 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.994427,-0.053856,0.090633]Fpublishing direction and range infoyae}X?9s:k0L3?YesCaaaa a)eCIe->ieʡe>eo+@e޹=e+@ e޹=)eT@Ie޹aae<^vKs?DKgѨ?ԋv]? ebt?)eg.IeQ]ie޹aaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i%[?-MX;-I-[?I1y9@ @@4@ԡ^A   *DAT read: user:858> % BDAT read: Tx time:15:01:37.6244 % $Ping request sent.- ),+5T?A6g?6?6Lٱ6)Dj=Dj<En EnEn+El"En:*EnT:VEn [4ZElar@ar@ar@ar@ ~AHRS rotation from veh to nav: [[0.215830,-0.958279,-0.187401],[0.968790,0.234123,-0.081435],[0.121912,-0.163976,0.978902]]6HR?8ǿT??ش5?'Ŀ*S?i6g?I6F`;6:CYU,bByU II]R=)]= aep<bDmVDmyR=%>=ٔbQ->9Y=QGyBF;E>Q 5s4hj?Q 9s4)[BYy?Q I?zCII:ib:J~0,T?AVi?VU?V9BٱVP) bAHRS rotation from veh to nav: [[0.213279,-0.958908,-0.187105],[0.969050,0.231998,-0.084375],[0.124316,-0.163319,0.978710]]VH@L? _ ǿu??@%ӿ? ĿQ?iVi?IVT`;V9CYf.bByf IiUMb@Mb@Mb@QQQQ Q9Up= ף? rh?+?YUe?yUC =U=QUA UA)QQYUAbDuVDu:2y}b;%L=ٔ"ƻQ->9Y=QGyCF;E>Q 5s4Aj?Q 9s4_)[BY'f?Q El:y?Q I?zCI*:i:;s4yBɮBB>BBg IBbBB =BBB;B>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501812ImB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 498.87 m.Rh7Zh7 ProNav: ac range: 498.871826 m, nav range: 481.610413 m, bearing: 75.043103 deg, approach rate: -0.867122 m/s, LOS rate: -0.010044 deg/s, cmd heading: 78.036728 deg, new cmd heading: 78.024534 deg. BhܹHeadingCmd: 1.361785 target range: 498.871826 and range: 500.90 m.hN?h*h"h hgfffdddjdZdh?=kBɢ=<-)9 =$iA)AaaieHC:imN?mqW;m>"ImN?IqE EE*E"E:*Ega:VE(N4ZEBE 6,^T?AYvabByv7 IbD~VD~k2y >% S=ٔQ->9Y=QGyDFE>!Q 5-s4%j?Q 9-s4%)%'\BY1y1Q I5?%V{CI%[:i%:%s4y9ɮ=BAjhamFNOT Ignoring new targets: 498.87 m.RhmrDZhmrD ProNav: ac range: 498.871826 m, nav range: 481.270264 m, bearing: 75.039160 deg, approach rate: -0.925384 m/s, LOS rate: -0.010734 deg/s, cmd heading: 78.024536 deg, new cmd heading: 78.012699 deg. BhHeadingCmd: 1.361578 target range: 498.871826 and range: 500.90 m.h4H?h*h"h hgfffdddjdZd O?kBɢ4) i)i7:i4H?RV;!,I4H?IԱ9@ @@/@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005944bE(N4jErO4rE/E EE-E"E:*EV:VEt4ZEa @a @a @a @^AjZXII O> 9 <,1T?A2D%?2?2u0ٱ2' :AHRS rotation from veh to nav: [[0.207578,-0.960313,-0.186309],[0.969582,0.227232,-0.090977],[0.129701,-0.161757,0.978270]]2H?ǿ`??@=J ?pĿM?i2D%?I2`;28CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257870YFobByF@ ITVAAbD^VD^02yr=%rM=ٔr*_Q-r>9tYx=zQGyzEF~j<E~> Q 5s4 j?Q 9%s4 X) t\BY!y-ʹ?Q I-? {CI q;i r; s4y=Bɮ={BEEjhFNOT Ignoring new targets: 498.87 m.Rh~:Zh~:5 ProNav: ac range: 498.871826 m, nav range: 480.919525 m, bearing: 75.034849 deg, approach rate: -0.828601 m/s, LOS rate: -0.010190 deg/s, cmd heading: 78.012699 deg, new cmd heading: 77.999759 deg. Bh5߹=HeadingCmd: 1.361353 target range: 498.871826 and range: 500.90 m.h=@?h9*h9"hA hAgAfAfIfIdIdIdIjdQZdu5?额lBɢd&) i)顡iU:i@?7(V;:;I@?I9@ @@@0@9BA4=B>BBCB IBcBBBBB;B>EBCCBCCBǔCBǐ =Bǐ =C55checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509800^A "5i Iq I O >E  E E )E "E :*E k:VE FA4ZE BE ? 9qYq=uQGyuFF}"<E}>Q 5s4k?Q 9s4})\BYh?Q Ei:y?Q I?|CIv:i:ss4yɮ|BjhFNOT Ignoring new targets: 498.87 m.RhBZhB ProNav: ac range: 498.871826 m, nav range: 480.544708 m, bearing: 75.030647 deg, approach rate: -0.944949 m/s, LOS rate: -0.010602 deg/s, cmd heading: 77.999756 deg, new cmd heading: 77.987140 deg. BhHeadingCmd: 1.361132 target range: 498.871826 and range: 500.90 m.h9?h*h"h hgfffdddjdZdm?%RlBɢ-l3)) --i))))1i5Qx:i=9?=+^V;=5;I=9?IAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7631229@ @@4@^A] ;IIIYOm5> -f>-BC/GԙgAA9gAY}A E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013744I,j)U?A2?2)?2D ٱ2& :AHRS rotation from veh to nav: [[0.200896,-0.961785,-0.186041],[0.970184,0.221626,-0.098103],[0.135586,-0.160786,0.977632]]2H?1ǿ ?`A^?M Z?ĿH?i2?I2b99YA=EQGyEGFE <EE>IQ 5Us4Mk?Q 9Us4MRt)M\BYYy]?Q I]?Ml|CIM ;iM ;MUs4yaɮm_BijhFNOT Ignoring new targets: 498.87 m.Rh>Zh> ProNav: ac range: 498.871826 m, nav range: 480.189636 m, bearing: 75.026514 deg, approach rate: -0.893814 m/s, LOS rate: -0.010413 deg/s, cmd heading: 77.987141 deg, new cmd heading: 77.974732 deg. BhHeadingCmd: 1.360916 target range: 498.871826 and range: 500.90 m.h}2?h*h"h hgfffdddjdZd2@lBɢ3) i)i:i}2?V;P,SCU?Afw?fcc?fsٱf& nAHRS rotation from veh to nav: [[0.197309,-0.962543,-0.185958],[0.970485,0.218609,-0.101827],[0.138665,-0.160378,0.977267]]fHjA?&yǿ6?d?Zȿ?@EĿ`E?ifw?Ifa;f;CYvbByvV I|I~]>)~=BBB IB=cBBBBB;Bt>EiMb@Mb@Mb@ 9 r?y&1|?Yc?y`;̼A A)YA 4<<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517950bDVDy f<% ==ٔQ->9Y=QGyHF<E>!Q 5-s4%% k?Q 9-s4%wj)%]BY5c?Q E5n:y5ͯ?Q I5?%|CI% ;i%T ;%ps4y=Bɮ=>B=E]B*** querying acoustic contact ***iY iYjhamFNOT Ignoring new targets: 498.87 m.RhuZhu ProNav: ac range: 498.871826 m, nav range: 479.808319 m, bearing: 75.023599 deg, approach rate: -0.881387 m/s, LOS rate: -0.006744 deg/s, cmd heading: 77.974730 deg, new cmd heading: 77.965977 deg. BhHeadingCmd: 1.360763 target range: 498.871826 and range: 500.90 m.h{-?h*h"h hgfffdddjdZd$Z@lBɢ /) #i)i=:i{-?X;9V,m]U?A:?:eگ?:ٱ:P& FAHRS rotation from veh to nav: [[0.193700,-0.963280,-0.185935],[0.970777,0.215565,-0.105467],[0.141675,-0.160072,0.976885]]:H%?1`ǿ?`? k"?@@}ĿB?i:?I:`;:9CYJbByJ^ IbDVVDVy^=%^c=ٔ^_ Q-b>9`Y`=bQGybIFfN%<Ef>hQ 5nt4jNk?Q 9nt4jAb)j=]BYlyrD?Q Ir?j}CIjw;ij;j t4yvBɮvCBvEjhFNOT Ignoring new targets: 498.87 m.RhZh- ProNav: ac range: 498.871826 m, nav range: 479.490936 m, bearing: 75.021030 deg, approach rate: -0.882641 m/s, LOS rate: -0.007149 deg/s, cmd heading: 77.965974 deg, new cmd heading: 77.958263 deg. Bh-5HeadingCmd: 1.360628 target range: 498.871826 and range: 500.90 m.h5)?h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM: @Y}lBɢ}8 C)y N%i)顁i:i)?0HY;8l E],wU?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274601z:a?zL?zvٱzi% AHRS rotation from veh to nav: [[0.190228,-0.964039,-0.185585],[0.971037,0.212599,-0.109036],[0.144570,-0.159468,0.976560]]zHdY?h<ǿ ?r6?黿F?qiĿ??iz:a?Izm`;xYybD-VD-y=%=B=ٔ=Q-=>9AYA=EQGyEJFE<EM>IQ 5Ut4M9k?Q 9]t4MX)Mi]BYYy]?Q I]?M~}CIM;iM<;Mt4yaɮiijhFNOT Ignoring new targets: 498.87 m.Rh Zh  ProNav: ac range: 498.871826 m, nav range: 479.120331 m, bearing: 75.017870 deg, approach rate: -0.881491 m/s, LOS rate: -0.007522 deg/s, cmd heading: 77.958263 deg, new cmd heading: 77.948775 deg. Bh2HeadingCmd: 1.360463 target range: 498.871826 and range: 500.90 m.h#?Աh*h"h hgfffdddjdZd @/mBɢȇ8) (i)i:i#? $[; ҖBB IBfcBBBBBŇ;BK>E^Ak<BDAT read: Rx Time:15:01:40.6913 TRx dataTimestamp_ set to:1761577302.124612%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527680)A I E  E E E "E :*E ՚:VE ZE BE ? 9iYq=uQGyuKFu;E}>yQ 5t4}*k?Q 9t4}O)}]BYX?Q Ez:yV?Q I?}}CI}v:i}j:}(t4yBɮ*BEjhaeFNOT Ignoring new targets: 498.87 m.RhmZhm ProNav: ac range: 498.871826 m, nav range: 478.773865 m, bearing: 75.016983 deg, approach rate: -0.803513 m/s, LOS rate: -0.002059 deg/s, cmd heading: 77.948776 deg, new cmd heading: 77.946113 deg. BhԴHeadingCmd: 1.360416 target range: 498.871826 and range: 500.90 m.h"?h*h"h hgfffddd)jd)Zd5 C@}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779043nmBɢ̏3) ,i)i]d:i"? ]; 1M DAT read: 15:01:40.6913 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 383, 0.06,-0.861,-2.305,-0.561,-1.064, PHS= 0.305,-1.196, 0.459, RAW= 154.8, 5.5, CAL= 154.1, 5.4, ROT= 355.9, -5.4 U Ygot valid direction response: 15:01:40.6913 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 383, 0.06,-0.861,-2.305,-0.561,-1.064, PHS= 0.305,-1.196, 0.459, RAW= 154.8, 5.5, CAL= 154.1, 5.4, ROT= 355.9, -5.4 ] PDAT read: Bearing 231.1, 3.3 (Local) e ~Local bearing/azimuth received: Bearing 231.1, 3.3 (Local) m DAT read: Range 11 to 50 : 497.0 m (Round-trip 662.7 ms) speed 0.4 m/s m R#Rx 1: Read range and direction messages.} ^direction in FSK: [0.993014,-0.071180,0.094108]} Fpublishing direction and range infoy  _sy?%'8|ӄ{?Y C     ) I (>i  > ,@ = !,@  =) @I    )>D%?O1?z0?  Y?ԑ ) ĽI ii    T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A I I D D R=E  E E )E "E :*E V:VE FA4ZE a @a @a @a @O >֍j,RDU?ARO?R?R\ٱR"' ZAHRS rotation from veh to nav: [[0.185148,-0.964547,-0.188070],[0.971168,0.208837,-0.114975],[0.150174,-0.161360,0.975403]]RH?ȿ? *?n`8?`uĿ6?iRO?IRa;R9CYvbByvf IbD5 VD52yMv<%M<ԹٔUڻQ->9Y=QGyLF;E>Q 5t4&k?Q 9t4SF)]BYy?Q I?6~CI;ia;k7t4yɮBiiQ.U?AJi}CRi}Cjiᯩ?bS _~@ԤѝA.kyJG@R_sy?%'8|ӄ{?ZiibijNM]@l5 }@ ;_@Z R?B ? ]d'?2iQC:itB"iSMh?*igl\Bi5Ci2ts?ii5CiCi? addTargetRange:: Added new target pos. range: 497.000000 m, deltaT: 4.284489 s, deltaX: -3.899994 m, approachRate: -0.910259 m/s, rangeRepo size: 4  Added new target pos. range: 494.981110 m, bearing: 75.955864 deg, lat: 36.779051 deg, lon: -121.859623 deg, deltaT: 4.284489 s, deltaX: -3.890717 m, approachRate: -0.908094 m/s, posRepo size: 4 jh-FNOT Ignoring new targets: 494.98 m.Rh-Zh1E ProNav: ac range: 494.981110 m, nav range: 477.312805 m, bearing: 75.513029 deg, approach rate: 0.000000 m/s, LOS rate: -0.002059 deg/s, cmd heading: 77.946112 deg, new cmd heading: 77.943387 deg. BhAmHeadingCmd: 1.360369 target range: 494.981110 and range: 497.00 m.hm ?hi*hi"hi higifqfqfqdqdydyjd}@Zd}i?mBɢ->) /i)i'5:i ?`;4j BDAT read: Tx time:15:01:41.9244 $Ping request sent.bq,U?ABBB IBcBBBBB;B5>Ebchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249106YbByi IԹiMb@Mb@Mb@ 9Zd;?ʡEʡEY>?yA 5A)AYAbDVD:y%/<%-8=ٔ-Q-->9- ?Y5 ?=5QGy5MF5E=>9Q 5Et4=.k?Q 9Mt4=?>)=]BYM@?Q EM:yM١?Q IM?=~CI=.:i=:=aFt4yYɮ]BYuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 494.98 m.Rh8Zh8E EEE"E:*EF:VEZEBEɼw,tU?AYvbByzk I ~<|bDVDyM#<%M\=ٔQQ-U>9QYQ=UQGyUNFYE]>aQ 5mt4e5k?Q 9mt4e:7)e]BYiyqQ Iu?e~CIel:iep:ebSt4y}Bɮ}'B}EjhFNOT Ignoring new targets: 494.98 m.Rh8Zh8 ProNav: ac range: 494.981110 m, nav range: 476.711670 m, bearing: 75.516902 deg, approach rate: -0.752422 m/s, LOS rate: 0.004854 deg/s, cmd heading: 77.949602 deg, new cmd heading: 77.955012 deg. Bh/U9HeadingCmd: 1.360572 target range: 494.981110 and range: 497.00 m.h6'?h*h"h hgfffdddjdZd ?nBɢ`+T)  5i )   i ;i6'?cd; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005147Թ },RU?A2cK?26?2 ٱ2D+ :AHRS rotation from veh to nav: [[0.182950,-0.964110,-0.192408],[0.970596,0.208268,-0.120695],[0.156435,-0.164670,0.973864]]2Hj?Ӡȿ ??徿`?ſ)?i2cK?I2]c;2;CY^bBy^n IbDfVDfyn/i<%nO=ٔrQ-r>9pYt=vQGyvOFv;Ev>xQ 5~t4zV=k?Q 9~t4z/)z]BYy?Q I?zCIz;izR:z*at4y Bɮ B|Ejh1=FNOT Ignoring new targets: 494.98 m.Rh=ǫ8Zh=ǫ8M ProNav: ac range: 494.981110 m, nav range: 476.415588 m, bearing: 75.518752 deg, approach rate: -0.750790 m/s, LOS rate: 0.004693 deg/s, cmd heading: 77.955012 deg, new cmd heading: 77.960564 deg. BhM"N9UHeadingCmd: 1.360669 target range: 494.981110 and range: 497.00 m.hUc*?hY*hY"hY hYgYfYfafadadadijdiZdm@W?=FnBɢ=L)9 E8iA)AAAiE ;iMc*?qMf;  B!B% IB%cBB!B!B%DB!B%2>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257220! ^AE oE<EU  EU EU &EQ "EU :*EU Ar:VEU 4ZEQ BEU cτ,,V?A2+?20?2]"ٱ2R0- >AHRS rotation from veh to nav: [[0.183848,-0.963548,-0.194360],[0.970190,0.209640,-0.121583],[0.157897,-0.166213,0.973366]]2HS? bȿ ? |? 5?@wFſ%?i2+?I2svd;29CYfbByfz IiMb@Mb@Mb@ 9|?5^?)\(QY-?yGὙu(A/A (A)/AYAbDVDyo(=%>=ٔ`Q->9Y=QGyPFE>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509393Q 5t45Fk?Q 9t4r()^BY0?Q E:y?Q I?hCIԛ,{/.V?AbEFA4jE>4rE/E EE(E "E:*EP:VEc44ZE a@a@a@a@4YebBye I iibD}VD}yL=%I=ٔQ->9Y=QGyQFE>Q 5t4tNk?Q 9t4!)^BYyQ I?CIB:i$:p~t4yɮBjh)-FNOT Ignoring new targets: 494.98 m.Rh5,9Zh5,9M ProNav: ac range: 494.981110 m, nav range: 475.843262 m, bearing: 75.526219 deg, approach rate: -0.721710 m/s, LOS rate: 0.009427 deg/s, cmd heading: 77.972176 deg, new cmd heading: 77.982981 deg. BhM9UHeadingCmd: 1.361060 target range: 494.981110 and range: 497.00 m.hU57?hQ*hQ"hQ hQgYfYfafadadadajdiZdm``@颕nBɢS]) =i)顙iD;i57?k;I57?Ix>i)>ԙ]9@Y @a@a@aUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013259^A<II O > 㑕,GV?ABw>BACB IBcBB =BBB;B.>EB-BCB-BCB-CB- =B- =C-F5RԔ?R?R$ٱRs/bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265190 bAHRS rotation from veh to nav: [[0.186370,-0.962477,-0.197242],[0.969330,0.212869,-0.122827],[0.160205,-0.168301,0.972630]]RH? 7?ɿ ?G??@q`?ſ?iRԔ?IRg;R;CYjcByj IliMb@Mb@Mb@ 9Zd;O?K7AYj?y ̼9A )9AY3AbDVD0y=%H=ٔ Q- >9Y=QGyRF`ֻE>Q 5%t4Vk?Q 9%t4)D^BY-?Q E-:y-?Q I-?CIq ;i ;t4y=Bɮ=B=}E]B*** querying acoustic contact ***iY iYjhamFNOT Ignoring new targets: 494.98 m.RhuH9ZhuH9 ProNav: ac range: 494.981110 m, nav range: 475.593842 m, bearing: 75.530717 deg, approach rate: -0.608668 m/s, LOS rate: 0.010982 deg/s, cmd heading: 77.982981 deg, new cmd heading: 77.996483 deg. Bh09HeadingCmd: 1.361295 target range: 494.981110 and range: 497.00 m.h>?h*h "h  h g f ffdddjdZd z@E5 E5E5+E1"E5:*E5R:VE5 [4ZE1BE5? i)顑i&;i>? n;Q?I=9@A @A@E/@A1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517152^Ae oEGq A ۸9 Y .AA ؟AI I O > ,#aV?A2Sy?2d?2%ٱ2$1 :AHRS rotation from veh to nav: [[0.189025,-0.961527,-0.199336],[0.968670,0.215882,-0.122777],[0.161086,-0.169883,0.972209]]2H@1? ؃ɿW??Kn y?ſV?i2Sy?I2h;29CY~$cBy~ IbD VD y=%[=ٔ%Q-%>9%"?Y%"?=%QGy-SF- E->19Q 5Et45a^k?Q 9Et45)5i^BYAyEZ?Q IE?5CI5+;i5),;5t4yQɮUBQjhq}FNOT Ignoring new targets: 494.98 m.RhM9ZhM9 ProNav: ac range: 494.981110 m, nav range: 475.366211 m, bearing: 75.534905 deg, approach rate: -0.611132 m/s, LOS rate: 0.011248 deg/s, cmd heading: 77.996485 deg, new cmd heading: 78.009054 deg. Bh9HeadingCmd: 1.361515 target range: 494.981110 and range: 497.00 m.hF?h*h"h hgfffdddjdZdi@oBɢd) ?i)i,2;iF?o;5  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0210714,d{V?A6)?6(?6ſ&ٱ6B}1 BAHRS rotation from veh to nav: [[0.191349,-0.960897,-0.200156],[0.968040,0.218438,-0.123219],[0.162122,-0.170181,0.971985]]6H~?@ɿ/??Ck?ſ@?i6)?I6i;6:CYFScByF I N49^ ?Y^ ?=^QGybTFb"̻Eb>dQ 5jt4fifk?Q 9jt4f)f^BYhyn ?Q In?f4CIf:if|:fit4ypɮrBpjh  FNOT Ignoring new targets: 494.98 m.RhJQ9ZhJQ9% ProNav: ac range: 494.981110 m, nav range: 475.127960 m, bearing: 75.539365 deg, approach rate: -0.610505 m/s, LOS rate: 0.011436 deg/s, cmd heading: 78.009052 deg, new cmd heading: 78.022441 deg. Bh%%9-HeadingCmd: 1.361748 target range: 494.981110 and range: 497.00 m.h-M?h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdE` @mOoBɢmWrY)q u?iq)qqԙqi54N<;i=M?=/q;=lB@CB/ IBcBB =BBDB;B>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273101^A}U<EU  EU EQ EQ "EU [:*EU VL:VEQ ZEQ BEU  u,CtV?A6Г?6?6U'ٱ62 ^AHRS rotation from veh to nav: [[0.193931,-0.960017,-0.201884],[0.967340,0.221377,-0.123475],[0.163231,-0.171345,0.971595]]6H@?`v`Uɿr?V??ſ@N?i6Г?I6-gj;4YncByn IiMb@Mb@Mb@ 9 +? rh?Y?yC<5AEA 5A)EAY=AbDVDy=%:=ٔ'Q->9Y=QGyUFʻE>Q 5t4nk?Q 9t4 )^BY4?Q E:y\?Q I?UCI :iv:¶t4yܿBɮ6BsE=BDAT read: Rx Time:15:01:44.9876 ETRx dataTimestamp_ set to:1761577306.408300Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526351jhFNOT Ignoring new targets: 494.98 m.Rh:9Zh:9 ProNav: ac range: 494.981110 m, nav range: 474.873047 m, bearing: 75.544063 deg, approach rate: -0.553714 m/s, LOS rate: 0.010210 deg/s, cmd heading: 78.022439 deg, new cmd heading: 78.036540 deg. Bh89HeadingCmd: 1.361995 target range: 494.981110 and range: 497.00 m.hU?h*h"h hg f fIfQdQdQdQjdYZd] }@颥oBɢE) @i)顱iܐC;iU?\r;/FEe  Ee Ee )Ea "Ee :*Ee 1]:VEe FA4ZEa am @am @au @au @X,V?A>s?>_?>)ٱ>@2 JAHRS rotation from veh to nav: [[0.196651,-0.959333,-0.202506],[0.966597,0.224313,-0.123991],[0.164374,-0.171358,0.971400]]>H +?`۲ɿ]?H?@使`1 ?ſ ?i>s?I>13k;>9CYNcByN IbDZVDZ0yb=%bZ=ٔf(JQ-f>9dYd=fQGyfVFjEj>YQ 5ut4]vk?Q 9ut4]T)]_BYy?Q I?]rCI]i%j%>%+@%=%*@ %=)%b@I%!!% iu?pDpC?dk? %[?)%I%QwVi%!!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԉ^A /C<Ii Iy O >B n>B B a IB EdBB B B B C;B =E) 2,e7V?AN*DAT read: user:860> RBDAT read: Tx time:15:01:46.1744 V$Ping request sent.V9Y=QGyWFE>Q 5t4~k?Q 9t4)U_BY?Q E:yך?Q I? E EEE"E:*E&p:VEZEBE|G?+5jo?2iu@C:iuB"iu5q|?*iuo!DBiuFCiu|?iuo!DiuACiufCiu}? addTargetRange:: Added new target pos. range: 494.299988 m, deltaT: 4.283682 s, deltaX: -2.700012 m, approachRate: -0.630302 m/s, rangeRepo size: 4  Added new target pos. range: 492.272614 m, bearing: 76.561604 deg, lat: 36.779025 deg, lon: -121.859633 deg, deltaT: 4.283682 s, deltaX: -2.708496 m, approachRate: -0.632282 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 492.27 m.RhZh ProNav: ac range: 492.272614 m, nav range: 472.802948 m, bearing: 75.868329 deg, approach rate: 0.000000 m/s, LOS rate: 0.011349 deg/s, cmd heading: 78.049364 deg, new cmd heading: 78.064900 deg. BhHeadingCmd: 1.362490 target range: 492.272614 and range: 494.30 m.hf?h*h"h hgfffdddjd~@Zd?}oBɢ}NI) {Ai)顡i[U;if?s;<`,"V?A2?2خ?2/o+ٱ23 BAHRS rotation from veh to nav: [[0.200537,-0.958087,-0.204582],[0.965411,0.228777,-0.125074],[0.166635,-0.172424,0.970826]]2H@1?/ʿ?H?kNT?ƿ@?i2?I2%Zu=ٔZ]Q-^?9\Y\=^QGy^XFb#ԻEb?dQ 5jt4fXk?Q 9jt4f)f_BYhyn?Q In?fCIf;if";ft4yrBɮrBpB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 492.27 m.Rh9Zh9% ProNav: ac range: 492.272614 m, nav range: 472.609375 m, bearing: 75.871079 deg, approach rate: -0.595413 m/s, LOS rate: 0.008461 deg/s, cmd heading: 78.064903 deg, new cmd heading: 78.073155 deg. Bh%ҹ95HeadingCmd: 1.362634 target range: 492.272614 and range: 494.30 m.h5j?h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE ?u$pBɢuvv)uN< ui@iq)yyyi}a;ij?t;;Ij?Ia9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507534E EE*E"E:*ET:VE(N4ZEa-@a-@a-@a5@ԉ^AΒ;I)I9OE>Թ u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758716,V?ALY edBy u IbDVDk2y-*>%-D=ٔ-Q-->91Y1=5QGy5YF=E=>AQ 5Mt4Ek?Q 9Mt4E)E_BYIyIQ IM?ÈCIEd:iE:Et4yYɮ]fBYjhFNOT Ignoring new targets: 492.27 m.Rh]9Zh]9 ProNav: ac range: 492.272614 m, nav range: 472.366943 m, bearing: 75.874526 deg, approach rate: -0.581413 m/s, LOS rate: 0.008271 deg/s, cmd heading: 78.073153 deg, new cmd heading: 78.083500 deg. Bh9HeadingCmd: 1.362814 target range: 492.272614 and range: 494.30 m.hp?h*h"h hgfffdddjdZd@t?[pBɢQ) \?i)iSi;ip?Ppt;P;Ip?I@ @@0@BA<B^>B>CB IBdBB =BE=  E9 E9 E9 "E= :*E9 VE9 ZE9 BE= t%%D=ٔQ->9Y=QGy ZF>E>Q 5%t4k?Q 9%t4R)?`BY%X&?Q E%:y%ݤ?Q I-?CI:i:t4i1I1=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263058yEBɮE"BEkEjhimFNOT Ignoring new targets: 492.27 m.RhuD8ZhuD8 ProNav: ac range: 492.272614 m, nav range: 472.102142 m, bearing: 75.875693 deg, approach rate: -0.609971 m/s, LOS rate: 0.002689 deg/s, cmd heading: 78.083501 deg, new cmd heading: 78.087003 deg. Bh98HeadingCmd: 1.362875 target range: 492.272614 and range: 494.30 m.hr?h*h"h hgfffdddjdZd 0z?pBɢiM)1< /?i)i3p;ir?5bt;W?;Ir?Ii>)9@ @@4@Q^A[R; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515099y A} ؟AI I O >D5 4=D5 %=E=  E= E= )E9 "E= :*E= L_:VE= FA4ZE9 aE @aE @aE @aE @|˕,%0W?A23F?21?2U0ٱ2 5 >AHRS rotation from veh to nav: [[0.205282,-0.956390,-0.207791],[0.963586,0.234675,-0.128176],[0.171349,-0.173912,0.969739]]2HF?ʿ? ?`h?Bƿ@?i23F?I2Cq;0YvdByv IbDVD02yI>%R=ٔQ->9"?Y"?=QGy%[F%E%>)Q 55u4-Gk?Q 95u4-)-`BY1y5?Q I=?- CI-;i-&;- u4yAɮEBAYjhiuFNOT Ignoring new targets: 492.27 m.Rh}N8Zh}N8 ProNav: ac range: 492.272614 m, nav range: 471.873993 m, bearing: 75.876741 deg, approach rate: -0.614063 m/s, LOS rate: 0.002822 deg/s, cmd heading: 78.087005 deg, new cmd heading: 78.090150 deg. Bh8HeadingCmd: 1.362930 target range: 492.272614 and range: 494.30 m.ht?h*h"h hgfffdddjdZdl?pBɢ)\) K=i)iԆx;it?/t;:It?IԁMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766719$B ;CB  IB beBB =B B DB ;B ]=E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021613A I I O >Aӕ,MW?A2i#?2?2T2ٱ2Z5 >AHRS rotation from veh to nav: [[0.206235,-0.956033,-0.208491],[0.963039,0.236045,-0.129764],[0.173272,-0.174024,0.969377]]2He?җ ٯʿ7?6?-?gFƿ#?i2i#?I2ʦq;2:CYB%=2=ٔ=5Q-=>9AYA=EQGEu EuEu&Eq"Eu:*EuP:VEu4ZEqBEuQ 5u4k?Q 9u4i)aBY4?Q E:y?Q I?4CIa:i:nu4y ɮ B jhIUFNOT Ignoring new targets: 492.27 m.RhUZh] ProNav: ac range: 492.272614 m, nav range: 471.556763 m, bearing: 75.875727 deg, approach rate: -0.656873 m/s, LOS rate: -0.002101 deg/s, cmd heading: 78.090154 deg, new cmd heading: 78.087110 deg. BhHeadingCmd: 1.362877 target range: 492.272614 and range: 494.30 m.hr?h*h"h hgfffdddjdZd,@qBɢ =)9 =u4 ~AHRS rotation from veh to nav: [[0.206837,-0.956056,-0.207785],[0.962544,0.236898,-0.131862],[0.175291,-0.172729,0.969246]]nHy?ʿ)?@R? o?`ƿ?inb ?In:7q;n9CYeBy" IbD5VD5y=j>%E"=ٔEqQ-E>9IYI=MQGyM^FMEU>YQ 5eu4]k?Q 9eu4]3)]|aBYayeì?Q Ie?]]CI]:i]|:]U,u4DqzDqbEjEh=4rEd/E} E}E})Ey"E}:*E}&p:VE}FA4ZEya@a@a@a@yɮBBB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 492.27 m.RhxZhxU ProNav: ac range: 492.272614 m, nav range: 471.236908 m, bearing: 75.874740 deg, approach rate: -0.661159 m/s, LOS rate: -0.002042 deg/s, cmd heading: 78.087108 deg, new cmd heading: 78.084144 deg. BhU\]HeadingCmd: 1.362825 target range: 492.272614 and range: 494.30 m.h]q?hY*hY"ha hagafaffdddjdZd @CqBɢo=) 51,'W?AATAT!BfQ>BdBfz IBffBBdBdBdBf ;Bfe=EB>CB>CBCB =B =CƏ6?Z?}6ٱ+5 AHRS rotation from veh to nav: [[0.207162,-0.955767,-0.208792],[0.962112,0.237711,-0.133547],[0.177272,-0.173216,0.968799]]HG?ʿ ?Qm?`ذ?@+ƿ f?i?IYVp;8CY-eBy-_ IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027849iMMb@Mb@Mb@IIII I9M#~j?Mb?v/?YME?yM%*=ٔtQ->9 ?Y ?=QGy_FcE>Q 5u4;k?Q 9u4)aBY H?Q E:y?Q I?CIU:i:=u4yӿBɮBbEjhFNOT Ignoring new targets: 492.27 m.RhZhE EE+E"E:*E҆:VE [4ZEBE5 GC % R9! Y% A^AE rg:y ? ˚AA ؟AI I O >t,VW?A6?6?68ٱ6uy5 BAHRS rotation from veh to nav: [[0.207222,-0.955590,-0.209541],[0.961700,0.238263,-0.135516],[0.179423,-0.173434,0.968363]]6H=?0 @ʿ>? c? X@Y?3ƿ`?i6?I6^Io;6%Zc=ٔZ\ǻQ-Z>9^"?Y^"?=^QGy^`F^I׹E^>dQ 5fu4f k?Q 9ju4f)fPbBYhyj?Q Ij?fCIf:if:fIu4ynBɮr8Bpjh  FNOT Ignoring new targets: 492.27 m.RhZh% ProNav: ac range: 492.272614 m, nav range: 470.616547 m, bearing: 75.869289 deg, approach rate: -0.739509 m/s, LOS rate: -0.006502 deg/s, cmd heading: 78.074786 deg, new cmd heading: 78.067777 deg. Bh%ʎ-HeadingCmd: 1.362540 target range: 492.272614 and range: 494.30 m.h-g?h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=՞ @qBɢh_) 7i)i;i%g?%rr;!I%g?I)Y9@ @@/@@@=BDAT read: Rx Time:15:01:49.2436 TRx dataTimestamp_ set to:1761577310.698483checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534244E  E E )E "E :*E ga:VE FA4ZE a@a@a@a@ԁ^A9AdAzAԱ A) I1 II OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786719,ofW?A2?2&?2:ٱ26 >AHRS rotation from veh to nav: [[0.206508,-0.955448,-0.210888],[0.961470,0.238130,-0.137367],[0.181465,-0.174395,0.967810]]2H`n?@bʿ\?@{? ;B:?RƿM?i2?I2, n;29CYBVfByF IIF=)F=PbDNVDN1yVr=%ZL=ٔZQ-Z>9\Y\=^QGy^aFb:Eb>dQ 5fu4ftk?Q 9ju4fdQ =jtI)fbBYhyjֲ?Q Ij?fӁCIf:if:fWu4yrBɮr'Bpjh  FNOT Ignoring new targets: 492.27 m.RhZh% ProNav: ac range: 492.272614 m, nav range: 470.320221 m, bearing: 75.866651 deg, approach rate: -0.738267 m/s, LOS rate: -0.006576 deg/s, cmd heading: 78.067778 deg, new cmd heading: 78.059860 deg. Bh%k-HeadingCmd: 1.362402 target range: 492.272614 and range: 494.30 m.h--c?h)*h)"h) h)g1f1f1f1d9d9d9jdAZdEj@mqBɢm%R)i uy8iq)qqqiuM;i-c?r;sb:I-c?I!I-dA)-dA9@ @@/@BEN>BABE IBEfBBE =BABABE;BEY=EԁDAT read: 15:01:49.2436 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 403,-0.02, 0.590,-0.920, 0.823, 0.363, PHS= 0.329,-1.238, 0.416, RAW= 152.7, 6.2, CAL= 152.0, 6.4, ROT= 358.0, -6.4 Ygot valid direction response: 15:01:49.2436 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 403,-0.02, 0.590,-0.920, 0.823, 0.363, PHS= 0.329,-1.238, 0.416, RAW= 152.7, 6.2, CAL= 152.0, 6.4, ROT= 358.0, -6.4 PDAT read: Bearing 231.7, 7.8 (Local) ~Local bearing/azimuth received: Bearing 231.7, 7.8 (Local) DAT read: Range 11 to 50 : 498.8 m (Round-trip 665.1 ms) speed 0.9 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.993163,-0.034682,0.111469]Fpublishing direction and range infoy?dK -V:?YfC );Ir>iv>J*@k=)@ =)@I佩"~^?>p-?\? P?)ܽIQi佩 T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A59E5  E5 E5 (E1 "E5 >:*E5 xv:VE5 c44ZE1 BE5 ԡ 4,DW?A21?2?2=ٱ2@I7 >AHRS rotation from veh to nav: [[0.205430,-0.955466,-0.211858],[0.961298,0.237607,-0.139459],[0.183587,-0.175010,0.967299]]2HK?,@-˿? i?@?fƿ?i21?I2°l;27CY^fByb Ii]Mb@Mb@Mb@YYYY Y9]@5^I ?y&1?+η?Y]bP?y]`<]v=Y]ZA ]A)]rAYY] AybDuVDuy//>%==ٔQ->9Y=QGybFO;E>Q 5u4k?Q 9u4x)cBYQ?Q E:yN?Q I?CI;i;fu4yɮBi1i5W?AJi5\CRi5\Cji53?b5THS-~@t/:1_5K@R5?dK -V:?Zi5Qbi5j5/Z@}|j|@[nqdb@Z5U?9CA?$-aZ?2i55C:i5%B"i5v?*i52Bi5LCi5SMh?i5gl\i1i5Ci5é?iQIUA]*DAT read: user:861> eBDAT read: Tx time:15:01:50.5244 e$Ping request sent.e,"W?ANvl?N X?Nb>ٱNL4 VAHRS rotation from veh to nav: [[0.203634,-0.956303,-0.209803],[0.961357,0.235862,-0.141993],[0.185273,-0.172781,0.967378]]NH ? ʿo? 0? ,¿? ƿ@?iNvl?INpk;N9CY^fBy^ IbDdVDdyn'*>%nV=ٔr Q-r>9r ?Yr ?=rQGyvcFvO;Ev>xQ 5~u4zk?Q 9~u4zǭ)zzcBYy?Q I?z%CIz;iz;ztu4y Bɮ ~B YE-B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 496.72 m.RhE@!ZhE@!U ProNav: ac range: 496.719879 m, nav range: 472.904327 m, bearing: 75.987558 deg, approach rate: -0.790469 m/s, LOS rate: -0.008811 deg/s, cmd heading: 78.051153 deg, new cmd heading: 78.041304 deg. BhU]HeadingCmd: 1.362078 target range: 496.719879 and range: 498.80 m.h]X?hY*hY"hY hYgafafafadididijdiZdm#?IrBɢU) h6i)i+;iX?q;B ;IX?I9@ @@0@@eA@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5031069^A ] ;A >A ?B <A <B% J>B! B% UIB% rgBB% =B! B! B% Ɔ;B% =EAy ԉ I I OE >G,: X?Avchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757322U?U1?U@ٱUR*4 uAHRS rotation from veh to nav: [[0.201535,-0.956902,-0.209099],[0.961451,0.234037,-0.144355],[0.187070,-0.171946,0.967181]]UH@?`ʿ 5??6z¿?Vƿ%?iU?IUej;U7CYgBy!Ii%Mb@Mb@Mb@!!!! !9%Mb?/$?Zd;?Y%`?y%,=%y=%SA! %A)%A!Y%AQbDVDNye=%/=ٔQ->9Y=QGydFE EE(E"E :*EP:VEc44ZEBER"Q 5%u4k?Q 9%u4C)cBY-Oa?Q E-q:y-l?Q I-?XCI :i:u4y1ɮ=CB9jhYeFNOT Ignoring new targets: 496.72 m.Rhe@;Zhe@;} ProNav: ac range: 496.719879 m, nav range: 472.502197 m, bearing: 75.982720 deg, approach rate: -0.849679 m/s, LOS rate: -0.010232 deg/s, cmd heading: 78.041304 deg, new cmd heading: 78.026777 deg. Bh}HeadingCmd: 1.361824 target range: 496.719879 and range: 498.80 m.hAP?h*h"h hgfffdddjdZd?rBɢB) '6i)i n;iUAP?mF"r;m;ImAP?It>i>q9@ @@00@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006517ԙ^Am r; A ؟AI I O >H9 ,&X?A2?2D?25Bٱ21 :AHRS rotation from veh to nav: [[0.199158,-0.957861,-0.206976],[0.961663,0.231661,-0.146759],[0.188523,-0.169812,0.967276]]2H ~?@˦ .~ʿ?@?@¿!?@jſ?i2?I2?i;29CYBLgByB>IbDLVDLyR)>%Vk=ٔV6Q-V?9V"?YZ"?=ZQGyZeF^M;E^?\Q 5bu4^"k?Q 9fu4^)^/dBYdyf?Q If?^~CI^:i^:^u4ylɮnBljh!-FNOT Ignoring new targets: 496.72 m.Rh-<Zh< ProNav: ac range: 496.719879 m, nav range: 472.212891 m, bearing: 75.979152 deg, approach rate: -0.836891 m/s, LOS rate: -0.010327 deg/s, cmd heading: 78.026777 deg, new cmd heading: 78.016066 deg. BhHeadingCmd: 1.361637 target range: 496.719879 and range: 498.80 m.h!J?h*h"h hgfffdddjdZd@%n?)颍rBɢS) 06i)顑iE;i!J?!r;ɥ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510520Ա ,yt@X?A2bZ?2E?2sCٱ22 1 :AHRS rotation from veh to nav: [[0.196477,-0.958616,-0.206039],[0.961970,0.229127,-0.148707],[0.189762,-0.168986,0.967178]]2H*&?`{_ʿ v?T?ÿJ?Sſ@ ?i2bZ?I2Ai;2:CYBgByBaIbDJVDJy >%E=ٔ _GQ- >9 Y =QGyfFq;E>Q 5%u4Ok?Q 9-u4|)dBY)y-?Q I-?CI:iL:u4y1ɮ5B9jhYeFNOT Ignoring new targets: 496.72 m.Rhe+GZhm+G} ProNav: ac range: 496.719879 m, nav range: 471.861267 m, bearing: 75.974693 deg, approach rate: -0.857518 m/s, LOS rate: -0.010883 deg/s, cmd heading: 78.016067 deg, new cmd heading: 78.002679 deg. Bh}HeadingCmd: 1.361404 target range: 496.719879 and range: 498.80 m.hyB?h*h"h hgfffdddjdZd@?rBɢbO) 5i)iH;iyB?&hs;ޑ*Bu:CBuIBu hBBu =BqBqBuf;Bu E,]OZX?A2?2'?2Dٱ2/ :AHRS rotation from veh to nav: [[0.193667,-0.959530,-0.204438],[0.962310,0.226347,-0.150750],[0.190923,-0.167537,0.967202]]2H ?x+ʿ ???@Kÿ-p?qſ@Q?i2?I2ui;0YNgByRnITTiMb@Mb@Mb@ 9-?L7A`??Y5^?y+=<`ArA A)Y\AbDVDk2yiC=%@=ٔ&6Q->9Y=QGygF ;E>Q 5u4k?Q 9u4)dBYu^?Q Et:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014625y/?Q I?قCIZn;im;u4yBɮBOEjhFNOT Ignoring new targets: 496.72 m.RhS(ZhS(- ProNav: ac range: 496.719879 m, nav range: 471.501221 m, bearing: 75.970769 deg, approach rate: -0.843186 m/s, LOS rate: -0.009198 deg/s, cmd heading: 78.002680 deg, new cmd heading: 77.990897 deg. Bh-ɹ=HeadingCmd: 1.361198 target range: 496.719879 and range: 498.80 m.h=;?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM`>@@颍sBɢF) 7i)顑i؅;i;?Rt;?SI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267182D zD ?AE  E E /E "E :*E L_:VE J4ZE a @a @a @a @o,*tX?A2?2V ?2Eٱ2O`. >AHRS rotation from veh to nav: [[0.190649,-0.960435,-0.203021],[0.962676,0.223395,-0.152807],[0.192116,-0.166311,0.967178]]2H3g? ɿ =?8?1ÿ>?Iſ@?i2?I2ni;29CYFgByFIbD5VD5y9 >%L=ٔFQ->9Y=QGyhF;E>Q 5u4]k?Q 9u4@)(eBYy?Q I?CI];i;u4yɮrBB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 496.72 m.RhS/ZhS/  ProNav: ac range: 496.719879 m, nav range: 471.162628 m, bearing: 75.966945 deg, approach rate: -0.847691 m/s, LOS rate: -0.009580 deg/s, cmd heading: 77.990898 deg, new cmd heading: 77.979418 deg. Bh cҹHeadingCmd: 1.360998 target range: 496.719879 and range: 498.80 m.h+5?h*h"h hgfffd!d!d!jd!Zd%Cq@HsBɢ$I) b7i)i&;i+5?`5v;?ԩ Aa Aa Bm G>Bi Bm IBm hBBm =Bi Bi Bm ;Bm R=ٔUQ-U>9QYQ=]QGy]iF],a<E]>aE EE*E"E:*EV:VE(N4ZEBEa2EaJE;a:E;aQ 5u4ek?Q 9u4ev)eleBYdZ?Q Ex:y?Q I?e3CIeAe >I I O >),X?AFj6?F!?FIٱF- RAHRS rotation from veh to nav: [[0.182268,-0.962340,-0.201693],[0.963592,0.215638,-0.158085],[0.195624,-0.165536,0.966607]]FHT? }@ɿ?? "<Ŀ7 ?H0ſq?iFj6?IFhi;F9CYZhByZI \\bDbVDbyj>%jf=ٔn7BQ-n>p9pYp=rQGyvjFvv;Ev>xQ 5~u4zXk?Q 9~u4z;o)zeBYy?Q I?zYCIz;iz;z[u4y Bɮ #B FEjh15FNOT Ignoring new targets: 496.72 m.Rh=Zh=M ProNav: ac range: 496.719879 m, nav range: 470.506134 m, bearing: 75.961833 deg, approach rate: -0.851826 m/s, LOS rate: -0.006794 deg/s, cmd heading: 77.971192 deg, new cmd heading: 77.964068 deg. BhM5UHeadingCmd: 1.360730 target range: 496.719879 and range: 498.80 m.hUd,?hQ*hQ"hQ hYgYfYfafadadadajdiZdm~ @颕sBɢJ1l) 9i)顙iS;id,?z;bE ŷG4jE I4rE L0E EE(E"E:*Ega:VEc44ZEa@a@a@a@9a  BDAT read: Rx Time:15:01:53.5880  TRx dataTimestamp_ set to:1761577314.984114 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527603hj0,MX?AYr4hByrIbDzVDzk1ye=% G=ٔ Q- >9Y=QGykFE>Q 5%u4k?Q 9-u4Vf)eBY)y)Q I-?CI-:i:u4y1Yɮ5BjhFNOT Ignoring new targets: 496.72 m.RhfZhf ProNav: ac range: 496.719879 m, nav range: 470.163086 m, bearing: 75.959095 deg, approach rate: -0.805219 m/s, LOS rate: -0.006431 deg/s, cmd heading: 77.964069 deg, new cmd heading: 77.955849 deg. Bh=HeadingCmd: 1.360586 target range: 496.719879 and range: 498.80 m.h'?h!*h!"h! h!g!f!f)f)d)d)d1jdQZdU/@颥sBɢiG) :i)顩i{;i'?4-};=BBIIBhBBBBB;B;EB:CB;CBÓCBÝ =BÝ =C+P5=9@A @A@E4@Ai}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780868ԙ^AR5<E EE'E"E:*E1]:VE'4ZEBE|6,X?Au\GfAԡ DAT read: 15:01:53.5880 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 285, 0.29,-2.324, 2.536,-2.079,-2.585, PHS= 0.363,-1.118, 0.462, RAW= 153.2, 3.9, CAL= 152.2, 3.6, ROT= 357.8, -3.6 Ygot valid direction response: 15:01:53.5880 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 285, 0.29,-2.324, 2.536,-2.079,-2.585, PHS= 0.363,-1.118, 0.462, RAW= 153.2, 3.9, CAL= 152.2, 3.6, ROT= 357.8, -3.6 @DAT read: Bearing 228.5, ocal) %^unknown deviceResponse_: Bearing 228.5, ocal) -DAT read: Range 11 to 50 : 494.6 m (Round-trip 659.5 ms) speed 0.6 m/s 5R#Rx 1: Read range and direction messages.=^direction in FSK: [0.997291,-0.038312,0.062791]=Fpublishing direction and range infoyF??P̯֏ ?YLC )BI#۹>iD>D +@'g=P*@ =)M@I 3?F .|?<B? ]?)0IFiګ9fAYAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.B?ק?Kٱ?+ AHRS rotation from veh to nav: [[0.178254,-0.963485,-0.199806],[0.963910,0.211787,-0.161321],[0.197746,-0.163839,0.966464]]H?`?ɿ`Y??`)ĿO? Ŀ`F?iB?Ii;YFhByIiMb@Mb@Mb@ 9oʡ?/$L7A`堿YM?y+AA GA)AYAbDVDky @<% =ٔ|yQ->9Y=QGylF=;E=>AQ 5Mu4Ek?Q 9Mu4EZ)E2fBYULM?Q EU:yUi?Q IU?ECIE;iEQ;Eu4yyɮBiikJX?AJiDCRiDCji?b~m(~@~\293#>@RF??P̯֏ ?ZiFbijX@)}@C`@Zp? -?Ѡj4?2i>C:iB"iJ_?*iġBi.iY)YYaieT];ieJ!?m;mi}%>u *DAT read: user:862> } BDAT read: Tx time:15:01:54.7744  $Ping request sent. ,ȵX?A:"ܕ?:DZ?:iLٱ:J- BAHRS rotation from veh to nav: [[0.177287,-0.963405,-0.201046],[0.963925,0.211191,-0.162010],[0.198541,-0.165071,0.966092]]:HU?`7`ɿx?O?Ŀi? !ſ9?i:"ܕ?I:i;:9`Y`=bQGybmFf3;Ef>ilInAnchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250037hQ 5rv4jk?Q 9vv4j~S)jbfBYtyv?Q Iv?jCIjw;ijx;jv4y|ɮ~B|B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 492.53 m.Rh-Zh-1E ProNav: ac range: 492.531677 m, nav range: 470.522125 m, bearing: 76.695063 deg, approach rate: -0.841314 m/s, LOS rate: -0.001750 deg/s, cmd heading: 77.944657 deg, new cmd heading: 77.942909 deg. BhEMHeadingCmd: 1.360360 target range: 492.531677 and range: 494.60 m.hMJ ?hI*hI"hI hIgQfQfQfQdYdYdYjdYZde̢?颍LtBɢp)U< =i)顑i@;iJ ?;hBE>BBIBZiBBBBBF;B;EԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504038E  E E %E "E *E g:VE 4ZE BE Թ9Y=QGynF:E>Q 5v4k?Q 9v4)K)fBYUC?Q E:y?Q I? CIF;i;Gv4yBɮB =EjhIMFNOT Ignoring new targets: 492.53 m.RhuAA8ZhuAA8 ProNav: ac range: 492.531677 m, nav range: 470.194427 m, bearing: 76.696226 deg, approach rate: -0.743092 m/s, LOS rate: 0.002640 deg/s, cmd heading: 77.942909 deg, new cmd heading: 77.946401 deg. Bh8HeadingCmd: 1.360421 target range: 492.531677 and range: 494.60 m.hI"?h*h"h hgfffdddjdZd`?颭tBɢSIG)+; ?i)顱i;iI"?&;A I I) O5 >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006295K,\1Y?A2Sݕ?2ȱ?2%$Nٱ2 k/ :AHRS rotation from veh to nav: [[0.177200,-0.962950,-0.203292],[0.963649,0.211729,-0.162947],[0.199953,-0.167028,0.965464]]2H`{?@|xʿ 6??tĿ ?+aſ?i2Sݕ?I2Zi;2:CY^hBy^ IbDfVDfβynG=%rR=ٔrںQ-r>9tYt=vQGyvoFvEz>xQ 5]v4zk?Q 9mv4zC)zfBYqyu?Q Iu?E} E}E}(Ey"E}:*E}x:VE}c44ZEya@a@a@a@z1CIzB 9CB IB iBB =B B DB ;B N;E^A T<I1IAOU>_S,_OY?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512418D??Z1Oٱ/ UAHRS rotation from veh to nav: [[0.178081,-0.962622,-0.204075],[0.963277,0.212892,-0.163629],[0.200959,-0.167441,0.965183]]H ^?ʿ@*?@ @?Ŀ?nſ@?i?Ih;9CYehByeIE EEE"E :*E&p:VEZEBER"9Y=QGyqF%ٺE%>)Q 55v4-il?Q 95v4-:)-gBY51?Q E5:y5r?Q I5?-cCI-:i-]:-~6v4yAɮEwBAjhFNOT Ignoring new targets: 492.53 m.Rh 9Zh 9 ProNav: ac range: 492.531677 m, nav range: 469.518860 m, bearing: 76.701337 deg, approach rate: -0.721501 m/s, LOS rate: 0.007523 deg/s, cmd heading: 77.949486 deg, new cmd heading: 77.961743 deg. Bh59HeadingCmd: 1.360689 target range: 492.531677 and range: 494.60 m.h+?h*h"h hgfffddd!jd!Zd% ?颕tBɢzu=) Di)ix;i+?!;%m=ٔmM9Q-m>9qYq=uQGyurFuE}>yQ 5v4} l?Q 9v4}E1)}DgBYy?Q I?}CI};i};}Hv4yɮ,BjhFNOT Ignoring new targets: 492.53 m.Rh 9Zh 9 ProNav: ac range: 492.531677 m, nav range: 469.165497 m, bearing: 76.705215 deg, approach rate: -0.694124 m/s, LOS rate: 0.007623 deg/s, cmd heading: 77.961739 deg, new cmd heading: 77.973382 deg. Bhk9HeadingCmd: 1.360892 target range: 492.531677 and range: 494.60 m.h1?h*h"h hgfffdddjdZd3\@%2uBɢ%lD)! %Ci)))))i-';i51?5p;5|>B B IB iBB B B B ;B 5;E ^A < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519812 I1IIOU>Cd,I,Y?Au?umа?u =OE EEE"E:*EL_:VEZEBE 9Y=QGytF呻E>Q 5v4l?Q 9v4()gBYV%?Q E:y8?Q I?CI.:ia:}[v4yBɮB4EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 492.53 m.Rh;29Zh;29 ProNav: ac range: 492.531677 m, nav range: 468.825317 m, bearing: 76.710487 deg, approach rate: -0.627922 m/s, LOS rate: 0.009739 deg/s, cmd heading: 77.973385 deg, new cmd heading: 77.989213 deg. Bh 9HeadingCmd: 1.361169 target range: 492.531677 and range: 494.60 m.h:?h*h"h hgfffdd!d!jd!Zd%O@uuBɢ:) Di)i;i:?;Ҥ@m >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025012^AM~M<ԩI)IIOe ?m,ⒶY?A6@s?6^?6Nٱ65 BAHRS rotation from veh to nav: [[0.187823,-0.959279,-0.210963],[0.961564,0.223385,-0.159670],[0.200294,-0.172865,0.964365]]6H@ ?j˿!??pĿ@??l ƿ ?i6@s?I6ld;69CEH EJEJ(EH"EH*EJi:VEJc44ZEHaN@aN@aN@aN@YFkiByRIbD VD Ny>%3=ٔ%G:Q-%>9!Y)=-QGy-uF-cE5>1Q 5=v45l?Q 9Ev45!)5gBYAyEǚ?Q IE?5CI5[:i51:5ykv4yIɮUBQjhq}FNOT Ignoring new targets: 492.53 m.Rh}79Zh}79 ProNav: ac range: 492.531677 m, nav range: 468.537781 m, bearing: 76.715073 deg, approach rate: -0.629696 m/s, LOS rate: 0.010049 deg/s, cmd heading: 77.989210 deg, new cmd heading: 78.002976 deg. Bh9HeadingCmd: 1.361409 target range: 492.531677 and range: 494.60 m.hB?h*h"h hgfffdddjdZdY @uBɢ.R) Ci)i;iB?s;auiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273933qԡB B B IB DjBB B B B Ä;B ;E zs,SY?A6BDAT read: Rx Time:15:01:57.8347 6TRx dataTimestamp_ set to:1761577319.268216:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526790J?J<?JxMٱJ95 nAHRS rotation from veh to nav: [[0.190549,-0.958768,-0.210844],[0.961231,0.225834,-0.158221],[0.199313,-0.172521,0.964630]]JH`c?:@ʿg??@Ŀ? )ƿ??iJ?IJc;HYiBy I ))IM@AbDeVDe0Աy>%3=ٔ;Q->9Y=QGyvFȻE>IQ 5Uv4M'l?Q 9]v4MY)MgBYYy]m?Q I]?MCIM:iM:M{v4yaɮmxBiEm EmEm+Ei"Em :*Emg:VEm [4ZEiBEmR"9 z,.Y?A2?2?2YhLٱ2Y4 :AHRS rotation from veh to nav: [[0.193996,-0.958080,-0.210829],[0.960752,0.228993,-0.156579],[0.198294,-0.172179,0.964901]]2H?`@uʿ{?O? Ŀa? ƿ x?i2?I2bXc;27CYBiByBIi]Mb@Mb@Mb@YYYY Y9]Cl?)\(y&1|?Y]d?y]GὙ]`;]A]A ]A)]^AYY] AbDVD02yG%>%J=ٔ~(;Q->9Y=QGywFE>Q 5v4.l?Q 9v4)8hBY?Q E:y?Q I?&CI:iU:v4y ɮ 5Bjh9=FNOT Ignoring new targets: 492.53 m.RhEWG9ZhEWG9U ProNav: ac range: 492.531677 m, nav range: 468.009766 m, bearing: 76.724109 deg, approach rate: -0.600174 m/s, LOS rate: 0.010892 deg/s, cmd heading: 78.017474 deg, new cmd heading: 78.030100 deg. BhU69]HeadingCmd: 1.361882 target range: 492.531677 and range: 494.60 m.h](R?hY*hY"hY hYgafafafadiDAT read: 15:01:57.8347 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 312, 0.03, 1.522,-0.010, 1.757, 1.208, PHS= 0.416,-1.173, 0.505, RAW= 152.7, 3.1, CAL= 151.6, 2.8, ROT= 358.4, -2.8 Ygot valid direction response: 15:01:57.8347 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 312, 0.03, 1.522,-0.010, 1.757, 1.208, PHS= 0.416,-1.173, 0.505, RAW= 152.7, 3.1, CAL= 151.6, 2.8, ROT= 358.4, -2.8 PDAT read: Bearing 226.0, 9.4 (Local) ~Local bearing/azimuth received: Bearing 226.0, 9.4 (Local) DAT read: Range 11 to 50 : 492.2 m (Round-trip 656.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.m^direction in FSK: [0.998417,-0.027888,0.048850]mFpublishing direction and range infoyqu0'?yÎs!D?YuCqqqq q)u@Iu>iu$uG?uJ*@uk]=uV)@ u+H=)u+@Iu+Hqqu`U?ɲEC?UHګ? u?)u'^Iuiu+HqqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ddjd@3~@Zd?bE]c44jE]Ɗ94rE]/E EEE"Ea:*E:VEZEa-@a-@a-@a-@9UvBɢUWJ)y Bi)顑iE;i(R?yv;n=i)>u9@q @q@u4@q@}dA@}fA^AM jb% *DAT read: user:863> - BDAT read: Tx time:15:01:59.0743 - $Ping request sent.- AHRS rotation from veh to nav: [[0.197324,-0.957256,-0.211480],[0.960305,0.232129,-0.154697],[0.197176,-0.172560,0.965062]]2HA?ס˿к?g?ÿ` =?@pƿ?i23?I2Cc;29CY^,jBybIbDjVDjy~G8>%l=ٔWX;Q-?9Y = QGy xF "E ?Q 5v4d5l?Q 9%v4)khBY!y%$?Q I%?ACI+;i7;v4y-Bɮ-B5,Eii_Y?AJiCRiCji'?b%~@s V+te7@R0'?yÎs!D?Zibi+HjHM[%Z@pN|@ v}^@Z4+O?PXk;?K?2iC:i*B"isq?*i9|Bi4Cisq?i2iiCi5? addTargetRange:: Added new target pos. range: 492.200012 m, deltaT: 4.282564 s, deltaX: -2.399994 m, approachRate: -0.560410 m/s, rangeRepo size: 4  Added new target pos. range: 490.134430 m, bearing: 77.272982 deg, lat: 36.778947 deg, lon: -121.859558 deg, deltaT: 4.282564 s, deltaX: -2.397247 m, approachRate: -0.559769 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 490.13 m.RhZh ProNav: ac range: 490.134430 m, nav range: 467.943115 m, bearing: 77.083979 deg, approach rate: 0.000000 m/s, LOS rate: 0.010892 deg/s, cmd heading: 78.030103 deg, new cmd heading: 78.041420 deg. BhHeadingCmd: 1.362080 target range: 490.134430 and range: 492.20 m.hX?h*h"h hgfffdddjdZd`b?:vBɢㅾ)< @i)iJ;iX?;  BBOIBjBBBBB;B:EBU9CBU9CBQBUÞ =BUÞ =CU95-9@) @)@-/@)ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253298^Aues<II O >E-  E- E- 'E) "E- :*E- Ar:VE- '4ZE) BE- '9Y=QGyyF E >Q 5v4=l?Q 9v4 )hBY!?Q E:yۛ?Q I%?bCI:i:v4y)ɮ-B)EB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 490.13 m.Rh].9Zh].9u ProNav: ac range: 490.134430 m, nav range: 467.680084 m, bearing: 77.088120 deg, approach rate: -0.607071 m/s, LOS rate: 0.009562 deg/s, cmd heading: 78.041420 deg, new cmd heading: 78.053850 deg. Bhu9}HeadingCmd: 1.362297 target range: 490.134430 and range: 492.20 m.h}_?hy*hy"hy hygfffddd)jd)Zd-@9?upvBɢ}K)}*N; }Aiy)yyiMy;i_?Ό;.4;I_?Iy@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755563^A 8<A A ! A I I O >E5  E5 E5 %E1 "E5 a:*E5 &p:VE5 4ZE1 a= @a= @a= @a= @J,Y7Z?A2gi?2T?2;Iٱ2fb5 :AHRS rotation from veh to nav: [[0.203323,-0.955835,-0.212226],[0.959445,0.237728,-0.151493],[0.195254,-0.172817,0.965407]]2H~?25*˿Ƴ?m?dÿ?`ƿ?i2gi?I2b;2;CYBjByBQIbDJVDJyR2r>%Rc=ٔV6;Q-V>9TYX=ZQGyZzFZEZ>|9Q 5Ev4=Cl?Q 9Ev4=j)=hBYAyM?Q IM?=CI=1:i=:=v4yQɮUhBQjhFNOT Ignoring new targets: 490.13 m.Rhy.9Zhy.9 ProNav: ac range: 490.134430 m, nav range: 467.453857 m, bearing: 77.091761 deg, approach rate: -0.591930 m/s, LOS rate: 0.009534 deg/s, cmd heading: 78.053851 deg, new cmd heading: 78.064782 deg. Bh^9HeadingCmd: 1.362487 target range: 490.134430 and range: 492.20 m.he?h*h"h hgfffdddjdZd \?vBɢb) >i)i;i%e?%Ȍ;%c;I-e?I)99@ @@/0@@=@=)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006922Q^A;B ;>B B IB 8kBB =B B B ;B :EA I I O >ԁ 2,QZ?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258941F ?F?F|HٱFFC5 RAHRS rotation from veh to nav: [[0.205939,-0.955242,-0.212372],[0.959032,0.240163,-0.150261],[0.194539,-0.172727,0.965567]]FH@9\?`W/˿d? ?;ÿ ?ƿ?iF ?IFUc;F9CYZjByZrIbDbVDbܲyj|>%jG=ٔj:Q-n>9lYl=rQGyr{FzֻEz>a Q 5v4 Jl?Q 9v4 u) CiBYy*?Q I?E EE$E"E:*Ega:VE4ZEBEJ-i)i;il?&;:Il?IԉԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510896myb: @  @ @ /@ ^A TP;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766321AyIIO ?,tZ?A\E EE)E"E:*Ec:VEFA4ZEa@a@a@a@5u?5 ?5Gٱ5,4 EAHRS rotation from veh to nav: [[0.209623,-0.954582,-0.211736],[0.958419,0.243478,-0.148835],[0.193628,-0.171733,0.965928]]5H@?)˿]?`M*? ÿ ?Tſ?i5u?I5h@b;5:CYU%e=ٔms:Q-m>9iYi=uQGyu|FuϻEu>yQ 5v4}Tl?Q 9v4}K)}iBY=%?Q E:ye?Q I?}΅CI};i}6;}v4yBɮBjh%FNOT Ignoring new targets: 490.13 m.Rh% 9Zh% 95 ProNav: ac range: 490.134430 m, nav range: 466.848969 m, bearing: 77.099863 deg, approach rate: -0.675909 m/s, LOS rate: 0.007704 deg/s, cmd heading: 78.076616 deg, new cmd heading: 78.089103 deg. Bh529=HeadingCmd: 1.362912 target range: 490.134430 and range: 492.20 m.h]s?hY*ha"ha hagafafifidididijdqZduS@wBɢ+5) K=i)i F;i s?Z ;+-Is?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862 ;1 @1  @9 @= /@9 9 B :>B B IB kBB B B B ;B :Ea Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269080^A]rg:E EE-E"E:*EL_:VEt4ԱZEBE{5 >AHRS rotation from veh to nav: [[0.210878,-0.954069,-0.212799],[0.958262,0.244758,-0.147743],[0.193042,-0.172761,0.965861]]2H@? =˿@?`%=ٔj:Q->9Y=QGy~FE>Q 5v4[l?Q 9v4_)2jBY/?Q E:y?Q I?CI ;iu ;v4yBɮXB#EjhFNOT Ignoring new targets: 490.13 m.Rh F7Zh F7 ProNav: ac range: 490.134430 m, nav range: 466.499146 m, bearing: 77.100771 deg, approach rate: -0.658630 m/s, LOS rate: 0.001709 deg/s, cmd heading: 78.089102 deg, new cmd heading: 78.091826 deg. Bh*8%HeadingCmd: 1.362960 target range: 490.134430 and range: 492.20 m.h%uu?h!*h!"h! h!g)f)f)f1d1d1d1jd1Zd= m@eMwBɢm6)i m9ii)qqqiu܅;i}uu?}r;}d6=I}uu?Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518811?BI9e9@a @i@i@i } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771445ԁ ^A (E EE&E"E:*Exv:VE4ZEa@a@a@a@AIIO>a, Z?A2`W?2B?2O{Fٱ24 :AHRS rotation from veh to nav: [[0.211452,-0.954180,-0.211726],[0.958220,0.245073,-0.147488],[0.192618,-0.171693,0.966136]]2H@?˿ཀྵ?^?@¿? ſ?i2`W?I2Ya;2;CYB lByB(IbDJVDJ:yRD>%R3=ٔV'x:Q-V>X9XYX=ZQGyZF^E^>`Q 5fv4bal?Q 9Mv4b)bjBYIyMt?Q IM?b CIbB 8CB {IB lBB B B B x;B :E1 ^AM 7 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274895a I!IIOu>_,Z?AEz EzEz(Ex"Ez:*Ez҆:VEzc44ZExBEzJ-%=ٔ9:Q->9Y= QGy F gE >Q 5w4hl?Q 9w4)kBY%軖,=Z?A^T****** received valid address query ******^R****** received valid ping request ******^received new query, but waiting for acoustic response period to elapseZg?Z.S?ZEٱZ2 fAHRS rotation from veh to nav: [[0.211015,-0.954744,-0.209612],[0.958494,0.244164,-0.147216],[0.191733,-0.169848,0.966639]]ZH ?Bʿ ?@?¿@? ſ?iZg?IZڬa;Z7CYnlBynIbDzVDz1yy>%`=ٔ:Q- >9Y=QGyF%:E%>9Q 5Mw4=ml?Q 9Uw4=')=`kBYQyUK?Q I]?=sCI=s;i=m;=w4yiɮm>BiԱjhFNOT Ignoring new targets: 490.13 m.RhqJZhqJ ProNav: ac range: 490.134430 m, nav range: 465.554352 m, bearing: 77.100939 deg, approach rate: -0.690078 m/s, LOS rate: -0.000691 deg/s, cmd heading: 78.093111 deg, new cmd heading: 78.092331 deg. BhHeadingCmd: 1.362968 target range: 490.134430 and range: 492.20 m.hu?h*h"h hgfffdddjdZdte@wBɢG) 3i)iG;iu?;!m8I u?D!zD%@AE- E-E)E)"E-:*E-i:VE)ZE)a5@a5@a=@a=@I99@ @@@mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse^A= qZI I O >1 !–,x [?AB69>B69CB6IB6HmBB6 =B4B4B6X;B6:EBǓ?B\?B< EٱB{0 NAHRS rotation from veh to nav: [[0.209742,-0.955422,-0.207793],[0.958870,0.242561,-0.147417],[0.191248,-0.168327,0.967001]]BH? В@ʿ?`< ?@¿ z?@ſ@?iBǓ?IB&a;B9CYRlByVIbD^VD^Nyf>%fO=ٔf:Q-f>9hYh=jQGyjFj`;En>9Q 5Ew4=rl?Q 9Mw4=)=kBYIyMq?Q IM?=CI=:i=/:=%w4yUwBɮ}B}EjhFNOT Ignoring new targets: 490.13 m.RhnZhn ProNav: ac range: 490.134430 m, nav range: 465.269501 m, bearing: 77.100611 deg, approach rate: -0.707562 m/s, LOS rate: -0.000813 deg/s, cmd heading: 78.092333 deg, new cmd heading: 78.091351 deg. BhHeadingCmd: 1.362951 target range: 490.134430 and range: 492.20 m.h/u?h*h"h hgfffdddjd!Zd%@MxBɢMK)Q U1iQ)QQQi]t;i]/u?]\;e0lֺIe/u?IaT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@/0@QEU EUEU*EQ"EU:*EU:VEU(N4ZEQBEU. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԙ Ȗ,%[?AZf?Z?Zr;DٱZ/ bAHRS rotation from veh to nav: [[0.208703,-0.955917,-0.206555],[0.959253,0.241222,-0.147122],[0.190462,-0.167434,0.967311]]ZHȶ?ߖ gpʿ@4?Z?`¿`a? znſ5?iZf?IZ{b;XYjBmByjI llieMb@Mb@Mb@aaaa a9e r?~jtx?Mb?YeC?ye;e=eAa eA)etAaYe(AbDVDy >% 8=ٔ :Q- >9Y)=-QGy-F5h#;E5>9Q 5Ew4=wl?Q 9Ew4=)=lBYEFD?Q EE:yE?Q IM?=CI=:i=z:= 5w4yQɮUBQqjhFNOT Ignoring new targets: 490.13 m.RhdZhd ProNav: ac range: 490.134430 m, nav range: 464.947632 m, bearing: 77.099277 deg, approach rate: -0.750494 m/s, LOS rate: -0.003115 deg/s, cmd heading: 78.091349 deg, new cmd heading: 78.087341 deg. BhHeadingCmd: 1.362881 target range: 490.134430 and range: 492.20 m.hr?h*h"h hgfffdddjdZd @LxBɢQ@) 0i)iH;ir?;PAIr?Im9@q @q@u4@q@eA@eAԡT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^ANJκI I! O5 >bE-4jE%Vd=ٔVt;Q-Z>9XYX=ZQGyZF^ϣ;E^>`Q 5fw4b-|l?Q 9fw4b)b_lBYdyfư?Q Ij?bCIb:ib:b{Aw4ylɮnWBlzB*** querying acoustic contact ***i| i|jhamFNOT Ignoring new targets: 490.13 m.RhmodZhmod ProNav: ac range: 490.134430 m, nav range: 464.684814 m, bearing: 77.098129 deg, approach rate: -0.714550 m/s, LOS rate: -0.003121 deg/s, cmd heading: 78.087340 deg, new cmd heading: 78.083897 deg. Bh HeadingCmd: 1.362821 target range: 490.134430 and range: 492.20 m.hp?h*h"h hgfffdddjdZd  @i9I9=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseyxBɢE) .i)i#~;ip?ň;S_:Ip?I9@ @@4@Be5>Be8CBe\IBemBBe =BaBaBe;;Bey:EB!B!B!B%Ɵ =B%Ɵ =C%ƞ5^AΒ{) I1 IQ Oe > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseEu  Eu Eu +Eq "Eu :*Eu x:VEu [4ZEq BEu +:Q->9Y=QGyF;E>Q 5 w4l?Q 9 w4в)lBY !M?Q E :y ?Q I ?CI:i3:Rw4QyYɮ]-BajhFNOT Ignoring new targets: 490.13 m.Rh8Zh8 ProNav: ac range: 490.134430 m, nav range: 464.301941 m, bearing: 77.096097 deg, approach rate: -0.782910 m/s, LOS rate: -0.004159 deg/s, cmd heading: 78.083897 deg, new cmd heading: 78.077796 deg. Bh6HeadingCmd: 1.362715 target range: 490.134430 and range: 492.20 m.hom?h*h"h hgfffdddjdZd@MxBɢM2)i u.iq)qqqiuZ;i}om?}+;}Ɵ$;Iom?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 9@  @ @ A4@ ԉԱ ^AM rg:IQ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseIy O >ܖ,`u[?A^Ӓ??#AٱL) AHRS rotation from veh to nav: [[0.200528,-0.959203,-0.199295],[0.961578,0.231639,-0.147344],[0.187497,-0.162092,0.968799]]H ?ɱɿ@@? X?,¿?jĿ@f?i^Ӓ?Ia;9CY-nBy-^II5<)5%=bD=VD=βyK'>%X=ٔ|x;Q->9Y=QGyFiQ<E>Q 5w4hl?Q 9w42)mBYyX?Q I?9CI+;ij;_w4ygBɮBEjhFNOT Ignoring new targets: 490.13 m.RhZh ProNav: ac range: 490.134430 m, nav range: 464.008026 m, bearing: 77.094365 deg, approach rate: -0.796698 m/s, LOS rate: -0.004697 deg/s, cmd heading: 78.077798 deg, new cmd heading: 78.072599 deg. BhSNHeadingCmd: 1.362624 target range: 490.134430 and range: 492.20 m.E EEE"EO:*EAr:VEZEa@a@a@a@hvj?h*h"h hgff!f!d!d!d!jd)Zd-@@UxBɢU(L)Y ]m-iY)YYYie#;ievj?e;mP;Imvj?IiIq)q9@ @@/@@%=@%=IET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse^A]2;ԁ I1 IA OU >BM 3>BI BM IBM nBBM =BI BI BM ';BM b:E<,[ [?ADY~1nBy~{IbDVDky%=%%R=ٔ%Q-%>9)Y)=-QGy)-E5>1Q 5=w45l?Q 9Ew45^)5SmBYAyAQ IE?5`CI5;i5];5xmw4yIɮUBQjhq}FNOT Ignoring new targets: 490.13 m.Rh/Zh/ ProNav: ac range: 490.134430 m, nav range: 463.705933 m, bearing: 77.092583 deg, approach rate: -0.778253 m/s, LOS rate: -0.004595 deg/s, cmd heading: 78.072600 deg, new cmd heading: 78.067249 deg. BhIHeadingCmd: 1.362531 target range: 490.134430 and range: 492.20 m.hgg?h*h"h hgfffdddjdZd@yBɢE) -i)i);igg?v;P;Igg?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱu9@y @y@y@EE EEEE$EA"EED:*EExv:VEE4ZEABEE1 m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse, [?AJLg?JR?J2@ٱJ% RAHRS rotation from veh to nav: [[0.196220,-0.961006,-0.194845],[0.962643,0.226605,-0.148219],[0.186593,-0.158483,0.969570]]JH?`ȿ@? g? ¿`D?+IĿ?iJLg?IJ$a;HYZbnByZIliuMb@Mb@Mb@qqqq q9u?Mb?/$?Yqyu9Y=QGyF0<E>Q 5w4 l?Q 9w4ߚ)mBYL?Q E:y+?Q I?CI%;in:'|w4ypBɮ~BEjhFNOT Ignoring new targets: 490.13 m.RhrZhr  ProNav: ac range: 490.134430 m, nav range: 463.377502 m, bearing: 77.091016 deg, approach rate: -0.780804 m/s, LOS rate: -0.003728 deg/s, cmd heading: 78.067252 deg, new cmd heading: 78.062548 deg. Bh #HeadingCmd: 1.362448 target range: 490.134430 and range: 492.20 m.hd?h*h"h hgff!f!d!d!d!jd)Zd-0@U2yBɢ]=)Y ]-iY)Yaaie;imd?mI;u,Y C,[?AJ?J?Jd?ٱJc# RAHRS rotation from veh to nav: [[0.194775,-0.961842,-0.192152],[0.963032,0.224701,-0.148591],[0.186097,-0.156106,0.970051]]JHg? ikȿ(??ÿ` ?Iÿ ?iJ?IJ\b;HYZnByZIbD`VD`yjoC>%jX=ٔj:Q-n>9lYl=rQGyrFr;Er>tQ 5zw4vl?Q 9zw4v8)vmBYxy~[?Q I~?vCIv;iv&;v_w4yɮ4B%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse-B*** querying acoustic contact ***i) i)9jhAEFNOT Ignoring new targets: 490.13 m.RhM&ZhM&] ProNav: ac range: 490.134430 m, nav range: 463.081696 m, bearing: 77.089550 deg, approach rate: -0.777365 m/s, LOS rate: -0.003856 deg/s, cmd heading: 78.062546 deg, new cmd heading: 78.058144 deg. Bh]a)eHeadingCmd: 1.362372 target range: 490.134430 and range: 492.20 m.he1b?ha*ha"ha hagifififidqdqdqjdqZduF@颥]yBɢpD) +i)顩ic1;i1b? ;<i>Q@Q @Q@U\1@Q@Y@Y^A-h%B 2>B B IB 0oBB B B DB ;B T:EԑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse E]  E] E] )EY "E] :*E] Ar:VE] FA4ZEY BE] t%W=%;=ٔI:Q->9Y=QGyFX;E>Q 5w4Rl?Q 9w4})"nBYJ?Q E:ye?Q I?ۇCIe ;i ;w4y_BɮBEjhFNOT Ignoring new targets: 490.13 m.Rh%{/Zh%{/5 ProNav: ac range: 490.134430 m, nav range: 462.743134 m, bearing: 77.088511 deg, approach rate: -0.781117 m/s, LOS rate: -0.002397 deg/s, cmd heading: 78.058141 deg, new cmd heading: 78.055024 deg. Bh5Ҹ=HeadingCmd: 1.362317 target range: 490.134430 and range: 492.20 m.h=i`?h9*h9"hA hAgAfAfIfIdIdIdQjdQZdU@]yBɢ])4)Y ],iY)i.߀;ii`?^;O9,v[?Af?f)ѯ?f ?ٱf/! nAHRS rotation from veh to nav: [[0.192550,-0.962793,-0.189615],[0.963598,0.222039,-0.148918],[0.185479,-0.154039,0.970500]]fHv?3QEȿ? k?ÿʽ?ÿU?if?Ifa;f5CYvnByvIbD~VD~y =% W=ٔ J:Q->9Y=QGyF>;E>!Q 5-w4%?l?Q 9-w4%)%^nBY1y5?Q I5?%CI%:i%:%ܥw4yɮBjhFNOT Ignoring new targets: 490.13 m.Rh-Zh-E EE'E"E:*Ey:VE'4ZEa @a @a @a @ ProNav: ac range: 490.134430 m, nav range: 462.448669 m, bearing: 77.087575 deg, approach rate: -0.745081 m/s, LOS rate: -0.002371 deg/s, cmd heading: 78.055026 deg, new cmd heading: 78.052215 deg. BhOи%HeadingCmd: 1.362268 target range: 490.134430 and range: 492.20 m.h%^?h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5@M @eyBɢeI)a e{-ia)iiiim;iu^?u;u[B 0>B 7CB cIB oBB B =DB B ;B G:Ey ,&\?AJD?Jۯ?J9>ٱJ! VAHRS rotation from veh to nav: [[0.192237,-0.962794,-0.189927],[0.963670,0.221775,-0.148850],[0.185433,-0.154412,0.970449]]JH`:?5Oȿa?!c? ÿG?ÿ@ ?iJD?IJa;J:CYZoBy^IbDfVDf!yn =%nO=ٔn8Q-n>9pYp=rQGyrFvTX:Ev>tQ 5~w4v\l?Q 9~w4vz)vnBY|y~?Q I~?v(CIv|:iv$:vw4y ɮ B jh15FNOT Ignoring new targets: 490.13 m.Rh=i?Zh=i?M ProNav: ac range: 490.134430 m, nav range: 462.142181 m, bearing: 77.086586 deg, approach rate: -0.810003 m/s, LOS rate: -0.002615 deg/s, cmd heading: 78.052212 deg, new cmd heading: 78.049244 deg. BhMUHeadingCmd: 1.362216 target range: 490.134430 and range: 492.20 m.hU]?hQ*hQ"hQ hQgYfYfYfYdadadajdaZde@t !@颕yBɢLH) N-i)顙iЂ;i]?y;Y_  nManaging dock network, ignoring radio surface power off ,Q)\?A2cؓ?2ï?2?ٱ2D" :AHRS rotation from veh to nav: [[0.192916,-0.962512,-0.190667],[0.963414,0.222652,-0.149196],[0.186055,-0.154909,0.970251]]2H@{? gȿJ?@?ÿ?`ÿK ?i2cؓ?I2`;2;CYB3oByBIi Mb@Mb@Mb@     9 p= ף?Zd;O{GzY E?y j # A A A) ^A Y pAbD%VD%y5=%5E=ٔ5ȺQ-=>99Y9==QGy=FEWEE>IQ 5Uw4Mdl?Q 9Uw4Mr)MnBY9E?Q E:y?Q I?MQCIMG,7C\?A:?:A?:?ٱ:8# FAHRS rotation from veh to nav: [[0.193872,-0.962079,-0.191877],[0.963194,0.223795,-0.148905],[0.186199,-0.155946,0.970057]]:H?Zlȿ}?M?Mÿ^? ÿ ?i:?I:_;8YJaoByN6IbDVVDV:y^=%^R=ٔ^(ŹQ-^>9`Y`=bQGybFb'Ef>hQ 5nw4jl?Q 9nw4j_k)j oBYlyn?Q In?jvCIj1:ijk:jw4yvXBɮvNBvEB*** querying acoustic contact ***i iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsejh%FNOT Ignoring new targets: 490.13 m.Rh%7Zh-7= ProNav: ac range: 490.134430 m, nav range: 461.532349 m, bearing: 77.086952 deg, approach rate: -0.809903 m/s, LOS rate: 0.000539 deg/s, cmd heading: 78.049746 deg, new cmd heading: 78.050336 deg. Bh=O7EHeadingCmd: 1.362235 target range: 490.134430 and range: 492.20 m.hE]?hA*hA"hA hAgAfIfIfIdQdQdQjdQZd]]"@颅;zBɢZW)< -i)顉i;i]?;jaFBBIBpBB =BBB;B:EI^AM/C<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI! I1 OE >y EU  EU EU )EQ "EU :*EU z:VEU FA4ZEQ BEU .9YYY=]QGy]FeyKEe>iQ 5w4ml?Q 9w4mb)mMoBY}@?Q E:y ?Q I?mCImj;im:mw4yɮDBjh  FNOT Ignoring new targets: 490.13 m.Rh"8Zh"8% ProNav: ac range: 490.134430 m, nav range: 461.195618 m, bearing: 77.087988 deg, approach rate: -0.722509 m/s, LOS rate: 0.002224 deg/s, cmd heading: 78.050334 deg, new cmd heading: 78.053443 deg. Bh%[8mHeadingCmd: 1.362290 target range: 490.134430 and range: 492.20 m.hm_?hi*hi"hi higqfqfqfqdydydyjdyZd} #@ԁ-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse5pzBɢ5($3)9 =T0i9)99i;i_?&;\2A >I) IA O] > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseLM,w\?ALV\?V#H?V>ٱVR( bAHRS rotation from veh to nav: [[0.196581,-0.960510,-0.196915],[0.962805,0.227072,-0.146437],[0.185368,-0.160804,0.969423]]VH)?``4ɿ`M?@?@s¿ %?6Ŀ ?iV\?IV^;V9CYjoByjTIbDrVDr!yz=%za=ٔ~{,:Q-~>9|Y=QGyFlvE> Q 5w4 l?Q 9w4 [) oBYy?Q I? ĈCI ;i ]; `w4y!ɮ%B)jhIUFNOT Ignoring new targets: 490.13 m.RhU<68ZhU<68e ProNav: ac range: 490.134430 m, nav range: 460.927155 m, bearing: 77.088860 deg, approach rate: -0.765419 m/s, LOS rate: 0.002489 deg/s, cmd heading: 78.053442 deg, new cmd heading: 78.056061 deg. Bhe8mHeadingCmd: 1.362335 target range: 490.134430 and range: 492.20 m.hma?hi*hqbEeFA4jEe>4rEeu0E EE-E"EO:*Ek:VEt4ZEa@a@a@a@"hq hgfffdddjdZdV$@mzBɢmQ) O0i)顑i%V;ia?v;! A A B B B IB kpBB =B B B ă;B 9EBe7CBe7CBaBeʠ =Beʠ =Ceq42$,嚑\?A2Eٱ2 R) :AHRS rotation from veh to nav: [[0.197528,-0.960092,-0.198005],[0.962601,0.228170,-0.146075],[0.185424,-0.161745,0.969256]]2HH? @6Xɿ?4?¿?Ŀ@$?i2E9Y=QGyF_E>Q 5w4`l?Q 9w4S)oBYy?Q I?CI2;i;Gw4yɮBjh!-FNOT Ignoring new targets: 490.13 m.Rh-48Zh548E ProNav: ac range: 490.134430 m, nav range: 460.611969 m, bearing: 77.089925 deg, approach rate: -0.730814 m/s, LOS rate: 0.002470 deg/s, cmd heading: 78.056064 deg, new cmd heading: 78.059260 deg. BhE8MHeadingCmd: 1.362391 target range: 490.134430 and range: 492.20 m.hMb?hI*hI"hI hIgIfQfQfQdYdYdYjdYZd]c)%@}DAT read: }2Acoustic response timeoutzBɢPC) _0i)i%gʃ;i5b?5 ̍;58+,w\?A^R?^?^=m>ٱ^* nAHRS rotation from veh to nav: [[0.199162,-0.959487,-0.199296],[0.962366,0.229868,-0.144954],[0.184894,-0.162927,0.969159]]^H %~?@ ɿ@?Tl?܍¿?`ĿY?i^R?I^aN^;\YzoByzwII|)~p< bD VD 1y?<%3=ٔY:Q->9!Y!=%QGy%F-{E->)Q 55x4-&l?Q 9=x4-K)-oBY9y=?Q I=?-CI-:i-:-c x4yMFBɮMBMEjhiuFNOT Ignoring new targets: 490.13 m.Rh}D8Zh}D8 ProNav: ac range: 490.134430 m, nav range: 460.292328 m, bearing: 77.091073 deg, approach rate: -0.747637 m/s, LOS rate: 0.002687 deg/s, cmd heading: 78.059261 deg, new cmd heading: 78.062707 deg. Bh8HeadingCmd: 1.362451 target range: 490.134430 and range: 492.20 m.hd?h*h"h hgfffdddjdZd@O&@zBɢA) y2i)iM&;imd?u ;uܙ;Iud?IY<2Acoustic response timeout 9@  @@4@E EE(E"E:*E&p:VEc44ZEa@a@a@a@ԙ^A<Ա A .AI I! O- > 2Acoustic response timeoutb1,!\?ABْ?BĮ?BI=ٱB@, JAHRS rotation from veh to nav: [[0.200479,-0.958858,-0.200996],[0.962178,0.231331,-0.143870],[0.184448,-0.164551,0.968970]]BHJ?`@:ɿ`*? B?@Vj¿? ſ?iBْ?IB09^;B7CPYRpByRIbD^ VD^:2yf >%fQ=ٔj:Q-j>9j ?Yj ?=jQGyjFnXbEn>pQ 5vx4rPl?Q 9vx4rjD)r-pBYtyz\?Q Iz?r:CIr:ir:rx4y~OBɮ~B~EB*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 490.13 m.Rh-K8Zh5K8E ProNav: ac range: 490.134430 m, nav range: 460.003052 m, bearing: 77.092162 deg, approach rate: -0.738462 m/s, LOS rate: 0.002782 deg/s, cmd heading: 78.062710 deg, new cmd heading: 78.065980 deg. BhEc8MHeadingCmd: 1.362508 target range: 490.134430 and range: 492.20 m.hMf?hI*hI"hI hIgIfQfQfQdQdYdYjdYZde&@颍{Bɢ+I) 1i)顑iF;if?-;p;If?IBBB IBpBB =BBBu;B9E9@ @@4@=2Acoustic response timeoutE  E E E "E ;*E ~:VE ZE BE A}8,N\?A2(?2?2=ٱ2L>. >AHRS rotation from veh to nav: [[0.201661,-0.958192,-0.202980],[0.961983,0.232733,-0.142915],[0.184180,-0.166443,0.968697]]2H?<ɿ?2?K¿@5?Mſ?i2(?I2fL^;29CYFpByFIa@a a@a a@a a@a bDVD0yg=%2=ٔ:Q->9Y=QGyF-E>2Acoustic response timeoutQ 5x4l?Q 9x4;)mpBQ A+:YQ Ed:y4?Q I?fCI[;iq> %x4yɮBjhFNOT Ignoring new targets: 490.13 m.RhS8ZhS8- ProNav: ac range: 490.134430 m, nav range: 459.664185 m, bearing: 77.093491 deg, approach rate: -0.737155 m/s, LOS rate: 0.002894 deg/s, cmd heading: 78.065982 deg, new cmd heading: 78.069973 deg. Bh-785HeadingCmd: 1.362578 target range: 490.134430 and range: 492.20 m.h5h?h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM;'@uM{Bɢu"0;)y }'3iy)yyyi};ih?nE;];Ih?Ia9@ @@/@@ @ ԑ^A%c; 2Acoustic response timeout Aq I I O >E  E E 'E "E :*E k:VE '4ZE a @a @a @a @u>,a\?A2?2s?2p=ٱ2/ :AHRS rotation from veh to nav: [[0.202892,-0.957736,-0.203901],[0.961768,0.234029,-0.142240],[0.183947,-0.167246,0.968603]]2H`[?ƥ@pʿ@? ?`4¿? Uhſ?i2?I2^4^;0\YbPpByfI ppbDvVDv:y* >%V=ٔ0":Q->9Y=QGy%F%YE%>)Q 55x4-l?Q 95x4-4)-pBQ A5 :Y1Q E=9:y= ?Q I=?-CI-;i-W?--x4yAɮEOBAjhimFNOT Ignoring new targets: 490.13 m.Rhu)^8Zhu)^8 ProNav: ac range: 490.134430 m, nav range: 459.381317 m, bearing: 77.094647 deg, approach rate: -0.742167 m/s, LOS rate: 0.003035 deg/s, cmd heading: 78.069971 deg, new cmd heading: 78.073441 deg. BhK9HeadingCmd: 1.362639 target range: 490.134430 and range: 492.20 m.hj?h*h"h hgfffdddjdZdU{(@v{Bɢ8L) R2i)iu;ij?H;Z;Ij?I9@ @@@2Acoustic response timeout!^A;B=->B9B=7IB=qBB= =B9B9B=;B=M9EAE ؟AI IQ Ii O CE,<]?A&BDAT read: Response Not Received &*response not received*TDAT read: user:865>Tx time:15:02:11.5243 *9j"?Yj"?=nQGynFrmEr>tQ 5zx4vl?Q 9zx4v&-)vpBQ Az9YxQ Ez:y~?Q I~?vCIv:iv?v*5x4y>BɮBEjh1=FNOT Ignoring new targets: 490.13 m.Rha8Zha8 ProNav: ac range: 490.134430 m, nav range: 459.088806 m, bearing: 77.095870 deg, approach rate: -0.737134 m/s, LOS rate: 0.003085 deg/s, cmd heading: 78.073440 deg, new cmd heading: 78.077113 deg. Bh~9HeadingCmd: 1.362703 target range: 490.134430 and range: 492.20 m.h m?h*h"h hgfffdddjdZd@,O)@颅{Bɢ C) i3i)顉i;E EE(E"ED:*E]t:VEc44ZEBE1K,l0]?A2E]?2H?2=ٱ2 / :AHRS rotation from veh to nav: [[0.204117,-0.957432,-0.204109],[0.961436,0.235319,-0.142358],[0.184329,-0.167180,0.968542]]2H ?@H@: ʿ??8¿?$fſ L?i2E]?I2];0YBpByBIԑaa aa aa aa iMb@Mb@Mb@ 9Cl?~jt{Gzt?Y/?yDף;AA A)xAYAbDVDky=%;=ٔCQ->9 ?Y ?=QGyFE >Q 5x4l?Q 9x4%)qBQ AT:YN0?Q E:yv?Q I%?ՉCI;i;Dx4y)ɮ- B)jhQUFNOT Ignoring new targets: 490.13 m.Rh]8Zh]8m ProNav: ac range: 490.134430 m, nav range: 458.793213 m, bearing: 77.097827 deg, approach rate: -0.675092 m/s, LOS rate: 0.004472 deg/s, cmd heading: 78.077115 deg, new cmd heading: 78.082989 deg. BhmlD9uHeadingCmd: 1.362805 target range: 490.134430 and range: 492.20 m.hugp?hq*hq"hq hygyfyfyfdddjdZd &*@5{Bɢ=B)9 = 4i9)99AiE;m2Acoustic response timeoutiugp?u/;upX;Iugp?IyI)9@ @@0@@ =@ =E EE+E"E:*E$:VE [4ZEa@a@a@a@^Ayb];A zA dA 2Acoustic response timeout A1 I9 II O] >R,J]?A>]Z?>E?>P>ٱ>. NAHRS rotation from veh to nav: [[0.204184,-0.957411,-0.204140],[0.961334,0.235469,-0.142800],[0.184787,-0.167089,0.968470]]>H`"? `B!ʿ ??#?BG¿@?-cſ?i>]Z?I>ȹ];>;CYVpByVIIZ=)Z4<bDbVDb:yjc?>%j^=ٔjQ-j>9lYl=nQGynFrh~Er>tQ 5zx4vl?Q 9zx4vp)vLqBYxyzs?Q Iz?vCIv:iv:vBQx4yGBɮ BE%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 490.13 m.Rh58Zh58E ProNav: ac range: 490.134430 m, nav range: 458.547455 m, bearing: 77.099459 deg, approach rate: -0.673072 m/s, LOS rate: 0.004472 deg/s, cmd heading: 78.082989 deg, new cmd heading: 78.087887 deg. BhEfD9MHeadingCmd: 1.362891 target range: 490.134430 and range: 492.20 m.hM4s?hI*hQ"hQ hQgQfQfYfYdYdadajdaZde`*@颍{BɢU) 2i)顙iC;i4s?;7R;I4s?IB,>BBpIB_qBB =BBB;B#9E9@ @@4@!2Acoustic response timeout^AUqZ;QE EE'E"E2:*E:VE'4ZEBE'*ԁ NX,d]?A6E?6U1?6>ٱ6]/ BAHRS rotation from veh to nav: [[0.204779,-0.957117,-0.204918],[0.961160,0.236207,-0.142749],[0.185031,-0.167727,0.968314]]6H66?:ʿ?9E"?YM"?=MQGyMFMaźEM>QQ 5]x4Ul?Q 9ex4U~)UqBYe+?Q Ee:ye֥?Q Ie?UCIU ;iU ;U_x4yiɮm BqjhFNOT Ignoring new targets: 490.13 m.Rh8Zh8 ProNav: ac range: 490.134430 m, nav range: 458.273468 m, bearing: 77.101176 deg, approach rate: -0.656583 m/s, LOS rate: 0.004117 deg/s, cmd heading: 78.087886 deg, new cmd heading: 78.093040 deg. Bh49HeadingCmd: 1.362981 target range: 490.134430 and range: 492.20 m.2Acoustic response timeoutQh]'v?hY*hY"hY hYgYfafafadadidijdiZdm`+@#|Bɢ~>) !3i)i‰;i'v?);K(;I'v?IQ9@ @@4@ԁԹ^A  2Acoustic response timeoutA9 II IY Oe > E  E E E "E :*E n:VE ZE a @a @a @a @D^,8i~]?A2t??2+?2>ٱ2/ :AHRS rotation from veh to nav: [[0.204950,-0.957029,-0.205160],[0.961054,0.236473,-0.143025],[0.185394,-0.167857,0.968222]]2H@;?Bʿ ? D?N¿`? W|ſ?i2t??I2k];29CYBqByBCIbDJVDJyR=%RU=ٔV{Q-V>9TYT=VQGyZFZEZ>\Q 5bx4^l?Q 9bx4^)^qBYdyfХ?Q If?^8CI^9:i^F:^Jmx4yhɮjx Bhjh|~FNOT Ignoring new targets: 490.13 m.RhZ8ZhZ8 ProNav: ac range: 490.134430 m, nav range: 458.021210 m, bearing: 77.102764 deg, approach rate: -0.656290 m/s, LOS rate: 0.004135 deg/s, cmd heading: 78.093043 deg, new cmd heading: 78.097811 deg. Bh59HeadingCmd: 1.363064 target range: 490.134430 and range: 492.20 m.hx?h*h"h! h!g!f!f)f)d)d)d)jd1Zd5|,@I|BɢS) 03i)i;ix?;O;Ix?IԹ9@ @@/@@dA@dA2Acoustic response timeout^A ;B#>B6CBIBqBB =BBDB;B(9EA>A? I I! O= >9 e,FC]?A"2Acoustic response timeoutB:?B>&?Bb?ٱBs/ NAHRS rotation from veh to nav: [[0.205074,-0.957045,-0.204962],[0.960946,0.236637,-0.143476],[0.185815,-0.167534,0.968197]]BH@??2<ʿ ?J?@n]¿?qſw?iB:?IBD];B6CYRRqByVhI XXbD^VD^0yf6>%fH=ٔfFQ-j>9hYh=jQGyjFn_En>pQ 5vx4rm?Q 9vx4rL )rqBYtyz˥?Q Iz?r[CIr:ir:r{x4y~5Bɮ~ B~Ejh!%FNOT Ignoring new targets: 490.13 m.Rh-8Zh-8= ProNav: ac range: 490.134430 m, nav range: 457.752777 m, bearing: 77.104462 deg, approach rate: -0.655865 m/s, LOS rate: 0.004150 deg/s, cmd heading: 78.097810 deg, new cmd heading: 78.102907 deg. Bh=L69EHeadingCmd: 1.363153 target range: 490.134430 and range: 492.20 m.hE{?hA*hI"hI hIgIfIfQfQdQdQdQjdYZd] M-@颅s|Bɢ*E) 2i)顉iE;i{?;;I{?IE EEE"E;*E:VEZEBEek,]?A B&?B?B?ٱBB/ VAHRS rotation from veh to nav: [[0.205672,-0.956871,-0.205175],[0.960780,0.237286,-0.143520],[0.186015,-0.167610,0.968145]]BHrS?@.Cʿാ?`a_?^¿Z?@tſ ?iB&?IB' ^;B:CYbqBybIiMb@Mb@Mb@ 9#~j?J +Y%?yH9AIA A)Y=AbDVDky>%9=ٔQ->9Y=QGyFvE>Q 5 x4l m?Q 9 x48)-rBY \&?Q E :y [?Q I?~CIa:i:x4yɮ BjhAEFNOT Ignoring new targets: 490.13 m.RhM88ZhM88] ProNav: ac range: 490.134430 m, nav range: 457.472717 m, bearing: 77.106630 deg, approach rate: -0.635595 m/s, LOS rate: 0.004924 deg/s, cmd heading: 78.102906 deg, new cmd heading: 78.109414 deg. Bh]DX9eHeadingCmd: 1.363266 target range: 490.134430 and range: 492.20 m.he?ha*ha"ha higifififqdqdqdyjdyZd}J/.@颥|Bɢ=) +1i)顩U2Acoustic response timeoutiiw;iu?};}o:I}?Iy9@  @ @ @ bEMc44jEMŭ54rEM/E EE)E"EV:*Exv:VEFA4ZEa@a@a@a@ԙ^AI I I O > 2Acoustic response timeoutr,U]?A2K"?2 ?2[@ٱ2. :AHRS rotation from veh to nav: [[0.205752,-0.957006,-0.204464],[0.960620,0.237384,-0.144420],[0.186748,-0.166698,0.968162]]2H`V?@˟@+ʿ g?b?\|¿`X?[Vſ@.?i2K"?I2{];27CYBqByBIbDJVDJ0Pyr>%r]=ٔrQ-v>9tYt=vQGyvFzEz>|Q 5x4~ m?Q 9x4~E)~^rBYy V?Q I ?~CI~:i~:~x4yɮ B5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 490.13 m.RhE8ZhE8U ProNav: ac range: 490.134430 m, nav range: 457.237366 m, bearing: 77.108459 deg, approach rate: -0.634735 m/s, LOS rate: 0.004933 deg/s, cmd heading: 78.109415 deg, new cmd heading: 78.114903 deg. Bh]X9eHeadingCmd: 1.363362 target range: 490.134430 and range: 492.20 m.he?ha*ha"ha hagafififididqdqjdqZdu.@B>B5CBIB>rBBBBDB ;B/9EBaBe6CBeCBe =Be =Ce`M5|Bɢ#L)  0i)i+;i?a;x:I?I9@ @@?0@@=@=e2Acoustic response timeout^A?B:IqIO>E EE'E"E:*E:VE'4ZEBE6GI a 9 Y ÚAQ y,]?A6?6_ ?6D@ٱ6b- >AHRS rotation from veh to nav: [[0.205833,-0.957127,-0.203817],[0.960501,0.237457,-0.145097],[0.187274,-0.165901,0.968197]]6H X?Ǡʿk? d?@¿?<<ſ`x?i6?I6D^;69CY^rBybIiEMb@Mb@Mb@AAAA A9Ey&1?&1y&1|?YE`%?yEPE`;EƷAEA A)E3AAYE̦A ]p<]<bDeVDek1yu>%uB=ٔuQQ-u>9yYy=}QGy}FsE>Q 5x4vm?Q 9x4)rBY%?Q E:y?Q I?CI* ;i ;x4y>Bɮy BE2Acoustic response timeoutjhFNOT Ignoring new targets: 490.13 m.Rh8Zh8 ProNav: ac range: 490.134430 m, nav range: 456.970306 m, bearing: 77.110595 deg, approach rate: -0.631240 m/s, LOS rate: 0.005052 deg/s, cmd heading: 78.114900 deg, new cmd heading: 78.121311 deg. Bh]9uHeadingCmd: 1.363474 target range: 490.134430 and range: 492.20 m.huR?hq*hq"hq hygyfyfyfdddjdZd@/@|Bɢ:::) /i)ixi;iR?); :I R?I I9@ @@0@q^A 0::u 2Acoustic response timeoutIy I O >ԡ D zD E  E E (E "E :*E xv:VE c44ZE a @a @a @a @/,]?AJ?J.?J@AٱJo. RAHRS rotation from veh to nav: [[0.206597,-0.956801,-0.204571],[0.960317,0.238332,-0.144877],[0.187375,-0.166522,0.968071]]JHq?`e/ʿ??X¿?Pſo?iJ?IJq^;J8CYZHrByZIbDfVDfNyjr2>%nU=ٔnpQ-n>9pYp=rQGyrFrOEv>tQ 5zx4vQm?Q 9~x4vc)vrBY|y~?Q I~?vފCIv;iv;vx4yɮ 4 B jh)5FNOT Ignoring new targets: 490.13 m.Rh5_8Zh5_8M ProNav: ac range: 490.134430 m, nav range: 456.727356 m, bearing: 77.112564 deg, approach rate: -0.634506 m/s, LOS rate: 0.005146 deg/s, cmd heading: 78.121313 deg, new cmd heading: 78.127225 deg. BhM b9MHeadingCmd: 1.363577 target range: 490.134430 and range: 492.20 m.hU?hQ*hQ"hQ hQgQfQfYfYdadadajdaZde D0@y颕}BɢK) #-i)顙iDc;i?;9I?I59@1 @1@504@1ԡBDAT read: Rx Time:15:02:14.5702 TRx dataTimestamp_ set to:1761577336.1520822Acoustic response timeoutB<AB>B1CBJIBrBB =BBDB;B-9E^A#2:I9IIO> ,T^?A2Acoustic response timeout6Y?6ҭ?6Aٱ6ʫ. BAHRS rotation from veh to nav: [[0.207451,-0.956538,-0.204934],[0.960120,0.239230,-0.144703],[0.187440,-0.166743,0.968020]]6Hč?G;ʿ`M?? ¿`?Wſ?i6Y?I6Z^;69CYFsrByFIbDRVDR02yV=%ZM=ٔZ5.Q-Z>9\Y\=QGy%FE EE>yQ 5x4}!m?Q 9x4})} sBYy?Q I?}CI}Tx time:15:02:15.6743 eR#Rx 1: Read range and direction messages.u^direction in FSK: [0.996440,-0.041763,0.073238]uFpublishing direction and range infoyu?ׇa?YC )CIH>iK&><+@nF=;*@ Q =)@IQ Y?wj?o'{? ?)IQ+iQ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Y ^A 9A .AII!O5>W0,eQ7^?A(2*ґ?2?2+UAٱ2zK. >AHRS rotation from veh to nav: [[0.208062,-0.956450,-0.204727],[0.959940,0.239835,-0.144891],[0.187682,-0.166379,0.968036]]2Hʡ?=|4ʿԷ??@ʋ¿?Kſ&?i2*ґ?I2iR^;2:CYFrByFGI HHiMb@Mb@Mb@ 9? ףp= rh?Yf&?yQ8C<"A ۻA)bAYA!!bD-VD-y=>%=)=ٔEQ-E>9E ?YE ?=EQGyEFMEM>UDAT read: ]2Acoustic response timeoutIQ 5Ux4M)m?Q 9Ux4M)MSsBYU&?Q E]:y]`?Q I]?M(CIM:iM:M x4yaɮe Bai)i-)^?AJi-CRi-Cji-?b-#e}@ЛȬy4nA@R-u?ׇa?Zi-Q+bi-Q j-pe[@ e|@1ܧ_@Z-RH?Fq?0p/t?2i-4C:i-B"i-]Hʑ?*i-Bi-;Ci)i-i)i-Ci-J? addTargetRange:: Added new target pos. range: 481.200012 m, deltaT: 16.884399 s, deltaX: -11.000000 m, approachRate: -0.651489 m/s, rangeRepo size: 4 E Added new target pos. range: 479.125702 m, bearing: 76.061854 deg, lat: 36.778947 deg, lon: -121.859516 deg, deltaT: 16.884399 s, deltaX: -11.008728 m, approachRate: -0.652006 m/s, posRepo size: 4 jhImFNOT Ignoring new targets: 479.13 m.RhmZhi} ProNav: ac range: 479.125702 m, nav range: 459.795258 m, bearing: 77.220763 deg, approach rate: 0.000000 m/s, LOS rate: 0.004773 deg/s, cmd heading: 78.133826 deg, new cmd heading: 78.140552 deg. BhyԁHeadingCmd: 1.363810 target range: 479.125702 and range: 481.20 m.hS?h*h"h hgfffdddE EEE"ED:*E:VEZEa@a@a@a@jd@3~@Zd1^?e|}Bɢel>)e m+ii)miiimw;iuS?u.;u{~IuS?IԱ-9@) @1@54@1 2Acoustic response timeout ^AU "B >B 0CB IB QsBB =B B DB E;B P9E1 A I I O >Ҕ,:T^?A ȑ? ;? Aٱ - AHRS rotation from veh to nav: [[0.208320,-0.956498,-0.204243],[0.959785,0.240101,-0.145481],[0.188191,-0.165722,0.968050]] H ^; 8CY-sBy-qIbDEVDENyM >%M4=ٔUzQ-]>9YYY=]QGy]Fe1'Ee>iQ 5ux4m@/m?Q 9ux4m)msBYqy}V?Q I}?mKCImj;im;mx4y+BɮT BB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 479.13 m.Rh8Zh8 ProNav: ac range: 479.125702 m, nav range: 459.527100 m, bearing: 77.222641 deg, approach rate: -0.659010 m/s, LOS rate: 0.004618 deg/s, cmd heading: 78.140554 deg, new cmd heading: 78.146191 deg. BhJ9HeadingCmd: 1.363908 target range: 479.125702 and range: 481.20 m.h?h*h"h hgfffdddjdZd?}BɢI)  *i)ii>;i%?%F؋;%TI%?I)2Acoustic response timeout9@ @@/@Ee EeEaEa"Ee:*Ee~:VEaZEaBEe3 2Acoustic response timeouty, n^?AE?E'?E BٱE- UAHRS rotation from veh to nav: [[0.209019,-0.956256,-0.204661],[0.959600,0.240873,-0.145423],[0.188359,-0.165997,0.967970]]EH`?@W2ʿ ??5¿`#?c?ſ`?iE?IE*^;E7CY^sByIiEMb@Mb@Mb@AAAA A9EJ +? ףp= l?IYE(?yAE=EAEԓA E A)EAAYEAbDeVDeyugB>%u-=ٔuFQ-u>9}"?Y}"?=}QGy}F}˺E>Q 5x4&6m?Q 9x4L)sBY\)?Q E:y?Q I?qCI:ij:Yx4y4Bɮ B۲EjhFNOT Ignoring new targets: 479.13 m.Rhf8Zhf8 ProNav: ac range: 479.125702 m, nav range: 459.224945 m, bearing: 77.224568 deg, approach rate: -0.639590 m/s, LOS rate: 0.004082 deg/s, cmd heading: 78.146189 deg, new cmd heading: 78.151974 deg. BhG39HeadingCmd: 1.364009 target range: 479.125702 and range: 481.20 m.hۗ?h*h"h hgfffdddjdZdO?}Bɢ3) _'i)i^q;iۗ?]Y;Iۗ?I2Acoustic response timeoutyE EE+E"EV:*E:VE [4ZEa@a@a@a@ < i ,>ԩ 9@  @ @ 4@ @ =@ =  2Acoustic response timeout^AΒ{BE>BE/CBE IBEsBBE =BABEDBEm;BEt9EAIIO ?',n^?Abȑ?bZ?bCٱbp+ AHRS rotation from veh to nav: [[0.208240,-0.956836,-0.202735],[0.959432,0.240114,-0.147769],[0.190071,-0.163739,0.968020]]bH`? f@8ɿ`??¿ ;T?eĿ@?ibȑ?Ib^;b9CYesByeII}=)y <bDVDky<>%&=ٔhQ->9Y=QGyF:E>Q 5y4R=m?Q 9y4Q)8tBYy?Q I?CIp:i:y4y!Bɮ BѲEjhIUFNOT Ignoring new targets: 479.13 m.RhUj8ZhUj8e ProNav: ac range: 479.125702 m, nav range: 458.910248 m, bearing: 77.226556 deg, approach rate: -0.624129 m/s, LOS rate: 0.003946 deg/s, cmd heading: 78.151974 deg, new cmd heading: 78.157942 deg. BheL-9iuHeadingCmd: 1.364113 target range: 479.125702 and range: 481.20 m.huE?hy*hy"hy hygyfyffdddjdZd S?%~Bɢ%01)a m$ii)m Jiiimj ;iuE?um;u:I}E?Iy]2Acoustic response timeoutԙ59@1 @1@5/@1E EE%E"E:*EVE 4ZEBE> ,%Z^?A2$ݑ?2ȭ?2 Dٱ2+ :AHRS rotation from veh to nav: [[0.207632,-0.956912,-0.202997],[0.959506,0.239613,-0.148104],[0.190363,-0.164025,0.967914]]2Hଓ? ɿ E??¿`]? Ŀ&?i2$ݑ?I2];27CYBtByBIiMb@Mb@Mb@ 9i|?5?Q롿&1?Y1?y\P=QA 9A)YAbDVDy5(>%==ٔ5Q->9Y=QGyFȼ:E>Q 5 y4eCm?Q 9 y4)tBY ^2?Q E:yӨ?Q I?CI ;iT ;y4yBɮ4 BAjhFNOT Ignoring new targets: 479.13 m.Rh}/8Zh}/8  ProNav: ac range: 479.125702 m, nav range: 458.621002 m, bearing: 77.227603 deg, approach rate: -0.662200 m/s, LOS rate: 0.002397 deg/s, cmd heading: 78.157943 deg, new cmd heading: 78.161085 deg. Bh 8HeadingCmd: 1.364168 target range: 479.125702 and range: 481.20 m.h%?h!*h!"h! h!g)f)f1f1d1d9dAjdAZdE@&@颕1~Bɢ=) "i)Qn顩iW;i?;QiI?I    q 2Acoustic response timeoutԡE  E E &E "E :*E $:VE 4ZE a @a @a @a @= 9@9  @9 @= 4@A @M dA@I ^A]Β{2Acoustic response timeoutAIIO ?̪,a^?A2?2?2Dٱ2(B>>B<B>vIB>tBB> =B<B<B>h;B>j9E :AHRS rotation from veh to nav: [[0.206093,-0.957918,-0.199797],[0.959732,0.237706,-0.149700],[0.190894,-0.160899,0.968334]]2H@>a?D`ɿ?`*m?@b)ÿ4o?WĿ?i2?I2`^;28CYRRtByR@I TTbDZVDZkyb>%b =ٔf Q-f>9dYd=fQGyfFjFK;Ej>lQ 5ry4nJm?Q 9ry4n:)ntBYtyv?Q Iv?nCIn:in:nr%y4yxɮz Bxjh%FNOT Ignoring new targets: 479.13 m.Rh%08Zh%085 ProNav: ac range: 479.125702 m, nav range: 458.279022 m, bearing: 77.228786 deg, approach rate: -0.694857 m/s, LOS rate: 0.002406 deg/s, cmd heading: 78.161085 deg, new cmd heading: 78.164637 deg. Bh=R8=HeadingCmd: 1.364230 target range: 479.125702 and range: 481.20 m.h=?hA*hA"hA hAgAfAfIfIdIqdIdjdZd R(@ed~Bɢe~1) !i)|顉iZ;i?!/;9I?IE9@A @A@E/@Aԡ2Acoustic response timeoutE5 E5E5%E1"E5:*E5҆:VE5 4ZE1BE1aE2E1aMJE5;aM:E5;aM^AQA I I! OM >/й,(^?A:dN?:9?:ADٱ:Ö& FAHRS rotation from veh to nav: [[0.204293,-0.958754,-0.197625],[0.960117,0.235613,-0.150538],[0.190892,-0.158989,0.968650]]:H E&?@ Kɿ G?`(?Dÿ'o?YĿ.?i:dN?I:]];8YJtByJnI%2Acoustic response timeouti-Mb@Mb@Mb@)))) )9-Cl?Qp= ף?Y-d;?y--=-|A-/A -A)-A)Y-AbDAVDAyU0>%UB=ٔUt6Q-U>9YYY=]QGy]Fe;Ee>iQ 5uy4mhPm?Q 9uy4m)mFuBYuIη,_?A2鏒?2{{?21SDٱ2H& :AHRS rotation from veh to nav: [[0.202386,-0.959293,-0.196969],[0.960588,0.233597,-0.150673],[0.190551,-0.158712,0.968763]]2H@?@F6ɿ#??CIÿ@c?PĿ@?i2鏒?I2];27CYBtByBIbDRVDR:yb>%bT=ٔb l:Q-f>9dYd=fQGyfFj;Ej>lQ 5ry4nUm?Q 9ry4n)nuBYpyr?Q Iv?n3CIn;in;nAy4yzBɮzN BzȲEjhQ]FNOT Ignoring new targets: 479.13 m.Rhe7Zhe7u ProNav: ac range: 479.125702 m, nav range: 457.710175 m, bearing: 77.229704 deg, approach rate: -0.693530 m/s, LOS rate: 0.001032 deg/s, cmd heading: 78.166181 deg, new cmd heading: 78.167395 deg. BhuH58}HeadingCmd: 1.364278 target range: 479.125702 and range: 481.20 m.h}?hy*hy"hy hgfffdddjdZd@+ @~BɢoV) i)2iR;i ? (; =-i;I ?I1@ @@/@@@=5BDAT read: Rx Time:15:02:18.7263 5TRx dataTimestamp_ set to:1761577340.184191=2Acoustic response timeoutaB}<A}<B>B-CBIBMuBB =B>DBDB;B 9EBE/CBE/CBABEƬ =BEƬ =CEi6^A] ;A!zA%fAԑAa Ii Iy O >Թ  2Acoustic response timeout Ɨ,_?A ddYuBy%IEGYIm=uA)m=9YAbDVD0y>%;=ٔQ->9Y=QGyFE>Q 5y4[m?Q 9y4Υ)uBYyQ I?[CI ;i:Py4yɮ BE9 E=E=(E9"E9*E=:VE=c44ZE9BE=LTx time:15:02:19.8243 R#Rx 1: Read range and direction messages.^direction in FSK: [0.992210,-0.052000,0.113203]Fpublishing direction and range infoyAEy/?[5?YECAAAA A)E?IE>iEƛE+>E>+@Ez0=E*@ EV=)Eb@IEV轩AAET=ʯu?"~Y?JsbJ? En?)EIEQwViEV轩AA2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^A] r; A I I O >Ҽ͗,9_?A>}(?>.Cٱ>" FAHRS rotation from veh to nav: [[0.197341,-0.961234,-0.192576],[0.961721,0.227920,-0.152138],[0.190132,-0.155181,0.969417]]>H@wB?`nQȿ@j?},?`>yÿ}];>8CYNLuByNIiMb@Mb@Mb@ 9K7?:v rh?YI?yTC=9A )AYA=DAT read: =2Acoustic response timeoutbDEVDENyU=%U;=ٔ]u:Q-]>9YYa=eQGyeFeE<Ee>iQ 5uy4mvam?Q 9uy4mD)mUvBY}J?Q E}:y}ή?Q I}?mCIm: ;im:m`y4yɮBԑii ,_?AJiCRiCji>?b.~@rpy'9~9paK@Ry/?[5?ZiQwVbiVj-[@x{@RBb@Z?:*ޚ??2iC:iB"i ?*i QBiQCiiġiigCiU? addTargetRange:: Added new target pos. range: 485.899994 m, deltaT: 4.032410 s, deltaX: 4.699982 m, approachRate: 1.165552 m/s, rangeRepo size: 4  Added new target pos. range: 483.774658 m, bearing: 76.390131 deg, lat: 36.778947 deg, lon: -121.859496 deg, deltaT: 4.032410 s, deltaX: 4.648956 m, approachRate: 1.152898 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 483.77 m.RhZh ProNav: ac range: 483.774658 m, nav range: 458.806763 m, bearing: 77.278544 deg, approach rate: 0.000000 m/s, LOS rate: 0.001014 deg/s, cmd heading: 78.168769 deg, new cmd heading: 78.170038 deg. BhHeadingCmd: 1.364325 target range: 483.774658 and range: 485.90 m.h0?h*h"h hgfffdddjd`f^~@Zd@n?DD<E EE)E"E;*Eą:VEFA4ZEa@a@a@a@Թ Bɢ59)  i)D~Ѽi&,;i0?*%;zB +CB 8IB uBB =B B DB ;B 8E1 A I I O >^ԗ,T_?A2j?2?2GCٱ2V :AHRS rotation from veh to nav: [[0.194500,-0.962250,-0.190379],[0.962324,0.224783,-0.152986],[0.190005,-0.153451,0.969717]]2Ha?Z^ȿ \?`?` ÿ`R?@Hÿ?i2j?I2Z];29CYBuByBIbDJVDJyR>%RN=ٔR9Q-V>9TYT=VQGyVFZ;Ez>|Q 5y4~fm?Q 9y4~R)~vBYy)?Q I ?~CI~ :i~g:~Eny4yɮBqjhYuFNOT Ignoring new targets: 483.77 m.Rh} Zh}  ProNav: ac range: 483.774658 m, nav range: 458.498474 m, bearing: 77.277787 deg, approach rate: -0.762532 m/s, LOS rate: -0.001873 deg/s, cmd heading: 78.170040 deg, new cmd heading: 78.167768 deg. BhHeadingCmd: 1.364285 target range: 483.774658 and range: 485.90 m.h㠮?h*h"h hgfffdddjdZd?/BɢU) i)P߼iUʃ;i%㠮?%s;-C(A>E} E}E}+Ey"E}V:*E}:VE} [4ZEyBE}9 } 2Acoustic response timeout ۗ,#Mn_?AB ?Bd?BؚCٱBM RAHRS rotation from veh to nav: [[0.191233,-0.963273,-0.188510],[0.963007,0.221278,-0.153796],[0.189861,-0.152126,0.969954]]BH`Pz? !ȿ?@R?ÿ[M?xÿ ?iB ?I@B6CY^uBy^!IiMb@Mb@Mb@ 9Cl?~jthQ?YO?yDu=hA^A A)IAYGAbDVDNy}>%;=ٔ69Q->9 ?Y ?=QGyF;E> Q 5y4 lm?Q 9%y4 k) wBY%pP?Q E%:y-?Q I-? ٌCI Kb;i qa; }y4y=BɮE=BEEmB*** querying acoustic contact ***ii iijhFNOT Ignoring new targets: 483.77 m.RhrZhr= ProNav: ac range: 483.774658 m, nav range: 458.154114 m, bearing: 77.276322 deg, approach rate: -0.778717 m/s, LOS rate: -0.003317 deg/s, cmd heading: 78.167765 deg, new cmd heading: 78.163365 deg. Bh=EHeadingCmd: 1.364208 target range: 483.774658 and range: 485.90 m.hE_?hA*hA"hA hAgAfIfifidqdqdqjdqZduB_?[Bɢ>) i)(Zi?;i_?;WV.S,]_?A2x?2d?2gCٱ2- :AHRS rotation from veh to nav: [[0.188074,-0.964227,-0.186802],[0.963667,0.217895,-0.154493],[0.189669,-0.150959,0.970174]]2H?$ǿ[??jÿG?Rÿ ?i2x?I2U(^;0YBuByB4IbDJVDJfyR =%RO=ٔV:Q-V>9V"?YV"?=ZQGyZFZ <E^>\Q 5by4^pm?Q 9by4^)^cwBYdyfi?Q If?^CI^6:i^p:^y4yjBɮn0Bljh  FNOT Ignoring new targets: 483.77 m.RhLZhL% ProNav: ac range: 483.774658 m, nav range: 457.851013 m, bearing: 77.274909 deg, approach rate: -0.798112 m/s, LOS rate: -0.003724 deg/s, cmd heading: 78.163367 deg, new cmd heading: 78.159124 deg. Bh%#-HeadingCmd: 1.364134 target range: 483.774658 and range: 485.90 m.h-?h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdEy?u2Acoustic response timeouty Bɢ =S) i)iɄ;i?Ë;B*CBIB}vBB =BBDB;B|8E%9@) @)@-/@)ԡ^A/C<A)I1IAOUu>% 2Acoustic response timeout E  E E (E "E *E :VE c44ZE BE G9TYT=VQGyVFZ8;EZ>\Q 5by4^um?Q 9by4^g|)^wBY`yfʱ?Q If?^(CI^ ;i^7;^"y4yhɮjBhjh|}FNOT Ignoring new targets: 483.77 m.RhZh ProNav: ac range: 483.774658 m, nav range: 457.535217 m, bearing: 77.273317 deg, approach rate: -0.788756 m/s, LOS rate: -0.003978 deg/s, cmd heading: 78.159125 deg, new cmd heading: 78.154347 deg. Bh.HeadingCmd: 1.364051 target range: 483.774658 and range: 485.90 m.h=6?h9*hA"hA hAgIfQfyfdddjdZd@Pg?BɢmbB) i) i;i6?̌;f43,r_?AY :vBy lIiMb@Mb@Mb@ 9-?{GzMb?Y?U?y#=ĮAA |A)xAYןAbDVDܲyT=%7=ٔQ->9Y=QGyFE>Q 5y4{m?Q 9y4s)xBYkU?Q E~:y?Q I?VCI ;i2 ;y4y ɮ B !jh9=FNOT Ignoring new targets: 483.77 m.RhECZhECU ProNav: ac range: 483.774658 m, nav range: 457.173035 m, bearing: 77.272126 deg, approach rate: -0.809969 m/s, LOS rate: -0.002665 deg/s, cmd heading: 78.154344 deg, new cmd heading: 78.150769 deg. BhU]HeadingCmd: 1.363988 target range: 483.774658 and range: 485.90 m.h]+?hY*hY"hY hYgafafifidididijdqZdu @E EE)E"E ;*E҆:VEFA4ZEa@a@a@a@颵Bɢ4BV)}3< Hi)jW项i|;i+?;-yB} >By B} IB} vBB} =By By B} m;B} R8Eԩ W,<_?A2?2P?2zSCٱ2 :AHRS rotation from veh to nav: [[0.179298,-0.966385,-0.184260],[0.965353,0.208919,-0.156354],[0.189594,-0.149842,0.970362]]2H??ԕǿ,?ؽ?hĿD?@.ÿ3 ?i2?I22^;0YBHvByBuIbDJVDJ1yRL=%Vb=ٔV Q-V>9TYX=ZQGyZFZ<EZ>\Q 5by4^=m?Q 9fy4^uk)^YxBYdyfİ?Q If?^|CI^:i^:^ey4yjBɮnBnEjhIMFNOT Ignoring new targets: 483.77 m.RhUjZhUj ProNav: ac range: 483.774658 m, nav range: 456.879150 m, bearing: 77.270936 deg, approach rate: -0.791164 m/s, LOS rate: -0.003207 deg/s, cmd heading: 78.150772 deg, new cmd heading: 78.147198 deg. Bh HeadingCmd: 1.363926 target range: 483.774658 and range: 485.90 m.h ?h*h"h hgfffdddjdZd;@ Bɢ W) i)5@99i=Gu;i= ?Eˎ;EA=>Ii Iy O > 2Acoustic response timeout o,_?A>9?>ݱ?>FYCٱ>' jAHRS rotation from veh to nav: [[0.176955,-0.966660,-0.185083],[0.965781,0.206772,-0.156565],[0.189615,-0.151045,0.970171]]>H@z?`ΰǿ?`~w? T ĿOE?`oUÿ ?i>9?I>^;>5CYvtvByvIiMb@Mb@Mb@ 9V-?Mbp~jth?YM?yD;"A ۲A)׊AYAbD VDf2y=%8=ٔ9Y=QGyFL;E>Q 5y4m?Q 9y4pb)xBYM?Q E:yL?Q I?CIT ;i ;y4y ɮ tB %B*** querying acoustic contact ***i) i)jhFNOT Ignoring new targets: 483.77 m.Rh倸Zh倸 ProNav: ac range: 483.774658 m, nav range: 456.530365 m, bearing: 77.269339 deg, approach rate: -0.768587 m/s, LOS rate: -0.003522 deg/s, cmd heading: 78.147200 deg, new cmd heading: 78.142405 deg. BhUHeadingCmd: 1.363842 target range: 483.774658 and range: 485.90 m.hUb?hQ*hQ"hQ hQgYfYfYfYdadadajdaZde` @UBɢUI J)Y ]iY)] YYie@;ib?e;;ß, `?A 22?2?2dCٱ2a >AHRS rotation from veh to nav: [[0.175073,-0.966656,-0.186886],[0.966116,0.205236,-0.156519],[0.189655,-0.153152,0.969833]]2Hh?ǿ l? )E?Ŀ F?xÿ?i22?I2"(^;26CYBvByBI DDbDNVDNNyV<%V_=ٔVQ-Z>9XYX=^QGy^F^;E^>`Q 5fy4bm?Q 9fy4bZ)bxBYhyj?Q Ij?b΍CIb:ib:by4ylɮniBljhFNOT Ignoring new targets: 483.77 m.Rh Zh  ProNav: ac range: 483.774658 m, nav range: 456.241852 m, bearing: 77.267945 deg, approach rate: -0.834198 m/s, LOS rate: -0.004033 deg/s, cmd heading: 78.142405 deg, new cmd heading: 78.138221 deg. Bh1%HeadingCmd: 1.363769 target range: 483.774658 and range: 485.90 m.h%?h!*h)"h) h)g)f)f1fAdAdAdAjdIZdM4 @}BDAT read: Rx Time:15:02:22.8508 }TRx dataTimestamp_ set to:1761577344.2201692Acoustic response timeoutUBɢU5[d)Q UiQ)]'YYi]78;ie?e;e8BE)CBEIBESwBBE =iBABABE1;BE8Eԑ0::m9@i @i@m/@i- 2Acoustic response timeout E  E E 'E "E T;*E :VE '4ZE BE G ,/&`?A2W?2B?2*Cٱ2Q# :AHRS rotation from veh to nav: [[0.173988,-0.966354,-0.189442],[0.966355,0.204557,-0.155933],[0.189438,-0.155938,0.969431]]2H:E?_@?ȿ`?`.?ÿ??ÿ ?i2W?I2j^;27CYBvByBIbDzVDz1yU=%U7=ٔ]:Q-e>9qYq=}QGy}F$;E>Q 5y4m?Q 9y4Q)"yBYy?Q I?CI;iI;y4yɮCB)jhQ]FNOT Ignoring new targets: 483.77 m.2Acoustic response timeoutRh@Zh@ ProNav: ac range: 483.774658 m, nav range: 455.885101 m, bearing: 77.266168 deg, approach rate: -0.713755 m/s, LOS rate: -0.003559 deg/s, cmd heading: 78.138218 deg, new cmd heading: 78.132882 deg. BhMHeadingCmd: 1.363676 target range: 483.774658 and range: 485.90 m.h?h*h"h hgffQfYdYdYdYjdYZde&V@9BɢC)1 5i1)=29AiE6;iM?Qud;uM Ygot valid direction response: 15:02:22.8508 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 178, 0.07, 1.304,-0.171, 1.590, 1.153, PHS= 0.253,-1.279, 0.393, RAW= 154.3, 7.9, CAL= 153.9, 8.4, ROT= 356.1, -8.4 ] PDAT read: Bearing 227.9, 5.5 (Local) ] ~Local bearing/azimuth received: Bearing 227.9, 5.5 (Local) ԩ ] DAT read: Range 11 to 50 : 466.8 m (Round-trip 622.4 ms) speed 0.4 m/s e TDAT read: user:868>Tx time:15:02:23.9243 m R#Rx 1: Read range and direction messages.u ^direction in FSK: [0.986981,-0.067286,0.146083]u Fpublishing direction and range infoy  U!Z?PD9/8ٲ?Y fC ) DI 7>i F L7> Z,@ 0 > o+@ Q >) >@I Q  Ap,?I\Y?8r? a?) I )gi Q   2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.bEc44jE:4rEQ/E- E-E)E)"E-V:*E-:VE)ZE)a5@a5@a5@a=@^A<AdAzAIYIiOu ?,[H`?ABI?B?BCٱBA+ NAHRS rotation from veh to nav: [[0.172171,-0.965229,-0.196698],[0.966613,0.204013,-0.155041],[0.189779,-0.163437,0.968128]]BH ?( c-ɿ~?`?_ÿJ?Ŀ@?iBI?IBO^;B9CYRvByRIIV=)V=i-Mb@Mb@Mb@)))) )9-%C?X9v/$Y-ZD?y---ݬA-=A -A)-(A)Y-AbDEVDEy]i=%]=ٔ]e(Q-]>9aYa=eQGyeFed;Em>iQ 5}y4mm?Q 9}y4mdG)miyBY}D?Q E}:y}?Q I}?m/CIm:im:m$y4yBɮBEii4>`?AJi]CRi]Cji Ǭ?b)Ըު|@CWE?P@RU!Z?PD9/8ٲ?Zi)gbiQ j15W@)e^z@OEc@Zըqb?@j]?AT+?2i:C:iB"iq1?*iܑvBi[CiiiiCi:?u addTargetRange:: Added new target pos. range: 466.799988 m, deltaT: 4.288346 s, deltaX: -19.100006 m, approachRate: -4.453933 m/s, rangeRepo size: 4  Added new target pos. range: 464.729462 m, bearing: 77.339243 deg, lat: 36.778947 deg, lon: -121.859496 deg, deltaT: 4.288346 s, deltaX: -19.045197 m, approachRate: -4.441152 m/s, posRepo size: 4 ԉjhFNOT Ignoring new targets: 464.73 m.RhZh ProNav: ac range: 464.729462 m, nav range: 455.481964 m, bearing: 77.266122 deg, approach rate: 0.000000 m/s, LOS rate: -0.003559 deg/s, cmd heading: 78.132884 deg, new cmd heading: 78.127433 deg. BhDAT read: 2Acoustic response timeoutHeadingCmd: 1.363581 target range: 464.729462 and range: 466.80 m.h҉?h*h"h hgfffdddjd,}@Zd?B}>ByB}KIB}wBB} =ByB}DB};B}7EB-*CB-*CB)B-ĵ =B-Ĵ =C-f5]PBɢM)  i ) x<i;i}҉?}nϕ;}9Y = QGyFE%>9Q 5uz4=vm?Q 9}z4==)=yB2Acoustic response timeout Yy Q I ?=bCI=c/q!,x `?AR]?R?RCDٱR)2 bAHRS rotation from veh to nav: [[0.171856,-0.963927,-0.203249],[0.966565,0.204848,-0.154237],[0.190308,-0.169947,0.966903]]RH b?}@ʿ@?v8?ÿ\?ſ ?iR]?IR^;R7CYf wByjIi]Mb@Mb@Mb@YYYY Y9]bX9?I +Q롿Y]E6?y]94]\]A]A ]A)]ʈAYY]fAbDVDyЗ=%6=ٔQ->9 ?Y ?=QGyF5:E>Q 5z4פm?Q 9z4'5)yBY6?Q E:y?Q I?CIF1;i90;z4yɮB B*** querying acoustic contact ***i  i jh%FNOT Ignoring new targets: 464.73 m.Rh%*(8Zh%*(85 ProNav: ac range: 464.729462 m, nav range: 454.769440 m, bearing: 77.267009 deg, approach rate: -0.765328 m/s, LOS rate: 0.002297 deg/s, cmd heading: 78.127296 deg, new cmd heading: 78.130095 deg. Bh58=HeadingCmd: 1.363627 target range: 464.729462 and range: 466.80 m.h=X?hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU`)?颅yBɢm) i)HO顉ī;iX?R;B(CBwIBwBB =BBB;B7E9^Au<A}>A}>A ؟AI I O >a % 2Acoustic response timeout.',`?A>z?> x?>l:Dٱ>&4 NAHRS rotation from veh to nav: [[0.172379,-0.963414,-0.205230],[0.966443,0.205699,-0.153872],[0.190458,-0.171819,0.966542]]>H?@IDʿ?`XT?`ÿ `?'ſ?i>z?I>^;>9CYV=wByV I XXbDbVDb yj >%j]=ٔjعQ-j>9n"?Yn"?=nQGynFrEr>tQ 5zz4v9m?Q 9zz4vz.)v zBYxyz~?Q Iz?vCIv:iv;v #z4yվBɮmBEjh)-FNOT Ignoring new targets: 464.73 m.Rh58Zh58E ProNav: ac range: 464.729462 m, nav range: 454.507812 m, bearing: 77.267815 deg, approach rate: -0.708098 m/s, LOS rate: 0.002183 deg/s, cmd heading: 78.130097 deg, new cmd heading: 78.132517 deg. BhE˿8MHeadingCmd: 1.363670 target range: 464.729462 and range: 466.80 m.hM?hI*hI"hI hQgQfQfQfYdYdYdYjdaZde?颕Bɢm) i)V顙ic;i?Κ;# -,i`?A2U}?2h?2Dٱ2Q4 :AHRS rotation from veh to nav: [[0.172814,-0.963172,-0.205998],[0.966298,0.206305,-0.153968],[0.190796,-0.172448,0.966364]]2H?N$^ʿ@?0h?;ÿ l? ƿ`s?i2U}?I28^;27CYBcwByB#Ii Mb@Mb@Mb@     9 uV?S㥫lY r(?y /]  /A (A A) A Y  AbD%VD%y5Ӷ=%5D=ٔ5XQ-5>99Y9==QGy=FEEE>IQ 5Uz4MMm?Q 9Uz4M')M5zBYUG)?Q EU:yU?Q I]?MώCIMD_顑iD+;ir?W;ǹB &CB IB (xBB =B B DB u;B D7EA I 9 IA OU >4,Xq`?A2R?2>?2jDٱ27 :AHRS rotation from veh to nav: [[0.174068,-0.962328,-0.208865],[0.966104,0.207951,-0.152968],[0.190639,-0.175159,0.965907]]2HG?dʿ@S?$?rÿf?kƿ?i2R?I2J^;28CYBmwByB)IbDJVDJfyR[<%RS=ٔVQ9Q-V>9TYT=VQGyZFZ![EZ>\Q 5bz4^m?Q 9bz4^+!)^\zBYdyf?Q If?^CI^:i^:^?z4yhɮjOBQjhFNOT Ignoring new targets: 464.73 m.Rh8Zh8 ProNav: ac range: 464.729462 m, nav range: 453.983490 m, bearing: 77.270918 deg, approach rate: -0.653447 m/s, LOS rate: 0.003932 deg/s, cmd heading: 78.137268 deg, new cmd heading: 78.141828 deg. Bh,9HeadingCmd: 1.363832 target range: 464.729462 and range: 466.80 m.h ?h*h"h hgfffdddjdZd v%@5Bɢ=Y}t)9 =>i9)=Ug9AiE֩;iE ?MM;M$ԉ c:,N`?APm2Acoustic response timeout?x?@Dٱ7 AHRS rotation from veh to nav: [[0.175756,-0.961918,-0.209341],[0.965829,0.209637,-0.152401],[0.190482,-0.175402,0.965894]]H+?`ʿ?e?܁ÿa? sƿ?i?I^;9CYwByCII>)9IYI=MQGyMFUiEU>QQ 5]z4U%m?Q 9ez4U)UzBYe'?Q Ee:yeգ?Q Im?UCIU ;iUu ;U6Pz4yqɮu%BqjhFNOT Ignoring new targets: 464.73 m.Rh8Zh8 ProNav: ac range: 464.729462 m, nav range: 453.687714 m, bearing: 77.273489 deg, approach rate: -0.629849 m/s, LOS rate: 0.005479 deg/s, cmd heading: 78.141824 deg, new cmd heading: 78.149543 deg. Bhp9HeadingCmd: 1.363967 target range: 464.729462 and range: 466.80 m.hw?h*h"h hgfffdddjdZd@ŀBɢa) <i) p  i .;iw?;" 2Acoustic response timeout Dq zDq E}  E} E} )Ey "E} :*E} :VE} FA4ZEy a @a @a @a @A,a?A2ו?2ñ?2bDٱ2w6 :AHRS rotation from veh to nav: [[0.177703,-0.961802,-0.208229],[0.965499,0.211328,-0.152157],[0.190350,-0.174006,0.966172]]2H?@Bʿ`^? ?`yÿ`]?Eƿ?i2ו?I2^;27CYjwByjpIbDr VDr:2yz]>%zy=ٔ~9|Q-?9Y=QGyF ȻE ?Q 5z4m?Q 9z4)zBY!y%?Q I%?.CI;i;[z4y)ɮ-B)jhQUFNOT Ignoring new targets: 464.73 m.Rh]$8Zh]$8m ProNav: ac range: 464.729462 m, nav range: 453.489136 m, bearing: 77.275267 deg, approach rate: -0.604357 m/s, LOS rate: 0.005413 deg/s, cmd heading: 78.149542 deg, new cmd heading: 78.154878 deg. Bhmm9uHeadingCmd: 1.364060 target range: 464.729462 and range: 466.80 m.hu?hq*hq"hq hygyfyffdddjdZd y @颵ԀBɢ{) s< i)Xw项i*;i?;B%CBIBxBB =BBB&;B6EAIIOG>Qԁ % BDAT read: Rx Time:15:02:26.9702 % TRx dataTimestamp_ set to:1761577348.508108% 2Acoustic response timeout%G, a?A2ؤ?2i?2%Dٱ2`_6 :AHRS rotation from veh to nav: [[0.179209,-0.961488,-0.208385],[0.965215,0.212821,-0.151881],[0.190381,-0.173918,0.966182]]2H`O?@@]ʿ ?=?pÿc^? Bƿ?i2ؤ?I2@k^;26CYBwByBIbDJVDJyRۘ=%RP=ٔVQ-V>9TYT=VQGyVFZ5EZ>\Q 5bz4^m?Q 9bz4^)^zBY`yfb?Q If?^MCI^+;i^8:^liz4yjʾBɮjBjEMB*** querying acoustic contact ***iI iIYjhyFNOT Ignoring new targets: 464.73 m.RhO8ZhO8 ProNav: ac range: 464.729462 m, nav range: 453.251892 m, bearing: 77.277440 deg, approach rate: -0.579347 m/s, LOS rate: 0.005309 deg/s, cmd heading: 78.154877 deg, new cmd heading: 78.161398 deg. Bh+i9HeadingCmd: 1.364174 target range: 464.729462 and range: 466.80 m.h??h*h"h hgfffdddjdZd @E= E=E=*E9"E=:*E=:VE=(N4ZE9BE=<AU>ԙIIOh>2Acoustic response timeoutԱ +N,B:a?A2a?2L?2Cٱ2Vy5 :AHRS rotation from veh to nav: [[0.181212,-0.961235,-0.207821],[0.964878,0.214643,-0.151453],[0.190190,-0.173077,0.966371]]2H1?pޙʿH?`ky?bÿ"X?`'ƿ@?i2a?I2&q^;27CYBMxByBI DDi Mb@Mb@Mb@     9 x?y&1~jthY K?y `e D vA nA A) dA Y zAbD%VD%ky5<>%5A=ٔ5l9Q-=>9Y=QGyF E>ԹQ 5z4m?Q 9z4B){BY?Q E:y?Q I?mCI;iT ;xz4yɮFBjh FNOT Ignoring new targets: 464.73 m.Rh x8Zh x8% ProNav: ac range: 464.729462 m, nav range: 452.997498 m, bearing: 77.279356 deg, approach rate: -0.603484 m/s, LOS rate: 0.004548 deg/s, cmd heading: 78.161400 deg, new cmd heading: 78.167151 deg. Bh%G9%HeadingCmd: 1.364274 target range: 464.729462 and range: 466.80 m.h-?h)*h)"h) h)g)f)f9f9d9d9d9jdAZdEZ@mBɢmTk)q uYiq)uqyi};i}?;Tx time:15:02:28.0743 uR#Rx 1: Read range and direction messages.}`direction in FSK: [0.986842,-0.024118,-0.159881]Fpublishing direction and range infoy154?ӺMČsvĿY5C1115yEM EMEM'EI"EMl;*EM:VEM'4ZEIaU@aU@aU@aU@ 53|)1I5sh1?i5U5H:?5[(@5 5)@ 5l$)5G@I5l$>115A92!?0Hl?nϬ 5BX ?)5|>I5*ȼi5l$>112Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^AM <I) IA OM >i I  DAT read:  2Acoustic response timeoutA B B B IB xBB B B B ހ;B 6ET,Ta?A2}?2?2چCٱ26 :AHRS rotation from veh to nav: [[0.183363,-0.960647,-0.208650],[0.964551,0.216791,-0.150474],[0.189786,-0.173663,0.966345]]2Hox?@ ʿ?˿?BÿJ?@:ƿ@L?i2}?I2ǎ^;28CYBxByBIbDJVDJyR->%RT=ٔV:Q-V>9TYT=ZQGyZFZoûEZ>\Q 5bz4^m?Q 9bz4^)^;{BYdyf?Q If?^CI^d:i^[:^z4yjӾBɮjBhiaieƆAa?AJieCRieCjieY?beuy}@23A'76f%SRe4?ӺMČsvĿZie*ȼbiel$>je8*p\@}@l|1@Zef?e?vI6?L?2ieC:ieB"ie*Q4E?*ieywv<BieBie ?ie Qie;Cief\,ٲra?A9Y=QGyFqE>Q 5z4jm?Q 9z4d){BY?Q E:y?Q I?CIU:i:z4yɮBjhFNOT Ignoring new targets: 479.04 m.Rhe38Zhe38 ProNav: ac range: 479.035919 m, nav range: 454.177521 m, bearing: 76.380396 deg, approach rate: -0.615188 m/s, LOS rate: 0.002451 deg/s, cmd heading: 78.172478 deg, new cmd heading: 78.175979 deg. BhF8HeadingCmd: 1.364428 target range: 479.035919 and range: 481.20 m.h?h*h"h hgfffdddjdZd @?- Bɢ5g)1 5i1)5c19i=;i=?E+;Ehb,|a?A2?2J?2RCٱ2&7 :AHRS rotation from veh to nav: [[0.187041,-0.959603,-0.210186],[0.963883,0.220569,-0.149260],[0.189591,-0.174677,0.966200]]2H?aʿ!? ;?ÿD?[ƿ@?i2?I2^;28CYByByB1IIF=)F>DFA J4%VY=ٔZ9Q-Z>9XYX=^QGy^F^E^>`Q 5fz4bqm?Q 9fz4b)b{BYhyjZ?Q Ij?bˏCIb[:ibR:b0z4|yYɮ]BYjhFNOT Ignoring new targets: 479.04 m.Rh-8Zh-8 ProNav: ac range: 479.035919 m, nav range: 453.954987 m, bearing: 76.381338 deg, approach rate: -0.561030 m/s, LOS rate: 0.002374 deg/s, cmd heading: 78.175975 deg, new cmd heading: 78.178801 deg. Bh8HeadingCmd: 1.364478 target range: 479.035919 and range: 481.20 m.h3?h*h"h hgfffdddjdZd@?1Bɢqo) i ) )  i 3i;i3?8ޥ;tH-CM >G] eA B9 eAY Ae 2Acoustic response timeoutԁ E  E E &E "E :*E :VE 4ZE BE 6ci,\ua?A,6gf?6Q?6ȁCٱ6-8 >AHRS rotation from veh to nav: [[0.188603,-0.959024,-0.211427],[0.963544,0.222310,-0.148864],[0.189767,-0.175643,0.965991]]6H$$?S˿Z?t? ÿ`HJ?@v{ƿe?i6gf?I6~_;69CYZXyByZWIbDf VDff2y5>%%5=ٔ%йQ-%>9!Y)=-QGy-F-FlE->1Q 5=z45~m?Q 9Ez45)5|BYQy]&?Q Ie?5CI5;i5g;5z4yuBɮ}$B}EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 479.04 m.RhE8ZhE8 ProNav: ac range: 479.035919 m, nav range: 453.688477 m, bearing: 76.382519 deg, approach rate: -0.608773 m/s, LOS rate: 0.002701 deg/s, cmd heading: 78.178803 deg, new cmd heading: 78.182350 deg. BhB8HeadingCmd: 1.364539 target range: 479.035919 and range: 481.20 m.h:?h*h"h hgfffdddjdZds? DBɢ ȏg)  i)Gis;i:?Ŝ;K"zA >u 2Acoustic response timeout A9IIIYOu>!q,a?AE  E E )E"E ;*E :VE FA4ZEa@a@a@a@B*!?B ?B|EٱBob< JAHRS rotation from veh to nav: [[0.190567,-0.957607,-0.216039],[0.962782,0.225285,-0.149326],[0.191666,-0.179542,0.964898]]BH@d?*˿`?$?ÿ ? 9ƿr?iB*!?IB/g`;B6CYRyByRIi-Mb@Mb@Mb@)))) )9-)\(?S㥛Mb?Y-G!?y-/ݼ-@=-A-A -ҪA)-A)Y-AbD=VD=βyM&:>%U*=ٔU Q-U>9YYY=]QGy]F]<E]>aQ 5mz4em?Q 9uz4e)eW|BYu!?Q Eu:yuF?Q Iu?eCIe:ief:ez4y}BɮBjhAMFNOT Ignoring new targets: 479.04 m.RhMQZhMQ} ProNav: ac range: 479.035919 m, nav range: 453.396271 m, bearing: 76.382049 deg, approach rate: -0.591264 m/s, LOS rate: -0.000952 deg/s, cmd heading: 78.182348 deg, new cmd heading: 78.180937 deg. Bh.'HeadingCmd: 1.364515 target range: 479.035919 and range: 481.20 m.hk?h*h"h hgfffdddjdZd`W@M[BɢMZ)I MFiI)UQQiUG;ik?[;^BBIBzBB =BBDBg;B-6E^AU uQw, ra?A>J?>?>Fٱ>@= FAHRS rotation from veh to nav: [[0.191349,-0.957097,-0.217604],[0.962432,0.226470,-0.149785],[0.192640,-0.180768,0.964475]]>H ~? v˿>?@?`),ÿ`l?@j#ǿ`?i>J?I>`;>7CYNzByNI PPTV@AbDZVDZyblq>%bU=ٔb)Q-f>9dYd=fQGyfFjEj>lQ 5rz4n`m?Q 9rz4n)n|BYpyv.?Q Iv?n0CIn;in;nz4yzBɮzXBxjh%2Acoustic response timeout%FNOT Ignoring new targets: 479.04 m.Rh-Zh-= ProNav: ac range: 479.035919 m, nav range: 453.163330 m, bearing: 76.381696 deg, approach rate: -0.642482 m/s, LOS rate: -0.000974 deg/s, cmd heading: 78.180934 deg, new cmd heading: 78.179874 deg. BhE#+EHeadingCmd: 1.364496 target range: 479.035919 and range: 481.20 m.hEЧ?hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]7@颅jBɢnw) Z i)&顉i;iЧ?f̧;UԹ }},bMa?Af#?f?fvGٱf= ~AHRS rotation from veh to nav: [[0.191688,-0.956950,-0.217949],[0.962121,0.227081,-0.150852],[0.193850,-0.180777,0.964231]]fH>? V˿?? Oÿ ?`#ǿ`?if#?IfA'a;f6CY XzBy IiMb@Mb@Mb@ 9HzG?{GztQ?Y=*?yףu=hA`A  A)VAYAbDVDJy'>%9=ٔZ7Q->9Y=QGyFnE>ԑQ 55z4m?Q 95z44)|BY5*?Q E5:y5?Q I5?UCI(!=i!=z4yEBɮE BA-2Acoustic response timeoutjhIMFNOT Ignoring new targets: 479.04 m.RhUEuZhUEuEA EEEAEA"EA*EE:VEAZEAaM@aM@aM@aM@e ProNav: ac range: 479.035919 m, nav range: 452.880341 m, bearing: 76.379885 deg, approach rate: -0.523031 m/s, LOS rate: -0.003350 deg/s, cmd heading: 78.179875 deg, new cmd heading: 78.174437 deg. Bh)HeadingCmd: 1.364401 target range: 479.035919 and range: 481.20 m.h?h*h"h hgff f d ddjdZd@Bɢ\pN)Nr;  i)i;i?0;FESi0> 9@  @ @ @  2Acoustic response timeoutB% >B% $CB% 9IB% zBB! B! B! B% N;B% 6E1 ^A NJN<A zA dAIIIO?4,֨b?A2?2?2_`Iٱ2= :AHRS rotation from veh to nav: [[0.191340,-0.956930,-0.218343],[0.961879,0.227096,-0.152369],[0.195392,-0.180865,0.963904]]2H`}? , ˿@?z?@׀ÿ@?&ǿ@L?i2?I2> b;29CYBzByB*IIF!>)Fp<bDNVDN yR\5>%R*=ٔVGVQ-V>9TYX=ZQGyZF/:E>!Q 5-z4%m?Q 9-z4% )%N}BY)y5(?Q I5?%}CI%;i%a;%z4y9ɮ=BAjhamFNOT Ignoring new targets: 479.04 m.RhmZhm ProNav: ac range: 479.035919 m, nav range: 452.565247 m, bearing: 76.377852 deg, approach rate: -0.799991 m/s, LOS rate: -0.005164 deg/s, cmd heading: 78.174438 deg, new cmd heading: 78.168337 deg. BhbHeadingCmd: 1.364295 target range: 479.035919 and range: 481.20 m.h7?h*h"h hgfffdddjdZdϰ @Bɢʹ{)C< Oi)Zi;i7?;2Zu 2Acoustic response timeout ,?r5b?A2?2G?2Kٱ2N> :AHRS rotation from veh to nav: [[0.190843,-0.956893,-0.218942],[0.961640,0.227021,-0.153983],[0.197050,-0.181157,0.963511]]2Hm? ݞK̿@?@ ?@ÿ@8?&0ǿ ?i2?I2*tb;27CY^zBy^ZIiMb@Mb@Mb@ 9Q?~jtx?Q?Y5?y;\=\AA +A)AY=A ;4<bDVDܲys1>%;=ٔ}Q->9Y=QGyF[:E>Q 5{4m?Q 9{4)}BY6?Q E:y?Q I?CI@:i:{4yBɮFBEB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 479.04 m.Rhp۸Zhp۸% ProNav: ac range: 479.035919 m, nav range: 452.276764 m, bearing: 76.375313 deg, approach rate: -0.680729 m/s, LOS rate: -0.005995 deg/s, cmd heading: 78.168339 deg, new cmd heading: 78.160717 deg. Bh%-HeadingCmd: 1.364162 target range: 479.035919 and range: 481.20 m.h-ۜ?h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE@@mBɢmvd)q uiq)ulqyi};i}ۜ?Y;bTx time:15:02:32.1743 R#Rx 1: Read range and direction messages.%^direction in FSK: [0.996956,-0.034815,0.069756]%Fpublishing direction and range infoy?HM7ӡ&k۱?YCo}bn )@I#۹>iJ r>{*@Q =)@ 5=)@I5* ?p)V?K3ٲ?  ?)`IQi5=2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.D=D%=E EE&E"E:*E:VE4ZEa@a@a@a@^A Hu=,{NOb?A:$?:?:Mٱ: > BAHRS rotation from veh to nav: [[0.190199,-0.956893,-0.219500],[0.961374,0.226848,-0.155885],[0.198958,-0.181373,0.963078]]:HpX?ݞ̿?Z ?ÿvw?97ǿ@?i:$?I:b;:6CYbH{BybIbDvVDvkyF>% U=ٔ dQ->9Y=QGy%F%:E%>1Q 5E{45m?Q 9E{45)5}BYIyU?Q IU?5ĐCI5y;i5Bh;5{4yiɮmBiiiʊCb?AJiCRiCji8:?bB9B=IB={BB= =B=?DB9B=J;B=6ERhZh ProNav: ac range: 459.317017 m, nav range: 450.268158 m, bearing: 76.319122 deg, approach rate: 0.000000 m/s, LOS rate: -0.005995 deg/s, cmd heading: 78.160717 deg, new cmd heading: 78.153570 deg. BhHeadingCmd: 1.364037 target range: 459.317017 and range: 461.40 m.hŘ?h*h"h hgfffdddjd`f|@Zd ?Q-Bɢ-_)) -`i))511i5;i=Ř?=BK;=SlA5>IIO>p,1nb?A^E?^1?^2POٱ^= rAHRS rotation from veh to nav: [[0.189134,-0.957223,-0.218981],[0.961144,0.226129,-0.158329],[0.201074,-0.180527,0.962798]]^H 5?`̿??DĿ`̼?ǿ9AIYA=UQGyUF]z;Ee>yQ 5{4};n?Q 9{4})}c~BYy?Q I?}CI}%;i}@;}@ {4yɮBiI2Acoustic response timeoutjh FNOT Ignoring new targets: 459.32 m.Rh=۸ZhE۸ ProNav: ac range: 459.317017 m, nav range: 449.933502 m, bearing: 76.316049 deg, approach rate: -0.653506 m/s, LOS rate: -0.006006 deg/s, cmd heading: 78.153572 deg, new cmd heading: 78.144346 deg. BhヹHeadingCmd: 1.363876 target range: 459.317017 and range: 461.40 m.h~?h*h"h hgfffd d d jd Zd ?q}́Bɢs[)< i)䯽顁i'(;i~?>;|BYB]&IB]I|BBYBYBYB];B]5Ei%Mb@Mb@Mb@!!!! !9%S㥛?I +?T㥛 ?Y%D?y%94<%=%A%VA %ΪA)%KA!Y%A11bD=VD=02yMJ>%M =ٔMnQ-M>9QYQ=UQGyUF]1;E]>aQ 5m{4e n?Q 9m{4eׯ)e~BYmE?Q Em:ym`?Q Iu?e&CIe@:iej:e4{4y}Bɮ}6B}EjhFNOT Ignoring new targets: 459.32 m.Rh- Zh-  ProNav: ac range: 459.317017 m, nav range: 449.504059 m, bearing: 76.311817 deg, approach rate: -0.781966 m/s, LOS rate: -0.007714 deg/s, cmd heading: 78.144345 deg, new cmd heading: 78.131635 deg. BhiHeadingCmd: 1.363654 target range: 459.317017 and range: 461.40 m.h9?h*h"h hgfffdddjdZd?Bɢ4W)  #i )   i?;i9?u;fL,3b?AF?F?FUٱF< NAHRS rotation from veh to nav: [[0.185261,-0.958034,-0.218743],[0.960550,0.223528,-0.165465],[0.207416,-0.179459,0.961651]]FH?7@˿Ӽ??-ſ?ƿ?iF?IFtc;DYV+|ByVI\bD^VD^ܲyf2P>%jh=ٔjpϻQ-j>9lYl=nQGynF=p;E=>AQ 5M{4E n?Q 9M{4E֨)E5BYQyU?Q IU?EHCIE;iE;EPA{4yaɮmBijhFNOT Ignoring new targets: 459.32 m.RhZh ProNav: ac range: 459.317017 m, nav range: 449.235077 m, bearing: 76.309116 deg, approach rate: -0.718533 m/s, LOS rate: -0.007218 deg/s, cmd heading: 78.131634 deg, new cmd heading: 78.123528 deg. Bh HeadingCmd: 1.363513 target range: 459.317017 and range: 461.40 m.h ?h *h "h hgfff!d!d!d)jd)Zd-@ ?Bɢh)  i )iy;i5?55;=4聲,Zb?AN?Nk۰?N:XٱN!= ZAHRS rotation from veh to nav: [[0.183800,-0.958233,-0.219103],[0.960358,0.222584,-0.167837],[0.209596,-0.179569,0.961158]]NH? ٩ ̿ @?}?{ſ ?ƿ?iN?IN8nc;N7CYb]|Byb3IIfi>)f>iMMb@Mb@Mb@IIII I9M rh? rh?I +?YML?yMC9} ?Y} ?=}QGy}F}><;E>Q 5{4n?Q 9{4֞)BYL?Q E:y?Q I?zCI-;i;R{4yBɮBEԱB*** querying acoustic contact ***i ijhIUFNOT Ignoring new targets: 459.32 m.RhUZh] ProNav: ac range: 459.317017 m, nav range: 448.851410 m, bearing: 76.305098 deg, approach rate: -0.759150 m/s, LOS rate: -0.007958 deg/s, cmd heading: 78.123526 deg, new cmd heading: 78.111461 deg. BhîHeadingCmd: 1.363302 target range: 459.317017 and range: 461.40 m.h?h*h"h hgfffdddjdZdۏ@}BɢCV) *i) 顱i6;i?:;GsB%CBIB|BB =B>DBDB;B5EB$CB$CBēCBĻ =BĻ =Cˆ5iI2Acoustic response timeout }9@y @y@}.0@y)^A= Ho6,EKb?A22Acoustic response timeout6@?6?6KZٱ6t= BAHRS rotation from veh to nav: [[0.182566,-0.958362,-0.219570],[0.960160,0.221842,-0.169935],[0.211569,-0.179798,0.960683]]6H`P^?̿?Qe?oſ? ǿ`?i6@?I6b;4YF|ByFUIbDRVDRyZ,>%ZX=ٔZۮQ-Z>9^"?Y^"?=^QGy^Fb(P;Eb>dQ 5j{4fn?Q 9j{4f<)fBYhyj?Q Ij?fCIf$:if=:f_{4ypɮrBpjh  FNOT Ignoring new targets: 459.32 m.RhpZhp ProNav: ac range: 459.317017 m, nav range: 448.559875 m, bearing: 76.301993 deg, approach rate: -0.807317 m/s, LOS rate: -0.008603 deg/s, cmd heading: 78.111464 deg, new cmd heading: 78.102144 deg. BhHeadingCmd: 1.363140 target range: 459.317017 and range: 461.40 m.h\{?h*h"h hgfffdddjdZdM@9E] E]E]+EY"E] ;*E]M:VE] [4ZEYBE]LԹ DѾ,&b?A2L?27?2.\ٱ2mh= :AHRS rotation from veh to nav: [[0.180946,-0.958668,-0.219578],[0.960069,0.220615,-0.172038],[0.213369,-0.179680,0.960306]]2H@)?g"̿?=?Uƿ`O?ƿԺ?i2L?I2hb;0YV|ByZrIi5Mb@Mb@Mb@1111 195n?~jt??Y5VN?y5<5<5QA5A 5hA)5~A1Y5AbDMVDMy]e=%]@=ٔeQ-e>9aYa=mQGymFmw;Em>qQ 5}{4un?Q 9}{4u)u!BY~N?Q E:y?Q I?uʑCIu ;iuu ;un{4yBɮ:BvEjhFNOT Ignoring new targets: 459.32 m.RhZh ProNav: ac range: 459.317017 m, nav range: 448.227509 m, bearing: 76.298483 deg, approach rate: -0.780611 m/s, LOS rate: -0.008252 deg/s, cmd heading: 78.102148 deg, new cmd heading: 78.091607 deg. Bh8HeadingCmd: 1.362956 target range: 459.317017 and range: 461.40 m.hUu?h*h"h hgfffdddjdZd@ԑ额&Bɢ5Si) i)顡i6;iUu?R;@i%>u2Acoustic response timeout9@ @@0@Em EmEm'Ei"Em;*Em?:VEm'4ZEiau@au@au@au@^A፨< B >B $CB IB }BB =B ?DB DB 1;B U5EA I I % 2Acoustic response timeoutO5 >I oŘ,yc?A2?2q?2Y^ٱ2ч= :AHRS rotation from veh to nav: [[0.179190,-0.958967,-0.219713],[0.959999,0.219277,-0.174123],[0.215156,-0.179723,0.959900]]2H`?گ ̿P?G?Iƿ;?`,ǿ?i2?I2eCa;26CYB|ByFI HHHHbDNVDNN2yV=%VV=ٔZQ-Z>9XYX=^QGy^F^;Eb>`Q 5f{4bn?Q 9f{4b͆)bGBYhyj??Q Ij?bCIb:ib:b+|{4ylɮr Bpjh FNOT Ignoring new targets: 459.32 m.Rh oZh o% ProNav: ac range: 459.317017 m, nav range: 447.929596 m, bearing: 76.295263 deg, approach rate: -0.780309 m/s, LOS rate: -0.008439 deg/s, cmd heading: 78.091609 deg, new cmd heading: 78.081943 deg. Bh%S-HeadingCmd: 1.362787 target range: 459.317017 and range: 461.40 m.h-o?h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=p @7Bɢh) pi) ĽiGG;io?/;J˘,~1c?A>ו?>|ñ?>\_ٱ>X; JAHRS rotation from veh to nav: [[0.176716,-0.959814,-0.218009],[0.960126,0.216851,-0.176446],[0.216631,-0.178135,0.959864]]>H?̶@˿Z?@?ʕƿ ? ƿ4?i>ו?I>@`;91Y9==QGyEFM5;EU>iQ 5{4m#n?Q 9{4m'~)mrBYy?Q I?mCIm";im;m{4yɮA2Acoustic response timeoutjh)5FNOT Ignoring new targets: 459.32 m.Rh5VZh5VE ProNav: ac range: 459.317017 m, nav range: 447.598267 m, bearing: 76.291571 deg, approach rate: -0.697521 m/s, LOS rate: -0.007777 deg/s, cmd heading: 78.081944 deg, new cmd heading: 78.070861 deg. BhEͪiuHeadingCmd: 1.362594 target range: 459.317017 and range: 461.40 m.huwi?hq*hq"hq hygyfyfyfdddjdZd@uJBɢu_m])y }iy)}tǽyyi};iwi?+;Tx time:15:02:36.2743  R#Rx 1: Read range and direction messages.^A < ^direction in FSK: [0.995968,-0.036520,0.081939] Fpublishing direction and range infoy  5f]?uDв?Y 3C    ) =I >i ?5> = )@ =) @I gQ?ĜT?ɵ$n_? D?) 3+I Q i  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.D} =D} R=E  E E %E "E %;*E Ǚ:VE 4ZE a @a @a @a @ AI IY Ii Ou >"]Ә,Nc?AB4?Bn ?B)VaٱB]9 ZAHRS rotation from veh to nav: [[0.173927,-0.960860,-0.215631],[0.960261,0.214021,-0.179146],[0.218284,-0.175904,0.959901]]BH9C?^Ι˿v? e?@>ƿ?ƿ?iB4?IBi`;B8CYb@}BybIiEMb@Mb@Mb@AAAA A9EK7?~jt?~jthYEIL?yE9Y=QGyFg;E>Q 5{4'n?Q 9{4Lt)BYaL?Q E:y?Q I?KCI;i;{4yɮ~ABU>BU#CBU@IBU~BBQBQBQBU~;BU15EiiEc?AJi*CRi*Cji+I?bv 8Ag|@l_0/aB@R5f]?uDв?ZiQ bijg4U@z@YAa@Z&g?ݬv?yfs[?2iC:iB"iˊ?*im0BiXICic?izkiXICi{Ci+?DAT read: 2Acoustic response timeout addTargetRange:: Added new target pos. range: 458.399994 m, deltaT: 4.037845 s, deltaX: -3.000000 m, approachRate: -0.742971 m/s, rangeRepo size: 4   Added new target pos. range: 456.333374 m, bearing: 78.462011 deg, lat: 36.778913 deg, lon: -121.859582 deg, deltaT: 4.037845 s, deltaX: -2.983643 m, approachRate: -0.738920 m/s, posRepo size: 4 jh  FNOT Ignoring new targets: 456.33 m.RhZhE ProNav: ac range: 456.333374 m, nav range: 438.964966 m, bearing: 77.515088 deg, approach rate: 0.000000 m/s, LOS rate: -0.007777 deg/s, cmd heading: 78.070859 deg, new cmd heading: 78.060230 deg. BhAMHeadingCmd: 1.362408 target range: 456.333374 and range: 458.40 m.hMcc?hI*hI"hI hQgQfQfQfYdYdydyjd`f|@Zd?]BɢJc) :i)dI˽iF;icc?;.٘,ic?AE. E.E.*E,"E.V:*E.:VE.(N4ZE,BE.9|?>g?>Abٱ>67 FAHRS rotation from veh to nav: [[0.171792,-0.961625,-0.213928],[0.960375,0.211857,-0.181099],[0.219471,-0.174340,0.959916]]>H`G?`a˿d?@ ? ?.ǿ`?`Pƿ?i>|?I>`;>6CY~k}By~II%=)p;bD VD fy=%Y=ٔ%SQ-%>9% ?Y- ?=-QGy-F-;E->1Q 5={45+n?Q 9={45l)5BYAyE0?Q IE?5qCI5:i5(:5+{4yMjBɮUAUmEmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 456.33 m.Rh Zh  ProNav: ac range: 456.333374 m, nav range: 438.671204 m, bearing: 77.512382 deg, approach rate: -0.821460 m/s, LOS rate: -0.007573 deg/s, cmd heading: 78.060231 deg, new cmd heading: 78.052106 deg. BhOHeadingCmd: 1.362266 target range: 456.333374 and range: 458.40 m.h^?h*h"h hgfffdddjdZd?jBɢ>x) 3i)0ͽiw(;i^?E;ԯ ,Ec?A6|?6 ?6ocٱ6ն6 BAHRS rotation from veh to nav: [[0.169746,-0.962295,-0.212544],[0.960501,0.209808,-0.182810],[0.220510,-0.173118,0.959899]]6H@?@4˿k? ?Nfǿ@9?(ƿ}?i6|?I6u`;67CYJ}ByJIiMb@Mb@Mb@ 9)\(?MbP:vYGA?yTA~A A)wAYAbD-VD-y=O=%EI=ٔE+Q-E>9M"?YM"?=MQGyMFM;EM>QQ 5]{4U 0n?Q 9e{4Ud)U܀BYeOA?Q Ee:ye?Q Ie?UCIUq ;iU ;Ua{4ymrBɮuAq}2Acoustic response timeoutjhFNOT Ignoring new targets: 456.33 m.RhZh ProNav: ac range: 456.333374 m, nav range: 438.370819 m, bearing: 77.510868 deg, approach rate: -0.736827 m/s, LOS rate: -0.003714 deg/s, cmd heading: 78.052110 deg, new cmd heading: 78.047567 deg. Bh&#HeadingCmd: 1.362187 target range: 456.333374 and range: 458.40 m.h%\?h*h"h hgfffdddjdZdI?颅{BɢDii) i)yѽ顉i;i%\?;$;&=I%\?IDqzDu@AE} E}E})Ey"E}%;*E}Z:VE}FA4ZEya@a@a@a@M9@I @I@MO0@I^AmC|<AA@AB>B"CB~IBx~BB =BBDB~;B-5E5 2Acoustic response timeoutI A .AI I O >a :,,Hc?A2?2ֲ?2dٱ2†3 :AHRS rotation from veh to nav: [[0.168473,-0.963187,-0.209495],[0.960478,0.208187,-0.184772],[0.221584,-0.170086,0.960193]]2H ? mʿ;?ޥ? ǿ\?aſ`?i2?I2Aq`;28CYB}ByBIbDJVDJk2yRW=%RS=ٔV:Q-V>9Z ?YZ ?=ZQGyZFZ,Y;EZ>\Q 5b{4^P4n?Q 9b{4^t])^BYdyfE?Q If?^CI^a;i^;^{4yhɮjAljh|FNOT Ignoring new targets: 456.33 m.RhZh ProNav: ac range: 456.333374 m, nav range: 438.085052 m, bearing: 77.509377 deg, approach rate: -0.741357 m/s, LOS rate: -0.003872 deg/s, cmd heading: 78.047568 deg, new cmd heading: 78.043090 deg. Bh*HeadingCmd: 1.362109 target range: 456.333374 and range: 458.40 m.hY?h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5 t?]Bɢet)a eia)mӽiiim(F;iuY?uֹ;u =IuY?Iyu9@q @q@}4@y2Acoustic response timeoutIEm EmEm(Ei"Em;*Em:VEmc44ZEiBEm2NA>} PExceeded connect timeout, disconnecting.ԙ A- ؟AI1 IA O] >= 2Acoustic response timeout:, c?A@ ??peٱ|0 AHRS rotation from veh to nav: [[0.167452,-0.963929,-0.206883],[0.960434,0.206867,-0.186474],[0.222545,-0.167472,0.960431]]H o?#{ʿ ?@z?`aǿZ|?@oſػ?i ?I}`;Y}ByI i}Mb@Mb@Mb@yyyy y9}9"?Y"?=QGyF;E>Q 5{49n?Q 9{4 U)BY3?Q E:y?Q I?CIT ;i ;H{4yɮ/Ajh FNOT Ignoring new targets: 456.33 m.Rh ɷZh ɷ ProNav: ac range: 456.333374 m, nav range: 437.761902 m, bearing: 77.508732 deg, approach rate: -0.689262 m/s, LOS rate: -0.001376 deg/s, cmd heading: 78.043087 deg, new cmd heading: 78.041151 deg. Bhq%HeadingCmd: 1.362075 target range: 456.333374 and range: 458.40 m.h-zX?h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=?mBɢmf)i mlii)ud׽qqiu=[;i}zX?};}G=I}zX?Iyԡ9@ @@4@2Acoustic response timeoutD D E  E E )E "E ;*E :VE FA4ZE a @a @a @a @^A @o= I I O% >5,c?AN< ?N?NfٱN0 VAHRS rotation from veh to nav: [[0.167386,-0.963958,-0.206802],[0.960260,0.206926,-0.187301],[0.223343,-0.167233,0.960287]]NHl?@`xʿt?|?xǿ`?gſ?iN< ?INZ`;LY^}By^+IbDjVDjklyr^=%rm=ٔvKQ-v?9tYt=zQGyzFz8Ez?|Q 5{4~=n?Q 9{4~N)~1BY y ?Q I ?~CI~:i~N:~]{4y\BɮAdEjhFNOT Ignoring new targets: 456.33 m.RhvZhv ProNav: ac range: 456.333374 m, nav range: 437.523651 m, bearing: 77.508255 deg, approach rate: -0.655760 m/s, LOS rate: -0.001315 deg/s, cmd heading: 78.041154 deg, new cmd heading: 78.039721 deg. BhfHeadingCmd: 1.362050 target range: 456.333374 and range: 458.40 m.hW?h*h"h hgfffdddjdZd@-Bɢ- !xB=y>B=CB=IB=~BB= =B9B=DB=!;B=45E)I MiQ)U$ڽQQiU^;i]W?]̽;YI]W?Ia2Acoustic response timeout9@ @@/@@=@=9^A G=I I O >Y  2Acoustic response timeout-,c?AE& E&E&&E$"E&;*E&:VE&4ZE$BE&a?>?>agٱ>0 JAHRS rotation from veh to nav: [[0.167642,-0.963813,-0.207272],[0.960053,0.207387,-0.187854],[0.224041,-0.167499,0.960078]]>HLu?߇ʿ ? ?` ȿ_?pſ`?i>?I>_;>7CYN~ByNGIbDZVDZβy^=%bM=ٔbQ-b>9dYd=fQGyfFfBEj>hQ 5n{4jBn?Q 9r{4jG)jLBYpyr?Q Ir?j'CIj;ij;jI{4ytɮz5Ax B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 456.33 m.Rh%jϷZh%jϷ5 ProNav: ac range: 456.333374 m, nav range: 437.249115 m, bearing: 77.507715 deg, approach rate: -0.720552 m/s, LOS rate: -0.001417 deg/s, cmd heading: 78.039720 deg, new cmd heading: 78.038100 deg. Bh5x9EHeadingCmd: 1.362022 target range: 456.333374 and range: 458.40 m.hEV?hA*hA"hA hAgAfIfIfIdQdQdQjdQZdU`@Bɢju)  i ) :ݽi=cP;iEV?E;Eu =IEV?II5nManaging dock network, ignoring radio surface power off-9@) @)@)@)i2Acoustic response timeoutԩ^AiIIO> ,]d?A6?6sܲ?6gٱ6F1 >AHRS rotation from veh to nav: [[0.168166,-0.963596,-0.207855],[0.959829,0.208105,-0.188202],[0.224606,-0.167856,0.959884]]6H@w?ʿ?@2?ȿ ?M|ſ]?i6?I6_;4YF3~ByFTIIJG>)J49AYA=MQGyMFMEM>Qe2Acoustic response timeoutQ 5e{4U=Gn?Q 9m{4U@)UgBYm'?Q Em:ym5?Q Im?UICIU^;iUr];U{4yqɮ} AyԙjhFNOT Ignoring new targets: 456.33 m.RhUIZhUI ProNav: ac range: 456.333374 m, nav range: 436.979065 m, bearing: 77.507425 deg, approach rate: -0.640154 m/s, LOS rate: -0.000688 deg/s, cmd heading: 78.038101 deg, new cmd heading: 78.037231 deg. BhHeadingCmd: 1.362007 target range: 456.333374 and range: 458.40 m.hBECBEIBE%BBE =BABEDBE8;BE55EB"CB!CBȕCBȼ =BȾ =C6 2Acoustic response timeout^AM  =I I O > ?,9YYa=eQGyeFeUEe>iQ 5u|4mKn?Q 9u|4m<:)mBYy?Q I?mkCImy 0n ,T8d?ABDAT read: Rx Time:15:02:39.2860 "TRx dataTimestamp_ set to:1761577360.887710&2Acoustic response timeout%)?%?%hٱ%D3 =AHRS rotation from veh to nav: [[0.170667,-0.962497,-0.210887],[0.959160,0.211282,-0.188072],[0.225575,-0.170177,0.959247]]%Hg?Zʿ@q?M ?@ȿ? ]ſ'?i%)?I%L`;%6CYE~ByMIIiMb@Mb@Mb@ 9+?Q9 Y = QGy Fl<E>Q 5%|4BQn?Q 9%|43)BY%?Q E-:y-?Q I-?CI ;i? ;E|4y5eBɮ5hA5eEjhY]FNOT Ignoring new targets: 456.33 m.Rhe7Zhe7u ProNav: ac range: 456.333374 m, nav range: 436.436005 m, bearing: 77.507618 deg, approach rate: -0.632458 m/s, LOS rate: 0.000961 deg/s, cmd heading: 78.036530 deg, new cmd heading: 78.037812 deg. Bhu(8}HeadingCmd: 1.362017 target range: 456.333374 and range: 458.40 m.h}V?hy*hy"hy hgfffd d d jd ZdL[@]Bɢ]l) Ii)顡i~;iV?o;Z2=IV?Iԁa@a @i@i@i2Acoustic response timeoutԩE}  E} E} +Ey "E} ;*E} ?:VE} [4ZEy a @a @a @a @^A G= A I I O >X,bSd?A2i?2dU?2niٱ2WA4 :AHRS rotation from veh to nav: [[0.172064,-0.962076,-0.211670],[0.958812,0.212858,-0.188070],[0.225993,-0.170592,0.959075]]2H@2?S@˿`?>?ȿ@V? ſ?i2i?I2J,a;28CYB~ByBI DDbDjVDj:yv=%zc=ٔ~Q-~>9|Y|=~QGy|E> Bg>BCB!IBBB =BBDB(;B(5EQ 55|4 Un?Q 95|4 b-) BY1y=}?Q I=? CI ;i m; (|4yEOBɮEAE[EjhimFNOT Ignoring new targets: 456.33 m.Rhu7Zhu7 ProNav: ac range: 456.333374 m, nav range: 436.215454 m, bearing: 77.507997 deg, approach rate: -0.605025 m/s, LOS rate: 0.001038 deg/s, cmd heading: 78.037814 deg, new cmd heading: 78.038950 deg. Bhp68HeadingCmd: 1.362037 target range: 456.333374 and range: 458.40 m.h7W?h*h"h hgfffdddjdZd@q@Bɢz) i)Vi;i7W?V;pTx time:15:02:40.3743 ER#Rx 1: Read range and direction messages.U^direction in FSK: [0.987815,-0.043129,0.149535]UFpublishing direction and range infoyqubA.?<%'S&r#?YuCqqqq q)u>Iu>iu/9@ @@4@uX9>u*@u>uX*@ u`>)ui@Iu`qqu:l?FR>?}? ubS?)u9IuѸ2iu`qq2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^AX% DAT read: % 2Acoustic response timeoutq E  E E 'E "E O;*E :VE '4ZE BE *Y%eD=ٔeQ-e>9iYi=uQGyuF}.E>Q 5|4Zn?Q 9|4&)ӁBYy5?Q I?̓CIu;i*;7|4yɮ5AQiiXd?AJiCRiCjiׯ?b`ܠ|@!=%3i6P@RbA.?<%'S&r#?ZiѸ2bi`j;[T@T/y@*<z;e@Zm;?%u?Cy?2i9C:iB"ik&t?*iÉBiiCiq1?im0iiCi;? addTargetRange:: Added new target pos. range: 455.700012 m, deltaT: 4.294742 s, deltaX: -2.699982 m, approachRate: -0.628671 m/s, rangeRepo size: 4  Added new target pos. range: 453.591034 m, bearing: 78.711622 deg, lat: 36.778906 deg, lon: -121.859609 deg, deltaT: 4.294742 s, deltaX: -2.742340 m, approachRate: -0.638534 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 453.59 m.RhZh% ProNav: ac range: 453.591034 m, nav range: 433.420624 m, bearing: 77.543105 deg, approach rate: 0.000000 m/s, LOS rate: 0.001038 deg/s, cmd heading: 78.038948 deg, new cmd heading: 78.040347 deg. Bh!mHeadingCmd: 1.362061 target range: 453.591034 and range: 455.70 m.hmX?hq*hq"hq hqgqfqfyfydydydjd@3{|@Zd?- Bɢ5j)1 5i1)519i=U;i=X?EL;EV@]=^AE 0= I! I1 O= >'!,-d?A20ە?2Ʊ?2vjٱ2p5 :AHRS rotation from veh to nav: [[0.176187,-0.960830,-0.213927],[0.957788,0.217486,-0.187996],[0.227158,-0.171774,0.958589]]2HN?a˿`2??`=ȿ@?ſì?i20ە?I2b;26CYB/ByBI2Acoustic response timeoutiMMb@Mb@Mb@IIII I9MQ?/$MbpYM(?yMMMƙAMtA MA)MlAIYMAbDaVDayu=%}J=ٔ}XQ-}>9Y=QGyFE>Q 5|4^n?Q 9|4 )BYA?Q E:y,?Q I?CI:i:E|4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 453.59 m.RhP5ZhP5 ProNav: ac range: 453.591034 m, nav range: 433.181702 m, bearing: 77.543122 deg, approach rate: -0.648704 m/s, LOS rate: 0.000045 deg/s, cmd heading: 78.040348 deg, new cmd heading: 78.040397 deg. Bh5HeadingCmd: 1.362062 target range: 453.591034 and range: 455.70 m.h X?h*h"h hgfffdddjd Zd 5L?=Bɢ=)9 =;i9)E7>AAiE;E EE(E"E7;*Ev:VEc44ZEa@a@a@a@i X?};B1B5eIB5BB5 =B1B1B5~;B54E2Acoustic response timeout^A)',d?A2؀?2gl?2jٱ2d[6 >AHRS rotation from veh to nav: [[0.178816,-0.960052,-0.215231],[0.957238,0.220324,-0.187488],[0.227419,-0.172502,0.958396]]2H@r?˿?3?ǿ?ƿ /?i2؀?I23c;0YBeByBI J%VY=ٔV:Q-Z>9XYX=ZQGyZF^E^>Q 5%|4cn?Q 9%|4) BY!y-Ѭ?Q I-?CI1:i:S|4y1ɮ5qA1jhYeFNOT Ignoring new targets: 453.59 m.Rhed6Zhed6u ProNav: ac range: 453.591034 m, nav range: 432.950867 m, bearing: 77.543222 deg, approach rate: -0.595348 m/s, LOS rate: 0.000259 deg/s, cmd heading: 78.040396 deg, new cmd heading: 78.040697 deg. Bhu57}HeadingCmd: 1.362067 target range: 453.591034 and range: 455.70 m.h}7X?h*h"h hgfffdddjdZd?颽'Bɢv) 0ݿi)[iү;i7X? ;Teԩ  2Acoustic response timeoutW .,ߺd?A@]?]?]Zkٱ]y7 AHRS rotation from veh to nav: [[0.182019,-0.959056,-0.216980],[0.956539,0.223828,-0.186907],[0.227821,-0.173529,0.958116]]]H gL?˿?@d?ǿ:)?16ƿ?i]?I]b;]7CYBy3IiEMb@Mb@Mb@AAAA A9E-?Mb`y&1?YE5?yEE`e9qYq=}QGy}F}fE}>Q 5|4Xgn?Q 9|4).BY??Q E:y?Q I?+CI ;i ;b|4yɮAjhFNOT Ignoring new targets: 453.59 m.RhY/ZhY/ ProNav: ac range: 453.591034 m, nav range: 432.681061 m, bearing: 77.542142 deg, approach rate: -0.598397 m/s, LOS rate: -0.002395 deg/s, cmd heading: 78.040696 deg, new cmd heading: 78.037456 deg. BhkҸHeadingCmd: 1.362011 target range: 453.591034 and range: 455.70 m.h]V?h*h"h hgfffdddjdZd]?ԡ9Bɢk) oڿi)?iS;i]V?T;O4,d?A2?2/?2kٱ2r7 :AHRS rotation from veh to nav: [[0.185233,-0.958281,-0.217686],[0.955797,0.227161,-0.186684],[0.228345,-0.173483,0.957999]]2H ?<˿? ?@ǿh:?4ƿ?i2?I2Gb;24CYBByB_IbDJVDJfyRHQ>%Rm=ٔV̺Q-V?9TYT=VQGyVFZ EZ?lBvS>BvCBvIBv5BBv =BtBvDBv};Bv4E\Q 5U|4^jn?Q 9U|4^x)^JBYYy]?Q I]?^ECI^i2Acoustic response timeout9@ @@=0@ ^A <I1IAOU1>9M 2Acoustic response timeoutq E  E E &E "E *E P:VE 4ZE BE O%-B=ٔ5غQ-5>y9Y=QGyFE>Q 5|4nn?Q 9|4)lBYy@?Q I?fCI;i; ~|4yɮAjhFNOT Ignoring new targets: 453.59 m.RhZh  ProNav: ac range: 453.591034 m, nav range: 432.214752 m, bearing: 77.540597 deg, approach rate: -0.624202 m/s, LOS rate: -0.001950 deg/s, cmd heading: 78.035260 deg, new cmd heading: 78.032821 deg. Bh T HeadingCmd: 1.361930 target range: 453.591034 and range: 455.70 m.hS?h*h"h hgfffdd!d!jd!Zd%@F@UUBɢU5o)Y ]ϿiY)]AcYYiej;ieS?e;mA,9ce?A:ɓ?:3?:@1mٱ:&?; BAHRS rotation from veh to nav: [[0.191531,-0.955886,-0.222708],[0.954261,0.234434,-0.185542],[0.229567,-0.176984,0.957066]]:H?`@̿ O?? ٿǿvb?kƿH?i:ɓ?I:lb;:6CYJ;ByJI2Acoustic response timeouti%Mb@Mb@Mb@!!!! !9% r?:v?V-?Y%#?y%T<%<%A%pA !)%XgA!Y%AbD9VD9yM7>%MH=ٔU%Q-U>9QYQ=]QGy]F] E]>aQ 5m|4eNrn?Q 9m|4eq)eBYu#?Q Eu:yuu?Q Iu?eCIe:ie3:e|4y}ABɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 453.59 m.RhZh ProNav: ac range: 453.591034 m, nav range: 431.971649 m, bearing: 77.539027 deg, approach rate: -0.615688 m/s, LOS rate: -0.003977 deg/s, cmd heading: 78.032821 deg, new cmd heading: 78.028110 deg. Bh.HeadingCmd: 1.361847 target range: 453.591034 and range: 455.70 m.hQ?h*h"h hgfDqzDqE} E}E}'Ey"E}%;*E}h:VE}'4ZEya@a@a@a@ffdddjdZd@@eBɢl) ʿi )? ib;iQ?};nBCBIBBB =B@DBBC};B"4Eԙ2Acoustic response timeout^Am ]<A I Թ I O >*H,u>"e?A2Xb?2M?2 nٱ2< :AHRS rotation from veh to nav: [[0.194498,-0.954945,-0.224165],[0.953455,0.237735,-0.185486],[0.230420,-0.177655,0.956737]]2HL?o̿ം?n?`ǿj~?cƿ`?i2Xb?I2msb;25CYBbByBIbDJVDJ yR\P>%RV=ٔRKQ-V>9TYT=VQGyVFZ8EZ>\Q 5b|4^un?Q 9b|4^X)^BYdyf?Q If?^CI^S;i^p;^G|4yhɮj|AhjhqFNOT Ignoring new targets: 453.59 m.RhZh ProNav: ac range: 453.591034 m, nav range: 431.736603 m, bearing: 77.537606 deg, approach rate: -0.591312 m/s, LOS rate: -0.003579 deg/s, cmd heading: 78.028108 deg, new cmd heading: 78.023841 deg. Bh0HeadingCmd: 1.361773 target range: 453.591034 and range: 455.70 m.hN?h*h"h hgfffdddjdZd @rBɢq) ÿi)ti^;iN?;F BDAT read: Rx Time:15:02:43.4064  TRx dataTimestamp_ set to:1761577364.922859 2Acoustic response timeout WN,(%,=ٔQ->9AYA=EQGyMFMͻEM>QQ 5]|4Uyn?Q 9]|4UX)UBY]'?Q Ee:ye?Q Ie?U˔CIU3:iU:Uh|4yiɮmAijhFNOT Ignoring new targets: 453.59 m.RhZh ProNav: ac range: 453.591034 m, nav range: 431.429169 m, bearing: 77.535163 deg, approach rate: -0.648406 m/s, LOS rate: -0.005155 deg/s, cmd heading: 78.023840 deg, new cmd heading: 78.016507 deg. BhkbHeadingCmd: 1.361645 target range: 453.591034 and range: 455.70 m.haJ?h*h"h hgfffdddjdZdh @Bɢc) i),i^;i aJ? k*; /*"sU,bVe?ABE>BCBxIB׀BB =B BDB|;B3EBeCBeCBaBe =Be =CeU6F?F%jg=ٔjqBQ-j>9lYl=nQGynFnEn?pQ 5v|4r|n?Q 9z|4r)rBYxyz?Q Iz?rCIrU;ir;r4|4y~+Bɮ~AIEjh)-FNOT Ignoring new targets: 453.59 m.Rh5"Zh5"E ProNav: ac range: 453.591034 m, nav range: 431.217499 m, bearing: 77.533556 deg, approach rate: -0.626430 m/s, LOS rate: -0.004758 deg/s, cmd heading: 78.016504 deg, new cmd heading: 78.011681 deg. BhEPMHeadingCmd: 1.361561 target range: 453.591034 and range: 455.70 m.hMG?hI*hI"hQ hQgQfQfYfYdYdYdYjdaZde`N@=DAT read: 15:02:43.4064 LVL= 32240, 32753, 32754, 29123, AGC= 64, IDX= 12, 0.22, 0.842,-0.579, 1.040, 0.677, PHS= 0.266,-1.211, 0.319, RAW= 151.7, 8.4, CAL= 151.3, 9.0, ROT= 358.7, -9.0 EYgot valid direction response: 15:02:43.4064 LVL= 32240, 32753, 32754, 29123, AGC= 64, IDX= 12, 0.22, 0.842,-0.579, 1.040, 0.677, PHS= 0.266,-1.211, 0.319, RAW= 151.7, 8.4, CAL= 151.3, 9.0, ROT= 358.7, -9.0 MPDAT read: Bearing 226.9, 10.8 (Local) M~Local bearing/azimuth received: Bearing 226.9, 10.8 (Local) ]DAT read: Range 11 to 50 : 471.0 m (Round-trip 628.0 ms) speed 0.4 m/s eTDAT read: user:873>Tx time:15:02:44.4743 eR#Rx 1: Read range and direction messages.m^direction in FSK: [0.987434,-0.022408,0.156434]mFpublishing direction and range infoy  Pp?򖿨p ?Y C  }   q) @I '1>i   S> Us)@ Q > )@ | >) U@I |   <`w?%g?n ?  ?) rI ޹i |  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.%Bɢ%m)! -=i))-H))i-D;i5G?53F;5g;I5G?IAGA%9@1 @1@1@1%99Y=ڦA@EeA@EeA^A$<A].AIiIyO>9  DAT read:  2Acoustic response timeoutE=  E= E= &E9 "E= ;*E= Ǚ:VE= 4ZE9 BE= ]?`{@Ϳo? H?`ǿq?ƿ?iBON?IB!b;B6CYv̀ByvlIbD~VD~ky ">% G=ٔ 5Q->9 ?Y ?=QGyF%ʻE%>)Q 5-|4-'n?Q 95|4-$)-(BY1y54?Q I5?-CI-;i-T;-|4yAɮEtAAiAiE[e?AJiEdCRiEdCjiE%?bE|9L$X|@HbR%-hUR@REPp?򖿨p ?ZiE޹biE| jE:OU@Rz@f@ZE-{@?I%?vkK2?2iEC:iEB"iE%?*iEVWBiEvtCiE%?iEzkiAiE CiEv? addTargetRange:: Added new target pos. range: 471.000000 m, deltaT: 4.035518 s, deltaX: 15.299988 m, approachRate: 3.791332 m/s, rangeRepo size: 4  Added new target pos. range: 468.787231 m, bearing: 78.400492 deg, lat: 36.778852 deg, lon: -121.859582 deg, deltaT: 4.035518 s, deltaX: 15.196198 m, approachRate: 3.765613 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 468.79 m.RhZh ProNav: ac range: 468.787231 m, nav range: 432.075958 m, bearing: 78.378595 deg, approach rate: 0.000000 m/s, LOS rate: -0.004758 deg/s, cmd heading: 78.011682 deg, new cmd heading: 78.005765 deg. BhHeadingCmd: 1.361457 target range: 468.787231 and range: 471.00 m.h=D?h*h"h hgfffdddjdp}@Zd.n? Bɢ j) Vi)Vciv;i=D?%MB;%G;I%=D?I!I1)5dAq9@ @@/@i!I!-2Acoustic response timeoutԙ^A< A I I O >}b,pe?A2 ?20?2 Rrٱ2E< :AHRS rotation from veh to nav: [[0.204315,-0.952064,-0.227662],[0.950418,0.248628,-0.186790],[0.234439,-0.178210,0.955657]]2H &?`Nw$Ϳ`i? ?ǿ@?ƿ`?i2 ?I2Rb;0B2Acoustic response timeoutYFByFI HHPieMb@Mb@Mb@aaaa a9eM?ˡE?{Gz?Yen2?ye'=e#=eAepkA etA)eCcAaYeׅAu@AuAAbD}VD}Ny >%C=ٔQ->9Y=QGyFϣE>Q 5|4{n?Q 9|4)RBY3?Q E:y ?Q I?+CI:i:8|4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 468.79 m.E EE'E"E;*E:VE'4ZEa @a @a @a @Rh˸Zh ˸ ProNav: ac range: 468.787231 m, nav range: 431.794830 m, bearing: 78.376280 deg, approach rate: -0.675379 m/s, LOS rate: -0.005567 deg/s, cmd heading: 78.005767 deg, new cmd heading: 77.998815 deg. Bht%HeadingCmd: 1.361336 target range: 468.787231 and range: 471.00 m.h%C@?h!*h)"h) h)g)f)f1f1d9d9dAjdAZdM ?额Bɢwe) i))1i5r ;i=C@?=v ;ET;IEC@?IA@ @@0@B%>>B%CB%IB%3BB% =B!B%DB%V|;B%3EM2Acoustic response timeout^A- ϩ;! A} ؟AI I O >Mh, Te?A:oƑ?:?:rٱ:&; BAHRS rotation from veh to nav: [[0.206231,-0.951725,-0.227351],[0.949845,0.250532,-0.187160],[0.235083,-0.177350,0.955658]]:He? tͿ e??`ǿ4?fƿ?i:oƑ?I:V&b;:5CYJByJIbDVVDVk2y^>%^X=ٔ^Q-b>9b"?Yb"?=bQGybFfױEf>hQ 5n|4jn?Q 9n|4j3)jwBYlyrƶ?Q Ir?jLCIj3;ijr;jl|4ytɮv>At|jhFNOT Ignoring new targets: 468.79 m.Rh%øZh%ø5 ProNav: ac range: 468.787231 m, nav range: 431.541534 m, bearing: 78.374261 deg, approach rate: -0.670892 m/s, LOS rate: -0.005351 deg/s, cmd heading: 77.998814 deg, new cmd heading: 77.992753 deg. Bh5k=HeadingCmd: 1.361230 target range: 468.787231 and range: 471.00 m.h== 2Acoustic response timeoutn,5e?AYe?e?esٱe; AHRS rotation from veh to nav: [[0.207638,-0.951323,-0.227751],[0.949350,0.252108,-0.187555],[0.235843,-0.177272,0.955486]]eHޓ?=q&Ϳa? "?ȿ0?@ذƿV?ie?Ieua;e6CY:ByIiMb@Mb@Mb@ 9S?/$?~jt?Y:?y,==AjA қA)aAY3AbD VD:2y>%.=ٔ7ںQ->9Y=QGyFTE>Q 5|4n?Q 9|4)BY/;?Q E:yI?Q I?vCI:i3:|4yɮAjhFNOT Ignoring new targets: 468.79 m.RhqZhq- ProNav: ac range: 468.787231 m, nav range: 431.211761 m, bearing: 78.371796 deg, approach rate: -0.703037 m/s, LOS rate: -0.005258 deg/s, cmd heading: 77.992755 deg, new cmd heading: 77.985357 deg. Bh-f5HeadingCmd: 1.361101 target range: 468.787231 and range: 471.00 m.h58?h1*h1"h1 h1g9f9f9f9dAdAdAjdIZdM@+~?ũBɢu[)q }iy)}yyi};i8?B;:I8?Ie>iԁ=9@9 @9@=4@A2Acoustic response timeoutԩE  E E +E "E 7;*E :VE [4ZE a- @a- @a- @a- @^A e; A B% 9>B% CB% fIB% BB! B! B! B% {;B% P3EI9 IQ O] >u,"e?A2Rq?2\?2tٱ2: >AHRS rotation from veh to nav: [[0.208622,-0.951226,-0.227257],[0.948962,0.253087,-0.188196],[0.236532,-0.176396,0.955477]]2H? rp@Ϳ`]?2?`ȿF?(ƿE?i2Rq?I2 b;27CYFfByF(IIJ,>)J>bDRVDRyZ>%Zq=ٔZ; Q-^?9\Y\=^QGy^FbOEb?dQ 5j|4fn?Q 9j|4fj)f˃BYhyj%?Q In?fCIf;if?;f|4yrBɮrAr?Ejh  FNOT Ignoring new targets: 468.79 m.RhZh% ProNav: ac range: 468.787231 m, nav range: 430.974182 m, bearing: 78.370053 deg, approach rate: -0.702044 m/s, LOS rate: -0.005153 deg/s, cmd heading: 77.985358 deg, new cmd heading: 77.980126 deg. Bh%Yb-HeadingCmd: 1.361010 target range: 468.787231 and range: 471.00 m.h-5?h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE?ԩiI2Acoustic response timeout颥؃BɢPc) i)-顩i;i5?6B;|`:I5?I9@ @@/@^A] 0:: 2Acoustic response timeout1 A I I O >E%  E% E% 'E! "E% ;*E% :VE% '4ZE! BE% L\%E=ٔQ->9Y=QGyF%E%>)Q 55}4-)n?Q 95}4-)-BY1y1Q I5?-CI-9:i-:-% }4yEBɮE4AE@EjhimFNOT Ignoring new targets: 468.79 m.RhuټZhuټ ProNav: ac range: 468.787231 m, nav range: 430.683441 m, bearing: 78.367918 deg, approach rate: -0.702013 m/s, LOS rate: -0.005160 deg/s, cmd heading: 77.980126 deg, new cmd heading: 77.973716 deg. BhbHeadingCmd: 1.360898 target range: 468.787231 and range: 471.00 m.h1?h*h"h hgfffdddjdZdRD@Bɢt'_) i)ih;i1?;:I1?IU9@Q @Y@Y@Y@edA@efA 2Acoustic response timeoutA^Aq:yA I I! O- >ԙ &˂, f?A62Acoustic response timeout6U?6@?6uٱ6o9 BAHRS rotation from veh to nav: [[0.209366,-0.951288,-0.226313],[0.948454,0.253871,-0.189694],[0.237907,-0.174932,0.955405]]6H@?p̿@Y?j??@Gȿs?`+dƿ?i6U?I6a;66CYRByRyIi-Mb@Mb@Mb@)))) )9--?~jt?V-?Y-5>?y-D=-<-KA-XgA -ƙA)-`A)Y-AbDEVDEܲyM 0>%UF=ٔUaQ-U>9YY=QGyFE>Q 55}4n?Q 95}4)!BY]>?Q E]:y]?Q Ie?CI" BBIBBB =BBDBT{;B3E@ @@/@2Acoustic response timeout^A rg: A I I1 O= >3i,x'f?A2S?2>?2ezvٱ27 :AHRS rotation from veh to nav: [[0.209400,-0.951643,-0.224782],[0.948327,0.253685,-0.190576],[0.238384,-0.173260,0.955591]]2H?`s̿X?a%RF=ٔVQ-V>9TYX=ZQGyZFZ'EZ>\Q 5b}4^Vn?Q 9b}4^l)^HBYdyf?Q If?^CI^:i^:^'}4yhɮj3AljhFNOT Ignoring new targets: 468.79 m.Rh Q׸Zh Q׸ ProNav: ac range: 468.787231 m, nav range: 430.092163 m, bearing: 78.363291 deg, approach rate: -0.751352 m/s, LOS rate: -0.005883 deg/s, cmd heading: 77.966370 deg, new cmd heading: 77.959825 deg. Bh0%HeadingCmd: 1.360656 target range: 468.787231 and range: 471.00 m.h%)?h!*h!"h! h!g)f)ffdddjdZd @Bɢ^) i) K  i B;i)?;$;:I)?I2Acoustic response timeout@ @@/@E EEE"Ex;*E:VEZEBEDg= BDAT read: Rx Time:15:02:47.4903 E TRx dataTimestamp_ set to:1761577368.952139E 2Acoustic response timeoutq M,WCAf?A]S?]N??] &wٱ]66 mAHRS rotation from veh to nav: [[0.209347,-0.951943,-0.223559],[0.948179,0.253504,-0.191552],[0.239020,-0.171873,0.955683]]]H@?@Qv ̿{W?@h9?Ƅȿ1?@ſ?i]S?I]Za;]8CY}By}Ii5Mb@Mb@Mb@1111 195T㥛 ? ףp= ?/$?Y5A?y5Q8=5<5A5eAY 5A)5]A1Y5QAbDuVDu1yB >%0=ٔ帺Q->9Y=QGyF>8E>Q 5}4n?Q 9}4)vBYqA?Q E:y?Q I?1CI ;i ;,8}4yBɮUA6EjhFNOT Ignoring new targets: 468.79 m.RhٷZhٷ ProNav: ac range: 468.787231 m, nav range: 429.753296 m, bearing: 78.360962 deg, approach rate: -0.730443 m/s, LOS rate: -0.005023 deg/s, cmd heading: 77.959827 deg, new cmd heading: 77.952836 deg. Bh\HeadingCmd: 1.360534 target range: 468.787231 and range: 471.00 m.h%?h*h"h hgff f dddjdZdm @EBɢE.U)A EiA) if;i %? ɵ; q%:I %?Iy2Acoustic response timeout9@ @@@@=@=DDa=E EE'E"Ef;*EM:VE'4ZEa@a@a@a@ԩ^A 9B 4>B B A IB JBB B B B z;B 2E I I) O5 >h,Zf?A2I?2e5?2xٱ2-6 :AHRS rotation from veh to nav: [[0.209586,-0.951839,-0.223777],[0.947899,0.253941,-0.192358],[0.239920,-0.171803,0.955470]]2H?@wu ̿ 0U?@?,ȿ?`ſ 5?i2I?I2`;25CYBByBIbDNVDNyRL>%Vq=ٔV 3Q-V?9XYX=ZQGyZF^iE^?\Q 5b}4^Пn?Q 9f}4^))^BYdyf?Q If?^QCI^9:i^t:^D}4MDAT read: 15:02:47.4903 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 157, 0.27, 2.880, 1.236, 3.073, 2.415, PHS= 0.566,-1.134, 0.614, RAW= 151.4, -0.5, CAL= 150.3, -1.3, ROT= 359.7, 1.3 UYgot valid direction response: 15:02:47.4903 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 157, 0.27, 2.880, 1.236, 3.073, 2.415, PHS= 0.566,-1.134, 0.614, RAW= 151.4, -0.5, CAL= 150.3, -1.3, ROT= 359.7, 1.3 ]PDAT read: Bearing 216.1, 13.7 (Local) ]~Local bearing/azimuth received: Bearing 216.1, 13.7 (Local) eDAT read: Range 11 to 50 : 458.9 m (Round-trip 611.9 ms) speed 0.5 m/s mTDAT read: user:874>Tx time:15:02:48.5743 uR#Rx 1: Read range and direction messages.}`direction in FSK: [0.999729,-0.005235,-0.022687]Fpublishing direction and range infoyy?ntpuNGY;YsC )>I`?i&/?)@5'@ ޹)@I޹<zk_Q?-e?'PY>P y6 ?)9`Y`=bQGybFfbEf>hQ 5n}4jn?Q 9n}4j)jʄBYlyn?Q In?jCIj+;ij;jU}4ytɮviAtjhFNOT Ignoring new targets: 456.73 m.RhvĸZhvĸ-2Acoustic response timeout5 ProNav: ac range: 456.729248 m, nav range: 429.137787 m, bearing: 78.356780 deg, approach rate: -0.793165 m/s, LOS rate: -0.005368 deg/s, cmd heading: 77.947116 deg, new cmd heading: 77.939643 deg. Bh5k=HeadingCmd: 1.360303 target range: 456.729248 and range: 458.90 m.hEl?hA*hA"hA hAgAfAfIfIdIdIdQjdQZdUR?/Bɢ:V) i)Ln i;i l? ; #WIl?IE] ;Y@! @!@%0@!@-@-@5@5ԁ2Acoustic response timeoutIY Iq Ա O >DI zDM ?AbEʀ'4jEʨ,4rE/E  E E 'E "E ;*E :VE '4ZE a @a @a @a @,uf?A2M%?2?2gxٱ23 :AHRS rotation from veh to nav: [[0.210598,-0.952094,-0.221734],[0.947464,0.254652,-0.193558],[0.240750,-0.169322,0.955704]]2H?`wa̿Q?6L?ȿ?`Xſ?i2M%?I2w^;26CPYfHByf> IiUMb@Mb@Mb@QQQQ Q9U+?Q?:v?YU??yU\=UT%}@=ٔ8Q->9Y=QGyF܉E>Q 5}4n?Q 9}4)BY??Q E:y?Q I?CI ;i? ;d}4yɮAAAAAB2>BCB IBBBBBBz;Bt2EBCBCBCB =B =C]5B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 456.73 m.Rh uZh u ProNav: ac range: 456.729248 m, nav range: 428.828918 m, bearing: 78.355334 deg, approach rate: -0.716155 m/s, LOS rate: -0.003357 deg/s, cmd heading: 77.939644 deg, new cmd heading: 77.935301 deg. BhnHeadingCmd: 1.360228 target range: 456.729248 and range: 458.90 m.h?h*h"h hgfffdddjdZd?%?Bɢ%^P)! %N{i!)-X))i-!;iU?Ui;]K*I]?IYM2Acoustic response timeout qqAfA-S9-AfAY-Ay1?̜A!8) @)  @) @- 0@) I I O >!  2Acoustic response timeout,lf?AZ?Z?ZxٱZp2 jAHRS rotation from veh to nav: [[0.210855,-0.952282,-0.220677],[0.947485,0.254630,-0.193483],[0.240442,-0.168291,0.955963]]E EE+E"EO;*E:VE [4ZEBE)Y9Y=QGyFM#E>Q 5}4n?Q 9}4)BYy?Q I?͖CI;i;r}4yBɮA-EjhFNOT Ignoring new targets: 456.73 m.Rh{Zh{ ProNav: ac range: 456.729248 m, nav range: 428.533173 m, bearing: 78.353957 deg, approach rate: -0.736379 m/s, LOS rate: -0.003430 deg/s, cmd heading: 77.935300 deg, new cmd heading: 77.931168 deg. Bh HeadingCmd: 1.360155 target range: 456.729248 and range: 458.90 m.h ?h *h "h  hgfffdddjd!Zd%`ow?MKBɢMV)Q UxiQ)UTQQiU;i]?];eIe?Iaii!]2Acoustic response timeouta-9@) @)@-4@)A=>A=>Ay ԉ I I O >,cf?A2e ?2?2xٱ2K2 :AHRS rotation from veh to nav: [[0.211363,-0.952177,-0.220648],[0.947370,0.255114,-0.193407],[0.240448,-0.168156,0.955986]]2H ?;x@/>̿P?@S?`ȿ ?#ſ o?i2e ?I2`];25CYByByB{ I DDi Mb@Mb@Mb@     9 $C?Mb?Mb?Y :?y < < pA \aA A) XA Y ~AbD%VD%y5!>%5Q=ٔ5 Q-5>y9Y=QGyFE>Q 5}4n?Q 9}4~)?BY+:?Q E:y?Q I?CIv:i ;}4yBɮAjh FNOT Ignoring new targets: 456.73 m.Rh ]Zh ] ProNav: ac range: 456.729248 m, nav range: 428.246521 m, bearing: 78.353649 deg, approach rate: -0.704402 m/s, LOS rate: -0.000758 deg/s, cmd heading: 77.931168 deg, new cmd heading: 77.930242 deg. Bh%!%HeadingCmd: 1.360139 target range: 456.729248 and range: 458.90 m.h% ?h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=?mYBɢmhR)i moii)uBqqiu;i} ?};}X(}I} ?I2Acoustic response timeout 9@ @@/@E] E]E])EY"E];*E]$:VE]FA4ZEYae@am@am@am@ԩAYIaIqO[>B/>BB IBBBBBBy;B32Em 2Acoustic response timeout 1*,>f?A2?2Tڬ?2 xٱ21 :AHRS rotation from veh to nav: [[0.212222,-0.952081,-0.220237],[0.947326,0.255755,-0.192774],[0.239863,-0.167725,0.956208]]2H*?qw0̿P? K^?Ҭȿ@׳?xſA?i2?I2];27CYVByV IbDbVDb0yj >%jQ=ٔj`:Q-j>9lYl=nQGynFr1Er>tQ 5z}4vn?Q 9z}4v|)vaBYxyz?Q Iz?vCIv :iv|:v!}4yɮUAjh)-FNOT Ignoring new targets: 456.73 m.Rh5EZh5EE ProNav: ac range: 456.729248 m, nav range: 427.981506 m, bearing: 78.353395 deg, approach rate: -0.704982 m/s, LOS rate: -0.000676 deg/s, cmd heading: 77.930245 deg, new cmd heading: 77.929483 deg. BhEMHeadingCmd: 1.360126 target range: 456.729248 and range: 458.90 m.hM?hI*hI"hI hIgQfQfQfQdYdYdYjdaZde@颍eBɢS) @hi)顑ia;i?9;CI?I59@1 @1@5/@12Acoustic response timeoutEE EEEE&EA"EE~ ;*EEh:VEE4ZEABEEVY ?T,f?A2ې?2HǬ?2 wٱ2b0 :AHRS rotation from veh to nav: [[0.212824,-0.952272,-0.218822],[0.947430,0.255883,-0.192094],[0.238919,-0.166437,0.956669]]2H=?y _̿XQ? b`?ȿ? Mſ@ ?i2ې?I2/];24CYBByB IbDJVDJβyR)g=%RM=ٔR ;Q-V>9TYT=VQGyVFZEZ>\Q 5b}4^n?Q 9b}4^lu)^BY`yf?Q If?^8CI^;i^;^}4yhɮj'Ahjh|~FNOT Ignoring new targets: 456.73 m.Rh5Zh5 ProNav: ac range: 456.729248 m, nav range: 427.701080 m, bearing: 78.353148 deg, approach rate: -0.704937 m/s, LOS rate: -0.000621 deg/s, cmd heading: 77.929480 deg, new cmd heading: 77.928740 deg. Bh ڷ%2Acoustic response timeoutHeadingCmd: 1.360113 target range: 456.729248 and range: 458.90 m.h0?h*h"h hgfffdddjdZdRN@sBɢIQ) _ii)%Z!!i%W;i-0?-|;- I-0?I119@ @@0@i^A ԉ2Acoustic response timeoutI I O- >EM  EM EM %EI "EM ;*EM $:VEM 4ZEI aU @aU @aU @aU @Թ <ř,g?A2x?2?2 vٱ2/ :AHRS rotation from veh to nav: [[0.213661,-0.952235,-0.218168],[0.947470,0.256399,-0.191207],[0.238012,-0.165854,0.956997]]2H=Y?x˿Q?h?yyȿ/w?:ſ`?i2x?I2];27CYVByV I\\i5Mb@Mb@Mb@1111 195`"?BaBeM!IBe%BBaBaBaBey;Be1Ey=%==ٔm ;Q->9Y=QGyF E>Q 5}4n?Q 9}4m)BY7?Q E:y?Q I?^CI:i:)}4yҽBɮXA$EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 456.73 m.Rh6Zh6 ProNav: ac range: 456.729248 m, nav range: 427.399689 m, bearing: 78.353315 deg, approach rate: -0.695216 m/s, LOS rate: 0.000384 deg/s, cmd heading: 77.928743 deg, new cmd heading: 77.929242 deg. BhԆ7HeadingCmd: 1.360122 target range: 456.729248 and range: 458.90 m.hy?h*h"h hg f f f ddԑdjdZd@Bɢ O) bi)0$i  ;iy?;;Iy?I52Acoustic response timeout9@ @@?0@@@@@I) I9 OM > 2Acoustic response timeout g˙,R/g?AJ5?J‰?J(SuٱJj4/ VAHRS rotation from veh to nav: [[0.214690,-0.952104,-0.217731],[0.947418,0.257179,-0.190414],[0.237290,-0.165402,0.957254]]JHz? w˿@@Q?@u?_ȿ@_?@+ſӡ?iJ5?IJb];J6CYZ݂ByZ IbDfVDfynN,>%nV=ٔn:Q-r>9pYp=rQGyrFv3Ev>xE EE*E"E;*Eh:VE(N4ZEBEn_A>IiIyO>=BDAT read: Rx Time:15:02:51.5871 =TRx dataTimestamp_ set to:1761577372.984173E2Acoustic response timeoutA vNҙ,Ig?A2A?2p?2Ntٱ2, :AHRS rotation from veh to nav: [[0.215477,-0.952475,-0.215317],[0.947541,0.257247,-0.189712],[0.236086,-0.163143,0.957939]]2H ?z˿@R?v?`}Hȿ`8?`Ŀp?i2A?I2ހ];27CPYRByR !Ii]Mb@Mb@Mb@YYYY Y9]Q?Y]\/?y]]]A]]A ]+A)]7SAYY]wAbDuVDuy=%@=ٔ>;Q->9Y=QGyFE>Q 5}4n?Q 9}4_)BY\/?Q E:yp?Q I?CI:iU:j}4yɮAjhFNOT Ignoring new targets: 456.73 m.Rh8Zh8 ProNav: ac range: 456.729248 m, nav range: 426.849915 m, bearing: 78.354275 deg, approach rate: -0.671204 m/s, LOS rate: 0.001838 deg/s, cmd heading: 77.929795 deg, new cmd heading: 77.932123 deg. Bhr8HeadingCmd: 1.360172 target range: 456.729248 and range: 458.90 m.h?h*h"h hgf f f d ddjdZd@eBɢeܹM)i m4Vii)mqqi};i}?}݌;4ʏI?I2Acoustic response timeoutE EE)E"E=;*E:VEFA4ZEa%@a%@a-@a-@9@ @@4@IIOA>Be2>BaBe!IBe\BBe =BaBaBex;Be1E)  DAT read: 15:02:51.5871 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 405, 0.15, 3.012, 1.469,-3.117, 2.629, PHS= 0.485,-1.115, 0.494, RAW= 150.3, 1.7, CAL= 149.2, 1.4, ROT= 0.8, -1.4  Ygot valid direction response: 15:02:51.5871 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 405, 0.15, 3.012, 1.469,-3.117, 2.629, PHS= 0.485,-1.115, 0.494, RAW= 150.3, 1.7, CAL= 149.2, 1.4, ROT= 0.8, -1.4  PDAT read: Bearing 219.1, 13.9 (Local)  ~Local bearing/azimuth received: Bearing 219.1, 13.9 (Local)  DAT read: Range 11 to 50 : 456.4 m (Round-trip 608.6 ms) speed 0.4 m/s  TDAT read: user:875>Tx time:15:02:52.6743  R#Rx 1: Read range and direction messages. \direction in FSK: [0.999604,0.013958,0.024432] Fpublishing direction and range infoyQ U U%?]n?{J?YU 3CQ Q Q Q Q )U AIU Q>iU RU >U '@U %eL=ٔmb;Q-m>9iYi=mQGyuFuEu>Q 5}4n?Q 9}4X)BYyS?Q I?ǗCI:i:}4yɮAiiP_g?AJiCRiCjiᯮ?b"8έ`|@y\@:2&@RU%?]n?{J?Zid<bi+ȼj^?uV@!iz@fw8]@Z HIP?fF?(29g?2iC:iB"i[L`?*i0Bi5CiiVWiiCi? addTargetRange:: Added new target pos. range: 456.399994 m, deltaT: 4.033900 s, deltaX: -2.500000 m, approachRate: -0.619748 m/s, rangeRepo size: 4  Added new target pos. range: 454.241302 m, bearing: 78.193979 deg, lat: 36.778852 deg, lon: -121.859573 deg, deltaT: 4.033900 s, deltaX: -2.487946 m, approachRate: -0.616759 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 454.24 m.RhZh  ProNav: ac range: 454.241302 m, nav range: 427.330994 m, bearing: 78.375762 deg, approach rate: 0.000000 m/s, LOS rate: 0.001838 deg/s, cmd heading: 77.932124 deg, new cmd heading: 77.934484 deg. Bh HeadingCmd: 1.360213 target range: 454.241302 and range: 456.40 m.hy?h*h"h hgff!f!d!d!d!jd-`f|@Zd-?颵BɢI) Ii)9项i;iy?V; :OI y?I 1DAT read: 2Acoustic response timeout9@ @@/@IAIQOeU>E EEE"E ;*E:VEZEBER2Acoustic response timeout9Y=QGy F IE >Q 5}4n?Q 9}4 R)3BY!y%+?Q I%?CI;i;}4y-۽Bɮ-A)jhQY]FNOT Ignoring new targets: 454.24 m.Rhe8Zhe8u ProNav: ac range: 454.241302 m, nav range: 427.073822 m, bearing: 78.376552 deg, approach rate: -0.710117 m/s, LOS rate: 0.002181 deg/s, cmd heading: 77.934487 deg, new cmd heading: 77.936857 deg. Bhu8}HeadingCmd: 1.360255 target range: 454.241302 and range: 456.40 m.h}?hy*hy"h hgfffdddjdZd6?颽Bɢ:Q) Fi)i;i?;̻I?I}9@y @y@y@ԑ^Au9A}eAzAyԱIIO>2Acoustic response timeoutE-  E- E- *E) "E- ;*E- v:VE- (N4ZE) a5 @a5 @a5 @a5 @ D,BB!IBBBBBB-x;B}1EiMb@Mb@Mb@ 9m?MbP?Mb`?Y.?y:;tAYA A)QAYtAbDVDk2Թy=%>=ٔ:Q->9Y=QGyF8#E>Q 5}4!n?Q 9}4J)WBY.?Q E:yI?Q I? CI~:i : }4y½Bɮ%AEB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 454.24 m.Rh% 8Zh% 8= ProNav: ac range: 454.241302 m, nav range: 426.789398 m, bearing: 78.377391 deg, approach rate: -0.661720 m/s, LOS rate: 0.001954 deg/s, cmd heading: 77.936857 deg, new cmd heading: 77.939377 deg. Bh=8EHeadingCmd: 1.360299 target range: 454.241302 and range: 456.40 m.hEE?hA*hA"hA hAgIfIfIfIdQdQdQjdQZd] h?颅„Bɢ|J) rDi)p顉i;iE?$%;IE?I2Acoustic response timeoutI@I @I@M/@I^A%`ԻAU.AIYIqO}z>!A  2Acoustic response timeouts,g?A2?2(?2I pٱ2( :AHRS rotation from veh to nav: [[0.219720,-0.952347,-0.211564],[0.947507,0.259958,-0.186154],[0.232281,-0.159556,0.959473]]2H ?y ˿`Q? %? ǿ_?UlĿ?i2?I2LQ^;25CYZZBy^!IIb4=)b> df<bDjVDj0Er ErEr'Ep"Er7;*Er8:VEr'4ZEpBErZ%~X=ٔ?;Q->9 ?Y  ?= QGy F ;E >Q 5}4n?Q 9}4RD)vBY!y%&?Q I%?-CI;i;E}4y)ɮ-A)jhQUFNOT Ignoring new targets: 454.24 m.Rh]8Zh]8m ProNav: ac range: 454.241302 m, nav range: 426.538391 m, bearing: 78.378169 deg, approach rate: -0.663812 m/s, LOS rate: 0.002059 deg/s, cmd heading: 77.939377 deg, new cmd heading: 77.941714 deg. Bhm8uHeadingCmd: 1.360340 target range: 454.241302 and range: 456.40 m.hu?hq*hy"hy hygyfyffdddjdZdz??颵΄Bɢ K) :i)mi!;i?YH;^yI?IԙQ@Q @Q@UN0@Q2Acoustic response timeout^AqA ؟AI I OU > p,g?A2Mď?2ٯ?2ґnٱ2* :AHRS rotation from veh to nav: [[0.221337,-0.951565,-0.213388],[0.947473,0.261638,-0.183956],[0.230876,-0.161463,0.959493]]2H`T?7sLP˿Q?@?`݋ǿ Z?ӪĿ)?i2Mď?I2"^;0YBmByB!Ii Mb@Mb@Mb@     9 K7?I +~jtx?Y I,?y 94 ; 1A XA ZA) MA Y pAbD!VD!y5A=%5G=ٔ5hf;Q-5>9="?Y="?==QGy=FEEE>IQ 5U~4MXn?Q 9U~4Mx=)MBYUQ,?Q EU:yU?Q I]?MOCIM. ;iM ;M ~4yaɮeVAajhAEFNOT Ignoring new targets: 454.24 m.RhM6~8ZhM6~8}2Acoustic response timeout ProNav: ac range: 454.241302 m, nav range: 426.270233 m, bearing: 78.379676 deg, approach rate: -0.617541 m/s, LOS rate: 0.003473 deg/s, cmd heading: 77.941713 deg, new cmd heading: 77.946237 deg. Bh9HeadingCmd: 1.360418 target range: 454.241302 and range: 456.40 m.h1"?h*h"h hgfffdddjdZd ^?=܄Bɢ=F)9 E7iA)EAAiE;iM1"?a%;YI1"?IbE}FA4jE}:4rE}0E EE)E"E ;*E:VEFA4ZEa@a@a@a@E9@A @A@E0@I@MeA@MdAB->BB("IBփBBBBBw;BO1EBCBCBB =BCL4^A- zA- >A- >Q = 2Acoustic response timeout \G fA A ۯ9 fAY AAy I I O >F,g?A>I?>Չ?>_mٱ>l, JAHRS rotation from veh to nav: [[0.222498,-0.950927,-0.215018],[0.947478,0.262879,-0.182153],[0.229737,-0.163197,0.959473]]>Hz?m˿@Q??@Pǿ h?Ŀ?i>I?I>^;>6CYNByR!IbDZVDZ0yb\:>%bR=ٔbD;Q-b>9dYd=fQGyfFfhCEj>hQ 5n~4jn?Q 9r~4j6)jBYpyr?Q Ir?jpCIj;ij;j:~4ytɮzAxjhFNOT Ignoring new targets: 454.24 m.Rh%8Zh%85 ProNav: ac range: 454.241302 m, nav range: 426.016296 m, bearing: 78.381144 deg, approach rate: -0.694270 m/s, LOS rate: 0.004015 deg/s, cmd heading: 77.946235 deg, new cmd heading: 77.950641 deg. Bh5[095HeadingCmd: 1.360495 target range: 454.241302 and range: 456.40 m.h=$?h9*h9"h9 h9g9fAfAfAdIdIdIjdIZdMH@}Bɢ}ލJ)y }*i)5$顁i p;i$?8;C,I$?IQU9@Q @Q@]3@Y2Acoustic response timeoutԁE% E%E%%E!"E%;*E%?:VE% 4ZE!BE%n_,.g?A2y?2e?2Dkٱ2ͅ- :AHRS rotation from veh to nav: [[0.223632,-0.950472,-0.215851],[0.947533,0.263904,-0.180379],[0.228409,-0.164188,0.959621]]2H ?`Dj ˿ 0R??ǿ%VK=ٔZ^;Q-Z>9XYX=^QGy^F^6E^>`Q 5f~4bn?Q 9f~4bI0)bچBYhyjx?Q Ij?bCIb :ib$:bF)~4r2Acoustic response timeoutytɮvAAtjhFNOT Ignoring new targets: 454.24 m.Rh8Zh8 ProNav: ac range: 454.241302 m, nav range: 425.753876 m, bearing: 78.382701 deg, approach rate: -0.625917 m/s, LOS rate: 0.003718 deg/s, cmd heading: 77.950640 deg, new cmd heading: 77.955316 deg. BhH#9HeadingCmd: 1.360577 target range: 454.241302 and range: 456.40 m.hc'?h*h"h hgfffdddjdZdq@mBɢmB) !i)ֳ项iܐ;ic'?;wa,Eh?A:S?:??:!jٱ:ٹ. BAHRS rotation from veh to nav: [[0.224805,-0.949965,-0.216863],[0.947586,0.264990,-0.178495],[0.227030,-0.165370,0.959745]]:Hh?f ,˿R?@?ƿ`T?*ſ:?i:S?I:];:6CBPAR<BV*>BTBVs"IBVBBTBTBTBVew;BV1EY^΃Byb"I|iMMb@Mb@Mb@IIII I9MˡE?~jth%u>=ٔu4X;Q-}>9yYy=}QGyF0E>Q 5~4Tn?Q 9~4L))BY'?Q E:y?Q I?CI ;i& ;F8~4yBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 454.24 m.Rh)T8Zh)T8 ProNav: ac range: 454.241302 m, nav range: 425.480743 m, bearing: 78.383896 deg, approach rate: -0.662296 m/s, LOS rate: 0.002898 deg/s, cmd heading: 77.955319 deg, new cmd heading: 77.958905 deg. Bh8HeadingCmd: 1.360640 target range: 454.241302 and range: 456.40 m.hp)?h*h"h hgfffdddjdZdR@Bɢ>#B) ri)7i;ip)?;MIp)?I2Acoustic response timeout)9@ @@@Q^Al;AdAzAfAԉ A I1 IA OU > 2Acoustic response timeout ,_2h?A2)?2?2eiٱ2٭. :AHRS rotation from veh to nav: [[0.226093,-0.949672,-0.216805],[0.947537,0.266037,-0.177196],[0.225956,-0.165369,0.959998]]2H?@c@H˿8R??`Xƿ ?*ſN?i2)?I2{];24CYNByN?"IE` EbEb)E`"E`*Eb$:VEbFA4ZE`BEbSQ%mK=ٔmO3;Q-u>9qYq=uQGyuFPE>Q 5~4un?Q 9~4")BYy˪?Q I?՘CI;i;F~4yɮ#Ajh!-FNOT Ignoring new targets: 454.24 m.Rh-{P8Zh-{P8e ProNav: ac range: 454.241302 m, nav range: 425.221222 m, bearing: 78.385078 deg, approach rate: -0.625046 m/s, LOS rate: 0.002848 deg/s, cmd heading: 77.958905 deg, new cmd heading: 77.962452 deg. Bhe-8mHeadingCmd: 1.360701 target range: 454.241302 and range: 456.40 m.hmw+?hi*hi"hi higifqffdddjdZd @颅Bɢx@) ,i)ɶ顱i;iw+?b;_Iw+?Iԉ9@ @@@ 2Acoustic response timeoutԱ^A NJN A I! I1 OE >,Lh?AY Byj"II>)p;iMb@Mb@Mb@ 9Fx?MbQ?Y+?yu<ARA A)zJAYkA %4%=?=ٔ=Q-=>9AYA=EQGyE FMEM>QQ 5]~4ULn?Q 9]~4U)UBBY]+?Q E]:yey?Q Ie?UCIU:mBDAT read: Rx Time:15:02:55.6838 uTRx dataTimestamp_ set to:1761577377.268238u2Acoustic response timeoutiU:UTU~4yyɮ}AjhFNOT Ignoring new targets: 454.24 m.Rh8Zh8 ProNav: ac range: 454.241302 m, nav range: 424.946289 m, bearing: 78.387004 deg, approach rate: -0.657135 m/s, LOS rate: 0.004606 deg/s, cmd heading: 77.962450 deg, new cmd heading: 77.968232 deg. BhSJ9HeadingCmd: 1.360802 target range: 454.241302 and range: 456.40 m.h.?h*h"h hgfffdddjdZd0X@颥Bɢk>) i)%顱i;i.?; U_E EE'E"E;*E:VE'4ZEa@a@a@a@I.?I@ @@/@B#>BCB"IBUBB =BBDBw;B0E!^A jb% 2Acoustic response timeoutQ A .AI I9 O >#,PVfh?A2;Ԏ?2ȿ?2fٱ2#R. :AHRS rotation from veh to nav: [[0.228689,-0.949164,-0.216309],[0.947551,0.267989,-0.174152],[0.223267,-0.165138,0.960667]]2HE?`_`˿VR?&?Jƿ`?`;#ſɽ?i2;Ԏ?I2^B^;0YB3ByB"IbDJVDJyR\>%Vd=ٔV%;Q-V>9Z ?YZ ?=ZQGyZ FZEZ>\Q 5b~4^Lo?Q 9f~4^)^`BYdyf%?Q If?^CI^:i^:^a~4yhɮjAljh|FNOT Ignoring new targets: 454.24 m.Rhu8Zh u8 ProNav: ac range: 454.241302 m, nav range: 424.713440 m, bearing: 78.388718 deg, approach rate: -0.654444 m/s, LOS rate: 0.004821 deg/s, cmd heading: 77.968228 deg, new cmd heading: 77.973374 deg. BhS9%HeadingCmd: 1.360892 target range: 454.241302 and range: 456.40 m.h%1?h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd5 @e$Bɢe#>)a eia)myiiim-;iu1?u;uxIu1?I@ @@0@!uDAT read: 15:02:55.6838 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 405,-0.14,-0.489,-1.697,-0.390,-0.939, PHS= 0.552,-0.714, 0.505, RAW= 148.1, -5.6, CAL= 148.0, -6.8, ROT= 2.0, 6.8 }Ygot valid direction response: 15:02:55.6838 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 405,-0.14,-0.489,-1.697,-0.390,-0.939, PHS= 0.552,-0.714, 0.505, RAW= 148.1, -5.6, CAL= 148.0, -6.8, ROT= 2.0, 6.8 PDAT read: Bearing 210.0, 16.0 (Local) ~Local bearing/azimuth received: Bearing 210.0, 16.0 (Local) DAT read: Range 11 to 50 : 454.0 m (Round-trip 605.4 ms) speed 0.3 m/s TDAT read: user:876>Tx time:15:02:56.7743 R#Rx 1: Read range and direction messages.^direction in FSK: [0.992361,0.034654,-0.118404]Fpublishing direction and range infoyAEk?˪(+?EOYECAAAA A)E=IEO ?iE6EG?Em%@E+ȽEMQ%@ E)E5=IE=AAEQ?ak?d׹ڸ EP>)E&=IE5=iE=AA2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E EE(E"E:*E1:VEc44ZEBE>A>QA I I O >y ,j0h?A2a?2?2Ydٱ2- :AHRS rotation from veh to nav: [[0.229753,-0.949208,-0.214983],[0.947666,0.268501,-0.172732],[0.221682,-0.164046,0.961221]]2Hh?_@˿GS?/?@ƿ `?xĿR?i2a?I2^;23CRDAT read: V2Acoustic response timeoutY~QBy~"IbDVDyn>%%C=ٔ%~;Q-%>9)Y)=-QGy- F-n!E5>1Q 5=~45* o?Q 9E~45)5BYAyE?Q IE?59CI5D;i5P;5p~4yMBɮUAUEiqiu\qh?AJiuCRiuCjiur?buRoÒ9|@(EP/@s]JRuk?˪(+?EOZiu5=biu=junQiTX@e{@vh,F@Zu E;?\O ?ƹ?2iu/C:iuPB"iuaM׏?*iuBiu!Biu[L`?iu0iu5CiuCiu? addTargetRange:: Added new target pos. range: 454.000000 m, deltaT: 4.282022 s, deltaX: -2.399994 m, approachRate: -0.560481 m/s, rangeRepo size: 4  Added new target pos. range: 451.840851 m, bearing: 77.192215 deg, lat: 36.778885 deg, lon: -121.859447 deg, deltaT: 4.282022 s, deltaX: -2.400452 m, approachRate: -0.560588 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 451.84 m.RhZh ProNav: ac range: 451.840851 m, nav range: 436.171509 m, bearing: 78.205859 deg, approach rate: 0.000000 m/s, LOS rate: 0.004821 deg/s, cmd heading: 77.973371 deg, new cmd heading: 77.979492 deg. BhHeadingCmd: 1.360999 target range: 451.840851 and range: 454.00 m.h65?h*h"h hgfffdddjd`|@Zd`?1BQɢ?"8) k߾i)(顙iv;i65?K;cI65?Iu9@y @y@4@ԁ]2Acoustic response timeout^AԹE  E E )E "E =;*E :VE FA4ZE a @a @a @a @A I I O > :&,h?ABBCB"#IBBB =BBBv;B0EB?B?B*cٱBm* NAHRS rotation from veh to nav: [[0.230258,-0.949614,-0.212637],[0.947929,0.268280,-0.171629],[0.220027,-0.162046,0.961940]]BHy?=c@7˿ oU?+?ſ`)?Ŀ6?iB?IB_;B5CYRmByR"I TTi-Mb@Mb@Mb@)))) )9-K7A`?y&1|~jt?Y-+?y-`廙-<-A-NA -A)-MHA)Y-hAEAAEAAbDEVDE1yUD>%]F=ٔ]҆;Q-]>9aYa=eQGye FeEm>iQ 5u~4mo?Q 9}~4m)mBY}+?Q E}:y}ѩ?Q I}?m\CIm ;im:m~~4yɮAB*** querying acoustic contact ***i ijhquFNOT Ignoring new targets: 451.84 m.Rh} c8Zh} c8ԩ ProNav: ac range: 451.840851 m, nav range: 435.904846 m, bearing: 78.207201 deg, approach rate: -0.615715 m/s, LOS rate: 0.003101 deg/s, cmd heading: 77.979491 deg, new cmd heading: 77.983521 deg. Bh99HeadingCmd: 1.361069 target range: 451.840851 and range: 454.00 m.h7?h*h"h hgfffdddjdZd wf?u>Bɢu5)q uоiq)}E;yyi}Bl;2Acoustic response timeouti7?*;懍I7?I9@ @@4@ ^A ] 2Acoustic response timeoutA- ؟A1 I9 II O] >f,,%h?AE> E>E>+E<"E> ;*E>:VE> [4ZE<BE>SQTQl;aF:E>l;aFYUBy] #IbDmVDmy}%>%}H=ٔ}Q->9"?Y"?=QGy FE>Q 5~4o?Q 9~46)ʇBYyQ I?}CI:i:8~4yBɮIA EjhFNOT Ignoring new targets: 451.84 m.Rh:~8Zh:~8 ProNav: ac range: 451.840851 m, nav range: 435.640137 m, bearing: 78.208535 deg, approach rate: -0.688555 m/s, LOS rate: 0.003473 deg/s, cmd heading: 77.983521 deg, new cmd heading: 77.987526 deg. Bh9HeadingCmd: 1.361139 target range: 451.840851 and range: 454.00 m.h9?h*h"h hgfffdddjd Zd ੹?5IBɢ55)9 ={i9)=m99i=Uc;iE9?MN;M獼IM9?IIY9@ @@/@@=@=12Acoustic response timeout^A]AzA`AY A I I O >M3,h?AV?V?V+`ٱV& nAHRS rotation from veh to nav: [[0.230472,-0.950528,-0.208277],[0.948567,0.267198,-0.169781],[0.217033,-0.158435,0.963221]]VH@?jШʿ`Z??`ſ?GĿ`?iV?IV#_;V4CYrByr<#IimMb@Mb@Mb@iiii i9mCl?~jth?%C=ٔn;Q->9Y=QGyF2Acoustic response timeoutE>Q 5%~4ao?Q 9%~4)BY%/?Q E-:y-?Q I-?CI ;iq ;~4y1ɮ5A9jhYeFNOT Ignoring new targets: 451.84 m.Rhe8Zhm8} ProNav: ac range: 451.840851 m, nav range: 435.359192 m, bearing: 78.209415 deg, approach rate: -0.666322 m/s, LOS rate: 0.002087 deg/s, cmd heading: 77.987523 deg, new cmd heading: 77.990163 deg. Bh}U8}HeadingCmd: 1.361185 target range: 451.840851 and range: 454.00 m.hP;?h*h"h hgfffdddjdZdx?UBɢe0) i)i[Y;iP;?;IP;?IaE EE(E"ET;*E1:VEc44ZEa@a@a@a@]9@a @a@e/@aB">BB#IBBBBBBv;B0Eԑ^A#i I  2Acoustic response timeout A I I O >=r9,Ԟh?A2?2v?2,^ٱ2 m& :AHRS rotation from veh to nav: [[0.231203,-0.950490,-0.207641],[0.948664,0.267593,-0.168614],[0.215830,-0.157997,0.963563]]2H ?`ijʿ t[?@ ?(ſ N??9Ŀ?i2?I2O_;26CYBӄByB_#IIF)>)F>bDNPVDNyV >%Vc=ٔZ6`;Q-Z>9XYX=^QGy^F^E^>`Q 5f~4bo?Q 9f~4b)b BYhyj?Q Ij?bCIbN:ib:b|~4y!ɮ%9A!jhamFNOT Ignoring new targets: 451.84 m.Rhm8Zhu8 ProNav: ac range: 451.840851 m, nav range: 435.119904 m, bearing: 78.210187 deg, approach rate: -0.644935 m/s, LOS rate: 0.002084 deg/s, cmd heading: 77.990160 deg, new cmd heading: 77.992479 deg. Bh8HeadingCmd: 1.361226 target range: 451.840851 and range: 454.00 m.h Z@,zi?A2쏎?2x{?2]ٱ2 % :AHRS rotation from veh to nav: [[0.231123,-0.950846,-0.206095],[0.948956,0.267043,-0.167842],[0.214628,-0.156783,0.964030]]2H`m?SmOaʿ]?;?{ſx?@tĿU?i2쏎?I2^_;25CB2Acoustic response timeoutYFByF#IbDRVDRkyZ,>%ZJ=ٔZnG;Q-Z>9\Y\=^QG|y^Fo9E>!Q 5-~4%R#o?Q 9-~4%)%/BY)y5?Q I5?%CI%|:i%:%~4yEBɮECAEEjhamFNOT Ignoring new targets: 451.84 m.Rhm!8Zhu!8 ProNav: ac range: 451.840851 m, nav range: 434.842377 m, bearing: 78.211080 deg, approach rate: -0.686958 m/s, LOS rate: 0.002212 deg/s, cmd heading: 77.992482 deg, new cmd heading: 77.995163 deg. BhL8HeadingCmd: 1.361272 target range: 451.840851 and range: 454.00 m.h,>?h*h"h hgfffdddjdZdo@kBɢ>L,)? ri),i$F;i,>?U;“I,>?IU9@Q @Q@U0@Q9Y^Au(A}>A}>52Acoustic response timeoutbEMc44jEMԁ B A <B% !>B! B% #IB% ?BB! B! B! B% v;B% 0EBCBCBB =B =C25F,TVi?A2㫎?2o?2%-\ٱ2#>" :AHRS rotation from veh to nav: [[0.230378,-0.951689,-0.203011],[0.949422,0.265569,-0.167544],[0.213363,-0.154145,0.964736]]2H@}?=tEɿ`a??@rſzO?ÿ ?i2㫎?I2_;26CYBByB#Ii Mb@Mb@Mb@     9 I +?%;=ٔtB;Q->9 ?Y ?=QGyF];E>Q 5~4(o?Q 9~4C)VBYa4?Q E:y?Q I? CI9;i ;~4yɮ%A!]B*** querying acoustic contact ***iY iYjhimFNOT Ignoring new targets: 451.84 m. e>CRh7Zh7GA=u99YEAU ProNav: ac range: 451.840851 m, nav range: 434.549805 m, bearing: 78.211576 deg, approach rate: -0.669396 m/s, LOS rate: 0.001134 deg/s, cmd heading: 77.995160 deg, new cmd heading: 77.996647 deg. BhUJG8]HeadingCmd: 1.361298 target range: 451.840851 and range: 454.00 m.h]??hY*ha"ha hagafafi2Acoustic response timeoutfidddjdZd1@ԉ颍yBɢ[') Ci)\顑i2\9;i??;I??I@ @@/@Ա^A M 2Acoustic response timeoutE  E E (E "E ;*E $:VE c44ZE BE RM,6i?ABnЎ?B?B^ZٱBh NAHRS rotation from veh to nav: [[0.229378,-0.952388,-0.200854],[0.949920,0.264033,-0.167145],[0.212220,-0.152456,0.965256]]BH>\? yɿe? ?eſ*?ÿa?iBnЎ?IB_;B4CYR/ByR#I XZAbD^VD^k1yfd=%jK=ٔj>;Q-j>9n"?Yn"?=nQGynFn7;Er>ptQ 5z~4r-o?Q 9z~4rL)ryBY|y~8?Q I~?r,CIrK,;ir6-;r~4yBɮRAjh)5FNOT Ignoring new targets: 451.84 m.Rh57Zh57E ProNav: ac range: 451.840851 m, nav range: 434.278687 m, bearing: 78.211998 deg, approach rate: -0.696820 m/s, LOS rate: 0.001087 deg/s, cmd heading: 77.996649 deg, new cmd heading: 77.997917 deg. BhE>8MHeadingCmd: 1.361320 target range: 451.840851 and range: 454.00 m.hU??hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde` @颭Bɢ') 'i){顱i/;i??k; I??I 9@ @@4@2Acoustic response timeout^A A .A! Iq I O >S,6Pi?A2 ?2?2 Zٱ2j :AHRS rotation from veh to nav: [[0.228071,-0.953253,-0.198221],[0.950434,0.262159,-0.167176],[0.211326,-0.150268,0.965796]]2Hq1?` `J_ɿi?`8?fſ ?;ÿ?i2 ?I2q_;0YZVBy^$IEBDAT read: Rx Time:15:02:59.7804 MTRx dataTimestamp_ set to:1761577381.300368M2Acoustic response timeoutiUMb@Mb@Mb@QQQQ Q9US?Mb?V-?YU:?yU%@=ٔ# ;Q->9 ?Y ?=QGyF[;E>Q 5~43o?Q 9~4)BY:?Q E:y'?Q I?RCI:i:~4yBɮAjhFNOT Ignoring new targets: 451.84 m.Rh7Zh7 ProNav: ac range: 451.840851 m, nav range: 433.978638 m, bearing: 78.212487 deg, approach rate: -0.707252 m/s, LOS rate: 0.001152 deg/s, cmd heading: 77.997919 deg, new cmd heading: 77.999385 deg. BhmJ8HeadingCmd: 1.361346 target range: 451.840851 and range: 454.00 m.h@?h*h"h hgff f d d djdZd @E EEE"E%;*E?:VEZEa@a@a@a@BɢZ\#) i)>i?#;i@?6(;U{I@?IB B B H$IB BB B B B v;B 0E!0;Q9@ @@O0@2Acoustic response timeoutԁ ^A oMA zA eAԩII O>X[,rRpi?A24?2? ?2EYٱ2w :AHRS rotation from veh to nav: [[0.226551,-0.954205,-0.195364],[0.950961,0.260065,-0.167450],[0.210589,-0.147847,0.966330]]2H?@وɿEn?@?oſ@?`¿,?i24?I2P_;23CYByByB+$IbDJVDJ0yR+>%V.=ٔV:Q-V>9XYX=ZQGyZFZ0e;EZ>\Q 5b~4^9o?Q 9f~4^)^̈BYdyfZ?Q If?^}CI^ :i^|:^~4yjsBɮjAnEjh|FNOT Ignoring new targets: 451.84 m.Rh7Zh 7 ProNav: ac range: 451.840851 m, nav range: 433.647461 m, bearing: 78.212960 deg, approach rate: -0.707380 m/s, LOS rate: 0.001011 deg/s, cmd heading: 77.999387 deg, new cmd heading: 78.000807 deg. Bh18%HeadingCmd: 1.361371 target range: 451.840851 and range: 454.00 m.h%gA?h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5\@DAT read: 15:02:59.7803 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 401,-0.14, 2.044, 0.748, 2.181, 1.509, PHS= 0.637,-0.716, 0.628, RAW= 149.7, -8.2, CAL= 149.9, -9.8, ROT= 0.1, 9.8 Ygot valid direction response: 15:02:59.7803 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 401,-0.14, 2.044, 0.748, 2.181, 1.509, PHS= 0.637,-0.716, 0.628, RAW= 149.7, -8.2, CAL= 149.9, -9.8, ROT= 0.1, 9.8 PDAT read: Bearing 205.7, 13.8 (Local) ~Local bearing/azimuth received: Bearing 205.7, 13.8 (Local)  DAT read: Range 11 to 50 : 451.5 m (Round-trip 602.0 ms) speed 0.3 m/s  TDAT read: user:877>Tx time:15:03:00.8742 R#Rx 1: Read range and direction messages.]^direction in FSK: [0.985406,0.001720,-0.170209]]Fpublishing direction and range infoySr?{~-\?rlſYC )?Io#?iK7 ?m7'@Cp'@ %/):I%/>Jm?M8: [?Oa<¿ ȏ?)b>ԱI:i%/>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E EE&E"E ;*E҆:VE4ZEBEa2EaJE;a :E;a =Bɢ=- )A EHiA)ECAAiEn;i gA?-;;-_gI-gA?I1}9@ @@2@ m DAT read: u 2Acoustic response timeout^A 9 Iy I O >ϐb,Ši?A2a?2M?2:Xٱ2d :AHRS rotation from veh to nav: [[0.225287,-0.954801,-0.193908],[0.951481,0.258426,-0.167034],[0.209595,-0.146869,0.966695]]2H4?ȿr?@ ?aaſ?¿*?i2a?I2__;24CYBByBQ$IIFp=)F;bDVD0y&>%@=ٔ;Q->9Y=QGyFKG;E>yQ 54} ?o?Q 94})}BY y?Q I?}CI}V?byHe{@#?@%kSRSr?{~-\?rlſZi:bi%/>jgtTv\@@ۓ${@깳2@Zɡ7? BB$IBBBBBBLv;B}0E! e  9@  @ @ /@ 5 2Acoustic response timeoutQ y^A cA>A>I9IIO] ?hj,ni?A$?ѫ?ΰUٱ! =AHRS rotation from veh to nav: [[0.221564,-0.956712,-0.188709],[0.952885,0.253527,-0.166537],[0.207171,-0.142920,0.967809]]H6\?b'ȿ`~?9?Qſ?2K¿`J?i$?IZ_;7CYUByUk$IiMb@Mb@Mb@ 9V-?~jth?Q?YI9IYI=UQGyUFU;EU>YQ 5e4]Eo?Q 9m4]Ļ)]*BYm$=?Q Em:ymD?Q Im?]ؚCI] ;i] ;]#4yqɮ}AyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 449.35 m.Rh蒷Zh蒷 ProNav: ac range: 449.352692 m, nav range: 436.579071 m, bearing: 76.983512 deg, approach rate: -0.766560 m/s, LOS rate: -0.001003 deg/s, cmd heading: 78.002345 deg, new cmd heading: 78.000850 deg. BhJ0HeadingCmd: 1.361372 target range: 449.352692 and range: 451.50 m.hmA?h*h"h hgfffdddjdZd ? Bɢ #)  i)vio:imA?r;xImA?I! 2Acoustic response timeout9@ @@4@E EE(E"EV:*EM:VEc44ZEBE9 2Acoustic response timeout q,i?AF|?F ?FSٱF NAHRS rotation from veh to nav: [[0.219983,-0.957264,-0.187756],[0.953646,0.251548,-0.165174],[0.205345,-0.142718,0.968228]]FHd(?fȿD?^?p$ſH?`D¿?iF|?IF D_;F5CYVByV$IbDbVDbyf>%jf=ٔj;Q-j>9hYl=nQGynFn;Er>pQ 5v4rJo?Q 9z4r?)rLBYxyz|?Q Iz?rCIr:ir:r"4yɮ Ajh!-FNOT Ignoring new targets: 449.35 m.Rh-UZh5UE ProNav: ac range: 449.352692 m, nav range: 436.325317 m, bearing: 76.983122 deg, approach rate: -0.716450 m/s, LOS rate: -0.001102 deg/s, cmd heading: 78.000849 deg, new cmd heading: 77.999678 deg. BhEAMHeadingCmd: 1.361351 target range: 449.352692 and range: 451.50 m.hM@?hI*hI"hI hIgIfQfQfQdYdYdYjdYZde`Su?…Bɢ )  h=i ) `in:i@?M;: I@?I!Թ9@ @@/@2Acoustic response timeoutE EEE"E=;*E:VEZEa@a@a@a@^AIIO> B >B B $IB $BB =B B B u;B @0E9 qw,i?A6S?6??6hQٱ6j BAHRS rotation from veh to nav: [[0.218561,-0.957808,-0.186641],[0.954399,0.249674,-0.163660],[0.203354,-0.142361,0.968700]]6H?]@ǿp? S?Ŀ?8¿ ?i6S?I6^_;63CYFByF$IiUMb@Mb@Mb@QQQQ Q9Ux&1?:v?V-?YUA@?yUT9Y=QGyFs;E>Q 54Oo?Q 947)sBYm@?Q E:y=?Q I? CIX:i :u14yJBɮcAEjhFNOT Ignoring new targets: 449.35 m.Rh{2Zh{2 ProNav: ac range: 449.352692 m, nav range: 436.013702 m, bearing: 76.982081 deg, approach rate: -0.729485 m/s, LOS rate: -0.002438 deg/s, cmd heading: 77.999681 deg, new cmd heading: 77.996557 deg. Bh-ָHeadingCmd: 1.361297 target range: 449.352692 and range: 451.50 m.h>?h*h"h hgfffdddjd Zd K?5ͅBɢ=z)9 = =i9)=99iEq:iE>?M9;MIM>?IIIY)]cA 2Acoustic response timeout@ @@@@=@=1^Aԁ AU ؟AIa Iq O} > 2Acoustic response timeoutE  E E E "E %;*E Ǚ:VE ZE BE K% R=ٔ ;Q- >9"?Y"?=QGyFLQ;E>!Q 5-4%To?Q 9-4%)%BY)y-e?Q I-?%ECI%y:i%:%?4y=SBɮ= A=EjhaeFNOT Ignoring new targets: 449.35 m.Rhm;Zhm;} ProNav: ac range: 449.352692 m, nav range: 435.730042 m, bearing: 76.981087 deg, approach rate: -0.730490 m/s, LOS rate: -0.002562 deg/s, cmd heading: 77.996560 deg, new cmd heading: 77.993575 deg. Bh} HeadingCmd: 1.361245 target range: 449.352692 and range: 451.50 m.hD=?h*h"h hgfffdddjdZd@@ׅBɢQ^) X=i)i:i5D=?5-;5 ʻI=D=?I9ԑ@ @@@%2Acoustic response timeout^A Aa I I O >ބ,lj?A2?2?2yLٱ2  :AHRS rotation from veh to nav: [[0.216426,-0.958305,-0.186578],[0.955936,0.246834,-0.158931],[0.198358,-0.143960,0.969500]]2H@س?@oǿ`?B?WĿc?Em¿@$?i2?I2"_;22CYB#ByB$I\iMMb@Mb@Mb@IIII I9MRQ?:v?2Acoustic response timeout9Y=QGyFA;E>E EE)E"E*E :VEFA4ZEa@a@a@a@Q 54Yo?Q 94)BYB?Q E:yi) hi!:i|;?^; I|;?IB>BCBU%IBkBB =BADBB/u;B/E9@ @@/@^A`Ի5 2Acoustic response timeoutA A! I) IA OM >R ,rN.j?A^?^x?^pIٱ^y nAHRS rotation from veh to nav: [[0.215814,-0.958494,-0.186315],[0.956672,0.245756,-0.156146],[0.195454,-0.144544,0.970003]]^H͟?-ǿ`?`t?ÿ?`k¿B ?i^?I^~*_;^4CYv9)Y)=-QGy-F-#;E5>9Q 5=4=^o?Q 9E4=b)=ۉBYAyEV?Q IE?=CI=$:i==:=b[4yIɮU\AQjhy}FNOT Ignoring new targets: 449.35 m.Rh6=Zh6= ProNav: ac range: 449.352692 m, nav range: 435.128174 m, bearing: 76.979042 deg, approach rate: -0.748240 m/s, LOS rate: -0.002585 deg/s, cmd heading: 77.990460 deg, new cmd heading: 77.987438 deg. Bh HeadingCmd: 1.361138 target range: 449.352692 and range: 451.50 m.h9?h*h"h hgfffdddjdZd @Bɢ) v>i)}Hiu:i9?&;I9?Iq}p>i}> 9@  @ @ 0@ A2Acoustic response timeoutE EE&E"E%;*E՚:VE4ZEBE+ԙ = 2Acoustic response timeout,t#Hj?A2ِ?2Ĭ?2Fٱ2$ :AHRS rotation from veh to nav: [[0.215131,-0.958539,-0.186875],[0.957346,0.244792,-0.153513],[0.192893,-0.145879,0.970315]]2Hl? Y`ǿ@?YU?Mÿ?`&¿ ?i2ِ?I2L_;25CYBHByB*%IbDNVDN:yV@~=%VR=ٔV);Q-V>9XYX=ZQGyZF^ ;E^>`Q 5f4bco?Q 9f4b)bBYdyfq?Q If?bCIb-:ib:bh4yn9BɮnAE5B*** querying acoustic contact ***i1 i1yjhFNOT Ignoring new targets: 449.35 m.Rh :Zh : ProNav: ac range: 449.352692 m, nav range: 434.839691 m, bearing: 76.978013 deg, approach rate: -0.711749 m/s, LOS rate: -0.002541 deg/s, cmd heading: 77.987435 deg, new cmd heading: 77.984344 deg. Bh?߸HeadingCmd: 1.361084 target range: 449.352692 and range: 451.50 m.h7?h*h"h hgfffdddjdZd @颅Bɢ) T!>i)%顉iF:i7?E;I7?IԱ-9@) @1@54@9@M@M@U@UBDAT read: Rx Time:15:03:03.8631 TRx dataTimestamp_ set to:1761577385.3761192Acoustic response timeoutbEAjEArEE/E EE(E"El;*E:VEc44ZEa@a@a@a@B >B B %IB BB =B B B t;B /EBQBUCBQBQBU =CUA5 A9 IA IY Oe >M /G,7aj?A0:ARʰ9TYVtAZސ?Z"ʬ?ZhCٱZ' fAHRS rotation from veh to nav: [[0.215088,-0.958312,-0.188081],[0.957899,0.244524,-0.150456],[0.190174,-0.147802,0.970561]]ZH?~ ȿ`?L? Bÿ W?)¿?iZސ?IZ$_;Z4CYj[ByjA%IiMb@Mb@Mb@ 9S?y&1|?~jt?Y/=?y`;D<gA@A qA)$:AYUAbDVDy=%9=ٔ;Q->9Y=QGyF9E>Q 54io?Q 94)BY7=?Q E:yU?Q I?ߛCI;iy;dx4yɮwAjh)-FNOT Ignoring new targets: 449.35 m.Rh5Zh5E ProNav: ac range: 449.352692 m, nav range: 434.520294 m, bearing: 76.977237 deg, approach rate: -0.751703 m/s, LOS rate: -0.001826 deg/s, cmd heading: 77.984347 deg, new cmd heading: 77.982019 deg. BhEpMHeadingCmd: 1.361043 target range: 449.352692 and range: 451.50 m.hM6?hI*hI"hI hQgQfQfYfYdYdYdajdaZdeb@颍BɢH)  1>i)顙i:i6?k;{I6?I2Acoustic response timeout9@ @@4@AIIAOex>1E  E E )E "E ~ ;*E M:VE FA4ZE BE Vi Ȗ > )@ = +(@ %=) @I %˽ ?02?_lw? )?) MŽI i %˽ E :publishing transmit ping timey M Fpublishing direction and range infoy  v@?dyȑhܸm?Y ) I i D,{j?A )I?02?_lw? )IifI?fˬ?f9Aٱf =AHRS rotation from veh to nav: [[0.215148,-0.958407,-0.187529],[0.958398,0.244096,-0.147958],[0.187579,-0.147894,0.971052]]fH@?Eȿ@1?>? H¿@?2¿ ?ifI?If(_;dYMlByMV%IyybDVDy=%N=ٔ;Q->9Y=QGyFr9E>Q 54-no?Q 94D)Bi?CiiiiCi? addTargetRange:: Added new target pos. range: 438.600006 m, deltaT: 4.068833 s, deltaX: -12.899994 m, approachRate: -3.170441 m/s, rangeRepo size: 4  Added new target pos. range: 436.508972 m, bearing: 77.215232 deg, lat: 36.778974 deg, lon: -121.859430 deg, deltaT: 4.068833 s, deltaX: -12.843719 m, approachRate: -3.156610 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 436.51 m.RhZh% ProNav: ac range: 436.508972 m, nav range: 434.230408 m, bearing: 76.976531 deg, approach rate: 0.000000 m/s, LOS rate: -0.001826 deg/s, cmd heading: 77.982018 deg, new cmd heading: 77.979712 deg. Bh!-HeadingCmd: 1.361003 target range: 436.508972 and range: 438.60 m.h-V5?h)*h)"h9 h9g9f9fAfAdAdAdIjdMi{@ZdMz?Bɢ\) <>i)i!9iV5?F;%;$yI-V5?I)a9@ @@/@*DAT read: user:878> AU.AIaIyO>ԑ R,,j?A2?2ά?2>ٱ2I :AHRS rotation from veh to nav: [[0.215173,-0.958737,-0.185808],[0.958877,0.243473,-0.145863],[0.185084,-0.146781,0.971699]]2H NJ?ǿ?@ *?¿Ұ?¿)?i2?I2 0_;25CYRtByR`%Ii-Mb@Mb@Mb@)))) )9-n?~jth?~jtx?Y-6?y-D;-;-eA-h=A -9lA)-7A)Y-QAbDEVDEkyU7!=%UO=ٔU;Q-U>E EE&E"E ;*E:VE4ZEa@a@a@a@9 ?Y ?=QGy FO9E>!Q 5-4%dso?Q 9-4%w)%YBY56?Q E5:y5?Q IU?%*CI%:;i%;%4y]ABɮ]4AeEԑjhFNOT Ignoring new targets: 436.51 m.RhCZhC ProNav: ac range: 436.508972 m, nav range: 433.940674 m, bearing: 76.976070 deg, approach rate: -0.717885 m/s, LOS rate: -0.001142 deg/s, cmd heading: 77.979710 deg, new cmd heading: 77.978326 deg. BhHHeadingCmd: 1.360978 target range: 436.508972 and range: 438.60 m.h4?h*h"h  hgfDReached init depth of 67.227737 m.ffd!d!d!jd!Zd-`?A5AAA5@AB9B9B=%IB=ֆBB9B9B9B=vt;B=/EBɢ ) 8>i)iV9i4?;tI4?I 9@ @@@A؟AII O> ZX,j?A>ؐ?>Ĭ?>n<ٱ>z JAHRS rotation from veh to nav: [[0.215552,-0.958910,-0.184468],[0.959195,0.243320,-0.144013],[0.182980,-0.145899,0.972230]]>H 3?dजǿ?@%?o¿k?ͬ¿?i>ؐ?I>_;>6CYfByj%IbDpVDpyzI>%zP=ٔz;Q-~>9~"?Y~"?=~QGy!F3YE> Q 54 xo?Q 94 6q) rBYyy?Q I? KCI ";i P; ǡ4y!ɮ%A!jhIMFNOT Ignoring new targets: 436.51 m.RhUkZhUke ProNav: ac range: 436.508972 m, nav range: 433.683563 m, bearing: 76.975671 deg, approach rate: -0.714901 m/s, LOS rate: -0.001109 deg/s, cmd heading: 77.978323 deg, new cmd heading: 77.977126 deg. BheBmHeadingCmd: 1.360958 target range: 436.508972 and range: 438.60 m.hm3?hi*hq"hq hqgqfqfyfydydydjdZdA9?颭 Bɢ) v>i)ۄ项i@C8i3?x6;k냻I3?Im9@i @i@u/@qE EE(E"El;*E:VEc44ZEBE[F>,]jj?A6?6n?6:ٱ6u >AHRS rotation from veh to nav: [[0.216314,-0.958852,-0.183877],[0.959291,0.243763,-0.142623],[0.181576,-0.145540,0.972547]]6H@,?@Gǿ ?3?tA¿=? ¿`?i6?I6^_;64CYFByF%IIJ=)J=bDNVDN1yVd=%VO=ٔZm;Q-Z>9Z ?YZ ?=^QGy^"F^9E^>`Q 5f4b}o?Q 9f4b"j)bBYhyja?Q Ij?bnCIby:ibN:b4yn&BɮnAr۱EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 436.51 m.Rh'Zh' ProNav: ac range: 436.508972 m, nav range: 433.407990 m, bearing: 76.975270 deg, approach rate: -0.662284 m/s, LOS rate: -0.000964 deg/s, cmd heading: 77.977128 deg, new cmd heading: 77.975924 deg. Bhb)HeadingCmd: 1.360937 target range: 436.508972 and range: 438.60 m.h,3?h*h"h hgfffd d djdZd``?m+Bɢm{ )i mw>ii)uNyyi}\Ci,3?;I,3?IQIY)]aA9@ @@@y}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EE#E"E*E:VE3ZEa@a@a@a@^A- B9 B9 B= &IB= BB= =B9 B9 B= t;B= /Eԩ A} ؟AI I O >h,Dj?A:?:x?:n9ٱ:CK@ JAHRS rotation from veh to nav: [[0.217147,-0.958505,-0.184702],[0.959443,0.244424,-0.140449],[0.179767,-0.146713,0.972707]]:Hz? Qǿ?HI?>@?}¿j ?i:?I:;-`;:2CYNņByR%Ii%Mb@Mb@Mb@!!!! !9%Gz?QY%0?y%u%%nbA%$:A %gA)%6A!Y%NAbDEVDEkyM >%M@=ٔU;Q-U>9U"?Y]"?=]QGy]#F]dEe>aQ 5m4eo?Q 9u4eb)eBYu0?Q Eu:yuƩ?Q Iu?eCIe:ieX ;ei4yɮAjhFNOT Ignoring new targets: 436.51 m.Rh7Zh7 ProNav: ac range: 436.508972 m, nav range: 433.119904 m, bearing: 76.975925 deg, approach rate: -0.714269 m/s, LOS rate: 0.001623 deg/s, cmd heading: 77.975926 deg, new cmd heading: 77.977890 deg. Bh8HeadingCmd: 1.360971 target range: 436.508972 and range: 438.60 m.hL4?h*h"h hgffqfuBdqdydyjdyZd}G ?6Bɢr) @>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.736416)iwQ^iL4?ס;IL4?Iԩ@ @@0@@R=@=^A ጻ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989248D %=D R=E  E E %E "E f;*E VE 4ZE BE WŒ,j?A2>?2ɀ?27ٱ2K :AHRS rotation from veh to nav: [[0.217720,-0.957831,-0.187505],[0.959569,0.245180,-0.138256],[0.178398,-0.149823,0.972485]]2H@?(ȿ`ɴ? b?@_`?c-ÿ?i2>?I2E`;24CYBۆByB%IbDJVDJyR=%VV=ٔVTn;Q-V>9V ?YZ ?=ZQGyZ$FZEZ>\Q 5b4^0o?Q 9f4^(\)^BYdyf?Q If?^CI^ :i^F:^4yhɮj+AlljhFNOT Ignoring new targets: 436.51 m.Rh 7Zh 7 ProNav: ac range: 436.508972 m, nav range: 432.860382 m, bearing: 76.976533 deg, approach rate: -0.677750 m/s, LOS rate: 0.001589 deg/s, cmd heading: 77.977893 deg, new cmd heading: 77.979718 deg. Bh8%HeadingCmd: 1.361003 target range: 436.508972 and range: 438.60 m.h%W5?h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd`f @?Bɢ]) &>i )   i IiW5?5}0;5́I=W5?I99@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2403589^AI I O >i |Ś,hk?A6-?6m?6Wg6ٱ6 BAHRS rotation from veh to nav: [[0.218327,-0.957517,-0.188400],[0.959655,0.245712,-0.136703],[0.177188,-0.150953,0.972531]]6H@"?ȿ`~?~s?``?qRÿ@?i6-?I6W`;63CYFByJ%IiMb@Mb@Mb@ 9Q?QMb`Y(?yA`A9A fA)5AYpMA=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492318AbD5VD5yU|O=E] E]E]+EY"E]=;*E]҆:VE] [4ZEYam@am@am@am@%U@=ٔm;;Q-u>9qYq=}QGy}%F}dE}>Q 54o?Q 94 U)ۊBY)?Q E:yr?Q I?؜CI;i ;4yɮAjhFNOT Ignoring new targets: 436.51 m.Rh7Zh7 ProNav: ac range: 436.508972 m, nav range: 432.581268 m, bearing: 76.977262 deg, approach rate: -0.650184 m/s, LOS rate: 0.001701 deg/s, cmd heading: 77.979717 deg, new cmd heading: 77.981907 deg. Bhh8HeadingCmd: 1.361041 target range: 436.508972 and range: 438.60 m.h6?h*h"h hgfffdddjdZd @BA<BBBH&IB1BBBBBt;B/E KBɢ-F)) ->i))511i5 i=6?=a;=[zϻI=6?IAi9@ @@?2@@@@@ԑAzAdAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.745085Iq I O > ˤ˚,Z0k?AY~By~&IbDVD2y%!>%%N=ٔ%Q-%>9)Y)=-QGy-&F-E5>1Q 5E455o?Q 9E45NQ =EtI)5BYAyAQ IE?5CI5 ;i5X;54yUBɮU5AUұEjhq}FNOT Ignoring new targets: 436.51 m.Rh(7Zh(7 ProNav: ac range: 436.508972 m, nav range: 432.325562 m, bearing: 76.977931 deg, approach rate: -0.649795 m/s, LOS rate: 0.001702 deg/s, cmd heading: 77.981909 deg, new cmd heading: 77.983918 deg. Bh~8ԙHeadingCmd: 1.361076 target range: 436.508972 and range: 438.60 m.h7?h*h"h hgfffdddjdZd`;@TBɢ P) >i)+Li6i7?;λI7?Iu9@q @q@u/@qIIO>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.996518DizDmAAEu EuEu*Eq"Eu ;*Eu:VEu(N4ZEqBEuO9Y=QGy'F}KE%>)Q 554-o?Q 9=4-G)- BYAyEJ?Q IE?-CI-dd;i-e;-4yQɮUAB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 436.51 m.Rh-x7Zh-x7] ProNav: ac range: 436.508972 m, nav range: 432.063873 m, bearing: 76.978660 deg, approach rate: -0.614068 m/s, LOS rate: 0.001711 deg/s, cmd heading: 77.983917 deg, new cmd heading: 77.986104 deg. Bh]H8}HeadingCmd: 1.361114 target range: 436.508972 and range: 438.60 m.h}8?hy*hy"hy hygyfffdddjdZd @_Bɢx) >i)-iM\ci8?؞;ruI8?I@ @@/@!IIOK>]BDAT read: Rx Time:15:03:07.9114 eTRx dataTimestamp_ set to:1761577389.408126echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.501383E} E}E}$Ey"E};*E}:VE}4ZEya@a@a@a@IB>BB&IBdBBBBBt;B/Ey ؚ,dk?A2H?23?2u2ٱ2  :AHRS rotation from veh to nav: [[0.220169,-0.957235,-0.187690],[0.959880,0.246858,-0.133010],[0.173655,-0.150875,0.973181]]2H .?` ;ȿ`V?@?`yP:?OÿL$?i2H?I28_;0YN7ByRP&IIV>)V;i]Mb@Mb@Mb@YYYY Y9]#~j?QMb?Y]%?yY]<][A]6A ]cA)]3AYY]fJAbDuVDufy%>%B=ٔ ;Q->9Y=QGy(FE>Q 54o?Q 94 A)%BY%?Q E:yw?Q I?iI)M7IIiM^Qi]/:?] ;]RI]/:?Iamchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.752258m9@q @u@u/@qA>A?IIO*>ԁԩ PExceeded connect timeout, disconnecting.D =D =E  E E +E "E T;*E :VE [4ZE BE G  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.973679,-0.045918,0.223250] :publishing transmit ping time  Fpublishing direction and range infoya e  a(?IyNu?Ye Ca a a a a )e BIe T%>ie 롿e x>e J*@e Q>e J*@ e f>)e Ѝ@Ie fa e e S[?[l"?61? e D?)e =PIe QAie fa a - :publishing transmit ping time 5 Fpublishing direction and range infoya e  a(?IyNu?Ya a a a a a )a Ia ia a a a a a )a Ia a a e S[?[l"?61? a )a Ia ia a a ޚ,k~k?A2~4?2 ?2V1ٱ2N' :AHRS rotation from veh to nav: [[0.220795,-0.957196,-0.187149],[0.959978,0.247185,-0.131692],[0.172316,-0.150582,0.973464]]2HC?Zǿ"??I`p?@DFÿ`&?i2~4?I2~_;22CYNNByNl&IbDZVDZ:y=% S=ٔ e;Q- >9Y=QGy)FɺE]>YQ 5e4]Ro?Q 9m4]:)]>BYiymd?Q Im?]\CI]p:i]:] 4yɮAiiLSzk?AJiCRiCjiL?bt!iz@F3$sN9X@R a(?IyNu?ZiQAbifjWW@q?x@x3De@Z}Ǽ?'>!Q?N/>?2iC:iB"iW?*iMn]BimCiW?i0i5CiCi-?- addTargetRange:: Added new target pos. range: 436.100006 m, deltaT: 4.031909 s, deltaX: -2.500000 m, approachRate: -0.620054 m/s, rangeRepo size: 4 ] Added new target pos. range: 434.021790 m, bearing: 76.346517 deg, lat: 36.778948 deg, lon: -121.859447 deg, deltaT: 4.031909 s, deltaX: -2.487183 m, approachRate: -0.616875 m/s, posRepo size: 4 jhY]FNOT Ignoring new targets: 434.02 m.RheZhaԱ ProNav: ac range: 434.021790 m, nav range: 429.370544 m, bearing: 77.318487 deg, approach rate: 0.000000 m/s, LOS rate: 0.001755 deg/s, cmd heading: 77.988186 deg, new cmd heading: 77.990357 deg. BhHeadingCmd: 1.361189 target range: 434.021790 and range: 436.10 m.hm;?h*h"h hgff f1d1d1d1jd=A{@Zd=@??颅uBɢY) >i)}G顩i}9im;?2; Im;?Ie9@a @a@e 0@a ^A% 9 Aq I I O >J, 4k?AbEU:4jEU04rEU$0Ej EjEj*Eh"Ej=;*Ejv:VEj(N4ZEhan@an@an@an@v +?v?v'0ٱv ~AHRS rotation from veh to nav: [[0.221117,-0.957198,-0.186762],[0.960107,0.247268,-0.130588],[0.171179,-0.150436,0.973687]]vHM?\`ǿ2?@|? /?@}Aÿ r(?iv +?IvG_;tY dBy &IAAAAB B B &IB BB  =B B B `t;B /EBCBCBB =BCV4i5Mb@Mb@Mb@1111 195S㥛?9aYa=eQGye*Fm#Em>qQ 5}4uVo?Q 94uB3)u\BYE&?Q E:y?Q I?uCIu2;iu1;uz4yɮAԙjhFNOT Ignoring new targets: 434.02 m.Rh88Zh88 ProNav: ac range: 434.021790 m, nav range: 429.082153 m, bearing: 77.319593 deg, approach rate: -0.657308 m/s, LOS rate: 0.002523 deg/s, cmd heading: 77.990358 deg, new cmd heading: 77.993679 deg. Bh8HeadingCmd: 1.361246 target range: 434.021790 and range: 436.10 m.hS=?h*h"h hgfffdddjdZd?%Bɢ%)) -e>i))-))i-]si5S=?51;=II=S=?I9 CE>GeeA}A9eAYZA9@ @@1@^A A I I O >! !,.k?A2?2 ?2.ٱ2U :AHRS rotation from veh to nav: [[0.221529,-0.957185,-0.186339],[0.960228,0.247424,-0.129400],[0.169965,-0.150262,0.973927]]2H[?B ǿ /??0`g?;ÿh*?i2?I2"_;25CYBByB&I DFAbDJVDJNyVL>%Vl=ٔVi;Q-V?9XYX=ZQGyZ+F^E^?!Q 5-4%o?Q 9-4%q-)%tBY1y5?Q I5?%CI%:i%:%4y=BɮEAEɱEjhamFNOT Ignoring new targets: 434.02 m.Rhm 68Zhm 68 ProNav: ac range: 434.021790 m, nav range: 428.853943 m, bearing: 77.320481 deg, approach rate: -0.638726 m/s, LOS rate: 0.002487 deg/s, cmd heading: 77.993677 deg, new cmd heading: 77.996343 deg. Bht8HeadingCmd: 1.361293 target range: 434.021790 and range: 436.10 m.h>?h*h"h hgfffdddjdZd?Bɢ ) +>i)hiͺi>?c;O4I>?II)dAnManaging dock network, ignoring radio surface power off!9@ @@3@E EE(E"E;*E?:VEc44ZEBEp ,k?A Z?Z1?Zr-ٱZ bAHRS rotation from veh to nav: [[0.221871,-0.957146,-0.186132],[0.960382,0.247524,-0.128056],[0.168641,-0.150346,0.974144]]ZH@Ef? /ǿ s?`ܮ?&d?`>ÿ/,?iZ?IZg_;Z3CYjByj&IbDvVDvk1yz.=%~E=ٔ~lT;Q-~>9Y=QGy,F?E > Q 54 qo?Q 94 &) BYy?Q I? CI ;i ; 4y-Bɮ-A-ʱEEB*** querying acoustic contact ***iA iAjhQFNOT Ignoring new targets: 434.02 m.Rh.78Zh.78  ProNav: ac range: 434.021790 m, nav range: 428.598633 m, bearing: 77.321486 deg, approach rate: -0.635458 m/s, LOS rate: 0.002502 deg/s, cmd heading: 77.996341 deg, new cmd heading: 77.999357 deg. Bh 8HeadingCmd: 1.361346 target range: 434.021790 and range: 436.10 m.h@?h*h"h hgfffdddjdZd ?Bɢ`[) G?i)$iiM@?Ma];U-IU@?Iaq-9@) @)@5/@1@M=@M=ԙT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EE'E"ET;*E1:VE'4ZEa@a@a@a @BBB'IBԇBB =BBBXt;B|/E^Ae  A ؟AI I O >3,tk?A2f?2?2+ٱ2r :AHRS rotation from veh to nav: [[0.222354,-0.957341,-0.184545],[0.960566,0.247522,-0.126676],[0.166951,-0.149100,0.974626]]2Hv? (ǿ ?ɮ?`6 ^?ÿ#0?i2f?I2sc_;22CYBByB&IPiMMb@Mb@Mb@IIII I9M?I +y&1?YM,?yM94M`%uC=ٔ}ԅ;Q-}>9"?Y"?=QGy-FЇE>Q 54o?Q 94)BY,?Q E:y?Q I?CI ;i ;&4yɮ#AjhFNOT Ignoring new targets: 434.02 m.Rh7Zh7 ProNav: ac range: 434.021790 m, nav range: 428.321289 m, bearing: 77.322091 deg, approach rate: -0.661088 m/s, LOS rate: 0.001442 deg/s, cmd heading: 77.999360 deg, new cmd heading: 78.001175 deg. BhK}8HeadingCmd: 1.361377 target range: 434.021790 and range: 436.10 m.hA?h*h"h hgfffdddjdZdE?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7443585BɢEܽ)A E ?iA)EIIiM iMA?Usw; IA?Im9@i @q@u/@q^A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997243E  E E &E "E ;*E :VE 4ZE BE @,%tl?A2?2?2p*ٱ2m- :AHRS rotation from veh to nav: [[0.222620,-0.957377,-0.184036],[0.960724,0.247518,-0.125475],[0.165679,-0.148875,0.974878]]2H~?`բ`ǿ`@?@?`4?`Tÿ22?i2?I2ۤ_;20CYf҇Byf'IIjJ>)j>bDrVDrβyv>%vS=ٔzZ;Q-z>9xY|=~QG|y~.FE> Q 54 o?Q 94 L) ɋBYy?Q I? CI ;i ; ,4y!ɮ%A!jhIMFNOT Ignoring new targets: 434.02 m.RhU_7ZhU_7e ProNav: ac range: 434.021790 m, nav range: 428.065308 m, bearing: 77.322657 deg, approach rate: -0.660974 m/s, LOS rate: 0.001464 deg/s, cmd heading: 78.001177 deg, new cmd heading: 78.002878 deg. Bhe8mHeadingCmd: 1.361407 target range: 434.021790 and range: 436.10 m.hmB?hi*hq"hq hqgqfqfyfydydydjdZd@(@颭Bɢ^ؽ) ?i)3项i iB?t; N$IB?I59@9 @9@9@9)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248193^AUh%aA I I O >ԑ I,`l?AF ?F?Fo(ٱFNchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.500319 VAHRS rotation from veh to nav: [[0.222911,-0.957069,-0.185280],[0.960924,0.247722,-0.123524],[0.164119,-0.150505,0.974891]]FH`[? P?ǿ@? ]?L`?@Cÿ@O2?iF ?IF_;F4CE^ E^E\E\"E^%;*E^v:VE\ZE\ab@af@af@af@YjByj3'IԑB<ABBBb'IBBBBBBBt;Bp/Ei Mb@Mb@Mb@     9 9v?%57=ٔ5 h;Q-=>99Y9==QGy=/FE>EE>IQ 5U4Mo?Q 9U4Mf)MBYU#5?Q E]:y]?Q I]?M+CIM:iM:M44yaɮeFAajhFNOT Ignoring new targets: 434.02 m.Rhո7Zhո7 ProNav: ac range: 434.021790 m, nav range: 427.756531 m, bearing: 77.323221 deg, approach rate: -0.691266 m/s, LOS rate: 0.001262 deg/s, cmd heading: 78.002878 deg, new cmd heading: 78.004569 deg. Bh]8HeadingCmd: 1.361437 target range: 434.021790 and range: 436.10 m.hC?h*h"h hgfffdddjdZdջ@uBɢu=$ڽ)q u?iy)}!yyi}?iC?i;ka(IC?IY@Y @Y@]/@Y@edA@eeAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.752271^A & A .AI I O >o ,)4l?A2?2&?2d'ٱ2U :AHRS rotation from veh to nav: [[0.222667,-0.957088,-0.185479],[0.961148,0.247355,-0.122515],[0.163137,-0.150993,0.974981]]2H]?`vƽǿ?`S?)]?@Sÿ 3?i2?I2Լ_;0Y^ By^W'IbDfVDf0yn<%>%nd=ٔr5;Q-r>9r ?Yr ?=rQGyv0Fv=U:Ev>xQ 5~4zo?Q 9~4z )zBYy ?Q I?zKCIz;iz;z:4y Bɮ aA Ejh15FNOT Ignoring new targets: 434.02 m.Rh=7Zh=7M ProNav: ac range: 434.021790 m, nav range: 427.507751 m, bearing: 77.323665 deg, approach rate: -0.694425 m/s, LOS rate: 0.001241 deg/s, cmd heading: 78.004572 deg, new cmd heading: 78.005905 deg. BhMY8UHeadingCmd: 1.361460 target range: 434.021790 and range: 436.10 m.hUQD?hQ*hY"hY hYgYfYfafadadadijdiZdmK@颕BɢŽ)U %?i)+顡i@N&iQD?; )$IQD?IU9@Q @Q@U2@QBDAT read: Rx Time:15:03:11.4584 TRx dataTimestamp_ set to:1761577392.936415checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005992E EE%E"El;*E:VE 4ZEBE[Fu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257573ԁ 1X,!Nl?A2 ?2?2m&ٱ2H :AHRS rotation from veh to nav: [[0.222581,-0.957037,-0.185846],[0.961367,0.247132,-0.121243],[0.161963,-0.151680,0.975070]]2H}? ǿ??` `2?9v"?Yv"?=vQGyv1Fz-9Ez>|Q 54~qo?Q 94~)~"BYy?Q I ?~oCI~:i~[:~B4yɮA-B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 434.02 m.RhE7ZhE7U ProNav: ac range: 434.021790 m, nav range: 427.227081 m, bearing: 77.324161 deg, approach rate: -0.692319 m/s, LOS rate: 0.001223 deg/s, cmd heading: 78.005903 deg, new cmd heading: 78.007391 deg. BhUV8HeadingCmd: 1.361486 target range: 434.021790 and range: 436.10 m.h+E?h*h"h hgff!f!d!d!d)jd)Zd-A @Q颽ΆBɢν) *?i)ei4i+E?ꉕ;#I+E?Iԉ9@ @@*2@E EE(E"E%;*E1:VEc44ZEa@a@a@a@DAT read: 15:03:11.4584 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 320,-0.06,-2.284, 2.912,-2.001,-2.130, PHS=-0.051,-1.196, 0.085, RAW= 155.6, 18.6, CAL= 157.0, 23.0, ROT= 353.0, -23.0 Ygot valid direction response: 15:03:11.4584 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 320,-0.06,-2.284, 2.912,-2.001,-2.130, PHS=-0.051,-1.196, 0.085, RAW= 155.6, 18.6, CAL= 157.0, 23.0, ROT= 353.0, -23.0  DAT read: OK  :unknown deviceResponse_: OK  *DAT read: user:880> BDAT read: Tx time:15:03:12.5232 $Ping request sent.^/@ >)'@I;1?S?]q? ?)xI5i;=:publishing transmit ping timeypbBB'IBXBBBBBs;BM/Eԩ^A% ܪ& AQ IY Iq O} >,P9hl?A2?2G?2Ly%ٱ2 JAHRS rotation from veh to nav: [[0.222189,-0.957202,-0.185463],[0.961637,0.246531,-0.120320],[0.160893,-0.151614,0.975257]]2H p?e`Aǿ?V?@M;%? hÿN5?i2?I2`;23CYR?ByR'Ii-Mb@Mb@Mb@)))) )9-> ףp=? rhQ?Y-1?y-C-\=-VA-V0A -YA)-.A)Y-DAbDEVDEyUg>%UA=ٔ]';Q-]>9YYY=eQGye2Fe:Ee>iQ 5u4mOo?Q 9u4m~)mBBY}22?Q E}:y}ة?Q I}?mCImC:ima:miI4yBɮAEjhFNOT Ignoring new targets: 434.02 m.Rh8Zh8 ProNav: ac range: 434.021790 m, nav range: 426.938812 m, bearing: 77.325038 deg, approach rate: -0.680273 m/s, LOS rate: 0.002072 deg/s, cmd heading: 78.007392 deg, new cmd heading: 78.010027 deg. Bh8ԉHeadingCmd: 1.361532 target range: 434.021790 and range: 436.10 m.hF?h*h"h hgfffdddjdZd`W@UچBɢUKǽ)Y ]2?iY)]顁inCiF?t;/QIF?I=9@9 @9@=4@9@E=@E=Ա^A E  E E +E "E ;*E ҆:VE [4ZE BE 8C\y ,l?A2xL?28?2 $ٱ2\ :AHRS rotation from veh to nav: [[0.220574,-0.957277,-0.186996],[0.962238,0.244922,-0.118794],[0.159518,-0.153732,0.975152]]2H;?`zǿ`?Y?Dik?yÿ q4?i2xL?I21a;0YBOByB'IbDJVDJNyR=%RW=ٔVIp;Q-V>9TYT=ZQGyZ3FZL;EZ>\Q 5b4^o?Q 9b4^)^_BYdyf?Q If?^CI^:i^:^ P4yhɮj{Ahjh|FNOT Ignoring new targets: 434.02 m.Rh 8Zh 8 ProNav: ac range: 434.021790 m, nav range: 426.680389 m, bearing: 77.325761 deg, approach rate: -0.680893 m/s, LOS rate: 0.001907 deg/s, cmd heading: 78.010029 deg, new cmd heading: 78.012200 deg. Bh8HeadingCmd: 1.361570 target range: 434.021790 and range: 436.10 m.hG?h*h"h hgfffdddjdZd@@Bɢ$) %U5?i!)%o!!i%XPi-G?-pœ;-nI-G?I!*9@ @@4@I y ^A XE  E E *E "E l;*E |:VE (N4ZE a @a @a @a @B >B B (IB BB B B B s;B ;/EA.AII!O->(,ϡl?A2Qm?2X?2"ٱ28 >AHRS rotation from veh to nav: [[0.219651,-0.957649,-0.186177],[0.962641,0.243731,-0.117970],[0.158351,-0.153309,0.975408]]2H?`ǿ`?2?A3`D? ÿ`6?i2Qm?I2ha;25CYFmByF'IIJ4=)Jt>i]Mb@Mb@Mb@YYYY Y9]^I +?Mby&1?Y]X9?y]]`<]pSA].A ]UA)]-AYY]GAA u;up;bD}VD}:2yW=%=ٔL;Q->9 ?Y ?=QGy5F:E>Q 54o?Q 94X)BY9?Q E:yH?Q I?CIB;i;@Y4yҼBɮAEjhFNOT Ignoring new targets: 434.02 m.Rh8Zh8 ProNav: ac range: 434.021790 m, nav range: 426.306610 m, bearing: 77.326732 deg, approach rate: -0.709714 m/s, LOS rate: 0.001844 deg/s, cmd heading: 78.012201 deg, new cmd heading: 78.015114 deg. Bh8HeadingCmd: 1.361621 target range: 434.021790 and range: 436.10 m.hI?h*h"h hg f ffdddjdZd`@EBɢEQǽ)I M5.,l?A:?:B?:Va!ٱ: FAHRS rotation from veh to nav: [[0.217602,-0.959067,-0.181220],[0.963336,0.240892,-0.118127],[0.156946,-0.148871,0.976322]]:Hc?`72ǿ?`?=?4ÿ`>?i:?I:b;8YNByN'IbDZVDZ1E` EbEb(E`"E`*Eb:VEbc44ZE`BEb[F%vV=ٔvs;Q-v>9z"?Yz"?=zQGyz6Fzܺ;Ez>Q 5 4qo?Q 9 4f)BY y ?Q I ?CI:i:_4y̼BɮAjhAEFNOT Ignoring new targets: 434.02 m.RhM7ZhM7e ProNav: ac range: 434.021790 m, nav range: 426.034912 m, bearing: 77.327365 deg, approach rate: -0.710606 m/s, LOS rate: 0.001658 deg/s, cmd heading: 78.015117 deg, new cmd heading: 78.017019 deg. Bhe8mHeadingCmd: 1.361654 target range: 434.021790 and range: 436.10 m.hmJ?hi*hi"hi higifqfqfqdqdydyjdyZd}E@颭Bɢ쳽) D?i)顱igniUJ?];]`ֹI]J?IY }99@ @@@@eA@a ^A1 ԑ AII O5>6,l?AjT?j?jpٱjDbEmc44jEirEma0Ev EvEtEt"Ev;*Ev$:VEtZEta~@a~@a~@a~@  AHRS rotation from veh to nav: [[0.215502,-0.960038,-0.178568],[0.964112,0.238220,-0.117218],[0.155072,-0.146899,0.976920]]jH?Qƿ? }?@i? ¿`B?ijT?IjMa;j3CYBy (Iԁ B>BBO(IB׈BB =BBBs;B7/EBiBiBiBiBiCm4i-Mb@Mb@Mb@)))) )9-ףp= ? rh{Gz?Y->?y-C-ף<-QA--A -UA)-p+A)Y-?AbDEVDEyUb=%U=ٔ]c;Q-]>9aYa=eQGye7Fe;Ee>iQ 5u4mjo?Q 9}4m-)mȌBY}>?Q E}:y}~?Q I}?m;CIm ;im ;myi4yμBɮAB*** querying acoustic contact ***i ijhfAM9MfAYM#AmFNOT Ignoring new targets: 434.02 m.Rhu7Zhu7 ProNav: ac range: 434.021790 m, nav range: 425.634949 m, bearing: 77.328317 deg, approach rate: -0.731817 m/s, LOS rate: 0.001742 deg/s, cmd heading: 78.017016 deg, new cmd heading: 78.019873 deg. Bh 8ԩHeadingCmd: 1.361704 target range: 434.021790 and range: 436.10 m.hNL?h*h"h hgfffddd)jd)Zd-`z@颕Bɢɽ) )G?i)顙iiNL?X9;SINL?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse l>i > E 9@A  @A @E 0@I 1^A53DQDU<Em EmEiEi"Em ;*Em':VEiZEiBEmvT9Y=QGy8F;E>Q 54ho?Q 94)BYy?Q I?oCI;i;/s4y׼Bɮ~AEjhFNOT Ignoring new targets: 434.02 m.Rh7Zh7 ProNav: ac range: 434.021790 m, nav range: 425.227509 m, bearing: 77.329075 deg, approach rate: -0.734009 m/s, LOS rate: 0.001367 deg/s, cmd heading: 78.019871 deg, new cmd heading: 78.022147 deg. Bh$p8HeadingCmd: 1.361743 target range: 434.021790 and range: 436.10 m.hM?h*h"h hg!f!f)f)d)d)d)jd1Zd57@]Bɢ]&ٶ)Y eYM?ia)eJaaim.EimM?m-̐;u>IuM?Iq9@ @@2@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Aa9 A I I O >EF,+Om?AE EE)E"ET;*E:BDAT read: Rx Time:15:03:14.9936 %TRx dataTimestamp_ set to:1761577396.479448%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseBYA]<Be>BaBe(IBe BBe =BaBaBes;Be2/EVEFA4ZEBEG<2EG<JE;:E;ŸByC(IQiMb@Mb@Mb@ 9T㥛 ?{Gz~jt?YA?yףD<MA*A PA)*AY9Y=QGy:FE>Q 5%4o?Q 9-4)BY-A?Q E-:y-P?Q I-?CI;iK ;{4y=Bɮ=A=EjhYeFNOT Ignoring new targets: 434.02 m.RhmZ 8ZhmZ 8} ProNav: ac range: 434.021790 m, nav range: 424.870392 m, bearing: 77.329995 deg, approach rate: -0.743179 m/s, LOS rate: 0.001917 deg/s, cmd heading: 78.022146 deg, new cmd heading: 78.024910 deg. Bh}l8HeadingCmd: 1.361792 target range: 434.021790 and range: 436.10 m.h0O?h*h"h hgfffdddjdZdz@)Bɢ糽) Q?i)I|iS.i0O?\;iI0O?Iy9@ @@3@@@= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ^A% Β{ Aa I I O >)?M,7m?An?nl?nMٱnrz vAHRS rotation from veh to nav: [[0.208497,-0.963560,-0.167574],[0.967316,0.228448,-0.110050],[0.144322,-0.139152,0.979698]]nH? |sſ@?=?`<, #y?`@Y?in?Iniwa;n5CY-By-](II=4>)=R=bDEVDEkyU=%U^=ٔ]9YYY=]QGy];Fe!<Ee>iQ 5u4mp?Q 9u4m)m%BYqy}Ū?Q I}?mCIm;im;m4yɮ`AjhFNOT Ignoring new targets: 434.02 m.RhJ7ZhJ7 ProNav: ac range: 434.021790 m, nav range: 424.596222 m, bearing: 77.330570 deg, approach rate: -0.742569 m/s, LOS rate: 0.001559 deg/s, cmd heading: 78.024912 deg, new cmd heading: 78.026639 deg. Bh8HeadingCmd: 1.361822 target range: 434.021790 and range: 436.10 m.h-P?h*h"h hgfffdddjdZd @ 3Bɢ) TW?i)!!i%i--P?-c3;57o;I5-P?I19E5 E5E1E1"E5;*E5:VE1ZE1BE5@<2E5@<JE5;:E5;DAT read: 15:03:14.9936 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 300,-0.21, 1.496, 0.283, 1.816, 1.597, PHS= 0.001,-1.268, 0.175, RAW= 156.4, 15.8, CAL= 157.2, 18.2, ROT= 352.8, -18.2 Ygot valid direction response: 15:03:14.9936 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 300,-0.21, 1.496, 0.283, 1.816, 1.597, PHS= 0.001,-1.268, 0.175, RAW= 156.4, 15.8, CAL= 157.2, 18.2, ROT= 352.8, -18.2 DAT read: OK :unknown deviceResponse_: OK *DAT read: user:881> BDAT read: Tx time:15:03:16.0732 $Ping request sent.uR.@u0>u/@ u>)uj @Iuqu8և\?2uq??)"m? u_"?9@ @@/@)u{1Iuiu :publishing transmit ping timeyquX'R(?R hzIK?qqqq q)qIqiqqqqq q)qIqqu8և\?2uq??)"m? q)qIqiq9^A iA= .AIQ Ii O >ԑ #T, ZQm?AY~By~q(IbD VD2y%=%%N=ٔ%Q-%>9- ?Y- ?=-QGy-<F-E5>1Q 5=45p?Q 9E45)5>BYAyAQ IE?5CI5a;i5;54yIɮU AQjhFNOT Ignoring new targets: 434.02 m.Rh7Zh7 ProNav: ac range: 434.021790 m, nav range: 424.301239 m, bearing: 77.331190 deg, approach rate: -0.724041 m/s, LOS rate: 0.001523 deg/s, cmd heading: 78.026640 deg, new cmd heading: 78.028501 deg. Bh8HeadingCmd: 1.361854 target range: 434.021790 and range: 436.10 m.h=Q?h*h"h hgfffddd jd Zd t@=>Bɢ=c)9 EY?iA)E#AAiEiM=Q?M;M(':IM=Q?IQy9@ @ @ @ ԡE] E]E]%EY"E]l;*E]:VE] 4ZEYam@au@au@au@B>BB(IB7BB =BBBs;B:/E^A] ;A% ؟AI) I9 OM > *MZ,5km?Ab??b+?b ٱbU rAHRS rotation from veh to nav: [[0.206571,-0.964853,-0.162439],[0.968664,0.225071,-0.105036],[0.137905,-0.135651,0.981112]]bHp?@Ŀ`L??㺿`ަ?]`Ee?ib??Ib1qa;b4CY~Byx(IiMb@Mb@Mb@ 9Zd;O?S㥛y&1|?Yj=ٔ!v9"?Y"?=QGy =F ͥ;E >Q 5%4Fp?Q 9-4)WBY-X4a,J m?A2tF?21?2: ٱ2˲ >AHRS rotation from veh to nav: [[0.206466,-0.964997,-0.161718],[0.969169,0.224409,-0.101747],[0.134476,-0.135725,0.981578]]2Hvm?A+Ŀ`n?p?@ `6?m_i?i2tF?I2@Da;0YBByF(I HHbDNVDNܲyV >%Vb=ٔZ9XYX=ZQGyZ>F^:E^>`Q 5f4bp?Q 9f4bV)bkBYhyj?Q Ij?b/CIb[:ib:b͖4ynBɮnUAnEjh FNOT Ignoring new targets: 434.02 m.Rh <8Zh <8 ProNav: ac range: 434.021790 m, nav range: 423.723877 m, bearing: 77.333093 deg, approach rate: -0.785228 m/s, LOS rate: 0.002578 deg/s, cmd heading: 78.031626 deg, new cmd heading: 78.034208 deg. Bhw8HeadingCmd: 1.361954 target range: 434.021790 and range: 436.10 m.hT?h*h"h hgfffdddjdZdv @颥TBɢ) 9^?i)Ӵ 顩iiT?;rj;IT?IQIa)ecAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @ @ 0@ y^Ar;ԩ A9 Ia I O >Em  Em Em $Ei "Em &:*Em ҆:VEm 4ZEi a @a @a @a @ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA @AA B B B (IB [BB =B B B t;B O/E) Fg,^m?AJ47?J"?J0ٱJ] AHRS rotation from veh to nav: [[0.207013,-0.964699,-0.162795],[0.969524,0.224574,-0.097925],[0.131028,-0.137562,0.981788]]JH g?wĿW?@Ծ?`?j?iJ47?IJ1a;HYBy(IiMb@Mb@Mb@ 9x?Q{Gz?YK7?y#<HA(A vJA)-(AY9AbD VD βy9]=%*=ٔ%;Q-%>9!Y!=-QGy-?F--~E->1Q 5=45p?Q 9=45)5BYEy7?Q EE:yE?Q IE?5[CI5*:i5:504yIɮU AQjhq}FNOT Ignoring new targets: 434.02 m.Rh}M8ZhM8 ProNav: ac range: 434.021790 m, nav range: 423.383942 m, bearing: 77.334442 deg, approach rate: -0.708027 m/s, LOS rate: 0.002812 deg/s, cmd heading: 78.034208 deg, new cmd heading: 78.038258 deg. Bh8HeadingCmd: 1.362025 target range: 434.021790 and range: 436.10 m.hV?h*h"h hgfffdddjdZd&`!@`Bɢ) _?i) i"iV?Ώ;H;IV?I@ @@0@9T****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse^Ad;a A I I O% >m,Nm?A02 ?2 ?2 Eٱ2 >AHRS rotation from veh to nav: [[0.207771,-0.964588,-0.162483],[0.969787,0.224837,-0.094662],[0.127842,-0.137906,0.982160]]2H>? >Ŀ?s?;"]?m?i2 ?I2a;0YF*ByF(IbDRVDR0yV=%Zh=ٔZM9XY\=^QGy^@F^Eb>`Q 5f4b p?Q 9j4bN)bBYhyj?Q Ij?b{CIb1:ibI:bZ4ypɮrApjh FNOT Ignoring new targets: 434.02 m.Rh S8ZhS8 ProNav: ac range: 434.021790 m, nav range: 423.134094 m, bearing: 77.335457 deg, approach rate: -0.708894 m/s, LOS rate: 0.002882 deg/s, cmd heading: 78.038258 deg, new cmd heading: 78.041306 deg. Bh58HeadingCmd: 1.362078 target range: 434.021790 and range: 436.10 m.hX?h*h"h hgfffdddjdZd`k!"@MjBɢMߕDQzDQE} E}E}(Ey"E}%;*E}h:VE}c44ZEyBE}KA> M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseA .AI I O >t,*m?A2?2P?2ٱ2 :AHRS rotation from veh to nav: [[0.209003,-0.964217,-0.163107],[0.969935,0.225657,-0.091128],[0.124674,-0.139157,0.982391]]2H ?` Ŀ ?W?2T? o?i2?I2 +a;25C\Yb5Byb(IbDjVDjyr+W=%rG=ٔv;Q-v>9v ?Yz ?=zRGyzAFz<Ez>|Q 54~'p?Q 94~)~BY y ɨ?Q I ?~CI~:i~:~4yɮAjh9EFNOT Ignoring new targets: 434.02 m.RhEj[8ZhEj[8U ProNav: ac range: 434.021790 m, nav range: 422.842773 m, bearing: 77.336688 deg, approach rate: -0.709122 m/s, LOS rate: 0.002997 deg/s, cmd heading: 78.041304 deg, new cmd heading: 78.044998 deg. BhU9]HeadingCmd: 1.362142 target range: 434.021790 and range: 436.10 m.h]Z?hY*ha"ha hagafafifidididijdqZdu"@颥tBɢL ) `?i) 顩i纻iZ?P;L}:IZ?Ii9@ @@/@E} E}E})Ey"E}=;*E}M:VE}FA4ZEya@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBBB)IByBBBBB,t;Ba/Ea@a@a@^Auyb:A ؟AI I O >A z,m?AFZɑ?Fⴭ?FnٱF  VAHRS rotation from veh to nav: [[0.210519,-0.963383,-0.166056],[0.970011,0.226962,-0.086989],[0.121493,-0.142763,0.982272]]FHM?SAſ@T ?  ?@D#?F¿n?iFZɑ?IFCa;DY^@Byb(I~T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiuMb@Mb@Mb@qqqq q9un?Zd;OMb?Yu6?yuju9u"?Yu"?=uRGyuBF}TE}>Q 54-p?Q 94)ōBY6?Q E:yǩ?Q I?ɠCI ;i& ;z4yBɮ%AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 434.02 m.Rh#8Zh#8 ProNav: ac range: 434.021790 m, nav range: 422.522400 m, bearing: 77.337705 deg, approach rate: -0.703495 m/s, LOS rate: 0.002236 deg/s, cmd heading: 78.044999 deg, new cmd heading: 78.048054 deg. Bhg8HeadingCmd: 1.362195 target range: 434.021790 and range: 436.10 m.hl\?h*h"h hgfffdddjdZd#@颭Bɢ؝) 5`?i) 顱i?il\?n2;8Il\?IA}9@y @y@y@yiEm EmEm$Ei"EmT;*Em:VEm4ZEiBEmG,Pn?A2?2D~?2Cٱ2n :AHRS rotation from veh to nav: [[0.212213,-0.962501,-0.168990],[0.970012,0.228444,-0.083010],[0.118502,-0.146307,0.982116]]2H)?xſV ?=?@,@+V?`,¿@~m?i2?I2A(a;23CYZZBy^(IbDfVDfyn/>%nh=ٔnP 9r ?Yr ?=rRGyrCFvJEv>xQ 5~4z2p?Q 9~4z`)z֍BY|y?Q I?zCIz&;izv;z4y Bɮ A Ejh15FNOT Ignoring new targets: 434.02 m.Rh=/8Zh=/8M ProNav: ac range: 434.021790 m, nav range: 422.274536 m, bearing: 77.338547 deg, approach rate: -0.705783 m/s, LOS rate: 0.002399 deg/s, cmd heading: 78.048053 deg, new cmd heading: 78.050580 deg. BhM8UHeadingCmd: 1.362240 target range: 434.021790 and range: 436.10 m.hU]?hQ*hQ"hQ hQgYfYfafadadadajdiZdmރ$@yBɢ) i?i) i#Żi]?;TݯI]?I9@ @@@@dA@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԩ^Aq:I I O > bEjE^+4rEA0E  E E 'E B B B =)IB BB =B B B t;B L/EBBBBBC˚4 "E ;*E v:VE '4ZE  G "C,"n?A4N9LYNABEUA<2EUA<JEU;:EU;nDAT read: 15:03:18.5551 LVL= 25488, 31217, 28274, 26803, AGC= 70, IDX= 46, 0.47,-2.579, 2.278,-2.370,-2.989, PHS= 0.512,-0.971, 0.575, RAW= 152.1, -1.6, CAL= 151.2, -2.5, ROT= 358.8, 2.5 rYgot valid direction response: 15:03:18.5551 LVL= 25488, 31217, 28274, 26803, AGC= 70, IDX= 46, 0.47,-2.579, 2.278,-2.370,-2.989, PHS= 0.512,-0.971, 0.575, RAW= 152.1, -1.6, CAL= 151.2, -2.5, ROT= 358.8, 2.5 rDAT read: OK -:unknown deviceResponse_: OK -*DAT read: user:882> 5BDAT read: Tx time:15:03:19.6742 5$Ping request sent.59yYy=}RGy}DFRE>Q 549p?Q 94U|)BYL5?Q E:ys?Q I?CI&(N,JAn?AR.?R?RٱR ^AHRS rotation from veh to nav: [[0.215314,-0.960745,-0.174953],[0.969976,0.231150,-0.075602],[0.113074,-0.153422,0.981670]]RHh?l`dƿ ?R?Zp?Vÿ i?iR.?IR`a;R2CYfqByf )IbDnVDnyv=%vN=ٔz;Q-z>9xYx=~RGy~EF~nE~>Q 5 4>p?Q 9 47u)BY yG?Q I?:CIL;i;Wʀ4yɮAjhAMFNOT Ignoring new targets: 434.02 m.RhM7ZhM7] ProNav: ac range: 434.021790 m, nav range: 421.643311 m, bearing: 77.339490 deg, approach rate: -0.758262 m/s, LOS rate: 0.001213 deg/s, cmd heading: 78.052076 deg, new cmd heading: 78.053409 deg. Bh] U8eHeadingCmd: 1.362289 target range: 434.021790 and range: 436.10 m.he|_?hi*hi"hi higififqfqdqdydyjdyZd}oP&@颥Bɢ.{) h?i)j顱iλi|_?֍;8yI|_?Iԩ@ @@/@^A mIqIO> 1 t,Q[n?A2?2;?2ٱ2Z :AHRS rotation from veh to nav: [[0.216704,-0.960239,-0.176014],[0.969958,0.232199,-0.072565],[0.110550,-0.155001,0.981709]]2H? Fƿ ??`@M?`ÿ)j?i2?I2Oa;23CYBuByB)IbDJVDJyR<%RO=ٔVT;Q-V>9TYT=ZRGyZFFZdEZ>\Q 5b4^YDp?Q 9b4^%n)^BYdyf?Q If?^]CI^:i^9:^8р4yjtBɮjAjEjhFNOT Ignoring new targets: 434.02 m.Rh27Zh27m ProNav: ac range: 434.021790 m, nav range: 421.366943 m, bearing: 77.339982 deg, approach rate: -0.667375 m/s, LOS rate: 0.001190 deg/s, cmd heading: 78.053407 deg, new cmd heading: 78.054886 deg. B>BBb)IBBB =BBBs;B8/EE EE)E"El;*E:VEFA4ZEBE[F<2E[F<JE;:E;BhQ8HeadingCmd: 1.362315 target range: 434.021790 and range: 436.10 m.hT`?h*h"h hgfffdddjdZd`"E'@5Bɢ5Uǘ)1 5d?i9)=99i=]ӻiET`?EC;EIT`?II)eAA9@ @@/@@=@=i ^A yI! I9 OE >,tn?A 2uސ?2ɬ?2gݽٱ2,! >AHRS rotation from veh to nav: [[0.217806,-0.959859,-0.176725],[0.969987,0.232944,-0.069736],[0.108104,-0.156232,0.981787]]2H?)ƿ@! ??5ڱ?@hÿj?i2uސ?I2T/a;22CYFByF%)IIJ4=)JiMb@Mb@Mb@ 9"~?Mb rh?Y3?yC<EAv"A ?A)Y\3AbD-VD-N2y=ǘ=%A=ٔV;Q->9Y=RGyGF E>Q 54+Jp?Q 94Tf))BY4?Q E:yԫ?Q I?CI@:i:؀4yɮAB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 434.02 m.RhY7ZhY7% ProNav: ac range: 434.021790 m, nav range: 421.061798 m, bearing: 77.340293 deg, approach rate: -0.730025 m/s, LOS rate: 0.000743 deg/s, cmd heading: 78.054883 deg, new cmd heading: 78.055814 deg. Bh%8-HeadingCmd: 1.362331 target range: 434.021790 and range: 436.10 m.h-`?h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE'@mBɢmTB)q uh?iq)uyyi}b׻i}`?;5 I`?Iy 9@  @ @4@E EE,E"E ;*E:VEg4ZEBER<2ER<JEX;:EX;eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseԙ^A5}IIO> ,ʎn?A2fݐ?2Ȭ?2ڽٱ2Ӵ" :AHRS rotation from veh to nav: [[0.217880,-0.959721,-0.177379],[0.970169,0.232772,-0.067740],[0.106301,-0.157329,0.981808]]2H ? ]ƿ ?`|?pW6?`X#Ŀ`j?i2fݐ?I2?Aa;24CTYZByZA)IbDfVDf:yj=%jQ=ٔn;Q-n>9pYp=rRGyrHFr̳Ev>tQ 5z4v.Op?Q 9~4v_)v;BY|y|Q I~?vCIv;iv;vt߀4y ɮ cA jh)5FNOT Ignoring new targets: 434.02 m.Rh5vP7Zh=vP7M ProNav: ac range: 434.021790 m, nav range: 420.799133 m, bearing: 77.340560 deg, approach rate: -0.698404 m/s, LOS rate: 0.000712 deg/s, cmd heading: 78.055812 deg, new cmd heading: 78.056615 deg. BhM(7UHeadingCmd: 1.362345 target range: 434.021790 and range: 436.10 m.hURa?hQ*hQ"hQ hQgQfYfYfYdadadajdaZde(@颕Bɢ) lo?i)k)顙i5ܻiRa?;9IRa?IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse59@1 @1@53@1^A]-»IIO>BBB)IBЉBBBBBs;B5/EEE  EE EE %EA "EE ;*EE :VEE 4ZEA } T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseBEE @<2EE @<JEE ;:EE ;) ,in?A2ڐ?2Ƭ?2 ׽ٱ2*" :AHRS rotation from veh to nav: [[0.218000,-0.959761,-0.177016],[0.970305,0.232623,-0.066300],[0.104810,-0.157306,0.981972]]2Hi?]@wƿ@ ?@?Ժ?"Ŀ@Ql?i2ڐ?I2ca;22CYNByNR)I|iUMb@Mb@Mb@QQQQ Q9Ux?~jtx? rh?YUK7?yU;QUCAU A U5>A)U$AQYU1AbDVDk1yMr=%M5=ٔU2Y;Q-U>9YYY=]RGy]IF]JEe>aQ 5m4eTp?Q 9m4eUW)ePBYuZ7?Q Eu:yuS?Q Iu?eϡCIe;ie;eZ4y}BɮNAEjhFNOT Ignoring new targets: 434.02 m.Rh`Zh` ProNav: ac range: 434.021790 m, nav range: 420.477905 m, bearing: 77.340034 deg, approach rate: -0.705534 m/s, LOS rate: -0.001157 deg/s, cmd heading: 78.056618 deg, new cmd heading: 78.055037 deg. Bh@KHeadingCmd: 1.362317 target range: 434.021790 and range: 436.10 m.hk`?h*h"h hgfffdddjdZdβ)@)额ɇBɢ^T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse) 0p?i)s1AAiERiMk`?M;MflIMk`?IQ9@ @@4@@@cAQԉ ^A #2A% cAzA! E]  E] E] *EY "E] ;*E] :VE] (N4ZEY ae @ae @ae @am @} T****** received valid address query ******} R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseAm ؟AIy I O > :,)%n?A 6ڐ?6sƬ?6wӽٱ6V" >AHRS rotation from veh to nav: [[0.218024,-0.959872,-0.176381],[0.970466,0.232352,-0.064877],[0.103256,-0.157027,0.982182]]6H 7?F@ƿ ?`? ›n?@yĿ n?i6ڐ?I6}b;4YFByFa)I HHbDRVDRfyVBo=%VP=ٔZ;Q-Z>9^"?Y^"?=^RGy^JF^7Eb>`Q 5f4bYp?Q 9j4b+P)bbBYyQ I?bCIb#7f,n?A8BF?Bլ?BнٱB! ^AHRS rotation from veh to nav: [[0.217604,-0.960152,-0.175379],[0.970722,0.231624,-0.063640],[0.101726,-0.156395,0.982442]]BH`q?rƿ&?@إ?@J ?@Ŀ@*p?iBF?IBc;@YrByvj)IB->B)B-)IB-BB)B)B)B-s;B-&/EE EE(E"E ;*E:VEc44ZEBER9)Y)=5RGy5KF5;m:E5>YQ 5e4]`p?Q 9e4]F)]xBYm[8?Q Em:ym?Q Im?]"CI]":i]*:]S4yu_BɮAEjhFNOT Ignoring new targets: 434.02 m.RhZh ProNav: ac range: 434.021790 m, nav range: 419.825897 m, bearing: 77.338671 deg, approach rate: -0.720696 m/s, LOS rate: -0.001750 deg/s, cmd heading: 78.053667 deg, new cmd heading: 78.050946 deg. BhHeadingCmd: 1.362246 target range: 434.021790 and range: 436.10 m.h%^?h!*h!"h! h!g!f!f)f)d)d)d1jdQZdU~+@އBɢ) to?i)~|i=%i}^?}b;}I^?I!@! @!@-/@)@5=@1 T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ^A- ! AYIiIyO>ͨ,c|n?AN7?N"?NVʽٱN VAHRS rotation from veh to nav: [[0.215389,-0.961758,-0.169201],[0.971511,0.228583,-0.062581],[0.098865,-0.150902,0.983593]]NHߑ?`cſ?6B?@S0O?@Pÿ`y?iN7?INe;N0CY^ՉBy^)IbDfVDfkynZ>%n]=ٔr;Q-r>9pYt=vRGyvLFv;Ez>xQ 5~4zedp?Q 9~4z?)zBYyY?Q I?zDCIz:iz:z4yɮ'A-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 434.02 m.RhEZhEU ProNav: ac range: 434.021790 m, nav range: 419.565155 m, bearing: 77.337956 deg, approach rate: -0.731103 m/s, LOS rate: -0.002005 deg/s, cmd heading: 78.050949 deg, new cmd heading: 78.048803 deg. BhU!]HeadingCmd: 1.362209 target range: 434.021790 and range: 436.10 m.h]\?hY*hY"ha hagafafifidididqjdqZdu`1,@额Bɢ\0Z) w?i)[顡i7i\?RD;3NI\?IE EE)E"E%;*EVEFA4ZEa@a@a@a@BDAT read: Rx Time:15:03:22.6603 TRx dataTimestamp_ set to:1761577404.057001T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!@! @!@-/@)^Ae)A I I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseY Ӊś,:o?AYBy)I 4< 4<bDVDyE=%ME=ٔMQ-M>9QYQ=URGyUMFUEU>aQ 5e4efip?Q 9m4e'8)eBYiyiQ Im?ejCIe:iet:e4yqɮ}AyjhFNOT Ignoring new targets: 434.02 m.RhZhq5 ProNav: ac range: 434.021790 m, nav range: 419.267639 m, bearing: 77.337139 deg, approach rate: -0.716664 m/s, LOS rate: -0.001968 deg/s, cmd heading: 78.048804 deg, new cmd heading: 78.046353 deg. Bh5謸=HeadingCmd: 1.362166 target range: 434.021790 and range: 436.10 m.h=s[?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZd"-@Bɢ) n|?i)Mii s[?;bIs[?IBA<B%>B!B%)IB% BB!B!B!B%s;B%/EE- E-E-'E)"E-:*E-:VE-'4ZE)BE->t̛,>4o?ARDAT read: 15:03:22.6603 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 476, 0.10, 0.586,-0.844, 0.760, 0.198, PHS= 0.490,-0.997, 0.518, RAW= 150.9, -0.2, CAL= 149.8, -0.8, ROT= 0.2, 0.8 VYgot valid direction response: 15:03:22.6603 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 476, 0.10, 0.586,-0.844, 0.760, 0.198, PHS= 0.490,-0.997, 0.518, RAW= 150.9, -0.2, CAL= 149.8, -0.8, ROT= 0.2, 0.8 jPDAT read: Bearing 216.1, 5.9 (Local) n~Local bearing/azimuth received: Bearing 216.1, 5.9 (Local) rDAT read: Range 11 to 50 : 436.5 m (Round-trip 582.0 ms) speed 0.6 m/s rR#Rx 4: Read range and direction messages.v^direction in FSK: [0.999896,0.003490,-0.013962]Fpublishing direction and range infoy,.a~&?cfzl?4Y.@C,... .).BI.H>i.d;.?.(@.d.T'@ .d).d;I.d<,,.7W^s?0yQ r?8e .7- ?).);I.d;i.d<,,-2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.G{?f?Žٱ AHRS rotation from veh to nav: [[0.213421,-0.962947,-0.164878],[0.972197,0.225978,-0.061368],[0.096353,-0.147197,0.984403]]H@_Q? vſ=??k?W¿:?iG{?IWe;5CYBy)IIimMb@Mb@Mb@iiii i9mCl?Mbp?{Gzt?Ymd;?ym;mף;m@Am+A m;A)mC#AiYm/AbDVDܲy8<%=ٔ!;Q->9Y=RGyOF]|;E>)Q 554-\pp?Q 954--)-BY5f;?Q E=:y=:?Q I=?-CI-:i-:-z4yeJBɮegAeEi,i.4o?AJi.6CRi.6Cji.k?b.nN &{@OB?nC}CR.a~&?cfzl?4Zi.d;bi.d<j..^W@lt@pz@.S(eA@Z.b*-?K;(?SP|?2i.C:i.}B"i.͎?*i.1.Bi.ABi.͎?i.˦&i.!Bi.iCi.N?] addTargetRange:: Added new target pos. range: 436.500000 m, deltaT: 14.915922 s, deltaX: 0.399994 m, approachRate: 0.026817 m/s, rangeRepo size: 4 m Added new target pos. range: 434.422760 m, bearing: 77.698338 deg, lat: 36.778951 deg, lon: -121.859334 deg, deltaT: 14.915922 s, deltaX: 0.400970 m, approachRate: 0.026882 m/s, posRepo size: 4 jhiuFNOT Ignoring new targets: 434.42 m.yRhuZh ProNav: ac range: 434.422760 m, nav range: 428.825897 m, bearing: 77.576546 deg, approach rate: 0.000000 m/s, LOS rate: -0.001968 deg/s, cmd heading: 78.046352 deg, new cmd heading: 78.043009 deg. BhHeadingCmd: 1.362108 target range: 434.422760 and range: 436.50 m.hY?h*h"h hgfffdddjdH{@Zd`l?]Bɢ])Y ] BDAT read: Tx time:15:03:24.1242 $Ping request sent.Vԛ,2Ro?A2?2w?2ýٱ2 :AHRS rotation from veh to nav: [[0.212964,-0.963103,-0.164558],[0.972421,0.225318,-0.060248],[0.095103,-0.147189,0.984526]]2HgB?`:ſ?9V ?YV ?=VRGyVPFX^:E^>`Q 5f4btp?Q 9f4bD')bBYdyfJ?Q Ij?bCIb;ib;b4ylɮn:AljhFNOT Ignoring new targets: 434.42 m.Rh egZh egiqIuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251082 ProNav: ac range: 434.422760 m, nav range: 428.566406 m, bearing: 77.576281 deg, approach rate: -0.774420 m/s, LOS rate: -0.000790 deg/s, cmd heading: 78.043012 deg, new cmd heading: 78.042217 deg. Bh HeadingCmd: 1.362094 target range: 434.422760 and range: 436.50 m.hY?h*h"h hgfffddd jd Zd?]Bɢ]L)Y ]z?ia)e8aaie!iY?؇;IY?I]9@a @a@e/@a Bu>BuCBu)IBu+BBqBqBqBues;Bu.EBIBIBIBIBICM4e/GbEjENJ94rEdz0E EEE"Ef;*E:VEZEBEWqڛ, ko?A1Y5By=)I AA}only read 0 of 1 data item for BIT error. Device response is::TS,00050318514453,35.0, +0.0,1495.1, 0 a}@a} a}@a} a}@a a@a @AbDVDky=%==ٔQ->9"?Y"?=RGyQFE>Q 54pzp?Q 94)ʎBQ A+:YQ Ej:yQ I?CIa>;i>4yɮAjh15FNOT Ignoring new targets: 434.42 m.Rh=WZh=WM ProNav: ac range: 434.422760 m, nav range: 428.249878 m, bearing: 77.575958 deg, approach rate: -0.721393 m/s, LOS rate: -0.000737 deg/s, cmd heading: 78.042220 deg, new cmd heading: 78.041249 deg. BhMUHeadingCmd: 1.362077 target range: 434.422760 and range: 436.50 m.hUX?hQ*hQ"hQ hQgYfYfYfYdadadajdaZdmd?-Bɢ5b)1 5D?i1)5w19i=i=X?E v;M_IMX?Iaachecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7556429@ @@0@ԉ^A9 Թ A .AI I O >D D <E  E E )E "E ;*E $:VE FA4ZE a @a @a @a @U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006677Y,o?A2Hɑ?2д?2Ͼٱ2 jAHRS rotation from veh to nav: [[0.211173,-0.963428,-0.164962],[0.973011,0.223262,-0.058338],[0.093035,-0.148190,0.984573]]2H?g@xſ "?@ۓ?`ޭ`ѷ?¿`?i2Hɑ?I2c;0YrByr)IbD VD2y%d$=%-S=ٔ-ܯ;Q-->9M ?YM ?=MRGyMRFUw;EU>YQ 5]4]Yp?Q 9e4])]َBQ Ae :YaQ Ee>:ye?Q Ie?] CI]<:i]CS?]P4yqɮuAqԉB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 434.42 m.Rh3Zh3 ProNav: ac range: 434.422760 m, nav range: 427.966736 m, bearing: 77.575597 deg, approach rate: -0.734143 m/s, LOS rate: -0.000937 deg/s, cmd heading: 78.041250 deg, new cmd heading: 78.040165 deg. Bh$HeadingCmd: 1.362058 target range: 434.422760 and range: 436.50 m.hW?h*h"h hgfffdddjdZd E$?BɢI) 5?iI)M QQiUgieW?V7;[9IW?IE9@A @A@E4@AԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258872^AA ؟AI I O > D~,mo?A6 ڑ?6ŭ?6fٱ6;| BAHRS rotation from veh to nav: [[0.210696,-0.963332,-0.166130],[0.973215,0.222700,-0.057072],[0.091976,-0.149656,0.984451]]6H?@Cſ$?`n?8ċ?'ÿ?i6 ڑ?I6mc;63CYF+ByJ)IbDRVDR1yZ=%ZS=ٔZ3;Q-^>9^"?Y^"?=^RGybSFbR:Eb>dQ 5j4f1p?Q 9j4f)fBQ Aj9YhQ En:yn?Q In?f.CIf:if?f"4ypɮrzApjh  FNOT Ignoring new targets: 434.42 m.RhZh% ProNav: ac range: 434.422760 m, nav range: 427.686646 m, bearing: 77.575220 deg, approach rate: -0.730370 m/s, LOS rate: -0.000984 deg/s, cmd heading: 78.040164 deg, new cmd heading: 78.039031 deg. Bh%,-HeadingCmd: 1.362038 target range: 434.422760 and range: 436.50 m.h-CW?h)*h1"h1 h1g1f1A9A=@ABE>BECBE*IBEJBBABABABE[s;BE.Ef9fYdYdYdajdaZdeW?颍 BɢXH) ܂?i)W顑iiCW?; %:ICW?IE EE'E"E;*EM:VE'4ZEBEDi I A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762979y ,bIo?A2?2LЭ?28ٱ2 :AHRS rotation from veh to nav: [[0.210397,-0.963233,-0.167080],[0.973373,0.222307,-0.055897],[0.090985,-0.150870,0.984358]]2HG?bſ@%? t?`J?Oÿ?i2?I2/c;25CYBCByB*IIF>)F>a a  a a  aa aa iMb@Mb@Mb@ 9 ףp= ?Mb`?9Y=RGyTFF:E>Q 54p?Q 94)BQ AT:YU8?Q E:yi?Q I?VCI;i;t*4y,BɮAxEjhFNOT Ignoring new targets: 434.42 m.RhqZhq ProNav: ac range: 434.422760 m, nav range: 427.376373 m, bearing: 77.574862 deg, approach rate: -0.716103 m/s, LOS rate: -0.000825 deg/s, cmd heading: 78.039030 deg, new cmd heading: 78.037957 deg. BhHeadingCmd: 1.362019 target range: 434.422760 and range: 436.50 m.hV?h*h"h hg!f!f!f!d)d)d)jd)Zd-]@Qe)BɢeJL)a e?ia)mc}iiimDiuV?uÆ;ud:IuV?Iy-9@) @)@)@)ԁE EE%E"E;*E:VE 4ZEa@a@a@a@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018914^A5"5:ԱI) I9 OM > K,-$o?A6h?6Э?64ٱ6~ BAHRS rotation from veh to nav: [[0.210400,-0.963314,-0.166610],[0.973480,0.222103,-0.054829],[0.089822,-0.150656,0.984497]]6H@c?vzSſ@&?m??Hÿ`?i6h?I6b;61CYJMByJ*IbDRVDRyZJ=%ZZ=ٔ^/L;Q-^>9\Y`=bRGybUFbXY8Eb>dQ 5j4fGp?Q 9j4f)fBYlylQ In?fxCIf ;ifz;f14ypɮrzAtjh FNOT Ignoring new targets: 434.42 m.RhrZhr% ProNav: ac range: 434.422760 m, nav range: 427.107727 m, bearing: 77.574552 deg, approach rate: -0.716638 m/s, LOS rate: -0.000829 deg/s, cmd heading: 78.037958 deg, new cmd heading: 78.037026 deg. Bh--HeadingCmd: 1.362003 target range: 434.422760 and range: 436.50 m.h-V?h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE@@u1BɢuC3)q u?iq)}yyi}-iV?;IV?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270839Թ9@ @@@^Arg:BYB]CB]C*IB]mBBYBYBYB]vs;B]/EIyIO>E EE'E"E=;*E1:VE'4ZEBE}I9Y=RGyVF$E>Q 54p?Q 94)BY8?Q E:y?Q I?CI ;i ;84y4BɮyAjh)-FNOT Ignoring new targets: 434.42 m.Rh58Zh58E ProNav: ac range: 434.422760 m, nav range: 426.791290 m, bearing: 77.575344 deg, approach rate: -0.718417 m/s, LOS rate: 0.001800 deg/s, cmd heading: 78.037029 deg, new cmd heading: 78.039407 deg. BhE8MHeadingCmd: 1.362045 target range: 434.422760 and range: 436.50 m.hMzW?hI*hI"hI hIgQfffdddjdZd@m;BɢmhLQ)q u?iq)uqi+{ izW?N;C:IzW?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.77470399@ @@/@@@@@i E  E E $E "E ;*E :VE 4ZE a @a @a @a @I9 IQ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026715ԑ O >9,Xup?AR?R5ϭ?RٱRY nAHRS rotation from veh to nav: [[0.210499,-0.963345,-0.166300],[0.973691,0.221789,-0.052304],[0.087270,-0.150915,0.984687]]RH?NIſy(?@c?ǪWW?*Qÿ?iR?IRga;R2CYrsByrJ*IAAAAbDVD1y%>%%Q=ٔ-A;Q-->91Y1=5RGy5WF5j18E=>AQ 54E p?Q 94Ej)E#BYyQ I?EţCIE;?Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278734y ,8!p?A0:7ۑ?:ƭ?:צٱ:g BAHRS rotation from veh to nav: [[0.210771,-0.963377,-0.165773],[0.973732,0.221855,-0.051248],[0.086149,-0.150617,0.984831]]:H? 8ſ(?`e?1= ?`gGÿ@?i:7ۑ?I:t`;8YJByJ\*IBPARp<BV>BVCBVo*IBVBBV =BTBVDBVos;BV/EbDfVDfNyj=%nP=ٔn;;Q-n>9pYp=rRGyrXFv|,Ev>xQ 5z4zp?Q 9~4z7)z1BY|y~?Q I~?zCIz&;ize;zgF4y Bɮ PA oEjh15FNOT Ignoring new targets: 434.42 m.Rh=8Zh=8M ProNav: ac range: 434.422760 m, nav range: 426.227661 m, bearing: 77.576767 deg, approach rate: -0.770684 m/s, LOS rate: 0.001961 deg/s, cmd heading: 78.041523 deg, new cmd heading: 78.043672 deg. BhM@8UHeadingCmd: 1.362119 target range: 434.422760 and range: 436.50 m.hUY?hQ*hQ"hQ hQgYfYfYfadadadajdaZdmM @颕LBɢp ) u?i)u顙i<iY?F;>,9IY?IEE EEEE'EA"EEx;*EE:VEE'4ZEABEEDg  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782671.,j;p?A2ϑ?2b?2"ٱ2G :AHRS rotation from veh to nav: [[0.211131,-0.963106,-0.166883],[0.973761,0.222078,-0.049697],[0.084925,-0.152012,0.984723]]2H Y?@n\ſ )?m?@q? uÿڂ?i2ϑ?I2`;21C\YbByb^*IiMb@Mb@Mb@ 9I +?~jt rh?Y94?yļC<:AtA f4A)AY=*AbDVD1y<%,=ٔ);Q->9Y = RGy YF ?E>Q 54Wp?Q 9%4)EBY%a4?Q E%:y%ީ?Q I%?CI:i:N4y1ɮ5HA1jhQ]FNOT Ignoring new targets: 434.42 m.Rhe98Zhe98u ProNav: ac range: 434.422760 m, nav range: 425.895538 m, bearing: 77.577970 deg, approach rate: -0.699701 m/s, LOS rate: 0.002537 deg/s, cmd heading: 78.043674 deg, new cmd heading: 78.047286 deg. Bhu8}HeadingCmd: 1.362182 target range: 434.422760 and range: 436.50 m.h}[?hy*hy"hy hygfffdddjdZd@颽UBɢT>) v?i)ViϤi[?);(h8I[?IEM EMEM(EI"EM%;*EM:VEMc44ZEIaU@aU@aU@aU@Y@Y @Y@]4@YAazAaDAT read: 15:03:27.1055 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 245, 0.23,-1.767, 3.055,-1.439,-1.850, PHS= 0.185,-1.333, 0.367, RAW= 155.6, 9.7, CAL= 155.4, 10.4, ROT= 354.6, -10.4 %Ygot valid direction response: 15:03:27.1055 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 245, 0.23,-1.767, 3.055,-1.439,-1.850, PHS= 0.185,-1.333, 0.367, RAW= 155.6, 9.7, CAL= 155.4, 10.4, ROT= 354.6, -10.4 -PDAT read: Bearing 226.7, -1.8 (Local) -~Local bearing/azimuth received: Bearing 226.7, -1.8 (Local) =DAT read: Range 11 to 50 : 432.9 m (Round-trip 577.2 ms) speed 1.1 m/s =R#Rx 1: Read range and direction messages.E^direction in FSK: [0.979206,-0.092562,0.180519]MFpublishing direction and range infoyU?X&lE@?YsC )?Ip=>im>-@-\->^-@ 9>) @I9;D?(U\?~QӼ?  ?)9-Ii9eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.AIIO>A ,,Tp?A2b?2ꨭ?2`ٱ2 :AHRS rotation from veh to nav: [[0.211702,-0.962712,-0.168427],[0.973745,0.222525,-0.047997],[0.083687,-0.153843,0.984545]]2H`?`ſ(? {?l? #ÿ`d?i2b?I2{`;0YNByR*IIVa=)V<bDZVDZyv4>%vt=ٔvr;Q-v?9xYx=zRGyzZFzܺE~?E*DAT read: user:884> MBDAT read: Tx time:15:03:28.4242 M$Ping request sent.MBB*IBBBBBBB/EqEm EmEm%Ei"EmO;*Em$:VEm 4ZEiBEm)Y ",np?Avެ?vf?v{(ٱv ~AHRS rotation from veh to nav: [[0.212214,-0.962659,-0.168088],[0.973734,0.222827,-0.046796],[0.082503,-0.153743,0.984661]]vH)?@ ſ(??@@?֭ÿW?ivެ?Iv_`;v2CYBy*IԁiMb@Mb@Mb@ 9Zd;?:v{Gz?Y9?yԼף<EA 3A)ZAY)AbDVDya=%==ٔ{4;Q->9Y=RGy[F"E>Q 54p?Q 94)eBY :?Q E:y?Q I?YCIL:i:\4yBɮAjhFNOT Ignoring new targets: 430.85 m.Rhb8Zhb8 ProNav: ac range: 430.845062 m, nav range: 408.290527 m, bearing: 77.052416 deg, approach rate: -0.723276 m/s, LOS rate: 0.002027 deg/s, cmd heading: 78.050122 deg, new cmd heading: 78.052617 deg. Bh8HeadingCmd: 1.362275 target range: 430.845062 and range: 432.90 m.h_?h*h"h hgfffdddjdZd?efBɢe; )a e?ii)miiimQiu_?u;u>`I_?Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503635M9@Q @Q@U/@Q^Au q1 Dm =Dm <Eu  Eu Eu )Eq "Eu l;*Eu Z:VEu FA4ZEq a} @a} @a} @a} @I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759",cp?A29?2¨?2ٱ2< :AHRS rotation from veh to nav: [[0.211742,-0.962931,-0.167123],[0.973903,0.222190,-0.046300],[0.081717,-0.152958,0.984848]]2HY?S`Jdſ7*?p?@f?!ÿ?i29?I2L`;0YEByE*IbDVD1yID=%N=ٔ;Q->9Y=RGy\Fi:E>Q 54cp?Q 94y)vBYy?Q I?~CI;ij; c4yBɮAfEB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 430.85 m.Rh8Zh8Qe ProNav: ac range: 430.845062 m, nav range: 408.003326 m, bearing: 77.053202 deg, approach rate: -0.751565 m/s, LOS rate: 0.002059 deg/s, cmd heading: 78.052615 deg, new cmd heading: 78.054975 deg. Bheٴ8mHeadingCmd: 1.362316 target range: 430.845062 and range: 432.90 m.hmb`?hi*hq"h hgfffdddjdZd?nBɢ) p?i)i'i%b`?%s;%QŹI%b`?I!9@ @ @ @ ԁ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006699ԩ^AM Β{I I O > /*(,>p?A e> CA8A:AAB>>B<B>*IB>݊BB> =B<B>DB>@s;B>.EB)B)B)B)B)C-#5Z>GfAfAp9AfAYOAKǑ?Ӳ?˥ٱ\ AHRS rotation from veh to nav: [[0.211457,-0.963009,-0.167030],[0.974036,0.221772,-0.045508],[0.080867,-0.153071,0.984901]]H`?@aſM+?c? L`?їÿO?iKǑ?I`;YɊBy*IbDVDܲy=%G=ٔw;Q->9Y=RGy]FD:E>Q 54mp?Q 94)BYy?Q I?CI;i;3j4yɮ A jh)5FNOT Ignoring new targets: 430.85 m.bE'4jE!4rE0EM EMEM$EI"EM;*EM:VEM4ZEIBEM1N9 T.,p?A2̑?2?2 ȣٱ2M :AHRS rotation from veh to nav: [[0.211331,-0.963168,-0.166271],[0.974145,0.221457,-0.044711],[0.079886,-0.152524,0.985066]]2H ?`F@bHſ@1,?@X?Y䦿ks?`ÿ?i2̑?I2i_;0YBByB*Ii Mb@Mb@Mb@     9 1Zd?~jt~jt?Y ";?y D < 7A A Q0A) A Y 'AbDVDy >%O=ٔ0#;Q->9Y=RGy^F49E>Q 54p?Q 94)BYC;?Q E:yF?Q I?ɤCI ;i* ;q4yɮmAjhFNOT Ignoring new targets: 430.85 m.RhZh ProNav: ac range: 430.845062 m, nav range: 407.420593 m, bearing: 77.053958 deg, approach rate: -0.726420 m/s, LOS rate: -0.000103 deg/s, cmd heading: 78.057369 deg, new cmd heading: 78.057247 deg. Bh鐶 HeadingCmd: 1.362356 target range: 430.845062 and range: 432.90 m.h a?h *h"h hgfffdd!d!jd!Zd%G?M~BɢU@ӹ)Q U?iQ)]YYi]0siea?e$;eиIea?Iiq 9@  @ @ ?0@ DAzDAEI EMEM(EI"EI*EM:VEMc44ZEIaU@aU@aU@aU@AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.775280^Am9IIO>i 6<5,Ap?A 6ڑ?6)ƭ?6Jٱ6l >AHRS rotation from veh to nav: [[0.210911,-0.963432,-0.165275],[0.974295,0.220884,-0.044274],[0.079161,-0.151689,0.985253]]6H`$?n'ſk-?E?``C?jÿ1?i6ڑ?I6T_;60CY^By`bDjVDj!yr:%rV=ٔr:Q-r>9tYt=vRGyv_Fve:Ez>xQ 54zp?Q 94zx)zBYyT?Q I?zCIz;iz;zw4yɮoAjh1=FNOT Ignoring new targets: 430.85 m.RhE*ZhE*U ProNav: ac range: 430.845062 m, nav range: 407.143799 m, bearing: 77.053902 deg, approach rate: -0.726979 m/s, LOS rate: -0.000146 deg/s, cmd heading: 78.057246 deg, new cmd heading: 78.057080 deg. BhU̶]HeadingCmd: 1.362353 target range: 430.845062 and range: 432.90 m.h]a?hY*hY"hY hYgafafafadididijdiZdm@i/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0233045Bɢ=)9 =z?i9)=AAiE0!!iMa?M;M^9IMa?IIq 9@  @ @ 4@Be>BaBe*IBeBBe =BaBeDBeNs;Be.EԹ^Ayb]IAE] E]E]&EY"E]x;*E]:VE]4ZEYBE]DgE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276847 g;,p?A:?:&ѭ?:Yٱ: BAHRS rotation from veh to nav: [[0.210600,-0.963452,-0.165556],[0.974438,0.220443,-0.043304],[0.078216,-0.152204,0.985249]]:H?`0ſ.?z7?`+@?k{ÿ)?i:?I:h_;:2CPYRByR*IIVi>)Vp9Y=RGy`FuM:E>Q 54p?Q 94!)BYjC?Q E:yb?Q I?CI#;i@#;=4yBɮA\EjhFNOT Ignoring new targets: 430.85 m.RhZh ProNav: ac range: 430.845062 m, nav range: 406.819122 m, bearing: 77.053460 deg, approach rate: -0.755408 m/s, LOS rate: -0.001029 deg/s, cmd heading: 78.057082 deg, new cmd heading: 78.055755 deg. Bh4HeadingCmd: 1.362330 target range: 430.845062 and range: 432.90 m.h%`?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@۟@eBɢe|ݼ)a e'?ii)miiimk#iu`?u;u::I}`?Iy 9@  @ @ 4@ @=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527486^AM9! Ay I I O >DY D] =Ee  Ee Ee %Ea "Ee ;*Ee ą:VEe 4ZEa am @am @am @am @= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778638OB,_ q?A|-?-M?-ٱ-x =AHRS rotation from veh to nav: [[0.210020,-0.963346,-0.166902],[0.974653,0.219752,-0.041949],[0.077088,-0.153861,0.985081]]-H?]ſ@\0? ?Oz ?ัÿ ȅ?i-?I-`;-0CYM ByM+IbD]VD]ym|=%mM=ٔu:;Q-u>9Y=RGyaF/:E>Q 54up?Q 942)ˏBYyw?Q I?=CI&;i;Y4yBɮA]EB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 430.85 m.Rh Zh % ProNav: ac range: 430.845062 m, nav range: 406.510406 m, bearing: 77.053010 deg, approach rate: -0.761746 m/s, LOS rate: -0.001111 deg/s, cmd heading: 78.055757 deg, new cmd heading: 78.054406 deg. Bh%.C-HeadingCmd: 1.362306 target range: 430.845062 and range: 432.90 m.h-`?h)*h)"h) h)g)f1f1f1d9d9d9jd9Zd=@mBɢmt)i mל?iq)u~߽qqiu~&i}`?}u;}cQ:I}`?I 9@  @ @ /@ 9Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.033634^AEyb9ԁ A I I O >wH,#q?ABABBB*+IB)BBBBB}s;B/EB?B\?B7ٱB^e JAHRS rotation from veh to nav: [[0.209348,-0.963409,-0.167383],[0.974867,0.218970,-0.041053],[0.076203,-0.154582,0.985037]]BH?>`lſ@2?`9?``?Sÿ l?iB?IBn=`;B1CYvByv*IbDVDy %Q=ٔ;Q->9Y=RGybF%t:E%>)Q 5-4-p?Q 954-)-ۏBY1y5?Q I5?-cCI-:i-:- 4yAɮEAAYjhiuFNOT Ignoring new targets: 430.85 m.RhuZhu ProNav: ac range: 430.845062 m, nav range: 406.219269 m, bearing: 77.052556 deg, approach rate: -0.758594 m/s, LOS rate: -0.001186 deg/s, cmd heading: 78.054405 deg, new cmd heading: 78.053039 deg. BhQPHeadingCmd: 1.362283 target range: 430.845062 and range: 432.90 m.hF_?h*h"h hgfffdddjdZd@ @Bɢx) י?i)#ݽi]z)iF_?N;":IF_?IE% E%E%&E!"E% ;*E%:VE%4ZE!BE%SQA>A I I O > BDAT read: Rx Time:15:03:31.4008  TRx dataTimestamp_ set to:1761577412.904104 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5357691 dN,a=q?A6&?64?6G ٱ63 FAHRS rotation from veh to nav: [[0.208715,-0.963620,-0.166954],[0.975085,0.218160,-0.040183],[0.075144,-0.154408,0.985145]]6H+?^ſ`3??`9Y=RGydFp:E>Q 54>p?Q 94)BYC?Q E:y?Q I?CI:i<:4yɮTAjhFNOT Ignoring new targets: 430.85 m.RhYZhYE- E-E-$E)"E- ;*E-:VE-4ZE)a5@a5@a5@a5@ ProNav: ac range: 430.845062 m, nav range: 405.824615 m, bearing: 77.051017 deg, approach rate: -0.759486 m/s, LOS rate: -0.002965 deg/s, cmd heading: 78.053039 deg, new cmd heading: 78.048417 deg. Bh7HeadingCmd: 1.362202 target range: 430.845062 and range: 432.90 m.h\?h*hchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.788109"h hgyfyffdddjdZd}@@ Bɢ t)) ?i)Hڽ99i=Hq,iE\?E";E;IE\?IIQiU!>9@ @@@@@eA9 ^A  DAT read: 15:03:31.4008 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 386, 0.40,-3.001, 1.699,-2.795, 2.770, PHS= 0.615,-1.025, 0.675, RAW= 151.8, -3.2, CAL= 151.2, -4.3, ROT= 358.8, 4.3  Ygot valid direction response: 15:03:31.4008 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 386, 0.40,-3.001, 1.699,-2.795, 2.770, PHS= 0.615,-1.025, 0.675, RAW= 151.8, -3.2, CAL= 151.2, -4.3, ROT= 358.8, 4.3  PDAT read: Bearing 212.6, 3.8 (Local)  ~Local bearing/azimuth received: Bearing 212.6, 3.8 (Local)  DAT read: Range 11 to 50 : 429.3 m (Round-trip 572.5 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages. `direction in FSK: [0.996966,-0.020883,-0.074979]Fpublishing direction and range infoy  |&&?lapyb]1Y C ) AI p?i 33 ,? )@ d [(@ `) Hd@I `= ^ս(??1k ?) re=I i `= UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.iI1IAOM?\W,v]q?AmB?m|.?mٱmU AHRS rotation from veh to nav: [[0.207889,-0.963819,-0.166839],[0.975338,0.217183,-0.039338],[0.074149,-0.154547,0.985199]]mH? Zſ5?? $l?1ÿ ?imB?Im a;iY %By%%+IbD=VD=Iym=%m>=ٔu;Q-u>9Y=RGyeFE;E>Q 54p?Q 94)BYyɯ?Q I?CI:i';Ý4yɻBɮATEB->B)B-P+IB-HBB)B)B)B-s;B-/EiiZq?AJiCRiCji ?b<Jrz@9WIl!H@R|&&?lapyb]1Zibi`=j(bY@. vy@CNp?ZA ?Bn޼?/)j?2idC:iB"iֿ ?*iL FBiBiiiiCiq!? addTargetRange:: Added new target pos. range: 429.299988 m, deltaT: 4.291095 s, deltaX: -3.600006 m, approachRate: -0.838948 m/s, rangeRepo size: 4  Added new target pos. range: 427.261597 m, bearing: 76.119559 deg, lat: 36.778951 deg, lon: -121.859530 deg, deltaT: 4.291095 s, deltaX: -3.583466 m, approachRate: -0.835093 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 427.26 m.RhZh- ProNav: ac range: 427.261597 m, nav range: 405.492035 m, bearing: 77.049677 deg, approach rate: 0.000000 m/s, LOS rate: -0.002965 deg/s, cmd heading: 78.048415 deg, new cmd heading: 78.044317 deg. Bh)5HeadingCmd: 1.362130 target range: 427.261597 and range: 429.30 m.h5IZ?h1*h1"h1 h9g9fYfafadadadajdmz@Zdm;?颵Bɢ)EE EEEE*EA"EET;*EE?:VEE(N4ZEABEEG ]BDAT read: Tx time:15:03:32.6742 e$Ping request sent.mAHRS rotation from veh to nav: [[0.206142,-0.964664,-0.164099],[0.975860,0.215032,-0.038197],[0.072134,-0.152264,0.985704]]6Hb?@2ſ>:? /?dw?`_}ÿ ?i6~?I6]a;63CYF(ByF)+IiUMb@Mb@Mb@QQQQ Q9U}?5^I?~jt?~jtx?YUMB?yUD9Y=RGyfFZ;E>Q 54ip?Q 94у) BYUB?Q E:y?Q I?CI3:i:4yɮAjhFNOT Ignoring new targets: 427.26 m.Rh~Zh~ ProNav: ac range: 427.261597 m, nav range: 405.138428 m, bearing: 77.047942 deg, approach rate: -0.798391 m/s, LOS rate: -0.003920 deg/s, cmd heading: 78.044316 deg, new cmd heading: 78.039107 deg. Bh1,HeadingCmd: 1.362039 target range: 427.261597 and range: 429.30 m.hNW?h*h"h hgfffd d d jd ZdP?颵Bɢ) ?i)uսi,2i NW?  ; ?;I NW?I 9@ @@/@EE EEEE,EA"EE ;*EE:VEEg4ZEAaM@aU@aU@aU@%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495819^Ar;! I) I9 OM >be, |q?A6^?6䒮?61Cٱ6 >AHRS rotation from veh to nav: [[0.204941,-0.964974,-0.163784],[0.976170,0.213713,-0.037673],[0.071357,-0.152160,0.985777]]6H;? Ŀ`9\Y\=^RGy^gFbYX;Eb>dQ 5j4fp?Q 9j4fu|)fBYlyn?Q In?fCIf:if;f4ypɮvAtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 427.26 m.RhӌZhӌ- ProNav: ac range: 427.261597 m, nav range: 404.853668 m, bearing: 77.046492 deg, approach rate: -0.755364 m/s, LOS rate: -0.003848 deg/s, cmd heading: 78.039105 deg, new cmd heading: 78.034754 deg. Bh-(5HeadingCmd: 1.361963 target range: 427.261597 and range: 429.30 m.h5T?h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdM`?uBɢuszchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.746592)q d?i)/Խi{4iT?-;E;IT?I Q9@ @@/@A!A%@AB)B)B-o+IB-aBB)B)B)B-s;B-"/Ey^AII O>E] EYE]'EY"E] ;*EYVE]'4ZEYBE]SQ9Y=RGyhFE>Q 54 p?Q 94t)"BYE??Q E:y ?Q I?;CIe:iv:4yһBɮAjhFNOT Ignoring new targets: 427.26 m.RhZh ProNav: ac range: 427.261597 m, nav range: 404.529907 m, bearing: 77.044732 deg, approach rate: -0.745938 m/s, LOS rate: -0.004059 deg/s, cmd heading: 78.034754 deg, new cmd heading: 78.029469 deg. BhE2HeadingCmd: 1.361871 target range: 427.261597 and range: 429.30 m.hQ?h*h!"h! h!g!f!f)f)d)d)d)jd1Zd5@>?]ƈBɢeL#)a el?ia)e ҽaiim7imQ?u[I;u;IuQ?IyԱ-9@) @)@-0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250613^AMX;AU>AU>IIO> E  E E (E "E ;*E :VE c44ZE a @a @a @a @M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503945Ǯr,@q?A^pޒ?^ɮ?^㎽ٱ^ fAHRS rotation from veh to nav: [[0.203324,-0.965249,-0.164178],[0.976627,0.211875,-0.036186],[0.069714,-0.152983,0.985767]]^H?`Q@ſ`@?? 􆢿ر? ÿg?i^pޒ?I^d\a;^0ClYr2Byr5+IbDzVDzβy8<%U=ٔ ];Q- >9 Y = RGy iF:;E>Q 5%4p?Q 9%4l),BY)y-A?Q I-?`CI :ig:Һ4y5Bɮ5A=KEjhYeFNOT Ignoring new targets: 427.26 m.RheZheu ProNav: ac range: 427.261597 m, nav range: 404.243408 m, bearing: 77.043104 deg, approach rate: -0.745239 m/s, LOS rate: -0.004238 deg/s, cmd heading: 78.029468 deg, new cmd heading: 78.024580 deg. Bh}!:}HeadingCmd: 1.361786 target range: 427.261597 and range: 429.30 m.h}N?h*h"h hgfffdddjdZdj?颽͈Bɢ ) D?i)A'нiz_:iN?My;Up_;IUN?IQ9@ @@2@ 1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755103^A;II!O5>Y G fA s9 fAY AB >B B +IB pBB B B B s;B @/EBBBB =B =C4=x,q?AY%6By%:+I5@A5@A9bDEVDE:y2<%C=ٔQ->9Y=RGyjFE>Q 54cp?Q 94d)6BYyQ I?CI:i$:(4yɮAjhFNOT Ignoring new targets: 427.26 m.RhVZhV ProNav: ac range: 427.261597 m, nav range: 403.930634 m, bearing: 77.041324 deg, approach rate: -0.745207 m/s, LOS rate: -0.004244 deg/s, cmd heading: 78.024577 deg, new cmd heading: 78.019233 deg. Bhh: HeadingCmd: 1.361693 target range: 427.261597 and range: 429.30 m.hK?h)*h1"h1 h9g9fAfAfAdAdIdIjdQZdU@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007578-ՈBɢ5)9 =W?iA)M!ͽbE!4jE(4rEsq0EU EUEU%EQ"EU;*EUv:VEU 4ZEQBEU1N,;q?A2?2=ݮ?2Kٱ2! RAHRS rotation from veh to nav: [[0.202767,-0.964728,-0.167888],[0.976832,0.211261,-0.034188],[0.068450,-0.157066,0.985213]]2H E?` Y}ſ4B? ? ?Ŀ݆?i2?I2e`;22CYV9iYi=mRGymkFu:Eu>yQ 5}4} q?Q 94}(])}>BYV8?Q E:y?Q I?}CI}:i}:}'Ɂ4ԑyɮAjhFNOT Ignoring new targets: 427.26 m.RhZ\ZhZ\ ProNav: ac range: 427.261597 m, nav range: 403.642883 m, bearing: 77.040118 deg, approach rate: -0.717197 m/s, LOS rate: -0.003010 deg/s, cmd heading: 78.019236 deg, new cmd heading: 78.015613 deg. Bh6HeadingCmd: 1.361629 target range: 427.261597 and range: 429.30 m.hI?h*h"h hgfffdddjdZdJ @额ۈBɢȌv) C?i)̽i}?iI?;:;II?I9@ @@3@D=D<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510514E5 E5E5)E1"E5l;*E5Ǚ:VE5FA4ZE1a=@a=@a=@a=@^AΒ;A ) I) I9 OM >腜,r?A2W?2?2lٱ2" >AHRS rotation from veh to nav: [[0.202552,-0.964786,-0.167810],[0.976940,0.210900,-0.033321],[0.067538,-0.157191,0.985256]]2H 9XYX=ZRGyZlF^ :E^>`Q 5f4bq?Q 9j4bV)bFBYhyj?Q Ij?bЦCIb:ib:bρ4ylɮrAp~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 427.26 m.Rh^Zh^echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762363 ProNav: ac range: 427.261597 m, nav range: 403.369781 m, bearing: 77.038962 deg, approach rate: -0.719149 m/s, LOS rate: -0.003046 deg/s, cmd heading: 78.015616 deg, new cmd heading: 78.012146 deg. BhHeadingCmd: 1.361569 target range: 427.261597 and range: 429.30 m.hG?h*h"h hgfffdddjdZdR@-Bɢ-q)) -?i))57ʽ1QiUBi]G?],;]09 ?Y ?=RGymFE>Q 54 q?Q 94,N)OBYr2?Q E:y5?Q I?CI;i :ׁ4yBɮtAAEjh!-FNOT Ignoring new targets: 427.26 m.Rh-W/Zh-W/= ProNav: ac range: 427.261597 m, nav range: 403.061951 m, bearing: 77.037903 deg, approach rate: -0.696319 m/s, LOS rate: -0.002395 deg/s, cmd heading: 78.012146 deg, new cmd heading: 78.008970 deg. Bh=iҸAMHeadingCmd: 1.361513 target range: 427.261597 and range: 429.30 m.hMF?hI*hI"hQ hQgQfQfQfYdYdYdYjdYZdeg @颍Bɢ(ܝ) ?i)?Ƚ顑i1EiF?@p;D5 ?AzD1 E  E E E "E ;*E ':VE ZE a @a @a @a @,zLr?ABDAT read: Rx Time:15:03:35.6479 TRx dataTimestamp_ set to:1761577417.200163checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531571Ym>BymD+IbDVDJy<=%P=ٔQ->9Y=RGynFE>Q 54vq?Q 94G)WBYyQ I?CI:i$:iށ4yBɮpABEjhFNOT Ignoring new targets: 427.26 m.Rh{/Zh{/ ProNav: ac range: 427.261597 m, nav range: 402.787750 m, bearing: 77.036960 deg, approach rate: -0.695919 m/s, LOS rate: -0.002397 deg/s, cmd heading: 78.008970 deg, new cmd heading: 78.006137 deg. BhҸ HeadingCmd: 1.361464 target range: 427.261597 and range: 429.30 m.h sD?h *h "h  h g fffdddjdZd @ԱBɢ=)  u?i ) Gƽ  i!GisD?u;I I B >B B +IB BB =B B B s;B E/EO >9 R$,Xfr?AY~OBy~Y+IbD VD yM7=%MO=ٔQQ-U>9aYa=eRGyeoFiEu>Q 54*q?Q 94?)_BYyQ I?>CI"\;ir];f4yɮ-Ajh  FNOT Ignoring new targets: 427.26 m.Rh+Zh+= ProNav: ac range: 427.261597 m, nav range: 402.509460 m, bearing: 77.036000 deg, approach rate: -0.681088 m/s, LOS rate: -0.002349 deg/s, cmd heading: 78.006136 deg, new cmd heading: 78.003256 deg. Bh=aθEHeadingCmd: 1.361414 target range: 427.261597 and range: 429.30 m.hEB?hA*hA"hI hIgIfIfQfQdQdQdYjdYZd]@Eu EuEu&Eq"Eul;*Eu:VEu4ZEqBEu[F  BDAT read: Tx time:15:03:37.0242  $Ping request sent. U ,3r?A 6(Œ?6?6,ٱ6 RAHRS rotation from veh to nav: [[0.204143,-0.964865,-0.165412],[0.976782,0.211979,-0.031006],[0.064981,-0.155241,0.985737]]6HW!?-4,ſA? $"??ÿ(?i6(Œ?I6_;60CYVKByZT+I XXiMb@Mb@Mb@ 9|?5^?9Y=RGypFyE>Q 54^q?Q 948)gBY-?Q E:yݬ?Q I?bCI: ;i ;4yɮ;Aiaie)mr?AJieCRieCjie}b?beU!]Poz@rOA-;Y`DRecEyQ?#-MɡaVXZieQbie =je+uZ@iPy@=$Ze*_)(?& ?<2ieC:ieB"ieJo?*iepfBiemBieֿ ?iepfieABieCieC?U addTargetRange:: Added new target pos. range: 427.200012 m, deltaT: 4.296114 s, deltaX: -2.099976 m, approachRate: -0.488808 m/s, rangeRepo size: 4 e Added new target pos. range: 425.172333 m, bearing: 75.372919 deg, lat: 36.779056 deg, lon: -121.859314 deg, deltaT: 4.296114 s, deltaX: -2.089264 m, approachRate: -0.486315 m/s, posRepo size: 4 jhimFNOT Ignoring new targets: 425.17 m.RhmZhi ProNav: ac range: 425.172333 m, nav range: 423.693787 m, bearing: 76.087675 deg, approach rate: 0.000000 m/s, LOS rate: -0.002349 deg/s, cmd heading: 78.003253 deg, new cmd heading: 78.000346 deg. BhHeadingCmd: 1.361363 target range: 425.172333 and range: 427.20 m.h#A?h*h"h hgfffdddjd@3z@Zd@ ?-Bɢ- h)) Mo?iI)Ui½QQiUgMi]#A?]I&;]Z;I]#A?IaiE9@A @A@E;1@A@MeA@MeAEm EmEm$Ei"Em=;*Em҆:VEm4ZEiau@au@a}@a}@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250807ԙ^Am t0< I I O >X8,r?A2걒?2q?2Aٱ2p! :AHRS rotation from veh to nav: [[0.204727,-0.964577,-0.166367],[0.976712,0.212459,-0.029899],[0.064186,-0.156371,0.985611]]2H@{4?@Kſ`:A?1?읞`n?@Ŀ ?i2걒?I2R_;0YBUByB`+ILbDJVDJ02yV9T=%V_=ٔZB;Q-Z>9XYX=ZRGy^qF^ѺE^>`Q 5f4bq?Q 9f4bL2)boBYhyjɬ?Q Ij?bCIb:ib:b4ylɮnAp~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 425.17 m.RhzZhz% ProNav: ac range: 425.172333 m, nav range: 423.445099 m, bearing: 76.086938 deg, approach rate: -0.684451 m/s, LOS rate: -0.002028 deg/s, cmd heading: 78.000344 deg, new cmd heading: 77.998133 deg. Bh%,-HeadingCmd: 1.361324 target range: 425.172333 and range: 427.20 m.h-??h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE ?mBɢu )q uv?iq)}yyi} Pi??CG;N;I??Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5107609@ @@`4@AaAeAABm>BiBm+IBmBBiBiBiBms;Bm>/E^A#2;E EE&E"El;*E$:VE4ZEBEa%2Ea%JE;a%:E;a%IQIaO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.763280) `,r?AYv^Byvk+I|iuMb@Mb@Mb@qqqq q9u(\?~jtYu.?yuDuu1AuA u(A)uAqYqbDVDJ2y"=%<=ٔQ->9Y=RGyrFE>Q 54|$q?Q 94*)yBY.?Q E:ya?Q I?CI\:i:4yzBɮoA8EjhFNOT Ignoring new targets: 425.17 m.RhZh ProNav: ac range: 425.172333 m, nav range: 423.150085 m, bearing: 76.086191 deg, approach rate: -0.679322 m/s, LOS rate: -0.001721 deg/s, cmd heading: 77.998131 deg, new cmd heading: 77.995888 deg. Bh0HeadingCmd: 1.361285 target range: 425.172333 and range: 427.20 m.h>?h*h"h h!g!f!f!f)d)d)d)jd)Zd5?] Bɢ]s)a e?ia)ecaaie'Rim>?m`q;ux;I>?I)9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014753Q^A[R;I1 IA OM >ԁ E!  E% E% 'E! "E! *E% خ:VE% '4ZE! a- @a- @a- @a- @G,@r?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266766>P?>{?>~ٱ>! FAHRS rotation from veh to nav: [[0.205757,-0.964367,-0.166315],[0.976638,0.213122,-0.027526],[0.061990,-0.156766,0.985688]]>H=V? Iſ@?G?/@-?ĿŠ?i>P?I>^;9dYd=fRGyfsFf23Ej>hQ 5n4jE)q?Q 9r4j5$)jBYpyr??Q Ir?jȧCIj;ij;j>4ytɮzQAxjhFNOT Ignoring new targets: 425.17 m.Rh%QZh%Q5 ProNav: ac range: 425.172333 m, nav range: 422.895752 m, bearing: 76.085582 deg, approach rate: -0.678758 m/s, LOS rate: -0.001628 deg/s, cmd heading: 77.995890 deg, new cmd heading: 77.994061 deg. Bh5=HeadingCmd: 1.361253 target range: 425.172333 and range: 427.20 m.h==?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM?YBɢ8) Z?i)漽izUi =? Y; N;I=?IIA)E`A9@ @@/@@=@=ԉԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.518572^AX;AE ؟AIY Ii O} > Ba Ba Be +IBe BBa Ba Ba Be s;Be C/EKr,r?A2?2ul?2"zٱ2|! :AHRS rotation from veh to nav: [[0.206227,-0.964252,-0.166400],[0.976599,0.213434,-0.026461],[0.061031,-0.157049,0.985703]]2He?`&LſL@?Q?d??/Ŀ?i2?I2^;2/CYFmByF}+IbD^VD^fy =%E=ٔ;Q->9%"?Y-"?=-RGy-tF5E5>AQ 5U4E.q?Q 9U4E)EBYQy}0?Q I}?ECIE:;iEY,tys?A:l?:UX?:6Pvٱ: FAHRS rotation from veh to nav: [[0.206839,-0.964317,-0.165256],[0.976527,0.213857,-0.025674],[0.060099,-0.156067,0.985916]]:Hy?@'ſ`??_?8JFŮ?@ÿ?i:l?I:^;:1CYJnByJ+IiMb@Mb@Mb@ 9 rh?~jt9IYQ=URGyUuFU&źEU>YQ 5e4]3q?Q 9m4])]BYmY+?Q Em:ym?Q Im?]CI]:i]:]4yuBɮuOA9EjhQ]FNOT Ignoring new targets: 425.17 m.Rh]RZheRm ProNav: ac range: 425.172333 m, nav range: 422.340210 m, bearing: 76.084621 deg, approach rate: -0.654532 m/s, LOS rate: -0.000717 deg/s, cmd heading: 77.992072 deg, new cmd heading: 77.991178 deg. Bhu}HeadingCmd: 1.361203 target range: 425.172333 and range: 427.20 m.h};?hy*hy"hy hygyfffdddjdZd 8@颽Bɢ) K?i)8۸i,Zi;?1;;I;?IM9@Q @Q@U/@QE5 E5E5(E1"E5;*E5:VE5c44ZE1a=@a=@aE@AaE@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.274493^A1qAa Ii Iy O >ԙ PƜ,iUs?A6@f?6Q?6asٱ6; BAHRS rotation from veh to nav: [[0.207043,-0.964543,-0.163676],[0.976528,0.213904,-0.025270],[0.059385,-0.154602,0.986190]]6Hc?QĿ@??3a?Ug?`ÿ`ߎ?i6@f?I6o^;60CYJByJ+IbDRVDRk1yZ=%ZT=ٔ^[:Q-^>9\Y\=bRGybvFbEb>dQ 5j4f8q?Q 9j4fg)fBYlyn?Q In?f0CIf;if?;fg4yrbBɮr|Av/EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 425.17 m.Rh]Zh]- ProNav: ac range: 425.172333 m, nav range: 422.083038 m, bearing: 76.084347 deg, approach rate: -0.709948 m/s, LOS rate: -0.000757 deg/s, cmd heading: 77.991178 deg, new cmd heading: 77.990355 deg. Bh- 5HeadingCmd: 1.361189 target range: 425.172333 and range: 427.20 m.h5m;?h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdM@u#Bɢu)q u?iy)}/yyi}4]im;?|;'˖;Im;?Ix>i>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527385q9@ @@3@@dA@dA %\G=gAQ9gAYAB >B B +IB BB B B B s;B @/EBBBBBCK4ԡ^A;bE}ǀ'4jE}$4rE}Ϛ/E5 E5E1E1"E5O;*E5v:VE1ZE1BE5)Y ̜,B5s?ANV?NA?N-dpٱN  VAHRS rotation from veh to nav: [[0.207534,-0.964553,-0.162995],[0.976468,0.214256,-0.024605],[0.058656,-0.154053,0.986320]]NH`y?`Ŀ 9??l?2@?ÿ?iNV?INY>^;N2CY^By^+IiEMb@Mb@Mb@AAAA A9E|?5^?:v?YE-?yE̼ET9qYq=uRGy}wF}E}>Q 54>q?Q 94)BY-?Q E:y?Q I?UCI: ;i ;4yɮHAjhFNOT Ignoring new targets: 425.17 m.Rh4>4Zh4>4 ProNav: ac range: 425.172333 m, nav range: 421.792877 m, bearing: 76.084352 deg, approach rate: -0.677722 m/s, LOS rate: 0.000010 deg/s, cmd heading: 77.990358 deg, new cmd heading: 77.990371 deg. Bh?4HeadingCmd: 1.361189 target range: 425.172333 and range: 427.20 m.ho;?h*h"h hgififqfdddjdZd7 @颽)Bɢ}) ?i)1崽iP`io;?V;6ˆ;Io;?I9@ @@4@@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030710PExceeded connect timeout, disconnecting.AMcAzAI! Ay I I O >E=  E= E9 E9 "E= :*E= :VE9 ZE9 aE @aE @aE @aE @ߕӜ, Os?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.282509: 7?:"?:Yoٱ:z FAHRS rotation from veh to nav: [[0.208461,-0.964700,-0.160931],[0.976281,0.215089,-0.024733],[0.058474,-0.151958,0.986656]]:Hخ? `Ŀ=?` ?@{S@K?`Zsÿ@?i: 7?I:];:0CYJByJ+IbDVVDV0yZ=%^W=ٔ^99Q-^>9`Y`=bRGybxFfg#Ef>dQ 5j4fDq?Q 9n4fm)fBYlyn֩?Q In?fvCIf;if";f$4ytɮvAtjhFNOT Ignoring new targets: 425.17 m.RhX5ZhX5- ProNav: ac range: 425.172333 m, nav range: 421.535645 m, bearing: 76.084390 deg, approach rate: -0.677459 m/s, LOS rate: 0.000102 deg/s, cmd heading: 77.990372 deg, new cmd heading: 77.990488 deg. Bh-65HeadingCmd: 1.361191 target range: 425.172333 and range: 427.20 m.h5;?h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdM@O @/Bɢ;:) ?i) iGsci;?Ԭ;KF[;I;?I Q9@ @@/@AI IO%M>yBDAT read: Rx Time:15:03:39.9793 TRx dataTimestamp_ set to:1761577421.492155checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535728Ա B >B B +IB BB B B B s;B >/Eٜ,hs?APJ#?JL?J!mٱJK fAHRS rotation from veh to nav: [[0.209041,-0.964741,-0.159928],[0.976187,0.215560,-0.024365],[0.057981,-0.151027,0.986828]]JH?(@xĿ9Y= RGy yF E >Q 54Iq?Q 94I)ÐBY!y%©?Q I%?CI;i;+4y)ɮ-׾A1jhFNOT Ignoring new targets: 425.17 m.Rh26Zh26 ProNav: ac range: 425.172333 m, nav range: 421.255768 m, bearing: 76.084456 deg, approach rate: -0.652111 m/s, LOS rate: 0.000153 deg/s, cmd heading: 77.990488 deg, new cmd heading: 77.990684 deg. Bh6E EE)E"E ;*Ev:VEFA4ZEBEO!  DAT read: 15:03:39.9793 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 247, 0.35,-1.473,-3.002,-1.179,-1.632, PHS= 0.260,-1.325, 0.409, RAW= 154.4, 7.9, CAL= 154.0, 8.4, ROT= 356.0, -8.4  Ygot valid direction response: 15:03:39.9793 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 247, 0.35,-1.473,-3.002,-1.179,-1.632, PHS= 0.260,-1.325, 0.409, RAW= 154.4, 7.9, CAL= 154.0, 8.4, ROT= 356.0, -8.4 % PDAT read: Bearing 223.5, -1.6 (Local) % ~Local bearing/azimuth received: Bearing 223.5, -1.6 (Local) - DAT read: Range 11 to 50 : 413.2 m (Round-trip 551.0 ms) speed 0.6 m/s 5 R#Rx 1: Read range and direction messages.e ^direction in FSK: [0.986863,-0.069008,0.146083]e Fpublishing direction and range infoy  cp`?a/8ٲ?Y C ) CI >i sh> iw,@ 0 > ,@ Q >) @I Q  /<"?3xqGR?瞣+? 9?) 3 I )i Q  } T****** received valid address query ******} R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. nManaging dock network, ignoring radio surface power off2,łs?A2?2j?2kٱ2` :AHRS rotation from veh to nav: [[0.209311,-0.964643,-0.160167],[0.976155,0.215764,-0.023821],[0.057537,-0.151362,0.986802]]2H?@Z[Ŀ@9% ?Y- ?=-RGy-zF-/!E->1Q 5=45[Pq?Q 9E45Q)5ѐBYE?6?Q EE:yE?Q IE?5¨CI5:i5a:5t34yMjBɮuؾAu0Eiis?AJiCRiCji?bc]y@F&sn`< N@Rcp`?a/8ٲ?Zi)biQ j\ĬY@y'#Ix@gU@ZS5?M=?m@?2iMC:ifB"i(?*i&BiCi(?iiiCi?} addTargetRange:: Added new target pos. range: 413.200012 m, deltaT: 4.291795 s, deltaX: -14.000000 m, approachRate: -3.262038 m/s, rangeRepo size: 4  Added new target pos. range: 411.239471 m, bearing: 75.196482 deg, lat: 36.779069 deg, lon: -121.859314 deg, deltaT: 4.291795 s, deltaX: -13.932861 m, approachRate: -3.246395 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 411.24 m.RhZh  ProNav: ac range: 411.239471 m, nav range: 421.300903 m, bearing: 75.889611 deg, approach rate: 0.000000 m/s, LOS rate: 0.000153 deg/s, cmd heading: 77.990686 deg, new cmd heading: 77.990893 deg. Bh HeadingCmd: 1.361198 target range: 411.239471 and range: 413.20 m.h;?h*h"h hgff!f!d!)dAdIjdM@3y@ZdM?颕 UBDAT read: Tx time:15:03:41.2742 U$Ping request sent.]A>YII O >ԁ ,Zs?AY~ʋBy~+IbD VD y5=%5[=ٔ=Q-=>99YA=ERGyE{FEEE>IQ 5U4MUq?Q 9U4MY)MݐBYYyYQ Ie?MCIM1.;iMO/;M94ymJBɮmAm&EB*** querying acoustic contact ***i ijhchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249294FNOT Ignoring new targets: 411.24 m.Rh7Zh7 ProNav: ac range: 411.239471 m, nav range: 421.035858 m, bearing: 75.889769 deg, approach rate: -0.761160 m/s, LOS rate: 0.000454 deg/s, cmd heading: 77.990891 deg, new cmd heading: 77.991364 deg. Bh[7HeadingCmd: 1.361206 target range: 411.239471 and range: 413.20 m.hѬ,}[s?A,>?>?>mٱ>Qq FAHRS rotation from veh to nav: [[0.210268,-0.963844,-0.163682],[0.975917,0.216879,-0.023420],[0.058072,-0.154816,0.986235]]>H?`Ŀ@:?@?b`?`ÿ=?i>?I>\;>0CYj̋Byj+I lli]Mb@Mb@Mb@YYYY Y9]bX9?L7A`堿~jt?Y]E6?y]+]<] -A]A ]n"A)YYY]GAbDuVDu:y~;%2=ٔQ->9Y=RGy|F E>Q 54\q?Q 94B)BY6?Q E:y?Q I?CI;i:;B4yɮAjhyFNOT Ignoring new targets: 411.24 m.Rh57Zh57 ProNav: ac range: 411.239471 m, nav range: 420.709778 m, bearing: 75.890066 deg, approach rate: -0.680917 m/s, LOS rate: 0.000621 deg/s, cmd heading: 77.991362 deg, new cmd heading: 77.992254 deg. Bh>7HeadingCmd: 1.361222 target range: 411.239471 and range: 413.20 m.h,-'s?A>q?>έ?>Ȭnٱ>vo! FAHRS rotation from veh to nav: [[0.210954,-0.963365,-0.165608],[0.975760,0.217629,-0.023040],[0.058237,-0.156733,0.985922]]>H?2ſ l9?@D?ޗFѭ? Ŀ@?i>q?I>m\;>/CYN܋ByN,IbDZVDZ:\yb=%bX=ٔfQ-f>9dYd=jRGyj}Fj`Ej>lQ 5r4nsbq?Q 9r4nk)nBYtyv?Q Iv?n0CIn:in1:nH4yxɮzA|jh%FNOT Ignoring new targets: 411.24 m.Rh%i[7Zh%i[75 ProNav: ac range: 411.239471 m, nav range: 420.441162 m, bearing: 75.890334 deg, approach rate: -0.750177 m/s, LOS rate: 0.000749 deg/s, cmd heading: 77.992257 deg, new cmd heading: 77.993062 deg. Bh=8EHeadingCmd: 1.361236 target range: 411.239471 and range: 413.20 m.hEBQ BU $,IBU BBU =BQ BQ BU s;BU 4/EA ^A5 ?B:A= dAzA9 I I O >,s?AE E E &E"E*E ?:VE 4ZEBE L=ٔ%\9Q-->9)Y)=-RGy-~F5ZĹE5>9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509353Q 5M4=hq?Q 9U4=)= BYQyQQ IU?=WCI=Fg;i=Bh;=(P4yBɮ%AAjhquFNOT Ignoring new targets: 411.24 m.RhJB7ZhJB7 ProNav: ac range: 411.239471 m, nav range: 420.135498 m, bearing: 75.890641 deg, approach rate: -0.661128 m/s, LOS rate: 0.000664 deg/s, cmd heading: 77.993063 deg, new cmd heading: 77.993983 deg. Bh&7HeadingCmd: 1.361252 target range: 411.239471 and range: 413.20 m.h=?h*h"h hgfffdddjdZd-D?颵SBɢ6O) ?i)B项i{wi=? yل; #:I =?I @ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761253) ^A rg:IA IQ Oe >,t?Af1ޑ?fɭ?fX3lٱfs% vAHRS rotation from veh to nav: [[0.211118,-0.962694,-0.169263],[0.975760,0.217777,-0.021578],[0.057634,-0.160605,0.985335]]fH? ciſm9??m:?Ŀ܇?|if1ޑ?Iff ];f,CY By6,II%N>)%>iMb@Mb@Mb@ 9Zd;O?Mb/$?Yj9Y=RGyF:6E>Q 5m4oq?Q 9m4)BYui>U9@Q @Q@U4@QQy ^A q: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265686A ؟AI I O >],#t?AXYBy8,IbD%VD%1y]><%eG=ٔeQ-e>9m"?Ym"?=mRGymFuEu>yQ 5}4}uq?Q 94})}(BYyQ I?}CI}:i}-:}^4yBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 411.24 m.Rh($7Zh($7B9A=<BE>BABEP,IBEBBABABABEs;BE*/E ProNav: ac range: 411.239471 m, nav range: 419.520477 m, bearing: 75.891087 deg, approach rate: -0.771077 m/s, LOS rate: 0.000561 deg/s, cmd heading: 77.994668 deg, new cmd heading: 77.995324 deg. Bh7HeadingCmd: 1.361275 target range: 411.239471 and range: 413.20 m.hD>?h*h"h hgfffd!d!d!jd!Zd%"@u]Bɢu7<)q uԩ?iq)}6yyi iD>?|;ID>?IE EE%E"E;*Ev:VE 4ZEBEAA >A I I O >,>t?A(6?6Zܭ?69 gٱ6# >AHRS rotation from veh to nav: [[0.210578,-0.963109,-0.167563],[0.975950,0.217001,-0.020783],[0.056377,-0.159157,0.985642]]6H`7?`rſ:?@?@H{ݬ?A_Ŀa?i6?I6G];6.CYFByFI,IiMb@Mb@Mb@ 9RQ?Q?YB?yu<-Ab A n"A)AY(AbD-VD-0y=v=%=A=ٔEB;Q-E>9AYA=ERGUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769315yEF](:E]>aQ 5%4ev{q?Q 9%4e)e5BY-B?Q E-:y-C?Q I-?eϩCIe,NBXt?A6?6o߭?6bٱ6" >AHRS rotation from veh to nav: [[0.210500,-0.963365,-0.166187],[0.976035,0.216700,-0.019892],[0.055176,-0.158017,0.985894]]6H? Eſ;?׼?^@?9Ŀp?i6?I6];61C`YbBybR,I ddbDnVDnyv=%vQ=ٔz6I;Q-z>9xYx=zRGy~F~|9E~>Q 5 4q?Q 9 4)@BYyF?Q I?CI:i:m4yɮA!jhAMFNOT Ignoring new targets: 411.24 m.RhM'ZhM'e ProNav: ac range: 411.239471 m, nav range: 418.902405 m, bearing: 75.887968 deg, approach rate: -0.816253 m/s, LOS rate: -0.004130 deg/s, cmd heading: 77.990447 deg, new cmd heading: 77.985959 deg. Bheb5eHeadingCmd: 1.361112 target range: 411.239471 and range: 413.20 m.hm8?hi*hi"hi higififqfqdqdqdyjdyZd}t @颭gBɢ ><) ?i)b#顱iBBv,IB6BB =BBBs;B/EBBBBBCk 5^A ?B:I bEuc44jEu-4rEu/E  E E (E "E *E v:VE c44ZE BE D% BDAT read: Rx Time:15:03:44.2249 % TRx dataTimestamp_ set to:1761577425.776123- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526256 ,rt?A2?2h?24\ٱ2! :AHRS rotation from veh to nav: [[0.210220,-0.963750,-0.164298],[0.976176,0.216153,-0.018906],[0.053735,-0.156409,0.986230]]2Hz? @ſ 9Y=RGyF(:E>YQ 54]q?Q 94])]NBYyN?Q I?]$CI]7Mim5?m] ;mŸ;Im5?Iq9@ @@/@@%=@%=}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777171ԁԩ ^A] :Ai zAm gAA I I O >V#,$)t?AE2 E2E0E0"E2x;*E2Z:VE0ZE0a6@a6@a6@a6@}DAT read: 15:03:44.2249 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 393, 0.22, 1.184,-0.350, 1.512, 1.017, PHS= 0.269,-1.322, 0.451, RAW= 155.3, 7.2, CAL= 154.8, 7.4, ROT= 355.2, -7.4 Ygot valid direction response: 15:03:44.2249 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 393, 0.22, 1.184,-0.350, 1.512, 1.017, PHS= 0.269,-1.322, 0.451, RAW= 155.3, 7.2, CAL= 154.8, 7.4, ROT= 355.2, -7.4 PDAT read: Bearing 222.1, -2.8 (Local) ~Local bearing/azimuth received: Bearing 222.1, -2.8 (Local) DAT read: Range 11 to 50 : 409.8 m (Round-trip 546.5 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.988193,-0.082981,0.128796]Fpublishing direction and range infoyIMͿhG?E<>OZ_|?YMCIIII I)IIM^>iML7My>Mx-@M>M,@ M A>)Ma@IM AIIM?^?}#)? M?)MUIMiM AIIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y0Byn,I!iMb@Mb@Mb@ 9S?I +y&1?Y/=?y94`e<)A A)YfAbDVDfyE=%M=ٔMQ-M>9QYQ=URGyUFUE}>yQ 54}ɍq?Q 94}e)}\BY==?Q E:yg?Q I?}RCI};:i}L:} ~4yɮAiIiM@ޑt?AJiMCRiMCjiMإ?bM\)0y@6&@ eCJ@RMͿhG?E<>OZ_|?ZiMbiM AjM,a -[@ mx@;|S@ZMq&?7?P?2iMC:iMmB"iMV?*iMBiMCiMJo?iMeiMCiMDCiMɦ? addTargetRange:: Added new target pos. range: 409.799988 m, deltaT: 4.283833 s, deltaX: -3.400024 m, approachRate: -0.793687 m/s, rangeRepo size: 4  Added new target pos. range: 407.856598 m, bearing: 74.236768 deg, lat: 36.779105 deg, lon: -121.859530 deg, deltaT: 4.283833 s, deltaX: -3.382874 m, approachRate: -0.789684 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 407.86 m.RhZh% ProNav: ac range: 407.856598 m, nav range: 400.533539 m, bearing: 74.657818 deg, approach rate: 0.000000 m/s, LOS rate: -0.003755 deg/s, cmd heading: 77.980379 deg, new cmd heading: 77.974855 deg. Bh!-HeadingCmd: 1.360918 target range: 407.856598 and range: 409.80 m.h-2?h)*h)I"h) hQgQfQfYfYdYdYdajde̜y@Zde rO?sBɢF7<) 5?i)2vie;I2?I I)9@ @@@ *DAT read: user:888>  BDAT read: Tx time:15:03:45.5742  $Ping request sent. B B ,IB PBB B B B s;B /Eԩ ^A% q:AU.AIaIO?l+,t?AE EE'E"E;*Ev:VE'4ZEBEa*2Ea.JEa2:Ea2b+?bn?b}Oٱby nAHRS rotation from veh to nav: [[0.208883,-0.964567,-0.161176],[0.976634,0.214267,-0.016582],[0.050529,-0.153947,0.986786]]bH? mĿ@?m?@ީ?ÿ?ib+?Ib_;b.CYr-Byvk,IIz=)z;bD~VD~P)y Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250902%I=ٔ9% ?Y% ?=%RGy%F-a;E->1Q 5=45Rq?Q 9=45š)5gBY9y=?Q IE?5xCI5:i5:54yM^BɮM¼AMEmB*** querying acoustic contact ***ii iijhFNOT Ignoring new targets: 407.86 m.RhzZhz  ProNav: ac range: 407.856598 m, nav range: 400.236267 m, bearing: 74.655893 deg, approach rate: -0.731334 m/s, LOS rate: -0.004740 deg/s, cmd heading: 77.974853 deg, new cmd heading: 77.969074 deg. Bh,PHeadingCmd: 1.360817 target range: 407.856598 and range: 409.80 m.hA/?h*h"h hgff!f!d!dAdIjdIZdMvk?颕xBɢI<) l?i)]顙iQiA/?ރ;xm;IA/?IaI@I @I@U/@Qԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503266^AԹ I I O >kN2,dt?AF.?Fa?F5 IٱF6"P VAHRS rotation from veh to nav: [[0.208811,-0.964687,-0.160550],[0.976725,0.213954,-0.015250],[0.049062,-0.153629,0.986910]]FH`P?@ĿSA?b?;? ÿÔ?iF.?IF`;DYZ'ByZc,Ii=Mb@Mb@Mb@9999 99=S?Mb?MbPY9y=<==*A= A =VA)=A9Y=pAbDUVDUJyt%@=ٔb;Q->9Y=RGyFa^9E>Q 54q?Q 94)nBY1=?Q E:yr?Q I?CIH:i:4yɮۼAjh%FNOT Ignoring new targets: 407.86 m.Rh%@Zh-@= ProNav: ac range: 407.856598 m, nav range: 399.923645 m, bearing: 74.652858 deg, approach rate: -0.766447 m/s, LOS rate: -0.007445 deg/s, cmd heading: 77.969075 deg, new cmd heading: 77.959965 deg. Bh=EHeadingCmd: 1.360658 target range: 407.856598 and range: 409.80 m.hE *?hA*hA"hA hAgAfIfIfIdIdQdQjdQZd]IX?颅|Bɢ'<) ?i).顉i\+i *?*؃;hp;I *?IE= E=E9E9"E=l;*E=B:VE9ZE9aM@aM@aM@aU@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7549051@1 @9@=0@9@EeA@EeA^AMoM;AU>AU>! I1 IA OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789Xx8,t?AV5?Vi!?V?AٱVU bAHRS rotation from veh to nav: [[0.208620,-0.964737,-0.160501],[0.976859,0.213466,-0.013372],[0.047162,-0.153998,0.986945]]VH?OĿmB?R?b%?0ÿ ?iV5?IVF`;V,CYj+Byjh,IbDrVDryz<%zY=ٔzR;Q-~>|9Y=RGyF :E >Q 54i%>Be>BeCBe,IBedBBe =BaBaBes;Be9/Eu9@q @q@u4@q)EE EEEE)EA"EE ;*EE:VEEFA4ZEABEERԉ >,ut?A:%?: ?::ٱ:Bg BAHRS rotation from veh to nav: [[0.209124,-0.964698,-0.160081],[0.976828,0.213703,-0.011748],[0.045543,-0.153915,0.987034]]:H?``}Ŀ-B?@Z?D eQ?zÿ`ȕ?i:%?I:aK`;:0CYJ4ByJr,I LLiMb@Mb@Mb@ 9rh|?y&1?Y;?y`e<$(A A)AYAbD=VD=kyE!=%EE=ٔM;Q-M>Q9QYQ=URGy]F]`E]>aQ 5m4e#q?Q 9m4e)e{BYu;?Q Eu:yu{?Q Iu?eCIe~ ;ie ;e_4yyɮ}%AjhFNOT Ignoring new targets: 407.86 m.RhZh ProNav: ac range: 407.856598 m, nav range: 399.341400 m, bearing: 74.646832 deg, approach rate: -0.731349 m/s, LOS rate: -0.007978 deg/s, cmd heading: 77.951822 deg, new cmd heading: 77.941871 deg. Bh4HeadingCmd: 1.360342 target range: 407.856598 and range: 409.80 m.h?h*h"h hgIfIfQfQdQdQdQjdYZd]@"?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510841Bɢ(ߣ<) ?i)i֎i?Ѓ;bm;I-?I)ԁ9@ @@@ԩ^AoM;E]  E] E] &EY "E] ;*E] ą:VE] 4ZEY ae @ae @ae @ae @Ii I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762942 E,Cu?A2F?2?2K22ٱ2c :AHRS rotation from veh to nav: [[0.210075,-0.964530,-0.159843],[0.976718,0.214316,-0.009574],[0.043491,-0.154110,0.987096]]2H?nuĿ EA?@n?|D?ÿJ?i2F?I2`;0Y^9By^y,IbDfVDfyrp<%rQ=ٔrP;Q-v>9tYt=vRGyvFzm Ez>|Q 54~æq?Q 94~<|)~BY y [?Q I ?~CI~$:i~_:~04yɮAjh9EFNOT Ignoring new targets: 407.86 m.RhEjZhEjU ProNav: ac range: 407.856598 m, nav range: 399.056061 m, bearing: 74.643756 deg, approach rate: -0.731684 m/s, LOS rate: -0.007891 deg/s, cmd heading: 77.941870 deg, new cmd heading: 77.932638 deg. Bh]M]HeadingCmd: 1.360181 target range: 407.856598 and range: 409.80 m.h]j?ha*ha"ha hagafafifidididqjdqZdu@ @ԱBɢ<) ȫ?i)n!i%骐i%j?-ݾ;-?;IMj?II9@ @@4@@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015242!BU<AQBaBaBe,IBenBBaBaBeDBet;BeO/E^AΒ{;AcAzAaAIY Iq O} >A E]  E] E] (EY "E] l;*E] :VE] c44ZEY BE] [F9|Y=RGyF7.E> Q 54 q?Q 94 |t) BYyY?Q I? 6CI :i  ; W4y!ɮ-*A)EB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 407.86 m.Rh]LZh]Lm ProNav: ac range: 407.856598 m, nav range: 398.756653 m, bearing: 74.640528 deg, approach rate: -0.730714 m/s, LOS rate: -0.007885 deg/s, cmd heading: 77.932636 deg, new cmd heading: 77.922944 deg. Bhm)uHeadingCmd: 1.360012 target range: 407.856598 and range: 409.80 m.hu?hq*hq"hq hqgyfyffdddjdZdT@颵Bɢc<) ?i)y项iXZi? ;L;I?Iye9@i @i@u/@qԩ^A] ;IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518772  ŜR,Ju?A2?2L?2d ٱ2 :AHRS rotation from veh to nav: [[0.209859,-0.964685,-0.159192],[0.976948,0.213412,-0.005365],[0.039149,-0.154396,0.987233]]2H? `d`Ŀ'C?Q?zuO ??ÿi?i2?I2e;2,CYN5ByRs,IIV=)Ti-Mb@Mb@Mb@)))) )9-^I +?{Gz?9Y=RGyF1I:E>Q 54ʰq?Q 94l)BY`9?Q E:yz?Q I?^CIj:i:ͯ4y$BɮAEjh%FNOT Ignoring new targets: 407.86 m.Rh%Zh%5 ProNav: ac range: 407.856598 m, nav range: 398.448212 m, bearing: 74.637500 deg, approach rate: -0.722859 m/s, LOS rate: -0.007101 deg/s, cmd heading: 77.922944 deg, new cmd heading: 77.913853 deg. Bh==HeadingCmd: 1.359853 target range: 407.856598 and range: 409.80 m.hE?hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU@颅Bɢ<*<) ?i),顉ioi?;h;I?ID@AzD?AE EE&E"E%;*E:VE4ZEa%@a-@a-@a-@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770913-9@) @)@)@1Y^AMjb;ԉ A} ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022736X,du?A0Y.Byk,IbD-VD-y=%EK=ٔEQ-M>9U"?YU"?=]RGy]FeEm>yQ 54}q?Q 94}8e)}BYyQ I?}CI}O;i}a;}4yɮ׻AB>BBBBBBB t;BH/EjhqFNOT Ignoring new targets: 407.86 m.Rh=Zh= ProNav: ac range: 407.856598 m, nav range: 398.165894 m, bearing: 74.634725 deg, approach rate: -0.681018 m/s, LOS rate: -0.006700 deg/s, cmd heading: 77.913853 deg, new cmd heading: 77.905520 deg. Bh%HeadingCmd: 1.359708 target range: 407.856598 and range: 409.80 m.h ?h*h"h hgfffdddjdZd` @=Bɢ=4ε<)A E?iA)Ei煽AAiM%ΕiU ?Uk;Um;IU ?Iqԉ9@ @@!@!E) E-E)E)"E)*E-$:VE)ZE)BE-KA >A I I  O >`,"Pu?A2P(?2?2dٱ2&p :AHRS rotation from veh to nav: [[0.209130,-0.964743,-0.159799],[0.977264,0.212022,-0.001070],[0.034913,-0.155942,0.987149]]2H@?@,MtĿE? #?Q`? ÿ`?i2P(?I2g;0YB,ByBh,IiMb@Mb@Mb@ 9Gz?Mb`?MbY0?y;O'A A)YfAbDVDky-s%%5?=ٔ5"99Y9==RGy=F=r:E=>ABDAT read: Rx Time:15:03:48.5498 TRx dataTimestamp_ set to:1761577430.060204checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527881Q 54Eq?Q 94E])EBY0?Q E:y6?Q I?ECIEP9f,Ku?A,0?&?ٱ AHRS rotation from veh to nav: [[0.208896,-0.964815,-0.159669],[0.977383,0.211477,0.000850],[0.032946,-0.156235,0.987170]]H?pĿF??K?Vޠ?@ÿ ?i0?I*h;Y%By`,I bDVDy%?=ٔq;Q->9 ?Y ?=RGyF9:E> Q 54 ֿq?Q 94 V) BYy>?Q I? ͫCI :i : ł4y!ɮ%A)jhIUFNOT Ignoring new targets: 407.86 m.RhU?ZhU?e ProNav: ac range: 407.856598 m, nav range: 397.578979 m, bearing: 74.629772 deg, approach rate: -0.729807 m/s, LOS rate: -0.006181 deg/s, cmd heading: 77.898150 deg, new cmd heading: 77.890647 deg. BheuHeadingCmd: 1.359448 target range: 407.856598 and range: 409.80 m.huf?hq*hq"hy hygyfyffdddjdZd @ԁ额Bɢ <) H?i)iif?U;ƙ;If?IDAT read: 15:03:48.5498 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 184,-0.30, 2.852, 1.447, 3.055, 2.586, PHS= 0.369,-1.094, 0.426, RAW= 151.9, 4.1, CAL= 151.0, 3.9, ROT= 359.0, -3.9 Ygot valid direction response: 15:03:48.5498 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 184,-0.30, 2.852, 1.447, 3.055, 2.586, PHS= 0.369,-1.094, 0.426, RAW= 151.9, 4.1, CAL= 151.0, 3.9, ROT= 359.0, -3.9 PDAT read: Bearing 219.5, 0.3 (Local) %~Local bearing/azimuth received: Bearing 219.5, 0.3 (Local) 5DAT read: Range 11 to 50 : 428.5 m (Round-trip 571.4 ms) speed 0.4 m/s IMCER#Rx 1: Read range and direction messages.9@ @@0@>G%9!Y%Ay?=AԹ^direction in FSK: [0.997532,-0.017412,0.068015]Fpublishing direction and range infoy"?Xԑ,::si?Y@C )AI>i1>)@C=+(@ 'g=)@I'gUf@?s?>? ʂ?)|ՐIi'g%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.BABABE,IBEiBBABABABEs;BE=/EB CB CB B =B =C ǹ4 ^A ;bEʀ'4jEʨ,4rEA/E  E E 'E "E T;*E ?:VE '4ZE BE Gel,u?A*DAT read: user:889> BDAT read: Tx time:15:03:49.9242 $Ping request sent.9="?YE"?=ERGyEFEEE>qQ 5}4uq?Q 9}4uN)uBYyyQ I?uCIu:iu;û4yBɮdAEiiu?AJi;CRi;CjiC?bۖz@ ;=@R"?Xԑ,::si?Zibi'gjęV@ 9y@B$E@ZQnn?bD?Xfv1cL?2iC:i̶B"iqڏ?*i(BiBi(?ipfiBiwCi&|?E addTargetRange:: Added new target pos. range: 428.500000 m, deltaT: 4.284708 s, deltaX: 18.700012 m, approachRate: 4.364361 m/s, rangeRepo size: 4 U Added new target pos. range: 426.464203 m, bearing: 77.557462 deg, lat: 36.779069 deg, lon: -121.859314 deg, deltaT: 4.284708 s, deltaX: 18.607605 m, approachRate: 4.342794 m/s, posRepo size: 4 jhQ]FNOT Ignoring new targets: 426.46 m.Rh]ZhY ProNav: ac range: 426.464203 m, nav range: 414.930450 m, bearing: 75.865408 deg, approach rate: 0.000000 m/s, LOS rate: -0.006181 deg/s, cmd heading: 77.890644 deg, new cmd heading: 77.882588 deg. BhHeadingCmd: 1.359308 target range: 426.464203 and range: 428.50 m.h?h*h"h hgfffddd jdz@Zdo?}Bɢ}:ߣ<) '?i)@~顁iJi?;;I?IU9@Q @Q@UJ0@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2513579 ^A A dAzA dAi A .AI I O > t,(,u?A2$?2?2ٱ2] :AHRS rotation from veh to nav: [[0.209282,-0.965826,-0.152909],[0.977417,0.211296,0.003142],[0.029275,-0.150113,0.988235]]2H? ÿG?` ?i?+?@6ÿ?i2$?I2h;2.CY@yBf,IEN ENEN)EL"EN=;*EN:VENFA4ZELaR@aR@aR@aV@iMb@Mb@Mb@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502961 9Cl?I +I +Y/?y994$AMA AA)AY bDVDy@;%9=ٔn9 ?Y ?=RGyF[E>Q 54q?Q 94G)BY/?Q E:y?Q I?CI ;i. ;rԂ4yɮaAB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 426.46 m.Rh-@Zh-@= ProNav: ac range: 426.464203 m, nav range: 414.630341 m, bearing: 75.865339 deg, approach rate: -0.714449 m/s, LOS rate: -0.000164 deg/s, cmd heading: 77.882584 deg, new cmd heading: 77.882378 deg. Bh=EHeadingCmd: 1.359304 target range: 426.464203 and range: 428.50 m.hE?hA*hA"hA hAԩgfffdddjdZd@?%Bɢ%`<)a eg?ia)mQziiimiu?uƃ;u;Iu?Iyi>i!>=9@9 @9@=4@9 M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755331^A} ፨;B >B B ,IB _BB B B B s;B ./EA I I O >) =z,u?AJO?J ?JMٱJ4 RAHRS rotation from veh to nav: [[0.209477,-0.965899,-0.152181],[0.977427,0.211220,0.004808],[0.027499,-0.149753,0.988341]]JH'? zÿ`G?A ?ͱs?(?+ÿ }?iJO?IJ(f;J,CYZ(ByZd,II^<)^p<bDfVDfJynƽ%r[=ٔr›;Q-r>9tYt=vRGyvFvEz>xQ 5~4zCq?Q 94z{@)zBYy?Q I?z9CIze;iz;zڂ4y  BɮAjh1=FNOT Ignoring new targets: 426.46 m.RhE$ZhE$U ProNav: ac range: 426.464203 m, nav range: 414.373749 m, bearing: 75.865287 deg, approach rate: -0.688301 m/s, LOS rate: -0.000141 deg/s, cmd heading: 77.882379 deg, new cmd heading: 77.882222 deg. BhUŶUHeadingCmd: 1.359301 target range: 426.464203 and range: 428.50 m.h]?hY*hY"hY hYgafafafadididijdiZdu u?颵Bɢ=) L?i)vici?1˃;IŌ;I?IE EE*E"E*E:VE(N4ZEBE}I] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2588203+,v?A63?6?6ּٱ6l >AHRS rotation from veh to nav: [[0.210144,-0.965582,-0.153270],[0.977319,0.211675,0.006448],[0.026217,-0.151148,0.988163]]6H`?` @Vÿ 2F?*?Diz?ؚ?`Xÿ?i63?I6cEe;6.CYF*ByFf,IiMb@Mb@Mb@ 9x&?{Gz~jtxY7)?yףĻ A)YAbDUVDUyu;%A=ٔ>;Q->9"?Y"?=RGyF ȺE>Q 5%45q?Q 9%49)BYML)?Q EM:yM?Q IM?_CI`;i;4yQɮUAYjhFNOT Ignoring new targets: 426.46 m.Rh3Zh3 ProNav: ac range: 426.464203 m, nav range: 414.080750 m, bearing: 75.865142 deg, approach rate: -0.649182 m/s, LOS rate: -0.000321 deg/s, cmd heading: 77.882222 deg, new cmd heading: 77.881787 deg. BhaHeadingCmd: 1.359294 target range: 426.464203 and range: 428.50 m.hU?h*h"h hgff f d d djdZd?]Baɢ] <) ?i)r顉iP֞iU?ƃ;27s;IU?I9@ @@@ԑD=D4=E EE%E"E ;*E:VE 4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797Թ ^A vт;AI IQ Ia Ou >c,;v?A8>-Ց?>?>L̼ٱ> JAHRS rotation from veh to nav: [[0.211673,-0.964972,-0.154997],[0.977022,0.212972,0.008367],[0.024936,-0.153207,0.987879]]>H ? `ÿC?B?"?҈?Iÿ`?i>-Ց?I>gd;>+CYN)ByRe,IVAATbD^VD^yb%fS=ٔfOc;Q-f>9hYh=jRGyhnEn>pQ 5r4r)q?Q 9v4r2)rBYtyv?Q Iv?r~CIr:ir=:r!4y|ɮ~A|jh!%FNOT Ignoring new targets: 426.46 m.Rh-\Zh-\= ProNav: ac range: 426.464203 m, nav range: 413.837982 m, bearing: 75.865074 deg, approach rate: -0.676176 m/s, LOS rate: -0.000189 deg/s, cmd heading: 77.881785 deg, new cmd heading: 77.881582 deg. Bh={EHeadingCmd: 1.359290 target range: 426.464203 and range: 428.50 m.hE7?hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]l?颅Bɢ{ =) ?i)Zn顉i/i7?b;;I7?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763374 9@  @ @ @ ԡBAp<B%>B!B%,IB%UBB% =B!B!B%s;B%/E^A-m;Ay I I E  E E )E "E :*E :VE FA4ZE BE >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014801D,a8v?A2?2d?2=ٱ2! :AHRS rotation from veh to nav: [[0.213418,-0.963997,-0.158626],[0.976676,0.214444,0.010819],[0.023587,-0.157236,0.987279]]2HDQ?MĿ@?r?Y(?)'? L Ŀʗ?i2?I2 d;2/CYb2Bybp,I ddlbDjVDjyv2=%vH=ٔzX;Q-z>9xYx=zRGy~F~ E~>Q 5 4q?Q 9 4+)BYy?Q I?CI :i[:@4yBɮغA%EjhAMFNOT Ignoring new targets: 426.46 m.RhMZhMe ProNav: ac range: 426.464203 m, nav range: 413.568481 m, bearing: 75.865066 deg, approach rate: -0.661248 m/s, LOS rate: -0.000020 deg/s, cmd heading: 77.881580 deg, new cmd heading: 77.881556 deg. Bhen`eHeadingCmd: 1.359290 target range: 426.464203 and range: 428.50 m.hm3?hi*hi"hi higififqfqdqdd9jdAZdE T-@}BɢV<) ؞?i)i项ii3?ow;-d&j:I-3?I)9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2668931^A ] ;a A .AI I O > q,Rv?AD0zD2@AE6 E6E6*E4"E6;*E6:VE6(N4ZE4a:@a:@a:@a:@9YE-ByEj,Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518870iMb@Mb@Mb@ 9ˡE?MbMbP?Y'?y:|A )GAYAbDVDy,%:=ٔQ->9 ?Y ?= RGy F E >Q 54q?Q 94$)BY%"(?Q E%:y%d?Q I%?ŬCI:i:4y)ɮ-A1MB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 426.46 m.Rhe_7Zhe_7 ProNav: ac range: 426.464203 m, nav range: 413.280457 m, bearing: 75.865721 deg, approach rate: -0.655550 m/s, LOS rate: 0.001492 deg/s, cmd heading: 77.881553 deg, new cmd heading: 77.883519 deg. Bh8HeadingCmd: 1.359324 target range: 426.464203 and range: 428.50 m.hS?h*h"h! h!g!f!f)f)d)d)d1jd1Zd5`@额Bɢ=<) ͜?i)He顡iiS?cF;:IS?Iqe9@a @a@e0@aԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770988^Am yb]: B) B) B) B) B- =B) B) B- Ps;B- .EA ؟AI I O) ",|lv?A2M*?2?2-ٱ2& :AHRS rotation from veh to nav: [[0.216787,-0.962573,-0.162654],[0.976008,0.217173,0.015625],[0.020284,-0.162139,0.986560]]2H? f Ŀ@u;?R?@?FŔ?`Ŀ@?i2M*?I2d;20CYB2ByBq,I J49Z"?YZ"?=ZRGy^F^Ef>hQ 5r4jKq?Q 9r4j)jBYpyv?Q Iv?jCIjuI;ij`J;jA4yxɮ~׺A|jh1ԙFNOT Ignoring new targets: 426.46 m.Rh8Zh8 ProNav: ac range: 426.464203 m, nav range: 413.042542 m, bearing: 75.866374 deg, approach rate: -0.649395 m/s, LOS rate: 0.001784 deg/s, cmd heading: 77.883520 deg, new cmd heading: 77.885481 deg. Bh8HeadingCmd: 1.359358 target range: 426.464203 and range: 428.50 m.hr?h*h"h hgff!f!d!d!d)jd)Zd- @颕Bɢ5W=) P?i)a顡iWir?;%tIr?IE} E}EyEy"E};*E}?:VEyZEyBE}1N% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274802.,Wv?AYECByE,IIU?>)U=iMb@Mb@Mb@ 9K7A`? rh{Gz?Y+?yC #<$AA A)YAbDVD02y=%6=ٔQ->9 Y = RGy F E >Q 54q?Q 9%4)BY%?+?Q E%:y%?Q I%? CIQ;i: 4y-Bɮ5A5EjhY]FNOT Ignoring new targets: 426.46 m.RheZ8ZheZ8u ProNav: ac range: 426.464203 m, nav range: 412.744629 m, bearing: 75.867190 deg, approach rate: -0.674596 m/s, LOS rate: 0.001849 deg/s, cmd heading: 77.885480 deg, new cmd heading: 77.887930 deg. Bhum8}HeadingCmd: 1.359401 target range: 426.464203 and range: 428.50 m.h}?hy*hy"hy hgfffdddjdZd @]Bɢ]><)a e?ia)eG]aaieǥi?|;I?I!E9@A @A@E4@AE EE'E"E ;*E:VE'4ZEa@a@a@a@}BDAT read: Rx Time:15:03:52.8961 TRx dataTimestamp_ set to:1761577434.344161checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527922Q^A "5A= .AIA IY Oa y ,82v?AYEBy,IbD-VD-y=:<%EW=ٔAQ-E>9M ?YM ?=MRGyMFIEM>QQ 5]4Uq?Q 9e4U)UBYayaQ Ie?U*CIU;iU* ;U 4yiɮuAqjhFNOT Ignoring new targets: 426.46 m.RhW8ZhW8 ProNav: ac range: 426.464203 m, nav range: 412.491302 m, bearing: 75.867885 deg, approach rate: -0.668699 m/s, LOS rate: 0.001835 deg/s, cmd heading: 77.887932 deg, new cmd heading: 77.890018 deg. Bh68HeadingCmd: 1.359437 target range: 426.464203 and range: 428.50 m.h ?h*h"h hgfffdddjdZd@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778934ĉBɢO=) `?i)eJYi:i ? ;yI ?IB>BCBBB =BBDB"s;B.Eԁ9@ @@F3@!ԱE  E E %E "E ;*E v:VE 4ZE BE a 2E a JE ;a :E ;a ^Ae NJκ DAT read: 15:03:52.8961 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403,-0.01,-1.364,-2.743,-1.205,-1.650, PHS= 0.388,-1.048, 0.401, RAW= 150.4, 3.6, CAL= 149.5, 3.6, ROT= 0.5, -3.6  Ygot valid direction response: 15:03:52.8961 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403,-0.01,-1.364,-2.743,-1.205,-1.650, PHS= 0.388,-1.048, 0.401, RAW= 150.4, 3.6, CAL= 149.5, 3.6, ROT= 0.5, -3.6  PDAT read: Bearing 219.6, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 219.6, 0.8 (Local)  DAT read: Range 11 to 50 : 425.8 m (Round-trip 567.8 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.997989,0.008709,0.062791] Fpublishing direction and range infoy  > ?Į0ց?֏ ?Y C ) I >i $ O> '@ = <&@ =) 5,Ϊv?Aﻐ?r?٢vٱ' -AHRS rotation from veh to nav: [[0.220094,-0.961910,-0.162136],[0.975363,0.219571,0.021361],[0.015053,-0.162843,0.986537]]H ,?`Ŀ+6??ߕ?Ԏ? Ŀ?iﻐ?Ib;.CY]PBy],IbDVD02ylH=%==ٔ*F9Y=RGyF%E>Q 5]4q?Q 9e4i* )BYyy?Q I?PCI ?Į0ց?֏ ?Ziu5<biuju@bNU@Ր+y@@@ZuTj?n7@?V7W?2iuC:iupB"iu6T ?*iurBiuXBiqiqiqiuCiu~? addTargetRange:: Added new target pos. range: 425.799988 m, deltaT: 4.284608 s, deltaX: -2.700012 m, approachRate: -0.630166 m/s, rangeRepo size: 4  Added new target pos. range: 423.779053 m, bearing: 78.365400 deg, lat: 36.779069 deg, lon: -121.859314 deg, deltaT: 4.284608 s, deltaX: -2.685150 m, approachRate: -0.626697 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 423.78 m.RhZh ProNav: ac range: 423.779053 m, nav range: 412.198578 m, bearing: 75.868825 deg, approach rate: 0.000000 m/s, LOS rate: 0.001835 deg/s, cmd heading: 77.890016 deg, new cmd heading: 77.892824 deg. BhHeadingCmd: 1.359486 target range: 423.779053 and range: 425.80 m.h?h *h "h  h g f ffd1d1d9jd=̜z@Zd=]?颅ljBɢn<) -?i)ZT顉iO*DAT read: user:890> BDAT read: Tx time:15:03:54.1242 $Ping request sent.ܵ,pv?AN?N8?N\ٱN ' VAHRS rotation from veh to nav: [[0.221088,-0.961817,-0.161331],[0.975161,0.220300,0.022986],[0.013433,-0.162406,0.986633]]NHL?5Ŀ4?2???Ŀ~?iN?INwa;N+CY^WBy^,I ``hiMMb@Mb@Mb@IIII I9MDl?L7A`堿Q?YMO-?yM+Mu9Y=RGyFE>Q 54r?Q 94l)ǑBY-?Q E:yԦ?Q I?wCI:iU:24yɮڹAB*** querying acoustic contact ***i ijhQUFNOT Ignoring new targets: 423.78 m.Rh]$$8Zh]$$8 ProNav: ac range: 423.779053 m, nav range: 411.893433 m, bearing: 75.869710 deg, approach rate: -0.772310 m/s, LOS rate: 0.002242 deg/s, cmd heading: 77.892823 deg, new cmd heading: 77.895481 deg. Bh8HeadingCmd: 1.359533 target range: 423.779053 and range: 425.80 m.h*?h*h"h hgfffdddjdZd?=ʉBɢ={ =)A EF?i)?@P顉ii*?܀;TI*?I9@ @@/@\GeAi߱I߱checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503125%b9%eAY%qA1BBB,IB_BBBBBB.EBQBQBQBU =BU =CU4^A SII Y Ii O} >,_v?A2}?2h?2{Aٱ2-& :AHRS rotation from veh to nav: [[0.221974,-0.961815,-0.160122],[0.974981,0.220929,0.024527],[0.011785,-0.161561,0.986792]]2H`i?0~Ŀ 3?hG?@?"?`Ŀ͓?i2}?I2Nea;2,CY^bByb,IbDjVDjyra=%rU=ٔrŒ;Q-r>9tYt=vRGyvFzoEz>|Q 54~ r?Q 94~)~̑BYy?Q I ?~CI~Y;i~T;~"4yɮAbEFA4jE54rE}0E% E%E%'E!"E% ;*E%$:VE%'4ZE!BE%L checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008221 |,: w?A2g?2(S?2(ٱ2$ :AHRS rotation from veh to nav: [[0.222615,-0.961909,-0.158660],[0.974852,0.221356,0.025794],[0.010309,-0.160412,0.986996]]2H ~?NĿ`1?@gU?i??cĿ@y?i2g?I20a;2*CYRnByR,IiUMb@Mb@Mb@QQQQ Q9U9v? rh rh?YU4?yUCUC9Y=RGyF(ʺE>ԙQ 54r?Q 94/)ґBY5?Q E:yǩ?Q I?CI:i/:O*4yֺBɮAEjhFNOT Ignoring new targets: 423.78 m.Rh`Zh` ProNav: ac range: 423.779053 m, nav range: 411.333893 m, bearing: 75.870407 deg, approach rate: -0.741547 m/s, LOS rate: -0.000224 deg/s, cmd heading: 77.897843 deg, new cmd heading: 77.897571 deg. BhHeadingCmd: 1.359569 target range: 423.779053 and range: 425.80 m.h\?h*h"h h g f f f dddjdZdu?EЉBɢE_1=)I M?iI)MGIIiMٹi\? ;'߻I\?I)E5 E5E5)E1"E5;*E5:VE5FA4ZE1aE@aE@aE@aE@@ @@/@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258972^A `ԻI I O 9 ɝ,v&w?AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512160RoV?RA?RٱR" bAHRS rotation from veh to nav: [[0.223130,-0.962170,-0.156342],[0.974748,0.221704,0.026728],[0.008945,-0.158357,0.987341]]RH?Ŀ!1?`? ^?@Q? EĿL?iRoV?IR=a;R-CYnuByn,IIv>)v>bDVD:y=%%Q=ٔ-c;Q-->9)Y1=5RGy5F=EE>IQ 5U4Mr?Q 9U4M)MבBYQy]?Q I]?MCIM ;iM. ;M314yeBɮeAeްEjh)5FNOT Ignoring new targets: 423.78 m.B9B9B=,IB=sBB9B9B9B=s;B=.ERhU/ZhU/e ProNav: ac range: 423.779053 m, nav range: 411.055084 m, bearing: 75.870346 deg, approach rate: -0.673789 m/s, LOS rate: -0.000149 deg/s, cmd heading: 77.897570 deg, new cmd heading: 77.897384 deg. BhmҶmHeadingCmd: 1.359566 target range: 423.779053 and range: 425.80 m.hmA?hq*h"h hgfffdddjdZd~U?ӉBɢ*=) v?i)}eC!!i%"i%A?-̐};- =I-A?I19@ @@o0@YE9 E=E9E9"E9*E=ą:VE9ZE9BE=@ԙ 9Bϝ,?w?AFM?F29?FmٱF jAHRS rotation from veh to nav: [[0.223393,-0.962512,-0.153841],[0.974699,0.221820,0.027540],[0.007617,-0.156100,0.987712]]FH%? ÿ 0?d?3?2?ÿU?iFM?IFNa;F+CY|By ,IbDMVDMkys =%%;=ٔ-F;Q-U>9aYaq=mRGyFE>Q 54r?Q 94)ݑBYy?Q I? CIG;i;94yBɮAjh%FNOT Ignoring new targets: 423.78 m.RhM&ZhM&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015724 ProNav: ac range: 423.779053 m, nav range: 410.738281 m, bearing: 75.870290 deg, approach rate: -0.727448 m/s, LOS rate: -0.000128 deg/s, cmd heading: 77.897385 deg, new cmd heading: 77.897218 deg. Bh-HeadingCmd: 1.359563 target range: 423.779053 and range: 425.80 m.h(?h*h"h h g f ffdddAjdAZdES@ԙ颵։Bɢ݄=) ?i)>项ii(?{;I(?IIQ)Q9@ @@0@EE  EE EE %EA "EE ;*EE ՚:VEE 4ZEA aM @aM @aM @aM @= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266731 ^A5 A1 A5 >Ae؟AIqIO>Fם,^w?A2pL?27?2Ȼٱ2` :AHRS rotation from veh to nav: [[0.223432,-0.962652,-0.152902],[0.974700,0.221647,0.028843],[0.006124,-0.155478,0.987820]]2Hn? Hÿ`0?^?"?y?ÿ9?i2pL?I2a;20CYBByB,IHiMb@Mb@Mb@ 9^I +?~jt?9E"?YE"?=ERGyEFE'EM>Q 54#r?Q 94)BYm9?Q E:yϮ?Q I?4CI:i:@4yɮA %B*** querying acoustic contact ***i! i!jhQUFNOT Ignoring new targets: 423.78 m.Rh]OZh]O ProNav: ac range: 423.779053 m, nav range: 410.412537 m, bearing: 75.868403 deg, approach rate: -0.722650 m/s, LOS rate: -0.004189 deg/s, cmd heading: 77.897215 deg, new cmd heading: 77.891551 deg. Bh7HeadingCmd: 1.359464 target range: 423.779053 and range: 425.80 m.h?h*h"h hgfffdd d jd Zd @5ىBɢ=D=)9 =?i9)E9AAiEiM?MMz;MIM?IQmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5201579@ @@4@B>BB,IBBB =BBBs;B.E^A} Β E  E E )E "E :*E 1:VE FA4ZE BE > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770794riݝ,@xw?AZSN?Z9?ZHٱZ vAHRS rotation from veh to nav: [[0.223378,-0.962753,-0.152346],[0.974720,0.221400,0.030049],[0.004800,-0.155207,0.987870]]ZH? ÿ@0?V? Ş?s?ÿ`?iZSN?IZ+a;Z+CYzByz,I| bDVDy%|=%%M=ٔ%RY;Q-%>9)Y)=-RGy-F59E5>9Q 5E4=Y(r?Q 9E4=s)=BYAyEЮ?Q IM?=XCI=H;i==:=G4yQɮU¸AQjhy}FNOT Ignoring new targets: 423.78 m.RhpZhp ProNav: ac range: 423.779053 m, nav range: 410.135437 m, bearing: 75.866794 deg, approach rate: -0.740103 m/s, LOS rate: -0.004301 deg/s, cmd heading: 77.891552 deg, new cmd heading: 77.886721 deg. Bh<HeadingCmd: 1.359380 target range: 423.779053 and range: 425.80 m.h(?h*h"h hgfffdddjdZd੮@]ۉBɢ]M\=)Y ]z?ia)e55aaiehim(?mJx;m`Im(?Iq99@ @@3@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023520^Aԁ A I I O >Q,w?A2mh?2S?2sٱ2/a >AHRS rotation from veh to nav: [[0.222603,-0.963144,-0.151005],[0.974902,0.220506,0.030708],[0.003721,-0.154051,0.988056]]2H=~? Tÿ f2?9?q?{n?@ÿ'?i2mh?I2$b;2,CYBByF,IiEMb@Mb@Mb@AAAA A9Eףp= ?Q?Mb?YE>?yE9qYy=}RGy}F}!:E>Q 54 -r?Q 94v)BY>?Q E:yױ?Q I?CIv:i ;N4yBɮ0AհEjhFNOT Ignoring new targets: 423.78 m.RhZhDDE EE&E"E&:*E:VE4ZEa@a@a@a@ ProNav: ac range: 423.779053 m, nav range: 409.827301 m, bearing: 75.863981 deg, approach rate: -0.743866 m/s, LOS rate: -0.006796 deg/s, cmd heading: 77.886723 deg, new cmd heading: 77.878278 deg. BhAHeadingCmd: 1.359232 target range: 423.779053 and range: 425.80 m.hS?h*h"h hg f f f dddjdZd @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274646e݉Bɢe">=)a e5?ia)m0iqiu۳iS?>sw;(IӻIS?IV>i>ԉE9@A @A@M/@IԱ^A 軝 BDAT read: Rx Time:15:03:57.0928  TRx dataTimestamp_ set to:1761577438.629572 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529646 A} .AI I O >A A B >B B ,IB BB =B B B s;B .ER|,w?AR?Rc?RC9ٱR ZAHRS rotation from veh to nav: [[0.221191,-0.963764,-0.149105],[0.975226,0.219033,0.030954],[0.002827,-0.152258,0.988337]]RHO?(ÿ5?E ?V?q(g? 3}ÿ@t?iR?IR/b;PYrByr,IbDVD0y =%P=ٔ=^;Q-E>9E ?YM ?=MRGyMFU[n;EU>Q 541r?Q 94)BYy?Q I?CI;i;U4yBɮ4AԹjhFNOT Ignoring new targets: 423.78 m.RhZh- ProNav: ac range: 423.779053 m, nav range: 409.527283 m, bearing: 75.861178 deg, approach rate: -0.732266 m/s, LOS rate: -0.006846 deg/s, cmd heading: 77.878275 deg, new cmd heading: 77.869859 deg. Bh-[UHeadingCmd: 1.359085 target range: 423.779053 and range: 425.80 m.hU?hQ*hY"hY hYgYfYfafadadadajdiZdm@V@颕BɢW=) X?i)bQ,顙i Qi?>v;:I?IE EE'E"E;*E^:VE'4ZEBE8Cz,4w?AEDAT read: 15:03:57.0928 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 400, 0.26, 2.905, 1.402, 3.135, 2.458, PHS= 0.549,-1.011, 0.632, RAW= 152.6, -2.2, CAL= 151.8, -3.2, ROT= 358.2, 3.2 MYgot valid direction response: 15:03:57.0928 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 400, 0.26, 2.905, 1.402, 3.135, 2.458, PHS= 0.549,-1.011, 0.632, RAW= 152.6, -2.2, CAL= 151.8, -3.2, ROT= 358.2, 3.2 UPDAT read: Bearing 212.5, -1.1 (Local) ]~Local bearing/azimuth received: Bearing 212.5, -1.1 (Local) eDAT read: Range 11 to 50 : 423.3 m (Round-trip 564.5 ms) speed 0.5 m/s eR#Rx 1: Read range and direction messages.m`direction in FSK: [0.997948,-0.031362,-0.055822]uFpublishing direction and range infoy0?|]ᢔYC )CID ?ish!?t*@nF)@ d)@Id=͙?`3{6?aT.  ?)~=Iѭid=Ӑ?v?ٱϸ AHRS rotation from veh to nav: [[0.219403,-0.964443,-0.147347],[0.975632,0.217238,0.030834],[0.002272,-0.150521,0.988604]]H@h?`@@¿_8?`r?㒟?Sb?`EDÿ@?iӐ?Ifbb;YBy,II=)=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9w/?{Gz?MbPYF?y#=j"AxA (A)CAYQAbD- VD-:2y`:%=ٔ:Q->9"?Y"?=RGyF{h;E>Q 54Q7r?Q 94G)BY,G?Q E:y;?Q I?ٮCIU:i:^4yɮ2Aiitw?AJiCRiCjiY?bmuFz@ۺl*_7R0?|]ᢔZiѭbid=j[@ _iy@3cI#N4Z=y?1 ?ǜ\2iJC:iB"i);ꕊ?*i6.BiGBii6.iiXCi3? addTargetRange:: Added new target pos. range: 423.299988 m, deltaT: 4.283581 s, deltaX: -2.500000 m, approachRate: -0.583624 m/s, rangeRepo size: 4  Added new target pos. range: 421.290833 m, bearing: 75.064931 deg, lat: 36.779069 deg, lon: -121.859203 deg, deltaT: 4.283581 s, deltaX: -2.488220 m, approachRate: -0.580874 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 421.29 m.RhZh ProNav: ac range: 421.290833 m, nav range: 418.690704 m, bearing: 76.186375 deg, approach rate: 0.000000 m/s, LOS rate: -0.006846 deg/s, cmd heading: 77.869860 deg, new cmd heading: 77.859054 deg. BhHeadingCmd: 1.358897 target range: 421.290833 and range: 423.30 m.hU?h*h"h hgfffdddjdtz@Zd`_?Bɢ,=) ?i)ܒ&iԶiU?t;$eIU?IDzDE EEE"E%;*E:VEZEa@a@a@a@A9@ @@@*DAT read: user:891> BDAT read: Tx time:15:03:58.4742 $Ping request sent.9Y=RGyFT<E>Q 5%4;r?Q 9%4U)BYy?Q I?CIדB-CB--IB-BB- =B)B)B--s;B-.E*hA"hA hAgAfIfIfIdIdQdQjdQZdU@ ?aBɢ`f=) ?i)r["iJi?=t;"Ġ:I?I9@ @@/@ԑE EE(E"E;*E:VEc44ZEBE@ M+,x?A2ܑ?2[ȭ?2x7ٱ2  :AHRS rotation from veh to nav: [[0.211509,-0.967003,-0.142020],[0.977374,0.209557,0.028738],[0.001972,-0.144885,0.989446]]2H`?`-¿F?? }m?`&`? ¿?i2ܑ?I2b;2,CY^Byb,IddbDhVDhyr^%rN=ٔrCIQ-v>9tYt=vRGyvFz;Ez> Q 5%4 ?r?Q 9-4 D) BY1y=E?Q IE? (CI ;i ; l4y_Bɮ\A̰Ejh)UFNOT Ignoring new targets: 421.29 m.Rh] Zh]  ProNav: ac range: 421.290833 m, nav range: 418.075531 m, bearing: 76.179855 deg, approach rate: -0.697746 m/s, LOS rate: -0.007545 deg/s, cmd heading: 77.849533 deg, new cmd heading: 77.839482 deg. BhHeadingCmd: 1.358555 target range: 421.290833 and range: 423.30 m.h#?h*h"h hgfffdddjdZdi?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753534MBɢMsF=)Q UL?iQ)UgQYi]eƹi]#?e{t;e_;Ie#?I=9@9 @A@E/@A) ^Ae ;E  E E .E "E T;*E :VE ـ4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007963AQ Ia Iq O} > j,6x?A YBy,IiMb@Mb@Mb@ 9%C??9Y=RGyFE>Q 54Dr?Q 94)BYD?Q E:yϵ?Q I?SCI:i:\t4y\Bɮ AjhFNOT Ignoring new targets: 421.29 m.Rh%{KZh%{K5 ProNav: ac range: 421.290833 m, nav range: 417.742096 m, bearing: 76.175694 deg, approach rate: -0.890107 m/s, LOS rate: -0.011119 deg/s, cmd heading: 77.839479 deg, new cmd heading: 77.826984 deg. Bh5.=HeadingCmd: 1.358337 target range: 421.290833 and range: 423.30 m.h=ݭ?h9*h9"h9 h9gAfAfAfAdIdIdQjdQZdU?Bɢw=)0o ?i)sAIiM2IiUݭ?U1kt;US;IUݭ?IQ 5e>5C}9@ @@ 0@@=@=G)AyQ9YAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261490B <A <BBB-IBBB =BBBTs;B.EBCBCBBBCǴW4ԙ ^A "5;A .AI I) O= > ,4x?A2 ~?2i?2^ٱ2ۦ :AHRS rotation from veh to nav: [[0.206699,-0.968319,-0.140119],[0.978402,0.204908,0.027250],[0.002325,-0.142725,0.989760]]2Hu?x@k`O?@m:?_? c?D¿`?i2 ~?I2eb;2.CYBByB,IHbDNVDNyVLr%V`=ٔZ~}Q-Z>9Z ?YZ ?=^RGy^F^\<E^>`Q 5f4btGr?Q 9f4bA)bBYhyjr?Q Ij?bwCIb;ib;bz4ylɮn8AljhFNOT Ignoring new targets: 421.29 m.Rh 8Zh 8 ProNav: ac range: 421.290833 m, nav range: 417.462769 m, bearing: 76.172010 deg, approach rate: -0.765134 m/s, LOS rate: -0.010097 deg/s, cmd heading: 77.826987 deg, new cmd heading: 77.815928 deg. Bhݹ%HeadingCmd: 1.358144 target range: 421.290833 and range: 423.30 m.h%׭?h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd=?bE-4jErEsq0EU EUEU'EQ"EU~ ;*EU?:VEU'4ZEQBEUVg,sGNx?AYrByv,I|iuMb@Mb@Mb@qqqq q9u"~j?+?{GzYuSC?yu=uףuAuA q)qqYq bDVDy+%==ٔQ->9"?Y"?=RGyFE>Q 54Kr?Q 94)ܑBYC?Q E:yg?Q I?CI);id;M4yɮ]AjhFNOT Ignoring new targets: 421.29 m.Rh`Zh`  ProNav: ac range: 421.290833 m, nav range: 417.133179 m, bearing: 76.168385 deg, approach rate: -0.761304 m/s, LOS rate: -0.008381 deg/s, cmd heading: 77.815929 deg, new cmd heading: 77.805044 deg. Bh HeadingCmd: 1.357954 target range: 421.290833 and range: 423.30 m.hqѭ?h*h"h hgf!f!f!d!d)d)jd)Zd-yK@]Bɢ]\=)Y ]?iY)eaaie}Nimqѭ?m|Wu;m;Imqѭ?I)DizDmAAE} E}EyEy"E}O;*E}:VEyZEya@a@a@a@9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017469Q^A<ԁ A I I O > ,Jhx?A2?2Z?291ٱ2ݾ :AHRS rotation from veh to nav: [[0.202971,-0.969069,-0.140387],[0.979181,0.201269,0.026367],[0.002704,-0.142816,0.989746]]2H`? 1sU?.?@?:'f?G¿ ?i2?I2&Yb;0YBByB,IbDNVDN3yR*%VZ=ٔVQ-V>9XYX=ZRGyZFZZ&<E^>\Q 5b4^Or?jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269567Q 9j4^:)^ؑBYlyn?Q In?^ƯCI^f;i^g;^܈4yr8BɮrֶAr°Ejh FNOT Ignoring new targets: 421.29 m.Rh3 Zh3 % ProNav: ac range: 421.290833 m, nav range: 416.847595 m, bearing: 76.165089 deg, approach rate: -0.757950 m/s, LOS rate: -0.008754 deg/s, cmd heading: 77.805041 deg, new cmd heading: 77.795147 deg. Bh-=-HeadingCmd: 1.357781 target range: 421.290833 and range: 423.30 m.h5˭?h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE N@IuBɢuo=)y }?iy)} yyi}ҿB>BB -IBBB =BBBSs;B.Ei˭?1v;E7AM >AyIIO>!,/x?A^ ?^J?^ٱ^ jAHRS rotation from veh to nav: [[0.202435,-0.969023,-0.141472],[0.979293,0.200655,0.026887],[0.002333,-0.143985,0.989577]]^H`b?<¿ ^V??0?c?n¿?i^ ?I^Mxb;^,CYnvByr,I~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773456iMb@Mb@Mb@ 9Mb? rh?Y@?yC =̼A A)AYABAbDVDky(4%=ٔ3:Q->9Y=RGyF:E> Q 54 RUr?Q 94 ) БBY@?Q E:y?Q I? CI u ;i *: O4y%@Bɮ%(A%ðEEB*** querying acoustic contact ***iA iAjhQ]FNOT Ignoring new targets: 421.29 m.Rh]Zh]u ProNav: ac range: 421.290833 m, nav range: 416.441681 m, bearing: 76.160752 deg, approach rate: -0.751028 m/s, LOS rate: -0.008032 deg/s, cmd heading: 77.795144 deg, new cmd heading: 77.782121 deg. BhufuHeadingCmd: 1.357554 target range: 421.290833 and range: 423.30 m.h}Uĭ?hy*hy"hy hygyfyffdddjdZd`@颽Bɢ/=) ?i)iRliUĭ?6w;<: (,=x?A2!?2W ?2`tкٱ2 :AHRS rotation from veh to nav: [[0.201806,-0.969096,-0.141873],[0.979424,0.199912,0.027626],[0.001590,-0.144529,0.989499]]2H ?(¿qW??@I?@Z?¿`?i2!?I2a;0Y^kByb,IbDjVDjJy%l%%[=ٔ-;Q-->9)Y1=5RGy5F5:E5>9Q 5E4=*Yr?Q 9M4=`x)=ˑBYIyM)?Q IM?=CI=$:i=:=Ԙ4yQɮUTAYjhFNOT Ignoring new targets: 421.29 m.RhZh ProNav: ac range: 421.290833 m, nav range: 416.161804 m, bearing: 76.157732 deg, approach rate: -0.751906 m/s, LOS rate: -0.008117 deg/s, cmd heading: 77.782119 deg, new cmd heading: 77.773055 deg. BhDHeadingCmd: 1.357396 target range: 421.290833 and range: 423.30 m.h&?h*h"h hgfffdddjdZd ! @Bɢu/l=) k?i)Ii9¼i&?x;EB CB ,IB BB B B B -s;B .EU9@Y @Y@]/@Y E  E E (E "E ;*E Z:VE c44ZE BE a 2E a JE $;a :E %;a ^A}  << BDAT read: Rx Time:15:04:01.4395  TRx dataTimestamp_ set to:1761577442.917077 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5318039 A I I O >o.,¾x?A2)?2?20Zٱ2 >AHRS rotation from veh to nav: [[0.201591,-0.968849,-0.143847],[0.979469,0.199530,0.028762],[0.000835,-0.146692,0.989182]]2H?`@i¿@W?@6?`s?_K?¿`?i2)?I2/a;2/CYBaByB,I DDbDNVDN1yV1%V;=ٔV":Q-V>9XYX=ZRGy^F^r:E^>`Q 5f4b]r?Q 9f4bo)bđBYdyj-?Q Ij?bHCIbY;ib;by4ynBɮnAnEjhFNOT Ignoring new targets: 421.29 m.Rh Zh  ProNav: ac range: 421.290833 m, nav range: 415.833466 m, bearing: 76.154178 deg, approach rate: -0.751122 m/s, LOS rate: -0.008136 deg/s, cmd heading: 77.773055 deg, new cmd heading: 77.762386 deg. Bh%HeadingCmd: 1.357210 target range: 421.290833 and range: 423.30 m.h% ?h!*h!"h) h)g)f)f1f1d1d1d9jd9Zd=;@ԉBɢ:H=) ?i) r  i (Xļi ?_y;/J 5,x?AE EE)E"E ;*E?:VEFA4ZEa@a@a@a@MDAT read: 15:04:01.4395 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 257,-0.22,-2.120, 2.657,-1.834,-2.208, PHS= 0.190,-1.372, 0.330, RAW= 154.3, 10.4, CAL= 154.1, 11.4, ROT= 355.9, -11.4 UYgot valid direction response: 15:04:01.4395 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 257,-0.22,-2.120, 2.657,-1.834,-2.208, PHS= 0.190,-1.372, 0.330, RAW= 154.3, 10.4, CAL= 154.1, 11.4, ROT= 355.9, -11.4 ]PDAT read: Bearing 227.3, -5.9 (Local) ]~Local bearing/azimuth received: Bearing 227.3, -5.9 (Local) mDAT read: Range 11 to 50 : 420.9 m (Round-trip 561.2 ms) speed 0.6 m/s mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.977762,-0.070087,0.197657]}Fpublishing direction and range infoy]oI?Y;g4L?YsC )DI\B>i>Z,@9>!,@ %K>)@I%K*1?m!߂.?uě+? g?)Lf:Iii%KT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.YNBy,Ii=Mb@Mb@Mb@9999 99=5^I ?y&1|?Zd;OY=8?y=`;=j99 9)99Y9 Up95 ?Y5 ?=5RGy5F=E=>AQ 5M4Ercr?Q 9M4Ef)EBYU*8?Q EU:yU?Q IU?EuCIE;iE;E4yYɮ]8AYiix?AJisCRisCjiVͩ?b~Qfy@\=@P&T@R]oI?Y;g4L?Ziibi%Kjv_PX@8B<:x@RU[U@ZC=H?Na ea?ymr?2iC:i5B"i?*imBiCi?iiiCix9?5 addTargetRange:: Added new target pos. range: 420.899994 m, deltaT: 4.287144 s, deltaX: -2.399994 m, approachRate: -0.559812 m/s, rangeRepo size: 4 E Added new target pos. range: 418.902802 m, bearing: 76.007367 deg, lat: 36.779066 deg, lon: -121.859203 deg, deltaT: 4.287144 s, deltaX: -2.388031 m, approachRate: -0.557021 m/s, posRepo size: 4 jhAEFNOT Ignoring new targets: 418.90 m.RhmZhi} ProNav: ac range: 418.902802 m, nav range: 415.406464 m, bearing: 76.196440 deg, approach rate: 0.000000 m/s, LOS rate: -0.008136 deg/s, cmd heading: 77.762387 deg, new cmd heading: 77.750161 deg. BhyHeadingCmd: 1.356996 target range: 418.902802 and range: 420.90 m.h?h*h"h hgfffdddjd`fNz@Zd@a?!5Bɢ51=)1 5I?i1)=:99i=żiE?e9{;eL BDAT read: Tx time:15:04:02.6742 $Ping request sent.B B ,IB BB =B B B s;B .E^A% 4|E<ԁ AQ IY Ii O} > <,/x?A2?2qٮ?2!;ٱ2 >AHRS rotation from veh to nav: [[0.203357,-0.967878,-0.147843],[0.979102,0.200644,0.033196],[-0.002466,-0.151504,0.988454]]2H? @¿T?೮? ?`2d |dÿ`i?i2?I2b`;2+CYBSByF,IbDnVDnyv<%v\=ٔvB9xYx=~RGy~F~E~>Q 5 4gr?Q 9 4`)BYyu?Q I?CIP;im ;]4yɮ#A!1jhIMFNOT Ignoring new targets: 418.90 m.RhU/ZhU/e ProNav: ac range: 418.902802 m, nav range: 415.142242 m, bearing: 76.194949 deg, approach rate: -0.750863 m/s, LOS rate: -0.004240 deg/s, cmd heading: 77.750161 deg, new cmd heading: 77.745685 deg. Bhe9:mHeadingCmd: 1.356918 target range: 418.902802 and range: 420.90 m.hm?hi*hi"hq hqgqfqfyfydydydyjdZdg ?颭Bɢ~e}=) O?i)N顱iǼi?#|;[2 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502624 wC,ۈy?A2Ē?2n?2pЖ;ٱ2j :AHRS rotation from veh to nav: [[0.204580,-0.967255,-0.150214],[0.978839,0.201433,0.036041],[-0.004602,-0.154409,0.987996]]2H/? 9:ÿ R? ?@s? r@ÿ`?i2Ē?I2`;0Y^JByb,IIb=)bp9Y=RGyFc?E>Q 54mr?Q 94X)BY.?Q E:yũ?Q I?CI ;iC ;ڶ4yɮHAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 418.90 m.Rhi6Zhi6- ProNav: ac range: 418.902802 m, nav range: 414.849335 m, bearing: 76.195093 deg, approach rate: -0.683800 m/s, LOS rate: 0.000335 deg/s, cmd heading: 77.745687 deg, new cmd heading: 77.746118 deg. Bh-k75HeadingCmd: 1.356926 target range: 418.902802 and range: 420.90 m.h5?h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdMn! /I,c(y?A2΂?2Pn?24;ٱ2! :AHRS rotation from veh to nav: [[0.206552,-0.966576,-0.151880],[0.978410,0.202929,0.039155],[-0.007025,-0.156689,0.987623]]2HKp?@0pÿ`#O??@ ?r|@`Ŀ?i2΂?I21`;2,CYnGByr,ItvAAbDzVDz0y%V=ٔ O;Q- >9 "?Y "?= RGyF~E>Q 5%45sr?Q 9%4Q)BY)y-?Q I-?ݰCIg:i_:4y5%Bɮ5vA5EjhYeFNOT Ignoring new targets: 418.90 m.Rhe7Zhe7u ProNav: ac range: 418.902802 m, nav range: 414.588715 m, bearing: 76.195294 deg, approach rate: -0.684385 m/s, LOS rate: 0.000529 deg/s, cmd heading: 77.746117 deg, new cmd heading: 77.746722 deg. Bhu7checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006785HeadingCmd: 1.356936 target range: 418.902802 and range: 420.90 m.h?h*h"h hgfffdddjdZdBB,IBxBBBBB*s;B.EU9@Y @Y@]4@Y!^Auh%<E= E=ME=&E9"E=l;*E=%;VE=4ZE9BE=[Fy P,>By?A2a1?2?2"<ٱ2" :AHRS rotation from veh to nav: [[0.208978,-0.965920,-0.152730],[0.977872,0.204852,0.042446],[-0.009713,-0.158220,0.987356]]2Hʿ?ऌÿJ?8??F䃿@Ŀk?i2a1?I2`;2+CY^FByb,IbDjVDjP)yrV%rM=ٔrp;Q-r>9tYt=vRGyvFz˻Ez>xQ 54zxr?Q 94zJ)zBYy1?Q I?zCIz ;izG ;z~ă4yBɮAEjh1FNOT Ignoring new targets: 418.90 m.Rh `7Zh `7  ProNav: ac range: 418.902802 m, nav range: 414.315857 m, bearing: 76.195600 deg, approach rate: -0.683357 m/s, LOS rate: 0.000765 deg/s, cmd heading: 77.746718 deg, new cmd heading: 77.747635 deg. Bh z8=HeadingCmd: 1.356952 target range: 418.902802 and range: 420.90 m.h=?h9*h9"hA hAgAfIQffdddjdZd`DF?BɢQE=)! %?iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512597)#ּi(ʼi%?%};%T;I-?I)5a>i5!>ԁ9@ @@4@ԩ^A <EM  EM EM )EI "EM ;*EM Ǚ:VEM FA4ZEI a] @a] @a] @a] @ E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763059Ia Iq O >fMW,Ӡ^y?A2Ց?2?2 K<ٱ2# >AHRS rotation from veh to nav: [[0.211725,-0.965256,-0.153143],[0.977251,0.207106,0.045697],[-0.012392,-0.159335,0.987147]]2H? a4ÿ@E?r?e?`@eĿ?i2Ց?I2z`;2,CYBLByF,I DFAi Mb@Mb@Mb@     9 NbX9?~jthY %?y  D   )  Y ybDVD!y&<%/=ٔ%;Q->9Y=RGyFĻE>Q 54Hr?Q 941C)BY%?Q E:yƨ?Q I?'CIK ;i ;̃4yɮҶAjh FNOT Ignoring new targets: 418.90 m.Rhϔ7Zhϔ7- ProNav: ac range: 418.902802 m, nav range: 414.011078 m, bearing: 76.196078 deg, approach rate: -0.647223 m/s, LOS rate: 0.001016 deg/s, cmd heading: 77.747634 deg, new cmd heading: 77.749069 deg. Bh-285HeadingCmd: 1.356977 target range: 418.902802 and range: 420.90 m.h5n?h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdM@@uBɢu4c=)y }?iy)}9μyyi}D˼in?};0;In?IG=fAYe9@i9fAYAԩ @@/@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014708B>BB,IBZBB =BBBs;B /EBBBBBCƫ5^A #2;I I O > i],Bxy?A6Xv?6a?6z<ٱ6P% BAHRS rotation from veh to nav: [[0.214541,-0.964537,-0.153755],[0.976595,0.209373,0.049247],[-0.015309,-0.160722,0.986881]]6Hv?|<ÿ D@?@? 6?AZĿ?i6Xv?I6`o`;6.CYFQByJ,I PRp;bDRVDRyZ<%Z\=ٔ^9`Y`=bRGybFbEb>dQ 5j4fYr?Q 9j4f!=)fBYlynh?bEijEm,4rEm7/Er ErEr*Ep"Er;*Er҆:VEr(N4ZEpBErDi checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534578y Qd,y?A2?2?2}<ٱ2p' :AHRS rotation from veh to nav: [[0.217295,-0.963723,-0.154985],[0.975935,0.211533,0.052953],[-0.018247,-0.162761,0.986497]]2HS?@ÿ:?@?@?k ]Ŀa?i2?I2`;0YfAByf,IiUMb@Mb@Mb@QQQQ Q9UuV?Q롿I +?YUr(?yU\U949Y=RGyF_ػE>Q 54r?Q 945)BY(?Q E:y?Q I?jCI ;i& ;ڃ4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 418.90 m.Rhk<8Zhk<8 ProNav: ac range: 418.902802 m, nav range: 413.490448 m, bearing: 76.197641 deg, approach rate: -0.664795 m/s, LOS rate: 0.002574 deg/s, cmd heading: 77.750475 deg, new cmd heading: 77.753756 deg. Bh8HeadingCmd: 1.357059 target range: 418.902802 and range: 420.90 m.h?h*h"h hgfffdd d jd Zd @q@QBɢ8[=) ?i) i%ͼi%?-};-ADI-?IQE EE'E"E ;*Ev:VE'4ZEa @a @a @a @9@ @@@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.787519ԁԩ^A- rg:A5 >A5 >I I O > {j,By,II >) %=bD-VD-yEV%EN=ٔMQ-M>9IYQ=URGyUF]E]>aQ 5u4er?Q 9u4eM/)eBYyyQ I?eCIeqa;ieb;e4yBɮAEBQBQBU,IBUUBBU =BQBQBUs;BU&/EjhFNOT Ignoring new targets: 418.90 m.Rh.8Zh.8Ա ProNav: ac range: 418.902802 m, nav range: 413.227783 m, bearing: 76.198658 deg, approach rate: -0.616016 m/s, LOS rate: 0.002388 deg/s, cmd heading: 77.753753 deg, new cmd heading: 77.756808 deg. Bh8HeadingCmd: 1.357112 target range: 418.902802 and range: 420.90 m.h۵?h*h"h hgff f d d)d1jd1Zd5 @Bɢ+R=)) -?i))-B*)1i5Hμi5۵?=$t|;=WI=۵?I99@ @@@E EE&E"E;*EM:VE4ZEBE1N9 jfq,Ly?ARaa?RL?R<ٱR ) fAHRS rotation from veh to nav: [[0.222747,-0.962509,-0.154794],[0.974566,0.215841,0.060286],[-0.024615,-0.164286,0.986106]]RH?`Lÿ@/?@?ݮ?4Oſ-?iRaa?IRx`;R+CYnJByn,IttbDtVDtyp=%N=ٔ 9 Y = RGyFhE>Q 5%4r?Q 9%4()Y)y-?Q I-?CIp:ig:4y1ɮ5gA9jhFNOT Ignoring new targets: 418.90 m.Rhf8Zhf8 ProNav: ac range: 418.902802 m, nav range: 412.967438 m, bearing: 76.199870 deg, approach rate: -0.677242 m/s, LOS rate: 0.003154 deg/s, cmd heading: 77.756806 deg, new cmd heading: 77.760444 deg. Bh 9%HeadingCmd: 1.357176 target range: 418.902802 and range: 420.90 m.h%?h!*h)"h) h)g)fQfafadddjdZd`'@BDAT read: Rx Time:15:04:05.6218 TRx dataTimestamp_ set to:1761577447.219867checking for new query: numPingsReceived=0, elapsed TxPingTime=3.549048Bɢh`=) ǒ?i)0׮9i=ϼiE?E-{;E[IE?II99@ @@/@a D zD @AE  E E $E "E ;*E :VE 4ZE a @a @a @a @^A} ?Bɹ} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794633ԡ A .AI II Ou >7!x,?y?ABq?B?B<ٱB^( JAHRS rotation from veh to nav: [[0.225105,-0.962114,-0.153832],[0.973941,0.217707,0.063577],[-0.027678,-0.164135,0.986049]]BH @? ǰÿ*? ?F?W`bſ?iBq?IB:`;B-CYROByR,Ii-Mb@Mb@Mb@)))) )9-@5^I ?X9v9e ?Ym ?=uRGyuFE>Q 54r?Q 94 )BY0?Q E:y?Q I?ձCI<;Ii;4yYɮ]VAajhFNOT Ignoring new targets: 418.90 m.RhXB8ZhXB8  ProNav: ac range: 418.902802 m, nav range: 412.652191 m, bearing: 76.201119 deg, approach rate: -0.669360 m/s, LOS rate: 0.002655 deg/s, cmd heading: 77.760447 deg, new cmd heading: 77.764198 deg. Bh 68HeadingCmd: 1.357241 target range: 418.902802 and range: 420.90 m.h?h*h"h hgfffddAdAjdAZdE`@颵Bɢ67w=) ?i)-I项iмie?ey;e+KIe?Iiy DAT read: 15:04:05.6218 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 252,-0.26,-1.342,-2.502,-1.141,-1.386, PHS= 0.146,-1.071, 0.200, RAW= 152.2, 11.6, CAL= 152.1, 12.8, ROT= 357.9, -12.8 Ygot valid direction response: 15:04:05.6218 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 252,-0.26,-1.342,-2.502,-1.141,-1.386, PHS= 0.146,-1.071, 0.200, RAW= 152.2, 11.6, CAL= 152.1, 12.8, ROT= 357.9, -12.8 %PDAT read: Bearing 227.6, -5.4 (Local) %~Local bearing/azimuth received: Bearing 227.6, -5.4 (Local) 5DAT read: Range 11 to 50 : 407.7 m (Round-trip 543.6 ms) speed 0.8 m/s =R#Rx 1: Read range and direction messages.M^direction in FSK: [0.974494,-0.035733,0.221548]MFpublishing direction and range infoQ@Y @Y@] 0@Yy>(/?yExK@|[?YC )BI>iL>P*@4QO>)@ d>)@Id ?E ?hyS`r? ?)OIQ idB >B B ,IB ZBB  =B B B t;B G/ET****** received valid address query ******%R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ԡ^A [RӻA zA E  E E 'E "E O;*E :VE '4ZE BE )Y~,(y?A2Ώ?2s?2a<ٱ2' :AHRS rotation from veh to nav: [[0.227060,-0.961963,-0.151892],[0.973393,0.219233,0.066657],[-0.030821,-0.162986,0.986147]]2HO? f 6qÿ&??i?Ŀ?i2Ώ?I2M`;2,CYBYByB,I DFAN*DAT read: user:893> RBDAT read: Tx time:15:04:07.0241 R$Ping request sent.R9"?Y"?=RGyFE>Q 54-r?Q 94M)BYyR?Q I?CIq;iS;4yɮ-A)iqiuLy?AJiuCRiuCjiu׫?buƳ9x@x9,EbyV@Ru>(/?yExK@|[?ZiuQ biudjutV@gU;x@iwQS@Zu"u$6j?}'t??2iuC:iu'B"iuJ?*iuӋCBiuCiuJ?iqiqiuLZ,/z?AD*=D*<E. E.E.(E,"E. ;*E.:VE.c44ZE,a6@a6@a6@a6@B8?Bu?B=ٱB# JAHRS rotation from veh to nav: [[0.229063,-0.962271,-0.146847],[0.972751,0.220730,0.070952],[-0.035862,-0.159098,0.986611]]BHQ?¿@ ?@?)?`s\O]ĿQ?iB8?IBF_`;B-CYRWByR,IXiMb@Mb@Mb@ 9X9v?{Gz/$?Y3?yף<;#A )AYAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502838 bDVDy\%#=ٔ$9Y=RGyFE>Q 54By B} ,IB} _BBy By By B} t;B} V/EAi Iy I O >z,k4z?A2q?2k?2q=ٱ2" :AHRS rotation from veh to nav: [[0.229335,-0.962390,-0.145643],[0.972605,0.220735,0.072915],[-0.038024,-0.158375,0.986647]]2HZ?`k¿?`A??wEĿ?i2q?I2`;2+CYBbByB,IbDJVDJyvt=%v^=ٔv8;Q-v>9xYx=zRGyzFzTE~>Q 5 4r?Q 9 4; )BY y n?Q I ?GCI|:i:4yȹBɮA%EjhAMFNOT Ignoring new targets: 405.76 m.RhMs8ZhMs8e ProNav: ac range: 405.764923 m, nav range: 409.877228 m, bearing: 77.324856 deg, approach rate: -0.703405 m/s, LOS rate: 0.003321 deg/s, cmd heading: 77.772202 deg, new cmd heading: 77.775872 deg. Bhe9mHeadingCmd: 1.357445 target range: 405.764923 and range: 407.70 m.hm?hi*hi"hi higifqfqfqdqdydyjdyZd\?Bɢ~=) -?i)itҼi?Ot;vu2I?IU9@Q @Q@U/@QE EE)E"E;*E:VEFA4ZEBE@A}>A I I O >ԡ /k,VNz?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261358-?-?-y"=ٱ-! EAHRS rotation from veh to nav: [[0.228635,-0.962754,-0.144329],[0.972708,0.219895,0.074063],[-0.039568,-0.157323,0.986754]]-H@C? \y¿`l ?%??4B@)#Ŀ}?i-?I-7Ja;--CYM_By,II=)W?i]Mb@Mb@Mb@YYYY Y9]Cl?I +Mb?Y]d;?y]94]<] A]dA Y)]AYY]AbDuVDuyH%2=ٔ\;Q->9Y=RGyF:E>Q 54r?Q 94)BYu;?Q E:y ?Q I?rCI` ;i ;4yɮAjhFNOT Ignoring new targets: 405.76 m.Rhm]8Zhm]8} ProNav: ac range: 405.764923 m, nav range: 409.541748 m, bearing: 77.325846 deg, approach rate: -0.732868 m/s, LOS rate: 0.002163 deg/s, cmd heading: 77.775870 deg, new cmd heading: 77.778840 deg. Bh} 8HeadingCmd: 1.357497 target range: 405.764923 and range: 407.70 m.hu­?h*h"h hgfffdddjdZdL?)ɢ-s=)) -[?i))5儆11i5Ӽi=u­?=r;=>v(I=u­?I59@1 @1@=2@9E} E}EyEy"E};*E}:VEyZEya@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510918 ^A 09 A I I O >,iz?A2O?2}?2g+=ٱ2" :AHRS rotation from veh to nav: [[0.228769,-0.962684,-0.144581],[0.972578,0.219628,0.076517],[-0.041908,-0.158121,0.986530]]2H`KH?O@¿\?? ?tK=Ŀ?i2O?I2?a;2,CYBjByB,IHHbDNVDNyVnp=%V^=ٔV;Q-Z>9XYX=ZRGyZF^E^>`Q 5f4br?Q 9f4b)bBYlyn ?Q In?bCIbu;ibw;b4ypɮvtAtjhFNOT Ignoring new targets: 405.76 m.Rh8Zh8- ProNav: ac range: 405.764923 m, nav range: 409.272644 m, bearing: 77.326646 deg, approach rate: -0.727727 m/s, LOS rate: 0.002165 deg/s, cmd heading: 77.778841 deg, new cmd heading: 77.781243 deg. Bh-885HeadingCmd: 1.357539 target range: 405.764923 and range: 407.70 m.h5í?h1*h1"h9 h9g9f9f9fAdAdAdAIjdIZdU ՛?ɢ–=)) -?i))-~)1i5UԼi=í?=ep;=7)-IEí?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763328IBe>BaBe,IBedBBe =BaBaBes;Be>/E]9@Y @Y@]/@Yԁԡ^A}$E EE,E"E=;*Eh:VEg4ZEBE}I 9נ,z?A2'?2?2//5=ٱ2C :AHRS rotation from veh to nav: [[0.228365,-0.963200,-0.141759],[0.972571,0.219084,0.078153],[-0.044220,-0.155718,0.986811]]2H@;?%%¿ M? ??@ÿ`?i2'?I2Nb;0YBcByB,IbDJVDJ 8yRM%RK=ٔV;Q-V>9TYX=ZRGyZFZ:EZ>dQ 5~4fr?Q 94fA)fBYy ?Q I ?fCIf?;if7;f4yɮA!ԹjhFNOT Ignoring new targets: 405.76 m.Rh8Zh8 ProNav: ac range: 405.764923 m, nav range: 408.977539 m, bearing: 77.327511 deg, approach rate: -0.683618 m/s, LOS rate: 0.002005 deg/s, cmd heading: 77.781245 deg, new cmd heading: 77.783841 deg. Bh5!8=HeadingCmd: 1.357584 target range: 405.764923 and range: 407.70 m.h=Qŭ?h9*h9"hA hAgAfAfAfIdIdIdIjdIZdUwH@颹ɢ*=) ?i)8mi\ԼiQŭ?yn;'IQŭ?I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268961^A0AcAzAA9 A II IY Om >E  E E *E "E ;*E ?:VE (N4ZE a @a @a @a @U,az?A27ˏ?2?2;=ٱ2 :AHRS rotation from veh to nav: [[0.227041,-0.963628,-0.140971],[0.972808,0.217595,0.079352],[-0.045792,-0.155154,0.986828]]2H?@ W ¿>!? &?oP?qÿ@?i27ˏ?I2c;2)CYBeByB,I DDchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518718iMb@Mb@Mb@ 9#~j?{Gz?Mb`?YE?y#<;!AA A)AYAbD VDf2yY<%7=ٔUf;Q->9Y=RGyF D;E >Q 54(r?Q 9%4i)BY%E?Q E%:y%g?Q I%?CI_3;i2;#4y-Bɮ5A5EUB*** querying acoustic contact ***iQ iQjhYeFNOT Ignoring new targets: 405.76 m.Rhe+Zhm+ ProNav: ac range: 405.764923 m, nav range: 408.633301 m, bearing: 77.327268 deg, approach rate: -0.825953 m/s, LOS rate: -0.000584 deg/s, cmd heading: 77.783840 deg, new cmd heading: 77.783110 deg. BhOͷHeadingCmd: 1.357571 target range: 405.764923 and range: 407.70 m.hĭ?h*h"h hgff f d ddjdZd?@ɢ =) 9AGA-9)Y-A 5?i1)5\99Ai=Jռiĭ?_l;pIĭ?IQ@Y @Y@]/@Yԡi߱IߵAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771730Bm >Bi Bm ,IBm iBBi Bi Bi Bm s;Bm +/EB)B)B)B- =B- =C-G5^A] &ԙ A I I O >㭞,lBz?A2?2<ѫ?2A=ٱ24| :AHRS rotation from veh to nav: [[0.226238,-0.963883,-0.140521],[0.972926,0.216614,0.080574],[-0.047225,-0.154945,0.986794]]2H`? 6"??@?-?ÿ`Г?i2?I2Nc;2+CYBbByB,I HJ4<bDNVDNkyVr%VH=ٔVuf;Q-Z>9XYX=ZRGyZF^;E^>`Q 5f4br?Q 9f4bP)bBYdyf?Q Ij?bCIb;ib:b+4ylɮnAlbEc44jEc44rEA0E- E-E-(E)"E- ;*E-#:VE-c44ZE)BE-O,z?AY]WBy],IieMb@Mb@Mb@aaaa a9esh|??Mb?9Y=RGyFE>Q 54@r?Q 94)BY J?Q E:y(?Q I?=CI ;i ;!34yBɮOAEjhFNOT Ignoring new targets: 405.76 m.RhZh ProNav: ac range: 405.764923 m, nav range: 407.953094 m, bearing: 77.326447 deg, approach rate: -0.831851 m/s, LOS rate: -0.001282 deg/s, cmd heading: 77.782331 deg, new cmd heading: 77.780644 deg. Bh-a HeadingCmd: 1.357528 target range: 405.764923 and range: 407.70 m.h }í?h*h"h hgfffdddjdZd @ɢGZ=) $?i);ihּi%}í?%-i;%2 I%}í?I)Ee EeEe)Ea"Ee;*Ee:VEeFA4ZEaau@au@au@au@)BDAT read: Rx Time:15:04:09.9812 TRx dataTimestamp_ set to:1761577451.500209checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5278839@ @@/0@@@Y^A zA >A >y A I I O >A麞,z?AF:?FL&?F#M=ٱF` RAHRS rotation from veh to nav: [[0.223681,-0.964961,-0.137175],[0.973376,0.213933,0.082292],[-0.050062,-0.151930,0.987123]]FH? %?*b?`?prÿ@?iF:?IFnf;DY^RBy^,IIf=)f==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779494bDnVDny%\=B>BB,IB_BB =BBBs;B'/Eٔ;Q->9Y=RGyF;E>Q 54`r?Q 94S)BYy?Q I?cCIF:i;94yɮdAjh FNOT Ignoring new targets: 405.76 m.Rh ܷZh ܷ% ProNav: ac range: 405.764923 m, nav range: 407.657990 m, bearing: 77.325882 deg, approach rate: -0.787493 m/s, LOS rate: -0.001508 deg/s, cmd heading: 77.780644 deg, new cmd heading: 77.778949 deg. Bh%t-HeadingCmd: 1.357499 target range: 405.764923 and range: 407.70 m.h-­?h)*h)"h) h)g)f)f1f1d9d9d9jd9Zd=@E@Qiɢu=) ٓ?i)r.i#@׼i­?g;zMʻI­?I9@ @@4@ԁE] E]E]+EY"E] ;*E]$:VE] [4ZEYBE]R$,7{?A2l?2X?2FR=ٱ2^)JPExceeded connect timeout, disconnecting. NAHRS rotation from veh to nav: [[0.222175,-0.965494,-0.135864],[0.973652,0.212359,0.083096],[-0.051377,-0.150746,0.987236]]2H8p?@Td((?`.?E?N Kÿq?i2l?I2/h;0YTyV,IlnBAbDrVDryUS;%UL=ٔUW;Q-U>9YYY=]RGy]F]|;Ee>aQ 54er?Q 94eC)ewBYy?Q I?eCIeRphHrW@JDy@j_/Z->AZ$h'n?%M?c2iC:i˽B"ix<?*iMBiBix<?iiXBiKCiq?e addTargetRange:: Added new target pos. range: 414.700012 m, deltaT: 4.283564 s, deltaX: 7.000000 m, approachRate: 1.634153 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 412.734314 m, bearing: 76.659887 deg, lat: 36.779042 deg, lon: -121.859203 deg, deltaT: 4.283564 s, deltaX: 6.969391 m, approachRate: 1.627007 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 412.73 m.RhZhE ProNav: ac range: 412.734314 m, nav range: 408.593323 m, bearing: 76.568830 deg, approach rate: 0.000000 m/s, LOS rate: -0.001508 deg/s, cmd heading: 77.778950 deg, new cmd heading: 77.777048 deg. BhIHeadingCmd: 1.357466 target range: 412.734314 and range: 414.70 m.hn?h*h"h hgfffd*DAT read: user:894> -BDAT read: Tx time:15:04:11.2741 5$Ping request sent.5Ȟ,_${?ARŽ?RBz?R Y=ٱRN bAHRS rotation from veh to nav: [[0.221153,-0.965879,-0.134793],[0.973799,0.211197,0.084330],[-0.052985,-0.149911,0.987279]]RHN?@{@\)??? E0ÿɗ?iRŽ?IR|ni;R*CY=DBy=,IԱiMb@Mb@Mb@ 9#~j?Mb?{GzYE?yף!A A)SAYbDVDyw%0=ٔ>c;Q->9 ?Y ?=RGyFk;E> Q 54 r?Q 94  ) hBYE?Q E:y?Q I? CI :i @: H4y!ɮ%ϴA!EB*** querying acoustic contact ***iA iAjhIUFNOT Ignoring new targets: 412.73 m.RhUqfZh]qf ProNav: ac range: 412.734314 m, nav range: 408.235565 m, bearing: 76.567440 deg, approach rate: -0.809278 m/s, LOS rate: -0.003148 deg/s, cmd heading: 77.777044 deg, new cmd heading: 77.772869 deg. BhC HeadingCmd: 1.357393 target range: 412.734314 and range: 414.70 m.h ?h*h"h hgfffdddjdZdE@6?颉ɢ5N=) ?i)M 顩iؼi ?8e;<I ?IB<A<BBB,IBKBBBBBs;B+/Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.4979529@ @@#3@@=@= ^A= 3A= eAzA9 1 E  E E 'E "E ;*E :VE '4ZE BE A"Ϟ,|?{?A2?2?2v_=ٱ2ϫ :AHRS rotation from veh to nav: [[0.220085,-0.966241,-0.133946],[0.973955,0.209983,0.085544],[-0.054530,-0.149284,0.987290]]2H+?q`$%*??7?R뫿ÿ`?i2?I2i;2)CYB2ByBq,I DDRchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.749995bDRVDRyZḽ%^U=ٔ^F;Q-^>9`Y`=bRGybFbP8;Eb>dQ 5j4f r?Q 9n4fr)f[BYlyn?Q In?f޳CIf;if7;foO4ypɮrAtjh FNOT Ignoring new targets: 412.73 m.RhdZhd% ProNav: ac range: 412.734314 m, nav range: 407.940277 m, bearing: 76.566245 deg, approach rate: -0.772088 m/s, LOS rate: -0.003127 deg/s, cmd heading: 77.772871 deg, new cmd heading: 77.769284 deg. Bh-U -HeadingCmd: 1.357330 target range: 412.734314 and range: 414.70 m.h5?h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdEx?q-Bɢ-t=)1 5B?i1)5:19i=7ؼi=?E߯d;Ej]IE?IA%9@! @!@%/@!ԡnManaging dock network, ignoring radio surface power offechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004277^AqA I I O >֞,LY{?A2ϐ?2?2e=ٱ2 >AHRS rotation from veh to nav: [[0.219204,-0.966573,-0.132992],[0.974066,0.208965,0.086769],[-0.056078,-0.148564,0.987312]]2H@?)+?^?6?@B"ÿ`?i2ϐ?I2j;0YF*ByFf,IiMb@Mb@Mb@ 9V-?Mb?Y|??y<̼A )AYA %4<%;bD-VD-:y %<=ٔj;Q->9Y=RGyF;E>Q 54r?Q 94$)LBY??Q E:yr?Q I?CI:i*:W4yBɮZAEjhFNOT Ignoring new targets: 412.73 m.Rh (Zh ( ProNav: ac range: 412.734314 m, nav range: 407.617157 m, bearing: 76.565396 deg, approach rate: -0.743865 m/s, LOS rate: -0.001956 deg/s, cmd heading: 77.769285 deg, new cmd heading: 77.766737 deg. Bhʫ%HeadingCmd: 1.357286 target range: 412.734314 and range: 414.70 m.h%?h!*h!"h! h!g)f)f)f)D1zD5AAE= E=E=%E9"E=;*E=:VE= 4ZE9aE@aE@aE@aM@d1dIdIjdIZdU`x?yɢ}h=) ;?i)`顁i3ؼi?Tc;J0I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254051#1m9@i @q@u/@qB% >B! B% i,IB% ,BB% =B! B! B% s;B% 7/Ee checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505842a ^AU jZXAu >Aq ԉA؟AIIO>nݞ,Wx{?A2.?2ˬ?2 k=ٱ2 :AHRS rotation from veh to nav: [[0.218678,-0.966654,-0.133264],[0.974102,0.208208,0.088170],[-0.057484,-0.149093,0.987151]]2H?@+??Q? |n@}ÿ`?i2.?I2|Vi;2+CYBByBR,IbDNVDNfyR%V4=ٔVK;Q-V>9Z"?YZ"?= RGy Fy:E>Q 5%4r?Q 9%4?);BY!y%?Q I%?4CI:i1:!_4y5[Bɮ5A5EjhY]FNOT Ignoring new targets: 412.73 m.RheZheu ProNav: ac range: 412.734314 m, nav range: 407.270996 m, bearing: 76.564461 deg, approach rate: -0.746442 m/s, LOS rate: -0.002019 deg/s, cmd heading: 77.766738 deg, new cmd heading: 77.763929 deg. BhuT}HeadingCmd: 1.357237 target range: 412.734314 and range: 414.70 m.h}?hy*hy"hy hgfffdddjdZd?颽Bɢ=) P?i)»iؼi?b;v4I?IE EE(E"E:*E:VEc44ZEBE@8,p{?AY-By5D,II==)=>9=AiMb@Mb@Mb@ 9On?Mbp:vY8?yԼA A)AYAbDVD1y-8%-$=ٔ-Q-5>91Y1=5RGy5F=E=>AQ 5M4Er?Q 9M4EN)E+BYM8?Q EM:yUf?Q IU?EaCIE ;iE2 ;Eg4yYɮ]2AYjhFNOT Ignoring new targets: 412.73 m.RhzZhz ProNav: ac range: 412.734314 m, nav range: 406.921844 m, bearing: 76.564327 deg, approach rate: -0.718304 m/s, LOS rate: -0.000274 deg/s, cmd heading: 77.763930 deg, new cmd heading: 77.763531 deg. Bh@HeadingCmd: 1.357230 target range: 412.734314 and range: 414.70 m.h?h*h"h hgfffdddjdZd@TO@aɢeNv=)i m?ii)mB] CB] D,IB] BB] =BY B] DB] t;B] U/E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514399ԡAu.AIIO?,2ȵ{?ABԐ?B9j ?Yj ?=jRGyjFn1DEn>pQ 5v4r\s?Q 9v4r)rBYtyvU?Q Iv?rCIr:ir<;ro4y|ɮ~jA|B*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 412.73 m.Rh-Zh-= ProNav: ac range: 412.734314 m, nav range: 406.586700 m, bearing: 76.564224 deg, approach rate: -0.717501 m/s, LOS rate: -0.000221 deg/s, cmd heading: 77.763527 deg, new cmd heading: 77.763217 deg. Bh=EHeadingCmd: 1.357224 target range: 412.734314 and range: 414.70 m.hE?hA*hI"hI hIgIfIfQfQdQdYdYjdYZd] @颁ɢ"by=) ?i)r顑iqټi?a;,0I?I)@ @@/@EM EMEIEI"EM;*EM:VEIZEIBEM1NԱ ,{?A2?2(?2|=ٱ2b :AHRS rotation from veh to nav: [[0.219480,-0.965790,-0.138121],[0.973569,0.207644,0.095118],[-0.063184,-0.155347,0.985837]]2H?`z'??Y?,hÿ?i2?I2g;2*CYBByB,IbDJVDJyR|ý%RM=ٔV|;Q-V>9V"?YV"?=ZRGyZFZEZ>`Q 5j4b s?Q 9r4bg)b BYtyvA?Q Iv?bCIb;ib;bv4yz5Bɮz AzzE}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028401jhFNOT Ignoring new targets: 412.73 m.Rh0Zh0e ProNav: ac range: 412.734314 m, nav range: 406.300537 m, bearing: 76.564160 deg, approach rate: -0.677194 m/s, LOS rate: -0.000151 deg/s, cmd heading: 77.763220 deg, new cmd heading: 77.763028 deg. BheZԶԙHeadingCmd: 1.357221 target range: 412.734314 and range: 414.70 m.hj?h*h"h hgfQfQfQdYdYdYjdYZde @颭Bɢjq=) v?i)I顱iqؼij?m`;S PIj?I@ @@@E] E]E]'EY"E];*E]Z:VE]'4ZEYae@ae@ae@ae@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277913^A e Gy A I I b9 Y ڎAO > @,h{?A6?6?6X=ٱ6! >AHRS rotation from veh to nav: [[0.219811,-0.965520,-0.139480],[0.973423,0.207659,0.096570],[-0.064276,-0.157000,0.985505]]6H"?}G&??@и? ctĿA?i6?I6jfg;4YFByF,I HHiMb@Mb@Mb@ 9i|?5?QMbY1?yuj"AA A)AYAbD-VD-y=%=A=ٔEW);Q-E>9AYA=MRGyMFMN\EM>QQ 5]4Us?Q 9]4U)UBYe1?Q Ee:yem?Q Ie?UִCIU ;iU ;U!~4yiɮm3AqjhYeFNOT Ignoring new targets: 412.73 m.Rhe7Zhm7 ProNav: ac range: 412.734314 m, nav range: 406.008057 m, bearing: 76.564684 deg, approach rate: -0.690221 m/s, LOS rate: 0.001236 deg/s, cmd heading: 77.763029 deg, new cmd heading: 77.764600 deg. Bh4Y8HeadingCmd: 1.357248 target range: 412.734314 and range: 414.70 m.hP?h*h"h hgfffdddjdZd @ɢQa=) @t?i )  B>BB,IBBB =BBBgt;B/EBqBuCBqBqBqCuç5uBDAT read: Rx Time:15:04:14.2279 uTRx dataTimestamp_ set to:1761577455.792359}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531189  i ؼiP?_;cIP?IA!@ @@@I bE-4jE14rE0E  E E *E "E l;*E h:VE (N4ZE BE [F,|?A~?~}?~=ٱ~7 AHRS rotation from veh to nav: [[0.220152,-0.965603,-0.138363],[0.973275,0.207936,0.097463],[-0.065340,-0.156122,0.985574]]~H -?7޵%?@?]? 'ÿ Ӊ?i~?I~Qsg;~,CY֋By%+I )-4<bD5VD5y]^%]/=ٔew;Q-e>9aYi=mRGymFmmMEm>qԁQ 54us?Q 94u~)uBYyb?Q I?uCIuyIV?Iԩ)@) @1@50@1MDAT read: 15:04:14.2279 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 240, 0.33,-2.656, 2.061,-2.315,-2.707, PHS= 0.152,-1.470, 0.347, RAW= 155.6, 11.2, CAL= 155.6, 12.4, ROT= 354.4, -12.4 uYgot valid direction response: 15:04:14.2279 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 240, 0.33,-2.656, 2.061,-2.315,-2.707, PHS= 0.152,-1.470, 0.347, RAW= 155.6, 11.2, CAL= 155.6, 12.4, ROT= 354.4, -12.4 PDAT read: Bearing 225.3, -11.1 (Local) ~Local bearing/azimuth received: Bearing 225.3, -11.1 (Local) DAT read: Range 11 to 50 : 412.2 m (Round-trip 549.7 ms) speed 0.1 m/s -R#Rx 1: Read range and direction messages.]^direction in FSK: [0.972011,-0.095307,0.214735]eFpublishing direction and range infoy{lѶ?(fh`r|?YC )I>i(>-@+H>-@ k]>).@Ik]_u?N z[F?jC0? e?)HI)+Ƚik]T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A yb] E  E E (E "E ~ ;*E :VE c44ZE a @a @a @a @A I I O >T,5 |?A25?2?2=ٱ2ܷ :AHRS rotation from veh to nav: [[0.220607,-0.965957,-0.135127],[0.973105,0.208553,0.097833],[-0.066321,-0.153076,0.985986]]2H -BDAT read: Tx time:15:04:15.6241 -$Ping request sent.-=ٔM;Q-M>9QYy=}RGy}F̐E>Q 54s?Q 94"w)BY+.?Q E:yp?Q I?%CI;i7;4yɮAii|?AJi CRi Cji ?bTx@jRȌC"V@R{lѶ?(fh`r|?Zi)+Ƚbik]jj)X@u\@T:)Hx@͠P@Z1$1?nM?8zW?2iAC:iB"i@ެ?*iwBiQCi?imiQCi>Ciǩ? addTargetRange:: Added new target pos. range: 412.200012 m, deltaT: 4.293500 s, deltaX: -2.500000 m, approachRate: -0.582276 m/s, rangeRepo size: 4  Added new target pos. range: 410.253296 m, bearing: 73.669065 deg, lat: 36.779066 deg, lon: -121.859267 deg, deltaT: 4.293500 s, deltaX: -2.481018 m, approachRate: -0.577854 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 410.25 m.RhZh ProNav: ac range: 410.253296 m, nav range: 400.485718 m, bearing: 75.996289 deg, approach rate: 0.000000 m/s, LOS rate: 0.001345 deg/s, cmd heading: 77.766389 deg, new cmd heading: 77.768242 deg. BhHeadingCmd: 1.357312 target range: 410.253296 and range: 412.20 m.he?h*h!"h! h!g!f!fIfIdIdIdQjdU@3y@ZdU 8?额Bɢp=) j?i)-iGؼie?];W*Ie?I!@ @@/0@B >BB+IB̋BBBBB|t;B/EQiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251300^A }Uԁ A .AI I O >SY, /<|?A2G?2q?2e=ٱ2}< :AHRS rotation from veh to nav: [[0.221212,-0.966183,-0.132494],[0.972896,0.209253,0.098422],[-0.067369,-0.150675,0.986285]]2HP?!??*2??@PIÿ ?i2G?I2Bg;0YBËByB+IIF=)Fp<bDRVDR:yZ %ZX=ٔ^6;Q-^>9^ ?Yb ?=bRGybFbEb>dQ 5j4fN"s?Q 9j4fp)fݐBYlyn[?Q In?fECIfa;if;fm4ypɮrAtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 410.25 m.Rhܨ7Zhܨ7- ProNav: ac range: 410.253296 m, nav range: 400.234100 m, bearing: 75.996690 deg, approach rate: -0.722702 m/s, LOS rate: 0.001153 deg/s, cmd heading: 77.768240 deg, new cmd heading: 77.769445 deg. Bh-J85HeadingCmd: 1.357333 target range: 410.253296 and range: 412.20 m.h5?h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM`?ԑE EEE"E;*EM:VEZEBE8C checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754896! >,V|?A=Vx?=c?==ٱ== MAHRS rotation from veh to nav: [[0.221612,-0.966510,-0.129413],[0.972738,0.209811,0.098796],[-0.068335,-0.147779,0.986657]]=H]?`` ?`?`J?d~m¿`?i=Vx?I=;g;=)CY]By]+IiMb@Mb@Mb@ 9v/?{GzI +?Yx)?y#94<$AtA A)AYAbD VD βyܕ%6=ٔl ;Q->9%"?Y%"?=%RGy%F%xE->1Q 5=45D)s?Q 9=455i)5אBY=)?Q E=:y=?Q IE?5lCI5n:i5:5F4yMBɮMAMqEjhFNOT Ignoring new targets: 410.25 m.Rhu8Zhu8M ProNav: ac range: 410.253296 m, nav range: 399.936676 m, bearing: 75.998263 deg, approach rate: -0.634205 m/s, LOS rate: 0.003357 deg/s, cmd heading: 77.769442 deg, new cmd heading: 77.774166 deg. BhMw9UHeadingCmd: 1.357415 target range: 410.253296 and range: 412.20 m.hUɿ?hQ*hQ"hQ hQgQfYfYfYdadadajdaZd;?1ɢ58+c=)1 5Y?i1)=E:99i=ؼiEɿ?EZ;E˪IEɿ?IIDzD@AE EEE"E=;*E:VEZEa@a@a@a@!9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007545I^A= Ǥy Ai I I O >,tp|?A:Uo?:Z?:l͎=ٱ:jvBB>B@BB+IBBBB@B@B@BBt;BBV/E RAHRS rotation from veh to nav: [[0.221859,-0.966718,-0.127413],[0.972587,0.210058,0.099755],[-0.069671,-0.146052,0.986820]]:H e?[Om?*?`?ձ@ֱ¿?i:Uo?I:1f;:*CYVByZ+IbDbVDbyjh=%j[=ٔjj;Q-j>9lYl=nRGylr@Er>tQ 5z4v/s?Q 9z4vb)vѐBYxyz?Q I~?vCIv;ivj;v͢4yɮeAjh)-FNOT Ignoring new targets: 410.25 m.Rh58Zh58E ProNav: ac range: 410.253296 m, nav range: 399.689301 m, bearing: 75.999585 deg, approach rate: -0.700211 m/s, LOS rate: 0.003744 deg/s, cmd heading: 77.774169 deg, new cmd heading: 77.778136 deg. BhEm$9MHeadingCmd: 1.357485 target range: 410.253296 and range: 412.20 m.hM­?hI*hI"hQ hQgQfQfYfYdYdYdajdaZdez?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267169 ɢ =)1 5^?i1)=l:99i= ؼiE­?EY;EIE­?II9@ @@/@!E EE&E"E;*E:VE4ZEBE1Ny }",o|?A:QV?:A?:^4=ٱ:. FAHRS rotation from veh to nav: [[0.222583,-0.966506,-0.127759],[0.972337,0.210557,0.101129],[-0.070841,-0.146734,0.986636]]:H}?eZa?@??`"@.¿?i:QV?I:~f;8YJByJ+I PPbDVVDVy^ ˼%^L=ٔb?;Q-b>9`Y`=fRGyfFfEf>hQ 554jM5s?Q 954j>\)jːBY9y=?Q I=?jCIj.^E  E E 'E "E ;*E ҆:VE '4ZE a @a @a @a @ (,.U|?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.023760YBy+IiMb@Mb@Mb@ 9Zd;O?Mb rh?Y~*?yC<7#AEA nA)hAYGA 15<bD5VD5yEG%E3=ٔMQ-M>9QYQ=URGyUFUE]>YQ 5e4]1 z.,&|?A:.?:X?:=ٱ: BAHRS rotation from veh to nav: [[0.223731,-0.966059,-0.129126],[0.971970,0.211330,0.103019],[-0.072235,-0.148555,0.986262]]:H9?0a? ? z_?@}ÿ@v?i:.?I:5e;:)CYJByJ+IbDnVDnyv<%vd=ٔv~;Q-z>9xYx=zRGyzF~[E~>Q 5 4wAs?Q 9 4|N)BY y?Q I?CIW:i: 4yBɮAhEEE EEEE&EA"EEl;*EE?:VEE4ZEABEE[Fi  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7815015,<|?A0=?=?=Е=ٱ=10 UAHRS rotation from veh to nav: [[0.224335,-0.965941,-0.128965],[0.971768,0.211811,0.103943],[-0.073087,-0.148642,0.986187]]=H? @?`?@?̵ÿ ׎?i=?I=d;9Y]By]+IIe>)e9Y=RGyF*E%>!Q 554%mHs?Q 954%F)%BY5w5?Q E5:y5?Q I=?%CI%G;i%~ ;%Ŀ4yAɮE&AAjhimFNOT Ignoring new targets: 410.25 m.Rhu)8Zhu)8 ProNav: ac range: 410.253296 m, nav range: 398.568115 m, bearing: 76.003999 deg, approach rate: -0.714517 m/s, LOS rate: 0.002319 deg/s, cmd heading: 77.788341 deg, new cmd heading: 77.791391 deg. Bh8 HeadingCmd: 1.357716 target range: 410.253296 and range: 412.20 m.h ɭ?h *h "h  h g fffdddjdZdq @ԁ颉ɢSr=) W?i);顑i'ּiɭ?JT;? Iɭ?IEM EMEM'EI"EM%;*EM:VEM'4ZEIaU@aU@a]@a]@}9@y @y@}0@yEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031670Թ^A Β I I O% >L;,|?ABBB+IBBBBBBs;B9/EF:?F?F=ٱF d jAHRS rotation from veh to nav: [[0.224500,-0.966205,-0.126675],[0.971700,0.212161,0.103859],[-0.073473,-0.146406,0.986492]]FH`n?'6*?(?y?@&ϲ n¿ X?iF:?IFc;DYrByr+Ixz@AbD~VD~y ę;% ]=ٔ É:Q- >9Y=RGyFSE>!Q 5-4%>Ns?Q 9-4%?)%BY)y-?Q I-?%] BDAT read: Rx Time:15:04:18.5736 ] TRx dataTimestamp_ set to:1761577460.085152e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537370A HB, }?A6<?6?6=ٱ6Q BAHRS rotation from veh to nav: [[0.224522,-0.966242,-0.126358],[0.971657,0.212140,0.104301],[-0.073975,-0.146195,0.986486]]6H ?t,?h'?~?¿`K?i6<?I6|b;4Y^By^+IbDjVDj0yrf%rM=ٔr4:Q-r>9tYt=vRGyvFv-Ez>xQ 54zTs?Q 94z8)zBYyߦ?Q I?z`CIzY;ize;z/̈́4yBɮOAiEjh9EFNOT Ignoring new targets: 410.25 m.RhEl*8ZhEl*8U ProNav: ac range: 410.253296 m, nav range: 398.024445 m, bearing: 76.005787 deg, approach rate: -0.706506 m/s, LOS rate: 0.002328 deg/s, cmd heading: 77.793970 deg, new cmd heading: 77.796759 deg. BhU8HeadingCmd: 1.357810 target range: 410.253296 and range: 412.20 m.h̭?h*h"h hgfffdddjdZd@ɢZ{=) V?i)%;!!i%kּi-̭?-_Q;-ߘIM̭?IQIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7872459@ @@/@y^AM xrE  E E 'E "E ;*E VE '4ZE a @a @a @a @ԡ A I I O > DAT read: 15:04:18.5736 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 234, 0.44, 0.187,-1.413, 0.587, 0.212, PHS= 0.077,-1.580, 0.331, RAW= 157.0, 13.0, CAL= 157.4, 14.7, ROT= 352.6, -14.7  Ygot valid direction response: 15:04:18.5736 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 234, 0.44, 0.187,-1.413, 0.587, 0.212, PHS= 0.077,-1.580, 0.331, RAW= 157.0, 13.0, CAL= 157.4, 14.7, ROT= 352.6, -14.7  PDAT read: Bearing 227.7, -13.3 (Local)  ~Local bearing/azimuth received: Bearing 227.7, -13.3 (Local)  DAT read: Range 11 to 50 : 409.0 m (Round-trip 545.4 ms) speed 1.2 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.959212,-0.124580,0.253758] Fpublishing direction and range infoyY ] {ܱ?RWKq俿N=? CY] CY Y Y Y Y )] @I] -=E /GY u Ai] q=ʿ] x>] ^/@] Vh>] F/@ ] G\> 9 Y A)] @I] G\Y Y ] rӗ?~R?Ϯ? ] r%?)] FhI] @i] G\Y fIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.,(}?A-K?-?-=ٱ- AHRS rotation from veh to nav: [[0.224402,-0.965982,-0.128540],[0.971687,0.211791,0.104729],[-0.073943,-0.148402,0.986159]]-H 2?@Ss ??Ϻ? ¿ ?i-K?I-b;-*CYBy+I )iMMb@Mb@Mb@IIII I9MS? rhy&1|?YM/=?yMC M`;M%AM A I)MAIYM AbDVDy%=ٔ `tQ- >9 Y = RGyFi9E>Q 5%4]s?Q 954Y.)BY5d=?Q E5:y5\?Q I5?CIm;im;ք4yMڸBɮMAM_Eii{%}?AJiCRiCjiUנ?b/5#lgx@5-L,[I/QP\Y@R{ܱ?RWKq俿N=?Zi@biG\j"^@`!gɷw@"T!T@Zn1+c?]?^Q?2iC:iB"irT?BBB+IBBB =BBBs;BB/EBmCBiBiBm =Bm =Cmć$4*i1BiVCiiwiCiCi˩? addTargetRange:: Added new target pos. range: 409.000000 m, deltaT: 4.290928 s, deltaX: -3.200012 m, approachRate: -0.745762 m/s, rangeRepo size: 4 U Added new target pos. range: 407.067657 m, bearing: 71.996237 deg, lat: 36.779066 deg, lon: -121.859268 deg, deltaT: 4.290928 s, deltaX: -3.185638 m, approachRate: -0.742412 m/s, posRepo size: 4 jhQUFNOT Ignoring new targets: 407.07 m.Rh]ZhY ProNav: ac range: 407.067657 m, nav range: 397.539276 m, bearing: 76.004675 deg, approach rate: 0.000000 m/s, LOS rate: 0.002328 deg/s, cmd heading: 77.796756 deg, new cmd heading: 77.800791 deg. BhHeadingCmd: 1.357880 target range: 407.067657 and range: 409.00 m.hϭ?h*h"h hgfffdddjdy@ZdgA?ɢqka=)E*DAT read: user:896> MBDAT read: Tx time:15:04:19.9241 M$Ping request sent.MQ,sG}?A>#?>)?>pj=ٱ> FAHRS rotation from veh to nav: [[0.224036,-0.965315,-0.134071],[0.971778,0.210841,0.105804],[-0.073866,-0.153991,0.985307]]>H@7?;)@???@貿ÿ@?i>#?I>~b;>'CYNByN+IbDVVDVfy^x%^Z=ٔbVQ-b>9b ?Yb ?=fRGyfFfu:Ef>hQ 5n4jcs?Q 9r4jX')jBYpyrl?Q Ir?jCIj[:ij:jl݄4ytɮzAx B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 407.07 m.Rh%M[8Zh%M[81= ProNav: ac range: 407.067657 m, nav range: 397.263153 m, bearing: 76.005727 deg, approach rate: -0.786169 m/s, LOS rate: 0.002996 deg/s, cmd heading: 77.800793 deg, new cmd heading: 77.803949 deg. Bh=9EHeadingCmd: 1.357935 target range: 407.067657 and range: 409.00 m.hEЭ?hA*hA"hA hAgIfIfQfQdQdYdYjdYZd]Q?颁ɢ)=) ~N?i)t;顑iռiЭ?'N;-GIЭ?IE9@A @A@M/@IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502795^AuԉA ؟AI I O >Ա W,8a}?AE0 E2E2&E0"E0*E2:VE24ZE0a:@a:@a:@a:@>1?>1?>Ж=ٱ>n! FAHRS rotation from veh to nav: [[0.223625,-0.965041,-0.136706],[0.971894,0.210195,0.106015],[-0.073574,-0.156572,0.984922]]>H@?`?@?#?@ղ Ŀ |?i>1?I>Ub;mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7570919"?Y"?=RGyF s:E>Q 54Oks?Q 94a)BYC?Q E:y'?Q I?CI;i;}4yɮ4Ajh!-FNOT Ignoring new targets: 407.07 m.RhM 7ZhM 7] ProNav: ac range: 407.067657 m, nav range: 396.911316 m, bearing: 76.005984 deg, approach rate: -0.749622 m/s, LOS rate: 0.000549 deg/s, cmd heading: 77.803948 deg, new cmd heading: 77.804721 deg. Bh]7eHeadingCmd: 1.357949 target range: 407.067657 and range: 409.00 m.heBѭ?hi*hi"hi higfffdddjdZd?ɢi=)) -F?i))-;11i5<ռi5Bѭ?=rL;='I=Bѭ?I9}9@y @@/@B] >BYB]+IB]BBYBYBYB]s;B]?/E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006640^Aa  A .AI I O >P^,F|}?A2W?2B?2+=ٱ2v! :AHRS rotation from veh to nav: [[0.222521,-0.965312,-0.136589],[0.972172,0.209175,0.105490],[-0.073260,-0.156262,0.984995]]2H@{? {?A? j? +dĿ`?i2W?I2ηb;2)CYBByB+IbDJVDJfyRkf<%V^=ٔV_Q-V>9V ?YZ ?=ZRGyZFZQ;EZ>\Q 5b4^ps?Q 9f4^r)^BYdyfM?Q If?^CI^;i^L;^4yjBɮjJAn`Ejh|FNOT Ignoring new targets: 407.07 m.Rh7Zh 7 ProNav: ac range: 407.067657 m, nav range: 396.639343 m, bearing: 76.006139 deg, approach rate: -0.780741 m/s, LOS rate: 0.000444 deg/s, cmd heading: 77.804720 deg, new cmd heading: 77.805184 deg. Bh7HeadingCmd: 1.357957 target range: 407.067657 and range: 409.00 m.hѭ?h!*h!"h! h)g)f)f)f1d1d1d1jd1Zd=:?aɢe~=)i mH?ii)m! +e,:}?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510728:K?:v?:m%=ٱ:)) BAHRS rotation from veh to nav: [[0.220980,-0.965885,-0.135031],[0.972560,0.207912,0.104397],[-0.072761,-0.154395,0.985326]]:HI? H7? ޜ??u7ÿˇ?i:K?I:(b;8YJByJ+IbD`VD`yjC%jI=ٔn1Q-n>9r"?Yr"?=rRGyrFr4;Er>tQ 5z4vSws?Q 9z4v)vwBY|y~?Q I?v0CIv=iv"=v4yBɮ´A%VEjh15FNOT Ignoring new targets: 407.07 m.Rh=6Zh=6M ProNav: ac range: 407.067657 m, nav range: 396.328888 m, bearing: 76.006244 deg, approach rate: -0.655778 m/s, LOS rate: 0.000223 deg/s, cmd heading: 77.805185 deg, new cmd heading: 77.805501 deg. BhM7UHeadingCmd: 1.357962 target range: 407.067657 and range: 409.00 m.hUѭ?hQ*hY"hY hYgYfYfafadadadajdiZdm?ɢХn=) E?i)<iSԼiѭ? J;I ѭ?I))9@ @@@D=D<E- E-E-'E)"E-=;*E-:VE-'4ZE)a5@a5@a5@a=@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762575Q^A [Rӻy A I I O5 >Xk,ᖯ}?A>ZŐ?>ٰ?>R=ٱ>  JAHRS rotation from veh to nav: [[0.219263,-0.966517,-0.133297],[0.972979,0.206476,0.103343],[-0.072360,-0.152354,0.985673]]>H@?"?m?t?4@Vÿ?i>ZŐ?I>jb;>*CYRByR+IieMb@Mb@Mb@aaaa a9e?y&1~jthYe@?ye`弙eDaa eA)e|AaYeAbD}VD}0AAAAB>BB+IBzBBBBBs;B/Ey"%;=ٔpQ->9Y=RGyF;E>Q 54c~s?Q 946)lBY"@?Q E:y?Q I?ZCI ;iT ;x4yɮAjh)-FNOT Ignoring new targets: 407.07 m.Rh5 8Zh5 8E ProNav: ac range: 407.067657 m, nav range: 396.001862 m, bearing: 76.006956 deg, approach rate: -0.882036 m/s, LOS rate: 0.001921 deg/s, cmd heading: 77.805499 deg, new cmd heading: 77.807636 deg. BhE8MHeadingCmd: 1.357999 target range: 407.067657 and range: 409.00 m.hMҭ?QhQ*hQ"hQ hQgYfYfYfYdadadajdaZdm @QɢU=)Y ]8A?iY)] s >r,j}?AB ?B?B=ٱBQ ZAHRS rotation from veh to nav: [[0.217584,-0.967214,-0.130978],[0.973379,0.205122,0.102266],[-0.072047,-0.149743,0.986097]]BH`?j%?@pA?.?`q@*ÿ`?iB ?IBb;B'CYbsByb+I ddbDnVDnyvy%v[=ٔv\Q-z>9xYx=zRGyzF~;E~>Q 5 4fs?Q 9 4)bBY y?Q I?~CI:i:4yɮ!A=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 407.07 m.RhU7ZhU7e ProNav: ac range: 407.067657 m, nav range: 395.721863 m, bearing: 76.007496 deg, approach rate: -0.746620 m/s, LOS rate: 0.001442 deg/s, cmd heading: 77.807637 deg, new cmd heading: 77.809259 deg. BheG}8mHeadingCmd: 1.358028 target range: 407.067657 and range: 409.00 m.huӭ?hy*h"h hgfffdddjdZd d@Qɢ]pe=)Y ]9?iY)]h$9 D9 zD= ?AEE  EE EE *EA "EE T;*EE :VEE (N4ZEA aM @aM @aM @aU @ix,F}?ARO4?R?R1Ԓ=ٱR bAHRS rotation from veh to nav: [[0.215978,-0.967720,-0.129891],[0.973767,0.203722,0.101366],[-0.071632,-0.148377,0.986333]]RH+?G)?? #?V¿ ?iRO4?IRa;R(CYnlByr|+Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770647iMb@Mb@Mb@ 9"~j?/$9E ?YE ?=ERGyEFMr;EM>QQ 5]4Uis?Q 9]4Uk)UTBY]jC?Q E]:yeg?Q Ie?UCIU:iU:U4yiɮm?AijhFNOT Ignoring new targets: 407.07 m.Rh}6Zh}6 ProNav: ac range: 407.067657 m, nav range: 395.381958 m, bearing: 76.007651 deg, approach rate: -0.761364 m/s, LOS rate: 0.000347 deg/s, cmd heading: 77.809255 deg, new cmd heading: 77.809721 deg. Bh0t7HeadingCmd: 1.358036 target range: 407.067657 and range: 409.00 m.hԭ?h*h"h hgfffdddjdZdio@yɢ}j=)y } 6?iy)}/<顁i;Ӽiԭ?G;I.Iԭ?IE9@A @I@M4@I9BBBu+IBfBBBBBs;B#/E^A- ?Bɺi  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023725A} ؟AI I O >Ē~,}?A 6r?6'^?6đ=ٱ6 >AHRS rotation from veh to nav: [[0.214133,-0.968489,-0.127189],[0.974212,0.202267,0.099992],[-0.071115,-0.145321,0.986826]]6Hh?G,???4ޙ¿ ?i6r?I6a;6*CYF\ByFi+IbDNVDN0yV %Vh=ٔVQ-Z>9Z"?YZ"?=ZRGyZF^;E^>!Q 5-4%s?Q 9-4%T)%HBY)y-?Q I5?%ͷCI%:i%I:%14yMĸBɮUA]WEjhFNOT Ignoring new targets: 407.07 m.Rhb6Zhb6 ProNav: ac range: 407.067657 m, nav range: 395.104004 m, bearing: 76.007700 deg, approach rate: -0.753033 m/s, LOS rate: 0.000134 deg/s, cmd heading: 77.809720 deg, new cmd heading: 77.809868 deg. Bh6HeadingCmd: 1.358038 target range: 407.067657 and range: 409.00 m.h4ԭ?h*h"h hgfffdddjdZdc @ɢ}=) k.?i)ψ7<itӼi4ԭ?hG;9I4ԭ?IE, EE(E"Ec;*E:VEc44ZEBEuz,P~?Ai I &BDAT read: Rx Time:15:04:22.8694 &TRx dataTimestamp_ set to:1761577464.368484*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528034B멑?Bi?B1f=ٱB JAHRS rotation from veh to nav: [[0.212492,-0.969064,-0.125546],[0.974585,0.200849,0.099221],[-0.070936,-0.143439,0.987114]]BH2? /?`g? f?(@3\¿`o?iB멑?IBSa;B)CPYVRByV]+IIZ!>)Z=bD^VD^N2yfK%fH=ٔjQ-j>9hYh=nRGynFv;Ez> Q 54 Ns?Q 94 ) sދ,.1~?A24Α?2?29ב=ٱ2f :AHRS rotation from veh to nav: [[0.211410,-0.969379,-0.124944],[0.974804,0.199813,0.099153],[-0.071151,-0.142758,0.987197]]2Hz?`&O1?{?b?6 E¿ ?i24Α?I2a;2'CYBDBDyBK+IBj>BhBjP+IBjHBBj =BhBhBjs;Bj3/EiMb@Mb@Mb@ 9Mb?L7A`堿y&1|Y@?y+`z&AZ A )MAYbDVDk1y}%4=ٔt9Q->9 ?Y ?=RGyF ;E>Q 54s?Q 94)/BY@?Q E:y?Q I?CI ;i; 4y ɮ cA jh9=FNOT Ignoring new targets: 407.07 m.RhEp8ZhEp8U ProNav: ac range: 407.067657 m, nav range: 394.462311 m, bearing: 76.008376 deg, approach rate: -0.846502 m/s, LOS rate: 0.001755 deg/s, cmd heading: 77.809809 deg, new cmd heading: 77.811902 deg. BhU 8]HeadingCmd: 1.358074 target range: 407.067657 and range: 409.00 m.h]]խ?hY*hY"hY hagafafafidididijdiZdu @ DAT read: 15:04:22.8694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.04,-0.722,-2.327,-0.488,-1.214, PHS= 0.594,-1.068, 0.682, RAW= 152.6, -2.5, CAL= 151.8, -3.6, ROT= 358.2, 3.6 Ygot valid direction response: 15:04:22.8694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.04,-0.722,-2.327,-0.488,-1.214, PHS= 0.594,-1.068, 0.682, RAW= 152.6, -2.5, CAL= 151.8, -3.6, ROT= 358.2, 3.6 PDAT read: Bearing 210.0, -5.4 (Local) ~Local bearing/azimuth received: Bearing 210.0, -5.4 (Local) -DAT read: Range 11 to 50 : 405.9 m (Round-trip 541.2 ms) speed 0.5 m/s -R#Rx 1: Read range and direction messages.5`direction in FSK: [0.997534,-0.031349,-0.062791]=Fpublishing direction and range infoy?, ֏ YC )CIb?i9.?t*@¸2)@ )@I=•9?oq4?-'' >x?)+G0=Iѭi=UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.颙ɢTn=) "?i)DI<顡iҼi]խ?r+G;ޣ";I]խ?IԱM9@Q @Q@Q@Q^A ?B:E  E E (E "E %;*E $:VE c44ZE BE K  BDAT read: Tx time:15:04:24.1741  $Ping request sent. A,yK~?A|eH(?e?eo=ٱe uAHRS rotation from veh to nav: [[0.208725,-0.969841,-0.125867],[0.975361,0.197034,0.099234],[-0.071441,-0.143478,0.987072]]eH?g@)6?m8?hg? I]¿?ieH(?Iea;e)CY*By,+IbDVDyn%O=ٔA:Q->9Y=RGyFM;E>Q 54ߤs?Q 94p)$BYyU?Q I?ECI:i:$4yɮȵAi!i%&7~?AJi%CRi%Cji%?b%O_/y@uczT)a]9R%?, ֏ Zi%ѭbi%=j%yX@7!$@x@z)dJZ%Gu܍?6 м?dz2i%C:i%-B"i%Cl?*i%L Bi%Ai%Cl?i!i%QCi%Ci%`t?- addTargetRange:: Added new target pos. range: 405.899994 m, deltaT: 4.283183 s, deltaX: -3.100006 m, approachRate: -0.723762 m/s, rangeRepo size: 4 E Added new target pos. range: 403.980743 m, bearing: 75.606167 deg, lat: 36.779105 deg, lon: -121.859268 deg, deltaT: 4.283183 s, deltaX: -3.086914 m, approachRate: -0.720706 m/s, posRepo size: 4 jhAMFNOT Ignoring new targets: 403.98 m.RhMZhI] ProNav: ac range: 403.980743 m, nav range: 395.226990 m, bearing: 75.404193 deg, approach rate: 0.000000 m/s, LOS rate: 0.001755 deg/s, cmd heading: 77.811899 deg, new cmd heading: 77.813998 deg. BhaeHeadingCmd: 1.358110 target range: 403.980743 and range: 405.90 m.he֭?hi*hi"hi higifif fdddjd`f^y@Zd-?aɢeNlV=)a ml?ii)3Q<i_Ҽi֭?t^G;;I֭?I)e9@a @a@e/@a@meA@mfA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898a^A ] ;ԁ I I O >B옟,le~?AE EE'E"E*E:VE'4ZEaB@aB@aB@aB@NN?N9?NpV=ٱN˕ VAHRS rotation from veh to nav: [[0.207592,-0.970109,-0.125677],[0.975571,0.195875,0.099470],[-0.071880,-0.143256,0.987072]]NHc? ! /7?m?@v? f`7V¿?iNN?IN-`;N(CYzBy+I%G5dA AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501856YYA 9 dAY ٦AiMb@Mb@Mb@ 9rh|?y&1Y;?y̼`eK'A A A)YpAbDVDky%9=ٔT:Q->9Y=RGyF*;E>Q 54s?Q 94.)BY BB$+IB$BBBBDBs;B?/EBBBBBCoI49@ @@/@ԩi I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753941 ^A ϩ;I I! O5 >,,~?ABO\?BG?B=ٱBp NAHRS rotation from veh to nav: [[0.207164,-0.969975,-0.127403],[0.975635,0.195221,0.100128],[-0.072250,-0.145041,0.986784]]BH@Z?@ N@f8? ? ? ~@¿`?iBO\?IB~_;B)CYV ByV+IbD^VD^yf*%fr=ٔf:Q-j?9hYh=jRGyjFnu:En?pQ 5v4rs?Q 9v4r)r BYxyz?Q Iz?rCIr:ir:r24y~}Bɮ~ѵAEEjhFNOT Ignoring new targets: 403.98 m.RhZhԹ ProNav: ac range: 403.980743 m, nav range: 394.656250 m, bearing: 75.403476 deg, approach rate: -0.733559 m/s, LOS rate: -0.000947 deg/s, cmd heading: 77.812800 deg, new cmd heading: 77.811843 deg. Bhi&HeadingCmd: 1.358073 target range: 403.980743 and range: 405.90 m.hEUխ?hI*hI"hI hIgIfIffdddjdZdO?bE jE ^+4rE +/E- E-E)E)"E- ;*E-:VE)ZE)BE-SQ;aE:E->;aE颱ɢW=) ?i)_<项i&мiUխ?. H;;IUխ?I }checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0071959@ @@%1@!^A Ii Iy O >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257636,0~?AFj?FfV?F=ٱF NAHRS rotation from veh to nav: [[0.206726,-0.969989,-0.128003],[0.975708,0.194689,0.100444],[-0.072508,-0.145658,0.986674]]FH`u?`' kb9?`?`?珲¿Ւ?iFj?IF^;F'CYVByV*IbD^VD^Nyj|%nI=ٔv&:Q-v>9xY=RGyF:E>Q 54 s?Q 94Q = tI)BY!y-?Q IE?CIOi)f<i0мAiԭ?.H;;Iԭ?IE EE)E"E;*E:VEFA4ZEa@a@a@a@59@1 @1@54@1@==@==}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509615iԙ ^A &t;I I O >EW,³~?AB>B B*IBBB B B Bs;B-/EZ=w?Zb?Z3=ٱZZ bAHRS rotation from veh to nav: [[0.206354,-0.970037,-0.128241],[0.975766,0.194258,0.100716],[-0.072787,-0.145916,0.986616]]ZHi? @0jz9? q?@ȹ?`'`¿ [?iZ=w?IZ)^;Z*CYjByj*IInY>)n>i]Mb@Mb@Mb@YYYY Y9]333333?X9vQY]9?y]]u](A]+ A Y)]AYY]fAbDuVDu1yq%:=ٔ9':Q->9Y=RGyFso:E>Q 54as?Q 943)BY9?Q E:y?Q I?ܸCI;i;UA4yɮ)A jhYeFNOT Ignoring new targets: 403.98 m.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761855Rh Zh  ProNav: ac range: 403.980743 m, nav range: 394.041229 m, bearing: 75.403007 deg, approach rate: -0.776599 m/s, LOS rate: -0.000096 deg/s, cmd heading: 77.810546 deg, new cmd heading: 77.810437 deg. BhHeadingCmd: 1.358048 target range: 403.980743 and range: 405.90 m.hԭ?h*h"h hgfffdddjdZd<@ɢEIE=)A E>iA)M\l9%"?Y%"?=%RGy%F%E%>)Q 554- s?Q 9=4-)-ߏBY9y9Q I=?- CI-v;i-;-J4yAɮEiAIjhiuFNOT Ignoring new targets: 403.98 m.RhuٵZhuٵ ProNav: ac range: 403.980743 m, nav range: 393.678802 m, bearing: 75.402962 deg, approach rate: -0.747403 m/s, LOS rate: -0.000093 deg/s, cmd heading: 77.810437 deg, new cmd heading: 77.810302 deg. Bh4HeadingCmd: 1.358046 target range: 403.980743 and range: 405.90 m.hsԭ?h*h"h hgfffdddjdZd @ɢ.=) >i)3s<iܧμisԭ?euI;Ր;Isԭ?I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.286359ԅM9@I @Q@U/@QYE EE&E"E;*E:VE4ZEa@a@a@a@ԉ^A e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537671Ա A I I O5 >,\~?AJ?JK?J{=ٱJ ZAHRS rotation from veh to nav: [[0.209074,-0.968550,-0.134904],[0.975177,0.196211,0.102623],[-0.072925,-0.153011,0.985530]]JH?@\D@4? o?xE?<ߕÿ@v?iJ?IJ];J%CYbɊByf*IiMb@Mb@Mb@ 97A`?~jty&1Y6?y`e)AZ A ) AYAbDVDfy%A=ٔ9Q->9Y=RGyF׻E>Q 54s?Q 94R)ҏBY6?Q E:y?Q I?1CIG;i ;Q4yOBɮA;EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 403.98 m.RhE7ZhE7- ProNav: ac range: 403.980743 m, nav range: 393.377258 m, bearing: 75.403502 deg, approach rate: -0.710109 m/s, LOS rate: 0.001272 deg/s, cmd heading: 77.810300 deg, new cmd heading: 77.811921 deg. Bh-_85HeadingCmd: 1.358074 target range: 403.980743 and range: 405.90 m.h=`խ?h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM`r@yɢ}Vn+=)y }>iy)x<顁iͼi`խ?ҠI;ف;I`խ?ԑIB>BB*IBΊBBBBBhs;B/Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.78959999@ @@4@@dA@dAE  E E )E "E =;*E ?:VE FA4ZE BE }IŸ,X ?A2h?2Э?2O=ٱ2 >AHRS rotation from veh to nav: [[0.210694,-0.967932,-0.136809],[0.974835,0.197612,0.103186],[-0.072842,-0.155107,0.985209]]2H?K 1?YK? cj?ÿ Ԇ?i2h?I2!^;2'CYFByF*I HHbDRVDRkyZa%Z==ٔZKQ-Z>9\Y\=^RGy^F^|Eb>`Q 5j4bs?Q 9j4b)bŏBYhyj?Q Ij?bYCIb;ib+;b Y4ynWBɮrkAri)~<iS̼is֭?I;%z3;I%s֭?I!9@ @@/@9 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.296026a^AEr;I IQ O] >ԑ D D E  E E (E "E ;*E ҆:VE c44ZE a @a @a @a @ɟ,v&?A2Ϛ?2M?2/b=ٱ2q# :AHRS rotation from veh to nav: [[0.212912,-0.966931,-0.140402],[0.974350,0.199398,0.104322],[-0.072877,-0.159013,0.984583]]2H@?`-?ۅ?ܴ? ZĿ?i2Ϛ?I2$^;2(CYBByB*Ii Mb@Mb@Mb@     9 Cl?:v9Y=RGyFE>Q 54s?Q 94)BYc0?Q E:y?Q I?CI. ;i ;`4yɮAjhFNOT Ignoring new targets: 403.98 m.Rh8Zh8- ProNav: ac range: 403.980743 m, nav range: 392.770630 m, bearing: 75.405758 deg, approach rate: -0.686463 m/s, LOS rate: 0.003740 deg/s, cmd heading: 77.813798 deg, new cmd heading: 77.818692 deg. Bh-E$95HeadingCmd: 1.358192 target range: 403.980743 and range: 405.90 m.h5@٭?h1*h1"h9 h9g9f9fAfAdAdAdAjdIZdMb@]BDAT read: Rx Time:15:04:27.1156 eTRx dataTimestamp_ set to:1761577468.672235echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.546843颉ɢV=) >i)% WBB*IBBB =BBDBr;B.E^A 2;Iq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.797653) П,6@?A R? \>? =ٱ & %AHRS rotation from veh to nav: [[0.215053,-0.966108,-0.142786],[0.973891,0.201263,0.105026],[-0.072729,-0.161644,0.984165]] Hچ? [F¿*?? ?\ĿH~?i R?I 4]; )CY-By-*IbDEVDEkyUO%UQ=ٔ]ŹQ-e>9iYi=mRGyuF}&E}>Q 54s?Q 94 )BYyg?Q I?CI(;i ;g4yɮ߶AjhFNOT Ignoring new targets: 403.98 m.Rh%8Zh%8E EE&E"E;*E:VE4ZEBEAi)S<顙iFʼiۭ?MH;0lIۭ?I9DAT read: 15:04:27.1156 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 395, 0.17,-3.025, 1.750,-2.869, 2.860, PHS= 0.500,-1.065, 0.510, RAW= 150.3, 0.7, CAL= 149.2, 0.2, ROT= 0.8, -0.2 Ygot valid direction response: 15:04:27.1156 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 395, 0.17,-3.025, 1.750,-2.869, 2.860, PHS= 0.500,-1.065, 0.510, RAW= 150.3, 0.7, CAL= 149.2, 0.2, ROT= 0.8, -0.2 @ @@/@@@=PDAT read: Bearing 214.2, -3.6 (Local) ~Local bearing/azimuth received: Bearing 214.2, -3.6 (Local) DAT read: Range 11 to 50 : 403.0 m (Round-trip 537.4 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999896,0.013962,0.003491]Fpublishing direction and range infoyY]a~&?(?QC1ml?Y]CYYYY Y)]DI]?i]Q]\?]'@]+H<]r&@ ]d;)]dԡ 9'֟,Y?A2?2??2m{=ٱ2) :AHRS rotation from veh to nav: [[0.217052,-0.965240,-0.145603],[0.973469,0.202963,0.105662],[-0.072438,-0.164674,0.983685]]2HZ? ?@¿&?? ?@D ſXz?i2?I2^;2+CYBByBx*IIF=)FbDNVDNyV`%VV=ٔVFIQ-V>9XYX=ZRGyZFZkE^>b*DAT read: user:898> fBDAT read: Tx time:15:04:28.4741 f$Ping request sent.fiA)M˅ Pܟ,vs?A2א?2nì?2ۓ=ٱ2g+ :AHRS rotation from veh to nav: [[0.218714,-0.964581,-0.147473],[0.973119,0.204438,0.106039],[-0.072134,-0.166701,0.983365]]2H? e¿#? +?@Z%?ZwuVſw?i2א?I2 ^;2%CBF!>BDBFo*IBFBBDBDBDBFr;BF.EYPyPiMb@Mb@Mb@ 9q= ףp?Mb`Y+?yL-A+ A $A) AYQAbDVD:ٔ7Q->9Y=RGyFE>Q 54s?Q 94=)BY+?Q E:yG?Q I?CI:i:u4yɮB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 401.09 m.Rh 8Zh 8 ProNav: ac range: 401.094940 m, nav range: 397.336548 m, bearing: 75.612799 deg, approach rate: -0.698089 m/s, LOS rate: 0.004443 deg/s, cmd heading: 77.827676 deg, new cmd heading: 77.833002 deg. Bh C9%HeadingCmd: 1.358442 target range: 401.094940 and range: 403.00 m.h%o?h!*h!"h) h)g)f)f)f1d1d1d9jd9Zd=`c?aɢet#=)i iii)mXE  E E $E "E ;*E :VE 4ZE BE DAHRS rotation from veh to nav: [[0.220528,-0.963837,-0.149619],[0.972732,0.206028,0.106516],[-0.071838,-0.169029,0.982990]]6HC:?`&ÿ ?@#_?`D?c@ſt?i6?I6^"^;6'CYFByFa*IbDNVDNyV<%V<ٔZ}PQ-Z>9XYX=^RGy^F^RE^>`Q 5f4bFs?Q 9f4b~)bBYhyj ?Q Ij?b CIbp:ib:bO|4yn8BɮnɶAr3Ejh FNOT Ignoring new targets: 401.09 m.Rh 8Zh 8 ProNav: ac range: 401.094940 m, nav range: 397.086853 m, bearing: 75.614455 deg, approach rate: -0.670880 m/s, LOS rate: 0.004453 deg/s, cmd heading: 77.833004 deg, new cmd heading: 77.837976 deg. Bh%C9%HeadingCmd: 1.358529 target range: 401.094940 and range: 403.00 m.h%G?h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=8?ɢ=) Ӆ>i)}<i'ȼiG?y)F;dDIG?I)m9@i @i@m`3@q@}eA@}eAYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008784^Aԑ A .AI Iy O >E  E E *E "E l;*E :VE (N4ZE a @a @a @a @ A E Ce,@k?A02G>AfAH^R9^AfAY^1A=(v?=a?==ٱ=. MAHRS rotation from veh to nav: [[0.221624,-0.963510,-0.150102],[0.972493,0.207072,0.106672],[-0.071698,-0.169614,0.982899]]=H@/^?6ÿ? X?N?Zſs?i=(v?I= ^;=&CY]By]k*I aaiMb@Mb@Mb@ 9?/$~jth?Y,?y,D;-AZ A A)YzAbDVDN2y  =% 6=ٔףQ->9 ?Y ?=RGyF2$E>!Q 5-4%rs?5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258981Q 9=4%Mw)%BY="-?Q E=:y=?Q I=?%/CI%'r;i%oq;%(4yIɮMAIjhquFNOT Ignoring new targets: 401.09 m.Rh} o8Zh} o8 ProNav: ac range: 401.094940 m, nav range: 396.783875 m, bearing: 75.615926 deg, approach rate: -0.672019 m/s, LOS rate: 0.003265 deg/s, cmd heading: 77.837976 deg, new cmd heading: 77.842393 deg. Bh m9HeadingCmd: 1.358606 target range: 401.094940 and range: 403.00 m.h?h*h"h hgfffd!d!dIjdIZdMP?ԉ颱ɢT=) ɍ>i)<i Ǽi?iD;IYٻI?I9@ @@1@B">BCBV*IB|BBBBBr;B.EBABABABABE =CEh5Ա^A #2 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512559 A ؟AI I O >Q,qW?A2^?2I?24=ٱ2J. >AHRS rotation from veh to nav: [[0.222336,-0.963464,-0.149345],[0.972322,0.207832,0.106755],[-0.071816,-0.168947,0.983005]]2Hu?`ÿB???GT?@b ſt?i2^?I2D];2'CYBByBd*IXbDbVDbyn%r_=ٔrƨ9Q-r>9z"?Yz"?=zRGyzF~E~> Q 54 ^t?Q 94 q) BY!y%?Q I%? OCI J;i K; 4y9ɮ=A9jhFNOT Ignoring new targets: 401.09 m.Rh r8Zh r8 ProNav: ac range: 401.094940 m, nav range: 396.534485 m, bearing: 75.617166 deg, approach rate: -0.666400 m/s, LOS rate: 0.003314 deg/s, cmd heading: 77.842396 deg, new cmd heading: 77.846116 deg. Bh9%HeadingCmd: 1.358671 target range: 401.094940 and range: 403.00 m.hM?hI*hI"hI hIgQfQfQfQdYdYdYjdYZd] M?bE)jE)rE-0E EE&E"E;*Eh:VE4ZEBEAi)<iu0Ƽi ? tC; I ?I9@ @@/@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763884 ^A] 1 A I I O >t,b?A2K?2R7?2Ċ=ٱ2-. :AHRS rotation from veh to nav: [[0.222876,-0.963295,-0.149632],[0.972186,0.208300,0.107078],[-0.071980,-0.169335,0.982927]]2H1?O@ 'ÿ%??|i?@Cmìſ"t?i2K?I2J];2(CYBByBt*IbDJVDJ:Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014961yZ=%ZN=ٔZy9Q-^>9\Y\=bRGybFbEb>dQ 5j4ft?Q 9j4fKj)f}BYhynv?Q In?fqCIf:if;f~4yrBɮrAr)E9jhFNOT Ignoring new targets: 401.09 m.Rht8Zht8 ProNav: ac range: 401.094940 m, nav range: 396.268860 m, bearing: 75.618509 deg, approach rate: -0.658936 m/s, LOS rate: 0.003334 deg/s, cmd heading: 77.846118 deg, new cmd heading: 77.850150 deg. Bhs9HeadingCmd: 1.358741 target range: 401.094940 and range: 403.00 m.h=?h*h"h hgfffdddjdZd@ɢE=) >i)a<iPżi]=?e B;eNIm=?qIE EE'E"E;*E:VE'4ZEa@a@a@a@9@ @@@@=@ԑUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266792 ^A B !>B CB P*IB wBB B B B r;B .EAI IY Ii Ou >S0,UQ?A2L?2Y8?2=ٱ2*8 >AHRS rotation from veh to nav: [[0.222851,-0.963832,-0.146167],[0.972220,0.208725,0.105936],[-0.071596,-0.165714,0.983571]]2He?`¿l???@T!6ſjy?i2L?I2]];2'CYFByFm*IIJ8>)Jp9Y=RGyF8E>Q 54}t?Q 94#b)vBY]1?Q E:y?Q I?CI:iL:4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 401.09 m.Rh8Zh8 ProNav: ac range: 401.094940 m, nav range: 395.945404 m, bearing: 75.620344 deg, approach rate: -0.712772 m/s, LOS rate: 0.004047 deg/s, cmd heading: 77.850148 deg, new cmd heading: 77.855657 deg. Bh19 HeadingCmd: 1.358838 target range: 401.094940 and range: 403.00 m.h d?h*h"h hgfffddd!jd!Zd%>@IɢUс=)Q UV>iQ)U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786897,H?A2U?2A?2O=ٱ2% :AHRS rotation from veh to nav: [[0.222595,-0.964613,-0.141325],[0.972294,0.209039,0.104625],[-0.071380,-0.160699,0.984419]]2H}?¿ ??@Ⱥ?EȑĿ \?i2U?I2];0YBByBt*IbDNVDN1yV\<%VZ=ٔVQ-V>9XYX=ZRGyZFZ;:E^>`Q 5f4bt?Q 9f4b[)bqBYdyf?Q If?bCIb:ib:b84yjBɮn Alr*Ejh FNOT Ignoring new targets: 401.09 m.Rh 98Zh 98 ProNav: ac range: 401.094940 m, nav range: 395.685883 m, bearing: 75.621815 deg, approach rate: -0.694850 m/s, LOS rate: 0.003940 deg/s, cmd heading: 77.855660 deg, new cmd heading: 77.860075 deg. Bh%-9%HeadingCmd: 1.358915 target range: 401.094940 and range: 403.00 m.h-?h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd= @ɢvn=)  >i ) }<  i %oüi5?==9?;=I=?I9@ @@@0@ %checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0387151^AI I O >a E  E E E "E =;*E h:VE ZE a @a @a @a @w= ,8*?A2Y?2tE?2)=ٱ2Ũ :AHRS rotation from veh to nav: [[0.222467,-0.965455,-0.135663],[0.972329,0.209535,0.103303],[-0.071308,-0.154891,0.985355]]2H`y?@ k]Q? ?r?@?Awÿ?i2Y?I2q\;2%CYVByZv*Ii5Mb@Mb@Mb@19111 195^I +? rhQ?Y5X9?y5C 15.A5 A 1)5b"A1Y5AbDUVDU0ye<%e?=ٔe1Q-m>9iYi=mRGyuFu9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293704E>Q 54t?Q 94S)jBY9?Q E:y?Q I?CI;i;ϧ4yɮAjhFNOT Ignoring new targets: 401.09 m.Rh7Zh7 ProNav: ac range: 401.094940 m, nav range: 395.371307 m, bearing: 75.622599 deg, approach rate: -0.689280 m/s, LOS rate: 0.001719 deg/s, cmd heading: 77.860072 deg, new cmd heading: 77.862426 deg. Bh8HeadingCmd: 1.358956 target range: 401.094940 and range: 403.00 m.hC?h*h"h hgfffdddjdZd @aɢe 7=)a e>ia)mABBV*IB|BBBBBr;B.E-9@) @)@-0@)@5dA@1ԑ= BDAT read: Rx Time:15:04:31.4122 = TRx dataTimestamp_ set to:1761577472.973172E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545273^Ai Ii I O >I%,!D?A2\b?2M?2`=ٱ2x :AHRS rotation from veh to nav: [[0.222224,-0.966135,-0.131149],[0.972412,0.209836,0.101896],[-0.070925,-0.150175,0.986112]]2Hq?``??@?)( 8ÿ ;?i2\b?I2z];2(CYBByB*I DDbDJVDJ:yVh=%VW=ٔVSQ-V>9XYX=ZRGyZFZ0:E^>`Q 5f4b"t?Q 9f4bL)bdBYdyf¦?Q If?bCIbB:ib|:bV4yjBɮn6An!EE EE%EjhFNOT Ignoring new targets: 401.09 m."E ;ԙ*EZ:VE 4ZEBERi)/<顉iij?gc<;Ij?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7949149@ @@4@^AI1 IA OU > {O,^?ADAT read: 15:04:31.4122 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 408, 0.11,-0.833,-2.343,-0.645,-1.173, PHS= 0.442,-1.125, 0.484, RAW= 151.3, 2.5, CAL= 150.2, 2.2, ROT= 359.8, -2.2 "Ygot valid direction response: 15:04:31.4122 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 408, 0.11,-0.833,-2.343,-0.645,-1.173, PHS= 0.442,-1.125, 0.484, RAW= 151.3, 2.5, CAL= 150.2, 2.2, ROT= 359.8, -2.2 &PDAT read: Bearing 216.2, -4.5 (Local) &~Local bearing/azimuth received: Bearing 216.2, -4.5 (Local) .DAT read: Range 11 to 50 : 400.4 m (Round-trip 533.9 ms) speed 0.8 m/s .R#Rx 1: Read range and direction messages.Nv?Nfb?R^direction in FSK: [0.999257,-0.003488,0.038388]RFpublishing direction and range infoyimjǪt?ݑ8l.?Ym3Ciiii i)m@ImM>imm>m)@m¸2=mg'@ mnF=)mB@ImnFiim=\O?};6?n ? mh ?)m(O5ImdimnFiibT****** received valid address query ******bR****** received valid ping request ******bQuerying Benthos address 50 with one ping in standard two-way mode.Nb=ٱNn/ eAHRS rotation from veh to nav: [[0.221622,-0.966577,-0.128893],[0.972585,0.209555,0.100823],[-0.070443,-0.147704,0.986520]]NH@^?1j?`?Ϲ?@¿?iNv?IN\;N'CYmBym*IbDMVDMyצ;%!=ٔ xQ->9!Y!=MRGyMFM:EU>QQ 5]4U8+t?Q 9e4U*C)U\BYayeզ?E EE$E"EO;*E҆:VE4ZEa@a@a@a@Q I?U7CIUi)j<项ivi?K:;I?I*DAT read: user:899> BDAT read: Tx time:15:04:32.7756 $Ping request sent.B B b*IB BB =B B DB kr;B .Ey ^Au I I O >,y?AYzByz*IiMb@Mb@Mb@ 9K7A?y&1?Y B?y̼`e<t/AA A)YAbDVDԱyƻ%f=ٔQ->9Y=RGyE?Q 540t?Q 94<)UBY/B?Q E:y?Q I?YCI:i3:m4yBɮVAB*** querying acoustic contact ***i iUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249111jhFNOT Ignoring new targets: 398.51 m.Rh 6Zh 6 ProNav: ac range: 398.506866 m, nav range: 394.463959 m, bearing: 75.624292 deg, approach rate: -0.773894 m/s, LOS rate: 0.000347 deg/s, cmd heading: 77.867346 deg, new cmd heading: 77.867694 deg. Bhs7HeadingCmd: 1.359048 target range: 398.506866 and range: 400.40 m.hF?h*h"h hgfffdddjdZd ?Yɢe&3=) \>i) <顉iiF?9;łIF?I=9@9 @9@=/@AE EE(E"E;*E:VEc44ZEBEA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5012151 $,*?A2m?2둬?2K=ٱ2 :AHRS rotation from veh to nav: [[0.220204,-0.967213,-0.126529],[0.972875,0.208341,0.100543],[-0.070886,-0.145237,0.986854]]2H/?@h2@!? ?`2?%@¿O?i2m?I2];2%CYNByR*IIVC=)Va=bDZVDZ:ybd%b\=ٔf:Q-f>9dYd=fRGyjFj;Ej>lQ 5M4n6t?Q 9M4ne5)nNBYIyM?Q IU?n}CInR:in:nÅ4yYɮ]YAYjhFNOT Ignoring new targets: 398.51 m.Rh^6Zh^6 ProNav: ac range: 398.506866 m, nav range: 394.182281 m, bearing: 75.624361 deg, approach rate: -0.772533 m/s, LOS rate: 0.000190 deg/s, cmd heading: 77.867695 deg, new cmd heading: 77.867903 deg. Bh7HeadingCmd: 1.359051 target range: 398.506866 and range: 400.40 m.hd?h*h"h hgfffdddjdZd@ l?ɢ™.=) >i)<iYid?8;DId?I!9@ @@/@Amchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753325^AIqԑIO>D D <E  E E 'E "E ;*E :VE '4ZE a @a @a @a @Թ *,?A:+ː?:?:=ٱ: JAHRS rotation from veh to nav: [[0.219109,-0.967455,-0.126576],[0.973101,0.207216,0.100674],[-0.071169,-0.145229,0.986835]]:H ?e3#?? Ź?8¿ '?i:+ː?I:];:)CYVByV*Ifchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005772iMb@Mb@Mb@ 9(\?:v rh?YG?yԼC<-AnA hA)YbDVDy2;%8=ٔg':Q->9 Y = RGy FK%;E>Q 5%4=t?Q 9%4,)GBY%G?Q E%:y%?Q I-?CI:i:˅4y5ϷBɮ5A5EjhY]FNOT Ignoring new targets: 398.51 m.Rhek5Zhek5u ProNav: ac range: 398.506866 m, nav range: 393.835388 m, bearing: 75.624383 deg, approach rate: -0.803934 m/s, LOS rate: 0.000050 deg/s, cmd heading: 77.867899 deg, new cmd heading: 77.867965 deg. Bhu 6}HeadingCmd: 1.359052 target range: 398.506866 and range: 400.40 m.h}n?hy*hy"h hgfffdddԑjdZd ?ɢf'=) >i)\+<i|in?z7; In?IB>BBo*IBBBBBB_r;B.E9@ @@/@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257250^ASA] .AIa Iy O > 1,]ǀ?AEb EbEb&E`"Eb&:*Eb:VEb4ZE`BEbb;;aj:Eb>;ajY-By-*IbD9VD9yMq%MW=ٔUQ-U>9U ?YU ?=URGyQ]E]>aQ 5m4e Dt?Q 9m4e$)e@BYqyqQ Iu?eϻCIe :ieF:eY҅4yyɮ}AyjhFNOT Ignoring new targets: 398.51 m.Rh:e5Zh:e5 ProNav: ac range: 398.506866 m, nav range: 393.538422 m, bearing: 75.624401 deg, approach rate: -0.780238 m/s, LOS rate: 0.000049 deg/s, cmd heading: 77.867968 deg, new cmd heading: 77.868024 deg. Bh 6HeadingCmd: 1.359053 target range: 398.506866 and range: 400.40 m.hv?h*h"h hgfffdddjdZdB4?ɢ e,=)  &>i ) < iýiv?-|6;5&ʣI5v?I1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5101339@ @@0@^AQ A= ؟AIA IY Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7612787,9?A:?:`?:-$=ٱ:g RAHRS rotation from veh to nav: [[0.216664,-0.967657,-0.129217],[0.973567,0.204370,0.101978],[-0.072272,-0.147896,0.986359]]:H৻?` ,v'? (?9?c C¿ @?i:?I:i];:'CYZBy^t*I ``bDrVDr0y~`%~P=ٔ7;Q- >9"?Y"?=RGyF;E5>Q 54Jt?Q 94)8BYy9?Q I?CI|:i1:م4yɮAQfAE EEE"E;*E:VEZEa@a@a@a@ 595fAY5Ajh9EFNOT Ignoring new targets: 398.51 m.RheBqZhmBq} ProNav: ac range: 398.506866 m, nav range: 393.214478 m, bearing: 75.624301 deg, approach rate: -0.661964 m/s, LOS rate: -0.000206 deg/s, cmd heading: 77.868022 deg, new cmd heading: 77.867720 deg. Bh}}HeadingCmd: 1.359048 target range: 398.506866 and range: 400.40 m.hJ?h*h"h hgfffdddjdZd@@ɢnR=) >i)<顡iiJ?Y5;0IJ?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0139659@ @@0@ԡ B B B i*IB BB B B B \r;B }.EBBBB =BCU4^A K AII)O=>`?,A ?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2652786#A?6,?6ה=ٱ6= BAHRS rotation from veh to nav: [[0.215582,-0.968040,-0.128154],[0.973782,0.203366,0.101933],[-0.072613,-0.146769,0.986502]]6H .?.Wg`9)?@?L?ɖ R¿l?i6#A?I6];4YJByJo*Ia%@a- a-@a- a-@a- a-@a- bD5VD5yE:%E,=ٔES=:Q-M>9IYI=URGyUFU ;EU>YQ 5 4]'Rt?Q 9 4])]0BQ A+:YQ E\:y\?Q I?]&CI]]4yM׷BɮMAIB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 398.51 m.RhZh ProNav: ac range: 398.506866 m, nav range: 392.860840 m, bearing: 75.624135 deg, approach rate: -0.856546 m/s, LOS rate: -0.000401 deg/s, cmd heading: 77.867722 deg, new cmd heading: 77.867225 deg. BhHeadingCmd: 1.359039 target range: 398.506866 and range: 400.40 m.h?h*h"h hg f f f dddjdZdc@颹ɢ"=) >i)l<i߿i?>4;HI?II)bEyjE}ģ#4rE}/E EE*E"E ;*EVE(N4ZEBESQE,?Ar1?r?rN=ٱr` zAHRS rotation from veh to nav: [[0.212509,-0.969461,-0.122413],[0.974415,0.200862,0.100841],[-0.073173,-0.140710,0.987343]]rH3?`oV@i.?۵? й? ¿`P?ir1?Ir];pY%By%^*IbD5VD5 yeㄽ%eI=ٔmB:Q-m>9m ?Ym ?=mRGyuFu;Eu>Q 54Xt?Q 94 )(BQ A :YQ E2:y?Q I?OCI@:i]?4yBɮAEjhFNOT Ignoring new targets: 398.51 m.Rh`Zh` ProNav: ac range: 398.506866 m, nav range: 392.540985 m, bearing: 75.623846 deg, approach rate: -0.848178 m/s, LOS rate: -0.000768 deg/s, cmd heading: 77.867223 deg, new cmd heading: 77.866355 deg. BhHeadingCmd: 1.359024 target range: 398.506866 and range: 400.40 m.h?h*h"h hgff f d d dQjdZd@颹ɢ4=) >i)<i㺼i?4;BL:I?IiqIq}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7701729@ @@4@ԉE EE'E"E;*E$:VE'4ZEa%@a%@a%@a%@^A ԱA ؟AI I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022055 NL,2?A^ۑ?^ǭ?^U=ٱ^/ fAHRS rotation from veh to nav: [[0.210986,-0.969861,-0.121883],[0.974763,0.199449,0.100285],[-0.072953,-0.139966,0.987465]]^H?  @3@B1?`?E?` fP?i^ۑ?I^T];\YnmBynC*IIr>)r;aeae aeae aeae aeam imMb@Mb@Mb@iiii i9m&1?y&1~jtxYmP?ym`emĻmE0Am?A m9A)m$AiBBBV*IB|BBBBBzr;B.EYm AbDVDy-˽%->=ٔ5Q-M>9U"?YU"?=URGyUF]l;E]>aQ 5m4em_t?Q 9m4e)eBQ AmT:YmP?Q Eu:yuv?Q Iu?e{CIeE9;ie88;e;4yɮAjhFNOT Ignoring new targets: 398.51 m.ԱRh*Zh* ProNav: ac range: 398.506866 m, nav range: 392.191772 m, bearing: 75.622844 deg, approach rate: -0.812266 m/s, LOS rate: -0.002332 deg/s, cmd heading: 77.866356 deg, new cmd heading: 77.863348 deg. Bh̸HeadingCmd: 1.358972 target range: 398.506866 and range: 400.40 m.h?h*h"h hgfffdddjdZd3H @频ɢ=) l[>i)K|<顙i[ݹi?|{4;l:I?IE9@A @A@E/@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273322^A 9 I E%  E% E% +E! "E% ~ ;*E% Z:VE% [4ZE! BE% V9 0R,|L?A^?^ ?^rΓ=ٱ^{ rAHRS rotation from veh to nav: [[0.209362,-0.969892,-0.124405],[0.975176,0.197713,0.099707],[-0.072108,-0.142192,0.987209]]^H[?[ @ٿ 4?@N?e?`uW3¿7?i^?I^];\Yv\Byz/*IbDVD:yʶ%^=ٔQ->9Y=RGy%F%;E%>)Q 554-et?Q 954-)-BY1y=?Q I=?-CI-~ ;i-;-4yAɮEFAAjhiuFNOT Ignoring new targets: 398.51 m.Rhu+:Zhu+: ProNav: ac range: 398.506866 m, nav range: 391.895416 m, bearing: 75.621920 deg, approach rate: -0.815063 m/s, LOS rate: -0.002543 deg/s, cmd heading: 77.863351 deg, new cmd heading: 77.860577 deg. Bhg߸HeadingCmd: 1.358923 target range: 398.506866 and range: 400.40 m.h4?h*h"h hgfffdddjdZd0@BDAT read: Rx Time:15:04:35.6934 TRx dataTimestamp_ set to:1761577477.256263checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526461ɢU4\ =)Q U9>iY)]ᐩ(Y,#kf?AEJ@?E+?EP#=ٱEg AHRS rotation from veh to nav: [[0.208020,-0.969768,-0.127581],[0.975558,0.196259,0.098836],[-0.070809,-0.145022,0.986891]]EHe?WT7??@KM? ¿`?iEJ@?IE<];E(CYMBy*IE EE)E"EO6;*Eą:VEFA4ZEa @a@a@a@i]Mb@Mb@Mb@YYYaY Y9]B`"?Mb9Y=RGyF<;E>Q 54mlt?Q 94)BYN?Q E:y~?Q I?ԼCI8S;iR;4yɮAjhFNOT Ignoring new targets: 398.51 m.Rh%'mZh%'m= ProNav: ac range: 398.506866 m, nav range: 391.503265 m, bearing: 75.620328 deg, approach rate: -0.797296 m/s, LOS rate: -0.003240 deg/s, cmd heading: 77.860578 deg, new cmd heading: 77.855797 deg. Bh=JHeadingCmd: 1.358840 target range: 398.506866 and range: 400.40 m.hx?h*h"h hgfffdddjdZd !@ DAT read: 15:04:35.6934 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 235,-0.08,-0.368,-1.736,-0.126,-0.153, PHS=-0.113,-1.538,-0.017, RAW= 153.2, 21.8, CAL= 156.1, 29.6, ROT= 353.9, -29.6 Ygot valid direction response: 15:04:35.6934 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 235,-0.08,-0.368,-1.736,-0.126,-0.153, PHS=-0.113,-1.538,-0.017, RAW= 153.2, 21.8, CAL= 156.1, 29.6, ROT= 353.9, -29.6 PDAT read: Bearing 245.0, -13.2 (Local) %~Local bearing/azimuth received: Bearing 245.0, -13.2 (Local) -DAT read: Range 11 to 50 : 385.2 m (Round-trip 513.6 ms) speed 0.8 m/s 5R#Rx 1: Read range and direction messages.=^direction in FSK: [0.864572,-0.092396,0.493942]=Fpublishing direction and range infoyDr?BEci?YC )CIli/ĿCD +@>].@  A?)@I AY-'?W`3H?AA?6? y?)F¾Ii ڽi AUT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.ɢND<) F>i)h<iYix?`4;0f;Ix?Iԑ9@ @@@B>BB**IBYBBBBBs;B.EԹ ^A yb];I1 II OU >`,NE?A.*DAT read: user:900> 2BDAT read: Tx time:15:04:37.0241 2$Ping request sent.2WA'g@RDr?BEci?Zii ڽbi AjLAirS@29qt@z#e@Z7S?5\?ic3;?2iC:iB"i ?*i+zBi6nCi?iiicCi>? addTargetRange:: Added new target pos. range: 385.200012 m, deltaT: 4.284266 s, deltaX: -15.199982 m, approachRate: -3.547861 m/s, rangeRepo size: 4  Added new target pos. range: 383.377014 m, bearing: 76.932684 deg, lat: 36.779012 deg, lon: -121.859206 deg, deltaT: 4.284266 s, deltaX: -15.129852 m, approachRate: -3.531492 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 383.38 m.RhZh  ProNav: ac range: 383.377014 m, nav range: 388.778595 m, bearing: 77.099646 deg, approach rate: 0.000000 m/s, LOS rate: -0.003240 deg/s, cmd heading: 77.855796 deg, new cmd heading: 77.852306 deg. BhHeadingCmd: 1.358779 target range: 383.377014 and range: 385.20 m.hy?h*h"h hgff!f!dAdIdIjdM@3x@ZdM X?颩ɢ<) =i)s<顱i.iy?&5;5;Iy?IE EEE"ET;*E:VEZEBEG=6f, ?AB?Bw?B =ٱB NAHRS rotation from veh to nav: [[0.205391,-0.968992,-0.137361],[0.976325,0.193139,0.097395],[-0.067845,-0.154113,0.985721]]BHCJ?`@ >?ʸ??G^ÿ ?iB?IB];B%CYVByV)IbD^VD^yf%fR=ٔjnQ-j>9hYh=jRGyj Fn9;En>pQ 5v4rwt?Q 9v4r-)rBYxyzҬ?Q Iz?rCIr:ir$:r4|yɮ͵A%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 383.38 m.Rh5#Zh5# ProNav: ac range: 383.377014 m, nav range: 388.482147 m, bearing: 77.099450 deg, approach rate: -0.840245 m/s, LOS rate: -0.000557 deg/s, cmd heading: 77.852306 deg, new cmd heading: 77.851717 deg. Bh÷HeadingCmd: 1.358769 target range: 383.377014 and range: 385.20 m.h#?h*h"h hgfffdddjd!Zd%@?iɢm{<)q uP=i)m<i"i#?5; ;I#?I]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.4999771@ @@?0@YE  E E %E "E ;*E v:VE  4ZE a5@a5@a=@a=@^AM #2;I I O >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751302el,?A>ʒ?>R?>~=ٱ>׼ FAHRS rotation from veh to nav: [[0.203953,-0.968980,-0.139578],[0.976712,0.191700,0.096356],[-0.066610,-0.155979,0.985512]]>H?`9A??Ī?S !ÿ P?i>ʒ?I>];>&CYNByN)IQiUMb@Mb@Mb@QQQQ Q9US㥛? rhYUD?yU̼UC U2AUA U9A)Ur&AQYU!AAqAu@AB} >ByB})IB}!BByByByB}s;B}!/EbDVDNyݽ%==ٔ;Q->9Y=RGy Fa;E>Q 54}t?Q 94)ЎBY)E?Q E:y?Q I?HCI:i<:+4yɮ-AjhFNOT Ignoring new targets: 383.38 m.Rhy%8Zhy%8 ProNav: ac range: 383.377014 m, nav range: 388.151062 m, bearing: 77.100424 deg, approach rate: -0.767437 m/s, LOS rate: 0.002260 deg/s, cmd heading: 77.851719 deg, new cmd heading: 77.854644 deg. Bh8HeadingCmd: 1.358820 target range: 383.377014 and range: 385.20 m.h?h*h"h hg!f!f!f!d)d)d)jd)Zd5 ?ɢC/<)1 @;i)ȫ<iYie?m`96;mF|CKs,́?AR?Raڮ?ROʆ=ٱRy ZAHRS rotation from veh to nav: [[0.202889,-0.969199,-0.139604],[0.976991,0.190787,0.095339],[-0.065768,-0.155735,0.985607]]RHC?@C?k?@(h?,ְ"ÿ?iR?IR];R'CYbByb)IhjAAbDn VDn2yrR %vW=ٔveQ-v>9z ?Yz ?=zRGyz F~=;E~>Q 54ăt?Q 9 4L)BY y ֩?Q I ?mCIF:i:4yɮAjhAMFNOT Ignoring new targets: 383.38 m.RhM8ZhM8e ProNav: ac range: 383.377014 m, nav range: 387.860107 m, bearing: 77.101234 deg, approach rate: -0.764666 m/s, LOS rate: 0.002130 deg/s, cmd heading: 77.854642 deg, new cmd heading: 77.857073 deg. Bhe8eHeadingCmd: 1.358862 target range: 383.377014 and range: 385.20 m.hm3?hi*hi"hi higifiԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255625ffdddjdZd`TD?!ɢ%<)) -(?i))Mc~9 ry,#?AYˉBy%|)IbDmVDmP)y#%@=ٔQ->E EE)E"E ;*E':VEFA4ZEa@a@a@a@9 "?Y%"?=-RGy- FEEE>Q 54 t?Q 94*)BYyQ I?CI];i;4y5dBɮ5aA5EjhFNOT Ignoring new targets: 383.38 m.Rh88Zh88 ProNav: ac range: 383.377014 m, nav range: 387.502380 m, bearing: 77.102231 deg, approach rate: -0.740351 m/s, LOS rate: 0.002066 deg/s, cmd heading: 77.857074 deg, new cmd heading: 77.860068 deg. Bhw8-HeadingCmd: 1.358914 target range: 383.377014 and range: 385.20 m.h-?h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759393ɢUj<) ѽi)<iˈi?>7;,B ΀,$`?Av#?vm?vЄ=ٱv AHRS rotation from veh to nav: [[0.201320,-0.969595,-0.139122],[0.977379,0.189445,0.094021],[-0.064806,-0.154903,0.985802]]vH?  F???? ÿ@?iv#?Ivs];v$CY-ByM[)IiMb@Mb@Mb@ 9333333?/$Q롿Y9?y,\2A?A  A)z&AYp!AibDVD02y%/=ٔQ->9Y=RGy FQm;E>Q 54t?Q 94_)BY :?Q E:y?Q I?½CIj:i:e%4ylBɮAEjhFNOT Ignoring new targets: 383.38 m.Rh78Zh78  ProNav: ac range: 383.377014 m, nav range: 387.195374 m, bearing: 77.104186 deg, approach rate: -0.751194 m/s, LOS rate: 0.004787 deg/s, cmd heading: 77.860065 deg, new cmd heading: 77.865935 deg. Bh BR9HeadingCmd: 1.359017 target range: 383.377014 and range: 385.20 m.hD?h*h"h hgff!f!d!d!d)jd)Zd-&,@Qɢ]!<)Y ]iY)]$AI checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515842!AIIO?,^$?A2&?2v?2~݄=ٱ2P :AHRS rotation from veh to nav: [[0.201229,-0.969653,-0.138855],[0.977397,0.189378,0.093978],[-0.064830,-0.154628,0.985843]]2H?d F?=??`@ÿ?i2&?I2];2&CYBByB=)I DDbDNVDNyV۽%V3=ٔVB^8Q-V>9XY = RGy F O9E>Q 5%4st?Q 9%4˸)BY!y%æ?Q I%?CI|:i:-4y1ɮ5PA9UB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 383.38 m.Rhm=8Zhm=8 y/G ProNav: ac range: 383.377014 m, nav range: 386.857483 m, bearing: 77.106336 deg, approach rate: -0.721805 m/s, LOS rate: 0.004596 deg/s, cmd heading: 77.865932 deg, new cmd heading: 77.872387 deg. BhI9!q9YAHeadingCmd: 1.359130 target range: 383.377014 and range: 385.20 m.h?h*h"h  h gffIfIdQdYE EEE"E;*En:VEZEa@a@a@a@djdZd~@颁ɢ <) Oi)ڧ<顉i9i?9; }B CB O)IB BB B B DB Ht;B w/EBBBBBC5% , 9@  @ @ y0@ 5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020416^A$9tYt=vRGyvFxzE~>|Q 54~t?Q 9 4~o)~uBQ A +:Y Q E l:y ?Q I ?~"CI~;i~&?~54yBBɮ>AEjhAEFNOT Ignoring new targets: 383.38 m.RhM8ZhM8] ProNav: ac range: 383.377014 m, nav range: 386.449402 m, bearing: 77.108945 deg, approach rate: -0.723624 m/s, LOS rate: 0.004632 deg/s, cmd heading: 77.872387 deg, new cmd heading: 77.880223 deg. Bh]nK9eHeadingCmd: 1.359266 target range: 383.377014 and range: 385.20 m.hep?ha*ha"ha hagifibEFA4jE:4rE0E} E}E}+Ey"E} ;*E}:VE} [4ZEyBE}O𨙠,@h?AZcВ?Z߻?Z=ٱZ\` AHRS rotation from veh to nav: [[0.203831,-0.969361,-0.137082],[0.976958,0.192348,0.092495],[-0.063293,-0.152777,0.986232]]ZH#?@@=C?`ߞ?? 3/ÿ6?iZcВ?IZ\;Z$CY%^By%(II-%>)-E EE'E"E;*Eą:VE'4ZEa@a@a@a @bDVD:y%-%-=ٔ5=Q-=>9Y=RGyFE>Q 54t?Q 94ף)_BQ A :YQ E?:yo?Q I?WCI:i?0<4yɮAjh9=FNOT Ignoring new targets: 383.38 m.RhE8ZhE8U ProNav: ac range: 383.377014 m, nav range: 386.031860 m, bearing: 77.111772 deg, approach rate: -0.707538 m/s, LOS rate: 0.004795 deg/s, cmd heading: 77.880221 deg, new cmd heading: 77.888710 deg. BhUR9}HeadingCmd: 1.359414 target range: 383.377014 and range: 385.20 m.h}K?hy*hy"hy hgfffdddjdZd@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777819AAɢu:)y } iBU">BQBU )IBUoBBU =BQBQBUEt;BUv/E)eq<顁iiK? <;G;IK?Ia= 9@9  @9 @= 0@9 @A @E eAԉ  DAT read: 15:04:39.9370 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 393,-0.08, 2.582, 1.265, 2.862, 2.746, PHS=-0.062,-1.436, 0.073, RAW= 154.6, 19.2, CAL= 156.3, 24.1, ROT= 353.7, -24.1  Ygot valid direction response: 15:04:39.9370 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 393,-0.08, 2.582, 1.265, 2.862, 2.746, PHS=-0.062,-1.436, 0.073, RAW= 154.6, 19.2, CAL= 156.3, 24.1, ROT= 353.7, -24.1  PDAT read: Bearing 239.8, -13.1 (Local)  ~Local bearing/azimuth received: Bearing 239.8, -13.1 (Local) % DAT read: Range 11 to 50 : 381.5 m (Round-trip 508.7 ms) speed 0.4 m/s - R#Rx 1: Read range and direction messages.5 ^direction in FSK: [0.907322,-0.100169,0.408330]5 Fpublishing direction and range infoy  1?-Ӯb7"?Y C ) AI }i η = ,@ > .@ \>) @I \׾  ?65,?Pn ? I?) XI i0i \׾ ] T****** received valid address query ******] R****** received valid ping request ******] Querying Benthos address 50 with one ping in standard two-way mode.^A A zA AqIyIO?4,@?AYmMByu(IE EE(E"E;*E?:VEc44ZEBED9Y=RGyFE>Q 54 t?Q 94)UBQ AT:Y#?Q E:yݠ?Q I?CIB;i;D4yJBɮAiyi}(ׂ?AJi}ٽCRi}ٽCji}?b}cvRu@'TC#1Sac@R}1?-Ӯb7"?Zi}i0bi}\׾j}@:uU@ T#}yu@? 3a@Z}׷?|g?]?2i}˫C:i}B"i}K?*i}NBi}MCi}K?iyiyi}Ci}T?M addTargetRange:: Added new target pos. range: 381.500000 m, deltaT: 4.284777 s, deltaX: -3.700012 m, approachRate: -0.863525 m/s, rangeRepo size: 4 ] Added new target pos. range: 379.696075 m, bearing: 75.973489 deg, lat: 36.779010 deg, lon: -121.859206 deg, deltaT: 4.284777 s, deltaX: -3.680939 m, approachRate: -0.859074 m/s, posRepo size: 4 jhYFNOT Ignoring new targets: 379.70 m.RhZh  ProNav: ac range: 379.696075 m, nav range: 385.686554 m, bearing: 77.139624 deg, approach rate: 0.000000 m/s, LOS rate: 0.004795 deg/s, cmd heading: 77.888711 deg, new cmd heading: 77.895609 deg. Bh HeadingCmd: 1.359535 target range: 379.696075 and range: 381.50 m.h=?h*h"h hgff!f!d!d!d)jd-w@Zd-K?*DAT read: user:901> BDAT read: Tx time:15:04:41.3241 $Ping request sent.ꨠ,e?A2J?25?2Q-z=ٱ2$ >AHRS rotation from veh to nav: [[0.207863,-0.968306,-0.138483],[0.976252,0.196533,0.091146],[-0.061040,-0.154140,0.986162]]2H>?[ ӹt=?'?TU? @ߺÿ?i2J?I2\;2"CYB6ByF(IbDnVDnk1yr)%vX=ٔvûQ-v>9v ?Yz ?=zRGyzF~1E~>|Q 54~ct?Q 9 4~)~NBY y W?Q I ?~CI~p:i~:~RK4yɮPA5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 379.70 m.RhM}#9ZhM}#9] ProNav: ac range: 379.696075 m, nav range: 385.447205 m, bearing: 77.142968 deg, approach rate: -0.638969 m/s, LOS rate: 0.008933 deg/s, cmd heading: 77.895610 deg, new cmd heading: 77.905648 deg. Bh]09eHeadingCmd: 1.359710 target range: 379.696075 and range: 381.50 m.he ?ha*hi"hi higififqfydydydyjdyZdw?颩ԱɢH]() Nɾi)<项ii ?h<;H[;I ?Iu9@q @q@}4@yE EE*E"E;*E:VE(N4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502822 ^AB B B (IB ABB B B B bt;B /EA ؟AI I O >1 z, +?AF ?Fg?Fv=ٱFFr RAHRS rotation from veh to nav: [[0.209787,-0.967659,-0.140094],[0.975901,0.198430,0.090786],[-0.060051,-0.155764,0.985967]]FH`J? ``:?'f?@=?ÿ@ ?iF ?IF];F%CYV5ByV(IiMb@Mb@Mb@ 9)\(? rh~jthYG!?yD1AA )r&Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754960Y!AbD VD :y;%%9=ٔ%Q-%>9-"?Y-"?=-RGy-F-E->1Q 5=45t?Q 9E45)5GBYE7"?Q EE:yEA?Q IE?5CI5:i5:5S4yM)BɮUѷAUEjhy}FNOT Ignoring new targets: 379.70 m.Rh"9Zh"9 ProNav: ac range: 379.696075 m, nav range: 385.168304 m, bearing: 77.146898 deg, approach rate: -0.630593 m/s, LOS rate: 0.008893 deg/s, cmd heading: 77.905650 deg, new cmd heading: 77.917449 deg. BhK9HeadingCmd: 1.359916 target range: 379.696075 and range: 381.50 m.h?h*h"h hgfffdddjdZd^{?ɢ) ʾi)<ii?ղ<;:I?I%9@! @)@-4@)IE EE(E"Ex;*EB:VEc44ZEBEDg checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007237IA IY Om >ԙ ,ق?A2Ǒ?2?2q=ٱ2" :AHRS rotation from veh to nav: [[0.211773,-0.966926,-0.142148],[0.975535,0.200354,0.090503],[-0.059029,-0.157836,0.985699]]2H`b?1¿@7?1?-+? 9 3Ŀي?i2Ǒ?I2 \;2#CYB,ByB(IbDjVDjyr3%r`=ٔr48Q-v>9tYt=vRGytzEz>|Q 54~t?Q 94~T)~ABYy ?Q I ?~߾CI~[:i~:~kY4yɮAjh9=FNOT Ignoring new targets: 379.70 m.RhER&9ZhER&9U ProNav: ac range: 379.696075 m, nav range: 384.938873 m, bearing: 77.150204 deg, approach rate: -0.630312 m/s, LOS rate: 0.009088 deg/s, cmd heading: 77.917453 deg, new cmd heading: 77.927377 deg. BhU9]HeadingCmd: 1.360089 target range: 379.696075 and range: 381.50 m.h]h?hY*ha"ha hagafafifidididijdqZdu N?颡ɢ>)  Ӿi)=<顩iWHih?g<;z 9Ih?Iqm9@i @i@m/@i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258994ԙ^A ;Ii I E  E E 'E "E ;*E Ǚ:VE '4ZE a @a @a @a @O > !,?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5107816?6q?6tm=ٱ6U' BAHRS rotation from veh to nav: [[0.213736,-0.965821,-0.146650],[0.975165,0.202019,0.090785],[-0.058056,-0.162412,0.985014]]6H[?@o¿4??=? Ŀ ;?i6?I6\;6&CYR'ByR(IiuMb@Mb@Mb@qqqq q9uMb?S㥫 rh?Yu ?yu/]uC9Y=RGyF E>Q 54t?Q 94)?BY*!?Q E:y)?Q I?CI:ij:`4yɮAjhFNOT Ignoring new targets: 379.70 m.Rh8Zh8 ProNav: ac range: 379.696075 m, nav range: 384.670044 m, bearing: 77.153087 deg, approach rate: -0.627610 m/s, LOS rate: 0.006736 deg/s, cmd heading: 77.927377 deg, new cmd heading: 77.936032 deg. Bh9%HeadingCmd: 1.360240 target range: 379.696075 and range: 381.50 m.h%[?h!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5@*?aɢeJ{))a e ؾia)m>H) O à,v ?AE2 E2E0E0"E2x;*E2:VE0ZE0BE0a:2E0a:JE2g;a::E2g;a:B7?B)#?B#i=ٱBs* JAHRS rotation from veh to nav: [[0.216082,-0.964850,-0.149580],[0.974706,0.204210,0.090813],[-0.057075,-0.165419,0.984570]]BH?@ @l%ÿ0?#??? 8s,ſ?iB7?IB3\;B$CY6By(II ,>) >bDVDy%$=%%S=ٔ-&Q-->9)Y)=5RGy5F54ʻE5>9Q 5E4=t?Q 9E4=i|)==BYIyMޢ?Q IM?=!CI=:i==:=g4yU1BɮUAYjhFNOT Ignoring new targets: 379.70 m.Rhf8Zhf8 ProNav: ac range: 379.696075 m, nav range: 384.426575 m, bearing: 77.155785 deg, approach rate: -0.626971 m/s, LOS rate: 0.006950 deg/s, cmd heading: 77.936031 deg, new cmd heading: 77.944128 deg. Bh9HeadingCmd: 1.360382 target range: 379.696075 and range: 381.50 m.h ?h*h"h hgfffdddjdZd'@ɢ#) ɾi)Ȓ<ii ?;;pI ?I l>i >UnManaging dock network, ignoring radio surface power off1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0151959@ @@0@Y^ANJκIQIiOu>ԁ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.26680344ɠ,&?A02?2?2 f=ٱ21* >AHRS rotation from veh to nav: [[0.217496,-0.964558,-0.149409],[0.974446,0.205774,0.090073],[-0.056136,-0.165181,0.984664]]2H? ÿ.?`V??`ֽ$ſ _?i2?I2<\;2&CY^9By^(IbDj VDj:2yr2<%rN=ٔvQ-v>9tYt=zRGyzFzfnEz>|Q 54~t?Q 9 4~&v)~;BY y ?Q I ?~ACI~:i~:~n4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 379.70 m.RhL8ZhL8 ProNav: ac range: 379.696075 m, nav range: 384.178070 m, bearing: 77.158595 deg, approach rate: -0.601836 m/s, LOS rate: 0.006811 deg/s, cmd heading: 77.944124 deg, new cmd heading: 77.952562 deg. Bh9HeadingCmd: 1.360529 target range: 379.696075 and range: 381.50 m.h%?h*h"h hgfffdddjdZd @)ɢ-))) -ƾi1)5&(<11i5㜼i=%?=:;=&1IE%?IAD}=D}<E EE&ԱE"E ;*E҆:VE4ZEa@a@a@a@@ @@O0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518823^AvтB<A<BBB(IB#BB =BBDBt;BI1 IA OU > Р,Kt@?AJ}?JЬ?Jb=ٱJ( ZAHRS rotation from veh to nav: [[0.218549,-0.964608,-0.147540],[0.974265,0.207143,0.088879],[-0.055171,-0.163167,0.985055]]JHj? ¿.-??@?g?Ŀ@?iJ}?IJ];J#CYf;Byf(IpiMb@Mb@Mb@ 9HzG? rhZd;O?Y=*?yC j<3A )$AY="Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770953bDVDܲySA<%:=ٔ6Q->9Y=RGyFE> Q 54 ?t?Q 94 n) 9BY*?Q E:y?Q I? fCI q ;i u ; Bv4y%Bɮ-/A-EjhIUFNOT Ignoring new targets: 379.70 m.Rh]8Zh]8m ProNav: ac range: 379.696075 m, nav range: 383.886108 m, bearing: 77.160396 deg, approach rate: -0.693369 m/s, LOS rate: 0.004281 deg/s, cmd heading: 77.952560 deg, new cmd heading: 77.957967 deg. Bhm<9uHeadingCmd: 1.360623 target range: 379.696075 and range: 381.50 m.hu(?hq*hq"hq hqgyfyfyfydddjdZd\@颱ɢ N) 8ľi)<项ii(?8;I(?I m9@i @i@m4@iE EE'E"E&:*E:VE'4ZEBEb;oF֠,QZ?A2ϐ?2Z?2J]=ٱ2o$ :AHRS rotation from veh to nav: [[0.219204,-0.964921,-0.144491],[0.974176,0.208238,0.087277],[-0.054127,-0.159891,0.985650]]2H?``~¿t,??W?@`MwĿq?i2ϐ?I2\;2&CYvIByv(I xxbD~VD~!y ]=% Z=ٔ7Q->9Y=RGyF%E%>)Q 554-t?Q 954-eh)-8BY1y5?Q I5?9-CI--;i-.;-|4yAɮMAIjhiuFNOT Ignoring new targets: 379.70 m.RhuP8Zh}P8 ProNav: ac range: 379.696075 m, nav range: 383.636566 m, bearing: 77.161968 deg, approach rate: -0.664631 m/s, LOS rate: 0.004189 deg/s, cmd heading: 77.957969 deg, new cmd heading: 77.962687 deg. Bh79HeadingCmd: 1.360706 target range: 379.696075 and range: 381.50 m.h+?h*h"h hgfffdddjdZd ^ @ɢx) i)rR<ii+?7;ͻI+?I@ @@3@@=@=iiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275181G]9YY]UAԙ^A#2D zD AAE  E E &E "E ;*E v:VE 4ZE a @a @a @a @A! II Iq O > oܠ,R*t?A&BDAT read: Rx Time:15:04:44.2333 &TRx dataTimestamp_ set to:1761577485.824101*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527864B?B?BY=ٱB~" JAHRS rotation from veh to nav: [[0.219881,-0.965050,-0.142587],[0.974078,0.209235,0.085977],[-0.053138,-0.157796,0.986041]]BH%?@I@¿`+?@7??42Ŀ?iB?IB ];B#CY=QByE(IԙiMb@Mb@Mb@ 91Zd?~jtV-?Y";?y<5AA A)%AY#AbDVDJy%=%%:=ٔ-Q-->9)Y)=-RGy5FB9B9B=(IB=2BB= =B9B9B=ut;B=/EBCBCBB =B =CL:4]˺E]>aQ 5m4eTt?Q 9m4e`)e6BYmX;?Q Eu:yu*?Q Iu?eCIe6;ie ;e4yyɮ}ڶAyjhFNOT Ignoring new targets: 379.70 m.RhQ 8ZhQ 8 ProNav: ac range: 379.696075 m, nav range: 383.311707 m, bearing: 77.162811 deg, approach rate: -0.732482 m/s, LOS rate: 0.001903 deg/s, cmd heading: 77.962689 deg, new cmd heading: 77.965221 deg. Bh.8HeadingCmd: 1.360750 target range: 379.696075 and range: 381.50 m.h -?h*h"h hgfffdddjdZdr@ɢ `|Ż)  i )[׈<iڗi -?]6;l0I -?I!9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778741^A[RӻA ! I) I9 OM >W,\?AbEM'4jEM^+4rEMT/E& E&E&'E$"E&;*E&M:VE&'4ZE$BE&1N9tYt=vRGyvFz:]Ez>|Q 54~t?Q 94~jY)~5BYy'?Q I ?~ѿCI~&;i~3;~ъ4yBɮնAjh9=FNOT Ignoring new targets: 379.70 m.RhE 8ZhE 8U ProNav: ac range: 379.696075 m, nav range: 383.050079 m, bearing: 77.163495 deg, approach rate: -0.732023 m/s, LOS rate: 0.001913 deg/s, cmd heading: 77.965223 deg, new cmd heading: 77.967274 deg. BhU8HeadingCmd: 1.360786 target range: 379.696075 and range: 381.50 m.h9.?h*h"h hgfffdddjdZd1@Yɢ] ߻)Y ]xiY)e׆i]+]ȶ>]?-@]9>]"-@ ]%K>)]D@I]%KYY]M}?IY$?Nl(? ]&?)]?N:I]i]%KYYMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.m9@i @i@i@i)Q^ArA I I O > *DAT read: user:902>  BDAT read: Tx time:15:04:45.6241  $Ping request sent. AHRS rotation from veh to nav: [[0.219868,-0.965137,-0.142015],[0.974179,0.209566,0.084011],[-0.051320,-0.156819,0.986293]]6H$?g-¿ y,? ??F@Ŀ`?i6?I6z\;4YR_ByR(ITTXXbDZVDZ2yb'<%fL=ٔf$Q-f>9dYh=jRGyjFj9Ej>pQ 5v4rt?Q 9v4rQ)r4BYtyv)?Q Iv?rCIr:irR:rґ4yxɮ~A|ii??AJiCRiCji-?b1Nw@j@ |/R@Rɥ??!Pz#ߵg4L?Zibi%Kj?\Y@IŰbv@!* M@Z8?eSf? >@?2iC:iB"i$]?*iBOBiWCiiBOiWCiCi9?M addTargetRange:: Added new target pos. range: 378.799988 m, deltaT: 4.283819 s, deltaX: -2.700012 m, approachRate: -0.630282 m/s, rangeRepo size: 4 ] Added new target pos. range: 377.008636 m, bearing: 74.185120 deg, lat: 36.779010 deg, lon: -121.859374 deg, deltaT: 4.283819 s, deltaX: -2.687439 m, approachRate: -0.627347 m/s, posRepo size: 4 jhYeFNOT Ignoring new targets: 377.01 m.RheZhau ProNav: ac range: 377.008636 m, nav range: 368.119812 m, bearing: 76.644741 deg, approach rate: 0.000000 m/s, LOS rate: 0.001913 deg/s, cmd heading: 77.967272 deg, new cmd heading: 77.969597 deg. Bhq}HeadingCmd: 1.360826 target range: 377.008636 and range: 378.80 m.h}/?h*h"h hgfffdddjd̬w@Zd$?ɢĻ) bi)ׄ<i 피i/?83;xI/?IQDQDU4=Ee EeEe(Ea"Eel;*Ee:VEec44ZEaa@a@a@a@9@ @@/@ԉechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250931^ABABABE(IBELBBABABEDBE[t;BE/EԩA .AI I O > k,?AJ?J%Ѭ?JN=ٱJ)! RAHRS rotation from veh to nav: [[0.218600,-0.965418,-0.142066],[0.974518,0.208482,0.082766],[-0.050286,-0.156539,0.986391]]JH ?9/¿`@/??)0? @v Ŀ?iJ?IJ\;J#CYZlByZ)Ii=Mb@Mb@Mb@9999 99="~j?~jth?V-?Y=SC?y=D;9=Q4A=$A =A)99Y=$Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502886bDVD:2yB_=%8=ٔQ->9 ?Y ?=RGyF A;E >Q 54}t?Q 945I)1BYxC?Q E:y%?Q I%?"CI:i:4y-Bɮ-A-ٯEMB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 377.01 m.Rh]6CZhe6Cu ProNav: ac range: 377.008636 m, nav range: 367.781128 m, bearing: 76.643568 deg, approach rate: -0.769462 m/s, LOS rate: -0.002667 deg/s, cmd heading: 77.969594 deg, new cmd heading: 77.966073 deg. BhuA}HeadingCmd: 1.360765 target range: 377.008636 and range: 378.80 m.h}-?hy*hy"hy hygyfffdddjdZd ?ԩ颹ɢ_) i)ǂ<ici-?˺2;EI-?I9@ @@/@Ee EeEe)Ea"Ee;*Ee:VEeFA4ZEaBEe@1 ,[ۃ?A>?>d?>FH=ٱ>" FAHRS rotation from veh to nav: [[0.217627,-0.965365,-0.143904],[0.974808,0.207595,0.081575],[-0.048876,-0.158032,0.986224]]>H 2?Erk¿1? {?@?`I@b:Ŀ%?i>?I>\;>$CYNnByN )IbDVVDVky^~<%^a=ٔb~Q-b>9`Y`=fRGyf Ff67;Ef>hQ 5n4jYu?Q 9n4jB)j0BYpyr6?Q Ir?jECIj ;ij? ;jꟆ4ytɮvڵAtjhFNOT Ignoring new targets: 377.01 m.RhoKZh%oK- ProNav: ac range: 377.008636 m, nav range: 367.504303 m, bearing: 76.642562 deg, approach rate: -0.763954 m/s, LOS rate: -0.002779 deg/s, cmd heading: 77.966070 deg, new cmd heading: 77.963049 deg. Bh55HeadingCmd: 1.360712 target range: 377.008636 and range: 378.80 m.h5+?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMIR?yɢ},X)y }iy)<顁i8i+?1;I+?I]9@Y @a@e2@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068449^ATлDi zDi Eu  Eu Eq Eq "Eu :*Eu M:VEq ZEq a @a @a @a @A ؟Aԑ I I O >,Pr?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2588540:*?:s?:>B=ٱ: BAHRS rotation from veh to nav: [[0.216569,-0.965814,-0.142485],[0.975116,0.206911,0.079608],[-0.047405,-0.156180,0.986590]]:H`?<¿%4? |?`7a?|Eÿ%?i:*?I:$];:%CY^mByb)IiEMb@Mb@Mb@AAAA A9EV-?I +?/$?YEhQ?yE9BBB(IB`BBBBBs;BE/E9"?Y"?=RGy!FE!;E>!Q 5-4% u?Q 9-4%8)%+BY5Q?Q E5:y5?Q I5?%tCI%2;i%;%4y9ɮE޵AAjhFNOT Ignoring new targets: 377.01 m.Rh&ѸZh&Ѹ ProNav: ac range: 377.008636 m, nav range: 367.138733 m, bearing: 76.639986 deg, approach rate: -0.810250 m/s, LOS rate: -0.005714 deg/s, cmd heading: 77.963051 deg, new cmd heading: 77.955316 deg. BhzHeadingCmd: 1.360577 target range: 377.008636 and range: 378.80 m.hc'?h*h"h hgfffdddjdZd?AɢMIԉ)I 9i)}<顑iic'?0;`zIc'?I9@ @@2@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510808^Am Au >Au > I I O >Х,L?AE EE'E"E=;*E:VE'4ZEBE}I9Y=RGy"FE>Q 54u?Q 94z0)&BYyQ I?CIX);i*;w4yɮAjh9EFNOT Ignoring new targets: 377.01 m.RhEmθZhEmθ] ProNav: ac range: 377.008636 m, nav range: 366.823608 m, bearing: 76.637762 deg, approach rate: -0.798364 m/s, LOS rate: -0.005640 deg/s, cmd heading: 77.955319 deg, new cmd heading: 77.948641 deg. Bh]weHeadingCmd: 1.360460 target range: 377.008636 and range: 378.80 m.he#?ha*ha"ha hagafafifidididqjdqZdu^?颡ɢ@() i)z<顩iRi#?/;ȓ}I#?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7628699@ @@4@^AvтA I I i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015130O >) ,()?AY~mBy~ )IbD VD y%%%P=ٔ)Q-->9)Y)=-RGy-#F1E5>9Q 5E4=#u?Q 9E4=,()="BYIyIQ IM?=CI=:i=:=T4yUöBɮUTAUЯEjhyFNOT Ignoring new targets: 377.01 m.RhB۸ZhB۸ ProNav: ac range: 377.008636 m, nav range: 366.502472 m, bearing: 76.635491 deg, approach rate: -0.846524 m/s, LOS rate: -0.005990 deg/s, cmd heading: 77.948639 deg, new cmd heading: 77.941822 deg. BhHeadingCmd: 1.360341 target range: 377.008636 and range: 378.80 m.h?h*h"h hgfffdddjdZd@ɢvͰ) i)-w<ii?|./;n$xI?IEM EMEM(EI"EM;*EMZ:VEMc44ZEIae@ae@ae@ae@9@ @@/@QEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266899q^AB!>BCB )IBoBBBBBs;B#/EIQIiOu>ԡ ,C?A2ܑ?24ȭ?2/=ٱ2" :AHRS rotation from veh to nav: [[0.211321,-0.966519,-0.145551],[0.976482,0.202255,0.074672],[-0.042734,-0.157907,0.986529]]2H ? f¿`W??y?@?@+᥿M6Ŀ?i2ܑ?I2a];2'CYBqByB )Ii Mb@Mb@Mb@     9 K?V-?~jth?Y ^Z?y < D; 6A  /#A) C'A Y %AbD%VD%Ny5<%5I=ٔ599Y9=ERGyE$FEZ<EE>IQ 5U4MTu?Q 9U4M7)MBYU~Z?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519191ԡQ Ex:y'?Q I?MCIM ,\?A6/?6`?6&=ٱ6iO! BAHRS rotation from veh to nav: [[0.208860,-0.967133,-0.145020],[0.977100,0.200208,0.072056],[-0.040654,-0.156749,0.986801]]6H`? @¿gD?i?Cr?ФZĿ?i6/?I6R];6#CYJeByJ(IbDRVDRyZq%ZS=ٔ^篻Q-^>9\Y`=bRGyb%Fb{;Eb>dQ 5j4f8u?Q 9j4f)fBYlynz?Q In?fCIf;if;f2Æ4ypɮrtAtjh FNOT Ignoring new targets: 377.01 m.RhZh% ProNav: ac range: 377.008636 m, nav range: 365.826874 m, bearing: 76.629615 deg, approach rate: -0.899143 m/s, LOS rate: -0.008018 deg/s, cmd heading: 77.933012 deg, new cmd heading: 77.924180 deg. Bh--HeadingCmd: 1.360034 target range: 377.008636 and range: 378.80 m.h-?h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdEO @iɢu4)q u0iq)uήochecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023007ԁԩDM AAzDM @AEU  EU EU )EQ "EU ;*EU ?:VEU FA4ZEQ ae @ae @ae @ae @ u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276840i,1w?A>?>x?>E=ٱ> JAHRS rotation from veh to nav: [[0.206114,-0.967710,-0.145104],[0.977775,0.197861,0.069337],[-0.038387,-0.156171,0.986984]]>Ha?z`ǒ¿@I?@S? ?zeÿ@_?i>?I><];>"CYn\Byn(IBYBYBYBYBYBYBYB]s;B]%/EiMb@Mb@Mb@ 9Zd;?{Gz?~jtYY?yף<D7A $A)(AYf&AbDVDβy#%4=ٔȣQ->9Y=RGy%&F%^;E%>)Q 554-@#u?Q 954- )-BY=Y?Q E=y:y=)?Q I=?-NCI-2;i-;-ˆ4yEBɮEAMǯEjhiuFNOT Ignoring new targets: 377.01 m.Rhu^Zhu^ ProNav: ac range: 377.008636 m, nav range: 365.441833 m, bearing: 76.626800 deg, approach rate: -0.848789 m/s, LOS rate: -0.006212 deg/s, cmd heading: 77.924180 deg, new cmd heading: 77.915726 deg. BhkԉHeadingCmd: 1.359886 target range: 377.008636 and range: 378.80 m.h?h*h"h hgfffdddjdZd@] @QɢU(ͻ)Q ]{iY)]Dj E=  E= E= &E9 "E= ;*E= B:VE= 4ZE9 BE= L9!Y!=%RGy-'F-;E->1Q 5E45 (u?Q 9E45)5BYAyE~?Q IM?5vCI52;i53;5ц4yQɮU=AQjhyFNOT Ignoring new targets: 377.01 m.RhZh ProNav: ac range: 377.008636 m, nav range: 365.126160 m, bearing: 76.624359 deg, approach rate: -0.846041 m/s, LOS rate: -0.006549 deg/s, cmd heading: 77.915724 deg, new cmd heading: 77.908394 deg. BhӏHeadingCmd: 1.359758 target range: 377.008636 and range: 378.80 m.h ?h*h"h hgfffdddjdZd@ɢ!L) ci)f<ii ?/;|;I ?II)dAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7800709@ @@3@@=@=^Aϩ;II On>I  DAT read: 15:04:48.5302 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.45,-0.613,-2.105,-0.248,-0.613, PHS= 0.101,-1.447, 0.321, RAW= 156.5, 12.2, CAL= 156.8, 13.7, ROT= 353.2, -13.7  Ygot valid direction response: 15:04:48.5302 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.45,-0.613,-2.105,-0.248,-0.613, PHS= 0.101,-1.447, 0.321, RAW= 156.5, 12.2, CAL= 156.8, 13.7, ROT= 353.2, -13.7  PDAT read: Bearing 230.1, -10.8 (Local)  ~Local bearing/azimuth received: Bearing 230.1, -10.8 (Local)  DAT read: Range 11 to 50 : 376.5 m (Round-trip 502.0 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.964715,-0.115035,0.236838] Fpublishing direction and range infoy  f?"Er4ӋHP?Y @C ) I =i L7 Z> .@ ^ Z> %/@ Gt>) C@I Gt ?VlE?}KTL)? T#?) ZI i Gt  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. - 'f>) G 09 Y As.*,>?A0F'7?F"?F$o =ٱF NAHRS rotation from veh to nav: [[0.201055,-0.968868,-0.144472],[0.978997,0.193650,0.063753],[-0.033791,-0.154255,0.987453]]y-h?-AFH@*? ~¿S?@?R? M`ÿ@7?iF'7?IFi^;F%CYE@ByM(IbDVDy%C=ٔQ->9Y=RGy(Fn;E>9Q 5E4=-u?Q 9M4=)=BYIyMԱ?Q IU?=CI=,7B"i;,U?*i5.BiCi?i5.iCiCiѪ?ԉ addTargetRange:: Added new target pos. range: 376.500000 m, deltaT: 4.283141 s, deltaX: -2.299988 m, approachRate: -0.536986 m/s, rangeRepo size: 4  Added new target pos. range: 374.718048 m, bearing: 73.862348 deg, lat: 36.779012 deg, lon: -121.859415 deg, deltaT: 4.283141 s, deltaX: -2.290588 m, approachRate: -0.534792 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 374.72 m.RhZh] ProNav: ac range: 374.718048 m, nav range: 361.247406 m, bearing: 76.462268 deg, approach rate: 0.000000 m/s, LOS rate: -0.006549 deg/s, cmd heading: 77.908396 deg, new cmd heading: 77.899302 deg. BhYHeadingCmd: 1.359599 target range: 374.718048 and range: 376.50 m.hZ?h*h"h hgff fdddjdw@Zd?*DAT read: user:903>  BDAT read: Tx time:15:04:49.8741  $Ping request sent. 2,sȄ?A2?2xz?2}=ٱ2 :AHRS rotation from veh to nav: [[0.198445,-0.969284,-0.145284],[0.979609,0.191406,0.061070],[-0.031386,-0.154441,0.987503]]2Hf?``૘¿X??`D?ÿ?i2?I2^;2#CYR*ByR(IiMb@Mb@Mb@ 9bX9?Mb?YEV?y<̼"5A )Y%AbDVD:y$%/=ٔNQ->9Y=RGy)F;E>Q 543u?Q 943)BY`V?Q E}:y?Q I?CIK ;i ;4yBɮصAB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 374.72 m.RhgԸZhgԸ% ProNav: ac range: 374.718048 m, nav range: 360.872406 m, bearing: 76.459814 deg, approach rate: -0.885673 m/s, LOS rate: -0.005803 deg/s, cmd heading: 77.899305 deg, new cmd heading: 77.891933 deg. Bh%~-HeadingCmd: 1.359471 target range: 374.718048 and range: 376.50 m.h5#?h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE@Y?qɢut)q uվiq)}):[5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502667iԑ |*8,!@?A2ۓ?2Pǯ?2<ٱ2W :AHRS rotation from veh to nav: [[0.196162,-0.969389,-0.147668],[0.980142,0.189381,0.058799],[-0.029034,-0.156270,0.987288]]2H?;@¿ R]?@=?? @Ŀܗ?i2ۓ?I2^;0YvByv(IbDVDN2yP%U=ٔ&ɻQ->9Y=RGy*F%c;E%>)Q 554-9u?Q 954-)-BY1y5c?Q I5?-CI-:i-u;-4yEuBɮE̵AEEjhimFNOT Ignoring new targets: 374.72 m.RhuԸZhuԸ ProNav: ac range: 374.718048 m, nav range: 360.552155 m, bearing: 76.457597 deg, approach rate: -0.836061 m/s, LOS rate: -0.005792 deg/s, cmd heading: 77.891935 deg, new cmd heading: 77.885279 deg. Bhg~HeadingCmd: 1.359355 target range: 374.718048 and range: 376.50 m.hU?h*h"h hgfffdddjdZd@C?ɢ~) i)U<iZiU?ހ3;hi>qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7551829@ @@/@@@dAE9 E=E=,E9"E9*E=ą:VE=g4ZE9aM@aM@aM@aM@^AII O> ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008932B ">B CB (IB 7BB B B B s;B M/E9 {T>,?A2#?2`?2<ٱ2Y :AHRS rotation from veh to nav: [[0.194016,-0.969868,-0.147358],[0.980625,0.187598,0.056406],[-0.027063,-0.155446,0.987474]]2H ?( ¿Ga? 7?L?S ÿ@b?i2#?I2Ҽ^;2"CY^By^w(IiEMb@Mb@Mb@AAAA A9Eoʡ?9Y=RGy+Fi;E>Q 54H?u?Q 9%4 )ӍBY%OM?Q E-:y-?Q I-?+CI;i߈;_4y9ɮ=AAjhyFNOT Ignoring new targets: 374.72 m.RhLZhL ProNav: ac range: 374.718048 m, nav range: 360.206451 m, bearing: 76.456371 deg, approach rate: -0.787267 m/s, LOS rate: -0.002795 deg/s, cmd heading: 77.885282 deg, new cmd heading: 77.881601 deg. BhHeadingCmd: 1.359290 target range: 374.718048 and range: 376.50 m.h:?h*h"h hgfff1dddjdZd`9-?AɢUᦼ)Q UIiQ)U LAm >I! I1 O= >!fb?>M?>37<ٱ>  JAHRS rotation from veh to nav: [[0.192156,-0.970203,-0.147585],[0.981048,0.186090,0.053999],[-0.024926,-0.155164,0.987574]]>H? ¿ d?@?å? 9gÿ@5?i>fb?I> ^;>#CYRByR`(IbDZVDZybsĽ%b]=ٔbQ-f>9dYd=fRGyf,Fj6;Ej>lQ 5r4nxDu?Q 9r4n)nȍBYpyr?Q Iv?nQCIn;in;n4yxɮz@Axchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510809jh!-FNOT Ignoring new targets: 374.72 m.Rh-TeZh5TeE ProNav: ac range: 374.718048 m, nav range: 359.914307 m, bearing: 76.455244 deg, approach rate: -0.811078 m/s, LOS rate: -0.003133 deg/s, cmd heading: 77.881601 deg, new cmd heading: 77.878216 deg. BhE MHeadingCmd: 1.359231 target range: 374.718048 and range: 376.50 m.hMJ?hI*hI"hI hIgIfQfQfQdQdYdYjdYZdek?颉ɢl) [ i)1G<顑i2qiJ? 7;)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762732 gK,,/?A:?:?:O<ٱ:+ BAHRS rotation from veh to nav: [[0.190662,-0.970492,-0.147628],[0.981385,0.184908,0.051894],[-0.023065,-0.154775,0.987681]]:Hg?`D`}¿ g??ۑ?`ÿ@?i:?I:t@_;8YJʈByJ?(I R49`Yd=fRGyf-Ffx;Ef>hQ 5n4j)Ju?Q 9r4j6)jBYpyr?Q Ir?jzCIj;ij&;j4ytɮvAxE EE)E"E%;*E:VEFA4ZEa @a @a @a @jh)5FNOT Ignoring new targets: 374.72 m.Rh5dpZh5dp ProNav: ac range: 374.718048 m, nav range: 359.591248 m, bearing: 76.453915 deg, approach rate: -0.797626 m/s, LOS rate: -0.003284 deg/s, cmd heading: 77.878213 deg, new cmd heading: 77.874223 deg. Bh<HeadingCmd: 1.359162 target range: 374.718048 and range: 376.50 m.h?h*h"h hgfffdddjdZd F@ɢ4) i)g|>< imFi?.v9;5B5CB5(IB5 BB5 =B1B1B5 t;B5Z/E9@ @@@^AE ZR,J?AhYBy%(IiMb@Mb@Mb@ 9Mb?y&1MbY@?y`弙6A$A ^"A)YbDVD0yb%5=ٔQ->9Y=RGy.FE>Q 54Pu?Q 94)BY @?Q E:y?Q I?CIX;i;4yRBɮuAE=B*** querying acoustic contact ***i9 i9jhAFNOT Ignoring new targets: 374.72 m.Rh Zh  ProNav: ac range: 374.718048 m, nav range: 359.252411 m, bearing: 76.453855 deg, approach rate: -0.748032 m/s, LOS rate: -0.000132 deg/s, cmd heading: 77.874224 deg, new cmd heading: 77.874046 deg. BhڸHeadingCmd: 1.359159 target range: 374.718048 and range: 376.50 m.h ?h *h "h  h g f ffdddjdZd@<@颉ɢ.)M %i)p5<顑i~i?;;<X,ʤd?A2"?2?2wB<ٱ2! :AHRS rotation from veh to nav: [[0.189789,-0.970575,-0.148202],[0.981620,0.184493,0.048829],[-0.020050,-0.154746,0.987751]]2HK?`@L¿`ni?x??􇔿`ÿ?i2"?I2 `;0YBByB(IbDJVDJyR:%R\=ٔVQ-V>9TYT=ZRGyZ/F^;E^>`Q 5b4bIVu?Q 9f4bd)bBYdyf?Q If?bCIbp:ib;b/ 4ylɮnAlxjh FNOT Ignoring new targets: 374.72 m.Rh `Zh` ProNav: ac range: 374.718048 m, nav range: 358.972839 m, bearing: 76.453765 deg, approach rate: -0.761535 m/s, LOS rate: -0.000245 deg/s, cmd heading: 77.874047 deg, new cmd heading: 77.873777 deg. Bh% ,%HeadingCmd: 1.359154 target range: 374.718048 and range: 376.50 m.h%?h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd= @iɢm$.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770822)  3i )  -< i {i?$=;DB CB I(IB ҈BB =B B DB "t;B g/EO >}^,v~?AQYBy'II)%=iUMb@Mb@Mb@QQQQ Q9UV-?&1Zd;OYU-?yUPUjQQ U$A)U$AQYQim@AbDmVDmky}U%}%=ٔQ->9Y=RGy1FE>Q 54]u?Q 94ط)BY(.?Q E:yr?Q I?CI ;i ;4yɮAjhFNOT Ignoring new targets: 374.72 m.Rh8Zh8 ProNav: ac range: 374.718048 m, nav range: 358.635742 m, bearing: 76.455600 deg, approach rate: -0.680065 m/s, LOS rate: 0.003704 deg/s, cmd heading: 77.873780 deg, new cmd heading: 77.879289 deg. Bh"9HeadingCmd: 1.359250 target range: 374.718048 and range: 376.50 m.h?h*h"h hgfffd d d jd Zd`M @ԁɢL)BDAT read: Rx Time:15:04:52.7745  TRx dataTimestamp_ set to:1761577494.140315 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275959 _:i)t <i(*xi?\J@; e,B?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527252YrBy'IbD1VD1yE9%Ex=ٔAQ-E?9IYI=MRGyIIEU?QQ 5]4Ubu?Q 9e4U*)UBYayaQ Ie?UCIU;iU;U4yiɮuAqԹjhFNOT Ignoring new targets: 374.72 m.RhY8ZhY8] ProNav: ac range: 374.718048 m, nav range: 358.411896 m, bearing: 76.456820 deg, approach rate: -0.667989 m/s, LOS rate: 0.003643 deg/s, cmd heading: 77.879285 deg, new cmd heading: 77.882948 deg. Bh] 9eHeadingCmd: 1.359314 target range: 374.718048 and range: 376.50 m.he?ha*ha"ha hagafififididIdQjdQZdU@ɢRC) Fi)<iti?EB;+`m,?AmDAT read: 15:04:52.7745 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 390, 0.05,-1.107,-2.405,-0.876,-1.320, PHS= 0.315,-1.040, 0.399, RAW= 153.0, 4.7, CAL= 152.1, 4.6, ROT= 357.9, -4.6 AqAuAAB}%>ByB} (IB}BB} =B}@DByB}Lt;B}~/EYgot valid direction response: 15:04:52.7745 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 390, 0.05,-1.107,-2.405,-0.876,-1.320, PHS= 0.315,-1.040, 0.399, RAW= 153.0, 4.7, CAL= 152.1, 4.6, ROT= 357.9, -4.6 PDAT read: Bearing 222.6, -4.1 (Local) ~Local bearing/azimuth received: Bearing 222.6, -4.1 (Local) DAT read: Range 11 to 50 : 372.1 m (Round-trip 496.2 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.996109,-0.036526,0.080199]Fpublishing direction and range infoyPR10 ?Bï=~zꇴ?YR CPPPP P)RBIRG>iRRI>R*@R=R)@ Rl=)R@IRlPC??ڋ<ٱ^& AHRS rotation from veh to nav: [[0.195006,-0.968368,-0.155678],[0.980653,0.189742,0.048132],[-0.017071,-0.162052,0.986635]]H`?>ÿ`a?@wI?ɤ?{Ŀ?iC?I_;"CPR>]Ϋ?uvT\?:%r? R'\?)R\IRQ iRlPP5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.Y%cBԩyE'IiEMb@Mb@Mb@AAAA A9Ey&1?v/~jtYE`%?yExiEDE5AESA E/#A)AAYE$A ]p<]4<bD]VD]y:%<ٔ[Q->9Y=RGy3FE>Q 54lu?Q 94)BY &?Q E:yo?Q I?GCI:i:$4y5Bɮ5A5EiPiRi?AJiR+CRiR+CjiR?bRVSjw@? +)u=@RR10 ?Bï=~zꇴ?ZiRQ biRljR^_qT@-v@29@ZRgm? ;)?w(k?2iRPC:iRӠB"iR^0及?*iRbABiRɺBiRK?iPiPiRCiRު? addTargetRange:: Added new target pos. range: 372.100006 m, deltaT: 4.285696 s, deltaX: -4.399994 m, approachRate: -1.026670 m/s, rangeRepo size: 4  Added new target pos. range: 370.341797 m, bearing: 77.429734 deg, lat: 36.779010 deg, lon: -121.859415 deg, deltaT: 4.285696 s, deltaX: -4.376251 m, approachRate: -1.021130 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 370.34 m.RhZhm ProNav: ac range: 370.341797 m, nav range: 357.952972 m, bearing: 76.485699 deg, approach rate: 0.000000 m/s, LOS rate: 0.003643 deg/s, cmd heading: 77.882946 deg, new cmd heading: 77.890159 deg. BhiuHeadingCmd: 1.359440 target range: 370.341797 and range: 372.10 m.hu?hq*hq"hy hygyfyfyfdddjdAw@Zdx?ɢ:) GNi)ޱ<ispi%?%D;-ko ]BDAT read: Tx time:15:04:54.2241 ]$Ping request sent.e9yYy=RGy4FE>Q 54su?Q 94D)BY y Q I?lCI+vBABE'IBE{BBE =BEADBEDBEpt;BE/EAIIO >~,>?ABmCBmCBiBiBiCmsG5YLBy'IiiMb@Mb@Mb@ 9Q?Dl{Gzt?Y(?yOף; $A)Y$AbD-VD-yU4\%]=ٔaQ-e>9iYi=mRGym5FiEu>qQ 5}4u{u?Q 9}4u?)uBY)?Q E:y?Q I?uCIu;iu;u54yɮfAjh1=FNOT Ignoring new targets: 370.34 m.Rh=8Zhu8 ProNav: ac range: 370.341797 m, nav range: 357.346100 m, bearing: 76.491624 deg, approach rate: -0.609137 m/s, LOS rate: 0.006885 deg/s, cmd heading: 77.897133 deg, new cmd heading: 77.907946 deg. Bh39HeadingCmd: 1.359750 target range: 370.341797 and range: 372.10 m.hK ?h*h"h hgfffdddjdZd?ɢ֛8) Yi)q;ihiK ?lH;1sAz,{?AY=JBy='IIE%=)E>bDUVDU:ye|%e\=ٔaQ-e>9iYi=mRGym6FqEu>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257441Q 54u?Q 94)BYyQ I?CI:it:I<4yɮlAjh%FNOT Ignoring new targets: 370.34 m.Rh%9Zh%9] ProNav: ac range: 370.341797 m, nav range: 357.119843 m, bearing: 76.494183 deg, approach rate: -0.618091 m/s, LOS rate: 0.006995 deg/s, cmd heading: 77.907945 deg, new cmd heading: 77.915626 deg. Bh]9eHeadingCmd: 1.359884 target range: 370.341797 and range: 372.10 m.he?ha*ha"ha hagifififidqdqdqjdyZd} b?颡ɢ Sh) Zi)+;顩iei?+I;qY Ҥ,w0?A: ?:?:-B<ٱ:w' FAHRS rotation from veh to nav: [[0.204744,-0.966148,-0.156965],[0.978743,0.200133,0.044813],[-0.011882,-0.162804,0.986587]]:H5?qĿQ??? `U`Ŀ?i: ?I:-`;:$CYNQByN'IbDV VDV:2y^=%^U=ٔb]Q-b>9`Y`=fRGyf7Ff9ԼEf>hQ 5n4jՇu?Q 9n4j)jBYpyr?Q Ir?jCIj;ij7;jB4yvBɮvAvEjhFNOT Ignoring new targets: 370.34 m.Rh9Zh9- ProNav: ac range: 370.341797 m, nav range: 356.885437 m, bearing: 76.497213 deg, approach rate: -0.633039 m/s, LOS rate: 0.008188 deg/s, cmd heading: 77.915629 deg, new cmd heading: 77.924724 deg. Bh-г95HeadingCmd: 1.360043 target range: 370.341797 and range: 372.10 m.h5?h1*h9"hA hIgIfQfafadqE EEE"ET;*E:VEZEa@a@a@a@dqdjdZd?颹ɢZFc) uWi)Wo;iai?4CJ;;I?I99@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764837B5<A1aBM$>BIBM'IBMgBBIBM@DBIBMct;BM/E^Avт<ԑA I I! O- >Թ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013305,J?A2Z?2hF?2<ٱ2,A' >AHRS rotation from veh to nav: [[0.207739,-0.965490,-0.157077],[0.978136,0.203444,0.043124],[-0.009680,-0.162602,0.986644]]2H@/?K`ĿL?r ?@`?@҃!Ŀ?i2Z?I2 *a;2"CYB[ByF'IieMb@Mb@Mb@aaaa a9eS?)\(:v?Ye/?yeGaeT=ٔQ->9Y=RGy8FE>Q 54Pu?Q 94)BY?Q E:yn?Q I?CI:is:J4yɮxAjhFNOT Ignoring new targets: 370.34 m.Rh8Zh8% ProNav: ac range: 370.341797 m, nav range: 356.620544 m, bearing: 76.499699 deg, approach rate: -0.615255 m/s, LOS rate: 0.005779 deg/s, cmd heading: 77.924727 deg, new cmd heading: 77.932192 deg. Bh%}9-HeadingCmd: 1.360173 target range: 370.341797 and range: 372.10 m.h-)?h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE @ԑɢiL)  Ri)^;iA^i)?%kJ;%x;I%)?I!E EE%E"E;*EM:VE 4ZEBEA ,1d?A27?2߭?2;ٱ2w8* >AHRS rotation from veh to nav: [[0.210808,-0.964306,-0.160232],[0.977500,0.206729,0.041909],[-0.007289,-0.165462,0.986189]]2H?ĿG? v?u?}-ſ܎?i27?I2a;0YB_ByF'IbDNVDN:yV<%VY=ٔVRлQ-V>9XYX=ZRGyZ9F^E^>`Q 5f4bu?Q 9f4b+)bBYdyf ?Q Ij?bCIb:ib:bQ4ynBɮnAnE~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 370.34 m.Rh 8Zh 8% ProNav: ac range: 370.341797 m, nav range: 356.389160 m, bearing: 76.501988 deg, approach rate: -0.614553 m/s, LOS rate: 0.006082 deg/s, cmd heading: 77.932192 deg, new cmd heading: 77.939062 deg. Bh%9%HeadingCmd: 1.360293 target range: 370.341797 and range: 372.10 m.h-?h)*h)"h) h)g)f)f1f1d9d9d9jd9Zd=`@iɢm\f)i mEPii)u;qqiuJ[i}?}>J;}:I}?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517778-9@) @)@)@1^AUϩ;E EE(E"E ;*E:VEc44ZEa@a@a@a@A Ae .AIi Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771219B= %>B9 B= 'IB= lBB9 B9 B= DB= 't;B= k/E垡,|~?AN?N?N>K;ٱN}#. ^AHRS rotation from veh to nav: [[0.213308,-0.963058,-0.164373],[0.976974,0.209470,0.040546],[-0.004617,-0.169237,0.985565]]NH M?_, ſ _C??v¤?`crſ?iN?IN`;N#CYjrByj'IiMb@Mb@Mb@ 9jt?Q:v?Y ?y< $A)Y$AbDVDkyb=%5=ٔ%Q-%>9% ?Y- ?=-RGy-;F-)E5>1Q 5=45u?Q 9E45x)5BYE!?Q EE:yEk?Q IE?54CI5v:i5:5X4yQɮU@AQjhy}FNOT Ignoring new targets: 370.34 m.RhN8ZhN8 ProNav: ac range: 370.341797 m, nav range: 356.105011 m, bearing: 76.502878 deg, approach rate: -0.628971 m/s, LOS rate: 0.001971 deg/s, cmd heading: 77.939063 deg, new cmd heading: 77.941735 deg. Bh*8HeadingCmd: 1.360340 target range: 370.341797 and range: 372.10 m.h?h*h"h hgfffdddjdZd@U @ɢɷC) Fi)a];aaiml0Xim?u:I;uyUIu?Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021202ԑ9@ @@@Թ E  E E %E "E :*E ҆:VE 4ZE BE >T,"Q?AR)?R?Rt+ٱRt1 ZAHRS rotation from veh to nav: [[0.217284,-0.961422,-0.168686],[0.976108,0.214104,0.037041],[0.000504,-0.172704,0.984974]]RH`?~ſ`G=ٔ $CQ- >9 "?Y "?= RGy <F*E>Q 5%4u?Q 9%4r)BY!y-?Q I-?VCI;i<;{`4y1ɮ5,A1jhY]FNOT Ignoring new targets: 370.34 m.Rhek-8Zhek-8 ProNav: ac range: 370.341797 m, nav range: 355.835052 m, bearing: 76.503894 deg, approach rate: -0.628527 m/s, LOS rate: 0.002369 deg/s, cmd heading: 77.941734 deg, new cmd heading: 77.944786 deg. Bh8HeadingCmd: 1.360393 target range: 370.341797 and range: 372.10 m.h]!?h*h"h hgfffddYdajdaZdm` @颱ɢA) SDi) /;i#\Ui]!?DH;I]!?I9@ @@/@ %BDAT read: Rx Time:15:04:57.1227 -TRx dataTimestamp_ set to:1761577498.676167-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5263839^AuqIq I O >a D =D %=E  E E (E "E l;*E :VE c44ZE a @a @a @a @Nݬ,?A:?:'?:Pٱ:. FAHRS rotation from veh to nav: [[0.218131,-0.961623,-0.166435],[0.975914,0.215491,0.033987],[0.003183,-0.169840,0.985467]]:H?@Mſ`:?5? f?j?@Oſ ?i:?I:L`;:!CYJByJ'IbDVVDVβy^=%^Q=ٔ^NQ-b>9`Y`=bRGyb=FfEf>hQ 5n4j9u?Q 9n4jk)jBYlyrʧ?Q Ir?jvCIj;ijv;jRg4yvֵBɮv"AvEjhFNOT Ignoring new targets: 370.34 m.Rh58Zh58- ProNav: ac range: 370.341797 m, nav range: 355.589203 m, bearing: 76.504862 deg, approach rate: -0.628118 m/s, LOS rate: 0.002474 deg/s, cmd heading: 77.944787 deg, new cmd heading: 77.947692 deg. Bh-L85HeadingCmd: 1.360444 target range: 370.341797 and range: 372.10 m.h5#?h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdM@ɢM)  9i)l ;i Si#?CG;II #?I Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780151B%'>B!B%'IB%BB!B!B!B%(t;B%m/E9@ @@o0@ԉ^A3ԩI I O >u DAT read: 15:04:57.1227 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 420, 0.06, 0.299,-1.123, 0.485,-0.151, PHS= 0.552,-0.927, 0.592, RAW= 151.3, -2.9, CAL= 150.7, -3.9, ROT= 359.3, 3.9 } Ygot valid direction response: 15:04:57.1227 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 420, 0.06, 0.299,-1.123, 0.485,-0.151, PHS= 0.552,-0.927, 0.592, RAW= 151.3, -2.9, CAL= 150.7, -3.9, ROT= 359.3, 3.9  PDAT read: Bearing 215.0, 0.2 (Local)  ~Local bearing/azimuth received: Bearing 215.0, 0.2 (Local)  DAT read: Range 11 to 50 : 370.8 m (Round-trip 494.5 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.997610,-0.012189,-0.068015] Fpublishing direction and range infoyA E hAMnk?݌j,::siYE fCA A A A A )E AIE O ?iE OmE P?E )@E 4QOE aU(@ E 'g)E ū@IE 'g=A A E K L?./??-ٱ) E ?)E fQ=IE D+HiE 'g=A A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. ų,φ?A2?2<٬?2.ٱ2)- >AHRS rotation from veh to nav: [[0.218633,-0.961599,-0.165914],[0.975790,0.216469,0.031239],[0.005876,-0.168727,0.985645]]2H'?k@<ſ9?`B?1?x?٘ſh?i2?I2ْ`;2#CYBy (IiMb@Mb@Mb@ 9K7A`?MbpQ?Y+?y\=SA %A)!AE EE'E"E*E:VE'4ZEBE[F9Y=RGy>FE>Q 554u?Q 954c)BY5>+?Q E5:y59?Q I=?CI;i;o4yAɮE޴AAiqiupzˆ?AJiuCRiuCjiu֩?buOΫw@[iz4|9RuhAMnk?݌j,::siZiuD+Hbiu'g=juGe>V@/Wv@G2ⴈ5ZuuH?Ս?S|E2iuC:iuB"iu˃t?*iuwBiu9Biu˃t?iuBOiuWCiu"Ciu#? addTargetRange:: Added new target pos. range: 370.799988 m, deltaT: 4.282310 s, deltaX: -1.300018 m, approachRate: -0.303579 m/s, rangeRepo size: 4  Added new target pos. range: 369.049042 m, bearing: 76.022672 deg, lat: 36.779065 deg, lon: -121.859374 deg, deltaT: 4.282310 s, deltaX: -1.292755 m, approachRate: -0.301883 m/s, posRepo size: 4 jh%FNOT Ignoring new targets: 369.05 m.Rh-Zh)= ProNav: ac range: 369.049042 m, nav range: 360.269318 m, bearing: 75.699277 deg, approach rate: 0.000000 m/s, LOS rate: 0.002474 deg/s, cmd heading: 77.947690 deg, new cmd heading: 77.951347 deg. Bh9EHeadingCmd: 1.360508 target range: 369.049042 and range: 370.80 m.hE%?hA*hi"hi higififqfqdqdqdyjd},w@Zd}q?ɢƖ+) 0i)l:iPi%?jF;yGI%?I*DAT read: user:905> BDAT read: Tx time:15:04:58.4741 $Ping request sent.1 m﹡,?A2+?2լ?2Ý ٱ2G, :AHRS rotation from veh to nav: [[0.218735,-0.961691,-0.165245],[0.975746,0.217057,0.028372],[0.008582,-0.167443,0.985844]]2H@?+&ſP9? ? ?@?nſ ?i2+?I2`;2"CYBByB(I HJ4<bDJVDJN2yR̙=%Vu=ٔVQ-V?9XYX=ZRGyZ?FZEZ?`Q 5b4bu?Q 9f4b^)bƍBYdyf3?Q If?bCIb:ib:bfu4yhɮnAlchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249535B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 369.05 m.RhXrZhXr ProNav: ac range: 369.049042 m, nav range: 360.049469 m, bearing: 75.698161 deg, approach rate: -0.651537 m/s, LOS rate: -0.003311 deg/s, cmd heading: 77.951344 deg, new cmd heading: 77.947993 deg. BhhHeadingCmd: 1.360449 target range: 369.049042 and range: 370.80 m.h2#?h*h"h hg f ffdQdYdYjdYZde ?ɢK) 9*i)V2:iNi2#?{E;I2#?I9@ @@4@D@AzDE EE$E"E ;*E:VE4ZEa@a@a@a@9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501918^A B= &>B9 B= (IB= BB9 B= ADB9 B= t;B= ^/Eԑ IA I O >%,b?A 2 ?2?2R9ٱ2K * >AHRS rotation from veh to nav: [[0.217778,-0.962163,-0.163755],[0.975933,0.216621,0.025112],[0.011311,-0.165282,0.986181]]2H@&? Ŀ:?;?@継?<*?'ſ̎?i2 ?I2g`;2!CYFByF4(Ii Mb@Mb@Mb@     9 rh|?/$?Q?Y ;?y <  f8A  (A) ^"A Y &AbD%VD%0y5i=%5B=ٔ=ӻQ-=>9AYA=ERGyE@FE@;EM>IQ 5U4MƳu?Q 9U4MU)M΍BY1 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006142aǡ,a?AF!?FF ?FcٱF'P RAHRS rotation from veh to nav: [[0.217065,-0.962699,-0.161536],[0.976058,0.216408,0.021871],[0.013902,-0.162416,0.986624]]FH@? m@:Ŀ ;?@?he?`x? Ŀ`m?iF!?IF`;F CYZЈByZG(IbDfVDf:2yv=%zO=ٔ~ֻQ-~>9Y = RGy AFk:E>Q 5-4?u?Q 9-4nN)׍BY)y5?Q I5?CII;i'r;4yMBɮMAMEjhFNOT Ignoring new targets: 369.05 m.RhZh ProNav: ac range: 369.049042 m, nav range: 359.448761 m, bearing: 75.691792 deg, approach rate: -0.758261 m/s, LOS rate: -0.008091 deg/s, cmd heading: 77.938196 deg, new cmd heading: 77.928867 deg. BhHeadingCmd: 1.360115 target range: 369.049042 and range: 370.80 m.hB?h*h"h hgfffdddjdZdv?ɢ2) i)@6iKiB?ڬC;%`I%B?I!E9@A @A@E/@I }f>}CGeAE9EeAYE:AiI%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257909^A ! A E  E E )E "E ;*E h:VE FA4ZE a @a @a @a @I I O >N+͡,G<7?A2\?2LH?2=!ٱ2}4& :AHRS rotation from veh to nav: [[0.215299,-0.963133,-0.161312],[0.976409,0.215101,0.018901],[0.016495,-0.161576,0.986722]]2H? `Ŀ >? k?Z?`?Ŀ;?i2\?I2`;2"CYB݈ByBW(IbDJVDJk2yR}=%RO=ٔV׻Q-V>9TYT=ZRGyZBFZ;EZ>\Q 5b4^u?Q 9b4^G)^ߍBYdyf?Q If?^-CI^9:i^:^4yhɮjSAhjhFNOT Ignoring new targets: 369.05 m.Rh Zh  ProNav: ac range: 369.049042 m, nav range: 359.162323 m, bearing: 75.688652 deg, approach rate: -0.702741 m/s, LOS rate: -0.007710 deg/s, cmd heading: 77.928866 deg, new cmd heading: 77.919438 deg. BhSHeadingCmd: 1.359951 target range: 369.049042 and range: 370.80 m.h?h*h"h hgfffdddjdZd?1ɢ5Ǘ')9 =i9)=99i=JiE?EC;EIM?IIBA<B'>BBU(IB܈BBB@DBBs;B3/EBBBB =B =Cµ4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5121409@ @Q@/@aq^Ayb]5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762406ԡ A I I O >Iԡ,Q?A2?2?2oÛٱ2M:' :AHRS rotation from veh to nav: [[0.213417,-0.963295,-0.162841],[0.976776,0.213635,0.016377],[0.019013,-0.162554,0.986516]]2Hy9Y=RGyCFW;E>Q 54,u?Q 94=)BYK?Q E:y?Q I?YCI* ;i ;:4yɮAjh  FNOT Ignoring new targets: 369.05 m.Rh#eZh#e% ProNav: ac range: 369.049042 m, nav range: 358.815521 m, bearing: 75.683455 deg, approach rate: -0.834838 m/s, LOS rate: -0.012521 deg/s, cmd heading: 77.919440 deg, new cmd heading: 77.903837 deg. Bh%{ -HeadingCmd: 1.359678 target range: 369.049042 and range: 370.80 m.h- ?h)*h)"h) h)g1f1f1f9d9d9d9jdAZdEI@iɢmtbEc44jE^+4rE0E EEE"E;*E?:VEZEBE`A>A  I I! O- >t=ڡ,,j?A>?>~ӭ?>`ٱ>b( FAHRS rotation from veh to nav: [[0.211128,-0.963513,-0.164525],[0.977218,0.211799,0.013658],[0.021686,-0.163660,0.986278]]>H=?`$ſ@^E?9??4?Ŀ?i>?I>q`;9dYd=fRGyfDFf;Ef>hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265680Q 5v4ju?Q 9v4j?6)jBYtyz_?Q Iz?jCIjj;ijk;j4y|ɮ~A|B*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 369.05 m.Rh-]Zh5]E ProNav: ac range: 369.049042 m, nav range: 358.520447 m, bearing: 75.678914 deg, approach rate: -0.786479 m/s, LOS rate: -0.012116 deg/s, cmd heading: 77.903833 deg, new cmd heading: 77.890196 deg. BhE MHeadingCmd: 1.359440 target range: 369.049042 and range: 370.80 m.hM$?hI*hI"hI hIgQfQfQfQdYdYdYjdaZde`J@颙ɢ") }i)顩iNHi$?}B;nj;I$?I-9@) @)@-o0@1ADzDAAE EE(E"E;*E:VEc44ZEa@a@a@a@^Am9qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518999B&>BB(IB BBBADBBs;B(/EI I O >ԙ M%,1΄?A6(?6?6kļٱ6' BAHRS rotation from veh to nav: [[0.209191,-0.963951,-0.164433],[0.977581,0.210273,0.010997],[0.023975,-0.163047,0.986327]]6H ? ! ſWH?;?ȅ?ߌ?@Ŀ?i6(?I6`;6 CYJByJx(IiMb@Mb@Mb@ 9 +?~jt?:v?YV?yD=<SA (A)Y%AbD-VD-N2y=4=%EB=ٔEkQ-E>9IYI=MRGyMEFM;EM>QQ 5]4Umu?Q 9e4U-)UBYe checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021575 JO,?Abn?bZ?b;ټٱb%' vAHRS rotation from veh to nav: [[0.207088,-0.964410,-0.164401],[0.977963,0.208623,0.008071],[0.026515,-0.162450,0.986360]]bHށ?@r@ ſxK?&?I?&?'ĿC?ibn?Ibqa;b!CY~By(IbDVD0y-,=%-L=ٔ-pϻQ-5>91Y1=5RGy5FF=;E=>AQ 5M4Eu?Q 9M4EJ$)EBYIyM8?Q IU?ECIE:iE:E4yYɮ]AYjhFNOT Ignoring new targets: 369.05 m.Rh sZh s ProNav: ac range: 369.049042 m, nav range: 357.833679 m, bearing: 75.667701 deg, approach rate: -0.803356 m/s, LOS rate: -0.013283 deg/s, cmd heading: 77.873166 deg, new cmd heading: 77.856525 deg. Bh%HeadingCmd: 1.358853 target range: 369.049042 and range: 370.80 m.h%?h!*h!"h! h!g)f)f)f)d1d1d1jd9Zd=`M @aɢe\V)i mii)m iiim^[Giu?uB;}&;I}?Iyx>i>-9@1 @1@53@1BDAT read: Rx Time:15:05:01.3675 TRx dataTimestamp_ set to:1761577502.708110checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274568^AUr;IIO>) E  E E 'E "E ;*E Z:VE '4ZE a @a @a @a @ y,M?AJ?JY?JٱJa% VAHRS rotation from veh to nav: [[0.204615,-0.965021,-0.163910],[0.978398,0.206678,0.004556],[0.029480,-0.161301,0.986465]]JH0?@tĿ O?lt?r?0?Ŀ?iJ?IJ!b;HYZByZ(IbDfVDf:yn X%nP=ٔnQ-r>9pYp=rRGyrGFv;Ev>xQ 5~4zu?Q 9~4z)z BY|y?Q I?zCIz3;izr;z4y Bɮ 8A Ejh15FNOT Ignoring new targets: 369.05 m.Rh=*Zh=*M ProNav: ac range: 369.049042 m, nav range: 357.505127 m, bearing: 75.662131 deg, approach rate: -0.870498 m/s, LOS rate: -0.014771 deg/s, cmd heading: 77.856527 deg, new cmd heading: 77.839802 deg. BhM3"UHeadingCmd: 1.358561 target range: 369.049042 and range: 370.80 m.hUR?hQ*hQ"hQ hYgYfYfafadadadajdiZdm @频ɢj) i)#顙iFiR?C;YBIBM(IBM(BBM =checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530436BIBIBMs;BML/EYm9@q @q@}/@yy^A*;I9IIOU>ԩ - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781494a,5a҇?A6?62?6qٱ6c%@ BAHRS rotation from veh to nav: [[0.202213,-0.965521,-0.163951],[0.978806,0.204784,0.001241],[0.032377,-0.160727,0.986468]]6H? XĿaR?_6?lST?@?Ŀ$?i6?I6^c;4Y^By^(IiEMb@Mb@Mb@AAAA A9EGz?A`"?{Gz?YEp]?yEY=E#9qYq=}RGy}HF};E}>Q 54u?Q 94%)BY]?Q Eu:y?Q I?1CIH:i] ;`4yɮ=AjhFNOT Ignoring new targets: 369.05 m.Rh%Zh% ProNav: ac range: 369.049042 m, nav range: 357.140778 m, bearing: 75.655748 deg, approach rate: -0.860876 m/s, LOS rate: -0.015097 deg/s, cmd heading: 77.839800 deg, new cmd heading: 77.820632 deg. Bh%HeadingCmd: 1.358226 target range: 369.049042 and range: 370.80 m.h\ڭ?h*h"h hgfE] E]E]*EY"E]L;*E]$:VE](N4ZEYBE]I>iFˡ?x 0@B=%/@ +=)C@I+Ƚ5q9z 9?2i?_˿@? '?)eҽIi+Ƚ}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.9@ @@n4@ ^A <= *DAT read: user:906> E BDAT read: Tx time:15:05:02.8240 E $Ping request sent.M /,>?A=+_?=J?=ٱ=$ mAHRS rotation from veh to nav: [[0.199848,-0.966027,-0.163865],[0.979187,0.202947,-0.002221],[0.035401,-0.160011,0.986480]]=H?@Ŀ@U?-?0b  ?<{Ŀ ??i=+_?I=c;= CY}By}t(IAbDVD0yY2%3=ٔ<ٻQ->9Y=RGyIF\;E>Q 54u?Q 94)BYy%C?Q I%?dCI;i`;l4y5bBɮ5A5~EiiimB݇?AJimCRimCjim|;?bmEv@oE! 1A@Rmu/?2B*A_1?Zimbim+Ƚjm$(NZZ@&ˆu@hK@Zmہ,# ?AYByg(IiMb@Mb@Mb@ 9^I +?I +?y&1|YXY?y94=`5A )AY$AbDVD:yD%==ٔQ->9 ?Y ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502071=RGyJFE>iQ 54Bu?Q 94H)BYY?Q Ey:y?Q I?CIN9YYY=]RGy]LFe<Ee>qQ 5}4ulu?Q 94uc)u!BYyA?Q I?uCIu/;iu#;u͇4yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006859jhFNOT Ignoring new targets: 365.17 m.Rh꨹Zh꨹ ProNav: ac range: 365.169617 m, nav range: 358.672760 m, bearing: 74.033946 deg, approach rate: -0.872336 m/s, LOS rate: -0.018460 deg/s, cmd heading: 77.776949 deg, new cmd heading: 77.750597 deg. BhJ%HeadingCmd: 1.357004 target range: 365.169617 and range: 366.90 m.h%N?h!*h!"h! h!g)f)f1f1d9d9d9jdAZdEr? ɢ]#$) i)5בi/mFiN?%TI;%љ%,D?AY]ӈBy]J(IiMb@Mb@Mb@ 9ʡE?l?~jtY-R?y=A *A)IAY$AbD-VD-fy=C%E<=ٔEQ-E>9IYI=MRGyMMFMEM>QQ 5]4Uu?Q 9e4U$)U#BYerR?Q Ee:ye?Q Ie?UCIU:iU:UՇ4ym5BɮuAuuEjhFNOT Ignoring new targets: 365.17 m.RhZh ProNav: ac range: 365.169617 m, nav range: 358.319550 m, bearing: 74.026987 deg, approach rate: -0.829456 m/s, LOS rate: -0.016358 deg/s, cmd heading: 77.750598 deg, new cmd heading: 77.729700 deg. Bh3HeadingCmd: 1.356639 target range: 365.169617 and range: 366.90 m.hZ?h*h"h hgfffdddjdZdu1?ɢ,;) li)qibQ,^?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762906@b(?b?bаFٱb% rAHRS rotation from veh to nav: [[0.190412,-0.967298,-0.167563],[0.980506,0.195819,-0.016207],[0.048489,-0.161210,0.985728]]bH`i_? rſ@N`??ఘӨ? Ŀ?ib(?Ibxd;b CYzByz4(IbD  VD :2yu7%uX=ٔu}Q-}>9yYy=}RGy}NFR<E>Q 54u?Q 94)&BYy?Q I?CI;i;ۇ4yɮϱAjhFNOT Ignoring new targets: 365.17 m.Rh`Zh` ProNav: ac range: 365.169617 m, nav range: 358.011230 m, bearing: 74.020655 deg, approach rate: -0.815394 m/s, LOS rate: -0.016761 deg/s, cmd heading: 77.729697 deg, new cmd heading: 77.710684 deg. Bh 8HeadingCmd: 1.356307 target range: 365.169617 and range: 366.90 m.hz?h*h"h hgfffdddjdZd@)ɢ-M)1 5Fi1)5۰11i=&Fi=z?=M;E 2y,x?AE EE'E"E;*E҆:VE'4ZEa@a@a"@a"@Bܔ?B,Ȱ?BSQٱB& NAHRS rotation from veh to nav: [[0.188305,-0.967504,-0.168754],[0.980776,0.194208,-0.019033],[0.051187,-0.161926,0.985474]]BH`?`ſb??`G};5?Ŀ?iBܔ?IBEUc;@YRByR'(IIVN>)V>XZA\^@AbDbVDb0yfb%jV=ٔjQ-j>9hYl=nRGylpr;Er>tQ 5z4vu?Q 9z4v)v)BY|y~?Q I~?vFCIv;iv;vd4y=BɮA vEjh)5FNOT Ignoring new targets: 365.17 m.Rh5Zh5E ProNav: ac range: 365.169617 m, nav range: 357.699036 m, bearing: 74.014125 deg, approach rate: -0.814881 m/s, LOS rate: -0.017060 deg/s, cmd heading: 77.710682 deg, new cmd heading: 77.691075 deg. BhMS;MHeadingCmd: 1.355965 target range: 365.169617 and range: 366.90 m.hMC?hQ*hQ"hQ hQgQfQfYfYdYdadajdaZde`̯@颉ɢgT) $i)顙iFiC?*P;2p9a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518001b$,b?A2?2?2l-[ٱ2*) :AHRS rotation from veh to nav: [[0.186791,-0.967339,-0.171364],[0.980943,0.193151,-0.021074],[0.053485,-0.164162,0.984982]]2H?o`>ſc?)?dTb?>ſ?i2?I2(gb;0Y^By^(I9iMb@Mb@Mb@ 9"~j?Mb`~jtYSC?yļ (A)AY#AbDVDyi%==ٔQ->9Y=RGyPF g;E>Q 54]u?Q 94`)-BYlC?Q E:y?Q I?pCI :iv:4yɮOAB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 365.17 m.Rh 9Zh 9 ProNav: ac range: 365.169617 m, nav range: 357.370972 m, bearing: 74.009747 deg, approach rate: -0.759643 m/s, LOS rate: -0.010147 deg/s, cmd heading: 77.691073 deg, new cmd heading: 77.677926 deg. Bh޹%HeadingCmd: 1.355736 target range: 365.169617 and range: 366.90 m.h%?h!*h)"h) h)g)f)f1f1d1d9d9jd9Zd=@2$@aɢmR)i m*ii)mSӻiqi};Fi}?}V7S;Q *,AHRS rotation from veh to nav: [[0.186053,-0.966962,-0.174266],[0.980979,0.192805,-0.022501],[0.055357,-0.166765,0.984441]]2H?Z ZNƿ`.d?ԭ?@a `W?`Xſ`?i2&?I2YSb;2!CYBByF'IbDNVDNܲyVdֽ%V\=ٔVgQ-V>9XYX=ZRGyZQFZ_;E^>9Q 5E4=1u?Q 9M4=)=1BYIyM?Q IU?=CI=9;i=5;=4yeBɮeAelEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022739ԩjhFNOT Ignoring new targets: 365.17 m.Rh7Zh7 ProNav: ac range: 365.169617 m, nav range: 357.076752 m, bearing: 74.005783 deg, approach rate: -0.745468 m/s, LOS rate: -0.010052 deg/s, cmd heading: 77.677925 deg, new cmd heading: 77.666023 deg. BhܹHeadingCmd: 1.355528 target range: 365.169617 and range: 366.90 m.h?h*h"h hgfffdddjdZd Q @1ɢ5%h)9 =4i9)=R99i=~*FiE?E(V;E4! w1,'ƈ?A>?>k ?> iٱ>I. JAHRS rotation from veh to nav: [[0.186234,-0.966493,-0.176656],[0.980858,0.193299,-0.023509],[0.056868,-0.168897,0.983992]]>H?@ƿ0c??@?gſ`|?i>?I> c;> CYjByj'I lliMb@Mb@Mb@ 9ʡE?:v~jtY-2?yTQ4A?A (A) AY="A 4<bDVD:2y$%9=ٔaQ->9Y=RGyRFJE>Q 54qv?Q 94#)5BYP2?Q E:y?Q I?CI:i: 4yɮAjh!%FNOT Ignoring new targets: 365.17 m.Rh- Zh- = ProNav: ac range: 365.169617 m, nav range: 356.781219 m, bearing: 74.002587 deg, approach rate: -0.707358 m/s, LOS rate: -0.007656 deg/s, cmd heading: 77.666020 deg, new cmd heading: 77.656423 deg. Bh=%EHeadingCmd: 1.355360 target range: 365.169617 and range: 366.90 m.hEr|?hA*hA"hA hAgIfIfIfQdQdQdQjdQZd] E @颁ɢD$k) |9i) 顉ih#Fir|?"Y;P ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778859ީ7,$?A6 ?6?6Soٱ6L/ >AHRS rotation from veh to nav: [[0.186724,-0.966131,-0.178112],[0.980675,0.194082,-0.024663],[0.058396,-0.170065,0.983701]]6H@? cƿ a??"A?ſzz?i6 ?I6@c;6"CYJByJ'IbD~VD~N2y T% U=ٔ傻Q->9Y=RGySFưE>!Q 5-4%-v?Q 9-4%I)%9BY1y5߭?Q I5?%CI%:i%R:%4y9ɮ=7A9jhamFNOT Ignoring new targets: 365.17 m.RhmZhm} ProNav: ac range: 365.169617 m, nav range: 356.515228 m, bearing: 73.999729 deg, approach rate: -0.695944 m/s, LOS rate: -0.007482 deg/s, cmd heading: 77.656423 deg, new cmd heading: 77.647845 deg. BhNHeadingCmd: 1.355211 target range: 365.169617 and range: 366.90 m.hw?h*h"h hgfffdddjdZd&Y@ɢZ |) >i)UiEiw? q[; iir?)@0(@ ¸2)^@I¸2=kzsLN?KR?^[ Re ,A ?) 2 =,B?ADzDAAE EE*E"E ;*E5:VE(N4ZEa@a@a@a@Y~By'IbD)VD)y}2%}E=ٔ}Q->9Y=RGyTFE>Q 54O v?Q 94۳)=BYyQ I?CIL;i;4yɮJAii?AJi CRi Cjil?b1ov@Yq"@ r4~/RK3?QځGUZiDbi¸2=j%YR@֨6(v@-T~@Z J?ZT?1~aQ?2iAC:iϒB"iu4?*iv_GBiBi˃t?iwiɺBiҴCi? addTargetRange:: Added new target pos. range: 363.799988 m, deltaT: 4.284452 s, deltaX: -3.100006 m, approachRate: -0.723548 m/s, rangeRepo size: 4  Added new target pos. range: 362.085144 m, bearing: 78.301587 deg, lat: 36.779065 deg, lon: -121.859280 deg, deltaT: 4.284452 s, deltaX: -3.084473 m, approachRate: -0.719922 m/s, posRepo size: 4 jh%FNOT Ignoring new targets: 362.09 m.Rh-Zh)BM)>BIBMU(IBM܈BBIBIBIBM=t;BMx/E ProNav: ac range: 362.085144 m, nav range: 361.643219 m, bearing: 75.939533 deg, approach rate: 0.000000 m/s, LOS rate: -0.007482 deg/s, cmd heading: 77.647844 deg, new cmd heading: 77.638442 deg. BhHeadingCmd: 1.355046 target range: 362.085144 and range: 363.80 m.h)r?h*h"h hgffԹfdddjd̼v@Zd?*DAT read: user:907> BDAT read: Tx time:15:05:07.0240 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2508429 ֯D,z?AB ?B?B9RyٱB1 JAHRS rotation from veh to nav: [[0.189030,-0.965189,-0.180768],[0.980085,0.196847,-0.026159],[0.060832,-0.172223,0.983178]]BH$2?@h#ǿ\?F2?bɚ Z%?i ƿ`1v?iB ?IBe;B CYbpByb'IIf<)fp;iMb@Mb@Mb@ 9x&1?y&1~jtYA ?y`e C'A)9AY!AbD%VD%y=#%=?=ٔ=Q-=>9AYA=ERGyEUFE#EM>IQ 5u4M1v?Q 9}4M)MABY}^ ?Q E}:y}/?Q I}?M%CIM;iM.:M 4yBɮͱAcEB*** querying acoustic contact *** E5 E5E5'E1"E5:*E5:VE5'4ZE1BE5>Zhe> ProNav: ac range: 362.085144 m, nav range: 361.375214 m, bearing: 75.938361 deg, approach rate: -0.595560 m/s, LOS rate: -0.002605 deg/s, cmd heading: 77.638439 deg, new cmd heading: 77.634922 deg. BhHeadingCmd: 1.354985 target range: 362.085144 and range: 363.80 m.h&p?h*h"h hgfffdddjdZd?yɢ}>~)y }Gi)顁!i%Ei5&p?=8b;=&J,&-?AF'x?Fc?FD}ٱF۔0 RAHRS rotation from veh to nav: [[0.191199,-0.964892,-0.180074],[0.979604,0.199130,-0.026879],[0.061794,-0.171262,0.983286]]FH@2y? e ǿ@X? }?Dp?ſw?iF'x?IFOe;DY^oBy^'IbDrVDry~=%~_=ٔZ,Q- >9 Y=RGyVF[ƻE>!Q 554%nv?Q 954%)%FBY9y=?Q I=?%BCI%Q:;i%:;%4yMBɮMAImchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754932jhyFNOT Ignoring new targets: 362.09 m.RhDZhD ProNav: ac range: 362.085144 m, nav range: 361.144775 m, bearing: 75.937433 deg, approach rate: -0.667026 m/s, LOS rate: -0.002688 deg/s, cmd heading: 77.634922 deg, new cmd heading: 77.632136 deg. Bh%HeadingCmd: 1.354936 target range: 362.085144 and range: 363.80 m.hn?h*h"h hAgAfAfIfIdIdIdIjdQZdU?Yɢeg-)a ejHia)e/%aiimaEimn?uUd;ujB1B56(IB5ˆBB5 =B1B1B54t;B5t/E% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007506^A5 8<Ա I I O >Q,"nG?ALj?*?j?jM@ٱjT0 vAHRS rotation from veh to nav: [[0.193518,-0.964346,-0.180521],[0.979099,0.201563,-0.027164],[0.062582,-0.171491,0.983196]]jH /? OǿT? ?Л [?`lſ`Wv?ij?*?Ijf;j"CYzjBy~'IiMb@Mb@Mb@ 9On?Q~jtY?yD3AnA (A)AYG!AbDVDNy%A=ٔQ->9Y=RGyWFE>Q 54v?Q 94)LBY?Q E:yJ?Q I?cCI* ;iq ;]4yhBɮAjhFNOT Ignoring new targets: 362.09 m.Rh f6Zh f6 ProNav: ac range: 362.085144 m, nav range: 360.892975 m, bearing: 75.937545 deg, approach rate: -0.600237 m/s, LOS rate: 0.000267 deg/s, cmd heading: 77.632135 deg, new cmd heading: 77.632471 deg. Bh;7HeadingCmd: 1.354942 target range: 362.085144 and range: 363.80 m.hn?h*h"h hgfffdddjdZd_?AɢES) Ji)ў0i~Ein?f;OX,%a?AN?Nү?NぽٱNF0 VAHRS rotation from veh to nav: [[0.195516,-0.963892,-0.180792],[0.978650,0.203677,-0.027550],[0.063379,-0.171546,0.983135]]NH@?3@5$ǿQ??@/69?8ſ@u?iN?ING g;NCY^vBy^'I ``hbDfVDfyrf=%rU=ٔrQ-v>9v"?Yv"?=vRGyvXFzjEz>|Q 54~iv?Q 94~К)~RBYy ?Q I ?~CI~ :i~9:~"4yɮȷAjh9EFNOT Ignoring new targets: 362.09 m.RhE7ZhM7] ProNav: ac range: 362.085144 m, nav range: 360.664551 m, bearing: 75.937721 deg, approach rate: -0.595633 m/s, LOS rate: 0.000460 deg/s, cmd heading: 77.632470 deg, new cmd heading: 77.632999 deg. Bh]7eHeadingCmd: 1.354951 target range: 362.085144 and range: 363.80 m.he o?ha*ha"ha hagafififidqdqdqjdqZd} ?颡ɢ@) Di)9顩i{BEi o??h;i)>E9@A @I@M/@I^A%R5<AM.AIaIqOZ>)iiIiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763126Y D) zD- @AE5  E5 E5 %E1 "E5 &:*E5 :VE5 4ZE1 a= @aE @aE @aE @%^,U{?AB蛓?B`?B0ٱBe1 JAHRS rotation from veh to nav: [[0.197751,-0.963377,-0.181108],[0.978160,0.205997,-0.027720],[0.064013,-0.171671,0.983072]]BHO? .ǿ M?^?b$c?`Oſ`Tu?iB蛓?IBf;B"CYbByb'IbDjVDjyr~=%rK=ٔvκQ-v>9v ?Yz ?=zRGyzYFzEz>Q 5%4"v?Q 9%4)YBY)y-?Q I-?CI[:it:+)4AB)>BCB0(IBBBBBBs;BT/EyQɮAjhIUFNOT Ignoring new targets: 362.09 m.Rhu87Zhu87 ProNav: ac range: 362.085144 m, nav range: 360.422028 m, bearing: 75.937997 deg, approach rate: -0.554800 m/s, LOS rate: 0.000631 deg/s, cmd heading: 77.632996 deg, new cmd heading: 77.633824 deg. Bh7HeadingCmd: 1.354966 target range: 362.085144 and range: 363.80 m.ho?h*h"h hgfffdddjdZd@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0150051ɢ5pz)1 5>i1)=D99i="nEiEo?Er1j;En e, 1?A2>?2X*?2ٱ2{2 :AHRS rotation from veh to nav: [[0.200519,-0.962508,-0.182678],[0.977553,0.208880,-0.027539],[0.064665,-0.173055,0.982787]]2H? aǿ H??E3ۍ?&ƿr?i2>?I2g;2CYBByB'Ii Mb@Mb@Mb@     9 333333? rhMbp?Y ?y C ; 1A A C'A) A Y AbD%VD%βy57=%5F=ٔ5κQ-5>ԙ9Y=RGyZFOػE>Q 54'v?Q 94&)dBY?Q E:y'?Q I?CI%-;i,;04y=BɮöAZEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 362.09 m.Rh7Zh7- ProNav: ac range: 362.085144 m, nav range: 360.166901 m, bearing: 75.938472 deg, approach rate: -0.643646 m/s, LOS rate: 0.001199 deg/s, cmd heading: 77.633822 deg, new cmd heading: 77.635248 deg. Bh-R85HeadingCmd: 1.354991 target range: 362.085144 and range: 363.80 m.h5Vp?h1*h1"h9 h9g9f9fAfAdAdAdAjdIZdM:@qɢ}ჽ)y }9iy)}vMyi4rEiVp?k;9f G! 5 A] @9Y Ye AA ؟AI I O > 7k,?AFC?Fخ?FBٱFd 3 ^AHRS rotation from veh to nav: [[0.202942,-0.961839,-0.183520],[0.976997,0.211437,-0.027765],[0.065509,-0.173664,0.982624]]FH@?c@}ǿC?a?@|n,Ű?`:ƿq?iFC?IFwh;F CYfByf (IIj8>)j=lnAAbDrVDr:2yz=%zN=ٔz Q-z>9~"?Y~"?=~RGy~[FֻE> Q 54 ,v?Q 94 ^) mBYy֧?Q I? CI :i ; >74y%9Bɮ%nA!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771006jhQ]FNOT Ignoring new targets: 362.09 m.Rh]7Zhe7m ProNav: ac range: 362.085144 m, nav range: 359.939545 m, bearing: 75.938986 deg, approach rate: -0.598285 m/s, LOS rate: 0.001352 deg/s, cmd heading: 77.635250 deg, new cmd heading: 77.636791 deg. Bhum8}HeadingCmd: 1.355018 target range: 362.085144 and range: 363.80 m.h}8q?hy*hy"hy hgfffdddjdZdF@颹ɢ[) 0i)IViEi8q?l;EB*>BCBC(IB͈BB =BBBs;BA/EBBCBB =BCǤr4Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022831 #r,ȉ?Afؖ?fP?fڇٱfH4 ~AHRS rotation from veh to nav: [[0.205507,-0.961075,-0.184666],[0.976408,0.214132,-0.027827],[0.066287,-0.174591,0.982407]]fH N? &ǿ>?h?~(?Yƿ`o?ifؖ?Ifh;fCYBy!(IiMb@Mb@Mb@ 9\(\?X9vZd;O?Y?yj<=0A %A)$AYAbDVDy=%>=ٔ|Q->9 ?Y ?=RGy\FȻE>Q 54W2v?Q 94)|BY1?Q E:y?Q I?CI:i:>4yBBɮCAIjhFNOT Ignoring new targets: 362.09 m.Rh$7Zh$7 ProNav: ac range: 362.085144 m, nav range: 359.680115 m, bearing: 75.939237 deg, approach rate: -0.580966 m/s, LOS rate: 0.000563 deg/s, cmd heading: 77.636793 deg, new cmd heading: 77.637547 deg. Bh7HeadingCmd: 1.355031 target range: 362.085144 and range: 363.80 m.hq?h*h"h hgff f d d d jdZd q @频ɢe) <'i)A`顙iv7Fi%q?%m;%p#]Nx,?ANA?NW-?NԉٱN3 VAHRS rotation from veh to nav: [[0.208025,-0.960518,-0.184746],[0.975809,0.216783,-0.028317],[0.067248,-0.174386,0.982378]]NH ? ǿ9?`?.7?IRƿo?iNA?INoi;LY^ÈBy^7(IbDfVDfyn2=%nY=ٔr'Q-r>9r"?Yr"?=rRGyr]FvEv>xQ 5~4z"7v?Q 9~4z{)zBYy?Q I?zCIz:iz:zVE4y ɮ A jh1=FNOT Ignoring new targets: 362.09 m.Rh=7Zh=7M ProNav: ac range: 362.085144 m, nav range: 359.453796 m, bearing: 75.939550 deg, approach rate: -0.631391 m/s, LOS rate: 0.000875 deg/s, cmd heading: 77.637545 deg, new cmd heading: 77.638485 deg. BhU8]HeadingCmd: 1.355047 target range: 362.085144 and range: 363.80 m.h]0r?hY*hY"hY hYgYfafafadadidijdiZdm@@颙ɢz) ci) g顡iO}Fi0r?b*n; D zD ?AE  E E 'E "E =;*E Z:VE '4ZE a% @a% @a% @a% @) s~,?A2?2o?2@ٱ24 :AHRS rotation from veh to nav: [[0.210210,-0.959839,-0.185799],[0.975268,0.219150,-0.028723],[0.068288,-0.175166,0.982168]]2H@+?Fǿ f5?@ ?iK{?kƿ m?i2?I2Aj;2CYJByJa(I Zp%@=ٔr Q->9Y=RGy^FE>Q 54I>i ;?.@ A=^-@dIdQdQjdU`fv@ZdU`'?颙ɢM) " i)o顩 PwV=) @IPwVH96?)%?@? \#?)'IiPwVT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iGiMr?Mn;U͚;IUr?IQ9@ @@4@Ai m *DAT read: user:908> m BDAT read: Tx time:15:05:11.3240 u $Ping request sent.u ,^.?A2_?2ק?2mٱ2W4 :AHRS rotation from veh to nav: [[0.211965,-0.959462,-0.185753],[0.974800,0.221099,-0.029677],[0.069544,-0.174782,0.982148]]2H`!?@ǿ@1?L?@c ͱ?A_ƿm?i2_?I2Ghj;2CYBByB{(IiMMb@Mb@Mb@IIII I9M/$?QV-?YM1(?yMuM9yYy=}RGy_FE EE*E"E:*E1:VE(N4ZEBE<Q 54BBv?Q 94m)BYf(?Q E:y?Q I?aCI;iW;T4yBɮqAQE)iiH?AJiCRiCji.ߢ?bʚHQv@5zz@/2@R$&yw?!myoU˪?ZibiPwVjVA%Z@jAu@< mH@ZbP?JHL?yٕ+)?2i C:i/B"i/?*ig|Bi`BiiiisCi^? addTargetRange:: Added new target pos. range: 360.899994 m, deltaT: 4.283831 s, deltaX: -2.899994 m, approachRate: -0.676963 m/s, rangeRepo size: 4 = Added new target pos. range: 359.198792 m, bearing: 72.905210 deg, lat: 36.779065 deg, lon: -121.859280 deg, deltaT: 4.283831 s, deltaX: -2.886353 m, approachRate: -0.673778 m/s, posRepo size: 4 jh9EFNOT Ignoring new targets: 359.20 m.RhEZhAU ProNav: ac range: 359.198792 m, nav range: 358.902374 m, bearing: 75.939234 deg, approach rate: 0.000000 m/s, LOS rate: 0.001031 deg/s, cmd heading: 77.639839 deg, new cmd heading: 77.641239 deg. BhQ}HeadingCmd: 1.355095 target range: 359.198792 and range: 360.90 m.h}s?h*h"h hgfffdddjdZd []?ɢF) i)1wi Hi s?n;,;Is?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250957Q@ @@3@^Al;yAIIO>ԩ - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502896/",G2?A2ބ?2Vp?2񈑽ٱ2CS5 :AHRS rotation from veh to nav: [[0.213594,-0.958852,-0.187032],[0.974339,0.223003,-0.030551],[0.071002,-0.175707,0.981879]]2H W?`ǿ-?]?H3-?}ƿk?i2ބ?I2j;2 CYBByB(IbDJVDJβyD">%S=ٔrwQ- >9 Y = RGy `FWE>Q 5%4Gv?Q 9%4g)BY!y-?Q I-?CIt:i:H[4y1ɮ5A1UB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 359.20 m.RhmZhm} ProNav: ac range: 359.198792 m, nav range: 358.655365 m, bearing: 75.938651 deg, approach rate: -0.672714 m/s, LOS rate: -0.001589 deg/s, cmd heading: 77.641240 deg, new cmd heading: 77.639489 deg. Bh}HeadingCmd: 1.355065 target range: 359.198792 and range: 360.90 m.hr?h*h"h hgfffdddjdZd"?ɢwJ) i) *|iIir?3n;\;Ir?Iԑ9@ @@/@E EE(E"E%;*Eą:VEc44ZEa@a@a@a@B!A%<B!B!B%(IB%-BB!B!B!B%s;B%/Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755561^A[R;A I I O5 > ,L?A2n`?2K?2̔ٱ2 5 :AHRS rotation from veh to nav: [[0.214653,-0.958504,-0.187603],[0.973989,0.224349,-0.031824],[0.072592,-0.175892,0.981729]]2H y?`^ȿ*?z?GKi?@ƿSj?i2n`?I2j;2CYB=ByB(IIF=)F{>i Mb@Mb@Mb@     9 &1?~jth?l?Y 0?y D; = l/A + A r&A)  Y =AbDVDkyu#>%?=ٔVtQ->9Y=RGyaFm*E>Q 54Lv?Q 94`)̎BY&1?Q E:y?Q I?CI;ip;b4yɮgAjhFNOT Ignoring new targets: 359.20 m.Rh.Zh.- ProNav: ac range: 359.198792 m, nav range: 358.362213 m, bearing: 75.936668 deg, approach rate: -0.687082 m/s, LOS rate: -0.004649 deg/s, cmd heading: 77.639491 deg, new cmd heading: 77.633540 deg. Bh-7L=HeadingCmd: 1.354961 target range: 359.198792 and range: 360.90 m.h=\o?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM?yɢ}*)}Ѧ }¾iy)Z顁iKi\o?n;5.;I\o?Ix>i!>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006777M9@Q @Q@U/@Q!E EE)E"E ;*E:VEFA4ZEBEL3,f?A :??:M+?:wٱ:5 FAHRS rotation from veh to nav: [[0.215597,-0.958214,-0.188000],[0.973663,0.225573,-0.033130],[0.074153,-0.175905,0.981610]]:H?^ȿ?(?? r?ƿYi?i:??I: j;:CYNWByN(IbDVVDV:y^ >%b\=ٔbQ-b>9`Yd=fRGyfbFf{/Ef>hQ 5n4j\Pv?Q 9r4jvY)jݎBYpyr?Q Ir?jCIjU;ij@;j=i4yvBɮvAxjhFNOT Ignoring new targets: 359.20 m.RhAZhA- ProNav: ac range: 359.198792 m, nav range: 358.107391 m, bearing: 75.934983 deg, approach rate: -0.686383 m/s, LOS rate: -0.004542 deg/s, cmd heading: 77.633542 deg, new cmd heading: 77.628483 deg. Bh5G5HeadingCmd: 1.354873 target range: 359.198792 and range: 360.90 m.h5wl?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM{?颡ɢu") Xi)ͼ顩iS:Miwl?Wwn;e:I5wl?I9q9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510947Ա^A0; A .AI I! O- >D zD E  E E 'E "E ;*E :VE '4ZE a @a @a @a @B! B! B% )IB% tBB! B% ADB! B% qs;B% /E,t?A2/'?2?2@ٱ2LF3 :AHRS rotation from veh to nav: [[0.216308,-0.958414,-0.186154],[0.973404,0.226443,-0.034764],[0.075471,-0.173683,0.981905]]2H ?`T`ǿ&?? ̡R??;ƿk?i2/'?I21i;2!CLYnoByn )IbDVD:y=%E=ٔPQ->9 ?Y% ?=%RGy%cF%oE%>)Q 554-@Uv?Q 954-R)-BY9y=Ӯ?Q I=?-CI-;i-D;-p4uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765378yyɮ}AyjhFNOT Ignoring new targets: 359.20 m.Rh Zh  ProNav: ac range: 359.198792 m, nav range: 357.822601 m, bearing: 75.933137 deg, approach rate: -0.673893 m/s, LOS rate: -0.004373 deg/s, cmd heading: 77.628481 deg, new cmd heading: 77.622937 deg. Bh@HeadingCmd: 1.354776 target range: 359.198792 and range: 360.90 m.hKi?h*h"h hgfffdddjdZdA@ ɢ )  i ) &iiOiKi?M-n;:IKi?I!9@ @@0@^A; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014871! AE ؟AII IY Ou > PExceeded connect timeout, disconnecting.E,DN?A2M ?2 ?2|❽ٱ2H2 :AHRS rotation from veh to nav: [[0.216486,-0.958488,-0.185564],[0.973243,0.226872,-0.036429],[0.077016,-0.172712,0.981957]]2H ӵ?ǿ$? ?ϦN?nƿ0l?i2M ?I2_i;2 CYBByB-)I DD|iMb@Mb@Mb@ 9'1Z?%eE=ٔeAuQ-m>9m"?Ym"?=uRGyudF=E=>IQ 5u4MZv?Q 9}4MI)MBY}C?Q E}:y}?Q I}?MCIM{;iMb;M1x4yBɮAHEE EE*E"El;*EZ:VE(N4ZEBE[F9Y=RGyeF E>Q 54av?Q 94 ?) BYy?Q I?JCId:i9:4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 359.20 m.RhԸZhԸ  ProNav: ac range: 359.198792 m, nav range: 357.083740 m, bearing: 75.927578 deg, approach rate: -0.777307 m/s, LOS rate: -0.005819 deg/s, cmd heading: 77.615367 deg, new cmd heading: 77.606241 deg. Bh HeadingCmd: 1.354484 target range: 359.198792 and range: 360.90 m.h_?h*h"h hgfff!d!d!d)jd)Zd-@QɢU׼)Y ]~!iY)]pYYi]}Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770819i _? km; u:I _?I U֣9@ @@/@1Y ^A } checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023023A) I1 II OU >,׊?A6?6 ?60ٱ6yz/ >AHRS rotation from veh to nav: [[0.216504,-0.958903,-0.183388],[0.973071,0.227172,-0.039055],[0.079110,-0.169994,0.982265]]6H f?U>yǿ@f#?`? @?`Zſ n?i6?I6¶f;6CYFĉByFs)IznManaging dock network, ignoring radio surface power offi%Mb@Mb@Mb@!!!! !9%q= ףp? rh?X9v?Y%K?y%C<%<%.A%V A !)%A!Y%GAbD=VD=yE=%MP=ٔMQ-M>9QYQ=URGyUfF]:E]>YQ 5e4]fv?Q 9m4]7)]2BY K?Q E :y ?Q I ?]rCI]09AYI=MRGyMhFUE]>iQ 54mlmv?Q 94m+)mKBYyQ I?mCIm~;imom;m4yȵBɮA>EjhIMFNOT Ignoring new targets: 359.20 m.RhUZhUe ProNav: ac range: 359.198792 m, nav range: 356.342773 m, bearing: 75.921076 deg, approach rate: -0.788590 m/s, LOS rate: -0.006934 deg/s, cmd heading: 77.598066 deg, new cmd heading: 77.586720 deg. BheFEm EmFEm&Ei"Em;*Emv;VEm4ZEiau@au@au@au@}HeadingCmd: 1.354144 target range: 359.198792 and range: 360.90 m.h}T?hy*hy"h hgfԩB(>BCB)IBBB =BBBs;B./EBBBBB =C3ffdddjdZd@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781584颡ɢOz)  i)0 i yJ]iT?al;:IT?I9@ @@/@) ^A ] ;} DAT read: 15:05:14.2047 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 397, 0.07,-1.984, 2.797,-1.640,-2.244, PHS= 0.362,-1.197, 0.560, RAW= 155.9, 3.3, CAL= 154.8, 2.6, ROT= 355.2, -2.6  Ygot valid direction response: 15:05:14.2047 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 397, 0.07,-1.984, 2.797,-1.640,-2.244, PHS= 0.362,-1.197, 0.560, RAW= 155.9, 3.3, CAL= 154.8, 2.6, ROT= 355.2, -2.6  PDAT read: Bearing 220.4, -0.4 (Local)  ~Local bearing/azimuth received: Bearing 220.4, -0.4 (Local)  DAT read: Range 11 to 50 : 357.4 m (Round-trip 476.6 ms) speed 0.9 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.995467,-0.083592,0.045363] Fpublishing direction and range infoyQ U ?$[Df99?YU CQ Q Q Q Q )U AIU X>iU L7U )\?U X$.@U k=U ,@ U 9=)U a@IU 9Q Q U M6?)Q?ڳVxЭ? U fl ?)U WnIU iU 9Q Q  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. AIIO>Ƣ,g?Avq?vM]?vٱvL. AHRS rotation from veh to nav: [[0.214031,-0.959622,-0.182529],[0.973627,0.224685,-0.039591],[0.079004,-0.169241,0.982403]]vH[e?8 ]ǿ'?y?>E@9?ſo?ivq?IvJf;tY5By5)IIbE!jE%Å04rE%+/E EE)E"ET;*E$:VEFA4ZEBEG9Y=RGyiF;E>Q 54dtv?Q 94)cBY3V?Q E}:y?Q I?CIU;i;4yѵBɮ~A?Ei)i-o?AJi-۱CRi-۱Cji-?b-T!v@ƞ&#=_t "0@R-?$[Df99?Zi-bi-9j-<0XY@Q7u@Vu*nH@Z-%>gc=?׻H99[?h9?2i-C:i-B"i-gMӗ?*i-iatBi-Bi-gMӗ?i-iati-`Bi-+Ci-ӳ?U addTargetRange:: Added new target pos. range: 357.399994 m, deltaT: 4.283666 s, deltaX: -3.500000 m, approachRate: -0.817057 m/s, rangeRepo size: 4 y Added new target pos. range: 355.715973 m, bearing: 73.278249 deg, lat: 36.779198 deg, lon: -121.859367 deg, deltaT: 4.283666 s, deltaX: -3.482819 m, approachRate: -0.813046 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 355.72 m.RhZh ProNav: ac range: 355.715973 m, nav range: 352.342438 m, bearing: 73.277022 deg, approach rate: 0.000000 m/s, LOS rate: -0.006934 deg/s, cmd heading: 77.586721 deg, new cmd heading: 77.575360 deg. BhHeadingCmd: 1.353945 target range: 355.715973 and range: 357.40 m.hN?h*h"h hgfffdddjd`fVv@Zd>W?]*DAT read: user:909> eBDAT read: Tx time:15:05:15.6240 e$Ping request sent.e*͢,C:7?ANϑ?N9?NmɠٱNn0. VAHRS rotation from veh to nav: [[0.211249,-0.960372,-0.181822],[0.974281,0.221819,-0.039669],[0.078429,-0.168766,0.982531]]NH`3 ?`^EǿN-?d?~O?ſp?iNϑ?INf;LY^By^)IbDjVDjyr"=%rV=ٔrL:Q-r>9v ?Yv ?=vRGyvjFv/;Ez>xQ 54z yv?Q 94z)zsBYye?Q I?z CIz;iz;zG4y ɮDAjh1FNOT Ignoring new targets: 355.72 m.RhZh ProNav: ac range: 355.715973 m, nav range: 352.030701 m, bearing: 73.271174 deg, approach rate: -0.854053 m/s, LOS rate: -0.016035 deg/s, cmd heading: 77.575362 deg, new cmd heading: 77.557803 deg. Bh0HeadingCmd: 1.353639 target range: 355.715973 and range: 357.40 m.h D?h*h"h hgfffddd jd Zd ?颹ɢG,)U 9i)mii->E  E E %E "E ;*E M:VE  4ZE a@a@a@a@BA<B'>BB)IB0BB =BBBs;B,/E9@ @@'0@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832^Avт;Q A ؟AI I O >ZԢ,"Q?A2 ?27?2=bٱ2 , >AHRS rotation from veh to nav: [[0.209498,-0.961154,-0.179703],[0.974674,0.219973,-0.040267],[0.078232,-0.166716,0.982896]]2H?ǿ0?`(? ֝ ?Vſ s?i2 ?I2f;0YBByF)IiEMb@Mb@Mb@AAAA A9E(\?I +?y&1?YEzT?yE99}"?Y}"?=}RGy}kF;E>Q 54f~v?Q 94)BYT?Q E:y?Q I?9CI ;i? ;4yBɮxA6EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 355.72 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755006RhGZhG ProNav: ac range: 355.715973 m, nav range: 351.683197 m, bearing: 73.264963 deg, approach rate: -0.820222 m/s, LOS rate: -0.014674 deg/s, cmd heading: 77.557802 deg, new cmd heading: 77.539151 deg. Bh"!HeadingCmd: 1.353313 target range: 355.715973 and range: 357.40 m.h`9?h*h"h hgff f d d djdZd>?9ɢE)A Ewo=ڢ,j?A2RD?2/?2"ٱ23) :AHRS rotation from veh to nav: [[0.207795,-0.962056,-0.176831],[0.975088,0.218073,-0.040602],[0.077624,-0.163989,0.983403]]2H?)iƿ3?`?ɤ"߳?@Ŀ@ x?i2RD?I2f;2C@YFByF)IbDNVDN3yVS=%VX=ٔZ:Q-Z>9XYX=^RGy^lF^;E^>`Q 5f4b(v?Q 9f4b)bBYhyj?Q Ij?bbCIb:ib:bJ4ylɮr[Apjh FNOT Ignoring new targets: 355.72 m.Rh>Zh>% ProNav: ac range: 355.715973 m, nav range: 351.371521 m, bearing: 73.259293 deg, approach rate: -0.823675 m/s, LOS rate: -0.014998 deg/s, cmd heading: 77.539149 deg, new cmd heading: 77.522123 deg. Bh%$-HeadingCmd: 1.353016 target range: 355.715973 and range: 357.40 m.h-/?h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE G?ɢ,p) %B )>B B $*IB TBB B B B s;B 5/EL%,-΄?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511321:^x?:c?:'ٱ:9L& BAHRS rotation from veh to nav: [[0.206254,-0.962916,-0.173931],[0.975456,0.216346,-0.040998],[0.077106,-0.161206,0.983904]]:H f? 5`]Cƿ6?`6?`??dĿ`$|?i:^x?I:F?f;:CYJByJ)IbDRVDR:yZ.c<%ZJ=ٔ^ާ:Q-^>9\Y`=bRGybmFbp;Eb>dQ 5j4f1v?Q 9j4f)fBYlyn?lQ Ir?fCIf1;if1;f]4ytɮvPAtjhFNOT Ignoring new targets: 355.72 m.Rh}Zh} ProNav: ac range: 355.715973 m, nav range: 351.038727 m, bearing: 73.253142 deg, approach rate: -0.820853 m/s, LOS rate: -0.015185 deg/s, cmd heading: 77.522121 deg, new cmd heading: 77.503652 deg. Bh&HeadingCmd: 1.352694 target range: 355.715973 and range: 357.40 m.h%?h*h"h hgfffdddjdZd ?9ɢ=j)9 = =i9)E舼AAiE5niM%?Mo;MpC?A} >E  E E (E "E =;*E :VE c44ZE BE }Il,?A2%?2?2)ٜٱ2m1$ :AHRS rotation from veh to nav: [[0.204871,-0.963599,-0.171771],[0.975794,0.214793,-0.041113],[0.076511,-0.159191,0.984279]]2H`69?ſ@9?R~? `=?`[`Ŀ5?i2%?I2Ъf;0YBByB)IIF!>)F>zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014906iMb@Mb@Mb@ 9&1?~jt?YP?y<)A !A)jAYAbD9VD9yE^~<%M#=ٔM':Q-M>9QYQ=URGyUoF]:;E]>aQ 5 4eEv?Q 9 4el)eBY P?Q E :yL?Q I?eCIe,A?AD%=D4=E" E"E E "E"%;*E":VE ZE a&@a&@a&@a&@Bג?B8î?BRٱBp# JAHRS rotation from veh to nav: [[0.203433,-0.964035,-0.171029],[0.976142,0.213244,-0.040905],[0.075905,-0.158627,0.984416]]BH  ?`Gſ9dYd=fRGyjpFjj;Ej>lQ 5r4nCv?Q 9r4n)nBYtyv|?Q Iv?nCInB:in:n\Lj4A5@AA5@AB=*>B=CB=7*IB=cBB9B9B=DB=s;B=J/EyuBɮuЭAu-EԑjhFNOT Ignoring new targets: 355.72 m.RhZh ProNav: ac range: 355.715973 m, nav range: 350.298309 m, bearing: 73.239144 deg, approach rate: -0.824520 m/s, LOS rate: -0.015732 deg/s, cmd heading: 77.480805 deg, new cmd heading: 77.461614 deg. Bh,HeadingCmd: 1.351960 target range: 355.715973 and range: 357.40 m.h ?h*h"h hgff f dddjdZd{@aɢeGq)a epA,Ppދ?AF?Fd?FaٱFS# RAHRS rotation from veh to nav: [[0.202375,-0.964254,-0.171048],[0.976464,0.211987,-0.039738],[0.074577,-0.158981,0.984461]]FHn?@,ſ2??b"?X`?@{YĿ@?iF?IFhf;FCEb EbEb'E`"Eb;*Eb:VEb'4ZE`BEbD9Y=RGyqFc ;E>Q 54v?Q 94)ʏBYB?Q E:y(?Q I?CI:i<:MЈ4yɮحAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 355.72 m.RhUAZhUAԩ ProNav: ac range: 355.715973 m, nav range: 349.911194 m, bearing: 73.233915 deg, approach rate: -0.781270 m/s, LOS rate: -0.010564 deg/s, cmd heading: 77.461613 deg, new cmd heading: 77.445909 deg. BhHeadingCmd: 1.351686 target range: 355.715973 and range: 357.40 m.h ?h*h"h hgff f dddjdZd@ @颁ɢ_xchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023092) ,`=?A2?2}?204ٱ2'# :AHRS rotation from veh to nav: [[0.201863,-0.964561,-0.169920],[0.976705,0.211145,-0.038267],[0.072789,-0.158237,0.984715]]2H? ſ+A??ƗM? AĿ Ȃ?i2?I2"xf;2CYBByB)I DDbDNVDN02yV%VI=ٔV;Q-V>9Z ?YZ ?=ZRGyZrF^1:E^>`Q 5f4bv?Q 9f4b)bՏBYdyf:?Q Ij?bECIb;ib;bf׈4ylɮnAljhFNOT Ignoring new targets: 355.72 m.Rh =Zh = ProNav: ac range: 355.715973 m, nav range: 349.603912 m, bearing: 73.229729 deg, approach rate: -0.757579 m/s, LOS rate: -0.010331 deg/s, cmd heading: 77.445910 deg, new cmd heading: 77.433339 deg. Bh%HeadingCmd: 1.351467 target range: 355.715973 and range: 357.40 m.h%?h)*h)"h) h1g1f1f9fAdIdIdQjdQZd] @!aɢe!})a e`BCBBB =BBDB.t;Bm/E9@ @@/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527069^Auԩ ǿ,W?AY~ By~)I]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781275ԙiEMb@Mb@Mb@AAAA A9Eףp= ??yEtEEn&AEAA EEA)AAYEAbD]VD]:2yu<%u&=ٔuQ-u>9yYy=}RGy}sFE>Q 54v?Q 94`)BY>?Q E:y{?Q I?tCIP ;i:4yVBɮ(A#Ejh)-FNOT Ignoring new targets: 355.72 m.Rh=fZh=f ProNav: ac range: 355.715973 m, nav range: 349.238220 m, bearing: 73.226031 deg, approach rate: -0.730887 m/s, LOS rate: -0.007398 deg/s, cmd heading: 77.433336 deg, new cmd heading: 77.422230 deg. BhzHeadingCmd: 1.351273 target range: 355.715973 and range: 357.40 m.h?h*h"h hgfffdddjdZd%@qɢu w)q uibx;>)@k]=q(@ 4QO=)y@I4QO(WNg"?}y?tC2ث? j?)^IDdi4QOe T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.y u Wf>u ېC G  = B99 YE IA^A <A >A ?ԙ I I O >ީ ,0?A2?2 ?2Pٱ2$ ZAHRS rotation from veh to nav: [[0.202445,-0.964299,-0.170718],[0.976898,0.211044,-0.033631],[0.068459,-0.159965,0.984746]]2H ?@ſ`B?z?8@?yĿ ?i2?I2{f;0YbByb)IddbDzVDz1y%Z=ٔ =>9 Y1=5RGy5tF=[E=>AQ 5E4Ev?Q 9M4E*)EBYIyMh?Q IM?ECIER_?E@ZO'~?M<_?ގӾ?2iTC:iB"i?*i˕`BiBiiiizCi ?] addTargetRange:: Added new target pos. range: 354.600006 m, deltaT: 4.284170 s, deltaX: -2.799988 m, approachRate: -0.653566 m/s, rangeRepo size: 4  Added new target pos. range: 352.930359 m, bearing: 77.966005 deg, lat: 36.779198 deg, lon: -121.859367 deg, deltaT: 4.284170 s, deltaX: -2.785614 m, approachRate: -0.650211 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 352.93 m.RhZh*DAT read: user:910> BDAT read: Tx time:15:05:19.8740 $Ping request sent.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246099ԑ ,J?A2ߒ?2gˮ?2ٱ2& :AHRS rotation from veh to nav: [[0.203334,-0.964001,-0.171343],[0.976889,0.211521,-0.030768],[0.065903,-0.161127,0.984731]]2H`?ſB??ް?̟Ŀ?i2ߒ?I2gf;2CYPyPIVR=)Va=bDZVDZٔb;Q-f>9dYd=fRGyfuFjEj>lQ 5r4nv?Q 9r4n)nBYpyvK?Q Iv?nCIn;in:nl4yz^BɮzAz$EjhqFNOT Ignoring new targets: 352.93 m.Rhr Zhr  ProNav: ac range: 352.930359 m, nav range: 348.667542 m, bearing: 73.220340 deg, approach rate: -0.773861 m/s, LOS rate: -0.007674 deg/s, cmd heading: 77.413398 deg, new cmd heading: 77.404786 deg. BhHeadingCmd: 1.350968 target range: 352.930359 and range: 354.60 m.h?h*h"h hgfffd!d!d!jd!Zd-G?yiɢmkӋ)i qiq)uqqiui?{; | ,vd?A:$?:?:Áٱ:+& FAHRS rotation from veh to nav: [[0.204465,-0.963750,-0.171405],[0.976824,0.212211,-0.027958],[0.063319,-0.161716,0.984804]]:H +? ſ$B?)?5?Ŀ?i:$?I:Vf;:CYJByN)Ii%Mb@Mb@Mb@!!!! !9%S?l:vY%/?y%%T%$A%pA %A)%& A!Y%pAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750176bD5VD50yU˼%U<ٔU;Q-]>9aYa=eRGyevFe-Em>iQ 5u4mv?Q 94mc)mBYd/?Q E:yk?Q I?mCIm܁;im;m4yɮAB*** querying acoustic contact ***i ijhamFNOT Ignoring new targets: 352.93 m.RhmpZhmp ProNav: ac range: 352.930359 m, nav range: 348.378174 m, bearing: 73.218911 deg, approach rate: -0.666285 m/s, LOS rate: -0.003292 deg/s, cmd heading: 77.404785 deg, new cmd heading: 77.400496 deg. BhHeadingCmd: 1.350893 target range: 352.930359 and range: 354.60 m.h?h*h"h hgfffdddjdZd?aɢe )a e߼ia)miiii?1|;oY ,~?A2C?2y?2/Axٱ2' :AHRS rotation from veh to nav: [[0.205838,-0.963400,-0.171733],[0.976710,0.213117,-0.024883],[0.060572,-0.162611,0.984829]]2HX?@+Vſ4A?mG?@ {I?pĿ?i2C?I20-f;2CYBByB)IbDfVDfܲyn]%nQ=ٔr;Q-r>9pYp=rRGyrwFv7fEv>xQ 5~4zݽv?Q 9~4z)zBYy??Q I?zCIz:iz:z4y ɮ ̭Ajh1=FNOT Ignoring new targets: 352.93 m.Rh=`{Zh=`{M ProNav: ac range: 352.930359 m, nav range: 348.111328 m, bearing: 73.217652 deg, approach rate: -0.727104 m/s, LOS rate: -0.003434 deg/s, cmd heading: 77.400496 deg, new cmd heading: 77.396715 deg. BhUUHeadingCmd: 1.350827 target range: 352.930359 and range: 354.60 m.hU?hY*hY"hY hYgYfYfafadadadiE EE+E"Ef;*Eh:VE [4ZEa@a@a@a@jdZd?BBCB*IBJBBBBDBt;B/EɢL) "i)Zi i%?%};%^~]ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506080%,$C?A06O?6:?6kٱ6' >AHRS rotation from veh to nav: [[0.207745,-0.963085,-0.171199],[0.976488,0.214482,-0.021632],[0.057553,-0.162680,0.984999]]6Hd?ſd??#t?&w?Ŀ?i6O?I62 f;6CYDyDiUMb@Mb@Mb@QQQQ Q9U/$?:vMbYU1(?yUTUU#AUA UdA)QQYU(AbDVDٔ;Q->9Y=RGyxF7E >Q 5-4v?Q 954P)BY=(?Q E=:y=?Q IE?)CI[;iɍ;R4yM2BɮMAUEjh  FNOT Ignoring new targets: 352.93 m.Rh5¶Zh5¶E ProNav: ac range: 352.930359 m, nav range: 347.821808 m, bearing: 73.217499 deg, approach rate: -0.626629 m/s, LOS rate: -0.000331 deg/s, cmd heading: 77.396712 deg, new cmd heading: 77.396253 deg. BhEhMHeadingCmd: 1.350819 target range: 352.930359 and range: 354.60 m.hM?hI*hI"hi higqfqfqfqdydydyjdyZd}`;2C+,?A2?2o?2&B_ٱ24( :AHRS rotation from veh to nav: [[0.210330,-0.962528,-0.171178],[0.976111,0.216516,-0.018095],[0.054479,-0.163283,0.985074]]2H?)ſN9V"?YZ"?=ZRGyZyFZEZ>``Q 5f4bv?Q 9f4bY)b BYdyj?Q Ij?bHCIb:ib:b 4ylɮ]AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010251jhFNOT Ignoring new targets: 352.93 m.Rh:Zh: ProNav: ac range: 352.930359 m, nav range: 347.584991 m, bearing: 73.217475 deg, approach rate: -0.599970 m/s, LOS rate: -0.000061 deg/s, cmd heading: 77.396254 deg, new cmd heading: 77.396183 deg. Bh*HeadingCmd: 1.350818 target range: 352.930359 and range: 354.60 m.h?h*h"h hgf f f d)d1d1jd1Zd5YF@yɢR) ¼i)͈顉i"i?;iBB*IB:BB =BBB#t;Bi/E^A /C<A >A >A m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262141A I I O >2,ˌ?A:O?:Ç?:Rٱ:W) FAHRS rotation from veh to nav: [[0.213154,-0.961821,-0.171654],[0.975664,0.218795,-0.014419],[0.051425,-0.164403,0.985052]]:H`H?=@ſ8?w? dT?& ſ?i:O?I:Ng;:CYJByJ)IbDVVDVy^M<%^I=ٔ^;Q-^>9`Y`=bRGybzFfkEf>hQ 5n4j!v?Q 9n4j)jBYlynI?Q Ir?jjCIj;ijj;j4yv;BɮvAvEjhFNOT Ignoring new targets: 352.93 m.Rh6Zh65 ProNav: ac range: 352.930359 m, nav range: 347.317963 m, bearing: 73.217573 deg, approach rate: -0.765503 m/s, LOS rate: 0.000282 deg/s, cmd heading: 77.396179 deg, new cmd heading: 77.396474 deg. Bh5 F75HeadingCmd: 1.350823 target range: 352.930359 and range: 354.60 m.h=?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM@yɢ&) i)&刼顁i8i?c<;\;I?I@! @!@-/@)^AXqԡ E  E E )E "E T;*E M:VE FA4ZE BE G)z=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766050iMb@Mb@Mb@ 9}?5^I?+YM"?y+#A-A A)V AY AbDVDNy <% 7=ٔ Q- >9!Y!=-RGy-{F=EE>AQ 5M4E!v?Q 9U4Ez)EBY]#?Q E]:y] ?Q I]?ECIE)0;iE1.;E4ye4BɮeެAaB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 352.93 m.Rh8Zh8% ProNav: ac range: 352.930359 m, nav range: 347.030304 m, bearing: 73.219629 deg, approach rate: -0.613453 m/s, LOS rate: 0.004388 deg/s, cmd heading: 77.396473 deg, new cmd heading: 77.402646 deg. Bh%@9MHeadingCmd: 1.350931 target range: 352.930359 and range: 354.60 m.hMO?hi*hi"hq hqgqfqfyfydydydyjdZd @ɢ[) Իi)i\iO?C;T;IO?I9@ @@@1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018080^A <A zA dAa A I) I9 OE >'?,O?A2ߐ?2tʬ?2:ٱ2d* :AHRS rotation from veh to nav: [[0.218849,-0.960576,-0.171462],[0.974692,0.223422,-0.007604],[0.045613,-0.165458,0.985161]]2H:? tſ0?@?u%@Z?@-ſ@q?i2ߐ?I2zg;2CYBByB)IbDJVDJP)yR(d=%Re=ٔV9XYX=ZRGyZ|FZjE^>\Q 5b4^wv?Q 9f4^)^&BYdyfN?Q If?^CI^` ;i^m ;^4ylɮnAljh|FNOT Ignoring new targets: 352.93 m.Rhz8Zh z8 ProNav: ac range: 352.930359 m, nav range: 346.806274 m, bearing: 73.221445 deg, approach rate: -0.668829 m/s, LOS rate: 0.005423 deg/s, cmd heading: 77.402647 deg, new cmd heading: 77.408097 deg. Bh-n9%HeadingCmd: 1.351026 target range: 352.930359 and range: 354.60 m.h%m?h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd5`n @aɢe+d)a e [<BBBBBBBBs;B5/EE EE(E"E:*Ev:VEc44ZEBE><2E><JE;:E;ai)߈iim?{;c;Im?IEBDAT read: Rx Time:15:05:22.7476 MTRx dataTimestamp_ set to:1761577524.133268Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272463}9@y @y@}0@y@=@=ԑ^AΒ;A I9 Ia O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522106 F,nL?AJX~?Ji?J6/ٱJ+ RAHRS rotation from veh to nav: [[0.221751,-0.959898,-0.171530],[0.974165,0.225797,-0.004201],[0.042764,-0.166167,0.985170]]JH Sb?{ſ\,?@?T5q!? Dſ ?iJX~?IJN+g;JCYZ ByZ)Ii=Mb@Mb@Mb@9999 99=}?5^I?V-=ٔ;Q->9Y=RGy}FxлE>Q 54v?Q 94)1BYU#?Q E:y?Q I?CI&Q 6L,:3?A21?2?2[6$ٱ2* :AHRS rotation from veh to nav: [[0.224057,-0.959513,-0.170684],[0.973751,0.227610,-0.001283],[0.040080,-0.165916,0.985325]]2H?Tſ(?@T"?Uc?`<ſ@ȇ?i21?I2Oyf;2CYB"ByB)I DDbDLVDLyR,=%VX=ٔV;Q-V>9XYX=ZRGyZ~F^>߻E^?`Q 5b4bv?Q 9f4b&)b9BYdyfM?Q If?bCIb:ib:b,4ylɮnAljhFNOT Ignoring new targets: 352.93 m.Rh 8Zh 8 ProNav: ac range: 352.930359 m, nav range: 346.292877 m, bearing: 73.224836 deg, approach rate: -0.667133 m/s, LOS rate: 0.004562 deg/s, cmd heading: 77.413794 deg, new cmd heading: 77.418279 deg. Bh\H9%HeadingCmd: 1.351204 target range: 352.930359 and range: 354.60 m.h%@?h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=`.@aɢe,`7)a e=ii)mRiiim#iu@?uB;uN1ߺI}@?IyDAT read: 15:05:22.7476 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 221, 0.12, 1.312,-0.201, 1.680, 1.125, PHS= 0.288,-1.281, 0.511, RAW= 156.5, 5.7, CAL= 155.8, 5.5, ROT= 354.2, -5.5 Ygot valid direction response: 15:05:22.7476 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 221, 0.12, 1.312,-0.201, 1.680, 1.125, PHS= 0.288,-1.281, 0.511, RAW= 156.5, 5.7, CAL= 155.8, 5.5, ROT= 354.2, -5.5 PDAT read: Bearing 221.8, -3.9 (Local) ~Local bearing/azimuth received: Bearing 221.8, -3.9 (Local)  DAT read: Range 11 to 50 : 352.1 m (Round-trip 469.5 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.990300,-0.100591,0.095846]Fpublishing direction and range infoyq?bTaVX?Y C!I@I @I@My0@I )AIt>i?.@%=.@  =)@I ĽYP?3?!8[c ? U#?)ͽI)QϽi ĽT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q^AiAu>Au>BA<E EE)E"E*E$:VEFA4ZEB(>BCB *IB?BB =BBDBs;B8/EAy I I O >ԩ e *DAT read: user:911> m BDAT read: Tx time:15:05:24.1740 m $Ping request sent.m ſ?iJ?IJ9iYi=mRGymFm{Eu>Q 54>v?Q 94U~)CBYy?Q I?CIF:i_:c44y=Bɮ=zA9iiV8?AJi8CRi8Cji|?b7  u@/'A))M@@Rq?bTaVX?Zi)QϽbi Ľj.ZZ@- t@^I@ZSFiz?X݊?Ρb?2iC:iOB"i?*iBiBiiiiCi? addTargetRange:: Added new target pos. range: 352.100006 m, deltaT: 4.284357 s, deltaX: -2.500000 m, approachRate: -0.583518 m/s, rangeRepo size: 4 = Added new target pos. range: 350.441101 m, bearing: 72.076935 deg, lat: 36.779198 deg, lon: -121.859367 deg, deltaT: 4.284357 s, deltaX: -2.489258 m, approachRate: -0.581011 m/s, posRepo size: 4 jhAmFNOT Ignoring new targets: 350.44 m.Rh}Zhyԩ- ProNav: ac range: 350.441101 m, nav range: 346.018677 m, bearing: 73.226818 deg, approach rate: 0.000000 m/s, LOS rate: 0.004562 deg/s, cmd heading: 77.418282 deg, new cmd heading: 77.424665 deg. Bh1mHeadingCmd: 1.351315 target range: 350.441101 and range: 352.10 m.hm?hq*hq"hy hygfffdddjdv@Zd?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250971ɢRx/) =i)qi i?~;mI?I9@ @@4@@eA@eA E  E E &E "E l;*E ą:VE 4ZE BE [FdAZ,/l?A292dAY2AYe-Bye)Iԁi5Mb@Mb@Mb@1111 195K7A`?9aYa=mRGymFmEm>qQ 5}4uv?Q 9}4uu)uQBY ,?Q E:y?Q I?uB) B- **IB- YBB) B) B) B- s;B- U/EBCBCBBBCʾ4AI Di zDm @AE  E E (E "E T;*E :VE c44ZE BE G<2E G<JE ;:E ;I I O >da,IՅ?A:~? Ŀ ?i:~%^l=ٔ^ii)mxiiimjVi?H|;t I?IM9@I @I@I@I!Y^Au_} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259768A I I OM >ԁ g,?A6T"?6 ?6߼ٱ6g& >AHRS rotation from veh to nav: [[0.232211,-0.958808,-0.163604],[0.972284,0.233521,0.011448],[0.027228,-0.161728,0.986460]]6H?@Ŀ ??/r??Ŀ?i6T"?I6d;6CYFbByF5*IiMb@Mb@Mb@ 9K7A`?i|?5Zd;O?Yyqj<Z"AA OA)& AYAbD5VD5yE<=%EB=ٔE;Q-E>9IYI=MRGyMFMEU>QQ 5e4U w?Q 9e4Uh)UdBYe+?Q Ee:ye?Q Ie?U~CIUX;iU:UJ4yqɮuߩAqjhFNOT Ignoring new targets: 350.44 m.Rh>8Zh>8 ProNav: ac range: 350.441101 m, nav range: 345.160034 m, bearing: 73.231769 deg, approach rate: -0.669490 m/s, LOS rate: 0.002597 deg/s, cmd heading: 77.436252 deg, new cmd heading: 77.439530 deg. Bh8HeadingCmd: 1.351575 target range: 350.441101 and range: 352.10 m.hg?h*h"h hgfffdddjdZd`*?bE:4jE64rE/E= E=E=)E9"E=;*E=M:VE=FA4ZE9aM@aM@aM@aM@Q颹ɢ(@) lD>i)iig?z;6u Ig?I9@ @@/@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510584ԁ^AzԱA I I O% > m,Ί?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762468Y~zBy~S*IbD VD ky5=%=K=ٔEQ-M>9IYQ=URGyUFE>Q 54w?Q 9 4a)oBYyQ I?CIgo;ip;i) i+iM?y; IM?IM9@I @I@U/@QAAB(>BBV*IB|BB =BBB$t;Bh/EEI EMEM%EI"EI*EM1:VEM 4ZEIBEM1N9 t,fӍ?AJގ?Jʪ?JٱJX$ VAHRS rotation from veh to nav: [[0.234247,-0.958885,-0.160213],[0.971922,0.234760,0.015991],[0.022278,-0.159461,0.986953]]JH`? /݁Ŀ? ?@_?Ж?3iĿ@?iJގ?IJ.g;JCYZBy^f*I ``bDfVDf0yr=%rP=ٔvnN9Y= RGy FE>1Q 5]45w?Q 9e45[)5xBYiymW?Q Iu?5CI5i)ivi%?Mv;P*I %?I A9@ @@@EU EUEU'EQ"EU;*EU:VEU'4ZEQae@ae@ae@ae@i ^Ae   checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518879ԑ A I I O >'{,?AFŽ?F?FlaٱFm# VAHRS rotation from veh to nav: [[0.235105,-0.958852,-0.159151],[0.971760,0.235283,0.018000],[0.020187,-0.158889,0.987090]]FH?@_Ŀ?@?wn?ѫ?`vVĿ=?iFŽ?IFuh;DYbBybz*IiMb@Mb@Mb@ 9"~?ˡES㥛?Y3?y'/<+#AA A) AYAbDVDP)y=%4=ٔ-;Q->9Y=RGyFE>Q 542"w?Q 94S)BYh4?Q E:y?Q I?CI;i1;`4yɮAB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 350.44 m.RhZh- ProNav: ac range: 350.441101 m, nav range: 344.308136 m, bearing: 73.233753 deg, approach rate: -0.810920 m/s, LOS rate: -0.000502 deg/s, cmd heading: 77.446074 deg, new cmd heading: 77.445490 deg. Bh-n5HeadingCmd: 1.351679 target range: 350.441101 and range: 352.10 m.h5?h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE`V@Աɢ!;) >i)Ni~ifi?u;y3I?I 9@ @@1@@dA@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770466^A0 BU &>BQ BU *IBU BBU =BQ BQ BU At;BU t/EE  E E %E "E I;*E :VE 4ZE BE gj9 ,?A6S?6ȣ?6:ٱ6y! BAHRS rotation from veh to nav: [[0.235403,-0.959156,-0.156859],[0.971727,0.235301,0.019489],[0.018216,-0.157012,0.987429]]6H@!?hĿc?`U? ??Ŀ ?i6S?I6'i;6CYbByb*IbDjVDj0rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022560yv=%zW=ٔz=;Q-z>9|Y|=~RGy~F ME> Q 54 (w?Q 94 L) BYy ?Q I? CI p:i g: Ig4y%Bɮ%A%EjhIMFNOT Ignoring new targets: 350.44 m.RhUZhUe ProNav: ac range: 350.441101 m, nav range: 344.041260 m, bearing: 73.233604 deg, approach rate: -0.704601 m/s, LOS rate: -0.000392 deg/s, cmd heading: 77.445486 deg, new cmd heading: 77.445041 deg. BheىmHeadingCmd: 1.351671 target range: 350.441101 and range: 352.10 m.hm?hi*hi"hi higqfqfqfqdydydyjdZdm^ @颩ɢ<) M>i)/z顱iȐi?dVs;6I?I59@1 @1@54@19^AyBDAT read: Rx Time:15:05:27.0438 TRx dataTimestamp_ set to:1761577528.419961checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280593q A I I O% >9,s"?A 2R?2Ƣ?2ٱ28! >AHRS rotation from veh to nav: [[0.235440,-0.959207,-0.156491],[0.971750,0.235058,0.021212],[0.016438,-0.157064,0.987452]]2H"?ӱ`Ŀ@?`?? "Ր?Ŀ 4?i2R?I2`h;2CYFÊByF*IIJp>)J9AYI=MRGyMFM蛸EM>QE EE'E"E=;*E҆:VE'4ZEa@a@a@a@Q 54U//w?Q 94U0E)UBY:?Q E:y?Q I?U4CIUUi):tiސi?,q;6I ?I ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5273359@ @@/@ԙ^A:AcAzA Aa I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780758I O >Xh, n9AYA=ERGyEFM!:EM>QQ 5]4U5w?Q 9]4U=)UBYYy]?Q Ie?UZCIU:iU:Uu4ymBɮmҧAijhFNOT Ignoring new targets: 350.44 m.RhjZhj ProNav: ac range: 350.441101 m, nav range: 343.445099 m, bearing: 73.230499 deg, approach rate: -0.758465 m/s, LOS rate: -0.004000 deg/s, cmd heading: 77.440384 deg, new cmd heading: 77.435718 deg. Bh/HeadingCmd: 1.351508 target range: 350.441101 and range: 352.10 m.h9?h*h"h hgfff!d!d!d!jd!Zd-@频ɢ Y<) >i)o顙iHi9?Zo;*I9?IBAB%>BB*IBΊBBBBB=t;Bq/Ee9@a @a@a@a@i@m=E EE)E"E ;*E:VEFA4ZEBEON,CV?AB?BB?B +SٱB fAHRS rotation from veh to nav: [[0.233599,-0.960071,-0.153935],[0.972248,0.232731,0.023891],[0.012888,-0.155244,0.987792]]BH ? #ÿ`??v?1e?@ÿ@?iB?IB`f;@iYڊBy*IbD=m*DAT read: user:912> }BDAT read: Tx time:15:05:28.4240 $Ping request sent.9Y=RGy5F=);E=>qQ 54u=w?Q 94u4)uBYy̧?Q I?uCIu:i)Chii=?EA?m;E}IE?IA9@ @@/@E EE(E"EO6;*Ev:VEc44ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246398 ^A- G8A I I O >A(,r?A(26*?2?28ٱ2` >AHRS rotation from veh to nav: [[0.232048,-0.960687,-0.152430],[0.972639,0.230982,0.024913],[0.011275,-0.154041,0.988000]]2Hཱི?`ւÿ? ѐ???`ÿ?i26*?I2'e;2CYFByF*I hhiUMb@Mb@Mb@QQQQ Q9U?Mbp~jt?YUL?yUUD9Y=RGyF/;E>Q 542Cw?Q 94,)BYL?Q E:y?Q I?CI:iv:4yBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 350.44 m.Rht Zht  ProNav: ac range: 350.441101 m, nav range: 342.790955 m, bearing: 73.225720 deg, approach rate: -0.826398 m/s, LOS rate: -0.007729 deg/s, cmd heading: 77.430050 deg, new cmd heading: 77.421366 deg. BhHeadingCmd: 1.351258 target range: 350.441101 and range: 349.20 m.h?h*h"h hgfffd d d jd Zd )?颹ɢX<) >i)Eciۓi?k;'I?Iԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.4993199@ @@@ԩBiBiBm*IBmBBiBiBiBmPt;Bmy/E^AA>AEe  Ee Ee &Ea "Ee l;*Ee :VEe 4ZEa BEe [F checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750407 ,?A2e?2P?2ٱ2 :AHRS rotation from veh to nav: [[0.230291,-0.961262,-0.151463],[0.973074,0.229017,0.026048],[0.009648,-0.153383,0.988120]]2H1z? cÿk#?@mP?a? ƒ? ÿ@?i2e?I2d;2CYBByB*IbDNVDNyVA<%VZ=ٔV;Q-V>9XYX=ZRGyZFZߝ;E^>l9Q 5E4=UIw?Q 9E4=%)=BYAyE?Q IM?=CI=:i=|:=v4yQɮUAQjhy}FNOT Ignoring new targets: 350.44 m.Rh Zh  ProNav: ac range: 350.441101 m, nav range: 342.478760 m, bearing: 73.222703 deg, approach rate: -0.799712 m/s, LOS rate: -0.007735 deg/s, cmd heading: 77.421362 deg, new cmd heading: 77.412303 deg. Bh੹HeadingCmd: 1.351100 target range: 350.441101 and range: 349.20 m.h?h*h"h hgfffdddjdZdR?ɢt<) t>i)i]ii?j;SλI?I9@ @@0@@eA@ Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010205^AmA I I O >a 3,?AE EEE"E:*E:VEZEa@a@a@a@>?>y?>ٱ>^8 FAHRS rotation from veh to nav: [[0.228735,-0.961906,-0.149726],[0.973457,0.227255,0.027154],[0.007906,-0.151963,0.988355]]>H1G? 8*ÿ&??@]Λ? 1?sÿ?i>?I>d;>CYNByN*IYiMb@Mb@Mb@ 9kt?I +?Y P?y94<EA A)l AYAbDVDfy=%;=ٔ҂;Q->9Y=RGyFp;E> Gf>C%MGQ 5%4Ow?Q 9-4=eA)BYE%P?IQ EU:y]ȫ?Q I]?CIY<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2554949eAYAi<ꒉ4yɮ;Ajh9=FNOT Ignoring new targets: 350.44 m.RhEZhEu ProNav: ac range: 350.441101 m, nav range: 342.132812 m, bearing: 73.218987 deg, approach rate: -0.750026 m/s, LOS rate: -0.008064 deg/s, cmd heading: 77.412305 deg, new cmd heading: 77.401147 deg. Bhu}HeadingCmd: 1.350905 target range: 350.441101 and range: 349.20 m.h}s?h*h"h hgfffdddjdZd`?AɢE~<)i m?ii)ujUqqiuwri}s? 1i;PԉIs?IA@ @@/@Ա5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507431 ^A F˻AI IY Ii Ou >,Ž?A:HЏ?:?:Sлٱ:;b FAHRS rotation from veh to nav: [[0.227125,-0.962455,-0.148640],[0.973845,0.225458,0.028199],[0.006371,-0.151157,0.988489]]:Hq?oÿ@)? ?J?z?`Yÿ ?i:HЏ?I:i e;:CHYNByN*IIR=)R>bDZVDZ1yb8N%bF=ٔbt;Q-f>9dYd=fRGyfFj;Ej>lQ 5r4n9Vw?Q 9r4n)nBYpyr?Q Iv?n,CIn:in:n4B|B|B~ +IB~BB|B|B|B~ht;B~/EBCBCBB =B =CA5yBɮAEjhAEFNOT Ignoring new targets: 350.44 m.RhM1ZhM1] ProNav: ac range: 350.441101 m, nav range: 341.803009 m, bearing: 73.215346 deg, approach rate: -0.875567 m/s, LOS rate: -0.009675 deg/s, cmd heading: 77.401145 deg, new cmd heading: 77.390212 deg. Bh]yԹeHeadingCmd: 1.350714 target range: 350.441101 and range: 349.20 m.he2?ha*ha"ha hagifififqdqdqdqjdqZd}?颡ɢ <) h>i)O顩i#i2?\h; cI2?ID =D <E EE(E"E;*E:VEc44ZEBE8C 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014144ֶ,܎?Af,?f?frٱf( nAHRS rotation from veh to nav: [[0.225614,-0.962898,-0.148070],[0.974204,0.223769,0.029230],[0.004988,-0.150845,0.988545]]fH?`¿,?r?`q?Knt?Nÿ(?if,?Ifi e;dYvByv*Ixi}Mb@Mb@Mb@yyyy y9}:v?y&1|?MbP?Y}T?y}`;}:yy y)yyYybDVDyL_<%8=ٔ?L;Q->9Y=RGyF Fe;E >Q 54\w?Q 94* )BY%T?Q E%:y%?Q I%?\CI:i3:ơ4y5mBɮ5ȥA5EjhY]FNOT Ignoring new targets: 350.44 m.Rhew>Zhew>u ProNav: ac range: 350.441101 m, nav range: 341.434662 m, bearing: 73.210774 deg, approach rate: -0.837604 m/s, LOS rate: -0.010407 deg/s, cmd heading: 77.390210 deg, new cmd heading: 77.376479 deg. Bhu}HeadingCmd: 1.350474 target range: 350.441101 and range: 349.20 m.h}Xܬ?hy*hy"hy hygfffdddjdZd@颹ɢ@<) >i)>Hi)iXܬ?Ig;IXܬ?I!e9@a @a@e4@a@m=@m=bE!4jEY"4rE١/E- E-E-%E)"E-=;*E-:VE- 4ZE)a5@a5@a5@a=@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262347^AjZXy A I I O >,x?A6U:?6%?6Sgٱ6 >AHRS rotation from veh to nav: [[0.223976,-0.963188,-0.148675],[0.974588,0.221905,0.030591],[0.003526,-0.151749,0.988413]]6H`9XY\=^RGy^F^;Eb>`Q 5f4bpbw?Q 9j4bx)`Yhyjiq)} Byyi}@iլ?ag;0Iլ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5155029@ @@/@ԉB$>BB+IBBBBBBPt;By/E^A5?BɺԱEu EuEu(Eq"Eu;*Euą:VEuc44ZEqBEuA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766454 lã,LS?A2k?2NW?2'ٱ2 :AHRS rotation from veh to nav: [[0.222503,-0.963721,-0.147424],[0.974929,0.220299,0.031323],[0.002291,-0.150697,0.988577]]2H z?`¿2? 2?` ?b?@Jÿl?i2k?I2EMd;2CYBByB*I DDbDNVDN0yrA%rG=ٔrE;Q-v>9tYt=vRGyvFzBq;Ez>|Q 54~hw?Q 94~)~BYy m?Q I ?~CI~;i~:~>4yɮAjh9=FNOT Ignoring new targets: 350.44 m.RhEEZhEEU ProNav: ac range: 350.441101 m, nav range: 340.795288 m, bearing: 73.202546 deg, approach rate: -0.830416 m/s, LOS rate: -0.010807 deg/s, cmd heading: 77.365068 deg, new cmd heading: 77.351775 deg. BhUS]HeadingCmd: 1.350043 target range: 350.441101 and range: 349.20 m.h]7ά?hY*hY"ha hagafafafidididijdiZdu`T @颙ɢc<) >i)8<顡i&i7ά?f;q*Y:I7ά?IԹ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021516^A9A I I O >EE  EE EE *EA "EE ;*EE ҆:VEE (N4ZEA aM @aM @aM @aM @Q ʣ,.*?AYBy *IEBDAT read: Rx Time:15:05:31.2887 ETRx dataTimestamp_ set to:1761577532.700200Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271546iMb@Mb@Mb@ 9(\?Mb`?{GzYN?y;# $A) AYAbDVDfy/Լ%<=ٔQ->9Y=RGyFE>Q 54*ow?Q 94)BYN?Q E:y j?Q I ?CIQ;i?;ܶ4y!ɮ% A!jhYeFNOT Ignoring new targets: 350.44 m.Rhm)Zhm)M ProNav: ac range: 350.441101 m, nav range: 340.445190 m, bearing: 73.198454 deg, approach rate: -0.792609 m/s, LOS rate: -0.009273 deg/s, cmd heading: 77.351776 deg, new cmd heading: 77.339488 deg. BhU˹UHeadingCmd: 1.349829 target range: 350.441101 and range: 349.20 m.hU0Ǭ?hY*hY"hY hYgYfYfafadadadijdiZdP @ɢ4w<) @>i)x5i˘i0Ǭ? d3f; GR:I 0Ǭ?IA9@ @@@@dA@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523525^A ԙ A9 IA IY Om >Tѣ,3D?A2[?2Υ?2b9ٱ2 :AHRS rotation from veh to nav: [[0.220168,-0.964203,-0.147782],[0.975462,0.217583,0.033638],[-0.000279,-0.151562,0.988448]]2H@t.?@ ¿6?@? 9? YL2@dfÿ]?i2[?I2eEd;2CYBߊByB*IBJ%>BHBJ+IBJBBHBHBHBJJt;BJv/EbDZVDZyb3_%b[=ٔbL;Q-f>9dYd=jRGyjFjO;Ej>lQ 5r4ntw?Q 9r4n )nBYtyv?Q Iv?nCIn;in;nV4yzIBɮzAzEjhFNOT Ignoring new targets: 350.44 m.Rh%4Zh%45 ProNav: ac range: 350.441101 m, nav range: 340.147491 m, bearing: 73.194848 deg, approach rate: -0.815408 m/s, LOS rate: -0.009885 deg/s, cmd heading: 77.339489 deg, new cmd heading: 77.328661 deg. Bh5ٹ=HeadingCmd: 1.349640 target range: 350.441101 and range: 349.20 m.h=?h9*hA"hA hAgAfAfIfIdIdIdQjdQZdU@E EE(E"E:*E:VEc44ZEBE>i9q)}Li0iJi%?-|f;-dQ;I5?IaeDAT read: 15:05:31.2887 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 396,-0.28, 2.082, 0.623, 2.238, 2.099, PHS= 0.084,-1.432, 0.095, RAW= 150.3, 16.2, CAL= 150.7, 18.2, ROT= 359.3, -18.2 uYgot valid direction response: 15:05:31.2887 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 396,-0.28, 2.082, 0.623, 2.238, 2.099, PHS= 0.084,-1.432, 0.095, RAW= 150.3, 16.2, CAL= 150.7, 18.2, ROT= 359.3, -18.2 }PDAT read: Bearing 235.4, -3.4 (Local) }~Local bearing/azimuth received: Bearing 235.4, -3.4 (Local) DAT read: Range 11 to 50 : 345.4 m (Round-trip 460.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.949901,-0.011606,0.312335]Fpublishing direction and range infoy9=qe?ćIK?Y=C9999 9)=@I=1=i=K=\=='@=Ð>=aU(@ =>)=ū@I=99=V?:?n:b? =?)=I=D+Hi=99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑm9@i @i@i@iԹ^A ጹ *DAT read: user:913>  BDAT read: Tx time:15:05:32.4740 - $Ping request sent.- 0ף,_?A2ސ?2;ʬ?2:ٱ2 :AHRS rotation from veh to nav: [[0.219083,-0.964610,-0.146732],[0.975705,0.216360,0.034468],[-0.001501,-0.150718,0.988576]]2H ?@¿8?`?@ɥ?XJÿ`i?i2ސ?I2?d;2CY؊By*II%=)%p;Yi-Mb@Mb@Mb@)))) )9-HzG?y&1MbY-=J?y-`e--A-A -A)))Y-AbDeVDeN2yu%u=ٔ};Q-}>9} ?Y} ?=}RGyF ;E>Q 54|w?Q 94)BYHJ?Q E:yZ?Q I?6CIO;i;qƉ4yɮĥAiE EEE"Ex;*E1:VEZEa%@a%@a%@a%@iM?AJiCRiCji*?bm ht@"Z;Z@Rqe?ćIK?ZiD+Hbijz[aEM@U=t@sincZ@ZX \4?#^(?7y ?2iC:inB"i3H>?*i@DBi/Ciig|iBiCiy?u addTargetRange:: Added new target pos. range: 345.399994 m, deltaT: 4.032324 s, deltaX: -3.800018 m, approachRate: -0.942389 m/s, rangeRepo size: 4  Added new target pos. range: 343.770905 m, bearing: 79.490140 deg, lat: 36.779198 deg, lon: -121.859371 deg, deltaT: 8.315776 s, deltaX: -6.670197 m, approachRate: -0.802114 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 343.77 m.RhZh ProNav: ac range: 343.770905 m, nav range: 339.433685 m, bearing: 73.175707 deg, approach rate: 0.000000 m/s, LOS rate: -0.009885 deg/s, cmd heading: 77.328663 deg, new cmd heading: 77.312735 deg. BhHeadingCmd: 1.349362 target range: 343.770905 and range: 345.40 m.h㷬?h*h"h hgfffdddjd`fu@ZdTO?yɢ}w<)y }>i)(ԁ顁iƙi㷬?2f;Q$;I㷬?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.244840]9@a @a@e/@aԱ^A yb]; A ؟AI I O >ޣ,Q-}?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.4958686?6?6M;ٱ6 BAHRS rotation from veh to nav: [[0.218165,-0.964609,-0.148102],[0.975909,0.215263,0.035544],[-0.002405,-0.152288,0.988333]]6H? ¿:??@2?`Hc /~ÿl?i6?I6۹c;6CYJByJ*IbDRVDR0yZ%Z_=ٔ^1!;Q-^>9^"?Y^"?=bRGybFb';Eb>dQ 5j4fw?Q 9j4f)fBYlynx?Q In?f[CIf ;ify;f̉4ypɮrAtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 343.77 m.Rhc Zhc - ProNav: ac range: 343.770905 m, nav range: 339.143860 m, bearing: 73.173031 deg, approach rate: -0.824042 m/s, LOS rate: -0.007616 deg/s, cmd heading: 77.312735 deg, new cmd heading: 77.304699 deg. Bh5DHeadingCmd: 1.349221 target range: 343.770905 and range: 345.40 m.hJ?h*h"h hgfffdddjdZd@(?QɢUI<)Y ]>iY)])$YYi]@#ieJ?eXf;m ;ImJ?II)B '>B B *IB BB B B B t;B /E%9@! @!@%/0@)@5=@5=IE EE'E"El;*E?:VE'4ZEBE[Fz,?A2y ?2?2V;ٱ2  :AHRS rotation from veh to nav: [[0.217811,-0.964632,-0.148469],[0.975986,0.214764,0.036451],[-0.003276,-0.152843,0.988245]]2H@7?D`ÿ F;? a}?ຩ?j\ÿ ?i2y ?I2Ic;2CYBByB*IbDJVDJyRS%RL=ٔVW;Q-V>9TYT=ZRGyZFZl:EZ>\Q 5b4^w?Q 9b4^)^BYdyf?Q If?^CI^9:i^g:^Ӊ4yjBɮjAjܮEyjhyFNOT Ignoring new targets: 343.77 m.RhZh ProNav: ac range: 343.770905 m, nav range: 338.827393 m, bearing: 73.170084 deg, approach rate: -0.790161 m/s, LOS rate: -0.007366 deg/s, cmd heading: 77.304696 deg, new cmd heading: 77.295846 deg. Bh¡HeadingCmd: 1.349067 target range: 343.770905 and range: 345.40 m.h:?h*h"h hgfffdddjdZd_?ɢEq<)! -_>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002285iY)e=aaimsi=:?Ef;u;Iu:?ԱI}9@y @y@}0@yE EE*E"E*E:VE(N4ZEa@a@a@a@^A ϩ; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252182 A I I O >,Q2?A>5#?>?>z;ٱ>Y` FAHRS rotation from veh to nav: [[0.217044,-0.964642,-0.149529],[0.976154,0.213860,0.037247],[-0.003951,-0.154047,0.988056]]>H`?W#ÿ 5#?I>Dc;>CYjByj*I1ieMb@Mb@Mb@aaaa a9eS㥛?X9v:vYe$F?yeeTe3Aa el A)e AaYeAbD}VD}1ym%4=ٔ:Q->9Y=RGyFw:E>Q 54w?Q 94)BYTF?Q E:y?Q I?CI;i ;ۉ4y$BɮAjhYeFNOT Ignoring new targets: 343.77 m.RheZhu ProNav: ac range: 343.770905 m, nav range: 338.475525 m, bearing: 73.168131 deg, approach rate: -0.747479 m/s, LOS rate: -0.004153 deg/s, cmd heading: 77.295844 deg, new cmd heading: 77.289979 deg. Bhg6HeadingCmd: 1.348965 target range: 343.770905 and range: 345.40 m.hߪ?h*h"h hgfffdd d jd Zd :?颱ɢb8G<) >i)2ii ߪ? Tf; Շ;I ߪ?Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5037049@ @@4@ԑAa Aa Bm (>Bi Bm *IBm BBm =Bi Bi Bm t;Bm /E^A ; E  E E 'E "E T;*E :VE '4ZE BE GA,D̏?A2"?2[?2!c;ٱ2E >AHRS rotation from veh to nav: [[0.217052,-0.964542,-0.150158],[0.976148,0.213685,0.038404],[-0.004956,-0.154912,0.987916]]2H`X?@^8ÿ9XYX=ZRGyZF^̷E^>`Q 5b4bw?Q 9f4b)bBYdydQ If?bCIb;ib;b`4ylɮnAl~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755981jh FNOT Ignoring new targets: 343.77 m.RhZh% ProNav: ac range: 343.770905 m, nav range: 338.184570 m, bearing: 73.166514 deg, approach rate: -0.805707 m/s, LOS rate: -0.004481 deg/s, cmd heading: 77.289977 deg, new cmd heading: 77.285122 deg. Bh%D-HeadingCmd: 1.348880 target range: 343.770905 and range: 345.40 m.h5?h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE{5@qɢuvt<)q u^>iq)}dPyyi}ꚼi?4g;;I?Im>im>9@ @@/@@ eA@ dA^A5#2;Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010290I) I9 OE >Q ,g?A2 !?2 ?2;ٱ2 :AHRS rotation from veh to nav: [[0.217106,-0.964783,-0.148524],[0.976129,0.213632,0.039153],[-0.006045,-0.153479,0.988133]]2H ?@ÿs=ٔ&;Q->9Y=RGyF E>Q 54w?Q 94)BYo=?Q E:y?Q I?CI~ ;i:4yɮi):顉i i⧬?ag;;I⧬?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260591u9@q @q@q@qԡ^A [R;A dAzA fAI! I9 OI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511876 -/,?AY~By~`*IIi>)<bDVDy%%%P=ٔ%Q-->9)Y)=-RGy-F5E5>iQ 5u4mݥw?Q 9}4m5)mBYyyyQ I}?m$CIm;im;m4yBɮȥAӮEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 343.77 m.RhZh ProNav: ac range: 343.770905 m, nav range: 337.571381 m, bearing: 73.166276 deg, approach rate: -0.744829 m/s, LOS rate: -0.000290 deg/s, cmd heading: 77.284752 deg, new cmd heading: 77.284407 deg. BhKHeadingCmd: 1.348867 target range: 343.770905 and range: 345.40 m.h?h*h"h hgfffdddjdZd@w@ɢgY,<) b>i)Ui%#i%?%Pg;)I-?I)B*>BB*IBBBBBDBvt;B/EBBBBBC¼259@ @@@E EE)E"El;*E:VEFA4ZEBE[F) ,;?A6 ?6?6<ٱ6y >AHRS rotation from veh to nav: [[0.217739,-0.964621,-0.148650],[0.975971,0.213889,0.041615],[-0.008348,-0.154139,0.988014]]6H?+@ÿ(;?`?N? ֺÿ@ϝ?i6 ?I6cc;6CYzByS*IbD%VD%yET%EH=ٔM;Q-M>9YYY=]RGy]FefкEm>qQ 54u"w?Q 94u)uBYy?Q I?uJCIu^q;iu`;u4yɮAjhFNOT Ignoring new targets: 343.77 m.Rh!oZh!o ProNav: ac range: 343.770905 m, nav range: 337.271912 m, bearing: 73.166193 deg, approach rate: -0.737115 m/s, LOS rate: -0.000204 deg/s, cmd heading: 77.284410 deg, new cmd heading: 77.284161 deg. BhzHeadingCmd: 1.348863 target range: 343.770905 and range: 345.40 m.h?h*h"h hgfffdddjdZd@ @}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015912Qiɢ;) u>i)=^ ii?%}*h;M#;IM?IY=9@A @A@A@AybE]c44jE]64rE]L/E EE(E"E ;*E:VEc44ZEa@a@a@a@Ա 5 BDAT read: Rx Time:15:05:35.3361 5 TRx dataTimestamp_ set to:1761577536.732941= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270077^A ;I! I1 O] >gA ,8g3?A6?6?6C<ٱ6A@ BAHRS rotation from veh to nav: [[0.218335,-0.964565,-0.148138],[0.975826,0.214294,0.042916],[-0.009650,-0.153927,0.988035]]6H`j? /¿9?@m?@?@tÃÿ?i6?I64c;6CYJqByJG*IiMb@Mb@Mb@ 99IYI=URGyUFUȺEU>YQ 5e4]Vw?Q 9e4])]BYm%4?Q Em:ym?Q Im?]oCI]:i]:]4yuBɮ}i)q 顩i i?Uh;3(;I?IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519882.ۼ9@ @@@B A <B! B% CB% {*IB% BB% =B! B! B% |t;B% /E E  E E 'E "E ~ ;*E M:VE '4ZE BE VA >iA IA  DAT read: 15:05:35.3361 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 226,-0.35, 0.337,-1.120, 0.477, 0.408, PHS= 0.031,-1.483, 0.025, RAW= 149.8, 18.5, CAL= 150.7, 21.5, ROT= 359.3, -21.5  Ygot valid direction response: 15:05:35.3361 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 226,-0.35, 0.337,-1.120, 0.477, 0.408, PHS= 0.031,-1.483, 0.025, RAW= 149.8, 18.5, CAL= 150.7, 21.5, ROT= 359.3, -21.5  PDAT read: Bearing 239.1, -4.5 (Local)  ~Local bearing/azimuth received: Bearing 239.1, -4.5 (Local) ԩ  X#Rx 1: Read direction message, but no range. ^direction in FSK: [0.930348,-0.011367,0.366501]yA E ri?rwQcGѨCt?A A A A A )A IE A E 7 >)A IE 7 A E LtV?՜R+?`D? E 3)?)E IA iE 7  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseAAIIIaOm?,JS?AVl?Vަ?VK<ٱV2 rAHRS rotation from veh to nav: [[0.220119,-0.964444,-0.146274],[0.975394,0.215699,0.045623],[-0.012450,-0.152717,0.988192]]VH,? ¿l6??`[?F 9ÿD?iVl?IVѡc;TYvaByv5*I bD%VD%yUp%U!=ٔ];Q-]>9YYY=eRGyeFe5mEe>qiQ 54m|w?Q 94m)mBYyr?Q I?mCIm;imm;m4yɮyAjhFNOT Ignoring new targets: 343.77 m.Rh8Zh8- ProNav: ac range: 343.770905 m, nav range: 336.633148 m, bearing: 73.167812 deg, approach rate: -0.686228 m/s, LOS rate: 0.001838 deg/s, cmd heading: 77.286165 deg, new cmd heading: 77.289030 deg. BhUt8UHeadingCmd: 1.348948 target range: 343.770905 and range: 345.40 m.h]T?hY*hY"hY hYgYfYfafadadadjdZd`@ɢ8l;) C>i)[Qii T? TRh; cV;IT?IԡDAT read: Range 11 to 50 : 343.5 m (Round-trip 458.1 ms) speed 0.7 m/s X#Rx 2: Read range message, but no direction.yYCT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.=FΞ9@ @@@E  E E (E "E 7;*E ҆:VE c44ZE a @a @a @a @ ^A K;E *DAT read: user:914> M BDAT read: Tx time:15:05:36.7739 M $Ping request sent.U 9Y=RGyF?E>Q 54Tw?Q 94)BYk5?Q E:y?Q I?CI:i@:4y˳BɮAʮE addTargetRange:: Added new target pos. range: 343.500000 m, deltaT: 4.285776 s, deltaX: -1.899994 m, approachRate: -0.443326 m/s, rangeRepo size: 4 jhFNOT Ignoring new targets: 343.77 m.RhG8ZhG8 ProNav: ac range: 343.770905 m, nav range: 336.267212 m, bearing: 73.169744 deg, approach rate: -0.725445 m/s, LOS rate: 0.003832 deg/s, cmd heading: 77.289027 deg, new cmd heading: 77.294827 deg. BhU(9HeadingCmd: 1.349049 target range: 343.770905 and range: 343.50 m.h?h*h"h hgfffdddjdxu@Zd@$?ɢ$0;) &7>i)%!!i%6\i-?-h;-;I-?I11199]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248246)B)>BCB\*IBBB =BBDBt;B/E 9@  @ @ @ E  E E &E "E l;*E $:VE 4ZE BE [FZn<ٱ2" :AHRS rotation from veh to nav: [[0.222790,-0.964184,-0.143923],[0.974758,0.218121,0.047646],[-0.014547,-0.150905,0.988441]]2H`^? l¿71?a?`e?ˍ@PÿO?i2wa?I2$4c;2CYBPByB*IbDJVDJk1yR4%R'=ٔV:Q-V>9TYT=ZRGyZFZH%E^>\Q 5b4^w?Q 9f4^)^BYdyfW?Q If?^CI^:i^:^_4yjӳBɮn AnˮE~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 343.77 m.Rh 8Zh 8 ProNav: ac range: 343.770905 m, nav range: 335.920654 m, bearing: 73.171650 deg, approach rate: -0.708120 m/s, LOS rate: 0.003899 deg/s, cmd heading: 77.294826 deg, new cmd heading: 77.300551 deg. BhF+9HeadingCmd: 1.349149 target range: 343.770905 and range: 343.50 m.h밬?h*h"h hgfffdddjdZd]? ɢ @=#;)) -!>i1)5V11i5i=밬?= g;=xz:I=밬?IA%9@! @!@!@!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752903)^AM ;IIO>EE  EE EA EA "EE %;*EE :VEA ZEA aM @aM @aM @aM @Q H+,3T?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004780^/?^ ?^)z<ٱ^3 jAHRS rotation from veh to nav: [[0.224270,-0.963627,-0.145350],[0.974407,0.219398,0.048938],[-0.015268,-0.152605,0.988169]]^H?@Ӛ¿`X.?@:?[?Dÿ ?i^/?I^b;^CYrZByr,*IimMb@Mb@Mb@iiii i9m/$?㥛 {Gzt?Ym1(?ymmף;mzAm@ m A)iiYm AbDVDܲy;=%<=ٔ:Q->9Y=RGyF{_E > Q 54 w?Q 94 ~) BY;)?Q E:yA?Q I%? CI x;i r; +!4y)ɮ-A)1jhQ]FNOT Ignoring new targets: 343.77 m.Rh]N8ZheN8u ProNav: ac range: 343.770905 m, nav range: 335.625916 m, bearing: 73.173701 deg, approach rate: -0.660173 m/s, LOS rate: 0.004598 deg/s, cmd heading: 77.300550 deg, new cmd heading: 77.306709 deg. BhuI9}HeadingCmd: 1.349257 target range: 343.770905 and range: 343.50 m.h}q?hy*hy"hy hygyfffdddjdZd!V?颹ɢb;) `5>i)LiMiq?1g;ҹIq?Im9@i @i@m/@ia checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258946ԉ^A[RS:I I! O- >AA AA BE *>BE CBE C*IBE mBBE =BA BE DBE t;BE /EԹ /2,(ɐ?A2?2٫?2cw<ٱ29 :AHRS rotation from veh to nav: [[0.226232,-0.963131,-0.145596],[0.973956,0.221347,0.049138],[-0.015099,-0.152921,0.988123]]2H*?`¿*?U? (? &쎿@ÿ@?i2?I2 &b;2CYj[Byj-*IbDrVDrk1yz;%zU=E EE$E"El;*E:VE4ZEBEa2EaJE;a:E;aٔ~Q->9Y=RGy%F%E%>)Q 554-w?Q 954-jx)-BY1y=?Q I=?-=CI-*$;i-H%;-'4yAɮMߥAIjhiuFNOT Ignoring new targets: 343.77 m.Rhu=8Zh}=8 ProNav: ac range: 343.770905 m, nav range: 335.378571 m, bearing: 73.175510 deg, approach rate: -0.661571 m/s, LOS rate: 0.004842 deg/s, cmd heading: 77.306711 deg, new cmd heading: 77.312142 deg. BhT9HeadingCmd: 1.349351 target range: 343.770905 and range: 343.50 m.h?h*h"h hgfffdddjdZdAQ?ɢH;) &7>i)87i`ui?f;I?Iԑ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509023u9@q @q@uL1@q^AΒ{II O> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760228 [8, ?AYiBy?*I i]Mb@Mb@Mb@YYYY Y9]m?V-I +?Y].?y]h]94<]A]^A ]V A)] AYY] AbD}VD}:2y|=%3=ٔQ->9Y=RGyFE>Q 54(w?Q 94p)BY/?Q E:y ?Q I?eCI ;i ;/4yɮAjhFNOT Ignoring new targets: 343.77 m.Rh8Zh8 ProNav: ac range: 343.770905 m, nav range: 335.068542 m, bearing: 73.177349 deg, approach rate: -0.685810 m/s, LOS rate: 0.004071 deg/s, cmd heading: 77.312141 deg, new cmd heading: 77.317662 deg. Bh29 HeadingCmd: 1.349448 target range: 343.770905 and range: 343.50 m.h?h*h"h hgfffdddjdZd`h@E EE%E"E;*E:VE 4ZEa%@a%@a%@a%@Yɢ] ;) S>i)]i(i?0e;I?IAechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0126389@ @@=0@@dA@eAA ^A "5q A) I1 II OU >-?,?A2H]?2H?2Ё<ٱ2A >AHRS rotation from veh to nav: [[0.230518,-0.961928,-0.146821],[0.972939,0.225391,0.050875],[-0.015846,-0.154575,0.987854]]2H`?¿@Q"??L ?9`ÿ?i2H]?I2_;2CYB_ByF1*IbDNVDNܲyVf%VZ=ٔV;Q-V>^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2642219\Y`=bRGybFb?Eb>dQ 5n4fDw?Q 9n4fEj)fBYlyr|?Q Ir?fCIfm(;ify);f464yvBɮvAvEjhFNOT Ignoring new targets: 343.77 m.Rh8Zh8- ProNav: ac range: 343.770905 m, nav range: 334.810394 m, bearing: 73.179075 deg, approach rate: -0.683974 m/s, LOS rate: 0.004577 deg/s, cmd heading: 77.317659 deg, new cmd heading: 77.322842 deg. Bh- I95HeadingCmd: 1.349538 target range: 343.770905 and range: 343.50 m.h5?h1*h1"h9 h9g9f9fAfAdAdAdAjdIZdMJ@1ɢ5:;)1 5:>>i1)=299i=iE?Ed;E˻IE?IIiB+>BBBB =BBBat;B/E9@ @@4@yDzDE EE&E"E:*E:VE4ZEBE< E,?A2 ?28 ?2<ٱ2 >AHRS rotation from veh to nav: [[0.232313,-0.961359,-0.147717],[0.972506,0.227056,0.051742],[-0.016203,-0.155676,0.987675]]2Hj?`s d¿`?*?@}?@2ÿ@ ?i2 ?I2^;2CYBlByFB*IHHbDNVDNN2yZ=%ZJ=ٔb#g:Q-b>9dYd=jRGyjFnZEv>|Q 54~w?Q 94~Pc)~BYyA?Q I?~CI~;i~;~W=4yBɮA®EB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 343.77 m.RhY8Zh5Y8E ProNav: ac range: 343.770905 m, nav range: 334.530548 m, bearing: 73.181036 deg, approach rate: -0.644126 m/s, LOS rate: 0.004518 deg/s, cmd heading: 77.322844 deg, new cmd heading: 77.328732 deg. BhEkF9MHeadingCmd: 1.349641 target range: 343.770905 and range: 343.50 m.hM ?hI*hI"hI hQgqfqfyfydydydyjdZd@@Ա ɢ |;) 6Y>i)'顱ii ?!c;WIL,3?A2?2Ӫ?2j<ٱ2+ >AHRS rotation from veh to nav: [[0.233994,-0.961105,-0.146711],[0.972099,0.228728,0.052028],[-0.016447,-0.154792,0.987810]]2H?`_ l¿`o?F?[?{א`6ÿ@$?i2?I2Z^;2CYVrByVI*Ii5Mb@Mb@Mb@1111 195oʡ?ˡEy&1?Y5-?y5'5`e<15@ 5 A)5 A1Y5 AbDVD y<%4=ٔY :Q->9Y=RGyF{E>Q 54bw?Q 94[)BYi-?Q E:y?Q I?CI ;i ;(E4yɮAjh%FNOT Ignoring new targets: 343.77 m.Rh-Zh-] ProNav: ac range: 343.770905 m, nav range: 334.227570 m, bearing: 73.181002 deg, approach rate: -0.720186 m/s, LOS rate: -0.000082 deg/s, cmd heading: 77.328731 deg, new cmd heading: 77.328628 deg. BheJemHeadingCmd: 1.349639 target range: 343.770905 and range: 343.50 m.hm?hi*hi"hi higifqfqfqdqdydyjdyZd}@- @ԡ颩ɢ <) d>i)7顱ixi?#za;T&I?I}9@y @y@}/@y@=@=uBDAT read: Rx Time:15:05:39.6314 uTRx dataTimestamp_ set to:1761577541.016063}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273146^A}ΒBy A} p<B B B P*IB wBB =B B B Et;B z/EBECBECBABE =BE =CE4Aq Iy I O >E  E E &E "E ;*E :VE 4ZE BE D9Y=RGyF%zE%>)Q 554-x?Q 954-9U)-BY1y5X?Q I5?-CI-B:i-;-K4yAɮEAAjhimFNOT Ignoring new targets: 343.77 m.Rhu6Zhu6 ProNav: ac range: 343.770905 m, nav range: 333.971008 m, bearing: 73.181052 deg, approach rate: -0.677540 m/s, LOS rate: 0.000133 deg/s, cmd heading: 77.328629 deg, new cmd heading: 77.328780 deg. Bh!6HeadingCmd: 1.349642 target range: 343.770905 and range: 343.50 m.h?h*h"h hgfffdddjdZdS*@ɢQJ<) }>i) ڻchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524317i]i?_;B)I?I9@ @@@A^Aq  DAT read: 15:05:39.6314 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 402,-0.14, 2.742, 1.297, 2.911, 2.765, PHS= 0.079,-1.422, 0.102, RAW= 150.7, 16.2, CAL= 151.2, 18.2, ROT= 358.8, -18.2 - Ygot valid direction response: 15:05:39.6314 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 402,-0.14, 2.742, 1.297, 2.911, 2.765, PHS= 0.079,-1.422, 0.102, RAW= 150.7, 16.2, CAL= 151.2, 18.2, ROT= 358.8, -18.2 5 PDAT read: Bearing 235.5, -4.4 (Local) 5 ~Local bearing/azimuth received: Bearing 235.5, -4.4 (Local) U DAT read: Range 11 to 50 : 340.0 m (Round-trip 453.4 ms) speed 1.0 m/s A I  R#Rx 1: Read range and direction messages.I O > ^direction in FSK: [0.949764,-0.019895,0.312335] Fpublishing direction and range infoy  Dwvd?0þ'G_IK?Y C ) ?I ʡ=i  `= aU(@ Ð> [(@ >) Hd@I  oCЉ9Y=RGyFE>)Q 554- x?Q 9=4-K)-BY=8?Q E=:y=ԩ?Q IE?- CI-@;i-8<-T4yBɮͣAEii[a?AJi3CRi3Cji/h?bzQ~kt@!JCslZ@RDwvd?0þ'G_IK?ZibijT.P@}ûVs@ЕaY@*DAT read: user:915> BDAT read: Tx time:15:05:40.9239 $Ping request sent.i)= л99i=6$iE/?EjA];EM4IM/?IIԙ@ @@@@fA@fA ^A 0A >A > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251405 Am.AIyIO>M\a,ᴅ?A6O?6&;?6l<ٱ6 >AHRS rotation from veh to nav: [[0.238510,-0.959820,-0.147844],[0.970995,0.233066,0.053377],[-0.016775,-0.156287,0.987569]]6H@?ٶ¿ d?@?0T?a-`4Ŀ*?i6O?I68];6CYFByFz*I HHbDRVDRβyZ9=%ZV=ٔZ:Q-^>9^ ?Y^ ?=^RGy^FbEb>dQ 5j4fxx?Q 9j4f8E)fBYhyj?Q In?fACIf;if;fZ4yrBɮrArEB5->B1B5i*IB5BB1B1B1B5t;B5a/EԉjhFNOT Ignoring new targets: 338.40 m.RhQ8ZhQ8 ProNav: ac range: 338.401276 m, nav range: 325.213928 m, bearing: 77.784488 deg, approach rate: -0.732257 m/s, LOS rate: 0.004216 deg/s, cmd heading: 77.328991 deg, new cmd heading: 77.333558 deg. Bh.99HeadingCmd: 1.349725 target range: 338.401276 and range: 340.00 m.hì?h*h"h hgfffdddjdZd=?iɢm<)i m>ii)u4ɻqqiu!i}ì?}k[;}PI}ì?IyEu EuEu*Eq"Eu ;*Eu:VEu(N4ZEqBEuOW~g,n?A2#S?2>?2yЈ<ٱ2!! :AHRS rotation from veh to nav: [[0.238409,-0.959714,-0.148695],[0.971021,0.232930,0.053491],[-0.016700,-0.157138,0.987435]]2H 0? mÿ? ?@c?Ŀ?i2#S?I2^h];0YBByB|*IbDJVDJ:2yV;%VL=ٔZBQ-Z>9Z"?YZ"?=ZRGyZF^ӈ9E^>`Q 5f4bgx?Q 9f4b=)`Yhyj?Q Ij?bfCIb:ib1:ba4ylɮnAp~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 338.40 m.Rh 8Zh8%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754837- ProNav: ac range: 338.401276 m, nav range: 324.924622 m, bearing: 77.786149 deg, approach rate: -0.749864 m/s, LOS rate: 0.004309 deg/s, cmd heading: 77.333560 deg, new cmd heading: 77.338547 deg. Bh-?=95HeadingCmd: 1.349812 target range: 338.401276 and range: 340.00 m.h5Ƭ?h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdMa0?ɢd<)! %>i))-F»))i-i5Ƭ?UDbY;ULI]Ƭ?IY59@9 @9@=/0@A!E EE(E"E;*EVEc44ZEa@a@a@a@^A5NJNYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006849II IY Om >y sm,,I?ABJX?BC?B@<ٱB# jAHRS rotation from veh to nav: [[0.238256,-0.959547,-0.150015],[0.971058,0.232697,0.053840],[-0.016754,-0.158501,0.987217]]BH-? 3ÿ??ݐ?'IĿG?iBJX?IB#];BCYvByv*IiMb@Mb@Mb@ 9T㥛 ?~jtx?Mb?YA?y;<A^A  A)Yp AbDVDk1y=%:=ٔ8Q->9Y=RGyFR9E>Q 54x?Q 94T5)BYA?Q E:y?Q I?CI :iU:i4yɮkAjh!%FNOT Ignoring new targets: 338.40 m.Rh-8Zh-8Q ProNav: ac range: 338.401276 m, nav range: 324.592621 m, bearing: 77.787101 deg, approach rate: -0.754636 m/s, LOS rate: 0.002167 deg/s, cmd heading: 77.338546 deg, new cmd heading: 77.341406 deg. Bh_8HeadingCmd: 1.349862 target range: 338.401276 and range: 340.00 m.hIȬ?h*h"h hgfffdd1d1jd1Zd5?yɢ ͉<) >i)귻顉iiIȬ?W;KIIȬ?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589339@ @@o0@@@=ԙA9A9BABABE*IBEBBABABABEs;BE:/Eԩ^A ONE  E E *E "E &:*E :VE (N4ZE BE c;t,hӑ?A>X?>dD?>^<ٱ>U# JAHRS rotation from veh to nav: [[0.238237,-0.959505,-0.150313],[0.971062,0.232659,0.053923],[-0.016768,-0.158810,0.987167]]>H~?@C@u=ÿ`?@?қ?@+`SĿޖ?i>X?I>@\;>CYNByN*IIR=)R;bDZVDZyb9%bZ=ٔf8Q-f>9dYd=fRGyjFj2a8Ej>lQ 5r4n/#x?Q 9r4n.)lYtyv?Q Iv?nCIn[:ing:n;p4yz\BɮzAzEjh%FNOT Ignoring new targets: 338.40 m.Rh%8Zh%85 ProNav: ac range: 338.401276 m, nav range: 324.309845 m, bearing: 77.787913 deg, approach rate: -0.754286 m/s, LOS rate: 0.002167 deg/s, cmd heading: 77.341408 deg, new cmd heading: 77.343845 deg. Bh5Q8=HeadingCmd: 1.349905 target range: 338.401276 and range: 340.00 m.h=ɬ?hA*hA"hA hAgAfAfIfIdIdIdIjdQZdU2?9ɢ=m<)9 =ܭ>iA)ELAAiEo/iMɬ?My-U;MLIMɬ?Iqԡ-9@) @)@-4@)Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762748^AIqII Ou > z,A?AE EE'E"E:*E:VE'4ZEa@a@a@a@FRn?FY?FB<ٱF@# VAHRS rotation from veh to nav: [[0.237604,-0.959597,-0.150727],[0.971219,0.232025,0.053836],[-0.016689,-0.159180,0.987109]]FHi?Kÿ9??i?@@`Ŀd?iFRn?IF\;FCY^By^*IiMb@Mb@Mb@ 9ˡE? rh? rh?YG?yC<C<zAA A)l AY AbDVDJyj=%8=ٔ;Q- >9 Y = RGy FA:E>Q 5%4n)x?Q 9%4)%)Y%H?Q E-:y-?Q I-?CI:i:x4y1ɮ5A1jhY]FNOT Ignoring new targets: 338.40 m.Rhe~6Zhe~6}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014830 ProNav: ac range: 338.401276 m, nav range: 323.962463 m, bearing: 77.788028 deg, approach rate: -0.781224 m/s, LOS rate: 0.000260 deg/s, cmd heading: 77.343846 deg, new cmd heading: 77.344194 deg. Bh67HeadingCmd: 1.349911 target range: 338.401276 and range: 340.00 m.hɬ?h*h"h hgfffdddjdZd<@)ɢ-/<)) M>iI)UITQQiU?i]ɬ?]R;]CI]ɬ?Ia@  @ @ 3@ !^A) I I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266698𱁤,?A2z?2ꋪ?2<ٱ2" >AHRS rotation from veh to nav: [[0.236118,-0.960113,-0.149771],[0.971585,0.230654,0.053113],[-0.016449,-0.158056,0.987293]]2H9? ? +ÿ9?@?`1?ؐ,;Ŀ?i2z?I2\;2CYBByF*I Jp9!Y!=-RGy-F-ޅ;E->1Q 5=45.x?Q 9=45Q =EtI)5BYAyE?Q IE?5CI5 ;i5;5~4yIɮMAQjhq}FNOT Ignoring new targets: 338.40 m.Rh}r5Zhr5 ProNav: ac range: 338.401276 m, nav range: 323.669922 m, bearing: 77.788048 deg, approach rate: -0.781135 m/s, LOS rate: 0.000052 deg/s, cmd heading: 77.344195 deg, new cmd heading: 77.344253 deg. Bh6HeadingCmd: 1.349912 target range: 338.401276 and range: 340.00 m.hɬ?h*h"h hgfffdddjdZd`'@ɢ9<) >i)iaiɬ?{YQ;-Iɬ?II)E= E=E9E9"E=;*E=:VE9ZE9QBE=9Cԩ ܇, ?A6ߎ?6E˪?6<ٱ6cG >AHRS rotation from veh to nav: [[0.234238,-0.960891,-0.147716],[0.972038,0.228898,0.052413],[-0.016552,-0.155863,0.987640]]6H?Y¿ ?`L?ժ?@Nÿ`?@i6ߎ?I6\;6CYFByF*I HHbDRVDRkyZk<%ZQ=ٔZ9Q-^>9\Y\=bRGybFb,;Eb>dQ 5j4f4x?Q 9j4f)dYhyn?Q In?f.Crchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770814If:ifc;f^4yzdBɮzAzE B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 338.40 m.Rh%quZh%qu5 ProNav: ac range: 338.401276 m, nav range: 323.364655 m, bearing: 77.787966 deg, approach rate: -0.778108 m/s, LOS rate: -0.000210 deg/s, cmd heading: 77.344256 deg, new cmd heading: 77.344010 deg. Bh5DHeadingCmd: 1.349908 target range: 338.401276 and range: 340.00 m.hɬ?h*h"h hg f f f dddIjdQZd]1@Թɢ_k<) v>i)7项i{iɬ?QO;~OIɬ?IEM EMEM&EI"EM=;*EM:VEM4ZEIa]@a]@a]@a]@9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022693 ^A &I I O >iZ,3AHRS rotation from veh to nav: [[0.231939,-0.961325,-0.148521],[0.972595,0.226640,0.051899],[-0.016231,-0.156488,0.987546]]2H /?,`ÿ@??@?자`Ŀ?i2Z-?I2\;2CYFÊByF*IiMb@Mb@Mb@ 9tV?X9v?Mb`?YR?y<;3A@  A) AY=AbD-VD-N2y=<%=8=ٔE=Q-E>9AYA=ERGyEFM;EM>QQ 5]4U:x?Q 9]4U` )UBYeR?Q Ee:ye?Q Ie?U]CIUa:iU:U4y7BɮΡAEjh15FNOT Ignoring new targets: 338.40 m.Rh=^*Zh=^*m ProNav: ac range: 338.401276 m, nav range: 322.999847 m, bearing: 77.786893 deg, approach rate: -0.790636 m/s, LOS rate: -0.002327 deg/s, cmd heading: 77.344010 deg, new cmd heading: 77.340789 deg. Bhmq̸uHeadingCmd: 1.349851 target range: 338.401276 and range: 340.00 m.huǬ?hq*hq"hq hygyfyfyfdddjdZd z% @1ɢ5G<)1 5>i9)=F99i=롘Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274846iUǬ?UN;UIUǬ?IQaU9@Q @Y@]/@YBA<B%.>B!B%*IB%ΊBB!B!B!B%s;B%0/EԑE EE(E"El;*E?:VEc44ZEBE[F<,U?A2'~?2i?2Qp<ٱ2 :AHRS rotation from veh to nav: [[0.229541,-0.961876,-0.148680],[0.973169,0.224318,0.051227],[-0.015922,-0.156449,0.987558]]2Ha?@ÿ2$?t?_:?M@Ŀ?i2'~?I2|\;2CYBByB*IHJAAPbDNVDNJyV %VU=ٔZRQ-Z>9XY\=^RGy\^;Eb>`Q 5f4b3?x?Q 9j4b5)bBYhyj8?Q Ij?bCIb9:ib:bԓ4ypɮrۡApjh FNOT Ignoring new targets: 338.40 m.Rh oWZhoW ProNav: ac range: 338.401276 m, nav range: 322.683380 m, bearing: 77.785822 deg, approach rate: -0.868783 m/s, LOS rate: -0.002943 deg/s, cmd heading: 77.340786 deg, new cmd heading: 77.337570 deg. BhBHeadingCmd: 1.349795 target range: 338.401276 and range: 340.00 m.hƬ?h*h"h hgfffdddjdZd`@颉ɢ<<) 9>i) {顡iϘi5Ƭ?5L;5\I5Ƭ?I9E]>iE>9@ @@/@PExceeded connect timeout, disconnecting.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778835^AΒAzAcAI I O >! G  9 Y% AE  E E E "E *E :VE ZE a @a @a @a @.g,o?A|Y=By=*IDAT read: 15:05:43.7595 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 226,-0.33, 2.507, 1.044, 2.678, 2.541, PHS= 0.068,-1.452, 0.093, RAW= 150.8, 16.6, CAL= 151.3, 18.6, ROT= 358.7, -18.6 Ygot valid direction response: 15:05:43.7595 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 226,-0.33, 2.507, 1.044, 2.678, 2.541, PHS= 0.068,-1.452, 0.093, RAW= 150.8, 16.6, CAL= 151.3, 18.6, ROT= 358.7, -18.6 PDAT read: Bearing 236.1, -4.7 (Local) ~Local bearing/azimuth received: Bearing 236.1, -4.7 (Local) DAT read: Range 11 to 50 : 323.6 m (Round-trip 431.5 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.947524,-0.021502,0.318959]Fpublishing direction and range infoyf?R?duQˬQi?Y̡C )AIC=i#۹v=q(@V>)@ 6>)U@I6sqD;W?]g=j?@'TD? a ?)+2I޹i65T****** received valid address query ******5R****** received valid ping request ******iMMb@Mb@Mb@IUQuerying Benthos address 50 with one ping in standard two-way mode.III I9MCl?L7A`?Mb`YMO?yM+=MMAI M A)M AIYMp AbDuVDu0y\s;%0=ٔQ->9Y=RGyFE>Q 54DEx?Q 94x)BY P?Q E:y?Q I?CI@:i:4yɮסAii+ls?AJi CRi CjiC?b ^s@٨s2Y@Rf?R?duQˬQi?Zi޹bi6j "'N@:^2r@޼1(PkX@Znj?.`I0?rh?2iYC:iuB"i$~?*iidBi 'Ci ?iUi 'Ci Cii?  addTargetRange:: Added new target pos. range: 323.600006 m, deltaT: 4.282260 s, deltaX: -16.399994 m, approachRate: -3.829752 m/s, rangeRepo size: 4 ) Added new target pos. range: 322.080475 m, bearing: 78.452321 deg, lat: 36.778931 deg, lon: -121.859405 deg, deltaT: 4.282260 s, deltaX: -16.320801 m, approachRate: -3.811259 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 322.08 m.RhZh ProNav: ac range: 322.080475 m, nav range: 320.081543 m, bearing: 78.071773 deg, approach rate: 0.000000 m/s, LOS rate: -0.002943 deg/s, cmd heading: 77.337569 deg, new cmd heading: 77.333430 deg. Bh HeadingCmd: 1.349723 target range: 322.080475 and range: 323.60 m.hì?h*h"h hgIfIfQfQdYdYdYjd9t@Zd ֿ?ɢ<) >i)dvbii ì? _K; 箻I ì?IY9@ @@@m *DAT read: user:916> u BDAT read: Tx time:15:05:45.0739 } $Ping request sent.} U,ˉ?AIYUByU*IbDeVDe0yuT%u\=ٔqQ-}>9yYy=}RGy}FE>Q 54Jx?Q 94)BYyQ I?CIy:i:l4yɮ6AjhFNOT Ignoring new targets: 322.08 m.Rh/Zh/ ProNav: ac range: 322.080475 m, nav range: 319.780365 m, bearing: 78.070896 deg, approach rate: -0.822646 m/s, LOS rate: -0.002399 deg/s, cmd heading: 77.333430 deg, new cmd heading: 77.330796 deg. BhҸHeadingCmd: 1.349677 target range: 322.080475 and range: 323.60 m.h7¬?h*h"h hgfffdddjdZd?)ɢ5(<)1 5p>i1)5V19i= i=7¬?EJ;E IE7¬?IAE} E}E}'Ey"E}7;*E}1:VE}'4ZEyBE}ZԱ m nManaging dock network, ignoring radio surface power offBx,U?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502702Y~By~{*IbD VD 02y%%%Q=ٔ!Q-%>9)Y)=-RGy-F)E5>1Q 5=456Ox?Q 9E45})5BYAyAQ IE?5CI5H;i5;5A4yM BɮUAUEmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 322.08 m.Rhp-Zhp- ProNav: ac range: 322.080475 m, nav range: 319.462646 m, bearing: 78.069969 deg, approach rate: -0.810899 m/s, LOS rate: -0.002369 deg/s, cmd heading: 77.330794 deg, new cmd heading: 77.328009 deg. Bh иHeadingCmd: 1.349628 target range: 322.080475 and range: 323.60 m.h?h*h"h hgfffdddjdZd?Թqɢ}:<) >i)F项i0)i?٘I;%oI%?I1y)@) @)@-4@)bE-4jEŅ04rE5/E EE&E"ET;*E:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754716^A I1 IQ O] >A [,[a?A2s?2ڬ?2ss<ٱ2f :AHRS rotation from veh to nav: [[0.218563,-0.964774,-0.146426],[0.975709,0.213776,0.047865],[-0.014877,-0.153331,0.988063]]2H`?n¿9?]?@Á?wVÿ 6?i2s?I2\;2CYBByB*Ii Mb@Mb@Mb@     9 V-?Mb?I +Y hQ?y < 94  ^A V A) l A Y  AbD}VD}yJm<%D=ٔ<$Q->9Y=RGyFM<E>Q 54Ux?Q 94)BYwQ?Q E:y?Q I?1CI:i:4yBɮϡAEjhFNOT Ignoring new targets: 322.08 m.Rh/[Zh/[ ProNav: ac range: 322.080475 m, nav range: 319.121246 m, bearing: 78.069657 deg, approach rate: -0.818786 m/s, LOS rate: -0.000749 deg/s, cmd heading: 77.328007 deg, new cmd heading: 77.327071 deg. BhHeadingCmd: 1.349612 target range: 322.080475 and range: 323.60 m.h?h*h"h hg f f f dddjdZd ?IɢM<)I M'>iI)U5QQiUAi]?]BB*IBĊBB =BBBos;B/E^AqE EE$E"E=;*E:VE4ZEBE}I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258750ԙ ,pג?A: B?:z-?:v<ٱ:8 FAHRS rotation from veh to nav: [[0.216103,-0.965802,-0.143272],[0.976255,0.211474,0.046965],[-0.015061,-0.150019,0.988568]]:H@?? V¿ z=?? ?V؎3ÿ@Z?i: B?I:\;:CYNByNj*IbDVVDV0y^ %^V=ٔb9Q-b>9f ?Yf ?=fRGyfFj=;Ej>lQ 5r4nAZx?Q 9r4n)nBYpyre?Q Iv?nYCIn(;in5;n84yɮA jhQ]FNOT Ignoring new targets: 322.08 m.RheZhe ProNav: ac range: 322.080475 m, nav range: 318.809113 m, bearing: 78.069227 deg, approach rate: -0.802200 m/s, LOS rate: -0.001106 deg/s, cmd heading: 77.327071 deg, new cmd heading: 77.325780 deg. BhaB%HeadingCmd: 1.349589 target range: 322.080475 and range: 323.60 m.h%Y?h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd58(?Y颁ɢ3<) >i)&顡i6LiY?Z J;;IY?IU9@Q @Q@Q@Q^A-"5;ԉ-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510707A}؟AIIO>ԹE  E E )E "E ;*E ~:VE FA4ZE a @a @a @a @ q,?A2?2i~?2hy<ٱ2N :AHRS rotation from veh to nav: [[0.213690,-0.966486,-0.142271],[0.976783,0.209121,0.046509],[-0.015198,-0.148907,0.988734]]2H3Z? t5¿A?v?@ϧ? aÿ`?i2?I2\;2CYB|ByBU*Ii Mb@Mb@Mb@     9 |?5^?~jth:vY M?y D T A A A)  Y  AbDVD02y<%?=ٔ9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762781Q->9"?Y"?=RGyF;E>Q 54`x?Q 94)BYM?Q E:y?Q I?CI":i@:4yɮWAjhFNOT Ignoring new targets: 322.08 m.Rh8Zh8 ProNav: ac range: 322.080475 m, nav range: 318.464294 m, bearing: 78.070051 deg, approach rate: -0.817283 m/s, LOS rate: 0.001955 deg/s, cmd heading: 77.325781 deg, new cmd heading: 77.328255 deg. Bh8HeadingCmd: 1.349633 target range: 322.080475 and range: 323.60 m.h?h*h"h hg!f!f!f!d)d)d)jd)Zd-F@Yɢ]~o<)Y e.x>ia)e aaiePHim?mJ;mZ%B B B *IB BB B B B Gs;B .EQ ¤, ?A2‘?2p?2}<ٱ24R :AHRS rotation from veh to nav: [[0.212287,-0.966898,-0.141569],[0.977084,0.207723,0.046447],[-0.015502,-0.148185,0.988838]]2H`9,?`¿FD?? ǧ?¿?i2‘?I2];2CYBnByBE*IbDNVDNyV%VZ=ٔVT:Q-V>9XYX=ZRGyZF^|;E^>`Q 5f4b(fx?Q 9f4b)bBYdyf?Q If?bCIb:ib:b>Ŋ4yUBɮ]ԡA]EjhyFNOT Ignoring new targets: 322.08 m.Rh07Zh07 ProNav: ac range: 322.080475 m, nav range: 318.164215 m, bearing: 78.070691 deg, approach rate: -0.771275 m/s, LOS rate: 0.001647 deg/s, cmd heading: 77.328253 deg, new cmd heading: 77.330176 deg. Bh8HeadingCmd: 1.349666 target range: 322.080475 and range: 323.60 m.h?h*h"h hgfffdddjdZdt@AɢET<)A M]>iI)MIE] E]E]&EY"E]l;*E]$:VE]4ZEYBE][FȤ,$?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5226150:?:Hխ?:<ٱ: bAHRS rotation from veh to nav: [[0.211099,-0.967371,-0.140113],[0.977341,0.206609,0.046018],[-0.015568,-0.146652,0.989066]]:HH? 8@`F?*r?@?B⏿ ¿l?i:?I:'\;:CYjdByj8*IbDrVDr1yz@%zF=ٔ~(9Q-~>9Y=RGyF@;E > Q 54 ;lx?Q 94 ) BYy?Q I? CI ;i ; v̊4y)ɮ-A)EB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 322.08 m.Rh]T7Zh]T7m ProNav: ac range: 322.080475 m, nav range: 317.832184 m, bearing: 78.071327 deg, approach rate: -0.835080 m/s, LOS rate: 0.001601 deg/s, cmd heading: 77.330179 deg, new cmd heading: 77.332088 deg. Bhm8uHeadingCmd: 1.349700 target range: 322.080475 and range: 323.60 m.hu¬?hq*hq"hq hygyfyffdddjdZd O@颱ɢ E<) I>i)L项i3 i¬?=L;#Τ,Ω>?A:?: ?:Y}<ٱ:}O BAHRS rotation from veh to nav: [[0.210748,-0.967363,-0.140693],[0.977418,0.206249,0.045995],[-0.015476,-0.147209,0.988984]]:H?<¿G?@af?@?@¿`¥?i:?I:x\;8\YbOByb*IiMMb@Mb@Mb@IIII I9Mw/?/$/$YMF?yMMMAM^A M A)M AIYMp A ]4<]<bDeVDe:yu#Ƚ%uC=ٔu&gQ-}>9} ?Y} ?=}RGy}F_:E>Q 54rx?Q 94=)|BYG?Q E:y?Q I?CI ;i ;ӊ4yBɮsAEjhFNOT Ignoring new targets: 322.08 m.Rh8Zh8 ProNav: ac range: 322.080475 m, nav range: 317.506012 m, bearing: 78.073383 deg, approach rate: -0.777220 m/s, LOS rate: 0.004905 deg/s, cmd heading: 77.332092 deg, new cmd heading: 77.338267 deg. BhpW9HeadingCmd: 1.349807 target range: 322.080475 and range: 323.60 m.h}Ƭ?h*h"h hgfqfyfydydydyjdZd @ɢ <) >i)qi옼i}Ƭ?x>M;$BqBui*IBuBBqBqBqBur;Bu.EEu EuEu(Eq"Eu;*Eu҆:VEuc44ZEqBEu1NA >Q  BDAT read: Rx Time:15:05:47.9416  TRx dataTimestamp_ set to:1761577549.336082 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279696A} ؟AI I O >bդ,IX?AZ?Zsڭ?Z<ٱZҷ nAHRS rotation from veh to nav: [[0.210944,-0.967134,-0.141965],[0.977372,0.206347,0.046532],[-0.015709,-0.148568,0.988777]]ZH7? +¿F?i?ӧ?Gÿ?iZ?IZ];XYz?Byz *I !bD)VD)yEa%MM=ٔMW:Q-U>9U"?YU"?=URGyUF]$E]>aQ 5m4e%yx?Q 9m4eS)evBYiyu?Q Iu?e'CIe:ie|:eڊ4yyɮ}AyjhFNOT Ignoring new targets: 322.08 m.Rh8Zh8 ProNav: ac range: 322.080475 m, nav range: 317.196198 m, bearing: 78.075354 deg, approach rate: -0.776777 m/s, LOS rate: 0.004945 deg/s, cmd heading: 77.338266 deg, new cmd heading: 77.344183 deg. Bh2Y9HeadingCmd: 1.349911 target range: 322.080475 and range: 323.60 m.hɬ?h*h"h hgfffddQdQjdYZd]`? @颡ɢn&;) =i)z顩i𱘼iɬ?N;,E  E E 'E "E =;*E :VE '4ZE a @a @a @a @ܤ,_ar?A^Z?^ح?^Y<ٱ^ AHRS rotation from veh to nav: [[0.210993,-0.967108,-0.142068],[0.977360,0.206378,0.046643],[-0.015789,-0.148693,0.988757]]^H@?`F/¿F?j?`?@ +\ÿ?i^Z?I^C ];^CY-/By5)IyDAT read: 15:05:47.9416 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 262, 0.41, 1.331,-0.089, 1.545, 0.926, PHS= 0.507,-0.971, 0.574, RAW= 152.2, -1.5, CAL= 151.3, -2.4, ROT= 358.7, 2.4 %Ygot valid direction response: 15:05:47.9416 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 262, 0.41, 1.331,-0.089, 1.545, 0.926, PHS= 0.507,-0.971, 0.574, RAW= 152.2, -1.5, CAL= 151.3, -2.4, ROT= 358.7, 2.4 %PDAT read: Bearing 216.4, -2.0 (Local) -~Local bearing/azimuth received: Bearing 216.4, -2.0 (Local) -X#Rx 1: Read direction message, but no range.u`direction in FSK: [0.998866,-0.022667,-0.041876]yK!?vi6 ۷p )I?iux?P*@Pwּ +)I+=1?cѯ ?0Q $?)9 Y = RGyFʸE>Q 5E4ux?Q 9E4Ȧ)qBYM7?Q EM:yM?Q IM?WCI5;i;4yUBɮU>A]EjhFNOT Ignoring new targets: 322.08 m.Rh9Zh9 ProNav: ac range: 322.080475 m, nav range: 316.820892 m, bearing: 78.079259 deg, approach rate: -0.696291 m/s, LOS rate: 0.007254 deg/s, cmd heading: 77.344181 deg, new cmd heading: 77.355912 deg. BhP9HeadingCmd: 1.350115 target range: 322.080475 and range: 323.60 m.hЬ?h*h"h hg f f fdddjdZd U@aɢm`;)i mp=ii)m5ݺiqiuHiuЬ?8O; Be ->Ba Be 7*IBe cBBa Ba Ba Be r;Be .E, BDAT read: Tx time:15:05:49.3739 $Ping request sent.1Y ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249767,/?AYBy)IbD%VD%ky5Y%5E=ٔ5Q-=>99Y9==RGy=FEEE>IQ 5U4MMx?Q 9U4M_)MiBYQyYQ I]?MCIM;iM/;M4yaɮeAaB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 322.08 m.RhO 9ZhO 9 ProNav: ac range: 322.080475 m, nav range: 316.332611 m, bearing: 78.084407 deg, approach rate: -0.726026 m/s, LOS rate: 0.007667 deg/s, cmd heading: 77.362172 deg, new cmd heading: 77.371367 deg. Bh_9HeadingCmd: 1.350385 target range: 322.080475 and range: 323.60 m.hk٬?h*h"h hgfffdddjdZd?ɢl1%;) g=i)8Һixik٬?H|P;Ik٬?) Wf>ېCI%G=fAQQ9fAYʎAEE EEEE)EA"EE~ ;*EEZ:VEEFA4ZEAaU@aU@aU@aU@Yy?DA9@ @@@IIOa>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501865ԁԩ >,9?AYr Byr)I only read 0 of 1 data item for BIT error. Device response is::TS,00050318540, +11.1, 0.0,14 a @a  a @a  a @a  a @a  p<p;bDVDNyEn½%MJ=ٔIQ-M>9IYQ=URGyUFQEU>YQ 5e4]x?Q 9e4])]eBQ Am+:YiQ Emp:yiQ Im?]CI]U:i]m>]4yuDzBɮ}A}EjhFNOT Ignoring new targets: 322.08 m.RhW 9ZhW 9 ProNav: ac range: 322.080475 m, nav range: 316.043488 m, bearing: 78.087463 deg, approach rate: -0.714545 m/s, LOS rate: 0.007559 deg/s, cmd heading: 77.371365 deg, new cmd heading: 77.380541 deg. Bh9HeadingCmd: 1.350545 target range: 322.080475 and range: 323.60 m.hެ?h*h"h hgfffdddjdZd?ɢ) B B  *IB ?BB B B B 's;B .EBBBBBCĒ4DU=DU<E] E]E]*EY"E]V:*E]:VE](N4ZEYBE]9 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005765! .,ٓ?AN`?N-L?N<ٱN VAHRS rotation from veh to nav: [[0.215183,-0.965213,-0.148525],[0.976434,0.210073,0.049462],[-0.016540,-0.155668,0.987671]]NH? `ÿ>??` S?@ÿ ?iN`?IN9^;NCY^ By^)IbDjVDjyn;%nP=ٔr:Q-r>9pYt=vRGyvFzgEz>|Q 54~ x?Q 94~)~aBQ A :YQ EB:y ?Q I ?~CI~ ;i~L?~)4yBɮ9AEjh9=FNOT Ignoring new targets: 322.08 m.RhE[9ZhE[9U ProNav: ac range: 322.080475 m, nav range: 315.762970 m, bearing: 78.090627 deg, approach rate: -0.713244 m/s, LOS rate: 0.008052 deg/s, cmd heading: 77.380538 deg, new cmd heading: 77.390038 deg. BhU԰9]HeadingCmd: 1.350711 target range: 322.080475 and range: 323.60 m.h]?hY*ha"ha hagafafifidididqjdqZdu`b?ɢ) PAU>II O- >A bEjE^+4rE- 0EU  EU EU 'EQ "EU =;*EU -:VEU '4ZEQ ae @ae @ae @ae @R,?A6}0?6?6ﮈ<ٱ6T! >AHRS rotation from veh to nav: [[0.216620,-0.964630,-0.150216],[0.976113,0.211379,0.050213],[-0.016684,-0.157505,0.987377]]6H2??C:ÿ@R9Y=RGyFcE>Q 54Lx?Q 94)Q AT:Y<&?Q E:y=?Q I?CI;i/;4yɮVAjhFNOT Ignoring new targets: 322.08 m.Rhbo9Zhbo9 ProNav: ac range: 322.080475 m, nav range: 315.489746 m, bearing: 78.096163 deg, approach rate: -0.645074 m/s, LOS rate: 0.013080 deg/s, cmd heading: 77.390039 deg, new cmd heading: 77.406660 deg. Bh:HeadingCmd: 1.351001 target range: 322.080475 and range: 323.60 m.h?h*h"h  h g f f fdddjdZd`?AɢMޣ)I M@;iI)M|>ͺidi?0Q;;I?I)Q9@ @@4@@p=@=y^Am;5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762168ԡ A I I B B B )IB !BB B B B xs;B /EOE >7, ?A:?:?:M<ٱ:"@ FAHRS rotation from veh to nav: [[0.218179,-0.964164,-0.150950],[0.975759,0.212805,0.051080],[-0.017126,-0.158435,0.987221]]:H F?nSRÿj9?3=?'?`GĿ P?i:?I:^;:CYJByJ)IbDVVDV0y^T%^Y=ٔbr:Q-b>9`Y`=bRGyfFf؊Ef>hQ 5n4jΦx?Q 9n4j~)hYpyr ?Q Ir?j!CIjm ;ij;j'4ytɮv[AtjhFNOT Ignoring new targets: 322.08 m.Rh^s9Zh^s9- ProNav: ac range: 322.080475 m, nav range: 315.246307 m, bearing: 78.101174 deg, approach rate: -0.645519 m/s, LOS rate: 0.013298 deg/s, cmd heading: 77.406657 deg, new cmd heading: 77.421702 deg. Bh-:5HeadingCmd: 1.351264 target range: 322.080475 and range: 323.60 m.h55?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdUhI@yɢ}\) @;i)̺顁ii5?]Q;);I5?Il>i)>E% E%E%&E!"E%:*E%:VE%4ZE!BE%@8 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265888c , _'?A2$ː?2?2 <ٱ2# :AHRS rotation from veh to nav: [[0.219635,-0.963704,-0.151772],[0.975428,0.214162,0.051720],[-0.017339,-0.159402,0.987061]]2H?Dmÿ6?@i?{?`; JgĿ?i2$ː?I2^;2CYBByB)IbDJVDJyR;%VK=ٔV :Q-V>9V ?YZ ?=ZRGyZFZsEZ>\Q 5b4^­x?Q 9f4^hx)^`BYdyfٟ?Q If?^CCI^i:i^:^,4yhɮnVAll~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 322.08 m.Rh.v9Zh.v9% ProNav: ac range: 322.080475 m, nav range: 314.987122 m, bearing: 78.106588 deg, approach rate: -0.643436 m/s, LOS rate: 0.013452 deg/s, cmd heading: 77.421704 deg, new cmd heading: 77.437959 deg. Bh%:-HeadingCmd: 1.351547 target range: 322.080475 and range: 323.60 m.h-?h)*h)"h) h)g1f1f1f1dddjdZd @ɢ/m) @;i) 2˺  i mi?srQ;U:IU?Ii@ @@/@EM EMEM(EI"EM;*EMą:VEMc44ZEIa]@a]@a]@a]@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517937^AM ] ;i A} ؟AI I O >J,8A?AY~ By)I  9iMb@Mb@Mb@ 9x&1?X9v~jt?YA ?y}D<A@ ? A)Y AbDVDβy><%9=ٔQ->9"?Y"?=RGyFE>Q 54 x?Q 94uq)cBY!?Q E:y?Q I?fCI;i\ ;4yBɮ`Ajh)-FNOT Ignoring new targets: 322.08 m.Rh5ac9Zh5ac9E ProNav: ac range: 322.080475 m, nav range: 314.710846 m, bearing: 78.112058 deg, approach rate: -0.626969 m/s, LOS rate: 0.012425 deg/s, cmd heading: 77.437960 deg, new cmd heading: 77.454384 deg. BhEm:MHeadingCmd: 1.351834 target range: 322.080475 and range: 323.60 m.hM?hI*hI"hI hIgIfQfQfQdYdYdYjdYZde@颉ɢ`a)  t,[?A22?2I?2<ٱ2'( :AHRS rotation from veh to nav: [[0.224164,-0.962030,-0.155723],[0.974386,0.218302,0.054003],[-0.017958,-0.163840,0.986324]]2Hg?@ÿ+.?N?@L?`cĿ`?i22?I2*b_;2CYnByn)IbDzVDz:y)%X=ٔ:Q- >9 Y = RGy FIE>Q 5%4Xx?Q 9%4k)eBY)y-?Q I-?CI:i :4y5sBɮ5A5zEjhYeFNOT Ignoring new targets: 322.08 m.Rhel9Zhel9u ProNav: ac range: 322.080475 m, nav range: 314.474548 m, bearing: 78.116940 deg, approach rate: -0.625190 m/s, LOS rate: 0.012926 deg/s, cmd heading: 77.454386 deg, new cmd heading: 77.469043 deg. Bhu :}HeadingCmd: 1.352090 target range: 322.080475 and range: 323.60 m.h}H?h*h"h hgfffdddjdZdv @ԙɢSF) 0ȺiziH?nP;J^IH?Iu9@q @q@u0@qBDAT read: Rx Time:15:05:52.2192  TRx dataTimestamp_ set to:1761577553.620115 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274913^Aq:I I O >! EE  EE EE )EA "EE ;*EE a:VEE FA4ZEA aM @aM @aU @aU @ʞ,t?A2 ?2yΫ?2"ϔ<ٱ24G' :AHRS rotation from veh to nav: [[0.226536,-0.961697,-0.154342],[0.973834,0.220679,0.054304],[-0.018164,-0.162605,0.986524]]2H?7yÿ)?8??ͫ?@>Ŀ?i2 ?I2m_;2CYBByB)Ii=Mb@Mb@Mb@9999 99= r?~jtI +?Y=#?y=D=9<=A9 = A)= A9Y= Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525951bDU VDU2yug=%uC=ٔuA:Q-}>9yYy=}RGy}FE>Q 54x?Q 94d)iBY$$?Q E:y?Q I?CI\ ;i ;$4yɮZAjhFNOT Ignoring new targets: 322.08 m.Rh =9Zh =9% ProNav: ac range: 322.080475 m, nav range: 314.207642 m, bearing: 78.121311 deg, approach rate: -0.632082 m/s, LOS rate: 0.010360 deg/s, cmd heading: 77.469044 deg, new cmd heading: 77.482167 deg. Bh%95HeadingCmd: 1.352319 target range: 322.080475 and range: 323.60 m.h5?h9*h9"h9 h9g9fAfAfAdIdIdQjdYZd]@}@9ɢ=6;)9 =i=i9)EºAAiEgiM?M}=O;mIm?Iq!-9@) @1@5=0@1^AyIaIqO}Y>Qm DAT read: 15:05:52.2192 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 210,-0.02,-0.163,-1.737, 0.265,-0.243, PHS= 0.183,-1.448, 0.464, RAW= 157.8, 9.0, CAL= 157.6, 9.5, ROT= 352.4, -9.5 u Ygot valid direction response: 15:05:52.2192 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 210,-0.02,-0.163,-1.737, 0.265,-0.243, PHS= 0.183,-1.448, 0.464, RAW= 157.8, 9.0, CAL= 157.6, 9.5, ROT= 352.4, -9.5 } PDAT read: Bearing 227.1, -9.9 (Local) } ~Local bearing/azimuth received: Bearing 227.1, -9.9 (Local)  DAT read: Range 11 to 50 : 330.9 m (Round-trip 441.2 ms) speed 0.8 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.977622,-0.130443,0.165048] Fpublishing direction and range infoy  9%H?WG ?Y sC     B B B )IB BB =B ADB B s;B M/E) BI Zd;>i X h> C0@ | > x 0@  )>) :@I )   \@`? kՏa?8?  U(?)  I i )   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.y %#,̎?A6]?6̄?6z<ٱ6k& >AHRS rotation from veh to nav: [[0.228723,-0.961315,-0.153490],[0.973316,0.222827,0.054812],[-0.018490,-0.161931,0.986629]]6H F?`ÿ`g%??Y?`*Ŀv?i6]?I6qB_;6CY^%By^)IbDfVDfNyn3=%rT=ٔr]:Q-r>9tYt=vRGyvFvKEz>xQ 5~4zx?Q 94z^)zlBYyâ?Q I?zCIz7;izv;z+4y ɮ7AiIiM?AJiMCRiMCjiMA?bMnT#t@*zEH94-K@RM9%H?WG ?ZiMbiM)jM#NZ@t,s@0VP,QK@ZMT?? a;?2iMeC:iM2B"iM27ޛ?*iM&OBiMjBiIiM@DiIiMʜCiMJ? addTargetRange:: Added new target pos. range: 330.899994 m, deltaT: 8.321806 s, deltaX: 7.299988 m, approachRate: 0.877212 m/s, rangeRepo size: 4  Added new target pos. range: 329.345337 m, bearing: 70.839501 deg, lat: 36.778931 deg, lon: -121.859409 deg, deltaT: 8.321806 s, deltaX: 7.264862 m, approachRate: 0.872991 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 329.35 m.RhZh ProNav: ac range: 329.345337 m, nav range: 313.579742 m, bearing: 78.110767 deg, approach rate: 0.000000 m/s, LOS rate: 0.010360 deg/s, cmd heading: 77.482165 deg, new cmd heading: 77.494253 deg. BhHeadingCmd: 1.352530 target range: 329.345337 and range: 330.90 m.h?h*h"h hgfffdddjd`ft@Zdz?E9 E=E9E9"E9*E=:VE9ZE9BE=@ uBDAT read: Tx time:15:05:53.4739 }$Ping request sent.}  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250579),?AB1Z?BE?B<ٱB9& NAHRS rotation from veh to nav: [[0.230598,-0.960947,-0.152991],[0.972868,0.224657,0.055288],[-0.018758,-0.161590,0.986680]]BH`=?@8ÿ!??@N?K5 Ŀ`?iB1Z?IB^;BCYR0ByV)IZAAZAAbD^VD^yfO=%fL=ٔj.:Q-j>9hYh=nRGynFnDEn>pQ 5v4rx?Q 9v4rX)rpBYxyz?Q Iz?rCIr:ir:r24y|ɮ~AB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 329.35 m.Rh5L9Zh5L9E ProNav: ac range: 329.345337 m, nav range: 313.323334 m, bearing: 78.115172 deg, approach rate: -0.650438 m/s, LOS rate: 0.011183 deg/s, cmd heading: 77.494254 deg, new cmd heading: 77.507479 deg. BhE9MHeadingCmd: 1.352761 target range: 329.345337 and range: 330.90 m.hMC'?hI*hI"hI hIgQfQfQfQdYdYdYjdaZde`?颉ɢB;) =i)V顑i9RiC'?zL;IC'?II)Ա=9@9 @9@E/@A^AMIEU EUEU(EQ"EU;*EU$:VEUc44ZEQa}@a}@a@a@IO?>}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502616 1 0,d”?AYz9Byz*Ii}Mb@Mb@Mb@yyyy y9} rh?y&1Zd;O?Y}C+?y}`弙}j<}A}@ }tA)}? AyY} AbD VD2y0=%:=ٔQ->9Y=RGyFE>Q 54x?Q 94P)sBY+?Q E:y?Q I? CI:i:?:4y|Bɮ Ajh9=FNOT Ignoring new targets: 329.35 m.RhE# 9ZhE# 9U ProNav: ac range: 329.345337 m, nav range: 313.028961 m, bearing: 78.118466 deg, approach rate: -0.669112 m/s, LOS rate: 0.007494 deg/s, cmd heading: 77.507477 deg, new cmd heading: 77.517367 deg. BhU9]HeadingCmd: 1.352933 target range: 329.345337 and range: 330.90 m.h],?hY*hY"hY hagafafafididqdqjdqZduE?颡ɢV;) =i)tE顩i#i,?J;CI,?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754688 AE@AAE?ABM1>BMCBM)IBM+BBM =BM@DBIBMs;BMY/Ee9@a @a@a@a1EQ EUEU&EQ"EQ*EU҆:VEU4ZEQBEUD6,[ܔ?A YvCByv*IbD~VD~y J=% Z=ٔQ->9Y=RGyFE>!Q 5-4%x?Q 9-4%?J)%vBY)y1Q I5?%.CI%:i%:%@4y=KBɮ=!A=qEjhamFNOT Ignoring new targets: 329.35 m.RhmI 9ZhmI 9} ProNav: ac range: 329.345337 m, nav range: 312.777740 m, bearing: 78.121281 deg, approach rate: -0.668811 m/s, LOS rate: 0.007502 deg/s, cmd heading: 77.517367 deg, new cmd heading: 77.525821 deg. Bh9HeadingCmd: 1.353081 target range: 329.345337 and range: 330.90 m.h1?h*h"h hgfffdddjdZd 2?ɢ# <) >i)Piôi1?%]I;JI1?Iq9@ @@/@@eA@dAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258613ԙ^AH%GEAfAac9AfAYA A I9 IY O >E}  E} E} ,Ey "E} T;*E} :VE} g4ZEy a @a @a @a @<,6?AF?FJԪ?FҚ<ٱF,P RAHRS rotation from veh to nav: [[0.233961,-0.959196,-0.158759],[0.972062,0.227603,0.057373],[-0.018898,-0.167747,0.985649]]FH`o?8RĿ`"?"?`?Z`xſo?iF?IFi_;FCYZTByZ$*IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511864i}Mb@Mb@Mb@yyyy y9}zG?Mb`S㥛?Y} 7?y}}/<}3A}@ } A)} AyY}G A <bDVDyf=%4=ٔ 9Q->9Y=RGyFE>Q 54 x?Q 94A)yBY+7?Q E:yI?Q I?WCIq+;i*;H4yLBɮAjhFNOT Ignoring new targets: 329.35 m.Rh s8Zh s8 ProNav: ac range: 329.345337 m, nav range: 312.453705 m, bearing: 78.122787 deg, approach rate: -0.714082 m/s, LOS rate: 0.003321 deg/s, cmd heading: 77.525823 deg, new cmd heading: 77.530344 deg. Bh9 HeadingCmd: 1.353160 target range: 329.345337 and range: 330.90 m.h W4?h *h "h hgfffdddjd!Zd%`.?颱ɢ ;!<) (>i)项ioiW4?G;GIW4?Ip>i>9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762526^Am BM 2>BI BM *IBM EBBI BI BI BM t;BM c/EB B B B =B =C  5i A I I O >C,I?A2E܎?2Ǫ?2<ٱ2.- :AHRS rotation from veh to nav: [[0.234335,-0.959018,-0.159284],[0.971974,0.227954,0.057475],[-0.018810,-0.168288,0.985558]]2H`?G`hcĿ@i?-?hm?Cvſ?i2E܎?I2U7`;2CYBgByB<*IbDJVDJ:yR=%Ro=ٔV_Q-V?9TYT=ZRGyZFZlEZ?|Q 54~x?Q 94~;)~{BY y =?Q I ?~vCI~:i~(:~N4yɮA9jhFNOT Ignoring new targets: 329.35 m.Rh l8Zh l8 ProNav: ac range: 329.345337 m, nav range: 312.209503 m, bearing: 78.123940 deg, approach rate: -0.682520 m/s, LOS rate: 0.003224 deg/s, cmd heading: 77.530345 deg, new cmd heading: 77.533806 deg. Bh 9HeadingCmd: 1.353220 target range: 329.345337 and range: 330.90 m.hR6?h*h"h hgfffdddjdZdgz@ɢf<) O>i)eaiRi R6? [E; IHIR6?E EE&E"E;*EM:VE4ZEBEA % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270563I,B)?A2+?2Ӫ?2yy<ٱ2n, :AHRS rotation from veh to nav: [[0.233982,-0.959266,-0.158308],[0.972060,0.227679,0.057103],[-0.018734,-0.167246,0.985737]]2H ?@NrCĿ?$?`9XYX=ZRGyZFZmk:E^>`Q 5f4bix?Q 9f4bJ4)b~BYdyfH?Q If?bCIb;ib#;bU4ylɮnAlzB*** querying acoustic contact ***ix ixjh FNOT Ignoring new targets: 329.35 m.Rh ~8Zh ~8ԙ ProNav: ac range: 329.345337 m, nav range: 311.920135 m, bearing: 78.125291 deg, approach rate: -0.745176 m/s, LOS rate: 0.003483 deg/s, cmd heading: 77.533808 deg, new cmd heading: 77.537865 deg. Bh9 HeadingCmd: 1.353291 target range: 329.345337 and range: 330.90 m.h 8?h *h "h hgQfQfYfYdadadajdiZdmw@颙ɢUR<) @Q>i)1顡i&i8?C;CI8?I1bEc44jEc44rE0EE EEEE(EA"EE:*EE:VEEc44ZEAa}@a@a@a@@ @!@%0@!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524178^AE GgL Aq Iy I O > Q,_D?A:%'?:?:2<ٱ::* FAHRS rotation from veh to nav: [[0.232117,-0.959910,-0.157146],[0.972522,0.226047,0.055707],[-0.017952,-0.165759,0.986003]]:H@?]Ŀ???a7ſU?i:%'?I:y!`;:CYNpByNG*IiMb@Mb@Mb@ 9HzG?y&1?{Gz?Y=J?y`e<#<A@ V A)Y AbD=VD= yE=%M<=ٔMiQ-M>9QYQ=URGyUF];E]>aQ 5m4ex?Q 9m4e{+)e}BYmIJ?Q Em:yu?Q Iu?eCIe ;ie ;eY]4y}'Bɮ}ٞA}hEjhFNOT Ignoring new targets: 329.35 m.Rh7Zh7Ա ProNav: ac range: 329.345337 m, nav range: 311.577454 m, bearing: 78.125764 deg, approach rate: -0.791009 m/s, LOS rate: 0.001093 deg/s, cmd heading: 77.537865 deg, new cmd heading: 77.539285 deg. Bh?8HeadingCmd: 1.353316 target range: 329.345337 and range: 330.90 m.ht9?h*h"h hgfffdddjdZd`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774689ɢ?t<) a>i)iit9?%0dA;-%m(I-t9?I)1B<A<BBB7*IBcBBBADBBt;B_/E9@ @@4@E EE,E"E ;*E҆:VEg4ZEBEvT1 0W,%^?A:U?:kA?:<ٱ:' FAHRS rotation from veh to nav: [[0.230728,-0.960628,-0.154786],[0.972860,0.224888,0.054478],[-0.017523,-0.163154,0.986445]]:H`?vÿ@!?$? z?`>Ŀ?i:U?I:`;:CYJxByJQ*IbDVVDVy^>*=%^U=ٔ^Q-b>9`Y`=bRGybFfs;Ef>hQ 5n4jx?Q 9n4j#)j|BYlyr?Q Ir?jCIj;ij;jd4ytɮvAtjhFNOT Ignoring new targets: 329.35 m.Rh67Zh67- ProNav: ac range: 329.345337 m, nav range: 311.273651 m, bearing: 78.126105 deg, approach rate: -0.790446 m/s, LOS rate: 0.000889 deg/s, cmd heading: 77.539285 deg, new cmd heading: 77.540311 deg. Bh-A85HeadingCmd: 1.353334 target range: 329.345337 and range: 330.90 m.h5 :?h1*h1"h1 h9g9f9fAfAdAdAdIjdIZdM` @qɢ}X<)y }q>iy)}孹顁ii :?3?;I :?I9@ @@/@ABDAT read: Rx Time:15:05:56.2972 TRx dataTimestamp_ set to:1761577557.656155checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279683^A]ܪ&AazAefAqIQ Ia Om >E  E E %E "E =;*E :VE 4ZE a5 @a5 @a5 @a5 @ԙ PZ],qx?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532435Y}wBy}O*IiMb@Mb@Mb@ 9ʡE?:v?91Y1=5RGy5F=E=>AQ 5E4Ex?Q 9M4E>)EyBYMO?Q EM:yM?Q IM?ECIE":iEv:Ek4yYɮ]AYqjhFNOT Ignoring new targets: 329.35 m.RhZh ProNav: ac range: 329.345337 m, nav range: 310.907806 m, bearing: 78.125581 deg, approach rate: -0.809972 m/s, LOS rate: -0.001161 deg/s, cmd heading: 77.540310 deg, new cmd heading: 77.538737 deg. BhLHeadingCmd: 1.353306 target range: 329.345337 and range: 330.90 m.h$9?h*h"h hgfQfQfYdYdYdYjdYZde8@ɢaq<) n>i)߸i*im$9?m>;mIm$9?Iqԡ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785709B 3>B B V*IB |BB B B DB s;B \/E^Ae I I O > (Bd,rܑ?A6&?6ث?6]W<ٱ6% BAHRS rotation from veh to nav: [[0.226243,-0.961896,-0.153525],[0.973937,0.220771,0.052031],[-0.016154,-0.161295,0.986774]]6H ?ദÿ}*?6B??`RĿ ?i6&?I6_;6CYFxByJQ*IbDRVDRyZL;%Ze=ٔZ{Q-^>9\Y\=bRGybFbT<Eb>dQ 5j4fy?Q 9j4f)fxBYhyn?Q In?fBCIf:if;f+r4ypɮrApjh  FNOT Ignoring new targets: 329.35 m.RhZh% ProNav: ac range: 329.345337 m, nav range: 310.618683 m, bearing: 78.124921 deg, approach rate: -0.813150 m/s, LOS rate: -0.001859 deg/s, cmd heading: 77.538739 deg, new cmd heading: 77.536756 deg. Bh-I-HeadingCmd: 1.353272 target range: 329.345337 and range: 330.90 m.h-8?h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE@iɢuz<)q uq>iq)}ԘC8yyi};i8?=;4I8?II)E EE,E"E;*Eą:VEg4ZEBE9CiX95^>,@¸2>,@ A>)(~@IA>\?V ?u>m7.? S?)6X2IliAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ^AII O>)  *DAT read: user:919>  BDAT read: Tx time:15:05:57.6739  $Ping request sent. 9YYY=eRGyeFeL;Em>qQ 54u\y?Q 94u )uvBYy}?Q I?unCIus8i)ى9i i56?U<;UdEI]6?IiE EE*E"E ;*E?:VE(N4ZEa@a@a@a@Ye9@a @i@i@i%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251779ԁ ^A 3A >A >IA IQ Oe >,Tq,ɒŕ?A02h?2֠?2Eq<ٱ2 >AHRS rotation from veh to nav: [[0.220292,-0.964042,-0.148640],[0.975322,0.215388,0.048519],[-0.014759,-0.155661,0.987700]]2H2?@o`ÿ`5?ב?ר? : ÿ=?i2h?I2_;2CYFlByFA*Ii Mb@Mb@Mb@     9 bX9?{Gz?MbY EV?y ף<  A ^A  A) l A Y  AbD%VD%Ny5* %5L=ٔ=кQ-=>9AYA=ERGyEFE<EE>IQ 5U4M y?Q 9U4MA)MqBYWV?Q E}:yu?Q I?MCIMiy)} 9yyi}ti5?W;;I5?ԙI9@ @@/@ԹE EE)E"E=;*E:VEFA4ZEBE}Iuw,NGߕ?A2=&?2?2Qf<ٱ2h :AHRS rotation from veh to nav: [[0.216934,-0.965095,-0.146733],[0.976085,0.212283,0.046841],[-0.014057,-0.153385,0.988066]]2H ?%¿9V ?YZ ?=ZRGyZFZ2<E^>\Q 5b4^;y?Q 9b4^)^mBYdyf?Q If?^ChI^:i^,;^G4ynBɮnAljhFNOT Ignoring new targets: 312.93 m.Rh Zh  ProNav: ac range: 312.926605 m, nav range: 309.555145 m, bearing: 78.120396 deg, approach rate: -0.882964 m/s, LOS rate: -0.001758 deg/s, cmd heading: 77.532886 deg, new cmd heading: 77.530970 deg. Bhn%HeadingCmd: 1.353171 target range: 312.926605 and range: 314.40 m.h%4?h!*h!"h) h)g)f)f1f1d1d1d9jd9Zd=[?aɢe"u<)i mB>i)u:i i4?3;;A!;I4?I-{>i-)>9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067651^A?BɺA ؟AI9 Y Iy O >E  E E (E "E :*E :VE c44ZE a- @a5 @a5 @a5 @},w?AFf?F~?F3]<ٱF3 ^AHRS rotation from veh to nav: [[0.213683,-0.966137,-0.144636],[0.976809,0.209255,0.045345],[-0.013544,-0.150972,0.988445]]FH Y?`q¿`B??y7?μ Sÿ X?iFf?IF_;FCYbXByf)*Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589399ieMb@Mb@Mb@aaaa a9eI +?~jthI +Ye9T?yeDe94aa a)eV AaYe AbD}VD}y,%==ٔΛQ->9"?Y"?=RGyF;E>Q 54y?Q 94)hBY>T?Q E:yǬ?Q I?CIz:i ;ӎ4yұBɮAVEjhFNOT Ignoring new targets: 312.93 m.Rh8Zh8 ProNav: ac range: 312.926605 m, nav range: 309.197205 m, bearing: 78.121300 deg, approach rate: -0.829625 m/s, LOS rate: 0.002100 deg/s, cmd heading: 77.530966 deg, new cmd heading: 77.533684 deg. Bhx8HeadingCmd: 1.353218 target range: 312.926605 and range: 314.40 m.h@6?h*h"h  h g f ffdddjdZd ?ɢw F<) 0>i)"::ii@6?Z;;k;I@6?Ia@ @@4@@dA@fAԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510964^A] ;Bi Bi Bm \*IBm BBi Bi Bi Bm Ot;Bm /EԹ A I I O5 >,?A6?61?6!|S<ٱ6& BAHRS rotation from veh to nav: [[0.210364,-0.967110,-0.142985],[0.977538,0.206152,0.043826],[-0.012908,-0.148993,0.988754]]6H1?VM¿G?2c?Up?To@2ÿߣ?i6?I6m}_;4YJKByJ*IIN=)LPRAbDVVDVkyZ6%^Y=ٔ^ZݺQ-^>9`Y`=bRGy`f<Ef>hQ 5j4jy?Q 9n4j)jdBYlyn8?Q In?jCIj;ij";jh4ytɮvAtjhFNOT Ignoring new targets: 312.93 m.Rh7Zh7- ProNav: ac range: 312.926605 m, nav range: 308.885071 m, bearing: 78.121893 deg, approach rate: -0.829063 m/s, LOS rate: 0.001576 deg/s, cmd heading: 77.533685 deg, new cmd heading: 77.535464 deg. Bh-h85HeadingCmd: 1.353249 target range: 312.926605 and range: 314.40 m.h5E7?h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdM`n?qɢuBe@<)y }>iy)}$V:yyiiE7?gS<;^$;IE7?IԙE EE'E"E;*E$:VE'4ZEBED  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863 ! - ֐C,,?AJGnfAx%9%fAY-A=W?=NC?=ZN<ٱ=W UAHRS rotation from veh to nav: [[0.207825,-0.967747,-0.142392],[0.978085,0.203714,0.043023],[-0.012628,-0.148212,0.988875]]=H?@9¿xL?`O?`!?@܉¿ݤ?i=W?I=_;=CYm9Bym*I <4<bD VD:2y⨽%<=ٔH(Q->9Y=RGyFi;E>Q 54%y?Q 94)_BYy?Q I?FCI,ԘF?AY5By)IiMb@Mb@Mb@ 9v/?~jthI +YxI?y9A  A)Y AbDVDy%H=ٔQ->9Y=RGy%F-E->1Q 5=45*y?Q 9=45)5YBY=I?Q EE:yE??Q IE?5pCI5;i5X:5Q4yIɮMvAIQmB*** querying acoustic contact ***ii ii}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518957jhFNOT Ignoring new targets: 312.93 m.Rh7Zh7 ProNav: ac range: 312.926605 m, nav range: 308.195374 m, bearing: 78.123017 deg, approach rate: -0.815342 m/s, LOS rate: 0.001520 deg/s, cmd heading: 77.537004 deg, new cmd heading: 77.538842 deg. Bh8HeadingCmd: 1.353308 target range: 312.926605 and range: 314.40 m.h39?h*h"h hgfffdddjdZd?@ɢO<) 8=i)j:ii39?'>;KBBC*IBmBBBBDB2t;Bu/EBCBCBBBCX39@ @@@@=@>ԁE EEE"E;*Eh:VEZEBE1N- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770887AY Ia Iy O > ż,s`?A2Uʒ?2õ?2za@<ٱ2} :AHRS rotation from veh to nav: [[0.204409,-0.968544,-0.141915],[0.978815,0.200496,0.041500],[-0.011742,-0.147391,0.989009]]2H*?OA*¿tR?`ک??? @¿@?i2Uʒ?I2`_;2CYBByB)I DDbDN VDN2yV %V_=ٔVJQ-V>9XYX=ZRGyZF^{ <E^>`Q 5f4b/y?Q 9f4b)bSBYdyf?Q If?bCIb:ib:b4ynBɮn"AnLEjhFNOT Ignoring new targets: 312.93 m.Rh Ì7Zh Ì7 ProNav: ac range: 312.926605 m, nav range: 307.914673 m, bearing: 78.123357 deg, approach rate: -0.792794 m/s, LOS rate: 0.000961 deg/s, cmd heading: 77.538841 deg, new cmd heading: 77.539863 deg. Bh(8HeadingCmd: 1.353326 target range: 312.926605 and range: 314.40 m.h9?h*h"h hgfffdddjdZdE @AɢEv;)A E^=iA)M݈:IIiM썑iU9?&P?;ObE}:4jE}h=4rE}ʋS0E  E E *E "E T;*E $:VE (N4ZE a= @aE @aE @aE @A Q睥,Pz?A2Β?2?2?<ٱ2  :AHRS rotation from veh to nav: [[0.204280,-0.968493,-0.142448],[0.978842,0.200350,0.041563],[-0.011714,-0.147924,0.988929]]2H%?;¿`R??G?`o-¿@O?i2Β?I2^;2CYBByB)IrBDAT read: Rx Time:15:06:00.4925 vTRx dataTimestamp_ set to:1761577561.940222vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276031iUMb@Mb@Mb@QQQQ Q9U? rhYU@?yUC U̼UzAU@ Q)U AQYU Aae@AbDmVDm1y}%}==ٔQ->9Y=RGyF9E>Q 546y?Q 94)MBYM@?Q E:y\?Q I?CIh;i:4yBɮAMEjhFNOT Ignoring new targets: 312.93 m.Rh8Zh8 ProNav: ac range: 312.926605 m, nav range: 307.591522 m, bearing: 78.126263 deg, approach rate: -0.749625 m/s, LOS rate: 0.006748 deg/s, cmd heading: 77.539866 deg, new cmd heading: 77.548592 deg. Bh/9HeadingCmd: 1.353478 target range: 312.926605 and range: 314.40 m.h>?h*h"h hgfffdd d jd Zd m @ɢjH ;) ~?@;G?I9@ @@0@9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527255^AhW<B 1>B B *IB JBB B B B s;B V/Ei A I! I9 OE >Τ,,*?A 2˒?26?2A<ٱ2}K >AHRS rotation from veh to nav: [[0.204366,-0.968443,-0.142662],[0.978823,0.200410,0.041723],[-0.011815,-0.148167,0.988892]]2H (?| B¿`R??\?2&¿@?i2˒?I2P^;2CYFByF)IbDNVDNfyV%VY=ٔVE9Q-Z>9XYX=ZRGyZF^tE^>dQ 5v4fiM?5>.@nF>!z.@ 6&>)e@I6&q5|h?7͢?̯ I? H#?)lIiݽi6&mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.i},C?A;D  BDAT read: Tx time:15:06:01.7239  $Ping request sent. Lm,?A$??,H<ٱTn %AHRS rotation from veh to nav: [[0.205071,-0.968012,-0.144563],[0.978671,0.200957,0.042666],[-0.012250,-0.150229,0.988575]]H`?? ¿DQ??`Fإ?`|:ÿh?i$?IZ^;CY5By5)II==)=bDEVDEk1yu%u2=ٔ}w:Q-}>9yY=RGyFͺE>Q 54LDy?Q 94)ABYy??Q I?CI:i:4yɮAi1i5ob?AJi5CRi5Cji5?b581Gr@A |@'nʲH@R5a[ e?Ho?Zi5iݽbi56&j5ləR5U@BtdHr@ "SI@Z5i?.qB?^{?2i5CC:i5٭B"i5Lᕊ?*i5>Bi5:Bi5,w?i5i5Bi57Ci5ߥ?] addTargetRange:: Added new target pos. range: 310.799988 m, deltaT: 4.031683 s, deltaX: -3.600006 m, approachRate: -0.892929 m/s, rangeRepo size: 4  Added new target pos. range: 309.342102 m, bearing: 73.450422 deg, lat: 36.779106 deg, lon: -121.859493 deg, deltaT: 4.031683 s, deltaX: -3.584503 m, approachRate: -0.889084 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 309.34 m.RhZh ProNav: ac range: 309.342102 m, nav range: 304.434113 m, bearing: 74.248752 deg, approach rate: 0.000000 m/s, LOS rate: 0.005886 deg/s, cmd heading: 77.556279 deg, new cmd heading: 77.563665 deg. BhHeadingCmd: 1.353741 target range: 309.342102 and range: 310.80 m.h%eG?h!*h!"h! h!g!f)f)f)d)d1d1jd5ls@Zd5>?E= E=E=(E9"E=;*E=ą:VE=c44ZE9a]@a]@a]@a]@qɢֺ) h&i)0s:iieG?2HC; \8],Ζ?A2?2a?2J<ٱ2\ :AHRS rotation from veh to nav: [[0.205853,-0.967526,-0.146687],[0.978505,0.201622,0.043313],[-0.012331,-0.152450,0.988234]]2HaY? ¿@O??@-?@@{ÿ`?i2?I2Nn^;0YB̉ByB})IԑiMb@Mb@Mb@ 9v?A`"/$Y8?yYAp@  A) AY A p<bDVDyt%=ٔ x"9Q- >9 Y =RGyFlȺE>Q 5%4;My?Q 9%4);BY-h9?Q E-:y-?Q I-?>CI ;i ;ɋ4y5~Bɮ5ȞA=CEUB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 309.34 m.RhmR7ZhmR7} ProNav: ac range: 309.342102 m, nav range: 304.056030 m, bearing: 74.249417 deg, approach rate: -0.746359 m/s, LOS rate: 0.001314 deg/s, cmd heading: 77.563662 deg, new cmd heading: 77.565659 deg. Bh}f8HeadingCmd: 1.353776 target range: 309.342102 and range: 310.80 m.hH?h*h"h hgfffdddjdZd?AɢE)A E0νiA)MXm:IIiMiUH?U VD;U.ĵ,?AWy?d?%O<ٱ  %AHRS rotation from veh to nav: [[0.206826,-0.967147,-0.147818],[0.978296,0.202482,0.044020],[-0.012643,-0.153714,0.988034]]HCy? ¿3N? ? ?@䉿ÿ?iWy?IƩ^;CY5ˉBy5|)IbDAVDAyU_k%]b=ٔ]b:Q-]>9e ?Ye ?=eRGyeFe4Ee>iQ 5u4mlSy?Q 9}4mz)m7BYyy}?Q I}?m`CIm[:imt:m%Ћ4yBɮADEԑjhFNOT Ignoring new targets: 309.34 m.Rh7Zh7 ProNav: ac range: 309.342102 m, nav range: 303.794922 m, bearing: 74.249927 deg, approach rate: -0.722278 m/s, LOS rate: 0.001412 deg/s, cmd heading: 77.565657 deg, new cmd heading: 77.567188 deg. Bh!x8HeadingCmd: 1.353803 target range: 309.342102 and range: 310.80 m.hiI?h*h"h hgfffdddjdZd?-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010087IɢUػ)Q UнiQ)UY:QYi](i]iI?eK"E;eM ,V?AJ}A?J,?J@dX<ٱJh VAHRS rotation from veh to nav: [[0.208491,-0.966691,-0.148458],[0.977935,0.204007,0.044992],[-0.013207,-0.154563,0.987895]]JHׯ? "@ÿ>K?@?@8 ?T ÿ`՜?iJ}A?IJ^;JCY^By^g)I ``iEMb@Mb@Mb@AAAA A9E?ʡEMbPYE,?yEEE`AA A)E; AAYE AbD]VD]Nym-%mJ=ٔm:Q-m>9u"?Yu"?=uRGyuF}ĉE}>Q 54Zy?Q 94)Y-?Q E:yȟ?Q I?CI':i::׋4yɮ2AjhaeFNOT Ignoring new targets: 309.34 m.Rhm8Zhm8 ProNav: ac range: 309.342102 m, nav range: 303.519745 m, bearing: 74.252403 deg, approach rate: -0.648560 m/s, LOS rate: 0.005841 deg/s, cmd heading: 77.567187 deg, new cmd heading: 77.574622 deg. BhG9HeadingCmd: 1.353933 target range: 309.342102 and range: 310.80 m.hM?h*h"h hgfffdddjdZd x?AɢE1 )A E| iI)M?::IIi掼iM?E;BiBm)IBmBBiBiBiBmSt;Bm/E9@ @@/@Q^A <D zD @AEE  EE EE &EA "EE T;*EE 1:VEE 4ZEA BEE Gƥ,p?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762979F?FC?F(#e<ٱF NAHRS rotation from veh to nav: [[0.210508,-0.966141,-0.149192],[0.977492,0.205837,0.046261],[-0.013985,-0.155573,0.987725]]FH? ÿG?@X?z?'ÿ`r?iF?IFX^;FCYVByV_)I\^AAbDbVDbfyfL%jT=ٔj;Q-j>9lYl=nRGynFrwEr>tQ 5v4vay?Q 9z4v)tYxyz?Q I~?vCIv;iv3;v݋4yɮNAjhFNOT Ignoring new targets: 309.34 m.Rh$8Zh$8 ProNav: ac range: 309.342102 m, nav range: 303.258179 m, bearing: 74.254862 deg, approach rate: -0.685532 m/s, LOS rate: 0.006452 deg/s, cmd heading: 77.574625 deg, new cmd heading: 77.582010 deg. Bh9HeadingCmd: 1.354061 target range: 309.342102 and range: 310.80 m.hQ?h*h"h hgfffd dd!jd!Zd%c@Iɢ$) 4i)):iLiQ?dF;;IQ?IAQ9@ @@/@y-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014892ԩ^A <I I O > ̥,76?AV$?V?Vo<ٱVP! AHRS rotation from veh to nav: [[0.212465,-0.965550,-0.150237],[0.977060,0.207620,0.047417],[-0.014592,-0.156865,0.987512]]VH`2?:ÿD?`H?G?@-⍿@#Ŀ?iV$?IVFs^;VCYBy[)IbDmVDmβyW%@=ٔź:Q->9Y=RGyFPE>Q 54iy?Q 94ޑ)8BYE EE(E"E;*E:VEc44ZEa@a@a@a@yD?Q I?CILfӥ,xP?AJh?JLT?JWw<ٱJ! RAHRS rotation from veh to nav: [[0.214946,-0.964955,-0.150530],[0.976509,0.209969,0.048399],[-0.015096,-0.157397,0.987420]]JHW?@Dÿ??E?@Ǩ?ꎿ%Ŀ?iJh?IJ<^;JCYjByj^)IiMb@Mb@Mb@ 9y&1?ktMb?Y`%?y <AZ@ ; A) AY AbDVDy\<%D=ٔ\:Q->9Y=RGyFFǻE>Q 54gqy?Q 94"):BY&?Q E:yٜ?Q I?CIS;i;4yaBɮA;Ejh%FNOT Ignoring new targets: 309.34 m.Rh%;9Zh-;95 ProNav: ac range: 309.342102 m, nav range: 302.697693 m, bearing: 74.261332 deg, approach rate: -0.765707 m/s, LOS rate: 0.010271 deg/s, cmd heading: 77.590512 deg, new cmd heading: 77.601436 deg. Bh=9=HeadingCmd: 1.354401 target range: 309.342102 and range: 310.80 m.h=\?hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU`N@颁ɢz3)<@. i)fj9顉ii\?F;{#;I\?IIY@Y @Y@] 0@YE EEE"E&:*E:VEZEBEc;ԑ ڥ,.j?A:?:?:P<ٱ:{"@ FAHRS rotation from veh to nav: [[0.217275,-0.964387,-0.150829],[0.975982,0.212126,0.049622],[-0.015861,-0.157988,0.987314]]:H?B \Nÿ=;?&?h?`=8Ŀ?i:?I:^;:CYJByN])I V49`Yd=fRGyfFfPԻEf>hQ 5n4jNxy?Q 9n4j1)jib?CVF;BO9Ib?II)9@ @!@%0@!E= E=E9E9"E==;*E=?:VE9ZE9aM@aM@aM@aM@ BDAT read: Rx Time:15:06:04.5769  TRx dataTimestamp_ set to:1761577565.972082 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275936 ^AE ;I I O >q, ?AlY=By=d)IiMb@Mb@Mb@ 9MbX9?bX9ȶ/$?Y!?yE<  A) AY AbDVD0y <%7=ٔ]Q-e>9aYa=eRGyeFmEm>qQ 5}4uǀy?Q 9}4u})uBBY}z#?Q E:y?Q I?u0CIu:iu:u"4yɮAjhFNOT Ignoring new targets: 309.34 m.RhC=9ZhC=9 ProNav: ac range: 309.342102 m, nav range: 302.167328 m, bearing: 74.268931 deg, approach rate: -0.702843 m/s, LOS rate: 0.010342 deg/s, cmd heading: 77.611412 deg, new cmd heading: 77.624249 deg. Bh9HeadingCmd: 1.354799 target range: 309.342102 and range: 310.80 m.h j?h*h"h hgfffdddjdZdS @ɢl) i)%8!!i%i- j?-F;-c:I- j?I1 9@ @@4@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529390B 4>B B o)IB BB B B DB t;B /EBBBBBCĉ4^A9IIO%M>1EM  EM EM &EI "EM ;*EM :VEM 4ZEI BEM Ai2|2d;>2LB/@2|>2.@ 2l$>)24`@I2l$02m]I?3fa?X5/U[? 2%?)2ZsI2i2l$T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9{??x<ٱ AHRS rotation from veh to nav: [[0.225571,-0.963709,-0.142771],[0.974056,0.220353,0.051576],[-0.018245,-0.150701,0.988411]]H`?`NF¿w+?4?`7h?@@(Jÿ@?i{?Ix^;CYByf)IbD-VD-y];%]E=ٔe;Q-e>9aYa=eRGymFϨE>Q 54y?Q 94w)GBYyޚ?Q I?RCI9:i:[4yɮAjh15FNOT Ignoring new targets: 309.34 m.Rh=;9Zh=;9m ProNav: ac range: 309.342102 m, nav range: 301.904541 m, bearing: 74.273248 deg, approach rate: -0.623895 m/s, LOS rate: 0.010257 deg/s, cmd heading: 77.624246 deg, new cmd heading: 77.637207 deg. BhmB9uHeadingCmd: 1.355025 target range: 309.342102 and range: 310.80 m.huuq?hq*hy"hy hygyfyffdddjdZd`@ɢz)  iA)MIIiM$ˊiUuq?U0D;ULIUuq?IYaԉPDAT read: Bearing 226.1, -9.2 (Local) %~Local bearing/azimuth received: Bearing 226.1, -9.2 (Local) 5DAT read: Range 11 to 50 : 336.6 m (Round-trip 448.9 ms) speed 0.4 m/s =X#Rx 2: Read range message, but no direction.yYLCET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.𕭼] 9@Y  @Y @] 0@a bEU-4jEUͨ,4rEUS}/EU  EU EU *EQ "EU ;*EU 1:VEU (N4ZEQ a @a @a @a @ ^A*DAT read: user:921> BDAT read: Tx time:15:06:06.0238 $Ping request sent.9!Y!=%RGy%F%)E%>iQ 5u4my?Q 9}4mn)mLBY} -?Q E}:y}?Q I}?mCIm:im:m3 4y;BɮA2E-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 336.600006 m, deltaT: 4.288708 s, deltaX: 25.800018 m, approachRate: 6.015802 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 309.34 m.Rh8Zh 8 ProNav: ac range: 309.342102 m, nav range: 301.524445 m, bearing: 74.277109 deg, approach rate: -0.678745 m/s, LOS rate: 0.006905 deg/s, cmd heading: 77.637210 deg, new cmd heading: 77.648810 deg. Bh9HeadingCmd: 1.355227 target range: 309.342102 and range: 310.80 m.hx?h!*h!"h hgfffdddjd u@ZdE~?颁ɢh) i)D顉i҉ix?AzB;_Ix?IAAB5>BBu)IBƉBB =BBBt;B/Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.245287,! - 9@)  @1 @5 /@1 @E eA@A E=  E= E= 'E9 "E= ;*E= Ǚ:VE= '4ZE9 BE9 aE 2E9 aM JE= ;aM :E= ;aM I iߡ Iߥ A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497419^A%ԁAu.AIIO ?,s?A2H?2s?2m<ٱ2 :AHRS rotation from veh to nav: [[0.229229,-0.963088,-0.141123],[0.973191,0.223966,0.052334],[-0.018796,-0.149336,0.988608]]2H dW?O¿@a$?`?˪?`#?`pÿଢ?i2H?I2B^;0YB؉ByB)IbDNVDNfyRܱ=%R$=ٔV8Q-V>9Z ?YZ ?=ZRGyZFZ:E^>\Q 5b4^y?Q 9f4^e)^QBYhyj?Q Ij?^CI^|4;i^5;^4ylɮnApjh FNOT Ignoring new targets: 309.34 m.Rh K9Zh K9 ProNav: ac range: 309.342102 m, nav range: 301.194122 m, bearing: 74.280562 deg, approach rate: -0.680420 m/s, LOS rate: 0.007120 deg/s, cmd heading: 77.648808 deg, new cmd heading: 77.659177 deg. Bh%[9%HeadingCmd: 1.355408 target range: 309.342102 and range: 310.80 m.h%~?h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd= ?ɢ婭) Li)/eii~?@;p#I~?I!!))checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7498271e9@a @a@m/@iaE  E E *E "E :*E k:VE (N4ZE a @a @a @a @^A Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004388A I I O>@,?A>\?>DH?>N<ٱ>*Q FAHRS rotation from veh to nav: [[0.230519,-0.962682,-0.141792],[0.972885,0.225196,0.052734],[-0.018835,-0.150104,0.988491]]>Hਁ?I`?&¿!?5?? I`6ÿ?i>\?I>4^;>CYNByN)Ihi%Mb@Mb@Mb@!!!! !9%tV?A`"I +?Y%2?y%Y%99YYY=]RGy]F]4E]>aQ 5M4ely?Q 9M4eW])eUBYMJ3?Q EU:yUL?Q IU?eCIe;i6I(?I}9@y @y@}0@yB1>BB)IBډBB =BBDBt;B/E%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254001)^A &a E]  E] E] )EY "E] ;*E] v:VE] FA4ZEY BEY am 2EY am JE] ;am :E] ;au A ؟AI I) O5 >,?A2/C?2.?2J×<ٱ2H :AHRS rotation from veh to nav: [[0.231282,-0.962499,-0.141791],[0.972710,0.225996,0.052539],[-0.018525,-0.150073,0.988501]]2H? `4&¿`q ?q?@j? "`5ÿ͡?i2/C?I2+l^;2CYBByB)I Jp9Z"?YZ"?=ZRGyZFZEZ>Q 5%4]y?Q 9%4nV)XBY)y-2?Q I-?CI:i=:$4y1ɮ5 A19checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505260jh FNOT Ignoring new targets: 309.34 m.Rh 8Zh 8] ProNav: ac range: 309.342102 m, nav range: 300.582520 m, bearing: 74.283928 deg, approach rate: -0.720418 m/s, LOS rate: 0.004032 deg/s, cmd heading: 77.664660 deg, new cmd heading: 77.669283 deg. Bh]19eHeadingCmd: 1.355585 target range: 309.342102 and range: 310.80 m.he̓?ha*ha"hi higififqfqdddjdZd ?!ɢ%)) -`?i))-嶓))i-LӇi5̓?5;5<;5fAI5̓?I9i9@ @@1@ԑ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757573^A *: A1 IA IQ O] >[ ,T6?AR`7?R"?R앓<ٱRO bAHRS rotation from veh to nav: [[0.231635,-0.962257,-0.142854],[0.972636,0.226365,0.052327],[-0.018015,-0.151065,0.988360]]RH7?I¿`??ʪ? |r Vÿ@?iR`7?IR:^;RCYn Byr)IbDVD1yek=%e>=ٔmQ-m>Թ9Y=RGyFSE>Q 54y?Q 94N)\BYy (?Q I ?E EE(E"ET;*EVEc44ZEa@a@a@a@"CI#;i;+4y- Bɮ- A-)EjhQUFNOT Ignoring new targets: 309.34 m.Rh]8Zh]8m ProNav: ac range: 309.342102 m, nav range: 300.278961 m, bearing: 74.285647 deg, approach rate: -0.730925 m/s, LOS rate: 0.004144 deg/s, cmd heading: 77.669284 deg, new cmd heading: 77.674447 deg. Bhm69uHeadingCmd: 1.355675 target range: 309.342102 and range: 310.80 m.hu?hq*hq"hy hygyfyffdddjdZdట@1ɢ5ё:)1 5B A <B 2>B B )IB BB B B B t;B /E5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261231,TP?A2!??2*?2<ٱ2g! :AHRS rotation from veh to nav: [[0.231408,-0.962307,-0.142880],[0.972704,0.226265,0.051482],[-0.017213,-0.150893,0.988400]]2HȞ?8I¿e ?@91Y1=5RGy5F=:E=>AQ 5M4Ey?Q 9M4E_G)E`BYM6?Q EM:yM)?Q IM?EHCIE:iEfu,QOl?AY#By)I11bD=VD=N2yUK=%UG=ٔ]Q-]>9aYa=eRGyeFmEm>qyQ 54}Yy?Q 94}?)}cBYyQ I?}nCI}*C;i}K;}:4yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765325jh9=FNOT Ignoring new targets: 309.34 m.RhE}ZhE}u ProNav: ac range: 309.342102 m, nav range: 299.691620 m, bearing: 74.285469 deg, approach rate: -0.713648 m/s, LOS rate: -0.000217 deg/s, cmd heading: 77.674182 deg, new cmd heading: 77.673914 deg. BhuL}HeadingCmd: 1.355666 target range: 309.342102 and range: 310.80 m.h}s?hy*hy"hy hygfffdddjdZda@ɢH;) P=i)؎/AiEsiMs?M5O6;MuCIMs?IQԡ9@ @@/@E5 E5E5'E1"E5~ ;*E51:VE5'4ZE1a=@a=@a=@a=@^A2D checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019426 A I I) O= >vs!,?A2l?2X?2my<ٱ2s bAHRS rotation from veh to nav: [[0.230065,-0.962576,-0.143239],[0.973056,0.225229,0.049331],[-0.015223,-0.150729,0.988458]]2Hr?l U¿F#?J? A?T-Kÿr?i2l?I2^;2CYj5Byj)IiMb@Mb@Mb@ 9{Gz?~jt/$?YC?yD<vA@ Q A) AY AbDVDy=%E=ٔQ->9Y=RGyF[;E>Q 54y?Q 947)fBYC?Q E:y?Q I?CI3;i,3;8A4yɮFA B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 309.34 m.Rh%Zh%= ProNav: ac range: 309.342102 m, nav range: 299.375671 m, bearing: 74.283612 deg, approach rate: -0.792687 m/s, LOS rate: -0.004664 deg/s, cmd heading: 77.673915 deg, new cmd heading: 77.668339 deg. Bh=LUHeadingCmd: 1.355568 target range: 309.342102 and range: 310.80 m.hUC?hY*hY"hY hYgYfYfafadadadijdiZdmࠈ @颙ɢ;) =i)y顡i%riC?Ҝ4;-IC?Im9@i @i@i@iB5>BB)IBBBBBDBt;B/EBDAT read: Rx Time:15:06:08.8534 TRx dataTimestamp_ set to:1761577570.260895checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271365!Q^AEM  EM EM )EI "EM ;*EM :VEM FA4ZEI BEM Ly ',?Ai8I:A>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523823Z^֏?Z?Z0Q<ٱZI fAHRS rotation from veh to nav: [[0.226931,-0.963860,-0.139558],[0.973827,0.222692,0.045490],[-0.012768,-0.146228,0.989169]]ZH ?)?(?sJ?%¿D?iZ^֏?IZn^;ZCYj=Byn*IbDvVDvky]?=%]W=ٔ](ͻQ-e>9aYa=eRGyeFm<Em>qQ 5}4uy?Q 9}4u10)uhBYyH?Q I?uCIuj;iu";uH4yɮ(AjhFNOT Ignoring new targets: 309.34 m.RhBZhB ProNav: ac range: 309.342102 m, nav range: 299.075653 m, bearing: 74.281667 deg, approach rate: -0.767363 m/s, LOS rate: -0.004979 deg/s, cmd heading: 77.668342 deg, new cmd heading: 77.662501 deg. BhZHeadingCmd: 1.355466 target range: 309.342102 and range: 310.80 m.h?h*h"h hgfffdddjdZd@ @ɢ <) =i))7!i%Vi%?-;3;-aI-?I)=e>i=%>Y9@ @@0@ԁ 19 G)a^A0 ]DAT read: 15:06:08.8534 LVL= 31200, 32753, 29362, 32755, AGC= 64, IDX= 211,-0.24,-1.305,-2.446,-1.081,-1.482, PHS= 0.279,-0.919, 0.357, RAW= 153.1, 4.6, CAL= 152.2, 4.5, ROT= 357.8, -4.5 eYgot valid direction response: 15:06:08.8534 LVL= 31200, 32753, 29362, 32755, AGC= 64, IDX= 211,-0.24,-1.305,-2.446,-1.081,-1.482, PHS= 0.279,-0.919, 0.357, RAW= 153.1, 4.6, CAL= 152.2, 4.5, ROT= 357.8, -4.5 mPDAT read: Bearing 221.7, -3.6 (Local) m~Local bearing/azimuth received: Bearing 221.7, -3.6 (Local) }DAT read: Range 11 to 50 : 319.0 m (Round-trip 425.4 ms) speed 0.5 m/s }R#Rx 1: Read range and direction messages.^direction in FSK: [0.996183,-0.038270,0.078459]Fpublishing direction and range infoyŒ#?5;?YC9 YAyr )@Iَ>iCkȶ>+@l=P*@ |٠=)M@I|٠CikDQ?'7n?]ܛ? ?) IFi|٠T****** received valid address query ******R****** received valid ping request ******ԹQuerying Benthos address 50 with one ping in standard two-way mode.A I I O > -,kչ?AR?R?RU;<ٱR` ZAHRS rotation from veh to nav: [[0.225058,-0.964094,-0.140967],[0.974278,0.220977,0.044170],[-0.011434,-0.147282,0.989028]]RH?5 ¿I-?H?|?j#¿?iR?IR4^;RCYb9xYx=zRGyzFE EE(E"E3;*E:VEc44ZEa @a @a @a @ ;E >Q 54y?Q 9%4()kBY!y%?Q I%?CI$:i:N4y-װBɮ5mA5!EiAiE䰘?AJiECRiECjiE?bE;s@_bCM(sF8@REŒ#?5;?ZiEFbiE|٠jEBS@G-)s@b_6@ZEk?;hD?G(hd?2iEIC:iEƞB"iEj?*iEBiE۷BiAiAiEjBiEcCiE6? addTargetRange:: Added new target pos. range: 319.000000 m, deltaT: 8.320410 s, deltaX: 8.200012 m, approachRate: 0.985530 m/s, rangeRepo size: 4  Added new target pos. range: 317.506012 m, bearing: 75.482110 deg, lat: 36.779106 deg, lon: -121.859493 deg, deltaT: 8.320410 s, deltaX: 8.163910 m, approachRate: 0.981191 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 317.51 m.RhZh- ProNav: ac range: 317.506012 m, nav range: 298.775085 m, bearing: 74.279602 deg, approach rate: 0.000000 m/s, LOS rate: -0.004979 deg/s, cmd heading: 77.662502 deg, new cmd heading: 77.656571 deg. Bh)uHeadingCmd: 1.355363 target range: 317.506012 and range: 319.00 m.hu|?hq*hq"hq hqgqfyfyfydyddjds@Zdnh?Ա*DAT read: user:922> BDAT read: Tx time:15:06:10.0738 $Ping request sent.B B *IB ?BB =B B B yt;B /EBIBIBIBIBICMU5% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245742^A% ΒA- >A- >1 A .AI I O >kl5,r֘?AR#P?R;?RW4"<ٱR{t fAHRS rotation from veh to nav: [[0.223318,-0.964564,-0.140516],[0.974695,0.219510,0.042242],[-0.009900,-0.146393,0.989177]]RH?l@0??? uF`¿`V?iR#P?IR^;RCYrGByv*IԑiMb@Mb@Mb@ 9?~jth?{Gzt?YL?yD;ף;zA@  A)? AYQ AbDVDJ2yY3=%)=ٔOQ->9 ?Y ?=RGyFr;E>Q 54y?Q 94)jBYL?Q E:yӬ?Q I?CI:i3:UW4y ɮBAjh9=FNOT Ignoring new targets: 317.51 m.RhEpZhEpU ProNav: ac range: 317.506012 m, nav range: 298.391266 m, bearing: 74.275638 deg, approach rate: -0.805454 m/s, LOS rate: -0.008330 deg/s, cmd heading: 77.656573 deg, new cmd heading: 77.644666 deg. BhU]HeadingCmd: 1.355155 target range: 317.506012 and range: 319.00 m.h]u?hY*hY"hY hYgafafafadididijdiZducy?E EE&E"E;*E1:VE4ZEBEDi)s9i9iu?M40;MlIMu?IQ9@ @@P0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499299^A% `Ի A] ؟AI I O >;,?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749892F⟐?FO?F<ٱF  NAHRS rotation from veh to nav: [[0.220949,-0.965270,-0.139408],[0.975251,0.217473,0.039888],[-0.008185,-0.144771,0.989431]]FH@H?~@!A5?%?5l?qÀ݇¿k?iF⟐?IFB^;FCYVAByV *IbDbVDbyf\%f^=ٔjlQ-j>9j"?Yn"?=nRGynFn);Er>pQ 5v4r@y?Q 9z4r)pYxyz"?Q Iz?r:CIr;ir;r]4yɮZAjh)-FNOT Ignoring new targets: 317.51 m.Rh5IZh5IE ProNav: ac range: 317.506012 m, nav range: 298.096771 m, bearing: 74.272452 deg, approach rate: -0.798612 m/s, LOS rate: -0.008649 deg/s, cmd heading: 77.644668 deg, new cmd heading: 77.635100 deg. BhEMHeadingCmd: 1.354988 target range: 317.506012 and range: 319.00 m.hM@p?hI*hI"hI hIgQfQfQfQdYdYdYjdaZde?颉ɢh<) >i)\9顑iBi@p?0;'I@p?IU9@Q @Y@]4@Y!bE-:4jE-64rE-@o/E EE)E"E;*E:VEFA4ZEa@a@a@a@^A=35checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005236QA I I O >y #}B,Xp ?A2?2٬?22;ٱ2# :AHRS rotation from veh to nav: [[0.218610,-0.965688,-0.140203],[0.975790,0.215375,0.038038],[-0.006537,-0.145124,0.989392]]2Hj?,9?e?y?Mz`o¿ ?i2?I2|^;2CYBKByB*Ii Mb@Mb@Mb@     9 @5^I ? rh?MbPY bP?y C<  A A V A)  Y  A@AbD%VD%1y5>=%5D=ٔ5Q-=>99Y9=ERGyEFE;EE>IQ 5U4My?Q 9U4MQ)MhBYUmP?Q E]:y]y?Q I]?MeCIM ;iM ;Me4yeBɮe^AmEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 317.51 m.Rh5MZh5ME ProNav: ac range: 317.506012 m, nav range: 297.758270 m, bearing: 74.267587 deg, approach rate: -0.781227 m/s, LOS rate: -0.011241 deg/s, cmd heading: 77.635099 deg, new cmd heading: 77.620488 deg. BhMMHeadingCmd: 1.354733 target range: 317.506012 and range: 319.00 m.hMg?hQ*hQQ"hQ hqgqfqfyfydyddjdZd?BBB**IBYBBBBB~t;B/E1ɢ5%<)9 =h>i9)=0999iE]iEg?Mٓ/;MIMg?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255653@ @@b4@@@ԁԩE EE&E"ET;*E:VE4ZEBEG !H,J$?AJ?J% ?J:;ٱJ VAHRS rotation from veh to nav: [[0.217177,-0.965983,-0.140394],[0.976118,0.214132,0.036626],[-0.005317,-0.144995,0.989418]]JH`q?Vk[9tYt=vRGyvFv0u;Ev>xQ 54z?y?Q 94z)zfBYy?Q I?zCIz ;iz. ;zk4y ɮEAjh1=FNOT Ignoring new targets: 317.51 m.RhEdZhEdU ProNav: ac range: 317.506012 m, nav range: 297.439240 m, bearing: 74.262900 deg, approach rate: -0.847310 m/s, LOS rate: -0.012460 deg/s, cmd heading: 77.620490 deg, new cmd heading: 77.606415 deg. BhU]HeadingCmd: 1.354487 target range: 317.506012 and range: 319.00 m.h]_?hY*hY"hY hYgafafafadididijdiZdm@͗?颙ɢGYK<) >#>i) :顡i4i_?3V/;S:I_?IԹU9@Q @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757800^Avт I I O >E  E E %E "E V:*E :VE 4ZE a @a @a @a @9 wN,&>?A2D?2/?2;ٱ23 :AHRS rotation from veh to nav: [[0.216064,-0.966226,-0.140440],[0.976370,0.213201,0.035303],[-0.004169,-0.144749,0.989460]]2H? S`l>?`-J? ;?2q#¿@?i2D?I2u^;2CY@yF *IbDNVDN1yV%VN=ٔVv=Q-V>9XYX=ZRGyZF^:<;E^>`Q 5f4by?Q 9f4b)beBYdyfί?Q Ij?bCIb:ib:br4ylɮlljhFNOT Ignoring new targets: 317.51 m.Rh =^Zh =^ ProNav: ac range: 317.506012 m, nav range: 297.116577 m, bearing: 74.258080 deg, approach rate: -0.811878 m/s, LOS rate: -0.012144 deg/s, cmd heading: 77.606413 deg, new cmd heading: 77.591934 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012373BhX=HeadingCmd: 1.354235 target range: 317.506012 and range: 319.00 m.h=W?hA*hA"hA hIgIfqffdddjdZd c@ɢ3<) ">i)g=:i iW?%//;I:IW?I9E9@I @I@I@I@U=@U=B<AB5>BB7*IBcBBBBBB/E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261658ԙ ^AE Β{:I I O >U, X?A,B~?B&j?BV9G;ٱB, NAHRS rotation from veh to nav: [[0.214318,-0.966512,-0.141146],[0.976759,0.211618,0.034049],[-0.003040,-0.145163,0.989403]]BHn? ¿A?I? n?@(h ¿0?iB~?IBn^;BCYRIByV*Ii-Mb@Mb@Mb@)))) )9-/$? rh?{GztY-&Q?y-C =-ף-A-@ - A)-; A)Y)bDEVDENyU %U@=ٔ]i-Q-]>9YYa=eRGyeFei;Ee>iQ 5u4my?Q 9}4m)mbBY}VQ?Q E}:y}?Q I}?mCIm ;imq ;mSz4yBɮyAEjhFNOT Ignoring new targets: 317.51 m.RhᎹZhᎹ ProNav: ac range: 317.506012 m, nav range: 296.769714 m, bearing: 74.251429 deg, approach rate: -0.813398 m/s, LOS rate: -0.015614 deg/s, cmd heading: 77.591933 deg, new cmd heading: 77.571957 deg. Bht+HeadingCmd: 1.353886 target range: 317.506012 and range: 319.00 m.h#L?hI*hQ"hQ hQgQfQfYfYdYdYdYjdaZde@Eu EuEu+Eq"Eu;*Eu:VEu [4ZEqBEu9C9<) >i) S[,q?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765952:Q?:?: ;ٱ: BAHRS rotation from veh to nav: [[0.213317,-0.966593,-0.142108],[0.976981,0.210730,0.033186],[-0.002131,-0.145916,0.989295]]:HM?S0¿ mC?6? ?`ua\¿`M?i:Q?I:4:^;:C\Yb4Byb)I ddbDnVDnyr޽%vR=ٔvQ-v>9xYx=zRGyzFz,;E~>Q 54ey?Q 9 4q)`BY y ?Q I ? CI:i:"4yrBɮAEjhAEFNOT Ignoring new targets: 317.51 m.RhMZhM ProNav: ac range: 317.506012 m, nav range: 296.452820 m, bearing: 74.245276 deg, approach rate: -0.813762 m/s, LOS rate: -0.015817 deg/s, cmd heading: 77.571954 deg, new cmd heading: 77.553476 deg. Bh-HeadingCmd: 1.353564 target range: 317.506012 and range: 319.00 m.hA?h*h"h hgff f d dd9jd9ZdE @ɢ4U<) =i)|o:ii%A?%/;%c;I%A?I)9@ @@0@ E EE(E"E ;*E:VEc44ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019826^A yb];I I O >I 3b,÷?A2ջ?2B?2:ٱ23 :AHRS rotation from veh to nav: [[0.212497,-0.966853,-0.141562],[0.977161,0.210034,0.032290],[-0.001486,-0.145191,0.989403]]2H@3?@v ¿`D?g?H?`ZX@¿/?i2ջ?I2J?^;2CYB3By@i Mb@Mb@Mb@ !    9 x&?I +?{GzY 7I?y 9< # vA ZA Q A)  Y  AbDVD2yF%?=ٔbźQ->9Y=RGyF;E>Q 54y?Q 94)]BYOI?Q E:y?Q I?8CI:i:4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 317.51 m.Rh pZh p ProNav: ac range: 317.506012 m, nav range: 296.117432 m, bearing: 74.239639 deg, approach rate: -0.782354 m/s, LOS rate: -0.013164 deg/s, cmd heading: 77.553479 deg, new cmd heading: 77.536549 deg. Bh%HeadingCmd: 1.353268 target range: 317.506012 and range: 319.00 m.h%7?h!*h!"h! h!g)f)f)f)d1d1d1jd9Zd=@ @BYBYBYBYB] =BYBYB]t;B]/E颁ɢD<)  =i)|:顉iBEi7?/;7;I7?I]BDAT read: Rx Time:15:06:12.8994 eTRx dataTimestamp_ set to:1761577574.292823echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271675-9@) @)@-u1@)@5dA@1Yq^AMϩ;E EE)E"E%;*E:VEFA4ZEBEKԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521845Qh,ޒ?A2ۑ?2]ǭ?2Z:ٱ2 :AHRS rotation from veh to nav: [[0.211539,-0.967357,-0.139542],[0.977369,0.209250,0.031047],[-0.000835,-0.142952,0.989729]]2H?@`F??ʟ? 2ZK9tYt=vRGyvFv|);Ez>xQ 54z_z?Q 94z )zZBYy?Q I?z^CIz";izP;z:4y ɮAjh1=FNOT Ignoring new targets: 317.51 m.RhEtZhEtU ProNav: ac range: 317.506012 m, nav range: 295.820923 m, bearing: 74.234586 deg, approach rate: -0.784276 m/s, LOS rate: -0.013380 deg/s, cmd heading: 77.536547 deg, new cmd heading: 77.521371 deg. BhU]HeadingCmd: 1.353003 target range: 317.506012 and range: 319.00 m.h]5/?hY*hY"hY hYgafafafadididijdiZdm @y颡ɢZ2;) =i)K:顩ili5/?Q0;F;I5/?IU9@Q @Q@U4@QԩDAT read: 15:06:12.8994 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 408, 0.08, 1.199,-0.310, 1.408, 0.685, PHS= 0.616,-0.950, 0.679, RAW= 151.9, -4.4, CAL= 151.6, -5.6, ROT= 358.4, 5.6 Ygot valid direction response: 15:06:12.8994 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 408, 0.08, 1.199,-0.310, 1.408, 0.685, PHS= 0.616,-0.950, 0.679, RAW= 151.9, -4.4, CAL= 151.6, -5.6, ROT= 358.4, 5.6 PDAT read: Bearing 212.6, -0.9 (Local) ~Local bearing/azimuth received: Bearing 212.6, -0.9 (Local) X#Rx 1: Read direction message, but no range.`direction in FSK: [0.994839,-0.027788,-0.097583]yim!Jb?בtA_1^A;imim i)mAIm-?im33sm-?m)@mnFmV)@ m+Ƚ)m+@Im+=im<&c?xU3?;wz m?)m=Imim+=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA! I) IA OM > E  E E &E "E ;*E :VE 4ZE a @a @a @a @o,n?A2f?2?28ٱ21 :AHRS rotation from veh to nav: [[0.210422,-0.967531,-0.140020],[0.977611,0.208237,0.030246],[-0.000106,-0.143249,0.989687]]2H?`- H???U¿@?i2f?I2RS^;2CY^By^)IbDjVDjkyr%rJ=ٔrCQ-r>9tYt=vRGyvFve9;Ez>xQ 54zTz?Q 94z)zXBYyBYB]$*IB]TBBYBYBYB]wt;B]/Em *DAT read: user:923> u BDAT read: Tx time:15:06:14.3238 u $Ping request sent.} ,v,;ٙ?A>%?> ?>ٱ> FAHRS rotation from veh to nav: [[0.209534,-0.967633,-0.140647],[0.977801,0.207445,0.029524],[0.000609,-0.143711,0.989619]]>H`? ¿%J??p;?C?"e¿`?i>%?I>Ǡ^;>CYjByj)Ii]Mb@Mb@Mb@YYYY Y9]sh|??:v?MbY]I?y]T<]]3AY ] A)]$ AYY] AbDuVDu1y%<=ٔ׺Q->9 ?Y ?=RGyF ;E>Q 54z?Q 94)TBY J?Q E:y?Q I?CIU:E EEE"E=;*E1:VEZEBE}Iqe|,a?A2C?2:/?2˺ٱ2'H :AHRS rotation from veh to nav: [[0.208440,-0.967752,-0.141452],[0.978034,0.206478,0.028574],[0.001555,-0.144301,0.989533]]2H*?@¿ L? m?gB?bxY?rx¿`@?i2C?I2^;2CYBByB)IbDJVDJyR%RW=ٔV8#Q-V>9V"?YV"?=ZRGyZFZA;EZ>\Q 5b4^z?Q 9b4^F)^QBYdyf?Q If?^CI^:i^:^4yjBBɮn'AljhFNOT Ignoring new targets: 317.51 m.Rh`Zh` ProNav: ac range: 317.506012 m, nav range: 294.864105 m, bearing: 74.219382 deg, approach rate: -0.800204 m/s, LOS rate: -0.012275 deg/s, cmd heading: 77.489466 deg, new cmd heading: 77.475715 deg. BhHeadingCmd: 1.352206 target range: 317.506012 and range: 316.00 m.h?h*h"h hgff fdddjdZd ?)颁ɢp8) bi)K:i,H, ?AY~By~)IB5>BB)IB5BB =BBB/t;Bv/EBaBaBaBe =BaCeM4iMb@Mb@Mb@ 9V-?~jt?I +Y|??yD<9`A@  A) AY AbDVDy/%8=ٔQ->9 ?Y ?=RGyFE>Q 54pz?Q 94)KBY??Q E :y ?Q I ?CI:ij:C4yɮ0A5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 317.51 m.RhEUZhMU] ProNav: ac range: 317.506012 m, nav range: 294.533417 m, bearing: 74.214417 deg, approach rate: -0.776240 m/s, LOS rate: -0.011669 deg/s, cmd heading: 77.475717 deg, new cmd heading: 77.460803 deg. Bh]"eHeadingCmd: 1.351946 target range: 317.506012 and range: 316.00 m.he ?ha*ha"ha hagafififidqdqdqjdqZd}`?ԑ颡ɢxf) Pi)jO:顱i\i ?3;`! @r,'?A:Wv?:a?:[Uٱ:}U FAHRS rotation from veh to nav: [[0.206931,-0.967872,-0.142839],[0.978350,0.205198,0.026920],[0.003256,-0.145317,0.989380]]:H|?` H¿N?C?ʐ? uj?¿?i:Wv?I:O$_;:CYNByN)IbDTVDTy^%^_=ٔb/Q-b>9b"?Yb"?=fRGyfFf;Ef>hQ 5n4rPExceeded connect timeout, disconnecting.jz?Q 9r4j)jHBYtyvݯ?Q Iv?j'CIjN;ijO;j4yxɮzAxjh%FNOT Ignoring new targets: 317.51 m.Rh%QZh%Q5 ProNav: ac range: 317.506012 m, nav range: 294.260437 m, bearing: 74.210228 deg, approach rate: -0.744051 m/s, LOS rate: -0.011427 deg/s, cmd heading: 77.460807 deg, new cmd heading: 77.448230 deg. Bh5=HeadingCmd: 1.351727 target range: 317.506012 and range: 316.00 m.hEa?hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU?颁ɢZ) @ti)Ж:顉iܩia?٦4;t<bE-4jE-4rE#0EU  EU EU 'EQ "EU /;*EU :VEU '4ZEQ ae @ae @ae @ae @Z,|A?A2p?2[?2?Iٱ2 >AHRS rotation from veh to nav: [[0.207117,-0.967492,-0.145127],[0.978308,0.205431,0.026674],[0.004007,-0.147503,0.989053]]2Ĥ?¿LN?`K?xP?%ip?d¿@S?i2p?I2,_;2CYF׉ByF)IbDNVDNk1yVN%VK=ٔVQ-V>9XYX=ZRGyZF^E^>`Q 5f4b!z?Q 9f4b)bCBYdyfկ?Q If?bMCIb:ibt:b4yn BɮnؘAnEjhFNOT Ignoring new targets: 317.51 m.Rh  RZh  R ProNav: ac range: 317.506012 m, nav range: 293.960663 m, bearing: 74.205635 deg, approach rate: -0.748302 m/s, LOS rate: -0.011478 deg/s, cmd heading: 77.448232 deg, new cmd heading: 77.434438 deg. Bh%HeadingCmd: 1.351486 target range: 317.506012 and range: 316.00 m.h%}?h!*h)"h) h)g)f)f1f1d1d1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763058djdZd9@)ɢ5Uœ)Y ]ia)m@{:iiSi}?5;9򄖦,X[?A9Y=RGyFzE>Q 54'z?Q 94)ABY[6?Q E:yg?Q I?uCI ;iu ;E4yɮAjhE EE(E"E:*EVEc44ZEBE@8 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518922,1u?Ap ^? J? 6ٱ .u 5AHRS rotation from veh to nav: [[0.207638,-0.967232,-0.146111],[0.978193,0.206056,0.026047],[0.004913,-0.148333,0.988925]] H?`ij¿@\M?@ `?"? t?¿`F?i ^?I ^_; YMƉByMv)IbD]VD]:ymL%mM=ٔm[Q-u>9qYq=uRGy}F}^E}>Q 54g-z?Q 94)>BYyX?Q I?CI9:iR:;Ȍ4yɮAjhFNOT Ignoring new targets: 317.51 m.RhݸZhݸ] ProNav: ac range: 317.506012 m, nav range: 293.368103 m, bearing: 74.200572 deg, approach rate: -0.711796 m/s, LOS rate: -0.006061 deg/s, cmd heading: 77.426471 deg, new cmd heading: 77.419229 deg. Bh]eHeadingCmd: 1.351220 target range: 317.506012 and range: 316.00 m.he?ha*ha"ha hagifififidddjdZdk@ɢd) 4i)N:iВi?])8;5i-!> E  E E *E "E =;*E ҆:VE (N4ZE a@a@a@a@!@! @!@%`4@!@-@-@5@5AiYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771664a I I O >g, ?A24?2 ?2qٱ2 :AHRS rotation from veh to nav: [[0.208892,-0.966792,-0.147234],[0.977926,0.207262,0.026500],[0.004896,-0.149520,0.988747]]2H@? ¿`,K? ?`"?0t?v#ÿϣ?i24?I2_;2CYBByBi)I9BM4>BIBM)IBMBBIBIBIBMat;BM/Ei]Mb@Mb@Mb@YYYY Y9]V-?9Y=RGyFiNE>Q 543z?Q 94)?BY-?Q E:y/?Q I?CI:i:Yό4yBɮYAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 317.51 m.RhַZhַ ProNav: ac range: 317.506012 m, nav range: 293.091522 m, bearing: 74.199974 deg, approach rate: -0.678084 m/s, LOS rate: -0.001468 deg/s, cmd heading: 77.419231 deg, new cmd heading: 77.417435 deg. BhHeadingCmd: 1.351189 target range: 317.506012 and range: 316.00 m.h?h*h"h  h g f ffdddjdZd@ @AɢE&#)I MiI)M}4:IIiUyiU?]9;]#ԑDzDAAE EE)E"E:*E:VEFA4ZEBE>yٱ2`V :AHRS rotation from veh to nav: [[0.211213,-0.965927,-0.149577],[0.977430,0.209418,0.027833],[0.004439,-0.152079,0.988358]]2H ?`S%ÿ@G?`8?9xYx=zRGyzFzʻE~>Q 5 4K9z?Q 9 4)Y y ?Q I ?CIn:ie:֌4yܯBɮAEjhAEFNOT Ignoring new targets: 317.51 m.RhMZZhMZԙ ProNav: ac range: 317.506012 m, nav range: 292.830872 m, bearing: 74.199531 deg, approach rate: -0.679643 m/s, LOS rate: -0.001157 deg/s, cmd heading: 77.417435 deg, new cmd heading: 77.416104 deg. Bh9KHeadingCmd: 1.351166 target range: 317.506012 and range: 316.00 m.h?h*h"h  h g f ffdddjdZd [H @iɢm")i mNiq):iTi?N9;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526943E  E E E "E l;*E ?:VE ZE a @a @a @a @9 ,š?AY~By~X)IbD VD ܲMDAT read: 15:06:17.1258 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 405, 0.01,-0.154,-1.610, 0.094,-0.565, PHS= 0.513,-1.000, 0.615, RAW= 153.2, -1.7, CAL= 152.4, -2.7, ROT= 357.6, 2.7 UYgot valid direction response: 15:06:17.1258 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 405, 0.01,-0.154,-1.610, 0.094,-0.565, PHS= 0.513,-1.000, 0.615, RAW= 153.2, -1.7, CAL= 152.4, -2.7, ROT= 357.6, 2.7 }PDAT read: Bearing 215.4, -1.8 (Local) ~Local bearing/azimuth received: Bearing 215.4, -1.8 (Local) DAT read: Range 11 to 50 : 298.4 m (Round-trip 397.9 ms) speed 1.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.998014,-0.041829,-0.047106]Fpublishing direction and range infoy7 i??bQjP7VY3C )@IS?ip?D +@;*@ A)@IA=nr8\??? |?)Z9QYQ=URGy]FeE>Q 54@z?Q 9-4)Y)y1Q I5? CIS%Z~a|?4㘳?9O2i]C:ieB"i?*i9BihBii9i:BiʔCia? addTargetRange:: Added new target pos. range: 298.399994 m, deltaT: 4.031992 s, deltaX: -17.600006 m, approachRate: -4.365089 m/s, rangeRepo size: 4  Added new target pos. range: 297.001617 m, bearing: 75.024343 deg, lat: 36.779106 deg, lon: -121.859434 deg, deltaT: 8.315548 s, deltaX: -20.504395 m, approachRate: -2.465790 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 297.00 m.RhZh ProNav: ac range: 297.001617 m, nav range: 297.584229 m, bearing: 74.476036 deg, approach rate: 0.000000 m/s, LOS rate: -0.001157 deg/s, cmd heading: 77.416103 deg, new cmd heading: 77.414271 deg. Bh HeadingCmd: 1.351134 target range: 297.001617 and range: 298.40 m.h ?h *h "h  h g fffddd9jd=`fr@Zd=@(}?颩ɢ|) D#i)d9顱i(i?:;s BDAT read: Tx time:15:06:18.3738 $Ping request sent.Y ׶,ܚ?A26?2L"?2] Uٱ2Qn! FAHRS rotation from veh to nav: [[0.216459,-0.964074,-0.153968],[0.976286,0.214274,0.030849],[0.003251,-0.156994,0.987594]]2H? 9ÿ=?Um?ޖ?(j?@dĿ_?i26?I2,_;2CY^Byb\)IiMb@Mb@Mb@ 9E?A`"Y&?yYIA-@ )AY AbDVDfy<%\=ٔR;Q->9Y=RGy FyE>Q 54FFz?Q 94)ABY5'?Q E:yݢ?Q I?%CI:i:4yɮAjh FNOT Ignoring new targets: 297.00 m.Rh]8Zh]8% ProNav: ac range: 297.001617 m, nav range: 297.362061 m, bearing: 74.477214 deg, approach rate: -0.722674 m/s, LOS rate: 0.003835 deg/s, cmd heading: 77.414272 deg, new cmd heading: 77.417809 deg. Bh%o(9Em EmEm*Ei"EmT;*Em՚:VEm(N4ZEiBEmG checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504056,c~?A0f?fm֬?fCٱf# rAHRS rotation from veh to nav: [[0.218719,-0.963222,-0.156094],[0.975783,0.216389,0.031977],[0.002976,-0.159308,0.987224]]fH?ÿ9?@?U_?`h?7dĿW?if?If_;dYzByz])II~<)~;bD VD Jy\;%V=ٔ<:Q->9!Y!=%RGy% F%ƻE->)Q 554-Lz?Q 9=4-z)-CBY9y=?Q I=?-ECI-;i-;-W4yAɮMAIjhiuFNOT Ignoring new targets: 297.00 m.Rh}8Zh}8 ProNav: ac range: 297.001617 m, nav range: 297.112152 m, bearing: 74.478652 deg, approach rate: -0.653050 m/s, LOS rate: 0.003759 deg/s, cmd heading: 77.417811 deg, new cmd heading: 77.422126 deg. Bh%9HeadingCmd: 1.351271 target range: 297.001617 and range: 298.40 m.hs?h*h"h hgfffdddjdZd$k?ɢUM2)Q UNiQ)UiI9YYi]v̆i]s?e:;eV-:Ies?Iaԑe9@a @i@m2@i^AUr;E EE&E"E%;*E:VE4ZEa@a@a@a@Թ=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754645AQIYIiO{> æ,U?A\BpBpBr)IBrՉBBr =BpBpBrt;Br/EYBy%^)IiMb@Mb@Mb@ 9S㥛?9Y=RGy FE>Q 54 Tz?Q 94s)HBY2'?Q E:yF?Q I?iCI6;i ;4yBɮAEB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 297.00 m.Rh59Zh59E ProNav: ac range: 297.001617 m, nav range: 296.833801 m, bearing: 74.481641 deg, approach rate: -0.650799 m/s, LOS rate: 0.006996 deg/s, cmd heading: 77.422127 deg, new cmd heading: 77.431104 deg. BhE9MHeadingCmd: 1.351428 target range: 297.001617 and range: 298.40 m.hM?hI*hI"hI hIgQfQfYfYdYdYdYjdaZde ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008204QɢU!)Q UiQ)](Pr8Yaiei?:;:I?II)bAA@A @A@E4@ADzD@AE EE)E"E:*E:VEFA4ZEBE@8ʦ,o/*?A>}w?>b?>m:ٱ>ӣ' FAHRS rotation from veh to nav: [[0.222158,-0.961871,-0.159532],[0.975007,0.219641,0.033466],[0.002850,-0.162980,0.986625]]>Ho? kĿA3?3?o"? Yg?Ŀ o?i>}w?I>G`;9dYd=fRGyf FjUEj>lQ 5r4nZz?Q 9r4nm)nMBYpyrמ?Q Iv?nCInz;inD;nC4yzBɮzܗAzEjh%FNOT Ignoring new targets: 297.00 m.Rh%e9Zh%e95 ProNav: ac range: 297.001617 m, nav range: 296.593109 m, bearing: 74.484388 deg, approach rate: -0.652408 m/s, LOS rate: 0.007453 deg/s, cmd heading: 77.431102 deg, new cmd heading: 77.439351 deg. Bh=9EHeadingCmd: 1.351572 target range: 297.001617 and range: 298.40 m.hEM?hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU? f>颱-Gqɢ5) ni9YA)/<ihiM?+:;,MĺIM?II9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511125q^A ;ԡ A I I E  E E %E "E T;*E :VE 4ZE a @a @a @a @O >Ц,x D?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762699yY}ÉBy}r)IbDVDk2y=%==ٔQ->9Y=RGy FE>Q 54Xbz?Q 94f)SBYyQ I?CI9:i:4yɮAjh%FNOT Ignoring new targets: 297.00 m.Rh%9Zh%95 ProNav: ac range: 297.001617 m, nav range: 296.310974 m, bearing: 74.487615 deg, approach rate: -0.644908 m/s, LOS rate: 0.007382 deg/s, cmd heading: 77.439353 deg, new cmd heading: 77.449042 deg. Bh= 9=HeadingCmd: 1.351741 target range: 297.001617 and range: 298.40 m.h=?hA*hA"hA hAgAfAfIfIdIdIdQjdQZdUvz@颉ɢ) i)$ iBi ?C9;lI?IIԩ9@ @@@B<A<B3>BB)IBЉBBBBBt;B/EBBBB =BCƦ4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015657^A  I I O >U(צ,\^?A22?2?2Dٱ2/q) :AHRS rotation from veh to nav: [[0.224992,-0.960941,-0.161158],[0.974356,0.222400,0.034184],[0.002992,-0.164716,0.986337]]2H`?@ϠĿ-?w??mh?jſ?i22?I2_;2 CYBȉByBx)Ii Mb@Mb@Mb@     9 %C?MbQ?Y Z$?y  u< vA @ Q A)  Y  AbD%VD%1y5<%5Q=ٔ5Q-=>99Y9==RGy=FEjEE>IQ 5U4Miz?Q 9U4Mi`)MYBYU6%?Q EU:y]?Q I]?MCIM :iM3:M4yaɮeAajh  FNOT Ignoring new targets: 297.00 m.Rh8Zh8% ProNav: ac range: 297.001617 m, nav range: 296.058899 m, bearing: 74.490078 deg, approach rate: -0.625233 m/s, LOS rate: 0.006113 deg/s, cmd heading: 77.449045 deg, new cmd heading: 77.456439 deg. Bh%?9DADE<EM EMEM&EI"EM;*EM:VEM4ZEIBEM@i%>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266750q@q @q@q@q!^A Β{i Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519024I1 O= >Fݦ,Sw?A:?:?:Ieٱ:(' BAHRS rotation from veh to nav: [[0.225607,-0.961082,-0.159445],[0.974212,0.223151,0.033381],[0.003499,-0.162864,0.986642]]:H?@/hĿ,?5?G?8l?Ŀ?i:?I:y_;:CYJщByJ)IPPbDVVDVy^7=%^T=ٔ^;Q-^>9`Y`=bRGybFfֺEf>hQ 5n4joz?Q 9n4j6Z)j^BYlynݟ?Q In?jCIj:ij:jh4yvBɮv%AtjhFNOT Ignoring new targets: 297.00 m.RhD8ZhD8 ProNav: ac range: 297.001617 m, nav range: 295.810730 m, bearing: 74.492540 deg, approach rate: -0.671967 m/s, LOS rate: 0.006674 deg/s, cmd heading: 77.456442 deg, new cmd heading: 77.463836 deg. Bh9HeadingCmd: 1.351999 target range: 297.001617 and range: 298.40 m.hN?h*h"h hgfffdddjdZd@Y频ɢݻ) i)顙i< iN? 7;+IN?I9@ @@/@@=@=bE:4jE14rE 0Eu EuEqEq"Eu;*Euą:VEqZEqa@a@a@a@ԉ%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770691^AvтԹI9 I O > #,Y?A6?6?6|kٱ6D% BAHRS rotation from veh to nav: [[0.225989,-0.961235,-0.157975],[0.974122,0.223653,0.032648],[0.003950,-0.161264,0.986903]]6H4? p8Ŀ,?? -?l-p?PĿ@?i6?I6_;4YFByJ)IBV2>BTBV)IBVډBBV =BTBTBV7u;BV/Ei5Mb@Mb@Mb@1111 195(\?Mb~jt?Y5'?y15<5A1 5; A)5A1Y5f AbDIVDIy]t=%]A=ٔeQ-e>9aYa=mRGymFmsEm>qQ 5}4uvz?Q 9}4uGS)ufBY(?Q E:yS?Q I?uCIu;iu ;u4yBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 297.00 m.Rh8Zh8U ProNav: ac range: 297.001617 m, nav range: 295.533569 m, bearing: 74.495101 deg, approach rate: -0.655626 m/s, LOS rate: 0.006065 deg/s, cmd heading: 77.463839 deg, new cmd heading: 77.471530 deg. BhU/9eHeadingCmd: 1.352133 target range: 297.001617 and range: 298.40 m.he?ha*hi"hi higifichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023719ffdddjdZd H @)ɢ-)I U }iQ)UQQiUi]?]6;]PI]?Ia 9@  @ @ 0@ E EE'E"E=;*E҆:VE'4ZEBE}IiA IA M BDAT read: Rx Time:15:06:21.1723 U TRx dataTimestamp_ set to:1761577582.608437U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276034M,7?AV?V?V+ٱV# nAHRS rotation from veh to nav: [[0.225962,-0.961642,-0.155518],[0.974124,0.223852,0.031182],[0.004827,-0.158540,0.987341]]VH`R?ÿ,?0?@5?vs?@KĿK?iV?IV;_;V CYvByv)IbD=VD=kyM=%UK=ٔuQ-}>9yY=RGyF8E>Q 54~z?Q 94L)nBYyO?Q I?2CI8;i#;4yjBɮ֕AEjhFNOT Ignoring new targets: 297.00 m.Rh%A8Zh%A8E ProNav: ac range: 297.001617 m, nav range: 295.265198 m, bearing: 74.497593 deg, approach rate: -0.644769 m/s, LOS rate: 0.005990 deg/s, cmd heading: 77.471530 deg, new cmd heading: 77.479010 deg. BhE9MHeadingCmd: 1.352264 target range: 297.001617 and range: 298.40 m.hM?hI*hQ"hQ hQgYfYfafadadadijdiZdme @1ɢ=)9 =i9)=0ǹAAiEiE?M5;IUD電IU?IQa9@ @@2@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527525y^A- 3I I ԩ O >E  E E (E "E ;*E $:VE c44ZE a @a @a @a @45,ś?A@V6?V?VٱV ^AHRS rotation from veh to nav: [[0.226030,-0.962079,-0.152694],[0.974104,0.224136,0.029737],[0.005615,-0.155461,0.987826]]VH ?Y@vÿ+?y?Vs?v? $ÿE?iV6?IV!_;TYfByf)I j49xYx=~RGy~F-DAT read: 15:06:21.1723 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 403,-0.00,-1.760, 3.066,-1.363,-1.810, PHS= 0.152,-1.362, 0.402, RAW= 157.5, 9.8, CAL= 157.4, 10.6, ROT= 352.6, -10.6 5Ygot valid direction response: 15:06:21.1723 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 403,-0.00,-1.760, 3.066,-1.363,-1.810, PHS= 0.152,-1.362, 0.402, RAW= 157.5, 9.8, CAL= 157.4, 10.6, ROT= 352.6, -10.6 =PDAT read: Bearing 227.9, -8.7 (Local) E~Local bearing/azimuth received: Bearing 227.9, -8.7 (Local) MDAT read: Range 11 to 50 : 295.8 m (Round-trip 394.4 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.]^direction in FSK: [0.974749,-0.126597,0.183951]]Fpublishing direction and range infoy%$1?iX4 =η?YC )BI>iV>/@%/>F/@ q=>)@Iq=I?14?u? ҩ'?);6/I@iq=uT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.2E>Q 54Bz?Q 94E)vBYyG?Q I?UCIN:ig:$$4yɮAii2"Ǜ?AJi4CRi4CjiBiCiiiiCiϥ?Ա addTargetRange:: Added new target pos. range: 295.799988 m, deltaT: 4.031996 s, deltaX: -2.600006 m, approachRate: -0.644843 m/s, rangeRepo size: 4  Added new target pos. range: 294.411926 m, bearing: 71.278180 deg, lat: 36.779106 deg, lon: -121.859493 deg, deltaT: 4.031996 s, deltaX: -2.589691 m, approachRate: -0.642285 m/s, posRepo size: 4 jh-FNOT Ignoring new targets: 294.41 m.Rh-Zh)= ProNav: ac range: 294.411926 m, nav range: 289.903748 m, bearing: 74.220997 deg, approach rate: 0.000000 m/s, LOS rate: 0.005990 deg/s, cmd heading: 77.479009 deg, new cmd heading: 77.487045 deg. BhamHeadingCmd: 1.352404 target range: 294.411926 and range: 295.80 m.hm?hi*hi"hi higifqfqfqdqdydyjd}|r@Zd}@?ɢF) #i)I̹iAi%?%4;%bI%?I)A@AA@AB1>BB)IBBB =BBBu;B)0E@ @@0@@eA@eA*DAT read: user:925> BDAT read: Tx time:15:06:22.4238 $Ping request sent.m,6Y?AE EE)E"E;*E:VEFA4ZEBE@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2507399Y)=-RGy-F5e:E5>9Q 5E4=z?Q 9E4=D=)=BYE3?Q EE:yE?Q IM?=CI=;i=;=,4yqɮuAqjhFNOT Ignoring new targets: 294.41 m.Rh8Zh8 ProNav: ac range: 294.411926 m, nav range: 289.564301 m, bearing: 74.223140 deg, approach rate: -0.746814 m/s, LOS rate: 0.004720 deg/s, cmd heading: 77.487048 deg, new cmd heading: 77.493484 deg. BhLO9 HeadingCmd: 1.352516 target range: 294.411926 and range: 295.80 m.h B?h *h "h hgfffdddjd!Zd%_?颉ɢݹ) i)y̹顑ijiB?3;IB?I!a@a @a@m4@iA^A S checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502762q A I I O >’,?A2[?2?2ٱ2 :AHRS rotation from veh to nav: [[0.224893,-0.963316,-0.146444],[0.974354,0.223494,0.026155],[0.007533,-0.148570,0.988873]]2HJ?{@¿@-?`q?vȚ?@i~?[ÿ@٤?i2[?I2^_;0YBByB)IbDJVDJNyz'=%zW=ٔz'Q-z>9|Y|=~RGy~Fg;E> Q 54 gz?Q 94 6) BYyΡ?Q I? CI :i : 24y%gBɮ%~A%EjhIMFNOT Ignoring new targets: 294.41 m.RhU 8ZhU 8e ProNav: ac range: 294.411926 m, nav range: 289.309387 m, bearing: 74.224724 deg, approach rate: -0.724925 m/s, LOS rate: 0.004509 deg/s, cmd heading: 77.493482 deg, new cmd heading: 77.498239 deg. BheF9mHeadingCmd: 1.352599 target range: 294.411926 and range: 295.80 m.hm!?hi*hi"hi hqgqfqfqfydydydyjdZd?颩ɢZH:) wB />B CB )IB BB =B ADB B u;B L0E 2},?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006853:B0?:?:}ٱ: BAHRS rotation from veh to nav: [[0.224270,-0.963675,-0.145031],[0.974491,0.223036,0.024922],[0.008331,-0.146921,0.989113]]:H?`l^¿/?u???J¿Ц?i:B0?I:_;:CY^By^)IiMb@Mb@Mb@ 91Zd?9Y=RGyF :E>Q 54$z?Q 94.)BYM;?Q E:y=?Q I?CI:iU::4y1BɮGA٭E B*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 294.41 m.Rh%ZHZh%ZH5 ProNav: ac range: 294.411926 m, nav range: 288.994232 m, bearing: 74.223544 deg, approach rate: -0.730049 m/s, LOS rate: -0.002737 deg/s, cmd heading: 77.498236 deg, new cmd heading: 77.494692 deg. Bh=l=HeadingCmd: 1.352538 target range: 294.411926 and range: 295.80 m.h=?hA*hA"hA hAgAfAfIfIdIdQdQjdQZdU80?颁ɢdy;)͎ 8{=i)L顉ii?2;iI?IԱ 9@  @ @ @ @=@=E] E]E]'EY"E]:*E]:VE]'4ZEYBE]<1 ,0?A29?2|$?2ٱ2 :AHRS rotation from veh to nav: [[0.224006,-0.963693,-0.145315],[0.974544,0.222912,0.023984],[0.009279,-0.146989,0.989095]]2H:?``¿v/?]?`B?@?¿੦?i29?I2d_;2 CYB'ByB)IIF=)F0?bDNVDN yr.=%rZ=ٔv%Q-v>9tYt=vRGyzFz;:Ez>|Q 54~z?Q 94~')~BY y F?Q I ?~CI~:i~R:~A4yɮ&Ajh9EFNOT Ignoring new targets: 294.41 m.RhE.LZhE.LU ProNav: ac range: 294.411926 m, nav range: 288.719879 m, bearing: 74.222500 deg, approach rate: -0.732217 m/s, LOS rate: -0.002789 deg/s, cmd heading: 77.494691 deg, new cmd heading: 77.491556 deg. BhU]HeadingCmd: 1.352483 target range: 294.411926 and range: 295.80 m.h](?ha*ha"ha hagafafifidididqjdqZdu-?颙ɢԄ;) \=i)顩iMi(?C1;b[I(?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5108829@ @@/@9^ATPEu  Eu Eu (Eq "Eu ~ ;*Eu Ǚ:VEu c44ZEq a} @a} @a} @a} @ԁ A .AI I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762763,lJ?A 6B?6^.?67&ٱ63D >AHRS rotation from veh to nav: [[0.223710,-0.963704,-0.145697],[0.974603,0.222740,0.023155],[0.010138,-0.147177,0.989058]]6H`?`4¿/??㵗?OÄ? ¿`]?i6B?I64^;6 CYF:ByF*IbD^VD^0yfc=%jL=ٔjC Q-j>9n ?Yn ?=nRGynFrD:Er>tQ 5v4vAz?Q 9z4vf )vBYxyzP?Q Iz?vCIv:iv:vH4yɮۓAjh FNOT Ignoring new targets: 294.41 m.Rh54Zh54E ProNav: ac range: 294.411926 m, nav range: 288.426514 m, bearing: 74.221363 deg, approach rate: -0.636642 m/s, LOS rate: -0.002469 deg/s, cmd heading: 77.491556 deg, new cmd heading: 77.488143 deg. BhEظMHeadingCmd: 1.352423 target range: 294.411926 and range: 295.80 m.hM4?ihq*hq"hq hqgyfyfyfydddjdZd`]@ɢ(;) =i)(iׇi4?Y0;QII4?B)A)B1B1B5)IB55BB1B1B1B5u;B5H0EII9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015212ԙ ^A yb]A >A >A= ؟AIA IQ Oe >l,md?AE EE$E "E ;*E:VE4ZE BEL9e"?Ye"?=eRGyeFe:Ee>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266845 Q 54 z?Q 94 ) BY(E?Q E:y?Q I? >CI *:i 3: O4y!ɮ%A)jhiuFNOT Ignoring new targets: 294.41 m.Rhu#Zhu# ProNav: ac range: 294.411926 m, nav range: 288.085754 m, bearing: 74.218588 deg, approach rate: -0.878723 m/s, LOS rate: -0.007166 deg/s, cmd heading: 77.488141 deg, new cmd heading: 77.479805 deg. Bh]HeadingCmd: 1.352278 target range: 294.411926 and range: 295.80 m.hp?h*h"h hgfffdddjdZd;r@1ɢ5<)1 5>i1)5Ls99i=\iep?mί/;m'Imp?IiG fA)m9mfAYmA2D 9@  @! @% /@! @E dA@E dA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518847 A ^Ai E} E}EyEy"E}l;*E}$:VEyZEya@a@a@a@AIIO?>i!,)녜?A2e?2P?2Eٱ2 :AHRS rotation from veh to nav: [[0.222676,-0.963686,-0.147393],[0.974818,0.221971,0.021424],[0.012071,-0.148452,0.988846]]2H@? ¿ 1?i??۸?uÿ?i2e?I2^;2 CYBEByB*I DDHbDNVDNkyV;%V$=ٔ5Q-5>99Y9==RGy=FE':EE>I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770848Q 5]4M]z?Q 9]4M )MBYaye!?Q Ie?MnCIMj;iMl;MtX4yBɮAЭEjhFNOT Ignoring new targets: 294.41 m.RhZh ProNav: ac range: 294.411926 m, nav range: 287.705322 m, bearing: 74.215436 deg, approach rate: -0.760321 m/s, LOS rate: -0.006308 deg/s, cmd heading: 77.479808 deg, new cmd heading: 77.470339 deg. BhHeadingCmd: 1.352113 target range: 294.411926 and range: 295.80 m.h?h*h"h hgff!f!d!d!dIjdIZdM r@颱ɢg <) v >i):8项i iE?M.;M2IM?IIBBB$*IBTBBBBBu;B*0EB]CB]CBYB] =B] =C]Y4 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022969] ԅ 9@  @ @ /@ Q E EE'E"E:*E:VE'4ZEBE<9  ?Y  ?= RGy F=;E>aQ 5m4e7z?Q 9u4e?)eBYyyY?Q I?eCIe;ie;eb4yɮAԡB*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 294.41 m.Rh5Zh5e ProNav: ac range: 294.411926 m, nav range: 287.249207 m, bearing: 74.211490 deg, approach rate: -0.760132 m/s, LOS rate: -0.006586 deg/s, cmd heading: 77.470341 deg, new cmd heading: 77.458486 deg. BhemHeadingCmd: 1.351906 target range: 294.411926 and range: 295.80 m.hm> ?hi*hq"hq hqgqfqffdddjdZd7B @ɢ<)  >i)69i>牼i%> ?%5E.;%¹I%> ?I)1111mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5266969@ @@/@! bE-4jE(4rE5/E}  E} E} )Ey "E} =;*E} $:VE} FA4ZEy a @a @a @a @^A Q}DAT read: 15:06:25.2188 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 400, 0.41, 1.746, 0.257, 2.142, 1.675, PHS= 0.173,-1.373, 0.423, RAW= 157.4, 9.3, CAL= 157.2, 9.9, ROT= 352.8, -9.9 Ygot valid direction response: 15:06:25.2188 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 400, 0.41, 1.746, 0.257, 2.142, 1.675, PHS= 0.173,-1.373, 0.423, RAW= 157.4, 9.3, CAL= 157.2, 9.9, ROT= 352.8, -9.9 PDAT read: Bearing 228.0, -7.9 (Local) ~Local bearing/azimuth received: Bearing 228.0, -7.9 (Local) DAT read: Range 11 to 50 : 293.2 m (Round-trip 391.0 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.A-؟AI1IAOU?[2,d˜?AN^direction in FSK: [0.977341,-0.123467,0.171929]NFpublishing direction and range infoyY]yaF?D!?Y]CYYYY Y)]:I]&1>i]w]u>]F/@]6&>]/@ ];0>)]j @I];0YY]5ȉ?w,?L4]? ]'?)]@~%I]i];0YY~T****** received valid address query ******~R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-Y?-é?-;mٱ- AHRS rotation from veh to nav: [[0.220027,-0.963911,-0.149882],[0.975386,0.219677,0.019097],[0.014518,-0.150395,0.988519]]-H)?ZW/ÿ@\6?\?@9"?Y"?=RGyF/:E>Q 54z?Q 94)BYy{?Q I?CId;i;l4yɮ֒AAAAABBB=*IBhBBBBBeu;B 0EiYi]Xɜ?AJi]CRi]Cji][?b]I9`q@}zB1!I@R]yaF?D!?Zi]bi];0j]눪}V@lp@!M@Z]-9?uP?*L}?2i]C:i]B"i]_c?*i]=fBi]MCi]Lᕊ?i]>iYi]ŏCi]?- addTargetRange:: Added new target pos. range: 293.200012 m, deltaT: 4.034583 s, deltaX: -2.599976 m, approachRate: -0.644422 m/s, rangeRepo size: 4 Ye Added new target pos. range: 291.823242 m, bearing: 71.650070 deg, lat: 36.779145 deg, lon: -121.859499 deg, deltaT: 4.034583 s, deltaX: -2.588684 m, approachRate: -0.641624 m/s, posRepo size: 4 jhimFNOT Ignoring new targets: 291.82 m.RhuZhq ProNav: ac range: 291.823242 m, nav range: 287.542694 m, bearing: 73.359272 deg, approach rate: 0.000000 m/s, LOS rate: -0.006586 deg/s, cmd heading: 77.458484 deg, new cmd heading: 77.446647 deg. BhHeadingCmd: 1.351699 target range: 291.823242 and range: 293.20 m.hy?h*h"h hgfffdddjd@3Sr@Zdi?)ɢ-$<)Q U>iQ)]9YYi]tԊiey?e0-;e:Iey?Ii}*DAT read: user:926> }BDAT read: Tx time:15:06:26.4737 $Ping request sent.2:,?A:,?:Ϭ?:uٱ:@ BAHRS rotation from veh to nav: [[0.218899,-0.963862,-0.151833],[0.975633,0.218592,0.018918],[0.014955,-0.152274,0.988225]]:H?Coÿb8? ?@_?`Ѡ?}ÿ@?i:,?I:^;8Y^IBy^*I5 only read 0 of 1 data item for BIT error. Device response is::TS,00050318D, +34.98, +2370.93, -124.04, 8.60, 0.00 a5@a5 a5@a5 a5@a5 a=@a= bDEVDE yM_%UG=ٔUpQ-U>9] ?Y] ?=]RGy]F]7;Ee>aQ 5m4ez?Q 9u4e)eBQ Au+:YqQ Eu_:yu?Q Iu?e CIe ;ie>er4yʮBɮAƭEjhFNOT Ignoring new targets: 291.82 m.RhM-;Zhm-; ProNav: ac range: 291.823242 m, nav range: 287.226654 m, bearing: 73.355452 deg, approach rate: -0.845346 m/s, LOS rate: -0.010228 deg/s, cmd heading: 77.446648 deg, new cmd heading: 77.435176 deg. BhHeadingCmd: 1.351499 target range: 291.823242 and range: 293.20 m.h?h*h"h hgfffdddjdZd?AYɢ]z.<)a >i)U :顉i|i? -;:I?II)dA]9@Y @Y@]/@Yqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502749^A} 9A >A >ԡ A ؟AI I O >A, ?A2?2I?2~ٱ2Y8 >AHRS rotation from veh to nav: [[0.217894,-0.963948,-0.152731],[0.975848,0.217677,0.018348],[0.015559,-0.153040,0.988098]]2H`?@ÿ&:?@?ɒ?ݏ?ϖÿ~?i2?I2^;2 CYF6ByF)IbDNVDN:2yVý%VU=E^ E^E^#E\"E^;*E^:VE^3ZE\ab@ab@ab@ab@ٔf̺Q-f>9j"?Yj"?=jRGyjFj .;En>lQ 5r4nz?Q 9r4n*)nBQ Av :YtQ Ev4:yvī?Q Iv?n0CIn? ;inL?n"w4y~ϮBɮ~cA~ǭEjh!%FNOT Ignoring new targets: 291.82 m.Rh-.Zh-.= ProNav: ac range: 291.823242 m, nav range: 286.929138 m, bearing: 73.351787 deg, approach rate: -0.774396 m/s, LOS rate: -0.009550 deg/s, cmd heading: 77.435180 deg, new cmd heading: 77.424172 deg. Bh=ѹEHeadingCmd: 1.351307 target range: 291.823242 and range: 293.20 m.hE?hA*hA"hA hAgIfIfQfQdQdQdQjdYZd]Q?颁ɢ: <) =i) r0:  i i?p-;.;I?Iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.8023359@ @@@Bu0>BqBuI*IBurBBqBqBqBuu;Bu/E^A} ] ; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006695! A .AI I O >?G,@h?A2 ?2s ?2ٱ2 :AHRS rotation from veh to nav: [[0.217142,-0.964038,-0.153229],[0.976007,0.217014,0.017769],[0.016123,-0.153411,0.988031]]2H R?gÿr;??2?`n?ÿ?i2 ?I2jR^;2 CYB=ByB*I|aa aa aa aa iMb@Mb@Mb@ 9i|?5?y&1?MbYQ?y`<A@  A)YAbD5VD5yE/=%EB=ٔEQ-M>9M ?YM ?=MRGyM FU:EU>YQ 5e4]z?Q 9e4]P)]BQ AeT:YeQ?Q Em:ym?Q Im?]\CI];i] ;]p~4yqɮuHAqjhY]FNOT Ignoring new targets: 291.82 m.Rh]Zhem ProNav: ac range: 291.823242 m, nav range: 286.588318 m, bearing: 73.344787 deg, approach rate: -0.771005 m/s, LOS rate: -0.015855 deg/s, cmd heading: 77.424169 deg, new cmd heading: 77.403143 deg. Bhu.HeadingCmd: 1.350940 target range: 291.823242 and range: 293.20 m.h?h*h"h hgfffdddjdZdiM,B8?AilIlrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510852Yv9Byv*IbDVDy L% N=ٔQ->9Y=RGy!F%E%>)Q 554-z?Q 954-)-BY1y1Q I5?-CI-:i-a:-b4yAɮEXAAYeB*** querying acoustic contact ***ia iajhquFNOT Ignoring new targets: 291.82 m.Rh}AZh}A ProNav: ac range: 291.823242 m, nav range: 286.264221 m, bearing: 73.338114 deg, approach rate: -0.865516 m/s, LOS rate: -0.017841 deg/s, cmd heading: 77.403146 deg, new cmd heading: 77.383104 deg. BhCHeadingCmd: 1.350590 target range: 291.823242 and range: 293.20 m.h"?h*h"h hgfffdddjdZd`?ɢ<) =i)WeQ:i_i "?  -; t;I "?I9@ @@2@ԉE EE,E"E;*EVEg4ZEa@a@a@a@^A5d;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763776A ؟AI I O > UT,.R?AB!A!BE1>BABABABABABABEt;BE/E S?>?^ٱk` %AHRS rotation from veh to nav: [[0.215580,-0.963993,-0.155699],[0.976357,0.215392,0.018281],[0.015914,-0.155959,0.987635]]H@?`ÿ@P>??8?K?@sÿ?iS?IN]; CY52By5)IiMb@Mb@Mb@ 9uV?{Gz?:vYrH?yף<T@  A)?AY(AbDVD02y%0=ٔ9Q->9"?Y"?=RGy"Fa;E>Q 54z?Q 94)BY H?Q E :y $?Q I ?CI ;i: ;4yBɮAEjh9EFNOT Ignoring new targets: 291.82 m.RhMHZhMH] ProNav: ac range: 291.823242 m, nav range: 285.901794 m, bearing: 73.331113 deg, approach rate: -0.781345 m/s, LOS rate: -0.015112 deg/s, cmd heading: 77.383106 deg, new cmd heading: 77.362077 deg. Bh]%eHeadingCmd: 1.350223 target range: 291.823242 and range: 293.20 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014780heԬ?h*h"h hgfffdddjdZd#e@9颁ɢd;) =i)il:顉i'iԬ?W.;Ro;IԬ?IM9@Q @Q@U/0@Q@]=@]=iE  E E )E "E ;*E ą:VE FA4ZE BE D@[,2o?AFHS?F>?F}ٱF+# NAHRS rotation from veh to nav: [[0.215588,-0.963579,-0.158230],[0.976362,0.215276,0.019320],[0.015447,-0.158655,0.987213]]FHe? @Ŀ[>?'?ȓ??NĿ @?iFHS?IFa<];DYr/Byr)ItIzV>)z%=bD~VD~y {%P=ٔ:Q->9Y=RGy#FE>!Q 5-4% z?Q 954%)%BY1y5"?Q I5?%CI%:i%F:%`4y9ɮEAAjhamFNOT Ignoring new targets: 291.82 m.RhmGZhuG} ProNav: ac range: 291.823242 m, nav range: 285.595154 m, bearing: 73.325180 deg, approach rate: -0.780189 m/s, LOS rate: -0.015112 deg/s, cmd heading: 77.362076 deg, new cmd heading: 77.344258 deg. Bh%HeadingCmd: 1.349912 target range: 291.823242 and range: 293.20 m.hɬ?h*h"h hgfffdddjdZd&@ɢ<) 4=i)+|:iǪiɬ?+.;B;Iɬ?Ie9@a @a@m4@iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518828A^A;A I I O >q Eu  Eu Eu *Eq "Eu T;*Eu :VEu (N4ZEq a} @a} @a} @a} @b,䈝?AFW?F5C?F{ٱFb% RAHRS rotation from veh to nav: [[0.215454,-0.963327,-0.159939],[0.976393,0.215094,0.019768],[0.015359,-0.160423,0.986929]]FH?@`xĿ>?6?@=?t?`Ŀ?iFW?IF];F CYV#ByV)IbDbVDbJyjOn%jP=ٔji9Q-j>9lYlrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770849=vRGyv$Fv9Ev>xQ 5~4zz?Q 94z)zBYy%?Q I?zCIz;iz;zH4y ɮ ՑAjh1=FNOT Ignoring new targets: 291.82 m.Rh=ZhEM ProNav: ac range: 291.823242 m, nav range: 285.286926 m, bearing: 73.319196 deg, approach rate: -0.779579 m/s, LOS rate: -0.015149 deg/s, cmd heading: 77.344256 deg, new cmd heading: 77.326287 deg. BhUY&UHeadingCmd: 1.349598 target range: 291.823242 and range: 293.20 m.hU?YhY*ha"ha hagafafifidididqjdqZdu@Q@颙ɢX;) P=i):顡iS8i?/;Ǩ;I?I9@ @@/@ԙB/>BB7*IBcBB =BBBIt;B/EԹ^A5ϩ;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023025A I I O > Lh,Ϣ?A2_?2VK?24}ٱ2% :AHRS rotation from veh to nav: [[0.215212,-0.963295,-0.160456],[0.976445,0.214860,0.019746],[0.015454,-0.160926,0.986845]]2H@ ?PωĿ ?? ?i8?J?7Ŀ=?i2_?I2U];2 CYBByB)Ii Mb@Mb@Mb@     9 jt?99Y9==RGyE%FEV:EE>IQ 5U4M=z?Q 9U4My)MBY]@?Q E]:y]?Q I]?M,CIM2 ;iM ;M4yeBɮe AeEjhԱE5 E5E5(E1"E5&:*E5?:VE5c44ZE1BE5c;n,qY?A2<^?2I?2bxٱ2H% :AHRS rotation from veh to nav: [[0.215263,-0.963240,-0.160719],[0.976439,0.214854,0.020131],[0.015140,-0.161266,0.986795]]2H?tĿ>?R?1??^Ŀғ?i2<^?I2];2 CYBByB)I DDbDNVDNyV/%VF=ٔV8G:Q-Z>9XYX=ZRGyZ&F^E^>`Q 5f4b[z?Q 9f4bt)bBYdyj?Q Ij?bSCIb:ib:bé4yngBɮnUAnE~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 291.82 m.Rh Zh  ProNav: ac range: 291.823242 m, nav range: 284.665497 m, bearing: 73.307339 deg, approach rate: -0.748942 m/s, LOS rate: -0.014317 deg/s, cmd heading: 77.308425 deg, new cmd heading: 77.290675 deg. Bh%6-HeadingCmd: 1.348977 target range: 291.823242 and range: 293.20 m.h-E?h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=`@AIɢMn;)I M=iI)U+Ϗ:QQiU6Pi}E?}0;}!;I}E?I9@ @@@@@@@iE} E}E})Ey"E}%;*E}:VE}FA4ZEya@a@a@a@DAT read: 15:06:29.2844 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 97,-0.14, 3.112, 1.631,-2.786, 2.973, PHS= 0.240,-1.297, 0.480, RAW= 157.1, 7.0, CAL= 156.5, 7.0, ROT= 353.5, -7.0 Ygot valid direction response: 15:06:29.2844 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 97,-0.14, 3.112, 1.631,-2.786, 2.973, PHS= 0.240,-1.297, 0.480, RAW= 157.1, 7.0, CAL= 156.5, 7.0, ROT= 353.5, -7.0 PDAT read: Bearing 224.8, -6.9 (Local) ~Local bearing/azimuth received: Bearing 224.8, -6.9 (Local) DAT read: Range 11 to 50 : 304.9 m (Round-trip 406.6 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.986166,-0.112360,0.121869]Fpublishing direction and range infoy15܀ͫ?9jjüUM7P2?Y5sC1111 1)5BI5u>i55>5~{/@55=5.@ 55=)5n@I55115vYQ?(.? ? 5a%?)5I5Vi5511 T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԙA) IQ Iy O >B B B *IB OBB =B B B s;B Y/EBBBBBC4y u,؝?AYBy)I*DAT read: user:927> BDAT read: Tx time:15:06:30.4737 $Ping request sent.9!Y!=%RGy%'F-E->1Q 5=45z?Q 9=45)5BY=U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250766 {,}?A2`?2K?2ٽdٱ2$ :AHRS rotation from veh to nav: [[0.215211,-0.963573,-0.158780],[0.976468,0.214650,0.020882],[0.013961,-0.159538,0.987093]]2H ? RĿ@9??y?b?@~?`kĿ@D?i2`?I2^];2 CYBByB)IHJ@AbDNVDNyRf%Ve=ٔVMX;Q-V>9Z ?YZ ?=ZRGyZ(Fb%9Eb>dQ 5f4f{?Q 9j4f6)fBYlyn#?Q In?fCIf";if$;fܷ4ytɮvAtjh)=FNOT Ignoring new targets: 303.47 m.RhE`ZhE`e ProNav: ac range: 303.467712 m, nav range: 291.840820 m, bearing: 72.190820 deg, approach rate: -0.735925 m/s, LOS rate: -0.012286 deg/s, cmd heading: 77.271221 deg, new cmd heading: 77.258023 deg. BhemHeadingCmd: 1.348407 target range: 303.467712 and range: 304.90 m.hm?hq*hq"hq hygyfyffdddjd Zd@o?Yɢ]*:)Y ]@;ia)e:aaie.i?>1;6";I?I%9@! @!@%0@!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503562A؟AIIOe> bE%:4jE%c44rE%Jv0E  E E (E "E =;*E :VE c44ZE a @a @a @a @1 U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754757Oт,c ?A2`?2_L?25[ٱ2{ :AHRS rotation from veh to nav: [[0.215187,-0.964149,-0.155276],[0.976481,0.214614,0.020646],[0.013419,-0.156067,0.987655]]2H`??Oÿ@T??@zx?C$?0{? ÿ@ߚ?i2`?I2Fp];2 CYBByB)IIF%=)F<bDNVDN yV %VJ=ٔV:Q-V>9Z"?YZ"?=ZRGyZ)F^و8E^>`Q 5f4b4{?Q 9f4b)bBYdyf&?Q If?bCIb;ib;b꾍4ylɮnӑAljhFNOT Ignoring new targets: 303.47 m.Rh cZh c ProNav: ac range: 303.467712 m, nav range: 291.544312 m, bearing: 72.185859 deg, approach rate: -0.743519 m/s, LOS rate: -0.012453 deg/s, cmd heading: 77.258025 deg, new cmd heading: 77.243127 deg. Bh%HeadingCmd: 1.348147 target range: 303.467712 and range: 304.90 m.h%?h!*h!"h! h!g)f)ffdddjdZd?ɢP9) мi)-&:))i-쁑i5?51;5;I5?I9 59@1 @1@=1@AB.>BB*IB:BBBBBs;BY R,%?A :T?:??:Pٱ:Dj BAHRS rotation from veh to nav: [[0.215572,-0.964696,-0.151293],[0.976405,0.214973,0.020504],[0.012744,-0.152143,0.988276]]:Hޗ?]ÿ@>?;??@H?oyÿ?i:T?I:P];: CYJByJ)IiMb@Mb@Mb@ 9`"?X9vMbY7?yA  A)AY AbD5VD5yE<%EB=ٔE:Q-E>9M ?YM ?=MRGyM*FMtEU>Ee EeEe+Ea"Ee;*Ee:VEe [4ZEaBEe9CA > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730A= ؟AIA IQ Oe >%,??A2O?2:?2Dٱ2Y :AHRS rotation from veh to nav: [[0.215711,-0.964950,-0.149467],[0.976384,0.215033,0.020877],[0.011995,-0.150441,0.988546]]2Hj?!ÿ>?5?`??Aÿ+?i2O?I2^];2 CYBByB)IHbDNVDN0yV;%VT=ٔV:Q-Z>9Z"?YZ"?=ZRGyZ+F^꽹E^>`Q 5f4b{?Q 9f4bԆ)bBYdyjW?Q Ij?bCIb;ibv;b ͍4yn6BɮnAnE~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 303.47 m.Rh iZhi ProNav: ac range: 303.467712 m, nav range: 290.963959 m, bearing: 72.180426 deg, approach rate: -0.724429 m/s, LOS rate: -0.006787 deg/s, cmd heading: 77.234618 deg, new cmd heading: 77.226814 deg. Bh% %HeadingCmd: 1.347862 target range: 303.467712 and range: 304.90 m.h%?h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=3?aɢmRʺ)  i)B:ii?w2;;I?I9@ @@/@Ea EeEe*Ea"Ea*Ee:VEe(N4ZEaam@am@au@au@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762715^AA I ! B 0>B B )IB !BB B B B s;B N/EI O- >,,LY?A|YBy)I  ]only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 92.46, 76.14, 82.26 a]@a] a]@a] a]@a] a]@a] bDeVDe2yu"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014846%?=ٔQ->9Y=RGy,FE>Q 54{?Q 94~)BQ A+:YQ Eo:yQ I?8CIL:i=> Ӎ4yɮ;AjhFNOT Ignoring new targets: 303.47 m.RhZh ProNav: ac range: 303.467712 m, nav range: 290.655060 m, bearing: 72.177528 deg, approach rate: -0.718555 m/s, LOS rate: -0.006747 deg/s, cmd heading: 77.226811 deg, new cmd heading: 77.218110 deg. Bh+HeadingCmd: 1.347710 target range: 303.467712 and range: 304.90 m.hŁ?h*h"h hgff f d d d jdZdH@9ɢ=)A EBiA)E:AAiEdiMŁ?MH3;M;IUŁ?IQ 9@  @ @ @ 1QE EE(E"E:*E:VEc44ZEBE>l1,1$s?A> ?>/?>+ٱ> fAHRS rotation from veh to nav: [[0.217792,-0.964340,-0.150380],[0.975939,0.216835,0.022933],[0.010492,-0.151756,0.988362]]>H ?`?ÿ:?A? {?|?lÿ੠?i> ?I>];> CYrByr)IbDVDNy%<%%P=ٔ-{;Q-->91Y1==RGy=-F=^EE>QYQ 5e4U"{?Q 9e4Uw)QQ Ae :YaQ EeA:ye?Q Im?U\CIUM7;iUS?U׍4yqɮu+AqjhFNOT Ignoring new targets: 303.47 m.RhZh ProNav: ac range: 303.467712 m, nav range: 290.371735 m, bearing: 72.174986 deg, approach rate: -0.716394 m/s, LOS rate: -0.006434 deg/s, cmd heading: 77.218109 deg, new cmd heading: 77.210475 deg. BhMHeadingCmd: 1.347577 target range: 303.467712 and range: 304.90 m.hg}?h*h"h hgfffdddjdZdr@ɢH6) "i)ǀ:iEi g}? N3; ߀;Ig}?I9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519283ԑԱ^A@;AcAzAfAAa Iq E  E E ,E "E T;*E 1:VE g4ZE a @a @a @a @I O > = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770782,?A2O?2ˬ?2Fٱ2x :AHRS rotation from veh to nav: [[0.219029,-0.963955,-0.151050],[0.975672,0.217882,0.024310],[0.009477,-0.152700,0.988227]]2H# ? Uÿ@8??@?h?ୋÿ?i2O?I2R];2 CYBByB)IHJAAbDJVDJ1yR~%VR=ٔVQ+;Q-V>9TYX=ZRGyZ.FZwVEZ>\Q 5b4^)({?Q 9f4^p)^BQ Af9YdQ Ef:yf?Q If?^CI^a:i^!?^:ۍ4yhɮn8AljhFNOT Ignoring new targets: 303.47 m.Rh oZh o ProNav: ac range: 303.467712 m, nav range: 290.095062 m, bearing: 72.172569 deg, approach rate: -0.719850 m/s, LOS rate: -0.006296 deg/s, cmd heading: 77.210473 deg, new cmd heading: 77.203214 deg. BhC%HeadingCmd: 1.347450 target range: 303.467712 and range: 304.90 m.h%@y?h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5`!@Թɢ) ;i) x:i+Βi@y?@4;C;I@y?I9@ @@/@BM1>BIBM)IBMBBIBIBIBMYt;BM/E^Aϩ;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023459A I I O >9 cC,Qڦ?A23?2?2X ٱ2Ec :AHRS rotation from veh to nav: [[0.220195,-0.963524,-0.152106],[0.975420,0.218837,0.025826],[0.008402,-0.154054,0.988027]]2H\/?`/6xÿ@6?`? ,r?=5? ÿ ?i23?I2\j];2 CYRByR)IEE EEEE&EA"EE=;*EEh:VEE4ZEABEE}I9Y=RGy0FK3E>Q 54/{?Q 94ti)BQ AT:YH+?Q E:y?Q I?CI;i;4yBɮLAEjhFNOT Ignoring new targets: 303.47 m.Rh>7Zh>7 ProNav: ac range: 303.467712 m, nav range: 289.803284 m, bearing: 72.172852 deg, approach rate: -0.668654 m/s, LOS rate: 0.000649 deg/s, cmd heading: 77.203213 deg, new cmd heading: 77.204062 deg. Bh7%HeadingCmd: 1.347465 target range: 303.467712 and range: 304.90 m.h%y?h!*h!"h) h)g)f)f1f1d1d1d9jd9Zd= @aɢmֺ)i mii)mo:iiiusi}y?}e4;}o;I}y?IBDAT read: Rx Time:15:06:33.2801 TRx dataTimestamp_ set to:1761577594.704194checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2761199@ @@0@@dA@eAA^A;qA! I1 IA OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526790ԙ +,?A2?2^z?2hٱ2g :AHRS rotation from veh to nav: [[0.221454,-0.963123,-0.152812],[0.975142,0.219903,0.027195],[0.007412,-0.155036,0.987881]]2HX?Zÿ^4?`%? ٛ?[~?9ÿ?i2?I2];2 CYBByB)IbDJVDJ02yR<%R\=ٔV.;Q-V>9TYX=ZRGyZ1FZccEZ>\Q 5b4^V6{?Q 9f4^>c)^BYdyfs?Q If?^CI^:i^:^W4yjBɮjNAnEzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 303.47 m.Rh Zo7Zh Zo7 ProNav: ac range: 303.467712 m, nav range: 289.554779 m, bearing: 72.173155 deg, approach rate: -0.668284 m/s, LOS rate: 0.000817 deg/s, cmd heading: 77.204060 deg, new cmd heading: 77.204972 deg. Bh8%HeadingCmd: 1.347481 target range: 303.467712 and range: 304.90 m.h%Bz?h!*h!"h! h)g)f)f)f)d1d1d1jd1Zd=`\@ɢB )  i)ki:id'iBz? f4;U);IUBz?IYIa)ay9@ @@v4@Ee EeEe(Ea"Eel;*Ee$:VEec44ZEaa@a@a@a@ԡ-DAT read: 15:06:33.2801 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 404, 0.22,-1.167,-2.595,-0.795,-1.252, PHS= 0.187,-1.298, 0.413, RAW= 157.0, 8.7, CAL= 156.6, 9.2, ROT= 353.4, -9.2 =Ygot valid direction response: 15:06:33.2801 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 404, 0.22,-1.167,-2.595,-0.795,-1.252, PHS= 0.187,-1.298, 0.413, RAW= 157.0, 8.7, CAL= 156.6, 9.2, ROT= 353.4, -9.2 EPDAT read: Bearing 227.3, -7.4 (Local) E~Local bearing/azimuth received: Bearing 227.3, -7.4 (Local) MDAT read: Range 11 to 50 : 301.7 m (Round-trip 402.3 ms) speed 0.8 m/s UR#Rx 1: Read range and direction messages.]^direction in FSK: [0.980594,-0.113459,0.159881]]Fpublishing direction and range infoy)2@a?Edq Čsv?YٖC )AI|?>i$t>^/@|>.@ l$>)4`@Il$YZD?/a4? d? =%?)uIil$T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AqZ;A I! B- />B) B- )IB- BB) B) B) B- t;B- /EIQ O] > Z,vڞ?AYBy)I]*DAT read: user:928> ]BDAT read: Tx time:15:06:34.5237 e$Ping request sent.e9Y=RGy2FE>Q 5E4>{?Q 9M4 [)BYM/?Q EM:yM?Q IM?CI&Ł,?AY By )IbDVDJ)y5tZ=%5F=ٔ9Q-=>99Y9==RGy=3FAEE>IQ 5U4ME{?Q 9U4MS)MBYYyYQ I]?MCIM:iMg:M4yaɮe-AajhFNOT Ignoring new targets: 300.28 m.Rh)Zh) ProNav: ac range: 300.283020 m, nav range: 289.473938 m, bearing: 71.850078 deg, approach rate: -0.703156 m/s, LOS rate: -0.001169 deg/s, cmd heading: 77.206211 deg, new cmd heading: 77.204802 deg. BhdMHeadingCmd: 1.347478 target range: 300.283020 and range: 301.70 m.h)z?h*h"h hgff!f!d)d)d)jd)Zd-`?Yɢ]@7)Y ]`?iYmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502997)ej^:iqiuOiu)z?}e4;}4;I})z?Iy9@ @@4@Yԁ^A]2;Em EmEm*Ei"Em;*EmZ:VEm(N4ZEiau@au@au@au@% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755619Ա A I I O >aħ,_?AY~By)IbD%VD%02yE<%EJ=ٔIQ-M>9QYQ=]RGy]4FaEe>qQ 54u M{?Q 94uL)uBYԡyQ I?u6CIu;iu;u 4yέBɮ=AEB0>BB)IB BB =B@DBBPu;B0EBBBBBC4jh%FNOT Ignoring new targets: 300.28 m.RhUZh] ProNav: ac range: 300.283020 m, nav range: 289.196014 m, bearing: 71.849615 deg, approach rate: -0.634055 m/s, LOS rate: -0.001056 deg/s, cmd heading: 77.204804 deg, new cmd heading: 77.203415 deg. Bh9 HeadingCmd: 1.347454 target range: 300.283020 and range: 301.70 m.h ^y?h *h "h hgfffdddjd!Zd%@n?颉ɢ@:) i)]:顑i˓i^y?f4;+6;I^y?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007826]9@Y @Y@]4@a^A  E  E E 'E "E =;*E ҆:VE '4ZE BE }Iʧ,U-?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259458F?F_֫?FįٱFG" VAHRS rotation from veh to nav: [[0.226336,-0.961618,-0.155123],[0.974040,0.224123,0.031848],[0.004141,-0.158305,0.987382]]FH?@ÿV+? ?`hN?`p?`SCĿ`?iF?IF];FCYbByb)IqiMb@Mb@Mb@ 9kt?Q{Gz?Y 0?yף<zA VA)AYAbDVDy=%6=ٔO;Q->9Y=%RGy%5F%7E%>1Q 5=45T{?Q 9=45KE)5ʐBY=0?Q E=:y=l?Q I=?5]CI5:i5:54yӭBɮ AEjhFNOT Ignoring new targets: 300.28 m.RhbZhb ProNav: ac range: 300.283020 m, nav range: 288.888489 m, bearing: 71.849183 deg, approach rate: -0.705161 m/s, LOS rate: -0.000993 deg/s, cmd heading: 77.203418 deg, new cmd heading: 77.202119 deg. Bhv.HeadingCmd: 1.347431 target range: 300.283020 and range: 301.70 m.hx?h*h"h  h g f ffdddjdZd@>(?ԙ颩ɢ&I;) =i)92e:顱iix?:3;JIx?I9@ @@%2@@eA@aA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510822^A AA IQ Ia Ou >Eҧ,bE-c44jE->4rE- 0EN ENEN(EL"ENl;*EN$:VENc44ZELaV@aV@aV@aV@XbD^VD^yf <%fM=ٔj:Q-j>9hYh=nRGyn6FnL[En>pQ 5v4r\{?Q 9v4rk>)rАBYxyzB?Q Iz?rCIr7;irT;r4y~ƭBɮ~ȎA|B*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 300.28 m.Rh >Zh > ProNav: ac range: 300.283020 m, nav range: 288.614014 m, bearing: 71.848867 deg, approach rate: -0.756809 m/s, LOS rate: -0.000872 deg/s, cmd heading: 77.202120 deg, new cmd heading: 77.201172 deg. Bh%%HeadingCmd: 1.347415 target range: 300.283020 and range: 301.70 m.h%x?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762930h!*hQ"hQ hQgQfQfYfYdYdYdajdaZd`I'@颩ɢ[Dx;) $=i) 5m:项i-ix?J;3;U8 Ix?I}9@y @y@}/@y^A] B1A5<B9B9B=)IB=BB= =B=ADB9B=u;B=20EAIIaO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0148971 hا,AEc?A2s?2|?2?ٱ2# :AHRS rotation from veh to nav: [[0.228997,-0.960872,-0.155839],[0.973423,0.226523,0.033698],[0.002922,-0.159414,0.987207]]2HO?u@ÿ@G&??@? g?gĿ4?i2s?I2\;2 CYf#Byf)IiMb@Mb@Mb@ 9v?J +y&1?Y8?yH`e<A@ A)YAbD VD y}k=%}3=ٔ}:Q->9Y=RGy7FlHE>Q 54d{?Q 946)֐BYJ9?Q E:yQ?Q I?CI :iX:4yɮAjhFNOT Ignoring new targets: 300.28 m.RhbZhb- ProNav: ac range: 300.283020 m, nav range: 288.283112 m, bearing: 71.847427 deg, approach rate: -0.711298 m/s, LOS rate: -0.003098 deg/s, cmd heading: 77.201171 deg, new cmd heading: 77.196846 deg. Bh-UHeadingCmd: 1.347339 target range: 300.283020 and range: 301.70 m.hUu?hQ*hQ"hQ hQgYfYfYfYdadadajdaZdm X@颙ɢ;) P=i)}:顩E EE)E"E:*E5:VEFA4ZEBE<AA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519203Au .AIy I O >_,?AB o?BrZ?BXٱBC$ JAHRS rotation from veh to nav: [[0.230020,-0.960603,-0.155991],[0.973183,0.227441,0.034428],[0.002407,-0.159727,0.987158]]BH`Iq?BÿP$??? c? qĿ͖?iB o?IB\;@YR0ByR)IbDZVDZyb1=%bL=ٔfV:Q-f>9f ?Yf ?=fRGyj8Fj+Ej>lQ 5r4n?k{?Q 9r4n.)nڐBYtyv/?Q Iv?nCIn:in:n4y5Bɮ5=A5EjhYeFNOT Ignoring new targets: 300.28 m.Rhe(\Zhe(\ ProNav: ac range: 300.283020 m, nav range: 287.993073 m, bearing: 71.846222 deg, approach rate: -0.723381 m/s, LOS rate: -0.003007 deg/s, cmd heading: 77.196847 deg, new cmd heading: 77.193230 deg. BhHeadingCmd: 1.347276 target range: 300.283020 and range: 301.70 m.hs?h*h"h hgfffdddjdZd@1ɢ={;)9 ==i9)=5:99iExiEs?Mlu1;M&IMs?Ii  9@ @@/@!@-=@-=E% E%E%&E!"E%;*E%:VE%4ZE!a-@a-@a-@a-@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771021^AMvтq Ay I I B />B B )IB 0BB B B B u;B 00EO >H,[?Am3T?m??mٱmA$ AHRS rotation from veh to nav: [[0.230817,-0.960434,-0.155855],[0.972995,0.228159,0.034979],[0.001964,-0.159720,0.987160]]mHh?`߻`ÿ"?@T4? ?@`?`qĿ`і?im3T?Im\;m CY:By*I 5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022955iuMb@Mb@Mb@qqqq q9uA`"?Q/$?Yu9?yuu9Y=RGy9FE>Q 54r{?Q 94F&)BYS9?Q E:y?Q I?CIa:i:%4yBɮ,AjhFNOT Ignoring new targets: 300.28 m.RhkZhk ProNav: ac range: 300.283020 m, nav range: 287.657440 m, bearing: 71.843039 deg, approach rate: -0.734805 m/s, LOS rate: -0.006978 deg/s, cmd heading: 77.193227 deg, new cmd heading: 77.183665 deg. Bh@HeadingCmd: 1.347109 target range: 300.283020 and range: 301.70 m.hn?h*h"h! h!g!f!f)f)d)d)d1jd1Zd5Tx @Yɢ]<)a e=iai)e:iiimiun?u^c0;u+ Iun?Iy9@ @@0@ԑE5 E5E1E1"E5l;*E5:VE1ZE1BE5[Fq,.?ALVZJ?V5?V lٱV.# bAHRS rotation from veh to nav: [[0.231109,-0.960484,-0.155108],[0.972926,0.228437,0.035084],[0.001735,-0.159017,0.987274]]VH ?@I@ÿ@6"?p=?`?m\?ZĿ@?iVZJ?IVH\;VCYfHByf*IbDrVDryz=%zk=ٔz,:Q-z?9|Y|=~RGy~:FbE? Q 54 px{?Q 94 ) BYy?Q I? CI ;i ; +4y%Bɮ%A!jhIMFNOT Ignoring new targets: 300.28 m.RhU ZhU e ProNav: ac range: 300.283020 m, nav range: 287.405609 m, bearing: 71.840662 deg, approach rate: -0.723349 m/s, LOS rate: -0.006834 deg/s, cmd heading: 77.183665 deg, new cmd heading: 77.176528 deg. BhemHeadingCmd: 1.346985 target range: 300.283020 and range: 301.70 m.hmi?hi*hi"hi hqgqfqffdddjdZdb @iɢmf<<)i m>ii) :iSii? l/; ßIi?II)))9@ @@P0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527515^A A dAzA dA! EU  EU EU *EQ "EU :*EU P:VEU (N4ZEQ a} @a} @a @a @A ؟AI I O >r,ywΟ?ARDAT read: 15:06:37.3283 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 417, 0.12,-2.847, 1.999,-2.519,-2.957, PHS= 0.212,-1.282, 0.394, RAW= 155.7, 8.5, CAL= 155.3, 9.0, ROT= 354.7, -9.0 VYgot valid direction response: 15:06:37.3283 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 417, 0.12,-2.847, 1.999,-2.519,-2.957, PHS= 0.212,-1.282, 0.394, RAW= 155.7, 8.5, CAL= 155.3, 9.0, ROT= 354.7, -9.0 ZPDAT read: Bearing 227.2, -6.2 (Local) Z~Local bearing/azimuth received: Bearing 227.2, -6.2 (Local) bDAT read: Range 11 to 50 : 300.3 m (Round-trip 400.4 ms) speed 0.6 m/s dfR#Rx 1: Read range and direction messages.j^direction in FSK: [0.983466,-0.091233,0.156434]nFpublishing direction and range infoy8:tNx?$[p ?Y:&C8888 8):>I:Y>i::^>:'-@:>:x-@ :| >):@I:| 88:z!v-?{:u?}f? :Jj?):eI:qi:| 88zT****** received valid address query ******zR****** received valid ping request ******zQuerying Benthos address 50 with one ping in standard two-way mode.eV?eB?e/uϺٱe! AHRS rotation from veh to nav: [[0.230744,-0.960838,-0.153450],[0.973013,0.228113,0.034783],[0.001583,-0.157335,0.987544]]eH?0>ÿ"? 2?ϡ? Y?#Ŀ?ieV?Ier\;aYENByE*IIIbDUVDUNye<%e&=ٔm9Q-m>9m"?Ym"?=uRGyu;FF:E>Q 54}{?Q 94)BYy?Q I?ICI%;i;44yɮˌAAAB1>BB*IBJBBBBBu;B0Ei8i:fgϟ?AJi:rCRi:rCji:о?b:._r@StD;1 `G@R:tNx?$[p ?Zi:qbi:| j:|cÙU@֧0q@ wI@Z:3C?ଠ7!?iq)}B:yit!ic?5.-.;=Iec?Ii%*DAT read: user:929> %BDAT read: Tx time:15:06:38.5237 -$Ping request sent.-9 ?Y ?=%RGy%=F%6:E%>)Q 554-y{?Q 954-= )-BY=C?Q E=:y=T?Q I=?-yCI-:i-:-:=4yEJBɮMAMEeB*** querying acoustic contact ***ia iajhquFNOT Ignoring new targets: 298.89 m.Rh}@Zh}@  ProNav: ac range: 298.890900 m, nav range: 292.005402 m, bearing: 72.175640 deg, approach rate: -0.795293 m/s, LOS rate: -0.008647 deg/s, cmd heading: 77.165927 deg, new cmd heading: 77.153728 deg. Bh 潹HeadingCmd: 1.346587 target range: 298.890900 and range: 300.30 m.h\?h*h"h hgffAfAdAdAdIjdIZdM5?a频ɢi):i0i\?K;-;ÀI\?IU9@Y @Y@] 0@Yԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502737^A= I9 IQ O] >,W ?A2m{?2f?2Bٱ2 :AHRS rotation from veh to nav: [[0.229652,-0.961527,-0.150753],[0.973272,0.227115,0.034072],[0.001477,-0.154548,0.987984]]2H=e?`Kÿ %??@q?3X?;ÿ?i2m{?I2\;2CXEb EbEb*E`"Eb~ ;*Eb:VEb(N4ZE`aj@aj@aj@aj@Yj]Byj/*IbDvVDv0yz}<%~_=ٔ~DQ-~>9Y=RGy>F  ;E >Q 54j{?Q 94 )BYym?Q I?CI7;ie;C4y)ɮ-A)jhQUFNOT Ignoring new targets: 298.89 m.Rh]iZh]im ProNav: ac range: 298.890900 m, nav range: 291.726349 m, bearing: 72.172562 deg, approach rate: -0.764149 m/s, LOS rate: -0.008437 deg/s, cmd heading: 77.153728 deg, new cmd heading: 77.144485 deg. BhmKuHeadingCmd: 1.346425 target range: 298.890900 and range: 300.30 m.huW?hq*hq"hq hqgyfffdddjdZd@_A?颹ɢQ~<) :>i)e:i6iW?$,;1LIW?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755245U9@Q @Q@U4@QBBB7*IBcBBBBBA>I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067421 ,;$?A2r?2۔?2)ٱ2; :AHRS rotation from veh to nav: [[0.228285,-0.962127,-0.148988],[0.973593,0.225886,0.033060],[0.001847,-0.152600,0.988286]]2Hp8?@ÿ'??.?A^?hÿ` ?i2r?I2\;2 CYBmByBB*I|i Mb@Mb@Mb@     9 HzG?{Gzt?~jtx?Y =J?y ף; ; A @ ) A Y zAbD-VD-02y5w=%5F=ٔ=kQ-=>9AYA=ERGyE?FE\_;EM>IQ 5U4Mz{?Q 9]4M)MBY]?J?Q E]:y]?Q I]?MCIM ;iM ;MJ4ymOBɮmAijh FNOT Ignoring new targets: 298.89 m.Rh5AqZh=AqM ProNav: ac range: 298.890900 m, nav range: 291.402100 m, bearing: 72.166923 deg, approach rate: -0.757194 m/s, LOS rate: -0.013183 deg/s, cmd heading: 77.144487 deg, new cmd heading: 77.127552 deg. BhMMHeadingCmd: 1.346130 target range: 298.890900 and range: 300.30 m.hUM?hQ*hq"hq hqgqfyfyfydyddjdZd`?ɢ<) Z>i):iiM?+;GݺIM?IE EE)E"E%;*E1:VEFA4ZEBEa2EaJE;a:E;a1 ֐C9eeA}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259314Q9eAY-A@ @@4@@=@=Y^A <II IY Om >ԁ i,n>?A2܏?2:ȫ?2;ٱ2 :AHRS rotation from veh to nav: [[0.226758,-0.962883,-0.146412],[0.973948,0.224547,0.031679],[0.002373,-0.149782,0.988716]]2Hh?ऽ¿*??:8? &qc? ,ÿ`?i2܏?I2}\;2CYBiByB?*I DDbDNVDNyVU%VT=ٔVвQ-V>9XYX=ZRGyZ@FZ;E^>`Q 5f4b{?Q 9f4b)bBYdyf?Q If?bCIb:ib:bQ4ilIlrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511125yhɮvAtYjhFNOT Ignoring new targets: 298.89 m.RhyZhy ProNav: ac range: 298.890900 m, nav range: 291.098206 m, bearing: 72.161534 deg, approach rate: -0.769085 m/s, LOS rate: -0.013653 deg/s, cmd heading: 77.127555 deg, new cmd heading: 77.111371 deg. BhHeadingCmd: 1.345847 target range: 298.890900 and range: 300.30 m.hD?h*h"h hgfffdddjdZd7?)ɢ-4<)1 5S>i1)5<;99i=Vi=D?E]+;E>IED?IA9@ @@/@ԁE EE(E"E;*EVEc44ZEa@a@a@a@^A-[RӺchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763070IIO> B A <B 0>B B V*IB |BB B B B t;B /EBBBBBCQ4,CX?A2?2 ?2/(ٱ2u >AHRS rotation from veh to nav: [[0.225574,-0.963288,-0.145579],[0.974223,0.223435,0.031097],[0.002572,-0.148841,0.988858]]2H?`@U¿,?`?؟?`De?9 ÿ ?i2?I2\;2 CYFsByFK*IbDNVDNkyVE=%VJ=ٔVQ-Z>9XYX=ZRGyZAF^&E;E^>`Q 5f4b{?Q 9f4b)bBYdyf?Q Ij?bCIbp:ib:bX4ynBɮnAnEjhFNOT Ignoring new targets: 298.89 m.Rh jZh j ProNav: ac range: 298.890900 m, nav range: 290.780457 m, bearing: 72.155811 deg, approach rate: -0.838815 m/s, LOS rate: -0.015127 deg/s, cmd heading: 77.111374 deg, new cmd heading: 77.094184 deg. Bh&%HeadingCmd: 1.345547 target range: 298.890900 and range: 300.30 m.h%:?h!*h!"h) h)g)f)f)f1d1d1d1jd9Zd=m@Թaɢm`<)i g>i)1-;顡iji:?(L+;~:I:?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0172519@ @@@^A 9A cAzA bAIy I O >E  E E %E "E ;*E $:VE 4ZE BE D9AYA=ERGyEBFM;EM>QQ 5]4UL{?Q 9]4U8)QY]/P?Q Ee:ye?Q Ie?UFCIU:iU':U`4yiɮmAiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 298.89 m.RhZh ProNav: ac range: 298.890900 m, nav range: 290.412354 m, bearing: 72.147943 deg, approach rate: -0.807483 m/s, LOS rate: -0.017280 deg/s, cmd heading: 77.094182 deg, new cmd heading: 77.070551 deg. Bh=HeadingCmd: 1.345135 target range: 298.890900 and range: 300.30 m.ha-?h*h"h hgfffdddjdZd@ɢ[S<) h>i)7;ii a-? 1+; ;Ia-?I9@ @@@@dA@fAAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518802q^A9A ؟AI! I1 OE >ԙ ",@?A2)Fp<bDNbE)jE-14rE-/ER ERER(EP"ER%;*ERą:VERc44ZEPaZ@aZ@aZ@aZ@VDNybn;%bf=ٔf'ºQ-f>9f"?Yf"?=jRGyjCFj\;Ej>lQ 5r4n3{?Q 9r4n)lYtyv*?Q Iv?nkCIn:in:nf4yxɮzAxjhFNOT Ignoring new targets: 298.89 m.RhZh ProNav: ac range: 298.890900 m, nav range: 290.124603 m, bearing: 72.141711 deg, approach rate: -0.774901 m/s, LOS rate: -0.016801 deg/s, cmd heading: 77.070550 deg, new cmd heading: 77.051833 deg. Bh}8HeadingCmd: 1.344808 target range: 298.890900 and range: 300.30 m.h"?h*h"h hgfffdddjdZdS @AɢE<)A Ej>iA)MBBi*IBBBBBByt;B/E^AU] ; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023398A I I O > ),Vԥ?A2|?2 h?2>ٱ2Z :AHRS rotation from veh to nav: [[0.222002,-0.963996,-0.146381],[0.975038,0.220119,0.029143],[0.004127,-0.149197,0.988799]]2Hj? ¿3?@,?ם?p?ÿ=?i2|?I2\;2CYBwByBO*Ii Mb@Mb@Mb@     9 n?Q?~jtY V?y \= D  A K@ )  Y AbDVD02y$<%>=ٔQ->9Y=RGyDFj;E>Q 54İ{?Q 94v)BY9V?Q E}:ym?Q I?CI ;i ;Pn4yBɮAEjhFNOT Ignoring new targets: 298.89 m.RhXǹZhXǹ ProNav: ac range: 298.890900 m, nav range: 289.767822 m, bearing: 72.132701 deg, approach rate: -0.861682 m/s, LOS rate: -0.021785 deg/s, cmd heading: 77.051835 deg, new cmd heading: 77.024775 deg. Bh 7o HeadingCmd: 1.344336 target range: 298.890900 and range: 300.30 m.h 3?h*h"h hgfffd!d!d!jd!Zd%] @iɢu`2<)q urn>iq)}6;yyi}i3?+;Mv;I3?IE EE&E"E*E:VE4ZEBEKA?) A I I O >Q |1/,?A6筐?6O?6ٱ6~' BAHRS rotation from veh to nav: [[0.220538,-0.964630,-0.144404],[0.975369,0.218765,0.028239],[0.004351,-0.147075,0.989116]]6H@:?`?{¿86??? -q? X¿@֦?i6筐?I6#\;6CYJ`ByJ3*IbDR VDR:2yZj%ZY=bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526857ٔZQ-b>9dYd=fRGyfEFf&;Ej>hQ 5n4j{?Q 9r4jH)jBYpyr?Q Ir?jCIj :ijF:jt4yvBɮzAzvEjhFNOT Ignoring new targets: 298.89 m.Rh¹Zh%¹- ProNav: ac range: 298.890900 m, nav range: 289.454254 m, bearing: 72.124668 deg, approach rate: -0.830255 m/s, LOS rate: -0.021295 deg/s, cmd heading: 77.024774 deg, new cmd heading: 77.000646 deg. Bh5i=HeadingCmd: 1.343915 target range: 298.890900 and range: 300.30 m.h=f?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM`@yɢ}<)y }A>iy))@;顁idif?+;,;If?I)M9@I @I@M4@I@Q@U=YE EEE"E*E$:VEZEa @a @a5@a5@^Auϩ;DAT read: 15:06:41.3232 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 397, 0.27,-1.829, 2.960,-1.586,-2.304, PHS= 0.577,-0.974, 0.673, RAW= 153.0, -3.5, CAL= 152.5, -4.7, ROT= 357.5, 4.7 Ygot valid direction response: 15:06:41.3232 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 397, 0.27,-1.829, 2.960,-1.586,-2.304, PHS= 0.577,-0.974, 0.673, RAW= 153.0, -3.5, CAL= 152.5, -4.7, ROT= 357.5, 4.7 PDAT read: Bearing 214.4, -1.2 (Local) ~Local bearing/azimuth received: Bearing 214.4, -1.2 (Local) DAT read: Range 11 to 50 : 296.5 m (Round-trip 395.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.= `direction in FSK: [0.995689,-0.043473,-0.081939]E Fpublishing direction and range infoyimxȖŮ?BYm@Ciiii i)iImF?imXymI,?m*@m5zmX*@ m)mi@Im=iimغ_€?dCb?:% mV?)m?Qy=ImѸ2im=iiu T****** received valid address query ******u R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.ԉ A I I! O- >B B B o*IB BB B B B 6t;B v/E6,u٠?A,2א?2'ì?2MЛٱ2 >AHRS rotation from veh to nav: [[0.219291,-0.964945,-0.144195],[0.975648,0.217601,0.027589],[0.004755,-0.146733,0.989165]]2H ?@t¿8?Y?`M@?zs?`)¿*I ``bDjVDjky +=%E=ٔ1~Q->9!Y!=%RGy%FF-I;E->1Q 5=45{?Q 9=45L)5BY9y=ʱ?Q IE?5CI5;i5;5,|4yIɮMAIiiS^Ѡ?AJiCRiCji?bWd]r@;M)hJ.8RxȖŮ?BZiѸ2bi=j]v)WT@l0q@ĝ4Z19x@j?nbe ?<g籿2iC:iB"i1)?*iuBiDBBi_c?ixKi+Bi4Ci?  addTargetRange:: Added new target pos. range: 296.500000 m, deltaT: 4.030696 s, deltaX: -3.799988 m, approachRate: -0.942762 m/s, rangeRepo size: 4  Added new target pos. range: 295.109314 m, bearing: 74.170363 deg, lat: 36.779213 deg, lon: -121.859349 deg, deltaT: 4.030696 s, deltaX: -3.781586 m, approachRate: -0.938197 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 295.11 m.RhZhe ProNav: ac range: 295.109314 m, nav range: 290.413391 m, bearing: 72.553254 deg, approach rate: 0.000000 m/s, LOS rate: -0.021295 deg/s, cmd heading: 77.000643 deg, new cmd heading: 76.972903 deg. Bhaԑ*DAT read: user:930> BDAT read: Tx time:15:06:42.5737 $Ping request sent. i)tM;  i Ni?,; =,?A>?> ?>:ٱ> FAHRS rotation from veh to nav: [[0.218133,-0.965193,-0.144292],[0.975907,0.216479,0.027265],[0.004920,-0.146763,0.989159]]>H?(x¿:??N? O't?¿1?i>?I>\;> CYNbByN5*Ii%Mb@Mb@Mb@!!!! !9%I +?Q?y&1Y%9T?y%<%`e%7A%b@ %(A)%pA!Y!bD=VD=1yM%U.=ٔU'Q-U>9YYY=]RGy]GF]3&;Ee>aQ 5m4e{?Q 9u4eC)eBYudT?Q Eu:yu-?Q Iu?e CIe ;ie ;eY4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 295.11 m.Rh̷Zh̷ ProNav: ac range: 295.109314 m, nav range: 290.027924 m, bearing: 72.544236 deg, approach rate: -0.857481 m/s, LOS rate: -0.020086 deg/s, cmd heading: 76.972906 deg, new cmd heading: 76.945817 deg. Bh\)MHeadingCmd: 1.342958 target range: 295.109314 and range: 296.50 m.hM ?hI*hI"hI hIgQfQfQfQdYdYdYjdYZde R?ɢ<) lD>i)W;iݥi ?ˢ-;zԱ D,b?A2Z!?2 ?29{ٱ2 :AHRS rotation from veh to nav: [[0.217100,-0.965450,-0.144133],[0.976140,0.215357,0.027774],[0.004226,-0.146724,0.989168]]2H?r¿9\Y\=^RGybHFb[5;Eb>dQ 5n4f{?Q 9E4f )fBYAyMP?Q IM?fHCIfki)I_;ii:٫?.;7)) -J,ȱ*?A2S?2??2@Ncٱ2  :AHRS rotation from veh to nav: [[0.215601,-0.965615,-0.145275],[0.976475,0.213729,0.028563],[0.003468,-0.148015,0.988979]]2H`И?P\¿@I??v[???@il?@+¿@?i2S?I2\I];2CY^DBy^*IIb%=)bx>iMMb@Mb@Mb@IIII I9Mi|?5?~jt?y&1YMQ?yM9- ?Y- ?=-RGy-IF5^;E=>AQ 5M4E{?Q 9U4E})EBYUQ?Q E]:y]?Q I]?ExCIEAQ;iEEP;E4ymBɮmAmmEjhFNOT Ignoring new targets: 295.11 m.RhJZhJ ProNav: ac range: 295.109314 m, nav range: 289.344666 m, bearing: 72.528441 deg, approach rate: -0.859117 m/s, LOS rate: -0.019484 deg/s, cmd heading: 76.923407 deg, new cmd heading: 76.898377 deg. BhUHeadingCmd: 1.342130 target range: 295.109314 and range: 296.50 m.hʫ?h*h"h hgfffdddjdZd?1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253647颱ɢM<)  >i)f;iiʫ?/;tDUQ,gE?A2jk?2V?2|fFٱ23 :AHRS rotation from veh to nav: [[0.214894,-0.965720,-0.145624],[0.976633,0.212953,0.028977],[0.003027,-0.148448,0.988916]]2H`?,ʣ¿@@? B?!?h?Uÿ`2?i2jk?I2xD];2CYB.ByB)IbDNVDNyVq%V[=ٔV3:Q-V>9Z"?YZ"?=ZRGyZJF^:E^>`Q 5f4b{?Q 9f4b)bBYdyf?Q Ij?bCIb :ib:bl4ynBɮnAljhFNOT Ignoring new targets: 295.11 m.Rh Zh  ProNav: ac range: 295.109314 m, nav range: 289.042450 m, bearing: 72.521536 deg, approach rate: -0.824714 m/s, LOS rate: -0.018862 deg/s, cmd heading: 76.898375 deg, new cmd heading: 76.877638 deg. BhO%HeadingCmd: 1.341768 target range: 295.109314 and range: 296.50 m.h% ?h!*h!"h) h)g)f)f)f1d1d1d1jdZd?ɢx9(<) =i)k;ixߜi ?h1;Q~W,]o_?A v|?vg?v!ٱv+ 5AHRS rotation from veh to nav: [[0.214383,-0.965906,-0.145137],[0.976746,0.212376,0.029367],[0.002458,-0.148058,0.988976]]vHp?@ܓ¿A?&/?`? !d?`¿ ?iv|?Iv];tYe Bye)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011940bDVDܲyQu%7=ٔ x:Q->9!Y!=-RGy-KFk:E>Q 54{?Q 94)ߐBYyʰ?Q I?CIi:4yɮTAjh9=FNOT Ignoring new targets: 295.11 m.RhEZhEq ProNav: ac range: 295.109314 m, nav range: 288.661377 m, bearing: 72.512767 deg, approach rate: -0.800005 m/s, LOS rate: -0.018433 deg/s, cmd heading: 76.877638 deg, new cmd heading: 76.851298 deg. BhfJHeadingCmd: 1.341308 target range: 295.109314 and range: 296.50 m.h?h*h"h hgfffdddjdZd@颙ɢz;) Ѓ=i)r7o;i3i?2;_^],z?AY By )I iMb@Mb@Mb@ 9K7?~jth?QYI?yD;uA5@ A)@YAbDVDy˻%D=ٔQ->9Y=RGyLFE>Q 54e{?Q 94)ݐBYI?Q E:y?Q I?CIX:i<4ym~Bɮm|AmdEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 295.11 m.Rhn|Zhn| ProNav: ac range: 295.109314 m, nav range: 288.350159 m, bearing: 72.507183 deg, approach rate: -0.767869 m/s, LOS rate: -0.013793 deg/s, cmd heading: 76.851301 deg, new cmd heading: 76.834530 deg. BhuHeadingCmd: 1.341016 target range: 295.109314 and range: 296.50 m.hf?h*h"h hgfff׉BdddjdZdh@Bɢ`<) }=i)=r;ivi f? *4; 6ad,Dm?A02?2?2ͺٱ2F >AHRS rotation from veh to nav: [[0.213341,-0.966093,-0.145432],[0.976977,0.211203,0.030170],[0.001569,-0.148520,0.988908]]2HN?`;¿@dC??`?4Y?ÿ"?i2?I24];2CYFByF)IbDNVDN:2yV %V_=ٔZ;Q-Z>9XYX=ZRGy^MF^>;E^>`Q 5f4b{?Q 9f4bA)bڐBYhyj?Q Ij?bCIb:ibL:b4ylɮrApjhAMFNOT Ignoring new targets: 295.11 m.RhMZhM] ProNav: ac range: 295.109314 m, nav range: 288.061951 m, bearing: 72.501939 deg, approach rate: -0.803804 m/s, LOS rate: -0.014639 deg/s, cmd heading: 76.834533 deg, new cmd heading: 76.818786 deg. Bhe eHeadingCmd: 1.340741 target range: 295.109314 and range: 296.50 m.hee?hi*hi"hi higififqfqdqdqdjdZd@ɢvG;) > k,LO?AEV EVETET"EVl;*EVZ:VETZETBEV[F9Y=RGyNFXպE>Q 54"{?Q 94|)֐BYBG?Q E:y?Q I?ICI ;;i-N;4eBDAT read: Rx Time:15:06:45.3696 mTRx dataTimestamp_ set to:1761577606.801742}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273529yɮAjhFNOT Ignoring new targets: 295.11 m.RhIZhIM ProNav: ac range: 295.109314 m, nav range: 287.721863 m, bearing: 72.496836 deg, approach rate: -0.733413 m/s, LOS rate: -0.011018 deg/s, cmd heading: 76.818789 deg, new cmd heading: 76.803462 deg. BhMUHeadingCmd: 1.340473 target range: 295.109314 and range: 296.50 m.hU?hQ*hQ"hY hYgYfYfafeBdadadajdiZdm`Q @ɢCh;) #i)r;ii?i7;lq,y"ȡ?A2\?2H?2 ٱ2} :AHRS rotation from veh to nav: [[0.215333,-0.964850,-0.150654],[0.976541,0.212839,0.032680],[0.000533,-0.154157,0.988046]]2H@? Hÿ??Q>?`|?zA?`jÿ ?i2\?I2];2CYBByB)IIF>)F;bDJVDJk1yV@%V^=ٔV:Q-V>9XYX=ZRGyZOFZskE^>)Q 554-{?Q 954-t)-ҐBY9y=l?Q I=?-oCI-?;i-L ;-M4yAɮEWAIjhiuFNOT Ignoring new targets: 295.11 m.RhueZhue ProNav: ac range: 295.109314 m, nav range: 287.424774 m, bearing: 72.492452 deg, approach rate: -0.850360 m/s, LOS rate: -0.012563 deg/s, cmd heading: 76.803462 deg, new cmd heading: 76.790295 deg. Bh HeadingCmd: 1.340243 target range: 295.109314 and range: 296.50 m.h?h*h"h hgfffdddjdZdE@ɢj9) 1i)cp;i ĝi?T8;\i!>9@ @@/@bE=Þ4jE=4rE=..E EEE"ET;*E$:VEZEa@a@a@a @YDAT read: 15:06:45.3696 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 409,-0.16, 2.848, 1.363,-3.046, 2.754, PHS= 0.196,-1.346, 0.439, RAW= 157.2, 8.5, CAL= 156.9, 9.0, ROT= 353.1, -9.0 Ygot valid direction response: 15:06:45.3696 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 409,-0.16, 2.848, 1.363,-3.046, 2.754, PHS= 0.196,-1.346, 0.439, RAW= 157.2, 8.5, CAL= 156.9, 9.0, ROT= 353.1, -9.0 PDAT read: Bearing 227.4, -8.0 (Local) ~Local bearing/azimuth received: Bearing 227.4, -8.0 (Local) DAT read: Range 11 to 50 : 293.7 m (Round-trip 391.7 ms) speed 0.6 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.980535,-0.118657,0.156434]-Fpublishing direction and range infoyaeTձ`?tV`p ?YeْCaaaa a)aIe9H>ieIe>e/@e>eLB/@ e| >)eP5@Ie| aae# 34?OC#?l&9? eA&?)eaIeie| aaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.qB%2>B%CB%)IB%5BB% =B!B!B%t;B%/E^A- zl<ԩ A} .AI I O >sx,?Af*DAT read: user:931> rBDAT read: Tx time:15:06:46.6237 v$Ping request sent.v9 ?Y ?=RGyPF7E>Q 5 4{?Q 9 4k)ϐBY8?Q E:y ?Q I?CI:i:Ǝ4yMBɮA%[Eiimӡ?AJi)CRi)Cji?biq@6w[WAF[F@RTձ`?tV`p ?Zibi| j+8&V@"_q@,>pPI@Zf??u5+?2iC:i5B"i6W ?*iѿFBi&BiO6 ?iѿFi&BiCi!?m addTargetRange:: Added new target pos. range: 293.700012 m, deltaT: 4.032201 s, deltaX: -2.799988 m, approachRate: -0.694407 m/s, rangeRepo size: 4 } Added new target pos. range: 292.322845 m, bearing: 72.076012 deg, lat: 36.779231 deg, lon: -121.859348 deg, deltaT: 4.032201 s, deltaX: -2.786469 m, approachRate: -0.691054 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 292.32 m.RhZh ProNav: ac range: 292.322845 m, nav range: 287.833618 m, bearing: 72.118282 deg, approach rate: 0.000000 m/s, LOS rate: -0.012563 deg/s, cmd heading: 76.790294 deg, new cmd heading: 76.771355 deg. ԙBhHeadingCmd: 1.339913 target range: 292.322845 and range: 293.70 m.hD?h*h"h hgfffBdddjd@3[r@Zd?Bɢ:) Ri)m;iʝiD? ]:; /O 0,?A2?2|?2u#8ٱ2" >AHRS rotation from veh to nav: [[0.218182,-0.963605,-0.154473],[0.975908,0.215414,0.034646],[-0.000109,-0.158311,0.987389]]2He? ÿ:?`??n`CĿ?i2?I2 `];2CYBЉByB)IbDNVDNNyVн%V[=ٔVB:Q-Z>9XYX=ZRGy^QF^"E^>`Q 5f4b{?Q 9f4bd)b͐BYdyfئ?Q Ij?bCIb:eB 3>B B )IB BB B @DB B ct;B /E) U,y?AJݐ?JFɬ?JC:ٱJ1y# VAHRS rotation from veh to nav: [[0.219112,-0.963319,-0.154940],[0.975699,0.216210,0.035550],[-0.000747,-0.158965,0.987284]]JH ?`ÿ 8?@¬?`3? yHXĿԗ?iJݐ?IJH];JCYnʉByn{)I ppbDzVDzy%E=ٔ:Q- >9 Y = RGy RFE>Q 5%4|?Q 9%4c])ʐBY!y%?Q I-?CI:i:ӎ4y1ɮ5 A1jhY]FNOT Ignoring new targets: 292.32 m.RheZheu ProNav: ac range: 292.322845 m, nav range: 287.266785 m, bearing: 72.113278 deg, approach rate: -0.756776 m/s, LOS rate: -0.006626 deg/s, cmd heading: 76.764155 deg, new cmd heading: 76.756328 deg. Bhu}HeadingCmd: 1.339651 target range: 292.322845 and range: 293.70 m.h}y?hy*hy"hy hgfffdddjdZdܘ?颽Bɢ|) ʽi)c;i󛝼iy?Jr<;H3 nManaging dock network, ignoring radio surface power off= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254067,nm4?A 2??2?2:ٱ2Z% >AHRS rotation from veh to nav: [[0.220678,-0.962615,-0.157075],[0.975346,0.217599,0.036760],[-0.001206,-0.161315,0.986902]]2H1??` Ŀ6? E?2Ң?SĿ?i2??I2 ];2CYvωByv)IiuMb@Mb@Mb@qqqq q9u"~?ˡE9Y=RGySF)xE>Q 54 |?Q 94U)YI4?Q E:y?Q I? CIL:i:.ێ4yɮAjhFNOT Ignoring new targets: 292.32 m.Rh울Zh울 ProNav: ac range: 292.322845 m, nav range: 286.967987 m, bearing: 72.111482 deg, approach rate: -0.703676 m/s, LOS rate: -0.004233 deg/s, cmd heading: 76.756327 deg, new cmd heading: 76.750935 deg. Bh9HeadingCmd: 1.339557 target range: 292.322845 and range: 293.70 m.hv?h*h"h h!g!f!f!f-xBd)d)d)jd)Zd5c?Bɢ ) i)_^;ii v? v=;  gg,FN?A6}i?6T?6:ٱ6_(% BAHRS rotation from veh to nav: [[0.222576,-0.962327,-0.156162],[0.974914,0.219403,0.037489],[-0.001815,-0.160588,0.987020]]6H@[}?`bÿ@~2?g?1?]`'Ŀ?i6}i?I6y\;6CYF̉ByF})IPbDRVDRyZ %Z[=ٔ^O:Q-^>9`Y`=bRGybTFf@Ef>hQ 5j4j|?Q 9n4j.O)jɐBYlyn?Q Ir?j-CIj7;ij;j4yvBɮv%AvQEjhFNOT Ignoring new targets: 292.32 m.RhFZhF- ProNav: ac range: 292.322845 m, nav range: 286.704529 m, bearing: 72.109998 deg, approach rate: -0.704089 m/s, LOS rate: -0.003969 deg/s, cmd heading: 76.750938 deg, new cmd heading: 76.746483 deg. Bh-T.5HeadingCmd: 1.339479 target range: 292.322845 and range: 293.70 m.h5 t?h1*h1"h1 h1EE EEEE&EA"EE ;*EE^:VEE4ZEAaM@aM@aM@aM@gQfQfQfQdYdYdYjdYZde@m?颉ɢ{j) (i) kZ;顑iQ`i t?8>;ob!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012015, 7h?A6+?6X?6y;ٱ6&& BAHRS rotation from veh to nav: [[0.224406,-0.961654,-0.157683],[0.974493,0.221048,0.038750],[-0.002409,-0.162357,0.986729]]6H`T?@.Ŀ /?LK?` ף?mc@Ŀ I?i6+?I6F\;6CYXyZ|)II^=)^>xiEMb@Mb@Mb@AAAA A9Ev/? ףp= ~jth?YEx)?yEQ8ED;EAA A)AAYE=AbD] VD]:2ym%u>=ٔun:Q-u>9yYy=}RGy}UF}E}>Q 54|?Q 94H)ːBY)?Q E:y?Q I?RCI ;ie ;54yBɮ=AREjhFNOT Ignoring new targets: 292.32 m.Rh>Zh> ProNav: ac range: 292.322845 m, nav range: 286.420288 m, bearing: 72.108882 deg, approach rate: -0.663223 m/s, LOS rate: -0.002608 deg/s, cmd heading: 76.746485 deg, new cmd heading: 76.743132 deg. BhHeadingCmd: 1.339420 target range: 292.322845 and range: 293.70 m.h r?hi*hi"hi higififqfuzBdqdqdyjdyZd}>@Bɢ-<) 0i)U;i8i  r? '>; ;I r?III)McA!EM EMEM)EI"EMl;*EM:VEMFA4ZEIBEM[Fԉ oy,T?A2?2Lӫ?2Z;ٱ2v( :AHRS rotation from veh to nav: [[0.226428,-0.961068,-0.158359],[0.974022,0.222857,0.040196],[-0.003340,-0.163347,0.986563]]2H?EĿ@0+?@? ?@[k Ŀ?i2?I2\;2CY^щByb)I fp9tYt=vRGyvVFz̰Ez>|Q 54~|?Q 9 4~A)~͐BY y Y?Q I ?~rCI~F:i~:~4yɮ%A5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 292.32 m.RhM+ZhM+echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514052ԁ ProNav: ac range: 292.322845 m, nav range: 286.164520 m, bearing: 72.107981 deg, approach rate: -0.662824 m/s, LOS rate: -0.002337 deg/s, cmd heading: 76.743131 deg, new cmd heading: 76.740426 deg. BhM͸HeadingCmd: 1.339373 target range: 292.322845 and range: 293.70 m.hp?h*h"h hgf f f d ddjd1Zd=@e@Bɢ) i)P;iip??;֥;Ip?Iԩa@a @a@e4@a@m=@m=E] EYE]%EY"E] ;*EYVE] 4ZEYae@ae@ae@ae@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766102^Am r; Bm 4>Bi Bm )IBm BBi Bi Bi Bm jt;Bi A ؟AI I O >},,؛?A20?2?2ޅ;ٱ2( :AHRS rotation from veh to nav: [[0.228351,-0.960510,-0.158985],[0.973570,0.224598,0.041429],[-0.004085,-0.164244,0.986411]]2H:?YĿ}'??56?ֻpſ?i20?I2\;2CYB݉ByB)IbDJVDJNyX=%H=ٔ:Q- >9 "?Y "?= RGy XFE>Q 5%4#|?Q 9-4:)ΐBY)y-?Q I-?CIN:i:4y1ɮ5A9jhYeFNOT Ignoring new targets: 292.32 m.Rhe_Zhm_u ProNav: ac range: 292.322845 m, nav range: 285.894318 m, bearing: 72.107133 deg, approach rate: -0.662988 m/s, LOS rate: -0.002081 deg/s, cmd heading: 76.740426 deg, new cmd heading: 76.737882 deg. Bh}ضHeadingCmd: 1.339329 target range: 292.322845 and range: 293.70 m.ho?h*h"h hgfffdddjdZdv @Bɢxh) `ci))N;iio??;7eh;Io?I]9@Y @Y@]/@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020635^A+;1   ѐCA I I O > G M 9I YM AEm  Em Em )Ei "Em T;*Em :VEm FA4ZEi BEm G9Y=RGyYFOE>Q 54*|?Q 943)ҐBY!*?Q E:yN?Q I?CI;i ;4yɮȈAjh)5FNOT Ignoring new targets: 292.32 m.Rh5(Zh=(M ProNav: ac range: 292.322845 m, nav range: 285.605896 m, bearing: 72.106133 deg, approach rate: -0.664137 m/s, LOS rate: -0.002306 deg/s, cmd heading: 76.737879 deg, new cmd heading: 76.734875 deg. BhMʸMHeadingCmd: 1.339276 target range: 292.322845 and range: 293.70 m.hUgm?hQ*hQ"hQ hQgQfYfYf]xBdadadajdaZde @BɢI:) i)rL;iڜigm?>;:Igm?Ix>i>9@ @@@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521948^Aur;qIi Iy O >ԙ ,.Ϣ?A2?2?2ȕ;ٱ2& :AHRS rotation from veh to nav: [[0.232552,-0.959868,-0.156756],[0.972573,0.228751,0.042120],[-0.004571,-0.162252,0.986739]]2H@B?=@ĿR?G??r@Ŀ@]?i2?I2];0YBByB)IJ@AJ@AbDNVDNJyVQ=%Va=ٔV9Q-V>9XYX=ZRGyZZFZoE^>`Q 5f4b0|?Q 9f4bx-)bՐBYdyf?Q If?bCIb:ib:b4ynBɮnۇAnIEjh FNOT Ignoring new targets: 292.32 m.RhZhE ProNav: ac range: 292.322845 m, nav range: 285.365082 m, bearing: 72.105402 deg, approach rate: -0.665781 m/s, LOS rate: -0.002022 deg/s, cmd heading: 76.734874 deg, new cmd heading: 76.732680 deg. BhMEu EuEqEq"Eu ;=DAT read: 15:06:49.4363 LVL= 32752, 32753, 32290, 22499, AGC= 62, IDX= 100,-0.07,-2.527, 2.380,-2.333,-2.982, PHS= 0.557,-0.876, 0.606, RAW= 151.7, -4.0, CAL= 151.2, -5.2, ROT= 358.8, 5.2 EYgot valid direction response: 15:06:49.4363 LVL= 32752, 32753, 32290, 22499, AGC= 62, IDX= 100,-0.07,-2.527, 2.380,-2.333,-2.982, PHS= 0.557,-0.876, 0.606, RAW= 151.7, -4.0, CAL= 151.2, -5.2, ROT= 358.8, 5.2 MPDAT read: Bearing 214.0, -0.4 (Local) U~Local bearing/azimuth received: Bearing 214.0, -0.4 (Local) DAT read: Range 11 to 50 : 306.3 m (Round-trip 408.5 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.995666,-0.020856,-0.090633]Fpublishing direction and range infoy*Euą:VEqZEqa @a @a @a @~?%[U[0L3Y&C"~ W)I?iA`"?Us)@5[(@ ޹)Hd@I޹=)5r+?5:h[?8ű ~ ?)EJ=Ii޹=ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.]HeadingCmd: 1.339238 target range: 292.322845 and range: 293.70 m.h]&l?hY*hY"hY hYgafaffdddjd$s@Zdq?B 3>B B B B B B DB }t;B /EBCBCBB =B =C4=Bɢ*;) i)K;顉i˜i&l?>;$8I&l?I=9@9 @9@9@9)  *DAT read: user:932>  BDAT read: Tx time:15:06:50.6236  $Ping request sent. ,c ?AYBy)IiMb@Mb@Mb@ 9Fx?9yYy=}RGy}[FE>E EE'E"E=;*E:VE'4ZEBE}I;a:E>;aQ 549|?Q 94B$)ܐBY !,?Q E :y ?Q I ?CI';-'9I-$j?I19@ @@@A ^A q Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497731I O >F,?ANѕ?N7?NX;ٱNg.) ZAHRS rotation from veh to nav: [[0.236464,-0.958616,-0.158560],[0.971626,0.232397,0.043990],[-0.005321,-0.164463,0.986369]]NH pD?KĿ ?`,?څ?@u ſU?iNѕ?IN%*];NCY^By^)IIf<)fbDjVDjyr=%rn=ٔvM;Q-v?9tYt=vRGyz\FzKEz ?|Q 5e4~G>|?Q 9e4~)~BYaye}?Q Im?~#CI~eA>I I) O= >Q By By B} )IB} BBy By By B} t;B} /EMǨ,3 ?A 6d?6O?6n{;ٱ6<( >AHRS rotation from veh to nav: [[0.237923,-0.958412,-0.157603],[0.971269,0.233872,0.044046],[-0.005355,-0.163555,0.986520]]6HBt?PV,Ŀ@?@?1?fu[Ŀ?i6d?I6];6CYF!ByF)I N49XY\=^RGy^]F^yEb>`Q 5f4bD|?Q 9j4b)bBYhyjJ?Q Ij?bECIbW:ibN:b4ylɮrApjh FNOT Ignoring new targets: 304.86 m.Rh Zh ProNav: ac range: 304.863953 m, nav range: 284.580353 m, bearing: 72.720417 deg, approach rate: -0.734564 m/s, LOS rate: -0.002114 deg/s, cmd heading: 76.727094 deg, new cmd heading: 76.724807 deg. BhHeadingCmd: 1.339100 target range: 304.863953 and range: 306.30 m.hg?h*h"h hgfffdddjdZdd?}Bɢ*<)  =i)T;顁iig?<;gIg?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004112q9@ @@d1@^AoMI!I1OEQ>ԡE  E E 'E "E ;*E :VE '4ZE BE RByR *IiMb@Mb@Mb@ 9 ףp= ?~jt?YQ8?yļ<A@ A)@YGAbDVD02yG>% 6=ٔ }b:Q- >9 Y=RGy^F5r<E=>9Q 5E4=K|?Q 9M4=)=BYM8?Q EM:yM?Q IM?=oCI=:i=:="4yuBɮ}A}@EjhFNOT Ignoring new targets: 304.86 m.Rh㫸Zh㫸 ProNav: ac range: 304.863953 m, nav range: 284.254761 m, bearing: 72.718258 deg, approach rate: -0.707377 m/s, LOS rate: -0.004696 deg/s, cmd heading: 76.724806 deg, new cmd heading: 76.718321 deg. BhCNHeadingCmd: 1.338987 target range: 304.863953 and range: 306.30 m.hc?h*h"h hgff f ΉBdddjdZd?BɢZ<)! %D>i!)% ];!!iE/iMc?M;;UYIUc?IQ9@ @@4@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506581!^A% yb]A I I O >8Ԩ,S?AE" E"E"&E "E" ;*E":VE"4ZE a&@a&@a&@a&@:?:?:Ԉ;ٱ:) FAHRS rotation from veh to nav: [[0.240410,-0.957637,-0.158542],[0.970653,0.236157,0.045424],[-0.006059,-0.164809,0.986307]]:H?`KĿ?e:? A?xvſ`ӏ?i:?I:*];:CYJLByJ*I PPbDVVDVNy^=%^b=ٔbRe:Q-b>9`Y`=bRGyf_FflgEf>hQ 5n4jQ|?Q 9n4jL )jBYpyr?Q Ir?jCIj<;ij;j()4yvBɮvAtachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761405jh FNOT Ignoring new targets: 304.86 m.RhZh% ProNav: ac range: 304.863953 m, nav range: 283.997498 m, bearing: 72.716615 deg, approach rate: -0.674790 m/s, LOS rate: -0.004315 deg/s, cmd heading: 76.718324 deg, new cmd heading: 76.713389 deg. Bh-=-HeadingCmd: 1.338901 target range: 304.863953 and range: 306.30 m.h-a?h1*h1"h1 hQgQfYfYfYdYdadajdaZdeb@颭Bɢ1<) 8>i)f;ipia?:;tŻIa?II)bABABABE)IBE&BBABABABEt;BE/Eԉ9@ @@/@Ա^A3U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014113 AA Iq I O >ڨ,hm?AB?B"?Bn;ٱB' VAHRS rotation from veh to nav: [[0.240910,-0.957797,-0.156804],[0.970527,0.236696,0.045296],[-0.006269,-0.163094,0.986591]]BH"?E`#Ŀ ?@L?0?ʭyFĿ@&?iB?IB\;BCY^eBy^9*IԱiMb@Mb@Mb@ 9%C?{Gzt:v?YZD?yף<7A@ A)Y=AAAbDVDk1y=%-=D=D<E EE'E"E ;*E:VE'4ZEBEL9Y=RGy`FE>Q 54Y|?Q 9 4)BY xD?Q E :y ͩ?Q I?CI ;i ;x14yBɮAjhFNOT Ignoring new targets: 304.86 m.Rh(Zh( ProNav: ac range: 304.863953 m, nav range: 283.633118 m, bearing: 72.712384 deg, approach rate: -0.792418 m/s, LOS rate: -0.009211 deg/s, cmd heading: 76.713386 deg, new cmd heading: 76.700679 deg. BhJʹHeadingCmd: 1.338679 target range: 304.863953 and range: 306.30 m.hY?h*h"h hg!f)f)f-Bd)d1d1jd1Zd5 @颅Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265862ɢmT<) n>i)"5t;  i ҝiY?w19;ɻIY?I9@ @@@ ^A [RӻA ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518064A) I1 II O >n,g?A@B?B-?Bb;ٱBKe' NAHRS rotation from veh to nav: [[0.241234,-0.957777,-0.156425],[0.970446,0.237019,0.045350],[-0.006359,-0.162742,0.986648]]BH?Ŀ ? V?@8?@5 z@Ŀ@?iB?IB\;@YVjByV?*IbD^VD^yf<%fR=ٔft9Q-j>9hYh=jRGyjaFn0cEn>pQ 5v4r'_|?Q 9v4rl)rBYtyv©?Q Iz?rCIrF:ir_:r884y|ɮ~ԄAqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 304.86 m.RhU"ZhU" ProNav: ac range: 304.863953 m, nav range: 283.337402 m, bearing: 72.708964 deg, approach rate: -0.766106 m/s, LOS rate: -0.008870 deg/s, cmd heading: 76.700682 deg, new cmd heading: 76.690410 deg. Bh¹HeadingCmd: 1.338500 target range: 304.863953 and range: 306.30 m.hS?h*h"h hgfffdddjdZdq@Bɢ<) {>i ) V ;  i 2iS?b!8;\ͻIS?I9@ @@@ԱE] E]E])EY"E];*E]:VE]FA4ZEYae@ae@ae@ae@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770071B4>BB$*IBTBBBBDBt;B/E^A*A>A> A! I1 IA OM >ܶ,猤?A6H?6?6;ٱ6-7& >AHRS rotation from veh to nav: [[0.240657,-0.958096,-0.155361],[0.970590,0.236509,0.044931],[-0.006304,-0.161605,0.986835]]6H?@@ÿ`?E?;?dy@wĿ'?i6H?I6D\;6CYFyByFR*IIJ4>)J<bDPVDPyZF=%ZN=ٔZQ-^>9\Y\=^RGybbFbD:Eb>dQ 5j4f[e|?Q 9j4f)fBYhyjԩ?Q In?f CIf:if;f(?4ypɮrAp|jh!5FNOT Ignoring new targets: 304.86 m.Rh=)Zh=)M ProNav: ac range: 304.863953 m, nav range: 283.033234 m, bearing: 72.705404 deg, approach rate: -0.791313 m/s, LOS rate: -0.009272 deg/s, cmd heading: 76.690409 deg, new cmd heading: 76.679717 deg. BhM˹UHeadingCmd: 1.338314 target range: 304.863953 and range: 306.30 m.hUM?hQ*hQ"hQ hQgYfYfYfadadadajdaZdmr5 @iߩI߭Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025026mBɢM <)  >i)L;i쥞iM?%m6;%OI-M?IYe>i)-9@) @)@)@)QE}6 E}EyEy"E}l;*E}:VEyZEyBE}K,?A9}%?}+?};";ٱ}U% AHRS rotation from veh to nav: [[0.239784,-0.958346,-0.155167],[0.970808,0.235711,0.044410],[-0.005985,-0.161286,0.986890]]}H:?`Ūÿ?@+? 㼦?=xĿ?i}%?I}/\;}CY-By-e*IiMb@Mb@Mb@ 9/$?MbP?{Gz?YL?y:ף< A@ )YA <<bDVDβy I=% )=ٔ b,Q->9Y=RGycFk:E>!Q 5-4%l|?Q 9-4%)%BY5L?Q E5:y5?Q I5?%=CI%* ;i% ;%G4y=hBɮ={AE7EjhamFNOT Ignoring new targets: 304.86 m.RhmsAZhmsA} ProNav: ac range: 304.863953 m, nav range: 282.647736 m, bearing: 72.700321 deg, approach rate: -0.800632 m/s, LOS rate: -0.010571 deg/s, cmd heading: 76.679720 deg, new cmd heading: 76.664451 deg. Bh}$HeadingCmd: 1.338047 target range: 304.863953 and range: 306.30 m.h E?h*h"h hgfffdddjdZde @Bɢ<) >i);i8i E?c5;dI E?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5260749@ @@/@ԑ^A SE  E E $E "E :*E h:VE 4ZE a @a @a @a @ m DAT read: 15:06:53.4330 LVL= 32752, 32753, 32482, 32755, AGC= 60, IDX= 189,-0.38, 0.773,-0.787, 1.163, 0.653, PHS= 0.222,-1.396, 0.466, RAW= 156.9, 8.1, CAL= 156.5, 8.5, ROT= 353.5, -8.5 u Ygot valid direction response: 15:06:53.4330 LVL= 32752, 32753, 32482, 32755, AGC= 60, IDX= 189,-0.38, 0.773,-0.787, 1.163, 0.653, PHS= 0.222,-1.396, 0.466, RAW= 156.9, 8.1, CAL= 156.5, 8.5, ROT= 353.5, -8.5 } PDAT read: Bearing 227.0, -8.0 (Local) } ~Local bearing/azimuth received: Bearing 227.0, -8.0 (Local)  DAT read: Range 11 to 50 : 303.9 m (Round-trip 405.2 ms) speed 0.8 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.982658,-0.111960,0.147809]A I I O% >=,f-ڣ?AFpublishing direction and range infoy 7Hq?G1g%)k?YC~ )<ISc>i!>LB/@>.@ >)n@Il?(S?W?%3? $?)tAIVi"T****** received valid address query ******"R****** received valid ping request ******&Querying Benthos address 50 with one ping in standard two-way mode.A8A8B<B<B>V*IB>|BB<B>ADB<B>t;B>/Eh~F?~,2?~x;ٱ~& -AHRS rotation from veh to nav: [[0.238806,-0.958439,-0.156096],[0.971050,0.234732,0.044308],[-0.005826,-0.162158,0.986748]]~H`1?@ÿ? ?@? wĿo?i~F?I~\\;|Y=By=q*IbDVD:y)K=%U=ٔڹQ->9Y= RGy dF &;E >Q 544s|?Q 94)BY!y%?Q I%?eCI;i;N4yMnBɮMkAU8EiiGأ?AJii)=r;99i=ӟiE=?E4;ElIE=?II9@ @@/@*DAT read: user:933> BDAT read: Tx time:15:06:54.6736 $Ping request sent.G`,?AE2 E2E2*E0"E2;*E2:VE2(N4ZE0BE2A=ٔQ->9Y=RGyeF;E>Q 54y|?Q 94)BY'P?Q E:y6?Q I?CI;i;U4yɮcAjh)MFNOT Ignoring new targets: 302.48 m.RhUBZhUBe ProNav: ac range: 302.476349 m, nav range: 286.780701 m, bearing: 72.989218 deg, approach rate: -0.835627 m/s, LOS rate: -0.010641 deg/s, cmd heading: 76.651258 deg, new cmd heading: 76.638204 deg. BheHeadingCmd: 1.337589 target range: 302.476349 and range: 303.90 m.h6?h*h"h hgfffdddjdZd? Bɢ <) >i)^;ipi6?rC4;I%6?I!iq9@ @@L0@ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503089^A% _ I I O >H, ?A23Ύ?2?2<;ٱ2W' :AHRS rotation from veh to nav: [[0.234792,-0.959195,-0.157538],[0.972034,0.230901,0.042826],[-0.004703,-0.163188,0.986584]]2H ?ั5*Ŀ`?,?Q?bCsUĿ ?i23Ύ?I2\;0YBByBl*IHJAAbDNVDN:yVg%Vl=ٔVQ-V?9XYX=ZRGyZfFZ;E^?`Q 5f4b9|?Q 9f4b)bBYdyf?Q If?bCIb:ib:b[4yn6BɮnAn.EzB*** querying acoustic contact ***ix ixjh FNOT Ignoring new targets: 302.48 m.Rh WIZh WI ProNav: ac range: 302.476349 m, nav range: 286.503540 m, bearing: 72.985549 deg, approach rate: -0.830203 m/s, LOS rate: -0.011002 deg/s, cmd heading: 76.638206 deg, new cmd heading: 76.627187 deg. Bh%%HeadingCmd: 1.337397 target range: 302.476349 and range: 303.90 m.h%/?h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=@?eBɢmf<)i m>ii)msJ;iqiuԙi/?3;s΃9I/?IE} E}E}%Ey"E}&:*E}1:VE} 4ZEya@a@a@a@9@ @@t4@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754529B5>BB*IBBB =B@DBBu;B/EBIBIBIBIBICM|4^ANJκII)O5> r ,'?A6?6*?6P;ٱ6' FAHRS rotation from veh to nav: [[0.232788,-0.959777,-0.156966],[0.972518,0.229017,0.041954],[-0.004319,-0.162418,0.986713]]6H?~tĿ ?kP?z?`fq Ŀ@&?i6?I6\;Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0076426CY^By^*IbDfVDfyn=%nG=ٔrKuQ-r>9pYp=vRGyvgFv;Ev>xQ 5 4z|?Q 94zH)z BY!y%ɫ?Q I-?zCIz2;iz;z c4yIɮM`AQjhFNOT Ignoring new targets: 302.48 m.9Rh_AZh_A ProNav: ac range: 302.476349 m, nav range: 286.170593 m, bearing: 72.980994 deg, approach rate: -0.771501 m/s, LOS rate: -0.010566 deg/s, cmd heading: 76.627189 deg, new cmd heading: 76.613509 deg. Bh% -HeadingCmd: 1.337158 target range: 302.476349 and range: 303.90 m.h-'?hI*hQ"hQ hQgQfYfYfYdadadajdZd@D? BɢP<) >i)˵;i¡iM'?Mx3;MO;IM'?IQa@ @@p4@E EE'E"E;*E:VE'4ZEBE9CA >I I O >Թ Z,|A?A2[?2iF?2x;ٱ2߫$ :AHRS rotation from veh to nav: [[0.230614,-0.960638,-0.154895],[0.973037,0.227018,0.040758],[-0.003990,-0.160118,0.987090]]2H?``ÿ#? ?Hޤ? Wp`~Ŀ@=?i2[?I2\;0YBByBm*IIF=)F=iEMb@Mb@Mb@AAAA A9EʡE?{Gzt?MbPYE-R?yEף;EEAA EA)EpAAYEAbD]VD]ymJ%mA=ٔuKQ-u>9qYy=}RGy}hF}P;E}>Q 54-|?Q 94d)BY.R?Q E:y?Q I? CI;i ;lj4yɮAjhFNOT Ignoring new targets: 302.48 m.Rh^Zh^ ProNav: ac range: 302.476349 m, nav range: 285.824432 m, bearing: 72.976121 deg, approach rate: -0.862713 m/s, LOS rate: -0.012159 deg/s, cmd heading: 76.613508 deg, new cmd heading: 76.598872 deg. BhHeadingCmd: 1.336902 target range: 302.476349 and range: 303.90 m.h?h*h"h hgfffdddjdZdW?-Bɢ-<)) ->i1)5c;11i5j_i=?=3;=a߂;IE?IAII)McAԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5115969@ @@/@^A0:: I1 IA O] >bE-ɀ'4jE-*4rE- 0E  E E (E "E *E ՚:VE c44ZE a @a @a @a @e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7627069 ~,*V[?AB7>BB*IBBBBBBNu;B0EY]By]p*I m49Y=RGyiFE>Q 54|?Q 94ش)BYyQ I?6CI-:i:q4yi)|;顡ii?4;rz;I?Im9@i @i@m/@i9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014488^Avт;IQ q I O >r,0u?A E& E&E&)E$"E&&:*E&:VE&FA4ZE$BE&c;9Y=RGyjF<E>Q 549|?Q 94)BY K?Q E:yY?Q I?`CI;i ;x4yBɮA%Ejh  FNOT Ignoring new targets: 302.48 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266706RhZh%5 ProNav: ac range: 302.476349 m, nav range: 285.166748 m, bearing: 72.968197 deg, approach rate: -0.815830 m/s, LOS rate: -0.008116 deg/s, cmd heading: 76.584766 deg, new cmd heading: 76.575068 deg. Bh5=HeadingCmd: 1.336487 target range: 302.476349 and range: 303.90 m.h?h*h"h hgfffdddjdZd`X@]Bɢ]<)Y ]p>iY)]A;aaieEim?m4;im;I?I%9@! @!@-/@)ԙ^AM y;AU cAzAQ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518794 Ay I I O >@#,k ?A:?:%?:x;ٱ:! FAHRS rotation from veh to nav: [[0.225749,-0.962286,-0.151797],[0.974178,0.222383,0.039022],[-0.003793,-0.156686,0.987641]]:H`V? nÿw,? w??MoLĿ?i:?I:\;:CYJrByNI*IP PPbDZVDZ:ybٽ%b[=ٔb!sQ-b>9dYd=fRGyfkFjW3;Ej>lQ 5v4nP|?Q 9v4n)nBYxyz{?Q Iz?nCIn;in;n64yɮIAMB*** querying acoustic contact ***iI iIjhaeFNOT Ignoring new targets: 302.48 m.RhmZhm ProNav: ac range: 302.476349 m, nav range: 284.871185 m, bearing: 72.965192 deg, approach rate: -0.773103 m/s, LOS rate: -0.007867 deg/s, cmd heading: 76.575068 deg, new cmd heading: 76.566044 deg. BhǬHeadingCmd: 1.336330 target range: 302.476349 and range: 303.90 m.h ?h*h"h hgfffd1d1d9jd9Zd=rm@颅BɢO<) >i);顉iOi ?[5;7pi>E] E]E]&EY"E]:*E]1:VE]4ZEYae@ae@ae@ae@9@ @@.0@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770942B-5>B)B)B)B)B)B)B-pu;B-0E^A<1 A I I O >l),樤?A2?27 ?2B%x;ٱ2 :AHRS rotation from veh to nav: [[0.224766,-0.962697,-0.150645],[0.974406,0.221461,0.038588],[-0.003786,-0.155463,0.987834]]2H ?jZHÿT.?`X??`o`6ÿW?i2?I2\;0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022636YFvByJN*IPPbDRVDR1yZL<%ZK=ٔ^އQ-^>9\Y`=bRGyblFbI$;Eb>hQ 5v4jݥ|?Q 9z4j؜)jBY|9y~?Q I}?jCIji)y;顱ii%'?%V6;-3iuİuD>u/@uC>u%/@ u`>)uC@Iu`qu>8?plb'?deO0Q? u'E&?)u Iuiu` T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ^A 8<AI IY Ii Ou >91,#Ť?A2(?2?2;ٱ2V!< RAHRS rotation from veh to nav: [[0.224503,-0.962495,-0.152323],[0.974465,0.221115,0.039052],[-0.003907,-0.157201,0.987559]]2H?@Uÿ@.?M?@?`wp,Ŀ ?i2(?I2\;2CYVdByV8*Ii5Mb@Mb@Mb@1111 195MbX9?S㥛y&1Y5A?y5/ݼ5`e11 1)5A1Y5AbDMVDM0y]蘽%]0=ٔeB9Q-e>9aYi=mRGymnFmu:Eu>qQ 5}4u|?Q 94u)uBYA?Q E:y3?Q I?uCIuv:iu:uV4yɮAjhFNOT Ignoring new targets: 302.48 m.RhҸZhҸ ProNav: ac range: 302.476349 m, nav range: 284.201813 m, bearing: 72.959559 deg, approach rate: -0.866934 m/s, LOS rate: -0.005740 deg/s, cmd heading: 76.556087 deg, new cmd heading: 76.549130 deg. Bh|HeadingCmd: 1.336034 target range: 302.476349 and range: 303.90 m.h-?h*h"h hgfffdddjdZd@uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse颵BɢT<) >i)D;i'i -? (7; ?A5 T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse B B B *IB BB =B ADB B [u;B 0EA5 .AIA IQ O] >*_7,Wޤ?A2?2?2D;ٱ2t" :AHRS rotation from veh to nav: [[0.224891,-0.962354,-0.152639],[0.974375,0.221426,0.039557],[-0.004269,-0.157623,0.987490]]2H;?ૉÿ.?W?@?|q-Ŀ?i2?I2 ];2CYBWByB(*IIF=)Fp;HJAbDNVDNP)lyrN%vS=ٔvAu:Q-v>9v ?Yz ?=zRGyxzEz>|Q 54~|?Q 9 4~)~BY y %?Q I ?~CI~-:i~:~4yӪBɮAEjh9EFNOT Ignoring new targets: 302.48 m.RhMZhM] ProNav: ac range: 302.476349 m, nav range: 283.908417 m, bearing: 72.957639 deg, approach rate: -0.757360 m/s, LOS rate: -0.004963 deg/s, cmd heading: 76.549133 deg, new cmd heading: 76.543366 deg. Bh]YeHeadingCmd: 1.335934 target range: 302.476349 and range: 303.90 m.he?ha*ha"ha hagifififidqdqdqjdqZd`{@!ɢ%<)! %fk>i!)-5;))i-i5?57;UEe  Ee Ee )Ea "Ee ~ ;*Ee :VEe FA4ZEa BEe V9"?Y"?=RGypFE>Q 54Y|?Q 94\)BY9@?Q E:y.?Q I?*CIe:i:4yɮXAjhFNOT Ignoring new targets: 302.48 m.Rh\Zh\ ProNav: ac range: 302.476349 m, nav range: 283.587311 m, bearing: 72.956023 deg, approach rate: -0.750363 m/s, LOS rate: -0.003780 deg/s, cmd heading: 76.543369 deg, new cmd heading: 76.538516 deg. Bh&HeadingCmd: 1.335849 target range: 302.476349 and range: 303.90 m.h?h*h"h! h!g!f!f)f-‰Bd)d)d)jd1Zd5P@ɢN|<) 7>i)J;iSki ? 8; mCsD,i?A2b?2?2p7;ٱ2 & NAHRS rotation from veh to nav: [[0.226027,-0.961395,-0.156945],[0.974110,0.222313,0.041060],[-0.004584,-0.162163,0.986753]]2H p?@Ŀ+?`t??r`Ŀ{?i2b?I2\;2CYV5ByV)IbD^VD^βyf%fY=ٔfZ:Q-j>9hYh=jRGyjqFn{JEn>pQ 5v4r|?Q 9v4r1})rBYtyv?Q Iz?rOCIrp:ir:r,4y|ɮ~tA|B*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 302.48 m.Rh-Zh-E ProNav: ac range: 302.476349 m, nav range: 283.304321 m, bearing: 72.954667 deg, approach rate: -0.749778 m/s, LOS rate: -0.003597 deg/s, cmd heading: 76.538512 deg, new cmd heading: 76.534439 deg. BhEMHeadingCmd: 1.335778 target range: 302.476349 and range: 303.90 m.hM?hI*hI"hI hIgIfQfQfQdYdYdYjdYZd]`@颍BɢY<) `*>i)i;ԑ顑iɦi?e9;BCB\*IBBB =B@DBBu;B/E^AUH<AUdAzAQA I I O >  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse›J,~,?AYMByM)I uf>q G-gAMA9gAYʁA Ueonly read 0 of 1 data item for water mass range. Device response is::WD, +127.35, , 89.73 +38, -723, -16, +7,A -38, +723, -16,A aU@aU aU@aU aU@aU aU@aU bDYVDYym½%u'=ٔuQ-u>9qYy=}RGy}rF}E}>Q 54-|?Q 94s)BQ A+:YQ Ee:yQ I?~CI ;i>4yɮԂAjhFNOT Ignoring new targets: 302.48 m.Rh=Zh= ProNav: ac range: 302.476349 m, nav range: 282.936707 m, bearing: 72.952901 deg, approach rate: -0.751132 m/s, LOS rate: -0.003613 deg/s, cmd heading: 76.534442 deg, new cmd heading: 76.529137 deg. BhHeadingCmd: 1.335685 target range: 302.476349 and range: 303.90 m.h?h*h"h hgfffdddjdZdu@)ɢ-4y<)1 5=i1)5";11i=(!i=?=t:;E" Q,VF?A2?2 ?26I;ٱ2( :AHRS rotation from veh to nav: [[0.228009,-0.960634,-0.158724],[0.973644,0.224050,0.042651],[-0.005410,-0.164265,0.986401]]2Hg/?QĿ@(?`?d֥?)vſ?i2?I2\;2CYB ByB)IHHbDNVDNyVٽ%V=ٔV-;Q-V?9XYX=ZRGyZsFZPջE^?!Q 5-4%|?Q 9-4%m)%BQ A- :Y1Q E59:y5?Q I5?%CI%:i%PQ?%׭4y=Bɮ=:AEEjhamFNOT Ignoring new targets: 302.48 m.RhmqZhmq ProNav: ac range: 302.476349 m, nav range: 282.692108 m, bearing: 72.951826 deg, approach rate: -0.750306 m/s, LOS rate: -0.003300 deg/s, cmd heading: 76.529135 deg, new cmd heading: 76.525907 deg. BhHeadingCmd: 1.335629 target range: 302.476349 and range: 303.90 m.h?h*h"h hgfffdddjdZd@@߉Bɢ6n<) =i)g;iSi?:;;I?I}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseԙU9@Q @Q@U?0@Q^Au<E EE-E"E;*E:VEt4ZEa@a@a@a@A I I O >- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseB A B B B **IB YBB B B B t;B /EBiBiBiBm =Bm =Cmʈf5 ǰW,A`?A2i?2?2;ٱ22+ :AHRS rotation from veh to nav: [[0.228907,-0.959997,-0.161270],[0.973433,0.224807,0.043477],[-0.005483,-0.166938,0.985952]]2H`L?J`}Ŀ\&?|?`B?uv5^ſ?i2i?I2\;2CYZBy^)IbDfVDf:yn%nG=ٔn99Q-n>9pYp=rRGyrtFvEv>xQ 5~4z|?Q 9~4zf)zBQ A~9Y|Q E~:y~?Q I?zCIzm ;iz?z4y Bɮ pA Ejh15FNOT Ignoring new targets: 302.48 m.Rh=hgZh=hgM ProNav: ac range: 302.476349 m, nav range: 282.393158 m, bearing: 72.950568 deg, approach rate: -0.750616 m/s, LOS rate: -0.003161 deg/s, cmd heading: 76.525904 deg, new cmd heading: 76.522127 deg. BhM UHeadingCmd: 1.335563 target range: 302.476349 and range: 303.90 m.hU?hQ*hQ"hY hYgYfYfYfadadadajdaZdm@l@މBɢ",T<) ,=i)/[;i℧i%?%[;;%+S;I%?I)9@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A[R;A>A?Q E  E E 'E "E &:*E :VE '4ZE BE c;=],k z?ArT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapseY=By=)Iaa aa aa aa iMb@Mb@Mb@ 9V-?~jtMb`Yh1?yD A@ ZA)@YbDVDyO%:=ٔQ->9Y=RGyuFE>Q 54|?Q 94^)Q AT:Y1?Q E:y?Q I?CI 3;ig1;4yɮAjh%FNOT Ignoring new targets: 302.48 m.Rh%6Zh%6Q] ProNav: ac range: 302.476349 m, nav range: 282.074585 m, bearing: 72.950703 deg, approach rate: -0.683684 m/s, LOS rate: 0.000290 deg/s, cmd heading: 76.522127 deg, new cmd heading: 76.522532 deg. Bh]K7eHeadingCmd: 1.335570 target range: 302.476349 and range: 303.90 m.he?ha*ha"ha hagififf{BdddjdZd@݉BɢW1<)I MC=iI)Mv;IIiUiU?];;];I]?IYmY>im>9@9 @9@=2@AyiߑIߑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱ ^A #2;A I I O >e,O?A>TQ?>?;ٱ>+ FAHRS rotation from veh to nav: [[0.230899,-0.959535,-0.161177],[0.972958,0.226656,0.044487],[-0.006155,-0.167091,0.985922]]>H?`uĿy"??Ʀ?}5y`:cſଌ?i>TQ?I>\;>CYNByN)I TTbDZVDZkyb-%bS=ٔb:Q-b>9dYd=fRGyfvFjEj>lQ 5r4n|?Q 9r4nWQ =rtI)nBYpyrr?Q Ir?n CIn:inv:n4yxɮzނAxB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 302.48 m.Rh%c.7Zh%c.75 ProNav: ac range: 302.476349 m, nav range: 281.819397 m, bearing: 72.950918 deg, approach rate: -0.708151 m/s, LOS rate: 0.000596 deg/s, cmd heading: 76.522530 deg, new cmd heading: 76.523174 deg. Bh=D7=HeadingCmd: 1.335581 target range: 302.476349 and range: 303.90 m.h=T?hA*hA"hA hAgAfAfIfIdIdQdQjdQZdU@颅܉BɢA<) pBB)IB0BBBBBt;B/E)^Amr;q A I I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse7k, ?A$M.?MP?M;ٱM, mAHRS rotation from veh to nav: [[0.231919,-0.959285,-0.161203],[0.972712,0.227569,0.045204],[-0.006679,-0.167288,0.985885]]MH?u OĿu ? ?$?[{ iſ_?iM.?IM\;MCY}By})IiMb@Mb@Mb@ 9Q?J +Mb`Y5?yH~A @)@YQAbD%VD%1y5%5)=ٔ5y:Q-5>99Y9==RGy=wF=EE>AQ 5U4E|?Q 9U4EO)AYU16?Q EU:yUX?Q IU?E9CIE ;iE" ;Edȏ4yeiBɮeAe EijhFNOT Ignoring new targets: 302.48 m.RhQ7ZhQ7 ProNav: ac range: 302.476349 m, nav range: 281.476471 m, bearing: 72.951262 deg, approach rate: -0.710943 m/s, LOS rate: 0.000714 deg/s, cmd heading: 76.523172 deg, new cmd heading: 76.524205 deg. Bh7HeadingCmd: 1.335599 target range: 302.476349 and range: 303.90 m.h?h*h"h hgfffVBdddjdZd@i@颵ۉBɢW<) @r,qʥ?A2 ?2/?2;ٱ2, :AHRS rotation from veh to nav: [[0.232991,-0.958954,-0.161622],[0.972453,0.228526,0.045950],[-0.007130,-0.167876,0.985782]]2H ? Ŀ@U? Y@?І?3}|ſ?i2 ?I2\;2CY@y@nT****** received valid address query ******nR****** received valid ping request ******nreceived new query, but waiting for acoustic response period to elapsebDrVDryvכ%zc=ٔzb:Q-z>9|Y|=~RGy~xFHE> Q 54  |?Q 94 H) Yy4?Q I? YCI ;i a; Ώ4y%oBɮ%(A% EjhIMFNOT Ignoring new targets: 302.48 m.RhU~7ZhU~7e ProNav: ac range: 302.476349 m, nav range: 281.220551 m, bearing: 72.951576 deg, approach rate: -0.713500 m/s, LOS rate: 0.000878 deg/s, cmd heading: 76.524203 deg, new cmd heading: 76.525148 deg. Bhe08mHeadingCmd: 1.335616 target range: 302.476349 and range: 303.90 m.hmu?hi*hi"hq hqgqfqfqfydydydyjdyZd`Y@颭ډBɢ<) 0BB)IBBB =BBDBt;B/EA Aq I I O >Ӷx,?A6?6=Ҫ?6@;ٱ6T, >AHRS rotation from veh to nav: [[0.234057,-0.958688,-0.161661],[0.972192,0.229458,0.046818],[-0.007790,-0.168124,0.985735]]6H?PĿ1? ^?? @ſ@$?i6?I6%\;6CYF݉ByF)ILN@AbDRVDRβyV%VO=ٔZ:Q-Z>9XYX=^RGy^yF^F6Eb>`Q 5f4b#|?Q 9j4bA)`Yhyj?Q Ij?b}CIb:ib:bՏ4ypɮrFApjh FNOT Ignoring new targets: 302.48 m.Rh 7Zh7 ProNav: ac range: 302.476349 m, nav range: 280.939819 m, bearing: 72.951984 deg, approach rate: -0.711748 m/s, LOS rate: 0.001036 deg/s, cmd heading: 76.525146 deg, new cmd heading: 76.526372 deg. Bh 68HeadingCmd: 1.335637 target range: 302.476349 and range: 303.90 m.h)?h*h"h hgfffdddjdZd` @ىBɢ c <)  `  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse~,g?A2ێ?2ƪ?2b<ٱ2,, :AHRS rotation from veh to nav: [[0.234391,-0.958781,-0.160622],[0.972106,0.229741,0.047201],[-0.008354,-0.167205,0.985887]]2H?V@Ŀ~?*h?*?@fſ@b?i2ێ?I2S\;2C@YBy)IiMb@Mb@Mb@ 9V-?9 ?Y ?=RGyzF9NE>Q 54f}?Q 949)BY1?Q E:ya?Q I?CI:iv:?ݏ4yɮ4AjhFNOT Ignoring new targets: 302.48 m.RhC۷ZhC۷ ProNav: ac range: 302.476349 m, nav range: 280.634949 m, bearing: 72.951303 deg, approach rate: -0.669297 m/s, LOS rate: -0.001498 deg/s, cmd heading: 76.526375 deg, new cmd heading: 76.524329 deg. BhHeadingCmd: 1.335601 target range: 302.476349 and range: 303.90 m.h?h*h"h hgfffXBdddjdZd m!@ԩ؉Bɢ M<)  I I O >ȅ,lB?A2>Ў?2?2<ٱ2;+ :AHRS rotation from veh to nav: [[0.234725,-0.958771,-0.160195],[0.972021,0.229998,0.047706],[-0.008895,-0.166911,0.985932]]2H@x ?@@@GĿ?p?l?g7 W]ſ?i2>Ў?I2\;2CYB߉ByF)IIF<)F<bDNVDNyVJ%V^=ٔZ\:Q-Z>9XYX=ZRGyZ{F^7uE^>Eb EbEb,E`"Eb ;*Eb:VEbg4ZE`aj@aj@aj@aj@llQ 5v4n}?Q 9v4nq3)lYtyvV?Q Iv?nCIn:in:n4y|ɮ~AAyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 302.48 m.RhٷZhٷ ProNav: ac range: 302.476349 m, nav range: 280.377441 m, bearing: 72.950745 deg, approach rate: -0.684499 m/s, LOS rate: -0.001486 deg/s, cmd heading: 76.524326 deg, new cmd heading: 76.522650 deg. BhHeadingCmd: 1.335572 target range: 302.476349 and range: 303.90 m.h?h*h"h hg f f f ddd1jd1Zd=$"@}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseBBB)IBBB =BBBt;B/E։Bɢ<) Ё_,02?A9eɎ?e$?eU<ٱem) AHRS rotation from veh to nav: [[0.234917,-0.959063,-0.158154],[0.971970,0.230203,0.047758],[-0.009395,-0.164940,0.986259]]eH?b>Ŀ@a?Gw?s? = ſn?ieɎ?Ie`\;aY܉By)IiuMb@Mb@Mb@qqqq q9u(\?Q롿:v?Yu.?yu\uT9Y=RGy|FݹE>Q 54 }?Q 94p+)BYW.?Q E:y?Q I?CIL:i:4y=BɮAEjhFNOT Ignoring new targets: 302.48 m.Rh# Zh#  ProNav: ac range: 302.476349 m, nav range: 280.060333 m, bearing: 72.949913 deg, approach rate: -0.713163 m/s, LOS rate: -0.001873 deg/s, cmd heading: 76.522653 deg, new cmd heading: 76.520154 deg. BhHeadingCmd: 1.335529 target range: 302.476349 and range: 303.90 m.h?h*h"h hgff!f%GBd)d)d)jd)Zd-g#@]ՉBɢ]l<)Y ]_Թ ڒ,DK?A2?2?2x!<ٱ2( :AHRS rotation from veh to nav: [[0.235302,-0.959161,-0.156982],[0.971872,0.230563,0.048010],[-0.009855,-0.163864,0.986434]]2H d?qĿ?`?ɔ?@.{Ŀݐ?i2?I23\;2CYBByB)IbDJVDJyRJ=%Rq=ٔV :Q-V?9TYX=ZRGyZ}FZ5EZ?\Q 5b4^}?Q 9b4^%)^BYdyf?Q If?^ CI^[:i^:^4yhɮjCAlrT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapsejh  FNOT Ignoring new targets: 302.48 m.RhZh% ProNav: ac range: 302.476349 m, nav range: 279.829773 m, bearing: 72.949327 deg, approach rate: -0.678095 m/s, LOS rate: -0.001725 deg/s, cmd heading: 76.520153 deg, new cmd heading: 76.518394 deg. Bh%-HeadingCmd: 1.335498 target range: 302.476349 and range: 303.90 m.h-?h)*h)"h1 h1g1f1f1f9d9d9dAjdAZdE@s#@ԙԉBɢ;<) XE=i)3<ii-?- ];;mh:Im?I9@ @@4@E EE)E"ET;*E:VEFA4ZEa@a@a@a@BqAqB}>>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseByB})IB}BB} =ByByB}t;B}/E^Arg:A eAzA I I O > ,e?AY~By~)I bD VD2y%%%C=ٔ%Q-->9)Y)=-RGy-~F5E5>9Q 5E4=I}?Q 9E4=g)=BYAyAQ IM?=0CI=:i=:=4yQɮUJAQjhy}FNOT Ignoring new targets: 302.48 m.RhZh ProNav: ac range: 302.476349 m, nav range: 279.544067 m, bearing: 72.948599 deg, approach rate: -0.683021 m/s, LOS rate: -0.001741 deg/s, cmd heading: 76.518391 deg, new cmd heading: 76.516206 deg. BhHeadingCmd: 1.335460 target range: 302.476349 and range: 303.90 m.hX?h*h"h hgfffdddjdZd~$@}҉Bɢ}3v8<)y }C=iy)<顁iiX?k;;R:IX?IE  E E &E "E ;*E 5:VE 4ZE BE @9Y=RGyFE>Q 54G#}?Q 94)BY14?Q E:y?Q I?VCI:i':4yɮ&AjhFNOT Ignoring new targets: 302.48 m.Rh%|*Zh%|*5 ProNav: ac range: 302.476349 m, nav range: 279.245361 m, bearing: 72.947612 deg, approach rate: -0.703888 m/s, LOS rate: -0.002329 deg/s, cmd heading: 76.516205 deg, new cmd heading: 76.513240 deg. QBh̸HeadingCmd: 1.335408 target range: 302.476349 and range: 303.90 m.h?h*h"h hgfffUBdddjdZd l%@=ЉBɢ=M<)9 ==i9)E9`Yd=fRGyfFfިEf>hQ 5n4ji)}?Q 9r4j>)jBYpyr?Q Ir?jxCIj:ij:j 4ytɮvAx B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 302.48 m.Rh%(Zh%(5 ProNav: ac range: 302.476349 m, nav range: 278.983612 m, bearing: 72.946754 deg, approach rate: -0.703053 m/s, LOS rate: -0.002305 deg/s, cmd heading: 76.513241 deg, new cmd heading: 76.510666 deg. Bh5ʸ=HeadingCmd: 1.335363 target range: 302.476349 and range: 303.90 m.h=-?h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU[ &@}ωBɢ}Cc<) D=i)<顁ii-?o:;B=>BBBB =BBB9t;B/EBCBCBB =B =C4533:I5-?I1m2Acoustic response timeoutԩ9@ @@/@^AAA>! i I  2Acoustic response timeoutA ؟AI) I9 OU >C,;n?A E?Ew?E5<ٱE># AHRS rotation from veh to nav: [[0.235674,-0.959867,-0.152030],[0.971769,0.230971,0.048141],[-0.011095,-0.159083,0.987203]]EH@*? ;uÿ?w??\Ŀ`*?iE?IE)\;ECY  By )II<)p9"?Y"?=RGyF9E>Q 541}?Q 94)BY6?Q E:y?Q I?CI:i::4yBɮAEiE EE*E"E;*E:VE(N4ZEBED,Ц?AN6?N?N;:<ٱN! ZAHRS rotation from veh to nav: [[0.235758,-0.960168,-0.149984],[0.971745,0.231113,0.047939],[-0.011367,-0.157048,0.987526]]NHS-?2ÿ?@?{?UG`&Ŀ ϙ?iN6?IN\;LYb Byb)I  p<bDVDy%h;%%J=ٔ%0:Q-->9)Y)=5RGy5F5[bE5>9Q 5E4=7}?Q 9E4=s)=BYAyM?Q IM?=CI=7;i=;=N4yQɮUAQjhy}FNOT Ignoring new targets: 302.48 m.Rh߆Zh߆ ProNav: ac range: 302.476349 m, nav range: 278.360168 m, bearing: 72.943647 deg, approach rate: -0.739987 m/s, LOS rate: -0.003685 deg/s, cmd heading: 76.505652 deg, new cmd heading: 76.501336 deg. Bh!HeadingCmd: 1.335200 target range: 302.476349 and range: 303.90 m.h?h*h"h hgfffdddjdZd'@ˉBɢē<) >i)-<iii?:;#m:I?I)9@ @@0@bEjE:4rEĂL0E EE(E"ET;*Eą:VEc44ZEa-@a-@a-@a-@QAiAm@ABqBqBu)IBu BBqBqBqBuSt;Bu/E2Acoustic response timeout^Arg:ԁA I I O >ԩ =!,|?A2?2P?2.j?<ٱ2! :AHRS rotation from veh to nav: [[0.236033,-0.960064,-0.150219],[0.971675,0.231320,0.048363],[-0.011683,-0.157379,0.987469]]2H R6?@ظ\:ÿ??è? "퇿@$ĿY?i2?I2\;2CYB%ByB)IbDJVDJβyR>%RS=ٔVRV:Q-V>9TYT=ZRGyZFZ-@EZ>\Q 5b4^=}?Q 9b4^u)^BYdyf?Q If?^CI^:i^:^4yhɮnAljh|FNOT Ignoring new targets: 302.48 m.RhрZhр ProNav: ac range: 302.476349 m, nav range: 278.084229 m, bearing: 72.942287 deg, approach rate: -0.713429 m/s, LOS rate: -0.003519 deg/s, cmd heading: 76.501336 deg, new cmd heading: 76.497252 deg. Bh%HeadingCmd: 1.335129 target range: 302.476349 and range: 303.90 m.h%?h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5`ʥ(@eɉBɢe<)a e8>ia)m~v  BDAT read: Response Not Received  *response not received TDAT read: user:935>Tx time:15:07:07.1236  9qYq=RGyFjE>Q 5 4E}?Q 9 4&)BY i)) <顩i+먼i?h9;M9I?I)@) @)@54@1@=eA@9iAIAMDAT read: M2Acoustic response timeout!^Arg:I Ii Iy O >EE  EE EE *EA "EE =;*EE :VEE (N4ZEA aM @aM @aM @aM @00ǩ,N&?ABBB)IB!BB =BBBt;B/E R2Acoustic response timeoutfx?fc?f><ٱf! ~AHRS rotation from veh to nav: [[0.237318,-0.959861,-0.149489],[0.971362,0.232629,0.048365],[-0.011649,-0.156686,0.987580]]fHl`?. r"ÿf??Tè?@3ۇ@FĿA?ifx?If\;fCY 3By )IAAbD%VD%y5=%5N=ٔ5aܹQ-5>99Y9==RGy=FEEE>IQ 5U4MIK}?Q 9U4M )MBYQyU?Q IU?M9CIM/;iMj;M{+4yeЩBɮe|AeEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 302.48 m.RhZh ProNav: ac range: 302.476349 m, nav range: 277.477020 m, bearing: 72.938163 deg, approach rate: -0.734946 m/s, LOS rate: -0.004937 deg/s, cmd heading: 76.490510 deg, new cmd heading: 76.484867 deg. BhXHeadingCmd: 1.334913 target range: 302.476349 and range: 303.90 m.hlު?h*h"h hgfffdddjdZdvL*@ĉBɢ<)q u$^>iq)uԩ ^ͩ,w8?A@n`s?n^?n$?<ٱnX}! vAHRS rotation from veh to nav: [[0.237472,-0.959771,-0.149822],[0.971324,0.232761,0.048490],[-0.011666,-0.157041,0.987523]]nH@}e?`qa-ÿ? ?Ө?\䇿Ŀ ʙ?in`s?In ];nCY~:By~*IiMb@Mb@Mb@ 9ʡE?:v:v?Y=?yTT< A @)@Y(AbDVDy<%?=ٔ4+8Q->E EE&E"E:*E$:VE4ZEBE5Q 5%4R}?Q 9%4)BY%=?Q E%:y%?Q I-?bCI:i-/;34y=թBɮ=|A9jhYeFNOT Ignoring new targets: 302.48 m.RheZhm} ProNav: ac range: 302.476349 m, nav range: 277.157227 m, bearing: 72.935291 deg, approach rate: -0.740453 m/s, LOS rate: -0.006656 deg/s, cmd heading: 76.484868 deg, new cmd heading: 76.476244 deg. Bh},HeadingCmd: 1.334762 target range: 302.476349 and range: 303.90 m.h}٪?h*h"h hgfffBdddjdZd )+@‰Bɢ<) Jp>i)1<ii}٪?8;n]Ae >I I O > e 2Acoustic response timeoutuBԩ,Q?A2c?2dN?27%=<ٱ2A$ :AHRS rotation from veh to nav: [[0.237958,-0.959242,-0.152417],[0.971207,0.233128,0.049077],[-0.011544,-0.159707,0.987097]]2Hfu?`@eÿ ?"? ?DqĿL?i2c?I2\;2CYBHByB*IIF=)F[?bDJVDJ:yR=%Rb=ٔVRQ-V>9TYT=ZRGyZFZڶEZ>lQ 5%4W}?Q 9%4)BY!y-r?Q I-?CI:i:94y1ɮ5l|A1jhYeFNOT Ignoring new targets: 302.48 m.RheZheu ProNav: ac range: 302.476349 m, nav range: 276.882965 m, bearing: 72.932849 deg, approach rate: -0.741488 m/s, LOS rate: -0.006611 deg/s, cmd heading: 76.476242 deg, new cmd heading: 76.468906 deg. Bhu-}HeadingCmd: 1.334634 target range: 302.476349 and range: 303.90 m.h}Kժ?h*h"h hgfffdddjdZd`+@颽BɢtK<) >i)i<iiKժ?68;C IKժ?IU9@Q @Q@Q@Q@]=@]4= E  E E %E "E ;*E :VE  4ZE a@a@a@a@B<A<B%<>B!B%*IB%:BB% =B!B!B%t;B%/E2Acoustic response timeout9^AII O>a Hlک,k?A2Ha?2L?2p%:<ٱ2P% :AHRS rotation from veh to nav: [[0.238009,-0.959065,-0.153449],[0.971196,0.233156,0.049151],[-0.011361,-0.160727,0.986933]]2H w?`7ÿ ?? J*?@D Ŀ`?i2Ha?I2?];2CYBLByB*I HJ<bDNVDNyV<%VJ=ٔVcQ-V>9XYX=ZRGyZFZYE^>`Q 5f4b^}?Q 9f4b)b BYdyfq?Q If?bCI`ib:bZ@4yhɮnL|AljhFNOT Ignoring new targets: 302.48 m.Rh Zh % ProNav: ac range: 302.476349 m, nav range: 276.592468 m, bearing: 72.930258 deg, approach rate: -0.740865 m/s, LOS rate: -0.006613 deg/s, cmd heading: 76.468906 deg, new cmd heading: 76.461127 deg. Bh%<-HeadingCmd: 1.334498 target range: 302.476349 and range: 303.90 m.h5Ъ?h1*h1"h1 h1g9AfAfIfIdQdQdQjdZd,@iI%2Acoustic response timeout颭Bɢf<) X>i)[<i|iЪ?j7;1ٹIЪ?Ii9@ @@@ԑD=DE EE&E"ET;*E:VE4ZEBEG 2Acoustic response timeout +T,Œ?A6[?6\G?6Q:<ٱ6?% >AHRS rotation from veh to nav: [[0.238167,-0.958971,-0.153792],[0.971157,0.233285,0.049311],[-0.011411,-0.161101,0.986872]]6H>|? @wÿ?H? Y??^Ŀt?i6[?I6#];6CYFYByF**IiMb@Mb@Mb@ 9!rh?Mbp~jt?YlG?yD<@ A)ZAYAbD-VD-y=w=%=A=ٔE8Q-E>9AYA=ERGyMFMȹEM>QQ 5]4Ud}?Q 9]4U)U BYesG?Q Ee:ye?Q Ie?UCIU ;iU ;UG4ymBɮm'zAmEjhԙFNOT Ignoring new targets: 302.48 m.Rh'"Zh'" ProNav: ac range: 302.476349 m, nav range: 276.263672 m, bearing: 72.926516 deg, approach rate: -0.777660 m/s, LOS rate: -0.008860 deg/s, cmd heading: 76.461126 deg, new cmd heading: 76.449888 deg. Bh¹HeadingCmd: 1.334302 target range: 302.476349 and range: 303.90 m.hkʪ?h*h"h hgfffމBdddjdZd@-@Bɢx<) k>i)i<iikʪ?oQ7;Ikʪ?I!9@ @@/@52Acoustic response timeout^A A zA E%  E% E% $E! "E% ;*E% ҆:VE% 4ZE! a- @a- @a- @a5 @1 A= .AIA IY Oe >B% ;>B! B% $*IB% TBB! B! B% DB% t;B% /E},Ql?A>]?>8<B2Acoustic response timeoutٱ>`& JAHRS rotation from veh to nav: [[0.238111,-0.958877,-0.154461],[0.971173,0.233220,0.049321],[-0.011269,-0.161752,0.986767]]>Hoz?^ÿ`?%?@@? 4`HĿ?i>]?I>5D];>CYRRByR!*I TTbD^VD^yf%fR=ٔfQ-f>9j ?Yj ?=jRGyjFn+9En>pQ 5v4rj}?Q 9v4rX)pYtyv?Q Iv?rCIr9:ir:rN4y|ɮ~azA|B*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 302.48 m.Rh-"Zh-" ProNav: ac range: 302.476349 m, nav range: 275.960693 m, bearing: 72.923057 deg, approach rate: -0.776978 m/s, LOS rate: -0.008882 deg/s, cmd heading: 76.449891 deg, new cmd heading: 76.439500 deg. BhùHeadingCmd: 1.334121 target range: 302.476349 and range: 303.90 m.hzĪ?h*h"h hgfffdddjdZd@X.@MBɢM6<)I M>iI)U>!ԁ ,GV?A[?\G?s7<ٱ' -AHRS rotation from veh to nav: [[0.238167,-0.958622,-0.155951],[0.971160,0.233210,0.049619],[-0.011197,-0.163271,0.986518]]HB|?@6ÿ`??g?UĿ?i[?I];Y=QBy= *IiMb@Mb@Mb@ 9Dl?y&1|?~jt?YOM?y`; A@DzDE EE(E"E;*EM:VEc44ZEBED% 7=ٔ )Q->9"?Y"?=RGyF}E>!Q 5-4%q}?Q 9-4%0)% BY5WM?Q E5:y5?Q I5?%)CI%2;i% 2;%UV4yEBɮEzAEEQjhFNOT Ignoring new targets: 302.48 m.RhdGZhdGM ProNav: ac range: 302.476349 m, nav range: 275.603912 m, bearing: 72.917962 deg, approach rate: -0.762024 m/s, LOS rate: -0.010895 deg/s, cmd heading: 76.439502 deg, new cmd heading: 76.424199 deg. BhUEUHeadingCmd: 1.333854 target range: 302.476349 and range: 303.90 m.hU?hY*hY"hY hYgYfYfafẻB2Acoustic response timeoutdaddjdZd@ZD/@Bɢ<)! %t>i!)-%<))i-i5?56;5pH I5?I9ԁu9@q @q@u 1@yԩ^A "E 2Acoustic response timeout A I I O >,rԧ?A2-l?2W?2q4<ٱ2Ԇ( JAHRS rotation from veh to nav: [[0.237687,-0.958642,-0.156557],[0.971279,0.232737,0.049497],[-0.011013,-0.163825,0.986428]]2H@l?@2 Ŀ@?U?@W?`7Ŀ`ѐ?i2-l?I2];2CYRXByR)*IbD^VD^:yb =%bS=ٔfQ-f>9dYh=jRGyjFjo:En>lQ 5r4nw}?Q 9v4n;)lYtyv?Q Iv?nQCInl:in:n]4yxɮ~_zA|jh%FNOT Ignoring new targets: 302.48 m.Rh%`Zh%`= ProNav: ac range: 302.476349 m, nav range: 275.294159 m, bearing: 72.913496 deg, approach rate: -0.850712 m/s, LOS rate: -0.012280 deg/s, cmd heading: 76.424196 deg, new cmd heading: 76.410782 deg. Bh=EHeadingCmd: 1.333620 target range: 302.476349 and range: 303.90 m.hE ?hA*hA"hA hAgAfIfIfIdQdQdQjdQZdU/@颭Bɢ =) ۡ>i)._)<顱ii ?@6;":I ?I-9@1 @1@52@1E- E-E-%E)"E-:*E-:VE- 4ZE)a5@a5@a5@a5@AAAAB8>BB7*IBcBBBBB u;B/EBBBBB =CV4BDAT read: Rx Time:15:07:09.9190 TRx dataTimestamp_ set to:1761577631.5161682Acoustic response timeout^A-9A5>A5>IAY Ii Iy O >q ,.?AR?Ro?Rv_.<ٱRN' fAHRS rotation from veh to nav: [[0.236992,-0.958981,-0.155535],[0.971453,0.232167,0.048753],[-0.010643,-0.162649,0.986627]]RH@U?`ÿ@%??`?˅Ŀ r?iR?IR];RCYvTByv$*IIz=)zp;bD VD y%%%E=ٔ-iQ-5>M2Acoustic response timeout9QYQ=RGyF%:E->YAQ 54E~}?Q 94E)E BYyث?Q I?ECIEi!)-b.<)1i5Bi ?5;ٳ:I ?IEM EMEM'EI"EM&:*EM҆:VEM'4ZEIBEMc;Tx time:15:07:11.0236 } R#Rx 1: Read range and direction messages. ^direction in FSK: [0.982726,-0.101555,0.154710] Fpublishing direction and range infoy_~r?q}j?YC )AI/]>iƫ>.@Q >X$.@ >)J@I9g?pS*?G!?  "?)%"I)ҽiE 2Acoustic response timeoutE Querying Benthos address 50 with one ping in standard two-way mode. ^A yb]AE.AIIIYOm?,Q?AnZՎ?n?nWu<ٱn<% ~AHRS rotation from veh to nav: [[0.234572,-0.959787,-0.154222],[0.972052,0.230032,0.046912],[-0.009549,-0.160916,0.986922]]nHv?ÿ@ ?q?`?`Ŀ`ݔ?inZՎ?Inko];nCYQBy!*I=DAT read: =2Acoustic response timeoutiMb@Mb@Mb@ 9V-?Mb?~jthYhQ?y<D~A@ p@)@Y(A -;-p;bD5VD51y%=ٔQ->9 ?Y ?=RGyF;E>Q 54\}?Q 94 ) BYsQ?Q E:y%?Q I?CI:iQ:n4yɮxAi i \>?AJi CRi Cji ?b obKq@f5*=]F@R _~r?q}j?Zi )ҽbi j J+4V@nA\-$q@[8uOG@Z )Uv?ڔ ?:o?2i !C:i B"i ߠš?*i XpBi Bi 6W ?i *i Bi Ci E?= addTargetRange:: Added new target pos. range: 293.399994 m, deltaT: 16.640044 s, deltaX: -10.500000 m, approachRate: -0.631008 m/s, rangeRepo size: 4 ] Added new target pos. range: 292.028717 m, bearing: 72.056265 deg, lat: 36.779233 deg, lon: -121.859189 deg, deltaT: 16.640044 s, deltaX: -10.447632 m, approachRate: -0.627861 m/s, posRepo size: 4 jhY]FNOT Ignoring new targets: 292.03 m.RhZh ProNav: ac range: 292.028717 m, nav range: 283.164459 m, bearing: 72.774227 deg, approach rate: 0.000000 m/s, LOS rate: -0.010847 deg/s, cmd heading: 76.395024 deg, new cmd heading: 76.379030 deg. BhHeadingCmd: 1.333066 target range: 292.028717 and range: 293.40 m.h䡪?h*h"h h!g!f!f)f-Bd)d)d)jd5`fVr@Zd5`c?颵Bɢk*<) >i)L3<顡i i䡪?6;x;I䡪?IbE!4jE7&4rEI"0E= E=E=)E9"E==;*E=:VE=FA4ZE9aM@aM@aM@aM@Q@Q @Q@Q@YBBCBC*IBmBB =BBB5u;B/E2Acoustic response timeout! ^A ;Q A ؟AI I O >ހ , ,?A2?2i?2}<ٱ2j$ :AHRS rotation from veh to nav: [[0.233188,-0.960262,-0.153366],[0.972389,0.228780,0.046041],[-0.009124,-0.159867,0.987096]]2H?`v`~ÿ ?H? ?`@vĿ K?i2?I2S*];2CYBDByB*IbDNVDNβyV%VR=ٔVQ-V>9Z"?YZ"?=ZRGyZF^ro;E^>`Q 5f4b }?Q 9f4bܕ)bBYdyfT?Q If?bCIb:ibj;bt4ylɮn=yAlB*** querying acoustic contact ***i iԑjhFNOT Ignoring new targets: 292.03 m.RhsZhs% ProNav: ac range: 292.028717 m, nav range: 282.847321 m, bearing: 72.768819 deg, approach rate: -0.780926 m/s, LOS rate: -0.013330 deg/s, cmd heading: 76.379028 deg, new cmd heading: 76.362788 deg. Bh%^UHeadingCmd: 1.332782 target range: 292.028717 and range: 293.40 m.hU?hQ*hY"hi higifqfyfydydydjdZdv?2Acoustic response timeoutBɢ=) >i)h7<ii?X6;;I?I)5a>i5%>Թ9@ @@/@E EE%E"E;*E:VE 4ZEBEAKl,E?A2&?2?2\<ٱ2pT$ :AHRS rotation from veh to nav: [[0.232163,-0.960499,-0.153433],[0.972638,0.227838,0.045442],[-0.008689,-0.159784,0.987114]]2H?iணÿ?)?@%D?ˁsĿo?i2&?I2x\;2CYB=ByB*I DDiMb@Mb@Mb@ 9ʡE?~jtx?~jtxYO?y;Ļh A@ A)YQAbD-VD-y5%=A=ٔ=Q-=>9E ?YE ?=ERGyEFE#;EM>QQ 5]4U}?Q 9]4U)UBY]O?Q E]:y]ګ?Q I]?U CIU:iU:UC|4ym:BɮmwAmլEjh)5FNOT Ignoring new targets: 292.03 m.Rh5[Zh5[e ProNav: ac range: 292.028717 m, nav range: 282.505066 m, bearing: 72.763777 deg, approach rate: -0.811476 m/s, LOS rate: -0.011971 deg/s, cmd heading: 76.362785 deg, new cmd heading: 76.347639 deg. BhmrHeadingCmd: 1.332518 target range: 292.028717 and range: 293.40 m.h?h*h"h hgfffBdddjdZd?BɢJ<) =>i);<i i?}6;i;I?I!9@ @@/@2Acoustic response timeoutI^Aϩ;A ؟AI I) O5 >i E  E E 'E "E V:*E $:VE '4ZE a @a @a @a @g,G_?AB<A<BBB=*IBhBBBBBSu;B 0EBX?ByC?B<ٱBhM$ JAHRS rotation from veh to nav: [[0.230695,-0.960825,-0.153608],[0.972992,0.226479,0.044647],[-0.008109,-0.159759,0.987123]]BH@j?@iÿ"?A?ۦ?`TrĿ?iBX?IB:\;BCYR.ByR)IXXbD^VD^k1yf%fS=ٔf+ĺQ-f>9j"?Yj"?=jRGyjFnA;En>pQ 5v4r}?Q 9v4r)rBYxyz ?Q Iz?r2CIr:ir:r 4y|ɮdxA%2Acoustic response timeoutjh15FNOT Ignoring new targets: 292.03 m.Rh=jZh=j ProNav: ac range: 292.028717 m, nav range: 282.191223 m, bearing: 72.759045 deg, approach rate: -0.849896 m/s, LOS rate: -0.012827 deg/s, cmd heading: 76.347636 deg, new cmd heading: 76.333426 deg. Bh HeadingCmd: 1.332270 target range: 292.028717 and range: 293.40 m.hχ?h*h"h hgff f d d d jdZd ѯ?Q}Bɢ ~<) >i)4L><顁i[iχ?Z7;<;Iχ?I9@ @@@ԁԱ2Acoustic response timeout^A[R;A I) I9 OE > ,y?AY "By)IbDUVDU1yHY%==ٔQ->9Y=RGyF E>DyDyE EE*E"E;*E:VE(N4ZEBE@iq)uA$,h>?A2b?2ċ?2;ٱ20# :AHRS rotation from veh to nav: [[0.228550,-0.961432,-0.153011],[0.973510,0.224646,0.042573],[-0.006558,-0.158688,0.987307]]2H $A? ÿ`&?3?0̥?`zOĿ?i2b?I2C\;2CYBByB)IiMMb@Mb@Mb@IIII I9M/$?y&1I +YM1H?yM`eM94M AI MpA)M@IYMAbDqVDqy^<%F=ٔvQ->9 ?Y ?=RGyFݳ;E>Q 54}?Q 94s)BY>H?Q E:y?Q I?CI:iL ;͑4yɮxAjhFNOT Ignoring new targets: 292.03 m.Rh^Zh^ ProNav: ac range: 292.028717 m, nav range: 281.519135 m, bearing: 72.750392 deg, approach rate: -0.840722 m/s, LOS rate: -0.008653 deg/s, cmd heading: 76.317044 deg, new cmd heading: 76.307433 deg. Bh HeadingCmd: 1.331816 target range: 292.028717 and range: 293.40 m.hx?h*h"h hgff f Bd ddjdZd@@EBɢE <)A Ejh>iA)MjD*,?AYuByu)IbDVD0y,%H=ٔQ->9"?Y"?=RGyFE>Q 54}?Q 94k)BYyQ I?CIB:i:혐4yBɮwA̬EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 292.03 m.Rh aZh a ProNav: ac range: 292.028717 m, nav range: 281.200623 m, bearing: 72.747110 deg, approach rate: -0.780665 m/s, LOS rate: -0.008053 deg/s, cmd heading: 76.307433 deg, new cmd heading: 76.297577 deg. Bh۰%HeadingCmd: 1.331644 target range: 292.028717 and range: 293.40 m.h%Os?h!*h)"h) h)g)f)=2Acoustic response timeoutf1f9d9dAdAjdAZdE0@uBɢue{<)q u;>iq)}XF9Y=RGyFO;E>Q 54}?Q 94c)BYF?Q E:yM?Q I?CI. ;i ;ퟐ4yBɮxAjhFNOT Ignoring new targets: 292.03 m.RhZh ProNav: ac range: 292.028717 m, nav range: 280.889801 m, bearing: 72.745236 deg, approach rate: -0.776671 m/s, LOS rate: -0.004687 deg/s, cmd heading: 76.297578 deg, new cmd heading: 76.291950 deg. BhMHeadingCmd: 1.331546 target range: 292.028717 and range: 293.40 m.hp?h*h"h hg f ffLBdddjdZd'b @Bɢ{<) >i) 9H<  i ip?:;d3A A @AB 7>B B *IB :BB B B B t;B /E? 8,?A:J?:?:>;R2Acoustic response timeoutٱ:" fAHRS rotation from veh to nav: [[0.227604,-0.961684,-0.152837],[0.973740,0.223953,0.040931],[-0.005134,-0.158140,0.987403]]:H#"?`,ÿ (?`z??`u=ĿϘ?i:J?I:\;8lY-By-)IbDEVDE:yMˠ%UN=ٔUQ-U>9iYi=mRGymFmBEu>qQ 5}4u}?Q 94u[)uBYyC?Q I?uCIu:iu:uঐ4yɮxAjhFNOT Ignoring new targets: 292.03 m.Rh,Zh,  ProNav: ac range: 292.028717 m, nav range: 280.580963 m, bearing: 72.743390 deg, approach rate: -0.776724 m/s, LOS rate: -0.004649 deg/s, cmd heading: 76.291949 deg, new cmd heading: 76.286404 deg. Bh 4L5HeadingCmd: 1.331449 target range: 292.028717 and range: 293.40 m.h5l?h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdMඨ @Bɢ!<) >i)J<i!iMl?Up;;U.?i/ _NZl?YU&CQQQQ Q)U?IUI>iU刺UQ>U!z.@U=U-@ U=)Uz@IU뽩QQUI+uE?,0?:? U!?)USIU)ĽiU뽩QQ:publishing transmit ping timeFpublishing direction and range infoyQUGǿ>?i/ _NZl?YQQQQQ Q)QIQiQQQQQ Q)QIQQQUI+uE?,0?:? Q)QIQiQQQ^A *:aZ>,v3?AE EEE"E*Eą:VEZEBE>9 ?Y  ?= RGy F E >!Q 5=4m}?Q 9E4R)BYE:?Q EE:yE?Q IE?/CI;i;4yIɮUxAQi9i=(?AJi=xCRi=xCji=Bơ?b={(Kq@;!];:n@@R=Gǿ>?i/ _NZl?Zi=)Ľbi=j=y\U@7q@tPA@Z=?0?@+#BE?0=@?2i=C:i=BB"i=aG?*i==Bi=YBi=aG?i=Xpi9i=qCi=? addTargetRange:: Added new target pos. range: 290.299988 m, deltaT: 3.779937 s, deltaX: -3.100006 m, approachRate: -0.820121 m/s, rangeRepo size: 4   Added new target pos. range: 288.942169 m, bearing: 72.414005 deg, lat: 36.779265 deg, lon: -121.859147 deg, deltaT: 3.779937 s, deltaX: -3.086548 m, approachRate: -0.816561 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 288.94 m.Rh=Zh9M ProNav: ac range: 288.942169 m, nav range: 284.888733 m, bearing: 72.295916 deg, approach rate: 0.000000 m/s, LOS rate: -0.004649 deg/s, cmd heading: 76.286403 deg, new cmd heading: 76.279210 deg. BhIUHeadingCmd: 1.331323 target range: 288.942169 and range: 290.30 m.hUh?hQ*hq"hq hqgyfyfyf}BBdddjd$r@ZdÙ?UBɢU9<)Q U2 >iQ)]<#M]F,?ARw?Rb?R Ь;ٱR&& ^AHRS rotation from veh to nav: [[0.229764,-0.960658,-0.156026],[0.973232,0.225921,0.042183],[-0.005274,-0.161541,0.986852]]RHh?`ÿ`$?@??ubĿ`J?iRw?IR$];RCYf҉Byf)IbDrVDr:yvM%zW=ٔz@9Q-z>9~"?Y~"?=~RGy~F~TE>Q 5 4 }?Q 94K)BYy?Q I?SCI;i;.4yѨBɮ%wA%ìEjhAMFNOT Ignoring new targets: 288.94 m.RhUqSZhUqSe ProNav: ac range: 288.942169 m, nav range: 284.613983 m, bearing: 72.294877 deg, approach rate: -0.763054 m/s, LOS rate: -0.002888 deg/s, cmd heading: 76.279211 deg, new cmd heading: 76.276091 deg. BheHeadingCmd: 1.331269 target range: 288.942169 and range: 290.30 m.hg?h *h "h  h g f ffdddjdZdD?E EE&E"E ;*E:VE4ZEa@a@a@a@额Bɢv<ԡB9>BCB)IBBBBBBt;B/EBCBCBB =B =C[L4)! %=i!)%) L,l4?A2`C?2.?2;ٱ2x( :AHRS rotation from veh to nav: [[0.231314,-0.959961,-0.158017],[0.972862,0.227270,0.043454],[-0.005801,-0.163780,0.986480]]2Hఛ?9Ŀ`!?,???w`Ŀ@>?i2`C?I2$];2CYBˉByB{)IIF<)F%=bDJVDJyR%VP=ٔV#:Q-V>9TYX=ZRGyZFZEZ>\Q 5b4^}?Q 9f4^D)\Ydyf?Q If?^wCI^p:i^g:^ 4yjרBɮj]xAnĬEzB*** querying acoustic contact ***ix ixjhyFNOT Ignoring new targets: 288.94 m.Rh2Zh2 ProNav: ac range: 288.942169 m, nav range: 284.327209 m, bearing: 72.293882 deg, approach rate: -0.700874 m/s, LOS rate: -0.002433 deg/s, cmd heading: 76.276090 deg, new cmd heading: 76.273104 deg. BhոHeadingCmd: 1.331217 target range: 288.942169 and range: 290.30 m.hPe?h*h"h hgfffdddjdZd g?颥Bɢ֕<) =i)UO<顩i,WiPe?{>;2;IPe?IM9@Q @Q@Y@Y@y@}=E EE$E"ED:*E҆:VE4ZEBE1fgS,FN?A$b?bJ?b6;ٱb@, rAHRS rotation from veh to nav: [[0.233107,-0.958982,-0.161289],[0.972428,0.228744,0.045375],[-0.006620,-0.167419,0.985864]]bH`w?@Ŀ "?@G? o;?{mſ1?ib?Ib5];`Y|y|iMb@Mb@Mb@ 9(\?S㥫~jth?Y.?y/]D; A@ @)Yf@ p<<bDVD02ٔ:Q->9Y=RGyFcE>Q 54}?Q 94=)BY.?Q E:y ?Q I?CI:i:Đ4yɮq*DAT read: user:937> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501562jhFNOT Ignoring new targets: 288.94 m.Rh 7Zh 7% ProNav: ac range: 288.942169 m, nav range: 284.026855 m, bearing: 72.294105 deg, approach rate: -0.673168 m/s, LOS rate: 0.000499 deg/s, cmd heading: 76.273105 deg, new cmd heading: 76.273773 deg. Bh%>7-HeadingCmd: 1.331228 target range: 288.942169 and range: 290.30 m.h-e?h)*h)"hI hIgQfQfQfUBdYdYdYjdYZde?iBɢZ<) L=i)EP<iie?>;;Ie?I9@ @@!@!ԙbE=:4jE=ȅ04rE=\00E EE*E"ET;*E1:VE(N4ZEa@a@a@a@B<A<B:>BB)IBBB =BBBu;B/E ^Ae Β;u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754014I I O Y,"h?A2Yώ?2?2 9;ٱ2. :AHRS rotation from veh to nav: [[0.234755,-0.958208,-0.163487],[0.972026,0.230114,0.047040],[-0.007453,-0.169957,0.985423]]2Ho ?`(Ŀ?@at?@?~%ſ?i2Yώ?I2%];2CLYR‰ByRq)IbDZVDZβy~ܬ%<ٔ;Q->9 Y = RGy F E >Q 54}?Q 9%46)BY!y%Ԡ?Q I%?CIr;i ;[ː4y)ɮ5xA1jhQ]FNOT Ignoring new targets: 288.94 m.Rhe:d7Zhe:d7u ProNav: ac range: 288.942169 m, nav range: 283.768494 m, bearing: 72.294382 deg, approach rate: -0.724646 m/s, LOS rate: 0.000779 deg/s, cmd heading: 76.273774 deg, new cmd heading: 76.274608 deg. Bhu8}HeadingCmd: 1.331243 target range: 288.942169 and range: 290.30 m.h},f?hy*hy"hy hygyfffdddjdZd ?颽Bɢk<) =i)\Q<i볼i,f?5?;ڛ;I,f?Iu9@q @q@}0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004742^A#2;AzAbAII O>! E  E E &E "E ;*E :VE 4ZE BE 9C9iYi=mRGymFuEu>yQ 5}4}}?Q 94}.)}BY0?Q E:y?Q I?}CI}:i}:}7Ӑ4yBɮvAEjhFNOT Ignoring new targets: 288.94 m.Rh7Zh7 ProNav: ac range: 288.942169 m, nav range: 283.457672 m, bearing: 72.294592 deg, approach rate: -0.690790 m/s, LOS rate: 0.000467 deg/s, cmd heading: 76.274608 deg, new cmd heading: 76.275238 deg. Bh07HeadingCmd: 1.331254 target range: 288.942169 and range: 290.30 m.hf?h*h"h hgfffBdddjdZda@Bɢ旒<)! %=i!)%|Ry f,؛?A2b?2M?2<ٱ2h/ :AHRS rotation from veh to nav: [[0.237976,-0.957412,-0.163492],[0.971231,0.233040,0.049022],[-0.008834,-0.170455,0.985326]]2Hv?`NĿR?@@?n?tſ@ʇ?i2b?I2];0YRByRp)IXXbD^VD^ܲyfŠ%fi=ٔf:Q-f>9hYh=jRGyhjhEn>pQ 5v4r}?Q 9v4r()rBYtyv?Q Iv?rCIrp:irF:r[ِ4yxɮ~vAYyjhFNOT Ignoring new targets: 288.94 m.Rhb87Zhb87 ProNav: ac range: 288.942169 m, nav range: 283.214874 m, bearing: 72.294825 deg, approach rate: -0.657566 m/s, LOS rate: 0.000630 deg/s, cmd heading: 76.275236 deg, new cmd heading: 76.275933 deg. BhC7HeadingCmd: 1.331266 target range: 288.942169 and range: 290.30 m.hf?h*h"h hgfffdddjdZd@Bɢ<) =i)XpS<iqi%f?%|5?;%l ;I%f?I)I1)1E} E}E})Ey"E}&:*E}:VE}FA4ZEya@a@a@a@BBB)IBBB =BBB/u;B/E@ @@4@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760973ԑԱ^A"5;IqIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012817Dl, ?A6??6t*?6?<ٱ6/ BAHRS rotation from veh to nav: [[0.239028,-0.957125,-0.163638],[0.970968,0.233983,0.049732],[-0.009311,-0.170774,0.985266]]6H`{?`ĠĿ`+?`'?jv?@ſM?i6??I6\;6CYFljByJw)IbDRVDRNyZ*<%ZL=ٔZ:Q-Z>9\Y`=bRGybFb0Eb>dQ 5j4f }?Q 9j4f!)fBYlynĠ?Q In?f)CIf;if;f`4yrBɮvvAvEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 288.94 m.Rh y7Zh y7- ProNav: ac range: 288.942169 m, nav range: 282.937317 m, bearing: 72.295151 deg, approach rate: -0.722471 m/s, LOS rate: 0.000851 deg/s, cmd heading: 76.275933 deg, new cmd heading: 76.276913 deg. Bh-z85HeadingCmd: 1.331283 target range: 288.942169 and range: 290.30 m.h5~g?h1*h1"h1 h1g9f9f9fAdAdAdAjdIZdM@uBɢu╡<ԱPExceeded connect timeout, disconnecting.)1 5d=i1)=tT<99i=iE~g?Ez?;E߼:IE~g?II9@ @@/@E EE&E"E;*E$:VE4ZEBE1NA>I I O- >9 s, ϩ?AY=ȉBy9iMb@Mb@Mb@ 9> ףp=?{GzMb?Y1?y#<Q A@ @)C@YbDVD0yq|:%8=ٔQ->9Y=RGyFE>Q 54}?Q 9 4)BY B2?Q E :y k?Q I ?QCI:i:4yɮ%vA!jhAMFNOT Ignoring new targets: 288.94 m.RhMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516798ZhM ProNav: ac range: 288.942169 m, nav range: 282.628662 m, bearing: 72.294220 deg, approach rate: -0.695626 m/s, LOS rate: -0.002102 deg/s, cmd heading: 76.276916 deg, new cmd heading: 76.274119 deg. BhHeadingCmd: 1.331234 target range: 288.942169 and range: 290.30 m.he?h*h"h hgf ffBdddjdZd\ @eBɢe*<) =i))V<iie?|>; :Ie?IA%9@! @!@!@!@-=@-=qE EE%E"E;*E?:VE 4B<>BB)IBډBBBBBEu;B0EZEBED<2ED<JE;:E;^A} rg: DAT read: 15:07:17.6637 LVL= 31104, 32753, 31570, 32755, AGC= 63, IDX= 171, 0.13,-2.512, 2.279,-2.360,-2.923, PHS= 0.513,-1.036, 0.519, RAW= 150.2, 0.1, CAL= 149.1, -0.5, ROT= 0.9, 0.5  Ygot valid direction response: 15:07:17.6637 LVL= 31104, 32753, 31570, 32755, AGC= 63, IDX= 171, 0.13,-2.512, 2.279,-2.360,-2.923, PHS= 0.513,-1.036, 0.519, RAW= 150.2, 0.1, CAL= 149.1, -0.5, ROT= 0.9, 0.5  PDAT read: Bearing 218.4, 0.6 (Local)  ~Local bearing/azimuth received: Bearing 218.4, 0.6 (Local)  DAT read: Range 11 to 50 : 288.3 m (Round-trip 384.5 ms) speed 0.3 m/s ԙ  BDAT read: Tx time:15:07:18.7266  $Ping request sent. 4#z,?Ab?b?b<ٱbn+ AHRS rotation from veh to nav: [[0.240461,-0.957452,-0.159575],[0.970616,0.235630,0.048823],[-0.009146,-0.166626,0.985978]]bHm?@rlĿH?)?c? ẂTſ !?ib?Ib\;bCY%ЉBy%)I 9=<bD=VD=k1yM~'=%L=ٔӹQ->9Y=RGyF)lE>Q 5-4~?Q 954)BY1y56?Q I5?uCI<;%9I@d?I1@ @@@UnManaging dock network, ignoring radio surface power offA^A 0::E-  E- E- *E) "E- ;*E- $:VE- (N4ZE) BE- A<2E- A<JE- ;:E- ;y I I O >7J,i?A2?2?2 <ٱ2C& >AHRS rotation from veh to nav: [[0.240706,-0.958073,-0.155428],[0.970559,0.236161,0.047352],[-0.008661,-0.162250,0.986712]]2Hq? ÿ?:?>?`ȼ@Ŀ$?i2?I2\;2CYFՉByF)IiEMb@Mb@Mb@AAAA A9E㥛 ?~jty&1?YE5?yEļE`e9yYy=}RGy}F}E>Q 54a ~?Q 94j )BY5?Q E:y?Q I?CI ;i. ;4ymBɮtAEjhFNOT Ignoring new targets: 286.95 m.RhhƸZhhƸ ProNav: ac range: 286.953217 m, nav range: 283.884918 m, bearing: 72.409599 deg, approach rate: -0.796918 m/s, LOS rate: -0.005421 deg/s, cmd heading: 76.271247 deg, new cmd heading: 76.265235 deg. BhnHeadingCmd: 1.331079 target range: 286.953217 and range: 288.30 m.h`?h*h"h hgfff'BdddjdZd@)>?5Bɢ5<<)1 5 >i1)=Y<99i='iE`?E|>;E:9IE`?II9@ @@/@iߩIߩ^A-91IIO>Q n,s,?A2 ?2?2=<ٱ2%" :AHRS rotation from veh to nav: [[0.240528,-0.958810,-0.151095],[0.970607,0.236264,0.045841],[-0.008254,-0.157680,0.987456]]2H?`Wÿ`6?=?vx?瀿.Ŀ9xY|=~RGy~F-9E>Q 5 4~?Q 94y)BYy?Q I?CI:i|:L4y%sBɮ%tA%EjhAMFNOT Ignoring new targets: 286.95 m.RhMNZhUNEe EeEe'Ea"EeI;*Ee҆:VEe'4ZEaam@am@am@am@BB>BCB)IB߉BB =BBDBTu;B0E ProNav: ac range: 286.953217 m, nav range: 283.611023 m, bearing: 72.407730 deg, approach rate: -0.709255 m/s, LOS rate: -0.004844 deg/s, cmd heading: 76.265237 deg, new cmd heading: 76.259625 deg. BhTHeadingCmd: 1.330981 target range: 286.953217 and range: 288.30 m.h]?h*h"h hgfffdddjdZd`S?Bɢ<) >i)6O[<i|i]?=;9I]?IԱ9@ @@)0@^A9 9EƐCIIeAO>A % 쵿9% eAY% ,A9 ,>9?A2C?2?2|<ٱ2! >AHRS rotation from veh to nav: [[0.240477,-0.958879,-0.150741],[0.970621,0.236246,0.045645],[-0.008157,-0.157289,0.987519]]2H?"`xKÿR? N=?^?`c "Ŀ`?i2C?I2\;0YFىByF)IN@AN@AbDRVDRk2yZ=<%ZN=ٔ^IQ-^>9\Y`=bRGybFb 9Eb>dQ 5j4f~?Q 9j4fY)fBYlyn?Q In?fCIf;if;f:4yr`Bɮr;tAtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 286.95 m.RhZh- ProNav: ac range: 286.953217 m, nav range: 283.329865 m, bearing: 72.405806 deg, approach rate: -0.708151 m/s, LOS rate: -0.004852 deg/s, cmd heading: 76.259622 deg, new cmd heading: 76.253843 deg. Bh-U5HeadingCmd: 1.330881 target range: 286.953217 and range: 288.30 m.h5LZ?h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM`?Bɢ<)1 5>i1)=X]<99i=eiELZ?Ex=;EEC:IELZ?II9@ @@#2@DqzDu?AE EE(E"E;*E*:VEc44ZEBE9Ci ,OR?A2?2`?2PZ<ٱ2q" >AHRS rotation from veh to nav: [[0.240426,-0.958833,-0.151112],[0.970634,0.236201,0.045586],[-0.008017,-0.157635,0.987465]]2HF?`®@Wÿo? ;?W?>k`-Ŀ P?i2?I2P\;2CYFByF)IiMb@Mb@Mb@ 9zG?y&1Mb?Y 7?y`e< A@ )C@Y@bD-VD-y=H=%=B=ٔErQ-E>9AYA=ERGyMFMc9EM>QQ 5]4U~?Q 9]4U)UBYe7?Q Ee:ye?Q Ie?U CIU\ ;iU ;U 4yiɮmsAi}*DAT read: user:938> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713218jh!%FNOT Ignoring new targets: 286.95 m.Rh-LZh-L] ProNav: ac range: 286.953217 m, nav range: 283.028778 m, bearing: 72.402959 deg, approach rate: -0.685060 m/s, LOS rate: -0.006483 deg/s, cmd heading: 76.253844 deg, new cmd heading: 76.245296 deg. Bh]aeHeadingCmd: 1.330731 target range: 286.953217 and range: 288.30 m.hehU?ha*ha"hi higififf1BdddjdZd?%Bɢ%=<)) -C>iI)MX`BB)IBBB =BBDB&u;B/EBUCBUCBQBU =BU =CUL5^A- 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965078A= >A= > A I I O >,l?A2 ?2(?2 <ٱ24o" :AHRS rotation from veh to nav: [[0.240492,-0.958762,-0.151459],[0.970619,0.236274,0.045526],[-0.007862,-0.157958,0.987415]]2Ho?, cÿ P?<>?@#O?`7Ŀ`?i2 ?I2y];2CTY%By%)IbDMVDM0ym;%mH=ٔu ƹQ-u>9yY=RGyFp,E>Q 54#~?Q 94-)BYy?Q I?.CI(O;i >;4y)BɮqAEjhFNOT Ignoring new targets: 286.95 m.Rh1Zh1 ProNav: ac range: 286.953217 m, nav range: 282.733582 m, bearing: 72.400167 deg, approach rate: -0.745408 m/s, LOS rate: -0.007059 deg/s, cmd heading: 76.245292 deg, new cmd heading: 76.236905 deg. Bh HeadingCmd: 1.330585 target range: 286.953217 and range: 288.30 m.h P?h *h "h  h gfffddd!jd!Zd%@MBɢU?<) J>i)b<i͎iP?+<;.F:IP?IM9@I @Q@US3@Q@]=@]=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216666^Am}U;! E  E E &E "E &:*E :VE 4ZE BE c;ĕ,襆?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.471026Z ?Zn?Z;ٱZB" fAHRS rotation from veh to nav: [[0.240040,-0.958804,-0.151905],[0.970734,0.235873,0.045153],[-0.007462,-0.158298,0.987363]]ZH? qÿ`A?@1?@<?@~CĿz?iZ ?IZK];ZCYjByn)I|ieMb@Mb@Mb@aaaa a9eCl?~jtx?~jtx?Yed;?ye;e;e Ae@ ep@)aaYa y}<bD}VD}ܲyU<%H=ٔBQ->9Y=RGyF:E>Q 54)~?Q 94)Yg;?Q E:yi)de<!!iE*iUH?Uf<;UA:IUH?II)U9@Q @Y@]w1@YQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.720537^A "ԡ I I O >w,L?A>!?>V ?>;ٱ> <# FAHRS rotation from veh to nav: [[0.239895,-0.958761,-0.152407],[0.970772,0.235759,0.044928],[-0.007144,-0.158730,0.987296]]>H?@+`ÿ`?Y-?@?`B}@GQĿ?i>!?I>r?];>CYNByN)IbDVB\B\B^)IB^BB^ =B\B\B^t;B^/EVDVNbE]'4jE]*4rE]/En EnEn(El"En=;*Eną:VEnc44ZElBEn~I<2En~I<JEn ;:En ;y~P%~M=ٔQQ->9Y=RGyF q9E >Q 5%4i/~?Q 9%4)Y!y%A?Q I%?zCI:iF: 4y5Bɮ5qA1jhY]FNOT Ignoring new targets: 286.95 m.RheRZheRu ProNav: ac range: 286.953217 m, nav range: 282.146515 m, bearing: 72.391305 deg, approach rate: -0.760852 m/s, LOS rate: -0.011520 deg/s, cmd heading: 76.223504 deg, new cmd heading: 76.210292 deg. Bhu}HeadingCmd: 1.330121 target range: 286.953217 and range: 288.30 m.h}dA?hy*hy"hy hygfffdddjdZd@颽Bɢ<) W>i)h<iiMdA?MЂ<;Mp:IMdA?IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.9725579@ @@/@Aԁ^A;A cAzA dAI1 E BDAT read: Rx Time:15:07:21.5116 E TRx dataTimestamp_ set to:1761577642.856285M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225684IQ Oe >Ա ,Y?A2'?2?2V;ٱ2;# :AHRS rotation from veh to nav: [[0.239743,-0.958787,-0.152484],[0.970812,0.235654,0.044618],[-0.006846,-0.158730,0.987298]]2H?aÿ? )? 7ئ? |BQĿ?i2'?I2za];2CYRByR)I TTbDZVDZybZ=%fN=ٔfDQ-f>9hYh=jRGyjFj9Ej>lQ 5r4n 5~?Q 9v4n)lYtyvF?Q Iv?nCIn|:int:n'4yz$Bɮ~qqA~EB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 286.95 m.Rh-JZh-J= ProNav: ac range: 286.953217 m, nav range: 281.857788 m, bearing: 72.386919 deg, approach rate: -0.729219 m/s, LOS rate: -0.011088 deg/s, cmd heading: 76.210295 deg, new cmd heading: 76.197124 deg. Bh=EHeadingCmd: 1.329891 target range: 286.953217 and range: 288.30 m.hE9?hA*hI"hI hIgIfIfQfQdQdQdQjdYZd] @y=|Bɢ=<)E Es>iA)EYk ,RԪ?A2'?2?27;ٱ2 " :AHRS rotation from veh to nav: [[0.239727,-0.958821,-0.152292],[0.970817,0.235670,0.044426],[-0.006706,-0.158497,0.987337]]2H[?@J~ÿ?@k*?`?`w{`IĿC?i2'?I2];2CYBByB)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.731147iMb@Mb@Mb@ 9Cl?~jth?~jthYyD;D; A @)-@Yp@AAAAbDVD0y%<%-*=ٔ-Q-->9QYQ=URGyUFU8E]>YQ 5e4]<~?Q 9m4])]BYme;?Q E:y?Q I?]CI]u;i]);]D04yBɮoAEjhFNOT Ignoring new targets: 286.95 m.Rhd8Zh d8M ProNav: ac range: 286.953217 m, nav range: 281.502991 m, bearing: 72.381952 deg, approach rate: -0.718768 m/s, LOS rate: -0.010076 deg/s, cmd heading: 76.197126 deg, new cmd heading: 76.182205 deg. BhUEݹUHeadingCmd: 1.329630 target range: 286.953217 and range: 288.30 m.hUT1?hY*hY"hY hYgYfYfafe9BdaddjdZd "*@xBɢ˜<) >i)co<ii-T1?-#B<;- ;I-T1?I1AABBB)IBBB =BBBt;B/EE EE(E"ET;*E?:VEc44ZEBEGA >I I O- >+,?A=5?=D!?=;ٱ=R" MAHRS rotation from veh to nav: [[0.239306,-0.958952,-0.152133],[0.970923,0.235306,0.044046],[-0.006440,-0.158250,0.987378]]=H@? @yÿ??0? `z@AĿ?i=5?I=\;9Y}By})IbDVDk1yI<%f=ٔ`DQ->9Y=RGyFן:E>Q 54LA~?Q 94)BYy?Q I?C)I:i_3<z64y9ɮ=[oA9ii ?AJi#CRi#Cji \?bEq@6UK@|q8=RUV(?͠%U?zBPZi+<biB=jē,LQQ@FF* q@ZS$?ZJû0?$=!8?bJ'h 2iC:iB"iU?*ikⴢBiqBiiiiCiԱ? addTargetRange:: Added new target pos. range: 285.600006 m, deltaT: 4.031211 s, deltaX: -2.699982 m, approachRate: -0.669769 m/s, rangeRepo size: 4  Added new target pos. range: 284.273529 m, bearing: 75.809290 deg, lat: 36.779265 deg, lon: -121.859125 deg, deltaT: 4.031211 s, deltaX: -2.679688 m, approachRate: -0.664735 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 284.27 m.RhZh!5 ProNav: ac range: 284.273529 m, nav range: 281.243347 m, bearing: 72.378286 deg, approach rate: 0.000000 m/s, LOS rate: -0.010076 deg/s, cmd heading: 76.182209 deg, new cmd heading: 76.171073 deg. Bh9=HeadingCmd: 1.329436 target range: 284.273529 and range: 285.60 m.h=*?hA*hA"hA hAgafafifididqdqjduq@Zdu@&?颽uBɢv=) 4>i)r<i'κi*?:<;u2;I*?Ia9@ @@0@@@@@ԁI I O >E  E E E "E :*E :VE ZE a @a @a @a @ <ª,?A2.4?2?2̸;ٱ2# :AHRS rotation from veh to nav: [[0.239357,-0.958802,-0.152997],[0.970911,0.235343,0.044102],[-0.006278,-0.159102,0.987242]]2H>?fÿ??`?`yw]Ŀ|?i2.4?I2\;0YBByB)Ii Mb@Mb@Mb@     9 S?{Gzt?Mb`Y :?y ף;   A  @) C@ Y f@bD-VD-y5v%5P=ٔ=oعQ-=>99YA=ERGyEFE EM>IQ 5U4MF~?Q 9]4M)MBY]:?Q E]:y]?Q I]?MCIM:iM:MA=4yiɮmzoAijhFNOT Ignoring new targets: 284.27 m.RhFZhFM ProNav: ac range: 284.273529 m, nav range: 280.961426 m, bearing: 72.374130 deg, approach rate: -0.735611 m/s, LOS rate: -0.010853 deg/s, cmd heading: 76.171076 deg, new cmd heading: 76.158597 deg. BhMZUHeadingCmd: 1.329218 target range: 284.273529 and range: 285.60 m.hU#?hQ*hQ"hQ hQԁgYfffJBdddjdZd"?}rBɢ}d =)y }N>iy)fUv<顁iBi#?w7<;x6;I#?Iԩ]Ԙa9@ @@/@AE .AII Ia Om > 9Ȫ,Z"?AB4B4B6)IB6BB6 =B4B4B6u;B6/EZr7?Z"?Z!;ٱZ;#Eb EbEb*E`"Eb;*Ebz:VEb(N4ZE`BEb@9% ?Y% ?=%RGy%F%9E%>)Q 554-L~?Q 954-U)-BY9yE?Q IE?-7CI-#;i-%;-0D4yIɮM\oAIjhquFNOT Ignoring new targets: 284.27 m.RhYMZhYM ProNav: ac range: 284.273529 m, nav range: 280.672913 m, bearing: 72.369863 deg, approach rate: -0.757829 m/s, LOS rate: -0.011221 deg/s, cmd heading: 76.158597 deg, new cmd heading: 76.145781 deg. BhkHeadingCmd: 1.328995 target range: 284.273529 and range: 285.60 m.h?h*h"h hgfffdddjdZd@6?oBɢE=) ё>i)Yy<i*;i ? <<; CI;I ?I ؼe9@i @i@m4@iAdAzA`A!A؟AIIO>I cΪ,[AHRS rotation from veh to nav: [[0.239591,-0.958988,-0.151456],[0.970853,0.235625,0.043881],[-0.006394,-0.157555,0.987490]]6H@? bÿ :?(?w?0z *Ŀ?i6H,?I6~\;4YFByF)IbDNVDNyV=%VQ=ٔZ+:Q-Z>9Z"?YZ"?=ZRGyZF^dE^>`Q 5f4b"R~?Q 9f4b )bBYhyj?Q Ij?b[CIb :ib:bK4ynBɮnUoAl~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 284.27 m.Rh`DZh`D% ProNav: ac range: 284.273529 m, nav range: 280.389008 m, bearing: 72.365675 deg, approach rate: -0.726680 m/s, LOS rate: -0.010730 deg/s, cmd heading: 76.145783 deg, new cmd heading: 76.133207 deg. Bh%-HeadingCmd: 1.328775 target range: 284.273529 and range: 285.60 m.h-N?h)*h)"h) h)g1f1f1f1d9d9d9jdAZdE4?%lBɢ%M=)! %>i!)-տ}<))i-N i5N?5=<;E>;IEN?IIQE EE)E"E:*E:VEFA4ZEa@a@a@a@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y9@ @@4@ԩ A I I! O5 >Kժ,v7V?A2p ?2?2Ҩ;ٱ2Qr :AHRS rotation from veh to nav: [[0.240593,-0.958994,-0.149818],[0.970602,0.236603,0.044176],[-0.006917,-0.156042,0.987726]]2H?`<-ÿ+?I?:? U|`/ÿt?i2p ?I2\;2C@YFByF)I*DAT read: user:939> %checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760280iMb@Mb@Mb@ 9/$?~jth?Mb`Y9Y=RGyFE>Q 54X~?Q 94Ω)BYi)<iڽi ?)<;z=;I ?I  ԩBaBaBe)IBeBBe =BaBaBe5u;Be0EI)bAE EE&E"E:*E:VE4ZEBE>Kܪ,Du?A6ٍ?6Lũ?6;ٱ6$ >AHRS rotation from veh to nav: [[0.242028,-0.958720,-0.149262],[0.970238,0.237906,0.045154],[-0.007780,-0.155749,0.987766]]6H`?ԭÿ0 ?s?r? ÿǛ?i6ٍ?I6\;6CYF ByF)IllbDrVDr1yv<%z1=ٔz~:Q-z>9|Y|=~RGy~F~RE>Q 5 4e_~?Q 94&)BYy;?Q I?CI;i;Z4y!ɮ%wmA!jhAMFNOT Ignoring new targets: 284.27 m.RhU9ZhU9e ProNav: ac range: 284.273529 m, nav range: 279.728851 m, bearing: 72.356520 deg, approach rate: -0.735482 m/s, LOS rate: -0.010115 deg/s, cmd heading: 76.119665 deg, new cmd heading: 76.105711 deg. Bhe ޹mHeadingCmd: 1.328295 target range: 284.273529 and range: 285.60 m.hm?hi*hi"hi higqfqfqfqdydydyjdyZd}'@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264698颽eBɢ4=) >i)j<iqi?_;;:I?Ie9@i @i@i@iԹDm=Dm<E} E}E}+Ey"E};*E}:VE} [4ZEya@a@a@a@^A ; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519293A .AI! II OU > ,w?A>e?>Ũ?> <ٱ> JAHRS rotation from veh to nav: [[0.242871,-0.958911,-0.146640],[0.970023,0.238779,0.045165],[-0.008294,-0.153213,0.988158]]>Hh?@f¿m ?@P??`{ÿ`?i>e?I>d\;>CYPyPi%Mb@Mb@Mb@!!!! !9%?QMb`?Y%@?y%u%;%Q A%@ %p@)%p@!Y%f@bDEVDEyM:%ME=ٔUj:Q->9 ?Y ?=RGyFE>Q 54f~?Q 94)Y @?Q E:y.?Q I?CI:i:4b4yɮumAjhFNOT Ignoring new targets: 284.27 m.Rh%(Zh%(5 ProNav: ac range: 284.273529 m, nav range: 279.406982 m, bearing: 72.353666 deg, approach rate: -0.748266 m/s, LOS rate: -0.006643 deg/s, cmd heading: 76.105711 deg, new cmd heading: 76.097138 deg. Bh5䑹=HeadingCmd: 1.328146 target range: 284.273529 and range: 285.60 m.h=?h9*h9"h9 h9gAfAfAfEYBdIdIdIjdQZdUA@}cBɢ}=) ǩ>i).<顁iΙi?R;;%:I?IM9@I @I@M/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770062!I^Arg:B B B )IB !BB B B B su;B #0EBCBCBB =B =Cɕ4A} ؟AE  E E )E "E ;*E y:VE FA4ZE BE Ay a,樫?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020599N?N?N}# <ٱNA VAHRS rotation from veh to nav: [[0.243453,-0.958766,-0.146620],[0.969875,0.239313,0.045518],[-0.008553,-0.153285,0.988145]]NH w)?7@t¿@7 ?̡?@+N?a מÿ@?iN?INС\;NCYrByr)II4>)=bD VD !3y%=%%N=ٔ%*:Q-%>9-"?Y-"?=-RGy-F5̺E5>9Q 5E4=l~?Q 9E4=)=BYAyE?Q IE?=CI=:i=:=h4yQɮU@mAQjhy}FNOT Ignoring new targets: 284.27 m.Rh$Zh$ ProNav: ac range: 284.273529 m, nav range: 279.119568 m, bearing: 72.351147 deg, approach rate: -0.750928 m/s, LOS rate: -0.006588 deg/s, cmd heading: 76.097139 deg, new cmd heading: 76.089574 deg. BhHeadingCmd: 1.328014 target range: 284.273529 and range: 285.60 m.hY?h*h"h hgfffdddjdZd@Y`Bɢv'=) >i)y<i%viUY?UG;;U9IUY?IYԁ9@ @@/@BDAT read: Rx Time:15:07:25.3562 TRx dataTimestamp_ set to:1761577646.896115checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273608ԩ^A 9 A9 IA IY Oe >~,C«?A2n?2v?2g<ٱ2Y :AHRS rotation from veh to nav: [[0.244348,-0.958169,-0.149017],[0.969644,0.239985,0.046874],[-0.009152,-0.155947,0.987723]]2HF?R`ÿS?ѷ??;ÿ@m?i2n?I2\;0YB ByB)I J4%VQ=ٔV:Q-Z>9XYX=ZRGyZF^E^>`Q 5f4b[s~?Q 9f4b:)`Ydyf?Q Ij?b$CIb;ib;bo4ynBɮnlAnE~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 284.27 m.Rh Zh ProNav: ac range: 284.273529 m, nav range: 278.826599 m, bearing: 72.348629 deg, approach rate: -0.748567 m/s, LOS rate: -0.006441 deg/s, cmd heading: 76.089571 deg, new cmd heading: 76.082008 deg. Bh%t%HeadingCmd: 1.327882 target range: 284.273529 and range: 285.60 m.h%?D)zD-AAE5 E5E5'E1"E5 ;*E5:VE5'4ZE1a]@a]@a]@a]@ha*ha"ha hagafffd!d)d1jd9ZdE@[ @Ա=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526992]Bɢ_!=) >i)|<i-Vi?:;/OչI?I9@ @@0@@@@@ DAT read: 15:07:25.3562 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 164, 0.29,-2.251, 2.499,-1.927,-2.396, PHS= 0.247,-1.343, 0.425, RAW= 155.2, 8.0, CAL= 154.8, 8.4, ROT= 355.2, -8.4  Ygot valid direction response: 15:07:25.3562 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 164, 0.29,-2.251, 2.499,-1.927,-2.396, PHS= 0.247,-1.343, 0.425, RAW= 155.2, 8.0, CAL= 154.8, 8.4, ROT= 355.2, -8.4  PDAT read: Bearing 226.5, -6.5 (Local)  ~Local bearing/azimuth received: Bearing 226.5, -6.5 (Local) % DAT read: Range 11 to 50 : 282.7 m (Round-trip 377.0 ms) speed 0.4 m/s - TDAT read: user:940>Tx time:15:07:26.4235 - R#Rx 1: Read range and direction messages.5 ^direction in FSK: [0.985803,-0.082780,0.146083]= Fpublishing direction and range infoy  SBX?Y/1/8ٲ?Y YC ) <I |>i m竿 > -\-@ 5> ,@ Q >) a@I Q  {?]I?m? z?) #I i Q  U T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.) A I I O >,1yݫ?AY By)IԩiMb@Mb@Mb@ 9y&1?~jtI +?Y`E?yD94< A@ @)@Y@bDVDβA!A%AAB-E>B)B)B)B)B)B-DB-u;B-=0Ey<%e&=ٔeQ-e>9iYi=mRGymFuEu>yQ 54}{~?Q 94}W)}BYkE?Q E:yȧ?Q I?}UCI};i}W;}x4yɮkAbE}:4jE}:4rE}ú/E EE(E"E;*E:VEc44ZEBE@ӡ?bB%BVq@_kK7*|SD@RSBX?Y/1/8ٲ?ZibiQ jJMT@N^p@ SD@Zz5Lq? +?vv?2iC:iB"iz ?*i#>BioBiz ?iii%CiVӡ? addTargetRange:: Added new target pos. range: 282.700012 m, deltaT: 3.788106 s, deltaX: -2.899994 m, approachRate: -0.765552 m/s, rangeRepo size: 4  Added new target pos. range: 281.386230 m, bearing: 72.436713 deg, lat: 36.779261 deg, lon: -121.859125 deg, deltaT: 3.788106 s, deltaX: -2.887299 m, approachRate: -0.762201 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 281.39 m.RhZh ProNav: ac range: 281.386230 m, nav range: 278.296143 m, bearing: 72.436875 deg, approach rate: 0.000000 m/s, LOS rate: -0.006441 deg/s, cmd heading: 76.082010 deg, new cmd heading: 76.071801 deg. BhHeadingCmd: 1.327703 target range: 281.386230 and range: 282.70 m.h/?h*h"h hgfff?Bdddjd@3q@Zd@;n?颽ZBɢ6"=) >i)@1<iF¼i/?A]:;I/?DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028987I9@ @@0@ A I I O >) +,=?A6V?6k?6$<ٱ6._# BAHRS rotation from veh to nav: [[0.244676,-0.957651,-0.151785],[0.969560,0.240143,0.047800],[-0.009326,-0.158860,0.987257]]6H Q?@mÿ? ?@Cy?`r@UĿ ?i6V?I68\;4Y^By^)I ``bDjVDjk2yri%ru=ٔr:Q-v ?9tYt=vRGytz@Ez ?|Q 54~%~?Q 94~ z)~BY y ?Q I ?~uCI~k:i~:~'~4yɮ@lAi9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.280920jhIMFNOT Ignoring new targets: 281.39 m.RhU~ZhU~e ProNav: ac range: 281.386230 m, nav range: 278.049011 m, bearing: 72.434520 deg, approach rate: -0.827805 m/s, LOS rate: -0.007895 deg/s, cmd heading: 76.071799 deg, new cmd heading: 76.064728 deg. BhedmHeadingCmd: 1.327580 target range: 281.386230 and range: 282.70 m.hm$?hi*hi"hi hqgqfqfyfydydydyjdZd@{g?颭XBɢQ8=) x>i);<顱i¼i$?+:;CtĹI$?Iu9@q @q@u/@qA.AIIO%M>9E EE&E"E ;*EI:VE4ZEa @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534942q T, ?A 2 ?2o?2\<ٱ2y& >AHRS rotation from veh to nav: [[0.244564,-0.957220,-0.154657],[0.969587,0.239865,0.048637],[-0.009460,-0.161849,0.986770]]2HM?``ÿ???_tĿ ?i2 ?I2];2CY^Byb)Ii}Mb@Mb@Mb@yyyy y9}p= ף?I +?Y}E?y}y} A}@ }Z@)}C@yY}@bDVD0y<%?=ٔ9Q->9 ?Y ?=RGyFh9E>Q 54~?Q 94q)BY#E?Q E:y?Q I?CI:i:4yɮlAjhFNOT Ignoring new targets: 281.39 m.Rh4Zh4 ProNav: ac range: 281.386230 m, nav range: 277.719269 m, bearing: 72.430312 deg, approach rate: -0.772294 m/s, LOS rate: -0.009867 deg/s, cmd heading: 76.064730 deg, new cmd heading: 76.052091 deg. BhعHeadingCmd: 1.327359 target range: 281.386230 and range: 282.70 m.h%?h!*h!"h! h!g!f!f)f-@Bd)d1d1jd1Zd5`}?eVBɢe*(=)i m?>ii)m&B5 B>B1 B5 )IB5 &BB1 B1 B1 B5 u;B5 N0E E  E E 'E "E :*E :VE '4ZE BE <;a- :E ?;a-  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036537= ,4*?A2?2?2b1<ٱ2j' :AHRS rotation from veh to nav: [[0.243984,-0.957176,-0.155839],[0.969733,0.239243,0.048783],[-0.009411,-0.163025,0.986577]]2H :?/ÿ??$?FĿ@ ?i2?I2k];0YB ByB)IbDJVDJNPyVw<%V\=ٔV Q-V>9XYX=ZRGyX^:E^>`Q 5f4b~?Q 9f4bPj)bBYdyfϩ?Q If?bCIby:ib:b&4ynSBɮnEjAnEjhFNOT Ignoring new targets: 281.39 m.Rh 5Zh 5- ProNav: ac range: 281.386230 m, nav range: 277.433411 m, bearing: 72.426620 deg, approach rate: -0.768411 m/s, LOS rate: -0.009936 deg/s, cmd heading: 76.052094 deg, new cmd heading: 76.041005 deg. Bh54ڹEHeadingCmd: 1.327166 target range: 281.386230 and range: 282.70 m.hE?hA*hI"hI hIgQfQffdddjdZd@Y?}TBɢ}~/=) ]>i)X~<顉iļi?]9;*:I?Im9@i @i@m/@i]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288606^A9) A I I! O5 >$,\D?A> ?>i?>D<ٱ>& FAHRS rotation from veh to nav: [[0.243708,-0.957430,-0.154710],[0.969800,0.238976,0.048769],[-0.009721,-0.161923,0.986755]]>H@1?@Cÿ?Ė?=? }胿Ŀ ?i> ?I>\;9lYp=rRGyrFr 6:Er>tQ 5z4v$~?Q 9z4vDb)tY|y~ة?Q I~?|vCIv+;iv-;vM4y YBɮ jA -B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 281.39 m.RhM6ZhM6u ProNav: ac range: 281.386230 m, nav range: 277.118805 m, bearing: 72.422530 deg, approach rate: -0.767019 m/s, LOS rate: -0.009983 deg/s, cmd heading: 76.041008 deg, new cmd heading: 76.028724 deg. Bhu=۹uHeadingCmd: 1.326952 target range: 281.386230 and range: 282.70 m.h}٩?hy*hy"hy hygfffdddjdZd?RBɢv+=)a m >ii)8<顙iżchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.542760i٩?n9;a:I٩?I 19@  @ @ /@ Y^AM 0:: checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796503ԑ A} ؟AI I O >]O,^?A2o?2ϛ?2!#<ٱ2ZP% >AHRS rotation from veh to nav: [[0.243251,-0.957737,-0.153521],[0.969912,0.238549,0.048628],[-0.009950,-0.160731,0.986948]]2H`"?ǥÿ` ?@ň?? `ՒĿ ?i2o?I2\;2CYBByF)IiEMb@Mb@Mb@AAAA A9EFx?9}"?Y}"?=RGyF%:E>Q 54V~?Q 94Y)BYK?Q E:y\?Q I?CI;iX;4yɮjAjhFNOT Ignoring new targets: 281.39 m.RhZh ProNav: ac range: 281.386230 m, nav range: 276.781403 m, bearing: 72.418945 deg, approach rate: -0.796694 m/s, LOS rate: -0.008474 deg/s, cmd heading: 76.028728 deg, new cmd heading: 76.017961 deg. BhHeadingCmd: 1.326764 target range: 281.386230 and range: 282.70 m.heө?h*h"h hgfffRBdddjdZd`)@5PBɢ5 /=)1 5>i9)=\<99i=lƼiEeө?E8;Ej:IEeө?IIB<A<B=>BCB)IB!BB =BBBu;BX0EE EE'E"E;*EZ:VE'4ZEBE9C y,Ux?A:MՍ?:?:W#<ٱ:# BAHRS rotation from veh to nav: [[0.242160,-0.958350,-0.151408],[0.970185,0.237571,0.047972],[-0.010004,-0.158511,0.987307]]:H?̪@Zaÿ ?h? ̏?|JĿ?i:MՍ?I:\;8Y^Byb)IbDhVDhyrB%rT=ٔrY9Q-v>9tYt=vRGyvFzc?;Ez>|Q 54~ס~?Q 94~Q)|Yy ?Q I ?~?CI~;i~:~s4yɮ kA%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296601jhAMFNOT Ignoring new targets: 281.39 m.RhMZhMe ProNav: ac range: 281.386230 m, nav range: 276.475159 m, bearing: 72.415613 deg, approach rate: -0.791786 m/s, LOS rate: -0.008623 deg/s, cmd heading: 76.017963 deg, new cmd heading: 76.007957 deg. Bhe`mHeadingCmd: 1.326589 target range: 281.386230 and range: 282.70 m.hmͩ?hi*hi"hi higififqfqdqdydyjdyZd}A@颭NBɢ6-=) %>i);!<顱i>ǼԹiͩ?8;s(/;Iͩ?IU9@Q @Q@U3@QE EEE"Ea;*E:VEZEa@a@a@a@^Au;AyA}>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550817A I I O >9 oa$,_?A2?21?2<ٱ2" :AHRS rotation from veh to nav: [[0.241020,-0.958632,-0.151438],[0.970472,0.236507,0.047416],[-0.009638,-0.158394,0.987329]]2H?@Pbÿ? E?F?`BDFĿ2?i2?I2\;2CYBByB)I DDiMb@Mb@Mb@ 9K7A`?I +Mb`?YK?y9;Q A@ Z@)Z@Y@bD-VD-:y5 %=E=ٔ=fQ-=>9AYA=ERGyEFE9;EM>IQ 5U4M@~?Q 94MI)MBYK?Q E:yr?Q I?MiCIMi)j<顙i ȼieɩ?%9;i>5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800878i@i @i@m4@iAq^A] ;B9>BB)IBBB =BBDBu;B_0EE  E E (E "E T;*E ?:VE c44ZE BE Gԙ  BDAT read: Rx Time:15:07:29.2021  TRx dataTimestamp_ set to:1761577650.676109 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053590*,:?A6??!<ٱ! AHRS rotation from veh to nav: [[0.240149,-0.959019,-0.150371],[0.970686,0.235660,0.047260],[-0.009887,-0.157312,0.987499]]H`3? HZ?ÿ?*?2??"Ŀ@?i6?In\;CYBy)IbDVDy%} %%<=ٔ-2:Q-->9)Y)=5RGy5F=&;E=> Ef>ECqGQ 54*~?Q 94@)Yy?d9Y6AQ I?CI~i)><iɼiĩ? N@9; X;I ĩ?I ԡ@ @@4@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.305277^A% yb]; E  E E &E "E ;*E $:VE 4ZE a @a @a @a @Ai Iy I O >2,ùȬ?AB3?Ba?B!&<ٱBk! JAHRS rotation from veh to nav: [[0.239384,-0.959180,-0.150560],[0.970872,0.234856,0.047436],[-0.010140,-0.157530,0.987462]]BH`$?`Eÿ b??I?Ą@)Ŀ@J?iB3?IB*];BCYR߉ByR)IbDZVDZβyjA%nK=ٔr#:Q-v>9|Y|=RGyF%l:E->ԱeDAT read: 15:07:29.2021 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 180, 0.06, 0.634,-0.897, 1.018, 0.526, PHS= 0.210,-1.378, 0.448, RAW= 156.9, 8.4, CAL= 156.5, 8.8, ROT= 353.5, -8.8 AQ 54E~?Q 94E7)EBYy?Q I?ECIEr\Tx time:15:07:30.2735 mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.981876,-0.111871,0.152986]uFpublishing direction and range infoyY]ek?񏣼8C ?Y]fCYYYY Y)YI]= W>i]Nb]B`>]LB/@]Q >].@B*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 280.799988 m, deltaT: 3.781355 s, deltaX: -1.900024 m, approachRate: -0.502472 m/s, rangeRepo size: 4 jhFNOT Ignoring new targets: 281.39 m. ]nF>)]n@I]nFYY]ߨQ??X2? ]$?)]I]Vi]nFYYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.RhڸZhڸ ProNav: ac range: 281.386230 m, nav range: 275.448181 m, bearing: 72.407635 deg, approach rate: -0.750289 m/s, LOS rate: -0.005977 deg/s, cmd heading: 75.992248 deg, new cmd heading: 75.983994 deg. Bh@HeadingCmd: 1.326171 target range: 281.386230 and range: 280.80 m.h?h*h"h hg!f!f!f!d)d)d)jd-̌q@Zd5 ?}GBɢ"=) >i)0<顉iɼi?ٓ9;;I?Iu9@q @q@u4@q  DAT read:  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809283^A ϩ;A zA dA1 A I I O >8,D?A2G?2V3?2Jx+<ٱ2m!ANAAAN@ABR8>BRCBR)IBRBBPBPBPBR-v;BRw0EBmCBmCBiBm =Bm =Cm5 :AHRS rotation from veh to nav: [[0.238762,-0.959399,-0.150151],[0.971022,0.234211,0.047564],[-0.010465,-0.157157,0.987518]]2H@ď?@f(8ÿ??CZ?nĿ?i2G?I2 ];2CY-ӉBy-)II5C=)5=qiMb@Mb@Mb@ 9sh|??y&1|YI?y̼` A )E EEE"E:*E:VEZEBE<9Y=RGyF]:E>Q 54~?Q 94 /)BYJ?Q E:y?Q I?CI:i:4yBɮhAsEiiˬ?AJiCRiCji?ba`&q@2D?%xxM`E@Rek?񏣼8C ?ZiVbinFjlA|KFV@M|Rp@IՅ!F@Z g?Kh?E?2iC:i2B"i^?*iYBi[BiiiiCiB?jhFNOT Ignoring new targets: 281.39 m.Rh;ٸZh;ٸ ProNav: ac range: 281.386230 m, nav range: 275.105530 m, bearing: 72.405263 deg, approach rate: -0.856130 m/s, LOS rate: -0.005935 deg/s, cmd heading: 75.983997 deg, new cmd heading: 75.976871 deg. BhWHeadingCmd: 1.326047 target range: 281.386230 and range: 280.80 m.h廩?h*h"h hgff!f%Bd)d)d)jd)Zd-?]EBɢ]3"=)Y ]>iY)eH>,ע?AR[?RXG?RZi2<ٱR" ZAHRS rotation from veh to nav: [[0.238168,-0.959364,-0.151318],[0.971163,0.233498,0.048180],[-0.010889,-0.158429,0.987310]]RH`M|?d^ÿ ?`F?`?`M@jGĿ ?iR[?IR%];RCY~By~l)I p< p<bDVDky%۽%%Z=ٔ%e:Q-->9)Y)=-RGy-F5F:E5>9Q 5E4=%~?Q 9E4=')=BYAyE?Q IM?=CI=N:i=:=ő4yQɮUiAQjhy}FNOT Ignoring new targets: 281.39 m.RhθZhθ ProNav: ac range: 281.386230 m, nav range: 274.822632 m, bearing: 72.403264 deg, approach rate: -0.798463 m/s, LOS rate: -0.005648 deg/s, cmd heading: 75.976873 deg, new cmd heading: 75.970870 deg. Bh xHeadingCmd: 1.325942 target range: 281.386230 and range: 280.80 m.hv?h*h"h hgfffdddjdZd?额CBɢj=) nv>i) <顡iA˼iv?`:;h;Iv?IM9@I @I@M/@IDD4=E EE+E"E[";*E?:VE [4ZEa@a@a@a@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.565003^AU*;ԱA .AI I O > E,=~?A2}n?2Y?2(6<ٱ2pU# :AHRS rotation from veh to nav: [[0.237619,-0.959444,-0.151672],[0.971295,0.232902,0.048406],[-0.011118,-0.158820,0.987245]]2HLj?ijiÿ??@Ȩ? Ć 9TĿ?i2}n?I2M];0YBÉByFq)IiMMb@Mb@Mb@IIII I9M r?~jt~jtYMC?yMDMDM AMj@ M-@)M-@IYM(@bDeVDe0ym<%uF=ٔu:Q-u>9} ?Y} ?=}RGy}F}:E>Q 54&~?Q 94 )BYC?Q E:y?Q I?;CIP ;i ;,͑4yɮqiAjhFNOT Ignoring new targets: 281.39 m.RhZh ProNav: ac range: 281.386230 m, nav range: 274.505829 m, bearing: 72.403084 deg, approach rate: -0.765343 m/s, LOS rate: -0.000435 deg/s, cmd heading: 75.970869 deg, new cmd heading: 75.970329 deg. BhHeadingCmd: 1.325932 target range: 281.386230 and range: 280.80 m.h'?h*h"h hgfffBdddjdZd?-ABɢ-<=)1 5>=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816654iA)EإBB)IBBB =BBBv;Bh0EbEǀ'4jEǨ,4rE/E EE'E"EV:*E:VE'4ZEBE99 FK,f1?A2n^?2I?2@<ٱ2# :AHRS rotation from veh to nav: [[0.238093,-0.959257,-0.152108],[0.971172,0.233248,0.049204],[-0.011721,-0.159438,0.987138]]2Hy?<Gxÿ?`?J1?@yhĿ ?i2n^?I2,L];2CYBByFQ)I HHbDNVDNyV %VW=ٔV :Q-Z>9Z"?YZ"?=^RGy^F^E^>`Q 5f4b~?Q 9f4b)bBYdyj ?Q Ij?b`CIb:ib:bӑ4ynBɮnwjAntEjh FNOT Ignoring new targets: 281.39 m.Rh жZh ж ProNav: ac range: 281.386230 m, nav range: 274.215088 m, bearing: 72.402949 deg, approach rate: -0.765700 m/s, LOS rate: -0.000357 deg/s, cmd heading: 75.970329 deg, new cmd heading: 75.969923 deg. Bh%z%HeadingCmd: 1.325925 target range: 281.386230 and range: 280.80 m.h%췩?h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd= 9?e?Bɢmg=)i mTR>ii)mE  E E (E "E :*E :VE c44ZE a @a @a @a @R,7K?A ^checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575204 iL? 7? /M<ٱ A# AHRS rotation from veh to nav: [[0.238625,-0.959201,-0.151626],[0.971031,0.233665,0.049993],[-0.012523,-0.159163,0.987173]] HD?@DZ@~hÿ???`ʥw_Ŀ`?i iL?I K]; YMByMU)Ii-Mb@Mb@Mb@)))) )9-l?&1y&1|Y-7?y-P-`)) -C@)-C@)Y-z@9=@AbDEVDEk1yUI<%U&=ٔ]h:Q-]>9YYY=eRGyeFeEe>iqQ 5}4u~?Q 9}4u)uBY}8?Q E:y ?Q I?uCIu:iu:ueܑ4yBɮhAjEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 281.39 m.Rhs7Zhs7 ProNav: ac range: 281.386230 m, nav range: 273.861938 m, bearing: 72.403358 deg, approach rate: -0.718021 m/s, LOS rate: 0.000832 deg/s, cmd heading: 75.969927 deg, new cmd heading: 75.971154 deg. Bh,8HeadingCmd: 1.325947 target range: 281.386230 and range: 280.80 m.h?h*h"h hgfffوBdddjdZd@额i)!<顡iGͼi?;;;I?I]9@Y @a@e0@aԙUchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.824535 ^A ;B <A <B >>B CB )IB ߉BB =B B B u;B S0EA I I O >+Y,wf?ANw??N*?NBZ<ٱNP7$ ZAHRS rotation from veh to nav: [[0.239006,-0.959062,-0.151909],[0.970927,0.233895,0.050937],[-0.013321,-0.159667,0.987081]]NH?@qÿ?`D?p?*H`oĿ +?iNw??INT];NCY^By^>)IbDjVDj0yrϽ%rm=ٔr;Q-r?9tYt=vRGyvFz╺Ez?|Q 54~~?Q 94~ )~BYy?Q I?~CI~$:i~:E EEE"E;*E:VEZEBE9C>i)<iyͼiM'?M(<;M@;IM'?IQ 2Acoustic response timeout `,]2?A0:?:?:6l<ٱ:q& FAHRS rotation from veh to nav: [[0.240210,-0.958481,-0.153663],[0.970613,0.234798,0.052723],[-0.014455,-0.161812,0.986716]]:H`4?@ =ÿC? ?? c`DĿ,?i:?I:^];:CY^BybK)IIf>)f<bDjVDjyrN=%rK=ٔr8;Q-v>9tYt=vRGyvFzJEz>|Q 54~~?Q 94~r)~BYy ֠?Q I ?~CI~:i~1:~q4yɮhAjh9EFNOT Ignoring new targets: 281.39 m.RhE7ZhE7U ProNav: ac range: 281.386230 m, nav range: 273.325226 m, bearing: 72.404100 deg, approach rate: -0.725458 m/s, LOS rate: 0.001093 deg/s, cmd heading: 75.972078 deg, new cmd heading: 75.973384 deg. BhU@8]HeadingCmd: 1.325986 target range: 281.386230 and range: 280.80 m.h]湩?hY*ha"ha hagafafifidididijdqZdu@额8BɢR=) &X>i)Q<顡iNμi湩?-a<;’;I湩?IJ>i%>q@q @q@u/@qԙE5 E5E5$E1"E5;*E5M:VE54ZE1a=@a=@a=@a=@52Acoustic response timeout^A;A .A I I O >6f,w?A2?2ߩ?2}<ٱ2& >AHRS rotation from veh to nav: [[0.241245,-0.958198,-0.153810],[0.970341,0.235636,0.053986],[-0.015486,-0.162272,0.986625]]2H@? ÿ ?@S)? ?`"`UĿm?i2?I2A];2CYFByFF)I\iMMb@Mb@Mb@IIII I9Mkt?Mb~jthYM 0?yMMDM$ AM&@ M@)M@IYM@ e49 ?Y ?=RGyF$E>Q 54~?Q 94#)BY0?Q E:y?Q I?CI:i ;4yƦBɮ4iAkEjhFNOT Ignoring new targets: 281.39 m.Rh:8Zh:8 ProNav: ac range: 281.386230 m, nav range: 273.031036 m, bearing: 72.405881 deg, approach rate: -0.690894 m/s, LOS rate: 0.004186 deg/s, cmd heading: 75.973383 deg, new cmd heading: 75.978730 deg. Bh79HeadingCmd: 1.326079 target range: 281.386230 and range: 280.80 m.h ?h *h "h  h g f ffBdddjdZd\ @M5BɢMvT=)I MU>iI)UtƬBCBu)IBƉBB =BBDBtu;B!0EE= E=E='E9"E=:*E=ą:VE='4ZE9BE=<h`l,B鳭?A2ɍ?2洩?2͈<ٱ2)' >AHRS rotation from veh to nav: [[0.242487,-0.957906,-0.153673],[0.970011,0.236664,0.055400],[-0.016699,-0.162498,0.986568]]2H ?+@ÿT ?`J?@U]?@ Ŀ@?i2ɍ?I2;;];2CYBByFC)IbDNVDNfyV3N%VX=ٔVS;Q-V>9Z"?YZ"?=ZRGyZF^`E^>`Q 5f4b~?Q 9f4b)bBYdyf?Q Ij?bCIb:ibM:bp4ylɮnHiAljhFNOT Ignoring new targets: 281.39 m.Rh R8Zh R8% ProNav: ac range: 281.386230 m, nav range: 272.772034 m, bearing: 72.407522 deg, approach rate: -0.690851 m/s, LOS rate: 0.004380 deg/s, cmd heading: 75.978731 deg, new cmd heading: 75.983657 deg. Bh%b@9-HeadingCmd: 1.326165 target range: 281.386230 and range: 280.80 m.h-ƿ?h)*h)"h) h)g)f1f1f1d1d9d9jdAZdE@ ^ @2Bɢٓ=) U>i)<iZϼi=ƿ?=u<;=;I=ƿ?IA@ @@ @a=DAT read: 15:07:33.0477 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 395, 0.06, 1.406, 0.158, 1.592, 0.876, PHS= 0.633,-0.673, 0.672, RAW= 151.5, -9.6, CAL= 152.1, -11.3, ROT= 357.9, 11.3 MYgot valid direction response: 15:07:33.0477 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 395, 0.06, 1.406, 0.158, 1.592, 0.876, PHS= 0.633,-0.673, 0.672, RAW= 151.5, -9.6, CAL= 152.1, -11.3, ROT= 357.9, 11.3 MPDAT read: Bearing 207.0, -1.3 (Local) U~Local bearing/azimuth received: Bearing 207.0, -1.3 (Local) ]DAT read: Range 11 to 50 : 277.6 m (Round-trip 370.2 ms) speed 0.4 m/s m*DAT read: user:942> uBDAT read: Tx time:15:07:34.1234 u$Ping request sent.ux_ɿY̊C )>IJ "?iI,1,?%:)@+)@ I)@II>[ʮ?_-w?9qHEſ ! ?)L*>IQ iI>:publishing transmit ping timeqFpublishing direction and range infoy-[?Hbe>x_ɿY )Ii )I[ʮ?_-w?9qHEſ )Iiq^Aur;EM  EM EM )EI "EM :*EM :VEM FA4ZEI aU @aU @aU @aU @ԡ A I I O >Js,ͭ?A%|?%܏?%l<ٱ%% mAHRS rotation from veh to nav: [[0.243578,-0.957867,-0.152188],[0.969714,0.237607,0.056538],[-0.017995,-0.161350,0.986733]]Թ%H`-? ئzÿ? i??Nm Ŀ`Q?i%|?I%P];%CY=By=A)I AAiMb@Mb@Mb@ 9ʡE?X9vY/?y} A=@ )Y@bDVD:2y%*=ٔE^0;Q-E>9IYI=MSGyMFMZEU>QQ 5]4UX?Q 9e4UV)QYeT0?Q Ee:ye-?Q Ie?UDCIUF;iU5;U4yuBɮugAuaEiii?AJi'CRi'CjiȠ?beȱLp@tv#T<KR-[?Hbe>x_ɿZiQ biI>jT@5^p@~XLZX4Kc?R? ?pCʿ2iC:ihB"i9ד?*iy⿀BiAAii#>i@|Bi5Ciá? addTargetRange:: Added new target pos. range: 277.600006 m, deltaT: 3.778728 s, deltaX: -3.199982 m, approachRate: -0.846841 m/s, rangeRepo size: 4  Added new target pos. range: 276.307007 m, bearing: 71.969639 deg, lat: 36.779261 deg, lon: -121.859125 deg, deltaT: 7.560083 s, deltaX: -5.079224 m, approachRate: -0.671848 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 276.31 m.RhZh ProNav: ac range: 276.307007 m, nav range: 272.417816 m, bearing: 72.408347 deg, approach rate: 0.000000 m/s, LOS rate: 0.004380 deg/s, cmd heading: 75.983655 deg, new cmd heading: 75.990139 deg. BhHeadingCmd: 1.326278 target range: 276.307007 and range: 277.60 m.h{é?h*h"h hgfffBdd d jd Yq@Zd ?=/Bɢ=L=)9 =X>i9)E3ȯ y,A?AE< E>E<E<"E<*E>:VE<ZE<BE>>>;aF:E>;aFJw?JGc?J<ٱJz% VAHRS rotation from veh to nav: [[0.244891,-0.957667,-0.151337],[0.969359,0.238737,0.057862],[-0.019282,-0.160870,0.986787]]JHX?4_ÿ??`?¾_ĿÓ?iJw?IJrN];JCY^By^K)If@AdbDfVDffyn:=%ni=ٔrp;Q-r>9pYt=vSGyvFv Ev?xQ 5~4z ?Q 94zy)zBYy?Q I?zbCIzp:iz:z4y ɮJgA-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 276.31 m.RhE8ZhE8ԉ ProNav: ac range: 276.307007 m, nav range: 272.181763 m, bearing: 72.409809 deg, approach rate: -0.696019 m/s, LOS rate: 0.004314 deg/s, cmd heading: 75.990137 deg, new cmd heading: 75.994526 deg. Bhy=9 HeadingCmd: 1.326355 target range: 276.307007 and range: 277.60 m.h ũ?h*h"h hgff!f!d!dIdQjdQZdU?uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.,Bɢd}=)  |n>i )h7<i\мiũ?%;;%͂9I%ũ?IiԹ 9@  @UGmeA@/@9eAY~A^A 0::A eAzA % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978998 A) I1 II OU >~,?AYzByzR)IbDVDN2y<%G=ٔQ->9!Y!=%SGy%F%E%>)Q 554-?Q 9=4-r))Y9y9Q I=?-CI-;i-b:-( 4yEBɮETgAMbEjhiuFNOT Ignoring new targets: 276.31 m.Rhu̜8Zhu̜8 ProNav: ac range: 276.307007 m, nav range: 271.898834 m, bearing: 72.411564 deg, approach rate: -0.689743 m/s, LOS rate: 0.004284 deg/s, cmd heading: 75.994529 deg, new cmd heading: 75.999800 deg. Bh(<9HeadingCmd: 1.326447 target range: 276.307007 and range: 277.60 m.hɩ?h*h"h hgfffdddjdZd`6%?*Bɢ,V#=) }>i)䷲<i?мiɩ?;;Ə9Iɩ?IE EE+E"E ;*E$:VE [4ZEa@a@a@a@@ @@ 1@!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231770^A?BɹIA9 IA IY Oe >q †,[?A2)?2?2=$<ٱ2" :AHRS rotation from veh to nav: [[0.247194,-0.957610,-0.147916],[0.968725,0.240829,0.059779],[-0.021622,-0.158067,0.987192]]2H ?¿@?`?L?$;Ŀ?i2)?I2]];0YBByBY)IIF=)F=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.482696iMb@Mb@Mb@ 9V-?Zd;I +?Y-?yy94< A @)Z@Y@bDVDNy<%C=ٔ;Q->9Y=SGyFE>Q 54?Q 94\)BYJ.?Q E:y?Q I?CI ;i2 ;{4yɮ%gAjhFNOT Ignoring new targets: 276.31 m.Rh8Zh8  ProNav: ac range: 276.307007 m, nav range: 271.613586 m, bearing: 72.413305 deg, approach rate: -0.680117 m/s, LOS rate: 0.004155 deg/s, cmd heading: 75.999802 deg, new cmd heading: 76.005030 deg. Bh 69HeadingCmd: 1.326538 target range: 276.307007 and range: 277.60 m.h˩?h*h"h hgfffÈBd!d!d!jd!Zd%@?Q]'Bɢ]E$=)Y ]>iY)eBBV)IBBBBBBu;B/EBCBBB =BC5ԁE EE$E"E&:*E:VE4ZEBEc; 쌫,66?A6?6?6<ٱ6~X" BAHRS rotation from veh to nav: [[0.248285,-0.957416,-0.147341],[0.968419,0.241749,0.061013],[-0.022795,-0.157836,0.987202]]6H?&@¿I?`? =?@W@3Ŀ)?i6?I6];4YFByF^)I LN4<bDRVDR0yZ<%ZZ=ٔ^"M;Q-^>9\Y\=bSGybFbEEb>dQ 5j4f#?Q 9j4f)fBYlyn?Q In?fCIf;ifT;f 4ypɮrgAtjh FNOT Ignoring new targets: 276.31 m.Rhk8Zhk8- ProNav: ac range: 276.307007 m, nav range: 271.358307 m, bearing: 72.414927 deg, approach rate: -0.680424 m/s, LOS rate: 0.004328 deg/s, cmd heading: 76.005027 deg, new cmd heading: 76.009898 deg. Bh->9-HeadingCmd: 1.326623 target range: 276.307007 and range: 277.60 m.h5Ω?h1*h1"h1 h1g1f1f9f9dAdAdAjdAZdE`F?u$Bɢu-=)q u>iy)}BE  E E )E "E ;*E 1:VE FA4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2386269 ד,mP?A]ӌ?]?]<ٱ]s" AHRS rotation from veh to nav: [[0.249718,-0.957080,-0.147098],[0.968020,0.242974,0.062454],[-0.024033,-0.157990,0.987148]]]H`? g`¿???@9Ŀූ?i]ӌ?I]h];]CYĉByt)IiMb@Mb@Mb@ 99Y=SGyFME>Q 54,?Q 94)BY3?Q E:yk?Q I?CI:i:T#4y[BɮdA  XEjh15FNOT Ignoring new targets: 276.31 m.Rh=t7Zh=t7M ProNav: ac range: 276.307007 m, nav range: 271.024811 m, bearing: 72.415677 deg, approach rate: -0.702028 m/s, LOS rate: 0.001581 deg/s, cmd heading: 76.009897 deg, new cmd heading: 76.012150 deg. BhMߊ8UHeadingCmd: 1.326662 target range: 276.307007 and range: 277.60 m.hUЩ?hQ*hY"hY hYgYfYfafeԈBdadadijdiZdm;@颕 Bɢ0=) P>i)H¸<顡isҼiЩ?Y9; IЩ?I%9@! @!@%/@!9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490574^A "5q B A p<B B B \)IB BB B B B u;B /EA5 .AIA IQ O] >,i?A(bEuc44jEu04rEuA0E6 E6E6(E4"E6;*E6$:VE6c44ZE4BE61N2E62NJE6;a>:E6;a>N(?N?N(x<ٱNk" ZAHRS rotation from veh to nav: [[0.250821,-0.956860,-0.146654],[0.967705,0.243898,0.063719],[-0.025201,-0.157900,0.987134]]NH`u ? ¿q?@8?O?QΙ 6Ŀ ?iN(?IN4V];LYb̉Byb})I ddbDjVDjyr+=%rq=ٔvaa;Q-v?9v ?Yz ?=zSGyzFz/]Ez?|Q 54~2?Q 9 4~)~BY y E?Q I ?~CI~;i~#;~D)4y-bBɮ-dA-YEmB*** querying acoustic contact ***ii iijhFNOT Ignoring new targets: 276.31 m.Rh]7Zh]7 ProNav: ac range: 276.307007 m, nav range: 270.785919 m, bearing: 72.416274 deg, approach rate: -0.686989 m/s, LOS rate: 0.001717 deg/s, cmd heading: 76.012151 deg, new cmd heading: 76.013942 deg. Bhі8HeadingCmd: 1.326694 target range: 276.307007 and range: 277.60 m.hѩ?h*h"h hgfffechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.743109dadidijdiZd<@Bɢ~A=) >i)<iRӼi%ѩ?%b8;%I%ѩ?I)5>i1i9@ @@@ԙ^Ay  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994600A ؟AI) I9 OE >^蠫,΃?A2?2eu?2p8<ٱ2=# :AHRS rotation from veh to nav: [[0.251881,-0.956474,-0.147355],[0.967398,0.244699,0.065290],[-0.026391,-0.158996,0.986926]]2H?o¿?@JR?߶?`@YĿ?i2?I2V];0LYRӉByR)IZAAZBAbDZ VDZ2y =%H=ٔ0?;Q- >9 "?Y "?= SGy F1E>Q 5%4:?Q 9%4)BY!y%"?Q I-?:CI$:i:f04y1ɮ5wdA1jhY]FNOT Ignoring new targets: 276.31 m.Rhew8Zhew8u ProNav: ac range: 276.307007 m, nav range: 270.499146 m, bearing: 72.417056 deg, approach rate: -0.717925 m/s, LOS rate: 0.001960 deg/s, cmd heading: 76.013940 deg, new cmd heading: 76.016289 deg. Bhu(8}HeadingCmd: 1.326735 target range: 276.307007 and range: 277.60 m.h}pҩ?hy*h"h hgfffdddjdZd4 @颽BɢJ=) ¸>i) <iӼipҩ?`7;(Ipҩ?IDm=DiEu EuEu)Eq"Eu;*Eu:VEuFA4ZEqa}@a}@a}@a}@9@ @@/@eBDAT read: Rx Time:15:07:36.8957 mTRx dataTimestamp_ set to:1761577658.236170mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.247689^AAA I IQ Ia Ou >,좝?A2Un?2Y?2b<ٱ2Vj" >AHRS rotation from veh to nav: [[0.252690,-0.956477,-0.145941],[0.967155,0.245405,0.066234],[-0.027536,-0.157885,0.987074]]2H,? v5¿?oi?`?25Ŀ@?i2Un?I2I];2CYB܉ByF)Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.498654iimMb@Mb@Mb@iiii i9mx?{GzZd;O?YmK7?ym#mj9Y=SGyFE>Q 540B?Q 94)BY7?Q E:y?Q I?aCIy;i ;74yɮ/dAjhFNOT Ignoring new targets: 276.31 m.RhdZhd  ProNav: ac range: 276.307007 m, nav range: 270.196259 m, bearing: 72.416974 deg, approach rate: -0.717104 m/s, LOS rate: -0.000195 deg/s, cmd heading: 76.016290 deg, new cmd heading: 76.016043 deg. Bh HeadingCmd: 1.326730 target range: 276.307007 and range: 277.60 m.hLҩ?h*h"h hgfffBd!d!d!jd!Zd%@ @UBɢUhIK=)Q ]6>iY)]BqBuo)IBuBBqBqBqBut;Bu/EԹE EE'E"E;*EM:VE'4ZEBE9C y:,{?A2"g?2R?2<ٱ2" :AHRS rotation from veh to nav: [[0.252897,-0.956372,-0.146275],[0.967079,0.245459,0.067145],[-0.028311,-0.158440,0.986963]]2Hx/?`%¿`O?@3k?d0?zGĿ2?i2"g?I2];2CYfByf)IIj=)j<bDrVDryv\=%zU=ٔz;Q-z>9|Y|=~SGy~FjE> Q 54 (I?Q 94 ) BYy?Q I? CI :i : w>4y%+Bɮ%GbA%PEjhIMFNOT Ignoring new targets: 276.31 m.RhUAZhUAe ProNav: ac range: 276.307007 m, nav range: 269.921539 m, bearing: 72.416910 deg, approach rate: -0.717753 m/s, LOS rate: -0.000165 deg/s, cmd heading: 76.016044 deg, new cmd heading: 76.015854 deg. Bhe_mHeadingCmd: 1.326727 target range: 276.307007 and range: 277.60 m.hm0ҩ?hi*hi"hi higqfqfqfqdydydyjdZd @@颭BɢKW=) c>i)><顱iIԼi0ҩ?)4;ThٻI0ҩ?Iu9@q @q@u&2@q%DAT read: 15:07:36.8957 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 172,-0.12,-1.344,-2.820,-0.965,-1.407, PHS= 0.165,-1.368, 0.398, RAW= 157.0, 9.7, CAL= 156.8, 10.5, ROT= 353.2, -10.5 UYgot valid direction response: 15:07:36.8957 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 172,-0.12,-1.344,-2.820,-0.965,-1.407, PHS= 0.165,-1.368, 0.398, RAW= 157.0, 9.7, CAL= 156.8, 10.5, ROT= 353.2, -10.5 ]PDAT read: Bearing 228.2, -9.7 (Local) ]~Local bearing/azimuth received: Bearing 228.2, -9.7 (Local) DAT read: Range 11 to 50 : 276.0 m (Round-trip 368.1 ms) speed 1.1 m/s *DAT read: user:943> BDAT read: Tx time:15:07:37.9734 $Ping request sent.?0ͽm~S?YC )=I(>i>^/@-\->%/@ f;>)C@If;A$O2?An?c? 3%?)&-Iif;m:publishing transmit ping timemFpublishing direction and range infoyaY)>?0ͽm~S?Y )Ii )IA$O2?An?c? )Ii^A`Ի1D zD @AE  E E &E "E V:*E :VE 4ZE a @a @a @a @A I I O >Y =#,ZѮ?AY}By)I ;p;bDVDy<%:=ٔ Q- >99qYq=uSGyuF}E}>Q 54dQ?Q 94)BYyQ I?CII;i;_F4y1BɮEbAii!v?AJi[CRi[Cji ?bmp@k1?+PI@RaY)>?0ͽm~S?Zibif;jqV@zo@AC(qG@ZxV*8?;?V?2i~C:i0B"i}M?*i+uBiBi9ד?iYioBiCi? addTargetRange:: Added new target pos. range: 276.000000 m, deltaT: 4.032016 s, deltaX: -1.600006 m, approachRate: -0.396825 m/s, rangeRepo size: 4  Added new target pos. range: 274.714569 m, bearing: 70.334043 deg, lat: 36.779273 deg, lon: -121.859137 deg, deltaT: 4.032016 s, deltaX: -1.592438 m, approachRate: -0.394948 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 274.71 m.RhZh ProNav: ac range: 274.714569 m, nav range: 269.025299 m, bearing: 72.070957 deg, approach rate: 0.000000 m/s, LOS rate: -0.000165 deg/s, cmd heading: 76.015853 deg, new cmd heading: 76.015626 deg. BhHeadingCmd: 1.326723 target range: 274.714569 and range: 276.00 m.hҩ?h!*h!"h! h!g!f!f)f)d)d1d1jd5@q@Zd5?]BɢeS=)a e>ia)enBu CBu )IBu ډBBu =Bq Bq Bu t;Bu /EAY Ia Iq O > M,r4?AE$ E&E&'E$"E$*E&v:VE&'4ZE$BE&9=ٔM;Q->9Y=SGyFe:E>Q 54X?Q 94Ɲ)BYE?Q E:y.?Q I?CI2 ;i ;M4yɮaAB*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 274.71 m.Rh5xƸZh5xƸE ProNav: ac range: 274.714569 m, nav range: 268.702972 m, bearing: 72.068716 deg, approach rate: -0.779214 m/s, LOS rate: -0.005422 deg/s, cmd heading: 76.015627 deg, new cmd heading: 76.008898 deg. BhE)nMHeadingCmd: 1.326606 target range: 274.714569 and range: 276.00 m.hU6Ω?hQ*hQ"hQ hQgQfQfYf]&BdYdYdajdaZde i?颕 Bɢ]c=) >i)rs<顙i,ּi6Ω?R2;ǻI6Ω?I!@! @)@-4@) ^AM [Rӻ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A I I O >9 5,V?A>?>w?><ٱ>! FAHRS rotation from veh to nav: [[0.251805,-0.956989,-0.144109],[0.967308,0.244238,0.068281],[-0.030147,-0.156591,0.987203]]>H ?``&r¿0?/C?z?ޞ`+ Ŀ`+?i>?I>#];>CYRByR)I TTbDZVDZ0ybC%fr=ٔf:Q-f?9hYh=jSGyhj!:Ej?pQ 5r4r^?Q 9v4r-)rBYtyvC?Q Iv?rCIr:ir:rS4yxɮ~aA|jh!%FNOT Ignoring new targets: 274.71 m.Rh-nɸZh-nɸ= ProNav: ac range: 274.714569 m, nav range: 268.442169 m, bearing: 72.066864 deg, approach rate: -0.774058 m/s, LOS rate: -0.005503 deg/s, cmd heading: 76.008900 deg, new cmd heading: 76.003337 deg. Bh=qEHeadingCmd: 1.326509 target range: 274.714569 and range: 276.00 m.hE˩?hA*hA"hA hAgIfIfIfIdIdQdQjdQZdU ?颅 Bɢr=) t>i)m<顉iּi˩?h1;I˩?II)`A59@1 @1@5/@1Em EmEm)Ei"Em;*Em$:VEmFA4ZEia}@a@a@a@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.230555A^Aqq A I I O >_ǫ,?A :֮?:4?:{ <ٱ:< FAHRS rotation from veh to nav: [[0.250763,-0.957433,-0.142969],[0.967563,0.243215,0.068320],[-0.030639,-0.155464,0.987366]]:H ? J`L¿G?!? g}?_ <ÿ@?i:֮?I:I^;:CYJByJ)IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.482539i-Mb@Mb@Mb@)))) )9-J +?{Gzt~jt?Y-H?y-ף-D<- A-=@ -@)-p@)Y-3@AE@AbDMVDMyUb8=%]A=ٔ]:Q-]>9aYa=eSGyeFmJ&;Em>iQ 5u4mf?Q 9}4m)mBY}H?Q E}:y}?Q I?mDIm" ;im ;mZ4yBɮ_AGEjhFNOT Ignoring new targets: 274.71 m.Rh*Zh* ProNav: ac range: 274.714569 m, nav range: 268.111542 m, bearing: 72.062942 deg, approach rate: -0.782602 m/s, LOS rate: -0.009295 deg/s, cmd heading: 76.003340 deg, new cmd heading: 75.991559 deg. Bh!̹HeadingCmd: 1.326303 target range: 274.714569 and range: 276.00 m.hKĩ?h*h"h hgfffBdddjdZd=?Bɢh=) S>i)w<i׼i%Kĩ?%R0;%iI%Kĩ?I!ԁB=>BB)IBBBBBBt;B/E@ @@ @ ԙE EE*E"E;*E:VE(N4ZEBEDuͫ,8?AHY By )IbD%VD%y5Fw%5L=ٔ5Q-5>9= ?Y= ?==SGy=F=EE>AQ 5M4El?Q 9U4EĆ)EBYQyQQ IU?E%DIE;iEr;Ea4yYɮe `AajhFNOT Ignoring new targets: 274.71 m.Rh*Zh*  ProNav: ac range: 274.714569 m, nav range: 267.797974 m, bearing: 72.059213 deg, approach rate: -0.783071 m/s, LOS rate: -0.009323 deg/s, cmd heading: 75.991558 deg, new cmd heading: 75.980358 deg. Bh ̹HeadingCmd: 1.326107 target range: 274.714569 and range: 276.00 m.h㽩?h*h"h hgfffd!d!d!jd!Zd-{?UBɢU>s=)Q U>iY)]{zu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242428qԫ,ϣR?AjT?j?j<ٱj =AHRS rotation from veh to nav: [[0.247585,-0.958801,-0.139293],[0.968370,0.240290,0.067224],[-0.030983,-0.151531,0.987967]]jH?~^ ??5? `eÿ`l?ijT?Ij1^;jCYiym)II)>)%=bDVD0y]q;%]:=ٔmFL:Q-m>9yYy=SGyF;E>Q 54Lt?Q 94})BYy?Q I?<DI:i:i4yBɮ=`Ajh1=FNOT Ignoring new targets: 274.71 m.Rh=1Zh=1u ProNav: ac range: 274.714569 m, nav range: 267.446198 m, bearing: 72.054777 deg, approach rate: -0.768654 m/s, LOS rate: -0.009707 deg/s, cmd heading: 75.980356 deg, new cmd heading: 75.967029 deg. Bhu+չ}HeadingCmd: 1.325875 target range: 274.714569 and range: 276.00 m.h}D?h*h"h hgfffdddjdZd V_@)-Bɢ-k=)1 5C>i1)5<11i5Xټi=D?=l.;EӣIED?IAR>i%9@! @!@%/@!iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.495316QB >>B B )IB BB B B B 9u;B 0EBCBBB =B =C9+5^Ae mԉ A ؟AI I O > ګ,m?AE* E*E*)E("E*;*E*:VE*FA4ZE(BE*9C9 "?Y "?= SGy F k;E>Q 54{?Q 9%4t)BY%R?Q E%:y%I?Q I-?RDIX;im ;_q4y1ɮ5X`A1MB*** querying acoustic contact ***iQ iQjhYeFNOT Ignoring new targets: 274.71 m.RhewUZhewUu ProNav: ac range: 274.714569 m, nav range: 267.090179 m, bearing: 72.049812 deg, approach rate: -0.835245 m/s, LOS rate: -0.011664 deg/s, cmd heading: 75.967031 deg, new cmd heading: 75.952115 deg. Bhu}HeadingCmd: 1.325614 target range: 274.714569 and range: 276.00 m.h}?h*h"h hgfff$BdddjdZd`@uBɢup=)q u>i)%<isټi?^.;7I?I9@ @@0@)e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998344Y ^A A >A >A I I O >%,?A8>?>yu?>?x<ٱ>T^ FAHRS rotation from veh to nav: [[0.244280,-0.960218,-0.135309],[0.969207,0.237297,0.065784],[-0.031058,-0.147212,0.988617]]>H D?  Q?@_?1װ?͟¿?i>?I>MW^;>CYNByN)IIAbD^ VD^2yfm%fd=ٔjǹQ-j>9hYh=nSGynFnȨ;En>pQ 5v4r?Q 9v4rEjh!%FNOT Ignoring new targets: 274.71 m.Rh-XZh-XE ProNav: ac range: 274.714569 m, nav range: 266.798187 m, bearing: 72.045614 deg, approach rate: -0.821948 m/s, LOS rate: -0.011830 deg/s, cmd heading: 75.952113 deg, new cmd heading: 75.939506 deg. BhE]HeadingCmd: 1.325394 target range: 274.714569 and range: 276.00 m.h]?hY*ha"ha hagafifqfqdyddjdZd @EM EMEM*EI"EM&:*EM:VEM(N4ZEIaU@aU@aU@aU@mBɢu}=)q u)>iq)u# checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502465],3?A2?2w?26<ٱ2׀ >AHRS rotation from veh to nav: [[0.243097,-0.960753,-0.133631],[0.969504,0.236239,0.065222],[-0.031093,-0.145411,0.988883]]2H?}`,?=?`d?`֟`Ҝ¿@?i2?I2|^;2CYBByB)I DDXiMb@Mb@Mb@ 9n?y&1|{GzYVN?y`廙# A@ @)@Y@bD-VD-:y]%e@=ٔ8Q->9Y=-SGy5F=0;EE>Bu@>BqBu)IBuBBu =BqBqBuHu;Bu 0EQ 5=4މ?Q 9=4c)ؐBY=\N?Q E=:yEH?Q IE?~DIVi!)%<))i-Jhۼi5n?bEFA4jE64rE.0E] E]EYEY"E]T;*E]ą:VEYZEYBE]G mBDAT read: Tx time:15:07:41.8234 m$Ping request sent.u+G?P*@¸2{*@ BR)8q@IBR>IQQOiBR>:publishing transmit ping timeiFpublishing direction and range infoyD, ?AJ?J9r ?Yr ?=rSGyrFv;Ev>xQ 5z4z?Q 9~4z9[)zѐBY|y~?Q I~?zDIzB:iz[:z4y ѥBɮ _A ?Ei)i-*?AJi-jCRi-jCji-1?b-?'`Lp@WhJD*E'O&KR-j-&U@lzLDo@:^NZ-v?I^ ?y&|̿2i-"zC:i-B"i-o7?*i-4Bi-y@i-o7?i-+ui)i-ׄCi-?m addTargetRange:: Added new target pos. range: 272.100006 m, deltaT: 3.784487 s, deltaX: -3.899994 m, approachRate: -1.030521 m/s, rangeRepo size: 4 } Added new target pos. range: 270.831543 m, bearing: 71.436462 deg, lat: 36.779291 deg, lon: -121.859149 deg, deltaT: 3.784487 s, deltaX: -3.883026 m, approachRate: -1.026038 m/s, posRepo size: 4 jhy}FNOT Ignoring new targets: 270.83 m.RhZh ProNav: ac range: 270.831543 m, nav range: 265.683380 m, bearing: 71.567412 deg, approach rate: 0.000000 m/s, LOS rate: -0.009599 deg/s, cmd heading: 75.925353 deg, new cmd heading: 75.914036 deg. BhHeadingCmd: 1.324950 target range: 270.831543 and range: 272.10 m.h?h*h"h hgfffdddjdq@Zd?A}Bɢ}br=) >i)o<顡iܼi?].;;I?I9@ @@4@qEe EaEe)Ea"Eel;*EaVEeFA4ZEaau@au@au@au@ԙ^A ;A- ؟AII Iy O > d,5گ?A>+?>r?><ٱ> FAHRS rotation from veh to nav: [[0.239516,-0.961216,-0.136733],[0.970397,0.232510,0.065337],[-0.031011,-0.148334,0.988451]]>Hx?Gv} ???@o@¿c?i>+?I>H%^;9e"?Ye"?=eSGyeFe#;Em>iQ 5u4m?Q 9}4mR)mȐBY}vP?Q E}:y}Ƨ?Q I?mDIm>;imd;m<4yɮf`AjhFNOT Ignoring new targets: 270.83 m.RhUHZhUHe ProNav: ac range: 270.831543 m, nav range: 265.344482 m, bearing: 71.562896 deg, approach rate: -0.822723 m/s, LOS rate: -0.010978 deg/s, cmd heading: 75.914035 deg, new cmd heading: 75.900469 deg. BhmmHeadingCmd: 1.324713 target range: 270.831543 and range: 272.10 m.hm3?hq*hqԱ"hq hgfffBdddjdZd`Lz?]Bɢ]hb=)Y ]F>iY)eߑBmCBm)IBmBBm =BiBiBmhu;Bm0E^A ϩ; Em  Ei Ei Ei "Em ;*Ei VEi ZEi BEm A9 U,?A25?2r ?2M.=ٱ2v :AHRS rotation from veh to nav: [[0.239218,-0.960765,-0.140378],[0.970462,0.231923,0.066453],[-0.031289,-0.152128,0.987865]]2Hಞ? ?? ?@xÿ?i25?I2^;2CYBByBk)IIF4=)F>bDJVDJyR%VV=ٔV>:Q-V>9Z ?YZ ?=ZSGyZFZQ:EZ>\Q 5b4^Ϟ?Q 9f4^J)^BYdyfͧ?Q If?^DI^6:i^ :^蔒4yjBɮj^An5EzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 270.83 m.Rh CGZh CG ProNav: ac range: 270.831543 m, nav range: 265.034698 m, bearing: 71.558743 deg, approach rate: -0.811214 m/s, LOS rate: -0.010888 deg/s, cmd heading: 75.900470 deg, new cmd heading: 75.887997 deg. BhHeadingCmd: 1.324495 target range: 270.831543 and range: 272.10 m.h?h*h"h hgfffdddjdZd)?Bɢ~Od=) >i)'<iQpݼi-?5 r/;5 ;I5?I1IA)EdA9@ @@/@@=@=9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A#2;i A ؟AI I1 OE >E%  E% E! E! "E% ;*E% :VE! ZE! a- @a- @a- @a- @$w,?A(NeE?N0?N=ٱN VAHRS rotation from veh to nav: [[0.238733,-0.960397,-0.143681],[0.970571,0.231163,0.067501],[-0.031614,-0.155567,0.987319]]NHɎ?#d¿ ?@?G?/@ÿ?iNeE?IN'^;NCY^By^T)I f49v"?Yv"?=vSGyvFv:Ez>xQ 54z ?Q 94z5B)zBYyۧ?Q I?zDIz;iz;z4yɮ{_Ajh1mFNOT Ignoring new targets: 270.83 m.RhunIZhunI ProNav: ac range: 270.831543 m, nav range: 264.701050 m, bearing: 71.554229 deg, approach rate: -0.812404 m/s, LOS rate: -0.011007 deg/s, cmd heading: 75.887998 deg, new cmd heading: 75.874437 deg. BhHeadingCmd: 1.324259 target range: 270.831543 and range: 272.10 m.hP?h*h"h hgfffdddjdZd?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496380mBɢmVc^=)i m>ii)u2o ,a(?ABC>BB)IB߉BBBBBu;B10EBJ?B 6?B =ٱB|y" JAHRS rotation from veh to nav: [[0.238574,-0.960101,-0.145907],[0.970599,0.230797,0.068340],[-0.031939,-0.157921,0.986935]]BH?%`¿%??`~?MZ6Ŀ?iBJ?IB3 ^;BCPYRByV9)IiMb@Mb@Mb@E EE*E"E ;*E:VE(N4ZEBEvT9Y=SGyF9E>Q 54 ?Q 948)BYF?Q E:y?Q I?DIBI;i2;4yɮ.`Ajh FNOT Ignoring new targets: 270.83 m.RhZh% ProNav: ac range: 270.831543 m, nav range: 264.317230 m, bearing: 71.550895 deg, approach rate: -0.772145 m/s, LOS rate: -0.006716 deg/s, cmd heading: 75.874440 deg, new cmd heading: 75.864426 deg. Bh{HeadingCmd: 1.324084 target range: 270.831543 and range: 272.10 m.h{?h*h"h hgfffÈBdddjdZdJ@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000346=Bɢ=&I=)a ed>ia)e0Y,ҧE?AVP?V;?VP=ٱVa" ^AHRS rotation from veh to nav: [[0.238397,-0.960110,-0.146139],[0.970622,0.230508,0.068979],[-0.032542,-0.158290,0.986856]]VH`ǃ?7¿V?`E?? OBĿS?iVP?IVn3^;TYz~Byz)I ||bD VD y-%-U=ٔ-:Q-5>95 ?Y5 ?=5SGy5F=9E=>AQ 5M4Eص?Q 9M4E(1)EBYIyU?Q IU?EDIE;iE;EN4y]Bɮ]aA]6EjhFNOT Ignoring new targets: 270.83 m.RhZh ProNav: ac range: 270.831543 m, nav range: 264.026855 m, bearing: 71.548356 deg, approach rate: -0.776750 m/s, LOS rate: -0.006799 deg/s, cmd heading: 75.864427 deg, new cmd heading: 75.856802 deg. BhQHeadingCmd: 1.323951 target range: 270.831543 and range: 272.10 m.h:w?h*h"h hgfffdddjdZdt@BɢM=) >i)mc},k_?A:E?:]0?: =ٱ:$ FAHRS rotation from veh to nav: [[0.238731,-0.959820,-0.147489],[0.970513,0.230606,0.070180],[-0.033349,-0.159894,0.986571]]:H?ض¿@q??V?@jwĿ?i:E?I:A];8YJqByN )Ii%Mb@Mb@Mb@!!!! !9%Gz?ˡE~jtY%p=?y%'%D!%j@ %@)!!Y!11bD=VD=:2yM%MI=ٔM ;Q-U>9U"?YU"?=USGyUF];bE]>aQ 5m4eP?Q 9m4e))eBYm=?Q Eu:yuۢ?Q Iu?eDIe:ie]:ej4y}jBɮ}_A},EjhFNOT Ignoring new targets: 270.83 m.RhϊZhϊchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756455 ProNav: ac range: 270.831543 m, nav range: 263.725647 m, bearing: 71.546815 deg, approach rate: -0.740299 m/s, LOS rate: -0.003792 deg/s, cmd heading: 75.856805 deg, new cmd heading: 75.852176 deg. Bh&HeadingCmd: 1.323870 target range: 270.831543 and range: 272.10 m.ht?h*h"h hgQfYfYf]BdYdadajdaZdeW@颭Bɢ2@=) >i){<iZ߼it?1;;It?IQBB>BBh)IBBB =BBBu;BL0E9@ @@<0@ԁEe EeEe(Ea"Ee%;*Eeą:VEec44ZEaBEeK<2EeK<JEe ;:Ee ;^A8,Iy?A25?2\!?2, =ٱ2$ :AHRS rotation from veh to nav: [[0.239167,-0.959748,-0.147251],[0.970370,0.230885,0.071231],[-0.034366,-0.159924,0.986531]]2H?A¿E ??@19XYX=^SGy^F^LE^>`Q 5j4b^?Q 9n4bo")bBYtyv̢?Q Iz?b"DIb;ibk;b 4y|ɮ~A`A|B*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 270.83 m.Rh5݆Zh5݆E ProNav: ac range: 270.831543 m, nav range: 263.441345 m, bearing: 71.545386 deg, approach rate: -0.732031 m/s, LOS rate: -0.003685 deg/s, cmd heading: 75.852174 deg, new cmd heading: 75.847881 deg. BhE!MHeadingCmd: 1.323795 target range: 270.831543 and range: 272.10 m.hMr?hI*hI"hI hIgQfQfQfQdYdYdYjdYZde>O @eBɢmX==)i mBs>ii)m A> Eu  Eu Eq Eq "Eu T;*Eu :VEq ZEq a} @a} @a} @a} @A I I O% >_$,$?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5123836?6 ?6=ٱ6 % BAHRS rotation from veh to nav: [[0.239854,-0.959550,-0.147425],[0.970165,0.231387,0.072381],[-0.035341,-0.160388,0.986421]]6H?@¿@ ?@??>Ŀ Ð?i6?I6L^;6CYJXByJ(IbDRVDR1yZD%ZJ=ٔZ;Q-^>l9\Y|=~SGy~FE%>!Q 5-4% ?Q 954%)%BY1y5?Q I5?%6DI%:i%:%g4yYɮe`AajhFNOT Ignoring new targets: 270.83 m.RhQZhQ ProNav: ac range: 270.831543 m, nav range: 263.132996 m, bearing: 71.543880 deg, approach rate: -0.734054 m/s, LOS rate: -0.003588 deg/s, cmd heading: 75.847878 deg, new cmd heading: 75.843357 deg. BhHeadingCmd: 1.323716 target range: 270.831543 and range: 272.10 m.ho?h*h"h hgfffd d d jd Zd @]Bɢe8=)a eFd>ia)e 5BDAT read: Tx time:15:07:45.6734 5$Ping request sent.5i33u>!z.@| >X$.@ )>)J@I)DC}?yΦ?oI ? !?) I)ҽi)e:publishing transmit ping time1eFpublishing direction and range infoyE̎7d?B6G ?Y )Ii )IDC}?yΦ?oI ? )Ii^A r;a B ?>B CB 6)IB BB =B B B u;B \0EBMCBMCBIBM =BICMg5A .AI I! O= >*,Ϭ?AEE EEEE$EA"EEl;*EEą:VEE4ZEAQBEE[F9= ?Y= ?==SGy=FEEE>QQ 5]4UB?Q 9]4U7)UBY]z8?Q E]:ye'?Q Ie?ULDIU:iU!;UȒ4yqBɮaA-Eiiv?AJixCRixCji?bZ$}p@ ZD; 1F@RE̎7d?B6G ?Zi)ҽbi)j=عT@l*Y!o@ȩjC@ZlŒ?ox?}{?2i|C:iΥB"iJe?*iܴBiBiiiBieCiԟ? addTargetRange:: Added new target pos. range: 270.200012 m, deltaT: 3.779254 s, deltaX: -1.899994 m, approachRate: -0.502743 m/s, rangeRepo size: 4 M Added new target pos. range: 268.940399 m, bearing: 71.848789 deg, lat: 36.779291 deg, lon: -121.859149 deg, deltaT: 3.779254 s, deltaX: -1.891144 m, approachRate: -0.500401 m/s, posRepo size: 4 jhQUFNOT Ignoring new targets: 268.94 m.Rh]ZhYԁ ProNav: ac range: 268.940399 m, nav range: 262.792877 m, bearing: 71.544274 deg, approach rate: 0.000000 m/s, LOS rate: -0.003588 deg/s, cmd heading: 75.843356 deg, new cmd heading: 75.838181 deg. BhHeadingCmd: 1.323626 target range: 268.940399 and range: 270.20 m.hl?h*h"h hgfffBdddjd@3p@ZdM?Bɢ=1=)9 =x[>i9)Eu=*$2,+Ȱ?A2?2!?2D=ٱ2" :AHRS rotation from veh to nav: [[0.240632,-0.959757,-0.144785],[0.969915,0.232100,0.073445],[-0.036885,-0.158103,0.986734]]2H ?TT¿ ?`q?LͲ?⢿`<Ŀ@R?i2?I2];0YB4ByB(IHbDNVDNyV!%Ve=ٔV;Q-V>9Z"?YZ"?=ZSGyZF^E^>`Q 5f4b:?Q 9f4b )bBYdyf ?Q Ij?b\DIb ;ib;bΒ4yn:Bɮn5`An$EjhFNOT Ignoring new targets: 268.94 m.Rh7Zh7 ProNav: ac range: 268.940399 m, nav range: 262.536346 m, bearing: 71.544618 deg, approach rate: -0.716775 m/s, LOS rate: 0.000963 deg/s, cmd heading: 75.838179 deg, new cmd heading: 75.839213 deg. Bh#)8HeadingCmd: 1.323644 target range: 268.940399 and range: 270.20 m.h*m?h*h"h hgfffdd!d!jd!Zd%`w?颍Bɢ,>,=) &>i)@.<顙i_Ki*m?3; ;I*m?IE1 E5E5)E1"E1*E5:VE5FA4ZE1a=@a=@a=@aE@Y@a @a@e/@a^Am;AdAzAdA! A I I9 OE >TI8,?A:k?:ީ?:=ٱ:gl" FAHRS rotation from veh to nav: [[0.241110,-0.959705,-0.144330],[0.969770,0.232490,0.074130],[-0.037588,-0.157841,0.986749]]:H?@ ky¿@Z? ;?0?> 4Ŀr?i:k?I:g];8YJ/ByN(I|i-Mb@Mb@Mb@)))) )9-㥛 ?p= ףMb`Y-5?y--- A) -@)-@)Y-@bDEVDENyU%U@=ٔ]:Q-]>9aYa=eSGyeFeEm>iQ 5u4m?Q 9}4mQ)mBY}D6?Q E}:y}A?Q I}?moDIm6;im ;mL֒4yɮZ`AjhFNOT Ignoring new targets: 268.94 m.Rh5!8Zh5!8E ProNav: ac range: 268.940399 m, nav range: 262.234070 m, bearing: 71.545434 deg, approach rate: -0.743703 m/s, LOS rate: 0.002010 deg/s, cmd heading: 75.839210 deg, new cmd heading: 75.841661 deg. BhM8MHeadingCmd: 1.323687 target range: 268.940399 and range: 270.20 m.hMn?hQ*hQ"hQ hqgqfqfyf}gBdydydjdZd?ވBɢ'=B=B>B=CB=)IB=jBB9B9B9B=u;B9) ">i).C<顑icin?Y4;ܱ;In?I1e9@a @i@m/@iEM EMEM(EI"EMV:*EM:VEMc44ZEIBEM9s>,?A2fۍ?2Ʃ?2~=ٱ2V :AHRS rotation from veh to nav: [[0.241820,-0.959831,-0.142293],[0.969588,0.233326,0.073878],[-0.037709,-0.155830,0.987064]]2H ?6¿?@??N@ÿ?i2fۍ?I2];2CYB#ByB(IHHbDNVDN0yV %VV=ٔVg9Q-V>9XYX=ZSGyZFZE^>`Q 5f4b ?Q 9f4b)bBYdyf(?Q If?bDIb9:ibR:bܒ4ylɮn`AlzB*** querying acoustic contact ***ix ixjh FNOT Ignoring new targets: 268.94 m.Rh 8Zh 8 ProNav: ac range: 268.940399 m, nav range: 261.962250 m, bearing: 71.546215 deg, approach rate: -0.711096 m/s, LOS rate: 0.002044 deg/s, cmd heading: 75.841662 deg, new cmd heading: 75.844006 deg. Bh%8%HeadingCmd: 1.323728 target range: 268.940399 and range: 270.20 m.h%o?h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=@B?YmۈBɢmƷ%=)q u>iq)u e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752012[E,x?A2?2娩?2=ٱ2f :AHRS rotation from veh to nav: [[0.242698,-0.959738,-0.141427],[0.969345,0.234159,0.074431],[-0.038318,-0.155156,0.987147]]2H?+H¿?`? ? ^%ÿ?i2?I2];2CYBByB(IbDJVDJ1y%E=ٔ :Q->9 Y = SGy FE>Q 5E4U?Q 9E4;)}BYAyM ?Q IM?DI;i:94yUABɮU%aAQjhFNOT Ignoring new targets: 268.94 m.Rhv8Zhv8 ProNav: ac range: 268.940399 m, nav range: 261.666931 m, bearing: 71.547124 deg, approach rate: -0.697813 m/s, LOS rate: 0.002151 deg/s, cmd heading: 75.844005 deg, new cmd heading: 75.846736 deg. ԹBh8HeadingCmd: 1.323775 target range: 268.940399 and range: 270.20 m.hxq?h*h"h hgfffdddjdZd?-؈Bɢ- =)) -`>i))5<11i5mzi=xq?=;4;=;I=xq?IA9@ @@O0@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003929^A;A>A>B= A>B9 B= (IB= GBB9 B9 B9 B= u;B= [0EA I I O- >A E]  E] E] (EY "E] ;*E] :VE] c44ZEY BE] @)b>iEMb@Mb@Mb@AAAA A9Ed;O?V-Mb`?YE4?yEhE;E AES@ E@)EZAAYEz@bD]VD]ym%mB=ٔm.:Q-u>9qYq=uSGyuF}T/E}>Q 54?Q 94)zBY5?Q E:y?Q I?DI:i:4y Bɮ_AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256060jhaeFNOT Ignoring new targets: 268.94 m.RhmL8ZhmL8 ProNav: ac range: 268.940399 m, nav range: 261.367981 m, bearing: 71.548632 deg, approach rate: -0.690504 m/s, LOS rate: 0.003487 deg/s, cmd heading: 75.846737 deg, new cmd heading: 75.851267 deg. Bh-9HeadingCmd: 1.323854 target range: 268.940399 and range: 270.20 m.ht?h*h"h hgfffBBdddjdZdTo@eՈBɢe=)a e\=ii)mRɗR,J?AVw?Vwb?Vh!=ٱVb fAHRS rotation from veh to nav: [[0.244770,-0.959420,-0.140004],[0.968778,0.236128,0.075580],[-0.039454,-0.154132,0.987262]]VH`T? ;?r9?@5Y?@U3ÿগ?iVw?IV3];VCYrByt ~4<~p<bDVDy< %L=ٔV:Q->9Y=SGy%F'E>Q 546?Q 94)wBYyÜ?Q I?DI9:i1:4yBɮ^AjhFNOT Ignoring new targets: 268.94 m.Rh^8Zh^8 ProNav: ac range: 268.940399 m, nav range: 261.075745 m, bearing: 71.550177 deg, approach rate: -0.745417 m/s, LOS rate: 0.003944 deg/s, cmd heading: 75.851266 deg, new cmd heading: 75.855905 deg. Bh>-9HeadingCmd: 1.323935 target range: 268.940399 and range: 270.20 m.hv?h*h"h hgfffdddjdZd q@!5҈Bɢ5"=)1 =>i9)=<99i=xiEv?EM4;ME ;IMv?IIDzDE) E-E-&E)"E)*E-:VE-4ZE)a=@a=@a=@a=@9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760110I^A2;ԁA I I) O5 >ԡ FX,rd?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012040>NX?>C?>m!=ٱ> FAHRS rotation from veh to nav: [[0.245680,-0.958992,-0.141338],[0.968545,0.236908,0.076121],[-0.039515,-0.155594,0.987030]]>H@or? `¿R?S?|?`T;ÿ?i>NX?I>];>CYNByN(Ii%Mb@Mb@Mb@!!!! !9%> ףp=?~jtMb?Y%1?y%%<%h A%@ %@)!!Y%f@bD=VD=:yMn-%MH=ٔM9Q-U>9QYQ=USGyUF]E]>aQ 5m4eD ?Q 9m4e)aYm3?Q Eu:yu?Q Iu?eDIe:ie:e4yyɮ}^AyjhFNOT Ignoring new targets: 268.94 m.Rh(8Zh(8= ProNav: ac range: 268.940399 m, nav range: 260.798981 m, bearing: 71.552026 deg, approach rate: -0.698892 m/s, LOS rate: 0.004676 deg/s, cmd heading: 75.855903 deg, new cmd heading: 75.861459 deg. Bh=cM9EHeadingCmd: 1.324032 target range: 268.940399 and range: 270.20 m.hEy?hA*hA"hA hAgIfIfIfU^BdQdqdqjdyZd}@BA<BBB(IB(BB =BBBu;BO0EԱψBɢ!=) >i)<ixiy?%4;%7:I%y?I)-9@) @)@-F3@)EE EEEAEA"EE:*EE:VEAZEABEE69 O^,fi~?A2[3?2?2#=ٱ2a :AHRS rotation from veh to nav: [[0.246767,-0.958703,-0.141405],[0.968251,0.237902,0.076767],[-0.039956,-0.155859,0.986971]]2H ?భ¿?@s?@?u-ÿD?i2[3?I2C];2CYB ByB(I DDbDNVDN02yz%zP=ٔz:Q-~>9~ ?Y~ ?=~SGyF;E> Q 54 H?Q 94 ) YyЛ?Q I? DI  ;i  ; 4y%Bɮ%^A!EB*** querying acoustic contact ***iA iAjhIUFNOT Ignoring new targets: 268.94 m.RhU8Zh]8m ProNav: ac range: 268.940399 m, nav range: 260.524323 m, bearing: 71.553934 deg, approach rate: -0.698353 m/s, LOS rate: 0.004854 deg/s, cmd heading: 75.861456 deg, new cmd heading: 75.867184 deg. Bhm6U9uHeadingCmd: 1.324132 target range: 268.940399 and range: 270.20 m.hu*}?hq*hq"hq hqgyfyfyfydddjdZd h @颵̈BɢJ$=) >i)]<项ixi*}?R4;9I*}?IPExceeded connect timeout, disconnecting.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5170719@ @@/@9^Arg:q E}  E} E} 'Ey "E} V:*E} خ:VE} '4ZEy a @a @a @a @A% ؟AI) I9 OM >5 DAT read: 15:07:48.3853 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 396, 0.37, 3.125, 1.700,-2.767, 3.134, PHS= 0.093,-1.389, 0.338, RAW= 157.5, 11.8, CAL= 157.7, 13.2, ROT= 352.3, -13.2 = Ygot valid direction response: 15:07:48.3853 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 396, 0.37, 3.125, 1.700,-2.767, 3.134, PHS= 0.093,-1.389, 0.338, RAW= 157.5, 11.8, CAL= 157.7, 13.2, ROT= 352.3, -13.2 E PDAT read: Bearing 230.7, -11.8 (Local) E ~Local bearing/azimuth received: Bearing 230.7, -11.8 (Local) U DAT read: Range 11 to 50 : 230.8 m (Round-trip 307.8 ms) speed 0.7 m/s U *DAT read: user:946> ] BDAT read: Tx time:15:07:49.4734 e $Ping request sent.e  /@ BR> '0@  k>) @I k   ,?nC?:]8?  '?) ?SI i k   :publishing transmit ping timeY  Fpublishing direction and range infoy  Gߤ?DNw :?Y      ) I i      ) I    ,?nC?:]8?  ) I i   !e,ND?A ??*%=ٱ_ AHRS rotation from veh to nav: [[0.247432,-0.958606,-0.140897],[0.968066,0.238540,0.077114],[-0.040312,-0.155479,0.987016]]Hݫ?@¿f?y??ԣÿ`?i?I\;CYBy(IBAbDVDβy<%:=ٔT:Q-5>9="?Y="?==SGy=FE˺EE>IQ 5M4M_?Q 9u4MO)IYqyu?Q I}?MDIMy;iM;MX4yɮ^Aqi1i5Wv?AJi5eCRi5eCji5͜?b5fik@S3y=j=:J@R5Gߤ?DNw :?Zi5 bi5kj5 &; S@M3nj@8K "G@Z58?-t?w?2i5uSC:i5YB"i5F1?*i5Bi5Bi5Je?i5y⿀i1i5܁Ci5?-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 230.800003 m, deltaT: 3.780022 s, deltaX: -39.400009 m, approachRate: -10.423223 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 268.94 m.Rh8Zh8 ProNav: ac range: 268.940399 m, nav range: 260.213562 m, bearing: 71.556145 deg, approach rate: -0.606242 m/s, LOS rate: 0.004318 deg/s, cmd heading: 75.867187 deg, new cmd heading: 75.873828 deg. Bh=9 HeadingCmd: 1.324248 target range: 268.940399 and range: 270.20 m.h ?h *h "h hgfffdddjd%l@ZdE@?颍LjBɢ8"=) >i)<顑i=ri?3;B.I?Iԙ]9@Y @Y@a@aBC>BB(IBBB =BBBu;B ^A= ?BɹAE >AE > A E CEe  Ee Ee )Ea "Ee :*Ee :VEe FA4ZEa BEe < l,C?AyFë?F͚AZ{?Z?Z%=ٱZ bAHRS rotation from veh to nav: [[0.248384,-0.958279,-0.141445],[0.967816,0.239408,0.077557],[-0.040458,-0.156156,0.986903]]ZH? 9¿@Z??ڳ?@춤ÿ`?iZ{?IZ`\;ZCYzByz(IiMb@Mb@Mb@ 99v?Q~jtx?Y4?yu; A@ @)@Y@bDVD03y{=%8=ٔ٬9Q->9Y=SGyFE>Q 54&?Q 94)tBY5?Q E:y^?Q I?DI;iw;4yBɮ\AEjhFNOT Ignoring new targets: 268.94 m.Rh68Zh68- ProNav: ac range: 268.940399 m, nav range: 259.903198 m, bearing: 71.556942 deg, approach rate: -0.840561 m/s, LOS rate: 0.002161 deg/s, cmd heading: 75.873826 deg, new cmd heading: 75.876220 deg. Bh-ڽ85HeadingCmd: 1.324290 target range: 268.940399 and range: 270.20 m.h5U?h1*h1"h1 h1g9f9f9f=gBdAdAdAjdAZdEE?IĈBɢL3=) 5>i)İ<iiU? NZ3; ^-I U?I 9@ @@@yunManaging dock network, ignoring radio surface power offԡ^AI I O > >s,c ϱ?A:?ڌ?:Ũ?:'=ٱ:Ͱ! BAHRS rotation from veh to nav: [[0.249391,-0.957904,-0.142214],[0.967543,0.240283,0.078256],[-0.040790,-0.157115,0.986738]]:H ?@%`4¿?? ?b⤿VĿZ?i:?ڌ?I:\;:CYJByJ(IIN<)N;bDVVDVyZzx%^]=ٔ^j:Q-^>9`Y`=bSGybFf8Ef>hQ 5j4j3.?Q 9n4j)jqBYlyn=?Q Ir?jDIjL;ijY;ju4ytɮv\AtjhFNOT Ignoring new targets: 268.94 m.Rh8Zh8- ProNav: ac range: 268.940399 m, nav range: 259.640533 m, bearing: 71.557677 deg, approach rate: -0.709824 m/s, LOS rate: 0.001990 deg/s, cmd heading: 75.876223 deg, new cmd heading: 75.878432 deg. Bh-Ů85HeadingCmd: 1.324328 target range: 268.940399 and range: 270.20 m.h5?h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdM?uBɢu5=)y } 6>iy)}n 9 y,X?A2 ?2d?2$)=ٱ2! :AHRS rotation from veh to nav: [[0.250308,-0.957679,-0.142119],[0.967286,0.241112,0.078888],[-0.041283,-0.157216,0.986701]]2H ?M 0¿`?`?2?`# Ŀ ?i2 ?I2k\;2CYBByB(IA`AbAABjB>BhBhBhBj =BhBhBju;Bje0EBBBBBC3.5iMb@Mb@Mb@ 97A`?ˡEy&1?Y6?y'`e< A@ @)AY )-bD5VD51yEx%E4=ٔMI:Q-M>9IYI=USGyUFU7 EU>YQ 5e4]y6?Q 9m4])]oBYm6?Q Em:ymɡ?Q Iu?]*DI]E;i]D;]h4yBɮ]AEjh FNOT Ignoring new targets: 268.94 m.Rh-(Zh5(M ProNav: ac range: 268.940399 m, nav range: 259.315613 m, bearing: 71.556600 deg, approach rate: -0.694587 m/s, LOS rate: -0.002306 deg/s, cmd heading: 75.878429 deg, new cmd heading: 75.875194 deg. BhMʸuHeadingCmd: 1.324272 target range: 268.940399 and range: 270.20 m.hu?hy*hy"hy hygyfff`BdddjdZd?Bɢ.=) 7>i)M=IIiMiU?U1;U+3IU?IYE EE)E"E;*E~:VEFA4ZEBEAR,?A 6w?6Ґ?6*=ٱ60! BAHRS rotation from veh to nav: [[0.250940,-0.957534,-0.141977],[0.967104,0.241675,0.079397],[-0.041713,-0.157231,0.986681]]6He?P,¿ ?@5?@\S?e[" Ŀ ?i6w?I6 \;4YF*ByJ(IbDRVDRyZ=%Zh=ٔZ:Q-Z>9\Y\=^SGy^FbEb>dQ 5j4fi)=ii_?%O1;%SI%_?I!q9@ @@4@ԙE EEE"E*E՚:VEZEa@a@a@a@^AeIqIO>u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004397 g҆,?A2Ԝ?2/?29+=ٱ2m! :AHRS rotation from veh to nav: [[0.251192,-0.957485,-0.141862],[0.967027,0.241892,0.079668],[-0.041966,-0.157196,0.986675]]2H`? (¿?M?e?| Ŀ@ؒ?i2Ԝ?I23\;2CLYR-ByR(I TTbD^VD^fyf<%fI=ٔf":Q-f>9hYh=jSGyjFj)En>|Q 5 4~\D?Q 9 4~G)~kBY y ?Q I?~MDI~;i~:~+4yBɮZA EjhFNOT Ignoring new targets: 268.94 m.Rh^Zh=^ ProNav: ac range: 268.940399 m, nav range: 258.771393 m, bearing: 71.554886 deg, approach rate: -0.673999 m/s, LOS rate: -0.002109 deg/s, cmd heading: 75.872794 deg, new cmd heading: 75.870048 deg. Bh=HeadingCmd: 1.324182 target range: 268.940399 and range: 270.20 m.h~?h*h"h hgf fAfIdidqdqjdqZdu@颽Bɢ"@=) o>i)L=i i~?b0;~?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2571899@ @@4@BD>BB(IBBB =BBBu;BV0E^A jb1 E  E E *E "E =;*E :VE (N4ZE BE ~It,6?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5083826?6?6Q-=ٱ6j BAHRS rotation from veh to nav: [[0.251342,-0.957652,-0.140465],[0.966969,0.242085,0.079782],[-0.042398,-0.155878,0.986866]]6H ? @i??l??@ÿ h?i6?I6\;6CYF7ByF(Ii}Mb@Mb@Mb@yyyy y9}^I +?:v9Y=SGyF;E>Q 54K?Q 94h)gBYz9?Q E:y8?Q I?aDI;i;A34yɮkZAjhFNOT Ignoring new targets: 268.94 m.Rh ԸZh Ը ProNav: ac range: 268.940399 m, nav range: 258.459412 m, bearing: 71.552529 deg, approach rate: -0.767719 m/s, LOS rate: -0.005808 deg/s, cmd heading: 75.870049 deg, new cmd heading: 75.862968 deg. Bh%HeadingCmd: 1.324059 target range: 268.940399 and range: 270.20 m.h%z?h!*h!"h! h)g)f)f1f5Bd1d1d1jd9Zd=F@eBɢe.xP=)i m>ii)mEU=iqiu %iuz?}߯/;yI}z?IyAy@ @@/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760352^A_AA>ԙ A I I O >T䓬,RP?A:?:u?:/=ٱ:0 FAHRS rotation from veh to nav: [[0.251747,-0.957670,-0.139612],[0.966843,0.242478,0.080120],[-0.042876,-0.155153,0.986960]]:H@?<`?` ?ł? ÿ`,?i:?I:H];:CYJ9ByN(IbDVVDVy^<+<%^\=ٔb>:Q-b>9`Y`=bSGybFf6Ef>hQ 5n4jIR?Q 9n4j)jdBYlyr*?Q Ir?jrDIj;ijD;j94yvBɮvZAv EjhFNOT Ignoring new targets: 268.94 m.RhkƸZhkƸ- ProNav: ac range: 268.940399 m, nav range: 258.189941 m, bearing: 71.550514 deg, approach rate: -0.724293 m/s, LOS rate: -0.005421 deg/s, cmd heading: 75.862966 deg, new cmd heading: 75.856915 deg. Bh-n5HeadingCmd: 1.323953 target range: 268.940399 and range: 270.20 m.h5Jw?h1*h1"h1 h9g9f9fAfAdAdAdIjdIZdMq@uBybE-4jE^+4rES0E EE'E"E;*E:VE'4ZEa@a@a@a@ɢi0S=) ډ>i)d'=顡i,[iJw?.;fqIJw?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0131239@ @@@ԩ^Ayb]I I O >i I  BDAT read: Rx Time:15:07:52.2314  TRx dataTimestamp_ set to:1761577673.612409 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265648 =,U1j?AB4B4B6(IB6(BB6 =B4B4B6eu;B60E?{?/=ٱʇ -AHRS rotation from veh to nav: [[0.251545,-0.957740,-0.139493],[0.966894,0.242285,0.080082],[-0.042901,-0.155019,0.986980]]HP?`ϥ@`?6?@B?ÿ V?i?I \;CY=;By=(IIEC>)E=iMb@Mb@Mb@ 9~jt?I +I +?Y;?y9494<h A@ C@)AYAbDVDy-<%7=ٔ f8Q- >9Y=SGyF%9E%>)Q 5=4-Y?Q 9=4-D)-`BYE;?Q EE:yE?Q IE?-DI-P;i-P;-A4yɮZAjh FNOT Ignoring new targets: 268.94 m.Rh-Zh-= ProNav: ac range: 268.940399 m, nav range: 257.861786 m, bearing: 71.546502 deg, approach rate: -0.701344 m/s, LOS rate: -0.008585 deg/s, cmd heading: 75.856914 deg, new cmd heading: 75.844864 deg. Bh=EHeadingCmd: 1.323743 target range: 268.940399 and range: 270.20 m.hEfp?hA*hI"hI hIgififqfuBdqdqdyjdyZd}` @Bɢ1M=)  7>i ) B= iifp?-;QVIfp?IE EE+E"E:*Eh:VE [4ZEBE6M ,\?A2"?2}p?2(0=ٱ29 RAHRS rotation from veh to nav: [[0.251880,-0.957492,-0.140587],[0.966803,0.242508,0.080510],[-0.042995,-0.156198,0.986789]]2H? ǣ ?` ?R?bOÿǓ?i2"?I2b\;2CYnFByr(Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770490 <bDVDβyUN=%]C=ٔeEj9Q-e>9Y=SGyFUE>Q 54`?Q 94T)\BYyצ?Q I?DIp;i;I4yVBɮXAEuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 268.94 m.Rh"Zh" ProNav: ac range: 268.940399 m, nav range: 257.549286 m, bearing: 71.542696 deg, approach rate: -0.726043 m/s, LOS rate: -0.008855 deg/s, cmd heading: 75.844866 deg, new cmd heading: 75.833432 deg. Bhw¹HeadingCmd: 1.323543 target range: 268.940399 and range: 270.20 m.hi?h*h"h hgffAfAdIdIdIjdIZdU` @BɢZ=) >i)p^=i5ii?'-; cIi?I!A9@ @@@E EE)E"E;*E:VEFA4ZEa@a@a@a@aU DAT read: 15:07:52.2314 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 405, 0.07,-0.605,-1.950,-0.437,-0.929, PHS= 0.426,-0.976, 0.447, RAW= 150.8, 1.5, CAL= 149.6, 1.1, ROT= 0.4, -1.1 ] Ygot valid direction response: 15:07:52.2314 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 405, 0.07,-0.605,-1.950,-0.437,-0.929, PHS= 0.426,-0.976, 0.447, RAW= 150.8, 1.5, CAL= 149.6, 1.1, ROT= 0.4, -1.1 e PDAT read: Bearing 220.1, -2.3 (Local) m ~Local bearing/azimuth received: Bearing 220.1, -2.3 (Local) u DAT read: Range 11 to 50 : 265.4 m (Round-trip 353.9 ms) speed 0.4 m/s } *DAT read: user:947>  BDAT read: Tx time:15:07:53.3234  $Ping request sent. I% >i% #y% />% q(@% Pw<% '@ % nF<)% ;I% nF! ! % ZW~?̫XY?c? % TV ?)% "ӼI% ;i% nF! !  :publishing transmit ping time  Fpublishing direction and range infoy! % olJ?Sk|?]~?Y! ! ! ! ! ! )! I! i! ! ! ! ! ! )! I! ! ! % ZW~?̫XY?c? ! )! I! i! ! ! ^A _A dAzA fAIY Iq O} >ԑ 0,)?A2x?2*d?2#80=ٱ2K :AHRS rotation from veh to nav: [[0.252244,-0.957512,-0.139797],[0.966708,0.242930,0.080385],[-0.043009,-0.155419,0.986912]]2H`$? D?Q? ? G`ÿ@Ȕ?i2x?I2\;0YBGByB(IbDJVDJkyb;%fh=ٔf,8Q-f>9dYh=jSGyjFj Ej?|Q 54~9f?Q 9 4~)~XBYy=ʦ?Q I=?~DI~fi);j=ii3ic?E,;NnIc?IԡBUE>BQBU(IBU2BBQBQBQBULu;BU0E9@ @@/@E  E E E "E ;*E O:VE ZE BE 9C Z,`?A:v?:za?:0=ٱ:>s FAHRS rotation from veh to nav: [[0.252321,-0.957702,-0.138349],[0.966680,0.243100,0.080201],[-0.043176,-0.153976,0.987131]]:H@&? n ???-|ÿ`?i:v?I:\;8YJAByJ(I PPi%Mb@Mb@Mb@!!!! !9%w/?Mbp?Mb`Y%F?y%;%% A%@ %~@)%A!Y%AbD=VD=k2yMڼ%MB=ٔM~9Q-M>9QYQ=USGyUF]{LE]>aQ 5m4el?Q 9m4e)ePBYmF?Q Em:ym?Q Iu?eDIe:ie:edV4yyɮ}XAyjhFNOT Ignoring new targets: 264.16 m.RhsZhs= ProNav: ac range: 264.164734 m, nav range: 256.882996 m, bearing: 71.594826 deg, approach rate: -0.938821 m/s, LOS rate: -0.014803 deg/s, cmd heading: 75.822893 deg, new cmd heading: 75.807636 deg. Bh="EHeadingCmd: 1.323093 target range: 264.164734 and range: 265.40 m.hE[?hA*hA"hA hAgIfIfIfMBdQdqdqjdqZd}@k?Bɢg=) ,>i))M=i i[?2+;raI[?I9@ @@4@^A) IQ Ii O >Q aD,Ѳ?A2z?2 f?2E1=ٱ2ñ :AHRS rotation from veh to nav: [[0.252185,-0.957707,-0.138567],[0.966711,0.242934,0.080326],[-0.043266,-0.154211,0.987090]]2H#?@`L? y??i2z?I2\;0YB=ByB(IJ@AJ@AbDNVDN0yVΥ%VU=ٔVu9Q-V>9XYX=ZSGyZF^J9E^>`Q 5f4b5s?Q 9f4b y)bIBYdyf?Q If?bDIb-:ibF:b]4yn]BɮnXAnEjhFNOT Ignoring new targets: 264.16 m.Rh q`Zh q` ProNav: ac range: 264.164734 m, nav range: 256.585663 m, bearing: 71.590123 deg, approach rate: -0.774443 m/s, LOS rate: -0.012264 deg/s, cmd heading: 75.807634 deg, new cmd heading: 75.793509 deg. Bh%HeadingCmd: 1.322846 target range: 264.164734 and range: 265.40 m.h%S?h!*h!"h! h)g)f)f)f1d1DqzDqE} E}E}(Ey"E} ;*E}v:VE}c44ZEya@a@a@a@d1djdZd@/?=Bɢ=@b=)9 E;>iA)EI=AAiEiMS?MZ*;uRMIuS?Iq19@  @ @ v3@ Y^AIII Om >ԑ A1 A1 o,?ABqBqBu(IBuABBu =BqBqBuZu;Bu0E4Va?VwL?Vq3=ٱV` ^AHRS rotation from veh to nav: [[0.252933,-0.957431,-0.139107],[0.966488,0.243527,0.081207],[-0.043873,-0.154985,0.986942]]VH0?@F> y?@+?ɴ?`vÿ?iVa?IV\;VCYf@Byf(IiuMb@Mb@Mb@qqqq q9uK7A`?~jtx~jthYuK?yuĻuDud Au@ uQ@)uAqYuAbDVDfy1<%;=ٔߵ:Q->9Y=SGyF:E>QQ 5]4U#{?Q 9]4Uo)UABY]K?Q E]:y]D?Q I]?UDIU:iU:Ue4ym'Bɮm>WAEjhFNOT Ignoring new targets: 264.16 m.Rhl6Zhl6 ProNav: ac range: 264.164734 m, nav range: 256.225525 m, bearing: 71.585508 deg, approach rate: -0.776707 m/s, LOS rate: -0.009968 deg/s, cmd heading: 75.793510 deg, new cmd heading: 75.779644 deg. Bh%ڹuGԙ9YCAHeadingCmd: 1.322604 target range: 264.164734 and range: 265.40 m.hK?h*h"h hgfffʈBdddjdZd&?E EE'E"E%;*E:VE'4ZEBEKi))-d =))i-#i5K?5);=aqI]K?IYԱ@ @@4@ ^A ?Bɺ AI IQ Ia Ou >,?ABf?BQ?B&!4=ٱB. JAHRS rotation from veh to nav: [[0.252771,-0.957382,-0.139735],[0.966527,0.243300,0.081431],[-0.043963,-0.155641,0.986835]]BHf-? ? v$?@ش? I ÿ&?iBf?IB\;BCYR8ByR(IIVl>)V>bD^VD^NybV%fG=ٔfcd9Q-f>9hYh=jSGyjFn/9En>pQ 5v4r?Q 9v4rg)r9BYtyvI?Q Iv?rDIrZ4;irB;rk4y ɮ WA jhYeFNOT Ignoring new targets: 264.16 m.Rhm ;Zhu ; ProNav: ac range: 264.164734 m, nav range: 255.914581 m, bearing: 71.581500 deg, approach rate: -0.792443 m/s, LOS rate: -0.010225 deg/s, cmd heading: 75.779644 deg, new cmd heading: 75.767608 deg. BhHeadingCmd: 1.322394 target range: 264.164734 and range: 265.40 m.h7D?h*h"h hgfffdddjdZd?颕Bɢ^g=) >i) =顙iqi7D?();~=WI7D?Ie9@a @a@e/@aE} E}EyEy"E}=;*E}:VEyZEya@a@a@a@^Ayb]! A I I O >\ Ȭ,c!?AFw?F c?F5=ٱF" NAHRS rotation from veh to nav: [[0.252262,-0.957197,-0.141910],[0.966643,0.242555,0.082269],[-0.044326,-0.157930,0.986455]]FH%?Z *¿?` ??` 7Ŀ ?iFw?IF\;FCYV:ByV(I fp91Y9=SGyF:E> Q 5E4 ?Q 9M4 _) 1BYyy}Z?Q I? DI ~BBBB =BBB7u;B0EBBBBBC 35Bɢ5U_=)9 =>i9)= =99i=_igά,>?A2y?2/e?26=ٱ2Sg# :AHRS rotation from veh to nav: [[0.252198,-0.957099,-0.142680],[0.966656,0.242410,0.082548],[-0.044419,-0.158741,0.986321]]2H$?`UC¿? M?!?QĿ@?i2y?I2\;2CYB6ByB(IiuMb@Mb@Mb@qqqq q9uV-?Mb?MbYuM?yu9 ?Y ?=SGyF9E>Q 54?Q 94 V)&BYM?Q E:y?Q I?+DI:i:^{4y.BɮWAjhFNOT Ignoring new targets: 264.16 m.RhZh ProNav: ac range: 264.164734 m, nav range: 255.212128 m, bearing: 71.570234 deg, approach rate: -0.862132 m/s, LOS rate: -0.016401 deg/s, cmd heading: 75.753949 deg, new cmd heading: 75.733762 deg. Bh4HeadingCmd: 1.321803 target range: 264.164734 and range: 265.40 m.h0?h*h"h hg!f!)f)f-ՈBd1d1d1jd1Zd5 {@Bɢj=)A E>iA)E =IIiMiM0?Um';UܡIU0?IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.75906359@1 @9@9@9Yԁ^A ?BɺE%  E% E% 'E! "E% ;*E% :VE% '4ZE! a- @a- @a5 @a5 @ԩ A ؟AI I O >լ,܄X?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011314:|?:Ph?:Ru6=ٱ:8# BAHRS rotation from veh to nav: [[0.252104,-0.957112,-0.142758],[0.966675,0.242293,0.082665],[-0.044531,-0.158841,0.986299]]:H`z"? E¿@?@w?)?̦ TĿÏ?i:|?I:\;:CYJ"ByJ(I)L PPbDVVDVy^+ܽ%^[=ٔb9Q-b>9b"?Yb"?=fSGyfFfŅ9Ef>hQ 5n4j?Q 9n4jbN)jBYpyr?Q Ir?j?DIj. ;ijK ;j偓4yvBɮvVAvEjhIFNOT Ignoring new targets: 264.16 m.RhZh  ProNav: ac range: 264.164734 m, nav range: 254.913742 m, bearing: 71.564545 deg, approach rate: -0.784901 m/s, LOS rate: -0.014984 deg/s, cmd heading: 75.733759 deg, new cmd heading: 75.716671 deg. Bh$=HeadingCmd: 1.321505 target range: 264.164734 and range: 265.40 m.h='?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM`@ԑBɢa=)  >i) =i]i'?M-';MIU'?IQ9@ @@/@BDAT read: Rx Time:15:07:56.0780 TRx dataTimestamp_ set to:1761577677.644123checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263840^A5 NJκBi Bi Bm (IBm  ܬ,_r?A2R?2s?2A7=ٱ28# :AHRS rotation from veh to nav: [[0.251768,-0.957241,-0.142485],[0.966756,0.241963,0.082680],[-0.044669,-0.158564,0.986338]]2H@?ม@<¿??*?@ަKĿ ?i2R?I2)\;2CYBByB(IiMb@Mb@Mb@ 9 rh?~jt?y&1YL?yD<`e A@ p@)AYAE EE&E"E:*EVE4ZEBE>9 ?Y ?=SGyF/K:E>!Q 5-4%ҝ?Q 9-4%FE)%BY5L?Q E5:y5?Q I5?%UDI%* ;i% ;%4y9ɮEWAAjhFNOT Ignoring new targets: 264.16 m.Rh~Zh~ ProNav: ac range: 264.164734 m, nav range: 254.558151 m, bearing: 71.558206 deg, approach rate: -0.779485 m/s, LOS rate: -0.013915 deg/s, cmd heading: 75.716670 deg, new cmd heading: 75.697626 deg. Bh%HeadingCmd: 1.321173 target range: 264.164734 and range: 265.40 m.h%1?h!*h!"h) h)g)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514875f)fYf]BdadadajdaZde`> @ Bɢ9Y=) ٌ>i1)=޺=顁i i1? i&; ĺI1?!I99@ @@@I M DAT read: 15:07:56.0780 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 401,-0.25, 1.615, 0.310, 1.758, 0.988, PHS= 0.729,-0.634, 0.726, RAW= 149.9, -12.0, CAL= 150.9, -14.0, ROT= 359.1, 14.0  Ygot valid direction response: 15:07:56.0780 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 401,-0.25, 1.615, 0.310, 1.758, 0.988, PHS= 0.729,-0.634, 0.726, RAW= 149.9, -12.0, CAL= 150.9, -14.0, ROT= 359.1, 14.0  PDAT read: Bearing 204.8, -1.2 (Local) ^A= ?BɺA= >A= ?M ~Local bearing/azimuth received: Bearing 204.8, -1.2 (Local) y  DAT read: Range 11 to 50 : 262.8 m (Round-trip 350.4 ms) speed 0.5 m/s  *DAT read: user:948>  BDAT read: Tx time:15:07:57.1734  $Ping request sent.    ,%-"?O%r1?OEwʿ  ?) W>I i 5z>  E :publishing transmit ping time E Fpublishing direction and range infoy  쑗 ?ns679KοY      ) I i      ) I    ,%-"?O%r1?OEwʿ  ) I i   AiIqIO> ,M?AY- By-(IbDEVDE:yu8%u2=ٔuQ-u>9yYy=}SGy}FE>Q 547?Q 94;)BYyQ I?mDI:i=:4yɮ~WAiivn?AJiɂCRiɂCjiR?bY̸o@:0xOR쑗 ?ns679KοZibi5z>j>f.S@?mm@ܽGRZq#?gA?=ѿ2i$oC:isB"i$晊?*iBi8i$晊?i4iwBi6{CiU?u addTargetRange:: Added new target pos. range: 262.799988 m, deltaT: 3.780120 s, deltaX: -2.600006 m, approachRate: -0.687810 m/s, rangeRepo size: 4  Added new target pos. range: 261.576233 m, bearing: 72.211954 deg, lat: 36.779255 deg, lon: -121.859171 deg, deltaT: 3.780120 s, deltaX: -2.588501 m, approachRate: -0.684767 m/s, posRepo size: 4 bE-c44jE-64rE-/E EE*E"E:*E:VE(N4ZEa@a@a@a@jhFNOT Ignoring new targets: 261.58 m.RhZhM ProNav: ac range: 261.576233 m, nav range: 251.214676 m, bearing: 72.215991 deg, approach rate: 0.000000 m/s, LOS rate: -0.013915 deg/s, cmd heading: 75.697627 deg, new cmd heading: 75.678342 deg. BhYeHeadingCmd: 1.320836 target range: 261.576233 and range: 262.80 m.he*?hi*hi"hi higififqfqdqdqdyjd}lp@Zd}@?颥BɢQ=) >i)ݵ=顱ii*?H%;)禺I*?I9@ @@0@i^A ԙ AM ؟AIY Iy O >HU,W?AB>B>B<B>(IB>-BB<B<B<B>pu;B>!0E)Y5By5j(II=R=)=49"?Y"?=SGyFE>Q 54?Q 942)BYL?Q E:y?Q I?DI;i\ ;4yɮhXAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 261.58 m.Rh]=`Zhe=`u ProNav: ac range: 261.576233 m, nav range: 250.858719 m, bearing: 72.210769 deg, approach rate: -0.834104 m/s, LOS rate: -0.012253 deg/s, cmd heading: 75.678346 deg, new cmd heading: 75.662659 deg. BhuuHeadingCmd: 1.320562 target range: 261.576233 and range: 262.80 m.h}1?hy*h"h hgfffBdddjdZd?YBɢG=) K>i)h=i7i%1?%W%;%I%1?I)E EE)E"E:*E:VEFA4ZEBEa2EaJE;a:E;aT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@ 0@ԁ ^A- هAY Ii Iy O >,dz?A4>t?>?>65=ٱ>c FAHRS rotation from veh to nav: [[0.247459,-0.958685,-0.140313],[0.967890,0.237989,0.080936],[-0.044199,-0.155836,0.986794]]>H?`?nv?8?Cnÿ Г?i>t?I>e];>CYNByN\(I V49dYd=fSGyfFj=<Ej>lQ 5r4nŲ?Q 9v4n*)nBYtyz?Q I~?nDIn;in ;nE4%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.945589y-ˣBɮ5PWA5Ejhy}FNOT Ignoring new targets: 261.58 m.Rh{_Zh{_ ProNav: ac range: 261.576233 m, nav range: 250.550613 m, bearing: 72.205919 deg, approach rate: -0.774691 m/s, LOS rate: -0.012211 deg/s, cmd heading: 75.662657 deg, new cmd heading: 75.648087 deg. BhHeadingCmd: 1.320308 target range: 261.576233 and range: 262.80 m.h?h*h"h hgfffdddjdZd?颭BɢhE=) t:>i)=顱ii?%\%;ZV;I?Iԁ9@ @@4@ԱEU EUEQEQ"EU;*EUh:VEQZEQa]@a]@a]@a]@^AvтAzAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.200948 A1 IA IQ O] >D,z?A259TYT=ZSGyZFZ.);EZ>`Q 5%4Z?Q 9%4")BY!y%B?Q I%?DIn;i;p4y1ɮ5WA1jhy}FNOT Ignoring new targets: 261.58 m.RhmZhm ProNav: ac range: 261.576233 m, nav range: 250.223724 m, bearing: 72.200679 deg, approach rate: -0.810283 m/s, LOS rate: -0.013004 deg/s, cmd heading: 75.648088 deg, new cmd heading: 75.632350 deg. BhHeadingCmd: 1.320034 target range: 261.576233 and range: 262.80 m.h?h*h"h hgfffdddjdZd?5Bɢ=R^@=)A M$>iI)Uˀ=iZi?܄%;~;I?I)i1I5A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449742BMD>BIBM(IBMBBIBIBIBMKu;BM0Ea@a @a@e4@a^A _;A Em  Em Em (Ei "Em :*Em :VEm c44ZEi BEi a} 2Ei a} JEi a} :Ei a}  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700144A I I O >%,V?A2;X?2C?25=ٱ2 :AHRS rotation from veh to nav: [[0.245632,-0.959384,-0.138732],[0.968346,0.236293,0.080447],[-0.044398,-0.154101,0.987057]]2Hp?G?>?&?Nÿ?i2;X?I2];2CYBByB5(I DDi Mb@Mb@Mb@     9  rh?:v{GzY CK?y T ף 7A @ ) A Y AbD-VD-ܲy5걽%=A=ٔ=rVQ-=>9AYA=ESGyEFMy;EM>QQ 54U?Q 94UT)UۏBY[K?Q E:y?Q I?UDIU]i)M=项iit? %;;It?IIQ@Q @Q@U/@QEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.952714q^Arg;ԡ A .AI I O >: ,/0?A6^?6v?65=ٱ6[8 >AHRS rotation from veh to nav: [[0.244120,-0.960070,-0.136644],[0.968729,0.234985,0.079660],[-0.044370,-0.151818,0.987412]]6H W??@}??d?৷nÿ@?i6^?I6Q];4YFByF(ILNAAbDRVDR02yZ%ZS=ٔZNQ-^>9^ ?Y^ ?=^SGyb Fb4;Eb>dQ 5j4fuǀ?Q 9j4f)fЏBYhyj?Q In?fDIf:ifp:fc4ypɮrXApjh FNOT Ignoring new targets: 261.58 m.RhZhDD4=E% E%E%&E!"E%=;*E%:VE%4ZE!a-@a5@a5@a5@E ProNav: ac range: 261.576233 m, nav range: 249.591583 m, bearing: 72.194452 deg, approach rate: -0.835126 m/s, LOS rate: -0.008407 deg/s, cmd heading: 75.622898 deg, new cmd heading: 75.613647 deg. BhEMHeadingCmd: 1.319707 target range: 261.576233 and range: 262.80 m.hM*?hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]#@y颍~Bɢ /=) l=i)>=顑ii*?/&; E;I*?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2046811@1 @1@5/@1ԩ^AUϩ;A]>A]>A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467965 BE E>BA BE n(IBE BBE =BA BA BE /u;BE 0EO8 ,V/?AF?FY?FK7=ٱF RAHRS rotation from veh to nav: [[0.243122,-0.960625,-0.134507],[0.968964,0.234122,0.079351],[-0.044735,-0.149625,0.987730]]FH ?o`7??UP? 禿&ÿ|?iF?IFD];FCYZByZ(Ii=Mb@Mb@Mb@9999 99=MbX9?I +Zd;OY=A?y=9=j= A=@ 9)=A9Y=A bDUGVDU15Ae9aYeڦAyu%}1=ٔ}_O:Q-}>9"?Y"?=SGy F;E>Q 54π?Q 94 )ďBYA?Q E:yS?Q I?DI;i :v4yBɮWAܫEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 261.58 m.Rh:ŸZh:Ÿ- ProNav: ac range: 261.576233 m, nav range: 249.242645 m, bearing: 72.191920 deg, approach rate: -0.741449 m/s, LOS rate: -0.005388 deg/s, cmd heading: 75.613650 deg, new cmd heading: 75.606043 deg. BhlHeadingCmd: 1.319574 target range: 261.576233 and range: 262.80 m.h?h*h"h hgfff9BdddjdZd@E5 E5E5)E1"E5:*E5:VE5FA4ZE1BE55v,UJ?Ai(I(2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961737vɍ?v4?v7=ٱv ~AHRS rotation from veh to nav: [[0.242267,-0.960944,-0.133767],[0.969171,0.233317,0.079194],[-0.044890,-0.148829,0.987843]]vH`? Hq?`V?F? ÿi?ivɍ?Iv0];vCY By 'IIN>)=bDVDfy-%5U=ٔ5 9Q-5>95 ?Y= ?==SGy= F=?;E=>AQ 5M4EHր?Q 9U4Ea)EBYQyUq?Q IU?EDIE:iE$:E,ē4y]Bɮ]XAeݫEԉjhFNOT Ignoring new targets: 261.58 m.Rh ԸZh Ը ProNav: ac range: 261.576233 m, nav range: 248.952515 m, bearing: 72.189748 deg, approach rate: -0.773304 m/s, LOS rate: -0.005793 deg/s, cmd heading: 75.606041 deg, new cmd heading: 75.599521 deg. Bhv~HeadingCmd: 1.319461 target range: 261.576233 and range: 262.80 m.h?h*h"h hgfffdddjdZdo@颍yBɢ=) 0 , d?A2ԍ?2?29=ٱ2 :AHRS rotation from veh to nav: [[0.241942,-0.961093,-0.133285],[0.969239,0.232993,0.079316],[-0.045175,-0.148375,0.987899]]2H ?`E |??@ N?`7! ¿ޜ?i2ԍ?I2I}];2CYBtByB'I HJ4<bDN VDN2yV%VT=ٔVRB:Q-Z>9Z"?YZ"?=ZSGyZ F^wb:E^>`Q 5f4b݀?Q 9f4b)bBYdyf|?Q Ij?bDIb|:ib:bʓ4ylɮnPYAljh-FNOT Ignoring new targets: 261.58 m.Rh-dиZh-dи= ProNav: ac range: 261.576233 m, nav range: 248.661713 m, bearing: 72.187544 deg, approach rate: -0.750232 m/s, LOS rate: -0.005693 deg/s, cmd heading: 75.599519 deg, new cmd heading: 75.592898 deg. BhEzEHeadingCmd: 1.319345 target range: 261.576233 and range: 262.80 m.hEL?hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]@ @vBɢS=) @i)%=)9iECtieL?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466758mTC(;  BDAT read: Tx time:15:08:00.9733  $Ping request sent. I% C>i% % >% /@% 6&>% ^/@ % ;0>A I I! O >,~?A) '@I ;0 =ߔ"?T?2k? v&?) %I 5i ;0 ":publishing transmit ping time"Fpublishing direction and range infoy  ,I? º绾!?Y ) I i ) I =ߔ"?T?2k? ) I i э? 鼩? a4:=ٱ  =AHRS rotation from veh to nav: [[0.242033,-0.961064,-0.133326],[0.969203,0.233038,0.079614],[-0.045444,-0.148489,0.987869]] H@?` @@? 2?@a?~D@ÿ ?i э?I v(]; CYfBy'I i=Mb@Mb@Mb@9999 99=`"?~jtQY=7?y==u=~A9 9)=A9Y=AbD}VD}y$V%=ٔ:Q->9Y=SGy FLCE > Q 54 W怊?Q 94 ) BY8?Q E:y?Q I%? (DI ;i =; ԓ4yAɮEYAAi i oe{?AJi \CRi \Cji ?b  k@E52:;TB@R ,I? º绾!?Zi 5bi ;0j &+:.R@S}Ei@K-?@Z  aل!?T A ?̐U?2i >NC:i qB"i ]>֘?*i eBi Bi F1?i i Bi wCi BP?-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 222.000000 m, deltaT: 3.780699 s, deltaX: -40.799988 m, approachRate: -10.791652 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 261.58 m.RhZh  ProNav: ac range: 261.576233 m, nav range: 248.287384 m, bearing: 72.186623 deg, approach rate: -0.695296 m/s, LOS rate: -0.001714 deg/s, cmd heading: 75.592900 deg, new cmd heading: 75.590132 deg. Bh9MHeadingCmd: 1.319297 target range: 261.576233 and range: 262.80 m.hMި?hI*hI"hI hQgqfyffBdddjdk@Zd`}?EsBɢE =)I MּiI)Mj=Iiiu[ iuި?}.);}&,8?A@Z̍?Z?Z!;=ٱZ fAHRS rotation from veh to nav: [[0.242175,-0.961016,-0.133418],[0.969157,0.233136,0.079890],[-0.045671,-0.148650,0.987835]]ZH?U?f?s?#b@ÿW?iZ̍?IZ\;ZCYjJByn'I ppbDvVDvβy~&%~W=ٔ:Q->9Y= SGy F ϹE >Q 54퀊?Q 94)BY!y%?Q I%?:DI[:i:ړ4y-iBɮ-XA5ԫEjhFNOT Ignoring new targets: 261.58 m.RhZh ProNav: ac range: 261.576233 m, nav range: 248.015732 m, bearing: 72.185962 deg, approach rate: -0.732106 m/s, LOS rate: -0.001783 deg/s, cmd heading: 75.590134 deg, new cmd heading: 75.588149 deg. BhHeadingCmd: 1.319262 target range: 261.576233 and range: 262.80 m.hݨ?h*h"h hgfffdddjd Zd- H ?qBɢF<) Ԝi)g0=i;iݨ?y); + -,?Apvg?v?vaE<=ٱvE EE%E"E;*Eą:VE 4ZEBE@9 Y =-SGy-F5E5>9Q 5E4=Q?Q 9E4=)=BYE0?Q EM:yMY?Q IM?=ODI=:i=j:=4yupBɮu'YAqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 261.58 m.Rh8Zh8  ProNav: ac range: 261.576233 m, nav range: 247.689758 m, bearing: 72.188271 deg, approach rate: -0.699676 m/s, LOS rate: 0.004961 deg/s, cmd heading: 75.588146 deg, new cmd heading: 75.595081 deg. BhY9HeadingCmd: 1.319383 target range: 261.576233 and range: 262.80 m.h?h*h"h hgfffBdddYjdYZde'+?mBɢ$Y=) pi)=i-9iE?E*;E;IE?II 9@  @ @ "0@ @% =@% =M T****** received valid address query ******M R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.a ^A5 <A5 >A5 >ԑ I I!O->_5,ִ?A:?:q?:Qm>=ٱ:N BAHRS rotation from veh to nav: [[0.244239,-0.960317,-0.134681],[0.968601,0.234938,0.081344],[-0.046474,-0.150319,0.987545]]:H:C?`7=?q?Ҵ?@x˧`=ÿ?i:?I:\;:CYj:Byn'IbDvVDvy~k%~>=ٔ~B:Q->9Y=SGyF TDE >Q 54?Q 94n)BYy%/?Q I%?aDIX:i:U4y)ɮ-YA)bE-4jE,4rE/E= E=E='E9"E=l;*E=1:VE='4ZE9aM@aM@aM@aM@jhquFNOT Ignoring new targets: 261.58 m.Rh}8Zh}8 ProNav: ac range: 261.576233 m, nav range: 247.396133 m, bearing: 72.190442 deg, approach rate: -0.689819 m/s, LOS rate: 0.005108 deg/s, cmd heading: 75.595079 deg, new cmd heading: 75.601602 deg. ԑBh\`9HeadingCmd: 1.319497 target range: 261.576233 and range: 262.80 m.hF?h*h"h hgfffdddjdZd|?颍kBɢu<) Ľi)/=顑iiF?+;8;IF?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5011139@ @@4@Թ^A#2;Ia I O= > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754952B B B 'IB gBB B B B Au;B 0E ˅;,TT?A2R?2=?2I@=ٱ2`c :AHRS rotation from veh to nav: [[0.245769,-0.959740,-0.136002],[0.968184,0.236235,0.082540],[-0.047089,-0.151961,0.987264]]2HZu?0 h]?)F>i Mb@Mb@Mb@     9 V-?Dl~jtxY -?y O Ļ A @ Z@)  Y bD-VD-ky5꥽%5G=ٔ˽:Q->9Y=SGyFtE>Q 54?Q 94G)BYx.?Q E:y:?Q I?tDI@:i:4yRBɮIYAjh FNOT Ignoring new targets: 261.58 m.Rh 58Zh 58 ProNav: ac range: 261.576233 m, nav range: 247.106857 m, bearing: 72.193089 deg, approach rate: -0.686477 m/s, LOS rate: 0.006289 deg/s, cmd heading: 75.601602 deg, new cmd heading: 75.609553 deg. Bh9%HeadingCmd: 1.319636 target range: 261.576233 and range: 262.80 m.h%?h)*h)"h) h)g)f)f1f5̇Bd1d9d9jd9Zd=Yf?颕hBɢl^<) Pi)4=顙i7i?G+;\;;I?I-9@) @)@-/@)E] E]EYEY"E] ;*E]:VEYZEYBE]Ly $oB,5 ?AN0 ?N?ND=ٱN ZAHRS rotation from veh to nav: [[0.247866,-0.959078,-0.136865],[0.967604,0.238077,0.084040],[-0.048017,-0.153262,0.987018]]NH@?ð̄?`Ky??ÿ`?iN0 ?INa\;NCY^$Bybs'I dfbDjVDj0yr%rO=ٔvJ ;Q-v>9tYx=zSGyzFz任Ez>|Q 54~?Q 94~)~BY y ?Q I ?~DI~p:i~$:~g4yBɮWA˫EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257078jhIMFNOT Ignoring new targets: 261.58 m.RhU8ZhU8e ProNav: ac range: 261.576233 m, nav range: 246.848389 m, bearing: 72.195590 deg, approach rate: -0.679073 m/s, LOS rate: 0.006578 deg/s, cmd heading: 75.609552 deg, new cmd heading: 75.617063 deg. Bhet9mHeadingCmd: 1.319767 target range: 261.576233 and range: 262.80 m.hm?hi*hi"hi hqgqfqfyfydydydyjdZdC>@颭eBɢ|l<) i)=顱i7i?N+;c$;I?IQ9@ @@/@yEu EuEu)Eq"Eul;*Euą:VEuFA4ZEqa}@a}@a}@a}@^A vт;AcAzAdAIqIO>ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509066 H,1 $?A2?2?20H=ٱ2k :AHRS rotation from veh to nav: [[0.250059,-0.958272,-0.138509],[0.966997,0.239953,0.085665],[-0.048855,-0.155359,0.986649]]2H?*`?ɶ?)?ÿ`?i2?I2\;2CYNByRn'IbDZVDZ:yro%rK=ٔr\;Q-v>9tYt=vSGyvFzEz>|Q 54~?Q 94~ )~{BYy ?Q I ?~DI~:i~:~q4y%Bɮ+XA̫EjhFNOT Ignoring new targets: 261.58 m.Rh8Zh8 ProNav: ac range: 261.576233 m, nav range: 246.574249 m, bearing: 72.198394 deg, approach rate: -0.656384 m/s, LOS rate: 0.006719 deg/s, cmd heading: 75.617065 deg, new cmd heading: 75.625484 deg. Bh9HeadingCmd: 1.319914 target range: 261.576233 and range: 262.80 m.h?h*h"h hgfffdddjdZdF@EbBɢENJ<)I MiI)M]=IIiMi]?eh+;e@:Ie?IiԱ59@1 @9@9@9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763277BBB{'IB*BB =BBBJu;B0E^A2; I1 IA OM >Em  Em Em *Ei "Em V:*Em :VEm (N4ZEi BEm 9AHRS rotation from veh to nav: [[0.251795,-0.957834,-0.138398],[0.966500,0.241524,0.086853],[-0.049764,-0.155631,0.986561]]2Hh? ? @? 9Y=SGyFċE>Q 54?Q 94=)wBY-(?Q E:y?Q I?DI;i@:4y BɮWAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 261.58 m.RhP8ZhP8 ProNav: ac range: 261.576233 m, nav range: 246.296112 m, bearing: 72.200749 deg, approach rate: -0.680928 m/s, LOS rate: 0.005773 deg/s, cmd heading: 75.625487 deg, new cmd heading: 75.632561 deg. Bh}9%HeadingCmd: 1.320037 target range: 261.576233 and range: 262.80 m.h%?h!*h!"h! h!g)f)f)f-Bd1d1d1jd9Zd=^@e_Bɢe<)i mdii)m=iiimviu?uh*;}}lI}?Iy9@ @@/@9]BDAT read: Rx Time:15:08:03.7217 eTRx dataTimestamp_ set to:1761577685.208163echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266072^AE8q A I I O >U,ӿW?A 6L?6J8?6N=ٱ61 >AHRS rotation from veh to nav: [[0.253449,-0.957448,-0.138044],[0.966030,0.243063,0.087788],[-0.050499,-0.155604,0.986528]]6H 8?jm`?`? Gy?۩ÿ?i6L?I6^\;4YF-ByF~'INAALbDrVDr:yzu<%zT=ٔz:Q-z>9|Y=SGyF瑻E> Q 54 %?Q 94 ) tBDzDE% E%E%)E!"E%;*E%:VE%FA4ZE!a-@a-@a5@a5@Yy5j?Q I5? DI ;i a;  4y9ɮEWAAjhamFNOT Ignoring new targets: 261.58 m.Rhmd8Zhmd8 ProNav: ac range: 261.576233 m, nav range: 246.042419 m, bearing: 72.203004 deg, approach rate: -0.652107 m/s, LOS rate: 0.005803 deg/s, cmd heading: 75.632563 deg, new cmd heading: 75.639335 deg. Bh~9HeadingCmd: 1.320156 target range: 261.576233 and range: 262.80 m.h?h*h"h hgfffdddjdZd @\BɢQ<) Pi)W=i߼i?u*;4I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517319q9@ @@i0@ԡ^ArgI B <A 4=A IA IY Om > DAT read: 15:08:03.7217 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 155, 0.37, 0.262,-1.301, 0.614, 0.121, PHS= 0.243,-1.378, 0.449, RAW= 155.9, 8.0, CAL= 155.5, 8.3, ROT= 354.5, -8.3  Ygot valid direction response: 15:08:03.7217 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 155, 0.37, 0.262,-1.301, 0.614, 0.121, PHS= 0.243,-1.378, 0.449, RAW= 155.9, 8.0, CAL= 155.5, 8.3, ROT= 354.5, -8.3  PDAT read: Bearing 225.7, -9.5 (Local)  ~Local bearing/azimuth received: Bearing 225.7, -9.5 (Local)  DAT read: Range 11 to 50 : 258.2 m (Round-trip 344.3 ms) speed 0.5 m/s  *DAT read: user:950>  BDAT read: Tx time:15:08:04.8233  $Ping request sent. iu Nbu T>u X$.@u 5>u -@ u V>)u z@Iu Vq q u L *?/ ?*d+? u ?p ?)u ^Iu )Ľiu Vq q  :publishing transmit ping time  Fpublishing direction and range infoyq u 2? G'ЌCz?Yq q q q q q )q Iq iq q q q q q )q Iq q q u L *?/ ?*d+? q )q Iq iq q q ]-\,+s?A$.G8DZd9XY^6A]?]xէ?]7/S=ٱ]G AHRS rotation from veh to nav: [[0.256347,-0.957324,-0.133483],[0.965210,0.246167,0.088157],[-0.051536,-0.151438,0.987122]]]Hg? e@?f?x?b`Pbÿ?i]?I]\;]CY2By'IiEMb@Mb@Mb@AAAA A9EˡE?Q:v?YE'?yEuET9 Y =5SGy5F5E5>9Q 5E4=/?Q 9E4=N)=pBYM(?Q EM:yM?Q IM?=DI=:i=:=4yqɮuqWAyiim?AJiCRiCji|?b 6Qo@ٗ_8G,B@R2? G'ЌCz?Zi)ĽbiVjmT@^{(3n@_D;@ZvT?K&?];G)?2iqC:iB"ip_?*iBiBiiiBitCi/^? addTargetRange:: Added new target pos. range: 258.200012 m, deltaT: 7.565591 s, deltaX: -4.599976 m, approachRate: -0.608013 m/s, rangeRepo size: 4  Added new target pos. range: 256.997528 m, bearing: 70.982359 deg, lat: 36.779235 deg, lon: -121.859171 deg, deltaT: 7.565591 s, deltaX: -4.578705 m, approachRate: -0.605201 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 257.00 m.Rh Zh } ProNav: ac range: 256.997528 m, nav range: 244.976852 m, bearing: 72.679655 deg, approach rate: 0.000000 m/s, LOS rate: 0.005803 deg/s, cmd heading: 75.639339 deg, new cmd heading: 75.648755 deg. BhyHeadingCmd: 1.320320 target range: 256.997528 and range: 258.20 m.h>?h*h"h hgfffBdddjd@3#p@Zdsf?WBɢRH<)! %i))-9^=))i-"߼i5>?5(;5:uI5>?I9ԡ9@ @@/@ ^A] "5 A.AIIO>Md,F ?A2?2a?2āV=ٱ2 :AHRS rotation from veh to nav: [[0.257841,-0.956982,-0.133053],[0.964768,0.247549,0.089117],[-0.052346,-0.151343,0.987094]]2Hw? a??Xж?`ͪ`7_ÿF?i2?I2\\;2CYB7ByB'IIF=)F<bDNVDN1yVJ<%V[=ٔV=;Q-V>9Z ?YZ ?=ZSGyZFZKE^>\Q 5f4^6?Q 9f4^J)^nBYdyfz?Q If?^DI^ ;i^;^X4ynBɮnUAnëEjhFNOT Ignoring new targets: 257.00 m.Rh 9Zh 9 ProNav: ac range: 256.997528 m, nav range: 244.733795 m, bearing: 72.682276 deg, approach rate: -0.681365 m/s, LOS rate: 0.007356 deg/s, cmd heading: 75.648757 deg, new cmd heading: 75.656629 deg. Bh9%HeadingCmd: 1.320457 target range: 256.997528 and range: 258.20 m.h%?h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=w?imTBɢm<)q upliq)u5=qqiu޼i}?}';}'9ϻI?I9@ @@2@E% E%E%)E!"E%=;*E%:VE%FA4ZE!^A#2ԡAIIOg>Թ Olj,?AB?Bbt?B){Y=ٱBց AHRS rotation from veh to nav: [[0.259185,-0.956699,-0.132479],[0.964368,0.248810,0.089927],[-0.053071,-0.151066,0.987098]]BH }?F@? ?`v? ,#VÿN?iB?IB\;@YBBy'I ;4<bD%B}C>ByByByB} =ByByB}u;B}30EVD%ky3=%-=ٔ:Q->9Y=SGyF_BE>Q 54??Q 94)kBYy%L?Q I%?DI:i1:%4y)ɮ-UAIjhFNOT Ignoring new targets: 257.00 m.RhN9ZhN9 ProNav: ac range: 256.997528 m, nav range: 244.419556 m, bearing: 72.685777 deg, approach rate: -0.648084 m/s, LOS rate: 0.007230 deg/s, cmd heading: 75.656633 deg, new cmd heading: 75.667149 deg. BhĞ9HeadingCmd: 1.320641 target range: 256.997528 and range: 258.20 m.h ?h*h"h hgfffdddjdZd\}?PBɢ =) `i)l=iݼi ?%&;%oI% ?I)9@ @@~0@@eA@dAE= E=E=#E9"E=:*E=:VE=3ZE9BE=@8q,ǵ?A2n?29Z?2@Y[=ٱ2x NAHRS rotation from veh to nav: [[0.259949,-0.956651,-0.131322],[0.964138,0.249599,0.090215],[-0.053526,-0.150064,0.987226]]2H`?'7??Q?@gH5ÿ[?i2n?I2 ];2CYZJByZ'I)iMb@Mb@Mb@ 9ʡE?Mb/$?Y-2?y@< A5@ @)YAbDVD:y=%H=ٔd:Q->9Y=SGyF,E>Q 5 4G?Q 9 4|)iBY2?Q E:yg?Q I?DIH:i:,4yɮNUA!=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 257.00 m.RhU:8ZhU:8e ProNav: ac range: 256.997528 m, nav range: 244.137589 m, bearing: 72.687319 deg, approach rate: -0.709773 m/s, LOS rate: 0.003886 deg/s, cmd heading: 75.667151 deg, new cmd heading: 75.671782 deg. Bhe*9mHeadingCmd: 1.320722 target range: 256.997528 and range: 258.20 m.hmi ?hi*hi"hi higqfqfqfuBdydydyjdZd@?颭MBɢu! =) ջi)e=顱iݼii ?$;Ii ?Ii߁I߅AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.59@1 @1@54@9Y^A ΒA=؟AIIIYOuy>yE=  E= E= 'E9 "E= &:*E= ҆:VE= '4ZE9 aE @aE @aE @aE @ԩ - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730579w,{?A6T?6??6v\=ٱ6!  BAHRS rotation from veh to nav: [[0.260716,-0.956519,-0.130760],[0.963910,0.250351,0.090562],[-0.053888,-0.149652,0.987269]]6H ?Λ ¼Z??/?B'ÿ@?i6T?I6 8];4YJSByJ'I LLbDVVDVy^&W=%^b=ٔ^E:Q-b>9b"?Yb"?=bSGybFfEf>hQ 5n4j`N?Q 9n4j2)jgBYlynL?Q Ir?jDIjH;ij;j34ytɮvUAtjhFNOT Ignoring new targets: 257.00 m.Rh38Zh38- ProNav: ac range: 256.997528 m, nav range: 243.885147 m, bearing: 72.688751 deg, approach rate: -0.698608 m/s, LOS rate: 0.003967 deg/s, cmd heading: 75.671782 deg, new cmd heading: 75.676082 deg. Bh-=.95HeadingCmd: 1.320797 target range: 256.997528 and range: 258.20 m.h5?h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM &?uJBɢus=ԙ)1 5B=CB='IB=>BB= =B9B9B=u;B=L0EB1B1B1B1B5 =C54^AIA} .AI I O > $~,&S?AE EE*E"E;*E:VE(N4ZEBED;a:E?;a$$b>M?b8?b]=ٱb jAHRS rotation from veh to nav: [[0.260930,-0.956358,-0.131511],[0.963841,0.250457,0.091007],[-0.054097,-0.150502,0.987129]]bH@?{@W?|?@4L? `Cÿ?ib>M?Ib=];`Yr`Byr'IimMb@Mb@Mb@iiii i9mK?~jtZd;O?Ym^:?ymļmj9 ?Y ?=SGyFyE>Q 54V?Q 94F)dBY:?Q E:y?Q I?)DI ;i* ;:4yǢBɮ:SAEjhFNOT Ignoring new targets: 257.00 m.Rh8checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234691Zh8 ProNav: ac range: 256.997528 m, nav range: 243.570648 m, bearing: 72.688017 deg, approach rate: -0.728396 m/s, LOS rate: -0.001702 deg/s, cmd heading: 75.676085 deg, new cmd heading: 75.673880 deg. BhHeadingCmd: 1.320758 target range: 256.997528 and range: 258.20 m.h?h*h"h hgfffJ ,s0?A2yA?2,?2x^=ٱ2i :AHRS rotation from veh to nav: [[0.261273,-0.956277,-0.131415],[0.963737,0.250774,0.091232],[-0.054287,-0.150486,0.987120]]2H೸?ҙ6? ?Z?˫`!Cÿ}?i2yA?I2\;2CYBdByF'IbDNVDN0yVs<%VZ=ٔVz:Q-V>9Z"?YZ"?=ZSGyZF^{E^>Q 5%4\?Q 9%43)bBY!y%?Q I-?;DI:i:ZA4y1ɮ5SA1jhY]FNOT Ignoring new targets: 257.00 m.RheZheu ProNav: ac range: 256.997528 m, nav range: 243.289795 m, bearing: 72.687384 deg, approach rate: -0.728999 m/s, LOS rate: -0.001646 deg/s, cmd heading: 75.673879 deg, new cmd heading: 75.671977 deg. Bhu}HeadingCmd: 1.320725 target range: 256.997528 and range: 258.20 m.h} ?hy*hy"hy hgfffdddjdZd Y@颽CBɢ1#=) 4=i)=i\Kܼi ?X ;lI ?IԙbEFA4jE34rE_0E= E=E9E9"E=T;*E=:VE9ZE9aU@aU@aU@aU@]9@Y @Y@]/@Y checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738638^AqA .AI I O > ;,i/?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.993039B~J>B|B~'IB~]BB|B|B~DB~u;B~f0EYqBy'IIC>)=imMb@Mb@Mb@iiii i9mK7A`?y&1?:v?YmK?ym`e9 ?Y ?=SGyFE>Q 54d?Q 94M})YBYK?Q E:y?Q I?SDIe:i:I4yɮRAjhFNOT Ignoring new targets: 257.00 m.RhIDZhID  ProNav: ac range: 256.997528 m, nav range: 242.902588 m, bearing: 72.682142 deg, approach rate: -0.790993 m/s, LOS rate: -0.010726 deg/s, cmd heading: 75.671980 deg, new cmd heading: 75.656229 deg. Bh-HeadingCmd: 1.320450 target range: 256.997528 and range: 258.20 m.h5?h1*h1"h1 h1g1f1f9f=fBdAdAdAjdAZdEM @u?Bɢu.(=)q ud=iq)} =yyi}ۼi?k;.I?IEE EEEE'EA"EE&:*EEv:VEE'4ZEABEEc;J,K?A2u?2.a?2[=ٱ2 :AHRS rotation from veh to nav: [[0.259742,-0.956663,-0.131641],[0.964186,0.249345,0.090400],[-0.053658,-0.150407,0.987167]]2H ?`? ?`m$?`y@ÿ@ߖ?i2u?I2 \;2CYB{ByB'IbDNVDNyR[t=%Rp=ٔVQ-V?9V"?YZ"?=ZSGyZFZ;E^?\Q 5b4^ I I OE > BDAT read: Tx time:15:08:08.6733  $Ping request sent. I% -2?i% D,% D?% X*@% +H% v+@ % Vh)% o@I% Vh>! ! % 6–Mu?Ěv?f8ȿ % c?)% qH>I% 5zi% Vh>! ! % :publishing transmit ping time % Fpublishing direction and range infoy! % &?ot:/2̿Y! ! ! ! ! ! )! "ǘ,(d?AIYiYYYYY Y)YIYYY]6–Mu?Ěv?f8ȿ Y)YIYiYYYr6?r?rY=ٱr AHRS rotation from veh to nav: [[0.258795,-0.957056,-0.130651],[0.964466,0.248579,0.089515],[-0.053194,-0.149174,0.987379]]rH?3(?@s? |?E<$ÿ ?ir6?Ir\;rCYBy'IbDVDy ̥<% 6=ٔQ-U>9YYY=eSGye Fem ;Ee>Q 54q?Q 94 m)LBԱYy?Q I?|DI?;i;W4yBɮPAEiYi]B>`?AJi]kCRi]kCji]8?b]06|l@!a2+DRnJR]&?ot:/2̿Zi]5zbi]Vh>j]{t[S@O_1j@B:~"OZ]iH?v?SEPп2i]9TC:i]ޞB"i]Tb?*i] Bi]c@i]$晊?iYi]wBi]rCi]E?-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 236.100006 m, deltaT: 3.790842 s, deltaX: -22.100006 m, approachRate: -5.829841 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 257.00 m.RhDZhD ProNav: ac range: 256.997528 m, nav range: 242.266724 m, bearing: 72.673172 deg, approach rate: -0.755173 m/s, LOS rate: -0.010755 deg/s, cmd heading: 75.644939 deg, new cmd heading: 75.629281 deg. Bh0HeadingCmd: 1.319980 target range: 256.997528 and range: 258.20 m.h?h*h"h hgfffdddjd-@3m@Zd-"?颥9Bɢ4=)  >i)=顱ih]ۼBABB'IBqBB =BBBv;Br0E9@ @@/@ Ee  Ee Ea Ea "Ee :*Ee :VEa ZEa BEe >|,?A2Nj?2X?2N>W=ٱ2 :AHRS rotation from veh to nav: [[0.257339,-0.957479,-0.130424],[0.964893,0.247271,0.088540],[-0.052525,-0.148630,0.987497]]2H`>x?@@f???`䪿Jÿ@?i2Nj?I2\;2CYBByB'I1iMMb@Mb@Mb@IIII I9MQ?Q?YMU?yM9yY=SGy!F$d;E>Q 54lx?Q 94c)BBYU?Q E~:y@?Q I?DI:i:|_4yɮPAjhFNOT Ignoring new targets: 257.00 m.RhOZhO ProNav: ac range: 256.997528 m, nav range: 241.908020 m, bearing: 72.666590 deg, approach rate: -0.876056 m/s, LOS rate: -0.016099 deg/s, cmd heading: 75.629284 deg, new cmd heading: 75.609510 deg. Bh0HeadingCmd: 1.319635 target range: 256.997528 and range: 258.20 m.h?h*h"h hgfffBdddjd Zd  L?56Bɢ=O;=)9 =>i9)=#F=99iEN1ۼiE?M;iI?I1a@ @@0@ԉ^A [RӻԹ A9 IA IQ Oe >¦,[?AD"=D"<E& E&E&)E$"E&;*E&:VE&FA4ZE$a*@a*@a*@a*@>?>s?>PR=ٱ> fAHRS rotation from veh to nav: [[0.255200,-0.957981,-0.130939],[0.965517,0.245282,0.087252],[-0.051469,-0.148691,0.987543]]>H1U?`ȧ? ce?,V?.ZKÿ?i>?I>\;>CYn~Byn'IbDvVDvy~p[%~S=ٔ2Q->9Y = SGy "F ;E >Q 54p~?Q 94[)8BY!y%?Q I%?DI@;i;?f4y)ɮ-PA1jhQ]FNOT Ignoring new targets: 257.00 m.Rh]{Zh]{m ProNav: ac range: 256.997528 m, nav range: 241.586105 m, bearing: 72.660495 deg, approach rate: -0.832811 m/s, LOS rate: -0.015790 deg/s, cmd heading: 75.609511 deg, new cmd heading: 75.591201 deg. Bhua-uHeadingCmd: 1.319315 target range: 256.997528 and range: 258.20 m.huSߨ?hy*hy"hy hygyfffdddjdZd ?ԙ颽3BɢV<=) >i)ϼ=i ۼiSߨ?.;=;ISߨ?I9@ @@4@^AA I II B M>B B 'IB {BB B B B v; B 0EI /G eA AO > u9 eAY rA쬭,6?A2U?2A?2yN=ٱ2~ :AHRS rotation from veh to nav: [[0.253193,-0.958466,-0.131289],[0.966103,0.243442,0.085917],[-0.050387,-0.148592,0.987614]]2HP4? P?`)??V̩`ÿ?i2U?I2\;2CYBsByB'Iaz@az az@az az@az az@az bDVDN2y Y%I=ٔ.Q->9Y=SGy#F%;E%>!Q 5-4%?Q 954%R)%/BQ A5+:Y1Q E5M:y5ά?Q I5?%DI%:i%>%l4yɮ?QAjh  FNOT Ignoring new targets: 257.00 m.Rh-Zh-% ProNav: ac range: 256.997528 m, nav range: 241.248169 m, bearing: 72.653910 deg, approach rate: -0.790715 m/s, LOS rate: -0.015428 deg/s, cmd heading: 75.591199 deg, new cmd heading: 75.571418 deg. Bh%j)-HeadingCmd: 1.318970 target range: 256.997528 and range: 258.20 m.h-Ԩ?h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdEϫ?m0Bɢm\6=)q un>iq)uo1=yyi}]ڼiԨ?=;wIԨ?IE] E]EYEY"E]:*E]:VEYZEYBEYam2EYamJE];am:E];au@ @@/@@dA@aA!^A 7QAa Ii Iy O >y ׳,ж?A2ӡ?2,?2jZJ=ٱ2} :AHRS rotation from veh to nav: [[0.250960,-0.959046,-0.131337],[0.966737,0.241393,0.084549],[-0.049383,-0.148186,0.987726]]2H?? ??H¿ s?i2ӡ?I2\;2CYBhByB'IbDJVDJβyRY%RQ=ٔV(Q-V>9TYT=VSGyV$FZ;EZ>\Q 5b4^?Q 9b4^sJ)^&BQ Af :YdQ Ef&:yf?Q If?^DI^H:i^L?^|p4yjhBɮnOArE~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 257.00 m.Rh Zh % ProNav: ac range: 256.997528 m, nav range: 240.923050 m, bearing: 72.647377 deg, approach rate: -0.874639 m/s, LOS rate: -0.017600 deg/s, cmd heading: 75.571419 deg, new cmd heading: 75.551792 deg. Bh%BA-HeadingCmd: 1.318627 target range: 256.997528 and range: 258.20 m.h-Ȩ?h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE`Ξ?m.BɢmГ4=)i mX=iq)u=qqiu7ڼi}Ȩ?}ހ;}1B:IȨ?IQ9@ @@/@yDQzDU?AE] E]E](EY"E]&:*E]:VE]c44ZEYae@am@am@am@^A9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩA I! I9 OU > , ?A6݌?6\Ȩ?6H=ٱ6 BAHRS rotation from veh to nav: [[0.249220,-0.959251,-0.133140],[0.967215,0.239607,0.084165],[-0.048834,-0.149750,0.987517]]6H@n? 0 l?p?ԋ?@+ÿ?i6݌?I6\;6CYFdByJ'IbDRVDRkyZ%ZI=ٔZtQ-^>9\Y\=bSGyb%Fbԑ;Eb>dQ 5j4fǐ?Q 9j4fA)fBQ Aj9YlQ En:ynU?Q In?fDIfm ;ifG?f@t4yroBɮrWPAtjh FNOT Ignoring new targets: 257.00 m.RhRZhR ProNav: ac range: 256.997528 m, nav range: 240.585907 m, bearing: 72.640438 deg, approach rate: -0.834139 m/s, LOS rate: -0.017192 deg/s, cmd heading: 75.551789 deg, new cmd heading: 75.530943 deg. Bh<HeadingCmd: 1.318264 target range: 256.997528 and range: 258.20 m.hݼ?h*h"h hgfffdddjdZd@m+Bɢm1=) =i)C=iڼB-L>B)B-'IB-qBB)B)B)B-)v;B-0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.230587i ݼ? ;^%=;Iݼ?I!9@ @@@ Em  Em Em &Ei "Em ;*Em :VEm 4ZEi BEm OA% > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4808911 Au .AIy I O >8,y?A2*?2?2oD=ٱ2J :AHRS rotation from veh to nav: [[0.246934,-0.959949,-0.132366],[0.967846,0.237563,0.082696],[-0.047939,-0.148530,0.987745]]2H?^?th?+?@x ÿ?i2*?I2\;2CYBJByB'Iaeae aeae aa aa iMb@Mb@Mb@ 9X9v?L7A`?~jtY]?y+=`A@ A)~AYfAbD VD yϽ%&=ٔQ->9% ?Y% ?=%SGy%'F-5;E->1Q 5=45p?Q 9=456)5 BQ A=T:Y=*^?Q EEt:yE?Q IE?5DI5%;i5;5|4yIɮM#QAIjhq}FNOT Ignoring new targets: 257.00 m.Rh}Zh} ProNav: ac range: 256.997528 m, nav range: 240.162186 m, bearing: 72.631560 deg, approach rate: -0.861914 m/s, LOS rate: -0.018090 deg/s, cmd heading: 75.530943 deg, new cmd heading: 75.504264 deg. BhFHeadingCmd: 1.317798 target range: 256.997528 and range: 258.20 m.h?h*h"h hgfff~BdddjdZd y@(Bɢ$%=) =i)'1=i^ڼi?#;4;I?I@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732573!^A9 E=  E= E= )E9 "E= %;*E= :VE= FA4ZE9 aE @aE @aE @aE @I A ؟AI I O >ǭ, 2 ?A2>t?2_?2A=ٱ2g :AHRS rotation from veh to nav: [[0.244771,-0.960622,-0.131500],[0.968426,0.235604,0.081496],[-0.047305,-0.147296,0.987961]]2HT?j@Y?B(?`ܴ?g8¿_?i2>t?I2\;0Yn9Byn'I ppbDzVDzky%_=ٔQ- >9 "?Y "?= SGy (F;E>%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984317Q 5-4?Q 9-4.)BY1y5ɭ?Q I5?DI:i:;4yEBB'IBXBBBBBv;Bv0EBCBCBB =B =C$ 5ԑ^A;BDAT read: Rx Time:15:08:11.3880  TRx dataTimestamp_ set to:1761577692.796527 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243608A I I O% >Թ Wͭ, :?A6/?6?6]?=ٱ6 BAHRS rotation from veh to nav: [[0.242740,-0.961087,-0.131869],[0.968967,0.233664,0.080655],[-0.046703,-0.147355,0.987980]]6H ? 9 ?@?˥?駿`¿ ?i6/?I6\;6CYJ"ByJq'IE EE'E"El;*E$:VE'4ZEBE[F9Y=SGy)F׊;E>Q 54?Q 94&$)BYT?Q E:yӬ?Q I?2DI:i:ꋔ4yɮPA5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488874!jhYeFNOT Ignoring new targets: 257.00 m.RhevZhmvu ProNav: ac range: 256.997528 m, nav range: 239.437637 m, bearing: 72.616650 deg, approach rate: -0.817243 m/s, LOS rate: -0.016224 deg/s, cmd heading: 75.483842 deg, new cmd heading: 75.459469 deg. Bh}'2}HeadingCmd: 1.317016 target range: 256.997528 and range: 258.20 m.h}?h*h"h hgfffdBdddjdZd@l @#BɢS=) i)5M=iټi?^; ] BDAT read: Tx time:15:08:12.4733 ] $Ping request sent.e i ~ > '0@ 6&> /@ ;0>) @I ;0 ~m{?ʍtQ?V;1:p? (?) 6&I i ;0  :publishing transmit ping timeY  Fpublishing direction and range infoy  @ @?)ɔeu!?Y ) I i ) I ~m{?ʍtQ?V;1:p? ) I i Aq Iy I O >l_խ,V?A?*Ω?vq==ٱl AHRS rotation from veh to nav: [[0.241514,-0.961080,-0.134153],[0.969295,0.232337,0.080538],[-0.046234,-0.149485,0.987682]]H`?)+w?`5?? R"ÿ@?i?I9\;YBy@'IbD-VD-ky}C%}J=ٔ}kQ->9Y=SGy*FO;E>Q 54?Q 94)܎BYy?Q I?GDI:i:뒔4yɮ RAiiS?AJigCRigCjip?bؾ?Ml@Գ=C@R@ @?)ɔeu!?Zi bi;0je~S@\kj@#;@@Z]U?+s3?7rj?2iWC:iB"i5W?*i'BiBi5W?i'iBiheCi? addTargetRange:: Added new target pos. range: 232.899994 m, deltaT: 7.584328 s, deltaX: -25.300018 m, approachRate: -3.335829 m/s, rangeRepo size: 4  Added new target pos. range: 231.819702 m, bearing: 70.127247 deg, lat: 36.779294 deg, lon: -121.859311 deg, deltaT: 7.584328 s, deltaX: -25.177826 m, approachRate: -3.319717 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 231.82 m.bEMc44jEMc44rEM//E EE)E"E;*EǙ:VEFA4ZEa@a@a@a@RhZh ProNav: ac range: 231.819702 m, nav range: 229.406830 m, bearing: 70.126438 deg, approach rate: 0.000000 m/s, LOS rate: -0.016224 deg/s, cmd heading: 75.459465 deg, new cmd heading: 75.439384 deg. BhHeadingCmd: 1.316666 target range: 231.819702 and range: 232.90 m.h?h*h"h hgAfAfAfAdIdIdIjdMm@ZdUR ?额 Bɢ<) i)=i]ټi?;ׯ,ۭ,1r?AQ+??9=ٱO MAHRS rotation from veh to nav: [[0.240152,-0.961179,-0.135875],[0.969674,0.230984,0.079866],[-0.045381,-0.150934,0.987502]]HM?Vd?`?r? &< Qÿ?i+?I\;CYUBy])'II]=)]9= ?Y= ?==SGy=+F=K;EE>IQ 5U4M?Q 9U4Ml)M̎BYUK?Q EU:yUѩ?Q IU?M^DIM:iMq:Mߚ4yeCBɮeRAa}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 231.82 m.Rh¹Zh¹ ProNav: ac range: 231.819702 m, nav range: 229.047409 m, bearing: 70.117166 deg, approach rate: -0.820608 m/s, LOS rate: -0.021202 deg/s, cmd heading: 75.439385 deg, new cmd heading: 75.411526 deg. BhhHeadingCmd: 1.316179 target range: 231.819702 and range: 232.90 m.hx?h*h"h hgfffBdddjdZd@?Bɢ<) ۽i)x=iؼyix?;,FP,힌?AY чBy  'IbDVD0y5%5k=ٔ5Q-5?99Y9==SGy=,F=EE?AQ 5e4ԩE?Q 94Ed )EBYyQ I?EpDIE@AE>E EE-E"E;*EVEt4ZEa@a@a@a@A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243592) 9$,W?A6?6 ?6a8=ٱ6 BAHRS rotation from veh to nav: [[0.240229,-0.960393,-0.141190],[0.969673,0.230677,0.080768],[-0.045000,-0.156310,0.986682]]6H@ֿ?¿?`φ?7?= `Ŀ?i6?I6~\;6CYJByJ&IbDR VDR2ybu%bS=ٔfQ-j>9n"?Yr"?=rSGyr-FvHJEv>|Q 5 4~ ?Q 9 4~t)~BYyǩ?Q I?~DI~oV;i~pN;~ɧ4y)ɮ-RA)jhFNOT Ignoring new targets: 231.82 m.RhiZhi ProNav: ac range: 231.819702 m, nav range: 228.463959 m, bearing: 70.102077 deg, approach rate: -0.795235 m/s, LOS rate: -0.020590 deg/s, cmd heading: 75.390228 deg, new cmd heading: 75.366198 deg. BhbHeadingCmd: 1.315388 target range: 231.819702 and range: 232.90 m.h^?h*h"h hgfffdddQjdQZdU. ?颥Bɢr<) Di) =顩i[׼iU^?U{ ;U[Mԙ E  E E (E "E ;*E :VE c44ZE BE 9C9Y=SGy.F غE >Q 5=4ǁ?Q 9E4?)BYEV>?Q EE:yE,?Q IE?DI;i:z4yYɮ]xSAYqjhFNOT Ignoring new targets: 231.82 m.Rh/Zh/ ProNav: ac range: 231.819702 m, nav range: 228.138245 m, bearing: 70.097879 deg, approach rate: -0.743085 m/s, LOS rate: -0.009590 deg/s, cmd heading: 75.366199 deg, new cmd heading: 75.353588 deg. BhҹHeadingCmd: 1.315168 target range: 231.819702 and range: 232.90 m.hoW?h*h"h hgfffՇBdddjdZd`?eBɢe<)e e~mia)m=i1i5׼i=oW?E!;EhE],1ڷ?A2ƍ?2l?2V;=ٱ2 & :AHRS rotation from veh to nav: [[0.242370,-0.959186,-0.145666],[0.969106,0.232281,0.082942],[-0.045721,-0.161268,0.985851]]2H?`+¿?^?@;? h@mĿ`?i2ƍ?I2\;2CYB~ByB&IbDNVDNfyR=%V]=ٔV>:Q-V>9XYX=ZSGyZ/F^qE^>pQ 5z4ŕ?Q 9z4r@)rBYxyz?Q I~?rDIr;ir:r 4yɮTAjh)-FNOT Ignoring new targets: 231.82 m.Rh5E.Zh5E.E ProNav: ac range: 231.819702 m, nav range: 227.860306 m, bearing: 70.094398 deg, approach rate: -0.759363 m/s, LOS rate: -0.009523 deg/s, cmd heading: 75.353591 deg, new cmd heading: 75.343135 deg. BhE ѹMHeadingCmd: 1.314986 target range: 231.819702 and range: 232.90 m.hMtQ?hI*hI"hI hIgQfQfQfQdYdYdYjdYZdeP@-Bɢ-Ą]<)) -i))5j=11i5$Pּi=tQ?=b";=2- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503627% G1 *,Dj?AfA"AZ9ZfAY^dAYlBy&IiMb@Mb@Mb@ 9M?MbZd;OYn2?yjzA@ A)AY=AbDVDy%"=ٔQ->9Y=SGy0FE>Q 54ׁ?Q 94)BYG3?Q E:ym?Q I?DIX;i ;4yBɮSAEB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 231.82 m.Rh-Zh-= ProNav: ac range: 231.819702 m, nav range: 227.511673 m, bearing: 70.093828 deg, approach rate: -0.698571 m/s, LOS rate: -0.001144 deg/s, cmd heading: 75.343134 deg, new cmd heading: 75.341420 deg. Bh= IEHeadingCmd: 1.314956 target range: 231.819702 and range: 232.90 m.hEyP?hA*hA"hA hAgIfIfIfMBdQdQdQjdQZd]N@颅Bɢ2e<) _i))-3=))i-Nռi5yP?5^O$;5iN6,/?A>?>Ө?>D=ٱ>". FAHRS rotation from veh to nav: [[0.248890,-0.956515,-0.152096],[0.967339,0.237707,0.088039],[-0.048056,-0.169040,0.984437]]>H? śwÿp?.m?? ֚@ſ?i>?I>\;>CYNTByNs&IIR>)R4=bDZVDZܲy^%bt=ٔbg;Q-b?9dYd=fSGyf1FjDEj?lQ 5n4n{ށ?Q 9r4n)nBYpyr?Q Ir?nDIn:in:nĔ4yxɮzTAxjhFNOT Ignoring new targets: 231.82 m.Rh%&5Zh%&55 ProNav: ac range: 231.819702 m, nav range: 227.277451 m, bearing: 70.093852 deg, approach rate: -0.699947 m/s, LOS rate: 0.000071 deg/s, cmd heading: 75.341419 deg, new cmd heading: 75.341491 deg. Bh5H6=HeadingCmd: 1.314957 target range: 231.819702 and range: 232.90 m.h=P?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdUB@}Bɢ};)y }i)z =顁icԼiP?ѣ$;V;IP?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007959ԁԱ ؼe9@i @i@i@iE EEE"E;*E:VEZEa@a@a@a@ BDAT read: Rx Time:15:08:15.2122  TRx dataTimestamp_ set to:1761577696.572113 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260747^A *:< AYIiIO>@% ,f.?APB L>B B &IB nBB  =B B DB _v;B 0EYeIByef&IbDuVDufy0%"=ٔQ->9Y=SGy2FE>Q 54聊?Q 94")zBYyQ I?DI<;i;c͔4yɮTAjhIUFNOT Ignoring new targets: 231.82 m.Rh]5Zh]5m ProNav: ac range: 231.819702 m, nav range: 226.926422 m, bearing: 70.093888 deg, approach rate: -0.678486 m/s, LOS rate: 0.000069 deg/s, cmd heading: 75.341488 deg, new cmd heading: 75.341595 deg. BhmC6uHeadingCmd: 1.314959 target range: 231.819702 and range: 232.90 m.huP?hq*hq"hq hygyfyfyfdddjdZd 8 @颵Bɢ@*<) }ži) =项iӼiP? /%;/;IP?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511735ԅt>iE] EYEYEY"E];*EYVEYZEYBE]9CX?> D?>L=ٱ>. FAHRS rotation from veh to nav: [[0.253109,-0.955560,-0.151134],[0.966147,0.241599,0.090501],[-0.049965,-0.168924,0.984362]]>H2?@\Xÿ`?@?+?`Oſ`?i>X?I>\;>CYRFByRb&Ii-Mb@Mb@Mb@))))1 )9-MbX9?~jt{GztY-!?y-Ľ-ף-3A-x@ -A)- A)Y-3AbDEVDEβyU +%]%=ٔ]d|;Q-]>9YYa=eSGye4FeEe>iQ 5u4m?Q 9}4my)muBY}#?Q E}:y}?Q I}?mDIm:ima:m֔4yBɮ0UAEjhFNOT Ignoring new targets: 231.82 m.RhA39ZhA39 ProNav: ac range: 231.819702 m, nav range: 226.609894 m, bearing: 70.098598 deg, approach rate: -0.657340 m/s, LOS rate: 0.009795 deg/s, cmd heading: 75.341597 deg, new cmd heading: 75.355746 deg. Bh9MHeadingCmd: 1.315206 target range: 231.819702 and range: 232.90 m.hMX?hQ*hQ"hQ hQgQfQfYf]BdYdYdajdaZde`0 @ Bɢ(<<) ľi)^Z =ibѼiX?%; :IX?DAT read: 15:08:15.2122 LVL= 30624, 32753, 27506, 29171, AGC= 59, IDX= 176,-0.19,-0.232,-1.683,-0.010,-0.907, PHS= 0.777,-0.731, 0.853, RAW= 152.4, -11.6, CAL= 153.5, -13.4, ROT= 356.5, 13.4 %Ygot valid direction response: 15:08:15.2122 LVL= 30624, 32753, 27506, 29171, AGC= 59, IDX= 176,-0.19,-0.232,-1.683,-0.010,-0.907, PHS= 0.777,-0.731, 0.853, RAW= 152.4, -11.6, CAL= 153.5, -13.4, ROT= 356.5, 13.4 -PDAT read: Bearing 203.1, -3.9 (Local) -~Local bearing/azimuth received: Bearing 203.1, -3.9 (Local) =DAT read: Range 11 to 50 : 251.0 m (Round-trip 334.7 ms) speed 0.1 m/s =*DAT read: user:953> EBDAT read: Tx time:15:08:16.3249 M$Ping request sent.Mmqt?i1?`tɿ ?)%sO>I5zi|o>u:publishing transmit ping timeAuFpublishing direction and range infoy=?iYig] AͿY )Ii )Imqt?i1?`tɿ )IiIaԉDizDmAAEu EuEu*Eq"Eul;*Eu:VEu(N4ZEqa@a@a@a@9@ @@@Թ ^A X; A=.AIIIYOu?oD,1Bo?AF?F?F0nP=ٱFF- NAHRS rotation from veh to nav: [[0.255571,-0.955055,-0.150180],[0.965451,0.243947,0.091618],[-0.050864,-0.168407,0.984404]]FHG[?Ώ`9ÿ?@9?Jt?@ Zſ=?iF?IFž\;FCYV:ByVT&I XXbDbVDbyjqC%j'=ٔje:Q-j>9n ?Yn ?=nSGyn5FBr<Ar<BtBtBva&IBvEBBv =BtBtBv|v;Bv0EBBBBBC4rE >Q 54?Q 94)oBYy?ԙQ I?DIj[* 7U@57(l@˙xPZb,? ? ѿ2iFaC:iB"iQ읊?*iABiG?iTb?iiibCiH5?= addTargetRange:: Added new target pos. range: 251.000000 m, deltaT: 4.030135 s, deltaX: 18.100006 m, approachRate: 4.491166 m/s, rangeRepo size: 4 M Added new target pos. range: 249.833725 m, bearing: 69.358486 deg, lat: 36.779301 deg, lon: -121.859311 deg, deltaT: 4.030135 s, deltaX: 18.014023 m, approachRate: 4.469831 m/s, posRepo size: 4 jhIUFNOT Ignoring new targets: 249.83 m.RhUZh ProNav: ac range: 249.833725 m, nav range: 226.554977 m, bearing: 69.922398 deg, approach rate: 0.000000 m/s, LOS rate: 0.009795 deg/s, cmd heading: 75.355749 deg, new cmd heading: 75.370992 deg. BhHeadingCmd: 1.315472 target range: 249.833725 and range: 251.00 m.h%ca?h!*h!"h! h!g!f!f)f)d)d)d1jd]`o@Zde ?uBɢ}\<) D;i)J=顱i:Hмica?ƕ$;o Ica?I9@! @!@!@!E] E]E](EY"E]%;*E]ą:VE]c44ZEYBE]K", ?ATYm?BymY&IiMb@Mb@Mb@ 9Zd;?RQI +?Y?y½94<A@ A) AYA mp9Y=SGy6FE>Q 54"?Q 94C)nBY ?Q E:y,?Q I?#DIa;i ;n4yBɮ,RAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 249.83 m.Rh|(9Zh|(9 ProNav: ac range: 249.833725 m, nav range: 226.241455 m, bearing: 69.926769 deg, approach rate: -0.659446 m/s, LOS rate: 0.009206 deg/s, cmd heading: 75.370994 deg, new cmd heading: 75.384125 deg. Bh/9HeadingCmd: 1.315701 target range: 249.833725 and range: 251.00 m.hh?h*h"h hgff f wBd d djdZd?=Bɢ=;)A EƾiA)E3=IIiMNϼiMh?Ul2$;U|IUh?IQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/@^A= qD D bEFA4jEI4rE7/E  E E ,E "E =;*E k:VE g4ZE a @a @a @a @ Au ؟AIy I O >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248376B),ե?A2 O?2e:?2$R=ٱ2( :AHRS rotation from veh to nav: [[0.260914,-0.954410,-0.145002],[0.963991,0.249584,0.091813],[-0.051438,-0.163735,0.985162]]2Hϲ? h¿ ?\?? VHĿ@s?i2 O?I2'\;2CY@yBZ&IbDJVDJ0yR$;%Ro=ٔV:Q-V?9Z"?Y^"?=^SGyb7FfЃEf?lQ 5v4nw?Q 9z4n)nmBY||y~o?Q I?n1DIn1"=in%"=n|4yɮ%(RA!jhFNOT Ignoring new targets: 249.83 m.Rh9Zh9 ProNav: ac range: 249.833725 m, nav range: 226.024170 m, bearing: 69.930123 deg, approach rate: -0.554459 m/s, LOS rate: 0.008567 deg/s, cmd heading: 75.384129 deg, new cmd heading: 75.394201 deg. Bh&9HeadingCmd: 1.315877 target range: 249.833725 and range: 251.00 m.hn?h*h"h hgffAfAdIdIdjdZd ?BɢG;)) ¾i)D=顉i\ͼin?#;In?IBK>BBU&IB;BBBBBv;B0E}9@y @y@y@yQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500424^A ԙ A E  E E *E "E l;*E :VE (N4ZE BE [FT0,¸?AR\?R?R#>Q=ٱR)$ ZAHRS rotation from veh to nav: [[0.265849,-0.953729,-0.140449],[0.962662,0.254926,0.091081],[-0.051062,-0.159419,0.985890]]RH? >?P?Q?$@gĿ`h?iR\?IR\;RCYbKBybi&IIf>)f>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752465iMb@Mb@Mb@ 9x&1?EԸy&1?Y!?yƽ`<A@ (A)Y\AbDVD1ygE=%&=ٔGQ->9Y=SGy8F*E>Q 54?Q 94|)pBY#?Q E:y8?Q I?EDI':i/:4yBɮQAEjhauFNOT Ignoring new targets: 249.83 m.Rh}QJ9Zh}QJ9 ProNav: ac range: 249.833725 m, nav range: 225.712296 m, bearing: 69.935081 deg, approach rate: -0.694404 m/s, LOS rate: 0.011055 deg/s, cmd heading: 75.394203 deg, new cmd heading: 75.409098 deg. Bh9HeadingCmd: 1.316137 target range: 249.833725 and range: 251.00 m.h.w?h*h"h hgfffBdddjdZd? 额Bɢ^?<) 5i)W=i"̼i.w?_m!;w"I.w?I@ @@0@9- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004268i ^A [RӻA% .AI1 IQ Ou >6,5ܸ?A Bp?B7\?BO=ٱB JAHRS rotation from veh to nav: [[0.267454,-0.953743,-0.137272],[0.962237,0.256866,0.090116],[-0.050687,-0.156190,0.986426]]BH?``?|p??ÿ̐?iBp?IB\;BCYRUByRu&IXZBAbD^VD^:yf2Q=%f\=ٔfvQ-f>9j ?Yj ?=jSGyj9Fn\En>pQ 5v4r"?Q 9v4r³)rrBYtyv?Q Iv?rTDIr:irB:r4y~Bɮ~\QAjh!-FNOT Ignoring new targets: 249.83 m.Rh-B9Zh-B9= ProNav: ac range: 249.833725 m, nav range: 225.474945 m, bearing: 69.938978 deg, approach rate: -0.647298 m/s, LOS rate: 0.010638 deg/s, cmd heading: 75.409100 deg, new cmd heading: 75.420802 deg. BhE9EHeadingCmd: 1.316341 target range: 249.833725 and range: 251.00 m.hE}?hI*hI"hI hIgIfIfQfQdQdYdYjdYZd] Y@颅BɢD;) i)J=顑ii˼i}?H;in6I}?ID)zD)E= E=E=)E9"E=;*E=:VE=FA4ZE9aE@aE@aM@aM@)@) @)@-4@)Q^Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257251AU؟AIYIiqO}Y>ԡ A @AA @AB J>B B h&IB JBB B B B v;B 0E5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511771=,?A4RE?R51?RM=ٱR, jAHRS rotation from veh to nav: [[0.268723,-0.953673,-0.135261],[0.961908,0.258378,0.089302],[-0.050216,-0.154106,0.986777]]RH2?}8P`?B?|ܶ?ÿ@?iRE?IR\;PYfBy&IbDUVDU0y=% 7=ٔɉQ-E>9M"?YU"?=USGy]:F:E>Q 54@,?Q 94Q =tI)uBYy˓?Q I?gDI:i:4yLBɮ3OA|EjhIUFNOT Ignoring new targets: 249.83 m.Rh]C@9Zh]C@9m ProNav: ac range: 249.833725 m, nav range: 225.177765 m, bearing: 69.943979 deg, approach rate: -0.623452 m/s, LOS rate: 0.010506 deg/s, cmd heading: 75.420800 deg, new cmd heading: 75.435823 deg. Bhm9uHeadingCmd: 1.316604 target range: 249.833725 and range: 251.00 m.huw?hq*hq"hq hqgyfyfyfydddjdZd(*@ԙ颽Bɢl]<) i)e=iP~ʼiw?R;OCJIw?IE= E=E=&E9"E=T;*E=:VE=4ZE9BE=GC,Xq?A2?2M ?2nK=ٱ2 JAHRS rotation from veh to nav: [[0.269902,-0.953570,-0.133631],[0.961605,0.259773,0.088504],[-0.049681,-0.152388,0.987071]]2HF?@x? ?`/?@osÿ?i2?I2\;0YRByR&I TTxi5Mb@Mb@Mb@1111 195S?T㥛 X9v?Y5/?y55<11 1)5 A1Y5AbDUVDUy]R>%]X=ٔeQ-e>9aYi=mSGym;Fm[Eu>qQ 5}4u3?Q 94u)uvBY0?Q E:yP?Q I?uwDIu:iu]:u 4yRBɮoNAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 249.83 m.Rho7Zho7 ProNav: ac range: 249.833725 m, nav range: 224.931763 m, bearing: 69.944442 deg, approach rate: -0.708103 m/s, LOS rate: 0.001335 deg/s, cmd heading: 75.435826 deg, new cmd heading: 75.437217 deg. Bhj8HeadingCmd: 1.316628 target range: 249.833725 and range: 251.00 m.hC?h*h"h hgfffBdddjdZd@X@BDAT read: Rx Time:15:08:19.0070 TRx dataTimestamp_ set to:1761577700.352310checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013606Bɢ|<) ci)4=irɼi C? ";  [I C?I !@ @@/@IEm EmEm)Ei"Emf;*Em:VEmFA4ZEiau@au@au@au@^AD%Kq  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264417A .AI! I9 OU >J,.*?A6~?6?6I=ٱ6z BAHRS rotation from veh to nav: [[0.270361,-0.953609,-0.132418],[0.961497,0.260401,0.087834],[-0.049278,-0.151066,0.987295]]6HM?`?g?@R|?:"Vÿ?i6~?I6j\;4YFByF&I LLbDRVDRyZ0=%ZW=ٔ^܊Q-^>9^ ?Yb ?=bSGyb<FbEb>dQ 5j4f:;?Q 9j4f)fwBYlyn>?Q In?fDIf;if;f4ypɮr,NAtjh FNOT Ignoring new targets: 249.83 m.Rh7Zh7- ProNav: ac range: 249.833725 m, nav range: 224.670135 m, bearing: 69.944973 deg, approach rate: -0.688473 m/s, LOS rate: 0.001398 deg/s, cmd heading: 75.437220 deg, new cmd heading: 75.438813 deg. Bh-u8-HeadingCmd: 1.316656 target range: 249.833725 and range: 251.00 m.h5,?h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE @YuBɢud<)y }Mi)~Q=顁iȼi,?;oT`I,?IQ@Q @Q@U/@QBI>BB&IBiBB =BBBav;B0E q}CԙG A5u99Y=Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519099^AjbAdAzAdAI I O- > E  E E (E "E ;*E :VE c44ZE BE TQ99Y9==SGy==FE[9EE>IQ 5U4MWC?Q 9U4MN)MxBYU=?Q EU:DAT read: 15:08:19.0070 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 379, 0.03, 0.722,-0.775, 1.075, 0.654, PHS= 0.170,-1.384, 0.377, RAW= 156.2, 10.1, CAL= 156.0, 10.9, ROT= 354.0, -10.9 Ygot valid direction response: 15:08:19.0070 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 379, 0.03, 0.722,-0.775, 1.075, 0.654, PHS= 0.170,-1.384, 0.377, RAW= 156.2, 10.1, CAL= 156.0, 10.9, ROT= 354.0, -10.9 PDAT read: Bearing 226.9, -9.9 (Local) ~Local bearing/azimuth received: Bearing 226.9, -9.9 (Local) =DAT read: Range 11 to 50 : 208.5 m (Round-trip 278.0 ms) speed 0.8 m/s E*DAT read: user:954> MBDAT read: Tx time:15:08:20.1233 U$Ping request sent.Ui]&]%>]!z.@]J4>]@.@ ]B>)]@I]BYY]Vu"o?&D?L|Հ^? ]/!?)]C3I]iwֽi]BYY:publishing transmit ping timeIFpublishing direction and range infoyY]T}#@? FoG4?YYYYYY YPExceeded connect timeout, disconnecting.iYi]F?AJi]OC)YIYiYYYYY Y)YIYYY]Vu"o?&D?L|Հ^? Y)YIYiYYYRi]OCji]d?b]kUi@5+M5sC@R]T}#@? FoG4?Zi]iwֽbi]Bj]'ߵyQ@qah@5*~@@Z]m?Y( ?Ź?2i]@C:i]͋B"i]nE?*i]6G8Bi]BiYiYiYi][`Ci]@?-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 208.500000 m, deltaT: 3.780097 s, deltaX: -42.500000 m, approachRate: -11.243097 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 249.83 m.RhָZhָ ProNav: ac range: 249.833725 m, nav range: 224.359192 m, bearing: 69.942155 deg, approach rate: -0.646142 m/s, LOS rate: -0.005864 deg/s, cmd heading: 75.438811 deg, new cmd heading: 75.430346 deg. BhŀHeadingCmd: 1.316508 target range: 249.833725 and range: 251.00 m.hU?h*h"h hgffIfMBdIdIdIjdUj@ZdU:Ǹ?颥Bɢ6T<)  i)=i7ǼiU?0K;i\IU?I!]9@Y @a@e/@aQ^A cy Ia Iq O >7W,E^?AY By &IIC=)p;bD%VD%ky5J=%5G=ٔ5Q-5>99Y9==SGy=>FEEE>IQ 5U4M@K?Q 9U4M)MyBYQyQQ IU?MDIM7;iM(:M 4yaɮeBMAajhFNOT Ignoring new targets: 249.83 m.Rh! Zh! E  E E &E "E l;*E 1:VE 4ZE a@a@a@a@)5 ProNav: ac range: 249.833725 m, nav range: 224.055984 m, bearing: 69.939400 deg, approach rate: -0.835489 m/s, LOS rate: -0.007602 deg/s, cmd heading: 75.430348 deg, new cmd heading: 75.422072 deg. Bh5=HeadingCmd: 1.316363 target range: 249.833725 and range: 251.00 m.h=~?h9*h9"h9 h9g9fAfAfAdIdIdIjdIZdMP3?}Bɢ};1<)y }iy)K=顁i^Ǽi~?;\[I~?IU9@Q @Y@]0@YQ^A}lXԉI I O% >B} <A} 4=B J>B B &IB BB B B B 5v;B 0E WZ],x?A2l?2X?2B=ٱ2b :AHRS rotation from veh to nav: [[0.267616,-0.954522,-0.131416],[0.962353,0.258067,0.085310],[-0.047516,-0.149299,0.987650]]2H ?p@; ?@*?ֵ?T7ÿӚ?i2l?I2g];2CYvByv&I|~@AbDVDy=%M=ٔ%zQ-%>91Y9=ESGyE?FM;EU>iQ 54m S?Q 94m.)m{BYy%?Q I?mDIm;im;m.'4y$BɮMKAsEԙjh!%FNOT Ignoring new targets: 249.83 m.Rh-Zh-] ProNav: ac range: 249.833725 m, nav range: 223.755112 m, bearing: 69.936450 deg, approach rate: -0.683956 m/s, LOS rate: -0.006715 deg/s, cmd heading: 75.422070 deg, new cmd heading: 75.413209 deg. Bh]veHeadingCmd: 1.316209 target range: 249.833725 and range: 251.00 m.hey?ha*ha"ha hagififfdddjdZd`RQ?Bɢe<) пiI)MA >Ii Iy O > 1Bd,ܑ?A2?2i?2Թ?=ٱ2ѿ :AHRS rotation from veh to nav: [[0.266177,-0.954993,-0.130913],[0.962788,0.256808,0.084200],[-0.046791,-0.148454,0.987812]]2H ? M @(?o?`#? ÿ`'?i2?I2 \;2CYBʇByB'IiEMb@Mb@Mb@AAAA A9EZd;O?~jth?X9v?YE~J?yED;E9qYq=uSGyu@Fup;E}>Q 54Z?Q 94)yBYJ?Q E:y§?Q I?DI:i:I.4yɮJAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 249.83 m.Rh<Zh< ProNav: ac range: 249.833725 m, nav range: 223.434418 m, bearing: 69.929029 deg, approach rate: -0.892497 m/s, LOS rate: -0.020680 deg/s, cmd heading: 75.413211 deg, new cmd heading: 75.390919 deg. BhcHeadingCmd: 1.315820 target range: 249.833725 and range: 251.00 m.hl?h*h"h hgfffJBdddjdZd?-Bɢ- <)1 5ri1)5А<11i=@Ƽi=l?=C;EoIEl?IAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@4@^Au*:IIO>E5 E1E5)E1"E5T;*E1VE5FA4ZE1aE@aE@aE@aE@I u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482657Ylj,ܷ?A:ߊ?:ʦ?:S<=ٱ:~ FAHRS rotation from veh to nav: [[0.264264,-0.955629,-0.130147],[0.963358,0.255130,0.082762],[-0.045885,-0.147249,0.988035]]:H?@?T? /?M~¿?i:ߊ?I:];:CYJ͇ByJ 'I PPbDVVDVfy^<%^V=ٔbsQ-b>9`Y`=fSGyfAFfM;Ef>hQ 5n4j`?Q 9n4jOy)jxBYpyr?Q Ir?jDIj";ija;j44ytɮvJAtjhFNOT Ignoring new targets: 249.83 m.Rh%DZh%DE ProNav: ac range: 249.833725 m, nav range: 223.133408 m, bearing: 69.921893 deg, approach rate: -0.788354 m/s, LOS rate: -0.018717 deg/s, cmd heading: 75.390918 deg, new cmd heading: 75.369478 deg. BhEMMHeadingCmd: 1.315446 target range: 249.833725 and range: 251.00 m.hM`?hQ*hQ"hQ hQgQfYfafadadidijdiZdu?颵Bɢ,<) @i)ZD<i żi`?D;YI`?IBABABE&IBEBBABABABE+v;BE0EBBBB =B =C4au9@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.733247y^AI1IaO>Ա E]  E] E] 'EY "E] ;*E] :VE] '4ZEY BE] L91Y9==SGy=BF=;EE>AQ 5M4Eg?Q 9M4Eo)ErBYUV?Q EU}:yUb?Q IU?EDIE ;iE ;E<4yeBɮe IAejEjhFNOT Ignoring new targets: 249.83 m.RhZh ProNav: ac range: 249.833725 m, nav range: 222.757736 m, bearing: 69.910385 deg, approach rate: -0.832948 m/s, LOS rate: -0.025559 deg/s, cmd heading: 75.369478 deg, new cmd heading: 75.334895 deg. BhSHeadingCmd: 1.314842 target range: 249.833725 and range: 251.00 m.hL?h*h"h hgfffsBdddjdZd@Bɢ\d<) @i)<iSżiL?/;l֣IL?I Ա%9@! @!@)@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237926^AAcAzA A ؟AIA IQ Oe >F~w,m߹?A:?:E?:0=ٱ: FAHRS rotation from veh to nav: [[0.258870,-0.956936,-0.131378],[0.964946,0.250126,0.079477],[-0.043194,-0.147346,0.988141]]:HT?7` ??X?`v`?¿ڞ?i:?I:-\;:CYHyLbDVVDVٔ^dQ-b>9b"?Yb"?=bSGybCFf<Ef>hQ 5n4jm?Q 9n4ljg)jnBYpyrͫ?Q Ir?jDIj.;ij/;jC4ytɮxxjhFNOT Ignoring new targets: 249.83 m.Rh%jZh%j5 ProNav: ac range: 249.833725 m, nav range: 222.461273 m, bearing: 69.901022 deg, approach rate: -0.830855 m/s, LOS rate: -0.026273 deg/s, cmd heading: 75.334897 deg, new cmd heading: 75.306772 deg. Bh5?5HeadingCmd: 1.314351 target range: 249.833725 and range: 251.00 m.h=B9 B= 'IB= ԇBB= =B9 B= DB= Qv;B= 0EA I I O >i i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741578},^I?A2?2?2/v*=ٱ2 :AHRS rotation from veh to nav: [[0.255740,-0.957660,-0.132228],[0.965850,0.247216,0.077578],[-0.041605,-0.147552,0.988179]]2H ^?&@ >? ä?(ܳ?2M@¿@)?i2?I2e\;2CYṘByR'IIV0>)V;bDZVDZyb%b<ٔflQ-f>9dYd=jSGyjDFj<Ej>lQ 5r4ns?Q 9r4nA_)niBYtyv7?Q Iv?n+DIn4;inZS;n)J4yBɮOIAkE9jhFNOT Ignoring new targets: 249.83 m.Rh޹Zh޹M ProNav: ac range: 249.833725 m, nav range: 222.124023 m, bearing: 69.890053 deg, approach rate: -0.746549 m/s, LOS rate: -0.024318 deg/s, cmd heading: 75.306770 deg, new cmd heading: 75.273813 deg. Bhu}HeadingCmd: 1.313776 target range: 249.833725 and range: 251.00 m.h})?hy*hy"hy hygfffdddjdZd@ L@އBɢ<) x i!)%;,#?A2'r?2~]?2$=ٱ2g :AHRS rotation from veh to nav: [[0.252471,-0.958417,-0.133024],[0.966775,0.244169,0.075683],[-0.040056,-0.147712,0.988219]]2H}(?Y@?@?@_?.7¿`}?i2'r?I2H\;2CYB͇ByB'IiMMb@Mb@Mb@IIII I9MS㥛?Q?I +YMd?yM\=M94MAMZ@ I)M AIYIY]AAbDeVDeyu;%u@=ٔugnQ-}>9} ?Y} ?=}SGyEF<E>Q 54z?Q 94zU)^BԙYe?Q Em:y?Q I?CDIg5;i|4;Q4yɮKIAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 249.83 m.RhoZho ProNav: ac range: 249.833725 m, nav range: 221.746597 m, bearing: 69.877060 deg, approach rate: -0.991499 m/s, LOS rate: -0.034191 deg/s, cmd heading: 75.273814 deg, new cmd heading: 75.234768 deg. BhHeadingCmd: 1.313094 target range: 249.833725 and range: 251.00 m.hz?h*h"h hgfffqBdd d jd Zd @ @=܇Bɢ=<)9 =@i9)EXA% ؟AI9 M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497486IQ Oe >I ,o-?A]?]"Ϩ?]Q=ٱ] uAHRS rotation from veh to nav: [[0.249132,-0.959252,-0.133296],[0.967704,0.241094,0.073644],[-0.038506,-0.147338,0.988336]]]H`? 2@m?)?Nڲ? @¿s?i]?I]\;]CYBy&IbDVDNy%F=ٔ$vQ->9"?Y"?=SGyFF <E>Q 54?Q 94L)SBYy?Q I?[DI ;i ;X4yàBɮAHAaE jhFNOT Ignoring new targets: 249.83 m.Rhv Zhv  ProNav: ac range: 249.833725 m, nav range: 221.381363 m, bearing: 69.864110 deg, approach rate: -0.852083 m/s, LOS rate: -0.030263 deg/s, cmd heading: 75.234766 deg, new cmd heading: 75.195850 deg. Bh'HeadingCmd: 1.312415 target range: 249.833725 and range: 251.00 m.h8?h*h"h hgfffdddjdBM>BBBB =BBBxv;B0EZd@# @ڇBɢx<) xi)<iüi%8?%;%' BDAT read: Tx time:15:08:23.9232 $Ping request sent.ԑ ,F?AbO?bm:?bT=ٱb~ AHRS rotation from veh to nav: [[0.245977,-0.959920,-0.134349],[0.968572,0.238144,0.071810],[-0.036937,-0.147790,0.988329]]bH,|?``Y2?}{? b?`h颿¿c?ibO?Iba\;bCYBy&I 99iMb@Mb@Mb@ 9)\(??X9vYGa?y<AC@ )Yf AbD VD y%D=ٔvQ-%>9% ?Y% ?=%SGy%GF-<E->9Q 5E4=v?Q 9E4=B)=EBYEa?Q EEq:yE)?Q IE?=sDI=:i=:=!`4yQɮUHAQqii|8?AJiZ`CRiZ`Cjik?b߳k@ZHV;Rr +;?nHA7XZiQbi=jyG#rzP@$lv8uj@= =AZA|?n0?Ɔÿ2iSC:iӃB"ik:?*i [BinBi5W?iinBi\Ci@w? addTargetRange:: Added new target pos. range: 225.399994 m, deltaT: 7.560426 s, deltaX: -25.600006 m, approachRate: -3.386053 m/s, rangeRepo size: 4  Added new target pos. range: 224.353500 m, bearing: 72.703087 deg, lat: 36.779294 deg, lon: -121.859311 deg, deltaT: 7.560426 s, deltaX: -25.480225 m, approachRate: -3.370210 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 224.35 m.RhZhU ProNav: ac range: 224.353500 m, nav range: 220.755737 m, bearing: 70.037746 deg, approach rate: 0.000000 m/s, LOS rate: -0.030263 deg/s, cmd heading: 75.195848 deg, new cmd heading: 75.158999 deg. BhQ]HeadingCmd: 1.311772 target range: 224.353500 and range: 225.40 m.h]%?hY*hY"hY hYgYfafaf^Bdddjd,l@Zd`?؇Bɢ[<) Pi)'L<iüi%?P;*83>,a?A2ª?2?2Z=ٱ2I :AHRS rotation from veh to nav: [[0.243279,-0.960450,-0.135468],[0.969307,0.235625,0.070174],[-0.035479,-0.148382,0.988294]]2H#? W? (??H**¿?i2ª?I2\;2CYBByB&I J49XYX=ZSGyZHF^;E^>`Q 5f4b?Q 9f4bH:)b8BYdyf?Q If?bDIb :ib;bf4ylɮnIAljhFNOT Ignoring new targets: 224.35 m.Rh Zh  ProNav: ac range: 224.353500 m, nav range: 220.434448 m, bearing: 70.027219 deg, approach rate: -0.882890 m/s, LOS rate: -0.028968 deg/s, cmd heading: 75.158999 deg, new cmd heading: 75.127374 deg. Bh %HeadingCmd: 1.311220 target range: 224.353500 and range: 225.40 m.h%֧?h!*h!"h) h)g)f)f1f1d1d1d9jd9Zd=`?Eu EuEqEq"EuT;*Eu҆:VEqZEqa@a@a@a@ևBɢ<) <νi) <))i-`_üi5֧?5;5f_ k%,TU{?A2?2/?2 =ٱ2 :AHRS rotation from veh to nav: [[0.240891,-0.960557,-0.138932],[0.969951,0.233223,0.069304],[-0.034168,-0.151452,0.987874]]2H ?@ ?@>?`罱?@~`bÿ?i2?I2\;2CYNByR&IbDZVDZyb'%bI=ٔbSQ-f>9f"?Yf"?=fSGyfIFj;Ej>QQ 5u4UU?Q 9}4U0)U+BYyѬ?Q I?UDIUI;iU;Um4yɠBɮBJAbEjhI]FNOT Ignoring new targets: 224.35 m.RheZhmE ProNav: ac range: 224.353500 m, nav range: 220.066986 m, bearing: 70.014914 deg, approach rate: -0.827549 m/s, LOS rate: -0.027759 deg/s, cmd heading: 75.127375 deg, new cmd heading: 75.090396 deg. BhMhuHeadingCmd: 1.310575 target range: 224.353500 and range: 225.40 m.hu?hq*hq"hq hygyfyfyfdddjdZdx?ԇBɢs<)  'i)yy<i¼i?;V$,K?A>;?>'?>:=ٱ>! JAHRS rotation from veh to nav: [[0.239006,-0.960246,-0.144236],[0.970453,0.231149,0.069223],[-0.033131,-0.156519,0.987119]]>H—?`U`Rv¿ ?I?`?Ŀz?i>;?I> \;9] ?Y] ?=]SGy]KF]X;E]>aQ 5m4e_?Q 9u4e')eBYu]?Q Euu:yu?Q Iu?eDIe ;ieH:e#u4y}Bɮ_IAXEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 224.35 m.Rh]Zh] ProNav: ac range: 224.353500 m, nav range: 219.713577 m, bearing: 70.004579 deg, approach rate: -0.904312 m/s, LOS rate: -0.026487 deg/s, cmd heading: 75.090396 deg, new cmd heading: 75.059343 deg. BhkHeadingCmd: 1.310033 target range: 224.353500 and range: 225.40 m.h'?h*h"h hgfff"Bdd-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.djdZdڐ?҇Bɢb<) Pi)/<99iE)¼iE'?M|;Mq{H,*S?A F9-"?Y-"?=-SGy-LF5;E5>9Q 5E4= ?Q 9E4=)=BYAyEӪ?Q IM?=DI=[:i=:=|4yQɮUFJAQjhy}FNOT Ignoring new targets: 224.35 m.Rh,Zh, ProNav: ac range: 224.353500 m, nav range: 219.373215 m, bearing: 69.994514 deg, approach rate: -0.860399 m/s, LOS rate: -0.025482 deg/s, cmd heading: 75.059346 deg, new cmd heading: 75.029105 deg. Bh狺HeadingCmd: 1.309505 target range: 224.353500 and range: 225.40 m.h۝?h*h"h hgfffdddjdZd@?чBɢ:<) i)=<i¼i۝?io;BB&IBBBBBBv;B0EIq9@ @@/@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011447ԙ^Ae<A>A A I I O- >E  E E 'E "E ;*E :VE '4ZE BE o_9Y=SGyMF:E>Q 54?Q 94O)BYlN?Q E:y?Q I?DI:iv:z4yɮ KAjh9=FNOT Ignoring new targets: 224.35 m.RhE큹ZhE큹U ProNav: ac range: 224.353500 m, nav range: 219.033203 m, bearing: 69.988447 deg, approach rate: -0.794501 m/s, LOS rate: -0.014199 deg/s, cmd heading: 75.029102 deg, new cmd heading: 75.010872 deg. BhU}HeadingCmd: 1.309187 target range: 224.353500 and range: 225.40 m.h}n?hy*hy"hy hygyfffBdddjdZd2@χBɢ!<) ~i)c<i)bi n? %; +Y,?A:[?:WF?:h5=ٱ:' NAHRS rotation from veh to nav: [[0.238096,-0.959430,-0.151014],[0.970737,0.230068,0.068832],[-0.031296,-0.162984,0.986132]]:Hy?qTÿG? r??Ŀ@e?i:[?I:2];:CYVByV'&I XXbDbVDbk1yj%%j[=ٔjQ-j>9lYl=nSGynNFr$Er>tQ 5z4v?Q 9z4v)vBYxyz ?Q Iz?vDIvd:iv|:|v4yiBɮJA PEjh)5FNOT Ignoring new targets: 224.35 m.Rh51Zh51EE EEEE*EA"EE;*EE:VEE(N4ZEAaM@aM@aM@aM@] ProNav: ac range: 224.353500 m, nav range: 218.733566 m, bearing: 69.983112 deg, approach rate: -0.810156 m/s, LOS rate: -0.014447 deg/s, cmd heading: 75.010872 deg, new cmd heading: 74.994843 deg. BheeHeadingCmd: 1.308907 target range: 224.353500 and range: 225.40 m.heC?hi*hi"hi higififqfqdqdqdyjdyZd ?@]·Bɢ]Pq;)a eia)m*Qe checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0196217,?AJV?J B?J)\<ٱJ' VAHRS rotation from veh to nav: [[0.238225,-0.959406,-0.150960],[0.970717,0.230262,0.068462],[-0.030923,-0.162849,0.986166]]JH+~? tRÿ ?7y??@::Ŀ?iJV?IJ\;HYZByZ&I ``bDfVDfyn%nJ=ٔr+qQ-r>9pYp=vSGyvOFvIEv>xQ 5~4z?Q 9~4z{)zBYy?Q I?z DIz;izC ;z4y!ɮ%.KA)jhQY]FNOT Ignoring new targets: 224.35 m.RheꁹZheꁹu ProNav: ac range: 224.353500 m, nav range: 218.408310 m, bearing: 69.977313 deg, approach rate: -0.795238 m/s, LOS rate: -0.014198 deg/s, cmd heading: 74.994842 deg, new cmd heading: 74.977421 deg. Bhu}HeadingCmd: 1.308603 target range: 224.353500 and range: 225.40 m.h}L?h*h"h hgfffdddjdZd V@颍̇Bɢ@a;) Lɾi)p<顑i5迼iL?;X>ysŮ, ?A27?2#?20<ٱ2+( :AHRS rotation from veh to nav: [[0.239143,-0.959100,-0.151449],[0.970492,0.231133,0.068718],[-0.030902,-0.163413,0.986074]]2H@?`bÿF?Õ?x?ҤĿ@?i27?I2\;2CYBByB%Ii Mb@Mb@Mb@     9 S?L7A`堿Y /=?y L + vA -@ A) ; A Y  AbD%VD%y5#%=D=ٔ=-OQ-=>99YA=ESGyEPFEjEE>IQ 5U4M?Q 9]4M)MBY]=?Q E]:y]?Q I]?M DIM:iM:Mc4yiɮm?LAiB*** querying acoustic contact ***ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523585i ijh15FNOT Ignoring new targets: 224.35 m.Rh=Zh=m ProNav: ac range: 224.353500 m, nav range: 218.099289 m, bearing: 69.974567 deg, approach rate: -0.711704 m/s, LOS rate: -0.006333 deg/s, cmd heading: 74.977418 deg, new cmd heading: 74.969169 deg. BhmuHeadingCmd: 1.308459 target range: 224.353500 and range: 225.40 m.hu{?hq*hq"hq hqgqfyfyf}BdyddjdZd`4k @ ˇBɢ %)9 EiA)M`  BDAT read: Tx time:15:08:27.7232 % $Ping request sent.% i 7 > g1@ 6&> 5~1@ ;0>) [@I ;0 yT~?a?$UAϪ? .?) &I i ;0 m :publishing transmit ping time! m Fpublishing direction and range infoy  $?\/ÿ!?Y ) I i ) I yT~?a?$UAϪ? ) I i ^A }e'̮,"2?AB>M>B>CB>&IB>BB> =B<B<B>Nv;B>0Ef?f,?f]<ٱf3) ~AHRS rotation from veh to nav: [[0.240680,-0.958609,-0.152123],[0.970112,0.232591,0.069169],[-0.030924,-0.164224,0.985938]]fH?`xÿ' ?? ? nMſ@Ό?if?IfT1];fCY džBy %II5=)54<bDEVDE:y%5=ٔG8Q->9 ?Y ?=SGyQFfE>Q 54ʂ?Q 94k)ՍBYyt?Q I?3 DI;i:C4yɮ MAiiN+?AJiHCRiHCji ?bXj(rh@Uà>qFA@R$?\/ÿ!?Zibi;0j0bQ@*5 g@^@@ZJ?tœu?Xb ?2i9C:i[B"i8?*i{PBiBi8?iiBiXCi4?-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 201.899994 m, deltaT: 3.788831 s, deltaX: -23.500000 m, approachRate: -6.202441 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 224.35 m.RhSZhS ProNav: ac range: 224.353500 m, nav range: 217.765930 m, bearing: 69.971738 deg, approach rate: -0.733811 m/s, LOS rate: -0.006238 deg/s, cmd heading: 74.969167 deg, new cmd heading: 74.960666 deg. BhHeadingCmd: 1.308310 target range: 224.353500 and range: 225.40 m.hv?h *h "h  h g f ffdddjd Ӯ,L?A2?2睩?2J<ٱ2]* :AHRS rotation from veh to nav: [[0.243085,-0.957831,-0.153199],[0.969510,0.234864,0.069930],[-0.031001,-0.165527,0.985718]]2Hd?ÿ9?@??@/ſ@?i2?I2kL];2CYBByB%Ii Mb@Mb@Mb@     9 m?+:vY .?y  T A @ A)  A Y  A%AA%AAbD%VD%0y5'%5Q=ٔ=N9Q-=>99YA=ESGyERFEϻEE>IQ 5U4M҂?Q 9U4yM)MэBY/?Q E:y՚?Q I?MD DIMtA1Aa Ii Iy O > F;ٮ,Jf?AEZ EXEZ)EX"EZ;*EXVEZFA4ZEXa^@a^@a^@a^@b~R?b=?b<ٱb6, nAHRS rotation from veh to nav: [[0.245928,-0.956768,-0.155286],[0.968800,0.237547,0.070696],[-0.030752,-0.167827,0.985337]]bH z?؝jÿ@i?g??X}]{ſ?ib~R?Ib{];bCYrByr%IbD~VD~02y F% L=ٔ #Q->9Y=SGySFE>!Q 5-4%ڂ?Q 9-4%)%͍BY)y5u?Q I5?%U DI%n;i%;%4y9ɮ=VLA9jhaeFNOT Ignoring new targets: 224.35 m.RhmK8ZhmK8} ProNav: ac range: 224.353500 m, nav range: 217.223083 m, bearing: 69.973614 deg, approach rate: -0.721308 m/s, LOS rate: 0.002774 deg/s, cmd heading: 74.963129 deg, new cmd heading: 74.966298 deg. Bh}8HeadingCmd: 1.308409 target range: 224.353500 and range: 225.40 m.hy?h*h"h hgfffdddjdZdC_?ƇB ɢmr2)i mS iq)u,BqBu%IBuцBBqBqBqBuGv;Bu0Ea^Auԉ ,s?AJԌ?JR?J=K=ٱJ%d. RAHRS rotation from veh to nav: [[0.249632,-0.955626,-0.156402],[0.967834,0.241002,0.072214],[-0.031317,-0.169399,0.985050]]JH?~@Ŀ`?*?|?ۮſ`?iJԌ?IJCd];JCYZByZ%I ddbD~VD~βy-%5I=ٔE:Q-E>9U"?YU"?=eSGyeTFmEu>Q 54zり?Q 94)ȍBYy?Q I?h DIU;i ;Y4yɮ*MAyjh1=FNOT Ignoring new targets: 224.35 m.RhM \8ZhM \8 ProNav: ac range: 224.353500 m, nav range: 216.937988 m, bearing: 69.975000 deg, approach rate: -0.617366 m/s, LOS rate: 0.003006 deg/s, cmd heading: 74.966299 deg, new cmd heading: 74.970463 deg. Bh9HeadingCmd: 1.308481 target range: 224.353500 and range: 225.40 m.hR|?h*h"h hgfffdddE EE(E"E;*E:VEc44ZEBEa2EaJE;a:E;ajdZdcU?5ÇBɢ5')9 =}i9)=<99i=iER|?mxB(;mo#Y,H?A2[?26G?2=ٱ2X/ :AHRS rotation from veh to nav: [[0.253203,-0.954607,-0.156888],[0.966888,0.244374,0.073542],[-0.031864,-0.170314,0.984874]]2H@|4?#`Ŀ?G?Ӳ?Pſ?i2[?I23];2CYBByB%IiMb@Mb@Mb@ 9uV?Zd;OMbp?Yr(?yj;A A)Y A %p9Y=SGyUFE>Q 54_삊?Q 94Z)Y*?Q E:y?Q I?y DI;i;4yɮLAB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 224.35 m.Rh 9Zh 9 ProNav: ac range: 224.353500 m, nav range: 216.661865 m, bearing: 69.978104 deg, approach rate: -0.746047 m/s, LOS rate: 0.008397 deg/s, cmd heading: 74.970465 deg, new cmd heading: 74.979788 deg. Bh%g9%HeadingCmd: 1.308644 target range: 224.353500 and range: 225.40 m.h%?h)*h)"h) h)g)f)f1f5LBd1d9d9jd9Zd=`p?e‡Bɢm v)m1 miq)u5PmT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.   1 ,m?ABP>BCB%IBBBBBBv;B{0EXffAp 9 fAY ȣAYBy%IbDVD:y <%E=ٔQ->9Y=SGy VF E >Q 549?Q 94)Y!y!Q I%? DII:ib:Õ4y-ABɮ-EMA-HEjhQ]FNOT Ignoring new targets: 224.35 m.Rh]F 9Zh]F 9m ProNav: ac range: 224.353500 m, nav range: 216.387131 m, bearing: 69.981199 deg, approach rate: -0.664798 m/s, LOS rate: 0.007501 deg/s, cmd heading: 74.979788 deg, new cmd heading: 74.989088 deg. Bhm9uHeadingCmd: 1.308807 target range: 224.353500 and range: 225.40 m.hu?hy*hy"hy hygyfyffdddjdZd@颽BɢY) hi)j<i]Vi?r);;I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255427m9@i @i@m1@i9^Ah%<IQ i Iq O} >E  E E (E "E ;*E :VE c44ZE BE a;a :E ?;a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506983g,oGλ?A 2b?2N?2=ٱ2'1 :AHRS rotation from veh to nav: [[0.260538,-0.952502,-0.157671],[0.964894,0.251279,0.076412],[-0.033164,-0.172044,0.984531]]2H@? z.Ŀi? ?ď?``ƿF?i2b?I2*P];2CYRByR%IIV)>)Va=ieMb@Mb@Mb@aaaa a9e}?5^I?{Gz/$?YeM"?yeףe9Y=SGyWFԟE>Q 54 ?Q 94)ʍBY#?Q E:y6?Q I? DI:i ;ʕ4yBɮKA>EjhFNOT Ignoring new targets: 224.35 m.Rh18Zh18 ProNav: ac range: 224.353500 m, nav range: 216.138214 m, bearing: 69.983329 deg, approach rate: -0.638670 m/s, LOS rate: 0.005469 deg/s, cmd heading: 74.989091 deg, new cmd heading: 74.995486 deg. Bh:p9HeadingCmd: 1.308918 target range: 224.353500 and range: 225.40 m.h ?h *h "h  h g f ffRBdddjdZdR@MBɢMÁ)I MiI)UT D zD @A,"?AE" E"E"'E "E":*E"?:VE"'4ZE a&@a&@a&@a&@PR?Rgۦ?R|7 =ٱR2 ^AHRS rotation from veh to nav: [[0.263904,-0.951424,-0.158578],[0.963950,0.254359,0.078112],[-0.033982,-0.173476,0.984252]]RH ?r`KLĿ? lG?(?fs4ƿ`~?iR?IRt];RCYfByf%IhhbDnVDnβyvi%vU=ٔz ;Q-z>9xYx=~SGy~XF~UE>Q 5 4?Q 94)͍BYyƗ?Q I? DIN:iF:]ѕ4yɮ%LA!jhAMFNOT Ignoring new targets: 224.35 m.RhM 8ZhU 8e ProNav: ac range: 224.353500 m, nav range: 215.893036 m, bearing: 69.985653 deg, approach rate: -0.639059 m/s, LOS rate: 0.006066 deg/s, cmd heading: 74.995484 deg, new cmd heading: 75.002466 deg. Bhe99mHeadingCmd: 1.309040 target range: 224.353500 and range: 225.40 m.hm?hi*hi"hi higifqfqfqdydydyjdyZd@颭Bɢ"-) ti)<顱iеi?(;I?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012376q歼A!A!B%R>B!B%%IB%BB% =B!B!B%u;B%X0Ee9@a @a@m4@i BDAT read: Rx Time:15:08:30.3934  TRx dataTimestamp_ set to:1761577711.952130 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264066a ^A} qA >A >I I O >Ry,?A2?2\o?2 =ٱ2T4 JAHRS rotation from veh to nav: [[0.267075,-0.950303,-0.159984],[0.963053,0.257233,0.079745],[-0.034629,-0.175371,0.983893]]2H ?@h@WzĿ@U?v?(j?@ںrƿ |?i2?I2r];2CYRByR%IbD^VD^kyf=%fM=ٔfm:Q-f>9hYh=jSGyjYFjmEn>pQ 5~4r ?Q 94re)rЍBYy^?!Q I-?r DIrw Au .AIy I O%>ԋ,?ABDAT read: Tx time:15:08:31.5232 $Ping request sent.iuu\?u'0@uϢ=u~{/@ u5=)u@Iu5qqu-f%! ?]o? ? uV(?)uyIuiu5qq*:publishing transmit ping time*Fpublishing direction and range infoyquU얄? ehgUM7P2?Yqqqqq q)qIqiqqqqq q)qIqqqu-f%! ?]o? ? q)qIqiqqq0??]=ٱKP3 AHRS rotation from veh to nav: [[0.269523,-0.949874,-0.158421],[0.962352,0.259664,0.080338],[-0.035175,-0.174110,0.984098]]H??^e#GĿ`?`V? ? x@9Iƿ}?i0?I|];CY=By=%I AAiMb@Mb@Mb@ 9y&1?p= ףQ?Y`%?y<A  A)Y A 4<p;bDVDE EE)E"ET;*E:VEFA4ZEa@a%@a%@a%@y-A&=%5=ٔ5Qy:Q-5>95 ?Y= ?==SGy=ZF=7E=>AQ 5m4E"?Q 9u4E8)EՍBYuc&?Q Eu:yu?Q Iu?E DIE ;iE;E`4y}BɮUKA?Eiqiuf?AJiuFCRiuFCjiuD?burh@qǧ{\8 C38@RuU얄? ehgUM7P2?Ziubiu5juf?QR@zJf@ta-5@ZuIʅ@6?/a?24&M?2iu7C:iu B"iu(͚?*iuvBiuBiqiu6G8iuBiu7ECiuo?U addTargetRange:: Added new target pos. range: 199.500000 m, deltaT: 7.571559 s, deltaX: -25.899994 m, approachRate: -3.420695 m/s, rangeRepo size: 4 e Added new target pos. range: 198.575409 m, bearing: 68.606785 deg, lat: 36.779263 deg, lon: -121.859513 deg, deltaT: 7.571559 s, deltaX: -25.778091 m, approachRate: -3.404595 m/s, posRepo size: 4 jhaFNOT Ignoring new targets: 198.58 m.RhZh ProNav: ac range: 198.575409 m, nav range: 197.218353 m, bearing: 69.129680 deg, approach rate: 0.000000 m/s, LOS rate: 0.005695 deg/s, cmd heading: 75.010394 deg, new cmd heading: 75.019529 deg. BhHeadingCmd: 1.309338 target range: 198.575409 and range: 199.50 m.ha?h*h"h hgfffhBdddjdh@Zd&?-Bɢ-)) -i1)5* <11i5>벼i=a?=;%;=Q+I]a?Iaiiii1 BQ BQ BU %IBU BBU =BQ BQ BU u;BU O0EBCBCBBB =CM5 9@  @ @ 0@ Y ԉ^AAzAdAA؟AIIOM?is,F?A4E5 E5E5,E1"E5;*E5:VE5g4ZE1BE1a]2E1aeJE5N;am:E5N;am?;?w=ٱ&1 AHRS rotation from veh to nav: [[0.271155,-0.949771,-0.156236],[0.961887,0.261420,0.080204],[-0.035332,-0.172030,0.984458]]HZ?`dÿ@??F? ƿ?i?Iy];CY%By%%Ii]Mb@Mb@Mb@YYYY Y9]㥛 ?V-:v?Y]5?y]]<]A]C@ ]A)] AYY] AbDuVDu0y% =ٔ9Q->ԉ9"?Y"?=SGy\F?E>Q 54"?Q 94)׍BY5?Q E:y?Q I? DIO;iN;4y˟Bɮ\IA5EeB*** querying acoustic contact ***ia iajhFNOT Ignoring new targets: 198.58 m.RhxSZhxS ProNav: ac range: 198.575409 m, nav range: 196.807236 m, bearing: 69.123027 deg, approach rate: -0.712562 m/s, LOS rate: -0.011555 deg/s, cmd heading: 75.019526 deg, new cmd heading: 74.999526 deg. BhHeadingCmd: 1.308989 target range: 198.575409 and range: 199.50 m.h?h*h"h hgfffwBdddjdZd@x?5Bɢ5)1 =# i9)= <99i=Qi?k#;I?IԹ59@9 @9@=k1@9 e T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.^A} 0 A .AI I O >m,Yc?A>b?>ܥ?>V=ٱ>/ FAHRS rotation from veh to nav: [[0.271375,-0.949952,-0.154750],[0.961822,0.261749,0.079906],[-0.035401,-0.170527,0.984717]]>H5^?f`ÿ???`t? ſ ͂?i>b?I>Y];>CYNByN%IbDVVDVy==%EU=ٔEG;9Q-M>9U ?YU ?=USGyU]F]Ee>iQ 5}4m)?Q 94m)m؍BYy?Q I?m DIm5k;iml;m94yɮHAjhAImFNOT Ignoring new targets: 198.58 m.RhmRZhmR} ProNav: ac range: 198.575409 m, nav range: 196.534836 m, bearing: 69.118627 deg, approach rate: -0.712624 m/s, LOS rate: -0.011526 deg/s, cmd heading: 74.999527 deg, new cmd heading: 74.986309 deg. Bh#HeadingCmd: 1.308758 target range: 198.575409 and range: 199.50 m.bEFA4jE#E4rEͰ/E EE+E"E;*E:VE [4ZEa@a@a@a@hb?h*h"h hgfffdddjdZd?-Bɢ- B)1 5i1)5<11i5i=b?=n";=.IEb?Ia9@ @@4@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221672yԩBA<BP>BB%IBBB =BBBu;Bh0E^A] 8A ؟AI I O > Ғ,2 }?A2+?2?2=ٱ2, :AHRS rotation from veh to nav: [[0.270854,-0.950532,-0.152077],[0.961973,0.261479,0.078973],[-0.035301,-0.167685,0.985208]]2H@U?jFwÿ{??7?vſӆ?i2+?I2]];2CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.472087YJ̆ByJ%IIN=)N>bDRVDRNyZ>%ZT=ٔ^ԇQ-^>9 "?Y"?=SGy^F:E>Q 5%40?Q 9-4)ٍBY)y-?Q I-? DI:i:4y5џBɮ5&HA=6EjhFNOT Ignoring new targets: 198.58 m.Rh VZh V ProNav: ac range: 198.575409 m, nav range: 196.256027 m, bearing: 69.114077 deg, approach rate: -0.715850 m/s, LOS rate: -0.011700 deg/s, cmd heading: 74.986311 deg, new cmd heading: 74.972640 deg. BhyHeadingCmd: 1.308519 target range: 198.575409 and range: 199.50 m.h%}?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zdu 6?ԱBɢN\) i)<iLi}?&u!;=BI}?II)u9@y @@/@E EE&E"E:*E?:VE4ZEBE3<a2E3A> A I I O >9 z%,?A2?2C ?21&=ٱ2* :AHRS rotation from veh to nav: [[0.270042,-0.951042,-0.150318],[0.962214,0.260890,0.077975],[-0.034941,-0.165695,0.985558]]2H^H?n =ÿu?`k?0?`㡿{5ſ?i2?I2.{];0YBφByB%IiuMb@Mb@Mb@qqqq q9u%C?Mbp~jt?YuZD?yuu9Y=SGy_F:;E>Q 54:8?Q 94ژ)׍BYjD?Q E:y?Q I?% DI;iK ;|4yɮHAjhFNOT Ignoring new targets: 198.58 m.RhӿZhӿ  ProNav: ac range: 198.575409 m, nav range: 195.932922 m, bearing: 69.105563 deg, approach rate: -0.794285 m/s, LOS rate: -0.020963 deg/s, cmd heading: 74.972637 deg, new cmd heading: 74.947054 deg. Bh 1fHeadingCmd: 1.308073 target range: 198.575409 and range: 199.50 m.hn?h*h"h hgff!f%Bd!d!d)jd)Zd-?]Bɢ])Y ]۾iY)e7X9Y=SGy`F ;E >Q 54>?Q 94h)֍BYy?Q I?8 DIT;i;.4y)ɮ-GA)jhQUFNOT Ignoring new targets: 198.58 m.Rh]^Zhe^u ProNav: ac range: 198.575409 m, nav range: 195.640182 m, bearing: 69.097687 deg, approach rate: -0.763935 m/s, LOS rate: -0.020585 deg/s, cmd heading: 74.947051 deg, new cmd heading: 74.923386 deg. Bhu b}HeadingCmd: 1.307660 target range: 198.575409 and range: 199.50 m.h}ea?hy*hy"hy hygyfffdddjdZd W@颽Bɢػ) 'оi)ɷ<i㬼iea?Cu;^fIea?IBeR>BaBe%IBeˆBBaBaBaBeu;Bek0EU9@Q @Q@U/@Qyԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.480512^AuTлA .AI I O > E  E E .E "E V:*E ?:VE ـ4ZE BE 99= ?Y= ?==SGy=aFE(I;EE>IQ 5U4ME?Q 9U4Ma)MэBYUbK?Q E]:y]?Q I]?MO DIM ;iM ;M4yeBɮeEAe,EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 198.58 m.RhZh ProNav: ac range: 198.575409 m, nav range: 195.289993 m, bearing: 69.084513 deg, approach rate: -0.787080 m/s, LOS rate: -0.029663 deg/s, cmd heading: 74.923384 deg, new cmd heading: 74.883792 deg. BhۢHeadingCmd: 1.306969 target range: 198.575409 and range: 199.50 m.hJ?h*h"h hgfffBdddjdZdUc@颍Bɢa) ľi) <顑i0ЫiJ?;ä4IJ?Iy@ @@@@@eA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983998^A yA cAzA fA) A ؟AI I O >8,ލ?A>Ċ?>@?>=ٱ>7& RAHRS rotation from veh to nav: [[0.265187,-0.952876,-0.147319],[0.963650,0.256781,0.073767],[-0.032462,-0.161526,0.986334]]>H?`}W¿9?o?a?ݞĿ@ ?i>Ċ?I>p>];>CY^By^%IbD}VD}ky=%V=ٔ.Q->9"?Y"?=SGybF;E>Q 54K?Q 94)΍BYy?Q I?b DI;i;4yɮEAjhFNOT Ignoring new targets: 198.58 m.Rh Zh  ProNav: ac range: 198.575409 m, nav range: 194.988525 m, bearing: 69.072951 deg, approach rate: -0.788570 m/s, LOS rate: -0.030290 deg/s, cmd heading: 74.883790 deg, new cmd heading: 74.849050 deg. BhM HeadingCmd: 1.306362 target range: 198.575409 and range: 199.50 m.h 6?h *h "h  h g fffdddjdZd%]r @MBɢM쑻)I MϻiI)U;]I]6?IaDyzDyE EE'E"El;*E:VE'4ZEa@a@a@a@ 9@  @ @ 0@ IBDAT read: Rx Time:15:08:34.2441 TRx dataTimestamp_ set to:1761577715.737046checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238293qG)^A5qZAYAYBiBiBm%IBmBBiBiBiBmu;Bmn0EAu9YEAA ԡ I I O >>,g?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487838:(?:~?:=ٱ:$ FAHRS rotation from veh to nav: [[0.262747,-0.953724,-0.146198],[0.964355,0.254650,0.071926],[-0.031368,-0.159885,0.986637]]:H?¿`?`/L?i? `wĿ?i:(?I:nO];:CYHyLbDVVDVٔ^H>Q-j>9hYh=jSGyjcFn;En>pQ 5v4rQ?Q 9v4rx)rʍBYtyzF?Q Iz?ru DIr :ir9:rB4y~Bɮ~EA~-Ejh!-FNOT Ignoring new targets: 198.58 m.Rh-y Zh-y E ProNav: ac range: 198.575409 m, nav range: 194.690109 m, bearing: 69.061244 deg, approach rate: -0.787029 m/s, LOS rate: -0.030922 deg/s, cmd heading: 74.849051 deg, new cmd heading: 74.813878 deg. BhEũEHeadingCmd: 1.305748 target range: 198.575409 and range: 199.50 m.hM"?hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]z @y颍Bɢ%) i){o<顑ii"?&;b;I"?IQ@Q @Y@]4@YE EE)E"E:*E:VEFA4ZEBE@8 uBDAT read: Tx time:15:08:35.3732 u$Ping request sent.uiDz>.@;0>.@ t;?>)@It;?Q-X?>?hk? u#?)0Ii0it;?:publishing transmit ping timeqFpublishing direction and range infoy2@?Ţ &K{?Y )Ii )IQ-X?>?hk? )IiA I I O >! E,E?A2]j?2U?2?<ٱ2E# :AHRS rotation from veh to nav: [[0.260337,-0.954486,-0.145541],[0.965048,0.252533,0.070074],[-0.030131,-0.158697,0.986868]]2H[?`%¿?~)?\?ڞ*PĿ`k?i2]j?I2y];2CYnByn%IIr=)r=ttiMb@Mb@Mb@ 9zG?l?Y W?y=AZ@  A)YQ AbDVDy"%<ٔ4Q->9Y=%SGy%dF%,;E%>)Q 554-X?Q 954-Go)-ÍBY=?W?Q E=|:y=?Q I=?- DI-* ;i- ;-%4yEtBɮEDAM$EiAiEV?AJiEflCRiEflCjiER?bE,]l@ƻ_u}9 E@RE2@?Ţ &K{?ZiEi0biEt;?jEG 5S@Iqnk@>3D@ZEpk~_!?д?q?2iEt[C:iEB"iEx ?*iE_BiEBiAiAiEBiEQBCiE??-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 237.500000 m, deltaT: 3.780272 s, deltaX: 38.000000 m, approachRate: 10.052187 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 198.58 m.RhZhM ProNav: ac range: 198.575409 m, nav range: 194.319244 m, bearing: 69.045229 deg, approach rate: -0.802472 m/s, LOS rate: -0.034720 deg/s, cmd heading: 74.813876 deg, new cmd heading: 74.765738 deg. BhUUHeadingCmd: 1.304908 target range: 198.575409 and range: 199.50 m.h]<?hY*hY"hY hYgYfYfafeԇBdadadijdm@ZdZ?Bɢ) Wi)Ï<ii-<?-s;-+;I-<?I1!@ @@4@ID=D%=E EE(E"E;*E?:VEc44ZEa@a@a@a@^A ] ;y A .AI! I1 O= >K,1?A>‹?>?>lk<ٱ>Z " FAHRS rotation from veh to nav: [[0.257743,-0.955279,-0.144949],[0.965786,0.250252,0.068051],[-0.028734,-0.157529,0.987096]]>H@~?॑¿? ? k?dl )ĿJ?i>‹?I>]\;>CYN߆ByN%IbDVVDVfy^ֻ%be=ٔb(Q-b>9f ?Yf ?=fSGyfeFfq;Ef>pQ 5v4r^?Q 9v4rg)rBYxyz??Q Iz?r DIr;ir ;rU+4y|ɮDAjh!-FNOT Ignoring new targets: 198.58 m.Rh-0Zh50E ProNav: ac range: 198.575409 m, nav range: 194.020615 m, bearing: 69.032043 deg, approach rate: -0.870065 m/s, LOS rate: -0.038475 deg/s, cmd heading: 74.765737 deg, new cmd heading: 74.726120 deg. BhE=ӺMHeadingCmd: 1.304217 target range: 198.575409 and range: 199.50 m.hM?hI*hI"hI hIgQfQfQfYdYdYdYjdYZdeW?颍Bɢf2) ܽi)R<顑i2i?;,;I?IBBB%IBBBBBBu;Br0Ei @  @ @/@^Ar;ԙAII)O=P>E  E E )E "E :*E $:VE FA4ZE BE 59aYa=eSGyefFm!;Em>qQ 5}4ue?Q 9}4u])uBYY?Q Ey:y?Q I?u DIu*:iu:uF34yɮDAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 198.58 m.RhzZhz ProNav: ac range: 198.575409 m, nav range: 193.637741 m, bearing: 69.017410 deg, approach rate: -0.841721 m/s, LOS rate: -0.032233 deg/s, cmd heading: 74.726122 deg, new cmd heading: 74.682136 deg. BhHeadingCmd: 1.303449 target range: 198.575409 and range: 199.50 m.hlצ?h*h"h hgfffˇBdddjdZd J?额Bɢ) ži)<顩i:ilצ? ;y'X,e?A$$Zh?Z8T?Z`<ٱZ fAHRS rotation from veh to nav: [[0.252866,-0.956599,-0.144834],[0.967165,0.245984,0.063901],[-0.025501,-0.156237,0.987390]]ZH.?v¿?e|?[?ÿ?iZh?IZ!\;ZCYjنByn%IbDEVDE\yM'<%U^=ٔUQ-U>9QYY=]SGy]gFe;Ee>aQ 5m4ek?Q 9u4eU)eBYqyu?Q Iu?e DIe:ie:e94yɮDAjhFNOT Ignoring new targets: 198.58 m.Rh Zh  ProNav: ac range: 198.575409 m, nav range: 193.327057 m, bearing: 69.005270 deg, approach rate: -0.843492 m/s, LOS rate: -0.033012 deg/s, cmd heading: 74.682135 deg, new cmd heading: 74.645658 deg. Bh>HeadingCmd: 1.302812 target range: 198.575409 and range: 199.50 m.h¦?h*h"h hgfffdddjdZd:? Bɢ `)  i)kq<i5vi¦?7!;POB<A<BBBBBBBBu;Bv0EBBBB =BCC4ԩ f_,m?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7519966?6?6O<ٱ6k @ BAHRS rotation from veh to nav: [[0.250903,-0.957082,-0.145056],[0.967713,0.244265,0.062185],[-0.024084,-0.155975,0.987467]]6H?k3¿?D?֯?`@ÿ@U?i6?I6\;6CYJцByJ%IbDVVDVyZj%^T=ٔ^{qQ-^>9b"?Yb"?=bSGybhFf;Ef>hQ 5j4jEr?Q 9n4jEM)jBYtyv:?Q Iv?j DIjy;ijy;jq@4yzIBɮ~CA~Ejh!%FNOT Ignoring new targets: 198.58 m.Rh-Zh- ProNav: ac range: 198.575409 m, nav range: 193.003052 m, bearing: 68.992369 deg, approach rate: -0.837510 m/s, LOS rate: -0.033405 deg/s, cmd heading: 74.645655 deg, new cmd heading: 74.606885 deg. BhhHeadingCmd: 1.302136 target range: 198.575409 and range: 199.50 m.hc?h*h"h hgfffdddjdZd?Bɢ>) ži) <  i ic?";5rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004392A I I! O5 >f,L?AtYv̆Byz%IiMb@Mb@Mb@ 9"~?I +YS?y94A ; A)Q AY AbDVD:2y%;=ٔQ->9Y=SGyiFE>Q 54y?Q 94D)BYS?Q E:yS?Q I? DI ;i ;H4yɮCAjh  FNOT Ignoring new targets: 198.58 m.RhZh% ProNav: ac range: 198.575409 m, nav range: 192.644302 m, bearing: 68.980490 deg, approach rate: -0.826295 m/s, LOS rate: -0.027410 deg/s, cmd heading: 74.606887 deg, new cmd heading: 74.571185 deg. Bh%~-HeadingCmd: 1.301513 target range: 198.575409 and range: 199.50 m.h-?h)*h)"h1 h1g1f1f9f=̇Bd9d9dAjdAZdE@mBɢmD)q u ɾiq)u4% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507938p1l,B$?A2B ?2?2@<ٱ2s# :AHRS rotation from veh to nav: [[0.248065,-0.957317,-0.148350],[0.968509,0.241711,0.059719],[-0.021312,-0.158493,0.987130]]2H?@W%¿`?`?@~?ҕ@~IĿ?i2B ?I2\;2CYBByB%IDFAHHbDLVDLyz!i%zW=ٔ~pQ-~>9Y=SGyjFN;E > Q 54 ?Q 94 <) BYy?Q I?  DI ;i ; N4y)ɮ- E  E E (E "E ;*E :VE c44ZE BE L9Y=SGykF:E>Q 54Έ?Q 942)BYYL?Q EM:yMR?Q IM?% DI@Dy,?A6?6)?6<ٱ6% BAHRS rotation from veh to nav: [[0.247823,-0.956995,-0.150810],[0.968616,0.241677,0.058096],[-0.019150,-0.160474,0.986854]]6H?Mÿ@?@C?@? mĿ@O?i6?I6p\;6CYJByJ%IbDRVDR0yZ%Zc=ٔ^XEQ-^>9\Y\=^SGy^lFbp#Eb>dQ 5j4fO?Q 9j4f+)fBYlynJ?Q In?f7 DIfr;if;f\4yrBɮrCArEqjhFNOT Ignoring new targets: 198.58 m.RhչZhչ ProNav: ac range: 198.575409 m, nav range: 191.683716 m, bearing: 68.951276 deg, approach rate: -0.813282 m/s, LOS rate: -0.023334 deg/s, cmd heading: 74.508047 deg, new cmd heading: 74.483397 deg. BhHeadingCmd: 1.299981 target range: 198.575409 and range: 199.50 m.he?h*h"h hgfffdddjdZd`< @E EE'E"E:*E҆:VE'4ZEa@a@a@a@Bɢ灼) i)x<i^Die?*;A Vi,й?ADAT read: 15:08:38.0925 LVL= 29920, 32753, 31202, 32755, AGC= 59, IDX= 129,-0.00, 2.702, 1.225, 3.087, 2.607, PHS= 0.197,-1.337, 0.436, RAW= 157.1, 8.5, CAL= 156.8, 8.9, ROT= 353.2, -8.9 Ygot valid direction response: 15:08:38.0925 LVL= 29920, 32753, 31202, 32755, AGC= 59, IDX= 129,-0.00, 2.702, 1.225, 3.087, 2.607, PHS= 0.197,-1.337, 0.436, RAW= 157.1, 8.5, CAL= 156.8, 8.9, ROT= 353.2, -8.9 PDAT read: Bearing 225.0, -9.7 (Local) ~Local bearing/azimuth received: Bearing 225.0, -9.7 (Local) "DAT read: Range 11 to 50 : 236.4 m (Round-trip 315.2 ms) speed 0.8 m/s &*DAT read: user:959> &BDAT read: Tx time:15:08:39.2232 *$Ping request sent.*hH򽿥j?Y]flCY]tY]y Y)];I]^I>i]"]d;>]~{/@]>]%/@ ]>)]C@I]YY]pp";?5?? ]%?)]I]i]YY-:publishing transmit ping time(-Fpublishing direction and range infoyY]God?>hH򽿥j?YYYYYY Y)YIYiYYYYY Y)YIYYY]pp";?5?? Y)YIYiYYYYBy%I bD VD2y䣼%,=ٔQ->9Y=SGymFE>!Q 5-4%?Q 9-4%!)%BYQyQQ IU?%P DI%u;i%h;%Ze4y]Bɮ]CAeEiYi]*W?AJi]MkCRi]MkCji]>?b]KC(l@Ć;.ɷ3B@R]God?>hH򽿥j?Zi]bi]j]Df+S@aak@@A@Z]4Q;?T'A?q?2i] [C:i]B"i]I?*i])>Bi]xBi](͚?i] [i]Bi]TCi]Н? addTargetRange:: Added new target pos. range: 236.399994 m, deltaT: 7.561539 s, deltaX: 36.899994 m, approachRate: 4.879958 m/s, rangeRepo size: 4 % Added new target pos. range: 235.304489 m, bearing: 70.386917 deg, lat: 36.779279 deg, lon: -121.859264 deg, deltaT: 7.561539 s, deltaX: 36.729080 m, approachRate: 4.857355 m/s, posRepo size: 4 jh!MFNOT Ignoring new targets: 235.30 m.Rh]ZhY ProNav: ac range: 235.304489 m, nav range: 212.709869 m, bearing: 70.642257 deg, approach rate: 0.000000 m/s, LOS rate: -0.023334 deg/s, cmd heading: 74.483397 deg, new cmd heading: 74.449807 deg. BhHeadingCmd: 1.299394 target range: 235.304489 and range: 236.40 m.hR?h*h"h hgfffdddjďm@ E5 E5E5(E1"E5%;*E5:VE5c44ZE1BE5KJ<A >A >IY Ii Ou >$,?A2̌?2?2<ٱ2!' :AHRS rotation from veh to nav: [[0.249965,-0.955993,-0.153605],[0.968100,0.243918,0.057335],[-0.017344,-0.163036,0.986468]]2H?@Qÿ?8?@Z?‘ _Ŀ$?i2̌?I2a\;2ޑCYBByB%Ii Mb@Mb@Mb@     9 Mb?y&1~jtxY C?y `弙 Ļ  ZA ; A) Q A Y  AbD-VD-:y5F%=T=ٔ=#Q-=>9AYA=ESGyEnFE{EM>i߱IߵAIQ 54M?Q 94M)MBY5C?Q E:y?Q I?Mb DIM[;iM: ;Ml4yɮ#DAjh)5FNOT Ignoring new targets: 235.30 m.Rh51Zh51E ProNav: ac range: 235.304489 m, nav range: 212.419708 m, bearing: 70.638527 deg, approach rate: -0.754026 m/s, LOS rate: -0.009706 deg/s, cmd heading: 74.449806 deg, new cmd heading: 74.438601 deg. BhE*չUHeadingCmd: 1.299199 target range: 235.304489 and range: 236.40 m.hU$L?hQ*hQ"hQ hQgQfYfYf]BdYdadajdaZde?颕Bɢ) Ei)<顙ixi$L? h/;ɏԙ g> - GE dA] A 9 dAY AB Q>B B %IB BB B B B u;B S0EJ,f7?ABp?B?BɆ<ٱBF) JAHRS rotation from veh to nav: [[0.251628,-0.955255,-0.155474],[0.967684,0.245593,0.057195],[-0.016453,-0.164842,0.986183]]BH`?rÿD?`o?H?ِſ@ώ?iBp?IB];BCYzByzu%IbDVDy=ʽ%M=ٔQ->9Y=SGy%oF%E%>)Q 554-W?Q 954-)-BY1y=?Q I=?-v DI-;i-L ;-r4yAɮEDAAjhimFNOT Ignoring new targets: 235.30 m.Rhu6Zhu6y ProNav: ac range: 235.304489 m, nav range: 212.116272 m, bearing: 70.634756 deg, approach rate: -0.802550 m/s, LOS rate: -0.009987 deg/s, cmd heading: 74.438598 deg, new cmd heading: 74.427270 deg. BhT۹HeadingCmd: 1.299001 target range: 235.304489 and range: 236.40 m.hE?h*h"h hgfffdddjdZd?BɢP)Q UiY)][E  E E %E "E l;*E :VE 4ZE BE [F?.BĿ?W?慭?$3Bwſ`?i67J?I6w];4YJByJn%IiMMb@Mb@Mb@IIII I9MA`"?v/{Gzt?YM9?yMxiMף;MAM@ M$ A)M AIYM AY]@AbDeVDeyuhܼ%uD=ٔ}ƺQ-}>9yYy=}SGy}pFﱻE>Q 54?Q 94c )BY9?Q E:yn?Q I? DI ;i ;Bz4yBɮlCA EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 235.30 m.RhZh ProNav: ac range: 235.304489 m, nav range: 211.813751 m, bearing: 70.634355 deg, approach rate: -0.722997 m/s, LOS rate: -0.000960 deg/s, cmd heading: 74.427267 deg, new cmd heading: 74.426061 deg. Bh(HeadingCmd: 1.298980 target range: 235.304489 and range: 236.40 m.hD?h*h"h hgfffzBddd jd Zd i%?=Bɢ= )9 =i9)=E!\,dwk?ARw?R?R<ٱRK. ZAHRS rotation from veh to nav: [[0.256176,-0.953255,-0.160246],[0.966504,0.249917,0.058410],[-0.015631,-0.169841,0.985347]]RH.e?Ŀ`?H??\ſ`?iRw?IR];PD\zD^AAE` EbEb(E`"E`*Eb5:VEbc44ZE`aj@aj@aj@aj@YrqByr\%IbDzVDzy%Ԗ%%P=ٔ-Q-->91Y1=5SGy5qF]ȻEe>iQ 5u4m?Q 9%4m3)iY)y-?Q I-?m DImZ G,[?Ar?rL?rn}<ٱrn31 zAHRS rotation from veh to nav: [[0.258609,-0.952236,-0.162381],[0.965858,0.252201,0.059271],[-0.015488,-0.172165,0.984946]]rH@ ?`xĿO?$?X?`~ ƿ`?ir?Ir*];rߑCYwByd%IbD%VD%:y5=%5I=ٔ=Q-=>99Y9=ESGyErFEͻEE>IQ 5U4MѾ?Q 9U4M)MBYYy]Ν?Q I]?M DIM;iM;M;4yaɮeCAajhFNOT Ignoring new targets: 235.30 m.Rh|UZh|U ProNav: ac range: 235.304489 m, nav range: 211.233810 m, bearing: 70.634153 deg, approach rate: -0.773979 m/s, LOS rate: -0.000011 deg/s, cmd heading: 74.425464 deg, new cmd heading: 74.425451 deg. BhHeadingCmd: 1.298969 target range: 235.304489 and range: 236.40 m.hD?h*h"h hgfffdddjdZd@Bɢmž)q uxiq)u  n,s,?AYeByM%IiMb@Mb@Mb@ 9v?DlY8?yOZ@  A) AYz Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506832 <bDVDy %@=ٔQ->9Y=SGysFE>Q 5}4ǃ?Q 94g)Y9?Q E:y?Q I? DIհAm >B O>B B t%IB BB B B B u;B G0EBBBBBCtP4q A I I O >Aܭ,u"?AY1y5N%IbDEVDEkyU ;%UJ=ٔYQ-]>9YYY=eSGyeuFaEe>iQ 5u4mrЃ?Q 9u4m+)iYyyyQ I}?m DIm: ;imy;m4yɞBɮCAEjhFNOT Ignoring new targets: 235.30 m.Rhp8Zhp8 ProNav: ac range: 235.304489 m, nav range: 210.632843 m, bearing: 70.637013 deg, approach rate: -0.775451 m/s, LOS rate: 0.003700 deg/s, cmd heading: 74.429842 deg, new cmd heading: 74.434041 deg. Bh"9HeadingCmd: 1.299119 target range: 235.304489 and range: 236.40 m.hI?h*h"h hgfffdddjdZd2@-Bɢ-hfͼ)1 5i1)5!x<11i=Xi=I?=T7;E41[,Ӿ?A YyM%IiMb@Mb@Mb@ 9x?Zd;I +?YK7?yy94<+Ah@ 7 A) AY AbD5VD5yEh%E>=ٔAQ-M>9IYI=MSGyMvFQEU>YQ 5e4]6ك?Q 9e4])]BYm7?Q Em:ym2?Q Im?] DI]y;i] ;]>4yqɮuCAqB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 235.30 m.Rh-X7Zh-X7= ProNav: ac range: 235.304489 m, nav range: 210.323273 m, bearing: 70.637414 deg, approach rate: -0.716991 m/s, LOS rate: 0.000931 deg/s, cmd heading: 74.434042 deg, new cmd heading: 74.435249 deg. Bh=#8AeHeadingCmd: 1.299140 target range: 235.304489 and range: 236.40 m.he:J?ha*ha"ha hagifififm`BdqdqdqjdqZd}4 @Bɢ6) i)gp<iui:J?8;I:J?I@ @@/@quchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514707^A ԡ I9 II O] >ٺ,b?AbEUc44jEU64rEU 0E& E&E&*E$"E&:*E&1:VE&(N4ZE$a2@a2@a2@a2@@Vf?VQ?V%<ٱV2 fAHRS rotation from veh to nav: [[0.268067,-0.949489,-0.163125],[0.963269,0.261369,0.061635],[-0.015886,-0.173655,0.984678]]VH(?7b`DĿ? C??`DV:ƿ |?iVf?IV[];VޑCYnWByr<%IIv=)v<bD}VD}y%X=ٔ:Q->9Y=SGywFѼE>Q 548჊?Q 94)BYy?Q I? DI:i(:烙4yɮCAjh!%FNOT Ignoring new targets: 235.30 m.Rh-O8Zh-O8] ProNav: ac range: 235.304489 m, nav range: 210.048050 m, bearing: 70.638505 deg, approach rate: -0.712514 m/s, LOS rate: 0.002828 deg/s, cmd heading: 74.435251 deg, new cmd heading: 74.438528 deg. Bh]l8eHeadingCmd: 1.299197 target range: 235.304489 and range: 236.40 m.heL?ha*hi"hi higififqfddchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.769567djd ZdCQ@ԱeBɢqӼ) <i)th<顩iPRiL?8;AABBBa%IBuBB =BBBu;BA0E#6:IL?IQ@Q @Y@Y@Y  DAT read: 15:08:41.9406 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 129, 0.34,-0.651,-2.141,-0.280,-0.818, PHS= 0.269,-1.278, 0.494, RAW= 156.7, 6.2, CAL= 156.0, 6.1, ROT= 354.0, -6.1  Ygot valid direction response: 15:08:41.9406 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 129, 0.34,-0.651,-2.141,-0.280,-0.818, PHS= 0.269,-1.278, 0.494, RAW= 156.7, 6.2, CAL= 156.0, 6.1, ROT= 354.0, -6.1  PDAT read: Bearing 220.8, -8.1 (Local)  ~Local bearing/azimuth received: Bearing 220.8, -8.1 (Local)  DAT read: Range 11 to 50 : 234.9 m (Round-trip 313.3 ms) speed 0.9 m/s  *DAT read: user:960>  BDAT read: Tx time:15:08:43.0731  $Ping request sent. I ^>i >  /@ k= @.@ ^ =) @I ^ ڽ LH?u?v? #?) K޽I iwֽi ^ ڽ e :publishing transmit ping time m Fpublishing direction and range infoy  nKe?(O4?Y ) I i ) I LH?u?v? ) I ^A A dAzA dAIa Iq O} >H,?AiXn1?n?nf<ٱn1 5AHRS rotation from veh to nav: [[0.269620,-0.949191,-0.162298],[0.962835,0.262941,0.061729],[-0.015918,-0.172910,0.984809]]nH`uA?`_@2Ŀ??횯?L`!ƿ ?in1?Inh];nߑCY^ByE%IbDVDy/=%?=ٔ8Q->9Y=SGyxF%zE%>)Q 554-ꃊ?Q 954-5)-BY1y=?Q I=?- DI)i-:-R4yAɮEQCAAii?AJiiCRiiCjiI?E5 E5E5(E1"E5;*E5:VE5c44ZE1BE5A9 ǯ,l{!?A2?2R?2*<ٱ2|0 :AHRS rotation from veh to nav: [[0.271054,-0.949006,-0.160992],[0.962437,0.264482,0.061353],[-0.015644,-0.171575,0.985047]]2H@X?@^cĿI?`E?i?(ſ ?i2?I2n];2CYNVByR:%I!iMb@Mb@Mb@ 99Y=SGyyFuE>Q 54?Q 94G)BY3?Q E:y ?Q I%? DI;i;C4y-ϞBɮ5CA=EjhFNOT Ignoring new targets: 233.81 m.Rh_Zh_5 ProNav: ac range: 233.809433 m, nav range: 226.651428 m, bearing: 70.345299 deg, approach rate: -0.736051 m/s, LOS rate: -0.001293 deg/s, cmd heading: 74.442409 deg, new cmd heading: 74.440938 deg. Bh5?c=HeadingCmd: 1.299240 target range: 233.809433 and range: 234.90 m.h={M?h9*h9"h9 hAgAfAfAfM[BdIdQdQjdQZdU)u?颅}Bɢ/) i)Y<顉i"i{M?+:8;c9I{M?IIE9@A @A@E0@AEE EEEE-EA"EE:*EE:VEEt4ZEAaU@aU@aU@aU@q^A NJ:I I O >ԡ B B B B B B B B Mu;B 0Ej%ί,PU;?A2?2RΥ?2~<ٱ2Et0 :AHRS rotation from veh to nav: [[0.271935,-0.948780,-0.160835],[0.962190,0.265373,0.061383],[-0.015558,-0.171446,0.985071]]2Hbg?g\?Ŀ`B??m?܏`ſ?i2?I2Ѩ];2ޑCYBaByBI%I DFAbDNVDN0yV=%V_=ٔVxQ-Z>9XYX=ZSGyZzF^$E^>`Q 5f4b?Q 9f4b)bBYdyf?Q Ij?b0 DIb-:ib:b4ynBɮnAAnEjhFNOT Ignoring new targets: 233.81 m.Rh Zh y ProNav: ac range: 233.809433 m, nav range: 226.396179 m, bearing: 70.344909 deg, approach rate: -0.745070 m/s, LOS rate: -0.001139 deg/s, cmd heading: 74.440941 deg, new cmd heading: 74.439771 deg. BhHHeadingCmd: 1.299219 target range: 233.809433 and range: 234.90 m.hL?h*h"h hgfffdddjdZdื? {Bɢ+) 5 i1)=MS<99i=iEL?E7;E6ԹIEL?III)_A 9@  @ @ 4@ ԩ^A5?BɹIIO>EU  EU EU &EQ "EU T;*EU :VEU 4ZEQ BEU G9aYa=eSGye{FmݺEm>qQ 5}4u?Q 9}4u8)uBY} :?Q E:y?Q I?uD DIu:iu:u4yɮBAjhFNOT Ignoring new targets: 233.81 m.RhPZhP ProNav: ac range: 233.809433 m, nav range: 226.085587 m, bearing: 70.344044 deg, approach rate: -0.726071 m/s, LOS rate: -0.002026 deg/s, cmd heading: 74.439773 deg, new cmd heading: 74.437173 deg. BhHeadingCmd: 1.299174 target range: 233.809433 and range: 234.90 m.hSK?h*h"h hgfffWBdididqjdqZdu?颽yBɢvHϼ) i)$K<i Wi SK?fY7;KoISK?I9@ @@/@1^AA I I O > 7ۯ,| o?ADzD@AE" E"E")E "E";*E"ą:VE"FA4ZE a*@a*@a*@a*@bo?bè?b.o<ٱbo0 nAHRS rotation from veh to nav: [[0.273042,-0.948381,-0.161313],[0.961891,0.266600,0.060739],[-0.014598,-0.171750,0.985032]]bHy?#YĿ??5?`z卿 ſb?ibo?Ib^;`YcBy K%IbDVDky-G =%-N=ٔ-ĺQ-->91Y1=5SGy5|FjE>Q 54 ?Q 94)BYy?Q I?W DI;i:WȖ4y ɮ AA 1MB*** querying acoustic contact ***iI iIjhy}FNOT Ignoring new targets: 233.81 m.Rh Zh T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 233.809433 m, nav range: 225.783875 m, bearing: 70.343232 deg, approach rate: -0.704375 m/s, LOS rate: -0.001898 deg/s, cmd heading: 74.437171 deg, new cmd heading: 74.434732 deg. BhHeadingCmd: 1.299131 target range: 233.809433 and range: 234.90 m.hI?YufAAh*h"h hܺ9fAYAgf)fifydydydyjdyZdG;?B<A<BBBg%IBzBBBBB)u;B 0E wBɢ )  i)="C<iyӒiI?6;OIEI?IAi9@ @@0@ԉM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001449^A% rgԹ Am .AIy I O >k,?A2?2g?2{e<ٱ2/ >AHRS rotation from veh to nav: [[0.273553,-0.948476,-0.159882],[0.961755,0.267299,0.059825],[-0.014006,-0.170133,0.985322]]2H`?Y@wĿ?l? [?6@ſ ?i2?I2];0YBhByBQ%IbDjVDjyr[<%r;=ٔvϱQ-v>9v ?Yv ?=vSGyv}FzEz>|Q 54~'?Q 94~,)~BY y o?Q I ?~k DI~:i~:~ϖ4yBɮAAjh9EFNOT Ignoring new targets: 233.81 m.RhE ZhE Q] ProNav: ac range: 233.809433 m, nav range: 225.480347 m, bearing: 70.342459 deg, approach rate: -0.750228 m/s, LOS rate: -0.001913 deg/s, cmd heading: 74.434732 deg, new cmd heading: 74.432410 deg. Bh] eHeadingCmd: 1.299091 target range: 233.809433 and range: 234.90 m.heH?ha*ha"ha higififqfqdqdqdyjdyZd}sb@颥uBɢF) ni)Q=<顱i⑼iH?D6;ѺIH?Ie>iE EE%E"E;*E:VE 4ZEBEA i I A% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506702,V?AR-?R?R^<ٱRi~- ^AHRS rotation from veh to nav: [[0.273523,-0.948711,-0.158533],[0.961770,0.267433,0.058972],[-0.013550,-0.168603,0.985591]]RHf? [`JĿ?`? 1?@@Ŕſ ?iR-?IR ^;PYbpByf[%IiMMb@Mb@Mb@IIII I9Mjt?Mb~jt?YM@?yMM9"?Y"?=SGy~F8E>Q 54?Q 94)BYA?Q E:yȠ?Q I? DI;i;8ז4y%1Bɮ%>A-EjhiFNOT Ignoring new targets: 233.81 m.RhøZhø ProNav: ac range: 233.809433 m, nav range: 225.153519 m, bearing: 70.340098 deg, approach rate: -0.739572 m/s, LOS rate: -0.005350 deg/s, cmd heading: 74.432410 deg, new cmd heading: 74.425317 deg. BhkHeadingCmd: 1.298967 target range: 233.809433 and range: 234.90 m.hD?h*h"h hgfffBdddjdZd @rBɢV) i)+m5<iI̐iD?~5;I D?I)D=D=E EE(E"E ;*E:VEc44ZEa@a%@a%@a%@@ @@@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757479BQ BQ BU n%IBU BBU =BQ BQ BU nu;BU .0E^A 9 A I I O > ,?A2?2?2Q<ٱ2+ :AHRS rotation from veh to nav: [[0.273247,-0.949003,-0.157258],[0.961859,0.267369,0.057807],[-0.012813,-0.167056,0.985864]]2H|?:^!Ŀ??Ԙ? =bſ 3?i2?I2^;2ۑCYB|ByBi%IbDJVDJβyRr=%RT=ٔVQ-V>9TYT=ZSGyZFZD:EZ>\Q 5b4^E"?Q 9b4^)^BYdyfР?Q If?^ DI^-:i^F:^ݖ4yhɮj=Aljh|FNOT Ignoring new targets: 233.81 m.RhθZhθ ProNav: ac range: 233.809433 m, nav range: 224.862549 m, bearing: 70.337972 deg, approach rate: -0.769776 m/s, LOS rate: -0.005631 deg/s, cmd heading: 74.425313 deg, new cmd heading: 74.418928 deg. BhOwHeadingCmd: 1.298855 target range: 233.809433 and range: 234.90 m.h%@?h!*h!"h! h!g!f!f)f)d)qddjdZd@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011448额pBɢY¼) i)|/<顡i揼i@?q 5;p`I@?I]9@a @a@e/@aԙEu EuEqEq"Eu ;*Eu҆:VEqZEqBEuLE,Oڿ?A6"?6v?64E<ٱ6, NAHRS rotation from veh to nav: [[0.273001,-0.949005,-0.157669],[0.961938,0.267238,0.057082],[-0.012036,-0.167251,0.985841]]6Hx?@@^|.Ŀ 3?l?@9?@w`{hſ ?i6"?I6];6CYVByVw%IiEMb@Mb@Mb@AAAA A9EˡE?:v/$?YEG?yEԼE9qYq=uSGyuF}a:E}>Q 54*?Q 94S)BYH?Q E:y ?Q I? DIv:i:q4yɮM=AjhaeFNOT Ignoring new targets: 233.81 m.RhmZhm ProNav: ac range: 233.809433 m, nav range: 224.528397 m, bearing: 70.334705 deg, approach rate: -0.744966 m/s, LOS rate: -0.007296 deg/s, cmd heading: 74.418927 deg, new cmd heading: 74.409110 deg. Bh8HeadingCmd: 1.298684 target range: 233.809433 and range: 234.90 m.hG;?h*h"h hgfffBdddjdZd h @%nBɢ%Fإ)) -i))C)<iLiG;?4;Xi?IG;?I Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5145279@ @@@@dA@9^A Β{D zD E  E E 'E "E ;*E :VE '4ZE a @a @a @a @a A1 IA IQ O] >t,??A2;ɉ?2?25<ٱ2<, :AHRS rotation from veh to nav: [[0.272708,-0.949021,-0.158083],[0.962033,0.267090,0.056169],[-0.011083,-0.167398,0.985827]]2H t?`^` <Ŀ??@2¬?Բ@Pmſ@?i2;ɉ?I2];2ߑCYBByB{%IfDAT read: 15:08:45.7856 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 89,-0.18,-1.370,-2.881,-0.976,-1.386, PHS= 0.118,-1.450, 0.366, RAW= 157.2, 11.3, CAL= 157.3, 12.5, ROT= 352.7, -12.5 jYgot valid direction response: 15:08:45.7856 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 89,-0.18,-1.370,-2.881,-0.976,-1.386, PHS= 0.118,-1.450, 0.366, RAW= 157.2, 11.3, CAL= 157.3, 12.5, ROT= 352.7, -12.5 nPDAT read: Bearing 226.1, -10.2 (Local) n~Local bearing/azimuth received: Bearing 226.1, -10.2 (Local) vDAT read: Range 11 to 50 : 231.2 m (Round-trip 308.3 ms) speed 0.6 m/s v*DAT read: user:961> zBDAT read: Tx time:15:08:46.8731 z$Ping request sent.~N/@NI>N/@ Nf_>)N@INf_LLNbB?i sG? J!? N$]&?)N_JINtwiNf_LLe:publishing transmit ping timexeFpublishing direction and range infoyLNU ?S~K?YLLLLL L)LILiLLLLL L)LILLLNbB?i sG? J!? L)LILiLLLbDVD)AIAIBUP>BQBU%IBUBBU =BQBQBUu;BUQ0EBBBB =B =C \4y}8q<%}9=ٔ Q->9Y=SGyF5:E>Q 543?Q 94)BYy?Q I? DI-:i;64y7Bɮc=AEiLiNw?AJiN fCRiN fCjiNcc?bN/~;k@yj><-LaH@RNU ?S~K?ZiNtwbiNf_jNS\yS@ʴg2j@/ȯI@ZNy8# ??#??2iNQC:iNB"iN??*iN4 BiN]BiNI?iLiNxBiNp`CiN? addTargetRange:: Added new target pos. range: 231.199997 m, deltaT: 3.780127 s, deltaX: -3.699997 m, approachRate: -0.978802 m/s, rangeRepo size: 4 5 Added new target pos. range: 230.127029 m, bearing: 69.107762 deg, lat: 36.779347 deg, lon: -121.859087 deg, deltaT: 3.780127 s, deltaX: -3.682404 m, approachRate: -0.974148 m/s, posRepo size: 4 jh15FNOT Ignoring new targets: 230.13 m.Rh=Zh9M ProNav: ac range: 230.127029 m, nav range: 224.437988 m, bearing: 70.148648 deg, approach rate: 0.000000 m/s, LOS rate: -0.007296 deg/s, cmd heading: 74.409112 deg, new cmd heading: 74.399387 deg. BhIUHeadingCmd: 1.298514 target range: 230.127029 and range: 231.20 m.hU5?hQ*hQ"hY hYgYfffdddjd`fl@Zd`?kBɢΘ) %>i!)%",%?AE" E"E"(E "E":*E"҆:VE"c44ZE BE">9aYa=eSGyeFmݪ;Em>qԙQ 54uD;?Q 94uً)uBYyS?Q I?u DIu=JB ,t+?AYByy%II<)=qiMb@Mb@Mb@ 9(\?Zd;O rh?YN?yjC<A@  A)Y AbDVDky;%9=ٔQ- >9 ?Y ?=SGyFE>!Q 554%D?Q 954%)%BY=5N?Q E=:y=͢?Q I=?% DI%R;i%Q;%4yIɮU;AQD=D<bEYjEYrE]?0E EE*E"Ef;*E|:VE(N4ZEa@a@a@a@jh  FNOT Ignoring new targets: 230.13 m.RhDZhD% ProNav: ac range: 230.127029 m, nav range: 223.773422 m, bearing: 70.140846 deg, approach rate: -0.881045 m/s, LOS rate: -0.010764 deg/s, cmd heading: 74.388990 deg, new cmd heading: 74.375945 deg. Bh%aMHeadingCmd: 1.298105 target range: 230.127029 and range: 231.20 m.hMO(?hI*hI"hI hIgQfQfQfUBdYdYdYjdYZd]JM?hBɢ\) J߾i)<i3~iO(?3;!:IO(?IԡMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.9969489@ @@4@BR>BB%IBBB =BBBu;BO0E^A Β:A zA A ؟AI I1 Om ><,/E?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248364N^8?N#?N~;ٱN"& ZAHRS rotation from veh to nav: [[0.269453,-0.950664,-0.153732],[0.962989,0.264856,0.050036],[-0.006851,-0.161525,0.986845]]NH>?k@ÿ`?d?_?| ٬Ŀ;?iN^8?IN^;NڑCY^By^p%IbDjVDjܲyr[%r\=ٔr*Q-r>9v"?Yv"?=vSGyvFzk;Ez>|Q 54~zK?Q 94~d{)~BYy?Q I ?~ DI~:i~;~R4yɮi G_,^?A2D?2/?2M;ٱ2e% :AHRS rotation from veh to nav: [[0.269096,-0.950740,-0.153886],[0.963096,0.264660,0.049010],[-0.005869,-0.161395,0.986872]]2H8?vlÿ?0?? x@Ŀu?i2D?I2];2ܑCYBByBy%IiEMb@Mb@Mb@AAAA A9EX9v?~jtMb?YES?yEļE9qYq=uSGyuF}=i:E}>Q 54T?Q 94r)BYS?Q E:y?Q I? DIU:i: 4y BɮB$B&%IB&BB& =B$B$B&u;B&Q0EJ_?JIK?J;ٱJFK& VAHRS rotation from veh to nav: [[0.268293,-0.950866,-0.154507],[0.963326,0.264031,0.047862],[-0.004716,-0.161682,0.986832]]JH+?~m`ÿ?`?c?PsĿ?iJ_?IJQ];HYZBy^z%I `bA df4<bDjVDjܲyr@;%rQ=ٔrAQ-r>9tYt=vSGyvFzF ;Ez>xQ 54z\?Q 94zj)zBYy?Q I?z& DIz;iz;zx4yݝBɮ:AݪEjh9=FNOT Ignoring new targets: 230.13 m.RhEfAZhEfAU ProNav: ac range: 230.127029 m, nav range: 222.806549 m, bearing: 70.128652 deg, approach rate: -0.826690 m/s, LOS rate: -0.010568 deg/s, cmd heading: 74.351670 deg, new cmd heading: 74.339310 deg. BhU]HeadingCmd: 1.297466 target range: 230.127029 and range: 231.20 m.h][?ha*ha"ha hagafafifidididqjdqZdu@=cBɢ=)9 EپiA)Ei8AI I O >E  E E 'E "E ;*E :VE '4ZE BE A9XYX=ZSGyZF^rK;Eb>lQ 5v4nd?Q 9v4nMb)nBYtyv1?Q Iv?n; DIn:in1:nd4y|ɮ~:Aychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510426eB*** querying acoustic contact ***ia iajhFNOT Ignoring new targets: 230.13 m.Rh/Zh/!} ProNav: ac range: 230.127029 m, nav range: 222.479233 m, bearing: 70.124354 deg, approach rate: -0.730662 m/s, LOS rate: -0.009608 deg/s, cmd heading: 74.339308 deg, new cmd heading: 74.326396 deg. Bh}ҹ}HeadingCmd: 1.297240 target range: 230.127029 and range: 231.20 m.h ?h*h"h hgfffdddjdZd@g@aBɢy ) ھi))-3;))i-ʡi5 ?5s4;5;I5 ?I99@ @@/@9IIO]>i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760287?*,|?A 2?2݊?2|s3;ٱ2 ) >AHRS rotation from veh to nav: [[0.266425,-0.950781,-0.158221],[0.963852,0.262344,0.046537],[-0.002738,-0.164900,0.986306]]2H@ ?`l@Ŀ`? >?ӧ?mnfpſҏ?i2?I29];2ݑCYB|ByFi%Ii5Mb@Mb@Mb@1111 195q= ףp?S㥛 rh?Y5K?y5/ݼ5C<11 1)11Y1bDUVDU:2ymJ%m>=ٔuQ-u>9Y=SGyF:E>Q 5 4l?Q 9 4uY)ōBYK?Q E:y?Q I5?R DI5;i;4y9ɮE;AADD<E EE&E"E;*E:VE4ZEa@a@a@a@jhFNOT Ignoring new targets: 230.13 m.RhDZhD ProNav: ac range: 230.127029 m, nav range: 222.127686 m, bearing: 70.120069 deg, approach rate: -0.881234 m/s, LOS rate: -0.010760 deg/s, cmd heading: 74.326399 deg, new cmd heading: 74.313522 deg. BhLHeadingCmd: 1.297016 target range: 230.127029 and range: 231.20 m.h?h*h"h hgfffBdddjdZd@M`BiɢuPɼ)q u`iq)}x;yyi}i?4;r;I?I CGchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0132439YA=9@9 @A@M)0@Qyu[?uAIIO I>BeS>BaBe%IBeBBe =BaBaBeu;Bei0Eԙ Ԃ1,zV?A6BDAT read: Rx Time:15:08:49.5824 6TRx dataTimestamp_ set to:1761577731.112216:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265400:Ѯ?:$?:;ٱ:) FAHRS rotation from veh to nav: [[0.265976,-0.950850,-0.158556],[0.963977,0.262010,0.045806],[-0.002012,-0.165028,0.986287]]:H@?]m KĿ ??s?`z`ſ@?i:Ѯ?I:=h];:ۑCYNnBPyVY%IbD~VD~y%P=ٔQ->91Y9==SGy=F=8:EE>IQ 5U4Mt?Q 94M5Q)MɍBYyĢ?Q I?Mg DIM7$! /7,2?A6uƊ?6ȱ?6|:ٱ6) >AHRS rotation from veh to nav: [[0.265281,-0.951033,-0.158627],[0.964170,0.261443,0.044984],[-0.001309,-0.164876,0.986313]]6H`^?`nMĿ{?z?? /sUſ?i6uƊ?I6E];6ّCYFpByF[%I|iMb@Mb@Mb@ 9(\?L7A`堿Mb?YN?y+<@ ) AYbD5VD5N2yE@<%EG=ٔMRQ-M>9IYI=MSGyUFU:EU>YQ 5e4]|?Q 9e4]I)]̍BYmCN?Q Em:ym?Q Im?]z DI]:i]@:],4yuBɮ}*:A}ժEjhiFNOT Ignoring new targets: 230.13 m.RhiZhi ProNav: ac range: 230.127029 m, nav range: 221.498932 m, bearing: 70.112925 deg, approach rate: -0.819107 m/s, LOS rate: -0.008437 deg/s, cmd heading: 74.301359 deg, new cmd heading: 74.292059 deg. BhKHeadingCmd: 1.296641 target range: 230.127029 and range: 231.20 m.hU?h*h"h hgfffBdddjdZd@U]BɢU<@)Y ]^iY)];YYi]fieU?e5;mK;ImU?DAT read: 15:08:49.5824 LVL= 28912, 32753, 29346, 32755, AGC= 59, IDX= 101,-0.30, 2.596, 1.118, 2.996, 2.489, PHS= 0.209,-1.326, 0.464, RAW= 157.5, 7.8, CAL= 157.1, 8.1, ROT= 352.9, -8.1 Ygot valid direction response: 15:08:49.5824 LVL= 28912, 32753, 29346, 32755, AGC= 59, IDX= 101,-0.30, 2.596, 1.118, 2.996, 2.489, PHS= 0.209,-1.326, 0.464, RAW= 157.5, 7.8, CAL= 157.1, 8.1, ROT= 352.9, -8.1 PDAT read: Bearing 222.0, -8.7 (Local) ~Local bearing/azimuth received: Bearing 222.0, -8.7 (Local) DAT read: Range 11 to 50 : 228.8 m (Round-trip 305.1 ms) speed 0.3 m/s *DAT read: user:962> BDAT read: Tx time:15:08:50.6731 $Ping request sent.iu^uh>u/@u'g >u~{/@ u>)u@Iuqqu1Ұ ?jS?ƅt? uO'?)ug Iuiuqq:publishing transmit ping timeFpublishing direction and range infoyqufnp? S:N ?Yqqqqq q)qIqiqqqqq q)qIqqqu1Ұ ?jS?ƅt? q)qIqiqqqI)9@ @@4@YDzDE EE*E"E;*E?:VE(N4ZEa@a@a@a@^A yb];ԁ A .AI! I1 O= >=,?AA A BO>BB%IBBB =BBBu;BP0EB׊?B¦?B]*:ٱB`) jAHRS rotation from veh to nav: [[0.264777,-0.951100,-0.159064],[0.964310,0.261038,0.044340],[-0.000650,-0.165128,0.986272]]BH?jo 9\Ŀ?ڴ?? KE "ſ@?iB׊?IBL\;BޑCYn\ByrC%IbDzVDzk2yȽ%P=ٔܺQ->9  ?Y  ?= SGy F î:E>Q 5%4?Q 9%4A)΍BY!y%̡?Q I%? DI:iA:34y1ɮ5:A1iic?AJicCRicCjiu?b-k@Į/;0ɰU @@Rfnp? S:N ?Zibij|w )T@ VR  PExceeded connect timeout, disconnecting.E  E E 'E "E T;*E :VE '4ZE BE G9Y= SGy F S:E >Q 54?Q 949)эBY!y%ס?Q I%? DIz%;i5;:4yAɮM;AIB*** querying acoustic contact ***i9 i9jhFNOT Ignoring new targets: 227.74 m.Rh :Zh : ProNav: ac range: 227.737900 m, nav range: 223.960037 m, bearing: 69.363206 deg, approach rate: -0.738623 m/s, LOS rate: -0.010166 deg/s, cmd heading: 74.282651 deg, new cmd heading: 74.269301 deg. BhB߹HeadingCmd: 1.296244 target range: 227.737900 and range: 228.80 m.hQ?h*h"h hgfffdddjdZd  6?u[BɢuXۼ)q }iy)}Ŀ;yyi}=셼iQ?j7;i U4K,.?AV?V;?V ٱVc* ^AHRS rotation from veh to nav: [[0.263797,-0.951240,-0.159856],[0.964578,0.260211,0.043351],[0.000359,-0.165629,0.986188]]VH ?p&vĿ ? J? 2? 7?`V3ſ@ڎ?iV?IVY\;VڑCYdydiUMb@Mb@Mb@QQQQ Q9UK7A`?Q롿{GztYUK?yU\UףUAU@ Uh A)U AQYUG AbDm VDm2ԁٔdQ->9"?Y"?=SGyF:E>Q 54 ?Q 940)Y5K?Q E:y0?Q I? DI ;i ;B4yBɮ3;AD=Da=E EE(E"E:*E:VEc44ZEa@a@a@a@jhqFNOT Ignoring new targets: 227.74 m.Rh&>Zh&> ProNav: ac range: 227.737900 m, nav range: 223.607803 m, bearing: 69.358811 deg, approach rate: -0.831407 m/s, LOS rate: -0.010390 deg/s, cmd heading: 74.269298 deg, new cmd heading: 74.256093 deg. Bh-HeadingCmd: 1.296013 target range: 227.737900 and range: 228.80 m.h?h*h"h hgfffdBdddjdZdl?]ZBɢuG)y }iy)}ײ;yyi}d&i?V98;3eBuCBut%IBuBBu =BqBqBuJu;Bu"0EB1B1B1B5 =B5 =C5~P59@ @@/@@=@=^A 8< % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503337A= .AIA IY Oe >b$R,H?A2?2?29v ?Yv ?=vSGyvFz:Ez>|Q 54~񝄊?Q 94~))~ҍBYy G?Q I ?~ DI~p:i~$:~AI4yBɮ:A̪Ejh9=FNOT Ignoring new targets: 227.74 m.RhEBZhEBU ProNav: ac range: 227.737900 m, nav range: 223.301743 m, bearing: 69.354926 deg, approach rate: -0.836307 m/s, LOS rate: -0.010631 deg/s, cmd heading: 74.256095 deg, new cmd heading: 74.244424 deg. BhUv]HeadingCmd: 1.295810 target range: 227.737900 and range: 228.80 m.h]ݥ?hY*ha"ha hagafafifidididqjdqZdu^'?额YBɢt ) i)M;顡i$aiݥ?9;"Q hIX,b?AN?Nr?NvٱN) bAHRS rotation from veh to nav: [[0.262878,-0.951584,-0.159322],[0.964829,0.259454,0.042302],[0.001083,-0.164839,0.986320]]NH?`s@dĿ ?? ?Q?oſ?iN?INe\;NۑCYn;Byn%IIv=)v>iMb@Mb@Mb@ 9jt?9"?Y"?=SGyF:E>Q 54|?Q 94 )Y @?Q E :y ?Q I ? DI:i:P4yɮ:A1jhAMFNOT Ignoring new targets: 227.74 m.RhM$ZhM$e ProNav: ac range: 227.737900 m, nav range: 222.973740 m, bearing: 69.351002 deg, approach rate: -0.751012 m/s, LOS rate: -0.008997 deg/s, cmd heading: 74.244423 deg, new cmd heading: 74.232634 deg. BheŹmHeadingCmd: 1.295604 target range: 227.737900 and range: 228.80 m.hmY֥?hi*hi"hi higififqfuEBdydydyjdyZd}`j@颭XBɢ.) i)<;顱iUyiY֥?:;S'checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007514i>9@ @@0@iDzDAAbE}ǀ'4jE}-4rE}/E EE'E"EV:*E҆:VE'4ZEa @a @a @a @ԉ^A- &< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259884I) I9 OE >Be W>Ba Be U%IBe kBBa Ba Be DBe 9pYp=rSGypr9Ev>tQ 5z4v?Q 9~4v)vӍBY|y~?Q I~?v DIv&;ivv;vSW4yɮ :A jh)5FNOT Ignoring new targets: 227.74 m.Rh5v&Zh=v&M ProNav: ac range: 227.737900 m, nav range: 222.695526 m, bearing: 69.347656 deg, approach rate: -0.755413 m/s, LOS rate: -0.009096 deg/s, cmd heading: 74.232634 deg, new cmd heading: 74.222584 deg. BhMǹUHeadingCmd: 1.295429 target range: 227.737900 and range: 228.80 m.hUХ?hQ*hQ"hQ hQgQfYfYfYdadadajdaZdm@h@颕WBɢ) ki) ;顙iJiХ?:;+E  E E )E "E l;*E :VE FA4ZE BE [F?>i ?>"ٱ>w( FAHRS rotation from veh to nav: [[0.262702,-0.951773,-0.158479],[0.964875,0.259431,0.041362],[0.001747,-0.163778,0.986496]]>H?t IĿB?`?i-?@\?@Ŀ _?i>?I>~\;>ڑCYN2ByN%IbDVVDVܲyfA%jK=ٔn7/Q-r>9tYt=vSGyvFv!9Ev>xQ 5~4z?Q 94zI)zԍBYy?Q I?zDIz2 ;izq ;ze^4y Bɮ;A-B*** querying acoustic contact ***i) i)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767539jh FNOT Ignoring new targets: 227.74 m.Rh-;Zh-; ProNav: ac range: 227.737900 m, nav range: 222.390717 m, bearing: 69.343976 deg, approach rate: -0.706142 m/s, LOS rate: -0.008537 deg/s, cmd heading: 74.222587 deg, new cmd heading: 74.211532 deg. BhzHeadingCmd: 1.295236 target range: 227.737900 and range: 228.80 m.hGʥ?h*h"h! h!g)fIfQfQdQdYdYjdYZd] @颥VBɢ) i)Xn;iiGʥ?3<;T)/Ѕk,iT?A2?2@?2ٱ2& >AHRS rotation from veh to nav: [[0.262824,-0.951984,-0.157005],[0.964841,0.259690,0.040526],[0.002192,-0.162136,0.986766]]2H?vĿ?ž? ῤ?@Qa?Ŀ@?i2?I2\;2ؑCYF%ByF$I HHiMb@Mb@Mb@ 9-?Mbp?Y?5?yL;Ah@ M A) AY AbD- VD-:2y=%=C=ٔ=ዺQ-E>9AYA=ESGyEFMEM>QD=D<E EEE"E7;*E:VEZEa@a@a@a@Q 54Uӽ?Q 94U )U׍BY5?Q E:y;?Q I?UDIU) i)N;i/iƥ?-;=;-ٛ.BCB5%IBRBBBBDBEu;B0E@ @@4@yԩ ^A 9<A >A ?II IY Oi  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519390}mr,.?A@J?J9 Y = SGy F!E>Q 5%4ń?Q 9%4)ڍBY!y%2?Q I%?,DI;i:l4y1ɮ5D:A1jhQ]FNOT Ignoring new targets: 227.74 m.Rhe}Zhe}u ProNav: ac range: 227.737900 m, nav range: 221.814346 m, bearing: 69.340142 deg, approach rate: -0.755438 m/s, LOS rate: -0.005013 deg/s, cmd heading: 74.205614 deg, new cmd heading: 74.200012 deg. Bhu0\}HeadingCmd: 1.295035 target range: 227.737900 and range: 228.80 m.h}å?hy*hy"hy hygfffdddjdZd @颽TBɢ1) Ki)fS4;ihiå?>;`, BDAT read: Tx time:15:08:54.4731 $Ping request sent.i]= ]>]%/@]Q >].@ ]nF>)]n@I]nFYY^AG8<]K\ LT?ՋpY?+}<? ]׶$?)]lI]Vi]nFYY:publishing transmit ping timeFpublishing direction and range infoyY]ek?񏣼8C ?YYYYYY Y)YIYiYYYI1 YY Y)YIYYY]K\ LT?ՋpY?+}<? Y )YIYiYYYI1 O= >&x,I?AlYBy$IiMb@Mb@Mb@ 9@5^I ?kt~jth?Yb0?y 0D;A@ Q A) AYz Ai߱I߱bDVDy;%1=ٔQ->9Y=SGyFE>Q 54C΄?Q 94)܍BY0?Q E:y4?Q I?ADI3;iB2;t4yɮ:Aii?AJiaCRiaCji֛?b`%k@_BimBii)>ii^Ci?M addTargetRange:: Added new target pos. range: 226.800003 m, deltaT: 3.783905 s, deltaX: -2.000000 m, approachRate: -0.528554 m/s, rangeRepo size: 4 ] Added new target pos. range: 225.749985 m, bearing: 69.756902 deg, lat: 36.779381 deg, lon: -121.859058 deg, deltaT: 3.783905 s, deltaX: -1.987915 m, approachRate: -0.525361 m/s, posRepo size: 4 jhaeFNOT Ignoring new targets: 225.75 m.RhmZhi} ProNav: ac range: 225.749985 m, nav range: 222.086761 m, bearing: 69.394909 deg, approach rate: 0.000000 m/s, LOS rate: -0.005013 deg/s, cmd heading: 74.200013 deg, new cmd heading: 74.192982 deg. BhyHeadingCmd: 1.294912 target range: 225.749985 and range: 226.80 m.h?h*h"h hgfff BdddjdYl@Zd@?RBɢ| ) i) ;ih]}i?jE?;R/B B %IB =BB B B B Mu;B #0EA .AI I O >~,6?A:{?:ئ?:=l(ٱ:Ϸ$ FAHRS rotation from veh to nav: [[0.264132,-0.951926,-0.155147],[0.964483,0.261120,0.039858],[0.002570,-0.160164,0.987087]]:H? .v@ÿ ?1?Hh? e?AĿ7?i:{?I:mO];:ۑCYNByN$IPRATVBAbDZVDZf?yb%br=ٔb>Q-f?9f ?Yf ?=fSGyfFjXEj?lQ 5r4nԄ?Q 9r4n7)nލBYpyr?Q Iv?nPDIn;in;nz4yznBɮz:AzĪEjhFNOT Ignoring new targets: 225.75 m.Rh%иZh%и5 ProNav: ac range: 225.749985 m, nav range: 221.854065 m, bearing: 69.393018 deg, approach rate: -0.700081 m/s, LOS rate: -0.005697 deg/s, cmd heading: 74.192985 deg, new cmd heading: 74.187304 deg. Bh54z9EHeadingCmd: 1.294813 target range: 225.749985 and range: 226.80 m.hEl?hA*hA"hA hAgIfIfIfIdQdQdQjdQZdUi?颅QBɢҠ?)  !i):顉it{il?*@; N E  E E (E "E :*E ą:VE c44ZE BE >9Z"?YZ"?=^SGy^F^I'Eb>`Q 5f4b#܄?Q 9f4bO)bBYhyj?Q Ij?bbDIb:ib[:b4ynABɮrP9ArE~B*** querying acoustic contact ***i| i|5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.jh9MFNOT Ignoring new targets: 225.75 m.RhMIƸZhMIƸԙ ProNav: ac range: 225.749985 m, nav range: 221.576874 m, bearing: 69.390832 deg, approach rate: -0.686117 m/s, LOS rate: -0.005417 deg/s, cmd heading: 74.187302 deg, new cmd heading: 74.180736 deg. BhmMHeadingCmd: 1.294698 target range: 225.749985 and range: 226.80 m.hM?hQ*hQ"hY hYgafiffdddjdZd ?颥OBɢ) i):iaEyi?v@;*ʋ, u1?A2?2?27ٱ23P& :AHRS rotation from veh to nav: [[0.266570,-0.951010,-0.156588],[0.963812,0.263499,0.040439],[0.002803,-0.161702,0.986836]]2H`z? n Ŀ@?,?@q?f?Ŀ(?i2?I2̃];2ؑCYBByB$IiMMb@Mb@Mb@IIII I9M?x&Q?YM,?yM7Mu9yYy=}SGy}FfE>Q 54䄊?Q 944)BY-?Q E:yz?Q I?tDIP:i: 4yɮc9AE EE'E"E:*E҆:VE'4ZEa@a@a@a@jhFNOT Ignoring new targets: 225.75 m.RhMZ7ZhMZ7 ProNav: ac range: 225.749985 m, nav range: 221.287750 m, bearing: 69.391150 deg, approach rate: -0.676450 m/s, LOS rate: 0.000746 deg/s, cmd heading: 74.180738 deg, new cmd heading: 74.181694 deg. Bh8HeadingCmd: 1.294715 target range: 225.749985 and range: 226.80 m.h7?h*h "h h g fff BdddjdZd`?NBɢ V6) hi)vA:iYQwi7?DA; ;I7?IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497220BU>BB %IB.BBBBBu;BR0E9@ @@4@1i^A X<I9 II OU >ԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748343,4K?AYBy$I -;)bD5VD5kyE%EN=ٔEQ-E>9IYI=MSGyMFMEU>QQ 5e4U섊?Q 9e4U)UBYayaQ Ie?UDIU:iUF:U4yqɮup9AqjhFNOT Ignoring new targets: 225.75 m.Rh]7Zh]7 ProNav: ac range: 225.749985 m, nav range: 221.019287 m, bearing: 69.391446 deg, approach rate: -0.683481 m/s, LOS rate: 0.000755 deg/s, cmd heading: 74.181694 deg, new cmd heading: 74.182584 deg. Bh8qHeadingCmd: 1.294730 target range: 225.749985 and range: 226.80 m.h?h*h"h hgfffdddjdZd;?=LBɢ=5Z')9 =?i9)E[9AAiE(uiM?MGB;M;A ?I I O > ֘,e?AY~By~$IiMb@Mb@Mb@ 9tV?Qy&1?Y2?yu`e<A Q A)Y AbDVDky;%D=ٔQ->9Y=SGyFE>Q 54Y?Q 94a)BYa3?Q E:y?Q I?DIP:i:D4yGBɮ9AEjh FNOT Ignoring new targets: 225.75 m.Rh (Zh ( ProNav: ac range: 225.749985 m, nav range: 220.726639 m, bearing: 69.390807 deg, approach rate: -0.699856 m/s, LOS rate: -0.001531 deg/s, cmd heading: 74.182582 deg, new cmd heading: 74.180661 deg. Bh%~%HeadingCmd: 1.294697 target range: 225.749985 and range: 226.80 m.h-?h)*h)"h) h)g)f)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252411f1fBdddjdZd =)@5JBɢ5.)1 5i9)=.99i=qsiE?E)B;Em checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504354B A <B V>B CB B B B B B v;B }0EBBCBBB =CZ74Q ,~?A2"?2J?2jWٱ2~& :AHRS rotation from veh to nav: [[0.270087,-0.949993,-0.156738],[0.962830,0.267039,0.040598],[0.003287,-0.161877,0.986805]]2H`I? WfĿ@?@*? Lɤ?\j?@bĿ?i2"?I2];2ڑCY@yB$IbDJVDJ!yRO;%R\=ٔVQ-V>9TYT=VSGyZFZn!EZ>\Q 5b4^?Q 9b4^)^BYdyf?Q If?^DI^:i^:^4yhɮj9Aljh|FNOT Ignoring new targets: 225.75 m.RhZh ProNav: ac range: 225.749985 m, nav range: 220.466919 m, bearing: 69.390484 deg, approach rate: -0.700414 m/s, LOS rate: -0.000871 deg/s, cmd heading: 74.180663 deg, new cmd heading: 74.179694 deg. Bh HeadingCmd: 1.294680 target range: 225.749985 and range: 226.80 m.h?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd57@HBɢ7) i)09iqi ?5w1C;5%;I5?I9)9@  @ @ @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756400Y^AIIIO>ԁ E  E E 'E "E ;*E :VE '4ZE BE D9\Y`=bSGybFboEb>dQ 5j4fL?Q 9j4f)fBYlyns?Q In?fDIff;if;fԤ4yrBɮr28AvEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 225.75 m.Rh2Zh2%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008486m ProNav: ac range: 225.749985 m, nav range: 220.183029 m, bearing: 69.390237 deg, approach rate: -0.699555 m/s, LOS rate: -0.000610 deg/s, cmd heading: 74.179693 deg, new cmd heading: 74.178951 deg. Bhm7ַuHeadingCmd: 1.294667 target range: 225.749985 and range: 226.80 m.hu?hq*h"h hgfffdddjdZdV@EFBɢMX-)q }iy) 顁ifni?RC;t;I?IAԙ9@ @@@ԹBDAT read: Rx Time:15:08:57.1761 TRx dataTimestamp_ set to:1761577738.676242checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261550^A5 r;AM cAzAI I I O >%,?A6͉?6 ?6`ٱ6' BAHRS rotation from veh to nav: [[0.272591,-0.949072,-0.157978],[0.962124,0.269476,0.041240],[0.003431,-0.163236,0.986581]]6H"r?`^ 8Ŀ?@??l?`<l?Ŀ`?i6͉?I6];6ؑCYFByF$I\iMb@Mb@Mb@ 9> ףp=?)\(?Y1?yGa<A@  A); AY AbD5VD5JyE+=%EA=ٔEwQ-M>9IYI=MSGyMFU'.EU>YQ 5e4] ?Q 9e4])]BYm2?Q Em:ym~?Q Im?]DI]:i]:]64yqɮu7AqbE%:4jE%94rE%7/E EE)E"E&:*E?:VEFA4ZEa@a@a@a@jh1=FNOT Ignoring new targets: 225.75 m.Rh=mZh=mM ProNav: ac range: 225.749985 m, nav range: 219.888824 m, bearing: 69.389355 deg, approach rate: -0.666223 m/s, LOS rate: -0.002000 deg/s, cmd heading: 74.178948 deg, new cmd heading: 74.176298 deg. BhMuHeadingCmd: 1.294621 target range: 225.749985 and range: 226.80 m.h}!?hy*hy"hy hygyfyffBdddjdZd@J @DBɢ%) i)ݺi\li !? ;UC; '?;I !?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513339ByByByByByByByB}9v;B}0E@ @@0@@@eA^AI I I O >A  DAT read: 15:08:57.1761 LVL= 28544, 32753, 26530, 30643, AGC= 55, IDX= 98, 0.15, 0.707,-0.735, 1.075, 0.656, PHS= 0.154,-1.345, 0.376, RAW= 156.8, 10.1, CAL= 156.7, 10.9, ROT= 353.3, -10.9  Ygot valid direction response: 15:08:57.1761 LVL= 28544, 32753, 26530, 30643, AGC= 55, IDX= 98, 0.15, 0.707,-0.735, 1.075, 0.656, PHS= 0.154,-1.345, 0.376, RAW= 156.8, 10.1, CAL= 156.7, 10.9, ROT= 353.3, -10.9  PDAT read: Bearing 225.2, -8.2 (Local) % ~Local bearing/azimuth received: Bearing 225.2, -8.2 (Local) - DAT read: Range 11 to 50 : 224.1 m (Round-trip 298.9 ms) speed 0.8 m/s 5 *DAT read: user:964> = BDAT read: Tx time:15:08:58.2731 = $Ping request sent.= i ( > J4>  /@ B>) Q@I B T!9?K}?A6`e? w$?) R4I |i B :publishing transmit ping timeiFpublishing direction and range infoy  0D5?6ToG4?Y ) I i ) I T!9?K}?A6`e? ) I i Ye%Bye$IbDuVDuy%=%%==ٔ%Q-->9)Y)=-SGy-F5E5>Q 54?Q 94) BYyQ I?DI:i : 4y5!Bɮ57A5Ei i %z?AJi _CRi _Cji ?b 4eX]1k@A39e*E@R 0D5?6ToG4?Zi |bi Bj  PȬ9S@qi@DG@Z 6N?'I?٠?2i 'LC:i șB"i q)f?*i 21Bi 6Bi i '"ްi mBi ZCi ? addTargetRange:: Added new target pos. range: 224.100006 m, deltaT: 3.779977 s, deltaX: -2.699997 m, approachRate: -0.714289 m/s, rangeRepo size: 4  Added new target pos. range: 223.062881 m, bearing: 69.362261 deg, lat: 36.779381 deg, lon: -121.859065 deg, deltaT: 3.779977 s, deltaX: -2.687103 m, approachRate: -0.710878 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 223.06 m.Rh-Zh)= ProNav: ac range: 223.062881 m, nav range: 218.984726 m, bearing: 69.330200 deg, approach rate: 0.000000 m/s, LOS rate: -0.002000 deg/s, cmd heading: 74.176298 deg, new cmd heading: 74.173592 deg. Bh9EHeadingCmd: 1.294573 target range: 223.062881 and range: 224.10 m.hE?hAI*hi"hi higifqfqfqdqdydyjd}@3l@Zd}@?E EE&E"E*E:VE4ZEBEc;iŹ,?ABl?B?BcٱB) JAHRS rotation from veh to nav: [[0.273862,-0.948401,-0.159798],[0.961760,0.270761,0.041297],[0.004101,-0.164997,0.986286]]BH?LYCtĿ? &T?$?]p? ſ?iBl?IBKb];BבCYR ByR$Ii%Mb@Mb@Mb@!!!! !9%$C?9aYa=eSGyeFevNEm>qQ 5u4u?Q 9}4u)uBY}|:?Q E}:y}%?Q I}?uDIuX:iu:u4yɮ 8AjhFNOT Ignoring new targets: 223.06 m.RhZh ProNav: ac range: 223.062881 m, nav range: 218.691681 m, bearing: 69.327044 deg, approach rate: -0.768494 m/s, LOS rate: -0.008287 deg/s, cmd heading: 74.173594 deg, new cmd heading: 74.164113 deg. BhHeadingCmd: 1.294408 target range: 223.062881 and range: 224.10 m.h)?h*h"h hgfffBdddjdiZdm@H??BɢyK/) i)j,i:hi-)?-?C;-y;I5)?I1i@ @@0@E} E}E}*Ey"E}:*E}ą:VE}(N4ZEya@a@a@a@ԑ^A qZ;A >A >A) A- @AB5 U>B5 CB5 %IB5 8BB1 B1 B1 B5 ^v;B5 0E A1 I9 II O] >,y?APV,?V~?V7ٱV9) rAHRS rotation from veh to nav: [[0.273898,-0.948393,-0.159783],[0.961748,0.270882,0.040790],[0.004597,-0.164843,0.986309]]VH?=ٔ%Q-%>9!Y!=-SGy-F-E->1Q 5=45&?Q 9=45ݮ)5BYAyE$?Q IE?5DI5:i5=:5—4yMBɮ$6AEjhFNOT Ignoring new targets: 223.06 m.Rh Zh  ProNav: ac range: 223.062881 m, nav range: 218.380188 m, bearing: 69.323684 deg, approach rate: -0.703740 m/s, LOS rate: -0.007602 deg/s, cmd heading: 74.164113 deg, new cmd heading: 74.154019 deg. BhHeadingCmd: 1.294232 target range: 223.062881 and range: 224.10 m.hc?h *h "h  h g fffdddjdZd@?M=BɢM5C)Q U%iQ)UIQQiU6fi]c?]&C;]k;Iec?IaiiIiE9@A @A@E4@A@M=@M=^A ] ;E  E E #E "E ;*E $:VE 3ZE BE Rdư,?A2?2蠥?2,ͫٱ2) :AHRS rotation from veh to nav: [[0.273298,-0.948537,-0.159960],[0.961915,0.270395,0.040072],[0.005243,-0.164819,0.986310]]2H }?@iZ@yĿ?%N?A?yu? ſُ?i2?I2<];0YB3ByB%IbDZ VDZ2ybX<%bc=ٔfzQ-f>9dYh=jSGyjFj:Ej>lQ 5r4n-?Q 9v4nT)n#BYtyv8?Q Iv?nDIn$:in_:nȗ4yxɮz6A|5B*** querying acoustic contact ***iA iAjhFNOT Ignoring new targets: 223.06 m.Rh~Zh~] ProNav: ac range: 223.062881 m, nav range: 218.118835 m, bearing: 69.320815 deg, approach rate: -0.658667 m/s, LOS rate: -0.007240 deg/s, cmd heading: 74.154018 deg, new cmd heading: 74.145400 deg. BheeHeadingCmd: 1.294081 target range: 223.062881 and range: 224.10 m.heu?hi*hq"hy hygyfyffdddjdZdG?)E:BɢE )A Eia)m$giiimeiuu?u^#C;uAD;Iuu?Iy9@ @@@YT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԁ ^A u GE  E E &E "E T;*E :VE 4ZE a @a @a @a @ fA A ʰ9 fAY tAA1 I9 II O] >q~Ͱ,8?A(2?2ܩ?2Ўٱ2* >AHRS rotation from veh to nav: [[0.273034,-0.948382,-0.161321],[0.961987,0.270171,0.039857],[0.005785,-0.166071,0.986097]]2H`cy?$Y@.Ŀ?{J?@ h?`ѱw?Aſ?i2?I2K];0YB6ByF%IIJ>)J>iMb@Mb@Mb@ 9}?5^I?V-y&1?YMB?y`<vA h A) AY AbDVD0yb<%/=ٔΗQ->9Y=SGyF:E>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752375BT>BB)%IBGBBBBBv;B0EQ 546?Q 94S),BYB?Q E:y?Q I?0DIe:i:"ї4yBɮ(6AjhFNOT Ignoring new targets: 223.06 m.RhRZhR ProNav: ac range: 223.062881 m, nav range: 217.760117 m, bearing: 69.315827 deg, approach rate: -0.826515 m/s, LOS rate: -0.011511 deg/s, cmd heading: 74.145399 deg, new cmd heading: 74.130411 deg. BhHeadingCmd: 1.293820 target range: 223.062881 and range: 224.10 m.h㛥?h*h"h hgfff Bd d d jd Zd@>?]8Bɢe)a mii)miiimQciu㛥?u.C;uG];Iu㛥?Iyԁ!@! @)@-/@)Ա^A} r; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004951 A I I O >Pa԰, _R?A2ʼn?2Ⱕ?2/uԻٱ2 * :AHRS rotation from veh to nav: [[0.272827,-0.948400,-0.161562],[0.962041,0.270078,0.039172],[0.006484,-0.166116,0.986085]]2Hu?KYĿ ?H?U?z?LCſ?i2ʼn?I2!];2ؑCYB3ByB%IbDJVDJkyRW%V^=ٔVQ-V>9TYX=ZSGyZFZ:EZ>``Q 5f4b=?Q 9f4bj)b3BYhyj?Q Ij?bBDIb:ib:b|ח4yrBɮr6Apjh  FNOT Ignoring new targets: 223.06 m.RhHZhH ProNav: ac range: 223.062881 m, nav range: 217.484680 m, bearing: 69.311971 deg, approach rate: -0.782703 m/s, LOS rate: -0.010973 deg/s, cmd heading: 74.130413 deg, new cmd heading: 74.118829 deg. BhHeadingCmd: 1.293618 target range: 223.062881 and range: 224.10 m.hC?h*h"h hgfffdddjdZd P@ 6Bɢ *)  i )i5aE] E]E]*EY"E];*E]:VE](N4ZEYBE]9C}ڰ,y:l?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5084256`ډ?6ť?64ٱ6- BAHRS rotation from veh to nav: [[0.272215,-0.948198,-0.163770],[0.962211,0.269468,0.039197],[0.006964,-0.168251,0.985720]]6Hk?WfĿ`o?>??`|?>ſ?i6`ډ?I6r=];4YF)ByF%IiMb@Mb@Mb@ 9?~jth?:v?YL?yD;T<Ah@  A) AYz AbDVD1y-%6=ٔmQ- >9 Y = SGy F:E>Q 5%4E?Q 9%4S)7BY%L?Q E-:y-?Q I-?YDI:i:Pߗ4y5ٜBɮ55A=EjhFNOT Ignoring new targets: 223.06 m.Rh媹Zh媹 ProNav: ac range: 223.062881 m, nav range: 217.127792 m, bearing: 69.303303 deg, approach rate: -0.767715 m/s, LOS rate: -0.018676 deg/s, cmd heading: 74.118829 deg, new cmd heading: 74.092783 deg. BhM HeadingCmd: 1.293163 target range: 223.062881 and range: 224.10 m.h ^?h *h "h  h gfffBdddjdZd`a@M4BɢM\!)I URiQ)UH#QQiU_i]^?]u{C;](z;I]^?IaI9@ @@@Em EmEiEi"EmV:*Em:VEiZEia}@a}@a}@a@qB<ABBB5%IBRBBBBBv;B0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760466^AM vт;ԩ A .AI I O >ns,?A2|?2ۥ?2O~ٱ2L- :AHRS rotation from veh to nav: [[0.271564,-0.948361,-0.163903],[0.962389,0.268957,0.038326],[0.007736,-0.168146,0.985732]]2H`Ma?X@Ŀ?6?x? ?҅ſ ?i2|?I2];0YB8ByB%I DD J9Z ?YZ ?=ZSGyZF^:E^>`Q 5f4baL?Q 9f4b)b;BYdyf?Q Ij?bkDIbp:ib:b4ylɮn5Apjh FNOT Ignoring new targets: 223.06 m.Rh Zh% ProNav: ac range: 223.062881 m, nav range: 216.841171 m, bearing: 69.296269 deg, approach rate: -0.836205 m/s, LOS rate: -0.020547 deg/s, cmd heading: 74.092786 deg, new cmd heading: 74.071657 deg. Bh%a-HeadingCmd: 1.292794 target range: 223.062881 and range: 224.10 m.h-Iz?h)*h)"h) h)g)f1f1f1d1yd9djdZd`+@%2Bɢ%l&)) -yi))-d٧))i5V/^i5Iz?=C;=;I=Iz?I9I]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0131329@ @@0@ԩ^A;Eu EuEu'Eq"Eu;*Eu҆:VEu'4ZEqBEu1N BDAT read: Rx Time:15:09:00.9423  TRx dataTimestamp_ set to:1761577742.456061 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265332 2,?AV?V?VmٱV- AHRS rotation from veh to nav: [[0.270499,-0.948631,-0.164102],[0.962684,0.268008,0.037567],[0.008343,-0.168140,0.985728]]VHO?/[`IſN?` '?9 "?Y"?=SGyF;E>Q 54T?Q 94~)?BYyҦ?Q I?DIig:4yߜBɮ5AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 223.06 m.RhߵZhߵ ProNav: ac range: 223.062881 m, nav range: 216.470901 m, bearing: 69.287046 deg, approach rate: -0.796558 m/s, LOS rate: -0.019876 deg/s, cmd heading: 74.071660 deg, new cmd heading: 74.043943 deg. Bh?ZHeadingCmd: 1.292311 target range: 223.062881 and range: 224.10 m.hoj?h *h "h  h g fffdddjdZd _ @E/BɢMy")I MiI)UQQiU`\i]oj?]KD;]};I]oj?Ia 9@  @ @  0@ @=@=echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5164599^A X;A9 IA IQ a D D E  E E )E "E :*E :VE FA4ZE a @a @a @a @O > ,ɹ?A24?2H ?2N0ٱ2s- :AHRS rotation from veh to nav: [[0.269549,-0.948785,-0.164773],[0.962943,0.267190,0.036741],[0.009167,-0.168571,0.985647]]2HI@?r\@Iſn??Ϣ?ł?ſk?i24?I2!\;2ؑCYB&ByB%Ii Mb@Mb@Mb@     9 oʡ?Mb?~jtx?Y M?y < ; A   A)  A Y  AbDuBS>BBBB =BBBv;B0EBQBUCBQBQBQCU4VDuk1yݟ%M=ٔ Q->9Y=SGDAT read: 15:09:00.9423 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 103, 0.05,-3.001, 1.764,-2.626, 3.129, PHS= 0.255,-1.320, 0.484, RAW= 156.7, 6.9, CAL= 156.1, 7.0, ROT= 353.9, -7.0 Ygot valid direction response: 15:09:00.9423 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 103, 0.05,-3.001, 1.764,-2.626, 3.129, PHS= 0.255,-1.320, 0.484, RAW= 156.7, 6.9, CAL= 156.1, 7.0, ROT= 353.9, -7.0 PDAT read: Bearing 221.0, -7.0 (Local) ~Local bearing/azimuth received: Bearing 221.0, -7.0 (Local)  DAT read: Range 11 to 50 : 198.8 m (Round-trip 265.1 ms) speed 0.6 m/s *DAT read: user:965> BDAT read: Tx time:15:09:02.0731 $Ping request sent.I\>i> /@Ϣ=].@ 5=)@I5pf4y??'? c#?)Ii ڽi5M:publishing transmit ping timeUFpublishing direction and range infoyyF,/r?_7UM7P2?Y )Ii )Ipf4y??'? )Ii]#;Eu>yQ 54}[?Q 94}wv)}BBYM?Q E:y?Q I?}DI}:i}:}4yޜBɮ5Aiig?AJiECRiECjiQ?b_NWih@UE34aq(8@R,/r?_7UM7P2?Zii ڽbi5jgrQ@HPFxf@)=@Z~7%?ũ?=$?2i]7C:iB"i(_囊?*iqBiNBiq)f?i21iiRWCiך?-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 198.800003 m, deltaT: 3.780132 s, deltaX: -25.300003 m, approachRate: -6.692889 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 223.06 m.RhZh ProNav: ac range: 223.062881 m, nav range: 216.152710 m, bearing: 69.278613 deg, approach rate: -0.752100 m/s, LOS rate: -0.019964 deg/s, cmd heading: 74.043943 deg, new cmd heading: 74.018605 deg. Bh6[-HeadingCmd: 1.291868 target range: 223.062881 and range: 224.10 m.h-[?h)*h1"h1 h1g1f9fAfE!BdAddjdh@Zd?a颥-Bɢ6j!) i)?ƻ顩iMZi[?6 E;Uמ,?AE. E.E.$E,"E.V:*E.z:VE.4ZE,BE.99] ?Y] ?=]SGy]Fe!n;Ee>aQ 5u4ec?Q 9u4em)eDBYqyu?Q Iu?eDIe;ie+;e84yBɮ4AEjhFNOT Ignoring new targets: 223.06 m.RhйZhй ProNav: ac range: 223.062881 m, nav range: 215.809952 m, bearing: 69.269357 deg, approach rate: -0.844276 m/s, LOS rate: -0.022835 deg/s, cmd heading: 74.018603 deg, new cmd heading: 73.990792 deg. BhzHeadingCmd: 1.291383 target range: 223.062881 and range: 224.10 m.h L?h*h"h hgfffdddjdZde?颍,Bɢ.) *i)* һ顑iXi L?E;u,Y?A2֟?2(?2(ٱ2:) :AHRS rotation from veh to nav: [[0.266404,-0.950226,-0.161552],[0.963807,0.264410,0.034120],[0.010295,-0.164795,0.986274]]2H ?Ah`Ŀ??@#x?X?@ſ?i2֟?I2\;0YBByB$IiEMb@Mb@Mb@AAAA A9Egfffff?{Gzt?y&1|YE3S?yEף;E`EAA Ed A)E AAYE AbD]VD]ܲym< %mI=ٔmQ-u>9qYq=uSGyuF}؇;E>Q 54j?Q 941e)EBY6S?Q E:y!?Q I?DI:i ;S4yɮ4AjhFNOT Ignoring new targets: 223.06 m.RhZh ProNav: ac range: 223.062881 m, nav range: 215.475967 m, bearing: 69.260742 deg, approach rate: -0.820604 m/s, LOS rate: -0.021199 deg/s, cmd heading: 73.990790 deg, new cmd heading: 73.964906 deg. BhhHeadingCmd: 1.290931 target range: 223.062881 and range: 224.10 m.h;=?h*h"h hgfffBdddjdZd}?-*Bɢ-H7)1 5 i1)511i=wWi=;=?E'F;E;BB/%IBLBB =BBBv;B0Ey^AMh%<A ؟Aԡ I I O > ,A ?A2NƊ?2?2_5ٱ2) :AHRS rotation from veh to nav: [[0.265270,-0.950440,-0.162160],[0.964111,0.263405,0.033294],[0.011070,-0.165172,0.986203]]2H`.? j`Ŀ?`?@ ?`ԫ?@[$ſ?i2NƊ?I2\;2בCYBByB$IbDJVDJyR=%RW=ٔVQ-V>9V"?YV"?=ZSGyZFZK;EZ>\Q 5b4^dq?Q 9b4^@])\YdyfG?Q If?^DI^:i^:^ 4yjBɮj4AnEjh|FNOT Ignoring new targets: 223.06 m.Rh7ŹZh7Ź ProNav: ac range: 223.062881 m, nav range: 215.164688 m, bearing: 69.252591 deg, approach rate: -0.821901 m/s, LOS rate: -0.021553 deg/s, cmd heading: 73.964904 deg, new cmd heading: 73.940416 deg. Bhl%HeadingCmd: 1.290504 target range: 223.062881 and range: 224.10 m.h%:/?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5 2?m(Bɢm"_9)i mgii)u4qqyi}jUi}:/? H;-P ,%?A~?~f٦?~>ٱ~F^+  AHRS rotation from veh to nav: [[0.264098,-0.950506,-0.163679],[0.964426,0.262290,0.032959],[0.011603,-0.166561,0.985963]]~H?jmĿ ?[? ?zÇ? Qſ@?i~?I~\;~ՑCYBy$I !!iMb@Mb@Mb@ 9L7A`? rh?~jtxY+G?yC<ĻA;@  A) AY( AbDVDk1yP%9=ٔQ->9Y=SGyF3;E>Q 5u4}x?Q 9}4xT)Y}8G?Q E}:y}q?Q I}?DIɜi=!>iaIamT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@/@)^A JM<D =D <E  E E E "E :*E |:VE ZE a @a @a @a @I I1 O= >Y B B B %IB =BB B B B hv;B 0E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004415,:>?AJ@?J?JdAٱJ) RAHRS rotation from veh to nav: [[0.263356,-0.950995,-0.162024],[0.964626,0.261651,0.032166],[0.011804,-0.164764,0.986262]]JH@?`n3Ŀ 8?@?x?x,?ſ@v?iJ@?IJ\;JבCYZByZ$IbDfVDfyjZݽ%n\=ٔn Q-n>9pYp=rSGypv;Ev>xQ 5z4zk~?Q 9~4zM)xY|y~?Q I~?zDIz ;iz;z*4y Bɮ \4A Ejh15FNOT Ignoring new targets: 223.06 m.Rh=Zh=M ProNav: ac range: 223.062881 m, nav range: 214.535782 m, bearing: 69.233119 deg, approach rate: -0.811850 m/s, LOS rate: -0.025305 deg/s, cmd heading: 73.908739 deg, new cmd heading: 73.881913 deg. BhMUHeadingCmd: 1.289483 target range: 223.062881 and range: 224.10 m.h] ?hY*hY"hY hagafifqfqdqddjdZd@*@9颍#BɢF) i)顙i*Qi ?-K;fwԹ ,X?AE& E&E&)E$"E&=;*E&:VE&FA4ZE$BE&~I9!Y)=-SGy-F-D:E->1Q 5=45?Q 9E45D)1YAyE?Q IE?5DI5 ;i5 ;5a4yIɮMu4AQjhq}FNOT Ignoring new targets: 223.06 m.Rh޹Zh޹ ProNav: ac range: 223.062881 m, nav range: 214.216660 m, bearing: 69.223094 deg, approach rate: -0.772849 m/s, LOS rate: -0.024316 deg/s, cmd heading: 73.881910 deg, new cmd heading: 73.851789 deg. BhHeadingCmd: 1.288957 target range: 223.062881 and range: 224.10 m.h?h*h"h hgfffdddjdZd @!Bɢ"I) ci) iOi?L;  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760579 :,Zr?A22?2m?2 OPٱ2|( :AHRS rotation from veh to nav: [[0.262092,-0.951458,-0.161355],[0.964959,0.260582,0.030829],[0.012714,-0.163781,0.986415]]2H?@XrIĿ@?a??@ ?Ŀ?i22?I2\;2בCYBByB$IIF)>)Fp9yYy=SGyFX:E>GAQ 5-4?E9AYEKAQ 9M4b<)CBYM I?Q EM:yM?Q IM?)DI@",|?A2MA?2,?2JVٱ2!V) >AHRS rotation from veh to nav: [[0.261643,-0.951429,-0.162255],[0.965076,0.260174,0.030623],[0.013079,-0.164601,0.986274]]2H¾?@rĿ`?@?[?%Ɋ? ſ?i2MA?I2\;2֑CYBByF$IbDN VDN2yV%VX=ٔV|Q-Z>9XYX=ZSGyZF^C:E^>Q 54&?Q 9%44)ABY!y%!?Q I%?<DI;i;n-4y-Bɮ55A5EEBDAT read: Rx Time:15:09:04.7384 ETRx dataTimestamp_ set to:1761577746.236235Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265275jhimFNOT Ignoring new targets: 223.06 m.RhuZhu ProNav: ac range: 223.062881 m, nav range: 213.589355 m, bearing: 69.204014 deg, approach rate: -0.846745 m/s, LOS rate: -0.025885 deg/s, cmd heading: 73.821525 deg, new cmd heading: 73.794468 deg. BhHeadingCmd: 1.287956 target range: 223.062881 and range: 224.10 m.hۤ?h*h"h hgfffdddjdZdO @BɢZo)o Gi)|iKiۤ?xP;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516071ԩ (),k?A@>?o)?YXٱs* AHRS rotation from veh to nav: [[0.261736,-0.951221,-0.163317],[0.965049,0.260250,0.030817],[0.013190,-0.165674,0.986092]]HI?gpĿ ??f?7?4ſ?i>?I];YBy$Ii}Mb@Mb@Mb@yyyy y9}Q?I +Y}(9Y=SGyFfXE>Q 54?Q 94<,)Y. BDAT read: Tx time:15:09:05.8230 $Ping request sent.iE-E?Ea1@E >E0@ E>)E%m@IEAAEoa甏?r!Ͼ?P}E? E=-?)EIEViEAAU:publishing transmit ping timeUFpublishing direction and range infoyAEU'b?o]P¿) ?YAAAAA A)AIAiAAAAA A)AIAAAEoa甏?r!Ͼ?P}E? A)AIAiAAAI)dA)@1 @1@54@1Ee  Ee Ee +Ea "Ee :*Ee :VEe [4ZEa au @au @au @au @ BA ^A] #<BA BE $IBE BBA BA BA BE wv;BE 0E) IQ I O >0,?AB1?B/?BuUٱBCw* NAHRS rotation from veh to nav: [[0.262098,-0.951128,-0.163282],[0.964953,0.260583,0.031014],[0.013050,-0.165689,0.986092]]BH4?opĿ`?d?@(Ÿ??I5ſ@?iB1?IBf\;BבCYVByV$I XXbD^VD^Nyf%fU=ٔj@9Q-j>9hYh=nSGynFnEn>pQ 5v4r?Q 9v4r%)pYxyz˦?Q Iz?rdDIr;ir;r.<4y|ɮ~84A|i1i5-]?AJi5BCRi5BCji5!?b5F*g@1E;eX9@R5U'b?o]P¿) ?Zi5Vbi5j5R@ABf@JF@@Z5JVf?o#9?wzf]?2i52C:i5B"i5oy?*i5nBi5Bi5"(#?i1i5Bi5SCi5g?M addTargetRange:: Added new target pos. range: 195.899994 m, deltaT: 7.560732 s, deltaX: -28.200012 m, approachRate: -3.729799 m/s, rangeRepo size: 4 ] Added new target pos. range: 194.992538 m, bearing: 67.860611 deg, lat: 36.779370 deg, lon: -121.859073 deg, deltaT: 7.560732 s, deltaX: -28.070343 m, approachRate: -3.712649 m/s, posRepo size: 4 jhaFNOT Ignoring new targets: 194.99 m.RhZh ProNav: ac range: 194.992538 m, nav range: 211.860397 m, bearing: 69.420782 deg, approach rate: 0.000000 m/s, LOS rate: -0.018763 deg/s, cmd heading: 73.768413 deg, new cmd heading: 73.746876 deg. BhHeadingCmd: 1.287126 target range: 194.992538 and range: 195.90 m.h%?h!*h!"h! h!g!f!f)f)d)d)d1jd5|h@Zd5@$'?额Bɢv`) i).顡ieGi?T;I?I1@9 @9@=/@9^A]m< I1 II OU >E5  E5 E1 E1 "E5 &:*E5 :VE1 ZE1 BE5 c;AHRS rotation from veh to nav: [[0.262554,-0.950894,-0.163908],[0.964831,0.260989,0.031404],[0.012916,-0.166389,0.985976]]6H?`m`Ŀ? ?;?@s? ;Lſ?i6`"?I6\;6֑CYFЅByF$IbDNVDN2yV%VN=ٔZP9Q-Z>9XYX=^SGy^F^ E~>Q 5 4?Q 9 4)Yy?Q I?wDI:iF:DC4y9ɮ=4A9jhFNOT Ignoring new targets: 194.99 m.RhˡZhˡ ProNav: ac range: 194.992538 m, nav range: 211.563599 m, bearing: 69.413449 deg, approach rate: -0.714701 m/s, LOS rate: -0.017681 deg/s, cmd heading: 73.746878 deg, new cmd heading: 73.724850 deg. Bh'BHeadingCmd: 1.286741 target range: 194.992538 and range: 195.90 m.h?h *h "h  h g f ffdddjdZdo?MBɢUd)A Ed"iA)MA6QIiiZEi?wV;zi%>M 9@Q  @Q @U 4@Q ԩ ^Au '<I I O>=,m ?AE" E E"'E "E":*E VE"'4ZE a&@a&@a&@a&@Bwۊ?BƦ?BBIٱB- NAHRS rotation from veh to nav: [[0.264644,-0.949974,-0.165872],[0.964268,0.262869,0.032968],[0.012284,-0.168670,0.985596]]BH?`/fK;ſH?@? 7? .(? ſ?iBwۊ?IBħ\;@YR؅ByR$IiMb@Mb@Mb@ 9x?/$MbP?YK7?y:A ) AY AbDVD0y =%$=ٔ:Q->9Y=SGyFE>Q 54>?Q 94)DBY`7?Q E:y?Q I?DI:BV>BCB$IBBBBBBv;B0EBBBBBCc4i:K4yɮ4A!jhAMFNOT Ignoring new targets: 194.99 m.RhMDcZhUDc] ProNav: ac range: 194.992538 m, nav range: 211.214310 m, bearing: 69.407495 deg, approach rate: -0.727317 m/s, LOS rate: -0.012418 deg/s, cmd heading: 73.724850 deg, new cmd heading: 73.706959 deg. Bhe\eHeadingCmd: 1.286429 target range: 194.992538 and range: 195.90 m.hm?hi*hi"hi higifqfqfuBdqdydyjdyZd}/?EBɢMpQN)I MdiI)M@IQiUBiU?]ſX;]΅q :D,?A2?2윦?2]Bٱ2- >AHRS rotation from veh to nav: [[0.265877,-0.949612,-0.165971],[0.963934,0.264005,0.033650],[0.011863,-0.168932,0.985556]]2H? 9c`>ſ`?u?`:?K?ſ`?i2?I2\;0YB܅ByF$IIF%>)F>HJ@AbDNVDN yV<%V^=ٔZ:Q-Z>9XYX=^SGy^F^cE^>`Q 5f4b?Q 9f4b)bFBYhyj?Q Ij?bDIb:ib$:b:R4ynDBɮr?3Ar}Ejh FNOT Ignoring new targets: 194.99 m.Rh ^Zh ^- ProNav: ac range: 194.992538 m, nav range: 210.951630 m, bearing: 69.403096 deg, approach rate: -0.725678 m/s, LOS rate: -0.012168 deg/s, cmd heading: 73.706962 deg, new cmd heading: 73.693748 deg. Bh-5HeadingCmd: 1.286198 target range: 194.992538 and range: 195.90 m.h5'?h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM?Bɢ5RdQ) i)4BGi@i'?RZ;~َK,Nz0?A2v?2a?2UBٱ2G0 :AHRS rotation from veh to nav: [[0.267610,-0.948735,-0.168186],[0.963454,0.265635,0.034559],[0.011889,-0.171288,0.985149]]2H ? \!ſ?*??EY?@ſW?i2v?I2\;2ՑCYBԅByB$IiMMb@Mb@Mb@IIII I9Mgfffff?ˡEI +?YM33?yM'M949yY=SGyFyE>Q 54?Q 94)MBY3?Q E:yX?Q I?DIX:i:zZ4yɮ3AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 194.99 m.Rh)Zh) ProNav: ac range: 194.992538 m, nav range: 210.620956 m, bearing: 69.400077 deg, approach rate: -0.699587 m/s, LOS rate: -0.006397 deg/s, cmd heading: 73.693745 deg, new cmd heading: 73.684674 deg. BhHeadingCmd: 1.286040 target range: 194.992538 and range: 195.90 m.h?h*h"h hgfffBddd jd Zd @颵 BɢU) i)PiS>i%?%[;-(^iA >AIIO >.S,P?Ai$I$*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503311:;*?:?:PFٱ:f0 BAHRS rotation from veh to nav: [[0.269856,-0.948013,-0.168667],[0.962824,0.267869,0.034863],[0.012130,-0.171804,0.985056]]:HPE?@ Vݖſ u?$?@١? b׈?`ſ?i:;*?I:f\;:֑CYJޅByJ$IbDRVDRyZ5=%Z/=ٔ^Q-^>9\Y\=^SGy^FbEb>dQ 5j4fDž?Q 9j4f)fSBYlyn ?Q In?fDIf:if:fb4ypɮr13Atjh FNOT Ignoring new targets: 194.99 m.Rh2۸Zh2۸% ProNav: ac range: 194.992538 m, nav range: 210.293289 m, bearing: 69.397283 deg, approach rate: -0.701314 m/s, LOS rate: -0.005989 deg/s, cmd heading: 73.684675 deg, new cmd heading: 73.676281 deg. Bh--HeadingCmd: 1.285894 target range: 194.992538 and range: 195.90 m.h-*?h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdEi@mBɢuS)q uiq)u'Yyyi}W;i*?'O]; Lchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755007 BY,i?A]?]Mѥ?]Uٱ]ѐ/ uAHRS rotation from veh to nav: [[0.271857,-0.947617,-0.167677],[0.962249,0.270034,0.034026],[0.013035,-0.170598,0.985255]]]H f?Rrvſ ?=H?k?ⱊ?$ſ4?i]?I]\;]ԑCY}By$I i Mb@Mb@Mb@     9 7A`?9YYY=]SGy]FeᕻEe>qQ 5}4u:Ѕ?Q 9}4u)u[BY6?Q E:y?Q I?uDIuQ;iuRQ;uj4yKBɮ2Amchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006812jhFNOT Ignoring new targets: 194.99 m.RhZh ProNav: ac range: 194.992538 m, nav range: 209.968246 m, bearing: 69.393842 deg, approach rate: -0.663465 m/s, LOS rate: -0.007035 deg/s, cmd heading: 73.676281 deg, new cmd heading: 73.665941 deg. BhHeadingCmd: 1.285713 target range: 194.992538 and range: 195.90 m.h@?h*h"h! h!g!f!f)f-Bd)d)d1jd1Zd5d@EBɢE;eC)A E iA)M3bIIiM۱9iU@?U^;UE3ݜa,Æ?A2핉?2>?2fٱ2. :AHRS rotation from veh to nav: [[0.274204,-0.947006,-0.167305],[0.961569,0.272534,0.033319],[0.014043,-0.170012,0.985342]]2H?`MCjſ,?1q?0?`Œ?ſ?i2핉?I2Mk];2֑CYBByB$IbDNVDN:2yRw<%VL=ٔVp%Q-V>9XYX=ZSGyZFZȻE^>\Q 5b4^ׅ?Q 9f4^})^bBYdyf?Q If?^DI^Q;i^;^q4yn Bɮn1AntEjh|FNOT Ignoring new targets: 194.99 m.Rh Zh  ProNav: ac range: 194.992538 m, nav range: 209.684662 m, bearing: 69.391022 deg, approach rate: -0.779297 m/s, LOS rate: -0.007760 deg/s, cmd heading: 73.665940 deg, new cmd heading: 73.657469 deg. Bhi%HeadingCmd: 1.285565 target range: 194.992538 and range: 195.90 m.h%h?h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5``= @eBɢeR^)a mii)mEhiiim`7iuh?uJ_;u}yE  E E &E "E :*E M:VE 4ZE BE < BDAT read: Tx time:15:09:09.5730  $Ping request sent. i6F6r>6~{/@6`>6%/@ 6| >)6C@I6| 446.s:?v?DEH? 6%?)6{I6i6| 44:publishing transmit ping timeFpublishing direction and range infoy46Wf9b?!p}-𽿨p ?Y44444 4)4I4i44444 4)4I4446.s:?v?DEH? 4)4I4i4445N?5:?5t}ٱ5C:/ AHRS rotation from veh to nav: [[0.276285,-0.946301,-0.167870],[0.960951,0.274815,0.032400],[0.015473,-0.170266,0.985277]]5H৮?H`|ſ???;?Jſb?i5N?I5:Q];5ԑCYUByU$IbDe VDe:2ԑyA=%/=ٔTIQ->9Y=SGyFܘE>Q 54?Q 94)jBYyh?Q I?DI:i:y4y ɮU+1AQi4i6J?AJi6)CRi6)Cji6n?b6w,XKfd@ 3-k:@R6Wf9b?!p}-𽿨p ?Zi6bi6| j60N@L%pc@*3@@Z6Qf `?Rn濽J?VL8?2i6C:i6qB"i6?*i6;Bi6HBi6oy?i6qi6Bi6?Ci6f?-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 170.699997 m, deltaT: 3.780081 s, deltaX: -25.199997 m, approachRate: -6.666523 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 194.99 m.Rh%ָZh%ָ5 ProNav: ac range: 194.992538 m, nav range: 209.346863 m, bearing: 69.387854 deg, approach rate: -0.624893 m/s, LOS rate: -0.005871 deg/s, cmd heading: 73.657470 deg, new cmd heading: 73.647950 deg. Bh5퀹HeadingCmd: 1.285399 target range: 194.992538 and range: 195.90 m.h?h*h"h hgfffdddjd`fVe@Zd?额Bɢ1) wi).&r项i5i?(`;#c;I?IM 9@I  @I @M /@I @U eA@U eA Q Q \G AfA  9% AfAY% A E=  E= E= (E9 "E= :*E= :VE= c44ZE9 aM @aM @aM @aM @^Au l;<BBB$IB BBBBBw;B 1EAA.AIIO?zp,?A^?^?^ٱ^ 0 jAHRS rotation from veh to nav: [[0.278895,-0.945344,-0.168947],[0.960172,0.277609,0.031670],[0.016962,-0.171050,0.985116]]^Hi?`A@ ſ@?Z? 7?@^?ſ?i^?I^R];^֑CYnByr$IieMb@Mb@Mb@aaaa a9ev?ˡE:v?Ye8?ye'e9 ?Y ?=SGyFIE>Q 54}ꅊ?Q 94l)uBY?9?Q E:y?Q I5?DIv,4?AE& E&E&&E$"E&V:*E&:VE&4ZE$BE&99Y=SGyFE>!Q 5-4%/?Q 9-4%w)%~BY1y1Q I5?%-DI% :i%:%4y='Bɮ=0AEuEjhamFNOT Ignoring new targets: 194.99 m.RhmҸZhmҸ ProNav: ac range: 194.992538 m, nav range: 208.719711 m, bearing: 69.383161 deg, approach rate: -0.767103 m/s, LOS rate: -0.005757 deg/s, cmd heading: 73.640149 deg, new cmd heading: 73.633852 deg. Bh|HeadingCmd: 1.285153 target range: 194.992538 and range: 195.90 m.h?h*h"h hgfffdddjdZd+?Bɢ7~G) ;i)cT}i2i?`;^k;I?Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0044859@ @@4@^AS;1 A% ؟AI1 IA OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255463Q |,?A2r?2U]?2Kٱ22 :AHRS rotation from veh to nav: [[0.282728,-0.943615,-0.172210],[0.958985,0.281871,0.029930],[0.020298,-0.173608,0.984606]]2H8?@2 ƿ?. ?`?ɔ?@8ƿ?i2r?I20];0YBByB$Ii Mb@Mb@Mb@     9 1Zd?S㥛 rh?Y ";?y /ݼ C = A @  A) VA Y f AbD%VD%:y5=%5H=ٔQ->9"?Y"?=SGyFE>Q 547?Q 94)BYw;?Q E:y?Q I?ADI6;i;c4yBɮ /A kEjhimFNOT Ignoring new targets: 194.99 m.RhuZhu ProNav: ac range: 194.992538 m, nav range: 208.412369 m, bearing: 69.379375 deg, approach rate: -0.707554 m/s, LOS rate: -0.008730 deg/s, cmd heading: 73.633852 deg, new cmd heading: 73.622476 deg. BhHeadingCmd: 1.284955 target range: 194.992538 and range: 195.90 m.hdy?h*h"h hgfff̆BdddjdZd2|?BɢY4) پi)ȴi41i%dy?)EU EUEU,EQ"EU&:*EU:VEUg4ZEQa]@a]@a]@a]@%`;;Idy?IBW>BB%IB)BB =BBB w;B1E=9@A @A@E4@A@M=@M=]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507586a^Ae ;Am cAzAm aAԉ A I I O >,?A02CN?29?2-ٱ2h4 >AHRS rotation from veh to nav: [[0.283764,-0.942936,-0.174209],[0.958642,0.283136,0.028986],[0.021993,-0.175229,0.984282]]2H2)?,xLƿ1???@??`mƿ =?i2CN?I2'];0YF$ByF$I HHbDNVDNNyV*n=%VS=ٔZ\Q-Z>9XYX=ZSGyZF^+?E^>`Q 5f4b_?Q 9f4b)bBYdyj?Q Ij?bRDIbN:ib$:b햘4ylɮn.AljhFNOT Ignoring new targets: 194.99 m.Rh `'Zh `' ProNav: ac range: 194.992538 m, nav range: 208.139359 m, bearing: 69.376078 deg, approach rate: -0.756313 m/s, LOS rate: -0.009146 deg/s, cmd heading: 73.622472 deg, new cmd heading: 73.612568 deg. Bhȹ%HeadingCmd: 1.284782 target range: 194.992538 and range: 195.90 m.h%s?h!*h!"h) h)g)f)f)f1d1d1d1jd9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759393Zd`||?=Bɢ==6)A E^ʾiA)E+AAiE0iMs?M/q`;U :IUs?IQԑ 9@  @ @ /@ Ee EaEe(Ea"Ee;*EaVEec44ZEaBEe@j㉱,y)?A\F+?F?FѷüٱF,7 AHRS rotation from veh to nav: [[0.284764,-0.942067,-0.177255],[0.958300,0.284374,0.028148],[0.023889,-0.177879,0.983762]]FH9?i%Gƿd?`03? Ҝ?av?ƿ@z?iF+?IF ];FԑCY57By5%IbDuVDu:2y=%;=ٔQ->9Y=SGyFQE>Q 54 ?Q 94Ŀ)BYy~?Q I?gDIЧ9,#E?A2?2`?2Ӽٱ2Z7 >AHRS rotation from veh to nav: [[0.285177,-0.941810,-0.177956],[0.958126,0.285124,0.026430],[0.025848,-0.178042,0.983683]]2HW@? N#@Cƿ`?x??@g?w?`ƿUz?i2?I2,6];2ӑCYFEByF&%IiuMb@Mb@Mb@qqqq q9uL7A`?~jtV-?Yu+G?yuDu=ٔDQ->9Y=SGyFYE>Q 54?Q 94)BYTG?Q E:y?Q I?|DIL:iv:4yBɮ-AlEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 194.99 m.RhsZhs ProNav: ac range: 194.992538 m, nav range: 207.486862 m, bearing: 69.366605 deg, approach rate: -0.834500 m/s, LOS rate: -0.014365 deg/s, cmd heading: 73.600923 deg, new cmd heading: 73.584103 deg. BhHeadingCmd: 1.284285 target range: 194.992538 and range: 195.90 m.hrc?h*h"h hg!f!f!f%Bd)d)d)jd)Zd5`E @]Bɢ]a~%)Y eia)e׈aaieOu.imrc?mM_;uޚ:Iurc?IqI}cA)}cAi9@ @@/@@dA@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767614^Aq: A= .AIA IQ Oe >E  E E %E "E ;*E ~:VE 4ZE BE D3?>-?> Qٱ>5 FAHRS rotation from veh to nav: [[0.284492,-0.942161,-0.177192],[0.958263,0.284912,0.023617],[0.028233,-0.176515,0.983893]]>H@5?.&`9ƿ@?`3?I>N!];>ՑCTYbIByf+%IbDvVDvky;<%T=ٔ%(ʻQ-%>9- ?Y- ?=-SGy-F5r:E5>AQ 5U4Ey?Q 9U4E)EBYYy]?Q I]?EDIE{r;iEq;Eଘ4yuٛBɮu,AubEjhFNOT Ignoring new targets: 194.99 m.Rh%kZh%k5 ProNav: ac range: 194.992538 m, nav range: 207.186035 m, bearing: 69.361366 deg, approach rate: -0.739329 m/s, LOS rate: -0.012894 deg/s, cmd heading: 73.584100 deg, new cmd heading: 73.568362 deg. ]BDAT read: Rx Time:15:09:12.2011 eTRx dataTimestamp_ set to:1761577753.560215echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020629Bh5 mHeadingCmd: 1.284010 target range: 194.992538 and range: 195.90 m.hmrZ?hq*hq"hq hgfffdddjdZd :d@Bɢ@) i)@i-irZ?ҥ_;;IrZ?I9@ @@/@^Ai I A- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2756581 A= ؟AII IY Oe >{,x?A21Q?29m"?Ym"?=mSGyuFu ;Eu>yQ 54} ?Q 94}W)}BYS?Q E:y?Q I ?}DI}BiBmU%IBmkBBiBiBiBmWw;Bm)1E!Bɢ*) i)i-iK?}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527079_;MR;IK?II9@ @@/@q ^A ;5 DAT read: 15:09:12.2011 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 403,-0.18, 3.074, 1.565,-2.868, 2.882, PHS= 0.294,-1.272, 0.489, RAW= 155.8, 5.9, CAL= 155.1, 5.8, ROT= 354.9, -5.8 E Ygot valid direction response: 15:09:12.2011 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 403,-0.18, 3.074, 1.565,-2.868, 2.882, PHS= 0.294,-1.272, 0.489, RAW= 155.8, 5.9, CAL= 155.1, 5.8, ROT= 354.9, -5.8 M PDAT read: Bearing 220.5, -4.4 (Local) M ~Local bearing/azimuth received: Bearing 220.5, -4.4 (Local) U DAT read: Range 11 to 50 : 168.0 m (Round-trip 224.0 ms) speed 0.4 m/s ] *DAT read: user:968> e BDAT read: Tx time:15:09:13.3230 e $Ping request sent.e i Т 5^> .@ B= ?-@ԩ  4Q=) 6@I 4QϽ   זoF?4-?J)dT?  ?) ӽI Ki 4QϽ   :publishing transmit ping timea  Fpublishing direction and range infoy  # ̵?\!+hg޹?Y      ) I i      ) I    זoF?4-?J)dT?  ) I i   A.AIIO>,'ۗ?Ae ?eY?eٱe0 AHRS rotation from veh to nav: [[0.281094,-0.943654,-0.174649],[0.959053,0.282797,0.015587],[0.034682,-0.171879,0.984507]]eHs?j2Zƿ`?@W??@?%ƿ`?ie ?Ie];eՑCYXB y=%IbD VD2y5H=%5 =ٔ5[Q-5>9= ?Y= ?==SGy=FEU;EE>Q 54S*?Q 94)ɎBYyr?Q I?DIg:i=:(4yɮ ,AE EE(E"E;*E:VEc44ZEBEo_E,1z?An?و?nĤ?nɷٱn3. vAHRS rotation from veh to nav: [[0.279572,-0.944351,-0.173325],[0.959410,0.281737,0.012495],[0.037032,-0.169783,0.984785]]nH?8/ƿ`}????qſ\?in?و?InNO];nёCY~^By~E%IiMb@Mb@Mb@ԑ 9n?{Gz?Mb?YVN?yף<A h A)?AYf AbDVDP)y<%D=ٔ3Q->9"?Y"?=SGyF#v;E>Q 54T1?Q 94#)ҎBYpN?Q E:yU?Q I?DI~:i:IĘ4yBɮ)AcEjhFNOT Ignoring new targets: 167.22 m.RhZh ProNav: ac range: 167.223526 m, nav range: 184.737076 m, bearing: 69.089340 deg, approach rate: -0.833417 m/s, LOS rate: -0.028351 deg/s, cmd heading: 73.509194 deg, new cmd heading: 73.475866 deg. BhHeadingCmd: 1.282396 target range: 167.223526 and range: 168.00 m.h%?h*h"h hgfffBdddjdZd?5ۆBɢ5w)1 5xzi9)=R99i=-ie%?ek`;e=;Im%?IiDD<E- E-E)E)"E-;*E-:VE)ZE)a5@a5@a5@a5@=9@9 @A@E0@ABZ>BBt%IBBBBBBfw;B11E^A] [R; A I I O >),NA?AnM?n?nl ٱn, zAHRS rotation from veh to nav: [[0.277790,-0.945220,-0.171437],[0.959843,0.280378,0.009428],[0.039156,-0.167172,0.985150]]nH Q?>?ſ ?@?N?A ?eſY?inM?Inr+];nґCY_ByF%IbD VD:2y%^;%%U=ٔ%Q-->9)Y)=-SGy-F5;E5>9Q 5E4=7?Q 9E4=F)=ێBYAyM?Q IM?=DI=:i=:=ʘ4yUhBɮUK(AUZEuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 167.22 m.Rh WZh W] ProNav: ac range: 167.223526 m, nav range: 184.430115 m, bearing: 69.078707 deg, approach rate: -0.766468 m/s, LOS rate: -0.026593 deg/s, cmd heading: 73.475869 deg, new cmd heading: 73.443918 deg. Bh]eHeadingCmd: 1.281838 target range: 167.223526 and range: 168.00 m.heF?ha*ha"ha hagifififidddjdZdr??m؆Bɢm' )q usiy)}Pyyi}&.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iF?t5a;@A M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248963ԁ A I I O >S,?A=L?7?0)ٱ+ AHRS rotation from veh to nav: [[0.276157,-0.945639,-0.171768],[0.960225,0.279139,0.007035],[0.041295,-0.166879,0.985112]]H ?Bſ)?h?|?$?@K\ſ ?i=L?I];ԑCY}mBy}X%IbDVD1yA=%C=ٔQ->9Y=SGyF;E>Q 54>?Q 94)BYyǨ?Q I?DI;i:QҘ4yɮ'AQjhFNOT Ignoring new targets: 167.22 m.Rh4Zh4 ProNav: ac range: 167.223526 m, nav range: 184.094543 m, bearing: 69.066865 deg, approach rate: -0.785797 m/s, LOS rate: -0.027780 deg/s, cmd heading: 73.443918 deg, new cmd heading: 73.408327 deg. BhHeadingCmd: 1.281217 target range: 167.223526 and range: 168.00 m.h?h*h"h h g f fqfydddjdZd?ԁ颵ՆBɢ9) Oi)瓼项iR.i5?5mb;59v?>Wa?> .ٱ>n+ FAHRS rotation from veh to nav: [[0.274918,-0.946007,-0.171726],[0.960529,0.278125,0.005586],[0.042477,-0.166483,0.985129]]>HC?`E ſ়??v? ?SOſ-?i>v?I>_^];9QYQ=]SGy]F]~ ;E]>aQ 5m4eFH?Q 9m4eLw)eBYuP?Q Eu:y}?Q I}?eDIe3;ie2;eܘ4yɮ'AjhFNOT Ignoring new targets: 167.22 m.Rh"Zh" ProNav: ac range: 167.223526 m, nav range: 183.615707 m, bearing: 69.046608 deg, approach rate: -0.838696 m/s, LOS rate: -0.035573 deg/s, cmd heading: 73.408326 deg, new cmd heading: 73.347396 deg. BhOúHeadingCmd: 1.280154 target range: 167.223526 and range: 168.00 m.hܣ?h*h"h hgfff BdddjdZdd?҆Bɢ8) %<@i!)-u))i-N|/i5ܣ?5d;5/Xɱ,[x(?A2 ?2\?2;5ٱ2+ :AHRS rotation from veh to nav: [[0.273754,-0.946200,-0.172523],[0.960782,0.277278,0.003810],[0.044232,-0.166800,0.984998]]2H.?@EG?ƿ`??h6o??Yſ?i2 ?I2һ];0YBkByBU%IbDJVDJ1yRv%RO=ٔV摻Q-V>9TYT=VSGyVFZE;EZ>\Q 5b4^kN?Q 9b4^o)^BYdyf?Q If?^3DI^:i^F:^4yj9Bɮnn&AnPEjhy}FNOT Ignoring new targets: 167.22 m.Rh3Zh3 ProNav: ac range: 167.223526 m, nav range: 183.297989 m, bearing: 69.032988 deg, approach rate: -0.774644 m/s, LOS rate: -0.033266 deg/s, cmd heading: 73.347393 deg, new cmd heading: 73.306462 deg. BhHeadingCmd: 1.279439 target range: 167.223526 and range: 168.00 m.hģ?h*h"h hgfffdddjdZd  @}ІBɢ) Hi)hǖ顉i%0iģ?Pqe;e q9aYa=eSGyeFe4;Ee>iQ 5u4m-W?Q 9}4mc)mBY}S?Q E}:y}?Q I}?mODIm :im:m4y?Bɮ~&AQEjhFNOT Ignoring new targets: 167.22 m.RhZh ProNav: ac range: 167.223526 m, nav range: 182.860428 m, bearing: 69.015322 deg, approach rate: -0.842411 m/s, LOS rate: -0.034093 deg/s, cmd heading: 73.306460 deg, new cmd heading: 73.253335 deg. Bh.HeadingCmd: 1.278512 target range: 167.223526 and range: 168.00 m.hG?h*h"h hgfffBdddjdaZde@B@颵͆Bɢ) ;i)V项ib1iG?mg;mvXر,c?A0>k?>?>EJٱ> + JAHRS rotation from veh to nav: [[0.269950,-0.947155,-0.173278],[0.961600,0.274446,-0.002069],[0.049515,-0.166066,0.984871]]>HF?O`-ƿ n??>`Z?Aſ?i>k?I>1^;>ґCYRcByRK%IbDZVDZܲybpy%bU=ٔf|Q-f>9dYd=fSGyjFj';Ej>lQ 5r4nj]?Q 9r4n[)nBYtyv?Q Iv?ncDIn;in:n4yxɮz&AxB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 167.22 m.Rh-Zh-= ProNav: ac range: 167.223526 m, nav range: 182.547455 m, bearing: 69.002536 deg, approach rate: -0.816133 m/s, LOS rate: -0.033399 deg/s, cmd heading: 73.253335 deg, new cmd heading: 73.214911 deg. Bh=_EHeadingCmd: 1.277841 target range: 167.223526 and range: 168.00 m.hEM?hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU`2 @echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264401颍ˆBɢ ) hOi)顑i&2iM?i;}J/ޱ,|?A22?2'?2Oٱ2ʓ* :AHRS rotation from veh to nav: [[0.269275,-0.947368,-0.173161],[0.961726,0.273992,-0.003481],[0.050742,-0.165596,0.984887]]2H;?P'*ƿt??xl?C2ſ`2?i22?I2^;0YBfByBO%I\iMb@Mb@Mb@ 9E?{Gz?Mb`YF?yף<A@  A)AYAbD-VD-y5l<Ee EeEe(Ea"Ee:*Ee:VEec44ZEaam@am@am@am@%=C=ٔM7Q->9Y=SGyF:E>BA<B B B %IB BB  =B B B w;B a1EBBBB =B =C4aQ 5m4ed?Q 94eR)e BYF?Q E:yQ?Q I?ezDIe;ie;e4yɮ&Ajh!-FNOT Ignoring new targets: 167.22 m.RhMZhU] ProNav: ac range: 167.223526 m, nav range: 182.197845 m, bearing: 68.989451 deg, approach rate: -0.743061 m/s, LOS rate: -0.027864 deg/s, cmd heading: 73.214908 deg, new cmd heading: 73.175578 deg. BheeHeadingCmd: 1.277155 target range: 167.223526 and range: 168.00 m.hmy?hi*hi"hi hgfff†BdddjdZd`t@ȆBɢ .)  Di )~ib3iy?Ll; BDAT read: Tx time:15:09:17.0730 $Ping request sent.imbm/?mC0@m=m/@ mz0=)mj @Imz0Ὡiimd2rp?|?ĺ&w? m*)?)myfImimz0Ὡii:publishing transmit ping timeFpublishing direction and range infoyim)$OR?xB俿,=?Yiiiii i)iIiiiiiii i)iIiiimd2rp?|?ĺ&w? i)iIiiiiiE>iE>@ @@2@@@I ^A D-,.?A2'Q?2v=ٔjMQ-j>9n ?Yn ?=nSGynFr;Er>tQ 5z4vk?Q 9z4vJ)vBYxyzp?Q Iz?vDIv:iv-:v{4yBɮ%AGEiqiuz?AJiuT;CRiuT;Cjiu ?bux!ig@?O>KV771π4@Ru)$OR?xB俿,=?Ziubiuz0juaQ@lYyfe@6@@ZuZwF?t&=??R"Nn ?2iu7+C:iuCB"iu.A؜?*iuBiuBiqiqiqiu5Ciu&?-UaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 188.199997 m, deltaT: 3.780127 s, deltaX: 20.199997 m, approachRate: 5.343735 m/s, rangeRepo size: 4jhQUFNOT Ignoring new targets: 167.22 m.Rh]T Zh]T m ProNav: ac range: 167.223526 m, nav range: 181.894211 m, bearing: 68.977955 deg, approach rate: -0.797253 m/s, LOS rate: -0.030235 deg/s, cmd heading: 73.175580 deg, new cmd heading: 73.141035 deg. BhmuHeadingCmd: 1.276552 target range: 167.223526 and range: 168.00 m.hu f?hq*hq"hq hqgyfyfyfydddjd`fg@Zd@?ƆBɢ~) Fi)>iO4i f?qn;?#,?A0rX?rC?rjYٱrE* ~AHRS rotation from veh to nav: [[0.268137,-0.947560,-0.173878],[0.961918,0.273276,-0.005867],[0.053076,-0.165683,0.984750]]rH&)?hRAƿ?[}?x,?5ſ?irX?Ir,^;rӑCY\By B%IiMb@Mb@Mb@ 9jt?Y@?yA@ Q A)pAYbDVDβy5V%57=ٔ=_Q-=>99Y9==SGy=FE:EE>IQ 5U4Mr?Q 9U4MqB)MBY]@?Q E]:y]C?Q I]?MDIM? ;iM ;ML 4yeBɮe%AeHEjhFNOT Ignoring new targets: 167.22 m.RhйZhй ProNav: ac range: 167.223526 m, nav range: 181.559448 m, bearing: 68.967885 deg, approach rate: -0.754493 m/s, LOS rate: -0.022738 deg/s, cmd heading: 73.141033 deg, new cmd heading: 73.110767 deg. BhyHeadingCmd: 1.276024 target range: 167.223526 and range: 168.00 m.hT?h*h"h hgfffBdddjdZdI?ĆBɢ) \Pi)i+z5iT?q;P ,½?A2C`?2K?2d]ٱ2* :AHRS rotation from veh to nav: [[0.267896,-0.947614,-0.173955],[0.961932,0.273203,-0.006859],[0.054025,-0.165496,0.984730]]2H4%?R +Dƿ%?(|?|?.ſ?i2C`?I2q^;2ґCY@yBC%IbDJVDJfhynM:%rc=ٔr,Q-r>9tYt=vSGyvFv+:Ev>xQ 5~4zx?Q 94z;)z"BYyK?Q I?zDIz;iz;z4y ɮ%Ajh1=FNOT Ignoring new targets: 167.22 m.RhEϹZhEϹU ProNav: ac range: 167.223526 m, nav range: 181.289963 m, bearing: 68.959731 deg, approach rate: -0.748797 m/s, LOS rate: -0.022690 deg/s, cmd heading: 73.110768 deg, new cmd heading: 73.086270 deg. BhU'yUHeadingCmd: 1.275596 target range: 167.223526 and range: 168.00 m.h]F?hY*hY"hY hYgYfafafadadidijdiZdm f?额†Bɢ ) Li)➼顡irj6iF? Os;Q E  E E *E "E :*E ҆:VE (N4ZE BE ><2E ><JE ;:E ;3,?A6X?6CD?6$aٱ6') >AHRS rotation from veh to nav: [[0.268095,-0.947628,-0.173567],[0.961818,0.273574,-0.007993],[0.055057,-0.164797,0.984790]]6Hy(?`R@t7ƿ 6?:?n^}0?ſ`e?i6X?I60_;6БCYFcByFJ%I HHbDRVDRyV=%VM=ٔZw*Q-Z>9XY\=^SGy^F^Eb>`Q 5f4b?Q 9j4b4)b*BYhyjD?Q Ij?bDIb:ibR:b4ylɮr%Ap~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 167.22 m.Rh|ϹZh|ϹYe ProNav: ac range: 167.223526 m, nav range: 180.992111 m, bearing: 68.950712 deg, approach rate: -0.747603 m/s, LOS rate: -0.022675 deg/s, cmd heading: 73.086268 deg, new cmd heading: 73.059167 deg. BhmxmHeadingCmd: 1.275123 target range: 167.223526 and range: 168.00 m.hu;7?hq*hq"hq hqgqfyfyfydddjdZd@?Bɢ)  ,|?AD zD?AADAF@ABHBHBHBHBHBHBHBJ w;BJ1EEn EnEn(El"En ;*En:VEnc44ZElBEnvT<2EnwT<JEn;:En;I?4?{Yfٱ ( -AHRS rotation from veh to nav: [[0.268527,-0.947660,-0.172723],[0.961631,0.274188,-0.009338],[0.056208,-0.163588,0.984926]]H`/?;Sƿ?K?LǬ?@sĿ?iI?IS_;ґCY]gBy]P%IԱi-Mb@Mb@Mb@)))) )9-I +?{Gzt?Y-94?y-̼-ף;-A-@ -$ A)-A)Y-AbDEVDE0yU <%U2=ٔ]$Q-]>9YYY=]SGyeFeEe>iQ 5u4m?Q 9u4m+)m6BY}W4?Q E}:y}ݡ?Q I}?mDIm~ ;im ;m4yBɮU$A?E5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003958jh1=FNOT Ignoring new targets: 167.22 m.Rh=dsZh=dsm ProNav: ac range: 167.223526 m, nav range: 180.670624 m, bearing: 68.944473 deg, approach rate: -0.684046 m/s, LOS rate: -0.013299 deg/s, cmd heading: 73.059166 deg, new cmd heading: 73.040415 deg. Bhu uHeadingCmd: 1.274796 target range: 167.223526 and range: 168.00 m.h},?hy*hy"hy hygyfyffBdddjdZdbD@EBɢM)I M".iI)MzyIQiUXH9iU,?]x;]C9 vF,Q?A2*?2y?2Dakٱ2:* :AHRS rotation from veh to nav: [[0.269872,-0.946929,-0.174626],[0.961182,0.275742,-0.009803],[0.057434,-0.165202,0.984586]]2H`E?@>M#Zƿ ??v`h?@T%ſ?i2*?I2_;2ёCYF`ByFG%IbDLVDLynX.%nf=ٔribQ-r>9pYp=rSGyvFvłEv>xQ 5~4z?Q 9~4z%)z?BYy?Q I?zDIz];iz;z%4y ɮ $A jh15FNOT Ignoring new targets: 167.22 m.Rh= }Zh= }M ProNav: ac range: 167.223526 m, nav range: 180.421265 m, bearing: 68.939729 deg, approach rate: -0.726080 m/s, LOS rate: -0.013831 deg/s, cmd heading: 73.040417 deg, new cmd heading: 73.026167 deg. BhMUHeadingCmd: 1.274547 target range: 167.223526 and range: 168.00 m.hU\$?hQ*hY"hY hYgYfYfafadadadijdiZdm@颕Bɢ> ) :i)j顙i>:i\$?!z;A>II O>iԡ r ,;74?A?ץ?9Xoٱ8l, !! EAHRS rotation from veh to nav: [[0.271223,-0.946116,-0.176926],[0.960743,0.277263,-0.009878],[0.058400,-0.167301,0.984175]]H[? Fƿh?ா?:?jſ[~?i?Ie_;ԑCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759957GfAAY=dBE9MfAYM)U4=iiMb@Mb@Mb@ 99v?J +9aYi=mSGymFmY?Em>qQ 5}4u×?Q 9}4u#)uMBYp5?Q E:y[?Q I?uDIu ;iu ;uE.4yBɮ$AjhFNOT Ignoring new targets: 167.22 m.Rh ׸Zh ׸ ProNav: ac range: 167.223526 m, nav range: 180.077484 m, bearing: 68.936874 deg, approach rate: -0.705922 m/s, LOS rate: -0.005875 deg/s, cmd heading: 73.026170 deg, new cmd heading: 73.017586 deg. BhHeadingCmd: 1.274397 target range: 167.223526 and range: 168.00 m.hs?h*h"h hgfffBdddjdZd X@Bɢ) -i)%ģ!!i%W,2N?A2?2B?2rٱ2w- :AHRS rotation from veh to nav: [[0.272783,-0.945412,-0.178287],[0.960254,0.278949,-0.009988],[0.059175,-0.168477,0.983928]]2HFu?@ƿf?L?Tt ;L? ſ V|?i2?I2a_;2ёCYBoByBY%IbDJVDJβyR=%V{=ٔVQ-V?9TYX=ZSGyZFZEZ?\Q 5b4^?Q 9f4^)^WBYdyf&?Q If?^DI^:i^:^34yhɮjG$Aljh|FNOT Ignoring new targets: 167.22 m.RhoʸZh oʸ ProNav: ac range: 167.223526 m, nav range: 179.855515 m, bearing: 68.935138 deg, approach rate: -0.706478 m/s, LOS rate: -0.005531 deg/s, cmd heading: 73.017584 deg, new cmd heading: 73.012371 deg. Bhr}HeadingCmd: 1.274306 target range: 167.223526 and range: 168.00 m.h}x?h*h"h hgfffdddjdZde @Bɢ\)! %i!)%!!i-f9=i-x?-6;5  DAT read: 15:09:19.7269 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 427,-0.43, 0.272,-1.134, 0.647, 0.172, PHS= 0.201,-1.261, 0.431, RAW= 157.2, 8.0, CAL= 156.7, 8.3, ROT= 353.3, -8.3  Ygot valid direction response: 15:09:19.7269 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 427,-0.43, 0.272,-1.134, 0.647, 0.172, PHS= 0.201,-1.261, 0.431, RAW= 157.2, 8.0, CAL= 156.7, 8.3, ROT= 353.3, -8.3  X#Rx 1: Read direction message, but no range. ^direction in FSK: [0.982768,-0.115449,0.144356]ya e M r?nN4x'ЌCz?a a a a a )e 7Ie M>ie she >e /@e 5>e  /@ e V>)e Q@Ie Va e YW>?(?Je:? e 4&?)e WIe |ie V T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse) !, i?AYUmBy]W%IbDmVDmk2y%0=ٔQ->9Y=SGyFE>Q 54p?Q 94p)eBYyQ I?%DIN:i:;4yϚBɮ#A6EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 167.22 m.Rh¸Zh¸ ProNav: ac range: 167.223526 m, nav range: 179.524536 m, bearing: 68.932542 deg, approach rate: -0.676946 m/s, LOS rate: -0.005319 deg/s, cmd heading: 73.012373 deg, new cmd heading: 73.004570 deg. BhiHeadingCmd: 1.274170 target range: 167.223526 and range: 168.00 m.h?h*h"h h g)f)f1f1d1d1d1jd9Zd=J @颅Bɢ)  i)ۯ顩i3"?i?܀;ai)>9@ @@/@@>@=YPDAT read: Bearing 221.9, -4.6 (Local) ~Local bearing/azimuth received: Bearing 221.9, -4.6 (Local) DAT read: Range 11 to 50 : 187.3 m (Round-trip 249.8 ms) speed 0.9 m/s *DAT read: user:970> BDAT read: Tx time:15:09:20.8230 $Ping request sent.B Y>B B %IB BB B B B Uv;B 0EE  E E E "E ;*E :VE ZE BE TQ<2E TQ<JE ;:E ; ,D?A028?2$?2xٱ21 :AHRS rotation from veh to nav: [[0.276455,-0.943654,-0.181907],[0.959108,0.282872,-0.009806],[0.060710,-0.171757,0.983267]]2Hn?i2Hǿ@??W?#ſ@v?i28?I2`|`;2ґCY^tByb`%I ``iMb@Mb@Mb@ 9M?x&9 Y = SGyF(E>Q 5%4 ?Q 9%4x)tBY-P3?Q E-:y-?Q I-?7DI:i:C4y5ԚBɮ=#A9m addTargetRange:: Added new target pos. range: 187.300003 m, deltaT: 7.561312 s, deltaX: 19.300003 m, approachRate: 2.552468 m/s, rangeRepo size: 4 jhqFNOT Ignoring new targets: 167.22 m.Rh f7Zh f7 ProNav: ac range: 167.223526 m, nav range: 179.240234 m, bearing: 68.932847 deg, approach rate: -0.730827 m/s, LOS rate: 0.000786 deg/s, cmd heading: 73.004573 deg, new cmd heading: 73.005489 deg. Bh  8-HeadingCmd: 1.274186 target range: 167.223526 and range: 187.30 m.h5?h1*h1"h1 h1g1f1f9f=Bd9dAdAjdEig@ZdEO?ԉ颭Bɢ6)R  i)顱i@i?2Ł;K&,?A6c?6?6j|ٱ62 BAHRS rotation from veh to nav: [[0.277943,-0.942881,-0.183638],[0.958626,0.284499,-0.009830],[0.061514,-0.173308,0.982945]]6H ?@,rǿ?`:5?!`~?@.ƿHt?i6c?I6>`;6ΑCYF{ByJi%IbDRVDRN2yZ!=%Zc=ٔZNQ-^>`9\Y`=bSGybFf⍻Ef>hQ 5n4jڷ?Q 9n4jL)jBYlyn`?Q Ir?jGDIj;ij;jfI4ytɮv"AtjhFNOT Ignoring new targets: 167.22 m.Rhß7Zhß7- ProNav: ac range: 167.223526 m, nav range: 178.988373 m, bearing: 68.933240 deg, approach rate: -0.698872 m/s, LOS rate: 0.001091 deg/s, cmd heading: 73.005488 deg, new cmd heading: 73.006668 deg. Bh5?8eHeadingCmd: 1.274207 target range: 167.223526 and range: 187.30 m.he5?hi*hi"hi higqfqfyfydddjdZd` ?EBɢMXe)I MؽiI)Ml"IQiUaBE] E]EYEY"E]D:*E]:VEYZEYBE]1<2E]1<JE];:E];i}5?}:d;}0zA x-, ?Ab3Έ?b?bv0ٱb>4 nAHRS rotation from veh to nav: [[0.279544,-0.942088,-0.185273],[0.958112,0.286226,-0.009799],[0.062262,-0.174773,0.982638]]bH ?% ǿڨ?@Q??^ƿq?ib3Έ?Ib{`;bёCYrByv}%IiMb@Mb@Mb@ 9I +?v/I +?Y94?yxi9<dA5@  A)@YAbDVD:y=%8=ٔݺQ->9Y=SGyFKyE>Q 54 ?Q 94)BY4?Q E:y1?Q I?[DI*:i:#Q4yɮC"Ajh9=FNOT Ignoring new targets: 167.22 m.RhEZhEU ProNav: ac range: 167.223526 m, nav range: 178.677292 m, bearing: 68.932310 deg, approach rate: -0.702446 m/s, LOS rate: -0.002103 deg/s, cmd heading: 73.006669 deg, new cmd heading: 73.003875 deg. BhUŸ]HeadingCmd: 1.274158 target range: 167.223526 and range: 187.30 m.h]?hY*hY"hY hagafafafmBdididijdqZduT?额Bɢμ) i)顡ikhDi?;e4,?AYnByrw%ItvAv@AtbDzVDz02y%߼%-W=ٔ-Q-->91Y1=5SGy5F5E5>IQ 5U4MȆ?Q 9U4M )MBYYyYQ I]?MlDIMz;iM;MW4yaɮen"AijhFNOT Ignoring new targets: 167.22 m.RhZh ProNav: ac range: 167.223526 m, nav range: 178.409531 m, bearing: 68.931507 deg, approach rate: -0.677595 m/s, LOS rate: -0.002035 deg/s, cmd heading: 73.003876 deg, new cmd heading: 73.001463 deg. BhƲHeadingCmd: 1.274116 target range: 167.223526 and range: 187.30 m.h;?h*h!"h! h!g!f!f)f)d)d)d)jd1Zd5]S?]Bɢ]SҼ)a ek;,?A:a?:M?:Mٱ:16 BAHRS rotation from veh to nav: [[0.282691,-0.940640,-0.187837],[0.957110,0.289563,-0.009627],[0.063446,-0.177059,0.982153]]:H? ȿ ?4?6@=?`ߩƿ`m?i:a?I:Na;8YJByJ%IbDRVDRyZ=%^-=ٔ^%Q-^>9^"?Yb"?=bSGybFb/Eb>dQ 5j4f҆?Q 9n4f)fBYlynȚ?Q In?fDIf&;if";f_4yrBɮr Av.EeB*** querying acoustic contact ***ia iajhFNOT Ignoring new targets: 167.22 m.RhnʷZhnʷ ProNav: ac range: 167.223526 m, nav range: 178.080063 m, bearing: 68.930856 deg, approach rate: -0.698776 m/s, LOS rate: -0.001383 deg/s, cmd heading: 73.001465 deg, new cmd heading: 72.999509 deg. BhrHeadingCmd: 1.274082 target range: 167.223526 and range: 187.30 m.h?h*h"h hgfffdddjdZdE?]Bɢer) i)U顉ixHi?Z;F9BB%IBˆBB =BBBu;Bp0EbEȷG4jEh=4rE/E  E E &E "E *E M:VE 4ZE BE 2E JE S;:E S;A ^A= jb< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262798Ai i Iy I O >tB,L ?AN'?N?Ns"ٱN6 ZAHRS rotation from veh to nav: [[0.284376,-0.940054,-0.188226],[0.956575,0.291323,-0.009736],[0.063987,-0.177284,0.982077]]NH73?ȿ`C? ?Spa?=ƿ-m?iN'?IN݁a;NБCY^By^%IiEMb@Mb@Mb@AAAA A9EI +?~jtZd;O?YAyEEj9qYq=}SGy}F}1E}>Q 54܆?Q 94x)ŏBY]5?Q E:y1?Q I?DI ;iq ;g4yɮ4 AjhFNOT Ignoring new targets: 167.22 m.Rh88Zh88 ProNav: ac range: 167.223526 m, nav range: 177.773422 m, bearing: 68.933020 deg, approach rate: -0.731384 m/s, LOS rate: 0.005170 deg/s, cmd heading: 72.999511 deg, new cmd heading: 73.006014 deg. Bhc9eHeadingCmd: 1.274195 target range: 167.223526 and range: 187.30 m.he?ha*hi"hi higififqfuBdqdqdqjdyZd}[@Bɢ) ;i)Gi[Ki?DŽ;}"I,B)?AdYEByE%I IIbD]VD]ym=%m'=ٔmQ-m>9qYq=uSGyuF}E}>Q 54熊?Q 94)ڏBYyQ I?DI:i9:%p4yɮAjhFNOT Ignoring new targets: 167.22 m.Rhֶ8Zhֶ8 ProNav: ac range: 167.223526 m, nav range: 177.429626 m, bearing: 68.935455 deg, approach rate: -0.704013 m/s, LOS rate: 0.004995 deg/s, cmd heading: 73.006014 deg, new cmd heading: 73.013332 deg. Bhg[9eHeadingCmd: 1.274323 target range: 167.223526 and range: 187.30 m.he?ha*ha"ha higififqfqdqddjdZd@EBɢ])Y ]@B W>B B %IB BB =B B B u;B z0EP,CC?AD=D=E EE(E"E=;*E:VEc44ZEBE~I9Y=SGyFFE>Q 54y?Q 94)BYx8?Q E:yR?Q I?DI;i;Uw4yBɮuAqjhFNOT Ignoring new targets: 167.22 m.Rh Zh  ProNav: ac range: 167.223526 m, nav range: 177.134903 m, bearing: 68.935220 deg, approach rate: -0.680439 m/s, LOS rate: -0.000543 deg/s, cmd heading: 73.013329 deg, new cmd heading: 73.012623 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270515Bh۾%HeadingCmd: 1.274311 target range: 167.223526 and range: 187.30 m.h%?h!*h)"h) h)g)f)f1f5Bd1d1d9jd9Zd=< @颥Bɢ\) t=iii)u㝧qqiuPi}?};};I}?Iy9@ @@3@ԑ^AM h%< DAT read: 15:09:23.4732 LVL= 27584, 32753, 29682, 32755, AGC= 55, IDX= 64,-0.06,-2.324, 2.472,-1.955,-2.447, PHS= 0.225,-1.319, 0.448, RAW= 156.7, 7.8, CAL= 156.2, 8.1, ROT= 353.8, -8.1  Ygot valid direction response: 15:09:23.4732 LVL= 27584, 32753, 29682, 32755, AGC= 55, IDX= 64,-0.06,-2.324, 2.472,-1.955,-2.447, PHS= 0.225,-1.319, 0.448, RAW= 156.7, 7.8, CAL= 156.2, 8.1, ROT= 353.8, -8.1  PDAT read: Bearing 220.8, -3.5 (Local)  ~Local bearing/azimuth received: Bearing 220.8, -3.5 (Local) % DAT read: Range 11 to 50 : 184.5 m (Round-trip 246.1 ms) speed 0.4 m/s - *DAT read: user:971> 5 BDAT read: Tx time:15:09:24.5729 5 $Ping request sent.5 &&~? ;_:N ?Y 8C k s ) I fff>i Ԩ B`>  /@ 'g > !z.@ >) e@I   =o?Q+?`? S#?) s I iݽi  e :publishing transmit ping time1 m Fpublishing direction and range infoy  >&&~? ;_:N ?Y ) I i ) I  =o?Q+?`? ) I i A I I O >FW,^?AiYM҆ByM%IbD]VD]0E EE)E"ED:*E:VEFA4ZEa@a@a@a@y=%1=ٔQ->9Y=SGyFE>Q 5 4f?Q 9 4)BYyQ I?DI:i:a4yBɮAE%EiQiU'Y?AJiU7CRiU7CjiU?bU0 f@ kʢ3"H9@RU>&&~? ;_:N ?ZiUiݽbiUjUp[-CcP@=0d@;m=CD@ZUz?ڽ ?Zd ??2iU&C:iUB"iU>?*iU74SBiUBiU>?iQiUBiU1CiUb? addTargetRange:: Added new target pos. range: 184.500000 m, deltaT: 3.527450 s, deltaX: -2.800003 m, approachRate: -0.793775 m/s, rangeRepo size: 4  Added new target pos. range: 183.647156 m, bearing: 68.533132 deg, lat: 36.779327 deg, lon: -121.859301 deg, deltaT: 11.088762 s, deltaX: 16.423630 m, approachRate: 1.481106 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 183.65 m.Rh Zh = ProNav: ac range: 183.647156 m, nav range: 177.535080 m, bearing: 68.331414 deg, approach rate: 0.000000 m/s, LOS rate: -0.000543 deg/s, cmd heading: 73.012625 deg, new cmd heading: 73.011876 deg. Bh9EHeadingCmd: 1.274298 target range: 183.647156 and range: 184.50 m.hE/?hA*hA"hA hIgIfIfIfIdQdQdQjdUg@Zd}c?ԙBɢLBd) d=i)ۦiCTi/?ą;.8;I/?I@ @@4@@eA@eA^A 0;  y AI i1 I1 m 췿9q Y} AI O >'^,9_{?A,Yu߆Byu%II}=)}=i=Mb@Mb@Mb@9999 99=V-?:vy&1?Y=9Y=SGyFE>Q 54?Q 94)BY=?Q E:y?Q I?DI]y;iw;+4yɮ}AB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 183.65 m.RhѸZhѸ% ProNav: ac range: 183.647156 m, nav range: 177.207260 m, bearing: 68.328969 deg, approach rate: -0.767645 m/s, LOS rate: -0.005736 deg/s, cmd heading: 73.011874 deg, new cmd heading: 73.004526 deg. Bh%{-HeadingCmd: 1.274169 target range: 183.647156 and range: 184.50 m.h-?h1*h1"h1 h1g1f1f9f=Bd9d9dAjdAZdE T)?ԉBU>BCB&IBBB =BBDBJv;B0EE- E-E-'E)"E-:*E-$:VE-'4ZE)BE-3i)~顑iWi?;D;I?Iy@y @y@}4@yԱT****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode. ^A I I O >3Pe,I?AYBy&IbD%VD%fy5`>%=Y=ٔ9Q-=>9AYA=ESGyEFAEE>IQ 5]4M ?Q 9]4M)M BYYyYQ Ie?MDIM%;iM.';M4yiɮmAijhFNOT Ignoring new targets: 183.65 m.RhʸZhʸ ProNav: ac range: 183.647156 m, nav range: 176.932205 m, bearing: 68.326911 deg, approach rate: -0.738638 m/s, LOS rate: -0.005536 deg/s, cmd heading: 73.004525 deg, new cmd heading: 72.998340 deg. Bh*sHeadingCmd: 1.274061 target range: 183.647156 and range: 184.50 m.hq?h*h"h hgfffdddjdZd ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994288Bɢ@{ϻ) =>i ) Z䤼  i 5Yiq?8;W;Iq?Ii9@ @@/@ԑE EE)E"E:*E:VEFA4ZEa@a@a@a@^A%Β;IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246222Թ gwk,?A6#?6p?6䂽ٱ6A2 BAHRS rotation from veh to nav: [[0.293200,-0.938170,-0.184038],[0.953915,0.299934,-0.009242],[0.063869,-0.172847,0.982876]]6H?}@ǿ@y?`2?D킿@Y?ƿs?i6#?I6$^;6БCYJByJ&ILbDVVDV2yZ%^S=ٔ^;:Q-^>9`Y`=bSGybFfj}Ef>hQ 5n4j?Q 9n4j)j0BYlynњ?Q Ir?j DIj];ij;jy4yvBɮvAv&EjhFNOT Ignoring new targets: 183.65 m.RhŔZhŔ- ProNav: ac range: 183.647156 m, nav range: 176.647400 m, bearing: 68.325343 deg, approach rate: -0.736816 m/s, LOS rate: -0.004065 deg/s, cmd heading: 72.998337 deg, new cmd heading: 72.993623 deg. Bh-25HeadingCmd: 1.273979 target range: 183.647156 and range: 184.50 m.h5?h1*h1"h1 hgfffdddjdZd|?颕BɢB) 9>i)顙i\i?Z%;;I?I9@ @@@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500380^AB5 T>B1 B5 <&IB5 'BB1 B1 B1 B5 v;B5 0EIi Iy O >E  E E (E "E D:*E :VE c44ZE BE 19YYY=]SGy]FeH˹Ee>iQ 5u4m7?Q 9u4m)m@BYuA?Q E}:y}?Q I}?m DIm ;im ;mߛ4ylBɮ5AEjhFNOT Ignoring new targets: 183.65 m.RhbZhbE ProNav: ac range: 183.647156 m, nav range: 176.328476 m, bearing: 68.320109 deg, approach rate: -0.753069 m/s, LOS rate: -0.012380 deg/s, cmd heading: 72.993624 deg, new cmd heading: 72.977895 deg. BhEMHeadingCmd: 1.273705 target range: 183.647156 and range: 184.50 m.hM?hI*hI"hI hIgQfqfqf}BdydydyjdyZdR?Bɢ) [>i)0id_i?;}XJ;I?I)9@ @@/@^A] ;II!O-N>achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002228ԉ x,X?A2߆?2ˢ?27ٱ2)/ :AHRS rotation from veh to nav: [[0.293944,-0.938506,-0.181116],[0.953709,0.300576,-0.009697],[0.063540,-0.169882,0.983414]]2H?> .ǿDŽ? 9dYd=fSGyfFj ϺEj>lQ 5r4n%?Q 9r4n)nNBYpyr?Q Iv?n3DIn;in;n4yxɮzAxjhFNOT Ignoring new targets: 183.65 m.Rh%`Zh%`5 ProNav: ac range: 183.647156 m, nav range: 176.038208 m, bearing: 68.315387 deg, approach rate: -0.753649 m/s, LOS rate: -0.012279 deg/s, cmd heading: 72.977894 deg, new cmd heading: 72.963706 deg. Bh5=HeadingCmd: 1.273457 target range: 183.647156 and range: 184.50 m.h=?h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU@ԙBɢPź) >i)i ci ? 6; 2[3;I ?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2550809@ @@,0@^AIQIiO>= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508296I ~,t?A:dž?:β?:ٱ:. FAHRS rotation from veh to nav: [[0.294657,-0.938361,-0.180710],[0.953509,0.301218,-0.009371],[0.063227,-0.169547,0.983492]]:H`?  !ǿ%?)G?81`/? ſx?i:dž?I:_];:ΑCY^"By^6&IiMb@Mb@Mb@ 9RQ?y&1/$?YB?y`e<7A@ )@YfAbDVDk2yN=%7=ٔ8:Q->9Y = SGy FٺE>Q 5%4-?Q 9%4;)^BY%B?Q E-:y-?Q I-?IDIC ;i ;g4y1ɮ5QA9UB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 183.65 m.RhmXAAAABBBa&IBEBB =BBBv;B0EBCBCBB =B =C 5ZhEXU ProNav: ac range: 183.647156 m, nav range: 175.700989 m, bearing: 68.308205 deg, approach rate: -0.754564 m/s, LOS rate: -0.016102 deg/s, cmd heading: 72.963708 deg, new cmd heading: 72.942119 deg. BhU0]HeadingCmd: 1.273080 target range: 183.647156 and range: 184.50 m.h]J?hY*ha"ha haE EE'E"E:*E:VE'4ZEBE<ia)ezaaieXfimJ?mޅ;mC ;IuJ?IqI)AU9@Q @Y@]0@Y@edA@edAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759715i^A} [RS;A >A >ԙ Ai Iy I O >,?A2&І?2s?2Wnٱ2e\- >AHRS rotation from veh to nav: [[0.294407,-0.938699,-0.179357],[0.953591,0.300946,-0.009780],[0.063157,-0.168154,0.983736]]2H? `)ƿу? B?H@ +?ſz?i2&І?I2];2ґCYF/ByFF&IIJ0>)J4<bDRVDR1yZ=%Z]=ٔZF9Q-^>9\Y\=^SGy^Fbo;:Eb>dQ 5j4f#5?Q 9j4f>)flBYhyj?Q In?f[DIf:if+;fٰ4yrrBɮrArEjhFNOT Ignoring new targets: 183.65 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010373RhZh ProNav: ac range: 183.647156 m, nav range: 175.422272 m, bearing: 68.302228 deg, approach rate: -0.725342 m/s, LOS rate: -0.015580 deg/s, cmd heading: 72.942117 deg, new cmd heading: 72.924157 deg. Bh+HeadingCmd: 1.272767 target range: 183.647156 and range: 184.50 m.h?h*h"h hgfffdddjdZdjK@)颭Bɢ@n;) ~>i)|顱iii?ͅ;QF;I?I9@ @@4@YE] E]E](EY"E]V:*E]:VE]c44ZEYae@ae@ae@ae@ԁ^A ;M BDAT read: Rx Time:15:09:27.1856 M TRx dataTimestamp_ set to:1761577768.680170U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263340A I I O- >Ա Z㋲,1?A2 ?2ZӢ?2ٱ2)) >AHRS rotation from veh to nav: [[0.293719,-0.939589,-0.175789],[0.953832,0.300154,-0.010594],[0.062718,-0.164561,0.984371]]2H K?@?ƿʅ?@5?AA?Xſ`?i2 ?I2];2ΑCYF7ByFO&IbDNVDNyr=%rH=ٔr:Q-r>9tYt=vSGyvFz:Ez>xQ 54z'=?Q 94z)z{BYy?Q I?znDIz;iz ;z4yɮAjh1=FNOT Ignoring new targets: 183.65 m.RhEZhEU ProNav: ac range: 183.647156 m, nav range: 175.113556 m, bearing: 68.295521 deg, approach rate: -0.785924 m/s, LOS rate: -0.017103 deg/s, cmd heading: 72.924154 deg, new cmd heading: 72.904000 deg. BhU;]HeadingCmd: 1.272415 target range: 183.647156 and range: 184.50 m.h]}ޢ?hY*hY"hY hYgafafafadididijdiZdm5_ @额Bɢ>;) &>i)Z顡iPmi}ޢ?Ʌ;^;I}ޢ?Iԑi߱IߵAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518012'U9@Y @Y@]4@YBU>BB&IBiBB =BBDBv;B0EDm =Dm <bE-4jE - BDAT read: Tx time:15:09:28.2729 - $Ping request sent.- i] ] ?5>] /@] C>A I I O>,dO?A%/@ >)C@I=#:?`Yr+'?K9)9? =&?)HIi2:publishing transmit ping time2Fpublishing direction and range infoy Im?)=!z%)k?Y )Ii )I=#:?`Yr+'?K9)9? )Iin.?nz?n eٱnwD& AHRS rotation from veh to nav: [[0.293112,-0.940372,-0.172589],[0.954046,0.299448,-0.011305],[0.062312,-0.161344,0.984929]]nHW?`bƿ?)*?&U?Ŀ ?in.?In!];lY%LBy%j&I1iMb@Mb@Mb@ 9MbX?y&1|~jt?YJ?y`廙< A@ VA)@YAbDVD:2y3=%=ٔK:Q->9Y=SGyF:E>Q 54G?Q 94)BYJ?Q E:yI?Q I?DIX:i:+4y%zBɮ-lA-EiiK?AJiCRiCjiؖ?bnT&c@ѕj72 6@R Im?)=!z%)k?Zibij ͡~/L@z 1pa@uA@ZS=oo?$)^?*\?2i C:igB"i!٠Z?*i v"BiBi!٠Z?i͂iBiCi"8?-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 156.300003 m, deltaT: 3.779265 s, deltaX: -28.199997 m, approachRate: -7.461768 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 183.65 m.YRheZZheZu ProNav: ac range: 183.647156 m, nav range: 174.700180 m, bearing: 68.285218 deg, approach rate: -0.762609 m/s, LOS rate: -0.019054 deg/s, cmd heading: 72.903998 deg, new cmd heading: 72.873013 deg. Bhu9QHeadingCmd: 1.271874 target range: 183.647156 and range: 184.50 m.h̢?h*h"h hgfff҆Bdddjdc@Zd@?]BɢeA;)a e>ia)e2aiimeIrim̢?u.څ;u;Iu̢?Iu#ԙ 9@  @ @ q4@@%=@!Ա E  E E (E "E :*E :VE c44ZE a @a @a @a @^A ;A dAzA dA A.AI IO->[,m?A2 ?2?2\ٱ2h& BAHRS rotation from veh to nav: [[0.292741,-0.940522,-0.172401],[0.954147,0.299112,-0.011622],[0.062498,-0.161094,0.984958]]2HB?=ƿ_?`$?T͇`?Ŀ DŽ?i2 ?I2\;0YjAByn\&I ppbD~VD~Ӏy53d%5G=ٔ=Q-=>9E ?YE ?=ESGyEFMt:Eu>Q 54O?Q 94})BYyU?Q I?DI;i;wș4yɮAjhFNOT Ignoring new targets: 183.65 m.RhZh ProNav: ac range: 183.647156 m, nav range: 174.371582 m, bearing: 68.276951 deg, approach rate: -0.809558 m/s, LOS rate: -0.020405 deg/s, cmd heading: 72.873016 deg, new cmd heading: 72.848169 deg. Bh`HeadingCmd: 1.271440 target range: 183.647156 and range: 184.50 m.h?h*h"h hgfffdddjdZd`?颍Bɢ;) 8>i)딼顑iMui?;ݴ;I?I    A m 9@i  @i @u 0@q B B B &IB BB B B B v;B 0ED zD E  E E 'E "E ;*E :VE '4ZE BE 9C9Y=SGyFE>Q 54vZ?Q 94r)BYfO?Q E:y5?Q I?DI:i*:љ4y Bɮ A E-B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 183.65 m.Rh=͹Zh=͹M ProNav: ac range: 183.647156 m, nav range: 173.941010 m, bearing: 68.265094 deg, approach rate: -0.811571 m/s, LOS rate: -0.022404 deg/s, cmd heading: 72.848168 deg, new cmd heading: 72.812509 deg. BhUvUHeadingCmd: 1.270818 target range: 183.647156 and range: 184.50 m.hU*?hY*hY"hY hYgYfYfafe͆BdadidijdiZdm`?颕Bɢ ^;) >i)S顡ixzi*?X;0;I*?I@ @@%4@! T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AA I I O% >Eu  Eu Eu *Eq "Eu ;*Eu ą:VEu (N4ZEq a} @a} @a} @a} @,"?A2?2?2dwٱ2& >AHRS rotation from veh to nav: [[0.292816,-0.940467,-0.172571],[0.954259,0.298834,-0.009393],[0.060404,-0.161927,0.984952]]2H?NƿI? ?<:?Ŀ?i2?I2\;2̑CYF^ByF&IbDNVDNyV;%Va=ٔVE;Q-Z>9XYX=ZSGyZF^E^>`Q 5f4ba?Q 9f4bk)bBYdydQ Ij?bDIb:ib$:b*ؙ4ynXBɮA= EjhaeFNOT Ignoring new targets: 183.65 m.RhmŹZhmŹ ProNav: ac range: 183.647156 m, nav range: 173.648666 m, bearing: 68.257012 deg, approach rate: -0.779971 m/s, LOS rate: -0.021598 deg/s, cmd heading: 72.812508 deg, new cmd heading: 72.788222 deg. Bh'mHeadingCmd: 1.270394 target range: 183.647156 and range: 184.50 m.hF?h*h"h hgfffdddjdZd?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486066EBɢE<<)A M>iI)MIIiMX)~iF?`9;;IF?IQm9@i @i@m/@i@q@ueAy %f>%CG 9YƨA^A;ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742938I I O >\y,?A2?2J?2?qٱ2!' :AHRS rotation from veh to nav: [[0.292943,-0.940455,-0.172419],[0.954308,0.298718,-0.007962],[0.058993,-0.162208,0.984992]]2H ?5`ƿ@?2?zNJ4?<Ŀ ?i2?I2W\;2ΑCTYncByn&IIr>)r>B%T>B!B%&IB%BB!B!B!B%*w;B% 1EiMb@Mb@Mb@ 9MbX?{Gzt rh?YJ?yףC< A@ (A)x@Y@bDVD:2y<%;=ٔT;Q->9Y=SGyF_E>Q 54Fj?Q 94b)ɐBYJ?Q E:y?Q I?DI:i ;ߙ4yɮAjh FNOT Ignoring new targets: 183.65 m.Rh Zh E= E=E=(E9"E=V:*E=҆:VE=c44ZE9BE=9iy)}fyiiҌ?f;%Q;ԩIҌ?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990061E9@A @A@M/@I^Am X;I I O > ,?A22 ?2?2 jkٱ2E& :AHRS rotation from veh to nav: [[0.292789,-0.940765,-0.170984],[0.954450,0.298292,-0.006845],[0.057443,-0.161191,0.985250]]2H ? ſڊ?8?p |i?Ŀ@+?i22 ?I2\;0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.241864YFkByJ&I PRbDRVDRyZ!=%Z\=ٔ^;Q-^>9\Y`=bSGybFb\:Eb>dQ 5j4fq?Q 9j4f[)fՐBYlyn?Q I]?fDIfCi))-i7i?v;&;I?I EU EUEU'EQ"EU ;*EU:VEU'4ZEQae@ae@ae@ae@9@ @@/@9=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493863^A i Iy I O >ͼ,?A2E?2?2jfdٱ2w.' :AHRS rotation from veh to nav: [[0.292903,-0.940632,-0.171520],[0.954517,0.298118,-0.004890],[0.055733,-0.162286,0.985169]]2H?\ſ@f?\?t?Ŀ ?i2E?I2\;0YBoByB&IbDJVDJ02yR<%RK=ٔV;Q-V>9TYT=ZSGyZFZhEZ>\Q 5b4^y?Q 9b4^S)^BYdyf?Q If?^ DI^:i^:^T4yhɮjsAhjh|FNOT Ignoring new targets: 183.65 m.RhιZhι ProNav: ac range: 183.647156 m, nav range: 172.695099 m, bearing: 68.231978 deg, approach rate: -0.852905 m/s, LOS rate: -0.022520 deg/s, cmd heading: 72.738045 deg, new cmd heading: 72.712973 deg. BhGwHeadingCmd: 1.269081 target range: 183.647156 and range: 184.50 m.h%=q?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5 @y%Bɢ%5O<)! %>i!)-Sk))i-Ӯi5=q?Udž;U;IU=q?IYIecA)achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7474119@ @@/@@==@==ԩB%U>B!B%&IB%BB!B!B!B%`w;B%(1EE] E]E])EY"E]:*E]ą:VE]FA4ZEYBE]6 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997820ò,Ҏ?AY~nBy~&I iMb@Mb@Mb@ 9S?y&1Mbp?YO?y`e; AS@ A)Yz@bDVD0y%;=ٔQ->9Y=SGyFE>Q 54?Q 94J)BY#O?Q E:yݠ?Q I? DI:i9;4y7BɮBAEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 183.65 m.RhZh- ProNav: ac range: 183.647156 m, nav range: 172.342438 m, bearing: 68.224244 deg, approach rate: -0.803467 m/s, LOS rate: -0.017656 deg/s, cmd heading: 72.712971 deg, new cmd heading: 72.689723 deg. Bh-A5HeadingCmd: 1.268675 target range: 183.647156 and range: 184.50 m.h5c?h1*h"h hgfffBdddjdZd2 @)ɢ5$@b<)1 5>i1)5)99i=.i=c?E(;Ebs;IEc?IA 9@  @ @ ,0@ BDAT read: Rx Time:15:09:30.8819 TRx dataTimestamp_ set to:1761577772.460045checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2507381^A ;Iq I O >Ee  Ee Ea Ea "Ee :*Ee :VEa ZEa am @am @am @am @q ɲ,i)?A2>?2ߢ?2Rٱ2' :AHRS rotation from veh to nav: [[0.293554,-0.940591,-0.170627],[0.954560,0.298020,-0.000585],[0.051400,-0.162702,0.985336]]2H?@S ſ`??0'C Q?iĿ`އ?i2>?I2\;0YBrByB&IHHbDNVDNyV<%V\=ٔV?9XYX=ZSGyZF^5غE^>`Q 5f4b?Q 9f4b3C)bBYdyfɠ?Q If?b3DIb:ibg:bu4ylɮn&A9jhFNOT Ignoring new targets: 183.65 m.Rh횹Zh횹 ProNav: ac range: 183.647156 m, nav range: 172.043533 m, bearing: 68.217725 deg, approach rate: -0.774956 m/s, LOS rate: -0.016931 deg/s, cmd heading: 72.689721 deg, new cmd heading: 72.670130 deg. Bh9HeadingCmd: 1.268333 target range: 183.647156 and range: 184.50 m.hX?h*h"h hgfffdddjdZd~5 @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501890%Bɢ%^<)) ->i))5]119i5ciEX?M{;;M|;IMX?Iaa9@ @@1@ԉU DAT read: 15:09:30.8819 LVL= 32144, 32753, 31586, 32755, AGC= 58, IDX= 398, 0.02, 2.033, 0.493, 2.447, 1.862, PHS= 0.273,-1.324, 0.541, RAW= 157.6, 5.9, CAL= 156.9, 5.7, ROT= 353.1, -5.7 ^Am P; Ygot valid direction response: 15:09:30.8819 LVL= 32144, 32753, 31586, 32755, AGC= 58, IDX= 398, 0.02, 2.033, 0.493, 2.447, 1.862, PHS= 0.273,-1.324, 0.541, RAW= 157.6, 5.9, CAL= 156.9, 5.7, ROT= 353.1, -5.7 ] PDAT read: Bearing 217.8, -4.4 (Local) Թ  ~Local bearing/azimuth received: Bearing 217.8, -4.4 (Local) - DAT read: Range 11 to 50 : 153.6 m (Round-trip 204.8 ms) speed 0.9 m/s 5 *DAT read: user:973> ] BDAT read: Tx time:15:09:31.9729 ] $Ping request sent.] i x ~ ? x 0@ B= LB/@ %=) P5@I %˽ E4?Ýp?EUJ? )(?) ñҽI i %˽  :publishing transmit ping timeY  Fpublishing direction and range infoy  i t?},Whܸm?Y ) I A I I O >0Ѳ,ƣD?AB B B&IBBB B B Bw;B:1EBaBaBaBaBaCel4i99999 9)9I999=E4?Ýp?EUJ? 9)9I9i999fI?f΢?fHٱfP' ~AHRS rotation from veh to nav: [[0.294084,-0.940546,-0.169966],[0.954522,0.298134,0.001768],[0.049010,-0.162756,0.985448]]fHD?` sſ`r??\?`?`4Ŀʈ?ifI?If\;f͑CY qBy Eu EuEu'Eq"Eu;*Eu:VEu'4ZEqBEu@9Y=SGyF`E>Q 54ؕ?Q 949)BYG?Q E:y?Q I?MDI:i':4yM@AC@Wa@58W9@Z=dpfG?L ?S$gO 7?2i= C:i=lB"i=?*i=&Bi= Bi=?i9i9i=OCi=0y? addTargetRange:: Added new target pos. range: 153.600006 m, deltaT: 7.560417 s, deltaX: -30.899994 m, approachRate: -4.087075 m/s, rangeRepo size: 4  Added new target pos. range: 152.889862 m, bearing: 66.953431 deg, lat: 36.779285 deg, lon: -121.859502 deg, deltaT: 7.560417 s, deltaX: -30.757294 m, approachRate: -4.068201 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 152.89 m.RhZh ProNav: ac range: 152.889862 m, nav range: 153.310059 m, bearing: 67.355390 deg, approach rate: 0.000000 m/s, LOS rate: -0.016931 deg/s, cmd heading: 72.670132 deg, new cmd heading: 72.643462 deg. Bh HeadingCmd: 1.267868 target range: 152.889862 and range: 153.60 m.h |I?h *h "h  h g fffBd9d9d9jd=@33c@Zd=`m?颍BɢK<) >i)x顙i\i|I?;I|I?Ip>i%>-9@) @)@50@1@=eA@9A^AQ y A ؟AI I O >ײ,IMa?AF?FOТ?Fb6ٱF' RAHRS rotation from veh to nav: [[0.294095,-0.940737,-0.168885],[0.954739,0.297383,0.006071],[0.044513,-0.163027,0.985617]]FHu? ſ8?R?mx?dʦ?Ŀ,?iF?IFm\;DYZjByZ&II^p=)^p<bDbVDbܲyj"%nd=ٔnM9n"?Yr"?=rSGyrFr9Er>txQ 5~4v~?Q 9~4vD2)v BYy ?Q I?v_DIv6;iv=7;v 4y ɮ A jhFNOT Ignoring new targets: 152.89 m.RhZh ProNav: ac range: 152.889862 m, nav range: 153.035370 m, bearing: 67.349307 deg, approach rate: -0.769098 m/s, LOS rate: -0.017061 deg/s, cmd heading: 72.643460 deg, new cmd heading: 72.625180 deg. BhX;HeadingCmd: 1.267549 target range: 152.889862 and range: 153.60 m.h??h*h"h hgfffdddjdZd@?)ɢ-\<)) ->i1)5ms11i5Ji=??=;=;I=??IAE5 E5E5)E1"E57;*E5:VE5FA4ZE1aM@aM@aM@aM@!%9@! @!@-]2@)I^Ae;y A I I O >!'޲,\{?A6a?6Ԣ?6l-ٱ6"& BAHRS rotation from veh to nav: [[0.293996,-0.941095,-0.167052],[0.954867,0.296934,0.007682],[0.042374,-0.161771,0.985918]]6H?saſ@E?@?hw??@Ŀ@?i6a?I6\;6БCYFmByJ&I Rp9\Y`=bSGybFb]9Eb>dQ 5j4f/?Q 9j4f*)fBYlyn ?Q In?fsDIfH;if;f4yrBɮrBAvEjh FNOT Ignoring new targets: 152.89 m.RhGZhG- ProNav: ac range: 152.889862 m, nav range: 152.723068 m, bearing: 67.342351 deg, approach rate: -0.814206 m/s, LOS rate: -0.018171 deg/s, cmd heading: 72.625183 deg, new cmd heading: 72.604273 deg. Bh-G-HeadingCmd: 1.267184 target range: 152.889862 and range: 153.60 m.h53?h1*h1"h1 h19g9f9fAfAdAdAdIjdIZdM?颩ɢM<) >i)|mii%3?e;e BBBBBBBw;B_1E@ @@/@DzDAAbEc44jE64rE(/E- E-E-(E)"E-:*E-҆:VE-c44ZE)BE->F,f?A2]҆?2?2#ٱ2v% :AHRS rotation from veh to nav: [[0.294695,-0.941157,-0.165465],[0.954755,0.297231,0.009800],[0.039958,-0.160867,0.986167]]2HJ?-ſ@[???mu?HĿ?i2]҆?I2F\;2ΑCYBqByB&IiEMb@Mb@Mb@AAAA A9E?MbMbP?YEL?yE@E:E AE@ EpA)E5@AYE@bDeVDeymv<%u>=ٔu;Q-u>9yYy=}SGy}FԁmպE>Q 54\?Q 94!) BY'M?Q E:yX?Q I?DIT ;iC ;e4yBɮUAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 152.89 m.RhRZhR ProNav: ac range: 152.889862 m, nav range: 152.378052 m, bearing: 67.337385 deg, approach rate: -0.797885 m/s, LOS rate: -0.011511 deg/s, cmd heading: 72.604276 deg, new cmd heading: 72.589343 deg. BhHeadingCmd: 1.266923 target range: 152.889862 and range: 153.60 m.h*?h*h"h hgffffBdd d jd Zd ?=Bɢ=盒<)9 =M>iA)E6gAAiEiM*?M7;M`;IM*?IQ9@ @@/@@=@=eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.ԩ^A5<A9zA9E  E E $E "E =;*E ~:VE 4ZE a% @a% @a% @a% @A .AI I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678280\8,?AFfdž?F?FٱF x$ RAHRS rotation from veh to nav: [[0.295039,-0.941336,-0.163826],[0.954735,0.297234,0.011523],[0.037847,-0.159810,0.986422]]FH@? l<Ŀ1???`? tĿŐ?iFfdž?IFH];FБCYZjByZ&I \\bDfVDf2ynq%nV=ٔnJ;Q-r>9r ?Yr ?=rSGyrFv.fEv>xQ 5u4zZ?Q 9u4zy)z(BYqyuL?Q I}?zDIzui)ai\i%#?%/r;%;I%#?I)@ @@/@!iyI}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.928981^A8B B B &IB BB B B B w;B g1Ey E=  E= E= 'E9 "E= :*E= ą:VE= '4ZE9 BE9 aM 2E9 aM JE= ;aM :E= ;aM ,l?A2¸?2?2ٱ2#$ :AHRS rotation from veh to nav: [[0.295491,-0.941363,-0.162851],[0.954683,0.297310,0.013650],[0.035567,-0.159505,0.986556]]2H@Q?`QĿ Č?!??5?@jĿ@ޑ?i2¸?I2];2ʑCYBpByB&Ii Mb@Mb@Mb@     9 x&1?V-Mbp?Y A?y m ;  @ @) b@ Y Q@%AA%AAbD% VD%:2y5B<%5E=ٔ=ȳ;Q-=>9AYA=ESGyEFEڌEM>IQ 5U4MÇ?Q 94M)M0BYB?Q E:y?Q I?MDIMi!)-OC[))ii?װ;;I?I9@ @@/@ԉԹ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.433344I I O > J,v?A>?>̊?>Iٱ>?-# FAHRS rotation from veh to nav: [[0.296250,-0.941395,-0.161284],[0.954531,0.297700,0.015665],[0.033267,-0.158591,0.986784]]>H?Ŀ? ?} ?d?LĿ?i>?I>&];>̑CYNgByN&IbDVVDVNy^F6%^R=ٔb9;Q-b>9`Y`=fSGyfFfEf>hQ 5n4j*̇?Q 9n4j )j8BYpyr?Q Ir?jDIj2 ;ij. ;j.4yvBɮviAvEjhFNOT Ignoring new targets: 152.89 m.Rh۸Zh۸- ProNav: ac range: 152.889862 m, nav range: 151.464554 m, bearing: 67.328364 deg, approach rate: -0.798715 m/s, LOS rate: -0.006010 deg/s, cmd heading: 72.568861 deg, new cmd heading: 72.562225 deg. Bh-5HeadingCmd: 1.266450 target range: 152.889862 and range: 153.60 m.h5?h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM@uBɢ}e<)y }>iy)}0V顁iAi?xֈ;;I?IԹE EE%E"E;*E:VE 4ZEa @a @a @a @q@q @q@ud3@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.684324^Ar;A>A>II O> 5 GQ m A 19 Y A9 s,˝?A2?2k?2Hٱ2# :AHRS rotation from veh to nav: [[0.297169,-0.941130,-0.161137],[0.954320,0.298238,0.018086],[0.031036,-0.159151,0.986766]]2H?@#Ŀʉ?R?1?`ǟ?`_Ŀ?i2?I2d];2ΑCYBdByB&IbDJVDJk2yV%VL=ٔZ;Q-^>9`Y`=fSGyfFjyEj>tQ 5z4vՇ?Q 9z4v )v?BY|y~ט?Q I?vDIvO;ivU;v554y BɮAEMBDAT read: Rx Time:15:09:34.5785 UTRx dataTimestamp_ set to:1761577775.989401]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939133jh FNOT Ignoring new targets: 152.89 m.Rh=/ZhE/ ProNav: ac range: 152.889862 m, nav range: 151.156784 m, bearing: 67.326151 deg, approach rate: -0.706038 m/s, LOS rate: -0.005087 deg/s, cmd heading: 72.562222 deg, new cmd heading: 72.555570 deg. Bhk_HeadingCmd: 1.266334 target range: 152.889862 and range: 153.60 m.h8?h*h"h hg f1fAfAdd!BQBQBU&IBUBBQBQBQBUw;BUj1EdjdZd@ @Bɢl<) >i)fNiOʔi8? ; ];I 8?I E  E E $E "E V:*E ą:VE 4ZE BE 9~[,ux?A >:k?>V?>uٱ>"% FAHRS rotation from veh to nav: [[0.297810,-0.940801,-0.161871],[0.954177,0.298553,0.020290],[0.029239,-0.160496,0.986603]]>H`P?@ 1Ŀ?}?Ɣ??$ĿA?i>:k?I>*];>͑CY^gBy^&IiMMb@Mb@Mb@IIII I9M+?DlMb`?YMv>?yMOM;MAI MZ@)IIYM @ ];]bDeVDeyuf<%u>=ٔ}Q;Q-}>9yYy=SGyFȺE>Q 54߇?Q 94W)GBYH??Q E:y?Q I?DI` ;i ;<4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 152.89 m.RhtHZhtH ProNav: ac range: 152.889862 m, nav range: 150.839569 m, bearing: 67.325881 deg, approach rate: -0.801076 m/s, LOS rate: -0.000685 deg/s, cmd heading: 72.555570 deg, new cmd heading: 72.554756 deg. BhHeadingCmd: 1.266319 target range: 152.889862 and range: 153.60 m.h?h*h"hy hygfff>BdddjdZd ) @ԁDAT read: 15:09:34.5785 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 411, 0.08, 1.289,-0.275, 1.655, 1.178, PHS= 0.213,-1.408, 0.433, RAW= 156.3, 8.8, CAL= 155.9, 9.3, ROT= 354.1, -9.3 Ygot valid direction response: 15:09:34.5785 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 411, 0.08, 1.289,-0.275, 1.655, 1.178, PHS= 0.213,-1.408, 0.433, RAW= 156.3, 8.8, CAL= 155.9, 9.3, ROT= 354.1, -9.3 PDAT read: Bearing 220.7, -5.1 (Local) ~Local bearing/azimuth received: Bearing 220.7, -5.1 (Local) DAT read: Range 11 to 50 : 151.0 m (Round-trip 201.4 ms) speed 0.4 m/s *DAT read: user:974> BDAT read: Tx time:15:09:35.6729 $Ping request sent.i]X9]->].@]nF>]X$.@ ]6&>)]J@I]6&YY]|g!~?چ?_,? ]"?)]p+I])ҽi]6&YY:publishing transmit ping timeFpublishing direction and range infoyY]"f#i?mB o?YYYYYY Y)YIYiYYYYY Y)YIYYY]|g!~?چ?_,? Y)YIYiYYYMBɢM<)I M>iQ)U?HQQiUi]?]r;];I]?Iԡ9@ @@4@E  E E &E "E T;*E :VE 4ZE a @a @a @a @ ^AE &t;I I O > ,\W0?A2K?2 7?2ٱ2$ :AHRS rotation from veh to nav: [[0.298740,-0.940630,-0.161149],[0.953943,0.299167,0.022183],[0.027344,-0.160354,0.986681]]2H?Ŀ?%?3?,?}Ŀ`?i2K?I2H+];2ˑCLYPyR&IbDZVDZJyb%bV=ٔf;Q-f>9dYd=fSGyjFj$Ej>lQ 5r4n/释?Q 9r4nk)nMBYtyv?Q Iv?nDInU:inL:nNC4yxɮzAxii?AJiMCRiMCji?bW&Kqb@\~.RJ8@R"f#i?mB o?Zi)ҽbi6&j'ev@K@Tr a@zq>@ZBEK5?h?|?2iC:iZB"ikڙ?*iIBiJBiiIiiCim?E addTargetRange:: Added new target pos. range: 151.000000 m, deltaT: 3.528479 s, deltaX: -2.600006 m, approachRate: -0.736863 m/s, rangeRepo size: 4  Added new target pos. range: 150.301819 m, bearing: 68.265617 deg, lat: 36.779285 deg, lon: -121.859526 deg, deltaT: 3.528479 s, deltaX: -2.588043 m, approachRate: -0.733473 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 150.30 m.RhZh ProNav: ac range: 150.301819 m, nav range: 148.530060 m, bearing: 66.999107 deg, approach rate: 0.000000 m/s, LOS rate: -0.000685 deg/s, cmd heading: 72.554757 deg, new cmd heading: 72.553965 deg. BhHeadingCmd: 1.266306 target range: 150.301819 and range: 151.00 m.hM?h*h"h hgf!f!f!d!d)d)jd-b@Zd-R?颙ɢLU<) >i)D顡i("iM?);`;IM?Il>i@ @@/@^A#2;Ii I O >! BM R>BI BM &IBM BBM =BI BM DBM w;BM X1ED D E%  E% E% 'E! "E% &:*E% ~:VE% '4ZE! BE% c;9Y=SGyFE>Q 54t?Q 94Q =tI)UBY^:?Q E:yؖ?Q I?DI;i;J4yڙBɮAEjh)-FNOT Ignoring new targets: 150.30 m.Rh5=Zh5=E ProNav: ac range: 150.301819 m, nav range: 148.211365 m, bearing: 66.997983 deg, approach rate: -0.733979 m/s, LOS rate: -0.002593 deg/s, cmd heading: 72.553964 deg, new cmd heading: 72.550587 deg. BhEMHeadingCmd: 1.266247 target range: 150.301819 and range: 151.00 m.hM_?hI*hI"hQ hgfff BdddjdZd s? Bɢ {<)  >i )h=i{gi_?9;{=;I_?I!)@ @@@Q^A ;ԁ I I O >, d?A2?2&?2͋ٱ2B" :AHRS rotation from veh to nav: [[0.301068,-0.940451,-0.157826],[0.953316,0.300885,0.025634],[0.023380,-0.158176,0.987134]]2HD?@-3Ŀ`?A?????Ŀ@?i2?I23];2͑CY@yB&IHHbDNVDNyV:%V_=ٔV19XYX=ZSGyZF^׻E^>`Q 5f4b?Q 9f4b5)b[BYdyf?Q If?b#DIb9:ib1:b\Q4ylɮnAljhFNOT Ignoring new targets: 150.30 m.Rh y Zh y  ProNav: ac range: 150.301819 m, nav range: 147.945175 m, bearing: 66.997293 deg, approach rate: -0.727751 m/s, LOS rate: -0.001892 deg/s, cmd heading: 72.550590 deg, new cmd heading: 72.548515 deg. Bh+%HeadingCmd: 1.266210 target range: 150.301819 and range: 151.00 m.h%/?h!*h!"h! h)g)f)f)f1d1d1d1jd1yZd?Bɢ<) />i) >8  i si/?A*;5;8;I5/?I9E EE&E"E:*E?:VE4ZEa@a@a@a@@ @@/@ԩ^A#2;I I O > Y,}?A^0ۅ?^|ơ?^zٱ^d# rAHRS rotation from veh to nav: [[0.302061,-0.940050,-0.158320],[0.953048,0.301522,0.027996],[0.021419,-0.159343,0.986991]]^H`T?CĿ`^?$L???[eĿm?i^0ۅ?I^t];\Yz\Byz}&IbD VD 0yzJ%%C=ٔ%;Q-%>9)Y)=-SGy-F-` E->9Q 5=4=?Q 9E4=)=bBYAyEh?Q IE?=7DI=:i=:=X4yIɮUAQjhq}FNOT Ignoring new targets: 150.30 m.Rh}Zh ProNav: ac range: 150.301819 m, nav range: 147.639832 m, bearing: 66.996615 deg, approach rate: -0.727488 m/s, LOS rate: -0.001617 deg/s, cmd heading: 72.548514 deg, new cmd heading: 72.546478 deg. BhHeadingCmd: 1.266175 target range: 150.301819 and range: 151.00 m.h?h*h"h hgfffdddjdZdw?~Bɢ<) >i)~&3ii?mM ;m;Iu?IqB<A<BBB&IBBBBBBw;B:1EBBBq@q @q@}/@y@@BBC4E EE*E"E%;*E:VE(N4ZEBEKY %,?A6?6?6 ٱ6D$ BAHRS rotation from veh to nav: [[0.303278,-0.939678,-0.158201],[0.952692,0.302492,0.029617],[0.020024,-0.159699,0.986963]]6Hh??Ŀ@s|?@\?S?!?qĿ2?i6?I6K];6ˑCYJmByJ&IIN>)N>iMb@Mb@Mb@ 9x?i|?5Mb?YK7?yq<A@ $@)C@Y@bD1VD1yEͤ=%EH=ٔM`;Q-M>9IYI=USGyUFUKEU>YQ 5e4]U?Q 9e4])]hBYm7?Q Em:ymq?Q Im?]JDI]U:i]:]_4yqɮugAyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 150.30 m.RhUZhU ProNav: ac range: 150.301819 m, nav range: 147.346863 m, bearing: 66.995040 deg, approach rate: -0.716701 m/s, LOS rate: -0.003861 deg/s, cmd heading: 72.546479 deg, new cmd heading: 72.541743 deg. Bh)HeadingCmd: 1.266092 target range: 150.301819 and range: 151.00 m.hP?h*h"h hgfff%Bdd1dqjdqZduKU?}Bɢe<) >i),iDiP?؈;?:IP?I5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.9@ @@k0@aԑE EE'E"E;*E:VE'4ZEa@a@a@a@^A e;Iq I O >Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251523+,?A2݀?2(l?2ᤙٱ2"% :AHRS rotation from veh to nav: [[0.304703,-0.939155,-0.158570],[0.952263,0.303671,0.031303],[0.018754,-0.160538,0.986851]]2H B? LĿx?`Wo??`R4? Ŀ`I?i2݀?I2:];2͑CYvxByv&I |~<bDVDβy^=%N=ٔuQ;Q->9Y=SGyF%WuE%>)Q 554-s?Q 954-)-nBY1y5A?Q I5?-\DI-';i-3;-f4yEBɮE=AEEjhimFNOT Ignoring new targets: 150.30 m.Rhu~~Zhu~~ ProNav: ac range: 150.301819 m, nav range: 147.061676 m, bearing: 66.993663 deg, approach rate: -0.718670 m/s, LOS rate: -0.003476 deg/s, cmd heading: 72.541745 deg, new cmd heading: 72.537607 deg. BhHeadingCmd: 1.266020 target range: 150.301819 and range: 151.00 m.h ?h*h"h hgfffdddjdZdU@|Bɢy<) :>i){&iRĜi ?D;38I ?IԑU9@Q @Q@U4@QEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504146^Aq:II)O=> B S>B B B B B B B uw;B 21ED D <bE!4jE{4rE+/E  E E E "E :*E ~:VE ZE BE 69Y=SGyFE>Q 54?"?Q 948)vBY9?Q E:y?Q I?pDI ;iX ;3n4yBɮAߩEjh FNOT Ignoring new targets: 150.30 m.RhfZhf- ProNav: ac range: 150.301819 m, nav range: 146.753693 m, bearing: 66.991920 deg, approach rate: -0.724524 m/s, LOS rate: -0.004109 deg/s, cmd heading: 72.537606 deg, new cmd heading: 72.532366 deg. Bh-z4-HeadingCmd: 1.265929 target range: 150.301819 and range: 151.00 m.h5 ?h1*h1"h1 h1g9f9f9f=BdAdAdAjdAZdE@uzBɢuv<)q u3?iy)}xsyyi}i ?V;]L9I ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755674 9@  @ @ 3@ 9^A-Iq I O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007479;8,S?A 6?6^?6끼ٱ6& >AHRS rotation from veh to nav: [[0.308314,-0.937898,-0.159026],[0.951152,0.306720,0.035097],[0.015859,-0.162079,0.986650]]6Hj?`CZĿ@o? M?@? K=?Ŀ࣒?i6?I6(];6ˑCYFxByF&IbDNVDNy̼%V=ٔ;Q->9)Y)=-SGy-FUEU>YQ 5e4]P+?Q 9m4]Y)]}BYiym ?Q Im?]DI]_:i]:]u4yqɮ}AyjhFNOT Ignoring new targets: 150.30 m.Rh`Zh` ProNav: ac range: 150.301819 m, nav range: 146.471237 m, bearing: 66.990726 deg, approach rate: -0.724611 m/s, LOS rate: -0.003070 deg/s, cmd heading: 72.532367 deg, new cmd heading: 72.528778 deg. BhHeadingCmd: 1.265866 target range: 150.301819 and range: 151.00 m.h?h*h"h hgfffdddjdZd S3 @yBɢ<) >i)   i  i?;nNI?IE EE)E"ED:*E|:VEFA4ZEa@a@a@a@q9@ @@/@BDAT read: Rx Time:15:09:38.2747 TRx dataTimestamp_ set to:1761577779.768720checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261150ԙ^A9 A ؟AI I O- >u?,'/?A>Qф?>?>blٱ>' FAHRS rotation from veh to nav: [[0.309823,-0.937432,-0.158841],[0.950685,0.307968,0.036793],[0.014427,-0.162407,0.986618]]>H`"?@rTĿl? ?w֢??Ŀ`?i>Qф?I>I{];9j"?Yj"?=jSGyjFj^En>pQ 5v4r_4?Q 9v4r)rBYtyvؖ?Q Iv?rDIr:ir:r{4y~Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511566ɮA Ejh)5FNOT Ignoring new targets: 150.30 m.Rh5N@Zh5N@ ProNav: ac range: 150.301819 m, nav range: 146.190063 m, bearing: 66.989705 deg, approach rate: -0.722012 m/s, LOS rate: -0.002627 deg/s, cmd heading: 72.528775 deg, new cmd heading: 72.525706 deg. BhHeadingCmd: 1.265812 target range: 150.301819 and range: 151.00 m.h$?h*h"h hgfffdddjdZduq @-wBɢ-<)1 5?iq)}1 顁iP*i$?uY;'I$?IAA@ABBB&IBBBBBB^w;B&1E59@1 @9@9@AD?AzD@AE EE&E"E&:*E:VE4ZEBEc;  BDAT read: Tx time:15:09:39.3729  $Ping request sent. iQ!> /@C>.@ `>)@I`22 `?.?E1TL? V8$?)tIi0i` :publishing transmit ping time  Fpublishing direction and range infoy r? .ƻS&r#?Y )Ii )I22 `?.?E1TL? )IiAY Ia Iy O > E,{?AY~By~&Ii%Mb@Mb@Mb@!!!! !9%Q?I +~jt?Y%5?y%94%D<%A%@ %@)%@!Y%@bDVD:y{j=%,=ٔQ->9Y=SGy-F-E->1Q 5=45>?Q 9=45%)5BYE"6?Q EE:yED?Q IE?5DI5z:i5j:514yqɮulAqiiI?AJiCRiCjie?b%y1b@N+}^0 d6@R r? .ƻS&r#?Zii0bi`jW['qS5L@V`@BSt:@Z z? G?ȗ,o?2iC:iaB"iК?*iOBi{BiК?iOiJBiCi?% addTargetRange:: Added new target pos. range: 148.199997 m, deltaT: 3.780680 s, deltaX: -2.800003 m, approachRate: -0.740608 m/s, rangeRepo size: 4 5 Added new target pos. range: 147.514221 m, bearing: 67.123196 deg, lat: 36.779280 deg, lon: -121.859532 deg, deltaT: 3.780680 s, deltaX: -2.787598 m, approachRate: -0.737327 m/s, posRepo size: 4 jh9=FNOT Ignoring new targets: 147.51 m.RhEAZhau ProNav: ac range: 147.514221 m, nav range: 145.122345 m, bearing: 67.122679 deg, approach rate: 0.000000 m/s, LOS rate: -0.002627 deg/s, cmd heading: 72.525708 deg, new cmd heading: 72.521794 deg. Bhq}HeadingCmd: 1.265744 target range: 147.514221 and range: 148.20 m.h}?hy*hy"hy hygfffBdddjd`fb@Zd@?uBɢr)<) ?i!)%!!i%3i-?-;-(}I-?I19@ @@@@@fAqE EE(E"E;*E:VEc44ZEa@a@a@a@ԡ ^A yA- .AI1 II Oe >$L,5?A2?2:w?224ٱ2% >AHRS rotation from veh to nav: [[0.311849,-0.937125,-0.156674],[0.950069,0.309453,0.040092],[0.010912,-0.161353,0.986836]]2HT?` Ŀ@f???FY?:Ŀ)?i2?I2_;2͑CYFByF&IbDNVDN:yVd=%Va=ٔV9Z ?YZ ?=ZSGyZF^E^>`Q 5f4bF?Q 9f4b)bBYdyj?Q Ij?bDIb;ib;bq4ynBɮnAnשEzB*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 147.51 m.Rh >Zh > ProNav: ac range: 147.514221 m, nav range: 144.868042 m, bearing: 67.120292 deg, approach rate: -0.745381 m/s, LOS rate: -0.007007 deg/s, cmd heading: 72.521794 deg, new cmd heading: 72.514622 deg. Bh䙹 15C5HeadingCmd: 1.265619 target range: 147.514221 and range: 148.20 m.h=?hI*hQ"hQ hagqGfyAfAff!-Ad9]9eAfAYeYAdydyjdZdi?sBɢ4 =) ?i)Xii?;%|I%?I!ԑ9@ @@/@i I  T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BV>BB&IBBB =BBB-w;B1E^A}U E  E E +E "E l;*E :VE [4ZE BE [FS,N?ApYBy&Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.962665iMb@Mb@Mb@ 9$C?V-y&1?Y:?y`e<A @)K@Y@ 4<<bDVDky=%:=ٔQ->9Y=SGyFE>Q 5}4P?Q 9}4)BYK:?Q E:yӛ?Q I?DIY,h?A2S?2??2w1ٱ2$ :AHRS rotation from veh to nav: [[0.313485,-0.936967,-0.154337],[0.949564,0.310578,0.043237],[0.007422,-0.160107,0.987072]]2H$?@Mÿ b?`?3#?f~?`~Ŀ?i2S?I2_;2ˑCYBByB&IbDJVDJܲyRc<%R`=ٔV}9TYT=VSGyZ FZlEZ>\Q 5b4^W?Q 9b4^v)^BYdyf?Q If?^DI^:i^[:^4yhɮj}Aljh|FNOT Ignoring new targets: 147.51 m.RhuZhu ProNav: ac range: 147.514221 m, nav range: 144.282578 m, bearing: 67.109798 deg, approach rate: -0.761706 m/s, LOS rate: -0.013421 deg/s, cmd heading: 72.497124 deg, new cmd heading: 72.483075 deg. Bh_HeadingCmd: 1.265068 target range: 147.514221 and range: 148.20 m.h?h!*h!"h! h!g!f!f)f)d)1d)d9jd9Zd=p?E EE)E"E&:*E҆:VEFA4ZEa@a@a@a@pBɢ5!=) @ ?i) P  i /祿i?-;)ڻI?IYe9@a @a@e3@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.468340ԉ^AAzAbAԹ A5 ؟AI9 II O] >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718592`,?A2>Q?2Q?I2_;2ʑCYBByB&I DDbDJVDJyR/=%VK=ٔV;Q-V>9Z"?YZ"?=ZSGyZ FZiLEZ>`Q 5b4bx`?Q 9f4b;)bBYdyf?Q If?bDIb:ib:b4yhɮnAlԙjhFNOT Ignoring new targets: 147.51 m.Rh1_Zh1_ ProNav: ac range: 147.514221 m, nav range: 143.989578 m, bearing: 67.104639 deg, approach rate: -0.691240 m/s, LOS rate: -0.012196 deg/s, cmd heading: 72.483074 deg, new cmd heading: 72.467566 deg. BhHeadingCmd: 1.264798 target range: 147.514221 and range: 148.20 m.h?h*h"h hgBAAE<B]R>BYB]&IB]ćBB] =BYBYB]$w;B]1Efffd ddjdZd'?E EE'E"E;*E:VE'4ZEBE9Cg,غ?ARO?R;?RhٱR bAHRS rotation from veh to nav: [[0.313608,-0.937712,-0.149485],[0.949544,0.310365,0.045168],[0.004041,-0.156108,0.987732]]RH@(?T"ÿb??2 ?p?Uÿ?iRO?IRO_;PYʇBy'IQiMb@Mb@Mb@ 9)\(?y&1 rh?YGA?y`eC<?A @)5@Y@AAbDVDy4=%1=ٔq;Q->9Y=SGy FɸE>Q 54j?Q 94)BY\A?Q E:yV?Q I?DI ;i? ;4y{Bɮ AΩEjhFNOT Ignoring new targets: 147.51 m.Rh% Zh% 5 ProNav: ac range: 147.514221 m, nav range: 143.641876 m, bearing: 67.095502 deg, approach rate: -0.788440 m/s, LOS rate: -0.020770 deg/s, cmd heading: 72.467563 deg, new cmd heading: 72.440084 deg. Bh5d=HeadingCmd: 1.264318 target range: 147.514221 and range: 148.20 m.h=,ա?h9*hA"hA hAgAfAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.222695fYf]OBdYdadajdaZde&@-kBɢ-Z3=)1 59/?i1)5>G11i5oi=,ա?=m;E»Ie,ա?Iaԁ9@ @@L4@E EE)E"E;*E:VEFA4ZEa@a@a@a@ԩ^A`Ի checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476881I I O > ;m,c~?A6Y[?6F?6xGٱ6b BAHRS rotation from veh to nav: [[0.313275,-0.938275,-0.146622],[0.949660,0.309893,0.045966],[0.002308,-0.153641,0.988124]]6H ? Z¿c?`I?݈?b?ÿ@?i6Y[?I64r_;6ɑCYFԇByF'IbDRVDR!yVk=%Z^=ٔZ7;Q-Z>9\Y\=^SGy^ Fb{:Eb>dQ 5j4fq?Q 9j4f)fBYhyj_?Q Ij?fDIf:if:f4yrBɮr` ArϩE~B*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 147.51 m.RhZh% ProNav: ac range: 147.514221 m, nav range: 143.365067 m, bearing: 67.088163 deg, approach rate: -0.752677 m/s, LOS rate: -0.019994 deg/s, cmd heading: 72.440085 deg, new cmd heading: 72.418025 deg. Bh%[-HeadingCmd: 1.263933 target range: 147.514221 and range: 148.20 m.h-ȡ?h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE@?@miBɢu,E=)q u5?iq)u8qyi}iȡ?;pIȡ?IIdA)59@9 @9@=/@9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.726512^AU#2BP>BB'IBއBBBBBw;B0EBqBqBqBu =Bu =CuDŽL59IYIyO>D! D% %=E-  E- E- 'E) "E- ;*E- :VE- '4ZE) BE- TQ9Y=SGy FE> Q 54 O{?Q 94 ) BYQL?Q E:yv?Q I? 1DI : ;i  ; ׵4y!ɮ- A)1jhQ]FNOT Ignoring new targets: 147.51 m.Rh]A۹Zh]A۹m ProNav: ac range: 147.514221 m, nav range: 143.010483 m, bearing: 67.077506 deg, approach rate: -0.795302 m/s, LOS rate: -0.023961 deg/s, cmd heading: 72.418023 deg, new cmd heading: 72.385974 deg. BhmuHeadingCmd: 1.263374 target range: 147.514221 and range: 148.20 m.hu:?hy*hy"hy hygyfyffXBdddjdZd`_@颽gBɢIR3=) ;?i)xݘi쩼i:?<;ơI:?I9@ @@/@a}BDAT read: Rx Time:15:09:41.9708 }TRx dataTimestamp_ set to:1761577783.548653checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232286ԑ^AϩIQ Ia Om >Թ Mz,4?A2o?2Z?29ٱ2 :AHRS rotation from veh to nav: [[0.312689,-0.938985,-0.143295],[0.949856,0.309088,0.047320],[-0.000142,-0.150906,0.988548]]2H@?) `}W¿7e??V:?`"@Pÿ/?i2o?I2R`;2̑CY^Byf,'IEr ErEr&Ep"Er:*Er:VEr4ZEpav@av@av@az@ lnp<bD~VD~y n=% [=ٔ ;Q- >9Y=SGyF:E>!Q 5%4%R?Q 9-4%ax)%BY)y-?Q I-?%DDI%:i%:%_4y1ɮ= A9jhiuFNOT Ignoring new targets: 147.51 m.Rh}wݹZh}wݹ ProNav: ac range: 147.514221 m, nav range: 142.713135 m, bearing: 67.068460 deg, approach rate: -0.793898 m/s, LOS rate: -0.024202 deg/s, cmd heading: 72.385976 deg, new cmd heading: 72.358782 deg. BhᄺHeadingCmd: 1.262899 target range: 147.514221 and range: 148.20 m.h?h*h"h hgfffdddjdZd@ @ eBɢN=ԑ) sB?i)؅顙ib.i?;I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.483345m9@i @i@m/@i^ASI9 IQ Om > DAT read: 15:09:41.9708 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 397, 0.41, 2.353, 0.823, 2.699, 2.292, PHS= 0.163,-1.424, 0.363, RAW= 155.9, 10.6, CAL= 155.8, 11.6, ROT= 354.2, -11.6  Ygot valid direction response: 15:09:41.9708 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 397, 0.41, 2.353, 0.823, 2.699, 2.292, PHS= 0.163,-1.424, 0.363, RAW= 155.9, 10.6, CAL= 155.8, 11.6, ROT= 354.2, -11.6  PDAT read: Bearing 223.2, -6.8 (Local)  ~Local bearing/azimuth received: Bearing 223.2, -6.8 (Local)  DAT read: Range 11 to 50 : 145.3 m (Round-trip 193.8 ms) speed 0.2 m/s  *DAT read: user:976>  BDAT read: Tx time:15:09:43.0744  $Ping request sent. i} E} #۹>} X$.@} q=>} .@ } 4QO>)} @I} 4QOy y } zԶ}?S75m?9bXL? } ; ?)} =I} )QϽi} 4QOy y  :publishing transmit ping time  Fpublishing direction and range infoyy } Ce/? `Wo?Yy y y y y y )y Iy iy y y y  y y )y Iy y y } zԶ}?S75m?9bXL? y )y Iy iy y y 5,s?AA9A=AABES>BABE<'IBEBBE =BABABEw;BE0Ew? c?`F:ٱ%  AHRS rotation from veh to nav: [[0.312450,-0.939134,-0.142840],[0.949933,0.308673,0.048454],[-0.001414,-0.150828,0.988559]]H-?a H¿@e?`M?@Ψ?(W`TNÿF?iw?I`;ɑCY]By]0'IbDVD:bEu:4jEu64rEu./E EE*E"E:*E1:VE(N4ZEBE@89Y=SGyF:E>!Q 5M4%?Q 9M4%_n)%BYQyU?Q IU?%^DI%m;i%:%)Ś4y]\Bɮ]r A]ũEii{I?AJiCRiCjiЈ?bfWa@#L,T:"=@RCe/? `Wo?Zi)QϽbi4QOjFDXJ@B2\`@sv>@Zoi?Mb?<-?2iC:iRUB"iD+?*inBiYBi!٠Z?i&ii Ci*?M addTargetRange:: Added new target pos. range: 145.300003 m, deltaT: 3.777661 s, deltaX: -2.899994 m, approachRate: -0.767669 m/s, rangeRepo size: 4  Added new target pos. range: 144.627472 m, bearing: 67.830332 deg, lat: 36.779267 deg, lon: -121.859533 deg, deltaT: 3.777661 s, deltaX: -2.886749 m, approachRate: -0.764163 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 144.63 m.RhZh ProNav: ac range: 144.627472 m, nav range: 141.751633 m, bearing: 67.575665 deg, approach rate: 0.000000 m/s, LOS rate: -0.024202 deg/s, cmd heading: 72.358778 deg, new cmd heading: 72.320270 deg. BhHeadingCmd: 1.262227 target range: 144.627472 and range: 145.30 m.h?h*h"h hgfffdddjd)b@Zd!?颅bBɢ#0=) E?i)'lT顉ii?x;;ZI?It>i!>i@i @q@u/@q@}=@}=I ^A= vтAE cAzAE dAy AIIO>p,#?AtYzByz&'IiMb@Mb@Mb@ 9-?y&1|?Y?U?y`;(A )K@Y@bDVD 8y)%I=ٔQ->9Y=SGyFE>Q 54ǖ?Q 94e)YAU?Q E~:ys?Q I?sDI ;i ;B̚4ybBɮ AƩEjhFNOT Ignoring new targets: 144.63 m.RhTZhT- ProNav: ac range: 144.627472 m, nav range: 141.414291 m, bearing: 67.564446 deg, approach rate: -0.893825 m/s, LOS rate: -0.029797 deg/s, cmd heading: 72.320270 deg, new cmd heading: 72.286533 deg. Bh55HeadingCmd: 1.261638 target range: 144.627472 and range: 145.30 m.h=[}?h9*h9"h9 h9g9f9fAfEeBdAdIdIjdIZdM ?}aBɢ}p \=)y } B?iy)$=1顁i,⭼i[}?K;2!,=?AZG?Z?Zk;ٱZ fAHRS rotation from veh to nav: [[0.310405,-0.939939,-0.141997],[0.950597,0.306355,0.050108],[-0.003597,-0.150536,0.988598]]ZH?,¿`Kk?@S?ວ? vmDÿ ?iZG?IZ{b;ZȑCYjByn)'IttbDvVDvy~N<%X=ٔS;Q->9Y = SGy  ;E >Q 54̞?Q 9%4^)BY!y%?Q I%?DIH;i";Қ4y)ɮ- A1MB*** querying acoustic contact ***iI iIYjhYeFNOT Ignoring new targets: 144.63 m.RheZhm} ProNav: ac range: 144.627472 m, nav range: 141.100891 m, bearing: 67.553699 deg, approach rate: -0.827440 m/s, LOS rate: -0.028436 deg/s, cmd heading: 72.286535 deg, new cmd heading: 72.254224 deg. Bh}HeadingCmd: 1.261074 target range: 144.627472 and range: 145.30 m.hj?h*h"h hgfffdddjdZd?=_Bɢ=T=)A E5D?iA)E AAiM"iMj?MA];=Ij?IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.M9@I @I@M1@IԁB V>B CB O'IB BB  =B B DB v;B 0EDD=E EE%E"EI;*E:VE 4ZEBEgj checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248299 ,~W?A6;?6Ԡ?6;ٱ6 >AHRS rotation from veh to nav: [[0.309158,-0.940339,-0.142070],[0.951000,0.304962,0.050971],[-0.004605,-0.150867,0.988543]]6H@=? BW/¿n?}?@?3r Oÿ%?i6;?I6Mc;4YFByF1'IiMb@Mb@Mb@ 9|?5^?Q?~jtx?YM?yu<;?A )b@Y=@bD5VD5yE=%EF=ٔE? ;Q-E>9IYI=MSGyMFMlP;EU>QQ 5e4U馈?Q 9e4UU)QYeM?Q Ee:yeU?Q Ie?UDIU:iU:Uښ4yu^Bɮu| AqjhFNOT Ignoring new targets: 144.63 m.RhZh ProNav: ac range: 144.627472 m, nav range: 140.771011 m, bearing: 67.540634 deg, approach rate: -0.802237 m/s, LOS rate: -0.031848 deg/s, cmd heading: 72.254222 deg, new cmd heading: 72.214934 deg. BhۮԹHeadingCmd: 1.260388 target range: 144.627472 and range: 145.30 m.hhT?h*h"h hgfffxBdddjdZd?}]Bɢ}k0W=) cH?i)顁iYmihT?N';#:IhT?I9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500374^A9E  E E (E "E V:*E :VE c44ZE a @a @a @a @A I I O >9 ě,Yq?A2c?2?2g;ٱ2 :AHRS rotation from veh to nav: [[0.307729,-0.940877,-0.141610],[0.951458,0.303445,0.051463],[-0.005450,-0.150573,0.988584]]2Hֱ?H ¿Xr?k?@^Y?ERv@Eÿz?i2c?I2>c;2ɑCYBByB2'IbDJVDJP)y ;%M=ٔ- ;Q-5>91Y1=5SGy5F=t;EM>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752417iQ 5u4mޮ?Q 9u4mpM)iYqyu?Q Iu?mDIm;im;m(4y8BɮM AEjhFNOT Ignoring new targets: 144.63 m.RhcZhc ProNav: ac range: 144.627472 m, nav range: 140.445892 m, bearing: 67.527496 deg, approach rate: -0.800768 m/s, LOS rate: -0.032433 deg/s, cmd heading: 72.214934 deg, new cmd heading: 72.175430 deg. BhHeadingCmd: 1.259699 target range: 144.627472 and range: 145.30 m.h=?h*h"h hgfffdddjdZd R~? \Bɢ =+a=)  aI?i)\iҰi%=?%;%O[8;I%=?I)gGfA@ @@/@B9fAYAY^Arg:i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004279AA II IY O >B A <B T>B CB U'IB BB B B B kv;B 0Eԙ -,9B?A-9?-$?-˛;ٱ-D}@AzD}AAE EE&E"E:*E$:VE4ZEBE> ףp=?{Gz?YQ?y#<(A@ K@)K@Y@ <bDVDkyj%3=ٔf;Q->9Y=SGyF ;E>Q 5m4 ?Q 94.D)BYQ?Q E:y?Q I?DIBɮ AEjhFNOT Ignoring new targets: 144.63 m.RhZh ProNav: ac range: 144.627472 m, nav range: 140.079086 m, bearing: 67.513594 deg, approach rate: -0.775670 m/s, LOS rate: -0.029476 deg/s, cmd heading: 72.175429 deg, new cmd heading: 72.133613 deg. BhԡHeadingCmd: 1.258969 target range: 144.627472 and range: 145.30 m.h%?h*h"h hg f f f_BdddjdZd@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256412颅ZBɢhD=) G?i) 顉ii%?L;ԙ;I%?Ii@q @q@u4@q^A qZ;  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508992A I I O >v,6?AYBy 'IbD% VD%2y5.%=J=ٔ=Q-=>99YA=ESGyEFEEE>QIQ 5]4MJ?Q 9]4M;)MBYYyYQ Ie?MDIMq+;iMN:M4yiɮm AijhFNOT Ignoring new targets: 144.63 m.Rh6Zh6 ProNav: ac range: 144.627472 m, nav range: 139.748840 m, bearing: 67.501015 deg, approach rate: -0.865620 m/s, LOS rate: -0.033050 deg/s, cmd heading: 72.133614 deg, new cmd heading: 72.095787 deg. BhuHeadingCmd: 1.258309 target range: 144.627472 and range: 145.30 m.hD?h*h"h hgfffdddjdZd@@颕YBɢ j=) D?i)`:顙iIiD?E EE)E"E*Ev:VEFA4ZEa-@a-@a-@a-@;E;IMD?IQԁ@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760292ԩ^A r; I I O >cy,"?A2ə?2?2m_;ٱ2w :AHRS rotation from veh to nav: [[0.304024,-0.942411,-0.139395],[0.952635,0.299597,0.052228],[-0.007458,-0.148672,0.988858]]2H u?;({?`,? ? ۋ~ ÿ?i2ə?I2=a;2ȑCY^݇Byb'IbDjVDj02yr%rQ=ٔrD';Q-r>9tYt=vSGyvFv;Ez>xQ 54z5Ȉ?Q 94z3)zBYy?Q I?zDIz;iz;z4yɮ AiYI]AeBDAT read: Rx Time:15:09:45.6685 mTRx dataTimestamp_ set to:1761577787.076421mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013657ԹB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 144.63 m.Rh% Zh% U ProNav: ac range: 144.627472 m, nav range: 139.429062 m, bearing: 67.488387 deg, approach rate: -0.760698 m/s, LOS rate: -0.030109 deg/s, cmd heading: 72.095789 deg, new cmd heading: 72.057817 deg. Bh]O]HeadingCmd: 1.257646 target range: 144.627472 and range: 145.30 m.h]?ha*ha"ha hagafafifidididqjdZd@BP>BBO'IBBB =BBDBSv;B0EWBɢ GR=) B?i)~:!i%i?W;n;I?IE= E=E=&E9"E=:*E=?:VE=4ZE9BE=6,tE?ANƅ?N ?Ny;ٱN1 ^AHRS rotation from veh to nav: [[0.302716,-0.942631,-0.140750],[0.953052,0.298237,0.052414],[-0.007430,-0.150008,0.988657]]NH_?*¿`f?O?֪? ,o~`y3ÿ?iNƅ?IN`;NǑCYj·Byn 'IiMb@Mb@Mb@ 9:v?~jtx{GzYT?yĻ#@ b@)b@YG@@A@AbDVD0y%%7=ٔـQ->9Y=SGyFJ;E>Q 5 4ш?Q 94*)BYU?Q E:y?Q I? DI3:i]:4y% Bɮ% A%EjhYeFNOT Ignoring new targets: 144.63 m.RheZheu ProNav: ac range: 144.627472 m, nav range: 139.059509 m, bearing: 67.476730 deg, approach rate: -0.882971 m/s, LOS rate: -0.027924 deg/s, cmd heading: 72.057820 deg, new cmd heading: 72.022758 deg. BhuPHeadingCmd: 1.257034 target range: 144.627472 and range: 145.30 m.h?h*h"h hgfffIBdddjdZd1 @DAT read: 15:09:45.6685 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 406,-0.05,-3.043, 1.705,-2.675,-3.137, PHS= 0.196,-1.396, 0.418, RAW= 156.4, 9.2, CAL= 156.2, 9.8, ROT= 353.8, -9.8 Ygot valid direction response: 15:09:45.6685 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 406,-0.05,-3.043, 1.705,-2.675,-3.137, PHS= 0.196,-1.396, 0.418, RAW= 156.4, 9.2, CAL= 156.2, 9.8, ROT= 353.8, -9.8 PDAT read: Bearing 221.2, -7.7 (Local) ~Local bearing/azimuth received: Bearing 221.2, -7.7 (Local) DAT read: Range 11 to 50 : 142.5 m (Round-trip 190.0 ms) speed 0.4 m/s *DAT read: user:977> VBɢBR=BDAT read: Tx time:15:09:46.7728 $Ping request sent.Y?$RD>rl?YECAA ) SiE!E>ER.@El$>E!z.@ E%/>)Ee@IE%/AAEykj?c8&?=b? E"?)E#IEiݽiE%/AAm:publishing transmit ping timeFpublishing direction and range infoyAEcV>Y?$RD>rl?YAAAAA A)AIAiAAAAA A)AIAAAEykj?c8&?=b? A)AIAiAAA@ @@@9E  E E (E "E :*E :VE c44ZE a @a @a @a @^A <A A >Ii I O >ԉ ݼ,?A2?2ˡ?24<ٱ2z :AHRS rotation from veh to nav: [[0.301963,-0.942847,-0.140917],[0.953287,0.297413,0.052815],[-0.007886,-0.150283,0.988612]]2H^S?`+ ¿`S??` ?u&y<ÿ?i2?I2`;0Y^Byn&IbDzVDzyE%EW=ٔM8:Q-M>9IYQ=USGyUFU;EU>yQ 54}Iڈ?Q 94}")}BYy?Q I?}DI}[:i}:}j4yɮ AiiL3?AJi CRi Cjim?bV{^a@a{a0. jz$8@RcV>Y?$RD>rl?Ziiݽbi%/j5dJ@<='`@T;R 9@Z<7X? y(?l ט?2i?C:i'SB"i:?*inQBiչBi:?iOi{Bi Cil ?E addTargetRange:: Added new target pos. range: 142.500000 m, deltaT: 3.529896 s, deltaX: -2.800003 m, approachRate: -0.793225 m/s, rangeRepo size: 4 q} Added new target pos. range: 141.839874 m, bearing: 67.783274 deg, lat: 36.779264 deg, lon: -121.859532 deg, deltaT: 3.529896 s, deltaX: -2.787598 m, approachRate: -0.789711 m/s, posRepo size: 4 jhyFNOT Ignoring new targets: 141.84 m.RhZh ProNav: ac range: 141.839874 m, nav range: 138.615982 m, bearing: 67.614582 deg, approach rate: 0.000000 m/s, LOS rate: -0.027924 deg/s, cmd heading: 72.022760 deg, new cmd heading: 71.989425 deg. BhHeadingCmd: 1.256452 target range: 141.839874 and range: 142.50 m.hoӠ?h*h"h hgfffddd jd5a@Zd5gy?]TBɢ]RY=)Y ]L6?ia)e;ai2ioӠ?;& E5  E5 E5 &E1 "E5 :*E5 ą:VE5 4ZE1 ó,?ABE]>9Y=SGyFE>Q 54㈊?Q 94)BYI?Q E:y?Q I?5DI:i: 4yɮb Ajh FNOT Ignoring new targets: 141.84 m.RhZh% ProNav: ac range: 141.839874 m, nav range: 138.269974 m, bearing: 67.605771 deg, approach rate: -0.804614 m/s, LOS rate: -0.020539 deg/s, cmd heading: 71.989422 deg, new cmd heading: 71.962925 deg. Bh%a-HeadingCmd: 1.255990 target range: 141.839874 and range: 142.50 m.h-HĠ?h)*h)"h) h)g1f1f1f5*Bd9d9d9jd9Zd= e?mSBɢmtX=)i m0?iq)u?u>;qqiui}HĠ?}#y;}:+ɳ,)?A6f?6?6EO<ٱ6z >AHRS rotation from veh to nav: [[0.301123,-0.943001,-0.141681],[0.953544,0.296396,0.053872],[-0.008808,-0.151321,0.988445]]6HE?-"¿o?'?!?` ~^ÿ X?i6f?I6+^;4YFByF&I LN4<bDNVDNyVq%Vm=ٔZ/;Q-Z?9XYX=^SGy^F^I';Eb?`Q 5f4b눊?Q 9j4b!)bBYhyj?Q Ij?bGDIb :ib:b4ypɮr ApjhFNOT Ignoring new targets: 141.84 m.RhZh ProNav: ac range: 141.839874 m, nav range: 137.999023 m, bearing: 67.598744 deg, approach rate: -0.765587 m/s, LOS rate: -0.019896 deg/s, cmd heading: 71.962928 deg, new cmd heading: 71.941803 deg. BhxZHeadingCmd: 1.255621 target range: 141.839874 and range: 142.50 m.h3?h*h"h hgfffdddjdZd`%?E EE%E"ED:*E:VE 4ZEa@a@a@a@5QBɢ5V=)9 =,?i9)=^;99i=c"iE3?E;MƠ=/г,C?A6?6@ۡ?60<ٱ6;@ BAHRS rotation from veh to nav: [[0.301513,-0.942668,-0.143064],[0.953417,0.296628,0.054845],[-0.009264,-0.152937,0.988193]]6HK?U*O¿d?? ?@mÿF?i6?I6@^;6ɑCYJByJ&IbDRVDRfyZg%ZJ=ٔ^:Q-^>9\Y`=bSGybFbEb>dQ 5j4f?Q 9j4f0 )fBYlyn?Q In?f[DIf;ifH;f14yrBɮr% AvEjh FNOT Ignoring new targets: 141.84 m.RhH¹ZhH¹- ProNav: ac range: 141.839874 m, nav range: 137.680603 m, bearing: 67.590507 deg, approach rate: -0.818919 m/s, LOS rate: -0.021232 deg/s, cmd heading: 71.941802 deg, new cmd heading: 71.917035 deg. Bh5#i5HeadingCmd: 1.255189 target range: 141.839874 and range: 142.50 m.h5 ?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMNA?uPBɢ} P=)y }&?iy)(~;顁i)i ?Aa;`w;BB'IBއBB =BBB"v;B0EQ@Q @Q@U/@QԩbEŀ'4jE^+4rE0E EE+E"E:*E:VE [4ZEBE@8 ׳,g]?ARtͅ?R?R)<ٱR# ZAHRS rotation from veh to nav: [[0.302514,-0.942136,-0.144447],[0.953089,0.297361,0.056545],[-0.010320,-0.154776,0.987896]]RH`c\?%<}¿?? p?@"@ÿ`ל?iRtͅ?IRF^;RǑCYbByb&I ddliUMb@Mb@Mb@QQQQ Q9URQ?V-QYUB?yUUuUAQ U5@)QQYQbDm VDm2y}v%}>=ٔ !;Q->9Y=SGyF E>Q 54/?Q 94)BYB?Q E:y?Q I?pDI ;i:!4yɮ? AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 141.84 m.RhyZhy ProNav: ac range: 141.839874 m, nav range: 137.354233 m, bearing: 67.584647 deg, approach rate: -0.758422 m/s, LOS rate: -0.013651 deg/s, cmd heading: 71.917036 deg, new cmd heading: 71.899412 deg. BhuHeadingCmd: 1.254882 target range: 141.839874 and range: 142.50 m.h?h*h"h hgfffBdddjdZd~?UNBɢU/@=)Y ]_&?iY)];YYi]Bie?e;eqL0 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243808z+ݳ,95 ?Y5 ?==SG9y=FE@[EE>IQ 5U4M?Q 9U4M)MBYQyUU?Q I]?MDIM;iMe;M(4yaɮe AajhFNOT Ignoring new targets: 141.84 m.RhsZhs ProNav: ac range: 141.839874 m, nav range: 137.054489 m, bearing: 67.579409 deg, approach rate: -0.761254 m/s, LOS rate: -0.013330 deg/s, cmd heading: 71.899414 deg, new cmd heading: 71.883668 deg. Bh_HeadingCmd: 1.254607 target range: 141.839874 and range: 142.50 m.h?h*h"h hgfffdddjdZd@~@LBɢL=) ?i)@;i/i?bA;w""A>BA<BU>BB&IBBB =BBDBv;B0EA% ؟AI) I9 OM > E  E E E "E ;*E :VE ZE BE D9m"?Ym"?=uSGyuFuB*Eu>yQ 54}?Q 94})}BY9R,IJ?A2Q?2)F;bDNVDNyR%Vg=ٔV;Q-V>9XYX=ZSGyZ F^sE^>`Q 5b4b?Q 9f4b_)bBYdyf?Q If?bDIb :ib$:b64ynBɮn AnEjhFNOT Ignoring new targets: 141.84 m.Rh ЉZh Љ ProNav: ac range: 141.839874 m, nav range: 136.468491 m, bearing: 67.576259 deg, approach rate: -0.739666 m/s, LOS rate: -0.003765 deg/s, cmd heading: 71.878158 deg, new cmd heading: 71.874202 deg. Bh`%HeadingCmd: 1.254441 target range: 141.839874 and range: 142.50 m.h?h*h"h hgfffdddjdZdL @E EEE"EV:*E~:VEZEa@a@a@a@HBɢ[@=) ?i)Z;ii?; vq 5,E?A2?2?2K<ٱ2G% :AHRS rotation from veh to nav: [[0.308355,-0.939604,-0.148529],[0.951138,0.301921,0.064653],[-0.015905,-0.161208,0.986792]]2H?<ÿ`o?`R?`?`JItĿ͓?i2?I2I^;2ǑCYBoByB&I HJp;bDNVDNk1yV5%VK=ٔVǁ;Q-V>9XYX=ZSGyZ!FZ{E^>`Q 5f4bg!?Q 9f4b!)bBYdyf6?Q If?bDIb:ib:b=4ylɮn Archecking for new query: numPingsReceived=0, elapsed TxPingTime=3.504133tjh FNOT Ignoring new targets: 141.84 m.Rhz\Zhz\- ProNav: ac range: 141.839874 m, nav range: 136.171768 m, bearing: 67.575044 deg, approach rate: -0.733791 m/s, LOS rate: -0.003012 deg/s, cmd heading: 71.874204 deg, new cmd heading: 71.870550 deg. Bh-I-HeadingCmd: 1.254378 target range: 141.839874 and range: 142.50 m.h5s?h1*h1"h1 h1g1f1f9f9dAdAdAjdAZdEP @uFBɢuH=)q u?iq);i ſB!B!B%&IB%BB!B!B!B%!v;B%0Ei=s?= ;=- ;I=s?IAY9@ @@4@ԑE EE+E"E&:*Ex:VE [4ZEBEc; BDAT read: Tx time:15:09:50.4728 $Ping request sent. i>%/@C>R.@ >)|@I~Z?)G?80? x$?)Iii- :publishing transmit ping time5 Fpublishing direction and range infoyӹs?{8%)k?Y )Ii )I~Z?)G?80? )IiAa Ii Iy O > _,l?A2?2?2n<ٱ2M( :AHRS rotation from veh to nav: [[0.310408,-0.938657,-0.150231],[0.950445,0.303577,0.067041],[-0.017322,-0.163596,0.986375]]2H?z :ÿ j?m?)?Ӽ Ŀc?i2?I2^;2ƑCYbjByb&Ii%Mb@Mb@Mb@!!!! !9%ʡE?ktMbPY%-2?y% 0%%A! !)!!Y%@bD]VD]kԱyW%-=ٔD;Q->9Y=SGy"FmE>Q 54+?Q 94)BY2?Q E:y՘?Q I?DI:i:E4y ɮ- A1ii?AJi CRi Cjiղ?b7a+a@s".*4@Rӹs?{8%)k?Ziibij%J@J(_@pb4@Z"&?k؋#?4?2iB:iVB"iCԚ?*iVBi/BiiIiiUCi&?iIA addTargetRange:: Added new target pos. range: 139.500000 m, deltaT: 3.778534 s, deltaX: -3.000000 m, approachRate: -0.793959 m/s, rangeRepo size: 4  Added new target pos. range: 138.855103 m, bearing: 67.008561 deg, lat: 36.779264 deg, lon: -121.859526 deg, deltaT: 3.778534 s, deltaX: -2.984772 m, approachRate: -0.789928 m/s, posRepo size: 4 jh!-FNOT Ignoring new targets: 138.86 m.Rh-Zh1= ProNav: ac range: 138.855103 m, nav range: 136.332855 m, bearing: 67.658488 deg, approach rate: 0.000000 m/s, LOS rate: -0.003012 deg/s, cmd heading: 71.870549 deg, new cmd heading: 71.866100 deg. BhAmHeadingCmd: 1.254300 target range: 138.855103 and range: 139.50 m.hm茠?hi*hi"hi higifqfqfuЅBdqdydyjd}pa@Zd}I?CBɢZ.=) ?i)?;ii茠?;v;I茠?Iy@ @@0@E EE(E"EV:*E:VEc44ZEa@a@a@a@ ^A= #2;1 A .AI I O > :,֫?AYu^Byu&I yybDVD0yJh%G=ٔQ->9 ?Y ?=SGy#FE>ԱQ 544?Q 94)BYyQ I?DI:i:L4yBɮe AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.86 m.RhgZhg ProNav: ac range: 138.855103 m, nav range: 136.049026 m, bearing: 67.656918 deg, approach rate: -0.726280 m/s, LOS rate: -0.004027 deg/s, cmd heading: 71.866103 deg, new cmd heading: 71.861382 deg. Bh0HeadingCmd: 1.254218 target range: 138.855103 and range: 139.50 m.h5?h*h"h hg!f!f!f!d)ddjdZd?ABɢ+4@=) ?i);iB`i-5?-';-G;I-5?I1@ @@4@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BS>BB&IBBBBBDBv;B0E ^A r;Da zDa E  E E ,E "E ;*E h:VE g4ZE BE "d,y?AF?FKڟ?Fj<ٱF. NAHRS rotation from veh to nav: [[0.316346,-0.935955,-0.154640],[0.948416,0.308463,0.073203],[-0.020814,-0.169820,0.985255]]FH?? X>ÿkY?ٽ?@f?`(P@ſ6?iF?IF ^;FđCYV]ByV~&Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994302i=Mb@Mb@Mb@9999 99=J +?J +~jt?Y=(?y=H=<9=r@ =@)99Y=@QU@AbD]VD]yeMջ%mN=ٔm9m"?Yu"?=uSGyu$FuOE}>yQ 54}Bɢ\:=)) -i?i))-9<))i-¼i5@?5؃;5$I=@?I9a@ @@3@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246323^A ;;A >A >Թ A I! I9 OM >zD ,_B/?AZ?Zɢ?Z<ٱZSh/ fAHRS rotation from veh to nav: [[0.317941,-0.935419,-0.154614],[0.947847,0.309758,0.075067],[-0.022327,-0.170417,0.985119]]ZH&Y?`cÿ T??`7?ܖ =ſ@?iZ?IZt^;ZƑCYnaByn&IbDvVDvy~<%~R=ٔ~;Q->9Y= SGy %F E >Q 542E?Q 94lE- E-E-(E)"E-;*E-:VE-c44ZE)a5@a5@a5@a5@)BY1y=?Q I=?DIs;i;Z4yEȘBɮE2 AEEjhimFNOT Ignoring new targets: 138.86 m.Rhu$7Zhu$7 ProNav: ac range: 138.855103 m, nav range: 135.529053 m, bearing: 67.657149 deg, approach rate: -0.700109 m/s, LOS rate: 0.000562 deg/s, cmd heading: 71.861458 deg, new cmd heading: 71.862078 deg. Bh7HeadingCmd: 1.254230 target range: 138.855103 and range: 139.50 m.h?h*h"h hgfffdddjdZdM?i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750517  ,H?ABBT>B@BB&IBBxBB@B@B@BBu;BBs0EBIBIBIBM =BM =CM 5|?Gh?ٿ<ٱK/ AHRS rotation from veh to nav: [[0.319624,-0.934996,-0.153696],[0.947249,0.311244,0.076456],[-0.023649,-0.170025,0.985156]]H`t?}LÿO?`m?@? g7aſe?i|?I];őCYeeBye&IIm=)m>bD}VD}fy<%C=ٔN;Q->9Y=SGy&FE>Q 54'N?Q 94)BYy?Q I?DI:i_: b4yɮ AjhFNOT Ignoring new targets: 138.86 m.Rh7Zh7] ProNav: ac range: 138.855103 m, nav range: 135.251968 m, bearing: 67.657584 deg, approach rate: -0.665724 m/s, LOS rate: 0.001046 deg/s, cmd heading: 71.862080 deg, new cmd heading: 71.863386 deg. Bh]78eHeadingCmd: 1.254253 target range: 138.855103 and range: 139.50 m.heZ?ha*ha"ha hagifififidQdYdYjdYZde;?E] E]EYEY"E]:*E]ą:VEYZEYBE]33),zlf?A2[N?29?2UZ<ٱ2. :AHRS rotation from veh to nav: [[0.320960,-0.934663,-0.152935],[0.946761,0.312364,0.077928],[-0.025065,-0.169804,0.985159]]2H?[ÿK? ?? $ſ@l?i2[N?I2'];0YBaByB&Inchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254203Աi%Mb@Mb@Mb@!!!! !9%S?J +/$?Y%/?y!%;Q-U>9] ?Y] ?=]SGy]'F]?Ee>aQ 5u4eX?Q 9u4e)eBYu/?Q Eu:yuߖ?Q Iu?e+DIeA;ie:ej4yΘBɮi AEjhFNOT Ignoring new targets: 138.86 m.Rh087Zh087 ProNav: ac range: 138.855103 m, nav range: 134.918564 m, bearing: 67.657889 deg, approach rate: -0.685490 m/s, LOS rate: 0.000629 deg/s, cmd heading: 71.863385 deg, new cmd heading: 71.864302 deg. Bh7HeadingCmd: 1.254269 target range: 138.855103 and range: 139.50 m.h?h*h"h hgfffۅBdddjdZd@颍6BɢzP=) Q?i)3<顑iļi?f; I?IE EE#E"E&:*E:VE3ZEa@a@a@a@9@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506192^A _9 A ؟AI I) O5 >& ,2?A28?2b#?2R<ٱ2 + :AHRS rotation from veh to nav: [[0.321595,-0.934961,-0.149751],[0.946518,0.313069,0.078047],[-0.026089,-0.166842,0.985638]]2H?2@ +ÿI?T ??[ſY?i28?I2];2ǑCYBhByB&IbDJVDJ:yR1=%Rk=ٔV@;Q-V?9V"?YV"?=ZSGyZ(FZEZ?\Q 5r4^`?Q 9r4^ɵ)^BYtyvŖ?Q Iv?^;DI^:i^t:^p4yxɮz+ AxB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 138.86 m.Rhuo7Zhuo7 ProNav: ac range: 138.855103 m, nav range: 134.679764 m, bearing: 67.658190 deg, approach rate: -0.647027 m/s, LOS rate: 0.000818 deg/s, cmd heading: 71.864300 deg, new cmd heading: 71.865205 deg. Bh8HeadingCmd: 1.254285 target range: 138.855103 and range: 139.50 m.he?h*h"h hgfffddd!jd!Zd%@m3Bɢm([=) s?i) <i ļie?aف;9Ie?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758946@ @@0@BU>BB&IBsBBBBDBu;B<0EAqD?AzDbEUc44jEUA84rEUW\0E E E)E"E=;*E:VEFA4ZEBE~I6&, ?AYuBy&Iqi}Mb@Mb@Mb@yyyy y9}^I +?X9vQ?Y}X9?y}}u<}Ay y)yyY}@bDVDk1yZ=%.=ٔQ->9Y=SGy*FE>Q 54j?Q 94l)Y9?Q E:y.?Q I?QDIL:i:x4yBɮ AEjhFNOT Ignoring new targets: 138.86 m.Rh Zh   ProNav: ac range: 138.855103 m, nav range: 134.339294 m, bearing: 67.654753 deg, approach rate: -0.758938 m/s, LOS rate: -0.007682 deg/s, cmd heading: 71.865208 deg, new cmd heading: 71.854869 deg. Bh%HeadingCmd: 1.254104 target range: 138.855103 and range: 139.50 m.h%{?h!*h!"h! h!g!f)f)f-Bd1d1d1jd1Zd=7 @e0Bɢe՝X=)a eg"?ii)m)A5 >A} .AI I O >E  E E E "E T;*E ą:VE ZE a @a @a @a @ _,,?A>,?>"?>%<ٱ>j6* FAHRS rotation from veh to nav: [[0.321904,-0.935168,-0.147779],[0.946361,0.313218,0.079346],[-0.027914,-0.165394,0.985832]]>H?`o¿@H?` ? O?@ +ſ`?i>,?I>X^;>őCYNtByN&IV@AVAAbDZVDZy~ %~j=ٔ~R;Q->9 ?Y ?=SGy ꀺE >Q 54r?Q 946)Y!y%!?Q I%?aDI ;ih;~4y-Bɮ- A-EjhQ]FNOT Ignoring new targets: 138.86 m.Rh]yZh]ym ProNav: ac range: 138.855103 m, nav range: 134.086365 m, bearing: 67.652229 deg, approach rate: -0.724096 m/s, LOS rate: -0.007239 deg/s, cmd heading: 71.854867 deg, new cmd heading: 71.847282 deg. BhuuHeadingCmd: 1.253972 target range: 138.855103 and range: 139.50 m.hu$?h*h"h hgfffdddjd Zd # @]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514402u.Bɢ}X$j=)y }"?iy)}0  BDAT read: Tx time:15:09:54.1728  $Ping request sent. i bB V>B CB B B =B B B bu;B +0EA ؟AI I O > X9> ^-@ A> x-@ BR>) @I BR (?~4?Hˬ? !?) @I qi BR  :publishing transmit ping time  Fpublishing direction and range infoy  Lf80? %rG,?Y ) I i ) I (?~4?Hˬ? ) I i {H3,;?A2K4?2?2<ٱ2% >AHRS rotation from veh to nav: [[0.321681,-0.935922,-0.143429],[0.946411,0.313223,0.078721],[-0.028751,-0.161066,0.986525]]2H m?[¿I? ? '?@pНĿ`?i2K4?I2l^;2ƑCYemBym&IbD VD2y%?=ٔ;Q->9"?Y"?=SGy,F:E>Q 5%4|?Q 9-4g)Y)y-%?Q I-?uDI :i:4y9ɮ=" A9DyD}<E EEE"E:*EVEZEBE3? addTargetRange:: Added new target pos. range: 136.899994 m, deltaT: 3.780133 s, deltaX: -2.600006 m, approachRate: -0.687808 m/s, rangeRepo size: 4  Added new target pos. range: 136.267395 m, bearing: 67.941837 deg, lat: 36.779264 deg, lon: -121.859523 deg, deltaT: 3.780133 s, deltaX: -2.587708 m, approachRate: -0.684555 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 136.27 m.RhZh  ProNav: ac range: 136.267395 m, nav range: 134.059769 m, bearing: 67.700207 deg, approach rate: 0.000000 m/s, LOS rate: -0.007239 deg/s, cmd heading: 71.847279 deg, new cmd heading: 71.836194 deg. Bh HeadingCmd: 1.253778 target range: 136.267395 and range: 136.90 m.h{?h*h"h hgfffd!dAdAjdEa@ZdM?颕*Bɢ.N=) t!?i)P;<顙iMƼi{?;I{?Iy9@ @@b3@ԩ } nManaging dock network, ignoring radio surface power off^A SA zA dA A I I O>U:,XX?A28V?2A?2\<ٱ2x! >AHRS rotation from veh to nav: [[0.320696,-0.936860,-0.139452],[0.946729,0.312498,0.077770],[-0.029281,-0.156964,0.987170]]2HI?`@K?`?@?hĿ?i28V?I2ء^;2ǑCYBwByB&Ii Mb@Mb@Mb@     9 1Zd?S㥛I +?Y ";?y /ݼ 9< A @ 5@) @ Y @bD%VD%P)y5==%57=ٔ=f:Q-=>9AYA=ESGyM-FMo;EU>YQ 54]?Q 94])]BYY;?Q E:y2?Q I?]DI]4A,?A>l?>*X?>Z<ٱ>K JAHRS rotation from veh to nav: [[0.320038,-0.937310,-0.137936],[0.946940,0.311915,0.077545],[-0.029660,-0.155435,0.987401]]>H{?pUM?h?ڳ?@'_@Hÿɘ?i>l?I>^;>őCYRzByR&I Zp9f ?Yj ?=jSGyj.Fj:Ej>lQ 5r4n捉?Q 9r4n)nBYtyvF?Q Iv?nDIn:in:n4yxɮz AxB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 136.27 m.Rh-CZh-C= ProNav: ac range: 136.267395 m, nav range: 133.457886 m, bearing: 67.692154 deg, approach rate: -0.788011 m/s, LOS rate: -0.010706 deg/s, cmd heading: 71.823476 deg, new cmd heading: 71.811977 deg. Bh=EHeadingCmd: 1.253355 target range: 136.267395 and range: 136.90 m.hEm?hA*hA"hA hAgIfIfIfIdQdQdQjdQZdUq?颅%Bɢ=) *?i)H+K<顉ixyȼim?0L~;P6Im?IiI%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.qAABBCB&IB}BB =BBBpu;B20EQ@Q @Q@U/@QԡD@AzD@AE EE'E"E:*E҆:VE'4ZEBE@8 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240770 /_G,l?A2?2Jm?2<ٱ2m :AHRS rotation from veh to nav: [[0.319423,-0.937595,-0.137422],[0.947133,0.311276,0.077754],[-0.030125,-0.154993,0.987456]]2H mq? `N???0ٞÿ=?i2?I2$^;2đCY^By^&Ii}Mb@Mb@Mb@yyyy y9}Q?~jt~jtx?Y}H?y}ļ};}VA}@ y)}@yY}@bDVDJyNi=%==ٔ/:Q->9Y=SGy/Fn:E>Q 54ӗ?Q 941)BYI?Q E:y?Q I?DIX:i :4yBɮmAEjhFNOT Ignoring new targets: 136.27 m.Rh_YZh_Y ProNav: ac range: 136.267395 m, nav range: 133.118561 m, bearing: 67.687033 deg, approach rate: -0.785113 m/s, LOS rate: -0.011878 deg/s, cmd heading: 71.811974 deg, new cmd heading: 71.796573 deg. BhlHeadingCmd: 1.253087 target range: 136.267395 and range: 136.90 m.h%$e?h!*h!"h! h!g!f!f)f-&Bd)d)d1jd1Zd5?e"BɢeBu=)a e2?ia)m/UAE>Թ E  E E (E "E :*E :VE c44ZE a @a @a @a @I1 IA OU >M,8?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.744541DYBy&IbDVDky%G=ٔQ->9Y=SGy0FE>Q 54O?Q 940)BYyQ I?DIp;i;4y1ɮ}AjhFNOT Ignoring new targets: 136.27 m.RhRZhR ProNav: ac range: 136.267395 m, nav range: 132.794312 m, bearing: 67.682116 deg, approach rate: -0.756835 m/s, LOS rate: -0.011505 deg/s, cmd heading: 71.796572 deg, new cmd heading: 71.781784 deg. BhHeadingCmd: 1.252828 target range: 136.267395 and range: 136.90 m.h\?h*h"h hgfffdddjdZd ?%Bɢ%y=)! -13?i))-^<))i-/ʼi5\?5_|;=pI=\?I9ԩ9@ @@/@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996584BX>BCB&IBBB =BBBu;BU0E^AM ?BɺI I O > %qT,R?A:?:P?:_<ٱ:x JAHRS rotation from veh to nav: [[0.318056,-0.938042,-0.137543],[0.947568,0.309791,0.078391],[-0.030925,-0.155264,0.987389]]:H`[?p yR??n?`ÿ?i:?I:7^;:ÑCER ERER&EP"ERl;*ER:VER4ZEPBER[F9Y=SGy1F%5e;E->aQ 54eԪ?Q 94ex)eBYy?Q I?eDIeL`Z,}l?A2ă?2گ?26<ٱ2WM! :AHRS rotation from veh to nav: [[0.317488,-0.938023,-0.138975],[0.947750,0.309077,0.078999],[-0.031149,-0.156795,0.987140]]2HQ?H S??I9?埿Ŀ`?i2ă?I2k^;2ƑCYBByB&Iaf@af af@af aj@aj aj@aj bDrVDrk2y~!L=%~V=ٔ:Q->9 Y = SGy 2F:E>!Q 5-4%?Q 9-4%q)%BQ A5+:Y1Q E5Z:y5?Q I5?y%DI%ڛ%'4yҙBɮAEjh5FNOT Ignoring new targets: 136.27 m.Rh=#hZh=#hM ProNav: ac range: 136.267395 m, nav range: 132.182831 m, bearing: 67.672319 deg, approach rate: -0.781145 m/s, LOS rate: -0.012684 deg/s, cmd heading: 71.766198 deg, new cmd heading: 71.752324 deg. BhMH uHeadingCmd: 1.252314 target range: 136.267395 and range: 136.90 m.huK?hq*hq"hq hygyfyfyfydddjdZd@Bɢ =) :?i)eq<i˼i%K?% {;%k9I%K?I)E EE(E"E:*E:VEc44ZEa@a@a@a@ԡ9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752537^A9AzAIQ Ia Om > Va,0e?A2eك?2ğ?2w=ٱ2X# :AHRS rotation from veh to nav: [[0.316884,-0.937867,-0.141390],[0.947946,0.308241,0.079916],[-0.031368,-0.159354,0.986723]]2HG?`¿U? :?@_u?  eĿ@9TYX=ZSGyZ3FZ':E^>\Q 5b4^ ?Q 9b4^|i)^BQ Af :YdQ Ef1:yf?Q If?^DI^:i^A?^4ynBɮnAnE~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 136.27 m.Rh :|Zh :|% ProNav: ac range: 136.267395 m, nav range: 131.875229 m, bearing: 67.667223 deg, approach rate: -0.830015 m/s, LOS rate: -0.013782 deg/s, cmd heading: 71.752326 deg, new cmd heading: 71.737003 deg. Bh%V-HeadingCmd: 1.252047 target range: 136.267395 and range: 136.90 m.h-C?h)*h)"h) h)g)f1f1f1d9d9d9jd9Zd=@mBɢm=)i m5?ii)uKy checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258290Y fg,{3?A2z݃?2ȟ?2=ٱ2$ :AHRS rotation from veh to nav: [[0.316760,-0.937827,-0.141927],[0.947968,0.307978,0.080665],[-0.031939,-0.160094,0.986585]]2H E?*¿U? ?@n?KZ@}Ŀ?i2z݃?I2"N^;2CYfByf&Iaa aa aa aa iMb@Mb@Mb@ 9M?I +9Y=SGy4F͔9E>Q 54xƉ?Q 94`)BQ AT:YR?Q E:y-?Q I?DI};i;N4yɮ'Ajh1FNOT Ignoring new targets: 136.27 m.RhZh ProNav: ac range: 136.267395 m, nav range: 131.515411 m, bearing: 67.661091 deg, approach rate: -0.822664 m/s, LOS rate: -0.014058 deg/s, cmd heading: 71.737006 deg, new cmd heading: 71.718559 deg. Bh_HeadingCmd: 1.251725 target range: 136.267395 and range: 136.90 m.h8?h*h"h hgfff-BdddjdZd > @Bɢ=)]DAT read: 15:09:56.7556 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 402, 0.40,-2.147, 2.604,-1.806,-2.214, PHS= 0.169,-1.420, 0.364, RAW= 155.7, 10.5, CAL= 155.6, 11.5, ROT= 354.4, -11.5 amYgot valid direction response: 15:09:56.7556 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 402, 0.40,-2.147, 2.604,-1.806,-2.214, PHS= 0.169,-1.420, 0.364, RAW= 155.7, 10.5, CAL= 155.6, 11.5, ROT= 354.4, -11.5 uPDAT read: Bearing 219.6, -9.0 (Local) u~Local bearing/azimuth received: Bearing 219.6, -9.0 (Local) DAT read: Range 11 to 50 : 134.0 m (Round-trip 178.7 ms) speed 0.8 m/s *DAT read: user:980> BDAT read: Tx time:15:09:57.8728 $Ping request sent.iµ5^>'-@f;>-@ M>).@IM?v0^?BlI? ?)OX;I)+ȽiM A >A-؟AI1IAO]>n,V?A2?2ҟ?2=ٱ2z$ >AHRS rotation from veh to nav: [[0.316483,-0.937984,-0.141511],[0.948038,0.307629,0.081171],[-0.032604,-0.159847,0.986603]]2H BA?  ¿ SV?3?Ǵ?{`uĿ@?i2?I2^;2őCDYBByF&IbDNVDN0yV̉%Z;=ٔZ:Q-Z>9Z"?Y^"?=^SGy^5F^+:E^>dQ 5j4fЉ?Q 9j4fW)fyBYhyj6?Q Ij?f/DIf:ifk:fÛ4ynBɮrArEi9i=Ҫ?AJi=aCRi=aCji=[?b=FB`@S7J)(_:@R=;5?Bzi?Zi=)+Ƚbi=Mj=-ڵ,H@Fc^@⟊8@Z=B k7?>>)?wO?2i=B:i=yEB"i=m ?*i=bBi=Bi=D+?i=Vi=չBi= Ci=z?5 addTargetRange:: Added new target pos. range: 134.000000 m, deltaT: 3.529186 s, deltaX: -2.899994 m, approachRate: -0.821718 m/s, rangeRepo size: 4 E Added new target pos. range: 133.381454 m, bearing: 67.895982 deg, lat: 36.779260 deg, lon: -121.859522 deg, deltaT: 3.529186 s, deltaX: -2.885941 m, approachRate: -0.817735 m/s, posRepo size: 4 jhAMFNOT Ignoring new targets: 133.38 m.RhMZhI] ProNav: ac range: 133.381454 m, nav range: 131.042679 m, bearing: 67.805588 deg, approach rate: 0.000000 m/s, LOS rate: -0.014058 deg/s, cmd heading: 71.718557 deg, new cmd heading: 71.699953 deg. BhYeHeadingCmd: 1.251400 target range: 133.381454 and range: 134.00 m.he-?hi*hi"hi higififqfqdqdqdyjd}`@Zd}?EBɢE=)I Mn6?iI)MBIBIBIBIBIBIBM?v;BM0E^A=?B: A- .AI1 II OU >bEU:4jEUʊ94rEUS}/E  E E *E "E V:*E ą:VE (N4ZE BE 99 ?Y ?=SGy6F]8E]>aQ 5m4eۉ?Q 9u4eN)epBYu"N?Q Eu:yu?Q Iu?eHDIe:ie:ev̛4y}Bɮ(AxEjhFNOT Ignoring new targets: 133.38 m.RhZh ProNav: ac range: 133.381454 m, nav range: 130.650940 m, bearing: 67.798065 deg, approach rate: -0.809114 m/s, LOS rate: -0.015585 deg/s, cmd heading: 71.699952 deg, new cmd heading: 71.677315 deg. Bh"+HeadingCmd: 1.251005 target range: 133.381454 and range: 134.00 m.h ?h*h"h hgfff0BdddjdZdį?BɢG=) 3?i)Y<iޔϼ!i% ?-z;-;I- ?I) 9@  @@/@Q^A ԉ A I I O >U6|,8?A2?2^͟?2 =ٱ2% :AHRS rotation from veh to nav: [[0.316606,-0.937853,-0.142104],[0.947950,0.307472,0.082777],[-0.033940,-0.160915,0.986385]]2H EC?@`t0¿U??0?`ۘĿ@v?i2?I2 ];2‘CYByByB&IJ@AJ@AbDNVDN:yVE <%Vh=ٔV:Q-V>X9\Y\=^SGy^7F^ Eb?`Q 5f4b㉊?Q 9j4bAG)bkBYhyj?Q Ij?bZDIb+;ibj;baқ4ynBɮrApE~ E~E~(E|"E~:*E~:VE~c44ZE|a@a@a@a@jhFNOT Ignoring new targets: 133.38 m.RhrZhr ProNav: ac range: 133.381454 m, nav range: 130.378677 m, bearing: 67.792832 deg, approach rate: -0.762856 m/s, LOS rate: -0.014693 deg/s, cmd heading: 71.677317 deg, new cmd heading: 71.661585 deg. BhV!HeadingCmd: 1.250731 target range: 133.381454 and range: 134.00 m.h?h*h"h hgfffd d djdZdV.?]Bɢ]S=)a e5?ia)eQA A @AB B B B B =B B B Bv;B 0E], ?A2?2(؟?2l =ٱ2$ :AHRS rotation from veh to nav: [[0.316290,-0.938095,-0.141204],[0.948043,0.307185,0.082776],[-0.034276,-0.160049,0.986514]]2H>?`¿^V??0?``||Ŀ`?i2?I2];0YBzByB&IbDJ VDJ2yR|T;%VK=ٔVX[:Q-V>9V"?YZ"?=ZSGyZ8FZV:EZ>1Q 5=45?퉊?Q 9E45>)5cBYAyE?Q IE?5oDI5;i5?;5ٛ4yIɮMAQmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 133.38 m.RhZh ProNav: ac range: 133.381454 m, nav range: 130.043671 m, bearing: 67.786313 deg, approach rate: -0.840817 m/s, LOS rate: -0.016404 deg/s, cmd heading: 71.661587 deg, new cmd heading: 71.641979 deg. Bh 4HeadingCmd: 1.250388 target range: 133.381454 and range: 134.00 m.h ?h*h"h hgfffdddjdZdk? Bɢԍ=) 7?i)ו<iTSѼi ?~y;nG+;I ?I9@ @@/@E EE'E"E ;*E՚:VE'4ZEBEvTԡ oC,&?A6?6֟?6=ٱ67! >AHRS rotation from veh to nav: [[0.316320,-0.938588,-0.137820],[0.948011,0.307409,0.082312],[-0.034890,-0.156692,0.987031]]6H >?V??b?ݡxĿ@•?i6?I6];4YFxByF&IIJ>)J>iMb@Mb@Mb@ 9Fx?V-Mb`YK?yA@ )@Y(@bD-VD-fyy%A=ٔ:Q->9 ?Y ?=SGy9F E>Q 54.?Q 946)^BYK?Q E:y.?Q I?DI:i3: 4yBɮSAjhFNOT Ignoring new targets: 133.38 m.Rh =Zh = ProNav: ac range: 133.381454 m, nav range: 129.707764 m, bearing: 67.781970 deg, approach rate: -0.796889 m/s, LOS rate: -0.010329 deg/s, cmd heading: 71.641977 deg, new cmd heading: 71.628915 deg. Bh%HeadingCmd: 1.250160 target range: 133.381454 and range: 134.00 m.h%B?h!*h)"h) h)g)f)f1f5!Bd1d1d9jd9Zd=`@iYIY]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998581u Bɢut=)y }P7?iy)}Ϛ}C^A ;% G= fAQ ۵9 fAY A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251625A ؟AI I  O >=+,[@?A2?2ҟ?2=ٱ2` :AHRS rotation from veh to nav: [[0.316426,-0.938829,-0.135919],[0.947951,0.307572,0.082395],[-0.035550,-0.154916,0.987288]]2HT@? eU? B?@?3Jÿܗ?i2?I2];2ÑCYVoByZ&I b4<`bDbVDb1yj >%jQ=ٔn:Q-n>9n"?Yr"?=rSGyr:Fr5Er>tQ 5z4v ?Q 9z4vI/)vYBY|y~*?Q I~?vDIv&;iv";v4yBɮ A oEjh)5FNOT Ignoring new targets: 133.38 m.Rh5<Zh5<M ProNav: ac range: 133.381454 m, nav range: 129.407944 m, bearing: 67.778092 deg, approach rate: -0.795935 m/s, LOS rate: -0.010320 deg/s, cmd heading: 71.628918 deg, new cmd heading: 71.617256 deg. BhMMHeadingCmd: 1.249957 target range: 133.381454 and range: 134.00 m.hU?hQ*hQ"hQ hQgQfQfYfYdYdadajdaZde@颕Bɢ=) 3?i)h<顙i<Ӽi?ry;O`4;I?IU9@Q @Q@U^3@Qmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502102BqBqBu&IBuBBu =BqBqBuMv;Bu0E^A=2;A=>A=>1AI IQ Ia Ou >E-  E- E- &E) "E- &:*E- |:VE- 4ZE) BE- c;9AYA=ESGyE;FEAEM>QQ 5]4U ?Q 9]4Ur&)UTBY]-L?Q E]:y]?Q I]?UDIU:iU:U}4yiɮmAijhFNOT Ignoring new targets: 133.38 m.Rh9Zh9 ProNav: ac range: 133.381454 m, nav range: 129.049072 m, bearing: 67.773533 deg, approach rate: -0.796743 m/s, LOS rate: -0.010150 deg/s, cmd heading: 71.617259 deg, new cmd heading: 71.603543 deg. Bh޹HeadingCmd: 1.249718 target range: 133.381454 and range: 134.00 m.h?h*h"h hgfffBdddjdZde@颵BɢtO=) \1?i)v<项iӼi?Gy;AF2;I?IY}9@y @y@}2@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006212ԉ^A "5;Թ A I! I9 OE >z, Wt?A2|׃?2Ÿ?2]=ٱ2y >AHRS rotation from veh to nav: [[0.316879,-0.938996,-0.133697],[0.947746,0.307986,0.083199],[-0.036946,-0.153075,0.987524]]2HG?@ S?@ ?L?ꢿÿ`˙?i2|׃?I2];0YBcByB&I hhbDnVDnkEz EzEz)Ex"Ez;*Ez]t:VEzFA4ZExa~@a~@a~@a~@y%b=ٔ G:Q- >9 Y =SGy<F*E>Q 5%4@?Q 9%4U)PBY)y- ?Q I-?DI ;i;4y5Bɮ5SA5pEjhYeFNOT Ignoring new targets: 133.38 m.Rhe9Zhe9u ProNav: ac range: 133.381454 m, nav range: 128.760284 m, bearing: 67.769877 deg, approach rate: -0.797188 m/s, LOS rate: -0.010113 deg/s, cmd heading: 71.603544 deg, new cmd heading: 71.592553 deg. Bhu޹}HeadingCmd: 1.249526 target range: 133.381454 and range: 134.00 m.h}v?hy*h"h hgfffdddjdZd@} @颽Bɢ=) .?i)J<i Լiv?$(y;d/;Iv?Iԙe9@a @a@m/@iBDAT read: Rx Time:15:10:00.4516 TRx dataTimestamp_ set to:1761577801.946014checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261936^AYA I I O >Bi Ai Bu V>Bq Bu &IBu xBBu =Bq Bq Bu bv;Bu 0E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510194! W,1?AR?R̟?R=ٱR ZAHRS rotation from veh to nav: [[0.316582,-0.939192,-0.133022],[0.947823,0.307664,0.083509],[-0.037505,-0.152519,0.987589]]RHB? T?`°?@`?`3྅ÿ`S?iR?IR ];RƑCYbhByb&IbDnVDn1yve<%vM=ٔv2:Q-v>9xYx=zSGyz=FzI:E~>Q 5 4?Q 9 4)KBY y ?Q I ?DIF:i:4yɮ'A5B*** querying acoustic contact ***i1 i1jhAMFNOT Ignoring new targets: 133.38 m.RhM;ZhM;] ProNav: ac range: 133.381454 m, nav range: 128.443192 m, bearing: 67.765803 deg, approach rate: -0.795954 m/s, LOS rate: -0.010254 deg/s, cmd heading: 71.592554 deg, new cmd heading: 71.580299 deg. Bhe1eHeadingCmd: 1.249312 target range: 133.381454 and range: 134.00 m.hmt?hi*hi"hi higififqfqdqdydyjdyZd}| @颥Bɢ|c=) 2?i))ج<顱iIռit?y;IO;It?I)u9@y @y@@E5 E5E5(E1"E5;*E5:VE5c44ZE1BE5e eBDAT read: Tx time:15:10:01.5728 m$Ping request sent.mi  m> -@ q=> -@ 4QO>) z@I 4QO   ѓ?.%VO?Y#$~? J?) t=I )Ľi 4QO   :publishing transmit ping timei Fpublishing direction and range infoy  #Vx3?r: o?Y      ) I i      i ) I    ѓ?.%VO?Y#$~? ) I i   A I I O >E,C?A2?27؟?2K=ٱ2# >AHRS rotation from veh to nav: [[0.316244,-0.939491,-0.131707],[0.947911,0.307345,0.083693],[-0.038149,-0.151314,0.987749]]2H`W=? OHU??l? ?>^ÿ?i2?I2/^;2ÑCYNdByN&IiMb@Mb@Mb@ 9M?/$Mb`?YnR?yVA x@)Y@bDVD:y%;=ٔL:Q->9Y=SGy>FN:E>!Q 5-4%'?Q 9-4%)%EBY-R?Q E-:y-?Q I5?%DI%5;i%;%|4yeoBɮeYAefEi1i5 ?AJi5eCRi5eCji5:?b5͍D,_@M.|(]b08:@R5#Vx3?r: o?Zi5)Ľbi54QOj5Q| H@]@`QO6@Z5{hn?u!1?d:z?2i5B:i5AB"i5霈 ?*i5gBi51Bi5m ?i5nQi5Bi58Ci5?% addTargetRange:: Added new target pos. range: 131.000000 m, deltaT: 3.780173 s, deltaX: -3.000000 m, approachRate: -0.793614 m/s, rangeRepo size: 4 ] Added new target pos. range: 130.394684 m, bearing: 67.918484 deg, lat: 36.779259 deg, lon: -121.859520 deg, deltaT: 3.780173 s, deltaX: -2.986771 m, approachRate: -0.790115 m/s, posRepo size: 4 jhYeFNOT Ignoring new targets: 130.39 m.iRhZh ProNav: ac range: 130.394684 m, nav range: 128.218842 m, bearing: 67.848041 deg, approach rate: 0.000000 m/s, LOS rate: -0.010254 deg/s, cmd heading: 71.580301 deg, new cmd heading: 71.566330 deg. BhHeadingCmd: 1.249068 target range: 130.394684 and range: 131.00 m.hw?h*h"h hgfffddd!jdM``@ZdM?颕BɢCf=) A1?i)<顙i|ּi%w?%y;%\n;I%w?I)ԙ9@ @@@E EE)E"E:*E:VEFA4ZEa%@a%@a%@a%@ ^A yb]; A) I9 II OU >밴,?A2?2 ܟ?2V=ٱ2jR :AHRS rotation from veh to nav: [[0.316123,-0.939864,-0.129312],[0.947917,0.307307,0.083764],[-0.038988,-0.149056,0.988060]]2H`\;? ^ HUU??@q? ? Fÿ/?i2?I2y@^;0YBVByBv&IIF=)F<bDNVDN0yR%VN=ٔV ;Q-V>9XYX= SGy ?F 9E>Q 5%40?Q 9%4\)?BY!y%?Q I%?DI:i: 4y5xBɮ5 A5gEjhY]FNOT Ignoring new targets: 130.39 m.RheZheu ProNav: ac range: 130.394684 m, nav range: 127.887825 m, bearing: 67.842134 deg, approach rate: -0.849547 m/s, LOS rate: -0.015199 deg/s, cmd heading: 71.566333 deg, new cmd heading: 71.548566 deg. Bhu&}HeadingCmd: 1.248758 target range: 130.394684 and range: 131.00 m.h}Nן?hy*hy"hy hygfffdddjdZd :/?颽Bɢ=) +?i)sG<i>׼iNן?- y;^U;INן?II@I @I@M/@IB-U>B-CB-&IB-nBB)B)B)B-v;B-0EBBBB =BCĊ4^AE=  E= E= 'E9 "E= ;*E= M:VE= '4ZE9 BE= A{,|?A,R?R?R!=ٱR ^AHRS rotation from veh to nav: [[0.315537,-0.940241,-0.127993],[0.948093,0.306778,0.083704],[-0.039436,-0.147761,0.988236]]RH1?@ubV??? m?@0¿ ?iR?IR^;RCYbLBybj&IiMMb@Mb@Mb@IIII I9MK7?ˡEMb`?YMI?yM'IM?AM@ Mb@)M@IYIbDeVDe:yu0%u>=ٔ}:Q-}>9yYy=SGy@Fy:E> Q 54 ;?Q 94 ) :BYJ?Q E:yg?Q I? DI :i @: $4yIɮMYAIjhFNOT Ignoring new targets: 130.39 m.RhķZhķ ProNav: ac range: 130.394684 m, nav range: 127.544243 m, bearing: 67.839915 deg, approach rate: -0.775374 m/s, LOS rate: -0.005021 deg/s, cmd heading: 71.548567 deg, new cmd heading: 71.541893 deg. Bh\HeadingCmd: 1.248642 target range: 130.394684 and range: 131.00 m.h}ӟ?h*h"h hgfffBdddjdZd?Bɢ=) &?i)<ipؼԁi}ӟ?q$y;G;I}ӟ?I @ @@/@ԩ^A r; A >A >E5  E5 E5 &E1 "E5 T;*E5 5:VE5 4ZE1 a= @a= @a= @a= @AM .AIQ Ia Ou >O,?AHN-?Nu?NM"=ٱN~ VAHRS rotation from veh to nav: [[0.315091,-0.940636,-0.126179],[0.948234,0.306472,0.083226],[-0.039615,-0.145871,0.988510]]NHq*?`&W?@;?@GN?cH`¿?iN-?IN^;LY^EBy^a&IbDfVDfyna%rR=ٔr9Q-r>9r ?Yv ?=vSGyvAFv:Ev>xQ 5~4z D?Q 94z)z6BYyu?Q I?z+DIzF:iz=:z4y ɮAjh1=FNOT Ignoring new targets: 130.39 m.Rh=ŸZhEŸU ProNav: ac range: 130.394684 m, nav range: 127.250847 m, bearing: 67.837952 deg, approach rate: -0.804762 m/s, LOS rate: -0.005398 deg/s, cmd heading: 71.541894 deg, new cmd heading: 71.535990 deg. BhUmeHeadingCmd: 1.248539 target range: 130.394684 and range: 131.00 m.heП?ha*ha"hi higqfqfyfydddjdZd?Bɢx>=)i m#?ii)mBB B z&IB ZBB B B DB v;B 0E! A ؟AI I O >3Ĵ,?A2(?2?2#=ٱ2z :AHRS rotation from veh to nav: [[0.314491,-0.940975,-0.125146],[0.948418,0.305916,0.083180],[-0.039986,-0.144851,0.988645]]2H ?wpY? ?LK?yv¿`?i2(?I2^;2‘CY^CBy^^&I ``bDjVDjfyrj %rK=ٔrq:Q-r>9v"?Yv"?=vSGyvBFv:Ez>|xQ 54zM?Q 94z)z1BY y ?Q I ?z?DIxiz:z 4yZBɮA]E5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 130.39 m.RhMʸZhMʸ] ProNav: ac range: 130.394684 m, nav range: 126.933022 m, bearing: 67.835726 deg, approach rate: -0.786173 m/s, LOS rate: -0.005519 deg/s, cmd heading: 71.535993 deg, new cmd heading: 71.529300 deg. Bh]ireHeadingCmd: 1.248422 target range: 130.394684 and range: 131.00 m.heI̟?ha*ha"ha hagifififidqdqdqjdyZd}`?eBɢe6=)a eo#?ia)m/Q9Y=SGyCFLƸE>Q 54X?Q 94T),BYcE?Q E:y?Q I?VDI:i:(4ycBɮqA^EjhFNOT Ignoring new targets: 130.39 m.Rh^̸Zh^̸- ProNav: ac range: 130.394684 m, nav range: 126.580994 m, bearing: 67.833145 deg, approach rate: -0.759312 m/s, LOS rate: -0.005584 deg/s, cmd heading: 71.529300 deg, new cmd heading: 71.521534 deg. Bh5>u5HeadingCmd: 1.248286 target range: 130.394684 and range: 131.00 m.h=ǟ?h9*h9"h9 h9g9f9fAfEBdAdAdIjdIZdm @颽Bɢ=) ?i)<i=ڼiǟ?|y;Iǟ?Iԩ9@ @@4@E EEE"E;*E|:VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473407^A [R;A dAzA dA I I O >uDѴ,PE?A2!?2 ?2T$=ٱ2ĺ :AHRS rotation from veh to nav: [[0.314693,-0.940447,-0.128561],[0.948348,0.305800,0.084394],[-0.040054,-0.148478,0.988104]]2H#?$t X?8?ٚ?Vÿ?i2!?I2Y^;2CY\y\bDfVDf0ٔr4Q-r>9pYp=vSGyvDFvEv>xQ 5~4z`?Q 9~4z)z)BYy?Q I?zgDIz;iz;z.4y ɮ  jh15FNOT Ignoring new targets: 130.39 m.Rh=XӸZh=XӸM ProNav: ac range: 130.394684 m, nav range: 126.310860 m, bearing: 67.831172 deg, approach rate: -0.789067 m/s, LOS rate: -0.005774 deg/s, cmd heading: 71.521534 deg, new cmd heading: 71.515603 deg. BhM}UHeadingCmd: 1.248183 target range: 130.394684 and range: 131.00 m.hUtğ?hQ*hY"hY hYgYfYfafadadadijdiZdm ip@额Bɢ.=) V?i)B-<顡iڼitğ?.y;;Itğ?IQ@Q @Q@U/@QBW>BCBa&IBEBB =BBDBmv;B0E5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725950^Auϩ;IIO>1E  E E (E "E ;*E :VE c44ZE BE D) 9Y=SGyEFx8E>Q 54gk?Q 94V)$BY G?Q E :y ?Q I ?}DI: ;i ;u64yɮ%AA)jhiuFNOT Ignoring new targets: 130.39 m.RhuaZh}a ProNav: ac range: 130.394684 m, nav range: 125.968483 m, bearing: 67.829803 deg, approach rate: -0.769061 m/s, LOS rate: -0.003085 deg/s, cmd heading: 71.515605 deg, new cmd heading: 71.511484 deg. BhHeadingCmd: 1.248111 target range: 130.394684 and range: 131.00 m.hŸ?h*h"h hgfffBdddjdZd@@Bɢ =) ?i){s<iYۼiŸ?@z;>;IŸ?Ii9@ @@@Y=BDAT read: Rx Time:15:10:04.1481 ETRx dataTimestamp_ set to:1761577805.724795Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.231517ԉ^A #2;I I O% >Ա E  E E *E "E &:*E ?:VE (N4ZE a @a @a @a @bݴ,,y?A2G\h u9 YAYEByE/&I QQbD]VD]ye %mB=ٔmQ-m>9qYq=uSGyuGF}E}>Q 54u?Q 94R)BYychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.481566ԙQ I?DI";i;=4yNBɮAUEjhFNOT Ignoring new targets: 130.39 m.RhhZhh ProNav: ac range: 130.394684 m, nav range: 125.640678 m, bearing: 67.828484 deg, approach rate: -0.787587 m/s, LOS rate: -0.003176 deg/s, cmd heading: 71.511486 deg, new cmd heading: 71.507520 deg. Bh HeadingCmd: 1.248042 target range: 130.394684 and range: 131.00 m.hԿ?h*h"h hgfffdddjdZd 'T @5Bɢ5;=)9 =l?i9)=Y<99i=TܼiEԿ?E̓z;Er;IMԿ?II9@ @@@^AE ϩ;AM >AM >B A <B Z>B B H&IB 1BB =B B B Tv;B 0EI I O >u DAT read: 15:10:04.1481 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 407,-0.19, 0.545,-1.042, 0.900, 0.446, PHS= 0.201,-1.443, 0.409, RAW= 155.9, 9.5, CAL= 155.7, 10.2, ROT= 354.3, -10.2 } Ygot valid direction response: 15:10:04.1481 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 407,-0.19, 0.545,-1.042, 0.900, 0.446, PHS= 0.201,-1.443, 0.409, RAW= 155.9, 9.5, CAL= 155.7, 10.2, ROT= 354.3, -10.2  PDAT read: Bearing 217.2, -9.3 (Local)  ~Local bearing/azimuth received: Bearing 217.2, -9.3 (Local)  DAT read: Range 11 to 50 : 128.4 m (Round-trip 171.2 ms) speed 0.5 m/s  *DAT read: user:982>  BDAT read: Tx time:15:10:05.2727  $Ping request sent. iE 9E sh>E X$.@E )>E '-@ E K6>)E @IE K6A A E b?3!?F1AB(? E _T ?)E *IE )˽iE K6A A  :publishing transmit ping time  Fpublishing direction and range infoyA E lqV?RM&ki?YA A A A A A )A IA iA A A A A A )A IA A A E b?3!?F1AB(? A )A IA iA A A  W,u?A2R ?2?2"=ٱ2 :AHRS rotation from veh to nav: [[0.315287,-0.939336,-0.135064],[0.948163,0.305841,0.086299],[-0.039755,-0.155272,0.987072]]2H@-? IZW??? Zÿ?i2R ?I2T^;2CY~ By~&IbD VD k1y=ͽ%E_=ٔERQ-E>9IYI=MSGyIM@EU>Q 54}~?Q 94Y)BYy?Q I?DI=:i:1D4yɮ#Aiqiu?AJiuBRiuBjiu?buiJ_@ G(ml6@RulqV?RM&ki?Ziu)˽biuK6ju|iH@.j3]@NM3@ZuOHf?!??@;CU?2iuB:iu@B"iuFW?*iu{3BiuBiqiubiu1BiuBiu?E EE%E"E:*E:VE 4ZEBE<I$iI,Z?AN?N?N2!=ٱN4" ^AHRS rotation from veh to nav: [[0.315102,-0.939005,-0.137766],[0.948235,0.305451,0.086888],[-0.039507,-0.158013,0.986646]]NH`*?@U N@W?@?E>? M:9Ŀ?iN?IN0=^;NÑCYfByf&I hhiMb@Mb@Mb@ 9?A`"MbP?YfF?yY:A x@)-@Y @bDVDkyP%2=ٔQ->9Y=SGyIF99E> Q 54 ։?Q 94 ) BYF?Q E:yc?Q I? DI  ;i  ; 3L4y!ɮ-A)EB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 127.81 m.YRhe@6Zhe@6u ProNav: ac range: 127.807419 m, nav range: 125.016922 m, bearing: 67.830822 deg, approach rate: -0.824555 m/s, LOS rate: 0.000436 deg/s, cmd heading: 71.503796 deg, new cmd heading: 71.504360 deg. Bhu&7}HeadingCmd: 1.247987 target range: 127.807419 and range: 128.40 m.h}?hy*hy"hy hygfffхBdddjdZd`?]Bɢ]=)Y ]f?iY)e ,c?A>?>?>U!=ٱ>\# FAHRS rotation from veh to nav: [[0.314849,-0.938901,-0.139051],[0.948325,0.305106,0.087126],[-0.039378,-0.159297,0.986445]]>H{&?z oX?@ن?@M? K)cĿ ?i>?I>Zh^;>CYNByN&ITV@AbDZVDZyb8W<%bb=ٔb'Q-f>9f ?Yf ?=fSGyfJFjB:Ej>xQ 5 4zܒ?Q 9 4zʸ)zBY y m?Q I?zDIzV;izK,;zR4yWBɮAVEjhAEFNOT Ignoring new targets: 127.81 m.RhM 6ZhM 6e ProNav: ac range: 127.807419 m, nav range: 124.733704 m, bearing: 67.830935 deg, approach rate: -0.773246 m/s, LOS rate: 0.000309 deg/s, cmd heading: 71.504362 deg, new cmd heading: 71.504702 deg. BheCY7mHeadingCmd: 1.247993 target range: 127.807419 and range: 128.40 m.hm8?hi*hi"hi higifqfqfqdydydyjdyZdy?颭Bɢr=) ?i)8<顱i-޼i8?"{;;I8?II)BBB/&IBBBBBB:v;B0E=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996434U9@Q @Q@U4@QAYzAYA؟AIIOA>E EE&E"E:*Eą:VE4ZEBE>9"?Y"?=SGyKFq8E>Q 54:?Q 94) BYB?Q E:y?Q I?DI:i:%Z4yɮkAjhFNOT Ignoring new targets: 127.81 m.RhZh- ProNav: ac range: 127.807419 m, nav range: 124.403961 m, bearing: 67.830242 deg, approach rate: -0.764438 m/s, LOS rate: -0.001610 deg/s, cmd heading: 71.504704 deg, new cmd heading: 71.502620 deg. Bh-x5HeadingCmd: 1.247956 target range: 127.807419 and range: 128.40 m.h5?h9*h9"h9 h9g9f9fAfEՅBdAdAdIjdIZdM@ ?uBɢ} Vu=)y }0>iy)}<顁i޼i? f{;T ;I?IiE9@I @I@M4@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501652AIIO k> E  E E ,E "E :*E :VE g4ZE a @a @a @a @V,$?A6%?6@?6'"=ٱ6& >AHRS rotation from veh to nav: [[0.314576,-0.938641,-0.141405],[0.948407,0.304584,0.088050],[-0.039578,-0.161808,0.986028]]6H"?`X ¿@YY?O~?t?@C Ŀ ?i6%?I6];6CYFByF%I`IJ=)J>bDVD y <%V=ٔ<9Q->9Y=SGyLF%%:E%>)Q 554-`?Q 954-)-BY9y='?Q I=?-DI-&;i-e;-`4yE:BɮEfAEMEjhiuFNOT Ignoring new targets: 127.81 m.Rh}Zh} ProNav: ac range: 127.807419 m, nav range: 124.112839 m, bearing: 67.829595 deg, approach rate: -0.760194 m/s, LOS rate: -0.001694 deg/s, cmd heading: 71.502621 deg, new cmd heading: 71.500675 deg. BhєHeadingCmd: 1.247922 target range: 127.807419 and range: 128.40 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752361h껟?h*h"h hgfffdddjdZdH?Bɢ=) >i)<iV߼i껟??{;dG;I껟?I@ @@/@AIIOM>BqBqBu &IBuBBqBqBqBuv;Bu0EB1B1B1B5 =B1C5,5M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0042519 +<,?A2?2b?2w#=ٱ23& :AHRS rotation from veh to nav: [[0.314973,-0.938481,-0.141584],[0.948261,0.304903,0.088513],[-0.039899,-0.162138,0.985961]]2H (?``j¿(X??@ʨ? m Ŀ?i2?I2r];2CY^Byb%I ddbDjVDj2yrg%rN=ٔvS:Q-v>9tYt=vSGyvMFzEz>|Q 54~㯊?Q 94~B)~BY y ?Q I ?~DI~ :i~:~g4yɮADzDE EE'E"E:*E:VE'4ZEBEa2EaJE;a:E;ajhFNOT Ignoring new targets: 127.81 m.RhطZhط ProNav: ac range: 127.807419 m, nav range: 123.810417 m, bearing: 67.828979 deg, approach rate: -0.724377 m/s, LOS rate: -0.001480 deg/s, cmd heading: 71.500674 deg, new cmd heading: 71.498820 deg. Bh -HeadingCmd: 1.247890 target range: 127.807419 and range: 128.40 m.h-ۺ?h)*hQ"hY hYgYfYfafadididqjdZd@Bɢs=)! %>i!)%kA5 >ԡ Ay I I O >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508489 p ,/?An?n;?n%=ٱnR& zAHRS rotation from veh to nav: [[0.315116,-0.938539,-0.140876],[0.948192,0.305020,0.088855],[-0.040424,-0.161577,0.986032]]nH*?:¿W?p?,?c Ŀ?in?In/D];lY~džBy~%IiiMb@Mb@Mb@ 9x&1?MbMbpYA?y$ A b@)Y@bDVD0y%<=ٔ:Q->9Y=5SGy5NF5E5>9Q 5E4=)?Q 9M4= )=BYM;B?Q EM:yM5?Q IM?=DI=;i=.:=o4yUCBɮ]AYuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 127.81 m.Rh08Zh08 ProNav: ac range: 127.807419 m, nav range: 123.471008 m, bearing: 67.831837 deg, approach rate: -0.793351 m/s, LOS rate: 0.006699 deg/s, cmd heading: 71.498823 deg, new cmd heading: 71.507421 deg. Bh9HeadingCmd: 1.248040 target range: 127.807419 and range: 128.40 m.hƿ?h*h"h hgfffBdddjdZd@BɢZn=) >i)/<i_iƿ?R|;ծ;Iƿ?Iu9@y @y@}/@yԡE EE)E"E:*Eą:VEFA4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760253^A;A I I O >1N,qI?AF)?Fq?Fo'=ٱFy% ^AHRS rotation from veh to nav: [[0.315538,-0.938474,-0.140366],[0.948033,0.305407,0.089225],[-0.040866,-0.161226,0.986071]]FH1? ``HV?`ȋ?r׶?r줿 Ŀ?iF)?IF@];FCYtyt xxbDVD0ٔ:Q->9Y=SGyOF%E%>)Q 5-4-dĊ?Q 954-X)-BY1y5'?Q I5?-/DI-:i-:-u4yAɮAAjhiuFNOT Ignoring new targets: 127.81 m.Rhus8Zhus8 ProNav: ac range: 127.807419 m, nav range: 123.193489 m, bearing: 67.834244 deg, approach rate: -0.758743 m/s, LOS rate: 0.006597 deg/s, cmd heading: 71.507422 deg, new cmd heading: 71.514661 deg. Bhސ9HeadingCmd: 1.248166 target range: 127.807419 and range: 128.40 m.hß?h*h"h hgfffdddjdZd@Bɢu=) ^>i)4<iiß??|;1\;Iß?IB!B!B%%IB%BB% =B!B!B%v;B%0E%BDAT read: Rx Time:15:10:07.8442 %TRx dataTimestamp_ set to:1761577809.253362-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014888@ @@0@^A;D=D4=1bEe:4jEe64rEe?0E  E E &E "E *E :VE 4ZE BE @8 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266222a z,c?AY5By5%IiMb@Mb@Mb@ 9/$?v/MbP?Y9 ?Y ?=SGyPF E >Q 54Ί?Q 94)BY%<=?Q E%:y%5?Q I%?DDIX:i:}4y-&B1ɮ-(A5DEjhY]FNOT Ignoring new targets: 127.81 m.Rhe҃8Zhe҃8u ProNav: ac range: 127.807419 m, nav range: 122.872162 m, bearing: 67.835807 deg, approach rate: -0.738427 m/s, LOS rate: 0.003602 deg/s, cmd heading: 71.514662 deg, new cmd heading: 71.519364 deg. Bhu09}HeadingCmd: 1.248248 target range: 127.807419 and range: 128.40 m.h}Ɵ?hy*h"h hgfffBdddjdZdL @颽Bɢtj=) >i)~<iKiƟ?ic|;IƟ?I9@  @ @/@aMDAT read: 15:10:07.8442 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 398,-0.12,-1.957, 2.801,-1.564,-2.017, PHS= 0.162,-1.421, 0.408, RAW= 157.1, 9.9, CAL= 157.0, 10.7, ROT= 353.0, -10.7 UYgot valid direction response: 15:10:07.8442 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 398,-0.12,-1.957, 2.801,-1.564,-2.017, PHS= 0.162,-1.421, 0.408, RAW= 157.1, 9.9, CAL= 157.0, 10.7, ROT= 353.0, -10.7 ]PDAT read: Bearing 216.9, -10.9 (Local) ]~Local bearing/azimuth received: Bearing 216.9, -10.9 (Local) mDAT read: Range 11 to 50 : 125.4 m (Round-trip 167.3 ms) speed 0.4 m/s m*DAT read: user:983> }R#Rx 1: Read range and direction messages.^direction in FSK: [0.975289,-0.119750,0.185667]Fpublishing direction and range infoyFO5?PY &K{?YB )=IT%>iT㵿`>~{/@;0>^/@ t;?>)'@It;?!Pt"?{;?? q%?)h1I5it;?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԉ^AE ;AI zAM eAA} ؟AI I Ա O >E  E E )E "E :*E :VE FA4ZE a @a @a @a @},a}?AF?F&՟?FrP,=ٱF$ RAHRS rotation from veh to nav: [[0.316283,-0.938540,-0.138232],[0.947732,0.306140,0.089900],[-0.042056,-0.159441,0.986311]]FH =?@`S? ̗? ?mhĿ܏?iF?IF!^;FCYVByV%IbD%VD%y-e%5Y=ٔ5N;Q-5>9="?Y="?==SGy=QFER EE>IQ 5M4M׊?Q 9U4M˄)MBYQyU?Q IU?MVDIMy:iMX);M.4ye/BɮezAiBDAT read: Tx time:15:10:08.9727 $Ping request sent.iI)M7V! %,+P?A:Ã?:(?:,;0=ٱ:y# FAHRS rotation from veh to nav: [[0.317369,-0.938318,-0.137243],[0.947326,0.307140,0.090763],[-0.043012,-0.158820,0.986370]]:HO?@0@P?`.?B9`Y`=fSGyfRFfBEf>lQ 5r4npኊ?Q 9r4n})nBYpyr?Q Ir?nhDIn:in:n4yxɮzAxjhFNOT Ignoring new targets: 124.82 m.Rh%8Zh%85 ProNav: ac range: 124.821060 m, nav range: 122.304596 m, bearing: 67.838967 deg, approach rate: -0.753473 m/s, LOS rate: 0.004418 deg/s, cmd heading: 71.523514 deg, new cmd heading: 71.528595 deg. Bh=B9MHeadingCmd: 1.248410 target range: 124.821060 and range: 125.40 m.hM˟?hI*hI"h hgfffddd jdZdʦ?EM EMEM+EI"EMV:*EM:VEM [4ZEIBEM9i)/<i'i˟?DT|;C;I˟?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504107!@! @)@-4@)^AE r;A I I O x+,} ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.764202V?V啟?V3=ٱVP" ^AHRS rotation from veh to nav: [[0.318087,-0.938280,-0.135834],[0.947045,0.307835,0.091342],[-0.043890,-0.157696,0.986512]]VH[?`d`c1N? ?/b?x]/Ŀ?iV?IV^;VCYfByf%IiUMb@Mb@Mb@QQQQ Q9U/$?V-YQyUmUU$ AQ Q)U@QYQ e9Y=SGySF>E>Q 54늊?Q 94'v)BYA=?Q E:y?Q I?}DI:iX:y4yɮAjhQ]FNOT Ignoring new targets: 124.82 m.Rh]8Zh]8 ProNav: ac range: 124.821060 m, nav range: 121.989128 m, bearing: 67.841168 deg, approach rate: -0.710742 m/s, LOS rate: 0.004971 deg/s, cmd heading: 71.528596 deg, new cmd heading: 71.535215 deg. BhWZ9HeadingCmd: 1.248525 target range: 124.821060 and range: 125.40 m.hϟ?h*h"h hgfffBdddjdZd@ѧ?Bɢ\m=) >i)%Am >ԡ I I O >2,?A2?2y?2#8=ٱ2" :AHRS rotation from veh to nav: [[0.318879,-0.938110,-0.135154],[0.946729,0.308504,0.092352],[-0.044941,-0.157404,0.986511]]2H@h?@`L`K??b?y%Ŀ?i2?I2^;2C@YbByb%IbDjVDjN2yr%rU=ٔvm3;Q-v>9tYt=vSGyzTFzgEz>|Q 54~4?Q 94~Ho)~BY y ?Q I ?~DI~:i~:~14yBɮ)AiI)md  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5114198,+?AlYYyY aaiMb@Mb@Mb@ 9Zd;?v/~jt?Y9?yxiD<AS@ @)YbD%VD%y5v%57=ٔ5Q-=>99Y9==SGy=UFEEE>IQ 5U4M?Q 9U4Mcg)MߐBYUt:?Q E]:y]?Q I]?MDIM;iM ;M4yeBɮeAajhFNOT Ignoring new targets: 124.82 m.Rh8Zh8 ProNav: ac range: 124.821060 m, nav range: 121.379364 m, bearing: 67.845267 deg, approach rate: -0.761468 m/s, LOS rate: 0.004671 deg/s, cmd heading: 71.541546 deg, new cmd heading: 71.547541 deg. Bh%M9HeadingCmd: 1.248740 target range: 124.821060 and range: 125.40 m.h֟?h*h"h hgfffBdddjdZd@?Bɢu=) >i)b<iNi֟?s{; و:I ֟?I 9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7635551^A:II IY Om >y E5  E5 E5 &E1 "E5 ;*E5 :VE5 4ZE1 aE @aE @aE @aE @>,?A2}8?2#?2SB=ٱ2i :AHRS rotation from veh to nav: [[0.321331,-0.937630,-0.132651],[0.945778,0.310748,0.094543],[-0.047426,-0.155838,0.986643]]2H`?`@C?`M?3?'Hÿ@?i2}8?I2r^;2CYBByB%IHJ@AbDNVDNJyV`<%Vh=ٔV;Q-Z>9XYX=ZSGyZVF^&E^>`Q 5f4b`?Q 9f4b)a)bܐBYdyj?Q Ij?bDIbp:ib:b.4ylɮnAljhFNOT Ignoring new targets: 124.82 m.Rh 8Zh 8 ProNav: ac range: 124.821060 m, nav range: 121.122093 m, bearing: 67.847174 deg, approach rate: -0.730105 m/s, LOS rate: 0.005425 deg/s, cmd heading: 71.547543 deg, new cmd heading: 71.553278 deg. BhEn9%HeadingCmd: 1.248840 target range: 124.821060 and range: 125.40 m.h%ڟ?h!*h)"h) h)g)f)f1f1d1d1d19echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015363jdZdD@%Bɢ% }=)! %>i))-<))i-9iڟ?{;PIڟ?IM9@I @I@M/@IqԑA@AABBB%IBBBBBBv;B0E^A0::AzAdAII  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267435O > E,3?A:?:?:F=ٱ:yk FAHRS rotation from veh to nav: [[0.322321,-0.937354,-0.132202],[0.945385,0.311582,0.095725],[-0.048536,-0.155836,0.986590]]:H? @?@?l?٨oÿ$?i:?I:w^;:CYnByr%IbDVDy{%D=ٔ%.;Q-%>9)Y)=-SGy-WF5&E=>AQ 5U4E?Q 9U4EY)EِBYYyem?Q Ie?EDIE;iEU;E4yuBɮu@AԡjhFNOT Ignoring new targets: 124.82 m.Rh8Zh8 ProNav: ac range: 124.821060 m, nav range: 120.815788 m, bearing: 67.849611 deg, approach rate: -0.715798 m/s, LOS rate: 0.005708 deg/s, cmd heading: 71.553280 deg, new cmd heading: 71.560608 deg. Bhz9HeadingCmd: 1.248968 target range: 124.821060 and range: 125.40 m.h1ޟ?h*h"h hgfffdddEu EuEu'Eq"Eu;*Eu1:VEu'4ZEqBEqa}2Eqa}JEu;a:Eu;ajdZd@ޅBɢq=) >i)=ii1ޟ? 0z; AI 1ޟ?I mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519363@ @@@^A q! A I I i I % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771672O- >L,`2?AYBy%II%!>)%iMb@Mb@Mb@ 9ףp= ?I +{Gz?Y>?y94#<; A @)@Y@bDVDk2y<%%?=ٔQ->9Y=SGyXFE>Q 54?Q 94R)ՐBY??Q E:yϗ?Q I?DI|4;it2;4y ɮ QA jh15FNOT Ignoring new targets: 124.82 m.Rh=?Zh=?M ProNav: ac range: 124.821060 m, nav range: 120.498489 m, bearing: 67.849337 deg, approach rate: -0.757895 m/s, LOS rate: -0.000655 deg/s, cmd heading: 71.560609 deg, new cmd heading: 71.559786 deg. BhM?HeadingCmd: 1.248954 target range: 124.821060 and range: 125.40 m.hݟ?h*h"h hgfffׅBdddjdZdV @U܅BɢU}}=)Q Uv>iY)]=YYi]Oieݟ?ey;e-rϺIeݟ?IiE EE*E"E;*Ez:VE(N4ZEa@a@a@a@!a@a @a@e?0@a}BDAT read: Rx Time:15:10:11.5402 TRx dataTimestamp_ set to:1761577813.032170checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024428Q^A eԁ A1 IA IQ O] >R,DQL?A2ʂ?2Ƶ?22NN=ٱ2h! :AHRS rotation from veh to nav: [[0.324458,-0.936601,-0.132306],[0.944559,0.313368,0.098021],[-0.050346,-0.156775,0.986350]]2H?g9?`8??Ʃ1Ŀ.?i2ʂ?I2G];2CYBÆByB%I J49XYX=ZSGyZYF^̻E^>`Q 5f4bB%?Q 9f4bWK)bѐBYdyf?Q If?bDIbU;ib;ba4ynBɮnAn3E~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 124.82 m.Rh =6Zh =6 ProNav: ac range: 124.821060 m, nav range: 120.224609 m, bearing: 67.849396 deg, approach rate: -0.746326 m/s, LOS rate: 0.000162 deg/s, cmd heading: 71.559789 deg, new cmd heading: 71.559968 deg. Bh%6%HeadingCmd: 1.248957 target range: 124.821060 and range: 125.40 m.h-ݟ?h)*h)"h) h)g)BYBYBYBYBYBYBYB]1w;B]1EBBBBB =CǼ4fffdddjdZd @%څBIɢm8Ӆ=)i m>ii)uF=qqiui}ݟ?}x;}uI}ݟ?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2754739@ @@4@qDD<E EE'E"E*E:VE'4ZEBE@ *DAT read: user:984>  BDAT read: Tx time:15:10:12.6727  $Ping request sent. :publishing transmit ping time1BFpublishing direction and range infoyNLU4? `Ņ+#?YB ):I#=iFÿη>.@BR>%/@  j>)C@I j~%??wm? i#?)uQIi j-:publishing transmit ping time1-Fpublishing direction and range infoyNLU4? `Ņ+#?Y )Ii )I~%??wm? )Ii 磂? -? 5R=ٱ KO" =AHRS rotation from veh to nav: [[0.325554,-0.936164,-0.132708],[0.944131,0.314242,0.099342],[-0.051298,-0.157635,0.986164]] H ? Q6??tn?Ca-Ŀ ?i 磂?I k]; CYmBym%IԩiMb@Mb@Mb@ 9y&1?~jt?Y`E?y̼D< Aj@ )@Y@bDMVDMy]<%=ٔ:Q->9Y=SGyZFE>Q 54x1?Q 94DA)ʐBYE?Q E:yƚ?Q I?DIV;iU;Ŝ4yBɮA4EiiJb?AJiBRiBji\?b EVu]@T5,0;@RNLU4? `Ņ+#?Zibi jj'[$G@ ۝d[@g7@Zkb"?o?-?2i&B:ie?B"i H?*iӣ1BiBiFW?iiiCBi^? addTargetRange:: Added new target pos. range: 122.400002 m, deltaT: 3.780285 s, deltaX: -3.000000 m, approachRate: -0.793591 m/s, rangeRepo size: 4  Added new target pos. range: 121.834831 m, bearing: 66.410200 deg, lat: 36.779267 deg, lon: -121.859520 deg, deltaT: 3.780285 s, deltaX: -2.986229 m, approachRate: -0.789948 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 121.83 m.RhZh ProNav: ac range: 121.834831 m, nav range: 120.131897 m, bearing: 67.476351 deg, approach rate: 0.000000 m/s, LOS rate: 0.000162 deg/s, cmd heading: 71.559967 deg, new cmd heading: 71.560234 deg. BhHeadingCmd: 1.248962 target range: 121.834831 and range: 122.40 m.hݟ?h*h"h hgff!f%߅Bd!d!d)jd-^@Zd-?颕؅Bɢju=) j>i)L=顡iiݟ?"+w; 铻Iݟ?Ii@i @i@m1@i E  E E (E "E ;*E :VE c44ZE a @a @a @a @1 ^A rA.AIIO>hIa,e?A@8BЃ?Bo?B T=ٱB# NAHRS rotation from veh to nav: [[0.326469,-0.935717,-0.133610],[0.943783,0.314946,0.100410],[-0.051876,-0.158880,0.985934]]BH`?d@%x3?(?`?s@/VĿŌ?iBЃ?IBI];BCYRByR%I TTbD^VD^02yf%f\=ٔf:Q-j>9j ?Yj ?=nSGyn[FnJ/En>pQ 5v4r9?Q 9v4rW:)rƐBYxyz?Q Iz?rDIrm ;ir ;r ̜4y|ɮ~Ajh!-FNOT Ignoring new targets: 121.83 m.Rh-YZh-Y= ProNav: ac range: 121.834831 m, nav range: 119.850456 m, bearing: 67.472242 deg, approach rate: -0.812790 m/s, LOS rate: -0.011895 deg/s, cmd heading: 71.560233 deg, new cmd heading: 71.547877 deg. BhEEHeadingCmd: 1.248746 target range: 121.834831 and range: 122.40 m.hE֟?hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]?颅օBɢz܊=) ~>i)=顑iSi֟?e=v;I֟?I)@) @)@-/@)ԩBA<BBBBBBBBow;B51EiQIQ^AMA} ؟AI I O > bEjE<4rE˟/E  E E E "E :*E :VE ZE BE 69%"?Y%"?=%SGy%\F%kE->)Q 554-eC?Q 954-2)-BY9y=?Q I=?-.DI-&;i-;->Ӝ4yAɮMAIjhiuFNOT Ignoring new targets: 121.83 m.Rhu'MZh}'M ProNav: ac range: 121.834831 m, nav range: 119.532730 m, bearing: 67.467633 deg, approach rate: -0.770845 m/s, LOS rate: -0.011210 deg/s, cmd heading: 71.547878 deg, new cmd heading: 71.534016 deg. Bh.HeadingCmd: 1.248504 target range: 121.834831 and range: 122.40 m.hΟ?h*h"h hgfffdddjdZd`p?ԅBɢ>$=) (>i) =iЯiΟ?J u;:IΟ?I9@ @@/@A^ASAzAaAI I O- >a ɘm,y?A9YE†ByE%IE EE*E"E&:*EM:VE(N4ZEa@a@a@a@iMb@Mb@Mb@ 9MbX?{Gzt{Gz?YJ?yף#<; A@ )AY@bD VD 0y%;=ٔQ-%>9!Y!=%SGy%]F-E->1Q 5=45 M?Q 9=45))5BY=J?Q EE:yE؝?Q IE?5DDI5;i5:5ڜ4yMҘBɮMAM*EjhquFNOT Ignoring new targets: 121.83 m.Rh}*¹Zh}*¹ ProNav: ac range: 121.834831 m, nav range: 119.187294 m, bearing: 67.458386 deg, approach rate: -0.790294 m/s, LOS rate: -0.021219 deg/s, cmd heading: 71.534019 deg, new cmd heading: 71.506195 deg. BhhHeadingCmd: 1.248019 target range: 121.834831 and range: 122.40 m.h?h*h"h hgfffBdddjdZd?ӅBɢyr=) >i) =ii? s;dĚI?Iԑ9@  @ @ /@ Ա^Ai B \>B B %IB BB B B B Ew;B "1E IA IQ Oe >t,?A6?64m?6z;W=ٱ6,*& >AHRS rotation from veh to nav: [[0.326512,-0.935397,-0.135732],[0.943733,0.314649,0.101808],[-0.052523,-0.161336,0.985501]]6H? _3?6#??D䪿ਦĿ@9?i6?I6-];6CYFByF%IIJ >)J>bDRVDRNyZ%Ze=ٔZv:Q-Z>9\Y\=^SGy^^FbJe:Eb>dQ 5j4fT?Q 9j4f")fBYhyj?Q Ij?fVDIf:if:f#4y]՘BɮeAe+E}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 121.83 m.RhZh ProNav: ac range: 121.834831 m, nav range: 118.904449 m, bearing: 67.450727 deg, approach rate: -0.755683 m/s, LOS rate: -0.020509 deg/s, cmd heading: 71.506193 deg, new cmd heading: 71.483164 deg. Bh4aHeadingCmd: 1.247617 target range: 121.834831 and range: 122.40 m.h江?h*h"h hgԹfffdddjdZd ?хBɢv=) ]>i);) =iXmi江?r;P$I 江?I 9@ @@0@E EE(E"EV:*E:VEc44ZEBE99 z,=?A26?2|s?2HW=ٱ2u' :AHRS rotation from veh to nav: [[0.326331,-0.935268,-0.137043],[0.943794,0.314326,0.102229],[-0.052536,-0.162702,0.985276]]2H?3?? +?@媿@gĿa?i26?I29];2CYZBy^%IiuMb@Mb@Mb@qqqq q9uFx?~jtx?y&1|?YuK?yu;u`;uQ Au@ u@)uAqYu @ ;bDVD02y@ %6=ٔ7Q->9Y=SGy_Fg9E>!Q 5-4%^?Q 954%)%BY5K?Q E5:y5?Q I5?%mDI%;i%\ ;%4y9ɮEAAjhamFNOT Ignoring new targets: 121.83 m.RhuGZhuG ProNav: ac range: 121.834831 m, nav range: 118.547585 m, bearing: 67.438716 deg, approach rate: -0.823125 m/s, LOS rate: -0.027788 deg/s, cmd heading: 71.483162 deg, new cmd heading: 71.447019 deg. BhHeadingCmd: 1.246986 target range: 121.834831 and range: 122.40 m.h:?h*h"h hgfff BdddjdZd @ЅBɢ=) %>i)ջ =ii:?q;edI:?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.231939@ @@/@9GfAA9fAYƠAE EE%E"E;*E:VE 4ZEa%@a%@a%@a%@a^A_A>A?I I O% >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482941ԑ ,?AY~By~%IbD VD k2y]%%[=ٔ%Q-%>9)Y)=-SGy-`F-E5>1Q 5=45}f?Q 9E45)5BYAyAQ IE?5DI5;i5v;54yIɮU/AQjhq}FNOT Ignoring new targets: 121.83 m.Rh}eZhe ProNav: ac range: 121.834831 m, nav range: 118.252403 m, bearing: 67.428726 deg, approach rate: -0.793641 m/s, LOS rate: -0.026927 deg/s, cmd heading: 71.447016 deg, new cmd heading: 71.416971 deg. Bh֓HeadingCmd: 1.246461 target range: 121.834831 and range: 122.40 m.h ?h*h"h hgfffdddjdZd n@΅BɢZˈ=) >i)=ii ?dp;/JKI ?Iy9@ @@1@AyAyB]>BBBBBBBv;B0Eԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.734972^A*AI1IQO]>E  E E $E "E ;*E VE 4ZE BE DAHRS rotation from veh to nav: [[0.324769,-0.935798,-0.137141],[0.944351,0.312842,0.101641],[-0.052212,-0.162519,0.985323]]2H? ԍ8??)? lĿ ć?i2?I2H];0YBByF%I HHbDNVDN0yV%VR=ٔV&ZQ-Z>9XYX=ZSGyZaF^Ӌ;E^>`Q 5f4bn?Q 9f4b )bBYdyj̟?Q Ij?bDIbN:ib:bM4ynBɮ]A]!EjhFNOT Ignoring new targets: 121.83 m.RhHZhH ProNav: ac range: 121.834831 m, nav range: 117.943550 m, bearing: 67.417969 deg, approach rate: -0.761367 m/s, LOS rate: -0.026587 deg/s, cmd heading: 71.416970 deg, new cmd heading: 71.384615 deg. BhHeadingCmd: 1.245897 target range: 121.834831 and range: 122.40 m.hy?h*h"h hgfffdddjdZd8@ͅBɢ =) L>i)=iv缝checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989595i%y?%Np;%PŒI%y?I)@ @@4@^AII O >9  BDAT read: Rx Time:15:10:15.2365  TRx dataTimestamp_ set to:1761577816.824179 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240097Y ,l:?AJ؂?JĞ?J{V=ٱJlM& RAHRS rotation from veh to nav: [[0.324013,-0.936199,-0.136186],[0.944604,0.312183,0.101319],[-0.052340,-0.161470,0.985489]]JH`?@Xn1:??@?>̪ Ŀ?iJ؂?IJ\;JCYZByZ%Ii=Mb@Mb@Mb@9999 99=-?/$?~jthY=?U?y=<=D=h A=@ =@)=A9Y=(AIIbDUVDU:ye%e>=ٔe9Q-e>9iYi=mSGymbFu:Eu>yQ 54}w?Q 94})}BYQU?Q E~:E EE+E"El;*E:VE [4ZEa@a@a@a@y?Q I ?}DI}~iA)E =IIiMTiM:_?Uo;UZ8IU:_?IQachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.4910209@ @@4@@ dA@ eAQ^A Β{A! zA% fAԁ BY BY B] %IB] BB] =BY BY B] v;B] 0EA I I O >Δ,(*T?Ai0I2AJDAT read: 15:10:15.2365 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 399, 0.06,-1.113,-2.668,-0.724,-1.183, PHS= 0.172,-1.440, 0.415, RAW= 156.9, 9.8, CAL= 156.8, 10.6, ROT= 353.2, -10.6 RYgot valid direction response: 15:10:15.2365 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 399, 0.06,-1.113,-2.668,-0.724,-1.183, PHS= 0.172,-1.440, 0.415, RAW= 156.9, 9.8, CAL= 156.8, 10.6, ROT= 353.2, -10.6 RPDAT read: Bearing 215.9, -11.5 (Local) V~Local bearing/azimuth received: Bearing 215.9, -11.5 (Local) ZDAT read: Range 11 to 50 : 119.7 m (Round-trip 159.6 ms) speed 0.4 m/s ^*DAT read: user:985> rBDAT read: Tx time:15:10:16.3227 r$Ping request sent.ri2Q2z>2LB/@2%/>0 2q=>)0I2q=002hz5?#V?t? 2$?)2./I0i2q=00 :publishing transmit ping timep Fpublishing direction and range infoy0288;??EK˽ =η?Y00000 0)0I0i00000 0)0I0002hz5?#V?t? 0)0I0i000=?=?=U=ٱ=P% UAHRS rotation from veh to nav: [[0.323009,-0.936565,-0.136054],[0.944956,0.311241,0.100930],[-0.052182,-0.161167,0.985547]]=H,?W8j=?]?ֹ?Ŀ@?i=?I=\;=CY}By%IbDVDβyc%9=ٔQ->9Y=SGydF;E>Q 54I?Q 9%4)BY!y%?Q I%?DIK;i}K;4yɮAi0i2T?AJi2KBRi2KBji2 ݓ?b2t$7]@1Ի+o 5@R288;??EK˽ =η?Zi0bi2q=j28G@4QZ@WJj1@IZ2mq/?1O?`Mm#T?2i2B:i2E>B"i2{)?*i2.Bi2Bi2 H?i2.i2Bi2Bi2? addTargetRange:: Added new target pos. range: 119.699997 m, deltaT: 3.791817 s, deltaX: -2.700005 m, approachRate: -0.712061 m/s, rangeRepo size: 4  Added new target pos. range: 119.148216 m, bearing: 66.187135 deg, lat: 36.779283 deg, lon: -121.859525 deg, deltaT: 3.791817 s, deltaX: -2.686615 m, approachRate: -0.708530 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 119.15 m.E EE(E"E:*E:VEc44ZEBEA8i)=iiB?co;d:IB?I q9@ @@4@Ա ^A} 9A .AI I O >,5q?A22?2?2(T=ٱ2N}% :AHRS rotation from veh to nav: [[0.321428,-0.937131,-0.135899],[0.945517,0.309779,0.100169],[-0.051773,-0.160692,0.985646]]2H`H?&eA?i??Ŀh?i22?I2G];2CYBByBu%IiMMb@Mb@Mb@IIII I9Me;O?Q?MbYMT?yMu9} ?Y} ?=}SGy}eF;E>Q 54?Q 94){BYT?Q E:y?Q I?DI:i*: 4yɮaAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 119.15 m.RhGZhGT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 119.148216 m, nav range: 117.211533 m, bearing: 66.467985 deg, approach rate: -0.910690 m/s, LOS rate: -0.043657 deg/s, cmd heading: 71.288891 deg, new cmd heading: 71.240483 deg. Bh HeadingCmd: 1.243381 target range: 119.148216 and range: 119.70 m.h '?h *h "h hgfffBdddjd!Zd%V?ɅBɢ=) >i)=iO[i'?]o;'#v;I'?I!9@ @@/@IEu EuEu$Eq"EuO;*Eu:VEu4ZEqa}@a}@a}@a}@^Ae] ;ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741162A ؟AI I O >c,k?A02o?25[?27)S=ٱ2M# >AHRS rotation from veh to nav: [[0.319666,-0.937899,-0.134753],[0.946128,0.308214,0.099225],[-0.051530,-0.159213,0.985898]]2Hfu?E?F?@ǹ?f?(baĿ{?i2o?I2 ];2CYFpByF[%IbDNVDNyV޽%VY=ٔV)Q-Z>9Z"?YZ"?=ZSGyZfF^i;E^>`Q 5f4b ?Q 9f4b@)boBYdyj??Q Ij?bDIb:ib:ba4ynBɮnAnEjh FNOT Ignoring new targets: 119.15 m.Rh 9Zh 9 ProNav: ac range: 119.148216 m, nav range: 116.900391 m, bearing: 66.452736 deg, approach rate: -0.827061 m/s, LOS rate: -0.040641 deg/s, cmd heading: 71.240485 deg, new cmd heading: 71.194618 deg. Bh%!ߺ%HeadingCmd: 1.242581 target range: 119.148216 and range: 119.70 m.h% ?h)*h)"h) h)g)f)f1f1d1d1d9jdZd+?B<A<BBCB%IBBBBBBv;B0EBqBqBqBqBqCu4 ȅBɢ Tp=)1 5Ƨ>i1)5#=11i=i= ?=o;E;IE ?IAԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992095E9@A @A@E/@A@M=@M=^Am vт;Au >Au >E  E E (E "E :*E :VE c44ZE BE >Ǩ,kԤ?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244114Bd?B?BR=ٱB{# JAHRS rotation from veh to nav: [[0.318442,-0.938287,-0.134952],[0.946549,0.307019,0.098914],[-0.051377,-0.159237,0.985903]]BHZa?rF@!J?@4?tR?NaĿ?iBd?IB)];BCYRfByRN%I\bD^VD^yf:G%fH=ٔjĹQ-j>9hYh=jSGyngFnO;En>pQ 5v4rԚ?Q 9v4r)rbBYxyzj?Q Iz?rDIr:ir9:r4y|ɮ~=Ajh!-FNOT Ignoring new targets: 119.15 m.Rh-<Zh5<E ProNav: ac range: 119.148216 m, nav range: 116.563347 m, bearing: 66.435910 deg, approach rate: -0.824871 m/s, LOS rate: -0.041300 deg/s, cmd heading: 71.194620 deg, new cmd heading: 71.143994 deg. BhEMHeadingCmd: 1.241697 target range: 119.148216 and range: 119.70 m.hM?hI*hI"hI hIgIfQfQfQdYdYdYjdYZd]Y?颍DžBɢ$t=) i>i)=顑ii?G p;!;I?I59@9 @9@=0@A^Au[R;iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.496371A I I O >A ,\?AE& E&E&&E$"E&~ ;*E&:VE&4ZE$a*@a*@a*@a*@Jǃ?J?JQ=ٱJ~# VAHRS rotation from veh to nav: [[0.317131,-0.938706,-0.135124],[0.946998,0.305745,0.098564],[-0.051210,-0.159220,0.985914]]JH K? KM?Q?;? "8QaĿ?iJǃ?IJ];HYZXByZ=%I ``iMb@Mb@Mb@ 9?Mb`{GzYL?yף~A@ -@)AYAbDVDy~{%;=ٔɹQ->9Y=SGyhFaP;E>Q 54S?Q 94)UBYL?Q E:yߞ?Q I?DI ;i ;%"4yɮAjh!-FNOT Ignoring new targets: 119.15 m.Rh-0Zh-0= ProNav: ac range: 119.148216 m, nav range: 116.216370 m, bearing: 66.421912 deg, approach rate: -0.795059 m/s, LOS rate: -0.032170 deg/s, cmd heading: 71.143995 deg, new cmd heading: 71.101876 deg. BhEEHeadingCmd: 1.240962 target range: 119.148216 and range: 119.70 m.hEמ?hI*hI"hI hIgIfIfQfU݅BdQdYdYjdYZd]N?颍ƅBɢKe=) >i)=顑iiמ?'p;BBn%IBBBBBBv;B0Eԡ A I I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999964uص,?AbQ?bԟ?bJQ=ٱb($ rAHRS rotation from veh to nav: [[0.316166,-0.938984,-0.135452],[0.947328,0.304787,0.098360],[-0.051074,-0.159415,0.985890]]bH9AYA=ESGyEiFE-;EM>IQ 5U4M?Q 9]4Mu)MIBYYy]?Q I]?M,DIM;iMD;M(4ymgBɮm AmEyjhFNOT Ignoring new targets: 119.15 m.RhZh ProNav: ac range: 119.148216 m, nav range: 115.910316 m, bearing: 66.409340 deg, approach rate: -0.793805 m/s, LOS rate: -0.032693 deg/s, cmd heading: 71.101873 deg, new cmd heading: 71.064059 deg. Bh~HeadingCmd: 1.240302 target range: 119.148216 and range: 119.70 m.h6ž?h*h"h hgfffdddjdZd@yɢ}_=)y }(z>iy):=顁ii6ž?ڰq;- ,_?A2?2?2yqQ=ٱ2#$ :AHRS rotation from veh to nav: [[0.315349,-0.939197,-0.135883],[0.947598,0.303934,0.098394],[-0.051111,-0.159791,0.985827]]2H .? `dR?s?Q0?C+tĿ?i2?I2W];2CYB5ByB%Ii Mb@Mb@Mb@     9 E?S㥛Y F?y /ݼ ̼  A @ ) A Y AbD%VD%:y5%5J=ٔ=s8Q-=>99YA=ESGyEjFE ;EE>IQ 5U4M?Q 9U4Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504075)Mi)2Z=!i%im?mr;m=µ,L ?A> ?>?>ZQ=ٱ>f% FAHRS rotation from veh to nav: [[0.315175,-0.939111,-0.136876],[0.947652,0.303645,0.098769],[-0.051193,-0.160840,0.985652]]>H+?3 `)@*S?`n?H? 5kĿu?i> ?I>|];>CYN ByN$IIR4>)R;bDZVDZ02ybս%bQ=ٔb[9Q-b>9dYd=fSGyfkFfu9Ej>lQ 5r4n?Q 9r4nR)n0BYpyr?Q Ir?nSDIn:in;n64yɮ OA jh1=FNOT Ignoring new targets: 119.15 m.RhEH¹ZhEH¹U ProNav: ac range: 119.148216 m, nav range: 115.296097 m, bearing: 66.393774 deg, approach rate: -0.832037 m/s, LOS rate: -0.021232 deg/s, cmd heading: 71.040354 deg, new cmd heading: 71.017238 deg. BhU$i]HeadingCmd: 1.239485 target range: 119.148216 and range: 119.70 m.h]o?hY*hY"hY hYgafafafadididijdiZdu`fJ@额ąBɢR=) .7>i)=顡iio?*s;|DԡEe  Ee Ee 'Ea "Ee :*Ee :VEe '4ZEa BEe <9`Y`=bSGyblFf:Ef>hQ 5n4j9ȋ?Q 9n4j)j$BYlyr?Q Ir?jgDIjj;ij;j=4ytɮvfAtjhFNOT Ignoring new targets: 119.15 m.Rh5Zh5- ProNav: ac range: 119.148216 m, nav range: 114.985199 m, bearing: 66.385777 deg, approach rate: -0.780554 m/s, LOS rate: -0.020131 deg/s, cmd heading: 71.017240 deg, new cmd heading: 70.993186 deg. Bh- ]5HeadingCmd: 1.239065 target range: 119.148216 and range: 119.70 m.h5?h1*h1"h1 h1g9f9fAfAdAdAdIjdIZdM`y @qɢzL=) p2>i)e=i-i?9t;QM }BDAT read: Tx time:15:10:19.9727 }$Ping request sent.}i﷿>.@+>].@ X8>)@IX8ݺA> ) a e C GI 9 IQ ] AO > u9 Y wAIݺ9qYq=uSGyumF}3E}>Q 54ҋ?Q 94)BY8?Q E:y?Q I?}DIl;i9;E4ymBɮxA i1i536?AJi5RBRi5RBji5:S?b5X'i\@-UB6J(tL[!4@R5O}YN?Ykú?Zi5i ڽbi5X8j5`L2F@QTZ@\O]0@Z5o+_u?(8?+1?2i5"B:i51B"i5o?*i5uBi5Bi1i1i5Bi5NBi5?L?5 addTargetRange:: Added new target pos. range: 116.699997 m, deltaT: 3.529937 s, deltaX: -3.000000 m, approachRate: -0.849874 m/s, rangeRepo size: 4 E Added new target pos. range: 116.162094 m, bearing: 67.289015 deg, lat: 36.779283 deg, lon: -121.859525 deg, deltaT: 3.529937 s, deltaX: -2.986122 m, approachRate: -0.845942 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 116.16 m.RhZh ProNav: ac range: 116.162094 m, nav range: 114.654099 m, bearing: 66.381560 deg, approach rate: 0.000000 m/s, LOS rate: -0.020131 deg/s, cmd heading: 70.993184 deg, new cmd heading: 70.962656 deg. BhHeadingCmd: 1.238532 target range: 116.162094 and range: 116.70 m.h7?h*h"h hgfff~Bdddjd,]@Zdx?颵ÅBɢRL7=) T=i)=ii7?wv;QBABE%IBE)BBABABABEmw;BE81Ei ^A NJN<Ii I ԙ O >Nֵ,%tZ?AB?B?B V=ٱB`% NAHRS rotation from veh to nav: [[0.315553,-0.939081,-0.136210],[0.947458,0.303877,0.099910],[-0.052433,-0.160580,0.985629]]BH2? RoQ?r?@?|تĿ F?iB?IB;];BCYVByV$I XXbD^VD^k1yf%j_=ٔj:Q-j>9hYl=nSGynnFn"En>pQ 5v4r ۋ?Q 9z4r>)rBYxyz?Q Iz?rDIr<;irY;rL4y~GBɮ~AEjh!-FNOT Ignoring new targets: 116.16 m.Rh-5>Zh55>= ProNav: ac range: 116.162094 m, nav range: 114.393623 m, bearing: 66.378292 deg, approach rate: -0.826407 m/s, LOS rate: -0.010393 deg/s, cmd heading: 70.962653 deg, new cmd heading: 70.952826 deg. BhE@MHeadingCmd: 1.238360 target range: 116.162094 and range: 116.70 m.hM?hI*hI"hI hIgQfQfQfQdQdYdYjdYZd] 3?颉ɢ7=) ,=i)=顑ibi?`@w;QLy oܵ,*t?A067؃?6{ß?6qY=ٱ6#& BAHRS rotation from veh to nav: [[0.316627,-0.938664,-0.136590],[0.947064,0.304778,0.100900],[-0.053082,-0.161308,0.985476]]6HC? { XN?|?@Թ?- Ŀ@?i67؃?I6\;6CYFByF$IiMMb@Mb@Mb@IIII I9MV-?x&{GztYMh1?yM7MףMAI MC@)M(AIYMAaeAAbDm VDm2yhi%@=ٔ:Q->9Y=SGyoF0E>Q 54+勊?Q 94$) BY=2?Q E:ym?Q I?DI:i:S4yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 116.16 m.Rh,8Zh,8 ProNav: ac range: 116.162094 m, nav range: 114.098053 m, bearing: 66.379294 deg, approach rate: -0.694595 m/s, LOS rate: 0.002360 deg/s, cmd heading: 70.952825 deg, new cmd heading: 70.955838 deg. BhT8HeadingCmd: 1.238413 target range: 116.162094 and range: 116.70 m.hQ?h*h"h hg f ffBddd!jd!Zd-r?-…BɢMj0=)Q UD=iQ)Ufc=QQi]Bi]Q?]lx;ew;W,S?A2?2R?2^k\=ٱ2'l' :AHRS rotation from veh to nav: [[0.318180,-0.938024,-0.137376],[0.946503,0.306094,0.102169],[-0.053787,-0.162535,0.985236]]2H@]?K I?@ ?`'?`Ŀ ?i2?I2#-];0YBByB$IbDJVDJyR%RZ=ٔV:Q-V>9V ?YV ?=ZSGyZpFZ,EZ>`\Q 5f4^(?Q 9f4^ߜ)^BYdyf7?Q If?^DI^:i^:^Z4ylɮnAljh FNOT Ignoring new targets: 116.16 m.Rh W8Zh W8B<A<BBB$IBBBBBBuw;B=1E ProNav: ac range: 116.162094 m, nav range: 113.836945 m, bearing: 66.380399 deg, approach rate: -0.694138 m/s, LOS rate: 0.002945 deg/s, cmd heading: 70.955837 deg, new cmd heading: 70.959161 deg. Bh^9HeadingCmd: 1.238471 target range: 116.162094 and range: 116.70 m.h8?h*h"h hg f f f ddd1jd9Zd=O?颥Bɢm.=) =i)N=顩ii8?4=y;#= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747273?,?A2b?2CN?2[F_=ٱ2"( :AHRS rotation from veh to nav: [[0.319989,-0.937272,-0.138307],[0.945853,0.307642,0.103527],[-0.054483,-0.163946,0.984964]]2Hz?!@ nD?h??A嫿-Ŀ`҄?i2b?I27];2CYB݅ByB$IIF=)F>bDJVDJNy%D=ٔ:Q- >9 "?Y "?= SGy qFE>!!Q 5-4%0?Q 9-4%)%BY)y5?Q I5?%DI%-:i%[:%ca4y=JBɮ=kA= EjhaeFNOT Ignoring new targets: 116.16 m.Rhm8Zhm8} ProNav: ac range: 116.162094 m, nav range: 113.546677 m, bearing: 66.381914 deg, approach rate: -0.697585 m/s, LOS rate: 0.003651 deg/s, cmd heading: 70.959163 deg, new cmd heading: 70.963720 deg. BhZ 9HeadingCmd: 1.238551 target range: 116.162094 and range: 116.70 m.hӈ?h*h"h hgfffdddjdZd?Bɢ8,=) c=i)=i"iӈ?jy;w ԡ E%  E% E% &E! "E% :*E% :VE% 4ZE! a- @a- @a- @a- @i,I?AF6?Fz?Fa=ٱF`1+ RAHRS rotation from veh to nav: [[0.322252,-0.936249,-0.139971],[0.945051,0.309568,0.105105],[-0.055074,-0.166150,0.984561]]FH`Ɵ?=??/?2iDſ?iF6?IFC];DYZυByZ$Ii=Mb@Mb@Mb@9999 99= rh?QY=,?y=u== A9 =@)99Y=A Up9iYi=uSGyurFuEu>yQ 54?Q 94$)BY9-?Q E:yȓ?Q I?DI:i:h4y$BɮAEjhFNOT Ignoring new targets: 116.16 m.Rh7Zh7] ProNav: ac range: 116.162094 m, nav range: 113.265259 m, bearing: 66.382489 deg, approach rate: -0.676037 m/s, LOS rate: 0.001385 deg/s, cmd heading: 70.963719 deg, new cmd heading: 70.965448 deg. Bh]Ss8eHeadingCmd: 1.238581 target range: 116.162094 and range: 116.70 m.heЉ?ha*hi"hi higififqfZBdddjdZd8 @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2513555Bɢ5$=)1 5=i1)==99i=pBB$IB݅BBBBBjw;B81EBeCBeCBaBe =Be =CeǵN4^A <A>A> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503360 A! I9 IQ Om >,B?A2ׂ?2Þ?2d=ٱ2D, :AHRS rotation from veh to nav: [[0.323980,-0.935568,-0.140536],[0.944418,0.311070,0.106345],[-0.055776,-0.167179,0.984348]]2H`?`+ 8??g9?઎fſ?i2ׂ?I2];2CYv҅Byv$IbD~VD~y vF<% P=ٔ :Q->9Y=SGysFޙE>!Q 5-4% ?Q 9-4%ň)%BY)y5?Q I5?%DI%:i%:%o4y9ɮ=A9jhamFNOT Ignoring new targets: 116.16 m.Rhu8Zhu8 ProNav: ac range: 116.162094 m, nav range: 113.000351 m, bearing: 66.383279 deg, approach rate: -0.675441 m/s, LOS rate: 0.002018 deg/s, cmd heading: 70.965447 deg, new cmd heading: 70.967822 deg. BhJ8HeadingCmd: 1.238622 target range: 116.162094 and range: 116.70 m.h,?h*h"h hgfffdddjdZd|@Bɢ'=) =i)E=ii,?iz;;I,?IE EE*E"E*E:VE(N4ZEBE<Y o,9?A2ȑ?2 }?2Y%g=ٱ2[- :AHRS rotation from veh to nav: [[0.325987,-0.934785,-0.141101],[0.943690,0.312856,0.107561],[-0.056402,-0.168219,0.984135]]2H@?`¿ 2??`!?@ି 7ſ~?i2ȑ?I2a];2CYB؅ByB$I DDi Mb@Mb@Mb@     9 |?5^?V- rh?Y -?y m C<  @ Z@) ?A Y AbD%VD%Ny5<%5G=ٔ=k:Q-=>99Y9==SGyEtFEǪEE>Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008937Q 5}4MF?Q 94M )MBY.?Q E:yG?Q I?MDIMĺ,?A2R?2=?2Li=ٱ2.. :AHRS rotation from veh to nav: [[0.327798,-0.934095,-0.141475],[0.943031,0.314489,0.108575],[-0.056927,-0.169006,0.983970]]2H?¿O-? ?˻?%@ſ|?i2R?I2@];2CYBԅByB$IhhbDnVDn:yr%vM=ٔv:Q-v>9tYx=zSGyzuF~E~>|Q 54~~?Q 9 4~{)~BY y  ?Q I ?~ DAAAABBB$IBȅBBBBB:w;B 1EI~6:i~;~}4y9ɮ=A9jhaeFNOT Ignoring new targets: 116.16 m.Rhmd7Zhmd7} ProNav: ac range: 116.162094 m, nav range: 112.449173 m, bearing: 66.383595 deg, approach rate: -0.732468 m/s, LOS rate: 0.000781 deg/s, cmd heading: 70.967906 deg, new cmd heading: 70.968776 deg. BhM 8HeadingCmd: 1.238639 target range: 116.162094 and range: 116.70 m.h?h*h"h hgfffdddjdZdr @Bɢ $+=) PC=i)&W=ii?$z;:I?IiM9@I @I@U/@QUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.513006ԑ^A 7;AzAbEU:4jEU:4rEUȻ0E EE)E"E&:*E:VEFA4ZEBEc; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763261 0 ,)?A60!?6u ?61k=ٱ6q. BAHRS rotation from veh to nav: [[0.329209,-0.933610,-0.141401],[0.942512,0.315794,0.109299],[-0.057389,-0.169254,0.983900]]6H?!l¿ )?@5?`? bſ@|?i60!?I6H]];6CYFمByJ$IbDRVDRNyZ<%ZL=ٔZi:Q-^>9\Y\=^SGybvFbvEb>dQ 5j4f&?Q 9j4ft)fBYhyjؓ?Q In?fDIf;if;f4ypɮrkApjh  FNOT Ignoring new targets: 116.16 m.Rhb7Zhb7% ProNav: ac range: 116.162094 m, nav range: 112.176430 m, bearing: 66.384095 deg, approach rate: -0.688732 m/s, LOS rate: 0.001266 deg/s, cmd heading: 70.968773 deg, new cmd heading: 70.970277 deg. Bh-v^8-HeadingCmd: 1.238665 target range: 116.162094 and range: 116.70 m.h-?h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE@mBɢu~#.=)q uz=i)Ӊ=顙ii?Uy;+:I?I@ @@@9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.016470i ^A ?B:E  E E (E "E *E :VE c44ZE a @a @a @a @A .AI I O >ȼ,C?A8YՅBy$II=)C=iMb@Mb@Mb@ 9> ףp=?Zd;OZd;O?Y1?yj<j<A@ p@)VAYAbDVDy%==ٔQ->9 ?Y ?=SGywFE>Q 540?Q 94m)BYh2?Q E:yn?Q I?.DI;ip;-4yBɮwAEjh%FNOT Ignoring new targets: 116.16 m.Rh%ٸZh-ٸ= ProNav: ac range: 116.162094 m, nav range: 111.875504 m, bearing: 66.381533 deg, approach rate: -0.696485 m/s, LOS rate: -0.005947 deg/s, cmd heading: 70.970276 deg, new cmd heading: 70.962568 deg. Bh=EHeadingCmd: 1.238530 target range: 116.162094 and range: 116.70 m.hE*?hA*hA"hA hAgAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.267434fffBdddjdZdv;@ԡ%Bɢ%b+=)! %Hd=i))-=))i-5i5*?5tAy;5Q:I5*?I99@ @@'0@B1B1B5$IB5ÅBB1B1B1B5Bw;B5$1E ^A " checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521068A ؟AI I O > ,K]?A06??6?6o=ٱ6%0 >AHRS rotation from veh to nav: [[0.332865,-0.932196,-0.142168],[0.941160,0.319079,0.111386],[-0.058471,-0.170879,0.983556]]6HM? `2¿ ?k?Ƀ? ﭿ]ſIy?i6??I6];6CYF߅ByF$I LN4<bDR VDR2yZA=%ZU=ٔZ9;Q-Z>9^"?Y^"?=^SGy^xFb&Eb>dQ 5j4fO9?Q 9j4f&g)fBYhyj?Q Ij?f?DIf<:if:fᒝ4ypɮr,Apjh  FNOT Ignoring new targets: 116.16 m.RhZh% ProNav: ac range: 116.162094 m, nav range: 111.608154 m, bearing: 66.379771 deg, approach rate: -0.696915 m/s, LOS rate: -0.004604 deg/s, cmd heading: 70.962565 deg, new cmd heading: 70.957266 deg. Bh%;J-HeadingCmd: 1.238438 target range: 116.162094 and range: 116.70 m.h-"?h)*h1"h1 h1g1f1ffdddjdZd@ Bɢ 3=)  x=iD9D=<EE EEEAEA"EE;*EEM:VEAZEABEE9CJ,fw?Ajchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.024650lvsx?vc?v`q=ٱvw0ugG AHRS rotation from veh to nav: [[0.334027,-0.931782,-0.142157],[0.940717,0.320125,0.112121],[-0.058964,-0.171181,0.983474]]vH`?'42¿ [?|?`?0Bſx?ivsx?Ivf\;tʰ9YtAY݅By$IiMb@Mb@Mb@ 9v?y&1~jt?Y8?y`弙<dA @)AY(AbD=VD=βye(%m&=ٔ:Q->9Y=SGyyF"E>Q 54wD?Q 94D^)BY9?Q E:y;?Q I?WDI;i(;4yɮ;AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 116.16 m.RhiZhi- ProNav: ac range: 116.162094 m, nav range: 111.245743 m, bearing: 66.372568 deg, approach rate: -0.720189 m/s, LOS rate: -0.014361 deg/s, cmd heading: 70.957264 deg, new cmd heading: 70.935584 deg. Bh-5HeadingCmd: 1.238060 target range: 116.162094 and range: 116.70 m.h5x?h1*h9"h9 h9g9f9fAfEȅBdAdAdIjdIZdM@uBɢ} 0=)y }=iy)}F=yi]ix?}w;AIIx?IEM EMEM&EI"EMT;*EM:VEM4ZEIa]@a]@a]@a]@%9@! @!@%4@!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.275208I ^Ae 7A .AB A <B `>B B $IB ȅBB B B B gw;B 81EI I O >$,b?A@2rg?2R?2r=ٱ2Z+/X ^AHRS rotation from veh to nav: [[0.334509,-0.931813,-0.140813],[0.940526,0.320699,0.112085],[-0.059284,-0.169931,0.983671]]2Hh?i%¿?U? ?rZ@Oſ;z?i2rg?I2y\;0YzByz$I ||bD VD:2y<%i=ٔ~v:Q-?9% ?Y% ?=%SGy%zF%ǺE%?)Q 554- L?Q 9=4->X)-ߏBY9y=(?Q I=?-fDI-F:i-:-4yAɮMAIjhiuFNOT Ignoring new targets: 116.16 m.Rhu Zh}  ProNav: ac range: 116.162094 m, nav range: 110.999886 m, bearing: 66.367727 deg, approach rate: -0.725686 m/s, LOS rate: -0.014321 deg/s, cmd heading: 70.935585 deg, new cmd heading: 70.921030 deg. Bh?mHeadingCmd: 1.237805 target range: 116.162094 and range: 116.70 m.hmip?hq*hq"hq hqgyfffdddjdZd@i)I-A=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528857颍Bɢz5=) x=i)=顑iiip?v;~lUIip?I9@9 @9@=2@9 E EE'E"EV:*E|:VE'4ZEBE9ê*,?AnManaging dock network, ignoring radio surface power off)Y5By5$IQQbD]VD]1yun"=%uE=ٔ}Q-}>9Y=SGy{FE>Q 545V?Q 94+P)܏BYy!Q I%?|DI.P2,?AVx}?Vh?V 0u=ٱV) ^AHRS rotation from veh to nav: [[0.333866,-0.932770,-0.135917],[0.940720,0.320560,0.110846],[-0.059825,-0.164868,0.984500]]VH^?@e@a? ?k`?@R`bſ?iVx}?IV<\;VCYfByf$IiUMb@Mb@Mb@QQQQ Q9U'1Z?I +?YUB?yU̼U949Y=SGy}F:E>Q 54`?Q 94G)ՏBYB?Q E:y?Q I?DI:i:j4 yEBɮMAMEjhFNOT Ignoring new targets: 116.16 m.RhZh ProNav: ac range: 116.162094 m, nav range: 110.329025 m, bearing: 66.353843 deg, approach rate: -0.813153 m/s, LOS rate: -0.017590 deg/s, cmd heading: 70.901400 deg, new cmd heading: 70.879257 deg. Bh'AHeadingCmd: 1.237076 target range: 116.162094 and range: 116.70 m.hX?h*h"h hgfffBdddjdZdd@ɢJ:=) =i)BE=i+iX?t;IX?IB9B9B=$IB=҅BB= =B9B9B=Rw;B=.1E9@ @@/@@@@@1checking for new query: numPingsReceived=0, elapsed TxPingTime=6.535498aA ؟AI I O >EE  EE EE *EA "EE ;ԡ *EE :VEE (N4ZEA BEE TQ9 "?Y "?=SGy~F:E>Q 5%4i?Q 9%4@)ϏBY)y-?Q I-?DI1:i:/4y5ߗBɮ5A1jhYeFNOT Ignoring new targets: 116.16 m.Rhe9Zhe9u ProNav: ac range: 116.162094 m, nav range: 110.034599 m, bearing: 66.347370 deg, approach rate: -0.809180 m/s, LOS rate: -0.017838 deg/s, cmd heading: 70.879257 deg, new cmd heading: 70.859786 deg. BhuC}HeadingCmd: 1.236737 target range: 116.162094 and range: 116.70 m.hbM?h*h"h hgfffdddjdZd#@颽Bɢ>=) =i)V=iXibM?'*t;EԧIbM?Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=6.795850qu9@q @q@u/@qIiIԩO?> checking for new query: numPingsReceived=0, elapsed TxPingTime=7.047308 /?,?A2]?2?2j6u=ٱ2( :AHRS rotation from veh to nav: [[0.332806,-0.933314,-0.134776],[0.941095,0.319658,0.110266],[-0.059831,-0.163534,0.984722]]2HL?U@s?@Gu?c:?`Ŀ ׂ?i2]?I2\;2CYBByB$IiMb@Mb@Mb@ 9 rh?Mb`?~jth?YCK?y;D;zA ) AYA %;%bD-VD-y=+<%=G=ٔEOQ-E>9AYA=ESGyEFMQ:EM>QQ 54Ur?Q 94U|8)UŏBYDK?Q E:y?Q I?UDIU[I)7?Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.2999619@ @@/@A>A>IIO>) A5 @AA5 @AB= b>B9 B= $IB= ؅BB= =B9 B= DB= >w;B= $1EBBBBBC%4F,?A >Dˁ?>?>t=ٱ>̋' JAHRS rotation from veh to nav: [[0.331637,-0.933826,-0.134113],[0.941525,0.318638,0.109547],[-0.059564,-0.162601,0.984892]]>H9?* ?d?F ?2Ŀ =?i>Dˁ?I>\;9lYl=nSGynFnLQ;Er>pQ 5v4rM{?Q 9z4r0)rBYxyz?Q Iz?rDIr";ir#;r1Ɲ4yɮDAjh)-FNOT Ignoring new targets: 116.16 m.Rh5Zh5E ProNav: ac range: 116.162094 m, nav range: 109.400948 m, bearing: 66.321897 deg, approach rate: -0.840218 m/s, LOS rate: -0.034256 deg/s, cmd heading: 70.820927 deg, new cmd heading: 70.783140 deg. BhEMHeadingCmd: 1.235399 target range: 116.162094 and range: 116.70 m.hM!?hI*hQ"hQ hQgQfQfYfYdYdYdajdaZde@aY@颉ɢe7=) Р=i)<=顙ii!?f?s;:I!?I-9@) @)@50@1iIIO=E EE'E"E:*E:VE'4ZEBE39IYI=USGyUFUPD;EU>YQ 5e4]̆?Q 9e4]')]BYm)P?Q Em:ym?Q Im?]DI] ;i]* ;]Ν4yuBɮuA}EjhFNOT Ignoring new targets: 116.16 m.Rh>Zh> ProNav: ac range: 116.162094 m, nav range: 109.008324 m, bearing: 66.309701 deg, approach rate: -0.810593 m/s, LOS rate: -0.025271 deg/s, cmd heading: 70.783142 deg, new cmd heading: 70.746421 deg. BhHeadingCmd: 1.234758 target range: 116.162094 and range: 116.70 m.h ?hchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.055485*h"h hgfffBdddjdZd % @BɢM6=) =i) =i3i% ?%s;-C;I- ?I)9@ @@H0@E EEE"E;*E:VEZEa@a@a@a@^A A zA  Ia Iq O >} checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307338(S,)AM?AFR?F?F- s=ٱFF% RAHRS rotation from veh to nav: [[0.329542,-0.934751,-0.132826],[0.942277,0.316784,0.108456],[-0.059302,-0.160899,0.985188]]FH7?zn`!'?@0F?û?\ YĿ@?iFR?IF\;FCYVۅByV$I^@A^@AbDbVDbkyjO%j}=ٔjQ-n ?9lYl=rSGyrFr;Er ?tQ 5z4vs?Q 9z4v )vBYxy~қ?Q I~?|vDIvl,;iv-;vOԝ4y ɮ A jh15FNOT Ignoring new targets: 116.16 m.Rh=ZhEU ProNav: ac range: 116.162094 m, nav range: 108.746475 m, bearing: 66.301410 deg, approach rate: -0.808806 m/s, LOS rate: -0.025671 deg/s, cmd heading: 70.746423 deg, new cmd heading: 70.721490 deg. BhUUHeadingCmd: 1.234323 target range: 116.162094 and range: 116.70 m.h]K?hY*hY"hY hYgafafafadadidijdiZdm @颙ɢ:=) =i)]=顡iWiK?s;;IK?IBc>BBBB =BBBCw;B(1Eq@q @q@uA4@q)^AMjZ:IIO >checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559281Qԁ bEc44jEʭ54rEʝ/E%  E% E% ,E! "E% :*E% :VE% g4ZE! BE% 59tYt=vSGyvFvg;Ez>xQ 54z?Q 94z})zBYy?Q I?z DIz;izP;ze۝4yBɮAjh1YFNOT Ignoring new targets: 116.16 m.RhZh ProNav: ac range: 116.162094 m, nav range: 108.418045 m, bearing: 66.290705 deg, approach rate: -0.811153 m/s, LOS rate: -0.026519 deg/s, cmd heading: 70.721493 deg, new cmd heading: 70.689281 deg. BhHeadingCmd: 1.233761 target range: 116.162094 and range: 116.70 m.h?h*h"h hgff!f!d!d!d)jd)Zd-!@=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811480Bɢ.=)  Z=i)=ii%?%Ws;%߶;I-?Iiԉ@ @@3@@ R=@ =Թ^Ayb]; checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063287 A% .AI I O >:`,Q?A:sm?:X?:)p=ٱ:6% BAHRS rotation from veh to nav: [[0.326991,-0.935663,-0.132708],[0.943209,0.314421,0.107224],[-0.058599,-0.160233,0.985338]]:Hm?`.?w? s?Ŀ@?i:sm?I:\;:CY^Byb$IIb=)b=iEMb@Mb@Mb@AAAA A9EGz?{Gz:vYEP?yE#ETEAE@ EA)E AAYEfAbD]VD]ym1%mB=ٔu+2Q-u>9u ?Yu ?=}SGy}FXG;E>Q 54塌?Q 94)BYP?Q E:yv?Q I?" DI ;i ;4yBɮAݨEԹB*** querying acoustic contact ***i ijhE EE)E"E:*E:VEFA4ZEa@a@a@a@uFNOT Ignoring new targets: 116.16 m.Rh}Zh} ProNav: ac range: 116.162094 m, nav range: 108.075127 m, bearing: 66.278803 deg, approach rate: -0.809018 m/s, LOS rate: -0.028168 deg/s, cmd heading: 70.689282 deg, new cmd heading: 70.653464 deg. BhHeadingCmd: 1.233136 target range: 116.162094 and range: 116.70 m.hcם?h*h"h hgfffBdddjdZd"@QɢUAW'=)Y ]df,њ?A2ֆ?2r?2jo=ٱ2&# :AHRS rotation from veh to nav: [[0.326264,-0.936145,-0.131092],[0.943472,0.313924,0.106363],[-0.058418,-0.158384,0.985648]]2H`?@0?R?:?譿EĿm?i2ֆ?I2ܾ\;2CYBByBy$I J49"?Y"?=SGyF;E> Q 54 ?Q 94 0) BY9y=?Q I=? 6 DI `;i ; 4yAɮMAIjhFNOT Ignoring new targets: 116.16 m.Rh>Zh> ProNav: ac range: 116.162094 m, nav range: 107.760208 m, bearing: 66.267672 deg, approach rate: -0.796861 m/s, LOS rate: -0.028249 deg/s, cmd heading: 70.653464 deg, new cmd heading: 70.619973 deg. BhHeadingCmd: 1.232551 target range: 116.162094 and range: 116.70 m.h<ĝ?h*h"h hgfffdddjd Zd kA#@颱ɢ{$=) ԙ :l,?Ar)?rl?rƤn=ٱri# AHRS rotation from veh to nav: [[0.325654,-0.936305,-0.131460],[0.943694,0.313315,0.106181],[-0.058230,-0.158637,0.985618]]rH?6@`2?`\ ?`.?FЭ`4NĿ/?ir)?Ir\;rCYByl$Iq C-GAYz9YGbAiMb@Mb@Mb@ 9ˡE?MbYG?y̼A@ A) AY Ai߱I߱9 ?Y ?=SGyF:E>Q 54?Q 94)uBYH?Q E:y?Q I?O DI:i:H4y Bɮ AިEjh1=FNOT Ignoring new targets: 116.16 m.Rh=OZh=O ProNav: ac range: 116.162094 m, nav range: 107.371704 m, bearing: 66.257926 deg, approach rate: -0.791405 m/s, LOS rate: -0.019923 deg/s, cmd heading: 70.619976 deg, new cmd heading: 70.590634 deg. BhZHeadingCmd: 1.232039 target range: 116.162094 and range: 116.70 m.ht?h*h"h hgfff%Bd!d!d)jd)Zd- D$@qɢu=)y }@iy)} =ԡ顩i!I߼it?q&u;gt,pz?A2?2A?2-n=ٱ2$ :AHRS rotation from veh to nav: [[0.325315,-0.936334,-0.132093],[0.943818,0.312931,0.106214],[-0.058116,-0.159225,0.985530]]2H?rn3??0?@W|aĿv?i2?I2\;2CYBByBX$I DDBLBLBNz$IBNBBN =BLBLBN|w;BND1ExbDjVDjye%eU=ٔeQ-e>9m"?Ym"?=uSGyuFuv:Eu>yQ 54}ɿ?Q 94}G)}jBYy?Q I?}b DI};i}D;}4yɮAjhFNOT Ignoring new targets: 116.16 m.RhZh ProNav: ac range: 116.162094 m, nav range: 107.072166 m, bearing: 66.250308 deg, approach rate: -0.778758 m/s, LOS rate: -0.019862 deg/s, cmd heading: 70.590633 deg, new cmd heading: 70.567714 deg. BhZHeadingCmd: 1.231639 target range: 116.162094 and range: 116.70 m.hX?h*h"h hgfffdddjdZdc$@!ɢ%=)! %i!)- =))i-޼i5X?5u;5tz,T:?A&2Acoustic response timeoutF[?F?F:m=ٱF# RAHRS rotation from veh to nav: [[0.325019,-0.936440,-0.132071],[0.943928,0.312664,0.106026],[-0.057993,-0.159125,0.985554]]FH?@Q 4?@? $?B8^Ŀ?iF[?IF\;FCYVByZJ$IbAA`bDbVDbܲyns%nT=ٔr"Q-r>9tYt=vSGyvFzV:Ez>Q 5 4Ȍ?Q 94)^BYy$?Q I?v DI7;iJK;4y%yBɮ-;A-ԨEYjhiuFNOT Ignoring new targets: 116.16 m.Rh}UZhU ProNav: ac range: 116.162094 m, nav range: 106.771057 m, bearing: 66.242555 deg, approach rate: -0.767447 m/s, LOS rate: -0.019817 deg/s, cmd heading: 70.567711 deg, new cmd heading: 70.544386 deg. BhYHeadingCmd: 1.231232 target range: 116.162094 and range: 116.70 m.h?h*h"h hgfffdddjdZd_%@颱ɢ =) Psi)=项i]%޼i?v;:b'E=  E= E= 'E9 "E= :*E= ҆:VE= '4ZE9 aM @aM @aM @aM @s,]?A2w?2?2m=ٱ2*$ :AHRS rotation from veh to nav: [[0.325131,-0.936370,-0.132288],[0.943890,0.312751,0.106109],[-0.057984,-0.159365,0.985515]]2H?@W4??)?fĿW?i2w?I2\;2CYBByB5$Ii Mb@Mb@Mb@     9 Mb?L7A`堿9Y=SGyFwE>Q 54 ӌ?Q 94)TBYDC?Q E:y?Q I? DI;iy;H4y }Bɮ A ըEEB*** querying acoustic contact ***iA iAjhquFNOT Ignoring new targets: 116.16 m.Rh}Zh} ProNav: ac range: 116.162094 m, nav range: 106.443687 m, bearing: 66.235818 deg, approach rate: -0.755575 m/s, LOS rate: -0.015595 deg/s, cmd heading: 70.544386 deg, new cmd heading: 70.524115 deg. Bh?+HeadingCmd: 1.230878 target range: 116.162094 and range: 116.70 m.hi?h*h"h hgfffɅBdddjdZdE&@9ɢ=+=)9 =i9)E{=AAiEpݼiMi?Mܘw;U2Acoustic response timeoutMd)A > 2Acoustic response timeout9 A] .AIa Iq O >q,?A>?>?>o>n=ٱ><$ JAHRS rotation from veh to nav: [[0.325409,-0.936237,-0.132550],[0.943785,0.312968,0.106401],[-0.058132,-0.159722,0.985449]]>H~?@f`|3? ?=?íqĿˈ?i>?I>p\;>CYviByv$IIz%=)z=bD~VD~:y % S=ٔ9Q->9 ?Y ?=SGyFKE%>!Q 5-4%܌?Q 9-4%)%JBY1y5ט?Q I5?% DI% :i%:% 4y9ɮEAAjhamFNOT Ignoring new targets: 116.16 m.RhuZhu ProNav: ac range: 116.162094 m, nav range: 106.152855 m, bearing: 66.229846 deg, approach rate: -0.778178 m/s, LOS rate: -0.016024 deg/s, cmd heading: 70.524114 deg, new cmd heading: 70.506148 deg. Bh/HeadingCmd: 1.230564 target range: 116.162094 and range: 116.70 m.h#?h*h"h hgfffdddjdZdc'@-Bɢ-Sq<)- 5i1)G=顑iܼi#?kx;I#?IE EE*E"E:*EM:VE(N4ZEBE.0ˍ,9?Av?v[u?vn=ٱv% AHRS rotation from veh to nav: [[0.326172,-0.935918,-0.132922],[0.943510,0.313643,0.106848],[-0.058311,-0.160264,0.985350]]vH?  <1?@?jZ?ڭĿ@?iv?Iv\;vCY \By$IiMb@Mb@Mb@ 9'1Z?Q롿~jtxYB?y\ĻzA@ )$ AYA ;p;2Acoustic response timeoutbDVD02yAs%>=ٔ9Q->9"?Y"?=SGyFbE>Q 54@挊?Q 94)ABYC?Q E:yz?Q I? DI ;i ;v4yɮAijhFNOT Ignoring new targets: 116.16 m.Rh~Zh~ ProNav: ac range: 116.162094 m, nav range: 105.826775 m, bearing: 66.223610 deg, approach rate: -0.725871 m/s, LOS rate: -0.013925 deg/s, cmd heading: 70.506151 deg, new cmd heading: 70.487385 deg. BhHeadingCmd: 1.230237 target range: 116.162094 and range: 116.70 m.hhx?h*h"h hg)f)f)f5Bd1d1d1jd1Zd=@M(@颁ɢJ<) &*i)r=iۼihx?Sy;|" u ,~S?ABe>BCB)$IBwBB =BBBw;Bp1EBBBB =B =C95B9f?B|Q?BGp=ٱB& NAHRS rotation from veh to nav: [[0.327199,-0.935472,-0.133538],[0.943135,0.314524,0.107570],[-0.058628,-0.161141,0.985188]]BH@?c@).?'!??@CĿ੆?iB9f?IB\;BCYVQByV#IbD^ VD^:2yfm%j[=ٔj5_:Q-j>9lYl=nSGynFnp@En>pQ 5v4r ?Q 9z4r)r8BYxyzV?Q Iz?r DIr;ir;r4y|ɮ~`Ajh!-FNOT Ignoring new targets: 116.16 m.Rh5]Zh5]E ProNav: ac range: 116.162094 m, nav range: 105.543434 m, bearing: 66.218329 deg, approach rate: -0.803224 m/s, LOS rate: -0.015012 deg/s, cmd heading: 70.487388 deg, new cmd heading: 70.471502 deg. BhE$MHeadingCmd: 1.229960 target range: 116.162094 and range: 116.70 m.hMRo?hI*hI"hI hQgQfQfQfYdYdYdYjdYZde@(@aɢm<)q ux@iq)}=yyi}*ۼiRo?y;.ٚ,m?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251119n N?nc9?naq=ٱnӡ& AHRS rotation from veh to nav: [[0.327887,-0.935175,-0.133931],[0.942879,0.315106,0.108108],[-0.058897,-0.161728,0.985076]]nH ? $,?*??'Ŀ?in N?Inl+];nCY;By#I ))bD=VD=yUͽ%UC=ٔ]B(:Q-]>9e ?Ye ?=eSGyeFeEm>iQ 5u4m ?Q 9}4m)m.BYyy}>?Q I}?m DIm;im;mM#4y\BɮĄEjhFNOT Ignoring new targets: 116.16 m.RhZh ProNav: ac range: 116.162094 m, nav range: 105.224739 m, bearing: 66.212483 deg, approach rate: -0.758988 m/s, LOS rate: -0.013965 deg/s, cmd heading: 70.471501 deg, new cmd heading: 70.453909 deg. BhXUHeadingCmd: 1.229653 target range: 116.162094 and range: 116.70 m.hUBe?hY*hY"hY hYgYfYfafadadadajdiZdm7)@9ɢ=P<)9 =pki9)==AAiEڼiMBe?M z;MaAHRS rotation from veh to nav: [[0.328639,-0.934758,-0.134997],[0.942610,0.315699,0.108722],[-0.059010,-0.162980,0.984863]]6H`m?G)?g4?.ջ? 6Ŀ?i63?I6)];6CY'By #IiMb@Mb@Mb@ 9?{GzY@?y#3A@ A) AYQAAAbDVDy%=ٔa9Q->9"?Y"?=SGyFƺE>Q 54?Q 94o)$BYE@?Q E:yb?Q I? DI. ;i ;,4yɮAB*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 116.16 m.RhKZh%K5 ProNav: ac range: 116.162094 m, nav range: 104.829338 m, bearing: 66.206634 deg, approach rate: -0.750119 m/s, LOS rate: -0.011137 deg/s, cmd heading: 70.453907 deg, new cmd heading: 70.436295 deg. Bh55HeadingCmd: 1.229345 target range: 116.162094 and range: 116.70 m.h=0[?h9*h9"h9 h9gfffBdddjdZd(*@B<A<Bg>BB#IBNBBBBB*x;B1E1ɢ5P<)Y ]hiY)]=Yaieؼie0[?mZ{;m AHRS rotation from veh to nav: [[0.329565,-0.934338,-0.135642],[0.942275,0.316496,0.109308],[-0.059200,-0.163837,0.984710]]6H@?`\'?wA??xOĿ?i6?I6W];6CYFByF#IbDNVDN yV%V#=ٔZ9Q-Z>9Z ?Y^ ?=^SGy^F^E^>dQ 5z4f?Q 9z4fC)fBYxyzB?Q I~?f !DIf;if4;fL54y_BɮAͨEjh)-FNOT Ignoring new targets: 116.16 m.Rh5pDZh5pD ProNav: ac range: 116.162094 m, nav range: 104.452454 m, bearing: 66.201221 deg, approach rate: -0.744635 m/s, LOS rate: -0.010734 deg/s, cmd heading: 70.436298 deg, new cmd heading: 70.420000 deg. BhHeadingCmd: 1.229061 target range: 116.162094 and range: 116.70 m.hQ?h*h"h hgfffdddjdZd-R+@yɢ}4ˤ<) "i!)%=))i-h׼i]Q?] ?|;]!,?A8Yn Byn#IieMb@Mb@Mb@aaaa a9eCl?A`"Mbp?Ye;??yeYe;ae@ e(A)e AaYeA u49"?Y"?=SGyFE>Q 54?Q 94)BY??Q E:y(?Q I?#!DI ;iT ;~>4y;BɮsAèEjhFNOT Ignoring new targets: 116.16 m.Bh>BB#IB&BB =BBBx;B1ERh 3Zh 3 ProNav: ac range: 116.162094 m, nav range: 104.058685 m, bearing: 66.199086 deg, approach rate: -0.753911 m/s, LOS rate: -0.004104 deg/s, cmd heading: 70.420002 deg, new cmd heading: 70.413572 deg. Bh=4%HeadingCmd: 1.228949 target range: 116.162094 and range: 116.70 m.h%1N?h)*h"h hgfffBdddjdZd,@Bɢ%5<)i uiq)um_=qyi}ռԩi1N?|;kA,?A2?2?2}t=ٱ2!1, :AHRS rotation from veh to nav: [[0.332516,-0.932910,-0.138248],[0.941215,0.319011,0.111114],[-0.059556,-0.167068,0.984145]]H2HG?e@@o?@j?q?`0~ybſ~?i2?I2*^;2CYRByR#IbDnVDnyv0%vQ=ٔvo:Q-v>9xYq=uSGyFyE>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268520Q 54)?Q 94) BYyÔ?Q I?8!DIn?;iH@;E4y)ɮ5A1jhFNOT Ignoring new targets: 116.16 m.RhIZhI ProNav: ac range: 116.162094 m, nav range: 103.740982 m, bearing: 66.197893 deg, approach rate: -0.731671 m/s, LOS rate: -0.002756 deg/s, cmd heading: 70.413574 deg, new cmd heading: 70.409984 deg. Bh"HeadingCmd: 1.228886 target range: 116.162094 and range: 116.70 m.h#L?h*h"h hgf!f!fadadidijdiZdmj-@!ɢ%Ro<)! %Si!)-)=))i-[Լi5#L?5D:};5);I5#L?I99@ @@/@@%dA@%dAG9uAB9YA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519184 ^A] <I I) O5 >l,?ABϊ?Bv?Bnr=ٱBD+ JAHRS rotation from veh to nav: [[0.333497,-0.932682,-0.137424],[0.940894,0.320138,0.110593],[-0.059153,-0.166183,0.984319]]BHX? ?#}?O? UI@Eſ?iBϊ?IBD^;BCYRByR#Ii-Mb@Mb@Mb@)))) -9D9-K?y&1{Gzt?Y-^:?y-`e-ף;-IA-@ ))-Q A)Y- AbDEVDEyUB%UF=ٔU Q-U>9YYY=]SGy]Few+Ee>aQ 5u4e2?Q 9u4eh)eBYu:?Q Eu:yu?Q I}?eI!DIe. ;ie ;eL4y>BɮKAĨEE EEE"E:*EVEZEa@a@a@a@jh9EFNOT Ignoring new targets: 116.16 m.RhE̞ZhM̞} ProNav: ac range: 116.162094 m, nav range: 103.464020 m, bearing: 66.197866 deg, approach rate: -0.711780 m/s, LOS rate: -0.000068 deg/s, cmd heading: 70.409982 deg, new cmd heading: 70.409903 deg. Bh}>HeadingCmd: 1.228885 target range: 116.162094 and range: 116.70 m.hL?h*h"h hgfffBdddjdZd1.@Bɢ*<)! %i))-%=))i-aӼi5L?5Y};5;I5L?I9A9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771373^A;qIyIO~>AA?ABBB#IBBB =BBBx;B1Eԙ ?Ƕ,nh?A2BDAT read: Rx Time:15:10:34.9666 6TRx dataTimestamp_ set to:1761577836.4880916checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024299:m?:Y?:aq=ٱ:5, FAHRS rotation from veh to nav: [[0.334336,-0.932256,-0.138268],[0.940612,0.320903,0.110772],[-0.058897,-0.167092,0.984181]]:H@e? `IJ@~??@[? 'Acſh~?i:m?I:˧^;8YJByN|#ITTbDVVDV:y^ZO%^U=ٔb&/Q-b>9`Yd=fSGyfFfNEf>hQ 5n4jza nͶ,mW8?AFO?F-;?Fm=ٱF, NAHRS rotation from veh to nav: [[0.335210,-0.931941,-0.138276],[0.940357,0.321916,0.109999],[-0.057999,-0.166901,0.984266]]FHt? v f?D?@(?`@]ſ?iFO?IF(^;FCYjBynz#IbDzVDzk1y*%E=ٔaQ->9 Y = SGy F$E>Q 5%4F?Q 9%4g)BY!y%?Q I-?o!DI:i:Z4y9ɮ=AAjhFNOT Ignoring new targets: 116.16 m.1Rh97Zhm97 ProNav: ac range: 116.162094 m, nav range: 102.881660 m, bearing: 66.198245 deg, approach rate: -0.706363 m/s, LOS rate: 0.000635 deg/s, cmd heading: 70.410228 deg, new cmd heading: 70.411043 deg. Bh!7%HeadingCmd: 1.228904 target range: 116.162094 and range: 116.70 m.h-L?h)*h1"h1 h9gADAT read: 15:10:34.9666 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 246,-0.09,-1.278,-2.823,-0.890,-1.357, PHS= 0.181,-1.421, 0.423, RAW= 156.9, 9.5, CAL= 156.7, 10.1, ROT= 353.3, -10.1 Ygot valid direction response: 15:10:34.9666 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 246,-0.09,-1.278,-2.823,-0.890,-1.357, PHS= 0.181,-1.421, 0.423, RAW= 156.9, 9.5, CAL= 156.7, 10.1, ROT= 353.3, -10.1 PDAT read: Bearing 217.8, -11.9 (Local) ~Local bearing/azimuth received: Bearing 217.8, -11.9 (Local) DAT read: Range 11 to 50 : 104.9 m (Round-trip 139.9 ms) speed 0.7 m/s *DAT read: user:988> BDAT read: Tx time:15:10:36.0726 $Ping request sent.ieT㵿eu>eLB/@e)>e /@ eJ4>)eQ@IeJ4aaeMo*;? "F?Ƹљ;? e%?)e(Ie|ieJ4aa:publishing transmit ping timeFpublishing direction and range infoyaeIyI?!* g:ujr?Yaaaaa afAffddd jd 9Z@Zd _?UBɢU {E<)Y ]hž)aIaiaaaaa a)aIaaaeMo*;? "F?Ƹљ;? a)aIaiaaaiy)}_=顁iмiL?!R};DY;IL?IY9@ @@/@E EE(E"E:*E҆:VEc44ZEa@a@a@a@ԁ^A vт;A >A >I9 II O] >Ա QԶ,OR?AY~ۄBy~i#IBi>BBz#IBBBB?DBBx;B1EiMb@Mb@Mb@ A9}?5^I?MbMb`?YMB?y;A@ A) AY AbDVDβys%>=ٔQ->9Y=SGyFE>Q 54,R?Q 94)BYB?Q E:y?Q I?!DIX;i ;b4y Bɮ A Eiis??AJiBRiBjiA`?b+JY@jZ:\'O2@RIyI?!* g:ujr?Zi|biJ4ji6 WoE@t4m_W@:P5,@Z9xߔF?X?I?2iRB:iz+B"in?*iBiBig ?iiBirBij?ԙ addTargetRange:: Added new target pos. range: 104.900002 m, deltaT: 16.133882 s, deltaX: -11.799995 m, approachRate: -0.731380 m/s, rangeRepo size: 4  Added new target pos. range: 104.418541 m, bearing: 65.521299 deg, lat: 36.779287 deg, lon: -121.859525 deg, deltaT: 16.133882 s, deltaX: -11.743553 m, approachRate: -0.727881 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 104.42 m.RhZh ProNav: ac range: 104.418541 m, nav range: 102.723389 m, bearing: 65.986857 deg, approach rate: 0.000000 m/s, LOS rate: 0.000635 deg/s, cmd heading: 70.411040 deg, new cmd heading: 70.411854 deg. BhHeadingCmd: 1.228919 target range: 104.418541 and range: 104.90 m.h5M?h*h"h hgfffBdddjdZd?=Bɢ=p;)A EҾiA)E=Aiimϼim5M?u_C};uK`;Iu5M?Iq=9@9 @A@E/0@A^Ae 8F;E  E E E "E *E :VE ZE BE >9 E|ڶ,k?A2?2< ?2g=ٱ2$, :AHRS rotation from veh to nav: [[0.336612,-0.931293,-0.139234],[0.939941,0.323422,0.109134],[-0.056605,-0.167607,0.984228]]2H ?&@h ?@?4? D&tſ~?i2?I2^_;2CYBЄByB[#IbDJVDJ2yV[w%V`=ٔV{Q-V>9XYX=ZSGyZFZrE^>`Q 5f4b[?Q 9f4b)bBYdyfz?Q If?b!DIb:ib:beh4ylɮnqAljh FNOT Ignoring new targets: 104.42 m.RhNk8ZhNk85 ProNav: ac range: 104.418541 m, nav range: 102.445518 m, bearing: 65.987998 deg, approach rate: -0.780657 m/s, LOS rate: 0.003214 deg/s, cmd heading: 70.411853 deg, new cmd heading: 70.415286 deg. Bh=/ 9EHeadingCmd: 1.228979 target range: 104.418541 and range: 104.90 m.hE,O?hA*hI"hI hIgIfQfQfQdddjdZd`D?Yɢ]1;)a e>ݾia)eG=aaieOμim,O?mQ};md;Iu,O?I)@) @)@-4@)9^AuqZ;i A .AI I O >c,Zԅ?A 2 ?2?2iae=ٱ22- >AHRS rotation from veh to nav: [[0.337269,-0.930903,-0.140250],[0.939743,0.324057,0.108949],[-0.055972,-0.168544,0.984104]]2Hϕ?@@`?Z?`? W ݒſ}?i2 ?I2=`;2CYB„ByFJ#IiEMb@Mb@Mb@AAAA A9ET㥛 ?Mb{Gzt?YEA?yAEף;EEAE@ EQA)Ed AAYE AbD] VD]:2ym{%m>=ٔuQ-u>9u ?E EE)E"EV:*E:VEFA4ZEa@a@a@a@Yu ?=SGyFϺE>Q 54Bg?Q 94{)BYA?Q E:yi?Q I?!DI :i:o4yɮAjhFNOT Ignoring new targets: 104.42 m.Rhv8Zhv8 ProNav: ac range: 104.418541 m, nav range: 102.118820 m, bearing: 65.989444 deg, approach rate: -0.758650 m/s, LOS rate: 0.003369 deg/s, cmd heading: 70.415289 deg, new cmd heading: 70.419641 deg. Bh9HeadingCmd: 1.229055 target range: 104.418541 and range: 104.90 m.hQ?h*h"h hgf f f fBd ddjdZd?EBɢE`b;)A EiA)MP=IIiM̼iUQ?U |;U:IUQ?IYi @  @ @ /@ ԙB<A<BBBZ#IBτBB =BBBx;B1EBECBECBABE =BE =CE4^Am] ;AyzA}eA A I I O ,?A:?:ٜ?:?b=ٱ:. BAHRS rotation from veh to nav: [[0.338078,-0.930414,-0.141534],[0.939497,0.324836,0.108751],[-0.055208,-0.169737,0.983942]]:H`?¿`\??׻?FD`ſ@s|?i:?I:4`;:CYJByJB#IP PPbDV VDV2yb%bV=ٔb5Q-b>9dYd=fSGyfFfkEj>hQ 5n4jEq?Q 9r4j9t)jBYpyrN?Q Ir?j!DIj/;ij;jv4yv"Bɮz.AzE B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 104.42 m.Rh%A8Zh%A85 ProNav: ac range: 104.418541 m, nav range: 101.832527 m, bearing: 65.990851 deg, approach rate: -0.755548 m/s, LOS rate: 0.003723 deg/s, cmd heading: 70.419640 deg, new cmd heading: 70.423871 deg. Bh5#9=HeadingCmd: 1.229128 target range: 104.418541 and range: 104.90 m.h=T?h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU@V?}Bɢȧ:) )i)m=顁i'˼iT?h|; E>:IT?IQ@Q @U@Q@QE EE(E"E:*E:VEc44ZEBE6! ,~?A2Ѐ?2%?2w^=ٱ20 :AHRS rotation from veh to nav: [[0.338926,-0.929907,-0.142836],[0.939252,0.325698,0.108289],[-0.054177,-0.170861,0.983804]]2H ?uH¿ Z?9Z"?YZ"?=ZSGyZFZ&EZ>\Q 5b4^{?Q 9f4^l)^ݎBYdyf2?Q If?^!DI^(:i^:^}4yjBɮnAnE|jh FNOT Ignoring new targets: 104.42 m.Rh%8Zh%8 ProNav: ac range: 104.418541 m, nav range: 101.529205 m, bearing: 65.992496 deg, approach rate: -0.756012 m/s, LOS rate: 0.004113 deg/s, cmd heading: 70.423874 deg, new cmd heading: 70.428825 deg. Bh49 HeadingCmd: 1.229215 target range: 104.418541 and range: 104.90 m.h V?h*h!"h! h)g)fyffdddjdZd@?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.006326Bɢ.;) /i) =iCʼiV?G{;SgIV?I)@ @@@YE EE'E"E:*E:VE'4ZEa@a@a@a@^A 9ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256424A I I O >,e?AJ㼀?J&?J(Y=ٱJ. fAHRS rotation from veh to nav: [[0.339518,-0.929798,-0.142136],[0.939099,0.326550,0.107046],[-0.053117,-0.169824,0.984042]]JH ?@1¿` ?2?ag?2`̼ſ`E}?iJ㼀?IJ˕a;JCYjByj2#IB!B!B%A#IB%BB% =B!B!B%x;B%1EYiMb@Mb@Mb@ 9+?v/:v?Y??yxiT<`A@ VA)h AYf AbDVD1y%+=ٔQ->9Y=SGyF E >Q 54A?Q 94Md)َBYS@?Q E%:y%t?Q I%?!DIv:i:4y)ɮ-yA1jhQ]FNOT Ignoring new targets: 104.42 m.Rh]ƴZh]ƴm ProNav: ac range: 104.418541 m, nav range: 101.168480 m, bearing: 65.992459 deg, approach rate: -0.751834 m/s, LOS rate: -0.000077 deg/s, cmd heading: 70.428826 deg, new cmd heading: 70.428715 deg. BhuXuHeadingCmd: 1.229213 target range: 104.418541 and range: 104.90 m.huV?hy*hy"hy hygyfyffbBdddjdZdk@5Bɢ5@::)9 =;i9)=m =99i=ȼiEV?ԉy;{;:IV?IY@Y @Y@Y@a@e=@e=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512669Ա^A !8bE)jE-:4rE-ʈ/E  E E *E "E V:*E :VE (N4ZE BE 9,?AV?V한?VU=ٱV=. fAHRS rotation from veh to nav: [[0.340058,-0.929663,-0.141728],[0.938959,0.327306,0.105956],[-0.052115,-0.169108,0.984219]]VH?̿$$¿@ ?@??`Ʈ@Tſ`~?iV?IV;a;VCYrByr4#IIv>)vp;bDzVDz:y/<%b=ٔ 5Q- >9 Y =SGyFʺE>!Q 5-4%?Q 9-4%])%֎BY)y-a?Q I5?%!DI%:i%:%A4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763650yEBɮEAIjhiuFNOT Ignoring new targets: 104.42 m.Rh}SE6Zh}SE6 ProNav: ac range: 104.418541 m, nav range: 100.897888 m, bearing: 65.992520 deg, approach rate: -0.748206 m/s, LOS rate: 0.000168 deg/s, cmd heading: 70.428717 deg, new cmd heading: 70.428900 deg. Bh6HeadingCmd: 1.229216 target range: 104.418541 and range: 104.90 m.hV?h*h"h hgfffdddjdZdP@Bɢ-)w0 5i) =i_ǼiV?z;|IV?II)IU9@Q @Q@]0@Yy^AጹBDAT read: Rx Time:15:10:38.6126 TRx dataTimestamp_ set to:1761577840.020894 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017746ԡ A I I O > ,c?AEf EfEf'Ed"Efs:*Ef:VEf'4ZEdan@an@an@an@YBy+#IyiMb@Mb@Mb@ 9y&1?QMb?Y`E?yu<vAC@ A)Y A <<bDVD2y%>=ٔQ->9Y=SGyFE>Q 54?Q 94U)юBYE?Q E:y?Q I?"DIN;i;Ó4yɮA jh)5FNOT Ignoring new targets: 104.42 m.Rh=7Zh=7M ProNav: ac range: 104.418541 m, nav range: 100.565643 m, bearing: 65.993141 deg, approach rate: -0.775396 m/s, LOS rate: 0.001455 deg/s, cmd heading: 70.428901 deg, new cmd heading: 70.430772 deg. BhM8UHeadingCmd: 1.229249 target range: 104.418541 and range: 104.90 m.hUX?h*h"h hgfffqBdddjdZd` @MBɢU:)Q UiQ)U==YYi]żi]X?ey;eY7sIeX?IaUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267797ԩe9@a @a@e/0@iA}AAA}AABBB5#IBBBBBBx;B1E^AM qԙ 5 DAT read: 15:10:38.6125 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 397,-0.23, 2.045, 0.478, 2.416, 1.994, PHS= 0.153,-1.471, 0.378, RAW= 156.4, 10.8, CAL= 156.4, 11.8, ROT= 353.6, -11.8 E Ygot valid direction response: 15:10:38.6125 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 397,-0.23, 2.045, 0.478, 2.416, 1.994, PHS= 0.153,-1.471, 0.378, RAW= 156.4, 10.8, CAL= 156.4, 11.8, ROT= 353.6, -11.8 M PDAT read: Bearing 219.8, -11.1 (Local) M ~Local bearing/azimuth received: Bearing 219.8, -11.1 (Local) U DAT read: Range 11 to 50 : 101.9 m (Round-trip 135.9 ms) speed 0.7 m/s ] *DAT read: user:989> e BDAT read: Tx time:15:10:39.7225 e $Ping request sent.e I >i I 7> R.@ A> R.@  BR>) |@I BR   SuF^M?EU?;q?  إ"?) u@I ii BR   :publishing transmit ping timea  Fpublishing direction and range infoy   S ?9NrG,?Y      ) I i      ) I    SuF^M?EU?;q?  ) I i   AQ IY Ii O} >,$?ArC?r?rM=ٱr+ AHRS rotation from veh to nav: [[0.340704,-0.929697,-0.139943],[0.938827,0.328474,0.103481],[-0.050238,-0.166638,0.984737]]rH@?  ??@}?@ٸgTſ ?irC?Ir"`;rCY%By%"#IbD=VD=yE I%mA=ٔmQ-u>9qYq=uSGyuF}ǺE}>Q 54y?Q 94M)͎BYy?Q I?#"DI%,f>?Aޑ?!}? J=ٱz* 5AHRS rotation from veh to nav: [[0.340815,-0.929779,-0.139124],[0.938828,0.328810,0.102399],[-0.049463,-0.165513,0.984966]]H? ? 7 ?6?>S`/ſ`؄?iޑ?Iq_;CYEByE%#I IIiMb@Mb@Mb@ 9/$?Mb?Y1H?yLA;@ hA) AY3 AbDVDfyt*<%3=ٔQ->9 ?Y ?=SGyF)pE> Q 54 ]?Q 94 UE) ǎBYH?Q E:y?Q I? 9"DI B;i ; (4y%Bɮ%A-EEB*** querying acoustic contact ***iA iAjhQ]FNOT Ignoring new targets: 101.43 m.Rh]&ƸZh]&Ƹ ProNav: ac range: 101.432098 m, nav range: 99.972130 m, bearing: 65.873809 deg, approach rate: -0.817901 m/s, LOS rate: -0.005414 deg/s, cmd heading: 70.432733 deg, new cmd heading: 70.425699 deg. BhmHeadingCmd: 1.229160 target range: 101.432098 and range: 101.90 m.h U?h*h"h hgfffdddjd Zd- ?颕Bɢ) i)=顙i¼i U?uvx;I U?IE EE(E"E&:*E:VEc44ZEa@a@a@a@ 𕭼 Y>i )>U T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode. @  @ @ /@ A By By B} (#IB} BBy By By B} x;B} 1EA I I) O= >;,6"Z?A>i?>?>F=ٱ>/) FAHRS rotation from veh to nav: [[0.340472,-0.929976,-0.138651],[0.939004,0.328700,0.101127],[-0.048471,-0.164625,0.985165]]>HJ?\N S ?l ?z??Ѩ@kſx?i>i?I>E_;>CYNByN#IV@AV@AbDVVDVy^H%bb=ٔbP4Q-b>9`Yd=fSGydf:Ef>hQ 5n4jؽ?Q 9r4j>)jÎBYpyr?Q Ir?jL"DIj :ij:jw4ytɮv5AxjhFNOT Ignoring new targets: 101.43 m.Rh%{ŸZh%{Ÿ1= ProNav: ac range: 101.432098 m, nav range: 99.689255 m, bearing: 65.871872 deg, approach rate: -0.785668 m/s, LOS rate: -0.005395 deg/s, cmd heading: 70.425698 deg, new cmd heading: 70.419870 deg. Bh=lEHeadingCmd: 1.229059 target range: 101.432098 and range: 101.90 m.hEQ?hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]?颅Bɢ0) Ei)0=顉iiQ?w;IQ?Iˈchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996125@ @@/@YAQIYIiO}X>ԉD=D<E EE)E"EO;*E|:VEFA4ZEBE*YAHRS rotation from veh to nav: [[0.340381,-0.929949,-0.139056],[0.939075,0.328695,0.100487],[-0.047740,-0.164788,0.985173]]2H ?# ?W ? ?@qqſ?i2?I2^;2CYFByF#IbDNVDNy=é%EC=ٔMQ-M>9QYY=]SGy]F]ˆ9Ee>qQ 5}4uȍ?Q 94u6)uBYy?Q I?ua"DIuSh;iu_i;uٰ4ԡyɮ>AjhFNOT Ignoring new targets: 101.43 m.Rh 5ĸZh 5ĸ% ProNav: ac range: 101.432098 m, nav range: 99.358261 m, bearing: 65.869569 deg, approach rate: -0.768075 m/s, LOS rate: -0.005361 deg/s, cmd heading: 70.419872 deg, new cmd heading: 70.412942 deg. Bh%sk-HeadingCmd: 1.228938 target range: 101.432098 and range: 101.90 m.h-M?h)*h)"h) h)g)f1f1f1d9d9d9jd9Zd=?mBɢm`;)i mii)ug`=iiim BiuM?u6w;}dlI}M?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5018430q @q  @q @} 4@y A >A >E  E E +E "E &:*E :VE [4ZE a @a% @a% @a% @) A ؟AI I O >6H#,č?AYnByr #IiuMb@Mb@Mb@qqqq q9uRQ?X9v:v?YuB?yuuT9"?Y"?=SGyFE>Q 54ҍ?Q 94.)BYB?Q E:yė?Q I?u"DIG;iq:4yBɮtAEjhFNOT Ignoring new targets: 101.43 m.Rh}Zh} ProNav: ac range: 101.432098 m, nav range: 99.044792 m, bearing: 65.863035 deg, approach rate: -0.776017 m/s, LOS rate: -0.016227 deg/s, cmd heading: 70.412939 deg, new cmd heading: 70.393274 deg. Bh02HeadingCmd: 1.228594 target range: 101.432098 and range: 101.90 m.hB?h*h"h! h!g!f!f)f-mBd)d)d)jd1Zd50?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751209mBɢmh)i mii)u"D!*,?AB?B•?B ==ٱBg) VAHRS rotation from veh to nav: [[0.340163,-0.929986,-0.139336],[0.939233,0.328730,0.098884],[-0.046157,-0.164505,0.985296]]BH:?s2? ?qP?ۡ ſ?iB?IB!^;BCY^By^#I fp9xYx=zSGyzF~:E~> Q 54 ݍ?Q 94 &) BYy̗?Q I%? "DI K;i L; 4y-Bɮ5[A1jhFNOT Ignoring new targets: 101.43 m.RhHZhH5 ProNav: ac range: 101.432098 m, nav range: 98.702049 m, bearing: 65.855793 deg, approach rate: -0.733323 m/s, LOS rate: -0.015549 deg/s, cmd heading: 70.393275 deg, new cmd heading: 70.371473 deg. Bh5*=HeadingCmd: 1.228214 target range: 101.432098 and range: 101.90 m.h=6?h9*h9"h9 h9g9fAfAfAdAdIdIjdiZdu@颽Bɢm) i)P*<iOi6?&v;~I6?I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255283q9@ @@@ԑ^AΒ{  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509538A .AIA Ia O >c1,?APYBy#IiMb@Mb@Mb@ 9 rh?y&1|YL?y`廙A@ A) AY( AbDVDy%;=ٔQ->9 ?Y ?=SGyFE>Q 54獊?Q 94)BYL?Q E :y z?Q I ?"DI:i:Ǟ4yɮcA5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 101.43 m.RhMZhM] ProNav: ac range: 101.432098 m, nav range: 98.356201 m, bearing: 65.842626 deg, approach rate: -0.826923 m/s, LOS rate: -0.031592 deg/s, cmd heading: 70.371473 deg, new cmd heading: 70.331834 deg. Bh]seHeadingCmd: 1.227522 target range: 101.432098 and range: 101.90 m.her?ha*ha"ha hagifififm}BdqdqdqjdyZd} `-@颥Bɢ) !i)d<顩iE EE%E"E:*E:VE 4ZEa@a@a@a@ir?eu;p9Ir?I9@ @@/@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759119 B5l>B1B5#IB5BB1B1B1B5x;B52EBBBBBCǀ4^A"9AzAeA9 A ؟AI I O% >܍7,2?A2ƀ?2ͱ?2p<5=ٱ2) :AHRS rotation from veh to nav: [[0.339389,-0.930202,-0.139782],[0.939606,0.328261,0.096880],[-0.044233,-0.164220,0.985431]]2H?7d@? ;?͸?+ſ?i2ƀ?I2}^;2CYBByB#IbDJVDJ0yRa}%Ra=ٔV­Q-V>9V"?YV"?=VSGyZFZh;EZ>\Q 5b4^e?Q 9b4^)^BYdyf?Q If?^"DI^:i^:^͞4yj–BɮjAjE9jhyFNOT Ignoring new targets: 101.43 m.RhZhchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011220 ProNav: ac range: 101.432098 m, nav range: 98.067101 m, bearing: 65.831403 deg, approach rate: -0.797783 m/s, LOS rate: -0.031061 deg/s, cmd heading: 70.331838 deg, new cmd heading: 70.298070 deg. BhHeadingCmd: 1.226933 target range: 101.432098 and range: 101.90 m.h" ?h*h"h hgfffdddjdZd`IG@uBɢu#)y }iy)}X=,U?A2{ڀ?2Ŝ?2:/=ٱ2]) :AHRS rotation from veh to nav: [[0.338836,-0.930293,-0.140519],[0.939865,0.327869,0.095686],[-0.042944,-0.164491,0.985443]]2H|?`_?@?~? ſ@?i2{ڀ?I2^;0YB{ByB"IJAAHbDNVDN1yVg%VJ=ٔVPQ-V>9XYX=ZSGyZF^:E^>`Q 5f4b?Q 9f4b)bBYdyf?Q Ij?b"DIb:ib:bԞ4ynBɮn&AnEjhFNOT Ignoring new targets: 101.43 m.Rh Zh ԙ ProNav: ac range: 101.432098 m, nav range: 97.744553 m, bearing: 65.818688 deg, approach rate: -0.796432 m/s, LOS rate: -0.031500 deg/s, cmd heading: 70.298069 deg, new cmd heading: 70.259798 deg. BhHeadingCmd: 1.226265 target range: 101.432098 and range: 101.90 m.h??h*h"h hgfffdddjdZd| @EBɢE,)A E iI)M DAT read: 15:10:42.2589 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 407, 0.16, 0.332,-1.241, 0.705, 0.273, PHS= 0.161,-1.470, 0.387, RAW= 156.4, 10.5, CAL= 156.4, 11.5, ROT= 353.6, -11.5  Ygot valid direction response: 15:10:42.2589 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 407, 0.16, 0.332,-1.241, 0.705, 0.273, PHS= 0.161,-1.470, 0.387, RAW= 156.4, 10.5, CAL= 156.4, 11.5, ROT= 353.6, -11.5  PDAT read: Bearing 219.1, -10.3 (Local)  ~Local bearing/azimuth received: Bearing 219.1, -10.3 (Local)  DAT read: Range 11 to 50 : 99.2 m (Round-trip 132.3 ms) speed 0.6 m/s  *DAT read: user:990>  BDAT read: Tx time:15:10:43.3725  $Ping request sent. i] (] $>Y ] f;>Y ] M>)Y I] MY Y ] R?g?@2`? ] "?)] B5CB5#IB5BB5 =B1B1B5x;B52Ea?C?=H*=ٱ*m) AHRS rotation from veh to nav: [[0.337923,-0.930532,-0.141131],[0.940256,0.327154,0.094282],[-0.041561,-0.164559,0.985491]]H ?¿`?`?"?uGGſ$?i?I>_;CYoBy"IiMb@Mb@Mb@ 9oʡ?{GztMbpYM?yףA@ $ A)~AYG AԉbDVD1yd%%=ٔ##Q->9Y=SGyF:E>Q 54?Q 94)BYM?Q E:y?Q I?"DI:i:ޞ4y!ɮ%A!iih?AJi}BRi}Bjil'?bG: X@N27r%[mƯ3@R46݃)?i?ZibiMj_C@/~~/V@[-1@Z g?J;$?;:D?2i|B:iB"i8?*i,Bi˦BiiiBiBi? addTargetRange:: Added new target pos. range: 99.199997 m, deltaT: 3.778687 s, deltaX: -2.700005 m, approachRate: -0.714535 m/s, rangeRepo size: 4 % Added new target pos. range: 98.745178 m, bearing: 65.869550 deg, lat: 36.779289 deg, lon: -121.859525 deg, deltaT: 3.778687 s, deltaX: -2.686920 m, approachRate: -0.711072 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 98.75 m.Rh5Zh9M ProNav: ac range: 98.745178 m, nav range: 97.297295 m, bearing: 65.800214 deg, approach rate: 0.000000 m/s, LOS rate: -0.031500 deg/s, cmd heading: 70.259800 deg, new cmd heading: 70.204896 deg. BhIUHeadingCmd: 1.225307 target range: 98.745178 and range: 99.20 m.hU֜?hQ*hQ"hQ hQgififqfu~BdqddjdX@Zd`F??Bɢ9) i)HK<i>{i%֜?%=u;%딌;I%֜?I)Ա9@ @@/@@dA@dA bE-4jEʨ,4rEJ0EE  EE EE (EA "EE l;*EE :VEE c44ZEA BEE \FA > Ae.AIiIyO?εL,rO5?Af0?f8?f =ٱfh) vAHRS rotation from veh to nav: [[0.336406,-0.930940,-0.142060],[0.940901,0.325992,0.091838],[-0.039185,-0.164559,0.985589]]fHେ?`C/¿@? ? ? Dſ ?if0?If:_;fCY]By"II=)bD5VD5yE%EN=ٔMûQ-M>9U ?YU ?=USGyUF];E]>aQ 5m4e?Q 9m4e)eBYiyu7?Q Iu?e"DIe;ie-;e4yyɮ}AyjhDNOT Ignoring new targets: 98.75 m.ԩRh$Zh$ ProNav: ac range: 98.745178 m, nav range: 96.983002 m, bearing: 65.786823 deg, approach rate: -0.841909 m/s, LOS rate: -0.035989 deg/s, cmd heading: 70.204899 deg, new cmd heading: 70.164594 deg. BhźHeadingCmd: 1.224603 target range: 98.745178 and range: 99.20 m.h̿?h*h"h hgfffdddjdZd y?颭Bɢ) i)X<顱i)i̿?.u;;I̿?I]9@Y @Y@eg1@a ^AE];A ؟AI I O >E  E E &E "E V:*E :VE 4ZE a% @a% @a% @a% @9 wS,R O?A2X?2(D?2=ٱ2 ( :AHRS rotation from veh to nav: [[0.335276,-0.931342,-0.142097],[0.941359,0.325113,0.090249],[-0.037855,-0.164023,0.985730]]2H +u?@?0¿???a Ŀ`?i2X?I2_;2CYBOByB"Ii Mb@Mb@Mb@     9  rh?Mby&1|Y CK?y  ` A @  A)  Y  A %<%<bD%VD%y5*%5L=ٔ=ZQ-=>9="?YE"?=ESGyEFEG;EE>IQ 5U4M?Q 9U4M2)MBYPK?Q E:y?Q I?M #DIMbY,h?A2x?2d?2PD=ٱ2L( :AHRS rotation from veh to nav: [[0.334379,-0.931655,-0.142158],[0.941734,0.324475,0.088617],[-0.036434,-0.163507,0.985869]]2H wf?=2¿"?0?@?`{`Ŀ=?i2x?I2_;2CYBEByB"IbDJVDJ:2yv~<%vO=ٔvvlQ-z>9xYx=zSGyzF~!;E~>Q 5 4"?Q 9 4)BY y?Q I?!#DI,:i:~4yBɮA%EjhAMDNOT Ignoring new targets: 98.75 m.RhM ZhU e ProNav: ac range: 98.745178 m, nav range: 96.353897 m, bearing: 65.764508 deg, approach rate: -0.826084 m/s, LOS rate: -0.029735 deg/s, cmd heading: 70.131173 deg, new cmd heading: 70.097435 deg. BheAmHeadingCmd: 1.223431 target range: 98.745178 and range: 99.20 m.hmc?hi*hi"hi higifqfqfqdydydyjdyZd&?颭Bɢ ) 7$i)<顱i`ic?v;# S`,҂?A<>@jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.754801e͐?e|?eX=ٱe(  AHRS rotation from veh to nav: [[0.333704,-0.931784,-0.142897],[0.942026,0.323984,0.087302],[-0.035050,-0.163746,0.985880]]eH`h[?@-@sJ¿%?%?jY?ĿS?ie͐?IeMz_;eCYABy"I !!iMb@Mb@Mb@ 9(\?/$QYG?yuA $ A)AYG AbDVDyE%/=ٔ,BQ->9 ?Y ?=SGyF:E>Q 54-?Q 94)yBYG?Q E:y?Q I?9#DI3:i:4yɮAjhDNOT Ignoring new targets: 98.75 m.RhڹZhڹ ProNav: ac range: 98.745178 m, nav range: 95.990181 m, bearing: 65.753035 deg, approach rate: -0.752831 m/s, LOS rate: -0.023837 deg/s, cmd heading: 70.097432 deg, new cmd heading: 70.062883 deg. Bh߂HeadingCmd: 1.222828 target range: 98.745178 and range: 99.20 m.h?h*h"h hgfffQBdddjdZd%|?颭BɢP]) $i)J<顱iƱi?w;#"f,s?A 2?2?2Ge =ٱ2& >AHRS rotation from veh to nav: [[0.332660,-0.932328,-0.141780],[0.942450,0.323324,0.085140],[-0.033538,-0.161943,0.986230]]2HMJ?%¿(?@X?˵?+Ŀ 2?i2?I2_;2CYF1ByF"ILLbDNVDNyV˽%Vw=ٔZQ-Z?9\Y\=^SGy^F^J_;Eb?`Q 5f4b5?Q 9f4b@)bsBYhyjә?Q Ij?bI#DIb;ib/;bn4ynBɮrArEjh DNOT Ignoring new targets: 98.75 m.RhZh% ProNav: ac range: 98.745178 m, nav range: 95.733017 m, bearing: 65.744692 deg, approach rate: -0.818376 m/s, LOS rate: -0.026621 deg/s, cmd heading: 70.062885 deg, new cmd heading: 70.037790 deg. Bh%'-HeadingCmd: 1.222390 target range: 98.745178 and range: 99.20 m.h-Gw?h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE >t@mBɢ|) y,i)f <iߒiGw?Qx;79 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508499ml, A?A@V Ɂ?VO?VP=ٱV& zAHRS rotation from veh to nav: [[0.332116,-0.932483,-0.142038],[0.942680,0.322952,0.084005],[-0.032461,-0.161795,0.986290]]VHaA?K.¿ o*? =?R?ʞ`Ŀ?iV Ɂ?IVH_;VCYBy"IbDVDy%%-C=ٔ-(Q-->9)Y1=5SGy5F=:E=>AQ 5M4E??Q 9M4E=)EkBYIyM?Q IM?E^#DIE[:iER:E4yYɮ]DAYjhDNOT Ignoring new targets: 98.75 m.RhZh ProNav: ac range: 98.745178 m, nav range: 95.406998 m, bearing: 65.733935 deg, approach rate: -0.778492 m/s, LOS rate: -0.025776 deg/s, cmd heading: 70.037791 deg, new cmd heading: 70.005407 deg. BhHeadingCmd: 1.221825 target range: 98.745178 and range: 99.20 m.hd?h*h"h hgfffdddjdZd @Bɢq) !5i)J2<iid?Ffy;FAIIO> E%  E% E% ,E! "E% ;*E% :VE% g4ZE! a- @a- @a- @a- @s,?A2Ú?2?2n=ٱ2#& :AHRS rotation from veh to nav: [[0.332004,-0.932433,-0.142625],[0.942757,0.322981,0.083025],[-0.031351,-0.162025,0.986288]]2H??~A¿@+?? %A?- <Ŀଏ?i2Ú?I2[_;2CYdydliUMb@Mb@Mb@QQQQ Q9UE?Mb9Y=SGyFV9E>Q 54I?Q 94c)eBYF?Q E:yE?Q I?s#DI:i:4ycBɮ4AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 98.75 m.RhfZhf ProNav: ac range: 98.745178 m, nav range: 95.085762 m, bearing: 65.725734 deg, approach rate: -0.773959 m/s, LOS rate: -0.019824 deg/s, cmd heading: 70.005409 deg, new cmd heading: 69.980725 deg. BhYHeadingCmd: 1.221394 target range: 98.745178 and range: 99.20 m.hV?h*h"h hgff f Bd d djdZdT@]BDAT read: Rx Time:15:10:45.9052 eTRx dataTimestamp_ set to:1761577847.328210echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013648Bɢ) 3i)".<ibiV? kz; MMBB"IBFBBBBBx;B1E 9@ @@0@9^A +WB<Iq I O >i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264740ԁ y,?A2É?2?2<ٱ2I' :AHRS rotation from veh to nav: [[0.332046,-0.932286,-0.143484],[0.942777,0.323132,0.082198],[-0.030268,-0.162567,0.986233]]2H=@? J]¿;+?0? ?Ŀ8?i2É?I2_;2CY^Bybn"I fp9tYt=vSGyvFzEz>|Q 54~"S?Q 94~)~`BY y D?Q I ?~#DI~:i~R:~4yhBɮAYjhDNOT Ignoring new targets: 98.75 m.E EEE"E:*E5:VEZEBE6 BDAT read: Tx time:15:10:47.0225 $Ping request sent.Ie">ie"e)\>e^/@eK6>eLB/@ eaF>)eP5@IeaFaaex%)?H-ƺ?VE ? e(%?)e7IeieaFaa :publishing transmit ping time Fpublishing direction and range infoyae`.",?/ g瀷,?AJJց?J?Ju<ٱJ' =AHRS rotation from veh to nav: [[0.331768,-0.932291,-0.144095],[0.942908,0.322981,0.081295],[-0.029251,-0.162840,0.986219]]JH;? Tq¿`L,? ?ϴ?@Ŀ?iJJց?IJ_;HYmBym\"IbDVD02yM%]5=ٔuQ-u>9yYy=}SGy}F}00:E>Q 541^?Q 94|)ZBYyN?Q I?#DI;i.;4yɮ:Aiim7?AJiBRiBjiԯ?bţk^W@&fZy2@R`.",?/B B "IB (BB =B B DB x;B 1EB}CB}CByB} =B} =C}ɣ59 ^A} jZX<A zA A ؟AI I O >s⇷,!?A2ށ?2Pɝ?2<ٱ2G8(8 >AHRS rotation from veh to nav: [[0.331556,-0.932210,-0.145107],[0.943019,0.322895,0.080338],[-0.028038,-0.163475,0.986149]]2H@58?`ܒ¿6-?@O?@?@ݵĿ@?i2ށ?I2_;2CYDyF["IiMb@Mb@Mb@ 9+?&1Yv>?yPAZA  A)~AY AbD%VD%Ny=mI%=B=ٔ=>Q-=>9E"?YE"?=ESGyEFE:EM>QQ 5]4Uh?Q 9]4U)UWBY]>?Q E]:y]$?Q I]?U#DIU:iU:U%4yiɮm?Ajh1=DNOT Ignoring new targets: 95.96 m.Rh=ZhEu ProNav: ac range: 95.958092 m, nav range: 94.118904 m, bearing: 65.704130 deg, approach rate: -0.736448 m/s, LOS rate: -0.008257 deg/s, cmd heading: 69.931739 deg, new cmd heading: 69.921266 deg. BhuR}HeadingCmd: 1.220356 target range: 95.958092 and range: 96.40 m.h}4?hy*hy"hy hygyfff BdddjdZd ?|Bɢ!) m>iԡ)Eн<i}証i4?c~;_b,:?AlYrByrN"Iz@AxbD~VD~0yeP%eH=ٔmQ-m>9iYq=uSGyuFuEu>yQ 54}r?Q 94})}TBYyQ I?}#DI}g:i}I:}-4yJBɮAEjhDNOT Ignoring new targets: 95.96 m.Rh!Zh! ProNav: ac range: 95.958092 m, nav range: 93.814529 m, bearing: 65.700706 deg, approach rate: -0.782772 m/s, LOS rate: -0.008833 deg/s, cmd heading: 69.921268 deg, new cmd heading: 69.910964 deg. BhHeadingCmd: 1.220176 target range: 95.958092 and range: 96.40 m.h.?h*h"h hgfffdddjdZdt?-zBɢ5.)1 5wBi9)= <99i=kiE.?E;Ed!,T?AF݁?Fɝ?F`<ٱF+ bAHRS rotation from veh to nav: [[0.331580,-0.931615,-0.148823],[0.943071,0.322971,0.079419],[-0.025922,-0.166684,0.985670]]FH@8? ÿ-??T?T Uſ?iF݁?IF9_;FCYjByjH"IABn>BBm"IBBB =BBDBGx;B1EiMb@Mb@Mb@ 9jt?Zd;O{Gzt?Y@?yj<ף;A@  A)Y AbD VD 0y%4%%?=ٔ%Q-->9)Y)=-SGy-F5rE5>9Q 5E4=2}?Q 9E4=Ħ)=SBYE!A?Q EM:yM:?Q IM?=#DI=3:i=]:=44yQɮUAQuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 95.96 m.RhueZhue ProNav: ac range: 95.958092 m, nav range: 93.491631 m, bearing: 65.695373 deg, approach rate: -0.756513 m/s, LOS rate: -0.012538 deg/s, cmd heading: 69.910961 deg, new cmd heading: 69.894907 deg. Bh HeadingCmd: 1.219896 target range: 95.958092 and range: 96.40 m.h%?h*h"h hgfffdddjdZdI?wBɢ) Ci)ȳ<iܥi%?靀;hv,‰n?ADD<bE5:4jE5FA4rE50E EE*E"EV:*E:VE(N4ZEBE99iYi=mSGymFuEu>yQ 54}?Q 94}ӟ)}RBYy4?Q I?}#DI}:i}:}1;4yɮAԙjhDNOT Ignoring new targets: 95.96 m.Rh(aZh(a- ProNav: ac range: 95.958092 m, nav range: 93.205589 m, bearing: 65.690645 deg, approach rate: -0.742107 m/s, LOS rate: -0.012303 deg/s, cmd heading: 69.894904 deg, new cmd heading: 69.880677 deg. Bh-5HeadingCmd: 1.219648 target range: 95.958092 and range: 96.40 m.h5l?hQ*hQ"hQ hQgYfYfYfYdadadajdaZde?颽tBɢ) @i)ܮ<iPbil?"J;i9IYI=USGyUFUEU>YQ 54]~?Q 94]V)]SBYgA?Q E:y?Q I?]$DI]1e,k?ARU?R?Rw<ٱR]. ZAHRS rotation from veh to nav: [[0.332479,-0.930757,-0.152145],[0.942820,0.324024,0.078091],[-0.023385,-0.169409,0.985268]]RHXG?|yÿ+?ͼ???2ſQ?iRU?IR_;RCYbByb="IbDnVDnkyr_%rG=ٔv!Q-v>9tYx=zSGyzFzE~>|Q 54~꜎?Q 9 4~)|Y y ?Q I ?~$DI~ :i~:~rJ4y-Bɮ2AwEjh9EDNOT Ignoring new targets: 95.96 m.RhE䭸ZhM䭸 ProNav: ac range: 95.958092 m, nav range: 92.546104 m, bearing: 65.686697 deg, approach rate: -0.794629 m/s, LOS rate: -0.004751 deg/s, cmd heading: 69.874290 deg, new cmd heading: 69.868785 deg. BhPHeadingCmd: 1.219440 target range: 95.958092 and range: 96.40 m.h?h*h"h hgfffdd1d1jd1Zd=r@mBɢ) (Ci ) p<i{7i?#;I?I!E EE*E"EV:*E:VE(N4ZEBEa2EaJEa:Ea@ @@/@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.980941^AaJ,8?A :?:?:;<ٱ:/ BAHRS rotation from veh to nav: [[0.333281,-0.930239,-0.153555],[0.942557,0.324836,0.077896],[-0.022581,-0.170696,0.985065]]:H xT?ധÿm)? ?? ]ſ?i:?I:W`;:CYHyH LLbDVVDVk1ٔ^Q-^>9`Y`=bSGybFb+ Ef>dQ 5j4f?Q 9n4f)fTBYlyn?Q In?f($DIf;if;fbQ4ytɮttjh DNOT Ignoring new targets: 95.96 m.RhZh- ProNav: ac range: 95.958092 m, nav range: 92.246147 m, bearing: 65.685048 deg, approach rate: -0.755400 m/s, LOS rate: -0.004167 deg/s, cmd heading: 69.868785 deg, new cmd heading: 69.863822 deg. Bh-75HeadingCmd: 1.219354 target range: 95.958092 and range: 96.40 m.h5?h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM`^ @ukBɢurL)q }Aiy)}=G u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484983BE o>BA BE N"IBE BBE =BA BE DBE w;BE 1Ew,>!?AP]?]`u?]ز<ٱ]M/ mAHRS rotation from veh to nav: [[0.334022,-0.930002,-0.153381],[0.942312,0.325713,0.077192],[-0.021830,-0.170317,0.985148]]]H`?`ÿl'?y?³?Zſ T?i]?I]Sa;]CYByB"IiMb@Mb@Mb@ 9jt?J +{Gz?YyHף</A Q A)~AY A5AA1bD5VD5yE>.<%E<ٔM׺Q-M>9QYQ=USGyUFUqE]>YQ 5e4]j?Q 9m4]e)]WBYm>A?Q E:yו?Q I?]>$DI] %BDAT read: Tx time:15:10:50.6725 %$Ping request sent.%i>/@J4>F/@ B>)@IB9=?NƗN-?d^Ăa? '?)3I@iBM:publishing transmit ping time!MFpublishing direction and range infoy5)?u80oG4?Y@ )Ii )I9=?NƗN-?d^Ăa? )IiE  E E E "E ;*E :VE ZE BE @., ?ARs?R^?RS<ٱR;0 fAHRS rotation from veh to nav: [[0.334674,-0.929588,-0.154464],[0.942101,0.326420,0.076784],[-0.020957,-0.171218,0.985010]]RH Kk?/wÿ%?`??`uwſ 4?iRs?IRa;PYrByr?"IxbDVDy솼%%_=ٔ%Q-%>9)Y)=-SGy-F5rE5>9Q 5=4=?Q 9E4=y)=YBYAyE•?Q IE?=P$DI=:i=:=_4yQɮUKAQii%?AJiWBRiWBjiU?bV@)'5F1@R5)?u80oG4?Zi@biBj6dLC@ pmӾT@&Xfx1@Zހ.?y?hR??2iB:icB"ip?*iv$Bi٦Bi,?i ii&Bi? addTargetRange:: Added new target pos. range: 93.599998 m, deltaT: 3.780130 s, deltaX: -2.800003 m, approachRate: -0.740716 m/s, rangeRepo size: 4 U Added new target pos. range: 93.171249 m, bearing: 65.055697 deg, lat: 36.779289 deg, lon: -121.859526 deg, deltaT: 3.780130 s, deltaX: -2.786842 m, approachRate: -0.737235 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 93.17 m.Rh]ZhY ProNav: ac range: 93.171249 m, nav range: 91.575272 m, bearing: 65.626769 deg, approach rate: 0.000000 m/s, LOS rate: -0.010961 deg/s, cmd heading: 69.848171 deg, new cmd heading: 69.836077 deg. BhHeadingCmd: 1.218869 target range: 93.171249 and range: 93.60 m.h?h*h"h hgfffdddjd`ffW@ZdÀ?5dBɢ= )9 =v=i9)<顁i֜i?w;K†÷,q?A2n?2Z?2h<ٱ2'0 :AHRS rotation from veh to nav: [[0.334819,-0.929387,-0.155360],[0.942069,0.326650,0.076197],[-0.020068,-0.171872,0.984915]]2Hm?ÿm%???ſ@l?i2n?I28a;2CYBByB:"IIF=)Fp;ER EREPEP"ER;*ER:VEPZEPaZ@aZ@aZ@aZ@YiMb@Mb@Mb@ 9#~j?Zd;O rh?YE?yj<C<AZA  A) AYfAbDVDN2yn%B=ٔ Q->9Y=SGyFE>Q 54Ǝ?Q 94q)[BYIF?Q E:yW?Q I?e$DI;i;g4yɮjAjh  DNOT Ignoring new targets: 93.17 m.RhZh% ProNav: ac range: 93.171249 m, nav range: 91.249680 m, bearing: 65.620811 deg, approach rate: -0.813167 m/s, LOS rate: -0.014934 deg/s, cmd heading: 69.836075 deg, new cmd heading: 69.818137 deg. Bh%#-HeadingCmd: 1.218556 target range: 93.171249 and range: 93.60 m.h-?h)*h)"h) h)g1f1f9f=Bd9d9d9jdAZdE ,?m`Bɢm1)q u=iq)u/BBBB =BBDBw;B1EԱ^A/C<IQ Ia Om > ٰɷ,n(?A2_o?2Z?2P<ٱ21 :AHRS rotation from veh to nav: [[0.334810,-0.929185,-0.156583],[0.942093,0.326727,0.075565],[-0.019054,-0.172816,0.984770]]2H m?@ Ŀ %??:X?܂@ƿ 9XYX=ZSGyZF^X68E^>`Q 5f4btώ?Q 9f4bj)b]BYdyfY?Q If?bw$DIb:ibo:bm4ynBɮn3AnnEjhDNOT Ignoring new targets: 93.17 m.Rh 'Zh ' ProNav: ac range: 93.171249 m, nav range: 90.962906 m, bearing: 65.615519 deg, approach rate: -0.774332 m/s, LOS rate: -0.014333 deg/s, cmd heading: 69.818139 deg, new cmd heading: 69.802214 deg. Bhb%HeadingCmd: 1.218278 target range: 93.171249 and range: 93.60 m.h%?h!*h!"h! h)g)f)f)f1d1d1d1jd1ԹZd=`?]Bɢ) 9i)8M<i2i ? ;5;T9 aз,ߤB?A2ri?2T?2A<ٱ2Q2 :AHRS rotation from veh to nav: [[0.334987,-0.928943,-0.157633],[0.942051,0.327014,0.074841],[-0.017975,-0.173570,0.984658]]2H@np?`U-ĿH%?`?@(?g7ƿP?i2ri?I2©a;2CYBByB="IbDJVDJk2yRÂ%RI=ٔVO.Q-V>9XYX=ZSGyZFZE^>\Q 5b4^َ?Q 9b4^0c)^`BYdyfS?Q If?^$DI^H;i^;^t4yjBɮnpAnoEjh|DNOT Ignoring new targets: 93.17 m.Rh UZh U ProNav: ac range: 93.171249 m, nav range: 90.648750 m, bearing: 65.609715 deg, approach rate: -0.774196 m/s, LOS rate: -0.014353 deg/s, cmd heading: 69.802211 deg, new cmd heading: 69.784739 deg. Bh%HeadingCmd: 1.217973 target range: 93.171249 and range: 93.60 m.h%?h!*h!"h! h!g)f)f)f1d1d1d1jd1Zd=`?eZBɢe<)i m69ii)m+B o>B B B B B B DB x;B 1EBBBBBCʋ\4ԉ ַ,[\?A2gj?2U?2<ٱ22 :AHRS rotation from veh to nav: [[0.334966,-0.928864,-0.158147],[0.942078,0.327138,0.073963],[-0.016966,-0.173762,0.984642]]2H@p?`@&>Ŀ%??B?@_=ƿ /?i2gj?I2a;2CYBByBI"I DDiEMb@Mb@Mb@AAAA A9EHzG?:v rh?YE=J?yEԼAEAEVA E A)EAAYE3AbD]VD]N2ymi:=%m?=ٔuQ-u>9qYq=uSGy}F}8E}>Q 54㎊?Q 94Z)aBYeJ?Q E:y?Q I?$DI:i:%|4yɮ AjhDNOT Ignoring new targets: 93.17 m.RhZh ProNav: ac range: 93.171249 m, nav range: 90.311562 m, bearing: 65.597851 deg, approach rate: -0.789209 m/s, LOS rate: -0.027874 deg/s, cmd heading: 69.784739 deg, new cmd heading: 69.749012 deg. Bh HeadingCmd: 1.217350 target range: 93.171249 and range: 93.60 m.hқ?h*h"h hgfff>BdddjdZd/W?-VBɢ-e)) -y2i))5X<1q1ifiқ?߆;_1 ܷ,?v?A^7z?^xe?^1<ٱ^2 fAHRS rotation from veh to nav: [[0.334517,-0.928962,-0.158519],[0.942258,0.326890,0.072757],[-0.015770,-0.173705,0.984672]]^Hh? \JĿ&??4?@ &;ƿn?i^7z?I^`;^CYnBynD"IttbDzVDzβy%M%%O=ٔ-NFQ-->9)Y)=-SGy-F5:E5>Q 54펊?Q 94R)cBYy?Q I?$DI:i:f4yɮBA-B*** querying acoustic contact ***i) i)jhY]DNOT Ignoring new targets: 93.17 m.RheZhe ProNav: ac range: 93.171249 m, nav range: 89.984009 m, bearing: 65.586139 deg, approach rate: -0.773859 m/s, LOS rate: -0.027770 deg/s, cmd heading: 69.749011 deg, new cmd heading: 69.713748 deg. BhwHeadingCmd: 1.216734 target range: 93.171249 and range: 93.60 m.h?h*h"h hgfffdddjdZd@)颕SBɢB&) 2i)wy<顙iQi?;boA >I I O >3,A?A06·?6s?6gp<ٱ6C62 >AHRS rotation from veh to nav: [[0.334132,-0.929125,-0.158375],[0.942412,0.326726,0.071484],[-0.014673,-0.173139,0.984788]]6Hlb?@dEĿ@=(??L? m)ƿ@b?i6·?I6%$`;EF EFEDED"EF:*EFz:VEDZEDaJ@aJ@aJ@aJ@6CYRByR@"IiMb@Mb@Mb@ 9y&1?{Gz rh?Y`E?y#A zA)zAY\AbDVDk1ymZ%B=ٔ+Q->9Y=SGyF+:E>Q 54?Q 948KQ =tI)eBYpE?Q E:yM?Q I?$DI<;i;g4yBɮ{AfEjh DNOT Ignoring new targets: 93.17 m.Rh M0Zh M0 ProNav: ac range: 93.171249 m, nav range: 89.675751 m, bearing: 65.571059 deg, approach rate: -0.785009 m/s, LOS rate: -0.038534 deg/s, cmd heading: 69.713746 deg, new cmd heading: 69.668352 deg. Bh%Ӻ%HeadingCmd: 1.215942 target range: 93.171249 and range: 93.60 m.h-?h)*h)"h) h)g1f9fAfEBBT"IBBBBBDBw;B~1E!@! @)@-0@)Թ^Ai IA IY Oe > BDAT read: Rx Time:15:10:53.1974  TRx dataTimestamp_ set to:1761577854.636274 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012419w,,?A2̖?2 ?2ՈZ<ٱ2-2 :AHRS rotation from veh to nav: [[0.333707,-0.929142,-0.159168],[0.942582,0.326494,0.070286],[-0.013338,-0.173484,0.984746]]2Hv[? _Ŀ)?G? >?P4ƿ ?i2̖?I2dB`;2CYBByBM"IIF;>)F=bDNVDNf\y=@L=%=R=ٔ=]`Q-E>9AYA=ESGyEFMۙ:EM>QQ 5]4U?Q 9]4UC)UfBYYy]\?Q Ie?U$DIU;iU<;U64ymBɮmZAijhDNOT Ignoring new targets: 93.17 m.Rh/Zh/ ProNav: ac range: 93.171249 m, nav range: 89.376175 m, bearing: 65.556214 deg, approach rate: -0.769339 m/s, LOS rate: -0.038252 deg/s, cmd heading: 69.668353 deg, new cmd heading: 69.623668 deg. BhҺHeadingCmd: 1.215162 target range: 93.171249 and range: 93.60 m.hp?h*h"h hgfffdddjdZd@@MBɢޥ) O,i) 8h<  i Dip?R;ZA ,?A}\?}?}]ZE<ٱ}u2 AHRS rotation from veh to nav: [[0.333294,-0.929229,-0.159527],[0.942746,0.326300,0.068981],[-0.012045,-0.173384,0.984781]]}HT?@>@ckĿ*??`?$v1ƿR?i}\?I}|T`;}CYBy<"I p<<bDVD0y%B=ٔHQ->9Y=SGyF:E>Q 54?Q 94;)hBYyk?Q I?$DIS;i8;4DAT read: 15:10:53.1974 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 401, 0.39,-3.102, 1.631,-2.659,-3.083, PHS= 0.084,-1.524, 0.381, RAW= 158.3, 11.9, CAL= 158.6, 13.3, ROT= 351.4, -13.3 Ygot valid direction response: 15:10:53.1974 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 401, 0.39,-3.102, 1.631,-2.659,-3.083, PHS= 0.084,-1.524, 0.381, RAW= 158.3, 11.9, CAL= 158.6, 13.3, ROT= 351.4, -13.3 PDAT read: Bearing 221.3, -10.5 (Local) ~Local bearing/azimuth received: Bearing 221.3, -10.5 (Local) DAT read: Range 11 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.6 m/s *DAT read: user:993> BDAT read: Tx time:15:10:54.3225 $Ping request sent.u0@uȭT>um(1@ u,m>)u?B@Iu,mqquԏ?w;Qk?Oj? u{C+?)uTIutiu,mqq:publishing transmit ping timeFpublishing direction and range infoyqu~( Ƥ?<¿gz}"Er?Yqqqqq q)qIqiqqqqq q)qIqqquԏ?w;Qk?Oj? q)qIqiqqqyɮAIiqiu?AJiu^BRiu^Bjiu?bu`۱U@̌?*-94@Ru~( Ƥ?<¿gz}"Er?Ziutbiu,mju]}B@ eS@X}IU5@Zu ؓ?U?V{?2iuB:iu;B"iuK4z?*iuFBiu9Biqiuiu٦Biu}Biu`7?e addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.527811 s, deltaX: -3.000000 m, approachRate: -0.850386 m/s, rangeRepo size: 4 m Added new target pos. range: 90.184692 m, bearing: 64.413249 deg, lat: 36.779289 deg, lon: -121.859529 deg, deltaT: 3.527811 s, deltaX: -2.986557 m, approachRate: -0.846575 m/s, posRepo size: 4 E EEE"EV:*EVEZEa@a@a@a@jhqDNOT Ignoring new targets: 90.18 m.RhZh ProNav: ac range: 90.184692 m, nav range: 88.744949 m, bearing: 65.449820 deg, approach rate: 0.000000 m/s, LOS rate: -0.038252 deg/s, cmd heading: 69.623670 deg, new cmd heading: 69.560820 deg. Bh HeadingCmd: 1.214065 target range: 90.184692 and range: 90.60 m.h ~f?h *h "h1 h1g1f1f9f9d9d9d9jdE`fV@ZdE/3?qHBɢ2ؼ) 1i)[<ii~f?_;B B Z"IB BB B B DB w;B T1Eԙ ^A <A zA dA I)IAOM> ,9?AYByF"IiMb@Mb@Mb@ԩ 9q= ףp?{GzMb`YK?yXAA ~A) AY3AbDVDy:=%"=ٔQ->9Y=SGyFE>Q 54?Q 941)fBYK?Q E:y?Q I? %DIX;i ;i4y BɮAgEjh1=DNOT Ignoring new targets: 90.18 m.RhEnZhEnU ProNav: ac range: 90.184692 m, nav range: 88.344620 m, bearing: 65.430095 deg, approach rate: -1.054812 m/s, LOS rate: -0.052208 deg/s, cmd heading: 69.560819 deg, new cmd heading: 69.501375 deg. BhUQ]HeadingCmd: 1.213028 target range: 90.184692 and range: 90.60 m.h]D?hY*hY"hY hYgafafifidididijdqZdu ?颥FBɢ) +i)"T<顩iiD?';1 6,?A6GBeAH^A9^eAY^Az?z䠝?zV<ٱz 2  AHRS rotation from veh to nav: [[0.332834,-0.929163,-0.160865],[0.942937,0.326213,0.066746],[-0.009542,-0.173901,0.984717]]zH(M?5Ŀ@,?`?D?`_Bƿ@͂?iz?Iz?`;zCYBy8"I !!bD-VD-fy=!%=j=ٔEQ-E>9AYA=ESGyMFM^:EM>QQ 5]4U?Q 9]4U*)UdBYaye?Q Ie?U%DIU;iU ;U4ymʕBɮm4Am]EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 90.18 m.Rh5Zh5 ProNav: ac range: 90.184692 m, nav range: 88.067635 m, bearing: 65.416252 deg, approach rate: -0.791303 m/s, LOS rate: -0.039672 deg/s, cmd heading: 69.501375 deg, new cmd heading: 69.459715 deg. BhٺHeadingCmd: 1.212301 target range: 90.184692 and range: 90.60 m.h,?h*h"h hgfffdddjdZdS9?颕DBɢg ) =0i)EL<顙i9䏼i,?; ԑ B, ?AF?FQ?FfE <ٱFO3 RAHRS rotation from veh to nav: [[0.332825,-0.929015,-0.161737],[0.942950,0.326322,0.066027],[-0.008561,-0.174485,0.984623]]FHM?`}ͳĿ,?`w? ?Uƿ ?iF?IF0`;FCYVރByZ2"Ii=Mb@Mb@Mb@9999 99=Dl?MbpMbpY=OM?y===A9 = A)99Y=AIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247958MAAbDVD:2yU%==ٔQ->9 ?Y ?=SGyF7E>AABs>BBBB =BBBqw;BM1EQ 554&?Q 9=4j")bBY=QM?Q E=:y=?Q I=?3%DIAAE >u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501439 AU ؟AIY Iq O >g ,R/?A:ā?:;?:u;ٱ:3 BAHRS rotation from veh to nav: [[0.332399,-0.929059,-0.162356],[0.943109,0.326059,0.065043],[-0.007491,-0.174740,0.984586]]:H`F?ںĿ`-?&?? ~`]ƿ?i:ā?I: `;:CYJ݃ByJ1"I\bDzVDzNy%Y=ٔ-:Q->9 "?Y "?= SGy FI:E>Q 5%4+/?Q 9%4)`BY!y%?Q I-?G%DI-:i:4y5ɕBɮ5]A1EE EEEE$EA"EED:*EE҆:VEE4ZEABEE1Bɢ) h0i)p9N,I?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003931Y%كBy%,"II- >)->bD5VD5k1yer%mD=ٔmQ-m>9iYq=uSGyuFuEu>yQ 54}8?Q 94})}^BYyQ I?}\%DI} :i}:}4yΕBɮA^EjhDNOT Ignoring new targets: 90.18 m.RhBZhBu ProNav: ac range: 90.184692 m, nav range: 87.088600 m, bearing: 65.361849 deg, approach rate: -0.756566 m/s, LOS rate: -0.042595 deg/s, cmd heading: 69.352095 deg, new cmd heading: 69.295894 deg. BhuHeadingCmd: 1.209442 target range: 90.184692 and range: 90.60 m.hΚ?h*h"h hgfff)d)d)d)jd1Zd5F0@Q};Bɢ}Xa) 0i)@.<顁i::iΚ?ı;9BCBT"IBBBBBDBw;Bh1E^AE <ԡ Aq I I O >r,H7d?A2?2E?22";ٱ2.6 :AHRS rotation from veh to nav: [[0.332948,-0.928286,-0.165624],[0.942926,0.326638,0.064792],[-0.006047,-0.177744,0.984058]]2HO?+3ſs,??9?`9AYA=MSGyMFM,EM>QQ 5]4ULB?Q 9]4U )U\BYmJ?Q Eu:yu?Q I}?Uq%DIUV;iU,}?A2?2T?2Bɩ;ٱ2Z6 :AHRS rotation from veh to nav: [[0.333091,-0.928287,-0.165327],[0.942880,0.326963,0.063813],[-0.005181,-0.177139,0.984172]]2H_Q? o)ſ@,? ?`V?"9uƿV~?i2?I2j_;0YB΃ByB"IbDHVDHyR%VV=ٔVOQ-V>9XYX=ZSGyZFZιEZ>`Q 5b4bIK?Q 9f4b9)bZBYdyf?Q If?b%DIb:ib:bʟ4yhɮn'AlԙB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 90.18 m.Rh`)Zh`) ProNav: ac range: 90.184692 m, nav range: 86.463127 m, bearing: 65.332758 deg, approach rate: -0.791084 m/s, LOS rate: -0.037020 deg/s, cmd heading: 69.250707 deg, new cmd heading: 69.208307 deg. Bh@˺HeadingCmd: 1.207913 target range: 90.184692 and range: 90.60 m.h㜚?h*h"h hgfffdddjdZd @7Bɢ*)! %a4i!)%P! %,?A2Ñ?2}?2 ;ٱ26 :AHRS rotation from veh to nav: [[0.333878,-0.927890,-0.165970],[0.942605,0.327780,0.063695],[-0.004701,-0.177710,0.984072]]2HB^?E>ſ)? X?YN?/As 7ƿ}?i2Ñ?I2_;0YR̃ByR"I TTi-Mb@Mb@Mb@)))) )9-x&1?S㥛MbP?Y-A?y-/ݼ-:-XAuBDAT read: Rx Time:15:10:56.8438 uTRx dataTimestamp_ set to:1761577858.418051}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267143B~>B CBN"IBBB =BBBw;B1EB)B-CB-CB- =B- =C-5) - A)))Y-\AbDeVDe:yu%1=ٔ膺Q->9Y=SGyFE>Q 541V?Q 94)[BYA?Q E:y?Q I?%DIK;i;ҟ4yBɮ`Ajh)MDNOT Ignoring new targets: 90.18 m.RhUZhUe ProNav: ac range: 90.184692 m, nav range: 86.110565 m, bearing: 65.319795 deg, approach rate: -0.781654 m/s, LOS rate: -0.028857 deg/s, cmd heading: 69.208306 deg, new cmd heading: 69.169258 deg. BheoHeadingCmd: 1.207231 target range: 90.184692 and range: 90.60 m.h?h*h"h hgfffBdddjdZd @ 4Bɢ 5t) 3i))<iUi?S;%c|,,}x?A2?2m?2a;ٱ26DHzDJ@AEN ENEN&EL"EN;*ENą:VEN4ZELBEN9C9M ?YM ?=USGyUFUE]>aQ 5u4e^?Q 9}4e)aYyy}?Q I}?e%DIe$k;ie_;ezٟ4yɮiAjhDNOT Ignoring new targets: 90.18 m.RhZh ProNav: ac range: 90.184692 m, nav range: 85.826920 m, bearing: 65.309378 deg, approach rate: -0.758457 m/s, LOS rate: -0.027949 deg/s, cmd heading: 69.169257 deg, new cmd heading: 69.137901 deg. BhrHeadingCmd: 1.206684 target range: 90.184692 and range: 90.60 m.ht?h*h"h hgfffdIddjdZd @2Bɢ() l3i!)Z1 <iit?;i ]BDAT read: Tx time:15:10:57.9725 e$Ping request sent.e~{/@I>/@ f_>)j @If_s# ?f=?? %?)iIIif_:publishing transmit ping timeaFpublishing direction and range infoyk/Y?. I)SK?Y )Ii )Is# ?f=?? )IiyQ@Q @Q@U3@Qԡ^A} <A >A > A I I! O- >\3,?ARD?R/?RDl;ٱRm7 ZAHRS rotation from veh to nav: [[0.336096,-0.926973,-0.166616],[0.941821,0.330116,0.063225],[-0.003605,-0.178172,0.983993]]RH@?©`Sſ e#? ?`/?@mWƿ`|?iRD?IR8^;RCYb΃Byb"IbDjVDjkyzY<%~A=ٔ Q- >9Y!=%SGy%F5E=>QQ 5m4Ui?Q 9u4U)U\BYyy?Q I?U%DIU;iUBIBMA"IBMBBIBIBIBMx;BM1E9@ @@/@)^A Um:,B?Ai?y==;=A=A = A)=h A9Y=AbDUVDUyeL %e4=ٔmQ-m>9iYi=uSGyuFu!TEu>yQ 54}s?Q 94})}^BYu>?Q E:y?Q I?}%DI}*:i}. ;}4yBɮAMEjhDNOT Ignoring new targets: 87.40 m.RhMϹZhMϹe ProNav: ac range: 87.400848 m, nav range: 85.084526 m, bearing: 65.262544 deg, approach rate: -0.882116 m/s, LOS rate: -0.022707 deg/s, cmd heading: 69.096482 deg, new cmd heading: 69.070932 deg. BheUyHeadingCmd: 1.205515 target range: 87.400848 and range: 87.80 m.hRN?h*h"h hgfffBdddjdZd`$?E-BɢEϦ.)I M3iI)M;IIiMiURN?U;ULW@,9 ?A2?2̜?2W;ٱ2^8 :AHRS rotation from veh to nav: [[0.338941,-0.925715,-0.167840],[0.940802,0.332877,0.063913],[-0.003296,-0.179567,0.983740]]2H4?u{ſ ?@M?\? j ƿz?i2?I2^;0YBByB "I Jp9Z"?YZ"?=ZSGyZF^ӇE^>!Q 5%4%8}?Q 9-4%)%`BY)y-}?Q I-?%%DI%|:i%R:%4y1ɮ=#A9UB*** querying acoustic contact ***iQy iQjhDNOT Ignoring new targets: 87.40 m.RhZh ProNav: ac range: 87.400848 m, nav range: 84.793922 m, bearing: 65.255345 deg, approach rate: -0.734517 m/s, LOS rate: -0.018258 deg/s, cmd heading: 69.070930 deg, new cmd heading: 69.049259 deg. Bh{HHeadingCmd: 1.205137 target range: 87.400848 and range: 87.80 m.hA?h*h"h hgfffdddjdZd V?颍+Bɢ5) 6i)D;i郼iA?t;1B) B- 5"IB- BB- =B) B) B- Fx;B- 1EE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500056AY Ia Iy O > G,?A2P?2?2oN;ٱ2nH9 :AHRS rotation from veh to nav: [[0.340300,-0.925159,-0.168159],[0.940312,0.334213,0.064156],[-0.003154,-0.179954,0.983670]]2Hz?@8ſ`?c?l? iǿ9z?i2P?I2^;2CYrŃByr"IimMb@Mb@Mb@iiii i9mZd;O? ףp= ~jtx?Ymj9Y=SGyFZE>Q 54?Q 94 )bBYJM,D7?A@YɃBy"I  bDVDy%G<%%R=ٔ-Q-->9)Y1=5SGy5F5E5>Q 54Y?Q 94)eBYyQ I?&DIg:i:4yBɮ"ADEjhDNOT Ignoring new targets: 87.40 m.RhqZhq  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006289 ProNav: ac range: 87.400848 m, nav range: 84.189079 m, bearing: 65.244631 deg, approach rate: -0.738429 m/s, LOS rate: -0.013175 deg/s, cmd heading: 69.032722 deg, new cmd heading: 69.017001 deg. Bh-AU:GmfAAHeadingCmd: 1.204574 target range: 87.400848 and range: 87.80 m.hz/?h*hA9fAYA"h hgfffdddjdZdV@-&Bɢ5<&%)1 5.i1)5;99i=Yqi=z/?E;E47T,yQ?AgU?@?;ٱ|8E EE*E"E*EV:VE(N4ZEa%@a%@a%@a%@ 5AHRS rotation from veh to nav: [[0.342966,-0.924249,-0.167744],[0.939345,0.336988,0.063802],[-0.002441,-0.179451,0.983764]]H&?r xſ?5?MU?c Dƿ@z?igU?IJ_;Y9y="IԉiMb@Mb@Mb@ 9/$?X9v~jt?Y9Y=SGyF)ȻE> Q 54 ,?Q 94 ) jBY]=?Q E:y?Q I? &&DI *:i : 4y!ɮ%A!jhIMDNOT Ignoring new targets: 87.40 m.RhUZhU ProNav: ac range: 87.400848 m, nav range: 83.852287 m, bearing: 65.244097 deg, approach rate: -0.739185 m/s, LOS rate: -0.001175 deg/s, cmd heading: 69.016999 deg, new cmd heading: 69.015392 deg. BhN HeadingCmd: 1.204546 target range: 87.400848 and range: 87.80 m.h .?h *h "h  h gfffBdddjd9ZdE`C@颍$Bɢ.#)) u-i)vG;顑i8<B~>BB."IB܃BBBBBAx;B1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508254i.?B;J  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763841AII!O=>T[,Ɔo?A>0?>7?>;ٱ> 7 JAHRS rotation from veh to nav: [[0.344010,-0.924125,-0.166283],[0.938964,0.338199,0.062998],[-0.001981,-0.177806,0.984064]]>HC?`nHſ ? ? ?:`@Xƿs}?i>0?I>j[_;9Y=SGyF%3E%>)Q 554-?Q 954-)-nBY1y5?Q I5?-9&DI-|:i-:- 4yAɮE AAjhimDNOT Ignoring new targets: 87.40 m.RhuB-ZhuB- ProNav: ac range: 87.400848 m, nav range: 83.553116 m, bearing: 65.243859 deg, approach rate: -0.739553 m/s, LOS rate: -0.000592 deg/s, cmd heading: 69.015394 deg, new cmd heading: 69.014676 deg. BhϷHeadingCmd: 1.204533 target range: 87.400848 and range: 87.80 m.h&.?h*h"h hgfffdddjdZd`.@#Bɢ92) *i);i#:~i&.?;㢈Yԁ ^.b,%?A6?6?6:ٱ6F7 >AHRS rotation from veh to nav: [[0.345447,-0.923552,-0.166489],[0.938437,0.339645,0.063070],[-0.001701,-0.178027,0.984024]]6H?Oſ@?ྼ?^%?[ƿ }?i6?I6_;6CYF̓ByF"IIJ{>)Jp;LNAbDRVDRyZM%ZS=ٔZ=Q-Z>9\Y\=^SGy^Fb:Eb>dQ 5j4fֱ?Q 9j4f)frBYhyj?Q Ij?fK&DIf:ifN:f4yrBɮr(ArEEB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 87.40 m.RhU6ZhU6% ProNav: ac range: 87.400848 m, nav range: 83.266167 m, bearing: 65.243929 deg, approach rate: -0.738741 m/s, LOS rate: 0.000182 deg/s, cmd heading: 69.014677 deg, new cmd heading: 69.014889 deg. Bh- 7-HeadingCmd: 1.204537 target range: 87.400848 and range: 87.80 m.h-E.?h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE @m!Bɢu)0)q u)iq)u;qyyi}K{iE.?zm;~|BBBB =BBB@x;B1EAM .A DAT read: 15:11:00.4902 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 408,-0.17,-1.196,-2.716,-0.821,-1.266, PHS= 0.173,-1.405, 0.401, RAW= 156.7, 9.8, CAL= 156.5, 10.6, ROT= 353.5, -10.6  Ygot valid direction response: 15:11:00.4902 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 408,-0.17,-1.196,-2.716,-0.821,-1.266, PHS= 0.173,-1.405, 0.401, RAW= 156.7, 9.8, CAL= 156.5, 10.6, ROT= 353.5, -10.6 I I  PDAT read: Bearing 220.4, -7.3 (Local)  ~Local bearing/azimuth received: Bearing 220.4, -7.3 (Local)  DAT read: Range 11 to 50 : 85.2 m (Round-trip 113.6 ms) speed 0.6 m/s  *DAT read: user:995>  BDAT read: Tx time:15:11:01.6224  $Ping request sent. IU &1>iU ׳U O>U  /@U %/>U .@ U q=>)U n@IU q=Q Q U %QeqDL?WfY?$)U? U #?)U .IU ViU q=Q Q  :publishing transmit ping time  Fpublishing direction and range infoyQ U " r@?`8K| =η?YQ Q Q Q Q Q )Q IQ iQ Q Q  Q Q Q )Q IQ Q Q U %QeqDL?WfY?$)U? Q )Q IQ iQ Q Q Yh,?A2~?2?2&:ٱ2i6 :AHRS rotation from veh to nav: [[0.346652,-0.923285,-0.165460],[0.937993,0.340993,0.062391],[-0.001184,-0.176828,0.984241]]2H/?`-ſ ? ? ?`dS Kƿ ~?i2~?I2Ԧ_;2CYn˃Byn"IiMb@Mb@Mb@ 9v?v/{Gz?Y8?yxiף<SA@ ) AYA <4<bD%VD%fyU9%U2=ٔ]Q-]>9] ?Y] ?=eSGyeFe7Ee>iQ 54me?Q 94m)myBYz9?Q E:yr?Q I?ma&DIm;imS;m4yxBɮg A;Eiyi}?AJi}BRi}Bji}?b}ݚT@B "|~'3/@R}" r@?`8K| =η?Zi}Vbi}q=j}8$lA@DŽR@i,|z0@Z}VHK?MaSw?q@x5?2i}B:i}a B"i},y5?*i}xBi}Bi},y5?iyiyi}Bi}?U addTargetRange:: Added new target pos. range: 85.199997 m, deltaT: 3.528245 s, deltaX: -2.600006 m, approachRate: -0.736912 m/s, rangeRepo size: 4 e Added new target pos. range: 84.812660 m, bearing: 65.210887 deg, lat: 36.779290 deg, lon: -121.859530 deg, deltaT: 3.528245 s, deltaX: -2.588188 m, approachRate: -0.733562 m/s, posRepo size: 4 jhaDNOT Ignoring new targets: 84.81 m.RhZh ProNav: ac range: 84.812660 m, nav range: 82.982567 m, bearing: 65.171110 deg, approach rate: 0.000000 m/s, LOS rate: 0.000182 deg/s, cmd heading: 69.014888 deg, new cmd heading: 69.015147 deg. BhHeadingCmd: 1.204542 target range: 84.812660 and range: 85.20 m.hk.?h*h"h hgfffBdddjdLU@Zd`?MBɢM)I M)iI)U)U;QQiUS_yi]k.?]9;]ln,?A27P?2Z?2S:ٱ2]5 :AHRS rotation from veh to nav: [[0.347930,-0.922811,-0.165422],[0.937520,0.342319,0.062239],[-0.000807,-0.176741,0.984257]]2HzD?`,ſ*??ݯ?AuJuƿ?i27P?I2e_;2CYB׃ByB)"IbDNVDNβyR=%Ri=ٔV_Q-V>9XYX=ZSGyZF^~E^>`Q 5f4bKƏ?Q 9f4bߩ)b~BYdyfE?Q Ij?bq&DIb;ib";b!4ylɮn AljhDNOT Ignoring new targets: 84.81 m.RhLZhL ProNav: ac range: 84.812660 m, nav range: 82.728188 m, bearing: 65.170177 deg, approach rate: -0.759226 m/s, LOS rate: -0.002794 deg/s, cmd heading: 69.015148 deg, new cmd heading: 69.012340 deg. BhnHeadingCmd: 1.204493 target range: 84.812660 and range: 85.20 m.h,?h*h"h hgfffdddjdZd6?!颍Bɢ8) "i)i8;顑iKwi,?;7[Ա E  E E &E "E %;*E :VE 4ZE a @a @a @a% @\ou,?A~~?~b?~:ٱ~5  AHRS rotation from veh to nav: [[0.349320,-0.922329,-0.165182],[0.937003,0.343754,0.062112],[-0.000506,-0.176474,0.984305]]~HA[? $ſ? ?3ͯ?s@`ƿm?i~~?I~Ҥ_;|Y%̓By-"I 11iMb@Mb@Mb@ 9Zd;?I + rh?Y>?y94C<EAA A)h AY AbDVD1y5}+%=4=ٔ=-.Q-=>9E"?YE"?=ESGyEFEKVEE>IQ 5U4Mя?Q 9]4M)MBY][??Q E]:y]y?Q I]?M&DIM:iM:M)4ye}Bɮm AmBB;"IBBB =BBBx;B1EBU CBU CBU“CBU =BU =CUA5jhDNOT Ignoring new targets: 84.81 m.RhiTZhiT ProNav: ac range: 84.812660 m, nav range: 82.389191 m, bearing: 65.164865 deg, approach rate: -0.737704 m/s, LOS rate: -0.011607 deg/s, cmd heading: 69.012341 deg, new cmd heading: 68.996340 deg. BhHeadingCmd: 1.204213 target range: 84.812660 and range: 85.20 m.h#?h*h"h hgfffBdddjdZd?-Bɢ-/*)) -&i))5;11i5ti=#?=:D;=L {,͒?A2H~?29?2ٱ25 >AHRS rotation from veh to nav: [[0.350488,-0.921811,-0.165597],[0.936567,0.344980,0.061890],[0.000077,-0.176785,0.984249]]2Hen?y@L2ſ[?)?@?T? ƿ~?i2H~?I2y_;2CYBByF7"IHJ@AbDNVDNβyV=%Vh=ٔZغQ-Z>9Z ?YZ ?=^SGy^F^gE^>`Q 5f4bڏ?Q 9f4bZ)bBYhyjQ?Q Ij?b&DIb:ib=:b/4ylɮr ApjhDNOT Ignoring new targets: 84.81 m.RhEZhE ProNav: ac range: 84.812660 m, nav range: 82.126007 m, bearing: 65.160938 deg, approach rate: -0.722357 m/s, LOS rate: -0.010812 deg/s, cmd heading: 68.996338 deg, new cmd heading: 68.984520 deg. BhsHeadingCmd: 1.204007 target range: 84.812660 and range: 85.20 m.h?hY*hY"hY hYgafafifidididqjdqZduC?D=D<E EE'E"E*E:VE'4ZEBEKA >A ؟AI I O >},o ?A6nI~?6?6_ ٱ6@6 >AHRS rotation from veh to nav: [[0.351686,-0.921319,-0.165797],[0.936118,0.346227,0.061725],[0.000535,-0.176914,0.984226]]6H?@q{8ſ`?`(? b?A?@ƿ~?i6nI~?I6t_;6CYFByF="IbDN VDNf2yV<%VJ=ٔZϔQ-Z>9Z"?YZ"?=^SGy^F^wOE^>`Q 5f4b䏊?Q 9f4b)bBYhyj'?Q Ij?b&DIb:ib:b 74ylɮr Ap~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 84.81 m.Rh~JZh~J% ProNav: ac range: 84.812660 m, nav range: 81.824120 m, bearing: 65.156673 deg, approach rate: -0.780234 m/s, LOS rate: -0.011065 deg/s, cmd heading: 68.984521 deg, new cmd heading: 68.971678 deg. Bh%-HeadingCmd: 1.203783 target range: 84.812660 and range: 85.20 m.h-?h)*h)"h) h)g1f1f1f1d9d9d9jdAZdE`}?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Bɢ ,)  i )}:i`pi=?=";=L1BBG"IBBB =BBBx;B1E5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992319ԩ A .AI I O >6,EK$?A6e}?6?6izٱ65@ BAHRS rotation from veh to nav: [[0.352743,-0.920997,-0.165341],[0.935720,0.347373,0.061324],[0.000956,-0.176344,0.984328]]6H`X?x)ſ`j?`\;? e?PO?rƿ?i6e}?I6>_;6CYJByJ8"IiMb@Mb@Mb@ 9K7A?Mb?Y B?y@<A@  A)YAbD5VD51yE %EA=ٔMQ-M>9M ?YM ?=MSGyMFU.EU>YQ 5e4]?Q 9e4]Y)]BYmB?Q Em:ymۓ?Q Im?]&DI]:i]j:]o>4yucBɮu Au2EjhDNOT Ignoring new targets: 84.81 m.Rh/Zh/ ProNav: ac range: 84.812660 m, nav range: 81.502914 m, bearing: 65.152625 deg, approach rate: -0.759573 m/s, LOS rate: -0.009610 deg/s, cmd heading: 68.971681 deg, new cmd heading: 68.959489 deg. Bh5 ӹ=HeadingCmd: 1.203570 target range: 84.812660 and range: 85.20 m.h=?h9*h9"h9 hAgAfAfAfMBdIdIdIjdIZdU@颽Bɢ") i)aV:i^ni?|x;&= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496191ю,x%>?AF}}?F͚?FǺٱFUl5 NAHRS rotation from veh to nav: [[0.353570,-0.920671,-0.165392],[0.935407,0.348286,0.060913],[0.001523,-0.176245,0.984345]]FH?"v +ſ? SJ?/?3X?5ƿ@?iF}}?IFD^;FCYVByVC"I \^<bDbVDbJyj5=%jR=ٔjQ-j>9n"?lYn"?=rSGyrFrfEv>tQ 5z4v?Q 9~4v:)vBY|y~?Q I~?v&DIv;iv";v?E4y iBɮ  A 3Ejh)5DNOT Ignoring new targets: 84.81 m.Rh5I(Zh=I(M ProNav: ac range: 84.812660 m, nav range: 81.206932 m, bearing: 65.149053 deg, approach rate: -0.759091 m/s, LOS rate: -0.009196 deg/s, cmd heading: 68.959489 deg, new cmd heading: 68.948732 deg. BhMɹUHeadingCmd: 1.203382 target range: 84.812660 and range: 85.20 m.hUo?hQ*hQ"hQ hQgQfYfYfYdadadajdaZde ʌ@ Bɢ() i)k9iQli]o?]:ǟ;]sa bEuFA4jEuh=4rEu- 0E  E RE +E "E D:*E ;VE [4ZE a% @a% @a% @a- @;,fX?A1E}?E?E>ٱE5 UAHRS rotation from veh to nav: [[0.354209,-0.920377,-0.165657],[0.935164,0.349020,0.060445],[0.002186,-0.176327,0.984329]]EH \?s`@4ſ?YV??a?`ޑƿ@?iE}?IET^;ECYeByeL"IiMb@Mb@Mb@ 9K7?/$y&1?YI?y,`e<A ~A)YbDVD:y=%7=ٔºQ->9Y=SGyF%RɺE%>B5>B1B5T"IB5BB1B1B1B5&x;B51E)Q 54-?Q 94-|)-BY J?BDAT read: Rx Time:15:11:04.1363 TRx dataTimestamp_ set to:1761577865.472304checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001491Q E:yh?Q I?-&DI-| j,t?AHb|}?b?bY:ٱb.X5 jAHRS rotation from veh to nav: [[0.354604,-0.920214,-0.165717],[0.935012,0.349530,0.059846],[0.002852,-0.176169,0.984356]]bHֱ?@dr 96ſ`?@^??I]g?ƿ?ib|}?Ib^;bCYrByrH"IbDzVDz yPd% K=ٔ غQ- >9Y=SGyFE>Q 5%4g?Q 9-4u)BY)y-Z?Q I-?&DI;i&;T4y5oBɮ5 A=4EjhYeDNOT Ignoring new targets: 84.81 m.RhmwZhmw} ProNav: ac range: 84.812660 m, nav range: 80.537689 m, bearing: 65.138503 deg, approach rate: -0.860486 m/s, LOS rate: -0.013539 deg/s, cmd heading: 68.931963 deg, new cmd heading: 68.916951 deg. Bh}}HeadingCmd: 1.202828 target range: 84.812660 and range: 85.20 m.hB?h*hE EE$E"E:*E?:VE4ZEBEa2EaJE;a:E;a"h hgfffdddjdZd@a^ @Bɢ'Q.) *i) kihiB?0b;W! BH,Lč?AJDAT read: 15:11:04.1363 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 400, 0.05, 1.760, 0.189, 2.150, 1.667, PHS= 0.194,-1.433, 0.439, RAW= 156.9, 9.1, CAL= 156.6, 9.7, ROT= 353.4, -9.7 NYgot valid direction response: 15:11:04.1363 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 400, 0.05, 1.760, 0.189, 2.150, 1.667, PHS= 0.194,-1.433, 0.439, RAW= 156.9, 9.1, CAL= 156.6, 9.7, ROT= 353.4, -9.7 RPDAT read: Bearing 220.0, -7.2 (Local) R~Local bearing/azimuth received: Bearing 220.0, -7.2 (Local) ZDAT read: Range 11 to 50 : 82.2 m (Round-trip 109.7 ms) speed 0.6 m/s Z*DAT read: user:996> ^BDAT read: Tx time:15:11:05.2224 ^$Ping request sent.bi2l2>2LB/@2">2.@ 2-\->)24`@I2-\-0020`B?0B.?juH? 2$?)2"I2i2-\-00r:publishing transmit ping time\vFpublishing direction and range infoy02&_^U?RV?Y00000 0)0I0i00000 0)0I00020`B?0B.?juH? 0)0I0i000!Px}?g?6tٱ4 AHRS rotation from veh to nav: [[0.354669,-0.920196,-0.165680],[0.934985,0.349760,0.058924],[0.003726,-0.175807,0.984418]]H?@>r`5ſd?vb?Q+?цn?`׀ƿY?iPx}?I7^;CYByD"IbDVDy%&%%:=ٔ-Q-->9)Y)=5SGy5F5'E=>9Q 5E4=?Q 9E4=l)=BYIyMW?Q IM?='DI=:i=F:=[4yUUBɮ]? A]*Ei0i2ߊ?AJi2BRi2Bji2?b2ZT@Z^v" +@R2&_^U?RV?Zi2bi2-\-j21tTA@2v R@'S6/@Z2J?an̒X?\B??2i2B:i2 B"i2b?*i21qGBi2Bi2p?i2Xi0i2Bi2&b?AE EE)E"EV:*E:VEFA4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 82.199997 m, deltaT: 3.779431 s, deltaX: -3.000000 m, approachRate: -0.793770 m/s, rangeRepo size: 4  Added new target pos. range: 81.826363 m, bearing: 64.441637 deg, lat: 36.779297 deg, lon: -121.859533 deg, deltaT: 3.779431 s, deltaX: -2.986298 m, approachRate: -0.790145 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 81.83 m.RhZh ProNav: ac range: 81.826363 m, nav range: 80.316887 m, bearing: 64.629369 deg, approach rate: 0.000000 m/s, LOS rate: -0.013539 deg/s, cmd heading: 68.916950 deg, new cmd heading: 68.895534 deg. BhuHeadingCmd: 1.202454 target range: 81.826363 and range: 82.20 m.hu?hq*hq"hq hqgqfffdddjďT@Zdf?B=<A=<BE~>BABEf"IBE BBE =BABABEw;BE1EQ颕Bɢ"X ) i)\{顙iYfi?SԠ;iA >A!I1IAOU?,>?A2o}?42?2Dٱ2o4 BAHRS rotation from veh to nav: [[0.354793,-0.920091,-0.165996],[0.934933,0.350027,0.058142],[0.004608,-0.175824,0.984411]]2H? bq\?ſ`?f?@ĭ? r? cƿ`K?i2o}?I25^;0YFByJE"IiMb@Mb@Mb@ 9(\?S㥛9Y=SGyFE>YQ 5m4]*?Q 9m4]9b)]BYm5N?Q Em:yu?Q Iu?]/'DI]:i]:]%e4yyɮ9 AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 81.83 m.RhfZhf% ProNav: ac range: 81.826363 m, nav range: 79.883850 m, bearing: 64.614122 deg, approach rate: -0.934772 m/s, LOS rate: -0.033091 deg/s, cmd heading: 68.895538 deg, new cmd heading: 68.849549 deg. Bh%%HeadingCmd: 1.201651 target range: 81.826363 and range: 82.20 m.h-ϙ?h)*h)"h) h)g)f)f1f5!BԙE EEE"E:*Eą:VEZEBEA8,"?A2Mt}?2e?2D4ٱ2 4 >AHRS rotation from veh to nav: [[0.354723,-0.920063,-0.166301],[0.934955,0.350125,0.057206],[0.005593,-0.175776,0.984414]]2Hȳ?`'qXIſ&? qh?J?xv? ƿ`R?i2Mt}?I26^;0YFByF<"IIJ=)Ji>bDNVDN:yVl%ZK=ٔZX)Q-Z>9Z ?Y^ ?=^SGy^F^WJ9E^>`Q 5f4b3?Q 9j4bZ)bBYhyj?Q Ij?bB'DIb4:ibM:bk4yn[Bɮr Ar+Ejh DNOT Ignoring new targets: 81.83 m.RhjZhj ProNav: ac range: 81.826363 m, nav range: 79.584282 m, bearing: 64.603462 deg, approach rate: -0.834719 m/s, LOS rate: -0.029816 deg/s, cmd heading: 68.849550 deg, new cmd heading: 68.817449 deg. Bh%-HeadingCmd: 1.201091 target range: 81.826363 and range: 82.20 m.h-Z?h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=`?iɢm>)q }+iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996972iy)i}bi Z? ?; /BBm"IBBBBBDBw;Bw1E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248706 A ؟AI I) O5 >uƸ,S?A2[d}?2l?2ϻٱ24 :AHRS rotation from veh to nav: [[0.354949,-0.919934,-0.166533],[0.934864,0.350472,0.056554],[0.006339,-0.175759,0.984413]]2H@|?p Pſ@h?@"n?`?@y?`Fƿ@O?i2[d}?I2^;2CYBByB="IpiMb@Mb@Mb@ 9q= ףp?Mb`?YK?y̼;@ )Y=A %4<%4<bD-VD-Jy=;%=C=ٔE>Q-E>9E"?YE"?=MSGyMFMEM>QQ 5]4U>?Q 9]4UR)UBYeK?Q Ee:ye?Q Ie?UX'DIU ;iU. ;Ur4yɮ AjhAEDNOT Ignoring new targets: 81.83 m.RhMZhM} ProNav: ac range: 81.826363 m, nav range: 79.251381 m, bearing: 64.591449 deg, approach rate: -0.753874 m/s, LOS rate: -0.027317 deg/s, cmd heading: 68.817448 deg, new cmd heading: 68.781260 deg. Bh}HeadingCmd: 1.200459 target range: 81.826363 and range: 82.20 m.h?h*h"h hgfffBdddjdZd ? Bɢ#)  i )U;*QQiUJ`i]?];]‘3s,?A@6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7525929YEByE8"IbDVDy#%B=ٔQ->9Y=SGyFE>Q 5 4I?Q 9 4J)BY yQ I?m'DI:i:nz4y=ABɮ= A="EjhyDNOT Ignoring new targets: 81.83 m.Rh Zh  ProNav: ac range: 81.826363 m, nav range: 78.912575 m, bearing: 64.579119 deg, approach rate: -0.823678 m/s, LOS rate: -0.030104 deg/s, cmd heading: 68.781262 deg, new cmd heading: 68.744113 deg. BhHHeadingCmd: 1.199811 target range: 81.826363 and range: 82.20 m.hi?h*h"h hgfffdddjdZdp? Bɢ2) i)Hi^ii?\;}<\Ƹ,?AHAMAAAMAABQBQBQBQBU =BQBQBUw;BUs1EBBBB =BC5Y؃By*"I i5Mb@Mb@Mb@1111 195S㥛?:vMbpY5$F?y5T55A5ZA 5 A)11Y5fAbDMVDMy]E%]3=ٔYQ-]>9amchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256705Yi=uSGyuFqEu>yQ 5%4}|T?Q 9%4}B)}BY%,F?Q E-:y-a?Q I-?}'DI}ڵ≮,Ƈ5?A8>}?>7?>| ٱ> 2 FAHRS rotation from veh to nav: [[0.354407,-0.920457,-0.164787],[0.935052,0.350473,0.053362],[0.008635,-0.172996,0.984885]]>H?`bt`ſ ?@%n?`TR?q?$ƿ,?i>}?I>#];>CYN҃ByN#"ITTbDZVDZkybT%b^=ٔb̻Q-f>9dYd=fSGyfFj:En>lQ 5r4nY]?Q 9v4n;)nBYtyvt?Q Iv?n'DIn :in:n4y~CBɮ~ A|B*** querying acoustic contact ***i ijh!%DNOT Ignoring new targets: 81.83 m.Rh-2Zh-2= ProNav: ac range: 81.826363 m, nav range: 78.279190 m, bearing: 64.549585 deg, approach rate: -0.825976 m/s, LOS rate: -0.039022 deg/s, cmd heading: 68.695270 deg, new cmd heading: 68.655144 deg. Bh=>ֺEHeadingCmd: 1.198258 target range: 81.826363 and range: 82.20 m.hE`?hA*hA"hA hIgIfIfQfQdQdQdYjdYZd]9@颁ɢ_Q) GiDzD?AE EE)E"E:*E:VEFA4ZEBEa2EaJE;a:E;a)Gv顩iKZi`?`;ZӸ,MO?A2BDAT read: Rx Time:15:11:07.7327 6TRx dataTimestamp_ set to:1761577869.2519916checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013540BΔ}?B?BٱB1 JAHRS rotation from veh to nav: [[0.354250,-0.920522,-0.164763],[0.935105,0.350436,0.052660],[0.009264,-0.172725,0.984927]]BH`? t@ſ@a?m?`4?B?ƿ?iBΔ}?IB)];BCYRكByR,"IbDZ VDZ2yb=%bK=ٔf̺Q-f>9dYd=fSGyjFj9Ej>llQ 5v4ng?Q 9v4n~3)nBYtyvz?Q Iv?n'DIn:in:nȏ4y|ɮ~I Ajh!-DNOT Ignoring new targets: 81.83 m.Rh-`(Zh-`(= ProNav: ac range: 81.826363 m, nav range: 77.968575 m, bearing: 64.534814 deg, approach rate: -0.770812 m/s, LOS rate: -0.036801 deg/s, cmd heading: 68.655142 deg, new cmd heading: 68.610653 deg. BhE ʺEHeadingCmd: 1.197482 target range: 81.826363 and range: 82.20 m.hEG?hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]r@颅BɢK;) Ci)顉iGXiG?;fB!CB`"IBBBBBBw;Bz1E9^AUhW<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264942A I I O >a ٸ,;i?A:}?:?:Hٱ: 0 BAHRS rotation from veh to nav: [[0.354194,-0.920694,-0.163919],[0.935122,0.350500,0.051925],[0.009647,-0.171676,0.985106]]:H@?Rv OĿ ?n?镪??{ſ?i:}?I:];:CYnʃByn"IIvJ>)vp<1iMb@Mb@Mb@ 9x&?Mb`Y7I?y̼A@  A) AY=AbDVDy*%8=ٔ4aQ->9Y=SGyF 79E >Q 54dr?Q 94*)BY%QI?Q E%:y%?Q I%?'DIU:iH:4y-,Bɮ- A5EjhDNOT Ignoring new targets: 81.83 m.Rh Zh E ProNav: ac range: 81.826363 m, nav range: 77.618813 m, bearing: 64.521736 deg, approach rate: -0.757010 m/s, LOS rate: -0.028433 deg/s, cmd heading: 68.610650 deg, new cmd heading: 68.571240 deg. BhMUHeadingCmd: 1.196794 target range: 81.826363 and range: 82.20 m.hU0?hQ*hQ"hY hYgYfYDAT read: 15:11:07.7327 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 411, 0.25, 2.833, 1.267,-3.086, 2.788, PHS= 0.148,-1.475, 0.365, RAW= 156.2, 11.1, CAL= 156.2, 12.2, ROT= 353.8, -12.2 Ygot valid direction response: 15:11:07.7327 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 411, 0.25, 2.833, 1.267,-3.086, 2.788, PHS= 0.148,-1.475, 0.365, RAW= 156.2, 11.1, CAL= 156.2, 12.2, ROT= 353.8, -12.2 PDAT read: Bearing 222.9, -6.7 (Local) ~Local bearing/azimuth received: Bearing 222.9, -6.7 (Local) DAT read: Range 11 to 50 : 79.5 m (Round-trip 106.1 ms) speed 0.4 m/s *DAT read: user:997> BDAT read: Tx time:15:11:08.8224 $Ping request sent.im̼mH>m!z.@maF>m!z.@ m^ Z>)me@Im^ ZiimX?Qa?>*g? m!?)m |EImiݽim^ Zii:publishing transmit ping timeFpublishing direction and range infoyimQh(?9qS\ ?Yiiiii i)iIiiif!f%Bd!d!d)jd-S@Zd-}?Yiiii i)iIiiimX?Qa?>*g? i)iIiiiii颕Bɢ(3) {i)iwlVi0? ä; oL,p?A>}?>=њ?>g(ٱ>. FAHRS rotation from veh to nav: [[0.353459,-0.921207,-0.162619],[0.935394,0.349966,0.050621],[0.010278,-0.170006,0.985389]]>H`?z@Ŀ?e?? ?ſO?i>}?I>T];>CYNÃByN"I V;V<bDZVDZybh%bA=ٔbYúQ-b>9dYd=fSGyfFj:Ej>lQ 5r4n%}?Q 9r4n")nBYpyr?Q Ir?n'DIn[:in:n4yxɮzI Axii-[p?AJiGBRiGBjiב?bǫH9S@S^< o5_0@RQh(?9qS\ ?Ziiݽbi^ ZjMq@@6L^tvQ@z2@ZԆD[?r$>?/=r:?2iB:iB"i?*i͚Bi%Bi,y5?ii%BiBi'?E addTargetRange:: Added new target pos. range: 79.500000 m, deltaT: 3.528339 s, deltaX: -2.699997 m, approachRate: -0.765232 m/s, rangeRepo size: 4 U Added new target pos. range: 79.139404 m, bearing: 65.281403 deg, lat: 36.779290 deg, lon: -121.859533 deg, deltaT: 3.528339 s, deltaX: -2.686958 m, approachRate: -0.761536 m/s, posRepo size: 4 jhQ]DNOT Ignoring new targets: 79.14 m.Rh]ZhYu ProNav: ac range: 79.139404 m, nav range: 76.990799 m, bearing: 64.973762 deg, approach rate: 0.000000 m/s, LOS rate: -0.028433 deg/s, cmd heading: 68.571240 deg, new cmd heading: 68.536269 deg. Bhq}HeadingCmd: 1.196184 target range: 79.139404 and range: 79.50 m.h}?hy*hy"hy hygyfffdddjdZd?颽BɢƲR) |!i)߷ikTi?=f;MU"B CB T"IB BB =B B B w;B 1EI O >\,Ơ?A 6}?6͚?6&)ٱ6- >AHRS rotation from veh to nav: [[0.353557,-0.921464,-0.160938],[0.935356,0.350163,0.049954],[0.010324,-0.168196,0.985699]]6H ?`|`Ŀo?`i??$? tſي?i6}?I6>];6CYFByF"IiEMb@Mb@Mb@AAAA A9E)\(?MbMbpYEGA?yEEE/AE@ E A)EQ AAYEAbD]VD]1ym6%m@=ٔuQ-u>9} ?Y} ?=}SGy}F}E}>Q 54͇?Q 94)BYtA?Q E:yX?Q I?'DI ;i ;h4yBɮ AjhDNOT Ignoring new targets: 79.14 m.Rh{Zh{ ProNav: ac range: 79.139404 m, nav range: 76.669296 m, bearing: 64.965892 deg, approach rate: -0.762420 m/s, LOS rate: -0.018740 deg/s, cmd heading: 68.536270 deg, new cmd heading: 68.512562 deg. BhMHeadingCmd: 1.195770 target range: 79.139404 and range: 79.50 m.h?h*h"h hgfffBdddjdZd@I?-Bɢ-N)1 5%i1)5ɻ11i57Ri=?=%;=[3E  E E 'E "E :*E :VE '4ZE BE 5dYBy%!IEgG]eA iqi9eAYТAbDVDJy L%D=ٔQ->9Y=SGyFE>Q 549?Q 94)ÎBYyQ I?'DI;iH;4yBɮ A %B*** querying acoustic contact ***i! i!jh15DNOT Ignoring new targets: 79.14 m.Rh=*Zh=*M ProNav: ac range: 79.139404 m, nav range: 76.354866 m, bearing: 64.958132 deg, approach rate: -0.754786 m/s, LOS rate: -0.018706 deg/s, cmd heading: 68.512562 deg, new cmd heading: 68.489185 deg. BhMfMUHeadingCmd: 1.195362 target range: 79.139404 and range: 79.50 m.hU?hQ*hQ"hY hYgYfYfYfadadadajdaZdm?颕BɢvV) *i)ۻ顙iOi?; *E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516079,v?A6iu}?6?63.ٱ6, BAHRS rotation from veh to nav: [[0.354693,-0.921042,-0.160857],[0.934922,0.351346,0.049771],[0.010675,-0.168042,0.985722]]6HH?,yĿ?r|?{? ܅?fſ ?i6iu}?I6M];4YJByJ!IPPbDRVDR0yZ<%^^=ٔ^/zQ-^>9b"?Yb"?=bSGybFbXEb>dlQ 554fu?Q 954f )fŎBY9y=0?Q I=?f(DIfgB!CB;"IBBB =BBBx;B1E@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7684651^A f,=?AJ9}?J?J|0ٱJH, VAHRS rotation from veh to nav: [[0.355554,-0.920703,-0.160895],[0.934594,0.352210,0.049832],[0.010789,-0.168089,0.985713]]JHd?fv@2Ŀ0??@?`S? ſ?iJ9}?IJl];JCY`y`AiMb@Mb@Mb@ 9+?I +~jth?Y??y94D;A ~A); AY AbDVDN2ٔ懹Q->9Y=SGyF E>Q 54Ʀ?Q 94)ɎBY@?Q E:y5?Q I?%(DIU:i':Ż4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020144y ɮ  jhamDNOT Ignoring new targets: 79.14 m.Rhu.Zhu.  ProNav: ac range: 79.139404 m, nav range: 75.748291 m, bearing: 64.947384 deg, approach rate: -0.764517 m/s, LOS rate: -0.009559 deg/s, cmd heading: 68.469143 deg, new cmd heading: 68.456809 deg. Bhѹ=HeadingCmd: 1.194797 target range: 79.139404 and range: 79.50 m.h=?h9*h9"h9 h9g9fAfAfĒBdAdIdIjdIZdM@颽BɢQ) 6'i)izYKi?U;TvqC,Z~ ?A2g|?2`?2{0ٱ2E- :AHRS rotation from veh to nav: [[0.356660,-0.920236,-0.161116],[0.934172,0.353282,0.050143],[0.010776,-0.168395,0.985661]]2H?r`vĿ? -?`_?`?ſ?i2g|?I2^];2CYBByB!IIF4>)DbDNVDN:yR%V<ٔVt8Q-V>9XYX=ZSGyZF^GE^>`Q 5b4b԰?Q 9f4b)b͎BYdyf?Q If?b8(DIb:ib:b 4ynBɮn AnExjh DNOT Ignoring new targets: 79.14 m.Rh #Zh # ProNav: ac range: 79.139404 m, nav range: 75.456970 m, bearing: 64.943988 deg, approach rate: -0.764110 m/s, LOS rate: -0.008940 deg/s, cmd heading: 68.456807 deg, new cmd heading: 68.446581 deg. Bh%WĹ%HeadingCmd: 1.194618 target range: 79.139404 and range: 79.50 m.h%@?h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=@v@BɢLe) %(i)i&Ii@?;}h checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776015h,E#?A2|?2;?2^2ٱ2. :AHRS rotation from veh to nav: [[0.357720,-0.919620,-0.162285],[0.933765,0.354284,0.050648],[0.010918,-0.169654,0.985443]]2H ? m@Ŀg???.\? 7ſ@?i2|?I2AJ];0YBByB!IYieMb@Mb@Mb@aaaa a9eS?~jt{Gz?Ye/=?yeDe#9Y=SGyF%,E>Q 54?Q 94>)ӎBY=?Q E:yW?Q I?L(DI':is:ʠ4yɮ% AjhDNOT Ignoring new targets: 79.14 m.Rh˸Zh˸ ProNav: ac range: 79.139404 m, nav range: 75.137207 m, bearing: 64.941599 deg, approach rate: -0.741007 m/s, LOS rate: -0.005560 deg/s, cmd heading: 68.446582 deg, new cmd heading: 68.439385 deg. Bh2t HeadingCmd: 1.194493 target range: 79.139404 and range: 79.50 m.h "?h *h "h  h g f ffBdddjdZd@MBɢM`)I M+iI)UiFi"?s{;9[9XYX=ZSGyZF^>E^>`Q 5f4b|Ȑ?Q 9f4b)bَBYdyf)?Q Ij?bc(DIb;ib;bҠ4ynӔBɮn AnEzB*** querying acoustic contact ***i| i|jh DNOT Ignoring new targets: 79.14 m.Rh 0Zh 0 ProNav: ac range: 79.139404 m, nav range: 74.780937 m, bearing: 64.939292 deg, approach rate: -0.739706 m/s, LOS rate: -0.004814 deg/s, cmd heading: 68.439383 deg, new cmd heading: 68.432428 deg. BhmS%HeadingCmd: 1.194371 target range: 79.139404 and range: 79.50 m.h-(?h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=` @ԡBɢĹS)  ,i ) K  i Di(?;$K BDAT read: Tx time:15:11:12.4224 $Ping request sent.M/@M4QO>M/@ Mf>)M@IMfIIM ?[?+>D? M&?)MPIM iMfII:publishing transmit ping time%Fpublishing direction and range infoyIM+?c"INu?YIIIII I)IIIiIIIII I)IIIIIM ?[?+>D? I)IIIiIII^A~E_<I I O >E  E E E "E :*E VE ZE a @a @a @a @) ,]?ABN>BN!CBN"IBÑBBN =BLBNDBNex;BN1EB]!CBYBYBYB] =C]kX5YBy!IiMb@Mb@Mb@ 9Gz?S㥫 rh?Yp=?y/]C<A  A) AY AAAbDVDky.=%!=ٔQ->9Y=SGyFE>Q 54Ր?Q 94)BY=?Q E:y\?Q I?{(DI:i:^۠4yؔBɮN A  Eii'/S?AJiBRiBjiO{?bl ~R@>6z#51@R+?c"INu?Zi bifj S]@@ 0P@*K3@ZY4ˀ]?h?ʲ>!?2iB:iB"i?*i BiFBiiiiϔBi?U addTargetRange:: Added new target pos. range: 76.900002 m, deltaT: 3.544188 s, deltaX: -2.599998 m, approachRate: -0.733595 m/s, rangeRepo size: 4 m Added new target pos. range: 76.551338 m, bearing: 63.778112 deg, lat: 36.779290 deg, lon: -121.859533 deg, deltaT: 3.544188 s, deltaX: -2.588066 m, approachRate: -0.730228 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 76.55 m.RhuZhq ProNav: ac range: 76.551338 m, nav range: 74.405525 m, bearing: 64.938652 deg, approach rate: 0.000000 m/s, LOS rate: -0.004814 deg/s, cmd heading: 68.432430 deg, new cmd heading: 68.425063 deg. BhHeadingCmd: 1.194243 target range: 76.551338 and range: 76.90 m.hܘ?h*h"h hgfffBdddjd9S@Zd@z5?Bɢ|Q) !&i)ӝ&iWvAiܘ?k;AOAM>AIyIO ?B ,M?A: x{?:N?:-ٱ:0 BAHRS rotation from veh to nav: [[0.361948,-0.917647,-0.164069],[0.932138,0.358279,0.052487],[0.010619,-0.171933,0.985051]]:H%*?@\]:ſ? ?ߪ?@(?@ƿ?i: x{?I:];:CYbByb!IbDnVDnyv%v6=ٔvf9Q-z>9xYx=zSGy~F~E~>Q 5 4ᐊ?Q 9 4)BY y ?Q I?(DIn;i;54yɮl AjhAEDNOT Ignoring new targets: 76.55 m.RhM7ZhM7] ProNav: ac range: 76.551338 m, nav range: 74.072845 m, bearing: 64.938869 deg, approach rate: -0.748353 m/s, LOS rate: 0.000491 deg/s, cmd heading: 68.425061 deg, new cmd heading: 68.425715 deg. Bh]p7eHeadingCmd: 1.194254 target range: 76.551338 and range: 76.90 m.heQݘ?ha*ha"hi higififyfydydydjdZd >>?颭Bɢ^) 'i)p0顱i>iQݘ?. ; Q nF&,Q?A2$2{?2P?214ٱ20 :AHRS rotation from veh to nav: [[0.362941,-0.917258,-0.164049],[0.931747,0.359330,0.052249],[0.011022,-0.171816,0.985067]]2H`m:?,ZĿ?A?`j? ?ſ ?i2$2{?I2߫];0Eb EbEb$E`"Eb:*Eb:VEb4ZE`aj@aj@aj@aj@YEByE!IIMa=)M>QQbD]VD]kymZ%mC=ٔm|Q-m>9qYy=}SGyF(&E>Q 54쐊?Q 94[)BYyԐ?Q I?(DI;i;4yɮu A BU>BQBQBQBU =BQBQBUxx;BU1EԙjhDNOT Ignoring new targets: 76.55 m.Rh7Zh7 ProNav: ac range: 76.551338 m, nav range: 73.758385 m, bearing: 64.939338 deg, approach rate: -0.656352 m/s, LOS rate: 0.000984 deg/s, cmd heading: 68.425716 deg, new cmd heading: 68.427130 deg. Bh,8HeadingCmd: 1.194279 target range: 76.551338 and range: 76.90 m.h ޘ?h*h"h hgfffdd d jd Zd @ r,,7?AJ;z?Jj?JcKٱJ0 ^AHRS rotation from veh to nav: [[0.363659,-0.916887,-0.164534],[0.931450,0.360263,0.051110],[0.012414,-0.171842,0.985046]]JH/F?`"W uſ@o??+?`Tl? ſ?iJ;z?IJp^;HYbByb"IiMb@Mb@Mb@ 9ףp= ?&1Zd;O?Y>?yPj<AZ@ ) AY A <bDVDy{=%E=ٔ\Q->9Y=SGyFE>Q 54?Q 94)BYA??Q E:yx?Q I?(DI ;i:4yŔBɮpAEjhDNOT Ignoring new targets: 76.55 m.RhZh- ProNav: ac range: 76.551338 m, nav range: 73.453026 m, bearing: 64.938607 deg, approach rate: -0.860908 m/s, LOS rate: -0.002071 deg/s, cmd heading: 68.427130 deg, new cmd heading: 68.424927 deg. Bh-浸5HeadingCmd: 1.194240 target range: 76.551338 and range: 76.90 m.h5ܘ?h1*h1"h1 h1g9f9f9f=BdAdAdAjdAZdM /r?uBɢu q)} }/iy)}~Ayyi}/:iܘ?; A W3,:?A@VWz?V]?V_ٱV1 bAHRS rotation from veh to nav: [[0.364021,-0.916625,-0.165190],[0.931291,0.360814,0.050110],[0.013671,-0.172081,0.984988]]VHL?T$ſ!??? ?`ƿ`?iVWz?IV6^;VCYfByf"IbDrVDrNyzg(<%zX=ٔz%ZQ-z>9|Y|=~SGy~F刺E> Q 54 ?Q 94 W) BYyk?Q I? (DI :i ; b4y!ɮ%`A!EB*** querying acoustic contact ***iA iAjhIUDNOT Ignoring new targets: 76.55 m.RhU?ZhU?m ProNav: ac range: 76.551338 m, nav range: 73.170860 m, bearing: 64.938012 deg, approach rate: -0.745706 m/s, LOS rate: -0.001579 deg/s, cmd heading: 68.424924 deg, new cmd heading: 68.423131 deg. BhmmHeadingCmd: 1.194209 target range: 76.551338 and range: 76.90 m.huۘ?hq*hq"hq hqgqfqfyfydyddjdZd ?颵Bɢgg) Di)I项iJ8iۘ?; BE CBE""IBEуBBE =BABABEx;BE1EII O- >Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2471749,?A9Y=SGyF7E>Q 54 ?Q 94) BYi@?Q E:yΏ?Q I?(DI;iI;4yɮAjhDNOT Ignoring new targets: 76.55 m.Rh 8Zh 8 ProNav: ac range: 76.551338 m, nav range: 72.850136 m, bearing: 64.940507 deg, approach rate: -0.750898 m/s, LOS rate: 0.005868 deg/s, cmd heading: 68.423128 deg, new cmd heading: 68.430647 deg. Bh9%HeadingCmd: 1.194340 target range: 76.551338 and range: 76.90 m.h%#?h!*h)"h) h)g)f)f1f5ƄBd1d1d9jd9Zd=/+@eBɢmR u9 fAY ȫAi@,?AJ z?JZ?JٱJQL0 ZAHRS rotation from veh to nav: [[0.364095,-0.916547,-0.165455],[0.931217,0.361385,0.047293],[0.016447,-0.171294,0.985083]]JHVM?@[T-ſ? ? 6?cא?ſ@̅?iJ z?IJj`;JCYbǃByb"Ij@AhlbDjVDj1yvں;%vW=ٔz>Q-z>9xYx=zSGy~F~yE~>Q 5 4?Q 9 4)BYyʏ?Q I?(DIp:i:~4yʔBɮ%A%EjhAMDNOT Ignoring new targets: 76.55 m.RhMz8ZhUz8echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751273m ProNav: ac range: 76.551338 m, nav range: 72.564842 m, bearing: 64.942776 deg, approach rate: -0.750925 m/s, LOS rate: 0.005996 deg/s, cmd heading: 68.430648 deg, new cmd heading: 68.437482 deg. Bhm9uHeadingCmd: 1.194459 target range: 76.551338 and range: 76.90 m.hu ?hq*hq"hy hygyfyffdddjdZd@ 8@颵Bɢ_) i)X项iZ4i ? $;pxG,XU?AA@AA@AB>B!CB."IB܃BB =BBBx;B2E5qz?5Q?5ٱ5QQ?` T#ſ{?@*? 0?`?@Gſ`?i5qz?I5S`;1YUԃBy]%"Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255300ԩiMb@Mb@Mb@ 9~jt? ףp= I +?YD?yQ89<Z@ ~A)$ AY AbD VD ky ==%=ٔ_Q->9!Y!=%SGy%F-E->1Q 5=451&?Q 9=45&)5BY=E?Q E=:yE?Q IE?5 )DI5m ;i5 ;54yMBɮMAMEjhquDNOT Ignoring new targets: 76.55 m.Rh}Zh} ProNav: ac range: 76.551338 m, nav range: 72.154984 m, bearing: 64.939038 deg, approach rate: -0.768210 m/s, LOS rate: -0.007046 deg/s, cmd heading: 68.437485 deg, new cmd heading: 68.426207 deg. BhHeadingCmd: 1.194263 target range: 76.551338 and range: 76.90 m.hݘ?h*h"h hgfffτBdddjdZd y @颕Bɢ>)  i)db顙i#2iݘ?Mf;؟ - BDAT read: Tx time:15:11:16.0224 5 $Ping request sent.5 e ~{/@e [>e F/@ e Ϣv>)e @Ie Ϣva a e |o0?&?T&;? e %?)e Q[Ie @ie Ϣva a  :publishing transmit ping time1  Fpublishing direction and range infoya e  [9E?6iC?Ya a a a a a )a Ia ia a a a a a )a Ia a a e |o0?&?T&;? a )a Ia ia a a ! D9zD=@AEE EEEE)EA"EE=;*EE:VEEFA4ZEABEAaM2EAaUJEEm;aU:EEm;aU^A8SN:ſs?@y-? y?`N?ſ`?i2z?I2,"a;2CYNՃByN'"IbDZVDZyr;%r(=ٔrRQ-r>9tYt=vSGyvFzD 9Ez>Q 5%4P3?Q 9%4))BY)y-?Q I-?#)DI:i:c4yUBɮU A]Eqii5?AJiBRiBji^Q?by}lQ@6s"`&Z1@R [9E?6iC?Zi@biϢvjyi?@&EgO@9P4@Zۋ%-]A?͵&K?Ƅ6N?2iK~B:iNA"is?*icHBiwBib?i1qGii4Bi|? addTargetRange:: Added new target pos. range: 74.099998 m, deltaT: 3.530308 s, deltaX: -2.800003 m, approachRate: -0.793133 m/s, rangeRepo size: 4  Added new target pos. range: 73.763763 m, bearing: 63.704777 deg, lat: 36.779299 deg, lon: -121.859534 deg, deltaT: 3.530308 s, deltaX: -2.787575 m, approachRate: -0.789612 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 73.76 m.Rh%Zh!U ProNav: ac range: 73.763763 m, nav range: 72.102623 m, bearing: 64.227874 deg, approach rate: 0.000000 m/s, LOS rate: -0.007046 deg/s, cmd heading: 68.426208 deg, new cmd heading: 68.415572 deg. BhQ]HeadingCmd: 1.194077 target range: 73.763763 and range: 74.10 m.h]ט?hY*hY"ha hagafafifdddjd`fR@ZdT?BɢC)  i)Bkk!)i-n(0i-ט?5;59Y!=%SGy%F%SE%>)Q 554-B?Q 9=4-)-5BY=F?Q E=:y=?Q I=?->)DI-;i-:-!4yAɮMAIB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.76 m.RhcZhc ProNav: ac range: 73.763763 m, nav range: 71.682678 m, bearing: 64.221268 deg, approach rate: -0.783908 m/s, LOS rate: -0.012404 deg/s, cmd heading: 68.415573 deg, new cmd heading: 68.395639 deg. Bh4HeadingCmd: 1.193729 target range: 73.763763 and range: 74.10 m.h̘?h*h"h hgfffMބBdIdIdIjdQZdU̯?BɢR=) i)`tin.i̘?;2 i%>9@ @@@)i߉I߉T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A Y A .AI I O >ݒ^,` }?AD&=D&=E* E*E*(E("E*:*E*~:VE*c44ZE(BE*39j ?Yj ?=nSGynFU>:E>!Q 5-4%L?Q 9-4%O)%=BY1y5 ?Q I5?%P)DI%:i%:%@(4y9ɮ=KAAjhDNOT Ignoring new targets: 73.76 m.RhfZhf ProNav: ac range: 73.763763 m, nav range: 71.399620 m, bearing: 64.216718 deg, approach rate: -0.778783 m/s, LOS rate: -0.012569 deg/s, cmd heading: 68.395636 deg, new cmd heading: 68.381931 deg. Bh HeadingCmd: 1.193490 target range: 73.763763 and range: 74.10 m.hFĘ?h*h"h hgfffdddjdZd?EBɢEQ)I M}iI)MyIIiM*-QiFĘ?c%;̨ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483873 ze,v?A2z?2Ih?2ռٱ28/ :AHRS rotation from veh to nav: [[0.363636,-0.916272,-0.167973],[0.931175,0.362590,0.037971],[0.026114,-0.170220,0.985060]]2HE?R'ſ/?@4?p?? ſ?i2z?I2Vb;2CYBByBH"IbDJVDJNyR+<%RM=ٔVQ-V>9V"?YV"?=ZSGyZFZ;:EZ>\Q 5b4^V?Q 9f4^)^GBYdyf?Q If?^d)DI^[:i^R:^/4yjBɮjAnEjhDNOT Ignoring new targets: 73.76 m.Rh mZh m ProNav: ac range: 73.763763 m, nav range: 71.096886 m, bearing: 64.211706 deg, approach rate: -0.781204 m/s, LOS rate: -0.012986 deg/s, cmd heading: 68.381928 deg, new cmd heading: 68.366831 deg. Bh%HeadingCmd: 1.193226 target range: 73.763763 and range: 74.10 m.h%?h!*h!"h) h)g)f)f)f1d1d1d1jd9Zd= R?Bɢ1I) Wi)i+i?Աj;99 k,װ?AYByN"II ;>) >iMb@Mb@Mb@ 9y&1?ktMb?Y`E?y 0<vAZ@ )lAY AbDVDܲyU<%8=ٔQ->9Y=SGyFE>Q 54b?Q 94܅)PBYE?Q E:yҒ?Q I?y)DI:i:64y ɮzA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988022jhDNOT Ignoring new targets: 73.76 m.Rh֐Zh֐ ProNav: ac range: 73.763763 m, nav range: 70.754707 m, bearing: 64.204405 deg, approach rate: -0.738163 m/s, LOS rate: -0.015828 deg/s, cmd heading: 68.366833 deg, new cmd heading: 68.344821 deg. Bh-5HeadingCmd: 1.192842 target range: 73.763763 and range: 74.10 m.h5 ?h1*h1"h9 h9g9f9fAfEфBdAdAdAjdIZdMR@颕Bɢچ=) i)u顙i*i ?;%!r,R?A2>{?2]m?2~ٱ2#/ >AHRS rotation from veh to nav: [[0.363451,-0.916013,-0.169773],[0.931127,0.363064,0.034446],[0.030085,-0.170600,0.984881]]2H@B?@O ſ?o{?I2jpd;2CYBByBa"IbDNVDNyV/=%VZ=ٔV-Q-Z>9XYX=ZSGyZF^9E^>`Q 5f4b~l?Q 9f4b~)bYBYdyjג?Q Ij?b)DIb;ib;ba=4ylɮnAljhDNOT Ignoring new targets: 73.76 m.Rh Zh  ProNav: ac range: 73.763763 m, nav range: 70.466278 m, bearing: 64.198158 deg, approach rate: -0.814544 m/s, LOS rate: -0.017712 deg/s, cmd heading: 68.344819 deg, new cmd heading: 68.326004 deg. Bh}B%HeadingCmd: 1.192514 target range: 73.763763 and range: 74.10 m.h%J?h!*h!"h! h!g)f)f1f1d1d1d1jd9Zd=@߄Bɢ٬B) ۾i!)% !!i%n)iMJ?M ;M>(B CB s"IB BB =B B B y;B .2EAQ IY Iq O} >x,?A0^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747141]^{?]w?]Gٱ]/ uAHRS rotation from veh to nav: [[0.363129,-0.916021,-0.170422],[0.931188,0.363082,0.032567],[0.032045,-0.170520,0.984833]]]H=? P_ſ@J?9YYY=]SGy]Fe8:Ee>iQ 5u4mx?Q 9u4mv)mfBY}E?Q E}:y}@?Q I}?m)DIm:imq:m_E4yBɮ>AE=B*** querying acoustic contact ***i9 i9jhIUDNOT Ignoring new targets: 73.76 m.RhUtZhUtԁ ProNav: ac range: 73.763763 m, nav range: 70.114250 m, bearing: 64.191792 deg, approach rate: -0.736081 m/s, LOS rate: -0.013378 deg/s, cmd heading: 68.326002 deg, new cmd heading: 68.306808 deg. BhHeadingCmd: 1.192179 target range: 73.763763 and range: 74.10 m.hP?h*h"h hgfffBdddjdZd@3@݄Bɢ`6) ۾i)Vi,)iMP?Mx;Mq1=].@=@X>=!z.@ =|o>)=e@I=|o99=%ewL?7qlak?D׶X^? =+!?)=7PWI=iݽi=|o99m:publishing transmit ping timemFpublishing direction and range infoy9={^?'庿] A?Y99999 9)9I9i99999 9)9I999=%ewL?7qlak?D׶X^? 9)9I9i999^A *:< Ia Iy O >bQ,?3?AY By "IiߙIߙiMb@Mb@Mb@ 9K7?/$ rh?YI?y,C<C@ ~A)AY AbDVD1y<%F=ٔQ->9Y=SGyFE>Q 54~?Q 94`)BYJ?Q E:y8?Q I?)DI ;i. ;Z4yBɮAiyi}&?AJi}BRi}Bji}?b}JB>"Q@H@l0@R}{^?'庿] A?Zi}iݽbi}|oj}\Qlb<@ŀN@r4@Z}rte ?]/?"$?2i},vB:i}A"i}P?*i}0H Bi}LBiyi}0H i}FBi} Bi}SƎ?U addTargetRange:: Added new target pos. range: 71.199997 m, deltaT: 3.779120 s, deltaX: -2.900002 m, approachRate: -0.767375 m/s, rangeRepo size: 4 e Added new target pos. range: 70.876854 m, bearing: 64.884487 deg, lat: 36.779299 deg, lon: -121.859542 deg, deltaT: 3.779120 s, deltaX: -2.886909 m, approachRate: -0.763911 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 70.88 m.RhmZhi ProNav: ac range: 70.876854 m, nav range: 68.525620 m, bearing: 63.909278 deg, approach rate: 0.000000 m/s, LOS rate: -0.014258 deg/s, cmd heading: 68.272850 deg, new cmd heading: 68.255012 deg. BhHeadingCmd: 1.191275 target range: 70.876854 and range: 71.20 m.h{?h*h"h hgfffBdddjdQ@Zd`%?eلBɢmr0) i)鐼顑i@'i{?;=ԑ /9,M?A2@{?2v?2'ٱ2|/ :AHRS rotation from veh to nav: [[0.363041,-0.915470,-0.173540],[0.930873,0.364529,0.024371],[0.040950,-0.170391,0.984525]]2H 9XYX=ZSGyZFZnXE^>hQ 5v4jw?Q 9z4jY)jBYxyz4?Q Iz?j)DIj/;ijR;j`4yɮAjh!-DNOT Ignoring new targets: 70.88 m.Rh-ҹZh5ҹE ProNav: ac range: 70.876854 m, nav range: 68.236046 m, bearing: 63.900861 deg, approach rate: -0.789683 m/s, LOS rate: -0.023051 deg/s, cmd heading: 68.255009 deg, new cmd heading: 68.229651 deg. BhE}MHeadingCmd: 1.190832 target range: 70.876854 and range: 71.20 m.hM/m?hI*hI"hI hIgQfQfQfQԙdddjdZd&@?颥؄Bɢ$3) i)顱ij'i/m? ;CB5 >B1 B5 "IB5 ABB1 B1 B1 B5 x;B5 2E v,g?AY'By"IiMMb@Mb@Mb@IIII I9Mv/?l:v?YMxI?yMM9yYy=}SGyFE>Q 54ԯ?Q 94>P)BYI?Q E:y>?Q I? *DI~:i:i4yɮAB*** querying acoustic contact ***i ijhAMDNOT Ignoring new targets: 70.88 m.RhUZhUm ProNav: ac range: 70.876854 m, nav range: 67.870491 m, bearing: 63.887619 deg, approach rate: -0.765396 m/s, LOS rate: -0.027874 deg/s, cmd heading: 68.229649 deg, new cmd heading: 68.189710 deg. Bhm }HeadingCmd: 1.190135 target range: 70.876854 and range: 71.20 m.h}XV?hy*hy"hy hygfffBdddjdZd@b?eׄBɢms%)i mii)mbiqiuY'iuXV?}┰;}L9iYi=mSGymFu9Eu>yQ 54}?Q 94}!G)}BYyE?Q I?}!*DI};i};}q4yBɮAߧEjhDNOT Ignoring new targets: 70.88 m.RhZh5 ProNav: ac range: 70.876854 m, nav range: 67.492805 m, bearing: 63.873721 deg, approach rate: -0.794659 m/s, LOS rate: -0.029406 deg/s, cmd heading: 68.189713 deg, new cmd heading: 68.147784 deg. Bh5r=HeadingCmd: 1.189403 target range: 70.876854 and range: 71.20 m.h=]>?h9*hA"hA hAgAfafifidididijdqZdu e=?=ՄBɢEt )I MRiI)UvQQiUp(i]>?1>;Y?I` -9@) @)@-/@)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.744823AE  E E %E "E V:*E xv:VE 4ZE a- @a- @a- @a- @^AM JMB !CB "IB UBB B B B x;B A I I O%>+,}w?A8vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.995714){?%?KKٱ1/ AHRS rotation from veh to nav: [[0.362632,-0.914952,-0.177093],[0.930603,0.365664,0.016382],[0.049768,-0.170744,0.984058]]H[5?HGƿ`? g?WƐ?@7{? ſf}?i){?Ij;CY.By"IiMMb@Mb@Mb@IIII I9MJ +? ףp= ?YMH?yMQ8M9yYy=SGy Fi9E>Q 54ʑ?Q 94=)ǏBY"I?Q E:y?Q I?:*DI3:i:=z4y!ɮ%A!jhIMDNOT Ignoring new targets: 70.88 m.RhUȹZhUȹ ProNav: ac range: 70.876854 m, nav range: 67.102234 m, bearing: 63.862650 deg, approach rate: -0.770297 m/s, LOS rate: -0.021961 deg/s, cmd heading: 68.147782 deg, new cmd heading: 68.114377 deg. Bh%qHeadingCmd: 1.188820 target range: 70.876854 and range: 71.20 m.hB+?h*h"h hgfԡffBdddjdZd b@颽ԄBɢQ") i)Fiu)iB+?;ilb9hYh=jSGyj Fj9En>pQ 5v4r ؑ?Q 9v4r4)rڏBYtyv?Q Iv?rT*DIr9:ir:r>4y~TBɮ~A|jh!%DNOT Ignoring new targets: 70.88 m.Rh-ֹZh-ֹ= ProNav: ac range: 70.876854 m, nav range: 66.699303 m, bearing: 63.851012 deg, approach rate: -0.807039 m/s, LOS rate: -0.023452 deg/s, cmd heading: 68.114376 deg, new cmd heading: 68.079249 deg. Bh=€EHeadingCmd: 1.188207 target range: 70.876854 and range: 71.20 m.hE+?hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]@ӄBɢu!)  Ni1)599i=')iE+?E;EmEM  EM EM *EI "EM T;*EM :VEM (N4ZEI aU @aU @aU @aU @B >B B "IB eBB =B B B 3y;B 92EBm CBm CBiBm =Bm =Cm(4 pƸ,>?A26{?2?2z^ٱ2.1 :AHRS rotation from veh to nav: [[0.362362,-0.914553,-0.179686],[0.930455,0.366190,0.012585],[0.054290,-0.171750,0.983643]]2H0?@DƿI?o?:Ɖ?˫?ſz?i26{?I2nj;2CYnCByn"IbDzVDzfy+=%G=ٔQ->9!Y)=-SGy- F=EE>YQ 5u4]b㑊?Q 94]7,)]BYy?Q I?]i*DI]w;i]U;]4yABɮ@֧EBDAT read: Rx Time:15:11:22.1180 TRx dataTimestamp_ set to:1761577883.641642%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009859Թjh!%DNOT Ignoring new targets: 70.88 m.Rh-Zh-] ProNav: ac range: 70.876854 m, nav range: 66.371338 m, bearing: 63.841438 deg, approach rate: -0.698983 m/s, LOS rate: -0.020504 deg/s, cmd heading: 68.079248 deg, new cmd heading: 68.050386 deg. Bh]&aeHeadingCmd: 1.187703 target range: 70.876854 and range: 71.20 m.he?ha*ha"ha hagafiffdddjdZd@:@҄Bɢ() %i) ᳟  i *i?WQ; t,R?AE EE(E"EV:*E~:VEc44ZEBE9)M=iMb@Mb@Mb@ 9oʡ?l񢿺I +?YM?y9<\A@  A)$AY AbDVDy-P;%-+=ٔ-Q-->91Y1=5SGy5 F=:E=>AQ 5M4E?Q 9M4E0#)EBYMZM?Q EM:yMQ?Q IU?E*DIE3:iE:EŒ4y]FBɮ]A]קE}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 70.88 m.RhZh ProNav: ac range: 70.876854 m, nav range: 65.997162 m, bearing: 63.826974 deg, approach rate: -0.891288 m/s, LOS rate: -0.034649 deg/s, cmd heading: 68.050384 deg, new cmd heading: 68.006745 deg. Bh<HeadingCmd: 1.186942 target range: 70.876854 and range: 71.20 m.h?h*h"h hgfffBdddjdZd @фBɢx) i)i+i?;H }BDAT read: Tx time:15:11:23.2224 }$Ping request sent.}R.@[>.@ Ϣv>)4`@IϢv+?'?{3(@|W? "?)n\IiϢv:publishing transmit ping timeyFpublishing direction and range infoyv[+?6fiC?Y )Ii )I+?'?{3(@|W? )Ii@ @@0@)i ^A- u<I I O- >Ź,?A Yn:Byn"IbDzVDzk2y%Bs%%t=ٔ%Q-%?9)Y)=-SGy)5E5?9Q 5]4= ?Q 9e4=)= BYayaQ Ie?=*DI=$:i=:=4yiɮu_Aqi9i=4 ?AJi=BRi=Bji=E?b=O7xP@ST}| J0@R=v[+?6fiC?Zi=bi=Ϣvj=5CL_;@n(ѕ|QM@ \̹,s2?AF:G{?Fڎ?FvٱFCG2H RAHRS rotation from veh to nav: [[0.362007,-0.914054,-0.182911],[0.930233,0.366890,0.007619],[0.060144,-0.172908,0.983100]]FH+??iǿ@x?@ {? 5?7ˮ? !ƿu?iF:G{?IFg;DYZ9aYi=mSGymFm68Eu>qQ 5}4ul?Q 94u)uBYG?Q E:y|?Q I?u*DIu:iu:u֟4yɮSAjhDNOT Ignoring new targets: 68.29 m.RhKӸZhKӸu ProNav: ac range: 68.289108 m, nav range: 64.795425 m, bearing: 64.657985 deg, approach rate: -0.805923 m/s, LOS rate: -0.005773 deg/s, cmd heading: 67.969965 deg, new cmd heading: 67.963066 deg. Bh}HeadingCmd: 1.186179 target range: 68.289108 and range: 68.60 m.hԗ?h*h"h hgfffфBdddjdZd`a?ЄBɢ%) )i)x<i7-iԗ?%oZ;%9XYX=ZSGyX^:E^>`Q 5f4b?Q 9f4b )b%BYdyf?Q Ij?b*DIb:ib:bz4yn4Bɮn@nͧE|jh DNOT Ignoring new targets: 68.29 m.Rh 8ոZh8ո% ProNav: ac range: 68.289108 m, nav range: 64.500290 m, bearing: 64.655806 deg, approach rate: -0.785486 m/s, LOS rate: -0.005825 deg/s, cmd heading: 67.963067 deg, new cmd heading: 67.956500 deg. Bh%-HeadingCmd: 1.186065 target range: 68.289108 and range: 68.60 m.h-З?h)*h)"h) h)g)f1f1f1d9d9d9jd9ZdEh?iɢm#%)i m!iq)uɦqqiu.iЗ?;ZbE(N4jE?4rE0E-  E- E- *E) "E- ;*E- :VE- (N4ZE) a5 @a5 @a= @a= @BM >BI BM "IBM ~BBM =BI BI BM Gy;BM D2Eԙ ٹ,f?AYCBy"IbDVDy%|%-C=ٔ-Q-->91Y1=5SGy5F5E5>ԁQ 54?Q 9%4)5BY1yQQ I]?*DIi e G} fA A 9 fAY (A>߹,?AB{?B?BٱB0 JAHRS rotation from veh to nav: [[0.360881,-0.914426,-0.183278],[0.930334,0.366706,0.002258],[0.065144,-0.171325,0.983058]]BH?B@uǿL?@x?.b?I?ſ7u?iB{?IB)c;@Dn%=Dn<Er ErEpEp"Er:*Er:VEpZEpBEr6Q9qYy=}SGy}F}:E}>Q 54j&?Q 94)DBYF?Q E:y?Q I?*DI;i;4yɮ@jhDNOT Ignoring new targets: 68.29 m.RhxZhx ProNav: ac range: 68.289108 m, nav range: 63.829704 m, bearing: 64.648095 deg, approach rate: -0.863554 m/s, LOS rate: -0.013581 deg/s, cmd heading: 67.948867 deg, new cmd heading: 67.933247 deg. Bh!HeadingCmd: 1.185659 target range: 68.289108 and range: 68.60 m.h×?h*h"h hgfffЄBdddjdZd??)ɢ-!)1 5i1)5W11i51i=×?==;= 1',Ι?A6q{?6?64ٱ6Vf0 BAHRS rotation from veh to nav: [[0.360951,-0.914355,-0.183491],[0.930214,0.367016,0.000969],[0.066458,-0.171036,0.983021]]6H`? fB`|ǿP?@2}?O?c?@ſ@t?i6q{?I6b;6CYFBByJ"IbDRVDRyZ6%Z^=ٔZ}jQ-Z>9\Y\=^SGy^Fb_Eb?dQ 5j4f/?Q 9j4f)fPBYhyj?Q In?f*DIfBB#IBBBBBB6y;B:2EE- E-E-(E)"E-V:*E-:VE-c44ZE)BE-9<2E-9<JE-;:E-;9@ @@0@@ @ T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. ^AM e<AM >AM >Ay I I O >1 EY,S˳?A:{?:?:ٱ:]0 BAHRS rotation from veh to nav: [[0.361027,-0.914235,-0.183940],[0.930087,0.367340,-0.000262],[0.067808,-0.170985,0.982938]]:H ?iAVǿE?}?p(1`[?ſ`9t?i:{?I:7b;:CYJ=ٔm]NQ-u>9qYq=uSGyuF}E}>Q 54;?Q 9 4)^BY ZF?Q E :y ?Q I ? +DIz8,s?A 2gn{?2p?20jٱ2n/0 >AHRS rotation from veh to nav: [[0.361243,-0.914096,-0.184204],[0.929915,0.367771,-0.001368],[0.068995,-0.170800,0.982887]]2H?F@ǿ ?`?XiV?ſs?i2gn{?I2a;2CYbCByb"IbDhVDhyr`=%rT=ٔvJQ-v>9xYx=~SGyF2E>!Q 5-4%TF?Q 9-4%)%kBY1y5?Q I5?%+DI%3:i%n:%ɡ4y9ɮ=@AjhamDNOT Ignoring new targets: 68.29 m.RhmZhm} ProNav: ac range: 68.289108 m, nav range: 62.928513 m, bearing: 64.640921 deg, approach rate: -0.805853 m/s, LOS rate: -0.003703 deg/s, cmd heading: 67.915774 deg, new cmd heading: 67.911624 deg. Bh"HeadingCmd: 1.185281 target range: 68.289108 and range: 68.60 m.hM?h*h"h hgfffdddjdZd @ ΄Bɢ') ֊i)민项il5iM?Q;nf,Lm?ALNoj{?Nt?NޏٱN/ ZAHRS rotation from veh to nav: [[0.361270,-0.914079,-0.184237],[0.929816,0.368016,-0.002612],[0.070190,-0.170363,0.982878]]NH ?@#@`ǿ@ ??fe?`rſ@s?iNoj{?INIYa;NCY^BByb"I dd ||bDVDNy $ϻ%G=ٔ1?Q->9Y=SGyF%E%>AQ 5m4EQ?Q 9u4E)EyBYyy ?Q I?E2+DDAT read: 15:11:25.7140 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 397,-0.04,-2.546, 2.225,-2.150,-2.604, PHS= 0.160,-1.409, 0.410, RAW= 157.3, 9.8, CAL= 157.1, 10.6, ROT= 352.9, -10.6 IEL=iEM=E ѡ4Ygot valid direction response: 15:11:25.7140 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 397,-0.04,-2.546, 2.225,-2.150,-2.604, PHS= 0.160,-1.409, 0.410, RAW= 157.3, 9.8, CAL= 157.1, 10.6, ROT= 352.9, -10.6 y3Bɮ-@5ƧEPDAT read: Bearing 224.8, -3.3 (Local) ~Local bearing/azimuth received: Bearing 224.8, -3.3 (Local) DAT read: Range 11 to 50 : 65.6 m (Round-trip 87.5 ms) speed 0.8 m/s ,DAT read: user:1002> jh  DNOT Ignoring new targets: 68.29 m.RhVZhVEBDAT read: Tx time:15:11:26.8223 E$Ping request sent.EiZ>/@%/>~{/@ q=>)@Iq=+?((? ˥? j&?)0Iiq=:publishing transmit ping timeAFpublishing direction and range infoy)v6?Mݘ =η? ProNav: ac range: 68.289108 m, nav range: 62.613083 m, bearing: 64.639486 deg, approach rate: -0.641737 m/s, LOS rate: -0.002935 deg/s, cmd heading: 67.911622 deg, new cmd heading: 67.907293 deg. BhHeadingCmd: 1.185206 target range: 68.289108 and range: 68.60 m.hӴ?h*h"hY )Ii )I hYgafafifidididijdu`ffP@Zdux?+?((? ˥? )IiAɢEf-)M MiI)MXIIiMb8iUӴ?]`;]#*,z?AYGBy "IiMb@Mb@Mb@ 95^I ?Mby&1|?Y8?y@`;A@  A)ZAYAbDVD:y<%*=ٔQ->9 ?Y ?=SGyFE>Q 54]?Q 94)BYw8?Q E:y?Q I?H+DI:i':|١4yɮ@i9i=r?AJi=BRi=Bji=ߍ?b=ơO@B^_+vf(@R=)v6?Mݘ =η?Zi=bi=q=j=V <@uT`S!#L@*<1@Z=,}?r?!HG?2i=aB:i=gA"i=#~?*i=$`Bi=Bi=s?i9i9i=+{Bi=31?= addTargetRange:: Added new target pos. range: 65.599998 m, deltaT: 3.529407 s, deltaX: -3.000000 m, approachRate: -0.850001 m/s, rangeRepo size: 4 M Added new target pos. range: 65.302597 m, bearing: 63.505733 deg, lat: 36.779299 deg, lon: -121.859543 deg, deltaT: 3.529407 s, deltaX: -2.986511 m, approachRate: -0.846179 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 65.30 m.RhUZhQe ProNav: ac range: 65.302597 m, nav range: 62.792366 m, bearing: 63.648534 deg, approach rate: 0.000000 m/s, LOS rate: -0.002935 deg/s, cmd heading: 67.907291 deg, new cmd heading: 67.903772 deg. BhaiuHeadingCmd: 1.185144 target range: 65.302597 and range: 65.60 m.huв?hq*hq"hq hqgyfyfyf}BdddjdZd<?颅̈́BɢM[() 兾i)8과顉i2|9iв?^û;hT,8?A2lz?2\?2HZٱ2. JAHRS rotation from veh to nav: [[0.363115,-0.913293,-0.184508],[0.928891,0.370319,-0.004965],[0.072861,-0.169585,0.982818]]2H@E=?9ǿ z?O?aVt ? ſ?s?i2lz?I2`;0Yy"IbDVDAAB>B CBBBBBBB72EB!CB!CBBB =C4yLJ%F=ٔԻQ->9"?Y"?=SGyFE >E1 E5E1E1"E1*E5:VE1ZE1BE59u ,39?Anchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.176079YnXByr"IieMb@Mb@Mb@aaaa a9eS?)\(~jtx?Ye:?yeGae;eAeb@ e; A)eC@aYeGAyybD VD2yţ=%G=ٔQ->9Y=SGyFE>Q 54s?Q 94)BY);?Q E:y?Q I?n+DI` ;iz ;4y'Bɮ@EjhDNOT Ignoring new targets: 65.30 m.Rh 4Zh 4 ProNav: ac range: 65.302597 m, nav range: 62.198082 m, bearing: 63.637881 deg, approach rate: -0.745291 m/s, LOS rate: -0.009838 deg/s, cmd heading: 67.882907 deg, new cmd heading: 67.871657 deg. Bh ع HeadingCmd: 1.184584 target range: 65.302597 and range: 65.60 m.h r?h*h"h hgfffgBdddjdZd?-nManaging dock network, ignoring radio surface power offAɢ]~c)a egi),.i=ir?<;hA >yAII1=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.680300OE?,2\?A29z?2?2g>ٱ20 :AHRS rotation from veh to nav: [[0.365489,-0.911925,-0.186578],[0.927848,0.372923,-0.005143],[0.074269,-0.171236,0.982427]]2H`-d?`|.ǿ??uP? ſ@ p?i29z?I2:/a;2CYB_ByB"IbD~VD~:y <% =ٔ3Q->9Y=SGyFѤE>!Q 5-4%׀?Q 9-4%)%BY1y5?Q I5?%+DI%_:i%(:%4y9ɮ=@AjhimDNOT Ignoring new targets: 65.30 m.RhuZhu ProNav: ac range: 65.302597 m, nav range: 61.822071 m, bearing: 63.633784 deg, approach rate: -0.726869 m/s, LOS rate: -0.007967 deg/s, cmd heading: 67.871658 deg, new cmd heading: 67.859294 deg. BhHeadingCmd: 1.184368 target range: 65.302597 and range: 65.60 m.h`?h*h"h hgfffdddjdZd?˄Bɢȴ) "Wi)t฼i?i`?;mBIBM #IBMBBIBIBMDBM"y;BM-2EE EE+E"E:*E:VE [4ZEBEA8 ,u?A2y?2 Ә?2$ٱ22 :AHRS rotation from veh to nav: [[0.366969,-0.911058,-0.187904],[0.927231,0.374461,-0.004741],[0.074682,-0.172490,0.982176]]2Hj|?b'9 ȿ߫?*?ksT?(ƿ`m?i2y?I2B`;2CYBbByB"Ii Mb@Mb@Mb@     9 zG?ktMb?Y  7?y  0 < A 5@  A) @ Y AbD!VD!y-Nt<%5I=ٔ5Q-5>99Y9==SGy=FEEE>IQ 5M4M?Q 9U4MӺ)MȐBYUj7?Q EU:yU?Q IU?M+DIM@:iM& ;M4yaɮeT@ajh!-DNOT Ignoring new targets: 65.30 m.Rh-KZh-K] ProNav: ac range: 65.302597 m, nav range: 61.532951 m, bearing: 63.626319 deg, approach rate: -0.679500 m/s, LOS rate: -0.017627 deg/s, cmd heading: 67.859295 deg, new cmd heading: 67.836795 deg. BheAeHeadingCmd: 1.183975 target range: 65.302597 and range: 65.60 m.he?hi*hi"hi higififfHBdddjdZd @ʄBɢ F)  Ni checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184361)5W11i5[Ai=?=E;=`_9V ?YZ ?=ZSGyZFDvE>!Q 5%4%?Q 9-4%)%ܐBY)y-v?Q I-?%+DI%9:i%0;%4yU-BɮUY@UEjhDNOT Ignoring new targets: 65.30 m.Rh<Zh< ProNav: ac range: 65.302597 m, nav range: 61.168293 m, bearing: 63.617460 deg, approach rate: -0.729939 m/s, LOS rate: -0.017839 deg/s, cmd heading: 67.836797 deg, new cmd heading: 67.810061 deg. BhCHeadingCmd: 1.183509 target range: 65.302597 and range: 65.60 m.h8}?h*h"h hgfffdddjdZd[@ ȄBɢ D8)  Ai)׻iXDi8}?d ;jLE,,y?A2 x?2L^?2nٱ2=3 >AHRS rotation from veh to nav: [[0.370277,-0.909503,-0.188943],[0.925928,0.377684,-0.003468],[0.074515,-0.173663,0.981982]]2H? D/ȿ3?+?hlf?`:ƿel?i2 x?I2`;2CYF}ByF"IiMb@Mb@Mb@ 9$C? rhMb?Y:?yC MA@ )-@YAbD-VD-y=̹=%=/=ٔ=9Q-=>9M"?Y"?=SGyFcE>Q 54Σ?Q 94)BY\:?Q E:y?Q I?+DI;i;/ 4yBɮ@EUB*** querying acoustic contact ***iQ iQjhYeDNOT Ignoring new targets: 65.30 m.RheZhe ProNav: ac range: 65.302597 m, nav range: 60.826782 m, bearing: 63.605349 deg, approach rate: -0.722039 m/s, LOS rate: -0.025749 deg/s, cmd heading: 67.810063 deg, new cmd heading: 67.773527 deg. Bh_HeadingCmd: 1.182871 target range: 65.302597 and range: 65.60 m.hSh?h*h"h hgfffYBdddjdZd @DŽBɢ) i)z i2GiSh?;dV@03,i?A2{x?2)?2ٱ22 NAHRS rotation from veh to nav: [[0.371784,-0.908944,-0.188673],[0.925330,0.379150,-0.003201],[0.074445,-0.173395,0.982035]]2H`N? q&ȿL?D?8j? 1ƿl?i2{x?I2`;0YzBy~#IbDVDk1yU=%U==ٔ])9Q-]>9aYi=mSGԉyF|E>Q 54?Q 94)BYy?Q I?+DII;ik:4yɮ{@jh DNOT Ignoring new targets: 65.30 m.Rh Zh ProNav: ac range: 65.302597 m, nav range: 60.518726 m, bearing: 63.594785 deg, approach rate: -0.738571 m/s, LOS rate: -0.025458 deg/s, cmd heading: 67.773529 deg, new cmd heading: 67.741674 deg. Bh%ŋ-HeadingCmd: 1.182315 target range: 65.302597 and range: 65.60 m.h-V?h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd= @ƄBɢLj) Ľi)ikyIiV?;L2  BDAT read: Tx time:15:11:30.4239  $Ping request sent. i}?|>^/@t;?>^/@ BR>)'@IBRqJX?\/?zK? .%?)@I5iBR5:publishing transmit ping time 5Fpublishing direction and range infoymX{*?)` rG,?Y )Ii )IqJX?\/?zK? )Ii^AA>A>B >B B 5#IB BB B B DB x;B 1EE  E E 'E "E :*E ą:VE '4ZE BE A8 9,?AJ'w?JPė?JߕٱJ7%4 RAHRS rotation from veh to nav: [[0.374663,-0.907643,-0.189241],[0.924274,0.381729,-0.000966],[0.073115,-0.174549,0.981930]]JHz?i @ 9ȿ?@@n?O௷?Wƿk?iJ'w?IJ]`;JCYZByZ#IbDbVDbyj 3=%jT=ٔjb;Q-n>9n ?Yn ?=rSGyr FrEr>tQ 5z4v?Q 9z4v )v BY|y~W?Q I~?v+DIvU;iv;v*4y"BɮM@ ii?AJiuzBRiuzBjivҌ?bUnjN@ߝ֛)@RmX{*?)` rG,?Zi5biBRjx.&;@%J@,S2@Z}:|?+E1E?[?2itUB:i0A"i9?*ir BiCBii/vii8pBiaٍ?U addTargetRange:: Added new target pos. range: 62.900002 m, deltaT: 3.778112 s, deltaX: -2.699997 m, approachRate: -0.714642 m/s, rangeRepo size: 4 e Added new target pos. range: 62.614269 m, bearing: 63.035254 deg, lat: 36.779299 deg, lon: -121.859546 deg, deltaT: 3.778112 s, deltaX: -2.688328 m, approachRate: -0.711553 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 62.61 m.RhmZhq ProNav: ac range: 62.614269 m, nav range: 60.055370 m, bearing: 63.494973 deg, approach rate: 0.000000 m/s, LOS rate: -0.025458 deg/s, cmd heading: 67.741673 deg, new cmd heading: 67.712764 deg. Bh HeadingCmd: 1.181811 target range: 62.614269 and range: 62.90 m.h E?h*h"h hg1f1f9f9d9dAdAjdE@3sO@ZdE{?ĄBɢ)  i1)=+AAiMKiE?;W @,?A2ew?2?20ٱ2q4D:=D:C=E> E>E>)E<"E>:*E>:VE>FA4ZE9Y=SGy!F'E>Q 54%Ò?Q 94)BY G,?A2K+w?2‗?20ٱ2Ӻ3 :AHRS rotation from veh to nav: [[0.376607,-0.907036,-0.188289],[0.923607,0.383341,0.000705],[0.071539,-0.174170,0.982113]]2HU?p`ȿ`/??0G?cP?@5Kƿ ym?i2K+w?I2`;2CYBɄByBS#IbDJVDJyR>%R]=ٔV;Q-V>9V"?YV"?=VSGyZ"FZEZ>\Q 5b4^/̒?Q 9b4^k)^.BYdyf?Q If?^,DI^L;i^:^%4yjBɮj@jEjh|~DNOT Ignoring new targets: 62.61 m.Rhj3Zhj3 ProNav: ac range: 62.614269 m, nav range: 59.450741 m, bearing: 63.462644 deg, approach rate: -0.732712 m/s, LOS rate: -0.039214 deg/s, cmd heading: 67.658652 deg, new cmd heading: 67.615282 deg. BhL׺HeadingCmd: 1.180109 target range: 62.614269 and range: 62.90 m.h ?h*h!"h! h!g!f!f)f)d)d)d)jd1Zd5;?]„Bɢ]f)a exBBa#IBԄBBBBDBx;B2EE EE#E"E:*E:VE3ZEBEa2EaJE;a:E;a9@ @@32@!^AH<AcAzA`AԑA! I) IA OM >ԡ JM,Ͽ7?A2=w?2k?2ߐٱ23 :AHRS rotation from veh to nav: [[0.377223,-0.906823,-0.188083],[0.923421,0.383784,0.001658],[0.070680,-0.174305,0.982152]]2Hl$?`@ȿ?@?([??Oƿm?i2=w?I2+a;2CYvڄByvg#IiuMb@Mb@Mb@qqqq q9uMb?Mb~jt?Yu@?yuu9Y=SGy#F E>Q 54֒?Q 94)@BY@?Q E:yq?Q I?&,DIx;i;4-4yBɮ@EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 62.61 m.RhDGZhDG ProNav: ac range: 62.614269 m, nav range: 59.125294 m, bearing: 63.443733 deg, approach rate: -0.745397 m/s, LOS rate: -0.043553 deg/s, cmd heading: 67.615280 deg, new cmd heading: 67.558233 deg. BhHeadingCmd: 1.179114 target range: 62.614269 and range: 62.90 m.h2?h*h"h hg!f!f!f%Bd)d)d)jd)Zd-?qiIAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Bɢ/Q) N=i)iکSi2? ;  ,4T,ˡQ?AFv?FT?FٱF2 RAHRS rotation from veh to nav: [[0.377902,-0.906801,-0.186823],[0.923213,0.384282,0.002228],[0.069772,-0.173319,0.982391]]FH/?ǿ? ?t@b?`ܱ?`S/ƿo?iFv?IF8a;FCYVByVx#IbDbVDb1yj9=%jX=ٔjt;Q-j>9lYl=nSGyn$Fr&Er>tQ 5z4v\?Q 9z4v~)vOBYxyzY?Q I~?v9,DIv;iv ;v34yɮ@jh)-DNOT Ignoring new targets: 62.61 m.Rh5GZh5GE ProNav: ac range: 62.614269 m, nav range: 58.842209 m, bearing: 63.427318 deg, approach rate: -0.748868 m/s, LOS rate: -0.043632 deg/s, cmd heading: 67.558234 deg, new cmd heading: 67.508753 deg. BhEMHeadingCmd: 1.178250 target range: 62.614269 and range: 62.90 m.hMЖ?hI*hI"hI hIgQfQfYfYdYdYdYjdaZde@%?颍Bɢ) (=i) 顑iCViЖ? ;BB#IBBBBBB'y;B/2EB CB CBBB =C,4) AE .AIQ Ia Om >E  E E +E "E V:*E M:VE [4ZE BE 9AHRS rotation from veh to nav: [[0.378438,-0.906825,-0.185617],[0.923068,0.384625,0.002892],[0.068771,-0.172432,0.982618]]2HS8? OǿƉ??g?@?@ƿq?i2v?I2a;0YbByb#IbDjVDj:2yr=%rJ=ٔrT";Q-r>9v ?Yv ?=vSGyv%FzEz>|Q 54~kꒊ?Q 94~Ww)~_BYyF?Q I?~L,DI~;i~;~:4yɮi@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257063jhEDNOT Ignoring new targets: 62.61 m.RhM:ZhM:q ProNav: ac range: 62.614269 m, nav range: 58.539478 m, bearing: 63.409762 deg, approach rate: -0.699299 m/s, LOS rate: -0.040764 deg/s, cmd heading: 67.508756 deg, new cmd heading: 67.455815 deg. BhߺHeadingCmd: 1.177326 target range: 62.614269 and range: 62.90 m.h?h*h"h hgffQfQdYdadjdZd(@Bɢ'p) h >i)SaiYi? Y*; a,/?A2v?26?2DЊٱ2I1 :AHRS rotation from veh to nav: [[0.378804,-0.906901,-0.184494],[0.922995,0.384794,0.003599],[0.067728,-0.171651,0.982827]]2H@R>?Uǿ-?@w?|m?V?ſQs?i2v?I2Ka;2CYB ByB#IDDi}Mb@Mb@Mb@yyyy y9}sh|??{Gzt~jt?Y}I?y}ף}<}7Ay y)}@yY}fAbDVDy=%2=ٔ;Q->9"?Y"?=SGy&FRE>Q 54?Q 94n)pBY J?Q E:y?Q I?c,DI:i:B4yBɮA@EjhDNOT Ignoring new targets: 62.61 m.Rh^Zh^ ProNav: ac range: 62.614269 m, nav range: 58.180367 m, bearing: 63.384067 deg, approach rate: -0.834088 m/s, LOS rate: -0.060049 deg/s, cmd heading: 67.455816 deg, new cmd heading: 67.378255 deg. Bh$HeadingCmd: 1.175972 target range: 62.614269 and range: 62.90 m.h%C?h!*h!"h! h!g!f!ffBdddjdZd @Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762902ɢ@)! %>i!)-p)1i5.\ieC?mt;mB)h,ϡ?A2v?2C.?2Tٱ21 >AHRS rotation from veh to nav: [[0.379058,-0.906778,-0.184576],[0.922955,0.384881,0.004617],[0.066853,-0.172106,0.982807]]2H}B?`S1ǿ؈??r?`E?ƿ(s?i2v?I22Ua;2CYB!ByB#IbDNVDNyV=%VU=ٔV;Q-V>9XYX=ZSGyZ'F^+E^>`Q 5f4b?Q 9f4b?g)b~BYdyf?Q Ij?bv,DBA<BBB#IB!BBBBBzy;BX2EIb;i) 顁i_i`?i;5 5n,Ֆ?A2cv?2/?2mٱ20 >AHRS rotation from veh to nav: [[0.379031,-0.906961,-0.183733],[0.923022,0.384714,0.005078],[0.066079,-0.171515,0.982963]]2H B?@@ǿd? )?t?? 2ſnt?i2cv?I2ga;2CYF,ByF#Ii Mb@Mb@Mb@     9 @5^I ?y&1|?Q?Y bP?y `; u<  A @ A) @ Y AbD%VD%Jy5E=%5B=ٔ=:Q-=>99YA=ESGyE(FE98EE>IQ 5U4MT ?Q 9U4M^)MBDAT read: 15:11:32.9083 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 403, 0.27,-3.041, 1.693,-2.658,-3.140, PHS= 0.201,-1.405, 0.438, RAW= 156.8, 8.9, CAL= 156.5, 9.4, ROT= 353.5, -9.4 Ygot valid direction response: 15:11:32.9083 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 403, 0.27,-3.041, 1.693,-2.658,-3.140, PHS= 0.201,-1.405, 0.438, RAW= 156.8, 8.9, CAL= 156.5, 9.4, ROT= 353.5, -9.4 PDAT read: Bearing 223.6, -2.9 (Local) ~Local bearing/azimuth received: Bearing 223.6, -2.9 (Local) DAT read: Range 11 to 50 : 60.2 m (Round-trip 80.3 ms) speed 0.6 m/s ,DAT read: user:1004> BDAT read: Tx time:15:11:34.0223 $Ping request sent.i} ׳}A>}%/@}>}.@ }'>)}n@I}'yy}e%TR?Dej+?S? }^$?)}hI}Vi}'yy:publishing transmit ping timeFpublishing direction and range infoyy} ^?oq~dF$vz?Yyyyyy y)yIyiyyyyy y)yIyyy}e%TR?Dej+?S? y)yIyiyyyYumP?Q E:y?Q I?M,DIM",=iM,=MP4yɮ@iyi}?AJi}oBRi}oBji}[[?b}Ͻ^M@),qQ@?#@R} ^?oq~dF$vz?Zi}Vbi}'j}Ľo:@tvlI@M-@QZ}50W?E%'?*_CJ?2i}NB:i}KA"i}q:ƛ?*i}C2Bi}yBi}#~?i}$`i}CBi}EgBi}Z? addTargetRange:: Added new target pos. range: 60.200001 m, deltaT: 3.528011 s, deltaX: -2.700001 m, approachRate: -0.765304 m/s, rangeRepo size: 4  Added new target pos. range: 59.926765 m, bearing: 62.826999 deg, lat: 36.779301 deg, lon: -121.859543 deg, deltaT: 3.528011 s, deltaX: -2.687504 m, approachRate: -0.761762 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 59.93 m.RhZh ProNav: ac range: 59.926765 m, nav range: 57.817505 m, bearing: 63.273347 deg, approach rate: 0.000000 m/s, LOS rate: -0.054543 deg/s, cmd heading: 67.312737 deg, new cmd heading: 67.236645 deg. BhHeadingCmd: 1.173501 target range: 59.926765 and range: 60.20 m.hF5?h*h"h h)g)f)f1f5Bd1d1d1jd=N@Zd="?Bɢ) h>i)V[idHciF5? <;!Gu,!?A2v?2I?2Bٱ2}0 :AHRS rotation from veh to nav: [[0.378319,-0.907372,-0.183168],[0.923354,0.383913,0.005301],[0.065510,-0.171135,0.983067]]2Ha6? 1 @ rǿ@? ?u?EŰ?ſIu?i2v?I2\a;2CYB9ByB#I DDbDNVDNk1yRt=%VC=ٔV_:Q-V>9V ?YZ ?=ZSGyZ)F^:E^>`Q 5f4b?Q 9f4bV)bBYdyfȘ?Q Ij?b,DIb:ibP:bNX4ynBɮn@nEzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 59.93 m.Rh Zh  ProNav: ac range: 59.926765 m, nav range: 57.478477 m, bearing: 63.243096 deg, approach rate: -0.944508 m/s, LOS rate: -0.084774 deg/s, cmd heading: 67.236642 deg, new cmd heading: 67.145354 deg. BhhHeadingCmd: 1.171908 target range: 59.926765 and range: 60.20 m.h?h*h"h h g f ffdddjdZd`B?EBɢEk)I M>iI)MֶIIiM;fiU?U(;U j{,X?AYv?_?焽ٱ%_0 uAHRS rotation from veh to nav: [[0.377710,-0.907696,-0.182819],[0.923650,0.383193,0.005735],[0.064849,-0.171027,0.983130]]Hd,?@ fǿ@?=?v}w??@5ſu?iYv?Ia;CY @By #IbDUVDU1y<%,=ٔ\:Q->9Y=SGy*Fպ:E>Q 54 ?Q 94$M)BYyޘ?Q I ?,DI:i:`4IyUBɮUC@]EjhDNOT Ignoring new targets: 59.93 m.RhZh ProNav: ac range: 59.926765 m, nav range: 57.094227 m, bearing: 63.208112 deg, approach rate: -0.787399 m/s, LOS rate: -0.072171 deg/s, cmd heading: 67.145356 deg, new cmd heading: 67.039698 deg. BhFHeadingCmd: 1.170063 target range: 59.926765 and range: 60.20 m.hĕ?h*h"h hgfffdddjdZd]?Bɢho) >i)=˟AAiE!jiMĕ?M;Mm:i >Ա Dm =Dm =Eq  Eu Eu )Eq "Eq *Eu ҆:VEu FA4ZEq a @a @a @a @5 9@1  @1 @5 /@1 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248371^Ak<IaIqO}?L@,d?A>w?>Jr?>2ٱ>d. FAHRS rotation from veh to nav: [[0.377212,-0.908216,-0.181259],[0.923912,0.382561,0.005863],[0.064018,-0.169679,0.983418]]>H@<$?@3ǿ?@{?ix?@~c? ſ(x?i>w?I>qa;>CYNIByN#Ii%Mb@Mb@Mb@!!!! !9%&1?9QYQ=]SGy],F]:E]>aQ 5m4e-?Q 9m4eB)eBYuP?Q Eu:yuE?Q I}?e,DIe+;ie*;ei4yɮ@jhԱDNOT Ignoring new targets: 59.93 m.RhZh ProNav: ac range: 59.926765 m, nav range: 56.672195 m, bearing: 63.167787 deg, approach rate: -0.828962 m/s, LOS rate: -0.079796 deg/s, cmd heading: 67.039700 deg, new cmd heading: 66.917825 deg. Bh [HeadingCmd: 1.167936 target range: 59.926765 and range: 60.20 m.h~?h*h"h hgfffBdddjdZd@*?颭BɢЁW) >i)G项iBni~?;6BB$IBmBB =BBDBy;B EM EMEM'EI"EM;*EM:VEM'4ZEIBEMD1 E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754032i,/?A^uMw?^?^сٱ^o- zAHRS rotation from veh to nav: [[0.376335,-0.908897,-0.179664],[0.924316,0.381585,0.005735],[0.063344,-0.168224,0.983711]]^H`?`9ƿ?k?}w?X7? aſ@z?i^uMw?I^!a;^CYSBy#IbDVDyK=%@=ٔ :Q-5>99YA=ESGyE-Fu!;E}>Q 549?Q 949)̑BY1y=c?Q IE?,DI#i)'ޯiqiA?؜;iތ,N?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2576865w?5?5Hzٱ5n- eAHRS rotation from veh to nav: [[0.375436,-0.909422,-0.178886],[0.924823,0.380324,0.007471],[0.061240,-0.168243,0.983841]]5H"?ƿ&?:W?"~?`Z?ſ{?i5w?I5Ia;5CYu^By} $IiMb@Mb@Mb@ 9i|?5?MbP{Gz?YQ?y#<Q AS@ (A)Y@bDVDy}g)=%}#=ٔ}=;Q->9Y=SGy.F ;E>Q 54pE?Q 94I0)ۑBYQ?Q E:yϗ?Q I?-DI:i ;y4yɮ@jhDNOT Ignoring new targets: 59.93 m.RhKZhK ProNav: ac range: 59.926765 m, nav range: 55.919289 m, bearing: 63.098564 deg, approach rate: -0.855331 m/s, LOS rate: -0.074442 deg/s, cmd heading: 66.810513 deg, new cmd heading: 66.708763 deg. Bh[LHeadingCmd: 1.164288 target range: 59.926765 and range: 60.20 m.h`?h*h"h hgfffBdd d jd Zd `i@!=Bɢ=H:)A E>iA)EfAAiMD~uiM`?M ;UQ-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508303y B} y>B} CB} B$IB} BB} =By By B} y;B} g2EE  E E 'E "E &:*E :VE '4ZE BE c;9)Y)=-SGy-/F5E5>Q 54N?Q 94())BYyQ I?-DIR:iI:.4yBɮ@EB*** querying acoustic contact ***i ijh%DNOT Ignoring new targets: 59.93 m.Rh%Zh%] ProNav: ac range: 59.926765 m, nav range: 55.627865 m, bearing: 63.073067 deg, approach rate: -0.768598 m/s, LOS rate: -0.067599 deg/s, cmd heading: 66.708764 deg, new cmd heading: 66.631871 deg. Bh]9eHeadingCmd: 1.162946 target range: 59.926765 and range: 60.20 m.hef۔?ha*ha"ha hagafififididqdjdZd@@eBɢeL;ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762582)i m>ii)u$qqiuxi}f۔?};}ɠ,M?A,Jw?J3×?JbnٱJ:i- VAHRS rotation from veh to nav: [[0.375064,-0.909801,-0.177732],[0.925172,0.379411,0.010185],[0.058167,-0.168253,0.984026]]JH` ?`ƿ?CH?ۄ?ȭ?@Qſ`$}?iJw?IJa;HY^bBy^$Ii}Mb@Mb@Mb@yyyy y9}kt?/$~jtx?Y} P?y}};y}j@ }A)}K@yY}(@bD VDf2yd<%==ٔ;Q->9"?Y"?=SGy0F:E>Q 54}Z?Q 94 )BY3P?Q E:y?Q I?/-DIL:i:4yBɮ@EjhDNOT Ignoring new targets: 59.93 m.Rh@vZh @v ProNav: ac range: 59.926765 m, nav range: 55.276722 m, bearing: 63.051006 deg, approach rate: -0.851299 m/s, LOS rate: -0.053823 deg/s, cmd heading: 66.631869 deg, new cmd heading: 66.565267 deg. Bh%HeadingCmd: 1.161783 target range: 59.926765 and range: 60.20 m.h%O?h!*h!"h! h!g!f)f)f-Bd1d1d1jd1Zd=' @E] E]E])EY"E]:*E]:VE]FA4ZEYae@ae@ae@ae@}Bɢ}0;)y }^>iy)ߨ顁i|iO?Z1;y,U2?A>w?>ʹ?>0gٱ>d- JAHRS rotation from veh to nav: [[0.375365,-0.909800,-0.177100],[0.925153,0.379414,0.011742],[0.056511,-0.168252,0.984123]]>H?7ƿٚ?OH? ?@?`Hſ}?i>w?I>ha;>CYLyPXbDZVDZٔb;Q-f>9dYd=fSGyf1FjHEj>lQ 5r4nd?Q 9r4nP)nBYpyv?Q Iv?nC-DIn:in:nR4yxɮxxjhDNOT Ignoring new targets: 59.93 m.Rh%kZh%k= ProNav: ac range: 59.926765 m, nav range: 54.972485 m, bearing: 63.031755 deg, approach rate: -0.810159 m/s, LOS rate: -0.051549 deg/s, cmd heading: 66.565268 deg, new cmd heading: 66.507195 deg. Bh= EHeadingCmd: 1.160769 target range: 59.926765 and range: 60.20 m.hE?hA*hA"hA hIgIfIfIfQdQdQdQjdYZd]@:* @颅Bɢ;) >i)w顉DAT read: 15:11:36.5031 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 397, 0.25,-0.442,-1.970,-0.040,-0.467, PHS= 0.127,-1.458, 0.383, RAW= 157.4, 11.0, CAL= 157.4, 12.1, ROT= 352.6, -12.1 MYgot valid direction response: 15:11:36.5031 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 397, 0.25,-0.442,-1.970,-0.040,-0.467, PHS= 0.127,-1.458, 0.383, RAW= 157.4, 11.0, CAL= 157.4, 12.1, ROT= 352.6, -12.1 UPDAT read: Bearing 227.0, -4.3 (Local) ]~Local bearing/azimuth received: Bearing 227.0, -4.3 (Local) eDAT read: Range 11 to 50 : 57.4 m (Round-trip 76.6 ms) speed 0.8 m/s m,DAT read: user:1005> uBDAT read: Tx time:15:11:37.6223 u$Ping request sent.ui>F/@ D>F/@ @X>)@I@X~p]?"a+?|Kda? &?)BDI@i@X:publishing transmit ping timeqFpublishing direction and range infoyw_I?#9h?Y )Ii )I~p]?"a+?|Kda? )IiBABw>BBT$IBBB =BBBy;BZ2EBBBB =B =Ca5 9@  @ @ y3@ Ee EeEe*Ea"Ee:*Ee:VEe(N4ZEaBEeA8a ,?Az_}w?z꩗?zٜ_ٱz- AHRS rotation from veh to nav: [[0.375854,-0.909678,-0.176693],[0.925071,0.379546,0.013738],[0.054566,-0.168617,0.984170]]zH ?@ߝƿ`.? zJ?"?` ?@=ſR~?iz_}w?Iz a;xYdBy$II=)=1iMb@Mb@Mb@ 9(\?Zd;Oy&1|?YG?yj`;; A&@ pA)Y@bDVDJy5p;%5<ٔ=y;Q-=>99Y9==SGy=2FEEE>IQ 5U4Mp?Q 9U4M)M BYUG?Q E]:y]!?Q I]?MY-DIM:iM3:M44yeBɮeC@eEiiz?AJidBRidBjiЋ?b*LPK@JHZ[/a)]'@Rw_I?#9h?Zi@bi@Xj9@9@pJ&WH@ L-0@Z2|#I?"D??2iBB:iA"iȥ?*iKBipBi9?iiBiZBij? addTargetRange:: Added new target pos. range: 57.400002 m, deltaT: 3.528115 s, deltaX: -2.799999 m, approachRate: -0.793625 m/s, rangeRepo size: 4  Added new target pos. range: 57.138416 m, bearing: 62.584407 deg, lat: 36.779303 deg, lon: -121.859543 deg, deltaT: 3.528115 s, deltaX: -2.788349 m, approachRate: -0.790323 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 57.14 m.bhPowering the camera and arming the capture device at range: 57.40 m.2hRhZh ProNav: ac range: 57.138416 m, nav range: 54.698723 m, bearing: 62.852762 deg, approach rate: 0.000000 m/s, LOS rate: -0.051549 deg/s, cmd heading: 66.507191 deg, new cmd heading: 66.436755 deg. BhHeadingCmd: 1.159540 target range: 57.138416 and range: 57.40 m.hk?h*h"h h2hgfffsBdddjd@3L@Zd?5Bɢ5Wk;)1 5>i1)=99i=!PiEk?E;E,?AFFw?F?FWٱFA. NAHRS rotation from veh to nav: [[0.376663,-0.909290,-0.176964],[0.924856,0.379975,0.016113],[0.052591,-0.169736,0.984085]]FH??Ŧƿ l?Q?@?4?ſ}?iFFw?IF0c;FCYZ^ByZ $IbDbVDb:y -%a=ٔ;Q->9Y=SGy3FE>!Q 5-4%;z?Q 954% )%BY1y5?Q I5?%l-DI%N:i%:%4y=Bɮ=@EEjhiuDNOT Ignoring new targets: 57.14 m.bhquPowering the camera and arming the capture device at range: 57.40 m.2hqRh}EbZh}Eb ProNav: ac range: 57.138416 m, nav range: 54.415825 m, bearing: 62.835029 deg, approach rate: -0.784855 m/s, LOS rate: -0.049455 deg/s, cmd heading: 66.436751 deg, new cmd heading: 66.383274 deg. BhHeadingCmd: 1.158607 target range: 57.138416 and range: 57.40 m.h9M?h*h"h h2hgfffԡdddjdZd@Z?Bɢi;) 9>i)imi9M?;3^A}<IAIQO]>B x>B B [$IB BB B B B y;B Y2E) E  E E *E "E D:*E |:VE (N4ZE BE 17w?>,?>WPٱ>S0 JAHRS rotation from veh to nav: [[0.376907,-0.909063,-0.177608],[0.924850,0.379897,0.018197],[0.050930,-0.171120,0.983933]]>H??@ ݻƿ^?`;P?W?@??ſ a|?i>7w?I>Ze;>CYRdByR$IbDXVDXybD<%bQ=ٔbI;Q-b>9dYd=fSGyf4Fj5Ej>hQ 5r4j?Q 9r4j)jBYpyr?Q Ir?j-DIj;ij;je4yxɮzY@xjhDNOT Ignoring new targets: 57.14 m.bh!%Powering the camera and arming the capture device at range: 57.40 m.2h!Rh-bZh-b= ProNav: ac range: 57.138416 m, nav range: 54.111923 m, bearing: 62.815838 deg, approach rate: -0.777873 m/s, LOS rate: -0.049396 deg/s, cmd heading: 66.383271 deg, new cmd heading: 66.325376 deg. Bh=EHeadingCmd: 1.157596 target range: 57.138416 and range: 57.40 m.hE,?hA*hA"hA hA2hAgIfIfIfIdQdQdQjdQZd]@.?额Bɢl;) >i)p顩i;i,?;%.+ԙ ,0K?A6w?6l?6$Iٱ6p1 BAHRS rotation from veh to nav: [[0.377689,-0.908670,-0.177958],[0.924622,0.380346,0.020286],[0.049253,-0.172206,0.983829]]6H ,? @Uƿ`?W?Ŕ?7? ƿ{?i6w?I6De;4YFbByJ$I HHiMb@Mb@Mb@ 9uV?A`"{Gzt?YrH?yYף; A@ ZA)YG@bD5VD5yEʻ%EB=ٔEт;Q-M>9IYI=MSGyM5FUEU>YQ 5e4]?Q 9e4])])BYmH?Q Em:ym?Q Im?]-DI]z:i]:]4yuBɮu@uEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 57.14 m.bhPowering the camera and arming the capture device at range: 57.40 m.2hRh{Zh{DU<DU<E] E]E])EY"E]:*E]?:VE]FA4ZEYae@ae@am@am@q ProNav: ac range: 57.138416 m, nav range: 53.782242 m, bearing: 62.808449 deg, approach rate: -0.782561 m/s, LOS rate: -0.017647 deg/s, cmd heading: 66.325378 deg, new cmd heading: 66.303075 deg. BhAHeadingCmd: 1.157207 target range: 57.138416 and range: 57.40 m.h\?h*h"h h2hgfff]BdddjdZdm?]Bɢ]d;)a e>ia)eƜaaieЅi\?;W (0Ǻ,-&?A2v?2P?2Aٱ2'1 :AHRS rotation from veh to nav: [[0.378511,-0.908528,-0.176938],[0.924390,0.380803,0.022163],[0.047243,-0.171949,0.983972]]2H9?ƿ@?_?б?C0?@jƿ|?i2v?I2d;2CYVkByZ$IbDbVDb:yj,=%jR=ٔj9;Q-n>9lYl=nSGyr6FrEr>tQ 5z4v?Q 9z4v)v3BYxyz?Q I~?v-DIvR:ivj;v4yɮK@jh)-DNOT Ignoring new targets: 57.14 m.bh)5Powering the camera and arming the capture device at range: 57.40 m.2h1Rh5Zh=M ProNav: ac range: 57.138416 m, nav range: 53.477295 m, bearing: 62.801809 deg, approach rate: -0.784076 m/s, LOS rate: -0.017169 deg/s, cmd heading: 66.303078 deg, new cmd heading: 66.283045 deg. BhU<UHeadingCmd: 1.156857 target range: 57.138416 and range: 57.40 m.hU?hY*hY"hY hY2hYgYfafafadadidijdiZdmB@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987927颥BɢF )<) >i)֓顩iTi?,;BBBB =BBBy;B\2EbEFA4jE:4rEā/Em EmEm&Ei"Em:*Em:VEm4ZEiBEmA8) U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239912Y qeͺ,08?A-Iqv?-#?-Ƴ8ٱ-1 =AHRS rotation from veh to nav: [[0.379815,-0.908013,-0.176784],[0.923963,0.381684,0.024667],[0.045078,-0.172711,0.983941]]-HN?qܠƿ?m?@9B?x?cƿp|?i-Iqv?I-Gc;-CYUoByU$IiMb@Mb@Mb@ 9T㥛 ?Dl{Gzt?YA?yO@ p@)@Y\@bD-VD-:2y=!<%=4=ٔ=ʜ;Q-E>9AYA=ESGyE7FMQFEM>QQ 5]4UL?Q 9]4U)U?BY]A?Q Ee:ye?Q Ie?U-DIU\ ;iU ;Ux4ymBɮm*@mEjhDNOT Ignoring new targets: 57.14 m.bhPowering the camera and arming the capture device at range: 57.40 m.2h ېCRhE8ZhE8QiT9YgA ProNav: ac range: 57.138416 m, nav range: 53.135273 m, bearing: 62.803378 deg, approach rate: -0.755262 m/s, LOS rate: 0.003487 deg/s, cmd heading: 66.283045 deg, new cmd heading: 66.287782 deg. Bh)9HeadingCmd: 1.156940 target range: 57.138416 and range: 57.40 m.h?h*h"h h2hgfffKBdddjdZd , @mBɢm(j;)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.491951 m>i)K顙iЈi?;¡Ժ,S?AY y I!>);bD%VD%ky5؋%5L=ٔ5Q-5>9= ?Y= ?==SGy=8F=EE>AQ 5M4E ?Q 9U4E)EIBYQyQQ IU?E-DIE;iE@;Ex4y]Bɮe@ajhDNOT Ignoring new targets: 57.14 m.bhPowering the camera and arming the capture device at range: 57.40 m.2hRh18Zh18 ProNav: ac range: 57.138416 m, nav range: 52.832794 m, bearing: 62.804783 deg, approach rate: -0.755806 m/s, LOS rate: 0.003530 deg/s, cmd heading: 66.287785 deg, new cmd heading: 66.292023 deg. Bh9HeadingCmd: 1.157014 target range: 57.138416 and range: 57.40 m.h ?h*h"h h2hgfffdddjdZd @BɢC<) ->i)}i-"i ?;TE}  E} Ey Ey "E} ;*E} z:VEy ZEy BE} vT9YYY=eSGye9Fe* Em>yQ 54}#?Q 94}q)}SBYyP?Q I?}-DI};i};}Ǣ4yɮ@jhDNOT Ignoring new targets: 57.14 m.bhPowering the camera and arming the capture device at range: 57.40 m.2hchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.247856RhU8ZhU8e ProNav: ac range: 57.138416 m, nav range: 52.523506 m, bearing: 62.807397 deg, approach rate: -0.751681 m/s, LOS rate: 0.006389 deg/s, cmd heading: 66.292020 deg, new cmd heading: 66.299907 deg. BhmR9mHeadingCmd: 1.157152 target range: 57.138416 and range: 57.40 m.hm?hq*hq"h h2hgfffdddjdZds_ @q额Bɢ<) @>i)3ߑ顡imi? ;@ԡ DAT read: 15:11:40.0994 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 407, 0.29,-0.054,-1.632, 0.342,-0.152, PHS= 0.200,-1.435, 0.450, RAW= 157.0, 8.9, CAL= 156.7, 9.4, ROT= 353.3, -9.4  Ygot valid direction response: 15:11:40.0994 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 407, 0.29,-0.054,-1.632, 0.342,-0.152, PHS= 0.200,-1.435, 0.450, RAW= 157.0, 8.9, CAL= 156.7, 9.4, ROT= 353.3, -9.4  PDAT read: Bearing 224.7, -4.6 (Local)  ~Local bearing/azimuth received: Bearing 224.7, -4.6 (Local)  DAT read: Range 11 to 50 : 54.6 m (Round-trip 72.9 ms) speed 0.7 m/s  ,DAT read: user:1006> % BDAT read: Tx time:15:11:41.2223 % $Ping request sent.% i  ff> ^/@ >  /@ '>) Q@I ' Un_>?xk=?Q?^Ae T< .`%?) I |i '  :publishing transmit ping time!  Fpublishing direction and range infoy  Z?m|w$vz?Y ) I i ) I Un_>?xk=?Q? ) I i Ia Iq O} >,=?A2 u?2t?2ٱ270 :AHRS rotation from veh to nav: [[0.384854,-0.906689,-0.172637],[0.922175,0.385534,0.030952],[0.038494,-0.171113,0.984499]]2H q?ƿ t??@ұ?t?@ ſ@?i2 u?I2Sb;2CYznByz$IE% E%E%&E!"E%:*E%~:VE%4ZE!a-@a-@a-@a-@iMb@Mb@Mb@ 9$C?ˡE9iYq=uSGyu:FǔEu>yQ 54}EΓ?Q 94})}_BYN;?Q E:y?Q I?}-DI};i}S;}XϢ4yɮ@iiB?AJigYBRigYBji\i)Ҏi i"?;/x ,o?A6t?60.?69ٱ6/ >AHRS rotation from veh to nav: [[0.386870,-0.906107,-0.171175],[0.921418,0.387165,0.033043],[0.036333,-0.170507,0.984686]]6H`y? ſ`B|?@N??:?`.ſ?i6t?I6Ba;6CYZtByZ%$IbDfVDf1yj=%ne=ٔr;Q-r>9pYp=vSGyv;FvȻEv>xQ 5~4zؓ?Q 9~4z)zhBYyA?Q I?z .DIz@;izn;zբ4y Bɮ @ E-B*** querying acoustic contact ***i) i)jh1=DNOT Ignoring new targets: 54.35 m.bh9EPowering the camera and arming the capture device at range: 54.60 m.2hARhE9ZhE9U ProNav: ac range: 54.350952 m, nav range: 52.090504 m, bearing: 62.544232 deg, approach rate: -0.764376 m/s, LOS rate: 0.022803 deg/s, cmd heading: 66.308658 deg, new cmd heading: 66.331686 deg. BhUcz:]HeadingCmd: 1.157706 target range: 54.350952 and range: 54.60 m.h]/?ha*ha"ha ha2hagafififididqdqjdqZdu??y颥Bɢԏ<) >i)顩iji/?X;AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. D,ٻ?AJt?J?J![ ٱJM/ VAHRS rotation from veh to nav: [[0.388519,-0.905607,-0.170083],[0.920804,0.388442,0.035123],[0.034260,-0.170259,0.984804]]JH@~?` Jſ@9w?;?? ?ſ?iJt?IJqca;JCYZqByZ!$IiEMb@Mb@Mb@AAAA A9EM?/$:v?YEn2?yEETԹ9qY=SGy<FE>Q 54哊?Q 94)sBY 3?Q E :y 2?Q I ?.DI:i:;ݢ4yBɮ@zEjh9EDNOT Ignoring new targets: 54.35 m.bhAEPowering the camera and arming the capture device at range: 54.60 m.2hARhMn9ZhMn9] ProNav: ac range: 54.350952 m, nav range: 51.781185 m, bearing: 62.556343 deg, approach rate: -0.700412 m/s, LOS rate: 0.027587 deg/s, cmd heading: 66.331689 deg, new cmd heading: 66.368238 deg. Bh]u:eHeadingCmd: 1.158344 target range: 54.350952 and range: 54.60 m.heD?ha*ha"ha hi2higififqfu)BdqdqdyjdyZd} a?颥Bɢ=<) >i)Ĭ顩iliD?w{;' checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248463Y ,*r?AYrByr=$IbDz VDz2y 9=% S=ٔQ->9Y=SGy=FE>!Q 5-4%p?Q 9-4%)%}BY)y1Q I5?%..DI%:i%[:%4y=Bɮ=@9jhaeDNOT Ignoring new targets: 54.35 m.bhimPowering the camera and arming the capture device at range: 54.60 m.2hiRhu9Zhu9 ProNav: ac range: 54.350952 m, nav range: 51.520653 m, bearing: 62.566656 deg, approach rate: -0.700185 m/s, LOS rate: 0.027858 deg/s, cmd heading: 66.368238 deg, new cmd heading: 66.399335 deg. Bh:HeadingCmd: 1.158887 target range: 54.350952 and range: 54.60 m.hiV?h*h"h h2hgfffdddjdZd?Bɢ q<) &>i)ƆiHiiV?o;@EU  EU EU *EQ "EU :*EU :VEU (N4ZEQ BEU 69Y=SGy>FE>Q 54?Q 94N)BYyQ I?A.DI:i:4yɮ@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752652jhDNOT Ignoring new targets: 54.35 m.bhPowering the camera and arming the capture device at range: 54.60 m.2hRh^:Zh^: ProNav: ac range: 54.350952 m, nav range: 51.227089 m, bearing: 62.578403 deg, approach rate: -0.697192 m/s, LOS rate: 0.028057 deg/s, cmd heading: 66.399336 deg, new cmd heading: 66.434778 deg. Bh : HeadingCmd: 1.159506 target range: 54.350952 and range: 54.60 m.h j?h *h "h  h2hgfffddd!jd!Zd%#a?MBɢUf<)Q U>iQ)UcYYi] i]j?e;e[f.,& ?A6r?6S?6Iٱ6 /1 >AHRS rotation from veh to nav: [[0.393116,-0.903825,-0.168996],[0.919074,0.391765,0.042693],[0.027620,-0.172104,0.984692]]6H@(?#ſ i?`?ۥ?NH?|ƿ?i6r?I6ka;6CYZByZP$IE EE%E"E:*EVE 4ZEa @a @a @a@i]Mb@Mb@Mb@YYYY Y9]Dl?L7A`尿Mb?Y]O-?y]+]<]lA]@ ]@)YYY]@bDuVDu1yA=%K=ٔ9Y=SGy?FmGE>Q 54?Q 94)BY..?Q E:y?Q I?S.DI:iL:4yɮ @jhDNOT Ignoring new targets: 54.35 m.bhPowering the camera and arming the capture device at range: 54.60 m.2hRhu9Zhu9 ProNav: ac range: 54.350952 m, nav range: 50.953487 m, bearing: 62.583767 deg, approach rate: -0.680760 m/s, LOS rate: 0.013417 deg/s, cmd heading: 66.434778 deg, new cmd heading: 66.450954 deg. BhR:HeadingCmd: 1.159788 target range: 54.350952 and range: 54.60 m.hs?h*h"h h2hgf f f 6Bd ddjdZd@%Bɢ%nН<)! -%?i)Q)]!YYi]rims?3';;X,#?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5086116jr?6 ?6Nмٱ6u1@ BAHRS rotation from veh to nav: [[0.394568,-0.903319,-0.168320],[0.918515,0.392811,0.045048],[0.025425,-0.172379,0.984703]]6H@@?ſyd?#??@ ?ƿஂ?i6jr?I6VUa;6CYJByJ]$IbDRVDRN2yZ`=%ZX=ٔ^?;Q-^>9`Y`=bSGyb@FbEf>dQ 5j4f?Q 9n4f )fBYpyr`?Q Ir?fc.DIf2;if3;f4yvBɮv@v{E B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 54.35 m.bhPowering the camera and arming the capture device at range: 54.60 m.2hRh/9Zh/9 ProNav: ac range: 54.350952 m, nav range: 50.696598 m, bearing: 62.589300 deg, approach rate: -0.677383 m/s, LOS rate: 0.014664 deg/s, cmd heading: 66.450951 deg, new cmd heading: 66.467635 deg. Bh!:HeadingCmd: 1.160079 target range: 54.350952 and range: 54.60 m.hy}?h*h"h h2hgfffdddjdZd:@AAB!B!B%a$IB%BB% =B!B!B%x;B%2E=Bɢ=<)A E ?iA)ExAAiEۧiMy}?Md;U)@ @@/@E EE&E"EV:*EVE4ZEBE9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760450 ,F?|??Z-ƿ ?ir@q?Irйb;rCY By [$IiMb@Mb@Mb@ 9kt?T㥛 /$?Y 0?y<A@ @)5@Y@bDVDy%7=ٔv;Q->9Y=SGyAFE>!Q 5-4%D?Q 954%ި)%BY50?Q E5:y5?Q I5?%w.DI%X;i% ;%4y=BɮE'@ErEjhamDNOT Ignoring new targets: 54.35 m.bhiuPowering the camera and arming the capture device at range: 54.60 m.ulFinal approach. Armed for intercept at range: 54.60 m.u\Transitioning guidance mode to: FINAL_APPROACH:hu@Rh}=P9Zh}=P9 ProNav: ac range: 54.350952 m, nav range: 50.387138 m, bearing: 62.594364 deg, approach rate: -0.691033 m/s, LOS rate: 0.011379 deg/s, cmd heading: 66.467638 deg, new cmd heading: 66.482924 deg. Bh9HeadingCmd: 1.160346 target range: 54.350952 and range: 54.60 m.h7?h*h"h hgfff4BdddjdZd @Bɢk<) / ?i)NGqi야i7?;dY  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264507k,V?A6q?68?6笼ٱ6l0 BAHRS rotation from veh to nav: [[0.397450,-0.902476,-0.166046],[0.917381,0.394947,0.049281],[0.021105,-0.171914,0.984886]]6Ho?@ſ/[?`F?T;?`z?Gƿ`/?i6q?I64b;6CYFByFs$IbDRVDRyZ=%Zb=ٔZj;Q-Z>9\Y\=^SGy^BFb(Eb>dQ 5j4f$(?Q 9j4f$)fBYhyjމ?Q Ij?f.DIf:if1:f4ypɮr@tjh DNOT Ignoring new targets: 54.35 m.bhRh^9Zh^9- ProNav: ac range: 54.350952 m, nav range: 50.139896 m, bearing: 62.598708 deg, approach rate: -0.688808 m/s, LOS rate: 0.012162 deg/s, cmd heading: 66.482924 deg, new cmd heading: 66.496019 deg. Bh-:5HeadingCmd: 1.160574 target range: 54.350952 and range: 54.60 m.h5?h1*h1"h1 h19gAfAfAfAdIdIdIjdIZdM @}Bɢ}H<)y }h?i) `j顁ii?v;I;I?IIbA)bA1@1 @1@50@1@9@=eAi}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519249ԙ^A8<I!I1BEx>BABEt$IBEBBE =BABABE&y;BE'2EO]>bE-4jE^+4rE+/E-  E- E- )E) "E- ;*E- ?:VE- FA4ZE) BE- @9tYt=vSGyvCFzͺEz>|Q 54~w3?Q 94~)~BYyȉ?Q I ?~.DI~:i~:~4yBɮ@ԙDAT read: 15:11:43.6958 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 402, 0.15, 1.311,-0.228, 1.676, 1.334, PHS= 0.079,-1.517, 0.298, RAW= 156.3, 13.2, CAL= 156.7, 14.9, ROT= 353.3, -14.9 Ygot valid direction response: 15:11:43.6958 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 402, 0.15, 1.311,-0.228, 1.676, 1.334, PHS= 0.079,-1.517, 0.298, RAW= 156.3, 13.2, CAL= 156.7, 14.9, ROT= 353.3, -14.9 PDAT read: Bearing 230.3, -5.5 (Local) ~Local bearing/azimuth received: Bearing 230.3, -5.5 (Local)  DAT read: Range 11 to 50 : 51.9 m (Round-trip 69.3 ms) speed 0.6 m/s ,DAT read: user:1007> BDAT read: Tx time:15:11:44.8223 $Ping request sent..@k> %>)I%|+?Jdv?8D? d"?)?;lIi%%:publishing transmit ping time%Fpublishing direction and range infoyd|?ݼFht?Y5 ProNav: ac range: 54.350952 m, nav range: 49.856693 m, bearing: 62.603958 deg, approach rate: -0.640418 m/s, LOS rate: 0.011940 deg/s, cmd heading: 66.496017 deg, new cmd heading: 66.511857 deg. Bh5:=HeadingCmd: 1.160851 target range: 54.350952 and range: 51.90 m.h=Ö? )Ii )I|+?Jdv?8D? )Iih9*hY"hY hYgafafafadddjd@3I@Zd@?=Bɢ=Z{<)9 =?iA)E`Aaie惘imÖ?mK;mh;ImÖ?Iq;@ @@;0@gG%AfA=A69AfAYB^AE P;AM bAzAM fAI I O > u}",q?AEr ErEr&Ep"ErD:*Er:VEr4ZEpav@az@az@az@Yz˅Byz$II=)9Y=SGyDFE>Q 54 ??Q 94ԕ)BQ A+:YQ Ex:yQ I?.DI] ;i>4yɮ@iij0t?AJiNBRiNBjiѨ?bJH@Llw*@Rd|?ݼFht?Zibi%jڙn6@y@E@k.@ZۂtB?M)?yv?2if/B:iA"iz?*inxBiۣBiz?iiۣBiGFBi!ً?YjhDNOT Ignoring new targets: 54.35 m.bhRh\q9Zh\q9  ProNav: ac range: 54.350952 m, nav range: 49.565117 m, bearing: 62.609426 deg, approach rate: -0.699128 m/s, LOS rate: 0.013188 deg/s, cmd heading: 66.511856 deg, new cmd heading: 66.528357 deg. Bh:HeadingCmd: 1.161139 target range: 54.350952 and range: 51.90 m.h3?h*h"h hgff!f!d!d!d)jd)Zd-*?Bɢ=) h%?i)gXi^ԙi3?; ;I3?Iԁ?@ @@4@ԩ^A j; A I I O% > (,J?A6 q?6?6uPٱ6%, >AHRS rotation from veh to nav: [[0.396298,-0.903991,-0.160460],[0.917986,0.393146,0.052323],[0.015785,-0.168036,0.985655]]6H \?` Ŀ$`?L)?ʪ?)?@3ſ`{?i6 q?I6 a;4YFׅByF$IbDRVDRyV|=%VX=ٔZ9XY\=^SGy^EF^Z;Eb>`Q 5f4bI?Q 9f4bȏ)bȒBQ Aj :YhQ EjI:yj?Q Ij?b.DIb:ibM?bS4y=Bɮ=a@EiEuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 54.35 m.bhRhY9ZhY9 ProNav: ac range: 54.350952 m, nav range: 49.304211 m, bearing: 62.613819 deg, approach rate: -0.702439 m/s, LOS rate: 0.011890 deg/s, cmd heading: 66.528358 deg, new cmd heading: 66.541607 deg. Bh:BA<Bz>BB$IBͅBB =BBB%y;B(2EHeadingCmd: 1.161370 target range: 54.350952 and range: 51.90 m.hǧ?h*h"h hgf f f d ddjdZd=@^?Ա~Bɢ=) ,?i)NAPiiǧ?;F\ .,4?A@%NAr?% ?%(eٱ% , 5AHRS rotation from veh to nav: [[0.395240,-0.904702,-0.159057],[0.918471,0.391861,0.053434],[0.013986,-0.167208,0.985822]]%H K?`R[Ŀ d?@?`[? Ԥ? gſۋ?i%NAr?I%`;!YEۅByE$Iaa aa aa aa iMb@Mb@Mb@ 95^I ? rhMb?Y8?yC<?A@ x@)@Y@bDVDky%<%%4=ٔ- ;Q-->91Y1=5SGy5GF5T(;E5>9Q 5E4=T?Q 9E4=)=ϒBQ AMT:YM)8?Q EU:yU?Q IU?=.DI=O/;i=.;== 4y]Bɮ]@]jEjhDNOT Ignoring new targets: 54.35 m.bhRhRZhR ProNav: ac range: 54.350952 m, nav range: 48.979076 m, bearing: 62.594021 deg, approach rate: -0.749211 m/s, LOS rate: -0.045924 deg/s, cmd heading: 66.541609 deg, new cmd heading: 66.481819 deg. Bh#HeadingCmd: 1.160327 target range: 54.350952 and range: 51.90 m.h?h*h"h hgfffLBdddjdZd?{B-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247594ɢ(=) ?0?i)F顉imi?; &$5,??A2r?2=?2*Jٱ2( :AHRS rotation from veh to nav: [[0.393850,-0.905932,-0.155464],[0.919092,0.390411,0.053377],[0.012339,-0.163909,0.986398]]2H 4?`e Bÿ3i???T?-E?Ŀ@?i2r?I25`;2CYBByF$I HHpbDNVDN:2yz=%~`=ٔ~-;Q-~>9"?Y"?=SGy;E > Q 54 ]?Q 94 ) ԒBYy?Q I? .DI P ;i  ; &4y)ɮ-@)jhQUDNOT Ignoring new targets: 54.35 m.bhQRh]\QZh]\Qm ProNav: ac range: 54.350952 m, nav range: 48.717571 m, bearing: 62.577462 deg, approach rate: -0.718792 m/s, LOS rate: -0.045759 deg/s, cmd heading: 66.481817 deg, new cmd heading: 66.431874 deg. Bhm;uHeadingCmd: 1.159455 target range: 54.350952 and range: 51.90 m.hui?hq*hq"hq hqgyfyfyfydddjdZd?颵xBɢ)=) 69?i)G>项iVii?k?;8Ga [;,?A2?:s?2Y?2 -ٱ2f1& :AHRS rotation from veh to nav: [[0.391765,-0.907294,-0.152766],[0.920004,0.388214,0.053685],[0.010598,-0.161577,0.986803]]2H? @Սÿp?`~?|?G?Ŀ@?i2?:s?I2)`;2CYBByB$IbDJVDJ1yR>8=%VP=ٔV;Q-V>9TYX=ZSGyZHFZ;EZ>\Q 5b4^g?Q 9f4^z)^ْBYdyf?Q If?^.DI^N:i^$:^|-4yhɮj@ljhDNOT Ignoring new targets: 54.35 m.bhRh [Zh [Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003706 ProNav: ac range: 54.350952 m, nav range: 48.434917 m, bearing: 62.558619 deg, approach rate: -0.717075 m/s, LOS rate: -0.048082 deg/s, cmd heading: 66.431875 deg, new cmd heading: 66.375016 deg. BhHeadingCmd: 1.158463 target range: 54.350952 and range: 51.90 m.hH?h*h"h hgfffdddjdZd@;@MuBɢM#=)Q B??i)3项iiH?];Fs.B, ?A6js?6Օ?6eٱ6^A% >AHRS rotation from veh to nav: [[0.389592,-0.908454,-0.151424],[0.920944,0.385868,0.054475],[0.008942,-0.160676,0.986967]]6H?aÿ `x??@?9Y=SGyJFE;E>ԹQ 54|r?Q 94 s)ޒBY=?Q E:y?Q I? /DI;i+;54yBɮD@jhDNOT Ignoring new targets: 54.35 m.bhRhrZhr ProNav: ac range: 54.350952 m, nav range: 48.113216 m, bearing: 62.530985 deg, approach rate: -0.699846 m/s, LOS rate: -0.060520 deg/s, cmd heading: 66.375013 deg, new cmd heading: 66.291555 deg. Bh#&HeadingCmd: 1.157006 target range: 54.350952 and range: 51.90 m.h?h*h"h hgffflBdd d jd Zd `@]rBɢ]m%=)Y ]4B?iY)e)aaieɇim?mD;m9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759598H,%?A2nt?2"?2)ٱ2֛# :AHRS rotation from veh to nav: [[0.387438,-0.909702,-0.149444],[0.921867,0.383578,0.055037],[0.007256,-0.159091,0.987237]]2H@?G ÿ`??-?t}?]Ŀr?i2nt?I2>`;0YBByB$IbDJVDJJyR@=%RY=ٔV;Q-V>9TYT=ZSGyZKFZ;EZ>\Q 5b4^{?Q 9b4^ml)^BYdyfE?Q If?^/DI^:i^p:^;4yUBɮU@UaEAqAuAAB}x>ByB}$IB}BByByByB}xx;B}1EB9B9B9B= =B= =C= 5B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 54.35 m.bhRhZh ProNav: ac range: 54.350952 m, nav range: 47.836941 m, bearing: 62.506184 deg, approach rate: -0.739440 m/s, LOS rate: -0.066761 deg/s, cmd heading: 66.291555 deg, new cmd heading: 66.216724 deg. BhD7HeadingCmd: 1.155700 target range: 54.350952 and range: 51.90 m.h?h*h"h hgf f)f)d)d1d1jd1Zd5J@}oBɢ}>=) H?i)Xiܡi?do;ԑ )#O,}??A]t?]Ej?] ȴٱ]" mAHRS rotation from veh to nav: [[0.385428,-0.910768,-0.148142],[0.922721,0.381382,0.055976],[0.005517,-0.158268,0.987381]]]H@۪?%`N¿?h?? v?`#BĿ?i]t?I]_`;]CY} By}$Ii5Mb@Mb@Mb@1111 195w/?~jtx?{Gzt?Y5F?y5;5ף;5A5r@ 5x@)5@1Y5@bDIVDIy] P=%]2=ٔ]x;Q-]>9aYa=eSGyeLFm;iEm>qQ 5}4u ?Q 94uc)uBYF?Q E:y?Q I?u1/DIu:iu:uC4yɮF@jhDNOT Ignoring new targets: 54.35 m.bhRhӺZhӺ ProNav: ac range: 54.350952 m, nav range: 47.481133 m, bearing: 62.466216 deg, approach rate: -0.816957 m/s, LOS rate: -0.092456 deg/s, cmd heading: 66.216724 deg, new cmd heading: 66.095922 deg. Bh}HeadingCmd: 1.153591 target range: 54.350952 and range: 51.90 m.h⨓?h*h"h hgfffmBdddjdZd/ @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2639035mBɢ5b;=)1 5\O?i9)=99i=yLiE⨓?E;E~ DAT read: 15:11:47.2922 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 399, 0.23,-1.628, 3.129,-1.285,-1.601, PHS= 0.076,-1.508, 0.272, RAW= 155.8, 13.6, CAL= 156.2, 15.4, ROT= 353.8, -15.4  Ygot valid direction response: 15:11:47.2922 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 399, 0.23,-1.628, 3.129,-1.285,-1.601, PHS= 0.076,-1.508, 0.272, RAW= 155.8, 13.6, CAL= 156.2, 15.4, ROT= 353.8, -15.4  PDAT read: Bearing 232.4, -6.0 (Local)  ~Local bearing/azimuth received: Bearing 232.4, -6.0 (Local)  DAT read: Range 11 to 50 : 49.4 m (Round-trip 65.9 ms) speed 0.8 m/s  ,DAT read: user:1008>  BDAT read: Tx time:15:11:48.4222  $Ping request sent. .@ s> !z.@ >) e@I ^>;? ,?&2\-? ?) 7sI iݽi E :publishing transmit ping time E Fpublishing direction and range infoy  rN?6<?Y ) I i ) I ^>;? ,?&2\-? ) I i V,KY?A2u?2 ?27ٱ2X# :AHRS rotation from veh to nav: [[0.383098,-0.912179,-0.145485],[0.923698,0.379042,0.055763],[0.004279,-0.155747,0.987788]]2H? 0?¿`?:B??q?`ÿ?i2u?I2`;2CY= By=$I M49Y=SGyMF;E>Q 54??Q 94\)BYyח?Q I?D/DI:i:6J4yBɮ@bEiiU?AJiDBRiDBji?bX6G@A{5{)*@RrN?6<?Ziiݽbij4@Rb)E@`+@ZOw[ ?Q?N?2iK)B:iA"iJk?*iiBi١BiiC2iyBiByB}$IB}BByByByB}x;B}1E1 ^A ]<A >A >I I O >E  E E E "E &:*E :VE ZE BE c;AHRS rotation from veh to nav: [[0.380537,-0.913528,-0.143728],[0.924761,0.376380,0.056164],[0.002789,-0.154286,0.988022]]6HZ?`;e¿??@z?Nf?ÿ?i6aYv?I6΃`;4YFByF$IbDNVDN02yr=%rU=ٔr~;Q-v>9tYt=vSGyvNFz;Ez>|Q 54~?Q 9 4~ZU)~BY y 2?Q I ?~W/DI~);i~+;~P4yɮ4@jh9EDNOT Ignoring new targets: 49.18 m.bhARhMzߺZhMzߺ] ProNav: ac range: 49.175114 m, nav range: 46.936535 m, bearing: 62.409163 deg, approach rate: -0.799320 m/s, LOS rate: -0.097689 deg/s, cmd heading: 65.988302 deg, new cmd heading: 65.879641 deg. Bh]eHeadingCmd: 1.149817 target range: 49.175114 and range: 49.40 m.he1-?ha*ha"ha hagifififidqdqdqjdqZdu?颩ɢ>c=) ;S?i)x顱ii1-?{c;=I1-?IQu>@q @q@u/@q^AM<IIO >ԁԩ c,?A2 w?2p?2xٱ2ʅ >AHRS rotation from veh to nav: [[0.378036,-0.914641,-0.143249],[0.925790,0.373707,0.057061],[0.001343,-0.154190,0.988040]]2H1?DU¿`?`?`7?U?`{ÿ?i2 w?I2J`;0HYnByr$IE} EyE}'Ey"E}=;*EyVE}'4ZEya@a@a@a@iMb@Mb@Mb@ 9x&?{Gzt?Y7I?yף;@ )@YbD5VD5k1yE%E6=ٔES;Q-E>9IYI=MSGyMOFM^;EU>YQ 5e4]?Q 9e4]L)YYe8I?Q Ee:ye>?Q Im?]m/DI]:i]:]X4yuBɮu@uXEjhDNOT Ignoring new targets: 49.18 m.bhRh%ߺZh%ߺ ProNav: ac range: 49.175114 m, nav range: 46.585110 m, bearing: 62.365726 deg, approach rate: -0.783272 m/s, LOS rate: -0.097545 deg/s, cmd heading: 65.879640 deg, new cmd heading: 65.748346 deg. BhㅻHeadingCmd: 1.147525 target range: 49.175114 and range: 49.40 m.h?h*h"h hgfffqBdddIjdIZdU@?ԩ颹ɢU:=) LQ?i)%*imri?;0=I?Ix>i!>=:@9 @A@E/@A@MeA@McA ^A <A .AI I O >i,?A,2Hw?2]?2D9ٱ2 BAHRS rotation from veh to nav: [[0.376006,-0.915366,-0.143960],[0.926617,0.371420,0.058551],[-0.000125,-0.155412,0.987850]]2H|?@JLm¿ئ?V?U?o ÿ w?i2Hw?I2қ`;2CYF ByF$IBNt>BNCBN$IBN$BBN =BN@DBLBN x;BN1E\\bDbVDbyf%j[=ٔj;Q-j>9n ?Yn ?=nSGynPFr;Er>pQ 5v4r׭?Q 9z4rE)pYxyz?Q Iz?r/DIr;irr;rK_4yɮ@B*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 49.18 m.bhRhBZhB ProNav: ac range: 49.175114 m, nav range: 46.292919 m, bearing: 62.328305 deg, approach rate: -0.780997 m/s, LOS rate: -0.100654 deg/s, cmd heading: 65.748344 deg, new cmd heading: 65.635372 deg. Bh'HeadingCmd: 1.145553 target range: 49.175114 and range: 49.40 m.h~?h*h"h hgfffdddjdZd H?iɢm?-V=)i urO?iq)unUһqqiu:i}~?}Ď;}g#!=I}~?IԉbEjEc44rE0E EE&E"E:*E:VE4ZEBE6  G5 eAI ʹ9 eAY Ay- ?- ݯA}p, ?AL=x?=?=b:ٱ= UAHRS rotation from veh to nav: [[0.374150,-0.916090,-0.144191],[0.927367,0.369330,0.059879],[-0.001600,-0.156122,0.987736]]=H@?Pt¿?@?t?7Z ÿ?i=x?I=I`;=CY]Bye$IIe%>)e?only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 82.60, 67.98, 73.76 a@a a@a a@a a@a bDVDyL<%8=ٔcY;Q->9"?Y"?=TGyQF;E> Q 54 ?Q 94 =) BQ A+:YQ EZ:yǘ?Q I? /DI e ;i > e4y%Bɮ%@%YEjhIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752660]DNOT Ignoring new targets: 49.18 m.bhYRh]Zheu ProNav: ac range: 49.175114 m, nav range: 45.945423 m, bearing: 62.282300 deg, approach rate: -0.782337 m/s, LOS rate: -0.104355 deg/s, cmd heading: 65.635372 deg, new cmd heading: 65.496316 deg. Bhu<}HeadingCmd: 1.143126 target range: 49.175114 and range: 49.40 m.h}Q?hy*hy"hy hygyfffdddjdZdZ?颹ɢgM=) Q?i)iiQ?;3/=IQ?I9@ @@0@E EE)E"E:*E:VEFA4ZEa@a@a@a@^A V = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004460! A1 IA IQ O >v,AHRS rotation from veh to nav: [[0.372796,-0.916345,-0.146065],[0.927909,0.367661,0.061731],[-0.002864,-0.158548,0.987347]]6H?RE¿n??`6?@'wgQKĿX?i6}x?I6`;4Yf Byf$IbDrVDryv%z\=ٔz_;Q-z>9|Y||=TGyRFπ;E> Q 54 ?Q 94 5) Q A :YQ E1:y?Q I? /DI C ;i SQ? i4y!ɮ%s@)jhIUDNOT Ignoring new targets: 49.18 m.bhQRhUZhUm ProNav: ac range: 49.175114 m, nav range: 45.655575 m, bearing: 62.242854 deg, approach rate: -0.781279 m/s, LOS rate: -0.107002 deg/s, cmd heading: 65.496316 deg, new cmd heading: 65.377226 deg. BhmޒuHeadingCmd: 1.141048 target range: 49.175114 and range: 49.40 m.hu ?hq*hq"hq hqgqfyfyfydddjdZdL!@颱ɢ^\=)  O?i)u项iOLi ?|I;;=I ?IU?@Q @Q@U4@Q@]=@Y)^A5K =uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257048A].AIaIqBr>BB%IB)BBBBDB=x;B1EO^>QE  E E (E "E :*E :VE c44ZE BE 3AHRS rotation from veh to nav: [[0.371327,-0.916872,-0.146500],[0.928494,0.366009,0.062739],[-0.003903,-0.159321,0.987219]]2H ?W¿9?l??odĿL?i2x?I2`;2Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508239Yf Byf$I hjp;bDnVDnyvR;%vJ=ٔz(;Q-z>9z ?Yz ?=~TGy~SF~;E~>Q 5 4v˔?Q 9 4.)BQ A9YQ E:y+?Q I?/DI:i(,p?AE EE&E"E=;*EVE4ZEa&@a&@a&@a&@Bx6y?Bt?B˞;ٱBS% JAHRS rotation from veh to nav: [[0.370167,-0.917121,-0.147872],[0.928953,0.364612,0.064072],[-0.004846,-0.161083,0.986929]]BHϰ? Yw¿?U?@g?ms@aĿ?iBx6y?IBk`;BCYRByR$I TTaa aa aa aa iMb@Mb@Mb@ 9!rh?Mb`?Mb`YlG?y;Ar@ K@)@Y@bDVD:2yHԱ%>=ٔ;Q->9"?Y"?=TGyTF>;E>Q 54Ք?Q 94%)BQ AT:YlG?Q E:y˘?Q I?/DI ;id;u4yBɮ{@jh DNOT Ignoring new targets: 49.18 m.bhRhbZhb- ProNav: ac range: 49.175114 m, nav range: 45.007595 m, bearing: 62.152749 deg, approach rate: -0.812378 m/s, LOS rate: -0.113115 deg/s, cmd heading: 65.244091 deg, new cmd heading: 65.104971 deg. Bh-B5HeadingCmd: 1.136296 target range: 49.175114 and range: 49.40 m.h5'r?h1*h1"h1 h9g9f9f9fEPBdAdAdAjdAZdM@ɢY=) L?i):xi٭i'r?9; T=I'r?I)BDAT read: Rx Time:15:11:50.8886 TRx dataTimestamp_ set to:1761577912.373200checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018901@@ @@4@^AB=AII  O>9  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268408B} q>By By By B} =By By B} Nx;B} 1E,2)?A6dy?6?6C@;ٱ6z' >AHRS rotation from veh to nav: [[0.369510,-0.917151,-0.149317],[0.929208,0.363698,0.065542],[-0.005806,-0.162965,0.986615]]6H@?MY ÿ@?F?aǰ?w ĿY?i6dy?I6i``;6CYFByF$IbDNVDNβyV%VX=ٔZ&;Q-Z>9XYX=ZTGyZUF^:E^>`Q 5f4bޔ?Q 9f4b)bBYhyj?Q Ij?b/DIb:ib:b{4ynBɮn@l~B*** querying acoustic contact ***i| i|jh DNOT Ignoring new targets: 49.18 m.bh RhMZhM% ProNav: ac range: 49.175114 m, nav range: 44.715588 m, bearing: 62.111557 deg, approach rate: -0.773679 m/s, LOS rate: -0.109853 deg/s, cmd heading: 65.104974 deg, new cmd heading: 64.980589 deg. Bh%Ȗ-HeadingCmd: 1.134125 target range: 49.175114 and range: 49.40 m.h-+?h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE @!ɢ-cW=)) -J?i1)5R)OYYi]ie+?e#5;mr^=Im+?IE5 E5E1E1"E5:*E5:VE1ZE1BE56 BDAT read: Tx time:15:11:51.9722 %$Ping request sent.%LB/@5z>F/@ q>)@IqB"?D0?u? $?)/yI@iqM:publishing transmit ping timeMFpublishing direction and range infoy:?N˵ψ.?Y )Ii )IB"?D0?u? )Ii1^A-B=A>AA .AI I O >a ː,UC?AmNy?m?m|d;ٱmI+ AHRS rotation from veh to nav: [[0.369819,-0.916484,-0.152615],[0.929078,0.363554,0.068145],[-0.006970,-0.166993,0.985933]]mH?Sÿ?vD? q?`|`ſ`Č?imNy?Im5[`;mCYBy$IiiMb@Mb@Mb@ 9ˡE?y&1|~jthYG?y`廙D(A 5@)@Y@bDVDk2yOt%0=ٔ$;Q->9 ?Y ?=TGyVF=E>Q 54ꔊ?Q 94)BYG?Q E:y[?Q I?/DI :i:Ƀ4yɮ@i!i%8?AJi%9BRi%9Bji%l]?b%Y=p*F@zpzdDZx)@R%:?N˵ψ.?Zi%@bi%qj%ӎJvں3@C@Wj*@Z%@[)?DD?ڀf/?2i%B:i%֝A"i%\i?*i%Bi%kBi%ȥ?i%ii%١Bi%2Bi%G?5 addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 3.532108 s, deltaX: -2.700001 m, approachRate: -0.764416 m/s, rangeRepo size: 4 E Added new target pos. range: 46.486652 m, bearing: 63.725857 deg, lat: 36.779305 deg, lon: -121.859537 deg, deltaT: 3.532108 s, deltaX: -2.688461 m, approachRate: -0.761149 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 46.49 m.bhIRhMZhI] ProNav: ac range: 46.486652 m, nav range: 44.747086 m, bearing: 62.345507 deg, approach rate: 0.000000 m/s, LOS rate: -0.109853 deg/s, cmd heading: 64.980589 deg, new cmd heading: 64.826588 deg. BhYeHeadingCmd: 1.131437 target range: 46.486652 and range: 46.70 m.hmҐ?hi*hi"hi higififqfuRBdqdqdyjd}YG@Zd}c?颭oBɢOI=) H?i) 顱iPiҐ?;e,f=IҐ?Iԙ8@ @@@E EE*E"E;*E:VE(N4ZEa@a@a @a @^A gW= AM ؟AIY Ii Ou >,u]?A2"y?2D|?2:<ٱ2!1 NAHRS rotation from veh to nav: [[0.370447,-0.915509,-0.156882],[0.928817,0.363621,0.071259],[-0.008192,-0.172112,0.985043]]2H i?KĿ ߸?E? >?6ǀ@ƿ`y?i2"y?I2`;2CYVByV$IIZ=)Z<bDbVDb:yfZ%jl=ٔjf;Q-n?9n"?Yn"?=nTGynWFrgEr?tQ 5z4v)?Q 9z4vU)vޒBYxyzE?Q I~?v0DIv@;iv<;v؉4yBɮL@HEjh)-DNOT Ignoring new targets: 46.49 m.bh)Rh58ۺZh58ۺE ProNav: ac range: 46.486652 m, nav range: 44.477474 m, bearing: 62.312880 deg, approach rate: -0.787104 m/s, LOS rate: -0.095828 deg/s, cmd heading: 64.826589 deg, new cmd heading: 64.728115 deg. BhEMHeadingCmd: 1.129719 target range: 46.486652 and range: 46.70 m.hM?hI*hI"hI hQgQfQfQfYdYdYdYjdYZde`x%?颉ɢܑ\=) ;?i)顑iPTi?*q;ti=I?IԩE:@I @I@M/@IBBB$IBBBBBBx;B1EBCBCBB =B =C95^A|^=E EE&E"EV:*EVE4ZEBE9) +,6=w?AYnByr$IbDzVDz02y%&<%-E=ٔ-Q-->95 ?Y5 ?=5TGy5XF5E5>AQ 5E4E~?Q 9M4Ev)EܒBYIyIQ IM?E#0DIE:iE:E4yQɮU@jhDNOT Ignoring new targets: 46.49 m.bhRhպZhպ ProNav: ac range: 46.486652 m, nav range: 44.155624 m, bearing: 62.273408 deg, approach rate: -0.755640 m/s, LOS rate: -0.093348 deg/s, cmd heading: 64.728118 deg, new cmd heading: 64.608839 deg. Bh HeadingCmd: 1.127637 target range: 46.486652 and range: 46.70 m.hiV?h*h"h hgff f d d djdZd?AɢEkdI=)A E>?iA)MךּIIiM*yiUiV?U;Uq=IUiV?IY 4@  @ @ 0@ A^AUc=A]dAzA]aAi A ؟AI I O >E  E E +E "E :*E :VE [4ZE a @a @a @a @,?A N-x?NN-?N"<ٱN8 VAHRS rotation from veh to nav: [[0.372679,-0.913549,-0.162908],[0.927907,0.364988,0.075974],[-0.009947,-0.179478,0.983712]]NH ?;`/Ŀ`j? [? s?^ "ƿz?iN-x?IN)`;NCY^݅By^$IiEMb@Mb@Mb@AAAA A9E'1Z? rhMb`YEB?yEC EEAEE@ A)E@AYA Up9u"?Yu"?=uTGyuYF}QE}>Q 54q?Q 94)YC?Q E:y~?Q I?70DI:i:I4yɮ@jhAEDNOT Ignoring new targets: 46.49 m.bhARhMÂZhMÂ} ProNav: ac range: 46.486652 m, nav range: 43.841927 m, bearing: 62.249765 deg, approach rate: -0.753017 m/s, LOS rate: -0.057160 deg/s, cmd heading: 64.608843 deg, new cmd heading: 64.537406 deg. Bh}HeadingCmd: 1.126390 target range: 46.486652 and range: 46.70 m.h-?h*h"h hgfff/BdddjdZdͯ?ɢUC=)  I7?i ) D8  i͈iU-?U;U>l=IU-?IYy=@ @@n0@ԙ^A@p= AY Ii I O >B <A B r>B B $IB BB B B B x;B 1E=,w?A2D5x?2?2\0<ٱ2t; >AHRS rotation from veh to nav: [[0.373792,-0.912728,-0.164946],[0.927450,0.365745,0.077890],[-0.010764,-0.182094,0.983222]]2H6?5ſ?_h??d `Nǿ`v?i2D5x?I2+`;0YFمByF$I HHPbDRVDRyZ%ZW=ٔZ ;Q-Z>9\Y\=^TGy^ZFb`OEb>dQ 5j4f?Q 9j4f)fےBYhyjW?Q In?fJ0DIf:if:f4yrBɮr@pB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 46.49 m.bhRhZh- ProNav: ac range: 46.486652 m, nav range: 43.552582 m, bearing: 62.228109 deg, approach rate: -0.793158 m/s, LOS rate: -0.059759 deg/s, cmd heading: 64.537406 deg, new cmd heading: 64.472006 deg. Bh- $EHeadingCmd: 1.125249 target range: 46.486652 and range: 46.70 m.hE'?hA*hI"hI hIgIfQffdddjdZd@ ?频ɢMN=) A5?i)8'顙ii'?ZY<l=I'?IE EEE"El;*E1:VEZEBE\F$(,?A|аw?×?A<ٱ+> AHRS rotation from veh to nav: [[0.375662,-0.911642,-0.166695],[0.926682,0.367212,0.080104],[-0.011814,-0.184566,0.982749]]H@ ?+,`FVſ `?f?@?@1ןǿ`r?iаw?IG`;CYʅBy$Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256117i}Mb@Mb@Mb@yyyy y9}+?~jt~jtxY}??y}}Ļ}A}/@ }@)}5@yY} @bDVDyK%/=ٔ;Q->9Y=TGy[FE>Q 54?Q 94)ْBY??Q E:y2?Q I?`0DI:i ;4yɮ@jhDNOT Ignoring new targets: 46.49 m.bhRh]Zh] ProNav: ac range: 46.486652 m, nav range: 43.201965 m, bearing: 62.205646 deg, approach rate: -0.749586 m/s, LOS rate: -0.048412 deg/s, cmd heading: 64.472007 deg, new cmd heading: 64.404072 deg. BhHeadingCmd: 1.124063 target range: 46.486652 and range: 46.70 m.hM?h*h"h! h!g!f!f)f-!Bd)d)d1jd1Zd5`"p@]nBɢ]-<=)a e-?ia)ḛ9iˁiM?&<Gj=IM?I)y@ @@4@@dA@dAE EE*E"E:*E:VE(N4ZEa@a@a@a@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508105^A fm=A >A ?y A I I) O= >D,{?A2w?2%z?2'T<ٱ2.CA rAHRS rotation from veh to nav: [[0.377733,-0.910380,-0.168894],[0.925823,0.368801,0.082684],[-0.012985,-0.187599,0.982160]]2H,?!@SſX?p?*?󗊿:ȿm?i2w?I2B`;2CYz…Byz$IbD VD  8y0%i=ٔ[;Q->9!Y!=%TGy%\F-ѻE->1Q 5=45z(?Q 9=45`)5ؒBY9y=?Q I=?5q0DI5:i5:5<4yMBɮM@M?Eqjhq}DNOT Ignoring new targets: 46.49 m.bhyRhiUZhiU ProNav: ac range: 46.486652 m, nav range: 42.939480 m, bearing: 62.189375 deg, approach rate: -0.747901 m/s, LOS rate: -0.046645 deg/s, cmd heading: 64.404073 deg, new cmd heading: 64.354962 deg. Bh HeadingCmd: 1.123206 target range: 46.486652 and range: 46.70 m.h7ŏ?h*h"h hgfffdddjdZd`>@ɢN=) )?i)j:i^i7ŏ?x<ϟe=I7ŏ?I=@ @@/@ԙEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760105Bu>BB$IBBB =BBDBx;B1E^Ah=bE}:4jE}A84rE}(90E EE&E"E;*E:VE4ZEBEA i,B?A20v?2*?2>d<ٱ2 C >AHRS rotation from veh to nav: [[0.379969,-0.909137,-0.170567],[0.924894,0.370628,0.084890],[-0.013960,-0.190012,0.981683]]2HgQ?`!ſ`?\?U?ꖌ`LRȿi?i20v?I2w`;0YFByF$IRBDAT read: Rx Time:15:11:54.4349 VTRx dataTimestamp_ set to:1761577915.900133Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013109bDNVDN:yrɎ%rO=ٔrm!;Q-v>9tYt=vTGyv]Fz~ȻEz>|Q 54~%3?Q 94~R)~֒BYy?Q I ?~0DI~+;i~:~%4yBɮ@@Ejh9DNOT Ignoring new targets: 46.49 m.bhRhMZhM- ProNav: ac range: 46.486652 m, nav range: 42.643204 m, bearing: 62.171733 deg, approach rate: -0.750495 m/s, LOS rate: -0.045000 deg/s, cmd heading: 64.354964 deg, new cmd heading: 64.301670 deg. Bh-5HeadingCmd: 1.122276 target range: 46.486652 and range: 46.70 m.h5?h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdM@@ɢ>=) )?i):iFi?%< a=I?IeG}fA9fAYA6@ @@/@ 1mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266413^AM Jc=I) I9 OE >Y E  E E *E "E :*E :VE (N4ZE a @a @a @a @QĻ,?Afu?ז? r<ٱ5E 5AHRS rotation from veh to nav: [[0.382302,-0.907916,-0.171851],[0.923918,0.372599,0.086860],[-0.014830,-0.191983,0.981286]]1H@w? `5ſ??t9Y=TGy^FE> Q 54  @?Q 94 ) Y3?Q E:y)?Q I? 0DI  ;i  ; d4y!ɮ%=@!jhIUDNOT Ignoring new targets: 46.49 m.bhQRh]Zh]m ProNav: ac range: 46.486652 m, nav range: 42.311924 m, bearing: 62.170795 deg, approach rate: -0.701938 m/s, LOS rate: -0.002003 deg/s, cmd heading: 64.301668 deg, new cmd heading: 64.298833 deg. DAT read: 15:11:54.4349 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 405,-0.18,-0.333,-1.827, 0.070,-0.299, PHS= 0.068,-1.483, 0.325, RAW= 157.5, 12.8, CAL= 157.9, 14.5, ROT= 352.1, -14.5 Ygot valid direction response: 15:11:54.4349 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 405,-0.18,-0.333,-1.827, 0.070,-0.299, PHS= 0.068,-1.483, 0.325, RAW= 157.5, 12.8, CAL= 157.9, 14.5, ROT= 352.1, -14.5 PDAT read: Bearing 231.4, -10.4 (Local) ~Local bearing/azimuth received: Bearing 231.4, -10.4 (Local) DAT read: Range 11 to 50 : 43.8 m (Round-trip 58.5 ms) speed 0.6 m/s ,DAT read: user:1010>  BDAT read: Tx time:15:11:55.5222  $Ping request sent. /@d>A`0@ >)U@I7҅?}|)?==od? #'?)eI0 i5:publishing transmit ping time 5Fpublishing direction and range infoyf)˯?lgT=9?Y )Ii )I7҅?}|)?==od? )IiBhm鯸HeadingCmd: 1.122226 target range: 46.486652 and range: 46.70 m.h?h*h"h hgfffBdddjd`fE@Zd?mBɢ4=) '?i) ;i1i%?EA A B t>B B $IB BB =B ?DB B x;B 1E {ʻ,H+?A2;u?2?2<ٱ2h'F >AHRS rotation from veh to nav: [[0.384529,-0.907028,-0.171574],[0.922979,0.374604,0.088215],[-0.015741,-0.192280,0.981214]]2H? `"ſ ?`?F? @ȿ`f?i2;u?I2`;0YbBybq$I r9 fѻ,E?Axt?'?NF<ٱE AHRS rotation from veh to nav: [[0.387254,-0.906040,-0.170665],[0.921816,0.377084,0.089792],[-0.017000,-0.192094,0.981229]]H ?FXſ?@#"??h@ȿ:f?ixt?I_;YByf$IiIiMb@Mb@Mb@ 9sh|??l~jt?Y)?yD<A@ @)@Y@ bD VD ky%-=ٔ%.;Q-%>9!Y!=-TGy-`F-iλE->1Q 5=45fV?Q 9=45)5ْBYE+?Q EE:yE?Q IE?50DI53:i5:5ʣ4yMBɮMo@U7EmB*** querying acoustic contact ***ii iijhDNOT Ignoring new targets: 43.60 m.bhRhԻ9ZhԻ9 ProNav: ac range: 43.600189 m, nav range: 41.708721 m, bearing: 62.404055 deg, approach rate: -0.694050 m/s, LOS rate: 0.020527 deg/s, cmd heading: 64.296553 deg, new cmd heading: 64.323409 deg. Bhea:HeadingCmd: 1.122655 target range: 43.600189 and range: 43.80 m.h+?h*h"h hgfff BdddjdZd(?9ɢE\x9=) ?i)I;iƹi+?B <1cF=I+?IE EE'E"E:*E:VE'4ZEa@a@a@a@91@ @@@a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A dO=I9 IQ O] >׻,\_?A 6Hs?6ܻ?6<ٱ6/F >AHRS rotation from veh to nav: [[0.390274,-0.904860,-0.170040],[0.920515,0.379799,0.091674],[-0.018371,-0.192303,0.981164]]6H@@?`ſt?N?`w?ϒ_ȿe?i6Hs?I6_;4YvByvk$IbDVDy ,<% s=ٔ;Q-?9Y=TGyaFg E%?!Q 5-4%_?Q 9-4%)%ܒBY1y5-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248628Bq>BB$IB҅BB =B@DBDBbx;B1EԡE EE&E"E:*E:VE4ZEBE6AHRS rotation from veh to nav: [[0.393489,-0.903551,-0.169593],[0.919117,0.382684,0.093685],[-0.019749,-0.192739,0.981051]]2H.? 5ſ`hi?}??9ȿd?i2}r?I2 _;2CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500721PYRByRj$IbDXVDXyba%bO=ٔfd;Q-f>9dYh=jTGyjbFjEj>lQ 5r4nkj?Q 9r4n)nޒBYtyvʇ?Q Iv?n0DIn:in:nbף4yxɮz6@|jh%DNOT Ignoring new targets: 43.60 m.bh!Rh%9Zh-95 ProNav: ac range: 43.600189 m, nav range: 41.220768 m, bearing: 62.422160 deg, approach rate: -0.667773 m/s, LOS rate: 0.026558 deg/s, cmd heading: 64.346597 deg, new cmd heading: 64.378049 deg. Bh=Б:HeadingCmd: 1.123609 target range: 43.600189 and range: 43.80 m.hkҏ?h*h"h hgfffdddjdZd?%jBɢ%zkA=)! %!?i!)-B;))i-=i5kҏ?5ɹ E  E E (E "E :*E |:VE c44ZE a @a @a @a @,e?A26q?2Ȕ?21<ٱ2mG >AHRS rotation from veh to nav: [[0.397068,-0.902035,-0.169323],[0.917543,0.385873,0.096005],[-0.021262,-0.193482,0.980873]]2Hi?w cſ\?%?@?ŕȿPc?i26q?I2_;2CYBByFf$IIF=)F>imMb@Mb@Mb@iiii i9mˡE?x&y&1|?Ym'?ym7m`;mVAm/@ m@)mK@iYm@bD VD2yu%>=ٔ,f;Q->9Y=TGycFE>Q 54v?Q 94)BY(?Q E:yD?Q I?0DI ;ii ;ޣ4yBɮ@8EjhDNOT Ignoring new targets: 43.60 m.bhRh9Zh9  ProNav: ac range: 43.600189 m, nav range: 40.936810 m, bearing: 62.432051 deg, approach rate: -0.659118 m/s, LOS rate: 0.023118 deg/s, cmd heading: 64.378050 deg, new cmd heading: 64.407930 deg. Bh }:HeadingCmd: 1.124130 target range: 43.600189 and range: 43.80 m.h?h*h"h hgfff%Bd!d!d!jd!Zd-$?UiBɢU-C=)Y ]?iY)] ;YYi]pie?e^ ԡ E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256612Be <Ae 4=Bm s>Bi Bm $IBm ÅBBm =Bi Bi Bm Gx;Bm 1EB)B)B)B)B)C-˾5,H?Av{p?vH?v<ٱvjnH  AHRS rotation from veh to nav: [[0.400632,-0.900474,-0.169234],[0.915956,0.389026,0.098407],[-0.022776,-0.194436,0.980651]]vH`?` vſO?`?`/1? REȿ}a?iv{p?Iv1_;vCY%By%k$IqbDVD0y<%J=ٔu;Q->9Y=TGydF<E>Q 54?Q 94)BYyŇ?Q I?0DI;i@;4yɮ@jhDNOT Ignoring new targets: 43.60 m.bhRh9Zh9 ProNav: ac range: 43.600189 m, nav range: 40.670490 m, bearing: 62.442906 deg, approach rate: -0.659340 m/s, LOS rate: 0.027052 deg/s, cmd heading: 64.407933 deg, new cmd heading: 64.440713 deg. Bh: HeadingCmd: 1.124703 target range: 43.600189 and range: 43.80 m.h A?h *h"h hgfffddd!jd!Zd%@MhBɢUcI=)Q U/"?iQ)]Τ;YYi]8ieA?e< -,?AFPExceeded connect timeout, disconnecting.%ho?%œ?%<ٱ%I mAHRS rotation from veh to nav: [[0.404276,-0.898840,-0.169256],[0.914312,0.392221,0.100975],[-0.024374,-0.195574,0.980386]]%H?K,ſ B?'?yٹ?ɿ`R_?i%ho?I%_;!YByt$Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763146bDVD0y=%9=ٔl;Q->9Y=TGyeFRE>Q 5 40?Q 9 4!)BYyC?Q I?1DIIr;i4s;4y!ɮ%&@)]B*** querying acoustic contact ***ia iajhq}DNOT Ignoring new targets: 43.60 m.bhyRhD :ZhD : ProNav: ac range: 43.600189 m, nav range: 40.376160 m, bearing: 62.456727 deg, approach rate: -0.648162 m/s, LOS rate: 0.030658 deg/s, cmd heading: 64.440711 deg, new cmd heading: 64.482475 deg. BhQ:HeadingCmd: 1.125432 target range: 43.600189 and range: 43.80 m.h$?h*h"h hgfIfIfIdIdQdQjdQZdU@额gBɢrA=) E{&?iI)M>;IIiM^iU$?U&,?A2!n?2P?2%<ٱ2I >AHRS rotation from veh to nav: [[0.407531,-0.897465,-0.168745],[0.912835,0.395190,0.102750],[-0.025528,-0.195910,0.980290]]2H?@ nſ@5? J?M? #@ɿ`^?i2!n?I2_;0YBByF$I HHi Mb@Mb@Mb@     9 K7?T㥛 Mb?Y I,?y  <  @ @) b@ Y f@bD-VD-y5M=%5g=ٔ=V;Q-=>9AYA=ETGyEfFE&EM>IQ 5U4Mᖕ?Q 9]4M)IY] -?Q E]:y]?Q I]?M!1DIM ;iM ;M4ymBɮm@m/Ejh DNOT Ignoring new targets: 43.60 m.bh1Rh=9Zh=9M ProNav: ac range: 43.600189 m, nav range: 40.140289 m, bearing: 62.466280 deg, approach rate: -0.659381 m/s, LOS rate: 0.026862 deg/s, cmd heading: 64.482477 deg, new cmd heading: 64.511304 deg. BhM{:uHeadingCmd: 1.125935 target range: 43.600189 and range: 43.80 m.hu?hq*hq"hy hygyfyfyf BdddjdZd , @UfBɢUVg=)Q ]+?iY)]g;YYi]ie?e(B-CB-z$IB-BB- =B-?DB-DB-kx;B-1E=1@9 @9@=/@9^A>=IIOa>E EE(E"E:*Eą:VEc44ZEBE5 ^BDAT read: Tx time:15:11:59.0722 b$Ping request sent.b2!z.@2G\>2%/@ 2>)2C@I2002Ko-??!|J?O`NJ? 2!?)2mɃI2i200v:publishing transmit ping time`vFpublishing direction and range infoy02Dg?Tcݚ?Y00000 0)0I0i00000 0)0I0002Ko-??!|J?O`NJ? 0)0I0i000-m?- ے?-<ٱ-H EAHRS rotation from veh to nav: [[0.410792,-0.896339,-0.166814],[0.911331,0.398273,0.104186],[-0.026948,-0.194822,0.980468]]-H kJ? ή+Zſ)?`O}??``ȿ@_?i-m?I-_;-CYBy$IbD VD 02yT;%<=ٔV;Q->9!Y!=%TGy%gF-E->QQ 5]4U?Q 9]4U)UBYYyeo?Q Ie?U41DIU:iU:U4yiɮm@ii0i2Ԛ?AJi2 $BRi2 $Bji2:?b28%{C@Hȕ x 8'@R2Dg?Tcݚ?Zi2bi2j2>.2@A ?E  E E 'E "E ;*E ~:VE '4ZE a @a @a @a @q A .AI I O >R,3T?AYzɅByz$IiMb@Mb@Mb@ 9 rh?I +y&1?YC+?y94`e<A/@ @)Y@bDVDkyYT=%D=ٔQ->9 ?Y ?=TGyhFE>Q 54󭕊?Q 94})BY+?Q E:y"?Q I?F1DI:i:4yɮ@jh DNOT Ignoring new targets: 41.01 m.bhRhB9ZhB9- ProNav: ac range: 41.012081 m, nav range: 39.432198 m, bearing: 62.752109 deg, approach rate: -0.721403 m/s, LOS rate: 0.008648 deg/s, cmd heading: 64.547624 deg, new cmd heading: 64.557571 deg. Bh-95HeadingCmd: 1.126742 target range: 41.012081 and range: 41.20 m.h59?h1*h1"h1 h1g9f9f9f=0BdAdAdAjdAZdM J{?udBɢuo=)q u2?iy)}G;yyi}:ԁi9??<8B= v>B9 B9 B9 B= =B9 B9 B= x;B= 1E ku ,0?A61l?6?6<ٱ6W:I BAHRS rotation from veh to nav: [[0.416732,-0.893852,-0.165417],[0.908551,0.403657,0.107683],[-0.029481,-0.195164,0.980327]]6H ? p^,ſ???@Y0%ȿ`^?i61l?I6_;6CYF˅ByJ$IINR=)N=bDRVDRNyZ,<%Z]=ٔ^;Q-^>9\Y`=bTGybiFbEb>dQ 5j4fƷ?Q 9j4f)dYlynK?Q In?fV1DIf;if;f- 4yrBɮr)@v0Ejh DNOT Ignoring new targets: 41.01 m.bhRh9Zh9- ProNav: ac range: 41.012081 m, nav range: 39.184685 m, bearing: 62.757464 deg, approach rate: -0.670666 m/s, LOS rate: 0.014603 deg/s, cmd heading: 64.557568 deg, new cmd heading: 64.573736 deg. Bh-Z :5HeadingCmd: 1.127024 target range: 41.012081 and range: 41.20 m.h5UB?h1*h1"h1 h1g1f9bEMc44jEMc44rEM/E EE*E"E;*E:VE(N4ZEBEA@ @@4@  }GAfAA^Au<19AfAY^AI I I O >a,/I?Axk??<ٱXF AHRS rotation from veh to nav: [[0.418632,-0.893481,-0.162603],[0.907636,0.405570,0.108216],[-0.030742,-0.192887,0.980739]]H?d *ĿY ?@? ?`z ȿ7b?ixk?Ip_;CYمBy$IiMb@Mb@Mb@ 9A`"?S㥛I +?Y9?y/ݼ94<lA @)K@YbDVDܲy`=%*=ٔD,;Q->9Y = TGy kF E >Q 54ĕ?Q 94)BY%=9?Q E%:y%o?Q I%?l1DI:i ;4y-Bɮ5@5&EIUB*** querying acoustic contact ***iQ iQjhYeDNOT Ignoring new targets: 41.01 m.bhaRhm>=Zhm>=} ProNav: ac range: 41.012081 m, nav range: 38.837494 m, bearing: 62.752534 deg, approach rate: -0.721771 m/s, LOS rate: -0.010341 deg/s, cmd heading: 64.573735 deg, new cmd heading: 64.558813 deg. Bh}HeadingCmd: 1.126764 target range: 41.012081 and range: 41.20 m.h9?h*h"h hgfff?BdddjdZdx?颵`Bɢe=)E EE(E"E:*E:VEc44ZEa@a@a@a@ ۇ,c?A:)k?:?:J=ٱ:^E@ FAHRS rotation from veh to nav: [[0.420358,-0.893026,-0.160637],[0.906799,0.407247,0.108932],[-0.031860,-0.191455,0.980984]]:H%?Ŀ?S??@Oȿ8d?i:)k?I:j_;:CYNByN$IbDVVDV:2y^=%bx=ٔbS^;Q-b?9dYd=fTGydfؾEf?hQ 5n4j͕?Q 9r4j)jBYpyr/?Q Ir?j{1DIj;ij;jQ4ytɮz6@xjhDNOT Ignoring new targets: 41.01 m.bhRh%Zh%5 ProNav: ac range: 41.012081 m, nav range: 38.599159 m, bearing: 62.749789 deg, approach rate: -0.725836 m/s, LOS rate: -0.008412 deg/s, cmd heading: 64.558811 deg, new cmd heading: 64.550525 deg. Bh5=HeadingCmd: 1.126619 target range: 41.012081 and range: 41.20 m.h=5?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM ?}_Bɢ}>=)y }B?i)<顁ii5?-<  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003960,f}?A2j?2#\?2=ٱ2#AHRS rotation from veh to nav: [[0.421338,-0.892996,-0.158217],[0.906306,0.408270,0.109201],[-0.032920,-0.189403,0.981347]]2H@3?@l`t@Ŀu?!??ڠ^>ȿ2g?i2j?I2_;2CYBByB$I DDbDNVDN1yV X=%VL=ٔV7-;Q-Z>9XYX=ZTGyZlF^3E^>`Q 5f4b ٕ?Q 9f4b,)bBYdyj ?Q Ij?b1DIb:ib:bV4pynBɮr@r'EjhimDNOT Ignoring new targets: 41.01 m.bhiRhuZhu ProNav: ac range: 41.012081 m, nav range: 38.308548 m, bearing: 62.746892 deg, approach rate: -0.701248 m/s, LOS rate: -0.007043 deg/s, cmd heading: 64.550526 deg, new cmd heading: 64.541770 deg. BhHeadingCmd: 1.126466 target range: 41.012081 and range: 41.20 m.h 0?h*h"h hgfffdddjdZd`ֽ@M]BɢM=)I MmH?iI)Uԁ D D 4=E  E E (E "E ;*E ~:VE c44ZE a @a @a @a @v%,„?A2?j?2WI?2 =ٱ2D@ >AHRS rotation from veh to nav: [[0.421844,-0.893211,-0.155634],[0.906035,0.408881,0.109159],[-0.033866,-0.187058,0.981765]]2H?.@ÿ >?+? ?`Vǿ`j?i2?j?I2`_;2CYBByF$IiMMb@Mb@Mb@IIII I9Mףp= ?Mb?Mb?YM>?yM=ٔ};Q-}>9yY=TGymFE>Q 54!䕊?Q 94}{)ܒBY>?Q E:y?Q I?1DI ;i ;%4yɮ@jhDNOT Ignoring new targets: 41.01 m.bhRhZh ProNav: ac range: 41.012081 m, nav range: 37.988560 m, bearing: 62.721547 deg, approach rate: -0.766623 m/s, LOS rate: -0.061234 deg/s, cmd heading: 64.541770 deg, new cmd heading: 64.465093 deg. Bh(HeadingCmd: 1.125128 target range: 41.012081 and range: 41.20 m.h3?h*h"h hgfff`BdddjdZd`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507983\BɢV=) jL?i)k(<i{üi3?6<*+,y?A6j?6\?6 =ٱ6$= >AHRS rotation from veh to nav: [[0.421301,-0.894059,-0.152198],[0.906260,0.408618,0.108280],[-0.034618,-0.183549,0.982401]]6H`? !9{ÿ?&?9n"?Yn"?=nTGynnFr3:Er>tQ 5z4v?Q 9z4vt)vؒBYxyz?Q I~?v1DIv;iv:v,4yɮ@jh)-DNOT Ignoring new targets: 41.01 m.bh)Rh5}Zh5}E ProNav: ac range: 41.012081 m, nav range: 37.702503 m, bearing: 62.698282 deg, approach rate: -0.744079 m/s, LOS rate: -0.060976 deg/s, cmd heading: 64.465094 deg, new cmd heading: 64.394769 deg. BhEc'MHeadingCmd: 1.123901 target range: 41.012081 and range: 41.20 m.hMۏ?hI*hQ"hQ hQgQfQfYfYdYdYdYjdaZde @ԩE EE&E"E;*E:VE4ZEBE@) 2,4?Ai1I1Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272597{.k?u?=ٱ[; AHRS rotation from veh to nav: [[0.420243,-0.894848,-0.150477],[0.906724,0.407656,0.108020],[-0.035318,-0.181835,0.982695]]H@D?@Bÿ? ?,?>aFǿ;r?i{.k?IZ_;Y By $II-8>)-9aYa=eTGyepFm3;Em>qQ 5}4u?Q 9}4uk)uҒBY}E?Q E}:y}?Q I?u1DIu:iua:u 54yBɮ@EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 41.01 m.bhRhZh ProNav: ac range: 41.012081 m, nav range: 37.330643 m, bearing: 62.650943 deg, approach rate: -0.765332 m/s, LOS rate: -0.098400 deg/s, cmd heading: 64.394771 deg, new cmd heading: 64.251339 deg. BhHeadingCmd: 1.121397 target range: 41.012081 and range: 41.20 m.h?h*h"h hgfffBdddjdZd` @YBɢ=) %CV?i!)%%@ - BDAT read: Tx time:15:12:02.6222 - $Ping request sent.- ^/@%>'0@ `>)@I`-'߰?dA?}Ey? r_%?)OI i`] :publishing transmit ping time) ] Fpublishing direction and range infoy^XK?xb-?Y )Ii )I-'߰?dA?}Ey? )Ii^A D-<ԙ A I I O >)9,n?AR|k?R?Ri;=ٱR<9 nAHRS rotation from veh to nav: [[0.419155,-0.895673,-0.148593],[0.907213,0.406749,0.107331],[-0.035694,-0.179794,0.983057]]RH@n?Y`ÿ`?,? z?nF zǿ3u?iR|k?IR_;RCYrByr$IbDVDy-HV=%-f=ٔ5 :Q-5>91Y1=5TGy=qF=];E=>AQ 5M4E?Q 9M4Ed)E͒BYqyuЖ?Q Iu?E1DIE;iE;E<;4yyɮ}@yiYi]֧?AJi]BRi]Bji]?b] <%TB@9<Ϡŵ&@R]^XK?xb-?Zi] bi]`j]5T2@f,)_ <@@܋_%@Z]R?҈X{?ҟq7?2i]B:i]ҐA"i]k\?*i]Bi]BiYiYi]՜Bi]<Bi]K?- addTargetRange:: Added new target pos. range: 38.900002 m, deltaT: 3.532044 s, deltaX: -2.299999 m, approachRate: -0.651181 m/s, rangeRepo size: 4 = Added new target pos. range: 38.722668 m, bearing: 60.858548 deg, lat: 36.779302 deg, lon: -121.859537 deg, deltaT: 3.532044 s, deltaX: -2.289413 m, approachRate: -0.648184 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 38.72 m.bhARhEZhI] ProNav: ac range: 38.722668 m, nav range: 37.059444 m, bearing: 62.615316 deg, approach rate: 0.000000 m/s, LOS rate: -0.098400 deg/s, cmd heading: 64.251337 deg, new cmd heading: 64.142264 deg. BhYeHeadingCmd: 1.119494 target range: 38.722668 and range: 38.90 m.heK?ha*ha"ha hgfffdddjd@3sC@Zdy?BBB$IBBBBBBx;B1EBCBCBB =B =C'4颭WBɢ=) [?i)vK<项iGƼiK?<um @,?A2k?2?2b=ٱ26 :AHRS rotation from veh to nav: [[0.417540,-0.896755,-0.146597],[0.907943,0.405345,0.106463],[-0.036049,-0.177555,0.983450]]2H`?8 ¿ ?+?-A? uƿmx?i2k?I2_;2CYB ByB$IbDJ VDJ2yR#%RQ=ٔVn:Q-V>9V ?YV ?=ZTGyZrFZ;EZ>\Q 5b4^ ?Q 9f4^])^ȒBYdyf ?Q If?^1DI^<:i^U:^B4yhɮn&@lqIzzAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLIzEntering USBL mode with 120.000000 count pings at 38.900002 m (mode 2.000000 count ).IIjhDNOT Ignoring new targets: 38.72 m.bhRhZh ProNav: ac range: 38.722668 m, nav range: 36.760014 m, bearing: 62.574536 deg, approach rate: -0.794877 m/s, LOS rate: -0.109136 deg/s, cmd heading: 64.142266 deg, new cmd heading: 64.018931 deg. Bh̕HeadingCmd: 1.117341 target range: 38.722668 and range: 38.90 m.h ?h*h"h hgfffdddjdZdUd? -VBɢ-=)9 E<[?iA)mUԑ RNF,r?A2l?24?2&=ٱ2*3 :AHRS rotation from veh to nav: [[0.415296,-0.898198,-0.144116],[0.908967,0.403429,0.104990],[-0.036162,-0.174599,0.983975]]2H4?` ar¿B? ?? ʃ`>Yƿ |?i2l?I2si_;2CYBByB$I DDi Mb@Mb@Mb@     9 &1?:v?~jtxY P?y T= Ļ VA \@ @) @ Y @bD%VD%Ny5 <%5A=ٔ=9Q-=>99Y9=ETGyEsFE$;EE>IQ 5U4M?Q 9U4M$U)MBY]SQ?Q E]:y]?Q I]?M2DIMz:iML:MvI4ye&Bɮm~@mEi}^@I1JjhEDNOT Ignoring new targets: 38.72 m.bhARhMVZhMV] ProNav: ac range: 38.722668 m, nav range: 36.416523 m, bearing: 62.513992 deg, approach rate: -0.782943 m/s, LOS rate: -0.139304 deg/s, cmd heading: 64.018933 deg, new cmd heading: 63.835588 deg. Bh]4aHeadingCmd: 1.114141 target range: 38.722668 and range: 38.90 m.h.?h*h"h hgfffBdddjdZd`?UBɢ=)  \?i ) &a<  i =ȼi.?.J<W=I.?I2@ @@/@ԑAAAA@ABn>BCB$IB BB =BBDBx;B1E^A<I1 IA OU > hoL,,(4?A23m?25?2=ٱ2 2 >AHRS rotation from veh to nav: [[0.413058,-0.899434,-0.142830],[0.909988,0.401405,0.103907],[-0.036125,-0.172894,0.984278]]2Ho?* CH¿???@~`!ƿ 4?i23m?I2i_;2CYFByF$IbDNVDN:3yV%VU=ٔVɸQ-Z>9XYX=ZTGyZtF^;E^>E% E%E%*E!"E%;*E%ą:VE%(N4ZE!BE%9CAu>IAIYOeV>I cS,P7N?A(]m?],Ғ?]e=ٱ]. AHRS rotation from veh to nav: [[0.410919,-0.900817,-0.140266],[0.910952,0.399592,0.102430],[-0.036222,-0.169866,0.984801]]]H`}L?`~@:@&? ?8?ઋ@*ſ}?i]m?I]\_;YYBy$IiuMb@Mb@Mb@qqqq q9ux?Zd;O?~jtYuKW?yuj<=uļuAq q)u@qYu@bDVDk1yټ%-=ٔW9Q->9Y=TGyuFd;E>Q 54,?Q 94C)BYW?Q E|:y?Q I?52DI ;i ;eX4yɮ@jqJCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLB*** querying acoustic contact ***i ixjhDNOT Ignoring new targets: 38.72 m.bhRh %Zh %q ProNav: ac range: 38.722668 m, nav range: 35.711960 m, bearing: 62.389551 deg, approach rate: -0.840165 m/s, LOS rate: -0.145104 deg/s, cmd heading: 63.657787 deg, new cmd heading: 63.458584 deg. Bh*ǻHeadingCmd: 1.107561 target range: 38.722668 and range: 38.90 m.hč?h*h"h hgfffBdE EE(E"E;*E:VEc44ZEa%@a%@a%@a%@dQdQjdQZdUUg?颽SBɢ˴=) V?i)y<i?ʼič?d<)=Ič?I4@ @@@ԩT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode. ^A y=I) I9 OM >Y,g?A:y]n?:?:U=ٱ:- FAHRS rotation from veh to nav: [[0.408924,-0.901834,-0.139560],[0.911853,0.397742,0.101614],[-0.036130,-0.168811,0.984986]]:H+?-?t?_?@ſ`?i:y]n?I:6q_;:CYJByN$IIP)R>bDVVDVf\yb+%bq=ٔbQ-f?9dYd=fTGyfvFj;Ej?lQ 5r4nW5?Q 9r4n<)nBYpyrd?Q Iv?nG2DIn;in;nW^4yz(Bɮz@xjhDNOT Ignoring new targets: 38.72 m.bhRh%,Zh%,5 ProNav: ac range: 38.722668 m, nav range: 35.427929 m, bearing: 62.339061 deg, approach rate: -0.839246 m/s, LOS rate: -0.150381 deg/s, cmd heading: 63.458584 deg, new cmd heading: 63.305901 deg. Bh5iλ=HeadingCmd: 1.104896 target range: 38.722668 and range: 38.90 m.h=?m?h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU@}RBɢ}l`=) tM?i)jՀ<顁i˼i?m?><:=I?m?IBs>BB$IBBB =B@DBBx;B1E8@ @@0@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256880^Au =yIIO (>bEjE:4rEQ/E= E9E=)E9"E=&:*E9VE=FA4ZE9BE=c;j`,?A2n?2c?2u=ٱ2- :AHRS rotation from veh to nav: [[0.406895,-0.902690,-0.139957],[0.912775,0.395786,0.100967],[-0.035749,-0.168832,0.984996]]2H@ ?t5?T?ع?M Kſ?i2n?I2=_;2CYPyPbDZVDZ:ٔvtQ-v>9tYt=zTGyzwFzز;Ez>IQ 5U4M@?Q 9U4M 4)MBYYy]?Q I]?M]2DIM ;iM ;Me4yaɮaijhDNOT Ignoring new targets: 38.72 m.bhԙRh2Zh2 ProNav: ac range: 38.722668 m, nav range: 35.078110 m, bearing: 62.274456 deg, approach rate: -0.834723 m/s, LOS rate: -0.155694 deg/s, cmd heading: 63.305902 deg, new cmd heading: 63.110156 deg. BhջHeadingCmd: 1.101480 target range: 38.722668 and range: 38.90 m.hL?h*h"h hgfffdddjdZd@QBɢ%Cw=)! %M?i!)%n<))i-̼i-L?5<5L=I5L?I9A@@  @ @ 4@ echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760336^AM K'=AM cAzAI I I O >EM  EM EM %EI "EM T;*EM $:VEM 4ZEI aU @aU @aU @aU @! f,>?A2[o?2Ř?29=ٱ2- :AHRS rotation from veh to nav: [[0.405406,-0.903284,-0.140443],[0.913462,0.394395,0.100198],[-0.035117,-0.168910,0.985006]]2H ,? ;?=??ٞſ*?i2[o?I2 _;2CYB߅ByB$Ii Mb@Mb@Mb@     9 (\?S㥛?S㥛Y zT?y /< /ݼ  r@ ) @ Y bD%VD%fy5 %5<ٔ5nȺQ-5>BDAT read: Rx Time:15:12:05.0746 TRx dataTimestamp_ set to:1761577926.489126checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0143529Y=TGyxFYs;E>!Q 5-4%K?Q 9-4%n+)%BY-T?Q E5:y5?Q I5?%t2DI%;i%p;%2m4y]#Bɮ]D@e EjhDNOT Ignoring new targets: 38.72 m.bhRhZh ProNav: ac range: 38.722668 m, nav range: 34.722160 m, bearing: 62.219783 deg, approach rate: -0.809635 m/s, LOS rate: -0.125632 deg/s, cmd heading: 63.110156 deg, new cmd heading: 62.944457 deg. BhpHeadingCmd: 1.098588 target range: 38.722668 and range: 38.90 m.h?h*h"h hgfff_BdddjdZd @颉ɢƒ=) F?i)E<顑iͼi?"?<[=I?I =@  @ @ 4@ 9^A-B=AI!I1QOU>Br>BB$IB BB =BBBx;B1Eu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264942y l,t?A2bo?2繓?2 =ٱ2m/ :AHRS rotation from veh to nav: [[0.404489,-0.903484,-0.141791],[0.913886,0.393437,0.100096],[-0.034650,-0.170069,0.984823]]2H$?@X 5&¿>?.?蟹? ſ@?i2bo?I2ˌ^;0Y^ȅBy^$IbDjVDj1yr|%rO=ٔvzQ-v>9tYt=vTGyvyFz5;Ez>E EE(E"El;*E:VEc44ZEBE\F %BDAT read: Tx time:15:12:06.1721 %$Ping request sent.%'0@d{>0@ ޏ>)%m@Iޏր\?1?BH? x(?)t{IViޏm:publishing transmit ping time!uFpublishing direction and range infoybĆCl?z/?Y )IiԁPBɢ:=) ;?i)T<i_μiK?<*7g=IK?I )Iր\?1?BH? )Iichecking for new query: numPingsReceived=1, elapsed TxPingTime=0.024951?@ @@@ԩ^A I= A ?A > checking for new query: numPingsReceived=1, elapsed TxPingTime=0.241923AM؟AIaIqO}>t,?A6o?6?6 =ٱ6a3 >AHRS rotation from veh to nav: [[0.404637,-0.902741,-0.146041],[0.913831,0.393161,0.101668],[-0.034362,-0.174595,0.984040]]6H?@@ y¿`>?)??ۗ$Yƿ`B}?i6o?I6!^;6CDYJByJ$Ii]Mb@Mb@Mb@YYYY Y9]v/?{Gzt:vY]xI?y]ף]Լ]VA]@ ]@)YYYYbDuVDuk2y})%%=ٔQ->9"?Y"?=TGyzFoE>Q 54b?Q 94)iBYI?Q E:y)?Q I?2DI ;i ;>|4yɮ@E EE+E"ED:*E:VE [4ZEa@a@a@a@iimt?AJi#BRi#Bji?b^,!A@Ba#@RbĆCl?z/?ZiVbiޏjdfJ(0@ ֑[>@z 2z,g?ABq>BB$IBBB =BBBx;B1EiAIAMchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.749224YeByeY$IbDuVDuy"%K=ٔQ->9 ?Y ?=TGy{FE>Q 54m?Q 942)_BYyQ I?2DI-:i:C4yɮ@B*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 36.03 m.bh RhNZhN% ProNav: ac range: 36.034637 m, nav range: 33.987881 m, bearing: 61.910383 deg, approach rate: -0.807426 m/s, LOS rate: -0.083626 deg/s, cmd heading: 62.616012 deg, new cmd heading: 62.518138 deg. Bh%e-HeadingCmd: 1.091147 target range: 36.034637 and range: 36.20 m.h-?h)*h)"h) h1g1f1f9f9d9d9d9jdAZdE `?NBɢq=) '?i)׶<iϼi?@ <v=I%?I!14@ @@/@E  E E %E "E ;*E ҆:VE  4ZE BE bȁ,{?A2 o?2q?2^ =ٱ2]6 :AHRS rotation from veh to nav: [[0.406524,-0.901494,-0.148481],[0.912996,0.394736,0.103060],[-0.034297,-0.177459,0.983530]]2H }? mÿC7?[C? 'b?j ƿy?i2 o?I2];2CYBByBI$IbDNVDN:yR%RY=ٔV3Q-V>9Z"?YZ"?=ZTGyZ|FZE^>\Q 5b4^hx?Q 9b4^ )^UBYdyf?Q If?^2DI^ ;i^;^ۉ4yj-Bɮn@nEjhDNOT Ignoring new targets: 36.03 m.bhRh #Zh # ProNav: ac range: 36.034637 m, nav range: 33.691814 m, bearing: 61.880538 deg, approach rate: -0.795841 m/s, LOS rate: -0.080930 deg/s, cmd heading: 62.518135 deg, new cmd heading: 62.427813 deg. Bh*^%HeadingCmd: 1.089571 target range: 36.034637 and range: 36.20 m.h%w?h!*h!"h! h!g)f)f)f1d1d1d1jd9Zd=?Iiɢm#=)i m!?ii)u{hԡE  E E (E "E l;*E :VE c44ZE a@a@a@a@  checking for new query: numPingsReceived=1, elapsed TxPingTime=1.504146뇼,79!?A2n?29?2#=ٱ2EL9 :AHRS rotation from veh to nav: [[0.408062,-0.900489,-0.150349],[0.912295,0.395941,0.104637],[-0.034695,-0.179861,0.983080]]2H?>ÿ1?W?|ɺ?á ǿ@du?i2n?I2];2CY^By^8$Ii}Mb@Mb@Mb@yyyy y9}V-?ˡE:vY}9 ?Y ?=TGy}FaE>ԹQ 54?Q 94)KBYV=?Q E:yj?Q I?2DI:i@:t4yɮ@jhDNOT Ignoring new targets: 36.03 m.bh!Rh% UZh% U5 ProNav: ac range: 36.034637 m, nav range: 33.370819 m, bearing: 61.875482 deg, approach rate: -0.732122 m/s, LOS rate: -0.011641 deg/s, cmd heading: 62.427813 deg, new cmd heading: 62.412501 deg. Bh==HeadingCmd: 1.089304 target range: 36.034637 and range: 36.20 m.h=Mn?hA*hA"hA hAgAfAfIfM BdIdIdQjdQZdUF?}MBɢvw=) n?i)â<顉i|2ѼiMn?p#<o=IMn?II@I @I@M0@I@U=@U>BUr>BQBU[$IBUBBQBQBQBUx;BU1EBCBCBB =B =C5}checking for new query: numPingsReceived=1, elapsed TxPingTime=1.7602221^A@p=A ؟AI I O >E%  E% E% 'E! "E% :*E% :VE% '4ZE! BE% 6m?>?>~=ٱ>E; bAHRS rotation from veh to nav: [[0.410256,-0.899276,-0.151637],[0.911292,0.397831,0.106198],[-0.035175,-0.181753,0.982715]]>HA?hÿM)?v?/?@|Cǿ`fr?i>m?I>i];>CYfpByf $IbDrVDrk2yzɽ%zV=ٔz:Q-z>9~"?Y~"?=~TGy~~F#ϻE> Q 54 ?Q 94 ) BBYy?Q I? 2DI :i 3; 4y!ɮ%@!jhIMDNOT Ignoring new targets: 36.03 m.bhIRhU"ZhU"e ProNav: ac range: 36.034637 m, nav range: 33.089508 m, bearing: 61.872171 deg, approach rate: -0.745780 m/s, LOS rate: -0.008853 deg/s, cmd heading: 62.412500 deg, new cmd heading: 62.402481 deg. Bhem¹mHeadingCmd: 1.089129 target range: 36.034637 and range: 36.20 m.hmh?hi*hq"hq hqgqfqfyfydydydjdZde?LBɢ%{=)! %K?i!)%N ,U?AR=ٔ:Q->9Y=TGyFE>DzD@AE EE)E"E:*E:VEFA4ZEa@a@a@a@Q 54j?Q 94I) ((,n?AZYl?Z?Z=ٱZEUA fAHRS rotation from veh to nav: [[0.416083,-0.895898,-0.155698],[0.908592,0.402728,0.110772],[-0.036536,-0.187557,0.981574]]ZH ?1@ÿ/?K?[?索ȿ i?iZYl?IZë];ZCYnKByn#IBlBlBn$IBnmBBlBn?DBlBnwx;Bn1EbDVD02y%V=ٔ:Q->%checking for new query: numPingsReceived=1, elapsed TxPingTime=2.7643199)Y)=-TGy-F-E->1Q 5=45?Q 9E459)57BYAyE?Q IE?53DI5f;i5Q;5T4yIɮU@QmB*** querying acoustic contact ***ii iijhy}DNOT Ignoring new targets: 36.03 m.bhyRh8:Zh8: ProNav: ac range: 36.034637 m, nav range: 32.526329 m, bearing: 61.902188 deg, approach rate: -0.702994 m/s, LOS rate: 0.040395 deg/s, cmd heading: 62.447470 deg, new cmd heading: 62.493304 deg. Bh:HeadingCmd: 1.090714 target range: 36.034637 and range: 36.20 m.h?h*h"h hgfffdddjdZd[@IBɢck=) ?i)&A<iҼi?'<RM=I?IM?@I @I@M4@I@Q@UeAE EEE"EV:*EVEZEBE9,?AY~9By~#IbD VD 0y5%%I=ٔ%Q-%>9)Y)=-TGy-F-E5>1Q 5=45b?Q 9E45)51BYAyAQ IE?5$3DI5n;i5j;5c4yM7BɮU@UEjhIuDNOT Ignoring new targets: 36.03 m.bhqRh}-:Zh}-: ProNav: ac range: 36.034637 m, nav range: 32.246758 m, bearing: 61.918391 deg, approach rate: -0.648641 m/s, LOS rate: 0.037921 deg/s, cmd heading: 62.493301 deg, new cmd heading: 62.542333 deg. Bh2:HeadingCmd: 1.091570 target range: 36.034637 and range: 36.20 m.h?h*h"h hgfffdddjdZd @HBɢxY=) >i)-<ioӼi?q%)<eM=I?IQ=checking for new query: numPingsReceived=1, elapsed TxPingTime=3.2695517@ @@/@ԁD=Da=E EE(E"E%;*E:VEc44ZEa @a @a @a @^AJM=I1 IA OM >ԩ U DAT read: 15:12:08.6209 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 406,-0.01,-0.506,-2.047,-0.112,-0.421, PHS= 0.017,-1.581, 0.265, RAW= 157.1, 14.8, CAL= 157.8, 17.0, ROT= 352.2, -17.0 :,?A<VYgot valid direction response: 15:12:08.6209 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 406,-0.01,-0.506,-2.047,-0.112,-0.421, PHS= 0.017,-1.581, 0.265, RAW= 157.1, 14.8, CAL= 157.8, 17.0, ROT= 352.2, -17.0 ZPDAT read: Bearing 230.1, -13.2 (Local) Z~Local bearing/azimuth received: Bearing 230.1, -13.2 (Local) ^DAT read: Range 11 to 50 : 33.5 m (Round-trip 44.7 ms) speed 0.6 m/s b,DAT read: user:1014> fBDAT read: Tx time:15:12:09.7221 f$Ping request sent.f~{/@ A>C0@ >)@I闾Y?? /_? y%?)OwIg i闾5:publishing transmit ping timed5Fpublishing direction and range infoy̻ (Q?͜兗7?Y )Ii )IY?? /_? )Iiuchecking for new query: numPingsReceived=2, elapsed TxPingTime=0.020828iMb@Mb@Mb@ 9~jt?/$~jthY$?yDA @)@Y@bDVD1yKw%2=ٔ ";Q-->9AYA=ETGyMFU9EU>iQ 5u4m[?Q 9}4m)m.BY}&?Q E}:y}?Q I}?m83DIm:im:m4yɮ@ԩiiJ?AJicBRicBji?boVTtC?@ozO}w#@R̻ (Q?͜兗7?Zig bi闾j' W/@&ȏ;@ک6'I]"@ZKb?s`?Mvd?2iA:izA"i]雊?*ir`BiBi]雊?ir`iBi;Bi?% addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 3.533561 s, deltaX: -2.700001 m, approachRate: -0.764102 m/s, rangeRepo size: 4 5 Added new target pos. range: 33.346931 m, bearing: 60.737943 deg, lat: 36.779310 deg, lon: -121.859538 deg, deltaT: 3.533561 s, deltaX: -2.687706 m, approachRate: -0.760623 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 33.35 m.bh9RhEZhA ProNav: ac range: 33.346931 m, nav range: 32.057816 m, bearing: 60.737826 deg, approach rate: 0.000000 m/s, LOS rate: 0.037921 deg/s, cmd heading: 62.542335 deg, new cmd heading: 62.594584 deg. BhHeadingCmd: 1.092482 target range: 33.346931 and range: 33.50 m.hp֋?h*h"h hgfff̃Bd!d)d)jd-@@Zd5?颍FBɢT=) >i)m<iӼip֋?}*<X-=Ip֋?I BBB#IBIBBBBB|x;B1EEchecking for new query: numPingsReceived=2, elapsed TxPingTime=0.211454?@ @@4@@@@@! bEjE14rE.0E  E E E "E :*E ~:VE ZE BE 5c,y[?A2:i?2y?2"=ٱ2 H :AHRS rotation from veh to nav: [[0.427079,-0.890031,-0.159526],[0.903344,0.412235,0.118458],[-0.039669,-0.194698,0.980061]]2H`AU?`"{\kĿ1? b?GS?Oȿ@\?i2:i?I2T];2CYR.ByR#IbDZVDZyvGY%vo=ٔvp;Q-v?9xYx=zTGyzFzZE~? Q 5 4 ʖ?Q 94 P) ,BYy?Q I? F3DI g:i : mGg>mːC g4GAfAAy -T9-AfAY-Aɮ5@1jhy}DNOT Ignoring new targets: 33.35 m.bhyRhّ:Zhّ:checking for new query: numPingsReceived=2, elapsed TxPingTime=0.462853 ProNav: ac range: 33.346931 m, nav range: 31.847485 m, bearing: 60.760269 deg, approach rate: -0.593568 m/s, LOS rate: 0.063755 deg/s, cmd heading: 62.594586 deg, new cmd heading: 62.662360 deg. Bh/;HeadingCmd: 1.093665 target range: 33.346931 and range: 33.50 m.h3?h*h"h hgfffdddjdZd`Qu?=EBɢ=lk=)A E>iA)EYM checking for new query: numPingsReceived=2, elapsed TxPingTime=0.714621ԉ N,C?A^%h?^?^+'=ٱ^~G fAHRS rotation from veh to nav: [[0.430873,-0.888561,-0.157503],[0.901490,0.415935,0.119646],[-0.040802,-0.193539,0.980244]]^Hm?o )Ŀ???㤿@ȿ (^?i^%h?I^7];\Yn Byn#IYimMb@Mb@Mb@iiiDzDE EE'E"E:*E:VE'4ZEa@a@a@a@i i9m? ףp= 9Y=TGyF {E >Q 54ז?Q 94;)Y!?Q E:y%|?Q I%?W3DI:i:ä4y->Bɮ-@-EjhQUDNOT Ignoring new targets: 33.35 m.bhYRh]:Zh]:m ProNav: ac range: 33.346931 m, nav range: 31.571064 m, bearing: 60.796966 deg, approach rate: -0.691506 m/s, LOS rate: 0.092607 deg/s, cmd heading: 62.662362 deg, new cmd heading: 62.773417 deg. Bhu8~;uHeadingCmd: 1.095603 target range: 33.346931 and range: 33.50 m.hui)<i_Լichecking for new query: numPingsReceived=2, elapsed TxPingTime=0.966732ԩ v,?A:Ff?:g?:C5,=ٱ:=G BAHRS rotation from veh to nav: [[0.434977,-0.886698,-0.156725],[0.899460,0.419746,0.121592],[-0.042031,-0.193858,0.980129]]:H?_@Ŀa?? ?Sȿ@7]?i:Ff?I:];8YJ+ByJ#IBfs>BdBf#IBf0BBdBdBdBfx;Bf1EbDzVDzchecking for new query: numPingsReceived=2, elapsed TxPingTime=1.218902y c=% [=ٔW;Q->9Y=TGyFHE>!Q 5-4%▊?Q 9-4%)!Y1y5{?Q I5?%f3DI%-:i%g:%ɤ4y9ɮE6@A]B*** querying acoustic contact ***iY iYjhimDNOT Ignoring new targets: 33.35 m.bhiRhu:Zhu: ProNav: ac range: 33.346931 m, nav range: 31.336086 m, bearing: 60.830645 deg, approach rate: -0.628996 m/s, LOS rate: 0.090830 deg/s, cmd heading: 62.773414 deg, new cmd heading: 62.875209 deg. BhWy;HeadingCmd: 1.097379 target range: 33.346931 and range: 33.50 m.hv?h*h"h hgfffdddjdZdx?ԹBBɢd=) >i)Ze<i)Լiv?,<hi><@ @@{0@AA>E EE+E"EV:*E:VE [4ZEBE9checking for new query: numPingsReceived=2, elapsed TxPingTime=1.4706319 ]¼, ?A6%e?6IȎ?60=ٱ6H BAHRS rotation from veh to nav: [[0.439330,-0.884580,-0.156547],[0.897289,0.423738,0.123772],[-0.043151,-0.194845,0.979884]]6H?zN@ Ŀ?`?}? ȿ6[?i6%e?I6];6CYJ(ByJ#IbDVVDVk1yf13%jO=ٔn|9;Q-n>9pYt=vTGyvFzMHEz>Q 5 4?Q 94Q =tI)Yyaz?Q I?v3DIǀ;iI;Ф4y-:Bɮ-@5EjhDNOT Ignoring new targets: 33.35 m.bhRh:Zh: ProNav: ac range: 33.346931 m, nav range: 31.085014 m, bearing: 60.869445 deg, approach rate: -0.619130 m/s, LOS rate: 0.096449 deg/s, cmd heading: 62.875211 deg, new cmd heading: 62.992548 deg. Bhb;HeadingCmd: 1.099427 target range: 33.346931 and range: 33.50 m.h ?h*h"h hgfffdddjdZd`[?颽@BɢOO]=) #>i)D<ia6ռi ?-≮ԙ  checking for new query: numPingsReceived=2, elapsed TxPingTime=1.974745ȼ,m#?A2-d?2L+?2+5=ٱ2H :AHRS rotation from veh to nav: [[0.443599,-0.882785,-0.154626],[0.895124,0.427860,0.125258],[-0.044417,-0.193974,0.980001]]2Hc?`?ÿڤ? b?q?ڽ$ȿ@*\?i2-d?I2];2CYR*ByR#Ii]Mb@Mb@Mb@YYYY Y9]?㥛 Mb?YYy]]<]$ A]r@ ]@)]@YY](@imBAbDuVDuy<%?=ٔB;Q->9Y=TGyF8E>Q 54?Q 94)Y#!?Q E:y6?Q I?3DI:i:פ4yABɮp@EjhDNOT Ignoring new targets: 33.35 m.bhRh:Zh: ProNav: ac range: 33.346931 m, nav range: 30.818575 m, bearing: 60.899563 deg, approach rate: -0.638628 m/s, LOS rate: 0.072815 deg/s, cmd heading: 62.992547 deg, new cmd heading: 63.083683 deg. BhG;HeadingCmd: 1.101018 target range: 33.346931 and range: 33.50 m.h(?h*h"h hgf f f ӃBddd!jd!Zd%@U>BɢUf=)Q U>iY)]@ @@4@^A+=ԡB=r>B9B=#IB=&BB9B9B9B=x;B=1EIIO^>checking for new query: numPingsReceived=2, elapsed TxPingTime=2.226647E  E E )E "E :*E :VE FA4ZE BE .AHRS rotation from veh to nav: [[0.448298,-0.880385,-0.154758],[0.892714,0.432096,0.127887],[-0.045719,-0.195486,0.979640]]2H?,ÿ?t? ^?~hɿ`6Y?i2%c?I2];2CYF0ByF#IbDNVDN0yV=%VY=ٔZc;Q-Z>9XYX=ZTGyZF^CfE^>Q 5 4?Q 9 4P)-BYy?Q I?3DI:ik:ޤ4yɮ% @!jhamDNOT Ignoring new targets: 33.35 m.bhiRhmƲ:ZhuƲ: ProNav: ac range: 33.346931 m, nav range: 30.577053 m, bearing: 60.929687 deg, approach rate: -0.621654 m/s, LOS rate: 0.078149 deg/s, cmd heading: 63.083682 deg, new cmd heading: 63.174768 deg. BhV;HeadingCmd: 1.102608 target range: 33.346931 and range: 33.50 m.h@"?h*h"h hgfffdddjdZd @}checking for new query: numPingsReceived=2, elapsed TxPingTime=2.478918颥i)<顩iռie@"?T-<}C) 5 DDAT read: Rx Time:15:12:11.8926 5 TRx dataTimestamp_ set to:1761577933.297068E PDAT read: Bearing 230.3, -14.4 (Local) E ~Local bearing/azimuth received: Bearing 230.3, -14.4 (Local) U DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.4 } DAT read: 15:12:11.8926 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 149,-0.38, 1.809, 0.272, 2.227, 1.933, PHS=-0.023,-1.616, 0.249, RAW= 157.8, 15.7, CAL= 158.6, 18.3, ROT= 351.4, -18.3  Ygot valid direction response: 15:12:11.8926 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 149,-0.38, 1.809, 0.272, 2.227, 1.933, PHS=-0.023,-1.616, 0.249, RAW= 157.8, 15.7, CAL= 158.6, 18.3, ROT= 351.4, -18.3  R#Rx 3: Read range and direction messages. ^direction in FSK: [0.938750,-0.141973,0.313992] Fpublishing direction and range infoy1 5 ?f> ?jz+,¿v9s?Y5 A1 1 1 1 1 )5 ;I5 ji5 ο5 ~>5 C0@5 K>5 m(1@ 5 Ƈ>)5 ?B@I5 Ƈ1 1 5  X@Z?I(~a?%zxY? 5 (?)5 I5 ti5 Ƈ1 1  checking for new query: numPingsReceived=3, elapsed TxPingTime=2.747257ռ,ޑW?AE EE(E"E:*E:VEc44ZEa@a@a@a@b??@=ٱ)JI AHRS rotation from veh to nav: [[0.451905,-0.878796,-0.153297],[0.890824,0.435496,0.129522],[-0.047064,-0.195092,0.979655]]H? 9ÿ?*?`0?ȿUY?ib?I];CYu:Byu#Iai}Mb@Mb@Mb@yyyy y9}ʡE?ktS㥛?Y}?y} 0}/<} A}@ }@)yyY}@ 4<4<bD VD:2y=% =ٔ~,;Q->9Y=TGyFE>!Q 5-4%7?Q 9-4%3)%.BY-;?Q E-:y-S?Q I5?%3DI%:i%:%4y=HBɮ=@=EiYi]*S?AJi]ARi]Aji]툂?b],`=@KKnp#@R]?f> ?jz+,¿v9s?Zi]tbi]Ƈj]i/@I;9@s'd"@Z]eU?P?G5?2i]A:i]xA"i]#-?*i]|$Bi]@Bi]$E?i]; i]͘Bi]Ai]? addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 2.772026 s, deltaX: -2.400000 m, approachRate: -0.865793 m/s, rangeRepo size: 4  Added new target pos. range: 30.957874 m, bearing: 58.430446 deg, lat: 36.779311 deg, lon: -121.859542 deg, deltaT: 2.772026 s, deltaX: -2.389057 m, approachRate: -0.861845 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 30.96 m.bh!Rh%Zh!5 ProNav: ac range: 30.957874 m, nav range: 30.007652 m, bearing: 60.398998 deg, approach rate: 0.000000 m/s, LOS rate: 0.078149 deg/s, cmd heading: 63.174769 deg, new cmd heading: 63.296529 deg. BhQ]HeadingCmd: 1.104733 target range: 30.957874 and range: 31.10 m.h]g?ha*ha"ha hagafafifmBdididqjdu?@Zdu`?}checking for new query: numPingsReceived=3, elapsed TxPingTime=2.982756:Bɢ:d=)  5>i9)E5 x 0@5 5>5 1@ 5 6>)5 P@I5 61 1 5 vg^?qA͒?ܐ>? 5 (?)5 I5 i5 61 1  checking for new query: numPingsReceived=4, elapsed TxPingTime=3.251161O >|ܼ,_t?A2,a?2?2rE=ٱ2H :AHRS rotation from veh to nav: [[0.455111,-0.877414,-0.151720],[0.889135,0.438600,0.130644],[-0.048084,-0.194357,0.979752]]2H@ ? kÿ s?? ?`ȿ@ Z?i2,a?I2];2CYB?By%#IbDUVDU1y<%[=ٔ3;Q->9Y=TGyF<E>Q 54?Q 94)/BYyڄ?Q I?3DI:i:4yɮ@Yii?s?AJiARiAjiJg?bDnu<@8B ^#@R^K4?xEoˬQi?Zibi6jl[lm.@Aڧ 8@z0 P!@Z5V8 ?n ?`h?2iA:insA"i?*iF-Bi#Bik\?iiBi+Ai?E= E=E=&E9"E=:*E=~:VE=4ZE9BE=3@Zd?E8BɢEqy=)I MZ?ii)mRԹ W,?A2N`?22?2H=ٱ2mrG :AHRS rotation from veh to nav: [[0.457228,-0.876598,-0.150062],[0.887998,0.440689,0.131348],[-0.049008,-0.193311,0.979913]]2H7C? <5ÿ{j?@?4?@?`gȿ r[?i2N`?I2˲];2CYBQByB#I DDbDNVDNyj=%nY=ٔn ;Q-n>9pYp=rTGyrFrлEv>tQ 5z4v&?Q 9~4v±)v0BY|y~?Q I~?v3DIv;iv;v4y ɮ y@ %B*** querying acoustic contact ***i! i!jh15DNOT Ignoring new targets: 30.36 m.bh1Rh=P9Zh=P9M ProNav: ac range: 30.360565 m, nav range: 29.538029 m, bearing: 60.296876 deg, approach rate: -0.677070 m/s, LOS rate: 0.022219 deg/s, cmd heading: 63.387024 deg, new cmd heading: 63.409963 deg. BhMs:UHeadingCmd: 1.106713 target range: 30.360565 and range: 30.50 m.hU¨?hQ*hY"hY hYgYfYfafadadadijdiZdm`÷?DDAT read: Rx Time:15:12:12.8921 TRx dataTimestamp_ set to:1761577934.304731PDAT read: Bearing 234.9, -19.3 (Local) ~Local bearing/azimuth received: Bearing 234.9, -19.3 (Local) DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.8 DAT read: 15:12:12.8921 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.50, 0.760,-0.862, 1.366, 1.064, PHS=-0.203,-1.882, 0.258, RAW= 161.8, 18.3, CAL= 163.2, 23.5, ROT= 346.8, -23.5 Ygot valid direction response: 15:12:12.8921 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.50, 0.760,-0.862, 1.366, 1.064, PHS=-0.203,-1.882, 0.258, RAW= 161.8, 18.3, CAL= 163.2, 23.5, ROT= 346.8, -23.5 R#Rx 5: Read range and direction messages.^direction in FSK: [0.892830,-0.209412,0.398749]Fpublishing direction and range infoyڴ?xʿ ?YfA )I;Oi`>{4@Ƈ>K6@ ~>)@I~Ѿ@Iˍ?ʁg@?? <:?)Iki~Ѿchecking for new query: numPingsReceived=5, elapsed TxPingTime=3.755244u6Bɢ%ȉ=)! %7 ?i!)-g<))i-ּi5¨?5,<5O:I5¨?I99@ @@/@AEe EeEe'Ea"Ee&:*Eev:VEe'4ZEaam@am@am@au@^A z;q ] checking for new query: numPingsReceived=5, elapsed TxPingTime=3.992694A I! Iq O >,?A 2X`?2?2a;J=ٱ2ÓF >AHRS rotation from veh to nav: [[0.457960,-0.876388,-0.149053],[0.887602,0.441472,0.131398],[-0.049353,-0.192475,0.980060]]2H8O?^ ,ÿ;g?A?`? Dȿ\?i2X`?I2];0YFUByF#IiEMb@Mb@Mb@AAAA A9En?Mbp rh?YEV.?yEEC9 Y=TGy5F=kE=>IQ 5}4M2?Q 9}4M)M,BYd.?Q E:y?Q I?M3DIMH;iM;Mn4yLBɮb@Eii?AJiJARiJAjiYt?bjB)B-#IB-DBB)B)B)B-Jx;B-1E= ProNav: ac range: 30.161480 m, nav range: 28.759811 m, bearing: 58.667312 deg, approach rate: 0.000000 m/s, LOS rate: 0.022219 deg/s, cmd heading: 63.409960 deg, new cmd heading: 63.441461 deg. BhAHeadingCmd: 1.107262 target range: 30.161480 and range: 30.30 m.hƺ?h*h"h hgfffBdddjdL>@Zd ?-3Bɢ-d}=)) -?i))5*<11i5.@׼i=ƺ?=V,<=X 9I=ƺ?DDAT read: Rx Time:15:12:13.3918 TRx dataTimestamp_ set to:1761577934.808872PDAT read: Bearing 228.6, -13.6 (Local) ~Local bearing/azimuth received: Bearing 228.6, -13.6 (Local) DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.5 DAT read: 15:12:13.3918 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.40,-2.418, 2.303,-2.013,-2.335, PHS= 0.020,-1.600, 0.278, RAW= 157.3, 14.6, CAL= 158.0, 16.8, ROT= 352.0, -16.8 Ygot valid direction response: 15:12:13.3918 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.40,-2.418, 2.303,-2.013,-2.335, PHS= 0.020,-1.600, 0.278, RAW= 157.3, 14.6, CAL= 158.0, 16.8, ROT= 352.0, -16.8 R#Rx 6: Read range and direction messages.^direction in FSK: [0.948003,-0.133233,0.289032] Fpublishing direction and range infoyٝ? V?hY \.?Y3A )9I ף/@w>|0@ Q >) @IQ *ڢ?ݲy?mϰ*? &?)(I4iQ %checking for new query: numPingsReceived=6, elapsed TxPingTime=4.258934IYԙ0@ @@/@@x>@=Eu  Eu Eu )Eq "Eu =;*Eu :VEu FA4ZEq BEu ~I,ҍ?A^(`?^?^N=ٱ^^B vAHRS rotation from veh to nav: [[0.458589,-0.876686,-0.145316],[0.887225,0.442440,0.130687],[-0.050278,-0.188859,0.980716]]^HY? ¿`%d?P? [?@,ȿb?i^(`?I^\];^CY~hBy~$IbDVDkyE=%E.=ٔE;Q-M>9IYI=MTGyMFU[κEU>YQ 54]??Q 94]>)](BYy݋?Q I ?]3DI]\/@0>r0@ Ƈ>)@IƇC7ڄ?캺?1 v? @&?a){IiƇchecking for new query: numPingsReceived=7, elapsed TxPingTime=4.801174E  E E &E "E :*E :VE 4ZE a @a @a @a @ԉ ^Ae Թ  DDAT read: Rx Time:15:12:14.3915  TRx dataTimestamp_ set to:1761577935.569678 checking for new query: numPingsReceived=7, elapsed TxPingTime=5.007114A IIAOm>g,?AY5rBy5"$IqiEMb@Mb@Mb@AAAA A9EZd;O?Q?9Y=TGyFE>Q 54`M?Q 94)BYBd1d9B9B9B= $IB=^BB9B9B9B=x;B=1EdYjd]@3=@Zd]`?ԙ颭.Bɢ=) !?i),<顱i/Cؼi?g+< I?IJ>iPDAT read: Bearing 229.2, -13.8 (Local) ~Local bearing/azimuth received: Bearing 229.2, -13.8 (Local) DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.5 =DAT read: 15:12:14.3915 LVL= 32752, 32753, 32242, 32755, AGC= 57, IDX= 505,-0.47,-1.845, 2.878,-1.437,-1.749, PHS= 0.006,-1.612, 0.267, RAW= 157.4, 15.0, CAL= 158.1, 17.3, ROT= 351.9, -17.3 MYgot valid direction response: 15:12:14.3915 LVL= 32752, 32753, 32242, 32755, AGC= 57, IDX= 505,-0.47,-1.845, 2.878,-1.437,-1.749, PHS= 0.006,-1.612, 0.267, RAW= 157.4, 15.0, CAL= 158.1, 17.3, ROT= 351.9, -17.3 MR#Rx 8: Read range and direction messages.U^direction in FSK: [0.945236,-0.134527,0.297375]UFpublishing direction and range infoyq#_??W-8+0?YfA} )9I;iVο9>F/@ > #>)I#?ݨ?̃ ޘ? &?)Ou0@q @q@q@qIi#checking for new query: numPingsReceived=8, elapsed TxPingTime=5.278946bE%-4jE!rE%/E  E E 'E "E :*E :VE '4ZE BE A8p,]?AbDDAT read: Rx Time:15:12:14.8914 jTRx dataTimestamp_ set to:1761577936.073673vPDAT read: Bearing 228.6, -13.5 (Local) z~Local bearing/azimuth received: Bearing 228.6, -13.5 (Local) checking for new query: numPingsReceived=8, elapsed TxPingTime=5.5155199Ufa?U?U6kV=ٱU5 eAHRS rotation from veh to nav: [[0.454227,-0.880770,-0.133872],[0.889348,0.439468,0.126204],[-0.052324,-0.176385,0.982930]]UH`?D/@" u?@@ ?`w'?Dʪēƿ(t?iUfa?IU\];UCYvBy'$IbDVD ym=<%m4=ٔm2;Q-u>9qYq=uTGyuF}/<E}>Q 54Y?Q 94)BYy?Q I? 4DIb;i;4ySBɮ@Eaiqiu`:?AJiuTARiuTAjiu?buy+;@g-gc@n\X!@Ruq#_??W-8+0?Ziqbiu#ju73q-@Vv7@m`@ZuRA?\`d5?s?2iuA:iumA"iu 9?*iuNSBiuBiu 9?iu[^!iuZBiuAiu? addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.501766 s, deltaX: -0.400002 m, approachRate: -0.797187 m/s, rangeRepo size: 4 ] Added new target pos. range: 29.166206 m, bearing: 58.190195 deg, lat: 36.779318 deg, lon: -121.859550 deg, deltaT: 0.501766 s, deltaX: -0.398083 m, approachRate: -0.793363 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 29.17 m.bhaRhiZhi ProNav: ac range: 29.166206 m, nav range: 27.980255 m, bearing: 58.024083 deg, approach rate: 0.000000 m/s, LOS rate: 0.022219 deg/s, cmd heading: 63.507727 deg, new cmd heading: 63.539987 deg. BhHeadingCmd: 1.108982 target range: 29.166206 and range: 29.30 m.h?h*h"h hgfffdddjdL=@Zdܚ?%,Bɢ%Y=)! %$?i!)-N<))i-ؼi5?5+<5*;I=?I9ԉmDAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.5 DAT read: 15:12:14.8914 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.49,-0544,-0.564,-0.893, PHS= 0.023,-1.606, 0.285, RAW= 157.3, 14.5, CAL= 158.0, 16.6, ROT= 352.0, -16.6 !unknown deviceResponse_: 15:12:14.8914 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.49,-0544,-0.564,-0.893, PHS= 0.023,-1.606, 0.285, RAW= 157.3, 14.5, CAL= 158.0, 16.6, ROT= 352.0, -16.6 X#Rx 9: Read range message, but no direction.yQYUAQchecking for new query: numPingsReceived=9, elapsed TxPingTime=5.7671912@ @@@@eA@dA EM  EM EI EI "EM :*EM ą:VEI ZEI am @am @am @am @^A vт AI!I9OE>"^,#?AnDDAT read: Rx Time:15:12:15.3911 vTRx dataTimestamp_ set to:1761577936.576643PDAT read: Bearing 229.5, -14.4 (Local)  ~Local bearing/azimuth received: Bearing 229.5, -14.4 (Local) checking for new query: numPingsReceived=9, elapsed TxPingTime=6.0183183-b??~X=ٱ0 AHRS rotation from veh to nav: [[0.451522,-0.882881,-0.129028],[0.890694,0.437430,0.123767],[-0.052831,-0.170809,0.983887]]H ? @ ??5?@ @ſ@|?i3-b?I L];CYBy3$Ii]Mb@Mb@Mb@YYYY Y9]MbX?9Y=TGyF;E>Q 54f?Q 94*)BYK?Q E:yU?Q I?;4DI@:i:~4yOBɮ@EB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.504233 s, deltaX: -0.199999 m, approachRate: -0.396640 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 29.17 m.bhRh%7Zh%7= ProNav: ac range: 29.166206 m, nav range: 27.557514 m, bearing: 57.866476 deg, approach rate: -0.837066 m/s, LOS rate: -0.316863 deg/s, cmd heading: 63.539986 deg, new cmd heading: 63.059924 deg. Bh=uYEHeadingCmd: 1.100603 target range: 29.166206 and range: 29.10 m.hE?hI*hI"hI hIgIfQfYf]\BdYdadajde=@Zdm ?-*Bɢ-=A=@AA9)Q U*?iQ)UlBCB$IBmBBBBDBx;B1E1@ @@/@)DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.5 DAT read: 15:12:15.3911 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.17, 1.561,-0.020, 1.996, 1.671, PHS=-0.008,-1.646, 0.281, RAW= 158.0, 15.1, CAL= 158.8, 17.5, ROT= 351.2, -17.5 Ygot valid direction response: 15:12:15.3911 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.17, 1.561,-0.020, 1.996, 1.671, PHS=-0.008,-1.646, 0.281, RAW= 158.0, 15.1, CAL= 158.8, 17.5, ROT= 351.2, -17.5 T#Rx 10: Read range and direction messages.^direction in FSK: [0.942490,-0.145905,0.300706]Fpublishing direction and range infoyimv<(?:PBl¿->?YmAiiim i)m:Imoim!ҿm;ߏ>m|0@mV>ma1@ ma>)m%@Imaiim7UY?iz?-KZ? m)?)mކImTFimaiichecking for new query: numPingsReceived=10, elapsed TxPingTime=6.274907Q E5  E5 E5 &E1 "E5 l;*E5 :VE5 4ZE1 BE5 \Fp,A?A2 c?2q?2Y=ٱ2* :AHRS rotation from veh to nav: [[0.448471,-0.885069,-0.124608],[0.892214,0.435008,0.121340],[-0.053189,-0.165594,0.984759]]2Hླ?{RJ濿`?*??@;`/2ſ$?i2 c?I2mf];2CYBwByB($IbDNVDNkyRP%Vj=ٔV:Q-V?9XYX=ZTGyZF^` <E^?\Q 5b4^o?Q 9f4^g)^BYdyfȘ?Q If?^M4DI^;i^;^%4ypɮr@tDDAT read: Rx Time:15:12:15.8909 TRx dataTimestamp_ set to:1761577937.079290PDAT read: Bearing 230.7, -14.9 (Local) ~Local bearing/azimuth received: Bearing 230.7, -14.9 (Local) checking for new query: numPingsReceived=10, elapsed TxPingTime=6.520907iAiEZ4?AJiEARiEAjiE?bE3`:@I"jGX.!@REv<(?:PBl¿->?ZiETFbiEajE!^c-@,-@7@x\J@ZE ju?J ?G@3J?2iEA:iEkA"iEbE?*iEBiEBiEK$=?iEn@iEBiEAiE? addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.503578 s, deltaX: -0.400000 m, approachRate: -0.794315 m/s, rangeRepo size: 4 M Added new target pos. range: 28.569126 m, bearing: 57.709768 deg, lat: 36.779318 deg, lon: -121.859549 deg, deltaT: 1.007811 s, deltaX: -0.597080 m, approachRate: -0.592453 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 28.57 m.bhQRhUZhQ ProNav: ac range: 28.569126 m, nav range: 27.375082 m, bearing: 57.779793 deg, approach rate: 0.000000 m/s, LOS rate: -0.316863 deg/s, cmd heading: 63.059926 deg, new cmd heading: 62.665271 deg. BhHeadingCmd: 1.093715 target range: 28.569126 and range: 28.70 m.h?h*h"h hgfffdddjd@3<@ZdA?(Bɢrz=)! %K'?i!)%AIIO>5 DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.7 U DAT read: 15:12:15.8909 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.01, 0.685,-0.870, 1.123, 0.822, PHS=-0.035,-1.647, 0.257, RAW= 158.2, 15.8, CAL= 159.1, 18.4, ROT= 350.9, -18.4 Y e Ygot valid direction response: 15:12:15.8909 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.01, 0.685,-0.870, 1.123, 0.822, PHS=-0.035,-1.647, 0.257, RAW= 158.2, 15.8, CAL= 159.1, 18.4, ROT= 350.9, -18.4 e T#Rx 11: Read range and direction messages.m ^direction in FSK: [0.936933,-0.150073,0.315649]m Fpublishing direction and range infoy! % g[? 5ÿ \ 3?Y% 3A! ! ! ! ! )% 9I% )\i% ҿ% >% 0@% 0>% g1@ % l>)% @I% l! ! % dќ2?&?Ʌ $w? % ^*?)% I% "i% l! !  checking for new query: numPingsReceived=11, elapsed TxPingTime=6.775990,q[?AEV EVEV*ET"EV=;*EV~:VEV(N4ZETa^@a^@a^@a^@ d??Z=ٱ& %AHRS rotation from veh to nav: [[0.444980,-0.887215,-0.121831],[0.893945,0.431939,0.119546],[-0.053439,-0.162106,0.985325]]Hz?@dT02???@`\Ŀȇ?i d?IW];CYU{ByU.$IiMb@Mb@Mb@ 9|?5^?MbX9?MbYM?yʡ= A@ K@)p@Y@bDVD:y<%+=ٔq :Q->9Y=TGyF<E>)Q 554-z?Q 954-v)-BY5N?Q E5:y5?Q I5?-f4DI- :i-:-.4yEVBaɮE@mEiQiUZT?AJiU)ARiU)AjiU?bU|:@Abs!@RUg[? 5ÿ \ 3?ZiU"biUljU@,@X6@p8! @ZU?_?ᗇ8q?؏A?DDAT read: Rx Time:15:12:16.3906 TRx dataTimestamp_ set to:1761577937.584471PDAT read: Bearing 231.9, -13.8 (Local) ~Local bearing/azimuth received: Bearing 231.9, -13.8 (Local) -DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.8 2iUMA:iUjgA"iUQ=?*iUU7BiUBiQiUNSiQ}Z#Rx 12: Read range message, but no direction.yY3Achecking for new query: numPingsReceived=12, elapsed TxPingTime=7.046961iUrAiUU? addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.760597 s, deltaX: -0.800001 m, approachRate: -1.051807 m/s, rangeRepo size: 4  Added new target pos. range: 28.270494 m, bearing: 57.738215 deg, lat: 36.779318 deg, lon: -121.859549 deg, deltaT: 0.503601 s, deltaX: -0.298632 m, approachRate: -0.592993 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.27 m.bhRhZh% ProNav: ac range: 28.270494 m, nav range: 27.056082 m, bearing: 57.703765 deg, approach rate: 0.000000 m/s, LOS rate: -0.316863 deg/s, cmd heading: 62.665271 deg, new cmd heading: 62.203831 deg. Bh!-HeadingCmd: 1.085662 target range: 28.270494 and range: 27.90 m.h-?h)*h)"hQ hQgQfQfYf]aBdYdYdajde`f;@Zde?ԑ &Bɢ6=) *?i)9<iۂڼi?%T!,<%B B "$IB rBB =B B B !x;B 1EU DAT read: 15:12:16.3906 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495,-0.21,-1.533,-3.072,-1.148,-1.398, PHS=-0.034,-1.630, 0.205, RAW= 156.9, 16.6, CAL= 157.9, 19.3, ROT= 352.1, -19.3 ] Ygot valid direction response: 15:12:16.3906 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495,-0.21,-1.533,-3.072,-1.148,-1.398, PHS=-0.034,-1.630, 0.205, RAW= 156.9, 16.6, CAL= 157.9, 19.3, ROT= 352.1, -19.3 ] Z#Rx 13: Read direction message, but no range.e ^direction in FSK: [0.934844,-0.129720,0.330514]y1 5 ?z=?Um 3%'?1 1 1 1 1 )5 6I5 C i5 ףп5 Q>5 LB/@5 V>5 A`0@ 5 iw>)5 U@I5 iw1 5 v?1f?s;N? 5 $?)5 pI5 0 i5 iw checking for new query: numPingsReceived=13, elapsed TxPingTime=7.276336 ^A LM<AE EE'E"E;*E:VE'4ZEBEA9Y=TGyF c<E >Q 54?Q 94m)ّBYyo?Q I%?}4DI:i$:64y-SBɮ-@-ܦEiige?AJi.ARi.Aji^?bX9@u\ ߆["@R?z=?Um 3%'?Zi0 biiwjN+@R6@>a!rz @Z Ϩu??uC?ο?2iZA:iXA"ią?*is'BiBi 9?iiBi|Ai1ŀ?jhquDNOT Ignoring new targets: 28.27 m.bhyRh}Zh} ProNav: ac range: 28.270494 m, nav range: 26.690233 m, bearing: 57.544999 deg, approach rate: -0.920466 m/s, LOS rate: -0.404928 deg/s, cmd heading: 62.203831 deg, new cmd heading: 61.721014 deg. BhHeadingCmd: 1.077235 target range: 28.270494 and range: 27.90 m.h?h*h"h hgfffdddjdZd?U$BɢU =)Q ])?iY)]i~{/@ޏ>|0@ >) @I ? 7m?vHx? %?)(!I4i%checking for new query: numPingsReceived=14, elapsed TxPingTime=7.5995551AiIqIO}>Y ] checking for new query: numPingsReceived=14, elapsed TxPingTime=7.770646%,l?A>q=f?> ?>X=ٱ> # FAHRS rotation from veh to nav: [[0.437327,-0.891296,-0.119736],[0.897745,0.424850,0.116427],[-0.052901,-0.158409,0.985955]]>H(?`T?0?`*ν?`FĿ@?i>q=f?I>R];>CYVaByV$IbD^VD^:yf%fL=ٔjQ-j>9hYl=nTGynFnC<En>pQ 5v4r?Q 9z4re)rˑBYxyz?Q Iz?r4DIrh;ir(;r=4yɮ@!iiƅ?AJiARiAjim?b+BpK9@b ɻs!@R? %C.j?Zi4bijZG3"*@2|Q6@Ԕ@ZfmP?w׏JY?0Md?2iA:iWA"i ʃ?*ilBi,BiiU7i,BiAi4?} addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.505794 s, deltaX: -0.299999 m, approachRate: -0.593125 m/s, rangeRepo size: 4 U Added new target pos. range: 27.474306 m, bearing: 59.278548 deg, lat: 36.779318 deg, lon: -121.859548 deg, deltaT: 0.762790 s, deltaX: -0.796188 m, approachRate: -1.043784 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 27.47 m.bhD=D<E EE)E"E:*E҆:VEFA4ZEa@a@a@a@Rh Zh Y ProNav: ac range: 27.474306 m, nav range: 26.389229 m, bearing: 57.523443 deg, approach rate: 0.000000 m/s, LOS rate: -0.404928 deg/s, cmd heading: 61.721011 deg, new cmd heading: 61.229852 deg. BhHeadingCmd: 1.068663 target range: 27.474306 and range: 27.60 m.hɈ?h*h"h hgfffdddjd;@Zd?=#Bɢ==)9 =K?iA)E@/B B $IB hBB B B B x;B 1EB%CB%CB!B!B% =C%;5 A I! I1 O= >bF,,|?ARXg?R?RsV=ٱRo# ~AHRS rotation from veh to nav: [[0.433454,-0.893050,-0.120745],[0.899654,0.421037,0.115545],[-0.052349,-0.158712,0.985936]]RHൽ?ݓ%龿 ?@E? ]? ͪPĿɌ?iRXg?IRF];RCY [By $I5DAT read: 15:12:17.3901 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.03,-1.225,-2.762,-0.792,-1.093, PHS=-0.030,-1.624, 0.257, RAW= 158.1, 15.7, CAL= 159.1, 18.3, ROT= 350.9, -18.3 =Ygot valid direction response: 15:12:17.3901 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.03,-1.225,-2.762,-0.792,-1.093, PHS=-0.030,-1.624, 0.257, RAW= 158.1, 15.7, CAL= 159.1, 18.3, ROT= 350.9, -18.3 EZ#Rx 16: Read direction message, but no range.M^direction in FSK: [0.937476,-0.150160,0.313992]yeZ9?SBm8ÿv9s? )8Ii;Ͽ>r0@K>g1@ Ƈ>)@IƇL:?44?0V? Qj*?)2rI"iƇechecking for new query: numPingsReceived=16, elapsed TxPingTime=8.284308iMb@Mb@Mb@ 9l?Q?L7A`堿YW?y\=+ A&@ x@)Y@bD-VD-3y=Ǽ%==ٔeQ-e>9iYi=mTGymFm<Eu>qQ 5}4u?Q 94u[)uBYuX?Q E{:yR?Q I?u4DIu;iu;u+F4yZBɮ@ii?AJiARiAjiBp?bcgb9@CHMCe#0!@ReZ9?SBm8ÿv9s?Zi"biƇj76+@dEE6@u[@Z;?-*s ?|:2?2iڰA:iYA"i ?*iwBiBi ?is'iiAi5c? addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.502803 s, deltaX: -0.400000 m, approachRate: -0.795539 m/s, rangeRepo size: 4  Added new target pos. range: 27.076031 m, bearing: 58.387315 deg, lat: 36.779314 deg, lon: -121.859545 deg, deltaT: 0.502803 s, deltaX: -0.398275 m, approachRate: -0.792110 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.08 m.bhRhZhE EE'E"E*Exv:VE'4ZEBE>/@>0@ ɩ>)%m@Iɩώi?_[?'yj? &?)IViɩ checking for new query: numPingsReceived=17, elapsed TxPingTime=8.584241A .AI I O >M)3,tB?A 28h?2?2S=ٱ25# >AHRS rotation from veh to nav: [[0.430392,-0.894383,-0.121831],[0.901161,0.418023,0.114742],[-0.051695,-0.159174,0.985896]]2H ?`ȞQ0O??@_?@w _Ŀ@v?i28h?I2_];2CYbDByb#I ddbDn VDn:2y%l=ٔQ-?9 ?Y ?=TGyF#<E?Q 5 4?Q 9 4S)BY y ?Q I ?4DI$:i:^L4yɮY@i)i-2?AJi-8ARi-8Aji-+?b-̊t 9@0= `o!@R- AO?ڷs܊x`FI?Zi-Vbi-ɩj-mu)@rt 6@ܯ@Z-uN7ľ ? ؝Y?E=c?2i-eA:i-OA"i-웊?*i-Bi-Bi-ą?i-wi)i-Ai-? addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503737 s, deltaX: -0.300001 m, approachRate: -0.595551 m/s, rangeRepo size: 4  Added new target pos. range: 26.777397 m, bearing: 59.497473 deg, lat: 36.779312 deg, lon: -121.859545 deg, deltaT: 0.503737 s, deltaX: -0.298634 m, approachRate: -0.592836 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.78 m.bhRh Zh i ProNav: ac range: 26.777397 m, nav range: 25.498764 m, bearing: 58.875694 deg, approach rate: 0.000000 m/s, LOS rate: -0.404928 deg/s, cmd heading: 60.590123 deg, new cmd heading: 60.164438 deg. BhHeadingCmd: 1.050068 target range: 26.777397 and range: 26.90 m.hh?h*h"h hgfffdddjd`f:@Zd ?5checking for new query: numPingsReceived=17, elapsed TxPingTime=8.778799m Bɢm=)q u?iq)u-=qqiu ܼi}h?yv“=Ih?I=2@A @A@E:0@AԩE  E E E "E ;*E ~:VE ZE a-@a5@a5@a5@ ^Ae QO= DDAT read: Rx Time:15:12:18.3896  TRx dataTimestamp_ set to:1761577939.6005435 PDAT read: Bearing 232.3, -13.9 (Local) = ~Local bearing/azimuth received: Bearing 232.3, -13.9 (Local) Au ؟AI I O >~9,?ADAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.7 $FDAT read: 15:12:18.3896 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 501,-0.16,-0.467,-2.001,-0.085,-0.335, PHS=-0.030,-1.621, 0.207, RAW= 156.8, 16.5, CAL= 157.8, 19.2, ROT= 352.2, -19.2 NYgot valid direction response: 15:12:18.3896 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 501,-0.16,-0.467,-2.001,-0.085,-0.335, PHS=-0.030,-1.621, 0.207, RAW= 156.8, 16.5, CAL= 157.8, 19.2, ROT= 352.2, -19.2 NT#Rx 18: Read range and direction messages.R^direction in FSK: [0.935639,-0.128166,0.328867]Fpublishing direction and range infoy7?V4gf& ?Y3A )6Ii|ϿS>%/@r>C0@ >)@I@"$?WkGe?3-1? $?)95"?Y5"?=5TGy5F5;E=>9Q 5E4=$?Q 9M4=,J)=BYMP?Q EM:B]v>BYB]#IB]DBB] =BYBYB] x;B]1Eymƕ?Q Im?=4DI=;i=;=T4y}ǓBɮ}^@}ԦEiiLo?AJiA > E  E E *E "E :*E :VE (N4ZE BE A8H[@,~?AB?i?B ?BXL=ٱBl' JAHRS rotation from veh to nav: [[0.426814,-0.895496,-0.126163],[0.902967,0.414316,0.113987],[-0.049803,-0.162572,0.985439]]BHP? &@?`%?`=.?`)Ŀ@?iB?i?IBX];BCYRByR#I\bDZVDZyN%%=ٔ-:rQ-5?9AYA=MTGyMF;E?Q 5E4?DDAT read: Rx Time:15:12:18.8894 TRx dataTimestamp_ set to:1761577940.105578PDAT read: Bearing 232.3, -14.0 (Local) ~Local bearing/azimuth received: Bearing 232.3, -14.0 (Local) DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.6 Z#Rx 19: Read range message, but no direction.yYAchecking for new query: numPingsReceived=19, elapsed TxPingTime=9.548660Q 9M4C)BYy?Q I?4DI =i =Z4yɮX@ %B*** querying acoustic contact ***i! i!] addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.505035 s, deltaX: -0.299999 m, approachRate: -0.594017 m/s, rangeRepo size: 4 jhYeDNOT Ignoring new targets: 26.28 m.bhaRheٕZheٕ ProNav: ac range: 26.279560 m, nav range: 24.938843 m, bearing: 58.796496 deg, approach rate: -0.778447 m/s, LOS rate: -0.262015 deg/s, cmd heading: 59.551566 deg, new cmd heading: 59.288955 deg. Bh3HeadingCmd: 1.034787 target range: 26.279560 and range: 26.10 m.hs?h*h"h hgfffdddjd:@Zd?Bɢ =) K>i)=iݼi%s?- .<-F=I-s?II;@ @@4@@ =@ >5 DAT read: 15:12:18.8894 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 499, 0.16, 2.462, 0.924, 2.845, 2.594, PHS=-0.031,-1.625, 0.207, RA, 16.5, CAL= 157.8, 19.2, ROT= 352.2, -19.2 = !unknown deviceResponse_: 15:12:18.8894 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 499, 0.16, 2.462, 0.924, 2.845, 2.594, PHS=-0.031,-1.625, 0.207, RA, 16.5, CAL= 157.8, 19.2, ROT= 352.2, -19.2 = checking for new query: numPingsReceived=19, elapsed TxPingTime=9.793192A ^AM @=A I I O >pF,fM?AtE% E%E%'E!"E%:*E%:VE%'4ZE!aE@aM@aM@aM@-i??>1C=ٱ1 eAHRS rotation from veh to nav: [[0.427109,-0.893906,-0.136052],[0.902945,0.413733,0.116260],[-0.047636,-0.172503,0.983856]]HU?$j?`z?4ý?cƿ{?i-i?I2];CYuByu#II}<)}iMb@Mb@Mb@ 9 rh?Q?{GzYCK?yu<#; A&@ )@Y@bDVDky%v%%(=ٔ%Q-%>9)Y)=-TGy-F5E5>9Q 5E4=ȗ?Q 9M4=;)=nBYeK?Q Em:ymǑ?Q Iu?=5DI=Κ1@ ӱ>) @Iӱ)+(?1?{A!q? H)?)_It iӱchecking for new query: numPingsReceived=20, elapsed TxPingTime=10.069080jhDNOT Ignoring new targets: 26.28 m.bhRhaZha ProNav: ac range: 26.279560 m, nav range: 24.575171 m, bearing: 58.700511 deg, approach rate: -0.734794 m/s, LOS rate: -0.196806 deg/s, cmd heading: 59.288952 deg, new cmd heading: 58.996738 deg. Bh%HeadingCmd: 1.029687 target range: 26.279560 and range: 26.10 m.h%̃?h)*h)"h) h)g)f)f1f5Bd1d1d9jd=9@Zd=@Т?颥Bɢ3c=) >i)=项i,޼ĩ?+S1<B̹=Ĩ?IA >@  @ @ 4@ B y>B B #IB BB =B B B w;B 1E^A ǫ=i A9 II IY Oe >L,P6?Achecking for new query: numPingsReceived=20, elapsed TxPingTime=10.2908041Y5By5}#IAAbDIVDIyQA%c=ٔQ->9Y=TGyFE>Q 54җ?Q 94F4)_BYyQ I?5DI;i_:h4y̓Bɮ @i9i=&?AJi=ARi=Aji='?b=Oe|7@f;z =3G!@R=v?=¿"T?Zi=t bi=ӱj={f;v(@4@Th" @Z=P!u?o='?t9?2i=A:i=CA"i=k[ٛ?*i=4Bi=Bi=웊?i=4i=Bi=Ai=-ԃ? addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503619 s, deltaX: -0.600000 m, approachRate: -1.191378 m/s, rangeRepo size: 4  Added new target pos. range: 25.383812 m, bearing: 59.478211 deg, lat: 36.779310 deg, lon: -121.859544 deg, deltaT: 1.008654 s, deltaX: -0.895748 m, approachRate: -0.888063 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.38 m.bhRhZh ProNav: ac range: 25.383812 m, nav range: 24.200426 m, bearing: 59.009641 deg, approach rate: 0.000000 m/s, LOS rate: -0.196806 deg/s, cmd heading: 58.996736 deg, new cmd heading: 58.814605 deg. Bh%HeadingCmd: 1.026508 target range: 25.383812 and range: 25.50 m.h-d?h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd= j?颥BɢϞ=) >i)=顩i9޼id?`3<Z=Id?IbEÀ'4jEÅ04rE5/E EEE"ET;*E:VEZEBEG/@V> 1@ -\>)P@I-\IS?pO?(@? V'?)[Ii-\}checking for new query: numPingsReceived=21, elapsed TxPingTime=10.561257^A Ss=A zA I I O >pS,rP?Aruh?rp3?r->=ٱr_: zAHRS rotation from veh to nav: [[0.429296,-0.891639,-0.143818],[0.901970,0.415076,0.119004],[-0.046414,-0.180807,0.982423]]rHy?Oh¿??`w?@ç$ǿp?iruh?Ir;F];rCYEڄByEg#IԙbDUVDU:y%K=ٔGQ->9Y=TGyFdE>Q 54ޗ?Q 94,)OBYyj?Q I?)5DIN:i;p4yēBɮ@˦EiAiE*G?AJiEARiEAjiEԅ?bEUyf7@O]z hE & @RE?ɣk` B?ZiEbiE-\jE;'@枥4@jU@ZE$d?V?ϰ?2iE,A:iEt?A"iEooΛ?*iE BiEQBiEk[ٛ?iEiEΔBiE־AiE? addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.501897 s, deltaX: -0.299999 m, approachRate: -0.597731 m/s, rangeRepo size: 4  Added new target pos. range: 25.085180 m, bearing: 59.905504 deg, lat: 36.779308 deg, lon: -121.859543 deg, deltaT: 0.501897 s, deltaX: -0.298632 m, approachRate: -0.595006 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.09 m.bhRhZh ProNav: ac range: 25.085180 m, nav range: 23.854511 m, bearing: 59.531982 deg, approach rate: 0.000000 m/s, LOS rate: -0.196806 deg/s, cmd heading: 58.814602 deg, new cmd heading: 58.577243 deg. Bh%HeadingCmd: 1.022366 target range: 25.085180 and range: 25.20 m.h%܂?h!*h!"h! h!g!f)Uchecking for new query: numPingsReceived=21, elapsed TxPingTime=10.794695fYfYdYdadajde@339@Zde@b?Bɢ,t=) տ>i)) =ip޼i܂?)6<=I܂?I 0@ @@@@@dA^A˺=E5 E5E5(E1"E5:*E5:VE5c44ZE1a]@a]@a]@a]@IIO> DDAT read: Rx Time:15:12:20.3884  TRx dataTimestamp_ set to:1761577941.613051  PDAT read: Bearing 230.5, -15.9 (Local) % ~Local bearing/azimuth received: Bearing 230.5, -15.9 (Local) 5 DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.6 U DAT read: 15:12:20.3884 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505, 0.22, 1.732, 0.214, 2.189, 1.879, PHS=-0.045,-1.619, 0.266, RAW= 158.9, 15.8, CAL= 159.8, 18.4, ROT= 350.2, -18.4 e Ygot valid direction response: 15:12:20.3884 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505, 0.22, 1.732, 0.214, 2.189, 1.879, PHS=-0.045,-1.619, 0.266, RAW= 158.9, 15.8, CAL= 159.8, 18.4, ROT= 350.2, -18.4 e T#Rx 22: Read range and direction messages.m ^direction in FSK: [0.935030,-0.161508,0.315649]m Fpublishing direction and range infoy  &?HĿ \ 3?Y fA ) I Q8i d;Ͽ '1> 5~1@ 0> 2@ l>) @I l _ӟ?v{Q? rd? -?) <錾I %/i l  checking for new query: numPingsReceived=22, elapsed TxPingTime=11.063843Y,_i?ARg?RƏ?R 8=ٱR:A bAHRS rotation from veh to nav: [[0.432304,-0.889072,-0.150549],[0.900597,0.417343,0.121447],[-0.045145,-0.188086,0.981115]]RHߪ? Fs`,Eÿ?@?@-?>1ȿ@Je?iRg?IRB];PY=By=H#I AAiMb@Mb@Mb@ 9Zd;?:v?yTtQ A@ @)@Y@B~>B CBs#IBBB =BBBw;B1EbD VD:2yU.Ͻ%U&=ٔUu)Q-]>9YYY=]TGy]Fe޻Ee>Q 54#엊?Q 94$)>BY:??Q E:yj?Q I?A5DIa:iH:x4yÓBɮ-@!i9i=:54@Ţi@Z=V]?Zx9? ?2i=A:i=EA"i=Q?*i="Bi=uBi9i9i9i=Ai=a? addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.501957 s, deltaX: -0.400002 m, approachRate: -0.796884 m/s, rangeRepo size: 4  Added new target pos. range: 24.687265 m, bearing: 58.393957 deg, lat: 36.779308 deg, lon: -121.859543 deg, deltaT: 0.501957 s, deltaX: -0.397915 m, approachRate: -0.792727 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.69 m.bhRhZh ProNav: ac range: 24.687265 m, nav range: 23.489710 m, bearing: 59.480353 deg, approach rate: 0.000000 m/s, LOS rate: -0.196806 deg/s, cmd heading: 58.577246 deg, new cmd heading: 58.283638 deg. BhHeadingCmd: 1.017241 target range: 24.687265 and range: 24.80 m.h4?h*h"h hg!f!f!f%ՃBd)d)d)jd-8@Zd-'I?echecking for new query: numPingsReceived=22, elapsed TxPingTime=11.298742颥Bɢ#_=) ݧ>i)# =顩i2߼i4?m9<C=I4?IIdA)dAQ@ @@@E-  E- E- *E) "E- :*E- |:VE- (N4ZE) BE- >a,_@?ADDAT read: Rx Time:15:12:20.8882 TRx dataTimestamp_ set to:1761577942.116755PDAT read: Bearing 229.6, -15.5 (Local) ~Local bearing/azimuth received: Bearing 229.6, -15.5 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.5 2DAT read: 15:12:20.8882 LVL= 32752, 32753, 32322, 32755, AGC= 56, IDX= 504,-0.23, 0.745,-0.778, 1.189, 0.872, PHS=-0.025,-1.605, 0.273, RAW= 158.5, 15.4, CAL= 159.4, 17.8, ROT= 350.6, -17.8 6Ygot valid direction response: 15:12:20.8882 LVL= 32752, 32753, 32322, 32755, AGC= 56, IDX= 504,-0.23, 0.745,-0.778, 1.189, 0.872, PHS=-0.025,-1.605, 0.273, RAW= 158.5, 15.4, CAL= 159.4, 17.8, ROT= 350.6, -17.8 6T#Rx 23: Read range and direction messages.:^direction in FSK: [0.939344,-0.155507,0.305695]>Fpublishing direction and range infoy >?׷kÿќ?YA B~ )8I̼ipͿƋ> 1@>/ 2@ >)@I T wl'?BR4?+? +?)#I'i ^checking for new query: numPingsReceived=23, elapsed TxPingTime=11.571502~@e?~Um?~&3=ٱ~O AHRS rotation from veh to nav: [[0.441808,-0.882390,-0.161846],[0.896043,0.425250,0.127550],[-0.043724,-0.201373,0.978538]]~HF?`<`[Ŀ c?@J7?`S?@cɿ@/P?i~@e?I~M];~CYBy%1#I 5;5p;bD5VD5kyEϽ%Ed=ٔM*Q-M>9IYQ=UTGyUFU]EU>YQ 5u4]{?Q 9u4])]2BYyy?Q I?]R5DI];i]<]~4yUȓBɮU@]̦Ei ix?AJiARiAjiG?bX O6@%!EW8k@R>?׷kÿќ?Zi'bij!܅(@*Nܪ3@2:@Z?\?N(?2iA:i.DA"iM?*irNhBi˒Bi i4iQBiAiQ? addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503704 s, deltaX: -0.299999 m, approachRate: -0.595586 m/s, rangeRepo size: 4 M Added new target pos. range: 24.388630 m, bearing: 58.316647 deg, lat: 36.779308 deg, lon: -121.859544 deg, deltaT: 0.503704 s, deltaX: -0.298635 m, approachRate: -0.592879 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 24.39 m.bhIRhQZhQ ProNav: ac range: 24.388630 m, nav range: 23.135468 m, bearing: 59.315886 deg, approach rate: 0.000000 m/s, LOS rate: -0.196806 deg/s, cmd heading: 58.283637 deg, new cmd heading: 58.062480 deg. BhHeadingCmd: 1.013381 target range: 24.388630 and range: 24.50 m.h|?h*h"h hgfffdddjd8@Zd[?-Bɢ-Qb=)1 5v>i1)u =qqi}b|߼i}|?<<'D=I|?I)@) @)@-/@1 checking for new query: numPingsReceived=23, elapsed TxPingTime=11.8030461 ^AU +W=I I O >E  E E (E "E :*E x:VE c44ZE a @a @a @a @Og,?A!Xc??Y0=ٱV AHRS rotation from veh to nav: [[0.447655,-0.878439,-0.167181],[0.893170,0.430253,0.130881],[-0.043040,-0.207911,0.977200]]Ha?@,2fſؔ?E?@?a ќʿ9E?iXc?Iv];CY5By= #I=DDAT read: Rx Time:15:12:21.3879 =TRx dataTimestamp_ set to:1761577942.620896EPDAT read: Bearing 230.6, -15.0 (Local) M~Local bearing/azimuth received: Bearing 230.6, -15.0 (Local) ]DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.6 }DAT read: 15:12:21.3879 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.14, 1.313,-0.209, 1.723, 1.457, PHS=-0.042,-1.621, 0.222, RAW= 157.6, 16.4, CAL= 158.6, 19.2, ROT= 351.4, -19.2 Ygot valid direction response: 15:12:21.3879 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500, 0.14, 1.313,-0.209, 1.723, 1.457, PHS=-0.042,-1.621, 0.222, RAW= 157.6, 16.4, CAL= 158.6, 19.2, ROT= 351.4, -19.2 T#Rx 24: Read range and direction messages.^direction in FSK: [0.933758,-0.141218,0.328867]Fpublishing direction and range infoy9=_گX?/m¿f& ?Y=A999= 9)9I=1,i=|Ͽ=Sc>=x 0@=C>=m(1@ =>)=?B@I=99= P?sV?ɯ? =/ (?)=uI=ti=99checking for new query: numPingsReceived=24, elapsed TxPingTime=12.074920iMb@Mb@Mb@ 9d;O?ʡE~jtY4?yh A )@YbDVD1y%tg%-$=ٔ-Q-->9)Y1=5TGy5F5#WE5>9iQ 5E4=?Q 9M4=))=*BYM5?Q EU:yU~?Q IU?=h5DI==i===u4yaɮe@ai9i=ü?AJi= ARi= Aji=13?b=wON6@Z[ ^|m@R=_گX?/m¿f& ?Zi=tbi=j=E^E'@\,fx3@-b.$@Z=v2,?f ?1i9)=0 =99i=߼iEA ?Eǀ?i}> @  @ @ /@ @ >@ )>  checking for new query: numPingsReceived=24, elapsed TxPingTime=12.306860^A = IIIaOm>o,=?AE" E"E",E "E" ;*E":VE"g4ZE BE"O9)Y)=-TGy-F-E5>9Q 5E4=?Q 9E4=P)=#BYAyAQ IE?=y5DI=:i=[:=4yM̓BɮS@]B*** querying acoustic contact ***ia iaԱjh DNOT Ignoring new targets: 23.89 m.bhRh%<:Zh-<: ProNav: ac range: 23.890902 m, nav range: 22.503778 m, bearing: 59.291365 deg, approach rate: -0.720017 m/s, LOS rate: 0.074415 deg/s, cmd heading: 57.764829 deg, new cmd heading: 57.846988 deg. BhHL;HeadingCmd: 1.009620 target range: 23.890902 and range: 24.00 m.h>;?h*h"h hgf-DDAT read: Rx Time:15:12:21.8877 5TRx dataTimestamp_ set to:1761577943.124942=PDAT read: Bearing 230.1, -15.6 (Local) E~Local bearing/azimuth received: Bearing 230.1, -15.6 (Local) UDAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.6 uDAT read: 15:12:21.8877 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 499,-0.21, 0.222,-1.280, 0.648, 0.378, PHS=-0.054,-1.613, 0.226, RAW= 158.1, 16.5, CAL= 159.2, 19.4, ROT= 350.8, -19.4 }Ygot valid direction response: 15:12:21.8877 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 499,-0.21, 0.222,-1.280, 0.648, 0.378, PHS=-0.054,-1.613, 0.226, RAW= 158.1, 16.5, CAL= 159.2, 19.4, ROT= 350.8, -19.4 }T#Rx 25: Read range and direction messages.^direction in FSK: [0.931089,-0.150804,0.332161]Fpublishing direction and range infoy15 d{?['Mÿ` B?Y5A1111 1)1I5/]i5vο5lg>5r0@5r>51@ 5-\>)5v@I5-\115+"?]S0?[6? 5YU*?)5I5l$i5-\11checking for new query: numPingsReceived=25, elapsed TxPingTime=12.574678ffdddjd@37@Zd3?颽Bɢ3M=) e>i) =i߼i=>;?=B<==I=>;?IA@ @@/@  checking for new query: numPingsReceived=25, elapsed TxPingTime=12.810996^A 2=9 AAIIIYOi+w,v?ABc_?Bg?B%/=ٱBka ZAHRS rotation from veh to nav: [[0.460730,-0.870213,-0.174522],[0.886510,0.441740,0.137714],[-0.042748,-0.218165,0.974975]]BH |?@VƿK^?@wE??㥿˿`2?iBc_?IBF];@YrByv"I|D9zD=?AEU EUEU*EQ"EU:*EU:VEU(N4ZEQa@a@a@a@)-AAbDVDky%=ٔQ->9Y=TGyF%E->IQ 54M$?Q 94M)MBYyz?Q I?M5DIM?bMm5@lav IIQX@RM d{?['Mÿ` B?ZiMl$biM-\jM;'@HF*2@ΰz@ZM4^?.Hٸھ?1zH?2iMٗA:iM=A"iMV ?*iMBiMwBiMQ?iM"iIiMnAiM ?%DDAT read: Rx Time:15:12:22.3875 -TRx dataTimestamp_ set to:1761577943.6288025PDAT read: Bearing 228.8, -15.2 (Local) =~Local bearing/azimuth received: Bearing 228.8, -15.2 (Local) MDAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.6 mDAT read: 15:12:22.3875 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495, 0.28,-0.096,-1.621, 0.326, 0.038, PHS=-0.033,-1.614, 0.244, RAW= 157.9, 15.9, CAL= 158.9, 18.6, ROT= 351.1, -18.6 }Ygot valid direction response: 15:12:22.3875 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495, 0.28,-0.096,-1.621, 0.326, 0.038, PHS=-0.033,-1.614, 0.244, RAW= 157.9, 15.9, CAL= 158.9, 18.6, ROT= 351.1, -18.6 }T#Rx 26: Read range and direction messages.^direction in FSK: [0.936357,-0.146630,0.318959]Fpublishing direction and range info addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504046 s, deltaX: -0.299999 m, approachRate: -0.595182 m/s, rangeRepo size: 4 y)-E?ZT¿ˬQi?Y-fA)))) ))-6I-+i-ο-#y>-A`0@-q>-5~1@ -6>)-[@I-6))-=>C?.-?Y ? -)?)-|I-i-6))checking for new query: numPingsReceived=26, elapsed TxPingTime=13.081059 Added new target pos. range: 23.592279 m, bearing: 58.025341 deg, lat: 36.779312 deg, lon: -121.859545 deg, deltaT: 0.504046 s, deltaX: -0.298622 m, approachRate: -0.592450 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.59 m.bhRhZh% ProNav: ac range: 23.592279 m, nav range: 22.303871 m, bearing: 58.427298 deg, approach rate: 0.000000 m/s, LOS rate: 0.074415 deg/s, cmd heading: 57.846989 deg, new cmd heading: 57.967741 deg. Bh)EHeadingCmd: 1.011728 target range: 23.592279 and range: 23.70 m.hEM?hA*hA"hI hIgIfffdddjdL7@Zd@)Z?%Bɢ-E=I)Q U@`>iY)ec=!!i-#i5M?5 D<5 =I5M?I9B |>B CB #IB BB =B B B w;B 1EBBBB =B =CɎ5] 1@Y  @Y @] /@Y @a @e eAԁ  checking for new query: numPingsReceived=26, elapsed TxPingTime=13.314817ԡ ^A}õ=AA?E EE+E"E:*E:VE [4ZEBE<? Ǵ?@?sn:̿.?i2y]?I2a];2CYB~ByB"I DDiMb@Mb@Mb@ 9!rh?KYl'?y^ A@ @)AYp@bDVDy % =ٔ 9Q->9Y=TGyF nE>AQ 5M4E6?Q 9M4E)EBYM )?Q EU:yUr?Q IU?E5DIE:iE:E"4y]ɓBDDAT read: Rx Time:15:12:22.8874 TRx dataTimestamp_ set to:1761577944.132745PDAT read: Bearing 229.2, -14.6 (Local) ~Local bearing/azimuth received: Bearing 229.2, -14.6 (Local) DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4 DAT read: 15:12:22.8874 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.07,-0.392,-1.914,-0.002,-0.251, PHS=-0.040,-1.619, 0.205, RAW= 157.1, 16.7, CAL= 158.1, 19.4, ROT= 351.9, -19.4 Ygot valid direction response: 15:12:22.8874 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.07,-0.392,-1.914,-0.002,-0.251, PHS=-0.040,-1.619, 0.205, RAW= 157.1, 16.7, CAL= 158.1, 19.4, ROT= 351.9, -19.4 T#Rx 27: Read range and direction messages.^direction in FSK: [0.933813,-0.132901,0.332161]Fpublishing direction and range infoyQ۪M?2+q` B?Y̸A )I #id;ϿQ>~{/@;>r0@ -\>)@I-\ɮ]@ĦEӲq?m;E7~?f_a? %?)4"Ii-\Uchecking for new query: numPingsReceived=27, elapsed TxPingTime=13.592245ii~?AJiARiAji?bA(y5@ Zr_O@RQ۪M?2+q` B?Zibijmy9&@Oꫧ2@^/K@Zlτޛ?oN?c.?2i=A:i5A"i?*iǿnBiBiiiuBi[Ai? addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 1.007803 s, deltaX: -0.600000 m, approachRate: -0.595355 m/s, rangeRepo size: 4 U Added new target pos. range: 22.994860 m, bearing: 58.667498 deg, lat: 36.779312 deg, lon: -121.859545 deg, deltaT: 1.007803 s, deltaX: -0.597420 m, approachRate: -0.592794 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 22.99 m.bhYRhaZha ProNav: ac range: 22.994860 m, nav range: 21.919756 m, bearing: 58.466520 deg, approach rate: 0.000000 m/s, LOS rate: 0.074415 deg/s, cmd heading: 57.967740 deg, new cmd heading: 58.091705 deg. BhHeadingCmd: 1.013892 target range: 22.994860 and range: 23.10 m.h3ǁ?h*h"h hgfffBdddjd7@Zdk ?1]BɢebD=)a eZ>ia)eq=aiimNQiu3ǁ?u$Ge,=?A2J[?2?21=ٱ2f >AHRS rotation from veh to nav: [[0.475527,-0.861869,-0.176229],[0.878629,0.455432,0.143502],[-0.043419,-0.223079,0.973833]]2H o?@mƿ ?%?D^?;֍̿)?i2J[?I2Q];2CY~zBy~"IbD VD !y=v%=n=ٔE:Q-E?9E ?YM ?=MTGyIM}˼EM?QQ 5}4UA?Q 9}4UY)UBYyp?Q I?U5DIU;iU:U4yɮ@jhDNOT Ignoring new targets: 22.99 m.bhRh3;Zh3;  ProNav: ac range: 22.994860 m, nav range: 21.696594 m, bearing: 58.514044 deg, approach rate: -0.729983 m/s, LOS rate: 0.157057 deg/s, cmd heading: 58.091708 deg, new cmd heading: 58.235749 deg. Bh;=HeadingCmd: 1.016406 target range: 22.994860 and range: 23.10 m.h=?h9*h9"hA hAgIfIfqfqdqdydyjdyZd ?E EE(E"E:*E:VEc44ZEa@a@a@a@qmBɢu+2S=)y W>i)v[=项i}i?%j~H<-իj=I-?I1DDAT read: Rx Time:15:12:23.3870 TRx dataTimestamp_ set to:1761577944.638266PDAT read: Bearing 228.8, -15.2 (Local) ~Local bearing/azimuth received: Bearing 228.8, -15.2 (Local) DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.6  DAT read: 15:12:23.3870 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507,-0.40,-2.451, 2.316,-2.043,-2.296, PHS=-0.053,-1.626, 0.209, RAW= 157.6, 16.8,-19.7 %unknown deviceResponse_: 15:12:23.3870 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507,-0.40,-2.451, 2.316,-2.043,-2.296, PHS=-0.053,-1.626, 0.209, RAW= 157.6, 16.8,-19.7 %Z#Rx 28: Read range message, but no direction.yYA5checking for new query: numPingsReceived=28, elapsed TxPingTime=14.089418AU4@Y @Y@]/@Ya B= }>B= CB= "IB= yBB9 B9 B9 B= w;B= 1E^A ~=ԑ A ؟AI IO>n,.W8?A"checking for new query: numPingsReceived=28, elapsed TxPingTime=14.3227326n Y?6lp?64=ٱ6cg rAHRS rotation from veh to nav: [[0.483222,-0.857753,-0.175375],[0.874394,0.462774,0.145864],[-0.043956,-0.223832,0.973636]]6H?rrƿ@??@?_̿(?i6n Y?I6jw];6CYpBy"IiMb@Mb@Mb@ 9uV?MbQ?Yr(?yu<MA@ )ZAYf@ p<;bDVDky"%+=ٔ":Q->9"?Y"?=TGyFE>Q 54Q?Q 94)BY3*?Q E:yn?Q I?5DI ;i? ;k4y͓Bɮ@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.505521 s, deltaX: -0.600000 m, approachRate: -1.186895 m/s, rangeRepo size: 4 ԩjhDNOT Ignoring new targets: 22.99 m.bhRh6;Zh6; ProNav: ac range: 22.994860 m, nav range: 21.379753 m, bearing: 58.589366 deg, approach rate: -0.662462 m/s, LOS rate: 0.159818 deg/s, cmd heading: 58.235750 deg, new cmd heading: 58.465062 deg. Bh ]; HeadingCmd: 1.020408 target range: 22.994860 and range: 22.50 m.h?h*h"h hgfffBddd!jd%6@Zdet?颭 BɢE=) G>i)=项i,i?I<DA=I?IE- E-E)E)"E-l;*E-:VE)ZE)BE-\F  Fpublishing direction and range infoya+?“6s0¿ˬQi?YA )I+i7ѿm{>A`0@5>a1@ 6>)%@I6G?[/?HOZ? SK)?)ITFi6u checking for new query: numPingsReceived=29, elapsed TxPingTime=14.624112) AR,R?A:,V?:KW?:6=ٱ:r]h FAHRS rotation from veh to nav: [[0.490693,-0.853649,-0.174651],[0.870193,0.469861,0.148307],[-0.044540,-0.224753,0.973397]]:H@g?@Q`Zƿ`?1? ?Φ ̿&?i:,V?I:_];:CYnsByn"IbDzVDzy;<%X=ٔ:Q->9 Y = TGy F 2E>Q 5%4^?Q 9%4\)BY!y%l?Q I%?5DI;i;4y-œBɮ5)@5Ei9i=I?AJi=ʰARi=ʰAji=6|?b=2ؽL4@kH *c1@R=a+?“6s0¿ˬQi?Zi=TFbi=6j=}E mGR'@'31@l@@Z=?**U*j?4ڼiy)}=yyi}oi?J<=(=I?Iechecking for new query: numPingsReceived=29, elapsed TxPingTime=14.828342 9@ @@4@9EM EMEM*EI"EM:*EM$:VEM(N4ZEIam@am@am@au@^Ah=i Ii Iy O > DDAT read: Rx Time:15:12:24.3865  TRx dataTimestamp_ set to:1761577945.644642 PDAT read: Bearing 227.3, -14.7 (Local)  ~Local bearing/azimuth received: Bearing 227.3, -14.7 (Local) - DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.5 e DAT read: 15:12:24.3865 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 501, 0.01, 2.989, 1.440,-2.890, 3.130, PHS=-0.039,-1.645, 0.219, RAW= 157.3, 16.5, CAL= 158.3, 19.2, ROT= 351.7, -19.2 u Ygot valid direction response: 15:12:24.3865 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 501, 0.01, 2.989, 1.440,-2.890, 3.130, PHS=-0.039,-1.645, 0.219, RAW= 157.3, 16.5, CAL= 158.3, 19.2, ROT= 351.7, -19.2  T#Rx 30: Read range and direction messages. ^direction in FSK: [0.934485,-0.136326,0.328867] Fpublishing direction and range infoy  L?ʳ#sf& ?Y fA ) I wi \ҿ A`> /@ r> 0@ >) %m@I YbQ4e?cp'?Q ;+? %&?) bI Vi  checking for new query: numPingsReceived=30, elapsed TxPingTime=15.102945v|,rk?A ^R?^G?^2<=ٱ^Jg vAHRS rotation from veh to nav: [[0.504626,-0.846185,-0.171243],[0.862115,0.483347,0.152095],[-0.045931,-0.224382,0.973418]]^H%?Hſr?@(?w?6`̿>&?i^R?I^ m];^CY%By-"Ionly read 0 of 1 data item for BIT error. Device response is::TS,00050319004451,35.0, +11.1, 0.0, 0 a@a a@a a@a a@a bDVDy\=%<=ٔ$Q;Q->9Y= TGy F -EU>YQ 5e4] n?Q 9e4]8)]BQ Am+:YiQ Em:ym{h?Q Im?]5DI] ;i]1>]Q4yɮ@B{>BCBBBBBBw;B1Ei9i=Ai?AJi=ARi=Aji=bz?b=eBmG4@ғǣê,@R=L?ʳ#sf& ?Zi=Vbi=j=bR"s'@G%l#1@t:@Z=?]E?m߲?2i=A:i=;8A"i=m\8?*i=o&Bi=Bii=V ?i=ǿni9i=6Ai=zC? addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.502392 s, deltaX: -0.400002 m, approachRate: -0.796194 m/s, rangeRepo size: 4  Added new target pos. range: 21.700739 m, bearing: 56.104492 deg, lat: 36.779313 deg, lon: -121.859545 deg, deltaT: 0.502392 s, deltaX: -0.398266 m, approachRate: -0.792739 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.70 m.bhRhZhM ProNav: ac range: 21.700739 m, nav range: 20.901373 m, bearing: 58.309009 deg, approach rate: 0.000000 m/s, LOS rate: 0.159818 deg/s, cmd heading: 58.642297 deg, new cmd heading: 58.873284 deg. BhIUHeadingCmd: 1.027533 target range: 21.700739 and range: 21.80 m.hU1?hQ*hY"hY hYgYfYfafadaddjd5@Zdpw? Bɢ)sP=) hv>i)X=ii1?{J<@ @@4@Թ^Au04=IIO> :G ) bEFA4jEɏB4rE5/EM  EM EM &EI "EM :*EM :VEM 4ZEI BEM >9q Yu ZpAVi,?AHn!P?nEZ?n"@=ٱn$g vAHRS rotation from veh to nav: [[0.510819,-0.842845,-0.169338],[0.858409,0.489323,0.153939],[-0.046886,-0.223997,0.973462]]nH X?@ſx?Q?E?@c̿&?in!P?InX];lY~By~ #I @A bDVDky%ـ=%%X=ٔ%&;Q-%>9)Y)=-TGy-F5E5>9Q 5E4=z?Q 9E4=,)=BQ AE :YAQ EEQ:yEf?Q IE?=5DI=:i=P?=4yUʓBɮU@UEuB*** querying acoustic contact ***iq iqjhyDNOT Ignoring new targets: 21.70 m.bhRh;Zh; ProNav: ac range: 21.700739 m, nav range: 20.658253 m, bearing: 58.388136 deg, approach rate: -0.740913 m/s, LOS rate: 0.243978 deg/s, cmd heading: 58.873287 deg, new cmd heading: 59.113459 deg. Bhp'<HeadingCmd: 1.031724 target range: 21.700739 and range: 21.80 m.h?h*h"h hgfDDAT read: Rx Time:15:12:24.8863 TRx dataTimestamp_ set to:1761577946.148861PDAT read: Bearing 226.5, -14.7 (Local) ~Local bearing/azimuth received: Bearing 226.5, -14.7 (Local) DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.5 f)f)d)d)d1jd9Zd= ?DAT read: 15:12:24.8863 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 500,-0.21,-2.324, 2.397,-1.911,-2.185, PHS=-0.037,-1.656, 0.230, RAW= 157.5, 16.3, CAL= 158.5, 19.0, ROT= 351.5, -19.0 Ygot valid direction response: 15:12:24.8863 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 500,-0.21,-2.324, 2.397,-1.911,-2.185, PHS=-0.037,-1.656, 0.230, RAW= 157.5, 16.3, CAL= 158.5, 19.0, ROT= 351.5, -19.0 T#Rx 31: Read range and direction messages.^direction in FSK: [0.935133,-0.139756,0.325568]EFpublishing direction and range infoyɛ?Ya`FI?YA )7IPiӿk>/@> 1@ ɩ>)P@Iɩn;\?89 ?M];? '?)Iiɩ]checking for new query: numPingsReceived=31, elapsed TxPingTime=15.637169mBɢm`e=)i m->ii)ug=qqiuf!i}?}2 K<}Oi!>3@ @@/@m checking for new query: numPingsReceived=31, elapsed TxPingTime=15.834927^A ;= I! I9 OE >,B?AE  E E (E "E :*E :VE c44ZE a@a@a@a@YBy#IbDVD0y]4<%]9=ٔmQ-u>9Y=TGyFE>iQ 54mb?Q 94m)mBQ A9YQ E):yQ I?m6DIm ) >i!)%+=!!i%.]i-ڄ?-J<-]? 0@ V>)%m@IVu͞?o?ڻKqj? ƺ(?)rmIViVMchecking for new query: numPingsReceived=32, elapsed TxPingTime=16.135744YU6@Q @Q@U2@YB B B #IB BB =B B B x;B 1E^A5 *<I I O >ԁ ,?A&checking for new query: numPingsReceived=32, elapsed TxPingTime=16.341772J7N?JP?JryG=ٱJ#c RAHRS rotation from veh to nav: [[0.520251,-0.838166,-0.163758],[0.852625,0.498836,0.155541],[-0.048681,-0.220545,0.974161]]JH`?@A@ ĿH??@?`쨿:̿@T,?iJ7N?IJ.g];JCYZByZ'#Ia=aE aEaE aEaE aEaE iEMb@Mb@Mb@AAAA A9EQ?lX9v?YE\/?yEE9Y=TGyFE>Q 54㖘?Q 9 4M)BQ A T:Y /?Q E :y z?Q I ?"6DI;i ;1˥4y=ΓBɮ=@9ii,?AJii)Im=E EEE"E*E~:VEZEBE6Z,@>c-@ nF>)DS@InFTkL~?2 9_?? &?)I%inF% checking for new query: numPingsReceived=33, elapsed TxPingTime=16.632824^A 0:D< A1 IA IQ Oe >\,ޮ?AF,M?F?FQL=ٱFc` bAHRS rotation from veh to nav: [[0.523072,-0.837244,-0.159429],[0.850829,0.502016,0.155149],[-0.049862,-0.216801,0.974942]]FH?@@)hĿ9???{ ˿2?iF,M?IFɐ];FCYfByh <bD VD :yi\;%T=ٔH;Q->9!Y!=%TGy%F%E->)Q 5U4-A?Q 9]4-)-BYYy] z?Q I]?-36DI-G;i-;-ѥ4yaɮm~@iԑii:?AJipARipAji3?bN,3@i5!鲻)@R܏d?X H״-JZ?Zi%binFjQ4%@M y0@ @Z2h?ϱ ?Ͳ<>?2i~A:i,A"i+-?*i}zBiBiiiBi?AiM{?= addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504510 s, deltaX: -0.100000 m, approachRate: -0.198213 m/s, rangeRepo size: 4 M Added new target pos. range: 20.804832 m, bearing: 57.595123 deg, lat: 36.779318 deg, lon: -121.859551 deg, deltaT: 0.504510 s, deltaX: -0.099545 m, approachRate: -0.197309 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 20.80 m.bhIRhqZhq ProNav: ac range: 20.804832 m, nav range: 19.656038 m, bearing: 56.379812 deg, approach rate: 0.000000 m/s, LOS rate: 0.243978 deg/s, cmd heading: 59.733925 deg, new cmd heading: 60.016305 deg. BhHeadingCmd: 1.047482 target range: 20.804832 and range: 20.90 m.h?h*h"h hgfffdddjd`f4@Zdo?checking for new query: numPingsReceived=33, elapsed TxPingTime=16.842743-Bɢ-Vcu=)1 5>i1)5Fp=11i=i=?=I DDAT read: Rx Time:15:12:26.3856  TRx dataTimestamp_ set to:1761577947.662343 PDAT read: Bearing 221.8, -13.7 (Local)  ~Local bearing/azimuth received: Bearing 221.8, -13.7 (Local)  DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.6   DAT read: 15:12:26.3856 LVL= 32752, 32753, 32482, 32755, AGC= 54, IDX= 509,-0.33, 0.657,-0.969, 1.089, 0.707, PHS= 0.052,-1.632, 0.337, RAW= 157.7, 13.4, CAL= 158.2, 15.3, ROT= 351.8, -15.3  Ygot valid direction response: 15:12:26.3856 LVL= 32752, 32753, 32482, 32755, AGC= 54, IDX= 509,-0.33, 0.657,-0.969, 1.089, 0.707, PHS= 0.052,-1.632, 0.337, RAW= 157.7, 13.4, CAL= 158.2, 15.3, ROT= 351.8, -15.3  T#Rx 34: Read range and direction messages. ^direction in FSK: [0.954696,-0.137574,0.263873] Fpublishing direction and range infoy  P-ތ?(¾&K?Y 3A  ~ ) I T=i `п D> '0@ |o> 0@ ܸ>) p{@I ܸ :N?-p ?4 ? 6m(?) oI Ti ܸ Ϻ,Y?A~L?~&B?~^Q=ٱ~ Zchecking for new query: numPingsReceived=34, elapsed TxPingTime=17.178398 uAHRS rotation from veh to nav: [[0.524684,-0.837233,-0.154102],[0.849758,0.504202,0.153922],[-0.051170,-0.211710,0.975992]]~H@6? @ÿ@71?l"?ෳ?2@L˿T;?i~L?I~u];~CYBy7#I B|>B CB#IBBB =BBBx;B1EiMMb@Mb@Mb@IIII I9MS?/$I +?YM:?yMM99Y=TGyFE>Q 54?Q 94)BY%:?Q E%:y%~?Q I%?J6DIh;iF;sڥ4y-ʓBɮ-t@-Eiic?AJiuARiuAjiWo?b .ցc3@IVY!d&o@RP-ތ?(¾&K?ZiTbiܸj[^'@4h/@~'4/Q@Zwi?ƸT ?U-p?2i?~A:i:A"ic?*i1(Bi[BiY?io&iBiAiv? addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.502549 s, deltaX: -0.500000 m, approachRate: -0.994928 m/s, rangeRepo size: 4  Added new target pos. range: 20.307165 m, bearing: 53.670502 deg, lat: 36.779322 deg, lon: -121.859552 deg, deltaT: 0.502549 s, deltaX: -0.497667 m, approachRate: -0.990286 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.31 m.bhRhZh- ProNav: ac range: 20.307165 m, nav range: 19.446646 m, bearing: 55.243575 deg, approach rate: 0.000000 m/s, LOS rate: 0.243978 deg/s, cmd heading: 60.016305 deg, new cmd heading: 60.370475 deg. Bh)5HeadingCmd: 1.053664 target range: 20.307165 and range: 20.40 m.h5sކ?h19*h1"hQ hQgYfYfYf]3Bdadadajde`ff4@ZdmH?BɢЋs=) ̴>i)f=i>%isކ?ԣH<Isކ?IEchecking for new query: numPingsReceived=34, elapsed TxPingTime=17.3484331@ @@0@iE%  E% E% *E! "E% l;*E% 1:VE% (N4ZE! BE% \F /@ PwV> '0@ |o>) @I |o H?6 ?}w? j'?) VI i |o checking for new query: numPingsReceived=35, elapsed TxPingTime=17.620985ԹA.AIIO%>ý,' ?AnhL?n:?n+U=ٱnR'S vAHRS rotation from veh to nav: [[0.524846,-0.838343,-0.147371],[0.849599,0.505345,0.151019],[-0.052133,-0.204468,0.977484]]nH? ¿@/?+?T?,`,ʿG?inhL?Inp];nCYByA#IbD-VD-βy}=%}@=ٔ;Q->9 ?Y ?=TGyF E>Q 54?Q 94)BYy~?Q I?^6DI:i:4y)ɮ-@1iYi]A ?AJi]ARi]Aji]|o?b]z3@ W w@R]3?oI] A?Zi] bi]|oj]{'@4,p/@JQg@Z]?M?4f|8?5~If?2i]~A:i];A"i]Hm?*i]9 Bi]Bi]?i]4$i]Bi] Ai]q? addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503444 s, deltaX: -0.100000 m, approachRate: -0.198633 m/s, rangeRepo size: 4  Added new target pos. range: 20.207621 m, bearing: 53.600238 deg, lat: 36.779326 deg, lon: -121.859551 deg, deltaT: 0.503444 s, deltaX: -0.099545 m, approachRate: -0.197727 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.21 m.bhRhZhU ProNav: ac range: 20.207621 m, nav range: 19.505411 m, bearing: 54.129673 deg, approach rate: 0.000000 m/s, LOS rate: 0.243978 deg/s, cmd heading: 60.370478 deg, new cmd heading: 60.691750 deg. BhQ]HeadingCmd: 1.059271 target range: 20.207621 and range: 20.30 m.h]0?hY*hY"hY hYgYfaffdddjdL4@Zd@?BɢƷ=) >i)-=i=pi 0? UrG< I 0?I2@ @@/@checking for new query: numPingsReceived=35, elapsed TxPingTime=17.851532^AeAIIO>! D] =D] =Ee  Ee Ee 'Ea "Ee %;*Ee |:VEe '4ZEa am @am @am @am @Kɽ,&?Ax 0@,m>|0@ V>) @IV?Zgmu?q]Wr? '?)mI4iVuchecking for new query: numPingsReceived=36, elapsed TxPingTime=18.123442iuMb@Mb@Mb@qqqqԡ q9uS㥛?y&1|?:v?YuD?yu`;uT9aYa=eTGyeFm7;Em>Q 54qҘ?Q 946)BYD?Q E:y?Q I?v6DI;i;4yΓBɮ@Eii+*?AJiARiAjio?bi[2@9z# 1o@R#?1.?X2QfJ0?Zi4biVj43&@׾ke.@a@Z̄bs?q\?WX?2iuA:i4A"iC?*iuk&BiэBiC?iuk&i[BiAio? addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504023 s, deltaX: -0.599998 m, approachRate: -1.190419 m/s, rangeRepo size: 4 AAAAB~>BB5#IBBBBBBNx;B1EB CB CBBBCų4 Added new target pos. range: 19.610352 m, bearing: 53.659558 deg, lat: 36.779327 deg, lon: -121.859553 deg, deltaT: 0.504023 s, deltaX: -0.597269 m, approachRate: -1.185004 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.61 m.bhRh Zh ] ProNav: ac range: 19.610352 m, nav range: 19.080959 m, bearing: 53.659487 deg, approach rate: 0.000000 m/s, LOS rate: 0.243978 deg/s, cmd heading: 60.691750 deg, new cmd heading: 61.054234 deg. BhYeHeadingCmd: 1.065597 target range: 19.610352 and range: 19.70 m.hee?ha*ha"ha hagifffIBdddjd@33@Zd? Bɢ W=)  >i )K=iie?E<ӼIe?I!0@ @@0@ checking for new query: numPingsReceived=36, elapsed TxPingTime=18.355574 ^A tA ?A ?) Em  Em Em )Ei "Em :*Em :VEm FA4ZEi BEm A8C0@ j>0@ %>)%m@I%BS)?-?h62? )?)JjIVi%checking for new query: numPingsReceived=37, elapsed TxPingTime=18.643587YByG#IbDVDy%'=ٔQ->9Y=TGyFE>Q 54Z☊?Q 94) BYayaQ Ie?6DIi)f=顩iG i2?.D<I2?I)1@ @@/@m checking for new query: numPingsReceived=37, elapsed TxPingTime=18.858871Y ^Am cռEm  Em Em *Ei "Em :ԉ *Em x:VEm (N4ZEi a @a @a @a @A؟AII9OU?ٽ,Ri?A,fDDAT read: Rx Time:15:12:28.3846 jTRx dataTimestamp_ set to:1761577949.677834nPDAT read: Bearing 216.8, -12.8 (Local) n~Local bearing/azimuth received: Bearing 216.8, -12.8 (Local) vDAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.5 DAT read: 15:12:28.3846 LVL= 31568, 32753, 28306, 32755, AGC= 52, IDX= 499,-0.02, 2.447, 0.840, 2.898, 2.382, PHS= 0.167,-1.497, 0.472, RAW= 158.3, 9.4, CAL= 158.1, 10.0, ROT= 351.9, -10.0 Ygot valid direction response: 15:12:28.3846 LVL= 31568, 32753, 28306, 32755, AGC= 52, IDX= 499,-0.02, 2.447, 0.840, 2.898, 2.382, PHS= 0.167,-1.497, 0.472, RAW= 158.3, 9.4, CAL= 158.1, 10.0, ROT= 351.9, -10.0 T#Rx 38: Read range and direction messages.%^direction in FSK: [0.974983,-0.138761,0.173648]-Fpublishing direction and range infoydfa3?>ٖNs:?Yf3AdfP{dfn d)f4If +>iff>f0@f'>fr0@ f¸2>)f@If¸2ddf#.?W?R ? f+?)fr'Ifif¸2ddEchecking for new query: numPingsReceived=38, elapsed TxPingTime=19.128111QN?]9?m+`=ٱ; AHRS rotation from veh to nav: [[0.518161,-0.845645,-0.128035],[0.853532,0.501699,0.140646],[-0.054702,-0.182159,0.981746]]HƔ?oc "P?` ??`Pǿ`wj?iQN?I];CY%ńBy%N#IԉiMb@Mb@Mb@ 9(\?ˡE?y&1|YN?y'=`7A@ -@)Y ;B>BBH#IBBBBBBx;B1EbDVD:yE<%M =ٔM-;Q-M>9U"?YU"?=UTGyUFU0<E]>yQ 54}?Q 94})}BYZN?Q E:yp?Q I?}6DI}:i}:}L4y2Bɮ@Eidifak?AJifARifAjifMk?bf*GW2@l?" @Rfa3?>ٖNs:?Zifbif¸2jfL &@!+-@To@Zf> 5?5z.?@h{:?2iflA:if4A"ifBJ?*ifo"Bif!BifB?idifBifAifOm?U addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.500717 s, deltaX: -0.500000 m, approachRate: -0.998568 m/s, rangeRepo size: 4  Added new target pos. range: 18.814121 m, bearing: 52.663859 deg, lat: 36.779328 deg, lon: -121.859552 deg, deltaT: 0.500717 s, deltaX: -0.497656 m, approachRate: -0.993887 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.81 m.bhRhZhԱ ProNav: ac range: 18.814121 m, nav range: 18.328215 m, bearing: 53.112452 deg, approach rate: 0.000000 m/s, LOS rate: 0.243978 deg/s, cmd heading: 61.412826 deg, new cmd heading: 61.833676 deg. BhHeadingCmd: 1.079201 target range: 18.814121 and range: 18.90 m.hD#?h*h"h hgfffJBddd jd `f2@Zd /?UBɢ]m=)Y ]j>iY)]9>=aaieWimD#?m3BFpublishing direction and range infoy 9o?u¿AzUmD?YfA o 2l )3IS=i#ɿ> 1@aF>m(1@ [>)?B@I[ @C?Nd?Fq? +?)FIti[ 5checking for new query: numPingsReceived=39, elapsed TxPingTime=19.652048Y=ĄBy=L#IbDUVDU0yw%:=ٔQ->9Y=TGyFE>Q 54?Q 94)BYyQ I?6DIw:i :4yɮ@PExceeded connect timeout, disconnecting.i i\?AJiARiAji7k?bYS2@>hV_x@R9o?u¿AzUmD?Zitbi[j̙V&@&CQ=-@aBπb @Zg?$?M1i?2iiA:i2A"ii)ʲ=顱iAiي?}@<Iي?Iԡchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.867147y@y @y@}/@y E  E E E "E :*E :VE ZE a @a @a @a @^A  A I!I1O=>V,%Z?ADDAT read: Rx Time:15:12:29.3841 TRx dataTimestamp_ set to:1761577950.684763&PDAT read: Bearing 222.2, -14.9 (Local) &~Local bearing/azimuth received: Bearing 222.2, -14.9 (Local) .DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.6 BDAT read: 15:12:29.3841 LVL= 32752, 32753, 29778, 32755, AGC= 52, IDX= 494, 0.26, 2.963, 1.331,-2.834, 3.027, PHS= 0.037,-1.651, 0.378, RAW= 159.0, 13.1, CAL= 159.5, 14.9, ROT= 350.5, -14.9 FYgot valid direction response: 15:12:29.3841 LVL= 32752, 32753, 29778, 32755, AGC= 52, IDX= 494, 0.26, 2.963, 1.331,-2.834, 3.027, PHS= 0.037,-1.651, 0.378, RAW= 159.0, 13.1, CAL= 159.5, 14.9, ROT= 350.5, -14.9 FT#Rx 40: Read range and direction messages.J^direction in FSK: [0.953123,-0.159498,0.257133]JFpublishing direction and range infoyVx?פ~hmjĿFht?YfARt )4IP=iSӿ7>Κ1@ j>)2@ %>)@I%<6?~-?; ? a.?)yiI)i%jchecking for new query: numPingsReceived=40, elapsed TxPingTime=20.138800tMS?l?!g=ٱ~! =AHRS rotation from veh to nav: [[0.503360,-0.857357,-0.107554],[0.862234,0.490256,0.127284],[-0.056399,-0.156806,0.986018]]H?wo l?Z`? J?Lି;Ŀu?iMS?I,];CYuBy}>#IimMb@Mb@Mb@iiii i9mi|?5?L7A`?~jtYmQ?ym+=mm Am@ m@)iiYmzAAAbDVDN2y2%=ٔ~P;Q->9Y=TGyF=E>Q 54B>BBA#IBBB =BBDBx;B2E?Q 954])אBY=fR?Q E=:y=)?Q I=?6DI*i|ě@RVx?פ~hmjĿFht?Zi)bi%j5=Ot%@֐I,@Ua@Z.7?ox.?h ?2iHbA:i+A"i[@Λ?*i`r`!BiBi[@Λ?iiBiAik? addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504016 s, deltaX: -0.500000 m, approachRate: -0.992032 m/s, rangeRepo size: 4   Added new target pos. range: 18.216999 m, bearing: 52.819961 deg, lat: 36.779329 deg, lon: -121.859551 deg, deltaT: 0.504016 s, deltaX: -0.497578 m, approachRate: -0.987226 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 18.22 m.bh Rh1Zh1E ProNav: ac range: 18.216999 m, nav range: 17.718748 m, bearing: 52.741345 deg, approach rate: 0.000000 m/s, LOS rate: 0.243978 deg/s, cmd heading: 62.152789 deg, new cmd heading: 62.548651 deg. BhAMHeadingCmd: 1.091680 target range: 18.216999 and range: 18.30 m.hM+?hQ*hQ"hQ hQgQfYfYf].BdYdadajdeL2@Zde?BɢZ:=) r>i)h!=igi+?K><ۼI+?I A0@ @@@checking for new query: numPingsReceived=40, elapsed TxPingTime=20.371912   ːCe Gy ԁ A 9 Y hA^A bEUc44jEUc44rEU/E  E E %E "E :*E :VE 4ZE BE 6,?AbT?bI?bJg=ٱbu rAHRS rotation from veh to nav: [[0.497535,-0.861526,-0.101150],[0.865606,0.485508,0.122512],[-0.056438,-0.148510,0.987299]]bH ? 乿 ??\?@h嬿bÿ ?ibT?Ib|];bCY By )#IbD-VD-0y= %=X=ٔEr8Q-E>9AYA=MTGyMFM<EM>QQ 5]4U?Q 9]4U)UɐBYaye?Q Ie?U6DIUp:iU:U4ym-Bɮmf@uEB*** querying acoustic contact ***iDDAT read: Rx Time:15:12:29.8840 TRx dataTimestamp_ set to:1761577951.188925PDAT read: Bearing 223.4, -15.3 (Local) ~Local bearing/azimuth received: Bearing 223.4, -15.3 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.6 DAT read: 15:12:29.8840 LVL= 32752, 32753, 30898, 32755, AGC= 53, IDX= 509,-0.13,-2.978, 1.693,-2.482,-2.887, PHS= 0.012,-1.658, 0.361, RAW= 159.3, 13.7, CAL= 159.9, 15.7, ROT= 350.1, -15.7  ijh1=DNOT Ignoring new targets: 18.22 m.bh9Rh=uZh=uMYgot valid direction response: 15:12:29.8840 LVL= 32752, 32753, 30898, 32755, AGC= 53, IDX= 509,-0.13,-2.978, 1.693,-2.482,-2.887, PHS= 0.012,-1.658, 0.361, RAW= 159.3, 13.7, CAL= 159.9, 15.7, ROT= 350.1, -15.7 MT#Rx 41: Read range and direction messages.U^direction in FSK: [0.948357,-0.165515,0.270600]UFpublishing direction and range infoy ProNav: ac range: 18.216999 m, nav range: 17.419006 m, bearing: 52.536297 deg, approach rate: -0.801382 m/s, LOS rate: -0.557642 deg/s, cmd heading: 62.548653 deg, new cmd heading: 61.922951 deg. BhZHeadingCmd: 1.080759 target range: 18.216999 and range: 18.30 m.hSV?h*h"h hgfhiX?{S/ſRlyQ?YAx )5ID1@Gt>)2@ K>)a@IKz\l?8C|?)w;? О/?)[*tI40iKchecking for new query: numPingsReceived=41, elapsed TxPingTime=20.660879ffdddjd@332@Zdc?=Bɢ=…=) >i)`"=顉i iSV?9ISV?IenManaging dock network, ignoring radio surface power offA@I @Q@U/@Y^A5A9A=?Ae.AIiIO>! M checking for new query: numPingsReceived=41, elapsed TxPingTime=20.8747569,(?A0E~ E~E~+E|"E~:*E~8:VE~ [4ZE|a%@a%@a%@a%@ ˜V? 9? f=ٱ A AHRS rotation from veh to nav: [[0.491189,-0.865835,-0.095197],[0.869231,0.480160,0.117834],[-0.056315,-0.140627,0.988460]] H@o?^?`?Y*?Iլ ¿`v?i ˜V?I ]; CԑYBy#IiMb@Mb@Mb@ 9|?5^?)\(?MbYR?yGa=~A@ C@)AYA DDAT read: Rx Time:15:12:30.3836 TRx dataTimestamp_ set to:1761577951.692732PDAT read: Bearing 223.9, -16.0 (Local) ~Local bearing/azimuth received: Bearing 223.9, -16.0 (Local) DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.6 DAT read: 15:12:30.3836 LVL= 32752, 32753, 29938, 32755, AGC= 53, IDX= 505, 0.23,-2.099, 2.584,-1.577,-1.992, PHS=-0.005,-1.663, 0.371, RAW= 160.0, 13.7, CAL= 160.6, 15.8, ROT= 349.4, -15.8 Ygot valid direction response: 15:12:30.3836 LVL= 32752, 32753, 29938, 32755, AGC= 53, IDX= 505, 0.23,-2.099, 2.584,-1.577,-1.992, PHS=-0.005,-1.663, 0.371, RAW= 160.0, 13.7, CAL= 160.6, 15.8, ROT= 349.4, -15.8 T#Rx 42: Read range and direction messages. ^direction in FSK: [0.945798,-0.177001,0.272280] Fpublishing direction and range infoySJC?khƿ ^ m?Y̌At )I ףi/Կ>¸2@Ud3@ 0>)K$@I0*1*[Z?"ɵK?͔ljoj? 2?bD%VD%k)uIq=i0]checking for new query: numPingsReceived=42, elapsed TxPingTime=21.149179ymtX%m=ٔmaoQ-u>9u ?Yu ?=uTGyuF}(^<E}>Q 54/?Q 94Y)BYES?Q EE:yE?Q IE?7DI8Be!CBe"#IBeBBe =BaBaBex;Be2E颭Bɢpr=) >i)$=i6i2?p};I2?IIQ )Q @  @ @ /@ e checking for new query: numPingsReceived=42, elapsed TxPingTime=21.378727 ^AټE] E]E]'EY"E]:*E]~:VE]'4ZEYBE]>9"?Y"?=TGyFG=E>Q 542@,m>3@ ԇ>)@Iԇ 8?lY!&?:Aj?hM?h*h"h hgfffdddjd`ff1@ZdC? c3?)3vmIAiԇ checking for new query: numPingsReceived=43, elapsed TxPingTime=21.662725UBɢUju=)Q ]>iY)]%=YYi]TiM?+=IM?I=6@9 @9@9@9^Aܝ)AIIQIaOu> checking for new query: numPingsReceived=43, elapsed TxPingTime=21.882706Q ,!?AF Q\?F?FPa=ٱF zAHRS rotation from veh to nav: [[0.471737,-0.877657,-0.084747],[0.880026,0.462653,0.107266],[-0.054934,-0.125181,0.990612]]FH 0?@,)?@?u?I `?iF Q\?IF];FCEu EuEu%Eq"Eu:*Euxv:VEu 4ZEqa@a@a@a@YeBy"I9bDVDN2y%9=ٔ6Q->9Y=TGyF<E>Q 54I?Q 94q)BYy?Q I??7DI;i; .4yɮ@iQiU ?AJiUARiUAjiUum?bUW KNk0@3 l*@RU|cU?T%N%ǿ;f$?ZiUAbiUԇjU#x8$@-*@!uVI@ZUKK?Țȧ?)z?2iUWA:iU!A"iUp?*iU:)BiU`BiUp?iUi iU`BiUAiU_g? addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504110 s, deltaX: -0.200001 m, approachRate: -0.396740 m/s, rangeRepo size: 4 -DDAT read: Rx Time:15:12:31.3832 5TRx dataTimestamp_ set to:1761577952.700761=PDAT read: Bearing 226.8, -16.0 (Local) =~Local bearing/azimuth received: Bearing 226.8, -16.0 (Local) UDAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.6 a}DAT read: 15:12:31.3832 LVL= 32752, 32753, 30594, 32755, AGC= 53, IDX= 500, 0.08,-2.524, 2.198,-2.017,-2.372, PHS=-0.050,-1.668, 0.312, RAW= 159.9, 15.2, CAL= 160.7, 17.8, ROT= 349.3, -17.8 Ygot valid direction response: 15:12:31.3832 LVL= 32752, 32753, 30594, 32755, AGC= 53, IDX= 500, 0.08,-2.524, 2.198,-2.017,-2.372, PHS=-0.050,-1.668, 0.312, RAW= 159.9, 15.2, CAL= 160.7, 17.8, ROT= 349.3, -17.8 T#Rx 44: Read range and direction messages.^direction in FSK: [0.935575,-0.176779,0.305695]Fpublishing direction and range infoy15o 9?@ˮƿќ?Y5fA1115w 1)55I5Li5տ5w>5)2@5ԇ>53@ 5> Added new target pos. range: 17.321198 m, bearing: 53.146205 deg, lat: 36.779329 deg, lon: -121.859550 deg, deltaT: 0.504110 s, deltaX: -0.198978 m, approachRate: -0.394712 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.32 m.bhRhZh)5@I5115}A?o' ?O{b? 552?)5I5t;?i511checking for new query: numPingsReceived=44, elapsed TxPingTime=22.156269 ProNav: ac range: 17.321198 m, nav range: 16.321693 m, bearing: 51.727914 deg, approach rate: 0.000000 m/s, LOS rate: -0.691308 deg/s, cmd heading: 60.117037 deg, new cmd heading: 59.092842 deg. BhHeadingCmd: 1.031365 target range: 17.321198 and range: 17.40 m.h?h*h!"h! h!g!f!f)f)d1d1d1jd=0@Zd]尣?Bɢ9+a=) lo>i)&=iTi?I]U=I?IC>i>ԑBBB"IByBB =BBBy;B(2EM 1@I  @I @M /@I @U =@U =Թ  checking for new query: numPingsReceived=44, elapsed TxPingTime=22.391058^Au Β;AIIO%?, C?AEV EVEV(ET"EV:*EV:VEVc44ZETBEVA89AYI=MTGyMFUH<EU>YQ 5e4] Z?Q 9m4]pg)]rBYmyO?Q Em:ym?Q Im?][7DI] :i]:]74yu-Bɮ}@}EiiE,?AJiʅARiʅAjiq?bOJ/@bæ<s@Ro 9?@ˮƿќ?Zit;?bij ܮj"@Ȝ*@}CM@Z?ɓ?}?2iPA:i~A"iw?*igBiwBi[@Λ?i)iBi~Aif?e addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503919 s, deltaX: -0.600000 m, approachRate: -1.190668 m/s, rangeRepo size: 4 DDAT read: Rx Time:15:12:31.8830 TRx dataTimestamp_ set to:1761577953.208792PDAT read: Bearing 227.1, -16.7 (Local) ~Local bearing/azimuth received: Bearing 227.1, -16.7 (Local) DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.6 DAT read: 15:12:31.8830 LVL= 32752, 32753, 29858, 32755, AGC= 53, IDX= 498, 0.35, 0.092,-1.447, 0.630, 0.258, PHS=-0.063,-1.659, 0.329, RAW= 160.7, 15.1, CAL= 161.5, 17.8, ROT= 348.5, -17.8 Ygot valid direction response: 15:12:31.8830 LVL= 32752, 32753, 29858, 32755, AGC= 53, IDX= 498, 0.35, 0.092,-1.447, 0.630, 0.258, PHS=-0.063,-1.659, 0.329, RAW= 160.7, 15.1, CAL= 161.5, 17.8, ROT= 348.5, -17.8 T#Rx 45: Read range and direction messages.^direction in FSK: [0.933015,-0.189824,0.305695]Fpublishing direction and range infoyzB?x(Lȿќ?YAt )I%iZԿr>3@V>e4@ )@I8pi?BR(?s50? 5?)IMichecking for new query: numPingsReceived=45, elapsed TxPingTime=22.659163 Added new target pos. range: 16.723896 m, bearing: 53.940888 deg, lat: 36.779329 deg, lon: -121.859549 deg, deltaT: 0.503919 s, deltaX: -0.597301 m, approachRate: -1.185313 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 16.72 m.bh!Rh!Zh!5 ProNav: ac range: 16.723896 m, nav range: 15.926787 m, bearing: 51.594284 deg, approach rate: 0.000000 m/s, LOS rate: -0.691308 deg/s, cmd heading: 59.092843 deg, new cmd heading: 58.014379 deg. Bh9=HeadingCmd: 1.012542 target range: 16.723896 and range: 16.80 m.h=?hA*hA"hA hAgAfAfIfMBdidqdqjdu0@Zduş?UBɢ]rV=)Y ]VG>iY)]&=YYiAi?=I?I9 ?@  @ @ 4@ ^A ewb,^?AB__?B&?B3]=ٱB1 zAHRS rotation from veh to nav: [[0.461216,-0.883299,-0.084039],[0.885645,0.452530,0.104164],[-0.053978,-0.122471,0.991003]]BH?`C @3W?A?|?򢫿DZ@L?iB__?IB];@Y $By "IbDEVDEܲyMr%Uc=ٔuŦQ->9Y=TGyFi<E>Q 54d?Q 94s`Ա)bBYy?Q I?n7DI.;i/; >4yɮKAi!i%\M?AJi%fARi%fADzD@AE- E-E-+E)"E-:*E-ą:VE- [4ZE)aU@aU@aU@a]@ji%7n?b%tg.@L2{;gX@R%zB?x(Lȿќ?Zi%Mbi!j%"@ւہ^)@'T@Z%̕.MP?pX\?E3m}7?2i%JA:i%gA"i%|?*i%u*Bi%4Bi%y+?i%u*i%Bi%Ai%{j? addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.508031 s, deltaX: -0.299999 m, approachRate: -0.590514 m/s, rangeRepo size: 4  Added new target pos. range: 16.425257 m, bearing: 53.458823 deg, lat: 36.779328 deg, lon: -121.859544 deg, deltaT: 0.508031 s, deltaX: -0.298639 m, approachRate: -0.587837 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 16.43 m.bhARhIZhI] ProNav: ac range: 16.425257 m, nav range: 15.992840 m, bearing: 52.479978 deg, approach rate: 0.000000 m/s, LOS rate: -0.691308 deg/s, cmd heading: 58.014377 deg, new cmd heading: 57.173293 deg. BhYHeadingCmd: 0.997862 target range: 16.425257 and range: 16.50 m.hs?h*h"h hgfffd ddIjdQZd}?颅Bɢ9VG=) =i)@'=顉iis?J=Is?IDDAT read: Rx Time:15:12:32.3827 %TRx dataTimestamp_ set to:1761577953.7167555PDAT read: Bearing 225.9, -16.5 (Local) 5~Local bearing/azimuth received: Bearing 225.9, -16.5 (Local) MDAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.6 DAT read: 15:12:32.3827 LVL= 32752, 32753, 28274, 32755, AGC= 54, IDX= 495,-0.25,-2.233, 2.524,-1.694,-2.099, PHS=-0.032,-1.615, 0.361, RAW= 160.8, 14.1, CAL= 161.5, 16.4, ROT= 348.5, -16.4 Ygot valid direction response: 15:12:32.3827 LVL= 32752, 32753, 28274, 32755, AGC= 54, IDX= 495,-0.25,-2.233, 2.524,-1.694,-2.099, PHS=-0.032,-1.615, 0.361, RAW= 160.8, 14.1, CAL= 161.5, 16.4, ROT= 348.5, -16.4 T#Rx 46: Read range and direction messages.^direction in FSK: [0.940055,-0.191257,0.282341] Fpublishing direction and range infoy0&?J{ȿIx?ỲArn )6IoiRοԸ>M1@I @I@M/@I3@d{> C>)IC2~I|? J?iq]9'? rk6?)W{IiCchecking for new query: numPingsReceived=46, elapsed TxPingTime=23.197189^A% QO=Be >Ba Be "IBe ABBe =Ba Ba Be y;Be #2EB!CB!CBB =B =CU451 AQ IY Iq O} >,x?ABKz`?BY(?Bh_[=ٱBԄ JAHRS rotation from veh to nav: [[0.457406,-0.885104,-0.085856],[0.887645,0.448632,0.103999],[-0.053532,-0.123779,0.990865]]BH %F?Rg?a??h *?iBKz`?IBt];BCY By n"I]checking for new query: numPingsReceived=46, elapsed TxPingTime=23.398727ieMb@Mb@Mb@aaaa a9eE?~jtYeF?yeaaa a)aaYabDVDky%7=ٔQ->9Y=TGyF <E>Q 54r?Q 94X)PBYF?Q E:y`?Q I?7DI!*;i);E4y3BɮAEiQiUPm?AJiU7ARiU7AjiU .o?bUq!.@(.@RU0&?J{ȿIx?ZiQbiUCjUsyn"@KM!(@̛:@ZUYf?vfU?&r;2?2iUGA:iUtA"iUfz?*iUȠBiU,BiU|?iUgiQiUwAiUn? addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.507963 s, deltaX: -0.400000 m, approachRate: -0.787458 m/s, rangeRepo size: 4  Added new target pos. range: 16.027103 m, bearing: 53.531308 deg, lat: 36.779325 deg, lon: -121.859543 deg, deltaT: 0.507963 s, deltaX: -0.398153 m, approachRate: -0.783823 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.03 m.bhRhZh- ProNav: ac range: 16.027103 m, nav range: 15.495451 m, bearing: 53.381629 deg, approach rate: 0.000000 m/s, LOS rate: -0.691308 deg/s, cmd heading: 57.173294 deg, new cmd heading: 56.353775 deg. Bh15HeadingCmd: 0.983559 target range: 16.027103 and range: 16.10 m.h={?h9*h9"h9 h9g9f9fAfEBdadidijdm0@Zdm`(?颵Bɢ>=) =i)t'=项iHi{?E9 E=E='E9"E9*E=҆:VE='4ZE9BE=5 3@ > P3@  nF>) @I nF   &)? F?6Ҕ?  (-4?) o.I aFi nF   checking for new query: numPingsReceived=47, elapsed TxPingTime=23.6750039 ^A XR=A >A >AI I!O->Y%,?A6a?6l?6Y=ٱ6 BAHRS rotation from veh to nav: [[0.455556,-0.885645,-0.090011],[0.888619,0.446375,0.105381],[-0.053151,-0.127993,0.990350]]6H'?3W @o?j?A?6b@?i6a?I6n];4YfByfY"I hhbDpVDpyv%z9=ٔzbQ-~>9|Y|=~TGy~F;E> Q 54 ^?Q 94 P) ?BYy?Q I? 7DI ;i ; oM4y%hBɮ%OA!iiim?AJimxxARimxxAjimÖr?bmJp -@JbeN@Rm`u?E!C}ǿ-JZ?ZimaFbimnFjm o!@sB(@Ir21@ZmDjo??cԁ|?2imBA:im~ A"im ^?*imBim{Bimfz?iiim{BimIrAimm?u addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.500170 s, deltaX: -0.500000 m, approachRate: -0.999660 m/s, rangeRepo size: 4  Added new target pos. range: 15.529367 m, bearing: 54.294223 deg, lat: 36.779325 deg, lon: -121.859543 deg, deltaT: 0.500170 s, deltaX: -0.497736 m, approachRate: -0.995134 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.53 m.bhRhZh ProNav: ac range: 15.529367 m, nav range: 15.142982 m, bearing: 53.258431 deg, approach rate: 0.000000 m/s, LOS rate: -0.691308 deg/s, cmd heading: 56.353773 deg, new cmd heading: 55.471461 deg. BhHeadingCmd: 0.968160 target range: 15.529367 and range: 15.60 m.hOw?h*h"h hgfffdddjd@33/@Zd ɬ?Bɢ3=) +=i)b'=iiOw?m=IOw?Ichecking for new query: numPingsReceived=47, elapsed TxPingTime=23.902983a/@ @@0@^A}c=E} E}ԑE})Ey"E}:*E}:VE}FA4ZEya@a@a@a@AIIOh> m DDAT read: Rx Time:15:12:33.3820 m TRx dataTimestamp_ set to:1761577954.725062} PDAT read: Bearing 226.2, -16.6 (Local)  ~Local bearing/azimuth received: Bearing 226.2, -16.6 (Local)  DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.6  DAT read: 15:12:33.3820 LVL= 32752, 32753, 30706, 32755, AGC= 54, IDX= 505,-0.46,-2.229, 2.539,-1.694,-2.091, PHS=-0.036,-1.608, 0.353, RAW= 160.8, 14.2, CAL= 161.5, 16.6, ROT= 348.5, -16.6  Ygot valid direction response: 15:12:33.3820 LVL= 32752, 32753, 30706, 32755, AGC= 54, IDX= 505,-0.46,-2.229, 2.539,-1.694,-2.091, PHS=-0.036,-1.608, 0.353, RAW= 160.8, 14.2, CAL= 161.5, 16.6, ROT= 348.5, -16.6  T#Rx 48: Read range and direction messages. ^direction in FSK: [0.939084,-0.191059,0.285688] Fpublishing direction and range infoyi m " ?@tȿWԷH?Ym pAi i i m w i )i Im tim Ϳm j>m 3@m }>m e4@ m V>)m @Im Vi i m  >pz??3_D?/,F}? m sH6?)m ~Im Mim Vi i } checking for new query: numPingsReceived=48, elapsed TxPingTime=24.194487y,,xc?A2N+a?2ۀ?2W=ٱ2 :AHRS rotation from veh to nav: [[0.455028,-0.885528,-0.093752],[0.888918,0.445481,0.106634],[-0.052663,-0.131859,0.989869]]2H@.? ?V r??eL? ?i2N+a?I2 ];2CLYRByR:"IB<A<B%>B!B%`"IB%BB!B!B!B%x;B%2EiEMb@Mb@Mb@AAAA A9El?Q롿/$YE7?yE\EE; AA A)EAAYEzAbDVDy ׽% -=ٔMQ-U>9QYQ=UTGyUF]:E]>aQ 5m4e䍙?Q 94eH)e1BY7?Q E:yͅ?Q I?e7DIe?'IE s?IA1@ @@/@ ^A K=A zA E  E E +E "E ;*E :VE [4ZE BE @Y2,i:?A28`?2PR?25X=ٱ2eR :AHRS rotation from veh to nav: [[0.456288,-0.884170,-0.100220],[0.888267,0.445909,0.110216],[-0.052761,-0.139312,0.988842]]2H3?K l?ʼn?@7?|?i28`?I2՜];2CY^҃Byb""IbDjVDj1 DDAT read: Rx Time:15:12:33.8819  TRx dataTimestamp_ set to:1761577955.224777PDAT read: Bearing 225.9, -16.5 (Local) ~Local bearing/azimuth received: Bearing 225.9, -16.5 (Local) -DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.7 MDAT read: 15:12:33.8819 LVL= 32752, 32753, 28530, 32755, AGC= 53, IDX= 503,-0.05,-0.881,-2.379,-0.360,-0.749, PHS=-0.029,-1.585, 0.345, RAW= 160.5, 14.2, CAL= 161.2, 16.5, ROT= 348.8, -16.5 UYgot valid direction response: 15:12:33.8819 LVL= 32752, 32753, 28530, 32755, AGC= 53, IDX= 503,-0.05,-0.881,-2.379,-0.360,-0.749, PHS=-0.029,-1.585, 0.345, RAW= 160.5, 14.2, CAL= 161.2, 16.5, ROT= 348.8, -16.5 ]T#Rx 49: Read range and direction messages.e^direction in FSK: [0.940559,-0.186236,0.284015]eFpublishing direction and range infoy  lZ?<ǿHN-?Y fnA    ro ) 5I hi Hʿ ף> G3@  4@ r>) @I r   qp?}(?݆Gg? z5?) }I 4+Hi r  checking for new query: numPingsReceived=49, elapsed TxPingTime=24.674931ԉy>ν%]=ٔ79Q->9Y=TGyF E >Q 5]4ט?Q 9]4B)'BYYy]?Q Ie?7DI$I=ڒo?IA0@ @@ 0@checking for new query: numPingsReceived=49, elapsed TxPingTime=24.910784^A S-= E  E E *E "E s:*E :VE (N4ZE a @a @a @a @I I) O= >/9,|?AF>_?Fߋ?FW=ٱFE bAHRS rotation from veh to nav: [[0.459391,-0.881375,-0.110175],[0.886672,0.447689,0.115705],[-0.052655,-0.150843,0.987154]]FH`f?`84@q4_?`?ܞ?`NÿĖ?iF>_?IF];FCYrByr"I|I~<)~bDUVDU1=DDAT read: Rx Time:15:12:34.3815 =TRx dataTimestamp_ set to:1761577955.729658MPDAT read: Bearing 226.1, -16.6 (Local) U~Local bearing/azimuth received: Bearing 226.1, -16.6 (Local) mDAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.6 DAT read: 15:12:34.3815 LVL= 32752, 32753, 26210, 32755, AGC= 52, IDX= 499, 0.39,-1.068,-2.570,-0.553,-0.926, PHS=-0.040,-1.599, 0.329, RAW= 160.4, 14.7, CAL= 161.1, 17.1, ROT= 348.9, -17.1 Ygot valid direction response: 15:12:34.3815 LVL= 32752, 32753, 26210, 32755, AGC= 52, IDX= 499, 0.39,-1.068,-2.570,-0.553,-0.926, PHS=-0.040,-1.599, 0.329, RAW= 160.4, 14.7, CAL= 161.1, 17.1, ROT= 348.9, -17.1 T#Rx 50: Read range and direction messages.^direction in FSK: [0.937913,-0.184011,0.294040]Fpublishing direction and range infoy9y^ν%2=ٔEaQ->9Y=TGyFkE>Q 54맙?Q 94:)BY=2`ia?/ 譍ǿ?Y=dA999=bf 9)=4I= #i=̿=r>=$+3@=G\>=P3@ =Θ>)=@I=Θ99=?X&V??=-? =r4?)=UۂI=aFi=Θ99checking for new query: numPingsReceived=50, elapsed TxPingTime=25.193125!y?Q IE?7DIw;=u}? K1?2i=f2A:i=d@"i=wH?*i=X8Bi=`Bi=Jj~[?i9i=Bi=_Ai=_q? addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504881 s, deltaX: -0.599999 m, approachRate: -1.188398 m/s, rangeRepo size: 4 - Added new target pos. range: 14.235207 m, bearing: 54.405110 deg, lat: 36.779322 deg, lon: -121.859543 deg, deltaT: 0.504881 s, deltaX: -0.597281 m, approachRate: -1.183014 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 14.24 m.bh1RhyZhy ProNav: ac range: 14.235207 m, nav range: 13.969821 m, bearing: 54.022400 deg, approach rate: 0.000000 m/s, LOS rate: -0.691308 deg/s, cmd heading: 53.619369 deg, new cmd heading: 52.659769 deg. BhHeadingCmd: 0.919086 target range: 14.235207 and range: 14.30 m.h>Ik?h*h"h hgfffd d d jd ,@Zd ͮ?B=>B9B=""IB=уBB9B9B9B=x;B=1EBɢ=) xi)#'=ibi>Ik?t>I>Ik?I1Q3@ @@0@^A =y  checking for new query: numPingsReceived=50, elapsed TxPingTime=25.418991Iy I O > G) A j@,?ABO9DYFypAYMByU"IabE:4jE:4rEC0Ee EeEe&Ea"Ee:*Ee:VEe4ZEaBEe59Y=TGyFE>Q 54(?Q 9424)BY1?Q E:y?Q I?7DI;i;Dl4yjBɮAE5B*** querying acoustic contact ***i1 i1jhaeDNOT Ignoring new targets: 14.24 m.bhaRhmZhm} ProNav: ac range: 14.235207 m, nav range: 13.672279 m, bearing: 53.930665 deg, approach rate: -0.713389 m/s, LOS rate: -0.224730 deg/s, cmd heading: 52.659768 deg, new cmd heading: 52.378577 deg. Bh};HeadingCmd: 0.914179 target range: 14.235207 and range: 14.30 m.hj?h*h"h hgfff1BdddjdZd?%Bɢ%{ =)) -di))-&=))i-i5j?50C<5C)>I=j?mDDAT read: Rx Time:15:12:34.8814 mTRx dataTimestamp_ set to:1761577956.236775uPDAT read: Bearing 225.0, -17.5 (Local) }~Local bearing/azimuth received: Bearing 225.0, -17.5 (Local) DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.6 DAT read: 15:12:34.8814 LVL= 32752, 32753, 29490, 32755, AGC= 52, IDX= 498,-0.03,-1.438,-2.920,-0.895,-1.290, PHS=-0.046,-1.585, 0.352, RAW= 161.2, 14.3, CAL= 161.9, 16.7, ROT= 348.1, -16.7 Ygot valid direction response: 15:12:34.8814 LVL= 32752, 32753, 29490, 32755, AGC= 52, IDX= 498,-0.03,-1.438,-2.920,-0.895,-1.290, PHS=-0.046,-1.585, 0.352, RAW= 161.2, 14.3, CAL= 161.9, 16.7, ROT= 348.1, -16.7 T#Rx 51: Read range and direction messages.^direction in FSK: [0.937238,-0.197507,0.287361]Fpublishing direction and range infoyimYq~?=0{Gɿgd?YmaAiiim2s i)iImjm4@mr>m4@ m;>)mmj@Im;iimppR?0G3n?D? m)8?I)mImTim;iichecking for new query: numPingsReceived=51, elapsed TxPingTime=25.694708Աu1@q @q@uD1@q^AM j>AU ?AQ I I O > AF,F?A2\?2.?2R=ٱ24: :AHRS rotation from veh to nav: [[0.471103,-0.871591,-0.135613],[0.880580,0.455755,0.129868],[-0.051385,-0.180600,0.982213]]2H&?[-?+?? ,O`ǿJn?i2\?I2];2CY^Byb!IbDjVDjy~:%~=ٔϒQ-?9Y= TGy F >E ?Q 54?Q 94/) BY!y%Y?Q I%?7DIr;i;9q4y-aBɮ-A-EiiR'?AJi`ARi`Ajien?b69uO*@f-i*;"@RYq~?=0{Gɿgd?ZiTbi;j~(" @3i%@L%{J@Zmɫd?$MH?x3^C?2i-A:iA"i1e?*iBiBBiiisBiWAiFp?} addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.507117 s, deltaX: -0.200000 m, approachRate: -0.394386 m/s, rangeRepo size: 4  Added new target pos. range: 14.036127 m, bearing: 53.356325 deg, lat: 36.779322 deg, lon: -121.859544 deg, deltaT: 0.507117 s, deltaX: -0.199080 m, approachRate: -0.392571 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.04 m.bhchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.922676RhZh  ProNav: ac range: 14.036127 m, nav range: 13.442771 m, bearing: 53.776655 deg, approach rate: 0.000000 m/s, LOS rate: -0.224730 deg/s, cmd heading: 52.378576 deg, new cmd heading: 52.193004 deg. Bh HeadingCmd: 0.910940 target range: 14.036127 and range: 14.10 m.hY3i?h*h"h hgfffd!d!d!jd%@33,@Zd%?Bɢ =) ýi)&=iIiY3i?BF<e>IY3i?I @ @@/@Em EmEm*Ei"EmD:*Em:VEm(N4ZEia}@a}@a}@a}@ DDAT read: Rx Time:15:12:35.3811  TRx dataTimestamp_ set to:1761577956.745281 PDAT read: Bearing 225.4, -15.1 (Local)  ~Local bearing/azimuth received: Bearing 225.4, -15.1 (Local) ^A  DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.7  DAT read: 15:12:35.3811 LVL= 32752, 32753, 30418, 32755, AGC= 50, IDX= 495,-0.42, 2.660, 1.169, 3.091, 2.773, PHS=-0.011,-1.560, 0.273, RAW= 158.3, 15.0, CAL= 159.1, 17.4, ROT= 350.9, -17.4 % Ygot valid direction response: 15:12:35.3811 LVL= 32752, 32753, 30418, 32755, AGC= 50, IDX= 495,-0.42, 2.660, 1.169, 3.091, 2.773, PHS=-0.011,-1.560, 0.273, RAW= 158.3, 15.0, CAL= 159.1, 17.4, ROT= 350.9, -17.4 - T#Rx 52: Read range and direction messages.5 ^direction in FSK: [0.942230,-0.150921,0.299041]5 Fpublishing direction and range infoy  ,&?f>aQÿ-{#?Y 3[A v ) 2I X94i ǿ Ƌ> 0@ > g1@Ii Iy O > |>) @I | @B?6$?R? 9+?) -UI "i | - checking for new query: numPingsReceived=52, elapsed TxPingTime=26.231453A BE >BA BE !IBE BBE =BA BA BE x;BE 2EL,.t5?AB.Z?B@?BP=ٱB/K JAHRS rotation from veh to nav: [[0.479171,-0.864970,-0.149071],[0.876252,0.461594,0.138255],[-0.050776,-0.196871,0.979114]]BH?խÿA ??W? \3ɿ T?iB.Z?IB];BCYvBy~!I iMb@Mb@Mb@ 9Zd;O?ˡE~jth?Y~*?y什D;MA@ C@)(AY=A AE<bDMVDMkyH%3=ٔQ->9Y=TGyF{E>Q 54͙?Q 94E))BY+?Q E:y~s?Q I? 8DIz:i:4y4yɮAii/?AJi5ZARi5ZAji Iz?b 6E)@GMRwr73P@R,&?f>aQÿ-{#?Zi"bi|j(9Q@5зX%@$Ή @Z 2?+L ??2i-A:i@"i~6?*iC BiBiZ?ii`BiRAiVp? addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.508506 s, deltaX: -0.400001 m, approachRate: -0.786619 m/s, rangeRepo size: 4  Added new target pos. range: 13.638007 m, bearing: 56.016768 deg, lat: 36.779322 deg, lon: -121.859544 deg, deltaT: 0.508506 s, deltaX: -0.398120 m, approachRate: -0.782921 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.64 m.bhRhZh ProNav: ac range: 13.638007 m, nav range: 13.131293 m, bearing: 53.790640 deg, approach rate: 0.000000 m/s, LOS rate: -0.224730 deg/s, cmd heading: 52.193003 deg, new cmd heading: 51.874142 deg. Bh HeadingCmd: 0.905375 target range: 13.638007 and range: 13.70 m.h g?h *h"h hgfffMBdddjd%`ff+@Zd%@O?checking for new query: numPingsReceived=52, elapsed TxPingTime=26.426876-߃Bɢ-1=)1 5i1)5%&=11i5i=g?A=(K<x>Ig?Iy@ @@@Eu EuEqEq"Euf;*Eu$:VEqZEqBEuWI9 IQ O] >S,5^O?ADDAT read: Rx Time:15:12:35.8809 TRx dataTimestamp_ set to:1761577957.244744PDAT read: Bearing 224.0, -16.3 (Local) ~Local bearing/azimuth received: Bearing 224.0, -16.3 (Local) "DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.6 6DAT read: 15:12:35.8809 LVL= 32752, 32753, 28402, 32755, AGC= 49, IDX= 509, 0.18,-1.660, 3.122,-1.185,-1.532, PHS=-0.026,-1.584, 0.303, RAW= 159.4, 14.8, CAL= 160.2, 17.2, ROT= 349.8, -17.2 :Ygot valid direction response: 15:12:35.8809 LVL= 32752, 32753, 28402, 32755, AGC= 49, IDX= 509, 0.18,-1.660, 3.122,-1.185,-1.532, PHS=-0.026,-1.584, 0.303, RAW= 159.4, 14.8, CAL= 160.2, 17.2, ROT= 349.8, -17.2 :T#Rx 53: Read range and direction messages.>^direction in FSK: [0.940181,-0.169165,0.295708]BFpublishing direction and range infoy?L)5ſ-?YfVAn )1IԼiʿ">/ 2@ A>2@ `>)|]@I` P0?߶ С?`? 0?)yIK6i`checking for new query: numPingsReceived=53, elapsed TxPingTime=26.710758q#|T?E)?BH=ٱf AHRS rotation from veh to nav: [[0.498592,-0.850142,-0.169306],[0.865458,0.477200,0.152522],[-0.048873,-0.222573,0.973690]]H?@]4Ыſ ձ?@p?Յ? G}̿`x(?i#|T?I_];CY y !IbDVD\yU%U?=ٔUQ-]>9YYY=]TGy]FeTEe>Q 54ۙ?Q 94&#)BYyn?Q I?8DIB:i:ŀ4ygBɮAAiiO?AJinUARinUAjiq?bY:4)@6Em 2>Nt@R?L)5ſ-?ZiK6bi`j@"Z$@< @Z e!?H"?YBx?2i&A:i@"iT?*i(BiBiT?i(iBBiLAiq?U addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.499463 s, deltaX: -0.300000 m, approachRate: -0.600645 m/s, rangeRepo size: 4  Added new target pos. range: 13.339365 m, bearing: 54.134225 deg, lat: 36.779321 deg, lon: -121.859544 deg, deltaT: 0.499463 s, deltaX: -0.298642 m, approachRate: -0.597926 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.34 m.bhRhZh ProNav: ac range: 13.339365 m, nav range: 12.807223 m, bearing: 54.134178 deg, approach rate: 0.000000 m/s, LOS rate: -0.224730 deg/s, cmd heading: 51.874143 deg, new cmd heading: 51.584968 deg. BhHeadingCmd: 0.900328 target range: 13.339365 and range: 13.40 m.h{f?h*h"h hgfffdddjd*@ZdI?E݃BɢMI=)I MiI)M%=QQiUI}{f?Iԡ3@ @@@@;>@0>checking for new query: numPingsReceived=53, elapsed TxPingTime=26.932034^A BN>A zA Dy zDy E  E E -E "E &:*E :VE t4ZE a @a @a @a @ Aa Iq I O >qZ,k?AԑcPQ?DDAT read: Rx Time:15:12:36.3806 -TRx dataTimestamp_ set to:1761577957.753964=PDAT read: Bearing 223.5, -15.4 (Local) =~Local bearing/azimuth received: Bearing 223.5, -15.4 (Local) MDAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.6 e?3C=ٱLq uAHRS rotation from veh to nav: [[0.509300,-0.842158,-0.177154],[0.859262,0.486197,0.159004],[-0.047774,-0.233202,0.971254]]H 0L?ƿ? ? :Z?uͿ@?icPQ?I];C DAT read: 15:12:36.3806 LVL= 32752, 32753, 31026, 32755, AGC= 49, IDX= 506,-0.09, 1.585, 0.078, 2.016, 1.704, PHS=-0.017,-1.581, 0.268, RAW= 158.2, 15.3, CAL= 159.1, 17.7, ROT= 350.9, -17.7 Ygot valid direction response: 15:12:36.3806 LVL= 32752, 32753, 31026, 32755, AGC= 49, IDX= 506,-0.09, 1.585, 0.078, 2.016, 1.704, PHS=-0.017,-1.581, 0.268, RAW= 158.2, 15.3, CAL= 159.1, 17.7, ROT= 350.9, -17.7 T#Rx 54: Read range and direction messages.%^direction in FSK: [0.940671,-0.150671,0.304033]Y%By)eFpublishing direction and range infoy!%-?\r2Iÿz0Gu?Y%fNA!!!%2y !)!I%Ci%5^ʿ%L7>% 0@%ܸ>%g1@ %2+>)%@I%2+!!%I.{`@?Q8q? ur? %*?)%]PI%"i%2+!!checking for new query: numPingsReceived=54, elapsed TxPingTime=27.233473i5Mb@Mb@Mb@1111 195?MbX9B"CB!IBBBBBDB"y;B82EԹbDVDk1y$%=ٔ Q->9Y=TGyFļE>Q 54왊?Q 94 )BY'?Q E:yl?Q I?28DI:i:ʉ4yɮFAi!i%@p?AJi%wMARi%wMAji%t?b%Vl((@ZE <@R%-?\r2Iÿz0Gu?Zi%"bi%2+j%g=\@, $@AZT @Z%YH?Q\?aQxE?2i% A:i%@"i%WWB?*i%rBi%Bi%wH?i%i%Bi%FAi%t? addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.509220 s, deltaX: -0.500000 m, approachRate: -0.981894 m/s, rangeRepo size: 4  Added new target pos. range: 12.841731 m, bearing: 54.824117 deg, lat: 36.779320 deg, lon: -121.859544 deg, deltaT: 0.509220 s, deltaX: -0.497634 m, approachRate: -0.977247 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.84 m.bhRhZh ProNav: ac range: 12.841731 m, nav range: 12.375855 m, bearing: 54.635827 deg, approach rate: 0.000000 m/s, LOS rate: -0.224730 deg/s, cmd heading: 51.584966 deg, new cmd heading: 51.238663 deg. BhHeadingCmd: 0.894283 target range: 12.841731 and range: 12.90 m.hd?h*h"h h g)f)f1f5Bd1d1d1jd=)@Zd=N]?颅ڃBɢz=)  i)T=%=i id?/~T<>Id?I checking for new query: numPingsReceived=54, elapsed TxPingTime=27.434895 0@  @ @ @ ^A} >! A I I O >շa,4?AE" E"E"%E "E":*E":VE" 4ZE BE"6U1@U%>U¸2@ U#>)Uz@IU#QQU2?̉?%l xo? U/?)U&IU2iU#QQ-checking for new query: numPingsReceived=55, elapsed TxPingTime=27.716782=2@9 @9@=/@9ԉ^A] >Ա A I I O > checking for new query: numPingsReceived=55, elapsed TxPingTime=27.938635g,F?A>~J?>r.?>Z:=ٱ>] JAHRS rotation from veh to nav: [[0.531960,-0.825244,-0.189714],[0.845543,0.505630,0.171451],[-0.045564,-0.251616,0.966754]]>H@?eh Hȿ ?@.?@?Tzп ?i>~J?I>ߓ];9AYY=eTGyeF1E>Q 54?Q 94)BYy2f?Q I?Q8DI;i;4yɮAii9B?AJiHARiHAjiyk?bYSa'@ᧅİ @RS{?TBi8ſ+0?Zi2bi#j^f !@A#@ ) @Z?1c?S?2iA:i@"ik?*iA BiߊBiT?iiBi?Ai9r?DIDMR=EU EUEU)EQ"EU:*EUk:VEUFA4ZEQa]@a]@a]@a]@e addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.500078 s, deltaX: -0.299999 m, approachRate: -0.599905 m/s, rangeRepo size: 4  Added new target pos. range: 12.543087 m, bearing: 52.702199 deg, lat: 36.779321 deg, lon: -121.859544 deg, deltaT: 0.500078 s, deltaX: -0.298644 m, approachRate: -0.597195 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.54 m.bhRhZh ProNav: ac range: 12.543087 m, nav range: 11.975369 m, bearing: 54.212789 deg, approach rate: 0.000000 m/s, LOS rate: 0.132488 deg/s, cmd heading: 51.361974 deg, new cmd heading: 51.528019 deg. BhHeadingCmd: 0.899334 target range: 12.543087 and range: 12.60 m.h:f?h*h"h hgffafadididijdm@33)@Zdu ?颽փBɢ,=) i)]$=iEx߼i:f?Z<Ol=I:f?I.@ @@0@}DDAT read: Rx Time:15:12:37.3800 ^Ap=TRx dataTimestamp_ set to:1761577958.761804PDAT read: Bearing 220.9, -16.8 (Local) U~Local bearing/azimuth received: Bearing 220.9, -16.8 (Local) eDAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.5 % DAT read: 15:12:37.3800 LVL= 32752, 32753, 28322, 32755, AGC= 52, IDX= 500, 0.38, 1.263,-0.279, 1.760, 1.404, PHS=-0.040,-1.638, 0.312, RAW= 159.7, 15.0, CAL= 160.6, 17.5, ROT= 349.4, -17.5 - Ygot valid direction response: 15:12:37.3800 LVL= 32752, 32753, 28322, 32755, AGC= 52, IDX= 500, 0.38, 1.263,-0.279, 1.760, 1.404, PHS=-0.040,-1.638, 0.312, RAW= 159.7, 15.0, CAL= 160.6, 17.5, ROT= 349.4, -17.5 5 T#Rx 56: Read range and direction messages.= ^direction in FSK: [0.937442,-0.175438,0.300706]= Fpublishing direction and range infoy?}Rztƿ->?Y3CAn )4I #iѿw>b2@ >Ud3@ a>)K$@Ia5)?ea? WNAȕ? <1?)e6Iq=ia] checking for new query: numPingsReceived=56, elapsed TxPingTime=28.257107I I O >B <A <B B B !IB BB =B B B Gy;B L2EBBBBɾ =Bɾ =C P5 $ n,?A:G?:T~?:i6=ٱ:Ԅ BAHRS rotation from veh to nav: [[0.543170,-0.817397,-0.191907],[0.838442,0.515929,0.175594],[-0.044520,-0.256280,0.965577]]:Ha?@( gȿ?|?@y?`F˦fп?i:G?I:];:CY~By~!Ii Mb@Mb@Mb@     9 x&? rhV-?Y 7)?y C < A @ ZA) A Y AbDEVDEkyu}<%uC=ٔu &Q-}>9yYy=}TGy}FE>Q 54?Q 94 ) BYE*?Q E:y~h?Q I?b8DIU:i:4yiBɮAEchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.442701iif?AJiQBARiQBAji,f?b5&6&@`V %Z,h7 @R?}Rztƿ->?Ziq=biajv=@qߋ1,"@a2 @ZDvL ?y?~?2igA:i1@"i>jt?*iBi׊BiiriBi:Ai r?- addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.507762 s, deltaX: -0.400001 m, approachRate: -0.787772 m/s, rangeRepo size: 4 = Added new target pos. range: 12.144941 m, bearing: 51.515157 deg, lat: 36.779321 deg, lon: -121.859544 deg, deltaT: 0.507762 s, deltaX: -0.398146 m, approachRate: -0.784119 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 12.14 m.bhaRhiZhi} ProNav: ac range: 12.144941 m, nav range: 11.685169 m, bearing: 54.168570 deg, approach rate: 0.000000 m/s, LOS rate: 0.132488 deg/s, cmd heading: 51.528019 deg, new cmd heading: 51.687218 deg. BhyHeadingCmd: 0.902112 target range: 12.144941 and range: 12.20 m.hf?h*h"h hgfffBdddjd`ff(@Zd֥?ԃB!ɢ-Q=)Y ewia)m_$=qiO>߼if?\<>=If?I=1@9 @9@=@0@9E EE*E"E ;*EǙ:VE(N4ZEBELm e4@m s>m 4@ m 0>)m \@Im 0i i m 1Z'K??^X?3\"? m 6k9?)m [sIm TwVim 0i i  checking for new query: numPingsReceived=57, elapsed TxPingTime=28.771008I1 IA OM >[ou,?ARC?R,{?RS2=ٱR淅 AHRS rotation from veh to nav: [[0.553438,-0.810553,-0.191601],[0.831745,0.525794,0.178159],[-0.043665,-0.257964,0.965168]]RH õ? cȿ ?M??`8[`yп?iRC?IRp];RCY-BQy-"I YY aabDmVDm1y!<%H=ٔ; Q->9Y=TGyFE>Q 54."?Q 94)BYyae?Q I?s8DI:i:֤4y ɮ-mA)ii?AJi"?ARi"?Ajiw[?bؔ|&@\e$5\ @R,=?~sɿ ^ m?ZiTwVbi0jE2=%@cWY!@gDw @ZBX&0?>HԩDizDm?AEE  EE EE 'EA "EE :*EE ~:VEE '4ZEA aM @aM @aM @aM @  DDAT read: Rx Time:15:12:38.3796  TRx dataTimestamp_ set to:1761577959.769039 PDAT read: Bearing 216.5, -17.9 (Local)  ~Local bearing/azimuth received: Bearing 216.5, -17.9 (Local) {,]?A"DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.5 6DAT read: 15:12:38.3796 LVL= 32752, 32753, 25810, 32755, AGC= 52, IDX= 496, 0.10, 1.908, 0.348, 2.502, 2.043, PHS=-0.033,-1.650, 0.415, RAW= 161.9, 13.4, CAL= 162.4, 15.5, ROT= 347.6, -15.5 :Ygot valid direction response: 15:12:38.3796 LVL= 32752, 32753, 25810, 32755, AGC= 52, IDX= 496, 0.10, 1.908, 0.348, 2.502, 2.043, PHS=-0.033,-1.650, 0.415, RAW= 161.9, 13.4, CAL= 162.4, 15.5, ROT= 347.6, -15.5 :T#Rx 58: Read range and direction messages.bX@?bx?b80=ٱb^ jAHRS rotation from veh to nav: [[0.563332,-0.803888,-0.190843],[0.825111,0.535331,0.180589],[-0.043010,-0.259198,0.964866]]bH?@t@mȿNg?o!?@?\п.?ibX@?IbȒ];bCn^direction in FSK: [0.941151,-0.206926,0.267238]nFpublishing direction and range infoy15(?E|ʿ֚n?Y59A1115d 1)54I5+i533ӿ5z>54@5|o>5 g5@ 5c>)5"@I5c115C J+?A԰?۷B? 56;?)5ćoI5t]i5c119Echecking for new query: numPingsReceived=58, elapsed TxPingTime=29.255262YуBy!"IB>BB "IBBB =BBB)y;B=2EimMb@Mb@Mb@iiii i9m9Y=TGyFƼE>Q 54|3?Q 94)BY3?Q E:ym?Q I?8DIA;i:[4yoBɮA%Eai1i57?AJi58ARi58Aji5U?b5q\y%@@@R5(?E|ʿ֚n?Zi5t]bi5cj5DjR8@!^} @.s|. @Z51U#?TXk?)\&X?2i5A:i5@"i5?*i5$,&Bi5Bi5>jt?i5i5׊Bi5/Ai5e? addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.508322 s, deltaX: -0.400000 m, approachRate: -0.786902 m/s, rangeRepo size: 4  Added new target pos. range: 11.547682 m, bearing: 47.884993 deg, lat: 36.779324 deg, lon: -121.859549 deg, deltaT: 0.508322 s, deltaX: -0.398162 m, approachRate: -0.783287 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 11.55 m.bhRhZh- ProNav: ac range: 11.547682 m, nav range: 10.990220 m, bearing: 51.467804 deg, approach rate: 0.000000 m/s, LOS rate: 0.132488 deg/s, cmd heading: 51.854813 deg, new cmd heading: 52.048982 deg. Bh)-HeadingCmd: 0.908426 target range: 11.547682 and range: 11.60 m.h5h?h1*h1"h1 h1g1f1f9f=2BdYdadajde@33'@Zde S?颵ЃBɢ$=) :i)e$=项i2޼ih?6`<=Ih?IEchecking for new query: numPingsReceived=58, elapsed TxPingTime=29.451469ԑ8@ @@4@@>@= ^A ϰ=E  E E *E "E :*E :VE (N4ZE BE 5΂,L ?AB >?Bdu?B-=ٱB JAHRS rotation from veh to nav: [[0.572594,-0.798021,-0.187879],[0.818742,0.544758,0.181383],[-0.042399,-0.257683,0.965299]]BHR? c@k ȿ "3?`n?@7?Q}п?iB >?IBZ];BCYfByf8"IbD~VD~Ny =% =ٔ Q- ?91Y1==TGy9=E= ?AQ 5M4E>?Q 9M4E)EBYQyuj?Q Iu?E8DIE;iEO;E鲦4yyɮ}[AԑB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 11.55 m.bhRhȥZhȥ ProNav: ac range: 11.547682 m, nav range: 10.766949 m, bearing: 51.445842 deg, approach rate: -0.721758 m/s, LOS rate: -0.072470 deg/s, cmd heading: 52.048982 deg, new cmd heading: 51.981728 deg. BhF HeadingCmd: 0.907252 target range: 11.547682 and range: 11.60 m.h Ah?h)*h)"h) h1g1f1f1f1d9d9d9jd9ZdE@??DDAT read: Rx Time:15:12:38.8795 TRx dataTimestamp_ set to:1761577960.268826PDAT read: Bearing 214.3, -17.4 (Local) ~Local bearing/azimuth received: Bearing 214.3, -17.4 (Local) DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.7 DAT read: 15:12:38.8795 LVL= 32752, 32753, 27122, 32755, AGC= 51, IDX= 511, 0.15, 1.802, 0.219, 2.399, 1.904, PHS=-0.000,-1.639, 0.452, RAW= 161.8, 12.4, CAL= 162.2, 14.2, ROT= 347.8, -14.2 Ygot valid direction response: 15:12:38.8795 LVL= 32752, 32753, 27122, 32755, AGC= 51, IDX= 511, 0.15, 1.802, 0.219, 2.399, 1.904, PHS=-0.000,-1.639, 0.452, RAW= 161.8, 12.4, CAL= 162.2, 14.2, ROT= 347.8, -14.2 T#Rx 59: Read range and direction messages.^direction in FSK: [0.947551,-0.204868,0.245307]Fpublishing direction and range infoy)BVR? =9ʿ/;f?Yf6Ai )3Iiѿl>{4@k]>-5@ }>)?@I}(OG?9R/ ?sq? ;?){]It Zi}5checking for new query: numPingsReceived=59, elapsed TxPingTime=29.722769M΃BɢM`1=)I M$=iI)U$=QQiU޼i]Ah?]a<]L`=I]Ah?IY0@ @@/@^A=II Om>] checking for new query: numPingsReceived=59, elapsed TxPingTime=29.958166! ,k%?AZ;?ZVms?Z*=ٱZM bAHRS rotation from veh to nav: [[0.580461,-0.793070,-0.184676],[0.813230,0.553039,0.181124],[-0.041511,-0.255320,0.965965]]ZH"?``xǿ ?}?`/?@'Wп/?iZ;?IZ];ZCYnByn6"IIr<)r=bDzVDz:2y  %I=ٔQ->9)Y)=-TGy-F5E=>IQ 5U4MM?Q 9]4M )MBYaye2h?Q Ie?M8DIMU\;iM];M 4yqɮiAE5 E5E5)E1"E5D:*E5҆:VE5FA4ZE1a=@a=@a=@a=@iir4?AJi5ARi5AjiO?bW۸%@V/UjhE@R)BVR? =9ʿ/;f?Zit Zbi}j'\I@jT@_%l@ZhY?Gct?4?2i@:iJ@"iZ˜?*i#BiBi2A?i"iCBi?*Ai6Y? addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.499787 s, deltaX: -0.200001 m, approachRate: -0.400172 m/s, rangeRepo size: 4  Added new target pos. range: 11.348582 m, bearing: 46.444515 deg, lat: 36.779329 deg, lon: -121.859551 deg, deltaT: 0.499787 s, deltaX: -0.199100 m, approachRate: -0.398369 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 11.35 m.bhRhZh ProNav: ac range: 11.348582 m, nav range: 10.640427 m, bearing: 48.729050 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 51.981728 deg, new cmd heading: 51.886796 deg. Bh HeadingCmd: 0.905595 target range: 11.348582 and range: 11.40 m.h g?h)*h)"h) h1g1f1f1f9d9d9d9jd=&@ZdE@"m?̓Bɢ~/=)  %=i)w$=i ߼ig?c<#I=Ig?IQ DDAT read: Rx Time:15:12:39.3792 TRx dataTimestamp_ set to:1761577960.778485PDAT read: Bearing 209.2, -15.4 (Local) ~Local bearing/azimuth received: Bearing 209.2, -15.4 (Local) a@a @i@m/@i%DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.5 MDAT read: 15:12:39.3792 LVL= 29680, 32753, 27282, 32755, AGC= 49, IDX= 508, 0.26,-0.713,-2.294,-0.127,-0.722, PHS= 0.111,-1.527, 0.551, RAW= 161.6, 9.2, CAL= 161.4, 9.7, ROT= 348.6, -9.7 }Ygot valid direction response: 15:12:39.3792 LVL= 29680, 32753, 27282, 32755, AGC= 49, IDX= 508, 0.26,-0.713,-2.294,-0.127,-0.722, PHS= 0.111,-1.527, 0.551, RAW= 161.6, 9.2, CAL= 161.4, 9.7, ROT= 348.6, -9.7 T#Rx 60: Read range and direction messages.^direction in FSK: [0.966257,-0.194831,0.168489]Fpublishing direction and range infoAAB>BB."IB܃BB =BBBx;B2EyE?@;ȿRV?Y0Asj )1IS=itÿV ?J4@l$>I4@ -\->)@I-\-Eˠ?w@v?x6`? P9?)#IKi-\- checking for new query: numPingsReceived=60, elapsed TxPingTime=30.2893301^A Pڀ=a g> ѐCA .AI! 5 checking for new query: numPingsReceived=60, elapsed TxPingTime=30.458549IA OM >k,A?ABGPnArI9?r q?r '=9O9YnAٱrn MAHRS rotation from veh to nav: [[0.587764,-0.788639,-0.180505],[0.807998,0.560935,0.180255],[-0.040905,-0.251795,0.966916]]rH`? <`ǿ ?`-??@hп`?irI9?Irc];rCYByT"IiMb@Mb@Mb@ 9Q?~jth rh?Y(9u ?Yu ?=uTGyuF}E}>Q 54a?Q 94)BY6?RE?@;ȿRV?ZiKbi-\-j2x>F@U7@46?Z 5?NlHu?J?2i@:i1@"i~pߜ?*i q"BiBi?iiBi+%AiV?m addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.509659 s, deltaX: -0.400000 m, approachRate: -0.784838 m/s, rangeRepo size: 4 } Added new target pos. range: 10.950427 m, bearing: 45.437936 deg, lat: 36.779330 deg, lon: -121.859551 deg, deltaT: 0.509659 s, deltaX: -0.398155 m, approachRate: -0.781219 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.95 m.bhRhZh ProNav: ac range: 10.950427 m, nav range: 10.323052 m, bearing: 48.007321 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 51.886796 deg, new cmd heading: 51.772741 deg. BhHeadingCmd: 0.903605 target range: 10.950427 and range: 11.00 m.hRg?h*h"h hgfff`Bdddjd&@Zd_?e˃BɢeG <=)a eP=ii)m %=iiim5߼iuRg?u{ddi&?3@>G3@ nF>)2@InF+?!?:v\?I A6?)It;inF]checking for new query: numPingsReceived=61, elapsed TxPingTime=30.735291a@a @a@a@a@i@i^Am VoQ=y A ؟AI I O >,Й[?A2Gq7?2Go?2!O%=ٱ2ڪ :AHRS rotation from veh to nav: [[0.593586,-0.785107,-0.176814],[0.803758,0.567339,0.179162],[-0.040348,-0.248464,0.967800]]2H@?ڡƿc?'?@?tϿ8?i2Gq7?I2];2CY Byf"IbDeVDek2yuM=%=ٔQ-?9"?Y"?=TGyFE?Q 54l?Q 94) BYyo?Q I?8DI;i;Ȧ4yɮAiiGQ?AJi,AQRi,AjiK?bΓ$@93ԹrQ?Rl?4 ǿ8C ?Zit;binFj\@[u-_@[.l?Z?hkv?SU0?2i@:i@"iߜ?*iF BiVBiZ˜?iiBiC&AiN? addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.499425 s, deltaX: -0.200000 m, approachRate: -0.400460 m/s, rangeRepo size: 4  Added new target pos. range: 10.751328 m, bearing: 45.619826 deg, lat: 36.779334 deg, lon: -121.859551 deg, deltaT: 0.499425 s, deltaX: -0.199099 m, approachRate: -0.398656 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.75 m.bhRhZh ProNav: ac range: 10.751328 m, nav range: 10.391525 m, bearing: 46.123450 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 51.772742 deg, new cmd heading: 51.704920 deg. Bhchecking for new query: numPingsReceived=61, elapsed TxPingTime=30.962774HeadingCmd: 0.902421 target range: 10.751328 and range: 10.80 m.hg?h*h"h hgfffdd!d!jd%%@Zd% Ra?ɃBɢXM=) H=i) Z%=ich߼iUg?]Ue<]6=Ieg?Iԁ3@ @@/@E EE)E"EV:*E:VEFA4ZEa@a@a@a@ԩ DDAT read: Rx Time:15:12:40.3789  TRx dataTimestamp_ set to:1761577961.785813^A <H= PDAT read: Bearing 207.5, -13.4 (Local) - ~Local bearing/azimuth received: Bearing 207.5, -13.4 (Local) m DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.0  DAT read: 15:12:40.3789 LVL= 30944, 32753, 28034, 32755, AGC= 46, IDX= 504, 0.18, 0.179,-1.419, 0.700, 0.113, PHS= 0.168,-1.488, 0.543, RAW= 160.0, 8.4, CAL= 159.7, 8.6, ROT= 350.3, -8.6 B B B Z"IB BB B B B x;B 2EAI IY Ii O} >P,fw?A*Ygot valid direction response: 15:12:40.3789 LVL= 30944, 32753, 28034, 32755, AGC= 46, IDX= 504, 0.18, 0.179,-1.419, 0.700, 0.113, PHS= 0.168,-1.488, 0.543, RAW= 160.0, 8.4, CAL= 159.7, 8.6, ROT= 350.3, -8.6 .T#Rx 62: Read range and direction messages.2^direction in FSK: [0.974621,-0.166595,0.149535]2Fpublishing direction and range infoy}0?^RſS&r#?Yf&Axm ).I1,>iv  ?¸2@Q >b2@ `>)@I` [A?1RX?$vM? q2?)6I4\-i`Rchecking for new query: numPingsReceived=62, elapsed TxPingTime=31.327684B5?B8m?BC#=ٱBI{ ^AHRS rotation from veh to nav: [[0.598303,-0.782755,-0.171254],[0.800278,0.573126,0.176298],[-0.039848,-0.242530,0.969325]]BH`L%?T ſ?` W? ? f9 Ͽ@?iB5?IB];@YfByfs"I hhԉi]Mb@Mb@Mb@YYYY Y9]K7A?V-?y&1|?Y] B?y]<]`;Y]@ ](A)YYY]QAbDVDyM(=%)=ٔQ->9Y=TGyFXHE>Q 54J~?Q 94)BY 2B?Q E :y w?Q I ?8DIF;i;SѦ4ypBɮA|EiiJr?AJi%ARi%AjirBM?bxbD.$@ЦﷱNueA?R}0?^RſS&r#?Zi4\-bi`j7Y;|@&p@ޝr4E?Z%ab?>I?M1?2i@:i@"is֜?*i52XBiBis֜?i q"iBi"AiJ? addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.507903 s, deltaX: -0.400001 m, approachRate: -0.787553 m/s, rangeRepo size: 4  Added new target pos. range: 10.353122 m, bearing: 45.939478 deg, lat: 36.779335 deg, lon: -121.859551 deg, deltaT: 0.507903 s, deltaX: -0.398207 m, approachRate: -0.784021 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.35 m.bhRhZh ProNav: ac range: 10.353122 m, nav range: 10.130037 m, bearing: 45.326756 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 51.704921 deg, new cmd heading: 51.600577 deg. Bh9EHeadingCmd: 0.900600 target range: 10.353122 and range: 10.40 m.hEf?hA*hA"hA hAgIfIfIfMBdQdQdQjdU$@ZdUB?ԹȃBɢ_L=) v>i)%=iK߼checking for new query: numPingsReceived=62, elapsed TxPingTime=31.466784if?e<B=If?I1@ @@/@^A#'=E EE'E"E;*E:VE'4ZEBE@ 2,?A&DDAT read: Rx Time:15:12:40.8787 *TRx dataTimestamp_ set to:1761577962.284732.PDAT read: Bearing 207.9, -12.8 (Local) .~Local bearing/azimuth received: Bearing 207.9, -12.8 (Local) 6DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4 JDAT read: 15:12:40.8787 LVL= 29088, 32753, 26866, 32755, AGC= 48, IDX= 502, 0.08,-0.060,-1.670, 0.431,-0.127, PHS= 0.169,-1.498, 0.513, RAW= 159.2, 8.8, CAL= 158.9, 9.2, ROT= 351.1, -9.2 NYgot valid direction response: 15:12:40.8787 LVL= 29088, 32753, 26866, 32755, AGC= 48, IDX= 502, 0.08,-0.060,-1.670, 0.431,-0.127, PHS= 0.169,-1.498, 0.513, RAW= 159.2, 8.8, CAL= 158.9, 9.2, ROT= 351.1, -9.2 NT#Rx 63: Read range and direction messages.R^direction in FSK: [0.975251,-0.152720,0.159881]RFpublishing direction and range infoy$&i&w&S?&1@&nF>&5~1@ &l$>)&[@I&l$$$&a8_wg?R?? &'/?)&SI&i&l$$$checking for new query: numPingsReceived=63, elapsed TxPingTime=31.742462m4?Ԑl?pP!=ٱt %AHRS rotation from veh to nav: [[0.602098,-0.781021,-0.165783],[0.797451,0.578020,0.173105],[-0.039373,-0.236430,0.970850]]HbD? `8ſ?#?`Q(?`( XCο4?im4?IX];CY=By=y"IbDUVDU02y<%b=ٔ8Q->9Y=TGyFxVE>Q 54ȋ?Q 94)BYyv?Q I?8DI$:i:צ4y1ɮ5A9i$i& 9?AJi& ARi& Aji&O?b&fi|#@S,ȷYh?R&i)ar&=顉i i1f?Uf<= =I1f?I!]0@Y @a@e0@a@m=@m=checking for new query: numPingsReceived=63, elapsed TxPingTime=31.970886Y^A =ԁ E  E E )E "E &:*E VE FA4ZE a @a @a @a @I I O >,wM?A23?2k?2UX!=ٱ2:In :AHRS rotation from veh to nav: [[0.604926,-0.779970,-0.160347],[0.795307,0.581850,0.170108],[-0.039381,-0.230428,0.972292]]2H`[?CĿ(s? ??)@~Ϳ?i23?I2];2CDDAT read: Rx Time:15:12:41.3784 TRx dataTimestamp_ set to:1761577962.793026=PDAT read: Bearing 208.3, -12.3 (Local) E~Local bearing/azimuth received: Bearing 208.3, -12.3 (Local) DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.5 BA<B>BBy"IBBBBBBx;B2E%DAT read: 15:12:41.3784 LVL= 32384, 32753, 27922, 32755, AGC= 48, IDX= 499,-0.17,-0.976,-2.572,-0.515,-1.039, PHS= 0.165,-1.488, 0.480, RAW= 158.6, 9.2, CAL= 158.3, 9.8, ROT= 351.7, -9.8 -Ygot valid direction response: 15:12:41.3784 LVL= 32384, 32753, 27922, 32755, AGC= 48, IDX= 499,-0.17,-0.976,-2.572,-0.515,-1.039, PHS= 0.165,-1.488, 0.480, RAW= 158.6, 9.2, CAL= 158.3, 9.8, ROT= 351.7, -9.8 5T#Rx 64: Read range and direction messages.^direction in FSK: [0.975087,-0.142249,0.170209]Fpublishing direction and range infoyd 3?ʿѡ:5¿rl?YA~m )I(>iv>m(1@l$>0@ %/>)%m@I%/,έͱ?A?D4ǐ? S,?)=%IVi%/Y Byu"IUchecking for new query: numPingsReceived=64, elapsed TxPingTime=32.321541I]4=)]=IiMMb@Mb@Mb@IIII I9MPn?)\(?~jtxYMD?yMGa=MĻMAM@ I)MAIYMAbDeVDey%<ٔA7Q->9Y=TGyFmE>Q 54̢?Q 94)BYD?Q E:y}?Q I?9DIL ;i;4y mBɮ A sEii?AJiARiAji~Q?bU,H*"@=QJf?Rd 3?ʿѡ:5¿rl?ZiVbi%/jؿl@Z5-u@{r?ZA͂j?9?Ov?2i@:i@"i3?*iBi#Bii52Xi+BiAi-I?  addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.508294 s, deltaX: -0.500000 m, approachRate: -0.983683 m/s, rangeRepo size: 4   Added new target pos. range: 9.556776 m, bearing: 46.977269 deg, lat: 36.779335 deg, lon: -121.859549 deg, deltaT: 0.508294 s, deltaX: -0.497699 m, approachRate: -0.979155 m/s, posRepo size: 4 jh  BNOT Ignoring new targets: 9.56 m.bh  6Short final. Range: 9.60 m. VTransitioning guidance mode to: SHORT_FINAL:h @@Rh Zh   ProNav: ac range: 9.556776 m, nav range: 9.477409 m, bearing: 45.108689 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 51.520298 deg, new cmd heading: 51.381139 deg. Bh  |HeadingCmd: 0.896770 target range: 9.556776 and range: 9.60 m.h e?h *h "h  h g f f f {Bd9 d9 d9 jdE @33#@ZdE g ? checking for new query: numPingsReceived=64, elapsed TxPingTime=32.477516ԉ % ăBɢ- E[J=) 4!>i ) SM'=顑 i Z{i e? g< |e=I e?I %:@! @!@-/@)EU EUEU(EQ"EU:*EUą:VEUc44ZEQBEU>U0@Uk>Ua1@ U >)U%@IU QQU+.u?IL?[|4? U|+?)UbkIUTFiU QQchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.742329^AC =IIO-?O,?A(>2?>yj?>=ٱ>_c FAHRS rotation from veh to nav: [[0.608224,-0.779109,-0.151828],[0.792828,0.586995,0.163894],[-0.038569,-0.220058,0.974724]]>H`v?woÿ`^??~?\*̿@0?i>2?I>];>C NsC)NiANԼNVFLPRiAiR/ݼIR>FPIPiVjA V`V\F)TT ViAZZ/FiAI/ݼ)fBFi)IiA`QIF !%LC!!i%?F!i-YC))) )I)YiY} By}"IbDVDfy0E=%6=ٔ7Q->9Y=-TGy5F5E5>9Q 5E4=#?Q 9E4=C)=BYiym|?Q Im?=29DI=6;i=;=4yurBɮuAutEi1i50?AJi5PARi5PAji5S?b5^c "@<\,L @R5?o6¿V!}?Zi5TFbi5 j5f@$@/l@Z5q a??T6'ǽ?2i5@:i5@"i5^uC?*i5 Bi5шBi5j˜?i5"U6i1i5Ai5ŷK?% addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.499588 s, deltaX: -0.100000 m, approachRate: -0.200166 m/s, rangeRepo size: 4 5 Added new target pos. range: 9.457226 m, bearing: 47.344974 deg, lat: 36.779334 deg, lon: -121.859548 deg, deltaT: 0.499588 s, deltaX: -0.099550 m, approachRate: -0.199265 m/s, posRepo size: 4 jh1bh9=zIgnoring new targets. Set target to previous: 9.46 m. 9.56 m.RhAZhau ProNav: ac range: 9.556776 m, nav range: 9.133957 m, bearing: 44.677403 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 51.381140 deg, new cmd heading: 51.280855 deg. Bhq}|HeadingCmd: 0.895020 target range: 9.556776 and range: 9.50 m.h} e?hy*hy"hy hyԁgfffdddjd#@Zd?ÃBɢZ=) %9>i!)%'=!!i%Ci- e?-5h<-z`û,W?AvPDAT read: Bearing 213.6, -14.4 (Local) ~~Local bearing/azimuth received: Bearing 213.6, -14.4 (Local) -DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.6 ADAT read: 15:12:42.3779 LVL= 32752, 32753, 26018, 32755, AGC= 45, IDX= 494, 0.18, 1.038,-0.546, 1.507, 1.117, PHS= 0.023,-1.619, 0.345, RAW= 158.8, 13.6, CAL= 159.4, 15.6, ROT= 350.6, -15.6 ]Ygot valid direction response: 15:12:42.3779 LVL= 32752, 32753, 26018, 32755, AGC= 45, IDX= 494, 0.18, 1.038,-0.546, 1.507, 1.117, PHS= 0.023,-1.619, 0.345, RAW= 158.8, 13.6, CAL= 159.4, 15.6, ROT= 350.6, -15.6 eT#Rx 66: Read range and direction messages.e^direction in FSK: [0.950229,-0.157309,0.268920]mFpublishing direction and range infoydfsGh?ߍ"Ŀ]^|5?YffAdddfe d)f-Ifjfa1@fs>f/ 2@ f'g>)f@If'gddfSO=?W{?3QC(? fR-?)fEsIf'if'gdd}l2?}Cj?}TO=ٱ}+u^ AHRS rotation from veh to nav: [[0.609267,-0.779063,-0.147834],[0.792023,0.588789,0.161326],[-0.038640,-0.215378,0.975766]]}H?5¿AX?\?`S?ȣ˿y9?i}l2?I}!];}CB>B#CB"IB(BBBBBy;B92EB}"CB}"CByB}½ =B}½ =C}4checking for new query: numPingsReceived=66, elapsed TxPingTime=33.301964Y5By5~"IiiMb@Mb@Mb@ 9 rh?y&1?/$YL?y`e=A5@ A)$ AY(AbDVD02yM%Z%U=ٔUN9Q-U>9YYY=]TGy]F]*E]>Q 54Uƚ?Q 94_)ԏBYM?Q E:yYz?Q I?L9DI:i:4yɮAidif?AJif ARif AjifP?bfUŋ܄ @v0L@RfsGh?ߍ"Ŀ]^|5?Zif'bif'gjfMޙ,s@faX@nre@Zf,?v3?|t?2ifj@:if@"ifze?*ifuBifBif3?ifuidif Aif&M?E addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504318 s, deltaX: -0.600000 m, approachRate: -1.189726 m/s, rangeRepo size: 4 U Added new target pos. range: 8.859947 m, bearing: 46.746487 deg, lat: 36.779333 deg, lon: -121.859547 deg, deltaT: 1.003906 s, deltaX: -0.696829 m, approachRate: -0.694118 m/s, posRepo size: 4 jhQbhY}zIgnoring new targets. Set target to previous: 8.86 m. 9.56 m.RhZh ProNav: ac range: 9.556776 m, nav range: 8.734585 m, bearing: 44.150889 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 51.280855 deg, new cmd heading: 51.170211 deg. Bh|HeadingCmd: 0.893089 target range: 9.556776 and range: 8.90 m.hud?h*h"h hgfffBdddjd!@Zd`?ƒBɢU=)! %:5>i!)%(=!!i%Ui-ud?-h<-a=I5ud?I1ex>iaԑDDAT read: Rx Time:15:12:42.8778 TRx dataTimestamp_ set to:1761577964.054151checking for new query: numPingsReceived=66, elapsed TxPingTime=33.492039 0@  @! @! @) @A @A EE  EE EA EA "EE :*EE :VEA ZEA BEE 5þ,?A2Q2?2'j?2=ٱ2Z :AHRS rotation from veh to nav: [[0.609598,-0.779432,-0.144482],[0.791776,0.589836,0.158695],[-0.038471,-0.211138,0.976699]]2Hԁ?`d~¿`;V?`?P?u˿@A?i2Q2?I2];2CYnBynv"I ppbDzVDzy%v=ٔQ- ?9 Y = TGy F"E?Q 5%4Қ?Q 9%4)ɏBY!y-Iz?Q I-?]9DIy:i:4y5xBɮ5A5uEUB*** querying acoustic contact ***iQ iQjhYbhaezIgnoring new targets. Set target to previous: 9.56 m. 9.56 m.RhmZhm} ProNav: ac range: 9.556776 m, nav range: 8.478035 m, bearing: 43.786337 deg, approach rate: -0.817043 m/s, LOS rate: -1.196125 deg/s, cmd heading: 51.170210 deg, new cmd heading: 50.043613 deg. Bh}8M|HeadingCmd: 0.873426 target range: 9.556776 and range: 8.90 m.h՘_?h*h"h hgfffdddjdZd`?PDAT read: Bearing 214.0, -15.0 (Local) ~Local bearing/azimuth received: Bearing 214.0, -15.0 (Local) DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.6 DAT read: 15:12:42.8778 LVL= 32752, 32753, 30402, 32755, AGC= 47, IDX= 509,-0.12, 0.045,-1.524, 0.529, 0.148, PHS=-0.000,-1.626, 0.337, RAW= 159.3, 14.1, CAL= 159.9, 16.2, ROT= 350.1, -16.2 Ygot valid direction response: 15:12:42.8778 LVL= 32752, 32753, 30402, 32755, AGC= 47, IDX= 509,-0.12, 0.045,-1.524, 0.529, 0.148, PHS=-0.000,-1.626, 0.337, RAW= 159.3, 14.1, CAL= 159.9, 16.2, ROT= 350.1, -16.2 T#Rx 67: Read range and direction messages.^direction in FSK: [0.945994,-0.165102,0.278991] Fpublishing direction and range infoy ɕE?t"ſ?Y3 Av )/Ii пD>1@d{>)2@ Ð>)a@IÐՋ ?;? \T? P/?){I40iÐ-checking for new query: numPingsReceived=67, elapsed TxPingTime=33.749165颥BɢM]=) )>i))=顱iիic`?sm<=I՘_?I2@ @@/@^A)  DDAT read: Rx Time:15:12:43.3774  TRx dataTimestamp_ set to:1761577964.555940 PDAT read: Bearing 215.4, -16.9 (Local)  ~Local bearing/azimuth received: Bearing 215.4, -16.9 (Local)  checking for new query: numPingsReceived=67, elapsed TxPingTime=33.997852I I1 O= >ɾ,σ)?AR{F2?Rj?Rb=ٱRT fAHRS rotation from veh to nav: [[0.609736,-0.780032,-0.140609],[0.791678,0.590790,0.155604],[-0.038306,-0.206195,0.977761]]RH?{`mU???ќ`dʿ@I?Dj%=DhEn EnEn&El"En:*En~:VEn4ZElar@ar@ar@ar@iR{F2?IR];RCY~By~a"IbD VD :y#%H=ٔ%ԹQ-%>9!Y!=%TGy%F-ڹE->1Q 5=45⚊?Q 9=45)5BYAyEKz?Q IE?5q9DI5:i5R:54yIɮMAQii*?AJi ARi AjihN?bԱb @[7saxT@R ɕE?t"ſ?Zi40biÐj@ @p蝿@ZZ1R?݉S;?n:gdQ?2i@:i@"i[Ȝ?*igEBiBiiiBiAi"K? addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.502555 s, deltaX: -0.200000 m, approachRate: -0.397966 m/s, rangeRepo size: 4  Added new target pos. range: 8.660848 m, bearing: 46.196571 deg, lat: 36.779333 deg, lon: -121.859547 deg, deltaT: 1.506461 s, deltaX: -0.895928 m, approachRate: -0.594724 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.66 m. 9.56 m.RhZhȥ ProNav: ac range: 9.556776 m, nav range: 8.160129 m, bearing: 43.301941 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 50.043611 deg, new cmd heading: 49.954085 deg. BhF|HeadingCmd: 0.871863 target range: 9.556776 and range: 8.70 m.hn2_?h*h"h hgfffdddjd`ff!@Zd\?颵Bɢ`O=) N >i))=iNiCsa?i<'=In2_?IA0@ @@_0@DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.7 EDAT read: 15:12:43.3774 LVL= 32752, 32753, 27682, 32755, AGC= 45, IDX= 505, 0.36, 1.063,-0.451, 1.597, 1.231, PHS=-0.066,-1.637, 0.322, RAW= 160.8, 15.2, CAL= 161.6, 17.9, ROT= 348.4, -17.9 ^Am$=IIO=Q>qAA@AB>BB"IBBBBBB`y;BZ2EYgot valid direction response: 15:12:43.3774 LVL= 32752, 32753, 27682, 32755, AGC= 45, IDX= 505, 0.36, 1.063,-0.451, 1.597, 1.231, PHS=-0.066,-1.637, 0.322, RAW= 160.8, 15.2, CAL= 161.6, 17.9, ROT= 348.4, -17.9 T#Rx 68: Read range and direction messages.^direction in FSK: [0.932158,-0.191345,0.307357]Fpublishing direction and range infoy=? (}ȿuY?YA"l )-I+i7ѿ/ݤ>3@ԇ>J4@ >)Q@Iynu,b?^KG+?!R? 36?)2ۇI4QOiechecking for new query: numPingsReceived=68, elapsed TxPingTime=34.325279ԙ о,[C?ADDAT read: Rx Time:15:12:43.8772 "TRx dataTimestamp_ set to:1761577965.059863<JPDAT read: Bearing 218.9, -17.9 (Local) N~Local bearing/azimuth received: Bearing 218.9, -17.9 (Local) %DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.6 5Z#Rx 69: Read range message, but no direction.yY@checking for new query: numPingsReceived=69, elapsed TxPingTime=34.5292599g2?=j?#=ٱQ AHRS rotation from veh to nav: [[0.609351,-0.780782,-0.138099],[0.791996,0.591035,0.153037],[-0.037867,-0.202627,0.978523]]H?)<X?? ?Oc`ɿP?i9g2?I];CYeByeW"IԡE EE'E"E:*E:VE'4ZEBEA89Y1=5TGy5F=@t:E=>AQ 5M4E?Q 9M4E)EBYMOQ?Q EM:yM0z?Q IM?E9DIE:iE:EC 4y]tBɮ]AelEiiC?AJiz@Riz@jiH?b8@3~D@R=? (}ȿuY?Zi4QObij p@jK{@7@ZD4N?L?[}x?2i@:i@"iC?*ieBiBi^uC?iiBi@iKI? addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.760376 s, deltaX: -0.900000 m, approachRate: -1.183624 m/s, rangeRepo size: 4  Added new target pos. range: 7.764894 m, bearing: 44.882911 deg, lat: 36.779332 deg, lon: -121.859547 deg, deltaT: 2.266837 s, deltaX: -1.791882 m, approachRate: -0.790477 m/s, posRepo size: 4 jhbh zIgnoring new targets. Set target to previous: 7.76 m. 9.56 m.Rh Zh = ProNav: ac range: 9.556776 m, nav range: 7.734500 m, bearing: 42.590738 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 49.954084 deg, new cmd heading: 49.837374 deg. Bh9E|HeadingCmd: 0.869826 target range: 9.556776 and range: 7.80 m.hE^?hA*hA"hI hIgIfIfqfuTBdqdqdqjd}@33@Zd}@*?BɢAG=)i m=ii)u"*=qqiueci}^?y}R=I}^?IDAT read: 15:12:43.8772 LVL= 32752, 32753, 32754, 32755, AGC= 46, IDX= 504,-0.14, 2.123, 0.649, 2.655, 2.362, PHS=-0.138,-1.669, 0.249, RAW= 161.0, 17.4, CAL= 162.2, 21.4, ROT= 347.8, -21.4  Ygot valid direction response: 15:12:43.8772 LVL= 32752, 32753, 32754, 32755, AGC= 46, IDX= 504,-0.14, 2.123, 0.649, 2.655, 2.362, PHS=-0.138,-1.669, 0.249, RAW= 161.0, 17.4, CAL= 162.2, 21.4, ROT= 347.8, -21.4  Z#Rx 70: Read direction message, but no range.^direction in FSK: [0.910029,-0.196755,0.364877]yVy?lH/ɿ>8^.$Z? ).IO iˡտ~>3@|>-5@ t;>)?@It;/5r ??_%? ~.7?)8It Zit;5checking for new query: numPingsReceived=70, elapsed TxPingTime=34.755993! @!  @! @% /@! @- =@- = I ^Ae ;=Am >Am >ADDAT read: Rx Time:15:12:44.3769 TRx dataTimestamp_ set to:1761577965.570258PDAT read: Bearing 217.8, -19.9 (Local) ~Local bearing/azimuth received: Bearing 217.8, -19.9 (Local) I1mDAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.7 yIZ#Rx 71: Read range message, but no direction.yY@checking for new query: numPingsReceived=71, elapsed TxPingTime=35.034748O ?-پ,Af?AnY2?nP0j?nc=ٱn?N AHRS rotation from veh to nav: [[0.609516,-0.781019,-0.136012],[0.791878,0.591645,0.151282],[-0.037684,-0.199914,0.979089]]nH'?@hW? ? 9]? GKǖɿT?inY2?In];nCY By 9"II=)4=bDeVDeyuӽ%u/=ٔu͹Q-}>9yE EEE"E&:*EVEZEa@a@a@a@Y=TGyFE>Q 54r?Q 94ş)BYy,z?Q I?9DI :i;a4yɮAiid?AJi@Ri@ji2I?b@~X0om@RVy?lH/ɿ>8^.$Z?Zit Zbit;j i@6@Q >7@ >)@IgC4?ѿ'?x? _~B?) |Iichecking for new query: numPingsReceived=72, elapsed TxPingTime=35.3193709 ^A% lT=a XG! A q9 Y iA]DDAT read: Rx Time:15:12:44.8766 eTRx dataTimestamp_ set to:1761577966.071985}PDAT read: Bearing 219.2, -23.1 (Local) ~Local bearing/azimuth received: Bearing 219.2, -23.1 (Local) checking for new query: numPingsReceived=72, elapsed TxPingTime=35.513390AIIO%>,mU?A0Y=ʃBy="IbE=:4jE=:4rE=¶C0E EE.E"E:*E:VEـ4ZEBE59IYI=MTGyMFUEU>YQ 5e4]A?Q 9e4].)]BYeF?Q Ee:yepr?Q Im?]9DI]:i]:]u4ԉyzBɮAmEjhbhzIgnoring new targets. Set target to previous: 9.56 m. 9.56 m.Rh%ͼZh%ͼU ProNav: ac range: 9.556776 m, nav range: 6.974395 m, bearing: 41.201507 deg, approach rate: -0.756650 m/s, LOS rate: -1.439755 deg/s, cmd heading: 49.733773 deg, new cmd heading: 47.494106 deg. BhUw]|HeadingCmd: 0.828929 target range: 9.556776 and range: 7.40 m.h]4T?hY*hY"hY hYgafafafm!BdididqjdqZdu y?ɢ0=) AQ:@|>R;@ +>)'-@I+Ⱦ ' ?c-NA?JTj"? F Q?)sI:+i+ȾMchecking for new query: numPingsReceived=73, elapsed TxPingTime=35.772129Ya ^A T=A I I O >l,e?AXb9Y=TGyFE>Q 54,?Q 94 )wBYyor?Q I?9DI;if;#4yɮ*AiiDޤ?AJi@Ri@ji:1?b K@I/$X'n@RxX/?bJXlѿtc?Zi:+bi+Ⱦjpm@@aBj@ 0x@Z_8#?Hp6?! T;e?2iRs@:i@"iGFD?*iE ,Bi׈BiC?ieii@i8@? addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 1.005808 s, deltaX: -0.900000 m, approachRate: -0.894803 m/s, rangeRepo size: 4  Added new target pos. range: 6.470736 m, bearing: 39.799328 deg, lat: 36.779331 deg, lon: -121.859549 deg, deltaT: 3.783040 s, deltaX: -3.086040 m, approachRate: -0.815757 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.47 m. 9.56 m.RhZhȥ ProNav: ac range: 9.556776 m, nav range: 6.648780 m, bearing: 40.549790 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 47.494106 deg, new cmd heading: 47.399755 deg. BhF-|HeadingCmd: 0.827282 target range: 9.556776 and range: 6.50 m.h-S?h)*h1"h1 h1g1f1f9f9d9d9d9jdE@ZdE?EU EUEU)EQ"EU;*EUx:VEUFA4ZEQa]@a]@a]@a]@颭Bɢ&=) i)i*=顱iMiTT?m<gm=IS?II)@ @@/@@@dA^A]vт=u DAT read: 15:12:45.3763 LVL= 32752, 32753, 30194, 32755, AGC= 48, IDX= 494, 0.36, 0.804,-0.496, 1.676, 1.226, PHS=-0.319,-1.677, 0.407, RAW= 170.1, 17.1, CAL= 170.8, 22.3, ROT= 339.2, -22.3 } Ygot valid direction response: 15:12:45.3763 LVL= 32752, 32753, 30194, 32755, AGC= 48, IDX= 494, 0.36, 0.804,-0.496, 1.676, 1.226, PHS=-0.319,-1.677, 0.407, RAW= 170.1, 17.1, CAL= 170.8, 22.3, ROT= 339.2, -22.3 } Z#Rx 75: Read direction message, but no range. ^direction in FSK: [0.864910,-0.328548,0.379456]yA E h=lW?rտNkI?A A A E u A )E 0IE SiE ֿE Nb>E >@E Θ>E >@ E SF>)E q@IE SFǾA E UB B ."IB ܃BB B B DB y;B 2EA! Iq I O >S,?A $2? Bi? =ٱ J AHRS rotation from veh to nav: [[0.610187,-0.780815,-0.134160],[0.791423,0.592976,0.148418],[-0.036333,-0.196740,0.979782]] H৆? p',`WS??[?`E.ɿ``Z?i $2?I 3^; CYBy!I i5Mb@Mb@Mb@1111 195Cl?MbpS㥛Y5;??y55/ݼ5A5b@ 5A)5 A1Y5\AbDM VDM2y%A=ٔ8Q->9!Y)=5TGy5FI]ϺEe>DDAT read: Rx Time:15:12:45.8761 TRx dataTimestamp_ set to:1761577967.080876PDAT read: Bearing 218.4, -26.5 (Local)  ~Local bearing/azimuth received: Bearing 218.4, -26.5 (Local) Q 5e4=?Q 9e4_)kBYm\??Q Em:ymf?Q Im?9DI>@>zIgnoring new targets. Set target to previous: 9.56 m. 9.56 m.RhZh ProNav: ac range: 9.556776 m, nav range: 6.332094 m, bearing: 39.986622 deg, approach rate: -0.672589 m/s, LOS rate: -1.255876 deg/s, cmd heading: 47.399754 deg, new cmd heading: 45.626348 deg. BhyW|HeadingCmd: 0.796330 target range: 9.556776 and range: 6.50 m.hIK?h*h"h hgfffBddd jd @Zd :?=?@ a>) @IaƾvU,P?p3?XpA? EDc?)BI: iaƾMchecking for new query: numPingsReceived=76, elapsed TxPingTime=36.597031q颙ɢ3=) li)?#*=顡iiIK?=IIK?IE} E}E}'Ey"E}:*E}:VE}'4ZEyBE}A8=xٔ(ԹQ->9Y=TGyF%E%>)Q 554-M?Q 9U4- )-`BYQyUEf?Q I]?-9DI-q;i-);-14yaɮe2AaiQiU-?AJiU@RiU@jiU8 ?bUMD@ /Tk`@RU7-?*Ӡտg|.?ZiU: biUaƾjUCIH@7n @ @ZU}[&0E?zeV!?l6?2iUuS@:iUG@"iU#Μ?*iU5#,BiUBiQiUw! iQiU@iU:? addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504810 s, deltaX: -0.300000 m, approachRate: -0.594283 m/s, rangeRepo size: 4 % Added new target pos. range: 6.172109 m, bearing: 35.858873 deg, lat: 36.779331 deg, lon: -121.859550 deg, deltaT: 4.287850 s, deltaX: -3.384667 m, approachRate: -0.789362 m/s, posRepo size: 4 jh!bh!-zIgnoring new targets. Set target to previous: 6.17 m. 9.56 m.RhMZhMȥ] ProNav: ac range: 9.556776 m, nav range: 6.031436 m, bearing: 39.402282 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 45.626350 deg, new cmd heading: 45.545322 deg. Bh]Fe|HeadingCmd: 0.794916 target range: 9.556776 and range: 6.20 m.heK?ha*ha"hi higfffdddjdZd?)EDDAT read: Rx Time:15:12:46.3758 MTRx dataTimestamp_ set to:1761577967.587482mPDAT read: Bearing 216.0, -27.8 (Local) }~Local bearing/azimuth received: Bearing 216.0, -27.8 (Local) 颥Bɢ=) i))=顩iZi3J?o/q<7=IK?I%DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.6 eDAT read: 15:12:46.3758 LVL= 32752, 32753, 30130, 32755, AGC= 46, IDX= 506,-0.38,-1.085,-2.336,-0.118,-0.645, PHS=-0.337,-1.645, 0.483, RAW= 172.5, 15.9, CAL= 172.9, 20.4, ROT= 337.1, -20.4 mYgot valid direction response: 15:12:46.3758 LVL= 32752, 32753, 30130, 32755, AGC= 46, IDX= 506,-0.38,-1.085,-2.336,-0.118,-0.645, PHS=-0.337,-1.645, 0.483, RAW= 172.5, 15.9, CAL= 172.9, 20.4, ROT= 337.1, -20.4 uT#Rx 77: Read range and direction messages.^direction in FSK: [0.863410,-0.364719,0.348572]Fpublishing direction and range infoyAE*a?W׿<O?YE̼@AAAEu A)E.IAiE\ҿEK>E2@@Eq>E!A@ EK>)EE@IEKAAE%y?]f?a? E[bj?)E1IE̾iEKAAchecking for new query: numPingsReceived=77, elapsed TxPingTime=37.108456@ @@@I^A˺=E EE)E"E:*E:VEFA4ZEa@a@a@a@A .AI! I9 OE >y  checking for new query: numPingsReceived=77, elapsed TxPingTime=37.2668041,?ABb>B`Bb!IBbBBb =B`B`Bby;Bb2EQ o0? Ԥh? =ٱ 5~M EAHRS rotation from veh to nav: [[0.614327,-0.777301,-0.135669],[0.788240,0.596759,0.150189],[-0.035780,-0.199205,0.979304]] H`?@]C9??`a9?Qɿ@vV?i o0?I ^; CYUlByU!Ii}Mb@Mb@Mb@yyyy y9}i|?5?~jt~jtY}1?y}D}}IAy }A)} AyYybDVD1y%#=ٔHQ->9 ?Y ?=TGyFϻE>Q 5%4na?Q 9%4=|)WBY%'2?Q E%:y%U?Q I-?:DIX:i::4y5|BɮU~AUeEqiiimN?AJim@Rim@jim ?bm܅bH@yh*#`@Rm*a?W׿<O?Zim̾bimKjm+ @ Y76@.sQ@Zm(~Ձ*?A&}?t6}?2imA@:im@"imܜ?*im,BimBiiimE ,iiimG@im'? addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.506606 s, deltaX: -0.300000 m, approachRate: -0.592176 m/s, rangeRepo size: 4  Added new target pos. range: 5.873484 m, bearing: 33.906629 deg, lat: 36.779331 deg, lon: -121.859555 deg, deltaT: 4.794456 s, deltaX: -3.683292 m, approachRate: -0.768240 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 5.87 m. 9.56 m.RhZhM ProNav: ac range: 9.556776 m, nav range: 5.686733 m, bearing: 38.884557 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 45.545320 deg, new cmd heading: 45.436217 deg. BhQU|HeadingCmd: 0.793012 target range: 9.556776 and range: 5.90 m.hUK?hY*hY"hY hYgYfYfafeBdadadijdm@Zdߡ?Qɢ]=) i);)=顡iiK?-DDAT read: Rx Time:15:12:46.8756 =TRx dataTimestamp_ set to:1761577968.088566]PDAT read: Bearing 213.6, -28.5 (Local) e~Local bearing/azimuth received: Bearing 213.6, -28.5 (Local) t<=IK?I]>i>ԩDAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.7 DAT read: 15:12:46.8756 LVL= 32752, 32753, 30034, 32755, AGC= 47, IDX= 504, 0.23, 1.054,-0.189, 2.075, 1.485, PHS=-0.329,-1.629, 0.546, RAW= 173.6, 14.8, CAL= 173.9, 18.6, ROT= 336.1, -18.6  Ygot valid direction response: 15:12:46.8756 LVL= 32752, 32753, 30034, 32755, AGC= 47, IDX= 504, 0.23, 1.054,-0.189, 2.075, 1.485, PHS=-0.329,-1.629, 0.546, RAW= 173.6, 14.8, CAL= 173.9, 18.6, ROT= 336.1, -18.6  T#Rx 78: Read range and direction messages.% ^direction in FSK: [0.866501,-0.383980,0.318959]% Fpublishing direction and range infoy15cb`?YN"ؿˬQi?Y53@1115Ru 1)5/I5ri5п5 ?5A@5 A>5?B@ 56>)5@I56= 0@Q  @Q @Y @Y 115͵bJa?RB? vL? 5Ro?)5؃I5վi5611 checking for new query: numPingsReceived=78, elapsed TxPingTime=37.611538E  E E *E "E D:*E :VE (N4ZE BE 19"?Y"?=TGyFE>Q 54r?Q 94Ov)PBYyT?Q I?':DI:i:8B4yBɮ AfEii?AJie@Rie@ji8o?bDR@ ˱Gs?Rcb`?YN"ؿˬQi?Ziվbi6jy4@ A@߲P@Z)E]  E] E] %EY "E] ;*E] Z:VE] 4ZEY ae @ae @ae @ae @ ,1?A6.?6ie?6I=ٱ69T BAHRS rotation from veh to nav: [[0.622578,-0.769894,-0.140211],[0.781775,0.603884,0.155407],[-0.034975,-0.206367,0.977849]]6H)?rM?S?@`?@N衿:jʿJ?i6.?I64_;6CY^EBy^u!IbDjVDjNyr %rW=ٔrQ-r>9tYt=vTGyvFzEz>|Q 54~ށ?Q 94~5q)~JBYy3S?Q I ?~8:DI~& ;i~9:~H4yɮ AE addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.503989 s, deltaX: -0.500000 m, approachRate: -0.992085 m/s, rangeRepo size: 4 jhAbhAMzIgnoring new targets. Set target to previous: 9.56 m. 9.56 m.RhMFZhUFe ProNav: ac range: 9.556776 m, nav range: 5.124443 m, bearing: 37.935262 deg, approach rate: -0.717019 m/s, LOS rate: -1.316831 deg/s, cmd heading: 45.340701 deg, new cmd heading: 43.904370 deg. Bheae|HeadingCmd: 0.766276 target range: 9.556776 and range: 5.10 m.hm*D?hi*hi"hi higififqfqdqdydyjd}`ff@Zd}`ē?颩ɢ`<) 8mi)'=顱i`Թi&F?,=I*D?IDAT read: 15:12:47.3753 LVL= 32752, 29025, 23250, 32755, AGC= 43, IDX= 501, 0.05,-1.332,-2.581,-0.298,-0.945, PHS=-0.285,-1.591, 0.603, RAW= 173.7, 13.2, CAL= 173.9, 16.3, ROT= 336.1, -16.3 %Ygot valid direction response: 15:12:47.3753 LVL= 32752, 29025, 23250, 32755, AGC= 43, IDX= 501, 0.05,-1.332,-2.581,-0.298,-0.945, PHS=-0.285,-1.591, 0.603, RAW= 173.7, 13.2, CAL= 173.9, 16.3, ROT= 336.1, -16.3 %Z#Rx 80: Read direction message, but no range.-^direction in FSK: [0.877506,-0.388857,0.280667]yB?)nؿrwkq?aqZ )+I둾i˿5^?WB@k> >)I'B~n?SzQ?FU? E p?)lIiMchecking for new query: numPingsReceived=80, elapsed TxPingTime=38.284760A9A9B]>BYB]!IB]vBBYBYBYB]y;BYB#CB#CBBBü =C 55@ @@3@^A%Sk= DDAT read: Rx Time:15:12:47.8753  TRx dataTimestamp_ set to:1761577969.096979 PDAT read: Bearing 208.5, -27.9 (Local)  ~Local bearing/azimuth received: Bearing 208.5, -27.9 (Local)  DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.7 IY Iq O > DAT read: 15:12:47.8753 LVL= 32752, 28913, 26674, 32755, AGC= 41, IDX= 500,-0.05,-2.670, 2.313,-1.613,-2.308, PHS=-0.260,-1.618, 0.650, RAW= 173.5, 12.4, CAL= 173.6, 15.0, ROT= 336.4, -15.0  Ygot valid direction response: 15:12:47.8753 LVL= 32752, 28913, 26674, 32755, AGC= 41, IDX= 500,-0.05,-2.670, 2.313,-1.613,-2.308, PHS=-0.260,-1.618, 0.650, RAW= 173.5, 12.4, CAL= 173.6, 15.0, ROT= 336.4, -15.0  T#Rx 81: Read range and direction messages. ^direction in FSK: [0.885138,-0.386708,0.258819] Fpublishing direction and range infoy   S?#LѿؿV!}?Y p 2h ) )I i Ͽ ff&? &A@ k]> A@ >A ) @I f& ?gd?yUNcu? Eo?) `]I JҾi  checking for new query: numPingsReceived=81, elapsed TxPingTime=38.5954026,xK?AY~CBy~r!IE% E%E%)E!"E%:*E%xv:VE%FA4ZE!BE%39Y=TGyFE>Q 54m?Q 94hk)GBY^,?Q E:y:I?Q I?L:DI;i;P4y~Bɮ A]Eii4F?AJiw@Riw@ji ?bU @#ei0XO?R S?#LѿؿV!}?ZiJҾbi jsȂ!@.B#A@dv݆?ZB\?UwJ?r[hR?2i "@:i@"i  ?*iO(BiSBiܜ?iiBi@i ? addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.504424 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 5.077065 m, bearing: 31.539606 deg, lat: 36.779335 deg, lon: -121.859555 deg, deltaT: 6.303953 s, deltaX: -4.479712 m, approachRate: -0.710619 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 5.08 m. 9.56 m.RhZhȥ ProNav: ac range: 9.556776 m, nav range: 4.815323 m, bearing: 37.476773 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 43.904371 deg, new cmd heading: 43.800252 deg. BhF|HeadingCmd: 0.764459 target range: 9.556776 and range: 5.10 m.hC?h*h"h hg!f)f)f-Bd1d1d1jd1Zd5`-"?颩ɢdO<) (ri)+&=顱iJi(H?({<=IC?I checking for new query: numPingsReceived=81, elapsed TxPingTime=38.778946I:@ @@4@@dA@eA^AUp{=qI1 IA OM >ԡ ,Vae?A>DDAT read: Rx Time:15:12:48.3750 BTRx dataTimestamp_ set to:1761577969.599750FPDAT read: Bearing 212.3, -27.7 (Local) F~Local bearing/azimuth received: Bearing 212.3, -27.7 (Local) NDAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.5 RZ#Rx 82: Read range message, but no direction.yf@<Vchecking for new query: numPingsReceived=82, elapsed TxPingTime=39.039822Sj*?@b?C =ٱݚ^i uAHRS rotation from veh to nav: [[0.633841,-0.759674,-0.145400],[0.772695,0.613541,0.162820],[-0.034481,-0.215551,0.975884]]HlH?@Os¿@? ?`G?.˿ p:?iSj*?I^;CY-ByX!IbDVD1y]ͽ%D=ٔQ->9Y=TGyFE>Q 5-48?Q 9-4Nf)DBY1y5E?Q I5?^:DIO;i:*X4y=Bɮ= A9B*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.502771 s, deltaX: -0.400000 m, approachRate: -0.795591 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.56 m. 9.56 m.RhZh  ProNav: ac range: 9.556776 m, nav range: 4.539291 m, bearing: 37.064830 deg, approach rate: -0.667261 m/s, LOS rate: -1.056349 deg/s, cmd heading: 43.800251 deg, new cmd heading: 42.489512 deg. Bh =5|HeadingCmd: 0.741582 target range: 9.556776 and range: 4.70 m.hO=?h*h"h hE- E-E-&E)"E-;*E-$:VE-4ZE)a=@a=@a=@a=@gfifyfdddjd@Zd`=?EBɢEC.<)I MFiI)M&=IIiMiUC?QU~=ԙIO=?I5@ @@N3@=DAT read: 15:12:48.3750 LVL= 31984, 24769, 24690, 32755, AGC= 37, IDX= 497,-0.02, 0.657,-0.666, 1.672, 1.083, PHS=-0.324,-1.704, 0.545, RAW= 172.5, 15.0, CAL= 172.9, 18.8, ROT= 337.1, -18.8 UYgot valid direction response: 15:12:48.3750 LVL= 31984, 24769, 24690, 32755, AGC= 37, IDX= 497,-0.02, 0.657,-0.666, 1.672, 1.083, PHS=-0.324,-1.704, 0.545, RAW= 172.5, 15.0, CAL= 172.9, 18.8, ROT= 337.1, -18.8 ]Z#Rx 83: Read direction message, but no range.e^direction in FSK: [0.872039,-0.368364,0.322266]y   P?7~SF׿ɜL?  | ` r` ) %I T㥾i ڿ  ? 2@@  > !A@ >) E@I   1_a?q?n2? j?) 싅I ̾i }checking for new query: numPingsReceived=83, elapsed TxPingTime=39.296371BI BI BM y!IBM HBBI BI BI BM y;BM 2E^A s= I9 II OU >,C=?A2;(?2`?2 =ٱ2c :AHRS rotation from veh to nav: [[0.640408,-0.753753,-0.147425],[0.767268,0.619293,0.166662],[-0.034323,-0.219847,0.974930]]2H7~? ¿u???@0U?`#̿`2?i2;(?I2^;2CY*ByU!IuDDAT read: Rx Time:15:12:48.8749 }TRx dataTimestamp_ set to:1761577970.101306PDAT read: Bearing 224.2, -29.1 (Local) ~Local bearing/azimuth received: Bearing 224.2, -29.1 (Local) DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.5 Z#Rx 84: Read range message, but no direction.yyY}̌@ychecking for new query: numPingsReceived=84, elapsed TxPingTime=39.543682i-Mb@Mb@Mb@)))) )9-v/?Zd;Oy&1|?Y-x)?y-j-`;-vA-5@ ))))Y-\Ae@AeAAbDmVDmy|+%%=ٔQ->9Y=TGyF܌E>Q 54ȹ?Q 94i`)EBY+?Q E:y0>?Q I%?s:DI&I[=?II)cA! ] :@Y  @Y @e 4@a @m >@m l>M DAT read: 15:12:48.8749 LVL= 30304, 25393, 22002, 32755, AGC= 36, IDX= 495, 0.20,-2.153, 2.915,-1.173,-1.532, PHS=-0.519,-1.791, 0.316, RAW= 173.2, 21.0, CAL= 173.7, 29.9, ROT= 336.3, -29.9 U Ygot valid direction response: 15:12:48.8749 LVL= 30304, 25393, 22002, 32755, AGC= 36, IDX= 495, 0.20,-2.153, 2.915,-1.173,-1.532, PHS=-0.519,-1.791, 0.316, RAW= 173.2, 21.0, CAL= 173.7, 29.9, ROT= 336.3, -29.9 ] Z#Rx 85: Read direction message, but no range.e ^direction in FSK: [0.793785,-0.348447,0.498488]y! % Nf? \Lֿ9?! % `v% 1c% U ! )% $I% /i% }?忉% ʡ>% \wA@% f>% WB@ % 0?)% Jӻ@I% 0! % uf?U`&?A'? % m?)% I% Ӿi% 0} checking for new query: numPingsReceived=85, elapsed TxPingTime=39.798744Q ^A=IIO >X',О?A2%?2h]?2U =ٱ2 g4 >AHRS rotation from veh to nav: [[0.647580,-0.747384,-0.148517],[0.761210,0.625643,0.170676],[-0.034642,-0.223579,0.974070]]2H?ÿ [?@E?@?:̿+?i2%?I2_;2CBCBffAi@IDFPJFC FiAHJFHJCJZhAIH)LiL)LINhANNRF LR3CRgARiR)/FPiVLCVgA)V VFIT X)XXXXYXYb!BybI!IbDjVDjkyrXh%rt=ٔvz:Q-v?9tYx=zTGyzFzEz?|Q 54~Ǜ?Q 94~w\)~FBY y ;?Q I ?~:DI~Y;i~T;~f4yBɮ: Ajh9bh9EzIgnoring new targets. Set target to previous: 9.56 m. 9.56 m.RhMxZhMx] ProNav: ac range: 9.556776 m, nav range: 3.986610 m, bearing: 36.329211 deg, approach rate: -0.718216 m/s, LOS rate: -1.031426 deg/s, cmd heading: 42.380016 deg, new cmd heading: 41.419392 deg. Bh]0e|HeadingCmd: 0.722905 target range: 9.556776 and range: 4.40 m.heI9?ha*ha"h hgff)f)d1d9dijdqZduu?ԙ颩ɢM΋<) iDDAT read: Rx Time:15:12:49.3746 TRx dataTimestamp_ set to:1761577970.605583PDAT read: Bearing 238.6, -32.4 (Local) ~Local bearing/azimuth received: Bearing 238.6, -32.4 (Local)  DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.5 mDAT read: 15:12:49.3746 LVL= 24560, 24769, 21842, 32755, AGC= 35, IDX= 508, 0.42, 1.315, 0.468, 2.334, 2.238, PHS=-0.821,-1.725, 0.051, RAW= 179.4, 29.8, CAL= 179.2, 42.5, ROT= 330.8, -42.5 )Y#=yyi}miI9?@>II9?Ygot valid direction response: 15:12:49.3746 LVL= 24560, 24769, 21842, 32755, AGC= 35, IDX= 508, 0.42, 1.315, 0.468, 2.334, 2.238, PHS=-0.821,-1.725, 0.051, RAW= 179.4, 29.8, CAL= 179.2, 42.5, ROT= 330.8, -42.5 T#Rx 86: Read range and direction messages.%^direction in FSK: [0.643586,-0.359688,0.675590]-Fpublishing direction and range infoy9@?7sX ׿iOo?Yy@I1_`RU )#I-Riܿ`P=HdH@%?+H@ N=?)@IN=A?͕k?? ?)LIwiN=checking for new query: numPingsReceived=86, elapsed TxPingTime=40.098717/@ @@/@E EE)E"E:*Ez:VEFA4ZEa@a@a@a@^AU=I)IAOM> u checking for new query: numPingsReceived=86, elapsed TxPingTime=40.290646P|-, ?AB>BB`!IB4BBBBDBy;B2EpYM&ByMO!IIUC=)U=iMb@Mb@Mb@ 9"~j?RQ/$?YS#?y½<A@ ) AYAbDVD02y׮<%!=ٔQ->9Y=TGyFE%> 15ƐCAQ 54Efܛ?Q 94GEV)EKBY7%?Q E:y:?9YkkAQ IU?yp? ADDAT read: Rx Time:15:12:49.8747 TRx dataTimestamp_ set to:1761577971.111124PDAT read: Bearing 248.9, -39.1 (Local)  ~Local bearing/azimuth received: Bearing 248.9, -39.1 (Local) %DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.5 1E:DIE=iEb=Eo4yBɮ< A_EDAT read: 15:12:49.8747 LVL= 25968, 28817, 24626, 32755, AGC= 39, IDX= 507, 0.35,-1.500,-1.857,-0.274,-0.196, PHS=-1.202,-1.616,-0.122, RAW= 194.4, 37.9, CAL= 192.3, 48.8, ROT= 317.7, -48.8 Ygot valid direction response: 15:12:49.8747 LVL= 25968, 28817, 24626, 32755, AGC= 39, IDX= 507, 0.35,-1.500,-1.857,-0.274,-0.196, PHS=-1.202,-1.616,-0.122, RAW= 194.4, 37.9, CAL= 192.3, 48.8, ROT= 317.7, -48.8 T#Rx 87: Read range and direction messages.^direction in FSK: [0.487187,-0.443306,0.752415]Fpublishing direction and range infoy7t.?pgl _ܿԏs?Y3@pep2` )'I#ۙiο#%Y@V)?V@ ^ Z?)o@I^ ZZ.f?rmT?"ge? I?)6D)I@Z .w?FT? D?2i ?:i l@"i Y ᛜ?*i /Bi Bi i ,i i \@i :>Mchecking for new query: numPingsReceived=87, elapsed TxPingTime=40.590130} addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 1.009818 s, deltaX: -0.300000 m, approachRate: -0.297083 m/s, rangeRepo size: 4  Added new target pos. range: 3.882439 m, bearing: 33.006944 deg, lat: 36.779335 deg, lon: -121.859555 deg, deltaT: 7.812557 s, deltaX: -5.674337 m, approachRate: -0.726310 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 3.88 m. 9.56 m.RhZhȥ ProNav: ac range: 9.556776 m, nav range: 3.660490 m, bearing: 35.841896 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 41.419391 deg, new cmd heading: 41.280664 deg. BhF|HeadingCmd: 0.720483 target range: 9.556776 and range: 4.10 m.hq8?h*h"h hgfffBddd jd `ff@Zd% sE?m Bɢu 7<)q u iq )u E"=q y i} i} 9? ok< >I q8?I Y bE%FA4jE%ʭ54rE%DN0E  E E %E "E ;*E :VE 4ZE BE A9YYY=eTGyeFerEe>iQ 5u4m;?Q 9u4m?Q)mPBYyy},3?Q I}?m:DIm;im:mQx4yBɮ2 Aiaie?AJie@Rie@jie$>beFv?k.Bym@Re7t.?pgl _ܿԏs?Zie<bie^ Zjei@>?=PR @Zeu\v=/?G*?[1"?2iep\?:ieG @"iejhbhzIgnoring new targets. Set target to previous: 9.56 m. 9.56 m.RhIZhI ProNav: ac range: 9.556776 m, nav range: 3.338318 m, bearing: 35.429993 deg, approach rate: -0.859556 m/s, LOS rate: -1.205004 deg/s, cmd heading: 41.280663 deg, new cmd heading: 39.925962 deg. BhN|HeadingCmd: 0.696840 target range: 9.556776 and range: 4.10 m.hd2?h*h"h hgff f dddIjdQZdUU?Bɢ_f<5DDAT read: Rx Time:15:12:50.3743 =TRx dataTimestamp_ set to:1761577971.613729MPDAT read: Bearing 252.1, -50.2 (Local) M~Local bearing/azimuth received: Bearing 252.1, -50.2 (Local) mDAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 DAT read: 15:12:50.3743 LVL= 18016, 20385, 15730, 32755, AGC= 37, IDX= 504, 0.47,-1.107,-1.021, 0.521, 0.406, PHS=-1.411,-1.382, 0.071, RAW= 211.0, 33.2, CAL= 208.0, 45.1, ROT= 302.0, -45.1 Ygot valid direction response: 15:12:50.3743 LVL= 18016, 20385, 15730, 32755, AGC= 37, IDX= 504, 0.47,-1.107,-1.021, 0.521, 0.406, PHS=-1.411,-1.382, 0.071, RAW= 211.0, 33.2, CAL= 208.0, 45.1, ROT= 302.0, -45.1 ) Ii)!=iWil3?=Id2?IT#Rx 88: Read range and direction messages.%^direction in FSK: [0.374055,-0.598613,0.708340]-Fpublishing direction and range infoy15͕?%Lk'H)E?Y5`@15`F5O5r= 1)5%I5i5`尿5sh=5sk@5V?5Vh@ 5B B Z!IB /BB =B B B z;B 2EI1 IQ O >Q'>,J]?AU1?UkS?U=ٱUsq eAHRS rotation from veh to nav: [[0.677491,-0.720436,-0.148251],[0.734661,0.652995,0.184042],[-0.035783,-0.233601,0.971674]]UH? `¿V? V?`?#R@Ϳ ?iU1?IUf^;QYu7By}d!IiMb@Mb@Mb@ 9sh|??(\µ~jt?Y)?y<A5@ A) AYG AbDVD1y%&=%%+=ٔ% 9Q-->9)Y)=-TGy5F5E5>9Q 5E4=?Q 9E4=K)=UBYM{+?Q EM:yM5?Q IM?=:DI=:i=s:=4yUBɮU A]VEiiVG?AJi^@Ri^@ji)<b I?$Ⓟ@R͕?%Lk'H)E?Zibi?2iK=:iB@"i^ ޯ?*irJBiBi^ ޯ?i/iBi@igH> addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.502605 s, deltaX: -0.600000 m, approachRate: -1.193780 m/s, rangeRepo size: 4  Added new target pos. range: 3.484228 m, bearing: 1.410794 deg, lat: 36.779331 deg, lon: -121.859556 deg, deltaT: 8.820703 s, deltaX: -6.072548 m, approachRate: -0.688443 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 3.48 m. 9.56 m.RhZhȥU ProNav: ac range: 9.556776 m, nav range: 3.019813 m, bearing: 34.871083 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 39.925963 deg, new cmd heading: 39.822014 deg. BhUF]|HeadingCmd: 0.695025 target range: 9.556776 and range: 3.50 m.h]-1?hY*hY"hY hYgYfafafeƃBdddjd @Zd@?)EBɢM3<)I MiI)M" =IQiUb߼iv4?^?Y0B2 sR)I?5οi/]GR@f3?@ ,ɔ?)[@I,ɔ*Hۿ.[/⸿-$^?  :)"IK61@1 @9@=/@9ai,ɔchecking for new query: numPingsReceived=89, elapsed TxPingTime=41.610455E  E E (E "E T;*E :VE c44ZE BE G4E,]?Achecking for new query: numPingsReceived=89, elapsed TxPingTime=41.802658(N?NJP?N.P=ٱNdr VAHRS rotation from veh to nav: [[0.684781,-0.713752,-0.147083],[0.727849,0.659835,0.186692],[-0.036201,-0.234898,0.971346]]NH? ¿`J?`]?`?@ οC?iN?IN^;NCY-8By-e!I 11bDAVDAyUS;%UG=ٔU:Q-]>9YYY=]TGy]Fe;ǼEe>Q 54?Q 94G)YBYy^3?Q I?:DI:i:4yBɮ AWEii?AJiRijij@b1b9Øٿ!0є @R—'Uؿڳbʝ'>^?ZiK6bi,ɔjzxW1+Y @Z>OԿ D/ǿt?2i!:iƋ"i뵻?*i(WBiBiU addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.505260 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 3.484228 m, bearing: 210.025210 deg, lat: 36.779330 deg, lon: -121.859561 deg, deltaT: 9.325963 s, deltaX: -6.072548 m, approachRate: -0.651144 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 3.48 m. 9.56 m.RhZh ProNav: ac range: 9.556776 m, nav range: 2.740786 m, bearing: 34.332440 deg, approach rate: 0.000000 m/s, LOS rate: -0.072470 deg/s, cmd heading: 39.822014 deg, new cmd heading: 39.729255 deg. Bh|HeadingCmd: 0.693406 target range: 9.556776 and range: 3.50 m.h1?h*h"h hgfffdddjdZd?y ɢ8<) i)=99i=N߼iE1?AE=IE1?IIQ0@ @!@%/@!@E,>@E?>Ա^A-8x=IDDAT read: Rx Time:15:12:51.3740 TRx dataTimestamp_ set to:1761577972.622743PDAT read: Bearing 242.6, -42.8 (Local) ~Local bearing/azimuth received: Bearing 242.6, -42.8 (Local) DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4 IIOU>eDAT read: 15:12:51.3740 LVL= 17360, 18129, 19058, 16995, AGC= 38, IDX= 502,-0.06, 1.552, 1.143,-3.004, 3.138, PHS=-1.484,-1.950, 0.097, RAW= 197.5, 32.4, CAL= 194.8, 44.4, ROT= 315.2, -44.4 mYgot valid direction response: 15:12:51.3740 LVL= 17360, 18129, 19058, 16995, AGC= 38, IDX= 502,-0.06, 1.552, 1.143,-3.004, 3.138, PHS=-1.484,-1.950, 0.097, RAW= 197.5, 32.4, CAL= 194.8, 44.4, ROT= 315.2, -44.4 mT#Rx 90: Read range and direction messages.u^direction in FSK: [0.506969,-0.503442,0.699663]uFpublishing direction and range infoy"9?-^ 2/;^c?Y@@CFrJ cB)&Ii=\@?Y@ aF?)x @IaF-zw?A^?Jθ&?  ?)aI+HiaFchecking for new query: numPingsReceived=90, elapsed TxPingTime=42.088348 D =D <E  E E 'E "E *E :VE '4ZE a @a @a @a @GK,L1?A|YJBy|!IbDVDk1yE)=%ML=ٔMQ-M>9QYQ=UTGyUFUEU>YQ 5e4](?Q 9m4]B)]]BYiyiQ Im?]:DI]B:i]F:]؎4yqɮu, Ayi!i%'?AJi%"?@Ri%"?@ji%>b%Џ9?qgjV'\@R%"9?-^ 2/;^c?Zi%+Hbi%aFj%WWr? %9?@y+ȟ@Z%P?|[n?ƕ?2i%?:i%?"i% ?*i%yd5Bi%Bi!i!i!i%"?i%&G> addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503754 s, deltaX: -0.500000 m, approachRate: -0.992548 m/s, rangeRepo size: 4  Added new target pos. range: 2.986481 m, bearing: 15.503616 deg, lat: 36.779330 deg, lon: -121.859561 deg, deltaT: 9.829717 s, deltaX: -6.570295 m, approachRate: -0.668411 m/s, posRepo size: 4 jhbhBIntercept lockout. Range: 3.00 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUT:h@hh*h"h hgfffdddjdu@Zdu'?颹ɢ*<) Zi) 4=i޼=checking for new query: numPingsReceived=90, elapsed TxPingTime=42.306812iIUBBm!IB>BB =BBDB`z;B2E12@ @!@%/@)Q^A =I9 Ii O} >ԉ  DDAT read: Rx Time:15:12:51.8740  TRx dataTimestamp_ set to:1761577973.126042 PDAT read: Bearing 315.2, 15.7 (Local)  ~Local bearing/azimuth received: Bearing 315.2, 15.7 (Local) 5 DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.3 U DAT read: 15:12:51.8740 LVL= 20656, 16145, 16770, 24563, AGC= 38, IDX= 504, 0.18,-1.383,-0.776,-2.537,-0.166, PHS=-1.115,-0.565,-2.414, RAW= 13.2, 41.3, CAL= 11.6, 46.6, ROT= 138.4, -46.6 ] Ygot valid direction response: 15:12:51.8740 LVL= 20656, 16145, 16770, 24563, AGC= 38, IDX= 504, 0.18,-1.383,-0.776,-2.537,-0.166, PHS=-1.115,-0.565,-2.414, RAW= 13.2, 41.3, CAL= 11.6, 46.6, ROT= 138.4, -46.6 e T#Rx 91: Read range and direction messages.e ^direction in FSK: [-0.513803,0.456175,0.726575]m Fpublishing direction and range infoy  v{qMp1?3r@?Y P ? A _) I Ri ף ~ k> 8? 4QO> 5P?) #@I 5P b˿$)4y|$? Ԭ) 8I #@i 5P  checking for new query: numPingsReceived=91, elapsed TxPingTime=42.579140R,J?AYY}OBy}!IE] E]EYEY"E]:*E]:VEYZEYBE]69)Y1=5TGy5F1E5>9Q 5E4=X:i%"i% v?*i%"7Bi%Bi!i!i!i%Ǧ?i%t}= addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503299 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 2.986515 m, bearing: 175.431098 deg, lat: 36.779330 deg, lon: -121.859561 deg, deltaT: 0.503299 s, deltaX: 0.000034 m, approachRate: 0.000068 m/s, posRepo size: 4 jh1bh1h1h1*h1"h1 h9g9f9f9fEBdAdAdajdiZdm;?ԁ颵Bɢ<) &Pi)ul=iǫ޼i<v =IIMchecking for new query: numPingsReceived=91, elapsed TxPingTime=42.8115841@ @@/@Ա^A zA= A >A >I I O >+X,d?A%?%H?%=ٱ%z EAHRS rotation from veh to nav: [[0.707599,-0.691527,-0.145235],[0.705639,0.680744,0.196625],[-0.037104,-0.241615,0.969663]]%H?@ ¿??*?@B`;οz?i%?I%_;%CYe^Bym!IDDAT read: Rx Time:15:12:52.3739 ԹTRx dataTimestamp_ set to:1761577973.630372PDAT read: Bearing 274.0, 14.3 (Local) ~Local bearing/azimuth received: Bearing 274.0, 14.3 (Local) DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.2 DAT read: 15:12:52.3739 LVL= 32752, 12305, 23602, 32627, AGC= 38, IDX= 502, 0.15, 2.177, 1.358, 1.212, 2.937, PHS=-0.658,-1.534,-1.769, RAW= 78.4, 54.1, CAL= 76.1, 59.3, ROT= 73.9, -59.3 Ygot valid direction response: 15:12:52.3739 LVL= 32752, 12305, 23602, 32627, AGC= 38, IDX= 502, 0.15, 2.177, 1.358, 1.212, 2.937, PHS=-0.658,-1.534,-1.769, RAW= 78.4, 54.1, CAL= 76.1, 59.3, ROT= 73.9, -59.3  T#Rx 92: Read range and direction messages.u\direction in FSK: [0.141581,0.490519,0.859852]uFpublishing direction and range infoyũS?gC d?r?Y9@02\ s)Ir(iZĿn⿩%?q?P? ;z?)?I;z6g ?PؿNϏ? D9)qI?bDVDܲyR=%S=ٔ;Q->9Y=TGyF٨E>Q 541M?Q 94 8)bBYy>:?Q I?;DI:i:4i;zchecking for new query: numPingsReceived=92, elapsed TxPingTime=43.106461yɮ AiiXh?AJi8@Ri8@jiwI@bK-VS(?"wJ?-1K?2i?:iy"i^?*iAA BixBi^?i"7iBiz?iH@ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504330 s, deltaX: -0.100000 m, approachRate: -0.198283 m/s, rangeRepo size: 4  Added new target pos. range: 2.886965 m, bearing: 121.115193 deg, lat: 36.779311 deg, lon: -121.859560 deg, deltaT: 0.504330 s, deltaX: -0.099550 m, approachRate: -0.197391 m/s, posRepo size: 4 jhbhhh*h"h hgffafadididijdu@33@Zdu U?Ee EeEe(Ea"Ee&:*Ee:VEec44ZEaau@a}@a}@a}@颉ɢϴ<) 2i)=顑ia޼iM݆<=III)dAm2@i @q@u/@q@y@y M checking for new query: numPingsReceived=92, elapsed TxPingTime=43.314594B B B !IB WBB B B B z;B 2EBBBBɼ =BCɽ&5A ^A A.AI1IQiOu>`,(?A2_A?2F?2=ٱ2z :AHRS rotation from veh to nav: [[0.714769,-0.684446,-0.143661],[0.698379,0.687661,0.198469],[-0.037051,-0.242189,0.969521]]2Hc? {c¿Y?Q?@kg?[ ϿQ?i2_A?I2 ,`;0YFsByF!IiUMb@Mb@Mb@QQQQ Q9U^I +?MbpZd;O?YUX9?yUUj9 ?Y ?=TGyF2E>Q 54`?Q 942)aBYp9?Q E:yF?Q I?;DIJ;ig;|4yBɮ> AXE-B*** querying acoustic contact ***i) i)jhAbhAhAhA*hI"hI hIgIfIfQf]@BdYdadajdiZdm@?DDAT read: Rx Time:15:12:52.8737 TRx dataTimestamp_ set to:1761577974.143604DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.1 Z#Rx 93: Read range message, but no direction.yYf&@checking for new query: numPingsReceived=93, elapsed TxPingTime=43.581310yɢ}<)y }vi)T_=顁i+޼i<.U=IIU0@Q @Q@UE0@Q^A-(=E] E]EYEY"E]:*E]:VEYZEYBE]5ԑ = checking for new query: numPingsReceived=93, elapsed TxPingTime=43.818756f,jܜ?A6 ?6C?6==ٱ6D{@ >AHRS rotation from veh to nav: [[0.721195,-0.677794,-0.143086],[0.691817,0.694098,0.199039],[-0.035591,-0.242536,0.969489]]6H ?`|@P¿ ^#? 6?z?` 9 i Ͽ?i6 ?I6M_;4YJByN!IbDV VDV:2y^ڢ=%^Z=ٔ^Q-b>9`Y`=bTGybFfwʼEf>hQ 5n4jp?Q 9n4j8-)hYlynWD?Q Ir?j-;DIj;ij;j4yvBɮvAvPE addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.513232 s, deltaX: -0.300000 m, approachRate: -0.584531 m/s, rangeRepo size: 4 jhbh!h!h!*h!"h! h!g!f)f)f)d)d1d1jd5@Zd5,?aɢeb+<)a eѽia)m=iiimd޼iquEu  Eu Eu )Eq "Eu O;*Eu ':VEu FA4ZEq a} @a} @a} @a} @ - m,?A2!?2c>?2<ٱ2q :AHRS rotation from veh to nav: [[0.734104,-0.664918,-0.137753],[0.678394,0.709331,0.191394],[-0.029549,-0.233954,0.971799]]2H}?`G@f?`ֲ??2B3Ϳ@?i2!?I2% _;2ClYzByz!Ichecking for new query: numPingsReceived=94, elapsed TxPingTime=44.322784bDVD y%=%%D=ٔ%)mQ-->9)Y)=-TGy-F56E5>9Q 5E4=t?Q 9E4=')9YAyE??Q IM?=A;DI==:i=w:=>4yQɮUmAQByA}<B>BB!IBqBB =BBBbz;B2E addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.492697 s, deltaX: -0.300000 m, approachRate: -0.608893 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjd`ff@Zd*?ɢr@=) i)6=i"޼il<g=II t>i >1@ @@/@@=@=9^A=DDAT read: Rx Time:15:12:53.8735 TRx dataTimestamp_ set to:1761577975.140312DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.1 Z#Rx 95: Read range message, but no direction.yYchecking for new query: numPingsReceived=95, elapsed TxPingTime=44.578125Aa Ii Iy O >ԉ xs,̚?AE EE&E"E:*E*:VE4ZEBEa2EaJEٛ?>@r8?>.<ٱ>` JAHRS rotation from veh to nav: [[0.751290,-0.647615,-0.127114],[0.659588,0.730221,0.178103],[-0.022521,-0.217650,0.975767]]>H ?CFEX?]??˿{9?i>ٛ?I>u^;>CYRByR!Ii-Mb@Mb@Mb@)))) )9-K?Mb?Y-^:?y-<-)-b@ -A)- A)Y- AbDEVDEYyU<=%]G=ٔ]싼Q-e>9aYa=eTGyeFm}Em>qQ 5}4u?Q 9}4u|")u]BY}i:?Q E:y=?Q I?uT;DIuL ;iu;uo4yBɮeA addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504011 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffmBdddjdZd?颩ɢ=) i)=顱iq޼iՉ<m=IIchecking for new query: numPingsReceived=95, elapsed TxPingTime=44.827213ԉE@A @A@A@A^A-=ԱAyIIO>  DDAT read: Rx Time:15:12:54.3735  TRx dataTimestamp_ set to:1761577975.644334 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  Z#Rx 96: Read range message, but no direction.y Y  checking for new query: numPingsReceived=96, elapsed TxPingTime=45.0821384z,p?A2*>2k1?2K<ٱ2W :AHRS rotation from veh to nav: [[0.769190,-0.627474,-0.120929],[0.638794,0.749988,0.171639],[-0.017003,-0.209272,0.977710]]2H`3?@D9 q??@?Hi@iʿfI?i2*>I2H^;0YFByF!IbDNVDN yV<%VV=ٔV`mQ-V>9XYX=ZTGyZF^E^>`Q 5f4b?Q 9f4b)bZBYdyj6?Q Ij?bf;DIby:ib:b4ylɮGAԹ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504022 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jh9bhAhIhI*hq"hq hygyfyffdddjdZdD?Bɢ9=) i)I=i޼i%`ԉ<%SBB!IBBB =BBB2z;B2E^A Vg=A5 ?A5 ?9 u GA AfA  =9 AfAY }hAI! I O >],ܷ?A~>~ֿ-?~~S"<ٱ~ $ %AHRS rotation from veh to nav: [[0.778346,-0.620904,-0.093035],[0.627757,0.767319,0.130930],[-0.009907,-0.160312,0.987017]]~H5?`r%ѷ??P?ZJ@Ŀ?i~>I~/ ^;~CY=By=!IIMAqDDAT read: Rx Time:15:12:54.8737 TRx dataTimestamp_ set to:1761577976.148741PDAT read: Bearing 268.4, 22.7 (Local) ~Local bearing/azimuth received: Bearing 268.4, 22.7 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 15:12:54.8737 LVL= 14160, 13953, 18882, 29043, AGC= 35, IDX= 500, 0.19,-1.275,-2.110,-2.315,-0.618, PHS=-0.555,-1.446,-1.740, RAW= 76.2, 51.0, CAL= 73.3, 56.6, ROT= 76.7, -56.6 Ygot valid direction response: 15:12:54.8737 LVL= 14160, 13953, 18882, 29043, AGC= 35, IDX= 500, 0.19,-1.275,-2.110,-2.315,-0.618, PHS=-0.555,-1.446,-1.740, RAW= 76.2, 51.0, CAL= 73.3, 56.6, ROT= 76.7, -56.6 %T#Rx 97: Read range and direction messages.-\direction in FSK: [0.126638,0.535716,0.834848]-Fpublishing direction and range infoyE5?S҂e$?&j?Yf&@P76I sq)#I{iR޿;?c?? '|?)uY?I'| ?+ۿΏH? C)1#dIuY?i'|checking for new query: numPingsReceived=97, elapsed TxPingTime=45.638649iMb@Mb@Mb@ 9S㥛?Mb`?I +Y$?y;9XAx@ )$ AY= AbDVD0yEn=%E=ٔEUQ-E>9IYI=MTGyMFMؼEU>yQ 54}꾜?Q 94})}RBY$?Q E:y!-?Q I?}|;DI}:i}:}ʧ4yBԑɮ5+A5QEbE%c44jE%Ņ04rE%/E EE(E"E;*E:VEc44ZEBE9CI~,m?A:+>:cl-?:;ٱ:a= FAHRS rotation from veh to nav: [[0.779177,-0.623353,-0.065684],[0.626791,0.774199,0.088026],[-0.004018,-0.109758,0.993950]]:H?`а?I:;h^;:CYNByR!IbDZVDZ02yb4=%b=ٔb맼Q-f?9dYd=fTGyfFj<Ej?lQ 5r4nʜ?Q 9r4n)nOBYpyr@-?Q Iv?n;DIn;in;nϧ4yxɮzAx B*** querying acoustic contact ***i ijh%TStarting intercept timer at range: 2.60 m.bh!h!h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5k?颱ɢ,)=) pi)9=iuCin<Vw;II@ @@0@DDAT read: Rx Time:15:12:55.3736 TRx dataTimestamp_ set to:1761577976.654036PDAT read: Bearing 270.8, 23.7 (Local) ~Local bearing/azimuth received: Bearing 270.8, 23.7 (Local) %DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 UDAT read: 15:12:55.3736 LVL= 18592, 16129, 17906, 30867, AGC= 36, IDX= 499, 0.26,-0.843,-1.548,-1.775,-0.056, PHS=-0.684,-1.447,-1.763, RAW= 73.4, 55.1, CAL= 70.6, 59.9, ROT= 79.4, -59.9 eYgot valid direction response: 15:12:55.3736 LVL= 18592, 16129, 17906, 30867, AGC= 36, IDX= 499, 0.26,-0.843,-1.548,-1.775,-0.056, PHS=-0.684,-1.447,-1.763, RAW= 73.4, 55.1, CAL= 70.6, 59.9, ROT= 79.4, -59.9 mT#Rx 98: Read range and direction messages.u\direction in FSK: [0.092254,0.492953,0.865151]uFpublishing direction and range infoyҗ2?Z#?D R?Y@H^A{<?E x)$I/iL7Ῡ(?m0v?ϸ? aх?)a?Iaх 0? ڿce=? DO){$vIa?iaхchecking for new query: numPingsReceived=98, elapsed TxPingTime=46.121124AAIIO>1D=D<E EE,E"E~ ;*E:VEg4ZEa@a@a@a@Y ,^J9?A&checking for new query: numPingsReceived=98, elapsed TxPingTime=46.3387646)>6j0?6 ٱ6+A@AB@ABF>BDBF!IBFBBDBDBDBF3z;BD RAHRS rotation from veh to nav: [[0.771790,-0.633826,-0.051027],[0.635860,0.769868,0.054637],[0.004654,-0.074614,0.997202]]6H?`NH`@ @X?@¢?T?=s?@`?i6)>I6&;^;6CYnByn!IbDvVDv:2y~ȉ;%F=ٔ|Q->9 c?Y c?= TGy F <E >Q 54!ܜ?Q 9%4t)JBY!y%0?Q I%?;DI;i;֧4y-Bɮ5A5REi)1i-)?AJi-@Ri-@ji-@b-GH6?7'?ƏJ@R-җ2?Z#?D R?Zi-a?bi-aхj-/Hל?.M$?Z-,8Cҿ8}i?W_XJq?2i-t?:i-."i-G$?*i-Bi-Bi-sUz?i-AA i)i-?i->)<@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.505295 s, deltaX: -0.200000 m, approachRate: -0.395808 m/s, rangeRepo size: 4  Added new target pos. range: 2.389220 m, bearing: 120.451575 deg, lat: 36.779325 deg, lon: -121.859540 deg, deltaT: 0.505295 s, deltaX: -0.199100 m, approachRate: -0.394027 m/s, posRepo size: 4 jhbhh h1*h1"h9 h9gAfIfyfydddjd@33@ZdC?i颵Bɢ=)]`o i)I=顡iiZ<?q \direction in FSK: [0.121704,0.474008,0.872069]% Fpublishing direction and range infoyl蓐(?mz#V??Yf&@PC1MK )%IQ8i}?ſE濩?Qy?6? 蚇?)[?I蚇?7?YmؿtEv?  -A)gDyI[?i蚇} checking for new query: numPingsReceived=99, elapsed TxPingTime=46.639893Թ E  E E &E "E l;*E :VE 4ZE BE \F,-"Y?A6?6:?6\>checking for new query: numPingsReceived=99, elapsed TxPingTime=46.842716ٱ6 FAHRS rotation from veh to nav: [[0.744999,-0.662767,-0.075611],[0.666665,0.743681,0.049968],[0.023113,-0.087634,0.995885]]6H ? b5>[QU?`;?q?`? 'o`I?i6?I6^;6CYBy!I iUMb@Mb@Mb@QQQQ Q9Um?V-?~jtYU>yUm=UDU AUZ@ UA)UVAQYUfAbD}VD}1y% =ٔQ->9Y=TGyF؏=E>Q 54p뜊?Q 94 )>BY>Q E:yX?Q I?;DI:i:4yBɮAHEiYi]J?AJi]%@Ri]%@ji]k@b]cZZ!)?v- Q?Et~@R]l蓐(?mz#V??Zi][?bi]蚇j]Wp^e?n.@Z]$ҿ( ϊ?5CY?2i]?:i]?"i]P?*i]?Bi]BiYi]iYi](?i]O!@  addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503612 s, deltaX: 0.200000 m, approachRate: 0.397131 m/s, rangeRepo size: 4 % Added new target pos. range: 2.588321 m, bearing: 121.235883 deg, lat: 36.779325 deg, lon: -121.859530 deg, deltaT: 0.503612 s, deltaX: 0.199101 m, approachRate: 0.395347 m/s, posRepo size: 4 jh%%RStopped intercept timer at range: 2.60 m.bh!h)h)*h)"h) h)g)f)f1f5ۃBd1d1d9jd=@Zd=?uBɢu=)  i) = i5ńiI}-<}V K=II@ @@/@i)I)=DDAT read: Rx Time:15:12:56.3736 ETRx dataTimestamp_ set to:1761577977.662120UPDAT read: Bearing 269.8, 17.0 (Local) U~Local bearing/azimuth received: Bearing 269.8, 17.0 (Local) mDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 15:12:56.3736 LVL= 19920, 17825, 23074, 30435, AGC= 38, IDX= 500,-0.19, 1.951, 1.215, 1.184, 2.955, PHS=-0.902,-1.695,-1.815, RAW= 83.1, 61.2, CAL= 81.7, 65.5, ROT= 68.3, -65.5 Ygot valid direction response: 15:12:56.3736 LVL= 19920, 17825, 23074, 30435, AGC= 38, IDX= 500,-0.19, 1.951, 1.215, 1.184, 2.955, PHS=-0.902,-1.695,-1.815, RAW= 83.1, 61.2, CAL= 81.7, 65.5, ROT= 68.3, -65.5 V#Rx 100: Read range and direction messages.\direction in FSK: [0.153331,0.385305,0.909961]Fpublishing direction and range infoy9=,]?km֨?g?Y=@9=M=E="Z =v)=&I=yfi=ؿ=Q迩=?=ܸ?=? =T?)=k?I=T99={ ?u}ҿ I? =%)=I=k?i=T99checking for new query: numPingsReceived=100, elapsed TxPingTime=47.1144989 ^A t<D ?AzD E  E E *E "E ;*E $:VE (N4ZE a% @a% @a% @a% @i I I O >,6v?A2:?2Q=?2 ٱ2]̽ :AHRS rotation from veh to nav: [[0.739116,-0.667668,-0.089030],[0.672911,0.737787,0.053495],[0.029968,-0.099448,0.994591]]2Hצ?@]@ʶ|? ?c?`?ou@?i2:?I2;_;2C P)RiARC PPTViAiVtITTITiZiA ZtX)Xh niAnlllriAIr)pip)pIriArt ttttiv-Fxi) IYY%By%!IbD]VD]N2ym%mW=ٔmrQ-m>9qYq=uTGyuF}^<E}>Q 54d?Q 94)6BYyY?Q I?;DI$;ib;4yBɮJAIEii-`j?AJi@checking for new query: numPingsReceived=100, elapsed TxPingTime=47.346973Ri@ji@bZ.q(r?*i`u?6d@R,]?km֨?g?Zik?biTj2>¤?1u@Z(:̿??2i`?:i "iȜ?*iqf BiƇBiG$?iiBB5>B1B5"IB5BB1B1B1B5Fz;B52Ei"?i^@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504472 s, deltaX: -0.200000 m, approachRate: -0.396454 m/s, rangeRepo size: 4  Added new target pos. range: 2.389220 m, bearing: 117.283016 deg, lat: 36.779329 deg, lon: -121.859529 deg, deltaT: 0.504472 s, deltaX: -0.199101 m, approachRate: -0.394673 m/s, posRepo size: 4 jhTStarting intercept timer at range: 2.40 m.bhhh*h"h hgfffddd jd @33@Zd `?QɢU =)Y ]siY)]=YYie Aix<]=II )@1 @1@=0@9^A}|<IqIO>1 DDAT read: Rx Time:15:12:56.8736  TRx dataTimestamp_ set to:1761577978.164635 PDAT read: Bearing 262.2, 13.8 (Local)  ~Local bearing/azimuth received: Bearing 262.2, 13.8 (Local)  DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  DAT read: 15:12:56.8736 LVL= 16256, 14113, 23538, 27971, AGC= 37, IDX= 500,-0.07, 2.312, 1.278, 1.580,-2.931, PHS=-0.938,-2.030,-1.816, RAW= 100.6, 59.4, CAL= 99.4, 63.4, ROT= 50.6, -63.4  Ygot valid direction response: 15:12:56.8736 LVL= 16256, 14113, 23538, 27971, AGC= 37, IDX= 500,-0.07, 2.312, 1.278, 1.580,-2.931, PHS=-0.938,-2.030,-1.816, RAW= 100.6, 59.4, CAL= 99.4, 63.4, ROT= 50.6, -63.4  V#Rx 101: Read range and direction messages.% \direction in FSK: [0.284206,0.345998,0.894154]% Fpublishing direction and range infoy  Vo0?$?|) _?Y ? !7 [ Cm) %I pi  r迩 ? m? ? ?) =b?I  &?LJaſȫꎇ? ܬ) זI =b?i  E checking for new query: numPingsReceived=101, elapsed TxPingTime=47.614429Y ƣ,ӏ?A2s,?21y 7= Q8  A p@ ?A) A Y AbDEVDE3yU⌽%U==ٔ]%Q-]>9YYY=]TGyeFeEe>iQ 5u4m?Q 9u4m)m,BY}P>Q E};y}υ?Q I}?m;DIm* ;im;m34yɮAiia?AJi@Ri@ji?bо? i jt?t6@RVo0?$?|) _?Zi=b?bij$ѿu%?>ID@Zݰ~3&K a? ;?2i?:iY"ijmᜊ?*iMjBiBiP?iqf ii?i@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.502515 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.389225 m, bearing: 102.895200 deg, lat: 36.779330 deg, lon: -121.859528 deg, deltaT: 0.502515 s, deltaX: 0.000005 m, approachRate: 0.000009 m/s, posRepo size: 4 jhbhhh*h"h hgfffBdddjdZd@X?Bɢ}=) hi)NE=ii<8I=II-checking for new query: numPingsReceived=101, elapsed TxPingTime=47.850868a̼i>ԑ @  @ @ /@ @ @ Թ  DDAT read: Rx Time:15:12:57.3735  TRx dataTimestamp_ set to:1761577978.668709 PDAT read: Bearing 254.7, 13.1 (Local)  ~Local bearing/azimuth received: Bearing 254.7, 13.1 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 % DAT read: 15:12:57.3735 LVL= 16368, 13521, 20450, 22771, AGC= 38, IDX= 499, 0.05, 1.697, 0.222, 0.821, 2.626, PHS=-0.827,-2.359,-1.849, RAW= 109.1, 52.8, CAL= 107.2, 57.8, ROT= 42.8, -57.8 - Ygot valid direction response: 15:12:57.3735 LVL= 16368, 13521, 20450, 22771, AGC= 38, IDX= 499, 0.05, 1.697, 0.222, 0.821, 2.626, PHS=-0.827,-2.359,-1.849, RAW= 109.1, 52.8, CAL= 107.2, 57.8, ROT= 42.8, -57.8 - V#Rx 102: Read range and direction messages. \direction in FSK: [0.390987,0.362058,0.846193] Fpublishing direction and range infoy  w>k?rO+?U?Y 3@ ? 4 O X) &I FSi  쿩 S? k? |? ^ ?) t;??I ^ E9?ʷ6Rī6"}? K/C) kI t;??i ^  checking for new query: numPingsReceived=102, elapsed TxPingTime=48.134670^AG=II)O=>c,ů?Azd>z6?z\ٱzK# -AHRS rotation from veh to nav: [[0.755177,-0.642296,-0.131007],[0.654546,0.749734,0.097300],[0.035725,-0.159229,0.986595]]zHi*? @ ? ??`J?aĿ/?izd>Iz_;xEe EeEe&Ea"Eel;*Ee:VEe4ZEaau@au@au@au@YBy!II<);AbDVDy% '=ٔ  Q- >9Y=TGyF)E>AQ 5E4EY?Q 9M4Ee)E BYIyM'?Q IM?E;DIE:iE:E4yyɮ}Ayi)i-!̪?AJi-@Ri-@ji-%?b-,俥?;r ?-?R-w>k?rO+?U?Zi-t;??bi-^ j-t57 V??Z-JM?:wū?@?Q?2i-?:i-"i-X?*i-NjBi-*Bi-Ȝ?i-?i)i-M?i-O @  addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504074 s, deltaX: -0.100000 m, approachRate: -0.198384 m/s, rangeRepo size: 4 = Added new target pos. range: 2.289673 m, bearing: 94.514644 deg, lat: 36.779333 deg, lon: -121.859527 deg, deltaT: 0.504074 s, deltaX: -0.099551 m, approachRate: -0.197493 m/s, posRepo size: 4 jh9bh9h9hA*hA"hA hAgAfAfIfIdIdIdIjdu`ff@Zdu^?颽Bɢ,=) Ži)=ieB]$CBYBYBYBYBYB]$z;B]2EBBBBBCŜ4e@a @a@e0@a9 ^A] <H=I I O- >>,@j?AR>R90?RCٱREv- ^AHRS rotation from veh to nav: [[0.770674,-0.623001,-0.133913],[0.636270,0.763861,0.108061],[0.034969,-0.168484,0.985084]]RH[?$R\?`q?ߩ?s?`ſ΅?fDDAT read: Rx Time:15:12:57.8736 fTRx dataTimestamp_ set to:1761577979.172776nPDAT read: Bearing 259.8, 14.9 (Local) n~Local bearing/azimuth received: Bearing 259.8, 14.9 (Local) vDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  DAT read: 15:12:57.8736 LVL= 13648, 16097, 20818, 21219, AGC= 37, IDX= 500, 0.15, 3.009, 1.853, 2.058,-2.402, PHS=-0.770,-1.983,-1.867, RAW= 95.0, 54.6, CAL= 93.9, 59.6, ROT= 56.1, -59.6 Ygot valid direction response: 15:12:57.8736 LVL= 13648, 16097, 20818, 21219, AGC= 37, IDX= 500, 0.15, 3.009, 1.853, 2.058,-2.402, PHS=-0.770,-1.983,-1.867, RAW= 95.0, 54.6, CAL= 93.9, 59.6, ROT= 56.1, -59.6 V#Rx 103: Read range and direction messages.%\direction in FSK: [0.282238,0.420014,0.862514]%Fpublishing direction and range infoydfDZ~/?r?FfRQ fR)f%IfEifffg;?fs?fM? f%?)f>z?If%ddfE?S(XϿ8R? fs߾)f$tIf>z?if%ddchecking for new query: numPingsReceived=103, elapsed TxPingTime=48.638622iR>IR_;RCYnBy!IQiuMb@Mb@Mb@qqqq u;D9u?Mb~jtYu=yuuDudAu@ uA)uAqYufAbDVD02y&%3=ٔq:Q->9Y=TGyFHUE>aQ 5m4e?Q 9u4e;)aYud=Q Eu;yuA=Q Iu?e;DIe:ie@:e4yyɮ AE EE'E"E:*EZ:VE'4ZEBE>z?bif%jfxXiؿN?4jw&?ZfA:oĿHҨ?yt=?2if?:ifNþ"if|Sᜊ?*ifBif3Bifjmᜊ?ifMjifBifH?if\ ?M addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504067 s, deltaX: 0.100000 m, approachRate: 0.198387 m/s, rangeRepo size: 4 ] Added new target pos. range: 2.389235 m, bearing: 105.053905 deg, lat: 36.779336 deg, lon: -121.859525 deg, deltaT: 0.504067 s, deltaX: 0.099562 m, approachRate: 0.197518 m/s, posRepo size: 4 jhYbhYhh*h"h hgfffBdddjd@33@Zd ? ɢ <) i)F=i2i%2R<%QjA2_o,?2Xٱ22'' :AHRS rotation from veh to nav: [[0.781237,-0.611637,-0.124775],[0.623496,0.774283,0.108341],[0.030346,-0.162437,0.986252]]2H?D??6?@?`Ŀ`?i21>I2_;2CYF_ByF!IHbDRVDR1yZ%ZI=bDDAT read: Rx Time:15:12:58.3735 bTRx dataTimestamp_ set to:1761577979.676796fPDAT read: Bearing 259.8, 14.2 (Local) j~Local bearing/azimuth received: Bearing 259.8, 14.2 (Local) rDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 15:12:58.3735 LVL= 13424, 16369, 19762, 20275, AGC= 37, IDX= 499, 0.32, 1.311, 0.227, 0.405, 2.238, PHS=-0.826,-1.966,-1.877, RAW= 94.0, 56.4, CAL= 93.0, 61.1, ROT= 57.0, -61.1  Ygot valid direction response: 15:12:58.3735 LVL= 13424, 16369, 19762, 20275, AGC= 37, IDX= 499, 0.32, 1.311, 0.227, 0.405, 2.238, PHS=-0.826,-1.966,-1.877, RAW= 94.0, 56.4, CAL= 93.0, 61.1, ROT= 57.0, -61.1 V#Rx 104: Read range and direction messages.\direction in FSK: [0.263214,0.405315,0.875465]Fpublishing direction and range infoy`bG}?:P?/ ?Yb3@`bp4b?b2M b3O)`IbtSibbAb~?bd{?b? b?)b~?Ib``b_Â_?΂ Ͽs}? bu)b<{Ib~?ib``=checking for new query: numPingsReceived=104, elapsed TxPingTime=49.127415ٔ)9 ?Y ?=TGyFE> Q 5u4 V?Q 9u4 ) !BYyy}=Q I}? ;DI zBU#CBU!IBUBBU =BQBQBUy;BU2Emchecking for new query: numPingsReceived=104, elapsed TxPingTime=49.362713 ] @Y  @Y @] /@Y Q ^Ae2g=AazAa%DDAT read: Rx Time:15:12:58.8737 %TRx dataTimestamp_ set to:1761577980.1808075PDAT read: Bearing 264.6, 11.5 (Local) 5~Local bearing/azimuth received: Bearing 264.6, 11.5 (Local) EDAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 mDAT read: 15:12:58.8737 LVL= 15216, 16081, 23458, 23235, AGC= 38, IDX= 501,-0.44, 0.543,-0.214,-0.169, 1.645, PHS=-1.000,-1.813,-1.857, RAW= 87.4, 63.1, CAL= 86.5, 67.1, ROT= 63.5, -67.1 uYgot valid direction response: 15:12:58.8737 LVL= 15216, 16081, 23458, 23235, AGC= 38, IDX= 501,-0.44, 0.543,-0.214,-0.169, 1.645, PHS=-1.000,-1.813,-1.857, RAW= 87.4, 63.1, CAL= 86.5, 67.1, ROT= 63.5, -67.1 uV#Rx 105: Read range and direction messages.}\direction in FSK: [0.173626,0.348240,0.921185]}Fpublishing direction and range infoy!%Rb9?VJI?}Yz?Y%f&@!%p;%>%[ %Z)%&I%i%b迉%-%@?%}?%,>? % ?)%A܍?I% 畿!!%LsacY?ڝ(Ͽ㗭nj?A؟AII1O=?Oÿ,7 ?A m9)mImA܍?im 畿ii^checking for new query: numPingsReceived=105, elapsed TxPingTime=49.675140 > T)? [ٱ u =AHRS rotation from veh to nav: [[0.789068,-0.608735,-0.082544],[0.614235,0.783864,0.090953],[0.009337,-0.122470,0.992428]] H @?z !ѧ?i?@H? ?/Z ?i >I _; CYuJByu{!I yyԁE EE*E"E:*E:VE(N4ZEBEa2EaJE:;a:E:;aiMb@Mb@Mb@ A9~jtZd;O:v?Yyj<A@ lA)AYAbDVD1y% <ٔ )=Q- >9"?Y"?=TGyF9E>YQ 5e4]T?Q 9m4]g)],BYm=Q Em msɿ,ϣ'?AY1By]!IbD-VD-k1y=%En=ٔEQ-E?9M%?YM%?=MTGyMFMEU?YQ 5]4]n ?Q 9e4])]2BYayaQ Ie?];DI]:i]w:] 4yiɮu AqB*** querying acoustic contact ***i ijhbhhh*h"h hgfffdddjdZd p?ɢD|<) Ki)=iEid<%DDAT read: Rx Time:15:12:59.3736 %TRx dataTimestamp_ set to:1761577980.688706-PDAT read: Bearing 266.1, 13.6 (Local) 5~Local bearing/azimuth received: Bearing 266.1, 13.6 (Local) EDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 eDAT read: 15:12:59.3736 LVL= 17488, 16033, 24050, 26595, AGC= 38, IDX= 500,-0.29,-0.296,-0.969,-1.007, 0.784, PHS=-0.978,-1.708,-1.835, RAW= 82.1, 63.4, CAL= 80.8, 67.4, ROT= 69.2, -67.4 mYgot valid direction response: 15:12:59.3736 LVL= 17488, 16033, 24050, 26595, AGC= 38, IDX= 500,-0.29,-0.296,-0.969,-1.007, 0.784, PHS=-0.978,-1.708,-1.835, RAW= 82.1, 63.4, CAL= 80.8, 67.4, ROT= 69.2, -67.4 uV#Rx 106: Read range and direction messages.}\direction in FSK: [0.136466,0.359249,0.923210]}Fpublishing direction and range infoy!%Ww?A?$?Y%@!%PD%>%] %g)!I%5^zi%ڿ%H꿩%i?%?%J? %?)%#?I%!!%AG?LPѿ/C~? %L))%AI%#?i%!!checking for new query: numPingsReceived=106, elapsed TxPingTime=50.138592II1@ @@!1@^AE EE)E"E:*E:VEFA4ZEa@a@a@a@!AII O>I Bi Bi Bm !IBm qBBm =Bi Bi Bm y;Bm 2E checking for new query: numPingsReceived=106, elapsed TxPingTime=50.378510SZп,zA?A bIGtAǍ9Y Aԩ>H"?-<ٱ AHRS rotation from veh to nav: [[0.805441,-0.592261,-0.022164],[0.592112,0.802481,0.073667],[-0.025844,-0.072458,0.997037]]H ,?`%?@?۲?v`@?i>Ik_;Y%By%E!IiiMb@Mb@Mb@ 9~jtȿ~jtX9v?YDyĽ}=A@ ?A)lAY=AbD VD:2y ۞% %=ٔ[=Q->9Y=TGyF}cE>!Q 5-4%J?Q 954%)%EBY5d>Q E5m;y5Q I5?%;DI%* ;i% ;% 4y9ɮ=; AAiQiU,?AJiU@RiU@jiU5B?bU?Ujw?qI5c@RUWw?A?$?ZiU#?biUjU 8ҿy?ŽE`@ZUE"֥Zd?m@d?2iU?:iUٖ"iU[v윊?*iUoBiU`BiU霊?iQiQiUL?iU'?  addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.507899 s, deltaX: -0.200000 m, approachRate: -0.393779 m/s, rangeRepo size: 4  Added new target pos. range: 2.389225 m, bearing: 105.754856 deg, lat: 36.779337 deg, lon: -121.859523 deg, deltaT: 0.507899 s, deltaX: -0.199106 m, approachRate: -0.392018 m/s, posRepo size: 4 5DDAT read: Rx Time:15:12:59.8737 5TRx dataTimestamp_ set to:1761577981.192795=PDAT read: Bearing 263.2, 18.6 (Local) E~Local bearing/azimuth received: Bearing 263.2, 18.6 (Local) UDAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 uDAT read: 15:12:59.8737 LVL= 19232, 19441, 21714, 28563, AGC= 38, IDX= 501,-0.27, 2.976, 2.190, 2.135,-2.373, PHS=-0.832,-1.675,-1.820, RAW= 82.2, 58.9, CAL= 80.7, 63.5, ROT= 69.3, -63.5 }Ygot valid direction response: 15:12:59.8737 LVL= 19232, 19441, 21714, 28563, AGC= 38, IDX= 501,-0.27, 2.976, 2.190, 2.135,-2.373, PHS=-0.832,-1.675,-1.820, RAW= 82.2, 58.9, CAL= 80.7, 63.5, ROT= 69.3, -63.5 V#Rx 107: Read range and direction messages.\direction in FSK: [0.157720,0.417393,0.894934]Fpublishing direction and range infoy15Ǘ(0?-U?/׿,`?AY By/!II=<)=R=ԑbDVDy%J=ٔ}Q->9Y=TGyFE>Q 54?Q 94 )UBYyQ I?;DIa;iT;G(4yɮ Ai!i%VL?AJi%%@Ri%%@ji%d?b%S0q ?I? P@R%Ǘ(0?-U?/ oݿ,!y?A2!>2%?2{=ٱ2W :AHRS rotation from veh to nav: [[0.839830,-0.540615,0.049206],[0.539362,0.841258,0.037077],[-0.061440,-0.004599,0.998100]]2H?L1?`sB???uro?i2!>I2k&_;2CY^Byb&!IbDjVDj1BpBpBrT!IBr*BBpBpBpBry;Br2Ey %Z=ٔ=Q->9 "?Y "?= TGy F 8E>Q 5%4?Q 9%4T )cBY!y%[Q I%?;DIY;i;R.4y1ɮ5 A1iAechecking for new query: numPingsReceived=108, elapsed TxPingTime=51.382710iEl?AJiE@RiE@jiEg?bE  Ygot valid direction response: 15:13:00.8736 LVL= 27968, 32753, 24050, 32755, AGC= 41, IDX= 500,-0.16,-1.559,-2.608,-2.828,-0.780, PHS=-0.678,-1.784,-2.092, RAW= 78.0, 51.3, CAL= 75.4, 56.9, ROT= 74.6, -56.9  V#Rx 109: Read range and direction messages. \direction in FSK: [0.145021,0.526494,0.837719] Fpublishing direction and range infoy  D ?ۭ ?1j?Y   @m  ]  ) )I h-i Z俉 T @? 5e? q?  M;~?) r?I M;~   u8?,ξҹڿ&?  _r;) hgeI r?i M;~   checking for new query: numPingsReceived=109, elapsed TxPingTime=51.6853379 ,?AE2 E2E2)E0"E2T;*E2:VE2FA4ZE0BE2GZъ ?ZR=ٱZ̟< fAHRS rotation from veh to nav: [[0.856649,-0.510432,0.074916],[0.510332,0.859698,0.021925],[-0.075597,0.019450,0.996949]]ZH i?uU-?T?? s? OZ? ?iZh>IZc%_;XYnByr!!IiMb@Mb@Mb@ 9rh|Ͽ-ƿˡE?Y{y?5=; AA A)$ AYfAbD VD:2y %>=ٔ=Q->9Y=TGyF͟E>Q 54j?Q 94u)xBY>Q E);yOQ I?;DIX;i ;54yɮ& AiIiM?AJiIRiIjiM?bMZ3,?5f ?@RMD ?ۭ ?1j?ZiMr?biMM;~jM6#ɿ4?5f?ZM!~p?溳?2iM?:iMH"iM5X霊?*iMR<5BiMBiM5X霊?iM{iIiM?iMZ?nManaging dock network, ignoring radio surface power off% addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503764 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 2.389219 m, bearing: 98.530645 deg, lat: 36.779337 deg, lon: -121.859527 deg, deltaT: 0.503764 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhQbhQhQhQ*hY"hY hYgYfYfafe4BdadadajdiZdm?uchecking for new query: numPingsReceived=109, elapsed TxPingTime=51.886845颵BɢF<) i)=项ii"v<gII94i A @A  @A @E 2@I % DDAT read: Rx Time:15:13:01.3735 % TRx dataTimestamp_ set to:1761577982.704248- DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 5 \#Rx 110: Read range message, but no direction.y! Y% 3@! = checking for new query: numPingsReceived=110, elapsed TxPingTime=52.142075ԙ ^AC AzAE EE(E"E:*E:VEc44ZEa@a@a@a@A].AIaIyO ?,K?A2t>2?2/ =ٱ2< :AHRS rotation from veh to nav: [[0.871310,-0.483054,0.086476],[0.483251,0.875252,0.020044],[-0.085370,0.024325,0.996052]]2H?`\޿B#???q?`ڵ??i2t>I2X_;2CYFByF!I HHbDRVDRyVu!%V"=ٔZP9^ ?Y^ ?=^TGy^F^zEb>`Q 5f4b>?Q 9j4b)bBYhyjQ Ij?b;DIb ;ib;b>4yrBɮr ArSE}B*** querying acoustic contact ***iy iy addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.502971 s, deltaX: -0.100000 m, approachRate: -0.198819 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjd`ff@Zd c?ɢB7%<) ži)'m=i͜i)-<-! I)I1iB>B$CB!IBBBBBBy;B2E8ƼMchecking for new query: numPingsReceived=110, elapsed TxPingTime=52.390820@ @@2@^A] ԑA؟AII OE> DDAT read: Rx Time:15:13:01.8736  TRx dataTimestamp_ set to:1761577983.208322 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  \#Rx 111: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=111, elapsed TxPingTime=52.646126 z,?A2>U>2 >2Ը=ٱ2yx< :AHRS rotation from veh to nav: [[0.883162,-0.460943,0.086923],[0.460328,0.887301,0.028203],[-0.090127,0.015105,0.995816]]2HB?ݿ@?v?d?@T?D??i2>U>I2]X_;0YLyLiUMb@Mb@Mb@QQQQ Q9U +οS㥛ĿZd;?YUvyU$Uy=U?AUA UA)U AQYU AbDmVDm0ٔ169"?Y"?=TGyF=wE>Q 54l?Q 94)BY>Q E3;yQ I?;DI2;i;:(F4yɮ A addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504074 s, deltaX: 0.100000 m, approachRate: 0.198384 m/s, rangeRepo size: 4 jhbhhh*h"h hgfff>Bdddjd@33@Zd|?)ɢ-fg <)) -Nži))5"=11i5li9=ī}<=f!I9IAEm EmEm)Ei"Em;*Em҆:VEmFA4ZEiBEm9CQ ,A?A2z>2%>2a=ٱ2`M; :AHRS rotation from veh to nav: [[0.891402,-0.445736,0.081987],[0.444180,0.895159,0.037352],[-0.090041,0.003121,0.995933]]2H]?@ܿ?@pm? $??` Mi?@?i2z>I2Q_;2CDDAT read: Rx Time:15:13:02.3735 TRx dataTimestamp_ set to:1761577983.712266DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 \#Rx 112: Read range message, but no direction.yY3@checking for new query: numPingsReceived=112, elapsed TxPingTime=53.150074YBy!I)I<)4<bDVDy*%<ٔi;Q->9 ?Y ?=TGy FE>Q 54꜊?Q 94)BYyQ I?B#CB IBĂBBBBBy;B2EBqBqBqBqBqCuk4} checking for new query: numPingsReceived=112, elapsed TxPingTime=53.400249  @  @ @ 4@ 9 ^AEa%DDAT read: Rx Time:15:13:02.8736 %TRx dataTimestamp_ set to:1761577984.216615-PDAT read: Bearing 247.6, 27.6 (Local) 5~Local bearing/azimuth received: Bearing 247.6, 27.6 (Local) EDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 eDAT read: 15:13:02.8736 LVL= 30800, 32241, 22498, 32755, AGC= 43, IDX= 500, 0.48,-0.830,-2.066,-2.114,-0.005, PHS=-0.722,-2.016,-2.153, RAW= 85.0, 51.7, CAL= 83.4, 57.3, ROT= 66.6, -57.3 mYgot valid direction response: 15:13:02.8736 LVL= 30800, 32241, 22498, 32755, AGC= 43, IDX= 500, 0.48,-0.830,-2.066,-2.114,-0.005, PHS=-0.722,-2.016,-2.153, RAW= 85.0, 51.7, CAL= 83.4, 57.3, ROT= 66.6, -57.3 uV#Rx 113: Read range and direction messages.}\direction in FSK: [0.214555,0.495808,0.841511]}Fpublishing direction and range infoy!%JtRv?'@Q??Y%@!%Px%}%W !)%+I%8i%%% %N?%qf?%AQ? %j?)%,ɔ?I%j!!%̈́C?p-4ֿYPH? % GAII O?,?A)fI,ɔ?ijchecking for new query: numPingsReceived=113, elapsed TxPingTime=53.687061q} C}s@i}D;Iy…JÅC āÁÁÁCI)i)IhA~RF @CgAiiYC) I )    Y YBy!IE EE-E"E;*Ez:VEt4ZEBEe9Y=TGy FEe>Q 54✊?Q 94ԙ)ȏBYwy>Q EY;ysQ I? H ,K)?A2^[>2G\>2=ٱ20xM >AHRS rotation from veh to nav: [[0.905938,-0.421530,0.039857],[0.418056,0.905434,0.073616],[-0.067119,-0.050029,0.996490]]2H`r?Wڿh?n?O?ز?.r>?i2^[>I2B_;2CYBy IbD-VD-:y=`%E}=ٔE둽Q-E ?9AYI=MTGyM FMEM ?QQ 5]4Utޜ?Q 9e4U>)UЏBYayeQ Ie?UB B IB BB B B B y;B 2E checking for new query: numPingsReceived=114, elapsed TxPingTime=54.406635I I O >Y 8,C?A:M>:V4>:!g=ٱ: BAHRS rotation from veh to nav: [[0.912289,-0.408895,0.023079],[0.405619,0.909891,0.087015],[-0.056579,-0.070022,0.995940]]:Hy1? W+ڿ塗?`??F?`챿?i:M>I:3?_;:CYE߂ByE I IIbDmVDmN2yP%F=ٔѼQ->9Y=TGy Fk E>9Q 54x؜?Q 94)ۏBYyQ I?"i]f?*i]\Bi]BiYi]R<5i]Bi]P?i]􋩺?m addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.505159 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 2.389217 m, bearing: 76.839741 deg, lat: 36.779337 deg, lon: -121.859528 deg, deltaT: 0.505159 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhybhyhh*h"h hgfffdddjdZd@+?Bɢ;i)I)5DDAT read: Rx Time:15:13:03.8737 5TRx dataTimestamp_ set to:1761577985.224775=DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 E\#Rx 115: Read range message, but no direction.y1Y5f&@1Mchecking for new query: numPingsReceived=115, elapsed TxPingTime=54.662571)I MپiI)UO =QQiU+ݼiY]^<]UIYaI@ @@ @ԑE EE+E"E&:*E$:VE [4ZEBEc;(, a]?A2n@?>2M>29=ٱ2 >AHRS rotation from veh to nav: [[0.918205,-0.396007,0.008871],[0.393508,0.914515,0.093879],[-0.045289,-0.082709,0.995544]]2Ha?,Xٿ*?>/? C?@t?`(0q,@?i2n@?>I2 _;2CFchecking for new query: numPingsReceived=115, elapsed TxPingTime=54.910835YvByv IiMb@Mb@Mb@ 9^I +ǿ ףp= y&1?YX9yQ8`e<$ AA pA) AY@AbDVDy <%H=ٔQ->9Y=TGy FKE>Q 54tӜ?Q 94D)BY?>Q E;yQ I?=DDAT read: Rx Time:15:13:04.3736 ETRx dataTimestamp_ set to:1761577985.728920UDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 ]\#Rx 116: Read range message, but no direction.yAYE@Aechecking for new query: numPingsReceived=116, elapsed TxPingTime=55.168358E  E E ,E "E :*E :VE g4ZE a @a @a @a @ +,S>w?A23>2p>2 =ٱ2' :AHRS rotation from veh to nav: [[0.923073,-0.384614,-0.003043],[0.383147,0.918804,0.094858],[-0.033688,-0.088727,0.995486]]2Hω?ؿh|?f?H?? ̶?i23>I2^;2CYnByn!IbDzVDz0y%=%%S=ٔ%Q-%>9)Y)=-TGy-F5E5>9Q 5E4=Μ?Q 9E4=a )=BYAyE Q IE?=9m9iYmAI E DDAT read: Rx Time:15:13:04.8736 M TRx dataTimestamp_ set to:1761577986.232449U DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 ] \#Rx 117: Read range message, but no direction.yI YI I e checking for new query: numPingsReceived=117, elapsed TxPingTime=55.670227$,??A 6m(>6>6<ٱ6=, RAHRS rotation from veh to nav: [[0.927479,-0.373676,-0.012175],[0.373242,0.923528,0.088236],[-0.021728,-0.086382,0.996025]]6H@? N׿@b`3?@?? ? p?i6m(>I6_;4YZ܂By^ IIb=)b=ieMb@Mb@Mb@aaaa a9ei|?5~jt9Y=TGyFiԼE>Q 54˜?Q 94!)BYL=Q E;y($Q I?"Bdd d jd Zd ?=Bɢ=?o;)9 =\پiA)E=AAiEvۼiIMI y=*,A?A2D/!>2nD>2ׁ<ٱ2m >AHRS rotation from veh to nav: [[0.930274,-0.366309,-0.020199],[0.366742,0.927114,0.077200],[-0.009552,-0.079225,0.996811]]2H?@q׿x??@Zó?`'H@?i2D/!>I2u_;2CYFByF!I Np9`Y`=bTGybFbEf>dQ 5j4fǜ?Q 9j4f!)fBYlyn$Q In?f%^A&]E EE)E"E~ ;*Ez:VEFA4ZEa@a@a@a@AAIIOf>BA<BBB IBBBBBBy;B2E checking for new query: numPingsReceived=118, elapsed TxPingTime=56.422714) ,(1,<?Aj>jH>j~# ٱje| ~AHRS rotation from veh to nav: [[0.931468,-0.362617,-0.029588],[0.363816,0.928845,0.069892],[0.002138,-0.075867,0.997116]]jH? 5׿ @L@H??s?na?l _?ij>Ij%_;jCYBy IbD% VD%2y5g%5B=ٔ=yQ-=>9=c?Y=c?=ETGyEFEEE>IQ 5U4M9Ĝ?Q 9U4Mt")MBYYy]$Q I]?M)2Ъ>2~AKٱ2s܈ >AHRS rotation from veh to nav: [[0.930674,-0.364080,-0.035939],[0.365640,0.928971,0.057626],[0.012405,-0.066772,0.997691]]2H?@M׿`ff? !?0?h??i2>I2^;2CYFByF!I HHiMb@Mb@Mb@ 9L7A`堿~jtxY+yĻh A ?A)AY AbD5 VD52y=w<%E=ٔEQ-E>9IYI=MTGyMFUo;EU>YQ 5e4]œ?Q 9e4]")YYeb =Q Ee BY BY B] !IB] BBY BY BY B] y;B] 2E 2Acoustic response timeoutJ@,8?ABD(>B >BQٱByb` rAHRS rotation from veh to nav: [[0.927542,-0.371509,-0.040576],[0.373098,0.926781,0.043293],[0.021521,-0.055295,0.998238]]BH@m?׿hƤ@?`1?*? ?O?iBD(>IB^;@Y By  IbDVDNy-:%-M=ٔ5Q-5>95 ?Y5 ?=5TGy=F=<E=>AQ 5M4E?Q 9M4E")AYQyU%Q IU?E+cG,m ?A28^2>2>2ٱ2 = :AHRS rotation from veh to nav: [[0.923625,-0.380647,-0.044993],[0.382149,0.923570,0.031305],[0.029639,-0.046108,0.998497]]2H`V?\ؿ^ @"u? ?'?@Y?s@?i28^2>I2[^;2CYBByF!IԱiMb@Mb@Mb@ 99yYy=TGyF<E>Q 54?Q 94;")Y>=Q EB B !IB BB =B B B z;B 2EBu$CBu$CBqBqBqCu4^A%Fsa2Acoustic response timeoutAqIIO ?P,C?A:.uB>:d>:*Aٱ:CnW RAHRS rotation from veh to nav: [[0.916891,-0.393967,-0.064035],[0.396348,0.917623,0.029592],[0.047102,-0.052513,0.997509]]:H,W?`6ٿd]?+]?ZM?@?⪿?i:.uB>I:^;8YbByb!IIj=)jp;tbD~VD~Jy;% =ٔQ->9!Y!=%TGy%F5h=E5>9Q 5U4=?Q 9U4=!)=BYYy]B?Q Ie?=.E  E E )E "E ;*E h:VE FA4ZE BE wT6>6kٱ6v BAHRS rotation from veh to nav: [[0.914125,-0.398097,-0.076774],[0.401328,0.915375,0.032001],[0.057537,-0.060064,0.996535]]6H@?izٿq]?J?hb?u?@?i6EH>I6v_;6CY^؂Byb IiEMb@Mb@Mb@AAAA A9El?S㥫?MbYE=yE/]=EE AEA E A)EAAYE AYbDeVDeyuJ%uE=}2Acoustic response timeoutٔ9μQ->9"?Y"?=TGyF`<E>Q 54Ü?Q 94 )BYS=Q Et+],:>:>ٱ:KEF EFEF+ED"EFs!;*EF:VEF [4ZEDaJ@aJ@aJ@aJ@ RAHRS rotation from veh to nav: [[0.911242,-0.402273,-0.088402],[0.406231,0.913217,0.031800],[0.067938,-0.064890,0.995577]]:H(?@پٿ?9?`#H?ad?@?i:N>I:_;8YZ܂ByZ IbDfVDf:yj<%nU=ٔn4߼Q-n>9r ?Yr ?=rTGyrFv[r<Ev>xQ 5z4zŜ?Q 9~4z)zBY|y~&?Q I~?z2A E DDAT read: Rx Time:15:13:08.8737 E TRx dataTimestamp_ set to:1761577990.264248M DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 U X#Rx 1: Read range message, but no direction.yA d,?AYqq2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.FՏS>Ft>Fe6ٱFj} RAHRS rotation from veh to nav: [[0.908437,-0.406921,-0.095691],[0.410835,0.911376,0.024662],[0.077175,-0.061717,0.995106]]FH ? ڿ; K?)?@??i?iFՏS>IFX_;FCYZ߂ByZ I ``iEMb@Mb@Mb@AAAA A9E1Zd?A`"?y&1|YE"=yEY=E`E AEA E; A)EAAYE\AbDVDy-p=<%-7=ٔ-Q-->9U"?YU"?=UTGyUF]B<E]>aQ 5m4eǜ?Q 9m4e)aYm=Q Em;yu`?Q I?e69e ?Ye ?=eTGyeFeEe>iQ 5u4me˜?Q 9}4m)mBYyyyQ I}?m:BIBM4!IBMBBIBIBIBMz;BM2E]@7@Y @Y@]S @Y2Acoustic response timeout qqgG^AMT dA%A)}9dAYAII O >Y s,?A%f>%>%ٱ%V =DDAT read: Rx Time:15:13:09.8738 ETRx dataTimestamp_ set to:1761577991.272317MfDAT read: Range 11 to 50 : 2.78 ms) speed 0.0 MX#Rx 1: Read range message, but no direction.y9Y=1@9U2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.q }AHRS rotation from veh to nav: [[0.899507,-0.426199,-0.096129],[0.427419,0.904013,-0.008562],[0.090551,-0.033386,0.995332]]%H?@FۿZ??􈁿^.?`?i%f>I%9_;%CYBy IiMb@Mb@Mb@ 9EԸ?I +?Mb`?Y=y94=; AA h A)pAYAbD VD yY<%1=ٔ%9Q-%>9!YA=MTGyMFM%=EM>QQ 5]4UΜ?Q 9]4U)UBYe-=Q Ee;ye_?Q Ie?U=6J>61ʽٱ6ʻ >AHRS rotation from veh to nav: [[0.890745,-0.445245,-0.091270],[0.443616,0.895388,-0.038544],[0.098883,-0.006156,0.995080]]6H?@~ܿ v]4d? ?jP?'7y?i6y>I6c;6}CY܂By IE EE/E"E:*E:VEJ4ZEa@a@a@a@bDVD0yԼ% =ٔ qQ- >9Y=TGyF~=E>!Q 5-4%>ќ?Q 9-4%`)%BY1y5c?Q I5?%AB9B=;!IB=BB9B9B9B=Ez;B=2E-:@) @)@- @)Q2Acoustic response timeout^AJIIO>q , ?A0fQ>4>cԽٱa AHRS rotation from veh to nav: [[0.887347,-0.451439,-0.093904],[0.449332,0.892295,-0.043701],[0.103519,-0.003416,0.994622]]H@%e?@bܿ ?? `4?`mk?ifQ>Iيd;~C )iAiAi IIiiA ) iAQiAI-)i)IiA-    lA ii) IYY%ɂBy% IUDDAT read: Rx Time:15:13:10.8735 ]TRx dataTimestamp_ set to:1761577992.280343eDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 mX#Rx 1: Read range message, but no direction.yYY]3@Ym2Acoustic response timeoutuQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԁiMb@Mb@Mb@ 9L7A`?Q?Mbp?Y+=y\=; AA  A)ZAY\AbDVDyR%;=ٔ.Q->9Y=TGyFeu<Ee>iQ 5u4mҜ?Q 9u4m)mBYu7=Q E}1JJ>JBٱJ& RAHRS rotation from veh to nav: [[0.884531,-0.455156,-0.102164],[0.453424,0.890355,-0.040935],[0.109594,-0.010116,0.993925]]JHN?D!ݿi'?}?^S?;?iJ{ڂ>IJd;JCYEǂByE IbD]VD]E EE.E"E:*E:VEـ4ZEa@a@a@a@yܻ% =ٔ#-Q->9Y=TGyc<E>Q 54Ԝ?Q 94)BY y w?Q I ?FZuw?颅BB) 4Ҿi)aJ<顉iIcAdA}AAAABBBBBBBBuz;B2E- :@1 @1@5 @1,DAT read: user:1015> 2Acoustic response timeout^A U7I)I9Of> ,YP?Al%DAT read: 50 -:unknown deviceResponse_: 50 5DAT read: Ok 5:unknown deviceResponse_: Ok ̄>y>vٱJ,DAT read: user:1016> BDAT read: Tx time:15:13:12.3218 $Ping request sent.Ic;CY-҂By- I i=Mb@Mb@Mb@9999 99= ףp= ?Zd;O?Y=Q8=y=j<==A9 = A)99Y= AbDuVDuܲE EE)E"E ;*E:VEFA4ZEBETQ9Y=TGyV;E>Q 5E4֜?Q 9E47)BYEO=Q EEZeKs?i)顅iI9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.235466a yb]: :@  @ @ @ ԉ ^A |޽I IO>,sm?AF1S>F>F ٱF VAHRS rotation from veh to nav: [[0.879173,-0.461798,-0.117460],[0.460417,0.886789,-0.040279],[0.122762,-0.018669,0.992260]]FH0"?ݿxw?``? c\m??iF1S>IFb;FCYbByb IbDrVDr0y~%~m=ٔ~8Q-?9Y = TGy r<E%?AQ 5M4E֜?Q 9M4E)EBYQyUu?Q IU?EHBBA!IBBB =BBBfz;B2EBBBBBC4^AIIO> % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739507) ѡ,?A:"މ>:>:|ٱ:s FAHRS rotation from veh to nav: [[0.876395,-0.466599,-0.119237],[0.464523,0.884346,-0.046373],[0.127085,-0.014747,0.991782]]:Hm ? ݿV?L?@DQD?3 ?i:"މ>I:a;:CYNȂByN ITVAVAAVAAbDZVDZ:2yb=%bN=ٔbP4Q-f>9dYd=fTGydjM<Ej>lQ 5r4nל?Q 9r4nm)nBYtyvvv?Q Iv?nJchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.9915069E  E E $E "E T;*E :VE 4ZE BE G2>2ٱ2 P >AHRS rotation from veh to nav: [[0.874725,-0.469321,-0.120806],[0.466819,0.882937,-0.050018],[0.130139,-0.012643,0.991415]]2H@?`Z ޿%`]?A?`b?`[䉿`?i2Q>I2<`;0YFƂByF Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.243670i Mb@Mb@Mb@     9 Mb`?9IYI=MTGyIMP;EU>Q 54ל?Q 94P)BY+ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495473 E%  E% E% +E! "E% ;*E% ą:VE% [4ZE! a- @a- @a- @a- @%,U?A2]>2\ >25ٱ2 ` :AHRS rotation from veh to nav: [[0.874348,-0.469254,-0.123757],[0.466719,0.882959,-0.050560],[0.132998,-0.013553,0.991024]]2H@?A޿ ?3A?@㩿 ? s@w?i2]>I2|`;2CPYRByR IbDZVDZybʈ%bf=ٔfQ-j>9pYt=zTGyx~9E~>Q 5 4ל?Q 9 4;)BYy?Q I?IB:i:4yɮrAB<AB>BBBB =BBBz;B2EdddjdZd@ZQZQZQZU?ia)iiiiiqIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748162)@) @1@1@1^ANJκIIO>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001532 ,E/?A2 ω>2{>2 ٱ2 :AHRS rotation from veh to nav: [[0.875374,-0.466161,-0.128117],[0.463852,0.884548,-0.049153],[0.136239,-0.016400,0.990540]]2H?ݿ`'f?7N? *@Ip? Hː`?i2 ω>I2`;2}CYFByF I HH|iEMb@Mb@Mb@AAAA A9EQ뱿~jtMb`YE\yEDEAEVA EA)AAYEA Up;UbD]VD]ym H%m@=ٔmFQ-u>9qYq=uTGyq -E >Q 54՜?Q 94)BY%=Q E%:ԁ L8,I?Ab9>bN>bٱbꮼ jAHRS rotation from veh to nav: [[0.880338,-0.453985,-0.137486],[0.452081,0.890759,-0.046602],[0.143623,-0.021129,0.989407]]bH`+?ݿ` `??-ܧ`IbX_;b{CYvByv IbDVDβy ;%P=ٔQ->9Y=TGy E%>!Q 5-4%Ӝ?Q 954%$)%BY1y5Q I5?%N@]>ԁE EEE"E;*E҆:VEZEa@a@a@a@^AuNJκIIO>B>BBBBBBBz;B2E G (hA A checking for new query: numPingsReceived=1, elapsed TxPingTime=2.757029] 9] (hAYe A ,?AYBy IbDVDfy%?2%-I=ٔ-Q-->91Y1=5TGy15E5>AQ 5E4Eќ?Q 9M4E)EBYIyIQ IM?EPbEuFA4jEqrEuȯ0E  E E ,E "E f;*E VE g4ZE BE WJ.%>JcٱJ_4 ^AHRS rotation from veh to nav: [[0.887820,-0.436912,-0.144511],[0.434752,0.899275,-0.047904],[0.150886,-0.020296,0.988343]]JH i?@_ۿ Z¿ ??ꆨ7P?Ȕ@?iJr>fchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.260649IJՋ_;HYvByv II?>)%=iMb@Mb@Mb@ 9{GzX9v9Y=TGy,-E>Q 54Ϝ?Q 94T)BY=Q EԹ E  E E *E "E ~ ;*E M:VE (N4ZE a @a @a @a @t,M<?ARkg>Rm>RٱR|ө ZAHRS rotation from veh to nav: [[0.892101,-0.426741,-0.148486],[0.424560,0.904142,-0.047709],[0.154611,-0.020480,0.987763]]RH?Oۿÿ+??@Km@N?@@?iRkg>IR2n_;RCYBy IbD5VD51yE%Ea=ٔE*Q-M>9IYI=MTGyIUEU>AYA]@ABe>BaBe;!IBeBBaBaBaBez;Be2EyQ 54}Μ?Q 94})}BYy9Q I?}Ti߉ I߉  DDAT read: Rx Time:15:13:15.9539  TRx dataTimestamp_ set to:1761577997.328366 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  X#Rx 4: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=4, elapsed TxPingTime=4.029354 ^,fV?AJZ>J!>Jz"ٱJc vAHRS rotation from veh to nav: [[0.896765,-0.415423,-0.152436],[0.413338,0.909382,-0.046653],[0.158004,-0.021171,0.987211]]JHK? Jڿ ÿ`t? ?⧿v9?䭕IJߞ_;J~CE EE(E"EO;*E:VEc44ZEBE*Y9QYQ=UTGyY]ǼE]>aQ 5m4e˜?Q 9m4e)eޏBYun=Q Eu4yyɮ}8A8GuidanceMode 0.000000 count Edddjd@33@ZdN}?lNCompleted lineCaptureHoming:LineCaptureq6ljAggregate::uninitialize lineCaptureHoming:LineCapture17 nAggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopesq7nNUninitialize AltitudeEnvelopeComponent.7 oUninitialize.7oNUninitialize OffshoreEnvelopeComponent.819q9r|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass99sUninitialize.1: tAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyq:t@Uninitialize Buoyancy Component.Zn=Zn=Z+-f@Zj@i)iIe:@a @a@e0@ichecking for new query: numPingsReceived=4, elapsed TxPingTime=4.269264A ^A} NJκI I O >,Up?A FN>F>F%ٱF( NAHRS rotation from veh to nav: [[0.901438,-0.403791,-0.156084],[0.401806,0.914594,-0.045497],[0.161125,-0.021703,0.986695]]FH?ٿ@ÿ0?@ZD?lK?99?iFN>IFw_;DTVSs@iVITTX ZiAZTXX\\I\)\i\)bCIbiAbbRF `dfgAdiddidd)h hIh h)hhllYlYrByr IbD~VD~y :% =ٔ .Q- ?9Y=TGy.E?!Q 5-4%ɜ?Q 9-4%)%ڏBY)y-Q I-?%Y  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.771923t,bJ?A6-A>6C>6)(ٱ6ʷH JAHRS rotation from veh to nav: [[0.906048,-0.392175,-0.158982],[0.390319,0.919625,-0.044062],[0.163484,-0.022132,0.986298]]6H`Y? cٿYĿ?m?M ?ऩ@?i6-A>I6GN_;6{CYMByM IbDeVDeyu%uC=ٔuQ-u>9yYy=}TGyy}7E>Q 54ǜ?Q 94g)ԏBYyQ I?\@m>DDAT read: Rx Time:15:13:16.9538 TRx dataTimestamp_ set to:1761577998.341166DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 X#Rx 6: Read range message, but no direction.yYchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.042658^AIE EE*E"E ;*E:VE(N4ZEBEwT1 ۙ,@?ARN4>Rt>R)ٱRbchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.279640 bAHRS rotation from veh to nav: [[0.910449,-0.380864,-0.161322],[0.379267,0.924342,-0.041811],[0.165041,-0.023117,0.986016]]RH@f"?`ؿ6ĿE?5?@Ih` ?p?iRN4>IRSq_;P|YEByE IiMb@Mb@Mb@ 9:v&1~jtYԽyPD zA)-@YbD5VD50yEM޼%E>=ٔEpQ-M>9IYI=UTGyQUEU>YQ 5e4]Ŝ?Q 9e4]`)]ΏBYm~=Q Em;ymQ Im?]_y E  E E 'E "E ;*E :VE '4ZE a @a @a @a @,d?A6c5)>6~G>6_r*ٱ6+ռ NAHRS rotation from veh to nav: [[0.914596,-0.369901,-0.163363],[0.368867,0.928715,-0.037758],[0.165684,-0.025726,0.985843]]6H^D?`u׿Ŀ?@?@T %5?W?i6c5)>I6Gi_;6}CYb|Byb~ IbDjVDjβyr%vd=ٔvQ-v>9xYx=zTGyxzE~>B|A~4=B>B#CB"!IBBBBBBNz;B2EBBBBBC4!Q 554%œ?Q 954%1)%ɏBY1y5fQ I5?Y%aA  DDAT read: Rx Time:15:13:17.9538  TRx dataTimestamp_ set to:1761577999.351737 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  X#Rx 8: Read range message, but no direction.y Y 3@ E checking for new query: numPingsReceived=8, elapsed TxPingTime=6.059413,iS?A?>l>*ٱ -AHRS rotation from veh to nav: [[0.918372,-0.359832,-0.164663],[0.359300,0.932600,-0.034062],[0.165821,-0.027882,0.985762]]HMc?}׿@ſ`??`p@9?\?i?>I_;YzBy{ Ii-Mb@Mb@Mb@)))) )9-+ηv/QY-vy-xi-u-; A) -A)-C@)Y- AbDEVDE:2EU EUEU+EQ"EU ;*EU:VEU [4ZEQBEQae2EQaeJEU9qYy=}TGyy}E}>Q 54Y?Q 94: )BY~=Q E;y Q I?ei%>% :@!  @) @- b0@) @5 fA@1 ^AM ?BɺIY Ii O} >,?AYv{Byv| I ~<~<bDVDy/;%N=ٔQ->9!Y!=%TG5DDAT read: Rx Time:15:13:18.4537 5TRx dataTimestamp_ set to:1761577999.860558=DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 EX#Rx 9: Read range message, but no direction.y1Y5f@1Mchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.555764y!mEm>qQ 5}4u5?Q 9}4u&!)uBYyQ I?ugB$CB!IBBB =BBB{z;B2E=}T/mnt/mmc/started/2025-10-27UTC151319_sh yԁ:@ @@0@% checking for new query: numPingsReceived=9, elapsed TxPingTime=6.812145ԑ ^A NJκI I O >h,I?A<^$c >^^޵>^(ٱ^ZH jAHRS rotation from veh to nav: [[0.924972,-0.342947,-0.163750],[0.343115,0.938871,-0.028161],[0.163398,-0.030137,0.986100]]^H^?տĿ?`; ?V֜=?,ܞ!?i^$c >I^_;^CYwBy x IbDVDky-|%-J=ٔ-;Q-5>91Y1=5TGy10E>Q 54?Q 94")BYy Q I?jʔ ,/(?ADDAT read: Rx Time:15:13:19.4538 TRx dataTimestamp_ set to:1761578000.633263checking for new query: numPingsReceived=10, elapsed TxPingTime=7.325759xYuxByuy IiMb@Mb@Mb@ 9l&1MbpYyP AA A)@YbDVDܲy-;%-;=ٔ5Q-5>91Y9==TGy9=E=>AQ 5M4E4?Q 9M4E")EBYU==Q EU)95:@9 @9@=4@9@A@E>aDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 11: Read range message, but no direction.yYchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.569730^AA IQ Ee  Ee Ee 'Ea "Ee 7;*Ee :VEe '4ZEa am @am @am @am @ԡ I O >A A AAB >B #CB !IB BB =B B B mz;B 2Ey,A?A 88:{=:>:"vGٱ:⼩ AfA5Ay AHRS rotation from veh to nav: [[0.930021,-0.331951,-0.157702],[0.331982,0.942901,-0.026930],[0.157637,-0.027309,0.987119]]:H?>տ/Ŀ/??`?,?`t-?`{?i:{=I:N_;@9AfAY-A:{CYyBy{ IbDVDyL;%O=ٔ r9Y=TGysE> Q 54 ~?Q 94 #) BYy Q I? o checking for new query: numPingsReceived=12, elapsed TxPingTime=8.081385 ,s[?A6=6έ>6 nٱ6i̼ BAHRS rotation from veh to nav: [[0.931669,-0.329250,-0.153580],[0.329007,0.943920,-0.027738],[0.154100,-0.024686,0.987747]]6H 9qYy=TGyE>Q 54ͷ?Q 94*$)BYQh=Q Ei,v?A2è=2V>2ٱ2f1 :AHRS rotation from veh to nav: [[0.932511,-0.328906,-0.149146],[0.328347,0.944110,-0.029069],[0.150371,-0.021865,0.988388]]2H!?@ տ 9ÿ?`%6?`'ĝ]??c`ߠ?i2è=I2_;2{CYFByF IbDnVDn3yvS%vP=ٔv09xYx=zTGyx~XE~>Q 5 4?Q 9 4$)BYyQ I?rB$CB IBBB =BBBy;B2E1^A?BɺIIO>a% DDAT read: Rx Time:15:13:20.9535 - TRx dataTimestamp_ set to:1761578002.1445265 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 5 Z#Rx 14: Read range message, but no direction.y! Y% f?! U checking for new query: numPingsReceived=14, elapsed TxPingTime=8.841897U XRequesting device enable set for address 50.ԉ D#,Џ?A2=2!>2җٱ2q :AHRS rotation from veh to nav: [[0.932545,-0.330737,-0.144818],[0.329980,0.943513,-0.029922],[0.146534,-0.019883,0.989006]]2H`i?*տd¿@e? C1?@ߣ@?R\?i2=I2D_;2}CY^}By^ IbDjVDj0yr%rL=ٔr9tYt=vTGytz|;Ez>|Q 5U4~c?Q 9U4~@%)~BYYy]\Q I]?~s E DDAT read: Rx Time:15:13:21.4534 E TRx dataTimestamp_ set to:1761578002.648382M DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 U Z#Rx 15: Read range message, but no direction.),?AyqYu?qchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.3483346R>6#V>6;ٱ6Z! BAHRS rotation from veh to nav: [[0.931563,-0.334973,-0.141365],[0.334155,0.942034,-0.030202],[0.143288,-0.019103,0.989497]]6H\?0pտB¿@b?%%?Sힿ BW?`?i6R>I6\u_;6{CYJByJ IiMb@Mb@Mb@ 9~jt~jtMbP?Yyļ: AA A)Y AbD5VD52yE?=%ED=ٔM9IYI=UTGyQUK)<EU>Q 5=4?Q 9=4%)BYE@m>checking for new query: numPingsReceived=15, elapsed TxPingTime=9.591578) ^A I I O >E-  E- E- (E) "E- %;*E- :VE- c44ZE) a5 @a5 @a5 @a5 @B% <A% <B) B) B- !IB- BB) B) B) B- y;B- }2E-0,?A n@>nBͳ>nٱnu{ vAHRS rotation from veh to nav: [[0.929711,-0.341359,-0.138242],[0.340610,0.939733,-0.029784],[0.140078,-0.019396,0.989951]]nH1? տ?`J? ?`yܓ?in@>InXR_;n~CYBy IbDVDy%V=%%L=ٔ-9)Y)=5TGy15<E5>9Q 5E4=?Q 9M4=%)9YIyMQ IM?=uԱ i߱ I߱  checking for new query: numPingsReceived=16, elapsed TxPingTime=10.098993_7,a?A22j>2' ٱ2y :AHRS rotation from veh to nav: [[0.926632,-0.350727,-0.135442],[0.349962,0.936277,-0.030214],[0.137408,-0.019402,0.990324]]2H ? Prֿ)V e??m@?,ޓ?i2I24J_;2{CTEr ErEpEp"Er;*Er':VEpZEpBEr@9Y=TGy<E>Q 54?Q 94%)BY@! c+=,<?A2>2X>2ya ٱ2E :AHRS rotation from veh to nav: [[0.922766,-0.361840,-0.132569],[0.361043,0.932039,-0.030862],[0.134727,-0.019385,0.990693]]2HL?@d(׿ R?B?`O>?ٓ ³?i2>I23_;2|CYFByF IHJAbDRVDR1yVI[=%Z\=ٔZ;Q-Z>9\Y\=^TGy\b=Eb>dQ 5j4fG?Q 9j4f~%)fBYhyj?Q Ij?fv DDAT read: Rx Time:15:13:22.9536  TRx dataTimestamp_ set to:1761578004.160288% DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 5 Z#Rx 18: Read range message, but no direction.y Y @ e checking for new query: numPingsReceived=18, elapsed TxPingTime=10.861458 FD,?A2[->2Z>2[ٱ2yf :AHRS rotation from veh to nav: [[0.917771,-0.376037,-0.127641],[0.374480,0.926500,-0.036913],[0.132140,-0.013922,0.991133]]2H@a^?ؿ`V@{? ?7梿? ]?i2[->I2J_;2yCY^‚Byb IbDj VDj:2yr =%rG=ٔrW;Q-v>9tYt=vTGytzj=Ez>|Q 54~?Q 94~K%)~BYy ?Q I ?|I~]:i~<:~ 4yɮAbl1zl1rl1jl9yZZZZ跔?i)i I :@ @@/@ԩchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.113125E EE(E"E;*E҆:VEc44ZEBEA @J,+?ADDAT read: Rx Time:15:13:23.4535 .TRx dataTimestamp_ set to:1761578004.6785172PDAT read: Bearing 231.6, -11.4 (Local) 2~Local bearing/azimuth received: Bearing 231.6, -11.4 (Local) :DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 }DAT read: 15:13:23.4535 LVL= 18896, 32753, 24178, 17155, AGC= 36, IDX= 506,-0.32,-0.673,-1.160,-0.008, 0.485, PHS=-1.056,-1.600,-0.538, RAW= 179.2, 50.8, CAL= 179.1, 59.1, ROT= 330.9, -59.1 Ygot valid direction response: 15:13:23.4535 LVL= 18896, 32753, 24178, 17155, AGC= 36, IDX= 506,-0.32,-0.673,-1.160,-0.008, 0.485, PHS=-1.056,-1.600,-0.538, RAW= 179.2, 50.8, CAL= 179.1, 59.1, ROT= 330.9, -59.1 T#Rx 19: Read range and direction messages.Yy^direction in FSK: [0.448718,-0.249753,0.858065]Fpublishing direction and range infoy,˷?CϿQŽDu?Yf?Ir^ C)$I+i̿^ +H@b?H@ ?)6ϸ@I^+?s[?? o;?)>#cI%ichecking for new query: numPingsReceived=19, elapsed TxPingTime=11.447142i=Mb@Mb@Mb@9999 99=~jt?Zd;?{Gz?Y=9Y=TGyE%>)Q 554-v?Q 954-l$)-BY5͇=Q E5H@>checking for new query: numPingsReceived=19, elapsed TxPingTime=11.612051)E  E E *E "E l;*E :VE (N4ZE a @a @a @a @A A @AB >B B .!IB BB =B B B ]y;B `2E^A1 II Y Ii O >.Q,^D?A2a/Q>2}D>2U;ٱ2 >AHRS rotation from veh to nav: [[0.904855,-0.407762,-0.122344],[0.406688,0.912905,-0.034774],[0.125868,-0.018291,0.991878]]2H?ڿQ-?6?͡r?`ٺw?i2a/Q>I2 _;2vCYFقByF IbDRVDR0yZN>%Z=ٔZ,y checking for new query: numPingsReceived=20, elapsed TxPingTime=12.118429Ա OW,^?A6c>6>6ٱ6U BAHRS rotation from veh to nav: [[0.897898,-0.421974,-0.125367],[0.423185,0.905862,-0.018132],[0.121216,-0.036773,0.991945]]6H?`ۿ `w??5` ?Ӣ?i6c>I6j2_;6{CYJByN IEb EbEb)E`"Eb;*Eb:VEbFA4ZE`BEb:C9qYq=uTGyq}-=E}>Q 54?Q 94{")BY>Q E;y?Q I?}Z>Zy?Zޫ?ԑi)!!i!)I):@ @@@DDAT read: Rx Time:15:13:24.4538  TRx dataTimestamp_ set to:1761578005.676241DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 21: Read range message, but no direction.y Y 3@ checking for new query: numPingsReceived=21, elapsed TxPingTime=12.370902^AII O > y],x?A2f5t>2>2&(ٱ2a[ :AHRS rotation from veh to nav: [[0.891495,-0.434692,-0.127593],[0.437921,0.899008,-0.003032],[0.116026,-0.053173,0.991822]]2H ?ۿ`T`??hڳ? u9@?i2f5t>I2 _;2zCYFByF!IHJ@AbDNVDNNyVQ<%VW=ٔZa9XYX=ZTGyX^.=E>Q 5%4?Q 9%4'!)BY!y-?Q I-?i1@1 @1@5? @1@=fA@=eAE EE(E"El;*E:VEc44ZEa@a@a@a@BBBM!IB%BB =BBB|y;Bo2EgAA%?9%gAY-NA)^AIIO> DDAT read: Rx Time:15:13:24.9538  TRx dataTimestamp_ set to:1761578006.180253% DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 % Z#Rx 22: Read range message, but no direction.y Y  - checking for new query: numPingsReceived=22, elapsed TxPingTime=12.874908I Uad,5_?A2>2>2ٱ2N< >AHRS rotation from veh to nav: [[0.885010,-0.449794,-0.120176],[0.452001,0.891964,-0.009774],[0.111589,-0.045670,0.992704]]2HR?mܿ@þ`??{?b I2`_;2yCY^Byb!IIf<)fa=bDjVDjyrR=%rG=ٔv19tYt=vTGyxzU=Ez>|Q 54~?Q 94~)~BY y ?Q I ?~ԩ % DDAT read: Rx Time:15:13:25.4536 % TRx dataTimestamp_ set to:1761578006.6845145 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 5 Z#Rx 23: Read range message, but no direction.y! Y% @! = checking for new query: numPingsReceived=23, elapsed TxPingTime=13.379184j,;?A@N>N\>N.\ݽٱN zAHRS rotation from veh to nav: [[0.878394,-0.465439,-0.108583],[0.465603,0.884629,-0.025395],[0.107876,-0.028249,0.993763]]NH?ݿ`̻p?N?@?f휿?iN>IN^;NzCYBy!IԱiMMb@Mb@Mb@IIII I}checking for new query: numPingsReceived=23, elapsed TxPingTime=13.6274549M{Gz?㥛 ?~jt?YMף=yM>MD9QYQ=UTGyQ]<E]>iQ 54m?Q 94m)mBY*>Q E;yG?Q I?mZ*>Zm?ZG?i)Q Y Y iY Y Ia E  E E 'E "E l;*E Ǚ:VE '4ZE a @a @a @a @ I B <A B >B #CB m!IB >BB B B B y;B 2E @  @ @ @ @ >@ >9 -DDAT read: Rx Time:15:13:25.9535 5TRx dataTimestamp_ set to:1761578007.188260=DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 =Z#Rx 24: Read range message, but no direction.y)Y-f?)Mchecking for new query: numPingsReceived=24, elapsed TxPingTime=13.882966^A!IIIYaO ?|s,v?An)%>n>nսٱnoږ zAHRS rotation from veh to nav: [[0.872984,-0.477354,-0.100165],[0.476515,0.878520,-0.033696],[0.104082,-0.018314,0.994400]]nH`{?޿@h8??@@? ?in)%>In^;nxC |)iA iAi +I  IiiA \F) iAԼ%iAI%t)!i!)!I%iA%t) ))-lA1i11i15A)1 9I9Y9YEByE%!IbD]VD]ye=%m=ٔmEE EE*E"EO;*E:VE(N4ZEBE*Y2?2u=νٱ22 >AHRS rotation from veh to nav: [[0.869320,-0.484427,-0.098044],[0.483917,0.874582,-0.030522],[0.100533,-0.020912,0.994714]]2H`x?߿h~?`?`A?i`?i2Sd>I2^;2zCYBy!I !!DDAT read: Rx Time:15:13:26.4537 TRx dataTimestamp_ set to:1761578007.692380DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 25: Read range message, but no direction.yYf@checking for new query: numPingsReceived=25, elapsed TxPingTime=14.387119i Mb@Mb@Mb@     9 ~jt?p= ף?~jth?Y =y > D; $ A A  A) ZA Y (AbD%VD%y5%=>=ٔ=;99YA=ETGyAE<EE>IQ 5U4M1?Q 9]4M)MǏBY]:>Q E];y]?Q I]?MZ:>ZX?Z?qi)iIe:@a @a@m @iԙu checking for new query: numPingsReceived=25, elapsed TxPingTime=14.636078^A I I O > D zD ?AE  E E 'E "E ;*E M:VE '4ZE a @a @a @a @Bm >Bm $CBm y!IBm HBBi Bi Bi Bm y;Bm 2Eǀ,VE?A$Z>Z?ZƽٱZ vAHRS rotation from veh to nav: [[0.868120,-0.485686,-0.102354],[0.486782,0.873383,-0.015679],[0.097009,-0.036212,0.994624]]ZH?@{߿3o'??5ո?q?iZ>IZ^;XY}By}!IbDVDyӼ%L=ٔ9Y=TGyD;E>Q 54G?Q 94N)ȏBYy?Q I? 4Ԇ,?Achecking for new query: numPingsReceived=26, elapsed TxPingTime=15.145033p>?𖾽ٱ{ AHRS rotation from veh to nav: [[0.869817,-0.480745,-0.110914],[0.484543,0.874726,0.008512],[0.092927,-0.061146,0.993794]]H`?޿d? ?n?`ʷ?`N@(?i>I4D_;yCYBy!IE} E}E},Ey"E}O;*E}:VE}g4ZEyBEya2EyaJE}:;a:E}:;aiMb@Mb@Mb@ 9A`"??MbYY=y= A(A A)@Y3AbD%VD%:2y=>%=8=ٔE9IYI=UTGyQ]*ͻE]>aQ 5u4e=?Q 9u4e)eƏBY}]=Q E};yJ?Q I?e ,o~6?A2T>2 Y>2 ٱ25 >AHRS rotation from veh to nav: [[0.874873,-0.469522,-0.118937],[0.476500,0.878374,0.037505],[0.086862,-0.089486,0.992193]]2H? ޿r~??3?I2]_;2{CY^By^!IIb4=)b4=bDjVDj2yr½%rz=ٔrԹ  DDAT read: Rx Time:15:13:27.9538  TRx dataTimestamp_ set to:1761578009.208278 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  Z#Rx 28: Read range message, but no direction.y Y 3@  checking for new query: numPingsReceived=28, elapsed TxPingTime=15.903026$,PVP?Ar>r>r?FٱrlH zAHRS rotation from veh to nav: [[0.883534,-0.452632,-0.120382],[0.461796,0.884775,0.062593],[0.078179,-0.110895,0.990752]]rHE?ܿXѾ`?P?? ?`c`>?ir>Ir҃_;rxCYMByM I Y]4<bDeVDeyuL%uB=ԙٔu9Y=TGy%$E>Q 54V?Q 94)BYy/?Q I?E  E E 'E "E ;*E :VE '4ZE BE L6>6AՆٱ6y rAHRS rotation from veh to nav: [[0.894909,-0.432587,-0.109571],[0.441372,0.894233,0.074420],[0.065789,-0.114961,0.991189]]6H?ۿ@ q???0 ?`װ? n@ҷ?i6u>I6i?_;6zCYzׂByz IDDAT read: Rx Time:15:13:28.4537 TRx dataTimestamp_ set to:1761578009.712599DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 29: Read range message, but no direction.yYf@checking for new query: numPingsReceived=29, elapsed TxPingTime=16.407358iMb@Mb@Mb@ 9/$?{Gz?MbY9IYI=MTGyQU*CEU>YQ 5e4]˸?Q 9e4]hQ =tI)]BYqB >B $CB Z!IB /BB =B B B |z;B 2E, ?AE EE+E "ET;*Ev:VE [4ZE BEG<2EG<JE;:E;>W>>Ϥ>>%Mٱ>ٽ JAHRS rotation from veh to nav: [[0.908240,-0.408773,-0.089472],[0.415430,0.906475,0.075641],[0.050184,-0.105870,0.993113]]>HL?U)ڿ綿g? ?8]??H?i>W>I>Q7_;>xCYRɂByR I TTbD^VD^:yf`%f=ٔf\=Q-j?9hYh=jTGylnhͽEn?pQ 5v4r?Q 9v4r5)rBYxyz?Q Iz?r m checking for new query: numPingsReceived=30, elapsed TxPingTime=17.1613735,=?ALm3>rc>uٱ@ AHRS rotation from veh to nav: [[0.923122,-0.378765,-0.066199],[0.383060,0.920838,0.072962],[0.033323,-0.092712,0.995135]]H7?=ؿq ?@w???𻷿%?iLm3>I_;yCԑE EE*E"E;*Eh:VE(N4ZEBEM\<2EM\<JE;:E;Y%ƂBy% IiMb@Mb@Mb@ 99Y=TGya~E>QQ 5]4U?Q 9]4U`)UƏBY]ٮ=Q E].w,z?A2}J >2 R>2{ٱ2 >AHRS rotation from veh to nav: [[0.938499,-0.342746,-0.041765],[0.344908,0.936224,0.067257],[0.016049,-0.077526,0.996861]]2H`/?տ5b@?@?@7?2o?س`I?i2}J >I2L_;2xC@B"s@iDIDDD DF`eHHJCJ^hAIH)HiH)NCIN+iAN;߽L LPRgAPiPPiTVgA)T TIT X)XXXXYXYbByb IbDjVDj:yrj=%r=ٔv=Q-v4?9tYt=zTGyxz1*Ez4?|Q 54~?Q 94~)~ɏBY y Q I ?~  DDAT read: Rx Time:15:13:29.9537  TRx dataTimestamp_ set to:1761578011.232297 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  Z#Rx 32: Read range message, but no direction.y Y f@  checking for new query: numPingsReceived=32, elapsed TxPingTime=17.926977Q,?A :]=:$n>:?:ٱ:x FAHRS rotation from veh to nav: [[0.953099,-0.302144,-0.017657],[0.302659,0.951332,0.058013],[-0.000731,-0.060636,0.998160]]:H?SVӿ@^?`Oq?@곭?G ?i:]=I:x&_;:yCYEByE III)M4<bDUVDUye=%eD=ٔm$=Q-m>9iYi=uTGyqu۽Eu>yQ 54}?Q 94})}ϏBYy쯿Q I?} {,?A2R0=2>2|<ٱ21 :AHRS rotation from veh to nav: [[0.965964,-0.258638,0.004411],[0.258170,0.965001,0.046068],[-0.016172,-0.043361,0.998929]]2H-? пr?څ?H?;? cp39?i2R0=I2)^;0PYBy IDDAT read: Rx Time:15:13:30.4537 TRx dataTimestamp_ set to:1761578011.737128DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 33: Read range message, but no direction.yYchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.432970iMb@Mb@Mb@ 9Q-ƿ+?Yy?5=~ApA A)AYA bDVD1y-܃%->=ٔ-I=Q-5>91Y1==TGy9=ܽE=>AQ 5M4E?Q 9M4E)EُBYM<>Q EU;yUϼQ I-?EZ<>Z}l@Zܙ@i)iI!@ @@ @5 checking for new query: numPingsReceived=33, elapsed TxPingTime=18.679541^A NJκI I! ) O5 >BY BY B] IB] ɂBBY BY BY B] Fz;B] 2EE  E E ,E "E ;*E :VE g4ZE BE D<2E D<JE <:E <c,k?A2 @2\>2)D<ٱ2qۼ :AHRS rotation from veh to nav: [[0.976453,-0.214487,0.023143],[0.213696,0.976359,0.032510],[-0.029569,-0.026799,0.999203]]2H??Qt˿岗?eZ?`U>? %?cG#qy?i2 @I2^;2zCYBByF IbDNVDNyV8%Vf=ٔV=Q-V>9XYX=ZTGyX^Ef>tQ 54v?Q 94vp)vBYy.¿Q I?vԁ i9 I= AE checking for new query: numPingsReceived=34, elapsed TxPingTime=19.184237:,?A-PExceeded connect timeout, disconnecting.aM@M0>M'=E EE+E"E ;*E:VE [4ZEBEL<2EL<JEm;:Em;ٱMΔ AHRS rotation from veh to nav: [[0.984355,-0.172219,0.037235],[0.171370,0.984892,0.024920],[-0.040964,-0.018149,0.998996]]MH?B ƿw?@s?@;??=?iM@IMo^;MvCYBy I iMb@Mb@Mb@ 9y&1|1Zd˿Zd;O?Y`y"[j<; AA ?A)$ AYbDVDyA=% =ٔ9Y=TGy-E->1Q 5=45J?Q 9=45H)5BY=\>Q EEv;yEQ IE?5Z\>Z@Zm@i)aaiaaIi:@ @@ @DDAT read: Rx Time:15:13:31.4538 TRx dataTimestamp_ set to:1761578012.745313ԱDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 35: Read range message, but no direction.yYchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.442886 ^A NJκI I! O- >,&9?A:H@: o>:N=ٱ: FAHRS rotation from veh to nav: [[0.990140,-0.131774,0.047519],[0.130741,0.991120,0.024255],[-0.050293,-0.017803,0.998576]]:H@:?@jT??@?H֘? : U?i:H@I:ǻ^;:xCYNByN IbDZVDZyb%b=ٔbN=Q-b?9dYd=fTGydjEj?lQ 5r4n׽?Q 9r4n)nBYpyrQ Ir?nBB IBBBBBBmz;B2ED<D<Ee EeEaEa"Ee ;*EeZ:VEaZEaBEeTQ<2EeUQ<JEe%;:Ee%;^A?BɺI!I9OMs> DDAT read: Rx Time:15:13:31.9539  TRx dataTimestamp_ set to:1761578013.252242 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  Z#Rx 36: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=36, elapsed TxPingTime=19.9469019 ,'fS?A2@2@=2,g=ٱ2m0 :AHRS rotation from veh to nav: [[0.994017,-0.094176,0.055319],[0.093425,0.995497,0.016015],[-0.056578,-0.010751,0.998340]]2H?@ R???5f?@@`g?i2@I2/^;2wCYBByB IbDNVDNkyn:=%nH=ٔr|9pYt=vTGytvEv>xQ 5~4zW?Q 9~4z6!)zBYydQ I?zԱ ,@m?A2\@2'~=2Gr=ٱ2-Z5; BAHRS rotation from veh to nav: [[0.996330,-0.061846,0.059173],[0.061901,0.998082,0.000904],[-0.059116,0.002762,0.998247]]2H?9@K?`q?I?M?`kDf?`?i2\@I2|^;0YNByR IIV=)VDDAT read: Rx Time:15:13:32.4538 TRx dataTimestamp_ set to:1761578013.760407DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 37: Read range message, but no direction.yY3@checking for new query: numPingsReceived=37, elapsed TxPingTime=20.455084i5Mb@Mb@Mb@1111 195I +?J +ɿ/$?Y5949Y=TGyJE>1Q 5=45Q?Q 9=45#)5BY=*J>Q E=;y=+Q I=?5Z*J>Z*@ZĚ@i)项iI9@ @@ @@>@> iI IM AU checking for new query: numPingsReceived=37, elapsed TxPingTime=20.703733^A NJκI I O >B B #CB IB BB =B B B z;B 3EBBBBBCʶ4D! zD! E-  E- E- *E) "E- l;*E- ҆:VE- (N4ZE) BE- \Fʭ`~??i J@I "^; yCYUByU IbDmVDm1y=%`=ٔ'Q->9Y=TGyE>Q 54鿜?Q 94%)BYyTQ I ?i m checking for new query: numPingsReceived=38, elapsed TxPingTime=21.208902,(?AE EE-E"E:*E:VEt4ZEa-@a-@a-@a5@m}@mP9Y=TGy!%!TE%>)Q 554-?Q 954-')-BY=>Q E=;y=(Q I=?-Z>Z@Z@i)顙iI)@) @)@5 @1ԁDDAT read: Rx Time:15:13:33.4535 TRx dataTimestamp_ set to:1761578014.768211DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 39: Read range message, but no direction.yYf?checking for new query: numPingsReceived=39, elapsed TxPingTime=21.462908Թ ^AI IY Ii Ou >',1Һ?APYv؂Byv IbD~VD~fyM>%M=ٔMQ-U?9QYQ=UTGyQ]E]?aQ 5m4e?Q 9m4e"()aYiyiQ Im?eB$CB IBBB =BBBz;B"3EE EE,E"E=;*E:VEg4ZEBE~I!  DDAT read: Rx Time:15:13:33.9537  TRx dataTimestamp_ set to:1761578015.272285 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  Z#Rx 40: Read range message, but no direction.y Y f@  checking for new query: numPingsReceived=40, elapsed TxPingTime=21.966938,?Anx@nG91Y1=5TGy15E>Q 54g?Q 94))BYy'Q I?ԁ g,?AY=By=!IYDDAT read: Rx Time:15:13:34.4538 TRx dataTimestamp_ set to:1761578015.780584DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 41: Read range message, but no direction.yY3@checking for new query: numPingsReceived=41, elapsed TxPingTime=22.475245iMb@Mb@Mb@ 9Mbp~jtI +YyD94AA )Q AYAbDVDky/ =%1=ٔQ->9Y=TGyE>Q 54>?Q 94))BY RB >B #CB IB BB B B B z;B 2E E  E E E "E ;*E ą:VE ZE BE L 9 = checking for new query: numPingsReceived=42, elapsed TxPingTime=23.223948*, B"?AZr@ZV=ZSg<ٱZL zAHRS rotation from veh to nav: [[0.998527,-0.053282,0.010236],[0.052387,0.995906,0.073663],[-0.014118,-0.073018,0.997231]]bEe [4jEe-W4rEe/E EE'E"ET;*E1:VE'4ZEa@a@a@a@ZH?`G[?kҪ? w?@۲?$ꌿK`P?iZr@IZH}^;ZxCYmBym:!IiMb@Mb@Mb@ 9~jtsh|??~jtYļy=D A(A ?A) AYAbDVD2y=%#=ٔsQ->9Y=TGy=E>Q 54ᅵ?Q 94()BY=Q Eԙ CT,<?A6dž@6@n=6թ<ٱ6 BAHRS rotation from veh to nav: [[0.997050,-0.076697,0.002931],[0.076305,0.994627,0.069955],[-0.008280,-0.069525,0.997546]]6H?n@h?`???-a̱@?i6dž@I6^;6uCYJ,ByJW!IbDRVDRyZ>%Z=ٔ^)Q-^?9\Y`=bTGy`bU=Eb?dQ 5j4f*?Q 9j4f()fBYlyn?Q In?f DDAT read: Rx Time:15:13:35.9539  TRx dataTimestamp_ set to:1761578017.292306 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  Z#Rx 44: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=44, elapsed TxPingTime=23.987011 R<,U?A2q@29=2-;ٱ2j :AHRS rotation from veh to nav: [[0.994475,-0.104960,-0.001900],[0.104896,0.992825,0.057412],[-0.004140,-0.057295,0.998349]]2H`?޺)!_`uں? 8?*e?pUy?i2q@I2^;0Yn7Bynd!I ppbDzVDz1y L=%E=ٔ%"Q-->91Y1=5TGy1=g=E=>AQ 5M4E?Q 9M4E3')EBYIyM?Q IU?EE EE)E"E=;*E:VEFA4ZEa@a @a @a @9 Q i,o?A6x@6p >6:.:ٱ6' BAHRS rotation from veh to nav: [[0.990610,-0.136631,-0.004936],[0.136718,0.989776,0.040640],[-0.000667,-0.040934,0.999162]]6H ?`}7t?>?@Τ? GE>!?i6x@I6^;6yCY^GBy^x!I}DDAT read: Rx Time:15:13:36.4538 }TRx dataTimestamp_ set to:1761578017.796352DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 45: Read range message, but no direction.yyY}3@ychecking for new query: numPingsReceived=45, elapsed TxPingTime=24.491007iMb@Mb@Mb@ 9{Gz+?MbY#y>A VA) AYAbDVD:y=%<=ٔQ->9Y=TGym=E> Q 54 ϻ?Q 94 %) BY%>Q E;y?Q I? Ze%>Ze0?Ze?i)iI)@ @@. @Q^A?BɺIIO>5 checking for new query: numPingsReceived=45, elapsed TxPingTime=24.740734ԁ B% >B% #CB% T!IB% *BB% =B! B! B% z;B% 2ED zD AAE  E E *E "E ~ ;*E ?:VE (N4ZE BE V2M?:ٱ2|ռ >AHRS rotation from veh to nav: [[0.985454,-0.169789,-0.007227],[0.169919,0.985136,0.025196],[0.002842,-0.026058,0.999656]]2Hֈ? ſc}?;?@̙?Gg?@Ѯ`/?i2ҋ@I2}^;2tCY^MByb!IbDzVDz2ye<% [=ٔ 8Q- >9 Y=TGy=E>!Q 5%4%?Q 9-4%$)%BY)y-?Q I-?% E checking for new query: numPingsReceived=46, elapsed TxPingTime=25.243584x(,臣?Adr^r/)ٱrWü AHRS rotation from veh to nav: [[0.972764,-0.231274,-0.015585],[0.231568,0.972596,0.020799],[0.010347,-0.023842,0.999662]]rH` ? fͿ ꏿ??vL? 0?j;?ir^9Y=TGy >E> Q 554 ˶?Q 954 T") BY1y=@Q I=? DDAT read: Rx Time:15:13:37.4538 TRx dataTimestamp_ set to:1761578018.804314DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 47: Read range message, but no direction.yY3@checking for new query: numPingsReceived=47, elapsed TxPingTime=25.499014^Am ?BɺIq I O >A [.,[a?AY~PBy!IiMb@Mb@Mb@ 9J +J +?~jthYHyH>DA )AYAbDVDfy>%\=ٔQ->9Y=TGyE>Q 54泜?Q 9 4 )BY N>Q E;y&@Q I?Z5N>Z5Pk?Z5&@iA)AIIiIIIQBA<BBBy!IBHBB =BBBRz;B2EB#CB#CBBBC.)5IE EE,E"E ;*E1:VEg4ZEBER DDAT read: Rx Time:15:13:37.9539  TRx dataTimestamp_ set to:1761578019.308277 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  Z#Rx 48: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=48, elapsed TxPingTime=26.003014 5,??AZ=Zt>ZٱZra vAHRS rotation from veh to nav: [[0.960475,-0.276889,-0.028656],[0.277612,0.960359,0.025354],[0.020500,-0.032307,0.999268]]ZH@5?ѿ`Xc?@B?_??@?iZ=IZMz^;XY%YBy%!IbD5VD5y]4=%eQ=ٔeռQ-e>9iYi=mTGyimL=Eu>yQ 5}4}?Q 94})}BYy+@Q I?} };,/?AY~OBy~!IuDDAT read: Rx Time:15:13:38.4538 }TRx dataTimestamp_ set to:1761578019.814806DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 49: Read range message, but no direction.yyY}3@ychecking for new query: numPingsReceived=49, elapsed TxPingTime=26.509375iMb@Mb@Mb@ 9A lA)lAY\ABAbDVD0y<%B=ٔQ->9Y=TGyE> Q 54 ?Q 94 ) ܏BYC>Q E;y@Q I? ZeC>Zeg?Ze@iq)qyyiyyI)@) @)@-? @)@1@1!^AUNJκYIqIO>5 checking for new query: numPingsReceived=49, elapsed TxPingTime=26.759493B B B !IB bBB B B B }z;B 2EE  E E 'E "E ;*E :VE '4ZE BE OJr>ٱJjb VAHRS rotation from veh to nav: [[0.954570,-0.294652,-0.044466],[0.296530,0.954008,0.044041],[0.029444,-0.055226,0.998040]]JH`Ջ? ҿ@JĦ@Y?:??&?`F?iJ$=IJh^;JvCYnKByn|!IbDVDyż%Y=ٔ¼Q->9Y=%TGy!%9X=E%>)Q 554-?Q 954-H)-׏BY1y5@Q I=?-ԩ = checking for new query: numPingsReceived=50, elapsed TxPingTime=27.263447H,)$ ?AF42=F[y>FWٱFx NAHRS rotation from veh to nav: [[0.955481,-0.290628,-0.050907],[0.293264,0.954416,0.055557],[0.032441,-0.068013,0.997157]]FHL?ҿ??q? ?`Ji?iF42=IFo^;FtCY CBy s!IbDVDy-%-I=ٔ5+Q-5>91Y1=5TGy1=mE=>IQ 5m4E EE)E"EV:*E҆:VEFA4ZEa@a@a@a@M?Q 94M})MяBYy@Q I?M=DIM9 N,> ?AF=Fwے>F)# ٱF NAHRS rotation from veh to nav: [[0.958592,-0.279438,-0.054917],[0.282751,0.956884,0.066515],[0.033963,-0.079289,0.996273]]FH ɬ?Nѿ? ̞?'?c?HLw?iF=IFv^;FsCYZAByZp!IiMb@Mb@Mb@ 9V-Pn?~jtYy>ļ A(A A)?AYAbD VD:2y _4% ==ٔ fQ->9Y=TGyϼE>!Q 5-4%n?Q 9-4%3)%ɏBY- >Q E5;y5@Q I5?%=DI% ;i% ;%٪4y9ɮ= A9blYzlYrlYjlaZ} >Z} >Z}]?Z}V@i ƐCchecking for new query: numPingsReceived=51, elapsed TxPingTime=27.7682001)9AIu 9qY}AA}AAA}@ABBB!IBgBBBBBz;B2EiAIE EE*E"E:*E|:VE(N4ZEBEI-9^AM ?BɺIQ Ii i O} > DDAT read: Rx Time:15:13:39.9538  TRx dataTimestamp_ set to:1761578021.328196 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  Z#Rx 52: Read range message, but no direction.y Y  checking for new query: numPingsReceived=52, elapsed TxPingTime=28.022846U,X ?ArєJ=rh>r\ ٱr۲ ~AHRS rotation from veh to nav: [[0.963856,-0.260519,-0.055787],[0.264239,0.961525,0.075145],[0.034064,-0.087170,0.995611]]rH?Xп`I??9)Y)=5TGy15;2E5>9Q 5E4=/?Q 9E4=)=BYIyM@Q IM?==DI=:i=o:=w4yQYɮU AYblyzlyrlyjlyZZZZ@i)顩iIM:@I @Q@U\ @Qi I Achecking for new query: numPingsReceived=52, elapsed TxPingTime=28.275768ԉbE(N4jEǷG4rE"/E EEE"E:*E:VEZEa@a@a@a@^A IQ Iq O >Թ \,h]r ?A6v/<6w>6?ٱ6u BAHRS rotation from veh to nav: [[0.970507,-0.235130,-0.053198],[0.238869,0.967700,0.080615],[0.032525,-0.090945,0.995325]]6Hd?ο<C?e?)?"?`$H ?i6v/9Y=TGy5Eu>yQ 54}?Q 94})}BYn=Q EcBq Bq Bu !IBu \BBq Bq Bq Bu kz;Bu 2E) E  E E )E "E O;*E :VE FA4ZE BE *Y2dٱ2V/ :AHRS rotation from veh to nav: [[0.977924,-0.203583,-0.047094],[0.206901,0.974933,0.081837],[0.029253,-0.089774,0.995532]]2H (K?`ʿ{?2? G?`?tf?i2@I2Sm^;2sCYBy(!IbD5VD52ye%eO=ٔm9iYq=uTGyquEu>yQ 54}쟜?Q 94}o)}BYyh.@Q I?} =DI}:i}_:}4yɮ AblzlrljlZZZZh.@i)iI@ @@^ @@@)DDAT read: Rx Time:15:13:40.9539 TRx dataTimestamp_ set to:1761578022.340694DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 Z#Rx 54: Read range message, but no direction.yY@checking for new query: numPingsReceived=54, elapsed TxPingTime=29.035349Y^AIIO>ԉ E checking for new query: numPingsReceived=54, elapsed TxPingTime=29.283594i, ?A2}@2->2bͼٱ2H :AHRS rotation from veh to nav: [[0.985441,-0.165530,-0.038810],[0.168152,0.982621,0.078616],[0.025122,-0.083998,0.996149]]2H@?0ſޣ?q?@5 ??‵`t?i2}@I2?^;2rCY%By%!IYE EE+E"E ;*E:VE [4ZEa@a@a@a@bD-VD-0y#%8=ٔL9Y=TGyE>1Q 5M45?Q 9u45")5BYyy}+@Q I?5 =DI5( /p, ?AF@F6=F$ٱF{ VAHRS rotation from veh to nav: [[0.992042,-0.122458,-0.029266],[0.124267,0.989697,0.071115],[0.020256,-0.074186,0.997039]]FHϾ?oY`Ͽ?@?4???iF@IF^;FtCYfByf!Ii}Mb@Mb@Mb@yyyy y9}~jtZd;Mb?Y}y}y}<} A}@ } A)}AyY}AbDVD:y%S=ٔON9Y=TGy%GE%>)Q 554-?Q 954-)-BY5=Q E=7 DDAT read: Rx Time:15:13:41.9538  TRx dataTimestamp_ set to:1761578023.348313 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  Z#Rx 56: Read range message, but no direction.y Y 3@  checking for new query: numPingsReceived=56, elapsed TxPingTime=30.042957Q &v, ?A6@6=6={ٱ6Ҫ} >AHRS rotation from veh to nav: [[0.996885,-0.076277,-0.020047],[0.077363,0.995164,0.060521],[0.015334,-0.061884,0.997966]]6H{?ꆳH γ?c??ig?5U?i6@I6F^;6vCY^ׂBy^ IIb<)b=bDjVDjyr %r`=ٔvz]9tYt=vTGytzEz>|Q 54~?Q 94~^)~BYy Q I ?~=DI~B:i~:~l4yɮ+Abl1zl1rl1jl1ZQZQZQZU+<@ia)aaiiiiIq19@ @@b @achecking for new query: numPingsReceived=56, elapsed TxPingTime=30.291622^AqIE EE)E"E;*E҆:VEFA4ZEa@a@a@a@IO>ԑ P|,n ?A2z@2l<2E9ٱ2J :AHRS rotation from veh to nav: [[0.999494,-0.029113,-0.012782],[0.029708,0.998351,0.049123],[0.011331,-0.049478,0.998711]]2H?ϝ-k?`}? &? 4? Up?i2z@I2^;2pCeDDAT read: Rx Time:15:13:42.4537 eTRx dataTimestamp_ set to:1761578023.852271mDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 uZ#Rx 57: Read range message, but no direction.yaYef@a}checking for new query: numPingsReceived=57, elapsed TxPingTime=30.546919ԑYU΂ByU IiMb@Mb@Mb@ 9~jthʡEÿV-?YDy< ApA )YAbD VD2y-a %- =ٔ5991Y1=5TGy1=E=>AQ 5M4E ?Q 9M4Ek)EŏBYU >Q EU;yU ȿQ IU?E=DIE? ;iEu ;E\ 4yYɮ]qAYblyzlyrlyjlyZ >Z >ZT,@Z@i)顱iIԹ%:@) @)@-p @) checking for new query: numPingsReceived=57, elapsed TxPingTime=30.795534B% >B! B% .!IB% BB! B! B! B% cz;B% 2EBBBBȽ =BȽ =CȽ:4^A D zD E  E E E "E *E :VE ZE BE @ 8,b ?A2-@2@2 ٱ2q :AHRS rotation from veh to nav: [[0.999829,0.016661,-0.007963],[-0.016341,0.999118,0.038676],[0.008601,-0.038539,0.999220]]2H`??&O?Iͣ?N?]@?i2-@I2r^;2vC@Bs@iBD;I@@D DDDDDJZhAIH)HiH)JCIJ3iAJGNRF LLLPiPPiPP)P TIT T)TTTXYXY^By^ IbDfVDf:yn=%r=ٔr4I % checking for new query: numPingsReceived=58, elapsed TxPingTime=31.299461\b,:\' ?AEe EeEe'Ea"Ee:*Ee:VEe'4ZEaau@au@au@au@YBy I bDVDkyM%U5=ٔ]Q-e>9iYq=uTGyyE>Q 54?Q 94s)ӏBYyQ I?=DI;i4;4yɮAQblzlrljlZYZYZYZYi)顉iIA@A @A@E @Ay}DDAT read: Rx Time:15:13:43.4538 TRx dataTimestamp_ set to:1761578024.860398DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 59: Read range message, but no direction.yY3@checking for new query: numPingsReceived=59, elapsed TxPingTime=31.555063ԩ ^AA IQ Ia Om >K,9AYA=ETGyAMJEM>QQ 5]4U?Q 9]4Uk)UُBYeF>Q Ee;yeQ Ie?U!=DIU;iU;Up 4yiɮmAqblzlrljlB>BB IB؂BBBBBz;B2EZF>checking for new query: numPingsReceived=59, elapsed TxPingTime=31.803608ZF>ZrZ@ZL@i)iIԩDm=DmR=Eu EuEu)Eq"Eu%;*Eu:VEuFA4ZEqBEuK  DDAT read: Rx Time:15:13:43.9538  TRx dataTimestamp_ set to:1761578025.364252 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.1  Z#Rx 60: Read range message, but no direction.y Y  checking for new query: numPingsReceived=60, elapsed TxPingTime=32.058937\t,[ ?A2@2S@2hRٱ2 :AHRS rotation from veh to nav: [[0.991924,0.126495,-0.009304],[-0.126182,0.991588,0.028821],[0.012871,-0.027414,0.999541]]2Hֽ?@0? &?I?@]\? >?i2@I2 _;2tCYFByF IbDNVDNN2pyr%rc=ٔr#Q-v>9tYt=vTGytzճEz>|Q 54~0?Q 94~7 )~ߏBYy+Q I ?~&=DI~j;i~:~&4yɮ3Abl1zl1rl1jl1ZQZQZQZUD@ia)aaaiiiIi:@ @@ @ checking for new query: numPingsReceived=60, elapsed TxPingTime=32.307522^A-NJκIIQIaOmy>E} E}E},Ey"E};*E}|:VE}g4ZEya@a@a@a@i Ş,t ?A233@2.@2;ٱ2w˼ :AHRS rotation from veh to nav: [[0.988219,0.152380,-0.014275],[-0.151953,0.988010,0.027322],[0.018267,-0.024831,0.999525]]2H@}?3?`<@6sÿǝ? 0?@?2m`?i233@I2_;0Y^Byb IIf%=)f<EDDAT read: Rx Time:15:13:44.4537 MTRx dataTimestamp_ set to:1761578025.868297UDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 UZ#Rx 61: Read range message, but no direction.yAYEf@A]checking for new query: numPingsReceived=61, elapsed TxPingTime=32.562962aiMb@Mb@Mb@ 9MbX?w/Ŀ{Gz?Y=y&#< AA A)AYAbDVDk1ysA%/=ٔ=Q->9Y=TGybE>Q 5 4?Q 9 4e")BYC>Q E;yǖQ I?+=DIw;i;.4y1ɮ5A1blqzlqrlqjlqZC>ZC>Z5C@Z]@i)iII)fAԉ9@ @@@ԹG%!9!Y%AB>BB IBBB =BBBz;B3EiI checking for new query: numPingsReceived=61, elapsed TxPingTime=32.814777^A ?BɺD zD @AE  E E +E "E :*E Z:VE [4ZE BE A8Ɔ,ʎ ?A2ے@2@2̼ٱ2cC :AHRS rotation from veh to nav: [[0.984912,0.171790,-0.020901],[-0.171241,0.984893,0.025719],[0.025004,-0.021752,0.999451]]2Hf?@5?g7ſ@??@(V?`?0F?i2ے@I2 B_;2rCYFByF IbDNVDNyV ɼ%Vt=ٔVQ-Z?9XYX=ZTGyX^rE^?`Q 5f4b?Q 9f4b#)bBYdyjZQ Ij?b/=DIb:ib:b44ylɮnAlbl|zl|rl|jl|ZZZZ#@i)))))i11I1Թ@ @@@UDDAT read: Rx Time:15:13:44.9536 UTRx dataTimestamp_ set to:1761578026.372301]DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 eZ#Rx 62: Read range message, but no direction.yQYU@Qmchecking for new query: numPingsReceived=62, elapsed TxPingTime=33.066944^ANJκI!I1OEr>9  DDAT read: Rx Time:15:13:45.4535 % TRx dataTimestamp_ set to:1761578026.6274435 checking for new query: numPingsReceived=62, elapsed TxPingTime=33.321190,ߤ ?A^-@^g(@^'ٱ^, jAHRS rotation from veh to nav: [[0.982492,0.183979,-0.029332],[-0.183358,0.982786,0.022631],[0.032991,-0.016857,0.999313]]^Hp??- Jxǿr?`,?@'?B@`?i^-@I^[_;^sCYrByr IbDzVDzy;%E=ٔ Q- >9 Y=TGyE>Q 5%4Z?Q 9%4%)BY)y-Q I-?4=DI :i9:;4y1ɮ5A9bEFA4jEmF4rEp/EE EEEE)EA"EE:*EEM:VEEFA4ZEAaU@aU@aU@aU@blqzlqrlqjlqZZZZN@i)顡iI:@ @!@% @!AeDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 eZ#Rx 63: Read range message, but no direction.yYY]f?Ymchecking for new query: numPingsReceived=63, elapsed TxPingTime=33.569733^AqIIO>qԙ ,A ?A2@2z@2&,ٱ2; :AHRS rotation from veh to nav: [[0.981116,0.189426,-0.039094],[-0.188800,0.981828,0.019182],[0.042017,-0.011439,0.999051]]2H Ne?@ ?? *ȿ #k?@`?=?@"m:?i2@I2!_;2uCYfByf IiUMb@Mb@Mb@QQQQ Q9UCl?rh|y&1|?YU;=yUU`;U AU?A Q)UlAQYUAbDmVDmy}0;%}C=ٔQ->9Y=TGy"[E>Q 54L?Q 94p')BYq(>Q E;y˄Q I?9=DIm ;i;LC4yɮAblzlrljlZq(>Zq(>Z @Zܧ@i)i I %>i>BYBYB] IB]BBYBYBYB]z;B]3EԉDDAT read: Rx Time:15:13:45.9536 TRx dataTimestamp_ set to:1761578027.132820checking for new query: numPingsReceived=63, elapsed TxPingTime=33.826431@ @@ @@@EU EUEU+EQ"EU&:*EU:VEU [4ZEQBEUc;m DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 u Z#Rx 64: Read range message, but no direction.ya Ye @a } checking for new query: numPingsReceived=64, elapsed TxPingTime=34.073647 )ö,] ?A2S @2 @2VQٱ2 :AHRS rotation from veh to nav: [[0.980949,0.188097,-0.048574],[-0.187445,0.982116,0.017676],[0.051030,-0.008235,0.998663]]2H@c? ?ި`5ǿ~m?@? ? E݀ ?i2S @I2(_;2qCYBByF IbDNVDNkyVa=%VY=ٔVüQ-Z>9XYX=ZTGyX^a;E^>`Q 5f4b󩜊?Q 9f4b()bBYdyfQ Ij?b==DIb:ib:bI4ylɮn5AlblYzlYrlYjlYZZZZ@i)顩iI@ @@ @iIADDAT read: Rx Time:15:13:46.4535 TRx dataTimestamp_ set to:1761578027.635275checking for new query: numPingsReceived=64, elapsed TxPingTime=34.327732Ee EeEe)Ea"EeD:*Ee~:VEeFA4ZEaam@am@am@am@^AIIO>1 Q *,@ ?A2H@2C@2{ٱ2 :AHRS rotation from veh to nav: [[0.981776,0.180303,-0.060056],[-0.179856,0.983609,0.012824],[0.061384,-0.001789,0.998113]]2H`j?-? ǿ`y?C?m?O]?i2H@I2_;2rCY^By^ I%DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 -Z#Rx 65: Read range message, but no direction.yYf?5checking for new query: numPingsReceived=65, elapsed TxPingTime=34.577785ieMb@Mb@Mb@aaaa a9e|?5^?ktMbP?Ye=ye 0e:e AeVA eA)eVAaYabD5VD5:2yE{*%E3=ٔEQ-M>9IYI=UTGyQu<Eu>yQ 54}?Q 94}))}BY=Q E;yQ I?}@=DI}:i}:}Q4yɮAblzlrljl)Z5=Z5=Z5h@Z5@iA)AiiiiiIq9@ @ @  @ YBm>BiBiBiBm =BiBmDBmz;Bm3EDDAT read: Rx Time:15:13:46.9537 TRx dataTimestamp_ set to:1761578028.138827DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 66: Read range message, but no direction.yYf@checking for new query: numPingsReceived=66, elapsed TxPingTime=34.833385^Aa ԙ I I O >E  E E +E "E :*E :VE [4ZE BE 39tYt=vTGytz~=Ez>|Q 54~a?Q 94~!*)~BYy Q I ?~C=DI~:i~y:~"X4yBɮ<AQEbl1zl1rl1jl1ZQZQZQZU@ia)aaaiiiIi@ @@ @ԑ5checking for new query: numPingsReceived=66, elapsed TxPingTime=35.079514Թ^AIIO%n>  DDAT read: Rx Time:15:13:47.4536  TRx dataTimestamp_ set to:1761578028.640293 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  Z#Rx 67: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=67, elapsed TxPingTime=35.334942,) ?A2A@2<@2 ժٱ2G; :AHRS rotation from veh to nav: [[0.985218,0.149871,-0.082969],[-0.149678,0.988698,0.008583],[0.083317,0.003962,0.996515]]2H@?.?`q=(ÿ i?@2?KT?x:p?s?i2A@I2F_;2rCYFByF IpbD~VD~E% E%E%*E!"E%a:*E%:VE%(N4ZE!a-@a-@a-@a-@y}%}A=ٔ$׼Q->9Y=TGyU&=E>Q 54س?Q 94*)BYy: Q I?F=DI!;i";_4y9ɮ=eA9blzlrljlZZZZ@i1)99AiAqIY@Y @Y@] @Y=checking for new query: numPingsReceived=67, elapsed TxPingTime=35.583458Yԉ ^A NJκI I O >,C ?A2@2]@2Szٱ2M]H; :AHRS rotation from veh to nav: [[0.987258,0.128443,-0.093939],[-0.128156,0.991712,0.009111],[0.094331,0.003044,0.995536]]2H@?`p?i @jg@??&?h?n?i2@I2(@_;2pCYFByF IiMb@Mb@Mb@ 9y&1?~jt?MbP?Y`e=y=lAA Q A)?AY(AbD- VD-:2y5^=%=O=Yٔ޼Q->9Y=TGyZ=E>Q 54൜?Q 94w*)BY=Q EDQ I?G=DI;i;f4A@AAB%>B!B% IB%BB!B!B!B%z;B%+3EBBBBB =CG5yiɮmAiblzlrljlDDAT read: Rx Time:15:13:47.9536 TRx dataTimestamp_ set to:1761578029.144435DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 68: Read range message, but no direction.yYchecking for new query: numPingsReceived=68, elapsed TxPingTime=35.839096Z-=Z-=Z-?Z->i9)AAAiAIIIE5 E5E1E1"E5:*E5:VE1ZE1BE56M checking for new query: numPingsReceived=68, elapsed TxPingTime=36.087753 ,] ?A6ž@6p@6*l׽ٱ6T9 BAHRS rotation from veh to nav: [[0.989157,0.103230,-0.104462],[-0.102689,0.994658,0.010551],[0.104993,0.000290,0.994473]]6H,?@m?I9`Y`=bTGy`f=Ef>hQ 5n4j?Q 9n4j'*)jBYlyr>Q Ir?jI=DIj;ij;j9m4ytɮvAtbl)zl)rl)jl)ZYZYZYZ]5>i)顁iIM:@I @Q@U @Q@Y@YDDAT read: Rx Time:15:13:48.4535 TRx dataTimestamp_ set to:1761578029.648341DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 69: Read range message, but no direction.yYf?checking for new query: numPingsReceived=69, elapsed TxPingTime=36.343006EE EEEE'EA"EE;*EEą:VEE'4ZEAaM@aM@aU@aU@^AqIIO>I %;,~w ?A2g@24@2W~ٱ2ۂ :AHRS rotation from veh to nav: [[0.990471,0.075664,-0.115075],[-0.074699,0.997125,0.012683],[0.115704,-0.003967,0.993276]]2H ?^? urs?@?`Ş?@]?p`?i2g@I2i _;2pCYfByf Ichecking for new query: numPingsReceived=69, elapsed TxPingTime=36.591591ieMb@Mb@Mb@aaaa a9e~jth?y&1?MbpYeD;ye`=ee Ae A eh A)eAaYezAbD}VD}:2yw=%>=ٔͼQ->9Y=TGy=E>Q 54+?Q 94()BY=Q E;yo?Q I?L=DI:i#:t4yɮAblzlrljlZ=Z=ZY?Zo?i)i!I!9@ @@ @A^AIBBB IBӂBB =BBB&{;BA3EIIOU>qDDAT read: Rx Time:15:13:48.9536 TRx dataTimestamp_ set to:1761578030.152378DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 70: Read range message, but no direction.yY@checking for new query: numPingsReceived=70, elapsed TxPingTime=36.847023EM  EI EI EI "EM ;*EI VEI ZEI BEM D9tYt=vTGytvȤ=Ez>xQ 5U4zr?Q 9U4z')zBYYy]>?Q Ie?zO=DIzT^?i)项iIqi@i @q@u @qchecking for new query: numPingsReceived=70, elapsed TxPingTime=37.096210ԡ^A?BɺIIO> DDAT read: Rx Time:15:13:49.4535  TRx dataTimestamp_ set to:1761578030.656258 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  Z#Rx 71: Read range message, but no direction.y Y f?  checking for new query: numPingsReceived=71, elapsed TxPingTime=37.350925 L,3 ?Ar@rѧ@r ٱrB_ zAHRS rotation from veh to nav: [[0.990601,0.014554,-0.136009],[-0.012581,0.999803,0.015355],[0.136205,-0.013499,0.990589]]rH`?@΍?h-ĉb?`Vr?-o?`?ir@Irp^;E EE)E"EI;*E:VEFA4ZEa@a@a@a@rsCY%By% IbD5VD50yEÈ%ED=ٔMɼQ-M>9IYQ=UTGyQ]I=E>Q 54?Q 94&)BYy-?Q I?R=DIv;iy;4yɮiA blqzlyrlyjlZZZZ-?i)i9IIA@A @A@E @A@I@M>checking for new query: numPingsReceived=71, elapsed TxPingTime=37.599548^A NJκI I) 1 O= > ! ) 7, ?A .G8D^9\Y^Aye?mhA}@}<} zٱ}yꬼBBB!IBBB =BBB3{;BH3E AHRS rotation from veh to nav: [[0.989061,-0.014935,-0.146746],[0.017834,0.999671,0.018464],[0.146422,-0.020879,0.989002]]}H@d?¿.C?M?%??@Da`?i}@I}5^;}rCY5łBy5 IuDDAT read: Rx Time:15:13:49.9536 }TRx dataTimestamp_ set to:1761578031.160310DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 72: Read range message, but no direction.yyY}@ychecking for new query: numPingsReceived=72, elapsed TxPingTime=37.854954iMb@Mb@Mb@ 9kt/$?:vY 0y&1>TAA 7A)Y AbDVD1yʉ=% 1=ٔ Q- >9Y=TGy0=E>Q 5%4?Q 9-4x$)BY-7>Q E-;y-?Q I5?W=DIC ;i ;ʊ4y9ɮ=A9IblYzlYrlajlaD<D=E  E E -E "E [";*E VE t4ZE BE zZ]7>Z]>?Z]?ii)iiiiqqIyq:@ @@5@ԩ % checking for new query: numPingsReceived=72, elapsed TxPingTime=38.103607^Ay I I O >_, ?A@F@FF==F!ٱF0 nAHRS rotation from veh to nav: [[0.986610,-0.041535,-0.157723],[0.045624,0.998708,0.022391],[0.156589,-0.029287,0.987230]]FH@N?DC0Ŀ`[?j??  ?}`b?iF@IF^;FoCYzByz IbDVDy5 μ%5n=ٔEQ-E?9AYA=MTGyIM=EM?QQ 5]4U?Q 9]4U")UBYaye?Q Ie?U[=DIUe;iUr;Uϐ4yiɮm AiblzlrljlZZZZl?i)iIm:@i @q@uo5@qԩDDAT read: Rx Time:15:13:50.4538 TRx dataTimestamp_ set to:1761578031.664339DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 73: Read range message, but no direction.yY3@checking for new query: numPingsReceived=73, elapsed TxPingTime=38.359013bE(N4jEKJ4rEa0E EE*E"E;*E:VE(N4ZEa5@a5@a5@a5@^AIIO>) 1, ?A2U@2@=2&*ٱ2& :AHRS rotation from veh to nav: [[0.983660,-0.064049,-0.168258],[0.069335,0.997262,0.025725],[0.166150,-0.036971,0.985407]]2H`$z?e}ſ`?`?W? gD? t?i2U@I2i^;2pCY^Byb Ilvchecking for new query: numPingsReceived=73, elapsed TxPingTime=38.608154iMb@Mb@Mb@ 9B`"?:vYLyN>Լ AA A)p@YG AbDVDyÍ%@=ٔ.Q->9Y=TGymi=E>Q 54?Q 94 )BYV>Q E};y?Q I?`=DI[0;i/;74y ɮ +Abl)zl1rl1jl1ZMV>ZMV>ZM?ZM^?ia)aaaiaiIiy 5:@1 @1@5?5@1@9@=eA9B>BB;!IBBB =BBB{;B:3E^AQIDDAT read: Rx Time:15:13:50.9539 TRx dataTimestamp_ set to:1761578032.172873PDAT read: Bearing 304.6, 6.8 (Local) ~Local bearing/azimuth received: Bearing 304.6, 6.8 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  Z#Rx 74: Read range message, but no direction.yY@Ii } checking for new query: numPingsReceived=74, elapsed TxPingTime=38.888790O >E-  E- E- )E) "E- ;*E- h:VE- FA4ZE) BE- v9pYt=vTGytvK=Ev>xQ 5~4z?Q 94z)zُBYy?Q I?ze=DIzy;izd;z4y ɮAbl1zl1rl1jl19ZQZQZQZUE?ia)iiiiiiIq1@1 @1@5 5@1DAT read: 15:13:50.9539 LVL= 24016, 29425, 12578, 32755, AGC= 36, IDX= 508,-0.05,-1.634,-0.101,-2.216,-0.510, PHS=-1.022, 0.454,-1.750, RAW= 348.9, 22.9, CAL= 348.7, 27.6, ROT= 161.3, -27.6 Ygot valid direction response: 15:13:50.9539 LVL= 24016, 29425, 12578, 32755, AGC= 36, IDX= 508,-0.05,-1.634,-0.101,-2.216,-0.510, PHS=-1.022, 0.454,-1.750, RAW= 348.9, 22.9, CAL= 348.7, 27.6, ROT= 161.3, -27.6 Z#Rx 75: Read direction message, but no range.%^direction in FSK: [-0.839421,0.284128,0.463296]yD{q(/?p?]r"1 )IЂir>࿩@>6@ Ϣ>),4@IϢ 5Oar:_X? l)z,̾I,4@iϢEchecking for new query: numPingsReceived=75, elapsed TxPingTime=39.121880a^AU?BɺIYIqO}z>ԑ  DDAT read: Rx Time:15:13:51.4538  TRx dataTimestamp_ set to:1761578032.676600 PDAT read: Bearing 309.2, -24.7 (Local)  ~Local bearing/azimuth received: Bearing 309.2, -24.7 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  Z#Rx 76: Read range message, but no direction.y Y 3@  checking for new query: numPingsReceived=76, elapsed TxPingTime=39.3760807 ,p|, ?AbpI@b=bT:ٱbIZ"Ev EvEv*Et"Ev ;*Ev:VEv(N4ZEtaz@az@az@az@ AHRS rotation from veh to nav: [[0.978563,-0.092764,-0.183874],[0.098326,0.994925,0.021350],[0.180961,-0.038972,0.982718]]bHcP?[1ǿ+?`m?ܕ?)?,lr?ibpI@Ib^;boCY9y9ԙbDuVDuy:%;=ٔrQ->9Y=TGyx<E>!Q 5-4%L?Q 9-4%)%ϏBY)y-?Q I-?%k=DI%:i%o:%r4y]Bɮ]A]PEblzlrljliijM+ ?AJi@Ri@ji:@bf˭WR?+7?RD{q(/?p?Zi,4@biϢjF Z?6ij?Z>GB-?%E?2i:>:i"id J?*iTBiBige꜊?i\iBij?in?ZZZZ?i)iI :@ @@0@%DAT read: 15:13:51.4538 LVL= 25888, 24785, 13458, 32755, AGC= 36, IDX= 507,-0.08,-0.394, 1.121, 0.134, 0.734, PHS=-1.026, 0.432,-0.644, RAW= 315.4, 18.5, CAL= 314.6, 23.5, ROT= 195.4, -23.5 -Ygot valid direction response: 15:13:51.4538 LVL= 25888, 24785, 13458, 32755, AGC= 36, IDX= 507,-0.08,-0.394, 1.121, 0.134, 0.734, PHS=-1.026, 0.432,-0.644, RAW= 315.4, 18.5, CAL= 314.6, 23.5, ROT= 195.4, -23.5 -Z#Rx 77: Read direction message, but no range.5`direction in FSK: [-0.884133,-0.243531,0.398749]y q5J^BD,Ͽ ? e`4 )ISi/>/$'@MQ>@ ~>)CZ@I~ѾL,Ctп,I? 7)&)I'7i~ѾMchecking for new query: numPingsReceived=77, elapsed TxPingTime=39.625656^A! I1 IA OU > ',WF ?A2g@2=2>ٱ2 :AHRS rotation from veh to nav: [[0.977523,-0.098127,-0.186599],[0.101853,0.994744,0.010464],[0.184591,-0.029234,0.982381]]2HG?`wǿ? ?n??`@o?i2g@I2^;2pCYbByb IBU>BQBUZ!IBU/BBU =BQBUDBUz;BU3E }DDAT read: Rx Time:15:13:51.9538 TRx dataTimestamp_ set to:1761578033.180259PDAT read: Bearing 328.1, -58.0 (Local) ~Local bearing/azimuth received: Bearing 328.1, -58.0 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 15:13:51.9538 LVL= 27632, 24273, 14482, 32755, AGC= 35, IDX= 507,-0.01, 0.743, 2.284, 1.990, 1.868, PHS=-1.023, 0.461, 0.078, RAW= 284.4, 7.3, CAL= 282.5, 5.4, ROT= 227.5, -5.4 Ygot valid direction response: 15:13:51.9538 LVL= 27632, 24273, 14482, 32755, AGC= 35, IDX= 507,-0.01, 0.743, 2.284, 1.990, 1.868, PHS=-1.023, 0.461, 0.078, RAW= 284.4, 7.3, CAL= 282.5, 5.4, ROT= 227.5, -5.4 T#Rx 78: Read range and direction messages.`direction in FSK: [-0.672592,-0.734005,0.094108]Fpublishing direction and range infoyy}ED߅.偄||ӄ{?Yyy}k}^}8 y)}#I}i}1>}w=}֞@}w>}ǝ@ }=)}~@I}yy}xZޑlM?RpH? }7@)}I}i}yy5checking for new query: numPingsReceived=78, elapsed TxPingTime=39.895245iMb@Mb@Mb@ 9Dlx?Q롿YOyK7>\ AVA IA)-@Y AE EE)E"E%;*E:VEFA4ZEBEK9YYY=]TGyYe;Ee>iQ 5u4m!?Q 9u4ma)mBY}G>Q E};y}@Q I}?mq=DIma:im:mҮ4yɮ=Ablzlrljliyi}]K ?AJiyRiyji}&@b}MAأ]F(k?R}ED߅.偄||ӄ{?Zi}bi}j}8TDJx8Z}y1K m?2i}:i}"i}\w7?*i}kJBi}Biyi}Ti}Bi}XW?i}P>!ZMG>ZMG>ZM'?ZM@iY)YYYiYII)eAQ@Y @Y@]4@Y@e>@e>Q checking for new query: numPingsReceived=78, elapsed TxPingTime=40.119442^A= NJκII IY Oe >y ,4` ?AJ^@@J=J?ٱJ RAHRS rotation from veh to nav: [[0.977664,-0.095149,-0.187403],[0.097143,0.995269,0.001464],[0.186377,-0.019636,0.982282]]JHI? [ǿ@[޸? ??HW?3?}n?iJ^@@IJ^;JqCY^By^ IbDfVDfNy'D%=ٔȻQ-?9Y!=%TGy!%E%?)Q 554-,?Q 954- )-BY9y=?Q I=?-u=DI-;i-;-4yAɮEwAIblizlirlijliZZZZ-?i)顙iIY1@1 @1@50@1iiImAuDDAT read: Rx Time:15:13:52.4537 }TRx dataTimestamp_ set to:1761578033.682051PDAT read: Bearing 72.9, -77.8 (Local) ~Local bearing/azimuth received: Bearing 72.9, -77.8 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ԙZ#Rx 79: Read range message, but no direction.yyY}f@y%checking for new query: numPingsReceived=79, elapsed TxPingTime=40.395489E EEE"E;*E:VEZEa@a@a@a@^Au?BɺIIO> \, z ?A2@2e=2?ٱ2Kj :AHRS rotation from veh to nav: [[0.978982,-0.081395,-0.187000],[0.083086,0.996542,0.001208],[0.186255,-0.016720,0.982359]]2HS?OִǿE?`?\S?8? @|o?i2@I2l^;2nCrDAT read: 15:13:52.4537 LVL= 26432, 23937, 11970, 32755, AGC= 35, IDX= 506, 0.10, 0.642, 2.179, 2.993, 1.788, PHS=-1.044, 0.436, 1.161, RAW= 251.2, -5.7, CAL= 248.9, -9.9, ROT= 261.1, 9.9 vYgot valid direction response: 15:13:52.4537 LVL= 26432, 23937, 11970, 32755, AGC= 35, IDX= 506, 0.10, 0.642, 2.179, 2.993, 1.788, PHS=-1.044, 0.436, 1.161, RAW= 251.2, -5.7, CAL= 248.9, -9.9, ROT= 261.1, 9.9 vZ#Rx 80: Read direction message, but no range.zbdirection in FSK: [-0.152406,-0.973249,-0.171929]y`b8 ÿP$!ƿ`b@gb]b. `)`Ibˡibd;>b?bK@b%˽b@ b;0)beӑ@Ib;0>`bȑ?3 ܗ b>@)b=Ibܿib;0>checking for new query: numPingsReceived=80, elapsed TxPingTime=40.633106YBy IiMb@Mb@Mb@ 9I +:v?{GzY9y=ף )@YbDUVDU0yZ%=ٔz9Q->9Y=TGyE>Q 548?Q 94)BY >Q E;y@Q I?y=DI;i; 4yɮAblzlrljliik ?AJi@Ri@ji@b,)dԿD:F<׿R8 ÿP$!ƿZiܿbi;0>j9?o L>7ؿZͨ _k/hrXQV+ǿ2i|:i"i፟?*i"MBiBi፟?ig9(iBiZ(?i8@Z >Z >Zy@Z@i)顩iIE:@A @I@M3@IByByB}`!IB}4BByByB}DB}{z;B}2EBBBBBǽ =C95}DDAT read: Rx Time:15:13:52.9539 TRx dataTimestamp_ set to:1761578034.184848PDAT read: Bearing 75.3, -78.0 (Local) ~Local bearing/azimuth received: Bearing 75.3, -78.0 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 ) ] DAT read: 15:13:52.9539 LVL= 26928, 24721, 13186, 32755, AGC= 35, IDX= 507, 0.26, 1.453, 3.024,-2.394, 2.634, PHS=-1.079, 0.435, 1.212, RAW= 250.5, -5.7, CAL= 248.2, -9.8, ROT= 261.8, 9.8 e Ygot valid direction response: 15:13:52.9539 LVL= 26928, 24721, 13186, 32755, AGC= 35, IDX= 507, 0.26, 1.453, 3.024,-2.394, 2.634, PHS=-1.079, 0.435, 1.212, RAW= 250.5, -5.7, CAL= 248.2, -9.8, ROT= 261.8, 9.8 e T#Rx 81: Read range and direction messages. bdirection in FSK: [-0.140548,-0.975333,-0.170209] Fpublishing direction and range infoyy}fzX}5rlſY}@y}0i}`}3 y)yI}i}R>}"?}@y}@ }%/)}y7@I}%/>yy}Sjxɠ4?.·Y }I@E  E E (E "E *E ҆:VE c44ZE BE DyyM checking for new query: numPingsReceived=81, elapsed TxPingTime=40.935516^AQ Ia Iq O >$,$G ?A(><@>x=>H>ٱ>1 JAHRS rotation from veh to nav: [[0.980982,-0.056778,-0.185607],[0.059490,0.998188,0.009068],[0.184756,-0.019937,0.982582]]>H4d? ǿnu?`'?? ?Tj Pq?i><@I>^;>mCYRByR IbD^VD^kyf%f=ٔf;Q-j?9hYh=jTGyhnEn?pQ 5v4r?Q 9v4r)rBYtyzk@Q Iz?r{=DIr;ir;r«4y|ɮ~,A|blzlrljliiԋ ?AJi@Ri@ji>$@b}տ}vvb qڿRfzX}5rlſZiaۿbi%/>j")F3+b ڿZaDWxb=ƿ2ia:i"iә?*iKTBiÁBiә?ikJiBi?iϔ@ZYZYZYZ]k@iq)qqqiqyIy%:@! @!@%4@!ԁchecking for new query: numPingsReceived=81, elapsed TxPingTime=41.128071Ա^AeNJκIqIO}> e DDAT read: Rx Time:15:13:53.4538 e TRx dataTimestamp_ set to:1761578034.689596u PDAT read: Bearing 55.5, -77.1 (Local) u ~Local bearing/azimuth received: Bearing 55.5, -77.1 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  DAT read: 15:13:53.4538 LVL= 27120, 25649, 14578, 32659, AGC= 36, IDX= 507,-0.48,-1.808,-0.101, 0.637,-0.595, PHS=-1.111, 0.539, 1.188, RAW= 254.1, -6.1, CAL= 252.0, -10.6, ROT= 258.0, 10.6  Ygot valid direction response: 15:13:53.4538 LVL= 27120, 25649, 14578, 32659, AGC= 36, IDX= 507,-0.48,-1.808,-0.101, 0.637,-0.595, PHS=-1.111, 0.539, 1.188, RAW= 254.1, -6.1, CAL= 252.0, -10.6, ROT= 258.0, 10.6  T#Rx 82: Read range and direction messages. bdirection in FSK: [-0.204364,-0.961456,-0.183951] Fpublishing direction and range infoya e ړC(ʿ1> =ηǿYe 3@a e ie 1de 8 e )e $Ie ?5ie ?e b?e @e ^ ڽe L@ e q=)e )@Ie q=>a a e Z'4&gW4?V1 e @)e t=Ie ie q=>a a  checking for new query: numPingsReceived=82, elapsed TxPingTime=41.396484`*, ?AB@B}^;BpCYBy IbDVD02y%9=ٔL9Y=TGyfE> Q 5U4 頜?Q 9U4 ) BYYy]P@Q I]? =DI e& =ηǿZibiq=>j&olտb*SEܿZ=Z¿ 4` $mƱȿ2i-:ic"iS?*ib?PBiBiS?i"MiBi @iZ͑@ ZZZZ[P@i)iaIaqchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.632244:@ @@0@1i ^A9 IA IY Oe >_1,2 ?ABR<AR<B^>B\B^M!IB^%BB\B\B\B^Rz;B^2E @@pQ4ٱ AHRS rotation from veh to nav: [[0.984430,0.020135,-0.174618],[-0.014413,0.999319,0.033977],[0.175183,-0.030931,0.984050]]Ht?@L?Yƿq k? re?gl?xV}?i @I+^;DDAT read: Rx Time:15:13:53.9539 TRx dataTimestamp_ set to:1761578035.192773 PDAT read: Bearing 40.8, -76.3 (Local)  ~Local bearing/azimuth received: Bearing 40.8, -76.3 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 EDAT read: 15:13:53.9539 LVL= 26400, 26481, 15010, 32755, AGC= 36, IDX= 508,-0.23,-1.985,-0.203, 0.435,-0.744, PHS=-1.139, 0.586, 1.135, RAW= 256.6, -5.7, CAL= 254.6, -10.4, ROT= 255.4, 10.4 MYgot valid direction response: 15:13:53.9539 LVL= 26400, 26481, 15010, 32755, AGC= 36, IDX= 508,-0.23,-1.985,-0.203, 0.435,-0.744, PHS=-1.139, 0.586, 1.135, RAW= 256.6, -5.7, CAL= 254.6, -10.4, ROT= 255.4, 10.4 MT#Rx 83: Read range and direction messages.Ubdirection in FSK: [-0.247928,-0.951811,-0.180519]UFpublishing direction and range infoyϿ_Ot$^?~ f@){\=Ii9>}checking for new query: numPingsReceived=83, elapsed TxPingTime=41.900192YBy IE EE*E"E;*E:VE(N4ZEBEM\9Y=TGy=FE=>AQ 5M4EY?Q 9M4E)EBYM=Q EUHj῎DE]:69ZMݿZ>ͿGvwdȿ2i:i "ic@8, ?A6"@6 @6I+ٱ6\ JAHRS rotation from veh to nav: [[0.984040,0.068585,-0.164202],[-0.061935,0.997052,0.045286],[0.166824,-0.034394,0.985387]]6H@}? Î?@ſ ?`/?{Z? I?i6"@I62_;4)YBy II5<)5%=bDMVDMyUY%]L=ٔe"9aYa=mTGyimDEm>qQ 5}4uq?Q 9}4ur)uBYy6@Q I?u=DIu;iu;u٫4yɮADDAT read: Rx Time:15:13:54.4538 TRx dataTimestamp_ set to:1761578035.696785PDAT read: Bearing 50.8, -76.2 (Local) ~Local bearing/azimuth received: Bearing 50.8, -76.2 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 mDAT read: 15:13:54.4538 LVL= 23760, 25025, 14802, 32755, AGC= 36, IDX= 507,-0.00, 2.510,-2.000,-1.181,-2.514, PHS=-1.158, 0.558, 1.289, RAW= 253.1, -6.4, CAL= 251.0, -10.9, ROT= 259.0, 10.9 }Ygot valid direction response: 15:13:54.4538 LVL= 23760, 25025, 14802, 32755, AGC= 36, IDX= 507,-0.00, 2.510,-2.000,-1.181,-2.514, PHS=-1.158, 0.558, 1.289, RAW= 253.1, -6.4, CAL= 251.0, -10.9, ROT= 259.0, 10.9 }T#Rx 84: Read range and direction messages.bdirection in FSK: [-0.187366,-0.963917,-0.189095]Fpublishing direction and range infoy iǿWSKioG4ȿY3@bl9zl9rl9jl9ii ?AJi@Ri@jiY@b5tۿƷBtۿR iǿWSKioG4ȿZiۢbiB>E EE'E"E;*E?:VE'4ZEa@a@a@a@\a9 )IX9i??[@jײs1j4ۿZ..{̿w]8X ǿ2ic :i"iz@r?*ild$OBiBiiiBi5@iȒ@R/@ B)$@IB>3忷Ŧg9?9:rX@| ٧@)[=IۢiB>checking for new query: numPingsReceived=84, elapsed TxPingTime=42.460682Z Z Z Z 6@i)!!!i!iIiԑ :@!  @! @! @! Թ u checking for new query: numPingsReceived=84, elapsed TxPingTime=42.639523^AA IQ Ia Om >\>, ?A8^b@+]@w!ٱ -AHRS rotation from veh to nav: [[0.981007,0.121191,-0.151456],[-0.113875,0.991909,0.056114],[0.157031,-0.037802,0.986870]]Hgd?`c?bÿ&@?@?? Z@p?i^b@IA>_;oC 9)9=94999AiEDIAAIAiEjA MuI)II QUuU/FQQUiAIU94)YiY)YIY]94Y aaaaiaaiiq)q qIqYqY}sBys IiMb@Mb@Mb@ 99Y=TGy E>Q 54?Q 9%47)BY==Q EE%BIBM.!IBM BBIBIBMDBMvz;BM2E@ @@@DDAT read: Rx Time:15:13:54.9539 TRx dataTimestamp_ set to:1761578036.204041DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 Z#Rx 85: Read range message, but no direction.yY@checking for new query: numPingsReceived=85, elapsed TxPingTime=42.898682E EE,E"E ;*Eh:VEg4ZEBEOnE,{ ?A2,@2@2jٱ21+ >AHRS rotation from veh to nav: [[0.974617,0.177132,-0.136919],[-0.169412,0.983319,0.066209],[0.146363,-0.041333,0.988367]]2H0?A?KſYw?`?? )?i2,@I2_;2rCpYviByvf I||bDVDyu%m=ٔ DDAT read: Rx Time:15:13:55.4539  TRx dataTimestamp_ set to:1761578036.704695 PDAT read: Bearing 41.2, -77.6 (Local)  ~Local bearing/azimuth received: Bearing 41.2, -77.6 (Local)  DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  DAT read: 15:13:55.4539 LVL= 20784, 31313, 16882, 25587, AGC= 34, IDX= 508,-0.31,-2.397,-0.705, 0.113,-1.142, PHS=-1.153, 0.482, 1.211, RAW= 252.5, -5.2, CAL= 250.0, -9.3, ROT= 260.0, 9.3 % Ygot valid direction response: 15:13:55.4539 LVL= 20784, 31313, 16882, 25587, AGC= 34, IDX= 508,-0.31,-2.397,-0.705, 0.113,-1.142, PHS=-1.153, 0.482, 1.211, RAW= 252.5, -5.2, CAL= 250.0, -9.3, ROT= 260.0, 9.3 % T#Rx 86: Read range and direction messages.- bdirection in FSK: [-0.171366,-0.971863,-0.161604]- Fpublishing direction and range infoy  EOſɀoĿY 0Q Qz A c) "I i > ? @ ޹ X@ 6&) 6@ԩ I 6&> *H1 ˜!?x6 Z@) d=I f߿i 6&> m checking for new query: numPingsReceived=86, elapsed TxPingTime=43.448219bE5˷G4jE1rE5+/E  E E *E "E :*E :VE (N4ZE a @a @a @a @!L,b2 ?AV(@V@V8 ٱV1 nAHRS rotation from veh to nav: [[0.964956,0.232600,-0.121482],[-0.225036,0.971623,0.072848],[0.134979,-0.042957,0.989917]]VH??`l̿?@&?@F?y f?iV(@IV_;VoCyYdBya IbDeVDeyuK%u=ٔu9yYy=}TGyy E>ԡQ 54?Q 94)BYy,Q I?=DI:iA:j4yɮA-checking for new query: numPingsReceived=86, elapsed TxPingTime=43.647663bl1zl1rl1jl9ii- ?AJi@Ri@jiz@b 4ڿUh)0ؿREOſɀoĿZif߿bi6&>jjlVr`Z\տZgVL׿=S\}i¿2iK :iec"ih5N?*ḯQBiBiz@r?ḯQii`@iL%@ZZZZ_@i)iI@ @@4@@>@> AM AAAI BQ BQ BU IBU BBU =BQ BU DBU z;BU 2E^A1 IA IQ O] >R,TL ?A>DDAT read: Rx Time:15:13:55.9539 BTRx dataTimestamp_ set to:1761578037.208331FDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 FZ#Rx 87: Read range message, but no direction.y9Y=TGy E>Q 54g?Q 94@)BY >Q E;yۿQ I?=DI ;ia;n4yɮAblzlrljlZ >Z >Z @Z@i)i I @ @@4@5checking for new query: numPingsReceived=87, elapsed TxPingTime=44.1521191Q ^A NJκI I O >jY,Mf ?A2M@2G@2Jٱ2 $ :AHRS rotation from veh to nav: [[0.937818,0.334565,-0.092540],[-0.328491,0.941527,0.074966],[0.112210,-0.039906,0.992883]]2H?i?@տ ?1?й?`n ?i2M@I2_;2oC@Br@iBI@DH LNTPPXXIX)\i\)=CIE+iAE A AELCAE&@iIIiII)I IIQ Q)QQQQYYYQByI I p<p<bDVDkyɅ%=ٔ=Q-?9Y=TGy+E?Q 54?Q 94R)BYyQ I?=DI;i;4yɮ[A1blAzlArlAjlIZZZZo@i)项iIDDAT read: Rx Time:15:13:56.4535 TRx dataTimestamp_ set to:1761578037.713515DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 88: Read range message, but no direction.yYf?checking for new query: numPingsReceived=88, elapsed TxPingTime=44.419571:@ @@/@aEm EmEm+Ei"EmV:*Emh:VEm [4ZEiau@a}@a}@a}@ԙ^AI Iy I O >E checking for new query: numPingsReceived=88, elapsed TxPingTime=44.655483 m@_,Y ?AB͵@Bȼ@BҢѽٱB NAHRS rotation from veh to nav: [[0.922433,0.377191,-0.082727],[-0.372392,0.925588,0.067902],[0.102183,-0.031828,0.994256]]BH?#?-`C׿k?`b?(?K?iB͵@IB_;BnCYMUByMN IiMb@Mb@Mb@ 9J +?7A`¿X9v?Y=y<Q A(A A)ZAYAbDVD0y<%E=ٔx9Y=TGy sE >Q 54ژ?Q 94.)BY7>Q E;y%Q I%?=DIj:i:4y)ɮ-9A)blQzlQrlQjlQZu7>Zu7>ZuϜ@ZuΜ@i)顁iԑIA@A @I@M/@I@Q@UfAB>BB IBBB =BBDBPz;B2EԹDDAT read: Rx Time:15:13:56.9536 TRx dataTimestamp_ set to:1761578038.216345DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 89: Read range message, but no direction.yY@checking for new query: numPingsReceived=89, elapsed TxPingTime=44.910992Eu EuEu)Eq"EuD:*Eu:VEuFA4ZEqBEu1 )f,ڙ ?A2y@2pt@2Fٱ2d :AHRS rotation from veh to nav: [[0.907002,0.414922,-0.072023],[-0.410736,0.909346,0.066218],[0.092969,-0.030477,0.995202]]2H(?@?p@Iڿ]??̷?j5?i2y@I2_;2mCYSByL IbD-VD-02y='%=W=ٔE9AYA=ETGyIM߽EM>QQ 5]4U?Q 9]4U)UBYayeQ Ie?U=DIU:iU:U 4yiɮmIAiblzlchecking for new query: numPingsReceived=89, elapsed TxPingTime=45.159657rl)jl)ZZZZ@i)iI:@ @@/ @^ANJκII O >A  DDAT read: Rx Time:15:13:57.4535  TRx dataTimestamp_ set to:1761578038.720795 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  Z#Rx 90: Read range message, but no direction.y Y f?  checking for new query: numPingsReceived=90, elapsed TxPingTime=45.416672E  E E +E "E &:*E n:VE [4ZE a @a @a @a @Pl,~ ?A2E@2@@2CIٱ2g :AHRS rotation from veh to nav: [[0.891600,0.448617,-0.061590],[-0.444869,0.893178,0.065759],[0.084511,-0.031231,0.995933]]2H?#?@@xܿ?հ? ?@&?i2E@I2Z`;2pCY ^By Z I!!bD% VD%f2y5 \=%5K=ٔ=9AYA=ETGyAEHEE>IQ 5U4MV?Q 9U4M)MBYYy]Q I]?M=DIM ;iM* ;M4yaɮmAiblzlrljlZZZZe@i)项iIY9@ @@o @ checking for new query: numPingsReceived=90, elapsed TxPingTime=45.663651y^AIIO>ԩ B <A 4=B >B B IB BB =B B B -z;B 2EBBBBBCM58s, ?A6DDAT read: Rx Time:15:13:57.9537 6TRx dataTimestamp_ set to:1761578039.224223:DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 >Z#Rx 91: Read range message, but no direction.y4Y6f@4Bchecking for new query: numPingsReceived=91, elapsed TxPingTime=45.918945`b@@b;@bIՠٱbG jAHRS rotation from veh to nav: [[0.877421,0.475532,-0.063261],[-0.473264,0.879614,0.047958],[0.078451,-0.012140,0.996844]]bH?@o?1I޿@%?捨?@_?`܈%?ib@@Ibe `;bmCY]\By]W IE9 E=E=*E9"E9*E=~:VE=(N4ZE9BE=c;9Y=TGyE>Q 54c?Q 94!)ȏBY->Q E;y#Q I?=DI:i:4yɮAblzlrljlZ->Z->Z@Z@i!))))i)1I1I9)=eA:@ @@ @@@>%checking for new query: numPingsReceived=91, elapsed TxPingTime=46.168282^A?BɺI I O% >A ey,i ?AR5h@Rc@R"ٱR'< ZAHRS rotation from veh to nav: [[0.864849,0.497144,-0.069881],[-0.496443,0.867608,0.028308],[0.074702,0.010210,0.997154]]RHج? 7? 㱿`߿@q?@?`???iR5h@IRŭ_;RoCYfcByf_ IbDVDfy-=%-f=ٔ-,91Y9==TGy9EʗEE>IQ 5M4M❜?Q 9U4M #)MЏBYQyUáQ IU?M=DIM;iM&;M4yaɮeAablzlrljlZZZZ@i)顱iI)@1 @1@5 @1iiImA}DDAT read: Rx Time:15:13:58.4535 }TRx dataTimestamp_ set to:1761578039.729201DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 92: Read range message, but no direction.yyY}f?ychecking for new query: numPingsReceived=92, elapsed TxPingTime=46.425064AEE EEEE)EA"EED:*EE&p:VEEFA4ZEAaM@aU@aU@aU@^AuNJκqIIO>ԡ = checking for new query: numPingsReceived=92, elapsed TxPingTime=46.674831J,9?A2庰@2@2╽ٱ2i< :AHRS rotation from veh to nav: [[0.854254,0.514098,-0.077162],[-0.514688,0.857270,0.013563],[0.073121,0.028128,0.996926]]2H@ V?}s?Rx n?Ƌ?@?͜? ?i2庰@I2p_;2pCYBoByFm Ii Mb@Mb@Mb@     9 rh|?333333/$?Y =y  < A A  A) A Y A !%<bD-VD-:y=Kg=%=I=ٔE;Q-E>9AYA=ETGyAM(VEM>QyQ 54U?Q 94Ud$)UՏBY>Q E;yQ I?U=DIU[Z=>Z=9@Z=@iI)IIIiIQIQ@ @@ @ԩB>BB IBBB =BBDB z;B2EDDAT read: Rx Time:15:13:58.9536 TRx dataTimestamp_ set to:1761578040.232246DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 93: Read range message, but no direction.yY@checking for new query: numPingsReceived=93, elapsed TxPingTime=46.926914^AI9EU EUEU*EQ"EU;*EU]t:VEU(N4ZEQBEU9C Gu,Y?A6@4@6 /@6ٱ6WY= BAHRS rotation from veh to nav: [[0.845614,0.527493,-0.081781],[-0.528618,0.848812,0.008996],[0.074162,0.035624,0.996610]]6HE?@8?@﴿ox)?@yl? H?G=?:?i6@4@I6W_;4YJvByJv IbDVVDV0yZJ=%^S=ٔ^0Q-^>9`Y`=bTGy`f-Ef>hQ 5j4j%?Q 9n4j%)jۏBYlyn펿Q In?j=DIj;ij;j,4ytɮv7Atbl zl rl jl Z)Z)Z)Z-xT@i9)AAAiAAIIUp>iU%> checking for new query: numPingsReceived=93, elapsed TxPingTime=47.1808979@ @@* @@@a^AI!I9OEs>ԉ DDAT read: Rx Time:15:13:59.4536  TRx dataTimestamp_ set to:1761578040.741177 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  Z#Rx 94: Read range message, but no direction.y Y  checking for new query: numPingsReceived=94, elapsed TxPingTime=47.436733Ee  Ee Ee -Ea "Ee V:*Ee :VEe t4ZEa am @am @am @am @Թ ,4?A2ȯ@2ö@26ٱ2us< :AHRS rotation from veh to nav: [[0.838345,0.538952,-0.081900],[-0.539509,0.841807,0.017081],[0.078150,0.029866,0.996494]]2H???@gC?@}?? =?G?i2ȯ@I2_;2mCYvByv IbD~VD~1y Ю=% E=ٔQ->9Y=TGy!%mE%>)Q 554-G?Q 954-')-BY1y5Q I=?-=DI-Q;i-;-34yAɮEAAblazlarlajlaZZZZ@i)顙iIԑ%9@) @)@5@ @1checking for new query: numPingsReceived=94, elapsed TxPingTime=47.684196^AQIaIqO}{> %G9I}/9yY}AA @AA B >B B B B =B B B 0z;B 2E ʼn,N?A2DDAT read: Rx Time:15:13:59.9536 2TRx dataTimestamp_ set to:1761578041.244349:DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 :Z#Rx 95: Read range message, but no direction.y0Y00>checking for new query: numPingsReceived=95, elapsed TxPingTime=47.938999Fw@Fr@F6ٱFs< NAHRS rotation from veh to nav: [[0.832577,0.548344,-0.078319],[-0.547505,0.836122,0.033747],[0.083990,0.014783,0.996357]]FHx? ? (?`KG?`X?@F? (?iFw@IF}!_;DYVByZ Ii=Mb@Mb@Mb@9999 99=㥛 ?Mby&1|?Y==y==`;=?A= A =Q A)=A9Y=AIIbDQVDQye;*=%eE=ٔmfQ-m>9iYi=mTGyiu¼Eu>yQ 54}?Q 94}')}BY=Q E0ᰙ,h?A:?@::@:Qٱ:3셻 BAHRS rotation from veh to nav: [[0.828301,0.555446,-0.073463],[-0.552835,0.831543,0.053945],[0.091051,-0.004070,0.995838]]:Hq?6?xβӰ@?`?#O?@p?i:?@I:^;:oCYNByN IbDVVDVk2y^ɻ=%^V=ٔbQ-b>9`Y`=fTGydfEf>hQ 5r4j?Q 9r4j:()jBYpyrNQ Iv?j=DIj-;ijt.;jA4yxɮzAxblzlrljlZ1Z1Z1Z5?@iA)IIIiIIIQY@ @@t @@>@>QDDAT read: Rx Time:15:14:00.4534 TRx dataTimestamp_ set to:1761578041.754038DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 96: Read range message, but no direction.yY?checking for new query: numPingsReceived=96, elapsed TxPingTime=48.449360bEjEĔK4rEĖ/EE EEEAEA"EEV:*EE:VEAZEAaU@aU@aU@aU@y^AIIO>ԩ ] checking for new query: numPingsReceived=96, elapsed TxPingTime=48.697685,?A2o@2<@2WAɽٱ2 :AHRS rotation from veh to nav: [[0.825351,0.560295,-0.069750],[-0.556031,0.828035,0.072026],[0.098111,-0.020664,0.994961]]2HFi?`?۱C?Pp??(@?i2o@I2C_;2lCLYRByR IieMb@Mb@Mb@aaaa a9eMb?=ٔQ->9Y=TGy;$E>Q 54?Q 94')BY=Q EB1B5 IB5BB5 =B1B1B5Tz;B52EDDAT read: Rx Time:15:14:00.9535 TRx dataTimestamp_ set to:1761578042.256281DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 97: Read range message, but no direction.yYf?checking for new query: numPingsReceived=97, elapsed TxPingTime=48.950970^AII!D1zD5?AE= E=E=*E9"E=;*E=u:VE=(N4ZE9BE9aE2E9aEJE=$<! ¦,[?A6@6\@6ֽٱ6 >AHRS rotation from veh to nav: [[0.823301,0.563350,-0.069371],[-0.557851,0.825647,0.084311],[0.104772,-0.030715,0.994022]]6H {X??@E±`k?l?@]Һ?s?i6@I6A_;4YJƂByJ I PR4<bDPVDPyZy=%ZY=ٔ^Q-^>9\Y\=bTGy`bzEb>dQ 5j4f?Q 9n4f')fBYpyr;?Q Iv?f=DIf#s;ifY;fP4y ɮ A blIzlIrlIjlIZyZyZyZ};?i)顡iIchecking for new query: numPingsReceived=97, elapsed TxPingTime=49.199608m:@i @i@u @q)Y^A?BɺIIO> DDAT read: Rx Time:15:14:01.4534  TRx dataTimestamp_ set to:1761578042.760260 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  Z#Rx 98: Read range message, but no direction.y Y ?  checking for new query: numPingsReceived=98, elapsed TxPingTime=49.454914ԁ EE  EE EE )EA "EE :*EE M:VEE FA4ZEA aM @aU @aU @aU @,6?A2@2@2bٱ2 :AHRS rotation from veh to nav: [[0.822276,0.564450,-0.072514],[-0.558255,0.824792,0.089833],[0.110515,-0.033387,0.993313]]2H@P??C8 d?Q? J?``9?i2@I2_;2mCYFтByF IbDNVDN:yr i=%rG=ٔvfQ-v>9tYt=vTGytz(Ez>Q 5%4?Q 9-4o')BY)y-r:?Q I-?=DI1:i=:DW4y1ɮ=YAYYblzlrljlZZZZr:?i)iI9@ @@ @@@eAԉchecking for new query: numPingsReceived=98, elapsed TxPingTime=49.705070^ANJκԹIIO>B) A- <B1 B1 B5 !IB5 BB1 B1 B1 B5 oz;B5 2E Գ,?A6DDAT read: Rx Time:15:14:01.9536 6TRx dataTimestamp_ set to:1761578043.264139:DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 >Z#Rx 99: Read range message, but no direction.y4Y6@4Bchecking for new query: numPingsReceived=99, elapsed TxPingTime=49.958775BG@B@B6;ٱB  NAHRS rotation from veh to nav: [[0.821495,0.564899,-0.077688],[-0.558280,0.824529,0.092061],[0.116062,-0.032256,0.992718]]BHI??c㳿m b? S?8?؃X?iBG@IB _;BoCYVׂByV IԹD=D<E EE'E"E ;*E:VE'4ZEBEL9Y=TGyE>Q 5 4?Q 94w&)܏BYC=Q EA ,B?A2Y@2&@2 ٱ2* :AHRS rotation from veh to nav: [[0.820705,0.565359,-0.082543],[-0.558319,0.824251,0.094287],[0.121342,-0.031297,0.992117]]2H6C?j? !@@D`?-#?>?l?i2Y@I2_;2nCYFByF IN@AN@AbDRVDRyZ#=%Zr=ٔZ䀼Q-Z?9\Y\=^TGy\b繺Eb?dQ 5j4fŪ?Q 9j4f%)f׏BYhyj?Q Ij?f=DIf:if6:f0e4ypɮr ApblzlrljlZ!Z!Z!Z%҅?i1)111i19I9:@ @@ @uDDAT read: Rx Time:15:14:02.4535 }TRx dataTimestamp_ set to:1761578043.768310DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.1 \#Rx 100: Read range message, but no direction.yyY}f?ychecking for new query: numPingsReceived=100, elapsed TxPingTime=50.464287E  E E )E "E :*E :VE FA4ZE a@a@a@a@A^AQIaIqO{>i= checking for new query: numPingsReceived=100, elapsed TxPingTime=50.713436ԡ ,?AB:@B@BDfٱB JAHRS rotation from veh to nav: [[0.819361,0.566801,-0.085926],[-0.559033,0.823181,0.099270],[0.126999,-0.033303,0.991344]]BH 58?<#?AW?i?A?` @?iB:@IBh_;BmCYVByV Ii5Mb@Mb@Mb@1111 195"~j(\µ?/$Y5Sy5=55 A5A 5A)5A1Y5AbDMVDMNyU;%]@=ٔe6[Q-e>9aYa=mTGyimPEm>qQ 5}4uM?Q 9}4uK$)uϏBY>Q E;y'?Q I?u=DIu? ;iue ;ul4yɮ AblzlrljlZm>Zm>Zm<@Zm'?qi)顡iIB>BB;!IBBBBBBz;B2EBBBBBCa4m9@q @q@} @y@>@>ԡDDAT read: Rx Time:15:14:02.9539 TRx dataTimestamp_ set to:1761578044.272265DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 \#Rx 101: Read range message, but no direction.yY@checking for new query: numPingsReceived=101, elapsed TxPingTime=50.966972E- E-E-+E)"E-~ ;*E-:VE- [4ZE)BE-V ,/?ANӮ@Nε@NٱNc& ZAHRS rotation from veh to nav: [[0.817107,0.570020,-0.086105],[-0.561055,0.820641,0.108466],[0.132489,-0.040319,0.990364]]NH%?=? *B?`pĻ?@d?@ ?iNӮ@IN_;LY%By%!IbD5VD5kyE=%EK=ٔM=bQ-M>9IYI=UTGyQUEU>aQ 5m4e隆?Q 9m4e")eǏBYiym?Q Im?e=DIed:ie:es4yyɮ}S AyblzlrljlZZZZ?i)ichecking for new query: numPingsReceived=101, elapsed TxPingTime=51.215645I@ @@ @^A?BɺIIO>I  DDAT read: Rx Time:15:14:03.4538  TRx dataTimestamp_ set to:1761578044.776251 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  \#Rx 102: Read range message, but no direction.y Y 3@  checking for new query: numPingsReceived=102, elapsed TxPingTime=51.470898E%  E% E% 'E! "E% ;*E% ?:VE% '4ZE! a5 @a5 @a5 @a5 @;,5~7?A 2#@2@2 ٱ2JS >AHRS rotation from veh to nav: [[0.813188,0.575943,-0.083749],[-0.565373,0.815885,0.121185],[0.138125,-0.051197,0.989091]]2H`?!n?p@???@r6`?i2#@I2^;2oCYDyD LNp<bDRVDRN2yV:%ZT=ٔZ>rQ-Z>9\Y\=^TGy\b:xEb>dQ 5f4f?Q 9j4f!)fBYhyj?Q Ij?f=DIf-:if$:f]z4ypɮrR ApblzlrljlZaZaZaZe3?iq)qqiI5:@5 @1@55@9ychecking for new query: numPingsReceived=102, elapsed TxPingTime=51.721706ԙ^ANJκI!I1OEs>A A AAB B B m!IB >BB =B B B tz;B 2E ",uYQ?A&DDAT read: Rx Time:15:14:03.9538 *TRx dataTimestamp_ set to:1761578045.280825.PDAT read: Bearing 268.7, -31.0 (Local) .~Local bearing/azimuth received: Bearing 268.7, -31.0 (Local) 6DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 JDAT read: 15:14:03.9538 LVL= 20016, 32753, 14130, 30483, AGC= 35, IDX= 508,-0.03,-2.868,-1.161,-2.081,-1.561, PHS=-1.205, 0.445,-0.563, RAW= 307.3, 18.0, CAL= 306.1, 23.6, ROT= 203.9, -23.6 NYgot valid direction response: 15:14:03.9538 LVL= 20016, 32753, 14130, 30483, AGC= 35, IDX= 508,-0.03,-2.868,-1.161,-2.081,-1.561, PHS=-1.205, 0.445,-0.563, RAW= 307.3, 18.0, CAL= 306.1, 23.6, ROT= 203.9, -23.6 NV#Rx 103: Read range and direction messages.R`direction in FSK: [-0.837788,-0.371257,0.400349]VFpublishing direction and range infoy(*%~Q)꿱C׿^Q?Y((*0N**27 *w)*#I*q=i* >* *@*|٠>*`@ *B>)*,c@I*BҾ((\rT@rN@rٱrJ zAHRS rotation from veh to nav: [[0.807083,0.585180,-0.078616],[-0.572908,0.808352,0.135436],[0.142804,-0.064269,0.987662]]rH?̹?`% CU?U?cG?s?irT@*v0xIc? *@)*%I*].i*BҾ((checking for new query: numPingsReceived=103, elapsed TxPingTime=51.995579IrC^;rmCYBy!IE EEE"E;*E:VEZEBE9C9YYY=]TGyYeYEe>iQ 54m񣜊?Q 94m)mBY6>Q E;y?Q I?m=DImhU?R*%~Q)꿱C׿^Q?Zi*].bi*BҾj*ڬD&?.W?Z*ÓZ6>Zy&@Zt?i)iI)@ @@ 3@@@fAchecking for new query: numPingsReceived=103, elapsed TxPingTime=52.223598I ^A ?BɺIA Ia O >M,6k?A>٭@>UԴ@>Nٱ>D FAHRS rotation from veh to nav: [[0.798131,0.597954,-0.073751],[-0.584703,0.798270,0.144525],[0.145292,-0.072228,0.986749]]>HI?o"?UᲿ m???}`r?i>٭@I>^;>kCYNByR!IbDZVDZ1yb%b=ٔbQ-f ?9dYd=fTGydjH?Ej ?lQ 5r4n;?Q 9r4nT)nBYpyv?Q Iv?n=DInp:in:n4yxɮzU AxblzlrljlZ1Z1Z1Z5W?iI)IQQiQaIa @ @@5@iQIQ]DDAT read: Rx Time:15:14:04.4537 eTRx dataTimestamp_ set to:1761578045.785033mPDAT read: Bearing 269.5, -31.1 (Local) m~Local bearing/azimuth received: Bearing 269.5, -31.1 (Local) }DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 15:14:04.4537 LVL= 20464, 32097, 16466, 32755, AGC= 36, IDX= 507, 0.03,-2.406,-0.578,-1.598,-1.055, PHS=-1.249, 0.521,-0.588, RAW= 308.3, 16.7, CAL= 306.9, 22.2, ROT= 203.1, -22.2 Ygot valid direction response: 15:14:04.4537 LVL= 20464, 32097, 16466, 32755, AGC= 36, IDX= 507, 0.03,-2.406,-0.578,-1.598,-1.055, PHS=-1.249, 0.521,-0.588, RAW= 308.3, 16.7, CAL= 306.9, 22.2, ROT= 203.1, -22.2 V#Rx 104: Read range and direction messages.`direction in FSK: [-0.851636,-0.363253,0.377841]Fpublishing direction and range infoyY]2_@뿟}?׿g|.?Y]f@Y]O]a}]R@ ])]$I];ߟi]B`?]+]/@];>]g@ ]a>IE EE+E"E ;*E:VE [4ZEa@a@a@a@)]ib@I]aƾYY]5QSiݹKh? ]v?)],cI]LB/i]aƾYYchecking for new query: numPingsReceived=104, elapsed TxPingTime=52.533043^AIIOj>qԡ  checking for new query: numPingsReceived=104, elapsed TxPingTime=52.729370T5,k?AFGPd~$9|Y~AM2@M-@MٱMSԁ AHRS rotation from veh to nav: [[0.786116,0.613949,-0.071325],[-0.600875,0.786167,0.144534],[0.144810,-0.070763,0.986926]]MH'?x?`B^:@H(??"? ?iM2@IM_;IYBy!IieMb@Mb@Mb@aaaa aBu>BqBu!IBu\BBu =BqBuDBuPz;Bu2E9e~jtÿT㥛 ?lYeye=eeAeA eA)e@aYep AbDVDy *=%$=ٔ:Q->9Y=TGy'E>Q 54񞜊?Q 94)BY,>Q E;y@Q I?=DI ;i ;@4yɮ Aaԡblzlrljlii=r?AJi@Ri@jiA6@b.Vyw|^lMuF?R2_@뿟}?׿g|.?ZiLB/biaƾjD[#$/g:?p5Hdj?Z)lx/?<1?2iA?:i "i?*iH Bi$Bih5N?ild$OiBi @i<@Z%,>Z%,>Z%m֨@ m0>)mh@Im0iimp]r'=gI? mC)m Im*im0iichecking for new query: numPingsReceived=105, elapsed TxPingTime=52.999996E EE(E"E%;*Eh:VEc44ZEBE~@> ^A NJκI I O >ϳ,]N?Achecking for new query: numPingsReceived=105, elapsed TxPingTime=53.231346YBy !I)bD5 VD5:2yE%El=ٔEQ-M?9IYI=MTGyQUEU?YQ 5e4]?Q 9e4]O)]BYayaQ Im?]=DI]:i]#;]P4yqɮuw Aqblzlrljlii@?AJi@Ri@ji F;@bieakAVջƨ?R)Lщ{dۿZ8i?Zi*bi0jڻKG?uZ>6?Z7it67}H s?)g?2i=>:i] "iqLy曊?*i+BiBi?i0<iBi1?iv<@ZZZZi)iI:@ @@0@aԉ^AIIO >DDAT read: Rx Time:15:14:05.4537 TRx dataTimestamp_ set to:1761578046.792749PDAT read: Bearing 271.5, -43.8 (Local) ~Local bearing/azimuth received: Bearing 271.5, -43.8 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  DAT read: 15:14:05.4537 LVL= 20976, 32049, 16146, 32051, AGC= 36, IDX= 507, 0.33,-2.589,-0.724,-1.452,-1.259, PHS=-1.228, 0.580,-0.237, RAW= 296.8, 11.3, CAL= 294.2, 15.6, ROT= 215.8, -15.6  Ygot valid direction response: 15:14:05.4537 LVL= 20976, 32049, 16146, 32051, AGC= 36, IDX= 507, 0.33,-2.589,-0.724,-1.452,-1.259, PHS=-1.228, 0.580,-0.237, RAW= 296.8, 11.3, CAL= 294.2, 15.6, ROT= 215.8, -15.6  V#Rx 106: Read range and direction messages.% `direction in FSK: [-0.781186,-0.563409,0.268920]% Fpublishing direction and range infoyWz2 $s]^|5?Yf@Q1}? 3})$I/iz?!rå@I>O@ 'g>) q@I'g1`MFU£[ ۫?x?" ? oE@)II!i'gE checking for new query: numPingsReceived=106, elapsed TxPingTime=53.499485bE:4jEh=4rEd/E]  E] EY EY "E] ;*E] :VEY ZEY am @am @am @am @Թ .,^?A2_@2Z@2 ٱ2P :AHRS rotation from veh to nav: [[0.751724,0.656688,-0.060595],[-0.645650,0.751565,0.135225],[0.134342,-0.062528,0.988960]]2H??O * ? O?2? ?i2_@I2#_;0YNByN!IbDZ VDZ2y]eѼ%]I=ٔ]}9aYa=eTGyamEm>qԙQ 54u>?Q 94u)u}BYyZ@Q I?u=DIu;iu;uf4yɮ Ablzlrl jl i i f?AJi @Ri @ji 9cA@b T7!sejgrv?R Wz2 $s]^|5?Zi !bi 'gj >H!Qc?GUA?Z , '2F?r#4?2i {>:i @"i ]?*i :1]Bi Bi }?i i i @i ?@ZqZqZqZu8Z@i)顩i)IQMchecking for new query: numPingsReceived=106, elapsed TxPingTime=53.737793A@A @A@E/@ABA<B>BB!IBbBBBBBvz;B2E^A I I) OU >  DDAT read: Rx Time:15:14:05.9538  TRx dataTimestamp_ set to:1761578047.296704 PDAT read: Bearing 266.9, -41.5 (Local)  ~Local bearing/azimuth received: Bearing 266.9, -41.5 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 - DAT read: 15:14:05.9538 LVL= 19664, 32497, 15554, 28867, AGC= 34, IDX= 509,-0.40, 2.837,-1.595,-2.361,-2.116, PHS=-1.228, 0.565,-0.290, RAW= 298.5, 12.2, CAL= 295.8, 17.5, ROT= 214.2, -17.5 5 Ygot valid direction response: 15:14:05.9538 LVL= 19664, 32497, 15554, 28867, AGC= 34, IDX= 509,-0.40, 2.837,-1.595,-2.361,-2.116, PHS=-1.228, 0.565,-0.290, RAW= 298.5, 12.2, CAL= 295.8, 17.5, ROT= 214.2, -17.5 5 V#Rx 107: Read range and direction messages.= `direction in FSK: [-0.788801,-0.536068,0.300706]= Fpublishing direction and range infoy  w}C=鿱n?Y 3@ L ~ < p) "I i ף? z @ ^ Z> 4@ a>) Co@I a erBᅬq?re6"? ZG@,?AV3@Vd.@V_ٱV0)ZI4"iavchecking for new query: numPingsReceived=107, elapsed TxPingTime=54.032345E% E%E%'E!"E%;*E%:VE%'4ZE!BE%]9YYa=eTGyaeEe>Q 54?Q 94)uBYR=Q E;y @Q I?=DI:iU:ͦ4yɮ Abl!zlIrlIjlIii3?AJi@Ri@ji<@b Q0-|/(N?Rw}C=鿱n?Zi4"biajBO޽}K?+?Z}LR=V??2i>:i "i ޛ?*i BiBi]?i+ii @i=@ZR=ZR=ZNF@Z @i)i)AII@ @@4@@@eA=checking for new query: numPingsReceived=107, elapsed TxPingTime=54.239677Q^A 0:ĺI) I9 OM >ԁ _,??AB@B߯@BٱB RAHRS rotation from veh to nav: [[0.701118,0.712588,-0.025540],[-0.703578,0.697182,0.137532],[0.115809,-0.078457,0.990168]]BHo??'@QO? ??@t?iB@IB:^;BiCY^܂Byb IIj<)j=bD5VD5yEܼ%Ms=ٔM@ f>)g@IfL>8քY"%q…? dC)It*ifchecking for new query: numPingsReceived=108, elapsed TxPingTime=54.526154@ @@/@E5 E5E5+E1"E5x;*E5:VE5 [4ZE1a=@a=@a=@a=@ԁ^ANJκI)IAOU>ԩe checking for new query: numPingsReceived=108, elapsed TxPingTime=54.745747 ,?A-{@-~v@- սٱ-& uAHRS rotation from veh to nav: [[0.670328,0.742063,-0.001579],[-0.734758,0.664024,0.138573],[0.103878,-0.091729,0.990351]]-HSs?@?pY#???ŗ? {?i-{@I-_;-kCY͂By IBe>BaBe!IBeMBBaBaBaBez;Be3EiUMb@Mb@Mb@QQQQ Q9U9Y=TGyŽE>Q 54뒜?Q 94)YP=Q E @ J>)DW@IJV O_ ӿ ? 4)Iq:iJDzDE% E%E%)E!"E%;*E%:VE%FA4ZE!BE%9C g,z!?A6@6@6ٱ6#ѽ BAHRS rotation from veh to nav: [[0.637247,0.770375,0.020923],[-0.765362,0.629456,0.134188],[0.090205,-0.101525,0.990735]]6HTd?@?l?`}$?-???i6@I6 _;6mCYJByN IPRAAbDV VDV2yb%bt=ٔb3(=Q-f?9dYd=fTGydj Ej?lQ 5r4n~?Q 9r4n)lYpyr>C@Q Iv?n=DIn;in;nI4yxɮzAxchecking for new query: numPingsReceived=109, elapsed TxPingTime=55.247578bl!zl!rl!jl!ii2?AJi@Ri@ji@b.|sz9$࿣;|Sf?R$C˿P]?Ziq:biJj53,7/zh r?{|?Z{ Ҟ5AZ?nm?2i?:i"ir?*i}BiBiiiBi@i<@ZaZaZaZe>C@iq)qqqiqyI1@9 @9@=0@A9^AqIIO>DDAT read: Rx Time:15:14:07.4538 TRx dataTimestamp_ set to:1761578048.808291DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 \#Rx 110: Read range message, but no direction.yY3@checking for new query: numPingsReceived=110, elapsed TxPingTime=55.502956i EM  EM EM (EI "EM ;*EM ?:VEM c44ZEI aU @aU @aU @aU @|%,U;?A 22@2@2^6ٱ2|ս >AHRS rotation from veh to nav: [[0.602532,0.797204,0.037699],[-0.794542,0.594727,0.122489],[0.075228,-0.103757,0.991754]]2HG? ?QM?l?n[?@"B? ӏ r?i22@I2._;0YzByz I  bD%VD%k2yE|Z<%EB=ٔMY=Q-M>9QYQ=UTGyQ]ܽEe>iQ 5u4m?Q 94m)moBYyN@@Q I?m=DIml;imm;m4yBɮAblzlrljlZZZZ"N@@i)i!I!ԡ:@ @@/@-checking for new query: numPingsReceived=110, elapsed TxPingTime=55.753994Թ^A?BɺII1O=>AqAqB}>ByB}T!IB}*BByByByB}z;B}3EBABABABABACE4  DDAT read: Rx Time:15:14:07.9538  TRx dataTimestamp_ set to:1761578049.312246 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  \#Rx 111: Read range message, but no direction.y Y  checking for new query: numPingsReceived=111, elapsed TxPingTime=56.006973 ,3U?A`f]2@f*-@fytٱfĽ zAHRS rotation from veh to nav: [[0.568259,0.821622,0.044928],[-0.820680,0.561953,0.103412],[0.059718,-0.095636,0.993623]]D|D~=E EE+E"E:*E:VE [4ZEBE59IYI=MTGyIUʽEU>YQ 5}4];?Q 94])]wBY=Q EA 7, o?AF@Fo@F7ٱF` RAHRS rotation from veh to nav: [[0.535090,0.843785,0.041296],[-0.843605,0.531103,0.079128],[0.044835,-0.077178,0.996009]]FHt?I?$??A?`?@M?iF@IF^;FjC}DDAT read: Rx Time:15:14:08.4537 TRx dataTimestamp_ set to:1761578049.816528DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 \#Rx 112: Read range message, but no direction.yyY}f@ychecking for new query: numPingsReceived=112, elapsed TxPingTime=56.511192Y By  IbDVD02E EE'E"E%;*EM:VE'4ZEa@a@a@a@y%r%%0=Iٔ%8=Q-M>9QYQ=UTGyQUE]>YQ 54]?Q 94]#)]~BYy߿Q I?]=DI]X;i];]|Ѭ4yɮ_AblzlrljlZZZZ*@iI)IIIiIQIQI)@ @@% @!qE checking for new query: numPingsReceived=112, elapsed TxPingTime=56.761868Ա ^A I I O5 >",v?A>׺@>@>uٱ>2S FAHRS rotation from veh to nav: [[0.504019,0.863216,0.028679],[-0.863121,0.502199,0.053093],[0.031428,-0.051514,0.998178]]>H ? x? ^?``?@ /?a? _@?i>׺@I>^;>lC L)NiANDLLPPiRTIPPITiV jA VTT)TX XZTXXX^iAI\)\i\)`IbiA`` `dflAdiddidd)h hIhYhYrByr IIv=)v=imMb@Mb@Mb@iiii i9m+?v/X9v?Ym>ymximQ E;yTQ I?=DI; ;i;֬4yɮAblzlrljlB9B9B=!IB=BB9B9B=DB=z;B=3EZ->Z->Zڽ@Z@i)iI@ @@ @iߡIߡDDAT read: Rx Time:15:14:08.9538 TRx dataTimestamp_ set to:1761578050.320539DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 \#Rx 113: Read range message, but no direction.yY3@checking for new query: numPingsReceived=113, elapsed TxPingTime=57.015766E= E=E=,E9"E=&:*E=Ar:VE=g4ZE9BE=c; 9(,(?A2@2R@2&ٱ2L\ :AHRS rotation from veh to nav: [[0.475515,0.879565,0.015851],[-0.879479,0.474904,0.031339],[0.020037,-0.028843,0.999383]]2H`n?e%?L;?$d?@ ?x?@@?i2@I26^;2mCchecking for new query: numPingsReceived=113, elapsed TxPingTime=57.263641YBy IAABAbDVDy6μ%=ٔH9Y=TG!y-ÁE->1Q 5=45r?Q 9=45)5BY9y=Q I=?5=DI5,7;i549;54yUBɮU AQblqzlqrlqjlqZ9Z9Z9Z=@ia)aiiiiqIq9@ @@ @QDDAT read: Rx Time:15:14:09.4538 TRx dataTimestamp_ set to:1761578050.828529DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 \#Rx 114: Read range message, but no direction.yYchecking for new query: numPingsReceived=114, elapsed TxPingTime=57.523193Ea  Ee Ee -Ea "Ea *Ee :VEe t4ZEa am @am @am @am @ԉ ^A1 IA IQ Oe >j.,w?A>2@>@>W'ٱ> RAHRS rotation from veh to nav: [[0.449253,0.893253,0.016435],[-0.893346,0.448937,0.019706],[0.010224,-0.023535,0.999671]]>H@?@?jԐ?Jb?-?s?`M?i>2@I>mA_;>kC\^r@i\I\`d ddddlpIp)pip)pIr&iAvC vRF t||~i|igA) I  lj)Ǎ{AƍףƑƑYY)y5 IIbDEVDE0yU;%U=ٔ]ZG!Iy:9Y)A@ @@ @B!A%<B->B)B- IB-ɂBB)B)B-DB-}z;B-2Eԡ^A ?BɺI I O% > DDAT read: Rx Time:15:14:09.9539  TRx dataTimestamp_ set to:1761578051.328285 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  \#Rx 115: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=115, elapsed TxPingTime=58.022968 vL5,i9?Afޝ@fU٤@f?#ٱfiE EE*E"ED:*Ey:VE(N4ZEBE19Y=TGyE>Q 54?Q 94Ա )BQ A+:YQ E~;y1Q I?=DIJ4;i >N4yɮ Ablzlrljli )iI@ @@/ @checking for new query: numPingsReceived=115, elapsed TxPingTime=58.271503 ^A NJκI I O >9 {u;,?A>@>V@>ֈ:ٱ>; FAHRS rotation from veh to nav: [[0.403163,0.915127,-0.001374],[-0.915127,0.403161,-0.001746],[-0.001044,0.001961,0.999998]]>H n?`H?V@Hc?d\ Q@`??i>@I>z _;>iCYRByR I Zpi E checking for new query: numPingsReceived=116, elapsed TxPingTime=58.777859iaB, ?A Jn@Jh@J~8ٱJ = ^AHRS rotation from veh to nav: [[0.384029,0.922820,-0.030420],[-0.923321,0.383818,-0.012753],[-0.000093,0.032984,0.999456]]JH ??S& ؋w?@@OV??iJn@IJj3_;JjCYBy Iaa aa aa aa iMb@Mb@Mb@ 9x?~jth~jt?YK7>yD< AA VAB>BB IBBBBBDBDz;B2E) AYbDVD0y=;%6=ٔ4 Q->9!Y!=%TGy!%f>E%>Q 54]?Q 94`$)BQ AT:YY8>Q E;y3Q I?>DIo;iQ;_4yɮAblzlrljlZEY8>ZEY8>ZE@iZE¢@iq)yyyiyI=:@9 @9@=m @9DDAT read: Rx Time:15:14:10.9537 TRx dataTimestamp_ set to:1761578052.336198DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 \#Rx 117: Read range message, but no direction.yYf@checking for new query: numPingsReceived=117, elapsed TxPingTime=59.030853ԑE EE-E"E;*E҆:VEt4ZEBE9C܇H,#?A2כ@2Ң@2ٱ21= >AHRS rotation from veh to nav: [[0.367042,0.929236,-0.042433],[-0.930187,0.366934,-0.010597],[0.005723,0.043360,0.999043]]2H`}?@M?`͹{?ٳ`qw?R3?@)?i2כ@I2m_;2iCYFByF IIH)Jp=PbDRVDRyZ@=%Zd=ٔ^*Q-^>9`Y`=bTGy`bQEb>dQ 5j4f'?Q 9j4f%)fBYlynrchecking for new query: numPingsReceived=117, elapsed TxPingTime=59.279644Q Iv?f>DIf;if;fX4yxɮzfA|blzlrljlZ1Z1Z1Z5#@i)i)IM9@I @I@M} @I^AiIyDDAT read: Rx Time:15:14:11.4536 TRx dataTimestamp_ set to:1761578052.840427DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 \#Rx 118: Read range message, but no direction.yY@checking for new query: numPingsReceived=118, elapsed TxPingTime=59.535069IO>E-  E- E- )E) "E- :*E- z:VE- FA4ZE) a5 @a5 @a5 @a5 @9 N,;=?ARiL@R6G@RfٱR< ZAHRS rotation from veh to nav: [[0.351111,0.935705,-0.034327],[-0.936201,0.351443,0.003988],[0.015795,0.030737,0.999403]]RHx?J?\@[ ~?sUp?@,?y?`?iRiL@IR^_;RjCYfByf IlnAAbDrVDrN2yz=%zF=|ٔ~ǼQ-~>9Y=TGy (E >Q 548?Q 94')BYyQ I? >DIj;iU;4y)ɮ-%A)blIzlIrlIjlIZiZiZiZm@iy)yyyiyIi@i @i@m @ichecking for new query: numPingsReceived=118, elapsed TxPingTime=59.784058)Q^AIIO>AA@AB>BB IBBB =BBBz;B2Ey  DDAT read: Rx Time:15:14:11.9539  TRx dataTimestamp_ set to:1761578053.344255 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  \#Rx 119: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=119, elapsed TxPingTime=60.038906U,5~W?AVŚ@V@VٱV/; bAHRS rotation from veh to nav: [[0.335593,0.941896,-0.014478],[-0.941582,0.335863,0.024878],[0.028295,0.005283,0.999586]]VH@Zz?$?`p!@~?y?@d?u? ?iVŚ@IV_;VhCEv EtEv+Et"Ev;*EtVEv [4ZEtBEv@9Y=TGy  TE>Q 5-4?Q 9-4()BY5q=Q E=;y={Q I=?>DINm;il; 4yIɮMAQblzlrljlZq=Zq=Zz>Zo@i1)999i9AIAԑ:@ @@ @checking for new query: numPingsReceived=119, elapsed TxPingTime=60.287586Թ^A ?BɺI I O > [,6Yq?A2.>@28@2)ٱ2m :AHRS rotation from veh to nav: [[0.319807,0.947459,0.006665],[-0.946574,0.319184,0.046027],[0.041481,-0.021029,0.998918]]2Hw? Q?L{?VJm?@ސ?=?"?i2.>@I24_;2iCYFĂByF I HHbDLVDLyVL|=%Vx=ٔZU$Q-Z?9XYX=^TGy\^NE?Q 5%4b?Q 9-4))BY)y-;Q I-?>DI :i:4y1ɮ5A9blyzlyrljlZZZZ@i)顱iԹIDDAT read: Rx Time:15:14:12.4538 TRx dataTimestamp_ set to:1761578053.857289DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 \#Rx 120: Read range message, but no direction.yY3@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.m9@q @q@u @qE EEE"EC#;*E]t:VEZEa@a@a@a @^A1IAIQOew>M 2Acoustic response timeoutA b,D?A^@^ޯ@^$)Yٱ^p fAHRS rotation from veh to nav: [[0.303754,0.952530,0.020499],[-0.951276,0.302017,0.062134],[0.052993,-0.038374,0.997857]]^Hp?{??`p>T?ϯ?@!?࿥`r?i^@I^`_;\Yr҂Byr IB>BB IBBB =BBDBy;B2EBIBIBIBIBICM4iMb@Mb@Mb@ 9Mb?S㥛? rhY9!Y!=%TGy!-E->1Q 5=45?Q 9=45))5BY=2=Q E=DI5:i5:5f4yIɮM[AIblizlirlijliZ2=Z2=Zq?Z@i)顙iI%>i-:@) @)@- @)@1@19DDAT read: Rx Time:15:14:12.9539 TRx dataTimestamp_ set to:1761578054.360297DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 X#Rx 1: Read range message, but no direction.yY@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.DzD@AE EE(E"E ;*Ei:VEc44ZEBERԑ h,k?A6'@6"@6~ٱ6џ, BAHRS rotation from veh to nav: [[0.287150,0.957621,0.022499],[-0.955870,0.284944,0.071548],[0.062105,-0.042051,0.997183]]6H``?դ? ? }`9`Y`=bTGy`fXEEf>hQ 5j4ji?Q 9n4j))jBYpyr Q Ir?j>DIj';ij(;j 4ytɮv At2Acoustic response timeoutblAzlIrlIjlIZZZZ7@i)项iIyu9@q @q@u @qԡ^AuNJκIIO>DDAT read: Rx Time:15:14:13.4538 TRx dataTimestamp_ set to:1761578054.864363DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 X#Rx 1: Read range message, but no direction.yY3@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E  E E *E "E :*E :VE (N4ZE a @a @a @a @ o,l?A2@2`@2 tٱ2 :AHRS rotation from veh to nav: [[0.270511,0.962595,0.015297],[-0.960240,0.268642,0.075965],[0.069014,-0.035238,0.996993]]2H P??S?`I@m1?or?誱? @^?i2@I2m_;2jCYfByf!IbDrVDryzi<%zG=ٔzىQ-~>9 Y=%TGy!-n)E->1Q 5=45w?Q 9=45))5BY9y=6Q IE?5>DI5U;i5;5'4yIɮM AIblizlirlijliZZZZt\@i)顙iI)@) @1@5 @1-2Acoustic response timeout^A1IAIYOew>BAB>B$CB!IBBB =BBBy;B2E)  DDAT read: Rx Time:15:14:13.9539  TRx dataTimestamp_ set to:1761578055.368182 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  X#Rx 1: Read range message, but no direction.y Y @  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.u,?A0Eb EbE`E`"Eb;*Ebą:VE`ZE`BEbb9Y=TGy%8E%>)Q 554-8?Q 954-()-BY==Q E= DI-\ ;i-]:-04yAɮE0 AAblazlarlajlaZ=Z=ZO@Zc %2Acoustic response timeout^Aa Iq I O > |,?A`YBy%!IbD-VD-1y==%=n=ٔEQ-E?9AYA=ETGyIMEM?QQ 5]4UN?Q 9e4U()UBYayaQ Ie?U>DIU;iU!;U 64yiɮm AqblzlrljlZZZZi)))11i19I9},DAT read: user:1017> }BDAT read: Tx time:15:14:14.8715 $Ping request sent. :G A /$9 Y |A- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250720ԁ ,e ?A @ v@ 2ٱ !민 %AHRS rotation from veh to nav: [[0.194284,0.980934,0.004613],[-0.977310,0.193158,0.086925],[0.084376,-0.021396,0.996204]] H N?c?r?Fb?@? ?蕿?i @I ^; B=>B=#CB=;!IB=BB9B9B9B=y;B=|2EQY]By]!IiMb@Mb@Mb@ 9I +ƿQ롿MbpY94y\Q AA h A)(AYAbDVDy % >=ٔ`Q->9Y=TGyE>Q 54?Q 94*&)BY7>Q E;y|?Q I?>DIe ;i ;=4yɮ AblzlrljlZ7>Z7>ZU@Z|?i )   i Iy@ @@ @checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503474EU EUEU*EQ"EU&:*EU:VEU(N4ZEQBEUc; $,!W&?Archecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754684YBy !I %p<%bD-VD-02ye;%eV=ٔmQ-m>9iYq=uTGyquEu>yQ 54}?Q 94}$)}BYyQ I?}">DI}>:i}W:}VD4yɮ AԹblzlrljlZZZZi)iII):@ @@ @@@^ANJκIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006720bEqjEqrEuɖ/Em  Em Em (Ei "Em l;*Em ?:VEm c44ZEi a} @a} @a} @a} @A ,5@?A2d@2|_@2~ٱ2 NAHRS rotation from veh to nav: [[0.172743,0.984856,0.014773],[-0.981199,0.170752,0.089957],[0.086072,-0.030034,0.995836]]2H n? ? 3A?e2?@k?? Z?i2d@I2^;2gCYV ByV+!IbDbVDb:yfo<=%jT=ٔj䐻Q-j>9lYl=rTGyprLiEr>tQ 5z4v?Q 9z4v")vBY|y~?Q I~?v&>DIv;iv;vK4yɮ Abl!zl!rl!jl!ZAZAZAZE?iQ)QYYiYYIa:@ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258883I^A1A9A=AABABABEZ!IBE/BBE =BABABEy;BE2EIaIqO}{>i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510721ԡ 6,IZ?AY}By}!IEU EUEU*EQ"EU=;*EU1:VEU(N4ZEQBEU~I9Y=TGyE>Q 54?Q 94 )BY$`>Q Er;y@Q I?->DI ;ij:"S4yɮ AblzlrljlZ $`>Z $`>Z :Y@Z @i)i!!I!@ @@P5@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762718^A) I1 II OU > T`,s?AF1@F,@F0vٱF]Q NAHRS rotation from veh to nav: [[0.105006,0.991909,0.071350],[-0.990908,0.098292,0.091867],[0.084110,-0.080348,0.993212]]FH?`?`D?@)? ?@? d?iF1@IF^;DYjByj!ItvBAbDzVDzkyԖ<%h=ٔf;Q->9 Y = TGy  GE>Q 5%4?Q 9%4)BY!y%?Q I%?2>DI;i;HY4y1ɮ5 A1blQzlQrlQjlQZqZqZqZu?i)顁iI4>i>iYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015721Q@Q @Q@U4@QEe EeEe)Ea"Ee:*Eeh:VEeFA4ZEaam@am@am@am@^AqIIO>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266783Y P,?ABz>BxBzm!IBz>BBxBxBxBz4z;Bz2E]g@]b@]ғٱ]Rƽ mAHRS rotation from veh to nav: [[0.080571,0.992659,0.090204],[-0.993511,0.072691,0.087473],[0.080274,-0.096667,0.992074]]]HM?`?@?蛲?d?ό?`&?i]g@I]^;YY}By}!Ii Mb@Mb@Mb@     9 K7A`ſDlY +y O ̼  A A ~A) A Y bD%VD%1y-"%58=ٔ5 99Y9==TGy9=bE=>AQ 5M4Eo?Q 9U4E)E~BYU:>Q EU;yU@Q IU?E7>DIE:iEj:Ea4y]Bɮe AablzlrljlZ%:>Z%:>Z%J#b@Z%@i1)119i9YIa:@ @@5@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519218IE= E=E=*E9"E=%;*E=ą:VE=(N4ZE9BE=Ky pw,?A(>]@>*@>ٱ>ܽ FAHRS rotation from veh to nav: [[0.055515,0.993111,0.103194],[-0.995696,0.047383,0.079649],[0.074211,-0.107171,0.991467]]>Hyl??j?@B?c?{?o@?i>]@I>^;>iCYRByR!I^BDAT read: Rx Time:15:14:17.2787 bTRx dataTimestamp_ set to:1761578058.644241bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771930bDf VDf2ynB%nc=ٔrl9pYt=vTGytvEv>xQ 5~4z?Q 9~4zB)zxBYy)@Q I?z;>DIzI:iz:zZg4y ɮ  Abl1zl1rl1jl1ZQZQZQZU[)@ia)aaaiaiIiԁ:@ @@*4@Ա^A!I1IAOU>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022783 E  E E E "E s:*E :VE ZE a @a @a @a @^,?AFxϐ@FEʗ@FٱF NAHRS rotation from veh to nav: [[0.030980,0.993631,0.108339],[-0.997347,0.023586,0.068870],[0.065876,-0.110185,0.991726]]FH ???C'?`o? 9ݰ?@5@7?iFxϐ@IF^;FfCYZۂByZ IX b49tYt=vTGytvyEz>|Q 54~d?Q 94~)~rBYy@Q I?~@>DI~:i~:~in4y ɮ Abl1zl1rl1jl1ZQZQZQZU@ia)aaaiaiIi@ @@z1@DAT read: Range 11 to 50 : 2.2 m (Round-trip 3.0 ms) speed 0.0 m/s X#Rx 1: Read range message, but no direction.yY @B<A<B>BBf!IB9BB =BBBz;B3EBBBBƼ =BƼ =CƑ5^A)I9IIOUv>9 ,~V?A:^@:+ @:cٱ:Xֽ NAHRS rotation from veh to nav: [[0.007590,0.994543,0.104047],[-0.998429,0.001761,0.056005],[0.055516,-0.104309,0.992994]]:H?L?`آ?@!\?`?l??i:^@I:^;:gCY^҂B!y^ IE} E}E}+Ey"E}:*E}:VE} [4ZEyBE}A89Y=TGyYE>!Q 5-4%?Q 9-4%b)%qBY-=Q E-;y5{ @Q I5?%C>DI%m ;i% ;%v4y9ɮ=)A9blzlrljlZ=Z=Z>n@Z/{ @i ))IIiIQIQI@ @@0@q^A- ?BɺI9 IQ Oe >ԡ },0?A2^@2X@2҆4ٱ2z :AHRS rotation from veh to nav: [[-0.014024,0.995654,0.092067],[-0.998931,-0.018008,0.042587],[0.044060,-0.091371,0.994842]]2Hbf?? =@pͥ??d`?i2^@I2t^;0YFByF IIJ=)JbDNVDN02yV½%Vd=ٔZ=Q-Z>9XYX=ZTGyX^vE^>`Q 5f4b?Q 9f4bq)bpBYhyj @Q Ij?bF>DIb:ib:be|4ypɮrApblzlrljlyZZZZ @i)iI:@ @@@E EE*E"El;*E:VE(N4ZEa@a@a@a@ԡ^ANJκIIO> ,?ABLBLBNG!IBN BBLBLBLBN"{;BNA3E@@ٱt AHRS rotation from veh to nav: [[-0.033219,0.996600,0.075397],[-0.998931,-0.035534,0.029564],[0.032143,-0.074335,0.996715]]H#%?;M?`>|1E?t?@?i@I^;fCYBy Ii]Mb@Mb@Mb@YYYY Y9]MbMb:v?Y]y]@]T<]A]p@ ]h A)]AYY] Aim@AbDuVDuyM%0=ٔ 9Y=TGy)E>Q 544?Q 94R)sBYiJ=Q EDIu*;i);4yɮAblzlrljlZiJ=ZiJ=Zf@Z.;@i)顉iI:@ @@%/@!@->@)E EE&E"E:*Eą:VE4ZEBE6Y ,(?A69@6i4@6gٱ6ra BAHRS rotation from veh to nav: [[-0.049710,0.997194,0.055982],[-0.998545,-0.050793,0.018091],[0.020884,-0.055001,0.998268]]6H`s`?`?`?b?)?i69@I6y^;6gCYJByJ IbDZVDZfybݨ%bl=ٔbh=Q-f?9dYd=fTGydjCEj?lQ 5r4n߀?Q 9v4n9)nvBYtyvy:@Q Iv?nH>DInX);in:n4yxɮzA|blzlrljlZ1Z1Z1Z5Xy:@iI)IIIiIQIQ1@ @@0@a^A5NJκIAIQOew>iQIQԉE-  E- E- )E) "E- ;*E- :VE- FA4ZE) a5 @a5 @a5 @a5 @ F,B?A2^ƍ@2+@2\V7ٱ2sy :AHRS rotation from veh to nav: [[-0.063762,0.997345,0.035176],[-0.997902,-0.064113,0.008958],[0.011190,-0.034531,0.999341]]2H`R @?? iX? ??i2^ƍ@I2y^;2iCYFByF I HHbDjVDjN2yvϼ%vH=ٔv9xYx=zTGyx~ E~>Q 5 4J?Q 9 4)yBYy9@Q I?I>DI:i:4yɮAbl9zlArlAjlAZYZYZYZ]9@ii)qqqiqqIy CGԑA Ȗ9 Y \A1@1 @1@5/@1B>BB!IBBB =BBB3{;BI3E^A9IaIqO}{> ,ǟ\?AJg@Jvb@JٱJ ZAHRS rotation from veh to nav: [[-0.075298,0.997027,0.016373],[-0.997153,-0.075352,0.002731],[0.003956,-0.016120,0.999862]]JHF`? Ð?JJ`^f?4p?`߁ ?iJg@IJ^;JgCYbByb IDr=Dr%=Ev EvEtEt"Ev~ ;*Ev:VEtZEtBEvV9 Y = TGy T׼E>Q 5%4-?Q 9%4)}BY%8=Q E%DI:iZ:f4y1ɮ5A1blQzlQrlQjlQZu8=Zu8=Zu=Zu@i)顁iI:@ @@@^Am?BɺIIO>I ,hxv?A2@2@27`9ٱ2= >AHRS rotation from veh to nav: [[-0.084752,0.996398,0.002857],[-0.996402,-0.084751,-0.000458],[-0.000214,-0.002885,0.999996]]2HM~? ugg?<@Y=, 9\Y\=^TGy\b׼Eb>dQ 5j4f?Q 9j4f)fBYhyj:ϿQ In?fN>DIf:if:f4ytɮvAtbl zl rl jl Z)Z)Z)Z-FA@i9)999iAAII@ @@@QbE÷G4jE?4rEò0E EE%E"ED:*E:VE 4ZEa@a@a@a@y^AUNJκIaIqO{>ԩ ,a?AB>BB IBBBBBDB {;B43E\hތ@5ٓ@V:ٱf; AHRS rotation from veh to nav: [[-0.091994,0.995757,-0.002121],[-0.995758,-0.091997,-0.001262],[-0.001452,0.001995,0.999997]]H팷>?6_a@TWX`??ihތ@I}^;gCY=By= IIE<)Epy,=T< A-A A)AYbDVD1y%+=ٔ);Q->9Y=TGySyE>Q 5 4??Q 94)BYp>Q E;yQ I?R>DI:;i;4yɮ%A!blAzlArlAjlAZep>Zep>Ze%>Ze-@iq)yyyiyyI=:@9 @A@E/@ADzDAAE EE'E"E ;*E҆:VE'4ZEBEO9 ,M.?A2@2|@2./:ٱ2[b :AHRS rotation from veh to nav: [[-0.097672,0.995125,0.013684],[-0.995218,-0.097653,-0.002014],[-0.000668,-0.013815,0.999904]]2H? e?@ `eE8K`7?i2@I27^;2fCYJByJ IPPbDVVDVyZZ+<%Zw=ٔ^Q-^?9`Y`=bTGy`bJEf?dQ 5j4f ?Q 9j4f)fBYly%GQ I%?fU>DIf6E  E E -E "E ;*E Ǚ:VE t4ZE a @a @a @a @ԡ , ?A2h@25@2ٱ2 :AHRS rotation from veh to nav: [[-0.100985,0.994180,0.037538],[-0.994886,-0.100984,-0.001943],[0.001859,-0.037542,0.999293]]2H(ڹQ?)8?`ڹ`_u^?@86?i2h@I2K^;2dCYFByF IbDNVDNyV %VK=ٔZyͻQ-Z>9XYX=^TGy\^gE^>`Q 5f4b?Q 9j4b3)bBYhyjsQ Ij?bX>DIb:ib:bഭ4ylɮrApbl|zlrljlZ!Z!Z!Z%s@i1)111yi9IM:@Q @Q@Uo @QԡB-<A-<BE>BABE IBEBBE =BABABEz;BE 3E^AU?BɺIIO> %$,?A2-{@2u@2uٱ2T :AHRS rotation from veh to nav: [[-0.104046,0.993866,0.037487],[-0.994546,-0.104243,0.003329],[0.007216,-0.036937,0.999292]]2HƢ? 1?R૯`Dk? }?X颿@2?i2-{@I2^;2eCYDyD HHE^ E^E^(E\"E^=;*E^ą:VE^c44ZE\BE^~Iy5=5t<5 A5ZA 5ZA)5 A1Y5QAbDMVDMy]6;%]?=ٔecMQ-e>9aYa=mTGyimFEm>qQ 5}4uI?Q 94u)uBY0!>Q E;yQ I?u]>DIu;iu;uW4yɮ A bl)zlIrlIjlIZ0!>Z0!>Z??Z@i)顙iIa@a @a@e @a)^ANJκIIO>Q J,?A6PZ@6U@66kٱ6ݼ BAHRS rotation from veh to nav: [[-0.108027,0.993743,0.028381],[-0.994044,-0.108384,0.011351],[0.014356,-0.026986,0.999533]]6H@? ?6 >?f?B ,?i6PZ@I6^;6fCYJ~ByN I V;VbDVVDV0y^ %^V=ٔbԘQ-b>9`Yd=fTGydf+Ef>hQ 5n4jH?Q 9r4jF )jBYpyr-Q Ir?ja>DIj7 ;ij ;jí4ytɮvAxbl zl rl jlZ1Z1Z1Z5nģ@iA)AIIiIIIQ1@ @@ @@@E EEE"E:*EP:VEZEa@a@a@a@a^AIIOj>ԉԹ B% >B! B% IB% BB% =B! B! B% z;B% 3EBBBB˽ =B˽ =C6%52,؛?AW8@$3@%ٱ- %AHRS rotation from veh to nav: [[-0.112131,0.993462,0.021428],[-0.993432,-0.112570,0.020502],[0.022780,-0.018989,0.999560]]Hq?Y?2ZѼ?`S?@qe?iW8@IH^;ԑYEByE IIM%=)M;iMb@Mb@Mb@ 9p= ף?yt=Ļ~A(A A) AY AbDVD:2yѧ<%=ٔJ\Q->9Y=TGyػE>Q 54I?Q 94")BYL>Q E;yۖQ I?g>DI ;i: ;ͭ4yɮAblzlrljlZL>ZL>Z{?ZX@i ) iI 9@  @ @  @  ^A II1OE>T ,/?A>@>_@>ٱ> JAHRS rotation from veh to nav: [[-0.116558,0.992986,0.019839],[-0.992663,-0.117121,0.030055],[0.032168,-0.016190,0.999351]]>H ֽ?@P?`@ƞ?@Ix? ?i>@I>q^;DI ';i (; ҭ4y)ɮ-A)blIzlIrlIjlIZZZZQ4@i)iI1@ @@- @YE EE(E"E&:*E:VEc44ZEa@a@a@a@^AII O >ԁ |.,t&I?A2P@2@2+ٱ2 t >AHRS rotation from veh to nav: [[-0.121270,0.992322,0.024283],[-0.991735,-0.122159,0.039238],[0.041903,-0.019324,0.998935]]2H ?ݘ?@J E?@\t?ɓ F?i2P@I2b^;0yYBy IbDVDk1y=%J=ٔPżQ->9Y=TGyBE>Q 54?Q 94%)YyQ I?m>DI9:i1:Bڭ4yɮAblzlIrlQjlQZiZiZiZm @i)iIV>i%>AAB >B B  IB BB B B B z;B 3EԱI@Q @Q@UJ @Y@q@u>^A ?BɺI I O > E%  E% E% *E! "E% ;*E% v:VE% (N4ZE! 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Ohѱ?iRk@IRb^;RUCYrByr !I)I5=)5<bD=VD=k2yMͺ%MF=ٔU9=Q-U>9YYY=]TGyYeT=Ee>iQ 5m4mH?Q 9u4m)mBYqyu?Q Iu?m@@DIm;im;m64yɮ9 AblzlrljlZZZZ|?i)iII)E EE*E"E:*E~:VE(N4ZEBE.ԙ 3,M ?AY~ׂBy~ IyiMb@Mb@Mb@ 9&1MbYPyLAA zA)@Y AbDVDP)yQӽ%C=ٔQ->9Y=TGyE>Q 54V?Q 94)BY/=Q E84yɮ AblzlrljlZ=/=Z=/=Z=z@Z=D?iI)IIIiQQIY-:@) @)@-/0@)ԩE- E)E-(E)"E-:*E)VE-c44ZE)a5@a5@a5@a5@BA<B B B !IB BB  =B B B  {;B 43EBBBBǼ =BC4^AIIO> 9,( ?A6o@6E}@6uٱ6 ˽ BAHRS rotation from veh to nav: [[-0.680949,0.723007,0.116490],[-0.729473,-0.683694,-0.020762],[0.064632,-0.099114,0.992975]]6HU"?`Dҽ? WB? _ s?i6o@I6sF^;6XCYJ‚ByJ IbDVVDVyZ%^]=ٔ^=Q-b>9dYd=fTGydj' >Ej>lQ 5r4nC?Q 9r4n)nBYpyrE?Q Ir?nD@DIn<;in8;nD4yxɮzAxblzlrljlZ1Z1Z1Z5hE?iA)AAAiIIII:@ @@0@^AI)IQO]w>1E5  E5 E5 -E1 "E5 ;*E5 :VE5 t4ZE1 BE5 @9Y=TGy=E>Q 54]?Q 94)BYX=Q Ei>Y1@9 @9@=/@9ԉ^A] ?BɺIi I O >Ա E=  E= E= &E9 "E= D:*E= :VE= 4ZE9 aE @aE @aE @aE @JF,!?A2s@2A@2MZٱ23Ӯ :AHRS rotation from veh to nav: [[-0.631310,0.771437,0.079578],[-0.775235,-0.630570,-0.037302],[0.021404,-0.085241,0.996131]]2H@3@?:_? -@1?Tҵ M?i2s@I2^;0YFByF IbDNVDNyV@%Vq=ٔZ=Q-Z?9XYX=ZTGyX^s=E^?`Q 5f4b?Q 9f4b)bBYhyjyQ Ij?bI@DIb:ib:bR4Be>BaBes!IBeCBBe =BaBaBe{;Be63Eyyɮ}AyblzlrljlZZZZϩ@i )   i I1ԑ:@ @@/0@^AIIO> M,6!?A>^v@>@><ٱ>^ FAHRS rotation from veh to nav: [[-0.604612,0.794443,0.057491],[-0.796517,-0.603241,-0.040756],[0.002302,-0.070434,0.997514]]>HX@l? wo? }M`ޤ`fb??i>^v@I>8^;>WCYRByR IbDZVDZFyb.%bH=ٔf?=Q-f>9dYd=fTGyhj=Ej>lQ 5r4n?Q 9r4n)nBYtyvpQ Iv?nL@DIny:in:nY4yxɮzA|blzlrljlZZZZF@i)iIE EE+E"E;*Eخ:VE [4ZEBEAA rS,P!?A2)x@2@20^<ٱ2\ >AHRS rotation from veh to nav: [[-0.578302,0.815026,0.036061],[-0.815710,-0.576919,-0.042215],[-0.013602,-0.053828,0.998458]]2Hr?@v?K`v+-ۋ`e@]?i2)x@I2$^;2TCYFmByFk IiMb@Mb@Mb@ 9`"?K7?~jt?Y=yI>D<A  A)VAY AbD-VD-N2y=3Ľ%EC=ٔEX=Q-E>9AYI=MTGyIM=EM>QQ 5]4U=?Q 9e4U )QYem>Q Eee;yeWQ Ie?UR@DIU:iU':UNa4yiɮm>AqblzlrljlZ-m>Z-m>Z-?Z-@i)顑iII@ @@R @bE:4jEŏB4rE}0E EE)E"E*Eą:VEFA4ZEa@a@a@a@yAQAQBYBYB] !IB]BBYBYB]DB]!{;B]?3E^AIIO>ԡ 0Z, pj!?A:jz@:@:<ٱ:+^%@ FAHRS rotation from veh to nav: [[-0.553494,0.832630,0.019260],[-0.832449,-0.552358,-0.043930],[-0.025939,-0.040348,0.998849]]:H9@??l ~Ϗ ?i:jz@I:^;:VCYUByN IbDVD1yQν%4=ٔ9Y=TGy=E>Q 54?Q 94 )BYyQ I?Y@DI{;i;Di4yɮAbl!zl!rl!jl!ZAZAZAZEج@iQ)QQYiYYIaԩ9@ @@ @^A ?BɺD =D =E  E E +E "E :*E :VE [4ZE BE > a,iW!?Alǽ̏CǽgAiǽ`eIǽFǹIȹi D) Cs@LCsAI)i)IVhA iEFiCiA)D >(FIYY;By/ Ii Mb@Mb@Mb@     9 RQ?X9v?Mb?Y B>y }> < A A lA) $ A Y AbD%VD%0y5%5D=ٔ5Q-=>99Y9==TGy9EEE>IQ 5U4M?Q 9U4M)MBYU>Q E]);y]Q I]?Ma@DIM:iM:Mp4yeBɮe AePEblzlrljlZ>Z>Zj?Za@i)项iIy@y @@ @1^Aa Iq I O >Y E  E E )E "E ;*E ^:VE FA4ZE a% @a% @a% @a% @?0g,&!?A2 }@2@2M"=ٱ2 :AHRS rotation from veh to nav: [[-0.513995,0.857720,0.011193],[-0.856872,-0.512794,-0.053027],[-0.039743,-0.036847,0.998530]]2Hr rr?\?kh`&`*Y`ݢ?i2 }@I2^;2UCBBB IBBBBBB{;B13EYY3By$ I bDVD02y"H%g=ٔ=Q->9Y=TGyg>E>Q 54?Q 94)BYyQ I?h@DI;i7;v4yɮSAblzlrljlZ!Z!Z!Z%D@i1)111i19I9II)MfA @  @ @  @ ԉԹ^A5NJκIAIQOe> ]Zm,!?AY]'By] IbDmVDm1ysa%L=ٔQ->9Y=TGyE>Q 54ۧ?Q 94Թ)ߎBYyQ I?p@DI-;id.;}4yɮAblzlrljlZ Z Z Z i!)!!!i!)I)D@AzDE EEE"EV:*E:VEZEBE99 At,!?A:e~@:-@:0=ٱ:1$< BAHRS rotation from veh to nav: [[-0.495958,0.867932,-0.026843],[-0.867577,-0.496583,-0.026763],[-0.036558,0.010015,0.999281]]:Hǽ߿`?|0߿ g??i:e~@I:A^;:SCYJ*ByJ IiMb@Mb@Mb@ 9q= ףp?)\(?y&1|Yk>yGa>`AA CA) AY AbD5VD5:yEE<%EP=ٔEQ-M>9IYI=MTGyIUZ=EU>YQ 5e4]i?Q 9e4])]܎BYe>Q Em&;ymQ Im?]x@DI]n:i]a:]4yqɮ}AyblzlrljlZm>Zm>Zm_C?Zm@i)顡iII@I @I@M/ @IAE EE*E"El;*E҆:VE(N4ZEa@a@a@a@B<A4=BBB. IB;BBBBBz;B3E^AQIYqIqO>ԙ Dlz,!?A2t~@2-5@2͍<ٱ2x< :AHRS rotation from veh to nav: [[-0.495275,0.867922,-0.037599],[-0.868240,-0.495991,-0.012342],[-0.029360,0.026532,0.999217]]2H߿`?&@R߿@F`F+?`?i2t~@I2_;2TCYF$ByJ IbDjVDjyrn%vP=ٔvTQ-v>9xYx=zTGyxz;Ez>Q 54?Q 9 4)ێBY y Q I?@DI ;i? ;w4y!ɮ%A!blIzlQrlQjlQZyZyZyZ}@i)顙iIV>i%>qQ@Q @Q@UD @Q@Y@]eAԡ^A1IAIQOew>i1I1E EE)E"ED:*E:VEFA4ZEBE1y}>}ף} A}pA }A)} AyY}AbDVD:y4%-=ٔEQ->9Y=TGy rE >Q 54?Q 94) )ڎBYq>Q EN;yQ I%?@DIs:i:4y)ɮ-A)blIzlIrlIjlIZmq>Zmq>ZmO?Zmq@iy)y顁iI:@ @!@%a @! ) ^AE NJκIQ Ia Ou >E  E E ,E "E &:*E :VE g4ZE a @a @a @a @Q ,)x"?A2:}@2j˅@2a;ٱ2u< :AHRS rotation from veh to nav: [[-0.506650,0.861720,-0.027292],[-0.862126,-0.506627,0.008271],[-0.006699,0.027719,0.999593]]2H`z6 5?VI6m?p{vb? ?i2:}@I2A^;2SCYF.ByF IBPBPBRIBR BBPBPBPBRz;BR2EBaBaBaBe =BaCe4bDbVDbfyj=%ju=ٔnqQ-n?9lYl=nTGyprEӼEr?tQ 5z4v?Q 9z4vf")vَBY|y~Q I~?v@DIv;iv ;v4yɮ|Abl!zl!rl!jl!-B*** querying acoustic contact ***i) i)ZAZAZAZEc@i)iI)m9@i @i@mx @iY2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^A?BɺIIO>ԁ ,K9"?A0:|@:%`@:_ٻٱ:f< BAHRS rotation from veh to nav: [[-0.517896,0.855358,-0.012132],[-0.855418,-0.517718,0.015099],[0.006634,0.018198,0.999812]]:H@_? ؈_`%?+{?n?v?i:|@I:2^;:UCY^DBy^9 IddbDjVDj:yr)=%rI=ٔrQ-v>9tYt=vTGytzVEz>|Q 54~@?Q 94~!%)|YyrQ I ?~@DI~:i~:~4yɮAbl1zl1rl1jl1ZIZIZIZMV3@ia)aaaiaiIi,DAT read: user:1018>  BDAT read: Tx time:15:15:19.9711  $Ping request sent. 9fA #9 fAY A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249649 Ӑ,g&S"?A2a{@2̄@2Xٱ2 ; :AHRS rotation from veh to nav: [[-0.533085,0.846051,0.004355],[-0.845830,-0.533052,0.020678],[0.019816,0.007340,0.999777]]2H`?`q? ,?J? ~?+?i2a{@I2+j^;2TC`Y%GBy%= IiMb@Mb@Mb@ 9(\?ʡE?QYz>y=u AA pA)( AYbDVDyy<%9=ٔ Q- >9 Y = TGy &E>Q 5%4̮?Q 9%4')֎BY-(>Q E-;y-ҿQ I-?@DIa:i:W4y1ɮ5A9blzlrljlZ(>Z(>Z>Zj@i!)!!!i))I1 @ @@ @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501722E EE%E"E;*E1:VE 4ZEa@a@a@a@AABBBBBBBBz;B1^A NJκI I) O5 >a ,l"?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7537046x(z@6 @6V?ٱ66m FAHRS rotation from veh to nav: [[-0.552368,0.833336,0.021000],[-0.832965,-0.552756,0.025101],[0.032525,-0.003627,0.999464]]6H`?@?ধ`,?@*?m?i6x(z@I6^;4YVdByV` IbDbVDbܲyn>%n`=ٔr7Q-r>9tYt=vTGytztEz>Q 5 4K?Q 9 4()ԎBYyտQ I?@DI51;it2;î4AyɮAblzlrljlZZZZܡ@i )  iI@ @@ @Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005768^Am?BɺIyIO>E EE)E"E ;*Exv:VEFA4ZEBEL9aYa=eTGyamEm>qQ 54u~?Q 94u*)uҎBYy|ٿQ I?u@DIu|:iu$:u4yɮ`AblzlrljlZ)Z)Z)Z-Ӱ@iQ)QQQiQYIYImdA)meAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257764@ @@ @ 9^A NJκI I) O5 >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509653Y bEeFA4jEeC4rEe.0E  E E E "E V:*E :VE ZE a @a @a @a @}̧,ᵠ"?AB&>B$B&. IB&;BB& =B$B$B&oz;B&2EY}By} Ii Mb@Mb@Mb@     9 A`"?I +MbY Y=y 9  V A ZA A) A Y AbD%VD%11y=w>%=L=ٔEQ-E>9AYA=ETGyIMEM>QQ 5]4U٫?Q 9]4U*)UюBYeRm=Q EeeԹ ,"?A2ts@2@2Oٱ20q :AHRS rotation from veh to nav: [[-0.630874,0.774184,0.051356],[-0.773307,-0.632791,0.039663],[0.063204,-0.014691,0.997892]]2H 0?MK?`?N?&.?b@?i2ts@I2[^;2WCYFByF IbDLVDLyV=%Vh=ٔV^Q-Z>9XYX=ZTGyX^[LE^>`Q 5f4bV?Q 9f4b"+)bЎBYdyjv)Q Ij?b@DIb:ib=:bñ4ylɮ]AYblyzlyrlyjlyZZZZ¨h@i)顩iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015504E EEE"E;*E?:VEZEBE@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2657109 ,v"?ARGq@R<@R+ٱR. bAHRS rotation from veh to nav: [[-0.660949,0.748409,0.055047],[-0.747062,-0.663152,0.046136],[0.071033,-0.010630,0.997417]]RH ~& ?/?8(?8/?ą?iRGq@IRE^;RSCYBy I iMMb@Mb@Mb@IIII I9MktT㥛 ~jtx?YM 0yMM;MAM-A M A)MAIYMG A]AA]BAbDeVDe0yu=%u%=ٔ}Q-}>9yYy=TGy!E>Q 54?Q 94))юBYx>Q E;yu@Q I?@DIU:i]:y̱4yɮ AblzlrljlZx>Zx>ZE@Zyu@i)iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517984E EEE"E ;*EVEZEa@a@a@a@@ @@ @B9A=<BABABE IBE}BBABABEDBEXz;BE2Eaԁ ^A NJκI I O- >k , S"?A"BDAT read: Rx Time:15:15:22.3784 &TRx dataTimestamp_ set to:1761578123.732883*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7716950Vrn@V |@VtٱV fAHRS rotation from veh to nav: [[-0.691070,0.720444,0.058169],[-0.718538,-0.693492,0.052643],[0.078266,-0.005416,0.996918]]VH> ?Oȭ?C1@?B ?@_/v ?iVrn@IVL_^;VUC l)ln`eppptitIttIxiz"s@ xx)|| ||||iAIq)i) I iA T  iYY%ӂBy% IbD5VD5:2yEu>%Ev=ٔMӲQ-M?9IYI=MTGyQU EU?YQ 5e4]楜?Q 9e4]()]ҎBYiym@Q Im?]@DI]:i] :]Hұ4yqɮuMAybl1zlIrlIjlQZiZiZiZm@iy)顁iIԉ!@! @!@% @)Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021698^Am?BɺIqIO>DD<E EE%E"E ;*E:VE 4ZEBEwT9yYy=TGyE>Q 54?Q 941')ӎBYyQ I?@DI;ii ;ڱ4yɮ AblzlrljlZZZZi )iImchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275892:@ @@ @^ANJκII O >A  DAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s  X#Rx 1: Read range message, but no direction.y Y 3@ E  E E *E "E =;*E k:VE (N4ZE a @a @a @a @BE >BA BE IBE ĂBBA BA BE DBE 9z;BE 2E,!#?A2li@2ybw@2ٱ2~Ժ :AHRS rotation from veh to nav: [[-0.746079,0.662118,0.070467],[-0.659385,-0.749398,0.060115],[0.092612,-0.001614,0.995701]]2H0?& ? `uǮ?e?rZ`?i2li@I28^;2TCY%By%!II-=)-p;iMb@Mb@Mb@ 9rh|Q˿~jt?Yy(\D<V AA  A)AYAbD VD2y=%K=ٔQ->9Y=TGyWE>Q 54?Q 9 4$)Y }>Q E V;y ?Q I ?@DIj:i<:4yɮC Abl9zl9rl9jl9Z}>Z}>Z*@Zy?i)顩iIIm9@i @i@m @iq^A?BɺIIO>ԡ D,;#?A2g@2t@2 ͽٱ2 :AHRS rotation from veh to nav: [[-0.769823,0.632999,0.081758],[-0.630383,-0.774121,0.057912],[0.099949,-0.006957,0.994968]]2HdA? ? ,`?9tYt=vTGytz3нEz>|Q 54~?Q 94~]")|Yy?Q I ?~@DI~r;i~:~84yɮ AyblzlrljlZZZZ|?i)iIDu?AzDu@AE} E}EyEy"E};*E}^:VEyZEyBE}A -,AU#?A>ed@>r@>^۽ٱ>^ JAHRS rotation from veh to nav: [[-0.790288,0.604725,0.098757],[-0.603337,-0.796113,0.046775],[0.106908,-0.022618,0.994012]]>H JY? 'H?N`y?@V^?` )`?i>ed@I>4^;>PCYRByR>!Ii-Mb@Mb@Mb@)))) )9-OnÿRQпy&1|Y-y--`)-A -$A)-A)Y-G AbDE VDE2yMdd=%UC=ٔU Q-U>9YYY=]TGyY]ԦEe>aQ 5m4eq?Q 9u4e$)eώBYuA>Q Eu3;y9?Q I?e@DIeεZ}A>Z}߅@Z}9?i)顑iIE:@E @I@M5@IE EE(E"E;*E1:VEc44ZEa@a@a@a@AAAAB>B"CB.!IB BB =BBBJz;B2EBBBBż =BCſ75)^AmNJκIyIO>Y W,6o#?AY=By=E!I AAbDMVDMy] <%]I=ٔeQ-e>9aYa=mTGyimEm>qQ 5}4u,?Q 9}4u)u̎BYyQ I?u@DIuz;iu:u4yɮ AblzlrljlZZZZi)iI1I)!@) @)@-_5@)@1@1aiI^A ?BɺII)O=>ԙE EEE"E*EZ:VEZEBE@9Y=TGyE>Q 54✜?Q 94S)ǎBY1>Q E4;y?Q I@@DI] ;i;4yɮ AblzlrljlZ1>Z1>Z@Z?i)iI@ @@4@) ^A I) I9 OE >E  E E )E "E :*E :VE FA4ZE a @a @a @a @B >B B y!IB HBB B B B z;B 2EQ qk,P#?A:@`@:U6n@:2ٱ:qA BAHRS rotation from veh to nav: [[-0.829453,0.542803,0.131807],[-0.543993,-0.838554,0.029988],[0.126805,-0.046828,0.990822]]:H^??chnD?';?`ϴ?i:@`@I:[^;:QCYN+ByNU!IbDVVDVy^r9;%^=ٔ^Q-b?9`Y`=bTGy`flEf?hQ 5n4j4?Q 9n4j)jĎBYlyr?Q Ir@j@DIj;ij;jb4ytɮv Atbl zl rl jl Z)Z)Z)Z-?i9)9AAiAAII)M:@I @I@M 0@IQ^AMNJκIYIiO}z>ԁ ,#?A0:_@:Tm@:Jٱ:o BAHRS rotation from veh to nav: [[-0.833983,0.533256,0.141808],[-0.535965,-0.843964,0.021598],[0.131198,-0.057992,0.989658]]:Ho?&?&@? ?@H?i:_@I:8^;:RCYJ'ByNP!IIR<)R%=TVAbDZVDZN2yb%bJ=ٔb3Q-f>9dYd=fTGydjEj>lQ 5r4ng?Q 9r4n)nBYpyvW?Q Iv@n@DIn;in:ns 4yxɮz AxblzlrljlZ1Z1Z1Z5W?iA)AAIiIIIQ]a>iYEe EeEe*Ea"Ee;*Eex:VEe(N4ZEaBEe9C z,L#?A2E_@2ߙm@2ٱ20 >AHRS rotation from veh to nav: [[-0.833900,0.531420,0.149009],[-0.535591,-0.844362,0.013964],[0.133239,-0.068163,0.988737]]2H Oc??#X?@ ?`&s ?i2E_@I2_(^;0YZ&ByX`iEMb@Mb@Mb@AAAA A9EV-5^I ˿~jtYEyEXEEAEA EdA)E@AYE AbD]VD]ymG%m@=ٔufQ-u>9qYy=}TGyy}X'E>Q 54?Q 942)BYTw>Q E[;y?Q I@@DI:iG ;4yɮ AblzlrljlZTw>ZTw>Z@Z?i)iI:@ @@4@iߩI߭AbEjE?4rE/Em EmEm+Ei"Em:*Em:VEm [4ZEiau@au@au@au@BA<B>BB!IBvBB =BBBz;B2E^AIIO>A ¨,#?A20`@2%n@2eTٱ2W >AHRS rotation from veh to nav: [[-0.829466,0.537833,0.150740],[-0.542792,-0.839812,0.009632],[0.131774,-0.073831,0.988527]]2H@5?pK?`^?@? 沿`?i20`@I2/E^;2SCYFByFC!IbDNVDN:yVV%VW=ٔZ~;Q-Z>9\Y\=^TGy\^<Eb>`Q 5f4b?Q 9f4b )bBYhyj?Q Ij@b@DIb;ib<;b4ynBɮr ArGEblzlrljlQZZZZ?i)i!I!:@ @@5@ԁԹ^AII OEm EmEm)Ei"EmD:*Em:VEmFA4ZEiBEm19\Y`=bTGydj=En>pQ 5v4rI?Q 9v4r: )rBYxyz?Q Iz@r@DIr:irg:r4y|ɮ Abl!zl!rl!jl!ZqZqԹZqZuj?iI)IqyiyIm:@i @i@u0@q^AIIO>9 B >B B !IB BB =B B B \z;B 2EE  E E 'E "E ;*E :VE '4ZE BE D<2E D<JE ;:E ;϶,$$?AYBy*!IiMb@Mb@Mb@ 9MbX9v/I +Yʡyx齙94AA A)Y AbDVD0yL%9=ٔQ->9Y=TGyE>Q 54M?Q 94 )BYx>Q E;y?Q I@@DIU:iz<H'4yyɮ}g AblzlrljlZx>Zx>Zg@ZM?i)iI@ @@90@Aq^A0:ĺIIO>ԙ ,l>$?A2bd@2XXr@2hܽٱ2[ :AHRS rotation from veh to nav: [[-0.794447,0.593004,0.131149],[-0.597759,-0.801666,0.003837],[0.107413,-0.075347,0.991355]]2H l?z? @2no?e?`I.?i2bd@I2P^;2SCYFByF!IbDNVDNfyV_%V^=ٔVX=Q-Z>9XYX=ZTGyX^ >Eb>`Q 5f4b?Q 9j4bK)bBYhyj?Q Ij@b@DIbK:ib:b-4yYɮ] AYiyI}AblzlrljlZZZZ?i)项iIE= E=E=,E9"E=&:*E=~:VE=g4ZE9aE@aE@aE@aE@Թi@i @i@mR0@i^A?BɺIIO> 1 ,WCX$?A2`f@2ut@29½ٱ2۩ >AHRS rotation from veh to nav: [[-0.775266,0.619059,0.125413],[-0.624505,-0.781002,-0.005352],[0.094635,-0.082471,0.992090]]2HT? ?,u9?3?i2`f@I2eR^;0YFނByF IiMb@Mb@Mb@ 9Q~jtx?{GztYuy;ף7AA dA)ZAY AbD5VD5:2y%;=ٔb9Y=TGy=E>Q 54?Q 94>)BYQ I@I#:i:R54yɮ AblzlrljlZ<Z<Z0@Z=>i)))))i)1I9:@ @@0@A%AAA!B->B)B-!IB-{BB)B)B)B-6z;B-2EEM EMEM*EI"EM:*EM:VEM(N4ZEIBEM5i ,%r$?A6Lh@6v@6y礽ٱ6; >AHRS rotation from veh to nav: [[-0.752428,0.647624,0.120147],[-0.653745,-0.756542,-0.016157],[0.080433,-0.090703,0.992625]]6H U?`?z`5;? 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B% z;B% 2EB"CB"CBBʾ =Bʿ =Co4Ee  Ee Ee &Ea "Ee D:*Ee :VEe 4ZEa BEe 19IYI=MTGyIUEU>YQ 5e4]y?Q 9e4] )]BYe>Q Ee;yeΚQ Im@]ADI]:i]:]kK4yqɮuAqblzlrljlZ>Z>Zp?ZD\@i)iI>i):@ @@0@Y^A NJκI I O >ԁ //,B$?A2p@2~@2uٱ2, :AHRS rotation from veh to nav: [[-0.669786,0.737775,0.084114],[-0.741861,-0.669748,-0.032864],[0.032089,-0.084413,0.995914]]2H@n@ڛ?@?RnӠm? ?i2p@I2^;0BُC@i@I@@IDiFhUA DD)DH Jr@HHHLLIL)LiL)PIRZhAPP PTVgATiTTiVCZiA)Z XIXYXY^Byb IbDjVDjf?yr%ry=ٔro=Q-v?9tYt=vTGytzC>Ez ?|Q 54~?Q 94~ )~BYyQ I @~ADI~;i~b:~Q4yɮIAbl1zl1rl1jl1aZZZZ @i)  i  ID@AzD?AE EE*E"E:*E:VE(N4ZEa-@a-@a-@a-@:@ @@/@ԉ C9Qi<9Y*A^AIԱIO> 6,$$?A2s@2@@2}ٱ2f >AHRS rotation from veh to nav: [[-0.641156,0.764600,0.065619],[-0.767224,-0.640536,-0.032862],[0.016905,-0.071414,0.997304]]2HYw?b̰?@ FGӠ@O?@-H ?i2s@I2^;0YjByh IԱiMb@Mb@Mb@ 9V-?MbX?Mb`?Yh>yJ>;QAA V A)ZAYp AbDVDyH%9=ٔ =Q->9 Y = TGy Z=E>Q 5%4A?Q 9%4j )BY%y>Q E%Y;y%Q I%@ ADI:i:X4y1ɮ5OA1blQzlQrlQjlQZuy>Zuy>Zur?ZuRԞ@i)顁iIE:@E @A@E? @AB<AB>BB(!IBBB =BBBy;B2EE% E%E%)E!"E%l;*E%:VE%FA4ZE!BE%\F1 yB<,k$?AfVu@fХ@f;Dvٱfai vAHRS rotation from veh to nav: [[-0.613822,0.788026,0.047300],[-0.789436,-0.612997,-0.032026],[0.003758,-0.056999,0.998367]]fHm7?7?C` en?.?ifVu@If^;fRCY_By[ II%=)=bDVDky_%O=ٔZ=Q->9Y=TGyö=E>Q 54?Q 94)BYyOQ I@ADI|:i:_4yɮAblzlrljlZZZZ@i)iI@ @@ @@@fA9iqIuAE5 E5E5+E1"E5:*E5 :VE5 [4ZE1a=@a=@a=@a=@i^ANJκIIO>ԙ (C,@ %?A2kGw@2@2þ;ٱ2ȃD :AHRS rotation from veh to nav: [[-0.589567,0.806975,0.034680],[-0.807690,-0.588636,-0.033834],[-0.006889,-0.047958,0.998826]]2H@?? @@R7|`鍨 a?i2kGw@I2]^;2QCYFLByFC IbDNVDNyVSӽ%V^=ٔZ9XYX=ZTGyX^¨=E^>Q 5%4?Q 9%4&)BY!y%\Q I%@ADI;i;\f4y5Bɮ5A5PEblYzlarlajlaZZZZ@i)顡iIy@! @!@- @)ԡ^AU?BɺIaIqO{>B >B B IB BB B B B y;B q2EbEjErEʲ0EE  EE EE (EA "EE &:*EE :VEE c44ZEA BEE c;yn>$AA  A)AYG AbDVD1y%:=ٔQ->9Y=TGyE>Q 54\?Q 94)BY>Q E*;yQ I@ADIy);i';m4yɮAbl zl rl jlZ->Z->Z-+X?Z-@i9)AAAiAAII9@ @@ @^ANJκI!I1O=>I :P,n@%?A2Oz@2"@2><ٱ2] >AHRS rotation from veh to nav: [[-0.550553,0.834604,0.018101],[-0.834554,-0.549735,-0.036203],[-0.020264,-0.035038,0.999180]]2H ?(?@`m@6*@`I?i2Oz@I2^^;0YF7ByF) I HHLNAAbDRVDRF3yZ%Z]=ٔ^=Q-^>9\Y\=bTGy`b>Eb>dQ 5j4fߩ?Q 9j4f)fBYlynQ In@f%ADIf;if;fOt4ypɮr4Apblzlrljl Z!Z!Z!Z%)@i1)119iAIIIE EE*E"El;*E:VE(N4ZEa@a@a@a@@ @@ @Iԁ^AI!I1OEr>ԩ *eV,Z%?A@Y~0By~! 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BE% Oy >; AA )YbDVDy=%8=ٔQ->9Y=TGyE>Q 54?Q 9 4V%)BY>Q E%P;y-Q I-@EADI;i;54y1ɮ5lA9blQzlQrlYjlYZ}>Z}>Z}W)?Z}&-@i)顉iI @ @@z @^A5NJκI9IQO]>! p,>%?A6.{@6I@6cZٱ6gk= BAHRS rotation from veh to nav: [[-0.539190,0.841179,-0.041134],[-0.842079,-0.537706,0.042139],[0.013329,0.057359,0.998265]]6H` A`?`sO@4I?9`Y`=bTGy`bLEf>dQ 5j4fб?Q 9j4f')fBYlyn.Q In@fKADIfr;if;f4ypɮvAtblzl rl jl i!I!Z1Z1Z1Z5@ę@iI)IIIiIQIQEE EEEE*EA"EE ;*EE:VEE(N4ZEAaU@aU@aU@aU@@ @@ @!^AI!I1OEs>Qy Cv,T%?A2z@23 @2eٱ2U!= :AHRS rotation from veh to nav: [[-0.552998,0.833029,-0.015975],[-0.832626,-0.551827,0.047123],[0.030439,0.039360,0.998761]]2H(@-?[r ?d+?&?`?i2z@I2^;2QCYFTByFM IiEMb@Mb@Mb@AAAA A9Ei|?5?RQ?y&1YE=yE=E`eEAE A EA)E AAYEAbD]VD]ym=%m?=ٔm$Q-u>9qYq=uTGyq}k E}>Q 54R?Q 94{))BY>Q E;y)Q I@OADIQ:i:4yɮsAblzlrljlZ>Z>Z-?Z_ř@i)iI!Q@ @@ @BAB>BB IBBB =BBByy;Bj2EBBBBBþ =C 4EM EMEM'EI"EM:*EM|:VEM'4ZEIBEM5Ա W|,E%?A2x@2R@2gBٱ2f< :AHRS rotation from veh to nav: [[-0.571023,0.820845,0.012110],[-0.819566,-0.570861,0.049282],[0.047366,0.018216,0.998711]]2H E@\D? :͈?`9 ~Dw;?Z@?@4?q?i2x@I2<|^;2PCYFdByFa IbDLVDLyV=%VW=ٔZ6Q-Z>9XYX=ZTGyX^pE^>`Q 5f4b?Q 9f4b*)bBYhyjEQ Ij@bSADIb:ib:b4ylɮnApblyzlyrlyjlyZZZZ@i)iIԱi@i @q@u @q^A]NJκIiIyO|>DU=DU<E] E]E],EY"E]:*E]ą:VE]g4ZEYae@ae@ae@ae@ G  M !9I YM A9 MŃ,&?AYzBy| IbD%VD%yM<=%U=ٔ]Q-]>9yYy=}TGyy}E>Q 54?Q 94-)BYyQ I@XADI;i;4yɮBAblzlrljlZ Z Z Z i)!!!i!)I)I=eA)9A@ @@ @i B >B B . 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RAHRS rotation from veh to nav: [[-0.846319,0.518864,0.120521],[-0.524906,-0.850851,-0.022920],[0.090653,-0.082659,0.992446]]JH ?qھ?,:7x@ 5? ))?iJ^@IJr^;JNCY^܂By^ IbDfVDffyn=%nT=ٔn 9pYp=rTGypvP=Ev>xQ 5~4zȡ?Q 9~4zP )zBY|y~e?Q I~@zADIz;iz;z4y ɮ  A bl)zl)rl)jl)ZIZIZIZMe?iY)YYaiaaIi1 @  @ @ 0@ Y^AII1O=r>Eu EuEu,Eq"Eus:*Eu^:VEug4ZEqa}@a}@a}@a}@ԉ p,ǻ'?ABG`@B6=n@B]ٱB|~ JAHRS rotation from veh to nav: [[-0.833411,0.541702,0.109476],[-0.547089,-0.836710,-0.024693],[0.078224,-0.080472,0.993683]]BHMU??SH|?֙??iBG`@IB^;@YRۂByV I TTxxbD~VD~0yK% G=ٔ 9 Y=TGy\=E>Q 5%4?Q 9-4 )Y)y-?Q I-@ADI6:iY;4y9ɮ= A9blYzlYrlYjlYZyZyZyZ}?i)顉iIԑ @  @ @ -0@ Ա^A?BɺI!I1O=s>B>BB!IBWBBBBBy;B2E bE(N4jER4rEA0E}  E} E} +Ey "E} ;*E} ą:VE} [4ZEy BE} A9Y=TGyE>Q 5 4V?Q 9 4V)BY =Q EGI +,$`'?AY~By~ IbD VD 0y%E˽%%X=ٔ)Q-->9)Y)=5TGy11E5>9Q 5E4=?Q 9E4=)=BYIyIQ IM@=ADI=y:i=:= %4yQɮUAQblqzlrljlZZZZi )   i IEM EMEM*EI"EM ;*EM:VEM(N4ZEIaU@aU@aU@aU@Q@ @@@y^A?BɺIIO>ԩ ,e9'?A6w3g@6)u@6#ٱ6@ BAHRS rotation from veh to nav: [[-0.771243,0.632098,0.075078],[-0.635289,-0.771747,-0.028527],[0.039910,-0.069698,0.996769]]6H%:?W8?`IT'(6@o?@ױ ?i6w3g@I6x^;6MCYMByM IBA<B>B!CB`!IB4BB =BBDBy;B2EiMb@Mb@Mb@ 99!Y!=%TGy!%l>E->1Q 5=45?Q 9=45v)1Y=ʘ=Q E=1,'?A2 i@2w@2Kٱ2l\ :AHRS rotation from veh to nav: [[-0.744846,0.664235,0.063219],[-0.666613,-0.744897,-0.027477],[0.028841,-0.062609,0.997621]]2H`@jA?&/?T`2"`f?(?i2 i@I2^;2QC@@i@I@@IDiFlUA DD)DH Jr@HHHHHIL)LiLl)I    i  i) IYY%By% IbD5VD5yE%Em=ٔM=Q-M?9IYQ=UTGyQU=EU?YQ 5e4]͡?Q 9e4] )YYiymYvQ Im@]ADI]:i]:]>34yqɮuAyblzlrljlZZZZD@i)iI@ @@@ i9I=AA^A?BɺIIO>EU EUEU)EQ"EU ;*EU~:VEUFA4ZEQae@ae@ae@ae@a ,(?A2jl@2S`z@2?nٱ2/=^ :AHRS rotation from veh to nav: [[-0.717399,0.694733,0.051803],[-0.696387,-0.717221,-0.025293],[0.019583,-0.054221,0.998337]]2HA;??H y`q晿s ?«``?i2jl@I2^;2LCY-By- I9bDEVDE1yI%F=ٔ9Y=TGyW=E>Q 54^?Q 94 )YykQ I@ADIK:iB:q:4yɮAblzlrljlZZZZf@i )   i I@ @@/@qԑ^AIIO>B>B"CB"!IBBB =BBDBy;Bs2E Ee  Ee Ee (Ea "Ee C#;*Ee :VEe c44ZEa BEe {e`;e$AeA e? 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Device response is::WD, +127.35, +26 -163.99, 20.00,914.48 a@a a@a a@a a@a bD%VD%1y-%5C=ٔ5;Q-5>99Y9==TGy9E=EE>IQ 5M4MO?Q 9U4M)IQ AU+:YQQ EUo;yU,Q I]@MADIM ;iM>M N4yaɮeAablzlrljli)顩iIA1A1B9B9B= IB=ɂBB= =B9B9B=y;B=n2EBBBBBC5im9@i @i@m @iE% E%E%*E!"E%;*E%1:VE%(N4ZE!BE%M\ԡ d,[|(?A2Ht@2q[@2 ٱ2lT :AHRS rotation from veh to nav: [[-0.620961,0.782636,0.043446],[-0.783828,-0.620317,-0.028637],[0.004538,-0.051837,0.998645]]2H@@[ ?>?S}r?`b?i2Ht@I2)\_;2LCYF~ByF IbDNVDNyV<%VT=ٔV7;Q-Z>9XYX=ZTGyX^n=E^>`Q 5f4bz?Q 9f4b%)bBQ Aj :YhQ EjA;yjQ Ij@bADIbj;ibN?bzR4y]Bɮ]A]PEblyzlyrlyjlyi)顡iIԱm:@i @i@u @q@y@yEGYyd79Y%A^AIIO>E5 E5E5'E1"E5 ;*E5$:VE5'4ZE1aE@aE@aE@aE@ 9 K%,7(?A2o=v@2@2ٱ2ya :AHRS rotation from veh to nav: [[-0.602608,0.796665,0.046785],[-0.798023,-0.601912,-0.029345],[0.004783,-0.055019,0.998474]]2H`HF~? @?gB ږs?+`?i2o=v@I2^;2OCYBgByFe IbDNVDNyV%VJ=ٔVQ-V>9XYX=ZTGyX^Xk=E^>`Q 5f4b貜?Q 9f4b)`Q Af9YdQ Ef;yfyQ Ij@bADIb/:ib?b:V4ynBɮnAnQEbl|zl|rl|jl|i!)!!!i))I1M9@Q @Q@U @Q9^Au0:ĺIIO>B=>B9B= IB=BB= =B9B=DB=zy;B=g2Ei EE  EE EE (EA "EE %;*EE |:VEE c44ZEA BEE KyF> AA $ A)AY AbDVD0ysz%5=ٔzQ- >9 Y = TGy +=E>Q 5%4|?Q 9%4)}BQ A-T:Y-{>Q E-W;y-]Q I-@ADI ;i;!^4y1ɮ=A9blQzlQrlYjlYZu{>Zu{>Zu3h?Zuj@i)顉iIi-:@) @)@-/ @)ԙ^Am#2IyIO> <]2,(?A6'x@6@6 #ٱ60 BAHRS rotation from veh to nav: [[-0.578444,0.814950,0.035489],[-0.815661,-0.578387,-0.012907],[0.010008,-0.036414,0.999287]]6H@@?+?`$9o ~?`ͤ (?i6'x@I66^;6NCYJhByJf IbDTVDTyZ$<%^e=ٔ^ `Q-^>9`Yd=fTGydf=Ef>hQ 5n4j?Q 9r4j)j|BYpyrQ Ir@jADIj ;ij ;jbd4ytɮvAxbl zl rljlZ1Z1Z1Z5$@iA)IIIiIQIQIY)]eAEm EmEm)Ei"Em;*Em:VEmFA4ZEia}@a}@a}@a}@9@ @@E @^ANJκIIOk>I 8, (?ARLx@RsY@RDzbٱR fAHRS rotation from veh to nav: [[-0.570943,0.820228,0.035359],[-0.820874,-0.571057,-0.007765],[0.013823,-0.033459,0.999345]]RH@)E`O???D`Fl` O?@}!`?iRLx@IR^;RLCYrgByre IiuMb@Mb@Mb@qqqq q9u/$?K7?~jthYu1>yuI >uDuAuA u A)u AqYup AbDVDy%<=ٔ Q->9Y=TGy֬<E>Q 54򸜊?Q 94){BYC>Q E;yQ I@ADI :i:k4yɮABA<B>BB IB}BB =BBB5y;BD2Ebl zl rl jl Z-C>Z-C>Z-L?Z-@i9)999iAAIAA@ @@_ @bEc44jEą04rE- 0Ee EeEe%Ea"EeT;*Ee:VEe 4ZEaBEeGԙ >,(?A:y@:@:ۑٱ: RAHRS rotation from veh to nav: [[-0.566274,0.823303,0.038795],[-0.824025,-0.566531,-0.005070],[0.017804,-0.034839,0.999234]]:H@@X?ܣ?h^!t7;?`p֡`?i:y@I:%^;8YbiBybg IbDjVDjyr9(<%rW=ٔr+Q-r>9tYt=vTGytz s<Ez>|Q 54~#?Q 94~)~zBYyدQ I @~ADI~;i~;~r4yɮAbl1zl1rl1jl1yZZZZ@i)iI:@ @@ @ԩ^AIIO>Eu EuEu'Eq"Eu;*Eu':VEu'4ZEqa}@a@a@a@ *E,)?A2@y@2"@2ٱ2 :AHRS rotation from veh to nav: [[-0.564267,0.824448,0.043452],[-0.825314,-0.564661,-0.003750],[0.021444,-0.037977,0.999049]]2Hxa?I?? h۷ne?@q4?i2@y@I2w^;0YFlByFj IIJ=)J=bDRVDRk1yZnC<%ZM=ٔZQ-^>9`Y`=bTGy`b;Eb>dQ 5j4fi?Q 9n4f)fyBYlynQ In@fADIf;if/;fy4ypɮrAtblzlrl jl Z!Z!Z!Z%+@i9)999i9AIAM%>iM!>9@ @@ @^A?BɺIIOn>B>BBl IBnBBBBBy;B12E)Y E  E E +E "E :*E ~:VE [4ZE BE A89YYY=]TGyY]H/Ee>aQ 5m4e?Q 9u4eE)ewBYu>Q Eu;yuDQ I}@eADIe};ie>;e4yɮvAblzlrljlZ>Z>Z+D*?Z@i)iI@ @@ @aԑ^AIIO>Թ R,4K)?A2x@2:g@2޼ٱ2T? :AHRS rotation from veh to nav: [[-0.569405,0.820291,0.053860],[-0.821607,-0.570038,-0.004260],[0.027208,-0.046677,0.998539]]2H 8 ???J@=rqTܛ?槿 ?i2x@I2c^;2LCE= E=E='E9"E=;*E=:VE='4ZE9aE@aE@aE@aE@YnByl IԑbDVDk1y%?=ٔλQ->9Y=TGyIE>Q 54?Q 94)uBYyQ I@ADI;i@;Ɉ4yɮAblzlrljlZIZIZIZM<@ii)iiqiqyIa@a @a@e @a^A I I O > X,e)?AnOx@n"@n[aٱnJ zAHRS rotation from veh to nav: [[-0.576241,0.815281,0.057118],[-0.816766,-0.576948,-0.004883],[0.028973,-0.049466,0.998356]]nHp ?>?" \v0t@?S@?inOx@In*N^;l |)|~`eV=FiTII i r@  )  iATiiAyA}@AByByB}s IB}sBB} =ByByB}&y;B}=2EݕCݕiAIݕ#)ݙiݙ)ޙIޙݙݙ ޡޡޥvAޡiޡޡYYtByu I i=Mb@Mb@Mb@9999 99=v/?V-?I +Y=xi=y=<=94=A=(A =; A)= A9Y=f AbDUVDUye8=%eO=ٔeKQ-e>9iYi=mTGyiuEu>yQ 54}?Q 94}W )}sBY=Q ELZUfܑ@ia)aaaiaI@! @!@% @!EU EUEU*EQ"EU:*EUخ:VEU(N4ZEQBEU61_,~)?A2?w@2쾂@2$lٱ26F >AHRS rotation from veh to nav: [[-0.586113,0.808220,0.057024],[-0.809666,-0.586876,-0.004043],[0.030198,-0.048540,0.998365]]2Ho?>2?qp`P?`>ڨ`?i2?w@I2\^;2MCYzBy{ IbDVDk1yEZ<%M_=ٔMZQ-M>9QYQ=UTGyQUEU>YQ 5e4]O?Q 9m4] )]qBYiymY޿Q Im@]ADI]:i]:]4yqɮHAblzlrljlZ1Z1Z1Z5\y@iA)AAAiAIIII @  @ @  @ y^A?BɺIIO>DU%=DUR=E] E]EYEY"E]O;*E]~:VEYZEYae@ae@ae@ae@ԩ e,Ƙ)?A6Jv@6r@@6vٱ6^7@ FAHRS rotation from veh to nav: [[-0.598528,0.799253,0.054387],[-0.800502,-0.599327,-0.001995],[0.031001,-0.044731,0.998518]]6H$'{?@ث?-W``? 榿?i6Jv@I6H^;6LCY{By%} IbD5VD5ye <%eH=ٔm Q-m>9iYq=uTGyquEu>yQ 54}麜?Q 94}!)}oBYy?Q I@}ADI}:i}:}>4yɮ:AblzlrljlZZZZ@i)iIԩ5:@1 @1@= @9BBB IBBB =BBBy;Bm2EB9B9B9B=ǿ =B9C=3'4^A5NJκI9IIOu> Ee  Ee Ee (Ea "Ee &:*Ee ?:VEe c44ZEa BEe c;!]u@>]@>ٱ> JAHRS rotation from veh to nav: [[-0.613176,0.788338,0.050375],[-0.789311,-0.613993,0.000935],[0.031667,-0.039188,0.998730]]>H#`:?@ʩ? 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S'?}"@m?`T? :j?i6n@I6je^;61CYFByF IIJC=)J4<bDRVDRk1yZ<%ZX=ٔ^|9 Y = UGy E>Q 5%4ܜ?Q 9%4)BBY)y-?Q I-@EDDI:i:n4y1ɮ5A1blQzlQrlQjlQZqZqZqZu?i)顁iI@ @@o @1^AIIOj>QD zD @AE  E E ,E "E ;*E ~:VE g4ZE a @a @a @a @ԁ B >B B IB BB B B DB y;B 2EBiBiBiBiBmʾ =Cm(Q4,D??A2m@20v{@2^˽ٱ2R :AHRS rotation from veh to nav: [[-0.702137,0.705490,0.096372],[-0.705089,-0.707751,0.044025],[0.099267,-0.037039,0.994371]]2H@w@`?۫?@{?`i??i2m@I2^;24CYFByF IiMb@Mb@Mb@ 9RQ^I +ǿMb`?Y½YyX9;A A)AYf AbD}VD}1y<%>=ٔQ->9Y=UGyWE>Q 54^ڜ?Q 94)YUQ>Q E;y?Q I@JDDIn:i:1v4yɮAblzlrljlZ-UQ>Z-UQ>Z-aT@Z-?iI)IQQiYYIaM:@M @I@M5@Iԉ=XGQi/$9Y|AԹ^AM?BɺIYIiO}> E%  E% E% +E! "E% %;*E% v:VE% [4ZE! BE% KMl@>Bz@>ͽٱ>o- FAHRS rotation from veh to nav: [[-0.715197,0.691553,0.101236],[-0.691734,-0.721097,0.039025],[0.099989,-0.042118,0.994097]]>H 3!??" :?`☹??i>Ml@I>j^;>5CYRByR IbDZVDZ:yb<%fW=ٔfQ-f>9hYh=jUGyhjJEj>pQ 5r4r؜?Q 9v4r)pYtyv??Q Iv@rODDIr:irF:r|4yxɮ~fA|blzlrljlZ1Z1Z1Z5n??iI)IIIiIQIQԹ@ @@n5@@!@%>^ANJκI!I1OEs>9 ,7??A`k@^Vy@R˽ٱmU -AHRS rotation from veh to nav: [[-0.725160,0.680090,0.107798],[-0.681410,-0.731294,0.029825],[0.099115,-0.051827,0.993725]]H4@L?@?f`?_? ?i`k@I^;3CY9yA IIiMb@Mb@Mb@ 9MbX9K7ɿ{GztYʡyIף;AA ;A)AY AbD-VD-0ٔ=:Q-=>9AYA=EUGyAMEM>QQ 5]4U՜?Q 9]4U)UABY]gY>Q E]z;ye?Q Ie@UUDDIU&:iU:U4yiɮiiblzlrljlZgY>ZgY>Z@ZQ?i)iE EE*E"ED:*Ex:VE(N4ZEa@a@a@a@IBQBQBU IBUӂBBQBQBQBUz;BU2E:@ @@`0@9i^A?BɺIIO>ԑ ,P??A2\j@2x@2Žٱ2݁ :AHRS rotation from veh to nav: [[-0.731944,0.671800,0.113764],[-0.674496,-0.738042,0.018665],[0.096502,-0.063072,0.993332]]2H@lb??x ? _?w%a?i2\j@I2p^;24CYBByF IbDLVDLyr%r<ٔr;Q-r>9tYt=vUGytvݼEz>xQ 5~4zUӜ?Q 94z)xYyU?Q I@zZDDIz7;iz;z4y ɮAbl1zl1rl1jl1ZQZQZQZUU?ia)aaaiaiIiq@ @@00@ԡE EE,E"EV:*E:VEg4ZEBE9 `.,j??A2/~j@2sx@2ٱ2YƘ :AHRS rotation from veh to nav: [[-0.735019,0.667701,0.117996],[-0.671777,-0.740721,0.006877],[0.091994,-0.074212,0.992990]]2HE]?4?@3l+|? ꌷ??i2/~j@I2b^;23CY^By^ IbDfVDffynw<%rJ=ٔr79tYt=vUGytv@&Ev>xQ 54zМ?Q 9 4z)zBBY y ?Q I @z`DDIzJ;izK;z 4yɮAblzlrljlZZZZ?i)!!!i!)I1:@ @@4@@@^AIIO>E EE(E"E:*Exv:VEc44ZEa@a@a@a@) AQ AU AABa Ba Be IBe ؂BBa Ba Ba Be Vz;Be 2EQ ,:??A2j@24x@2yɮٱ2, :AHRS rotation from veh to nav: [[-0.734213,0.668496,0.118512],[-0.673547,-0.739136,-0.003523],[0.085242,-0.082410,0.992946]]2H~Qd? V?@Xleҵ?`7?i2j@I2x^;22CY^By^ IIb<)b9Y!=%UGy!%;E%>)Q 554-͜?Q 954-)-CBY=V7>Q E=;y=@Q I=@-eDDI- ;i-L:-Й4yEBɮEAMHEblazlirlijliZV7>ZV7>Z7@Z@i)顙iI)i I E:@A @A@E5@IY^Am?BɺIqIO>ԁ bE}˙T4jEyrE}˼ 0E  E E E "E ;*E ?:VE ZE BE 9C9Y=UGy <E > Q 54 ʜ?Q 94 E) EBYy@Q I@ iDDI @;i ; 94y!ɮ-A)blIzlIrlIjlIZiZiZiZm@iy)yyyiyI:@ @@@ԉԹ^ANJκI)I9OMs> Xm,DQ??A\Mk@MJy@MdžٱM ]AHRS rotation from veh to nav: [[-0.721688,0.684358,0.104021],[-0.689088,-0.724542,-0.014034],[0.065763,-0.081808,0.994476]]MHC?`%?  @r/@հ?d`?iMk@IM?^;IYmlByuj IiMb@Mb@Mb@ 9{Gz?ˡEMbP?Y#9)Y)=-UGy)E EE)E"E:*E:VEFA4ZEa@a@a@a@6<E>Q 54jȜ?Q 94 )GBY1=Q E BB IBɂBBBBB]z;B2E =:@9 @9@=0@A@@>1^A ?BɺI I O >Y @Q,??AY~^By~Y I bDVD9yEĔ%EZ=ٔEQ-M>9IYI=MUGyIUEU>YQ 5e4]Ɯ?Q 9e4]$ )]HBYayaQ Im@]mDDI]:i][:]4yqɮuAqblzlrljlZZZZi)iIq@q @q@q@qiE EE*E"E&:*E:VE(N4ZEBEc; |,??A2Un@2J|@2 *ٱ2U& :AHRS rotation from veh to nav: [[-0.695768,0.714388,0.074536],[-0.717057,-0.696867,-0.014380],[0.041668,-0.063452,0.997115]]2H CE?@? @L@ms U?_>\?i2Un@I2x^;21CYFKByFB IbDN VDN2yV%VT=ٔZY=Q-Z>9XYX=^UGy\^=Eb>`Q 5f4blĜ?Q 9f4b )bJBYhyjW@Q Ij@boDDIb:i`b>4ypɮroAtblzlrljlZAZAZAZEW@ia)aaaiaiIqԹ@ @@0@^A1I9IIO]>E EEE"E;*Eą:VEZEa@a@a@a@B <A <B B B IB BB =B B DB Sz;B 2E9 c,k@?AJ%o@J}@J"ٱJ] ZAHRS rotation from veh to nav: [[-0.678281,0.732312,0.060454],[-0.734167,-0.678819,-0.014285],[0.030576,-0.054072,0.998069]]JH`yo? ? K~@A`DO?\-?iJ%o@IJj^;J/CYjFByj< IiMb@Mb@Mb@ 9A`"? rh?9Y=UGyVe=E>Q 54Ĝ?Q 94Z )KBYUE=Q EUPE  E E 'E "E ;*E :VE '4ZE BE A :AHRS rotation from veh to nav: [[-0.658531,0.750956,0.049005],[-0.752254,-0.658708,-0.014748],[0.021206,-0.046576,0.998690]]2H?@??w "@3嶕?اC?i2q@I2^;22CYF2ByF" IIJ<)J<bDVDkyս%T=ٔy9Y!=%UGy!%=E%>)Q 554-Ü?Q 9=4- )-MBY9y=AۿQ I=@-sDDI-Y;i-D;-ù4yAɮE>AIblazlirlijlimB*** querying acoustic contact ***ii iiZZZZ?@i)顙iI)@) @)@)@12Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^AU?BɺIiIyO}>! E ,9@?A mgs@m@mcٱm# AHRS rotation from veh to nav: [[-0.637297,0.769596,0.039684],[-0.770493,-0.637276,-0.014805],[0.013896,-0.040011,0.999103]]mH@d?zQ?@dQu?[|?imgs@ImJ^;iY/By Ii=Mb@Mb@Mb@9999 99=|?5^?K7?~jtx?Y==y=I >=;= A=A = A)=lAU,DAT read: user:1019> ]BDAT read: Tx time:15:17:19.9707 e$Ping request sent.eDD4=E EE)E"E;*EVEFA4ZEa@a@a@a@9Y=UGyiB>BBf IBiBBBBBz;B2EBQBQBQBQBQCUh4mk=E>Q 54cŜ?Q 94)NBY/>Q E;y窿Q I@xDDI;i;̹4yBɮAQEbl1zl1rl1jl1Zu/>Zu/>Zum?ZuU@i)顡iI9@ @@@ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250867^A} NJκ h> ѐC I AfA% AM R9M AfAYM l=AIa Ou >,eS@?A20u@2F@2%ٱ2>c :AHRS rotation from veh to nav: [[-0.615585,0.787399,0.032526],[-0.788016,-0.615504,-0.013632],[0.009286,-0.034022,0.999378]]2H޲ `2?4?m74ꋿ@? Zk`?i20u@I2>^;20CLYR"ByR IbDZVDZyf%fl=ٔfY! ,@m@?Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755123|YBy I !!bD-VD-ymT7%m@=ٔuQ-u>9yYy=}UGyyE>Q 54(Ȝ?Q 94S)OBYyQ I@DDIM;i;ع4yɮPAblzlrljlZYZYZYZYii)iiqiqI)@) @)@- @)1Yuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006673^A}?BɺIIO>DzDE EE$E"E;*E:VE4ZEa@a@a@a@B B B . IB ;BB =B B B y;B 2Eԁ 7!,l!@?ANpx@N#3@NkٱN! ZAHRS rotation from veh to nav: [[-0.574814,0.818008,0.021262],[-0.818250,-0.574832,-0.005860],[0.007429,-0.020766,0.999757]]NH d -?ŕ?/ e@xam~?C?iNpx@INC^;N2CYfByf IYiUMb@Mb@Mb@QQQQ Q9UV-?MbX?Mbp?YU=yUJ>U;U~AU?A U$ A)U AQYU AbDuVDu02y;%I=ٔ;Q->9Y=UGy=E>Q 54m˜?Q 94Q =tI)Yk>Q Eg;y5Q I@DDI;i;4yɮDAblzlrljlZk>Zk>Z=:?Z@i)  i  I:@ @@ @checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260221ԁԱ^ANJκIIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510644E  E E .E "E ;*E :VE ـ4ZE BE o9dYd=fUGydj_=Ej>lQ 5r4nΜ?Q 9r4n)lYpyrQ Iv@nDDIn;in;n4yxɮz AxblizlirlqjlqZZZZ5,@Թi)iI9@ @@ @iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763520^A?BɺIIO9 .,޺@?Az@@a@ٱ4 ; AHRS rotation from veh to nav: [[-0.544199,0.838927,0.006965],[-0.838802,-0.544239,0.014639],[0.016072,0.002124,0.999869]]Hj@~?ɇ|?x`hj?"u?@fa?`?iz@I^;2C=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015060YE0ByE IEu EuEu&Eq"Eu7;*Eu:VEu4ZEqa@a@a@a@I0>)>B5>B1B5 IB5'BB1B1B1B5y;B52Ei-Mb@Mb@Mb@)))) )9-HzG?&1?{GztY-= >y-P>-ף-l A-ZA - A)- A)Y- AbDE VDE2yujh=%u=ٔu/Q-u>9yYy=}UGyy%<E>Q 54Ӝ?Q 94)Yz>Q EX;yQ I@DDIv:i:4yBɮARE9blizlirlijlqZ%z>Z%z>Z%Gw|?Z%@iy)顩iIM:@I @I@MJ @Iq checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266619ԑ ^Aq Iy I O >5,nj@?A2{@2@22ļٱ21< :AHRS rotation from veh to nav: [[-0.534471,0.845179,0.003631],[-0.844848,-0.534373,0.026026],[0.023937,0.010843,0.999655]]2Hc ?em?@ ?삘?4?+?i2{@I2^;0YF7ByF) IbDNVDNJyVYB=%V=ٔZ0ݼQ-Z?9XYX=^UGy\^%=E^?`Q 5f4bd՜?Q 9f4bn)`YhyjQ Ij@bDDIb$:ib:b4ylɮnApbl|zl|rljlZ!Z!Z!Z%M@i1)111i19IA9@ @@a @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518660bEFA4jE:4rE<0E- E-E-'E)"E-%;*E-?:VE-'4ZE)BE-Kyԡ 8;,w@?A6BDAT read: Rx Time:15:17:22.3782 6TRx dataTimestamp_ set to:1761578243.748824:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772797%{@%@% ٱ%-b< 5AHRS rotation from veh to nav: [[-0.528592,0.848855,0.006006],[-0.848212,-0.528444,0.035822],[0.033582,0.013841,0.999340]]%H8 )?@x? $@@MW?1?X? ?i%{@I%^;%.CYMGByM= IbD]VD]0ym=%m@=ٔuιQ-u>9yYy=}UGyy}M<E>Q 54 ٜ?Q 94)Yy%Q I@DDI;i;h4yɮAblzlrljlZZZZx@i)iIԑ:@ @@ @^AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022701Eu EuEu(Eq"Eu&:*Eu$:VEuc44ZEqa@a@a@a@BA<BBB IB,BBBBBMĻM? AMA M( A)IIYMp AbDmVDmyu=%}J=ٔ}ܼQ-}>9Y=UGy;E>Q 54ۜ?Q 94 )Yi9>Q E;ỷQ I@DDI ;i ;|4yɮAblzlrljlZi9>Zi9>Zo?Z@i)iIIdA)iuAIuA}DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s X#Rx 1: Read range message, but no direction.yqYu @q@ @@ @^ANJκIIOI Ei  Em Em +Ei "Ei *Em :VEm [4ZEi BEm c; Vn?@?@4? ?iB/{@IB^;B.CYVkByVi IbD\VD\yf=%fS=ٔjmQ-j>9hYh=nUGylnEr>pQ 5v4rޜ?Q 9z4r=")pYxyzRQ Iz@rDDIrW:ir-:r= 4y|ɮAbl!zl!rl!jl!ZAZAZAZEI{@iQ)QQQiQYIa19@ @@ @a^AQIaIqO}{>ԉ vN,T91Y1==UGy9=@E=>AQ 5M4E?Q 9M4E#)ELBYU~=Q EU^[U,wVA?A2iz@2/@2[ٱ2 :AHRS rotation from veh to nav: [[-0.547590,0.833731,0.070975],[-0.832963,-0.551207,0.048415],[0.079488,-0.032608,0.996302]]2Hۅ?r+?|`ɨ?KY?@?i2iz@I2v^;21CYFByF IbDNVDNkyV=%V=ٔV<Q-V ?9XYX=ZUGyX^/E^ ?|Q 5%4n✊?Q 9%4#)IBY)y-wgQ I-@DDI :i[:h4y1ɮ5A9blYzlYrlYjlYZyZyZyZ} @i)顉iIM:@I @Q@U @Q@Y@]>)E- E-E-*E)"E-:*E-:VE-(N4ZE)BE-.ԁ [,iWpA?AB\9hYh=jUGyhn8En>pQ 5v4r'䜊?Q 9v4rc$)rFBYtyz>mQ Iz@rDDIr:ir:rW4y|ɮ~A|YblyzlyrlyjlyZZZZh@i)iI9@ @@ @ԁ^A}?BɺIIO>D)zD)E= E=E=)E9"E=:*E=g:VE=FA4ZE9aE@aE@aE@aE@AA?ABBB IBBBBBDBzz;B2EBYBYBYBYBYC]ִ3 mb,.A?A2w@2L߂@2Igɽٱ2ku :AHRS rotation from veh to nav: [[-0.580357,0.807460,0.105800],[-0.808422,-0.586904,0.044694],[0.098183,-0.059592,0.993383]]2H`H`? ?`+?"?`ۂ ?i2w@I2|^;2/CYFByF Ii Mb@Mb@Mb@     9  ףp= y&1~jtY Q8y `e D A CA A) CA Y = AbD-VD-k2y5ܞ=%5D=ٔ=Q-=>9AYA=EUGyAE&^EM>IQ 5U4M䜊?Q 9]4M#)MCBY]1G=Q E]EA  EE EE (EA "EA *EE :VEE c44ZEA BEE A89Y=UGy%؊E->1Q 5E45 圊?Q 9E45q#)5?BYIyMz?Q IM@5DDI5mb;i5c;5-4yYɮeAablzlrljlZZZZ(z?i)iI1 @  @ @  @ @@fAa^AIIO>ԉԹ n,A?AD4=D%=E EE'E"El;*E:VE'4ZEBM>BIBM!IBMBBIBIBIBMz;BM2Eԑa@a@a@a@YmڂByu Ii%Mb@Mb@Mb@!!!! !9%(\µX9vMbP?Y%y%%:%hA%A %QA)%-A!Y%3 AbD=VD=1yM/=%M=ٔMQ-U>9QYQ=UUGyQ]E]>aQ 5m4e✊?Q 9m4ei!)aYm>Q Em;yu?Q Iu@eDDIe:ie:e74yyɮ}pAyԹbl!zl)rl)jl)ZE>ZE>ZE.@ZE?iQ)YYYiYaIa@ @@ @ ^A1 IA IQ Oe > u,nA?A2r@2@2޽ٱ2 :AHRS rotation from veh to nav: [[-0.649148,0.754313,0.098074],[-0.752859,-0.655547,0.058834],[0.108671,-0.035644,0.993438]]2H@ U#?@d?l<m?ѻ????i2r@I2fk^;0@@i@I@@IDiD DD)DL Rq@PPPPPIT)TiT)TIVVhAXX XXX\i\\i\\)^D \I`Y`YfByf!IbDnVDn0yv<>%z=ٔzQ-z)?9|Y|=~UGy|~pE~)?Q 54$✊?Q 94h )Yy?Q I@DDI9 {,A?A6[p@6~@6Gi߽ٱ6|Ƽ BAHRS rotation from veh to nav: [[-0.672547,0.734375,0.091515],[-0.732003,-0.678315,0.063721],[0.108871,-0.024134,0.993763]]6H`?m?@l´ P? ޻?z?i6[p@I6^;4YBy!IbD-VD-Ny=<%EF=ٔEQ-E>9AYI=MUGyIMEM>QQ 5]4U?Q 9e4U)U>BYaye?Q Ie@UDDIUP;iUm ;UB4yiɮm Aqbl zl rl jl Z9Z9Z9Z=?iI)QQQiQYIYQ :@  @ @ /@ ԁDzDAAB5<A5<B=>B9B=G!IB= BB9B9B9B9B=2EE- E-E-'E)"E-=;*E-҆:VE-'4ZE)BE-~I<2E-I<JE-;:E-;^A]?BɺIiIO>ԩ ̻,)w B?A@Y]By]!IiMb@Mb@Mb@ 9A`"1Zd˿~jtx?Yٽy"[;A-A A)AY AbD5VD5yEb<%E;=ٔEQ-M>9IYI=MUGyIUEU>YQ 5e4]ݜ?Q 9e4]?)YYet>Q Em^;ym?Q Im@]DDI]:i]:]J4yqɮuo AqblzlrljlZt>Zt>Z_@Z?i)iIԩI@I @I@M5@I^ANJκIIO> bEc44jEh=4rEͰ/E%  E% E% (E! "E% ;*E% :VE% c44ZE! BE% TQ<2E% UQ<JE% ;:E% ;D,S%B?ANl@Nouz@NڽٱNK ^AHRS rotation from veh to nav: [[-0.712578,0.695875,0.089389],[-0.693492,-0.717916,0.060544],[0.106304,-0.018848,0.994155]]NHq`D?.?1`*@?6? L ?iNl@INa^;LtYnBy5!IbDEVDE1yU%U[=ٔU;Q-U>9YYY=]UGyYe5Ee>iQ 5u4mۜ?Q 9u4m)m=BYqy}?Q I}@mDDIm;im;mQ4yɮ AblzlrljlZZZZ?i)iIi@i @i@uO5@q 9^A?BɺIIO>a ,,?B?ABzk@By@B սٱB?(ۼ ZAHRS rotation from veh to nav: [[-0.727514,0.679596,0.094196],[-0.678183,-0.733104,0.051239],[0.103877,-0.026605,0.994234]]BHG@??7?@`u @?iBzk@IBt^;B0CYzByz!I  ԁbD5VD51B>BBf!IB9BB =BBDBz;B2EEM EMEM&EI"EM&:*EM:VEM4ZEIBEMc;<2EMd;<JEM<:EM9Y=UGyEE>Q 54؜?Q 94U)>BYy?Q I@DDI;i=:X4yɮj AblAzlArlAjlAZZZZ?i)iIԩ:@ @@;3@^A NJκI I O > ,*YB?A2j@21x@2pPνٱ27e3 :AHRS rotation from veh to nav: [[-0.738432,0.666273,0.103913],[-0.666786,-0.744434,0.034839],[0.100569,-0.043562,0.993976]]2H< R?? PVgn֡?侹?M?i2j@I2a^;21CYBByF!Ii=Mb@Mb@Mb@9999 99=ktx&1̿MbpY= y=A`==A=CA =QA)=A9Y= AbDUVDU0ye?C<%eM=ٔm9qYq=uUGyqu"Eu>yQ 54}3֜?Q 94})}=BYp>Q Ea;y?Q I@}DDI}P ;i} ;}_4yɮV AblzlrljlZp>Zp>ZҊ@Z?i)iI@ @@0@E% E%E%)E!"E%;*E% n:VE%FA4ZE!a5@a5@a5@a5@9!^AIIO>Q %,rB?AY߂By IbD%VD%02y599YA=EUGyAEEE>IQ 5U4MӜ?Q 9]4M)MBB =BBDBz;EE EEEE*EA"EE;*EEx:VEE(N4ZEABEE@Ա ,׽B?AY ڂBy  II<)9Y=UGyE>Q 54М?Q 94%);BY5>Q E;yP@Q I@DDIu ;i ;m4yɮpAbl zl rl jl Z-5>Z-5>Z-@Z-P@i9)99AiAAIIQ:@ @@0@9^AII1O=>i EE  EE EA EA "EE l;*EE M:VEA ZEA aM @aM @aM @aM @J6,bB?AYĂBy IbD-VD-y=%=R=ٔ9Q-E>9AYA=EUGyAIEM>QQ 54UhΜ?Q 94U)U:BYyQ I@UDDIU ,:tB?AF9j@F/x@F;ٱF'ӽP NAHRS rotation from veh to nav: [[-0.739339,0.662912,0.118006],[-0.670092,-0.741567,-0.032471],[0.065984,-0.103081,0.992482]]FH`6?5?eq`R?ci?iF9j@IFPw^;F/CYZByZ IbDb VDb:2yrF%rQ=ٔzߴ=Q-z>9Y= UGy ;E>1Q 5U45˜?Q 9U45 )5! cF,QB?A2@!k@2y@2Qٱ2ǽ :AHRS rotation from veh to nav: [[-0.730446,0.675087,0.103469],[-0.681063,-0.731312,-0.036533],[0.051005,-0.097154,0.993962]]2H_Q?|?E`foY?߸?i2@!k@I2p^;21CYZByZ I|i=Mb@Mb@Mb@9999 99=~jtx?x&MbP?Y=;y=7=:=A=pA =7A)=(A9Y9bDUVDUkyeq0%eB=ٔm[=Q-m>9iYi=uUGyqu =Eu>yQ 54}ʜ?Q 94}X )}>BYlj=Q EEԁ ,p,c+B?A2Ll@2Bz@2!ٱ2r :AHRS rotation from veh to nav: [[-0.718379,0.690503,0.084487],[-0.694767,-0.718278,-0.037081],[0.035081,-0.085337,0.995734]]2H?@?;@"P?ص@?i2Ll@I2U^;2.CYBByB IbDNVDN02yVZ%VW=ٔV+=Q-Z>9XYX=ZUGyX^D=E^>`Q 5f4b|Ȝ?Q 9f4b )b?BYdyf>@Q Ij@bDDIbd:ib:b(4ylɮn"AlYblzlrljlZZZZU>@i)顱iIi@i @i@u4@qԁ^A9B<A<BBB!IBBB =BBDBXz;B2EDzDIAIiO>Ee  Ea Ee +Ea "Ee ;*Ea VEe [4ZEa BEe A<2Ee A<JEa :Ea W,WC?A2m@21{@2⡼ٱ2QF :AHRS rotation from veh to nav: [[-0.702885,0.708395,0.064261],[-0.711029,-0.702250,-0.035809],[0.019760,-0.070862,0.997290]]2H ~,?ns?`xU 99Y9=EUGyAE9Z=EE>IQ 5U4MȜ?Q 9U4M )MABYU=Q E2Y E5  E5 E5 'E1 "E5 F;*E5 ~:VE5 '4ZE1 aE @aE @aE @aE @,;'C?A>]]o@>R}@> Żٱ>*f VAHRS rotation from veh to nav: [[-0.684694,0.727438,0.045044],[-0.728806,-0.683872,-0.034080],[0.006013,-0.056162,0.998404]]>H@+G?`? aRF rx?`N?i>]]o@I>=^;>0CY^yBy^z IbDfVDfk1yn %rP=ٔr3=Q-r>9pYt=vUGytv=Ev>xQ 5~4zȜ?Q 9~4z})zCBYyQ I@zDDIz;iz;zc4y ɮ Abl)zl1rl1jl1ZIZIZIZM@ia)aaaiaiIi}>i})>9-:@5 @1@5P @1@A@E>a^AIIO>ԉԹ i,AC?A2eq@2 @2;ٱ2Zb, :AHRS rotation from veh to nav: [[-0.664924,0.746386,0.027998],[-0.746893,-0.664182,-0.031826],[-0.005158,-0.042073,0.999101]]2HGd?|?`@nK u ?i2eq@I2^;2/CYbaByf] IbDrVDryzs%zI=ٔ~9|Y=UGyՆ=E> Q 54 Ȝ?Q 94 G) EBYB)B)B- IB-BB)B)B)B-Bz;B-2EyQ I@ DDI 9 , [C?A2r@2Et9qYq=uUGyq}=E}>Q 54ʜ?Q 94U)YuF>Q E;yQ I@DDI:i:ҥ4yBɮrAQEblzlrljlZuF>ZuF>Z'y?Z@i)iI@ @@ @bEmFA4jEmFA4rEm0E EE)E"E ;*EM:VEFA4ZEa @a @a @a @9^AIIO>i ,KruC?A 28t@2i<@2le<ٱ2-C >AHRS rotation from veh to nav: [[-0.623826,0.781561,0.002137],[-0.781345,-0.623584,-0.025350],[-0.018480,-0.017484,0.999676]]2Ha@?ua?`glf쒿`a瑿@Y?i28t@I2q_;2/CYF?ByF2 ILNAAbDRVDRβyVV߽%ZW=ٔZ^9\Y\=^UGy\bY=Eb>dQ 5f4f̜?Q 9j4f0)fFBYhyjʢQ Ij@fDDIfN:if:fw4ypɮrApblzlrljlZ!Z!Z!Z%]@i1)111i1II@Q @Q@U @Qqԡ^AA1A5@ABM>BIBMf IBMiBBM =BIBIBMEz;BM2EDzDI)IYE} E}E}(Ey"E};*E}:VE}c44ZEyBE}2N ݥ,LC?A6Dv@6@6<ٱ6"3 >AHRS rotation from veh to nav: [[-0.605073,0.796161,-0.003786],[-0.795903,-0.604986,-0.023046],[-0.020638,-0.010931,0.999727]]6H\ 'z?o x \ G@@"c?i6Dv@I6^;6.CYJ=ByJ1 IPiMb@Mb@Mb@ 9K7?Q?~jth?YI >y(\>D; AA  A) AY AbD5VD50yEȻ%EA=ٔM1;Q-M>9IYI=UUGyQUe=EU>YQ 5e4]Ϝ?Q 9e4])YYm>Q EmP;ymϛQ Im@]EDI]:i]j:]ܳ4yqɮu'AyblzlrljlZ>Z>Zq?Z@iA)AAIiIIIQ 9@  @ @ > @ ^AIIO->! 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BE% 19IYI=MUGyQU8EU>YQ 5e4]q휊?Q 9e4])YYiymĿQ Im@]bFDI]:i]p:]mý4yqɮuAyblzlrljlZZZZ9@i)iIE:@A @A@E @I!Y^A?BɺIIO>y ^,HN?A2 y@2@28ٱ2C$ :AHRS rotation from veh to nav: [[-0.566568,0.821923,0.058676],[-0.822783,-0.568177,0.014247],[0.045049,-0.040206,0.998175]]2HR!`2M? ?9Y=UGy¼E>Q 54윊?Q 94m)BYj=Q EgZA@i)i I 0>i>QE EE(E"E;*E:VEc44ZEa@a@a@a@u9@q @q@} @yԁ^ANJκIIO>ԩB >B B S IB YBB B B B gz;B 2E F,$O?A2Ux@2%@2Iٱ2>% :AHRS rotation from veh to nav: [[-0.575478,0.815515,0.061325],[-0.816332,-0.577333,0.016992],[0.049263,-0.040283,0.997973]]2HQj? f? d yvf?8?e?i2Ux@I2R^;2&CYBSByBL IbDNVDNyV$<%VY=ٔV7Q-V>9XYX=ZUGyX^E^>`Q 5f4b:윊?Q 9f4b)`YdyfmQ If@beFDIb:ib:b0ѽ4ylɮnAlbl|zl|rlyjlyZZZZ^4@i)iIԱm:@i @q@u @qE EE.E"E ;*E:VEـ4ZEBELAHRS rotation from veh to nav: [[-0.586228,0.807648,0.063581],[-0.808378,-0.588326,0.019924],[0.053498,-0.039717,0.997778]]2H`??@F?;f?@ d?@U?i2Rzw@I2cE^;2#CYJhByNe IbDZVDZyf=%fH=ٔj3*Q-j>9hYl=nUGylr Er>tQ 5~4v뜊?Q 9~4v)tY y "Q I  @vgFDIv{;iv#;vYؽ4yAɮEAAblyzlyrlyjlZ9Z9Z9Z=!Nj@qi)顱iIe9@a @a@e @aԙ^A I I E  E E )E "E D:*E :VE FA4ZE a @a @a @a @ O >C,QFO?A6v@6-;@6`kٱ6^ >AHRS rotation from veh to nav: [[-0.598342,0.798550,0.065614],[-0.799180,-0.600668,0.022568],[0.057434,-0.038934,0.997590]]6H%`?̰?8@? g?/A?i6v@I6yX^;6!CYFjByJh IPiMb@Mb@Mb@ 9{Gz?Mbp?Y#9IYI=MUGyIUEU>YQ 5e4]꜊?Q 9e4]w)]BYeBBBl IBnBBBBBz;B2EBYBYBYBYBYC]Ĵ4  G!9eb9aYe$A^AQIYIqO}>! ,`O?AE. E.E,E,"E.:*E.ą:VE,ZE,BE.A8`J?@F?t?iFou@IF?^;F%CYztB|yzt IbD VD :yK=%L=ٔ%Q-%>9!Y!=%UGy)-*E->1Q 5=45霊?Q 9=45c)5BYAyE6@Q IE @1I5:i5t:54yIɮMAIUmmAggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion1VmqWmmrAggregate::initialize lineCaptureHoming:Lap:Docked:DetachWmZZZZc6@i)顙iIM:@I @I@M @I!Q^AiIyIO~>y ,zO?A2LMt@2s!@2Mٱ2 :AHRS rotation from veh to nav: [[-0.625194,0.777353,0.069675],[-0.777795,-0.627948,0.026763],[0.064557,-0.037461,0.997211]]2H ?;ֱ?'g?dž?.&?i2LMt@I2[^;2#CYBuByFv IiEMb@Mb@Mb@AAAA A9E9yYy=}UGyy_/E>Q 54I蜊?Q 94)Y=Q E7B >B B IB BB B B DB z;B 3E x,lO?A2r$s@2@2Kٱ2I :AHRS rotation from veh to nav: [[-0.639043,0.765734,0.072636],[-0.766172,-0.642038,0.027720],[0.067861,-0.037937,0.996973]]2H s?B?zb?]_?@xl`4?i2r$s@I2?^;0YBByF I HHbDNVDNk2yV=%VX=ٔZ6Q-Z>9XYX=ZUGyX^CE^>`Q 5f4b朊?Q 9f4b+)`YdyjU @Q Ij @blFDIbW:ib:b~4ylɮnAlqX~~rAggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1X~X~1Y~ ~Uninitialize.Y~ pAggregate::initialize lineCaptureHoming:Lap:Docked:Drift1Z 9 ,LO?AJr@Jv@J_ٱJ% ^AHRS rotation from veh to nav: [[-0.652068,0.754259,0.076815],[-0.754835,-0.655346,0.027290],[0.070924,-0.040188,0.996672]]JH@"?$?'@?(?`?iJr@IJ0^;HYjByn IbD~VD~02y "% D=ٔ Q- >9Y=UGy=*E>!Q 5-4%圊?Q 9-4%)%BY)y-5 @Q I- @%nFDI%l:i%:%4y9ɮ=GA9Ym mtAggregate::uninitialize lineCaptureHoming:Lap:Docked:DriftYm1Zu u@Uninitialize Buoyancy Component.qZuZ}Z}}Uninitialize.LCompleted lineCaptureHoming:Lap:DockedS hAggregate::uninitialize lineCaptureHoming:Lap:Docked>Completed lineCaptureHoming:Lap1R ZAggregate::uninitialize lineCaptureHoming:LapZZZZ5 @36Completed lineCaptureHoming'>lineCaptureHoming is completed.'PUninitializing Mission lineCaptureHoming3RAggregate::uninitialize lineCaptureHoming1 4bAggregate::uninitialize lineCaptureHoming:Scienceq1 8|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrentq/_vAggregate::uninitialize lineCaptureHoming:StandardEnvelopes10 `NUninitialize AltitudeEnvelopeComponent.q0`Uninitialize.0 aNUninitialize OffshoreEnvelopeComponent.G HUninitializing TrackAcousticContact.ZT)T1T-!T#!T#!T#!T#=ebgot command load ./Missions/Engineering/OnDock.tlD#%D#%D#%D#%D#%D}#%Dy#%Du#%D%D%>>a>a>y!>!7q#u!7m#}!7i#}!7e#}a6a#a6]#a6Y#a6U#a6Q#a6M#a6I#a6E#a6A#a6=#a69#a65#a61#a6-#a6)#a6%#a6!#a6#a6#a6#a6#a6 #a6 #a6#a6#a6"a6"a6"a6"a6"a6"a6"!5"!5"1"=1"=1"=1"=1"=1"E1"E1"E0u/"/"/"/"$Powering downDzDDDa" a" a" a" a" a" !" !" !" !" !" !}"% !y"% !u"% !q"- !m"- !i"- !e"- !a"- !]"- !Y"- !U"- !Q"- !M"- !I"5 !E"5 !A"5 !="5 !9"5 !5"5 !1"5 !-"5 !)"5 !%"= !!"= !"= !"= !"= !"= ! "= ! "= !"= !"= !!E !!E !!E !!E !!E !!E !!E !!E !!E !!E !!E !!M !!M !!M !!M !!M !!M !!M !!M !!M !!M !!M !!U !!U !!U !!U !!U !!U !!U !!U !!U !!U !}!] !y!] !u!] !q!] !m!] !i!] !e!] !a!] !]!] !Y!] !U!] !Q!] !M!e !I!e !E!e !A!e !=!e !9!e !5!e !1!e !-!e !)!e !%!e !!!e !!e !!m !!m !!m ! !m ! !m !!m !!m ! m ! m ! m ! m ! m ! m ! u ! u ! u ! u ! u ! u ! u ! u ! u ! u ! u ! u ! } ! } ! } ! } ! } ! } ! } ! } ! } ! } ! } ! } ! } ! } !} !y !u q m i e a ] Y U Q M I E A = 9 5 1 - ) % !                       ' vLoading Mission from file: ./Missions/Engineering/OnDock.tl' jTethyslAPI: loading: ./Missions/Engineering/OnDock.tl' TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tli )   i ! I! 9@ @@ @,DAT read: user:1020> BDAT read: Tx time:15:18:22.2694 $Ping request sent.9AYa=eUGyam;Em>iQ 54mx㜊?Q 94mV)mBYj=Q E;yW?Q I @msFDImn;im;m4yɮAi)顱iIx9 @  @ @ . @ ^A NJκI I O >2,8O?AYzByz IbDVD1yM %Mb=ٔMQ-U>9QYQ=UUGyQ]E]>Q 54c✊?Q 94.)YyQ I @vFDIji@ @@0 @@@>^A9 IA IQ O >, P?A2^xn@2m|@2?ٱ2S :AHRS rotation from veh to nav: [[-0.692623,0.715377,0.092248],[-0.716899,-0.696850,0.021349],[0.079556,-0.051346,0.995507]]2H)]??@Lܕ?]?I1?i2^xn@I2X8^;2"CYNByN IiMb@Mb@Mb@ 9K`"MbP?Y^y:;A-A A)CAYf AbDVDky A=% >=ٔ  Q- >91Y1=5UGy1=cE=>AQ 5]4Eᜊ?Q 9]4E)AYe >Q Ee;ye?Q Ie @EzFDIE:iE:E4yiɮmAqi)顁iIa@a@a@a@a@a@a@a@AABA@ @@? @ ^A1 II IY Oe >+,N$P?A2Wm@2{@2=綠ٱ2]X :AHRS rotation from veh to nav: [[-0.698023,0.709885,0.093949],[-0.711542,-0.702348,0.020373],[0.080447,-0.052628,0.995369]]2H 5Va? ?@yܔ?3? ?i2Wm@I2-^;2#CYNByL TTbDZVDZ:yvN%v_=ٔvQ-v>9xYx=zUGyxzVE~>!Q 5%4%?Q 9-4%)!Y)y-?Q I- @%~FDI%:i%:%4yYɮ]AYii)iiiiiqIuJ9 :@  @ @ 5@ ^A5?BɺIYIO>5,>P?A6m@6|{@6ٱ6n[ >AHRS rotation from veh to nav: [[-0.701316,0.706516,0.094816],[-0.708257,-0.705682,0.019652],[0.080794,-0.053372,0.995301]]6H@/qț?E? `@?鮴?S@?i6m@I6)J^;6!CYNByR IiMb@Mb@Mb@ 9ʡEq= ףp~jtxY-y뽙ĻQACA $A)AY AbDVDN2yu:<%u4=ٔ}pHQ-}>9yYy=}UGy%(E>Q 54?Q 94`)BY>Q E;y?Q I @FDI;i;#4yɮAi)iI@ @@`5@@dA@dA^A I I O >,#XP?A2gm@2{@2cٱ2kf >AHRS rotation from veh to nav: [[-0.701788,0.705894,0.095949],[-0.707914,-0.706096,0.016923],[0.079695,-0.056047,0.995242]]2H u??@:@WaT?f?$?i2gm@I2CL^;2"CYNByR IbDZVDZy>7% e=ٔ 9J;Q- >9Y=UGyLԺE>9Q 5E4=pߜ?Q 9M4=)=BYIyM?Q IM @=FDI=[:i=:=O*4yQɮ}Ayi)顉iIj9m:@i @i@m1@iBDAT read: Rx Time:15:18:24.1319 TRx dataTimestamp_ set to:1761578305.540162^ANJκIIO>', brP?A6m@6{@6<ٱ6s >AHRS rotation from veh to nav: [[-0.699447,0.708102,0.096772],[-0.710451,-0.703617,0.013535],[0.077675,-0.059285,0.995215]]6H`aŨ?@ Ƹ?C?@{?Z@?i6m@I6ys^;6$CY]By] IbD]VD]0yZ<%(=ٔ?;Q->9Y=UGy;E>)Q 554-ޜ?Q 954-$)-BY9y=?Q I= @-FDI-:i)- 34yBɮAHEi)项iI1@9 @9@=3@9DAT read: OK :unknown deviceResponse_: OK ,DAT read: user:1021> BDAT read: Tx time:15:18:25.2194 $Ping request sent.",9QYQ=UUGyQ]<E]>aQ 5}4eޜ?Q 9}4e')eBY}=Q E};y}?Q I} @eFDIeEs;ie:e94yɮAi)顡iIGAfA9Ar9AfAYAIdA)bA:@ @@3@@@>^A ?BɺI I O >i I %),]P?A6o@6w|@6龏ٱ6#3 >AHRS rotation from veh to nav: [[-0.686761,0.720746,0.094262],[-0.723493,-0.690296,0.007023],[0.070131,-0.063375,0.995523]]6H`Y?!?&`<|??U9 R?i6o@I6mr^;4YN}ByR IbDZVDZyf*%fd=ٔfD9hYh=jUGyhj<En>Q 5%4wޜ?Q 9-4 )BY)y-^?Q I- @FDI:ig:k?4y1ɮ]AYii)iiiiiqIu9:@ @@0@^ANJκI I)O>>/,AP?A2o@2`}@2ٱ2)䁽 :AHRS rotation from veh to nav: [[-0.676737,0.730642,0.090497],[-0.733360,-0.679825,0.004609],[0.064890,-0.063247,0.995886]]2Hӧka?*?`w %r?`?0L?i2o@I2R^;2#CYRwByRx IiMb@Mb@Mb@ 9&1{GztYPy̼ףAA $A)Y= AbD%VD%1y5̼%5=ٔ:9Y=UGy<E>Q 54ߜ?Q 94v )BYi=Q EhAi ))11i11I9IE;?)E-?e9@ @@4@^A! I1 II O] >5'6,P?A2p@2~@2rٱ2z :AHRS rotation from veh to nav: [[-0.664872,0.742098,0.085059],[-0.744601,-0.667502,0.003381],[0.059286,-0.061087,0.996370]]2HFE?jƵ?,\Xk?@Z?`FC?i2p@I2C^;2$CYNqByNq IbDZVDZyr9%vb=ٔv9xYx=zUGyxzvA=E~?qQ 54uߜ?Q 94u )uBYy?Q I @uFDIu;iu;uM4yɮlAi)iI9>i>:@ @@5@@@`A^A?BɺIIO>T<, P?A2+%r@2b @2JZٱ2l :AHRS rotation from veh to nav: [[-0.651480,0.754596,0.078477],[-0.756793,-0.653649,0.002614],[0.053269,-0.057688,0.996913]]2H%? ?7@lie?F?D ?i2+%r@I2d^;2!CYNkByNi IbDVVDVfybY%bL=ٔbv9dYd=fUGydj9=Ej>|Q 54~ߜ?Q 94~a )~BYy/?Q I @~FDI~p:i~g:~T4yɮ5A1iA)AAAiIII9@ @@5@iߩI߭A^ANJκIIO!9C,ׄ Q?A6gs@6@6)Bٱ6b] >AHRS rotation from veh to nav: [[-0.636649,0.767797,0.071873],[-0.769696,-0.638407,0.001954],[0.047385,-0.054076,0.997412]]6Hn_ʑ?Bf?Y@m`?B?@ۯ`?i6gs@I6tQ^;6"CYNgByRd IIV=)V>iMb@Mb@Mb@ 99aYa=eUGyam1=Em>Q 54ᜊ?Q 94 )Y_<=Q E BDAT read: Rx Time:15:18:27.0820  TRx dataTimestamp_ set to:1761578308.564159AcI,_'Q?A2bt@2~Q@2-ٱ2ELM :AHRS rotation from veh to nav: [[-0.621365,0.780782,0.065461],[-0.782383,-0.622795,0.001866],[0.042226,-0.050056,0.997853]]2H7 +? °?H Ғ^?? @j?i2bt@I2 z^;0YN]ByRW IbDZVDZkyf% c=ٔ j9Y=UGya=E>9Q 5E4=✊?Q 9M4= )9YIyMQ IM @=FDI=l:i=:=b4yQɮ}Ayi)顉iI9i@i @i@mm0@i@u>@u>^A?BɺIIO% >' )OTethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . a[#= JoE @'E PDefineArg OnDock.DockedTime = 8.000000 ha[#U boQ '] \DefineArg OnDock.DetachedTimeout = 30.000000 sa[#m zoi 'u XDefineArg OnDock.RangeTimeout = 600.000000 sa[#} oy ' hDefineArg OnDock.TrackingUpdatePeriod = 2.000000 mina[# o ' ^DefineArg OnDock.NumberOfPings = 1.000000 counta[# o ' VDefineArg OnDock.TransponderCode = 50 counta[# o ' PDefineArg OnDock.MaxDepth = 275.000000 ma[# o ' RDefineArg OnDock.MinAltitude = 5.000000 m;KP,;AQ?A2u@2@24=ٱ2Ԗ> :AHRS rotation from veh to nav: [[-0.606145,0.793082,0.060086],[-0.794440,-0.607340,0.002071],[0.038135,-0.046480,0.998191]]2H`e`?î? l@Sov`? p?7̧@.?i2u@I2X^;2!Ca[#^o`'bTDefineArg OnDock.MinOffshore = 2.000000 kma[#fod'jHDefineArg OnDock.StayOnDock = 0 boolYrZByrU Ia[#% p!'%\DefineArg OnDock.IfconfigInterval = 2.000000 ha[#5p1'5HDefineArg OnDock.RunScience = 0 bool}DAT read: OK :unknown deviceResponse_: OK ,DAT read: user:1022> BDAT read: Tx time:15:18:28.1694 $Ping request sent.9Y=UGyB*=E>iQ 5u4m䜊?Q 9u4mF )mBY}=Q E};y}JQ I} @mFDIm:im:mk4yɮ#AiQ)QYYiYYIaE,9@ @@0@'- TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 [#E :pI 'M vDefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m[#] JpY '] |DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m[#m Zpm i@'u tDefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m[#} jpy ' |DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 6Construct AltitudeEnvelope. 0Construct DepthEnvelope.^A I I! O- > 6Construct OffshoreEnvelope.a\ '% xInserting Stack from file: Missions/Insert/BackseatDriver.tl'% lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl'- TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tluV,[Q?A2w@2@2ٱ20 :AHRS rotation from veh to nav: [[-0.591846,0.804119,0.055775],[-0.805268,-0.592903,0.003050],[0.035522,-0.043109,0.998439]]2H@gW??@@Rh?/? j5?i2w@I2wS^;0Y|y~T IbD VD k1y]q%eh=ٔe;Q-e>9iYi=mUGyim Q=Em>qQ 54u圊?Q 94uK)uBYyQ I @uFDIu:iu:uq4yɮ(A' TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: i!)!!!i!)I)]#]qa'enDefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool2Construct BackseatDriver.'nInserting Stack from file: Missions/Insert/PowerOnly.tl'bTethyslAPI: loading: Missions/Insert/PowerOnly.tl'zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl5>9@ @@0@'uqTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 !^#r'ZDefineArg OnDock:PowerOnly.SampleAll = 0 bool!^#*r'^DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool!^#:r'^DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool!^#Jr'^DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool!^#br'hDefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 booleConstruct Wait. }Construct Wait.^ANJκII O >'m jInserting Stack from file: Missions/Insert/Science.tl'm ^TethyslAPI: loading: Missions/Insert/Science.tl' vTethyslAPI: mission file loaded: Missions/Insert/Science.tlj\,tQ?A2p x@2 @2w ٱ2%f# :AHRS rotation from veh to nav: [[-0.578489,0.814006,0.052391],[-0.814967,-0.579487,0.004907],[0.034355,-0.039858,0.998615]]2H`V ?Ӫ?4(t?얡?Kh?i2p x@I2{^;2$CYN\ByNW IbDZVDZkyvE6<%vR=ٔvD;Q-v>9xYx=zUGyxz-=E~>YQ 5e4]Z朊?Q 9e4]})]BYiymРQ Im @]FDI]p:i]:]x4yqɮAi)顩iIM9IcA)cA:@ @@0@@@dA^AII O! Zc,̎Q?A2 y@2{@2% ٱ2  :AHRS rotation from veh to nav: [[-0.567207,0.822000,0.050912],[-0.822847,-0.568220,0.006920],[0.034617,-0.037968,0.998679]]2H@& M?@.?T@.W|?\?p-?i2 y@I2`^;2#CYNXByRQ IiMb@Mb@Mb@ 9|?5^?X9v?Mb`?Y=y=;A  A)pAYbDVDy%}%%8=ٔ%:Q-%>9)Y)=-UGy)-<E5>9Q 5E4=眊?Q 9E4=9)9YE,!>Q EE;yEQ IE @=FDI=U:i=:=4yuBɮuAuREi)顁iI_9%:@% @!@%" @!^AI IQ Iq O} >ui,Q?A6y@68@64ٱ6Y8 >AHRS rotation from veh to nav: [[-0.556756,0.828703,0.057225],[-0.829909,-0.557880,0.004541],[0.035687,-0.044963,0.998351]]6H ໄ?L? & r?E?t}?i6y@I6{^;6CYNZByRT IbDZVDZyf~D<%fc=ٔfBQ-f>9hYh=jUGyhn=En>Q 5 4霊?Q 9 4)Y y Q I  @FDI:i:4yɮ=oA9iI)IIQiQQIum99@ @@p @^A-?BɺIqIO>pp,_Q?A2rz@2H4@2cٱ2D= :AHRS rotation from veh to nav: [[-0.548458,0.834035,0.059826],[-0.835290,-0.549768,0.006756],[0.038525,-0.046266,0.998186]]2Hi?@y?({?`?;#?i2rz@I2R^;2!CYPyPi%Mb@Mb@Mb@!!!! !9%A`"?X9v?~jtx?Y%=y!%;%$A%CA %l A)%A!Y%f AbDVDyx:%1=ٔwǻQ->9Y=UGyí<E>Q 54꜊?Q 94)BYN#>Q E;y_Q I @FDI-;i;4yɮkAi1)999i99IA-95>i5)>@ @@ @@>@> CeGy9YA^A NJκI I O >]v,]Q?A2z@2d@2fc/ٱ26 :AHRS rotation from veh to nav: [[-0.543483,0.837605,0.055180],[-0.838328,-0.544954,0.015205],[0.042806,-0.037995,0.998361]]2H 6d`?@?@Cp@#??`!t?i2z@I2D^;2#CYN`ByR[ IbDZVDZkyf<%fl=ٔfMQ-f?9hYh=jUGyhn<En?Q 5 4뜊?Q 9 4)BY y Q I @FDIN:i:4yɮAAi)iIM:@I @I@M @I}BDAT read: Rx Time:15:18:30.0321 }TRx dataTimestamp_ set to:1761578311.589496^Am?BɺIyIO>|,S?Q?A2z@2x@2ȯDٱ2 :AHRS rotation from veh to nav: [[-0.541228,0.839290,0.051616],[-0.839505,-0.542830,0.023808],[0.048001,-0.030446,0.998383]]2HQw?`jm?9^.a??L-@?i2z@I2Z^;2!CYNhByNe I PPbDZVDZk2yb "=%bJ=ٔfRQ-f>9dYh=jUGyhj;Ej>|Q 54~^휊?Q 9 4~)~BYy;Q I @~FDI~P';i~~(;~4y9ɮ=A9iy)yyyiyIU99@ @@ @}DAT read: OK }:unknown deviceResponse_: OK ^AIIYOe>dՃ,@R?A2z@2p@2n\ٱ2lѼ :AHRS rotation from veh to nav: [[-0.541897,0.838912,0.050735],[-0.838717,-0.543666,0.031333],[0.053868,-0.025573,0.998221]]2H8W^??@@e ?`? / l?i2z@I2G^;0Y^nBybl IiMb@Mb@Mb@ 9T㥛 ?(\µ?{GztY>y=ף V A)AYbDVDk1y}<%9=ٔZQ-]>9YYY=]UGyYeEe>iQ 54my휊?Q 94m`)iY>Q E;yƿQ I @mFDImt;im1;m4yɮAi)iI 9@ @@@ @@@^A I I O >i߁ I߁ ,|)R?A2z@2S@2wٱ2ʼ :AHRS rotation from veh to nav: [[-0.544676,0.836931,0.053615],[-0.836477,-0.546751,0.037003],[0.060283,-0.024693,0.997876]]2H@m"?@zs?@k~?@mݮ?`?I@?i2z@I2g^;2CYRvByRv IbDZVDZkyf2=%f_=ٔfQ-f>9hYh=jUGyhn$En>9Q 5M4=휊?Q 9M4=)9YIyM,ǿQ IM @=FDI=:i=X:=a4yyɮ}Ayi)顉iI9I@I @I@M^ @I^AiIyIO>y,CR?A2Qz@2#@2놉ٱ2di :AHRS rotation from veh to nav: [[-0.549307,0.833435,0.060405],[-0.832922,-0.551905,0.040511],[0.067101,-0.028059,0.997352]]2H ?c?L@5뽤?-?M?i2Qz@I2fK^;0YNByR IiMb@Mb@Mb@ 9kt?kt?{GztY =y 0=A l A)AY= AbDVD:2y-މ=%-6=ٔ-yQ-5>9QYQ=UUGyY]RE]>aQ 5m4e휊?Q 9m4e)aYm.=Q E ;e4yɮAiI)IQQiQQIYE9:@ @@ @^A I I O >K,]R?A2y@2@26ٱ2 :AHRS rotation from veh to nav: [[-0.555854,0.828377,0.069419],[-0.828011,-0.559133,0.042058],[0.073655,-0.034102,0.996701]]2H?@xű? j?۲?u?i2y@I2<^;2!CY^By^ IbDf VDf2y=[<%=[=ٔ=&Q-=>9AYA=EUGyAEҵEM>IQ 5]4M윊?Q 9]4M)IYYy]ٿQ I] @MFDIMY;iM;M4yaɮmAii)i!I! 9I)9@ @@ @@@>^AIIO>;,cwR?A2%y@2@2]ٱ2Rs* >AHRS rotation from veh to nav: [[-0.563939,0.821986,0.079442],[-0.821946,-0.567996,0.042253],[0.079854,-0.041469,0.995944]]2H M?TV?@bM@-7?Wq?m;?i2%y@I2N^;0Y\y\bDjVDj1ٔvQ-v>9tYx=zUGyxz ӼEz>Q 5%4C윊?Q 9%4)Y)y-#ۿQ I- @FDI:i:{4y1ɮ1Yii)iiiiiqIq9)@1 @1@5 @9^AmNJκIyIO>t#,[R?A2@Xx@2&@2ٮٱ2F >AHRS rotation from veh to nav: [[-0.573951,0.814084,0.088583],[-0.814438,-0.578746,0.041772],[0.085273,-0.048170,0.995192]]2H]` ?c?`@c?rԵ?ͩ?i2@Xx@I28^;2CYNByR IiMb@Mb@Mb@ 9L7A`?~jth{GztY+=yD A?A  A)AY AbD VDf2y%l<%%<ٔ%rHQ-%>9)Y)=-UGy)5ZEU>YQ 5e4]r뜊?Q 9e4]+)YYeC =Q Ee NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates 9Y=UGyK E>Q 54꜊?Q 94k)BYyQ I @FDI:i:̾4`m$Bt'pDefineArg OnDock:science:Science.EnabledSeabird = 1 bool`q$yɮvAZt'=zDefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool`u$MrtI'MDefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 booli)顱iI`y$t'%xDefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool`}$UtY'eDefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count09!>i%>`$t'DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count`$t'5jDefineArg OnDock:science:Science.ShallowBound = nan m`$EtA'udDefineArg OnDock:science:Science.DeepBound = nan m`$t'DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m`$t'DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %`$t'DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %`$ u!@! @!@% @!@)@)'=|DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l`$u'DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count`$*u'DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool`$:u'tDefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l`$Ju9'UtDefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l`$Zu'DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count`$ju'DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s`$zu' DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s`$=u9'EDefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml`$MuI'UDefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml`$]uY'efDefineOutput OnDock:science:Science.GoDown = 1 bool`$uuq'lDefineOutput OnDock:science:Science.PeakChl = nan ug/l`$u' pDefineOutput OnDock:science:Science.PeakChlDepth = nan m`$5u9'EDefineOutput OnDock:science:Science.PeakChlTemperature = nan degC`$MuI']DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg`$E ^AM NJκIy I O >uA ' DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg`$ v ' DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/l`$ v ' DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan m`$% "v! '- lDefineOutput OnDock:science:Science.EdgeChl = nan ug/l`$5 2v1 '] pDefineOutput OnDock:science:Science.EdgeChlDepth = nan m`$e Bvi 'u DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC`$} Rvy ' DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg`$ bv ' DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg`$ rv ' pDefineOutput OnDock:science:Science.PeakNO3 = nan umol/l`$ v '= pDefineOutput OnDock:science:Science.PeakNO3Depth = nan m`$E vA 'M DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg5,fR?A2$Jv@2@2fٱ2qd :AHRS rotation from veh to nav: [[-0.599369,0.794126,0.100603],[-0.795014,-0.605214,0.040845],[0.093322,-0.055500,0.994088]]2H.zi?? p@] ? ?wj?i2$Jv@I2<^;2C`%^v`'fDefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg`%jvhY~By~ I'%nDefineOutput OnDock:science:Science.PeakOil = nan kg/m3` %-v)'5pDefineOutput OnDock:science:Science.PeakOilDepth = nan m` %}v'DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg`%v'DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg`%v'lDefineOutput OnDock:science:Science.PeakFDOM = nan ppb`%UwQ']rDefineOutput OnDock:science:Science.PeakFDOMDepth = nan m`%ewaiMb@Mb@Mb@ 9/$I +Yy947AA A)?A'mDefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC`!%"w'DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg`%%2w'DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg`)%Bw'lDefineOutput OnDock:science:Science.PeakSalt = nan psuY AbDVD1y%Q=%%3=`-%Rw'rDefineOutput OnDock:science:Science.PeakSaltDepth = nan m`1%bwٔ-Q->9Y=UGyE>Q 54霊?Q 94)YG=Q E'm DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml`%u 2yq ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m`% By ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC`% Ry ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg_,BR?A2%u@2_@2 8Ľٱ2Wc >AHRS rotation from veh to nav: [[-0.614118,0.782518,0.102588],[-0.783395,-0.620174,0.040946],[0.095664,-0.055221,0.993881]]2Hۦc ?/C?w`?`g}? E ?i2%u@I21^;2CYfByf IIj4=)j=`%nbyl'rDefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg`%vryt'zDefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/mlbD%VD%ky-%5q=ٔ5Q-5?99Y9==UGy9EnEE ?IQ 5U4MA霊?Q 9U4M)IYQyU@Q IU @`%eya'mDefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m`%uyqMFDIMfb"  8Construct PeakDetectVsDepth. 8Construct EdgeDetectVsDepth.0,>R?A2Os@2@2^ƽٱ2'[ :AHRS rotation from veh to nav: [[-0.629168,0.770464,0.102628],[-0.771201,-0.635257,0.041197],[0.096936,-0.053228,0.993866]]2H%"? E? T?и?@?i2Os@I21G^;2 CYbByb IbDn VDn2yEP=%MI=ٔMMQ-M>9QYQ=UUGyQ}>Construct PeakDetectHorizontal.@E>Q 54蜊?Q 94)Yy@Q I @FDI:i:4y1ɮ5A9iI)IYYiYaIa =>Construct PeakDetectHorizontal.u9 @ @@ @@1@5>}8Construct PeakDetectVsDepth.ѽ8Construct PeakDetectVsDepth. e>Construct PeakDetectHorizontal.8Construct PeakDetectVsDepth.^A ?BɺI I) O5 >֥ 8Construct PeakDetectVsDepth. ص >Construct PeakDetectHorizontal.ٝ 8Construct PeakDetectVsDepth.q,ۤS?A>r@>B@>DȽٱ>G^PfIGt-맿9)Y5A 5AHRS rotation from veh to nav: [[-0.644355,0.757909,0.101882],[-0.758469,-0.650394,0.041388],[0.097632,-0.050606,0.993935]]>H` @??`E 0?e?驿 Q?i>r@I>9^;>#CYEByM I8Construct EdgeDetectVsDepth.iMb@Mb@Mb@ 9MbˡEMbP?Yy什:AA A)AYbD5VD5yEq%E.=ٔEzúQ-E>9Y=UGy-E>Q 54眊?Q 94)Y =Q E; 8Construct PeakDetectVsDepth.y?Q I @FDI"' 8Construct EdgeDetectVsDepth. E ,Construct ValueDetect.,~,S?AVJq@V.@@VȽٱV[E AHRS rotation from veh to nav: [[-0.659272,0.745097,0.100950],[-0.745494,-0.665227,0.041362],[0.097973,-0.047989,0.994031]]VH?׹? I[-??@?iVJq@IVpS^;V CYBy= IbDMVDM밍$Construct Execute. %$Construct Execute.-Construct Wait.y5R%=]=ٔ=[sQ-=>9AYA=EUGyAE aEE>I }Construct. }dInitializing internal variables to default values.Q 54M#眊?Q 94M)IYyT?Q I @MFDIM%t,YFS?A2 p@2~@2ِȽٱ2]B :AHRS rotation from veh to nav: [[-0.673567,0.732190,0.101020],[-0.732631,-0.679462,0.039794],[0.097776,-0.047207,0.994088]]2Hۍn?xܹ? q'_??+?i2 p@I2x;^;2CYLyPiMb@Mb@Mb@ 9V-&1YhyнQAA A)AY AbDVDNy5 %5J=ٔ=:Q-=>99Y9=EUGyAEDEE>IQ 54M9朊?Q 94M)MBY=Q E;y?Q I @MFDIMg,Y4`S?A2Xn@2|@2[Ƚٱ2h@ :AHRS rotation from veh to nav: [[-0.687167,0.719398,0.101335],[-0.719904,-0.693024,0.038154],[0.097675,-0.046733,0.994121]]2HDO?? t A-`ሣ?9?@i?i2Xn@I2R,^;2"CYNByR IbDZVDZ1yv<%vb=ٔvh9Q-v>9xYx=zUGyxz'TE~>Q 5 4y圊?Q 9 4Y)Y y ?Q I  @FDI:i:4yɮAi)iI9I@I @I@M" @I^AiIyIO>,3zS?A2˻m@2e{@2ǽٱ2; :AHRS rotation from veh to nav: [[-0.699708,0.707262,0.100943],[-0.707747,-0.705489,0.037146],[0.097486,-0.045451,0.994199]]2Hd?c׹?ܥ]`?@? XEy?i2˻m@I2b@^;2 CYNByN IIR<)R=bDVVDV:y~л%I=ٔ9Q->9 Y = UGy  }0E >1Q 5=45䜊?Q 9=45)1YAyES?Q IE @5FDI5:i51:5#4yIɮMAQia)iiiiiiIqu9:@ @@5@!^AM?BɺIYIiOu>,KS?A6l@6Qz@6U ǽٱ65 BAHRS rotation from veh to nav: [[-0.710970,0.696037,0.100270],[-0.696495,-0.716649,0.036171],[0.097035,-0.044121,0.994303]]6H EE?@H?I?E׸?S?i6l@I6O3^;6#CYNByR Ia@a iMb@Mb@Mb@ 9~jtsh|?~jtxYyĻAA A)-AIbDVDk1y%>=ٔ:Q->9aYa=eUGyam9Em>Q 54䜊?Q 94)BY=Q E;y?Q I @FDI:i: 4yɮAi)iI-95%>i5)>@ @@P5@@>@!>^A I I O >,ŭS?A2k@2y@2,ǽٱ2/ :AHRS rotation from veh to nav: [[-0.720950,0.685755,0.099851],[-0.686150,-0.726578,0.035801],[0.097100,-0.042702,0.994358]]2H?ӏ? !@@zT?۸?@ ݥ ?i2k@I2MQ^;2CYNByR IbDZ VDZ:2y=]'<%=W=ٔ=2Q-E>9AYA=EUGyAM!!EM>QQ 5}4Us䜊?Q 9}4U)U BYyy}+?Q I} @UFDIU;iU";UO4yɮ Ai)项iI 9@ @@5@^AIIO>,ǠS?A2j@2x@2ǽٱ2^"' :AHRS rotation from veh to nav: [[-0.729469,0.676805,0.099044],[-0.677051,-0.735042,0.036271],[0.097350,-0.040599,0.994422]]2H Wc?Z?f v'??`jɤM?i2j@I2<^;2 CYRByR I TTaa iMb@Mb@Mb@ 9x&㥛 Mb`Y7yA hA)Y AbDVD1yf%>=ٔQ->9Y=UGy/E>Q 54l䜊?Q 94) BY=Q E,}S?A2Mj@2kCx@2+hȽٱ2: :AHRS rotation from veh to nav: [[-0.736596,0.669170,0.098174],[-0.669239,-0.742119,0.037124],[0.097699,-0.038357,0.994477]]2H 2`i?!? hjp?? |?i2Mj@I2{b^;2CY^By^ IbDjVDj:y~<%Z=ٔtQ->9 Y = UGy  E >Q 5=4n䜊?Q 9=4) BYAyE?Q IE @FDIv;i;L!4yIɮM_AQi)顁iI!9m:@i @i@mv4@i@udA@udA^ANJκIIO>%,.WS?A6ki@6w@64ʽٱ6< >AHRS rotation from veh to nav: [[-0.741718,0.663540,0.097819],[-0.663438,-0.747250,0.038295],[0.098506,-0.036492,0.994467]]6H`(;?@ ?:y`t?7?`?i6ki@I6[E^;4YNByR IbDZVDZβyr_%vL=ٔvQ-v>9xYx=zUGyxz垼E~>Q 54x䜊?Q 9 4Q = tI) BY y ?Q I  @FDI:i:N(4yɮ=A9iI)IIIiQQIYE9:@ @@0@^AM?BɺIYIiO> ,1T?A2.ki@2`w@2̽ٱ2r :AHRS rotation from veh to nav: [[-0.745621,0.659262,0.097073],[-0.658843,-0.751168,0.040890],[0.099876,-0.033468,0.994437]]2H `?ٸ?@> ?q? "`m?i2.ki@I26^;2 CYBy IiMb@Mb@Mb@ 9S㥫ˡEMb`Y/]y'ACA A)YbD=VD=2yM<%M6=ٔMHQ-M>9YYY=]UGyae1\Ee>iQ 54m䜊?Q 94m)mBY=Q EC7 ,= /T?A2&i@2%w@2Eѽٱ2  :AHRS rotation from veh to nav: [[-0.748220,0.656328,0.096960],[-0.655578,-0.753850,0.043898],[0.101905,-0.030719,0.994320]]2H`j?WҸ? y?k?tw?i2&i@I2N^;2CYNByR IbDZVDZyv% a=ٔ AQ- >9Y=UGy=E>9Q 5E4=_圊?Q 9E4=)=BYIyM?Q IM @=FDI=:i=:=64yQɮUAi)   i I1t9I):@ @@@@@>=Rgot command set OnDock.DockedTime 24 hourJo@=got command run=Running ԩԱ^AmNJκIyIO> 9 ,HT?AYrByr Ii}Mb@Mb@Mb@yyyy y9}L7A`堿I +Y}+y}9}}A}A }QA)}AyY} AbDVD:2y%A=ٔQ->9Y=UGyE>Q 54圊?Q 94)Ys"=Q E9 Y =-UGy)5;E5&>9Q 5E4=P朊?Q 9M4=k)=BԩYBi!>:@ @@0@@@ ^A ?BɺI I O >(, IT?A2mi@2w@2ٱ2<`$ :AHRS rotation from veh to nav: [[-0.738327,0.664494,0.115413],[-0.663821,-0.746231,0.049814],[0.119226,-0.039834,0.992068]]2H``C??>@F??e?i2mi@I2G^;2 CYFByF I 9J J bDR VDRf2yZ<%Zy=ٔZDQ-Z?9\Y\|=%UGy!%<E-?)Q 554-~朊?Q 9=4-X)-BY9y=o?Q IE @)I-;i-c;-V4yIɮMAIqY1]eq]eiq)qqqiqyIuZ:)I@I @I@M?0@IY^AuNJκIyIO>ԁ N.,F&T?A2uj@20kx@2ٱ23 :AHRS rotation from veh to nav: [[-0.732924,0.669626,0.120094],[-0.669158,-0.741421,0.050230],[0.122675,-0.043547,0.991491]]2Htm?z?i?g?K@K?i2uj@I22^;2CYFByF IbDNVDN:2yV;%VJ=ٔZ Q-Z>9XYX=^UGy\^$<Eb>`Q 5f4b朊?Q 9j4bA)bBYhyjq?Q Ij @bFDIbU;iba;b^]4ypɮrApqz*@q]zv~i )  iIYu:@ @@.0@ԉԹ^AIIYIqO}> ~5,T?A2:k@2y@2<ٱ2*> >AHRS rotation from veh to nav: [[-0.725952,0.676602,0.123301],[-0.676210,-0.734910,0.051459],[0.125433,-0.046021,0.991034]]2H;??`a@X?,?`?i2:k@I2Q^;2 CYFByF IiMb@Mb@Mb@ 9MbpMbP?~jtxYy:Ļ AA A)AYbD5VD51yE7%EA=ٔEֻQ-E>9IYI=MUGyIU<EU>YQ 5e4]朊?Q 9e4]<)]BYm;Q Em=ymw?Q Im @YI]P;i] ;Ա]d4yɮA=%Restarting logsv%v%iY)iiiiiqIq }dA}cA:Y@Y @Y@]0@Y@e>@e> ^A ?BɺI I O >1 A;,UT?AYBy IbD5 VD52yE=%EK=ٔEQ-E>9IYI=MUGyIUEU>YQ 5e4]朊?